diff --git a/main/_modules/index.html b/main/_modules/index.html
index bdafa32185..15a5253310 100644
--- a/main/_modules/index.html
+++ b/main/_modules/index.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="index.html" selected>main</option>
+            <option value="../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../v1.1.0/index.html" >v1.1.0</option>
@@ -711,7 +712,7 @@ <h1>All modules for which code is available</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/actuators/actuator_base.html b/main/_modules/omni/isaac/lab/actuators/actuator_base.html
index d051357018..6e4e5cdf89 100644
--- a/main/_modules/omni/isaac/lab/actuators/actuator_base.html
+++ b/main/_modules/omni/isaac/lab/actuators/actuator_base.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="actuator_base.html" selected>main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -822,7 +823,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/actuators/actuator_cfg.html b/main/_modules/omni/isaac/lab/actuators/actuator_cfg.html
index 4536a93972..5ff18ad22a 100644
--- a/main/_modules/omni/isaac/lab/actuators/actuator_cfg.html
+++ b/main/_modules/omni/isaac/lab/actuators/actuator_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="actuator_cfg.html" selected>main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -750,7 +751,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_cfg</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/actuators/actuator_net.html b/main/_modules/omni/isaac/lab/actuators/actuator_net.html
index 6b541ade53..8fa8f0da63 100644
--- a/main/_modules/omni/isaac/lab/actuators/actuator_net.html
+++ b/main/_modules/omni/isaac/lab/actuators/actuator_net.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="actuator_net.html" selected>main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -749,7 +750,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_net</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/actuators/actuator_pd.html b/main/_modules/omni/isaac/lab/actuators/actuator_pd.html
index 93cc4992eb..6bb95c4366 100644
--- a/main/_modules/omni/isaac/lab/actuators/actuator_pd.html
+++ b/main/_modules/omni/isaac/lab/actuators/actuator_pd.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="actuator_pd.html" selected>main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -924,7 +925,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_pd</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/app/app_launcher.html b/main/_modules/omni/isaac/lab/app/app_launcher.html
index fa3a71b163..aaf60f26a2 100644
--- a/main/_modules/omni/isaac/lab/app/app_launcher.html
+++ b/main/_modules/omni/isaac/lab/app/app_launcher.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="app_launcher.html" selected>main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1281,7 +1282,7 @@ <h1>Source code for omni.isaac.lab.app.app_launcher</h1><div class="highlight"><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/assets/articulation/articulation.html b/main/_modules/omni/isaac/lab/assets/articulation/articulation.html
index 135e729a47..ad4b1ac25e 100644
--- a/main/_modules/omni/isaac/lab/assets/articulation/articulation.html
+++ b/main/_modules/omni/isaac/lab/assets/articulation/articulation.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="articulation.html" selected>main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -2115,7 +2116,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html b/main/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
index b16a204ae6..853fef5b6c 100644
--- a/main/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
+++ b/main/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="articulation_cfg.html" selected>main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -613,7 +614,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_cfg</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/assets/articulation/articulation_data.html b/main/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
index 629739d113..1688690d15 100644
--- a/main/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
+++ b/main/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="articulation_data.html" selected>main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1435,7 +1436,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_data</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/assets/asset_base.html b/main/_modules/omni/isaac/lab/assets/asset_base.html
index a8d9506287..0baffe6753 100644
--- a/main/_modules/omni/isaac/lab/assets/asset_base.html
+++ b/main/_modules/omni/isaac/lab/assets/asset_base.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="asset_base.html" selected>main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -832,7 +833,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base</h1><div class="highlight">
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/assets/asset_base_cfg.html b/main/_modules/omni/isaac/lab/assets/asset_base_cfg.html
index dc46f4f653..5c1f5c11d3 100644
--- a/main/_modules/omni/isaac/lab/assets/asset_base_cfg.html
+++ b/main/_modules/omni/isaac/lab/assets/asset_base_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="asset_base_cfg.html" selected>main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -638,7 +639,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base_cfg</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html b/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
index 19d7279092..9bc2ffe25b 100644
--- a/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
+++ b/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="deformable_object.html" selected>main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -974,7 +975,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object</h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html b/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
index f5d76a52ad..e763140395 100644
--- a/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
+++ b/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="deformable_object_cfg.html" selected>main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -590,7 +591,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object_cf
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html b/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html
index 0355788d6b..31e72d4fc9 100644
--- a/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html
+++ b/main/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="deformable_object_data.html" selected>main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -799,7 +800,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object_da
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html b/main/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
index 6818f64bee..0168150b9c 100644
--- a/main/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
+++ b/main/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="rigid_object.html" selected>main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
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@@ -1072,7 +1073,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 5b98c59b2a..95cf5dbb32 100644
--- a/main/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
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@@ -58,7 +58,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -593,7 +594,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_cfg</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index ad846e0b7c..f807a0f08c 100644
--- a/main/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -1171,7 +1172,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_data</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index c370503f32..f0ef4829b7 100644
--- a/main/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -1247,7 +1248,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object_collection.rigid_object_c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_cfg.html b/main/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_cfg.html
index 07980a87b7..aafd149acb 100644
--- a/main/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -589,7 +590,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object_collection.rigid_object_c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html b/main/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html
index f1c6ac7ecf..c1b6381192 100644
--- a/main/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html
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@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -1030,7 +1031,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object_collection.rigid_object_c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/controllers/differential_ik.html b/main/_modules/omni/isaac/lab/controllers/differential_ik.html
index 5f47825d0e..e349643166 100644
--- a/main/_modules/omni/isaac/lab/controllers/differential_ik.html
+++ b/main/_modules/omni/isaac/lab/controllers/differential_ik.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -801,7 +802,7 @@ <h1>Source code for omni.isaac.lab.controllers.differential_ik</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html b/main/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
index 6524747b20..0f1357ab01 100644
--- a/main/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
+++ b/main/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/controllers/operational_space.html b/main/_modules/omni/isaac/lab/controllers/operational_space.html
index 26681039ff..0eb6136945 100644
--- a/main/_modules/omni/isaac/lab/controllers/operational_space.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -1109,7 +1110,7 @@ <h1>Source code for omni.isaac.lab.controllers.operational_space</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/controllers/operational_space_cfg.html b/main/_modules/omni/isaac/lab/controllers/operational_space_cfg.html
index 8544acddcd..af7cc11b46 100644
--- a/main/_modules/omni/isaac/lab/controllers/operational_space_cfg.html
+++ b/main/_modules/omni/isaac/lab/controllers/operational_space_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -651,7 +652,7 @@ <h1>Source code for omni.isaac.lab.controllers.operational_space_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/devices/device_base.html b/main/_modules/omni/isaac/lab/devices/device_base.html
index 65053ee251..d2df6b831f 100644
--- a/main/_modules/omni/isaac/lab/devices/device_base.html
+++ b/main/_modules/omni/isaac/lab/devices/device_base.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -612,7 +613,7 @@ <h1>Source code for omni.isaac.lab.devices.device_base</h1><div class="highlight
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html b/main/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
index adc100d677..d03a51b747 100644
--- a/main/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -760,7 +761,7 @@ <h1>Source code for omni.isaac.lab.devices.gamepad.se2_gamepad</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html b/main/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
index e202f7bbcb..4928e94d37 100644
--- a/main/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html b/main/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
index 13784e7a64..d195aeb40c 100644
--- a/main/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html b/main/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
index 8717b54ed2..4edef2dfcb 100644
--- a/main/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 9762133321..299dcdd7f1 100644
--- a/main/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
+++ b/main/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -715,7 +716,7 @@ <h1>Source code for omni.isaac.lab.devices.spacemouse.se2_spacemouse</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 27c464ece4..dc11095048 100644
--- a/main/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
+++ b/main/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -732,7 +733,7 @@ <h1>Source code for omni.isaac.lab.devices.spacemouse.se3_spacemouse</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index c6ad64228a..831f8fc020 100644
--- a/main/_modules/omni/isaac/lab/envs/common.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 41f5f36d72..48b03c0b93 100644
--- a/main/_modules/omni/isaac/lab/envs/direct_marl_env.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 91f902596a..04097afd35 100644
--- a/main/_modules/omni/isaac/lab/envs/direct_marl_env_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -784,7 +785,7 @@ <h1>Source code for omni.isaac.lab.envs.direct_marl_env_cfg</h1><div class="high
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/envs/direct_rl_env.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index fb0252a49f..4c753a8ec6 100644
--- a/main/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 08445dead4..6b11995eb9 100644
--- a/main/_modules/omni/isaac/lab/envs/manager_based_env.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html b/main/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
index 59420464b2..78997456ff 100644
--- a/main/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/envs/manager_based_rl_env.html b/main/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
index 5d9e6d1086..ba06ae726f 100644
--- a/main/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/envs/mdp/curriculums.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index cc65b1dd5f..d05495a721 100644
--- a/main/_modules/omni/isaac/lab/envs/mdp/observations.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index b8b96aa847..eeee9815d1 100644
--- a/main/_modules/omni/isaac/lab/envs/mdp/rewards.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 7efab8ee78..af1e06de9d 100644
--- a/main/_modules/omni/isaac/lab/envs/mdp/terminations.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index c97ae69f0f..b3e6578670 100644
--- a/main/_modules/omni/isaac/lab/envs/ui/base_env_window.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 10693f20c5..53c32f1068 100644
--- a/main/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html
+++ b/main/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 5d28893e1a..a8b202184b 100644
--- a/main/_modules/omni/isaac/lab/managers/action_manager.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 8e43478b80..9c5601df1b 100644
--- a/main/_modules/omni/isaac/lab/managers/command_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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index e97d0cb9e1..fc21c37ff0 100644
--- a/main/_modules/omni/isaac/lab/managers/curriculum_manager.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index f0a05c377f..98bd8be972 100644
--- a/main/_modules/omni/isaac/lab/managers/event_manager.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/managers/manager_base.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/managers/manager_term_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/managers/observation_manager.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/managers/reward_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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diff --git a/main/_modules/omni/isaac/lab/managers/scene_entity_cfg.html b/main/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
index 96dc4bc351..7e83eeb4e3 100644
--- a/main/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 7feb407cf7..86d367d64c 100644
--- a/main/_modules/omni/isaac/lab/managers/termination_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 2d81b941fe..73acc002dc 100644
--- a/main/_modules/omni/isaac/lab/markers/visualization_markers.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 9f9a8bda1f..53d6b8a30c 100644
--- a/main/_modules/omni/isaac/lab/scene/interactive_scene.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 149cb316e8..1dd9720f24 100644
--- a/main/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 6a60e236fd..493217c411 100644
--- a/main/_modules/omni/isaac/lab/sensors/camera/camera.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 6c5c5e4f5c..c8e931792e 100644
--- a/main/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 85d76c50fb..b51b7a9d9f 100644
--- a/main/_modules/omni/isaac/lab/sensors/camera/camera_data.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index a68988916f..ec88fd8578 100644
--- a/main/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html b/main/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
index 7973855d1c..b5ff63b9e0 100644
--- a/main/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html b/main/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html b/main/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
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--- a/main/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html b/main/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
index 0fdcf72eca..bcaddf7717 100644
--- a/main/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index c2f34ce960..d1ebc8d363 100644
--- a/main/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d9c03f602c..2c89086fbb 100644
--- a/main/_modules/omni/isaac/lab/sensors/imu/imu.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index dcb14f4ebc..faeb2b8ded 100644
--- a/main/_modules/omni/isaac/lab/sensors/imu/imu_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index fc958335f9..180f485a8c 100644
--- a/main/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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index 80fefac235..92d33b097a 100644
--- a/main/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/sensors/sensor_base.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index a94ccad9b7..b318a4464c 100644
--- a/main/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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--- a/main/_modules/omni/isaac/lab/sim/converters/urdf_converter.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index ddcd7ab9e2..43fbb3f705 100644
--- a/main/_modules/omni/isaac/lab/sim/schemas/schemas.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 0ca2a37f15..5878b15e79 100644
--- a/main/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index a572bb3ce1..28a91dda0a 100644
--- a/main/_modules/omni/isaac/lab/sim/simulation_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index bcb472a720..b04744e8b6 100644
--- a/main/_modules/omni/isaac/lab/sim/simulation_context.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 9c8ab2e5f5..88b3c05eca 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d3335732e2..b5432390f2 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/sim/spawners/lights/lights.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index de3c4dd54c..3aec4d388d 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 8bf19b174b..6d9fd5248f 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index e39cd2b36e..4f2bbb81e2 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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+++ b/main/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -925,7 +926,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.meshes.meshes</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html b/main/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
index 0118ffa0a6..0f2f8b4e45 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
+++ b/main/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -705,7 +706,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.meshes.meshes_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 833468ed71..32f121d895 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html b/main/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
index 9983a889fe..2c10bf3f04 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -796,7 +797,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.sensors.sensors_cfg</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index b2fab24bf3..c22b05292d 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -862,7 +863,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 58605477b4..3ef085b824 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -683,7 +684,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index dbb22cd89e..29dadda11c 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -679,7 +680,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.spawner_cfg</h1><div class="high
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -730,7 +731,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.wrappers.wrappers</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html b/main/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html
index 1e3283b13b..4a1091241e 100644
--- a/main/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -628,7 +629,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.wrappers.wrappers_cfg</h1><div c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/sim/utils.html b/main/_modules/omni/isaac/lab/sim/utils.html
index db930c1c71..acd7c8304c 100644
--- a/main/_modules/omni/isaac/lab/sim/utils.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html b/main/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
index 8fde3e425b..9141ca2887 100644
--- a/main/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/main/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/terrains/terrain_generator.html b/main/_modules/omni/isaac/lab/terrains/terrain_generator.html
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--- a/main/_modules/omni/isaac/lab/terrains/terrain_generator.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html b/main/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
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--- a/main/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/_modules/omni/isaac/lab/terrains/terrain_importer.html b/main/_modules/omni/isaac/lab/terrains/terrain_importer.html
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--- a/main/_modules/omni/isaac/lab/terrains/terrain_importer.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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--- a/main/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html
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-  Last updated on Dec 20, 2024.
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--- a/main/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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--- a/main/_modules/omni/isaac/lab/terrains/utils.html
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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   <div class="footer-item">
     <p class="last-updated">
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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index a964ad806f..3f73a0faa5 100644
--- a/main/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html
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+  Last updated on Dec 27, 2024.
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index 9446d1a55a..9e7ed45649 100644
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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--- a/main/_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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--- a/main/_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html
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   <div class="footer-item">
     <p class="last-updated">
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+  Last updated on Dec 27, 2024.
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 </p>
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index ae3b041ff5..2eb552e83c 100644
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   <div class="footer-item">
     <p class="last-updated">
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+  Last updated on Dec 27, 2024.
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 </p>
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index 8522a857a7..10639f6d76 100644
--- a/main/index.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 52ff43b551..075eb1a30f 100644
--- a/main/py-modindex.html
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   <div class="footer-item">
     <p class="last-updated">
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+  Last updated on Dec 27, 2024.
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index 1d793f52a8..ad514e4cc0 100644
--- a/main/search.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 20fbe2deb1..39a69871ad 100644
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index a0453ea7b7..a4a787dfbf 100644
--- a/main/source/api/lab/omni.isaac.lab.actuators.html
+++ b/main/source/api/lab/omni.isaac.lab.actuators.html
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 70aae613d6..47509889ba 100644
--- a/main/source/api/lab/omni.isaac.lab.app.html
+++ b/main/source/api/lab/omni.isaac.lab.app.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index a85d9a8970..7ff1a32718 100644
--- a/main/source/api/lab/omni.isaac.lab.assets.html
+++ b/main/source/api/lab/omni.isaac.lab.assets.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 0351e2e2be..b0da9f339e 100644
--- a/main/source/api/lab/omni.isaac.lab.controllers.html
+++ b/main/source/api/lab/omni.isaac.lab.controllers.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index a94b1643d3..f6a0f0cf9a 100644
--- a/main/source/api/lab/omni.isaac.lab.devices.html
+++ b/main/source/api/lab/omni.isaac.lab.devices.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index a9ae06c709..4a298a5784 100644
--- a/main/source/api/lab/omni.isaac.lab.envs.html
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.html" >v1.4.0</option>
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             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.envs.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.html" >v1.1.0</option>
@@ -3584,7 +3585,7 @@ <h2>Common<a class="headerlink" href="#common" title="Permalink to this heading"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.envs.mdp.html b/main/source/api/lab/omni.isaac.lab.envs.mdp.html
index 094d7f918e..1efd14f6db 100644
--- a/main/source/api/lab/omni.isaac.lab.envs.mdp.html
+++ b/main/source/api/lab/omni.isaac.lab.envs.mdp.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="omni.isaac.lab.envs.mdp.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.1.0</option>
@@ -4504,7 +4505,7 @@ <h2> Contents </h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/source/api/lab/omni.isaac.lab.envs.ui.html b/main/source/api/lab/omni.isaac.lab.envs.ui.html
index 25185ea0a2..397c0b30a5 100644
--- a/main/source/api/lab/omni.isaac.lab.envs.ui.html
+++ b/main/source/api/lab/omni.isaac.lab.envs.ui.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="omni.isaac.lab.envs.ui.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.4.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.1.0</option>
@@ -956,7 +957,7 @@ <h2>Viewport Camera Controller<a class="headerlink" href="#viewport-camera-contr
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.managers.html b/main/source/api/lab/omni.isaac.lab.managers.html
index 6dbe560104..efd1b03da5 100644
--- a/main/source/api/lab/omni.isaac.lab.managers.html
+++ b/main/source/api/lab/omni.isaac.lab.managers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="omni.isaac.lab.managers.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.managers.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.managers.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.managers.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.managers.html" >v1.1.0</option>
@@ -3859,7 +3860,7 @@ <h2>Curriculum Manager<a class="headerlink" href="#curriculum-manager" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.markers.html b/main/source/api/lab/omni.isaac.lab.markers.html
index d0dc7ac5bb..fe4649a777 100644
--- a/main/source/api/lab/omni.isaac.lab.markers.html
+++ b/main/source/api/lab/omni.isaac.lab.markers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="omni.isaac.lab.markers.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.markers.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.markers.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.markers.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.markers.html" >v1.1.0</option>
@@ -977,7 +978,7 @@ <h2>Visualization Markers<a class="headerlink" href="#visualization-markers" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.scene.html b/main/source/api/lab/omni.isaac.lab.scene.html
index bcf12c0d6d..8b75a1d198 100644
--- a/main/source/api/lab/omni.isaac.lab.scene.html
+++ b/main/source/api/lab/omni.isaac.lab.scene.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="omni.isaac.lab.scene.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.scene.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.scene.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.scene.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.scene.html" >v1.1.0</option>
@@ -1261,7 +1262,7 @@ <h2>interactive Scene<a class="headerlink" href="#interactive-scene" title="Perm
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.sensors.html b/main/source/api/lab/omni.isaac.lab.sensors.html
index 6d695fc063..2e6c32b2d6 100644
--- a/main/source/api/lab/omni.isaac.lab.sensors.html
+++ b/main/source/api/lab/omni.isaac.lab.sensors.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="omni.isaac.lab.sensors.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.1.0</option>
@@ -4870,7 +4871,7 @@ <h2>Inertia Measurement Unit<a class="headerlink" href="#inertia-measurement-uni
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.sensors.patterns.html b/main/source/api/lab/omni.isaac.lab.sensors.patterns.html
index 1e492f1634..d8cb0d2e15 100644
--- a/main/source/api/lab/omni.isaac.lab.sensors.patterns.html
+++ b/main/source/api/lab/omni.isaac.lab.sensors.patterns.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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             <option value="omni.isaac.lab.sensors.patterns.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.1.0</option>
@@ -1213,7 +1214,7 @@ <h2>LiDAR Pattern<a class="headerlink" href="#lidar-pattern" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.sim.converters.html b/main/source/api/lab/omni.isaac.lab.sim.converters.html
index 3991d0338d..962d005d60 100644
--- a/main/source/api/lab/omni.isaac.lab.sim.converters.html
+++ b/main/source/api/lab/omni.isaac.lab.sim.converters.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="omni.isaac.lab.sim.converters.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.1.0</option>
@@ -1555,7 +1556,7 @@ <h2>URDF Converter<a class="headerlink" href="#urdf-converter" title="Permalink
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.sim.html b/main/source/api/lab/omni.isaac.lab.sim.html
index 6c33435825..f9e9e96acc 100644
--- a/main/source/api/lab/omni.isaac.lab.sim.html
+++ b/main/source/api/lab/omni.isaac.lab.sim.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="omni.isaac.lab.sim.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sim.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sim.html" >v1.1.0</option>
@@ -2268,7 +2269,7 @@ <h2>Simulation Context Builder<a class="headerlink" href="#simulation-context-bu
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.sim.schemas.html b/main/source/api/lab/omni.isaac.lab.sim.schemas.html
index 672aedf33d..a429be2946 100644
--- a/main/source/api/lab/omni.isaac.lab.sim.schemas.html
+++ b/main/source/api/lab/omni.isaac.lab.sim.schemas.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="omni.isaac.lab.sim.schemas.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.4.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.1.0</option>
@@ -2074,7 +2075,7 @@ <h2>Deformable Body<a class="headerlink" href="#deformable-body" title="Permalin
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.sim.spawners.html b/main/source/api/lab/omni.isaac.lab.sim.spawners.html
index a35ba7c79b..73e9994d02 100644
--- a/main/source/api/lab/omni.isaac.lab.sim.spawners.html
+++ b/main/source/api/lab/omni.isaac.lab.sim.spawners.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="omni.isaac.lab.sim.spawners.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.1.0</option>
@@ -7717,7 +7718,7 @@ <h3>Physical Materials<a class="headerlink" href="#physical-materials" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.terrains.html b/main/source/api/lab/omni.isaac.lab.terrains.html
index 46f335b5ac..c64e71ada4 100644
--- a/main/source/api/lab/omni.isaac.lab.terrains.html
+++ b/main/source/api/lab/omni.isaac.lab.terrains.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="omni.isaac.lab.terrains.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.1.0</option>
@@ -5405,7 +5406,7 @@ <h3>Repeated Objects Terrain<a class="headerlink" href="#repeated-objects-terrai
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/api/lab/omni.isaac.lab.utils.html b/main/source/api/lab/omni.isaac.lab.utils.html
index 1aecd00059..1df10d0fb6 100644
--- a/main/source/api/lab/omni.isaac.lab.utils.html
+++ b/main/source/api/lab/omni.isaac.lab.utils.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="omni.isaac.lab.utils.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.utils.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.utils.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.utils.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.utils.html" >v1.1.0</option>
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 72d7da5d81..9c86326b2e 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/source/how-to/make_fixed_prim.html b/main/source/how-to/make_fixed_prim.html
index ee6187579b..f47c7262b2 100644
--- a/main/source/how-to/make_fixed_prim.html
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@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/source/how-to/master_omniverse.html b/main/source/how-to/master_omniverse.html
index da44a82c3c..d5f9dce4e3 100644
--- a/main/source/how-to/master_omniverse.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 1d2eb653da..f6c95a976f 100644
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index c7e1ddcce2..d9c7ea6db3 100644
--- a/main/source/how-to/record_animation.html
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@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/how-to/record_animation.html" >v1.4.0</option>
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@@ -806,7 +807,7 @@ <h2>Example Usage<a class="headerlink" href="#example-usage" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/source/how-to/record_video.html b/main/source/how-to/record_video.html
index aa0b579e9f..a4d2bbcf07 100644
--- a/main/source/how-to/record_video.html
+++ b/main/source/how-to/record_video.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="record_video.html" selected>main</option>
+            <option value="../../../v1.4.0/source/how-to/record_video.html" >v1.4.0</option>
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@@ -664,7 +665,7 @@ <h1>Recording video clips during training<a class="headerlink" href="#recording-
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/source/how-to/save_camera_output.html b/main/source/how-to/save_camera_output.html
index 1e718b166e..e0d2c29187 100644
--- a/main/source/how-to/save_camera_output.html
+++ b/main/source/how-to/save_camera_output.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="save_camera_output.html" selected>main</option>
+            <option value="../../../v1.4.0/source/how-to/save_camera_output.html" >v1.4.0</option>
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@@ -1069,7 +1070,7 @@ <h2>Executing the script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/how-to/wrap_rl_env.html b/main/source/how-to/wrap_rl_env.html
index 3a368fbfa4..5958451d8c 100644
--- a/main/source/how-to/wrap_rl_env.html
+++ b/main/source/how-to/wrap_rl_env.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="wrap_rl_env.html" selected>main</option>
+            <option value="../../../v1.4.0/source/how-to/wrap_rl_env.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/source/how-to/wrap_rl_env.html" >v1.1.0</option>
@@ -849,7 +850,7 @@ <h2>Adding new wrappers<a class="headerlink" href="#adding-new-wrappers" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/how-to/write_articulation_cfg.html b/main/source/how-to/write_articulation_cfg.html
index 7281a78e35..94d18698b6 100644
--- a/main/source/how-to/write_articulation_cfg.html
+++ b/main/source/how-to/write_articulation_cfg.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="write_articulation_cfg.html" selected>main</option>
+            <option value="../../../v1.4.0/source/how-to/write_articulation_cfg.html" >v1.4.0</option>
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@@ -848,7 +849,7 @@ <h2>Defining the actuator configuration<a class="headerlink" href="#defining-the
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/source/migration/migrating_from_isaacgymenvs.html b/main/source/migration/migrating_from_isaacgymenvs.html
index a78e6e1543..a4c898e230 100644
--- a/main/source/migration/migrating_from_isaacgymenvs.html
+++ b/main/source/migration/migrating_from_isaacgymenvs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="migrating_from_isaacgymenvs.html" selected>main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_isaacgymenvs.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/source/migration/migrating_from_omniisaacgymenvs.html b/main/source/migration/migrating_from_omniisaacgymenvs.html
index b2d1937401..dcf1888d2e 100644
--- a/main/source/migration/migrating_from_omniisaacgymenvs.html
+++ b/main/source/migration/migrating_from_omniisaacgymenvs.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
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             <option value="migrating_from_omniisaacgymenvs.html" selected>main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_omniisaacgymenvs.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/migration/migrating_from_orbit.html b/main/source/migration/migrating_from_orbit.html
index c8b15a5546..720c0ed654 100644
--- a/main/source/migration/migrating_from_orbit.html
+++ b/main/source/migration/migrating_from_orbit.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="migrating_from_orbit.html" selected>main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_orbit.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/migration/migrating_from_orbit.html" >v1.3.0</option>
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@@ -828,7 +829,7 @@ <h3>Event term distribution configuration<a class="headerlink" href="#event-term
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/source/overview/core-concepts/actuators.html b/main/source/overview/core-concepts/actuators.html
index 2e8a17dcbb..3dfa7f1527 100644
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index d584e2ceb5..4fc67be033 100644
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../v1.4.0/source/overview/core-concepts/index.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/overview/core-concepts/index.html" >v1.3.0</option>
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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diff --git a/main/source/overview/sensors/index.html b/main/source/overview/sensors/index.html
index 63f513454e..76e02c6914 100644
--- a/main/source/overview/sensors/index.html
+++ b/main/source/overview/sensors/index.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../../v1.4.0/source/overview/sensors/index.html" >v1.4.0</option>
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@@ -659,7 +660,7 @@ <h1>Sensors</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 550796f57f..0585bbcce5 100644
--- a/main/source/overview/sensors/ray_caster.html
+++ b/main/source/overview/sensors/ray_caster.html
@@ -61,7 +61,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../../v1.4.0/source/overview/sensors/ray_caster.html" >v1.4.0</option>
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@@ -897,7 +898,7 @@ <h1>Ray Caster</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index b9d88922f2..1da5f99663 100644
--- a/main/source/overview/showroom.html
+++ b/main/source/overview/showroom.html
@@ -61,7 +61,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../v1.4.0/source/overview/showroom.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/index.html" >v1.1.0</option>
@@ -787,7 +788,7 @@ <h1>Showroom Demos<a class="headerlink" href="#showroom-demos" title="Permalink
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 059bcf9c1b..45c23b42c1 100644
--- a/main/source/overview/simple_agents.html
+++ b/main/source/overview/simple_agents.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../v1.4.0/source/overview/simple_agents.html" >v1.4.0</option>
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@@ -793,7 +794,7 @@ <h3>State machine<a class="headerlink" href="#state-machine" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index c744592ae6..6ddfab2986 100644
--- a/main/source/overview/teleop_imitation.html
+++ b/main/source/overview/teleop_imitation.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../v1.4.0/source/overview/teleop_imitation.html" >v1.4.0</option>
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@@ -740,7 +741,7 @@ <h2>Imitation Learning<a class="headerlink" href="#imitation-learning" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 4a741e586c..6a66a22d39 100644
--- a/main/source/refs/additional_resources.html
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@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
           </div>
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+            <option value="../../../v1.4.0/source/refs/additional_resources.html" >v1.4.0</option>
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@@ -702,7 +703,7 @@ <h2>Simulation Features<a class="headerlink" href="#simulation-features" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 71775c74a4..852e496e38 100644
--- a/main/source/refs/bibliography.html
+++ b/main/source/refs/bibliography.html
@@ -60,7 +60,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../v1.4.0/source/refs/bibliography.html" >v1.4.0</option>
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@@ -700,7 +701,7 @@ <h1>Bibliography<a class="headerlink" href="#bibliography" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 751f1a94d5..e4968475f4 100644
--- a/main/source/refs/changelog.html
+++ b/main/source/refs/changelog.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../v1.4.0/source/refs/changelog.html" >v1.4.0</option>
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@@ -7717,7 +7718,7 @@ <h4>Added<a class="headerlink" href="#id735" title="Permalink to this heading">#
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 604bff663b..bcf6b0417f 100644
--- a/main/source/refs/contributing.html
+++ b/main/source/refs/contributing.html
@@ -61,7 +61,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../v1.4.0/source/refs/contributing.html" >v1.4.0</option>
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@@ -922,7 +923,7 @@ <h2>Maintaining a changelog<a class="headerlink" href="#maintaining-a-changelog"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/source/refs/issues.html b/main/source/refs/issues.html
index 9ad411a1c1..af059395a2 100644
--- a/main/source/refs/issues.html
+++ b/main/source/refs/issues.html
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/refs/issues.html" >v1.4.0</option>
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@@ -752,7 +753,7 @@ <h2>Exiting the process<a class="headerlink" href="#exiting-the-process" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/source/refs/license.html b/main/source/refs/license.html
index 19a59766df..ab8266ccc7 100644
--- a/main/source/refs/license.html
+++ b/main/source/refs/license.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/refs/license.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/source/refs/license.html" >v1.1.0</option>
@@ -684,7 +685,7 @@ <h1>License</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/source/refs/migration.html b/main/source/refs/migration.html
index 201a124313..f3d9a0f308 100644
--- a/main/source/refs/migration.html
+++ b/main/source/refs/migration.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../v1.4.0/source/refs/migration.html" >v1.4.0</option>
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@@ -736,7 +737,7 @@ <h2>Deprecation of <code class="xref py py-class docutils literal notranslate"><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 71d67546d5..f1b8266371 100644
--- a/main/source/refs/reference_architecture/index.html
+++ b/main/source/refs/reference_architecture/index.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../v1.4.0/source/refs/reference_architecture/index.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/refs/reference_architecture/index.html" >v1.3.0</option>
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@@ -979,7 +980,7 @@ <h2>How to Get Started<a class="headerlink" href="#how-to-get-started" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 811b68fc23..b49cae9c32 100644
--- a/main/source/refs/troubleshooting.html
+++ b/main/source/refs/troubleshooting.html
@@ -61,7 +61,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/refs/troubleshooting.html" >v1.4.0</option>
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@@ -907,7 +908,7 @@ <h2>Understanding the error logs from crashes<a class="headerlink" href="#unders
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/source/setup/ecosystem.html b/main/source/setup/ecosystem.html
index 721f71f9e1..db40a67389 100644
--- a/main/source/setup/ecosystem.html
+++ b/main/source/setup/ecosystem.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../v1.4.0/source/setup/ecosystem.html" >v1.4.0</option>
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@@ -664,7 +665,7 @@ <h1>Isaac Lab Ecosystem<a class="headerlink" href="#isaac-lab-ecosystem" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/main/source/setup/faq.html b/main/source/setup/faq.html
index b3da35a5af..7c88bf52cf 100644
--- a/main/source/setup/faq.html
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@@ -61,7 +61,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/setup/faq.html" >v1.4.0</option>
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@@ -739,7 +740,7 @@ <h2>Why should I use Isaac Lab?<a class="headerlink" href="#why-should-i-use-isa
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index c822b689fa..2f9a6dc724 100644
--- a/main/source/setup/installation/binaries_installation.html
+++ b/main/source/setup/installation/binaries_installation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="binaries_installation.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/binaries_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/binaries_installation.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/setup/installation/binaries_installation.html" >v1.1.0</option>
@@ -1080,7 +1081,7 @@ <h3>Verifying the Isaac Lab installation<a class="headerlink" href="#verifying-t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/setup/installation/cloud_installation.html b/main/source/setup/installation/cloud_installation.html
index f6d3a2a381..dc9813b288 100644
--- a/main/source/setup/installation/cloud_installation.html
+++ b/main/source/setup/installation/cloud_installation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="cloud_installation.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/cloud_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/cloud_installation.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/setup/installation/cloud_installation.html" >v1.1.0</option>
@@ -804,7 +805,7 @@ <h2>Destroying a Development<a class="headerlink" href="#destroying-a-developmen
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/setup/installation/index.html b/main/source/setup/installation/index.html
index 699b1b7b8e..a9b3718822 100644
--- a/main/source/setup/installation/index.html
+++ b/main/source/setup/installation/index.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="index.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/index.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/index.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/setup/installation/index.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/setup/installation/index.html" >v1.1.0</option>
@@ -678,7 +679,7 @@ <h1>Local Installation<a class="headerlink" href="#local-installation" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/source/setup/installation/pip_installation.html b/main/source/setup/installation/pip_installation.html
index b9c3592e4f..49c6069b3e 100644
--- a/main/source/setup/installation/pip_installation.html
+++ b/main/source/setup/installation/pip_installation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="pip_installation.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/pip_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/pip_installation.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/setup/installation/pip_installation.html" >v1.1.0</option>
@@ -995,7 +996,7 @@ <h3>Verifying the Isaac Lab installation<a class="headerlink" href="#verifying-t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/main/source/tutorials/00_sim/create_empty.html b/main/source/tutorials/00_sim/create_empty.html
index c10de85771..ded20633e9 100644
--- a/main/source/tutorials/00_sim/create_empty.html
+++ b/main/source/tutorials/00_sim/create_empty.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="create_empty.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/create_empty.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/00_sim/create_empty.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/tutorials/00_sim/create_empty.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/00_sim/create_empty.html" >v1.1.0</option>
@@ -896,7 +897,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/tutorials/00_sim/launch_app.html b/main/source/tutorials/00_sim/launch_app.html
index 70b0ee2322..d193fca7f7 100644
--- a/main/source/tutorials/00_sim/launch_app.html
+++ b/main/source/tutorials/00_sim/launch_app.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="launch_app.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/launch_app.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/00_sim/launch_app.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/tutorials/00_sim/launch_app.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/00_sim/launch_app.html" >v1.1.0</option>
@@ -941,7 +942,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/tutorials/00_sim/spawn_prims.html b/main/source/tutorials/00_sim/spawn_prims.html
index aa37fcff34..354f91bd1c 100644
--- a/main/source/tutorials/00_sim/spawn_prims.html
+++ b/main/source/tutorials/00_sim/spawn_prims.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="spawn_prims.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/spawn_prims.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/00_sim/spawn_prims.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/tutorials/00_sim/spawn_prims.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/00_sim/spawn_prims.html" >v1.1.0</option>
@@ -978,7 +979,7 @@ <h2>Executing the Script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/tutorials/01_assets/run_articulation.html b/main/source/tutorials/01_assets/run_articulation.html
index 628eb6d233..ea27d710f8 100644
--- a/main/source/tutorials/01_assets/run_articulation.html
+++ b/main/source/tutorials/01_assets/run_articulation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="run_articulation.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/tutorials/01_assets/run_articulation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/01_assets/run_articulation.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/tutorials/01_assets/run_articulation.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/01_assets/run_articulation.html" >v1.1.0</option>
@@ -972,7 +973,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/tutorials/01_assets/run_deformable_object.html b/main/source/tutorials/01_assets/run_deformable_object.html
index fd7f0f3a70..08599c106e 100644
--- a/main/source/tutorials/01_assets/run_deformable_object.html
+++ b/main/source/tutorials/01_assets/run_deformable_object.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="run_deformable_object.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/tutorials/01_assets/run_deformable_object.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/01_assets/run_deformable_object.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1029,7 +1030,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/tutorials/01_assets/run_rigid_object.html b/main/source/tutorials/01_assets/run_rigid_object.html
index 3e6f0f86ee..1d02d49da3 100644
--- a/main/source/tutorials/01_assets/run_rigid_object.html
+++ b/main/source/tutorials/01_assets/run_rigid_object.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="run_rigid_object.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/tutorials/01_assets/run_rigid_object.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/01_assets/run_rigid_object.html" >v1.3.0</option>
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@@ -987,7 +988,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/tutorials/02_scene/create_scene.html b/main/source/tutorials/02_scene/create_scene.html
index cc7757b8b8..f4aace915b 100644
--- a/main/source/tutorials/02_scene/create_scene.html
+++ b/main/source/tutorials/02_scene/create_scene.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="create_scene.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/tutorials/02_scene/create_scene.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/02_scene/create_scene.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/tutorials/02_scene/create_scene.html" >v1.1.0</option>
@@ -968,7 +969,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/tutorials/03_envs/create_direct_rl_env.html b/main/source/tutorials/03_envs/create_direct_rl_env.html
index 96d68f9fac..ed674e2024 100644
--- a/main/source/tutorials/03_envs/create_direct_rl_env.html
+++ b/main/source/tutorials/03_envs/create_direct_rl_env.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="create_direct_rl_env.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/tutorials/03_envs/create_direct_rl_env.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/03_envs/create_direct_rl_env.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/tutorials/03_envs/create_direct_rl_env.html" >v1.1.0</option>
@@ -1197,7 +1198,7 @@ <h3>Action and Observation Noise<a class="headerlink" href="#action-and-observat
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/tutorials/03_envs/create_manager_base_env.html b/main/source/tutorials/03_envs/create_manager_base_env.html
index 6fe8c06288..2730df808f 100644
--- a/main/source/tutorials/03_envs/create_manager_base_env.html
+++ b/main/source/tutorials/03_envs/create_manager_base_env.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="create_manager_base_env.html" selected>main</option>
+            <option value="../../../../v1.4.0/source/tutorials/03_envs/create_manager_base_env.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/03_envs/create_manager_base_env.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/tutorials/03_envs/create_manager_base_env.html" >v1.1.0</option>
@@ -1138,7 +1139,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/main/source/tutorials/03_envs/create_manager_rl_env.html b/main/source/tutorials/03_envs/create_manager_rl_env.html
index 1e1226bcf1..f7dc85c30f 100644
--- a/main/source/tutorials/03_envs/create_manager_rl_env.html
+++ b/main/source/tutorials/03_envs/create_manager_rl_env.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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   <div class="footer-item">
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             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1782,7 +1783,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html b/v1.0.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
index 2ad0328d24..c8acb4d2ae 100644
--- a/v1.0.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
+++ b/v1.0.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -580,7 +581,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_cfg</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html b/v1.0.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
index 2d3667d460..4fa3480e9e 100644
--- a/v1.0.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
+++ b/v1.0.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -821,7 +822,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_data</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/assets/asset_base.html b/v1.0.0/_modules/omni/isaac/lab/assets/asset_base.html
index 6679b19204..1cd962cc1a 100644
--- a/v1.0.0/_modules/omni/isaac/lab/assets/asset_base.html
+++ b/v1.0.0/_modules/omni/isaac/lab/assets/asset_base.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -800,7 +801,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base</h1><div class="highlight">
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html b/v1.0.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
index 11ff192bd9..52eef39531 100644
--- a/v1.0.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
+++ b/v1.0.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -615,7 +616,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base_cfg</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html b/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
index 0b74cae0c1..219645c242 100644
--- a/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
+++ b/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -909,7 +910,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html b/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
index 71003737f2..1b3a3f6910 100644
--- a/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
+++ b/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -571,7 +572,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_cfg</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html b/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
index c15c6de38e..08f64f4077 100644
--- a/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
+++ b/v1.0.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -734,7 +735,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_data</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/controllers/differential_ik.html b/v1.0.0/_modules/omni/isaac/lab/controllers/differential_ik.html
index 3750057873..60c7f59b3a 100644
--- a/v1.0.0/_modules/omni/isaac/lab/controllers/differential_ik.html
+++ b/v1.0.0/_modules/omni/isaac/lab/controllers/differential_ik.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -773,7 +774,7 @@ <h1>Source code for omni.isaac.lab.controllers.differential_ik</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html b/v1.0.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
index 3e7818474d..e675ff2bde 100644
--- a/v1.0.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
+++ b/v1.0.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -609,7 +610,7 @@ <h1>Source code for omni.isaac.lab.controllers.differential_ik_cfg</h1><div clas
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/_modules/omni/isaac/lab/devices/device_base.html b/v1.0.0/_modules/omni/isaac/lab/devices/device_base.html
index e5558fd7e8..5b1fcbaf75 100644
--- a/v1.0.0/_modules/omni/isaac/lab/devices/device_base.html
+++ b/v1.0.0/_modules/omni/isaac/lab/devices/device_base.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -590,7 +591,7 @@ <h1>Source code for omni.isaac.lab.devices.device_base</h1><div class="highlight
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html b/v1.0.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
index 1b5300143d..b924c7b7de 100644
--- a/v1.0.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
+++ b/v1.0.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -738,7 +739,7 @@ <h1>Source code for omni.isaac.lab.devices.gamepad.se2_gamepad</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html b/v1.0.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
index cc36816ebe..1a55bc138e 100644
--- a/v1.0.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
+++ b/v1.0.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -783,7 +784,7 @@ <h1>Source code for omni.isaac.lab.devices.gamepad.se3_gamepad</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html b/v1.0.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
index f78f860c60..bc73561d58 100644
--- a/v1.0.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
+++ b/v1.0.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -706,7 +707,7 @@ <h1>Source code for omni.isaac.lab.devices.keyboard.se2_keyboard</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html b/v1.0.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
index c936c33df3..8b2bac7309 100644
--- a/v1.0.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
+++ b/v1.0.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index b7f8bc9427..b79396d90a 100644
--- a/v1.0.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
+++ b/v1.0.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 7901a5a614..7dde62f9d1 100644
--- a/v1.0.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -710,7 +711,7 @@ <h1>Source code for omni.isaac.lab.devices.spacemouse.se3_spacemouse</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index e688f96790..ed03cfd7a6 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/common.html
+++ b/v1.0.0/_modules/omni/isaac/lab/envs/common.html
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@@ -637,7 +638,7 @@ <h1>Source code for omni.isaac.lab.envs.common</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index f51e2d2423..86bb2d15fc 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/direct_rl_env.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 8b12ca017f..a5dc467a7b 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html
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@@ -660,7 +661,7 @@ <h1>Source code for omni.isaac.lab.envs.direct_rl_env_cfg</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index b23aa44f1d..39e821018b 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/manager_based_env.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html b/v1.0.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
index 2612873d4e..64b2f58a90 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -637,7 +638,7 @@ <h1>Source code for omni.isaac.lab.envs.manager_based_env_cfg</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html b/v1.0.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
index 4cd2c0e8e9..c1fdd1aca1 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html b/v1.0.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html
index 1d762419f2..266fc960fe 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -619,7 +620,7 @@ <h1>Source code for omni.isaac.lab.envs.manager_based_rl_env_cfg</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html b/v1.0.0/_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html
index d9049caa11..44459b531d 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html b/v1.0.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html
index bc68b5f428..978829cc35 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/curriculums.html b/v1.0.0/_modules/omni/isaac/lab/envs/mdp/curriculums.html
index ee459acbb8..353b3455b1 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/curriculums.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index f500e5210b..2add20baf2 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/events.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/observations.html b/v1.0.0/_modules/omni/isaac/lab/envs/mdp/observations.html
index 9dbec37021..31e50c92f9 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/observations.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 8991681b47..506c38e049 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/rewards.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index a2472e8ed0..0badcff782 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/mdp/terminations.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index cadfd9655c..9a1f866d35 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/ui/base_env_window.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d6061a5fb2..56b8e24b86 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index f518582046..1e2d0a8bb8 100644
--- a/v1.0.0/_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.0.0/_modules/omni/isaac/lab/managers/action_manager.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.0.0/_modules/omni/isaac/lab/managers/command_manager.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d740734ce6..68545ccc96 100644
--- a/v1.0.0/_modules/omni/isaac/lab/managers/curriculum_manager.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index df64d6bfb3..b69c0db93a 100644
--- a/v1.0.0/_modules/omni/isaac/lab/managers/event_manager.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.0.0/_modules/omni/isaac/lab/managers/manager_base.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 208747bd44..6c008d80ac 100644
--- a/v1.0.0/_modules/omni/isaac/lab/managers/observation_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.0.0/_modules/omni/isaac/lab/managers/reward_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html b/v1.0.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
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--- a/v1.0.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 90874de3cd..3e37c9e286 100644
--- a/v1.0.0/_modules/omni/isaac/lab/managers/termination_manager.html
+++ b/v1.0.0/_modules/omni/isaac/lab/managers/termination_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -790,7 +791,7 @@ <h1>Source code for omni.isaac.lab.managers.termination_manager</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index b4e82c439c..9eeee027f8 100644
--- a/v1.0.0/_modules/omni/isaac/lab/markers/visualization_markers.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -948,7 +949,7 @@ <h1>Source code for omni.isaac.lab.markers.visualization_markers</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index fa40ebf647..27455768a1 100644
--- a/v1.0.0/_modules/omni/isaac/lab/scene/interactive_scene.html
+++ b/v1.0.0/_modules/omni/isaac/lab/scene/interactive_scene.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -957,7 +958,7 @@ <h1>Source code for omni.isaac.lab.scene.interactive_scene</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html b/v1.0.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html
index 170637b2c6..d18029f3b0 100644
--- a/v1.0.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -627,7 +628,7 @@ <h1>Source code for omni.isaac.lab.scene.interactive_scene_cfg</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/camera/camera.html b/v1.0.0/_modules/omni/isaac/lab/sensors/camera/camera.html
index e4afeb7bc4..b95d565d40 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/camera/camera.html
+++ b/v1.0.0/_modules/omni/isaac/lab/sensors/camera/camera.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -1186,7 +1187,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
index ef77426e24..ee636cd1e4 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -647,7 +648,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera_cfg</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html b/v1.0.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html
index e90c2da12e..4ae3fd8e05 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -631,7 +632,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera_data</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html b/v1.0.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html
index 4b9637da8f..dcf70b752e 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -808,7 +809,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.tiled_camera</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
index bf3afcd5a4..4a0c03d5e6 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
+++ b/v1.0.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -612,7 +613,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.tiled_camera_cfg</h1><div clas
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html b/v1.0.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html
index 34d16fddd6..e64fc92b6a 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html
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@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -940,7 +941,7 @@ <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
index fc34690457..ef021ea4f8 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -593,7 +594,7 @@ <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor_cfg</h1
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html b/v1.0.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
index 59f760023d..870716bdaf 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
+++ b/v1.0.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html b/v1.0.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html
index b32554acc5..21b16d7b74 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html
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@@ -58,7 +58,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -908,7 +909,7 @@ <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer</
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html
index 7d6fcbf1fc..61f7fd1950 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html b/v1.0.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html
index 2a938b6305..b999a6619b 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -626,7 +627,7 @@ <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer_d
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html b/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html
index 394877cb16..dfd46b12b3 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html
+++ b/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -834,7 +835,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html b/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
index 0ecb9f0451..f9b40d748b 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -938,7 +939,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_camera</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html
index 6bc0d7dea4..a3c867805e 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -588,7 +589,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html
index 2825d57233..050546d17b 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html
+++ b/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -608,7 +609,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html b/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
index 7c64eee974..a0909939b5 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -568,7 +569,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_data</h1><div c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/sensor_base.html b/v1.0.0/_modules/omni/isaac/lab/sensors/sensor_base.html
index c4e44a9a78..7e3b271cb3 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/sensor_base.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -822,7 +823,7 @@ <h1>Source code for omni.isaac.lab.sensors.sensor_base</h1><div class="highlight
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html
index 09415fec93..e893284aa2 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -581,7 +582,7 @@ <h1>Source code for omni.isaac.lab.sensors.sensor_base_cfg</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html b/v1.0.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html
index ad4d64816e..298ad14ea7 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -735,7 +736,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.asset_converter_base</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html
index ee231a7836..5cdb7bbae0 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -587,7 +588,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.asset_converter_base_cfg</h1><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html b/v1.0.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html
index d0ec3734e7..f055f9855f 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -769,7 +770,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.mesh_converter</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html
index 5e03c75c89..34c5cca5ce 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -583,7 +584,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.mesh_converter_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html b/v1.0.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html
index 5c72007b30..ecacb8eb5b 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -702,7 +703,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.urdf_converter</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
index 8200073b1b..a2029b649f 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 093619029c..fcef624be5 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/schemas/schemas.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index a57b63b11e..e0ee80a079 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 05d92b1e1d..fd3fffe43b 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/simulation_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.0.0/_modules/omni/isaac/lab/sim/simulation_context.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 7a8ee220ee..a3d10cabba 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
index 6f7de21ab2..f3253811ff 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 453195d808..6e336dc1dc 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -619,7 +620,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.lights.lights</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
index 47275d76f3..928f539482 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -727,7 +728,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.lights.lights_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html
index 1ec1690777..98317a1014 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html
index 1ebf19916e..8459c49d77 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html
index 0a16e76c5b..ca56887f31 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
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--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
index 0feda9afaf..0ccba6e8a4 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
index dc1d555b6b..58db805b55 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index ad40ffa0ca..42c0d75f7a 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
+++ b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -840,7 +841,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
index c9066db1cd..c32c1908a3 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
+++ b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -661,7 +662,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
index ff43be03f4..48d5c41ef1 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
+++ b/v1.0.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -640,7 +641,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.spawner_cfg</h1><div class="high
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/sim/utils.html b/v1.0.0/_modules/omni/isaac/lab/sim/utils.html
index 987f29945f..14089ed718 100644
--- a/v1.0.0/_modules/omni/isaac/lab/sim/utils.html
+++ b/v1.0.0/_modules/omni/isaac/lab/sim/utils.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -1397,7 +1398,7 @@ <h1>Source code for omni.isaac.lab.sim.utils</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html b/v1.0.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
index 57776f0fd7..7400eb18fb 100644
--- a/v1.0.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
+++ b/v1.0.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
@@ -58,7 +58,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -975,7 +976,7 @@ <h1>Source code for omni.isaac.lab.terrains.height_field.hf_terrains</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html b/v1.0.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
index c6be0a4357..c1e4a46fa0 100644
--- a/v1.0.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
+++ b/v1.0.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -706,7 +707,7 @@ <h1>Source code for omni.isaac.lab.terrains.height_field.hf_terrains_cfg</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 5458dc522a..a51ab2a5f7 100644
--- a/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_generator.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -860,7 +861,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_generator</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html b/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
index 4d73ac4ec7..ecd90bf4b8 100644
--- a/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
+++ b/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -721,7 +722,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_generator_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_importer.html b/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_importer.html
index 45584f7283..e28b6f7419 100644
--- a/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_importer.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -901,7 +902,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_importer</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html b/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html
index 7e748176cb..5cdf6c70e3 100644
--- a/v1.0.0/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html b/v1.0.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html
index 5f68f13398..e356559578 100644
--- a/v1.0.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -1391,7 +1392,7 @@ <h1>Source code for omni.isaac.lab.terrains.trimesh.mesh_terrains</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html b/v1.0.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
index 6dcdc99075..4fe4e896f1 100644
--- a/v1.0.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/terrains/utils.html b/v1.0.0/_modules/omni/isaac/lab/terrains/utils.html
index 0d5f557098..a888194fe7 100644
--- a/v1.0.0/_modules/omni/isaac/lab/terrains/utils.html
+++ b/v1.0.0/_modules/omni/isaac/lab/terrains/utils.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.0.0/_modules/omni/isaac/lab/utils/array.html b/v1.0.0/_modules/omni/isaac/lab/utils/array.html
index eab577b005..1335f14ca0 100644
--- a/v1.0.0/_modules/omni/isaac/lab/utils/array.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
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   <div class="footer-item">
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index 75f4bbc048..8d1c1f0036 100644
--- a/v1.0.0/_modules/omni/isaac/lab/utils/warp/ops.html
+++ b/v1.0.0/_modules/omni/isaac/lab/utils/warp/ops.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d60df97986..91f447f71b 100644
--- a/v1.0.0/_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html
+++ b/v1.0.0/_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 9d85308220..29623ff177 100644
--- a/v1.0.0/_modules/omni/isaac/lab_tasks/utils/importer.html
+++ b/v1.0.0/_modules/omni/isaac/lab_tasks/utils/importer.html
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 19614e7751..e68b80ba3e 100644
--- a/v1.0.0/_modules/omni/isaac/lab_tasks/utils/parse_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 7be29971ac..911938c004 100644
--- a/v1.0.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index ddebe31a83..e40d02c1d6 100644
--- a/v1.0.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/exporter.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.0.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.0.0/_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.0.0/_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.0.0/genindex.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
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+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.0.0/index.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
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+  Last updated on Dec 27, 2024.
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 </p>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/api/index.html" >main</option>
+            <option value="../../../v1.4.0/source/api/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/api/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/api/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/api/index.html" >v1.1.0</option>
@@ -726,7 +727,7 @@ <h2>omni.isaac.lab_tasks extension<a class="headerlink" href="#omni-isaac-lab-ta
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.actuators.html b/v1.0.0/source/api/lab/omni.isaac.lab.actuators.html
index 1b606d24f3..74952df26e 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.actuators.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.actuators.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.actuators.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.actuators.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.actuators.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.actuators.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.actuators.html" >v1.1.0</option>
@@ -3841,7 +3842,7 @@ <h2>LSTM Network Actuator<a class="headerlink" href="#lstm-network-actuator" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.app.html b/v1.0.0/source/api/lab/omni.isaac.lab.app.html
index 7237bb1482..329a03937c 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.app.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.app.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.app.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.app.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.app.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.app.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.app.html" >v1.1.0</option>
@@ -889,7 +890,7 @@ <h2>Simulation App Launcher<a class="headerlink" href="#simulation-app-launcher"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.assets.html b/v1.0.0/source/api/lab/omni.isaac.lab.assets.html
index a8febb4c4c..204f262d34 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.assets.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.assets.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.assets.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.assets.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.assets.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.assets.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.assets.html" >v1.1.0</option>
@@ -3641,7 +3642,7 @@ <h2>Articulation<a class="headerlink" href="#articulation" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.controllers.html b/v1.0.0/source/api/lab/omni.isaac.lab.controllers.html
index f6dc9fb736..315ae89ee7 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.controllers.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.controllers.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.controllers.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.controllers.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.controllers.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.controllers.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.controllers.html" >v1.1.0</option>
@@ -932,7 +933,7 @@ <h2>Differential Inverse Kinematics<a class="headerlink" href="#differential-inv
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.devices.html b/v1.0.0/source/api/lab/omni.isaac.lab.devices.html
index 8fee91daf0..2b334b41e1 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.devices.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.devices.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.devices.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.devices.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.devices.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.devices.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.devices.html" >v1.1.0</option>
@@ -1529,7 +1530,7 @@ <h2>Space Mouse<a class="headerlink" href="#space-mouse" title="Permalink to thi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.envs.html b/v1.0.0/source/api/lab/omni.isaac.lab.envs.html
index 4a8fe934b2..9fd38071cc 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.envs.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.envs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.envs.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.envs.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.html" >v1.1.0</option>
@@ -2432,7 +2433,7 @@ <h2>Common<a class="headerlink" href="#common" title="Permalink to this heading"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.envs.mdp.html b/v1.0.0/source/api/lab/omni.isaac.lab.envs.mdp.html
index 3caea9bf5e..002067590b 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.envs.mdp.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.envs.mdp.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.mdp.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.1.0</option>
@@ -3583,7 +3584,7 @@ <h2> Contents </h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.envs.ui.html b/v1.0.0/source/api/lab/omni.isaac.lab.envs.ui.html
index a7ea9ae4c8..9a0a38231d 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.envs.ui.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.envs.ui.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.ui.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.1.0</option>
@@ -934,7 +935,7 @@ <h2>Viewport Camera Controller<a class="headerlink" href="#viewport-camera-contr
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.managers.html b/v1.0.0/source/api/lab/omni.isaac.lab.managers.html
index 75ca3ddbb9..c0eee52eb9 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.managers.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.managers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.managers.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.managers.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.managers.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.managers.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.managers.html" >v1.1.0</option>
@@ -3829,7 +3830,7 @@ <h2>Curriculum Manager<a class="headerlink" href="#curriculum-manager" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.markers.html b/v1.0.0/source/api/lab/omni.isaac.lab.markers.html
index 01402c6048..e08f19255e 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.markers.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.markers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.markers.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.markers.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.markers.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.markers.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.markers.html" >v1.1.0</option>
@@ -955,7 +956,7 @@ <h2>Visualization Markers<a class="headerlink" href="#visualization-markers" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.scene.html b/v1.0.0/source/api/lab/omni.isaac.lab.scene.html
index 93675ff614..af04c2db27 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.scene.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.scene.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.scene.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.scene.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.scene.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.scene.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.scene.html" >v1.1.0</option>
@@ -1130,7 +1131,7 @@ <h2>interactive Scene<a class="headerlink" href="#interactive-scene" title="Perm
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.sensors.html b/v1.0.0/source/api/lab/omni.isaac.lab.sensors.html
index 7dfd20b245..25278ed954 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.sensors.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.sensors.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.sensors.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.1.0</option>
@@ -4353,7 +4354,7 @@ <h2>Ray-Cast Camera<a class="headerlink" href="#ray-cast-camera" title="Permalin
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.sensors.patterns.html b/v1.0.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
index f18f2acfc9..3915bc5490 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sensors.patterns.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.4.0</option>
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@@ -1038,7 +1039,7 @@ <h2>RS-Bpearl Pattern<a class="headerlink" href="#rs-bpearl-pattern" title="Perm
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.sim.converters.html b/v1.0.0/source/api/lab/omni.isaac.lab.sim.converters.html
index ad188ee3c3..eb36f7110f 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.sim.converters.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.sim.converters.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.converters.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.4.0</option>
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@@ -1500,7 +1501,7 @@ <h2>URDF Converter<a class="headerlink" href="#urdf-converter" title="Permalink
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.sim.html b/v1.0.0/source/api/lab/omni.isaac.lab.sim.html
index 848b4a5301..405dbd4bc3 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.sim.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.sim.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -159,6 +159,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.html" >v1.4.0</option>
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@@ -2101,7 +2102,7 @@ <h2>Simulation Context Builder<a class="headerlink" href="#simulation-context-bu
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.sim.schemas.html b/v1.0.0/source/api/lab/omni.isaac.lab.sim.schemas.html
index be4833f931..681cf10194 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.sim.schemas.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.sim.schemas.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.schemas.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.4.0</option>
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@@ -1693,7 +1694,7 @@ <h2>Fixed Tendon<a class="headerlink" href="#fixed-tendon" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.sim.spawners.html b/v1.0.0/source/api/lab/omni.isaac.lab.sim.spawners.html
index 1d33f7fb14..63c15e840f 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.sim.spawners.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.sim.spawners.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.spawners.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.4.0</option>
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@@ -5502,7 +5503,7 @@ <h3>Physical Materials<a class="headerlink" href="#physical-materials" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.terrains.html b/v1.0.0/source/api/lab/omni.isaac.lab.terrains.html
index b7e4536b67..551c0e34f5 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.terrains.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.terrains.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.terrains.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.4.0</option>
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@@ -5298,7 +5299,7 @@ <h3>Repeated Objects Terrain<a class="headerlink" href="#repeated-objects-terrai
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/api/lab/omni.isaac.lab.utils.html b/v1.0.0/source/api/lab/omni.isaac.lab.utils.html
index 22f70afc78..bb9874c747 100644
--- a/v1.0.0/source/api/lab/omni.isaac.lab.utils.html
+++ b/v1.0.0/source/api/lab/omni.isaac.lab.utils.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.utils.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html b/v1.0.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html
index 3ca1330ea9..0ee43e3f5f 100644
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@@ -61,7 +61,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.html b/v1.0.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.html
index 4fef7dc720..61688ef43c 100644
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+++ b/v1.0.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.html
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   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html b/v1.0.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html
index b0cf2f3974..e7828e5cee 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -2048,7 +2049,7 @@ <h2> Contents </h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/deployment/cluster.html b/v1.0.0/source/deployment/cluster.html
index 0f0c8796c7..be37026aaf 100644
--- a/v1.0.0/source/deployment/cluster.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/deployment/cluster.html" >v1.4.0</option>
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@@ -816,7 +817,7 @@ <h3>Submitting a job<a class="headerlink" href="#submitting-a-job" title="Permal
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/deployment/docker.html b/v1.0.0/source/deployment/docker.html
index 9ec3dafba9..cfe5db9fe2 100644
--- a/v1.0.0/source/deployment/docker.html
+++ b/v1.0.0/source/deployment/docker.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -927,7 +928,7 @@ <h3>WebRTC Streaming<a class="headerlink" href="#webrtc-streaming" title="Permal
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/deployment/index.html b/v1.0.0/source/deployment/index.html
index 5e530a02bb..d175e5f9d9 100644
--- a/v1.0.0/source/deployment/index.html
+++ b/v1.0.0/source/deployment/index.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -642,7 +643,7 @@ <h1>Container Deployment<a class="headerlink" href="#container-deployment" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/deployment/run_docker_example.html b/v1.0.0/source/deployment/run_docker_example.html
index ec07a09e9e..21500ed9ad 100644
--- a/v1.0.0/source/deployment/run_docker_example.html
+++ b/v1.0.0/source/deployment/run_docker_example.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="../../../main/source/deployment/run_docker_example.html" >main</option>
+            <option value="../../../v1.4.0/source/deployment/run_docker_example.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/deployment/run_docker_example.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/deployment/run_docker_example.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/deployment/run_docker_example.html" >v1.1.0</option>
@@ -850,7 +851,7 @@ <h2>Executing the Script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/features/actuators.html b/v1.0.0/source/features/actuators.html
index e928610933..0ec7cccaf6 100644
--- a/v1.0.0/source/features/actuators.html
+++ b/v1.0.0/source/features/actuators.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/features/actuators.html" >v1.1.0</option>
@@ -705,7 +706,7 @@ <h2>Actuator groups<a class="headerlink" href="#actuator-groups" title="Permalin
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/features/environments.html b/v1.0.0/source/features/environments.html
index 972a99a3c9..9d4a849f0e 100644
--- a/v1.0.0/source/features/environments.html
+++ b/v1.0.0/source/features/environments.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/features/environments.html" >v1.1.0</option>
@@ -911,7 +912,7 @@ <h2>Others<a class="headerlink" href="#others" title="Permalink to this heading"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/features/motion_generators.html b/v1.0.0/source/features/motion_generators.html
index f89f90364a..c7fe7f1b9f 100644
--- a/v1.0.0/source/features/motion_generators.html
+++ b/v1.0.0/source/features/motion_generators.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/features/motion_generators.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/features/motion_generators.html" >v1.1.0</option>
@@ -845,7 +846,7 @@ <h2>Reactive planners<a class="headerlink" href="#reactive-planners" title="Perm
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/features/multi_gpu.html b/v1.0.0/source/features/multi_gpu.html
index 70c1eb101b..2e554c9620 100644
--- a/v1.0.0/source/features/multi_gpu.html
+++ b/v1.0.0/source/features/multi_gpu.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/features/multi_gpu.html" >main</option>
+            <option value="../../../v1.4.0/source/features/multi_gpu.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/features/multi_gpu.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/features/multi_gpu.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/features/multi_gpu.html" >v1.1.0</option>
@@ -688,7 +689,7 @@ <h2>Multi-Node Training<a class="headerlink" href="#multi-node-training" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/features/task_workflows.html b/v1.0.0/source/features/task_workflows.html
index a697acb3fd..0d0433a230 100644
--- a/v1.0.0/source/features/task_workflows.html
+++ b/v1.0.0/source/features/task_workflows.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/features/task_workflows.html" >v1.1.0</option>
@@ -812,7 +813,7 @@ <h2>Direct Environments<a class="headerlink" href="#direct-environments" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/features/tiled_rendering.html b/v1.0.0/source/features/tiled_rendering.html
index dd0c6fb109..0c5594894f 100644
--- a/v1.0.0/source/features/tiled_rendering.html
+++ b/v1.0.0/source/features/tiled_rendering.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/features/tiled_rendering.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/features/tiled_rendering.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/features/tiled_rendering.html" >v1.1.0</option>
@@ -715,7 +716,7 @@ <h2>Recording during training<a class="headerlink" href="#recording-during-train
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/how-to/add_own_library.html b/v1.0.0/source/how-to/add_own_library.html
index d614ad1b91..26f551e402 100644
--- a/v1.0.0/source/how-to/add_own_library.html
+++ b/v1.0.0/source/how-to/add_own_library.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/add_own_library.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/add_own_library.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/add_own_library.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/add_own_library.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/add_own_library.html" >v1.1.0</option>
@@ -730,7 +731,7 @@ <h2>Integrating a new library<a class="headerlink" href="#integrating-a-new-libr
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/how-to/draw_markers.html b/v1.0.0/source/how-to/draw_markers.html
index d7b8e3ea49..dcb8c4f797 100644
--- a/v1.0.0/source/how-to/draw_markers.html
+++ b/v1.0.0/source/how-to/draw_markers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/draw_markers.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/draw_markers.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/draw_markers.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/draw_markers.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/draw_markers.html" >v1.1.0</option>
@@ -911,7 +912,7 @@ <h2>Executing the Script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/how-to/import_new_asset.html b/v1.0.0/source/how-to/import_new_asset.html
index 9a57062fb6..ca7382c303 100644
--- a/v1.0.0/source/how-to/import_new_asset.html
+++ b/v1.0.0/source/how-to/import_new_asset.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/import_new_asset.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/import_new_asset.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/import_new_asset.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/import_new_asset.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/import_new_asset.html" >v1.1.0</option>
@@ -813,7 +814,7 @@ <h3>Example Usage<a class="headerlink" href="#id1" title="Permalink to this head
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/how-to/index.html b/v1.0.0/source/how-to/index.html
index bcef442d90..abfc6cbd6c 100644
--- a/v1.0.0/source/how-to/index.html
+++ b/v1.0.0/source/how-to/index.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/index.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/index.html" >v1.1.0</option>
@@ -646,7 +647,7 @@ <h1>How-to Guides<a class="headerlink" href="#how-to-guides" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/how-to/make_fixed_prim.html b/v1.0.0/source/how-to/make_fixed_prim.html
index a96ed8a44e..e6a2e30be4 100644
--- a/v1.0.0/source/how-to/make_fixed_prim.html
+++ b/v1.0.0/source/how-to/make_fixed_prim.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/make_fixed_prim.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/make_fixed_prim.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/make_fixed_prim.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/make_fixed_prim.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/make_fixed_prim.html" >v1.1.0</option>
@@ -808,7 +809,7 @@ <h2>Further notes<a class="headerlink" href="#further-notes" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/how-to/master_omniverse.html b/v1.0.0/source/how-to/master_omniverse.html
index 93be4c258b..521f59330c 100644
--- a/v1.0.0/source/how-to/master_omniverse.html
+++ b/v1.0.0/source/how-to/master_omniverse.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/master_omniverse.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/master_omniverse.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/master_omniverse.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/master_omniverse.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/master_omniverse.html" >v1.1.0</option>
@@ -772,7 +773,7 @@ <h2>Part 3: More Resources<a class="headerlink" href="#part-3-more-resources" ti
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/how-to/record_animation.html b/v1.0.0/source/how-to/record_animation.html
index 10246821e4..bad9ebb774 100644
--- a/v1.0.0/source/how-to/record_animation.html
+++ b/v1.0.0/source/how-to/record_animation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/record_animation.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/record_animation.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/record_animation.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/record_animation.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/record_animation.html" >v1.1.0</option>
@@ -784,7 +785,7 @@ <h2>Example Usage<a class="headerlink" href="#example-usage" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/how-to/save_camera_output.html b/v1.0.0/source/how-to/save_camera_output.html
index 1b417a1459..132e037480 100644
--- a/v1.0.0/source/how-to/save_camera_output.html
+++ b/v1.0.0/source/how-to/save_camera_output.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/save_camera_output.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/save_camera_output.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/save_camera_output.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/save_camera_output.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/save_camera_output.html" >v1.1.0</option>
@@ -1062,7 +1063,7 @@ <h2>Executing the script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/how-to/wrap_rl_env.html b/v1.0.0/source/how-to/wrap_rl_env.html
index 3a25f4d4ca..12152c6891 100644
--- a/v1.0.0/source/how-to/wrap_rl_env.html
+++ b/v1.0.0/source/how-to/wrap_rl_env.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../v1.4.0/source/how-to/wrap_rl_env.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/source/how-to/wrap_rl_env.html" >v1.1.0</option>
@@ -826,7 +827,7 @@ <h2>Adding new wrappers<a class="headerlink" href="#adding-new-wrappers" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/how-to/write_articulation_cfg.html b/v1.0.0/source/how-to/write_articulation_cfg.html
index d443006c63..de6599b025 100644
--- a/v1.0.0/source/how-to/write_articulation_cfg.html
+++ b/v1.0.0/source/how-to/write_articulation_cfg.html
@@ -61,7 +61,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="../../../main/source/how-to/write_articulation_cfg.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/write_articulation_cfg.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/source/how-to/write_articulation_cfg.html" >v1.1.0</option>
@@ -826,7 +827,7 @@ <h2>Defining the actuator configuration<a class="headerlink" href="#defining-the
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/migration/index.html b/v1.0.0/source/migration/index.html
index 99a43f4139..6c1262d717 100644
--- a/v1.0.0/source/migration/index.html
+++ b/v1.0.0/source/migration/index.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/index.html" >v1.1.0</option>
@@ -634,7 +635,7 @@ <h1>Migration Guides<a class="headerlink" href="#migration-guides" title="Permal
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/migration/migrating_from_isaacgymenvs.html b/v1.0.0/source/migration/migrating_from_isaacgymenvs.html
index 2ee609a1fd..1dfd6dcae1 100644
--- a/v1.0.0/source/migration/migrating_from_isaacgymenvs.html
+++ b/v1.0.0/source/migration/migrating_from_isaacgymenvs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="../../../main/source/migration/migrating_from_isaacgymenvs.html" >main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_isaacgymenvs.html" >v1.4.0</option>
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@@ -1838,7 +1839,7 @@ <h2>Launching Inferencing<a class="headerlink" href="#launching-inferencing" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/migration/migrating_from_omniisaacgymenvs.html b/v1.0.0/source/migration/migrating_from_omniisaacgymenvs.html
index ccb8066bad..70c5e97671 100644
--- a/v1.0.0/source/migration/migrating_from_omniisaacgymenvs.html
+++ b/v1.0.0/source/migration/migrating_from_omniisaacgymenvs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="../../../main/source/migration/migrating_from_omniisaacgymenvs.html" >main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_omniisaacgymenvs.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/source/migration/migrating_from_omniisaacgymenvs.html" >v1.1.0</option>
@@ -1884,7 +1885,7 @@ <h2>Launching Inferencing<a class="headerlink" href="#launching-inferencing" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/migration/migrating_from_orbit.html b/v1.0.0/source/migration/migrating_from_orbit.html
index 699879b3a7..fc8c4a1c10 100644
--- a/v1.0.0/source/migration/migrating_from_orbit.html
+++ b/v1.0.0/source/migration/migrating_from_orbit.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="../../../main/source/migration/migrating_from_orbit.html" >main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_orbit.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/migration/migrating_from_orbit.html" >v1.3.0</option>
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             <option value="../../../v1.1.0/source/migration/migrating_from_orbit.html" >v1.1.0</option>
@@ -788,7 +789,7 @@ <h3>Event term distribution configuration<a class="headerlink" href="#event-term
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/refs/bibliography.html b/v1.0.0/source/refs/bibliography.html
index 8de13189fa..3fd9871246 100644
--- a/v1.0.0/source/refs/bibliography.html
+++ b/v1.0.0/source/refs/bibliography.html
@@ -60,7 +60,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../v1.4.0/source/refs/bibliography.html" >v1.4.0</option>
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@@ -670,7 +671,7 @@ <h1>Bibliography<a class="headerlink" href="#bibliography" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/refs/changelog.html b/v1.0.0/source/refs/changelog.html
index efadc8ee07..7205220a8f 100644
--- a/v1.0.0/source/refs/changelog.html
+++ b/v1.0.0/source/refs/changelog.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/changelog.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/changelog.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/source/refs/changelog.html" >v1.1.0</option>
@@ -5495,7 +5496,7 @@ <h4>Added<a class="headerlink" href="#id499" title="Permalink to this heading">#
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/refs/contributing.html b/v1.0.0/source/refs/contributing.html
index 592dbbea55..6afbf181b7 100644
--- a/v1.0.0/source/refs/contributing.html
+++ b/v1.0.0/source/refs/contributing.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/contributing.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/contributing.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/source/refs/contributing.html" >v1.1.0</option>
@@ -900,7 +901,7 @@ <h2>Maintaining a changelog<a class="headerlink" href="#maintaining-a-changelog"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/refs/issues.html b/v1.0.0/source/refs/issues.html
index fb0472ca98..8d2b9b1ac6 100644
--- a/v1.0.0/source/refs/issues.html
+++ b/v1.0.0/source/refs/issues.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../v1.4.0/source/refs/issues.html" >v1.4.0</option>
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@@ -749,7 +750,7 @@ <h2>Exiting the process<a class="headerlink" href="#exiting-the-process" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/refs/license.html b/v1.0.0/source/refs/license.html
index ec6ab884c7..af8114e4ce 100644
--- a/v1.0.0/source/refs/license.html
+++ b/v1.0.0/source/refs/license.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../v1.4.0/source/refs/license.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/license.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/refs/license.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/refs/license.html" >v1.1.0</option>
@@ -662,7 +663,7 @@ <h1>License</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/refs/migration.html b/v1.0.0/source/refs/migration.html
index a5f3df2ef5..6dfc81e2ad 100644
--- a/v1.0.0/source/refs/migration.html
+++ b/v1.0.0/source/refs/migration.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/migration.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/migration.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/migration.html" >v1.3.0</option>
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             <option value="../../../v1.1.0/source/refs/migration.html" >v1.1.0</option>
@@ -737,7 +738,7 @@ <h2>Deprecation of <code class="xref py py-class docutils literal notranslate"><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/refs/troubleshooting.html b/v1.0.0/source/refs/troubleshooting.html
index a48bfec3a4..8e3a18438f 100644
--- a/v1.0.0/source/refs/troubleshooting.html
+++ b/v1.0.0/source/refs/troubleshooting.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/troubleshooting.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/troubleshooting.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/troubleshooting.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/refs/troubleshooting.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/refs/troubleshooting.html" >v1.1.0</option>
@@ -866,7 +867,7 @@ <h2>Understanding the error logs from crashes<a class="headerlink" href="#unders
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/setup/developer.html b/v1.0.0/source/setup/developer.html
index 68cd9a53e5..26ad5d5dd8 100644
--- a/v1.0.0/source/setup/developer.html
+++ b/v1.0.0/source/setup/developer.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/setup/developer.html" >v1.1.0</option>
@@ -903,7 +904,7 @@ <h3>Standalone applications<a class="headerlink" href="#standalone-applications"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.0.0/source/setup/faq.html b/v1.0.0/source/setup/faq.html
index b94c20334d..9fa244b9c8 100644
--- a/v1.0.0/source/setup/faq.html
+++ b/v1.0.0/source/setup/faq.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/setup/faq.html" >main</option>
+            <option value="../../../v1.4.0/source/setup/faq.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/setup/faq.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/setup/faq.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/setup/faq.html" >v1.1.0</option>
@@ -717,7 +718,7 @@ <h2>Why should I use Isaac Lab?<a class="headerlink" href="#why-should-i-use-isa
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/setup/installation/binaries_installation.html b/v1.0.0/source/setup/installation/binaries_installation.html
index 5f7460a618..3305d1f0e0 100644
--- a/v1.0.0/source/setup/installation/binaries_installation.html
+++ b/v1.0.0/source/setup/installation/binaries_installation.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/binaries_installation.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/binaries_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/binaries_installation.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/setup/installation/binaries_installation.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/setup/installation/binaries_installation.html" >v1.1.0</option>
@@ -851,7 +852,7 @@ <h3>Installation<a class="headerlink" href="#installation" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/setup/installation/cloud_installation.html b/v1.0.0/source/setup/installation/cloud_installation.html
index d5166a442c..fc8580b915 100644
--- a/v1.0.0/source/setup/installation/cloud_installation.html
+++ b/v1.0.0/source/setup/installation/cloud_installation.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/cloud_installation.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/cloud_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/cloud_installation.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/setup/installation/cloud_installation.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/setup/installation/cloud_installation.html" >v1.1.0</option>
@@ -755,7 +756,7 @@ <h2>Destroying a Development<a class="headerlink" href="#destroying-a-developmen
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/setup/installation/index.html b/v1.0.0/source/setup/installation/index.html
index a2ca11ce94..0118cfed8c 100644
--- a/v1.0.0/source/setup/installation/index.html
+++ b/v1.0.0/source/setup/installation/index.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/index.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/index.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/index.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/setup/installation/index.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/setup/installation/index.html" >v1.1.0</option>
@@ -672,7 +673,7 @@ <h1>Installation Guide<a class="headerlink" href="#installation-guide" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/setup/installation/pip_installation.html b/v1.0.0/source/setup/installation/pip_installation.html
index 62ba9e2e45..88734918ab 100644
--- a/v1.0.0/source/setup/installation/pip_installation.html
+++ b/v1.0.0/source/setup/installation/pip_installation.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/pip_installation.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/pip_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/pip_installation.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/setup/installation/pip_installation.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/setup/installation/pip_installation.html" >v1.1.0</option>
@@ -805,7 +806,7 @@ <h3>Installation<a class="headerlink" href="#installation" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/setup/installation/verifying_installation.html b/v1.0.0/source/setup/installation/verifying_installation.html
index 47db265985..f1c9c3f510 100644
--- a/v1.0.0/source/setup/installation/verifying_installation.html
+++ b/v1.0.0/source/setup/installation/verifying_installation.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/index.html" >main</option>
+            <option value="../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/setup/installation/verifying_installation.html" >v1.1.0</option>
@@ -807,7 +808,7 @@ <h2>Verifying the Isaac Lab installation<a class="headerlink" href="#verifying-t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/setup/sample.html b/v1.0.0/source/setup/sample.html
index 4fd07f6354..b20a4706be 100644
--- a/v1.0.0/source/setup/sample.html
+++ b/v1.0.0/source/setup/sample.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/setup/sample.html" >v1.1.0</option>
@@ -867,7 +868,7 @@ <h3>Reinforcement Learning<a class="headerlink" href="#reinforcement-learning" t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/setup/template.html b/v1.0.0/source/setup/template.html
index e18d326c28..143c8ec943 100644
--- a/v1.0.0/source/setup/template.html
+++ b/v1.0.0/source/setup/template.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/setup/template.html" >v1.1.0</option>
@@ -645,7 +646,7 @@ <h1>Building your Own Project<a class="headerlink" href="#building-your-own-proj
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/tutorials/00_sim/create_empty.html b/v1.0.0/source/tutorials/00_sim/create_empty.html
index 25677bfe8d..fd2890478e 100644
--- a/v1.0.0/source/tutorials/00_sim/create_empty.html
+++ b/v1.0.0/source/tutorials/00_sim/create_empty.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/tutorials/00_sim/create_empty.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/create_empty.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/00_sim/create_empty.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/tutorials/00_sim/create_empty.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/00_sim/create_empty.html" >v1.1.0</option>
@@ -871,7 +872,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/tutorials/00_sim/index.html b/v1.0.0/source/tutorials/00_sim/index.html
index 0d634f24f2..b0a3a96432 100644
--- a/v1.0.0/source/tutorials/00_sim/index.html
+++ b/v1.0.0/source/tutorials/00_sim/index.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/index.html" >main</option>
+            <option value="../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/00_sim/index.html" >v1.1.0</option>
@@ -635,7 +636,7 @@ <h1>Setting up a Simple Simulation<a class="headerlink" href="#setting-up-a-simp
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/tutorials/00_sim/launch_app.html b/v1.0.0/source/tutorials/00_sim/launch_app.html
index e33f8add4f..c7b6d3d8e1 100644
--- a/v1.0.0/source/tutorials/00_sim/launch_app.html
+++ b/v1.0.0/source/tutorials/00_sim/launch_app.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/tutorials/00_sim/launch_app.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/launch_app.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/00_sim/launch_app.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/tutorials/00_sim/launch_app.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/00_sim/launch_app.html" >v1.1.0</option>
@@ -918,7 +919,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/tutorials/00_sim/spawn_prims.html b/v1.0.0/source/tutorials/00_sim/spawn_prims.html
index 631c0f1d37..eba4b68ccf 100644
--- a/v1.0.0/source/tutorials/00_sim/spawn_prims.html
+++ b/v1.0.0/source/tutorials/00_sim/spawn_prims.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/tutorials/00_sim/spawn_prims.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/spawn_prims.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/00_sim/spawn_prims.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/tutorials/00_sim/spawn_prims.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/00_sim/spawn_prims.html" >v1.1.0</option>
@@ -929,7 +930,7 @@ <h2>Executing the Script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/tutorials/01_assets/index.html b/v1.0.0/source/tutorials/01_assets/index.html
index 61903f6b89..c0c87b1ed7 100644
--- a/v1.0.0/source/tutorials/01_assets/index.html
+++ b/v1.0.0/source/tutorials/01_assets/index.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/index.html" >main</option>
+            <option value="../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/01_assets/index.html" >v1.1.0</option>
@@ -635,7 +636,7 @@ <h1>Interacting with Assets<a class="headerlink" href="#interacting-with-assets"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/tutorials/01_assets/run_articulation.html b/v1.0.0/source/tutorials/01_assets/run_articulation.html
index fe37919363..38d5a0d401 100644
--- a/v1.0.0/source/tutorials/01_assets/run_articulation.html
+++ b/v1.0.0/source/tutorials/01_assets/run_articulation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/tutorials/01_assets/run_articulation.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/01_assets/run_articulation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/01_assets/run_articulation.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/tutorials/01_assets/run_articulation.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/01_assets/run_articulation.html" >v1.1.0</option>
@@ -946,7 +947,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.0.0/source/tutorials/01_assets/run_rigid_object.html b/v1.0.0/source/tutorials/01_assets/run_rigid_object.html
index 34f08fa181..4315038b80 100644
--- a/v1.0.0/source/tutorials/01_assets/run_rigid_object.html
+++ b/v1.0.0/source/tutorials/01_assets/run_rigid_object.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="0.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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   <div class="footer-item">
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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index dc39e860e3..ea59222676 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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             <option value="../../../v1.1.0/source/tutorials/index.html" >v1.1.0</option>
@@ -670,7 +671,7 @@ <h1>Tutorials<a class="headerlink" href="#tutorials" title="Permalink to this he
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/index.html b/v1.1.0/_modules/index.html
index 75038cc510..4c15792a7e 100644
--- a/v1.1.0/_modules/index.html
+++ b/v1.1.0/_modules/index.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../main/index.html" >main</option>
+            <option value="../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../v1.2.0/index.html" >v1.2.0</option>
             <option value="index.html" selected>v1.1.0</option>
@@ -672,7 +673,7 @@ <h1>All modules for which code is available</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_base.html b/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_base.html
index b8edf79972..fe786c8244 100644
--- a/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_base.html
+++ b/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_base.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="actuator_base.html" selected>v1.1.0</option>
@@ -788,7 +789,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_cfg.html b/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_cfg.html
index be2ecab0d2..e0b57a2e43 100644
--- a/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="actuator_cfg.html" selected>v1.1.0</option>
@@ -729,7 +730,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_cfg</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_net.html b/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_net.html
index 04eb845cfa..1372fe70a0 100644
--- a/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_net.html
+++ b/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_net.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="actuator_net.html" selected>v1.1.0</option>
@@ -729,7 +730,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_net</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_pd.html b/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_pd.html
index 869b77cb76..6a448bd1b2 100644
--- a/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_pd.html
+++ b/v1.1.0/_modules/omni/isaac/lab/actuators/actuator_pd.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="actuator_pd.html" selected>v1.1.0</option>
@@ -889,7 +890,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_pd</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/app/app_launcher.html b/v1.1.0/_modules/omni/isaac/lab/app/app_launcher.html
index fa58f8969b..9148bfcf39 100644
--- a/v1.1.0/_modules/omni/isaac/lab/app/app_launcher.html
+++ b/v1.1.0/_modules/omni/isaac/lab/app/app_launcher.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="app_launcher.html" selected>v1.1.0</option>
@@ -1171,7 +1172,7 @@ <h1>Source code for omni.isaac.lab.app.app_launcher</h1><div class="highlight"><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation.html b/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation.html
index 731425251d..ff1c4e3ec0 100644
--- a/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation.html
+++ b/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="articulation.html" selected>v1.1.0</option>
@@ -1744,7 +1745,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html b/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
index a4aca2182d..9ec875bf62 100644
--- a/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="articulation_cfg.html" selected>v1.1.0</option>
@@ -581,7 +582,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_cfg</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html b/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
index 006d58421c..681db1fa20 100644
--- a/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
+++ b/v1.1.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="articulation_data.html" selected>v1.1.0</option>
@@ -827,7 +828,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_data</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/assets/asset_base.html b/v1.1.0/_modules/omni/isaac/lab/assets/asset_base.html
index 7a021bd21d..d3a47a5856 100644
--- a/v1.1.0/_modules/omni/isaac/lab/assets/asset_base.html
+++ b/v1.1.0/_modules/omni/isaac/lab/assets/asset_base.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="asset_base.html" selected>v1.1.0</option>
@@ -809,7 +810,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base</h1><div class="highlight">
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html b/v1.1.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
index c04eb6d49e..b60eec300b 100644
--- a/v1.1.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="asset_base_cfg.html" selected>v1.1.0</option>
@@ -616,7 +617,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base_cfg</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html b/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
index fd5886b5ac..ad7d8afd82 100644
--- a/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
+++ b/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="rigid_object.html" selected>v1.1.0</option>
@@ -885,7 +886,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html b/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
index 0e4628824a..5a7d118881 100644
--- a/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="rigid_object_cfg.html" selected>v1.1.0</option>
@@ -572,7 +573,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_cfg</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html b/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
index 532d9914b7..bac21279d2 100644
--- a/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
+++ b/v1.1.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="rigid_object_data.html" selected>v1.1.0</option>
@@ -744,7 +745,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_data</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/controllers/differential_ik.html b/v1.1.0/_modules/omni/isaac/lab/controllers/differential_ik.html
index 753ce28e9b..51538992cf 100644
--- a/v1.1.0/_modules/omni/isaac/lab/controllers/differential_ik.html
+++ b/v1.1.0/_modules/omni/isaac/lab/controllers/differential_ik.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -780,7 +781,7 @@ <h1>Source code for omni.isaac.lab.controllers.differential_ik</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html b/v1.1.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
index d8d9dc2d1f..6add9eeb7c 100644
--- a/v1.1.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -610,7 +611,7 @@ <h1>Source code for omni.isaac.lab.controllers.differential_ik_cfg</h1><div clas
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/devices/device_base.html b/v1.1.0/_modules/omni/isaac/lab/devices/device_base.html
index abe6b0f08b..87e0c0c710 100644
--- a/v1.1.0/_modules/omni/isaac/lab/devices/device_base.html
+++ b/v1.1.0/_modules/omni/isaac/lab/devices/device_base.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -591,7 +592,7 @@ <h1>Source code for omni.isaac.lab.devices.device_base</h1><div class="highlight
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 3ee351f803..fd87456723 100644
--- a/v1.1.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
+++ b/v1.1.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -739,7 +740,7 @@ <h1>Source code for omni.isaac.lab.devices.gamepad.se2_gamepad</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html b/v1.1.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
index 808741d233..8eb30b66c2 100644
--- a/v1.1.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
+++ b/v1.1.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -784,7 +785,7 @@ <h1>Source code for omni.isaac.lab.devices.gamepad.se3_gamepad</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html b/v1.1.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
index 24293dc8a8..6d3d88989a 100644
--- a/v1.1.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
+++ b/v1.1.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -707,7 +708,7 @@ <h1>Source code for omni.isaac.lab.devices.keyboard.se2_keyboard</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html b/v1.1.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
index 83f783c4f3..c4fd998d19 100644
--- a/v1.1.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
+++ b/v1.1.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -728,7 +729,7 @@ <h1>Source code for omni.isaac.lab.devices.keyboard.se3_keyboard</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html b/v1.1.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
index d1c520b48f..8c4681521c 100644
--- a/v1.1.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
+++ b/v1.1.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -694,7 +695,7 @@ <h1>Source code for omni.isaac.lab.devices.spacemouse.se2_spacemouse</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html b/v1.1.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
index bd78fdaf5e..11a4fec8da 100644
--- a/v1.1.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
+++ b/v1.1.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -711,7 +712,7 @@ <h1>Source code for omni.isaac.lab.devices.spacemouse.se3_spacemouse</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/envs/common.html b/v1.1.0/_modules/omni/isaac/lab/envs/common.html
index 65cac7ff55..5b7d7ab83d 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/common.html
+++ b/v1.1.0/_modules/omni/isaac/lab/envs/common.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -638,7 +639,7 @@ <h1>Source code for omni.isaac.lab.envs.common</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/envs/direct_rl_env.html b/v1.1.0/_modules/omni/isaac/lab/envs/direct_rl_env.html
index dec4862c2d..ca222d18dc 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/direct_rl_env.html
+++ b/v1.1.0/_modules/omni/isaac/lab/envs/direct_rl_env.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -1156,7 +1157,7 @@ <h1>Source code for omni.isaac.lab.envs.direct_rl_env</h1><div class="highlight"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html b/v1.1.0/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html
index a0881328c1..bb4fde0bee 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -661,7 +662,7 @@ <h1>Source code for omni.isaac.lab.envs.direct_rl_env_cfg</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_env.html b/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_env.html
index a88846abdb..5f2ec7b872 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_env.html
+++ b/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_env.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -898,7 +899,7 @@ <h1>Source code for omni.isaac.lab.envs.manager_based_env</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html b/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
index 3e185c90c8..ac9f85e653 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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@@ -638,7 +639,7 @@ <h1>Source code for omni.isaac.lab.envs.manager_based_env_cfg</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html b/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
index b15e0745f5..f4105e0155 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index d33213d605..b92382cf3e 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 7f83e15af2..c61cbbec5c 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 96fb048a37..3404a36a28 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 3656b8880a..690ca00ba9 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/mdp/curriculums.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 586a056c03..1b2a39e4bf 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/mdp/events.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index fccc629c22..ca1177a899 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/mdp/observations.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 0d2da1aca2..9cc96b8055 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/mdp/rewards.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 9548b62c3f..3c4f9b5c44 100644
--- a/v1.1.0/_modules/omni/isaac/lab/envs/mdp/terminations.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d3995342b1..4cc6af9e62 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html b/v1.1.0/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html
index 8d1e38fd49..2d662055a2 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 2cde357466..c84f3b24d3 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/managers/action_manager.html b/v1.1.0/_modules/omni/isaac/lab/managers/action_manager.html
index 2b439865fa..2b5d2fd523 100644
--- a/v1.1.0/_modules/omni/isaac/lab/managers/action_manager.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.1.0/_modules/omni/isaac/lab/managers/command_manager.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/managers/curriculum_manager.html b/v1.1.0/_modules/omni/isaac/lab/managers/curriculum_manager.html
index da7ad2788a..0e33b28380 100644
--- a/v1.1.0/_modules/omni/isaac/lab/managers/curriculum_manager.html
+++ b/v1.1.0/_modules/omni/isaac/lab/managers/curriculum_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -707,7 +708,7 @@ <h1>Source code for omni.isaac.lab.managers.curriculum_manager</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/managers/event_manager.html b/v1.1.0/_modules/omni/isaac/lab/managers/event_manager.html
index 4deb3b115d..0caf0a3df0 100644
--- a/v1.1.0/_modules/omni/isaac/lab/managers/event_manager.html
+++ b/v1.1.0/_modules/omni/isaac/lab/managers/event_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -826,7 +827,7 @@ <h1>Source code for omni.isaac.lab.managers.event_manager</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/managers/manager_base.html b/v1.1.0/_modules/omni/isaac/lab/managers/manager_base.html
index 73391dda52..38cabc06b5 100644
--- a/v1.1.0/_modules/omni/isaac/lab/managers/manager_base.html
+++ b/v1.1.0/_modules/omni/isaac/lab/managers/manager_base.html
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -825,7 +826,7 @@ <h1>Source code for omni.isaac.lab.managers.manager_base</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/managers/manager_term_cfg.html b/v1.1.0/_modules/omni/isaac/lab/managers/manager_term_cfg.html
index 2ddf703418..aeac45a570 100644
--- a/v1.1.0/_modules/omni/isaac/lab/managers/manager_term_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/managers/manager_term_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -803,7 +804,7 @@ <h1>Source code for omni.isaac.lab.managers.manager_term_cfg</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/managers/observation_manager.html b/v1.1.0/_modules/omni/isaac/lab/managers/observation_manager.html
index 53999d1b70..e9b5f16638 100644
--- a/v1.1.0/_modules/omni/isaac/lab/managers/observation_manager.html
+++ b/v1.1.0/_modules/omni/isaac/lab/managers/observation_manager.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -800,7 +801,7 @@ <h1>Source code for omni.isaac.lab.managers.observation_manager</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/managers/reward_manager.html b/v1.1.0/_modules/omni/isaac/lab/managers/reward_manager.html
index b67e32980f..ddf38b9200 100644
--- a/v1.1.0/_modules/omni/isaac/lab/managers/reward_manager.html
+++ b/v1.1.0/_modules/omni/isaac/lab/managers/reward_manager.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -763,7 +764,7 @@ <h1>Source code for omni.isaac.lab.managers.reward_manager</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html b/v1.1.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
index 8851ad09f4..85a58ca592 100644
--- a/v1.1.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -770,7 +771,7 @@ <h1>Source code for omni.isaac.lab.managers.scene_entity_cfg</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/managers/termination_manager.html b/v1.1.0/_modules/omni/isaac/lab/managers/termination_manager.html
index 8fcc7be3e7..d3e455da47 100644
--- a/v1.1.0/_modules/omni/isaac/lab/managers/termination_manager.html
+++ b/v1.1.0/_modules/omni/isaac/lab/managers/termination_manager.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -791,7 +792,7 @@ <h1>Source code for omni.isaac.lab.managers.termination_manager</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/markers/visualization_markers.html b/v1.1.0/_modules/omni/isaac/lab/markers/visualization_markers.html
index 57cfe78b56..b00160ecac 100644
--- a/v1.1.0/_modules/omni/isaac/lab/markers/visualization_markers.html
+++ b/v1.1.0/_modules/omni/isaac/lab/markers/visualization_markers.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -949,7 +950,7 @@ <h1>Source code for omni.isaac.lab.markers.visualization_markers</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/scene/interactive_scene.html b/v1.1.0/_modules/omni/isaac/lab/scene/interactive_scene.html
index 86a345ff18..efd10404bb 100644
--- a/v1.1.0/_modules/omni/isaac/lab/scene/interactive_scene.html
+++ b/v1.1.0/_modules/omni/isaac/lab/scene/interactive_scene.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -1015,7 +1016,7 @@ <h1>Source code for omni.isaac.lab.scene.interactive_scene</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html b/v1.1.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html
index a4f2b1a61a..d2e6fe43c7 100644
--- a/v1.1.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -639,7 +640,7 @@ <h1>Source code for omni.isaac.lab.scene.interactive_scene_cfg</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera.html b/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera.html
index 80bbec0fb2..a22dd7138b 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -1187,7 +1188,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
index 25f7bcf907..b4489f908f 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -648,7 +649,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera_cfg</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html b/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html
index ecc8a621d7..40c42be87e 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
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@@ -632,7 +633,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera_data</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html b/v1.1.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html
index 3958767f75..ea1671a63c 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html
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@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
index 7944e43bc3..4f7e22eb20 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -613,7 +614,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.tiled_camera_cfg</h1><div clas
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html b/v1.1.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html
index 45ea2ac973..aa716a4703 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -941,7 +942,7 @@ <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
index 1c3016404e..5ab0368045 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -594,7 +595,7 @@ <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor_cfg</h1
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html b/v1.1.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
index 865fa5484f..3db97ec0b7 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -634,7 +635,7 @@ <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor_data</h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html b/v1.1.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html
index 6957994346..b0f04a7c05 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html
index a4237c30d7..6fd08cbb9e 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -608,7 +609,7 @@ <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer_c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html b/v1.1.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html
index ba01434863..cd45eb23ac 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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@@ -596,7 +597,7 @@ <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer_d
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html b/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html
index a62ef4798e..8526de961c 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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@@ -835,7 +836,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html b/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
index 8bb44fcd4c..a2d9da7d80 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html
index bc0691a3c4..31189cf1f9 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html
index be836203af..4705c8d0d7 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -609,7 +610,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html b/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
index 336d074073..316f385365 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/sensor_base.html b/v1.1.0/_modules/omni/isaac/lab/sensors/sensor_base.html
index 237b926123..965a55c90b 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/sensor_base.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html
index c79ae4cb16..c0da143332 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="sensor_base_cfg.html" selected>v1.1.0</option>
@@ -582,7 +583,7 @@ <h1>Source code for omni.isaac.lab.sensors.sensor_base_cfg</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html b/v1.1.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html
index 27dd412fd7..8c495f48b2 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="asset_converter_base.html" selected>v1.1.0</option>
@@ -736,7 +737,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.asset_converter_base</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html
index 844f31c92f..a6d008e5a6 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="asset_converter_base_cfg.html" selected>v1.1.0</option>
@@ -588,7 +589,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.asset_converter_base_cfg</h1><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html b/v1.1.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html
index 5ee5a398b7..36775ab279 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="mesh_converter.html" selected>v1.1.0</option>
@@ -770,7 +771,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.mesh_converter</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html
index 730a6dec58..86e8bf3d5d 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
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             <option value="mesh_converter_cfg.html" selected>v1.1.0</option>
@@ -584,7 +585,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.mesh_converter_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html b/v1.1.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html
index b417b6565a..dcf8c689a5 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="urdf_converter.html" selected>v1.1.0</option>
@@ -703,7 +704,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.urdf_converter</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
index c98df9f065..859b52349f 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="urdf_converter_cfg.html" selected>v1.1.0</option>
@@ -603,7 +604,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.urdf_converter_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/schemas/schemas.html b/v1.1.0/_modules/omni/isaac/lab/sim/schemas/schemas.html
index c7bf4d1a14..e368846668 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/schemas/schemas.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/schemas/schemas.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="schemas.html" selected>v1.1.0</option>
@@ -1358,7 +1359,7 @@ <h1>Source code for omni.isaac.lab.sim.schemas.schemas</h1><div class="highlight
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
index 3e582c1574..0f341cc386 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="schemas_cfg.html" selected>v1.1.0</option>
@@ -907,7 +908,7 @@ <h1>Source code for omni.isaac.lab.sim.schemas.schemas_cfg</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/simulation_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/simulation_cfg.html
index 13f602470f..c016904c84 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/simulation_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/simulation_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="simulation_cfg.html" selected>v1.1.0</option>
@@ -781,7 +782,7 @@ <h1>Source code for omni.isaac.lab.sim.simulation_cfg</h1><div class="highlight"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/simulation_context.html b/v1.1.0/_modules/omni/isaac/lab/sim/simulation_context.html
index dda4f9de8a..42cc12d38d 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/simulation_context.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/simulation_context.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -1288,7 +1289,7 @@ <h1>Source code for omni.isaac.lab.sim.simulation_context</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
index 31a202ebfb..2dbb731112 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -818,7 +819,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.from_files.from_files</h1><div c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
index 27521049c3..97c2e837fa 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
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@@ -693,7 +694,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.from_files.from_files_cfg</h1><d
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html
index 1313bf53ce..b00b38b2d6 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -620,7 +621,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.lights.lights</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
index 8b92583e8d..fb2e69be4f 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="lights_cfg.html" selected>v1.1.0</option>
@@ -728,7 +729,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.lights.lights_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html
index 3225817b28..01d566306e 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -663,7 +664,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.materials.physics_materials</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html
index caf25acef4..84f80894c7 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="physics_materials_cfg.html" selected>v1.1.0</option>
@@ -670,7 +671,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.materials.physics_materials_cfg<
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html
index 47d5dc6d4b..37502715cd 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -656,7 +657,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.materials.visual_materials</h1><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
index 01970af8f5..5797e579a3 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
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@@ -650,7 +651,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.materials.visual_materials_cfg</
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html
index add51b98f6..6f04042862 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -906,7 +907,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.meshes.meshes</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
index 96b82a949c..b0e844e66e 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -684,7 +685,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.meshes.meshes_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
index 7ca6776864..8b04fe2b80 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="sensors.html" selected>v1.1.0</option>
@@ -669,7 +670,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.sensors.sensors</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
index b812fe88fa..d3bfcde4a5 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="sensors_cfg.html" selected>v1.1.0</option>
@@ -665,7 +666,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.sensors.sensors_cfg</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
index 54e3e3c0d8..7d548c1c80 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="shapes.html" selected>v1.1.0</option>
@@ -841,7 +842,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
index 799b206131..526df95353 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="shapes_cfg.html" selected>v1.1.0</option>
@@ -662,7 +663,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
index 22f79e000d..10acd7c2b7 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -663,7 +664,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.spawner_cfg</h1><div class="high
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/sim/utils.html b/v1.1.0/_modules/omni/isaac/lab/sim/utils.html
index 2b07b63a79..fca805ffed 100644
--- a/v1.1.0/_modules/omni/isaac/lab/sim/utils.html
+++ b/v1.1.0/_modules/omni/isaac/lab/sim/utils.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="utils.html" selected>v1.1.0</option>
@@ -1398,7 +1399,7 @@ <h1>Source code for omni.isaac.lab.sim.utils</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html b/v1.1.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
index 448cf2b578..9bcf9ccc64 100644
--- a/v1.1.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
+++ b/v1.1.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="hf_terrains.html" selected>v1.1.0</option>
@@ -976,7 +977,7 @@ <h1>Source code for omni.isaac.lab.terrains.height_field.hf_terrains</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html b/v1.1.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
index 36d1d64fed..145bd182ee 100644
--- a/v1.1.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -707,7 +708,7 @@ <h1>Source code for omni.isaac.lab.terrains.height_field.hf_terrains_cfg</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_generator.html b/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_generator.html
index 97bdc3b260..eba4a8b7a0 100644
--- a/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_generator.html
+++ b/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_generator.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -861,7 +862,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_generator</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html b/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
index dabbc322e8..6b76a57986 100644
--- a/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -722,7 +723,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_generator_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_importer.html b/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_importer.html
index c948b8d4e9..116eecf99a 100644
--- a/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_importer.html
+++ b/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_importer.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -902,7 +903,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_importer</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html b/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html
index 2c4d9dfd1d..40a3b44b19 100644
--- a/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -639,7 +640,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_importer_cfg</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html b/v1.1.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html
index cc5578ccbc..37a65a3f60 100644
--- a/v1.1.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html
+++ b/v1.1.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -1392,7 +1393,7 @@ <h1>Source code for omni.isaac.lab.terrains.trimesh.mesh_terrains</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html b/v1.1.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
index 78c0049a7c..9cec6dbfea 100644
--- a/v1.1.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
+++ b/v1.1.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -809,7 +810,7 @@ <h1>Source code for omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg</h1><div c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/terrains/utils.html b/v1.1.0/_modules/omni/isaac/lab/terrains/utils.html
index ff1fae2882..8d9daff972 100644
--- a/v1.1.0/_modules/omni/isaac/lab/terrains/utils.html
+++ b/v1.1.0/_modules/omni/isaac/lab/terrains/utils.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -814,7 +815,7 @@ <h1>Source code for omni.isaac.lab.terrains.utils</h1><div class="highlight"><pr
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/utils/array.html b/v1.1.0/_modules/omni/isaac/lab/utils/array.html
index c7b46c825e..8a123c2382 100644
--- a/v1.1.0/_modules/omni/isaac/lab/utils/array.html
+++ b/v1.1.0/_modules/omni/isaac/lab/utils/array.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -635,7 +636,7 @@ <h1>Source code for omni.isaac.lab.utils.array</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/utils/assets.html b/v1.1.0/_modules/omni/isaac/lab/utils/assets.html
index b342c2132c..2a35163fcd 100644
--- a/v1.1.0/_modules/omni/isaac/lab/utils/assets.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -668,7 +669,7 @@ <h1>Source code for omni.isaac.lab.utils.assets</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/utils/buffers/circular_buffer.html b/v1.1.0/_modules/omni/isaac/lab/utils/buffers/circular_buffer.html
index e03990e8e1..3e50248210 100644
--- a/v1.1.0/_modules/omni/isaac/lab/utils/buffers/circular_buffer.html
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@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -689,7 +690,7 @@ <h1>Source code for omni.isaac.lab.utils.buffers.circular_buffer</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -717,7 +718,7 @@ <h1>Source code for omni.isaac.lab.utils.buffers.delay_buffer</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/utils/buffers/timestamped_buffer.html b/v1.1.0/_modules/omni/isaac/lab/utils/buffers/timestamped_buffer.html
index a68b2b7cd2..c98846a5e5 100644
--- a/v1.1.0/_modules/omni/isaac/lab/utils/buffers/timestamped_buffer.html
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@@ -58,7 +58,7 @@
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -568,7 +569,7 @@ <h1>Source code for omni.isaac.lab.utils.buffers.timestamped_buffer</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/utils/configclass.html b/v1.1.0/_modules/omni/isaac/lab/utils/configclass.html
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--- a/v1.1.0/_modules/omni/isaac/lab/utils/configclass.html
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   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -960,7 +961,7 @@ <h1>Source code for omni.isaac.lab.utils.configclass</h1><div class="highlight">
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/_modules/omni/isaac/lab/utils/dict.html b/v1.1.0/_modules/omni/isaac/lab/utils/dict.html
index 0cb39e6138..c5597f7e5b 100644
--- a/v1.1.0/_modules/omni/isaac/lab/utils/dict.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 0c093918cd..2af3e72b98 100644
--- a/v1.1.0/_modules/omni/isaac/lab/utils/interpolation/linear_interpolation.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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--- a/v1.1.0/_modules/omni/isaac/lab/utils/io/pkl.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d9aa4c31c8..7dba5443a9 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.1.0/_modules/omni/isaac/lab/utils/math.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.1.0/_modules/omni/isaac/lab/utils/noise/noise_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.1.0/_modules/omni/isaac/lab/utils/warp/ops.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 2bfcd9baec..5b8c9bfde0 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 4a4a9024af..8e1fcba105 100644
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     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 7d238509fa..7ea324e053 100644
--- a/v1.1.0/_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 3406093795..38f0beed9b 100644
--- a/v1.1.0/_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html
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   <div class="footer-item">
     <p class="last-updated">
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+  Last updated on Dec 27, 2024.
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index 1c61fde88f..45fa061313 100644
--- a/v1.1.0/genindex.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 5cf67dae01..07f4a6679d 100644
--- a/v1.1.0/index.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index bfddd6077f..f6faebad95 100644
--- a/v1.1.0/py-modindex.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
 
 
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 8182ed869f..8de90cfca9 100644
--- a/v1.1.0/search.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 8b5b3bd139..8fab3eef9a 100644
--- a/v1.1.0/source/api/index.html
+++ b/v1.1.0/source/api/index.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/api/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index ca7d039f90..614100feb7 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.actuators.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.actuators.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 906fe00f69..2e2de28c75 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.app.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 53bcaa79cb..67830b7d40 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.assets.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.assets.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 176b408b5e..1e8917fa9b 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.controllers.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.controllers.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 9dc58f922f..60a83d4e2e 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.devices.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.devices.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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--- a/v1.1.0/source/api/lab/omni.isaac.lab.envs.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.envs.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.envs.html" >v1.2.0</option>
             <option value="omni.isaac.lab.envs.html" selected>v1.1.0</option>
@@ -2433,7 +2434,7 @@ <h2>Common<a class="headerlink" href="#common" title="Permalink to this heading"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.envs.mdp.html b/v1.1.0/source/api/lab/omni.isaac.lab.envs.mdp.html
index b2ef14d4e7..dc094fdff3 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.envs.mdp.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.envs.mdp.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.mdp.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.2.0</option>
             <option value="omni.isaac.lab.envs.mdp.html" selected>v1.1.0</option>
@@ -3569,7 +3570,7 @@ <h2> Contents </h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.envs.ui.html b/v1.1.0/source/api/lab/omni.isaac.lab.envs.ui.html
index ab74def474..5d474dbd70 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.envs.ui.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.envs.ui.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.ui.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.2.0</option>
             <option value="omni.isaac.lab.envs.ui.html" selected>v1.1.0</option>
@@ -935,7 +936,7 @@ <h2>Viewport Camera Controller<a class="headerlink" href="#viewport-camera-contr
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.managers.html b/v1.1.0/source/api/lab/omni.isaac.lab.managers.html
index 17bd6b13a6..57e928e0db 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.managers.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.managers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.managers.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.managers.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.managers.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.managers.html" >v1.2.0</option>
             <option value="omni.isaac.lab.managers.html" selected>v1.1.0</option>
@@ -3485,7 +3486,7 @@ <h2>Curriculum Manager<a class="headerlink" href="#curriculum-manager" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.markers.html b/v1.1.0/source/api/lab/omni.isaac.lab.markers.html
index d7dad777b0..05158cce02 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.markers.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.markers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.markers.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.markers.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.markers.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.markers.html" >v1.2.0</option>
             <option value="omni.isaac.lab.markers.html" selected>v1.1.0</option>
@@ -956,7 +957,7 @@ <h2>Visualization Markers<a class="headerlink" href="#visualization-markers" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.scene.html b/v1.1.0/source/api/lab/omni.isaac.lab.scene.html
index 1f19b814c1..b83e033047 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.scene.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.scene.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.scene.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.scene.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.scene.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.scene.html" >v1.2.0</option>
             <option value="omni.isaac.lab.scene.html" selected>v1.1.0</option>
@@ -1162,7 +1163,7 @@ <h2>interactive Scene<a class="headerlink" href="#interactive-scene" title="Perm
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.sensors.html b/v1.1.0/source/api/lab/omni.isaac.lab.sensors.html
index c589216558..e88b095dc5 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.sensors.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.sensors.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.sensors.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.2.0</option>
             <option value="omni.isaac.lab.sensors.html" selected>v1.1.0</option>
@@ -4395,7 +4396,7 @@ <h2>Ray-Cast Camera<a class="headerlink" href="#ray-cast-camera" title="Permalin
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.sensors.patterns.html b/v1.1.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
index 847732a9a7..fdb121d273 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.sensors.patterns.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.2.0</option>
             <option value="omni.isaac.lab.sensors.patterns.html" selected>v1.1.0</option>
@@ -1129,7 +1130,7 @@ <h2>LiDAR Pattern<a class="headerlink" href="#lidar-pattern" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.sim.converters.html b/v1.1.0/source/api/lab/omni.isaac.lab.sim.converters.html
index 5131d7f1ab..e73705dcae 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.sim.converters.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.sim.converters.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.converters.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.2.0</option>
             <option value="omni.isaac.lab.sim.converters.html" selected>v1.1.0</option>
@@ -1501,7 +1502,7 @@ <h2>URDF Converter<a class="headerlink" href="#urdf-converter" title="Permalink
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.sim.html b/v1.1.0/source/api/lab/omni.isaac.lab.sim.html
index 592958303c..cd88ba562c 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.sim.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.sim.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sim.html" >v1.2.0</option>
             <option value="omni.isaac.lab.sim.html" selected>v1.1.0</option>
@@ -2102,7 +2103,7 @@ <h2>Simulation Context Builder<a class="headerlink" href="#simulation-context-bu
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.sim.schemas.html b/v1.1.0/source/api/lab/omni.isaac.lab.sim.schemas.html
index 8eaa4e0078..e0443999cd 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.sim.schemas.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.sim.schemas.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.schemas.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.2.0</option>
             <option value="omni.isaac.lab.sim.schemas.html" selected>v1.1.0</option>
@@ -2053,7 +2054,7 @@ <h2>Deformable Body<a class="headerlink" href="#deformable-body" title="Permalin
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.sim.spawners.html b/v1.1.0/source/api/lab/omni.isaac.lab.sim.spawners.html
index f79137cf97..12372f9773 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.sim.spawners.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.sim.spawners.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.spawners.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.2.0</option>
             <option value="omni.isaac.lab.sim.spawners.html" selected>v1.1.0</option>
@@ -7249,7 +7250,7 @@ <h3>Physical Materials<a class="headerlink" href="#physical-materials" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.terrains.html b/v1.1.0/source/api/lab/omni.isaac.lab.terrains.html
index d9ba516c15..3fc80a4184 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.terrains.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.terrains.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.terrains.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.2.0</option>
             <option value="omni.isaac.lab.terrains.html" selected>v1.1.0</option>
@@ -5299,7 +5300,7 @@ <h3>Repeated Objects Terrain<a class="headerlink" href="#repeated-objects-terrai
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/api/lab/omni.isaac.lab.utils.html b/v1.1.0/source/api/lab/omni.isaac.lab.utils.html
index 38b2526e98..0c4befef35 100644
--- a/v1.1.0/source/api/lab/omni.isaac.lab.utils.html
+++ b/v1.1.0/source/api/lab/omni.isaac.lab.utils.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -159,6 +159,7 @@
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   <div class="footer-item">
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+  Last updated on Dec 27, 2024.
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 6c4e353e3c..d4bf0a1e85 100644
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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diff --git a/v1.1.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html b/v1.1.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html
index 19b2cc6c22..39110234a4 100644
--- a/v1.1.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html
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@@ -1960,7 +1961,7 @@ <h2> Contents </h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/source/deployment/cluster.html b/v1.1.0/source/deployment/cluster.html
index 4157a66772..c2f415cfd2 100644
--- a/v1.1.0/source/deployment/cluster.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/deployment/cluster.html" >v1.4.0</option>
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@@ -845,7 +846,7 @@ <h2>Submitting a job<a class="headerlink" href="#submitting-a-job" title="Permal
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/source/deployment/docker.html b/v1.1.0/source/deployment/docker.html
index 49fa87e249..2a541330f9 100644
--- a/v1.1.0/source/deployment/docker.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 2b65e8526f..ae940564f6 100644
--- a/v1.1.0/source/deployment/index.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/source/deployment/run_docker_example.html b/v1.1.0/source/deployment/run_docker_example.html
index fd04b145c4..447b0d552d 100644
--- a/v1.1.0/source/deployment/run_docker_example.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/source/features/actuators.html b/v1.1.0/source/features/actuators.html
index 5a053b0377..2446215591 100644
--- a/v1.1.0/source/features/actuators.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 22658ffe1c..2b570e3db6 100644
--- a/v1.1.0/source/features/environments.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 8f687e4ef8..7ee10453f7 100644
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 72c45f5a6f..2e53173b03 100644
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.1.0/source/features/task_workflows.html b/v1.1.0/source/features/task_workflows.html
index 9885e7e912..ab73be81dc 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 750440b95f..afc7fc0db3 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/how-to/add_own_library.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/add_own_library.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/add_own_library.html" >v1.2.0</option>
             <option value="add_own_library.html" selected>v1.1.0</option>
@@ -731,7 +732,7 @@ <h2>Integrating a new library<a class="headerlink" href="#integrating-a-new-libr
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/how-to/draw_markers.html b/v1.1.0/source/how-to/draw_markers.html
index c9f14e1b9f..7ca8022eb5 100644
--- a/v1.1.0/source/how-to/draw_markers.html
+++ b/v1.1.0/source/how-to/draw_markers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../main/source/how-to/draw_markers.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/draw_markers.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/draw_markers.html" >v1.3.0</option>
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             <option value="draw_markers.html" selected>v1.1.0</option>
@@ -912,7 +913,7 @@ <h2>Executing the Script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/how-to/import_new_asset.html b/v1.1.0/source/how-to/import_new_asset.html
index 1cf4033f6f..4bc9cf8246 100644
--- a/v1.1.0/source/how-to/import_new_asset.html
+++ b/v1.1.0/source/how-to/import_new_asset.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../main/source/how-to/import_new_asset.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/import_new_asset.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/import_new_asset.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/import_new_asset.html" >v1.2.0</option>
             <option value="import_new_asset.html" selected>v1.1.0</option>
@@ -814,7 +815,7 @@ <h3>Example Usage<a class="headerlink" href="#id1" title="Permalink to this head
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.1.0/source/how-to/index.html b/v1.1.0/source/how-to/index.html
index a6058b493b..65bd4005bc 100644
--- a/v1.1.0/source/how-to/index.html
+++ b/v1.1.0/source/how-to/index.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../main/source/how-to/index.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/index.html" >v1.4.0</option>
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             <option value="index.html" selected>v1.1.0</option>
@@ -647,7 +648,7 @@ <h1>How-to Guides<a class="headerlink" href="#how-to-guides" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/how-to/make_fixed_prim.html b/v1.1.0/source/how-to/make_fixed_prim.html
index f248c51818..8f5f0849c1 100644
--- a/v1.1.0/source/how-to/make_fixed_prim.html
+++ b/v1.1.0/source/how-to/make_fixed_prim.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
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             <option value="../../../main/source/how-to/make_fixed_prim.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/make_fixed_prim.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/make_fixed_prim.html" >v1.3.0</option>
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             <option value="make_fixed_prim.html" selected>v1.1.0</option>
@@ -809,7 +810,7 @@ <h2>Further notes<a class="headerlink" href="#further-notes" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/how-to/master_omniverse.html b/v1.1.0/source/how-to/master_omniverse.html
index f670971ed2..587e5c2995 100644
--- a/v1.1.0/source/how-to/master_omniverse.html
+++ b/v1.1.0/source/how-to/master_omniverse.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
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             <option value="../../../main/source/how-to/master_omniverse.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/master_omniverse.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/master_omniverse.html" >v1.3.0</option>
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             <option value="master_omniverse.html" selected>v1.1.0</option>
@@ -773,7 +774,7 @@ <h2>Part 3: More Resources<a class="headerlink" href="#part-3-more-resources" ti
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/how-to/record_animation.html b/v1.1.0/source/how-to/record_animation.html
index 22800e4ba9..e5cccc2861 100644
--- a/v1.1.0/source/how-to/record_animation.html
+++ b/v1.1.0/source/how-to/record_animation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/record_animation.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/record_animation.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/record_animation.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/record_animation.html" >v1.2.0</option>
             <option value="record_animation.html" selected>v1.1.0</option>
@@ -785,7 +786,7 @@ <h2>Example Usage<a class="headerlink" href="#example-usage" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/how-to/save_camera_output.html b/v1.1.0/source/how-to/save_camera_output.html
index af401ee0da..8077867bb2 100644
--- a/v1.1.0/source/how-to/save_camera_output.html
+++ b/v1.1.0/source/how-to/save_camera_output.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
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             <option value="../../../main/source/how-to/save_camera_output.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/save_camera_output.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/save_camera_output.html" >v1.3.0</option>
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             <option value="save_camera_output.html" selected>v1.1.0</option>
@@ -1047,7 +1048,7 @@ <h2>Executing the script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/how-to/wrap_rl_env.html b/v1.1.0/source/how-to/wrap_rl_env.html
index 189fc16fc1..4a0afd56e3 100644
--- a/v1.1.0/source/how-to/wrap_rl_env.html
+++ b/v1.1.0/source/how-to/wrap_rl_env.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/wrap_rl_env.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/wrap_rl_env.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/wrap_rl_env.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/wrap_rl_env.html" >v1.2.0</option>
             <option value="wrap_rl_env.html" selected>v1.1.0</option>
@@ -827,7 +828,7 @@ <h2>Adding new wrappers<a class="headerlink" href="#adding-new-wrappers" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/how-to/write_articulation_cfg.html b/v1.1.0/source/how-to/write_articulation_cfg.html
index 689f37a766..eb8a9f2739 100644
--- a/v1.1.0/source/how-to/write_articulation_cfg.html
+++ b/v1.1.0/source/how-to/write_articulation_cfg.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/write_articulation_cfg.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/write_articulation_cfg.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/write_articulation_cfg.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/write_articulation_cfg.html" >v1.2.0</option>
             <option value="write_articulation_cfg.html" selected>v1.1.0</option>
@@ -827,7 +828,7 @@ <h2>Defining the actuator configuration<a class="headerlink" href="#defining-the
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/migration/migrating_from_isaacgymenvs.html b/v1.1.0/source/migration/migrating_from_isaacgymenvs.html
index c3660d8e8a..78c2c92fa5 100644
--- a/v1.1.0/source/migration/migrating_from_isaacgymenvs.html
+++ b/v1.1.0/source/migration/migrating_from_isaacgymenvs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/migration/migrating_from_isaacgymenvs.html" >main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_isaacgymenvs.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/migration/migrating_from_isaacgymenvs.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/migration/migrating_from_isaacgymenvs.html" >v1.2.0</option>
             <option value="migrating_from_isaacgymenvs.html" selected>v1.1.0</option>
@@ -1854,7 +1855,7 @@ <h2>Launching Inferencing<a class="headerlink" href="#launching-inferencing" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/migration/migrating_from_omniisaacgymenvs.html b/v1.1.0/source/migration/migrating_from_omniisaacgymenvs.html
index 41f6197219..546f2cbee7 100644
--- a/v1.1.0/source/migration/migrating_from_omniisaacgymenvs.html
+++ b/v1.1.0/source/migration/migrating_from_omniisaacgymenvs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/migration/migrating_from_omniisaacgymenvs.html" >main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_omniisaacgymenvs.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/migration/migrating_from_omniisaacgymenvs.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/migration/migrating_from_omniisaacgymenvs.html" >v1.2.0</option>
             <option value="migrating_from_omniisaacgymenvs.html" selected>v1.1.0</option>
@@ -1904,7 +1905,7 @@ <h2>Launching Inferencing<a class="headerlink" href="#launching-inferencing" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/migration/migrating_from_orbit.html b/v1.1.0/source/migration/migrating_from_orbit.html
index a50c2dc830..032e2a4a2e 100644
--- a/v1.1.0/source/migration/migrating_from_orbit.html
+++ b/v1.1.0/source/migration/migrating_from_orbit.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/migration/migrating_from_orbit.html" >main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_orbit.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/migration/migrating_from_orbit.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/migration/migrating_from_orbit.html" >v1.2.0</option>
             <option value="migrating_from_orbit.html" selected>v1.1.0</option>
@@ -795,7 +796,7 @@ <h3>Event term distribution configuration<a class="headerlink" href="#event-term
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/refs/bibliography.html b/v1.1.0/source/refs/bibliography.html
index 51eb1c1d3f..ee53a2dce8 100644
--- a/v1.1.0/source/refs/bibliography.html
+++ b/v1.1.0/source/refs/bibliography.html
@@ -60,7 +60,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/bibliography.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/bibliography.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/bibliography.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/refs/bibliography.html" >v1.2.0</option>
             <option value="bibliography.html" selected>v1.1.0</option>
@@ -671,7 +672,7 @@ <h1>Bibliography<a class="headerlink" href="#bibliography" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/refs/changelog.html b/v1.1.0/source/refs/changelog.html
index 01d5370769..fe33d19b6e 100644
--- a/v1.1.0/source/refs/changelog.html
+++ b/v1.1.0/source/refs/changelog.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/changelog.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/changelog.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/changelog.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/refs/changelog.html" >v1.2.0</option>
             <option value="changelog.html" selected>v1.1.0</option>
@@ -5758,7 +5759,7 @@ <h4>Added<a class="headerlink" href="#id526" title="Permalink to this heading">#
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/refs/contributing.html b/v1.1.0/source/refs/contributing.html
index 60a8934926..2a08964049 100644
--- a/v1.1.0/source/refs/contributing.html
+++ b/v1.1.0/source/refs/contributing.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/contributing.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/contributing.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/contributing.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/refs/contributing.html" >v1.2.0</option>
             <option value="contributing.html" selected>v1.1.0</option>
@@ -901,7 +902,7 @@ <h2>Maintaining a changelog<a class="headerlink" href="#maintaining-a-changelog"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/refs/issues.html b/v1.1.0/source/refs/issues.html
index c3d550dc42..37c9dcb669 100644
--- a/v1.1.0/source/refs/issues.html
+++ b/v1.1.0/source/refs/issues.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/issues.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/issues.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/issues.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/refs/issues.html" >v1.2.0</option>
             <option value="issues.html" selected>v1.1.0</option>
@@ -750,7 +751,7 @@ <h2>Exiting the process<a class="headerlink" href="#exiting-the-process" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/refs/license.html b/v1.1.0/source/refs/license.html
index 77b355715d..4d9bb89f64 100644
--- a/v1.1.0/source/refs/license.html
+++ b/v1.1.0/source/refs/license.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/license.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/license.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/license.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/refs/license.html" >v1.2.0</option>
             <option value="license.html" selected>v1.1.0</option>
@@ -663,7 +664,7 @@ <h1>License</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/refs/migration.html b/v1.1.0/source/refs/migration.html
index 8d2962aa9e..e83f9ee106 100644
--- a/v1.1.0/source/refs/migration.html
+++ b/v1.1.0/source/refs/migration.html
@@ -59,7 +59,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/migration.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/migration.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/migration.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/refs/migration.html" >v1.2.0</option>
             <option value="migration.html" selected>v1.1.0</option>
@@ -715,7 +716,7 @@ <h2>Deprecation of <code class="xref py py-class docutils literal notranslate"><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/refs/troubleshooting.html b/v1.1.0/source/refs/troubleshooting.html
index 84ee5c6456..7e5ca8017f 100644
--- a/v1.1.0/source/refs/troubleshooting.html
+++ b/v1.1.0/source/refs/troubleshooting.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/troubleshooting.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/troubleshooting.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/troubleshooting.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/refs/troubleshooting.html" >v1.2.0</option>
             <option value="troubleshooting.html" selected>v1.1.0</option>
@@ -867,7 +868,7 @@ <h2>Understanding the error logs from crashes<a class="headerlink" href="#unders
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/setup/developer.html b/v1.1.0/source/setup/developer.html
index 01795d8b0f..e9f39a62ec 100644
--- a/v1.1.0/source/setup/developer.html
+++ b/v1.1.0/source/setup/developer.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="developer.html" selected>v1.1.0</option>
@@ -922,7 +923,7 @@ <h3>Standalone applications<a class="headerlink" href="#standalone-applications"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/setup/faq.html b/v1.1.0/source/setup/faq.html
index 77cb435b2b..a01f531460 100644
--- a/v1.1.0/source/setup/faq.html
+++ b/v1.1.0/source/setup/faq.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/setup/faq.html" >main</option>
+            <option value="../../../v1.4.0/source/setup/faq.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/setup/faq.html" >v1.3.0</option>
             <option value="../../../v1.2.0/source/setup/faq.html" >v1.2.0</option>
             <option value="faq.html" selected>v1.1.0</option>
@@ -718,7 +719,7 @@ <h2>Why should I use Isaac Lab?<a class="headerlink" href="#why-should-i-use-isa
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/setup/installation/binaries_installation.html b/v1.1.0/source/setup/installation/binaries_installation.html
index 2f4c404a5d..4eac5a6fe7 100644
--- a/v1.1.0/source/setup/installation/binaries_installation.html
+++ b/v1.1.0/source/setup/installation/binaries_installation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/binaries_installation.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/binaries_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/binaries_installation.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/setup/installation/binaries_installation.html" >v1.2.0</option>
             <option value="binaries_installation.html" selected>v1.1.0</option>
@@ -909,7 +910,7 @@ <h3>Installation<a class="headerlink" href="#installation" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/setup/installation/cloud_installation.html b/v1.1.0/source/setup/installation/cloud_installation.html
index b80ecc649c..671b60f493 100644
--- a/v1.1.0/source/setup/installation/cloud_installation.html
+++ b/v1.1.0/source/setup/installation/cloud_installation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/cloud_installation.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/cloud_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/cloud_installation.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/setup/installation/cloud_installation.html" >v1.2.0</option>
             <option value="cloud_installation.html" selected>v1.1.0</option>
@@ -783,7 +784,7 @@ <h2>Destroying a Development<a class="headerlink" href="#destroying-a-developmen
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/setup/installation/index.html b/v1.1.0/source/setup/installation/index.html
index 57dd0a6e5c..656d7f1344 100644
--- a/v1.1.0/source/setup/installation/index.html
+++ b/v1.1.0/source/setup/installation/index.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/index.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/index.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/index.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/setup/installation/index.html" >v1.2.0</option>
             <option value="index.html" selected>v1.1.0</option>
@@ -673,7 +674,7 @@ <h1>Installation Guide<a class="headerlink" href="#installation-guide" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/setup/installation/pip_installation.html b/v1.1.0/source/setup/installation/pip_installation.html
index 4b886b87f5..a20ff1a4c9 100644
--- a/v1.1.0/source/setup/installation/pip_installation.html
+++ b/v1.1.0/source/setup/installation/pip_installation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/pip_installation.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/pip_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/pip_installation.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/source/setup/installation/pip_installation.html" >v1.2.0</option>
             <option value="pip_installation.html" selected>v1.1.0</option>
@@ -868,7 +869,7 @@ <h3>Installation<a class="headerlink" href="#installation" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/setup/installation/verifying_installation.html b/v1.1.0/source/setup/installation/verifying_installation.html
index e4575c3e79..73e0f71cdf 100644
--- a/v1.1.0/source/setup/installation/verifying_installation.html
+++ b/v1.1.0/source/setup/installation/verifying_installation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/index.html" >main</option>
+            <option value="../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="verifying_installation.html" selected>v1.1.0</option>
@@ -843,7 +844,7 @@ <h2>Verifying the Isaac Lab installation<a class="headerlink" href="#verifying-t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/setup/sample.html b/v1.1.0/source/setup/sample.html
index 113ff8f72d..21c615fc80 100644
--- a/v1.1.0/source/setup/sample.html
+++ b/v1.1.0/source/setup/sample.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="sample.html" selected>v1.1.0</option>
@@ -893,7 +894,7 @@ <h3>Reinforcement Learning<a class="headerlink" href="#reinforcement-learning" t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/setup/template.html b/v1.1.0/source/setup/template.html
index 81c9333240..dd34cb45bb 100644
--- a/v1.1.0/source/setup/template.html
+++ b/v1.1.0/source/setup/template.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="template.html" selected>v1.1.0</option>
@@ -646,7 +647,7 @@ <h1>Building your Own Project<a class="headerlink" href="#building-your-own-proj
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.1.0/source/tutorials/00_sim/create_empty.html b/v1.1.0/source/tutorials/00_sim/create_empty.html
index d98918f813..cb18190755 100644
--- a/v1.1.0/source/tutorials/00_sim/create_empty.html
+++ b/v1.1.0/source/tutorials/00_sim/create_empty.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.1.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/tutorials/00_sim/create_empty.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/create_empty.html" >v1.4.0</option>
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
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   <div class="footer-item">
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index 242ca8cd7f..e57a1995d4 100644
--- a/v1.1.0/source/tutorials/04_sensors/add_sensors_on_robot.html
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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--- a/v1.1.0/source/tutorials/05_controllers/run_diff_ik.html
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
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+  Last updated on Dec 27, 2024.
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index 894f4d3efa..de408ae906 100644
--- a/v1.2.0/_modules/index.html
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   <div class="footer-item">
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+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 7cf0b3ad6e..bb81b10195 100644
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="articulation_data.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1022,7 +1023,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_data</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/assets/asset_base.html b/v1.2.0/_modules/omni/isaac/lab/assets/asset_base.html
index 4978a82197..bfe2f86d62 100644
--- a/v1.2.0/_modules/omni/isaac/lab/assets/asset_base.html
+++ b/v1.2.0/_modules/omni/isaac/lab/assets/asset_base.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="asset_base.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -818,7 +819,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base</h1><div class="highlight">
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html b/v1.2.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
index 3b4b8f5741..051e19b20c 100644
--- a/v1.2.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="asset_base_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -625,7 +626,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base_cfg</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html b/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
index 94ce398f50..f8dd52cfbd 100644
--- a/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
+++ b/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="deformable_object.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -962,7 +963,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object</h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html b/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
index 90b1910317..9af3e737eb 100644
--- a/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="deformable_object_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -578,7 +579,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object_cf
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html b/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html
index 8b9a19f011..591544d1eb 100644
--- a/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html
+++ b/v1.2.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="deformable_object_data.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -787,7 +788,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object_da
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html b/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
index dc827927f3..fa842d3acb 100644
--- a/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
+++ b/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="rigid_object.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -905,7 +906,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html b/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
index 2bf1ad6a60..b2ed94c2eb 100644
--- a/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="rigid_object_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -581,7 +582,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_cfg</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html b/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
index b532762495..626f8cfca5 100644
--- a/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
+++ b/v1.2.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="rigid_object_data.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -829,7 +830,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_data</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/controllers/differential_ik.html b/v1.2.0/_modules/omni/isaac/lab/controllers/differential_ik.html
index 0acd982350..74e4b27a8e 100644
--- a/v1.2.0/_modules/omni/isaac/lab/controllers/differential_ik.html
+++ b/v1.2.0/_modules/omni/isaac/lab/controllers/differential_ik.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="differential_ik.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -789,7 +790,7 @@ <h1>Source code for omni.isaac.lab.controllers.differential_ik</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html b/v1.2.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
index a353ccc967..4088378d25 100644
--- a/v1.2.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="differential_ik_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -619,7 +620,7 @@ <h1>Source code for omni.isaac.lab.controllers.differential_ik_cfg</h1><div clas
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/devices/device_base.html b/v1.2.0/_modules/omni/isaac/lab/devices/device_base.html
index 9509657a43..60c8662b7e 100644
--- a/v1.2.0/_modules/omni/isaac/lab/devices/device_base.html
+++ b/v1.2.0/_modules/omni/isaac/lab/devices/device_base.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="device_base.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -600,7 +601,7 @@ <h1>Source code for omni.isaac.lab.devices.device_base</h1><div class="highlight
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html b/v1.2.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
index 00357753b8..2f2a9f712e 100644
--- a/v1.2.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
+++ b/v1.2.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="se2_gamepad.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -748,7 +749,7 @@ <h1>Source code for omni.isaac.lab.devices.gamepad.se2_gamepad</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html b/v1.2.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
index eac782d1f7..463c9d28a3 100644
--- a/v1.2.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
+++ b/v1.2.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="se3_gamepad.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -793,7 +794,7 @@ <h1>Source code for omni.isaac.lab.devices.gamepad.se3_gamepad</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html b/v1.2.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
index 9a1215c5aa..872c6705b0 100644
--- a/v1.2.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
+++ b/v1.2.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="se2_keyboard.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -716,7 +717,7 @@ <h1>Source code for omni.isaac.lab.devices.keyboard.se2_keyboard</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html b/v1.2.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
index c80a647b8d..1b728fa001 100644
--- a/v1.2.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
+++ b/v1.2.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="se3_keyboard.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -737,7 +738,7 @@ <h1>Source code for omni.isaac.lab.devices.keyboard.se3_keyboard</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html b/v1.2.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
index b314e94789..1503ef1bd0 100644
--- a/v1.2.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
+++ b/v1.2.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="se2_spacemouse.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -703,7 +704,7 @@ <h1>Source code for omni.isaac.lab.devices.spacemouse.se2_spacemouse</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html b/v1.2.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
index d23497f1f8..7ba97056de 100644
--- a/v1.2.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
+++ b/v1.2.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="se3_spacemouse.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -720,7 +721,7 @@ <h1>Source code for omni.isaac.lab.devices.spacemouse.se3_spacemouse</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/common.html b/v1.2.0/_modules/omni/isaac/lab/envs/common.html
index 6e025a23cc..6b8269251a 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/common.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/common.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -684,7 +685,7 @@ <h1>Source code for omni.isaac.lab.envs.common</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/direct_marl_env.html b/v1.2.0/_modules/omni/isaac/lab/envs/direct_marl_env.html
index 7a610c3b3d..1ba06c7cd2 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/direct_marl_env.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/direct_marl_env.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="direct_marl_env.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1244,7 +1245,7 @@ <h1>Source code for omni.isaac.lab.envs.direct_marl_env</h1><div class="highligh
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/direct_marl_env_cfg.html b/v1.2.0/_modules/omni/isaac/lab/envs/direct_marl_env_cfg.html
index 655c500786..fc024877a7 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/direct_marl_env_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/direct_marl_env_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -681,7 +682,7 @@ <h1>Source code for omni.isaac.lab.envs.direct_marl_env_cfg</h1><div class="high
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/direct_rl_env.html b/v1.2.0/_modules/omni/isaac/lab/envs/direct_rl_env.html
index 93b142f635..998f31f742 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/direct_rl_env.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/direct_rl_env.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="direct_rl_env.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1187,7 +1188,7 @@ <h1>Source code for omni.isaac.lab.envs.direct_rl_env</h1><div class="highlight"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html b/v1.2.0/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html
index c51e78a83f..3fa90b8a53 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -690,7 +691,7 @@ <h1>Source code for omni.isaac.lab.envs.direct_rl_env_cfg</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_env.html b/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_env.html
index 374de5808c..63de00f3dd 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_env.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_env.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -924,7 +925,7 @@ <h1>Source code for omni.isaac.lab.envs.manager_based_env</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html b/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
index adf6d35b6b..72e22fcca2 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -658,7 +659,7 @@ <h1>Source code for omni.isaac.lab.envs.manager_based_env_cfg</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html b/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
index 5218ce525a..fa31c592c3 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -907,7 +908,7 @@ <h1>Source code for omni.isaac.lab.envs.manager_based_rl_env</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html b/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html
index c5d84fa278..b889a83455 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -629,7 +630,7 @@ <h1>Source code for omni.isaac.lab.envs.manager_based_rl_env_cfg</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html b/v1.2.0/_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html
index 9ccf348b44..e00fd6e035 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="actions_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -799,7 +800,7 @@ <h1>Source code for omni.isaac.lab.envs.mdp.actions.actions_cfg</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html b/v1.2.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html
index 86086602ce..1f65e72a30 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -764,7 +765,7 @@ <h1>Source code for omni.isaac.lab.envs.mdp.commands.commands_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 1266982c98..c054fd1ea6 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/mdp/curriculums.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -585,7 +586,7 @@ <h1>Source code for omni.isaac.lab.envs.mdp.curriculums</h1><div class="highligh
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 23d3739320..e7fb061a2c 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/mdp/events.html
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@@ -1465,7 +1466,7 @@ <h1>Source code for omni.isaac.lab.envs.mdp.events</h1><div class="highlight"><p
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index da5ad13e8a..9921fd062a 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/mdp/observations.html
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@@ -758,7 +759,7 @@ <h1>Source code for omni.isaac.lab.envs.mdp.observations</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 3447266986..ed87548650 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/mdp/rewards.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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@@ -847,7 +848,7 @@ <h1>Source code for omni.isaac.lab.envs.mdp.rewards</h1><div class="highlight"><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 4221b253c6..7d61900a5f 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/mdp/terminations.html
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@@ -58,7 +58,7 @@
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@@ -707,7 +708,7 @@ <h1>Source code for omni.isaac.lab.envs.mdp.terminations</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/ui/base_env_window.html b/v1.2.0/_modules/omni/isaac/lab/envs/ui/base_env_window.html
index 039beda7e0..1e24fb9336 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/ui/base_env_window.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -952,7 +953,7 @@ <h1>Source code for omni.isaac.lab.envs.ui.base_env_window</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html b/v1.2.0/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html
index b98653f67f..22b026d62c 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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@@ -587,7 +588,7 @@ <h1>Source code for omni.isaac.lab.envs.ui.manager_based_rl_env_window</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html b/v1.2.0/_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html
index 2a37cdaa9b..c7ee3d3632 100644
--- a/v1.2.0/_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/managers/action_manager.html b/v1.2.0/_modules/omni/isaac/lab/managers/action_manager.html
index d685017001..4ee7afa0e2 100644
--- a/v1.2.0/_modules/omni/isaac/lab/managers/action_manager.html
+++ b/v1.2.0/_modules/omni/isaac/lab/managers/action_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/managers/command_manager.html b/v1.2.0/_modules/omni/isaac/lab/managers/command_manager.html
index d81be378a4..73f0120703 100644
--- a/v1.2.0/_modules/omni/isaac/lab/managers/command_manager.html
+++ b/v1.2.0/_modules/omni/isaac/lab/managers/command_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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@@ -946,7 +947,7 @@ <h1>Source code for omni.isaac.lab.managers.command_manager</h1><div class="high
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/managers/curriculum_manager.html b/v1.2.0/_modules/omni/isaac/lab/managers/curriculum_manager.html
index 62480b3400..7be5f3b584 100644
--- a/v1.2.0/_modules/omni/isaac/lab/managers/curriculum_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/managers/event_manager.html b/v1.2.0/_modules/omni/isaac/lab/managers/event_manager.html
index 64ed3984c6..7f59a0699e 100644
--- a/v1.2.0/_modules/omni/isaac/lab/managers/event_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/managers/manager_base.html b/v1.2.0/_modules/omni/isaac/lab/managers/manager_base.html
index 16fdcbd61a..6e5b98f9ce 100644
--- a/v1.2.0/_modules/omni/isaac/lab/managers/manager_base.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -836,7 +837,7 @@ <h1>Source code for omni.isaac.lab.managers.manager_base</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/managers/manager_term_cfg.html b/v1.2.0/_modules/omni/isaac/lab/managers/manager_term_cfg.html
index 5753871d29..5fa5b45449 100644
--- a/v1.2.0/_modules/omni/isaac/lab/managers/manager_term_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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@@ -840,7 +841,7 @@ <h1>Source code for omni.isaac.lab.managers.manager_term_cfg</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/managers/observation_manager.html b/v1.2.0/_modules/omni/isaac/lab/managers/observation_manager.html
index 4d8951149c..62796ca0ff 100644
--- a/v1.2.0/_modules/omni/isaac/lab/managers/observation_manager.html
+++ b/v1.2.0/_modules/omni/isaac/lab/managers/observation_manager.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="observation_manager.html" selected>v1.2.0</option>
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@@ -939,7 +940,7 @@ <h1>Source code for omni.isaac.lab.managers.observation_manager</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/managers/reward_manager.html b/v1.2.0/_modules/omni/isaac/lab/managers/reward_manager.html
index 78064df4bf..b38735782f 100644
--- a/v1.2.0/_modules/omni/isaac/lab/managers/reward_manager.html
+++ b/v1.2.0/_modules/omni/isaac/lab/managers/reward_manager.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="reward_manager.html" selected>v1.2.0</option>
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@@ -772,7 +773,7 @@ <h1>Source code for omni.isaac.lab.managers.reward_manager</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html b/v1.2.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
index 40040ec097..037759f08c 100644
--- a/v1.2.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="scene_entity_cfg.html" selected>v1.2.0</option>
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@@ -779,7 +780,7 @@ <h1>Source code for omni.isaac.lab.managers.scene_entity_cfg</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/managers/termination_manager.html b/v1.2.0/_modules/omni/isaac/lab/managers/termination_manager.html
index 69b0b9af7e..73764902cb 100644
--- a/v1.2.0/_modules/omni/isaac/lab/managers/termination_manager.html
+++ b/v1.2.0/_modules/omni/isaac/lab/managers/termination_manager.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="termination_manager.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -800,7 +801,7 @@ <h1>Source code for omni.isaac.lab.managers.termination_manager</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/markers/visualization_markers.html b/v1.2.0/_modules/omni/isaac/lab/markers/visualization_markers.html
index bb6e707fa8..9300e5dfa7 100644
--- a/v1.2.0/_modules/omni/isaac/lab/markers/visualization_markers.html
+++ b/v1.2.0/_modules/omni/isaac/lab/markers/visualization_markers.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="visualization_markers.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -959,7 +960,7 @@ <h1>Source code for omni.isaac.lab.markers.visualization_markers</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/scene/interactive_scene.html b/v1.2.0/_modules/omni/isaac/lab/scene/interactive_scene.html
index 925f4dadef..501a076b6c 100644
--- a/v1.2.0/_modules/omni/isaac/lab/scene/interactive_scene.html
+++ b/v1.2.0/_modules/omni/isaac/lab/scene/interactive_scene.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="interactive_scene.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1038,7 +1039,7 @@ <h1>Source code for omni.isaac.lab.scene.interactive_scene</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html b/v1.2.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html
index 134f92c255..39748593fd 100644
--- a/v1.2.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="interactive_scene_cfg.html" selected>v1.2.0</option>
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@@ -648,7 +649,7 @@ <h1>Source code for omni.isaac.lab.scene.interactive_scene_cfg</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera.html b/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera.html
index 83c18219dc..6496517b08 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
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             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1232,7 +1233,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
index 0ffd60b663..fcdcaf190b 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="camera_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -657,7 +658,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera_cfg</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html b/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html
index 0feb34c2c8..79101ed46c 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="camera_data.html" selected>v1.2.0</option>
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@@ -641,7 +642,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera_data</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html b/v1.2.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html
index d5a49b4029..5104a4bc12 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="tiled_camera.html" selected>v1.2.0</option>
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@@ -955,7 +956,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.tiled_camera</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
index 03cb32dcfc..ff4d023b8d 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -573,7 +574,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.tiled_camera_cfg</h1><div clas
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html b/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html
index fdbeb04570..6938e58e7d 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="contact_sensor.html" selected>v1.2.0</option>
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@@ -966,7 +967,7 @@ <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
index c3cd06380b..73ceeca219 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -608,7 +609,7 @@ <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor_cfg</h1
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html b/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
index a72a9a381d..70e6d9d064 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -651,7 +652,7 @@ <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor_data</h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html b/v1.2.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html
index 9dc7b77906..cc20925ec4 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -918,7 +919,7 @@ <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer</
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html
index 9e38d29579..5dc8ed094f 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -617,7 +618,7 @@ <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer_c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html b/v1.2.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html
index 299707c53f..bef608d69e 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -605,7 +606,7 @@ <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer_d
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 663879a4cc..4457389d2e 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -844,7 +845,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html b/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
index 86d4e356a0..6b304330ed 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html
index df1f54952c..70dc4d8a4e 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -603,7 +604,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html
index fa7a0bda41..114408e9a5 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -618,7 +619,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html b/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
index f916c9a55e..f2267c13cb 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -578,7 +579,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_data</h1><div c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/sensor_base.html b/v1.2.0/_modules/omni/isaac/lab/sensors/sensor_base.html
index 423c917b61..4fcec7c15c 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/sensor_base.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html
index e00d19d5c8..5c281da45e 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html b/v1.2.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html
index 0c635195b0..70b5cafddb 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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@@ -745,7 +746,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.asset_converter_base</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html
index e48d6eb324..edeafc7a42 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -597,7 +598,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.asset_converter_base_cfg</h1><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html b/v1.2.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html
index 9cff1c4b22..03e5f84532 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -779,7 +780,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.mesh_converter</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index d91fbcabd3..6dd3ef0d06 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html
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@@ -593,7 +594,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.mesh_converter_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index f7bcaade10..158a5c7867 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 28e9731743..94cc929be2 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -612,7 +613,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.urdf_converter_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 17129b9d25..0a9f15861d 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/schemas/schemas.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/schemas/schemas.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -1367,7 +1368,7 @@ <h1>Source code for omni.isaac.lab.sim.schemas.schemas</h1><div class="highlight
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 1d417d04f3..0ffeef7bae 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/simulation_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sim/simulation_cfg.html
index 9ee2cca3e7..4807a566c4 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/simulation_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/simulation_context.html b/v1.2.0/_modules/omni/isaac/lab/sim/simulation_context.html
index 7861de9619..a0f9dc8d0d 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/simulation_context.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
index c58e419c48..ba998d63c0 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -827,7 +828,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.from_files.from_files</h1><div c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
index 8c68f4dc14..e5125cc9e5 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index ea34369015..d4612fe0a7 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -629,7 +630,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.lights.lights</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
index 0214a52c9e..505566bdbb 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -737,7 +738,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.lights.lights_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html
index 5f888d84cd..91a0bd3d59 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html
index f53de2213d..a74f083cae 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -679,7 +680,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.materials.physics_materials_cfg<
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html
index 297e190acc..58f5d66203 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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@@ -665,7 +666,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.materials.visual_materials</h1><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
index 031bc7cc86..dd2ec70fe2 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="visual_materials_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -659,7 +660,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.materials.visual_materials_cfg</
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html
index dd55031aef..b476a2bf85 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="meshes.html" selected>v1.2.0</option>
             <option value="../../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -913,7 +914,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.meshes.meshes</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
index 3a17b79678..bff92ce985 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="meshes_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -693,7 +694,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.meshes.meshes_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
index aa75315f5c..0a61faf9a6 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="sensors.html" selected>v1.2.0</option>
             <option value="../../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -691,7 +692,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.sensors.sensors</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
index e549fce02a..e78163b832 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="sensors_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -780,7 +781,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.sensors.sensors_cfg</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
index b1aa04349d..90b1c9f26a 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="shapes.html" selected>v1.2.0</option>
             <option value="../../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -850,7 +851,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
index a8bd0ade1d..507dc79193 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="shapes_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -671,7 +672,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
index 80dcb8ec75..fb9d05cc06 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="spawner_cfg.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -672,7 +673,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.spawner_cfg</h1><div class="high
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/sim/utils.html b/v1.2.0/_modules/omni/isaac/lab/sim/utils.html
index 2b30d24871..e6ffb37e2b 100644
--- a/v1.2.0/_modules/omni/isaac/lab/sim/utils.html
+++ b/v1.2.0/_modules/omni/isaac/lab/sim/utils.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="utils.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1407,7 +1408,7 @@ <h1>Source code for omni.isaac.lab.sim.utils</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html b/v1.2.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
index 2c60d61a3d..5a1413812d 100644
--- a/v1.2.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
+++ b/v1.2.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="hf_terrains.html" selected>v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -985,7 +986,7 @@ <h1>Source code for omni.isaac.lab.terrains.height_field.hf_terrains</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html b/v1.2.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
index 96658d5056..ea7c08c064 100644
--- a/v1.2.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -716,7 +717,7 @@ <h1>Source code for omni.isaac.lab.terrains.height_field.hf_terrains_cfg</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_generator.html b/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_generator.html
index 743cf12ac8..57ba94ddb9 100644
--- a/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_generator.html
+++ b/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_generator.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
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@@ -936,7 +937,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_generator</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html b/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
index 24799029d2..2ad2b8e37c 100644
--- a/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
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@@ -745,7 +746,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_generator_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_importer.html b/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_importer.html
index 3bf3d8394c..90e0708862 100644
--- a/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_importer.html
+++ b/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_importer.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="terrain_importer.html" selected>v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -911,7 +912,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_importer</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 737c14cb7a..5c50b24126 100644
--- a/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 4dca54937f..9642a21d22 100644
--- a/v1.2.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html b/v1.2.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
index f58819c484..52d000e422 100644
--- a/v1.2.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/terrains/utils.html b/v1.2.0/_modules/omni/isaac/lab/terrains/utils.html
index b07bc0cc2e..c05dc376fc 100644
--- a/v1.2.0/_modules/omni/isaac/lab/terrains/utils.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.2.0/_modules/omni/isaac/lab/utils/array.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.2.0/_modules/omni/isaac/lab/utils/assets.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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@@ -156,6 +156,7 @@
           </div>
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             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 5fd4c5152e..3c1505fe3b 100644
--- a/v1.2.0/_modules/omni/isaac/lab/utils/modifiers/modifier.html
+++ b/v1.2.0/_modules/omni/isaac/lab/utils/modifiers/modifier.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/utils/modifiers/modifier_base.html b/v1.2.0/_modules/omni/isaac/lab/utils/modifiers/modifier_base.html
index 841136eca2..90f7db91ab 100644
--- a/v1.2.0/_modules/omni/isaac/lab/utils/modifiers/modifier_base.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -627,7 +628,7 @@ <h1>Source code for omni.isaac.lab.utils.modifiers.modifier_base</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/utils/modifiers/modifier_cfg.html b/v1.2.0/_modules/omni/isaac/lab/utils/modifiers/modifier_cfg.html
index 03282536ce..b4221f6ae5 100644
--- a/v1.2.0/_modules/omni/isaac/lab/utils/modifiers/modifier_cfg.html
+++ b/v1.2.0/_modules/omni/isaac/lab/utils/modifiers/modifier_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -627,7 +628,7 @@ <h1>Source code for omni.isaac.lab.utils.modifiers.modifier_cfg</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/utils/noise/noise_cfg.html b/v1.2.0/_modules/omni/isaac/lab/utils/noise/noise_cfg.html
index ad33daadb4..8edb91e15f 100644
--- a/v1.2.0/_modules/omni/isaac/lab/utils/noise/noise_cfg.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -641,7 +642,7 @@ <h1>Source code for omni.isaac.lab.utils.noise.noise_cfg</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/utils/noise/noise_model.html b/v1.2.0/_modules/omni/isaac/lab/utils/noise/noise_model.html
index 1cbbbee3d3..8c2ec20fe6 100644
--- a/v1.2.0/_modules/omni/isaac/lab/utils/noise/noise_model.html
+++ b/v1.2.0/_modules/omni/isaac/lab/utils/noise/noise_model.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/utils/string.html b/v1.2.0/_modules/omni/isaac/lab/utils/string.html
index aa39ba7592..adb8e7add7 100644
--- a/v1.2.0/_modules/omni/isaac/lab/utils/string.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -917,7 +918,7 @@ <h1>Source code for omni.isaac.lab.utils.string</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/_modules/omni/isaac/lab/utils/timer.html b/v1.2.0/_modules/omni/isaac/lab/utils/timer.html
index cb8c6df1f0..8cfd48c25f 100644
--- a/v1.2.0/_modules/omni/isaac/lab/utils/timer.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -720,7 +721,7 @@ <h1>Source code for omni.isaac.lab.utils.timer</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 74ab1312fd..3ada411bdd 100644
--- a/v1.2.0/_modules/omni/isaac/lab/utils/warp/ops.html
+++ b/v1.2.0/_modules/omni/isaac/lab/utils/warp/ops.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index b2a196f45c..f8979e1e41 100644
--- a/v1.2.0/_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html
+++ b/v1.2.0/_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 2608db7acb..64d02c09c6 100644
--- a/v1.2.0/_modules/omni/isaac/lab_tasks/utils/importer.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 74b1d95a86..83b2bfda1b 100644
--- a/v1.2.0/_modules/omni/isaac/lab_tasks/utils/parse_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -747,7 +748,7 @@ <h1>Source code for omni.isaac.lab_tasks.utils.parse_cfg</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 65763896f4..d3ba5e18db 100644
--- a/v1.2.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 9fcf561958..901ef4eb64 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 184be1a2c1..fe17f0d968 100644
--- a/v1.2.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
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index 6ec9a11ad0..82f570211e 100644
--- a/v1.2.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index c211ede343..1d48522a2a 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index e97025ed7d..fbc1c44091 100644
--- a/v1.2.0/_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index c321ecf68b..4cb21cf0d5 100644
--- a/v1.2.0/genindex.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 695fa348c4..2fac19ce16 100644
--- a/v1.2.0/index.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d8cadc7d86..7ce489a4ba 100644
--- a/v1.2.0/py-modindex.html
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
 
 
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+            <option value="../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index ac002c21f9..32491c87b2 100644
--- a/v1.2.0/search.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index e7941557d9..630601c462 100644
--- a/v1.2.0/source/api/index.html
+++ b/v1.2.0/source/api/index.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/api/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 45433d443b..059126fa2a 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.actuators.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.actuators.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.actuators.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.actuators.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 4dc92b787d..3459924a2e 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.app.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.app.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.app.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index d7e2a7e005..ab3595693f 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.assets.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.assets.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.assets.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.controllers.html b/v1.2.0/source/api/lab/omni.isaac.lab.controllers.html
index ea153cfa04..4d870f09bc 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.controllers.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.controllers.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.devices.html b/v1.2.0/source/api/lab/omni.isaac.lab.devices.html
index e42fafee0f..a8f3c4aa8e 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.devices.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.devices.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.devices.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 30d20e2446..21bd9ca7d8 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.envs.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.envs.html
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.envs.mdp.html b/v1.2.0/source/api/lab/omni.isaac.lab.envs.mdp.html
index 634820b138..25a2774d44 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.envs.mdp.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.envs.mdp.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.mdp.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.1.0</option>
@@ -3725,7 +3726,7 @@ <h2> Contents </h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.envs.ui.html b/v1.2.0/source/api/lab/omni.isaac.lab.envs.ui.html
index 3c107889ed..1467614e45 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.envs.ui.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.envs.ui.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.ui.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.3.0</option>
             <option value="omni.isaac.lab.envs.ui.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.1.0</option>
@@ -944,7 +945,7 @@ <h2>Viewport Camera Controller<a class="headerlink" href="#viewport-camera-contr
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.managers.html b/v1.2.0/source/api/lab/omni.isaac.lab.managers.html
index 18645bd97b..1bad0e0619 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.managers.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.managers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.managers.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.managers.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.managers.html" >v1.3.0</option>
             <option value="omni.isaac.lab.managers.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.managers.html" >v1.1.0</option>
@@ -3585,7 +3586,7 @@ <h2>Curriculum Manager<a class="headerlink" href="#curriculum-manager" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.markers.html b/v1.2.0/source/api/lab/omni.isaac.lab.markers.html
index 551d5d79ac..db893b539f 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.markers.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.markers.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.markers.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.markers.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.markers.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.markers.html" >v1.1.0</option>
@@ -965,7 +966,7 @@ <h2>Visualization Markers<a class="headerlink" href="#visualization-markers" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.scene.html b/v1.2.0/source/api/lab/omni.isaac.lab.scene.html
index 800187ac59..714fd466be 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.scene.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.scene.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.scene.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.scene.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.scene.html" >v1.3.0</option>
             <option value="omni.isaac.lab.scene.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.scene.html" >v1.1.0</option>
@@ -1182,7 +1183,7 @@ <h2>interactive Scene<a class="headerlink" href="#interactive-scene" title="Perm
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.sensors.html b/v1.2.0/source/api/lab/omni.isaac.lab.sensors.html
index a09a58ea0f..9b06471762 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.sensors.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.sensors.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sensors.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.3.0</option>
             <option value="omni.isaac.lab.sensors.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.1.0</option>
@@ -4505,7 +4506,7 @@ <h2>Ray-Cast Camera<a class="headerlink" href="#ray-cast-camera" title="Permalin
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.sensors.patterns.html b/v1.2.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
index a1a0386709..a7ff4bdb60 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sensors.patterns.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.4.0</option>
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@@ -1201,7 +1202,7 @@ <h2>LiDAR Pattern<a class="headerlink" href="#lidar-pattern" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.sim.converters.html b/v1.2.0/source/api/lab/omni.isaac.lab.sim.converters.html
index 30589a88f6..b12c878f32 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.sim.converters.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.sim.converters.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.converters.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.3.0</option>
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@@ -1510,7 +1511,7 @@ <h2>URDF Converter<a class="headerlink" href="#urdf-converter" title="Permalink
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.sim.html b/v1.2.0/source/api/lab/omni.isaac.lab.sim.html
index e065b9dadc..50a07972d3 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.sim.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.sim.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -159,6 +159,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sim.html" >v1.1.0</option>
@@ -2093,7 +2094,7 @@ <h2>Simulation Context Builder<a class="headerlink" href="#simulation-context-bu
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.sim.schemas.html b/v1.2.0/source/api/lab/omni.isaac.lab.sim.schemas.html
index deafcb4b5e..9695c46ca5 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.sim.schemas.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.sim.schemas.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.schemas.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.1.0</option>
@@ -2062,7 +2063,7 @@ <h2>Deformable Body<a class="headerlink" href="#deformable-body" title="Permalin
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.sim.spawners.html b/v1.2.0/source/api/lab/omni.isaac.lab.sim.spawners.html
index 2f29e5776c..cd86488dbb 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.sim.spawners.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.sim.spawners.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.spawners.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.3.0</option>
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             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.1.0</option>
@@ -7339,7 +7340,7 @@ <h3>Physical Materials<a class="headerlink" href="#physical-materials" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.terrains.html b/v1.2.0/source/api/lab/omni.isaac.lab.terrains.html
index 0cebe6eee3..72e019fd7d 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.terrains.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.terrains.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.terrains.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.3.0</option>
             <option value="omni.isaac.lab.terrains.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.1.0</option>
@@ -5343,7 +5344,7 @@ <h3>Repeated Objects Terrain<a class="headerlink" href="#repeated-objects-terrai
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/api/lab/omni.isaac.lab.utils.html b/v1.2.0/source/api/lab/omni.isaac.lab.utils.html
index 6bf13a676e..0b86de572c 100644
--- a/v1.2.0/source/api/lab/omni.isaac.lab.utils.html
+++ b/v1.2.0/source/api/lab/omni.isaac.lab.utils.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.utils.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.utils.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/api/lab/omni.isaac.lab.utils.html" >v1.3.0</option>
             <option value="omni.isaac.lab.utils.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.utils.html" >v1.1.0</option>
@@ -4510,7 +4511,7 @@ <h2> Contents </h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
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+  Last updated on Dec 27, 2024.
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index b0693effa3..ad60a06f4e 100644
--- a/v1.2.0/source/deployment/cluster.html
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index c4b0c9f521..44c7ac7810 100644
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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index 5922662d1d..5ac536e368 100644
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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--- a/v1.2.0/source/deployment/run_docker_example.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index e3a1404b3f..ca75c9b988 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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   <div class="footer-item">
     <p class="last-updated">
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   <div class="footer-item">
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="../../../main/source/how-to/import_new_asset.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/import_new_asset.html" >v1.4.0</option>
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@@ -874,7 +875,7 @@ <h3>Example Usage<a class="headerlink" href="#id2" title="Permalink to this head
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/source/how-to/index.html b/v1.2.0/source/how-to/index.html
index 58380f0b9e..a8ef65dc5d 100644
--- a/v1.2.0/source/how-to/index.html
+++ b/v1.2.0/source/how-to/index.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../v1.4.0/source/how-to/index.html" >v1.4.0</option>
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@@ -752,7 +753,7 @@ <h2>Mastering Omniverse<a class="headerlink" href="#mastering-omniverse" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/source/how-to/make_fixed_prim.html b/v1.2.0/source/how-to/make_fixed_prim.html
index c2cf5b6db6..d7bf800791 100644
--- a/v1.2.0/source/how-to/make_fixed_prim.html
+++ b/v1.2.0/source/how-to/make_fixed_prim.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="../../../main/source/how-to/make_fixed_prim.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/make_fixed_prim.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/source/how-to/make_fixed_prim.html" >v1.1.0</option>
@@ -818,7 +819,7 @@ <h2>Further notes<a class="headerlink" href="#further-notes" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/source/how-to/master_omniverse.html b/v1.2.0/source/how-to/master_omniverse.html
index 6327d33c48..74be94aca2 100644
--- a/v1.2.0/source/how-to/master_omniverse.html
+++ b/v1.2.0/source/how-to/master_omniverse.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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             <option value="../../../main/source/how-to/master_omniverse.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/master_omniverse.html" >v1.4.0</option>
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@@ -782,7 +783,7 @@ <h2>Part 3: More Resources<a class="headerlink" href="#part-3-more-resources" ti
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/source/how-to/record_animation.html b/v1.2.0/source/how-to/record_animation.html
index 3e7adbc322..3fcf39b759 100644
--- a/v1.2.0/source/how-to/record_animation.html
+++ b/v1.2.0/source/how-to/record_animation.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/record_animation.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/record_animation.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/source/how-to/record_animation.html" >v1.1.0</option>
@@ -794,7 +795,7 @@ <h2>Example Usage<a class="headerlink" href="#example-usage" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/source/how-to/record_video.html b/v1.2.0/source/how-to/record_video.html
index 3b7e22ae61..3f5be62e3b 100644
--- a/v1.2.0/source/how-to/record_video.html
+++ b/v1.2.0/source/how-to/record_video.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/record_video.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/record_video.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/index.html" >v1.1.0</option>
@@ -652,7 +653,7 @@ <h1>Recording video clips during training<a class="headerlink" href="#recording-
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/how-to/save_camera_output.html b/v1.2.0/source/how-to/save_camera_output.html
index c0e53efd14..bacc3eb5a9 100644
--- a/v1.2.0/source/how-to/save_camera_output.html
+++ b/v1.2.0/source/how-to/save_camera_output.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
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             <option value="../../../main/source/how-to/save_camera_output.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/save_camera_output.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/save_camera_output.html" >v1.3.0</option>
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             <option value="../../../v1.1.0/source/how-to/save_camera_output.html" >v1.1.0</option>
@@ -1055,7 +1056,7 @@ <h2>Executing the script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/how-to/wrap_rl_env.html b/v1.2.0/source/how-to/wrap_rl_env.html
index df02882fe1..54296f98bb 100644
--- a/v1.2.0/source/how-to/wrap_rl_env.html
+++ b/v1.2.0/source/how-to/wrap_rl_env.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/wrap_rl_env.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/wrap_rl_env.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/wrap_rl_env.html" >v1.3.0</option>
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             <option value="../../../v1.1.0/source/how-to/wrap_rl_env.html" >v1.1.0</option>
@@ -837,7 +838,7 @@ <h2>Adding new wrappers<a class="headerlink" href="#adding-new-wrappers" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/how-to/write_articulation_cfg.html b/v1.2.0/source/how-to/write_articulation_cfg.html
index 1aa806404e..979aa38c7b 100644
--- a/v1.2.0/source/how-to/write_articulation_cfg.html
+++ b/v1.2.0/source/how-to/write_articulation_cfg.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
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             <option value="../../../main/source/how-to/write_articulation_cfg.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/write_articulation_cfg.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/how-to/write_articulation_cfg.html" >v1.3.0</option>
             <option value="write_articulation_cfg.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/write_articulation_cfg.html" >v1.1.0</option>
@@ -836,7 +837,7 @@ <h2>Defining the actuator configuration<a class="headerlink" href="#defining-the
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/migration/migrating_from_isaacgymenvs.html b/v1.2.0/source/migration/migrating_from_isaacgymenvs.html
index 4ac4be1c21..8ab4ebdadf 100644
--- a/v1.2.0/source/migration/migrating_from_isaacgymenvs.html
+++ b/v1.2.0/source/migration/migrating_from_isaacgymenvs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../main/source/migration/migrating_from_isaacgymenvs.html" >main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_isaacgymenvs.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/migration/migrating_from_isaacgymenvs.html" >v1.3.0</option>
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             <option value="../../../v1.1.0/source/migration/migrating_from_isaacgymenvs.html" >v1.1.0</option>
@@ -1865,7 +1866,7 @@ <h2>Launching Inferencing<a class="headerlink" href="#launching-inferencing" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/migration/migrating_from_omniisaacgymenvs.html b/v1.2.0/source/migration/migrating_from_omniisaacgymenvs.html
index 6d24e3f6ab..efcc2a2751 100644
--- a/v1.2.0/source/migration/migrating_from_omniisaacgymenvs.html
+++ b/v1.2.0/source/migration/migrating_from_omniisaacgymenvs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../main/source/migration/migrating_from_omniisaacgymenvs.html" >main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_omniisaacgymenvs.html" >v1.4.0</option>
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             <option value="../../../v1.1.0/source/migration/migrating_from_omniisaacgymenvs.html" >v1.1.0</option>
@@ -1915,7 +1916,7 @@ <h2>Launching Inferencing<a class="headerlink" href="#launching-inferencing" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/migration/migrating_from_orbit.html b/v1.2.0/source/migration/migrating_from_orbit.html
index a567841bae..b4676d6b4a 100644
--- a/v1.2.0/source/migration/migrating_from_orbit.html
+++ b/v1.2.0/source/migration/migrating_from_orbit.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/migration/migrating_from_orbit.html" >main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_orbit.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/migration/migrating_from_orbit.html" >v1.3.0</option>
             <option value="migrating_from_orbit.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/source/migration/migrating_from_orbit.html" >v1.1.0</option>
@@ -816,7 +817,7 @@ <h3>Event term distribution configuration<a class="headerlink" href="#event-term
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/overview/basic_agents.html b/v1.2.0/source/overview/basic_agents.html
index 996db45083..a9dfcc6ee3 100644
--- a/v1.2.0/source/overview/basic_agents.html
+++ b/v1.2.0/source/overview/basic_agents.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/index.html" >main</option>
+            <option value="../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="../../../v1.3.0/index.html" >v1.3.0</option>
             <option value="basic_agents.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/index.html" >v1.1.0</option>
@@ -781,7 +782,7 @@ <h3>State machine<a class="headerlink" href="#state-machine" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/overview/core-concepts/actuators.html b/v1.2.0/source/overview/core-concepts/actuators.html
index 5109f788a8..2f4d0f0a2b 100644
--- a/v1.2.0/source/overview/core-concepts/actuators.html
+++ b/v1.2.0/source/overview/core-concepts/actuators.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -159,6 +159,7 @@
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+            <option value="../../../../v1.4.0/source/overview/core-concepts/actuators.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/overview/core-concepts/actuators.html" >v1.3.0</option>
             <option value="actuators.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -716,7 +717,7 @@ <h2>Actuator groups<a class="headerlink" href="#actuator-groups" title="Permalin
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/overview/core-concepts/index.html b/v1.2.0/source/overview/core-concepts/index.html
index 7ab2586ac4..aa63423abb 100644
--- a/v1.2.0/source/overview/core-concepts/index.html
+++ b/v1.2.0/source/overview/core-concepts/index.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
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index 0969ad10b4..d316d51bf9 100644
--- a/v1.2.0/source/overview/core-concepts/task_workflows.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 64cb4d4331..88958a3beb 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 23eaf1a570..317b72f461 100644
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index adbd2a864c..375324d67c 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/source/overview/showroom.html b/v1.2.0/source/overview/showroom.html
index 8af74e39f3..5ddae2aa81 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/source/overview/teleop_imitation.html b/v1.2.0/source/overview/teleop_imitation.html
index 3fbc65dc6f..944e8443af 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/overview/teleop_imitation.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 12ea9df83c..2b280cfa60 100644
--- a/v1.2.0/source/refs/bibliography.html
+++ b/v1.2.0/source/refs/bibliography.html
@@ -60,7 +60,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/bibliography.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/bibliography.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/bibliography.html" >v1.3.0</option>
             <option value="bibliography.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/source/refs/bibliography.html" >v1.1.0</option>
@@ -680,7 +681,7 @@ <h1>Bibliography<a class="headerlink" href="#bibliography" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/refs/changelog.html b/v1.2.0/source/refs/changelog.html
index 8c31cb5e55..e742329be3 100644
--- a/v1.2.0/source/refs/changelog.html
+++ b/v1.2.0/source/refs/changelog.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/changelog.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/changelog.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/changelog.html" >v1.3.0</option>
             <option value="changelog.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/source/refs/changelog.html" >v1.1.0</option>
@@ -6569,7 +6570,7 @@ <h4>Added<a class="headerlink" href="#id612" title="Permalink to this heading">#
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/refs/contributing.html b/v1.2.0/source/refs/contributing.html
index 5e14ac1f58..8dfb958303 100644
--- a/v1.2.0/source/refs/contributing.html
+++ b/v1.2.0/source/refs/contributing.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/contributing.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/contributing.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/contributing.html" >v1.3.0</option>
             <option value="contributing.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/source/refs/contributing.html" >v1.1.0</option>
@@ -910,7 +911,7 @@ <h2>Maintaining a changelog<a class="headerlink" href="#maintaining-a-changelog"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/refs/issues.html b/v1.2.0/source/refs/issues.html
index e72c0db3e3..ff73362436 100644
--- a/v1.2.0/source/refs/issues.html
+++ b/v1.2.0/source/refs/issues.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/issues.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/issues.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/issues.html" >v1.3.0</option>
             <option value="issues.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/source/refs/issues.html" >v1.1.0</option>
@@ -733,7 +734,7 @@ <h2>Exiting the process<a class="headerlink" href="#exiting-the-process" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/refs/license.html b/v1.2.0/source/refs/license.html
index 1aad03d044..30bf2e8c3a 100644
--- a/v1.2.0/source/refs/license.html
+++ b/v1.2.0/source/refs/license.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/license.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/license.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/license.html" >v1.3.0</option>
             <option value="license.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/source/refs/license.html" >v1.1.0</option>
@@ -672,7 +673,7 @@ <h1>License</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/refs/migration.html b/v1.2.0/source/refs/migration.html
index 48029ff23f..26bdeab5b0 100644
--- a/v1.2.0/source/refs/migration.html
+++ b/v1.2.0/source/refs/migration.html
@@ -59,7 +59,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/migration.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/migration.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/migration.html" >v1.3.0</option>
             <option value="migration.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/source/refs/migration.html" >v1.1.0</option>
@@ -724,7 +725,7 @@ <h2>Deprecation of <code class="xref py py-class docutils literal notranslate"><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/refs/troubleshooting.html b/v1.2.0/source/refs/troubleshooting.html
index fe43a7bec2..86eaca32f2 100644
--- a/v1.2.0/source/refs/troubleshooting.html
+++ b/v1.2.0/source/refs/troubleshooting.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/refs/troubleshooting.html" >main</option>
+            <option value="../../../v1.4.0/source/refs/troubleshooting.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/refs/troubleshooting.html" >v1.3.0</option>
             <option value="troubleshooting.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/source/refs/troubleshooting.html" >v1.1.0</option>
@@ -876,7 +877,7 @@ <h2>Understanding the error logs from crashes<a class="headerlink" href="#unders
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/source/setup/faq.html b/v1.2.0/source/setup/faq.html
index bdcd96608f..59d82b8ba7 100644
--- a/v1.2.0/source/setup/faq.html
+++ b/v1.2.0/source/setup/faq.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/setup/faq.html" >main</option>
+            <option value="../../../v1.4.0/source/setup/faq.html" >v1.4.0</option>
             <option value="../../../v1.3.0/source/setup/faq.html" >v1.3.0</option>
             <option value="faq.html" selected>v1.2.0</option>
             <option value="../../../v1.1.0/source/setup/faq.html" >v1.1.0</option>
@@ -727,7 +728,7 @@ <h2>Why should I use Isaac Lab?<a class="headerlink" href="#why-should-i-use-isa
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/setup/installation/binaries_installation.html b/v1.2.0/source/setup/installation/binaries_installation.html
index 767e7cfc1d..1d7afd9d73 100644
--- a/v1.2.0/source/setup/installation/binaries_installation.html
+++ b/v1.2.0/source/setup/installation/binaries_installation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/binaries_installation.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/binaries_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/binaries_installation.html" >v1.3.0</option>
             <option value="binaries_installation.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/setup/installation/binaries_installation.html" >v1.1.0</option>
@@ -1065,7 +1066,7 @@ <h3>Verifying the Isaac Lab installation<a class="headerlink" href="#verifying-t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/setup/installation/cloud_installation.html b/v1.2.0/source/setup/installation/cloud_installation.html
index 3a61482805..e2accd50f2 100644
--- a/v1.2.0/source/setup/installation/cloud_installation.html
+++ b/v1.2.0/source/setup/installation/cloud_installation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/cloud_installation.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/cloud_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/cloud_installation.html" >v1.3.0</option>
             <option value="cloud_installation.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/setup/installation/cloud_installation.html" >v1.1.0</option>
@@ -792,7 +793,7 @@ <h2>Destroying a Development<a class="headerlink" href="#destroying-a-developmen
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/setup/installation/index.html b/v1.2.0/source/setup/installation/index.html
index 2bafecfaa5..546953b21b 100644
--- a/v1.2.0/source/setup/installation/index.html
+++ b/v1.2.0/source/setup/installation/index.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/index.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/index.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/index.html" >v1.3.0</option>
             <option value="index.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/setup/installation/index.html" >v1.1.0</option>
@@ -677,7 +678,7 @@ <h1>Installation Guide<a class="headerlink" href="#installation-guide" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.2.0/source/setup/installation/pip_installation.html b/v1.2.0/source/setup/installation/pip_installation.html
index 67c4afda6e..2305a8e842 100644
--- a/v1.2.0/source/setup/installation/pip_installation.html
+++ b/v1.2.0/source/setup/installation/pip_installation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/setup/installation/pip_installation.html" >main</option>
+            <option value="../../../../v1.4.0/source/setup/installation/pip_installation.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/setup/installation/pip_installation.html" >v1.3.0</option>
             <option value="pip_installation.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/setup/installation/pip_installation.html" >v1.1.0</option>
@@ -973,7 +974,7 @@ <h3>Verifying the Isaac Lab installation<a class="headerlink" href="#verifying-t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/tutorials/00_sim/create_empty.html b/v1.2.0/source/tutorials/00_sim/create_empty.html
index 19e4186a75..b15c864591 100644
--- a/v1.2.0/source/tutorials/00_sim/create_empty.html
+++ b/v1.2.0/source/tutorials/00_sim/create_empty.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/tutorials/00_sim/create_empty.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/create_empty.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/00_sim/create_empty.html" >v1.3.0</option>
             <option value="create_empty.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/00_sim/create_empty.html" >v1.1.0</option>
@@ -884,7 +885,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/tutorials/00_sim/launch_app.html b/v1.2.0/source/tutorials/00_sim/launch_app.html
index 008987b429..53b8b91739 100644
--- a/v1.2.0/source/tutorials/00_sim/launch_app.html
+++ b/v1.2.0/source/tutorials/00_sim/launch_app.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/tutorials/00_sim/launch_app.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/launch_app.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/00_sim/launch_app.html" >v1.3.0</option>
             <option value="launch_app.html" selected>v1.2.0</option>
             <option value="../../../../v1.1.0/source/tutorials/00_sim/launch_app.html" >v1.1.0</option>
@@ -931,7 +932,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.2.0/source/tutorials/00_sim/spawn_prims.html b/v1.2.0/source/tutorials/00_sim/spawn_prims.html
index 727960cd3a..da0fccd7ee 100644
--- a/v1.2.0/source/tutorials/00_sim/spawn_prims.html
+++ b/v1.2.0/source/tutorials/00_sim/spawn_prims.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/tutorials/00_sim/spawn_prims.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/spawn_prims.html" >v1.4.0</option>
             <option value="../../../../v1.3.0/source/tutorials/00_sim/spawn_prims.html" >v1.3.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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--- a/v1.2.0/source/tutorials/01_assets/run_articulation.html
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   <div class="footer-item">
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--- a/v1.2.0/source/tutorials/01_assets/run_deformable_object.html
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--- a/v1.2.0/source/tutorials/01_assets/run_rigid_object.html
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 8023e389d0..8fb90bba71 100644
--- a/v1.2.0/source/tutorials/02_scene/create_scene.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.2.0/source/tutorials/03_envs/create_direct_rl_env.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.2.0/source/tutorials/03_envs/create_manager_base_env.html
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/source/tutorials/03_envs/modify_direct_rl_env.html b/v1.2.0/source/tutorials/03_envs/modify_direct_rl_env.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/source/tutorials/03_envs/register_rl_env_gym.html b/v1.2.0/source/tutorials/03_envs/register_rl_env_gym.html
index 4482381072..ee86c51247 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.2.0/source/tutorials/03_envs/run_rl_training.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/source/tutorials/05_controllers/run_diff_ik.html b/v1.2.0/source/tutorials/05_controllers/run_diff_ik.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.2.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.2.0/source/tutorials/index.html b/v1.2.0/source/tutorials/index.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/index.html b/v1.3.0/_modules/index.html
index adc1d5bb73..1a7c4eb7f1 100644
--- a/v1.3.0/_modules/index.html
+++ b/v1.3.0/_modules/index.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../main/index.html" >main</option>
+            <option value="../../v1.4.0/index.html" >v1.4.0</option>
             <option value="index.html" selected>v1.3.0</option>
             <option value="../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../v1.1.0/index.html" >v1.1.0</option>
@@ -700,7 +701,7 @@ <h1>All modules for which code is available</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_base.html b/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_base.html
index edc68e009e..231b8257fc 100644
--- a/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_base.html
+++ b/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_base.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="actuator_base.html" selected>v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -813,7 +814,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_cfg.html b/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_cfg.html
index c0c7569d1c..0ff4cd5d45 100644
--- a/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="actuator_cfg.html" selected>v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -741,7 +742,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_cfg</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_net.html b/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_net.html
index a152db3fc8..19050b46b6 100644
--- a/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_net.html
+++ b/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_net.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="actuator_net.html" selected>v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -740,7 +741,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_net</h1><div class="highli
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_pd.html b/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_pd.html
index 5d24e0b3e1..ecdedef109 100644
--- a/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_pd.html
+++ b/v1.3.0/_modules/omni/isaac/lab/actuators/actuator_pd.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="actuator_pd.html" selected>v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -915,7 +916,7 @@ <h1>Source code for omni.isaac.lab.actuators.actuator_pd</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/app/app_launcher.html b/v1.3.0/_modules/omni/isaac/lab/app/app_launcher.html
index 8f4781d572..10f9b3761f 100644
--- a/v1.3.0/_modules/omni/isaac/lab/app/app_launcher.html
+++ b/v1.3.0/_modules/omni/isaac/lab/app/app_launcher.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="app_launcher.html" selected>v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1272,7 +1273,7 @@ <h1>Source code for omni.isaac.lab.app.app_launcher</h1><div class="highlight"><
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation.html b/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation.html
index 8920415287..e7c2de0ff8 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="articulation.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1926,7 +1927,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html b/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
index 79a001fb25..7a9dc5e340 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="articulation_cfg.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -604,7 +605,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_cfg</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html b/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
index 35a3d2e30e..5d0aed16a4 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/articulation/articulation_data.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="articulation_data.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1025,7 +1026,7 @@ <h1>Source code for omni.isaac.lab.assets.articulation.articulation_data</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/asset_base.html b/v1.3.0/_modules/omni/isaac/lab/assets/asset_base.html
index e177c7ec14..efc177cbd7 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/asset_base.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/asset_base.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="asset_base.html" selected>v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -823,7 +824,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base</h1><div class="highlight">
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html b/v1.3.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
index 95ca0e54be..bc39c9db37 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/asset_base_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="asset_base_cfg.html" selected>v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -629,7 +630,7 @@ <h1>Source code for omni.isaac.lab.assets.asset_base_cfg</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html b/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
index 934f622c13..765d18adac 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="deformable_object.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -965,7 +966,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object</h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html b/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
index 1433f63566..b3062c887f 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="deformable_object_cfg.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -581,7 +582,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object_cf
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html b/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html
index 54ce2f88f6..f94de81c5c 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="deformable_object_data.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -790,7 +791,7 @@ <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object_da
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
index 01abd7e91d..32034cb47c 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="rigid_object.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -908,7 +909,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
index 69982e9980..f27c150610 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="rigid_object_cfg.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -584,7 +585,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_cfg</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
index bbf0d9bcbc..21d131969a 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="rigid_object_data.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -832,7 +833,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_data</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html
index 471c23ff1f..3b48904165 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="rigid_object_collection.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1059,7 +1060,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object_collection.rigid_object_c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_cfg.html b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_cfg.html
index 2fc9fa1544..f8bf2a5464 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="rigid_object_collection_cfg.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -580,7 +581,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object_collection.rigid_object_c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html
index 9c7a45d634..b646d880d8 100644
--- a/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html
+++ b/v1.3.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="rigid_object_collection_data.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -803,7 +804,7 @@ <h1>Source code for omni.isaac.lab.assets.rigid_object_collection.rigid_object_c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/controllers/differential_ik.html b/v1.3.0/_modules/omni/isaac/lab/controllers/differential_ik.html
index def61545f7..bfbc6497ee 100644
--- a/v1.3.0/_modules/omni/isaac/lab/controllers/differential_ik.html
+++ b/v1.3.0/_modules/omni/isaac/lab/controllers/differential_ik.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="differential_ik.html" selected>v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -792,7 +793,7 @@ <h1>Source code for omni.isaac.lab.controllers.differential_ik</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html b/v1.3.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
index e965c86b4a..e070b90d5b 100644
--- a/v1.3.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/controllers/differential_ik_cfg.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="differential_ik_cfg.html" selected>v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -622,7 +623,7 @@ <h1>Source code for omni.isaac.lab.controllers.differential_ik_cfg</h1><div clas
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/devices/device_base.html b/v1.3.0/_modules/omni/isaac/lab/devices/device_base.html
index d8feb36804..7b02f4becf 100644
--- a/v1.3.0/_modules/omni/isaac/lab/devices/device_base.html
+++ b/v1.3.0/_modules/omni/isaac/lab/devices/device_base.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="device_base.html" selected>v1.3.0</option>
             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -603,7 +604,7 @@ <h1>Source code for omni.isaac.lab.devices.device_base</h1><div class="highlight
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html b/v1.3.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
index 064604c62a..1134203440 100644
--- a/v1.3.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
+++ b/v1.3.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="se2_gamepad.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -751,7 +752,7 @@ <h1>Source code for omni.isaac.lab.devices.gamepad.se2_gamepad</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html b/v1.3.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
index 28bdbb8dd7..33e4cc5e96 100644
--- a/v1.3.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
+++ b/v1.3.0/_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="se3_gamepad.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -796,7 +797,7 @@ <h1>Source code for omni.isaac.lab.devices.gamepad.se3_gamepad</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html b/v1.3.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
index f6fa920c54..4dda22ae5d 100644
--- a/v1.3.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
+++ b/v1.3.0/_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="se2_keyboard.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -719,7 +720,7 @@ <h1>Source code for omni.isaac.lab.devices.keyboard.se2_keyboard</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html b/v1.3.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
index d7c0403915..c2de7b05de 100644
--- a/v1.3.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
+++ b/v1.3.0/_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="se3_keyboard.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -740,7 +741,7 @@ <h1>Source code for omni.isaac.lab.devices.keyboard.se3_keyboard</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html b/v1.3.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
index 61272b9a3e..85e2fef784 100644
--- a/v1.3.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
+++ b/v1.3.0/_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html
@@ -58,7 +58,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="se2_spacemouse.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -706,7 +707,7 @@ <h1>Source code for omni.isaac.lab.devices.spacemouse.se2_spacemouse</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index e7e1858bb5..873d33e9e4 100644
--- a/v1.3.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
+++ b/v1.3.0/_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -723,7 +724,7 @@ <h1>Source code for omni.isaac.lab.devices.spacemouse.se3_spacemouse</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 0f83426012..a39163090a 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/common.html
+++ b/v1.3.0/_modules/omni/isaac/lab/envs/common.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 52bc52c78a..dd5b2eb2b7 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/direct_marl_env.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index a8250d00c5..50e0b26a5c 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/direct_marl_env_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 367967a6ae..c2e38b4810 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/direct_rl_env.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 5a5d437f67..0cb0a89f8b 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 6fe50c98c3..624ea581c5 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/manager_based_env.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 1d13b6eb03..4eaeea86b3 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/manager_based_env_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html b/v1.3.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
index eb1e70a902..5c1455c9a1 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/manager_based_rl_env.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html b/v1.3.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html
index bfda8f430b..a99746bbc6 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 5a7f70a223..f5b3d2e87a 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html b/v1.3.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html
index 209f255231..8ed49226a9 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/envs/mdp/curriculums.html b/v1.3.0/_modules/omni/isaac/lab/envs/mdp/curriculums.html
index 7648fab51d..7995b93eb8 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/mdp/curriculums.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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index 8a51fe0105..1ffc115c6d 100644
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 7805aa8043..a6964b7443 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/mdp/observations.html
+++ b/v1.3.0/_modules/omni/isaac/lab/envs/mdp/observations.html
@@ -58,7 +58,7 @@
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@@ -1083,7 +1084,7 @@ <h1>Source code for omni.isaac.lab.envs.mdp.observations</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 5da19fa77c..5f44cf6ee2 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/mdp/rewards.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 9ab2bced0b..8ae6a4299b 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/mdp/terminations.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 9232b6617d..9f5f231d07 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/ui/base_env_window.html
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@@ -955,7 +956,7 @@ <h1>Source code for omni.isaac.lab.envs.ui.base_env_window</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 3476f866ac..1c003cef01 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -590,7 +591,7 @@ <h1>Source code for omni.isaac.lab.envs.ui.manager_based_rl_env_window</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 4d5fb9d11d..ab2d4ed0c3 100644
--- a/v1.3.0/_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/managers/action_manager.html b/v1.3.0/_modules/omni/isaac/lab/managers/action_manager.html
index 4cb9e4f119..559d99a773 100644
--- a/v1.3.0/_modules/omni/isaac/lab/managers/action_manager.html
+++ b/v1.3.0/_modules/omni/isaac/lab/managers/action_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/managers/command_manager.html b/v1.3.0/_modules/omni/isaac/lab/managers/command_manager.html
index 3453beae20..2870701243 100644
--- a/v1.3.0/_modules/omni/isaac/lab/managers/command_manager.html
+++ b/v1.3.0/_modules/omni/isaac/lab/managers/command_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/managers/curriculum_manager.html b/v1.3.0/_modules/omni/isaac/lab/managers/curriculum_manager.html
index 496a40fbe0..50c1226926 100644
--- a/v1.3.0/_modules/omni/isaac/lab/managers/curriculum_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/managers/event_manager.html b/v1.3.0/_modules/omni/isaac/lab/managers/event_manager.html
index 670c06841c..580a4bdd1b 100644
--- a/v1.3.0/_modules/omni/isaac/lab/managers/event_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/managers/manager_base.html b/v1.3.0/_modules/omni/isaac/lab/managers/manager_base.html
index 71124edfff..ccc404b756 100644
--- a/v1.3.0/_modules/omni/isaac/lab/managers/manager_base.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index f9e888660e..13d69f0501 100644
--- a/v1.3.0/_modules/omni/isaac/lab/managers/manager_term_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/managers/observation_manager.html b/v1.3.0/_modules/omni/isaac/lab/managers/observation_manager.html
index f4068ef3b4..b66084f514 100644
--- a/v1.3.0/_modules/omni/isaac/lab/managers/observation_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/managers/reward_manager.html b/v1.3.0/_modules/omni/isaac/lab/managers/reward_manager.html
index 1a2e7f8c04..740a60bc74 100644
--- a/v1.3.0/_modules/omni/isaac/lab/managers/reward_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html b/v1.3.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
index fe396b7553..079682c00c 100644
--- a/v1.3.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index de3f34341c..bf187ae36f 100644
--- a/v1.3.0/_modules/omni/isaac/lab/managers/termination_manager.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -803,7 +804,7 @@ <h1>Source code for omni.isaac.lab.managers.termination_manager</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 6b8892bd53..425f7e2376 100644
--- a/v1.3.0/_modules/omni/isaac/lab/markers/visualization_markers.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 0ba0d2a2c6..a88457fac1 100644
--- a/v1.3.0/_modules/omni/isaac/lab/scene/interactive_scene.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 98b7657e4a..6e69cb6b32 100644
--- a/v1.3.0/_modules/omni/isaac/lab/scene/interactive_scene_cfg.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/camera/camera.html b/v1.3.0/_modules/omni/isaac/lab/sensors/camera/camera.html
index 949453f27a..6d3e149378 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/camera/camera.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -1244,7 +1245,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera</h1><div class="highlig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
index 43ee6ea8a3..7f7932a048 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/camera/camera_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -660,7 +661,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera_cfg</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html b/v1.3.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html
index 43f0e56eb6..ababc73378 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/camera/camera_data.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -643,7 +644,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.camera_data</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html b/v1.3.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html
index d882ffa237..accafce2e6 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera.html
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@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -957,7 +958,7 @@ <h1>Source code for omni.isaac.lab.sensors.camera.tiled_camera</h1><div class="h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
index 867f0398c1..40a84582c3 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html b/v1.3.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html
index e08d1c6493..5a6a72801b 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
index f05a8ad9a6..3c47798b0a 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html b/v1.3.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
index 36e2aa97da..6be420f1f1 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html b/v1.3.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html
index f0393f9bf4..3a0d6c0054 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html
index e38fef8ab4..59f9251282 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html b/v1.3.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html
index 539a1d318a..3633aaf675 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -608,7 +609,7 @@ <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer_d
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 8fde3bcafb..586c13df94 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/imu/imu.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -795,7 +796,7 @@ <h1>Source code for omni.isaac.lab.sensors.imu.imu</h1><div class="highlight"><p
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/imu/imu_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sensors/imu/imu_cfg.html
index a3a6bd5f7e..e5e22838b2 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/imu/imu_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 55cd32888c..6426fe1664 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -837,7 +838,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html b/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
index c392571767..04a94a6e83 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -973,7 +974,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_camera</h1><div
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html
index ceaf57a025..298127dacc 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html
index ff978a24d8..9e05f6dfb7 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -621,7 +622,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html b/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
index 4610c88e85..e1579192d1 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -581,7 +582,7 @@ <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_data</h1><div c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/sensor_base.html b/v1.3.0/_modules/omni/isaac/lab/sensors/sensor_base.html
index 4e2e23bbbf..94edfc43e8 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/sensor_base.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html
index 9e9a33c94e..0b1d8c037b 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sensors/sensor_base_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html b/v1.3.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html
index 23d11c13f3..6f05414300 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html
index 7b6103b29e..6e54b08de3 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html b/v1.3.0/_modules/omni/isaac/lab/sim/converters/mesh_converter.html
index 7c0b137914..6decf4c7d9 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -797,7 +798,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.mesh_converter</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html
index 787b1b3b71..1a0eaa439c 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 79f90b6c92..b9e0f65c64 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html
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@@ -715,7 +716,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.urdf_converter</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
index d4f481b232..733b7daa59 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -615,7 +616,7 @@ <h1>Source code for omni.isaac.lab.sim.converters.urdf_converter_cfg</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index f122eed086..788dfe45d6 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/schemas/schemas.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/schemas/schemas.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -1370,7 +1371,7 @@ <h1>Source code for omni.isaac.lab.sim.schemas.schemas</h1><div class="highlight
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
index 56ad7fc5ab..dc7f140002 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -919,7 +920,7 @@ <h1>Source code for omni.isaac.lab.sim.schemas.schemas_cfg</h1><div class="highl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/simulation_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/simulation_cfg.html
index 3d650ce884..9e5942fadb 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/simulation_cfg.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 4a7f12464a..3c14224456 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/simulation_context.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
index 5bba5d1473..9ca2fb50fd 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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@@ -825,7 +826,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.from_files.from_files</h1><div c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
index 1391378118..fc9a0b49b6 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
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@@ -705,7 +706,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.from_files.from_files_cfg</h1><d
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html
index 36c4e9fcda..d2b2eed5fe 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -632,7 +633,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.lights.lights</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
index 29114204e3..69b2f2ed58 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -740,7 +741,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.lights.lights_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html
index cecc3620fe..062441be16 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html
index fd1f80725b..bcc0803bf7 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html
index 0f3990c902..25de693bb8 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
index b1096d43c7..12e3d1c3d7 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="visual_materials_cfg.html" selected>v1.3.0</option>
             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -662,7 +663,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.materials.visual_materials_cfg</
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html
index 00846c9bbb..ca47289432 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -916,7 +917,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.meshes.meshes</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
index f8487e4ce3..0ceb756881 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -696,7 +697,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.meshes.meshes_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
index 04257aa691..43157d4381 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -694,7 +695,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.sensors.sensors</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
index bb0886b310..edbf779323 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -783,7 +784,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.sensors.sensors_cfg</h1><div cla
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
index 5d84c108ec..b5fe0a6c71 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -853,7 +854,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
index 3e3890f110..a47e12570a 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -674,7 +675,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes_cfg</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
index c2ebe3f2b9..dd6360294f 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -670,7 +671,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.spawner_cfg</h1><div class="high
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers.html
index de49775165..41702a9a75 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -721,7 +722,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.wrappers.wrappers</h1><div class
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html
index f4a42a8edf..dadc7320c1 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../../../../../../v1.1.0/index.html" >v1.1.0</option>
@@ -619,7 +620,7 @@ <h1>Source code for omni.isaac.lab.sim.spawners.wrappers.wrappers_cfg</h1><div c
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/sim/utils.html b/v1.3.0/_modules/omni/isaac/lab/sim/utils.html
index 847d8ae2c4..3ea7201389 100644
--- a/v1.3.0/_modules/omni/isaac/lab/sim/utils.html
+++ b/v1.3.0/_modules/omni/isaac/lab/sim/utils.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -1416,7 +1417,7 @@ <h1>Source code for omni.isaac.lab.sim.utils</h1><div class="highlight"><pre>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html b/v1.3.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
index bd1f4b9df6..32661d1b7c 100644
--- a/v1.3.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
+++ b/v1.3.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="hf_terrains.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -988,7 +989,7 @@ <h1>Source code for omni.isaac.lab.terrains.height_field.hf_terrains</h1><div cl
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html b/v1.3.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
index 16f1542e6d..9381e3771e 100644
--- a/v1.3.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../../../../main/index.html" >main</option>
+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -719,7 +720,7 @@ <h1>Source code for omni.isaac.lab.terrains.height_field.hf_terrains_cfg</h1><di
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/_modules/omni/isaac/lab/terrains/terrain_generator.html b/v1.3.0/_modules/omni/isaac/lab/terrains/terrain_generator.html
index 450dd39efe..17babacacb 100644
--- a/v1.3.0/_modules/omni/isaac/lab/terrains/terrain_generator.html
+++ b/v1.3.0/_modules/omni/isaac/lab/terrains/terrain_generator.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../../../../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -939,7 +940,7 @@ <h1>Source code for omni.isaac.lab.terrains.terrain_generator</h1><div class="hi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html b/v1.3.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
index 80526dc181..5610a02b73 100644
--- a/v1.3.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
@@ -58,7 +58,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index bf081233b2..6d676c10b8 100644
--- a/v1.3.0/_modules/omni/isaac/lab/terrains/terrain_importer.html
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
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index cdcfbee3a6..4c1b0a635e 100644
--- a/v1.3.0/_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d103ae64f8..5e962d3650 100644
--- a/v1.3.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html b/v1.3.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
index 83952a0c55..ef8e038917 100644
--- a/v1.3.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/terrains/utils.html b/v1.3.0/_modules/omni/isaac/lab/terrains/utils.html
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--- a/v1.3.0/_modules/omni/isaac/lab/terrains/utils.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.3.0/_modules/omni/isaac/lab/utils/array.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.3.0/_modules/omni/isaac/lab/utils/assets.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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--- a/v1.3.0/_modules/omni/isaac/lab/utils/dict.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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--- a/v1.3.0/_modules/omni/isaac/lab/utils/io/pkl.html
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@@ -156,6 +156,7 @@
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     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab/utils/io/yaml.html b/v1.3.0/_modules/omni/isaac/lab/utils/io/yaml.html
index 8aec8392e3..bbd70c2643 100644
--- a/v1.3.0/_modules/omni/isaac/lab/utils/io/yaml.html
+++ b/v1.3.0/_modules/omni/isaac/lab/utils/io/yaml.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index ed99104c93..8ec407d642 100644
--- a/v1.3.0/_modules/omni/isaac/lab/utils/math.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.3.0/_modules/omni/isaac/lab/utils/modifiers/modifier.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
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-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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index 5bbe6d9ff4..1d0700aadb 100644
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 37c9026ec7..bedd09502d 100644
--- a/v1.3.0/_modules/omni/isaac/lab/utils/modifiers/modifier_cfg.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -630,7 +631,7 @@ <h1>Source code for omni.isaac.lab.utils.modifiers.modifier_cfg</h1><div class="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 8872da87bf..b9350df57b 100644
--- a/v1.3.0/_modules/omni/isaac/lab/utils/noise/noise_cfg.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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--- a/v1.3.0/_modules/omni/isaac/lab/utils/noise/noise_model.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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 </p>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
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   <div class="footer-item">
     <p class="last-updated">
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -902,7 +903,7 @@ <h1>Source code for omni.isaac.lab_tasks.utils.wrappers.rl_games</h1><div class=
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/exporter.html b/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/exporter.html
index 0b4edc0925..8a3e928982 100644
--- a/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/exporter.html
+++ b/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/exporter.html
@@ -58,7 +58,7 @@
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html b/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html
index 4ee5d85f7b..12dff5e481 100644
--- a/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html
+++ b/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html
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+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 8cb378cadb..7f59259ccd 100644
--- a/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html
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+            <option value="../../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index e0a9cb78e7..3a0321874e 100644
--- a/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
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@@ -900,7 +901,7 @@ <h1>Source code for omni.isaac.lab_tasks.utils.wrappers.sb3</h1><div class="high
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html b/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html
index 87daaab148..3c243e02e0 100644
--- a/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html
+++ b/v1.3.0/_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
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+            <option value="../../../../../../../v1.4.0/index.html" >v1.4.0</option>
             <option value="skrl.html" selected>v1.3.0</option>
             <option value="../../../../../../../v1.2.0/index.html" >v1.2.0</option>
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@@ -638,7 +639,7 @@ <h1>Source code for omni.isaac.lab_tasks.utils.wrappers.skrl</h1><div class="hig
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 62b0f99e1f..47221d2430 100644
--- a/v1.3.0/genindex.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../main/index.html" >main</option>
+            <option value="../v1.4.0/index.html" >v1.4.0</option>
             <option value="genindex.html" selected>v1.3.0</option>
             <option value="../v1.2.0/index.html" >v1.2.0</option>
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@@ -7157,7 +7158,7 @@ <h2 id="Z">Z</h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/index.html b/v1.3.0/index.html
index 0fed61882a..74a50ac2fd 100644
--- a/v1.3.0/index.html
+++ b/v1.3.0/index.html
@@ -60,7 +60,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../v1.4.0/index.html" >v1.4.0</option>
             <option value="index.html" selected>v1.3.0</option>
             <option value="../v1.2.0/index.html" >v1.2.0</option>
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@@ -847,7 +848,7 @@ <h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/py-modindex.html b/v1.3.0/py-modindex.html
index b8dbaf68da..5dc6b24b89 100644
--- a/v1.3.0/py-modindex.html
+++ b/v1.3.0/py-modindex.html
@@ -59,7 +59,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
 
 
   </head>
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           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../v1.4.0/index.html" >v1.4.0</option>
             <option value="py-modindex.html" selected>v1.3.0</option>
             <option value="../v1.2.0/index.html" >v1.2.0</option>
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@@ -872,7 +873,7 @@ <h1>Python Module Index</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/search.html b/v1.3.0/search.html
index c3218ea771..4d6ca1f5ad 100644
--- a/v1.3.0/search.html
+++ b/v1.3.0/search.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../v1.4.0/index.html" >v1.4.0</option>
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             <option value="../v1.2.0/index.html" >v1.2.0</option>
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@@ -568,7 +569,7 @@ <h1>Search</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/api/index.html b/v1.3.0/source/api/index.html
index 02bc70bd80..bc4fe33cba 100644
--- a/v1.3.0/source/api/index.html
+++ b/v1.3.0/source/api/index.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/api/index.html" >main</option>
+            <option value="../../../v1.4.0/source/api/index.html" >v1.4.0</option>
             <option value="index.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/api/index.html" >v1.2.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 44b9de1811..917a817ca2 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.actuators.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.actuators.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.actuators.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.app.html b/v1.3.0/source/api/lab/omni.isaac.lab.app.html
index ccdad85608..6575525dbb 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.app.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.app.html
@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.app.html" >v1.4.0</option>
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@@ -919,7 +920,7 @@ <h2>Simulation App Launcher<a class="headerlink" href="#simulation-app-launcher"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.assets.html b/v1.3.0/source/api/lab/omni.isaac.lab.assets.html
index d0315ed5ff..f558e5c039 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.assets.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.assets.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.assets.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.controllers.html b/v1.3.0/source/api/lab/omni.isaac.lab.controllers.html
index e8d857c0e0..2e908d0217 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.controllers.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.controllers.html
@@ -63,7 +63,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.controllers.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.controllers.html" >v1.4.0</option>
             <option value="omni.isaac.lab.controllers.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.controllers.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.controllers.html" >v1.1.0</option>
@@ -945,7 +946,7 @@ <h2>Differential Inverse Kinematics<a class="headerlink" href="#differential-inv
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.devices.html b/v1.3.0/source/api/lab/omni.isaac.lab.devices.html
index 72561946ee..adbf18eadf 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.devices.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.devices.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.devices.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.devices.html" >v1.4.0</option>
             <option value="omni.isaac.lab.devices.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.devices.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.devices.html" >v1.1.0</option>
@@ -1542,7 +1543,7 @@ <h2>Space Mouse<a class="headerlink" href="#space-mouse" title="Permalink to thi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.envs.html b/v1.3.0/source/api/lab/omni.isaac.lab.envs.html
index bd75374f4b..85de638ed5 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.envs.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.envs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.html" >v1.4.0</option>
             <option value="omni.isaac.lab.envs.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.envs.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.html" >v1.1.0</option>
@@ -3410,7 +3411,7 @@ <h2>Common<a class="headerlink" href="#common" title="Permalink to this heading"
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.envs.mdp.html b/v1.3.0/source/api/lab/omni.isaac.lab.envs.mdp.html
index c83924f00c..3baff01463 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.envs.mdp.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.envs.mdp.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.mdp.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.4.0</option>
             <option value="omni.isaac.lab.envs.mdp.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.mdp.html" >v1.1.0</option>
@@ -4120,7 +4121,7 @@ <h2> Contents </h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.envs.ui.html b/v1.3.0/source/api/lab/omni.isaac.lab.envs.ui.html
index 21a8d46fa9..98e56ae682 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.envs.ui.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.envs.ui.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.envs.ui.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.4.0</option>
             <option value="omni.isaac.lab.envs.ui.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.envs.ui.html" >v1.1.0</option>
@@ -947,7 +948,7 @@ <h2>Viewport Camera Controller<a class="headerlink" href="#viewport-camera-contr
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.managers.html b/v1.3.0/source/api/lab/omni.isaac.lab.managers.html
index 89b019fc17..c445212428 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.managers.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.managers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.managers.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.managers.html" >v1.4.0</option>
             <option value="omni.isaac.lab.managers.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.managers.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.managers.html" >v1.1.0</option>
@@ -3626,7 +3627,7 @@ <h2>Curriculum Manager<a class="headerlink" href="#curriculum-manager" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.markers.html b/v1.3.0/source/api/lab/omni.isaac.lab.markers.html
index 38871dd30d..93056e3b19 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.markers.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.markers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.markers.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.markers.html" >v1.4.0</option>
             <option value="omni.isaac.lab.markers.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.markers.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.markers.html" >v1.1.0</option>
@@ -968,7 +969,7 @@ <h2>Visualization Markers<a class="headerlink" href="#visualization-markers" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.scene.html b/v1.3.0/source/api/lab/omni.isaac.lab.scene.html
index 2968816c81..d0339a79fc 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.scene.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.scene.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.scene.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.scene.html" >v1.4.0</option>
             <option value="omni.isaac.lab.scene.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.scene.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.scene.html" >v1.1.0</option>
@@ -1196,7 +1197,7 @@ <h2>interactive Scene<a class="headerlink" href="#interactive-scene" title="Perm
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.sensors.html b/v1.3.0/source/api/lab/omni.isaac.lab.sensors.html
index f86a5c4fa8..b0d067bf33 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.sensors.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.sensors.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.sensors.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.4.0</option>
             <option value="omni.isaac.lab.sensors.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sensors.html" >v1.1.0</option>
@@ -4812,7 +4813,7 @@ <h2>Inertia Measurement Unit<a class="headerlink" href="#inertia-measurement-uni
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.sensors.patterns.html b/v1.3.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
index f8222381c6..229f573c63 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.sensors.patterns.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.sensors.patterns.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.4.0</option>
             <option value="omni.isaac.lab.sensors.patterns.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sensors.patterns.html" >v1.1.0</option>
@@ -1204,7 +1205,7 @@ <h2>LiDAR Pattern<a class="headerlink" href="#lidar-pattern" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.sim.converters.html b/v1.3.0/source/api/lab/omni.isaac.lab.sim.converters.html
index 9c3df964e4..edaa71fc69 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.sim.converters.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.sim.converters.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.converters.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.4.0</option>
             <option value="omni.isaac.lab.sim.converters.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sim.converters.html" >v1.1.0</option>
@@ -1546,7 +1547,7 @@ <h2>URDF Converter<a class="headerlink" href="#urdf-converter" title="Permalink
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.sim.html b/v1.3.0/source/api/lab/omni.isaac.lab.sim.html
index 1f57249306..1d417f7c65 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.sim.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.sim.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.html" >v1.4.0</option>
             <option value="omni.isaac.lab.sim.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sim.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sim.html" >v1.1.0</option>
@@ -2248,7 +2249,7 @@ <h2>Simulation Context Builder<a class="headerlink" href="#simulation-context-bu
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.sim.schemas.html b/v1.3.0/source/api/lab/omni.isaac.lab.sim.schemas.html
index 8d91a55e40..93b0eebb78 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.sim.schemas.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.sim.schemas.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.schemas.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.4.0</option>
             <option value="omni.isaac.lab.sim.schemas.html" selected>v1.3.0</option>
             <option value="../../../../v1.2.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.2.0</option>
             <option value="../../../../v1.1.0/source/api/lab/omni.isaac.lab.sim.schemas.html" >v1.1.0</option>
@@ -2065,7 +2066,7 @@ <h2>Deformable Body<a class="headerlink" href="#deformable-body" title="Permalin
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.sim.spawners.html b/v1.3.0/source/api/lab/omni.isaac.lab.sim.spawners.html
index 9dbb6291f7..0a8752bf2e 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.sim.spawners.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.sim.spawners.html
@@ -63,7 +63,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -159,6 +159,7 @@
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             <option value="../../../../main/source/api/lab/omni.isaac.lab.sim.spawners.html" >main</option>
+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.sim.spawners.html" >v1.4.0</option>
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@@ -7709,7 +7710,7 @@ <h3>Physical Materials<a class="headerlink" href="#physical-materials" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.terrains.html b/v1.3.0/source/api/lab/omni.isaac.lab.terrains.html
index 9d56ffd856..c74433677c 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.terrains.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.terrains.html
@@ -63,7 +63,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -159,6 +159,7 @@
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.terrains.html" >v1.4.0</option>
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@@ -5396,7 +5397,7 @@ <h3>Repeated Objects Terrain<a class="headerlink" href="#repeated-objects-terrai
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/api/lab/omni.isaac.lab.utils.html b/v1.3.0/source/api/lab/omni.isaac.lab.utils.html
index abee5984a9..350e695485 100644
--- a/v1.3.0/source/api/lab/omni.isaac.lab.utils.html
+++ b/v1.3.0/source/api/lab/omni.isaac.lab.utils.html
@@ -63,7 +63,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../v1.4.0/source/api/lab/omni.isaac.lab.utils.html" >v1.4.0</option>
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@@ -4781,7 +4782,7 @@ <h2> Contents </h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html b/v1.3.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html
index 2ef9969749..8d0318dbce 100644
--- a/v1.3.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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+            <option value="../../../../v1.4.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html" >v1.4.0</option>
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@@ -900,7 +901,7 @@ <h2>Robomimic Data Collector<a class="headerlink" href="#robomimic-data-collecto
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.html b/v1.3.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.html
index 6f0b6fa5e7..c98be5e55d 100644
--- a/v1.3.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html b/v1.3.0/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -1949,7 +1950,7 @@ <h2> Contents </h2>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/source/deployment/cluster.html b/v1.3.0/source/deployment/cluster.html
index f91dfff3f2..f494e5781b 100644
--- a/v1.3.0/source/deployment/cluster.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -873,7 +874,7 @@ <h2>Submitting a job<a class="headerlink" href="#submitting-a-job" title="Permal
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/source/deployment/docker.html b/v1.3.0/source/deployment/docker.html
index 6c826d4721..2213aaafe1 100644
--- a/v1.3.0/source/deployment/docker.html
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   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -995,7 +996,7 @@ <h3>WebRTC Streaming<a class="headerlink" href="#webrtc-streaming" title="Permal
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/source/deployment/index.html b/v1.3.0/source/deployment/index.html
index f2e9343cb6..b09b9cde3f 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -655,7 +656,7 @@ <h1>Container Deployment<a class="headerlink" href="#container-deployment" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/deployment/run_docker_example.html b/v1.3.0/source/deployment/run_docker_example.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -867,7 +868,7 @@ <h2>Executing the Script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/features/hydra.html b/v1.3.0/source/features/hydra.html
index a25f79dc58..6d6ffd6de6 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -868,7 +869,7 @@ <h2>Modifying inter-dependent parameters<a class="headerlink" href="#modifying-i
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/source/features/multi_gpu.html b/v1.3.0/source/features/multi_gpu.html
index 441084afbf..4a20bd3604 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -802,7 +803,7 @@ <h2>Multi-Node Training<a class="headerlink" href="#multi-node-training" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 294b33bcb2..dd7ef8c2bb 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -822,7 +823,7 @@ <h2>Current Limitations<a class="headerlink" href="#current-limitations" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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             <option value="../../../main/source/how-to/add_own_library.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/add_own_library.html" >v1.4.0</option>
             <option value="add_own_library.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/add_own_library.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/add_own_library.html" >v1.1.0</option>
@@ -743,7 +744,7 @@ <h2>Integrating a new library<a class="headerlink" href="#integrating-a-new-libr
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/how-to/draw_markers.html b/v1.3.0/source/how-to/draw_markers.html
index 78fa15a08b..5f466cc390 100644
--- a/v1.3.0/source/how-to/draw_markers.html
+++ b/v1.3.0/source/how-to/draw_markers.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
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             <option value="../../../main/source/how-to/draw_markers.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/draw_markers.html" >v1.4.0</option>
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             <option value="../../../v1.2.0/source/how-to/draw_markers.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/draw_markers.html" >v1.1.0</option>
@@ -925,7 +926,7 @@ <h2>Executing the Script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/estimate_how_many_cameras_can_run.html b/v1.3.0/source/how-to/estimate_how_many_cameras_can_run.html
index 7aa7d0c231..6a60c4db39 100644
--- a/v1.3.0/source/how-to/estimate_how_many_cameras_can_run.html
+++ b/v1.3.0/source/how-to/estimate_how_many_cameras_can_run.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
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             <option value="../../../main/source/how-to/estimate_how_many_cameras_can_run.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/estimate_how_many_cameras_can_run.html" >v1.4.0</option>
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             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1628,7 +1629,7 @@ <h2>Compare Camera Type and Performance (Without a Specified Task)<a class="head
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/import_new_asset.html b/v1.3.0/source/how-to/import_new_asset.html
index f64daccb92..9ffbfe7ac4 100644
--- a/v1.3.0/source/how-to/import_new_asset.html
+++ b/v1.3.0/source/how-to/import_new_asset.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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             <option value="../../../main/source/how-to/import_new_asset.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/import_new_asset.html" >v1.4.0</option>
             <option value="import_new_asset.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/import_new_asset.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/import_new_asset.html" >v1.1.0</option>
@@ -877,7 +878,7 @@ <h3>Example Usage<a class="headerlink" href="#id2" title="Permalink to this head
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/index.html b/v1.3.0/source/how-to/index.html
index fc42e43141..0a39dfa8db 100644
--- a/v1.3.0/source/how-to/index.html
+++ b/v1.3.0/source/how-to/index.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/index.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/index.html" >v1.4.0</option>
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             <option value="../../../v1.2.0/source/how-to/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/index.html" >v1.1.0</option>
@@ -778,7 +779,7 @@ <h2>Mastering Omniverse<a class="headerlink" href="#mastering-omniverse" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/make_fixed_prim.html b/v1.3.0/source/how-to/make_fixed_prim.html
index 910f7d5617..e0238d3a74 100644
--- a/v1.3.0/source/how-to/make_fixed_prim.html
+++ b/v1.3.0/source/how-to/make_fixed_prim.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
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             <option value="../../../main/source/how-to/make_fixed_prim.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/make_fixed_prim.html" >v1.4.0</option>
             <option value="make_fixed_prim.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/make_fixed_prim.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/make_fixed_prim.html" >v1.1.0</option>
@@ -821,7 +822,7 @@ <h2>Further notes<a class="headerlink" href="#further-notes" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/master_omniverse.html b/v1.3.0/source/how-to/master_omniverse.html
index 24e98bd0a5..e3bd35e034 100644
--- a/v1.3.0/source/how-to/master_omniverse.html
+++ b/v1.3.0/source/how-to/master_omniverse.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/master_omniverse.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/master_omniverse.html" >v1.4.0</option>
             <option value="master_omniverse.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/master_omniverse.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/master_omniverse.html" >v1.1.0</option>
@@ -785,7 +786,7 @@ <h2>Part 3: More Resources<a class="headerlink" href="#part-3-more-resources" ti
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/multi_asset_spawning.html b/v1.3.0/source/how-to/multi_asset_spawning.html
index a2e4e292c3..5517e7f602 100644
--- a/v1.3.0/source/how-to/multi_asset_spawning.html
+++ b/v1.3.0/source/how-to/multi_asset_spawning.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/multi_asset_spawning.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/multi_asset_spawning.html" >v1.4.0</option>
             <option value="multi_asset_spawning.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/index.html" >v1.2.0</option>
             <option value="../../../v1.1.0/index.html" >v1.1.0</option>
@@ -1181,7 +1182,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/record_animation.html b/v1.3.0/source/how-to/record_animation.html
index 9f07a73f6e..f592b46119 100644
--- a/v1.3.0/source/how-to/record_animation.html
+++ b/v1.3.0/source/how-to/record_animation.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/record_animation.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/record_animation.html" >v1.4.0</option>
             <option value="record_animation.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/record_animation.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/record_animation.html" >v1.1.0</option>
@@ -797,7 +798,7 @@ <h2>Example Usage<a class="headerlink" href="#example-usage" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/record_video.html b/v1.3.0/source/how-to/record_video.html
index f6b106ab7e..ea8afe14df 100644
--- a/v1.3.0/source/how-to/record_video.html
+++ b/v1.3.0/source/how-to/record_video.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/record_video.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/record_video.html" >v1.4.0</option>
             <option value="record_video.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/record_video.html" >v1.2.0</option>
             <option value="../../../v1.1.0/index.html" >v1.1.0</option>
@@ -655,7 +656,7 @@ <h1>Recording video clips during training<a class="headerlink" href="#recording-
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/save_camera_output.html b/v1.3.0/source/how-to/save_camera_output.html
index 0c21acbd7b..9dfdd99913 100644
--- a/v1.3.0/source/how-to/save_camera_output.html
+++ b/v1.3.0/source/how-to/save_camera_output.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/save_camera_output.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/save_camera_output.html" >v1.4.0</option>
             <option value="save_camera_output.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/save_camera_output.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/save_camera_output.html" >v1.1.0</option>
@@ -1060,7 +1061,7 @@ <h2>Executing the script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/wrap_rl_env.html b/v1.3.0/source/how-to/wrap_rl_env.html
index 2a91eb9cf5..0b4da1c8f1 100644
--- a/v1.3.0/source/how-to/wrap_rl_env.html
+++ b/v1.3.0/source/how-to/wrap_rl_env.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/wrap_rl_env.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/wrap_rl_env.html" >v1.4.0</option>
             <option value="wrap_rl_env.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/wrap_rl_env.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/wrap_rl_env.html" >v1.1.0</option>
@@ -840,7 +841,7 @@ <h2>Adding new wrappers<a class="headerlink" href="#adding-new-wrappers" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/how-to/write_articulation_cfg.html b/v1.3.0/source/how-to/write_articulation_cfg.html
index a681f40e32..86a4f05b3c 100644
--- a/v1.3.0/source/how-to/write_articulation_cfg.html
+++ b/v1.3.0/source/how-to/write_articulation_cfg.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/how-to/write_articulation_cfg.html" >main</option>
+            <option value="../../../v1.4.0/source/how-to/write_articulation_cfg.html" >v1.4.0</option>
             <option value="write_articulation_cfg.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/how-to/write_articulation_cfg.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/how-to/write_articulation_cfg.html" >v1.1.0</option>
@@ -839,7 +840,7 @@ <h2>Defining the actuator configuration<a class="headerlink" href="#defining-the
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/migration/migrating_from_isaacgymenvs.html b/v1.3.0/source/migration/migrating_from_isaacgymenvs.html
index 9049715cb2..03816493d7 100644
--- a/v1.3.0/source/migration/migrating_from_isaacgymenvs.html
+++ b/v1.3.0/source/migration/migrating_from_isaacgymenvs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
             <option value="../../../main/source/migration/migrating_from_isaacgymenvs.html" >main</option>
+            <option value="../../../v1.4.0/source/migration/migrating_from_isaacgymenvs.html" >v1.4.0</option>
             <option value="migrating_from_isaacgymenvs.html" selected>v1.3.0</option>
             <option value="../../../v1.2.0/source/migration/migrating_from_isaacgymenvs.html" >v1.2.0</option>
             <option value="../../../v1.1.0/source/migration/migrating_from_isaacgymenvs.html" >v1.1.0</option>
@@ -1868,7 +1869,7 @@ <h2>Launching Inferencing<a class="headerlink" href="#launching-inferencing" tit
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
   </div>
diff --git a/v1.3.0/source/migration/migrating_from_omniisaacgymenvs.html b/v1.3.0/source/migration/migrating_from_omniisaacgymenvs.html
index 551cb7731b..f384fe6a73 100644
--- a/v1.3.0/source/migration/migrating_from_omniisaacgymenvs.html
+++ b/v1.3.0/source/migration/migrating_from_omniisaacgymenvs.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
   </head>
   
   
@@ -157,6 +157,7 @@
           </div>
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   <div class="footer-item">
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   <br/>
 </p>
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index 9842f0a742..3d4329a42e 100644
--- a/v1.3.0/source/overview/reinforcement-learning/rl_frameworks.html
+++ b/v1.3.0/source/overview/reinforcement-learning/rl_frameworks.html
@@ -61,7 +61,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -774,7 +775,7 @@ <h2>Training Performance<a class="headerlink" href="#training-performance" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 6563aaa162..60025ce73d 100644
--- a/v1.3.0/source/overview/showroom.html
+++ b/v1.3.0/source/overview/showroom.html
@@ -61,7 +61,7 @@
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -778,7 +779,7 @@ <h1>Showroom Demos<a class="headerlink" href="#showroom-demos" title="Permalink
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index dae50ab4cd..264f11de3d 100644
--- a/v1.3.0/source/overview/simple_agents.html
+++ b/v1.3.0/source/overview/simple_agents.html
@@ -61,7 +61,7 @@
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -784,7 +785,7 @@ <h3>State machine<a class="headerlink" href="#state-machine" title="Permalink to
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index c9ab4e9760..7b982cd20f 100644
--- a/v1.3.0/source/overview/teleop_imitation.html
+++ b/v1.3.0/source/overview/teleop_imitation.html
@@ -61,7 +61,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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@@ -731,7 +732,7 @@ <h2>Imitation Learning<a class="headerlink" href="#imitation-learning" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 46ef8fe6f5..d04b54a27d 100644
--- a/v1.3.0/source/refs/additional_resources.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -157,6 +157,7 @@
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@@ -693,7 +694,7 @@ <h2>Simulation Features<a class="headerlink" href="#simulation-features" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 7ac631cd9c..f36b59dd93 100644
--- a/v1.3.0/source/refs/bibliography.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -156,6 +156,7 @@
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@@ -691,7 +692,7 @@ <h1>Bibliography<a class="headerlink" href="#bibliography" title="Permalink to t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d774a33e70..84dc0be5f8 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -159,6 +159,7 @@
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+            <option value="../../../v1.4.0/source/refs/changelog.html" >v1.4.0</option>
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@@ -7226,7 +7227,7 @@ <h4>Added<a class="headerlink" href="#id683" title="Permalink to this heading">#
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d7e7a5353c..5313fc0290 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 864bd9f294..0ca53d333c 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 28183cb3e3..4ce349590d 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -675,7 +676,7 @@ <h1>License</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 369108f37f..631f9edcfe 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 18235d5cd9..459884777a 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index b88cf2bacc..3f04476321 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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           <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
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+            <option value="../../../v1.4.0/source/refs/troubleshooting.html" >v1.4.0</option>
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@@ -898,7 +899,7 @@ <h2>Understanding the error logs from crashes<a class="headerlink" href="#unders
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 892624638b..efb373abac 100644
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+++ b/v1.3.0/source/setup/ecosystem.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../v1.4.0/source/setup/ecosystem.html" >v1.4.0</option>
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@@ -655,7 +656,7 @@ <h1>Isaac Lab Ecosystem<a class="headerlink" href="#isaac-lab-ecosystem" title="
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 31eff4fc98..cf9000a312 100644
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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index 4d96ed06e0..9b9ff1cb80 100644
--- a/v1.3.0/source/setup/installation/binaries_installation.html
+++ b/v1.3.0/source/setup/installation/binaries_installation.html
@@ -61,7 +61,7 @@
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@@ -1071,7 +1072,7 @@ <h3>Verifying the Isaac Lab installation<a class="headerlink" href="#verifying-t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index febf969a18..11cce2c5ba 100644
--- a/v1.3.0/source/setup/installation/cloud_installation.html
+++ b/v1.3.0/source/setup/installation/cloud_installation.html
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -795,7 +796,7 @@ <h2>Destroying a Development<a class="headerlink" href="#destroying-a-developmen
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index d09957f453..9d6956af63 100644
--- a/v1.3.0/source/setup/installation/index.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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@@ -669,7 +670,7 @@ <h1>Local Installation<a class="headerlink" href="#local-installation" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.3.0/source/setup/installation/pip_installation.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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@@ -986,7 +987,7 @@ <h3>Verifying the Isaac Lab installation<a class="headerlink" href="#verifying-t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.3.0/source/tutorials/00_sim/create_empty.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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+            <option value="../../../../v1.4.0/source/tutorials/00_sim/create_empty.html" >v1.4.0</option>
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@@ -887,7 +888,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.3.0/source/tutorials/00_sim/launch_app.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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             <option value="../../../../main/source/tutorials/00_sim/launch_app.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/launch_app.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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--- a/v1.3.0/source/tutorials/00_sim/spawn_prims.html
+++ b/v1.3.0/source/tutorials/00_sim/spawn_prims.html
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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             <option value="../../../../main/source/tutorials/00_sim/spawn_prims.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/00_sim/spawn_prims.html" >v1.4.0</option>
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@@ -969,7 +970,7 @@ <h2>Executing the Script<a class="headerlink" href="#executing-the-script" title
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/source/tutorials/01_assets/run_articulation.html b/v1.3.0/source/tutorials/01_assets/run_articulation.html
index 1f050b85aa..9a04ee9400 100644
--- a/v1.3.0/source/tutorials/01_assets/run_articulation.html
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../v1.4.0/source/tutorials/01_assets/run_articulation.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/source/tutorials/01_assets/run_deformable_object.html b/v1.3.0/source/tutorials/01_assets/run_deformable_object.html
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--- a/v1.3.0/source/tutorials/01_assets/run_deformable_object.html
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@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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+            <option value="../../../../v1.4.0/source/tutorials/01_assets/run_deformable_object.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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index 93a43c3f03..41940b0ed7 100644
--- a/v1.3.0/source/tutorials/01_assets/run_rigid_object.html
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@@ -61,7 +61,7 @@
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
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+            <option value="../../../../v1.4.0/source/tutorials/01_assets/run_rigid_object.html" >v1.4.0</option>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
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 </p>
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diff --git a/v1.3.0/source/tutorials/02_scene/create_scene.html b/v1.3.0/source/tutorials/02_scene/create_scene.html
index e34a3c6e1b..b6a763ed0d 100644
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+            <option value="../../../../v1.4.0/source/tutorials/02_scene/create_scene.html" >v1.4.0</option>
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@@ -958,7 +959,7 @@ <h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Pe
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/tutorials/03_envs/create_direct_rl_env.html b/v1.3.0/source/tutorials/03_envs/create_direct_rl_env.html
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--- a/v1.3.0/source/tutorials/03_envs/create_direct_rl_env.html
+++ b/v1.3.0/source/tutorials/03_envs/create_direct_rl_env.html
@@ -61,7 +61,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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             <option value="../../../../main/source/tutorials/03_envs/create_direct_rl_env.html" >main</option>
+            <option value="../../../../v1.4.0/source/tutorials/03_envs/create_direct_rl_env.html" >v1.4.0</option>
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@@ -1188,7 +1189,7 @@ <h3>Action and Observation Noise<a class="headerlink" href="#action-and-observat
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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   <meta name="docsearch:language" content="en"/>
   <meta name="docsearch:version" content="1.3.0" />
-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on Dec 20, 2024.
+  Last updated on Dec 27, 2024.
   <br/>
 </p>
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diff --git a/v1.3.0/source/tutorials/03_envs/create_manager_rl_env.html b/v1.3.0/source/tutorials/03_envs/create_manager_rl_env.html
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@@ -61,7 +61,7 @@
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   <meta name="docsearch:language" content="en"/>
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-    <meta name="docbuild:last-update" content="Dec 20, 2024"/>
+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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") 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zE2AwuFazjXujcnDEEYgRpJvY6FTaHbFgILynRheSw8Kxo87X0PbfUi70INmsX+R7Rppe5eufAA5iOB2Qbgxhhb54lnO+S75U1u0Y8gn2XQ9gb+nvKPZm7zAd4Qc6wxcaYwgTwAU+YT2zM2EyfuIhg1w8BYR180F4IALGEHvlOn0JMKVYfr/IF1ksWtCVy0goDa8rNknAaLEeQCpJySpTq9P1RsFh+06Oq+RipMhGFTMxhSHw5YTBeAhlVIiILctQmLnRIuydUKcHyTnZ/jaD42IR5SVskT96rprEjtGBDLCHZqVA5xnNXV8Kx6HLIrkemsQ6VbHxyllc6RzIXIR255FbvRbCE4zr2rIds3pn3WAtzgq7i22VTMRVyTvC2EDbXIiySVDtIpTR2mPeC9HmbZDbxWOZqy31CLphz3+30C48YRLMEM273iFRvvTjtJmSVjVMqeA6WJqvhWYCsTYWNH5s5yJEnUfUfxoxKElQ/qZUoTIV28CBjrW2Rk14v6XNtFZGIqLO24rloWRMh0WyWPdJOoj3zvybXzCPY6E3K742C5wFvZG3s9EjUvfHe+nyEcM6JYLd8jmZXHtwY3m4PNyiWzDmJaunWxHDOtX/SCoPFCOU7CpsJPt5SC3P6bnzwuKnI7J9+/EvdQbg8IdNerCtVEkrL/2CtwRVNaaxUCPfh3Uus9N6YQrKxVEzbJgGFUlW1JSK3nBdtX9b/vSv6TkiqglCcpGCd8zZnhFNEpGPa3xzBJuSJCkVeScDS92beEWLj6fmS2FWeA2nzsGaB+4nSjgTXEdM9xqyzGBMuQJslhDAKi8A6SrhMq66hq1EoGsSbik8l4hGg3npx2g9iobHmpwLR8japJe/ANXgHIFepJ401bq5iBcn7eFKmhgo2ahD+FnI99jcaGyy2eBlaZEu92MOCTTJfVEFlqYGOdQ+DEBU+UmFTfLcKgD2CPb0d3YbHqKQErfdY6pvfwPkB7yLrZe4sjopXabv0GAg28Ve1rok5NBj0JUlsY9uQu7TWM7+hPHA3Ru5cdtre+2BVIjSkx6TYg8IYccKKhNsXa9xSYefLYoEFk8UKZV1rDU/7gKucurmp1MQvYq0nSz4VFnvqlRMGs0TGOYPigHQSepMePlTS/pbzoqQ/uWuwpngVCrBOerHZufZ6/s6mh/mXCqTbS8xMr8sR7Lkk55r3IFyLzWkqfD+Ea+QqZFAZxSPSeN+WhLHRH75nSpHiGsa6W3oADaSPDe10Ez++H/G4bGqXCDGehK/hjZgKXjTczzk3NvdERGpsr6depE3WcjBJE+Ypswo5ZlPeIhFxx+pYUl6R8SAmlpNYe5QO5AASz2vCusl8KhmbFIct9WIPgk08NWGOqSzdTI3t4YUntCoVMCZPiHyQEpkj2PAjeNKSzRZeaL5Trwwunj+8YScqx0CwewPE7uyqHRrF6skOzCszE1miUdgoB6xcU0EpoIhe2qFfNLEHhUE/sMLhRi61BJe+/pikUesC9toncYKKDamw6HvE22uDxEYvue3bDzGIjy99qcx11H3GSpOrSz7XzJbzosdrRzWwc5ULejw718YrDhZDPFmplNbCniPYJPsQFlQSO5zrJ65nktG8WH7mfs54QSWj1FNCvwjRaCEzaX/Ro7XvGSW/8i68Uw8hThQrfSoQm5IY8TmCvZZeJE7ZCxsjPI2T+lrkF4ak6+m9GAwgWjXjhn6EGPaQSN9ioPLK2uaeuaVeXEqw0TnonlTw2LBhbqkQ5OFDuA2hPKngRfbOBPHamCPYt+5Umx/DFgauVFoSpnPzpPr3M5Fg1x5pPAcqma1YsrwdFOQMkjaVaDIsKYXj9W8PCoN+9TrpsnpiV9xAyAnW9fRbgJSUlNoju52kw/R+3KFY+XopvIpXCi/dcl706C+Eyat37p0G1uN5NW2wUacqTSosgJyIlpM5gk3iINU+egkWbCzZqZRYvLgGj9FU8BpB3Jd6j1rfj2RnL8mp5OTZ0meSREzllFR+dEgIy7UzR7DX0osYbrDopaGLhFWQuF0rxN9DptNwgZNOMsaDh4cnFYgWSeS1sqVeXEqwOZnVK5vXI2RrihtJ9s9zgKT/HvH2MI8INuslnpZWr8r0WZGHpbTMcO1cqbr+TCTY7PBJEOsl1L8mHjYVLI24s0aLY2R1YceNVaQ1Rtd7jz0oDKxbbEDe3gvoFdvBEn7JpH1K/JWcEhnVRMat7lnAVnyNbNNbzotsZwouOBMJNosSVSF6hFSNELMJ9FyxEEh01JygKyGVqZSGwhQMc/UlhEKk1Slqj6rPPZS1kVDCaUIW90A6vAooaXsRkVpbL3qVjCAyxKTWhkbiNSMkbSr0nzAZwmVOSogzxrKeSmtY1ZZ6cSnBxgOefrOEeREuUZsomBs/KnGkRiYMRugn1secRAS75waNRHMvHPekz0r4MDZnIsEmptuLl81NlrnfCTHwXJNPH+LOmAR8GGkSHKQa1xlxiD1lDwqDWpbE3R2D0NeznI6WZHZTzcKr6VmS7Lo1NlvOix7vdiYSbNzfPU8AHcfBO94dCzTet7nNvUeyaBNLWlpZoseY59pgcffCpEj68hKecu3N/c4Ju2nZPizEXum5tJ2ISK2tF4mNTj2n9K2l8g5WwDSc8mWHmtN4Ck5SCKcE31RIqiRMpla21ItLCDbeVq9CEUnBXj5ILQ7p9ZHHnTmBBy8nEcHmALuWykjR88jdSCuysdlIN8e5/nb//Uwk2D3diOOAYCHCEu2d8shuG+u1d8Ibrh7vgIClA70HhbFHC26EaxTri1UgZ/WhjB71eFNhLtSW5Vs67rn7t5wXub6U/E4io3co0J5jsMnJeG3By0UhIlSp8MrEFTQ5e0mUMIo1zAuFGBsjrtOzVmI1wyXvWRKX9nXu/uho8LmazK39gbSTmDcVNiXEjefizyMitbZepG/E41J9aCqEMpIfUCpsIrBgphyBdSwqR1ra9tLreA8vDh5PsmfsyD1vS724hGDj6fbi2NcqSxedPcHheI/KgTrE6HuV1tgolCZKFjzmw/qW6ifpd3qSYWwf7ssxEOzSbOWSgVjzmshyQN1UL0abhEZ24jlF3dLnPSgMLwa95V1630PYB6Rh+oe1Oa2xzXP5b7kKIJ67GlIOOd+bbDkverx7VIZpz1VEiN0lSTEnEcGuqV6Te8b096jqERsYL8l3ei9kJiJnbDAJI+Df3i5q7/1uEsTZ9kwoHp8bxXqjQ3Iu8ohIbaEXvbrVvBOJs6V1y73QIMYXL2xrWbWa+TpeS8UYEiqn+prKTMQIp8J4kTxXK1vqxSUEOwqNYVPhhanW4pBej6XaszSXeq88CzYlTNMiD0v7SdUgz6vCmSU1dbuX9uP/3S+C3RfS6JTH9Ck9Tmuc6/keFEZrRnePEYEYpyR6/P89L0P0zBKCjZU6dUURd06c4t5ky3nR492j72nPdbAhAyU1mCOCzYmJbCx6C/Gp3smqHJCUO4kxSnhK+0j4BPkMWLz5BviXPzahvZJ9o8NGIPkl5RFrcKX6hpfICsnMlReLiNQWepF8Eq/CUk0yvRd/SzhcmvBag2d0LUmUWMw9nU0yXHTU+plGsKN8L05tXcOTRBk9ryoL1mus2DnxCDbt8Q30lMjT2dtSXt1nEexqyGZvmDvlcXrj0mLwuV5vSaSihYQatS21mnPvNv0d6wYLIDGruOY5aYqkDM9jUNPueG0JwSZ+NV0AXhOU7WvpQ897tpwXPfrtVbCg3ZoDP3r0w2sjOsmRGsolCYoRwV6rfmsUS83xyF7N2/SdIWdY11uEsAp0AWSbBRaLOCe4lRzIkz6PA3I4Nv4kpWQTdZJ6EWzAN82BwRuH9TBX+zyyXGI5XpovhE4lrh19TdwwJ3GyYenBRU67BTs6vbDEC9XyvVDa0zMWcNI0HCYnHsFuOSU59xwR7BxCgxXFO1TiWEJExlckRhC3ihd7xDWlk7MAsvCSLYlUtJCUHhnd8p7EF3IABh+5F9rR0qZ3TwnB9kJ8WNw4hW9vsuW86PHukdW1ZxZ6Sz85NpxDf1IprTzDfRHBXqsEIZZxdE8qpe5lNrNYwGtPD43whXSTMMcmivrupRJVNSm9v8d1Swj2mnpx+m5RKE1J8rV3gupSowHrODWUceUzl9aQ006wo7m/Rl4Z44OxwAv74oAhxjMnHsF+eVBQINfW3O8i2AXoRUk4x0awqRhCDOaFg3euKdReAJt7yZZEaklMWcv7kRiKosFbsFRQALi1USRe6IgI9lKEl92PNdc7IKNUwS97enz3ZYPDk2oSyfZCsGu9AcS/k6jnHRPfijcxlBBC6uPmhJKBPcus5p7n/b6EYJdUJmrpU3oPYRfgiW6bSq7aCvdh6U5LlJLw9uiGjmGhflxHUgXh47288pKnnWBHc39rgo1OJnwqJyLYOYQ2/P20EOynmtn1Z3Aj6B7X2Jr1oU8jwWZhomxQiWtqCj8WZtxcxCSC+fRfSpdRIzY6Ll0Ee0MF4DwqOuzjpGucRtZBYqexFJfIXgh2qQV7+k5459j88K7EZ5fUi89hQrgIpU5zJ/GJYOeQ/N/fqUiDQWcqhLSh16KEVGLy0yohrFnck0vsTHtGiAqH3NSWS6PCBOFEns4m5yWKDT7tBFsWbH/uy4JdoBNOA8Emk53dek5wtxFKUnPUbK7N6e+nkWCTJU2SRyQQ6TcfdtbUBOXfUTlDqnNZ70sINgSd0lhTWepOrRnrmmu3nBc1/YquZVMFETi3cwGxpC0xvD36RZLPLZ2GfsjMCF8pkYhgr+WxI9bas0DyHulhIiX9H68hdpaEXuJzOVgKiyVJdvxbW0mHerbE5s6VxoxwIw+DGuJ7ka09e957R54W9OjDA6C82vOPNTNi+GuE8SfWnpCYSPi2uYZNFV7fUWfnPBlnKsE+DTHYChGp+Yo6XnvsBJvkOsgdmaslwtHFLBZryJZEaouFJDoFE+zeerCQPHQ4XOG9jWBiZfFcXiUWbAr/p2OuKiKNA+HcFh02s8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") 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FCfjnSiQOfCeZv03HCS+Yp/vNiI2CZo68SBtlMxb8thYCBA0e+eDBi4/iLvw2x1O8ilW1ZgoCxB1FZj404KF7mOR7UnDlzdMgRYmy5R+VodXl6X11jn5rGCqGB2KQsl4DxeyQRIJYQ+WY46ehy7JoaC7IWJBnEhtD2IzMWRAQsAyTvEhGwnsA13DYXAsbx3ivLT69oi/y47+a0CEkh5iHHxiZgPPwgFmTeDbUrhzimuB2O/VKEon4t8U9eijixafEX7JCxeselHJWSVMC/U3ZEENyM//4PBQQu621CWlIEZUkELPWSLrGeHAPHR/lNemMlCBiq6iR/xEYM5COGbMjo3hRhgAh4xCzumt9QHEuI5/hchbXYUh9LjCeXgFHBhGzr2IjzxFtdyggriQP8+dAhBKXNRMDaEEr8XQSsJ3ANt82BgOE25ouzLcOx/Oy7tZjSKoOUeYH/XutjEzASGkoJiZL27mUpIcDJerXZn1XZqJCZ2IjjKCVKSdtkHXqB0m0lc4j94Xg6NohGV3mRJiyQNiAb1ZM0WRIBY46plzSe4b5loSASBJLHEhBNivslCBghBRyf1o1nEMfvJUSH6+3i4Y+TC/Cw8fxt8vqnQh9yyUbbb7T+99s1JK/kErBUBQNON0iuKmVkdZNgVDeOq5FNaTsOFwHruQoiYD2Ba7htDgRsiL5UeUTSLRKzFNet5GoChAkUzrGxCRieKTxUpQxyzHFc3Xg5xTpNXn8cH3kZk7xUKAxcytCD8+bMsY1HAHf9knHHy79u6D0RNN/kOesz7udVGX4Q+NiWRsCIiyO7L7YhMXOU/cEbGVsTgR5KwJCc8Oq6QhIgC6UtdZzfVs0j9dHXNYg/Zz78FvhNeJZLwDxSy1E+Hx9txChnjLtreN4SUxYb3v+2ODARsC5I164VAesJXMNtcyBgpGx7Z/rlZzusRbJ7EEKMDQV1T/zU621sAsaLJSewNxcJdLXI5qobxx8oW7cF0HuxLxyNoo/Vdm/u+Lgu5SXgyIOjD89IZYdkxSntBDTH8+0yltS1KS/d0ggY0gWfdHT28Byhp0XiRhfj+UMMX5wp2HbMPZSAEXjvxYb2kVnJmS86Zl5cJsTzaQ0NpJJM6lUBcvrPvQaPdyy6y705BAwPJjFecZFtlPsPzR1A5nV82HkZyjneaxGwTJDjy0TAegLXcNscCBhjIEhzTsbDhCwljtp2/1yoKgRMPEds9dItbXMYk4BxzJVSiW8bV+rv1IH04ipw9bcF1HrHLrygPZHcvuPjvlSsGcfCXswe96QC8McqNJ2KA1saAQO7FJlEQDVHU6q+1imC0ZZpO5SApTxLfEjxQVXaUl5a4tAQeU1ZynNW2ou86z91xJxDwHheQqZjYw6UeSppqViztn3DGETAeq6ECFhP4Bpu2zcB44uLYOl9GF/dkIE6ydr9b17QqVJG8VjnQsDIxGxKJe+DcSrzLcfTRqmeeG15QKdEbfuMj3uQyvA8XXgWvKMt7kEo1RNupBZgqhJA3/FxHxpOnlzAEglYqlwQhJyXcG78FJ4S9gMxV3UjHgzZi6Yjq6EEjJqfHtFCPoHj4tKGLIyXKd20RxlDSv2ekl5dayDmzMlLhuC+HAKWmiPZlZTwKmn8fokxjS1Hu00ErOdKiID1BK7htn0TMGQAmmqblZoxXhKESZFEIMaD4xIERUvsqbkQMMRX6wK0JbAbQsAQgY3T0UuMKbcNxEMpCeNZSoKgzSOR23d8HfVFvVI2SyRgzC1VMBthXeKTciyVhZoj7jqUgKWqPeCpLE0WwALChLxFbGgferGBu+uopkA2cmyQYILOSxsZjHiXYsshYJcMdVxLj6lLezn6fyJgXRCtXVviZdmz69Xetm8CNlbMzW7ByJQhXoBjtFSh3aGLOxcCRpFojjhL2hACVjLots+cmggYyQpkksVWOl1+1z5Hw190+lsqAaOyAcHOMcH+atB7atPQ4lmOiCvVAuqWW95oKAFDENSTReA54e2LPvuvfg8Fpj3PIB6nOJuvfp8nOsrfx3oXIprctxh36jc1FLsu94uAdUGr47VjbbqOw1jV5fsmYGOQBhYIDxcChqUICQ9PXP5x2jp9iYD5P4k5E7CUppUIWP5+Tr2seYEjR9BkqRJQuQW+hxKwVOzZ1AQM7UOvxNkOu5SI71jvwiEErE3MdYoXpwjYiCiPtelGHPLsm14jAaP8ELUbc6QS6gtE9iC11UjFJtOr/m+SBFIxDiJgyyNg8oCZnSd4oeLVy93P3I+cSPxc5r/xW2ki4O9wPo6IIUPyxNOei8c4lIDJA+b/ZkXAZv/K3t8ARcDKY782AobnC6mIkzdAhTeLawiKJeB3R7TaglpFwP4P1JwgfDS1kC2oGy/Oq5Xfxp1bTMWrUO2AkialLaWxtNQjyB0+1AT1Sj7x3ygH5RmirZT1io3kDDIsc2woAVtKDFhqnjlZyDk4xtek9OpyYsBSGd6ULaN82VxMMWA9V0IErCdwDbetjYCliuuiP0WRWOKCePj3Ud1HhsJTc871GLAMY8pQjHGcOyQGDIVvXhR1A3vIz75t6izI1N5ZOgHD2+xVDWhSavcqEPB7hKR6tTm9vTKUgCkL0v8FcnLgHYnmELCUTmKX2rFTPBdEwHqiLALWE7iNEDCKAr/KmSvZR4i95hbMTsFFfAi6WLGJgPmIITGALEHd8DbGgdfld3V7i2dNiIaOpQOG18/Lrls6AQPpVJF6Mo4R8q0bsi8c78ee0a5K+kMJ2FJ0wFKFuMfSAUutZQ4BI5sd7b/Y2qQ22n+tZa8QAeuJpwhYT+A2QsC8rzfiUFC9jl8EfZCkbiAvaBEws5wjSGQxYm8XqfOU+unjgeyzZql7UMBnLCj6122sUjQpj8saCNj1K90uCFRslCyKJQ0Qa72Dc23XWpJDCdhSlPBTsWp4qQjgL22UDYp12egjh4CREYv0TGxUxLhK6YEOaE8ErCd4ImA9gdsAAUNigkB50r3rxo/tSoVgS2VOyQPmA0wdRk8skeM4TwS10DJlN4MuF/pcdYMYEj/YpvKf3Um4MOXJWAMBw5uFZzPW8wNLhI13tfkocYMUBxpWdeMIkwy6LjaUgM2lFiRHuCQkpCyl+P4wM7tnF8AyriUBIlVHMYeA0YVXO3afYtvetEXAMjaDd4kIWE/gGm5bSwwYoqqU4omNL0ivaGsfJFMp4SJgPpp3qbxdlAOKLUdos8/6dL0H8nMD5yYEe9FfKmnENlFdIbY1EDDmRAkfr8LB48zszmHS9woCrjEGTQH7qTUYSsBo96NBcb/eB6QRD1Cumn/uHvHKchGXSqUIYiVTBvHxCte31crMHVf9OorX86HgWS4BwytHOaDYiO8jw3wOJgLWcxVEwHoC13DbWggYJXiOdubJ0c+TC8B22lA2xVN2FwHzAaaotXf0O0Zx3j5LnCqQ/NwqlgU9oVKWqgNI+2shYJSDwrsVS78g7UIcIMe91AGlIkXdEGMlnqmrZlwJAkbVgyOdRSZD8hGlFj/Ujz3KaS/3d8CHJR+YdQMvvLclSQ3j4ePDs1wCdlcze5TTwH2rwvcPKojpkKZEwHqiJwLWE7gNEzAkBZAWGGoPreIbSKf2TATMx4XfKy+P+KXLy4MvYi9gt8860U/XFzj9EIiPZyp+rqDiznEMquwl7GUNaudrIWDg9EAzQ0g1No7KiC0iAzm2HNFWbw1KEDDKdpE5HBtJOxydtqn55+4NYqC8MAhi4Z6Q0Qiitl4x6z7Fz1PdERZAVZLUOzaXgKW05SDfYPqLjPnmXNL3N0/bImA5CDvXiID1BK7htrV4wFJHkAgLcuQ1xIhtITibuBHPRMDS6Ka8DCWzDTnq5AWHt5MHfRd7g5kd6txQanypzNldl2siYHiJiQGiyHbdvhKO9CiwXTfKFnEs++MuCxauLUHAaAo9QOQTYqsfnfYY3v+/BeLkVQX4TvAMNh0/7hq5TLVH3+kMAtwgkR8YMsBAusjuborDyyVgDOW9oeZuPCxKwj1p4Fh3t1OknCxrPGt4WbuYCFgXtGrXioD1BK7htrUQMLLZCJyOs9p4+POQ7/s1y5Ej2XwU8E6ZCFgaG8grwe5kHcaGFADFiIfYhYMXgyMwjrkoJUTcGSKwOZYqicO9iIJ6cU057XIN9RJ5OcbHR/X710TAmBeSA7kfPMSE4VnuY6UI2A3NjGxNzwiAT/0tZ8wcwRNgz96MrWsQPd4p9npsHEGS0fntnAElrsFrifeyyboQMI7vn+M0xvOZ5ygyJEOM/cU+wzj2Jv7Qkx9K9SEC1hN9EbCewDXcthYCxhTJpiKrKLbc+nLxfWRU8qVVj4sg05LA2bqJgDXvS/Ah3io2vuB5ySEf0sfwqODBigkOGZZXNTPId5vxTOEY6lLOhRxr3rsnSaD4NkdPvLh2xkfACaJ+1kbA0HgjrqvtWY3XgmPevsHupQgYy5EqeM1xGd5Vjvq6GrpvrK3nNeeIk33RxXODjANz9gy8SWT4TNdBVgkAd4tCNLw9SrNdCBhZsWgu1vf+bmgQpiuHCiQ9hmtInqDWH39oI4NyeGYogghYH+QzftQ9m930bWsiYMRoeV/UvEj5Suri/uboiOuJadgZBO8b1cPletGOEQFr/gkRmE0mFx6h2Mg6Qymbdct9IfFyv6mZcUyEplhsHNdAxHPjwjiCQoAyFgfdtUtJnXskstHivmkDDwCByPWAdMpc8aK/cXTD2ggY00tlwtWnPvSIryQBI5idZJG4asNuvK8wMwLzkdpoM/Y4mdd8cHj7iT2JYHSqTFNT+ymVeu7hwxCZHJ5FZFe2GZ5pPMV4gOtG8gF7PbYuBIx7STzheekRccZK8gNestyYMKRLwBXCiORQbA8JH0tt8+bvImA5KDnXtH1V9Wx207etiYChM0RQdaoOJMcBkCqyfY5xVv2MwXPCl1QcFwQ5wNVPJo8IWJ4Qax1ivIivSxxFch0B7zyQKX3EcUscG3Pi8EVNrBfky/u63r2ILtEjwJ8XAvFqKYMo8tKn9iEeM8bLi4SXLESLTD7myLEqau9146V73VAD84job2skYE1Zn0wfLKnZ2jVerw5dSQJGu0gnQLRS7xiOtNm/HHUR40T8Gsd+eLggXWRh44WCXMU6Z/VxD8kGxPMOUSR5JGXE4OG1J+uS40mSH34UyCXZqFQnQMSVccZhAXyEIDaNlyq2rgSM++8XQgJSY8VT/fxQIQJyG8cC8rsiOYAqJkhk8K7yjHEf3CGWUASsJ+URAesJXMNtayJgTJOsx5wUch5MHH+g3IwXhQDi1IOTFwZ6UWSzvUQE7Fe7KUcJP952ECcCkr0v2PhaXhqsD7951oX+2n7/kGSON4jZ62MkbJCVV9qIr+Fl9JTqWHQLBAz83lORAIiwZ55CflfMSxMw+r9VWKOUJ7TrGOPrS2QtEgfGB2Qs9zF0bBzXU40Aoukd3fchYPxeidUC1xz7bvjwghjijWwisrv2iC+F8Hsf1Kk+RcByVsO5pu0B3LPZTd+2NgLGYlJ0+yaFVpWvMrwakC9MBOzXOPQhYNxHDAdijzkP1y5LiNwFHgivWHpuOzxfHlMRvzvl3pBxXT3YeksELFW2C8i8GpEZUB7rkjEIGB3gHaKCg3e03XWMu+shNcQS5nwY5vRxgeCNa0ruyGlndw0eryuG4PjTFyRgtM9vit+Ad6zZZYzetYjR4llGab+LiYB1Qat2rQhYT+AablsjASNAk4cdL9Ihe4ZAUohcvWyOCNgwAsbdfE0/vQqgJ72+hHF0SbB01wdxqm+OmCFLqSOPnDHjjbtdddSGqOvOtkTA8HJyrIT2U92Ig0uJfebgurtmLAJG+xzVsT9L1C/kGXKLIHfRZX5t13IcyX6C6A4xEkWIWeREACtNwHZj48jziQHbIePlXk4tyHZG3zE327nepwhYzxUY8jLt2eXqb1sjAdstGg96Yi661pkjm4ivtmc7Aa0iYL9Gt68HbLc2/Jb5eiWoFi2jrsaDl6BkiDZaTqWNDFgIPGKZcdZrU18EQEMICYgm263APzF4AAAfe0lEQVRuWyJgzNsrQH6NEPMzdL3GJGC7sRFXhIgscYc5x+b1ObEniSnkeZEbaN4HE8bIM45nXZf3I+SYY3GyB+vJKmMRMOaGHAfJCfym4rqhOXPniJIwAbzU8W8r5/7dNSJgXdCqXdtlg/XsQretEAHkCpAluGT1QMR9T/wEL1g0vvBUEGv0sRDgSpA1MUSpDDrqxMXHZwSME5At64cAQeu8mJGCIOsUeQIIHuvDywv9IB6+EGPq95FMQZBxXwmDLqMkHoXjGfYPuk7ILJDsgZwEe4S152VAGSxqhRIAndoLBGtzb92YFxmSsvkiQHwoQfo8PwgKR2KERB8SQwhRQFSVoHy8XRAvskBJBprS8NodFj5mGCPVJ3Zxk0hL4B1GrmI3vnclnnHEv1GlIjZ+e321FD0ciDeD2PJv+uM4lecqvzc+rnbPZWK8wJW4N7ynJccw5fqsoi8RsFUsoyYhBBaPAAQMb1eu1MXiJ6wJLA4BvHYQqhxZisVNTgOeHgERsOkxV49CQAgIASEgBITAxhEQAdv4BtD0hYAQEAJCQAgIgekREAGbHnP1KASEgBAQAkJACGwcARGwjW8ATV8ICAEhIASEgBCYHgERsOkxV49CQAgIASEgBITAxhEQAdv4BtD0hYAQEAJCQAgIgekREAGbHnP1KASEgBAQAkJACGwcARGwjW8ATV8ICAEhIASEgBCYHgERsOkxV49CQAgIASEgBITAxhEQAdv4BtD0hYAQEAJCQAgIgekREAGbHnP1KASEgBAQAkJACGwcARGwjW8ATV8ICAEhIASEgBCYHgERsOkxV49CQAgIASEgBITAxhEQAdv4BtD0hYAQEAJCQAgIgekREAGbHnP1KASEgBAQAkJACGwcARGwjW8ATV8ICAEhIASEgBCYHgERsOkxV49CQAgIASEgBITAxhEQAdv4BtD0hYAQEAJCQAgIgekREAGbHnP1KASEgBAQAkJACGwcARGwjW8ATV8ICAEhIASEgBCYHgERsOkxV49CQAgIASEgBITAxhEQAdv4BtD0hYAQEAJCQAgIgekREAGbHnP1KASEgBAQAkJACGwcARGwjW8ATV8ICAEhIASEgBCYHgERsOkxV49CQAgIASEgBITAxhEQAdv4BtD0hYAQEAJCQAgIgekREAGbHnP1KASEgBAQAkJACGwcARGwjW8ATV8ICAEhIASEgBCYHgERsOkxV49CQAgIASEgBITAxhEQAdv4Bigw/Sub2aWjdr5hZk8o0LaaEAJCQAjsG4ETmdndzey40UBeYWYf2vfg1P9yERABW+7azWHkZzGzD5vZyaLB3NjMnj+HAWoMQkAICIECCDzSzO4WtfMpM7twRc5+UKB9NbFBBETANrjoBaf8ZjO7fNTea8zsGgX7UFNCQAgIgX0jcGIz+4iZnSMayFPN7Lb7Hpz6XyYCImDLXLc5jPpPq4fRc6KB/NTMLmBmn5jDADUGISAEhEBBBA4zs5dG7f3SzC5jZu8u2I+a2ggCImAbWejC0+TIEZJ1uqjdx5nZnQv3peaEgBAQAnNB4K1mdnA0mKPN7GJm9vO5DFLjWAYCImDLWKe5jfJBZnbvaFA/MrOzm9nX5jZYjUcICAEhUAgByBckLLabm9mzC/WhZjaCgAjYRha64DRPa2afMbOTRG0+3szuVLAfNSUEhIAQmCMCbzezy0YD+3yVeHRuM/vJHAesMc0TARGwea7LnEf1t2Z2ZDTAX4TgVB5CMiEgBITAmhG4lpm9ypngEWb2tDVPXHMri4AIWFk8197ayc3si2Z20miiPIyuvfbJa35CQAjMFoE/NLNDndEhh1M6Keg4Zvbp6sjxbFF/9HMeMyMwXyYEWhEQAWuFSBfUELiHmT3cQeRqZvZaISUEhIAQ2BMCf2VmD3X6xlv1LyOMKdUfH6Ked2yEIajJpSMgArb0FZxu/OwVhAdjHZxjzOwMygCabiHUkxAQAgcgMDUBw/v1WWcdjjKzq2t9hEAOAiJgOSjpGhC4UlVy6PUOFBIi1P4QAkJg3whMTcCY77+Z2cWjiRMPCzkjVEMmBBoREAHTBslFgFiKGzkXX6HSxXlLbiO6TggIASEwAgL7IGCUJqJEUWxI9DxkhDmqyZUhIAK2sgUdaTqU4fh69bD5rah9NL8OMjO++mRCQAgIgX0hsA8CdmYzI/M7fo/+h5ldaF9AqN/lICACtpy12udIr1eVGHqJM4Anmdnt9zkw9S0EhIAQMLN9EDCAf5eZXcpZAbIhP66VEQJNCIiAaX/kIEDNR2o/xnYdM3tlTgO6RggIASEwIgL7ImD3r04A7ufMi4xxNBNlQiCJgAiYNkcbAuyRr5oZCvh1Q+vm1Gb2rbYG9HchIASEwMgI7IuAXdHM3ujM7U0JXbKRYVDzS0JABGxJq7WfsV7UzN7vdP0RM7vgfoakXoWAEBACx0JgXwSMkmzfNrPjRevxYzM7pZn9UOskBFIIiIBpb7QhcGcze4xzkeK/2pDT34WAEJgKgX0RMObnyVHw3y+fKNw9FSbqZ+YIiIDNfIFmMLwXm9kfO+M43MxeOIPxpYbA8egfVQr9lwwZSWeqiCSllPhi/ZGZfcfMyOIkY+l9IZatdC3LszoZUhzn/m9i0HgUDzOzi5nZ+cMX9MnM7GdVsgOCt98ws0+a2RvCP54QZN8lmftYvfEx1x8EbPrOO74v1Q9H7d8t1cnK2uE9QikgVOcvYma/a2anCFnT7HV+a/9tZkdXeoL/amav6BG6AJnxPgR3UBIigSB0bPxGuqwbvzM0D7sYUhRIUsQmOYouKG7wWhGwDS56xykjKAh5ie0sMxUbvIyZ3dPMrmpmx+041/eEwNmXF6rnBnGKx8DDPY4ZoYYdZVR+v+N4X11VILhvVYfzgx3v8y6f+1ifUe23WzoD5+UKcf1CAQxua2ZPdtrhiIk+vlSgjyU0cT4ze4QzUD5o6pIz7O2bhj0Y10Vsmid7jd/YA6qPO0IZcoyEH+4Z295Wea0O6djJdc3sZc49lECClMqEgIuACJg2RhMCxDB8M/FC+u2ZQXdGM3tK5c26ZoFxQWhuYWYfGthWG6lBX40XPi+xvkYyBMfBHBXTX1+b+1jRoMODEpfCYr4Q2isPJM0QiA87Wne0/yeVV+ef+gK7wPvwZr3DGffxa3uMdUCc+RID5rfbu3cPXummpqYiYH1CK84ZPNPx+PkowKMqEwIiYNoDnRHA7f9m5y6OEXhIz8UgXf8Yjj1KjemnVQAtqeSPHdBgE6nhiIajxK5er9RwWCeOiv+n53iXMFb0liAGnmfzzxPeqxw4+BAla439Hhsk48Y5jazomjYCRvmd15pZqY+w/zSzq7R4GKciYH9hZk/suJbHqY4gv1d5DX/TuQ+M8KDKhMABCMgDpk3RhAAvNe9hxHHQrWcC3c3N7Ok9jhtzh/8oMzsy9+LouhSpgURw1DHEe+ANCU8QL7I+lQmWMtYHVl6Y+ziTJxbs98zsMz3Wipfu3zn3cfxOm1t7gTYRsPOGOK6T9sC56ZbPhaO/VBzmVASsb2m1D4T4t3iOl65+k+8ujJWaWwkCImArWciRppEKLuUF+OCR+uzS7DXM7FVVLAlfoJ5BKigg/s9m9u8h6J5gaoLxTxfieojRoB2C81N2rxCj1WVsXJsiNdeuAup56cf2sXCsA0H7RHjxnzBosBHYfDUzI/kB71nKICieMGTb2JcyVtL9eaF5nsO3By9WFwLKURqJGPH6czyGxtMW65ymCNipwu/od6LNBN6vC8H17w2eLDxCHBvzO2PvXr2KVWTfkxyTMo7+ISypJJWmPbzPLEjGRXwaJDE2vKd4UWVC4AAERMC0KZoQoPwQZYhiQxX/uXuGjrgLvjpTX+IQM44Qc8qB8JJA0fpWCU8aL2NeIBy7dDGP1PylmT0syo4kQ+xOIZCXvpqMlyCFfm+TuIiX4bmrygWf7jLQBFmc61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FtHWqIT8TuNisRkNSiYxxZwg6NDE1m40ON+qQs5YTPyKa8Ey/tPjtEAdllgicHjy1LtUOMZyEl1lmGi8Uv59xnagHJBggIstBYTrzggEli9zqEtsQymBGW25Y2u9eICUhE6Fk7ByH4WT4vndB270NfWUYNv32IUZbl8WgONSpD4L0MjdqGv5N50b4QAyYoxEKybD3EcITwvoxNmvG6Uhoo126dcATAknEaE+IV48AEh/d1LC9hSWOcy3f2x1lA5glIfmx8cMLlTZZ6yLKtkV3Msi91s0LDUxK+1GoJSF6YeLVCY6bHrBkhNMbwRPKyprRDaLwgKHfRZ1yDWTEFdkNjphqLWey7Zvh3lr+3lT4pEZA3brMkw3vg5cWDNdRrsrleKlidSQ6Cvc8OXUCOjV3mnUmtxViyGeJhaKmeKQUkkzneX10xtnlOeCZf2/fQ9PydlQGWKMPf6McknSvTKxsTkN3bIh5gnuN92tZcPGKxST8rAyxFjzVCVy4dXAQvJNvgIoj7rE9Aloq82P1YJmY5ODRiKBHYOcYzxZjQr9BqsOT6bHjAEjmCkRAeykTlvD/nPsY5fBdxjAVknoBkMIlZozB2aMzq+dsYozQNIjRcok1le9cSkLGEHfpRS5hxLYLu3xSBQ8wSsYh9LwSWsFgaCo2XCiK3hrG8yccuVfeyREAimNnBIjTqoiE8xhptJRkpDNwncYhwgz47ZAFJskzMI97HLPw7sbOxeEfKtwytEDClgExNFJmYMkGtYXzgKeofGrUmc1YItglIPOtw7fM89fWD3w7xgmEcK15pxPXYYujcnwlKLJwmN35vm4BEpDMZL0nKiTFhqZoEqfD7j9DlG5Sz6sRzQ1JMaFyXBMBtCWV947T5O1UxWJkrCU9awhjn9n/2x1lA5gtIst8QeWEWHDF41Gfkv0ON5VmWaWMfqli9yRoCEm8BH60wZoeXKf2hRlgtI8s49mFFzJBUs81YXmbZIjR2n4kJy6FtZnKQmgjkCkiSNGIB7QSZh16Joe3kPGKfKE/RNcaLTNm+cTtkAUmMIpnWYw3xjpc+/O0QR0apmdxkjm47phSQJE+QiBUaWa14xmsYwiZWoguPOTG/fbZNQFJ+ieXhscbkgaSO0Ggf7axlxGmGCTpwhnefbROQLBnHYgP7rhn7O1sbxop9kxSVU9InlXjJt4zkqn3ZEsZ4X2yq39cCMl9AAj8lMlh6jnkncwaMQHS8X8QEdm3bjjc1BCQxOZTrCK00azCnj6mddXKWY4jRIomma8zAmSkP+VCn2pv6AHJ8roBM9ZOPHx/BWkYSUuwlTYwkpUO22aEKSLy/Y3fH6HJNJdaRqDAkpGVKAcnyNV6nrhF/zO+qbwUg95nlW0IfuslKnIv3iHi4PksJSGL+8GixB/dYI/GGiWdotZMhY+XGSCZipakvySolIPHCkkxE/HgN4/3BeyQ03mE5iS+xZ4oJFG0c40wZ27cljPHYPs7mfAvIMgFJDCQ/nDAAmaBuYiGHbNeXSuLYtud2DQGZqktHMDyZpjUNcRyLp4wlCHXvy/JFLCuQ2TNL47WNcYzVbcwVkCQMxMp5UFB8TAH1sJ/U6ySZJrScHZIOVUAS30ZsVi1LVUxg2S0347bblqkEJB/02I4oTB5DL/ZYNvyew7I+LLuG4jV2n5SAJA6OShE1DO8zv8WuMUGl5EufsCu5PzUoY88a78G+OMiUgMQrmCqZVNK2zbEIacRWaNTvpLTVNmOSsKmX2j2OUAVCFvZpSxjjffKpem8LyDIBCfxUeYDcmVs4gLGYOWaZLCOnAsZrCEhi5mKeAZZehmzB1fdgsrQb7shC9nCsLM3mWiz7xpZTpvCScs9UofJcAUkGblgblEkF+3XX8vTQTj6CsaXYnOXCQxWQxIfyzNcyYp/JbA6NZ7Z0dyCuMZWAJAkhFibSV2h7CCdEaZhtzHPPUn+fQEsJSBI+YrGVpe0jKYMYR36LXeubxJbeh+NThbVzno2UgGTCH0t8GdI+zqFsU6xOZ847JBXXzgQ6VtJpaBtLz1vKGJf2a7bHW0CWC0jKILB8FRr/j60PSywlkPqyOWsISDLownpgfMTC5eKS/mw7Nuad4HjiyVK14lLJCiV1D0vanwpRyBWQBJDjie5argempJ2pWMu+54Z7HKqA5FknVKSW3TMR2zdUqE4lIFMlyHK81aWsUrGWxI33Lb2mBOQ12oldaVvC45mQk3wWGnHUsWXtMfdLxeH1bTPJPVMC8g8T1R2GthOvbmyikyNUU6E6NWM0h/RrKWM8pG+zPMcCslxAMpCp7OXSOnCU0CFDsms5pYFqCMhYbCEf2NQOMmMfYEow8DEIDQ9kagut1O4zFO2NBcOPbWMqmSlXQMZEAB+tkqLpOX1gR5pYYgK7BW0rR3TIApIEo9y6ozljkKrKgGcnVhqr75pTCchUrb4nZO6E1Nfu7t8Jf4mFlmz7jW/OTwlIJuylBd9jbabWbew6rHDEsolL+h0eS7JWbEOI62TUnE0JyFpCetNWKkWw+hVaTlWRXb+Xc8diKWOc25/ZH2cBOUxAskwZKxjMvtnhPtaph4A9a4mLC8cgpzh5DQFJtm64nMMLJVbfrsaD/PjEFlUEyKd2wLhLUzSb4tuhIbprv/S5B5mqeFFCyxWQJPektrqrwbDvGux+k9oGbHPuoXogGZecQut9jDd/X4qATL0rcvtZ4zg8Q33Fv1MCkvI6Mc9habuoAkE1iH1aTq3WlIAsdU709XOMgNz1e7mvL5u/L2WMc/sz++MsIIcJSAaWmmSxJevcIPqUoMrJCKwhIGMxSbXLzXR/AGQhE6AdGgxjIQEcR+JDrLxGzfIj3fZQYDiWgZgrIPvivKZ+IVhAHtmqjeLYoZH4lrPHc+4YLUVApn5Duf2scdwYAUm5sRpZvexLX6tk0VAmYwQkTgue7Vo2RkDu+r2c2+eljHFuf2Z/nAXkcAGZEhsIkNjyRfdhIFGFbLzQA8gLIkzCiD1EaxKQ2wRzatcVC8j4q8UC0gIyfDJSv6FdfpzGCMhawj8Vb75LDmsRkLt+L+eO0VLGOLc/sz/OAnK4gCSzkJI+vBy7RtYtiRTblmzu1wZLhw9I7jLFmgSkPZD1XhMWkBaQFpDx39NSxEVqCdseyP735FLGuL8nCznCAnK4gGSI2feWrLXQtmWykQBBTA9B/V2jdhzL3zlWQ0AuIQYy1c+hma59bMl0JBEltNwlbJZIKQzftZrbxfW1P+fvhxoDWcuTtWG8lCXslCAhXoytF+diU4cepJ573jF/PhcIW7Kw5yQg79aUZrp/hNlUsem5w7OUMc7tz+yPs4AcJyDZtoxdJ4jT6dq27Q1TNcJK6kjWEJDOwj7uz5MYzdiOMbkCklIl7DbRtTH7I0/xArGArEN1KQIyNcllL2MmN3OxqQXkBRN7ciMeeZ/OxZbggaT+KdnaoU1VHSN3bJYyxrn9mf1xFpDjBCQDTKHbWIFXPjDhj4xCpx+RdI7gySjdyaaGgJxLHUgEFwV+Y3b9xH7XU9WB5GPCtpSh5QpIPMthSAOcyTSfi1lA1hmJpQjIGzXPJKENoeWUlKlDKu8qUwtIwoqo0xpaTumrvB7UOWoJAnLX7+VcsksZ49z+zP44C8jxApKt79imL9zeEM8kD3Q38/Pqkp4XeSoQoLGl8NQDVENALmEnmlRWHV5C9peubc+W9LsjBCRlQlga7BpF0imk/MPajR14PQvIgeCC05YiIImrjnka79qUnGIv+rnY1AKSMk6U2QqNcmwwmostQUCypSIbQ4Q21Xs5d2yWMsa5/Zn9cRaQ4wUkg5zaFzfMumMP54sGT8W25e7UA1RDQM5hL+zXJkqubPqd2nHlbRGONX5sTATYrza0XA9k7f2Ra/QpvIYFZB2qSxGQ7ENNsl9oL2j27GZCOxebWkDSTypfnCXoMMXlw3j0fTJZgoDEaRJLEmUCzdaZ+7QljPE++VS9twVkHQHJzgMkwYT2HkmUqcEQjgjI0HK2jgrPqSEg8bThcQttin2mU1tfPUgSRWm32Rd13DH6vqRTN3vkkghUyyhYzLaDMcsVkHhF2U4wtNrbkI3pswXkGHo/OncpApIWfyMSp/25Zmu8M9VBUeUquxCQL5LEdoKh1d7mcgyQJQhI+vclSZSj6xoe3tNUfi+XslzCGJf2abbHW0DWEZAMMMtEsaWQTfbc85uC2VcLnoSckj+xh6eGgCTxh+3TKEfUta+2cXw1xVlsaZd7XlLSm3p+HWxZyN6yobHjSiy2a+iP7R6S7ps4OVdA/oqkf45cg+WeywxtWOXzLCDrAF2SgHxx81yyxWJoOb+/OrT6r7ILAZlK/uC3H8sq7m91/SOWIiCfKenaO3gvlxJewhiX9mm2x1tA1hOQ7H4R2ymAfbPZj5bkGZJoupZTdDz28NQQkFyX+J9Y4fJbNl6/x1R6alnSeHPkWsxgWQrpiw1MeS/ZvSa2E9CQZp9E0kfb9sTOzxWQ/J7w7LD03jV2qMHLEQviH9Je7jN01xsLyCHEj3vOkgTkzRO/56HvnxTBMc/lLgQk28f+S6TxrDycXdKxdR6N/92edujvcykCkiQstt0NrbvqNhYnG23g6OBbkWtLGOPcvsz+OAvIegKSwX5XZ8m6O/h4oGLbq+Vuexg+SLUEJF4JvBOhseTF0ntqSTf3wT6ZpLc3S+W/GDnhnk3NRAqq9xl1Mz8fWYLjPIT5o/sukPH3+zQfD9qTslwByfkPkYS4CO05zd7n18xoS84hLJUj/BH6pWNkAZlDuP+YJQlIlhX5DYX7tLMCcuEtW4n2U/jREZQ0I0Tnkc1EjG1aSwXULgQkrX2HJLbxC61mZQcSJanIgGfz2yUQF1IHki4x6eaZOlWkf7eR9KjCfscOv1O7ne0xbbWTL2Rec+5jnNmN+R9mAVlXQKZmZbEnYUz2Xy0Byfh/ICHw3imJLQNLX4CbvuJtxcMBk9C4JsH9LKHnGHGZt40cSCwkgoi2DjV2L+DjFRYA716vRECSeY+3OQwN4Ho1SqfgdcWji7AmwxvxS9xl7j7PFpBDn5QfP29JApKWE+5BSZ/Q3t+KSH5LY+wZjRefOoAYz+fNmooGHyy44K4EJImNT4u0i1JiTJpZiRhj3c0IqMTBJDc2SU/dYykeSNr/wEQMO8/SxRPhPLlsca6QLLnZ7pf4SiYmxM0jXLfZ3Mc4l8Hsj7OArCsgEQ0sU4aZfrEH4bLNj+zVA5+QWgKS22/b/onlCHZ9YVm2xPA8ErsYC1jnOnjQYgW7U/cgWJt6imHBdo4nix3PHqECpUbfebnjPdkYXpmwJFOJgOQ6zJhvGmkML1biOcmAHWJ4cnlmzhCcTALX5ZqPds4M3QJyCPnjnrM0AcmEjeXb0AtJz6iGcNVmZy0K4Zca3xDq3YZltfgdUVM193e+KwHJRBHRfO5IRxF8vJc/XAqhPZ7ERJZ1w/cHyYrEC+Z4ZZckIElkRHDHsth5L8MDR0mpMTas2oWhQFznKhmCfO5jXMpjtsdbQNYVkAx0KhO3+xCMjd+rKSBpF8V0mTnHjB1r7tVkbD4h08vFh4iC3OdKXI9ZJSKmL/YxPD21SwzHcS2WzgiEJwmozxCiLI/wget6HhGTFP0OC3+XCkiWDD8UyR7ftBU+1ODL9e7yO6V478PbmpJh/0hEulTmB8oCsu/pyPv70gQkvUptQcffEFWERPQltXXpUDSfyRK72sSMpMJcAbErAUk7SR56feO9j33/eH8wtngpc2MimTDzjmTXnzDOnfvhqYN9ji1JQNIfhDEJNTFjVYRYet7LfEf6DHY3bBwFrDh1J/Wb897Yvuf6rjP3Mc5p/yKOsYCsLyDZWYWZbCw2ZPNQhPUhSx+W2gISr8TremorEmtHJvkr2npqBDbzgsU7SDkQYjwRj+ff0hlqhx2d6SkLL8OzSomGWDbp5lhmvXj3KJKOSKeN32zjdY5q9xq/QuOJuVbEm/n1dgkLT+ZYAUl7KLbLtWJL2fydtvGRemkzq353xPtDjBEzcWIdEY9y/0s8AAAcvElEQVQxjwnX4YN3kYIEHQvI0l9b/PglCkgmS/x+Y4lzm15STYIYPjzd/F7DiR6/deImqSjB7+hECZylRaV3KSBpMjHPhH+kDK8+qygvb1c/wiV+Jokss/I+uUET83faxIXYypQNEXJDBJYmIOk28Y7EkKaM8ADeyTx7vJcRk9Tf5HlkMs/7FlFPCATJhjEbEpc/1zGu8waawVUsIOsLSIaVOA08XDGL7VBT+ijUFpDc/3TtD5z9RKcwlldZHiLmcqjxsmG5jXI5NY2ZMkv1CD6Wr2oISNqH8HtSwisRtp+ySYhYfpN4NJiB9/0+8WDClDJJuWYBmUtq+3FLFJD0iIktYi3nd84EkQ894gehyI5KsSXwkNRzW3GZ68Hj/F0LSH5brLxQDizHmJyyxM+EECcBv9E+IxYaYfSVvgM7f1+igEQIEu8eK7dW0PXkobwbcRzEdr/Zdv25jnENJrO4Rt8HahaNnLARsSLV/OgpBTDGiFFjV5PY7Dy2R3bpvaYQkLQB0cJyxBVLG9RzPMtjvADYJWCsISJf0r6Yx16L8/k4EkO5CXSvKSC5PnFAT8784JT0h7hURC9xqiVmAVlCK33sUgUkPeI3RFWAbZ7IoZQe0YbxlIhH7rVrAck9+f4x2SeUpba9ofXSIsBLbIkCkv6x/AxLfhc1dQX8rtHE6v9jCcTOsXMc44Fdmd9pNQd6fr3rb9FUApI7IxpY2ugay6kk2DCbHWNTCchNm4iHpBxNLGmlpN0E0nMdlop+UHJiz7F4AXjREleUWiLOud3H2hiebvHv2gKSdrD8TAYhmYk1jKVvYm1LP07c2wKyxggc+VDybIfGRImwhFKjIkGYjFBjMptqBx/8O7RLuWT0jzUmNCxjEmYyxPYhIDftZMwoB0ZM51gjW5j3HTuM5VZG6N5zqQJy0weS+VjSpq7mWEM0UgeYVbuxNqcxHtuX2ZxvATnNEjYDfJ42ML3LmA9Ojdnu1AKS9iMe/6gNrD994ROLQEbkPLjSjz91e15SiEhiZ1KxWLFzWSrmBU+cFqVwujaFgOT6PAfEjRFoP2S/WD5GxHfCdEzZIgvIwoc5cfjSBeSmWxTz55kkeWFb3HaKGrHRJHcxQSLWbajtU0DSZkQ0lROoYUgprlLjnUeiIQkgsX2ic6+3dAFJPwlzIHwHlufN7XjnOOopsyvY0MlI6pZzGeMBSOZ5yqELyHmOyrxahacCwcPMkhqEeNMIIN/E6BGHR4AzZXYIkCYZhwD8mh7HPiLEZjHDJHGFNlKyhP9HbA7Ci5c75ZVIViFJgMD4VFA754ZxXniq6WMt4x6ECbA/OuESeKXhyX1Z+uNDTJs/0dbSI/uQAHSEr22dBJishZ5AEqQQZrswJmBst0lpK2KMEVHERZPMxe+I3wsxgMTzUWGA0AmeST72OeVpdtGHWvcg0Y/lff5LUgchScQ8strB+4R3Hr9FPMSE5xCbx3tvl++8Wn2d+jo4UojTJtGP2HKSsDbvOlaoeM/hfSc2nonxC0eUUSrpi8e4hFbiWAvIChB9idkS4KPol/psh8cNMwETMAETWCoBC8iljpzbbQImYAImYAImYAJ7ImABuSfwvq0JmIAJmIAJmIAJLJWABeRSR87tNgETMAETMAETMIE9EbCA3BN439YETMAETMAETMAElkrAAnKpI+d2m4AJmIAJmIAJmMCeCFhA7gm8b2sCJmACJmACJmACSyVgAbnUkXO7TcAETMAETMAETGBPBCwg9wTetzUBEzABEzABEzCBpRKwgFzqyLndJmACJmACJmACJrAnAhaQewLv25qACZiACZiACZjAUglYQC515NxuEzABEzABEzABE9gTAQvIPYH3bU3ABEzABEzABExgqQQsIJc6cm63CZiACZiACZiACeyJgAXknsD7tiZgAiZgAiZgAiawVAIWkEsdObfbBEzABEzABEzABPZEwAJyT+B9WxMwARMwARMwARNYKgELyKWOnNttAiZgAiZgAiZgAnsiYAG5J/C+rQmYgAmYgAmYgAkslYAF5FJHzu02ARMwARMwARMwgT0RsIDcE3jf1gRMwARMwARMwASWSsACcqkj53abgAmYgAmYgAmYwJ4IWEDuCbxvawImYAImYAImYAJLJWABudSRc7tNwARMwARMwARMYE8ELCD3BN63NQETMAETMAETMIGlErCAXOrIud0mYAImYAImYAImsCcCFpB7Au/bmoAJmIAJmIAJmMBSCVhALnXk3G4TMAETMAETMAET2BMBC8g9gfdtTcAETMAETMAETGCpBCwglzpybrcJmIAJmIAJmIAJ7ImABeSewPu2JmACJmACJmACJrBUAhaQSx05t9sETMAETMAETMAE9kTAAnJP4H1bEzABEzABEzABE1gqAQvIpY6c220CJmACJmACJmACeyJgAbkn8L6tCZiACZiACZiACSyVgAXkUkfO7a5J4EySTjXygj+U9K3237cl/c/I6/n0wyBwlKS/iHT1G5JufRgI3EsTMIElErCAXOKouc21CfydpGtVvOixkr4u6QOS3t3+e72kT1e8hy+1DgLnkPTRSFe+JOn06+iie2ECJrBGAhaQaxxV96mUQG0BGbs/HklE5FMlPUfSd0ob6eNXScACcpXD6k6ZwPoJWECuf4zdw34CuxCQ3VZ8QdLtJD2rv2k+Yg8ECGm4SeS+b5H0qsrtsYCsDNSXMwET2A0BC8jdcPZd5k1g1wJyQ+OVkq4n6cvzxnNwrftVSW+N9JpYxdtXpmEBWRmoL2cCJrAbAhaQu+Hsu8ybwL4EJFQ+Iek3JH1q3ogOqnUWkAc13O6sCZjAEAIWkEOo+Zy1EUgJyKtJemFmZ48v6eRNRu0p2uSH80g6v6QrSTpXzzX+VdLRzbL2NzPv5cOmJWABOS1fX90ETGAFBCwgVzCI7sJoAjUE5LZGXEDSPSVdfctBz5B03dE98QVqENilgKzRXl/DBEzABHZOwAJy58h9wxkSmFpAbrr8m20G9ikTDC4q6W0z5HNoTbKAPLQRd39NwASKCVhAFiPzCSsksCsBCTqWtcnmPVmE4wt6vJQrRD/LLllAznJY3CgTMIE5EbCAnNNouC37IrBLAUkfbyPpEZHO/pek0zkWcl+Pwf+/rwXk3ofADTABE5g7AQvIuY+Q27cLArsWkCTcfF7Sz0Q6d2VJL9lFp32PJAELSD8cJmACJtBDwALSj4gJSLsWkDA/phGRN43Av7ukB3hQ9krAAnKv+H1zEzCBJRCwgFzCKLmNUxPYh4C8laRHRTr2xMQuKFMz8PV/RMAC0k+DCZiACdgD6WfABHoJ7ENAUtLneZGWPVvStXpbvJwDjpJ0kqC535DEv5j9rKTflYSIo/wRy/xkrR9P0tckfaUR2J+V9Lp2W8F3S2Kf8RKjVucbt5xwUknnjPydexN6UGJXkfTpnhPOKimczP+npC8W3KiEMyEUvyWJcImLSGLrxlO1bfhWE6P7VUkfkPRPbdWAjxe0Y3MoFQV4xhnHszcxv6eRdKJ2DNl56TOSXtPc/xXNeH9wwPWHnnLGtu+/LOkX23bxfMHkP9r4449Ker+kf5D0nqE38nkmsHYC9kCufYTdvxwC+xCQl2s/nmH7KFxOAfNtdu9GNN0rcgBlgvgo17DTtmItvNaLmo/qVQtuQHvYaadrLNGzVN81BNuftX1HLOYaH3pYkMGea4ilr+cePOI4kqLItue/2+y/WwHTPebNzVheouDeuZx/pyl4/1BJiNZcY//vO2WKqcs0xfTZ8pFqA7n2ekl3kPSO3BMKj+M7d41m0nLbZtJxsYhY33a5TzaJbY9uNgd4bNPG7xTe14ebwKoJWECuenjduUwCFpDHBbVLAcmH/cFN7OcJM8crdtgbWs9lzr7iuxKQH2o8eOxI1Ge7EJAnlvR4SX/Q15jE338o6Y6S/jLxd7yLCK2bDLw+XmSEJ/co9Shvu+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") 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HmPsfOe2iGNYdfSxEDFwM4X1+BdpH5WhxcULjuCkG16GZR+KMLiPAzBThJlym5rvxy4g8WYdF4rb1ub5KZX2xsf2qzmpPOQqe9rrbDHKp/7Wki3AgEuMMy0y9PdrFlCnDV89Meaptzni5zP1zA6EF9P2eNApw9a507cJnm3KI36CvOL3NC9A0BCEBgXQkgwK3rzrIuCEBgNAQkuRKhKxJ2mXMQXSIznTdn9CbJOZiev80TfWbJtfaoPmNKcs4ce+g5Yft2mfN7+UDT5AnXIMBt17w9jnPCPWbeAVeB97xrm3adJOfie25Dv28rYeYWg1fGGoQSe3s5LG7/BRY1VYCTtG8ptPCBWqlygSF6XeqKx/sV760T+1wlyS8J7tznmgHa2gPuqpPCiUcgwE319my4r4ymtwecpEuUe9EvQbZDrN28fc6rdsc+IlyjADfALdLUhQtAHZiZDlPHIAABCEBgSQQQ4JYElm4hAAEIbBAoIWCuTtmasNl5uPxH/NIrgC6yQ5Kc0875zmZVDF1kiFnXmo+9TDqtFMDYrx7GZlVg7exnzgbHZKY9BDttZAKcc0w5HNq5wnrZqvDutaiGxpJe5tDjhqYPzsztFq0bpjW9SYNQYg+4lhyXs+YxUYCrlVwdFrrMsPFp83JRCRfLsNdip0l6gCtKdzZcToNXl7BZFwE5jY1AgNtnWqL/hvvKa+klwNXiHH75YY/JnbBnlRdoj2wdeGQCnKd9RPnb43Gt86cdBCAAAQj0J4AA158ZV0AAAhDoRaDmh7JHRWuVPx8gHpCZn+410DY1lvSH5cDtuTkvzU6Yc21dtquCq6TzlKT4n98BT4jNTO5c8mM59HWmjUyA81y/XnKGXbqPN8Qq8e7aj76/L3kQP2iPx4brrpuZDtVcGWsQSlxB9xwLLmiaANdaQXrB4ade7krRncJqEbouXSq+fmbBisqLrsEee6d50bPDApy9f886reBPw31lHn0FOIvBN18U5ILX3ykzuyqbnjLECAU4F2NwReN/W5ABl0MAAhCAwBQCCHDcGhCAAAS2gUAJi3FuLYdC9jGH0Tis5bjM/EafC5fZVpI9ow6cYwyLkD6kOm+R/9tVSC2Subqbc/X0+U766+JZMTPUa05Ry7nWLKbY++X7EfE/NbH+eSPCnoxX75nvzn1cqisf3Jxz3boFnutnSwjcVyPCosiZnW8sIq44Z24uV0Z1tdUmm3MNO8K7aUE9Gkn6TqPQu1dm+t5fGWsUShZdzy4C3JzihAWET9QfP2ecWN4vCjaeM9ctocJ79pisvUGdY+2fZl0j6fjy3HAxmj7mZ7rzOn6l5A/7cUR47ueOiN+vffm52Mf8PeEq16faDgtwXyjVq/3smWiN91WzAFdD3/0929d+WT3UvxsRrghtb2nvgV80WVjta/58++WFXxTNtDnv8a19/m/JOeh8hf7xfeTvUT/3HYp7pZ7fq+77zZl5+66583sIQAACEJiPQJ/DznwjcBUEIAABCPhNtw9TX5jjj+ENehZy7HVmYcg//+KfLmFnaPSS7lQOJq/v0a8PsA4XdQW3T07LjyPJIWbOo+Vk7hbmusz97puZX5rUUJIPfhb7WkNkv11yxD2lhLodnZm/nja4JHsxOved8/q1ev08tXiBPH7WguYUrza69AHeic7fkpkWtHYxSRY4PQcfrFq/+31/NSUxXzXeXTdXn99L8v3qe6aL6y8y82x9+h5D20ahpHWqFoYnVVv8WWZeYaMTSWeJCBd/uHBjx77vHf757FkCZ90rP8P8WbhkY98fzUwLdxNN0o0i4n2NfbmZBf4ndHlCSrqy19Oj6quFmEv2fVkjyfvR9Sz7RGZeo8caO5s23ldNAlyteOr7xcJTq/n72M98C5fTnpv+XnIaARdR6uPx/dqyD3fvmsiCApzFtqPKZ+SVxUvT4uGk5755+PvK363+TLWY019cdFqfLR3QBgIQgAAEphPo+mMRdhCAAAQgMBCBIsI5v9vQCdj9h/eGILfx7xeX4WUjyd8ZHqPVK8AeHrftE0or6YCIcNW3rgOhd+UNmenD9KSDx5vKXG/XuHXvsHdiZp7c2N6Cqg/vzoF3uYZr7BFx4VI8wh5qE20BAc7C2xNbQ0UlWYCzl8geDfN2k6tnZmd1z1KlcqV4N669qVk9/P+oofHXM9NeKStljULJtDXZo8hVkt9dQgM/1aMoiYX4FzeCcrjcLcqzwEJ0k5XK1BZCXZil9Xk89XMgyd5xLeKUk9s7B2DruvycceEY5xe8Z9PCIh5RRF6Lds22JgKcq4c/uXHRFpj8AuVFrQUTJFnIelVE3KxxDIuh9oKzN/JUW0CA8+fpHplpL89Ok+TvKYvEF+xs/P8NHpmZLq6CQQACEIDAwAQQ4AYGSncQgAAEphEoidod1mIvNv+7bPMf/h+LCB8O/Yb/W4sOKOmmRZD5u8Z+nDj9Zq0HhM19Srqh59zgCfce5/vZmmOocj6pUWSyN99dM9Medb1M0vlryGfLfvqw9OoZ98ZLI+I+vSYQcZ/MfHnPa3yo92HeokiLPTkznzSr4Srybll4axtJ9tJq+Xx9OjNdLXSlbE4Bzp+nZ0TEkX2E7Q0wkhxO1yJu+4WAQ0QnedXN5Fxzc743Ivy86bKpHk2SbhIRTlx/7RmdOLz0dsXLzy8Xepkki+XO7eZwwi57f/Gsa1nPqf2sugAn6UwR4ed9i/fbz8sz+6DMdFXdXlbvF3tyH9p44csy874dz847+EVSY38bzfwC5ZBpufWm9VVFOP/90VKQ6EOZ2ZLTsufUaQ4BCEAAAghw3AMQgAAEtpGAJB/SHILU6oE0xOx8GPaBwwLQ22Z5YnUcFo61p0nDhOwNdMXMdF6suawcdg6vYWJbr7dngT3PfLCfWKRC0mGu5tYwsD27nBTfycLnsh6i5Dsy86AZh6O+Alyvantbx+1RNOCDmWmvxKm2irzn2uwpF9UE/A4J77KPZeYskabr+h35/RwCnD09LWq/dZ4JS7pWzY3WdblFt6v0Dbnc3Kkk53Z0wZGu0GA/0843S/SQtH99ZvnfrXZYZtpbdS6TdONSkdViYZc5xPdcfV4orIEA51BPezO2WHOBhEmdVS9wv4Sy6Npl/hz4nrHoN9Hm8IDzS7UbtHo8bx1Ukl+mPLFr4jWk/mzzjtPQP00gAAEI7LYEEOB2261n4RCAwE4RkOQwFr/17pNTZqjpOmTV4SV98rjZa8pvzX0Ibckjc4fMdEji3Cbp90p42AkRsU/txOFbnvMzMtO5fqZa8aBzlckuocOi5NX6hMfOOER9rhY6mDWt/3Yi+Mx0wu9drGcIqkPtrrCgcHjLGurbtUc/ycxzrRvvrkX3+b2kq1TP1q7LVtKrZA4B7u6Z+douGDM+T0+NiMc2XP+wzHxuQ7uZTUoI8fNrnqyurq6XmR/palQFROeY2xBpLPRfozXcccrzwbksv9mYE+9imWmPsCZbAwHu7RFxcMNij8lM53NbyCTtFREOe3bBjC679Syvx54CnPNM+rk/d4XSGkrrF2MtLwCvlJmuIo5BAAIQgMCABBDgBoRJVxCAAARaCdSiDM495iTPO2Guvvdnmfm1lsFLnqM/LodIh3x2mfO+ORG4PdUWMknO4WavvVfW5OqdYX6SnDvO1ee6Cjm8MzNbvPk61yDpEUWYfGZnw4j9SpVCh5LtYj0FuIW8ODx4DWtzbroWEfi80yr6rSrvhr1qbiLJYaWdefIiYncQ4N5UBHKH1c1t5QWFWXaF6vreveCsgimtE5Dk6sYTP5db+nhUZrZ8zk+5rN4XDk09KjNd0Xohk+QXEBNzXm7puEko3LhmlQW4+qLG90KXB6OXe7nMdMjywlbCXp9eKmQ/qqGj1xQx9JBp7XoKcC/PzL5pCiZ91zi9Q4sHn/O3Om8tBgEIQAACAxJAgBsQJl1BAAIQ6ENA0lkj4uERYQHH/73dZqHKycudJ26mlWTgrhbnw2SX9Tqkzuqshvucu09BiR5CoYsu9PICnHGIsredve66bGoeuB4CnJNu/0FmOpH4QibJ3jzXaejkyplpL79dbFV5N6y5uQkC3GlQXX5aZeIWoJLOXJ6JDtnrql78isy8V0ufXW2qGO3QTY89y5oqW3aNN+/vewj9zjX3ltZxVlyAa3329s6N1/HddKGad67rPv1G8Qa9+Izvjj454JzWwZVbF7Ie3+UPycznLTQYF0MAAhCAwC4EEOC4KSAAAQjsMIEivlwgIh4WEXfepgINm1fsPDV+0+2qalNNkvM53aoB1VWLZ9lnGtotpYmkB0VEy6HhEiUcybmfFrbqBdaSBP6ZJf/eRK+JHgLcIGFUXnQJpXphY0LxAzLTeQt3sVXlvfCmb+oAAe5UGB8u98n1F2Er6YolnHCi2Lul33tmpqtSDmKSPttQ5OCTmbnfIAPO0YmkP6sewV1X27P56K5GG79fcQHu3rVKbNdyB3sxtInblyLish0DO9WBc6k5BcGk52erAPftcr9fpGuRLb8vBU5uU7wBWwTaw0suwZZ8cS3D0gYCEIAABCoBBDhuBQhAAAIjIVDeTJ8+Ig6MiNu7OEDJefaH2zS1X0TEtWa9XS/hoA7duUzHfJzfbM+dTNxcKpO+JCJmVp6LCIfHXqOInieXMCILkD4cnfLvPKGz1VPPOeq8f7PsVZnpCqSTDmKtRRjun5le48LWIyG3q9lOrH67qrwXhrepA0lXLp6kLaLzwgLVkPNu7atHDriFRQ5Jfva9sWFu9yvPSntwnvrZ9Wd43mePJBepmVQ8YfNUvp6Zl2iY26BN6vPFIZbO2+iqx11VLO+bmS9rncSKC3Ct+fuuX4rJfLiVSUs7Sa4kPfF5vuX6qS+leoSgvjkz/dlY2CS5uunEFypbOl+o0M/CE6UDCEAAAmtKAAFuTTeWZUEAAqtPQNJ5qlB0VeevqW/bXZTABQqGNr/N90FhYkVQSRaruvLsfDYznZB+x6zkc7In358sMAEnut58qD/NAX/G7+wp0JV37i0lB5Hz2u1iPTzgDsxMiwULm6SHlhxwz2no6ODMdAXcSfNeSd4Na25uIsleMP78dNnHM/OaXY3G9vseAtxUT8nWNfUIs5zWpUOzZ31mNwT3rW2cW22j4Mu0vn+QmedrXcvWdjVf2eXrOHv6ZcWUH+dl3Pw7P3e7Qh03D3e/zLSg32QrLsC1VuY+Z2Y6zHgwk/TAUojhBQ0d3iozXShi0vOz1QPuKeXl0BMaxups0qNozPMKs4d0dkgDCEAAAhDoRQABrhcuGkMAAhDYWQKSLPJcsopxG6KcBQAfHs+04OxcHfVZEw6O/q74XUR0fWd8oFQJtAffjpkkeznYe3CMdlwpwjBRHOwhwC2UY2szFEn2FGzxprtlZv7tlAPkSvIe8uaQ5BxPJzb0+bkiZNpbbqWshwB3rsxsCcWeun5Jh5dnjSuIjtHsYddSBfrUuUu6VC2c4MrX+y7p5clWVruTAGdPLnt0zbLfZWbXy5He95skp4x4XcOFU6sC9/CAe0BmvqhhrM4mki5dvOz/pbNhxPPL5/nBDe1oAgEIQAACPQh0HaZ6dEVTCEAAAhDYKQI1fNUhq85R5MT6B0fEXj3n86OIuFDJU2Yvkc2HSHtk/Kyhr7dl5q0b2i2tiSSHAo5V5HhvZk6sPtdDgNs7M785BMCBBLiV5D0Ev40+JNkr6vsNfX4rMy/a0G5UTRoFuN9m5h6LTlzScyNirF43v8rMppcckpwL72kRsRMej7uTAPcpe2533Hc/ykx7kw9qkvwyZWbu1DrgAzPT+TZ3sR4C3CGZ+ZohFoAANwRF+oAABCAwPwEEuPnZcSUEIACB0RKonnJOtuzqpfaYa7Vd/tAveb7OX/Kqfa+hg6OLOORE4TtmJYeU3+z7Df8YbQgB7sKZ+Z0hFjeQALeSvIfgt9FH8dpyeKBDl7tyAP4yM7sqbQ45tUH6ahTgflhEhr6C/yRBoiWH4yDrmqOTTgGupg34q5qvbY4hBrlkdxLgWnKTnlTEq4sNQnZTJ5Lsad2SV+4NP036AAAaFElEQVTR5XP/jEnj9xDg7pqZLd52nctEgOtERAMIQAACSyWAALdUvHQOAQhAYGcJSHLI1OurR1zLZN6VmX+6uWGt0vofDRePQYD714hw2NcYbR0FuJXkPfTNIenfS4L8Czb0e4HMbPGWa+hqe5o0CnDfLJU39150Rj08QRcdap7rZwpwNdzUHlHbXqhhy2J2JwGu5fmzLAHOnuYuBNJljymek0+f1AgBrgsdv4cABCCwfgQQ4NZvT1kRBCAAgdMQqMm/P9YQquPrXBH1HJnpnG+nGALcYDcUAtxgKJs6msq76eoejSR9vIZ/d101eDXGrgEX/X2jAHdi8dDp42k7cVqrKsBJukhEfHqOsP9Ft2fS9Qhwp6WCALeJBx5wy/jI0ScEIACBdgIIcO2saAkBCEBgZQlIul5EfKhxAadJ9N8jx9UxmXm3xjGW0kxSS0jSUsZu6HQdBbiV5N2wV72aFAHmVRFxSMNFD83MoxrajabJNgtwLy759O43msWfdiITPeAkOS/cRxtfcGzH0nYnAe6LtUL4LK7fycwLDw2+5vk7vqHficWNfB0ecA30aAIBCEBgzQggwK3ZhrIcCEAAAtMISPpKCUd1oYYuOygz37HRqCRG37MkRv9p10Wl+MGxmeniDztmu0ERhrHlgNvtizDUg7QLB7iAQJe9NTOdm3FlbJsFuJUrwiDpMaW66ZEDbej/RsS3IuKr9cfP7I3/dtXrtzeMszsJcC2epydnpr/DBjVJB0XExOrQWwaauh8IcINuCZ1BAAIQWAkCCHArsU1MEgIQgMDiBCS5itrdG3q6b2a+bKOdJFc3dJL5Ljs+M/fvarTM30v6x4i4VscYX8nMUeWJ6xF6NzYBbiV5D30PSrpBRHywoV8L2efLzJbPU0N3y2+yzQLcEeVZc1jDqi6YmS15KRu6mr+JpLOVZ+o35gg9/XFEfCki7EG6WWz7emb+atKMJN02It7cMNvdSYD7++J9eMMOJoqIPTanVWhg2NlEkgsOvbqzYcRdMtN5WHcxBLgGejSBAAQgsGYEEODWbENZDgQgMH4CtWrinUu+tUeUsND9M/OH2zFrSU+LiEc3jPWw4jFwGm8eST4wnrPj2i9npr00dswkHRsRt+iYwI8z89w7NsnJB7GXRsR9GuY0NgFuJXk3cO7VpHy2zhgR/oy0VDm9eWY6Wf+2WA2VcxVGV+d8U2b+vM/A2yzAtXoSXjEzv9BnHctoK8lhxw4/bjELdd6Dd0XEFzPTwlCz9ahavDsJcBYkLUx22eCCraRHRcTE4gpbJjP1844A17Vt/B4CEIDA+hFAgFu/PWVFEIDASAlI8jP3VhFxePFkuGyd5pMz80nbMWVJj4uIpzSM9ejM9IH9VJN0QkRcvuNaF27YMzP/u2GMpTSR9KKIuH9H5z74nj0zXXBiFLbCHnAryXsZmy6pxRvHQ787M2++jDlM6lPS64qXlQV/28kR8UYLQZn5zy1z2GYBrtXL62aZ+Xct819mm1L59A0RcYeGMY62wD7Nu63heucLe2Jp1/JdsTsJcE+NiMc28Ds4M/2yYDCT9Nb6fd7V56Uy06HEuxgCXBc6fg8BCEBg/QggwK3fnrIiCEBghAQk3TQifFi4ypbp/SgiLp6ZLTnWFlqZpGdFxMMbOtklUbykt0XELRuuvW5mOiH5jpikhxZx7TkNg984My2YjMJWWIBbSd7L2HRJfxERz2/o2wLwlTPz8w1tF2pSBOnz1pxiLhSw1Ty+PbJen5k/mTbQNgtwfj66mmiXHZmZLcJLVz8L/V7SdyPi9zs6OSki9lk07FjSeyLijxsmvDsJcHfy/dvA5OlF/HSuvsFM0nfK5+cPOjp0OPFZp4W/IsANth10BAEIQGBlCCDArcxWMVEIQGAVCdTcUM5rNCsv2Ysz89Blr0/Sm0rOods1jHOvzHzF5naSHl8997ouH/SgI2mvzPyvrkE3fi/pgIh4f0P7Z2RmSzhuQ1f/38TVEEufv2y+YFPDFRbgVpL3PHvUdU0VuyzInKGrbUS4euIBfcMQG/o9TZNGj9D/iYijM3Ni9dFtFuB+r7wkcIis807Osk9k5jX68pjVvu/nV9Lpi/fVbyKi62/pozLTQvXcVvNwOlXB2Rs62Z0EOKc8cCXULrMH2qWH+rxJ2i8iXACiyz5bChptfel26jUIcF34+D0EIACB9SPQ9UfD+q2YFUEAAhDYJgKSXhwREw+1W6bgynf2HPvYsqZWc1Q5afm5Gsa4aTnc2tti80HhRkVEfF/DtT+IiAst6u3hcUqIz74R8akaMmePl3/rGl/SOSLCB1UfjmfZf5YE2hedVzDb2nH1cHQet0Mz0zmeetkKC3ArybvX5vRoLOmd5Z5tDS/dJddij6E6m0qyOPG5RkHw1Zl5j0mdbqcAVz/3Do39o84FRlw1M12Fd2GTdP6I+GxEHOWfzPxtV6f1mu91tSu5AR9Uck6+oKHd1CaSvDevbOyjrwDn74ULdPTtnHV+Hg9mQ91Xkr7t75yGiQ0WtizJYdy3bxhz5oseBLgGgjSBAAQgsGYEEODWbENZDgQgMB4CPf649qT/PSL2y0z/O7hJcl405+tqsb0z85ubG1YBz55orvrXZQ/OzJZQvJn9bAm5skjphNtHZOZMjwdJDoG9dtcki1D3wMx8YUO7rnk6vM/hfPvUhg7Xdd/2hmqyVRXgvLhV5N20KXM06lEN1b1b5LnN0Lmp6p7sGRGfsNdP4zKuPi0n3FBCSeM8fD+15vV6a3kW3Ka131ntJDlH291qG3+Wna/N/KaapAvX8N6uKTwyMx3+P5dV7zcXnGjdy74CnCuxXqZjcj/NzK4iPL3WN9R91ePZ6dDmay36ckiSxeF/ahS2r5OZrhQ90Xr8jXDXzHQux4WtiIe+j/6loaPnl9D0Bze0owkEIAABCPQggADXAxZNIQABCPQhUKudWizqOtxsdOuD3x+XULDv9xmnq60kF09wuMxZu9pGxLcz8yKT2klqrTjnMEyLiXNXKZT0Z8VD7dUT5uH8WW93Pr3MtMfKLtajOp2LMDgX11cbuExtIukvI+IBWxr8rCYHd3ixxcOZ1uMQOaoqqF7UKvLu2o9Ffi/JB+5ZIeebu3eOqHtn5msXGXPztZIsklsEttdqi72/5G284bSGQwklLROp91NreJ+b3ykzXQhhbisFZm5dCsz8zZYO/Jl9SUQcVsJH/Vme9JxxxduWgjNTvQtbJl28eu2V10cI6SvAtb6wuNKQeQuHuq8kHRgR/9DCMiJeWKqOP7Cx7aQ9twhpr8u9G/rwy7SLzHr+I8A1UKQJBCAAgTUjgAC3ZhvKciAAgXERkHTH4hn11z1m5T/a75iZH+lxzdSmxTvJB2sLZy2hp+7n5Zl5nykHztYwVF/uBNV/mpkOgetlkq4eER+MiLN0XOhQz3tmpsNJTzVJTorusKSuMFRfY++PG/XxVtsyVldo2CerN81MDisuwK0c7143ZM/Gkq4XER/qedlrSoVSh6S6KMvcVsV2f95bRX+PNbNwylBCSZ9FSfrSpkrRsy51VVeHFs71vJR05fqscSj1JLMXq0NItwp0p7SVZBG/6znlkHgX2pko5M1aXE/P5Y2u+gpwr4qIQxr2582Z2RJ22dDVKez+NSIu1dH4xOL5dcmuDiX55dUVutrV3z8zIlzp2y9zmk2SCy68Y0IhpWl9dHo+IsA146chBCAAgbUhgAC3NlvJQiAAgTESkOTn7Ht7eKNsLMPi0rMj4iMtHlRb1y7paj5kRMStenKZFYrmtZwQEc4t1WI+nD7SlRZLxUInK+80Sc6f5VCbaQfizX18zULDpHxNPbz13J/Dbe/QFXI2gbG9UrxHXUKfQw3tSTM1DG2VBThzWTXenTfigg0kWVC7e89uLNDY6+qVfbwy6zPGorU9eyz4n67HuG/JzJmFWYYUSlrn1VN4chGJ+0bEMX1Eleo55V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") 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center; width: 80px; height: 1px; padding-top: 124px; margin-left: 615px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 18px; font-family: &quot;NVIDIA Sans Regular&quot;; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;"><span style="font-size: 18px;">Observations</span></div></div></div></foreignObject><image x="615" y="124.5" width="80" height="26.5" 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uek5w5eOixOd6Vkd+LDU1WaKkJcLsaN+chDO/eG5xwDLw3mN7SQ8nFR77CmrGZRpwck9WEEry9ECAJke5q6wS4czaFFt5WKlV27b/tcVQ8vnARgNocy0uCG7U5oIe2iG+EeS4LJ963ALfO27N2XYGmiwDHdygvQXYh1s4vH3nV8FZrI8JlBLgeLpFUFxSAonASYeqaBCQgAQlsiYAC3JbA2q0EJCCBOQJUp8wmbCYPFz/id1EBdJNFIqcd+c7WVQzdpP91x8KHjWXG2ESzGVtXgTXTT5c2eJPhsZexIQlweL/haUeusLY2Ft5t51Vr//QSelxrR260XYvWtTHVPq8JJXjAZXJcrjvPKgGOSqGEhW4zbHzVuCgqQbGMTJ48+qDaJxWl92HPLoVvFs+9bwGO0ORVif5r1xVzaSvAUZyDlx94TO7DEKPv0eLEQxLgGPbDS6qHFlOwqQQkIAEJtCGgANeGlm0lIAEJdCOASIVHRbbKHxsINnMf6na6rR915jK2TaqcbjJIcm0RWlSr4HqiJin+x/bgCTE/N7xhCH2t2ZAEOMb6+UbkPFtLb4gx8a6tR9vP3148HmvHXbKEatbaDenzmlCCeHa8DQe8SoDLVpDe8PQrD6dS9K0SnXOvUHDgGIm222qC+L34omefAhzevxTnWZXgv3ZdwamtAIcYfPVtAU72S/XfWmXTWVdDE+BYKyoafzo5V5tJQAISkEBLAgpwLYHZXAISkEBHAnhDEZrXxvDcIqyFTegX2hy45bZ4RhGq0tYQIdmkkreI/6YKKaIN1d0Q1Np8JyFq1UK9uoha5FpDTMH75ZtNuOvPSmL9k0QEnowXapnvjj7OmsgH12Wsi/wZ60eKxwmCBmIA+cbO3TE3F5VRn9ZikbvMYV+8W0wr1fSrSaH3xOXaT3U6kEYZoWTToS4T4LqIEwgIHyx/PGdILM+LgtlzBgEUL6ms4Q1KjrX3Vw6gOjHFaNoYz3TyOn6myR/2vSJU4fF3itIXz8U2xvcEVa7nbZ8C3MfLs2fVHDLXVRsBju9Xvmfb2s+LcPn18lIHb2nWgBdNCKttje82juNFUc26XOOLfRLySr5C/riO+B7luU8o7nlafq/SN785DqkN3M8lIAEJSKAbgTabnW5n8CgJSEACEoAAmyk2JF2fuwg5eMQhDPH3qfLXJtF/HyvB2/0XtuiIDSybQCq44Z2xKj8OIWbk0SKZO8JczeiX3FCfWNEQ0QmxLxsi+5UmRxxFMKiy+Is1J8eLkdx35PXLev08rNlc378yoS7i1axLNvAkOn9ZU5EPQWuZIXAyBjZW2WuQayybxHxsvGvXV5vPuV65ZmpcWZtjt+l4IG0zQkl2qDyvllVbJMzzXHOdHDMiOC/J9DMGW8I/KXiDALLKWCueYdwLZ8p0XDwWEe5W2RUj4s3JvmiGwE+xHYpWrLPzlvlkq77ybGVObV/WsB61Zxmi5kVazDHTNHNdZQU4Kp7SH8JT1vg+5pmPcLnqucn3EmkEKKLUxuObatgUs6nZJgIcYtvjm3vkmY2XJuLhMoMH31d8t3JPZYz0F1TcXtVnpg/bSEACEpDACgK1H4uCk4AEJCCB/giQ363vBOz8SJ4JcrN/eRO+bhPadUZ8Z3COrFcAG8EbtAylZbNJovrahpA5EObDZnqZvaQZ6w2TE3118U78UbI9zdjokgOPcJ2asRYICXiorbKuAhzC2wNbhIoiwOElkq1ai8dfprrn2HjX1qzN52z+v5s4gLBevFLGZhmhZNWcCBOnSvLrSi63bFEShPinJkERLnfN4kmWPORIIZTCLNnn8br7AO+4jDhFcntyAGbnxVwoHEN+wT9PTuzuRbRLNj+y2RQEOATNBycnjcDEC5SntCiYgJD1rOZZeLXkORBD+Z5clf9u1k1XAY776RbFmzwzJL6nEIlPmWlc8tiRz06TgAQkIIGeCSjA9QzU7iQgAQmsIUBYC15s/Ltt44f/+0roFG/4v9zDCa/ShGC+PtkPidPZrBAG1tauULwSap5wbyz5fhZzDMH3S0mRCW++mzQiFh51be1kJeQzs55slkiUvsq6CHC3bjZUz2g76LKZRxTJGJvaB1UajpF3Zu7ZNoirmfuLe59qoWOzLgIc99OjI+IRjfdQG2F7xoaXCBlxmxcChIgu86qrccY79k2NJxrPm5qt82i6cklczzhWGc8oXgjwcqGtIZbjPUw4Yc3empzPfD9jF+COXp73Ge+3HzfP7GuVqro1loufc73gyX3b5IEIp39ZadtFgOMFys3X5NZbdUruJ55BmYJEpL+gircmAQlIQAI9E1CA6xmo3UlAAhKoEGCTRghS1gOpD6Bsht9WBCA2gOs8sdad79DiaVIbE95AhCSSF6urPWRF2CaeBXiesbFfVaTiPqWaW+3ceHYRWpb1ylnWX1aUxMuOjd8qayvAta22t3jebNEA2tVC4MbIu3ZttPkcTxfCdWuGIL5OpKkdv6/P2wpwPF8QtV/eccAXK7nRaocjHJ2vQ8jlfL/kdsQzsRYazDMNgWdVQQH6vGx5ZvHvonGP4K3a1ahKjFhYM0J88chs80Jh7AIcoZ54M2asTYGEZf2xb+IlFKJrzbgPuGYQ/VZZWwGOZwjCGN6UXYyXKXhM14yQeu6Jruep9e/nEpCABA4sAQW4A7v0TlwCEtgjATzDCJ9sk1Omr+ESsnqPlnncODdvzdmEZvLIsKkgJHET+/0mPOzwpoLoWUonbATwVsOrBkFgnZFbqSZ0sEGlqEIflWY/Wkk2zlh/WhLBk/B7mbUR4Mj5Rr6sTYTD6yS9cdics6GfGu9Nrs3FYxGBMtfRWL1K2gpwCCJ4jHU1cibeN3Ewebkel2hXa/LEkier1u5STfGZd9caNaF+CIjkmJuJNAj9hKiuyn+Z6PLIXJZfTObEO33xCMv0S5uxC3CvjIhrJyaL5xj53DY1CqkQ9kzBjJoR4rzO67GNAIcoxnN/kwqlCIK8GMu8AMTjkirimgQkIAEJ9EhAAa5HmHYlAQlIoAUBijLgFUWS530Y1ff+rMl9dkTy5H/cbCIJ+awZed/Ij7bJZnN2DkK2CNskyTTJ1TNhfuSOo/pcLXz1NUlvvtp8+Zy8S49JNLxwCSVb1rSNALepFwfnZwNGbrqMCIyX0KqKfmPlnViudBPCSjN58g6CAIfwjqiwicGyFqrLtUs+q3UFU7JjQIgnxLNm90ze57N+mMP9SqJ81n5T4wXEqpyX831nhcLZMWMW4HhRw7VQ82BkroRgErLchz2q8STneqgZnnmEi66yNgIc6QZIO7CpkZIi48FH/lby1moSkIAEJNAjAQW4HmHalQQkIIGWBI7VhKfcrQg4/PeuDVGF5OUkEa8Z1eLYTNas7SZ1XX98R+Fl0KagRFYovHEHL8BVY8XbrlbRkGPX5YHLCnDk1DtVsxYkEt/U8Oa5RKITqjHi5bfMxso7Me10EwW4/0PFi4VVlYkzQI9RQvZq1YvJYXjLTIeJNojRhG5y7nWWrWyZOGWnJlmhnxcXVETO2pgFuOyzt0tuvHX8Tl28DGvXKS+kzrimozYCHGkdqNy6qWW/y6mc+oRNT+bxEpCABCTw2wQU4LwiJCABCeyfwMmbROWEU91oRwUa5mdMnhredFNVbZ2Rz+m6CVTnb0S9DyfabavJHZObBqpRkvupD8MLLJMEHi+5VV4TWQGurzAq5v3kZEJxcsCRC26ZjZV3H+s+60MB7n9IvKu5Ti69IVhEhlVi73zXVAWlKmVf9pFEkQO85PBi3ZfhsbyukMtsXLR7botBjlmAu1WpElubbp8vhmbnQmg+R+XEpDrAO48UBMssK8B9pbneT1ubZPLz6ycFWvKwZvLFJU9rMwlIQAISgIACnNeBBCQggeEQOEqTY+jyTUL3Q0pxgDPvaGg/KXmL1r1dJ3Tn7JXxkN/suHtO3Py0ROU5wmPJyUR1RgRINkezf7uEzvJdSo461m+dIRggHCyzrAB3m4hgjn1YNiE3OQtXVb8dK+8++M36wEMwIzr3IVD1Oe5sX9kccH2IHDz7XpwY2F+VfGzz9y73cNek8RSpWVY8YX4oCPYI97s2ni+IOORtJAyxVsWSyptU4MzamAW4bP4+hGHuvz4NL8xVz/P586x7KZUV4F5afhf0MX6KOKx6oTLf/6aFfvoYq31IQAISmBwBBbjJLakTkoAEJkTgREUo4gc8+Wt4205RAvLe9G28zec8qxL7I1bV8uzgRUJC+n0annxX3WAA5JSa39QvbvBXfYanQC3vHGFhhIcts6wAh0CLWNCH3aXJAffYREckOKcC7jIbK+/EtNNNuC8zYZcfaCpZXjTd63AaZgW4dZ6S2dlkwyxX9Udo9rp7dia0L7Yht9qs4Muqvr9dqlpm57LYjuc2IbqchxcVq/7Iyzj/Gc/dWqjj/LkQJ3meZG3MAly2MvfxS5hxlkmm3e2bFAlPSjTEc5xCEcssK8ARNvqAxLkyTbJFYwg/JQxVk4AEJCCBHgkowPUI064kIAEJ7IAAIg9FDtj0z0S5mTB39A3PT3VU3novGt8Vv054TSMMIRDt0/ByuOQ+B7Dm3CS/XiUOZgW4TXNszQ8PT5mMNx2eN69aMa+x8u7zEiHH0+cSHRJaibfc2CwrwFEtNxOKvW7+hL1RQXSIhniXqQI9P/azlsIJeJGec0svTxZZHSQBDk8uPLrWGd9dtZcjXa43Uka8IHHguqrAWQHudhHxlMS5Mk3O1njTfSrREO/COyXa2UQCEpCABFoQUIBrAcumEpCABAZMgPBHQlbJUURifbyWTtxyvN+NCJJLs9GcNzwyfpjo6xURcb1Eu202IRRwqCLHm9ZUn8sKcFTN/WJPAPsQ4MbKuyeER3Zz0oj4ZqJDqvieLtFuaE0yAhyeZxQz2NQeN2CvG7yDsy85CHl85J48Hg+SAHdY8dxed93xvYY3ed/Gy5Ra7lTOiacc+TaXWVaAo5IqFVX7MAW4PijahwQkIIGOBBTgOoLzMAlIQAIDJ8Abf5ItE7qCx1zWlv3QP1mTV+0biQ5I/E0C8H0ab/bZYAzR+hDgThMRX+1pcn0IcGPl3RPCI7shPJDQ5VoOQHIk1ipt9jmuvvrKCHBUKm4r+C8bXyanYF/zattPRoBD6Pn7kq+tbf99tT9IAlwmN+mXGvHq9H3BnesHT+tMXrl7Nff9o1ecPyvA3STpbZeZpgJchpJtJCABCWyJgALclsDarQQkIIGBECBk6oXFIy4zpNdGxDUWGlKl9d8TBw9BgMuIBYmpbKXJFAW4sfLue4G/1iTIP2WiU+6ljLdcoqudNcmsMV6ZeGduallP0E3P0+X4mgBHuCkeUfso1DA/n4MkwGWuzW0JcHiavztxId278Zx8lAJcgpRNJCABCRwAAgpwB2CRnaIEJHDgCZD8+32JUB1AURH1eCXn2wycAlw/l5ACXD8cs72s453tI9uOAguEf9dsG9UYa+fc9POMyEEOvDaetqvGNFYB7rTNi4sP9eQFuOl6KcD9NkEFuN/moQfcpneYx0tAAhLYgIAC3AbwPFQCEpDAiAhcKiLemRzvYqL/bI6r50fETZPn2FazTEjSts5d63eKAtxYedfWqu3nz4oIwrdrRuXZx9caDezzXQpwT208BBGQhmirPODIC/ee5AuOXczrIAlw/1aKEa3jSsg+oft9G2L6OxKdripuxKGGoCYA2kQCEpDAlAgowE1pNZ2LBCQggfUEPlMKNdQ4XSsiXj3X6LhNYvQf1A5qih8c2iLUNdFdpyZjLQqQ9fwZWg64sfLudHGtOejOEUEBgZq9vORmrLUb0ue7FODGWISBEMNH9LRg/xURFOv4bPnjmT37b6pevzJxnoMkwGU8T3/U3Jt8h/VtfE+uqg49f65166EA1/eq2J8EJCCBgRNQgBv4Ajk8CUhAAj0SoIrazRL9kZz/6XPtqG5Ikvma4Q1w2VqjLX/+3oi4WOUcbGrJ1zQkG6sAN1befa/9ZSLi7YlOEbLxKM3cT4nudtJklwLcwxs290nMinwizGZaAAAVvUlEQVR7mbyUia42anLs5pn6hQ6hp9+LiE9EBB6k82Lb5yMCT7tldoOIeGlitAdJgHtL4314hQqT35QKvb9OsGvThIJDz04ccOOSh3VZUwW4BECbSEACEpgSAQW4Ka2mc5GABMZCgKqJN2ryrd29CFZUENyFPTIiqMhWs7su8eZhw3j8yoFsJvHS2KfhhXfNygCYywn3Ocgl5x6rADdW3n0v/9EigusqU+X06iVZf99jWNUfoXJUYaQ650si4sctT7xLAS7rSXjuiPh4y3lsozlhx4QfZwyhjjWg0A2hkwhDbSxbtfggCXAIkgiTNduGYHvPNcUV5sez7n5XgKutnJ9LQAISmBgBBbiJLajTkYAEBk2AZ+51I+IhjSfDOcpIH9z8+6Adjfp+EfHQxLkQ6diwz9vhEUFuuHWGhwGhPj9NnGNbTZ4SEbepdM7G9zil4MS2xtG237EKcGPl3XZ9Mu0z3jj0Q6VMNuW7shcUwZ/zEY734iIE/WtyALsU4LJeXleLiNcnx7/NZi8qebxq56BC9K3XeLfVjufzBya/Kw6SAPewiLhvAt61S4qERNN0E8LJ+T6vGd7WeF0vMwW4Gj0/l4AEJDAxAgpwE1tQpyMBCQyWwFUigs3C+RZG+N2IOGMyx9qmk/vrxvvlbolOliWKf0VEXCdx7CVLQvJE0600YeyPTfR8pYhAMBmKjVWAGyvvbaz7HSLiiYmOEYDP29xPH0u03bTJSUpOMQoFLBrnxyPrhRHx/TUn2qUAx/ORaqI1I+daRnip9bPp519vwvVPUemEKpxn6SHs+I0R8ceJAR8kAe5P14R3zqN6VCN+kquvT6O4w6kqHRJOfKyFquLzhyjA9bki9iUBCUhgBAQU4EawSA5RAhIYNQFyQ5HXaF1eMir/3XYHsyT87IaJ89wyIv5hod39i+de7fC+Nzonjojv1E469/nlIuKtifZ4+GXCcRNd/W8TRI6ftzlgru1YBbix8u64TGsPQ+xCkDlqonPyJcKubRhiouvfapLxUPxZROChtar66C4FuN8vIbLknVxnH4yIi7SFUWnf9v49SiMC/jIiar+lqXqLUL2JwYNUBXju1uwgCXCkPCCct2Z4oJ2tx/vtwhFBAYiafWTJS7f5YxTgagT9XAISkMDECNR+NExsuk5HAhKQwE4JIKyt2tTOD4TKd3iOvW+LoyNHFUnLT5A4B956eFvM2xUbEfHNiWO/3Yh3p+7B24NTnbMJ1TushMzh8fLpxPmPVzaqbI7X2beaBNqn20AwW+wbZohoCKnkeGprYxXgxsq77fpk27+mRXjpslyL2fNk2iFOfDQpCJJM/hYrOt2lAMcQCI29QGKC52/yPVKFtw87WUQgliCW8ferRKcc841Euzs2OSeflGi3rglr88xkH20FOL4XTl7pG5GL53Gf1td19ZXynVMbW59hy4RxH1I7YUnlsO5FjwJcAqJNJCABCUyJgALclFbTuUhAAkMjkP1xzbi/FhG8VeffbRh50fCGydgZIuKLCw0R8PBEo+pfze6UDMWr9TMfcoVIScJtvAlrHg/vacJLL17rvBHqbt9UL3xyol2tCZ4zhPMRZoYRrkvfeENlbawCHPMbI+/surRtl62GSr+IPNffQm4q+iYXI15ieP1k7EJF+FrWti+hJDMO2mTzepGDC359GB6ANy0dcS+Trw1+6+w0Jby3dv57NGGIhP93NbzfKDiRXcu2AhzFc85eGRzVe2tFeNrOr6/rKvvsJLQZT/RNKxAjDr8/KWxfIiKoFL3Ksr8RbhIR5HLsw7iOPpXoiHB6vss1CUhAAhLokYACXI8w7UoCEpDAAgGqnSIW1TY3s8PY+JHj55s9k6R4AuEy5KKpGd4Ep13RKFtxjjBMxMRNqhT+WeOhhlfOohGy98qyScdjZZllq9P9pOTi+mwNSuXzv23EydsttPlhyVGFFyTiYc2ym0g2/eQe6sOyVRXJ/feqNSccI+8++K3qgw33upDz+ePIEXWrJg/k83ocECI5IjBeqxkjZPsKaxr2JZRkxkKbbHgfbckBRiGETex6TYGZf1rogHv2aY1Yc58mfJR7eZlR8TZTcGadd2Fm3HjktRFC2gpwWQH9PD3nLezrurp8RPxzBmR54cLLka6GCInXJS+pasbLNL5L1z3/FeBqFP1cAhKQwMQIKMBNbEGdjgQkMDgCf9J4Rv1ji1Hxo51j3t3imHVN2VgjnGVCT+nnGcX7Y1mf2TBUjkUkukYJgWs7Fbxx3h4Rx6wcSKjnnzdVTwknnTeSoiMk1sJQOQbvD+bVxltt/ly10LB/KTwJBVxnYxbgxsi77TXZpv2lIuKdbQ6IiOc0FUoJSaUoyyaG2M79nhX9OVetcEpfQkmbeX1irlL0uuOo6kpoYdfnJcUweNYQSr3MeC4QQroo0M3aIuLXnlPkbqPQziohb9382nguz/ppK8A9KyJunlgcrqtM2GWiqyOb9Hld8fLqXMkTP6bk/2ybf5GCC6+u5HSbH0LG81EBLrloNpOABCQwFQIKcFNZSechAQkMlQDP2Te18EaZzQNx6W/KxjLjQbU4/wuWTcZ1W4JZF4rGXA6PCHJLZYzNKZsQKi2SrDxjVy+hNqs2xPN9HFGEhmX5mrLeevRHuC0boVrI2eL48UphjWpCH+PDk2ZdGNqYBTi4jI135lrcpA2C2s1adoBAg9cVub7aeGVyX3Lf4tmDeI/nbdZelijM0qdQkh1XG+GJIhJ4cz6/ZZJ9PKfI5UWhl5odWqpAL4o2eDhnnod46d046Q3LWPBWJu8llXXbWlsBDvENES5jVMx9YER8LtO40qbP64oQzTZepG8owmr2PiPUmZDMUybnzb2M9xuhu+tMAS4J1GYSkIAEpkJAAW4qK+k8JCCBIRPgzTnCVdYLbX4u5F17SwnnxFsLb68fRwTi1myjxmbtREWMOkcR+whVbGtvawQ/NqXr7FqVcMRlx36hePggROIJRtjdvOFBdenihXGlFoNmQ8uGcJmxKSYENitGsLFGRCJcjAqVi2OcnQPOFFxgY4zImTWExdetaTx2AW5svLPr1rUdog7XOvd+F8MDjNBABJ4vlY08QhNGJUxyvP1B8foh79yqsPF15/5+SaxfC2nuUyjJsqAaKuJIm3nhbYpIgrjyvRUnIl8jvP6iCGrZ5wNC+92X9PmEIuRk5sV6Il7hcbfK+wpPOUK+ORdFHrpYWwGOc7YV1L5c8t/NvodWjRMPwl0U92AdeYGSKd4xGysvRvBOJ6UBz3zuh5nRH/fXVYtw2qZf+sgWWFGA63KFe4wEJCCBERNQgBvx4jl0CUhgVASyP7T3NSk2IwhKtVBJxvf6IkJ1HSveAWx28BzD0y1T2GHxXCTUxutnnXdgtgrtYt/kdSKEFbGT/2acjBFRs4ugkgndGrsAB8Mx8e567bY5jjxwbOxJoj9Eu1EyPH4fAhy8bti8VHhJB3C/LqIl9y8eSPzWJUwUQQuxqeaxunhKPGQRmJfle0OM53nYxhgTL2SoGE2fiIIItlRlPn2bjla0bSvA0Q0vXy7bw7kXu0DYO9OKfvu+rs7XCGaIsG3XdzY81oJwYQoOsR5ZcXZxeuQm5buU67Bm2d8FFmGokfRzCUhAAiMhoAA3koVymBKQwCQI3LuEFQ1xMoztUcmBEYaDdxneYPswijycv+RvW3d+RDM2un1sarvOE+8ixrqYp26xvykIcGPi3XU92x5HjkJCsIf2e6tNhcO+hZI2DMm9RpGEfRkvJvAKfteKAeCp9+k9P2MWh9ZFgMND9zVbgLxLAY7h368R4B66hXlku8Q7HeGd752MKcBlKNlGAhKQwIQIDO0H4YTQOhUJSEACSwk8rFTHHBIecieRr6pNUmoStxMai7fAro2k6E9KnvTcTUguVSkzFWCTXaabETIIJ7z1ajYFAY45joV3bT36/JzcbNnrtc/zruoLrzK83zIeOv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") 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LuVu9v9EVxbihQtsDfweoUKCvJ4A9taXY2hzAZsUb6wPYoHi92pw6yOa1qZmNQ4MMJx1AB545E07EiTneXAeeO+sOjdkJm67bELGB2JpNi3MsuKJZELfgmTVhRSzPM2vNilkeYnGLRk2YSE7MpLkmxEwgZq5Jdw34bkC3AdLYMWiXAQkD+AoxNIMbUcOb2aVDrh7XKdHP6lzf0b0FZEFboBe0hehCfMHzYEEu0HWF6dnB7sHng5ODPwZ3B/188IECctC7PQiTg4CDMMMmxTSbEFNsXOB41zjNYpnCx7zCS4txkRGRw7JFBksXKcwvQHGe/SM7nu3J8UNqGksVHkaF5w8QIJs+2IIfsv9E25bnX2+bTO2+LeGDPNSXvLznlvR/kETcun1jE+DbzbmvX0lVbZus6rvx27O+XlV7s00GknivR/EgABgIYSC4qIfzFBN5/JefzKyIxiCbU55rj+qRNW+zUVX7zTuN+ZdAEnICATmvAQ+ZfNojM20+/UQGw10AAHja7cMlWgZhFEDhM3dw3QgUPP0Fdy1owd1dMw6JZbCAWQOJgtsGcIeLOyQcvvc8R+bxEIcAmcZP3AgA3b59V6N02xbQPj5XMyVMMgRALzDAY8NwrY0iOqjgLX3k0cvrphjhmmRLKgADDFstAPjoPlwrIId8EnFxJwFIB0klQObF0XLbkkI72PYUl6wQpFXaTh1lGIZhfLQEYjG+jBQAkEXM9an8Ypqpoeen5xv4685lh7qP8TMF6hbGl7BmQWbw0kP+qQtU1jozeNp8wWPA4zAAANB2y7dsVTpW2TI3Z9u2bdu2bdu2bdu2bdv6fe8xDGP8m4TJw9RlujI7mMtsgM3EFmcrs43/eyA77td97BWLbmlhmWq5Z81krWbdBpxAAyGQCKQCmUAuUAiUApVALTAYzADXErIk1Ep4bStra2u7BDPAnLAQLA2rwLqwGWwPe8CBcBScDOfApXAHPA9f2ZPac9sr2pvbzzmCjpaOtVyU68Bt4S18Zb4dP5qfw2/iD/PPBVlIKdQXugjzhM3CfuGCWELsIO4UT4uvpIA0UtohvUZWxCM3MlASlAblQWVQazQKzUHr0Qn0UKZyI7mPPEleLm+W9zurOuu5JFdGVyfXetcNt8UdcTdzT3Qvcp9wv/fwnjSecp5Rnh1eyZvXO9a71HvO+8FHfSV8zX3DfY+V5EoTZYXKqknUcepu9abm0JJp2bW+2mrtuZ5G76BP0n8Y1KhgtDPmGUeM99iDU+FGuB3uhUfhWXgZ3oT34XP4Hn7lN/z5/DP9NwPNAncJIFGSmmQnhUk1Up+0ID3JVLKQrCU7ydtg0mDD4Ibgl9DIsBSuHx4cXh9+EUkWSRfpEpkbOR6l0RHRp7HUsWax2bFv8dTxBvGW8T7x8fGF8fOmzcxqNjPbmwPNyeZSc6d51nxofqUyjdL0tCCtSpvTnnQ0nUu30BP0Dv1ZEDwAsK0EAAD9mG3bOcS5a1wrxWzbtm3btm3btm3b23tfmPRMQYZjPEwlpgnTnRnFTGbWMSeZS8xz5g/IARjgBzVAWzAITAdrwEFwDbyG/8MCUIFRWAd2hMPgQrgNnoYP4FeUERVDFMVQPdQdTUCL0Ba0F11Br3FKXABLOIrr4a54DF6Md+GL+AX7H5uPFVmdbc8uZtewB9lr7Gvufy4PhzkvV4VryfXjJnMruL3cJe4594fPwTO8xVfgm/K9+PH8En4Pf4W/y38QUgl5BCBIgiGUE5oKvYQxwkJhh3BWeCR8FzOLJURVTIgNxC7iaHGuuEU8LT4Sv0gZpKISkRyprtRVGitNk3ZKd6Sn8r9yPlmSY3Ijubc8RV4p75Ovyx+UDEpJxVKqKG2VQcp05QxJQTKSEkQn5Ukz0p2MIBPJIrKZnCB3ySeajhamAvXRqrQV7U+n0GV0Bz1AP9PfrhyukCvpmuB6qqZTTbWR2krtpPZSp6hz1CXqGvW6BjRRq6T11eZrx/V/dENvqa8z/jWIYRmjjFvGe7O4Cc2W5gXzo1XUClitrGnWPGuHdcA6YT2wXtjUtu069gh7pX3Rndbtd3dyP/QInmaeyZ71nl/ect7FvpS+jL6kb55vme+K74Pvh/9/v+pv5F/p/x7wBAYFrgYLBksGcVAJmsFxwduhHKHyoQ6hkaGTYRKuFd4RPhA+Eb4QyRWpEZkbeRPNEi0TbRC9FP3h5HCw43WqOK2dQc5sZ4tz0rnnfI1ljkmxarG2sUGx6bF1scOxG/Fy8Q1/AaM4cuwAAAB42sy8B3xT17kAfs69V7rS1bza07YsS/KWrWl5STbGCBtswMg2w2CGMWAgMQYCJCEECDiJQ1hNCWkTmtm0aZNmkI68Jq8lq22Sjry8l52X193SvX5tLP+/c3RlxHjrv4107r3nnvGt851vHIEYFEIIf4t5B7GIR5qnecwhASVfC75WVx8WPaLPI3pC+Fj2flydfZN5Z9ofYnZBBxRDCL2KTkMv4SlmgnS5AB2iYXPs5OnTMzO594yK8SMOmvO0nECWlBbL5BhxcsQswpjrraqKoGQUxiub6aLjaZH2GYyUEzwZ8XuhunprIB6LRaNeGNokl/OLqn0225yT5nL3uVaH6AnITp+tjPpMMCMdgeFgRvnsjFvojKIcK3UiVi7CCl1+Rgbp4P3bzM9RESpFxSmdwyjTFHkmigWdZkBvPIWS4Quh5PTrYkJM1NXHo5FYnMIR8Xu9pXwgFg6HLBaz2cTzcrOZB+BOF5U1lDiCfnmfdXfdOVX7mlh6jvfkyTcaq5OuakeFS/CUd0eP1S6J61c3xd21sTdOn0YARQNC6GOJ+rpzrHyCEzBCSZgZZmXDLBl6gekLpttPvsGopv8s9bLPuPB/MByF3ZPS620KpCqdKHHaBlzoUyVylPwkdCGkz0NvLfX7AXJAIEqpCDDLAXQL4BC3yr0sVP6hbS2F9xIkYid/XNsXk+CleNgrJTyYRQAIQD9TCdBzEvSYn2A/JYPZf02gtxrDRjJ0g+mA6b6TbxHomXbohVE9fgd9g+AM8oYQR/A1JIJ19UbAt9txmwO/g9EMQsBTaIlvhZZ+pEYI8VC+jlBOuhgiLVS6UICMQd9zDLnimXtnAmgtcxhpoVLkA/FA3Bq38lY+IJpCrrlz3fDp7HSF32ZeD7vmdro74TPXFZoOk74XoK+JSSGW9A2LxsDbrP2TnxGqm2f+xHQwz4HkOJH+Wf2oTmMd5WUgp0T2ZaWExlQugLZybyAcgmcQFnjC5Uempo4oaaE8dEh5SP3Qma57Hnzwnq4zD914vvM8fMiauhWKY8wTSIY0z+ARlgN0k2Roj+iNh0WMd4t/YaLXTy8ibZsAIAvAUkxkV8YZ3CNOR7Fapx7VG2Q52U0kLogJ4H6Yym5edOWS7JpzcsB7zM2dqZ2LIuWyYFyzu/4bqo175/aNNnO4bXN6R2myskUoqSwLRI9tHNR3rK5p8MzdR2YPACWKYfYqFE65fT5d5iMt7tU+r31Dy2q1yG4ddbhkrGyUQRqUBEkk8IiJ4Pj4hURLkJAqECfCJ8EUDYeuXFdyPkdG7HwhstO2ho+3phJD69fE6mTLrTsj31TNGUl4SwcO7FTvizTUVagqanf1CN7y5tj+uv5GTflce3RYu+4axCAXQsxcoKkAoJSmDHJWM6JUc0EmycAflyNxIjhkSJyfDp0HUkc9URwWw7zXHBBZvDH7NO4+tFycf/Cfb9qCX8x27LzpT1iR/RsiUgw0KIORvag8ZR7UY7121CLa7cg8YuQKcb8Ash0GAgxdgTjga/SYPXzsItaAsO/56E7HEB9q64gpW1v7RfzF7Hd5a1uZKrWuoWVrWn1LJBmrUAebqv14Yt/dOkNiXUqE1Qu4VgNEEeCKG9UATJbAqN5oRMsELGhGlymxUi4rGkUaIq7hIQCHgEXktkTMia2V91NpvQSawEVgqcrAiewfJw8qHqnbY14g3+dYEuJb1zS0bptnkofb2sKkUOPGns8+cENd6GuCx5dYl9TP2di0uymoDTbRIi+7pUA5HegMnVqQjyg4lARK5WQVhBW4YGaJjvqyzuu+Lvsy/tnnykoWRgYGwt/ftzX7++ZrUvMRYpFXwteJqmDMopSON1WP+nwoOqqRuSRUYQ0ELyQSs+szXrhKeYrmlVgaL8fad/2Rmup5B7epth2cV11z5HqBb0gmG/h4KpmQ1cXjdaRQbx7WhhfbQwOa/tHRfs1AyL44rF2zaW9tpaoiGKxQVdbimkqfyldJC6JPygD+6ov8KhpVajQoMGqR9bMYJKifwTkhItzKidGFizIUjQJ7vDnNTlhWIhJMroDcXsCqlrWEVQqsmTzIXeRXAas6RpuyLwH38Lbm2hzDaptB29YAnCsBTjkqsSF4NiGEncA/OfLcTp4DgAxD35f+mjzboL2ePnt/T57t8L6dti+bJs8l8N5In32/RdL4Udrej8lzEbSX0feB/yDPlfC+ib4v58mzD55r6HMFJnS0zvwFD+N9SIWsoJfVk6oDxkn5zZJetpYCPYBeQI1LdPLXH3iAhQ/b2Mg2Ck+XPA2fFcuLlsMHYWRGCL2Md+Q08WF2H7opp4nDVBOvmq9+GDuWZ6egpQEh7Ie5S5AzpZEZiw47S27SaSb1xpslLQwCCP2usB8uUcJhs62iqMmkN+pZn6pfPT8ib51XHqxxsw92VLfoi1UmgVWLpf7Kqtaowhdx2HSalWQdCYB3EOauRPNTtWVlx7RntU+AAj7Sq/lQw2g0ljdZHCOSNBljMFN5IGHHdstkwoEdLgLc+IXQeK4cN4BuvjBEdbN1Vrwk1UxgvnzfoKX39Lg7I1TI6pwltTGroZzV2+WZonF5a4fREu6aK/T4HGWsVlyq1rNutS6wsCUoswa01gZZohUxwCuEF+AdVC+7UhrQy4dBL4NKztE6Ecxr5DCYfvGwmWrkKP/cVx5fU68pW70wtuTXv8jEbh8dRRhpCR1gLC96LjU1ZcC3GX5pYDYZ9hiYFQbcZcAJA/43A/6G4bsG5lEDPmPAhqTuQx1zn+5x3fM6VjdpSxtxwoi/YcRfMOJ7jNhY58THnGedTzhZp9N8kMURtoNdyr7J/piVvcXil1n8IIvvAsryk4cYHAGbYCnzJvNjRvYWgx9k8F1Abe8B66R5X07XDg2Nb4cVTK9A6aFxWjUevjA0nqslf9sl0hduD0BzwNzLXxQW773bizIym4U1OexWmd6jSQn/eIhVe8zyUEdPs7DYp9GbdTK9Xad2/mhlTFDPiyrjnYhBFqBQB95HNeXCVCzpw/f5Hvc972N9k2KdESOj3lhiPGY8a3zCKDca5c4DCeFrAiNoJhPKrykZpfxm1yQ6ANhIUkOwoPAD0FSt0u1DUjoE2Kur1XNLF9zDrXUOKIs4u9Md5urnLGzRsmaHw8yanA5haMT8la5Sk98rK+4IKRrnD1iMctFkEuVGC0KY2uvVwGUN7BpK2WF+HzpIFmUov7q8sGkQY3y+wRX5DHb3BcpDnZU9K5fsbugOkN3CCDToAhq4gQZxFEv5LHz1rcX+oD/pv8//uP95v7zXvxpuP/Rzfj8KT2pvLpKQJnsIsJDsItb8LnKJsVewjxTgGy/QNl+ct9jitut7UvK2Hr3dbVmclslCTqvM4grJKitlVUJTo8xepTGUGfhQc3OIhxtNlV3W2JTxy0SDQZT5P+3hvF7OQ/SdCJgkJW52purqXPiY66zrCRfrmhSSGqzTFGuCmvs0j2ue18hhRymbNN18juqBcwxmCEohysULhWy8aJmQXaUQO2/8MjaezbHQ4ZBYyAFbGcJBM+GlACwMlEosJCx9HzhoMgMv9WbQ3VbcioeZlxgeRRDCaagx4zR6mXkOaqJSjQGnsZ+2iUk1AvQK0pq4VKOCNgtorwapRkva0JqEVGOBmg7aq1Gq0UGvatqmSaoxQpsu2qZZqhGhJklrWmYhfBC9zNpQDsIHKTxncJAtleAhNQb8IPbTmhipQXiGtH2EeYJ6yKyAOZQEA8eLw/i7+ONj2SLmielFZG+c+QPbBntZAHXjdurL9OA3qf/aA+VcpHyKY0My8FijKNeae/nK1nClrUkvdjlChb0QQ3rhrfg6ZERe2B9Nk8YDICj7ZvdHKsv/pdX3z/ULqqoW1HPShXMWFTlJoa3pCVeEe6ure+HSU7OyosZTU0ELQjWY+leAP8CKpimMMfwixYxQphnxTzIVHICIpLbZXFss0rYN+EnEF7Rlzfm2ArT9pUQDv9T2XmiV40UraRskqJM1b525jWlk/agUVaIQiqdcVXaDvJLH1RbbqHmRiEWdQebl5KMeFmENRD2InQ7eymtD5Arek2igpmPUD6vDGg3kKBUHp9ZiAX0XMFslX8UcpfQKMlHqWVux5oXYdcXDJavW793YuXTCeYOtx7N2/XXXDlVX8p0VtYt3bVSeaF2u+DqnWpdRZzbLx8bkXa3NHepHOGFbv3r5Rn7TR6q5Qmk9h2/5nKy8SGhXEj52QWEDzO2oGNWnbA6TYcBmxjanThxQaRUqG/yDdgLZPhPBoBgO6wEL6UJcm8vBF2Pg/gPwAZEAjUtGxrev72xeYdtqqKuzbbaubu7s7VMd3Orackg10C9vj9cGheybitpYfatsySs4YBkr24YwAjmk1ls18qeMFvuooUTIeBUKZDbIcOUIUlPTPgy65vz0eX1OXecMoQCYF7N6FODJi5sV9jyJrh5zX3Epyy6IyNjrNwp3dewS67zK6pjyg+9wnEnEoR2m2hK9xq6bcLu1mnW7jof93nCF3l47IdrValtUfwPAxwN8i0G2LKgjValVbBBlBm6D+VoVXqvCi1U4pupUMT4VVsHnCQx/gkWt5gSyXOk+lxiifwD8B/DN2SP0y4aNRijMXjP5/uqRRx7Z/czdR+889fTeRx999PrlyeW4PfsbbMh+E26vBziKZv7M9FI6rUu1G62jWgcS9LDJbnAjXs+neJZcGL5IvsFTwuI32A9ZZhGLkyzWscXsNewMyylYFhm0svKy0YpZxxpAXDVE7AcC4ND4+ekhQmTq7gQkQFsZsrTzBOYliKmlQQXAi9dsPaSZ294+V+gYm6tefL35OnmzH+x/5bmvf/2corFe7W8Vdtj39qpuGgNcOjc1rVpY7g83ReEh2hT01c4fQAhTq70D6OxES1J1ahWvyGg18o9kv5MxMr2O5TIGkcE2K8KL8DBmh/G1mMFWbEVKzpgTkqSBSO3QuBgGkQ1Ph0KhD4agANmlMsNH4/QbNsfNPP3mwd/U3d3VdfPz8Bef36/erT9z3U+L1he1u9e7X7ije92Cdvg+sGy1+6YTBMoOgDIEUNpQQ6pEJ2TUbAZbRcUGkwxZca/seRmDZNgqs8rUUmwAYAL264nwvnhBP/0iLCQMZjHxUYmB7AFKEoGFdSTD27M/fHiDNvtT7NCNPIx/sdcrLFygWLMUazFekl6ZHl9ZU7dy4ZDqp4gBKiGmGeCwomKAxGNjMmoAIG3VWDJ6ZMSLjL8zMr1GbDSyoro4w3I5AgEo44TRq4aoLBqjYTFvbOXE0EulM295OLt+MX7j/ok1jz9+sKvr4PD2beuxdRuuGlttWLY+uW3z5m3JbQvNPYgBTFuYhcwNAEsVaBaryahSBzJmg0bQlWSQ08WxbgcQBgVDhCuh8xBafI/cXoB7YI6vNMAHqGNNAm10Ncet1EkgIbfLQ2ELQh3Ll2q1fcs6QgsUPfVzB/s0mqXLOup7eXl/v7x/bdGcwcU1jcUNNX2DHSWeuYNLKxuLmyrhoXjvdvd2+CCMTLiORuLkSDzHUdIziK4FQhSIO3oDvOk7n/nO/Xv24jo8ld0xPU1434nGGQMTRSroJWOZjKBQoeD516Zfy5EyGpZI2PnQgYceOoCtux9+GD60J7YwBnwUsUj5JJMBQlwgPTzmTvw9bNm9e2YGxkYw9jjjRytRM+bREELZXyIxJWC1gJFai+SLcoFn2vYZGO230HYIrcFyKO9DwjkpKg6tWGjRDqOtpXFVFbKkBG5ChoQJFZ17+oML+g8kAGQANAtfACT7o6NHjxJo3jx1Ck+dOkXgXoRGcJZJA53cKTWDZTI5zIF4jkVBQq0w7G+w2ICDvqjPLJPhbHYJ/nL2AjaOPHb7Y0eH15AxlqMRRpEfQy5jGMxiGIPlLhsjHoVRZObl2AgDfHnk6JrhU4/dTiL76F0mgl8F2TI8q2N3uFQ7TMUo+OaF90CCSWCdKicrVUc0PE3MzwBstVReyk4qi5p9OqeV54pvg/smf+7+XeeP7C6VUbtIpDcmzSKRwNqMjjMK/AKSIdVTHJORAaNeo4QSvdFm/L0bcHp39gfPkpa9aCejZIJA3dKUXsYoVJxcSSLval5OMTsfAtygFK0k/F8QQX4wMzmZ/+wsuIcxXRDX/tHV4tqwT7gqjo5cjGtDS3wPjWtvIHFrKF+BK4Z3B/CfZn6PWIAfZTCHKKPNwGj8p33XkHhmzcwR/CfmOyiB5qHKlCXUWMW65OY2DYs8ZZkSF8vJMyzISD7oagUTxpqLfl306wOBWgauBU5MPvZnAk4UMQWRMWMs10FO32FNzxbbNbYFmgUW15amDndbiXP7sO4qdbaExdUD3z0tDfWRGs7olFs10Y5SYVGVo71U6Oq/WK2OzfHOVuNBZZyzeuQiXCylckIR+8wos4LG3GEVYIw0A0pGhT6Nkuep/wKYiXn7FZgM/7B86/623Ytw4sDiu/EBfseIsXN97JMvktQVsaEQFIM0ZliMoimny8hl7BZcbJBldCoFhn+CU7AJGkZgiAGQ25P050Hbns+VsBWBp5n7hnn6NXvp1xv38kZ4kbT2b7Cu2mY9YB2H78X7wLh1/N6JMxP3wl/ugsUzCKO+mVH0L1RqhKcwAtSIn2CFXbDvwN3sxCd3ECrIZu7GTwHUKmRKKWWMgNM8WcjBJIBEW3vz6kv81LFjUydOjOI/Xv/MM9dnNYW9jSRXpDSk1Todo2UZhTEtY+SIjhGk9lmhHizYTmQwIvxNHTuGp8io36YFAoidM39g3gRpLENBlES1KavT4dCVCH4rasjU8TrWZ6sZ8BQB2Em6kUs5CbIqwsC5q/vSvDVnllq9Adjc4wE+n6tiZ5MYkjS6brile3F5ybbV2uVjc7qYcTt3E+dxHnksWLmhaeJ0cWtzTDunrSLiL1K6A1aXdt2QJrXaX9XmV/csX7FQ3Zjx4l2x+dqWTVV3hIo9nzmrL4lCYBbPNzurFK5Sr1NprHCTKBuewIeAP1rQFEZOqZCxgorRKuVqDUZIB1xIFmgKI9UUgTCfUxYnN/ZfV77ZvN88FrhuYGMUT3T3iXsbdu1q2Cv2dW8m8ujBp3C3lFPSndMfQZYjChC96feIggfXjEo2OGbELwuEYoA/oE9iKZUdgUBHZdWcQGBOlaO01GH3evGpwJzKSqihZcbrcpeWul1ehNFc9DFgMZLbv7py+1cctMpcXPvxwYNEI0ktQB62o//2GWGatRy8bMQojMgMwoDQHt6zh2j7Pfn2+FtXaY+/RQDAUvsr37OHcu/bZvbhxSyDtLBKeD0y5FZJToDC8pxAvHy4o/22llSq5cCr7zdu/dH69W9tbtz89jrCQ+jtkHprDQp9rrfkhoRziVyhJZVsva294/CBdW9Dv7fWr//R1sb3XyXrB3qfYJmcJz87N8Ta7zr+yfED7CF0WRsm30YGPgLGnxz/BBp9QnyRDLS6Blrx4IdzGayXZZAh74eLHli9YXMGO26/Hdrvmd62B3p4oUeL1IPNyPRMQQ+w/rxka7v9duw4sIc5sYfOQXo8BD1KUEXKhpCY7tXfqX9c/4ae0+uV9oxNr8go6RA0/pPLyBkpCSxhWPMkXJ7PydFnQlv5G6U+f22i98WeopKeF3sTtX4/TomNgUPB8p0vbczsy2x8aWd58FCgkdhmMP9ddP6qlEOptKd1zl7nnc7HnW84ZU4nEjMGPc6gyyGwSqFmqg7ysWeYmYIAV68FJvWVev05MEqKel48kJtSvBQOgCCE7sfD+PtIhRRfIVoSTIB4KVlJsJAAl1fb+vvb4Hv/0jlzlpJvznvx4fn4fSRD6qcQkrOIaES684d562NHj352ctL37vvvvUfaeqFtz8W2XL4tKKuw9QVo+dmjvvfee59mMnxMElr60UGyz0P5F7qaYASmg9YfovWHSD3d3avY74FXkEaDaG5KWzNos8wfdC4ZrPCV+5xfnXkhZbE5074UFE6f09fQ0Z6Zm9Y1ZARYLnS7J7tVVZUY1p+/oL/wZoimiyg9qQ9Id3aaNQpAURj3IaJkgpvciqAqli4p6YiA3Mtenlf64MC3t3Tu//KocfW9O1KJNS3CNk/NEB/P1NX3x/maOZbxGrnVb1l4x7Bx4z393XesMY4vqY9PLJLzFaFQBV9eF/yXjf+0r3z4/l3tDRum+qw9N6YXdsfWtJpah+OlxZHsbxtrF9Za+/a0Lzm1rnz17V11m9x23NlSbyHRUXOkiZwBwDb0Kn6CyZ30sBVQrxetQMOppsigZWDQaXMu6vdWlg/WVtUip97JXOv8nZNJOnHSC4zETm9trdfJppMZYUM37k5nRhfgBUgnJd2CF0QrUDRIo/QiiaPoL5DLm/8FYSXKwmmLS3I90OC/oq+RhwpTLgJ7KW2bNqSELSXW7qAsmC4/dqfXr2y3rjWvmas5Xy9zVNqvoHDPivIij5uvrruCwIvLq8pafLtMJrnfE6wKxR44ejUif0EjMzgMzlgton4hYh6D3YlHAtgOBmXaLWCVgAW5HPMKToEZKUoCQRKSHcNh7A14wAoKqLH2INbdG8r+NTT01DLmuemOO+7Asn8Qm6EPxjwMY+qRPXfyRql0pO1wn8aMmEaKi1nbliA9g/SfxNij+Zs+7J64pcIXaTi489GHNsfDDx2B4gjz3KZlYnnSbF4QFYc23dBlLCvfm4YkGsIoAlbLSbBaSpA9pdaIXWol67J1uZFSiqlI8ZPZ1VEQmyoImmz/zP1dRzcoxo66J7XdUfmSlcsy8liP/paiY2Pacw8ENp9Zuqq/LlK3eazmmtFgJNK3EjEU9ycAdwGZSCQWMFblMZZQvTxz0oetm493f/7eW25etnr1spuZ55acWh8485V960Zr1m1AmI5YSS1DB2TR0goF4mBUZSEd6chm+Md7oezDP8j+M2bFP+C5zHM3fO6GR26QRimDUZTITkZJgh2sUCrISGQUUNKFg4i5IbD4OxjgqRuyv0USTe8GmpaimpSjKF3nTOXSZ3ypUq3rUvGsw9JVXEBhIjXj0vGDWTJfSuWoN+4RCaVvzj618NiIcuT24sOubXz/iuXD8kCn4y4Ri+GpxVrcH9h6T9/A4uDANZtrtmxQq2/em/1meYWE1ecobcpTDi4dFJLCfcLjwhvCh4JcEBiVQqGQMUze0JeQBDTh64Wy7wSuPHEi+xbzXPZn2D7dgX3Zd3Ojop/AqNQaUNDutB+0J3IOLXRAC5FKuPisiuH4LjaPeN4Ro54YdAFWY9mKA/Yj2sYAP3Fi32Ht4EAoFLwD/1M2vf8EknB4VOKvVq5kBY7Czc3CbU3kZsdhFntZ3gxQq7/8V4w//9wwAP46DmV/k+3Hndf8a340C4xG8toMw0pSIqFNutYDCt/al2vJdkFLNXKldAoVyzJqhaDgpYkLZzYaCblYLyv2nXvlla/c/tym52BiGf4HUOzfsuXkK838WSph1pQKyKYsHMuQyA2FCeUxOD645fYD2W/DMHH8KgzzajYO3amMvcR8R8pjuLuUrKkLKWfPX/33eQy8e8PxhQuPbxByF6ViyZo1S0ihXXpmczmsWOmyf/NY7dhmWiBp1Y5QWliQOSVo0oKgVlhmF8elS9drFgsWr3LxdW3H9lw3EZk3LzLBPBcfmWfcet3HeLg2ag8HczidZf4FcLKgSuKdlQFSTpfbYe0yGE0iFZvQ6yEIhn4vdCWShQE24nb8p7guWLFqfWqxUuGw9q4acF2J8l0r1vVvde6XDfSvDvdejvn1gLkW2VBRSq9LK3s1WKOBZIPCJuFPtEP4QqGihujbZUTYe+fc1rvvu23rRLSzMwpk2D5inLfWnv3d3/+Od5cH7TUViERPgLuLgRJVyJsSvWaZBjncXXYzy8q6mALFIZKkDKFEYTwDqHKlFrFaJZbg8LvN13v3aG6qrti6fmNqZ69u+JB7v3NUE2tZunXD6NRB7T3JoSVCSa1Mox4ZULeuCC2cH+ut9AotKo1626B6/VYp/8yAyqQnHeU4zTJk8SRpSkCkcWDx33/IxH7ItO7bN/0t4rEAPrdAeyPIqpERGG2XjMoqLDcsmqiZQFSAtOmLzC2nbhUmP3Wiq13RDgsvO3Dr6dO34kezS/u6u/vwYwAB3Y1P06gnrEmOKWVDbDsLf0wOlMSNwSEbjO7BZE1irM9+cu9jj92V/Qes6U8YDlQTsc4RYl+nslyRssqEOibFMKUMZhisAo0vZ1gG59c3GW8oAY46BFTpB9Y46zXde/NNh2+6+a5/vfXGG28FOK34F+QLq/StbCWZQQVQ3pfXWAqGFzjMMXKGURAgqdogMAZ4r5ENW+Nh1oj/cN99j/7+F1/69Kcf/cXv//hHvA4v+9nPso9kP0tGI4mvvTCaAiIfggyUKWYlytNxwiJLIRP/9tuHP3XX2d9hA/5C9t9xcbY/+xtqqSOmnWodWLeYTxMM0xyR25B0cgB7iBMK3MPD2YcZY/Ys3nAtfuPGa7P1NyIGlUPm9G+MATlRAOzxWqugtWkN6QptQsvYtFiryhhc/TwIhE0HtbqEbpmOtemwzsB7M0glnf6oMoCKANMR7pI03UpPK0iHaiTjEASIxDoKjMC3+lb09d7fJ/hC4ph1a4/u3b22TOz4WG1ZRaki1KBd0tWxRDBzK5ylDdHUa9lvtPkq/6jj7S5ncWMIMVT2miFmYUQ+5Exp3QO8wMsQJ5gGGBqMASlMSofJiNMpXl1p5o1UvGpbdO9UZIhPronH1yRrFHWpVJ3CHvZ4wtqeFPNO9u+tTRN9RX0TTbvbOj3plLMpVFLf7EQY+YF+f2EMeUtrQK3gXbYBN1L9rywt745bk9sXKLpHLePqqhI+nGyJ8t5azVbL5m7toRuLlkw0p5vqHJ62uWXzkkWORLgDMWRmxnORAnpBg4oH1EreNCBKFAgDES5Nf1tFspKBD4WGOoVlunVtPL62lR+KTO2NbitSOEMlnpCD0EHbtAMw397UiuXT/lTPbmdzPcE9Nc8zrw1JcOiAAhbkRl2pemv/4xp8DdGhyJVR8P2GDQZmpwH3G7DVgA26TL9xg5HZacT9Rmw1YiMFlTgfF2hJ7Tl4uOy0safATaNyhYt2HTi0Q7Ht+uzn+FFtb8mI65r0DW+tUQxrD+8t2jt5y87kddE5tRE8l90o6QT8IPMR0MqWUgsZJTbgjI6T00wyCQ5eyKm4MJlQigiEwQy8fnR0+NplSwOlnxWn8J07LcMbdgXKnDuz4zm8KxkP5XwdWpCKOuWVAw4r74FEtdDPbeB2cex6bgfH9HM4APqBH+hnN7C7WHY9u4Nl/Gw/y7DUC7uIephw7FIDKnqpF0ud2Ku4qsYFI+61pnCV+trISkVqTSy2JqXYFtm7/zqlsq6lpU4ZaWp6q66uu8h+qKQ1Od5t6x5P9iSzZXsPQtKu0dGYnttib+kkdAKGUpkyI0tKZRZUgn6AlfEkzC8JUzi/lGBBi/kVJLZNRfuFwdGpqlqFPVgMy+UfLVtHsi/gmkjCEavOfoxAHyGE3mDepvkeK2RZbtRxWMHtwTkeJFflTVOS6mmbOnqM4UCjL5yaAoBm3p1poH1VSEc0rvZGnRor1HvkcpxBWtBBUneeBFgkm9MIw/jKPe6pNZuaj72yy1/KaKf/OLSWNcOIEp7tgCfV4CqBWp2cQuDkGEkaXMI1HiabPQ8gff2x7737+U/HALmJZ7+dff7nkadz46DXLka2hbylDBSh4Xjags2AlPiId+kTXIJBsA4o1SAnLM8D9kmJ7VJHc47PsctoXHjXtte+oE7YEnQsjghL100FKhWlLbmS4ZK+8qXl1XnaN7VlP85fZ7lLVypw1yKoBXGAleeBKATgcvbudSwOFfCXS/kqLucv0QI+xpA/gTNgVLkHBP5/Y7mWpre3t29P89KFr08m60mhbZ5YAvqnuXl7H1GEu1OdZZ0pWiC6DzQwzXReH7HfTAMGvQqQcg/ICGJawk2gL90KrIBdIQRe2BqMV2wFbaD+pG0AlOFYbidwhEs84VeY76V6miaWAhRNrX/DIaoBpZ2AUqCBUlfSx6K8eECvAW2MORWFY3Z5X2VRs1foY/wp2I0knQx704zCEfJICvmVv+U3o57UdASHLirkdCrHZbyPEZAWfDOtoOxi5YTDECorYLA5z1hzKh4PFTUGGG6wpv5mW1Mkm6WxQtjVfg24VKK+VMNA6c9K/1rKlprkGrTZvtfOrLBju2tgs22vjVlhwzYTP8LuZJmlLGblAyPMToZZymBGUuxEtyXDuSs1bPM/EpBM20Dg6jm6vGGLnw5u1TbUa/pDGxcsHl+VT8XNt9i3dC++dot2V7zIXcP5ea1qYZvQlSFptypOb+R0QqZN6F1E7KuZv+OzzKeRkfhlhoxR0HAZ8POAJq9R1S9tNVJ+iffmosQ4MbZsy5ap+8SjvpLl8pUrPth58uTOt32eXTBiE93xuNw6Mgg6OSc3KgeoORSmC9laaPhSlUStnz9l1k+VVyls1e6pvfaeOu3WEZzK/gjWULwKF01/kvKX561LFYwuh70KcrZtLLEHQU0W2L/SyZzXvnXqmu23f4vhso/gZdOfQN8ShFgP9FWjQMoiE0qZEKg5lpi+ghJCWlQUZk3fKy3fklP9q25Y2X/7vTetW38TDPtFnMk+hRdOf4KXZR/Jw2ZiOMnylUuWrxykTbjM8oU4MdGdeNvadfc+8YWHh4Y++4Unzp7F8uzp09ns3+lYsF4MMJZIqCjIFXKlXMgrdCCjFDCPx3O4allvZ1l1lYZ7+dO7x+44Z66Kzgu9sstVoWXY7Cm8ZfrPLQsqdDBqMQz9EsPl7eEMoM1kOHmBPWwkrgwbNhf/9hf4nt/+eTMu27U5+x7hqxUk5Q5q12ueUTHytIzGDvLOTG53wXfs3X/DjsYY+AWhPdfvb0jgHyAGmXCCraU+hwm8DjONJiCB12jMeqN2Us/k4wDT50WShjx/nqbSsEiIBLLBewNmj+Ri4Vt2rhmeWL68fVn27Bhu2IQT+OAf/5i98eOPP/oIVyxfnv3X3O8TmFGwZ/zouwKJrj+GTyMk1Y8U1D9+sZ59kdZ/B+oD6Lt4I6L9mL/Mvv/2Vd4/XvBePfueR4+S9/9/gQNhJEBxJm/fGYUCCy9n3iWvbt+N/6f2nTTm0f+9zUjHXJgOlB4X919hM5bjGnwrRAAcgMHcVI3zCM+LltJJK5kPBTR6gzU9qNmo2a1hNapJLX3UbtTu1rJakUWgRqtAjVYZaDzifC7waSz0tmYj8Vc4W19KzU017Uzw9dZBsa9J9ciwMRnY2O1yO+2wE+OaZDySVOhxqiZYXv+Zv9bYi54WOKNRtFSWEqh9uBo/LEWlgBbmSQpumXtSySIpw0UA+e/3+P+I9YdC/TFZPBMKZeIymaeqykMKXF072GpJDtTWDiQtrYO1q+oijkgdLUg8PS6dhzWCRHSiZalG/5zYHMY8B89JTZb7O2IdTEe5PVIRSUTYSHwyWBFOhJlwUFeOUVAfZMqD5UFT8RElYzqCBClkTI+8ieEh4rRKF9iXPFdF4cqURlxyTa7uznnxHRtJ0AmOuN69dOndm+Sy9HgqNZ6Wpa9ta7u2Z9WadStlbRnDKkXAyVXVB2s4V5ViReBg5swG44a7M5m74XIms7Rx+xL7kvHGxnG4bG+MjQ1bhrYkoh6XI9bgaIw5XN4tCHGoCFvwNyXO1KMEWpKKhu6tRnX6upI69ljd2bon6ti6Ol9tWeJe36Ky4bJry9gSX50v5WPLfGU+t+k2hBrdt+XZKBFmXH9Bf57+ICD8P+RrAHRjLlZHAmNR6TDcr1uGIpGhFq51ZSSyspXjmpYubSKFvs9X46tu9FkdJSUObIkPt6hbV8fjq1vVLcPx1t5ObWcvLRpfL3bzlbolXV27TAo9icDjF9CLzI+RBk4faSbUchkKhukpAroCrDxhT9gc8dS6/CUWYyt+4URlrNiYsOiK7LLbiK+Oz6FnwVrX0F9g8xMKhJLT5BfYxsJfYPML/CVWQ+vhkiA+J/U9URktAe3jn1mHnkVHWB79AKHpL8E5bMQL0ok3gA0fAtj86PtEY0H5PCL1MCfeRc9BQR8EPaV6GAsfQEdQIDcWJm++C2Mqn8K5Qcmo8CsIG7oVPwH9uJkXsA1qGnHrzGv4LVrD4dZZH4STTuEz8kIfhCNWAfWfoAXd1/hZp+lSh0lyli66SgAj2Nb4XejnR/9GYX8baynsfXCifz7zHNSfoPUncQOtT0L795m3of4xWv8laF8YXYYYK8mG6dMaa5rVwD9GS7ML0hkkCCHlLNTwxUhz9GKQ9cR1l0aat+RCzbv+NBtpViPEXqAnTQyoOmXTp4u1WKtldAqSNeKUabXCwKUZKTZG5H02J4IvZo88UZLeE9X4I/yPfBopW5H91fCT35aySSTPh4tIZBvmewnmMyAXKknpjfq0QZPW6VQGhUmVVjIgXC+SGaQztdI6Cl+cyifmNQfeu+kEpMCYzoszjg8ODw/mUmF01n34hdmMGNiff4V5y1EgZSoypN1icb9eb3UzVkVhKobOHQLdVhhSkE67ReOSV0kB4q25/K4XQri7y1a5U2FVZbii/NadX21vPHH4JrzocG2iq2z7mLYxMre4uNzP+8s1tWvvT7Rka/Cb23eNfk1nDIL5PbhJ8sgKI3NGLfXJ3AWBBPhIB8D+B+4Yicpd3R1j76dhuav7YyyJbLKrGAOqAT6l0K7U4uZMJVLtKMWZUlxanAnwtf3Rx934Gjd2u3d4ccaLvQFVOGPltSUQ63RoK7WN2uVaTkGjoGYdrdRV6hp1y3WcgoZAEQ1+hnOBTxoJJbGrF6dfpPsJYPmfBEOtl0e16IFQuOBwbhv/L6KkO+tbtl4a9tIlNztKt6awj4S/PjcW9Obip73zOzJytSEXP+3oyEfEYqF4PYmKfUfBuRxOJ8RSWeK7s3cApfwohlpRTyrc79rgYna6ML267BlPvN9i6XdvcDM73Zhe3R5Vc0bk6wY0Sj4w4L0YcKRkGM/Hg8cv8/2tsVnUC3APXGVL8eVIIZ8NCzSud7uGkgT1+3FDJI/7zQnnSOJirAC3AhFqm/Mhg7rq6jpAvLGFYL68urYgdvAa3hyj52lhLS1hfo7qyVnTigox8xGwVodsA55TbgGidmw+kltwlEdaTlf9gT9dU5f/bA44O+brckXNdXreH0kk+7oXRKv4jVMHr+W37XW76psb1ye1ZnFMramptURDE4NGX83G6b8w6o07xpY5yuY4rCvazO1DdbORK+6SbKlAIleM/JJsqbkwcvX1Vz9/pJPhXnzxm9mv/3j+PYjqkAaarRRpBCwtaDlGz+pYPJt5SOaUMabbg4ShlLgcHVu7pi37I3CBGvAr0+nhLfvn2fCT2Tgi8ElRkCKSZ9dndFq7FGMiZjMVkEvDTLOe1ZXhpjWbymFTujTm9OzQWtihcDwfeEIMEqQTB1rkQuUpm53LuJK4Fz+PP8QcxsiWljG6gsMC4+fzCa2rnkYgh0L75s+/9EzCI4/gqglcVHgw4ewE2fGkuYH2P6c7nQ6KP1JL1YrmpCrNaYOK5zJWLU4aeg03Ge40PG543vAGaA4DVhiwAcuNCr1CycgLjuKuGhqSTuPOOhhhs0c6+kqS9iLsUMu7u0nqHsrsW7gSvr+fGIS/iawOi9nf4jvXXszmwdWTEgVZmldxGW0vhj8+x2QQZ5hHP0uOKHVA6Tz/PjVFMn1TU1g+8eK+fS9OZP8uef8BGFFD8pcKnuW6BCWDMZLNnvGg/xFEuOAHLWLuxywe8/ply06cOYPr32s90oqX/XHsyNiLNyLEQnb4K8xLrArZkRfVwK5tKSt1dGFkZ6xKncD6POVdWo2aGKjh10MwLgnl0bvc/5tzMYgG5t/FfUT6PWeAtQSMeY3y4Pr2HpIs7mtPzt7dBWli4x881/3BUwF3vR1rV5wmCWP3qtm7dZAobgtmz2hG8AYN3M9mPKysBZWhCAqn7B62hCspksuKawecVivnG9CqZFzZAOJQ8C04TCX9vwavg3Edyv3azmi1UHgJwJcfU/P76S9NAgHjZQrx7mh9ZU+kpb/vpgn13G2p1FhK5p5rkSXr+yJNGk3kjLqyra1SXdXWxvxOJRgWxlqavjpW9rmjsdEu54KNcZunIeNcEmtiWdX0zxobShLNzYmShsY8NqOwXzuB/q0pm00w6vstOg1WaDRKEQUG1CnlfiWjJGfzBAXYNXLXgF3S91VDYcpz+mOdy1NN0dkT2/9tyun48anOzsvTTo3XLi5adE1j65bV8+evnn4dMk/2RLAk2OBo7vDMaaUnUgH8KoDcjRpSNrdgFHiuX9BhrMBYZhtQpTT7NYwG4D4HYGvk0DpJIZ4FWIoKSFCarwx8d3d2Th0/fkluI0SgGSPpjddxcU4L/Q4VRBmdsI9YDfygeZi7lmM4TuXIOAVRkdGqVbMRR0Nu5RUEHmeDj5cGIEdHSQhSf+dp3a25KGTtpp5tJ09u69lUkYtEwh+upnmMllQRWZEZuiJlKkGGLntEyUtW56VPYXF2rYqLFi2aWrQIuyL7I7j1o+j+aPYwtRG+yviYhYCfDwUhxmXyl7kGOFbGOFUBb+WAQTRCsBvlF2f+SlCk8nzJQr3MjQzwFmghSQUujdWGV4WdxWTPJ7cRF73lQ+3yU7rVp7R6uNOK3ckFJcviZI8XFyQXlgw2kNTAzvZ5ZS7Le+zAeyzcORGeOTNjQkeRgBxgiWo4/jhbgjDS32k0uJD+xfen3xsCIKnYXr6dm6XFqSpv0tYKJUbGbjbbK7sjoc6GX9vEJqVaJXCCak89FwrIq+Iw0+kZAzr2f2mmimaYqdTI2Ewm2/9ByFmAx40lebzeU4ObSQ3GgN22w3Ha4cTugC++fOuzs55vw0fLvIHl8ICXHHQuHuaZMDN8y8w8fMzMYV2pVHpqK8qcB5P8qkqvVO/f9Z5eC79uXOqe9S+FVGcoGg75QuHPT/WVWgITZxkGvGTo4jGMFIT/ElEAjH347nXoNi6AZp7W3Sb8kHyrBk8Ea9gCvCu++3fuXv/qV5E6iNRSb2pFfMimjsse6NaiSIVPa9sETLGZdy5cEZY9xHwEs7oER5qH9IW8vgd8kWgYb/0bNERuZ+ltXPmK13AtyZRq/TM617Qsn9OoZ5MynfxlJD6jLdBRrq1pKYxN+RLpCPr+APmuhwL6LmTRdzRm+v6Vy/cMt/P2Ov/M8tQJE5fPaspmkjKTQu+z2gINi+rq64um+3gqYuZqAfpvgx7rtE+0NjYhNhdXojUUqgaS5hiS31n7drHazIGUl3ZMn7Fganv9mGprJB0zA2P6i8ViY7Et69OrKdYnMFYPrMVYuXIoEh0Z5Mf35Cou7RA9GAKH8+6G/lH1oyMZTtb8mYGuD42uKzZOHpv0pXMRrIUXsRa2QQ0E4aaYDbQPYaTNk5+yGb5C3xj/b/EeAPO7d3rTDFmP371Dpg6ZZcQ8wcxMZqYskM0Wk0AGuwdknmRmPDOReumzmPa71+Wj5Gc3MdfF+5GJXcKh3zzbWBQNiNF+AXKHyNcQc1ts7sbZaByCFVyOuP3MTXf8BarAV8E9SdwB5j7j+AtHwc9cHXI8TuZmOv4mTpbNzCWQ47EyN97xVxWWdtyoocujxH2JuFtyDuVEnsPa0qyc9CMzgZidFiP+ihixOR2FsMUEsS7+hpi9FgNP2/Fex41XkBwPa1U+TNxTxN0RNyxfG2v0IFi+mg3dPH+CzEvE/JeI33O/G5D5J2LOM+NnZnJZFi0mhAx+fiFzgZmIxSzNj/NHiLFOPGhRZA4Tc0M0IZO5BNK4XQ7hh0hdn8y19U7gq8es4jN2pI8T/b+i3R7lP1Xe9TbUpZ8Sd8LiYMDJPn1h1PE3hkZxiv21OVy+GkLMNdy97oyWOL/DTZgki8yFkOMRM8cjnqLn7BG3YlZukK8XiLkpThMjPz+5VerqDsgEMQeJuS2OW8w7mhpkmBjjPw3dPMGAzFHLjz1Gabx2Nl7lC/A1zUVfSelD7iLH+z5XT31eJk1IGIdQoc/I1+gblDj590GnLdHLPzU0KHsGBwGplzUBX9V2ECW3acMOtfKzTw9pYvt2M94R2SPOoa+gqBYSAKSxDH+nzn5b4zkR2AZBjPCtmjfNb86h9Rj8J41x7n7jU49sxWD4g1YPaEJMpWjKathtVfvZJ4buXvzsvi9jcPzB6BhL1lH0OgGkXnQaX9thzzBRI9YAQLIckaVIDKeYFBGzvJCkE+5EfoXJ91ikKI1pxMIXwTFM0vlxIncy2WmT0ThOSSGiTC4CEKuJ3GuR8IRNqtd5Mok7JmZ2iYQWawcUWsiCLDXAn8gFTVT3SpFFK7D8yxz536/80/wRxuPlEAmcEAF7/tB5YqIPWDSpHF0NaZwQ4YpcfIfIYSY321lratZifbKqqSIXnyfy8ZG5kJHqWsyFFNVM0llVIp9gcqYdnZRT6BOZpFOgRD7F5LttUs+hTAnQmaSTmUQ+w+S/22QsAUEkY0zSmUgin2NyoU2GIjLQJ2SISTr/SOTzTJYqslTVJ3z3y1I9ZSlfTmpyYauZJq2qtZdShTzrr11jT7HFuy0LKRYWzKFJKPTS8NiCT1O+ZusFzqoC53dG63gUDJlq5auhc4NEvsRkDV/3HFf90vk6Ig8yWcs+JzeMRoGRgQYmpwKIOUS+YpEwwD4nq/pl0pglu3HmEQkt1s4+tJCFFWM/16+O9Zvk+iX/2klbqYn+jad/PkdGWk0kaTWRpNTCn68YXZHI00w226NTtat8in1EnuPof2b7TKQgiD4TTNLpFSLPs0+/TZL+i8wEJueq3F5ksuhcJwqu8NnXSScriLzM5LM26apdOtdA5FUmdSZLaT0YwTubZpLOKhB5jUd03bt2KUsLK7JUJ5rt2p3pWbs0sgX2yMiiaNfujFpzaNJX20vDIwsQRo/sgeX8uYKdP3+uZHCVtnzz4BBKPTILNAErSeeJGXaYlQ8NPa0JU9Wflz3iGKl6p3iXp6qXSdWpb/hxORSLOMIObr0mutNWyZ+UQ/GoLdlEG28CwH+zZhPtaCr6DvicsgS3BpDvzRVX0tzkFBy4lY3od1f4zumOuIFb3Yj+9wo6EXOKBNwKR/TCilFGQkrkPHWlUxTs636tHBpv9iIy00q0WzGIrrXpX5ZDoxtYNDiDvwKAt1g1iIYB+0p+4c6ga76S72bl251B1/wiuljhuzrvTDFwzzGin7XpX7oz6JpnROs2/Uo5pKfVVKPqXoLVfQmrMgDxc3KX3xcwu5o3/5laInxqHby0bve6zR3zzY6mqwv5RZqAa1jpih8eyV9bN7zuwXlzzV5m9my8mg1Y9X9NVd8nJtKqvFd2w0n5pzjL9XKoNrGiKr8CIhiV3wuSqXgHSKPHO0K69dHZWDoV1PQ//uNAxf/L7mgkGA7UR6OPqP+h2XsTzmhfhHozWnV8RTC7AsLDFdFcwUbE+t3GpmQK3Wfe956A87/yZroq5M9Ho1vs/+I4Py+7xRs4qqDoFxM9Z/cy1bNBJO5MbdfMJlJ1YhBNVHZixp8CiJU8q4lUnRj4gk5BumY0kar3gaYWpxjds5nId9s+9fz9+xQi/90mY8n79ylELrTJUNSZwipLX1RZesDJUq5YmSXj7wFEL5F7LdIZe6LBGbvdIRJ5wCJVhwjZJo8O0SSHmVRZmtLhkSWTfIpJlaVRk50seWhSn+p1qlonuHsdR4+IrGUSGsZUdjDGTwBEmbWISBjwuu9uHSKfzV733a1BRBZtn/ma+3/GE/ms1313aw+ROpP+dFYJj5OlP1VZ6ldZCrYvrsyS8RsAMZPIVyzSGXtytEd3ZZKn2GebTTaWPLorkzzNpMrS1LJHlkzyIpNFx2eFTAujC5X0AiupT2q7zBXoHXOhp1lnPpeaOvq5dbIHhXTQpaTED4/k32Hq6LZ1mkAhNfsHtBR/SUr6MUtJoV7WwhWnMwHuOtC2Hrc3Ze1Xv2pSUTkLXvakopHd8+Ss58wpanxAroVh+X3rLRYr4FHoNDUdH3wNi6ly7Uc+QoyWgmFts808XsloKWTwKofkWvEt9BMUG/AqvX/HvUb9uFqjwtjme9aoJ4kcZHKV/an6KnYaNTiZpch6dkhEKx2NpRwdZTInX1MrznWUUdxPeDdvp3msMz/uqEgkwSriuXrkuHSV+Ilb0+AsIMG9giR6pu13UtuIFSQ9qSTySSbHKxWNSVwUa1Veqz0iS861Oh2z0tvNSm83VnwqxTw+lUxyJ5Mqm679AR+AaCdyr0U6yuxa/5CKEvmURToqqtbE3uvAj6l1YFjViCK1EJEvE7lO/h7vIYk/OdvcqsX7vLu/jzndn1EOjWqs6P54VXWOd9/IK9y0KuRPaUju1Rx7bLM7rbvlUKGOJYc9FpE5wOs0ouHPbBrjJ3VnqQbutRr59lf4njjVXq4RTU/Zfk30BaLXi8nW1Z6hPTvPVdXH1KpKUzVSqc3fV9q8oeITbLzHJ5hJHmRSfYKNXIMb5qsCRhH5ikXCwH1qZK7yedEiHcWtXHuCNFbJfnhJ/pJ21+Ln/HKTDz5DB5tRlczHhvjPS4+UH5H92/AH+RVaEA5qA8wHTP5xF3/wS/O+pAVNHq8ELcUv0H9Q7OHeda3swnXcW5BE+4gv+Ag8gZr9lmmPTytKfDSpZD7DCyxa9YHRuXB+1AfGLZkkux7oqh4zumZSV4vpZbX8X3hRe8jxMnxfL4tXf6QhF841fGT8ksnyf3vKeqGgj+9sMu/5F2WX+CleS1AMjeg4B9Tc3ktzm1bDEEnh5NZEopcmOObPUUyy2MkWnfZqGKJp0q1kL010tjD+C7nFZLHXsoAnlIUvDBItqtDCZ1twj0UWwxxjs7qqpvH32196mCyeYot3qxh6jdf+EnWmZPEMW/y7sohlIIgWKbSIORbUoZLFc2yxUFmEEtiiShnrFTKkLDi7D6ns7neUM5a/Zw/2USJ3M/l+u4KLU0RDnwg0jphpv1QzbY8ocG5wqk3GqaalJvbSdEPeUTGyOMgWtSqbDU045bTA2F6advYd+3PkJpHFK5YFDLztHePuiCxOc4zm/+eOzVVXdZEtiipGvt69q6LWtGRxmS2efds7xr0lWVxlC9228KcL2FzKYK4XG0z3ruNbKrtDjo6Nb1c6pp7gEHmYySYmoTS/4vGNNB6SHbBJq4MY1EKuHK3eY76jV2qpPRFTCt5Ya3ZE1jk3PsMy05rPfGJl0+Jp0WmL6V8rMrFQNEP/ksemzZ8/zfwnlknH4+k0YKTt8k9hq/ZVO1JuTyIwKiAD8T3wJEcivXCCtThh8HlpoL2rqz1q/iscimQyUfNf8k/nl6Z1dEwrzV+WjuHCOR5Lm3k6KTvEQRxTUBwaoSRfVbV+mGpdL8c0CTHdVBKq9nZMtD1fiX6K6XdbtBSQqzfnqwCdaFXzWp19VzBmwaJVzct0iWmuLKIvMl20ffuw0Lm8kKUe/KL5lF6+anWom2Afd6ilbPdu+tKsMM5rApZqgzYxrIilQ5r4ylcw4l/JHrERfQTFSVb9i8YEOkdAHfQmOiGARkFy+2vLKxJLvQh0i4TqeQdVz3vK6Xm9nssQuZNJ776LdYbI3UwqnWksjtCZdwLA3xC51yI9OzTVSRL5vEU6naRr77XfmGC+YwfJPUSeFZ+jnoPfeasYfnLNzHRmVJ/Nnd6rqtM7qTq9qNeOP5EHmfTuNng+E3mYSTWfncexTldE5DWLVF2R3zXeBcYE7vaOEHlGtPFYcgUEiek0JqhntsTAADGcZqcDp7ORX4KRb1rJm2cv8t29fuH3J3zdwjmfma58EVNpmvuFWP0S/q+3swBv40j7+M7sane1K2YZJUu2XMsU2zKDFFQUcMCKbPcc+uwYwpwGeuE0jtu0ypXbOCnDMYOP79I+6THfleGYmWL1m5kdrSTXPb6zcPNsZmZHA/99Z97fm0ret3RH55nd9926p735VrQj/1T92q689TsP91mCVbRVnSa5nmPSPKA8ygPSqLwnmgXiPD2VegZOYZwJiSEyBqfJjkk73rlunLRrYdQg6iYtUUEhwaBtmcrO9U4YUihKmK1h9mGc7BK7xwx+t/FcqgZseaH9DmArWH9wHtBMfyb1szvQEfjcfVNbVC1CSngLQ30q2ZdRrnamOeyzQK0NmvRRWKPp0kxq3qX5suZFDa/RcAYoQwwkwxWF/+geMnML8bhkfWb0YDFwxIpdP9A7a2Ubn+ye6H7nYy9cvf/RZRPdj93zzIsgkPoueY2C1alXQSF5vTdFOEx5qNUNwqtMDRMIW8vLzciTgSlwxwo9LMdTpwI1zpm6DXpmmLPsIGxvCB4CFh6+I++I/4wUWdAyZ/J0XXO4WWpcbj2Ud9sOaf94dVltxy2nDf2rghuaKqSy6n3VpVJl9XWV1YvWjA1IlUvslr4macO2N5KWgEJaArmkJTPA0Caw+hbQdeSW1KfhVKoRXEUMl6upxnS7eIJ4bNaFi7VQlsXouyDAUdMm4bvgl+GLGOjC8pClNU4iieDLdqn1TasZvP7ekWRy5MmLX/sB8Keeg1OYjk4qFdfpH+FNxEPEGtaCKCOL+qhImtI3FLxlndKQUHJkR1ye3u7PN4JU8pX64W7tSWtouAd0Ts+Hnd+8+fJ8pe2wMdJ27mDSbekyOb6NHFN+FDq+S239d6L8MVsTtx6etn+lAygMMDg/mXoJTuFcpj9D0xwiad6dsWKQNCfIMd1XjI7vJ3noXv81oeGY8K8hQV4LRAijQEuB9wQkSjx5AXXk/URHRzBgSv3s8scm7/qjo6JuofGktQRaUofByenv1IV9BmVf8A/ZHvhNQo8PMGVhi8sbg063JyYbnOgBdCjnGuo4hHcxK/spfSHCfW4kISAos1AImHkl5plZ2YAK9cnB5MqV6E35uLl/aOgV9HLP5Zad7DX1nlzGzc18RWhcfuMq06qN4MbUYeUbrgXKAEK1cFmpaTR2/BJOEZa5LEAO1UMUiMwkASgRUmrIq5DX0AMOTv8yCRzJjXfcgWlksBMPEjiVTpTqIErFjHcRClwMcYxFWRShiiEkPBlrPUEtNhGKGxJfnlBn8kY50pxMdrQbU7+DU9/YZgT1qK3rTL+mrQCpFlo2no3iFNX+gusNjxn04V2dfBY9rr2NFgy/5ivXx3kVim/YIHJy1CgaJrVQo8LSFHK0OfvhCymJbTyXlRgeDulO+b+S9Nx4NtBE17uAy8Vg6pRJ3a1PZwMyys7mffjNK6D3HPIKi+xfee4Mdgs7g9hUzzcNLzIuHm25saHRrviP4utfhfLS43rFHA4jNIhsdH0+QLRWAC2ZzesDKgYjkx3+yUqz3NCOKRmC/uT0hSM40yNwKp0n7kY0Xzrj3UipaqjWUI4O4HCgHPXZOar5qVenZnXrwfORfatunWiZG2mdQLkcGjNGx1pubJljrwnh9o965s1oxPYibrPZEbXZtIV5sSIvqzci4CPqf/XqeI0yAekMfOqoTSI8ZEZrEL/9wdjZdeKuu/IOB44LsR4h9Szwi73L+NaVliOeO9Hk8P6HA5vvWd2/qmrtur4Dieurg5XL+8mVItvUU6gkTtRXq8NFbLTG0eWYdLzL8WXHiw7e4QBO0RWzaL0xgSXN7ufZF48eylyRVUCfuXTG/vfVyQO6i6fFDWej0bMbxLMXpf3gcT6WSMTwGwYYnr1IeW8PnU89uyuXb5eH3qLUA7EAzexRHkJgihogJwKRMELMSuxBL+KBI3pB2lWPDdHc62E0ueemS/eEo+cPAmvyCMa8/eEPQHYPLbSO7Ep9+GoFgrwF1XsxC+SR6sc516LfKIj8QguYSpxzacJosUiFiQJZTkggrXnqsxgpdLep8LdhKRWxnV2N+zZ81vDp7uW8CwFpw+tDXTuWCEJDa2sDfjN07l45uOf21SbPUY++e1mgsmPLYtvi7Z375jUXtYXDba6O+QxLLHsuyJFe6GPawmWIVLrG6Cp2wa4uV7frRRe73TXpehf+wL3T9wDgTQ8wkto7d+5aO5CmmOaGzgvMogoifx0YK3TF1o2Mn/H4/Z4zu/D7LshF5huL600lSwyLY5vyXZIrfyDPqXXmUZbJOyCnqDeJiwM+o9585gjY8hLk9qd2MxDNQvvhMDrToGg3wyW7CON6Sb5kjvN8tnYLocYWwmMxWgglLpi4zLp2pxNMrjqBiBfgXovlbKpka8tTqZ2ps2dTIL8nsqFUVeUWyGNVrkTdYeshh/JrR7qNt2m1GuTwpNmuqAisIHCwPwMvY0wGBWRQHUGEW0dNPdESAQKhV5AZxAsAe27BO/d3jncduOfBC7ftCI+Hd52/8OCX0B+Q//w0+vt9iozrLtTWfgstTJBJhFtQjNpeox5EjfrtJDIapzC4DrnBKI6KGD+UB0bzQF6hAmth+TghtUBGpiTgDKSlRv1Vc0gtM2MlzgyWCLTvCa9zRObwIwgwXuBdL1S32NYV7lml3bS3uCh6YMwwtKCooFmsGXQ7xMY8T1eocdlCQ2GTuWylGFtJPdv8kMuoOknAQCY+V9UpKM7I6R/sP/0DyKWugFZEJ2lNXWFoCu2YfoK53LIsxHN/Cy3P82z6h0jLOfoDmGm9g3vG501MLDh1+6Mf+sIXIHflym8R/BWgeHR/ghLpJ1jHxRmtJNNmRXUcrpi0jPOZxWAATE4k/2+TeHTJ0t+jAp4/edvxdAk/AbkMcxToJEm9ztmZo5GH7r9/8ugdK+9Al/sI6EepLUu9D79oeoXYGxCPulpejK+D4JPoemHWZbOZq7aQLos7kDdELzqEhPJtn5uY+NzEM89ADjmeXVMtY7itY8sYzccOOaIjcWvmaU9UdSTujN+YmIIcvtjUTpwGJTOhNBBCXL3/xcePkDSd6O2PkCO0SUHiQZzlGayVMrTJTz8BXnoC3Lwf9XDVLsZBHtvFGJYpQcc/glNUIRaHTTrocScMsuB1JZxQBgbK6cCvf1QagqvjvUcXLjzaSz/OIBTBVfR6+qNsePeyvGW7w+wTT6hf94Bmdkm4ILwEhFJPK9+oMrSRcn5MqTs0Mm2EnKK+OCEuS9IlTdpdczpLNOERKTLxoYlVJyCX2omrMXUWUwtQIj+BHGPDhEGzPgE4zsJrqUMlVYTedEzDehUtjH7X9RWl4v4t41XVorXMNv6gtGHTQ3dV1nKan05fo2QyjVouEZVLy89eLsISuBU9aLnQC6eAr4xNQE7VhHGjZLhEE5lVE9JLxEmpF0kvlES5JXqJQzrNiSNRaOIrDAA9DQYGNw5jnE48pBVn60Iy/LD29Dzz7ruBb3R0147No6OBimAZakDnB9bo+gaA5na/x+Dx0Xnv2+Ta8cxXGrbreZ3ExleYAHqaTAzgzTQ3JTNVFdLMsCYEaoaR8dGxnTs2A+fE9O9IlpA7P9Ar9Q3g7qDmCkmubpKrHbVXM8pPB9BTp0P56XPyy82NzcppN85p9+7sXNQcAFNEaZSFzOnwkK7XKHVJ3YgG/bqkaTFK2zEbGn/fjt6gJDEHLX+xwBZLn2XUwros5RaI8IwHrX+xwhZrn3XUyrqs5VZotSszxhoWOHGITWXeWAOBU4V8KRMHmkHoN3UOyYoHjsPJzIzO7gPMA51Dpd1CfTP/1BX9JqG8wTYSuSjuPHpkp2FbR1uoZXBbgadp7/j+okOnFeYny0ALUZkViHcdxyoTK0wOK0zJlbDI3gSl6uUqTPssCtM+U2FGJpbpj60TFm3t7Ny6SFh/Ql4KWoXK1tZKoaqtDY2Nw5vbdvVg7Nr2sWfGcil0XvQGqY7yhM2my5puTJxlzJcN6uBLBBPRmHi2z7jEmTMiExxcv/beXXU1lRuW//6mrZWB8uBDD33EsbxeqFtehVqS5aTfLbt9iqWK1ZI7OgOOCi5PGiRWp4FRSRQnWUqawqgpxVhlRQ/SV6xe1pF4+cQra86lfAMg/2ZkloKdqoHqBMMAlYfPI3qcBvBZCHxKv2dZSr7/4IeI0YBJMcr9+kW2hy2io3Fh2OBxxww6mfW6Yk4AtdT18Yv/gdv0jX2a/ns2mTbd06/py3zdDX4kHh4xjRwGL6VcyjeVSvga+n1qsT+66C5hzUzCC8oTZlkZSwiHS+CzoXMZl9wm+tHEkhNUfAZI/cZn0Z9dtqhrx1I5trNzfrikqGfFj37W216nbWj31cIhA7QLkpHvKNm2PIDCw7eNzvN3Dnnd7X5382JOl3p7xUgZWqCoL61ssuPawxSCMKIQOEmcIX/YajKtK/1lKSzt9XiYqoTgUuhyNYR2P5A2voUoaSDHyNaUbtS4wGyGSwBaDp44uktaONxaWRJqPXWQa2iLzt3Y2rH/+h2hAD9qOLAVhEb21CbabOUxpz3e4ho8sKW92t7YcENdJ1i20earHmIYgOMhgR9DC3MdsyhcW8j0m8fMB82s2ZhIiEDst4xZDlpYCxoyAnsDcE0ABPyJofK95XBNOSjPJQK24C9mzLlWvexwwd8YOxx9ULIS4I1bdqxcsqVmsX4pogBuWW5ct2N590jdGv2cFv3WGsOKbqmrW28RvVywYU5zRzwmRWJ6s7aEqyosatrHqPZyrEGeyNLw30treAOjtWHz62W4XQOwBRZbXzlkfVU1/CwSfqaGJ/OcquHDN9z1QDJXw4vXngYXUxvTKt6EyqTDnBJsdw0EEDMBzaeuREGxwPIJyBhns7u+GX1iVl3OfrJhr665QWiJzGsbGNzUGNIE2ox7C/atlzcfqijbeGr/t043FHsbq3XBOft65EClp6Rx7vxtffqaqKtpk254r7ruiTXNh5mM0v5eWmmLb1DaGubNlbZ5FqX9vdQgltq5/EPzh1iO5zkJSukRCFgxptAKFqfJhwqaEHJ0lwr5bfEuFeWYjZPjd5MytyEdtgGlm4e1tzlul2yXMLnRqZIb8Rg9G7sRi5aZ/MZVJxa/geCIZQxlOKY1mx3fy1h5QwJoNFSyYcVGBDg/Q7KFiGRzhYvF/g3j/qBYVj/+2Xz3aN/77q6rb69+G1FcbYS8xFGaLJ/PW3hHQquXPQlWkKGUQ5MFaMjPRGzJvqrsb+zig+5YDcXJrto4UVYu+toJTrYV1y4FytLLbIuAovSnUqPsvag012HapCful3yXingbL/PGBOTlMjetWFwgWrmav12YrLqG9bMVCdc7Kq5h9jKRXwCVmGhJ1GJvI4zOMjwjexJaD1FamrjAO0nBqJLM2F7wDPm3rS73LRptvReUuhdVSM2JutbRRbJcVlftk4ONcwy1fW3f3v/O/KL63hZ7W1/t/mqfwVdV6Tf4qxhI+k8e0fB+NDcaixKCRwKSxGh4Oy1LTlHM9X+nIKWoIONvVgywfPZiqArqe1hB4fjwLFFQn3Sw+OO8YzJtrhOyxBSjiilVmJr/fTX1vdSmN5FTNNJKUrVrWmL5mKrlzNdqtDGOYel4qCCGUDPPjvzrFbxZUX/pxAJ2i0PnC4+YVrTyy/tEUGNOvSy8ZYXQ3GM9mHfXLjF56XF4tX85QgX1DhwYWFtbW7mq//0PBR5+PxpDaCQUyDNJPKbQuCf4+AI5phEd0PF95JgSRNHxJ7D1D6//cHj1sQC1wqawvzCK9TgkUZE9Ulj6lPQViZMkuxNEmaKoXXTSxSEUfslM6ntn9ipRtk2arhdl7kHoytE1ag5PvfoSWkGC1xOreHohSbVSk+UkMPZqtqWaC5I1yGKmNVwqRGFxVM5ZDOuSAZShzGBYDSs6qQGbMmsGBhR4mxfbApRVDrWw2bcvUJN6KZkEnmSO0R5HnVEi0KQLCDbQogFGIjHWp4iuNrlFlz0mSBJrEpX4FEjm0lWRjNnAnp4Bfek50XxlCjb+wrugWJu8YWJuTPB0FOIYFklZPn7wytTCqFabeprJyquYKQ1brVGLWFQQE7Rahs0OhmGm+f08k6E64+YsgdJsF3Rp33rziYNLwx3h2DyhqxXnfItt51D+4PYDdUFLbciSukLXjy5gRY/p6HiJRprMit3TlR24x47XVUBB8tlxuqwy/4470ivdbFSxp4h8lFjav0StpSH8f1eDrpvwcvdE6g/Tn6FrMF8itKJCZD9yF0RlgeuVACObZCjKQMZkHxv9pSmbyERCnOdyU+jFZ41Sbzt1Kvnss4/vOXduz+MP18ydW/MwFMdisbGV2zcaB3ffWFFpryhj2KxoN2VMC1MVdtscsaaQpzAW7K5eVw2rqxkcLCZAI+DQ+6c6jIKYHSnOkgOnghZTRgQrHguUIYr8g+CYGSLnA06nWBiurqh1iagfblgpzu2/Twz3mq12saizsjzkEh1udmb4HPBFjd3tMIljIwtSWyMRzuZyWLRDg/T+6Sm80oAthdqoCNXYJV0/p4FL0gBugVUCmBxwXD9vQUNBofRxHMYEHFvYsc+dP/0LRokuAXloQS3yLeGIvdfoBB2Tznc5YY2zy/ll54tOzukE03qg9xgsUb05Po2mOPxVpxV6UHDwPYVsYV68B4UK31PEFgEZ8+qIpTeIPoIDeIShd+m+TISKTBR1wZeGtAG/uPtEx46l4sXIiDVULtSHxWcNX+Q7G4Tu0qFOw+lDRSt2d+5t8hQ0Nw62hNo6tuGxkBL/IY983tExplDS43fg4zRjHB1/EI+V2MbKzocc42S8qP/ZXJcZHKOLN4M4475slqzU4JoeG7PsrmoLpPZXdVRULLG3E+vM729aNwaeJ+YZ8eiynp9S28n5g3eeBnpqQFFsNOxmyJE+0Rj2ankhDm2X5U9m61s8DmKjqv2yYrPpsqjc1Fzb6mwmHGptzbLjKIbXmbac139N6Ua4HMXOhF7WY7wRdkXRe/TsdgD06KHB2CMC96GFID0UR/D7u2yj/v6Jz372jWyjvZht9B1gV9hGf2FwSZCltRaVBM9hHhfCmZW8WWmUEAi5BemarSi4UuhwmVENtEyNcWnjxuBgIlheWm6qqBOr25SS7WlPTpafvLhoX3DL+tKRFfObUemofdWetmMKMC5J2kuqPf3nmdVtcosWmZiaePz445BTjJhnzzLqKtNI2hIdZwGvjpy41Mi4/csjaKVp8NnU7nSE5SWEcFmAlK9dw9guI2XJSesAAJcFjqftAlmeB8h0gVOadcC00xu3wcHB8S9+8ThuEsePr0Qmy7u2fOtbWyLxldKq+E/f2mIoKGDYrAgLpUwz0xUut+Hl5N5GpsHUsKJhRwPXULy+ABT0Vqyr+mUVrKrylSWsso8GYaBSd6DuGwhENPC3xs+/O3zmxmnYZtbxnhp3kY5H0P3OasHf2C/4Q6hV8K4yi7PQwJssXOeMEA5gA+cxy0Jnqy/12xIfZ9OZdHxnS/reL6is4oUlFhokbVxUrMl4BlLA903q+IkB+Nu63Il5leVOt/YY5FKPXemet8/mSl383+z5pnMu8kcBn6f0gQjdVdfBiwxM4xzomU+QM5+hZ66lZ1r0Rk63Amiob9k/5/+c8d4BV+nZB7K8jnWS6sDzv9pVTXvT91CJXqNe7X9Me8rn1gm1IuAzf6KcCTz0TGN2nfyzHs10JRGn+2N6tuqv8tUZdYL+aT6MMlPIRmhGXgo6jXiGuZDxUpjpptCwuuaAP1/K9x+oWRWC0cDCGs915d7qRQGUThe8xnyanWBMqO3KMhd2uKOccEbxeQjO5vQgrhw56nUb3N6jtasb4bXuSJ7Xkx+M+P9Zv2naBibSbQB2ZDy4dI5sDy5lrxY58xv0zBF6Jm8tJH6LZnymWoevpesQtoM5WV48eidNNtsXG5/NTNGzVX9Ie3G2PyS9Mnzmh+mZqtdLnj/b64XsR4wgJeVi6pmBcDsHzzD1Z+bkr2cAOp+BIpPP5EvB0rbS60vZvFJQWhIPlrWVXV/G5pWBsuugzQAMUtyGQb14K0zuEjfRsjtN30AT9ueUOOHeHIQ7hXIFQt4ZGxppTMJ6ex70pZ6wN82Rgp3uQ/M+bNh+Om8eGBbrrpPK2403ON4aNywcadXX/bSnx14qlPiuq665t3+pVFF8ocfk1npK/f6a+dGKWJ3kyethOHL/dQwpYS2a7b2IT1YTzi9aU1yyxigVS1CUgmts7Cz7HNHueCTfXvh5dmRJMMu4LqDrm2lCUCNQvpTD5P8I2PoRFcufHZ1yJqL//Nq1P8+i9P8/5zsviHjajI81UkRBFEXPKE6Ga45LRIQ7hJOOu/tMBKtgGewMZwHcetUjIXV/d5+ndT8wzSs+PP4x8Ts49uBXZIxX+sZYN/w69g/1BFjs54ND/aOseqYdjw3xBIeeTceTA/bAuifi2MOs59mxl3nPC2eUqdClRpY0GRqss8+uzr7okRA3nOucKFKv+ip2R9WZFZXYVuVBlFCc0okP1dZ1p3Q3yChTF6mDAklRTXeVpmKR1SrmQtvFbeOGlKRktaQyRbRFcttJURMV/+tUepJCtmuw5UD5XdO5ugs0XP6BqJQW3SuXIGN+KhyxI7VN28oPZopuYpu4+drhHDlWLub++pymeuNkxFlycqtZ81Myp38DqfHCJgqiARLAWMN42mNgZgCD/wsZXBmwAAAshQHpAAABAAIABwAK//8AD3jaDcQDaAQAGAXg9/4ZudnZyxqzG7PNedlutm3bivPyjDgvzHfh9PrqAwGEAwAAQyqqhahFvW5Es25Fm+5Ap+5Bvx4UYhijehyTehqzeh4LegnLeg2beluIXezpG9zqO9zD8CDEsxBfQvzhH35wwg0/xjBWxzNBZzFb5zJPF7BQF7NEl7FSN7FZt7JNT3FaL3JJr3BVH/AA5BGP9CnP9AUv9BOf9Atf9Ds/9C9/QQuwAB1iITrSInWKpeh0y4CfD73+OZR42gyOM5gcYBRFz32xXcVsYvSxU6b/Ytt2lXqqtGFfTh3bO6jWtvnvLc59BgLGs4JdjNi2Y99+Zh6+eekMM88cvHKOmYwESIkARJw+eukck88evHTaNZCBQGYEY2+/edRmb6wZr6mIDYwEZnGIFro4IbhEHRmemAxPsfLMlY/OukMgd5/ggd7po77on/6rUq3qUm8Qk2NazI35sSAWxdpYF+tRLEpZQn3pe6xMDYzUn1SmYiqLOWZuKkOxkvGEq2WxOuWQtYEJ7vuuvymnnG3RtNnvS7mYbuZ421yzyP4mz4x1V1bVqUE1pjM1xCgzxow1y7xP3t+FlZmE/vmWPST/RVx4wUi4+ODaWB5zjmFyrhbIctwIGyt1taTJEmGTEOOHBwUsPrwo4NCBQwGHFi84tCBoQNADQQ/kiMEdMQgyCTFZIpBHTL/Uqb6Sn9zTHnnkmZvJqWrm2fpXq9Xd+lryiwWERge3v5495TA/GDsu6fybMOKKoPtpxMybLcreftn5MKWnuSkPJ/4aI8eEWDMCwm9vj9bXLrTStCkfKYbdXDM/NLbY9696bHkoHBspYnBsEbdxbPXhRDqHpU2TJ6tCopYvXrtSvdrre87ZeOHAOeHzFVPGm+/49jWuq2x0BtXa3XSQJ9LI2emYC2VRt1ABc9081o+2pv1yucbVUR+8ki+ubHXukPbkSj02SsBrnoapRiPpsHtsXyutCL/ZczmQS/ZrKdmnJzDe6PfQCOuKedBHLfcZZ1x+o20s9z7nrpjTNa5glF7ZBtQyBbIk5sKAaYnDfRqxw1ysKTtTWklzRGgVJ7jCntW33xXQ/li95w7Vl6dEQd90zanpKB079l/in286DJgiT3pKmUtMEeq1XxVNJK3DFnPM195SBkFZ5exN7INntOTzu35DwK9NR25dxhx7l3HubM68bNON67BP0pZ7B1PDTobOEp03G8fMut9jrtQ9HfvIv8N5UpQELFtvUiVlC+wC7mxmPk+6pqU+jKs0Ke8RJbfVR2U3YcKU51lJb66I2Cv2DGcMGBppJI5DtP4t1HTuUVlFutmaHv1SC/okOfbP54fmjQb8Z2O2ZYnf5gpcFopbskSVzusM5jpTnIdALturb9q9trrBYd6UOE5L86QfJL3LA6jGXfORNdxVa+92a5eMEREvQUD/EKaAWb/tx0swHYGXNE71iToAY6b7BFPVTt5t8Kkv3jVIBYqoZZXO5aI2dapdYz+r8rRlOhAhjcQVSOI6DC9o/VOnOTGWl9NY0L42WdZzL/Onxmf5urVewPm3WPRLL4ldlAbPvorFm0xt2f6fm+cOknjGa3sMwZKu0RK3dfedLqfHWm1xtSY+WWG14VqNvU5lOXHm7xgtKkpYfE5PY9znBlxibYIJk16J6Pl7wf3SPgZrbeFi4dNF1lq74v3Atr8s8fj+pldXBEyp7TP7x3lDwBDrkRjrGm9QaMa0jaIzZVB6SklZG1NgL1YBPS4LdfCphncRMEc5L3Hss50z6YO2Dh8uW4d634uAkdTsI89wZ42R/pox7rF9jDk1p6VWzgC9B6m+yZLs5PR8bvwayTL8dUIZ1C6oXyp7wXkph/uqeTtz3qJ+Q18wb65OvmUzKJFKvszTY3OVttSJZxyP+7snWYhumUN7FFpOIzAtz9HWe4f1SGpnVusJo163W2O6ej9OcYuunIqU/hPGRUYvPIg50eHEertG6FV1yZq1++CIBHcPUxpB8YNQmxDTMGxPl/TSGeeoiRxm6q/L07BXhHIrZG/O5/RRGZinrMb8w6OUcKVt0YZ02byd+J7bPye+f2i6/ZRA2L2OHf0cHA2mDduiW6+Bx6U0evJhjhp6zBUz7dK+W0vR6XBb+Wtq9XD+VvvLd0l/BCW1lTzju+yW4XKAt9+lssKnvfYc7ccXPHlQ4QdVc6K4MpsJ2eYD/Lyst6WuzTJ6vWma2drCY35ODE9jrPW+/EK8ZNzjt7BjiCfq+S2fixLstfwESU3QqIbdf5dwuiI8rFzyqRSpwScR0KvVyVgiAPc4Y0g86fnc00I7rxFgDAq3qrI/jSA403+rxpuwU2e3C73OZZcd7QvXc7mNvMg2l3Ny6ak0jRRoqmCKGLrTiBU55xYpbXePza0wQr4p7yTTl5EXIMbXkjM6CIVn1aRwz/rOQvjMsyiuDGW0ylecCzpa03tzD65RhfSEMcfEMG/4CTwGjBibOwwRuSAWROt2wgVj4yhxLrHmbyl7guqLt3gV91GfXTIOJRa0UBgX/CU9f8aljrLcj+ZPGrMSg/u6jfX2rSl1WnPXlQfRWlbZB1J0RtPn50sQHrdXMJX66jClfRNlG66l50sSN16zt58fxIRc07LOLp1AtL1rCyLh8HPM0Zk2nBg94xMmHc/ZdMQTh5jSph6d9cwl6S7L3hCXaPl+wgV9Vm/mCdiUOW5jZ6X7LDssGOE5LE8Omsm5okppROSaenFPrIj56O9mOsbt/TyCxY9ZaSnZyeYtGLM+7ZHauGTWozMQ3322b722cGz5dQdfPVIbnfoxenp/4g2knxj7Q5TKf0/ezPj2YC3/Wl5TuYfCxwf02D+aX5ZWY10/Mv42/NL8O/7+t/kn05/jbKjUe2creFh2tZQQ/0yu0//CtGk5bUcr2ThpZ3rJ3P71xvZt2gjGxu+kp2PsxL+AAVNmk40cbRGyuS0n9anlotzaKtLlEtXRZ33/FdPWbGCMO9IOAedFIoNoaZT7xDbw+dZPjRlDsUajjM59i+ypJK75zBaipxuDoYHYFjFgzpvyUrWal4pPHLg9+zeDqvMDlqo//K4S/4o43h8s403LowCLny2PNfnEx1UYMMT9Du8+5Bao9l8zZd/dB592oFz57LfGlBOG8qpC+xpaSxLmHebtM7FmvN+4PdQ1TpXzh/vyuqL4U6H/zSevnVO0u8tKi6qbbzwj94EWz9sJ8iJ3yhu9uyz14WDSz3vvGpXLxQra+SIsXGxNUC8toGuW4ll2WX6Xx6+wpCG3uZZzYysb4+ONjeOz/X9J+Ng45Sfr7JWMYUW1jrl/v6B7KTr1/zXUS3pMzTfNN9zPBFqPgiFJguVeThutzIXDOvKlt/XFCqlqH7U9/Jrn9TlMTFr3oEdPXHfGGMt8eVPzeD20tqE456WQo1oTMda2io0Dd29OY/tyzfsGgzv29j9ChvDG37WvkDvoe/QImAsk9N1LzjsuL4UvYnrOcezdW/PUcYFGWWNBr2N1POGWn9zypG2pIZRbdpRvUmABiu55vZxSdxgl/rVZvrY5GfLdZZ4bKcLGackq69Ne1X4vb746jpLf2+YjHvM0nEssxEHtcYxy+5Hzap8wSx/iEx7oh6JPmPR8Xy27uoN9ZrK9734u/KHivHIRpkCO2D82p08rsb6KcZHbyAWbOZnrRfEgecWYlSTbrC3/rsibw+OkqKTUj9MujYDpD4BwviSvuGfquy+VOhh3ITl2HjkeQcD8lLHhyv3eXItOIZT3rPwO9FPOqmHMPfrZV2CufObXzIwgpXYJe+WXPIinkTC/fizx1eoz2sqYnjh6sVIrbOU6ezJxLq7JYinxLZZ/mdDZ5Rj3uoMom9I6hS5HrhnMK5xrpl/eZXfEHNM9U5dwMk52++KvprgC670zNGxLBODtyJLj+un4m+8DiIaQZpLd2pFNfNLtwC3vdlJN9LwZqLwjX3zHukd+p1eSb5F3NBCf89NSDB+U9j8V3CqUVPq7Hfe+PXo9NrWfkEYWjZz68j6bL46eZ7FjesEq6ihZOxtNZX1+HYtriY8ZgVhj25DK+JTm3MVUhzmVcovtT3vgjAm8D8x7VBLTl3nTQXaiB6Lt45wv9U0t3XLkKak8O5PoVaDBwqatPZWUM7Th2z+rpHn6Qzl6hzGTa93NlxX6pPMcpSh5duPUt7w4VRQGQW6NshBjkoz3/IYrvx+Dmfk85cxqbLdnQ2/ka7CoaZ8NtWW/PhuaB95IYsBfiWeyX4sNghEhtRHzIKDHhDGTL8aXY9XtOTnqq9oLBrv0j3KDJ2y1bDPviIWCO2JSekcs5ug5u0V3xEi1c8EdsXN6vk+jGRAWLxz1NG/GxqeZaVNCrIO21vBljRdhsr6SgDnpIM1Xc+ltDUyp/3Oai/tGFp58Kf8e0+UgfMm/mD3b/t5j4+j+MAHj+gnnJ9wP+FB8P+Bb6ssZlz33A9BnsmR48H7A3/L7AUX+GZdxiXBXetrFSe5wLd7ulwCYi+6uc7y8oeEx2nYJ63SFd9e1bSXaR/W4TwHzrlVI3W5jn+q73jvxsrJ8SUvrlkRpmjHV3se1MMX/92Aa96YTOV5od2YUp43m1bdZRksz4d5G2os8iIKw5gr0OC94Ir5/BTiXaE48Dt/KbMohi03xJidN/GLEl+V79BgXuwQD5eQ5xjjyQVB2ie1XJi8pmzLZXMkmYaCFVqn3WNY/jivVnTM35ZlPo3P7pLR9sx5nrjGhTd7Ht5XVgMHmkx3fHBD9zYHFHjdb+KTHop+5V3EcRWCc22VPyjNYR3IjYeV/tZ0DcCVfE8V/fd+bxyQb21rbtm3bto2/bdv6bNu2bdvq6p2amto3yec+1eeeOdN9FZcSeX+OVuIUAD0UWXop8ujDAPJZoChmESsoYZuimr3so4YDHKaOo5yhiXOcpzsXuYaeXMfb6Mc7+DBb+ASf1bov8GuO8Xep5E5pkDG8TCbIRD4mk2Uun5Alspsvy1G5lV/LPfKs5MuL8nKte618UFrkw4ph8nHFcPmkfF5GyJfkyzJevipfl4nyTVcmU1yFq5OTrsENkgtuiBsp97oxbow87Ma5SfIIQtyNpx9jLRexnoWso03Rj/8sJgOzgDWsZS7z2Mx/F6OA2UzjDMuYzwK20XHMJBx72A0UYAjUEhYzh11sB3ayAxjJCMtxoJnlAi0ICU7TE08xiAkUmxIOa/anmUYyHKCe/dTRgzQxahlDnGq6kyKPQvqQT0oRUxTSiwrKSNKFUqYrt3IMtC7fsppAGfygjWEM9xlA51UM0jxIQnGKGHHFavrgkUIUJ2ikGGEDY9QpYykxoqPFztETO53pLAlKyFBru+2OncF0mjh5JAlHlharH2T9di9kqLcbEVVpaq2r0GaJ2R0kKbXTx1RZ2JogfqetQ8yvC4ftLajLqvb8VeJ0DTrSqlP2lBv2UbW92keQHqHzjiaumfI/Tq3+rMlOd9AzZ+3uQaXuK9xtN9UTjx6axXYv3WklRT6TaFAMZggDGaAKZQuKgLNM5BDjVZ/UCkC5CTSLFLAXRxXdqFGupC8oW+AsN+q7oThWaQWgXA6aTgHnmUQRjhnauZVKptCuvIneCq3XJ6236onAUc5xhCZFgwIG2y6OU8VKltPX5uzNFqCb9axgIPu0aoCOaNVU9St1BGxuGA8MVTXK/z7USm/LScyzFWsUrfynMYXRjGEOcxnHeBbo+v9N9GIJMAyYDkxg8b/8vxJWswro4oNgnMxYVgJLWc4yoDvdLPuCZh4OT9MF41Zje8bSPuZZNlDBesqpQ0gjhoTpfHqSViQV4mcZpWQoooQRytVsARIBAm3Ajxra6eozgM6r6Sx347HdX3c2SZzmQMU2KtmIZ/4sSpmGEB2encM/K6rt7MVkEdut+GcwrcgnQzjyrJfQ3VSRpcJuxLNZrEuRDu4gQ4mdXoK5bE08rNPvEL/OIrIuT7ULVqnF7zCdtKfcsJOGTlsXOq/CdmmnpdqfNdPpDryctSWozJpLeG3LOltdDNV2v4OIGXZq9mOA6f7GhT7X06bcT/Uuc+qDt+tIsYK4YpGqBhpN9zBO+dxCk72L08ecFuOFmsPZYT/TUoyk0WoGU6D+fKso0PoCRYvmEFttMwPYZHur9/ewVv02UsxkBo22brMibmOKJmKs0TSQYmiwL4AC9dpUN6nqZZ6Q0sxjBRk+ItsQ2vgNv+X3/IE/8if+zF/4q1RJtdRKnYyVcTJP5stCWSR7ZK/slwNyUA7JbXK73Cl3yXPyvLxCXimvlte4UW40wlCu50Zu4mZu5TZu507u4h7u5QEe5CEe5lEe5wme5Gme4Vme5wVe5GW8nFfyKl7L63g9b+BNvIW38gW+yFf4Lr+Q98r75UPyYfmMfEe+Jz+UH8mvnefSrtw10QbcjWjijy7Zh5iOcU1PM+F7yeSgf3lM6ZjW/FfrQ2vbs9jfFEMhPgeUFxmvABvXAfh6CzkR3+WPB4yPAXg3+t6ZUN0lf7w+Yo5bje8GSLzH9x6MqHvcF1YXf9a8lxGEdzs54X2GnAj295rQ3G/yx3eEvPf540cC51PxL0Ts62sR3ncivB8Z/0Lzd/G/EArPaaboNLwCzVLN50G5mvC7xitqB3Q4yyHCTyeiK7z20HMvbD7vFRG1wyK8MVc8T9KccYU3L6dribdK+WPehpw32yDHe0uEt4ecSLysEy/3Rjq/l3PQeXhXd/y5BnT+eXpvhPdwoJ6MePs8ORH5MXrdP78/712aH4io+xidROI9HX69iazS7yniRiirdj9T3qRa2fQK47HmfMd462U2/4Rq4UHjR8w/YzzYuJdrVz5meuhltq4eqpVNbzT9R2XV5vzSeILxQONCe1tps73KdIFxtTri5phfY87LjFvVEa5xf0H4k73tb367+d8wxzPHM5013cd0m+kPGj9m9X8wvsacQcYjjcdfvhnjY8ZrjLcpC7+/vCvj/saNxqXGzmZwptuMT2uXF/pJOgHHDN6CUMUfO/rJGfVT0/+J6fgSX6YK2GIp7Pq/jQJ2R+gZHAlqlTNAISBcY+e7S9mB7wsPaq3EtOMfvG7TyQB42n2UA4xsWReFv7Uvuru6XvvZt59t22b//9ieaWNsKxgzGNsMxrZt2/bcnJzUVD1l5ayz715bVdk5CMgo1tsECxatqKNmt4Na6+lWv0t7I/vSCjQSzFu8rh9dVi5f0I8J69fNSxn++YcsIIyAYkrIUEqWTpRRXqBGG6m9COfPrevHlJWrV/SjfdWKtO7/161emdous9RnbqlquEW1aItqvJF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"/></switch></g></g><g/><g/><g><rect 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") 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rxI/iZ+M6pQpA5HppacNKYmjIQJwsC1C3B/k4CBd5vwpNyfvBDGJTWHzKy6CQGZKGigHFOCdka8Sa3NGNDz16LADefqxIIkFObVf4odXGgbtEJjMmgEcrgktq+vh637KsbjXACtGxu/UtDBIjKC2N2buEFQJ2phZhGq2JAd11NmHZ93sMJENWYDrXJkcSazRneyjikaSGomhRpUyTkFNZvCxUrqlveSSrW89/uL7eqtKT+sAnnRN8XPDZTEmfEzAnmDOukN5Yv1mp7LQLk2ZvO1VQCnFIP0PJSAgCCIcnxl2LvsyYNTyftVTpnZzu26NiJWxXqydc3Vnw1RIBkfgntpsf6M/R7KA6J/lvZKbq2asJ0LwQYsuVMqYZirQlOgJwEtXBSI1xoinDCwX6dUs+u/xxyg0KGeL3ikYrTBt7UU78JJfXH2pBNwXjqPbzf1ndqqL01CXDTuVqTADnyE+NmpefKEZBrpRHK7WrcXzR4cFG5Qgt5F0m5NiRj5ZCmLvbQfZwscarQMlaupCZM90KAEB0BzFrIDDSW5T9m3WADxBaoBRJCjTamvg89g3VP0mvtbBXTJ+saTqqUMiMOckpdxlL6k5rebCpeoftKJ0D6vdlcrUmADBS7hhWSgArkLDPTMpXysY5RJZVCgDjc4HgTkpow3QMBUgUE56ou/Vc3Jv4N7+BcH9O3B6ouoCmwbISxH2UCssk+RDtWVqfYdvrXERL0hxMz1pTQn1xzNgU77qmBAOnnJnO1NgES/IiqQxfpBAAym99j6iwHPg5+AvwRoH4CtDNxzFhui9waiuVa5GFGo3O9TLsmOQUS/0YcKXl5x74zMeOjTJilcYm5d8v+OAHGzND/XbPqXI0tzJD7/BQbYDdEAkCtPJfoyrGfxeT8tCCtyV4VOgHOwXVomWEDsLwHx9zfa8J0DyfADwcSuad9QuZdTVpC+pFLyCaEVoT4RRzS+EPbg0nEMocMPfeuAWeulL6u3R+SW+hEAYR7kZ6uVFnTBjiEweJztQUBsujxciNQVgt2qutOXBU1eSyGCBDnBMrI5BZK55BBRIt7geZGenp7xPehmtxalopF1eMiEwgVIzpCJOE9adlQ9Vq1Bbkfpxji3WJq5qXiuFR/SDSgvW6XSniROubQ9aUQYKh/2eZqCwJkUBRlfaExOtQFvACpqXtoqpSYNRb7WFaNEAGmVL1PWeyhOEDicAh2D0lNmHZjqDUMIuSdmTLPOa6lcgqhPKn5I3M8mzZI3Uc6QRy0rO8TjjHXz/WwiHbm9geNlq5yz3uFtqtUKZ0AQ7glz9VWBMgA2O1aWS1wf7ayVYwtlpqyloQIcI4r+hA+oRAU7DOEoYSkJkxrJkAy4xM7alX3Hlv3S/w+JX1W7n6EcmiyucSXIKY4ds4+Te2PFeeGpy1zPjXMI+e4rLZqJcBuLNFztSUBDql8OCESaJ4iJeStJHkx9b3GJESAc8vThJ5L/T9dXbuWXKCxmNZMgFQAsap3L7Uh6rCihpxVtYHNKWW/thYyyFzN6ERs1ZXc/Z/SH/Jw8kHWQuwz2XFKlNoJEEyj5mpLAqSToUKdVH8mE0ZKNeOQWnXNahCxnqxD1SDY3U6tWm+9TKizyCuphZhMq7Bv/7qaMO36bTnuvL8tiFzix4Y+sfHBUUQLNeTmpAccGy+bIhKlWza3Me3AWNs5fqcazEuNhq4nIs/L8YDENqb0J+T0N+aAlti1rJcTdsK3TEtqHcqsnUpsLGqutiZAHGFwiLG8wVI9vkqoXUcWD6tYrp67oXqAOYv38lySiz/QWDykYsLtfkhqwrQbB0HTOiMJ+RjxPCxRLhiweZNMgQDhpSVU8HhO2EGuPocqWBAOQf/Wlin9OSqwiYmtHLP2GHke1Sus+OCpFea3GEPUXG1NgADDCc0qzIoxno8WCXVjxcq8zr05SeWigaK3FCql8nqMXn+IAMmXiMt4DiEYGfWnrlpB22MOMN3za8G066/luEPJp5NsYDeKmUNyNXIa0MLmJHe+SKs/FFG18s9+rXWGwaloTLBd4rSCE5vlbTx2f+h33qfPGT+OJY0vqT98Y9HA6HcQrPhIsznLITwnV8whnvg4G2lBZW5tpuf0f9O5KoEACYonOB7Vn5ZUl+wrN6ouqshrgUxRMZGFfY6QTBgPVYug7tvE++BtGSNDBMj9uYplUqAXfb4WPirEYcVUFa8F026MrwvUZLxEIAVYzHwtdQ0ewzi/aDd5CBvVtVVtPXdf0L6QaUYnbOY5Yzt+MtaQxhCV2alaz1HCFKxamVP6TViEVRot1K/S+tONmU0BoUhaMAHpKu5TcOq+GZRdYrM/9zuH/dfSZKXa44fGUsRclUCAgBSqVsAHGltEbNwP46EmlkVQvEhU2Z5qX8NOQv0qK06RNiGU2NpnYwSIhxu5H+fEhVFl45iAK/m92qLDMS9bLZh2Y2GHitpXC05V2DRLEk5+nAC1rF1RPZTXlpyhbBws4XRGsnl9ssGeiZNKjjAKMkNRHFsLH/pj1T+W1p9+90j4zDfs+MZY+J5YeXpT1imqcrznOU3hYUpVCJKNxGxwredQVIAUdNo0xQmTRAlW3cGU/hYzV6UQIEDjlGHVyKI6AlUSYgXieGPgYsq9oPqznEKG2ufkh9E91I/UE5tFgJBeP38ipMrLMaU6BE4C5ADUBVUZI7t9YpBSNgI1YNrNX6iaAr+vpVaMXasQCI4uMR/42DanXHfuAY9EHKV4Ny2hAjl4a+H0wLuCGnWqQKx4SWp7Lu8JRa7R6mgprT/9/j2lefeo56iF0z4JKUgkPkXY7KP10IW4we4KEaXZQs8M1TslbOqybVmtKf3t7ilirkohQEChYnmoNh2FZ0OkZk1CyK7CtWSMQZdNBeyYHdJV24z0Zw3MNvkT2fHG2P66JiwC5LRHyqQL955DqALu8ZxqYjLin6691ip30zU71YOudEz70zOUUowNBZiyYyZLx1bCrh3vVC3YbNkI5rLnxI4P1T4OOVqGvKhZq+CoU33RBqpdbHWo+VLeDe4lRID7rFqe2KQvHxhUaf3pdxNTDw5/qIq1gA9VLzBZxG5M+XbfqDEdPbaNKdRtsgnh9D51HZHHlTmwhG8oJ0w8dGO1c7qdIuaqJAIEoFBxRD4U7JRjK0pz8oEwrUD7biLQk7+kLcbLRwcnFtpndwmREM8H+XHkDwm2NCppjxXA1fdbBMiHhOoMYKBPbnyoiWvh483Ojr7yb9hNeaGwlXCyxfVXVxLoP/sZTa7Vm8R+EdV1pWPa724ofKN/DR8GSgCFPjio3qzYvInw/b/baJv4Py3E5VmFTXM9N9QOtjziDrXghIbKipOKJSE1Zf89Q/3MiYLTA++M/iij+cAjnI8i+XA5PYa+TZb6s9+v0vrT7xsbebxuLVUo1/FeUw4L0wXfPL1B493mRA4GkF8ojIk5A8s5DjZsalBnD33/6DPrgtO4dZjAgWrI+3rzuSqNAEPGV4Dmw80HPFaoDk+lechhCYH0jp6oDw8RICfJUPHauWN4U5uAN8arL/SskjHVfX5uU3mc0+5U4eW0YqGmtte/D1sNqmjCTPrCBozT39SE8HP6Rl9Y09YGakhrwDeEROus2xhBhcmmAxsh94IFHrqh/J/9NrHBW0Hl/WtK64/GBOIi7V3MeMEINTJjwgwDTmPfbLDlu8RGeq7gf4GaXhcaj20Xchy6d/O5GgNziWoQY+CFIvj5YKCGHMuz2W+fBYOB+UpjD038HRUb3pGcHKfIEAHSHrYqHBPG5if22a9sS9PkcEwoFVONBS8eicVRrU+RJQkQFbVVd29IvTdlDKn3hIrxxpQVQ32HN2iuNav7Tlo+1HKxG7jS+tMfDxoKNvOQWk7BtwFNEL4OuQTHQb7Jlpf+2DPGCLC7f7O5GlusWxAgR2Z05VZBTVRDVuqmsYnA2w5XZL3jHrtP/87ulXboR0qWGt3OGAFyPQTLS2K5p8f2mwXIsyhEPNUWEHpWaZha/WR943hwt0a1hCdeiixJgCFVP2RtJYlP6fecay/ZeB+jKbAExyliLIcEmxOnwZC9fErfeM+wc+G5nJr/s7T+9MeP+hKscqWcY/OCM94SoTN8k/FDIGTDsveG5jWWALl/k7kaI8CuoKUeIMQY8gybssj1PXg/Wi8Rp7+pgbaQHycr4mTIGp4i2IpYYA9rVD3HpdwYuDaGALkVlSMv/i0T1RCc9Ogvdqwl1WklYTo0Lby02E14ybALk52fHS39D73QSxEgKkYIWb97bFBQuYZsbRmWXVQTjNvyHsZ2FaNWA0/yd/KukTQiRtVndQw3fGz0nA4+GdVz+6LS+tPvJWsAmydhYGCVKtjd8B7lu2TFS6a2N3Y95asIr6KvOCqxOT/ZQBL3FALk2avP1RgBjgFS4++8kEwgLsJ44rETw0Or06+jQ8eoy26XdFQ40+BmPOfEp3Fi4UBufSF+J0RWZI7HIQfHHPrMQuzsJrwEfCzIn4rqg2BVjOix3mQ55rAETHOMw9vIiwAhDNij8C7lBMlJgg8mgf9sBLB5sk5x9uCdY1ONeYGPee53jpGV1p8+2th+MdWwQaM2InlaecfZjIATm3824rznOBMRo4mPw5xQk7yznbe1VebqEAkw7zRt1xpzh5o4JzFvNxp/siPgCDgCKyPgBLgy4P44R8ARcAQcgTIQcAIsYx68F46AI+AIOAIrI+AEuDLg/jhHwBFwBByBMhBwAixjHrwXjoAj4Ag4Aisj4AS4MuD+OEfAEXAEHIEyEHACLGMevBeOgCPgCDgCKyPgBLgy4P44R8ARcAQcgTIQcAIsYx68F46AI+AIOAIrI+AEuDLg/jhHwBFwBByBMhBwAixjHrwXjoAj4Ag4Aisj4AS4MuD+OEfAEXAEHIEyEHACLGMevBeOgCPgCDgCKyPgBLgy4P44R8ARcAQcgTIQcAIsYx68F46AI+AIOAIrI+AEuDLg/jhHwBFwBByBMhBwAixjHrwXjoAj4Ag4Aisj4AS4Mu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"/></switch></g></g><g/><g/><g><rect 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PHweVxgf/OTYFq6lNKjIwZw/VbbhMhFWU9bkrwQGCo5XKEAwE3S/4JyeVbSgzNbTzN8UMqlHkK7QN4/N7X3RJTbYKnrMjtIWZ2cHUbJ2Dfl6GhLBA29QxDAs6obrmN/zBncfXsdhEQAW537UMz/3hVf+8CgT9gF2SjnFpeYGbEHfry6oAdrn4GT0HUp4RrhISbI+/jUPNep+pD7ecLoSBgQXwf5E/FipBQFBg7VOxWM7fx+HNAnYzNNCbHuZszxXJxRPFDYDiooKrGOYlbtu+pWbd7bFWFglJMQ0JouFl21YdkHdBUxGyOkHApG+fUvwf1VxgBEWBhQBfcXCxJMnFhxLj1UVsNhQPyIUOJL5AYzjCo6kJCbNjrWzZj/x02S0iQGENue6cKxJyF+mEzp69PdEx0buNpDpc9AFud79kamxLkwg2LBOngxK2vS/Aq5rZJKMNQ4RZ/qwGNkN+WCiMSIRBUfQiWbSJwdFX49raBqR9SkcIjdgQJmzPpz/xivAyHW8tDW8aFbetVlQqP3JdjCHbRG0YIOtTf3MbjkyCkcL8RgMJuB05kmikhOCI9O6IZSGlfBJiC0kae0Q1wIwvdMc3TOecXgtCbwk2LlFl9Cr+WQhabUojouP1xCww5w9R9czt5mPNAxOmjlGCLwssRtV6OzG08/tgJHTnclZ/KmVfoWVKXcUjBQah09h72rbs4ws494IgAh67sit4XAa5oMQdMhdtJyNYG8dWu7AOaH/Tq2dxmF2qEsAyyxnQJN0iq1+P6H7NRdbXB3z/o8Diyg3i72prbeJrj3cfhjRduLrnQDirSI5wzFen0xhQONajJscFezhH36V1SgtiBRwQ45oosrG0R4MIWTMMdhACeiWRkuZpzcDmfC+8gmwi3M+xa3FywcWEXJOSC2x6OIARiE/BeUuY2Hn9uJD6AYPg3WVg4jNQ4casDI9LAYeMDp2MqRxeSmf+iJEhqSwiMhYAIcCxk1a4QEAJCQAjMGgER4KyXR4MTAkJACAiBsRAQAY6FrNoVAkJACAiBWSMgApz18mhwQkAICAEhMBYCIsCxkFW7QkAICAEhMGsERICzXh4NTggIASEgBMZCQAQ4FrJqVwgIASEgBGaNgAhw1sujwQkBISAEhMBYCIgAx0JW7QoBISAEhMCsERABznp5NDghIASEgBAYCwER4FjIql0hIASEgBCYNQIiwFkvjwYnBISAEBACYyEgAhwLWbUrBISAEBACs0ZABDjr5dHghIAQEAJCYCwERIBjIat2hYAQEAJCYNYIiABnvTwanBAQAkJACIyFgAhwLGTVrhAQAkJACMwaARHgrJdHgxMCQkAICIGxEBABjoWs2hUCQkAICIFZIyACnPXyaHBCQAgIASEwFgIiwLGQVbtCQAgIASEwawREgLNeHg1OCAgBISAExkJABDgWsmpXCAgBISAEZo2ACHDWy6PBCQEhIASEwFgIiADHQlbtCgEhIASEwKwREAHOenk0OCEgBISAEBgLARHgWMiqXSEgBISAEJg1AiLAWS+PBicEhIAQEAJjISACHAtZtSsEhIAQEAKzRkAEOOvl0eCEgBAQAkJgLAREgGMhq3aFgBAQAkJg1giIAGe9PBqcEBACQkAIjIWACHAsZNWuEBACQkAIzBoBEeCsl2fWg+PbuYSZ7W9mVzazs5vZGcxsXzM7WWDkTzWze896RhqcEBACm0JABLip5S422b80s0PN7KIZLR5uZgdlPK9HhYAQEAKjIpBLgCc1syuY2SXN7M/M7ALuxH9aMztNtSn+jpn90My+Z2bfNbP/MrMPun/eYWY/H3U2anxsBH7PzJ5tZrfo0VEbAR5mZmcJtHmImX2xR196RQisAYEnuv3Vn8vfmdnX1jDBXc8hlQAvY2a3N7Mbm9kf9Bw0hPgiMzvKzN7Xsw29tjsEOPy81sz+vOcQ2gjwM2Z27kC7FzOzj/TsT68JgaUj8GVnWvDncX4z+9TSJzeH8XcRIBvQP1eEdUDhwb7MzDjFfK5wu2puPAQeamYPGdC8CHAAeHp1kwiIAEde9hgB4sTw8EqdebCZdZFk3yH+wszuZ2ZP6NuA3psMAU6cx1WHIW6BvvzKzP7VzF7qVN3/20PVrRvgZEupjgYicGszO0+gDfZL9rSSIgIsiWagrRC5/aGZvdjMLj1y33XzqEQPHOHjmWj4m+gGD867BmYK2V23gEpbBLiJz2gVk3ydmV0rMJNTm9mPCs9QBFgYUL85nwDPZWZvNbM/SugX5wRseWxe36pUmj82s187Z5jTm9mfmtmlKpsfhNolqERv4t7velZ/nxaBU1bk93UzO5XX7W/M7Gruexk6IhHgUAT1/lQIiACnQnqCfpoECFG9vYP8OPE/vXJYeG7lCfjpxPFdxMzuYGZ3MbN9Wt55rFO5JjarxyZC4Bpm9oZAX680M8IhSogIsASKamMKBESAU6A8UR81AWLzI0wBb8+Q/NLMHm1mj3BhDn2GR6D0Y8zsZi0v36iKLXt5n8b1zmgIPNjF/PkdsI549UqEwJYQmJIAt4TrTuZaEyBxWDi8hOSblSv6DSq993sKjfA+1U3wX8zsdwPtoVYlthB1qmQeCEByqKd9QU2uGL15rJFGMR0CIsDpsB69pzqd1fsj3p4EW17JzD5beCR3q+IJnxxpk7ALbh2SeSBwjLP1NUeDRiCU7mweI9YohMB4CIgAx8N28pYhwNAGx0B+YmaXc+7vYwzsGWZ250DD3zazc5jZz8boVG1mI0Amn4t7b33H5f3MbkwvCIGFIyACXPgCNocPAeLNFxLI6YgR54qnKI40Zwz0cTsze86IfavpdAQ+6Tx6m298I5K6LL1VPSkElomACHCZ6xYcdYwA32VmV5xgntgdsT/WAhm/2znc/PsE/auLbgRIuXQ+7zERYDduemKdCIgAV7SuMQIk4TVENLZQPucrZvaJapP9t+qm8QIz+9LYnar9LAREgFlw6eGVIyACXNEChwjwWDO77IRzPHOVCYYbxRjC/LBjXrtRvQLVK9Ur+NsPXOUKqlb8p5m9pbr5vsnM/q/gYOiLPpuCfZPg8pAQeH79KsD8qmZGLlbsobRxCjdWkg6AFweUN7rwlTGrbKyFAH/fZa25irNpkvQBXMEbezffwuerhO8fq+obvrnKhPQa999Ca0Q8K5VP/DXFOWhtgrevnzCDb7fNRo+HN+nCOOCC8ckboBBrjA05R3C44vdAmNaFXawy1Wfq5AxUn6FN/Ac+6uKZ8Vr/aU4n7llyFN+q5b0/rsK5yPriC/2SCCRVSCz/wI6H2Rv53fvCd1pSKHBATC/7PiXO6j2H3wYYft/tOaRD/EC1L6Gd+0LJAZhZaK6sK/+E5KzOO70e85nct8bvkm+BfZJMOuzpxDF/OGTuCxEgKa8Idl+y8OPA05R/iD/MEQA/2qlhuZ0OlQdVIR//5DUSUjGfrkoHR/mfv3Wbcmq/LPQjzewpPR2HQuNL7TvnOTD4h8gLY56q+WH8vatmwneRKmzwR7rYV/87CB0KSOf3tMTGybYEEfvCRl+KRKncQkpDXyhK/PjEcfIY4/FDlkiOwEGxKZARZbLIlUm5tFjSC7zK35nYPyR6f7fRQaQ5wvpRuouQq//JeBFs7pnxfN9H/7F6kQTzbQLGVx/xO0HTBwlzQQiFpbWN7b1ujyRuO+ZHkoNNaK4Pq74/9qemnNf9Jm8YOIS29ccBhWT+e8SZ+wTIRGBiNtWlCmWbyCrj37py58OtCmJhEYbcCFMIkJRiqIDZrPsKquO/qm45hLTkyFQESDYgNqSQjEWAHOZI4OCnccvBh9MvBykSftciAtyTAK/nDs1nSwA2hQC5ebBuZI/K3Zj9IUDg+BlwCEq5oU1FgDeNHFCa4x+LALkUcFhj3YYKN6u/LlC2LIUA7+UONENCsNBAENdMfPvxqo0me6MGpNDtEoUfDZsU6sOSwgLTZl/bZBcBQth42w79oTNn1BV8jNhSU2UqAuTGw8c3BQFSuJd0fWwypYTbOZmQEBHgbwnw7q6iS2rVmC4CJIfwqyL1IYes5etdFioONG0yFQFeqNqIP94xljEIENLjt4HGqZRwQaCyT45mwe+7jQD5tgibu1OhAaO+ReV7nE+AqNE47S5NsDVgsxmrggW6ZDLA46yTK20ESOo31FS+PSm3j+bzlCdCRYXuO0WmIsBzOp18aEwlb4DYm1BzXCdl8pnP1KFBIsATCPCW3s04Bc42AiRvMO2GQqNS2u56hj0CAmhT2U1BgNxKURF3aZZKEyBamGcWOmyHsCbV5X27FiHy9zYCHGNNSPJyMZ8AIT9IcEnCaR/w+GHFBKMxmyIbLeyPER91COpe1AFUOeeWh4E9JqT9gmBzHXZiBHgbpzbw7VKoXl9ROWr8R3VK+ZC7qmPP2NfF3l25cthB/90WpsIYcaBhkbuEU9VBLQ9xIm86MfAoP+Cu02uzSZ6nMkhs4ylJgNjtuAXH5IfVWF7t8CXGEay+607EfA/Ml9MhG6W/NtywL+G+JT80ZGs2QH5TH8m0V7MmMQLEZMH3jnNSSHBweUnl1MZNDnsO60b5ITQnOHFwwMJRBlJu02KRZYpsU32l5LfaNYaSBEjZMvaU2GGb3yjOIiS5p8oP+OJMgu2V3wV74184RzK0bTFpakq65tf8e4wA+SaoNeoLZjo0XYwZxzW+D4RvgcIOXALIVxyq3Vi39VafAEPG7ZxJ7OLZWK06xgJIGJq5Pqc4F0Asj6pOtRhaQ4LzCgSUYkuo348RIAvmV1PARoat4qsJQHLDwVmJH35ISCRAQoGhMoUXaKlNhUNFLIECa4aqGXypatIlHDiw/2KHam4a3CLOHYiN3BoB4igSsiHh4MIBDg0EBzBsLWgluuT5zonGf45bEoTF7SIlRzB7GiTIbyO0UXPAhGRjXthd4yz1rXb1w99LESAkAJGEvFfpB2JEhZlS4QcyxIGHg3PIbMMh9wB32UiZY/1MaK6Pq8wNN6/WEo/PWr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zxgx+DAOl3TI9OfEtuFaFo/10JkADKIT1jaXP9+ryE0pphbBPSua2+Czl987e+9tQu6ZBimJZYm6l1iABTkQqUIx/Wubz/juI6JTcYkQ9CMQ35b6Grer0Z/FmwXPKVx6kBtkWAyyPADsu806eljGDqncCXlkMijtK+8IqCKsG3IOxKgDF9+9AEiJ4zFjQbLCDpUOaGKRLgOmf6Tgsv8WMRYCJQoWJdCBD/JlwiUATXBcU3LhG4RsQk5hycqkMUAYoAOyz7rE/7IEA6sLOLRIIloS8Ea36h9x+7EqBugOFp73IDFAFGfkp9nVayfrkJhbsQINVjqRkK58R/I0xPSIgOgeWUrxznRBxLz+LXs0kEyA0bnH05pIoVuXvCHK2KcDu+QaD8UqxAM6AqWrQvAqSTz4z8Tsj1RrT/b9VG0pUAN0UHGMtTicN3ibBi/uLA5iDklpFiBBOLWcr+RGzjxcpSCPCMLuSRH1uwKTxazJ8lx49wkwiQ2zCJOkWAJ8UAYyqIfcrSJwE25eXDcR4ji1Vwia4EKCvQ8Cp7R+QgmkKABBUguIAvkB971GJlKQTYdIolQDZRLurCcw86RnKH1SU3kkwpAiTpJI63vpDBmtxmJST2I9ENcEtC5SUTIOsLoxc2UT+YMn+rJ5LtSoCb4gcYC4Tdlx8gmStCfokpBBg73L6sCjp+rxKbx6bWsSQCxD+HPH5+eDSC4bJA8OtbCdmd8fPxJTeqeSkCpF2eoXwp6VtDBvCDAm2IAEWAq2XxkMBhkb+R8gbdHSmEuhLgpkSCiR1KURfwmykthC0jA7svKQTIoYXnal+IdRoKeFC675Otb0kEyCTEMrn7FkokyyRFTF3aZJMoRYAkLMUdw5f7R8IOtVlwT6lyrD1aBHhiVgRfdAPcggj7BeGzQpH9OVyiGycOJvFx22zUq2+mEAv0cS5DRuy3FIt4wgHgUW1+gA3fbN8QRzOFAKkaa3bqqQvh1Xwbh8Jdn3Z1SyNAohSEfP/wA8KvD4H4IEBfmgxmYrNcigBjTsklnzBiTyxj3wAJyxUKLo0+t0tqq9CcLTEjfO4OhTU1v6GQiwDPgtxUuhLg/lU99w10rI84m7EsCaw5nN1jAvGEQp59POIekYtzvXwsYDdlUgmQ3zHhyHwh0DZZbhYpSyNAJjlmvbU65YfSeaS4TIQWUCkCjJHyFxryhOUsaAICfzvixDs2ARKNhAOAL2zETS4sOeNflRUBpqF2p4aoHoTc4qDpS+pGzXdj5wPEipOb0br0T8Qs9aPF4BfJ76kkqXDrJhB5SFJxjT1fr8t6kbYiNrTUEgkQE/2QQQOnPSLhY/zi+zylOM33SYA44uOYizVeXfixXdjpNrsswQMblOFjEyC33FAMSHROnLZLiggwHc03V+4PhERLldSNmvpIx4RLjp/UmvWOMU6pYNM8+fP07wv6/9Chyy8Xuz3iG4mPZAnhWZloVrG9OhXXmJXw0W4PIZFvCaGfJdMrlehTtI4lEiBgYLq9evKsg8NJK+TDlho2zQe61A2QeomPiI+UL/yAQ5m8UxcOmTHQufjR8Fffj02A6JRCednW6WhSx18vJwJMR40wYdz2MC5LkdSNelUXltncWnw5stJDXrvSV/8tpdGGMlhrUpefDZ5PcP4/IqH+a5rZJwLluDnu5PaZhGoa9+fDq6gzOLLHJAfXWEYJXL5iCXdz+8/hAf9pbpZ/zP146PJLJcBYMssQ/l0spUoSYCwqzQnuySnkw7duPaFH40eBHiAmYxMgTz8cTHzhR8aplvGXEhFgHpK7uKzpKftIzkZNLzDYICNDyO2CFwuypLcVyBuLVfrkCwdN3wCuqZ1YrGGeQK/SMYFvbD3W+5ODK8Z+xHf1hSdfLgQEBe8ivNTwYoNgXc+L2ru6VNj3tykLt+8+pNTfNRKM3wbh0SAM3yoq1BeyRhD3sI2UJEBO2jxX0HdfuNGyGRGkOFXO4fK+Xbn2AYlICRpQl7EJkBP6L6tIPkTY8IX0KhgIdL0NrOoVAaaunq3lXlAla31Awmc5G/WquljSWf5OZJS9W8w9KgN8Z0OpjnDn4JUF3Xqq4EaAXUFIiJCDry6hGHPFj17FGvdVINSZgyuvPNzaQ8QPYbHXYQvQRsjVyJz4bmZkDdljqs+iSyVAJvjBlY6BhLZN0iZ5br2+kgRIvbGUKPwNyzySW0KG6+RWlU8RlnbkfVsJBiXoQe/mfTw2AdIdMkzzTBMSxo2FLoeUUCi3dVjU/y4CzEFrS1n00xAGEVyaJGejXtXD7Y8XipBRzWrNE8gi5YBKXdxImONYkOu2KZdiUVro46+r/4HIX1qLltOEEz7J7Et+7j/8gEPpoHJx5fmYzOyhvZ++gie3xFSdIOmf8ImEsEPxYp/qXGPyV9YAXyyZALlRcOppivjeNYJ5aQIkKj9PLrE0LSxaEmfyD3o9TNJ53uBWx8mXxY8FXyiWKSc4dA0+0UyBAHdwJ1d+bE3CWHGNCP14SV/DfDaJCLDdpsPzGW40/um/XlvuRr36lrlHV8eLRUwgSdY8c0yKJhLcclsivi3r/qZmxqGvKb8fqo5dnVN/LgpYjHIICGXNWNWFHx76Mdx6eB7lt8nzPfsQFs28xOBEv1vglQdsMcphv/KlDa7oz8muERMOlRy2SZbLM7RvDUuiZPYQ8OIFJjY39BtjtXXWtLl4Fyu/ZAIExFjUCv4WihCTC3xpAqR9Tob82EvKSqcSumlNgQAZaywYQCoO3G5D/oT170WAqWietBzO35z2Y9Jmo17VhS4N4ujLaRtDFp4qsbRuKxiToauGHEoKiXkJgUakKv6/L21wZd9HV8dvKkU4VKIeQf0CYa87iFIn1vQcuI9NaWCsMksnQE6ERLAIva2HYoTmzlMfBEgfcBLG1DpmuZnTz7e6N3r0H1MmQMbEMwtPQaGnlnVjFgGuQ6jb35kT3FKwjAxJm426Xg86u0PXGGy1GQE6qr0iocJy68NFg3XWdNPMqZNDOFbpGKdsV5AA6QN7PxeA0LNqTh9DZVkH3LiJNDNpWToBMjmhoLacBDGQ6RpppC8CpN886/BM0fSEu27xQSac3FdPhlMnQMaDVeh+DRttbMwiwHWrofvfea5Eb+4bUlFzVwKkDgyiuGWiy+t6+OOZFF89fkMlhVsqLyopfoRN7fIky5M9T6VIaQJctc2TK/YAfr7UNpgQb5SnVXTy9djKbeoa5BsRoBn+QFhG1bFoqwz3J61PAqQtnltogw0B5+FUwdSb25Qf8m0TCHA1RnQmnI65cRB5A70obh0hs3m+EQGmro5u5TDEwkHclxIEuKoTvR7rnnicKc9x9b7gPsM6P6BnPzV0X/jCcWDL2WfRuaGj42ZadyjviwBXB4t7VgY7xBbGCCdXuCiQsPd5PURnyu1LVvmcicmqWIUHRYBbICbM6LhQTm/rFNOQAc6ouEcQPQNjAZ48Q/FQV4TqR9/4c+0UOuig1JgQWIMAhz7WPMZbrHuIkUMQeiqe9NmYsWxk7WM8hh4Rg5ohhZsV2WVwjKePWF5zQ2bvxbWBZ0LcJTBaQ9/OoTQUSYUbb8hfFxeLUm5A4IK+kbCQ/Jv2eM7lkIH+j1vdaj9Bx8fFAb0nxkcl+zDY/IgAB4NaDQkBISAETkQAfSmEtkoiLFhGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOBLwalYICAEhIATGRUAEOC7+al0ICAEhIARGQkAEOCzw25jZDsM2mdzat83sH8mll1HwumZ298BQP21m+88QgnOZ2XMC4zrezPaZ4Xg1pIUjIAIcdgHsYmYfHLbJ5NbOX232P0kuvYyCkN/LA0M9yMz2mCEEFzGzowLj+qWZbTfD8WpIC0dABDjsAhABDot319ZEgFsQFAF2XUn6fpIIiACHnRYR4LB4d21NBCgC7LqG9P2EERABDjs5IsBh8e7amghQBNh1Den7CSMgAhx2ckSAw+LdtTURoAiw6xrS9xNGQAQ44ckJdO0cZnZs4L9LR9PPPIoARYD9rCzVOgkERICTmIbkTogAk6FSQSEgBIRAMwIiwM1aISLAzZov9VYICIEJIyACnPDk6Al0syZHvRUCQmCzEBABbtZ86Qa4WfOl3goBITBhBESAE54c3QA3a3LUWyEgBDYLARHgZs2XboCbNV/qrRAQAhNGQAQ44cnRDXCzJke9FQJCYLMQEAFu1nwNeQO8gJn56+MXZvaXBshOYWYEVD67mZ3ZzE5TK/txM/tNJtzUcWMzu6KZXdrMyFZwJjM7vctc8VtX56/M7Egzo40vm9k/M9uJFaf/5w78kewI/JMquVhexsxubWZXMrNLmdnZ3LjJ1oEf6HEuaDWB1fnnh6kdSSgX6itzztynCvN0Oq9wE2ZgfFszu7qZXc7MtnXr5+Rufhkzgdo/YmYfMLMvmdm/UjvTsdw5zexWZnYNM7u8Ww+sy1Ob2R/dOvhuNV9fNbP3mNnHIllV+C2RDcaXPw04lo5QzO9zEeBmzemQBMhmC6HV5YZm9iHvv53BzO5gZnua2ZUdOYVQvbaZfSIRbtIQPdzMaO9Uid+sikGGz3fpin6f+a1f/FpmdkSgjqdUm9y+GXWnYkmkoKc5HDOqt3eb2WMdMeR8Fyob6usnq3kHi1RhjdzAKxzC7KJuvBAMZJcqX6tI4/EVWb4j9YMW5TiE7GdmNzezU2Z8T1AKUkq92MxOqH1HNo2fB+q5ZJVZhFRkkhEQEAGOAHqHJqdGgGwOLzWz8ySMKYUAyZX4iuomd/2E+tYV+Z2Z3aO6QR28rmDD34ciQG5LB1Q3ub069JUb0UuqG8mDOuZ1HIoA6eczWxxw6hBx4+fmyKGnlJzWEdi9M0nZb/871S39Tmb2BfcHEWCpGSpYjwiwIJgDVDUlAry/mb0g8Ewag2EdAfLk9+pq8zljYRyfYWaPavnMNAQBnsU9Y3J7LiGHm9ltzIzn4TbSNwGy57wskmi4TX9/ZGa3cE+Qbb6vf0NOTG7T3P5KyJ9d3z7s8inqBlgC1YJ1iAALgjlAVVMhwDua2Rsyx9tEgDyfQn7+k2tmE9Hij6x0UhBhrvRNgDyvojO6Wm7H1pTnCRLdaRtdaN8EyPP0AwuPF2K5gstb2LZqdJ/oGHmFKCk8gzK/6DFFgCWRLVCXCLAAiANWMQUCPNoZmoQU+k1QxAjwqk7PhlFBSDAw4BkToviWM4rgZM2zIXhczOmb7tqQtfz/XBnqyJG+CfCWlUHLPoEOoRN6o8OF8WNAgkEOxiEXN7Obuoz03B5j8qSKAB+XM1hXtk8C/GJ1u3pboE+Qw5udgcvXzezXrgzzu73TBd/eGVjFhvTRSseMDpW5zhWMqj6z5uaHEc4hztCF38DKIAyDL4x+rlL9LnZ3z/e+zpDnUA4kfOeLdIC5s1WwvAiwIJgDVDUFAuSTMjQsAAAOF0lEQVT0ju7PFwxc3ulO0Zx00cus24zY1CG10Kmb72nrLYk3GTYxDEG47YXkK86KL2ea+iTAR5jZ070n5J+6Mb894cmWjfepZnbPyIC4/XE4+H7OgJ3+0L+JlzCCeZ4j7bpVLdalT6ysXF9oZhxqmgRjqPs4vWHdurj+zd5m9qrM8VL8lWbGtyHBkApjGPr494S6d6ysoF8U0GM/18weIgJMQHDAIiLAAcEu0NTYBAi5sGnXBbeDB5sZJ/Bc4Ts2Bl++4U79oSejdW1wo2IDCgmncMzoU6VPAsQlBPeGlXA7xRoyV3e3ItLQmDCKuV/qYF25vm6A/nghe26yWHTmCNal3MRCLxCsG/R3OS4SO1VrDYIPyY/dy8FROR10ZZ9VuUk8rPbd35zrhF+VboAtwC31iQiwFJLD1DM2AWJwgK5kJQc5y8W/thz+9SoT8ydXpMQmtBLMyNHntCG/VR2Yx/Mc5cu7KlcBnh1TpU8CrPfh0+7G0ORj2dRn5uF2gQLon7DQzfFZ7IsA693jiZOn7x+kToRXjpsg5B6S3EPOp5yPn18X6w/fP9Z8W+FwxyGvSUSAbdEt8J0IsACIA1YxNgHWh/omZ+adc9qOQcWpHn3Vzs6CMaQnyoEZ53F0Sb5ABNy6Uvs8BAFyM8LJvwvh46yNfolnYF+wkDw0A7whCPAmFbm8P6NPflH2LXR2kKgvkM5DE+vm+89Gyt7M6fsSqwoW49kWN4gmq1IRYBeEO34rAuwI4MCfT4UA0StxS/tD4fGzIRHRpYSwsYU2yMtmPLsNQYD4m+FL2VWwog35EWL9GtOLhtrsmwAxdiFwQle5S0Tfx7wTUSZF8Dm9W6AghzssnUsIt0humTERAZZAuWUdIsCWwI302VQIkOdF9DBTlmdHbgKQxGsTO943Af6scv+4YKJxxbou3yhyq8JZ/DrrPq79vW8C5DYUup1ndPHEougAudH7FpcYquBLmvIsD/6hUHdYdH4+t0MN5amLsHYhEQEWBDq3KhFgLmLjlp8CAaITuXCChee4SG05wYd8FXkeCxnehPrbNwFiUISTfgk5ayTWKno25itV+iRAni25EZUSLHu50fuC6wQGLE3Cs3PIAIcny1JBCVbt36ty0TlQBFhq2svVIwIsh+UQNU2BANv6lw2BT70N9Ip+3FL+jtEN7hIp0jcBcjPjhlZKOJyw+dcFq9K6tem6tvokQOJ34lJQSl5TGdLcOVAZAbUJTt0kfMf3vhCeDcvakoLvZizep26AJZHOrEsEmAnYyMWnQIC7VpEt3jsyDinN8+QUesbaP+J8HqqzbwLkqY6MAqWE2wuZM+qCPyDGGKlRYfokQPxHCTVWSgg6HfKtI5j6uqAHBOd+dKAjuKLgz1pS2GcxdgoFLhABlkQ6sy4RYCZgIxefAgHSh1WkjpHh+HfzZBIgjiNPfat/uAVgbegLBicYnqRInwSIH9z5UjqRUYY4oLiW+ELGDtLupEifBEj2h++ldCKxDJbDONL7kkK0r3dWzP63l6iMdIjcUlpi7hYiwNJIZ9QnAswAawJFxyZATrFEIBlDCH1GxJg6ya3+P4YksVBqfl+nQoDon0L6qy7YHmZmmO/7knPT7JMAWTu5OSGb8MDRHIdzX3ar9Hhg0SQYceEi4gthzUpml1jVT65AHP99EQF2WfEdvxUBdgRw4M/HJkASr15ogDFjmUdKJIwRcLcgyS4O3SXW61QIEOf3egCAErBOnQAJYUZElFLShQBDOQvpV+k+rsZKbNeQ+4cIsNRqaFFPiQ2lRbP6pCUCYxMgmbh9HVPLoQQ/Q/9C6C6e8XISpOb0YSoEmBtfM2WMUydAdJHcMEtJFwIkdF/IPaSvPTHmcygCLLUaWtTT12S36Io+SUBgbALsY9Nm2NzwCGKck3W8CS4sH/HxIiKMLyLA5oXW5xOoCPCk2IsAEza+voqIAPtCtp9650iAhD8jdmeOqT7oYj2JQQXpgghWXP83RjoxPy8RoAgQBD7o0if5aKBLTsn6kPsLJ7rMHoGPRIC5SBYsLwIsCOYAVc2NALn54apw5gbsuM1RBqMRfKlWRMcNr0lEgFvRmYoRzJRugLg6hAKj92UEg+tQyCpZBDjAxhlrQgQ4Ivgtmp4bARL3k7BTvnACf53L00Zsx3V5BUNQ4gZBqiZfdAPUDRAEWF97BqDoyw0Co6dQjFIRYIuNsNQnIsBSSA5Tz5wIEFN10hP5QuZtnO1z88T59WBIg1+cCHBLbMxUh/ul6ACJCPSYwPrgVhhal11+4eyzvGSEXjpEgF2Q7fitCLAjgAN/PicCDOXsI00RN0IimnSV21RGMAeLAE9EQAR40oXA7Y9boC8l47Ou6obkvhlZ0CLArr/0Dt+LADuAN8KncyFAXBwwVPFDQ+GbdcNCuD6hyvtH7EndAEWAoSUVyxnJs/zVCq3BVTVNCXxFgIXBzqlOBJiD1vhl50KAOLUTCsyXksGSY35e0gE2r+OlPIGCAmuQtegLwRdC+uO2O0AoRmv9dhgLlN22PX2XiIAIMBGoiRSbCwESAoxUNr7c18wOKID1tmZ2jIvqoRugboCxJfVyM7t74I9kiSDhbgkh2g/+szHRDbAEyi3rEAG2BG6kz+ZOgA83MxLZdpWnNWRB1w2wGd0l3QDRN/Pk6Qu6aJ7iP9xxIeL2gQtPU8xXEWBHkLt8LgLsgt7w386FAGNPoISLukdHWIlVyvMVhh8hEQGKAOsIxLI0kFAXXeDPO6xHAnUTrq1JRIAdAO76qQiwK4LDfj8XAuRkTHoe/l0XNhsyO7QNmEwgY/yt0OHERAQoAqwjcM0qIswnIpB838xIrEyi4VyJ5Rv06xEB5iJbsLwIsCCYA1Q1FwIEKhKWEgbNl30rYmTzyBUsSt/mskisvsXS1E/fJAIUAfoIxDLLU441xJpEX5gSkIGchy8IpD76i5mdNgC9CDD3l16wvAiwIJgDVDUnAnxkZaSCrs4X9C/7mNlLMvDE6Z3yRPFYCQR7XOVQ/19ePSJAEaCPwDZVHsXPmRlkFBNug283M/L6He1yBp7gDljbOf/V3V24Mz835fvMjHyWoewTIsCMH3rpoiLA0oj2W9+cCPCsZkZ+wVgc0CMcqWGIcGwA1vO6zYYAw7t4fyfqCQYORPsQAcoKNOVXie4Y15nzpxTOKEPM2qua2RtEgBmoDVRUBDgQ0IWamRMBAglWn89MwIYM3YSS4hnpTBUx4ubAqT0kPFPdzp3W3yoCPBEiRYJJWGRmtkNl+ELQ6ounFV9bioPbjZxRVswvVTfAtTD2V0AE2B+2fdQ8NwIEo1hQ4jb4/bXKFnFHR358LwLcgqIIMH01cbB6UWX4ctf0T4IlsUQmHB9Pp4gIsCOgfXwuAuwD1f7qnCMBYgnKLfCBZtZlPRI8m/iOX63BLwIUAbb9NfKE/iTnD0jovlQhmDu+rPtXxjP4VK5EBJiK4IDlumw4A3ZTTTkE5kiAq8m9fmVl99jqpHzdzNn+QWVdRwDjVwcSmYoARYCZy+kkxc/nntGv4dxrMHjhRs3eSdounubJUflF93xKPNs68a0qRKd9rUBnLuYSOnftp75vgYAIsAVo+qRXBHZ0xi3kTiOpLZnicXHAxw/jFjYcYicSX/FQ5/eH5WhIzhnQFf7Bmbb3OghVPmsEuBGeMtNflZeJywRQ2d7McLqXjICACHAE0NWkEBACi0MAZ3rIzhcOd79bHBoTGbAIcCIToW4IASEwWwTQc/N64fsHEg3pDLMd9QYMTAS4AZOkLgoBIbDRCFzJBcX2B0FGlMtv9Mg2vPMiwA2fQHVfCAiBySNw/0qX/cJALzHc6upuMfnBT7mDIsApz476JgSEwNAIYODyz8KNfily09vLzF5buC1Vl4GACDADLBUVAkJg1gjsWsXsfIYLWfabQiPFrecjgbpwlSAtWCjMX6GmVc06BESA6xDS34WAEJg7Arg0kI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IU/iAX0JunsXmxhQ2GvuxqiKFFXGmrCSFpTEvMS6gqZ9FQ9+HM3pOp22tDHv90Kfowwe/x8/70nYferycRzUP6j0IvNCjvW7o0noXIhfyLmgubHMhcOGDC8SF0IGeZIoO3e5A0QHibHfoB7vHztkSsY/ZNDkNdsGObCWBvXZgy5vrLdhuRRYl1jVLswqWrHXtIgvHFujNYwvhQrQgvVoQCzSIMe1tBdL6qlW0FlrlV61RKx1gvbyf9fA+1s2xu76bbmGbucJkLtO9uMgI38a28k1sI1/HVA4x17bObo22SttU+KvCbxXyKsyoENP1G9h6LjHKpV9AgKwqsAazouVi9Zr0p6larG94KmBUnG5Ortb4RKijgvAnTx+tAkw/HpqaIkeManGk+dFPKQiOGI+rReo/i2FAAwAMwjDQM0+YGPj/mpywtnRVWhpv7qx/Znv58YTs7IWIcIblVqmlMIJvyBScDSQl4gBFRrMpAAB42u3DJVpFURRA4XX3wXkyArzi7u7uHvGINsbEAN4YSKQb8Yg7bNyh4Zx/fUtcgiWARxbwOOd4QPfu11zdMQI6z2eqopVyOmgFoAao56lWbpWTTxXvqyWfOt42zB2ZkDEAehhwpgGI0ANuFZJEPskkcC8VyCJDmvCIKwEdNY5MmSQTLcWyqRM6x+ewLMuqpYovY8kgAO1U3tzEL6ZtmnFxdrGCV3evOtIDfibLr9t8CctZAlkkTI/4py4BEx82OgB42nzBY8DbQAAA0KS9rxfbueaq2bZt27Zt27Zt27Zt27a333uPIAj33yREHqIu0ZXYQVwmQ2QWsgRZhWzy34PI8b8eJW/7or7Ovvm+p/7c/nr+g8AD8UEKkAHkAAVACVAB1AANQAswHawBr+LyxjWOWxuwApkCkwLfIYQStGEEJoFpYTaYH5aAFWEt2Bi2gf3hNLgRPoDfKJVKRI2lntE56X70CyYz04vZx0bZHGxNthU7gJ3IbmWvs9+5zFwJrhM3jJvELebj80X5cfwCfj//VmgiTBYOCBeFm8JD4aVIirToiEnEUmIHcZA4VVwnHpdEqaTUWOopjZNmScvkXHJh+ZUSVKorU5Tdyn2VUourbdV+6lL1jPpQk7U0WgttivZQ9/RW+iB9tX7RoIxURimjlXHYlM3i5jjzukVZdazR1krrkvXdFu2Kdn97t0M5JZ2Wzk7nsWu7Wd3m7lh3u3vd/YzSoVyoGKqGmqFOqB8ahWahVWgbehCUgw2D87003jzvgPfI+4D9WMQRnASnxflwLdwMd8L98Ab8LJQw1Ca0KVwgvD3iRXJHmkcWRK5H7kcTRctFe0YvxfLEZsR+FgQPUJBbAQAAX3u2bcT2Rqv452zbtm3btm3btm3bnrkPFYZsaCF0Dc4E54Yx2IDLwP3g9fBLpARCIlGkHNIA6YKMQOYgG5AjyA3kFfIHzY6WRGXUR2ug7dHB6DR0FboPvYA+Qr9g6bACGI0lMIA1xvphw7E52EbsGHYb+4ZnwUviKl4Gb4h3w0fjC/Ct+Dn8Of6HyEGghEFUIVoS/YjJxApiL3GJeE78IXOQJOmQVcnmZAdyODmP3EqeIR+Tv6gcFE4lqKpUG2owNYvaSJ2kHlKvaJiuQTeku9Gj6QX0VvoUfZ/+wmRgijISA5i6TCdmODOb2cAcZW4x79nUbH6WYV22JtuRHclOYpeyO9hT7B32KfuOS8UV5DjO4qpxbblB3HRuDXeQu8a95v/n8/AEH+cr8E35PvxEfjG/gz/LP+K/CZkESDAFV2gqDBPGCyuEg8It4bOYWUTEuFhZbCEOFGeJm8TT4hPxr5RXoiRb6i6tkbZKZ6TH0i85h1xSluSoXFauJ3eWR8hz5U3ycfmm/Fr5X8mj0IqlVFaaKG2UucpSZbfyTvkWkSJDIssiN9X/1fRqdjW/KqqGaqul1O7qcfW8+lEroblaW22edk1PpQN9qn5Wv2rARiOju7HcWG+8NpNmI3Ocucm8FU0RzRCFolRUipaOVo7Ojy6Pnoh+juWORWPtYytjN+L5403jc+In4k8SXGJw4mqyZJJMNk/uTh5OvrMyWjmtglYFq7d11M5rN7CX2d+duOM75ZxqTj1nqfPaLeE2cAe6s9xbHvDae5u93d5h77Sf2S/vT/LvB/8H+YPKwbHgDUgDigIJAFAfdAPjwXKwB1wEL8L/wuKhFdYI24aDwpnhuvBwKafUsn9LYW75AAAAeNrMvGdgG8fRALp7B9wBh3roRCEAggTYQQIEQYAFIMACdlAkCJJikWRJVLEty5KbLFuWHEtyd9wUyfVzT1ziuMaf0yMldnrvn53eXpTeY4JvdnEsKmnv1yOJO2CxOzszOzM7ZY+IQSGE8CeY7yAW8UjzEo9lSECJzwc/39AYFr1ihVf0hvAdhUdwbeFrzHcW/SHmchiAUgihh9EWGCW8yOwhQ07DgEjYnJrbsmVpqfg9LjB+JIPuPL0eR5akFss5jGQcYrIYy0ZqappQIgLwGpf2UHhapH0ZI+UejkD8XKih0RqINjdHIj4AbeI4fqTUadTWzqlKLLcGLFqL3bDlCqfPLsKMFAJehBm5lRnfQ2cUOazQiViZhdvyjAyyIYQ/zfwMlaIy5E7qSgxydal3j1vQqTN6w90oET4dSix+QYyJsYbGaKSpORoFNJr8Pl8Zxweaw+GQxWw28TzHmc08IPe8tyaeTLcq4r2G7uZHVbMXT3Y4TZNzryUb2kqr6/o0kdb6kPvohjFxc6LeFPC2v7ZlCwIsphFCr0rc173CcntkAkYoATPDrGyYJaC3qmdV62ZfY7yLb0ujbEsW/Gm8SHEvTxpEK4dUZXs9DmvGie71cMgAEN4JnQ7plwmwlvkB+ShhJWUk4A3YW4CK5qiV87HQ+KPZi/MJp2nUU1uko8cIdFhmfzk/rt9SRBlIcVfV9Wmb2oKNpUeZQxIFSz70Kl6UKMD8HvYeOYcSvyIUWI1hI4E9re5Rzc7+H6GAuQyGYdTLsOhBQjfIHEIyQrMhFmxoNAbC/KSYFxn2m99EsKrQD4egnx+pEUI8XO9GqChfzGaQFypfKADXH9LvZfgk3PHSg0sBtIk5jLTQKPKBaCBqjVp5Kx8QTSFnd7cL/np6nOFvM18IO7t7XD3w1+0MLYbJ2NMw1sQkEUvGhkVj4NtsyTs/I7T6l/7INDIfQjrkRvpXSxZ4uX4BaUBSifTLKY+XJYPzBYC5ksRQZmP/vsOH96n33XDDPrV6fGpqnFzUj909ec+jj94zefdjffsvy+295pq9ucv2Ew17AS57mOeRHGlexltYGZCeINN4RV80LGLvLuFVZkfPYhYRbgJyasDLSySZlYnuLQ67V61VLehEeVGSY7HTYixGVLTpXEGm+BZF2WvuveHwlv42RXu/qbvpGVVyPpLOHqqvxrvH7+nuaRrTNrbVh0qP1o40i6mZqrQ12ybPEAxCwBkRMAiimqSlslK/5WM6rNMhR8mC0y1nuQWGsAkkkiAjxoK7T8fag4RlgajFEl5hVGSVZYDaGtyKNx+2f7AhbRhOK/smsl07tnf0DKcU+zxp295xVWpTc0N1Y+uBi9S7Pf6KLpD6ru7WMMjqqDveUTca1dcNmMy5qHF6O2JQJUJMM/BWAKw8ST3HarYo1TI9gxlGVmR0LDhriJ1cDJ0Ehke8ERwWw7zPHBAxvrnwAN40PKfMDRX++EAr/lahseuBH+AthfsQRq3ABRvALWqlbsFqKClBli1GmYxbYJc5cBoEPQxsoBID9IfXEm30mr38KuE+7M5daU379iv78zNZxWgyqMe3F15WtA4KPdvi112kTsQ9YwMdhs6hKiuez7xV2jSXMM1fQmQ1BrgEYEXcsCaVSUvVgsFsRiUqrNItlAhY4OUeSXTDs6dDswSnM2TYyvsJRmbzmmU4j0wH91x/6GrVfQ0ZMRlRPmefbxdSW2LtO3u0Qu/0dK+QAQm/48BV9z92haOy/G+22oaWC5LG5JZ4d65L7MrBJT1BpKcPEDYA37RgQbRqpXwLL0MJYBWV1+aoEZbAzBLx/Fx59fHCvfjND5S7Rzr2DmJHJlF4PbWtpR8hFjUBxeVAsQvVoXZUmtTxlvqFQABFF7Ty0mU9BeE7HYutUBr1LxO8VtDOodN4Nt3le/fHG6uDVy5oF64MVjfG9+/VqrPZkax2JJtdp+jtH+hR9AwMqLdPGiOTJuNIvX5006ZRff2I0TQZMU5u78lExEiGXvBwR0gb6qAXsm6NQIV7dd08C4JWi6oWrHIzi0GRzAwu6hJZtaIsnV6jSJEIxwGSRapWbdE5+NvuD/aKnU3Cs2TJOrfG2i/sVu05dGgfVsKSZZSZ6Wk1XbISumSGzi2x2w/su+9xnJzo0pOF03fnwAo3A66dgCuHPHoEn2sRQqdhHXnkXdqHSEsQIfxH2qPs5+SzF0Yg+tn3G/oZSA7CCA6V/418robvefq5gnxPZyin/f2LUn/8S/p94FvkcwS+r6DfV2LyuR4+O+nnqkXCTcfSn/AwvhaBKQKLrT+qO2Q9yh+ULLb1XIsNn6nUm17oGx7uk/cPDfXL5ePj8nHV+lx1bnoaLuvjV1RefnnlFQijcoTQ03hv0UYfZq9FB4o2Okxt9LYuxQEcjxdugZ5WhLAL8PAgR1IjM5QetnsO6NRH9YaDkn0+La5Y57PN87J15sPmkv5uh9Vnl5WWKWOurVxLVyDYYTHjj0dHK3xat56zOK12ezbeoPCFbW6V29ZOtEu39GdcAXPXoeqkyW47Wur36w8T41x6UMYdZdEhyTKDLBGzbNMT22Q9yzaBaV61zOfoy72xpLZF3yb3VVaWN8cSZR5Ziy6m62ngWrptphJXJimUl5VUuO18iTPawFmdVfYKXzzI2/wadbVLEWlHDNIjhJN4L7XJzqQGbPJhsMlgkItcjQWX7XEYnMFo2EztcYT/wkc+nAwrahL7+sJ//UNL38GHHkIYmYDiAMAqQw1Jp6g9ajXY7chy2HRtDzvBMqz8aA8zwTAMUL5Wj8JFuteSTRcBJvPxa5TpxA5niz4uL6usKZcb/WKl8pcfkGl9Fi7a098m9JdUlTkUTp9KLX6qbVYhpEOqSIpKIuAUh1VwgpaMJKP+oyIy6U0eE2sycc5DAphkvWjKTArbhCsFVtAeFZRYSVuU25RXKlkld9B1FBCmBrtm9+kQXIjLNBumgnxeq31+W/bcXQMZbqYkxnus8qy2wSOPdA+2quTe6kqf3F1dJTzZMLG+x2rSX6o0WdJhZTTT4ncrXOXlLoXbjzASEcJOvLdoqw8o5Yf5a9fa6qgPbDV1JSaMJf2vY9Wc0VAd6Ky5ui1ywt3qq0Qs5USrxIk2aqfNdUf9ftR8VCvRuMZOW89np/+ZmY6e9fnJdF+p02brbeXbehud7r40z/nhh6sIBCrkXl+5R+4u9wmtEYWzTq0JWPlgHIQyVKKucyoirS0eB19SWlrCOzzvc1o5u9NpB8lFDLIA/hHA34Fq0HjS7Dwq6DRuTVDDajSo4qjpoJzF7AeXfpsUYfXy7AJ7Bcuy3FE5gxnSqiGtzAJzBcNKAri8mqdXl3PVmgMpy5RTks8m8f719pjCY5FnS5Pypp6huBxWF8s9VVUesqJCj9UoXirUpMNCSw9Z2E/QZaQLCtbSgdvxMPMphkdNCOEMtJTjDHqa+RC0RKQWK85gF+3TLLXocAeuoC1RqUUPfZJ0VIvUYoI+AdoSk1oc0BKno+JSiwijnLRP65o+rbRPm9RigZYIbWlfwfAx9DRrQ0UMH6P4nMAVbJmED2mx4sewi7Y0kxaElyrhfoB5nsarrIDBvQCB9eEw/hbD5BaXmOcXswT20h9ZDeweATSAMzSuGMYv0WhyGK7dSPmijK2UQ/wYQcXespvO7Q132puMYhsRWjsKMWQUnsJXSDsS7EbX6kHm/4Md6fX0+Hia7xob6+L50VF+VD0zXD8yMzNSPzwTu7zicvgjOMEUbwKdBCeR4tKMn6EUEG61If4FplIGqCCp77elvm7atwUfR8yavqx5ua8O+p5iPkj7Nkh9b6BwCc/jpG8jIZH4YRVLdzJ1rBuVgX6EUWvSXVti4Gp4XGexLZg3iFjUGeQ+8Ii9LAxFWAPpht3hU4uhU4lTn58Nw90Qi4kG6qRFyCZkFQNFdyYKoaTFAjYuYLZKgYE5Utwugww4PtBixaaX4121B+rf33JBKjpysb2nbFftzPRV23uHYp32aHpg98Wb+Nt9F/FYoXAc14SH69kLNsszHe4p1R957YZh9fhm+QVPyTsiqlCrIFv3K7a1Xj1jJOs2ARcOVrsEeVFvssrOm7DJkLfxZmzGNocSwh0xr1JqsVahSqhGVIxNZVMpGSSQvSsWDO4Ww+FZPSh6aOUNCS2oWVtDmEjicSArIFJyLLhi48W7NkRjU5aEN9NXlrBNxaJtXekJxcELfdsPKaenZa2h0i5FYR/f6W6IsRMn8LuUs/2+wRmEUT9C1HeqRbVJm1eVK9cp3ApGoVAgq33BYpTj6i0k1lkJyuZmTy6S/VViaQD2/FU/0sqvmBwr7IdF7nvNs24fyw12KPimuXbV/ZFu704hnlFwv/mhylGCZ3o87ZV6XaUnVVNv0nbMhI+WbuhrE21NnlSsVOdPOTMIU8nqAym0oK5kjVaxVfyS/PtyRm6QbTV/QoUhYFGrsAph7MHX4d9iFmPBolbLBKLBdP/bHZudJYi/RS6EpYA2ebFhoxEuZp+ZvLD8lVdeufcb06c+lfv6sVdfffX22HQM5wofx4nC0/D2diKJteA7Jii/8smo0bqgtSNBLzDCVleS/y3PIF7PM3wpt9X7Wxa/zWIPi3Wsm2UULIsMWnll+ULVSpBrINxcxmv3ycXZk/rlgE9Cr4MhSi7t1xwv4WlZTslwPrzp4uu4VGdnSp7Y0aMZuMjaq8s0avomuJ/+7Gc/lU/0a0L9+q6Si/rVR66IT8cGL02MD9qa2zfmY9PxyQ2xsKOXZgZAV5kIcNeBUskytYpXbNFqOLkekgRbDCKDbVY9xtiKrUgpMxalAZgK4jorhkFOQRlDobfgdRpexK3lI9EIeYXNUTNPX8vo7uuHn6G33nr77Zn5eW2P/ta9WOZMOrY7E45PvXddx9g2eH1vy3bdgRsQRuOAVRlgVYLakuU6Iadmc9gmKnImObLpbUxQnpAzSK6XMza5Ta6WInKC1e5ZPbBUf+q0fvEUrDUGrzQKwaHfR7wOH5VMEv9g/EzhqXuOKQufxRHlsXvwF45GuYF++f6LrXgA22OXtO5Kx0K9rfmZwm8Rg6olHlmRG4WSpTYmp77O+rz1Y9YvWWVWjSWn9xix0ciKajdJw1AOBddInDESFpftdVHYfFQGo5Ltru7/vwuvvOriWz/5ySHg0K3H770DV6ZwzwVTxsmN04nbb09Mpy6zXAZ4eFCWiTPbkRcFUWPSajKq1NV5s0Ej6MryyFUqY91OYAsKhuiinITs3vfI29PwHhanoiwArirRV5LsoiobtUqOEkl8LW8my2qMK3PhwaYJqxVu4ZxyIjwUnlDBzwRpVfDXJjv49s6dDQOh8cbusnTjeHiwsXEwPGGLecvK4raJ0GBj9wOeoZGRIc8DCKNOnGKsNO4SX5GBAZNjBlE1IAyCLKCPZTvf7H5j8u67cQrvKxzGnsL3iXyOon0Mz9QiFbInNfIsi1kmNy9gQaFCwZOfn138/GyRw5GwxNnRV/pfeaUfN3a9+ir8EQi4geHxXsQi5QtMDthzmgzwmkfxK7ihqwv2rtGld2COYcaPZlAZ5tEsQoXPITEpYLWAkVqLuGwxKUz6oi8CtK9D31m0EXNwfQgJr0gZa+jFQo+LAVozzXeqkCUpyPbIkbBHRedefOu0/i0JATngzMILECn8ZWZmhmDzic2b8ebNmxHVgavx35kgcMyVVDNYLudgDsTLWBQkfAvDDggaCOtaEakwy+X474Vp/EThddx99Wud/5u98SYCYw5dzciWYXByhsEsBhis7CwY0QhAkZvncFfhQ/iJq7M33rjufzthfBT9nvHiF5EPGV4VZf1udb/Vh4JfO/09ItdRyRGxWpdTdGEq4mDDAn5JiqLpDt4bqdC6vHqZyz2Q7uC80XKt0yvKnO7fG8en7WUau7m5UTSNT9m9Wrsp0igW85Un8CJ+AsmR6kUZk5PDon2eMk30RXrxKxm8qavwxzdIz53oDvxrxgScLkuCPVCoZJySZMjVPEepPBkCOuEqWkmafk2e90TwzjuDd91Jrnfe0XDnXcWPDXeRqJ1h0VPnyz1Hw3x51foxKfdM+uEWmnveioCrcL0DEZzQ0rX4j0ufRCxgj/JYhuiSm2HJ8R8PdXeTmsrSEfwT5k0UQ30Qc1vC8VrWyVlSWhZ5y/MeJyvj8ixRZGnrtYK7Y42dnQ8MBCTnYMUlXLsHLztAUn6nWRrCFb/Fyt4d5qRnq6qlo7zuqp5MTaBrx6QG2jo9W9TRRHn9lb291RWpHVOeYFN5/VRTDHrFQ67uah/nqxSc4mhMVd1prBlWd2al5rJKlUu/Lk6bB6EZt8iC5Zy/XjAzQQioalWEM9alBfx7sAJaohcYI01eyajQMZQ4SYMboFBcjuNEH/xidPHV11/+w6H8cfykbPu8deOOd55mxXd+gxCDzHBJM19FDuRGkaTDaZTlSizYbZDndCoFhl/BIdgEDRIQ8QSKu5b+JFjkk/RKHBmIRYuvME9fZh99+aI+3ghf5J1z25xbL3EOOZ+CF7xf2E3f+59yPnUqdTJ9Cn7SJ1NwxfxJhNH80gJ6lsqN8CJG6BiNIaywUc4PH2f3vHMr4YBm6Th+BjigQqakUs4IOMMTtQ4mACXa27dsy8SXnnwy+9RTC0xJ5hOfyCz+bO1oI/Im9UpDRq3TMVqWURgzcoZDFEYQ+ChtO8uAVrYcUQMQ4Sf75JP4BQK18LveT36yF+sQYkncwXwAZLICNaIUqk9anQ6H3isEbKg1rwjpWX9Jfb7MDYgn6HYvVQyIZoRXs6XRwJlxOG8t+qtWH0ieLxpYLSuxq3ksSSQNl1zbP2xRVfo2jWiHN+73vxjg+mRlzkNb+2suST39heBMDkpLk3e3lZVHa4WalhKv+oIpTedcuaCqSZVpSdyj3RoVX8tsUiYuqjkyVB287RuW6il1tLMC97j0Ybfgb2jwCyX1PsLJEvwUXg9rpQW7YZQpFXJWUDFaJafWYIR0HEKJNXbDSO0GVJ6KpmN/29g+225Nv3q39aqx9g78VO2MvTd09dWhXvtM7U4imxX4JHbTVbZCFkR9FBmOcgxKLH6PmH5gFTAI+GPiAqFmwoIyDhjwSHNvbzPJ+br8fhe88MlMU6S3N9KUifrdbj95EduEEU7jgeJu1r+6m5VjN0YDA2CVpB4gD5ci9O8+I0z+mMmzIIoAERoBIBkBPdh30RFXLY/AnzjPCGgkIxCWRpzbAxqlHoNgI10sg4ygK4IeGYq6Us8U47iwliEyYbF+pard42mvGvC3uN2xikMtt943XDV8363RyG0PDFUNPnRbhMAyLF2LfiTBMhoAGoXVQWD5/YFwKYEFMmggQFr8A9VtHk9b9aHIbQ8NVg09cFskKgFtIbB4wGuMZYp5gBW8ID+ez76TPcS+6+w+zHIfOcQTmH0n+w50emc/9NoMvQahFw9RvCyH9fIc9JSieLGolpt/fuwYdO9e5LoJ3BoYYZBGsDm5nlkzApSXKHDNsWM/O9TN/L0bpoARFTDiShjhRYGkBSExt0t/QP+QntXrFY6cXc/nFBQATRwVK2pGui2EYX6qsSsltWbaRBh1orR8c0vn6OSww1FROTWajG4ux0mxzX9id9dc7q6pnrrauyZmu3af8LcRDGyAwc5lDBSKkswu+wH7Q3bWbke6nF6Pc+hsDKww42rGjiJAULKsIOCztWwuLwUsosnRqcoKh2N4cvQQnVAsojE7cVdtXc/UXbm54kmD13ATfgqpkOIDxJKCoxBdo2KvN3V3N0W6ul7rampKp5uausgYP6rGMvxNJEfqFxHiWESsJvUPwrz1uaM3jV9/ffU3v/H1b9FVgb7K1b6y5b5gzcLW63LXXz9+U/W3vv6NpSUK9YvQ04+uJ/4AXD9LNI5C+Bptfxdphyu0Iwa1LNWwDzOPon40TbIgwZxlIOcqcY3navzV/ktc2OV3+dPxvKo3nc8gHY0cg6dFKfrSnzwNl9Nfo8UdqjcdzGohjnphZ1d6iBCZ4E3R8FLLS03vapn/7CrQj+YeuLSj84rHNolXfXBbKNesCrZyxsEmRTzfGJqMKZoGDakQV9ZUOnZsq3jxE7NTD28Tg5t8pXOXuRTtXV3tinim9+ttF90zHZx/cG9y/r27nP2XdzfU1DQ0zSccHXOR+tqRwhdSTdMtzrkbB9c/dnFw84l8iTnZiD3ZblPPyGinPT1Cavk4hB7Gx5jimY3QGs5l0QyaTjaP5srL6yM5yyRhX7wal1RXVTPVlbn6eA0uqamqYWrqn3d9zMW46l31fcm8aqgvP3wOQ2dp0mWWMpWI679lLN3vIk1nVDz+JXuNkPaWdr/IWazNN6tCHQpjvkXRO9aTfvES1YS71TKd1E3OxvmyiPsc/m48Fq5srBESQ+ewN1hbE+qKtaQEO3tplz0cyY/ePXoeDn/cwpf53BXZNGJohoXkKXkkoIqkRZn5sIBvFu4TnhZYgeMwr5ApMCOlUyCZQupXOIx9AS8f9bI6XJLB9ql04bX0HNYfZT602PXss3/A84hF8wB3Bz0NUVI8Q6NQ2DMl8D6DGX0GKVbz+O1Bepro/Ll7yUQBo+cx3nPVVGvbVXs+99nhwcHsm08PjZx4lvnQ7Lh1vso4GrflNvbGIvZoa3dLk307wigBPs0V4NN4UElSrRH71QrWaet3IeXKWYMV12XZgV4W/jWJlp3vvi9zZFYzf8gxaJzpVC/suWSHOj1v7HfeMKd+8X/qth0fmxy1t3bcdG3joSOtMdfgOGIo7fcB7UpkBGtuBIqFZYoJqefWXuaX3vP44+955und+/bthgT7c8frTjyXObS/cf9BhCk0M0CjUTCXUSiQDCAq1/KQMtAMvzy5zuMXCv+DXcrCr/AFzId6f9Pzt14kwdFRrBxJHZfRKRIk36dUEGgEEhjptYDEefx84VHsEAq/ASCLvYUvSjw9BDz1QuRidWWQXW9nFGDuNXrC3hJLf+ka9tI81+mzmSzxWA+fohFSCSVcvvq+/+k7MqOef5drsPIW9cKlv1BvS78g/LX2wIj6ucfqdhwfGxuxX3rLgcbC3ys/3lP4almVRM9hypfSpF6WuV3AgsCoIIMpZxhGcvslkoAoePngOj+GD46NFQ4wHyLpn8UunCh8vAgLvQCw6M5fFHg6DvoToYYeFsjM/xR6iEh8Vc3I+H52mVKpHCrFwTAGlvZ3w5dbB8WRoHqob2zvZeqhcWe6ccMs/kShc/+ty2txrbSmWk7JCjKKuWwFc2usOD8OY+xjeTPgnd9W+DV2b/jz5YD7e/C2wk8K83jn/t9I0DBAo5VmhpUkQyKcDB0BIm7uLfZkm6CnGjlBI1Usy6gVgoKXJl47M8aEYayPFefnsBZrZrKLrYsA5mVmYLGLqVj8LnlJcx+kUmVNqlgFo1wLzRCTgBHuY3E+g28eyRSAgMUvM0EAU7/4FRhOper9IFVG5AN9cfUrWVM/Uq6enCLi869PmuzeeGMmc+NGtXRT79y7d6d6x2WXqXPHt9ZuPT4xQW+5vtuubrz61lvhchuS9HSEroIZmZOCJiMIKoV5RR3OUFafKK6q65+vuP6Gyx59JDs5mX2E+dDOTbZNFxb+grOptCOdovS8SumxoGrkSmrLgSCX027tNxlFKjRfgNTp58LnJW4lGUeCjn9K4/Rk00z3erW6LbizaVfbuaQ+PrOhYXOgz7a38area8+meBYo1iM7sSaGjFKn0ytUCrtENFAdXks2D7m5sjNpP73vXYOZJ2ceVKlPHB+bmho7znxoYc7aO28sfBvbCz/FG9sTzo4OhFEdPf/xJqpDvqRYYeHImYJ+u4VluX5mjZUQSTnn7NNeAamo808SGz7c8rlEr21+UDU21ZK47uX2C3u10wecff4j6v5cS/t1MzNHLlMfq4jHEzFVY5vKXPoeTXQ82N/t3tLepK4Pq8y6C7LqqQXqwyLE1NH9T/cKhzMsQ5QnQUsdIs0bi3/7AWP+AXNZb+/izdC/D6i6EPpTy84IjLZfTiUV1A2LxQwYtQGSNWAuvOmg5uBNY3PrVevnQHEnjhw7dgS/rzC+befObbT4Rnfg3TQ7Wp40yZgXWPzYavGAKeITu4aWDGwwixeT2gXGzsIfpr/9nVzhD6BNzzPZRerbliHEfoTqN3jkcuFdzN3MYwwAwSow9By8w8tqDhBnYxC8Q/qV/oGms76y6fc9ln3s6dx3B594chDgfpTpXPwIkwJN7V58HRVPqjD7l+2WguEFGZYxHMMoCJbUeBAMAZKRpUCNjOOrX51b+v2GT39q7vdLuLrwDbyAc4Wf4ZLC04XjBKIKII4DRAUyJQU5GFbMSmtQhCUWAYmY+8fsm29O/wM78P8UnsHjhY2FHxU9dMRUUfsDGoz5DCEzIyPCHII/UrDC5IAY9ppr8N2FS/CfCjvxiSQT6U0ufraX5PfBrn+DgT0RBVBHstKZ43nRobIKdk21Jq5hlRqsUeXt2mptXMuSAp7I+/I2mgghZy1middINxoSp53XLQQp4s50/762bnKg7419qg2+pHVLr27jlj7rXOt7n4jXR5uE7nH1cF/bkOCQ3djvbopv3Vj4yPqGKFbYFP5ATf1kH2CcpWf3voPMyE92PkueNasUat6dV/EckglkHQC1hHRiL0CCTfGfWs+iaenuyFv7stZcjE9uisU2gRvYmc93Kqu6KyfVzfWTzHcKX69qjO3KVmR3xbonZ8pn8v5s0j2fR5icq8M/ZpTLXlZereCdtrwLqf4rL6t054HWHd2q9AYLRJu1Qlc+1yPUt+uTlo1d6kOXVwzvak00lfqqpqcqpqcCXndjO2LIzIyK8iEAHo3WkjeYVaKgRd68RuARzAyMCJ9tY0lGji5I9AxfnXJBl7ggFrsgwcXHbdk+az7BK6u7Kqu6qggz1LFLsuVAfWMVrln0T9ZFuwkHkll/HrgxWcQG/w34YEc+5E+anTmdDjBRgEOLLYa8hVTRVCsHikQpwjjD9nvX1PdYr7Q+2Lp9X8tClyK9sblwEx7p0oUSxnb7BV2PYP9AUtExSrgztKutZaG7fWqyvKyivhk3qvoH1xVtAb6DeRsZkS2pFnJKbMA5nYyjRWeSLAQMaF5Biv8JE8K8T7xlx47x9bmxUPAl4X349VR4dK4rEm5OFboRpbKaUQGVblqFKrVzJVa+Km/hPXlBI1hYP8uwXN7C+IkDoJPIhUWgAnnmQcQzolManJ4nBLXf3RS3pKK62xv3cKlN0eimFHdtsG/vTr2yJ5vtUfasW/eN+epy74ND+faL+zx9F7VvzhfEiy7Hrg1jtrH5+aw7O09sRBZQ14CkWJAlqbIIakHMsxyPESICsuzprairuKwZYjZrGWtV5rdnUx18ZVc1qMHXqkI7thY+jWsHhgJD8cIvCU+GEUKPMCTjzyMrVFqu0cmwQnYVLnI6MbfsgpJyD5z/HMeLBZbZtn49jF366VILHatCOmJRtdfo1FihvorjcA5pwYZJw/nIqmtpBDD2Mn9ZNpPtGX8jXVfLVC1+szfHNgBEiVYz0EottEqgvqVMIcg4jCQLLdEbDZPNnQeU3tn+9Z9s/GgOyGv/6ccLJ7Fq6CMSJPSwlNFmBTJcGpnNkmc9ij3YFEhDAHmThoDgEgyCNa9U82WUvRxlL/mTBpqLa30eRq/leZ95JKq8JmDJxZTjG7ItbXxZh5/e2gN4cX2w5cLG1jOWYOXN6korz15pCZW1aFjOnnUiubrSMFF97IxZJHujA9iSl5pX8qY8Uv03Xqoztb29fXtKSJNbWqnonJrqVCThFHTrJcO+4UtaW3cNE1PXDWZuappeELX3LWDvldTeg50zg6UziSr3WTyG7YeSdla2QjSebeyJaeuQ7Dwfy1nvXbX1bzCn8nXNkp1vqCr8PxivNfaUBy1U/yWba+S8eYOOt+SxXIW0a3CRi+fLP7Hn2tzXbeNxTrK7CdiEfqMEgyvZ3DewuaoBsCkf3RWL1k0utmLszyY8YHQBq/WT0nrj7QxGGojKNIIiw3KEJV8LnV6z1NS0wQob+nqC4c4cXtwZau+bmikswvgqsNpfA3pqiI/qM3EaVOLM20w8WDEGqf6pjwo0SAW4f+6hsk+Gk6aBNtWVI5em+7blND3bTEnPJnVTe0X1nlTf5g3qyzzVlUPytKBXdsVVndlY2NUDpTS3l9Mr+1tVvX2InlV9Bx9kjiEjia4MOaOgkeUgXgMaPy+ZcLKJSHUjYr1pKhX7Jvsvuij7vOrx2voJ2bpe7E+dOJEqvN1Qky56sPjveLGoI0Zl3qIyCDpODjCJ5xAGkGtd2ObI8o6J2fGt2USrItAZAHVZ16HesRXHCl/tJwqCLQV2ur6F5OMRwj8H6BzYBKOMI37sR1mWzSj6WJahJpE4szXUlZWO4Xz3zbETx7Nvgl1cwMcLLKHbiRBzGqCoUe0LcgGORn4/abQ6M48wmPiyghJSU3SpV33ZmnOcWef4/it7r9g/8lTvVVf1AvBd+N3g/91RYPHthd0IIwdCGOaQfFlO8mU5RkDCGl82wPuMkOsl1hLfcett06+9MHvk8PQLr33+85j5x6lT/ygUilWIFgpLT3gqcApOyQnLJjxMqwjEgkejRYK1jK/DGWy0qN7MPXhs9Au2UKrxjXR1WykuFPL4vYs/6OxzAswAAH4vXlz2bHNANJOTcefxbAPYWfgFvrLwY+xtx9ek2wuHUjDeDbKzHTxjAbICAiPPyKSsABZNUlpNxNvfunBbfzfEJeU/7hscwm8RHXfjGFtGYwgTqkqaaZYACbxGY9YbtUf1zHJ0v3hSJOXGkydpmQyLhDQpZeCVQid8R+rokc74NeXXFN7ci/17cAxfDyFAdeEaLBZ+gzWFP+CBlpbCy5Dn9cHUbeCt+NFnWZInfwafQEhqj69pf/9qO/swbf8MtAfQZ/ECouOYwsr3D57n+/evfs/8ZeV7Hr2XfP//FzwQRh64PP3fe2837dgxtj63Llz/ZeUbZ3pvEsyblmEahTVQiyAT/wLmupFw/fPKJ8/xCBtwHd4PUb4dKGhPVjiOcpzeUnbUSuZDAbVepc/Y1FgtHNXQtxBO6VlETqmTY83FM80niTss1UbPSaoXnfU10dNLie49965XZGzN4nBUNTjSauitu3Z/la+qQhFK4rqO6EbRgre2OCrrRgb+1lVe9abIuVzusq4IwTYI2N4vZZqgBm86ilC566gSMJKy/sb/YB//YXg0GBwNK8Kj9fVw4xs6Oxv4YGcnrqufaHO0T9TDzdU6Ud/SnXam4ceV7kKIRa2AwNs0cxBAPWgqGfOnmlOMKYVTHYcr/enmNGNO43RlVVOsiXE04abo4WBVOBZm7GEcDlbCr8l9WMmYDiOB6HGxdLGmciG9AZN1XhLOrUxEy87dwNbGZDcu3Ds6eu8Cv43ctvH82JWp1JVjcOvsvHI6P79pXNE6IiZMGT7a3tbC+xqFdjgZkr9vs7jleD5/fIu4+b58e/c1OXNuf3f3frhd0z20Y96+/sLmRksyk3J09brd1iCsigz5cTX+gLQqYeBTV7Ky6abaO0IPh54PsaFQRX15600VqFxfzvy2HJdXlFe4TEcQanMdWV44qY6zW39aT4RpNvwfrmRAqj+SIwqQ5jJHpFN5v4hPNjZOxuWt+cbGfCsn7xwb65R3rlsnG/BXVgTrqzDj8QYCXlwdWR8X4jORyAzc1kfq8t3q7jy9dH6u1MHXaMeGhi5xKCwIozb8DnqC+THSknNFe9Q8h4JheiKA1ryjVp6sStjcprRZrE67UVOD39lb4nboRb9ZA1HrJnoGFf8e3ct8R3oOmtujQCixSJ6DNp75HHTG6TCqq6cVNiv+vd+sNVsNG/faPHaRPoW1dBW6F21kefRlhBaPIP4FxAvS+TbAEXcBjn70JWKj4PoggnYyL26Cef1kDIKRUjvAwiG0EQWKsDD55n6AqXwRF4ESqEu/x80oi++DcbKl53EztPTg/qXH8Ptpiwz3L8caeJHGGjRwWo01SLiEMI2USA8V7Gar4dGZoZEUFq0GRYAjeM/4DhjnR9+iuH8b/ZbiPr/0R7C7H4L2O2n7XVik7cPQ/07mk9D+DG1/FvqvzRVrkJVUs7QZlSXDquAXa2i9QDpjdFpfjPbMq4c+I6u507FHz0gcH9i5yXrBhTd9pTPtTKWKtTj2w7RmZkCVSbM+o9UyOgUp+ciUGbXCIMswUmKLyLyUdQrj1coP+AM8VFR0+G382ZUSUKG/8JXLHluSKkGkPncVAjAw1wdpPcNBnnI16DKiGuYTRIVRyCjg+8VTZALpLK1kKlZnqhCX7QXef+yJJ44xLWvmu4HUsaCIdd+zdMoMU3vwmob9hxCmXP8G5XpF0liqy+j1TpIO9itdYsbJWEjab6V2dDp8blY4EqXOvE+kyPArzvbfjnd1OGA76OwKd1/z4I8nu8f2XIE73zcwN7Rrk3qhqqIiHuMbeizVHV8amSjU4a/tuazzLbt7PiuMX7ASYX3nvBEWOjPCEv+TCItm0s4fYbGPSKm084dYLMlHsn2MEjWiOOpBE8loKl+PVBY/9pfla/hQrtXttgRwoEbVkjfb+BpNq4YRNHYNA1nKGm2rlhG0di0DWUq0nJ2k2M/GgqcWT+lpNuafZSqt581ESSVv43JCil+zFX93cmptIrN9nc21vkWZoqmqbFoPqaq2kgu6damtdteO1t/hwCDJWK2DRGe8kSQ6B3taRzi9lSY6q6sqa9YkseLNrZFiIutmjazKX1kz2Vd8hpfdD7ypQjGUQs1Jt8WN3Y58eTxnsVg82FOuSub1fDivUfLVeb+UpAXyiww4TchfjdTPplkiSiI6cJ7domKZByuBfNsmp3M+QSm+OZumubmSzV26d0Wdm1pXw3tcTUlvH1uO85tDoWZCLJ4sUru1MbIm5v+V0D9E8ncDoCstzM9QiFBaXS3mkB5/Sf9bPaPXl4VUJXnf3WV3lwoyPs8uR6oJ6fj58gP0tCx53sc0qQ6d82QzKNKFleMuX2mriw919fXM9V3aleb7urO7LlJu2eX1RJJNUzG11dpmNHSlrV296Z2Wlq7+zsVfMLaZPTvHSyrTVvNs2p6cbljJROHFM2qcAslEMdwZNU7z2kzUZ76z8aUNePEvf/l04TMYzzxObUYLrTCKNKOVEbQyRs/qWLxSJZCq6phuAhKVUrFxcjqb3Vg4IBUcWyY3913iYjyk6oip1pNcUSlkrjX6nE5bQhRe2n2o2JyZLpJgN0fOTRtlsj6fv+zM3NF9vTnYh/DkmkyhIJ0L0CAHebLRJss4MEbWjJzRrqnmn1wuPp3vpAA50zmfy609L3DyJE6lcXTNoYHfpMlOJs0G3P453cHsK/6nFTz1cnPGoOJlOasW7zI8ZHi/gUUGvYFRGLABc0aFXqFkOGb18CxUn6TzsyuBR9jslc6YksK6CHvP9pERUl6Ha+EAPgivQmo//KQKDI4XPoUP7V9Tb9PBDmAS5BleJctpEdZjRoExX1xT6Wkj/QojpHCSzPW3++8n9bgHHsC1acz19hb+ni58DWEYhxgt5S1kchQ8K8sISgZjJGdUEm/pU7zhNQ+rkCSomYcK+YWbN489/TQewcaebA+eKvzgypErC3BogoVK7iegkvt3VIJ8qA6iYVOtvbwfoxLGqqyBaqZWo1MTHzQc/kIIAC/f6T+mWU1ug3O3sl8EAnjZnliLixrAljtiiTyp7M53t6+8U+JwuBfqum9DLTtU+Hy4o3J+5lFS361eXzk/+wi8y1Xvxl/0Qmn30mO3waW70OCVspQyVo3KUROKJUu9rEfmKeXk7vq8w2qVVeS1KrmsPL8LHYC+MhT8xiycJJP+U8AXwIsOFZ+tM1otKw+InJ3I8/vpsySBgPEs+/hAuKmu358YG9mzS921tSW2JaWoy1tlPe07/Otd7oYj6s6x8aQ6OT7O/EKhNPcFErGPbK+677bY9oyjb3uspn7gqortldMquXLx3dMDnv7p6X7PwDSSaJqC/dmFgiiStJbm7S5ViWASQXi1SgOqymuSSqz84NLHXlKoMkrY+mpmw3S9QYjOVwOKrJyz/k9qQc88kx0ePrcedDFs4RfBFn5/PJ+PL75KSkIVkJ1MjPgnIDuZJxZGBsjrKN4NSYNLMAmgbwLGclteldRiLSD8CiCs5eUIJSjOyyivqhjguDZfLdkdULHsM89Y1rUK+W3Z68DqVDF9BI0HoTyxAAdbqt4TGI4Xfr02g+hA9Um7gc+ZkUwv88hYhUymsucc4O/ltGrVSkLRIOmeVJ0iSKwkF+lrJcG4bRtJMQpPPKF8oJhlvDCxv/PEic79iQWaZyTUY55WIkqTWqKROaqRckQN7D9Rxrnp6SzsmP2xgTjuKvwhPhgvHKA7/2eBkyGgwo8aiR4GXZ68QTTqNXyDM5CXsfJiujZ0lh7Ky6isnqmLy8GgcTVru+xgshbsTIbrIkG3j+zv8LaZvk3f8OWyGkXntP5mRWpKr/1KmdrRVd7rmWkl23nxbZyk7q/Hbcb10+BuTtCrpXDSiPDSc0tudB1Qbaf/34F/N+tBGOlvNxqcSH/q/xa/NwvIgs04d7s2S/ZfKAuq3EKpgfHY7R6yCSUbf2DSBZRqk14mGnfEgxWcvxHBTM8ulaKD/59msqzMpPYo3QbGbbe7y6MwU+iHJm21Um2EmQw7Y7jezwUaYXd5bcmNb4aZePRHrEJk7jcK/4B8+j2IJWdlr8NypH/LDudxWdjeW7RjNYV/nDgBvT4NvarP3yumzVVLvT7HDKEq5mfQS3gBeqHgcp8mf1RghmifvcDVSqDURnLjNvO7kUeGZWqNAOZ4mU5u+Ql5KcKWEhxRv67KIq9pqo6UN9bUOcwi4zS8odLWBThXe43T7i2vMcog1wlz7IE5qpADWckcVtN/OAeZIqCrtpIpmirCMEU54zCRGSo5V0eVy+Hx1RplZVoEM+RgBh1KAxX+pEWtSdoDGY1Hqc5o7Msk2ZGezqX/VE3NvyJKpw2Y5I3wn8RClQ11TpeVselgykgj580EKl2VFc1WmcVJ55yDOU0og6xkTpVK7VAzao/Fm/l/6bgHIMnSGA7gSdoctXu9PfZp7cKpa85W8Wzbtm3bRuFs27bNd3n/l6+6a3dnjd9LOnmZb5SedBklhjhUbuTcHDmXnzI3pTcyPKt/dGBoQPuWk3zHE2VNOG21/u5qT8+sUjhfzeqsPKSzshtVKEZ/8ep4L3uBN8nfzZQuOgHPE/+VNyXyn0tXrK0iE/W5dGoG1SyCucDMDDOjS6QnMCU1g/KAmgvNTDeTmijhwCz47285DHFOgfmDt1KTuVcb8ccd02pIh48IqDsIsc4wt7Nzf96RzlKsyTHcmeZGGi4ap3CTOxTubHO7NFwyTRFzg+qsTnMzGm5oRHrMldRZreamN1w8KS5vizdZjoM7Du5vWYKeyCNtJQoFPdlSTQHmpMDwtzB8aHuZkjDevzolt8OcFhiNZ/leuCPZRmL5VtNYO8BdBPcv/xfE2qyci1GQbyWdAN0SUXMVzC+cXuZ+96p5BeauwJBnZniRdAUmp0Zfm6m52+JwYOrF3kgKxnYUPldzHcyfPFFNx70k3h8LEyMrtFbXkvzIWH/w6NfSrublLdU3Qf/Ofa7KH5rv+kI9ty6Fu1ldlH7fh1zv7emfLloGNdxq0YYb96hYpoS53v/+drUGDrWaGxiSLnM5da5eOFfvcK7g6u3TnryGWFfA/MU3wcgBQytLrtH/P2GugfnHmdX6apKG8b7R+627CGpuQIV/BRWK99wd2Xw42rjb/mcPVd1j2V5CJD5oYk1afcTek1KnE+V5PAeSD6HTaYE7vmdsv/HeUj/sMLy+CDGdEtobSg4JndNQM7fdcp8Q77WXn+8RqfMxGivGZZ1AIvEO1uivIHqMWu7k6CEU0wyPVN59JHiW5nT92b79hnu/t/26u/u5/GziHabZ3tJsTVeds/RVxW023eujbTbew88dZD9Ms7+O7BM4hJML+/Khvd1LF1e4TkStC1MykMpQaC3hlD9aKrF/DnmCyU0DyQNTp+vQc2yqSWx4Q55kco7JQZ3A5FrMaZNrE3EZ8rRA0rEupvuymU7qx0o213ohqRsf39TfcQWulGeJKHV3iCtjwgW9ioL4woh/ZlP8Dn8uj1yYwOHGHHUvO9j9hT470LyLezQ435iTTb24GfIck3u7rtW6Qpm1JF5r6sXmkOebXMVkuDpReyFcNYn9UsgLTM5w2XFqcn7IJHY2IS9a+k7kCnpEMeVMYn8S8hKTPziZaaGYyoxJ7C1CXmZy2GR/IiXRtVgSJrGhCHm5yb6mLsXX4vB4XZqILhUXtoZkqMdvUyjeM4ZWqV+JllPZRK0MVwgPlfzShEpjKM+usH3H591pwWVOWX9X6enT40Jae+zRYLMP8iqTpUDyjOb5Nfkn5DUmixazv9alx4vEaiYXEXEE8g3/jOHyPtYzN73OeTP5V3me4Kg7+Kg9dfke8bex2c3p7LZidi126Eac0FC0D723vOi2JfQ8TmnIxr3DGc2RYqMyaYG8zeRUq6xvqbnFJgrknZb9TYvZnW2lmMbMmsTOCeRdJj2XHSc/dwyYxKYG5D2WfVrjcUqrTk7RJPYlIO8zeaSTS80tNhUgHzApJgfbOmIpvattJrF/APlgIOkbk8NLze3SXZrAU93c9i5/bpeubAIqw9z2Vf3SJFwdQ3m4gtjbU+o0438+rgK4jSSLNmglSyNGM9vrNYc50jIYJOMxkyuqDSlaq5aZSToKHzMFq67wSrVQdBzOMRYdFx1rf/fM/B7FHTPoNf3+//X73e2x1hT+KLXWlBhsjW2aWH4bm3ocMHs5JZv5so05qDCbc6X3A6tb68nTktHTNKtl9AydsvXChYw3YChSJxquztBtNkMCOuhXdA3o2r/gtaqDrzPkOQfa7VJuSTTxn6HLdk/OZ7z9vehwutgH9LscdSfjitiIhtky9G82GuoOBZSTEA27ZeiYA214keC0nJKmht3v32S8gwOKVoiGLdI0ZaMviVEiYUgLCl36HQdjpEtWPy5eYz+NH6Zpl13zRa390AdNdLc9RuhHU0oFGNFEWJo+pdD19tNEWZoyG30l441FMNCkb38UfPsw+KRbnOu+coPLLfTML/4sxRCcTHsO59+bn8hmhZhZXAT8hzglx/iywh+sxx/Lfzifnc4KGXPHHdCbCvj8m9Lnc3SYyAyQ3QVq9hzpErcg2sJPNzQ+TfzQqvV0j5jzMR49G9aveNJHz13x/pQvFjd4ILxjzi1/ifl4MLp9jt2VSDREjLb2YLAEP4X9bR2BYAnafA/7L/kCv5+0iTabgk97Ek8T30HR5nmzTatJu0WrQau9viEjGjN4e3rB3T9oROM+8SP7b7c32DDuD+bF97FAMA+jfZ7dRX8AY/PQOTqsjfAZ1GzECKrw1kT3DCox6g9haEu1DK/3OyJ7BpUYcXmUW2qiega1D+m9UbmkJqJnUKeQeGpVnTKDOoUEwqvqlBlc64jXr8IYrXQ/WmleWSnZ57RS7Y/w+rBEVkykGnuoXY0dFeL9qBDnUSGSRK9GId6PVppXVhrbqbHS/WileWWljlFlJQ0v5VDrGANDSEoaBQPIlJojp4Kp/RJejzr4KFfSzLqGi3K0SzfrGh7K4SpPUs2rrfKAfEo36xr+yeEqzyJxRT5oo3Noozm0kW/DHU4b1S6K3AOQ9sjn7JFHujXq6hyqqznlcb0bNOrqHNpoTvF1LeNdc4uOr8+hneZot6rXQda09hEHn7oYf0VkoP8TiR43b3KO5yez2Yk8mwI6fVzxqcIfrMevzWez09N5ToFOhYYoI5/uNvmUJNjNpMiu2sqDWMoDyiaCs4Ps5kOHBCoFrLusRaWCswPsrkpFcPMyK5Dn2GnzCRML5BBJC2aHA7DnwPEKmYzA3Mf7yQt8ycYcQczzNMH7b7lF2OsLrEDPQj0eWoBeav6iyVH3qFjq7l+Rox6RyJcs5II9V5cz3kQTZIaMxvUqCdCKRwMRxaMWkrKrmHHuk0jYT8hZW2maPHOPYhEjhCyiyR4BudHRy9ZOlUASTQa5BzNIuJzlzCDNU0uJPGYhe5BFAwySYt6gz/YAOaj6iqpZ8e0S8u0B5FtqBDSr0hJa84CyZv3+AGAJjUtkxUQiM1PMgZwsuoQsegBnnmJOrM8Dd2MeaKCPIJKdkXP5FXMuWZqYe0j0w2cGBnkop1eAuxXb9t2EbGtnVffgrhvUSC6Y3vF5ORxtNrdb8U1jax3f7ITXC44cbTe5Yquy/4KGi6k0jWjytN2Yp5GRNc48zTpju2rv0tH91G328nG5S6fNpnZjNsXRL5yMfBoZueBYtQY1q9ZptGNB2bE+7679FV6ngLS5u2Bzt9MrkGNPI8cWFMc6M04Ip6fZLnI/q4r9NGDNG9iDLlKS14iBh8RxIXzeP5ubZbveBm+Af4q3kwd40Yk/cg3+gfnped4u8NCTU2wX/TLU76FlS7Pex+4EbfdjEoLyhsvztGT1X4rycDSxzry9A9/dPe4tE7f1tfpa+26b2MLunNzRPXhTz45JmUP+h7zIi6qGg9erYevEHX0tvpa+Oye3sv/cuqm1s7N1063Qq88zeAId9MFDP1GnLYsYxRU6Zee+xIhAGHMayspQBrs5uLGI0Vyh2+zcl/qjkqHCWfhRlQgCzsWLGNUV8pxdgrh8hEGJBijhwhKWmiqimqqonSTSO3j9naQi8kFF7SSReLNuJ8nUoEXUoBX6NywRELHESARKBLCEpUWLqEUrdAxLeEMgRhkLZCnzmiV01v2k4shAasVu6+MS+aqFfD+qg1HJUt118VXF+CpTw7aNMTAKAcbDw1kZZIB38FUV46xMUw5rQqBxD1jTo6xZEycg/2BVjLdyaZX5QiVURSVUpl2rzRdGahUjtax2UEiqbcUOCqrHKqrHMn1qtflCFVlFFVmmzC7BIimQkcyTyIKUvHZ38cdo208o7hpcj9yFpzQS+XULiac0/8941253nNLAnz7OdpJ7uVvenEpm/E0V+f/xPFIxjpI0HGsL9WNeZ7Puq2wyo9m6nXLvthHfyDbzS0usIdYiv7DPj2zaNCI+ky0tyVRzs2ipwv5I9vBv2y0lKyF3h5u5gxVyDFsCtlCN3aiaSQDdj27bNuob3b591NsQbWmJii/sjxtHRSujG9c3J5PN4lPY6ntsJz0EY/LQr9VxybfR278uvT2eCXBGA3HBJdLf14OxMWIF+riFfpeJZpQm2yBiReRKNHo9d+PMfI0aJhq9nkXWIVp6l0R/10J323W7urK2iwFW6u2LbIkMstdMNfogKYEaNVl9cF7+oytsSPFWMsSXbcQRRAwt8tZ3vatWo4wt0UWow0NPWHx/sbbVuikAavlBeVMACnlktW+atQJiSIeAagGh0bcnlb5d/QwGkFqNhUyzjExzUjFNd28d07yXEHIG9wgAiWpMrbt61XhSqUa112qd3G5lT8vT1rJEnqEFqTXwWbUWBk+oJWbcwqCmtlTda6jqTqCq82t3919D9juhVxkY069hTJ9wxnT9ySsqotdQEZ1AReS6Zsw5GE9A6qtvSORpOmaNxzpSlff2t5LPq/NZerpE3urtPOCbOLZGvzMrrbZIVream2xcaLZBuDcZS/a6am1ZlsGA6aaGXm4KDv1RHvnBy+NCLgHSe2jp4fZOuYXbe++9V4lvZna0FoK0r6HISM4yc/bs7NkzZ+b8TxqbV/O3yX7Ig9qO/jlkx6CTKQjaHLJZH9FDvR7jldI3ZKZhkTLJ+6PgRnLnhc27dm2+8OKTT74IL3dcWznqWbCqY6d7Fx1Tq0iPhxgmg9Oj17hLtHHrKHg0eQFelhOHsXQ5N1fBL5N9ktl4T7r5dLYA5SzeeNomG1RUC9qMqSYWItgh5huhsBnel+/H+3lzQs4CG7gxEkn8FFxOfs6fd/y73sX3toG6xOHvHj/+XTj974vPBlKjnkh4hKF8D/YS6tWJybQ2KDigxSQjneiyoAQNvI5yPlro5jprncr7KLKilwr9CFjRC5M/2IGvrBtY/9XRP/5w7pUNAxuvzPnRn8Ds5IfIeyWIJq+DAHm/mDyOey5Dd1U3/CwzjSkLOoqLzbLJNA0FYbu8uSyrvwUY05KChum1aiway/Cti9CA1p8GusqeFPvnP3ZofygS7ROPTpc9h5aKG3bWlNe2/p/txqfdd7c3iveEW6rF5paNOXJs+YhYGbHb5zSK81feTjoCKukI3Eo6shJsEhjtBwc7+gnp6PNwRiIEKxNfSI2A+3FuJa49I0BJ4uUKCEbhTQhh0D9JhpDlIEu0THQ8Vd3L7U5pmSoXwLxf3x+N7vzmvD8CASOsVJxV8vnkCYZkfv6LEGUsjD0oAJkReSMdNF8mOEk1rddP9u0i1eSLkyrd4NvR5Cfjo/qeWXePgYVI4s3JH73+GPVX2VlkjBxn6He4j3w/Sr5TehP6fkIb5ZgRg0mWeMhwdJzjgU47HYW50eQBeBl3kzhM24yQNk9OxCVwm9hup+bf5P8/zKhVi/4E1+M94fhaGCEvARFCGQgUUU+wneQ0a2pUXE4WvDizsrA0J8uQ/MnILz4VT/49e3rQ1G3051tgYXIG+HzifOUsJ9nx+zN2JvwK4b2XMiVBm9vfBV2egi4py4VewIh6r6DJPniPsrpXsqiqHGpVKFLM0VSZBrtV3V0KftA/dmJg4MQY/avvvv37P4PenjDbvXvYNry7mw1PfAyBb+u2rbKt2ga+npykfsKaIAQeoolHVG0jO3EdXia0cckAdZATZMAzpwnEiLBJq/yUfxZwwh2JH0TB2ujI8eNI+Yex8r+LeayozW581+Ndg4K+K8tmAyZehBr4j1Bc7IFUigRhqdFtaD3ROQP66QNTotGyoSmGcbSB6iudHWYz6EiE8Jr5+lWUOvZ4SkaOlSWeh9qdQ2L/WED6Ho2CEvzfv9+kIuJ3SD1T9ia2iNge8jpJNvNZpwWo0d6wQaTMM/rGJjHV3EhkojlsBEmlTLoj3sS4CGFedrkYILOa8SdpVhQEdYe9+D+5Dgqe37Jvz7bnn+sfnqM8BzfLN5m1i91LN3TIIV9ru0pBZO2UMOZhcoNmF8xGht/pZCA0TuxL1yAkt3cCCITu0a379m579JH+OXOVR2AWYtLd0lHyEL6VUs+0pbQ/bKVwT+CWnt6qn9HoK7iPV16OxocHXsYd3LUId9DZ5gt24PxFdEfeTch/hUFrtuxwCLnerjw/azJ3GQUB43YoKQF3AWZOJEhRG00qMRAvmVhnEDt8sn3PPHHs/3q7yk6Jy9eC5CXQq1uzVGhf4ZR9R0fhZy8g8N+J/iHF9779O8L33N9U5e0aIueIdrY8gSTxMJMJMUt+wA3cbuDhvV12oaiLZ/HAwlcvnf8XyOR4olob1uKMDeyj0VO69p0j0oLd4fDuBdJ8BNs9BT4mLbvrrmX4Bzayi44qlCUX/f9Lkh9tSgPKQeLFVVC6Wk4wyyvzEAKbbIEcD3jCZbKqfDU/MuWF+IGZYkiwWjodrIg+LkkfmPdEZ+/e9/0t+hhGrAEnyhPz20c7ckbHkmeBp7klv7lFm20JkMM+PQPJNbLD7+LaWbj/krjZZhNz4zmSFBdBakCnb4en2zkNb48tKQqvqC8fG/oU/+nhfta9IMgFR6vrx8Ki0KEoHUJ7/6CxaWPvik1HI+ZJcrFl7fqZtY2rOvI7VjeGRiIFkblzI76B+QxL4nR6kGBMyKMpUImg7lg2+hwDXFaMETOJoDQ1F//AMmU+5ZXfDi5ojl58+dLMWcsvnZ6JTuA0SAQbbeGCvCHz/ubJxabexuJCs784xQk5ARKq5yXqUI8TnleRVQHy30EilMQ8MBuKv4fRkVmMA9uZrDMOHsZMonTGGuO4W/0ubNUn/K4iJKttRo4f3Cf3JJeBgZ8GDlwr3Dd0Odl+7cCBa2Db3c8MarEEcs2eZij9jZVQf05mZtBr4xyCoEfJSPpzpNxoFidhLgUlUrSkaotYkYYCxCcoJXB3FVFBdunjXCp47gML+xY9POfVZ4eOLe5bfGzo2Vd/jP4Aw1+/jv78Ofk33G85kuMnUGAqmNKgHdVkxbyqHE88t+B29knFO9Zj5e7ocUlP1jQ6e5rEYCgw/cjhkvKWerGuw9HgXd0rDa8p9pdOv2uRcRVKqJ5aljWprLks34w+lxTOqu1qtvlrzJbmUmN7LwO0caMRJkWDlkSW6XcpfaAo1Jf8Dkgk7wV7kix638vQNhyYJ4LzagUO+V2xD0NAlMxyHEsVrOXOabq1UpWCSy8uU5Sxx+devvqjH4GEpsXsm/8Ev0LtmomnFWMEUaLDRPO00BjB3jHWSLY0dTLYqnyrJ8J1Ll/8RyTeG+cf2JmS72GQmOByAqMokvMEXDqXMx2yocS/+MXB7o/P+Dg62aXgVJLFKVf4Tcf7TZx7hwn3Avc2Z4vPlCZX+auQGs8l/6AowKzg0/za15KsFp3CYxZHp2jr/wAJ4uHh4cnFAJfh4SngGQUhMRP4HJN4DwKlGKE2LjGMNv/E359kKPEFfI20aX7FIHIgxnIM9mAmOIw3XgFvvgxeD6H7NBWbAgnI4dgUwzIVqH00c6F+W37QYmQKPPEsyeB3x11QAlmUm4Hf79phO6nEd4TDO+JKfDwUGo9HFq1a/eLC1as+cxm2bOh19m4MwkuXYHAj+rg+CGeDo+ziYU9sCTiSXMcuiXmGF+OqdQxD5XxT1R2yLw0gofpCOkNMEsUzejqaKXZywnlRFKBTOrqRGtuxGq/hrZukauqnUAt2TNyzmOJAp7NyAk1bpL6aP1UbkPpsNfjSbqtp5FctURpb+eaqyMessbkPn6yvtv0tyaZG4G80uXgkl8BlyqW9FOVrylcVKhZ+s+qZsVUgoflnMbOYdUZrJN0/oy96irgpuUdrjJ4nJPHKeeR54cKcQ1fsrB7o9QweGebU40J7whdVTaTcs86UZXrzzO+OzV22dOTYseq6+io0dp6N9WT1DQHbF2aWW8tnMPSphB4c1ENDHDMXly0aY2dZwLIM4Ey0J9wRHeB36ggQpRybu3QJ6quqHvWVg9TzbKzXNNEbovcmsK4huX/+SfvE+eZ37u2t+lKUU7ifU6dwP5mdYO4qJTLmY0/NFJMkxm6NO1wGXFcmw66nV3LFtVBKMmfPRf/sXOVpLh4T23vh976nj7SJy0qbvGvapbH3bV1prJtV2DMca4kMdvsD9Xs2F2/ew1A+5edR/26mDFlbly72YRc45wIuF3CLnrhNKowbDIBLc9E2pE4V95vhozkzfTRFWcVtHxXbltTWLmkTW5fUwpVA5lv7+lr51kgE2ayVdzet6ynuWddUv7rrR3ULo8XRheQHA0nE6fsgoflnMQMAjC1m5vTUJGr+WVVRIS4Fo9WjYas03MHR4yzcPDIeqF644CeR43hcffSj1y1ywNgxkGQBfKOi1FI6PRXB+Q3xxbNwtq90OktkjXooizx/mqUEJYxQUp0JgF7Ek0BY9ZzZgJWBLhhJXO8Aj34RxWs207iNifJid6rVtF7VAy4N0E7Z7CxrBk4ZOOf88Idkij2QeJEhM9vTbAObRy0k4hIXeLqyjBLrd3e5ABRoBuD19zKh/Ymy8qFo9KGV9K++8QMHrqL34kW62PuX25a/P6ZbNPExDKv0R8ZtO46gYMhV/ZEdtvEjNLfTiHxWP1OJ87AFbyFrY2J+MBmNFPUWJ3QpA5eOV0uDy9XQtCSWZiWlkmp//oPSwuy8B0Id9SvCUmhF/VD34kjb966E+6MhITS4DJ4wAo8ry+7Las1f3VHaNlZfPxaa1LMqt7LbPqtZJyZvuIbCJZ3x4c7iFdOx9roJdfVnyHctYiqw92o2F8fy85npccODRXFGSvdeKULtDpXDU2MZS5pGu3SCytV3b1wqLt4YmNYi370Gdkbm9B/r63lof1tXuEXYb1yzCCwdGVsy5KgcsFtHgr75a1u6gp7W9hPtPWB1S5O5vmUXpdl9CfMRcA50Xi6wWeK8wZ5tKJ0ULwMSnaPV1eF7H9Ps8ANCqymdcecbJjLZXBwApqVjhzZNmdRYL80vCDqXh43DKw5vnFI8blxXFKw0dnZIm9x2HuUZF5e15wbq+tqkdS67AVXQ7R0o2MJokWH8tH92wuuF30x5vVkM9nstphg8h228Ls3r1Zxem+r0Znq95Dmieb2LT8155ZlbvV7ub18HLye7Ux6b7+Y08Heko3Ls95aWEr/X54nn5Kt+r/k9+b13dHvhq5Vttr42vjMWCa1c2RzqDvF3+0OezTFp2eZZ06qadqz58qaCsmK5yVYfDjfXmKpahvKaWpdFLTP6HI54nX3BWm19j/gNrzGaB4s0ZsR585Jk0Dw6gdMzbEpXKQeWKimlG/DSi8sVZcUTcz945Uc/gt9E2vhL8u9MGq0P2xJWx3E6EYopWwLsmKJnB/mfHTyp4vlYhOcbAwltzwW+nhewN0dJoPj7eSJtJ/JyZoMEsbNma8wpOs5gxKBLUO+UAEEN3kYapC7BbbRBuSd8G28QewmEOKj5Qw48PzDF0fixcWKaO0S8oQl3iFxI4g65Oqfxw/OUTXyVHPnDpJLRgSdO3t1Xf4j4Q1j/2JuhbFMuh7Nx2XHBJPnjrEGC4i1sU4DcD40aUnTbOWkf2apOR1+1cG+Zc6hOGBhVauoNRU0EbupvLMH6nTO9dnVlwy3nqX1Qtcrei2SaiunehbESsfhMAZfNSZw5DjmpzEuVS8SiCn4nkdI0DrvvLBhyQMNIbOOdJaOXAkmuPvP+DMcJWxITfpwFcaHAeNYIjUZDtqSPGTgXFlF78GuhCOK+vX0Q4nTrkpqn/poTqxTqhmdWL27lDc3d7fX8bKXbWD5YC6TQZ4tLKqLV3prB8rbWGldVMFjlrm7FMuF1Uo6Mj0l4NpQXNxSIZ0UoinqHpOecVKIMgd5JnElIHIVKU4Ok4Zu7wkia/h4iTeSOwmi+0TeJb1QezNXFxl0PuOA617jrnIt1uQxpHhJzu4dk/W/wkNDd3/OWLhKt8IF5foUkzmfr8plks9nlE/RCl45hqXVUYTpo4KdXqfUbMrhBxH8Ay8SFR3ydjrF2cdE6HYgJyZfAhjGxa4m903t4hXjooY498LNDXd6qpt3bw+P7mxu8ytCls9NXnxigaw3MRRLtPobtDK3Cgb//P0bbwUfWCU6R75R5ib5/CEfE8EqIzggvI30XYrtZKOcLQBBsBiAzXtnGO+iyCCr6Y8V6Tl8d0WKkdJUEWKme6XrJ55/H8dKbyRvxUVjzHI7M0rUTGppVF1DA3ckbJEZLo7O6PEJgwUQIHy/DXFl6AIJ8CUAJSgwOZrO8k0ZrKXkFc/0s2IjhmTWdG2qTAk0mWJR8IBoFG6JEqueJPBMLQ1QksIUKo1p++E1csRrTv9zOLoMosh7ewpMaCHjmrQX+6QTc79SQjKmgj/Vrn4ROtFFuQYlw705lZNAwbXgyLpTwQ6t9/crvfrlPsdmSF9P6ysfUL4ds5/NycH8Mm15wwap21/Kb2zvUqD6k31S3ZfOmGLft2nvfjPKX58aE4Sju+QdW28pFeUvWtB/0zQ5PQp3TFZLtqdUHHq8+iKe1RYPfpM24i9Tlgk3Rn/TRtYLQ8ePaui3bqsYmeE4mEebP0fhhVYCs3Q714MXbvdcTh1MrCxfplS4PenJkiaA/GAkwAEjoxeihg15nepXJatJvbiV/3B6mf/Tgwejvf391w8592z5ypWdwsOcK9AdHRoI7xua5Rld1tLb4GloYNq2iShnTyFQEvdUzu3yTp3YVF7rX+cZ90Odj6tPLrBBo4pfRvY1v67eEWdeoAX16vyNTw5IjXPS2V39/Wy2W5Zv002bxea3TygIu3lHu3bJ5WhWf21JeFnDz9nIv2LLSuGRTZqGWnRu8Tne21WzR3XMEjHgdnmxrlnX7wXvo/OcxXEcUx9wEmYdakYyW39DyGCnss4FVy2Q8b2udVT7Zkysi9lziAvh1VXnI4yUVLUgc6jdQUNc1nDGXC6hFDPK88XwgZaxr6KlVu7U6tyGtMjcok9bdfd9aKbjS12wPTRM7o/p/C3+C/T3i9LCtyT1mJNPk+oC/pHgw0hIbLi0unFWHLRelyEOOeR5bMkqGx99fYLTdqMTDegVbNhx5ZGeQJ20BtmwoOmIABoNFD2KMO2YRbTE9dwfLhoKR2qCiQUmgBRay+ThYQ2IYP/xitwIuk0AG13nj5zTE8MaTRw8AN40zQOLzdYNEyprhKCPMjUnIKT1L7ZmeY0UnDWmkGbOMmOOdwilPJ/+uKIBXHpy7bMm8Bx/Es2w1IJkZ7biJ3FjoQk/UPMzYySOMnSHM2PHEpaAZmCljx8y9a8aOBveau3ix8oMf3FoBgFB2niVFAL4KclW01z+wFCj6mEMImQj6XSK6EZmIyuF/Bzl+cydBrEgdqs3T5maaQMgTFj9eMqe3tKSyJrtBNoQGVanOT6tKXivYf7ajrXr3xoKdd41GsGQ4KkditXR9OCaKwhktqvybibVXMqVCOheUc93naDCOPXAgtXYCF6UiszEWcOnWj6yfMHgBZenTeAWFkLgwLRSPi6KgTc/k4hiUTgQxFIJKDYdPqAY/8+xvHwo7tm5VvvnNp/A4eOopEsW73Pqd77Ru7+80dQ8A3ccrplqnTmfYNDp/GdPEVAXzawLxnMnT4iVMkQU9Hd2/y7mZA3NymAaN26+ZvfnvbPduMXzZ2aXVdzJ8mXj/prjeWmzhsqd4PYUWzuK3wfiwtcTMOcpyfEVm/At2uIVvjGXi/5WIUbRYLEbRFI//0SiarfgjMvX0SeoFCWr7YjynMdXJc5NNt32Yq35ynaMlUFri8Yon0DVdASpqZ4Syfcnt/1v7kEdTPAHwyYwc/QDHMzAFE6BH3k+OvEqPVOiRRpNZZ1SAnuQ2vYcM3AxGAbhCj96QdrRR1NJH/pd2+pK7CecBgB/TrOpU5l5phkbIjJ8c+Uv1SJBPj3Sna+S9ZtSq62mk3V/Qo8u03N4MjaBfLYIycwZ+I7Vn/uhb7ro3tMY7KoqMRRUd8VYoK61TZlRODfaTXNN/M4+y4xMtnHirFtqGu8tRC+Xd8RD8t9xQOLmsqL7zvWbq0is+nrrisAls0HZyZqdnC6m7iMiRX6ZHDmk5MHmCSQGCDR+p6ewbKZ3BRk1neGej1mx69i8+mrlMj9ay7+y56dl39Mzwka/RI7V8C09Rer4FU4jsWwOZyQSYdcHeq8WguFIwysWF8ck6MOQODM3wMW6Lu8D9Bff33Xo+31fha/GN+j7s+52Pc/vcPusbJaAE/4uSyRCabCZoEuMwy4ZZsXj3hlqoZ+p89Sm9YL7ly+g5jfzRmVPnqzWm/Rr0yaUFX2tKq/y3LQGT6GHAWQg9yQMlAyFx/7T2tleNobG6sijY64rUiVV9jnbvll5T8+JabxjA2triWVJFzfqcE5O7Z0q1xTvr8qcay2sDlTlt8uTugDi9sI5hdGTutAJ5tAKTy0xnZjAzgrnlQxVoqV/MFytElhdLh+yswLO8TtuVR3aCoT3bqITOd3+TXocQvAs0uAGds1av8GZgoKJiIGBQwe8GrnL27Er8YwdYlF7LMBMAXxdKAeDbztXVMf8B6e/xdgAAeNqMjzVSREEURc8oToZrjktEhDuEk467+0wEq2AZ7AxnAdx61SMhdX93n6d1PzDNKz48/jHxOzj24FdkjFf6xlg3/Dr2D/UEWOzng0P9o6x6ph2PDfEEh55Nx5MD9sC6J+LYw6zn2bGXec8LZ5Sp0KVGljQZGqyzz67OvuiREDec65woUq/6KnZH1ZkVldhW5UGUUJzSiQ/V1nWndDfIKFMXqYMCSVFNd5WmYpHVKuZC28Vt44aUpGS1pDJFtEVy20lRExX/61R6kkK2a7DlQPld07m6CzRc/oGolBbdK5cgY34qHLEjtU3byg9mim5im7j52uEcOVYu5v76nKZ642TEWXJyq1nzUzKnfwOp8cImCqIBEsBYw3jaY2BmAIP/CxlcGbAAACyFAekAAAEAAgAHAAr//wAPeNoNxANoBAAYBeD3/hm52dnLGrMbs8152W62bduK8/KMOC/Md+H0+uoDAYQDAABDKqqFqEW9bkSzbkWb7kCn7kG/HhRiGKN6HJN6GrN6Hgt6Cct6DZt6W4hd7Okb3Oo73MPwIMSzEF9C/OEffnDCDT/GMFbHM0FnMVvnMk8XsFAXs0SXsVI3sVm3sk1PcVovckmvcFUf8ADkEY/0Kc/0BS/0E5/0C1/0Oz/0L39BC7AAHWIhOtIidYql6HTLgJ8Pvf45lHjavE4DjFhREJzZ2rYZ1G3YoLYRNapt24zNRlXUqLHq9mzbtn17c/9i8/Zl8PevQADDsRTbMWDz1t2HMfHEvesXMfHisZuXMREDoXCHSQi7cOr6ZYy+dOz6BUwMMgr9ozAAQ58lv5suN1QYzpMg1gf9M3Cf67kVT/GF+/EV3/AXuXrpCEe6XmzAyqCYWzmRa6lqVVKdZ/GU/xjKMEYwgUlMZgazWMQ6NrPNYKNtnE23GTbL5thcm2+rbLWtAW2+v8cwxng144UkIVto9x9mXm2ThHnCMs9S7WKvBlWThIFM8ARmeILNFGZ5AqiaroA7YOJ8W+Gx+l6BAeL1qhihnv9M9FSmSjOEeg/TpjAbL8z0/5rzX/ekqjoVw1T1kSXewVIvZJN32CAvtCHSodLFwvq+rZgY8CCYLkvovUJO98uVwG6/xEDgzpEH+XiF6+jH8Moecq4AQpImSz9ic6UkFa1OqdOa1qs1ZfgNY1lzznHAAgDH4Vg4zsHBneMA7hzrWMtvOMvvZ/yMnzbM38wNbWhDG9fataY0rV0pf1+5/Mvllj8nqS3f+cPLqMh8E1mRkznTM7uP7sqKioiIePHivRfvvZckQbXoMPIeefXW0lv7d2REmOEGM0zlbB0lGTkBN0QUkAD/PmRNzIq+MScLMKF66Dl6POfPbzFHihRTTIlwVamVV76nGveEOeOwBkuyJ6TVNjijDYAUs0rJb0Wle0T4jghzTOQabeA1egK+dVOyPw3ijBoDUlH0gGl1YZ8bN636AvK600E7nr0siChuzRMYsKR2ENHdAOMOU2isYlbQGjK9pz+y6kyQVHYgdq2kIT4Cagqq9BSSALyxuRWyDRQ0Wte06+K/6f2BwF+X1IWZKNplLjgvn1WMqSvYEaP785wxVm15Dq8xIcL3SDfLHGSteE7zNd621knCWl2h34avytX6A7JmNI1rW/fAxJy9hGKj41wS4QITIjzCIb4kouiHMvqjKs1hSooir1MS2tLJnK7Il0czdzu26EnhseFiETKXtMVM4HZUlCC3SiOkFFA3MCTJY6M6mkVezJBn0fY8jpw0FVI3oEhC1LnUfWDqD2hED2ikOc2KRszz+vpvQPdxiRme6Hq6vn4eUZ8p51TgJmBdhGgXK/09MvMKNXUsjIbOoPXpfT5tEYXWyRvWUABhgVMakSJVxRvmpd2LBC/umx3rI6/DIJ7r9ifcn9Ek3LuH11X6QPJ2fib1SMx5hB8ja0WrPSIaMd9ZIcfqvdBqX/JteR4705F4JH/NFlNcI4VugQQzyeNZe2B6RGpxjazJDBnP09qZirsjrnCFW5tasMTS4i+DQrPHTaHX4Asc4ZgCCvDsbdIJF7z+Jpxmuw6T9X1hgpP1XuNrftinmJrDffrEAf9To431DeWHSOroBC/XHM7Nc+Q4pV4Xm88h95txfYVFY71Kae6YC+4Slspihwa2zTWtdhsl25ZVFlUwu8VntifofMhPXKMVRHX2HJyyPSfB18LWISUTc/x3suekbntOs7sUloJi7xd2OSxtXRhXXlThnDeWtRx9IHtyjfAu/MWmbyRYbJijQkJBRev9br1vWLl2ymAp8tDb9UqwsOhS6e/dwIN6yw9y3uc5l9TiH7/1vw3Klm1sVvjf8pzwvaVFhMwVIgoxL+F1VOnlKyLaxtcsS3mvsWpwaxxQYHrnEpdmxJxqj3ZET91DwHSUlObDz5jK2Vn8Z1Qre38qLTzUo9YgdFLiGwhhiTfePDDz14xb2pBTX38JDo2ud4YzIr75Pyq4s9blrpHgVI8dINW374dl2YcTY0f6jdHsHNyd+/y1y/qFZS1lR/btCjemtMda9HM8sfvFr6zZzZBgwuPyyjFjvWKBBa51T7G2WCnqOTCV4cryDszcPItHOCYD0iKGlWONimnf1LWxjec2VeDfvLiBgx4xxQo3yKiv9zmTtMSz5Ba40dTfGLh18lbZwpqQy4vEfrZvCrzjnGn1GRG+pJ/om77WaXCFW7ykgGIa6JIB3StzPbwiPRLmxqf1umIbqNTGuEKrfyykSOD0WAasO0aGUpThdE9xSMGa3vG41T5+gRVukemVJTiR+2jpbxnPPXrHfRQWA/4eaIy59/Go5n4cOu8Iis/7TgPLad/9W0vf8pY1S7XeU2vWqWuN+F1Zu8PKroHcthi10hhVuzXK2YtVzYQfyGCZLXWN7YhIWvtvBt7yUTXxOmLG8uOWuf604EkUsR4wYSrIdc971P/hGROKqK97iV3rRk4KU+5hj7WNTMyiZ2NXr6BfSCKMpe8a5xVpEhPhCEc//KdIn+Av2GJYC1WtVPrmkDXiHC2gU89vz9JFI4edL6afk4Q9SbkNPB+fcYu1DH3I4+9UKZmp+c94xIY4wXSTXinu+ls0YPmo2Fo2Wf8qeosLTxJT4WTzPiPTEnumqVO3RqJLcwo9baW5Q9NWbEPO5AlC6u6puU4u8BG9L9pHVlrjjyhifTXh1fNt0sH7eiwFVUONot82LkJYvAJSzdduZOTCogzlpIg7Aixo4NT/pzWcKuCdCymopwz8x/o8Wn3XnhbneYw20CTTlTyPndoexxUL40WnMQ8CMG8X84BFldas08d7iRWXekgmfOfhIVIOLPr6rRR1BMhcVi9zD14i0+vPfeyrG6h9tdEGE7S1r9q3IyS0Y0pfFN4MPMYhXhHx9x4/v9DaE+ER0kpU6LE1rx3kLk0Py82SZaOnPtDWmT57vSX+IkEZ/A2LEo63rB3r06ABX3Vr2cMmElzQaoCVVbJlYS7x1QGxQFZLywo5Zto3oIQmoTRFB6zXxDzXYfM1ktK9LNeY4u+h8NTuiN2dS0xhWpGMs0345ZuKiAl00F/s7e/mmEQxM2W+i5hAvMEb2coFSCTvahFnFVH3IE+AequWfFZ9wjfWr8/wBLc1vQ/wCi9xTj/FMV7RoLBZ4YVu/RpPcUoKZ5rDfsmc6gHbxBIil82K4SdEtv0Q3+CJbbPCfxmbVYDU2Kv+xGr1r3jeVuJgSoH1JPCLuUWLscMDf+Do/CFJ2C3Hkkl6EhDgqiqdBN+ON9CeQk4hDcrxOUikr1zyR3d8jgCFCce/W/E5+N47PoepVEf350gNzR6bNdszUBRxr3tsBUnk/EqanWL+e4xc19lzeqZjhyXWzNP0y9+l5RyHONO/RDwfXeawymW0xZaXFV5oOl/q2+9zy4oa4aLQAaTdRPDNLac3eIVr8zyxZr5Xd/sUfCLQ44dFFAIyLZeGVc5tt8Oy1GOOHBk+xxXOdXvGPSYmxmiGc8eZNf0hqYvxxY08Y56aD1v5RTseqwm3xxiZxZcV5h7SQzn661rSKCT0MULPSxNVnUbh7+rd3uf4rn2Li/85HdCWlb3zl2/t5W+EXjXY6CWOLDvn3/LTX/Dn39Fn+vNnZIGu9ff66Z/pr+lPqS2MnCcibnlrc4N/3GO/6XjIytYb/cl5HfovxwWmhn8r9hTnaw5UQyUDIwtV4/Nocvdq8RRrj2FT7KpiB/kvwRlmlg86xxgzJOb3axefl1wJM4+4VNWIr6a4pmCDbfVWym/c4BSzut3BOY6Q0h4SHGoOQkiMvnqjMwZ7GGut5BFrNgfstZ2zr/zISXk9C5vPtOx8Wuwye+zvs0UiQGY01F+RAfwVzioW8gWW1tpj6jO1zviPaZlHH7q4HxIPfqia3R8dO23fHwOL13WaY4JMa40yDsodLTWo9Km6y3QR1vwcCfJ6PocMK9yIYo5u0felEAkukeCMdvCqmsOCxFpDzN+t3xrnsAzseweSIocFmTVKVOFEX1FngJS6gajBOPytJW1G9SMhZ9ky3ejTkb+EtXbiPVIi5iEUdNkFjLw83A+9/Y89+rlTzn9mehVcRFDsNvsf79GnCMF7jJmXlNgr33ItyoiQe3ppZh6xJ/IGG/mfK6xa4zHcmJ3N2SjIPMcbUmNw9B5Y//0w2ef/W9IWTQz4NQ4xFt6rQGsbtk2hT7+wYiF7ZmcPGtyUfkFK+AhHYt4W4FBg8P5Hkpmi6s8jFvIc3RUgd5R0LGMxo987wJxaA0fcKmjPNhJMND5jHBu8hqybT2hIfdrm8l0dI59jou2rG7OydH/X3K5uj8OyPMQt9dimOnHw730rF2VmbhArIpzqdk87pNXmEFJjwO+oY8Cld80vffM1ZJ43lwzlukWkQVDazT3/033nENdosQn9PoIS1NASbH84Ev5ccvym5XnGUvvqXmBpeafdcNCAdur9uP9HfhDgnD4EDD6IBAvehVshQ2asNbWAidTl2p+cdjy7xfgRBaYt07M8NRyb1G9wv4+53eYTGVD/4+I8SDuUj93DtjVmr4L5Xb6RxDSkwDp3Ee1LvqFrR9S32gcNvDkxKftcc3913G1HxyDcPbTVNAK6c8AKK4oaZGCEHu+yEHuNlf5ruX4r96t9zMN1Mf+uYh60Rr/EZSnmIdMxD9PWPDvexGGQN7O/CNwPm+xL+3cEMe/w0UxsC7tyZi/m3Jup62mzknxJSd0Cs0Y2KzethIW9aIPvn2tRN9C/Y1tl+3nKDHFJ7YFjDeqjsuf0qQkEPrsjuFjUsb2MkOMVXuPqD9LWrj7wnTLoWL8PfbkTxo0zhdy1tru23gi+7b9GzhzHFJmYtcBZm7sRVlKSIfV/B0KD2E65awq59gOc6LFC7iEqatXpORR4r1JxvyHX4lgTZPgW2cdv623HTZB/MJ1c4cKfVjx1ckmrEotBJ3xntMFXnhZWEm9fuT8lCF+5jOH4hORYVCPXo25lHjLrKbIzzJBhyXmUytKYFf8e4royu33BTSLTzg/2bfsnEg8LdOTI+1RdviH70wGOh4qQ60++jzJHUBRYvCLg32PGZ50NOWroKz9A3pBrx459LM0KqeXNfkjb6x3CDAnFeIJLvDS9DfGSBhTLaMJSVO09K75FWqUGzjP6M8uW5hMJdw8XtE87tGPVO9DrGZX6DtZRlZiY3OUf2/tnKPy+fta/e0ThxZggdXgpAwor+z3gctMvvkXuE0eBa1xrP+cQE50PxHf2ggqxRELKSKmtIkMMVyaO6pJzExRHHZ5RjKnJ97yqz31oEMXcFzwkEPLT+o4zzsiRMMR4I0ferY/BQY5knVuPrN6uLGMCvT07yZ3zuejOvJVM/b6aJrLSPih+mwq/n1zX02cRmf516FiZwtTMxcdDsNV5JkUsdsDwQ8ywwK15M9pjHWtwyjr+HBle614GmlJjOqBIRABxrDWR6WXqxqsj1lrUk7GYZh0ca80r5DXivJwVhX/Qs+L947OV6f9jJJY+vESGBCeYYKzrXYmc8SfVyAtdc7bpXU9I10+49fDBcvw+88M5lgU2cKtHIZxiXhrhamOO59QjxzOoz/EksnI87xU5nhg3yPF8SoRHXjmedpbc52ZVZ8ZHfoObIncNXyEtMjz0zOe4QoJM3zSmSGm3cv/9JVuwE7xe4w//aU63pNXfcNad+w6meGbp5nsSpkUrfI3PbUmCf6GOAInn7/0ObWGDD3hTH979GuUq/5AANyJP5+gd8nRGDfJ0HvCbEOf494Z5Oi8qeTqXb83T+SeZpyNB+KNUJWJ3oMfZaaTvqHfSlnrNo5plSyzr6Vm+jbO6bsxxSSHGul+HnqP7UPxt6K3n9Cs6eeLB5WLXuyx8bT9YYGrJVSWtrhXPZCPArX8LrLjFvFQW8rhSTo0x4RYnWjJO9Hl5jBuWjee67ApPC8zgXO4HHhsbMq8S1+6bASZGPo7rbJRYbOCVARLx1q0THJJa8xH840dhlwuEr0Ostz0gwU1Jp+NnLLBy21eRau1Hcyf8EqtCz8H5Ws/BFKcax1/x2/V2mTISt54jNVkcEeECxzIr344xYB3HAL7A8/bY0qvKKHT8ZvEbClvmd7hgq/Rmc+WTdYnU5gIOCwa/EVPrhSmmyPCCz1dJ/8Crmrzd60bvJAl069I7SZDiFM/cVhZbW5VvzBX2ZPZF6dVMuSyisIG+GotT1vGZxgqZPsvSZ5D8fy3nACVJtwThL+90tRdjG2vbtm3bfrZt27Zt27ZtO09MnT79tuv3v5kn40bFjcsxCfSSYigw2rPAWKZQZLNnHVvZTT0nPdu4wEXaucw1Orkr96GX+3F/xvBAHso4Hs57mMz7+KR7P8eXucrX+CP34L/WxFOs0+bzOltsS/icLbMNfMG22zm+bXe1x/Fne6q9zIbZq+y11m1vto9bv33Sc7Z91nOOfd6+anPtG/ZNW2Lftu/6+O+HelsZGkO73Tt0hqn2oDA9zLFnhPlhvj0vLAxL7fkYqbCIiSxQbeMIWzlMv+dEbl8sA9ayjoMcYiObOMFO7kjMBdazkvuxm81s4fTNeNdQHhe5AAxFWWI72M4GznMGOMdZYA6zVQvBq8CD6MVIc1/GEHlOZTE1YsZdvSbRQxd5rtLBFdoZTY4q2phPihZGkaXIcMYzhKxnledwxtJIPRmGUccqxz7uAe4bomqhxJTE0c9MZsWI/MM9p3pdI+15H6pIeR5gPBFZzPNedFGDcZT5rtSzyz3J0atzjEGnEy+QppY8bdrtKHQG8RwpimQojwK98k/VeN0LeTp0I+YsR5tGDdcsVbqDDHU6fZUzhdYEQyPjdapiX3lobyVfwXkUr5JiRGlEznlWT5Whl6r2qpcgo8vOO4+UVzZ+OfXFs2ZudgdjKtYeVXL6vspH66bGEDHaq0b3Moo+sgxhKZ2e05jOFCY7wxFFNXB/lnAXFjm/tzsAx27wqvaESwSaGUmrYxMTwBFFUB3zvhkE9rsDcGwAr+AJD2Qp1c5W+8hTPnI5A47HGefpfn9yv9xLgLvzAO5Gt2enJ0zTLu5JM/vYwwTNOY6TwEiN2csULrtrsre4a4XrTd4CmhsWATOczY3fD/UxTrWMzSzFd+vZx+2LaaxkPgv0PmgRi9nKKu5IjGUnMItzrAGWsONmvPMoj4McAIahLLEVLGch+9nNLvayBxjFSNUE8CoSiLxCqT0t1DMqvcwLHKORozTQjpHDlGnxIYwh55nxtLjqqSNPNbXMcWzhFJAupXgpFXo5DDAiRgCf1yuoLhFxNl53AxmC1xTPM3pNiqSvp47VGMkR6RzxWXGus9dQwLRbQ2eIuVX8f4KixlJ2N80UaNSNRJpFozxzpTvIU6vTmzNFvGaERsYjLPYpEn1F56G0ShvxCPGMnipDJy07bXvZeT21S52WlnjW/M3uIKpY20rOglTK11a1a3VTtuh+p1KlvOA1kcnik4TDY+yg33Gi84tSOkq9R8iyj5TndmeddImPFmZj7KVbfSnGS+kVbvOazXl9TMsyly55pjPU9S1yDHX/UM9erxla7SSTOaG9dcR7OOx6P1nWsZYurdvjmVKbpdsdh7yUZJlZ2hfAUNf6nXc7GyvNyHoV2U2eT9lJjH7+xJ/5K3/j7/yDf/Iv/m3N1mJt1m4LbKFttE22xbbaebtgl+yyXbGr9nh7gj3Jnmwvt1fY6+z19kZ7U5gb5mHM4BE8ikfzGB7H43kCT+LJPJWn8UyexbN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") 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c0LfltX2M13ep8yr64Nev5jrFNlr+VUGk9hr9vF4FTVbxXsFfrGOzjIkJg6Q5zZq9y3Qvy8SupyZNNVck2IVCx1tAWg/iRFUN2IN4cPjwyG7D3mp0Ii/BhuIHX7IH7jIjcpA+IJRC4V6PAXwt8yVxGY4/Mx28VPR6SZ8B9TPziJSKC1pxpjQgcu3Q0u/B0MmGQXn/lHAMI9mNkGEYf25gv7GxQQeDwskOQLOM3hReuiYafqv5M8RBYz6VkHwtpZxjBwsVeAsf8si+rrcKI++I4jdASPJHggH4Z8yzejiMdm935x3G/gz0SDI5FzvMazIfE+fKP3yjqCIzx65Tfaa1awn7ZkqGHqyq/432b4Qoj85VTAEg2cdZID0G6cSqw2SChDexrzJ1Nrar87pnPao8e2fx/BtHb0m824AiEMxeSFTyViHgJnDcJcR4/YoUvLlpvYM6cyIae8U3mJxzBcubM3497HGrFwzUa255xsHUEDq0a0oYte6SIvLKrURGK9YjAsnBfc6rCdNGo+VxlFhVn7gT5XyQiHPXsMFVF4O/BRarAq2HmXoTXVYmhJYFTVY4KiAGsmcgRtcWL8MddXsISg0nsy69kIWniMTxCl7PvR1IDO/dBm0jg8PIxdsi07BTmVVWCl59VtAC92PyFiKw16LmCwDE5s2GhCoVlLoJk3YS/qypjh1hLyx5TtCkR4LbM7F/JKGSB9cbWQiD5/ucOVRQp8VJkPe4Pv7A6W7KvTfI8cZGDrL0kz8+vEZFOYd6iw/e4oo1I1QOPkZBxSN89ZzdQVYgYWZAeQ1yd3+OrhhIligeVcXFS1iJD19FjrxcR1gDTcgIX8yAC8V5jc0OVI0gtDoQdVgTQ2bSQVDg2ocokcIV8Qny9cy0KFcj4vMEY36yhjBE2U14i+ty8LvDb6bWJY3vxvoRa8C264jNPGVsa0DvpeweLq52q4t5G0XrIYNlX62PJJcj4S05X7C/WZlctdixn/EAkEer1GH0nbdmduVhUnwmGRB7DMoQK0bkzg3V3CYFjl+zyepXdJbIr7NhcVmLrzq4ICGaRBf9BdfUJBI6FgmNB8/vygqqK2CiZpt5d6C3zsQ0e4bWYl8Bl/aabquqTiiin1Vc8lBwPT1JgryibRewLVQiI5W1F4MjIZxH1GLVg2ci5ArLLOIEkvMa5EXqniNzV6siERY7NNxuhr1vPKH1nXrwwE6ire9rn2MjBY+B8RH50qerguR0xz/e0hNXnb1QSI8hqxctlGZ71K1lOBlWFuEHgvPZ7mTQ8xvI0LfSbzFBkN7xkeXa5h8B5w6a4J5uoB4gIYSsuU1USOtB886yheKpx7PQKK08Y27P+IgHGOzNuKZnZvNzXygmcquJi9iyuZrBhDuZkZ+E5Hn2PiPCDHWXl3J7dgEcdmoHxc2MWSFUlLoDgZSs+gEDju4sIJcgGbdsJXPaG3KwcGVivyt8JBj4672Yh9lVWvB9MGt4dOSQRzaheG0ngHiEi1dmHqsrxMsfMHtsnrOppuIw2lQQObxS/Pc/OmkUWeZnRln+DZyC26rgBVQBOVlVITisCx8KDnhSxwUNHZDsSuxz93dckVy0hkxoPkWWcGFzeqhU8cpFjs/FgawO02MGi/cjxoSfk5P1ZILtXn7OE8eCxoWrB0JHnPpmfvhMU4/dPKSs2hh5DJgqP4NB8QvUJkms8hvzN48eQhnLigTPB6wmmP4MErkieMC97NpkQzxNG9p0jYUJOkFixbPAkZeTY5pmU9eL0cJR+qNXp+b+vg8ARPIiwo2X7FOqNAU2MBDtv6z3YlZPMgOek2iqyXmHYd81xe6PTiovG2QF1A+c6jNeEXfp53sG9CwicN8i4KsGgaxCUSZ0fv0WgufyPcn3HwaOMEQSOEl5PqR6g5QJVZWPkEZW+WETQ0luL1RA4Ophrw74Qj4qjsxyXW3U5e29ThMVZZCyCwK6dmLtvtCRws46VygtsTDnaX1Smx6vDBnHUbr6EbHBc6dmMHmFJioxY5D5cpBxc3uXFj6WqbDw8IrjEql3G8mKX5Cj09jiCW6xiwJHjjaZkOKsq72vVq+Y1nyQivcoKpZ94Kz2VCpgHkFMZNUbKbw5vLV5er1kEjvGMw8Uy1jjIrNuz3DFG0GXzrMHUjabeaqeNGNvchyx/5MtWUsbQIj4W2FV/L54syolYEySxHdfzDMAciEo6Muf3lj0//5jZ3VZbdl1DqDwL3itEZLKifpYqQR9nPrONHyT9r5aA2GYCp6rEShBwSoCwZQ8dG0cwf2ODQM83ZVNwVREhrqFvAqgJ2CXmjYzrKRPXsaWYs4XVt0VkGSV3rOfu+/sIAsexGZnkVtITt0fHDK9JteVYIMQ4PXPE6fm77/NiLYPAzTpeJIuo0kGWJHMmAfNI93TGMnlfOB81Edpxf0d7qpAMxsFVLnKQKsa4K0O0q38lJo4EOI8n56YiQsajaUVOBD1BJKpmElF3q5EN6ukv3ly8upYNxsGVMIlBj395AJ7TG4oIYTaTTFXZLHhj4iwC54k3hHDeQkTwsk6yXJrw0yXRa+g+YHXFvuSnyrHNc/C8oVKwtHq3iy+zagKHy5oUaMueKSIets4EiqaLGWxbMkDZNRPg6rZSp41jUWvxYEFncoV8TjJVRSqDSY6zc7JoPZUnOp+55QSO48zBY4Xy0mwKrlX7bfs+UoWExOACV+mBu5+IWEXBB8dV0YdirHqOPn4MD9KkgTry4loCx2Mq5B7OFxHqylZZKZvFUa2VSHTA73yZBG72AiW0Ag/kl0UEb+QkqxAJfraIEETea5WLHAkAj5jU+R+MBUTUPSEx+yv4eJ9ZxgHJHhAJz0mR9Zukjq1Hduh9+ciNeMq+edx7EtEE4/Kbg7xB4jzWS+BUlfAH5hrLe3hB9vg2KQmmqt5Eyd4M4MqxDa84XETIpF6ZrZrAwVAtfSMCw8kgYlE2rfzg2JF6UrerY2RU1Ss4vL9eq9lpRwOO84a8O45b7Guy5QQOb4inRMmzRMTTzgWbqt4ve4CJw7DsdXmn+5CBSdfrgeNohGojVZuLrufm8UrchUfgk8mGXerKbSSBIz4MmQxrzmIXjweiysujqmQjU6vTsnNEZH8c0ioInNWh2r+XotsE5lu239M4MMaPz5IM3o3HTUQEKYtJlhPYIJUesd7R8gyTOjh3ccl2J7zDKtH15yLSG3yvqp61kyc3+12XvuOQ8NQpHSJwiOkT0G8ZSQueede6D+ued/PfGwdXSeCWWpe574WtydAEytugQlupmgipKkHflJ6x7A+yN4vzcbdVTOyDMQzuBzZuuOUEzhsv6dZR8sBbYuE82XEfFRE0tjqtwgNnJux4+k2biiD1O9Rk6nqf72k3hsCVdyNz8ecdzzgjS0h4M8bBrKZs1gFjbUsJHPqBHnFzU96iYpH7uxziQNbuZFNVb3IA8gyeeLnJfRq6gaoSe32I8ZC/zcfVnUSpyHwgJWSdAn1dRAjib2YVST1DBM5b05c49SZ1jYvX79sOIF6Ujzw7M78rxjaPWct8ukoC5427qK5fWkpzoLlmGccf167JUswxF6fnOCxPXJuZRWR1bhl/33ICR/yKVfWCmLHLWtlytdjmWn1k+JIkM2T/JCK92ZEVBM6t62e9R0WQ9y9MSbax+mEsaGgzWgvNnyIjMn+figx2xgRefOInTcveDbI+Sfe3bEdm47YRuJwQQvICIRok61hSEW+2jhErFjmXuK71Afh7xTiYlBTk6YsxziFcnAxxDHm44T3+atY87cycVFUktzwe5cGg/DHvo6pshDq1WBfuN0TgXu7QIGRtZjOMt5IYMuLT9v3vGGmg4j0kUcYSPH6tiHQKxFeMbcg1a9AkCaMx32clBK5k0JD5hGL1kO0oXO99qbwr4+zZo/9iCvgtLBpIBJh6SMgciAhijxtlW07gyOSxjsY/LSJMjk1NVc9F+8lx0yuICIKkO6yCwJExVqsI39k1VfXGmd4j4+apIOCAoK7JWA9cWbzJUkM53jJ3TUxVJca0s+LLwkPIMD9APHwdBK4sTmheofxPMgq/Ef4R+zj7767/5e9WHNL8K3u0vbxHqM/JC1xthYm+Me6VFhott7KwBkCsmGNIbujDtwt7K1lv/jFfE5HOyjAVx4Gn5iSop1k/jJq/qypZ3Z6koCEC5/Wc93WN5Jf9hG7hvw8gewt/w/tqjffeo88KAveBfJrxszW4tmq7KgLndaG+JJOgUTXeKgQ/IZLszl3xRs4s1+/nGCxroLT6ZlX32VYCVxYpvpGl2j0Y/FsF1lzjiqMDxlJnxlcFgfupHFdFlY/JlskRAdjseC07Nnu4EL1cuU0kcF5vGeWgSFrqrGIxe+mK0A5ikPhOB0gzrIrA5aNxMrF5d4RWIbDWxqbFd21J4B4rIi9r0alcQvAGufoIWpiWnSYiT7AaLf69VFOgPinkFALjFQ+ufZSXwHlFh58qIp4KR+5+lmovnrlpiMDVVo9w969Bw96QrQoCN2qcNei7GRDc4hm4vL3eMTR3RmVxlLglEh886eXuxUtVSWlmxzdk3xQRj+J2EzxrbrLFBI4yNB4V7reKCItaU8vJMUyEZDJZ1jtmKwjcT4zVKOxYfHY7gauJV3tc/l0iaNprWTHf62HvDHZeNoErJfzIyCfua9WbxJYEDuFe5JEm27IInKpCipFtQSJmFQTZS+CY385xADdKBNz4fUBePQmFQwSO8lnNT0kceHia9Ir8VxA4t2qGp0M1bZbugatw/35MRCi8PNpU9a0pJbSwLHMnSmT9HXZ67PiG7Et5chpTWNzq5+S/bzGBo5i1J4aJOnnoZDU1VaVO3imOmx7ZJ/NSQeAo6YK21WTb7R44AFJV9LoGiVkBcrDkWSECeNaseZAsd2RqOMo5wJZF4EpiBePv1xzB65PHTc8NWhI4lPXdpQWHXmgZBK4s1qellJh31mFDR6jeY+pmJHkGQBF+7gwRWQBpiMB51tB1YM4zWxC4XxERKpys3KyJa3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white-space: normal; overflow-wrap: normal;"><font style="font-size: 20px;">Observation Manager</font></div></div></div></foreignObject><image x="426" y="464.5" width="358" height="29" 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1zVkZknzd29/PbGgaFn3PSh/vt07JgZmFSwORHS19Bn+vD3P13fXSYBRmKhRSY+47PpeXnD3L37/TRcS4kSVH5WdkGo49u2QctP56bsp+P7iIoBQXmT7k7s60pKFAoeXnOvK75CFwRmPm+8b0kcGwdALBfyqY/LdAu3AQAPz7XT6C0bLjBh+NguzxJ8LJkW/KAMT+ER+2egs9DSx7vcyIw04uek0cbRPA+w23GEpgB0P6GgjDtC2quxdL1QvsMTqrxnt85ozkgUHBVAu1TKEJRID+ysIqhNO7Bv3NVBvkys29uokeB+YNJsJvEfX89qyQuczUGs0+56mGc6Cww5+fGE9M18oyAyFc7Rto6PDP1e2zX63zZrvH0fGDW7OvTBA0LLvcZvI+8NReppL1Db5Hfg95gZnxf7Ds4wcv7U2nirrPADIDvAnzXpLDcZzCL/IHu/s0unQaubfrAX4HWZdkWi88MTgLRmikaEpijpNROBERg4QhIYF64U6YBi4AIjEsAAH2EKXZFYvu+xMbIzlbaAOAyei6DLcXj3Z3ZVo0RFH7OSgUG6W/5ysDS29KYRv2dS/EPSoIll+V3jmwh8poJfHQPjokf4E9yd2aWdo7sL8mPy907d1LekB9T+7v7j8tN/69FUGB+g7sfAmAvMzupo0C+TmDmngEw65eZmqXo1ZIGALNJI1lWn3X3kZ7sAJjJz4kSeixPKihGMOON4s/ImBOBmcXWmDG7QQTvM9yms8AMYF8ze13K+qa36KSC9ygKFJ2WuAcECk5ecQLvXSmr/zYTOAiuunlw8tQ/ZQJ9d+qyR4GZv5GduopHkcEDeAon7iJtC206Ccz53swM/4ilzzjDpG3GAV2y9pflGs9Zy7Qc4uqiSX4T06pkL3fnf8eO9H54z2QhQXE5aoMx9j4bOugkMAN4WLIR4irC0gqoruOmFdVT3J0TkVURuLa/5+7Xz5YknGildVxtSGCuJab2IiACC0Ngkg/ThYGggYqACKwtAgAenjMnSgf+peSTtkup0ST+XiHGFTO6gsIPC9Sw0Nwkgy/993P393TZCQBaF7yky7YdtznK3Z/XZdu8fJ9+hiUfwS7dD2/D7Nc7uzsnJUIRFJifkDw/v5qX+rb5RLftc1BgZqEkinYlGwBmT20aKWAZOVgAL8iZoqXmzFznsuANAgBFZ/o81mQolfbV9vdGm445EJg5+fKvo/x+g/cZHncngRkAMzppAzGNd1dOiFEQYkZwVQQEii9ngTyygqZq3wONKcQe6u7Mypx59Cgw81jekjy8adPTe6R7BS1vaIdFD9Vxo1pgzj7cnwxYrIw7tpXtP8sM0og9z+AOl+Eaz/UQOGlIsXYa8SsWlR5XZK4o4jqNY6oWmAEcm4r18d1iGkGBmUkY4RUpgWubojJXNbJIOAttdgkJzF2oaRsREIGFIDCNl/SFAKFBioAIrB0CSaThRwX9U0vxdHePZFyW+qn+OwBmRUSW+NFXceO2Ak8Vwk/1ODtswOWF93b3U2u2neExFDPEh48DAIsCMQuSS/mnFVzev+uozNJRAwgKzCw4SUuIq45xEOsFZvYB4PTsU1jq8nFdso9GnAtaKLCgY2npM4tfXXu4YBEAFsvjuSwVbSsdT+3fH+nuzNTfIOZAYP6qu9N7e1VU/EarBea0FJnemkfUQhyzPa8JTtzQNiccAYEi3NeYDXmvpZ0JM1VnGj0LzJyo3DKtrvhZ3wcF4IFm9uae+q0SmAFwgpdFG2/Y0/6j3bCQa+R9aH1/y3CNp5VszBK/XxRST+2YwXzzrsUWAVCYpUA7L1ElMKdCflx9csiUB8/6BmE/9cC1zYx3+iyPYyMngXnKF4F2JwIiMD0CEpinx1p7EgERmBMCAOhPGfmIu427f2ZWwwbAjJfIUvCt2ooQVgg/0zpUiuK3jC5zzlYTLKgyridml+OjXyrHyqzDYgBgISbaVkzSSqFpHGR0q8jHa1BgZqbO3YoH3d5gWGBmf/8Z6PNr7n6TQLvWJqlgJv0dmUleilVe67lwDzNYZ3EumSl8s+ECSnMgMJ/s7iNFmYr7TJXADOCheTl46RxO4u+/Thn8u6SMWXr2hyIgUIT66akRC3bRUuIXPfXXqZsKgZmrF1hsrRQvSlm3tLLoNSreDSLjrBWY3z3FbNphbge7+9uiMBf9GgfwqDRx+oro8fbc7s3J0urBtX0CuEsSNs+Y0gqO6PDCAjMAFtWmLcYsgvUNTojsOHBt9/FeJIE5cjLURgREYCEJSGBeyNOmQYuACHQlkIvnXBQoqsTsLy4Fp5/lTAIAq5Dzo6IUzLLjEv6RUSH8lPbT59/pQ8oChSxW1xqpmM2bWHiv1G6Cf2cmOcU+Zs6VxvohZj2W2k3w7+t8k0v9BwRmXv/8nYwr6g8LzLTHoFgXsQ65afJvpkVH50iFhN5O7+9ABzsPTyIAYCYjMxpnFavsb+ZAYG5c1VFxnwkLzABulTLFaBkQER0ndZ44IUmRuXiv4gACAsWkxtnU74lpZcP9p73Twf1VCMzMKo38Xv/IVQnu3lvhtOw1H8n2phURrwWubmiLsMAM4GBaf8zwHHEye2t35+RvMRb5Gs/30PMmVGuiyC434Gqjc6ONc0E/PgsnbWMWHdJKu5DAnG2mPmFmG9XuoKf2fI+/YWSFV+Da5r2HhUDHCQnM49DTtiIgAnNNQALzXJ8eDU4ERKBvAkk0ul5eMl/q+rupSBKLg80sAHApHn1HS3G4uzdm41QIP237YcYWszlZLO0POYuG2dX0qmQBNHpX1saR7k5/3MYAwH1cWNk/BWF+vF2QvP4oQFAMuLyZMbuYhRNv28G+omiV0ZEzhdwv5H/8yCdbirq0pWCWPcdaY89Ar0H6PLYu6w8IzLXnsqn9BgIzGwGgr/WRgR1ULW0d7i95PbKA0C9Z8b2wr6+4+80G2wDg8tfagpScgKAvI8UL7pdiDb2raZVC25TdKs8lh7SBEDEHAvN+7n7aKJ4V139IYM4FuCiqdCmixN8+M/rppUxxgefgWvle1cVL+9nu/qzANduXwEzLG66E4L3vr1nQuCavhw4i0z/N7EbRFSORY6xtUyEw75/u1ceYGQvxluKJ7t6bJz8A/t4jy9456fTovgTmbI3B67W2YBvvM3x2sMArRS9O3vE654oLFpbdrARw6O8sikaP82IERLhiH4nhTK5xABQ6bx8Z4EAb+nJzNdt3zYz1Kvjc5vsE6wqwr8iKuMFdfigJzJHkgXXbAGDdCv42aoNj5eorPo/Im88j3gd5jfCZNG4UBebsdc37eC0jrrr4WPZE57sR3234XkTmfC+qfS6c6e4sWNwaPV3bpd1IYC4R0t9FQAQWloAE5oU9dRq4CIhAFwIVwlHoZbTLGKLbVHyUv9TdufxwZFQIP6O254cvPzrfmXzsKH6uiiSEU7Dhi/vTmZUcPb6cIbttm5cmAC4lDS1tNLOzKMi7OzMOGyMJnMyiuauZPYfCS3C8FHpoRUKhfRQDipgU30tevyvbUjTipMCx7s4Pv6Zzx7HeN33QHhUUXdjPp92dH2BtDPiRSfGtj6CAxWNgxvNwnDWcUQ2AH7ffDyz1pT0Bi/2NZF4aOABmvTP7vRSHufurBxslaw0KxSzuFwl69dIj+PXu/ruWc8mP+8PS3ylUUvyORHVBs4oiUCxid2ZkEJE2FfeZqMDMSYiaIpsU+F9FO43kKfvtUWNOXs6XzeLb08zsNpHjym3YN0VarrxojTEFCgoqFFg/7u4UsTaILNZQBGVtAE7sReM17v7IaOO+21U8y/bNAtIGv8eG8bTek2uOIXnD01ecgm0pWFCV9y9O4PWSwZwmUngueT1GgtcE72m0CKGfb2MAIEtOUm8d6ThPyG4TKYi2qNc4gDvm94QgEjvbzJ7h7nwetLHm9UNvZAr7keAzk6wpXLcGAPbJ+0JN0IaKky+fGXUfYUfZeuw++dqrndxYGUtEYOZkzMsrBs9JE77vfLTtWkwe2pyEempeZcRaC5FgQctWlmNe28Nj4MTPqPfmP7l79N0zclxqIwIiIAJzQ0AC89ycCg1EBERgGgQA7JNE0JEZeEP7rxZ2+h5//kB8b6DfVk+/CuFneFcs8HZE1CYk249QxDi+Ykn7892dwvTIqLDHeCOLx0Q+jld2lMUaZlA/OcCYTR7o7m8d1RYAq4pHRBFuTpGKxbeYDRWKnI3LJdTRLKZbuPsXW7iOKzBTxCcLLilntv8qMaztwNKSWfoi0x+5FPukonIsDFgdwUw1eh2zuB8/BNcFAFqc0OokEsyUZ1YvhadQ5MKBtLSJFE/kuK6WfiP0Ag/FMgjM2f/6JxVLkXkeDowINgPnmYXNeN+Iiv0hq4mOAgVXWjw8rZo5JXKS872W99nHRNrnDNeq6yjYb6hZpcDM3wZtdCL1B0KTFaVBAjg53ZcptpXiSe5+LABml48tMANgxjFFxsg1yCzUe7n7p0qDHLjG2T/vZSxKFglawfDYWmNRr3EAnBi4Zen40gobTmo+dnjisW27/D7BInYPCfTPJuuupVJbABREo8I1Jzh5H4zUHVi363wN0g5q79JYRvy9VWDOk/ksshuxxGKG8rM58V/5HsfkBv5+IyL5Ktup4WPqeG2vdMNJcT5TaG/3paitUgfu2kQEREAE5paABOa5PTUamAiIwCQIAKC/I31ZS3Fc8ndkxe6ZRVqye7vsP1oaw7vd/YCmRh0F5qJ9Rcv+aAVA4ZG2FKXgCzm9NEf6mwYzSVv7KA0AQClTkpliFHMo5FOQXBUA6MtJ+41ScNk+LSxGZoO3bQyAWToUXyLC7NuS2EZfz5ExhkUGBU9WZGf/zMLqFAAo7r0jsPH73J2ZeFUBYIuckVd6z1nFKduyPN7MOFnSZk/CJdN7uvuozO3W8abr5Z7pemFRr0jctpRBN9jJkgjMvPcWxZd83JyEu190ImyIFVdcMIubEy6loMi/pbszc7YxOggUzIDfIyLsDe+0wmOcm97B3WkPMPWoEZhTcc/3AXhGFptKYz0/WbbUrJpZ1V/2t+WKipI/LM8Tn1V/6lFgprUUV1ockTyYec9qCloEsOjw90pARlwj7JcTghER+yh3L64aWNRrPE8eckK7bXUKJ0sPSBmmkcn9DXBnWx9OdkUK1H4s3ddbn+UAaANBy69I0FLiju7Od5GqyELwSTzuqg3NSgLzvZKVxbuCfXKC7fXBtsPcuaqDojptYtqCIjZXzfH3PjI6XNvsh/1y5ckL+vSF78JC24iACIjArAmUPrxmPT7tXwREQAR6JQDg4UlMeG2gU74oRnxiA111awKAfpufD2zd6ufXQWB+V1piTgGwc1TYE3Afbb6uFGR3KAykVWCPHAQAfkwOC5nMdqLIRZGzUUwFcOvsz1jaFUVlFgssLott+fhhVh9tS0piATOZrtGyPLZLBjMzke6aJjN4TsYKABRWfhbI4mUm2XXc/Tc1O6wQqBrF2+yNygzRw0f43tJeZKc2e5PSeAF8Nk0YsIhdKZ7g7seVGq38fUkEZl7jtCIoBX3hb9lFXB7gRTsZLoUviRPc5HnpN8Xl243RQaDY292Z8VYdAOgDS9GR/y3FM92dtkBTjw4CM7P76S1c8k/nsdzJ3WmP1CkAcPKQk2aleHGaTFq32qUvgXngGqS4zUKMXPK/7dBA+OzZrSZzefhA0v2WK3XYdyne7+53LzVa9Gs8W6XxdzzKc/tp7k7Lo06R7ut75ong0vacrL1KwQaCNhec7CwFBU5OUvE+1ikA0MKJXsk1tUdKAjN/l7QlKcXL3T26GmNkXwAo8EZWo7XW0+hwbTPpgCspTi0dpP4uAiIgAmuBgATmtXCWdYwiIALrCQCgV3FErAkXdZoUXgDMgvlKoP9z0odFY9GaSoGZS7WZ4cHluGNFsgJ4f3DZJb1rKfyvCgAUT0oFn1otQiIHAeAa2ReYggb9C+mNzAzVYlQUrasSCpt2nIRPWpdQ9CzF7ZpEiQ4ZzMzS3bnJ27Y0kIZzy99ho3f4wDZcqsxjDkdaqcCs85IpN1qSAAAgAElEQVT36H+5e2nygmISiy4+Ko91Zdn+3dz9jPCARl/bD6VfcKCPKrueRReYATAjlUJHKZhRvGON1UzLb4rCa6twnLf9esk7s1KgeKu7s2hc56i4H3RaDdB5YAMb1grM3DQt3X9l9iwvDYFerRERa1U/ALisnlYspQk7TnQxe32dFU7fAvPKwLLNAid36cm8siLmJe4eKfbbyCn71Uayn3+YbKCKEzvLco3nyWH+7mmLxKCtFCesxlmdw5VGnIyN1GPYwt1pBzMy0kofeslvX/oBJBulV6bJTnodjxUVk+Ur+2kUmHNtDk50lwpAc7KW75ysS9E58jsNudNnvy3ob79HC3PW0qgR2Q9297d1Hrg2FAEREIElIyCBeclOqA5HBESgnQAAfqix8E0pFklgZiGXxoJVlQLz2B+zK2AritP8yN1HLg9OntkUmkpLoFs/GEonemC890hLRL9VuwwZAD9KSx6XLILHTFwWCxsrAOxiZlyGW4qnuDsLNK6KDgLzoe5Of8neomL571fc/WbRHQPgbyHiUxrywBy4Pjj5cGjyV6RPacSvtXXIAJipGPHhrrq+l0BgLlnWrHAde6XFwLllBjCFxkjGbEkUigoUFMhZOJT77RwVK12+6e437LyjMTbsKDBvlX8fkcxyrgyJTMZucBQAaE0RyVbdYCJgUgLzwPXI77P9ssC+f8ru/P0Y+NdtCoDi+HUK/VBIv1xJYK0QmBfiGgfA5zetM45390/2wJp2EyzOW4q2SeDrZaG61ActPTj5MdZ9ZODai66s4SZtAjMLKUcmYXuZeM/XOFeC3KUAjEL2lZoyxyuube6Gxa8PLJ0g/V0EREAE1hIBCcxr6WzrWEVABPiRJYG5/Tq4obtHPf+KVxQACmjDS35HbXetUVnTwWJw/Ii9cR/WDcUDGmqQlmXSZ/ovqTBNqYr5G1P228Nq+x/VPvs8cnltyeO60Ye5UmBmhtHmNYXmoscJgFnitBgpBc/v+aVG+SOTWcHMDm4LCimbujv9u2cSuVAbVwxcsTAATnpE/L3XdbMEAnO0AGSVN3XpJAOg/2fkN9qasVYhUJyWrmmKiGMFAGbs8R5U8hD+o7tHCmGNNZ6GexYnZl4T6HhfejCvtEuTUPRvpY9rKU5OE4P3KzUa/Hu26WHG47UD29EOZ7237aQF5sB4qpukicmI+MZ+aa3Uel/UNd6OH8CT0mTVyMndoS3p9TzSix8A/ZDfGTjRp7s7i1f3EgC4ooJF/yLRJjBz4oYTOG1Baw++W7T62kcGwjaBehorXXFib6RVWcW1zb56fV+OHqfaiYAIiMA8E5DAPM9nR2MTARHonYAE5lakv0hZqpGP7fB5AXBC8tJ8cGCD27v7OcPtAPBDJ7KEnH6+nDw4tY8s4cB41zWpWM7/EHd/U7TfUjsAzNYrFRI6193p470qKgVmVnV/ZmlMXf5e4dXNzLKiF2UW/CmIb1wYz3vSREpEuOpyWOFt0sc8BS5mqrVFaNn6SgdLIDDzt1y6D1FQ3aTJYzx8AgYaAogWpDomeT43CicVAkVv94SKIqOXLmWndmFX2qZLBnO+v0ZXa3CScWt3p29zKCruPatqHCyowPwWM2ss/DoArTVDP5+XaJb+mrnGBy+6CpH2gcmS5K0Nz+hoocvD3P3VoYs+0AjApmmCNir4tgnMpyWro5Lw/ZP0XrR5YFihJum9iKvQ1k9QtWx0l/Ru9KEG7tFru9WaLjRgNRIBERCBJSQggXkJT6oOSQREoJlAhfgyMVEten4A0Bbgy4H2n0jLOkcVq1m3aYVFRq+ZMHnf0aKKh7j7Kj9aAPwg5odxNCg8sTjf13PxK3rx8t+PJyGsJI9E+mW+IzC4R2TbBnoZsyjMuv+mQpLMpK0OAB9vKFA02NcF7j7Sh7hSYN7V3SOWHF2Og5YEFISvXNj4VznjmEJSYwCgdcXJgYGMVRgs0H9rk5w9yWP+sJnd1Mza3seqJn4q7nF7ufuZ4x7LyvYV9xkWRDpx1H6zJ27EDuDsNCG1e19jz/eqzbJNRqnb1kJoFQLzDfryNAfwiVSosNGHf+CArpgK1fHeM9XoKjDn8xI9tpe6e8TTnc9E/t74jIisDLiDu3MM62ORBObs60wf+eenwqqHBDLdt08WQN8p3GejItyaucbztcrrin7eLBjMFRElP+BG6ykAfI5FrJg62cMUzm9kko9dtAnMEf9oWqA9aOV9KP+X96e/tRU/bBp7ei+6XXovilicPCC9G7294RkUvbYbLcimenPVzkRABERgzghIYJ6zE6LhiIAITJZA8iHkEmi++JeiNUuttHEffwdwKzOjH14pznD3u7W8dNMj7pRSJyx+6O5PCLQLNwFwWzNblZk8ooORgn4WQukdWbKgKI3p4pS9xSWRK4Iz/8uiR191d4qXnaJiKWxT/xRMNxCdG/7v4Tb0d7x+YdC/TplNLF64KioEZgrg9Cskv4lEGstrk8g8ssjj0A7vkbyYWYCxMQBQML1TYaAsqsQlsp0LOa30D4CZthSIWfyPgvGofxR3hv//JeFh8BB+6e7XisJfcIGZLM8LHGtYTAz0tb4JAHql04+5Lc5390Zf+KDATN/UK/S12iJNRvJ30fgMGDgYZn3TXmeqMabAHPVy5eTidd39D6WDA0CfVlpGlOJL7s4s6g1iFgIzAN5D+Ptg8bjB+8mo+8vK3/m3kgXP8OE1ioYD972ICLew13ieAKRfOZ+xTfd1/v+H2VNcrnlXeUS6t/P5tyqC9mDcjp7ZvT6fU7G/s8wsUjizTWCm13HE037k4VNkHpyMHxCf10/QjxCmee9+ZOlHTW/zpqzv4P2bu9g9Fdc+O7AvNREBERCBNUVAAvOaOt06WBEQgYoMx5enwjqPmSWxiiJ572grOlaRWfh4dz++z2MGsFMqVhTxzm0UtwGwQvf9+xzXUF9cVk0vYIrwZ9ZkFQN4jpmxCv08BjOkR37gVQjMX0ueqCUrjrGOPRdYYqHEUrzX3fdvapQ8dFnAiueyVBTsGe7+3NLORn71ApczMwpenLShd3SpaFaX3Qxvs5YEZmbhbpAt2gCw8zlsOyEAOOm0TeGk/cDdWYBuZAQFit+4OyclegkAXEXB1RSluEpEgC11Uvv3MQVmfqvQ//gGgf0+1d2PLrULrgBhN/d2d/pAbxDTEJhzljULlnIykdn6rGUwje+2vgTmhbrGAWyXWfP+zveWfyldRz38vU1g/ryZjbS4Gthv4zN+nLFVeJ+PvFbSexFFdk4wzGu0FUCOTJ7wuGZyL51XoBqXCIiACKwQmMaLimiLgAiIwNwQAMAsr9YsyDzYVtF2GgdUIYafkIqkNBY1qxCYH+7ukezu8OEnD2ZmW0V8MV/v7iOzWAFsmT70udyyJuszPMahhr9JxfOOSVmMnGD4e6mTlFV2nJmFlmWX+prA3y9OYgsF0VVRITB/1N0jmUxjDT/oKc3zcR13Z5bpqGN6cj53bWPhRy89RqMek+v6ytmD9N09LGDnMRaLERuvJYF5bzN7fwDg4e7+ikC7qiYps5VWMKsyVoc6+a27X62p46DA/CN336JqcC2Nl1lgzr8/LqOPeNjTboe/78Z7d4X1FFe8bDvK53uSAnMW51h3gB68JX/2vi6hwX76EpgX4hoHwEktFqTjirFpR5vATAsXZlG3xc/TO1vvk5wVBU+bBGZmd099pUTFyWuciArev//H3S9TsT81FQEREIE1Q0AC85o51TpQERCB/KHKrENmq5bik8l3cbdSo0n+HQCFSwqYpXiRuz+lqVGFwNzoS1caQMu+r2Jmvwtsf6K7N2YpZ7H9pCllcHG4tNCgVyyziBoDwGvM7NDA8c2iSR8CM4sm3nPSgwdA4faVgf00CovBQmcfcHeKmOHIv5+XmdlIu5FwR90briWB+YDk6/nOAKoHJYG2xps90OW6iYSP5WzRtvb0B718yz0vkgH3/eRDXcqUDo2ZjdaAwMxsUgq+ETGttbBcylTlShWuQCjFo9NEwsh70qQEZgBcLcKibzcqDW6Cf+9LYJ7raxzAVZOvP+s+0C95VtEmMEfuI72K+CsQkhf+S80ssoKvSWC+Znov+sWsoAb2O67A3DrJGNi/moiACIjA0hKQwLy0p1YHJgIiMIoAAIpEvwzQmUhmSGC/65tUeNM+zN3f2CJ4RD2YG4tv1Yx7sG1F0a6T3P2gtv1kb9mXVHocdh06t6MH4IPdvdG/uuIcjTOOrtv2ITC/xd2ZPTjRyNcJCws1Cnd5AOe5+82HB1Nhs7FvsvyIVJlfKQRGC5SnT/Tgy52vJYE5eq+alMD80VSMc4/CKWn8XXG7YAbcXItv5UuyrsU4FhkrewIQWaHA5lztsuOoImEAmBH8/YCNDldJbN5UEHESAnNaxXGPlDHNSdRaz+S6k1FuvfQCc7bDoAf3yCK4ZUS9tVhWgZk1A7iaYF5jXIH5h+7OlXUKERABERCBIQISmHVJiIAIrDkCSahkEaCNAwd+tabl+IFtx24C4FNmRg/GUtze3RsL6VVkMM+1wEwIAPZMhXdYXZ3ZR9MIpEKA+zQVl1sDAnOr/UqfJ6DCa3unlFVNT9b1kbLRaJfwqMJ4mFHFImAsrFgMAC8ysycVG06+gQTm1YwlMG94/S+tB/PKYQLgM/snubBa6Vd3N3c/Y7hRRWbmc1MRUFpUjIy+BWYA9P2ldVdNgbgSg65/X2qBGcDmqSDml9OKmUabm67gOmzXJjB/M+A7fqG704as16hYmdWUwbzsAnOvE4S9njx1JgIiIAIzJiCBecYnQLsXARGYPoH0MceCYjsH9nyPJmExsO1YTXIVc3rYjfTQHeqcvrSN2SIVAjOzdd881sCHNgbAj7hfB/p8m7sfHGhHkZmVwmkJ8uhAxmuky1KbP5nZLVIhxe8MN0wZ8a9OGfGPKHUwo7/3kcE8TYH5dmb2yQCrl7j7E1faAaAXIq//0qTD0e7+1ED/vMZoC/LuSNsptFlLAnOU+0OTsHJC3+yTH+vZqchgyRrpIndvzDJVBvPqs9JHBjN7BXCsmT0hcN7PcXd6666PvEqCAvW/FrbnyhVmLzc+t/oUmAHQKoXvJJsEjmsaTZZWYMYlRVo/nXzeV62CmQbYEftoE5gjfvB/dnf6HfcaFTYyTQJzdKVgr+Ou6GzcDGYJzBWw1VQERGBtEZDAvLbOt45WBETgko9UFrJ7WAAGC71FfOgCXdU1yYVnPhHYqig+VQjMj3N3eu/1FgC4BJV+xqV4dfqgpw9vOLJ4fa+0JPreOdP70uGN6xue4e4sELlBrIEif1MTmAk2eW1TxL9+4fTQ4mazlUxkAPTQfG9hG2aiXz/ZsBSvxSRiUYD6YUCwjl5FnKD43oh/3zWzswJiR/E3PjiQbCVzfGBwe7n7mYF2oSYV95nGlRIA7mxmHwrs8AlJWIn40we6+r8mwWKTredDAvNq5D0KzJuZ2QVmFimwtau7U6RbFwA4ufSCwAXxWndvnTTsWWD+sJlxZU4fcXHmw3vL8D2HNR0eH9jJMgvM0WsggMn+mQsYr3AeZL6jmZ0W6KRNYI74wXMXG40qRBnYd2MTALwH815cirVa5E8Cc+nK0N9FQATWLAEJzGv21OvARWDtEqgQQi7MmUwUp6YaSTxlcaGI4Hqyu9+vbXAVx/ssd392nwcK4GZ5OWqp29ZChaWNAdC798ZpmTH3t4OZMSuM/+i5GREjSrvg33dJBeK+NNgwZc8+38yeFti4Ncs8sH2vTZK1R3QJ67QFZlpS0JqiFOuXwKfCWPRUpn9pW5ydbGR2L3XKvwM4wsxeGGk70IZiA8VrLmumSL5ebEhiVaPnO4DIMui1JDD/e84wLOFvtTAobdz0dwCcWOA9oy3+2923bekjUpyrV4Fi2Yv8Dd1z38YCrIFz/B535wQkf9MsEshze+3Cdvwdb5+eqRQNG6MvgRnALc3sc4FjGW7CdxPeO3itcawr95sfJ2sPHsOqAPAqM3tkYF9LKTDniUMWiqy1xvh9Zv2tAdGevC9IK2Io6I9izevuXQHWbQIzV9BECuxukwok01e8twDA/rYKdNgkMPOd6++B7V+fVt89PNBuak1mMUE4tYPTjkRABERgCgQkME8BsnYhAiIwXwRyoT/6sUbugXu6+0emeQR5GeePzezqgf0+xN3f1NauQmB+jbtHPkADw7qkSUVG4tPdnWJtrwGAWc1bDAjOzKim8MwMo8gH1OB4VmW0A2BWWCST8sbufn6vBzdGZ3MsMHNpLcWT0qTAqcmH+Z45i53FAUvt79tWrHEQJYAfcWIpgJdCzqm5MNcn3J2WNlWRMjt5H7pmYaO1JDDfIIs5JY69CxMA6H/LbPNSkbUvufsuTQOchUCxxgTmG5nZ10oXiJn9b161cAGAByf/9Yilynvdff9S3z0KzG9NQuUDSvvLf6cQzWP4sLvzHlkVFdfIsgrMLFbb+q40AJRC9BuSlRp9vL8xqmBk4Z3r0HRff03gBLUJzMy2j1g6HZQmvFgcspfIFmQschmJxmslvRvxeViy7zgtvRftF9nRtNrM4v49rWPTfkRABERgGgQi4so0xqF9iIAIiMBUCaRl9fxA5YdqKfgxF1kqWOon/HcAh6RMq9cFN7ieu1OMbowKgflcd981uN9QMwBHpiWczws0DguAgb5CTQBwuTVZPzllrF42sNG33Z0C2PpIGajRTKW7uvsHA/uYSpN5FZh58AAo2pY+OpkdxWzEg8zsZQVovzMzZpCPzDYbOp/b5azA0nlgodC7uHuX7MN1fQPYKF17FwXE8bUkMPN3+FczK9ndfNXdb1o6STV/T9fdTum6i0wCneLu923qexYCRYV4eBV357U71ejLImNl0Cnzl9YudwocBLN26dX/9TypWNrkVul5//lSox4FZk6OlbKquYLqMHePCJZt7wERf3Fuv6wC8ynp3n5g6dyaGUX/h0eeFy33gGemvz0rsK82gZlZ+szWL0Wvk23JJoirgbgqKBJtAnNkdc4X03vRLSI7mlabWdy/p3Vs2o8IiIAITIOABOZpUNY+REAE5o4AABaJOzo4sN1TwSB+nE08AFwhL7Gn+FmKT7v7bUuNKgRmCnBXcvd/lPqM/h3A6WZ290D7m7v7eYF2vTcBcBszo98hl1GX4sru/ueVRhUWIC9IXCm2z0XMucAc9eF9VPLAZGYibVHaIuylXjG5QwGCXu6do2J5/JoRmAkTAJefN1pQZODMTt3Y3SlG9xIA6MsfOaetqy1mIVCsQYF5j+S7/9HAiecEDv2UKRqWIvQ8zdcorZJKheJKXt30ml9VOHbEIFsnNEoHlcfLySxaPZQKHLL5sgrMETGfq1fo1R+xd2hEXzEB0iYwc5XVNwLnl6suNk2Fb/8SaFtskt5p/jPZmq2qN9GwYZvAHOmH75qbuDt/p3MRs7h/z8WBaxAiIAIi0BMBCcw9gVQ3IiACi0UAAJels6J8aWk9D+zb/Jh09/836aME8GIze2JwPw9w97eX2lYIzOyKWZmRIlul3VIo4lLzn1IIKjSm1QDFouIHEgD2xcKLLGzzjOIggg0q/Ck38DvM3p4cd+k6+kIqqEa/zd6CViru/rcuHc65wEyrAi5RLtlUcJl4ZCLmRmnZOzMYi5FsEp6TltYfVWjIjMJ/GzcTtKLo2FoTmKPeo/dz95OLJzXYoKKw1T3cneLJyJiFQLHWBGaCB8AJyUgWO8XCyORh63kdPNl9ZDADoCc8JzZLER5XyzV5q1RI8LOlHeW/L53AnK2yKGaWvnuPd/dIIcRGlKkuA98FaDFxpQDvRoE5X+N8xm0a6Ocx7v7yQLvWJgC2zD7TpRUkK/20CcyRZyn76bvYLH/r/6i1NVk5oFncv8c9b9peBERABOaJQOlBO09j1VhEQAREoFcCAN6Tls4W/RbzTt/k7g/pdQBDnWW/YtooRO7NXObMZf9F0btSYP5AKmS3dx/HWbEsutXTNH9o0cuPwjI//jZJ3oTMtmamUas9SPQ4ADBjp1E0Guhn1RJqAF9MXo07B/bVW5Z2niD5ShLmj+c/d/+fwP7XN5lngTmf7+gS49JhVwn7iSuXodM/sy1+nz7m/62047a/Z8GDmboRH/BagZlFk14bGN893Z12JL1ExX3m/u5+YtNOATw0+5+WxtXb8uok0G5vZiziVbr3UqS6WhKhmDU4MmYhUKxRgfk+6RnQ1wQDi+XdICpK9SQw3zsVFHxH6SJn8dpx/fsBRAsjcjjLKDAzoYB+96UYW6it8PvmWEoCMz23uUqnFLwfcSKVGdidAwDrjfxHRQdtAvNds4d1qbv3p9VrkVVupX7W/T0VfD7GzG6dbU54T6+KWdy/qwaoxiIgAiIw5wRKL9JzPnwNTwREQAS6EwBQk9XDHT3b3SO+etWDAkCB8uPBrBf2//wkKj49sqMK4YfdMZt41yQycwlw58jZy1/NBfVK/TQeCwAKy4dnYfkqQx31ViAGAD9IPlMaqJnt5u6fHGyXvHTpMR2xv1hXmC6wj2KTlGk0WByKfuK0bPhCccPcYAEE5uua2Q/NjNnM48RD3T1S3GvdPgBEPugvcvdSIbjWMQOI+muyn1qB+YAkEr0zAO1x7v7SQLtQk4r7TElgpictVz5E3lF7EckBnGZm+wQO9KPufse2drMQKNaowMwsy++b2fUC563UpPY+0YdFRvQecAt35yRmp0jiMiexaMVBm4xILKPAzOdJZDL6yenezlVknSJnL9PHnRNWkSgJzHfI74WRvpihfqfISrBRnQE4ItWieGFkRwNt2gRmPiNZ/6C0eoArgm4y7iRKfn6zhgL5r8tiTgVbeS6fW7PSaxb370rmai4CIiACc00g8vI+1wegwYmACIjAOAQqs5i5q1eYGYUZeoD2EjlzmYJQqeL2yv5+ReF20Au4bSAVws9KNxfQ19bdWQW8UwwJoKU+RmUFc3kpizM9gXYELR082N3fXNpB6e8AKC5RZCoFxfdzBxulpfUsjFgsDJW3GbuYIQBm3TP7fjA4McDs26e1ZVeubDDvAjPHWWFZ0HTOaF1y7ZoP7pz9xKKPpSgW12zqAMAWyZecy/uHJ0yaNqkVmJmBxky0UrzP3fctNYr+veI+0yow53P/qeSxS2/0UvAexXsV71mdAgBXRkSF9qL39iwEirUoMOfrpObcNV0fzGzdoqaoW08ZzHuZWaTw68HuHin2tur4soXTOZw0rvhxLKPAfPlcULWE4c1pVVQkY3hkP8nCiyuKHlvaycDfWwXmfI3Th5l+zJHgu8ne7v7rSOPcP7UAJivQ0qI2Wq+Vimc4Lax2qfkNDg80X+sU2Ye90f87Z4pHPNv53sHVDBSq2+L7aRXONrWw1F4EREAE1gIBCcxr4SzrGEVABBoJANg6L40uZVkM9sGXeGY8hXxdm3YOgAV3npszdGsyNR9ZU1G+QvgZHOrnzGxfd/9lzeWTPGx5HMdShA9ud76733jExwL9lZ8d6IP+mndz97MCbduuA3pZHxToY1t35wfLBgEgUjGd27BA4F3dnQJadaSiifQcZcHJJl9rFjLiMt9hAXp4vNdKWc8/DwzgBHenZcHUA8B+ZjaOhcMb3P2QmoEDeJKZvSiwTWuht5bfPLmfyWXvgX2sNKkVmKPZerRVoW0LM77Gjor7TERgrjn3zHSnqMLfYFUAOCwJ/S9L9+GI5+hv6AtesiWahUCxhgVmZkkyM3UcyxpOylVlbvYkMO+Sah5sMFnZcPEWs+ZHbZezad8UfK4NdrF0AjMPLt3bWRCURZTbgt7JW0UmaYc7AfBIM3tV1Q2oYJGRx/3AlKVfM4nOrGG+O72+lLmbJ8ePy5YSlUNf17wkMEdX07Cvd/Fa7VJkGgD1DDI6uOUgTuJKOHdngkZjzOL+3QW8thEBERCBeSUggXlez4zGJQIiMDUCAGh7Qc/XmmDGKF+ImTX6qah3Y/5gYPEyvggz++qqNTtNBVFog3CbGs/dCuFneCj8cKeY/YHIGAEw64OFZvaMtM9tHububxxuD4A+yyz0xv+Wgn7MT6VQlAr/8bxUBQCKkK8LbERB7gqjPoAqPy7pm02f37dXXjd7ZM/OqwXGenqeIODy01WxIBnMLJbEQpz0z+wSq7LNS50AoIUJi8yVgtnRd6ixksk2LPRcpQBcE1UCMzsGQC/OUpFENuUEEieD3tPlw37wICruMxGBmRNVzCTbNgiKHqScHOCESHF1CQDacBxtZg8I9s9mIYukWQgUa1Vgztd61KJo1Knm75iTBr+vuA74++rDIuPq+fcX+RYrZroO/RZ5j2HW8241x5XbLqvAHM0EPiULnaF3iWwH9oKcKFCLu3he86Q9JyKGM3NL+6Kgzqxdbsv7PIXny5nZNbL3Pz2SmWAxTpQEZiZucHVJpFAhx8GVN1yVxuKGocj8WXMgkiDA3/m93L2xuOYs7t+hA1UjERABEVgQApGXmgU5FA1TBERABLoRyC/wfLFlVfcuwaxRLkPlsnd6QvJF/qLsZ8wXelpf0Cdyh7zs+yZBf9HhsbBfLgevKuRSIfw0HTu9iZnh+yEKfoOiKABmjpEbLSYODGYCruyHHx47NmXZAOCyTWZ4R4P90UP3w0lc/VqbCJ+WsjIDmON+RPJebvVUHdj5ue4+cqlxXp75vaCot9IlP/yYPfmhJoEDAK8figTMIqadQTTT/Vh3p+A2MhZBYObAATCbuPE4Wi6MkZnxpQspX89cXhzhzN84hYU3NmX65/N3O07UmNk9Svtv+HsXgbmmqBd3y0mPb6dJL36AlwpGvsjd6Re/QVTcZ4oCcz73LPzEiZKaoCj9llxc6r8GxWYAtN2h7QYLenKCr5TNOLhfekKzCFxjcb+VxrMQKNa4wMwJKD4TL1tzoeS2L01WUNHVNuu770Ngztc46xREVzMwQ5P39ZGFy/J7zM2y0MYJzC48OJpmIBEAABNdSURBVKxlFZhpg8NJ/Uh8OicdnN00CZy9rflM5vOp6yRoUWDO1wnrhXDVU2SlReT4+moTuVb4jvXqih3yucpMcCZwfLmFP8Vx8uc53SzYP+/fHDPf2UfGLO7fwbGrmQiIgAgsBAEJzAtxmjRIERCBSRMAwA+Er9CzddL76tg/M1Hv7u5n1G5fIfxEumbhFApwzO5hJi0F0K7B43l/y4s++2Zxoxt22AHHSdGBy9qZyUPRjNk0FJX4MXKdDiL/Ue7ObLmmD5Oa5aCDfTDjkmPl0k16yvLZzHHymmSBptqPSloGULjnh1rTWOfeIoMDB3D9XKCq9hI43N3pl14dALhK4BYVG/K3QNsU/qMFCs8n/ZWZoUjvTPp/jhNdBGaK2hsUoxxnAEPbjhSIK+4zIYE5n//3ZhGhy/B5XrjkneI5V4qMU5hxv2TlE/Fon4mH51oWmPN18vpUGPJhlRcJnwmsZVA1YZv3N3YGc+7nmDQZHfF8Hzw0imMUmf+QVu5w9Q6ttniv4b0ysrqlhCkiGk7dp3bcazzd16Oe14N8+DymFRrfefg85TsJGTNhgF7640ZIYM7XCldpcUJzniJyrXAlEt/johMpg8fHpApO7pE/3+n4DseJQorL0RoGg/0V7eUkMM/T5aWxiIAILCIBCcyLeNY0ZhEQgYkQALCTmXHpHD/W5ikoLh/q7vyIro4K4ae67zE24JL8e5W2z+eEmb7jCNml3UT+Tq/nrUtLNzsUjYzsu6YNRZM93J0Z9Y2xKBnMPAAAFEopmEbjb5xAqF32vtI5AApVnX5r0QFWtqsWmDM3ftTvXLmvSPNpCsycCKGYF11iHRl/bZu3ujt9UEMxC4FiXPEtdGBjNALAjFraSZWCvv/vKzUa/nu2Z2IGfs13zUnJTz+yrH7VcHrMYN7ezGjdUDuJWIuopn1ENFxEgZni5Hd6EoZreLa1rRGYeW0zq5c2TvMSxWslP4tYO4ITtxSbZxWsfXCXki3ZLO7fswKi/YqACIjAJAjUvIhNYv/qUwREQATmigCAG2SRmcLGPASz8FhQsKbIywbjnkOBmUIA/XGZ7VkMABR3WKxols+s49Py+MeXBguAdigskMjraBZRzNDJH3wLkcGcx0oRiBYt0egsHOX9bZR8GlkwjhmB8xBdBWZaq3DCLGL3UXOcUxOY8/ngsn8uD6+xtKg5nra2XCrPCRtOMIViFgLFWheY83VCYbrGhuam7k6LiuroS2DO4+az7UHVg5jcBkXRcFGvcQD0XH/r5NBV9xwWmPO1QoGWPv4sgjoPUbxWVgYJgDZfb5jRoL+b3zmZ9d8as7i2S2PS30VABERgkQjM8mN9kThprCIgAmuIQF6Wf2pHa4Y+SdEv7iHu/p5xOp0zgZnLHVkcjX7F4QDw8JwBN4vnFgXxndssJwYPBACXzp49g0ypl7j7EyNQFyyDmdnrPw8WfOTh7+buY9lDALizmbG4Zd/i7KjTwxUKbdd1J4E5CxLjFEBrupSmKjDn42DhUNpljGNzEflpDLZh5vRe7k6bnXDMQqCQwLxupcO/mxknBCLxEXevKUa7QZ89C8zMzqc91zRWTpXuNTzOomi4qNd49qnms4Fe7JOOCOsqgTnfCzkBymLK9DaedRSvlaF3oy4Ftcc9RlrK8J2TInMxZnFtFwelBiIgAiKwQARm8aG+QHg0VBEQgbVKIBfnOm6GL/FcTngfd//BuOcgKDC/MheSm6QVBQsg3rHrMeVMZhaLGdfTtgbpj1MW6G3dnf8NB4DrmhmXZE4rk/kZ7h4uiLhIAnP+qOb1eVjgBHzP3XvJPAbA/XG/kwxmo9Fr+w4tOxlHYKYYwX3s3+NBTF1gztcAfbHpQT8NIY4FTe+VCmXSv70qZiFQSGC+5BQB+Gwq8sqCaKXY091Z2LdT9Ckw53HvkiclJzmBcn5eCVC6jxZFw0W+xnMhVxYupj3JpILewS9OhRZfWNhBtcC80h8AZjEzI5iFlmcVxWtleGAAWBTx6ClN3rIuAt85WZciFLO4tkMDUyMREAERWBACEpgX5ERpmCIgArMhAOAuaWn2i3KxrmkM4vdJQGXhH2aj0k937AgKzI9KL+L86DqZGUxj73R1B8w+fHhtNuCIjxOOjYLZjSYwxuEumel0oLv/osu+ALD40mvN7H5dtg9uww/Zw9ydTMKxgAIzCwRFlrM/xd35e+0lADAjnCIBhdo+g8WjnuDuJ6Rl2xekZdtbtnTeWWBmnwDo7/psMzuiJ6/XmQjM+VhYnPN1yZd57z5PxkBfLAj4DDM7zt1pT1QdsxAoJDBfcpoA7Jsz3dvO29eSz/NNqk/swAZ9C8x57P9hZqf0VKhv8PB4Hb/MzJ5mZpygLdlxFEXDRb/GAbBI3+kdC8+VLh1OLNPHf/eAHUdngTlfM5vkIpGH97i6g4kALB4ZmRzfNvmYU8StCgB3SgWM35aux2tUbVjXmJY5h7g7CwSGYxbXdnhwaigCIiACC0BAAvMCnCQNUQREYLYE8rLK+6Tv12ea2bYTGg39iF+ahWWKT71FUGB+eSqK9hgAl03Vuo+k+NWT5ykzR45y9xP7OiAALNbz4PzBzEzhvoM2Hk9OmbAU28eObLdwfM8ZU/+bJgLeaWaPd/df1g5y0QRmHh+AUtE6Tshs1oVHGz8AzJw9ycy2qeU8oj3PG/2kn8qJi3wtX1QQfscSmFfGkP3l+dtmNjN/511jZgLzwLGs3I+363oQQ9txOftp+byEllI37XcWAoUE5kvORn5W09KobRXDQe7O33PnmITAnMdPb/y3JB9/CnB9BCdJOZH15dw/vcxL9hBLLzBnFnyP4OTh43qq70Bh9kh353OZ1yJXFD29cBLHEpgH7odXyff1A7niysx4bDVBj3mumnt3rnfB64SF+UqxqbvTgqI6AHDMZHRIz8X/+M7J89Dp/W0W9+9qeNpABERABOaYgATmOT45GpoIiMB8EQDAeyZ9Hg/IlbyvPeYImS3Hpdj8IDkj6vFbu8+gwHymu+818MHCZf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KaZ7X6A25zPAOZ/ceM6NrKNzkBrsTSH9wJJ8DBEJY3sEkIEOcXnGBKhOwmxAD+tOThLs8siABJdZWrp3cbVaWW3kqIE2AtAZL383qZv5K8gUwypPj7bFNVk7oJDhUhCIOg+G8qfgNcia+irBNOgGU4jfLUuhOgmZGWixJJqbARUHU7V9uO6ugQxuAE2NWXLogAyX/KJpnKqGndhi4uJ8CNCDYE0ZOYgbJQRQmrGwiQUku5SiBOgEMX9AJ/7wS4QLDXmQDN7KJRTcS/VcHjE3dy7CUkwSYZdiqPVFXyOo4mCyLAPWPV9LTfT1TVZYdHbO2TE2CWAHN1FjmEEZqDCn+QmBlZe8jek4oT4CBkF/tjJ8AF4r3mBEhJIEoDpfI4VaV2G5ktUDednMkXembceHI11HrNwIIIkMBokmGn8p4Q4rF3r47P4UdOgNuCGjO3/IKySQncH1bVPcaYAjOr8xB2AhwD4AW14QS4IKAjQZAi6RWZV650KjQzqwt8J0/mTatVERryhY4aGG9mJ9Skoho19s3MyGGaOlGcFlJ+XWqBS6fxVU6AGwiQoPbTMqA9TVWfOca8mRmlsHIVV5wAxwB4QW04AS4I6HUlwFirDpXRdglUZ4jItVQV1edWiflCSV+Fk0Aqo9WmC1W5c8mjeV9r3FyXKTez40WEpMyp3ERV/71LW/N61glwAwFeQ0S+msH7oaqaO4B2mppoDvhRyBKUJn6nHSfATmgu92EnwAXiv24qUDMjzu8zMV1UilTtZmJmbECQYBoniA2GdFknDoXdzF4dTvkPzrRzs1CSh7JNo0jDnL1JVamAMYpQE7Cvo5ATYDEBPkZVc169nebQzLD/kiYvJ06AndBc7sNOgAvEfw0J8HkicmgGohNV9dZN0JnZE0XkiMwzP4mhEdhoeouZ1WWieaqqHta74eSHZkYANVk/0tM+rvQ4VORuGp1eb2bni1U2jhSR13QlQifADQRYpwJ9rarmDk3F82VmV4jhD8yZE2Axcqv5oBPgAudlnQjQzHDzpkhrukawiRHbhzt5rcTq8JRO2jXz0HGBOMjL2FvMjGTG9C8VVFM7hjp4f+zd+EYSJBSCkIhURrFrhoDtN4dsI/eJjWNXPUBVv1nafyfADQRI2S5U9PxbFQ5fl1NVKtd3lnDz4xCEkxcJtOvEb4CdkV3eD5wAF4j9uhCgmV1QREhknXP0uJ+qsmG3iplROonQiNR+yG8H1Y4zM2oP/iwEqp8305G3iQg1+3ptdGl7ZoY36LdqbD7EgpHx5netgGwkVr6/F4jIo5I/cbt8rKq+qKRNJ8CNKIUDHHUEqSeYypNVNaeZaITazPAoPSZWkZg9ixbjwskPnQBLFu2KPOMEuMCJaCBACOU5C+jKt1WVzbXtY3+niNwt89CxIYB4n7bfV/9uZmzuL8z8hhP6LqpKnsVeYmYvjdn9c7+HwLH3oK4dnImmQeXKu7kJYhMtdooxMwqsUgS3rqJGcWkhJ8AsAdaVssIOfbCqvrx00UVtCM9XY1whWDIdpd+DE2ApsCvwnBPgAiehgQAX1YvLqyqVGmrFzPaPmfPTZ34uIldT1dO7dBbnjuAuflKNyziOMjfsW7Eg3swgn/O09Amy/a2I/C3z3EmqSuX3tkPB2USE0IumODLSo3FLwMnnx2mKLTPjRk2sJOrfezQkE+/kLesEmCVAtBjfb8gDSuYiSO0juTVtZpeMYTb3FJFbJW8gUTbzSDUUJ8C2j2eF/+4EuMDJWXUCbDHw30VVj+sDVyQqbmQ5deURgQBJOt1LzOxBOI70+vFZP/qgqu5V8vuoBvuwiFyn4HnI9pciQqYcvGG3r1Ghpk29G3Ksxla2vcsJMI+QmT1GRLYkaWgRDnckxSZhA/NEtqO6Q9VfReTuqnpsSIjNXDkBtqG7wn93Alzg5KwyAUanFU7FN8hAcnS4OXIz7C1mRmmkV2YagChurqq8u5eYGUmr2ej6FDktJkA6Z2YExRODOEpGkWTAL8Ee2IX8Yp8g5d0z4Hk5JDOSXt+318La+CMOM+SBPTbi7gQ4ErDLasYJcIHIrzgB1qV2OjV6ff5mKFQN6ct+SOC8qvZ+R/QKJcvHjTr2sxMBxo0PouV28dRAvDjjDBWylhzUt3SU3wDr4Y+JGTgcPSLj0dxl3lC13zekwEOTsUX8BtgFvtV81glwgfOyqgRoZtz6uIFh56oKDgO3VlVuGIMl2lXIB5rmaKTttwaHmFkoQO93xSri3IYgwiuLCLYgbm25rB28pzMBVjZA7ETcPu9fM6a2cWCPJUk4sX/YKXuJE2A7bPGA9BS0De1Pb/MEuWCfHcInjkodyJwAOyK5go87Aa7gpHiX1guBmDEHRwk212uLCMHSO8TwDw4VqM4Ik8CB6JQYSI1DzZe6Br2vFzKr11sz2zk6t1wfp65YKZ4DGQcknFuwBVIYl/R/7yPur26OzIw5Tm2Fv6Ni/OqN3HuUQ8AJ0NeFI+AIOAKOwCQRcAKc5LT7oB0BR8ARcAScAH0NOAKOgCPgCEwSASfASU67D9oRcAQcAUfACdDXgCPgCDgCjsAkEXACnOS0+6AdAUfAEXAEnAB9DTgCjoAj4AhMEgEnwElOuw/aEXAEHAFHwAnQ14Aj4Ag4Ao7AJBFwApzktPugHQFHwBFwBJwAfQ04Ao6AI+AITBIBJ8BJTrsP2hFwBBwBR8AJ0NeAI+AIOAKOwCQRcAKc5LT7oB0BR8ARcAScAH0NOAKOgCPgCEwSASfASU67D9oRcAQcAUfACdDXgCPgCDgCjsAkEXACnOS0+6AdAUfAEXAEnAB9DTgCjoAj4AhMEgEnwElOuw/aEXAEHAFHwAnQ14Aj4Ag4Ao7AJBFwApzktPugHQFHwBFwBJwAfQ04Ao6AI+AITBIBJ8BJTrsP2hFwBBwBR8AJ0NeAI+AIOAKOwCQRcAKc5LT7oB0BR8ARcAScAH0NOAKOgCPgCEwSASfASU67D9oRcAQcAUfACdDXgCPgCDgCjsAkEXACnOS0+6AdAUfAEXAEnAB9DTgCjoAj4AhMEgEnwElOuw/aEXAEHAFHwAnQ14Aj4Ag4Ao7AJBFwApzktPugHQFHwBFwBJwAfQ04AiMiYGY3FpFPZpo8QlWfPOKrvClHwBEYiMBkCNDM/kFEXpDB69eqevBAHP3njsAWBJwAfSE4AuuDQCMBmtmBIvKKkYbzFxH5g4icISKniciPROQ/RORzIvIZVf35SO/JNmNm/ygi38n88WeqerF5vtvbng4CToDTmWsf6fojsEgCbELLRORkETlGRI5S1V+ODa0T4NiIens5BJwAfV04AuuDwKoQYBUxbolHi8gzVPVnY0E5BQKMm++tMpi9VVX/cywsvZ16BJwAfXU4AuuDwCoS4Ay93waTytNE5MWqyg1xkEyEAB8vIs/KAHUHVX3/IAD9x0UIOAEWweQPOQIrgcAqE+AMoH8VkX2HqkWdAJ0AF/HFOQEuAmV/hyMwDgJ9CRBb3Us7duHvRWQ7EcHh5LIisouI7CoiFypo5xQR2UNV/7vg2ewjToBOgH3XTpffOQF2QcufdQSWi0BfAkQt+cihXTezs4kIcVP3Cx6a9xGRczW0+V8icgNVPX3oezfr783MVaBLnlwnwCVPgL/eEeiAwFIJsNpPM+NmiP1qv+AAU9evT4Ug491V9U8dxjiZR50Alz/VToDLnwPvgSNQisDKEOCsw2Z2++gFWqcafaGqHlI6wCk95wS4/Nl2Alz+HHgPHIFSBFaOAOm4mV1VRE4UkYtnBvI3EbmJqn66dJBTec4JcPkz7QS4/DnwHjgCpQisJAFGEryWiPy7iJwnM5jPqepupYOcynNOgMufaSfA5c+B98ARKEVgZQkwkiD2wKNqBnMnVT2+dKBTeM4JcPmz7AS4/DnwHjgCpQisNAFGEkQVmstucpKq3rJ0oFN4zglw+bPsBLj8OfAeOAKlCKwDAaLq/ExmQGSHuYqq5hJcZ8dvZsQfpmM+U1V/WgpY7jkzo83riAh9vV6Mc7yAiJxfRM4Rk4CT2eYnIvJNEflyCOn4oKr+pst7zewWoc1/afjNRWvspt8XEd5fKqer6h6lD6/yc7EKCPGnVaECyK+b+m1ml4lYMof8frZuTmlKK9eHAM3suiJyZxHh351C9qMLish5ReRMEWGNkDz+qyEWFi/o44YmhSidr/i93FpErhH7deFQUeV8MVyJvv1CRMjbS//o2ydUlXClUaTr3JkZPgN3E5Hri8g1RYTvgfn7u9hPQqh+LCIniciH+A7HyDJVOtjo6X6HGP8MppcSke3jXP85zjV9/IqIfJbcyKoKtnMVM7tkyMW8Z4zN3jnGZoMbYWq/i/1in/168L/4iKrSv7mKmV0khsgRKw5WrD32VL6L/4394humX98QkY+r6pe6dmrlCZABmRm2wBtlBvcEVX126aDNDOCY1Kp8SlWJRewsZsaEUDHjgSJCtYkuQnWMj0BoqsrH2Cpmxib5ntYHhz/AYrp5XTNm9vSYpi59hGQFHx7++i1zzgeQi/l8b/gAwaFIAiHRn92ThzfU5jMzNsnbhiolDxCRm8YPLveOp6jq4Q3YFNcDNLN9ROSp8QMvGk/8+FkDz1RVPvxRxczOHmNyHxYPdV3bZ5Pkm3yHqv6164+rz3eYuyvFEKq7RLIrfS19fZqqzvWbMrO9wiH4sYF4b9axfzj8sTc8qc/m3gRCPLSz/ojnvmFD6FmuGQ7ULwtJTV6pqlT3GU3MjH3nofFAyOWhi5waTWZHlsaLrwsBPkhEXpNBghMni6pIxiRAM7sHeUpDuSjqDA4VSkI9sG1DWyABvjwsoIMaNvlNRYBmxq0LWzOnzTYZTIDxZvP6SLht76udhnDDeXkoL/YYVf1j30YSwkHD8FoRucII7X2b25iqQjK9pIQAzYwN/LlR09LrPdxcY19HLckW19XrSODRt2Pxd2i7Xg1ZqSo370FiZmip6NfVBzUkAl4Hqeq7B7bDgZd9lP2UfXWo8D0cETQ3zwlFqLn01Mq6ECCqjVwaNG5R5ysNjB+DAOPJ6SUiMnYRXVQgLPDa+osLJMCDVZUTXlY20w3QzNAs/FtURZV8eIMI0Mx2DCq6D0Q1ecn72p4hTeCeqopqr7eYGRvGEzreBNrex+1g/74bZBMBxu8QUuBwPIb8UETuqKpfG6MxM/unoEpknzjnGO3FNlA93m5gSkiyRR0mItz0xxIuJw/pe+M3s6sFdSeamjEuE9UxfV5EKARQW1VoLQiQEZkZHzon9VSuq6pfLJnJkQgQgkLtOS95vKo+J9f4AgnwluFmjZ0kK5uFAM3sKmFD4SPBrlUqvQkwFpfGtoPNZUz5gYjcXFXZxDtLOH3Pc01zAr+FqmLG6CQtBPgiEXlEpwbbH8ZGv8vQMmwN30d7D9qfoIj4zboWEI8HBvwHxsZs1uPj4i268caVDs/MsDlyA8fGNw/5bvw2srbUdSLAt4rIvTIIoTpEndQqQwnQzO6EE0LNi1BTcIohUTiEvMXxRFX/Ymbnjo4N2CrQt+/dYF+hHU55J7QOKHlgUV6gm4EAqTcZTvwYzTl9dpG+BEiaP+wbqToMO88H47qCjLnJ4XiAsZ8TMSSNbZK1h120TnCsumFXFZmZPSrcfl/Y0O4no90Z4sbh4Deq+mczw3mDTQvnLxwo7tuQyxftDcTSScVYR4Bx3vjOUsFm/PZoN8M+ipMOAm44NeHYhYqtyV7/MbzOB9xmMB00FQpA08N8o3VgvsGEfnIjI/sVaknwJDcyPgY5gTA4VLB2iiTsfU+ON7+6578nIu+KfcORiVsTZMYck6YSTQnr8HYNWoKXqGoxwcZc0Dg44vyVEw4kbws2+Y9GRxccrn4f7agcWi8dv18cte4av5lcOxy+OCBusEmvEwE+KSySnPPBYWEh4EjQKkMIME4WJ208t1LhY7u/qn6htRPxgejRycmbDS4VFt8VVJXiwMXiBLgRqoZN9Ffhg3l+BlwKBx8b1ZTM909LVey01eAFygk0vflRo/FQVcVe1ig75tLzAAAZ1ElEQVRmBiEeis0v2Lw4UOXkZaparJqPGZcgzpyzAf//AarKJt0q0ZMQlSSbZE46bY4Ry5wDE7eYeybeztjFONDwjsZvJqh6GetDot2wTj35AFV9Q+ugkwfMjMPtxxvUixzicWhhXbXNN57A2DbrVLzYfnPrd0O7wYmQMDJIF0evVPCkRC36ujZ7WZwTDozY6upC0Irjs83sABxpMn3iEoCa9tml9u3okAjJc6DLjfMQVd1w0FsnAtw/2E1yi/INqornXqsMJEBOGSyiVDDy31hVu4QZbGnDzMhyw40yF+eYnbCmQToBbkSnhgBfEJOuV29UHDr4gF7f5WSdvrGBAKuP8oEzv00hLdmpNrNriwgJIHJqVG4E1yl1Uzez92L3yrzoHVRoQXvR+lFVHoiHxLfUODJgD7xMlxCOmrnjFlDNE8zB4jZdnW3MDM9gxp/LNEWo0tW7hEhE71kODTmNAre+B6nqm7rgGfcIPCJz9niI63JtoVRmRhk6xpO79XLYw0bGv8US55m1i6dwKqjhd247iMSxkc4y5yDU6wAS22Q9vzNje+X7vnxKqOtEgLgS59SC7wsuwrmPeMPMDCRAFiGLMZXdVBUvzl4ST/acsnGOQIj7elVQf7xIVVEBFIsT4EaoajZRPlJiQmfCIea2Qx1J4gdYFwZR7Vznw031x2aG6gc1+w6ZxfEBVb1NyaKJjho4vlyu8vxQFSCqUfBE5ZjKo7uQfs3cVdtEdbirqqK+6yxmxk0QT9qc4FhUFJ4U552b95GZhjiUsLZyh+eiPteoLyGte6oqpFsrZvboYOPmwJcKqlcOS72dp8yM8JFcSNLDVLWxXqyZsXZzKvETwn5ap0UoxSuNGiBGlds0XMHhc6usEwESm4V6IZUPlwZtDyRAKtOnE/O9cKq7YtGsNC9S3M85HaJaeFWf22T8CBdSD3AT2ACrs8FGwibaKSlB3XQW3ACPD5sW9rxBYmbYiTgQpt9wpwQRUSW4b/QAvURMLkE8VW8xszoy6DT2AgLcayCxgB02qFz4S3HVmRhDyjrK7QXEaz6tN5hnaYpQ6WGLRcUK4RFn+e42TUX8HYeD6mFv1hXKymFb6y1R7Yg6l6D5quB4cuWmG3QMxchdHPbtc1NOB2FmOPHxTRMKcXLdINeJAFmkGOJTKQ5kH0iAOExQxb4qH1XVNMi614JChVKig29q3G+AG9Fp2URRTV2/7RTdZUJbCJD37dT3xpL5yFFV3j3TPz56DkPFElV41xgj4NrM2BA53aN+qwo3th1KVYstc/f2YDvNOcUVj5kHzazOtPJZVSWjTKuYGTdunFpSwZmEbFWDEgLEfpLZ5hJdnOPMDIcV7MypFGsJ2gZvZpDx4zLPXa/JJ8LM0Nqhgk7lpmFPhewHSel+uk4EiKdQziDfZaH2zgRjZqSiIiVPVRozpgyawR4/dgLcCFrLJoqaGaP5aNJCgGRHwYFjFIlOF6h3UvmqqlJNZWkS6nriEIaHaCqXDTb7H5V0rGXusNENzoQT7fDY09K4uOIY44YwEuJ60eosRUJqOEwpxCOmggcpqu7BEoP9CVFL5emqimNSVsJ+StYenM3m1reSwTkBihTdIOOVOk0PhodgrmZhCfajP+MEuBHShk20k6qwdLJaCJDwltxNobT5Dc+ZGXFhqScxY7tY17CD3p3I/NDM8Ah9cOZP2J2KcjY2zN1ngupzaHaVrV2rOdzyd5x2WtXBZoaa8fLJWCHQi/Q1Z4wxFzX9womIW3hxCEVTX2J84f8kjkn8pNGWF/ZTMnjlSPjAsKdC3AsRJ8ByAsRGR6xTKqNvan1n3gmwEwF+MthAsCuPKg0EiPbhgqpKHNNoEhJW4xmNGi+V0fKy9uls8BTEjR2v2lSIsSMHbqs0ECD5O5/Z2kDhA2Z2tIhgB03lmm2ZYcwMj9RZvGH1919QVVKOLUUacum+S1VzavPe/TQz5jMNi/iBqqaHgq3vMDPspdgKU8HMdYNSNXnvTscfrhMBLtsGSMJr8iSmQiUJjPGoSJcqToAb4W/YRJ8bXKJztotBc9hAgN9Q1aG5Fzf0zczISpRLn0eOxjoPx0FjLPmxmR1SE2dJftCi3JENc3f7QC44pY0iZoaXJN6SqRA8nXO8q27kBIjnsty8VFVzYQKj9LmtkQb1eGMih7Z2c38P8aQE0BOIXhVumPg1bON1WX3AzFCF49GcCh6kjxrqE1EylnUiwLor86K8QCmtQnaXXBAyzg1vFhFioD7dNRtHyUSVPOME2IkA91HVnA2iBOraZxoIsJMHZGknYjxbrgLH80IsFhUI5i5mRkA5p31O9bP/8b3iuJHKvVSVbC2t0kCAV1LV3O2htc2aDZxEGjl7VSvRBjUjN0dukKk05tPt1dEOPzKz+4VkGm/M/ITcrLn+dmh920cbbI3bqypZjbISQsAI5OeglBNU+xDh+/um+CsZ0DoRYJ2n1ULiAAGzweOpijWqLlyiSRvFRzr7l/8+dSzde82H7GEQCTANmygej70rFTR81HVxgJSOIe5sVDEzHE1yGYgIpxktZ210ea8SXPW/yY7UuJdUBj0GAV64S0B9G+BmRoad52WeI0g850W59VEz45ZH0utU7qOqZH5ZijSEoqDFas081LHTxALmytXhtVobyxxjAfGUbcvFi43xW5n99LtNBFsyhnUiQLK9UMIjFTJ3oJ5slSFhEJEAOekSO0M8Th/5U7A1YDCHFMnszsZFZftR7EJ+A9w4JQ0EWOyN2GWiG26AxXFlHd9XZ0t5cyhOyy2gs8QUaTeJORrxfOYd1ewrndus/GAMAjwn+UiHdKL624EESCKBf870Zam+AQ17wViwlbRz6bZA+5hfGU1MLn1ZyTsIt2E/hSDZT3FqLPYOXicCrFNTFAeaDiXASIIkhyXVTl0uvJJJqz5D7kLSoZH3btCNxAmwEwGefx4eeg0EuKEIb9eFkns+VhnPnbIJlKY6epFENSY3VA6ao9sqRybAc4xpHxpIgAS5Ux8zldFCDYomMHnIzOr61ae5vr9pJcC4p9471nuty3Hb9f2kfsMLGa1L40FpnQgQ0sl90MV548YgwDhhVJUnfozT31gnY4JlSQxLuqhep1snwE4EOOomOnvzChHgMeEknDomZDeSWLEcR5pqSrSum071eao/sIZz7Y1xAxx17gYSYF1x6GUTYF2/hsxr198WEWDcU68aq5KQc3kswexEkYLaUlzrRIDY1SgnlMq1SzN5jEWAlc2OvIecXnArxvaTy6rfdTLJgoDtoXNqLidAJ8AKAkU3QDN7eEhlRWLjrioo7DKonmb27tm/31HVMxpsUJuNAFf1BrhWBFjZU3eL4WYEyo9RN5OD2H51jldrQYAx+W8uewTBpuctvTGNTYDV7TZmXUd1hM0Eoib7Ov9iP2kz8qY79/uo/9Y1FmaTESC18AgxSeW9odpBLgFv3e0mV1KHZ0e9RRTcAF+sqo/sehpqe97MWGcQUSpvCZ6SubjVrc+ZGRoVNCtNwndH4DrqeZwntpBeGAvZU2plQgRYV6Zt2TbAuvp/pP7LpZRsW2oL/3tIpkBuWtJPUgh9tp/yL05XXQ5s8AQhLVSf2EbWhQDrSoJ8LMTpkEi6SOZJgC2bAQUlZxMIKZKmiiDsXCmWWVMPVtVc3GHTprOZvECvEEry4CGWyroS4NGhDlwuYL1o7dY9ZGZ1KQIbvUCj7RAyo85gKtzuUIniSNOpVM6sITOjMCpV21PZbDfAumoLy/YCrYvDpHTUBwYtuiX/ONqruVjMLhqoT8nbClHWCSFs5GXdpsTXuhAgWcNzWRUep6qUuSiSZRFgrnNmtl0sdnlEzQ2RLOvEOxFWUSQLvAHWqX1a46aKBnJWyEmde/+6EuBxIVkCap1RpSEO8PlBFUnx3Kw0BH+T1YMyO5BgbwkpsoiryxWq3mwEuF+wdR6VAWrZiQjqvObvrapUWd90Ym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") 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4MntsQ+lUzAGfI+KmeProCdQpDOKeImnJjSJBYtQ8nUc6EM36a1YWrlHBIgkUedsVsk1GgerjL1nDmJhzavr8AJ+qLfSFxri3m/lGt3bKuqPO2JsJRrb3wY8GfJZOpTzh/2JycvyHrRHvnyV3MUClJuVFqmDC0T6t8zoQzflrVhauUcOgZljGoqrK0uJT9UOthTa4QZG7Cwf/hzUJfu0LdkLqaBFl9whgJyoiaZayo87YmwlEdjNk43E0AeErCQf3HaVZZo/C72Wc4Iwzhw0UwflFkbCZepY3VllEmc7WDrzQwdeEaQjh08T5N6JZ7in3FsZLdGhebcxMOXVQt7EidvR1J4HyteoZowH2CVZ5iUaTApc7bmghHnR9M3ZWMmlMSDqS3fWJX5nSOMjYeGIGyCWcEeO2j6sI1lHAI008UAiWcOl3aqEOWIBw1he9uvCsyTD5UmApUcYpFkVBVqPO2FsLhPXq3aL7OpkXJGTMV4dBXTstYbB6i4C+nRJs+xL4v2icTznj41YVrKOHQQwIXYhigRiFgYcaU9DLJ8FRnTBUlNQTJbqgb1IZcaPcJiyVmqR9QO5OUU+dtLYRztSYt83ME7FB54q+jJM2binBKckUJQ6pehLvVS1ev9QQqNOGMn2R14RpDOPRSzeFB2fc0gQ4J7kmYmD6pTTi0pVr8EFGAdAuqqS6JsEiIVUvUeVsL4eC7hKosk2dHBKknFJmKcEh7ofZB6ecUZRQn5inaPeo6TTjjp09duMYSDj19enM3c83xXf5wDVMQjmrxgxk1+env1fTmJ4QxcVoj1lwtUedtDYSDQQdRxrM7MrC9XUTwrioyBeFgFEI+HiXcjNLHqcrgtkDaDUsBAiacArA6iqoLVw3CuWCrW+ffGjIF4dAvFmlSYmfCLvHxTRZHwpf0yRT+D+q8rYFwOB3itJgJqk7mggVfkSkIR7WkU/o3ZRnCKqHizdKETNmHo6vbhDN+ytSFqwbh0FscJ582vtvn1DAV4RAtgKgBmby4TZudlSvZdWd1bX5X5+3YCQdSB2flxKA6fG4wrE04mP+/SUz+ps7zlOW+TzR2mbIPR1W3CWf8dKkLVy3CoccPr3Scn4pwzt8G9FRUONkMELaEnSTRsWuKOm/HTDjE43t5E83780XgbhIRpPZWpTbhlIR0Uvs4ZTkMeZST/JR9OKq6TTjjp0tduGoSDk5qWMpkqqhsdFMRDu3+VhPf7UZZB4Tfx4Yt6WpCnbdjJRxIH78l1ZweNRqYbIdHyqanNuGofkJ3biw2fzrr3Ijf8fVSIxeALy4IFgEBE44AUlJEXbhqEg5dIsQG5sT4LAyVKQkHKyOsjcbKNSLimWMr2fO8Om/HSDiY0T85Ii5egNvNmg3M4wrKU7Qm4Vy4TbyXqf4w16YsbU8l9IEkgLSTySOa4J+3yQr59/9HwIQz/k1QF67ahEPPse7CymuoTEk4JR9tV/+J4otp9weHDrDnOXXejolwCICK6fi9I4JYfKqgdiOMEqGDSqQm4dDnHxcax1KTuHtTi2q8gPEAVoBjcjNNPZaDqd+EM34q1IVrCsLhdMMph9POEJmScOiP+tF29f0BjaPnXYcMTHhGnbdjIBwWvJu2qR0wKy4RHGkxOX9NyUNt2VqEg7EAJwol6dt1I+J3B/S19JGSWG5EyuBe1ZIgYMIZ/4qoC9cUhEPvucfhPkcNPrg94qkJh0jXbxhxkj6zzfY4fpY+ugZ13qYinFc1F/qoC0uESA7nbsKqnNEGMb1Ua+VHPqSh3/IdIuJnSzqxVbYW4aiWlySPg5RK7pkGDu2cx54XEeReygT/sCyqR1bHSfw+9CU9CXDEQaoL11SEQzdxQBuyw5qacOgbcdOuJGK5XexFTSiWKwx4Tn1EnbepCEft55TlHt2cLG4xooFahKM6ND+oUV3dcUR/Sx8lRQMYKQLp865YehAw4Yx/PdSFa0rCYRT45rBTLJE5CIcF7VElnWrL7kaUHlBF7yPqvK2VcIirxgkLs/OhUoNwyNRJlHMlBQdGELuZbYf2XXmO2IVnNyfA8wqF2fChWrOYcCZ9B9SFa2rCIV89EX5Rt6gyB+Gg6mNhKrnEJgQ8kYKnvIhV522NhPOMiLhBhUCoNQgHQwEMBjJ5aWvYkJWr/bvq80bEAfzFpnxna49t9vp8whkPubpwTU04jIQdK4uJKnMQDn0h980t1U61aowxqh6lKXXe1kY4hLm5faV7kLGEgyUjMd6yILPM51IX81jvEalBEcyjMZO2dCBgwhn/aqgL1xyEw2jIK6Me7eciHFIPYE2nChe1L1ALDyynzttaCIcI4rwXTxyI177HxhLO1dukfVmXyOiJJR6JBZcQLPi+TGi49F0RqlxXERPO+PlUF665CAe9MyE3cP7LZC7CoR+0pfTpjRFxsQopg7Oxq/NWuoio9Wb9q/U7vjVENiZldO3wQGMJB/Pm6wgD3SQVFIpOUgRDhQeKNdeOai42exzFTDjj50ldYOYiHEZEuA2yhGZRCOYkHNIFkzY4k3tExH2zQhV+V+ftWAmHUwFposlPxDxPIWMIhxMLgTqzd5R+X6U1UZ5iDEqdRGd/S/Ne4libycPa3FVZuZP83YQzftrVhWtOwmFU92wiBN8nGd6chMOFKgtMnzUSu3EcF/m4pxZ13o6JcN7fZvUkrM1T20R8U+I4hnDYWJwldI4Yb/iakTphSVFPYxgPQKYYvlh2EDDhjH8l1IVrbsJhYX9hEv5/TsIB6Sw4I8EmCZw4h6jzdkiEQxwxTi78vbMlcEyKuWPAiou8QXM5RTJHQwmHdQciUaJYs3EiYsXSojqn0k/84lBjWkw4fgeMgBEwAkZgCQR8wlkCdbdpBIyAEThBBEw4JzjpHrIRMAJGYAkETDhLoO42jYARMAIniIAJ5wQn3UM2AkbACCyBgAlnCdTdphEwAkbgBBEw4ZzgpHvIRsAIGIElEDDhLIG62zQCRsAInCACJpwTnHQP2QgYASOwBAImnCVQd5tGwAgYgRNEwIRzgpPuIRsBI2AElkDAhLME6m7TCBgBI3CCCJhwTnDSPWQjYASMwBIImHCWQN1tGgEjYAROEAETzglOuodsBIyAEVgCARPOEqi7TSNgBIzACSJgwjnBSfeQjYARMAJLIGDCWQJ1t2kEjIAROEEETDgnOOkeshEwAkZgCQRMOEug7jaNgBEwAieIgAnnBCfdQzYCRsAILIGACWcJ1N2mETACRuAEETDhnOCke8hGwAgYgSUQMOEsgbrbNAJGwAicIAImnBOcdA/ZCBgBI7AEAiacJVB3m0bACBiBE0TAhHOCk+4hGwEjYASWQMCEswTqbtMIGAEjcIIImHBOcNI9ZCNgBIzAEgiYcJZA3W0aASNgBE4QARPOCU66h2wEjIARWAIBE84SqLtNI2AEjMAJImDCOcFJ95CNgBEwAksgYMJZAnW3aQSMgBE4QQRMOCc46R6yETACRmAJBEw4S6DuNo3AcSDwCRHx+RFx/oj4lPbvYyPifRHxb+3fuyLi7RMP50sj4kyhjb+JiNcK5VxkIQQOkXCuGRG3E/D47Yh4uFDORYyAEdAQuFREXCUivj4i+O8LRwQEk8k7I+LV7d9zIuLZEfGB7KGC338yIu4ulL9vRNxDKOciCyFwiITzvRHxKwIeD4qIOwrlXMQIGIFuBM6IiFtFxM3FU4SC5b9HxDMj4mER8cfKA0kZE04FEA+hChPOIcyC+2AE5kfgAhFx50Yd9v0R8ckTNv+nEXFWRPzBiDZMOCPAO6RHTTiHNBvuixGYB4HrR8RDIwLSmUueHhG3bf7OHtCgCWcAaIf4iAnnEGfFfTIC0yDwcQ3J/FJEoLZeQv65ueeB7F5U2LgJpxCwQy1uwjnUmXG/jEBdBD4xIn4rIq5Tt9ri2t4fEdcrVLGZcIphPswHTDiHOS/ulRGojcBjIuJmtSsdWN9/RsRVI+LF4vMmHBGoQy9mwjn0GXL/jMB4BO4QET8zvpqqNbyjNb1+m1CrCUcA6RiKmHCOYZbcRyMwHIEviIjXRMS5h1cR/9s6e743Ij4YEedp/8auH5hMf0PEOfX3iQlnxOQd0qNjX5gpxmI/nClQdZ2nisDvtHcmJeN/c0Q8qXECfX5E/FVE/H1EfGinAtaOz4uIS7fOojeOiAuWNNKW/Z7GwfRXTTgDkDvCR0w4Rzhp7rIREBEgUgBkgXWaIm9qIgTctXEA/U3h1LFbH23cNCI4jdCuKkQpuGhEcHrqkos3Bg+Et8mEsDac5iwHioAJ50Anxt0yAhUQ+PGIuLdYz59ExLUj4j1i+a5ixFz7tYi4UUE9P1HQz4JqXfTQEDDhHNqMuD9GoB4Cz2vjomU1vrG9wCckTS0h9NTtxcogOU5F/yGWd7EjRcCEc6QT524bgQSBj4+IfxXD1lyjjX1WE1TWlieIJx2MBq7b3Ac9tWYHXNfhIWDC+eg5+dT28pOQ7Juw7P+zFY6d0BxTh2NX3pTPboKcEnjxvO0fOvT/buJj4ViHXvwtFdQjSj+UMjgdYi31aW1fid3FIkNf2VVjGvvWJtIvOB+S0E/C89Nv/hgHff6XFlvuRw6tzxv8PqfFNMPznyLiQnuMArLnlN/BjHsV3tV9QooD/IOIfkBqgWORT4qIL2rXh/O1nea94A9zb+7C8DWqIbyD3HF9evsO8t1wEqQd3r+jOhWacP5/wb5BRFwhIr66vZzMcIFwCMeOWefvNru4v67xZiV1XLK1NiJ0/CXaFzBrlsXkzyLiWe3uEeujOQRMrx4R12qtmL5YuLj+r9YiirAnz4iIP2pNcOfo76YNPmrSY/BHeP4vTMLzs6i8sg3V8vhmvH8+Z2eTtr68fUezLvEOXy0rNOL3m0QE2GwLJPSQZhPy6HbDkVV/kSblwddmhVpH0n9Myil1sZjz/m0LFnnfHRGcBvkWz5W0w4bvJa2l3xMjgrA+qmAgccvWZJxvvcvoA/J5XaM2fW5E0AZWhZmJudqHScplC+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") 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") 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") 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6L92hnbDZhfI4psjTB4MfNxknmwly5ShtHEI6DWyK2YfavJf7ASyEjNiQ8gczR1XPn4MohaJX/xuQ2bUGl8O/PKFDAqD8mm3JsA14TwYhtQiXmEzdV6GocqrdRgmBQFZLg4lCIQXrYnAUZ3BvbENnoPOIRPprfUBjLg+XvPIVrkcQOA+iTSjCowEy2WijEWWFtLCW4vcMAUog8LvIxEcEYQ6jg32sgGJi1ODGMZYgUfO1JQ8VqdUA6vMBS7yFLEwwCZksViiItzovypsAS8zUmN22yedisQ8GPWqroEGOTteEF4o2VtMb3jvssFDbS3PTjISxIfSSbx0t5XhPB4B1jmxCWvall29koCVQMU0SHKoaWIBi4PHHv9IVvEO7BEkXl+uNioQ2DV7GQ8P0dstrGXLOpm+nYb7T/99sNBEenEoxYBVas0wTvlxKy4ghg7wvuNNKqx9x1IhilZiFhnBoIxpz6CgmvWOwSYgbCvikMTgAagWgpsjTBwLKAhaGUQP5wF/SFj29Yp8B7HuZtL+OEjyaNl0oJ9VC8d8as7BGc7rlkLLC59YV6BwRlDlk+puj9nCZDAoIaytoIBnEpZEeEMidmhbLcWJNCGSKIcwkGKaleXyE2QTbD0hJzN45VI44danKDRFPeh98CvwlPUgmGR9pwNUKuxzb+FB27a/jeEtMRCtbbsTgMEYwcpGdeWwPBIKXL86nNfLXitxMdTaGbUKgA6RW38hRYmmDw4UwJHEsFh7oSRMP3BfMslfnGAjQ93zOuG+pDjN2bqh/XxU55mGQxzXpCqhskIkx5I2AufN8cXWLXxqwsayMYpDbSdTesM8PJn3oSBAbnCN8fYmjCTIsxN9xcgkFgpxebNSUNO+V9qePhxUVBrP5qYIBYEHO/qmnK81OvwWIZFlXj3hSCgQWKGIuwiRmVR2m6WFI4uHgZXinWRxGMkjMxMlYNBAMdCAKqSfixEOWNK6D7H62a8aeG0i+tPPYOSxIMzPCxKpdjesX+Th8Sz6+JKXIsYMszC7MBeUXQpurHfbFYD9xWXswM98QCPJdq5BWLw1gbwQC7GFmiQFZKTYX+XMc20LFMpbkEI2YZ4KDAgaG0xKxsxIFQxCsmMctHaStg9/yYCyyFYPC9hCyGwjtQhr2kxGI9xtYNOohglJyJkbH2TTBgzATj7UM4NbHZ9UlE9//ZgGKlxkNdayEYZLIMpZpNwTiWOZBiKaGUdji3fIBiRcum6Mc9pNJ6lgpOhp7pnXsohOUV5qEXRayS6VT9uI8aBl464RoJRqycN4STTSY1foGTLuuBmIe+EI9BWuyQSX0uwaDnjEckSK/EnVVaSBv3Ms2G1ig6xKp3UnI/twdHyjt5wbbcl0IwYu9Idgol9ksKv19ivEJJqV0iglFyJionGKQJDtXWLwUFp1wKT5EyiY8Vcy4Fo1I7tw7pUQvBoLhWv8BYCezmEAyKfM1txz7nHSgORclmT2IpimMnyqn60N/GKzW9RoIBBrGGZBROIz4gRWJZPCnFu+YSjFi1WixNpTdDsIAQkP4aCrV/vNic7jqqwZLNFQokj6DG0kIGCNaBUFIIxqXaPkKldcoZL6X+jQhGDqIzr923BWMpn3cHC5HG+Osw88caGc2E8Hjf6lglvO4ZS7pIaMLF+CVlDsEoGdQ15Z2GCAbBsETih1I6na4bf43t2ocwpzIrwXQhgaTlN5V5x2pIQOwp0kW1076klh+fSzAo+OSlTfKd8NbFlPXXv4cGXp5lB4tBmA3Rv88rKsXfSxyMvHea06499puai13O/SIYOWjt4Np9E4wlNkVgw0JBgZpSGy4fB0ySYVobzxLB8BdqzQQjVtNBBCN9Pcc2I6q3kq44JLES7akN1OYSjFjsx64JBrV/vBYEHXaxIm01EoyxYl072M6O738yVsFXFoxdzET7jC0SDMqD0zskJZWyDzXZF9T2J1WLSPn+fwlCjfkYRTDWRzBkwTA7rLUihLOXup65n3TjcLPj3/itDBHMtzrkP6cF/FyCIQuG/5udY8EQwSi8cS/FIgurOTjc1ggGlgtSSU898NZYI7iGoCsCyjoiMRY0JYLx/6CmBHlSUyJsWc3GcPVdLvDIs2L+Yqq1UnK4tMRqDKw1BqPDh540Xkl2/o1y7Z5QlIuy+6EQ/EuGSorMJRhricGIvWdKFlcKjuE1sXotKTEYMfcvbQVoL1CLyIKxw5nYGsGINS+i/gJNePDL83GbUjWUNFWvGl3qiY9pPZRiMKhQyIewL2DP5r5v2XUWSWztrJ1gYC30qp4OVZr0Kqjye4SEeb1hvLUyl2Aoi8T/Bca6RqcQjFidoJzeRbv4Lohg7ALl9hlbIhg0XaJ9eihEb1PMK7UhWQx+/LPUhQhFBMNHjBRE0hb7grUoDOzb4XL/yaMIRPSKQi1VBwOrjZedsHaCAaCxJoBkbFGorS+kheN+DC1buZVA5xKMtdTBiDU6W6oORmwuUwgG2YDUvgllLBV3179/EYwdIr4lguGxb/zAVO0LP3RTIKZvBRuQCIZZiouEtNnQWkFqHaW4p1iQpsxZ7B4qeKILFUn7slSp6NiJeQsE47pN3QoIQiiUFA9THinGdUfn2txeJnMJxloqecZiRZZqDklZ77AuCdOVQjDIKCI1PRQq+l615I935lgiGDMBzLl9KwSDFFQCMUkH60tqx8IUzGKR57Jg+OjRB8QrhoO7wCtylTIHJa+hLgX1KfoC8SF+Z6xKaa4esZPoFggG1ggsU2E9G7CkcF3XG4IS1J83M2o49GVKN9a5BKOWXiS4mAh4jUmsYmXJpobds+k5FOvjkUIwGMfrXbTPYooeriIYuV+vGddvhWBQNItS2aFwAvCa4kyBLJYyJoLho0nXVK/LbEohpSnzk3uP1+adMSjIRv2BkkJsAdVhQ9kCweCdKLHtVWily+1d2pe+V1ugK8RgKCA0NgdzCQbjfrCtGNp/xi67qRIXRqXboW6qbOxeY8CxXi1T1i7NASHCnqQSDNJuKdcdCvE1ZOjVICIYO5yFrRAMSmS/z8EN0/QTCuB5hrassVeZUgTDB5imYZ5raonmR1OmONaAijx68ulLSawPBeNvhWBQrh3rRJgaTuo3cTi4o4h5oaJuXyi2RTxBbs2UEgSDqq3HOJNMhsnDSk1+27/Ia+aY+jvg4MQBqi/ghfWt5KaNPpDrOQTjKDN7hDMA3U/pOl2DiGDscBa2TjBIOST1cK48pPEvkm7liQiGjwtp3Hwcw02FjyMnGi8gbMo88ZzcDYrnEOiJZSFMN6cKJeZiqkqWkBcPVGvcCsEApweYGYWyQrmnmeHbJ4MrlJSiXN4clCAYlNWn0F8oBIXj2hmrRpq6NryuwtxLLIrXETQcl6JlXrOwKc3lYjrjtqSqcqz0QqoFI1ZbBXIJpqW6KE/9zfP+IhipK7fAdVshGDEXCYVjMMnPEXzLBP/ht/VEBCOObuyUWDJbA1fMlZtNDGtVbrvw10daSZfSL5Z51CG2JYKBlQ8ffNiu+wttmWwamPWFsuK4jb4/4cdZgmDwWOrhkF4ZSt+1M0G9n9wCMfCqmn6ztewMuUe6QQ5v1ujbHCXADZL03jkKtqSC7DgKZcUklWBwf6wjKy0bHj9T1+52msCRpYZlBCtZjohg5KA189qtEAyyAQjMC7MC+LjxEZt6GsElQjYEDdJiIoIRxwZyRjAlWRuhpHQ+HFvedCnlFIqJHjM8pb6J+6DIV4rESlZzL0Wf5nR+pV8HH//QvN3Xa0sEg/ciJTGV0BOTgWVwipQiGNc3M7JdPCHAMva3FJ1xERLAydoMJTdIE+sCaz0UXCRkxHwjRaHINVidsD4NSQ7BwL34TGcwvs98R0lTniOsL9YZgluO+B+vPEHsGSIYc9DPvHcrBIPXJhqdqOxQUvsbhPeRkQJT7vslyVQJW5CLYAwvOvDxWqBzAuMjTnrxFOFEjAUi3MDJULla06odcjkmmFohKHRXDQW3C91Bp2yCNDfDNM6HuRNI7kmDh2yNYFDjhLiKsSrHnDpxQ6W2dg/nphTBYNxYQzHM+VjHcEXkCnVPmFvP6okLhnWRc/ImzZN39gS8CZT9VK6STYDp0YEL2VujDJtDMMgqouZQf+13qkEI6A5LBeUpQko01UbDgyRp0jdIdJWKYExBfuI9WyIYxEh4mwEbBSw3xzyHaZvr8Sl2AoH5SvPjuXaAtQjG8OIj8I9IeE70oRC1T6U/5i31g8vmdTMzw4xNTY1QMCdDNFPjMjCRU2AoLP7UjUvJ67tFovnDZzMGJzgC3foBj5ShZyO7UXDD1ggGrxfLJOi/+lwXREmCQbAkwchh1dlOXzqeEvhJKu6YsMbJXINQe+uJNUlBwFgZ9aHxY1U2uYeDD2n0fIvIThkTLItY+rDg9YXgVtZ6KDkEg3sJbOZ76RFNdCW4FitHakwGqc3gCiHyumI/uD0MjL03fxfBSEGp0DVbIhjk2RO0F+tDgrkS0kC09Jcd/M7SnnxhwlcK/s7mhymSSGgRjLRCW30IsQK9NuIq4ToCKvng0B4ec3Domz55eyIi1gJy4Z2Oug/tJScEkPLBI14kJhAhNjV6b2DxQF8+lGwiEAkyIXhH3D5Uq+wLmwotuTnV3ib42xYJxlDWDK8PlvQMyo2X6UNXkmAwLqmVEImY5QWXG+sXUzwxBsSP4JbAQgGpIIsNKwLkIazz0dd7TjYFllOIEMHJMSEGBqsrWSu4Twiu/V5LnsjmoboqRbrQM3RbQrIpJoiVYS7B4P77tC7LmK5YGp/bVriFvIWxOPyuCD6lCjMptOxVnqA3zQtTY3lEMAYWUOk/bYlggA1ZIykpZvzwMM9SeY5TMAFqsQ8DH8TrNR8RsgFeKIJx/BJMqeQZrlWIAQFv3gkkvJaPIvPDB5954XkpZnfMr8TMTJFYJ8kpY/Xvwb/Nx/aJhwjB4N3f2WxyED1PvAqfuRiXJhg8/8h2jmKWrFwdw+tLZH0Qh8EBKbdT9JjuuBOppgqR8lyLuRYMnsfvlVgJcE2Rb7UHC4gP1qQhotaNR3wXhNY7MMaeKYKRMhuFrtkawQAWmprduBA+sGJOpZALRATjBBymEAzuw4dKMZ+Uj0fOFJIOywnSa0aXOg4fxEc1xObOqTckXNcP5juUCEasrD6QeT1KEqA84JIlCAYP4HRPBVrP9ZarY3c9mzaxPCkHn5Rn0NUZa8pQ8HDKON01WCyOaIMvz1SQYHQkg9+A53bJ0dG7lmJjWAapFJojIhg5aM28dosEgwAgfsxsFGOn3iH4CFSCqPTLWotgzCMY3M1p6LgmQJP0uxKCa4VgvNwPTezZuMAgAzGTbIrOuNRu17gCKNrVyaFEMLBSYfam9kFfiEOJFXNKwbW7ZimCwfi4ElifJfpn8A25ZZsOm/N+Y9fiLmE9QeTmCIHIxAxh0UVKE4xON1wyxzrND6fojtWZbDHqG6Vmi/WfI4IxBfWJ92yRYHRQ8CHD5zmU3+3BRjQ2rPvpTsCUCMYJiE21YHR4Q/w4fRC0RS5/rvBhIegNIkktg9JCBhEElWJIYdbQ0LMIsIPwEHBHtkBfDiWCwXt7Dd6uEekqmzt/SxKMThf8+hQJI+4nxa3XfwfWJDE9fC9SAxlzMeB6dOQbx7cu5zAF+cNtR/ZFPxh6KYKBrqTrEvzKbyrsW5Py7rhQcGNiZQx/Wyn3d9eIYOSgpWtHESCdkbRFOntiXsR/yQZCjQtOmvj6SZsigIogPnz4sQwEOg2G5n0CEgn4k0xDgKBINh5SRcnaIX0RAsP88HEmf56PC8SP/hEE6xLENjXFMUdL/MGYj1k/1DUgDZNgYtJNWSPMPR87ytTTq4YAu9haIBiQe/vCe5FhIqkXAeKzCALl+0HQISnIBJITeIwLlaJZBH1irYBYkEVDsPkuBavLtVqyjo5Uz+3ilkg9xbpHOmun39sj3zjiT6iyGwq/vam1hDwciPeAuPFfnoe7h+8qvzcOD913mRgLcCXuBOtXSR12OT+TnpXDGCc9QDcJASFQJQIQDKwVqamrsQ8iAAAdZElEQVSwVb6ElNo0AlhdIAwpaaubBmKtLyeCsdaZk95CQAgIASEgBCpGQASj4smRakJACAgBISAE1oqACMZaZ056CwEhIASEgBCoGAERjIonR6oJASEgBISAEFgrAiIYa5056S0EhIAQEAJCoGIERDAqnhypJgSEgBAQAkJgrQiIYKx15qS3EBACQkAICIGKERDBqHhypJoQEAJCQAgIgbUiIIKx1pmT3kJACAgBISAEKkZABKPiyZFqQkAICAEhIATWioAIxlpnTnoLASEgBISAEKgYARGMiidHqgkBISAEhIAQWCsCIhhrnTnpLQSEgBAQAkKgYgREMCqeHKkmBISAEBACQmCtCIhgrHXmpLcQEAJCQAgIgYoREMGoeHKkmhAQAkJACAiBtSIggrHWmZPeQkAICAEhIAQqRkAEo+LJkWpCQAgIASEgBNaKgAjGWmdOegsBISAEhIAQqBgBEYyKJ0eqCQEhIASEgBBYKwIiGGudOektBISAEBACQqBiBEQwKp4cqSYEhIAQEAJCYK0IiGCsdeaktxAQAkJACAiBihEQwah4cqSaEBACQkAICIG1IiCCsdaZk95CQAgIASEgBCpGQASj4smRakJACAgBISAE1oqACMZaZ056CwEhIASEgBCoGAERjIonR6oJASEgBISAEFgrAiIYa5056S0EhIAQEAJCoGIERDAqnpyIaic3s2PM7MTB319oZh9Y3+tIYyEgBITAAQhc2cwODzD5upk9WjitCwERjHXNF9ryI7tToPYHzeyiZvaD9b2ONBYCQkAIHIDAWcyMb9qpA1xua2ZPElbrQUAEYz1zhaaXN7M3mll/3n5sZpcys3ev61WkrRAQAkIgisCtHTLxHTO7sJl9UritAwERjHXME1r+tJm938wOC1R+hpndfD2vIU2FgBAQAqMInMjM3mNmFwmufI2ZXX30bl1QBQIiGFVMQ5ISdzezhwZXftfMzmNm/5E0gi4SAkJACKwHASy2b3LUvY6ZvWg9r3HoaiqCsY65P52ZfcrMThWo+ygzO2odryAthYAQEALZCEAwIBp9+YSZnd/M/id7NN2wUwREMHYK9+SH/UWbOdIf4L/N7Jxm9oXJo+pGISAEhEDdCFzRzN7gqKiAz7rn7XjtRDDqn6TTm9lnzYz01L48xcyOrF99aSgEhIAQmIUAsRhkyfXl8+0BS1aMWdAue7MIxrL4lhj9z8zs3s5A/OD+ucQDNjrGL0UI2NvN7HUbfWe9lhDYIgK3NDMOVKHcuIlBe84WX3gr7ySCUfdMYrWAqROD0Zd3tampdWu/X+1I3X2Ho8IjHHfTfjXV04WAEBhC4GdaV/Bpgos4YIWWDSFZEQIiGBVNhqMK6adPc/79zmb2mLpV37t2Ihh7nwIpIASKIcB30EvHv6RqABXDuPhAIhjFIS064D805vxLByP+b2MuPKtSU0dxFsEYhUgXCIHVIEDti1c52h7XfAspyiWpEAERjAonpVXpvGb2UUe9tzS54ZerV+1qNBPBqGYqpIgQmI0AhQa/2FhuTxuM9F9mdgYzI6tOUhkCIhiVTUhPHQI7CfAM5Q5mdmy9alejmQhGNVMhRYRAEQQI9CTgM5RrNSXEX1LkCRqkKAIiGEXhLDrYv5rZBYMRcY/8opl9qeiTtjmYCMY251VvdegicBUze63z+n/dWHv/4NCFpd43F8Goc24ooOU19PkXM/u1OlWuTisRjOqmRAoJgVkIkE3yDTM7WTDKN83sF1TZcxa2i9wsgrEIrLMHvX3zg3mcMwqZI2SQSMYREMEYx0hXCIG1IfBWM/tNR+nLmNnb1vYyW9dXBKPOGX5500nwdxzV1OQnfb5EMNKx0pVCYC0IPNjM7uko+8BIQcK1vNcm9RTBqG9amZOvmtnPO6qd0cz+sz6Vq9RIBKPKaZFSQmAWArF01b93mqLNepBuno+ACMZ8DEuPcAEz+4Az6EfaDoKln7fUeOczs2ub2cXbYFWqkdINlkBVfKZfbv5OIOs/thHgXszJkG6nNDPMpTE5RdvKPvw7z81tb/97bT+YpbBa27h8N37DzK5mZhcxs19pCfGp2/5G32p95R8zs/e1Lbf/zsx+WPBFeVZIwklVJJXRk59tSuszj3TmJI6JUvKMQbVc/PqsC4KnKSX/+nZtfb+QvrXreiYzI74hlB+1lYQLwWCx53w34+DEN+TrTYbdiQKlGAOc1Zuk1GwVGEcEowCIhYe4VfPxe7Iz5lObHzt/25e8zMxOHDz8T9oNpP/PfMAf5BQIG9P7nWaGmfNvxy5s/07ZYD40SwubIptTyc1xaZ2XGp+PO/FB/O8smQ9hE39GgyWdgf89817v8j9t1uMDgj9QmC70z7NO7tVsYH/UzmPqoyEcD21qLDy+QI2F2nWlp8ezIsD8fkPI+O3PlV81s38ys5M6A+EOfmXGAyCtF3Kuv1jjWqYxmqQSBEQwKpmInhqPNTNqXYRyl+bE9ug9qsvJICQYV24+6JxMETZhdL/FTB3fZGY3Szg57YpgfMjMsCod6kKZ5kdGXHc52GAVYOOGhM4hbSmbNq2+n9cWYsrRsX8tvYCwxGFpmypr0PX5ZnY95wWx6rD+cdtOFYpk0T/Jy4B7UmN1ovV6jjzbzG7k3ECNDK+1Qs7YurYgAiIYBcEsNBS+xMs6Y/U380KPyhpmiGDQUp4OpZjLSwgulGu2pvXYeLsiGC80s+uWeKmVjgFxpGMl7oWSQqMqxmQDnyJjmzaECEtgSIqnPOt7bYEn6i1MkTXoirsJl6VnmfobM7v+lBdv77mfmd3Xuf/jLen4TubY92hSVR/i3POXjfv1rplj6fIFERDBWBDciUMTxMmGHQo+4xKm5YlqHe/b9CwYuDboWhoWBZv6nO4+/OmQjNdEBtoVwaCaqvdxnPt+a7ifuBn6P1xiIWX/rVk7V21OzliJcmVo06ay4wscP33uM/rXE48AycfClitr0fVK7UHB2xcgGBCNXOHQ8e7GYoUVoy98Tw6f2KjsdyNuGw45rCdJJQiIYFQyEa0anBa/7aj0gzYYjQDJfUmMYNBoyDvhc0LF7ErQ3CfawE4+MvQNOFvz71Tlw79Lz5WYECxIkCjBgrmiLJJcxA68Hl857i/qC8TkM22ALiTws22AJWuUbCdOwmxYWCnwv8fkcy2Bya1OG9u0b9KsKwrSES/SF1wzL23ae5MC/t42qBASS28Lgg+xGkJovRoL3TjoiJn/C5nQrklXrABerR1cJLhKcuaJNYRryYuXwKpx/0wcu8sv3M5xeDsWkaHvycTH6bapCIhgTEVumfuwAmCmDIUMi3Mv88jkUT2CQeGvOwUjfLj9ty42Y+gBRIITYEZwJx1iPSGg69ebHHdOkDkigpGD1sHXPmHAN04AJBvEXyVG7bNx/3kkq4cnE5zJBp9DoGObNhshJ9y+PL2J9yAgOSV7iDRI4gJi6/GZbYxQDrpr0pVsEoIxvbgjyFmOq4zfNbiHQjwGRG5qxgfkETdqKDUcxHLWxeavFcGoa4ox73kuAdIxvbiMXWrvEQz+7SQ9JfBR4/vOTe+jzO+LB07LkBgCSHNEBCMHrQOvZa29uU05DUeB8P22meHeyBGscwRcegXkGCd3jr1Nm6yifuoqG85NW0tajq5Y2CDI53FuIjD1HJnuyjXpyivj1oAEeBkfBGBDssaEQwHu0/73gXuIt2B8rJpzBEsvayoU1Qqag2rhe0UwCgM6czgio4mQDgXTLqfAfYpHMPr6oCPR9jmn0P79Qyb5r7V1Cwi2SxURjFSkDryOb8L7IzE1nGyvEHHjpTwNixXr22tMRdvtX26IBnOdIt6m3b/vx817EIvBupwimPV53zB2gLEIMCT1NVXWpGv3TndrrU7hO5JujKV1KB6MXiGki3pWEFyqx6UCN3AdLjmIYCjUZMGKKqkAARGMCiahpwKnOC8VlTbFR+5Z1SGCwWmWjw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Rep8aSxmiFrG3O43dNYgtTWlsStINdWmsT3hdsrym+GjDQD/DcRUrigreqzEVKeOIgjH5Q1IuoVNCXsaSYvg+jMLfoVkV3g/3wkJovg+BhDykcQBjh1MI6JEACgGQ4EhAXR/e+3DEhw++61PiOz73837sW+UvPHC8A48e8bjX5e17psMn1/n6h3V33TyyPr5OybqzHq8bx0i/00/vRf1wpN/tpwf9sNYP/7XxfsB+mGLjYpKNiQk2KnC0c5RWsHJhMVOY9BRuMCKqWKUoY6WiiNkCEs4r3cr9SmPPhsiGNRuqbCguYcXCYFQYv4AA2bFgF1zdd7d11/jT06qLu55omNfXew8v736s7XlNxOMnD3cAVh/NrKyQizWt+mLvw59GPn+x5lGrTv+jWToIAAhCkJ+HThdCpf/j3oy6zXQDLzIzsBHVhZAvRFFViyy0Z0GsG185DLUNkXf0miGo5j+JOACYcbN/eNrtxyVCRVEQxvH/nYM7bIJEwd3d3d21oA22xALeGkikF/GIOwwX94ZzfqOfePEVD6GySIg4hILu3c2+JuuuEdB5PlcT7UwxAUAv0M+jx9ROBV3U8p4+St152wJ3pFPaABhnypkGIEgPuVVONKVkkcC9dDLJBakgVLzi0SHjyLCJMVGSKVs6qnN8DsuyrGIK+DKWtANQS/7NVPCLaY3GXZ5frhKqe24d6yE/kxWuO3wJy1kGWSJAj/mnrgCpsTb4eNp8wUOg40AAANCknd+J7UzDtW3btm3btm3bPK1t27Zt67zvYRhm/5sSK4g1wnphO7DLuINnx0vj1fHm/z0Un/TrYfxmJB7pFJkTuRfNHq0Z3Q5kYIMQpAQZQU5QEJQEFUFN0BCMBYvAnYTcCQ0TDsZSx0rHlkEBmjCAKWEmmBsWgWVhNVgftoAdYS84GE6Da+Fh+JWQiGREHmIh8Y4sTA4n31EFqBHUOTotXZJuRnenx9Lz6L30fSbG5GUqMX2YCcwcZi2bhq3EzmLXsMfYz1wbbjZ3krvFPeJecZ94khd5n0/PV+Q780P5GfxG/qigCbWFrsJoYYGwRtgslhdriN+lFFJLaZl0Snon63JteZA8Wd4s35LfK46ST+mlLFM+qKnVPuoUdYd6SxO1HFp1rbt2Tkd6dX2e/thQjI7GAmOn8chkTcdsak42T1mGVd8aZJ21vttp7NJ2L3uBfdR+igiUH5VG1VFz1B0NRuPRbLQabUOH0Jt4PN4ivsLJ5Kx3TjmvnB8u7epuCjejm8st7TZ3O7v93dHuDvedl8Eb5B31G/lXg+xB7WB4sDv4EkbDYmHHcHb4kyB4Bgg0DAAAerbt5cdnnG3btl1Ltt2WXWv2lM0la8u29d64+kXN0VZqF7UfWq42oRP9mH5Tf6P/00P0crACnAAXwWPwFRgDdxAKEkEBaAB9YAFuhRo8CW/Dt/A/dIIBMAZmw2rYDifROnQISXQVvUAfkQXyRWEoGRWjFjSMN2IVn8YP8Fdshr1xFE7H5bgNz5PtBJLz5An5TxyIP4khOaSW9NAldCfF9Cp9Rw2oHXWnETSdVtI2Osu2M8wus1fMkLmwUJbCylgPX8u38dvclrvxUJ7Ei3gzHxKrxH4hxXXxRhgKJxEo4kSeqBd9cpncLam8LF/Iv9JORshMWSQbZZ9cWCwIHoCACAIAAGbbtn1+2/fZtm3bxijbtm3btm3XLsgIcoHCQACVQQvQC4wHC8E2cBo8AF9halgAEhjBRrAnHA3nwi3wNLwLP6EUKC+CyEeNUW80BC1AB9Ep9Bj9wdlweRzgprgfnowX4z34Kn5HUpCCRCLVSRsymGwmL8hHmpIWoIxWoo1pF9qXjqOz6Hp6hN6k71gSlo2VYCqrxtqyQWwKW8hWspvsIfsulBaQ0EM4KbwW84iOGIs1xAZiL3GQOEqcJO6QUkoZJSQ1kYZLq6U7chbZlEfJl5U0ShalubJGOah8Un6pgjpF3ajeUf9pxbXKWm2tq9ZXG6rN0BZob7Wvejbd0JvqY/Xd+hejiNHS2GQ8NzOb5c1+5lmrhNXDGmDttDPbue3AbmF3sHvYK+2rTgGnq7Pd+elyd5o7013ornQ3ut891evqrfPOey/8kv4c/3CQOEgdZA5yBw2ChcGLUAsbh73DjVGRKIyaRf2jKdGSaHd0KXrNk/JcvDz3eEM+lC/kO/hZ/oj/jNPHReK1FdP9B5/ocOAAAHjahHoHQBtJlnZVR2WpJaSWUM4gyQjUCCEESCYIkXEQyQiMMeCxz3mCvecxNjNm7Mk5x/t9eWadJv+Tx7sXJ/xh8+5c3LxszmvgXreEzdgbhLrUVf2q6nuhXr16DSJQDCH8HvFVRCIWqV9kMYUUKP1B9IPqGoFzc343547he5f/AkeW/z/x1aVAjLgROqBGhNCLaA56KS4QB8Uui9AhLhgbD83NrawUnxM0EUAUkLNSuYBMGQ2mGYwoBhEDGFP94XAtSsdhvNDKuDSeBmlewkh+kBVH/NdYdQ0fTNTVxeNeGLqMYdh+v9ukTxzSuSx/IZi1Nrdy7k5vxKWHGaURCAwzMpdnnJdm5Bgs13JYPoBl2tUZCVQGzz8mvo0cyIOcGW25gVY73AedCp16iDM8iNLCYiy99CGX5JLVNYl4bV1CwlEb8Ho9DBusE4SYyWgsY1nGaGQB3GlnRdJlT9awNc3a8dgLyomDA+srbzh0samq2R42C05VKFYZqbxzchM32Rxz1jZcnJtDgKITIfRBSfral0nmIKXACKVhZpiVFEhx6BHdrbq9hy8SpqXvlXqZVyz4CwSSsLszOi3PIqXnoMvKD9nQQy4GpS/FFmO6VfS8JwDAAX9cEiJAZgC5CTioS/CMl4TW728V4R5Y5SHWpJ0Qng8e/vbURt22JgHgSmxYalyqcCwUCd1JXHf0qIh+JQDoUQk9Zg+SD9Ew+w9E9LxBMIhDd+q26+YOf5Xgl75LjEEvsB38Q/S8yDPYG0KUyK8+Ga2uMQQFdoNxnxH/8Ac/QKBRoMMFoAsgFUKIhfIcktoRIh4GW5FsCwWh/In0nML/Cb945emVINpGLCANNHJsMBFM8Ame5dkgVxaztbfb4ZvN2oSvEB8KtvasPQvfdltsSRD7LkLfMiKDSLGvwBmCXyEtl74tytyx8nMiRbyBtMiJdK9YZmW0bhapwUpFy6clEa8aBeMNCrFVY5FkjYPHTp06pjh+6tRxhaKnt7dHLFR/+cjAo6dPPzrwyF9O7dvZt2vv3l19O/cBCvQ0FMeJs4hG6pfwNEkB62lxGjfnTQgc5g6qv0j0Ty4NiLQtAI4DXA7RiimSs02XWxwqjXJWy9FFK04mF7kk2IEgGsG1NixZBOs2tpw4OpqOMYmMbkK4oNx+U/vADd0Yj0w8nG2p7lBVCpXrQndOb+JaC+Hm4NYphFEEJGKGmdeh6ozFws/aAwHtdLVmQENoNKjcTpP0LCFKKAYYBNDw/sVkU9SsW4yJ8gomTMJlIcWFWAkWoJJgFXEVf7y4/I1YwXaAXd+Za94+e6Alyey0FspvGla2TtVXBtbVHtuvOhRqaajR1CTHx8FCO8KNmarN9dpQp8m8IaYb3y3qzwNFM8hUAZBsGTVDqqflKoogqKJ0k1F98uJS7CIIOe6OY4ETWK8xyJH48PLf4sHrCpr+Hd+6ezP+cLlh7O7v4brlfxZlXwcScMCYXuTL6DntLK+3WJBpuoyimFlylfVFYF0QilwH1rItcmtwG93sFY6BV8/oYcuYY7esuWegVd6RbtHhp5bfkdX1KFunk427OlUtTaHOTK22vi3kwNdNveGqm0wbMhOiR4sBmirJEqpQRcZUMcuVlSGLEis1sxYFVrC0s2SwQmExVhBRfcpyeVaEZDSuUcDvMeTam0+cmFM8V73VNix7qHwkIctMJZt3ZzlZc29vs6ypr0/18N3bnzx9OJD+ii4QSm7LcC2zDRMdDdqGXA6KjpLFloPUNOAzNCo5Pc1SKA2CAguV/CwowEiKPupNb/jU8mfxl//W5+xrP9zzi6nB5S+mdzV1IlKyvQjwagfra0KOjNbEVs0Ggygxq6EdJTbB6qOLYPirPCYCq6yusa5rWTRczbLvpuNCVbDi6E7Vrpsrg1Hh+CGVoq2jo03Rlsu1s6n161NsQ0uLaueYrnYzb+qKaDdv375ZG+ky8ZviurGdW1PVmmgqFdVUp3BTPKyK1NZGVOG4aJMh4CJwRWPOWblajSpmTbSJxLB6TAQuLiBRX0U7WryyduJxhgGMRaauuJ5r4Jufq54sHykqK71dVJZc1CFxRWOryppKc60zDQ/dA/rDQ53Jkspy4HMl2+oHpAxylYl1F0KYJM5C3T0v1iNQ/5303PM9sW4DeplU9/5YrNsRIpISve93Yt0Pz9VS3f8jsV4D9XUSfWBFrDthvF9Jz4PfEOvV8Lxael5BifVKqPvFOtyJkrSs/BIP4aMgLQt4Z81J9XzZSeZ4yTvznjV6F/UNVcnUy15+aqCX6h14iqI6OqgOxTn/0JYtQ/5zXTu8113n3YGwiBu9hq8veuIF8iiaK3piQfLEU1nF/TjUtXwnUBoBsQcQuJE1o6YNzgWre06rPqkzHC95YTBH6FeKJK5ydyUvzLCC0VzhzvBlViNVpelQtwtMKhuM1hn0+EJTuEnnVpWrKY6vdFaGGmMyX63FpijjehBGauA/BLOHUCYTsJgW7D7fMS0+q8Xak/s0xzTEvZpnNWc1pOSYj1PMAonm1zjmA4uF/Zd9M7/WS13rm4thT9HWHkm2arIqgXa4WmOJWms5tU6T1WZrmVR7qLazReH3O10WEx3K+mm9yeMK+FNRtqbcnGQTTQiJlo1wFmR7xSMvFD2yKOW1HlmA8C8hGCWPHGc/9+rLG2KKiv6pdOtPf9iRXpifRxhxwH8YxnKjnZluue6UjviNDn9Hh/9Z91UdMaJ7TUfo3tZgzUkTd9aCwUkbFwxHB8kZkvgCiQfJl8nPkyRJnxwkZgjiZeLzxBcJcojAhCSkQuHAolhIC7AAnrwQK8Bnvyipq905oPSyaxbjk7sdWU0NZXV7HJTPXav42fOk2mtk4m09jYpep9dmZI0Oi+mDni65sq1WUddWsuQ0aLIcdDmYSb3tw76TOqTX6V36s3pKr2etJ8vnbwd/ruNtuS8r8D8p8KtQU5+8XY7lUpsc/xPcsqLdFQrh/SJ4+CnCB/SrAeEal/+HA5fzfd2PUBPWnDpAtTqSdKy9t1FFWT1uG1XucStGxjzncjZrQRZoi8mTuZzDwvI2G89aHAhhpIPCBzpRg5+X0wtsafHEVleBF/y8GD73G6zp53HZcLAy0haa7mk71ZANIkQiHiTRCpKwozBKIE9Gz5rORnDkZCCAhJOa446TaP6ymy+Ifp7/U35+DWeJNV7gb9t7rXaLsbuJbe42WuzW3izDNLvtjMOdphMJOqFIJVhrRKX1G2XVqVS1zOjXqiJWNpHK1jBGs9nI1DwXoiMROoTEcwWgbijpr5DxnLVi64Jcq3Kqoqq3VZRKhXwLhuMnSMyQ+FvkL0mCfHXl1xm9wZQj6YUTBGYI/C3ilwRBQPNL0Fq0wXBhP+hRLNeq8cpGIO4Da31c4io1Pj1uzSkrqBZHkhLA9mjQKkGCBq2kze1W5Oy2AutrFWTJ3PCY99zHNpPMYneYZSYbeFoLbsZDsCRYVIsQzom+HOfQa8Qb0BIvtRhxDnskmrpSixp6haSWxGoL0GSlXvWlFg5owlJLUmwpzZWWejWUWnTQyyfRpEotPNC0SjSNpZYyaGmQWpouIzyNXiPNqIjwtDT74zhEekp4TkuYT2OP1FIntiC8EoXfB4iz0pmWVGAKpSEk8WIB/x/8k4PLGuLs0oC4M638jAzCzhNE3bhdOn/04YvSibMPIWiRX6DIEI3S8TgqUlN/cy01ChapxV4ktK/thQixF57CNyEtssNuplvQzlsWZEdXd7M/fNaA+lvZkZEsIxWMy+93Me3qid5I74RUdNfU+mprpn3TpR35a8RZCRkrIarDrwGmoswaEXueqKQAECrR/qBEa5Zo6/FfIWoNLWlcpVUD7ZeJ1yXacIn2fmncxCpttciouMIdK3cTtaQHeVAIxZCQsYQteibE4ojJPGvktHraC4G0m0RYDSkJMYaG/eoD8QfOM5xeCu3i4mbFx4PFNZ+AA6fJBG4taORLZwhjXJJOlIhLx14e6/53Yty3L7il8Jnp9Ib95ZP28eDExKHdh2JxLl3XOHlgWnZf9Xb2PxjV1n71hhl6ZpbpbKrqV37AqGY2qYanmZn3laPKyjqW2PM5KhZQ9osMowEotKBnC3KhVMZVXqYfMhux2arlhpQamTJt7jcT95ixWWlWygmkELe3ZDRa2M8Jgg74Kf2Ih4+rGeHEQzqwEeQk/NgztXfftnTDKJ8vb2y0581bUumaurx8frdz17xiZJhujgca5Mt/JasPVzdSm8/hQWVfxndC9MdZhKSYOYICGYPRMsu5FHkvy6IyjsahafEUVIoHLi5d1BXdtBSoBCEGCKw5JVz2KjzsdiUpu43DTq+sp4Glb5xSPNZY4FIRuZBhmG99gaZ4I+4olMd9Omtk1Bfg1FsP3gmpkHSM04dto2a3RuNoMm4DfErA1wtWZkJtmbBGNsOdpfE9NKb11Ixxm/KAksgrsRK+LnwvfhaTGCtMKhWlENdpWnSKSdjnAPonYlmKGqSLFAwGKIxeo3j9+syZMwsXP/O3f3fD+7edPXv2RGdvF+5e/jKuWH6pq7fzBMIQm/6C6JDktCXTaOBnNeVIrpMT8hk7kulkhMxBz7ifpd6hPqbIvdQcRbxDYS3lpPZSz1CUjKKQXkNX+GYr1x59xwvgukVsAK0Awi0dBksAmwlxMa9Kli0hNa1maBgvntw9r2hdv76VbdnVru673jShaIloGnOyDz/++EM216SOtKnHLNf3KOf3d/V2de5uGul1rqvva4dKti8e9nVuFPUfRIhoAvlaUTYTUClZWV6jZmidlqTyeo7AZl5XEiyPeSSnDEWTSOslS+UEsFFhKRaLfQIX2KpkH2w8IV2CMWFkpWsV8oHu7q6umY8++vjjrs1b1BO6B276hX2jPW/bYHv/if4N/YP9AwPvbN3Oz90hIusBZBWAzCxGr1pFXkXmMc/dI8OymTIa8TqeOEbjCRojGvM0T6tKR3YRF3x0kkw/t6hb+hwsIAwBq3iEBFlCfOGVjBTWD5jS8ptPzamXv4Qr1XNP4a/NhWU93eyBaRzC6uxY99hod01D9+YC/RtEIC/gqQc8PHKidEZlJqZVZ/l3+I95kn915Z0LjZmc+JvhqmpzvNo0rTMYSE7lhERNUV5RUdPhcNEMDXGBW3XVRQv0Soa5GoB4u/5rz2eO7Lvp1Vd3dHXtuHHhlsPYOYLrZ8cMw1M9Q0eODPWMbDVtA0DIhLJEG3EQucAyazK8sUylDg6ZDBqlzjPkstkp0mGlCReKCvD5JHYREoBfj4m6gntQlt8TZIPF0EjMiElrOcFLgbyYG2M+dS7CFRtiuY68XGHYnM0JA7INtbnsZo7Ld+RqNrPMzp3MztlgLruRr3e6m6JAUlHZmc1Xp9yN1ZuznRUTtzlvg6+o2TBOSjkJBnEvU5IaCFT0MSAZyBB6STL8T/v++ebbbsNJfMvyzVi7/JOiRdxIqIgapIR+NEnkFTIlil78YOmDokTjQkmSPS/MvPDCDPaNnzkz/tnPSj2xl1Dh44hE8vNEHqHootjDbezB72Dv+DjsUD0ryzD2ViKAxlAUs6iA0PLXEJdRYJUCI5UGMQPFJLFIi96D0f4TaAtoEjNQPoMUL5cy2EBFAsUwjNYDdyygNWUU1EEaKQ4qpbmXPlnUfVICQANoEi4AsvzNG2+8UUTzL0eO4ENHjoi4N6J9+BKRAknZMyoC0zQDcyCWIlFUlJcA+x2sQNCjP+430jS+tDyI/275Czi878LM+b3X3yCOMYb2EczqGAxNEJjEMAZJXTVGIg6j0MYxHIYB/m7f3htuOHB+BvqvQ98iwvgt5Eb6V3RUl13dVeZG0f+/+HXRkBOloIPnJc8kJZPFuDMYXN0R1nW0ylz1fq3NrqTW7bpd5kzCvU1JmczfMk9MWlwqE7eF498td6p4rjrCFbOXDwPKC4hGygsUkadBXR9I4uK88Rb8ziTOjy//19siZQHdAvLxgIw9GR1NyJQUIwd1IRXLSPxdjAGHUHJ8ErCuyfo+03LXXfBtFb+3rN5AC4zpgkz0W78vE50QWFflDYXVTDTQ4Z1SJnoGgTyhfB6JmNDKMfzzFegP6FEeU0hSthGUjX9+bHQUEZC3uA0vEv+EUqgbhTKm2sZ1pJ0xtWlI5PHn3XaSYvIk2Im0TyyK2Dk94L8qUwgSvvpgw7NXdmH+09lSQ12pE1N8jJXdO/lh27C6SrD7D/RnAx63Y++YunuXacg+rIJG30Gx0eXYM2b1V9p9g8GQ3X84VRdodNtoq0dm0Y/UKSszZfx6rzK7MRUPNrntdLlHVs6NJpSV6TI+41NkN+EcVeGiHUGZgSz+ivIxr8wSYqysEdcFxkg9JCeU6BGUvigdY4BPrsQS6Bv+MLn76O03Yc2OzY/hh+i9k6bt+y/9PfGLJSUipOigj/gHZEVOMVK0Gai8xYSdejqvVcow/CmsCrNCrUDRaLq4Z+kuggO+WCxhs4LzZvESWOkyeqXLm/CyBnjQXT46a9m2t3y2/K7yWcvobPm2PeU74D54l+Wu86NntpyDz5Yzo+fPn8eqMwijkZVZ9K5kO4oLGIlMwWmBh21yZMdj5MFLd4n8y1cew2eAfyUqy8hpQoFzrLioo2mAJFF7V10Zd/qJJ/Y89dQswUy+8cbk0m/X9jaI73jk+pxKqyU0JCEz5GiCQdIYUWmzWeMT1+4wchgRPnueeAI/I476XalAgNi18jPiPbBKP6pGGVSV4W1Wq86tCJpRMl8j05EBS1Xe4wTYaWmrL71BENeGcCWbmiha5ZU3YXwxUuW9YHneRJBdfctEXnnpUDRI/sbjvRtpqsK7Y1izeeaE4T4ns53yWG892Rj+s+Z7Xwz25jKawRGhKeqX+6Nmp3pqi3r9pJ+gwi1+defgYKd6Z7P8keZBZfOu8O1pf/DBNwyBrKoqjkctjjq5uzLkUpjCLlGCenw33gs60oDPMFByGU0qlIRGzqjUGCEtg1B6jc8wSD4jKLBFt3Hbhvxh5x5umtvrODy4MYnvTg0bt8YPH45vNQ6ndiExSsDP47j0RsgKGQ7dSWQ6KSNQeunrosMX87KQlpUy6ZBID8bqQAQgARDA88Fmn685WCytPp8VLvy8rzkQbPL5moKBZl/Wb3f4fA67H2EURz/BW/BwcT/rKu5nCfAwcRz4yewseKdVCrCJA+hP1hGG6yfE8FUjxmFEYhgGBHp4Tt4q0R9epcfv/R56/J4IAJfor31O3lp83rFyFCdIAulgpch0SF9cKSWXJhS9lIn/IJPNZnamWhz1wfmxT/bF9n99y8h/7Il1PnpXI4yhWTmKlktj6PRyXXGMZkLydELJAWqC9Y6W1M717e3r5xvverQztuc/RrZ8fX9s3ydjIh8M4DhIEsV31pdxQML8pv2X9s+Tt/5BGhpOEJi4tP8SEF06Iu5FQFUAKhZO51Qe6+g8UJZO55wbVrNgLGB0331AP7HUMAE9gtCjotSDzNM6Yk0PCBAhVOWC992H8fwE8fkJaQ4f9Lgbevgg1nMiZMhF9bhfv1c/p/9I/yP9ip7R6+UQT+tkeXlxJPEIJL1iA+szmYprzwj78+VXbHXF1WosrkPmRZc/Ul2fGxmvAGvzV4yP5OqrIwGc4VKBe2ujhcmxm8ORbZHwzWOThWjtvYEUYDIBpmOAySNiksvLc1Er7rfutc5ZP7L+yLpiZaxWxOX1OpxH12DiVxEkAlcgiTAlRNLOxQMAv8sViESTudFCn93WNz4yX5ycu4JqaNsQYAI0DegF3IVF7yo7J3pVCBwSHnHVwbgw3HsNfX0Nqd7eF3pTqZ6eVKoXIQzIgziIv4popLqAEEMi0YNK8YLA8i/ccefhhYXgV776la+KtEGgjVyhpVZpwbcJ/LNAeeiuIJCurIijEixQBtAtYnwA5b9LKy8I7Sqp/VaxHUpoRwQSVsLky8Tfok40glozgapBU9egzWLbNBjyV/rP2t6xEW/7P/ITNr/N35LMK9pb8lmklU6T0UWueOzhBN3FRSgW/7/0SkiSqXSOdBCiLBkpMrvq/ZBoaWVwUwwQRIdcWnzQJh3ayKvfHf3Hsff+rO3P/2ZaX3h8X3N8S4NSWK8MbZfVD1XXDNXLajrKRqOMbV35wP1T3K7nRjY+vN2wayAowOtAVkilBLamMfWFHa//eWTrszdkEtO3byrvOdwRqdxcN5HmmyfqKrzp5U+aajYJluH5jqEnd0Qm798QzVvNWMimTKlstoFvbC/+H4AfvYhPE8X/6fCvkV8/2oIGM7GBQa93Xe2gaWjQZrY9XolPVeLK4OC6x0P4VAiH1kkCta2zrcul84ruXL7nKllyApwhxSx5UZyg5D8o0mBRsNL2F6/99DuRPyZYAwsNZcWA7tNCTYynlNdZjBsENjuYa3tuTNFj7TcVWjVjW+sYR9R2jWSHDlV5K32yePoaweYrqzqTyVYFTxcaPEJ884b72n+PbF/iWIvT7GqtF+1QA8UTsIOxSIH8GZM8V1DsVtysILsVWMEwmJVRMkyU0iuQXQGxCFjA3qCbTQikBhtmcNmR1PJXGsb/fR/xxlLbU09dwusQIsGqEXFIivvMxf+ukcksOTPc5zChyyHZatq+6BkEzl2MIK7OZ8Yv341g7cG5TfuPXv/6Ky3rW9a/8limtWX9Y8QbU4Nlw6HQPuPI9GR1hK+q2VoVMYaiCKMkRDgnIMJxIUtGpea6VDLSZu6yI3kpJ1PMwFxZGmvTWlfSLnsfeabrjknF9EnbTm5TSj62Y3pC3jTI7bDfsV394v8KXffY/zT3HgBtHdn+8Mxc6V7pqhfUQCAQooMA0auwwQgBplnINgYXbNwAm+KS7hTHjlNsJ3Z67OxmX9qmV++u3+Zt79nmTXsvZXv1tux/Uy2+mdHcK4GVvPY1bCQBvzlzpp05c86Zc4dGhnx1tZfu8e/fX1NT0L8aINr2B3HbRWDFst6KW6yRWsyaurSZa6Bm29Huh+658/Ytk5Nbbkdn+2/bUnT3U+Ozs/5d8wBSih6qRbqCOj6kUgEFpqpO7kdKOQ3/E8jrGvjV2NPQqI/F4Cp0duO3N/54I2B0XJiOGqQHDXzIoGpVIZVKrSLUCCUsq5MJmdbAr8SegTrdAsBEXtsUe5v16824X3NAXtDqDl2VDrHI1xlJ/7ps4ayk/jVTcks7mfUx7eJqb222iXTzlff/S/dNGzSbDru3Z1+pHtv6Y3Vpn/sBHVT4r+/XPf5Q0eTdg6v6fVuunMcr1viZDbFv+wql9pyg/eIJmhWh9eKCiEQRaVQqlRIh3CQ6cVmjcLPwtxe/rpmDkbm52OfR2djrMP9CO6yMvRynBr6PqVHrv4oWp+Uwnsxtok0uvEt93EZgelGLFEKYk5orOU3puRgXwcP70arLnTsMHcXidbOXXKEbiuQ3VPwLPvi3X3FsEeeuoJ5Xc6KCcq2QubbXx+uGAQi9nJCGea64MfYxNB58fQfm+znYE/tDbC1cM/9rRk2LzlIfNUIcmxes0aRoEDfgofE4kmvFSC3IwGtSw3FIqxJVAqs4uWaLhXQW5+VMa4788Y/XT//H4JuYyJvIi/srFkMIXlhgNR+lM8oe1OBOUzNarOvjpCDpd2haswVuntoSuxezr4QfYTIfxxS4OJ1RX8QzygK8eL24w2rOGgZq0oKEFP70kJT58Zu7u28e12y+ORy+ebMoju3cOUZedKvu3la07e5V7G3z5XPlc5fTF8DW6Vo6BmkgLSjqQqKoUaXJS4EtVsluZ0parWDfkSP7bj6yrK9v2RF0dm5L2raZf8LVdU2uxjransfQV3B7bKCInNtycYPSM9wue9hssZrohKl8uRLbUb9fmbKBsi2OGuk+qZ2Da7o2LIuKYol3rGtz8cXNvW/dxuXbsjfrJ9qnWiaWtnqSzmEXkSbmkNpgMKo0KhdreGs8xkQ2WQrYQpfj9ZqS2v/RpUe6lt9/5QmOO3x9e19f+/Xo7OSmtM6NttivoRj7J5wM1LpqAtSO/i7qwj1RArxBU66Nx+ekzLDLxnF8GCUJChNx5bCwlmSTRwqxIZk6vLDmZ00bbMPt2tDKyuq9X2md6daPXpOxOWevNhjesnfTxhsu191VWVUVqNAUVgtm179oG6Pl3Z3FI1XF2rDRpNs+pF2/A0BgpVEpZ2n0oqDiYYjDnUCP5lQlx4r8+deR73W0Znz8wkMY34FbRPY1C56pFiQifVhJZyouAE1WqhrQ5R9vhgntP3pQc/Do3KqV4kosiGPRw3feeRg+Els1NjIyBrEJCdId+CC1j+IVqUCD3CZulsNfCAEVMXFf4R91YOrZkKxICG2x9y/72tf2xv6JF+M5VHKhndBIB4D7Jl3VBc8oRew4/lHQqDOGEIIaLN15xCEorW5Mr7gen+Gx5ZX+xwuc86ZffvLWnbee3Pv6zuO37sSE/4Bs9Lsd6S68i+mbMI83S9JKhQRRARWIR0hFWSQig3CICVk4StOChC984br3/3zoySev/fP7xKILt8BobAHC2COxewjHIqa4FVNUAWtQVGJRCjku3mBKK2CKEzIt/J+rn3ryin9CB/xc7BuwMbYu9jvmx6imUgevWyiESBtDCjJ9K1l0ASQhZDA7LR9eFjuCFLHr4VWrEdq0+kJsE0CgEMvx3yI9yAAFoC1Y6BBv1N+jRw16WKiHek3U7B4WBHCj4R4DajDAQgM0mIXcqJNaQ0js3Ogo0RCpwjhKJX+SOsjL+iCeP8QKkqT3/WxwbV/P8xOa4npzxL692zCxY6N9bf19h6sK/cVi4wrdQFdrv+hQzGb5Sqqbt47Hzq4sqohZBU9OTn5XM40VxrOvElsz0nAPpAf1WVGVRuCBUrRFOcZcaysL6csnZ1BTarEpK6dwsDHi2Djt7AvwrZvq6ze1Zqvqe3rqVdlNPl+Tzl/Ug96I/dGb17h7MHtwpmGsdyBnsMezoj6rrjOb2IpxL55HeknDimpVQoYj6gaa/5aG5dl9bfN0SOwct602BPLUjd1dzeqCGsOwbaJTd+2l2f0zTe11+Vm+lSt9Az3ezNLKIECkZmRL9INJ1IPsqE4t2KJmaZBwVyyRrdgyx4ZEVtNlwYqbX1e3qVUI9DmnNzpXNZpVOY0+X2OOqr67W9cwM5gzsLsxPxfaL+T1FPnHskkXrMjuGfAO9DJuFIhoutnYkpbhHF6ve1v3Fx2n04GsKDaKWaHVGLWnwTSgYZF8VGWbWRo1nJ3k7+MCbKCga/cVB6bU2y6JneSWNxpKG8396ds6jy601qlql+uuvSR736Frppu7w1lZVdj+1Si0tEkSAd6N3sZyyhHUihE1NMOIQcETvzM1G56PC7hAkj0gIHhN123fvnZLdKi04GHdPfBfRnxrNo6WlhSOxEYAbWcRstHxLgc1wZx0vijqsgvZ2L0t2hR5CiRgqSBEbVwehwQOcsBAQ6fIKmkN0BGRrNqJkJXE8NCTaYrzp61nPKPP2lihO1A1IbRtqqnZ1Cbsrdx46YxO3djZ2ahuXrHilXJ/Y7b7eHVXy+5wenh3y9qemGvuClgbWeHsHBrozOgcIj3SBQCy4zljA7agxiZqRVOU4wUIAFkykqYnL12TtExMXdOO3koxum26plbwNOTiFfGHnILJidjXYWnrcs+yQOw3pG86SZQgepn6gOxBLX+FQQFViks4EfJEQo5JKiiNh5/ePYtADKCRuTlcduGdhTpaVgMMRL7qrzBooUp7Cc/DCNBjmcaKC+QwxHRLCybjyfN6piPr2ma/PVpQgNIv/HpwhPNiiqytJbitVF5rRKpfKlSigoeAyWvW3toA3t7zBczSvx/50TsHH12Bm7f65a/EvvJh2xfidMCLzMKNmwJkjbhrmtwEiSO4bqQH+VjTMeeLbtEs2qNqrZBDOxe3nQ09K5gWH+sU3Zzc4xvtvVXq+RLHUK161cZpf0CVUZ3N3hDoKSpfXxJYNADyh8Q465eOM2MlmQ3bklodQ/VJ4wx6iyoW1cJWugvpJU01qhasUaD572iqWR1TweBUh7pjurV1ukMdF7d1PT26xtl+z8BMU9NMf3b/bOPYyj5fX28vflkZl/t1WO7rJXmXprdFrSZNVpQTkvuYOh/k4G3ZBGSyXCT3cVsjjUzk81jmHaB8UJnX9G307e4if+PMYPbATEOeFx85nD2DCblPe6EO2Rg3mUGjhTcbsBTQY+kLlRqgj/ODOSLr3cSnsEBxFwvgh/EeJDAh3LjKufG9JAH8bcjn5jfM4M1nd6O/uOdCHXR6Ous8cQk82BMfcziPeFy3JajWi6owJ/CsY5IGPE0aaEtHS1UgtzUfgY3+uglPR30sBqi99V34Dm5XMdFWvVZeB5wZUYdV4PgoAppP1FZJfEz+p/rlvBA9UT5saqvVbm2b6uydXKsP77CtTl+tLalw5+zq7N0xodtTkpvTrKhSG8SuZk3HUBP2sXkylPZ0pUHsa9GEqeXSsPARPIbuABZy1jJHLKJOgb3iAm7nD4hIZ9uJ5FESvHH7LyzbODg5Of2Q7u6CgqgyOgDRyB13jFwo9o1S7yue0UoEgA04gzqLTWMWDbySV7NZTdQJPKuSddqaamkb/TiyZTpQJWTVeqc32ftrdTsnYFPsXHA5jgSGrhjoKSyPa7fwA0yfJ2cNBb+Zm+cQxyG6Ecm6LYvPOffN+YMHp76BQOwQvISOSCYAnIBLa4EvaFWKm9AsQkSpFdUiz3N0iCWldvQipTZzfvvOTdu3Tz0wPr1rHBO9Gc7FboNTMTxVYjcR6hYAiF7MtFqeabU8EoGYpNXmC14LtvYSSQmv2r//8ucev3p29rInnn/xRaj86IknPo59TLV4vCYApmUkUkfkVbyaFyXxHWhtZcbv2tp4S/XIu8xT6jepvrP3pqt3fdVV293w7VFvpQ1zuRceufCnrpVuTNOLCb+IgKTlRnCjUUTBp9ByvVC5AOCR2EdQXAX71w3FnlxHdAA8Xy6jdijd8yLiQ0pmFaAHFRrVbYKXze+fnz6ATybFe/duPghfI9LGBeu5AnqasILCYBq1EgBR0OnSjBb9YSNi53t8TDIR5+PXv06dZ5CZDKoFb35aNjs8wRtH5ufXhncGdsae2wX9u2iIx1+hMXbFhx++9x5s6OqKfXNhgWgraBBrK3ngezyxkj8G7wKA/b4/6fdPJn7PPUt//138+3zwPbgV0HLoQ/nvT6f4+5NJf4fy3wXwCPn7/1/4YDcJHvjva29XbNu2diK6qqTwjP7Rxdobo3nT/5BmX09J4Wd0Jy7SCEtgKbwGn+9dII/MlPQbBMFkyzlsJ/WBfJ3msN7EAckUGDj/9bih0pLCfJ6WdtFp6anWjuaG68OqJkenaaBec3+vZXnR/OacbG+WUFQFS1tqK5tVFjhU6Ssou+e92kzvS3ql0+7IqC2h92pgCfwMsynh9qYdpizlug+rORB3SlFG/vMd+5fVq8rLV1Xz1UPl5UPVvLKwpqZQWVBbC0vKVjc7WobLyoabXc3Rsp6GxvSmhoam9MYGADgSz4x+Re0E+aADRIN1eW01bSitDbY1Hy7IW1azDC0rcFYVVtVXcVW1h/2FgfoACvgNBRD4YYG/wG/NOqxG1sNApMqF7PGhXgr2NoqFU6oGpHBC1Oak2J4SR7Abt905OHjnNoG9Cb3zbW3zvfG3VSPrN63mW4ZMK83LlBW125SeMnWPeahl+O4t5om7hofvmjBvuXs4FNy3yr5qX2srfQsu27HBsW6yLpDe2NqcfoXb7a6sAQqQAz3wDBuTCtxDY0FL5aGS8nJfWW79Id/u3AO5x3K5XBJeV1AWou9uD30POuzpIY+v3Bf0cbm+XJ/begSABvcRaSxZ/xQXF88azxvJLAv8F0c3n3kgSciCN62axb/9sWltILC2SdE0Ulk50qRUtgwNtZAXsc9X7CsNFFDXPPTUYMdN02hNzWiTpnGspmaoQ9exahV+GWr+QaZbKDIMdnfP2VVWAEEdfAu8gH4FdDjKSDen5ZXAH6AxAnQd2Ol13EBaXXqBKzvTaqyCb11bUJphLk/Tuxyavbh8ITwHHsJ6uI7ejRbmVAAbqcjdaEvy3WghnO1OM1bPpBfAc6wsoUPvSk2Dh8A8J4AfA3DhbhyBDQSRxbdh3uAWzFse+BGRTfj1SSqbcJ1wmEY84TIAl6S/p7TgWjAP8uO0IPnLs5im+lkYJ0qoLvwD5oNJ+CAup1g4A/Pxb4KwHX/6Gv2NArbLpwvATheITz5dALL/k5MRRWjwDibIx6HFRyF2DEocgjCPWF+GLyCAeX+N8v46WKC8r8GR+8SPkgdupb+/Dfro7zsx/gx6Gf/+Mfr7xzE+2UKsA3biwzKEtLYQp8X/oI66xViUETYFxbXMRJRnkuNq7uZF1uI9c1tsW2cP/FKyFusB4H5GY0jMoCCYZgzp9cigIk4ehTqkVWG3BmKGLTLTcY3UMA0Tvp7sauKMM+nh2/CXxOmji12Aq2INsbd2fP7nzPdD3HK9ABGpxL2E6zKDDODBmrsxZNaFDAaNWWXVhNTE8vkNWgGNo5WESyBRlc8kmW/gZVuPYYcVak3UWH/Z5qmpzf0nsOfqSVrrOPxn3IEFIOl59FtccwEoDTozzSF3liliNAaNyGgEbmRXJflSmMumUoqRXmwUrq715tDjImVMsMc9s16k6J73rszorNZUN5XVXHv4B72t2OYNQ3c0NYW9MxO62kCdN7vCLxTXWIr7v7A8HCuF52b3rvoeFoO9jeLwROKU9UbKUxZYfMoy/ZdOWcywlvKUxX2WWtY+8ZgFOGKl5FYhPfCDOtAOdgd7hVx7Lsr1RAuF8uH69e633X9xc2634LP7kK9QUxN1CDfr79Mjl75I36DnVNSWmXafAd5kgC5DkaHBwKmoLTMYLUmyZY4G4oZM8lO9H8eof4PsLp9g1rQvtVWx5uM3KJmshKRN/LXIYpPnnorm3artsjHLNICNWYa2ba6snS1QE2shRq19h6sLyouIPbQ31DrI69Pi9tDu7oSdq666IRC3dR3VKHI8OV5sHuXI6Zy7jtoiakEQtATz7G7odkZz6obX2962/cXG2Wz2TJiZo2mJGoUKYi8siOYm7IWs/dSuu9R0WCM125rc7PwUO4pP6gX5qN84npEx1qravj92R3uT3OarG9LHGxLnf1hFGl8dkuwAVX5/FW5vuJu2d4O/Iski8Cbf2kbkZzteUx3ot6ACVAWzCguNkaBhg2G3gTtguN+ADAbgiGafcIvYJMdJp9fkcBy2tFJd86Tra+n1OTLCO/P63KWuaptQ0nTd6vD65hpVc/P0/l2q7XuyMgM4kKFJZ7OuMhrq6uyXjGyy+utaGy/8FZk3ze0cduUtc9rWLbO3rSuX7VNgkfdTJPYpxC/yfqYl26e++pOD9w0h8OabX4199d3Bz8SlSh31PpqonSsk6hXIyBk4KHkScINlB6R05qlmjsgNm9asHog9go8+CvjxhSD27I+kwz/EOEyXSgJiQ8okp2JjxKB3MhsSUZbpXFlsRmK0a6ovNidF1vl8Xs9im9IjgyN4t4KhJPuhyGIG9CCD3GV3KkIZEAJHSIkMSV5+rKczLT1FFAEN/FzT17c4luD552HNOliUHFDwrXVkz2M14h7/Hd3r0vDL76nGagdtwYK0kFkjKCJ2PWw1k6CzJ80vmZXkEipSmaEZ8haVUaVGvOzo9ZMbLizeVj5KBNKyWXArcbub8E61qbd3Fg7P4tfYo3AYf783sgN/jcTUMC/2BrxhOsknZwC+YJqoDAkaRUS/C14F/wI5CAXmF/OTyxVGuUOq6YGT1nX+xAnisztxAjpHfj0+/uuR2G+Zx8lF93Js3VEJnCIkqhGEQClHZ9AsDYGkiy3EQJom4H1v29jY7AMPwOD7y3Yug2ti781Ozv56E9HyF76Ivsgh4AReUApwhHRujisMgRPZ1b7sgrBeZ9ASHTUQeJkG0bJ3mtKGCZfEFYy4RGHXNvOhLR9KMuXuvrYh4vVdu7xlZdsQdnBr1rSfwv7enNifinfDtOI6/HlF9caRU8T3610nf2rDPt+1jbFx+wi8104+MwumnjOBXFAFmoPZ2ZxH4cnklVll0XS7XeGL6jVKxdHc03ibiZCgRQXwvzJ6Hp84WO6Bl7GmXRm/d2ex2yjrlPclNr68PHrTJD9/aSqCe6oCxT2lLZGBS2a0HTuamrYt4329duWy2rHS7jRb5XFtdThcra0Jh9F5UbR0+5sbv7Qj79Qttdu60sPb6zz5bROe0bJuQSFeOBtu8yzr7l7maQsD1q4NeO92Az9oDNpdbo1TtJqG7Xq92gwKo7qg+oAaqclZQq3Cqg6fySxcxaMB6b4OXthLxX61HJ39X/EcnT49HQ5f5D2q3zWQ3b+rPj/32t7+/t4LXyMOJE97rae23RPu8/Z1E3mjxE1wY+4zQWXQmilaRUExLEKodEY1QXJ3X48ZfwHzrecxspUyLfEsTX/KZSq7dl84PH3qlOTDqFEROdRMWLnWWzC5JfZ9mBsXQ39JsjCmE03ULETSyhVQodC4IumiSRXRazWyrZHkDMAfmAeLMCCbHRebHrdujRsfT2tvi9sfe1dtid5xR3TLqhAxQUJiNIMu6qvwBA1kXUboulRqRNrWRYvSRBcluWVmikYi05EIDNRO1MK29+om6mLXAqoDfAWv8iBugQ/4yYrM9xZFzSaLUSfk5WZEFZwSxYPal6xIJbsblbwqlxwa8zlbvkUaeJjVWF4ernBnkx2efaQG/YaVpueda593ulUNvTpbqDLsWVtPNnT2kRj3160c8FV6Y38Tu6BBXNnvqwRw4XMLLnAIiMBFckcohOOch1yfP2oxZwDjN9688B+jlYnEDIvS5qSxBSj6qnT5ao8ZZTgcGXm4Ycurf5NmrFRrDTqF3jBTjSry+MIArumBBQe4AdfkTK7JcNRsSv/kmhZXVKPNEz0WlO4IFCwPBNprfmczVuF6cFaAuSoOV1NURfaXJxdc8FZcjwD+ATU0K9MXYh+CuoUHAUeiaQ9AJb4r48IRuxze5Dv1M3WxDx97DKNexKiG1Kgu/R4J9a+oF9ShDzBKfIY7AIFfwiyv6hRRL8Xsxn1ai3vUge8yOdKOA4VWJ2Jh/B/xBrI4zqQTONXtamtNZU5lRX1JBc5oUOBIMyKb+WVRX1HCu1t9Ga7czHyzwmjWkfZMUfoZ/236fky/sbS8oKOiwGk1IgehX1nKu9ty3BleN6ZvMGkJ/W5M3wNCwEHuLmh1QVd+SOdRa0M6F63NBYykKuM3i4s/rT6PscyurFteg/XS8nJ3phNZSH31VXz2yry8bJ+vyqawuWh7tuL6KsAQrs8WVGuX1vJpdVSQOqqayip8bb6SDJsZ2QzxOnL6y3Mz8stqHQqrQ0tmxdN4VuzHYyKAD2EbPXvXLzhInCbKA8QoL4D/AzcAQG7Y2XOrkRvfsMMYH8Z0Ucy9DFMbx9jK21B+HGPFGKw1YMx9DJMXx6RpMpAijqmPfYhupnSOUcz7cDPG6L6AG//hc14fysQwaifAuBOU1gmG2yfhPnhOqwdCEk5LcScZrlLCvf8crwKKJNxRiruD4eYT9EQtUDKcD+NYOxmuNoEr9aN8hrNiHGsrw+Ul6lWJSKpXv+BC91DcEYr7CLXSPkFnTRrAxftkDcZ4KOaWOAb+nmLglWYtEOMYhGfG9ynm1jgGt5fV97PnRAVArL4OTGs/xZ2iuAvw4zit7S6rACgtLKFdJGoEYx6kmH9AHRun3BppvHMx5h2KeYFhEMP421BeHGPAGLxXYcyLDMPHMT32QqWGYljEwgcY8yjFfAA9GGP5Am7QB0E13k8y+pGtoq84zn0X7lXsNcfoJyj6PeiXWnk+Mep0FoEzFPdkHAcOJEaJXQuV6NlpK55m9MoTOLsTqBkuN/ah1FqGQwlcSRnKYzgDxrEWMxxrsd9qk1pciHvlt5TW5yjmQ/gUxaDL/IUoTR4BpKCYhynmY/hEHNNdkINEiln464KLxCRgzGNxOlIb0cK55/QqBc94WoZpKRHAuDOsvpfZ7HHbkRGDiNzHsvp+dI7ekUQHuNtAqyz2Z/Zeg3oPHQIYdYaD4CHucoqCB8CdCVRo91UHOXjZZaS+M6gXnsa0BOiM2+gWtmHq71PqAjA8j/gDnIBr+Lrrza/Hb3Fm42/z7r3XxP6+e+oSXBn+wqV2chAqaW1yqTuXlnLOXHYw9seZPVfhyvEXrn0Hrv1DWnsGRFR60fh57nJphUEXjAAAjEENKtfo8BJDUEOmF0bSeHSKvIkhN8SRsDzbiyc+FLIZkkZ7U+QtDNksIbV6vCQh1DJkGABYT5G3xpHknSL9coJNhsS2kVtweykS5FPLJ36HLqkktiMAoHmRg84+BNNwKRCnj7SU/skk+hYyM48G1VTAQchL64fGAlP0HYzveYkbKuMgFJP64osUeSdDXir1Wm4ep+tHqtykvpikyHsYspEhVelu3BcIpjMkjTWlyHsZslaqnUpOmFbKkDSGkyJPMeR6qX+tNiymILAyJI2rpMj7GfJvElJnAAJG6hiSxjNS5GcZsl5CqjWI74dIzZA0dpEiH2BIv4TEvaTqh4pP6iU37SV70MihugLSTZyqoI92FcZXgRQtc+OW0RII1jlI0xBw9NHmsRIsEvKcJC+gE5pZ/9YUFmOBgUyFjBsa7UeRDzKkk/Fdt2T+0ng4inx4MRKV5uQiPGZ8jtRCAKCHIl+LI8EBRrNkyfytxxaZLHSOWfTzqUUfv5MSrI6r2Py14vlrZPOX0ueekCQ1Rb+Rkj6NGqKcPM3olUucUEkNlfak1rko8hmG9LLWlchzV6YJr6DI51ntbzKaxQYTmT1KA0PSyBOKfIHRRFLtVP5DSwlD0ngNijzDkLkMWWp3YoELFYxPFjtBkF9kyNsk5JK5S2MXKPIsQ2qkGWmyCBo8siaGpBEJFPmvrEV/Z8iK5LnLeik9qZcyoFeau/6Uc5e2LCOpZRkwV5q75emkaUiR3kebR0tgEbQRS/5Otq/gMwDbV7C9MNC5+Zq9WNRjzBoOAiwVJMydCUzXzoNEsOOan8NS/W4q1VvhUEqpHoQRSW/4SVCt0yQEO0ghr4OwmUlJgtZrJZFN0Qt/xH/79ySZHUzI1B9jmapITEuQQgYE4aVJnOTlyhMu5foPwvVJnNisCeEGUki3IPxbEtqgS0wSkELCBWF9ElqjloVcSrnSCs0S328F1cWFCdEClkoMinZK6J8F1bk5TGiwHvw5/tu3kqRGKzggcXJuSQ+mWK+t0CvRPrekB5euL4rOZbQJJ057YomBpWuMom+T0Ut6cOk6o2iNhH4tqLaY5KVGZ/cwnt2P4lnJA/eLKGhyhNAxJTEDWbFRWMETFefN4vPFVEOyYxP5o9P7p7d0dhAFp7eXlB/iIHgcz3weOIN6SAjAY39VQlz2TlJ2NKns49NXTm/v6CBqTmsr4RQrZfAVuiL6YQk9u0dRCDyCXgdZJI9BunFYsA8DDWaCZQaxyElASCBH1UVJQkJWr01rtqg4Z99ann42qzln/wgKGY0qvapEp7sKf9CpS7W6q3BtEfQR+Dx3DcgktbmMwyobru3OT6ltUWVdltw0vYlUNriOzy2QPqKPtHqVVsjV6vakqzSCV6efJ229FoXgz3DLBDgES1Ku/gFZpwMaPVv6qTW1AVlTA1pDsqa28GsAYGvSqh+QNTWgEBITNsWKH5B1I5CbzyZraj1mQNZjgNX+qXrMgKzHAJ3xU/WYAVmPAWptYonLvXSN3EurEr1kz0vupQWsWcJmirw1jky03ZiV1HamQVLkHYzmvIS0+VJokAR5J0PKvVTemqKXCPIUQ8q95PEneimFzOqXdSGxsIQJrNQaTr+s4YAcX7KGs/AKALAoSVb1gwOpxj2FnOqH3lTjnkJG9cs6ALC7PlkHoMjbUo17CtnUL+sACpOVCabkXnpd7qWhRC9VdyT30sKrAMBCinwtjky03ehJoX0R5NOMZrmE9AZSaF8E+QxDeuVxD6boJYI8w5C5CZqJXqLSphc8TCVt5tMKRHwEOixkEUdkJncMYCl3ofjNYix3uHgcaPP05lDHpmnUiyXtoaWSVvFXBOWid9Kio4mirdPbV7RvncaSNhik59mrsaQ9RyXtdFzSAicqA3eiNySNBTCNhZxHsZEUlT1Gb42ZURAcTYkya2cqUfDuuwGxgKJt4Dj6cjyXRQTcRZ/RwGFH2TGYjbYNDxPMLi4DHOfmJMw9MuY4zOEyolHC5b1oG/xXTEeAc5jL1L9Zer7dJZ9vYU7eRefbBynyZoaMsh2Z7IM2F17o9AiaWrvalZCxOlOyjGW3YN+QT6szsCpui1jLTHEpzqi7EhJGY2ASJuXJEyMbJS5fD6ozPInDJ1h6+qToWoluWeWi0yf1blLkfQyZJ0tYHbbcQU6V+qSIkX6GhBpDsrbNZPGcLIvnk3YsXYoda07uzflEby6xLUAAoJcib40jE1J7ydmJSliKPBVHJiSsfJ5OfYacls+QojxHZCR6m47lQ/GxRJ3M/gSvfK6giDP0p9YcpxOa40JQ7c1P0hzZiewqZrmjVMFv4zPkJdqklCfBaVjOtDRC0ZHBxBGjWIkxB5POeNPgTQl9Iag2WhPHPJDinDcNURLt0gp21GNo4o17hHL7IkXPQlec23uovS/liWxaPpFx8hxJlttfluX2XNLuVpxidyPIhxnSyZAw6fxOrYQAQBNFvhZHggMp5wiTxhR5Jo6UpTFMPrcChGXWGDiGvkstc/rneXS5AuwHrdTXyBEHI/4+NhmaRGOT+Avjd3FmcCt3JcMrCf6eJfjjuzowiuCp5BqDZzF9AR5nuu12tALcgV4FBlxeoxCupxL/LVIe+zoCLJApgF1fOAx22OsUnd7hoRa0or8t05ebFRzAFLahD8Cd3BUJCnd+EoXWoTU5DtGRs2aoFX0QanJkZDgauzBXJ9EK+DXMgwBPLNJCr5TX9K0wIp2gocaEFzUHDX34IzsPS2ublriFlWiWTtBQa6byytiHP7ISbI3n0hK3xkvgd1YCKESAcAkVLqGQSjC9i5a4k9Uh26RgbtEn2qRoiVOsxHqZK6srlU2Kaqu0xP2sxN/kEjoLEHAJEy6hk0owrZWW+CwrUS+XUBuw2oqQrg8itVyC9e4Vcu+eTEhMnf0iu+3NFHmMITdLM9fnR5lYZnkXrbDvyivsODRLfSMW+vES40ylfXSZYXxCetESD7MSTqkEyCnAS43j8/rocqMl2Ioz0hKvxUuAA586YkxjoiWeYXV45TpSjxhdq7TEGVYiV67D7l5qiZHPwbTEF1mJ2+QSqUeM6pu0xFlWQiOVUJjsWOFEQlofFExLLZWvyr17IiG/iqtl+SV7fSjyUYb0JO0JgeYkrw/+1U2oBezhTECH550tqHUeN3BZHOJMxzX3kkxuo0QbYrFw8TiXWrae4xEW861+rT8YxC+tXXaj2mCnL+gh8rwPf0OD32yzmc12G6npBvQLsI97QarJdtzAZ/GI1x8H97GaqLxIVJafqAY7WvnytrZybUUwWCGq9Xa7gbygXzSUlzeQ7+U2k8luM5tscS9JC/wMbpMAH1kkTV6Q5/ujdL5bgzoOAZ2VSBM646twZ0trlqJPMfT6OBpBYHOTNUsXLEPTkeFMbGRInWaJtrmqT5r8GJvYCSj6DEPnSrSVOVigQTrFKBpL1m+hEVCPXo5rp5eTneB8XK7Xz5LrsxjxDc4AGrlrJMQ9MqJxL2eYm8M1votG4BZMQ4BPMYn/rYUAXtcPxrXny5EynrVToGR/EKeKEY2pEJgsRsj67jWyvvt0Qt9N5c+hyFsYMrXOxWQNRR5jSFnWeH2LZA3RmH/AztQUmVo7k7RIinwgjkxokUtstmsWAszrfZwin4N7qb4hZ8RlGObxZphKhpF1bKblvSxreU/JWp42laeAIh9ejEQgoWkk1jRFPsqQiTW91JPLtCKK/tc4WtaKlEva3IXbY6c61ucp8llYztrDHLT0dkAAfCFJa8RhKQxDuzqhgdNoyiPyzYEdNNrQRm4+2kJKJc3ZpE+Vsykpj7+UYeb3sSMPzh28bv7B0zeF2k+js5senlrv3DC1ccpWXSft9ftpfTcCKROSnmUAUsr5nFgFpjXw+diX0VmSwoQ+X2QH+h2Nr7SROHfDKZsahbBp7JQ5JNBi+GYfTU5K8pJXk6xJ2MpGgv+zSTCwszPNY4a/HJuKaeCJ2PuezNs/SN942XKYdeGhD26//QP4wffG7pVnPeUQz/p4DhHuu7jWNFAZzDAjtRUZdSHkp1m9lUqFHmkQyTZGukdK20QizEz18dwiXhP+F08wQq6I4FfOwrW/tGHXhq9c97tXLjuzYdfGM5e++ntYHfse/d4Oh2hKd/L9VOwE4SAbz7Yo+g7wg4KgtaDAGDIY/OoMZ9jt4RR84voBfVSPPzlGOpAiH5kcEb/4OWXL997q2px3u9g1sKLt5KHG5V3LxdZo2kbXLdvF+esDRVWtN16lWz2YM91aKVbWjNaWiVW1FZW5oci2dWJZr8WypkEcmwQX51WC8bxKcHFeJRMkKZrgmt1w86ZdMTz9Yhy8EE/PJNE4Se9xlgSdaqTRqEJ+dBqh9WgB4S+ORxzrbjkq3CH3NetipH95fm5uz1ev+MV7JEtWPGNW7InY7Zh+xsIH6HIafW0JqmEIiCotm0DnzrMLrzVk+njpxOG9GVpPmROen439vXRdp7CtZH4S9uEUM2s+uO5UB5vTXCudMbcDaY6foD8fpz+zPFH45zvlOY8v1NCMmmTq8GzWx6d9PNMXqpiLPY/OkmouPMRorqU070pYLShNLMWl0zn9+30gfq/37+gQzZaExwHPUBGqEQpBNUuLT9OH0obWQnaz90xtTXaeSxf7/RU/fWbfgjPQpd+mycpCTpKs+8LX65sdNG74t9xy9DOaXT4f5AXNHmcY2bMdYY3ejv9BLa7Zzy4XkSjneKSlt7oM0fhEkm2fZSQUOFM8IpUzxcOx4HszEycHB09O4LeBgZMTism9e1/ZuXevc7mi57rVxtXX9SiWJz4ibaxfObneuH4yFoFPKafG8KPycC/QfD+0Fz4T72ksMd6i+X9sQY2AFIhXh6AKKwdEVNBEK9XZLL9aIA3NXPjdHGybG7v9dpJ1jHT8ByRzEqYZpfHl6UGdoAhrjUaoUamQnF6Q5ouxBOjFxFqaqY2Fm3XMnlT1dMzOesNe7TXXoLM/u8oGW/A0zxC1e2ZYTrNnJO54LkSoymuF+gsIa+x7zRwE5P/HDzHmyHd7vI0KI5WKWCaqFJqQQaU/pUYsjxylRGPNZVpULErkxqYS5IggBADRuXSe3R7De4AyZLcDGOISewC7y0XvSl/8LJc3vwMb791344377r1ref/AsrtwDqq/zE9Ytu8bb2l2NDSyLItcgLbcAJzAHTTokFbFhZxOkMiySCphF+vkSgj3vqQbasf33XhkPxyfu3DX0WX9A21Y8MRrIguH1cb2tBlaWxqVSqG0NFyPNqmexbXkJ9XwwP4jR/Y/cP+Knp4V98epb9s/3tbgqG0h86sar8JrsWTOBjlBky1ktardrnBmNqczhLVqvNYCLPMCrQJWyuHyknCmT3tICGUYOX5f6PpR9dRtrvHCW9SrNypi34T1/KY1quA6y7j75Eb0nWc+V7TzrsHVA7mTc5NjO6Zqyr09q2kbcZzMC5gTJyjE69KGcwo6FhzI4YBOlStsUXvDKo5OLDx6yZkF2QM8Eozl5XtNviXB72vmbuDDV68VN1y/YsX1G8SR67oUh+Hz6tWbNq0mL0S2jt3YzXK4rTy2MfZyNJGwjj2ToollbssI6l0hFULQHDIiXgWpGD/Pbr5mYwGeQzZL6QIfV81YCKCmuVsRd/zK0+3dRy6FyrljJH8bVMY+gjbbpk77+FTssb8F6jKqq+UTlx7xRK/H9dfgUcpCPwcZoITUnxc1mM2iO5qh0URFKE3oQFImFBYlKnx6SpS8zqmmyl0jX9d+Y6hPYV/bKATX1zRNhlRCS0dHi9C8IqRrme2bmL9twJCzOccwOlZS0TTZ6QpNNY/2Lc/q6O3tcIb6AUftdgYEgAHY8TyqDmar1c5hgx3WZ9n99gU712d/2/4XO2fHf10NeeNq+Wo1fvjd2Cjd7pOS3iUrZMnbftc/1oxnZvSv23j/qVWrTt1QWFxceAOeD20mT8DoGdCv6BwMaoM9ngxdRhbLS/IAAnGtTFREIJ/QyrymLrj2TwiMxkYBwra+fWgYI/Ugjcgf/ek0FYroRM1pU4TnF+tkRN4ndDIv4dZQ48qAt/RujR2CRf9ms93w65xLO78SW/frG274NezaGt5dIOnadDSxrh1/1g6XhQCurwrrY7xVrVbqjBHlLnQVwl8KPa8hGTFEICb0MaqONfsDVEvIp0nm48kxaOQ/uauFHrihb7L/yKWPnZq/pn+y/9q5U4+9jr+g+r0f4a9/xP5BavbiefUnpAdlwI9jmvNNq48aXjL80MAZsOh1RDOyLk644p+V1LGl4e/00ydqY+Lnm3ptnbVCQ3NJ/pHDnoIpVVWrtdc10yeu352T5Sucm9BtrfFm+7I1bs+gx6Vd5vFWVNX1LDNm1ZhMzQVi10opo5AVgUSOS1GgV9VS6WJd26FydEfsYwRi98MNMQDXxz4j0SigmUzyglY1j3WxCOtpjuc51sukj0lD5f41sW6FD947ND09fGL/M1957TUEXn753di7hKp14QP4IZk1VAOLAJUoRpR8sgZGpoqXThKvVT0Ej0y/sHqtsPmpdzFnn7v72NWMsycQSGQEhVpRpC2E/CdlBO264sUXL514bNljuJkH4WWY2NbYXeSb0dPTu315QbuaV0UMWGig1I2dOU9aWs1aWo078f7fT0//fvrVVxH4wQ9iQLZf0Xn7DJB6UkCAan1kgvJsVclaH1lYX57+BQKkjTF6143e7KU0npVowvP05wcpTRcAWNKBeBZIkYcRjl+SBfI7T8IfPAUfGMWrVbZeAcQT6xXgQAH++QfoLNPnsoJGLXBkR/UawemJ2pEG6lmODfL9X1bknp5cfdWKFVetnowe6Og4EEVDo6Nnh0bHvv0lFJztdfTOBdETT6DgHP44G0Twpdi93HCPq2c4dhpujn8iLaU5biinX4r3HpYzfQjEdSWFENGI4mklm8u4xWw3Y8pN1/Sb073bcEeug58j0gSXL8ZE8AykWUQ0Jt6ogwqFmmXz8Qe+UUnHk90SCLDbAWRcd1b41bu3TlbjlOFlU8/oRjbcf2cgoPtbTBrRD2SeVJgnNZ+aJ5ob4Fn8j/FEvlmruBUIyLpbxCDqT8tEknW3Rc2jpHq3SsRYIwEi8wFNIUA1N5zhyh7ZQM6ogMwLQwSIcmL7i7Q3Lk2STS/cC1VXbtq5Y/zKK/0VgVI8de5dM6AbWgs1zxTnG/ML2Y71JQSY9pYdNOt4reiMbOAgxwHIm1hNtKJUGhyUK+uapFVB1/SFD2l1CNy7ZlA7tJYuAqlGRGsUaY10l0mT69Il17W4Ji6plsOklsOHk2uQqUOQx/JBZpInGWtXvyT+kGRjBmZj1GITFHyUWyrTk540W0ufMLfkebjeCz3TGQP5a1WXCT/5ibK9UR3NH3Tv6lJPXnHJlK6uurz9loHlK5aX1DQe3pO9/yDLj/k7zIEdr8KSYLoiYrBl2dAu21U2ZLNBu+iImjXZUZY0TVLhZqQGX3Sn35u2VIXrmh5RXzmm6tje2Li9Q7XxSmEtDKpq29trVbUdHVhmbZ+lCdxmmvZPvjow0OPr7evr9fUMkDmVCwD8G5XVDqI9OSJKCIExopMFoqy9kV1VftCPKaG7wYNXbrtsf6ByfMf5yasryivKn3nma5bugLprbQxA8XSRR+cpkOw7H1E9XU/uEmtO6UVOq0QhUaU6xbHMTSR1U1ydsOB/VJeozeacPX+feLd76sL7g3Dsyds/QGuYTedbLE/tHfHneL2ohHxSYniWE57j9NC0BVou//736YG78MKrgJ51T3EhLpPJRndQj8+6eq2Gw6ddO0RqdqHwB59yxM1nEtHCJCT8YGbijsHBOybY29TUvn2v4O9No8rVd04YJ+5arVy3Trn6LvzxTvwR6ZXXzxvnr0fqC3+Pf2L3RR3o5zSXpTOoUzmyOSOIeGBB1BjP50c3PSiwPG6JSZH8GKbaWo5ylkhPAd/9Q43VdtPRpskuTedkU097oW8g/Mt/b2gmmSo7CyvRVTouW2OwisHgHfnLtzU0bGvPbd+W5WjOs1W3KzSxl9L6m/NwqoMWX3mbDQCO3vEPoN8CG/Bifaki6DEYfKs9WcGsDVm7s45l/VvWj7LeyVJlZYGSqHDCGwUaWamVDVjVF1/l99ZK05owz8kX/9Ng9dyVl+wUt+wvz6tvu3IetnT0hS9tbz+8+6rmgLBfN7sV9myamohaS1amWaLNro2zw8tq7U3Nh5vb4cgus7+G5vrIwXLgLaQHRSRnihvi9a/GAqAgN1oINewsV08kAOZOvk2W4nHYgsAnpSmCnG7bZE9oV2uFXxtJX23f3qUfmTw5mZO1U1sdNA6X63rDmqZurUUsVbqzmvOrmwZXaPY5zLzboWjOyS3ZI9mQ6a7/aJIG/IakAesB0YGNugjapbxKibBNMqEBJxRgc1wBXqoB0z1F1oAHjlzy+fsWa8DCBz+Cj8aGJR04baEYIaSnY5qOdeCI0QB/ZHiH5m1It8tKsCFZYM58shb8qTZJ7kuBUf3yJlVbuKt1fGK+rVGo6DCuc+0Z0WzbV1YYqLlm5meXF3m9rdWGQOPYZq2/ypdf3Lp8x7C+vNvmWFVtGJ+RvYJUkzgDEhrtG0ALCoMOjUZYpOfhvRdwUs9JxkXWZVJPwYfuXTU9HT2x7+l/w0otyTvKtFqWM5BKGk7B8woRiZKkgRYvSTMNq74xd/Dg9Dfp/nZJ7BACUuQGHd+nAfuZ66Y/P0U5XoZ1nwEE6OnZYIqkidbTBl7B21m2wwDh9XyqdIdEPi5NediztfPipIdYfSBpD5P0JGopsfD6KNYfRFlPiqu9vKwnMQlCFSVHu0+1ZmzSX6kqa556PStrc+Sxu2rrOqqOxli+Rq4VAZZvlc/gzbwtqtbhXY0TNEhclG8VYtUk8cySpa1KfORaN9l7KtXzxSTh6tCG6bIKlbsqBydcFTIC2aSHwwV+nHJ1cVOlD/F+5W5CALc5P2jLieSJvtMePg2fHw1RxGsKXKx7CVusi5UpWUrd56g1NWNYM+3EbOtSc8ZGA3NO9Tk8dw/T0fABb9CSGVV7NBDP2TSNMiLwNsqgpA4kDBhkU/xUy8V97Vvr7oe6ujF1fbSybqJdra5sqfera5e36MojDX8b/dKyiuFae0OkfLSuxFJSW1NqKa0FiK4kI9WhvcRm544KHjXEoscatWiUVDNZxIcp8Olc+DAXU0t4EGuXUR7gytQ8ME3pDaopVQazOaopPWnj/LZWG9GXFDabkKQvgYv1JdP/Xl96I7bmExQm9pyRQ+Q5I9QmaA6nk0xV9nS1Uh1WAI7JxXgadjzVk5+emy0syU5ENQo4qd50NGPcPNKmim7m4TJd7LuKretUbessG123TqlvORU+gr6zusdbUTu9c2x6rq7aO7D62QeKJu8aYL4IegOWB7dS2UKfBEJ/vg3I8X/Uj3Av/Znl3sQ/fxmXRMRXorDQp0N78co1eUNqtVmAIZAeMquszGuCnzxEEmom+04S+j7zoUAT62HmTfkNtRDH/h77APtUUNddy/v6lzHXCjPhUvcKnI29n2zHVeRSS7wblAVdqhByhzRxp5AGaQCxeXOqNGbWZcldRuNJzjAb1DeUnXxAkFlC1tiZuTkYmruH2JPvuYvYkhNeozg/cKfECdMpf4E5cZBsZHZrWBBFzqEyJp7DkHAMsIN4mrS/eZnZx/TDryDfP30DXvX1V0zfJ+SFveRZDV/QGS6Z+cm3b9fpYmeT6skCvqDFgrs8MyMsqNWAi1ekAlIyU6KcnE9UljiJJHv+WJ0ru8XLDl17eUtteOVAj7p7Ban3xYzp8Yzx6fVNtfb6ZlfsS8x3cr3knVAR74R4SnYqnE9yKXjj7oTOuZ9PMl9C++23y75drl16RkWIWqBfZnbE6gD174Z3Egfv4T9eeEjyPPybPMLOjBBJ5SNCoIEAQg3Eb0pkle32NLck9TOdX5RNJIUh/55Dh2Z/85svzV5/eO/zZ1rC4ZYzyBoZGops3bnesml6vLraEagEXNITXfJBI2gM+qorwukFRWFfjsOf3prel87Fnxl3NF2Rng7qk5/4YiISJnCuUs7/ljqJY21c4rAVb7NxFGBn6z7+64seCzO4VZvtU2W2lhRUOVSGHCvcsTXHp3IHywor7fhnC9w5ijFLHxqzfo0uzWEzqdWzl8FhfZrTZlSJM5etl+Yv9i7G7W/qkArJT+1oPc8e2SElnha4+KM7brWubKr3u9zid/EgvwpfaKkedbounAPseQof0PMzlnjW1TYb1BnJQxWIURRqlnhBlN6LcnoKAcErPW8M5om7r7pmt7pzOmMwf0jdEub/pH1HdZ1qOH8gY1J3cH/2nsONNSX49DxwS3t5dd3CgpTBHvHgMSLBSO5F9vPjQI5dpdrUC1SiYdsj10gzR3tIdmZsIxGgIBiVMAIcEaNoZoZIJtRGE/ZIeVoxu2TCjGFVrYIHqCXjT49FRuH3qSlD2PzF3zNTw+eOnTgEzcnWDG4EATrL64I5xNaI3BFNQg/doIFUoil5TkxjFg5pvs9ggbbE+pjC5AHv/fX09K+nryM8XXedv6KyLG6aXGr7WMBKPcqmGXzqgtmZ2Iqj1+hpEh+gN+o9eg5AI0R6qIdKK8trk1h25KFz/3ken6H166d/8pPkZxGwPD43e/N3TsRehU6i9wRiHxJusD0yD3OTD9qCGm9U4kVPc6mqNCHCjQdyKspQPubWoadMnZcyeRVLfKVkC/cRk4iSSJT5I5n7xzcWrB8szC/yWwPNQn1nnMvjuUUn7/MdPN05Wr5vu3d+w2A74ZTaIwUEJM9yRBTVp2XL8/m47zbAhKO3a/oX049NPMbsdeCGG4DsY9ks2W4jHORl6Uj4xubg98axn2XzV2KjZN4q8EsreoPOGm/QrAR4ymiAQoQRbKOSZglpPXWcfoJAlCfIzNTU1LlzJzft2D5+8mRZJTb0PTr8xhvD61b1alaueu8z+V6D1wcAl/TkgALQBKqDWTWV0YzCkmge8Bq9yOv4S8ZCBsrIAA3yMwWYLAycG/3PZeESYZhPIUuE4dInD5R3ivp0kbcX2BweA69x6lF3l94l8t4KV7aO17j0XHetyr9i6YMJ6up53qIzanmhu+uvvNJDPoVDtZI0zEGAScOIimd53qk0pEnea2VpSJK9Xxe1dTcW5jmdIj49xA5/1F4/anXFbvx/KZKZ7qrkdgX8BruH3yTdZ+dVAEmJDRjyJEV+jyGjDGnQGRTafqjUUeR/8yZw4i4K/C5DzyfdBNaK8nWU/7dihdlaOoc5+hW73/0ua2nhkj6hp3+K/EMcCT0MaU3uk//u3V7mayN0f8/QpVKf/HRJn5CbVygEHkdvAROOu9cqVceTI/cXBd7zXr68u2R9UZboKVxf3FOOQnnLS32lpb6S9jxMZyX6GDzDHZTi949/Yvy+qmvjRIFb7y6Y2BBGH3e3kBsAzT3/3XvDbOQPSiOPmhO3kLS2RbeQaPwRRZ5jyPUMqbC4VbifVSaKlHruLannUBMsTbpborPLZBPx1wQNzjK0RqJrzUy678daRpFnGFK+R+fKTWoWApkY2US1+QA4GBzp9cF0nC+70cf5cqKFCjjhCExUpAOH0eFx3O94yqFUEV3wpXTOke5INzXnweI86MyDYh7MK0Sf1cETOni9Dk8nqBOjn9XDE3p4SA+teqg3qUE8cS3NWzsa/xzfT8fwhor39a+z/OjkKdnZcpYqu2zArc2vzr4ojo/aHInVOTN2l7ujQZws27j8Rf2KnY2eMNxrDFaKZStM6x2XDOqWbam3NP5zxQp3ibqgdNx3d2F3paY858YVjmxNfllxka89VBSu1ORlrgAKetaax5qwmkZNlAN/ML10uMw9bBCzRKQS84atXIroPhwNjkMS3jqf/PREmCz9U5sCBNxc+SGLf2WJ6/u3kbz1fGF1dSGP89bfALcmP39RTmO/Zd2SLPYvd3f/X1W754p42oyPNVJEQRRFzyhOhmuOS0SEO4STjrv7TASrYBnsDGcB3HrVIyF1f3efp3U/MM0rPjz+MfE7OPbgV2SMV/rGWDf8OvYP9QRY7OeDQ/2jrHqmHY8N8QSHnk3HkwP2wLon4tjDrOfZsZd5zwtnlKnQpUaWNBkarLPPrs6+6JEQN5zrnChSr/oqdkfVmRWV2FblQZRQnNKJD9XWdad0N8goUxepgwJJUU13laZikdUq5kLbxW3jhpSkZLWkMkW0RXLbSVETFf/rVHqSQrZrsOVA+V3TuboLNFz+gaiUFt0rlyBjfiocsSO1TdvKD2aKbmKbuPna4Rw5Vi7m/vqcpnrjZMRZcnKrWfNTMqd/A6nxwiYKogESwFjDeNpjYGYAg/8LGVwZsAAALIUB6QAAAQACAAcACv//AA942g3EA2gEABgF4Pf+GbnZ2csasxuzzXnZbrZt24rz8ow4L8x34fT66gMBhAMAAEMqqoWoRb1uRLNuRZvuQKfuQb8eFGIYo3ock3oas3oeC3oJy3oNm3pbiF3s6Rvc6jvcw/AgxLMQX0L84R9+cMINP8YwVsczQWcxW+cyTxewUBezRJexUjexWbeyTU9xWi9ySa9wVR/wAOQRj/Qpz/QFL/QTn/QLX/Q7P/Qvf0ELsAAdYiE60iJ1iqXodMuAnw+9/jmUeNocTgNvWGEUPefOts1g3sIFs41o0WzbVn9I7f6F2rbduHZ7e/K+l4O8qwMCmIntOIlJR4+fvYrFtz68fIzFj2+8forFmAw9d5iEsEd3Xj7F3Cc3Xj5SDSD0VKMwCdN/lIUslpsuzORtEAeD+VX4yIM8ju8I40XEIAkpaNBXhSyhCgUB6w/aeJyLuZ/qVic1eR/fmcoMZjKbxSxlGatZy1Z2sZ9DBptrC2ylrbI1ts7W20bbY3ttH2gbPRozmO/dLBJKhTph2NPMvNuWCBuEHd6i3q3eDaqnEZNZ7FWs9ipbLazxKlA9wxBjEky+yXZ5CSgeEB/0bMzSTBZLvIIV0mqh2wt0qcAWCqs9S3uylKdC3RWYoa54tnsPO7yDfd5jU7zDpkmnS7cK2hncmxLwHJiSVcnNkFN+ZRiDvf2NycC7a5+a8AcvMUHOdcC2kSzZt7CuIXMx+gOQCy+JWwvC5qTLOeecEC9npDukQ7qcc845p5+Dz5tzzrC+YWhheaGV7/MLWuo0MmjyPJ8guHgHFZrN5hSnMWMOdA4PEjkznO7prq6uqq6qnkMEE2gYXD5qKAgOZ1497//OFOAON7nPjm5tzpU08Mw9ABHCUHWE7+TOuG724IEXEcYdOTWu2+9t9rjLATvsANzK3DXKnA8ANAH2AF4IU0nXxEG2DNcQhJS5lLnyv8ji8wB2hDYXdR99qD4Gwe0gJxfkwUAfA71Wl77Q8mrXnzfFeDUEjkKzA8dRCOwCiCuQCQL2MR9q+P+CzAp2KFTlPrcmM50DHLVn7wBsM/FHIId+zcugR4SyMFNHC9C4wZdWTBHmoNXJnf69VoZVjgD9KuIuXlKXbrNSsDc9V7mBqnBc0a24zNngECXBizP7mADsZ+RqO6DNSsqcOfr4ztw2ST1oKzTmkavh3obBtBxP803veJNtN/cSxM7GOQPwDbYB/hVP8GMAagfXcCzLczwHg1qhWVL3tZObXbXCMlru5MsePxm+10mxGtM8bctLirar4ysceVdrHCBCNViZIWNrIZ7laNzCy2kFBwG5OtIjUQkMNGqVa90vdLqthVV8IVZF0gyxamVeQ/5b+Gye4Q5Pyn1yvxwvo2H14muKNpG1RYDbOJTzJpoTGnFE+ZWbcBB7+rMAqbmJujfzVgIcAHb5GlZhhGYma3dyd0IXJYsbTss2OApRkI9L+Rcn0pmpX7cePZ7N8geT2fJM25Hs2SfETOfhVZEpq1buDDmS/lfPqw0lt9V8rNBGsk8qbtmyw20OKCWYcEfLeGs9WH7kwJMaaZkWWjp3Qi3Va0ducYsXprjlCPuefGmNLXtuju0avp8v8GVEiPjGLO3Et2z/y0iaO0OUDNfFNl+cjDUfswefhRjl8VW4ysFPZvlLzxa+iwUmIT7h0xMJF5A56jlTtXbD89CrN7X3G3ZL21UGQDOjCxcO/qeuxXKmcefUnXX7H9Zst8DC0ysN91ukPC5iQ+MrLMffV4Et0gz5c3ja+nMSPjbTn9ObktVW4l+WP2e3hD8nvJY6ojj2s61MewdHfFuYW0W4ItDuI0GJ3ipmt3NfJF9p+PzNRM5Cq1PDhO9mrN7OZNw4zBspboU5JbPCj6VlE740cl4NvjDs+eHIjnOPyeyRDPv9tM9KQ5cs77Ni12+TxzORlRk3AbgR9SnP7DK+LFPLhw9kDh/zfARHlPwNc1/LjVPsrsxCw0mqe3GHqql6RJaPkqn22GN2VOt8+bNqZ/xsfMUMD88xzA1lk8KuQMA+bigsA9MiXpVKfMi7ReMlPOH8AGtcA+zK/6/G0llsuTeZ8Dl5dsRdWX1/6bTXjy/a79f4b86yy5XuUuf78rxf7Ac5u+avrrjpri5aK/px/rtfL3/da90+E7btc23PuWPtii67fFNqisVjZXAsh1Iptyacyp18mcVn5OhlOGiPGIc5fTSW9929PrX5uM8V/IOwNAjzIzscco8pGtxmonmUA9tKW4J7wv2lYUsnM3VL5M9UHUWycbZXxnTnuuXVJwF+DHcAPGnX0Vu8wFOIEKMlV+7G501LPb4OSImei2mdBXgaGvZubmT8h5/ue+8FUW7EMrK2Y9NxinGS7mGeQDThd753rnF8P4e8wFR6lvBFPY6e/ZbattcucxyVx8CeR0Kx/HF8IbA+XshdIxg734+X8Jw2SlHSoDiWvFaayZh6rR7k9ZGfmrYROPTv4AgrmAPsBvtj5vBg6F7tqDiQpbLlqlZ5PyKT+eI3xZ/KQVFqMLG9lU+et1L/nJVJ0lcOrZQ2uNuuMu9F4+CYbdTQkFrivH4flOA5W8O91tpIVSsWHXWbtgeNsSbiho5dcz2jTWKAD/LBg0/UZAa/33oMwxB7KxR/YVpKclSCCiK/xzxbtJnj51vGj0Lj3jKzSvkwv8SWmOjQL7VS+H74uNv+A98kTyxNE3ay0j8M9rCEltWPxnrL2pNfVW3L44wHy4Xt4Djb66KxLwl3SmkmcnWEekFf6SjH0jbWh5zqGcTdnJrmscn3lEVaOe8znerjUZE1lyzNEqczl3Jk3zGrBU1Ji6JRUV5EzZWPYMr33enIrscZJqz1Dx/sopVr/3cCkiqyI7eAKMwZfGoyH726g7Mldz7WgjzpZpWaj9X6HjcyHsa3qsx50GBvrpwH5c/xZp/1kVsbICmmmdgpECEyASoWiVsZVASmWIaG7zk8wlT6PyriX2VaxN4M+GCief2r/uqICY67q8+Ooxl8L0+IHgRPAThGOZbfXwD4n9ydWv2BL3vtOs5RnqXHfjhmH/a9WkT8T5HSDfnU9KspzrBn7E7ReMkbsQZaAbla3MpeKaHBNa9GHHpXlibHTIragOwyDfKy4Yg7EhswypIwwtGRtWti29aV8n2EkVr6E0rZ87qK1B5Xo9vTlGInoxn3w/S1OYOdcE6gx39x4Xj30RxZZty5zgm8ATeoUoHZqWXXHHlWNVQPPQPMTCt5LXvEV+DAJ3mSF6Dg7P4WX+cpruMr+DJfR2vss+KzUvosH+ZpGK6JhP2YlVTfYH1iCaB9Vnl53vz7g5bxpO+z4nnns4o4cP6qr4UD/4iPz6tx2EHkHSn6Cj2j2TzqogB3YTa+BRq3uRnR9PgphIhbWjtxV3kiQrxnOMICWtP5OUxUrFzJx0B+joZh+6Au7vj5OeyH83M0v3LAixxx4Hj2mewqSFpg0GTq1sNNuaraN2XZGSt/n+GIiZTLi0zHOZ5Y105br44iN52tfIJr8kuTSdaDr7xyKZYg84NDPit83gf4EB/3vKhN7o5tAO03UXJzKTcaPOT2ZF3JtZnzU8loJScieX59nIXAVPTSSlZy++XYnzzX5j2m/Cducd2WF9qzzZ6MtKzSQ9ar0CgJ5fhyU82x4vtQxMuvy9lnlZD2fI2pJ5cNewW0h8mpr2pNY5jgSsRiwIdV6RrDW1t8l8jzH8TXAfItwPcC+A78OO7DGF+LX5pZy18q6f+FmI1vn7G2+gn8vT36Gfv9t/ge+Z7a+SZ3/accPYk/xg9jXqwqWyysVarwtBbPe2yUfR7Tae+NfNt9HfI/4lvsOPltbKR4NJFAAV9/y+lCU3o+ur17QTrFXEerNHXNxCqQ/4Rr3PFi0CNucIeJ/DbQ+8T0+DPRfo2AvjEhX6d+DrelnAL3s9kxfMOX5nyNO6HR4Tof5C7uZcITIkHAxNmrm7JjcJEbYpX8le3ZXTZq27Ox8hcynKclknCQ6M6H3SjHok8+G+DHRTemzkL9MzjwJ7mW8ZB3PZ04QoxbLbfu2H/Hy1jU675Z68eQpC+3fswZaX/9GKk1ZEV7TJhyyDSUQaWypVqZOk1lO120N3/EZFKSaW4PNmf+ckY+P4Y6E55hwjUc5+vZPSxMvD7E9tz7rfQelpa/h4XJeA8LU+8ptYwk+jAqAweoBs2Cz5njqRwFnqjl3ILVLZ0iMR2mIYuGe5k4n1E5D3XFl1VgNWwbWXxp4fjjMRe3rCkqfgmWtVzJiT9+vo0/fi2uRkSoHuD/5PD8YmaVO+GMWkjOsV1qv+stMzxxteLzisO56VgP5+jauRLJZ7HnraA0cmqP7GfxLJ6G/VzSvmhY8H18hhsqehUB3Jp4R6SWH/dyIY+5Fe5dJVZKPw6jYoSrqt0e+Iyi4Gfjs3ElwITnIxnWUYcJjgJXKtSxvIRrDuyhArCNRcnhBYdMKJ5MxHzZafoFa5u/jRU0cKel922SIz/i2+JfBRDmfanvv6VceIzr01Y1z2PR+lTbOfL7s7y9KGd5FpD/IcDTUu59FfJqeSygNPgpVAyeQUHwY+rKhSIWKS+5KytaW6lMg4gXp+y98Oy+khAHrNgE1yKM2r0zL7x4OBP73ec+jD8DmIif+yN8ln0/Op2LLyjDO7xUAcdFfAmHgdYhvJPF7ZEqB6ZMnbcmCLa1LVd85lQvs+d8fg3RpCy7ObPmqPzeKOEzXbblQjB2vBpXluThoEL9WD1u9uT2Yobyt9kVSYwVRN68a+KztNyQu2toeOWjQK6z1iDGn9dSX1i6HUfLtviKBz9RpV+genDIIWoldmDUC7zLQo01h/I/X/+9vV8V5Dxsj9tfWc7Dy5J/+Ak/50F0QczO3DJ7OSxh5J5S/hdF+5XQuFT9jiDtwQpYJr6H3eT5rCSXzgPTgj4rHWU20rJMS4v7rIK8Uh/7i8Kxf+dVqgRa316hMqlR8J77Zvrjo5w+mCvKn9NAGUQFR6fBQYWZhkb3gud4lvvXpa/dHPKaMqrYvq8XlU7cKJm7Ebrr5uq9N9rKKNpHXhSZ22GqW13Wj8Uk1DqtyTgo/g6EMrmdatQMR9wSr7/kPdt+18Z3hewcRIV7aWzL6vYu6S93mXKP6ZXl661emnB0aDa54Vvl54O2ycMlqakYVSJ3VsOxcl4ce0nKx8oD+x8FOlYeyOG48vVYM5CB0KxW5zH1jmr+DjOm7Nt9lMZb3Rn7e53bGavjs5Q0qblyxfBZHMEU8ucs51o9TTSr1N+8gCseKh+qxpF82/WolQjG8cytY/5hz1IyDvmQHZU/E8XwBRyVlNpxzjha2Fy9gRfN/lJ83cQbzx0miHmSZ3jK1bbCU7gR8axsQnyd2onypVNeqRsz33qOfp1XR5FMuDv4Bup4D94DyL/0SfqzPFV3NMmqZNvtXY798XMc/tlOHsTq2RrLbHOQE6WMUM/ImJa97urlHkdF8ii4ze2DT6yIBfakXHvI6SXDPhMYDt36XLiLfW65PKoX2OaaG+k61xCz49579PGg7LylRBZzQ8mQSOlP71zaFM18/go3ECGM28I5OBwxmeytZxr2KzMJWvU7ZW1ZvoPDQxOHieXSb0713lQ0RRcjObrJ+P3kcl9NeDqVX1fkTMM4b2BcKEJwS+U7KWIl0Z085A67PO/ejPbegzJ8zeaSf5IpX5VaWsKpMe5CbeZ7yRKuA66WTj5dQ7nW/n36vWSuHzbX2vbQ9pHr07ui+FPSqtR/Ny9T+dxg4tnD/YOrfJESm2PCLbVn/KT0PTNbuD+7/dzXc5YDXigSg+XAzf8+e+yPqcHz8hTwNHv+E4QK4T2enQJ7PKPwHk/A2+P5eeM9ntwoscfzYYD/WWiPp79L7p9cr9ZcjHyPexJHfRvgh7k73uEhLe9xiwlTDpiywwFump5r/AvrwU54dvIOAW83iObV/5KjZwNrMMNEy+fZHMFz41J8jP+EyBvHn0VFYFLw90aFvrDWIa7UV66UPkovr0NwU+3TefAy9ul8WYl9Ot9g34TY44dK7tN5NrNP58zMfTq/pPbpaOh4lMlk7LbkOfeX2ptpLstaWiyf1axLsh/mZ/02zmy/2eMZ1Lkh9ebYOVKHsWcrhe2cWzM2eVJAysV577Io6vthl52JXtBjw41MZLKkJ4FpOW8wz7PnX7N5Ip+mR40bvGif8SLXALZlvryXe9ZWWZdrW3x4TBmu6/Hge8Wr7musbZnluesW/pulS8BHyW5YViJiMqEoad8xewJmIkf4M1eEXy7KvI/fx9HqNDj39Pvp+Ta7HObnA3Ag1o9IJ/4Fh2M7h+sTO4fneFpo/GHxxrZxk+WMRNk52ofrvUVV6npZ78rnvk8jsXEc+H4+rrijNKRXKerhN+rZWMic+ztysDT1ZnNTZNclB74UkNHQsG/EFLtwwA5TPivzK2N/8PXAvt3tUu8kiaT01DtJOOBpPmk5Jhf8nZlvzNX+ZBuLkt507LUaFkrYq7GWKtXOadlrevOsOA//r7ZzALKkW4LwV2duX6499vxr27Zt27Z3n23btm3btm2jIl/HjY6dXjxVRuXJzq7Di17vTwk0k6ET0N9RYiAj6MByRw9Wsp6e7HXUcISj1HKcU9Rzhss0c5VrDOAGD2AQD+LtDOedfMRrP8nnOMkX+Q3n+Yf14fFWb5N5pU23GXzSZtkSPm2r7RBfszP2SH5nT7AXWmd7qb3CGu119iFrtY84xtsnHBPsU/YFm2j+v/naDPuafcP7fyv0tLmhd6i1S6E+jLSbYXSYYE8Ok8Nke2aYGmbaszAyYRpDmaJcxQ5Wsp1Wx1D+s5gFLGQRW9nGUpaxh7X8NzERWMxcrrKe5axgP8A9vaePcgTohFBWa1jNEg5zADjEQWAC45VTwbPETZoxslxhAJFjJNPpJmWc8RxGEw0UOUkdJ6ilPwUqqGEyGaroR54OdGEwHck7KhxdGEhvepKjMz2Y59zCefC6jsoqykqIg1bGMi5mAB/XMdLzFFnHZSrIOLb4bBF5zHGRBrph7GSyOz1Z5zXp0ax9DEC7ky6RpTtFarTafmgP0gUydCBHMko0q36k+utcKFKnEzFXBWrUq4tGqdAZ5Oih3Ve4UmhOsLin5qEirkuG1lauK7mO4lky3FfuUXCd11X70KuqteoVpH9iv5PIeObj16klHjV3xxUMaDd3P+JKrSvZ209K76b+nt10Lv1oIU9HZlLvGMVoRjDcFc4KugLXmMFpprm+5BWAcyN4dnXAMQK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") 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6L92hnbDZhfI4psjTB4MfNxknmwly5ShtHEI6DWyK2YfavJf7ASyEjNiQ8gczR1XPn4MohaJX/xuQ2bUGl8O/PKFDAqD8mm3JsA14TwYhtQiXmEzdV6GocqrdRgmBQFZLg4lCIQXrYnAUZ3BvbENnoPOIRPprfUBjLg+XvPIVrkcQOA+iTSjCowEy2WijEWWFtLCW4vcMAUog8LvIxEcEYQ6jg32sgGJi1ODGMZYgUfO1JQ8VqdUA6vMBS7yFLEwwCZksViiItzovypsAS8zUmN22yedisQ8GPWqroEGOTteEF4o2VtMb3jvssFDbS3PTjISxIfSSbx0t5XhPB4B1jmxCWvall29koCVQMU0SHKoaWIBi4PHHv9IVvEO7BEkXl+uNioQ2DV7GQ8P0dstrGXLOpm+nYb7T/99sNBEenEoxYBVas0wTvlxKy4ghg7wvuNNKqx9x1IhilZiFhnBoIxpz6CgmvWOwSYgbCvikMTgAagWgpsjTBwLKAhaGUQP5wF/SFj29Yp8B7HuZtL+OEjyaNl0oJ9VC8d8as7BGc7rlkLLC59YV6BwRlDlk+puj9nCZDAoIaytoIBnEpZEeEMidmhbLcWJNCGSKIcwkGKaleXyE2QTbD0hJzN45VI44danKDRFPeh98CvwlPUgmGR9pwNUKuxzb+FB27a/jeEtMRCtbbsTgMEYwcpGdeWwPBIKXL86nNfLXitxMdTaGbUKgA6RW38hRYmmDw4UwJHEsFh7oSRMP3BfMslfnGAjQ93zOuG+pDjN2bqh/XxU55mGQxzXpCqhskIkx5I2AufN8cXWLXxqwsayMYpDbSdTesM8PJn3oSBAbnCN8fYmjCTIsxN9xcgkFgpxebNSUNO+V9qePhxUVBrP5qYIBYEHO/qmnK81OvwWIZFlXj3hSCgQWKGIuwiRmVR2m6WFI4uHgZXinWRxGMkjMxMlYNBAMdCAKqSfixEOWNK6D7H62a8aeG0i+tPPYOSxIMzPCxKpdjesX+Th8Sz6+JKXIsYMszC7MBeUXQpurHfbFYD9xWXswM98QCPJdq5BWLw1gbwQC7GFmiQFZKTYX+XMc20LFMpbkEI2YZ4KDAgaG0xKxsxIFQxCsmMctHaStg9/yYCyyFYPC9hCyGwjtQhr2kxGI9xtYNOohglJyJkbH2TTBgzATj7UM4NbHZ9UlE9//ZgGKlxkNdayEYZLIMpZpNwTiWOZBiKaGUdji3fIBiRcum6Mc9pNJ6lgpOhp7pnXsohOUV5qEXRayS6VT9uI8aBl464RoJRqycN4STTSY1foGTLuuBmIe+EI9BWuyQSX0uwaDnjEckSK/EnVVaSBv3Ms2G1ig6xKp3UnI/twdHyjt5wbbcl0IwYu9Idgol9ksKv19ivEJJqV0iglFyJionGKQJDtXWLwUFp1wKT5EyiY8Vcy4Fo1I7tw7pUQvBoLhWv8BYCezmEAyKfM1txz7nHSgORclmT2IpimMnyqn60N/GKzW9RoIBBrGGZBROIz4gRWJZPCnFu+YSjFi1WixNpTdDsIAQkP4aCrV/vNic7jqqwZLNFQokj6DG0kIGCNaBUFIIxqXaPkKldcoZL6X+jQhGDqIzr923BWMpn3cHC5HG+Osw88caGc2E8Hjf6lglvO4ZS7pIaMLF+CVlDsEoGdQ15Z2GCAbBsETih1I6na4bf43t2ocwpzIrwXQhgaTlN5V5x2pIQOwp0kW1076klh+fSzAo+OSlTfKd8NbFlPXXv4cGXp5lB4tBmA3Rv88rKsXfSxyMvHea06499puai13O/SIYOWjt4Np9E4wlNkVgw0JBgZpSGy4fB0ySYVobzxLB8BdqzQQjVtNBBCN9Pcc2I6q3kq44JLES7akN1OYSjFjsx64JBrV/vBYEHXaxIm01EoyxYl072M6O738yVsFXFoxdzET7jC0SDMqD0zskJZWyDzXZF9T2J1WLSPn+fwlCjfkYRTDWRzBkwTA7rLUihLOXup65n3TjcLPj3/itDBHMtzrkP6cF/FyCIQuG/5udY8EQwSi8cS/FIgurOTjc1ggGlgtSSU898NZYI7iGoCsCyjoiMRY0JYLx/6CmBHlSUyJsWc3GcPVdLvDIs2L+Yqq1UnK4tMRqDKw1BqPDh540Xkl2/o1y7Z5QlIuy+6EQ/EuGSorMJRhricGIvWdKFlcKjuE1sXotKTEYMfcvbQVoL1CLyIKxw5nYGsGINS+i/gJNePDL83GbUjWUNFWvGl3qiY9pPZRiMKhQyIewL2DP5r5v2XUWSWztrJ1gYC30qp4OVZr0Kqjye4SEeb1hvLUyl2Aoi8T/Bca6RqcQjFidoJzeRbv4Lohg7ALl9hlbIhg0XaJ9eihEb1PMK7UhWQx+/LPUhQhFBMNHjBRE0hb7grUoDOzb4XL/yaMIRPSKQi1VBwOrjZedsHaCAaCxJoBkbFGorS+kheN+DC1buZVA5xKMtdTBiDU6W6oORmwuUwgG2YDUvgllLBV3179/EYwdIr4lguGxb/zAVO0LP3RTIKZvBRuQCIZZiouEtNnQWkFqHaW4p1iQpsxZ7B4qeKILFUn7slSp6NiJeQsE47pN3QoIQiiUFA9THinGdUfn2txeJnMJxloqecZiRZZqDklZ77AuCdOVQjDIKCI1PRQq+l615I935lgiGDMBzLl9KwSDFFQCMUkH60tqx8IUzGKR57Jg+OjRB8QrhoO7wCtylTIHJa+hLgX1KfoC8SF+Z6xKaa4esZPoFggG1ggsU2E9G7CkcF3XG4IS1J83M2o49GVKN9a5BKOWXiS4mAh4jUmsYmXJpobds+k5FOvjkUIwGMfrXbTPYooeriIYuV+vGddvhWBQNItS2aFwAvCa4kyBLJYyJoLho0nXVK/LbEohpSnzk3uP1+adMSjIRv2BkkJsAdVhQ9kCweCdKLHtVWily+1d2pe+V1ugK8RgKCA0NgdzCQbjfrCtGNp/xi67qRIXRqXboW6qbOxeY8CxXi1T1i7NASHCnqQSDNJuKdcdCvE1ZOjVICIYO5yFrRAMSmS/z8EN0/QTCuB5hrassVeZUgTDB5imYZ5raonmR1OmONaAijx68ulLSawPBeNvhWBQrh3rRJgaTuo3cTi4o4h5oaJuXyi2RTxBbs2UEgSDqq3HOJNMhsnDSk1+27/Ia+aY+jvg4MQBqi/ghfWt5KaNPpDrOQTjKDN7hDMA3U/pOl2DiGDscBa2TjBIOST1cK48pPEvkm7liQiGjwtp3Hwcw02FjyMnGi8gbMo88ZzcDYrnEOiJZSFMN6cKJeZiqkqWkBcPVGvcCsEApweYGYWyQrmnmeHbJ4MrlJSiXN4clCAYlNWn0F8oBIXj2hmrRpq6NryuwtxLLIrXETQcl6JlXrOwKc3lYjrjtqSqcqz0QqoFI1ZbBXIJpqW6KE/9zfP+IhipK7fAdVshGDEXCYVjMMnPEXzLBP/ht/VEBCOObuyUWDJbA1fMlZtNDGtVbrvw10daSZfSL5Z51CG2JYKBlQ8ffNiu+wttmWwamPWFsuK4jb4/4cdZgmDwWOrhkF4ZSt+1M0G9n9wCMfCqmn6ztewMuUe6QQ5v1ujbHCXADZL03jkKtqSC7DgKZcUklWBwf6wjKy0bHj9T1+52msCRpYZlBCtZjohg5KA189qtEAyyAQjMC7MC+LjxEZt6GsElQjYEDdJiIoIRxwZyRjAlWRuhpHQ+HFvedCnlFIqJHjM8pb6J+6DIV4rESlZzL0Wf5nR+pV8HH//QvN3Xa0sEg/ciJTGV0BOTgWVwipQiGNc3M7JdPCHAMva3FJ1xERLAydoMJTdIE+sCaz0UXCRkxHwjRaHINVidsD4NSQ7BwL34TGcwvs98R0lTniOsL9YZgluO+B+vPEHsGSIYc9DPvHcrBIPXJhqdqOxQUvsbhPeRkQJT7vslyVQJW5CLYAwvOvDxWqBzAuMjTnrxFOFEjAUi3MDJULla06odcjkmmFohKHRXDQW3C91Bp2yCNDfDNM6HuRNI7kmDh2yNYFDjhLiKsSrHnDpxQ6W2dg/nphTBYNxYQzHM+VjHcEXkCnVPmFvP6okLhnWRc/ImzZN39gS8CZT9VK6STYDp0YEL2VujDJtDMMgqouZQf+13qkEI6A5LBeUpQko01UbDgyRp0jdIdJWKYExBfuI9WyIYxEh4mwEbBSw3xzyHaZvr8Sl2AoH5SvPjuXaAtQjG8OIj8I9IeE70oRC1T6U/5i31g8vmdTMzw4xNTY1QMCdDNFPjMjCRU2AoLP7UjUvJ67tFovnDZzMGJzgC3foBj5ShZyO7UXDD1ggGrxfLJOi/+lwXREmCQbAkwchh1dlOXzqeEvhJKu6YsMbJXINQe+uJNUlBwFgZ9aHxY1U2uYeDD2n0fIvIThkTLItY+rDg9YXgVtZ6KDkEg3sJbOZ76RFNdCW4FitHakwGqc3gCiHyumI/uD0MjL03fxfBSEGp0DVbIhjk2RO0F+tDgrkS0kC09Jcd/M7SnnxhwlcK/s7mhymSSGgRjLRCW30IsQK9NuIq4ToCKvng0B4ec3Domz55eyIi1gJy4Z2Oug/tJScEkPLBI14kJhAhNjV6b2DxQF8+lGwiEAkyIXhH3D5Uq+wLmwotuTnV3ib42xYJxlDWDK8PlvQMyo2X6UNXkmAwLqmVEImY5QWXG+sXUzwxBsSP4JbAQgGpIIsNKwLkIazz0dd7TjYFllOIEMHJMSEGBqsrWSu4Twiu/V5LnsjmoboqRbrQM3RbQrIpJoiVYS7B4P77tC7LmK5YGp/bVriFvIWxOPyuCD6lCjMptOxVnqA3zQtTY3lEMAYWUOk/bYlggA1ZIykpZvzwMM9SeY5TMAFqsQ8DH8TrNR8RsgFeKIJx/BJMqeQZrlWIAQFv3gkkvJaPIvPDB5954XkpZnfMr8TMTJFYJ8kpY/Xvwb/Nx/aJhwjB4N3f2WxyED1PvAqfuRiXJhg8/8h2jmKWrFwdw+tLZH0Qh8EBKbdT9JjuuBOppgqR8lyLuRYMnsfvlVgJcE2Rb7UHC4gP1qQhotaNR3wXhNY7MMaeKYKRMhuFrtkawQAWmprduBA+sGJOpZALRATjBBymEAzuw4dKMZ+Uj0fOFJIOywnSa0aXOg4fxEc1xObOqTckXNcP5juUCEasrD6QeT1KEqA84JIlCAYP4HRPBVrP9ZarY3c9mzaxPCkHn5Rn0NUZa8pQ8HDKON01WCyOaIMvz1SQYHQkg9+A53bJ0dG7lmJjWAapFJojIhg5aM28dosEgwAgfsxsFGOn3iH4CFSCqPTLWotgzCMY3M1p6LgmQJP0uxKCa4VgvNwPTezZuMAgAzGTbIrOuNRu17gCKNrVyaFEMLBSYfam9kFfiEOJFXNKwbW7ZimCwfi4ElifJfpn8A25ZZsOm/N+Y9fiLmE9QeTmCIHIxAxh0UVKE4xON1wyxzrND6fojtWZbDHqG6Vmi/WfI4IxBfWJ92yRYHRQ8CHD5zmU3+3BRjQ2rPvpTsCUCMYJiE21YHR4Q/w4fRC0RS5/rvBhIegNIkktg9JCBhEElWJIYdbQ0LMIsIPwEHBHtkBfDiWCwXt7Dd6uEekqmzt/SxKMThf8+hQJI+4nxa3XfwfWJDE9fC9SAxlzMeB6dOQbx7cu5zAF+cNtR/ZFPxh6KYKBrqTrEvzKbyrsW5Py7rhQcGNiZQx/Wyn3d9eIYOSgpWtHESCdkbRFOntiXsR/yQZCjQtOmvj6SZsigIogPnz4sQwEOg2G5n0CEgn4k0xDgKBINh5SRcnaIX0RAsP88HEmf56PC8SP/hEE6xLENjXFMUdL/MGYj1k/1DUgDZNgYtJNWSPMPR87ytTTq4YAu9haIBiQe/vCe5FhIqkXAeKzCALl+0HQISnIBJITeIwLlaJZBH1irYBYkEVDsPkuBavLtVqyjo5Uz+3ilkg9xbpHOmun39sj3zjiT6iyGwq/vam1hDwciPeAuPFfnoe7h+8qvzcOD913mRgLcCXuBOtXSR12OT+TnpXDGCc9QDcJASFQJQIQDKwVqamrsQ8iAAAdZElEQVSwVb6ElNo0AlhdIAwpaaubBmKtLyeCsdaZk95CQAgIASEgBCpGQASj4smRakJACAgBISAE1oqACMZaZ056CwEhIASEgBCoGAERjIonR6oJASEgBISAEFgrAiIYa5056S0EhIAQEAJCoGIERDAqnhypJgSEgBAQAkJgrQiIYKx15qS3EBACQkAICIGKERDBqHhypJoQEAJCQAgIgbUiIIKx1pmT3kJACAgBISAEKkZABKPiyZFqQkAICAEhIATWioAIxlpnTnoLASEgBISAEKgYARGMiidHqgkBISAEhIAQWCsCIhhrnTnpLQSEgBAQAkKgYgREMCqeHKkmBISAEBACQmCtCIhgrHXmpLcQEAJCQAgIgYoREMGoeHKkmhAQAkJACAiBtSIggrHWmZPeQkAICAEhIAQqRkAEo+LJkWpCQAgIASEgBNaKgAjGWmdOegsBISAEhIAQqBgBEYyKJ0eqCQEhIASEgBBYKwIiGGudOektBISAEBACQqBiBEQwKp4cqSYEhIAQEAJCYK0IiGCsdeaktxAQAkJACAiBihEQwah4cqSaEBACQkAICIG1IiCCsdaZk95CQAgIASEgBCpGQASj4smRakJACAgBISAE1oqACMZaZ056CwEhIASEgBCoGAERjIonR6oJASEgBISAEFgrAiIYa5056S0EhIAQEAJCoGIERDAqnpyIaic3s2PM7MTB319oZh9Y3+tIYyEgBITAAQhc2cwODzD5upk9WjitCwERjHXNF9ryI7tToPYHzeyiZvaD9b2ONBYCQkAIHIDAWcyMb9qpA1xua2ZPElbrQUAEYz1zhaaXN7M3mll/3n5sZpcys3ev61WkrRAQAkIgisCtHTLxHTO7sJl9UritAwERjHXME1r+tJm938wOC1R+hpndfD2vIU2FgBAQAqMInMjM3mNmFwmufI2ZXX30bl1QBQIiGFVMQ5ISdzezhwZXftfMzmNm/5E0gi4SAkJACKwHASy2b3LUvY6ZvWg9r3HoaiqCsY65P52ZfcrMThWo+ygzO2odryAthYAQEALZCEAwIBp9+YSZnd/M/id7NN2wUwREMHYK9+SH/UWbOdIf4L/N7Jxm9oXJo+pGISAEhEDdCFzRzN7gqKiAz7rn7XjtRDDqn6TTm9lnzYz01L48xcyOrF99aSgEhIAQmIUAsRhkyfXl8+0BS1aMWdAue7MIxrL4lhj9z8zs3s5A/OD+ucQDNjrGL0UI2NvN7HUbfWe9lhDYIgK3NDMOVKHcuIlBe84WX3gr7ySCUfdMYrWAqROD0Zd3tampdWu/X+1I3X2Ho8IjHHfTfjXV04WAEBhC4GdaV/Bpgos4YIWWDSFZEQIiGBVNhqMK6adPc/79zmb2mLpV37t2Ihh7nwIpIASKIcB30EvHv6RqABXDuPhAIhjFIS064D805vxLByP+b2MuPKtSU0dxFsEYhUgXCIHVIEDti1c52h7XfAspyiWpEAERjAonpVXpvGb2UUe9tzS54ZerV+1qNBPBqGYqpIgQmI0AhQa/2FhuTxuM9F9mdgYzI6tOUhkCIhiVTUhPHQI7CfAM5Q5mdmy9alejmQhGNVMhRYRAEQQI9CTgM5RrNSXEX1LkCRqkKAIiGEXhLDrYv5rZBYMRcY/8opl9qeiTtjmYCMY251VvdegicBUze63z+n/dWHv/4NCFpd43F8Goc24ooOU19PkXM/u1OlWuTisRjOqmRAoJgVkIkE3yDTM7WTDKN83sF1TZcxa2i9wsgrEIrLMHvX3zg3mcMwqZI2SQSMYREMEYx0hXCIG1IfBWM/tNR+nLmNnb1vYyW9dXBKPOGX5500nwdxzV1OQnfb5EMNKx0pVCYC0IPNjM7uko+8BIQcK1vNcm9RTBqG9amZOvmtnPO6qd0cz+sz6Vq9RIBKPKaZFSQmAWArF01b93mqLNepBuno+ACMZ8DEuPcAEz+4Az6EfaDoKln7fUeOczs2ub2cXbYFWqkdINlkBVfKZfbv5OIOs/thHgXszJkG6nNDPMpTE5RdvKPvw7z81tb/97bT+YpbBa27h8N37DzK5mZhcxs19pCfGp2/5G32p95R8zs/e1Lbf/zsx+WPBFeVZIwklVJJXRk59tSuszj3TmJI6JUvKMQbVc/PqsC4KnKSX/+nZtfb+QvrXreiYzI74hlB+1lYQLwWCx53w34+DEN+TrTYbdiQKlGAOc1Zuk1GwVGEcEowCIhYe4VfPxe7Iz5lObHzt/25e8zMxOHDz8T9oNpP/PfMAf5BQIG9P7nWaGmfNvxy5s/07ZYD40SwubIptTyc1xaZ2XGp+PO/FB/O8smQ9hE39GgyWdgf89817v8j9t1uMDgj9QmC70z7NO7tVsYH/UzmPqoyEcD21qLDy+QI2F2nWlp8ezIsD8fkPI+O3PlV81s38ys5M6A+EOfmXGAyCtF3Kuv1jjWqYxmqQSBEQwKpmInhqPNTNqXYRyl+bE9ug9qsvJICQYV24+6JxMETZhdL/FTB3fZGY3Szg57YpgfMjMsCod6kKZ5kdGXHc52GAVYOOGhM4hbSmbNq2+n9cWYsrRsX8tvYCwxGFpmypr0PX5ZnY95wWx6rD+cdtOFYpk0T/Jy4B7UmN1ovV6jjzbzG7k3ECNDK+1Qs7YurYgAiIYBcEsNBS+xMs6Y/U380KPyhpmiGDQUp4OpZjLSwgulGu2pvXYeLsiGC80s+uWeKmVjgFxpGMl7oWSQqMqxmQDnyJjmzaECEtgSIqnPOt7bYEn6i1MkTXoirsJl6VnmfobM7v+lBdv77mfmd3Xuf/jLen4TubY92hSVR/i3POXjfv1rplj6fIFERDBWBDciUMTxMmGHQo+4xKm5YlqHe/b9CwYuDboWhoWBZv6nO4+/OmQjNdEBtoVwaCaqvdxnPt+a7ifuBn6P1xiIWX/rVk7V21OzliJcmVo06ay4wscP33uM/rXE48AycfClitr0fVK7UHB2xcgGBCNXOHQ8e7GYoUVoy98Tw6f2KjsdyNuGw45rCdJJQiIYFQyEa0anBa/7aj0gzYYjQDJfUmMYNBoyDvhc0LF7ErQ3CfawE4+MvQNOFvz71Tlw79Lz5WYECxIkCjBgrmiLJJcxA68Hl857i/qC8TkM22ALiTws22AJWuUbCdOwmxYWCnwv8fkcy2Bya1OG9u0b9KsKwrSES/SF1wzL23ae5MC/t42qBASS28Lgg+xGkJovRoL3TjoiJn/C5nQrklXrABerR1cJLhKcuaJNYRryYuXwKpx/0wcu8sv3M5xeDsWkaHvycTH6bapCIhgTEVumfuwAmCmDIUMi3Mv88jkUT2CQeGvOwUjfLj9ty42Y+gBRIITYEZwJx1iPSGg69ebHHdOkDkigpGD1sHXPmHAN04AJBvEXyVG7bNx/3kkq4cnE5zJBp9DoGObNhshJ9y+PL2J9yAgOSV7iDRI4gJi6/GZbYxQDrpr0pVsEoIxvbgjyFmOq4zfNbiHQjwGRG5qxgfkETdqKDUcxHLWxeavFcGoa4ox73kuAdIxvbiMXWrvEQz+7SQ9JfBR4/vOTe+jzO+LB07LkBgCSHNEBCMHrQOvZa29uU05DUeB8P22meHeyBGscwRcegXkGCd3jr1Nm6yifuoqG85NW0tajq5Y2CDI53FuIjD1HJnuyjXpyivj1oAEeBkfBGBDssaEQwHu0/73gXuIt2B8rJpzBEsvayoU1Qqag2rhe0UwCgM6czgio4mQDgXTLqfAfYpHMPr6oCPR9jmn0P79Qyb5r7V1Cwi2SxURjFSkDryOb8L7IzE1nGyvEHHjpTwNixXr22tMRdvtX26IBnOdIt6m3b/vx817EIvBupwimPV53zB2gLEIMCT1NVXWpGv3TndrrU7hO5JujKV1KB6MXiGki3pWEFyqx6UCN3AdLjmIYCjUZMGKKqkAARGMCiahpwKnOC8VlTbFR+5Z1SGCwWmWjw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+  <span class="search-button__kbd-shortcut"><kbd class="kbd-shortcut__modifier">Ctrl</kbd>+<kbd>K</kbd></span>
+</form></div>
+        <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
+    <div class="bd-toc-item navbar-nav active">
+        <p aria-level="2" class="caption" role="heading"><span class="caption-text">Getting Started</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../source/setup/ecosystem.html">Isaac Lab Ecosystem</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../source/setup/installation/index.html">Local Installation</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../source/setup/installation/pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/setup/faq.html">Frequently Asked Questions</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Overview</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../source/overview/developer-guide/index.html">Developer’s Guide</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/developer-guide/vs_code.html">Setting up Visual Studio Code</a></li>
+
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/developer-guide/repo_structure.html">Repository organization</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/developer-guide/development.html">Application Development</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/developer-guide/template.html">Building your Own Project</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../source/overview/core-concepts/index.html">Core Concepts</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/core-concepts/task_workflows.html">Task Design Workflows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/overview/environments.html">Available Environments</a></li>
+
+<li class="toctree-l1 has-children"><a class="reference internal" href="../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/refs/issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/refs/changelog.html">Extensions Changelog</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/refs/license.html">License</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../source/refs/bibliography.html">Bibliography</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Project Links</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/index.html">NVIDIA Isaac Sim</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
+</ul>
+
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+</nav></div>
+    </div>
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+  <i class="theme-switch fa-solid fa-circle-half-stroke fa-lg" data-mode="auto"  title="System Settings"></i>
+</button>
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+                <article class="bd-article">
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+  <h1>All modules for which code is available</h1>
+<ul><li><a href="carb/settings/get_settings.html">carb.settings.get_settings</a></li>
+<li><a href="omni/isaac/lab/actuators/actuator_base.html">omni.isaac.lab.actuators.actuator_base</a></li>
+<li><a href="omni/isaac/lab/actuators/actuator_cfg.html">omni.isaac.lab.actuators.actuator_cfg</a></li>
+<li><a href="omni/isaac/lab/actuators/actuator_net.html">omni.isaac.lab.actuators.actuator_net</a></li>
+<li><a href="omni/isaac/lab/actuators/actuator_pd.html">omni.isaac.lab.actuators.actuator_pd</a></li>
+<li><a href="omni/isaac/lab/app/app_launcher.html">omni.isaac.lab.app.app_launcher</a></li>
+<li><a href="omni/isaac/lab/assets/articulation/articulation.html">omni.isaac.lab.assets.articulation.articulation</a></li>
+<li><a href="omni/isaac/lab/assets/articulation/articulation_cfg.html">omni.isaac.lab.assets.articulation.articulation_cfg</a></li>
+<li><a href="omni/isaac/lab/assets/articulation/articulation_data.html">omni.isaac.lab.assets.articulation.articulation_data</a></li>
+<li><a href="omni/isaac/lab/assets/asset_base.html">omni.isaac.lab.assets.asset_base</a></li>
+<li><a href="omni/isaac/lab/assets/asset_base_cfg.html">omni.isaac.lab.assets.asset_base_cfg</a></li>
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+  <h1>Source code for omni.isaac.lab.actuators.actuator_base</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">ABC</span><span class="p">,</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.string</span> <span class="k">as</span> <span class="nn">string_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.types</span> <span class="kn">import</span> <span class="n">ArticulationActions</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.actuator_cfg</span> <span class="kn">import</span> <span class="n">ActuatorBaseCfg</span>
+
+
+<div class="viewcode-block" id="ActuatorBase"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase">[docs]</a><span class="k">class</span> <span class="nc">ActuatorBase</span><span class="p">(</span><span class="n">ABC</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base class for actuator models over a collection of actuated joints in an articulation.</span>
+
+<span class="sd">    Actuator models augment the simulated articulation joints with an external drive dynamics model.</span>
+<span class="sd">    The model is used to convert the user-provided joint commands (positions, velocities and efforts)</span>
+<span class="sd">    into the desired joint positions, velocities and efforts that are applied to the simulated articulation.</span>
+
+<span class="sd">    The base class provides the interface for the actuator models. It is responsible for parsing the</span>
+<span class="sd">    actuator parameters from the configuration and storing them as buffers. It also provides the</span>
+<span class="sd">    interface for resetting the actuator state and computing the desired joint commands for the simulation.</span>
+
+<span class="sd">    For each actuator model, a corresponding configuration class is provided. The configuration class</span>
+<span class="sd">    is used to parse the actuator parameters from the configuration. It also specifies the joint names</span>
+<span class="sd">    for which the actuator model is applied. These names can be specified as regular expressions, which</span>
+<span class="sd">    are matched against the joint names in the articulation.</span>
+
+<span class="sd">    To see how the class is used, check the :class:`omni.isaac.lab.assets.Articulation` class.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">computed_effort</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The computed effort for the actuator group. Shape is (num_envs, num_joints).&quot;&quot;&quot;</span>
+    <span class="n">applied_effort</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The applied effort for the actuator group. Shape is (num_envs, num_joints).&quot;&quot;&quot;</span>
+    <span class="n">effort_limit</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The effort limit for the actuator group. Shape is (num_envs, num_joints).&quot;&quot;&quot;</span>
+    <span class="n">velocity_limit</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The velocity limit for the actuator group. Shape is (num_envs, num_joints).&quot;&quot;&quot;</span>
+    <span class="n">stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The stiffness (P gain) of the PD controller. Shape is (num_envs, num_joints).&quot;&quot;&quot;</span>
+    <span class="n">damping</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The damping (D gain) of the PD controller. Shape is (num_envs, num_joints).&quot;&quot;&quot;</span>
+    <span class="n">armature</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The armature of the actuator joints. Shape is (num_envs, num_joints).&quot;&quot;&quot;</span>
+    <span class="n">friction</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint friction of the actuator joints. Shape is (num_envs, num_joints).&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ActuatorBase.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">cfg</span><span class="p">:</span> <span class="n">ActuatorBaseCfg</span><span class="p">,</span>
+        <span class="n">joint_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span>
+        <span class="n">joint_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+        <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+        <span class="n">stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">damping</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">armature</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">friction</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">effort_limit</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span>
+        <span class="n">velocity_limit</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the actuator.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            The actuator parameters are parsed from the configuration and stored as buffers. If the parameters</span>
+<span class="sd">            are not specified in the configuration, then the default values provided in the arguments are used.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration of the actuator model.</span>
+<span class="sd">            joint_names: The joint names in the articulation.</span>
+<span class="sd">            joint_ids: The joint indices in the articulation. If :obj:`slice(None)`, then all</span>
+<span class="sd">                the joints in the articulation are part of the group.</span>
+<span class="sd">            num_envs: Number of articulations in the view.</span>
+<span class="sd">            device: Device used for processing.</span>
+<span class="sd">            stiffness: The default joint stiffness (P gain). Defaults to 0.0.</span>
+<span class="sd">                If a tensor, then the shape is (num_envs, num_joints).</span>
+<span class="sd">            damping: The default joint damping (D gain). Defaults to 0.0.</span>
+<span class="sd">                If a tensor, then the shape is (num_envs, num_joints).</span>
+<span class="sd">            armature: The default joint armature. Defaults to 0.0.</span>
+<span class="sd">                If a tensor, then the shape is (num_envs, num_joints).</span>
+<span class="sd">            friction: The default joint friction. Defaults to 0.0.</span>
+<span class="sd">                If a tensor, then the shape is (num_envs, num_joints).</span>
+<span class="sd">            effort_limit: The default effort limit. Defaults to infinity.</span>
+<span class="sd">                If a tensor, then the shape is (num_envs, num_joints).</span>
+<span class="sd">            velocity_limit: The default velocity limit. Defaults to infinity.</span>
+<span class="sd">                If a tensor, then the shape is (num_envs, num_joints).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># save parameters</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span> <span class="o">=</span> <span class="n">num_envs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_device</span> <span class="o">=</span> <span class="n">device</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_names</span> <span class="o">=</span> <span class="n">joint_names</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_indices</span> <span class="o">=</span> <span class="n">joint_ids</span>
+
+        <span class="c1"># parse joint stiffness and damping</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">stiffness</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_parse_joint_parameter</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">stiffness</span><span class="p">,</span> <span class="n">stiffness</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">damping</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_parse_joint_parameter</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">damping</span><span class="p">,</span> <span class="n">damping</span><span class="p">)</span>
+        <span class="c1"># parse joint armature and friction</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">armature</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_parse_joint_parameter</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">armature</span><span class="p">,</span> <span class="n">armature</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">friction</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_parse_joint_parameter</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">friction</span><span class="p">,</span> <span class="n">friction</span><span class="p">)</span>
+        <span class="c1"># parse joint limits</span>
+        <span class="c1"># note: for velocity limits, we don&#39;t have USD parameter, so default is infinity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">effort_limit</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_parse_joint_parameter</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">effort_limit</span><span class="p">,</span> <span class="n">effort_limit</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">velocity_limit</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_parse_joint_parameter</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">velocity_limit</span><span class="p">,</span> <span class="n">velocity_limit</span><span class="p">)</span>
+
+        <span class="c1"># create commands buffers for allocation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">applied_effort</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string representation of the actuator group.&quot;&quot;&quot;</span>
+        <span class="c1"># resolve joint indices for printing</span>
+        <span class="n">joint_indices</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_indices</span>
+        <span class="k">if</span> <span class="n">joint_indices</span> <span class="o">==</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">joint_indices</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">))</span>
+        <span class="k">return</span> <span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;&lt;class </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">&gt; object:</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Number of joints      : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Joint names expression: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">joint_names_expr</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Joint names           : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Joint indices         : </span><span class="si">{</span><span class="n">joint_indices</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_joints</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of actuators in the group.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_joint_names</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">joint_names</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Articulation&#39;s joint names that are part of the group.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_names</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">joint_indices</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Articulation&#39;s joint indices that are part of the group.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            If :obj:`slice(None)` is returned, then the group contains all the joints in the articulation.</span>
+<span class="sd">            We do this to avoid unnecessary indexing of the joints for performance reasons.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_indices</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ActuatorBase.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.reset">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the internals within the group.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: List of environment IDs to reset.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+<div class="viewcode-block" id="ActuatorBase.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.compute">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">control_action</span><span class="p">:</span> <span class="n">ArticulationActions</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ArticulationActions</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Process the actuator group actions and compute the articulation actions.</span>
+
+<span class="sd">        It computes the articulation actions based on the actuator model type</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            control_action: The joint action instance comprising of the desired joint positions, joint velocities</span>
+<span class="sd">                and (feed-forward) joint efforts.</span>
+<span class="sd">            joint_pos: The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</span>
+<span class="sd">            joint_vel: The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The computed desired joint positions, joint velocities and joint efforts.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_parse_joint_parameter</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">cfg_value</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span> <span class="n">default_value</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Parse the joint parameter from the configuration.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg_value: The parameter value from the configuration. If None, then use the default value.</span>
+<span class="sd">            default_value: The default value to use if the parameter is None. If it is also None,</span>
+<span class="sd">                then an error is raised.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The parsed parameter value.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            TypeError: If the parameter value is not of the expected type.</span>
+<span class="sd">            TypeError: If the default value is not of the expected type.</span>
+<span class="sd">            ValueError: If the parameter value is None and no default value is provided.</span>
+<span class="sd">            ValueError: If the default value tensor is the wrong shape.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># create parameter buffer</span>
+        <span class="n">param</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># parse the parameter</span>
+        <span class="k">if</span> <span class="n">cfg_value</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg_value</span><span class="p">,</span> <span class="p">(</span><span class="nb">float</span><span class="p">,</span> <span class="nb">int</span><span class="p">)):</span>
+                <span class="c1"># if float, then use the same value for all joints</span>
+                <span class="n">param</span><span class="p">[:]</span> <span class="o">=</span> <span class="nb">float</span><span class="p">(</span><span class="n">cfg_value</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg_value</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+                <span class="c1"># if dict, then parse the regular expression</span>
+                <span class="n">indices</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">values</span> <span class="o">=</span> <span class="n">string_utils</span><span class="o">.</span><span class="n">resolve_matching_names_values</span><span class="p">(</span><span class="n">cfg_value</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="p">)</span>
+                <span class="c1"># note: need to specify type to be safe (e.g. values are ints, but we want floats)</span>
+                <span class="n">param</span><span class="p">[:,</span> <span class="n">indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">values</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Invalid type for parameter value: </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">cfg_value</span><span class="p">)</span><span class="si">}</span><span class="s2"> for &quot;</span>
+                    <span class="o">+</span> <span class="sa">f</span><span class="s2">&quot;actuator on joints </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="si">}</span><span class="s2">. Expected float or dict.&quot;</span>
+                <span class="p">)</span>
+        <span class="k">elif</span> <span class="n">default_value</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">default_value</span><span class="p">,</span> <span class="p">(</span><span class="nb">float</span><span class="p">,</span> <span class="nb">int</span><span class="p">)):</span>
+                <span class="c1"># if float, then use the same value for all joints</span>
+                <span class="n">param</span><span class="p">[:]</span> <span class="o">=</span> <span class="nb">float</span><span class="p">(</span><span class="n">default_value</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">default_value</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                <span class="c1"># if tensor, then use the same tensor for all joints</span>
+                <span class="k">if</span> <span class="n">default_value</span><span class="o">.</span><span class="n">shape</span> <span class="o">==</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">):</span>
+                    <span class="n">param</span> <span class="o">=</span> <span class="n">default_value</span><span class="o">.</span><span class="n">float</span><span class="p">()</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="s2">&quot;Invalid default value tensor shape.</span><span class="se">\n</span><span class="s2">&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot;Got: </span><span class="si">{</span><span class="n">default_value</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot;Expected: </span><span class="si">{</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span><span class="w"> </span><span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span>
+                    <span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Invalid type for default value: </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">default_value</span><span class="p">)</span><span class="si">}</span><span class="s2"> for &quot;</span>
+                    <span class="o">+</span> <span class="sa">f</span><span class="s2">&quot;actuator on joints </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="si">}</span><span class="s2">. Expected float or Tensor.&quot;</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;The parameter value is None and no default value is provided.&quot;</span><span class="p">)</span>
+
+        <span class="k">return</span> <span class="n">param</span>
+
+    <span class="k">def</span> <span class="nf">_clip_effort</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">effort</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Clip the desired torques based on the motor limits.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            desired_torques: The desired torques to clip.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The clipped torques.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">effort</span><span class="p">,</span> <span class="nb">min</span><span class="o">=-</span><span class="bp">self</span><span class="o">.</span><span class="n">effort_limit</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">effort_limit</span><span class="p">)</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.actuators.actuator_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Iterable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">actuator_net</span><span class="p">,</span> <span class="n">actuator_pd</span>
+<span class="kn">from</span> <span class="nn">.actuator_base</span> <span class="kn">import</span> <span class="n">ActuatorBase</span>
+
+
+<div class="viewcode-block" id="ActuatorBaseCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ActuatorBaseCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for default actuators in an articulation.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActuatorBase</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The associated actuator class.</span>
+
+<span class="sd">    The class should inherit from :class:`omni.isaac.lab.actuators.ActuatorBase`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">joint_names_expr</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Articulation&#39;s joint names that are part of the group.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This can be a list of joint names or a list of regex expressions (e.g. &quot;.*&quot;).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">effort_limit</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Force/Torque limit of the joints in the group. Defaults to None.</span>
+
+<span class="sd">    If None, the limit is set to the value specified in the USD joint prim.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">velocity_limit</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Velocity limit of the joints in the group. Defaults to None.</span>
+
+<span class="sd">    If None, the limit is set to the value specified in the USD joint prim.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">stiffness</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Stiffness gains (also known as p-gain) of the joints in the group.</span>
+
+<span class="sd">    If None, the stiffness is set to the value from the USD joint prim.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">damping</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Damping gains (also known as d-gain) of the joints in the group.</span>
+
+<span class="sd">    If None, the damping is set to the value from the USD joint prim.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">armature</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Armature of the joints in the group. Defaults to None.</span>
+
+<span class="sd">    If None, the armature is set to the value from the USD joint prim.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">friction</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint friction of the joints in the group. Defaults to None.</span>
+
+<span class="sd">    If None, the joint friction is set to the value from the USD joint prim.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Implicit Actuator Models.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="ImplicitActuatorCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ImplicitActuatorCfg</span><span class="p">(</span><span class="n">ActuatorBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an implicit actuator.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The PD control is handled implicitly by the simulation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">actuator_pd</span><span class="o">.</span><span class="n">ImplicitActuator</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Explicit Actuator Models.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="IdealPDActuatorCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuatorCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">IdealPDActuatorCfg</span><span class="p">(</span><span class="n">ActuatorBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an ideal PD actuator.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">actuator_pd</span><span class="o">.</span><span class="n">IdealPDActuator</span></div>
+
+
+<div class="viewcode-block" id="DCMotorCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotorCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DCMotorCfg</span><span class="p">(</span><span class="n">IdealPDActuatorCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for direct control (DC) motor actuator model.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">actuator_pd</span><span class="o">.</span><span class="n">DCMotor</span>
+
+    <span class="n">saturation_effort</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Peak motor force/torque of the electric DC motor (in N-m).&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="ActuatorNetLSTMCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ActuatorNetLSTMCfg</span><span class="p">(</span><span class="n">DCMotorCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for LSTM-based actuator model.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">actuator_net</span><span class="o">.</span><span class="n">ActuatorNetLSTM</span>
+    <span class="c1"># we don&#39;t use stiffness and damping for actuator net</span>
+    <span class="n">stiffness</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="n">damping</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="n">network_file</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Path to the file containing network weights.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="ActuatorNetMLPCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ActuatorNetMLPCfg</span><span class="p">(</span><span class="n">DCMotorCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for MLP-based actuator model.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">actuator_net</span><span class="o">.</span><span class="n">ActuatorNetMLP</span>
+    <span class="c1"># we don&#39;t use stiffness and damping for actuator net</span>
+    <span class="n">stiffness</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="n">damping</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="n">network_file</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Path to the file containing network weights.&quot;&quot;&quot;</span>
+
+    <span class="n">pos_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scaling of the joint position errors input to the network.&quot;&quot;&quot;</span>
+    <span class="n">vel_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scaling of the joint velocities input to the network.&quot;&quot;&quot;</span>
+    <span class="n">torque_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scaling of the joint efforts output from the network.&quot;&quot;&quot;</span>
+
+    <span class="n">input_order</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;pos_vel&quot;</span><span class="p">,</span> <span class="s2">&quot;vel_pos&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Order of the inputs to the network.</span>
+
+<span class="sd">    The order can be one of the following:</span>
+
+<span class="sd">    * ``&quot;pos_vel&quot;``: joint position errors followed by joint velocities</span>
+<span class="sd">    * ``&quot;vel_pos&quot;``: joint velocities followed by joint position errors</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">input_idx</span><span class="p">:</span> <span class="n">Iterable</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Indices of the actuator history buffer passed as inputs to the network.</span>
+
+<span class="sd">    The index *0* corresponds to current time-step, while *n* corresponds to n-th</span>
+<span class="sd">    time-step in the past. The allocated history length is `max(input_idx) + 1`.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="DelayedPDActuatorCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DelayedPDActuatorCfg</span><span class="p">(</span><span class="n">IdealPDActuatorCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a delayed PD actuator.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">actuator_pd</span><span class="o">.</span><span class="n">DelayedPDActuator</span>
+
+    <span class="n">min_delay</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Minimum number of physics time-steps with which the actuator command may be delayed. Defaults to 0.&quot;&quot;&quot;</span>
+
+    <span class="n">max_delay</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Maximum number of physics time-steps with which the actuator command may be delayed. Defaults to 0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="RemotizedPDActuatorCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RemotizedPDActuatorCfg</span><span class="p">(</span><span class="n">DelayedPDActuatorCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a remotized PD actuator.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The torque output limits for this actuator is derived from a linear interpolation of a lookup table</span>
+<span class="sd">        in :attr:`joint_parameter_lookup`. This table describes the relationship between joint angles and</span>
+<span class="sd">        the output torques.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">actuator_pd</span><span class="o">.</span><span class="n">RemotizedPDActuator</span>
+
+    <span class="n">joint_parameter_lookup</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint parameter lookup table. Shape is (num_lookup_points, 3).</span>
+
+<span class="sd">    This tensor describes the relationship between the joint angle (rad), the transmission ratio (in/out),</span>
+<span class="sd">    and the output torque (N*m). The table is used to interpolate the output torque based on the joint angle.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
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+  <h1>Source code for omni.isaac.lab.actuators.actuator_net</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Neural network models for actuators.</span>
+
+<span class="sd">Currently, the following models are supported:</span>
+
+<span class="sd">* Multi-Layer Perceptron (MLP)</span>
+<span class="sd">* Long Short-Term Memory (LSTM)</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">read_file</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.types</span> <span class="kn">import</span> <span class="n">ArticulationActions</span>
+
+<span class="kn">from</span> <span class="nn">.actuator_pd</span> <span class="kn">import</span> <span class="n">DCMotor</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.actuator_cfg</span> <span class="kn">import</span> <span class="n">ActuatorNetLSTMCfg</span><span class="p">,</span> <span class="n">ActuatorNetMLPCfg</span>
+
+
+<div class="viewcode-block" id="ActuatorNetLSTM"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM">[docs]</a><span class="k">class</span> <span class="nc">ActuatorNetLSTM</span><span class="p">(</span><span class="n">DCMotor</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Actuator model based on recurrent neural network (LSTM).</span>
+
+<span class="sd">    Unlike the MLP implementation :cite:t:`hwangbo2019learning`, this class implements</span>
+<span class="sd">    the learned model as a temporal neural network (LSTM) based on the work from</span>
+<span class="sd">    :cite:t:`rudin2022learning`. This removes the need of storing a history as the</span>
+<span class="sd">    hidden states of the recurrent network captures the history.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        Only the desired joint positions are used as inputs to the network.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">ActuatorNetLSTMCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration of the actuator model.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ActuatorNetLSTM.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ActuatorNetLSTMCfg</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+
+        <span class="c1"># load the model from JIT file</span>
+        <span class="n">file_bytes</span> <span class="o">=</span> <span class="n">read_file</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">network_file</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">network</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">load</span><span class="p">(</span><span class="n">file_bytes</span><span class="p">,</span> <span class="n">map_location</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+
+        <span class="c1"># extract number of lstm layers and hidden dim from the shape of weights</span>
+        <span class="n">num_layers</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">network</span><span class="o">.</span><span class="n">lstm</span><span class="o">.</span><span class="n">state_dict</span><span class="p">())</span> <span class="o">//</span> <span class="mi">4</span>
+        <span class="n">hidden_dim</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">network</span><span class="o">.</span><span class="n">lstm</span><span class="o">.</span><span class="n">state_dict</span><span class="p">()[</span><span class="s2">&quot;weight_hh_l0&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
+        <span class="c1"># create buffers for storing LSTM inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sea_input</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sea_hidden_state</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+            <span class="n">num_layers</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">hidden_dim</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sea_cell_state</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">num_layers</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">hidden_dim</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># reshape via views (doesn&#39;t change the actual memory layout)</span>
+        <span class="n">layer_shape_per_env</span> <span class="o">=</span> <span class="p">(</span><span class="n">num_layers</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">hidden_dim</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sea_hidden_state_per_env</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">sea_hidden_state</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">layer_shape_per_env</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sea_cell_state_per_env</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">sea_cell_state</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">layer_shape_per_env</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ActuatorNetLSTM.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+        <span class="c1"># reset the hidden and cell states for the specified environments</span>
+        <span class="k">with</span> <span class="n">torch</span><span class="o">.</span><span class="n">no_grad</span><span class="p">():</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sea_hidden_state_per_env</span><span class="p">[:,</span> <span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sea_cell_state_per_env</span><span class="p">[:,</span> <span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+<div class="viewcode-block" id="ActuatorNetLSTM.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">control_action</span><span class="p">:</span> <span class="n">ArticulationActions</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ArticulationActions</span><span class="p">:</span>
+        <span class="c1"># compute network inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sea_input</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span> <span class="o">-</span> <span class="n">joint_pos</span><span class="p">)</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sea_input</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_vel</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span>
+        <span class="c1"># save current joint vel for dc-motor clipping</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">joint_vel</span>
+
+        <span class="c1"># run network inference</span>
+        <span class="k">with</span> <span class="n">torch</span><span class="o">.</span><span class="n">inference_mode</span><span class="p">():</span>
+            <span class="n">torques</span><span class="p">,</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">sea_hidden_state</span><span class="p">[:],</span> <span class="bp">self</span><span class="o">.</span><span class="n">sea_cell_state</span><span class="p">[:])</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">network</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">sea_input</span><span class="p">,</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">sea_hidden_state</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">sea_cell_state</span><span class="p">)</span>
+            <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span> <span class="o">=</span> <span class="n">torques</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">)</span>
+
+        <span class="c1"># clip the computed effort based on the motor limits</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">applied_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_clip_effort</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span><span class="p">)</span>
+
+        <span class="c1"># return torques</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">applied_effort</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_velocities</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="k">return</span> <span class="n">control_action</span></div></div>
+
+
+<div class="viewcode-block" id="ActuatorNetMLP"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP">[docs]</a><span class="k">class</span> <span class="nc">ActuatorNetMLP</span><span class="p">(</span><span class="n">DCMotor</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Actuator model based on multi-layer perceptron and joint history.</span>
+
+<span class="sd">    Many times the analytical model is not sufficient to capture the actuator dynamics, the</span>
+<span class="sd">    delay in the actuator response, or the non-linearities in the actuator. In these cases,</span>
+<span class="sd">    a neural network model can be used to approximate the actuator dynamics. This model is</span>
+<span class="sd">    trained using data collected from the physical actuator and maps the joint state and the</span>
+<span class="sd">    desired joint command to the produced torque by the actuator.</span>
+
+<span class="sd">    This class implements the learned model as a neural network based on the work from</span>
+<span class="sd">    :cite:t:`hwangbo2019learning`. The class stores the history of the joint positions errors</span>
+<span class="sd">    and velocities which are used to provide input to the neural network. The model is loaded</span>
+<span class="sd">    as a TorchScript.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        Only the desired joint positions are used as inputs to the network.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">ActuatorNetMLPCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration of the actuator model.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ActuatorNetMLP.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ActuatorNetMLPCfg</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+
+        <span class="c1"># load the model from JIT file</span>
+        <span class="n">file_bytes</span> <span class="o">=</span> <span class="n">read_file</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">network_file</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">network</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">load</span><span class="p">(</span><span class="n">file_bytes</span><span class="p">,</span> <span class="n">map_location</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+
+        <span class="c1"># create buffers for MLP history</span>
+        <span class="n">history_length</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">input_idx</span><span class="p">)</span> <span class="o">+</span> <span class="mi">1</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos_error_history</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="n">history_length</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel_history</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="n">history_length</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ActuatorNetMLP.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+        <span class="c1"># reset the history for the specified environments</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos_error_history</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel_history</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+<div class="viewcode-block" id="ActuatorNetMLP.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">control_action</span><span class="p">:</span> <span class="n">ArticulationActions</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ArticulationActions</span><span class="p">:</span>
+        <span class="c1"># move history queue by 1 and update top of history</span>
+        <span class="c1"># -- positions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos_error_history</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos_error_history</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos_error_history</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span> <span class="o">-</span> <span class="n">joint_pos</span>
+        <span class="c1"># -- velocity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel_history</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel_history</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel_history</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_vel</span>
+        <span class="c1"># save current joint vel for dc-motor clipping</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">joint_vel</span>
+
+        <span class="c1"># compute network inputs</span>
+        <span class="c1"># -- positions</span>
+        <span class="n">pos_input</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos_error_history</span><span class="p">[:,</span> <span class="n">i</span><span class="p">]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">input_idx</span><span class="p">],</span> <span class="n">dim</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
+        <span class="n">pos_input</span> <span class="o">=</span> <span class="n">pos_input</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># -- velocity</span>
+        <span class="n">vel_input</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel_history</span><span class="p">[:,</span> <span class="n">i</span><span class="p">]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">input_idx</span><span class="p">],</span> <span class="n">dim</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
+        <span class="n">vel_input</span> <span class="o">=</span> <span class="n">vel_input</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># -- scale and concatenate inputs</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">input_order</span> <span class="o">==</span> <span class="s2">&quot;pos_vel&quot;</span><span class="p">:</span>
+            <span class="n">network_input</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">pos_input</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pos_scale</span><span class="p">,</span> <span class="n">vel_input</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">vel_scale</span><span class="p">],</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">input_order</span> <span class="o">==</span> <span class="s2">&quot;vel_pos&quot;</span><span class="p">:</span>
+            <span class="n">network_input</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">vel_input</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">vel_scale</span><span class="p">,</span> <span class="n">pos_input</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pos_scale</span><span class="p">],</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Invalid input order for MLP actuator net: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">input_order</span><span class="si">}</span><span class="s2">. Must be &#39;pos_vel&#39; or &#39;vel_pos&#39;.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># run network inference</span>
+        <span class="n">torques</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">network</span><span class="p">(</span><span class="n">network_input</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span> <span class="o">=</span> <span class="n">torques</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">)</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">torque_scale</span>
+
+        <span class="c1"># clip the computed effort based on the motor limits</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">applied_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_clip_effort</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span><span class="p">)</span>
+
+        <span class="c1"># return torques</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">applied_effort</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_velocities</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="k">return</span> <span class="n">control_action</span></div></div>
+</pre></div>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/actuators/actuator_pd.html b/v1.4.0/_modules/omni/isaac/lab/actuators/actuator_pd.html
new file mode 100644
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+    <title>omni.isaac.lab.actuators.actuator_pd &#8212; Isaac Lab Documentation</title>
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+  <h1>Source code for omni.isaac.lab.actuators.actuator_pd</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">DelayBuffer</span><span class="p">,</span> <span class="n">LinearInterpolation</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.types</span> <span class="kn">import</span> <span class="n">ArticulationActions</span>
+
+<span class="kn">from</span> <span class="nn">.actuator_base</span> <span class="kn">import</span> <span class="n">ActuatorBase</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.actuator_cfg</span> <span class="kn">import</span> <span class="p">(</span>
+        <span class="n">DCMotorCfg</span><span class="p">,</span>
+        <span class="n">DelayedPDActuatorCfg</span><span class="p">,</span>
+        <span class="n">IdealPDActuatorCfg</span><span class="p">,</span>
+        <span class="n">ImplicitActuatorCfg</span><span class="p">,</span>
+        <span class="n">RemotizedPDActuatorCfg</span><span class="p">,</span>
+    <span class="p">)</span>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Implicit Actuator Models.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="ImplicitActuator"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator">[docs]</a><span class="k">class</span> <span class="nc">ImplicitActuator</span><span class="p">(</span><span class="n">ActuatorBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Implicit actuator model that is handled by the simulation.</span>
+
+<span class="sd">    This performs a similar function as the :class:`IdealPDActuator` class. However, the PD control is handled</span>
+<span class="sd">    implicitly by the simulation which performs continuous-time integration of the PD control law. This is</span>
+<span class="sd">    generally more accurate than the explicit PD control law used in :class:`IdealPDActuator` when the simulation</span>
+<span class="sd">    time-step is large.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        The articulation class sets the stiffness and damping parameters from the configuration into the simulation.</span>
+<span class="sd">        Thus, the parameters are not used in this class.</span>
+
+<span class="sd">    .. caution::</span>
+
+<span class="sd">        The class is only provided for consistency with the other actuator models. It does not implement any</span>
+<span class="sd">        functionality and should not be used. All values should be set to the simulation directly.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">ImplicitActuatorCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the actuator model.&quot;&quot;&quot;</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ImplicitActuator.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+        <span class="c1"># This is a no-op. There is no state to reset for implicit actuators.</span>
+        <span class="k">pass</span></div>
+
+<div class="viewcode-block" id="ImplicitActuator.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">control_action</span><span class="p">:</span> <span class="n">ArticulationActions</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ArticulationActions</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Process the actuator group actions and compute the articulation actions.</span>
+
+<span class="sd">        In case of implicit actuator, the control action is directly returned as the computed action.</span>
+<span class="sd">        This function is a no-op and does not perform any computation on the input control action.</span>
+<span class="sd">        However, it computes the approximate torques for the actuated joint since PhysX does not compute</span>
+<span class="sd">        this quantity explicitly.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            control_action: The joint action instance comprising of the desired joint positions, joint velocities</span>
+<span class="sd">                and (feed-forward) joint efforts.</span>
+<span class="sd">            joint_pos: The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</span>
+<span class="sd">            joint_vel: The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The computed desired joint positions, joint velocities and joint efforts.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store approximate torques for reward computation</span>
+        <span class="n">error_pos</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span> <span class="o">-</span> <span class="n">joint_pos</span>
+        <span class="n">error_vel</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_velocities</span> <span class="o">-</span> <span class="n">joint_vel</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">stiffness</span> <span class="o">*</span> <span class="n">error_pos</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">damping</span> <span class="o">*</span> <span class="n">error_vel</span> <span class="o">+</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span>
+        <span class="c1"># clip the torques based on the motor limits</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">applied_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_clip_effort</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">control_action</span></div></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Explicit Actuator Models.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="IdealPDActuator"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator">[docs]</a><span class="k">class</span> <span class="nc">IdealPDActuator</span><span class="p">(</span><span class="n">ActuatorBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Ideal torque-controlled actuator model with a simple saturation model.</span>
+
+<span class="sd">    It employs the following model for computing torques for the actuated joint :math:`j`:</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        \tau_{j, computed} = k_p * (q - q_{des}) + k_d * (\dot{q} - \dot{q}_{des}) + \tau_{ff}</span>
+
+<span class="sd">    where, :math:`k_p` and :math:`k_d` are joint stiffness and damping gains, :math:`q` and :math:`\dot{q}`</span>
+<span class="sd">    are the current joint positions and velocities, :math:`q_{des}`, :math:`\dot{q}_{des}` and :math:`\tau_{ff}`</span>
+<span class="sd">    are the desired joint positions, velocities and torques commands.</span>
+
+<span class="sd">    The clipping model is based on the maximum torque applied by the motor. It is implemented as:</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        \tau_{j, max} &amp; = \gamma \times \tau_{motor, max} \\</span>
+<span class="sd">        \tau_{j, applied} &amp; = clip(\tau_{computed}, -\tau_{j, max}, \tau_{j, max})</span>
+
+<span class="sd">    where the clipping function is defined as :math:`clip(x, x_{min}, x_{max}) = min(max(x, x_{min}), x_{max})`.</span>
+<span class="sd">    The parameters :math:`\gamma` is the gear ratio of the gear box connecting the motor and the actuated joint ends,</span>
+<span class="sd">    and :math:`\tau_{motor, max}` is the maximum motor effort possible. These parameters are read from</span>
+<span class="sd">    the configuration instance passed to the class.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">IdealPDActuatorCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the actuator model.&quot;&quot;&quot;</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="IdealPDActuator.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+        <span class="k">pass</span></div>
+
+<div class="viewcode-block" id="IdealPDActuator.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">control_action</span><span class="p">:</span> <span class="n">ArticulationActions</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ArticulationActions</span><span class="p">:</span>
+        <span class="c1"># compute errors</span>
+        <span class="n">error_pos</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span> <span class="o">-</span> <span class="n">joint_pos</span>
+        <span class="n">error_vel</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_velocities</span> <span class="o">-</span> <span class="n">joint_vel</span>
+        <span class="c1"># calculate the desired joint torques</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">stiffness</span> <span class="o">*</span> <span class="n">error_pos</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">damping</span> <span class="o">*</span> <span class="n">error_vel</span> <span class="o">+</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span>
+        <span class="c1"># clip the torques based on the motor limits</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">applied_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_clip_effort</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span><span class="p">)</span>
+        <span class="c1"># set the computed actions back into the control action</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">applied_effort</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_velocities</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="k">return</span> <span class="n">control_action</span></div></div>
+
+
+<div class="viewcode-block" id="DCMotor"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor">[docs]</a><span class="k">class</span> <span class="nc">DCMotor</span><span class="p">(</span><span class="n">IdealPDActuator</span><span class="p">):</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Direct control (DC) motor actuator model with velocity-based saturation model.</span>
+
+<span class="sd">    It uses the same model as the :class:`IdealActuator` for computing the torques from input commands.</span>
+<span class="sd">    However, it implements a saturation model defined by DC motor characteristics.</span>
+
+<span class="sd">    A DC motor is a type of electric motor that is powered by direct current electricity. In most cases,</span>
+<span class="sd">    the motor is connected to a constant source of voltage supply, and the current is controlled by a rheostat.</span>
+<span class="sd">    Depending on various design factors such as windings and materials, the motor can draw a limited maximum power</span>
+<span class="sd">    from the electronic source, which limits the produced motor torque and speed.</span>
+
+<span class="sd">    A DC motor characteristics are defined by the following parameters:</span>
+
+<span class="sd">    * Continuous-rated speed (:math:`\dot{q}_{motor, max}`) : The maximum-rated speed of the motor.</span>
+<span class="sd">    * Continuous-stall torque (:math:`\tau_{motor, max}`): The maximum-rated torque produced at 0 speed.</span>
+<span class="sd">    * Saturation torque (:math:`\tau_{motor, sat}`): The maximum torque that can be outputted for a short period.</span>
+
+<span class="sd">    Based on these parameters, the instantaneous minimum and maximum torques are defined as follows:</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        \tau_{j, max}(\dot{q}) &amp; = clip \left (\tau_{j, sat} \times \left(1 -</span>
+<span class="sd">            \frac{\dot{q}}{\dot{q}_{j, max}}\right), 0.0, \tau_{j, max} \right) \\</span>
+<span class="sd">        \tau_{j, min}(\dot{q}) &amp; = clip \left (\tau_{j, sat} \times \left( -1 -</span>
+<span class="sd">            \frac{\dot{q}}{\dot{q}_{j, max}}\right), - \tau_{j, max}, 0.0 \right)</span>
+
+<span class="sd">    where :math:`\gamma` is the gear ratio of the gear box connecting the motor and the actuated joint ends,</span>
+<span class="sd">    :math:`\dot{q}_{j, max} = \gamma^{-1} \times  \dot{q}_{motor, max}`, :math:`\tau_{j, max} =</span>
+<span class="sd">    \gamma \times \tau_{motor, max}` and :math:`\tau_{j, peak} = \gamma \times \tau_{motor, peak}`</span>
+<span class="sd">    are the maximum joint velocity, maximum joint torque and peak torque, respectively. These parameters</span>
+<span class="sd">    are read from the configuration instance passed to the class.</span>
+
+<span class="sd">    Using these values, the computed torques are clipped to the minimum and maximum values based on the</span>
+<span class="sd">    instantaneous joint velocity:</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        \tau_{j, applied} = clip(\tau_{computed}, \tau_{j, min}(\dot{q}), \tau_{j, max}(\dot{q}))</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">DCMotorCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the actuator model.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DCMotor.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">DCMotorCfg</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+        <span class="c1"># parse configuration</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">saturation_effort</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_saturation_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">saturation_effort</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_saturation_effort</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span>
+        <span class="c1"># prepare joint vel buffer for max effort computation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span><span class="p">)</span>
+        <span class="c1"># create buffer for zeros effort</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_zeros_effort</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">computed_effort</span><span class="p">)</span>
+        <span class="c1"># check that quantities are provided</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">velocity_limit</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;The velocity limit must be provided for the DC motor actuator model.&quot;</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DCMotor.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">control_action</span><span class="p">:</span> <span class="n">ArticulationActions</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ArticulationActions</span><span class="p">:</span>
+        <span class="c1"># save current joint vel</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">joint_vel</span>
+        <span class="c1"># calculate the desired joint torques</span>
+        <span class="k">return</span> <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">control_action</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_clip_effort</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">effort</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+        <span class="c1"># compute torque limits</span>
+        <span class="c1"># -- max limit</span>
+        <span class="n">max_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_saturation_effort</span> <span class="o">*</span> <span class="p">(</span><span class="mf">1.0</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">velocity_limit</span><span class="p">)</span>
+        <span class="n">max_effort</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">max_effort</span><span class="p">,</span> <span class="nb">min</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_zeros_effort</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">effort_limit</span><span class="p">)</span>
+        <span class="c1"># -- min limit</span>
+        <span class="n">min_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_saturation_effort</span> <span class="o">*</span> <span class="p">(</span><span class="o">-</span><span class="mf">1.0</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">velocity_limit</span><span class="p">)</span>
+        <span class="n">min_effort</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">min_effort</span><span class="p">,</span> <span class="nb">min</span><span class="o">=-</span><span class="bp">self</span><span class="o">.</span><span class="n">effort_limit</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_zeros_effort</span><span class="p">)</span>
+
+        <span class="c1"># clip the torques based on the motor limits</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">effort</span><span class="p">,</span> <span class="nb">min</span><span class="o">=</span><span class="n">min_effort</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="n">max_effort</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="DelayedPDActuator"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator">[docs]</a><span class="k">class</span> <span class="nc">DelayedPDActuator</span><span class="p">(</span><span class="n">IdealPDActuator</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Ideal PD actuator with delayed command application.</span>
+
+<span class="sd">    This class extends the :class:`IdealPDActuator` class by adding a delay to the actuator commands. The delay</span>
+<span class="sd">    is implemented using a circular buffer that stores the actuator commands for a certain number of physics steps.</span>
+<span class="sd">    The most recent actuation value is pushed to the buffer at every physics step, but the final actuation value</span>
+<span class="sd">    applied to the simulation is lagged by a certain number of physics steps.</span>
+
+<span class="sd">    The amount of time lag is configurable and can be set to a random value between the minimum and maximum time</span>
+<span class="sd">    lag bounds at every reset. The minimum and maximum time lag values are set in the configuration instance passed</span>
+<span class="sd">    to the class.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">DelayedPDActuatorCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the actuator model.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DelayedPDActuator.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">DelayedPDActuatorCfg</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+        <span class="c1"># instantiate the delay buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">positions_delay_buffer</span> <span class="o">=</span> <span class="n">DelayBuffer</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_delay</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">velocities_delay_buffer</span> <span class="o">=</span> <span class="n">DelayBuffer</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_delay</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">efforts_delay_buffer</span> <span class="o">=</span> <span class="n">DelayBuffer</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_delay</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># all of the envs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="DelayedPDActuator.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># number of environments (since env_ids can be a slice)</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">env_ids</span> <span class="o">==</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">num_envs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">num_envs</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># set a new random delay for environments in env_ids</span>
+        <span class="n">time_lags</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span>
+            <span class="n">low</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">min_delay</span><span class="p">,</span>
+            <span class="n">high</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_delay</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span>
+            <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="n">num_envs</span><span class="p">,),</span>
+            <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int</span><span class="p">,</span>
+            <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="c1"># set delays</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">positions_delay_buffer</span><span class="o">.</span><span class="n">set_time_lag</span><span class="p">(</span><span class="n">time_lags</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">velocities_delay_buffer</span><span class="o">.</span><span class="n">set_time_lag</span><span class="p">(</span><span class="n">time_lags</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">efforts_delay_buffer</span><span class="o">.</span><span class="n">set_time_lag</span><span class="p">(</span><span class="n">time_lags</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># reset buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">positions_delay_buffer</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">velocities_delay_buffer</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">efforts_delay_buffer</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="DelayedPDActuator.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">control_action</span><span class="p">:</span> <span class="n">ArticulationActions</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ArticulationActions</span><span class="p">:</span>
+        <span class="c1"># apply delay based on the delay the model for all the setpoints</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">positions_delay_buffer</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span><span class="p">)</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_velocities</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">velocities_delay_buffer</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">control_action</span><span class="o">.</span><span class="n">joint_velocities</span><span class="p">)</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">efforts_delay_buffer</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span><span class="p">)</span>
+        <span class="c1"># compte actuator model</span>
+        <span class="k">return</span> <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">control_action</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span></div></div>
+
+
+<div class="viewcode-block" id="RemotizedPDActuator"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator">[docs]</a><span class="k">class</span> <span class="nc">RemotizedPDActuator</span><span class="p">(</span><span class="n">DelayedPDActuator</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Ideal PD actuator with angle-dependent torque limits.</span>
+
+<span class="sd">    This class extends the :class:`DelayedPDActuator` class by adding angle-dependent torque limits to the actuator.</span>
+<span class="sd">    The torque limits are applied by querying a lookup table describing the relationship between the joint angle</span>
+<span class="sd">    and the maximum output torque. The lookup table is provided in the configuration instance passed to the class.</span>
+
+<span class="sd">    The torque limits are interpolated based on the current joint positions and applied to the actuator commands.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RemotizedPDActuator.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">cfg</span><span class="p">:</span> <span class="n">RemotizedPDActuatorCfg</span><span class="p">,</span>
+        <span class="n">joint_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span>
+        <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+        <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+        <span class="n">stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">damping</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">armature</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">friction</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">effort_limit</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span>
+        <span class="n">velocity_limit</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span>
+    <span class="p">):</span>
+        <span class="c1"># remove effort and velocity box constraints from the base class</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">effort_limit</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">velocity_limit</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span>
+        <span class="c1"># call the base method and set default effort_limit and velocity_limit to inf</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span>
+            <span class="n">cfg</span><span class="p">,</span> <span class="n">joint_names</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="p">,</span> <span class="n">stiffness</span><span class="p">,</span> <span class="n">damping</span><span class="p">,</span> <span class="n">armature</span><span class="p">,</span> <span class="n">friction</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_parameter_lookup</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">joint_parameter_lookup</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># define remotized joint torque limit</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_torque_limit</span> <span class="o">=</span> <span class="n">LinearInterpolation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">angle_samples</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_torque_samples</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">angle_samples</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_parameter_lookup</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">transmission_ratio_samples</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_parameter_lookup</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_torque_samples</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_parameter_lookup</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RemotizedPDActuator.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">control_action</span><span class="p">:</span> <span class="n">ArticulationActions</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ArticulationActions</span><span class="p">:</span>
+        <span class="c1"># call the base method</span>
+        <span class="n">control_action</span> <span class="o">=</span> <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">control_action</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span>
+        <span class="c1"># compute the absolute torque limits for the current joint positions</span>
+        <span class="n">abs_torque_limits</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_torque_limit</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">)</span>
+        <span class="c1"># apply the limits</span>
+        <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clamp</span><span class="p">(</span>
+            <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span><span class="p">,</span> <span class="nb">min</span><span class="o">=-</span><span class="n">abs_torque_limits</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="n">abs_torque_limits</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">applied_effort</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span>
+        <span class="k">return</span> <span class="n">control_action</span></div></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.app.app_launcher</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-package with the utility class to configure the :class:`omni.isaac.kit.SimulationApp`.</span>
+
+<span class="sd">The :class:`AppLauncher` parses environment variables and input CLI arguments to launch the simulator in</span>
+<span class="sd">various different modes. This includes with or without GUI and switching between different Omniverse remote</span>
+<span class="sd">clients. Some of these require the extensions to be loaded in a specific order, otherwise a segmentation</span>
+<span class="sd">fault occurs. The launched :class:`omni.isaac.kit.SimulationApp` instance is accessible via the</span>
+<span class="sd">:attr:`AppLauncher.app` property.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">argparse</span>
+<span class="kn">import</span> <span class="nn">contextlib</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">import</span> <span class="nn">signal</span>
+<span class="kn">import</span> <span class="nn">sys</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span><span class="p">,</span> <span class="n">Literal</span>
+
+<span class="k">with</span> <span class="n">contextlib</span><span class="o">.</span><span class="n">suppress</span><span class="p">(</span><span class="ne">ModuleNotFoundError</span><span class="p">):</span>
+    <span class="kn">import</span> <span class="nn">isaacsim</span>  <span class="c1"># noqa: F401</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.kit</span> <span class="kn">import</span> <span class="n">SimulationApp</span>
+
+
+<div class="viewcode-block" id="AppLauncher"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher">[docs]</a><span class="k">class</span> <span class="nc">AppLauncher</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A utility class to launch Isaac Sim application based on command-line arguments and environment variables.</span>
+
+<span class="sd">    The class resolves the simulation app settings that appear through environments variables,</span>
+<span class="sd">    command-line arguments (CLI) or as input keyword arguments. Based on these settings, it launches the</span>
+<span class="sd">    simulation app and configures the extensions to load (as a part of post-launch setup).</span>
+
+<span class="sd">    The input arguments provided to the class are given higher priority than the values set</span>
+<span class="sd">    from the corresponding environment variables. This provides flexibility to deal with different</span>
+<span class="sd">    users&#39; preferences.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        Explicitly defined arguments are only given priority when their value is set to something outside</span>
+<span class="sd">        their default configuration. For example, the ``livestream`` argument is -1 by default. It only</span>
+<span class="sd">        overrides the ``LIVESTREAM`` environment variable when ``livestream`` argument is set to a</span>
+<span class="sd">        value &gt;-1. In other words, if ``livestream=-1``, then the value from the environment variable</span>
+<span class="sd">        ``LIVESTREAM`` is used.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="AppLauncher.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">launcher_args</span><span class="p">:</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span> <span class="o">|</span> <span class="nb">dict</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create a `SimulationApp`_ instance based on the input settings.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            launcher_args: Input arguments to parse using the AppLauncher and set into the SimulationApp.</span>
+<span class="sd">                Defaults to None, which is equivalent to passing an empty dictionary. A detailed description of</span>
+<span class="sd">                the possible arguments is available in the `SimulationApp`_ documentation.</span>
+<span class="sd">            **kwargs : Additional keyword arguments that will be merged into :attr:`launcher_args`.</span>
+<span class="sd">                They serve as a convenience for those who want to pass some arguments using the argparse</span>
+<span class="sd">                interface and others directly into the AppLauncher. Duplicated arguments with</span>
+<span class="sd">                the :attr:`launcher_args` will raise a ValueError.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If there are common/duplicated arguments between ``launcher_args`` and ``kwargs``.</span>
+<span class="sd">            ValueError: If combination of ``launcher_args`` and ``kwargs`` are missing the necessary arguments</span>
+<span class="sd">                that are needed by the AppLauncher to resolve the desired app configuration.</span>
+<span class="sd">            ValueError: If incompatible or undefined values are assigned to relevant environment values,</span>
+<span class="sd">                such as ``LIVESTREAM``.</span>
+
+<span class="sd">        .. _argparse.Namespace: https://docs.python.org/3/library/argparse.html?highlight=namespace#argparse.Namespace</span>
+<span class="sd">        .. _SimulationApp: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># We allow users to pass either a dict or an argparse.Namespace into</span>
+        <span class="c1"># __init__, anticipating that these will be all of the argparse arguments</span>
+        <span class="c1"># used by the calling script. Those which we appended via add_app_launcher_args</span>
+        <span class="c1"># will be used to control extension loading logic. Additional arguments are allowed,</span>
+        <span class="c1"># and will be passed directly to the SimulationApp initialization.</span>
+        <span class="c1">#</span>
+        <span class="c1"># We could potentially require users to enter each argument they want passed here</span>
+        <span class="c1"># as a kwarg, but this would require them to pass livestream, headless, and</span>
+        <span class="c1"># any other options we choose to add here explicitly, and with the correct keywords.</span>
+        <span class="c1">#</span>
+        <span class="c1"># @hunter: I feel that this is cumbersome and could introduce error, and would prefer to do</span>
+        <span class="c1"># some sanity checking in the add_app_launcher_args function</span>
+        <span class="k">if</span> <span class="n">launcher_args</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">launcher_args</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">launcher_args</span><span class="p">,</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">):</span>
+            <span class="n">launcher_args</span> <span class="o">=</span> <span class="n">launcher_args</span><span class="o">.</span><span class="vm">__dict__</span>
+
+        <span class="c1"># Check that arguments are unique</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">kwargs</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">set</span><span class="p">(</span><span class="n">kwargs</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span><span class="o">.</span><span class="n">isdisjoint</span><span class="p">(</span><span class="n">launcher_args</span><span class="o">.</span><span class="n">keys</span><span class="p">()):</span>
+                <span class="n">overlapping_args</span> <span class="o">=</span> <span class="nb">set</span><span class="p">(</span><span class="n">kwargs</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span><span class="o">.</span><span class="n">intersection</span><span class="p">(</span><span class="n">launcher_args</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Input `launcher_args` and `kwargs` both provided common attributes: </span><span class="si">{</span><span class="n">overlapping_args</span><span class="si">}</span><span class="s2">.&quot;</span>
+                    <span class="s2">&quot; Please ensure that each argument is supplied to only one of them, as the AppLauncher cannot&quot;</span>
+                    <span class="s2">&quot; discern priority between them.&quot;</span>
+                <span class="p">)</span>
+            <span class="n">launcher_args</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">kwargs</span><span class="p">)</span>
+
+        <span class="c1"># Define config members that are read from env-vars or keyword args</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span><span class="p">:</span> <span class="nb">bool</span>  <span class="c1"># 0: GUI, 1: Headless</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span>  <span class="c1"># 0: Disabled, 1: Native, 2: WebRTC</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_offscreen_render</span><span class="p">:</span> <span class="nb">bool</span>  <span class="c1"># 0: Disabled, 1: Enabled</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span><span class="p">:</span> <span class="nb">str</span>  <span class="c1"># Experience file to load</span>
+
+        <span class="c1"># Exposed to train scripts</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">device_id</span><span class="p">:</span> <span class="nb">int</span>  <span class="c1"># device ID for GPU simulation (defaults to 0)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">local_rank</span><span class="p">:</span> <span class="nb">int</span>  <span class="c1"># local rank of GPUs in the current node</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">global_rank</span><span class="p">:</span> <span class="nb">int</span>  <span class="c1"># global rank for multi-node training</span>
+
+        <span class="c1"># Integrate env-vars and input keyword args into simulation app config</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_config_resolution</span><span class="p">(</span><span class="n">launcher_args</span><span class="p">)</span>
+        <span class="c1"># Create SimulationApp, passing the resolved self._config to it for initialization</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_app</span><span class="p">()</span>
+        <span class="c1"># Load IsaacSim extensions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_load_extensions</span><span class="p">()</span>
+        <span class="c1"># Hide the stop button in the toolbar</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_hide_stop_button</span><span class="p">()</span>
+
+        <span class="c1"># Set up signal handlers for graceful shutdown</span>
+        <span class="c1"># -- during interrupts</span>
+        <span class="n">signal</span><span class="o">.</span><span class="n">signal</span><span class="p">(</span><span class="n">signal</span><span class="o">.</span><span class="n">SIGINT</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_interrupt_signal_handle_callback</span><span class="p">)</span>
+        <span class="c1"># -- during explicit `kill` commands</span>
+        <span class="n">signal</span><span class="o">.</span><span class="n">signal</span><span class="p">(</span><span class="n">signal</span><span class="o">.</span><span class="n">SIGTERM</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_abort_signal_handle_callback</span><span class="p">)</span>
+        <span class="c1"># -- during segfaults</span>
+        <span class="n">signal</span><span class="o">.</span><span class="n">signal</span><span class="p">(</span><span class="n">signal</span><span class="o">.</span><span class="n">SIGABRT</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_abort_signal_handle_callback</span><span class="p">)</span>
+        <span class="n">signal</span><span class="o">.</span><span class="n">signal</span><span class="p">(</span><span class="n">signal</span><span class="o">.</span><span class="n">SIGSEGV</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_abort_signal_handle_callback</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">app</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">SimulationApp</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The launched SimulationApp.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_app</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_app</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;The `AppLauncher.app` member cannot be retrieved until the class is initialized.&quot;</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="AppLauncher.add_app_launcher_args"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher.add_app_launcher_args">[docs]</a>    <span class="nd">@staticmethod</span>
+    <span class="k">def</span> <span class="nf">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">:</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Utility function to configure AppLauncher arguments with an existing argument parser object.</span>
+
+<span class="sd">        This function takes an ``argparse.ArgumentParser`` object and does some sanity checking on the existing</span>
+<span class="sd">        arguments for ingestion by the SimulationApp. It then appends custom command-line arguments relevant</span>
+<span class="sd">        to the SimulationApp to the input :class:`argparse.ArgumentParser` instance. This allows overriding the</span>
+<span class="sd">        environment variables using command-line arguments.</span>
+
+<span class="sd">        Currently, it adds the following parameters to the argparser object:</span>
+
+<span class="sd">        * ``headless`` (bool): If True, the app will be launched in headless (no-gui) mode. The values map the same</span>
+<span class="sd">          as that for the ``HEADLESS`` environment variable. If False, then headless mode is determined by the</span>
+<span class="sd">          ``HEADLESS`` environment variable.</span>
+<span class="sd">        * ``livestream`` (int): If one of {1, 2}, then livestreaming and headless mode is enabled. The values</span>
+<span class="sd">          map the same as that for the ``LIVESTREAM`` environment variable. If :obj:`-1`, then livestreaming is</span>
+<span class="sd">          determined by the ``LIVESTREAM`` environment variable.</span>
+<span class="sd">          Valid options are:</span>
+
+<span class="sd">          - ``0``: Disabled</span>
+<span class="sd">          - ``1``: `Native &lt;https://docs.omniverse.nvidia.com/extensions/latest/ext_livestream/native.html&gt;`_</span>
+<span class="sd">          - ``2``: `WebRTC &lt;https://docs.omniverse.nvidia.com/extensions/latest/ext_livestream/webrtc.html&gt;`_</span>
+
+<span class="sd">        * ``enable_cameras`` (bool): If True, the app will enable camera sensors and render them, even when in</span>
+<span class="sd">          headless mode. This flag must be set to True if the environments contains any camera sensors.</span>
+<span class="sd">          The values map the same as that for the ``ENABLE_CAMERAS`` environment variable.</span>
+<span class="sd">          If False, then enable_cameras mode is determined by the ``ENABLE_CAMERAS`` environment variable.</span>
+<span class="sd">        * ``device`` (str): The device to run the simulation on.</span>
+<span class="sd">          Valid options are:</span>
+
+<span class="sd">          - ``cpu``: Use CPU.</span>
+<span class="sd">          - ``cuda``: Use GPU with device ID ``0``.</span>
+<span class="sd">          - ``cuda:N``: Use GPU, where N is the device ID. For example, &quot;cuda:0&quot;.</span>
+
+<span class="sd">        * ``experience`` (str): The experience file to load when launching the SimulationApp. If a relative path</span>
+<span class="sd">          is provided, it is resolved relative to the ``apps`` folder in Isaac Sim and Isaac Lab (in that order).</span>
+
+<span class="sd">          If provided as an empty string, the experience file is determined based on the command-line flags:</span>
+
+<span class="sd">          * If headless and enable_cameras are True, the experience file is set to ``isaaclab.python.headless.rendering.kit``.</span>
+<span class="sd">          * If headless is False and enable_cameras is True, the experience file is set to ``isaaclab.python.rendering.kit``.</span>
+<span class="sd">          * If headless and enable_cameras are False, the experience file is set to ``isaaclab.python.kit``.</span>
+<span class="sd">          * If headless is True and enable_cameras is False, the experience file is set to ``isaaclab.python.headless.kit``.</span>
+
+<span class="sd">        * ``kit_args`` (str): Optional command line arguments to be passed to Omniverse Kit directly.</span>
+<span class="sd">          Arguments should be combined into a single string separated by space.</span>
+<span class="sd">          Example usage: --kit_args &quot;--ext-folder=/path/to/ext1 --ext-folder=/path/to/ext2&quot;</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            parser: An argument parser instance to be extended with the AppLauncher specific options.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># If the passed parser has an existing _HelpAction when passed,</span>
+        <span class="c1"># we here remove the options which would invoke it,</span>
+        <span class="c1"># to be added back after the additional AppLauncher args</span>
+        <span class="c1"># have been added. This is equivalent to</span>
+        <span class="c1"># initially constructing the ArgParser with add_help=False,</span>
+        <span class="c1"># but this means we don&#39;t have to require that behavior</span>
+        <span class="c1"># in users and can handle it on our end.</span>
+        <span class="c1"># We do this because calling parse_known_args() will handle</span>
+        <span class="c1"># any -h/--help options being passed and then exit immediately,</span>
+        <span class="c1"># before the additional arguments can be added to the help readout.</span>
+        <span class="n">parser_help</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">parser</span><span class="o">.</span><span class="n">_actions</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">parser</span><span class="o">.</span><span class="n">_actions</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">argparse</span><span class="o">.</span><span class="n">_HelpAction</span><span class="p">):</span>  <span class="c1"># type: ignore</span>
+            <span class="n">parser_help</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">_actions</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+            <span class="n">parser</span><span class="o">.</span><span class="n">_option_string_actions</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;-h&quot;</span><span class="p">)</span>
+            <span class="n">parser</span><span class="o">.</span><span class="n">_option_string_actions</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;--help&quot;</span><span class="p">)</span>
+
+        <span class="c1"># Parse known args for potential name collisions/type mismatches</span>
+        <span class="c1"># between the config fields SimulationApp expects and the ArgParse</span>
+        <span class="c1"># arguments that the user passed.</span>
+        <span class="n">known</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_known_args</span><span class="p">()</span>
+        <span class="n">config</span> <span class="o">=</span> <span class="nb">vars</span><span class="p">(</span><span class="n">known</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">config</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span>
+                <span class="s2">&quot;[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object.&quot;</span>
+                <span class="s2">&quot; If you have your own arguments, please load your own arguments before calling the&quot;</span>
+                <span class="s2">&quot; `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity&quot;</span>
+                <span class="s2">&quot; of the arguments and perform checks for argument names.&quot;</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">AppLauncher</span><span class="o">.</span><span class="n">_check_argparser_config_params</span><span class="p">(</span><span class="n">config</span><span class="p">)</span>
+
+        <span class="c1"># Add custom arguments to the parser</span>
+        <span class="n">arg_group</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">add_argument_group</span><span class="p">(</span>
+            <span class="s2">&quot;app_launcher arguments&quot;</span><span class="p">,</span>
+            <span class="n">description</span><span class="o">=</span><span class="s2">&quot;Arguments for the AppLauncher. For more details, please check the documentation.&quot;</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="n">arg_group</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+            <span class="s2">&quot;--headless&quot;</span><span class="p">,</span>
+            <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span>
+            <span class="n">default</span><span class="o">=</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">_APPLAUNCHER_CFG_INFO</span><span class="p">[</span><span class="s2">&quot;headless&quot;</span><span class="p">][</span><span class="mi">1</span><span class="p">],</span>
+            <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Force display off at all times.&quot;</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="n">arg_group</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+            <span class="s2">&quot;--livestream&quot;</span><span class="p">,</span>
+            <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+            <span class="n">default</span><span class="o">=</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">_APPLAUNCHER_CFG_INFO</span><span class="p">[</span><span class="s2">&quot;livestream&quot;</span><span class="p">][</span><span class="mi">1</span><span class="p">],</span>
+            <span class="n">choices</span><span class="o">=</span><span class="p">{</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">},</span>
+            <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Force enable livestreaming. Mapping corresponds to that for the `LIVESTREAM` environment variable.&quot;</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="n">arg_group</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+            <span class="s2">&quot;--enable_cameras&quot;</span><span class="p">,</span>
+            <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span>
+            <span class="n">default</span><span class="o">=</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">_APPLAUNCHER_CFG_INFO</span><span class="p">[</span><span class="s2">&quot;enable_cameras&quot;</span><span class="p">][</span><span class="mi">1</span><span class="p">],</span>
+            <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Enable camera sensors and relevant extension dependencies.&quot;</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="n">arg_group</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+            <span class="s2">&quot;--device&quot;</span><span class="p">,</span>
+            <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+            <span class="n">default</span><span class="o">=</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">_APPLAUNCHER_CFG_INFO</span><span class="p">[</span><span class="s2">&quot;device&quot;</span><span class="p">][</span><span class="mi">1</span><span class="p">],</span>
+            <span class="n">help</span><span class="o">=</span><span class="s1">&#39;The device to run the simulation on. Can be &quot;cpu&quot;, &quot;cuda&quot;, &quot;cuda:N&quot;, where N is the device ID&#39;</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="c1"># Add the deprecated cpu flag to raise an error if it is used</span>
+        <span class="n">arg_group</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--cpu&quot;</span><span class="p">,</span> <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="n">argparse</span><span class="o">.</span><span class="n">SUPPRESS</span><span class="p">)</span>
+        <span class="n">arg_group</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+            <span class="s2">&quot;--verbose&quot;</span><span class="p">,</span>  <span class="c1"># Note: This is read by SimulationApp through sys.argv</span>
+            <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span>
+            <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Enable verbose-level log output from the SimulationApp.&quot;</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="n">arg_group</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+            <span class="s2">&quot;--info&quot;</span><span class="p">,</span>  <span class="c1"># Note: This is read by SimulationApp through sys.argv</span>
+            <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span>
+            <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Enable info-level log output from the SimulationApp.&quot;</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="n">arg_group</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+            <span class="s2">&quot;--experience&quot;</span><span class="p">,</span>
+            <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+            <span class="n">default</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">,</span>
+            <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+                <span class="s2">&quot;The experience file to load when launching the SimulationApp. If an empty string is provided,&quot;</span>
+                <span class="s2">&quot; the experience file is determined based on the headless flag. If a relative path is provided,&quot;</span>
+                <span class="s2">&quot; it is resolved relative to the `apps` folder in Isaac Sim and Isaac Lab (in that order).&quot;</span>
+            <span class="p">),</span>
+        <span class="p">)</span>
+        <span class="n">arg_group</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+            <span class="s2">&quot;--kit_args&quot;</span><span class="p">,</span>
+            <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+            <span class="n">default</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">,</span>
+            <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+                <span class="s2">&quot;Command line arguments for Omniverse Kit as a string separated by a space delimiter.&quot;</span>
+                <span class="s1">&#39; Example usage: --kit_args &quot;--ext-folder=/path/to/ext1 --ext-folder=/path/to/ext2&quot;&#39;</span>
+            <span class="p">),</span>
+        <span class="p">)</span>
+
+        <span class="c1"># Corresponding to the beginning of the function,</span>
+        <span class="c1"># if we have removed -h/--help handling, we add it back.</span>
+        <span class="k">if</span> <span class="n">parser_help</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">parser</span><span class="o">.</span><span class="n">_option_string_actions</span><span class="p">[</span><span class="s2">&quot;-h&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">parser_help</span>
+            <span class="n">parser</span><span class="o">.</span><span class="n">_option_string_actions</span><span class="p">[</span><span class="s2">&quot;--help&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">parser_help</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">_APPLAUNCHER_CFG_INFO</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">type</span><span class="p">],</span> <span class="n">Any</span><span class="p">]]</span> <span class="o">=</span> <span class="p">{</span>
+        <span class="s2">&quot;headless&quot;</span><span class="p">:</span> <span class="p">([</span><span class="nb">bool</span><span class="p">],</span> <span class="kc">False</span><span class="p">),</span>
+        <span class="s2">&quot;livestream&quot;</span><span class="p">:</span> <span class="p">([</span><span class="nb">int</span><span class="p">],</span> <span class="o">-</span><span class="mi">1</span><span class="p">),</span>
+        <span class="s2">&quot;enable_cameras&quot;</span><span class="p">:</span> <span class="p">([</span><span class="nb">bool</span><span class="p">],</span> <span class="kc">False</span><span class="p">),</span>
+        <span class="s2">&quot;device&quot;</span><span class="p">:</span> <span class="p">([</span><span class="nb">str</span><span class="p">],</span> <span class="s2">&quot;cuda:0&quot;</span><span class="p">),</span>
+        <span class="s2">&quot;experience&quot;</span><span class="p">:</span> <span class="p">([</span><span class="nb">str</span><span class="p">],</span> <span class="s2">&quot;&quot;</span><span class="p">),</span>
+    <span class="p">}</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A dictionary of arguments added manually by the :meth:`AppLauncher.add_app_launcher_args` method.</span>
+
+<span class="sd">    The values are a tuple of the expected type and default value. This is used to check against name collisions</span>
+<span class="sd">    for arguments passed to the :class:`AppLauncher` class as well as for type checking.</span>
+
+<span class="sd">    They have corresponding environment variables as detailed in the documentation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># TODO: Find some internally managed NVIDIA list of these types.</span>
+    <span class="c1"># SimulationApp.DEFAULT_LAUNCHER_CONFIG almost works, except that</span>
+    <span class="c1"># it is ambiguous where the default types are None</span>
+    <span class="n">_SIM_APP_CFG_TYPES</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="nb">type</span><span class="p">]]</span> <span class="o">=</span> <span class="p">{</span>
+        <span class="s2">&quot;headless&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">bool</span><span class="p">],</span>
+        <span class="s2">&quot;hide_ui&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">bool</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="kc">None</span><span class="p">)],</span>
+        <span class="s2">&quot;active_gpu&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="kc">None</span><span class="p">)],</span>
+        <span class="s2">&quot;physics_gpu&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;multi_gpu&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">bool</span><span class="p">],</span>
+        <span class="s2">&quot;sync_loads&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">bool</span><span class="p">],</span>
+        <span class="s2">&quot;width&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;height&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;window_width&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;window_height&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;display_options&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;subdiv_refinement_level&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;renderer&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">str</span><span class="p">],</span>
+        <span class="s2">&quot;anti_aliasing&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;samples_per_pixel_per_frame&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;denoiser&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">bool</span><span class="p">],</span>
+        <span class="s2">&quot;max_bounces&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;max_specular_transmission_bounces&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;max_volume_bounces&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+        <span class="s2">&quot;open_usd&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="kc">None</span><span class="p">)],</span>
+        <span class="s2">&quot;livesync_usd&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="kc">None</span><span class="p">)],</span>
+        <span class="s2">&quot;fast_shutdown&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">bool</span><span class="p">],</span>
+        <span class="s2">&quot;experience&quot;</span><span class="p">:</span> <span class="p">[</span><span class="nb">str</span><span class="p">],</span>
+    <span class="p">}</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A dictionary containing the type of arguments passed to SimulationApp.</span>
+
+<span class="sd">    This is used to check against name collisions for arguments passed to the :class:`AppLauncher` class</span>
+<span class="sd">    as well as for type checking. It corresponds closely to the :attr:`SimulationApp.DEFAULT_LAUNCHER_CONFIG`,</span>
+<span class="sd">    but specifically denotes where None types are allowed.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@staticmethod</span>
+    <span class="k">def</span> <span class="nf">_check_argparser_config_params</span><span class="p">(</span><span class="n">config</span><span class="p">:</span> <span class="nb">dict</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Checks that input argparser object has parameters with valid settings with no name conflicts.</span>
+
+<span class="sd">        First, we inspect the dictionary to ensure that the passed ArgParser object is not attempting to add arguments</span>
+<span class="sd">        which should be assigned by calling :meth:`AppLauncher.add_app_launcher_args`.</span>
+
+<span class="sd">        Then, we check that if the key corresponds to a config setting expected by SimulationApp, then the type of</span>
+<span class="sd">        that key&#39;s value corresponds to the type expected by the SimulationApp. If it passes the check, the function</span>
+<span class="sd">        prints out that the setting with be passed to the SimulationApp. Otherwise, we raise a ValueError exception.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            config: A configuration parameters which will be passed to the SimulationApp constructor.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If a key is an already existing field in the configuration parameters but</span>
+<span class="sd">                should be added by calling the :meth:`AppLauncher.add_app_launcher_args.</span>
+<span class="sd">            ValueError: If keys corresponding to those used to initialize SimulationApp</span>
+<span class="sd">                (as found in :attr:`_SIM_APP_CFG_TYPES`) are of the wrong value type.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that no config key conflicts with AppLauncher config names</span>
+        <span class="n">applauncher_keys</span> <span class="o">=</span> <span class="nb">set</span><span class="p">(</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">_APPLAUNCHER_CFG_INFO</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+        <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">config</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="k">if</span> <span class="n">key</span> <span class="ow">in</span> <span class="n">applauncher_keys</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;The passed ArgParser object already has the field &#39;</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&#39;. This field will be added by&quot;</span>
+                    <span class="s2">&quot; `AppLauncher.add_app_launcher_args()`, and should not be added directly. Please remove the&quot;</span>
+                    <span class="s2">&quot; argument or rename it to a non-conflicting name.&quot;</span>
+                <span class="p">)</span>
+        <span class="c1"># check that type of the passed keys are valid</span>
+        <span class="n">simulationapp_keys</span> <span class="o">=</span> <span class="nb">set</span><span class="p">(</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">_SIM_APP_CFG_TYPES</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+        <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">config</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="k">if</span> <span class="n">key</span> <span class="ow">in</span> <span class="n">simulationapp_keys</span><span class="p">:</span>
+                <span class="n">given_type</span> <span class="o">=</span> <span class="nb">type</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+                <span class="n">expected_types</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="o">.</span><span class="n">_SIM_APP_CFG_TYPES</span><span class="p">[</span><span class="n">key</span><span class="p">]</span>
+                <span class="k">if</span> <span class="nb">type</span><span class="p">(</span><span class="n">value</span><span class="p">)</span> <span class="ow">not</span> <span class="ow">in</span> <span class="nb">set</span><span class="p">(</span><span class="n">expected_types</span><span class="p">):</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;Invalid value type for the argument &#39;</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&#39;: </span><span class="si">{</span><span class="n">given_type</span><span class="si">}</span><span class="s2">. Expected one of </span><span class="si">{</span><span class="n">expected_types</span><span class="si">}</span><span class="s2">,&quot;</span>
+                        <span class="s2">&quot; if intended to be ingested by the SimulationApp object. Please change the type if this&quot;</span>
+                        <span class="s2">&quot; intended for the SimulationApp or change the name of the argument to avoid name conflicts.&quot;</span>
+                    <span class="p">)</span>
+                <span class="c1"># Print out values which will be used</span>
+                <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO][AppLauncher]: The argument &#39;</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&#39; will be used to configure the SimulationApp.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_config_resolution</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">launcher_args</span><span class="p">:</span> <span class="nb">dict</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resolve the input arguments and environment variables.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            launcher_args: A dictionary of all input arguments passed to the class object.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># Handle all control logic resolution</span>
+
+        <span class="c1"># --LIVESTREAM logic--</span>
+        <span class="c1">#</span>
+        <span class="n">livestream_env</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">environ</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;LIVESTREAM&quot;</span><span class="p">,</span> <span class="mi">0</span><span class="p">))</span>
+        <span class="n">livestream_arg</span> <span class="o">=</span> <span class="n">launcher_args</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;livestream&quot;</span><span class="p">,</span> <span class="n">AppLauncher</span><span class="o">.</span><span class="n">_APPLAUNCHER_CFG_INFO</span><span class="p">[</span><span class="s2">&quot;livestream&quot;</span><span class="p">][</span><span class="mi">1</span><span class="p">])</span>
+        <span class="n">livestream_valid_vals</span> <span class="o">=</span> <span class="p">{</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">}</span>
+        <span class="c1"># Value checking on LIVESTREAM</span>
+        <span class="k">if</span> <span class="n">livestream_env</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">livestream_valid_vals</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Invalid value for environment variable `LIVESTREAM`: </span><span class="si">{</span><span class="n">livestream_env</span><span class="si">}</span><span class="s2"> .&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; Expected: </span><span class="si">{</span><span class="n">livestream_valid_vals</span><span class="si">}</span><span class="s2">.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># We allow livestream kwarg to supersede LIVESTREAM envvar</span>
+        <span class="k">if</span> <span class="n">livestream_arg</span> <span class="o">&gt;=</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">livestream_arg</span> <span class="ow">in</span> <span class="n">livestream_valid_vals</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="o">=</span> <span class="n">livestream_arg</span>
+                <span class="c1"># print info that we overrode the env-var</span>
+                <span class="nb">print</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;[INFO][AppLauncher]: Input keyword argument `livestream=</span><span class="si">{</span><span class="n">livestream_arg</span><span class="si">}</span><span class="s2">` has overridden&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; the environment variable `LIVESTREAM=</span><span class="si">{</span><span class="n">livestream_env</span><span class="si">}</span><span class="s2">`.&quot;</span>
+                <span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Invalid value for input keyword argument `livestream`: </span><span class="si">{</span><span class="n">livestream_arg</span><span class="si">}</span><span class="s2"> .&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Expected: </span><span class="si">{</span><span class="n">livestream_valid_vals</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="o">=</span> <span class="n">livestream_env</span>
+
+        <span class="c1"># --HEADLESS logic--</span>
+        <span class="c1">#</span>
+        <span class="c1"># Resolve headless execution of simulation app</span>
+        <span class="c1"># HEADLESS is initially passed as an int instead of</span>
+        <span class="c1"># the bool of headless_arg to avoid messy string processing,</span>
+        <span class="n">headless_env</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">environ</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;HEADLESS&quot;</span><span class="p">,</span> <span class="mi">0</span><span class="p">))</span>
+        <span class="n">headless_arg</span> <span class="o">=</span> <span class="n">launcher_args</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;headless&quot;</span><span class="p">,</span> <span class="n">AppLauncher</span><span class="o">.</span><span class="n">_APPLAUNCHER_CFG_INFO</span><span class="p">[</span><span class="s2">&quot;headless&quot;</span><span class="p">][</span><span class="mi">1</span><span class="p">])</span>
+        <span class="n">headless_valid_vals</span> <span class="o">=</span> <span class="p">{</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">}</span>
+        <span class="c1"># Value checking on HEADLESS</span>
+        <span class="k">if</span> <span class="n">headless_env</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">headless_valid_vals</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Invalid value for environment variable `HEADLESS`: </span><span class="si">{</span><span class="n">headless_env</span><span class="si">}</span><span class="s2"> . Expected: </span><span class="si">{</span><span class="n">headless_valid_vals</span><span class="si">}</span><span class="s2">.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># We allow headless kwarg to supersede HEADLESS envvar if headless_arg does not have the default value</span>
+        <span class="c1"># Note: Headless is always true when livestreaming</span>
+        <span class="k">if</span> <span class="n">headless_arg</span> <span class="ow">is</span> <span class="kc">True</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span> <span class="o">=</span> <span class="n">headless_arg</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="ow">in</span> <span class="p">{</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">}:</span>
+            <span class="c1"># we are always headless on the host machine</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span> <span class="o">=</span> <span class="kc">True</span>
+            <span class="c1"># inform who has toggled the headless flag</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="o">==</span> <span class="n">livestream_arg</span><span class="p">:</span>
+                <span class="nb">print</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;[INFO][AppLauncher]: Input keyword argument `livestream=</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span><span class="si">}</span><span class="s2">` has implicitly&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; overridden the environment variable `HEADLESS=</span><span class="si">{</span><span class="n">headless_env</span><span class="si">}</span><span class="s2">` to True.&quot;</span>
+                <span class="p">)</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="o">==</span> <span class="n">livestream_env</span><span class="p">:</span>
+                <span class="nb">print</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;[INFO][AppLauncher]: Environment variable `LIVESTREAM=</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span><span class="si">}</span><span class="s2">` has implicitly&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; overridden the environment variable `HEADLESS=</span><span class="si">{</span><span class="n">headless_env</span><span class="si">}</span><span class="s2">` to True.&quot;</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># Headless needs to be a bool to be ingested by SimulationApp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span> <span class="o">=</span> <span class="nb">bool</span><span class="p">(</span><span class="n">headless_env</span><span class="p">)</span>
+        <span class="c1"># Headless needs to be passed to the SimulationApp so we keep it here</span>
+        <span class="n">launcher_args</span><span class="p">[</span><span class="s2">&quot;headless&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span>
+
+        <span class="c1"># --enable_cameras logic--</span>
+        <span class="c1">#</span>
+        <span class="n">enable_cameras_env</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">environ</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;ENABLE_CAMERAS&quot;</span><span class="p">,</span> <span class="mi">0</span><span class="p">))</span>
+        <span class="n">enable_cameras_arg</span> <span class="o">=</span> <span class="n">launcher_args</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;enable_cameras&quot;</span><span class="p">,</span> <span class="n">AppLauncher</span><span class="o">.</span><span class="n">_APPLAUNCHER_CFG_INFO</span><span class="p">[</span><span class="s2">&quot;enable_cameras&quot;</span><span class="p">][</span><span class="mi">1</span><span class="p">])</span>
+        <span class="n">enable_cameras_valid_vals</span> <span class="o">=</span> <span class="p">{</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">}</span>
+        <span class="k">if</span> <span class="n">enable_cameras_env</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">enable_cameras_valid_vals</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Invalid value for environment variable `ENABLE_CAMERAS`: </span><span class="si">{</span><span class="n">enable_cameras_env</span><span class="si">}</span><span class="s2"> .&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot;Expected: </span><span class="si">{</span><span class="n">enable_cameras_valid_vals</span><span class="si">}</span><span class="s2"> .&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># We allow enable_cameras kwarg to supersede ENABLE_CAMERAS envvar</span>
+        <span class="k">if</span> <span class="n">enable_cameras_arg</span> <span class="ow">is</span> <span class="kc">True</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_enable_cameras</span> <span class="o">=</span> <span class="n">enable_cameras_arg</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_enable_cameras</span> <span class="o">=</span> <span class="nb">bool</span><span class="p">(</span><span class="n">enable_cameras_env</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_offscreen_render</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_enable_cameras</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_offscreen_render</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="c1"># Check if we can disable the viewport to improve performance</span>
+        <span class="c1">#   This should only happen if we are running headless and do not require livestreaming or video recording</span>
+        <span class="c1">#   This is different from offscreen_render because this only affects the default viewport and not other renderproducts in the scene</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_render_viewport</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">launcher_args</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;video&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_render_viewport</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># hide_ui flag</span>
+        <span class="n">launcher_args</span><span class="p">[</span><span class="s2">&quot;hide_ui&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span><span class="p">:</span>
+            <span class="n">launcher_args</span><span class="p">[</span><span class="s2">&quot;hide_ui&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="c1"># --simulation GPU device logic --</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">device_id</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="n">device</span> <span class="o">=</span> <span class="n">launcher_args</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;device&quot;</span><span class="p">,</span> <span class="n">AppLauncher</span><span class="o">.</span><span class="n">_APPLAUNCHER_CFG_INFO</span><span class="p">[</span><span class="s2">&quot;device&quot;</span><span class="p">][</span><span class="mi">1</span><span class="p">])</span>
+        <span class="k">if</span> <span class="s2">&quot;cuda&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">device</span> <span class="ow">and</span> <span class="s2">&quot;cpu&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">device</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Invalid value for input keyword argument `device`: </span><span class="si">{</span><span class="n">device</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="s2">&quot; Expected: a string with the format &#39;cuda&#39;, &#39;cuda:&lt;device_id&gt;&#39;, or &#39;cpu&#39;.&quot;</span>
+            <span class="p">)</span>
+        <span class="k">if</span> <span class="s2">&quot;cuda:&quot;</span> <span class="ow">in</span> <span class="n">device</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">device_id</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">device</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;:&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">])</span>
+
+        <span class="c1"># Raise an error for the deprecated cpu flag</span>
+        <span class="k">if</span> <span class="n">launcher_args</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;cpu&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;The `--cpu` flag is deprecated. Please use `--device cpu` instead.&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="s2">&quot;distributed&quot;</span> <span class="ow">in</span> <span class="n">launcher_args</span> <span class="ow">and</span> <span class="n">launcher_args</span><span class="p">[</span><span class="s2">&quot;distributed&quot;</span><span class="p">]:</span>
+            <span class="c1"># local rank (GPU id) in a current multi-gpu mode</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">local_rank</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">getenv</span><span class="p">(</span><span class="s2">&quot;LOCAL_RANK&quot;</span><span class="p">,</span> <span class="s2">&quot;0&quot;</span><span class="p">))</span> <span class="o">+</span> <span class="nb">int</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">getenv</span><span class="p">(</span><span class="s2">&quot;JAX_LOCAL_RANK&quot;</span><span class="p">,</span> <span class="s2">&quot;0&quot;</span><span class="p">))</span>
+            <span class="c1"># global rank (GPU id) in multi-gpu multi-node mode</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">global_rank</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">getenv</span><span class="p">(</span><span class="s2">&quot;RANK&quot;</span><span class="p">,</span> <span class="s2">&quot;0&quot;</span><span class="p">))</span> <span class="o">+</span> <span class="nb">int</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">getenv</span><span class="p">(</span><span class="s2">&quot;JAX_RANK&quot;</span><span class="p">,</span> <span class="s2">&quot;0&quot;</span><span class="p">))</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">device_id</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">local_rank</span>
+            <span class="n">launcher_args</span><span class="p">[</span><span class="s2">&quot;multi_gpu&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">False</span>
+            <span class="c1"># limit CPU threads to minimize thread context switching</span>
+            <span class="c1"># this ensures processes do not take up all available threads and fight for resources</span>
+            <span class="n">num_cpu_cores</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">cpu_count</span><span class="p">()</span>
+            <span class="n">num_threads_per_process</span> <span class="o">=</span> <span class="n">num_cpu_cores</span> <span class="o">//</span> <span class="nb">int</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">getenv</span><span class="p">(</span><span class="s2">&quot;WORLD_SIZE&quot;</span><span class="p">,</span> <span class="mi">1</span><span class="p">))</span>
+            <span class="c1"># set environment variables to limit CPU threads</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">environ</span><span class="p">[</span><span class="s2">&quot;PXR_WORK_THREAD_LIMIT&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">str</span><span class="p">(</span><span class="n">num_threads_per_process</span><span class="p">)</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">environ</span><span class="p">[</span><span class="s2">&quot;OPENBLAS_NUM_THREADS&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">str</span><span class="p">(</span><span class="n">num_threads_per_process</span><span class="p">)</span>
+            <span class="c1"># pass command line variable to kit</span>
+            <span class="n">sys</span><span class="o">.</span><span class="n">argv</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;--/plugins/carb.tasking.plugin/threadCount=</span><span class="si">{</span><span class="n">num_threads_per_process</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="c1"># set physics and rendering device</span>
+        <span class="n">launcher_args</span><span class="p">[</span><span class="s2">&quot;physics_gpu&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">device_id</span>
+        <span class="n">launcher_args</span><span class="p">[</span><span class="s2">&quot;active_gpu&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">device_id</span>
+
+        <span class="c1"># Check if input keywords contain an &#39;experience&#39; file setting</span>
+        <span class="c1"># Note: since experience is taken as a separate argument by Simulation App, we store it separately</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span> <span class="o">=</span> <span class="n">launcher_args</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;experience&quot;</span><span class="p">,</span> <span class="s2">&quot;&quot;</span><span class="p">)</span>
+
+        <span class="c1"># If nothing is provided resolve the experience file based on the headless flag</span>
+        <span class="n">kit_app_exp_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">environ</span><span class="p">[</span><span class="s2">&quot;EXP_PATH&quot;</span><span class="p">]</span>
+        <span class="n">isaaclab_app_exp_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="vm">__file__</span><span class="p">)),</span> <span class="o">*</span><span class="p">[</span><span class="s2">&quot;..&quot;</span><span class="p">]</span> <span class="o">*</span> <span class="mi">6</span><span class="p">,</span> <span class="s2">&quot;apps&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span> <span class="o">==</span> <span class="s2">&quot;&quot;</span><span class="p">:</span>
+            <span class="c1"># check if the headless flag is setS</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_enable_cameras</span><span class="p">:</span>
+                <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span>
+                        <span class="n">isaaclab_app_exp_path</span><span class="p">,</span> <span class="s2">&quot;isaaclab.python.headless.rendering.kit&quot;</span>
+                    <span class="p">)</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">isaaclab_app_exp_path</span><span class="p">,</span> <span class="s2">&quot;isaaclab.python.rendering.kit&quot;</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">isaaclab_app_exp_path</span><span class="p">,</span> <span class="s2">&quot;isaaclab.python.headless.kit&quot;</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">isaaclab_app_exp_path</span><span class="p">,</span> <span class="s2">&quot;isaaclab.python.kit&quot;</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">isabs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span><span class="p">):</span>
+            <span class="n">option_1_app_exp_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">kit_app_exp_path</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span><span class="p">)</span>
+            <span class="n">option_2_app_exp_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">isaaclab_app_exp_path</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">option_1_app_exp_path</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span> <span class="o">=</span> <span class="n">option_1_app_exp_path</span>
+            <span class="k">elif</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">option_2_app_exp_path</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span> <span class="o">=</span> <span class="n">option_2_app_exp_path</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">FileNotFoundError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Invalid value for input keyword argument `experience`: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span><span class="si">}</span><span class="s2">.&quot;</span>
+                    <span class="s2">&quot;</span><span class="se">\n</span><span class="s2"> No such file exists in either the Kit or Isaac Lab experience paths. Checked paths:&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2"> [1]: </span><span class="si">{</span><span class="n">option_1_app_exp_path</span><span class="si">}</span><span class="s2">&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2"> [2]: </span><span class="si">{</span><span class="n">option_2_app_exp_path</span><span class="si">}</span><span class="s2">&quot;</span>
+                <span class="p">)</span>
+        <span class="k">elif</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">FileNotFoundError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Invalid value for input keyword argument `experience`: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="s2">&quot; The file does not exist.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># Resolve additional arguments passed to Kit</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_kit_args</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="k">if</span> <span class="s2">&quot;kit_args&quot;</span> <span class="ow">in</span> <span class="n">launcher_args</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_kit_args</span> <span class="o">=</span> <span class="p">[</span><span class="n">arg</span> <span class="k">for</span> <span class="n">arg</span> <span class="ow">in</span> <span class="n">launcher_args</span><span class="p">[</span><span class="s2">&quot;kit_args&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">()]</span>
+            <span class="n">sys</span><span class="o">.</span><span class="n">argv</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_kit_args</span>
+
+        <span class="c1"># Resolve the absolute path of the experience file</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO][AppLauncher]: Loading experience file: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="c1"># Remove all values from input keyword args which are not meant for SimulationApp</span>
+        <span class="c1"># Assign all the passed settings to a dictionary for the simulation app</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_app_config</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="n">key</span><span class="p">:</span> <span class="n">launcher_args</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="nb">set</span><span class="p">(</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">_SIM_APP_CFG_TYPES</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span> <span class="o">&amp;</span> <span class="nb">set</span><span class="p">(</span><span class="n">launcher_args</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+        <span class="p">}</span>
+
+    <span class="k">def</span> <span class="nf">_create_app</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Launch and create the SimulationApp based on the parsed simulation config.&quot;&quot;&quot;</span>
+        <span class="c1"># Initialize SimulationApp</span>
+        <span class="c1"># hack sys module to make sure that the SimulationApp is initialized correctly</span>
+        <span class="c1"># this is to avoid the warnings from the simulation app about not ok modules</span>
+        <span class="n">r</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">compile</span><span class="p">(</span><span class="s2">&quot;.*lab.*&quot;</span><span class="p">)</span>
+        <span class="n">found_modules</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">filter</span><span class="p">(</span><span class="n">r</span><span class="o">.</span><span class="n">match</span><span class="p">,</span> <span class="nb">list</span><span class="p">(</span><span class="n">sys</span><span class="o">.</span><span class="n">modules</span><span class="o">.</span><span class="n">keys</span><span class="p">())))</span>
+        <span class="n">found_modules</span> <span class="o">+=</span> <span class="p">[</span><span class="s2">&quot;omni.isaac.kit.app_framework&quot;</span><span class="p">]</span>
+        <span class="c1"># remove Isaac Lab modules from sys.modules</span>
+        <span class="n">hacked_modules</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="n">found_modules</span><span class="p">:</span>
+            <span class="n">hacked_modules</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">sys</span><span class="o">.</span><span class="n">modules</span><span class="p">[</span><span class="n">key</span><span class="p">]</span>
+            <span class="k">del</span> <span class="n">sys</span><span class="o">.</span><span class="n">modules</span><span class="p">[</span><span class="n">key</span><span class="p">]</span>
+
+        <span class="c1"># disable sys stdout and stderr to avoid printing the warning messages</span>
+        <span class="c1"># this is mainly done to purge the print statements from the simulation app</span>
+        <span class="k">if</span> <span class="s2">&quot;--verbose&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">sys</span><span class="o">.</span><span class="n">argv</span> <span class="ow">and</span> <span class="s2">&quot;--info&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">sys</span><span class="o">.</span><span class="n">argv</span><span class="p">:</span>
+            <span class="n">sys</span><span class="o">.</span><span class="n">stdout</span> <span class="o">=</span> <span class="nb">open</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">devnull</span><span class="p">,</span> <span class="s2">&quot;w&quot;</span><span class="p">)</span>  <span class="c1"># noqa: SIM115</span>
+        <span class="c1"># launch simulation app</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_app</span> <span class="o">=</span> <span class="n">SimulationApp</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_app_config</span><span class="p">,</span> <span class="n">experience</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_experience_file</span><span class="p">)</span>
+        <span class="c1"># enable sys stdout and stderr</span>
+        <span class="n">sys</span><span class="o">.</span><span class="n">stdout</span> <span class="o">=</span> <span class="n">sys</span><span class="o">.</span><span class="n">__stdout__</span>
+
+        <span class="c1"># add Isaac Lab modules back to sys.modules</span>
+        <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">hacked_modules</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="n">sys</span><span class="o">.</span><span class="n">modules</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span>
+        <span class="c1"># remove the threadCount argument from sys.argv if it was added for distributed training</span>
+        <span class="n">pattern</span> <span class="o">=</span> <span class="sa">r</span><span class="s2">&quot;--/plugins/carb\.tasking\.plugin/threadCount=\d+&quot;</span>
+        <span class="n">sys</span><span class="o">.</span><span class="n">argv</span> <span class="o">=</span> <span class="p">[</span><span class="n">arg</span> <span class="k">for</span> <span class="n">arg</span> <span class="ow">in</span> <span class="n">sys</span><span class="o">.</span><span class="n">argv</span> <span class="k">if</span> <span class="ow">not</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="n">pattern</span><span class="p">,</span> <span class="n">arg</span><span class="p">)]</span>
+        <span class="c1"># remove additional OV args from sys.argv</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_kit_args</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="n">sys</span><span class="o">.</span><span class="n">argv</span> <span class="o">=</span> <span class="p">[</span><span class="n">arg</span> <span class="k">for</span> <span class="n">arg</span> <span class="ow">in</span> <span class="n">sys</span><span class="o">.</span><span class="n">argv</span> <span class="k">if</span> <span class="n">arg</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_kit_args</span><span class="p">]</span>
+
+    <span class="k">def</span> <span class="nf">_rendering_enabled</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Check if rendering is required by the app.&quot;&quot;&quot;</span>
+        <span class="c1"># Indicates whether rendering is required by the app.</span>
+        <span class="c1"># Extensions required for rendering bring startup and simulation costs, so we do not enable them if not required.</span>
+        <span class="k">return</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="o">&gt;=</span> <span class="mi">1</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">_enable_cameras</span>
+
+    <span class="k">def</span> <span class="nf">_load_extensions</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Load correct extensions based on AppLauncher&#39;s resolved config member variables.&quot;&quot;&quot;</span>
+        <span class="c1"># These have to be loaded after SimulationApp is initialized</span>
+        <span class="kn">import</span> <span class="nn">carb</span>
+        <span class="kn">import</span> <span class="nn">omni.physx.bindings._physx</span> <span class="k">as</span> <span class="nn">physx_impl</span>
+        <span class="kn">from</span> <span class="nn">omni.isaac.core.utils.extensions</span> <span class="kn">import</span> <span class="n">enable_extension</span>
+
+        <span class="c1"># Retrieve carb settings for modification</span>
+        <span class="n">carb_settings_iface</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">get_settings</span><span class="p">()</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="o">&gt;=</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="c1"># Ensure that a viewport exists in case an experience has been</span>
+            <span class="c1"># loaded which does not load it by default</span>
+            <span class="n">enable_extension</span><span class="p">(</span><span class="s2">&quot;omni.kit.viewport.window&quot;</span><span class="p">)</span>
+            <span class="c1"># Set carb settings to allow for livestreaming</span>
+            <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/app/livestream/enabled&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+            <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/app/window/drawMouse&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+            <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/ngx/enabled&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+            <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_string</span><span class="p">(</span><span class="s2">&quot;/app/livestream/proto&quot;</span><span class="p">,</span> <span class="s2">&quot;ws&quot;</span><span class="p">)</span>
+            <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_int</span><span class="p">(</span><span class="s2">&quot;/app/livestream/websocket/framerate_limit&quot;</span><span class="p">,</span> <span class="mi">120</span><span class="p">)</span>
+            <span class="c1"># Note: Only one livestream extension can be enabled at a time</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+                <span class="c1"># Enable Native Livestream extension</span>
+                <span class="c1"># Default App: Streaming Client from the Omniverse Launcher</span>
+                <span class="n">enable_extension</span><span class="p">(</span><span class="s2">&quot;omni.kit.streamsdk.plugins-3.2.1&quot;</span><span class="p">)</span>
+                <span class="n">enable_extension</span><span class="p">(</span><span class="s2">&quot;omni.kit.livestream.core-3.2.0&quot;</span><span class="p">)</span>
+                <span class="n">enable_extension</span><span class="p">(</span><span class="s2">&quot;omni.kit.livestream.native-4.1.0&quot;</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+                <span class="c1"># Enable WebRTC Livestream extension</span>
+                <span class="c1"># Default URL: http://localhost:8211/streaming/webrtc-client/</span>
+                <span class="n">enable_extension</span><span class="p">(</span><span class="s2">&quot;omni.services.streamclient.webrtc&quot;</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid value for livestream: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span><span class="si">}</span><span class="s2">. Expected: 1, 2 .&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/app/livestream/enabled&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+
+        <span class="c1"># set carb setting to indicate Isaac Lab&#39;s offscreen_render pipeline should be enabled</span>
+        <span class="c1"># this flag is used by the SimulationContext class to enable the offscreen_render pipeline</span>
+        <span class="c1"># when the render() method is called.</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/isaaclab/render/offscreen&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_offscreen_render</span><span class="p">)</span>
+
+        <span class="c1"># set carb setting to indicate Isaac Lab&#39;s render_viewport pipeline should be enabled</span>
+        <span class="c1"># this flag is used by the SimulationContext class to enable the render_viewport pipeline</span>
+        <span class="c1"># when the render() method is called.</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/isaaclab/render/active_viewport&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_render_viewport</span><span class="p">)</span>
+
+        <span class="c1"># set carb setting to indicate no RTX sensors are used</span>
+        <span class="c1"># this flag is set to True when an RTX-rendering related sensor is created</span>
+        <span class="c1"># for example: the `Camera` sensor class</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/isaaclab/render/rtx_sensors&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+
+        <span class="c1"># set fabric update flag to disable updating transforms when rendering is disabled</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/physics/fabricUpdateTransformations&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rendering_enabled</span><span class="p">())</span>
+
+        <span class="c1"># set the nucleus directory manually to the latest published Nucleus</span>
+        <span class="c1"># note: this is done to ensure prior versions of Isaac Sim still use the latest assets</span>
+        <span class="n">assets_path</span> <span class="o">=</span> <span class="s2">&quot;http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.2&quot;</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_string</span><span class="p">(</span><span class="s2">&quot;/persistent/isaac/asset_root/default&quot;</span><span class="p">,</span> <span class="n">assets_path</span><span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_string</span><span class="p">(</span><span class="s2">&quot;/persistent/isaac/asset_root/cloud&quot;</span><span class="p">,</span> <span class="n">assets_path</span><span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_string</span><span class="p">(</span><span class="s2">&quot;/persistent/isaac/asset_root/nvidia&quot;</span><span class="p">,</span> <span class="n">assets_path</span><span class="p">)</span>
+
+        <span class="c1"># disable physics backwards compatibility check</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_int</span><span class="p">(</span><span class="n">physx_impl</span><span class="o">.</span><span class="n">SETTING_BACKWARD_COMPATIBILITY</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_hide_stop_button</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Hide the stop button in the toolbar.</span>
+
+<span class="sd">        For standalone executions, having a stop button is confusing since it invalidates the whole simulation.</span>
+<span class="sd">        Thus, we hide the button so that users don&#39;t accidentally click it.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># when we are truly headless, then we can&#39;t import the widget toolbar</span>
+        <span class="c1"># thus, we only hide the stop button when we are not headless (i.e. GUI is enabled)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream</span> <span class="o">&gt;=</span> <span class="mi">1</span> <span class="ow">or</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_headless</span><span class="p">:</span>
+            <span class="kn">import</span> <span class="nn">omni.kit.widget.toolbar</span>
+
+            <span class="c1"># grey out the stop button because we don&#39;t want to stop the simulation manually in standalone mode</span>
+            <span class="n">toolbar</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">widget</span><span class="o">.</span><span class="n">toolbar</span><span class="o">.</span><span class="n">get_instance</span><span class="p">()</span>
+            <span class="n">play_button_group</span> <span class="o">=</span> <span class="n">toolbar</span><span class="o">.</span><span class="n">_builtin_tools</span><span class="o">.</span><span class="n">_play_button_group</span>  <span class="c1"># type: ignore</span>
+            <span class="k">if</span> <span class="n">play_button_group</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">play_button_group</span><span class="o">.</span><span class="n">_stop_button</span><span class="o">.</span><span class="n">visible</span> <span class="o">=</span> <span class="kc">False</span>  <span class="c1"># type: ignore</span>
+                <span class="n">play_button_group</span><span class="o">.</span><span class="n">_stop_button</span><span class="o">.</span><span class="n">enabled</span> <span class="o">=</span> <span class="kc">False</span>  <span class="c1"># type: ignore</span>
+                <span class="n">play_button_group</span><span class="o">.</span><span class="n">_stop_button</span> <span class="o">=</span> <span class="kc">None</span>  <span class="c1"># type: ignore</span>
+
+    <span class="k">def</span> <span class="nf">_interrupt_signal_handle_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">signal</span><span class="p">,</span> <span class="n">frame</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Handle the interrupt signal from the keyboard.&quot;&quot;&quot;</span>
+        <span class="c1"># close the app</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+        <span class="c1"># raise the error for keyboard interrupt</span>
+        <span class="k">raise</span> <span class="ne">KeyboardInterrupt</span>
+
+    <span class="k">def</span> <span class="nf">_abort_signal_handle_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">signal</span><span class="p">,</span> <span class="n">frame</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Handle the abort/segmentation/kill signals.&quot;&quot;&quot;</span>
+        <span class="c1"># close the app</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span></div>
+</pre></div>
+
+                </article>
+              
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diff --git a/v1.4.0/_modules/omni/isaac/lab/assets/articulation/articulation.html b/v1.4.0/_modules/omni/isaac/lab/assets/articulation/articulation.html
new file mode 100644
index 0000000000..b7dede2da5
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/assets/articulation/articulation.html
@@ -0,0 +1,2143 @@
+
+
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
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+  <h1>Source code for omni.isaac.lab.assets.articulation.articulation</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="c1"># Flag for pyright to ignore type errors in this file.</span>
+<span class="c1"># pyright: reportPrivateUsage=false</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">prettytable</span> <span class="kn">import</span> <span class="n">PrettyTable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">PhysxSchema</span><span class="p">,</span> <span class="n">UsdPhysics</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.string</span> <span class="k">as</span> <span class="nn">string_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.actuators</span> <span class="kn">import</span> <span class="n">ActuatorBase</span><span class="p">,</span> <span class="n">ActuatorBaseCfg</span><span class="p">,</span> <span class="n">ImplicitActuator</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.types</span> <span class="kn">import</span> <span class="n">ArticulationActions</span>
+
+<span class="kn">from</span> <span class="nn">..asset_base</span> <span class="kn">import</span> <span class="n">AssetBase</span>
+<span class="kn">from</span> <span class="nn">.articulation_data</span> <span class="kn">import</span> <span class="n">ArticulationData</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.articulation_cfg</span> <span class="kn">import</span> <span class="n">ArticulationCfg</span>
+
+
+<div class="viewcode-block" id="Articulation"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation">[docs]</a><span class="k">class</span> <span class="nc">Articulation</span><span class="p">(</span><span class="n">AssetBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;An articulation asset class.</span>
+
+<span class="sd">    An articulation is a collection of rigid bodies connected by joints. The joints can be either</span>
+<span class="sd">    fixed or actuated. The joints can be of different types, such as revolute, prismatic, D-6, etc.</span>
+<span class="sd">    However, the articulation class has currently been tested with revolute and prismatic joints.</span>
+<span class="sd">    The class supports both floating-base and fixed-base articulations. The type of articulation</span>
+<span class="sd">    is determined based on the root joint of the articulation. If the root joint is fixed, then</span>
+<span class="sd">    the articulation is considered a fixed-base system. Otherwise, it is considered a floating-base</span>
+<span class="sd">    system. This can be checked using the :attr:`Articulation.is_fixed_base` attribute.</span>
+
+<span class="sd">    For an asset to be considered an articulation, the root prim of the asset must have the</span>
+<span class="sd">    `USD ArticulationRootAPI`_. This API is used to define the sub-tree of the articulation using</span>
+<span class="sd">    the reduced coordinate formulation. On playing the simulation, the physics engine parses the</span>
+<span class="sd">    articulation root prim and creates the corresponding articulation in the physics engine. The</span>
+<span class="sd">    articulation root prim can be specified using the :attr:`AssetBaseCfg.prim_path` attribute.</span>
+
+<span class="sd">    The articulation class also provides the functionality to augment the simulation of an articulated</span>
+<span class="sd">    system with custom actuator models. These models can either be explicit or implicit, as detailed in</span>
+<span class="sd">    the :mod:`omni.isaac.lab.actuators` module. The actuator models are specified using the</span>
+<span class="sd">    :attr:`ArticulationCfg.actuators` attribute. These are then parsed and used to initialize the</span>
+<span class="sd">    corresponding actuator models, when the simulation is played.</span>
+
+<span class="sd">    During the simulation step, the articulation class first applies the actuator models to compute</span>
+<span class="sd">    the joint commands based on the user-specified targets. These joint commands are then applied</span>
+<span class="sd">    into the simulation. The joint commands can be either position, velocity, or effort commands.</span>
+<span class="sd">    As an example, the following snippet shows how this can be used for position commands:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        # an example instance of the articulation class</span>
+<span class="sd">        my_articulation = Articulation(cfg)</span>
+
+<span class="sd">        # set joint position targets</span>
+<span class="sd">        my_articulation.set_joint_position_target(position)</span>
+<span class="sd">        # propagate the actuator models and apply the computed commands into the simulation</span>
+<span class="sd">        my_articulation.write_data_to_sim()</span>
+
+<span class="sd">        # step the simulation using the simulation context</span>
+<span class="sd">        sim_context.step()</span>
+
+<span class="sd">        # update the articulation state, where dt is the simulation time step</span>
+<span class="sd">        my_articulation.update(dt)</span>
+
+<span class="sd">    .. _`USD ArticulationRootAPI`: https://openusd.org/dev/api/class_usd_physics_articulation_root_a_p_i.html</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">ArticulationCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration instance for the articulations.&quot;&quot;&quot;</span>
+
+    <span class="n">actuators</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">ActuatorBase</span><span class="p">]</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Dictionary of actuator instances for the articulation.</span>
+
+<span class="sd">    The keys are the actuator names and the values are the actuator instances. The actuator instances</span>
+<span class="sd">    are initialized based on the actuator configurations specified in the :attr:`ArticulationCfg.actuators`</span>
+<span class="sd">    attribute. They are used to compute the joint commands during the :meth:`write_data_to_sim` function.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Articulation.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ArticulationCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the articulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: A configuration instance.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_pose_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_vel_dep_warn</span> <span class="o">=</span> <span class="kc">False</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ArticulationData</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_instances</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">count</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">is_fixed_base</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the articulation is a fixed-base or floating-base system.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">shared_metatype</span><span class="o">.</span><span class="n">fixed_base</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_joints</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of joints in articulation.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">shared_metatype</span><span class="o">.</span><span class="n">dof_count</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_fixed_tendons</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of fixed tendons in articulation.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">max_fixed_tendons</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_bodies</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of bodies in articulation.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">shared_metatype</span><span class="o">.</span><span class="n">link_count</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">joint_names</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Ordered names of joints in articulation.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">shared_metatype</span><span class="o">.</span><span class="n">dof_names</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">fixed_tendon_names</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Ordered names of fixed tendons in articulation.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_fixed_tendon_names</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_names</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Ordered names of bodies in articulation.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">shared_metatype</span><span class="o">.</span><span class="n">link_names</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_physx_view</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">physx</span><span class="o">.</span><span class="n">ArticulationView</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Articulation view for the asset (PhysX).</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            Use this view with caution. It requires handling of tensors in a specific way.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Articulation.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="c1"># use ellipses object to skip initial indices.</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset actuators</span>
+        <span class="k">for</span> <span class="n">actuator</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">actuators</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">actuator</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># reset external wrench</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+<div class="viewcode-block" id="Articulation.write_data_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_data_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_data_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write external wrenches and joint commands to the simulation.</span>
+
+<span class="sd">        If any explicit actuators are present, then the actuator models are used to compute the</span>
+<span class="sd">        joint commands. Otherwise, the joint commands are directly set into the simulation.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            We write external wrench to the simulation here since this function is called before the simulation step.</span>
+<span class="sd">            This ensures that the external wrench is applied at every simulation step.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># write external wrench</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">apply_forces_and_torques_at_position</span><span class="p">(</span>
+                <span class="n">force_data</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span>
+                <span class="n">torque_data</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span>
+                <span class="n">position_data</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+                <span class="n">indices</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span><span class="p">,</span>
+                <span class="n">is_global</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="p">)</span>
+
+        <span class="c1"># apply actuator models</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_apply_actuator_model</span><span class="p">()</span>
+        <span class="c1"># write actions into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_actuation_forces</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_joint_effort_target_sim</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span><span class="p">)</span>
+        <span class="c1"># position and velocity targets only for implicit actuators</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_has_implicit_actuators</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_position_targets</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos_target_sim</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_velocity_targets</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel_target_sim</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.update"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.update">[docs]</a>    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Finders.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Articulation.find_bodies"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.find_bodies">[docs]</a>    <span class="k">def</span> <span class="nf">find_bodies</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name_keys</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">preserve_order</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Find bodies in the articulation based on the name keys.</span>
+
+<span class="sd">        Please check the :meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function for more</span>
+<span class="sd">        information on the name matching.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name_keys: A regular expression or a list of regular expressions to match the body names.</span>
+<span class="sd">            preserve_order: Whether to preserve the order of the name keys in the output. Defaults to False.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple of lists containing the body indices and names.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">string_utils</span><span class="o">.</span><span class="n">resolve_matching_names</span><span class="p">(</span><span class="n">name_keys</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.find_joints"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.find_joints">[docs]</a>    <span class="k">def</span> <span class="nf">find_joints</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">name_keys</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">joint_subset</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">preserve_order</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Find joints in the articulation based on the name keys.</span>
+
+<span class="sd">        Please see the :func:`omni.isaac.lab.utils.string.resolve_matching_names` function for more information</span>
+<span class="sd">        on the name matching.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name_keys: A regular expression or a list of regular expressions to match the joint names.</span>
+<span class="sd">            joint_subset: A subset of joints to search for. Defaults to None, which means all joints</span>
+<span class="sd">                in the articulation are searched.</span>
+<span class="sd">            preserve_order: Whether to preserve the order of the name keys in the output. Defaults to False.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple of lists containing the joint indices and names.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">joint_subset</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_subset</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span>
+        <span class="c1"># find joints</span>
+        <span class="k">return</span> <span class="n">string_utils</span><span class="o">.</span><span class="n">resolve_matching_names</span><span class="p">(</span><span class="n">name_keys</span><span class="p">,</span> <span class="n">joint_subset</span><span class="p">,</span> <span class="n">preserve_order</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.find_fixed_tendons"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.find_fixed_tendons">[docs]</a>    <span class="k">def</span> <span class="nf">find_fixed_tendons</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">name_keys</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">tendon_subsets</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">preserve_order</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Find fixed tendons in the articulation based on the name keys.</span>
+
+<span class="sd">        Please see the :func:`omni.isaac.lab.utils.string.resolve_matching_names` function for more information</span>
+<span class="sd">        on the name matching.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name_keys: A regular expression or a list of regular expressions to match the joint</span>
+<span class="sd">                names with fixed tendons.</span>
+<span class="sd">            tendon_subsets: A subset of joints with fixed tendons to search for. Defaults to None, which means</span>
+<span class="sd">                all joints in the articulation are searched.</span>
+<span class="sd">            preserve_order: Whether to preserve the order of the name keys in the output. Defaults to False.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple of lists containing the tendon indices and names.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">tendon_subsets</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># tendons follow the joint names they are attached to</span>
+            <span class="n">tendon_subsets</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span>
+        <span class="c1"># find tendons</span>
+        <span class="k">return</span> <span class="n">string_utils</span><span class="o">.</span><span class="n">resolve_matching_names</span><span class="p">(</span><span class="n">name_keys</span><span class="p">,</span> <span class="n">tendon_subsets</span><span class="p">,</span> <span class="n">preserve_order</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Writers.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Articulation.write_root_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_state_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root state over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear</span>
+<span class="sd">        and angular velocity. All the quantities are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_state: Root state in simulation frame. Shape is (len(env_ids), 13).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="c1"># deprecation warning</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: Articluation.write_root_state_to_sim will be removed in a future release. Please&quot;</span>
+                <span class="s2">&quot; use write_root_link_state_to_sim or write_root_com_state_to_sim instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.write_root_com_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_com_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_com_state_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root center of mass state over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear</span>
+<span class="sd">        and angular velocity. All the quantities are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_state: Root state in simulation frame. Shape is (len(env_ids), 13).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_com_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.write_root_link_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_link_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_link_state_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root link state over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear</span>
+<span class="sd">        and angular velocity. All the quantities are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_state: Root state in simulation frame. Shape is (len(env_ids), 13).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_link_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.write_root_pose_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_pose_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_pose_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root pose over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_pose: Root poses in simulation frame. Shape is (len(env_ids), 7).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># deprecation warning</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_pose_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: Articluation.write_root_pos_to_sim will be removed in a future release. Please use&quot;</span>
+                <span class="s2">&quot; write_root_link_pose_to_sim or write_root_com_pose_to_sim instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_pose_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_pose</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.write_root_link_pose_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_link_pose_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_link_pose_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root link pose over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_pose: Root poses in simulation frame. Shape is (len(env_ids), 7).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># note: we need to do this here since tensors are not set into simulation until step.</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">root_pose</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="c1"># convert root quaternion from wxyz to xyzw</span>
+        <span class="n">root_poses_xyzw</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">root_poses_xyzw</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">root_poses_xyzw</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;xyzw&quot;</span><span class="p">)</span>
+        <span class="c1"># Need to invalidate the buffer to trigger the update with the new root pose.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_body_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_body_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_root_transforms</span><span class="p">(</span><span class="n">root_poses_xyzw</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.write_root_com_pose_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_com_pose_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_com_pose_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root center of mass pose over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</span>
+<span class="sd">        The orientation is the orientation of the principle axes of inertia.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_pose: Root center of mass poses in simulation frame. Shape is (len(env_ids), 7).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">local_env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+
+        <span class="n">com_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:]</span>
+        <span class="n">com_quat</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">com_quat_b</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:]</span>
+
+        <span class="n">root_link_pos</span><span class="p">,</span> <span class="n">root_link_quat</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">combine_frame_transforms</span><span class="p">(</span>
+            <span class="n">root_pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span>
+            <span class="n">root_pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span>
+            <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">math_utils</span><span class="o">.</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">com_quat</span><span class="p">),</span> <span class="o">-</span><span class="n">com_pos</span><span class="p">),</span>
+            <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">com_quat</span><span class="p">),</span>
+        <span class="p">)</span>
+
+        <span class="n">root_link_pose</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">root_link_pos</span><span class="p">,</span> <span class="n">root_link_quat</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_pose</span><span class="o">=</span><span class="n">root_link_pose</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.write_root_velocity_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_velocity_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_velocity_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_velocity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root center of mass velocity over selected environment indices into the simulation.</span>
+
+<span class="sd">        The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.</span>
+<span class="sd">        NOTE: This sets the velocity of the root&#39;s center of mass rather than the roots frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_velocity: Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># deprecation warning</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_vel_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: Articluation.write_root_velocity_to_sim will be removed in a future release.&quot;</span>
+                <span class="s2">&quot; Please use write_root_link_velocity_to_sim or write_root_com_velocity_to_sim instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_vel_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_velocity</span><span class="o">=</span><span class="n">root_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.write_root_com_velocity_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_com_velocity_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_velocity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root center of mass velocity over selected environment indices into the simulation.</span>
+
+<span class="sd">        The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.</span>
+<span class="sd">        NOTE: This sets the velocity of the root&#39;s center of mass rather than the roots frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_velocity: Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="c1"># resolve all indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># note: we need to do this here since tensors are not set into simulation until step.</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">7</span><span class="p">:]</span> <span class="o">=</span> <span class="n">root_velocity</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">7</span><span class="p">:]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">7</span><span class="p">:]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">body_acc_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_root_velocities</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.write_root_link_velocity_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_link_velocity_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_link_velocity_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_velocity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root link velocity over selected environment indices into the simulation.</span>
+
+<span class="sd">        The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.</span>
+<span class="sd">        NOTE: This sets the velocity of the root&#39;s frame rather than the roots center of mass.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_velocity: Root frame velocities in simulation world frame. Shape is (len(env_ids), 6).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">local_env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+
+        <span class="n">root_com_velocity</span> <span class="o">=</span> <span class="n">root_velocity</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">quat</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="n">com_pos_b</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:]</span>
+        <span class="c1"># transform given velocity to center of mass</span>
+        <span class="n">root_com_velocity</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span>
+            <span class="n">root_com_velocity</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="n">com_pos_b</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span>
+        <span class="p">)</span>
+        <span class="c1"># write center of mass velocity to sim</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_velocity</span><span class="o">=</span><span class="n">root_com_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.write_joint_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_joint_state_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">position</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">velocity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write joint positions and velocities to the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            position: Joint positions. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            velocity: Joint velocities. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            joint_ids: The joint indices to set the targets for. Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the targets for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">position</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">velocity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_previous_joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">velocity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_acc</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="c1"># Need to invalidate the buffer to trigger the update with the new root pose.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_body_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_body_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_positions</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_velocities</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Articulation.write_joint_stiffness_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_stiffness_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_joint_stiffness_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span>
+        <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write joint stiffness into the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            stiffness: Joint stiffness. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            joint_ids: The joint indices to set the stiffness for. Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the stiffness for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># note: This function isn&#39;t setting the values for actuator models. (#128)</span>
+        <span class="c1"># resolve indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_stiffness</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">stiffness</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_stiffnesses</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_stiffness</span><span class="o">.</span><span class="n">cpu</span><span class="p">(),</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="o">.</span><span class="n">cpu</span><span class="p">())</span></div>
+
+<div class="viewcode-block" id="Articulation.write_joint_damping_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_damping_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_joint_damping_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">damping</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span>
+        <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write joint damping into the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            damping: Joint damping. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            joint_ids: The joint indices to set the damping for.</span>
+<span class="sd">                Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the damping for.</span>
+<span class="sd">                Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># note: This function isn&#39;t setting the values for actuator models. (#128)</span>
+        <span class="c1"># resolve indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_damping</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">damping</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_dampings</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_damping</span><span class="o">.</span><span class="n">cpu</span><span class="p">(),</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="o">.</span><span class="n">cpu</span><span class="p">())</span></div>
+
+<div class="viewcode-block" id="Articulation.write_joint_velocity_limit_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_velocity_limit_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_joint_velocity_limit_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">limits</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span>
+        <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write joint max velocity to the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            limits: Joint max velocity. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            joint_ids: The joint indices to set the max velocity for. Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the max velocity for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># move tensor to cpu if needed</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">limits</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+            <span class="n">limits</span> <span class="o">=</span> <span class="n">limits</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_velocity_limits</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_max_velocities</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_velocity_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">limits</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_max_velocities</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_velocity_limits</span><span class="o">.</span><span class="n">cpu</span><span class="p">(),</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="o">.</span><span class="n">cpu</span><span class="p">())</span></div>
+
+<div class="viewcode-block" id="Articulation.write_joint_effort_limit_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_effort_limit_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_joint_effort_limit_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">limits</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span>
+        <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write joint effort limits into the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            limits: Joint torque limits. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            joint_ids: The joint indices to set the joint torque limits for. Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the joint torque limits for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># note: This function isn&#39;t setting the values for actuator models. (#128)</span>
+        <span class="c1"># resolve indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># move tensor to cpu if needed</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">limits</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+            <span class="n">limits</span> <span class="o">=</span> <span class="n">limits</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="n">torque_limit_all</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_max_forces</span><span class="p">()</span>
+        <span class="n">torque_limit_all</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">limits</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_max_forces</span><span class="p">(</span><span class="n">torque_limit_all</span><span class="o">.</span><span class="n">cpu</span><span class="p">(),</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="o">.</span><span class="n">cpu</span><span class="p">())</span></div>
+
+<div class="viewcode-block" id="Articulation.write_joint_armature_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_armature_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_joint_armature_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">armature</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span>
+        <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write joint armature into the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            armature: Joint armature. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            joint_ids: The joint indices to set the joint torque limits for. Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the joint torque limits for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_armature</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">armature</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_armatures</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_armature</span><span class="o">.</span><span class="n">cpu</span><span class="p">(),</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="o">.</span><span class="n">cpu</span><span class="p">())</span></div>
+
+<div class="viewcode-block" id="Articulation.write_joint_friction_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_friction_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_joint_friction_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">joint_friction</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span>
+        <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write joint friction into the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            joint_friction: Joint friction. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            joint_ids: The joint indices to set the joint torque limits for. Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the joint torque limits for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_friction</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_friction</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_friction_coefficients</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_friction</span><span class="o">.</span><span class="n">cpu</span><span class="p">(),</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="o">.</span><span class="n">cpu</span><span class="p">())</span></div>
+
+<div class="viewcode-block" id="Articulation.write_joint_limits_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_joint_limits_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">limits</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span>
+        <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write joint limits into the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            limits: Joint limits. Shape is (len(env_ids), len(joint_ids), 2).</span>
+<span class="sd">            joint_ids: The joint indices to set the limits for. Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the limits for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># note: This function isn&#39;t setting the values for actuator models. (#128)</span>
+        <span class="c1"># resolve indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">limits</span>
+        <span class="c1"># update default joint pos to stay within the new limits</span>
+        <span class="k">if</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span>
+            <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">&lt;</span> <span class="n">limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+            <span class="o">|</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span>
+        <span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clamp</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">],</span> <span class="n">limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+            <span class="p">)</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;Some default joint positions are outside of the range of the new joint limits. Default joint positions&quot;</span>
+                <span class="s2">&quot; will be clamped to be within the new joint limits.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_dof_limits</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_limits</span><span class="o">.</span><span class="n">cpu</span><span class="p">(),</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="o">.</span><span class="n">cpu</span><span class="p">())</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Setters.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Articulation.set_external_force_and_torque"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_external_force_and_torque">[docs]</a>    <span class="k">def</span> <span class="nf">set_external_force_and_torque</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">forces</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">torques</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">body_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set external force and torque to apply on the asset&#39;s bodies in their local frame.</span>
+
+<span class="sd">        For many applications, we want to keep the applied external force on rigid bodies constant over a period of</span>
+<span class="sd">        time (for instance, during the policy control). This function allows us to store the external force and torque</span>
+<span class="sd">        into buffers which are then applied to the simulation at every step.</span>
+
+<span class="sd">        .. caution::</span>
+<span class="sd">            If the function is called with empty forces and torques, then this function disables the application</span>
+<span class="sd">            of external wrench to the simulation.</span>
+
+<span class="sd">            .. code-block:: python</span>
+
+<span class="sd">                # example of disabling external wrench</span>
+<span class="sd">                asset.set_external_force_and_torque(forces=torch.zeros(0, 3), torques=torch.zeros(0, 3))</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the external wrench to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the external wrench, call the :meth:`write_data_to_sim` function</span>
+<span class="sd">            right before the simulation step.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            forces: External forces in bodies&#39; local frame. Shape is (len(env_ids), len(body_ids), 3).</span>
+<span class="sd">            torques: External torques in bodies&#39; local frame. Shape is (len(env_ids), len(body_ids), 3).</span>
+<span class="sd">            body_ids: Body indices to apply external wrench to. Defaults to None (all bodies).</span>
+<span class="sd">            env_ids: Environment indices to apply external wrench to. Defaults to None (all instances).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">forces</span><span class="o">.</span><span class="n">any</span><span class="p">()</span> <span class="ow">or</span> <span class="n">torques</span><span class="o">.</span><span class="n">any</span><span class="p">():</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span> <span class="o">=</span> <span class="kc">True</span>
+            <span class="c1"># resolve all indices</span>
+            <span class="c1"># -- env_ids</span>
+            <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+            <span class="k">elif</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                <span class="n">env_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+            <span class="c1"># -- body_ids</span>
+            <span class="k">if</span> <span class="n">body_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">body_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">body_ids</span><span class="p">,</span> <span class="nb">slice</span><span class="p">):</span>
+                <span class="n">body_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)[</span><span class="n">body_ids</span><span class="p">]</span>
+            <span class="k">elif</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">body_ids</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                <span class="n">body_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">body_ids</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+            <span class="c1"># note: we need to do this complicated indexing since torch doesn&#39;t support multi-indexing</span>
+            <span class="c1"># create global body indices from env_ids and env_body_ids</span>
+            <span class="c1"># (env_id * total_bodies_per_env) + body_id</span>
+            <span class="n">indices</span> <span class="o">=</span> <span class="n">body_ids</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="mi">1</span><span class="p">)</span> <span class="o">+</span> <span class="n">env_ids</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span>
+            <span class="n">indices</span> <span class="o">=</span> <span class="n">indices</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="c1"># set into internal buffers</span>
+            <span class="c1"># note: these are applied in the write_to_sim function</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="o">.</span><span class="n">flatten</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">)[</span><span class="n">indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">forces</span><span class="o">.</span><span class="n">flatten</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span><span class="o">.</span><span class="n">flatten</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">)[</span><span class="n">indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">torques</span><span class="o">.</span><span class="n">flatten</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span> <span class="o">=</span> <span class="kc">False</span></div>
+
+<div class="viewcode-block" id="Articulation.set_joint_position_target"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_joint_position_target">[docs]</a>    <span class="k">def</span> <span class="nf">set_joint_position_target</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set joint position targets into internal buffers.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the joint targets to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the joint targets, call the :meth:`write_data_to_sim` function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            target: Joint position targets. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            joint_ids: The joint indices to set the targets for. Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the targets for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set targets</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_pos_target</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">target</span></div>
+
+<div class="viewcode-block" id="Articulation.set_joint_velocity_target"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_joint_velocity_target">[docs]</a>    <span class="k">def</span> <span class="nf">set_joint_velocity_target</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set joint velocity targets into internal buffers.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the joint targets to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the joint targets, call the :meth:`write_data_to_sim` function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            target: Joint velocity targets. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            joint_ids: The joint indices to set the targets for. Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the targets for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set targets</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_vel_target</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">target</span></div>
+
+<div class="viewcode-block" id="Articulation.set_joint_effort_target"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_joint_effort_target">[docs]</a>    <span class="k">def</span> <span class="nf">set_joint_effort_target</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">target</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set joint efforts into internal buffers.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the joint targets to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the joint targets, call the :meth:`write_data_to_sim` function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            target: Joint effort targets. Shape is (len(env_ids), len(joint_ids)).</span>
+<span class="sd">            joint_ids: The joint indices to set the targets for. Defaults to None (all joints).</span>
+<span class="sd">            env_ids: The environment indices to set the targets for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set targets</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_effort_target</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">target</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Tendons.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Articulation.set_fixed_tendon_stiffness"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_stiffness">[docs]</a>    <span class="k">def</span> <span class="nf">set_fixed_tendon_stiffness</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">fixed_tendon_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set fixed tendon stiffness into internal buffers.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the tendon stiffness to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the tendon stiffness, call the :meth:`write_fixed_tendon_properties_to_sim` function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            stiffness: Fixed tendon stiffness. Shape is (len(env_ids), len(fixed_tendon_ids)).</span>
+<span class="sd">            fixed_tendon_ids: The tendon indices to set the stiffness for. Defaults to None (all fixed tendons).</span>
+<span class="sd">            env_ids: The environment indices to set the stiffness for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">fixed_tendon_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">fixed_tendon_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set stiffness</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_stiffness</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">stiffness</span></div>
+
+<div class="viewcode-block" id="Articulation.set_fixed_tendon_damping"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_damping">[docs]</a>    <span class="k">def</span> <span class="nf">set_fixed_tendon_damping</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">damping</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">fixed_tendon_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set fixed tendon damping into internal buffers.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the tendon damping to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the tendon damping, call the :meth:`write_fixed_tendon_properties_to_sim` function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            damping: Fixed tendon damping. Shape is (len(env_ids), len(fixed_tendon_ids)).</span>
+<span class="sd">            fixed_tendon_ids: The tendon indices to set the damping for. Defaults to None (all fixed tendons).</span>
+<span class="sd">            env_ids: The environment indices to set the damping for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">fixed_tendon_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">fixed_tendon_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set damping</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_damping</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">damping</span></div>
+
+<div class="viewcode-block" id="Articulation.set_fixed_tendon_limit_stiffness"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit_stiffness">[docs]</a>    <span class="k">def</span> <span class="nf">set_fixed_tendon_limit_stiffness</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">limit_stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">fixed_tendon_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set fixed tendon limit stiffness efforts into internal buffers.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the tendon limit stiffness to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the tendon limit stiffness, call the :meth:`write_fixed_tendon_properties_to_sim` function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            limit_stiffness: Fixed tendon limit stiffness. Shape is (len(env_ids), len(fixed_tendon_ids)).</span>
+<span class="sd">            fixed_tendon_ids: The tendon indices to set the limit stiffness for. Defaults to None (all fixed tendons).</span>
+<span class="sd">            env_ids: The environment indices to set the limit stiffness for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">fixed_tendon_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">fixed_tendon_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set limit_stiffness</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_limit_stiffness</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">limit_stiffness</span></div>
+
+<div class="viewcode-block" id="Articulation.set_fixed_tendon_limit"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit">[docs]</a>    <span class="k">def</span> <span class="nf">set_fixed_tendon_limit</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">limit</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">fixed_tendon_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set fixed tendon limit efforts into internal buffers.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">             This function does not apply the tendon limit to the simulation. It only fills the buffers with</span>
+<span class="sd">             the desired values. To apply the tendon limit, call the :meth:`write_fixed_tendon_properties_to_sim` function.</span>
+
+<span class="sd">         Args:</span>
+<span class="sd">             limit: Fixed tendon limit. Shape is (len(env_ids), len(fixed_tendon_ids)).</span>
+<span class="sd">             fixed_tendon_ids: The tendon indices to set the limit for. Defaults to None (all fixed tendons).</span>
+<span class="sd">             env_ids: The environment indices to set the limit for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">fixed_tendon_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">fixed_tendon_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set limit</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_limit</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">limit</span></div>
+
+<div class="viewcode-block" id="Articulation.set_fixed_tendon_rest_length"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_rest_length">[docs]</a>    <span class="k">def</span> <span class="nf">set_fixed_tendon_rest_length</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">rest_length</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">fixed_tendon_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set fixed tendon rest length efforts into internal buffers.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the tendon rest length to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the tendon rest length, call the :meth:`write_fixed_tendon_properties_to_sim` function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            rest_length: Fixed tendon rest length. Shape is (len(env_ids), len(fixed_tendon_ids)).</span>
+<span class="sd">            fixed_tendon_ids: The tendon indices to set the rest length for. Defaults to None (all fixed tendons).</span>
+<span class="sd">            env_ids: The environment indices to set the rest length for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">fixed_tendon_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">fixed_tendon_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set rest_length</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_rest_length</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">rest_length</span></div>
+
+<div class="viewcode-block" id="Articulation.set_fixed_tendon_offset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_offset">[docs]</a>    <span class="k">def</span> <span class="nf">set_fixed_tendon_offset</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">offset</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">fixed_tendon_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set fixed tendon offset efforts into internal buffers.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the tendon offset to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the tendon offset, call the :meth:`write_fixed_tendon_properties_to_sim` function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            offset: Fixed tendon offset. Shape is (len(env_ids), len(fixed_tendon_ids)).</span>
+<span class="sd">            fixed_tendon_ids: The tendon indices to set the offset for. Defaults to None (all fixed tendons).</span>
+<span class="sd">            env_ids: The environment indices to set the offset for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">fixed_tendon_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">fixed_tendon_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+        <span class="c1"># set offset</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_offset</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">offset</span></div>
+
+<div class="viewcode-block" id="Articulation.write_fixed_tendon_properties_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_fixed_tendon_properties_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">fixed_tendon_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write fixed tendon properties into the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            fixed_tendon_ids: The fixed tendon indices to set the limits for. Defaults to None (all fixed tendons).</span>
+<span class="sd">            env_ids: The environment indices to set the limits for. Defaults to None (all environments).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="k">if</span> <span class="n">fixed_tendon_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_fixed_tendon_properties</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_stiffness</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_damping</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_limit_stiffness</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_limit</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_rest_length</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_offset</span><span class="p">,</span>
+            <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="p">,</span>
+        <span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helper.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># create simulation view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_backend</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="c1"># obtain the first prim in the regex expression (all others are assumed to be a copy of this)</span>
+        <span class="n">template_prim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_first_matching_prim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">template_prim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to find prim for expression: &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+        <span class="n">template_prim_path</span> <span class="o">=</span> <span class="n">template_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+
+        <span class="c1"># find articulation root prims</span>
+        <span class="n">root_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">get_all_matching_child_prims</span><span class="p">(</span>
+            <span class="n">template_prim_path</span><span class="p">,</span> <span class="n">predicate</span><span class="o">=</span><span class="k">lambda</span> <span class="n">prim</span><span class="p">:</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">root_prims</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Failed to find an articulation when resolving &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="s2">&quot; Please ensure that the prim has &#39;USD ArticulationRootAPI&#39; applied.&quot;</span>
+            <span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">root_prims</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Failed to find a single articulation when resolving &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; Found multiple &#39;</span><span class="si">{</span><span class="n">root_prims</span><span class="si">}</span><span class="s2">&#39; under &#39;</span><span class="si">{</span><span class="n">template_prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="s2">&quot; Please ensure that there is only one articulation in the prim path tree.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># resolve articulation root prim back into regex expression</span>
+        <span class="n">root_prim_path</span> <span class="o">=</span> <span class="n">root_prims</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+        <span class="n">root_prim_path_expr</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">+</span> <span class="n">root_prim_path</span><span class="p">[</span><span class="nb">len</span><span class="p">(</span><span class="n">template_prim_path</span><span class="p">)</span> <span class="p">:]</span>
+        <span class="c1"># -- articulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_articulation_view</span><span class="p">(</span><span class="n">root_prim_path_expr</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;*&quot;</span><span class="p">))</span>
+
+        <span class="c1"># check if the articulation was created</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">_backend</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to create articulation at: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">. Please check PhysX logs.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># log information about the articulation</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Articulation initialized at: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2"> with root &#39;</span><span class="si">{</span><span class="n">root_prim_path_expr</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Is fixed root: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">is_fixed_base</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of bodies: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Body names: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of joints: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Joint names: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of fixed tendons: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="c1"># container for data access</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span> <span class="o">=</span> <span class="n">ArticulationData</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># create buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_buffers</span><span class="p">()</span>
+        <span class="c1"># process configuration</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_process_cfg</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_process_actuators_cfg</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_process_fixed_tendons</span><span class="p">()</span>
+        <span class="c1"># validate configuration</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_validate_cfg</span><span class="p">()</span>
+        <span class="c1"># update the robot data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="mf">0.0</span><span class="p">)</span>
+        <span class="c1"># log joint information</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_log_articulation_joint_info</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">_create_buffers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># constants</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># external forces and torques</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="p">)</span>
+
+        <span class="c1"># asset data</span>
+        <span class="c1"># -- properties</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_names</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">body_names</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span>
+
+        <span class="c1"># -- bodies</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_mass</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_masses</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_inertia</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_inertias</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+        <span class="c1"># -- default joint state</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_vel</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+
+        <span class="c1"># -- joint commands</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_pos_target</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_vel_target</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_effort_target</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_stiffness</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_damping</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_armature</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_friction</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># -- joint commands (explicit)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">computed_torque</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">applied_torque</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+
+        <span class="c1"># -- tendons</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_stiffness</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_damping</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_limit_stiffness</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_limit</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_rest_length</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_offset</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># -- other data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">soft_joint_vel_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">gear_ratio</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">ones</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># -- initialize default buffers related to joint properties</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_stiffness</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_damping</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_armature</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_friction</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># -- initialize default buffers related to fixed tendon properties</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_stiffness</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_damping</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_limit_stiffness</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_limit</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_rest_length</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_offset</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+
+        <span class="c1"># soft joint position limits (recommended not to be too close to limits).</span>
+        <span class="n">joint_pos_limits</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_limits</span><span class="p">()</span>
+        <span class="n">joint_pos_mean</span> <span class="o">=</span> <span class="p">(</span><span class="n">joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span> <span class="o">/</span> <span class="mi">2</span>
+        <span class="n">joint_pos_range</span> <span class="o">=</span> <span class="n">joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+        <span class="n">soft_limit_factor</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">soft_joint_pos_limit_factor</span>
+        <span class="c1"># add to data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_pos_mean</span> <span class="o">-</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">joint_pos_range</span> <span class="o">*</span> <span class="n">soft_limit_factor</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_pos_mean</span> <span class="o">+</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">joint_pos_range</span> <span class="o">*</span> <span class="n">soft_limit_factor</span>
+
+        <span class="c1"># create buffers to store processed actions from actuator models</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos_target_sim</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_pos_target</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel_target_sim</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_pos_target</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_effort_target_sim</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_pos_target</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_process_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Post processing of configuration parameters.&quot;&quot;&quot;</span>
+        <span class="c1"># default state</span>
+        <span class="c1"># -- root state</span>
+        <span class="c1"># note: we cast to tuple to avoid torch/numpy type mismatch.</span>
+        <span class="n">default_root_state</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="nb">tuple</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">pos</span><span class="p">)</span>
+            <span class="o">+</span> <span class="nb">tuple</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">rot</span><span class="p">)</span>
+            <span class="o">+</span> <span class="nb">tuple</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">lin_vel</span><span class="p">)</span>
+            <span class="o">+</span> <span class="nb">tuple</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">ang_vel</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="n">default_root_state</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">default_root_state</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_root_state</span> <span class="o">=</span> <span class="n">default_root_state</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># -- joint state</span>
+        <span class="c1"># joint pos</span>
+        <span class="n">indices_list</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">values_list</span> <span class="o">=</span> <span class="n">string_utils</span><span class="o">.</span><span class="n">resolve_matching_names_values</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[:,</span> <span class="n">indices_list</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">values_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># joint vel</span>
+        <span class="n">indices_list</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">values_list</span> <span class="o">=</span> <span class="n">string_utils</span><span class="o">.</span><span class="n">resolve_matching_names_values</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[:,</span> <span class="n">indices_list</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">values_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># -- joint limits</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_limits</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_limits</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_limits</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_limits</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="c1"># call parent</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="c1"># set all existing views to None to invalidate them</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span> <span class="o">=</span> <span class="kc">None</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helpers -- Actuators.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_process_actuators_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Process and apply articulation joint properties.&quot;&quot;&quot;</span>
+        <span class="c1"># create actuators</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">actuators</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># flag for implicit actuators</span>
+        <span class="c1"># if this is false, we by-pass certain checks when doing actuator-related operations</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_has_implicit_actuators</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># cache the values coming from the usd</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_stiffness</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_stiffnesses</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_damping</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_dampings</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_armature</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_armatures</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_friction</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_friction_coefficients</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+        <span class="c1"># iterate over all actuator configurations</span>
+        <span class="k">for</span> <span class="n">actuator_name</span><span class="p">,</span> <span class="n">actuator_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">actuators</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># type annotation for type checkers</span>
+            <span class="n">actuator_cfg</span><span class="p">:</span> <span class="n">ActuatorBaseCfg</span>
+            <span class="c1"># create actuator group</span>
+            <span class="n">joint_ids</span><span class="p">,</span> <span class="n">joint_names</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">find_joints</span><span class="p">(</span><span class="n">actuator_cfg</span><span class="o">.</span><span class="n">joint_names_expr</span><span class="p">)</span>
+            <span class="c1"># check if any joints are found</span>
+            <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">joint_names</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;No joints found for actuator group: </span><span class="si">{</span><span class="n">actuator_name</span><span class="si">}</span><span class="s2"> with joint name expression:&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; </span><span class="si">{</span><span class="n">actuator_cfg</span><span class="o">.</span><span class="n">joint_names_expr</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># create actuator collection</span>
+            <span class="c1"># note: for efficiency avoid indexing when over all indices</span>
+            <span class="n">actuator</span><span class="p">:</span> <span class="n">ActuatorBase</span> <span class="o">=</span> <span class="n">actuator_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span>
+                <span class="n">cfg</span><span class="o">=</span><span class="n">actuator_cfg</span><span class="p">,</span>
+                <span class="n">joint_names</span><span class="o">=</span><span class="n">joint_names</span><span class="p">,</span>
+                <span class="n">joint_ids</span><span class="o">=</span><span class="p">(</span>
+                    <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">joint_names</span><span class="p">)</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span> <span class="k">else</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">joint_ids</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+                <span class="p">),</span>
+                <span class="n">num_envs</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span>
+                <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+                <span class="n">stiffness</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_stiffness</span><span class="p">[:,</span> <span class="n">joint_ids</span><span class="p">],</span>
+                <span class="n">damping</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_damping</span><span class="p">[:,</span> <span class="n">joint_ids</span><span class="p">],</span>
+                <span class="n">armature</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_armature</span><span class="p">[:,</span> <span class="n">joint_ids</span><span class="p">],</span>
+                <span class="n">friction</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_friction</span><span class="p">[:,</span> <span class="n">joint_ids</span><span class="p">],</span>
+                <span class="n">effort_limit</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_max_forces</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()[:,</span> <span class="n">joint_ids</span><span class="p">],</span>
+                <span class="n">velocity_limit</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_max_velocities</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()[:,</span> <span class="n">joint_ids</span><span class="p">],</span>
+            <span class="p">)</span>
+            <span class="c1"># log information on actuator groups</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Actuator collection: </span><span class="si">{</span><span class="n">actuator_name</span><span class="si">}</span><span class="s2"> with model &#39;</span><span class="si">{</span><span class="n">actuator_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">&#39; and&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; joint names: </span><span class="si">{</span><span class="n">joint_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="n">joint_ids</span><span class="si">}</span><span class="s2">].&quot;</span>
+            <span class="p">)</span>
+            <span class="c1"># store actuator group</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">actuators</span><span class="p">[</span><span class="n">actuator_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span>
+            <span class="c1"># set the passed gains and limits into the simulation</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">actuator</span><span class="p">,</span> <span class="n">ImplicitActuator</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_has_implicit_actuators</span> <span class="o">=</span> <span class="kc">True</span>
+                <span class="c1"># the gains and limits are set into the simulation since actuator model is implicit</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_stiffness_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">stiffness</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_damping_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">damping</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_effort_limit_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">effort_limit</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_velocity_limit_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">velocity_limit</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_armature_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">armature</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_friction_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">friction</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="c1"># the gains and limits are processed by the actuator model</span>
+                <span class="c1"># we set gains to zero, and torque limit to a high value in simulation to avoid any interference</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_stiffness_to_sim</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_damping_to_sim</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_effort_limit_to_sim</span><span class="p">(</span><span class="mf">1.0e9</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_velocity_limit_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">velocity_limit</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_armature_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">armature</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">write_joint_friction_to_sim</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">friction</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">)</span>
+                <span class="c1"># Store the actual default stiffness and damping values for explicit actuators (not written the sim)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_stiffness</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">stiffness</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_damping</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">damping</span>
+
+        <span class="c1"># perform some sanity checks to ensure actuators are prepared correctly</span>
+        <span class="n">total_act_joints</span> <span class="o">=</span> <span class="nb">sum</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">num_joints</span> <span class="k">for</span> <span class="n">actuator</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">actuators</span><span class="o">.</span><span class="n">values</span><span class="p">())</span>
+        <span class="k">if</span> <span class="n">total_act_joints</span> <span class="o">!=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">):</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;Not all actuators are configured! Total number of actuated joints not equal to number of&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; joints available: </span><span class="si">{</span><span class="n">total_act_joints</span><span class="si">}</span><span class="s2"> != </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="w"> </span><span class="o">-</span><span class="w"> </span><span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="si">}</span><span class="s2">.&quot;</span>
+            <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_process_fixed_tendons</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Process fixed tendons.&quot;&quot;&quot;</span>
+        <span class="c1"># create a list to store the fixed tendon names</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_fixed_tendon_names</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+
+        <span class="c1"># parse fixed tendons properties if they exist</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+            <span class="n">joint_paths</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">dof_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+
+            <span class="c1"># iterate over all joints to find tendons attached to them</span>
+            <span class="k">for</span> <span class="n">j</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_joints</span><span class="p">):</span>
+                <span class="n">usd_joint_path</span> <span class="o">=</span> <span class="n">joint_paths</span><span class="p">[</span><span class="n">j</span><span class="p">]</span>
+                <span class="c1"># check whether joint has tendons - tendon name follows the joint name it is attached to</span>
+                <span class="n">joint</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">Joint</span><span class="o">.</span><span class="n">Get</span><span class="p">(</span><span class="n">stage</span><span class="p">,</span> <span class="n">usd_joint_path</span><span class="p">)</span>
+                <span class="k">if</span> <span class="n">joint</span><span class="o">.</span><span class="n">GetPrim</span><span class="p">()</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxTendonAxisRootAPI</span><span class="p">):</span>
+                    <span class="n">joint_name</span> <span class="o">=</span> <span class="n">usd_joint_path</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_fixed_tendon_names</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">joint_name</span><span class="p">)</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">fixed_tendon_names</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_fixed_tendon_names</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_stiffness</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_stiffnesses</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_damping</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_dampings</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_limit_stiffness</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_limit_stiffnesses</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_limit</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_limits</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_rest_length</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_rest_lengths</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_fixed_tendon_offset</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_offsets</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">_apply_actuator_model</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Processes joint commands for the articulation by forwarding them to the actuators.</span>
+
+<span class="sd">        The actions are first processed using actuator models. Depending on the robot configuration,</span>
+<span class="sd">        the actuator models compute the joint level simulation commands and sets them into the PhysX buffers.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># process actions per group</span>
+        <span class="k">for</span> <span class="n">actuator</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">actuators</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="c1"># prepare input for actuator model based on cached data</span>
+            <span class="c1"># TODO : A tensor dict would be nice to do the indexing of all tensors together</span>
+            <span class="n">control_action</span> <span class="o">=</span> <span class="n">ArticulationActions</span><span class="p">(</span>
+                <span class="n">joint_positions</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_pos_target</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">],</span>
+                <span class="n">joint_velocities</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_vel_target</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">],</span>
+                <span class="n">joint_efforts</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_effort_target</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">],</span>
+                <span class="n">joint_indices</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">,</span>
+            <span class="p">)</span>
+            <span class="c1"># compute joint command from the actuator model</span>
+            <span class="n">control_action</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span>
+                <span class="n">control_action</span><span class="p">,</span>
+                <span class="n">joint_pos</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">],</span>
+                <span class="n">joint_vel</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">],</span>
+            <span class="p">)</span>
+            <span class="c1"># update targets (these are set into the simulation)</span>
+            <span class="k">if</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos_target_sim</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_positions</span>
+            <span class="k">if</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_velocities</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel_target_sim</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_velocities</span>
+            <span class="k">if</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_joint_effort_target_sim</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">control_action</span><span class="o">.</span><span class="n">joint_efforts</span>
+            <span class="c1"># update state of the actuator model</span>
+            <span class="c1"># -- torques</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">computed_torque</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">computed_effort</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">applied_torque</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">applied_effort</span>
+            <span class="c1"># -- actuator data</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">soft_joint_vel_limits</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">velocity_limit</span>
+            <span class="c1"># TODO: find a cleaner way to handle gear ratio. Only needed for variable gear ratio actuators.</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">actuator</span><span class="p">,</span> <span class="s2">&quot;gear_ratio&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">gear_ratio</span><span class="p">[:,</span> <span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">gear_ratio</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helpers -- Debugging.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_validate_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Validate the configuration after processing.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This function should be called only after the configuration has been processed and the buffers have been</span>
+<span class="sd">            created. Otherwise, some settings that are altered during processing may not be validated.</span>
+<span class="sd">            For instance, the actuator models may change the joint max velocity limits.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that the default values are within the limits</span>
+        <span class="n">joint_pos_limits</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_limits</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="n">out_of_range</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">&lt;</span> <span class="n">joint_pos_limits</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span>
+        <span class="n">out_of_range</span> <span class="o">|=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">joint_pos_limits</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span>
+        <span class="n">violated_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">nonzero</span><span class="p">(</span><span class="n">out_of_range</span><span class="p">,</span> <span class="n">as_tuple</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># throw error if any of the default joint positions are out of the limits</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">violated_indices</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># prepare message for violated joints</span>
+            <span class="n">msg</span> <span class="o">=</span> <span class="s2">&quot;The following joints have default positions out of the limits: </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="k">for</span> <span class="n">idx</span> <span class="ow">in</span> <span class="n">violated_indices</span><span class="p">:</span>
+                <span class="n">joint_name</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_names</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+                <span class="n">joint_limits</span> <span class="o">=</span> <span class="n">joint_pos_limits</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+                <span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="n">idx</span><span class="p">]</span>
+                <span class="c1"># add to message</span>
+                <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">- &#39;</span><span class="si">{</span><span class="n">joint_name</span><span class="si">}</span><span class="s2">&#39;: </span><span class="si">{</span><span class="n">joint_pos</span><span class="si">:</span><span class="s2">.3f</span><span class="si">}</span><span class="s2"> not in [</span><span class="si">{</span><span class="n">joint_limits</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="si">:</span><span class="s2">.3f</span><span class="si">}</span><span class="s2">, </span><span class="si">{</span><span class="n">joint_limits</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="si">:</span><span class="s2">.3f</span><span class="si">}</span><span class="s2">]</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span>
+
+        <span class="c1"># check that the default joint velocities are within the limits</span>
+        <span class="n">joint_max_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_max_velocities</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="n">out_of_range</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span> <span class="o">&gt;</span> <span class="n">joint_max_vel</span>
+        <span class="n">violated_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">nonzero</span><span class="p">(</span><span class="n">out_of_range</span><span class="p">,</span> <span class="n">as_tuple</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">violated_indices</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># prepare message for violated joints</span>
+            <span class="n">msg</span> <span class="o">=</span> <span class="s2">&quot;The following joints have default velocities out of the limits: </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="k">for</span> <span class="n">idx</span> <span class="ow">in</span> <span class="n">violated_indices</span><span class="p">:</span>
+                <span class="n">joint_name</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_names</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+                <span class="n">joint_limits</span> <span class="o">=</span> <span class="p">[</span><span class="o">-</span><span class="n">joint_max_vel</span><span class="p">[</span><span class="n">idx</span><span class="p">],</span> <span class="n">joint_max_vel</span><span class="p">[</span><span class="n">idx</span><span class="p">]]</span>
+                <span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="n">idx</span><span class="p">]</span>
+                <span class="c1"># add to message</span>
+                <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">- &#39;</span><span class="si">{</span><span class="n">joint_name</span><span class="si">}</span><span class="s2">&#39;: </span><span class="si">{</span><span class="n">joint_vel</span><span class="si">:</span><span class="s2">.3f</span><span class="si">}</span><span class="s2"> not in [</span><span class="si">{</span><span class="n">joint_limits</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="si">:</span><span class="s2">.3f</span><span class="si">}</span><span class="s2">, </span><span class="si">{</span><span class="n">joint_limits</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="si">:</span><span class="s2">.3f</span><span class="si">}</span><span class="s2">]</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_log_articulation_joint_info</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Log information about the articulation&#39;s simulated joints.&quot;&quot;&quot;</span>
+        <span class="c1"># read out all joint parameters from simulation</span>
+        <span class="c1"># -- gains</span>
+        <span class="n">stiffnesses</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_stiffnesses</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+        <span class="n">dampings</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_dampings</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+        <span class="c1"># -- properties</span>
+        <span class="n">armatures</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_armatures</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+        <span class="n">frictions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_friction_coefficients</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+        <span class="c1"># -- limits</span>
+        <span class="n">position_limits</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_limits</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+        <span class="n">velocity_limits</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_max_velocities</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+        <span class="n">effort_limits</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_dof_max_forces</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+        <span class="c1"># create table for term information</span>
+        <span class="n">table</span> <span class="o">=</span> <span class="n">PrettyTable</span><span class="p">(</span><span class="n">float_format</span><span class="o">=</span><span class="s2">&quot;.3f&quot;</span><span class="p">)</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">title</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Simulation Joint Information (Prim path: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">)&quot;</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">field_names</span> <span class="o">=</span> <span class="p">[</span>
+            <span class="s2">&quot;Index&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;Name&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;Stiffness&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;Damping&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;Armature&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;Friction&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;Position Limits&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;Velocity Limits&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;Effort Limits&quot;</span><span class="p">,</span>
+        <span class="p">]</span>
+        <span class="c1"># set alignment of table columns</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;l&quot;</span>
+        <span class="c1"># add info on each term</span>
+        <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="n">name</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="p">):</span>
+            <span class="n">table</span><span class="o">.</span><span class="n">add_row</span><span class="p">([</span>
+                <span class="n">index</span><span class="p">,</span>
+                <span class="n">name</span><span class="p">,</span>
+                <span class="n">stiffnesses</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                <span class="n">dampings</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                <span class="n">armatures</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                <span class="n">frictions</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                <span class="n">position_limits</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                <span class="n">velocity_limits</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                <span class="n">effort_limits</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+            <span class="p">])</span>
+        <span class="c1"># convert table to string</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Simulation parameters for joints in </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">:</span><span class="se">\n</span><span class="s2">&quot;</span> <span class="o">+</span> <span class="n">table</span><span class="o">.</span><span class="n">get_string</span><span class="p">())</span>
+
+        <span class="c1"># read out all tendon parameters from simulation</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># -- gains</span>
+            <span class="n">ft_stiffnesses</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_stiffnesses</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+            <span class="n">ft_dampings</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_dampings</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+            <span class="c1"># -- limits</span>
+            <span class="n">ft_limit_stiffnesses</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_limit_stiffnesses</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+            <span class="n">ft_limits</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_limits</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+            <span class="n">ft_rest_lengths</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_rest_lengths</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+            <span class="n">ft_offsets</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_fixed_tendon_offsets</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+            <span class="c1"># create table for term information</span>
+            <span class="n">tendon_table</span> <span class="o">=</span> <span class="n">PrettyTable</span><span class="p">(</span><span class="n">float_format</span><span class="o">=</span><span class="s2">&quot;.3f&quot;</span><span class="p">)</span>
+            <span class="n">tendon_table</span><span class="o">.</span><span class="n">title</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Simulation Tendon Information (Prim path: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">)&quot;</span>
+            <span class="n">tendon_table</span><span class="o">.</span><span class="n">field_names</span> <span class="o">=</span> <span class="p">[</span>
+                <span class="s2">&quot;Index&quot;</span><span class="p">,</span>
+                <span class="s2">&quot;Stiffness&quot;</span><span class="p">,</span>
+                <span class="s2">&quot;Damping&quot;</span><span class="p">,</span>
+                <span class="s2">&quot;Limit Stiffness&quot;</span><span class="p">,</span>
+                <span class="s2">&quot;Limit&quot;</span><span class="p">,</span>
+                <span class="s2">&quot;Rest Length&quot;</span><span class="p">,</span>
+                <span class="s2">&quot;Offset&quot;</span><span class="p">,</span>
+            <span class="p">]</span>
+            <span class="c1"># add info on each term</span>
+            <span class="k">for</span> <span class="n">index</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_fixed_tendons</span><span class="p">):</span>
+                <span class="n">tendon_table</span><span class="o">.</span><span class="n">add_row</span><span class="p">([</span>
+                    <span class="n">index</span><span class="p">,</span>
+                    <span class="n">ft_stiffnesses</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                    <span class="n">ft_dampings</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                    <span class="n">ft_limit_stiffnesses</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                    <span class="n">ft_limits</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                    <span class="n">ft_rest_lengths</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                    <span class="n">ft_offsets</span><span class="p">[</span><span class="n">index</span><span class="p">],</span>
+                <span class="p">])</span>
+            <span class="c1"># convert table to string</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Simulation parameters for tendons in </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">:</span><span class="se">\n</span><span class="s2">&quot;</span> <span class="o">+</span> <span class="n">tendon_table</span><span class="o">.</span><span class="n">get_string</span><span class="p">())</span></div>
+</pre></div>
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new file mode 100644
index 0000000000..f2456b24cc
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+  <h1>Source code for omni.isaac.lab.assets.articulation.articulation_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.actuators</span> <span class="kn">import</span> <span class="n">ActuatorBaseCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">..asset_base_cfg</span> <span class="kn">import</span> <span class="n">AssetBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.articulation</span> <span class="kn">import</span> <span class="n">Articulation</span>
+
+
+<div class="viewcode-block" id="ArticulationCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ArticulationCfg</span><span class="p">(</span><span class="n">AssetBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for an articulation.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ArticulationCfg.InitialStateCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">InitialStateCfg</span><span class="p">(</span><span class="n">AssetBaseCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initial state of the articulation.&quot;&quot;&quot;</span>
+
+        <span class="c1"># root velocity</span>
+        <span class="n">lin_vel</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+        <span class="n">ang_vel</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+
+        <span class="c1"># joint state</span>
+        <span class="n">joint_pos</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;.*&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">}</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Joint positions of the joints. Defaults to 0.0 for all joints.&quot;&quot;&quot;</span>
+        <span class="n">joint_vel</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;.*&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">}</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Joint velocities of the joints. Defaults to 0.0 for all joints.&quot;&quot;&quot;</span></div>
+
+    <span class="c1">##</span>
+    <span class="c1"># Initialize configurations.</span>
+    <span class="c1">##</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">Articulation</span>
+
+    <span class="n">init_state</span><span class="p">:</span> <span class="n">InitialStateCfg</span> <span class="o">=</span> <span class="n">InitialStateCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Initial state of the articulated object. Defaults to identity pose with zero velocity and zero joint state.&quot;&quot;&quot;</span>
+
+    <span class="n">soft_joint_pos_limit_factor</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Fraction specifying the range of DOF position limits (parsed from the asset) to use. Defaults to 1.0.</span>
+
+<span class="sd">    The joint position limits are scaled by this factor to allow for a limited range of motion.</span>
+<span class="sd">    This is accessible in the articulation data through :attr:`ArticulationData.soft_joint_pos_limits` attribute.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">actuators</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">ActuatorBaseCfg</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Actuators for the robot with corresponding joint names.&quot;&quot;&quot;</span></div>
+</pre></div>
+
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+        <p aria-level="2" class="caption" role="heading"><span class="caption-text">Getting Started</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/setup/ecosystem.html">Isaac Lab Ecosystem</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
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+</details></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Overview</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
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+  <h1>Source code for omni.isaac.lab.assets.articulation.articulation_data</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.buffers</span> <span class="kn">import</span> <span class="n">TimestampedBuffer</span>
+
+
+<div class="viewcode-block" id="ArticulationData"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData">[docs]</a><span class="k">class</span> <span class="nc">ArticulationData</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Data container for an articulation.</span>
+
+<span class="sd">    This class contains the data for an articulation in the simulation. The data includes the state of</span>
+<span class="sd">    the root rigid body, the state of all the bodies in the articulation, and the joint state. The data is</span>
+<span class="sd">    stored in the simulation world frame unless otherwise specified.</span>
+
+<span class="sd">    An articulation is comprised of multiple rigid bodies or links. For a rigid body, there are two frames</span>
+<span class="sd">    of reference that are used:</span>
+
+<span class="sd">    - Actor frame: The frame of reference of the rigid body prim. This typically corresponds to the Xform prim</span>
+<span class="sd">      with the rigid body schema.</span>
+<span class="sd">    - Center of mass frame: The frame of reference of the center of mass of the rigid body.</span>
+
+<span class="sd">    Depending on the settings, the two frames may not coincide with each other. In the robotics sense, the actor frame</span>
+<span class="sd">    can be interpreted as the link frame.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_physx_view</span><span class="p">:</span> <span class="n">physx</span><span class="o">.</span><span class="n">ArticulationView</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the articulation data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_physx_view: The root articulation view.</span>
+<span class="sd">            device: The device used for processing.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># Set the parameters</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">device</span>
+        <span class="c1"># Set the root articulation view</span>
+        <span class="c1"># note: this is stored as a weak reference to avoid circular references between the asset class</span>
+        <span class="c1">#  and the data container. This is important to avoid memory leaks.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="p">:</span> <span class="n">physx</span><span class="o">.</span><span class="n">ArticulationView</span> <span class="o">=</span> <span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="n">root_physx_view</span><span class="p">)</span>
+
+        <span class="c1"># Set initial time stamp</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span> <span class="o">=</span> <span class="mf">0.0</span>
+
+        <span class="c1"># Obtain global physics sim view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="s2">&quot;torch&quot;</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="n">gravity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">get_gravity</span><span class="p">()</span>
+        <span class="c1"># Convert to direction vector</span>
+        <span class="n">gravity_dir</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">((</span><span class="n">gravity</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">gravity</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">gravity</span><span class="p">[</span><span class="mi">2</span><span class="p">]),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="n">gravity_dir</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">normalize</span><span class="p">(</span><span class="n">gravity_dir</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">))</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+
+        <span class="c1"># Initialize constants</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">GRAVITY_VEC_W</span> <span class="o">=</span> <span class="n">gravity_dir</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">FORWARD_VEC_B</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">((</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># Initialize history for finite differencing</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_previous_joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_dof_velocities</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+        <span class="c1"># Initialize the lazy buffers.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_body_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_body_link_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_body_com_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_body_acc_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_acc</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+
+        <span class="c1"># deprecation warning check</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_body_state_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+
+    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+        <span class="c1"># update the simulation timestamp</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span> <span class="o">+=</span> <span class="n">dt</span>
+        <span class="c1"># Trigger an update of the joint acceleration buffer at a higher frequency</span>
+        <span class="c1"># since we do finite differencing.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_acc</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Names.</span>
+    <span class="c1">##</span>
+
+    <span class="n">body_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Body names in the order parsed by the simulation view.&quot;&quot;&quot;</span>
+
+    <span class="n">joint_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint names in the order parsed by the simulation view.&quot;&quot;&quot;</span>
+
+    <span class="n">fixed_tendon_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Fixed tendon names in the order parsed by the simulation view.&quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Defaults.</span>
+    <span class="c1">##</span>
+
+    <span class="n">default_root_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default root state ``[pos, quat, lin_vel, ang_vel]`` in local environment frame. Shape is (num_instances, 13).</span>
+
+<span class="sd">    The position and quaternion are of the articulation root&#39;s actor frame. Meanwhile, the linear and angular</span>
+<span class="sd">    velocities are of its center of mass frame.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">default_mass</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default mass read from the simulation. Shape is (num_instances, num_bodies).&quot;&quot;&quot;</span>
+
+    <span class="n">default_inertia</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default inertia read from the simulation. Shape is (num_instances, num_bodies, 9).</span>
+
+<span class="sd">    The inertia is the inertia tensor relative to the center of mass frame. The values are stored in</span>
+<span class="sd">    the order :math:`[I_{xx}, I_{xy}, I_{xz}, I_{yx}, I_{yy}, I_{yz}, I_{zx}, I_{zy}, I_{zz}]`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">default_joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default joint positions of all joints. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="n">default_joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default joint velocities of all joints. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="n">default_joint_stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default joint stiffness of all joints. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="n">default_joint_damping</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default joint damping of all joints. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="n">default_joint_armature</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default joint armature of all joints. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="n">default_joint_friction</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default joint friction of all joints. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="n">default_joint_limits</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default joint limits of all joints. Shape is (num_instances, num_joints, 2).&quot;&quot;&quot;</span>
+
+    <span class="n">default_fixed_tendon_stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default tendon stiffness of all tendons. Shape is (num_instances, num_fixed_tendons).&quot;&quot;&quot;</span>
+
+    <span class="n">default_fixed_tendon_damping</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default tendon damping of all tendons. Shape is (num_instances, num_fixed_tendons).&quot;&quot;&quot;</span>
+
+    <span class="n">default_fixed_tendon_limit_stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default tendon limit stiffness of all tendons. Shape is (num_instances, num_fixed_tendons).&quot;&quot;&quot;</span>
+
+    <span class="n">default_fixed_tendon_rest_length</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default tendon rest length of all tendons. Shape is (num_instances, num_fixed_tendons).&quot;&quot;&quot;</span>
+
+    <span class="n">default_fixed_tendon_offset</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default tendon offset of all tendons. Shape is (num_instances, num_fixed_tendons).&quot;&quot;&quot;</span>
+
+    <span class="n">default_fixed_tendon_limit</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default tendon limits of all tendons. Shape is (num_instances, num_fixed_tendons, 2).&quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Joint commands -- Set into simulation.</span>
+    <span class="c1">##</span>
+
+    <span class="n">joint_pos_target</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint position targets commanded by the user. Shape is (num_instances, num_joints).</span>
+
+<span class="sd">    For an implicit actuator model, the targets are directly set into the simulation.</span>
+<span class="sd">    For an explicit actuator model, the targets are used to compute the joint torques (see :attr:`applied_torque`),</span>
+<span class="sd">    which are then set into the simulation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">joint_vel_target</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint velocity targets commanded by the user. Shape is (num_instances, num_joints).</span>
+
+<span class="sd">    For an implicit actuator model, the targets are directly set into the simulation.</span>
+<span class="sd">    For an explicit actuator model, the targets are used to compute the joint torques (see :attr:`applied_torque`),</span>
+<span class="sd">    which are then set into the simulation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">joint_effort_target</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint effort targets commanded by the user. Shape is (num_instances, num_joints).</span>
+
+<span class="sd">    For an implicit actuator model, the targets are directly set into the simulation.</span>
+<span class="sd">    For an explicit actuator model, the targets are used to compute the joint torques (see :attr:`applied_torque`),</span>
+<span class="sd">    which are then set into the simulation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Joint commands -- Explicit actuators.</span>
+    <span class="c1">##</span>
+
+    <span class="n">computed_torque</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint torques computed from the actuator model (before clipping). Shape is (num_instances, num_joints).</span>
+
+<span class="sd">    This quantity is the raw torque output from the actuator mode, before any clipping is applied.</span>
+<span class="sd">    It is exposed for users who want to inspect the computations inside the actuator model.</span>
+<span class="sd">    For instance, to penalize the learning agent for a difference between the computed and applied torques.</span>
+
+<span class="sd">    Note: The torques are zero for implicit actuator models.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">applied_torque</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint torques applied from the actuator model (after clipping). Shape is (num_instances, num_joints).</span>
+
+<span class="sd">    These torques are set into the simulation, after clipping the :attr:`computed_torque` based on the</span>
+<span class="sd">    actuator model.</span>
+
+<span class="sd">    Note: The torques are zero for implicit actuator models.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Joint properties.</span>
+    <span class="c1">##</span>
+
+    <span class="n">joint_stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint stiffness provided to simulation. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="n">joint_damping</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint damping provided to simulation. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="n">joint_limits</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint limits provided to simulation. Shape is (num_instances, num_joints, 2).&quot;&quot;&quot;</span>
+
+    <span class="n">joint_velocity_limits</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint maximum velocity provided to simulation. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Fixed tendon properties.</span>
+    <span class="c1">##</span>
+
+    <span class="n">fixed_tendon_stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Fixed tendon stiffness provided to simulation. Shape is (num_instances, num_fixed_tendons).&quot;&quot;&quot;</span>
+
+    <span class="n">fixed_tendon_damping</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Fixed tendon damping provided to simulation. Shape is (num_instances, num_fixed_tendons).&quot;&quot;&quot;</span>
+
+    <span class="n">fixed_tendon_limit_stiffness</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Fixed tendon limit stiffness provided to simulation. Shape is (num_instances, num_fixed_tendons).&quot;&quot;&quot;</span>
+
+    <span class="n">fixed_tendon_rest_length</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Fixed tendon rest length provided to simulation. Shape is (num_instances, num_fixed_tendons).&quot;&quot;&quot;</span>
+
+    <span class="n">fixed_tendon_offset</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Fixed tendon offset provided to simulation. Shape is (num_instances, num_fixed_tendons).&quot;&quot;&quot;</span>
+
+    <span class="n">fixed_tendon_limit</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Fixed tendon limits provided to simulation. Shape is (num_instances, num_fixed_tendons, 2).&quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Other Data.</span>
+    <span class="c1">##</span>
+
+    <span class="n">soft_joint_pos_limits</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint positions limits for all joints. Shape is (num_instances, num_joints, 2).&quot;&quot;&quot;</span>
+
+    <span class="n">soft_joint_vel_limits</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint velocity limits for all joints. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="n">gear_ratio</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Gear ratio for relating motor torques to applied Joint torques. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Properties.</span>
+    <span class="c1">##</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. Shape is (num_instances, 13).</span>
+
+<span class="sd">        The position and quaternion are of the articulation root&#39;s actor frame relative to the world. Meanwhile,</span>
+<span class="sd">        the linear and angular velocities are of the articulation root&#39;s center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ignore_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: root_state_w and it&#39;s derived properties will be deprecated in a future release.&quot;</span>
+                <span class="s2">&quot; Please use root_link_state_w or root_com_state_w.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_velocities</span><span class="p">()</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pose</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. Shape is (num_instances, 13).</span>
+
+<span class="sd">        The position, quaternion, and linear/angular velocity are of the articulation root&#39;s actor frame relative to the</span>
+<span class="sd">        world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_velocities</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+            <span class="c1"># adjust linear velocity to link from center of mass</span>
+            <span class="n">velocity</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span>
+                <span class="n">velocity</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:]),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span>
+            <span class="p">)</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pose</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. Shape is (num_instances, 13).</span>
+
+<span class="sd">        The position, quaternion, and linear/angular velocity are of the articulation root link&#39;s center of mass frame</span>
+<span class="sd">        relative to the world. Center of mass frame is assumed to be the same orientation as the link rather than the</span>
+<span class="sd">        orientation of the principle inertia.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation (pose is of link)</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_velocities</span><span class="p">()</span>
+
+            <span class="c1"># adjust pose to center of mass</span>
+            <span class="n">pos</span><span class="p">,</span> <span class="n">quat</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">combine_frame_transforms</span><span class="p">(</span>
+                <span class="n">pose</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:],</span> <span class="bp">self</span><span class="o">.</span><span class="n">com_quat_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:]</span>
+            <span class="p">)</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pos</span><span class="p">,</span> <span class="n">quat</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pose</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world frame.</span>
+<span class="sd">        Shape is (num_instances, num_bodies, 13).</span>
+
+<span class="sd">        The position and quaternion are of all the articulation links&#39;s actor frame. Meanwhile, the linear and angular</span>
+<span class="sd">        velocities are of the articulation links&#39;s center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_state_dep_warn</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ignore_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: body_state_w and it&#39;s derived properties will be deprecated in a future release.&quot;</span>
+                <span class="s2">&quot; Please use body_link_state_w or body_com_state_w.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_state_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">update_articulations_kinematic</span><span class="p">()</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">poses</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">poses</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">poses</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocities</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_velocities</span><span class="p">()</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">poses</span><span class="p">,</span> <span class="n">velocities</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;State of all bodies&#39; link frame`[pos, quat, lin_vel, ang_vel]` in simulation world frame.</span>
+<span class="sd">        Shape is (num_instances, num_bodies, 13).</span>
+
+<span class="sd">        The position, quaternion, and linear/angular velocity are of the body&#39;s link frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">update_articulations_kinematic</span><span class="p">()</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_velocities</span><span class="p">()</span>
+
+            <span class="c1"># adjust linear velocity to link from center of mass</span>
+            <span class="n">velocity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span>
+                <span class="n">velocity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span>
+            <span class="p">)</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_link_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pose</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_link_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;State of all bodies center of mass `[pos, quat, lin_vel, ang_vel]` in simulation world frame.</span>
+<span class="sd">        Shape is (num_instances, num_bodies, 13).</span>
+
+<span class="sd">        The position, quaternion, and linear/angular velocity are of the body&#39;s center of mass frame relative to the</span>
+<span class="sd">        world. Center of mass frame is assumed to be the same orientation as the link rather than the orientation of the</span>
+<span class="sd">        principle inertia.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">update_articulations_kinematic</span><span class="p">()</span>
+            <span class="c1"># read data from simulation (pose is of link)</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_velocities</span><span class="p">()</span>
+
+            <span class="c1"># adjust pose to center of mass</span>
+            <span class="n">pos</span><span class="p">,</span> <span class="n">quat</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">combine_frame_transforms</span><span class="p">(</span>
+                <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">com_quat_b</span>
+            <span class="p">)</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pos</span><span class="p">,</span> <span class="n">quat</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pose</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_acc_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Acceleration of all bodies (center of mass). Shape is (num_instances, num_bodies, 6).</span>
+
+<span class="sd">        All values are relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_acc_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation and set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_acc_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_accelerations</span><span class="p">()</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_acc_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_acc_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">projected_gravity_b</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Projection of the gravity direction on base frame. Shape is (num_instances, 3).&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">GRAVITY_VEC_W</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">heading_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Yaw heading of the base frame (in radians). Shape is (num_instances,).</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This quantity is computed by assuming that the forward-direction of the base</span>
+<span class="sd">            frame is along x-direction, i.e. :math:`(1, 0, 0)`.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">forward_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_apply</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">FORWARD_VEC_B</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">atan2</span><span class="p">(</span><span class="n">forward_w</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="n">forward_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">])</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">joint_pos</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Joint positions of all joints. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation and set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_dof_positions</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_pos</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">joint_vel</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Joint velocities of all joints. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation and set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_dof_velocities</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_vel</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">joint_acc</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Joint acceleration of all joints. Shape is (num_instances, num_joints).&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_acc</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># note: we use finite differencing to compute acceleration</span>
+            <span class="n">time_elapsed</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_acc</span><span class="o">.</span><span class="n">timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_joint_acc</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_previous_joint_vel</span><span class="p">)</span> <span class="o">/</span> <span class="n">time_elapsed</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_joint_acc</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+            <span class="c1"># update the previous joint velocity</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_previous_joint_vel</span><span class="p">[:]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_joint_acc</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Derived properties.</span>
+    <span class="c1">##</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root position in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the position of the actor frame of the articulation root relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the actor frame of the articulation root relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root velocity in simulation world frame. Shape is (num_instances, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the articulation root&#39;s center of mass frame</span>
+<span class="sd">        relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root linear velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the articulation root&#39;s center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root angular velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the articulation root&#39;s center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[:,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_lin_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root linear velocity in base frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the articulation root&#39;s center of mass frame relative to the world</span>
+<span class="sd">        with respect to the articulation root&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_lin_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_ang_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root angular velocity in base world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the articulation root&#39;s center of mass frame relative to the world with</span>
+<span class="sd">        respect to the articulation root&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_ang_vel_w</span><span class="p">)</span>
+
+    <span class="c1">#</span>
+    <span class="c1"># Derived Root Link Frame Properties</span>
+    <span class="c1">#</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link position in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the position of the actor frame of the root rigid body relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation (pose is of link)</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_transforms</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">pose</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the actor frame of the root rigid body.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation (pose is of link)</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="k">return</span> <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link velocity in simulation world frame. Shape is (num_instances, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the actor frame of the root</span>
+<span class="sd">        rigid body relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root linear velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the root rigid body&#39;s actor frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link angular velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the actor frame of the root rigid body relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_lin_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link linear velocity in base frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the actor frame of the root rigid body frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_lin_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_ang_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link angular velocity in base world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the actor frame of the root rigid body frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_ang_vel_w</span><span class="p">)</span>
+
+    <span class="c1">#</span>
+    <span class="c1"># Root Center of Mass state properties</span>
+    <span class="c1">#</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass position in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the position of the actor frame of the root rigid body relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the actor frame of the root rigid body relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass velocity in simulation world frame. Shape is (num_instances, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the root rigid body&#39;s center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation (pose is of link)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_velocities</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">velocity</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass linear velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the root rigid body&#39;s center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation (pose is of link)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_velocities</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">velocity</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass angular velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the root rigid body&#39;s center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">update_articulations_kinematic</span><span class="p">()</span>
+            <span class="c1"># read data from simulation (pose is of link)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_root_velocities</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">velocity</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_lin_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass linear velocity in base frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the root rigid body&#39;s center of mass frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_lin_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_ang_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass angular velocity in base world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the root rigid body&#39;s center of mass frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_ang_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</span>
+
+<span class="sd">        This quantity is the position of the rigid bodies&#39; actor frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the rigid bodies&#39; actor frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the rigid bodies&#39; center of mass frame relative</span>
+<span class="sd">        to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the rigid bodies&#39; center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the rigid bodies&#39; center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_lin_acc_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear acceleration of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</span>
+
+<span class="sd">        This quantity is the linear acceleration of the rigid bodies&#39; center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_acc_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_ang_acc_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular acceleration of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</span>
+
+<span class="sd">        This quantity is the angular acceleration of the rigid bodies&#39; center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_acc_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span>
+
+    <span class="c1">#</span>
+    <span class="c1"># Link body properties</span>
+    <span class="c1">#</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the position of the rigid bodies&#39; actor frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">update_articulations_kinematic</span><span class="p">()</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_transforms</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_link_state_w</span><span class="o">.</span><span class="n">data</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the rigid bodies&#39; actor frame  relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">update_articulations_kinematic</span><span class="p">()</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="k">return</span> <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the rigid bodies&#39; center of mass frame</span>
+<span class="sd">        relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the rigid bodies&#39; center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the rigid bodies&#39; center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="c1">#</span>
+    <span class="c1"># Center of mass body properties</span>
+    <span class="c1">#</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the position of the rigid bodies&#39; actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.</span>
+
+<span class="sd">        Shape is (num_instances, 1, 4). This quantity is the orientation of the rigid bodies&#39; actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">update_articulations_kinematic</span><span class="p">()</span>
+            <span class="c1"># read data from simulation (velocity is of com)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_velocities</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">velocity</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">update_articulations_kinematic</span><span class="p">()</span>
+            <span class="c1"># read data from simulation (velocity is of com)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_velocities</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">velocity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">update_articulations_kinematic</span><span class="p">()</span>
+            <span class="c1"># read data from simulation (velocity is of com)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_link_velocities</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">velocity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">com_pos_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Center of mass of all of the bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</span>
+
+<span class="sd">        This quantity is the center of mass location relative to its body frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_coms</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">com_quat_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Orientation (w,x,y,z) of the prinicple axies of inertia of all of the bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the principles axes of inertia relative to its body frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">quat</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_coms</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
+              
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+  <h1>Source code for omni.isaac.lab.assets.asset_base</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">ABC</span><span class="p">,</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span><span class="p">,</span> <span class="n">Any</span>
+
+<span class="kn">import</span> <span class="nn">omni.kit.app</span>
+<span class="kn">import</span> <span class="nn">omni.timeline</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.asset_base_cfg</span> <span class="kn">import</span> <span class="n">AssetBaseCfg</span>
+
+
+<div class="viewcode-block" id="AssetBase"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase">[docs]</a><span class="k">class</span> <span class="nc">AssetBase</span><span class="p">(</span><span class="n">ABC</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The base interface class for assets.</span>
+
+<span class="sd">    An asset corresponds to any physics-enabled object that can be spawned in the simulation. These include</span>
+<span class="sd">    rigid objects, articulated objects, deformable objects etc. The core functionality of an asset is to</span>
+<span class="sd">    provide a set of buffers that can be used to interact with the simulator. The buffers are updated</span>
+<span class="sd">    by the asset class and can be written into the simulator using the their respective ``write`` methods.</span>
+<span class="sd">    This allows a convenient way to perform post-processing operations on the buffers before writing them</span>
+<span class="sd">    into the simulator and obtaining the corresponding simulation results.</span>
+
+<span class="sd">    The class handles both the spawning of the asset into the USD stage as well as initialization of necessary</span>
+<span class="sd">    physics handles to interact with the asset. Upon construction of the asset instance, the prim corresponding</span>
+<span class="sd">    to the asset is spawned into the USD stage if the spawn configuration is not None. The spawn configuration</span>
+<span class="sd">    is defined in the :attr:`AssetBaseCfg.spawn` attribute. In case the configured :attr:`AssetBaseCfg.prim_path`</span>
+<span class="sd">    is an expression, then the prim is spawned at all the matching paths. Otherwise, a single prim is spawned</span>
+<span class="sd">    at the configured path. For more information on the spawn configuration, see the</span>
+<span class="sd">    :mod:`omni.isaac.lab.sim.spawners` module.</span>
+
+<span class="sd">    Unlike Isaac Sim interface, where one usually needs to call the</span>
+<span class="sd">    :meth:`omni.isaac.core.prims.XFormPrimView.initialize` method to initialize the PhysX handles, the asset</span>
+<span class="sd">    class automatically initializes and invalidates the PhysX handles when the stage is played/stopped. This</span>
+<span class="sd">    is done by registering callbacks for the stage play/stop events.</span>
+
+<span class="sd">    Additionally, the class registers a callback for debug visualization of the asset if a debug visualization</span>
+<span class="sd">    is implemented in the asset class. This can be enabled by setting the :attr:`AssetBaseCfg.debug_vis` attribute</span>
+<span class="sd">    to True. The debug visualization is implemented through the :meth:`_set_debug_vis_impl` and</span>
+<span class="sd">    :meth:`_debug_vis_callback` methods.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="AssetBase.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">AssetBaseCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the asset base.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration class for the asset.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If no prims found at input prim path or prim path expression.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that the config is valid</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">validate</span><span class="p">()</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="c1"># flag for whether the asset is initialized</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># check if base asset path is valid</span>
+        <span class="c1"># note: currently the spawner does not work if there is a regex pattern in the leaf</span>
+        <span class="c1">#   For example, if the prim path is &quot;/World/Robot_[1,2]&quot; since the spawner will not</span>
+        <span class="c1">#   know which prim to spawn. This is a limitation of the spawner and not the asset.</span>
+        <span class="n">asset_path</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+        <span class="n">asset_path_is_regex</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;^[a-zA-Z0-9/_]+$&quot;</span><span class="p">,</span> <span class="n">asset_path</span><span class="p">)</span> <span class="ow">is</span> <span class="kc">None</span>
+        <span class="c1"># spawn the asset</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">asset_path_is_regex</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">,</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="p">,</span>
+                <span class="n">translation</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">pos</span><span class="p">,</span>
+                <span class="n">orientation</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">rot</span><span class="p">,</span>
+            <span class="p">)</span>
+        <span class="c1"># check that spawn was successful</span>
+        <span class="n">matching_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_matching_prims</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">matching_prims</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Could not find prim with path </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># note: Use weakref on all callbacks to ensure that this object can be deleted when its destructor is called.</span>
+        <span class="c1"># add callbacks for stage play/stop</span>
+        <span class="c1"># The order is set to 10 which is arbitrary but should be lower priority than the default order of 0</span>
+        <span class="n">timeline_event_stream</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">get_timeline_interface</span><span class="p">()</span><span class="o">.</span><span class="n">get_timeline_event_stream</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_handle</span> <span class="o">=</span> <span class="n">timeline_event_stream</span><span class="o">.</span><span class="n">create_subscription_to_pop_by_type</span><span class="p">(</span>
+            <span class="nb">int</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">TimelineEventType</span><span class="o">.</span><span class="n">PLAY</span><span class="p">),</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">),</span>
+            <span class="n">order</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_invalidate_initialize_handle</span> <span class="o">=</span> <span class="n">timeline_event_stream</span><span class="o">.</span><span class="n">create_subscription_to_pop_by_type</span><span class="p">(</span>
+            <span class="nb">int</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">TimelineEventType</span><span class="o">.</span><span class="n">STOP</span><span class="p">),</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">),</span>
+            <span class="n">order</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="c1"># add handle for debug visualization (this is set to a valid handle inside set_debug_vis)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># set initial state of debug visualization</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Unsubscribe from the callbacks.&quot;&quot;&quot;</span>
+        <span class="c1"># clear physics events handles</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_handle</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_invalidate_initialize_handle</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_invalidate_initialize_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_invalidate_initialize_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># clear debug visualization</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">is_initialized</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the asset is initialized.</span>
+
+<span class="sd">        Returns True if the asset is initialized, False otherwise.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span>
+
+    <span class="nd">@property</span>
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">num_instances</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of instances of the asset.</span>
+
+<span class="sd">        This is equal to the number of asset instances per environment multiplied by the number of environments.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="ne">NotImplementedError</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Memory device for computation.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_device</span>
+
+    <span class="nd">@property</span>
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Any</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Data related to the asset.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="ne">NotImplementedError</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">has_debug_vis_implementation</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the asset has a debug visualization implemented.&quot;&quot;&quot;</span>
+        <span class="c1"># check if function raises NotImplementedError</span>
+        <span class="n">source_code</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">getsource</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">)</span>
+        <span class="k">return</span> <span class="s2">&quot;NotImplementedError&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">source_code</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="AssetBase.set_debug_vis"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.set_debug_vis">[docs]</a>    <span class="k">def</span> <span class="nf">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets whether to visualize the asset data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            debug_vis: Whether to visualize the asset data.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Whether the debug visualization was successfully set. False if the asset</span>
+<span class="sd">            does not support debug visualization.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if debug visualization is supported</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">False</span>
+        <span class="c1"># toggle debug visualization objects</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">(</span><span class="n">debug_vis</span><span class="p">)</span>
+        <span class="c1"># toggle debug visualization handles</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="c1"># create a subscriber for the post update event if it doesn&#39;t exist</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">app_interface</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">get_app_interface</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="n">app_interface</span><span class="o">.</span><span class="n">get_post_update_event_stream</span><span class="p">()</span><span class="o">.</span><span class="n">create_subscription_to_pop</span><span class="p">(</span>
+                    <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_debug_vis_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># remove the subscriber if it exists</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># return success</span>
+        <span class="k">return</span> <span class="kc">True</span></div>
+
+<div class="viewcode-block" id="AssetBase.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.reset">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets all internal buffers of selected environments.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The indices of the object to reset. Defaults to None (all instances).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+<div class="viewcode-block" id="AssetBase.write_data_to_sim"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.write_data_to_sim">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">write_data_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Writes data to the simulator.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+<div class="viewcode-block" id="AssetBase.update"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.update">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Update the internal buffers.</span>
+
+<span class="sd">        The time step ``dt`` is used to compute numerical derivatives of quantities such as joint</span>
+<span class="sd">        accelerations which are not provided by the simulator.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            dt: The amount of time passed from last ``update`` call.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation specific.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the PhysX handles and internal buffers.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set debug visualization into visualization objects.</span>
+
+<span class="sd">        This function is responsible for creating the visualization objects if they don&#39;t exist</span>
+<span class="sd">        and input ``debug_vis`` is True. If the visualization objects exist, the function should</span>
+<span class="sd">        set their visibility into the stage.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Debug visualization is not implemented for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_debug_vis_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Callback for debug visualization.</span>
+
+<span class="sd">        This function calls the visualization objects and sets the data to visualize into them.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Debug visualization is not implemented for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the scene elements.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            PhysX handles are only enabled once the simulator starts playing. Hence, this function needs to be</span>
+<span class="sd">            called whenever the simulator &quot;plays&quot; from a &quot;stop&quot; state.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span><span class="p">:</span>
+            <span class="c1"># obtain simulation related information</span>
+            <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span>
+            <span class="k">if</span> <span class="n">sim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;SimulationContext is not initialized! Please initialize SimulationContext first.&quot;</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_backend</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">backend</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_device</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">device</span>
+            <span class="c1"># initialize the asset</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_impl</span><span class="p">()</span>
+            <span class="c1"># set flag</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span> <span class="o">=</span> <span class="kc">True</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span> <span class="o">=</span> <span class="kc">False</span></div>
+</pre></div>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+  <h1>Source code for omni.isaac.lab.assets.asset_base_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SpawnerCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.asset_base</span> <span class="kn">import</span> <span class="n">AssetBase</span>
+
+
+<div class="viewcode-block" id="AssetBaseCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">AssetBaseCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The base configuration class for an asset&#39;s parameters.</span>
+
+<span class="sd">    Please see the :class:`AssetBase` class for more information on the asset class.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="AssetBaseCfg.InitialStateCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">InitialStateCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initial state of the asset.</span>
+
+<span class="sd">        This defines the default initial state of the asset when it is spawned into the simulation, as</span>
+<span class="sd">        well as the default state when the simulation is reset.</span>
+
+<span class="sd">        After parsing the initial state, the asset class stores this information in the :attr:`data`</span>
+<span class="sd">        attribute of the asset class. This can then be accessed by the user to modify the state of the asset</span>
+<span class="sd">        during the simulation, for example, at resets.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="c1"># root position</span>
+        <span class="n">pos</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Position of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+        <span class="n">rot</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Quaternion rotation (w, x, y, z) of the root in simulation world frame.</span>
+<span class="sd">        Defaults to (1.0, 0.0, 0.0, 0.0).</span>
+<span class="sd">        &quot;&quot;&quot;</span></div>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">AssetBase</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The associated asset class. Defaults to None, which means that the asset will be spawned</span>
+<span class="sd">    but cannot be interacted with via the asset class.</span>
+
+<span class="sd">    The class should inherit from :class:`omni.isaac.lab.assets.asset_base.AssetBase`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Prim path (or expression) to the asset.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The expression can contain the environment namespace regex ``{ENV_REGEX_NS}`` which</span>
+<span class="sd">        will be replaced with the environment namespace.</span>
+
+<span class="sd">        Example: ``{ENV_REGEX_NS}/Robot`` will be replaced with ``/World/envs/env_.*/Robot``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">spawn</span><span class="p">:</span> <span class="n">SpawnerCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spawn configuration for the asset. Defaults to None.</span>
+
+<span class="sd">    If None, then no prims are spawned by the asset class. Instead, it is assumed that the</span>
+<span class="sd">    asset is already present in the scene.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">init_state</span><span class="p">:</span> <span class="n">InitialStateCfg</span> <span class="o">=</span> <span class="n">InitialStateCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Initial state of the rigid object. Defaults to identity pose.&quot;&quot;&quot;</span>
+
+    <span class="n">collision_group</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Collision group of the asset. Defaults to ``0``.</span>
+
+<span class="sd">    * ``-1``: global collision group (collides with all assets in the scene).</span>
+<span class="sd">    * ``0``: local collision group (collides with other assets in the same environment).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to enable debug visualization for the asset. Defaults to ``False``.&quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
+              
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diff --git a/v1.4.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html b/v1.4.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html
new file mode 100644
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@@ -0,0 +1,1002 @@
+
+
+<!DOCTYPE html>
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+    <meta charset="utf-8" />
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+    <title>omni.isaac.lab.assets.deformable_object.deformable_object &#8212; Isaac Lab Documentation</title>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
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+  <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">PhysxSchema</span><span class="p">,</span> <span class="n">UsdShade</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkers</span>
+
+<span class="kn">from</span> <span class="nn">..asset_base</span> <span class="kn">import</span> <span class="n">AssetBase</span>
+<span class="kn">from</span> <span class="nn">.deformable_object_data</span> <span class="kn">import</span> <span class="n">DeformableObjectData</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.deformable_object_cfg</span> <span class="kn">import</span> <span class="n">DeformableObjectCfg</span>
+
+
+<div class="viewcode-block" id="DeformableObject"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject">[docs]</a><span class="k">class</span> <span class="nc">DeformableObject</span><span class="p">(</span><span class="n">AssetBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A deformable object asset class.</span>
+
+<span class="sd">    Deformable objects are assets that can be deformed in the simulation. They are typically used for</span>
+<span class="sd">    soft bodies, such as stuffed animals and food items.</span>
+
+<span class="sd">    Unlike rigid object assets, deformable objects have a more complex structure and require additional</span>
+<span class="sd">    handling for simulation. The simulation of deformable objects follows a finite element approach, where</span>
+<span class="sd">    the object is discretized into a mesh of nodes and elements. The nodes are connected by elements, which</span>
+<span class="sd">    define the material properties of the object. The nodes can be moved and deformed, and the elements</span>
+<span class="sd">    respond to these changes.</span>
+
+<span class="sd">    The state of a deformable object comprises of its nodal positions and velocities, and not the object&#39;s root</span>
+<span class="sd">    position and orientation. The nodal positions and velocities are in the simulation frame.</span>
+
+<span class="sd">    Soft bodies can be `partially kinematic`_, where some nodes are driven by kinematic targets, and the rest are</span>
+<span class="sd">    simulated. The kinematic targets are the desired positions of the nodes, and the simulation drives the nodes</span>
+<span class="sd">    towards these targets. This is useful for partial control of the object, such as moving a stuffed animal&#39;s</span>
+<span class="sd">    head while the rest of the body is simulated.</span>
+
+<span class="sd">    .. attention::</span>
+<span class="sd">        This class is experimental and subject to change due to changes on the underlying PhysX API on which</span>
+<span class="sd">        it depends. We will try to maintain backward compatibility as much as possible but some changes may be</span>
+<span class="sd">        necessary.</span>
+
+<span class="sd">    .. _partially kinematic: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html#kinematic-soft-bodies</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">DeformableObjectCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration instance for the deformable object.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DeformableObject.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">DeformableObjectCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the deformable object.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: A configuration instance.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">DeformableObjectData</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_instances</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">count</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_bodies</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of bodies in the asset.</span>
+
+<span class="sd">        This is always 1 since each object is a single deformable body.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="mi">1</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_physx_view</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">physx</span><span class="o">.</span><span class="n">SoftBodyView</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Deformable body view for the asset (PhysX).</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            Use this view with caution. It requires handling of tensors in a specific way.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">material_physx_view</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">physx</span><span class="o">.</span><span class="n">SoftBodyMaterialView</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Deformable material view for the asset (PhysX).</span>
+
+<span class="sd">        This view is optional and may not be available if the material is not bound to the deformable body.</span>
+<span class="sd">        If the material is not available, then the material properties will be set to default values.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            Use this view with caution. It requires handling of tensors in a specific way.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_material_physx_view</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_sim_elements_per_body</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The maximum number of simulation mesh elements per deformable body.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">max_sim_elements_per_body</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_collision_elements_per_body</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The maximum number of collision mesh elements per deformable body.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">max_elements_per_body</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_sim_vertices_per_body</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The maximum number of simulation mesh vertices per deformable body.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">max_sim_vertices_per_body</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_collision_vertices_per_body</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The maximum number of collision mesh vertices per deformable body.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">max_vertices_per_body</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DeformableObject.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="c1"># Think: Should we reset the kinematic targets when resetting the object?</span>
+        <span class="c1">#  This is not done in the current implementation. We assume users will reset the kinematic targets.</span>
+        <span class="k">pass</span></div>
+
+<div class="viewcode-block" id="DeformableObject.write_data_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_data_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_data_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="k">pass</span></div>
+
+<div class="viewcode-block" id="DeformableObject.update"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.update">[docs]</a>    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Write to simulation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DeformableObject.write_nodal_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_nodal_state_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">nodal_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the nodal state over selected environment indices into the simulation.</span>
+
+<span class="sd">        The nodal state comprises of the nodal positions and velocities. Since these are nodes, the velocity only has</span>
+<span class="sd">        a translational component. All the quantities are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            nodal_state: Nodal state in simulation frame.</span>
+<span class="sd">                Shape is (len(env_ids), max_sim_vertices_per_body, 6).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_nodal_pos_to_sim</span><span class="p">(</span><span class="n">nodal_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_nodal_velocity_to_sim</span><span class="p">(</span><span class="n">nodal_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="DeformableObject.write_nodal_pos_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_pos_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_nodal_pos_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">nodal_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the nodal positions over selected environment indices into the simulation.</span>
+
+<span class="sd">        The nodal position comprises of individual nodal positions of the simulation mesh for the deformable body.</span>
+<span class="sd">        The positions are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            nodal_pos: Nodal positions in simulation frame.</span>
+<span class="sd">                Shape is (len(env_ids), max_sim_vertices_per_body, 3).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># note: we need to do this here since tensors are not set into simulation until step.</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">nodal_pos_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">nodal_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_sim_nodal_positions</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">nodal_pos_w</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="DeformableObject.write_nodal_velocity_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_velocity_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_nodal_velocity_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">nodal_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the nodal velocity over selected environment indices into the simulation.</span>
+
+<span class="sd">        The nodal velocity comprises of individual nodal velocities of the simulation mesh for the deformable</span>
+<span class="sd">        body. Since these are nodes, the velocity only has a translational component. The velocities are in the</span>
+<span class="sd">        simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            nodal_vel: Nodal velocities in simulation frame.</span>
+<span class="sd">                Shape is (len(env_ids), max_sim_vertices_per_body, 3).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># note: we need to do this here since tensors are not set into simulation until step.</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">nodal_vel_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">nodal_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_sim_nodal_velocities</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">nodal_vel_w</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="DeformableObject.write_nodal_kinematic_target_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_nodal_kinematic_target_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">targets</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the kinematic targets of the simulation mesh for the deformable bodies indicated by the indices.</span>
+
+<span class="sd">        The kinematic targets comprise of individual nodal positions of the simulation mesh for the deformable body</span>
+<span class="sd">        and a flag indicating whether the node is kinematically driven or not. The positions are in the simulation frame.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            The flag is set to 0.0 for kinematically driven nodes and 1.0 for free nodes.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            targets: The kinematic targets comprising of nodal positions and flags.</span>
+<span class="sd">                Shape is (len(env_ids), max_sim_vertices_per_body, 4).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># store into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">nodal_kinematic_target</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">targets</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_sim_kinematic_targets</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">nodal_kinematic_target</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Helper.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DeformableObject.transform_nodal_pos"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.transform_nodal_pos">[docs]</a>    <span class="k">def</span> <span class="nf">transform_nodal_pos</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">nodal_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">,</span> <span class="n">pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">quat</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Transform the nodal positions based on the pose transformation.</span>
+
+<span class="sd">        This function computes the transformation of the nodal positions based on the pose transformation.</span>
+<span class="sd">        It multiplies the nodal positions with the rotation matrix of the pose and adds the translation.</span>
+<span class="sd">        Internally, it calls the :meth:`omni.isaac.lab.utils.math.transform_points` function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            nodal_pos: The nodal positions in the simulation frame. Shape is (N, max_sim_vertices_per_body, 3).</span>
+<span class="sd">            pos: The position transformation. Shape is (N, 3).</span>
+<span class="sd">                Defaults to None, in which case the position is assumed to be zero.</span>
+<span class="sd">            quat: The orientation transformation as quaternion (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">                Defaults to None, in which case the orientation is assumed to be identity.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The transformed nodal positions. Shape is (N, max_sim_vertices_per_body, 3).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># offset the nodal positions to center them around the origin</span>
+        <span class="n">mean_nodal_pos</span> <span class="o">=</span> <span class="n">nodal_pos</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">keepdim</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+        <span class="n">nodal_pos</span> <span class="o">=</span> <span class="n">nodal_pos</span> <span class="o">-</span> <span class="n">mean_nodal_pos</span>
+        <span class="c1"># transform the nodal positions based on the pose around the origin</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">transform_points</span><span class="p">(</span><span class="n">nodal_pos</span><span class="p">,</span> <span class="n">pos</span><span class="p">,</span> <span class="n">quat</span><span class="p">)</span> <span class="o">+</span> <span class="n">mean_nodal_pos</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helper.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># create simulation view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_backend</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="c1"># obtain the first prim in the regex expression (all others are assumed to be a copy of this)</span>
+        <span class="n">template_prim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_first_matching_prim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">template_prim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to find prim for expression: &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+        <span class="n">template_prim_path</span> <span class="o">=</span> <span class="n">template_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+
+        <span class="c1"># find deformable root prims</span>
+        <span class="n">root_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">get_all_matching_child_prims</span><span class="p">(</span>
+            <span class="n">template_prim_path</span><span class="p">,</span> <span class="n">predicate</span><span class="o">=</span><span class="k">lambda</span> <span class="n">prim</span><span class="p">:</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxDeformableBodyAPI</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">root_prims</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Failed to find a deformable body when resolving &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="s2">&quot; Please ensure that the prim has &#39;PhysxSchema.PhysxDeformableBodyAPI&#39; applied.&quot;</span>
+            <span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">root_prims</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Failed to find a single deformable body when resolving &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; Found multiple &#39;</span><span class="si">{</span><span class="n">root_prims</span><span class="si">}</span><span class="s2">&#39; under &#39;</span><span class="si">{</span><span class="n">template_prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="s2">&quot; Please ensure that there is only one deformable body in the prim path tree.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># we only need the first one from the list</span>
+        <span class="n">root_prim</span> <span class="o">=</span> <span class="n">root_prims</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+
+        <span class="c1"># find deformable material prims</span>
+        <span class="n">material_prim</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># obtain material prim from the root prim</span>
+        <span class="c1"># note: here we assume that all the root prims have their material prims at similar paths</span>
+        <span class="c1">#   and we only need to find the first one. This may not be the case for all scenarios.</span>
+        <span class="c1">#   However, the checks in that case get cumbersome and are not included here.</span>
+        <span class="k">if</span> <span class="n">root_prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdShade</span><span class="o">.</span><span class="n">MaterialBindingAPI</span><span class="p">):</span>
+            <span class="c1"># check the materials that are bound with the purpose &#39;physics&#39;</span>
+            <span class="n">material_paths</span> <span class="o">=</span> <span class="n">UsdShade</span><span class="o">.</span><span class="n">MaterialBindingAPI</span><span class="p">(</span><span class="n">root_prim</span><span class="p">)</span><span class="o">.</span><span class="n">GetDirectBindingRel</span><span class="p">(</span><span class="s2">&quot;physics&quot;</span><span class="p">)</span><span class="o">.</span><span class="n">GetTargets</span><span class="p">()</span>
+            <span class="c1"># iterate through targets and find the deformable body material</span>
+            <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">material_paths</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">for</span> <span class="n">mat_path</span> <span class="ow">in</span> <span class="n">material_paths</span><span class="p">:</span>
+                    <span class="n">mat_prim</span> <span class="o">=</span> <span class="n">root_prim</span><span class="o">.</span><span class="n">GetStage</span><span class="p">()</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">mat_path</span><span class="p">)</span>
+                    <span class="k">if</span> <span class="n">mat_prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxDeformableBodyMaterialAPI</span><span class="p">):</span>
+                        <span class="n">material_prim</span> <span class="o">=</span> <span class="n">mat_prim</span>
+                        <span class="k">break</span>
+        <span class="k">if</span> <span class="n">material_prim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Failed to find a deformable material binding for &#39;</span><span class="si">{</span><span class="n">root_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="s2">&quot; The material properties will be set to default values and are not modifiable at runtime.&quot;</span>
+                <span class="s2">&quot; If you want to modify the material properties, please ensure that the material is bound&quot;</span>
+                <span class="s2">&quot; to the deformable body.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># resolve root path back into regex expression</span>
+        <span class="c1"># -- root prim expression</span>
+        <span class="n">root_prim_path</span> <span class="o">=</span> <span class="n">root_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+        <span class="n">root_prim_path_expr</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">+</span> <span class="n">root_prim_path</span><span class="p">[</span><span class="nb">len</span><span class="p">(</span><span class="n">template_prim_path</span><span class="p">)</span> <span class="p">:]</span>
+        <span class="c1"># -- object view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_soft_body_view</span><span class="p">(</span><span class="n">root_prim_path_expr</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;*&quot;</span><span class="p">))</span>
+
+        <span class="c1"># Return if the asset is not found</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">_backend</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to create deformable body at: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">. Please check PhysX logs.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># resolve material path back into regex expression</span>
+        <span class="k">if</span> <span class="n">material_prim</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># -- material prim expression</span>
+            <span class="n">material_prim_path</span> <span class="o">=</span> <span class="n">material_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+            <span class="c1"># check if the material prim is under the template prim</span>
+            <span class="c1"># if not then we are assuming that the single material prim is used for all the deformable bodies</span>
+            <span class="k">if</span> <span class="n">template_prim_path</span> <span class="ow">in</span> <span class="n">material_prim_path</span><span class="p">:</span>
+                <span class="n">material_prim_path_expr</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">+</span> <span class="n">material_prim_path</span><span class="p">[</span><span class="nb">len</span><span class="p">(</span><span class="n">template_prim_path</span><span class="p">)</span> <span class="p">:]</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">material_prim_path_expr</span> <span class="o">=</span> <span class="n">material_prim_path</span>
+            <span class="c1"># -- material view</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_material_physx_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_soft_body_material_view</span><span class="p">(</span>
+                <span class="n">material_prim_path_expr</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;*&quot;</span><span class="p">)</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_material_physx_view</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># log information about the deformable body</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Deformable body initialized at: </span><span class="si">{</span><span class="n">root_prim_path_expr</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of instances: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of bodies: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_material_physx_view</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Deformable material initialized at: </span><span class="si">{</span><span class="n">material_prim_path_expr</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of instances: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_material_physx_view</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="s2">&quot;No deformable material found. Material properties will be set to default values.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># container for data access</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span> <span class="o">=</span> <span class="n">DeformableObjectData</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># create buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_buffers</span><span class="p">()</span>
+        <span class="c1"># update the deformable body data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="mf">0.0</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_create_buffers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create buffers for storing data.&quot;&quot;&quot;</span>
+        <span class="c1"># constants</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># default state</span>
+        <span class="c1"># we use the initial nodal positions at spawn time as the default state</span>
+        <span class="c1"># note: these are all in the simulation frame</span>
+        <span class="n">nodal_positions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_sim_nodal_positions</span><span class="p">()</span>
+        <span class="n">nodal_velocities</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">nodal_positions</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_nodal_state_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">nodal_positions</span><span class="p">,</span> <span class="n">nodal_velocities</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># kinematic targets</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">nodal_kinematic_target</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_sim_kinematic_targets</span><span class="p">()</span>
+        <span class="c1"># set all nodes as non-kinematic targets by default</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">nodal_kinematic_target</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+        <span class="c1"># set visibility of markers</span>
+        <span class="c1"># note: parent only deals with callbacks. not their visibility</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;target_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">target_visualizer</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">visualizer_cfg</span><span class="p">)</span>
+            <span class="c1"># set their visibility to true</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">target_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;target_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">target_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_debug_vis_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+        <span class="c1"># check where to visualize</span>
+        <span class="n">targets_enabled</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">nodal_kinematic_target</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">3</span><span class="p">]</span> <span class="o">==</span> <span class="mf">0.0</span>
+        <span class="n">num_enabled</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">targets_enabled</span><span class="p">)</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+        <span class="c1"># get positions if any targets are enabled</span>
+        <span class="k">if</span> <span class="n">num_enabled</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># create a marker below the ground</span>
+            <span class="n">positions</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">10.0</span><span class="p">]],</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">positions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">nodal_kinematic_target</span><span class="p">[</span><span class="n">targets_enabled</span><span class="p">][</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="c1"># show target visualizer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">target_visualizer</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">positions</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="c1"># call parent</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="c1"># set all existing views to None to invalidate them</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span> <span class="o">=</span> <span class="kc">None</span></div>
+</pre></div>
+
+                </article>
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new file mode 100644
index 0000000000..ec04c77fad
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html
@@ -0,0 +1,618 @@
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+<ul class="nav bd-sidenav">
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
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+</details></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
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+  <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkersCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers.config</span> <span class="kn">import</span> <span class="n">DEFORMABLE_TARGET_MARKER_CFG</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">..asset_base_cfg</span> <span class="kn">import</span> <span class="n">AssetBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.deformable_object</span> <span class="kn">import</span> <span class="n">DeformableObject</span>
+
+
+<div class="viewcode-block" id="DeformableObjectCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DeformableObjectCfg</span><span class="p">(</span><span class="n">AssetBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a deformable object.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">DeformableObject</span>
+
+    <span class="n">visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">DEFORMABLE_TARGET_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/DeformableTarget&quot;</span>
+    <span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration object for the visualization markers. Defaults to DEFORMABLE_TARGET_MARKER_CFG.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This attribute is only used when debug visualization is enabled.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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new file mode 100644
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--- /dev/null
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+  <h1>Source code for omni.isaac.lab.assets.deformable_object.deformable_object_data</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.buffers</span> <span class="kn">import</span> <span class="n">TimestampedBuffer</span>
+
+
+<div class="viewcode-block" id="DeformableObjectData"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData">[docs]</a><span class="k">class</span> <span class="nc">DeformableObjectData</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Data container for a deformable object.</span>
+
+<span class="sd">    This class contains the data for a deformable object in the simulation. The data includes the nodal states of</span>
+<span class="sd">    the root deformable body in the object. The data is stored in the simulation world frame unless otherwise specified.</span>
+
+<span class="sd">    A deformable object in PhysX uses two tetrahedral meshes to represent the object:</span>
+
+<span class="sd">    1. **Simulation mesh**: This mesh is used for the simulation and is the one that is deformed by the solver.</span>
+<span class="sd">    2. **Collision mesh**: This mesh only needs to match the surface of the simulation mesh and is used for</span>
+<span class="sd">       collision detection.</span>
+
+<span class="sd">    The APIs exposed provides the data for both the simulation and collision meshes. These are specified</span>
+<span class="sd">    by the `sim` and `collision` prefixes in the property names.</span>
+
+<span class="sd">    The data is lazily updated, meaning that the data is only updated when it is accessed. This is useful</span>
+<span class="sd">    when the data is expensive to compute or retrieve. The data is updated when the timestamp of the buffer</span>
+<span class="sd">    is older than the current simulation timestamp. The timestamp is updated whenever the data is updated.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_physx_view</span><span class="p">:</span> <span class="n">physx</span><span class="o">.</span><span class="n">SoftBodyView</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the deformable object data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_physx_view: The root deformable body view of the object.</span>
+<span class="sd">            device: The device used for processing.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># Set the parameters</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">device</span>
+        <span class="c1"># Set the root deformable body view</span>
+        <span class="c1"># note: this is stored as a weak reference to avoid circular references between the asset class</span>
+        <span class="c1">#  and the data container. This is important to avoid memory leaks.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="p">:</span> <span class="n">physx</span><span class="o">.</span><span class="n">SoftBodyView</span> <span class="o">=</span> <span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="n">root_physx_view</span><span class="p">)</span>
+
+        <span class="c1"># Set initial time stamp</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span> <span class="o">=</span> <span class="mf">0.0</span>
+
+        <span class="c1"># Initialize the lazy buffers.</span>
+        <span class="c1"># -- node state in simulation world frame</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_pos_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_vel_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="c1"># -- mesh element-wise rotations</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_quat_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_quat_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="c1"># -- mesh element-wise deformation gradients</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_deform_gradient_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_deform_gradient_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="c1"># -- mesh element-wise stresses</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_stress_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_stress_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+
+<div class="viewcode-block" id="DeformableObjectData.update"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.update">[docs]</a>    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Updates the data for the deformable object.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            dt: The time step for the update. This must be a positive value.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># update the simulation timestamp</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span> <span class="o">+=</span> <span class="n">dt</span></div>
+
+    <span class="c1">##</span>
+    <span class="c1"># Defaults.</span>
+    <span class="c1">##</span>
+
+    <span class="n">default_nodal_state_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default nodal state ``[nodal_pos, nodal_vel]`` in simulation world frame.</span>
+<span class="sd">    Shape is (num_instances, max_sim_vertices_per_body, 6).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Kinematic commands</span>
+    <span class="c1">##</span>
+
+    <span class="n">nodal_kinematic_target</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Simulation mesh kinematic targets for the deformable bodies.</span>
+<span class="sd">    Shape is (num_instances, max_sim_vertices_per_body, 4).</span>
+
+<span class="sd">    The kinematic targets are used to drive the simulation mesh vertices to the target positions.</span>
+<span class="sd">    The targets are stored as (x, y, z, is_not_kinematic) where &quot;is_not_kinematic&quot; is a binary</span>
+<span class="sd">    flag indicating whether the vertex is kinematic or not. The flag is set to 0 for kinematic vertices</span>
+<span class="sd">    and 1 for non-kinematic vertices.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Properties.</span>
+    <span class="c1">##</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">nodal_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Nodal positions in simulation world frame. Shape is (num_instances, max_sim_vertices_per_body, 3).&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_pos_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_pos_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_sim_nodal_positions</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_pos_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_pos_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">nodal_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Nodal velocities in simulation world frame. Shape is (num_instances, max_sim_vertices_per_body, 3).&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_vel_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_vel_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_sim_nodal_velocities</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_vel_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_vel_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">nodal_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Nodal state ``[nodal_pos, nodal_vel]`` in simulation world frame.</span>
+<span class="sd">        Shape is (num_instances, max_sim_vertices_per_body, 6).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="n">nodal_positions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">nodal_pos_w</span>
+            <span class="n">nodal_velocities</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">nodal_vel_w</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">nodal_positions</span><span class="p">,</span> <span class="n">nodal_velocities</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_nodal_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">sim_element_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Simulation mesh element-wise rotations as quaternions for the deformable bodies in simulation world frame.</span>
+<span class="sd">        Shape is (num_instances, max_sim_elements_per_body, 4).</span>
+
+<span class="sd">        The rotations are stored as quaternions in the order (w, x, y, z).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_quat_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># convert from xyzw to wxyz</span>
+            <span class="n">quats</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_sim_element_rotations</span><span class="p">()</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+            <span class="n">quats</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">quats</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_quat_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">quats</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_quat_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_quat_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">collision_element_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Collision mesh element-wise rotations as quaternions for the deformable bodies in simulation world frame.</span>
+<span class="sd">        Shape is (num_instances, max_collision_elements_per_body, 4).</span>
+
+<span class="sd">        The rotations are stored as quaternions in the order (w, x, y, z).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_quat_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># convert from xyzw to wxyz</span>
+            <span class="n">quats</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_element_rotations</span><span class="p">()</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+            <span class="n">quats</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">quats</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_quat_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">quats</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_quat_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_quat_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">sim_element_deform_gradient_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Simulation mesh element-wise second-order deformation gradient tensors for the deformable bodies</span>
+<span class="sd">        in simulation world frame. Shape is (num_instances, max_sim_elements_per_body, 3, 3).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_deform_gradient_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_deform_gradient_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_sim_element_deformation_gradients</span><span class="p">()</span><span class="o">.</span><span class="n">view</span><span class="p">(</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">3</span>
+                <span class="p">)</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_deform_gradient_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_deform_gradient_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">collision_element_deform_gradient_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Collision mesh element-wise second-order deformation gradient tensors for the deformable bodies</span>
+<span class="sd">        in simulation world frame. Shape is (num_instances, max_collision_elements_per_body, 3, 3).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_deform_gradient_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_deform_gradient_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_element_deformation_gradients</span><span class="p">()</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_deform_gradient_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_deform_gradient_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">sim_element_stress_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Simulation mesh element-wise second-order Cauchy stress tensors for the deformable bodies</span>
+<span class="sd">        in simulation world frame. Shape is (num_instances, max_sim_elements_per_body, 3, 3).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_stress_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_stress_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_sim_element_stresses</span><span class="p">()</span><span class="o">.</span><span class="n">view</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">3</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_stress_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_element_stress_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">collision_element_stress_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Collision mesh element-wise second-order Cauchy stress tensors for the deformable bodies</span>
+<span class="sd">        in simulation world frame. Shape is (num_instances, max_collision_elements_per_body, 3, 3).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_stress_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_stress_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_element_stresses</span><span class="p">()</span><span class="o">.</span><span class="n">view</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">3</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_stress_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_collision_element_stress_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Derived properties.</span>
+    <span class="c1">##</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root position from nodal positions of the simulation mesh for the deformable bodies in simulation world frame.</span>
+<span class="sd">        Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is computed as the mean of the nodal positions.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">nodal_pos_w</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root velocity from vertex velocities for the deformable bodies in simulation world frame.</span>
+<span class="sd">        Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is computed as the mean of the nodal velocities.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">nodal_vel_w</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+</pre></div>
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new file mode 100644
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+  <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">UsdPhysics</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.string</span> <span class="k">as</span> <span class="nn">string_utils</span>
+
+<span class="kn">from</span> <span class="nn">..asset_base</span> <span class="kn">import</span> <span class="n">AssetBase</span>
+<span class="kn">from</span> <span class="nn">.rigid_object_data</span> <span class="kn">import</span> <span class="n">RigidObjectData</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.rigid_object_cfg</span> <span class="kn">import</span> <span class="n">RigidObjectCfg</span>
+
+
+<div class="viewcode-block" id="RigidObject"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject">[docs]</a><span class="k">class</span> <span class="nc">RigidObject</span><span class="p">(</span><span class="n">AssetBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A rigid object asset class.</span>
+
+<span class="sd">    Rigid objects are assets comprising of rigid bodies. They can be used to represent dynamic objects</span>
+<span class="sd">    such as boxes, spheres, etc. A rigid body is described by its pose, velocity and mass distribution.</span>
+
+<span class="sd">    For an asset to be considered a rigid object, the root prim of the asset must have the `USD RigidBodyAPI`_</span>
+<span class="sd">    applied to it. This API is used to define the simulation properties of the rigid body. On playing the</span>
+<span class="sd">    simulation, the physics engine will automatically register the rigid body and create a corresponding</span>
+<span class="sd">    rigid body handle. This handle can be accessed using the :attr:`root_physx_view` attribute.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        For users familiar with Isaac Sim, the PhysX view class API is not the exactly same as Isaac Sim view</span>
+<span class="sd">        class API. Similar to Isaac Lab, Isaac Sim wraps around the PhysX view API. However, as of now (2023.1 release),</span>
+<span class="sd">        we see a large difference in initializing the view classes in Isaac Sim. This is because the view classes</span>
+<span class="sd">        in Isaac Sim perform additional USD-related operations which are slow and also not required.</span>
+
+<span class="sd">    .. _`USD RigidBodyAPI`: https://openusd.org/dev/api/class_usd_physics_rigid_body_a_p_i.html</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">RigidObjectCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration instance for the rigid object.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObject.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">RigidObjectCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the rigid object.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: A configuration instance.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_pose_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_vel_dep_warn</span> <span class="o">=</span> <span class="kc">False</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">RigidObjectData</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_instances</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">count</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_bodies</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of bodies in the asset.</span>
+
+<span class="sd">        This is always 1 since each object is a single rigid body.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="mi">1</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_names</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Ordered names of bodies in the rigid object.&quot;&quot;&quot;</span>
+        <span class="n">prim_paths</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">prim_paths</span><span class="p">[:</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span><span class="p">]</span>
+        <span class="k">return</span> <span class="p">[</span><span class="n">path</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="k">for</span> <span class="n">path</span> <span class="ow">in</span> <span class="n">prim_paths</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_physx_view</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">physx</span><span class="o">.</span><span class="n">RigidBodyView</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Rigid body view for the asset (PhysX).</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            Use this view with caution. It requires handling of tensors in a specific way.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObject.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset external wrench</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+<div class="viewcode-block" id="RigidObject.write_data_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_data_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_data_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write external wrench to the simulation.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            We write external wrench to the simulation here since this function is called before the simulation step.</span>
+<span class="sd">            This ensures that the external wrench is applied at every simulation step.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># write external wrench</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">apply_forces_and_torques_at_position</span><span class="p">(</span>
+                <span class="n">force_data</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span>
+                <span class="n">torque_data</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span>
+                <span class="n">position_data</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+                <span class="n">indices</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span><span class="p">,</span>
+                <span class="n">is_global</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObject.update"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.update">[docs]</a>    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Finders.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObject.find_bodies"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.find_bodies">[docs]</a>    <span class="k">def</span> <span class="nf">find_bodies</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name_keys</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">preserve_order</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Find bodies in the rigid body based on the name keys.</span>
+
+<span class="sd">        Please check the :meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function for more</span>
+<span class="sd">        information on the name matching.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name_keys: A regular expression or a list of regular expressions to match the body names.</span>
+<span class="sd">            preserve_order: Whether to preserve the order of the name keys in the output. Defaults to False.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple of lists containing the body indices and names.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">string_utils</span><span class="o">.</span><span class="n">resolve_matching_names</span><span class="p">(</span><span class="n">name_keys</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Write to simulation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObject.write_root_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_state_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root state over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear</span>
+<span class="sd">        and angular velocity. All the quantities are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_state: Root state in simulation frame. Shape is (len(env_ids), 13).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># deprecation warning</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: RigidObject.write_root_state_to_sim will be removed in a future release. Please&quot;</span>
+                <span class="s2">&quot; use write_root_link_state_to_sim or write_root_com_state_to_sim instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObject.write_root_com_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_com_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_com_state_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root center of mass state over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear</span>
+<span class="sd">        and angular velocity. All the quantities are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_state: Root state in simulation frame. Shape is (len(env_ids), 13).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_com_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObject.write_root_link_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_link_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_link_state_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root link state over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear</span>
+<span class="sd">        and angular velocity. All the quantities are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_state: Root state in simulation frame. Shape is (len(env_ids), 13).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_link_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObject.write_root_pose_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_pose_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_pose_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root pose over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_pose: Root poses in simulation frame. Shape is (len(env_ids), 7).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># deprecation warning</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_pose_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: RigidObject.write_root_pose_to_sim will be removed in a future release. Please use&quot;</span>
+                <span class="s2">&quot; write_root_link_pose_to_sim or write_root_com_pose_to_sim instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_pose_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_pose</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObject.write_root_link_pose_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_link_pose_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_link_pose_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root link pose over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_pose: Root poses in simulation frame. Shape is (len(env_ids), 7).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># note: we need to do this here since tensors are not set into simulation until step.</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">root_pose</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="c1"># convert root quaternion from wxyz to xyzw</span>
+        <span class="n">root_poses_xyzw</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">root_poses_xyzw</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">root_poses_xyzw</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;xyzw&quot;</span><span class="p">)</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_transforms</span><span class="p">(</span><span class="n">root_poses_xyzw</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObject.write_root_com_pose_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_com_pose_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_com_pose_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root center of mass pose over selected environment indices into the simulation.</span>
+
+<span class="sd">        The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</span>
+<span class="sd">        The orientation is the orientation of the principle axes of inertia.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_pose: Root center of mass poses in simulation frame. Shape is (len(env_ids), 7).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="c1"># resolve all indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">local_env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+
+        <span class="n">com_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:]</span>
+        <span class="n">com_quat</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">com_quat_b</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:]</span>
+
+        <span class="n">root_link_pos</span><span class="p">,</span> <span class="n">root_link_quat</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">combine_frame_transforms</span><span class="p">(</span>
+            <span class="n">root_pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span>
+            <span class="n">root_pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span>
+            <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">math_utils</span><span class="o">.</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">com_quat</span><span class="p">),</span> <span class="o">-</span><span class="n">com_pos</span><span class="p">),</span>
+            <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">com_quat</span><span class="p">),</span>
+        <span class="p">)</span>
+
+        <span class="n">root_link_pose</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">root_link_pos</span><span class="p">,</span> <span class="n">root_link_quat</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_pose</span><span class="o">=</span><span class="n">root_link_pose</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObject.write_root_velocity_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_velocity_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_velocity_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_velocity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root center of mass velocity over selected environment indices into the simulation.</span>
+
+<span class="sd">        The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.</span>
+<span class="sd">        NOTE: This sets the velocity of the root&#39;s center of mass rather than the roots frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_velocity: Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># deprecation warning</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_vel_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: RigidObject.write_root_velocity_to_sim will be removed in a future release. Please&quot;</span>
+                <span class="s2">&quot; use write_root_link_velocity_to_sim or write_root_com_velocity_to_sim instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_vel_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_velocity</span><span class="o">=</span><span class="n">root_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObject.write_root_com_velocity_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_com_velocity_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_velocity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root center of mass velocity over selected environment indices into the simulation.</span>
+
+<span class="sd">        The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.</span>
+<span class="sd">        NOTE: This sets the velocity of the root&#39;s center of mass rather than the roots frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_velocity: Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="c1"># resolve all indices</span>
+        <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">physx_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># note: we need to do this here since tensors are not set into simulation until step.</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">7</span><span class="p">:]</span> <span class="o">=</span> <span class="n">root_velocity</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">7</span><span class="p">:]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">7</span><span class="p">:]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">body_acc_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_velocities</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">indices</span><span class="o">=</span><span class="n">physx_env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObject.write_root_link_velocity_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_link_velocity_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_root_link_velocity_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_velocity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the root link velocity over selected environment indices into the simulation.</span>
+
+<span class="sd">        The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.</span>
+<span class="sd">        NOTE: This sets the velocity of the root&#39;s frame rather than the roots center of mass.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_velocity: Root frame velocities in simulation world frame. Shape is (len(env_ids), 6).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">local_env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+
+        <span class="n">root_com_velocity</span> <span class="o">=</span> <span class="n">root_velocity</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">quat</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="n">com_pos_b</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:]</span>
+        <span class="c1"># transform given velocity to center of mass</span>
+        <span class="n">root_com_velocity</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span>
+            <span class="n">root_com_velocity</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="n">com_pos_b</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span>
+        <span class="p">)</span>
+        <span class="c1"># write center of mass velocity to sim</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_velocity</span><span class="o">=</span><span class="n">root_com_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Setters.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObject.set_external_force_and_torque"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.set_external_force_and_torque">[docs]</a>    <span class="k">def</span> <span class="nf">set_external_force_and_torque</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">forces</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">torques</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">body_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set external force and torque to apply on the asset&#39;s bodies in their local frame.</span>
+
+<span class="sd">        For many applications, we want to keep the applied external force on rigid bodies constant over a period of</span>
+<span class="sd">        time (for instance, during the policy control). This function allows us to store the external force and torque</span>
+<span class="sd">        into buffers which are then applied to the simulation at every step.</span>
+
+<span class="sd">        .. caution::</span>
+<span class="sd">            If the function is called with empty forces and torques, then this function disables the application</span>
+<span class="sd">            of external wrench to the simulation.</span>
+
+<span class="sd">            .. code-block:: python</span>
+
+<span class="sd">                # example of disabling external wrench</span>
+<span class="sd">                asset.set_external_force_and_torque(forces=torch.zeros(0, 3), torques=torch.zeros(0, 3))</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the external wrench to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the external wrench, call the :meth:`write_data_to_sim` function</span>
+<span class="sd">            right before the simulation step.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            forces: External forces in bodies&#39; local frame. Shape is (len(env_ids), len(body_ids), 3).</span>
+<span class="sd">            torques: External torques in bodies&#39; local frame. Shape is (len(env_ids), len(body_ids), 3).</span>
+<span class="sd">            body_ids: Body indices to apply external wrench to. Defaults to None (all bodies).</span>
+<span class="sd">            env_ids: Environment indices to apply external wrench to. Defaults to None (all instances).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">forces</span><span class="o">.</span><span class="n">any</span><span class="p">()</span> <span class="ow">or</span> <span class="n">torques</span><span class="o">.</span><span class="n">any</span><span class="p">():</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span> <span class="o">=</span> <span class="kc">True</span>
+            <span class="c1"># resolve all indices</span>
+            <span class="c1"># -- env_ids</span>
+            <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="c1"># -- body_ids</span>
+            <span class="k">if</span> <span class="n">body_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">body_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="c1"># broadcast env_ids if needed to allow double indexing</span>
+            <span class="k">if</span> <span class="n">env_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span> <span class="ow">and</span> <span class="n">body_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+                <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+
+            <span class="c1"># set into internal buffers</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">body_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">forces</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">body_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">torques</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span> <span class="o">=</span> <span class="kc">False</span>
+            <span class="c1"># reset external wrench</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helper.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># create simulation view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_backend</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="c1"># obtain the first prim in the regex expression (all others are assumed to be a copy of this)</span>
+        <span class="n">template_prim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_first_matching_prim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">template_prim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to find prim for expression: &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+        <span class="n">template_prim_path</span> <span class="o">=</span> <span class="n">template_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+
+        <span class="c1"># find rigid root prims</span>
+        <span class="n">root_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">get_all_matching_child_prims</span><span class="p">(</span>
+            <span class="n">template_prim_path</span><span class="p">,</span> <span class="n">predicate</span><span class="o">=</span><span class="k">lambda</span> <span class="n">prim</span><span class="p">:</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">root_prims</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Failed to find a rigid body when resolving &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="s2">&quot; Please ensure that the prim has &#39;USD RigidBodyAPI&#39; applied.&quot;</span>
+            <span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">root_prims</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Failed to find a single rigid body when resolving &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; Found multiple &#39;</span><span class="si">{</span><span class="n">root_prims</span><span class="si">}</span><span class="s2">&#39; under &#39;</span><span class="si">{</span><span class="n">template_prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="s2">&quot; Please ensure that there is only one rigid body in the prim path tree.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="n">articulation_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">get_all_matching_child_prims</span><span class="p">(</span>
+            <span class="n">template_prim_path</span><span class="p">,</span> <span class="n">predicate</span><span class="o">=</span><span class="k">lambda</span> <span class="n">prim</span><span class="p">:</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">articulation_prims</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">articulation_prims</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="s2">&quot;physxArticulation:articulationEnabled&quot;</span><span class="p">)</span><span class="o">.</span><span class="n">Get</span><span class="p">():</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Found an articulation root when resolving &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; for rigid objects. These are&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; located at: &#39;</span><span class="si">{</span><span class="n">articulation_prims</span><span class="si">}</span><span class="s2">&#39; under &#39;</span><span class="si">{</span><span class="n">template_prim_path</span><span class="si">}</span><span class="s2">&#39;. Please disable the articulation&quot;</span>
+                    <span class="s2">&quot; root in the USD or from code by setting the parameter&quot;</span>
+                    <span class="s2">&quot; &#39;ArticulationRootPropertiesCfg.articulation_enabled&#39; to False in the spawn configuration.&quot;</span>
+                <span class="p">)</span>
+
+        <span class="c1"># resolve root prim back into regex expression</span>
+        <span class="n">root_prim_path</span> <span class="o">=</span> <span class="n">root_prims</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+        <span class="n">root_prim_path_expr</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">+</span> <span class="n">root_prim_path</span><span class="p">[</span><span class="nb">len</span><span class="p">(</span><span class="n">template_prim_path</span><span class="p">)</span> <span class="p">:]</span>
+        <span class="c1"># -- object view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_rigid_body_view</span><span class="p">(</span><span class="n">root_prim_path_expr</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;*&quot;</span><span class="p">))</span>
+
+        <span class="c1"># check if the rigid body was created</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">_backend</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to create rigid body at: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">. Please check PhysX logs.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># log information about the rigid body</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Rigid body initialized at: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2"> with root &#39;</span><span class="si">{</span><span class="n">root_prim_path_expr</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of instances: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of bodies: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Body names: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="c1"># container for data access</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span> <span class="o">=</span> <span class="n">RigidObjectData</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># create buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_buffers</span><span class="p">()</span>
+        <span class="c1"># process configuration</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_process_cfg</span><span class="p">()</span>
+        <span class="c1"># update the rigid body data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="mf">0.0</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_create_buffers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create buffers for storing data.&quot;&quot;&quot;</span>
+        <span class="c1"># constants</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># external forces and torques</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="p">)</span>
+
+        <span class="c1"># set information about rigid body into data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">body_names</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_mass</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_masses</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_inertia</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_inertias</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">_process_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Post processing of configuration parameters.&quot;&quot;&quot;</span>
+        <span class="c1"># default state</span>
+        <span class="c1"># -- root state</span>
+        <span class="c1"># note: we cast to tuple to avoid torch/numpy type mismatch.</span>
+        <span class="n">default_root_state</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="nb">tuple</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">pos</span><span class="p">)</span>
+            <span class="o">+</span> <span class="nb">tuple</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">rot</span><span class="p">)</span>
+            <span class="o">+</span> <span class="nb">tuple</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">lin_vel</span><span class="p">)</span>
+            <span class="o">+</span> <span class="nb">tuple</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">ang_vel</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="n">default_root_state</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">default_root_state</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_root_state</span> <span class="o">=</span> <span class="n">default_root_state</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="c1"># call parent</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="c1"># set all existing views to None to invalidate them</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span> <span class="o">=</span> <span class="kc">None</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html b/v1.4.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
new file mode 100644
index 0000000000..d4d60aec57
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html
@@ -0,0 +1,621 @@
+
+
+<!DOCTYPE html>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+  <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">..asset_base_cfg</span> <span class="kn">import</span> <span class="n">AssetBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.rigid_object</span> <span class="kn">import</span> <span class="n">RigidObject</span>
+
+
+<div class="viewcode-block" id="RigidObjectCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RigidObjectCfg</span><span class="p">(</span><span class="n">AssetBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a rigid object.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObjectCfg.InitialStateCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">InitialStateCfg</span><span class="p">(</span><span class="n">AssetBaseCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initial state of the rigid body.&quot;&quot;&quot;</span>
+
+        <span class="n">lin_vel</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+        <span class="n">ang_vel</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span></div>
+
+    <span class="c1">##</span>
+    <span class="c1"># Initialize configurations.</span>
+    <span class="c1">##</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">RigidObject</span>
+
+    <span class="n">init_state</span><span class="p">:</span> <span class="n">InitialStateCfg</span> <span class="o">=</span> <span class="n">InitialStateCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Initial state of the rigid object. Defaults to identity pose with zero velocity.&quot;&quot;&quot;</span></div>
+</pre></div>
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new file mode 100644
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+++ b/v1.4.0/_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html
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+  <h1>Source code for omni.isaac.lab.assets.rigid_object.rigid_object_data</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.buffers</span> <span class="kn">import</span> <span class="n">TimestampedBuffer</span>
+
+
+<div class="viewcode-block" id="RigidObjectData"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData">[docs]</a><span class="k">class</span> <span class="nc">RigidObjectData</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Data container for a rigid object.</span>
+
+<span class="sd">    This class contains the data for a rigid object in the simulation. The data includes the state of</span>
+<span class="sd">    the root rigid body and the state of all the bodies in the object. The data is stored in the simulation</span>
+<span class="sd">    world frame unless otherwise specified.</span>
+
+<span class="sd">    For a rigid body, there are two frames of reference that are used:</span>
+
+<span class="sd">    - Actor frame: The frame of reference of the rigid body prim. This typically corresponds to the Xform prim</span>
+<span class="sd">      with the rigid body schema.</span>
+<span class="sd">    - Center of mass frame: The frame of reference of the center of mass of the rigid body.</span>
+
+<span class="sd">    Depending on the settings of the simulation, the actor frame and the center of mass frame may be the same.</span>
+<span class="sd">    This needs to be taken into account when interpreting the data.</span>
+
+<span class="sd">    The data is lazily updated, meaning that the data is only updated when it is accessed. This is useful</span>
+<span class="sd">    when the data is expensive to compute or retrieve. The data is updated when the timestamp of the buffer</span>
+<span class="sd">    is older than the current simulation timestamp. The timestamp is updated whenever the data is updated.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_physx_view</span><span class="p">:</span> <span class="n">physx</span><span class="o">.</span><span class="n">RigidBodyView</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the rigid object data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_physx_view: The root rigid body view.</span>
+<span class="sd">            device: The device used for processing.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># Set the parameters</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">device</span>
+        <span class="c1"># Set the root rigid body view</span>
+        <span class="c1"># note: this is stored as a weak reference to avoid circular references between the asset class</span>
+        <span class="c1">#  and the data container. This is important to avoid memory leaks.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="p">:</span> <span class="n">physx</span><span class="o">.</span><span class="n">RigidBodyView</span> <span class="o">=</span> <span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="n">root_physx_view</span><span class="p">)</span>
+
+        <span class="c1"># Set initial time stamp</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span> <span class="o">=</span> <span class="mf">0.0</span>
+
+        <span class="c1"># Obtain global physics sim view</span>
+        <span class="n">physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="s2">&quot;torch&quot;</span><span class="p">)</span>
+        <span class="n">physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="n">gravity</span> <span class="o">=</span> <span class="n">physics_sim_view</span><span class="o">.</span><span class="n">get_gravity</span><span class="p">()</span>
+        <span class="c1"># Convert to direction vector</span>
+        <span class="n">gravity_dir</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">((</span><span class="n">gravity</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">gravity</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">gravity</span><span class="p">[</span><span class="mi">2</span><span class="p">]),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="n">gravity_dir</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">normalize</span><span class="p">(</span><span class="n">gravity_dir</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">))</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+
+        <span class="c1"># Initialize constants</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">GRAVITY_VEC_W</span> <span class="o">=</span> <span class="n">gravity_dir</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">FORWARD_VEC_B</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">((</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># Initialize the lazy buffers.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_body_acc_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+
+        <span class="c1"># deprecation warning check</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+
+<div class="viewcode-block" id="RigidObjectData.update"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.update">[docs]</a>    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Updates the data for the rigid object.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            dt: The time step for the update. This must be a positive value.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># update the simulation timestamp</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span> <span class="o">+=</span> <span class="n">dt</span></div>
+
+    <span class="c1">##</span>
+    <span class="c1"># Names.</span>
+    <span class="c1">##</span>
+
+    <span class="n">body_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Body names in the order parsed by the simulation view.&quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Defaults.</span>
+    <span class="c1">##</span>
+
+    <span class="n">default_root_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default root state ``[pos, quat, lin_vel, ang_vel]`` in local environment frame. Shape is (num_instances, 13).</span>
+
+<span class="sd">    The position and quaternion are of the rigid body&#39;s actor frame. Meanwhile, the linear and angular velocities are</span>
+<span class="sd">    of the center of mass frame.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">default_mass</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default mass read from the simulation. Shape is (num_instances, 1).&quot;&quot;&quot;</span>
+
+    <span class="n">default_inertia</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default inertia tensor read from the simulation. Shape is (num_instances, 9).</span>
+
+<span class="sd">    The inertia is the inertia tensor relative to the center of mass frame. The values are stored in</span>
+<span class="sd">    the order :math:`[I_{xx}, I_{xy}, I_{xz}, I_{yx}, I_{yy}, I_{yz}, I_{zx}, I_{zy}, I_{zz}]`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Properties.</span>
+    <span class="c1">##</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. Shape is (num_instances, 13).</span>
+
+<span class="sd">        The position and orientation are of the rigid body&#39;s actor frame. Meanwhile, the linear and angular</span>
+<span class="sd">        velocities are of the rigid body&#39;s center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ignore_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: root_state_w and it&#39;s derived properties will be deprecated in a future release.&quot;</span>
+                <span class="s2">&quot; Please use root_link_state_w or root_com_state_w.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">()</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pose</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. Shape is (num_instances, 13).</span>
+
+<span class="sd">        The position, quaternion, and linear/angular velocity are of the rigid body root frame relative to the</span>
+<span class="sd">        world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+            <span class="c1"># adjust linear velocity to link from center of mass</span>
+            <span class="n">velocity</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span>
+                <span class="n">velocity</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:]),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span>
+            <span class="p">)</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pose</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. Shape is (num_instances, 13).</span>
+
+<span class="sd">        The position, quaternion, and linear/angular velocity are of the rigid body&#39;s center of mass frame</span>
+<span class="sd">        relative to the world. Center of mass frame is the orientation principle axes of inertia.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation (pose is of link)</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">()</span>
+
+            <span class="c1"># adjust pose to center of mass</span>
+            <span class="n">pos</span><span class="p">,</span> <span class="n">quat</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">combine_frame_transforms</span><span class="p">(</span>
+                <span class="n">pose</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:],</span> <span class="bp">self</span><span class="o">.</span><span class="n">com_quat_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="p">:]</span>
+            <span class="p">)</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pos</span><span class="p">,</span> <span class="n">quat</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pos</span><span class="p">,</span> <span class="n">quat</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_com_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world frame. Shape is (num_instances, 1, 13).</span>
+
+<span class="sd">        The position and orientation are of the rigid bodies&#39; actor frame. Meanwhile, the linear and angular</span>
+<span class="sd">        velocities are of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+            <span class="s2">&quot;DeprecationWarning: body_state_w and it&#39;s derived properties will be deprecated in a future release.&quot;</span>
+            <span class="s2">&quot; Please use body_link_state_w or body_com_state_w.&quot;</span>
+        <span class="p">)</span>
+
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">13</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world frame.</span>
+<span class="sd">        Shape is (num_instances,1, 13).</span>
+
+<span class="sd">        The position, quaternion, and linear/angular velocity are of the body&#39;s link frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">13</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world frame.</span>
+<span class="sd">        Shape is (num_instances, num_bodies, 13).</span>
+
+<span class="sd">        The position, quaternion, and linear/angular velocity are of the body&#39;s center of mass frame relative to the</span>
+<span class="sd">        world. Center of mass frame is assumed to be the same orientation as the link rather than the orientation of the</span>
+<span class="sd">        principle inertia.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">13</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_acc_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Acceleration of all bodies. Shape is (num_instances, 1, 6).</span>
+
+<span class="sd">        This quantity is the acceleration of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_acc_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># note: we use finite differencing to compute acceleration</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_acc_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_accelerations</span><span class="p">()</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_body_acc_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_acc_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">projected_gravity_b</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Projection of the gravity direction on base frame. Shape is (num_instances, 3).&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">GRAVITY_VEC_W</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">heading_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Yaw heading of the base frame (in radians). Shape is (num_instances,).</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This quantity is computed by assuming that the forward-direction of the base</span>
+<span class="sd">            frame is along x-direction, i.e. :math:`(1, 0, 0)`.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">forward_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_apply</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">FORWARD_VEC_B</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">atan2</span><span class="p">(</span><span class="n">forward_w</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="n">forward_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Derived properties.</span>
+    <span class="c1">##</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root position in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the position of the actor frame of the root rigid body.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the actor frame of the root rigid body.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root velocity in simulation world frame. Shape is (num_instances, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the root rigid body&#39;s center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root linear velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the root rigid body&#39;s center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root angular velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the root rigid body&#39;s center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_state_w</span><span class="p">[:,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_lin_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root linear velocity in base frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the root rigid body&#39;s center of mass frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_lin_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_ang_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root angular velocity in base world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the root rigid body&#39;s center of mass frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_ang_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link position in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the position of the actor frame of the root rigid body relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">pose</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the actor frame of the root rigid body.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="k">return</span> <span class="n">pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link velocity in simulation world frame. Shape is (num_instances, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the actor frame of the root</span>
+<span class="sd">        rigid body relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root linear velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the root rigid body&#39;s actor frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link angular velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the actor frame of the root rigid body relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_lin_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link linear velocity in base frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the actor frame of the root rigid body frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_lin_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_link_ang_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root link angular velocity in base world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the actor frame of the root rigid body frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_link_ang_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass position in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the position of the actor frame of the root rigid body relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the actor frame of the root rigid body relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass velocity in simulation world frame. Shape is (num_instances, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the root rigid body&#39;s center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">velocity</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass linear velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the root rigid body&#39;s center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">velocity</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass angular velocity in simulation world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the root rigid body&#39;s center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">velocity</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_state_w</span><span class="p">[:,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_lin_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass linear velocity in base frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the root rigid body&#39;s center of mass frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_lin_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_com_ang_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Root center of mass angular velocity in base world frame. Shape is (num_instances, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the root rigid body&#39;s center of mass frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_com_ang_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the position of the rigid bodies&#39; actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the rigid bodies&#39; actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_lin_acc_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear acceleration of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the linear acceleration of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_acc_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_ang_acc_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular acceleration of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the angular acceleration of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_acc_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span>
+
+    <span class="c1">#</span>
+    <span class="c1"># Link body properties</span>
+    <span class="c1">#</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the position of the rigid bodies&#39; actor frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the rigid bodies&#39; actor frame  relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the rigid bodies&#39; center of mass frame</span>
+<span class="sd">        relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the rigid bodies&#39; center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_link_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the rigid bodies&#39; center of mass frame relative to the world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="c1">#</span>
+    <span class="c1"># Center of mass body properties</span>
+    <span class="c1">#</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the position of the rigid bodies&#39; actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.</span>
+
+<span class="sd">        Shape is (num_instances, 1, 4). This quantity is the orientation of the rigid bodies&#39; actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_com_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">com_pos_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Center of mass of all of the bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the center of mass location relative to its body frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_coms</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">com_quat_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Orientation (w,x,y,z) of the prinicple axies of inertia of all of the bodies in simulation world frame. Shape is (num_instances, 1, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the principles axes of inertia relative to its body frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">quat</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_coms</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span></div>
+</pre></div>
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new file mode 100644
index 0000000000..c0ec19bd9f
--- /dev/null
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+  <h1>Source code for omni.isaac.lab.assets.rigid_object_collection.rigid_object_collection</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.kit.app</span>
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+<span class="kn">import</span> <span class="nn">omni.timeline</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">UsdPhysics</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.string</span> <span class="k">as</span> <span class="nn">string_utils</span>
+
+<span class="kn">from</span> <span class="nn">..asset_base</span> <span class="kn">import</span> <span class="n">AssetBase</span>
+<span class="kn">from</span> <span class="nn">.rigid_object_collection_data</span> <span class="kn">import</span> <span class="n">RigidObjectCollectionData</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.rigid_object_collection_cfg</span> <span class="kn">import</span> <span class="n">RigidObjectCollectionCfg</span>
+
+
+<div class="viewcode-block" id="RigidObjectCollection"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection">[docs]</a><span class="k">class</span> <span class="nc">RigidObjectCollection</span><span class="p">(</span><span class="n">AssetBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A rigid object collection class.</span>
+
+<span class="sd">    This class represents a collection of rigid objects in the simulation, where the state of the rigid objects can be</span>
+<span class="sd">    accessed and modified using a batched ``(env_ids, object_ids)`` API.</span>
+
+<span class="sd">    For each rigid body in the collection, the root prim of the asset must have the `USD RigidBodyAPI`_</span>
+<span class="sd">    applied to it. This API is used to define the simulation properties of the rigid bodies. On playing the</span>
+<span class="sd">    simulation, the physics engine will automatically register the rigid bodies and create a corresponding</span>
+<span class="sd">    rigid body handle. This handle can be accessed using the :attr:`root_physx_view` attribute.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        Rigid objects in the collection are uniquely identified via the key of the dictionary</span>
+<span class="sd">        :attr:`~omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects` in :class:`~omni.isaac.lab.assets.RigidObjectCollectionCfg`.</span>
+<span class="sd">        This differs from the class :class:`~omni.isaac.lab.assets.RigidObject`, where a rigid object is identified by</span>
+<span class="sd">        the name of the Xform where the `USD RigidBodyAPI`_ is applied. This would not be possible for the rigid object</span>
+<span class="sd">        collection since the :attr:`~omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects` dictionary could</span>
+<span class="sd">        contain the same rigid object multiple times, leading to ambiguity.</span>
+
+<span class="sd">    .. _`USD RigidBodyAPI`: https://openusd.org/dev/api/class_usd_physics_rigid_body_a_p_i.html</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">RigidObjectCollectionCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration instance for the rigid object collection.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObjectCollection.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">RigidObjectCollectionCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the rigid object collection.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: A configuration instance.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that the config is valid</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">validate</span><span class="p">()</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="c1"># flag for whether the asset is initialized</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">for</span> <span class="n">rigid_object_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rigid_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="c1"># check if the rigid object path is valid</span>
+            <span class="c1"># note: currently the spawner does not work if there is a regex pattern in the leaf</span>
+            <span class="c1">#   For example, if the prim path is &quot;/World/Object_[1,2]&quot; since the spawner will not</span>
+            <span class="c1">#   know which prim to spawn. This is a limitation of the spawner and not the asset.</span>
+            <span class="n">asset_path</span> <span class="o">=</span> <span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+            <span class="n">asset_path_is_regex</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;^[a-zA-Z0-9/_]+$&quot;</span><span class="p">,</span> <span class="n">asset_path</span><span class="p">)</span> <span class="ow">is</span> <span class="kc">None</span>
+            <span class="c1"># spawn the asset</span>
+            <span class="k">if</span> <span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">spawn</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">asset_path_is_regex</span><span class="p">:</span>
+                <span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+                    <span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">,</span>
+                    <span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">spawn</span><span class="p">,</span>
+                    <span class="n">translation</span><span class="o">=</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">pos</span><span class="p">,</span>
+                    <span class="n">orientation</span><span class="o">=</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">rot</span><span class="p">,</span>
+                <span class="p">)</span>
+            <span class="c1"># check that spawn was successful</span>
+            <span class="n">matching_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_matching_prims</span><span class="p">(</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+            <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">matching_prims</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Could not find prim with path </span><span class="si">{</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># stores object names</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_object_names_list</span> <span class="o">=</span> <span class="p">[]</span>
+
+        <span class="c1"># note: Use weakref on all callbacks to ensure that this object can be deleted when its destructor is called.</span>
+        <span class="c1"># add callbacks for stage play/stop</span>
+        <span class="c1"># The order is set to 10 which is arbitrary but should be lower priority than the default order of 0</span>
+        <span class="n">timeline_event_stream</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">get_timeline_interface</span><span class="p">()</span><span class="o">.</span><span class="n">get_timeline_event_stream</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_handle</span> <span class="o">=</span> <span class="n">timeline_event_stream</span><span class="o">.</span><span class="n">create_subscription_to_pop_by_type</span><span class="p">(</span>
+            <span class="nb">int</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">TimelineEventType</span><span class="o">.</span><span class="n">PLAY</span><span class="p">),</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">),</span>
+            <span class="n">order</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_invalidate_initialize_handle</span> <span class="o">=</span> <span class="n">timeline_event_stream</span><span class="o">.</span><span class="n">create_subscription_to_pop_by_type</span><span class="p">(</span>
+            <span class="nb">int</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">TimelineEventType</span><span class="o">.</span><span class="n">STOP</span><span class="p">),</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">),</span>
+            <span class="n">order</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span>
+        <span class="p">)</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_pose_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_vel_dep_warn</span> <span class="o">=</span> <span class="kc">False</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">RigidObjectCollectionData</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_instances</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of instances of the collection.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">count</span> <span class="o">//</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_objects</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of objects in the collection.</span>
+
+<span class="sd">        This corresponds to the distinct number of rigid bodies in the collection.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_names</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_names</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Ordered names of objects in the rigid object collection.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_names_list</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">root_physx_view</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">physx</span><span class="o">.</span><span class="n">RigidBodyView</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Rigid body view for the rigid body collection (PhysX).</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            Use this view with caution. It requires handling of tensors in a specific way.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObjectCollection.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets all internal buffers of selected environments and objects.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The indices of the object to reset. Defaults to None (all instances).</span>
+<span class="sd">            object_ids: The indices of the object to reset. Defaults to None (all objects).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_ENV_INDICES</span>
+        <span class="k">if</span> <span class="n">object_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">object_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_OBJ_INDICES</span>
+        <span class="c1"># reset external wrench</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">object_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">object_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.write_data_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_data_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_data_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Write external wrench to the simulation.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            We write external wrench to the simulation here since this function is called before the simulation step.</span>
+<span class="sd">            This ensures that the external wrench is applied at every simulation step.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># write external wrench</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">apply_forces_and_torques_at_position</span><span class="p">(</span>
+                <span class="n">force_data</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">reshape_data_to_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="p">),</span>
+                <span class="n">torque_data</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">reshape_data_to_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span><span class="p">),</span>
+                <span class="n">position_data</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+                <span class="n">indices</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_env_obj_ids_to_view_ids</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_ALL_ENV_INDICES</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_OBJ_INDICES</span><span class="p">),</span>
+                <span class="n">is_global</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.update"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.update">[docs]</a>    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Finders.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObjectCollection.find_objects"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.find_objects">[docs]</a>    <span class="k">def</span> <span class="nf">find_objects</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">name_keys</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">preserve_order</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Find objects in the collection based on the name keys.</span>
+
+<span class="sd">        Please check the :meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function for more</span>
+<span class="sd">        information on the name matching.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name_keys: A regular expression or a list of regular expressions to match the object names.</span>
+<span class="sd">            preserve_order: Whether to preserve the order of the name keys in the output. Defaults to False.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the object indices and names.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">obj_ids</span><span class="p">,</span> <span class="n">obj_names</span> <span class="o">=</span> <span class="n">string_utils</span><span class="o">.</span><span class="n">resolve_matching_names</span><span class="p">(</span><span class="n">name_keys</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">obj_ids</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">),</span> <span class="n">obj_names</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Write to simulation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObjectCollection.write_object_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_object_state_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">object_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the object state over selected environment and object indices into the simulation.</span>
+
+<span class="sd">        The object state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear</span>
+<span class="sd">        and angular velocity. All the quantities are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            object_state: Object state in simulation frame. Shape is (len(env_ids), len(object_ids), 13).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">            object_ids: Object indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># deprecation warning</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: RigidObjectCollection.write_object_state_to_sim will be removed in a future&quot;</span>
+                <span class="s2">&quot; release. Please use write_object_link_state_to_sim or write_object_com_state_to_sim instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_object_pose_to_sim</span><span class="p">(</span><span class="n">object_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="o">=</span><span class="n">object_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_object_velocity_to_sim</span><span class="p">(</span><span class="n">object_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="o">=</span><span class="n">object_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.write_object_com_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_object_com_state_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">object_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the object center of mass state over selected environment indices into the simulation.</span>
+<span class="sd">        The object state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear</span>
+<span class="sd">        and angular velocity. All the quantities are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            object_state: Object state in simulation frame. Shape is (len(env_ids), len(object_ids), 13).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">            object_ids: Object indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_object_com_pose_to_sim</span><span class="p">(</span><span class="n">object_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="o">=</span><span class="n">object_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_object_com_velocity_to_sim</span><span class="p">(</span><span class="n">object_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="o">=</span><span class="n">object_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.write_object_link_state_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_state_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_object_link_state_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">object_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the object link state over selected environment indices into the simulation.</span>
+<span class="sd">        The object state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear</span>
+<span class="sd">        and angular velocity. All the quantities are in the simulation frame.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            object_state: Object state in simulation frame. Shape is (len(env_ids), len(object_ids), 13).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">            object_ids: Object indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set into simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_object_link_pose_to_sim</span><span class="p">(</span><span class="n">object_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="o">=</span><span class="n">object_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_object_link_velocity_to_sim</span><span class="p">(</span><span class="n">object_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="o">=</span><span class="n">object_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.write_object_pose_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_pose_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_object_pose_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">object_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the object pose over selected environment and object indices into the simulation.</span>
+
+<span class="sd">        The object pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            object_pose: Object poses in simulation frame. Shape is (len(env_ids), len(object_ids), 7).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">            object_ids: Object indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># deprecation warning</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_pose_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: RigidObjectCollection.write_object_pose_to_sim will be removed in a future&quot;</span>
+                <span class="s2">&quot; release. Please use write_object_link_pose_to_sim or write_object_com_pose_to_sim instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_pose_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_object_link_pose_to_sim</span><span class="p">(</span><span class="n">object_pose</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.write_object_link_pose_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_pose_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_object_link_pose_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">object_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the object pose over selected environment and object indices into the simulation.</span>
+
+<span class="sd">        The object pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            object_pose: Object poses in simulation frame. Shape is (len(env_ids), len(object_ids), 7).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">            object_ids: Object indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="c1"># resolve all indices</span>
+        <span class="c1"># -- env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_ENV_INDICES</span>
+        <span class="c1"># -- object_ids</span>
+        <span class="k">if</span> <span class="n">object_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">object_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_OBJ_INDICES</span>
+        <span class="c1"># note: we need to do this here since tensors are not set into simulation until step.</span>
+        <span class="c1"># set into internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">object_link_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">object_ids</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">object_pose</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">object_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">object_ids</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">object_pose</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="c1"># convert the quaternion from wxyz to xyzw</span>
+        <span class="n">poses_xyzw</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">object_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">poses_xyzw</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">poses_xyzw</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;xyzw&quot;</span><span class="p">)</span>
+        <span class="c1"># set into simulation</span>
+        <span class="n">view_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env_obj_ids_to_view_ids</span><span class="p">(</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_transforms</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">reshape_data_to_view</span><span class="p">(</span><span class="n">poses_xyzw</span><span class="p">),</span> <span class="n">indices</span><span class="o">=</span><span class="n">view_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.write_object_com_pose_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_pose_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_object_com_pose_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">object_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the object center of mass pose over selected environment indices into the simulation.</span>
+<span class="sd">        The object pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</span>
+<span class="sd">        The orientation is the orientation of the principle axes of inertia.</span>
+<span class="sd">        Args:</span>
+<span class="sd">            object_pose: Object poses in simulation frame. Shape is (len(env_ids), len(object_ids), 7).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">            object_ids: Object indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="c1"># resolve all indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">local_env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">local_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">object_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">local_object_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="n">object_ids</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">local_object_ids</span> <span class="o">=</span> <span class="n">object_ids</span>
+
+        <span class="n">com_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="n">local_object_ids</span><span class="p">,</span> <span class="p">:]</span>
+        <span class="n">com_quat</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">com_quat_b</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="n">local_object_ids</span><span class="p">,</span> <span class="p">:]</span>
+
+        <span class="n">object_link_pos</span><span class="p">,</span> <span class="n">object_link_quat</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">combine_frame_transforms</span><span class="p">(</span>
+            <span class="n">object_pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span>
+            <span class="n">object_pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span>
+            <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">math_utils</span><span class="o">.</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">com_quat</span><span class="p">),</span> <span class="o">-</span><span class="n">com_pos</span><span class="p">),</span>
+            <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">com_quat</span><span class="p">),</span>
+        <span class="p">)</span>
+
+        <span class="n">object_link_pose</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">object_link_pos</span><span class="p">,</span> <span class="n">object_link_quat</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_object_link_pose_to_sim</span><span class="p">(</span><span class="n">object_pose</span><span class="o">=</span><span class="n">object_link_pose</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="o">=</span><span class="n">object_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.write_object_velocity_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_velocity_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_object_velocity_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">object_velocity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the object velocity over selected environment and object indices into the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            object_velocity: Object velocities in simulation frame. Shape is (len(env_ids), len(object_ids), 6).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">            object_ids: Object indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># deprecation warning</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_vel_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: RigidObjectCollection.write_object_velocity_to_sim will be removed in a future&quot;</span>
+                <span class="s2">&quot; release. Please use write_object_link_velocity_to_sim or write_object_com_velocity_to_sim instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_vel_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_object_com_velocity_to_sim</span><span class="p">(</span><span class="n">object_velocity</span><span class="o">=</span><span class="n">object_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="o">=</span><span class="n">object_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.write_object_com_velocity_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_velocity_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_object_com_velocity_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">object_velocity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the object center of mass velocity over selected environment and object indices into the simulation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            object_velocity: Object velocities in simulation frame. Shape is (len(env_ids), len(object_ids), 6).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">            object_ids: Object indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="c1"># -- env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_ENV_INDICES</span>
+        <span class="c1"># -- object_ids</span>
+        <span class="k">if</span> <span class="n">object_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">object_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_OBJ_INDICES</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">object_com_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">object_ids</span><span class="p">,</span> <span class="mi">7</span><span class="p">:]</span> <span class="o">=</span> <span class="n">object_velocity</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">object_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">object_ids</span><span class="p">,</span> <span class="mi">7</span><span class="p">:]</span> <span class="o">=</span> <span class="n">object_velocity</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">object_acc_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">object_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+
+        <span class="c1"># set into simulation</span>
+        <span class="n">view_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env_obj_ids_to_view_ids</span><span class="p">(</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_velocities</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">reshape_data_to_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">object_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:]),</span> <span class="n">indices</span><span class="o">=</span><span class="n">view_ids</span>
+        <span class="p">)</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.write_object_link_velocity_to_sim"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_velocity_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_object_link_velocity_to_sim</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">object_velocity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the object link velocity over selected environment indices into the simulation.</span>
+<span class="sd">        The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.</span>
+<span class="sd">        NOTE: This sets the velocity of the object&#39;s frame rather than the objects center of mass.</span>
+<span class="sd">        Args:</span>
+<span class="sd">            object_velocity: Object velocities in simulation frame. Shape is (len(env_ids), len(object_ids), 6).</span>
+<span class="sd">            env_ids: Environment indices. If None, then all indices are used.</span>
+<span class="sd">            object_ids: Object indices. If None, then all indices are used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">local_env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">local_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span>
+        <span class="k">if</span> <span class="n">object_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">local_object_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="n">object_ids</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">local_object_ids</span> <span class="o">=</span> <span class="n">object_ids</span>
+
+        <span class="n">object_com_velocity</span> <span class="o">=</span> <span class="n">object_velocity</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">quat</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">object_link_state_w</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="n">local_object_ids</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="n">com_pos_b</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[</span><span class="n">local_env_ids</span><span class="p">,</span> <span class="n">local_object_ids</span><span class="p">,</span> <span class="p">:]</span>
+        <span class="c1"># transform given velocity to center of mass</span>
+        <span class="n">object_com_velocity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span>
+            <span class="n">object_com_velocity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="n">com_pos_b</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span>
+        <span class="p">)</span>
+        <span class="c1"># write center of mass velocity to sim</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_object_com_velocity_to_sim</span><span class="p">(</span>
+            <span class="n">object_velocity</span><span class="o">=</span><span class="n">object_com_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">object_ids</span><span class="o">=</span><span class="n">object_ids</span>
+        <span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Setters.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RigidObjectCollection.set_external_force_and_torque"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.set_external_force_and_torque">[docs]</a>    <span class="k">def</span> <span class="nf">set_external_force_and_torque</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">forces</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">torques</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">object_ids</span><span class="p">:</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set external force and torque to apply on the objects&#39; bodies in their local frame.</span>
+
+<span class="sd">        For many applications, we want to keep the applied external force on rigid bodies constant over a period of</span>
+<span class="sd">        time (for instance, during the policy control). This function allows us to store the external force and torque</span>
+<span class="sd">        into buffers which are then applied to the simulation at every step.</span>
+
+<span class="sd">        .. caution::</span>
+<span class="sd">            If the function is called with empty forces and torques, then this function disables the application</span>
+<span class="sd">            of external wrench to the simulation.</span>
+
+<span class="sd">            .. code-block:: python</span>
+
+<span class="sd">                # example of disabling external wrench</span>
+<span class="sd">                asset.set_external_force_and_torque(forces=torch.zeros(0, 0, 3), torques=torch.zeros(0, 0, 3))</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function does not apply the external wrench to the simulation. It only fills the buffers with</span>
+<span class="sd">            the desired values. To apply the external wrench, call the :meth:`write_data_to_sim` function</span>
+<span class="sd">            right before the simulation step.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            forces: External forces in bodies&#39; local frame. Shape is (len(env_ids), len(object_ids), 3).</span>
+<span class="sd">            torques: External torques in bodies&#39; local frame. Shape is (len(env_ids), len(object_ids), 3).</span>
+<span class="sd">            object_ids: Object indices to apply external wrench to. Defaults to None (all objects).</span>
+<span class="sd">            env_ids: Environment indices to apply external wrench to. Defaults to None (all instances).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">forces</span><span class="o">.</span><span class="n">any</span><span class="p">()</span> <span class="ow">or</span> <span class="n">torques</span><span class="o">.</span><span class="n">any</span><span class="p">():</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span> <span class="o">=</span> <span class="kc">True</span>
+            <span class="c1"># resolve all indices</span>
+            <span class="c1"># -- env_ids</span>
+            <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_ENV_INDICES</span>
+            <span class="c1"># -- object_ids</span>
+            <span class="k">if</span> <span class="n">object_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">object_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_OBJ_INDICES</span>
+            <span class="c1"># set into internal buffers</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">object_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">forces</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">object_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">torques</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span> <span class="o">=</span> <span class="kc">False</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helper.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># create simulation view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_backend</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="n">root_prim_path_exprs</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">rigid_object_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rigid_objects</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># obtain the first prim in the regex expression (all others are assumed to be a copy of this)</span>
+            <span class="n">template_prim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_first_matching_prim</span><span class="p">(</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">template_prim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to find prim for expression: &#39;</span><span class="si">{</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+            <span class="n">template_prim_path</span> <span class="o">=</span> <span class="n">template_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+
+            <span class="c1"># find rigid root prims</span>
+            <span class="n">root_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">get_all_matching_child_prims</span><span class="p">(</span>
+                <span class="n">template_prim_path</span><span class="p">,</span> <span class="n">predicate</span><span class="o">=</span><span class="k">lambda</span> <span class="n">prim</span><span class="p">:</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">)</span>
+            <span class="p">)</span>
+            <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">root_prims</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Failed to find a rigid body when resolving &#39;</span><span class="si">{</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                    <span class="s2">&quot; Please ensure that the prim has &#39;USD RigidBodyAPI&#39; applied.&quot;</span>
+                <span class="p">)</span>
+            <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">root_prims</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Failed to find a single rigid body when resolving &#39;</span><span class="si">{</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Found multiple &#39;</span><span class="si">{</span><span class="n">root_prims</span><span class="si">}</span><span class="s2">&#39; under &#39;</span><span class="si">{</span><span class="n">template_prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                    <span class="s2">&quot; Please ensure that there is only one rigid body in the prim path tree.&quot;</span>
+                <span class="p">)</span>
+
+            <span class="c1"># check that no rigid object has an articulation root API, which decreases simulation performance</span>
+            <span class="n">articulation_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">get_all_matching_child_prims</span><span class="p">(</span>
+                <span class="n">template_prim_path</span><span class="p">,</span> <span class="n">predicate</span><span class="o">=</span><span class="k">lambda</span> <span class="n">prim</span><span class="p">:</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">)</span>
+            <span class="p">)</span>
+            <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">articulation_prims</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">if</span> <span class="n">articulation_prims</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="s2">&quot;physxArticulation:articulationEnabled&quot;</span><span class="p">)</span><span class="o">.</span><span class="n">Get</span><span class="p">():</span>
+                    <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;Found an articulation root when resolving &#39;</span><span class="si">{</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; in the rigid object&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot; collection. These are located at: &#39;</span><span class="si">{</span><span class="n">articulation_prims</span><span class="si">}</span><span class="s2">&#39; under &#39;</span><span class="si">{</span><span class="n">template_prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                        <span class="s2">&quot; Please disable the articulation root in the USD or from code by setting the parameter&quot;</span>
+                        <span class="s2">&quot; &#39;ArticulationRootPropertiesCfg.articulation_enabled&#39; to False in the spawn configuration.&quot;</span>
+                    <span class="p">)</span>
+
+            <span class="c1"># resolve root prim back into regex expression</span>
+            <span class="n">root_prim_path</span> <span class="o">=</span> <span class="n">root_prims</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+            <span class="n">root_prim_path_expr</span> <span class="o">=</span> <span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">+</span> <span class="n">root_prim_path</span><span class="p">[</span><span class="nb">len</span><span class="p">(</span><span class="n">template_prim_path</span><span class="p">)</span> <span class="p">:]</span>
+            <span class="n">root_prim_path_exprs</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">root_prim_path_expr</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;*&quot;</span><span class="p">))</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">_object_names_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">name</span><span class="p">)</span>
+
+        <span class="c1"># -- object view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_rigid_body_view</span><span class="p">(</span><span class="n">root_prim_path_exprs</span><span class="p">)</span>
+
+        <span class="c1"># check if the rigid body was created</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">_backend</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;Failed to create rigid body collection. Please check PhysX logs.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># log information about the rigid body</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of instances: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of distinct objects: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Object names: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">object_names</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="c1"># container for data access</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span> <span class="o">=</span> <span class="n">RigidObjectCollectionData</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># create buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_buffers</span><span class="p">()</span>
+        <span class="c1"># process configuration</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_process_cfg</span><span class="p">()</span>
+        <span class="c1"># update the rigid body data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="mf">0.0</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_create_buffers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create buffers for storing data.&quot;&quot;&quot;</span>
+        <span class="c1"># constants</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_ENV_INDICES</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_OBJ_INDICES</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># external forces and torques</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">has_external_wrench</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_external_torque_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_external_force_b</span><span class="p">)</span>
+
+        <span class="c1"># set information about rigid body into data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">object_names</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_names</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_mass</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_masses</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">())</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_inertia</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_inertias</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">())</span>
+
+    <span class="k">def</span> <span class="nf">_process_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Post processing of configuration parameters.&quot;&quot;&quot;</span>
+        <span class="c1"># default state</span>
+        <span class="c1"># -- object state</span>
+        <span class="n">default_object_states</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="k">for</span> <span class="n">rigid_object_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rigid_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">default_object_state</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="nb">tuple</span><span class="p">(</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">pos</span><span class="p">)</span>
+                <span class="o">+</span> <span class="nb">tuple</span><span class="p">(</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">rot</span><span class="p">)</span>
+                <span class="o">+</span> <span class="nb">tuple</span><span class="p">(</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">lin_vel</span><span class="p">)</span>
+                <span class="o">+</span> <span class="nb">tuple</span><span class="p">(</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">ang_vel</span><span class="p">)</span>
+            <span class="p">)</span>
+            <span class="n">default_object_state</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">default_object_state</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+                <span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+                <span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+            <span class="p">)</span>
+            <span class="n">default_object_states</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">default_object_state</span><span class="p">)</span>
+        <span class="c1"># concatenate the default state for each object</span>
+        <span class="n">default_object_states</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span><span class="n">default_object_states</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">default_object_state</span> <span class="o">=</span> <span class="n">default_object_states</span>
+
+<div class="viewcode-block" id="RigidObjectCollection.reshape_view_to_data"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.reshape_view_to_data">[docs]</a>    <span class="k">def</span> <span class="nf">reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reshapes and arranges the data coming from the :attr:`root_physx_view` to (num_instances, num_objects, data_size).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            data: The data coming from the :attr:`root_physx_view`. Shape is (num_instances*num_objects, data_size).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The reshaped data. Shape is (num_instances, num_objects, data_size).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">einsum</span><span class="p">(</span><span class="s2">&quot;ijk -&gt; jik&quot;</span><span class="p">,</span> <span class="n">data</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">))</span></div>
+
+<div class="viewcode-block" id="RigidObjectCollection.reshape_data_to_view"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.reshape_data_to_view">[docs]</a>    <span class="k">def</span> <span class="nf">reshape_data_to_view</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reshapes and arranges the data to the be consistent with data from the :attr:`root_physx_view`.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            data: The data to be reshaped. Shape is (num_instances, num_objects, data_size).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The reshaped data. Shape is (num_instances*num_objects, data_size).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">einsum</span><span class="p">(</span><span class="s2">&quot;ijk -&gt; jik&quot;</span><span class="p">,</span> <span class="n">data</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="o">*</span><span class="n">data</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">2</span><span class="p">:])</span></div>
+
+    <span class="k">def</span> <span class="nf">_env_obj_ids_to_view_ids</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">object_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Converts environment and object indices to indices consistent with data from :attr:`root_physx_view`.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: Environment indices.</span>
+<span class="sd">            object_ids: Object indices.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The view indices.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># the order is env_0/object_0, env_0/object_1, env_0/object_..., env_1/object_0, env_1/object_1, ...</span>
+        <span class="c1"># return a flat tensor of indices</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">object_ids</span><span class="p">,</span> <span class="nb">slice</span><span class="p">):</span>
+            <span class="n">object_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_OBJ_INDICES</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">object_ids</span><span class="p">,</span> <span class="n">Sequence</span><span class="p">):</span>
+            <span class="n">object_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">object_ids</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="k">return</span> <span class="p">(</span><span class="n">object_ids</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span> <span class="o">+</span> <span class="n">env_ids</span><span class="p">)</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="c1"># call parent</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="c1"># set all existing views to None to invalidate them</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span> <span class="o">=</span> <span class="kc">None</span></div>
+</pre></div>
+
+                </article>
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new file mode 100644
index 0000000000..50beba19a7
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_cfg.html
@@ -0,0 +1,617 @@
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+  <h1>Source code for omni.isaac.lab.assets.rigid_object_collection.rigid_object_collection_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.assets.rigid_object</span> <span class="kn">import</span> <span class="n">RigidObjectCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.rigid_object_collection</span> <span class="kn">import</span> <span class="n">RigidObjectCollection</span>
+
+
+<div class="viewcode-block" id="RigidObjectCollectionCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RigidObjectCollectionCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a rigid object collection.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">RigidObjectCollection</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The associated asset class.</span>
+
+<span class="sd">    The class should inherit from :class:`omni.isaac.lab.assets.asset_base.AssetBase`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">rigid_objects</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">RigidObjectCfg</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Dictionary of rigid object configurations to spawn.</span>
+
+<span class="sd">    The keys are the names for the objects, which are used as unique identifiers throughout the code.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html b/v1.4.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html
new file mode 100644
index 0000000000..0c30344544
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html
@@ -0,0 +1,1058 @@
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+  <h1>Source code for omni.isaac.lab.assets.rigid_object_collection.rigid_object_collection_data</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.buffers</span> <span class="kn">import</span> <span class="n">TimestampedBuffer</span>
+
+
+<div class="viewcode-block" id="RigidObjectCollectionData"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData">[docs]</a><span class="k">class</span> <span class="nc">RigidObjectCollectionData</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Data container for a rigid object collection.</span>
+
+<span class="sd">    This class contains the data for a rigid object collection in the simulation. The data includes the state of</span>
+<span class="sd">    all the bodies in the collection. The data is stored in the simulation world frame unless otherwise specified.</span>
+<span class="sd">    The data is in the order ``(num_instances, num_objects, data_size)``, where data_size is the size of the data.</span>
+
+<span class="sd">    For a rigid body, there are two frames of reference that are used:</span>
+
+<span class="sd">    - Actor frame: The frame of reference of the rigid body prim. This typically corresponds to the Xform prim</span>
+<span class="sd">      with the rigid body schema.</span>
+<span class="sd">    - Center of mass frame: The frame of reference of the center of mass of the rigid body.</span>
+
+<span class="sd">    Depending on the settings of the simulation, the actor frame and the center of mass frame may be the same.</span>
+<span class="sd">    This needs to be taken into account when interpreting the data.</span>
+
+<span class="sd">    The data is lazily updated, meaning that the data is only updated when it is accessed. This is useful</span>
+<span class="sd">    when the data is expensive to compute or retrieve. The data is updated when the timestamp of the buffer</span>
+<span class="sd">    is older than the current simulation timestamp. The timestamp is updated whenever the data is updated.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">root_physx_view</span><span class="p">:</span> <span class="n">physx</span><span class="o">.</span><span class="n">RigidBodyView</span><span class="p">,</span> <span class="n">num_objects</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            root_physx_view: The root rigid body view.</span>
+<span class="sd">            num_objects: The number of objects in the collection.</span>
+<span class="sd">            device: The device used for processing.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># Set the parameters</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">device</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span> <span class="o">=</span> <span class="n">num_objects</span>
+        <span class="c1"># Set the root rigid body view</span>
+        <span class="c1"># note: this is stored as a weak reference to avoid circular references between the asset class</span>
+        <span class="c1">#  and the data container. This is important to avoid memory leaks.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="p">:</span> <span class="n">physx</span><span class="o">.</span><span class="n">RigidBodyView</span> <span class="o">=</span> <span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="n">root_physx_view</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">count</span> <span class="o">//</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span>
+
+        <span class="c1"># Set initial time stamp</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span> <span class="o">=</span> <span class="mf">0.0</span>
+
+        <span class="c1"># Obtain global physics sim view</span>
+        <span class="n">physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="s2">&quot;torch&quot;</span><span class="p">)</span>
+        <span class="n">physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="n">gravity</span> <span class="o">=</span> <span class="n">physics_sim_view</span><span class="o">.</span><span class="n">get_gravity</span><span class="p">()</span>
+        <span class="c1"># Convert to direction vector</span>
+        <span class="n">gravity_dir</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">((</span><span class="n">gravity</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">gravity</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">gravity</span><span class="p">[</span><span class="mi">2</span><span class="p">]),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="n">gravity_dir</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">normalize</span><span class="p">(</span><span class="n">gravity_dir</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">))</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+
+        <span class="c1"># Initialize constants</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">GRAVITY_VEC_W</span> <span class="o">=</span> <span class="n">gravity_dir</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">FORWARD_VEC_B</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">((</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span><span class="p">,</span> <span class="mi">1</span>
+        <span class="p">)</span>
+
+        <span class="c1"># Initialize the lazy buffers.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_object_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_object_link_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_object_com_state_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_object_acc_w</span> <span class="o">=</span> <span class="n">TimestampedBuffer</span><span class="p">()</span>
+
+        <span class="c1"># deprecation warning check</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ignore_dep_warn</span> <span class="o">=</span> <span class="kc">False</span>
+
+<div class="viewcode-block" id="RigidObjectCollectionData.update"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.update">[docs]</a>    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Updates the data for the rigid object collection.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            dt: The time step for the update. This must be a positive value.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># update the simulation timestamp</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span> <span class="o">+=</span> <span class="n">dt</span></div>
+
+    <span class="c1">##</span>
+    <span class="c1"># Names.</span>
+    <span class="c1">##</span>
+
+    <span class="n">object_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Object names in the order parsed by the simulation view.&quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Defaults.</span>
+    <span class="c1">##</span>
+
+    <span class="n">default_object_state</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default object state ``[pos, quat, lin_vel, ang_vel]`` in local environment frame. Shape is (num_instances, num_objects, 13).</span>
+
+<span class="sd">    The position and quaternion are of each object&#39;s rigid body&#39;s actor frame. Meanwhile, the linear and angular velocities are</span>
+<span class="sd">    of the center of mass frame.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">default_mass</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default object mass read from the simulation. Shape is (num_instances, num_objects, 1).&quot;&quot;&quot;</span>
+
+    <span class="n">default_inertia</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default object inertia tensor read from the simulation. Shape is (num_instances, num_objects, 9).</span>
+
+<span class="sd">    The inertia is the inertia tensor relative to the center of mass frame. The values are stored in</span>
+<span class="sd">    the order :math:`[I_{xx}, I_{xy}, I_{xz}, I_{yx}, I_{yy}, I_{yz}, I_{zx}, I_{zy}, I_{zz}]`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Properties.</span>
+    <span class="c1">##</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. Shape is (num_instances, num_objects, 13).</span>
+
+<span class="sd">        The position and orientation are of the rigid body&#39;s actor frame. Meanwhile, the linear and angular</span>
+<span class="sd">        velocities are of the rigid body&#39;s center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ignore_dep_warn</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DeprecationWarning: object_state_w and it&#39;s derived properties will be deprecated in a future release.&quot;</span>
+                <span class="s2">&quot; Please use object_link_state_w or object_com_state_w.&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_root_state_dep_warn</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">())</span>
+            <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">())</span>
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_object_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pose</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_object_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_link_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object center of mass state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. Shape is (num_instances, num_objects, 13).</span>
+
+<span class="sd">        The position, quaternion, and linear/angular velocity are of the rigid body root frame relative to the</span>
+<span class="sd">        world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">())</span>
+            <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">())</span>
+
+            <span class="c1"># adjust linear velocity to link from center of mass</span>
+            <span class="n">velocity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span>
+                <span class="n">velocity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:]),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span>
+            <span class="p">)</span>
+
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_object_link_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pose</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_object_link_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_link_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_com_state_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. Shape is (num_instances, num_objects, 13).</span>
+
+<span class="sd">        The position, quaternion, and linear/angular velocity are of the rigid body&#39;s center of mass frame</span>
+<span class="sd">        relative to the world. Center of mass frame is the orientation principle axes of inertia.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">())</span>
+            <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">())</span>
+
+            <span class="c1"># adjust pose to center of mass</span>
+            <span class="n">pos</span><span class="p">,</span> <span class="n">quat</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">combine_frame_transforms</span><span class="p">(</span>
+                <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">com_pos_b</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:],</span> <span class="bp">self</span><span class="o">.</span><span class="n">com_quat_b</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:]</span>
+            <span class="p">)</span>
+
+            <span class="c1"># set the buffer data and timestamp</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_object_com_state_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">pos</span><span class="p">,</span> <span class="n">quat</span><span class="p">,</span> <span class="n">velocity</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_object_com_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_com_state_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_acc_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Acceleration of all objects. Shape is (num_instances, num_objects, 6).</span>
+
+<span class="sd">        This quantity is the acceleration of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_acc_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># note: we use finite differencing to compute acceleration</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_object_acc_w</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_accelerations</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">())</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_object_acc_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_acc_w</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">projected_gravity_b</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Projection of the gravity direction on base frame. Shape is (num_instances, num_objects, 3).&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">GRAVITY_VEC_W</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">heading_w</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Yaw heading of the base frame (in radians). Shape is (num_instances, num_objects,).</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This quantity is computed by assuming that the forward-direction of the base</span>
+<span class="sd">            frame is along x-direction, i.e. :math:`(1, 0, 0)`.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">forward_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_apply</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">FORWARD_VEC_B</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">atan2</span><span class="p">(</span><span class="n">forward_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="n">forward_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Derived properties.</span>
+    <span class="c1">##</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object position in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the position of the actor frame of the rigid bodies.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, num_objects, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the actor frame of the rigid bodies.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object velocity in simulation world frame. Shape is (num_instances, num_objects, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object linear velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object angular velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_lin_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object linear velocity in base frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the rigid bodies&#39; center of mass frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_lin_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_ang_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object angular velocity in base world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the rigid bodies&#39; center of mass frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_ang_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_lin_acc_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Linear acceleration of all bodies in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the linear acceleration of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_acc_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_ang_acc_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Angular acceleration of all bodies in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the angular acceleration of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_acc_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_link_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object link position in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the position of the actor frame of the rigid bodies.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">())</span>
+            <span class="k">return</span> <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_link_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object link orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, num_objects, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the actor frame of the rigid bodies.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">())</span>
+            <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="k">return</span> <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_link_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object link velocity in simulation world frame. Shape is (num_instances, num_objects, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the rigid bodies&#39; actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_link_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object link linear velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the rigid bodies&#39; actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_link_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object link angular velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the rigid bodies&#39; actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_link_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_link_lin_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object link linear velocity in base frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the actor frame of the root rigid body frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_link_lin_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_link_ang_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object link angular velocity in base world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the actor frame of the root rigid body frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_link_ang_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_com_pos_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object center of mass position in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the position of the center of mass frame of the rigid bodies.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_com_quat_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object center of mass orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, num_objects, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the center of mass frame of the rigid bodies.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_com_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object center of mass velocity in simulation world frame. Shape is (num_instances, num_objects, 6).</span>
+
+<span class="sd">        This quantity contains the linear and angular velocities of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">())</span>
+            <span class="k">return</span> <span class="n">velocity</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_com_lin_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object center of mass linear velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">())</span>
+            <span class="k">return</span> <span class="n">velocity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">10</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_com_ang_vel_w</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object center of mass angular velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the rigid bodies&#39; center of mass frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_object_state_w</span><span class="o">.</span><span class="n">timestamp</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_timestamp</span><span class="p">:</span>
+            <span class="c1"># read data from simulation</span>
+            <span class="n">velocity</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">())</span>
+            <span class="k">return</span> <span class="n">velocity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_com_state_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">10</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_com_lin_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object center of mass linear velocity in base frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the linear velocity of the center of mass frame of the root rigid body frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_com_lin_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">object_com_ang_vel_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Object center of mass angular velocity in base world frame. Shape is (num_instances, num_objects, 3).</span>
+
+<span class="sd">        This quantity is the angular velocity of the center of mass frame of the root rigid body frame with respect to the</span>
+<span class="sd">        rigid body&#39;s actor frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_link_quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_com_ang_vel_w</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">com_pos_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Center of mass of all of the bodies in simulation world frame. Shape is (num_instances, 1, 3).</span>
+
+<span class="sd">        This quantity is the center of mass location relative to its body frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_coms</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="n">pos</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">com_quat_b</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Orientation (w,x,y,z) of the prinicple axies of inertia of all of the bodies in simulation world frame. Shape is (num_instances, 1, 4).</span>
+
+<span class="sd">        This quantity is the orientation of the principles axes of inertia relative to its body frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">quat</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_root_physx_view</span><span class="o">.</span><span class="n">get_coms</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+        <span class="n">quat_wxyz</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reshape_view_to_data</span><span class="p">(</span><span class="n">quat_wxyz</span><span class="p">)</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Helpers.</span>
+    <span class="c1">##</span>
+
+    <span class="k">def</span> <span class="nf">_reshape_view_to_data</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reshapes and arranges the data from the physics view to (num_instances, num_objects, data_size).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            data: The data from the physics view. Shape is (num_instances*num_objects, data_size).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The reshaped data. Shape is (num_objects, num_instances, data_size).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">einsum</span><span class="p">(</span><span class="s2">&quot;ijk -&gt; jik&quot;</span><span class="p">,</span> <span class="n">data</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_objects</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">))</span></div>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.controllers.differential_ik</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="n">apply_delta_pose</span><span class="p">,</span> <span class="n">compute_pose_error</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.differential_ik_cfg</span> <span class="kn">import</span> <span class="n">DifferentialIKControllerCfg</span>
+
+
+<div class="viewcode-block" id="DifferentialIKController"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController">[docs]</a><span class="k">class</span> <span class="nc">DifferentialIKController</span><span class="p">:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Differential inverse kinematics (IK) controller.</span>
+
+<span class="sd">    This controller is based on the concept of differential inverse kinematics [1, 2] which is a method for computing</span>
+<span class="sd">    the change in joint positions that yields the desired change in pose.</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        \Delta \mathbf{q} &amp;= \mathbf{J}^{\dagger} \Delta \mathbf{x} \\</span>
+<span class="sd">        \mathbf{q}_{\text{desired}} &amp;= \mathbf{q}_{\text{current}} + \Delta \mathbf{q}</span>
+
+<span class="sd">    where :math:`\mathbf{J}^{\dagger}` is the pseudo-inverse of the Jacobian matrix :math:`\mathbf{J}`,</span>
+<span class="sd">    :math:`\Delta \mathbf{x}` is the desired change in pose, and :math:`\mathbf{q}_{\text{current}}`</span>
+<span class="sd">    is the current joint positions.</span>
+
+<span class="sd">    To deal with singularity in Jacobian, the following methods are supported for computing inverse of the Jacobian:</span>
+
+<span class="sd">    - &quot;pinv&quot;: Moore-Penrose pseudo-inverse</span>
+<span class="sd">    - &quot;svd&quot;: Adaptive singular-value decomposition (SVD)</span>
+<span class="sd">    - &quot;trans&quot;: Transpose of matrix</span>
+<span class="sd">    - &quot;dls&quot;: Damped version of Moore-Penrose pseudo-inverse (also called Levenberg-Marquardt)</span>
+
+
+<span class="sd">    .. caution::</span>
+<span class="sd">        The controller does not assume anything about the frames of the current and desired end-effector pose,</span>
+<span class="sd">        or the joint-space velocities. It is up to the user to ensure that these quantities are given</span>
+<span class="sd">        in the correct format.</span>
+
+<span class="sd">    Reference:</span>
+
+<span class="sd">    1. `Robot Dynamics Lecture Notes &lt;https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf&gt;`_</span>
+<span class="sd">       by Marco Hutter (ETH Zurich)</span>
+<span class="sd">    2. `Introduction to Inverse Kinematics &lt;https://www.cs.cmu.edu/~15464-s13/lectures/lecture6/iksurvey.pdf&gt;`_</span>
+<span class="sd">       by Samuel R. Buss (University of California, San Diego)</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DifferentialIKController.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">DifferentialIKControllerCfg</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the controller.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration for the controller.</span>
+<span class="sd">            num_envs: The number of environments.</span>
+<span class="sd">            device: The device to use for computations.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="n">num_envs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_device</span> <span class="o">=</span> <span class="n">device</span>
+        <span class="c1"># create buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ee_pos_des</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ee_quat_des</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">4</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># -- input command</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_command</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_dim</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">action_dim</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Dimension of the controller&#39;s input command.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">command_type</span> <span class="o">==</span> <span class="s2">&quot;position&quot;</span><span class="p">:</span>
+            <span class="k">return</span> <span class="mi">3</span>  <span class="c1"># (x, y, z)</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">command_type</span> <span class="o">==</span> <span class="s2">&quot;pose&quot;</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">use_relative_mode</span><span class="p">:</span>
+            <span class="k">return</span> <span class="mi">6</span>  <span class="c1"># (dx, dy, dz, droll, dpitch, dyaw)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">return</span> <span class="mi">7</span>  <span class="c1"># (x, y, z, qw, qx, qy, qz)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DifferentialIKController.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the internals.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment indices to reset. If None, then all environments are reset.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">pass</span></div>
+
+<div class="viewcode-block" id="DifferentialIKController.set_command"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.set_command">[docs]</a>    <span class="k">def</span> <span class="nf">set_command</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">command</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">ee_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">ee_quat</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set target end-effector pose command.</span>
+
+<span class="sd">        Based on the configured command type and relative mode, the method computes the desired end-effector pose.</span>
+<span class="sd">        It is up to the user to ensure that the command is given in the correct frame. The method only</span>
+<span class="sd">        applies the relative mode if the command type is ``position_rel`` or ``pose_rel``.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            command: The input command in shape (N, 3) or (N, 6) or (N, 7).</span>
+<span class="sd">            ee_pos: The current end-effector position in shape (N, 3).</span>
+<span class="sd">                This is only needed if the command type is ``position_rel`` or ``pose_rel``.</span>
+<span class="sd">            ee_quat: The current end-effector orientation (w, x, y, z) in shape (N, 4).</span>
+<span class="sd">                This is only needed if the command type is ``position_*`` or ``pose_rel``.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the command type is ``position_*`` and :attr:`ee_quat` is None.</span>
+<span class="sd">            ValueError: If the command type is ``position_rel`` and :attr:`ee_pos` is None.</span>
+<span class="sd">            ValueError: If the command type is ``pose_rel`` and either :attr:`ee_pos` or :attr:`ee_quat` is None.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store command</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_command</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">command</span>
+        <span class="c1"># compute the desired end-effector pose</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">command_type</span> <span class="o">==</span> <span class="s2">&quot;position&quot;</span><span class="p">:</span>
+            <span class="c1"># we need end-effector orientation even though we are in position mode</span>
+            <span class="c1"># this is only needed for display purposes</span>
+            <span class="k">if</span> <span class="n">ee_quat</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;End-effector orientation can not be None for `position_*` command type!&quot;</span><span class="p">)</span>
+            <span class="c1"># compute targets</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">use_relative_mode</span><span class="p">:</span>
+                <span class="k">if</span> <span class="n">ee_pos</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;End-effector position can not be None for `position_rel` command type!&quot;</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ee_pos_des</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">ee_pos</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">_command</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ee_quat_des</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">ee_quat</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ee_pos_des</span><span class="p">[:]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_command</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ee_quat_des</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">ee_quat</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># compute targets</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">use_relative_mode</span><span class="p">:</span>
+                <span class="k">if</span> <span class="n">ee_pos</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">ee_quat</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="s2">&quot;Neither end-effector position nor orientation can be None for `pose_rel` command type!&quot;</span>
+                    <span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ee_pos_des</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">ee_quat_des</span> <span class="o">=</span> <span class="n">apply_delta_pose</span><span class="p">(</span><span class="n">ee_pos</span><span class="p">,</span> <span class="n">ee_quat</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_command</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ee_pos_des</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_command</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ee_quat_des</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_command</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span></div>
+
+<div class="viewcode-block" id="DifferentialIKController.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">ee_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">ee_quat</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">jacobian</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Computes the target joint positions that will yield the desired end effector pose.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            ee_pos: The current end-effector position in shape (N, 3).</span>
+<span class="sd">            ee_quat: The current end-effector orientation in shape (N, 4).</span>
+<span class="sd">            jacobian: The geometric jacobian matrix in shape (N, 6, num_joints).</span>
+<span class="sd">            joint_pos: The current joint positions in shape (N, num_joints).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The target joint positions commands in shape (N, num_joints).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># compute the delta in joint-space</span>
+        <span class="k">if</span> <span class="s2">&quot;position&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">command_type</span><span class="p">:</span>
+            <span class="n">position_error</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">ee_pos_des</span> <span class="o">-</span> <span class="n">ee_pos</span>
+            <span class="n">jacobian_pos</span> <span class="o">=</span> <span class="n">jacobian</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+            <span class="n">delta_joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_compute_delta_joint_pos</span><span class="p">(</span><span class="n">delta_pose</span><span class="o">=</span><span class="n">position_error</span><span class="p">,</span> <span class="n">jacobian</span><span class="o">=</span><span class="n">jacobian_pos</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">position_error</span><span class="p">,</span> <span class="n">axis_angle_error</span> <span class="o">=</span> <span class="n">compute_pose_error</span><span class="p">(</span>
+                <span class="n">ee_pos</span><span class="p">,</span> <span class="n">ee_quat</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">ee_pos_des</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">ee_quat_des</span><span class="p">,</span> <span class="n">rot_error_type</span><span class="o">=</span><span class="s2">&quot;axis_angle&quot;</span>
+            <span class="p">)</span>
+            <span class="n">pose_error</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">position_error</span><span class="p">,</span> <span class="n">axis_angle_error</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+            <span class="n">delta_joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_compute_delta_joint_pos</span><span class="p">(</span><span class="n">delta_pose</span><span class="o">=</span><span class="n">pose_error</span><span class="p">,</span> <span class="n">jacobian</span><span class="o">=</span><span class="n">jacobian</span><span class="p">)</span>
+        <span class="c1"># return the desired joint positions</span>
+        <span class="k">return</span> <span class="n">joint_pos</span> <span class="o">+</span> <span class="n">delta_joint_pos</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_compute_delta_joint_pos</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">delta_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">jacobian</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Computes the change in joint position that yields the desired change in pose.</span>
+
+<span class="sd">        The method uses the Jacobian mapping from joint-space velocities to end-effector velocities</span>
+<span class="sd">        to compute the delta-change in the joint-space that moves the robot closer to a desired</span>
+<span class="sd">        end-effector position.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            delta_pose: The desired delta pose in shape (N, 3) or (N, 6).</span>
+<span class="sd">            jacobian: The geometric jacobian matrix in shape (N, 3, num_joints) or (N, 6, num_joints).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The desired delta in joint space. Shape is (N, num-jointsß).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_params</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Inverse-kinematics parameters for method &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_method</span><span class="si">}</span><span class="s2">&#39; is not defined!&quot;</span><span class="p">)</span>
+        <span class="c1"># compute the delta in joint-space</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_method</span> <span class="o">==</span> <span class="s2">&quot;pinv&quot;</span><span class="p">:</span>  <span class="c1"># Jacobian pseudo-inverse</span>
+            <span class="c1"># parameters</span>
+            <span class="n">k_val</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_params</span><span class="p">[</span><span class="s2">&quot;k_val&quot;</span><span class="p">]</span>
+            <span class="c1"># computation</span>
+            <span class="n">jacobian_pinv</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">pinv</span><span class="p">(</span><span class="n">jacobian</span><span class="p">)</span>
+            <span class="n">delta_joint_pos</span> <span class="o">=</span> <span class="n">k_val</span> <span class="o">*</span> <span class="n">jacobian_pinv</span> <span class="o">@</span> <span class="n">delta_pose</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="n">delta_joint_pos</span> <span class="o">=</span> <span class="n">delta_joint_pos</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_method</span> <span class="o">==</span> <span class="s2">&quot;svd&quot;</span><span class="p">:</span>  <span class="c1"># adaptive SVD</span>
+            <span class="c1"># parameters</span>
+            <span class="n">k_val</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_params</span><span class="p">[</span><span class="s2">&quot;k_val&quot;</span><span class="p">]</span>
+            <span class="n">min_singular_value</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_params</span><span class="p">[</span><span class="s2">&quot;min_singular_value&quot;</span><span class="p">]</span>
+            <span class="c1"># computation</span>
+            <span class="c1"># U: 6xd, S: dxd, V: d x num-joint</span>
+            <span class="n">U</span><span class="p">,</span> <span class="n">S</span><span class="p">,</span> <span class="n">Vh</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">svd</span><span class="p">(</span><span class="n">jacobian</span><span class="p">)</span>
+            <span class="n">S_inv</span> <span class="o">=</span> <span class="mf">1.0</span> <span class="o">/</span> <span class="n">S</span>
+            <span class="n">S_inv</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">S</span> <span class="o">&gt;</span> <span class="n">min_singular_value</span><span class="p">,</span> <span class="n">S_inv</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">S_inv</span><span class="p">))</span>
+            <span class="n">jacobian_pinv</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="n">torch</span><span class="o">.</span><span class="n">transpose</span><span class="p">(</span><span class="n">Vh</span><span class="p">,</span> <span class="n">dim0</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">dim1</span><span class="o">=</span><span class="mi">2</span><span class="p">)[:,</span> <span class="p">:,</span> <span class="p">:</span><span class="mi">6</span><span class="p">]</span>
+                <span class="o">@</span> <span class="n">torch</span><span class="o">.</span><span class="n">diag_embed</span><span class="p">(</span><span class="n">S_inv</span><span class="p">)</span>
+                <span class="o">@</span> <span class="n">torch</span><span class="o">.</span><span class="n">transpose</span><span class="p">(</span><span class="n">U</span><span class="p">,</span> <span class="n">dim0</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">dim1</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
+            <span class="p">)</span>
+            <span class="n">delta_joint_pos</span> <span class="o">=</span> <span class="n">k_val</span> <span class="o">*</span> <span class="n">jacobian_pinv</span> <span class="o">@</span> <span class="n">delta_pose</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="n">delta_joint_pos</span> <span class="o">=</span> <span class="n">delta_joint_pos</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_method</span> <span class="o">==</span> <span class="s2">&quot;trans&quot;</span><span class="p">:</span>  <span class="c1"># Jacobian transpose</span>
+            <span class="c1"># parameters</span>
+            <span class="n">k_val</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_params</span><span class="p">[</span><span class="s2">&quot;k_val&quot;</span><span class="p">]</span>
+            <span class="c1"># computation</span>
+            <span class="n">jacobian_T</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">transpose</span><span class="p">(</span><span class="n">jacobian</span><span class="p">,</span> <span class="n">dim0</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">dim1</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
+            <span class="n">delta_joint_pos</span> <span class="o">=</span> <span class="n">k_val</span> <span class="o">*</span> <span class="n">jacobian_T</span> <span class="o">@</span> <span class="n">delta_pose</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="n">delta_joint_pos</span> <span class="o">=</span> <span class="n">delta_joint_pos</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_method</span> <span class="o">==</span> <span class="s2">&quot;dls&quot;</span><span class="p">:</span>  <span class="c1"># damped least squares</span>
+            <span class="c1"># parameters</span>
+            <span class="n">lambda_val</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_params</span><span class="p">[</span><span class="s2">&quot;lambda_val&quot;</span><span class="p">]</span>
+            <span class="c1"># computation</span>
+            <span class="n">jacobian_T</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">transpose</span><span class="p">(</span><span class="n">jacobian</span><span class="p">,</span> <span class="n">dim0</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">dim1</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
+            <span class="n">lambda_matrix</span> <span class="o">=</span> <span class="p">(</span><span class="n">lambda_val</span><span class="o">**</span><span class="mi">2</span><span class="p">)</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">eye</span><span class="p">(</span><span class="n">n</span><span class="o">=</span><span class="n">jacobian</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="n">delta_joint_pos</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="n">jacobian_T</span> <span class="o">@</span> <span class="n">torch</span><span class="o">.</span><span class="n">inverse</span><span class="p">(</span><span class="n">jacobian</span> <span class="o">@</span> <span class="n">jacobian_T</span> <span class="o">+</span> <span class="n">lambda_matrix</span><span class="p">)</span> <span class="o">@</span> <span class="n">delta_pose</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="p">)</span>
+            <span class="n">delta_joint_pos</span> <span class="o">=</span> <span class="n">delta_joint_pos</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unsupported inverse-kinematics method: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ik_method</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="k">return</span> <span class="n">delta_joint_pos</span></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.controllers.differential_ik_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.differential_ik</span> <span class="kn">import</span> <span class="n">DifferentialIKController</span>
+
+
+<div class="viewcode-block" id="DifferentialIKControllerCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKControllerCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DifferentialIKControllerCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for differential inverse kinematics controller.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">DifferentialIKController</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The associated controller class.&quot;&quot;&quot;</span>
+
+    <span class="n">command_type</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;position&quot;</span><span class="p">,</span> <span class="s2">&quot;pose&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Type of task-space command to control the articulation&#39;s body.</span>
+
+<span class="sd">    If &quot;position&quot;, then the controller only controls the position of the articulation&#39;s body.</span>
+<span class="sd">    Otherwise, the controller controls the pose of the articulation&#39;s body.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">use_relative_mode</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to use relative mode for the controller. Defaults to False.</span>
+
+<span class="sd">    If True, then the controller treats the input command as a delta change in the position/pose.</span>
+<span class="sd">    Otherwise, the controller treats the input command as the absolute position/pose.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">ik_method</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;pinv&quot;</span><span class="p">,</span> <span class="s2">&quot;svd&quot;</span><span class="p">,</span> <span class="s2">&quot;trans&quot;</span><span class="p">,</span> <span class="s2">&quot;dls&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Method for computing inverse of Jacobian.&quot;&quot;&quot;</span>
+
+    <span class="n">ik_params</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Parameters for the inverse-kinematics method. Defaults to None, in which case the default</span>
+<span class="sd">    parameters for the method are used.</span>
+
+<span class="sd">    - Moore-Penrose pseudo-inverse (&quot;pinv&quot;):</span>
+<span class="sd">        - &quot;k_val&quot;: Scaling of computed delta-joint positions (default: 1.0).</span>
+<span class="sd">    - Adaptive Singular Value Decomposition (&quot;svd&quot;):</span>
+<span class="sd">        - &quot;k_val&quot;: Scaling of computed delta-joint positions (default: 1.0).</span>
+<span class="sd">        - &quot;min_singular_value&quot;: Single values less than this are suppressed to zero (default: 1e-5).</span>
+<span class="sd">    - Jacobian transpose (&quot;trans&quot;):</span>
+<span class="sd">        - &quot;k_val&quot;: Scaling of computed delta-joint positions (default: 1.0).</span>
+<span class="sd">    - Damped Moore-Penrose pseudo-inverse (&quot;dls&quot;):</span>
+<span class="sd">        - &quot;lambda_val&quot;: Damping coefficient (default: 0.01).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># check valid input</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">command_type</span> <span class="ow">not</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;position&quot;</span><span class="p">,</span> <span class="s2">&quot;pose&quot;</span><span class="p">]:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unsupported inverse-kinematics command: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">command_type</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">ik_method</span> <span class="ow">not</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;pinv&quot;</span><span class="p">,</span> <span class="s2">&quot;svd&quot;</span><span class="p">,</span> <span class="s2">&quot;trans&quot;</span><span class="p">,</span> <span class="s2">&quot;dls&quot;</span><span class="p">]:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unsupported inverse-kinematics method: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">ik_method</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+        <span class="c1"># default parameters for different inverse kinematics approaches.</span>
+        <span class="n">default_ik_params</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="s2">&quot;pinv&quot;</span><span class="p">:</span> <span class="p">{</span><span class="s2">&quot;k_val&quot;</span><span class="p">:</span> <span class="mf">1.0</span><span class="p">},</span>
+            <span class="s2">&quot;svd&quot;</span><span class="p">:</span> <span class="p">{</span><span class="s2">&quot;k_val&quot;</span><span class="p">:</span> <span class="mf">1.0</span><span class="p">,</span> <span class="s2">&quot;min_singular_value&quot;</span><span class="p">:</span> <span class="mf">1e-5</span><span class="p">},</span>
+            <span class="s2">&quot;trans&quot;</span><span class="p">:</span> <span class="p">{</span><span class="s2">&quot;k_val&quot;</span><span class="p">:</span> <span class="mf">1.0</span><span class="p">},</span>
+            <span class="s2">&quot;dls&quot;</span><span class="p">:</span> <span class="p">{</span><span class="s2">&quot;lambda_val&quot;</span><span class="p">:</span> <span class="mf">0.01</span><span class="p">},</span>
+        <span class="p">}</span>
+        <span class="c1"># update parameters for IK-method if not provided</span>
+        <span class="n">ik_params</span> <span class="o">=</span> <span class="n">default_ik_params</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">ik_method</span><span class="p">]</span><span class="o">.</span><span class="n">copy</span><span class="p">()</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">ik_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">ik_params</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">ik_params</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ik_params</span> <span class="o">=</span> <span class="n">ik_params</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.controllers.operational_space</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="p">(</span>
+    <span class="n">apply_delta_pose</span><span class="p">,</span>
+    <span class="n">combine_frame_transforms</span><span class="p">,</span>
+    <span class="n">compute_pose_error</span><span class="p">,</span>
+    <span class="n">matrix_from_quat</span><span class="p">,</span>
+    <span class="n">subtract_frame_transforms</span><span class="p">,</span>
+<span class="p">)</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.operational_space_cfg</span> <span class="kn">import</span> <span class="n">OperationalSpaceControllerCfg</span>
+
+
+<div class="viewcode-block" id="OperationalSpaceController"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController">[docs]</a><span class="k">class</span> <span class="nc">OperationalSpaceController</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Operational-space controller.</span>
+
+<span class="sd">    Reference:</span>
+
+<span class="sd">    1. `A unified approach for motion and force control of robot manipulators: The operational space formulation &lt;http://dx.doi.org/10.1109/JRA.1987.1087068&gt;`_</span>
+<span class="sd">       by Oussama Khatib (Stanford University)</span>
+<span class="sd">    2. `Robot Dynamics Lecture Notes &lt;https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf&gt;`_</span>
+<span class="sd">       by Marco Hutter (ETH Zurich)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="OperationalSpaceController.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">OperationalSpaceControllerCfg</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize operational-space controller.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration for operational-space controller.</span>
+<span class="sd">            num_envs: The number of environments.</span>
+<span class="sd">            device: The device to use for computations.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: When invalid control command is provided.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="n">num_envs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_device</span> <span class="o">=</span> <span class="n">device</span>
+
+        <span class="c1"># resolve tasks-pace target dimensions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">target_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">command_type</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">target_types</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">command_type</span> <span class="o">==</span> <span class="s2">&quot;pose_rel&quot;</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">target_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="mi">6</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="n">command_type</span> <span class="o">==</span> <span class="s2">&quot;pose_abs&quot;</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">target_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="mi">7</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="n">command_type</span> <span class="o">==</span> <span class="s2">&quot;wrench_abs&quot;</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">target_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="mi">6</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid control command: </span><span class="si">{</span><span class="n">command_type</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">target_dim</span> <span class="o">=</span> <span class="nb">sum</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">target_list</span><span class="p">)</span>
+
+        <span class="c1"># create buffers</span>
+        <span class="c1"># -- selection matrices, which might be defined in the task reference frame different from the root frame</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_task</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">diag_embed</span><span class="p">(</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">motion_control_axes_task</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+            <span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_force_task</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">diag_embed</span><span class="p">(</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">contact_wrench_control_axes_task</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+            <span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="c1"># -- selection matrices in root frame</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_task</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_force_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_force_task</span><span class="p">)</span>
+        <span class="c1"># -- commands</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_task_space_target_task</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">target_dim</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># -- Placeholders for motion/force control</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_task</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_b</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_task</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># -- buffer for operational space mass matrix</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_os_mass_matrix_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">6</span><span class="p">,</span> <span class="mi">6</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># -- Placeholder for the inverse of joint space mass matrix</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_mass_matrix_inv</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># -- motion control gains</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">diag_embed</span><span class="p">(</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">ones</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">6</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">motion_stiffness_task</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="c1"># -- -- zero out the axes that are not motion controlled, as keeping them non-zero will cause other axes</span>
+        <span class="c1"># -- -- to act due to coupling</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">[:]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_task</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">[:]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_d_gains_task</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">diag_embed</span><span class="p">(</span>
+            <span class="mi">2</span>
+            <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">diagonal</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">,</span> <span class="n">dim1</span><span class="o">=-</span><span class="mi">2</span><span class="p">,</span> <span class="n">dim2</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">sqrt</span><span class="p">()</span>
+            <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">as_tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">motion_damping_ratio_task</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="c1"># -- -- motion control gains in root frame</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_d_gains_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_d_gains_task</span><span class="p">)</span>
+        <span class="c1"># -- force control gains</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">contact_wrench_stiffness_task</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_task</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">diag_embed</span><span class="p">(</span>
+                <span class="n">torch</span><span class="o">.</span><span class="n">ones</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">6</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+                <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">contact_wrench_stiffness_task</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_task</span><span class="p">[:]</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_force_task</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_task</span><span class="p">[:]</span>
+            <span class="p">)</span>
+            <span class="c1"># -- -- force control gains in root frame</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_task</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_task</span> <span class="o">=</span> <span class="kc">None</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_b</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># -- position gain limits</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">6</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">motion_stiffness_limits_task</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">motion_stiffness_limits_task</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span>
+        <span class="p">)</span>
+        <span class="c1"># -- damping ratio limits</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_damping_ratio_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_limits</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_damping_ratio_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_damping_ratio_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">motion_damping_ratio_limits_task</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">motion_damping_ratio_limits_task</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span>
+        <span class="p">)</span>
+        <span class="c1"># -- end-effector contact wrench</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ee_contact_wrench_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">6</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+
+        <span class="c1"># -- buffers for null-space control gains</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_nullspace_p_gain</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">nullspace_stiffness</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_nullspace_d_gain</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="mi">2</span>
+            <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_nullspace_p_gain</span><span class="p">)</span>
+            <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">nullspace_damping_ratio</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">action_dim</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Dimension of the action space of controller.&quot;&quot;&quot;</span>
+        <span class="c1"># impedance mode</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">impedance_mode</span> <span class="o">==</span> <span class="s2">&quot;fixed&quot;</span><span class="p">:</span>
+            <span class="c1"># task-space targets</span>
+            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">target_dim</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">impedance_mode</span> <span class="o">==</span> <span class="s2">&quot;variable_kp&quot;</span><span class="p">:</span>
+            <span class="c1"># task-space targets + stiffness</span>
+            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">target_dim</span> <span class="o">+</span> <span class="mi">6</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">impedance_mode</span> <span class="o">==</span> <span class="s2">&quot;variable&quot;</span><span class="p">:</span>
+            <span class="c1"># task-space targets + stiffness + damping</span>
+            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">target_dim</span> <span class="o">+</span> <span class="mi">6</span> <span class="o">+</span> <span class="mi">6</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid impedance mode: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">impedance_mode</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="OperationalSpaceController.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the internals.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_b</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_task</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_task</span> <span class="o">=</span> <span class="kc">None</span></div>
+
+<div class="viewcode-block" id="OperationalSpaceController.set_command"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController.set_command">[docs]</a>    <span class="k">def</span> <span class="nf">set_command</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">command</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">current_ee_pose_b</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">current_task_frame_pose_b</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the task-space targets and impedance parameters.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            command (torch.Tensor): A concatenated tensor of shape (``num_envs``, ``action_dim``) containing task-space</span>
+<span class="sd">                targets (i.e., pose/wrench) and impedance parameters.</span>
+<span class="sd">            current_ee_pose_b (torch.Tensor, optional): Current end-effector pose, in root frame, of shape</span>
+<span class="sd">                (``num_envs``, 7), containing position and quaternion ``(w, x, y, z)``. Required for relative</span>
+<span class="sd">                commands. Defaults to None.</span>
+<span class="sd">            current_task_frame_pose_b: Current pose of the task frame, in root frame, in which the targets and the</span>
+<span class="sd">                (motion/wrench) control axes are defined. It is a tensor of shape (``num_envs``, 7),</span>
+<span class="sd">                containing position and the quaternion ``(w, x, y, z)``. Defaults to None.</span>
+
+<span class="sd">        Format:</span>
+<span class="sd">            Task-space targets, ordered according to &#39;command_types&#39;:</span>
+
+<span class="sd">                Absolute pose: shape (``num_envs``, 7), containing position and quaternion ``(w, x, y, z)``.</span>
+<span class="sd">                Relative pose: shape (``num_envs``, 6), containing delta position and rotation in axis-angle form.</span>
+<span class="sd">                Absolute wrench: shape (``num_envs``, 6), containing force and torque.</span>
+
+<span class="sd">            Impedance parameters: stiffness for ``variable_kp``, or stiffness, followed by damping ratio for</span>
+<span class="sd">            ``variable``:</span>
+
+<span class="sd">                Stiffness: shape (``num_envs``, 6)</span>
+<span class="sd">                Damping ratio: shape (``num_envs``, 6)</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: When the command dimensions are invalid.</span>
+<span class="sd">            ValueError: When an invalid impedance mode is provided.</span>
+<span class="sd">            ValueError: When the current end-effector pose is not provided for the ``pose_rel`` command.</span>
+<span class="sd">            ValueError: When an invalid control command is provided.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># Check the input dimensions</span>
+        <span class="k">if</span> <span class="n">command</span><span class="o">.</span><span class="n">shape</span> <span class="o">!=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_dim</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Invalid command shape &#39;</span><span class="si">{</span><span class="n">command</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">&#39;. Expected: &#39;</span><span class="si">{</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span><span class="w"> </span><span class="bp">self</span><span class="o">.</span><span class="n">action_dim</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># Resolve the impedance parameters</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">impedance_mode</span> <span class="o">==</span> <span class="s2">&quot;fixed&quot;</span><span class="p">:</span>
+            <span class="c1"># task space targets (i.e., pose/wrench)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_task_space_target_task</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">command</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">impedance_mode</span> <span class="o">==</span> <span class="s2">&quot;variable_kp&quot;</span><span class="p">:</span>
+            <span class="c1"># split input command</span>
+            <span class="n">task_space_command</span><span class="p">,</span> <span class="n">stiffness</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="n">command</span><span class="p">,</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">target_dim</span><span class="p">,</span> <span class="mi">6</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="c1"># format command</span>
+            <span class="n">stiffness</span> <span class="o">=</span> <span class="n">stiffness</span><span class="o">.</span><span class="n">clip_</span><span class="p">(</span>
+                <span class="nb">min</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="nb">max</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+            <span class="p">)</span>
+            <span class="c1"># task space targets + stiffness</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_task_space_target_task</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">task_space_command</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">diag_embed</span><span class="p">(</span><span class="n">stiffness</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">[:]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_task</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">[:]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_motion_d_gains_task</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">diag_embed</span><span class="p">(</span>
+                <span class="mi">2</span>
+                <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">diagonal</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">,</span> <span class="n">dim1</span><span class="o">=-</span><span class="mi">2</span><span class="p">,</span> <span class="n">dim2</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">sqrt</span><span class="p">()</span>
+                <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">as_tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">motion_damping_ratio_task</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span>
+                    <span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span>
+                <span class="p">)</span>
+            <span class="p">)</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">impedance_mode</span> <span class="o">==</span> <span class="s2">&quot;variable&quot;</span><span class="p">:</span>
+            <span class="c1"># split input command</span>
+            <span class="n">task_space_command</span><span class="p">,</span> <span class="n">stiffness</span><span class="p">,</span> <span class="n">damping_ratio</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="n">command</span><span class="p">,</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">target_dim</span><span class="p">,</span> <span class="mi">6</span><span class="p">,</span> <span class="mi">6</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="c1"># format command</span>
+            <span class="n">stiffness</span> <span class="o">=</span> <span class="n">stiffness</span><span class="o">.</span><span class="n">clip_</span><span class="p">(</span>
+                <span class="nb">min</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="nb">max</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+            <span class="p">)</span>
+            <span class="n">damping_ratio</span> <span class="o">=</span> <span class="n">damping_ratio</span><span class="o">.</span><span class="n">clip_</span><span class="p">(</span>
+                <span class="nb">min</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_damping_ratio_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="nb">max</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_damping_ratio_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+            <span class="p">)</span>
+            <span class="c1"># task space targets + stiffness + damping</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_task_space_target_task</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">task_space_command</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">diag_embed</span><span class="p">(</span><span class="n">stiffness</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">[:]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_task</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">[:]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_motion_d_gains_task</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">diag_embed</span><span class="p">(</span>
+                <span class="mi">2</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">diagonal</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">,</span> <span class="n">dim1</span><span class="o">=-</span><span class="mi">2</span><span class="p">,</span> <span class="n">dim2</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">sqrt</span><span class="p">()</span> <span class="o">*</span> <span class="n">damping_ratio</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid impedance mode: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">impedance_mode</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="n">current_task_frame_pose_b</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">current_task_frame_pose_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span>
+                <span class="p">[[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]]</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span>
+            <span class="p">)</span>
+
+        <span class="c1"># Resolve the target commands</span>
+        <span class="n">target_groups</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_task_space_target_task</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">target_list</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">command_type</span><span class="p">,</span> <span class="n">target</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">target_types</span><span class="p">,</span> <span class="n">target_groups</span><span class="p">):</span>
+            <span class="k">if</span> <span class="n">command_type</span> <span class="o">==</span> <span class="s2">&quot;pose_rel&quot;</span><span class="p">:</span>
+                <span class="c1"># check input is provided</span>
+                <span class="k">if</span> <span class="n">current_ee_pose_b</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Current pose is required for &#39;pose_rel&#39; command.&quot;</span><span class="p">)</span>
+                <span class="c1"># Transform the current pose from base/root frame to task frame</span>
+                <span class="n">current_ee_pos_task</span><span class="p">,</span> <span class="n">current_ee_rot_task</span> <span class="o">=</span> <span class="n">subtract_frame_transforms</span><span class="p">(</span>
+                    <span class="n">current_task_frame_pose_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span>
+                    <span class="n">current_task_frame_pose_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span>
+                    <span class="n">current_ee_pose_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span>
+                    <span class="n">current_ee_pose_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span>
+                <span class="p">)</span>
+                <span class="c1"># compute targets in task frame</span>
+                <span class="n">desired_ee_pos_task</span><span class="p">,</span> <span class="n">desired_ee_rot_task</span> <span class="o">=</span> <span class="n">apply_delta_pose</span><span class="p">(</span>
+                    <span class="n">current_ee_pos_task</span><span class="p">,</span> <span class="n">current_ee_rot_task</span><span class="p">,</span> <span class="n">target</span>
+                <span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_task</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">desired_ee_pos_task</span><span class="p">,</span> <span class="n">desired_ee_rot_task</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="n">command_type</span> <span class="o">==</span> <span class="s2">&quot;pose_abs&quot;</span><span class="p">:</span>
+                <span class="c1"># compute targets</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_task</span> <span class="o">=</span> <span class="n">target</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="k">elif</span> <span class="n">command_type</span> <span class="o">==</span> <span class="s2">&quot;wrench_abs&quot;</span><span class="p">:</span>
+                <span class="c1"># compute targets</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_task</span> <span class="o">=</span> <span class="n">target</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid control command: </span><span class="si">{</span><span class="n">command_type</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># Rotation of task frame wrt root frame, converts a coordinate from task frame to root frame.</span>
+        <span class="n">R_task_b</span> <span class="o">=</span> <span class="n">matrix_from_quat</span><span class="p">(</span><span class="n">current_task_frame_pose_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:])</span>
+        <span class="c1"># Rotation of root frame wrt task frame, converts a coordinate from root frame to task frame.</span>
+        <span class="n">R_b_task</span> <span class="o">=</span> <span class="n">R_task_b</span><span class="o">.</span><span class="n">mT</span>
+
+        <span class="c1"># Transform motion control stiffness gains from task frame to root frame</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">@</span> <span class="n">R_b_task</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">=</span> <span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_task</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">@</span> <span class="n">R_b_task</span>
+
+        <span class="c1"># Transform motion control damping gains from task frame to root frame</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_d_gains_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_d_gains_task</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">@</span> <span class="n">R_b_task</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_motion_d_gains_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">=</span> <span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_d_gains_task</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">@</span> <span class="n">R_b_task</span>
+
+        <span class="c1"># Transform contact wrench gains from task frame to root frame (if applicable)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_task</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_b</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_task</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">@</span> <span class="n">R_b_task</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_task</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">@</span> <span class="n">R_b_task</span>
+            <span class="p">)</span>
+
+        <span class="c1"># Transform selection matrices from target frame to base frame</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_task</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">@</span> <span class="n">R_b_task</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_task</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">@</span> <span class="n">R_b_task</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_force_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_force_task</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">@</span> <span class="n">R_b_task</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_force_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_force_task</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">@</span> <span class="n">R_b_task</span>
+        <span class="p">)</span>
+
+        <span class="c1"># Transform desired pose from task frame to root frame</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_task</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_task</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:]</span> <span class="o">=</span> <span class="n">combine_frame_transforms</span><span class="p">(</span>
+                <span class="n">current_task_frame_pose_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span>
+                <span class="n">current_task_frame_pose_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_task</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_task</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span>
+            <span class="p">)</span>
+
+        <span class="c1"># Transform desired wrenches to root frame</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_task</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_task</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_task</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">))</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:]</span> <span class="o">=</span> <span class="p">(</span><span class="n">R_task_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_task</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">))</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span>
+                <span class="o">-</span><span class="mi">1</span>
+            <span class="p">)</span> <span class="o">+</span> <span class="n">torch</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span><span class="n">current_task_frame_pose_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="OperationalSpaceController.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">jacobian_b</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+        <span class="n">current_ee_pose_b</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">current_ee_vel_b</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">current_ee_force_b</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">mass_matrix</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">gravity</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">current_joint_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">current_joint_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">nullspace_joint_pos_target</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Performs inference with the controller.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            jacobian_b: The Jacobian matrix of the end-effector in root frame. It is a tensor of shape</span>
+<span class="sd">                (``num_envs``, 6, ``num_DoF``).</span>
+<span class="sd">            current_ee_pose_b: The current end-effector pose in root frame. It is a tensor of shape</span>
+<span class="sd">                (``num_envs``, 7), which contains the position and quaternion ``(w, x, y, z)``. Defaults to ``None``.</span>
+<span class="sd">            current_ee_vel_b: The current end-effector velocity in root frame. It is a tensor of shape</span>
+<span class="sd">                (``num_envs``, 6), which contains the linear and angular velocities. Defaults to None.</span>
+<span class="sd">            current_ee_force_b: The current external force on the end-effector in root frame. It is a tensor of</span>
+<span class="sd">                shape (``num_envs``, 3), which contains the linear force. Defaults to ``None``.</span>
+<span class="sd">            mass_matrix: The joint-space mass/inertia matrix. It is a tensor of shape (``num_envs``, ``num_DoF``,</span>
+<span class="sd">                ``num_DoF``). Defaults to ``None``.</span>
+<span class="sd">            gravity: The joint-space gravity vector. It is a tensor of shape (``num_envs``, ``num_DoF``). Defaults</span>
+<span class="sd">                to ``None``.</span>
+<span class="sd">            current_joint_pos: The current joint positions. It is a tensor of shape (``num_envs``, ``num_DoF``).</span>
+<span class="sd">                Defaults to ``None``.</span>
+<span class="sd">            current_joint_vel: The current joint velocities. It is a tensor of shape (``num_envs``, ``num_DoF``).</span>
+<span class="sd">                Defaults to ``None``.</span>
+<span class="sd">            nullspace_joint_pos_target: The target joint positions the null space controller is trying to enforce, when</span>
+<span class="sd">                possible. It is a tensor of shape (``num_envs``, ``num_DoF``).</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: When motion-control is enabled but the current end-effector pose or velocity is not provided.</span>
+<span class="sd">            ValueError: When inertial dynamics decoupling is enabled but the mass matrix is not provided.</span>
+<span class="sd">            ValueError: When the current end-effector pose is not provided for the ``pose_rel`` command.</span>
+<span class="sd">            ValueError: When closed-loop force control is enabled but the current end-effector force is not provided.</span>
+<span class="sd">            ValueError: When gravity compensation is enabled but the gravity vector is not provided.</span>
+<span class="sd">            ValueError: When null-space control is enabled but the system is not redundant.</span>
+<span class="sd">            ValueError: When dynamically consistent pseudo-inverse is enabled but the mass matrix inverse is not</span>
+<span class="sd">                provided.</span>
+<span class="sd">            ValueError: When null-space control is enabled but the current joint positions and velocities are not</span>
+<span class="sd">                provided.</span>
+<span class="sd">            ValueError: When target joint positions are provided for null-space control but their dimensions do not</span>
+<span class="sd">                match the current joint positions.</span>
+<span class="sd">            ValueError: When an invalid null-space control method is provided.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Tensor: The joint efforts computed by the controller. It is a tensor of shape (``num_envs``, ``num_DoF``).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="c1"># deduce number of DoF</span>
+        <span class="n">num_DoF</span> <span class="o">=</span> <span class="n">jacobian_b</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span>
+        <span class="c1"># create joint effort vector</span>
+        <span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">num_DoF</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+
+        <span class="c1"># compute joint efforts for motion-control</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_b</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># check input is provided</span>
+            <span class="k">if</span> <span class="n">current_ee_pose_b</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">current_ee_vel_b</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Current end-effector pose and velocity are required for motion control.&quot;</span><span class="p">)</span>
+            <span class="c1"># -- end-effector tracking error</span>
+            <span class="n">pose_error_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span>
+                <span class="n">compute_pose_error</span><span class="p">(</span>
+                    <span class="n">current_ee_pose_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span>
+                    <span class="n">current_ee_pose_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_pose_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span>
+                    <span class="n">rot_error_type</span><span class="o">=</span><span class="s2">&quot;axis_angle&quot;</span><span class="p">,</span>
+                <span class="p">),</span>
+                <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span>
+            <span class="p">)</span>
+            <span class="n">velocity_error_b</span> <span class="o">=</span> <span class="o">-</span><span class="n">current_ee_vel_b</span>  <span class="c1"># zero target velocity. The target is assumed to be stationary.</span>
+            <span class="c1"># -- desired end-effector acceleration (spring-damper system)</span>
+            <span class="n">des_ee_acc_b</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_p_gains_b</span> <span class="o">@</span> <span class="n">pose_error_b</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span>
+                <span class="o">-</span><span class="mi">1</span>
+            <span class="p">)</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">_motion_d_gains_b</span> <span class="o">@</span> <span class="n">velocity_error_b</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="c1"># -- Inertial dynamics decoupling</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">inertial_dynamics_decoupling</span><span class="p">:</span>
+                <span class="c1"># check input is provided</span>
+                <span class="k">if</span> <span class="n">mass_matrix</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Mass matrix is required for inertial decoupling.&quot;</span><span class="p">)</span>
+                <span class="c1"># Compute operational space mass matrix</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_mass_matrix_inv</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inverse</span><span class="p">(</span><span class="n">mass_matrix</span><span class="p">)</span>
+                <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">partial_inertial_dynamics_decoupling</span><span class="p">:</span>
+                    <span class="c1"># Fill in the translational and rotational parts of the inertia separately, ignoring their coupling</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_os_mass_matrix_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inverse</span><span class="p">(</span>
+                        <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mass_matrix_inv</span> <span class="o">@</span> <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span><span class="o">.</span><span class="n">mT</span>
+                    <span class="p">)</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_os_mass_matrix_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inverse</span><span class="p">(</span>
+                        <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mass_matrix_inv</span> <span class="o">@</span> <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span><span class="o">.</span><span class="n">mT</span>
+                    <span class="p">)</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="c1"># Calculate the operational space mass matrix fully accounting for the couplings</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_os_mass_matrix_b</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inverse</span><span class="p">(</span><span class="n">jacobian_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mass_matrix_inv</span> <span class="o">@</span> <span class="n">jacobian_b</span><span class="o">.</span><span class="n">mT</span><span class="p">)</span>
+                <span class="c1"># (Generalized) operational space command forces</span>
+                <span class="c1"># F = (J M^(-1) J^T)^(-1) * \ddot(x_des) = M_task * \ddot(x_des)</span>
+                <span class="n">os_command_forces_b</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_os_mass_matrix_b</span> <span class="o">@</span> <span class="n">des_ee_acc_b</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="c1"># Task-space impedance control: command forces = \ddot(x_des).</span>
+                <span class="c1"># Please note that the definition of task-space impedance control varies in literature.</span>
+                <span class="c1"># This implementation ignores the inertial term. For inertial decoupling,</span>
+                <span class="c1"># use inertial_dynamics_decoupling=True.</span>
+                <span class="n">os_command_forces_b</span> <span class="o">=</span> <span class="n">des_ee_acc_b</span>
+            <span class="c1"># -- joint-space commands</span>
+            <span class="n">joint_efforts</span> <span class="o">+=</span> <span class="p">(</span><span class="n">jacobian_b</span><span class="o">.</span><span class="n">mT</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_motion_b</span> <span class="o">@</span> <span class="n">os_command_forces_b</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># compute joint efforts for contact wrench/force control</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># -- task-space contact wrench</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">contact_wrench_stiffness_task</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="c1"># check input is provided</span>
+                <span class="k">if</span> <span class="n">current_ee_force_b</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Current end-effector force is required for closed-loop force control.&quot;</span><span class="p">)</span>
+                <span class="c1"># We can only measure the force component at the contact, so only apply the feedback for only the force</span>
+                <span class="c1"># component, keep the control of moment components open loop</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_ee_contact_wrench_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="n">current_ee_force_b</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_ee_contact_wrench_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span>
+                <span class="c1"># closed-loop control with feedforward term</span>
+                <span class="n">os_contact_wrench_command_b</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span>
+                    <span class="o">-</span><span class="mi">1</span>
+                <span class="p">)</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">_contact_wrench_p_gains_b</span> <span class="o">@</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ee_contact_wrench_b</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span>
+                    <span class="o">-</span><span class="mi">1</span>
+                <span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="c1"># open-loop control</span>
+                <span class="n">os_contact_wrench_command_b</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">desired_ee_wrench_b</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="c1"># -- joint-space commands</span>
+            <span class="n">joint_efforts</span> <span class="o">+=</span> <span class="p">(</span><span class="n">jacobian_b</span><span class="o">.</span><span class="n">mT</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_selection_matrix_force_b</span> <span class="o">@</span> <span class="n">os_contact_wrench_command_b</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># add gravity compensation (bias correction)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">gravity_compensation</span><span class="p">:</span>
+            <span class="c1"># check input is provided</span>
+            <span class="k">if</span> <span class="n">gravity</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Gravity vector is required for gravity compensation.&quot;</span><span class="p">)</span>
+            <span class="c1"># add gravity compensation</span>
+            <span class="n">joint_efforts</span> <span class="o">+=</span> <span class="n">gravity</span>
+
+        <span class="c1"># Add null-space control</span>
+        <span class="c1"># -- Free null-space control</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">nullspace_control</span> <span class="o">==</span> <span class="s2">&quot;none&quot;</span><span class="p">:</span>
+            <span class="c1"># No additional control is applied in the null space.</span>
+            <span class="k">pass</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># Check if the system is redundant</span>
+            <span class="k">if</span> <span class="n">num_DoF</span> <span class="o">&lt;=</span> <span class="mi">6</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Null-space control is only applicable for redundant manipulators.&quot;</span><span class="p">)</span>
+
+            <span class="c1"># Calculate the pseudo-inverse of the Jacobian</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">inertial_dynamics_decoupling</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">partial_inertial_dynamics_decoupling</span><span class="p">:</span>
+                <span class="c1"># Dynamically consistent pseudo-inverse allows decoupling of null space and task space</span>
+                <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mass_matrix_inv</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">mass_matrix</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Mass matrix inverse is required for dynamically consistent pseudo-inverse&quot;</span><span class="p">)</span>
+                <span class="n">jacobian_pinv_transpose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_os_mass_matrix_b</span> <span class="o">@</span> <span class="n">jacobian_b</span> <span class="o">@</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mass_matrix_inv</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="c1"># Moore-Penrose pseudo-inverse if full inertia matrix is not available (e.g., no/partial decoupling)</span>
+                <span class="n">jacobian_pinv_transpose</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">pinverse</span><span class="p">(</span><span class="n">jacobian_b</span><span class="p">)</span><span class="o">.</span><span class="n">mT</span>
+
+            <span class="c1"># Calculate the null-space projector</span>
+            <span class="n">nullspace_jacobian_transpose</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="n">torch</span><span class="o">.</span><span class="n">eye</span><span class="p">(</span><span class="n">n</span><span class="o">=</span><span class="n">num_DoF</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span> <span class="o">-</span> <span class="n">jacobian_b</span><span class="o">.</span><span class="n">mT</span> <span class="o">@</span> <span class="n">jacobian_pinv_transpose</span>
+            <span class="p">)</span>
+
+            <span class="c1"># Null space position control</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">nullspace_control</span> <span class="o">==</span> <span class="s2">&quot;position&quot;</span><span class="p">:</span>
+
+                <span class="c1"># Check if the current joint positions and velocities are provided</span>
+                <span class="k">if</span> <span class="n">current_joint_pos</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">current_joint_vel</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Current joint positions and velocities are required for null-space control.&quot;</span><span class="p">)</span>
+
+                <span class="c1"># Calculate the joint errors for nullspace position control</span>
+                <span class="k">if</span> <span class="n">nullspace_joint_pos_target</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">nullspace_joint_pos_target</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">current_joint_pos</span><span class="p">)</span>
+                <span class="c1"># Check if the dimensions of the target nullspace joint positions match the current joint positions</span>
+                <span class="k">elif</span> <span class="n">nullspace_joint_pos_target</span><span class="o">.</span><span class="n">shape</span> <span class="o">!=</span> <span class="n">current_joint_pos</span><span class="o">.</span><span class="n">shape</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;The target nullspace joint positions shape &#39;</span><span class="si">{</span><span class="n">nullspace_joint_pos_target</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">&#39; does not&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot;match the current joint positions shape &#39;</span><span class="si">{</span><span class="n">current_joint_pos</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                    <span class="p">)</span>
+
+                <span class="n">joint_pos_error_nullspace</span> <span class="o">=</span> <span class="n">nullspace_joint_pos_target</span> <span class="o">-</span> <span class="n">current_joint_pos</span>
+                <span class="n">joint_vel_error_nullspace</span> <span class="o">=</span> <span class="o">-</span><span class="n">current_joint_vel</span>
+
+                <span class="c1"># Calculate the desired joint accelerations</span>
+                <span class="n">joint_acc_nullspace</span> <span class="o">=</span> <span class="p">(</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_nullspace_p_gain</span> <span class="o">*</span> <span class="n">joint_pos_error_nullspace</span>
+                    <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">_nullspace_d_gain</span> <span class="o">*</span> <span class="n">joint_vel_error_nullspace</span>
+                <span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+
+                <span class="c1"># Calculate the projected torques in null-space</span>
+                <span class="k">if</span> <span class="n">mass_matrix</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">tau_null</span> <span class="o">=</span> <span class="p">(</span><span class="n">nullspace_jacobian_transpose</span> <span class="o">@</span> <span class="n">mass_matrix</span> <span class="o">@</span> <span class="n">joint_acc_nullspace</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="n">tau_null</span> <span class="o">=</span> <span class="n">nullspace_jacobian_transpose</span> <span class="o">@</span> <span class="n">joint_acc_nullspace</span>
+
+                <span class="c1"># Add the null-space joint efforts to the total joint efforts</span>
+                <span class="n">joint_efforts</span> <span class="o">+=</span> <span class="n">tau_null</span>
+
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid null-space control method: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">nullspace_control</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+        <span class="k">return</span> <span class="n">joint_efforts</span></div></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.controllers.operational_space_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.operational_space</span> <span class="kn">import</span> <span class="n">OperationalSpaceController</span>
+
+
+<div class="viewcode-block" id="OperationalSpaceControllerCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">OperationalSpaceControllerCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for operational-space controller.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">OperationalSpaceController</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The associated controller class.&quot;&quot;&quot;</span>
+
+    <span class="n">target_types</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Type of task-space targets.</span>
+
+<span class="sd">    It has two sub-strings joined by underscore:</span>
+<span class="sd">        - type of task-space target: ``&quot;pose&quot;``, ``&quot;wrench&quot;``</span>
+<span class="sd">        - reference for the task-space targets: ``&quot;abs&quot;`` (absolute), ``&quot;rel&quot;`` (relative, only for pose)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">motion_control_axes_task</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Motion direction to control in task reference frame. Mark as ``0/1`` for each axis.&quot;&quot;&quot;</span>
+
+    <span class="n">contact_wrench_control_axes_task</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Contact wrench direction to control in task reference frame. Mark as 0/1 for each axis.&quot;&quot;&quot;</span>
+
+    <span class="n">inertial_dynamics_decoupling</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to perform inertial dynamics decoupling for motion control (inverse dynamics).&quot;&quot;&quot;</span>
+
+    <span class="n">partial_inertial_dynamics_decoupling</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to ignore the inertial coupling between the translational &amp; rotational motions.&quot;&quot;&quot;</span>
+
+    <span class="n">gravity_compensation</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to perform gravity compensation.&quot;&quot;&quot;</span>
+
+    <span class="n">impedance_mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;fixed&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Type of gains for motion control: ``&quot;fixed&quot;``, ``&quot;variable&quot;``, ``&quot;variable_kp&quot;``.&quot;&quot;&quot;</span>
+
+    <span class="n">motion_stiffness_task</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">100.0</span><span class="p">,</span> <span class="mf">100.0</span><span class="p">,</span> <span class="mf">100.0</span><span class="p">,</span> <span class="mf">100.0</span><span class="p">,</span> <span class="mf">100.0</span><span class="p">,</span> <span class="mf">100.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The positional gain for determining operational space command forces based on task-space pose error.&quot;&quot;&quot;</span>
+
+    <span class="n">motion_damping_ratio_task</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The damping ratio is used in-conjunction with positional gain to compute operational space command forces</span>
+<span class="sd">    based on task-space velocity error.</span>
+
+<span class="sd">    The following math operation is performed for computing velocity gains:</span>
+<span class="sd">        :math:`d_gains = 2 * sqrt(p_gains) * damping_ratio`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">motion_stiffness_limits_task</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1000</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Minimum and maximum values for positional gains.</span>
+
+<span class="sd">    Note: Used only when :obj:`impedance_mode` is ``&quot;variable&quot;`` or ``&quot;variable_kp&quot;``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">motion_damping_ratio_limits_task</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">100</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Minimum and maximum values for damping ratios used to compute velocity gains.</span>
+
+<span class="sd">    Note: Used only when :obj:`impedance_mode` is ``&quot;variable&quot;``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">contact_wrench_stiffness_task</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The proportional gain for determining operational space command forces for closed-loop contact force control.</span>
+
+<span class="sd">    If ``None``, then open-loop control of desired contact wrench is performed.</span>
+
+<span class="sd">    Note: since only the linear forces could be measured at the moment,</span>
+<span class="sd">    only the first three elements are used for the feedback loop.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">nullspace_control</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;none&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The null space control method for redundant manipulators: ``&quot;none&quot;``, ``&quot;position&quot;``.</span>
+
+<span class="sd">    Note: ``&quot;position&quot;`` is used to drive the redundant manipulator to zero configuration by default. If</span>
+<span class="sd">    ``target_joint_pos`` is provided in the ``compute()`` method, it will be driven to this configuration.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">nullspace_stiffness</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">10.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The stiffness for null space control.&quot;&quot;&quot;</span>
+
+    <span class="n">nullspace_damping_ratio</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The damping ratio for null space control.&quot;&quot;&quot;</span></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.devices.device_base</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Base class for teleoperation interface.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">ABC</span><span class="p">,</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span>
+
+
+<div class="viewcode-block" id="DeviceBase"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.DeviceBase">[docs]</a><span class="k">class</span> <span class="nc">DeviceBase</span><span class="p">(</span><span class="n">ABC</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;An interface class for teleoperation devices.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DeviceBase.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.DeviceBase.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the teleoperation interface.&quot;&quot;&quot;</span>
+        <span class="k">pass</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing the information of joystick.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">&quot;</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DeviceBase.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.DeviceBase.reset">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the internals.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+<div class="viewcode-block" id="DeviceBase.add_callback"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.DeviceBase.add_callback">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">add_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="n">Any</span><span class="p">,</span> <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add additional functions to bind keyboard.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The button to check against.</span>
+<span class="sd">            func: The function to call when key is pressed. The callback function should not</span>
+<span class="sd">                take any arguments.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+<div class="viewcode-block" id="DeviceBase.advance"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.DeviceBase.advance">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">advance</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Any</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Provides the joystick event state.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The processed output form the joystick.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html b/v1.4.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
new file mode 100644
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+++ b/v1.4.0/_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/issues.html">Known Issues</a></li>
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+  <h1>Source code for omni.isaac.lab.devices.gamepad.se2_gamepad</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Gamepad controller for SE(2) control.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni</span>
+
+<span class="kn">from</span> <span class="nn">..device_base</span> <span class="kn">import</span> <span class="n">DeviceBase</span>
+
+
+<div class="viewcode-block" id="Se2Gamepad"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Gamepad">[docs]</a><span class="k">class</span> <span class="nc">Se2Gamepad</span><span class="p">(</span><span class="n">DeviceBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;A gamepad controller for sending SE(2) commands as velocity commands.</span>
+
+<span class="sd">    This class is designed to provide a gamepad controller for mobile base (such as quadrupeds).</span>
+<span class="sd">    It uses the Omniverse gamepad interface to listen to gamepad events and map them to robot&#39;s</span>
+<span class="sd">    task-space commands.</span>
+
+<span class="sd">    The command comprises of the base linear and angular velocity: :math:`(v_x, v_y, \omega_z)`.</span>
+
+<span class="sd">    Key bindings:</span>
+<span class="sd">        ====================== ========================= ========================</span>
+<span class="sd">        Command                Key (+ve axis)            Key (-ve axis)</span>
+<span class="sd">        ====================== ========================= ========================</span>
+<span class="sd">        Move along x-axis      left stick up             left stick down</span>
+<span class="sd">        Move along y-axis      left stick right          left stick left</span>
+<span class="sd">        Rotate along z-axis    right stick right         right stick left</span>
+<span class="sd">        ====================== ========================= ========================</span>
+
+<span class="sd">    .. seealso::</span>
+
+<span class="sd">        The official documentation for the gamepad interface: `Carb Gamepad Interface &lt;https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html&gt;`__.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se2Gamepad.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Gamepad.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">v_x_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">,</span>
+        <span class="n">v_y_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">,</span>
+        <span class="n">omega_z_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">,</span>
+        <span class="n">dead_zone</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.01</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the gamepad layer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            v_x_sensitivity: Magnitude of linear velocity along x-direction scaling. Defaults to 1.0.</span>
+<span class="sd">            v_y_sensitivity: Magnitude of linear velocity along y-direction scaling. Defaults to 1.0.</span>
+<span class="sd">            omega_z_sensitivity: Magnitude of angular velocity along z-direction scaling. Defaults to 1.0.</span>
+<span class="sd">            dead_zone: Magnitude of dead zone for gamepad. An event value from the gamepad less than</span>
+<span class="sd">                this value will be ignored. Defaults to 0.01.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># turn off simulator gamepad control</span>
+        <span class="n">carb_settings_iface</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">get_settings</span><span class="p">()</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/persistent/app/omniverse/gamepadCameraControl&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">v_x_sensitivity</span> <span class="o">=</span> <span class="n">v_x_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">v_y_sensitivity</span> <span class="o">=</span> <span class="n">v_y_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">omega_z_sensitivity</span> <span class="o">=</span> <span class="n">omega_z_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">dead_zone</span> <span class="o">=</span> <span class="n">dead_zone</span>
+        <span class="c1"># acquire omniverse interfaces</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_appwindow</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">appwindow</span><span class="o">.</span><span class="n">get_default_app_window</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_input</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">acquire_input_interface</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_gamepad</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_appwindow</span><span class="o">.</span><span class="n">get_gamepad</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+        <span class="c1"># note: Use weakref on callbacks to ensure that this object can be deleted when its destructor is called</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_gamepad_sub</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">subscribe_to_gamepad_events</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_gamepad</span><span class="p">,</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_on_gamepad_event</span><span class="p">(</span><span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">),</span>
+        <span class="p">)</span>
+        <span class="c1"># bindings for gamepad to command</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_key_bindings</span><span class="p">()</span>
+        <span class="c1"># command buffers</span>
+        <span class="c1"># When using the gamepad, two values are provided for each axis.</span>
+        <span class="c1"># For example: when the left stick is moved down, there are two evens: `left_stick_down = 0.8`</span>
+        <span class="c1">#   and `left_stick_up = 0.0`. If only the value of left_stick_up is used, the value will be 0.0,</span>
+        <span class="c1">#   which is not the desired behavior. Therefore, we save both the values into the buffer and use</span>
+        <span class="c1">#   the maximum value.</span>
+        <span class="c1"># (positive, negative), (x, y, yaw)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_base_command_raw</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">([</span><span class="mi">2</span><span class="p">,</span> <span class="mi">3</span><span class="p">])</span>
+        <span class="c1"># dictionary for additional callbacks</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Unsubscribe from gamepad events.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">unsubscribe_from_gamepad_events</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_gamepad</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_gamepad_sub</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_gamepad_sub</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing the information of joystick.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Gamepad Controller for SE(2): </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Device name: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">get_gamepad_name</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_gamepad</span><span class="p">)</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">----------------------------------------------</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move in X-Y plane: left stick</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Rotate in Z-axis: right stick</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se2Gamepad.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Gamepad.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># default flags</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_base_command_raw</span><span class="o">.</span><span class="n">fill</span><span class="p">(</span><span class="mf">0.0</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Se2Gamepad.add_callback"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Gamepad.add_callback">[docs]</a>    <span class="k">def</span> <span class="nf">add_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="p">,</span> <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add additional functions to bind gamepad.</span>
+
+<span class="sd">        A list of available gamepad keys are present in the</span>
+<span class="sd">        `carb documentation &lt;https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html&gt;`__.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The gamepad button to check against.</span>
+<span class="sd">            func: The function to call when key is pressed. The callback function should not</span>
+<span class="sd">                take any arguments.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">func</span></div>
+
+<div class="viewcode-block" id="Se2Gamepad.advance"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Gamepad.advance">[docs]</a>    <span class="k">def</span> <span class="nf">advance</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Provides the result from gamepad event state.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A 3D array containing the linear (x,y) and angular velocity (z).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_command_buffer</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_base_command_raw</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helpers.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_on_gamepad_event</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">:</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadEvent</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Subscriber callback to when kit is updated.</span>
+
+<span class="sd">        Reference:</span>
+<span class="sd">            https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="c1"># check if the event is a button press</span>
+        <span class="n">cur_val</span> <span class="o">=</span> <span class="n">event</span><span class="o">.</span><span class="n">value</span>
+        <span class="k">if</span> <span class="nb">abs</span><span class="p">(</span><span class="n">cur_val</span><span class="p">)</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">dead_zone</span><span class="p">:</span>
+            <span class="n">cur_val</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># -- left and right stick</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_STICK_VALUE_MAPPING</span><span class="p">:</span>
+            <span class="n">direction</span><span class="p">,</span> <span class="n">axis</span><span class="p">,</span> <span class="n">value</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_STICK_VALUE_MAPPING</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="p">]</span>
+            <span class="c1"># change the value only if the stick is moved (soft press)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_base_command_raw</span><span class="p">[</span><span class="n">direction</span><span class="p">,</span> <span class="n">axis</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span> <span class="o">*</span> <span class="n">cur_val</span>
+
+        <span class="c1"># additional callbacks</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="p">]()</span>
+
+        <span class="c1"># since no error, we are fine :)</span>
+        <span class="k">return</span> <span class="kc">True</span>
+
+    <span class="k">def</span> <span class="nf">_create_key_bindings</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Creates default key binding.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_STICK_VALUE_MAPPING</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="c1"># forward command</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">LEFT_STICK_UP</span><span class="p">:</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_x_sensitivity</span><span class="p">),</span>
+            <span class="c1"># backward command</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">LEFT_STICK_DOWN</span><span class="p">:</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_x_sensitivity</span><span class="p">),</span>
+            <span class="c1"># right command</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">LEFT_STICK_RIGHT</span><span class="p">:</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_y_sensitivity</span><span class="p">),</span>
+            <span class="c1"># left command</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">LEFT_STICK_LEFT</span><span class="p">:</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_y_sensitivity</span><span class="p">),</span>
+            <span class="c1"># yaw command (positive)</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">RIGHT_STICK_RIGHT</span><span class="p">:</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">omega_z_sensitivity</span><span class="p">),</span>
+            <span class="c1"># yaw command (negative)</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">RIGHT_STICK_LEFT</span><span class="p">:</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">omega_z_sensitivity</span><span class="p">),</span>
+        <span class="p">}</span>
+
+    <span class="k">def</span> <span class="nf">_resolve_command_buffer</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">raw_command</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resolves the command buffer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            raw_command: The raw command from the gamepad. Shape is (2, 3)</span>
+<span class="sd">                This is a 2D array since gamepad dpad/stick returns two values corresponding to</span>
+<span class="sd">                the positive and negative direction. The first index is the direction (0: positive, 1: negative)</span>
+<span class="sd">                and the second index is value (absolute) of the command.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Resolved command. Shape is (3,)</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># compare the positive and negative value decide the sign of the value</span>
+        <span class="c1">#   if the positive value is larger, the sign is positive (i.e. False, 0)</span>
+        <span class="c1">#   if the negative value is larger, the sign is positive (i.e. True, 1)</span>
+        <span class="n">command_sign</span> <span class="o">=</span> <span class="n">raw_command</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="p">:]</span> <span class="o">&gt;</span> <span class="n">raw_command</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="p">:]</span>
+        <span class="c1"># extract the command value</span>
+        <span class="n">command</span> <span class="o">=</span> <span class="n">raw_command</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">axis</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+        <span class="c1"># apply the sign</span>
+        <span class="c1">#  if the sign is positive, the value is already positive.</span>
+        <span class="c1">#  if the sign is negative, the value is negative after applying the sign.</span>
+        <span class="n">command</span><span class="p">[</span><span class="n">command_sign</span><span class="p">]</span> <span class="o">*=</span> <span class="o">-</span><span class="mi">1</span>
+
+        <span class="k">return</span> <span class="n">command</span></div>
+</pre></div>
+
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new file mode 100644
index 0000000000..4e6ebfab0b
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+  <h1>Source code for omni.isaac.lab.devices.gamepad.se3_gamepad</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Gamepad controller for SE(3) control.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">scipy.spatial.transform</span> <span class="kn">import</span> <span class="n">Rotation</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni</span>
+
+<span class="kn">from</span> <span class="nn">..device_base</span> <span class="kn">import</span> <span class="n">DeviceBase</span>
+
+
+<div class="viewcode-block" id="Se3Gamepad"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Gamepad">[docs]</a><span class="k">class</span> <span class="nc">Se3Gamepad</span><span class="p">(</span><span class="n">DeviceBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A gamepad controller for sending SE(3) commands as delta poses and binary command (open/close).</span>
+
+<span class="sd">    This class is designed to provide a gamepad controller for a robotic arm with a gripper.</span>
+<span class="sd">    It uses the gamepad interface to listen to gamepad events and map them to the robot&#39;s</span>
+<span class="sd">    task-space commands.</span>
+
+<span class="sd">    The command comprises of two parts:</span>
+
+<span class="sd">    * delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.</span>
+<span class="sd">    * gripper: a binary command to open or close the gripper.</span>
+
+<span class="sd">    Stick and Button bindings:</span>
+<span class="sd">        ============================ ========================= =========================</span>
+<span class="sd">        Description                  Stick/Button (+ve axis)   Stick/Button (-ve axis)</span>
+<span class="sd">        ============================ ========================= =========================</span>
+<span class="sd">        Toggle gripper(open/close)   X Button                  X Button</span>
+<span class="sd">        Move along x-axis            Left Stick Up             Left Stick Down</span>
+<span class="sd">        Move along y-axis            Left Stick Left           Left Stick Right</span>
+<span class="sd">        Move along z-axis            Right Stick Up            Right Stick Down</span>
+<span class="sd">        Rotate along x-axis          D-Pad Left                D-Pad Right</span>
+<span class="sd">        Rotate along y-axis          D-Pad Down                D-Pad Up</span>
+<span class="sd">        Rotate along z-axis          Right Stick Left          Right Stick Right</span>
+<span class="sd">        ============================ ========================= =========================</span>
+
+<span class="sd">    .. seealso::</span>
+
+<span class="sd">        The official documentation for the gamepad interface: `Carb Gamepad Interface &lt;https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html&gt;`__.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se3Gamepad.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Gamepad.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">pos_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">,</span> <span class="n">rot_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.6</span><span class="p">,</span> <span class="n">dead_zone</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.01</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the gamepad layer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            pos_sensitivity: Magnitude of input position command scaling. Defaults to 1.0.</span>
+<span class="sd">            rot_sensitivity: Magnitude of scale input rotation commands scaling. Defaults to 1.6.</span>
+<span class="sd">            dead_zone: Magnitude of dead zone for gamepad. An event value from the gamepad less than</span>
+<span class="sd">                this value will be ignored. Defaults to 0.01.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># turn off simulator gamepad control</span>
+        <span class="n">carb_settings_iface</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">get_settings</span><span class="p">()</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/persistent/app/omniverse/gamepadCameraControl&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span> <span class="o">=</span> <span class="n">pos_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span> <span class="o">=</span> <span class="n">rot_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">dead_zone</span> <span class="o">=</span> <span class="n">dead_zone</span>
+        <span class="c1"># acquire omniverse interfaces</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_appwindow</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">appwindow</span><span class="o">.</span><span class="n">get_default_app_window</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_input</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">acquire_input_interface</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_gamepad</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_appwindow</span><span class="o">.</span><span class="n">get_gamepad</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+        <span class="c1"># note: Use weakref on callbacks to ensure that this object can be deleted when its destructor is called</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_gamepad_sub</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">subscribe_to_gamepad_events</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_gamepad</span><span class="p">,</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_on_gamepad_event</span><span class="p">(</span><span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">),</span>
+        <span class="p">)</span>
+        <span class="c1"># bindings for gamepad to command</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_key_bindings</span><span class="p">()</span>
+        <span class="c1"># command buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="c1"># When using the gamepad, two values are provided for each axis.</span>
+        <span class="c1"># For example: when the left stick is moved down, there are two evens: `left_stick_down = 0.8`</span>
+        <span class="c1">#   and `left_stick_up = 0.0`. If only the value of left_stick_up is used, the value will be 0.0,</span>
+        <span class="c1">#   which is not the desired behavior. Therefore, we save both the values into the buffer and use</span>
+        <span class="c1">#   the maximum value.</span>
+        <span class="c1"># (positive, negative), (x, y, z, roll, pitch, yaw)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pose_raw</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">([</span><span class="mi">2</span><span class="p">,</span> <span class="mi">6</span><span class="p">])</span>
+        <span class="c1"># dictionary for additional callbacks</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Unsubscribe from gamepad events.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">unsubscribe_from_gamepad_events</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_gamepad</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_gamepad_sub</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_gamepad_sub</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing the information of joystick.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Gamepad Controller for SE(3): </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Device name: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">get_gamepad_name</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_gamepad</span><span class="p">)</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">----------------------------------------------</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Toggle gripper (open/close): X</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move arm along x-axis: Left Stick Up/Down</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move arm along y-axis: Left Stick Left/Right</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move arm along z-axis: Right Stick Up/Down</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Rotate arm along x-axis: D-Pad Right/Left</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Rotate arm along y-axis: D-Pad Down/Up</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Rotate arm along z-axis: Right Stick Left/Right</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se3Gamepad.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Gamepad.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># default flags</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pose_raw</span><span class="o">.</span><span class="n">fill</span><span class="p">(</span><span class="mf">0.0</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Se3Gamepad.add_callback"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Gamepad.add_callback">[docs]</a>    <span class="k">def</span> <span class="nf">add_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="p">,</span> <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add additional functions to bind gamepad.</span>
+
+<span class="sd">        A list of available gamepad keys are present in the</span>
+<span class="sd">        `carb documentation &lt;https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html&gt;`__.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The gamepad button to check against.</span>
+<span class="sd">            func: The function to call when key is pressed. The callback function should not</span>
+<span class="sd">                take any arguments.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">func</span></div>
+
+<div class="viewcode-block" id="Se3Gamepad.advance"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Gamepad.advance">[docs]</a>    <span class="k">def</span> <span class="nf">advance</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="nb">bool</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Provides the result from gamepad event state.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the delta pose command and gripper commands.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># -- resolve position command</span>
+        <span class="n">delta_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_command_buffer</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_delta_pose_raw</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">])</span>
+        <span class="c1"># -- resolve rotation command</span>
+        <span class="n">delta_rot</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_command_buffer</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_delta_pose_raw</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:])</span>
+        <span class="c1"># -- convert to rotation vector</span>
+        <span class="n">rot_vec</span> <span class="o">=</span> <span class="n">Rotation</span><span class="o">.</span><span class="n">from_euler</span><span class="p">(</span><span class="s2">&quot;XYZ&quot;</span><span class="p">,</span> <span class="n">delta_rot</span><span class="p">)</span><span class="o">.</span><span class="n">as_rotvec</span><span class="p">()</span>
+        <span class="c1"># return the command and gripper state</span>
+        <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">concatenate</span><span class="p">([</span><span class="n">delta_pos</span><span class="p">,</span> <span class="n">rot_vec</span><span class="p">]),</span> <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helpers.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_on_gamepad_event</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Subscriber callback to when kit is updated.</span>
+
+<span class="sd">        Reference:</span>
+<span class="sd">            https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if the event is a button press</span>
+        <span class="n">cur_val</span> <span class="o">=</span> <span class="n">event</span><span class="o">.</span><span class="n">value</span>
+        <span class="k">if</span> <span class="nb">abs</span><span class="p">(</span><span class="n">cur_val</span><span class="p">)</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">dead_zone</span><span class="p">:</span>
+            <span class="n">cur_val</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># -- button</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span> <span class="o">==</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">X</span><span class="p">:</span>
+            <span class="c1"># toggle gripper based on the button pressed</span>
+            <span class="k">if</span> <span class="n">cur_val</span> <span class="o">&gt;</span> <span class="mf">0.5</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span> <span class="o">=</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span>
+        <span class="c1"># -- left and right stick</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_STICK_VALUE_MAPPING</span><span class="p">:</span>
+            <span class="n">direction</span><span class="p">,</span> <span class="n">axis</span><span class="p">,</span> <span class="n">value</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_STICK_VALUE_MAPPING</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="p">]</span>
+            <span class="c1"># change the value only if the stick is moved (soft press)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pose_raw</span><span class="p">[</span><span class="n">direction</span><span class="p">,</span> <span class="n">axis</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span> <span class="o">*</span> <span class="n">cur_val</span>
+        <span class="c1"># -- dpad (4 arrow buttons on the console)</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_DPAD_VALUE_MAPPING</span><span class="p">:</span>
+            <span class="n">direction</span><span class="p">,</span> <span class="n">axis</span><span class="p">,</span> <span class="n">value</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_DPAD_VALUE_MAPPING</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="p">]</span>
+            <span class="c1"># change the value only if button is pressed on the DPAD</span>
+            <span class="k">if</span> <span class="n">cur_val</span> <span class="o">&gt;</span> <span class="mf">0.5</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pose_raw</span><span class="p">[</span><span class="n">direction</span><span class="p">,</span> <span class="n">axis</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pose_raw</span><span class="p">[</span><span class="mi">1</span> <span class="o">-</span> <span class="n">direction</span><span class="p">,</span> <span class="n">axis</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pose_raw</span><span class="p">[:,</span> <span class="n">axis</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># additional callbacks</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="p">]()</span>
+
+        <span class="c1"># since no error, we are fine :)</span>
+        <span class="k">return</span> <span class="kc">True</span>
+
+    <span class="k">def</span> <span class="nf">_create_key_bindings</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Creates default key binding.&quot;&quot;&quot;</span>
+        <span class="c1"># map gamepad input to the element in self._delta_pose_raw</span>
+        <span class="c1">#   the first index is the direction (0: positive, 1: negative)</span>
+        <span class="c1">#   the second index is the axis (0: x, 1: y, 2: z, 3: roll, 4: pitch, 5: yaw)</span>
+        <span class="c1">#   the third index is the sensitivity of the command</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_STICK_VALUE_MAPPING</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="c1"># forward command</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">LEFT_STICK_UP</span><span class="p">:</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">),</span>
+            <span class="c1"># backward command</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">LEFT_STICK_DOWN</span><span class="p">:</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">),</span>
+            <span class="c1"># right command</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">LEFT_STICK_RIGHT</span><span class="p">:</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">),</span>
+            <span class="c1"># left command</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">LEFT_STICK_LEFT</span><span class="p">:</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">),</span>
+            <span class="c1"># upward command</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">RIGHT_STICK_UP</span><span class="p">:</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">),</span>
+            <span class="c1"># downward command</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">RIGHT_STICK_DOWN</span><span class="p">:</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">),</span>
+            <span class="c1"># yaw command (positive)</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">RIGHT_STICK_RIGHT</span><span class="p">:</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">5</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span><span class="p">),</span>
+            <span class="c1"># yaw command (negative)</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">RIGHT_STICK_LEFT</span><span class="p">:</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">5</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span><span class="p">),</span>
+        <span class="p">}</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_DPAD_VALUE_MAPPING</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="c1"># pitch command (positive)</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">DPAD_UP</span><span class="p">:</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span> <span class="o">*</span> <span class="mf">0.8</span><span class="p">),</span>
+            <span class="c1"># pitch command (negative)</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">DPAD_DOWN</span><span class="p">:</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">4</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span> <span class="o">*</span> <span class="mf">0.8</span><span class="p">),</span>
+            <span class="c1"># roll command (positive)</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">DPAD_RIGHT</span><span class="p">:</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span> <span class="o">*</span> <span class="mf">0.8</span><span class="p">),</span>
+            <span class="c1"># roll command (negative)</span>
+            <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">GamepadInput</span><span class="o">.</span><span class="n">DPAD_LEFT</span><span class="p">:</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span> <span class="o">*</span> <span class="mf">0.8</span><span class="p">),</span>
+        <span class="p">}</span>
+
+    <span class="k">def</span> <span class="nf">_resolve_command_buffer</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">raw_command</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resolves the command buffer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            raw_command: The raw command from the gamepad. Shape is (2, 3)</span>
+<span class="sd">                This is a 2D array since gamepad dpad/stick returns two values corresponding to</span>
+<span class="sd">                the positive and negative direction. The first index is the direction (0: positive, 1: negative)</span>
+<span class="sd">                and the second index is value (absolute) of the command.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Resolved command. Shape is (3,)</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># compare the positive and negative value decide the sign of the value</span>
+        <span class="c1">#   if the positive value is larger, the sign is positive (i.e. False, 0)</span>
+        <span class="c1">#   if the negative value is larger, the sign is positive (i.e. True, 1)</span>
+        <span class="n">delta_command_sign</span> <span class="o">=</span> <span class="n">raw_command</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="p">:]</span> <span class="o">&gt;</span> <span class="n">raw_command</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="p">:]</span>
+        <span class="c1"># extract the command value</span>
+        <span class="n">delta_command</span> <span class="o">=</span> <span class="n">raw_command</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">axis</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+        <span class="c1"># apply the sign</span>
+        <span class="c1">#  if the sign is positive, the value is already positive.</span>
+        <span class="c1">#  if the sign is negative, the value is negative after applying the sign.</span>
+        <span class="n">delta_command</span><span class="p">[</span><span class="n">delta_command_sign</span><span class="p">]</span> <span class="o">*=</span> <span class="o">-</span><span class="mi">1</span>
+
+        <span class="k">return</span> <span class="n">delta_command</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.devices.keyboard.se2_keyboard</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Keyboard controller for SE(2) control.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni</span>
+
+<span class="kn">from</span> <span class="nn">..device_base</span> <span class="kn">import</span> <span class="n">DeviceBase</span>
+
+
+<div class="viewcode-block" id="Se2Keyboard"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Keyboard">[docs]</a><span class="k">class</span> <span class="nc">Se2Keyboard</span><span class="p">(</span><span class="n">DeviceBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;A keyboard controller for sending SE(2) commands as velocity commands.</span>
+
+<span class="sd">    This class is designed to provide a keyboard controller for mobile base (such as quadrupeds).</span>
+<span class="sd">    It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot&#39;s</span>
+<span class="sd">    task-space commands.</span>
+
+<span class="sd">    The command comprises of the base linear and angular velocity: :math:`(v_x, v_y, \omega_z)`.</span>
+
+<span class="sd">    Key bindings:</span>
+<span class="sd">        ====================== ========================= ========================</span>
+<span class="sd">        Command                Key (+ve axis)            Key (-ve axis)</span>
+<span class="sd">        ====================== ========================= ========================</span>
+<span class="sd">        Move along x-axis      Numpad 8 / Arrow Up       Numpad 2 / Arrow Down</span>
+<span class="sd">        Move along y-axis      Numpad 4 / Arrow Right    Numpad 6 / Arrow Left</span>
+<span class="sd">        Rotate along z-axis    Numpad 7 / Z              Numpad 9 / X</span>
+<span class="sd">        ====================== ========================= ========================</span>
+
+<span class="sd">    .. seealso::</span>
+
+<span class="sd">        The official documentation for the keyboard interface: `Carb Keyboard Interface &lt;https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html&gt;`__.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se2Keyboard.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Keyboard.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">v_x_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.8</span><span class="p">,</span> <span class="n">v_y_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.4</span><span class="p">,</span> <span class="n">omega_z_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the keyboard layer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            v_x_sensitivity: Magnitude of linear velocity along x-direction scaling. Defaults to 0.8.</span>
+<span class="sd">            v_y_sensitivity: Magnitude of linear velocity along y-direction scaling. Defaults to 0.4.</span>
+<span class="sd">            omega_z_sensitivity: Magnitude of angular velocity along z-direction scaling. Defaults to 1.0.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">v_x_sensitivity</span> <span class="o">=</span> <span class="n">v_x_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">v_y_sensitivity</span> <span class="o">=</span> <span class="n">v_y_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">omega_z_sensitivity</span> <span class="o">=</span> <span class="n">omega_z_sensitivity</span>
+        <span class="c1"># acquire omniverse interfaces</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_appwindow</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">appwindow</span><span class="o">.</span><span class="n">get_default_app_window</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_input</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">acquire_input_interface</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_keyboard</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_appwindow</span><span class="o">.</span><span class="n">get_keyboard</span><span class="p">()</span>
+        <span class="c1"># note: Use weakref on callbacks to ensure that this object can be deleted when its destructor is called</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_keyboard_sub</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">subscribe_to_keyboard_events</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_keyboard</span><span class="p">,</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_on_keyboard_event</span><span class="p">(</span><span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">),</span>
+        <span class="p">)</span>
+        <span class="c1"># bindings for keyboard to command</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_key_bindings</span><span class="p">()</span>
+        <span class="c1"># command buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>
+        <span class="c1"># dictionary for additional callbacks</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Release the keyboard interface.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">unsubscribe_from_keyboard_events</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_keyboard</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_keyboard_sub</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_keyboard_sub</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing the information of joystick.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Keyboard Controller for SE(2): </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Keyboard name: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">get_keyboard_name</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_keyboard</span><span class="p">)</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">----------------------------------------------</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Reset all commands: L</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move forward   (along x-axis): Numpad 8 / Arrow Up</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move backward  (along x-axis): Numpad 2 / Arrow Down</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move right     (along y-axis): Numpad 4 / Arrow Right</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move left      (along y-axis): Numpad 6 / Arrow Left</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Yaw positively (along z-axis): Numpad 7 / Z</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Yaw negatively (along z-axis): Numpad 9 / X&quot;</span>
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se2Keyboard.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Keyboard.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># default flags</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span><span class="o">.</span><span class="n">fill</span><span class="p">(</span><span class="mf">0.0</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Se2Keyboard.add_callback"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Keyboard.add_callback">[docs]</a>    <span class="k">def</span> <span class="nf">add_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add additional functions to bind keyboard.</span>
+
+<span class="sd">        A list of available keys are present in the</span>
+<span class="sd">        `carb documentation &lt;https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html&gt;`__.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The keyboard button to check against.</span>
+<span class="sd">            func: The function to call when key is pressed. The callback function should not</span>
+<span class="sd">                take any arguments.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">func</span></div>
+
+<div class="viewcode-block" id="Se2Keyboard.advance"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Keyboard.advance">[docs]</a>    <span class="k">def</span> <span class="nf">advance</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Provides the result from keyboard event state.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            3D array containing the linear (x,y) and angular velocity (z).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helpers.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_on_keyboard_event</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Subscriber callback to when kit is updated.</span>
+
+<span class="sd">        Reference:</span>
+<span class="sd">            https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># apply the command when pressed</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">type</span> <span class="o">==</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">KeyboardEventType</span><span class="o">.</span><span class="n">KEY_PRESS</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;L&quot;</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+            <span class="k">elif</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_KEY_MAPPING</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_KEY_MAPPING</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+        <span class="c1"># remove the command when un-pressed</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">type</span> <span class="o">==</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">KeyboardEventType</span><span class="o">.</span><span class="n">KEY_RELEASE</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_KEY_MAPPING</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span> <span class="o">-=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_KEY_MAPPING</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+        <span class="c1"># additional callbacks</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">type</span> <span class="o">==</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">KeyboardEventType</span><span class="o">.</span><span class="n">KEY_PRESS</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span><span class="p">]()</span>
+
+        <span class="c1"># since no error, we are fine :)</span>
+        <span class="k">return</span> <span class="kc">True</span>
+
+    <span class="k">def</span> <span class="nf">_create_key_bindings</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Creates default key binding.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_KEY_MAPPING</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="c1"># forward command</span>
+            <span class="s2">&quot;NUMPAD_8&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_x_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;UP&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_x_sensitivity</span><span class="p">,</span>
+            <span class="c1"># back command</span>
+            <span class="s2">&quot;NUMPAD_2&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_x_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;DOWN&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_x_sensitivity</span><span class="p">,</span>
+            <span class="c1"># right command</span>
+            <span class="s2">&quot;NUMPAD_4&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_y_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;LEFT&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_y_sensitivity</span><span class="p">,</span>
+            <span class="c1"># left command</span>
+            <span class="s2">&quot;NUMPAD_6&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_y_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;RIGHT&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_y_sensitivity</span><span class="p">,</span>
+            <span class="c1"># yaw command (positive)</span>
+            <span class="s2">&quot;NUMPAD_7&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">omega_z_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;Z&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">omega_z_sensitivity</span><span class="p">,</span>
+            <span class="c1"># yaw command (negative)</span>
+            <span class="s2">&quot;NUMPAD_9&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">omega_z_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;X&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">omega_z_sensitivity</span><span class="p">,</span>
+        <span class="p">}</span></div>
+</pre></div>
+
+                </article>
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+    <div class="bd-toc-item navbar-nav active">
+        <p aria-level="2" class="caption" role="heading"><span class="caption-text">Getting Started</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/setup/ecosystem.html">Isaac Lab Ecosystem</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/setup/installation/index.html">Local Installation</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/setup/faq.html">Frequently Asked Questions</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Overview</span></p>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+  <h1>Source code for omni.isaac.lab.devices.keyboard.se3_keyboard</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Keyboard controller for SE(3) control.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">scipy.spatial.transform</span> <span class="kn">import</span> <span class="n">Rotation</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni</span>
+
+<span class="kn">from</span> <span class="nn">..device_base</span> <span class="kn">import</span> <span class="n">DeviceBase</span>
+
+
+<div class="viewcode-block" id="Se3Keyboard"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Keyboard">[docs]</a><span class="k">class</span> <span class="nc">Se3Keyboard</span><span class="p">(</span><span class="n">DeviceBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A keyboard controller for sending SE(3) commands as delta poses and binary command (open/close).</span>
+
+<span class="sd">    This class is designed to provide a keyboard controller for a robotic arm with a gripper.</span>
+<span class="sd">    It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot&#39;s</span>
+<span class="sd">    task-space commands.</span>
+
+<span class="sd">    The command comprises of two parts:</span>
+
+<span class="sd">    * delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.</span>
+<span class="sd">    * gripper: a binary command to open or close the gripper.</span>
+
+<span class="sd">    Key bindings:</span>
+<span class="sd">        ============================== ================= =================</span>
+<span class="sd">        Description                    Key (+ve axis)    Key (-ve axis)</span>
+<span class="sd">        ============================== ================= =================</span>
+<span class="sd">        Toggle gripper (open/close)    K</span>
+<span class="sd">        Move along x-axis              W                 S</span>
+<span class="sd">        Move along y-axis              A                 D</span>
+<span class="sd">        Move along z-axis              Q                 E</span>
+<span class="sd">        Rotate along x-axis            Z                 X</span>
+<span class="sd">        Rotate along y-axis            T                 G</span>
+<span class="sd">        Rotate along z-axis            C                 V</span>
+<span class="sd">        ============================== ================= =================</span>
+
+<span class="sd">    .. seealso::</span>
+
+<span class="sd">        The official documentation for the keyboard interface: `Carb Keyboard Interface &lt;https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html&gt;`__.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se3Keyboard.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Keyboard.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">pos_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.4</span><span class="p">,</span> <span class="n">rot_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.8</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the keyboard layer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            pos_sensitivity: Magnitude of input position command scaling. Defaults to 0.05.</span>
+<span class="sd">            rot_sensitivity: Magnitude of scale input rotation commands scaling. Defaults to 0.5.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span> <span class="o">=</span> <span class="n">pos_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span> <span class="o">=</span> <span class="n">rot_sensitivity</span>
+        <span class="c1"># acquire omniverse interfaces</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_appwindow</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">appwindow</span><span class="o">.</span><span class="n">get_default_app_window</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_input</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">acquire_input_interface</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_keyboard</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_appwindow</span><span class="o">.</span><span class="n">get_keyboard</span><span class="p">()</span>
+        <span class="c1"># note: Use weakref on callbacks to ensure that this object can be deleted when its destructor is called.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_keyboard_sub</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">subscribe_to_keyboard_events</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_keyboard</span><span class="p">,</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_on_keyboard_event</span><span class="p">(</span><span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">),</span>
+        <span class="p">)</span>
+        <span class="c1"># bindings for keyboard to command</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_key_bindings</span><span class="p">()</span>
+        <span class="c1"># command buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>  <span class="c1"># (x, y, z)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>  <span class="c1"># (roll, pitch, yaw)</span>
+        <span class="c1"># dictionary for additional callbacks</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Release the keyboard interface.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">unsubscribe_from_keyboard_events</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_keyboard</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_keyboard_sub</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_keyboard_sub</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing the information of joystick.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Keyboard Controller for SE(3): </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Keyboard name: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_input</span><span class="o">.</span><span class="n">get_keyboard_name</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_keyboard</span><span class="p">)</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">----------------------------------------------</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Toggle gripper (open/close): K</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move arm along x-axis: W/S</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move arm along y-axis: A/D</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move arm along z-axis: Q/E</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Rotate arm along x-axis: Z/X</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Rotate arm along y-axis: T/G</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Rotate arm along z-axis: C/V&quot;</span>
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se3Keyboard.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Keyboard.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># default flags</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>  <span class="c1"># (x, y, z)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>  <span class="c1"># (roll, pitch, yaw)</span></div>
+
+<div class="viewcode-block" id="Se3Keyboard.add_callback"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Keyboard.add_callback">[docs]</a>    <span class="k">def</span> <span class="nf">add_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add additional functions to bind keyboard.</span>
+
+<span class="sd">        A list of available keys are present in the</span>
+<span class="sd">        `carb documentation &lt;https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html&gt;`__.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The keyboard button to check against.</span>
+<span class="sd">            func: The function to call when key is pressed. The callback function should not</span>
+<span class="sd">                take any arguments.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">func</span></div>
+
+<div class="viewcode-block" id="Se3Keyboard.advance"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Keyboard.advance">[docs]</a>    <span class="k">def</span> <span class="nf">advance</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="nb">bool</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Provides the result from keyboard event state.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the delta pose command and gripper commands.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># convert to rotation vector</span>
+        <span class="n">rot_vec</span> <span class="o">=</span> <span class="n">Rotation</span><span class="o">.</span><span class="n">from_euler</span><span class="p">(</span><span class="s2">&quot;XYZ&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span><span class="p">)</span><span class="o">.</span><span class="n">as_rotvec</span><span class="p">()</span>
+        <span class="c1"># return the command and gripper state</span>
+        <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">concatenate</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span><span class="p">,</span> <span class="n">rot_vec</span><span class="p">]),</span> <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helpers.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_on_keyboard_event</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Subscriber callback to when kit is updated.</span>
+
+<span class="sd">        Reference:</span>
+<span class="sd">            https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># apply the command when pressed</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">type</span> <span class="o">==</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">KeyboardEventType</span><span class="o">.</span><span class="n">KEY_PRESS</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;L&quot;</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+            <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;K&quot;</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span> <span class="o">=</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span>
+            <span class="k">elif</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;W&quot;</span><span class="p">,</span> <span class="s2">&quot;S&quot;</span><span class="p">,</span> <span class="s2">&quot;A&quot;</span><span class="p">,</span> <span class="s2">&quot;D&quot;</span><span class="p">,</span> <span class="s2">&quot;Q&quot;</span><span class="p">,</span> <span class="s2">&quot;E&quot;</span><span class="p">]:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_KEY_MAPPING</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+            <span class="k">elif</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;Z&quot;</span><span class="p">,</span> <span class="s2">&quot;X&quot;</span><span class="p">,</span> <span class="s2">&quot;T&quot;</span><span class="p">,</span> <span class="s2">&quot;G&quot;</span><span class="p">,</span> <span class="s2">&quot;C&quot;</span><span class="p">,</span> <span class="s2">&quot;V&quot;</span><span class="p">]:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_KEY_MAPPING</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+        <span class="c1"># remove the command when un-pressed</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">type</span> <span class="o">==</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">KeyboardEventType</span><span class="o">.</span><span class="n">KEY_RELEASE</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;W&quot;</span><span class="p">,</span> <span class="s2">&quot;S&quot;</span><span class="p">,</span> <span class="s2">&quot;A&quot;</span><span class="p">,</span> <span class="s2">&quot;D&quot;</span><span class="p">,</span> <span class="s2">&quot;Q&quot;</span><span class="p">,</span> <span class="s2">&quot;E&quot;</span><span class="p">]:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span> <span class="o">-=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_KEY_MAPPING</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+            <span class="k">elif</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;Z&quot;</span><span class="p">,</span> <span class="s2">&quot;X&quot;</span><span class="p">,</span> <span class="s2">&quot;T&quot;</span><span class="p">,</span> <span class="s2">&quot;G&quot;</span><span class="p">,</span> <span class="s2">&quot;C&quot;</span><span class="p">,</span> <span class="s2">&quot;V&quot;</span><span class="p">]:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span> <span class="o">-=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_KEY_MAPPING</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+        <span class="c1"># additional callbacks</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">type</span> <span class="o">==</span> <span class="n">carb</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">KeyboardEventType</span><span class="o">.</span><span class="n">KEY_PRESS</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="n">event</span><span class="o">.</span><span class="n">input</span><span class="o">.</span><span class="n">name</span><span class="p">]()</span>
+
+        <span class="c1"># since no error, we are fine :)</span>
+        <span class="k">return</span> <span class="kc">True</span>
+
+    <span class="k">def</span> <span class="nf">_create_key_bindings</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Creates default key binding.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_INPUT_KEY_MAPPING</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="c1"># toggle: gripper command</span>
+            <span class="s2">&quot;K&quot;</span><span class="p">:</span> <span class="kc">True</span><span class="p">,</span>
+            <span class="c1"># x-axis (forward)</span>
+            <span class="s2">&quot;W&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;S&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">,</span>
+            <span class="c1"># y-axis (left-right)</span>
+            <span class="s2">&quot;A&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;D&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">,</span>
+            <span class="c1"># z-axis (up-down)</span>
+            <span class="s2">&quot;Q&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;E&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span><span class="p">,</span>
+            <span class="c1"># roll (around x-axis)</span>
+            <span class="s2">&quot;Z&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;X&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span><span class="p">,</span>
+            <span class="c1"># pitch (around y-axis)</span>
+            <span class="s2">&quot;T&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;G&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span><span class="p">,</span>
+            <span class="c1"># yaw (around z-axis)</span>
+            <span class="s2">&quot;C&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span><span class="p">,</span>
+            <span class="s2">&quot;V&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">])</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span><span class="p">,</span>
+        <span class="p">}</span></div>
+</pre></div>
+
+                </article>
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+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/additional_resources.html">Additional Resources</a></li>
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+<ul class="nav bd-sidenav">
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+  <h1>Source code for omni.isaac.lab.devices.spacemouse.se2_spacemouse</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Spacemouse controller for SE(2) control.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">hid</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">threading</span>
+<span class="kn">import</span> <span class="nn">time</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+
+<span class="kn">from</span> <span class="nn">..device_base</span> <span class="kn">import</span> <span class="n">DeviceBase</span>
+<span class="kn">from</span> <span class="nn">.utils</span> <span class="kn">import</span> <span class="n">convert_buffer</span>
+
+
+<div class="viewcode-block" id="Se2SpaceMouse"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2SpaceMouse">[docs]</a><span class="k">class</span> <span class="nc">Se2SpaceMouse</span><span class="p">(</span><span class="n">DeviceBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;A space-mouse controller for sending SE(2) commands as delta poses.</span>
+
+<span class="sd">    This class implements a space-mouse controller to provide commands to mobile base.</span>
+<span class="sd">    It uses the `HID-API`_ which interfaces with USD and Bluetooth HID-class devices across multiple platforms.</span>
+
+<span class="sd">    The command comprises of the base linear and angular velocity: :math:`(v_x, v_y, \omega_z)`.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The interface finds and uses the first supported device connected to the computer.</span>
+
+<span class="sd">    Currently tested for following devices:</span>
+
+<span class="sd">    - SpaceMouse Compact: https://3dconnexion.com/de/product/spacemouse-compact/</span>
+
+<span class="sd">    .. _HID-API: https://github.com/libusb/hidapi</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se2SpaceMouse.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2SpaceMouse.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">v_x_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.8</span><span class="p">,</span> <span class="n">v_y_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.4</span><span class="p">,</span> <span class="n">omega_z_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the spacemouse layer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            v_x_sensitivity: Magnitude of linear velocity along x-direction scaling. Defaults to 0.8.</span>
+<span class="sd">            v_y_sensitivity: Magnitude of linear velocity along y-direction scaling. Defaults to 0.4.</span>
+<span class="sd">            omega_z_sensitivity: Magnitude of angular velocity along z-direction scaling. Defaults to 1.0.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">v_x_sensitivity</span> <span class="o">=</span> <span class="n">v_x_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">v_y_sensitivity</span> <span class="o">=</span> <span class="n">v_y_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">omega_z_sensitivity</span> <span class="o">=</span> <span class="n">omega_z_sensitivity</span>
+        <span class="c1"># acquire device interface</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_device</span> <span class="o">=</span> <span class="n">hid</span><span class="o">.</span><span class="n">device</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_find_device</span><span class="p">()</span>
+        <span class="c1"># command buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>
+        <span class="c1"># dictionary for additional callbacks</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># run a thread for listening to device updates</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span> <span class="o">=</span> <span class="n">threading</span><span class="o">.</span><span class="n">Thread</span><span class="p">(</span><span class="n">target</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_run_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">daemon</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">start</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Destructor for the class.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">join</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing the information of joystick.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Spacemouse Controller for SE(2): </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Manufacturer: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="o">.</span><span class="n">get_manufacturer_string</span><span class="p">()</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Product: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="o">.</span><span class="n">get_product_string</span><span class="p">()</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">----------------------------------------------</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Right button: reset command</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move mouse laterally: move base horizontally in x-y plane</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Twist mouse about z-axis: yaw base about a corresponding axis&quot;</span>
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se2SpaceMouse.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2SpaceMouse.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># default flags</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span><span class="o">.</span><span class="n">fill</span><span class="p">(</span><span class="mf">0.0</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Se2SpaceMouse.add_callback"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2SpaceMouse.add_callback">[docs]</a>    <span class="k">def</span> <span class="nf">add_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">):</span>
+        <span class="c1"># check keys supported by callback</span>
+        <span class="k">if</span> <span class="n">key</span> <span class="ow">not</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;L&quot;</span><span class="p">,</span> <span class="s2">&quot;R&quot;</span><span class="p">]:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Only left (L) and right (R) buttons supported. Provided: </span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+        <span class="c1"># TODO: Improve this to allow multiple buttons on same key.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">func</span></div>
+
+<div class="viewcode-block" id="Se2SpaceMouse.advance"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2SpaceMouse.advance">[docs]</a>    <span class="k">def</span> <span class="nf">advance</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Provides the result from spacemouse event state.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A 3D array containing the linear (x,y) and angular velocity (z).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helpers.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_find_device</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Find the device connected to computer.&quot;&quot;&quot;</span>
+        <span class="n">found</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="c1"># implement a timeout for device search</span>
+        <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">5</span><span class="p">):</span>
+            <span class="k">for</span> <span class="n">device</span> <span class="ow">in</span> <span class="n">hid</span><span class="o">.</span><span class="n">enumerate</span><span class="p">():</span>
+                <span class="k">if</span> <span class="n">device</span><span class="p">[</span><span class="s2">&quot;product_string&quot;</span><span class="p">]</span> <span class="o">==</span> <span class="s2">&quot;SpaceMouse Compact&quot;</span><span class="p">:</span>
+                    <span class="c1"># set found flag</span>
+                    <span class="n">found</span> <span class="o">=</span> <span class="kc">True</span>
+                    <span class="n">vendor_id</span> <span class="o">=</span> <span class="n">device</span><span class="p">[</span><span class="s2">&quot;vendor_id&quot;</span><span class="p">]</span>
+                    <span class="n">product_id</span> <span class="o">=</span> <span class="n">device</span><span class="p">[</span><span class="s2">&quot;product_id&quot;</span><span class="p">]</span>
+                    <span class="c1"># connect to the device</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="o">.</span><span class="n">open</span><span class="p">(</span><span class="n">vendor_id</span><span class="p">,</span> <span class="n">product_id</span><span class="p">)</span>
+            <span class="c1"># check if device found</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="n">found</span><span class="p">:</span>
+                <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">1.0</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">break</span>
+        <span class="c1"># no device found: return false</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">found</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">OSError</span><span class="p">(</span><span class="s2">&quot;No device found by SpaceMouse. Is the device connected?&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_run_device</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Listener thread that keeps pulling new messages.&quot;&quot;&quot;</span>
+        <span class="c1"># keep running</span>
+        <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
+            <span class="c1"># read the device data</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">13</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">data</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="c1"># readings from 6-DoF sensor</span>
+                <span class="k">if</span> <span class="n">data</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+                    <span class="c1"># along y-axis</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_y_sensitivity</span> <span class="o">*</span> <span class="n">convert_buffer</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">data</span><span class="p">[</span><span class="mi">2</span><span class="p">])</span>
+                    <span class="c1"># along x-axis</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">v_x_sensitivity</span> <span class="o">*</span> <span class="n">convert_buffer</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="mi">3</span><span class="p">],</span> <span class="n">data</span><span class="p">[</span><span class="mi">4</span><span class="p">])</span>
+                <span class="k">elif</span> <span class="n">data</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+                    <span class="c1"># along z-axis</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_base_command</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">omega_z_sensitivity</span> <span class="o">*</span> <span class="n">convert_buffer</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="mi">3</span><span class="p">],</span> <span class="n">data</span><span class="p">[</span><span class="mi">4</span><span class="p">])</span>
+                <span class="c1"># readings from the side buttons</span>
+                <span class="k">elif</span> <span class="n">data</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">==</span> <span class="mi">3</span><span class="p">:</span>
+                    <span class="c1"># press left button</span>
+                    <span class="k">if</span> <span class="n">data</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+                        <span class="c1"># additional callbacks</span>
+                        <span class="k">if</span> <span class="s2">&quot;L&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">:</span>
+                            <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="s2">&quot;L&quot;</span><span class="p">]</span>
+                    <span class="c1"># right button is for reset</span>
+                    <span class="k">if</span> <span class="n">data</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+                        <span class="c1"># reset layer</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+                        <span class="c1"># additional callbacks</span>
+                        <span class="k">if</span> <span class="s2">&quot;R&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">:</span>
+                            <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="s2">&quot;R&quot;</span><span class="p">]</span></div>
+</pre></div>
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new file mode 100644
index 0000000000..2ae774e7d4
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
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+  <h1>Source code for omni.isaac.lab.devices.spacemouse.se3_spacemouse</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Spacemouse controller for SE(3) control.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">hid</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">threading</span>
+<span class="kn">import</span> <span class="nn">time</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">scipy.spatial.transform</span> <span class="kn">import</span> <span class="n">Rotation</span>
+
+<span class="kn">from</span> <span class="nn">..device_base</span> <span class="kn">import</span> <span class="n">DeviceBase</span>
+<span class="kn">from</span> <span class="nn">.utils</span> <span class="kn">import</span> <span class="n">convert_buffer</span>
+
+
+<div class="viewcode-block" id="Se3SpaceMouse"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3SpaceMouse">[docs]</a><span class="k">class</span> <span class="nc">Se3SpaceMouse</span><span class="p">(</span><span class="n">DeviceBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A space-mouse controller for sending SE(3) commands as delta poses.</span>
+
+<span class="sd">    This class implements a space-mouse controller to provide commands to a robotic arm with a gripper.</span>
+<span class="sd">    It uses the `HID-API`_ which interfaces with USD and Bluetooth HID-class devices across multiple platforms [1].</span>
+
+<span class="sd">    The command comprises of two parts:</span>
+
+<span class="sd">    * delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.</span>
+<span class="sd">    * gripper: a binary command to open or close the gripper.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The interface finds and uses the first supported device connected to the computer.</span>
+
+<span class="sd">    Currently tested for following devices:</span>
+
+<span class="sd">    - SpaceMouse Compact: https://3dconnexion.com/de/product/spacemouse-compact/</span>
+
+<span class="sd">    .. _HID-API: https://github.com/libusb/hidapi</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se3SpaceMouse.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3SpaceMouse.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">pos_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.4</span><span class="p">,</span> <span class="n">rot_sensitivity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.8</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the space-mouse layer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            pos_sensitivity: Magnitude of input position command scaling. Defaults to 0.4.</span>
+<span class="sd">            rot_sensitivity: Magnitude of scale input rotation commands scaling. Defaults to 0.8.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span> <span class="o">=</span> <span class="n">pos_sensitivity</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span> <span class="o">=</span> <span class="n">rot_sensitivity</span>
+        <span class="c1"># acquire device interface</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_device</span> <span class="o">=</span> <span class="n">hid</span><span class="o">.</span><span class="n">device</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_find_device</span><span class="p">()</span>
+        <span class="c1"># read rotations</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_read_rotation</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># command buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>  <span class="c1"># (x, y, z)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>  <span class="c1"># (roll, pitch, yaw)</span>
+        <span class="c1"># dictionary for additional callbacks</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># run a thread for listening to device updates</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span> <span class="o">=</span> <span class="n">threading</span><span class="o">.</span><span class="n">Thread</span><span class="p">(</span><span class="n">target</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_run_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">daemon</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">start</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Destructor for the class.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_thread</span><span class="o">.</span><span class="n">join</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing the information of joystick.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Spacemouse Controller for SE(3): </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Manufacturer: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="o">.</span><span class="n">get_manufacturer_string</span><span class="p">()</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Product: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="o">.</span><span class="n">get_product_string</span><span class="p">()</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">----------------------------------------------</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Right button: reset command</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Left button: toggle gripper command (open/close)</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move mouse laterally: move arm horizontally in x-y plane</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Move mouse vertically: move arm vertically</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Twist mouse about an axis: rotate arm about a corresponding axis&quot;</span>
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Se3SpaceMouse.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3SpaceMouse.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># default flags</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>  <span class="c1"># (x, y, z)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>  <span class="c1"># (roll, pitch, yaw)</span></div>
+
+<div class="viewcode-block" id="Se3SpaceMouse.add_callback"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3SpaceMouse.add_callback">[docs]</a>    <span class="k">def</span> <span class="nf">add_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">):</span>
+        <span class="c1"># check keys supported by callback</span>
+        <span class="k">if</span> <span class="n">key</span> <span class="ow">not</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;L&quot;</span><span class="p">,</span> <span class="s2">&quot;R&quot;</span><span class="p">]:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Only left (L) and right (R) buttons supported. Provided: </span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+        <span class="c1"># TODO: Improve this to allow multiple buttons on same key.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">func</span></div>
+
+<div class="viewcode-block" id="Se3SpaceMouse.advance"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3SpaceMouse.advance">[docs]</a>    <span class="k">def</span> <span class="nf">advance</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="nb">bool</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Provides the result from spacemouse event state.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the delta pose command and gripper commands.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">rot_vec</span> <span class="o">=</span> <span class="n">Rotation</span><span class="o">.</span><span class="n">from_euler</span><span class="p">(</span><span class="s2">&quot;XYZ&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span><span class="p">)</span><span class="o">.</span><span class="n">as_rotvec</span><span class="p">()</span>
+        <span class="c1"># if new command received, reset event flag to False until keyboard updated.</span>
+        <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">concatenate</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span><span class="p">,</span> <span class="n">rot_vec</span><span class="p">]),</span> <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helpers.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_find_device</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Find the device connected to computer.&quot;&quot;&quot;</span>
+        <span class="n">found</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="c1"># implement a timeout for device search</span>
+        <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">5</span><span class="p">):</span>
+            <span class="k">for</span> <span class="n">device</span> <span class="ow">in</span> <span class="n">hid</span><span class="o">.</span><span class="n">enumerate</span><span class="p">():</span>
+                <span class="k">if</span> <span class="n">device</span><span class="p">[</span><span class="s2">&quot;product_string&quot;</span><span class="p">]</span> <span class="o">==</span> <span class="s2">&quot;SpaceMouse Compact&quot;</span><span class="p">:</span>
+                    <span class="c1"># set found flag</span>
+                    <span class="n">found</span> <span class="o">=</span> <span class="kc">True</span>
+                    <span class="n">vendor_id</span> <span class="o">=</span> <span class="n">device</span><span class="p">[</span><span class="s2">&quot;vendor_id&quot;</span><span class="p">]</span>
+                    <span class="n">product_id</span> <span class="o">=</span> <span class="n">device</span><span class="p">[</span><span class="s2">&quot;product_id&quot;</span><span class="p">]</span>
+                    <span class="c1"># connect to the device</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="o">.</span><span class="n">open</span><span class="p">(</span><span class="n">vendor_id</span><span class="p">,</span> <span class="n">product_id</span><span class="p">)</span>
+            <span class="c1"># check if device found</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="n">found</span><span class="p">:</span>
+                <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">1.0</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">break</span>
+        <span class="c1"># no device found: return false</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">found</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">OSError</span><span class="p">(</span><span class="s2">&quot;No device found by SpaceMouse. Is the device connected?&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_run_device</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Listener thread that keeps pulling new messages.&quot;&quot;&quot;</span>
+        <span class="c1"># keep running</span>
+        <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
+            <span class="c1"># read the device data</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">7</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">data</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="c1"># readings from 6-DoF sensor</span>
+                <span class="k">if</span> <span class="n">data</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span> <span class="o">*</span> <span class="n">convert_buffer</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">data</span><span class="p">[</span><span class="mi">2</span><span class="p">])</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span> <span class="o">*</span> <span class="n">convert_buffer</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="mi">3</span><span class="p">],</span> <span class="n">data</span><span class="p">[</span><span class="mi">4</span><span class="p">])</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_delta_pos</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">pos_sensitivity</span> <span class="o">*</span> <span class="n">convert_buffer</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="mi">5</span><span class="p">],</span> <span class="n">data</span><span class="p">[</span><span class="mi">6</span><span class="p">])</span> <span class="o">*</span> <span class="o">-</span><span class="mf">1.0</span>
+                <span class="k">elif</span> <span class="n">data</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">==</span> <span class="mi">2</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_read_rotation</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span> <span class="o">*</span> <span class="n">convert_buffer</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">data</span><span class="p">[</span><span class="mi">2</span><span class="p">])</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span> <span class="o">*</span> <span class="n">convert_buffer</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="mi">3</span><span class="p">],</span> <span class="n">data</span><span class="p">[</span><span class="mi">4</span><span class="p">])</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_delta_rot</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">rot_sensitivity</span> <span class="o">*</span> <span class="n">convert_buffer</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="mi">5</span><span class="p">],</span> <span class="n">data</span><span class="p">[</span><span class="mi">6</span><span class="p">])</span>
+                <span class="c1"># readings from the side buttons</span>
+                <span class="k">elif</span> <span class="n">data</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">==</span> <span class="mi">3</span><span class="p">:</span>
+                    <span class="c1"># press left button</span>
+                    <span class="k">if</span> <span class="n">data</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+                        <span class="c1"># close gripper</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span> <span class="o">=</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_close_gripper</span>
+                        <span class="c1"># additional callbacks</span>
+                        <span class="k">if</span> <span class="s2">&quot;L&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">:</span>
+                            <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="s2">&quot;L&quot;</span><span class="p">]</span>
+                    <span class="c1"># right button is for reset</span>
+                    <span class="k">if</span> <span class="n">data</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+                        <span class="c1"># reset layer</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+                        <span class="c1"># additional callbacks</span>
+                        <span class="k">if</span> <span class="s2">&quot;R&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">:</span>
+                            <span class="bp">self</span><span class="o">.</span><span class="n">_additional_callbacks</span><span class="p">[</span><span class="s2">&quot;R&quot;</span><span class="p">]</span>
+                    <span class="k">if</span> <span class="n">data</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="mi">3</span><span class="p">:</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_read_rotation</span> <span class="o">=</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_read_rotation</span></div>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.envs.common</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Dict</span><span class="p">,</span> <span class="n">Literal</span><span class="p">,</span> <span class="n">TypeVar</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="c1">##</span>
+<span class="c1"># Configuration.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="ViewerCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ViewerCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration of the scene viewport camera.&quot;&quot;&quot;</span>
+
+    <span class="n">eye</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">7.5</span><span class="p">,</span> <span class="mf">7.5</span><span class="p">,</span> <span class="mf">7.5</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Initial camera position (in m). Default is (7.5, 7.5, 7.5).&quot;&quot;&quot;</span>
+
+    <span class="n">lookat</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Initial camera target position (in m). Default is (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+
+    <span class="n">cam_prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;/OmniverseKit_Persp&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The camera prim path to record images from. Default is &quot;/OmniverseKit_Persp&quot;,</span>
+<span class="sd">    which is the default camera in the viewport.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">resolution</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">int</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mi">1280</span><span class="p">,</span> <span class="mi">720</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The resolution (width, height) of the camera specified using :attr:`cam_prim_path`.</span>
+<span class="sd">    Default is (1280, 720).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">origin_type</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;world&quot;</span><span class="p">,</span> <span class="s2">&quot;env&quot;</span><span class="p">,</span> <span class="s2">&quot;asset_root&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;world&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The frame in which the camera position (eye) and target (lookat) are defined in. Default is &quot;world&quot;.</span>
+
+<span class="sd">    Available options are:</span>
+
+<span class="sd">    * ``&quot;world&quot;``: The origin of the world.</span>
+<span class="sd">    * ``&quot;env&quot;``: The origin of the environment defined by :attr:`env_index`.</span>
+<span class="sd">    * ``&quot;asset_root&quot;``: The center of the asset defined by :attr:`asset_name` in environment :attr:`env_index`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">env_index</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The environment index for frame origin. Default is 0.</span>
+
+<span class="sd">    This quantity is only effective if :attr:`origin` is set to &quot;env&quot; or &quot;asset_root&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">asset_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The asset name in the interactive scene for the frame origin. Default is None.</span>
+
+<span class="sd">    This quantity is only effective if :attr:`origin` is set to &quot;asset_root&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Types.</span>
+<span class="c1">##</span>
+
+<span class="n">SpaceType</span> <span class="o">=</span> <span class="n">TypeVar</span><span class="p">(</span><span class="s2">&quot;SpaceType&quot;</span><span class="p">,</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Space</span><span class="p">,</span> <span class="nb">int</span><span class="p">,</span> <span class="nb">set</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">,</span> <span class="nb">list</span><span class="p">,</span> <span class="nb">dict</span><span class="p">)</span>
+<span class="sd">&quot;&quot;&quot;A sentinel object to indicate a valid space type to specify states, observations and actions.&quot;&quot;&quot;</span>
+
+<span class="n">VecEnvObs</span> <span class="o">=</span> <span class="n">Dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="n">Dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]]</span>
+<span class="sd">&quot;&quot;&quot;Observation returned by the environment.</span>
+
+<span class="sd">The observations are stored in a dictionary. The keys are the group to which the observations belong.</span>
+<span class="sd">This is useful for various setups such as reinforcement learning with asymmetric actor-critic or</span>
+<span class="sd">multi-agent learning. For non-learning paradigms, this may include observations for different components</span>
+<span class="sd">of a system.</span>
+
+<span class="sd">Within each group, the observations can be stored either as a dictionary with keys as the names of each</span>
+<span class="sd">observation term in the group, or a single tensor obtained from concatenating all the observation terms.</span>
+<span class="sd">For example, for asymmetric actor-critic, the observation for the actor and the critic can be accessed</span>
+<span class="sd">using the keys ``&quot;policy&quot;`` and ``&quot;critic&quot;`` respectively.</span>
+
+<span class="sd">Note:</span>
+<span class="sd">    By default, most learning frameworks deal with default and privileged observations in different ways.</span>
+<span class="sd">    This handling must be taken care of by the wrapper around the :class:`ManagerBasedRLEnv` instance.</span>
+
+<span class="sd">    For included frameworks (RSL-RL, RL-Games, skrl), the observations must have the key &quot;policy&quot;. In case,</span>
+<span class="sd">    the key &quot;critic&quot; is also present, then the critic observations are taken from the &quot;critic&quot; group.</span>
+<span class="sd">    Otherwise, they are the same as the &quot;policy&quot; group.</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="n">VecEnvStepReturn</span> <span class="o">=</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">VecEnvObs</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="nb">dict</span><span class="p">]</span>
+<span class="sd">&quot;&quot;&quot;The environment signals processed at the end of each step.</span>
+
+<span class="sd">The tuple contains batched information for each sub-environment. The information is stored in the following order:</span>
+
+<span class="sd">1. **Observations**: The observations from the environment.</span>
+<span class="sd">2. **Rewards**: The rewards from the environment.</span>
+<span class="sd">3. **Terminated Dones**: Whether the environment reached a terminal state, such as task success or robot falling etc.</span>
+<span class="sd">4. **Timeout Dones**: Whether the environment reached a timeout state, such as end of max episode length.</span>
+<span class="sd">5. **Extras**: A dictionary containing additional information from the environment.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="n">AgentID</span> <span class="o">=</span> <span class="n">TypeVar</span><span class="p">(</span><span class="s2">&quot;AgentID&quot;</span><span class="p">)</span>
+<span class="sd">&quot;&quot;&quot;Unique identifier for an agent within a multi-agent environment.</span>
+
+<span class="sd">The identifier has to be an immutable object, typically a string (e.g.: ``&quot;agent_0&quot;``).</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="n">ObsType</span> <span class="o">=</span> <span class="n">TypeVar</span><span class="p">(</span><span class="s2">&quot;ObsType&quot;</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">Dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">])</span>
+<span class="sd">&quot;&quot;&quot;A sentinel object to indicate the data type of the observation.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="n">ActionType</span> <span class="o">=</span> <span class="n">TypeVar</span><span class="p">(</span><span class="s2">&quot;ActionType&quot;</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">Dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">])</span>
+<span class="sd">&quot;&quot;&quot;A sentinel object to indicate the data type of the action.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="n">StateType</span> <span class="o">=</span> <span class="n">TypeVar</span><span class="p">(</span><span class="s2">&quot;StateType&quot;</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="nb">dict</span><span class="p">)</span>
+<span class="sd">&quot;&quot;&quot;A sentinel object to indicate the data type of the state.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="n">EnvStepReturn</span> <span class="o">=</span> <span class="nb">tuple</span><span class="p">[</span>
+    <span class="n">Dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">ObsType</span><span class="p">],</span>
+    <span class="n">Dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">],</span>
+    <span class="n">Dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">],</span>
+    <span class="n">Dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">],</span>
+    <span class="n">Dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="nb">dict</span><span class="p">],</span>
+<span class="p">]</span>
+<span class="sd">&quot;&quot;&quot;The environment signals processed at the end of each step.</span>
+
+<span class="sd">The tuple contains batched information for each sub-environment (keyed by the agent ID).</span>
+<span class="sd">The information is stored in the following order:</span>
+
+<span class="sd">1. **Observations**: The observations from the environment.</span>
+<span class="sd">2. **Rewards**: The rewards from the environment.</span>
+<span class="sd">3. **Terminated Dones**: Whether the environment reached a terminal state, such as task success or robot falling etc.</span>
+<span class="sd">4. **Timeout Dones**: Whether the environment reached a timeout state, such as end of max episode length.</span>
+<span class="sd">5. **Extras**: A dictionary containing additional information from the environment.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.envs.direct_marl_env</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">builtins</span>
+<span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">math</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span><span class="p">,</span> <span class="n">ClassVar</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.torch</span> <span class="k">as</span> <span class="nn">torch_utils</span>
+<span class="kn">import</span> <span class="nn">omni.kit.app</span>
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.version</span> <span class="kn">import</span> <span class="n">get_version</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">EventManager</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.noise</span> <span class="kn">import</span> <span class="n">NoiseModel</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.timer</span> <span class="kn">import</span> <span class="n">Timer</span>
+
+<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="n">ActionType</span><span class="p">,</span> <span class="n">AgentID</span><span class="p">,</span> <span class="n">EnvStepReturn</span><span class="p">,</span> <span class="n">ObsType</span><span class="p">,</span> <span class="n">StateType</span>
+<span class="kn">from</span> <span class="nn">.direct_marl_env_cfg</span> <span class="kn">import</span> <span class="n">DirectMARLEnvCfg</span>
+<span class="kn">from</span> <span class="nn">.ui</span> <span class="kn">import</span> <span class="n">ViewportCameraController</span>
+<span class="kn">from</span> <span class="nn">.utils.spaces</span> <span class="kn">import</span> <span class="n">sample_space</span><span class="p">,</span> <span class="n">spec_to_gym_space</span>
+
+
+<div class="viewcode-block" id="DirectMARLEnv"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv">[docs]</a><span class="k">class</span> <span class="nc">DirectMARLEnv</span><span class="p">(</span><span class="n">gym</span><span class="o">.</span><span class="n">Env</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The superclass for the direct workflow to design multi-agent environments.</span>
+
+<span class="sd">    This class implements the core functionality for multi-agent reinforcement learning (MARL)</span>
+<span class="sd">    environments. It is designed to be used with any RL library. The class is designed</span>
+<span class="sd">    to be used with vectorized environments, i.e., the environment is expected to be run</span>
+<span class="sd">    in parallel with multiple sub-environments.</span>
+
+<span class="sd">    The design of this class is based on the PettingZoo Parallel API.</span>
+<span class="sd">    While the environment itself is implemented as a vectorized environment, we do not</span>
+<span class="sd">    inherit from :class:`pettingzoo.ParallelEnv` or :class:`gym.vector.VectorEnv`. This is mainly</span>
+<span class="sd">    because the class adds various attributes and methods that are inconsistent with them.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        For vectorized environments, it is recommended to **only** call the :meth:`reset`</span>
+<span class="sd">        method once before the first call to :meth:`step`, i.e. after the environment is created.</span>
+<span class="sd">        After that, the :meth:`step` function handles the reset of terminated sub-environments.</span>
+<span class="sd">        This is because the simulator does not support resetting individual sub-environments</span>
+<span class="sd">        in a vectorized environment.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">metadata</span><span class="p">:</span> <span class="n">ClassVar</span><span class="p">[</span><span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]]</span> <span class="o">=</span> <span class="p">{</span>
+        <span class="s2">&quot;render_modes&quot;</span><span class="p">:</span> <span class="p">[</span><span class="kc">None</span><span class="p">,</span> <span class="s2">&quot;human&quot;</span><span class="p">,</span> <span class="s2">&quot;rgb_array&quot;</span><span class="p">],</span>
+        <span class="s2">&quot;isaac_sim_version&quot;</span><span class="p">:</span> <span class="n">get_version</span><span class="p">(),</span>
+    <span class="p">}</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Metadata for the environment.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DirectMARLEnv.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">DirectMARLEnvCfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the environment.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object for the environment.</span>
+<span class="sd">            render_mode: The render mode for the environment. Defaults to None, which</span>
+<span class="sd">                is similar to ``&quot;human&quot;``.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If a simulation context already exists. The environment must always create one</span>
+<span class="sd">                since it configures the simulation context and controls the simulation.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that the config is valid</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">validate</span><span class="p">()</span>
+        <span class="c1"># store inputs to class</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="c1"># store the render mode</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">=</span> <span class="n">render_mode</span>
+        <span class="c1"># initialize internal variables</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_closed</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># set the seed for the environment</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;Seed not set for the environment. The environment creation may not be deterministic.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># create a simulation context to control the simulator</span>
+        <span class="k">if</span> <span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">:</span> <span class="n">SimulationContext</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;Simulation context already exists. Cannot create a new one.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># print useful information</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Base environment:&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Environment device    : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Environment seed      : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Physics step-size     : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">physics_dt</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Rendering step-size   : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">physics_dt</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Environment step-size : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="p">:</span>
+            <span class="n">msg</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;The render interval (</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span><span class="si">}</span><span class="s2">) is smaller than the decimation &quot;</span>
+                <span class="sa">f</span><span class="s2">&quot;(</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="si">}</span><span class="s2">). Multiple render calls will happen for each environment step.&quot;</span>
+                <span class="s2">&quot;If this is not intended, set the render interval to be equal to the decimation.&quot;</span>
+            <span class="p">)</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span>
+
+        <span class="c1"># generate scene</span>
+        <span class="k">with</span> <span class="n">Timer</span><span class="p">(</span><span class="s2">&quot;[INFO]: Time taken for scene creation&quot;</span><span class="p">,</span> <span class="s2">&quot;scene_creation&quot;</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">scene</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_setup_scene</span><span class="p">()</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Scene manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="p">)</span>
+
+        <span class="c1"># set up camera viewport controller</span>
+        <span class="c1"># viewport is not available in other rendering modes so the function will throw a warning</span>
+        <span class="c1"># FIXME: This needs to be fixed in the future when we unify the UI functionalities even for</span>
+        <span class="c1"># non-rendering modes.</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span> <span class="o">=</span> <span class="n">ViewportCameraController</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># play the simulator to activate physics handles</span>
+        <span class="c1"># note: this activates the physics simulation view that exposes TensorAPIs</span>
+        <span class="c1"># note: when started in extension mode, first call sim.reset_async() and then initialize the managers</span>
+        <span class="k">if</span> <span class="n">builtins</span><span class="o">.</span><span class="n">ISAAC_LAUNCHED_FROM_TERMINAL</span> <span class="ow">is</span> <span class="kc">False</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Starting the simulation. This may take a few seconds. Please wait...&quot;</span><span class="p">)</span>
+            <span class="k">with</span> <span class="n">Timer</span><span class="p">(</span><span class="s2">&quot;[INFO]: Time taken for simulation start&quot;</span><span class="p">,</span> <span class="s2">&quot;simulation_start&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+
+        <span class="c1"># -- event manager used for randomization</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span> <span class="o">=</span> <span class="n">EventManager</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Event Manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="p">)</span>
+
+        <span class="c1"># make sure torch is running on the correct device</span>
+        <span class="k">if</span> <span class="s2">&quot;cuda&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">:</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">cuda</span><span class="o">.</span><span class="n">set_device</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># check if debug visualization is has been implemented by the environment</span>
+        <span class="n">source_code</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">getsource</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span> <span class="o">=</span> <span class="s2">&quot;NotImplementedError&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">source_code</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># extend UI elements</span>
+        <span class="c1"># we need to do this here after all the managers are initialized</span>
+        <span class="c1"># this is because they dictate the sensors and commands right now</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">()</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ui_window_class_type</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ui_window_class_type</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">window_name</span><span class="o">=</span><span class="s2">&quot;IsaacLab&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># if no window, then we don&#39;t need to store the window</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># allocate dictionary to store metrics</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span> <span class="o">=</span> <span class="p">{</span><span class="n">agent</span><span class="p">:</span> <span class="p">{}</span> <span class="k">for</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">possible_agents</span><span class="p">}</span>
+
+        <span class="c1"># initialize data and constants</span>
+        <span class="c1"># -- counter for simulation steps</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># -- counter for curriculum</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">common_step_counter</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># -- init buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">bool</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># setup the observation, state and action spaces</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_configure_env_spaces</span><span class="p">()</span>
+
+        <span class="c1"># setup noise cfg for adding action and observation noise</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_noise_model</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_action_noise_model</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">NoiseModel</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span>
+                <span class="n">agent</span><span class="p">:</span> <span class="n">noise_model</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">noise_model</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+                <span class="k">for</span> <span class="n">agent</span><span class="p">,</span> <span class="n">noise_model</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_noise_model</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+                <span class="k">if</span> <span class="n">noise_model</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span>
+            <span class="p">}</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_noise_model</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_observation_noise_model</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">NoiseModel</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span>
+                <span class="n">agent</span><span class="p">:</span> <span class="n">noise_model</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">noise_model</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+                <span class="k">for</span> <span class="n">agent</span><span class="p">,</span> <span class="n">noise_model</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_noise_model</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+                <span class="k">if</span> <span class="n">noise_model</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span>
+            <span class="p">}</span>
+
+        <span class="c1"># perform events at the start of the simulation</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">:</span>
+            <span class="k">if</span> <span class="s2">&quot;startup&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;startup&quot;</span><span class="p">)</span>
+
+        <span class="c1"># print the environment information</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Completed setting up the environment...&quot;</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Cleanup for the environment.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_envs</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The number of instances of the environment that are running.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_agents</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of current agents.</span>
+
+<span class="sd">        The number of current agents may change as the environment progresses (e.g.: agents can be added or removed).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">agents</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_num_agents</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of all possible agents the environment can generate.</span>
+
+<span class="sd">        This value remains constant as the environment progresses.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">possible_agents</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">unwrapped</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">DirectMARLEnv</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get the unwrapped environment underneath all the layers of wrappers.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">physics_dt</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The physics time-step (in s).</span>
+
+<span class="sd">        This is the lowest time-decimation at which the simulation is happening.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">step_dt</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The environment stepping time-step (in s).</span>
+
+<span class="sd">        This is the time-step at which the environment steps forward.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The device on which the environment is running.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_episode_length_s</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Maximum episode length in seconds.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">episode_length_s</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_episode_length</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The maximum episode length in steps adjusted from s.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math</span><span class="o">.</span><span class="n">ceil</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">max_episode_length_s</span> <span class="o">/</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="p">))</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Space methods</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DirectMARLEnv.observation_space"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.observation_space">[docs]</a>    <span class="k">def</span> <span class="nf">observation_space</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">agent</span><span class="p">:</span> <span class="n">AgentID</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">gym</span><span class="o">.</span><span class="n">Space</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get the observation space for the specified agent.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The agent&#39;s observation space.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_spaces</span><span class="p">[</span><span class="n">agent</span><span class="p">]</span></div>
+
+<div class="viewcode-block" id="DirectMARLEnv.action_space"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.action_space">[docs]</a>    <span class="k">def</span> <span class="nf">action_space</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">agent</span><span class="p">:</span> <span class="n">AgentID</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">gym</span><span class="o">.</span><span class="n">Space</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get the action space for the specified agent.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The agent&#39;s action space.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_spaces</span><span class="p">[</span><span class="n">agent</span><span class="p">]</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DirectMARLEnv.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">options</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">ObsType</span><span class="p">],</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="nb">dict</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets all the environments and returns observations.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            seed: The seed to use for randomization. Defaults to None, in which case the seed is not set.</span>
+<span class="sd">            options: Additional information to specify how the environment is reset. Defaults to None.</span>
+
+<span class="sd">                Note:</span>
+<span class="sd">                    This argument is used for compatibility with Gymnasium environment definition.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the observations and extras (keyed by the agent ID).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set the seed</span>
+        <span class="k">if</span> <span class="n">seed</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
+
+        <span class="c1"># reset state of scene</span>
+        <span class="n">indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int64</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">indices</span><span class="p">)</span>
+
+        <span class="c1"># update observations and the list of current agents (sorted as in possible_agents)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">obs_dict</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_observations</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">agents</span> <span class="o">=</span> <span class="p">[</span><span class="n">agent</span> <span class="k">for</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">possible_agents</span> <span class="k">if</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_dict</span><span class="p">]</span>
+
+        <span class="c1"># return observations</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_dict</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">extras</span></div>
+
+<div class="viewcode-block" id="DirectMARLEnv.step"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.step">[docs]</a>    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">ActionType</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">EnvStepReturn</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Execute one time-step of the environment&#39;s dynamics.</span>
+
+<span class="sd">        The environment steps forward at a fixed time-step, while the physics simulation is decimated at a</span>
+<span class="sd">        lower time-step. This is to ensure that the simulation is stable. These two time-steps can be configured</span>
+<span class="sd">        independently using the :attr:`DirectMARLEnvCfg.decimation` (number of simulation steps per environment step)</span>
+<span class="sd">        and the :attr:`DirectMARLEnvCfg.sim.physics_dt` (physics time-step). Based on these parameters, the environment</span>
+<span class="sd">        time-step is computed as the product of the two.</span>
+
+<span class="sd">        This function performs the following steps:</span>
+
+<span class="sd">        1. Pre-process the actions before stepping through the physics.</span>
+<span class="sd">        2. Apply the actions to the simulator and step through the physics in a decimated manner.</span>
+<span class="sd">        3. Compute the reward and done signals.</span>
+<span class="sd">        4. Reset environments that have terminated or reached the maximum episode length.</span>
+<span class="sd">        5. Apply interval events if they are enabled.</span>
+<span class="sd">        6. Compute observations.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            actions: The actions to apply on the environment (keyed by the agent ID).</span>
+<span class="sd">                Shape of individual tensors is (num_envs, action_dim).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the observations, rewards, resets (terminated and truncated) and extras (keyed by the agent ID).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">actions</span> <span class="o">=</span> <span class="p">{</span><span class="n">agent</span><span class="p">:</span> <span class="n">action</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span> <span class="k">for</span> <span class="n">agent</span><span class="p">,</span> <span class="n">action</span> <span class="ow">in</span> <span class="n">actions</span><span class="o">.</span><span class="n">items</span><span class="p">()}</span>
+
+        <span class="c1"># add action noise</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_noise_model</span><span class="p">:</span>
+            <span class="k">for</span> <span class="n">agent</span><span class="p">,</span> <span class="n">action</span> <span class="ow">in</span> <span class="n">actions</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                <span class="k">if</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_action_noise_model</span><span class="p">:</span>
+                    <span class="n">actions</span><span class="p">[</span><span class="n">agent</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_action_noise_model</span><span class="p">[</span><span class="n">agent</span><span class="p">]</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
+        <span class="c1"># process actions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_pre_physics_step</span><span class="p">(</span><span class="n">actions</span><span class="p">)</span>
+
+        <span class="c1"># check if we need to do rendering within the physics loop</span>
+        <span class="c1"># note: checked here once to avoid multiple checks within the loop</span>
+        <span class="n">is_rendering</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">()</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span>
+
+        <span class="c1"># perform physics stepping</span>
+        <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">+=</span> <span class="mi">1</span>
+            <span class="c1"># set actions into buffers</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_apply_action</span><span class="p">()</span>
+            <span class="c1"># set actions into simulator</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+            <span class="c1"># simulate</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">render</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+            <span class="c1"># render between steps only if the GUI or an RTX sensor needs it</span>
+            <span class="c1"># note: we assume the render interval to be the shortest accepted rendering interval.</span>
+            <span class="c1">#    If a camera needs rendering at a faster frequency, this will lead to unexpected behavior.</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">%</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span> <span class="o">==</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">is_rendering</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+            <span class="c1"># update buffers at sim dt</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">physics_dt</span><span class="p">)</span>
+
+        <span class="c1"># post-step:</span>
+        <span class="c1"># -- update env counters (used for curriculum generation)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">+=</span> <span class="mi">1</span>  <span class="c1"># step in current episode (per env)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">common_step_counter</span> <span class="o">+=</span> <span class="mi">1</span>  <span class="c1"># total step (common for all envs)</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">terminated_dict</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">time_out_dict</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_dones</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">math</span><span class="o">.</span><span class="n">prod</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">terminated_dict</span><span class="o">.</span><span class="n">values</span><span class="p">())</span> <span class="o">|</span> <span class="n">math</span><span class="o">.</span><span class="n">prod</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">time_out_dict</span><span class="o">.</span><span class="n">values</span><span class="p">())</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reward_dict</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_rewards</span><span class="p">()</span>
+
+        <span class="c1"># -- reset envs that terminated/timed-out and log the episode information</span>
+        <span class="n">reset_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="o">.</span><span class="n">nonzero</span><span class="p">(</span><span class="n">as_tuple</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span>
+
+        <span class="c1"># post-step: step interval event</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">:</span>
+            <span class="k">if</span> <span class="s2">&quot;interval&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;interval&quot;</span><span class="p">,</span> <span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span><span class="p">)</span>
+
+        <span class="c1"># update observations and the list of current agents (sorted as in possible_agents)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">obs_dict</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_observations</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">agents</span> <span class="o">=</span> <span class="p">[</span><span class="n">agent</span> <span class="k">for</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">possible_agents</span> <span class="k">if</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_dict</span><span class="p">]</span>
+
+        <span class="c1"># add observation noise</span>
+        <span class="c1"># note: we apply no noise to the state space (since it is used for centralized training or critic networks)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_noise_model</span><span class="p">:</span>
+            <span class="k">for</span> <span class="n">agent</span><span class="p">,</span> <span class="n">obs</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_dict</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                <span class="k">if</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_observation_noise_model</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">obs_dict</span><span class="p">[</span><span class="n">agent</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_observation_noise_model</span><span class="p">[</span><span class="n">agent</span><span class="p">]</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">obs</span><span class="p">)</span>
+
+        <span class="c1"># return observations, rewards, resets and extras</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_dict</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">reward_dict</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">terminated_dict</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">time_out_dict</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">extras</span></div>
+
+<div class="viewcode-block" id="DirectMARLEnv.state"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.state">[docs]</a>    <span class="k">def</span> <span class="nf">state</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">StateType</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the state for the environment.</span>
+
+<span class="sd">        The state-space is used for centralized training or asymmetric actor-critic architectures. It is configured</span>
+<span class="sd">        using the :attr:`DirectMARLEnvCfg.state_space` parameter.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The states for the environment, or None if :attr:`DirectMARLEnvCfg.state_space` parameter is zero.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">None</span>
+        <span class="c1"># concatenate and return the observations as state</span>
+        <span class="c1"># FIXME: This implementation assumes the spaces are fundamental ones. Fix it to support composite spaces</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span><span class="p">,</span> <span class="nb">int</span><span class="p">)</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span> <span class="o">&lt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">state_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span>
+                <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">obs_dict</span><span class="p">[</span><span class="n">agent</span><span class="p">]</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="k">for</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">possible_agents</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span>
+            <span class="p">)</span>
+        <span class="c1"># compute and return custom environment state</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">state_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_states</span><span class="p">()</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">state_buf</span></div>
+
+<div class="viewcode-block" id="DirectMARLEnv.seed"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.seed">[docs]</a>    <span class="nd">@staticmethod</span>
+    <span class="k">def</span> <span class="nf">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the seed for the environment.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            seed: The seed for random generator. Defaults to -1.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The seed used for random generator.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set seed for replicator</span>
+        <span class="k">try</span><span class="p">:</span>
+            <span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+
+            <span class="n">rep</span><span class="o">.</span><span class="n">set_global_seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
+        <span class="k">except</span> <span class="ne">ModuleNotFoundError</span><span class="p">:</span>
+            <span class="k">pass</span>
+        <span class="c1"># set seed for torch and other libraries</span>
+        <span class="k">return</span> <span class="n">torch_utils</span><span class="o">.</span><span class="n">set_seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="DirectMARLEnv.render"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.render">[docs]</a>    <span class="k">def</span> <span class="nf">render</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">recompute</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Run rendering without stepping through the physics.</span>
+
+<span class="sd">        By convention, if mode is:</span>
+
+<span class="sd">        - **human**: Render to the current display and return nothing. Usually for human consumption.</span>
+<span class="sd">        - **rgb_array**: Return an numpy.ndarray with shape (x, y, 3), representing RGB values for an</span>
+<span class="sd">          x-by-y pixel image, suitable for turning into a video.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            recompute: Whether to force a render even if the simulator has already rendered the scene.</span>
+<span class="sd">                Defaults to False.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The rendered image as a numpy array if mode is &quot;rgb_array&quot;. Otherwise, returns None.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If mode is set to &quot;rgb_data&quot; and simulation render mode does not support it.</span>
+<span class="sd">                In this case, the simulation render mode must be set to ``RenderMode.PARTIAL_RENDERING``</span>
+<span class="sd">                or ``RenderMode.FULL_RENDERING``.</span>
+<span class="sd">            NotImplementedError: If an unsupported rendering mode is specified.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># run a rendering step of the simulator</span>
+        <span class="c1"># if we have rtx sensors, we do not need to render again sin</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">recompute</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+        <span class="c1"># decide the rendering mode</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">==</span> <span class="s2">&quot;human&quot;</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">None</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">==</span> <span class="s2">&quot;rgb_array&quot;</span><span class="p">:</span>
+            <span class="c1"># check that if any render could have happened</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_mode</span><span class="o">.</span><span class="n">value</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span><span class="o">.</span><span class="n">value</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Cannot render &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span><span class="si">}</span><span class="s2">&#39; when the simulation render mode is&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_mode</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39;. Please set the simulation render mode to:&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot;&#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39; or &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">FULL_RENDERING</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                    <span class="s2">&quot; If running headless, make sure --enable_cameras is set.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># create the annotator if it does not exist</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;_rgb_annotator&quot;</span><span class="p">):</span>
+                <span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+
+                <span class="c1"># create render product</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_render_product</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">create</span><span class="o">.</span><span class="n">render_product</span><span class="p">(</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">cam_prim_path</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">resolution</span>
+                <span class="p">)</span>
+                <span class="c1"># create rgb annotator -- used to read data from the render product</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_rgb_annotator</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">AnnotatorRegistry</span><span class="o">.</span><span class="n">get_annotator</span><span class="p">(</span><span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_rgb_annotator</span><span class="o">.</span><span class="n">attach</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">_render_product</span><span class="p">])</span>
+            <span class="c1"># obtain the rgb data</span>
+            <span class="n">rgb_data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rgb_annotator</span><span class="o">.</span><span class="n">get_data</span><span class="p">()</span>
+            <span class="c1"># convert to numpy array</span>
+            <span class="n">rgb_data</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">frombuffer</span><span class="p">(</span><span class="n">rgb_data</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">*</span><span class="n">rgb_data</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+            <span class="c1"># return the rgb data</span>
+            <span class="c1"># note: initially the renderer is warming up and returns empty data</span>
+            <span class="k">if</span> <span class="n">rgb_data</span><span class="o">.</span><span class="n">size</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">resolution</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">resolution</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">3</span><span class="p">),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">return</span> <span class="n">rgb_data</span><span class="p">[:,</span> <span class="p">:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Render mode &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span><span class="si">}</span><span class="s2">&#39; is not supported. Please use: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">metadata</span><span class="p">[</span><span class="s1">&#39;render_modes&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2">.&quot;</span>
+            <span class="p">)</span></div>
+
+<div class="viewcode-block" id="DirectMARLEnv.close"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.close">[docs]</a>    <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Cleanup for the environment.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_closed</span><span class="p">:</span>
+            <span class="c1"># close entities related to the environment</span>
+            <span class="c1"># note: this is order-sensitive to avoid any dangling references</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">:</span>
+                <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span>
+            <span class="c1"># clear callbacks and instance</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">clear_all_callbacks</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">clear_instance</span><span class="p">()</span>
+            <span class="c1"># destroy the window</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="o">=</span> <span class="kc">None</span>
+            <span class="c1"># update closing status</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_is_closed</span> <span class="o">=</span> <span class="kc">True</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Debug Visualization.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DirectMARLEnv.set_debug_vis"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.set_debug_vis">[docs]</a>    <span class="k">def</span> <span class="nf">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Toggles the environment debug visualization.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            debug_vis: Whether to visualize the environment debug visualization.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Whether the debug visualization was successfully set. False if the environment</span>
+<span class="sd">            does not support debug visualization.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if debug visualization is supported</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">False</span>
+        <span class="c1"># toggle debug visualization objects</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">(</span><span class="n">debug_vis</span><span class="p">)</span>
+        <span class="c1"># toggle debug visualization handles</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="c1"># create a subscriber for the post update event if it doesn&#39;t exist</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">app_interface</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">get_app_interface</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="n">app_interface</span><span class="o">.</span><span class="n">get_post_update_event_stream</span><span class="p">()</span><span class="o">.</span><span class="n">create_subscription_to_pop</span><span class="p">(</span>
+                    <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_debug_vis_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># remove the subscriber if it exists</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># return success</span>
+        <span class="k">return</span> <span class="kc">True</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_configure_env_spaces</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Configure the spaces for the environment.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">agents</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">possible_agents</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">possible_agents</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">possible_agents</span>
+
+        <span class="c1"># show deprecation message and overwrite configuration</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_actions</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;DirectMARLEnvCfg.num_actions is deprecated. Use DirectMARLEnvCfg.action_spaces instead.&quot;</span><span class="p">)</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_spaces</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="n">MISSING</span><span class="p">)):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_spaces</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_actions</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_observations</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DirectMARLEnvCfg.num_observations is deprecated. Use DirectMARLEnvCfg.observation_spaces instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_spaces</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="n">MISSING</span><span class="p">)):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_spaces</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_observations</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_states</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;DirectMARLEnvCfg.num_states is deprecated. Use DirectMARLEnvCfg.state_space instead.&quot;</span><span class="p">)</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="n">MISSING</span><span class="p">)):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_states</span>
+
+        <span class="c1"># set up observation and action spaces</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">observation_spaces</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="n">agent</span><span class="p">:</span> <span class="n">spec_to_gym_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_spaces</span><span class="p">[</span><span class="n">agent</span><span class="p">])</span> <span class="k">for</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">possible_agents</span>
+        <span class="p">}</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">action_spaces</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="n">agent</span><span class="p">:</span> <span class="n">spec_to_gym_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_spaces</span><span class="p">[</span><span class="n">agent</span><span class="p">])</span> <span class="k">for</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">possible_agents</span>
+        <span class="p">}</span>
+
+        <span class="c1"># set up state space</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span><span class="p">,</span> <span class="nb">int</span><span class="p">)</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span> <span class="o">&lt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">flatten_space</span><span class="p">(</span>
+                <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Tuple</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">observation_spaces</span><span class="p">[</span><span class="n">agent</span><span class="p">]</span> <span class="k">for</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">possible_agents</span><span class="p">])</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span> <span class="o">=</span> <span class="n">spec_to_gym_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span><span class="p">)</span>
+
+        <span class="c1"># instantiate actions (needed for tasks for which the observations computation is dependent on the actions)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">actions</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="n">agent</span><span class="p">:</span> <span class="n">sample_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">action_spaces</span><span class="p">[</span><span class="n">agent</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">batch_size</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">fill_value</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+            <span class="k">for</span> <span class="n">agent</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">possible_agents</span>
+        <span class="p">}</span>
+
+    <span class="k">def</span> <span class="nf">_reset_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset environments based on specified indices.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: List of environment ids which must be reset</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># apply events such as randomization for environments that need a reset</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">:</span>
+            <span class="k">if</span> <span class="s2">&quot;reset&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+                <span class="n">env_step_count</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">//</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">global_env_step_count</span><span class="o">=</span><span class="n">env_step_count</span><span class="p">)</span>
+
+        <span class="c1"># reset noise models</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_noise_model</span><span class="p">:</span>
+            <span class="k">for</span> <span class="n">noise_model</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_action_noise_model</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+                <span class="n">noise_model</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_noise_model</span><span class="p">:</span>
+            <span class="k">for</span> <span class="n">noise_model</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_observation_noise_model</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+                <span class="n">noise_model</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># reset the episode length buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation-specific functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_setup_scene</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Setup the scene for the environment.</span>
+
+<span class="sd">        This function is responsible for creating the scene objects and setting up the scene for the environment.</span>
+<span class="sd">        The scene creation can happen through :class:`omni.isaac.lab.scene.InteractiveSceneCfg` or through</span>
+<span class="sd">        directly creating the scene objects and registering them with the scene manager.</span>
+
+<span class="sd">        We leave the implementation of this function to the derived classes. If the environment does not require</span>
+<span class="sd">        any explicit scene setup, the function can be left empty.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">pass</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_pre_physics_step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">ActionType</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Pre-process actions before stepping through the physics.</span>
+
+<span class="sd">        This function is responsible for pre-processing the actions before stepping through the physics.</span>
+<span class="sd">        It is called before the physics stepping (which is decimated).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            actions: The actions to apply on the environment (keyed by the agent ID).</span>
+<span class="sd">                Shape of individual tensors is (num_envs, action_dim).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_pre_physics_step&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_apply_action</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Apply actions to the simulator.</span>
+
+<span class="sd">        This function is responsible for applying the actions to the simulator. It is called at each</span>
+<span class="sd">        physics time-step.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_apply_action&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_get_observations</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">ObsType</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute and return the observations for the environment.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The observations for the environment (keyed by the agent ID).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_get_observations&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_get_states</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">StateType</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute and return the states for the environment.</span>
+
+<span class="sd">        This method is only called (and therefore has to be implemented) when the :attr:`DirectMARLEnvCfg.state_space`</span>
+<span class="sd">        parameter is not a number less than or equal to zero.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The states for the environment.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_get_states&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_get_rewards</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute and return the rewards for the environment.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The rewards for the environment (keyed by the agent ID).</span>
+<span class="sd">            Shape of individual tensors is (num_envs,).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_get_rewards&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_get_dones</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">],</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute and return the done flags for the environment.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the done flags for termination and time-out (keyed by the agent ID).</span>
+<span class="sd">            Shape of individual tensors is (num_envs,).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_get_dones&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set debug visualization into visualization objects.</span>
+
+<span class="sd">        This function is responsible for creating the visualization objects if they don&#39;t exist</span>
+<span class="sd">        and input ``debug_vis`` is True. If the visualization objects exist, the function should</span>
+<span class="sd">        set their visibility into the stage.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Debug visualization is not implemented for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
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new file mode 100644
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+  <h1>Source code for omni.isaac.lab.envs.direct_marl_env_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.noise</span> <span class="kn">import</span> <span class="n">NoiseModelCfg</span>
+
+<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="n">AgentID</span><span class="p">,</span> <span class="n">SpaceType</span><span class="p">,</span> <span class="n">ViewerCfg</span>
+<span class="kn">from</span> <span class="nn">.ui</span> <span class="kn">import</span> <span class="n">BaseEnvWindow</span>
+
+
+<div class="viewcode-block" id="DirectMARLEnvCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DirectMARLEnvCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a MARL environment defined with the direct workflow.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.envs.direct_marl_env.DirectMARLEnv` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># simulation settings</span>
+    <span class="n">viewer</span><span class="p">:</span> <span class="n">ViewerCfg</span> <span class="o">=</span> <span class="n">ViewerCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Viewer configuration. Default is ViewerCfg().&quot;&quot;&quot;</span>
+
+    <span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Physics simulation configuration. Default is SimulationCfg().&quot;&quot;&quot;</span>
+
+    <span class="c1"># ui settings</span>
+    <span class="n">ui_window_class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="n">BaseEnvWindow</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The class type of the UI window. Default is None.</span>
+
+<span class="sd">    If None, then no UI window is created.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If you want to make your own UI window, you can create a class that inherits from</span>
+<span class="sd">        from :class:`omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow`. Then, you can set</span>
+<span class="sd">        this attribute to your class type.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># general settings</span>
+    <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The seed for the random number generator. Defaults to None, in which case the seed is not set.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">      The seed is set at the beginning of the environment initialization. This ensures that the environment</span>
+<span class="sd">      creation is deterministic and behaves similarly across different runs.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">decimation</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of control action updates @ sim dt per policy dt.</span>
+
+<span class="sd">    For instance, if the simulation dt is 0.01s and the policy dt is 0.1s, then the decimation is 10.</span>
+<span class="sd">    This means that the control action is updated every 10 simulation steps.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">is_finite_horizon</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the learning task is treated as a finite or infinite horizon problem for the agent.</span>
+<span class="sd">    Defaults to False, which means the task is treated as an infinite horizon problem.</span>
+
+<span class="sd">    This flag handles the subtleties of finite and infinite horizon tasks:</span>
+
+<span class="sd">    * **Finite horizon**: no penalty or bootstrapping value is required by the the agent for</span>
+<span class="sd">      running out of time. However, the environment still needs to terminate the episode after the</span>
+<span class="sd">      time limit is reached.</span>
+<span class="sd">    * **Infinite horizon**: the agent needs to bootstrap the value of the state at the end of the episode.</span>
+<span class="sd">      This is done by sending a time-limit (or truncated) done signal to the agent, which triggers this</span>
+<span class="sd">      bootstrapping calculation.</span>
+
+<span class="sd">    If True, then the environment is treated as a finite horizon problem and no time-out (or truncated) done signal</span>
+<span class="sd">    is sent to the agent. If False, then the environment is treated as an infinite horizon problem and a time-out</span>
+<span class="sd">    (or truncated) done signal is sent to the agent.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The base :class:`ManagerBasedRLEnv` class does not use this flag directly. It is used by the environment</span>
+<span class="sd">        wrappers to determine what type of done signal to send to the corresponding learning agent.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">episode_length_s</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Duration of an episode (in seconds).</span>
+
+<span class="sd">    Based on the decimation rate and physics time step, the episode length is calculated as:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        episode_length_steps = ceil(episode_length_s / (decimation_rate * physics_time_step))</span>
+
+<span class="sd">    For example, if the decimation rate is 10, the physics time step is 0.01, and the episode length is 10 seconds,</span>
+<span class="sd">    then the episode length in steps is 100.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># environment settings</span>
+    <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scene settings.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.scene.InteractiveSceneCfg` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">events</span><span class="p">:</span> <span class="nb">object</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Event settings. Defaults to None, in which case no events are applied through the event manager.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.managers.EventManager` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">observation_spaces</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">SpaceType</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Observation space definition for each agent.</span>
+
+<span class="sd">    The space can be defined either using Gymnasium :py:mod:`~gymnasium.spaces` (when a more detailed</span>
+<span class="sd">    specification of the space is desired) or basic Python data types (for simplicity).</span>
+
+<span class="sd">    .. list-table::</span>
+<span class="sd">        :header-rows: 1</span>
+
+<span class="sd">        * - Gymnasium space</span>
+<span class="sd">          - Python data type</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Box`</span>
+<span class="sd">          - Integer or list of integers (e.g.: ``7``, ``[64, 64, 3]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Discrete`</span>
+<span class="sd">          - Single-element set (e.g.: ``{2}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.MultiDiscrete`</span>
+<span class="sd">          - List of single-element sets (e.g.: ``[{2}, {5}]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Dict`</span>
+<span class="sd">          - Dictionary (e.g.: ``{&quot;joints&quot;: 7, &quot;rgb&quot;: [64, 64, 3], &quot;gripper&quot;: {2}}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Tuple`</span>
+<span class="sd">          - Tuple (e.g.: ``(7, [64, 64, 3], {2})``)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">num_observations</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dimension of the observation space for each agent.</span>
+
+<span class="sd">    .. warning::</span>
+
+<span class="sd">        This attribute is deprecated. Use :attr:`~omni.isaac.lab.envs.DirectMARLEnvCfg.observation_spaces` instead.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">state_space</span><span class="p">:</span> <span class="n">SpaceType</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;State space definition.</span>
+
+<span class="sd">    The following values are supported:</span>
+
+<span class="sd">    * -1: All the observations from the different agents are automatically concatenated.</span>
+<span class="sd">    * 0: No state-space will be constructed (`state_space` is None).</span>
+<span class="sd">      This is useful to save computational resources when the algorithm to be trained does not need it.</span>
+<span class="sd">    * greater than 0: Custom state-space dimension to be provided by the task implementation.</span>
+
+<span class="sd">    The space can be defined either using Gymnasium :py:mod:`~gymnasium.spaces` (when a more detailed</span>
+<span class="sd">    specification of the space is desired) or basic Python data types (for simplicity).</span>
+
+<span class="sd">    .. list-table::</span>
+<span class="sd">        :header-rows: 1</span>
+
+<span class="sd">        * - Gymnasium space</span>
+<span class="sd">          - Python data type</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Box`</span>
+<span class="sd">          - Integer or list of integers (e.g.: ``7``, ``[64, 64, 3]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Discrete`</span>
+<span class="sd">          - Single-element set (e.g.: ``{2}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.MultiDiscrete`</span>
+<span class="sd">          - List of single-element sets (e.g.: ``[{2}, {5}]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Dict`</span>
+<span class="sd">          - Dictionary (e.g.: ``{&quot;joints&quot;: 7, &quot;rgb&quot;: [64, 64, 3], &quot;gripper&quot;: {2}}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Tuple`</span>
+<span class="sd">          - Tuple (e.g.: ``(7, [64, 64, 3], {2})``)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">num_states</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dimension of the state space from each environment instance.</span>
+
+<span class="sd">    .. warning::</span>
+
+<span class="sd">        This attribute is deprecated. Use :attr:`~omni.isaac.lab.envs.DirectMARLEnvCfg.state_space` instead.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">observation_noise_model</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">NoiseModelCfg</span> <span class="o">|</span> <span class="kc">None</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The noise model to apply to the computed observations from the environment. Default is None, which means no noise is added.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.utils.noise.NoiseModel` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">action_spaces</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">SpaceType</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Action space definition for each agent.</span>
+
+<span class="sd">    The space can be defined either using Gymnasium :py:mod:`~gymnasium.spaces` (when a more detailed</span>
+<span class="sd">    specification of the space is desired) or basic Python data types (for simplicity).</span>
+
+<span class="sd">    .. list-table::</span>
+<span class="sd">        :header-rows: 1</span>
+
+<span class="sd">        * - Gymnasium space</span>
+<span class="sd">          - Python data type</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Box`</span>
+<span class="sd">          - Integer or list of integers (e.g.: ``7``, ``[64, 64, 3]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Discrete`</span>
+<span class="sd">          - Single-element set (e.g.: ``{2}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.MultiDiscrete`</span>
+<span class="sd">          - List of single-element sets (e.g.: ``[{2}, {5}]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Dict`</span>
+<span class="sd">          - Dictionary (e.g.: ``{&quot;joints&quot;: 7, &quot;rgb&quot;: [64, 64, 3], &quot;gripper&quot;: {2}}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Tuple`</span>
+<span class="sd">          - Tuple (e.g.: ``(7, [64, 64, 3], {2})``)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">num_actions</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dimension of the action space for each agent.</span>
+
+<span class="sd">    .. warning::</span>
+
+<span class="sd">        This attribute is deprecated. Use :attr:`~omni.isaac.lab.envs.DirectMARLEnvCfg.action_spaces` instead.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">action_noise_model</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="n">AgentID</span><span class="p">,</span> <span class="n">NoiseModelCfg</span> <span class="o">|</span> <span class="kc">None</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The noise model applied to the actions provided to the environment. Default is None, which means no noise is added.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.utils.noise.NoiseModel` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">possible_agents</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">AgentID</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A list of all possible agents the environment could generate.</span>
+
+<span class="sd">    The contents of the list cannot be modified during the entire training process.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.envs.direct_rl_env</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">builtins</span>
+<span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">math</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span><span class="p">,</span> <span class="n">ClassVar</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.torch</span> <span class="k">as</span> <span class="nn">torch_utils</span>
+<span class="kn">import</span> <span class="nn">omni.kit.app</span>
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.version</span> <span class="kn">import</span> <span class="n">get_version</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">EventManager</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.noise</span> <span class="kn">import</span> <span class="n">NoiseModel</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.timer</span> <span class="kn">import</span> <span class="n">Timer</span>
+
+<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="n">VecEnvObs</span><span class="p">,</span> <span class="n">VecEnvStepReturn</span>
+<span class="kn">from</span> <span class="nn">.direct_rl_env_cfg</span> <span class="kn">import</span> <span class="n">DirectRLEnvCfg</span>
+<span class="kn">from</span> <span class="nn">.ui</span> <span class="kn">import</span> <span class="n">ViewportCameraController</span>
+<span class="kn">from</span> <span class="nn">.utils.spaces</span> <span class="kn">import</span> <span class="n">sample_space</span><span class="p">,</span> <span class="n">spec_to_gym_space</span>
+
+
+<div class="viewcode-block" id="DirectRLEnv"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv">[docs]</a><span class="k">class</span> <span class="nc">DirectRLEnv</span><span class="p">(</span><span class="n">gym</span><span class="o">.</span><span class="n">Env</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The superclass for the direct workflow to design environments.</span>
+
+<span class="sd">    This class implements the core functionality for reinforcement learning (RL)</span>
+<span class="sd">    environments. It is designed to be used with any RL library. The class is designed</span>
+<span class="sd">    to be used with vectorized environments, i.e., the environment is expected to be run</span>
+<span class="sd">    in parallel with multiple sub-environments.</span>
+
+<span class="sd">    While the environment itself is implemented as a vectorized environment, we do not</span>
+<span class="sd">    inherit from :class:`gym.vector.VectorEnv`. This is mainly because the class adds</span>
+<span class="sd">    various methods (for wait and asynchronous updates) which are not required.</span>
+<span class="sd">    Additionally, each RL library typically has its own definition for a vectorized</span>
+<span class="sd">    environment. Thus, to reduce complexity, we directly use the :class:`gym.Env` over</span>
+<span class="sd">    here and leave it up to library-defined wrappers to take care of wrapping this</span>
+<span class="sd">    environment for their agents.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        For vectorized environments, it is recommended to **only** call the :meth:`reset`</span>
+<span class="sd">        method once before the first call to :meth:`step`, i.e. after the environment is created.</span>
+<span class="sd">        After that, the :meth:`step` function handles the reset of terminated sub-environments.</span>
+<span class="sd">        This is because the simulator does not support resetting individual sub-environments</span>
+<span class="sd">        in a vectorized environment.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">is_vector_env</span><span class="p">:</span> <span class="n">ClassVar</span><span class="p">[</span><span class="nb">bool</span><span class="p">]</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the environment is a vectorized environment.&quot;&quot;&quot;</span>
+    <span class="n">metadata</span><span class="p">:</span> <span class="n">ClassVar</span><span class="p">[</span><span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]]</span> <span class="o">=</span> <span class="p">{</span>
+        <span class="s2">&quot;render_modes&quot;</span><span class="p">:</span> <span class="p">[</span><span class="kc">None</span><span class="p">,</span> <span class="s2">&quot;human&quot;</span><span class="p">,</span> <span class="s2">&quot;rgb_array&quot;</span><span class="p">],</span>
+        <span class="s2">&quot;isaac_sim_version&quot;</span><span class="p">:</span> <span class="n">get_version</span><span class="p">(),</span>
+    <span class="p">}</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Metadata for the environment.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DirectRLEnv.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">DirectRLEnvCfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the environment.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object for the environment.</span>
+<span class="sd">            render_mode: The render mode for the environment. Defaults to None, which</span>
+<span class="sd">                is similar to ``&quot;human&quot;``.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If a simulation context already exists. The environment must always create one</span>
+<span class="sd">                since it configures the simulation context and controls the simulation.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that the config is valid</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">validate</span><span class="p">()</span>
+        <span class="c1"># store inputs to class</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="c1"># store the render mode</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">=</span> <span class="n">render_mode</span>
+        <span class="c1"># initialize internal variables</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_closed</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># set the seed for the environment</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;Seed not set for the environment. The environment creation may not be deterministic.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># create a simulation context to control the simulator</span>
+        <span class="k">if</span> <span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">:</span> <span class="n">SimulationContext</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;Simulation context already exists. Cannot create a new one.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># print useful information</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Base environment:&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Environment device    : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Environment seed      : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Physics step-size     : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">physics_dt</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Rendering step-size   : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">physics_dt</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Environment step-size : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="p">:</span>
+            <span class="n">msg</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;The render interval (</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span><span class="si">}</span><span class="s2">) is smaller than the decimation &quot;</span>
+                <span class="sa">f</span><span class="s2">&quot;(</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="si">}</span><span class="s2">). Multiple render calls will happen for each environment step.&quot;</span>
+                <span class="s2">&quot;If this is not intended, set the render interval to be equal to the decimation.&quot;</span>
+            <span class="p">)</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span>
+
+        <span class="c1"># generate scene</span>
+        <span class="k">with</span> <span class="n">Timer</span><span class="p">(</span><span class="s2">&quot;[INFO]: Time taken for scene creation&quot;</span><span class="p">,</span> <span class="s2">&quot;scene_creation&quot;</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">scene</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_setup_scene</span><span class="p">()</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Scene manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="p">)</span>
+
+        <span class="c1"># set up camera viewport controller</span>
+        <span class="c1"># viewport is not available in other rendering modes so the function will throw a warning</span>
+        <span class="c1"># FIXME: This needs to be fixed in the future when we unify the UI functionalities even for</span>
+        <span class="c1"># non-rendering modes.</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span> <span class="o">=</span> <span class="n">ViewportCameraController</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># play the simulator to activate physics handles</span>
+        <span class="c1"># note: this activates the physics simulation view that exposes TensorAPIs</span>
+        <span class="c1"># note: when started in extension mode, first call sim.reset_async() and then initialize the managers</span>
+        <span class="k">if</span> <span class="n">builtins</span><span class="o">.</span><span class="n">ISAAC_LAUNCHED_FROM_TERMINAL</span> <span class="ow">is</span> <span class="kc">False</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Starting the simulation. This may take a few seconds. Please wait...&quot;</span><span class="p">)</span>
+            <span class="k">with</span> <span class="n">Timer</span><span class="p">(</span><span class="s2">&quot;[INFO]: Time taken for simulation start&quot;</span><span class="p">,</span> <span class="s2">&quot;simulation_start&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+
+        <span class="c1"># -- event manager used for randomization</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span> <span class="o">=</span> <span class="n">EventManager</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Event Manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="p">)</span>
+
+        <span class="c1"># make sure torch is running on the correct device</span>
+        <span class="k">if</span> <span class="s2">&quot;cuda&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">:</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">cuda</span><span class="o">.</span><span class="n">set_device</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># check if debug visualization is has been implemented by the environment</span>
+        <span class="n">source_code</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">getsource</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span> <span class="o">=</span> <span class="s2">&quot;NotImplementedError&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">source_code</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># extend UI elements</span>
+        <span class="c1"># we need to do this here after all the managers are initialized</span>
+        <span class="c1"># this is because they dictate the sensors and commands right now</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">()</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ui_window_class_type</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ui_window_class_type</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">window_name</span><span class="o">=</span><span class="s2">&quot;IsaacLab&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># if no window, then we don&#39;t need to store the window</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># allocate dictionary to store metrics</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span> <span class="o">=</span> <span class="p">{}</span>
+
+        <span class="c1"># initialize data and constants</span>
+        <span class="c1"># -- counter for simulation steps</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># -- counter for curriculum</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">common_step_counter</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># -- init buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">bool</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_time_outs</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">bool</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># setup the action and observation spaces for Gym</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_configure_gym_env_spaces</span><span class="p">()</span>
+
+        <span class="c1"># setup noise cfg for adding action and observation noise</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_noise_model</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_action_noise_model</span><span class="p">:</span> <span class="n">NoiseModel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_noise_model</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_noise_model</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_noise_model</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_observation_noise_model</span><span class="p">:</span> <span class="n">NoiseModel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_noise_model</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_noise_model</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+
+        <span class="c1"># perform events at the start of the simulation</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">:</span>
+            <span class="k">if</span> <span class="s2">&quot;startup&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;startup&quot;</span><span class="p">)</span>
+
+        <span class="c1"># -- set the framerate of the gym video recorder wrapper so that the playback speed of the produced video matches the simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">metadata</span><span class="p">[</span><span class="s2">&quot;render_fps&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span>
+
+        <span class="c1"># print the environment information</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Completed setting up the environment...&quot;</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Cleanup for the environment.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_envs</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The number of instances of the environment that are running.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">physics_dt</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The physics time-step (in s).</span>
+
+<span class="sd">        This is the lowest time-decimation at which the simulation is happening.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">step_dt</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The environment stepping time-step (in s).</span>
+
+<span class="sd">        This is the time-step at which the environment steps forward.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The device on which the environment is running.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_episode_length_s</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Maximum episode length in seconds.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">episode_length_s</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_episode_length</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The maximum episode length in steps adjusted from s.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math</span><span class="o">.</span><span class="n">ceil</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">max_episode_length_s</span> <span class="o">/</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="p">))</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DirectRLEnv.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">options</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">VecEnvObs</span><span class="p">,</span> <span class="nb">dict</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets all the environments and returns observations.</span>
+
+<span class="sd">        This function calls the :meth:`_reset_idx` function to reset all the environments.</span>
+<span class="sd">        However, certain operations, such as procedural terrain generation, that happened during initialization</span>
+<span class="sd">        are not repeated.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            seed: The seed to use for randomization. Defaults to None, in which case the seed is not set.</span>
+<span class="sd">            options: Additional information to specify how the environment is reset. Defaults to None.</span>
+
+<span class="sd">                Note:</span>
+<span class="sd">                    This argument is used for compatibility with Gymnasium environment definition.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the observations and extras.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set the seed</span>
+        <span class="k">if</span> <span class="n">seed</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
+
+        <span class="c1"># reset state of scene</span>
+        <span class="n">indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int64</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">indices</span><span class="p">)</span>
+
+        <span class="c1"># update articulation kinematics</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">forward</span><span class="p">()</span>
+
+        <span class="c1"># if sensors are added to the scene, make sure we render to reflect changes in reset</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rerender_on_reset</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+
+        <span class="c1"># return observations</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_observations</span><span class="p">(),</span> <span class="bp">self</span><span class="o">.</span><span class="n">extras</span></div>
+
+<div class="viewcode-block" id="DirectRLEnv.step"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.step">[docs]</a>    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">action</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">VecEnvStepReturn</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Execute one time-step of the environment&#39;s dynamics.</span>
+
+<span class="sd">        The environment steps forward at a fixed time-step, while the physics simulation is decimated at a</span>
+<span class="sd">        lower time-step. This is to ensure that the simulation is stable. These two time-steps can be configured</span>
+<span class="sd">        independently using the :attr:`DirectRLEnvCfg.decimation` (number of simulation steps per environment step)</span>
+<span class="sd">        and the :attr:`DirectRLEnvCfg.sim.physics_dt` (physics time-step). Based on these parameters, the environment</span>
+<span class="sd">        time-step is computed as the product of the two.</span>
+
+<span class="sd">        This function performs the following steps:</span>
+
+<span class="sd">        1. Pre-process the actions before stepping through the physics.</span>
+<span class="sd">        2. Apply the actions to the simulator and step through the physics in a decimated manner.</span>
+<span class="sd">        3. Compute the reward and done signals.</span>
+<span class="sd">        4. Reset environments that have terminated or reached the maximum episode length.</span>
+<span class="sd">        5. Apply interval events if they are enabled.</span>
+<span class="sd">        6. Compute observations.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            action: The actions to apply on the environment. Shape is (num_envs, action_dim).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the observations, rewards, resets (terminated and truncated) and extras.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">action</span> <span class="o">=</span> <span class="n">action</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># add action noise</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_noise_model</span><span class="p">:</span>
+            <span class="n">action</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_action_noise_model</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
+
+        <span class="c1"># process actions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_pre_physics_step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
+
+        <span class="c1"># check if we need to do rendering within the physics loop</span>
+        <span class="c1"># note: checked here once to avoid multiple checks within the loop</span>
+        <span class="n">is_rendering</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">()</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span>
+
+        <span class="c1"># perform physics stepping</span>
+        <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">+=</span> <span class="mi">1</span>
+            <span class="c1"># set actions into buffers</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_apply_action</span><span class="p">()</span>
+            <span class="c1"># set actions into simulator</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+            <span class="c1"># simulate</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">render</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+            <span class="c1"># render between steps only if the GUI or an RTX sensor needs it</span>
+            <span class="c1"># note: we assume the render interval to be the shortest accepted rendering interval.</span>
+            <span class="c1">#    If a camera needs rendering at a faster frequency, this will lead to unexpected behavior.</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">%</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span> <span class="o">==</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">is_rendering</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+            <span class="c1"># update buffers at sim dt</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">physics_dt</span><span class="p">)</span>
+
+        <span class="c1"># post-step:</span>
+        <span class="c1"># -- update env counters (used for curriculum generation)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">+=</span> <span class="mi">1</span>  <span class="c1"># step in current episode (per env)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">common_step_counter</span> <span class="o">+=</span> <span class="mi">1</span>  <span class="c1"># total step (common for all envs)</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span><span class="p">[:],</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_time_outs</span><span class="p">[:]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_dones</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span> <span class="o">|</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_time_outs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reward_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_rewards</span><span class="p">()</span>
+
+        <span class="c1"># -- reset envs that terminated/timed-out and log the episode information</span>
+        <span class="n">reset_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="o">.</span><span class="n">nonzero</span><span class="p">(</span><span class="n">as_tuple</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span>
+            <span class="c1"># update articulation kinematics</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">forward</span><span class="p">()</span>
+            <span class="c1"># if sensors are added to the scene, make sure we render to reflect changes in reset</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rerender_on_reset</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+
+        <span class="c1"># post-step: step interval event</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">:</span>
+            <span class="k">if</span> <span class="s2">&quot;interval&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;interval&quot;</span><span class="p">,</span> <span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span><span class="p">)</span>
+
+        <span class="c1"># update observations</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_observations</span><span class="p">()</span>
+
+        <span class="c1"># add observation noise</span>
+        <span class="c1"># note: we apply no noise to the state space (since it is used for critic networks)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_noise_model</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_observation_noise_model</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">])</span>
+
+        <span class="c1"># return observations, rewards, resets and extras</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">reward_buf</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_time_outs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">extras</span></div>
+
+<div class="viewcode-block" id="DirectRLEnv.seed"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.seed">[docs]</a>    <span class="nd">@staticmethod</span>
+    <span class="k">def</span> <span class="nf">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the seed for the environment.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            seed: The seed for random generator. Defaults to -1.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The seed used for random generator.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set seed for replicator</span>
+        <span class="k">try</span><span class="p">:</span>
+            <span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+
+            <span class="n">rep</span><span class="o">.</span><span class="n">set_global_seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
+        <span class="k">except</span> <span class="ne">ModuleNotFoundError</span><span class="p">:</span>
+            <span class="k">pass</span>
+        <span class="c1"># set seed for torch and other libraries</span>
+        <span class="k">return</span> <span class="n">torch_utils</span><span class="o">.</span><span class="n">set_seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="DirectRLEnv.render"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.render">[docs]</a>    <span class="k">def</span> <span class="nf">render</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">recompute</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Run rendering without stepping through the physics.</span>
+
+<span class="sd">        By convention, if mode is:</span>
+
+<span class="sd">        - **human**: Render to the current display and return nothing. Usually for human consumption.</span>
+<span class="sd">        - **rgb_array**: Return an numpy.ndarray with shape (x, y, 3), representing RGB values for an</span>
+<span class="sd">          x-by-y pixel image, suitable for turning into a video.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            recompute: Whether to force a render even if the simulator has already rendered the scene.</span>
+<span class="sd">                Defaults to False.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The rendered image as a numpy array if mode is &quot;rgb_array&quot;. Otherwise, returns None.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If mode is set to &quot;rgb_data&quot; and simulation render mode does not support it.</span>
+<span class="sd">                In this case, the simulation render mode must be set to ``RenderMode.PARTIAL_RENDERING``</span>
+<span class="sd">                or ``RenderMode.FULL_RENDERING``.</span>
+<span class="sd">            NotImplementedError: If an unsupported rendering mode is specified.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># run a rendering step of the simulator</span>
+        <span class="c1"># if we have rtx sensors, we do not need to render again sin</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">recompute</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+        <span class="c1"># decide the rendering mode</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">==</span> <span class="s2">&quot;human&quot;</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">None</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">==</span> <span class="s2">&quot;rgb_array&quot;</span><span class="p">:</span>
+            <span class="c1"># check that if any render could have happened</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_mode</span><span class="o">.</span><span class="n">value</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span><span class="o">.</span><span class="n">value</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Cannot render &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span><span class="si">}</span><span class="s2">&#39; when the simulation render mode is&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_mode</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39;. Please set the simulation render mode to:&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot;&#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39; or &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">FULL_RENDERING</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                    <span class="s2">&quot; If running headless, make sure --enable_cameras is set.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># create the annotator if it does not exist</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;_rgb_annotator&quot;</span><span class="p">):</span>
+                <span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+
+                <span class="c1"># create render product</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_render_product</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">create</span><span class="o">.</span><span class="n">render_product</span><span class="p">(</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">cam_prim_path</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">resolution</span>
+                <span class="p">)</span>
+                <span class="c1"># create rgb annotator -- used to read data from the render product</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_rgb_annotator</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">AnnotatorRegistry</span><span class="o">.</span><span class="n">get_annotator</span><span class="p">(</span><span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_rgb_annotator</span><span class="o">.</span><span class="n">attach</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">_render_product</span><span class="p">])</span>
+            <span class="c1"># obtain the rgb data</span>
+            <span class="n">rgb_data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rgb_annotator</span><span class="o">.</span><span class="n">get_data</span><span class="p">()</span>
+            <span class="c1"># convert to numpy array</span>
+            <span class="n">rgb_data</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">frombuffer</span><span class="p">(</span><span class="n">rgb_data</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">*</span><span class="n">rgb_data</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+            <span class="c1"># return the rgb data</span>
+            <span class="c1"># note: initially the renerer is warming up and returns empty data</span>
+            <span class="k">if</span> <span class="n">rgb_data</span><span class="o">.</span><span class="n">size</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">resolution</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">resolution</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">3</span><span class="p">),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">return</span> <span class="n">rgb_data</span><span class="p">[:,</span> <span class="p">:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Render mode &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span><span class="si">}</span><span class="s2">&#39; is not supported. Please use: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">metadata</span><span class="p">[</span><span class="s1">&#39;render_modes&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2">.&quot;</span>
+            <span class="p">)</span></div>
+
+<div class="viewcode-block" id="DirectRLEnv.close"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.close">[docs]</a>    <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Cleanup for the environment.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_closed</span><span class="p">:</span>
+            <span class="c1"># close entities related to the environment</span>
+            <span class="c1"># note: this is order-sensitive to avoid any dangling references</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">:</span>
+                <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span>
+            <span class="c1"># clear callbacks and instance</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">clear_all_callbacks</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">clear_instance</span><span class="p">()</span>
+            <span class="c1"># destroy the window</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="o">=</span> <span class="kc">None</span>
+            <span class="c1"># update closing status</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_is_closed</span> <span class="o">=</span> <span class="kc">True</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Debug Visualization.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DirectRLEnv.set_debug_vis"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.set_debug_vis">[docs]</a>    <span class="k">def</span> <span class="nf">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Toggles the environment debug visualization.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            debug_vis: Whether to visualize the environment debug visualization.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Whether the debug visualization was successfully set. False if the environment</span>
+<span class="sd">            does not support debug visualization.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if debug visualization is supported</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">False</span>
+        <span class="c1"># toggle debug visualization objects</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">(</span><span class="n">debug_vis</span><span class="p">)</span>
+        <span class="c1"># toggle debug visualization handles</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="c1"># create a subscriber for the post update event if it doesn&#39;t exist</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">app_interface</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">get_app_interface</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="n">app_interface</span><span class="o">.</span><span class="n">get_post_update_event_stream</span><span class="p">()</span><span class="o">.</span><span class="n">create_subscription_to_pop</span><span class="p">(</span>
+                    <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_debug_vis_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># remove the subscriber if it exists</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># return success</span>
+        <span class="k">return</span> <span class="kc">True</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_configure_gym_env_spaces</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Configure the action and observation spaces for the Gym environment.&quot;&quot;&quot;</span>
+        <span class="c1"># show deprecation message and overwrite configuration</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_actions</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;DirectRLEnvCfg.num_actions is deprecated. Use DirectRLEnvCfg.action_space instead.&quot;</span><span class="p">)</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_space</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="n">MISSING</span><span class="p">)):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_space</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_actions</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_observations</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;DirectRLEnvCfg.num_observations is deprecated. Use DirectRLEnvCfg.observation_space instead.&quot;</span>
+            <span class="p">)</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_space</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="n">MISSING</span><span class="p">)):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_space</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_observations</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_states</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;DirectRLEnvCfg.num_states is deprecated. Use DirectRLEnvCfg.state_space instead.&quot;</span><span class="p">)</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="n">MISSING</span><span class="p">)):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_states</span>
+
+        <span class="c1"># set up spaces</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">single_observation_space</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">spec_to_gym_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_space</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">single_action_space</span> <span class="o">=</span> <span class="n">spec_to_gym_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_space</span><span class="p">)</span>
+
+        <span class="c1"># batch the spaces for vectorized environments</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">observation_space</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">vector</span><span class="o">.</span><span class="n">utils</span><span class="o">.</span><span class="n">batch_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">action_space</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">vector</span><span class="o">.</span><span class="n">utils</span><span class="o">.</span><span class="n">batch_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">single_action_space</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">)</span>
+
+        <span class="c1"># optional state space for asymmetric actor-critic architectures</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">[</span><span class="s2">&quot;critic&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">spec_to_gym_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">state_space</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">vector</span><span class="o">.</span><span class="n">utils</span><span class="o">.</span><span class="n">batch_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">[</span><span class="s2">&quot;critic&quot;</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">)</span>
+
+        <span class="c1"># instantiate actions (needed for tasks for which the observations computation is dependent on the actions)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">actions</span> <span class="o">=</span> <span class="n">sample_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">single_action_space</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">batch_size</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">fill_value</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_reset_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset environments based on specified indices.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: List of environment ids which must be reset</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># apply events such as randomization for environments that need a reset</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">:</span>
+            <span class="k">if</span> <span class="s2">&quot;reset&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+                <span class="n">env_step_count</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">//</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">global_env_step_count</span><span class="o">=</span><span class="n">env_step_count</span><span class="p">)</span>
+
+        <span class="c1"># reset noise models</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_noise_model</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_action_noise_model</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observation_noise_model</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_observation_noise_model</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># reset the episode length buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation-specific functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_setup_scene</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Setup the scene for the environment.</span>
+
+<span class="sd">        This function is responsible for creating the scene objects and setting up the scene for the environment.</span>
+<span class="sd">        The scene creation can happen through :class:`omni.isaac.lab.scene.InteractiveSceneCfg` or through</span>
+<span class="sd">        directly creating the scene objects and registering them with the scene manager.</span>
+
+<span class="sd">        We leave the implementation of this function to the derived classes. If the environment does not require</span>
+<span class="sd">        any explicit scene setup, the function can be left empty.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">pass</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_pre_physics_step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Pre-process actions before stepping through the physics.</span>
+
+<span class="sd">        This function is responsible for pre-processing the actions before stepping through the physics.</span>
+<span class="sd">        It is called before the physics stepping (which is decimated).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            actions: The actions to apply on the environment. Shape is (num_envs, action_dim).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_pre_physics_step&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_apply_action</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Apply actions to the simulator.</span>
+
+<span class="sd">        This function is responsible for applying the actions to the simulator. It is called at each</span>
+<span class="sd">        physics time-step.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_apply_action&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_get_observations</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">VecEnvObs</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute and return the observations for the environment.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The observations for the environment.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_get_observations&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_get_states</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">VecEnvObs</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute and return the states for the environment.</span>
+
+<span class="sd">        The state-space is used for asymmetric actor-critic architectures. It is configured</span>
+<span class="sd">        using the :attr:`DirectRLEnvCfg.state_space` parameter.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The states for the environment. If the environment does not have a state-space, the function</span>
+<span class="sd">            returns a None.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="kc">None</span>  <span class="c1"># noqa: R501</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_get_rewards</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute and return the rewards for the environment.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The rewards for the environment. Shape is (num_envs,).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_get_rewards&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_get_dones</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute and return the done flags for the environment.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the done flags for termination and time-out.</span>
+<span class="sd">            Shape of individual tensors is (num_envs,).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Please implement the &#39;_get_dones&#39; method for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set debug visualization into visualization objects.</span>
+
+<span class="sd">        This function is responsible for creating the visualization objects if they don&#39;t exist</span>
+<span class="sd">        and input ``debug_vis`` is True. If the visualization objects exist, the function should</span>
+<span class="sd">        set their visibility into the stage.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Debug visualization is not implemented for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.envs.direct_rl_env_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.noise</span> <span class="kn">import</span> <span class="n">NoiseModelCfg</span>
+
+<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="n">SpaceType</span><span class="p">,</span> <span class="n">ViewerCfg</span>
+<span class="kn">from</span> <span class="nn">.ui</span> <span class="kn">import</span> <span class="n">BaseEnvWindow</span>
+
+
+<div class="viewcode-block" id="DirectRLEnvCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DirectRLEnvCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an RL environment defined with the direct workflow.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.envs.direct_rl_env.DirectRLEnv` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># simulation settings</span>
+    <span class="n">viewer</span><span class="p">:</span> <span class="n">ViewerCfg</span> <span class="o">=</span> <span class="n">ViewerCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Viewer configuration. Default is ViewerCfg().&quot;&quot;&quot;</span>
+
+    <span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Physics simulation configuration. Default is SimulationCfg().&quot;&quot;&quot;</span>
+
+    <span class="c1"># ui settings</span>
+    <span class="n">ui_window_class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="n">BaseEnvWindow</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The class type of the UI window. Default is None.</span>
+
+<span class="sd">    If None, then no UI window is created.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If you want to make your own UI window, you can create a class that inherits from</span>
+<span class="sd">        from :class:`omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow`. Then, you can set</span>
+<span class="sd">        this attribute to your class type.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># general settings</span>
+    <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The seed for the random number generator. Defaults to None, in which case the seed is not set.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">      The seed is set at the beginning of the environment initialization. This ensures that the environment</span>
+<span class="sd">      creation is deterministic and behaves similarly across different runs.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">decimation</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of control action updates @ sim dt per policy dt.</span>
+
+<span class="sd">    For instance, if the simulation dt is 0.01s and the policy dt is 0.1s, then the decimation is 10.</span>
+<span class="sd">    This means that the control action is updated every 10 simulation steps.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">is_finite_horizon</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the learning task is treated as a finite or infinite horizon problem for the agent.</span>
+<span class="sd">    Defaults to False, which means the task is treated as an infinite horizon problem.</span>
+
+<span class="sd">    This flag handles the subtleties of finite and infinite horizon tasks:</span>
+
+<span class="sd">    * **Finite horizon**: no penalty or bootstrapping value is required by the the agent for</span>
+<span class="sd">      running out of time. However, the environment still needs to terminate the episode after the</span>
+<span class="sd">      time limit is reached.</span>
+<span class="sd">    * **Infinite horizon**: the agent needs to bootstrap the value of the state at the end of the episode.</span>
+<span class="sd">      This is done by sending a time-limit (or truncated) done signal to the agent, which triggers this</span>
+<span class="sd">      bootstrapping calculation.</span>
+
+<span class="sd">    If True, then the environment is treated as a finite horizon problem and no time-out (or truncated) done signal</span>
+<span class="sd">    is sent to the agent. If False, then the environment is treated as an infinite horizon problem and a time-out</span>
+<span class="sd">    (or truncated) done signal is sent to the agent.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The base :class:`ManagerBasedRLEnv` class does not use this flag directly. It is used by the environment</span>
+<span class="sd">        wrappers to determine what type of done signal to send to the corresponding learning agent.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">episode_length_s</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Duration of an episode (in seconds).</span>
+
+<span class="sd">    Based on the decimation rate and physics time step, the episode length is calculated as:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        episode_length_steps = ceil(episode_length_s / (decimation_rate * physics_time_step))</span>
+
+<span class="sd">    For example, if the decimation rate is 10, the physics time step is 0.01, and the episode length is 10 seconds,</span>
+<span class="sd">    then the episode length in steps is 100.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># environment settings</span>
+    <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scene settings.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.scene.InteractiveSceneCfg` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">events</span><span class="p">:</span> <span class="nb">object</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Event settings. Defaults to None, in which case no events are applied through the event manager.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.managers.EventManager` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">observation_space</span><span class="p">:</span> <span class="n">SpaceType</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Observation space definition.</span>
+
+<span class="sd">    The space can be defined either using Gymnasium :py:mod:`~gymnasium.spaces` (when a more detailed</span>
+<span class="sd">    specification of the space is desired) or basic Python data types (for simplicity).</span>
+
+<span class="sd">    .. list-table::</span>
+<span class="sd">        :header-rows: 1</span>
+
+<span class="sd">        * - Gymnasium space</span>
+<span class="sd">          - Python data type</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Box`</span>
+<span class="sd">          - Integer or list of integers (e.g.: ``7``, ``[64, 64, 3]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Discrete`</span>
+<span class="sd">          - Single-element set (e.g.: ``{2}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.MultiDiscrete`</span>
+<span class="sd">          - List of single-element sets (e.g.: ``[{2}, {5}]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Dict`</span>
+<span class="sd">          - Dictionary (e.g.: ``{&quot;joints&quot;: 7, &quot;rgb&quot;: [64, 64, 3], &quot;gripper&quot;: {2}}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Tuple`</span>
+<span class="sd">          - Tuple (e.g.: ``(7, [64, 64, 3], {2})``)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">num_observations</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dimension of the observation space from each environment instance.</span>
+
+<span class="sd">    .. warning::</span>
+
+<span class="sd">        This attribute is deprecated. Use :attr:`~omni.isaac.lab.envs.DirectRLEnvCfg.observation_space` instead.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">state_space</span><span class="p">:</span> <span class="n">SpaceType</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;State space definition.</span>
+
+<span class="sd">    This is useful for asymmetric actor-critic and defines the observation space for the critic.</span>
+
+<span class="sd">    The space can be defined either using Gymnasium :py:mod:`~gymnasium.spaces` (when a more detailed</span>
+<span class="sd">    specification of the space is desired) or basic Python data types (for simplicity).</span>
+
+<span class="sd">    .. list-table::</span>
+<span class="sd">        :header-rows: 1</span>
+
+<span class="sd">        * - Gymnasium space</span>
+<span class="sd">          - Python data type</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Box`</span>
+<span class="sd">          - Integer or list of integers (e.g.: ``7``, ``[64, 64, 3]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Discrete`</span>
+<span class="sd">          - Single-element set (e.g.: ``{2}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.MultiDiscrete`</span>
+<span class="sd">          - List of single-element sets (e.g.: ``[{2}, {5}]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Dict`</span>
+<span class="sd">          - Dictionary (e.g.: ``{&quot;joints&quot;: 7, &quot;rgb&quot;: [64, 64, 3], &quot;gripper&quot;: {2}}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Tuple`</span>
+<span class="sd">          - Tuple (e.g.: ``(7, [64, 64, 3], {2})``)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">num_states</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dimension of the state-space from each environment instance.</span>
+
+<span class="sd">    .. warning::</span>
+
+<span class="sd">        This attribute is deprecated. Use :attr:`~omni.isaac.lab.envs.DirectRLEnvCfg.state_space` instead.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">observation_noise_model</span><span class="p">:</span> <span class="n">NoiseModelCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The noise model to apply to the computed observations from the environment. Default is None, which means no noise is added.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.utils.noise.NoiseModel` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">action_space</span><span class="p">:</span> <span class="n">SpaceType</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Action space definition.</span>
+
+<span class="sd">    The space can be defined either using Gymnasium :py:mod:`~gymnasium.spaces` (when a more detailed</span>
+<span class="sd">    specification of the space is desired) or basic Python data types (for simplicity).</span>
+
+<span class="sd">    .. list-table::</span>
+<span class="sd">        :header-rows: 1</span>
+
+<span class="sd">        * - Gymnasium space</span>
+<span class="sd">          - Python data type</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Box`</span>
+<span class="sd">          - Integer or list of integers (e.g.: ``7``, ``[64, 64, 3]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Discrete`</span>
+<span class="sd">          - Single-element set (e.g.: ``{2}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.MultiDiscrete`</span>
+<span class="sd">          - List of single-element sets (e.g.: ``[{2}, {5}]``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Dict`</span>
+<span class="sd">          - Dictionary (e.g.: ``{&quot;joints&quot;: 7, &quot;rgb&quot;: [64, 64, 3], &quot;gripper&quot;: {2}}``)</span>
+<span class="sd">        * - :class:`~gymnasium.spaces.Tuple`</span>
+<span class="sd">          - Tuple (e.g.: ``(7, [64, 64, 3], {2})``)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">num_actions</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dimension of the action space for each environment.</span>
+
+<span class="sd">    .. warning::</span>
+
+<span class="sd">        This attribute is deprecated. Use :attr:`~omni.isaac.lab.envs.DirectRLEnvCfg.action_space` instead.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">action_noise_model</span><span class="p">:</span> <span class="n">NoiseModelCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The noise model applied to the actions provided to the environment. Default is None, which means no noise is added.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.utils.noise.NoiseModel` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">rerender_on_reset</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether a render step is performed again after at least one environment has been reset.</span>
+<span class="sd">    Defaults to False, which means no render step will be performed after reset.</span>
+
+<span class="sd">    * When this is False, data collected from sensors after performing reset will be stale and will not reflect the</span>
+<span class="sd">      latest states in simulation caused by the reset.</span>
+<span class="sd">    * When this is True, an extra render step will be performed to update the sensor data</span>
+<span class="sd">      to reflect the latest states from the reset. This comes at a cost of performance as an additional render</span>
+<span class="sd">      step will be performed after each time an environment is reset.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.envs.manager_based_env</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">builtins</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.torch</span> <span class="k">as</span> <span class="nn">torch_utils</span>
+<span class="kn">import</span> <span class="nn">omni.log</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">ActionManager</span><span class="p">,</span> <span class="n">EventManager</span><span class="p">,</span> <span class="n">ObservationManager</span><span class="p">,</span> <span class="n">RecorderManager</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.ui.widgets</span> <span class="kn">import</span> <span class="n">ManagerLiveVisualizer</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.timer</span> <span class="kn">import</span> <span class="n">Timer</span>
+
+<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="n">VecEnvObs</span>
+<span class="kn">from</span> <span class="nn">.manager_based_env_cfg</span> <span class="kn">import</span> <span class="n">ManagerBasedEnvCfg</span>
+<span class="kn">from</span> <span class="nn">.ui</span> <span class="kn">import</span> <span class="n">ViewportCameraController</span>
+
+
+<div class="viewcode-block" id="ManagerBasedEnv"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv">[docs]</a><span class="k">class</span> <span class="nc">ManagerBasedEnv</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The base environment encapsulates the simulation scene and the environment managers for the manager-based workflow.</span>
+
+<span class="sd">    While a simulation scene or world comprises of different components such as the robots, objects,</span>
+<span class="sd">    and sensors (cameras, lidars, etc.), the environment is a higher level abstraction</span>
+<span class="sd">    that provides an interface for interacting with the simulation. The environment is comprised of</span>
+<span class="sd">    the following components:</span>
+
+<span class="sd">    * **Scene**: The scene manager that creates and manages the virtual world in which the robot operates.</span>
+<span class="sd">      This includes defining the robot, static and dynamic objects, sensors, etc.</span>
+<span class="sd">    * **Observation Manager**: The observation manager that generates observations from the current simulation</span>
+<span class="sd">      state and the data gathered from the sensors. These observations may include privileged information</span>
+<span class="sd">      that is not available to the robot in the real world. Additionally, user-defined terms can be added</span>
+<span class="sd">      to process the observations and generate custom observations. For example, using a network to embed</span>
+<span class="sd">      high-dimensional observations into a lower-dimensional space.</span>
+<span class="sd">    * **Action Manager**: The action manager that processes the raw actions sent to the environment and</span>
+<span class="sd">      converts them to low-level commands that are sent to the simulation. It can be configured to accept</span>
+<span class="sd">      raw actions at different levels of abstraction. For example, in case of a robotic arm, the raw actions</span>
+<span class="sd">      can be joint torques, joint positions, or end-effector poses. Similarly for a mobile base, it can be</span>
+<span class="sd">      the joint torques, or the desired velocity of the floating base.</span>
+<span class="sd">    * **Event Manager**: The event manager orchestrates operations triggered based on simulation events.</span>
+<span class="sd">      This includes resetting the scene to a default state, applying random pushes to the robot at different intervals</span>
+<span class="sd">      of time, or randomizing properties such as mass and friction coefficients. This is useful for training</span>
+<span class="sd">      and evaluating the robot in a variety of scenarios.</span>
+<span class="sd">    * **Recorder Manager**: The recorder manager that handles recording data produced during different steps</span>
+<span class="sd">      in the simulation. This includes recording in the beginning and end of a reset and a step. The recorded data</span>
+<span class="sd">      is distinguished per episode, per environment and can be exported through a dataset file handler to a file.</span>
+
+<span class="sd">    The environment provides a unified interface for interacting with the simulation. However, it does not</span>
+<span class="sd">    include task-specific quantities such as the reward function, or the termination conditions. These</span>
+<span class="sd">    quantities are often specific to defining Markov Decision Processes (MDPs) while the base environment</span>
+<span class="sd">    is agnostic to the MDP definition.</span>
+
+<span class="sd">    The environment steps forward in time at a fixed time-step. The physics simulation is decimated at a</span>
+<span class="sd">    lower time-step. This is to ensure that the simulation is stable. These two time-steps can be configured</span>
+<span class="sd">    independently using the :attr:`ManagerBasedEnvCfg.decimation` (number of simulation steps per environment step)</span>
+<span class="sd">    and the :attr:`ManagerBasedEnvCfg.sim.dt` (physics time-step) parameters. Based on these parameters, the</span>
+<span class="sd">    environment time-step is computed as the product of the two. The two time-steps can be obtained by</span>
+<span class="sd">    querying the :attr:`physics_dt` and the :attr:`step_dt` properties respectively.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerBasedEnv.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ManagerBasedEnvCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the environment.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object for the environment.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If a simulation context already exists. The environment must always create one</span>
+<span class="sd">                since it configures the simulation context and controls the simulation.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that the config is valid</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">validate</span><span class="p">()</span>
+        <span class="c1"># store inputs to class</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="c1"># initialize internal variables</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_closed</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># set the seed for the environment</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;Seed not set for the environment. The environment creation may not be deterministic.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># create a simulation context to control the simulator</span>
+        <span class="k">if</span> <span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># the type-annotation is required to avoid a type-checking error</span>
+            <span class="c1"># since it gets confused with Isaac Sim&#39;s SimulationContext class</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">:</span> <span class="n">SimulationContext</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># simulation context should only be created before the environment</span>
+            <span class="c1"># when in extension mode</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="n">builtins</span><span class="o">.</span><span class="n">ISAAC_LAUNCHED_FROM_TERMINAL</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;Simulation context already exists. Cannot create a new one.&quot;</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">:</span> <span class="n">SimulationContext</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span>
+
+        <span class="c1"># print useful information</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Base environment:&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Environment device    : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Environment seed      : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Physics step-size     : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">physics_dt</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Rendering step-size   : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">physics_dt</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Environment step-size : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="p">:</span>
+            <span class="n">msg</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;The render interval (</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span><span class="si">}</span><span class="s2">) is smaller than the decimation &quot;</span>
+                <span class="sa">f</span><span class="s2">&quot;(</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="si">}</span><span class="s2">). Multiple render calls will happen for each environment step. &quot;</span>
+                <span class="s2">&quot;If this is not intended, set the render interval to be equal to the decimation.&quot;</span>
+            <span class="p">)</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span>
+
+        <span class="c1"># counter for simulation steps</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">=</span> <span class="mi">0</span>
+
+        <span class="c1"># generate scene</span>
+        <span class="k">with</span> <span class="n">Timer</span><span class="p">(</span><span class="s2">&quot;[INFO]: Time taken for scene creation&quot;</span><span class="p">,</span> <span class="s2">&quot;scene_creation&quot;</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">scene</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Scene manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="p">)</span>
+
+        <span class="c1"># set up camera viewport controller</span>
+        <span class="c1"># viewport is not available in other rendering modes so the function will throw a warning</span>
+        <span class="c1"># FIXME: This needs to be fixed in the future when we unify the UI functionalities even for</span>
+        <span class="c1"># non-rendering modes.</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span> <span class="o">=</span> <span class="n">ViewportCameraController</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># play the simulator to activate physics handles</span>
+        <span class="c1"># note: this activates the physics simulation view that exposes TensorAPIs</span>
+        <span class="c1"># note: when started in extension mode, first call sim.reset_async() and then initialize the managers</span>
+        <span class="k">if</span> <span class="n">builtins</span><span class="o">.</span><span class="n">ISAAC_LAUNCHED_FROM_TERMINAL</span> <span class="ow">is</span> <span class="kc">False</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Starting the simulation. This may take a few seconds. Please wait...&quot;</span><span class="p">)</span>
+            <span class="k">with</span> <span class="n">Timer</span><span class="p">(</span><span class="s2">&quot;[INFO]: Time taken for simulation start&quot;</span><span class="p">,</span> <span class="s2">&quot;simulation_start&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+            <span class="c1"># add timeline event to load managers</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">load_managers</span><span class="p">()</span>
+
+        <span class="c1"># make sure torch is running on the correct device</span>
+        <span class="k">if</span> <span class="s2">&quot;cuda&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">:</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">cuda</span><span class="o">.</span><span class="n">set_device</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># extend UI elements</span>
+        <span class="c1"># we need to do this here after all the managers are initialized</span>
+        <span class="c1"># this is because they dictate the sensors and commands right now</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">()</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ui_window_class_type</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># setup live visualizers</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">setup_manager_visualizers</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">ui_window_class_type</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">window_name</span><span class="o">=</span><span class="s2">&quot;IsaacLab&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># if no window, then we don&#39;t need to store the window</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># allocate dictionary to store metrics</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span> <span class="o">=</span> <span class="p">{}</span>
+
+        <span class="c1"># initialize observation buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span> <span class="o">=</span> <span class="p">{}</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Cleanup for the environment.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_envs</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The number of instances of the environment that are running.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">physics_dt</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The physics time-step (in s).</span>
+
+<span class="sd">        This is the lowest time-decimation at which the simulation is happening.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">step_dt</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The environment stepping time-step (in s).</span>
+
+<span class="sd">        This is the time-step at which the environment steps forward.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The device on which the environment is running.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Setup.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerBasedEnv.load_managers"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.load_managers">[docs]</a>    <span class="k">def</span> <span class="nf">load_managers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Load the managers for the environment.</span>
+
+<span class="sd">        This function is responsible for creating the various managers (action, observation,</span>
+<span class="sd">        events, etc.) for the environment. Since the managers require access to physics handles,</span>
+<span class="sd">        they can only be created after the simulator is reset (i.e. played for the first time).</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            In case of standalone application (when running simulator from Python), the function is called</span>
+<span class="sd">            automatically when the class is initialized.</span>
+
+<span class="sd">            However, in case of extension mode, the user must call this function manually after the simulator</span>
+<span class="sd">            is reset. This is because the simulator is only reset when the user calls</span>
+<span class="sd">            :meth:`SimulationContext.reset_async` and it isn&#39;t possible to call async functions in the constructor.</span>
+
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># prepare the managers</span>
+        <span class="c1"># -- recorder manager</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span> <span class="o">=</span> <span class="n">RecorderManager</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">recorders</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Recorder Manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="p">)</span>
+        <span class="c1"># -- action manager</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span> <span class="o">=</span> <span class="n">ActionManager</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">actions</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Action Manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span><span class="p">)</span>
+        <span class="c1"># -- observation manager</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span> <span class="o">=</span> <span class="n">ObservationManager</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">observations</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Observation Manager:&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="p">)</span>
+        <span class="c1"># -- event manager</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span> <span class="o">=</span> <span class="n">EventManager</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">events</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Event Manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="p">)</span>
+
+        <span class="c1"># perform events at the start of the simulation</span>
+        <span class="c1"># in-case a child implementation creates other managers, the randomization should happen</span>
+        <span class="c1"># when all the other managers are created</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span> <span class="o">==</span> <span class="n">ManagerBasedEnv</span> <span class="ow">and</span> <span class="s2">&quot;startup&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;startup&quot;</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="ManagerBasedEnv.setup_manager_visualizers"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.setup_manager_visualizers">[docs]</a>    <span class="k">def</span> <span class="nf">setup_manager_visualizers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Creates live visualizers for manager terms.&quot;&quot;&quot;</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">manager_visualizers</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="s2">&quot;action_manager&quot;</span><span class="p">:</span> <span class="n">ManagerLiveVisualizer</span><span class="p">(</span><span class="n">manager</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span><span class="p">),</span>
+            <span class="s2">&quot;observation_manager&quot;</span><span class="p">:</span> <span class="n">ManagerLiveVisualizer</span><span class="p">(</span><span class="n">manager</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="p">),</span>
+        <span class="p">}</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - MDP.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerBasedEnv.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">options</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">VecEnvObs</span><span class="p">,</span> <span class="nb">dict</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets the specified environments and returns observations.</span>
+
+<span class="sd">        This function calls the :meth:`_reset_idx` function to reset the specified environments.</span>
+<span class="sd">        However, certain operations, such as procedural terrain generation, that happened during initialization</span>
+<span class="sd">        are not repeated.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            seed: The seed to use for randomization. Defaults to None, in which case the seed is not set.</span>
+<span class="sd">            env_ids: The environment ids to reset. Defaults to None, in which case all environments are reset.</span>
+<span class="sd">            options: Additional information to specify how the environment is reset. Defaults to None.</span>
+
+<span class="sd">                Note:</span>
+<span class="sd">                    This argument is used for compatibility with Gymnasium environment definition.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the observations and extras.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int64</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># trigger recorder terms for pre-reset calls</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">record_pre_reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># set the seed</span>
+        <span class="k">if</span> <span class="n">seed</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
+
+        <span class="c1"># reset state of scene</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># update articulation kinematics</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">forward</span><span class="p">()</span>
+        <span class="c1"># if sensors are added to the scene, make sure we render to reflect changes in reset</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rerender_on_reset</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+
+        <span class="c1"># trigger recorder terms for post-reset calls</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">record_post_reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># compute observations</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">compute</span><span class="p">()</span>
+
+        <span class="c1"># return observations</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">extras</span></div>
+
+<div class="viewcode-block" id="ManagerBasedEnv.reset_to"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.reset_to">[docs]</a>    <span class="k">def</span> <span class="nf">reset_to</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">state</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]]],</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">is_relative</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets specified environments to known states.</span>
+
+<span class="sd">        Note that this is different from reset() function as it resets the environments to specific states</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            state: The state to reset the specified environments to.</span>
+<span class="sd">            env_ids: The environment ids to reset. Defaults to None, in which case all environments are reset.</span>
+<span class="sd">            seed: The seed to use for randomization. Defaults to None, in which case the seed is not set.</span>
+<span class="sd">            is_relative: If set to True, the state is considered relative to the environment origins. Defaults to False.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># reset all envs in the scene if env_ids is None</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int64</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># trigger recorder terms for pre-reset calls</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">record_pre_reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># set the seed</span>
+        <span class="k">if</span> <span class="n">seed</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># set the state</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">reset_to</span><span class="p">(</span><span class="n">state</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">,</span> <span class="n">is_relative</span><span class="o">=</span><span class="n">is_relative</span><span class="p">)</span>
+
+        <span class="c1"># update articulation kinematics</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">forward</span><span class="p">()</span>
+
+        <span class="c1"># if sensors are added to the scene, make sure we render to reflect changes in reset</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rerender_on_reset</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+
+        <span class="c1"># trigger recorder terms for post-reset calls</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">record_post_reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># compute observations</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">compute</span><span class="p">()</span>
+
+        <span class="c1"># return observations</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">extras</span></div>
+
+<div class="viewcode-block" id="ManagerBasedEnv.step"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.step">[docs]</a>    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">action</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">VecEnvObs</span><span class="p">,</span> <span class="nb">dict</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Execute one time-step of the environment&#39;s dynamics.</span>
+
+<span class="sd">        The environment steps forward at a fixed time-step, while the physics simulation is</span>
+<span class="sd">        decimated at a lower time-step. This is to ensure that the simulation is stable. These two</span>
+<span class="sd">        time-steps can be configured independently using the :attr:`ManagerBasedEnvCfg.decimation` (number of</span>
+<span class="sd">        simulation steps per environment step) and the :attr:`ManagerBasedEnvCfg.sim.dt` (physics time-step).</span>
+<span class="sd">        Based on these parameters, the environment time-step is computed as the product of the two.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            action: The actions to apply on the environment. Shape is (num_envs, action_dim).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the observations and extras.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># process actions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">process_action</span><span class="p">(</span><span class="n">action</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">))</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">record_pre_step</span><span class="p">()</span>
+
+        <span class="c1"># check if we need to do rendering within the physics loop</span>
+        <span class="c1"># note: checked here once to avoid multiple checks within the loop</span>
+        <span class="n">is_rendering</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">()</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span>
+
+        <span class="c1"># perform physics stepping</span>
+        <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">+=</span> <span class="mi">1</span>
+            <span class="c1"># set actions into buffers</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">apply_action</span><span class="p">()</span>
+            <span class="c1"># set actions into simulator</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+            <span class="c1"># simulate</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">render</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+            <span class="c1"># render between steps only if the GUI or an RTX sensor needs it</span>
+            <span class="c1"># note: we assume the render interval to be the shortest accepted rendering interval.</span>
+            <span class="c1">#    If a camera needs rendering at a faster frequency, this will lead to unexpected behavior.</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">%</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span> <span class="o">==</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">is_rendering</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+            <span class="c1"># update buffers at sim dt</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">physics_dt</span><span class="p">)</span>
+
+        <span class="c1"># post-step: step interval event</span>
+        <span class="k">if</span> <span class="s2">&quot;interval&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;interval&quot;</span><span class="p">,</span> <span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span><span class="p">)</span>
+
+        <span class="c1"># -- compute observations</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">compute</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">record_post_step</span><span class="p">()</span>
+
+        <span class="c1"># return observations and extras</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">extras</span></div>
+
+<div class="viewcode-block" id="ManagerBasedEnv.seed"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.seed">[docs]</a>    <span class="nd">@staticmethod</span>
+    <span class="k">def</span> <span class="nf">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the seed for the environment.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            seed: The seed for random generator. Defaults to -1.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The seed used for random generator.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set seed for replicator</span>
+        <span class="k">try</span><span class="p">:</span>
+            <span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+
+            <span class="n">rep</span><span class="o">.</span><span class="n">set_global_seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
+        <span class="k">except</span> <span class="ne">ModuleNotFoundError</span><span class="p">:</span>
+            <span class="k">pass</span>
+        <span class="c1"># set seed for torch and other libraries</span>
+        <span class="k">return</span> <span class="n">torch_utils</span><span class="o">.</span><span class="n">set_seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="ManagerBasedEnv.close"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.close">[docs]</a>    <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Cleanup for the environment.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_closed</span><span class="p">:</span>
+            <span class="c1"># destructor is order-sensitive</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">viewport_camera_controller</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span>
+            <span class="c1"># clear callbacks and instance</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">clear_all_callbacks</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">clear_instance</span><span class="p">()</span>
+            <span class="c1"># destroy the window</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_window</span> <span class="o">=</span> <span class="kc">None</span>
+            <span class="c1"># update closing status</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_is_closed</span> <span class="o">=</span> <span class="kc">True</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_reset_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset environments based on specified indices.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: List of environment ids which must be reset</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># reset the internal buffers of the scene elements</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># apply events such as randomization for environments that need a reset</span>
+        <span class="k">if</span> <span class="s2">&quot;reset&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+            <span class="n">env_step_count</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">//</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">global_env_step_count</span><span class="o">=</span><span class="n">env_step_count</span><span class="p">)</span>
+
+        <span class="c1"># iterate over all managers and reset them</span>
+        <span class="c1"># this returns a dictionary of information which is stored in the extras</span>
+        <span class="c1"># note: This is order-sensitive! Certain things need be reset before others.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># -- observation manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+        <span class="c1"># -- action manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+        <span class="c1"># -- event manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+        <span class="c1"># -- recorder manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
+              
+
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new file mode 100644
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+  <h1>Source code for omni.isaac.lab.envs.manager_based_env_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Base configuration of the environment.</span>
+
+<span class="sd">This module defines the general configuration of the environment. It includes parameters for</span>
+<span class="sd">configuring the environment instances, viewer settings, and simulation parameters.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.envs.mdp</span> <span class="k">as</span> <span class="nn">mdp</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">EventTermCfg</span> <span class="k">as</span> <span class="n">EventTerm</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">RecorderManagerBaseCfg</span> <span class="k">as</span> <span class="n">DefaultEmptyRecorderManagerCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="n">ViewerCfg</span>
+<span class="kn">from</span> <span class="nn">.ui</span> <span class="kn">import</span> <span class="n">BaseEnvWindow</span>
+
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DefaultEventManagerCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration of the default event manager.</span>
+
+<span class="sd">    This manager is used to reset the scene to a default state. The default state is specified</span>
+<span class="sd">    by the scene configuration.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">reset_scene_to_default</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">reset_scene_to_default</span><span class="p">,</span> <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">)</span>
+
+
+<div class="viewcode-block" id="ManagerBasedEnvCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ManagerBasedEnvCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base configuration of the environment.&quot;&quot;&quot;</span>
+
+    <span class="c1"># simulation settings</span>
+    <span class="n">viewer</span><span class="p">:</span> <span class="n">ViewerCfg</span> <span class="o">=</span> <span class="n">ViewerCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Viewer configuration. Default is ViewerCfg().&quot;&quot;&quot;</span>
+
+    <span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Physics simulation configuration. Default is SimulationCfg().&quot;&quot;&quot;</span>
+
+    <span class="c1"># ui settings</span>
+    <span class="n">ui_window_class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="n">BaseEnvWindow</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The class type of the UI window. Default is None.</span>
+
+<span class="sd">    If None, then no UI window is created.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If you want to make your own UI window, you can create a class that inherits from</span>
+<span class="sd">        from :class:`omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow`. Then, you can set</span>
+<span class="sd">        this attribute to your class type.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># general settings</span>
+    <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The seed for the random number generator. Defaults to None, in which case the seed is not set.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">      The seed is set at the beginning of the environment initialization. This ensures that the environment</span>
+<span class="sd">      creation is deterministic and behaves similarly across different runs.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">decimation</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of control action updates @ sim dt per policy dt.</span>
+
+<span class="sd">    For instance, if the simulation dt is 0.01s and the policy dt is 0.1s, then the decimation is 10.</span>
+<span class="sd">    This means that the control action is updated every 10 simulation steps.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># environment settings</span>
+    <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scene settings.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.scene.InteractiveSceneCfg` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">recorders</span><span class="p">:</span> <span class="nb">object</span> <span class="o">=</span> <span class="n">DefaultEmptyRecorderManagerCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Recorder settings. Defaults to recording nothing.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.managers.RecorderManager` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">observations</span><span class="p">:</span> <span class="nb">object</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Observation space settings.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.managers.ObservationManager` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">actions</span><span class="p">:</span> <span class="nb">object</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Action space settings.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.managers.ActionManager` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">events</span><span class="p">:</span> <span class="nb">object</span> <span class="o">=</span> <span class="n">DefaultEventManagerCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Event settings. Defaults to the basic configuration that resets the scene to its default state.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.managers.EventManager` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">rerender_on_reset</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether a render step is performed again after at least one environment has been reset.</span>
+<span class="sd">    Defaults to False, which means no render step will be performed after reset.</span>
+
+<span class="sd">    * When this is False, data collected from sensors after performing reset will be stale and will not reflect the</span>
+<span class="sd">      latest states in simulation caused by the reset.</span>
+<span class="sd">    * When this is True, an extra render step will be performed to update the sensor data</span>
+<span class="sd">      to reflect the latest states from the reset. This comes at a cost of performance as an additional render</span>
+<span class="sd">      step will be performed after each time an environment is reset.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.envs.manager_based_rl_env</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="c1"># needed to import for allowing type-hinting: np.ndarray | None</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+<span class="kn">import</span> <span class="nn">math</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span><span class="p">,</span> <span class="n">ClassVar</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.version</span> <span class="kn">import</span> <span class="n">get_version</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">CommandManager</span><span class="p">,</span> <span class="n">CurriculumManager</span><span class="p">,</span> <span class="n">RewardManager</span><span class="p">,</span> <span class="n">TerminationManager</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.ui.widgets</span> <span class="kn">import</span> <span class="n">ManagerLiveVisualizer</span>
+
+<span class="kn">from</span> <span class="nn">.common</span> <span class="kn">import</span> <span class="n">VecEnvStepReturn</span>
+<span class="kn">from</span> <span class="nn">.manager_based_env</span> <span class="kn">import</span> <span class="n">ManagerBasedEnv</span>
+<span class="kn">from</span> <span class="nn">.manager_based_rl_env_cfg</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnvCfg</span>
+
+
+<div class="viewcode-block" id="ManagerBasedRLEnv"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv">[docs]</a><span class="k">class</span> <span class="nc">ManagerBasedRLEnv</span><span class="p">(</span><span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">gym</span><span class="o">.</span><span class="n">Env</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The superclass for the manager-based workflow reinforcement learning-based environments.</span>
+
+<span class="sd">    This class inherits from :class:`ManagerBasedEnv` and implements the core functionality for</span>
+<span class="sd">    reinforcement learning-based environments. It is designed to be used with any RL</span>
+<span class="sd">    library. The class is designed to be used with vectorized environments, i.e., the</span>
+<span class="sd">    environment is expected to be run in parallel with multiple sub-environments. The</span>
+<span class="sd">    number of sub-environments is specified using the ``num_envs``.</span>
+
+<span class="sd">    Each observation from the environment is a batch of observations for each sub-</span>
+<span class="sd">    environments. The method :meth:`step` is also expected to receive a batch of actions</span>
+<span class="sd">    for each sub-environment.</span>
+
+<span class="sd">    While the environment itself is implemented as a vectorized environment, we do not</span>
+<span class="sd">    inherit from :class:`gym.vector.VectorEnv`. This is mainly because the class adds</span>
+<span class="sd">    various methods (for wait and asynchronous updates) which are not required.</span>
+<span class="sd">    Additionally, each RL library typically has its own definition for a vectorized</span>
+<span class="sd">    environment. Thus, to reduce complexity, we directly use the :class:`gym.Env` over</span>
+<span class="sd">    here and leave it up to library-defined wrappers to take care of wrapping this</span>
+<span class="sd">    environment for their agents.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        For vectorized environments, it is recommended to **only** call the :meth:`reset`</span>
+<span class="sd">        method once before the first call to :meth:`step`, i.e. after the environment is created.</span>
+<span class="sd">        After that, the :meth:`step` function handles the reset of terminated sub-environments.</span>
+<span class="sd">        This is because the simulator does not support resetting individual sub-environments</span>
+<span class="sd">        in a vectorized environment.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">is_vector_env</span><span class="p">:</span> <span class="n">ClassVar</span><span class="p">[</span><span class="nb">bool</span><span class="p">]</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the environment is a vectorized environment.&quot;&quot;&quot;</span>
+    <span class="n">metadata</span><span class="p">:</span> <span class="n">ClassVar</span><span class="p">[</span><span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]]</span> <span class="o">=</span> <span class="p">{</span>
+        <span class="s2">&quot;render_modes&quot;</span><span class="p">:</span> <span class="p">[</span><span class="kc">None</span><span class="p">,</span> <span class="s2">&quot;human&quot;</span><span class="p">,</span> <span class="s2">&quot;rgb_array&quot;</span><span class="p">],</span>
+        <span class="s2">&quot;isaac_sim_version&quot;</span><span class="p">:</span> <span class="n">get_version</span><span class="p">(),</span>
+    <span class="p">}</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Metadata for the environment.&quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">ManagerBasedRLEnvCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the environment.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerBasedRLEnv.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ManagerBasedRLEnvCfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the environment.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration for the environment.</span>
+<span class="sd">            render_mode: The render mode for the environment. Defaults to None, which</span>
+<span class="sd">                is similar to ``&quot;human&quot;``.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># initialize the base class to setup the scene.</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># store the render mode</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">=</span> <span class="n">render_mode</span>
+
+        <span class="c1"># initialize data and constants</span>
+        <span class="c1"># -- counter for curriculum</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">common_step_counter</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># -- init buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+        <span class="c1"># -- set the framerate of the gym video recorder wrapper so that the playback speed of the produced video matches the simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">metadata</span><span class="p">[</span><span class="s2">&quot;render_fps&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span>
+
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Completed setting up the environment...&quot;</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_episode_length_s</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Maximum episode length in seconds.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">episode_length_s</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_episode_length</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Maximum episode length in environment steps.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">math</span><span class="o">.</span><span class="n">ceil</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">max_episode_length_s</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Setup.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerBasedRLEnv.load_managers"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.load_managers">[docs]</a>    <span class="k">def</span> <span class="nf">load_managers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># note: this order is important since observation manager needs to know the command and action managers</span>
+        <span class="c1"># and the reward manager needs to know the termination manager</span>
+        <span class="c1"># -- command manager</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">command_manager</span><span class="p">:</span> <span class="n">CommandManager</span> <span class="o">=</span> <span class="n">CommandManager</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">commands</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Command Manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">command_manager</span><span class="p">)</span>
+
+        <span class="c1"># call the parent class to load the managers for observations and actions.</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">load_managers</span><span class="p">()</span>
+
+        <span class="c1"># prepare the managers</span>
+        <span class="c1"># -- termination manager</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">termination_manager</span> <span class="o">=</span> <span class="n">TerminationManager</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">terminations</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Termination Manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">termination_manager</span><span class="p">)</span>
+        <span class="c1"># -- reward manager</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reward_manager</span> <span class="o">=</span> <span class="n">RewardManager</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rewards</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Reward Manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">reward_manager</span><span class="p">)</span>
+        <span class="c1"># -- curriculum manager</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">curriculum_manager</span> <span class="o">=</span> <span class="n">CurriculumManager</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">curriculum</span><span class="p">,</span> <span class="bp">self</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Curriculum Manager: &quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">curriculum_manager</span><span class="p">)</span>
+
+        <span class="c1"># setup the action and observation spaces for Gym</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_configure_gym_env_spaces</span><span class="p">()</span>
+
+        <span class="c1"># perform events at the start of the simulation</span>
+        <span class="k">if</span> <span class="s2">&quot;startup&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;startup&quot;</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="ManagerBasedRLEnv.setup_manager_visualizers"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.setup_manager_visualizers">[docs]</a>    <span class="k">def</span> <span class="nf">setup_manager_visualizers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Creates live visualizers for manager terms.&quot;&quot;&quot;</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">manager_visualizers</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="s2">&quot;action_manager&quot;</span><span class="p">:</span> <span class="n">ManagerLiveVisualizer</span><span class="p">(</span><span class="n">manager</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span><span class="p">),</span>
+            <span class="s2">&quot;observation_manager&quot;</span><span class="p">:</span> <span class="n">ManagerLiveVisualizer</span><span class="p">(</span><span class="n">manager</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="p">),</span>
+            <span class="s2">&quot;command_manager&quot;</span><span class="p">:</span> <span class="n">ManagerLiveVisualizer</span><span class="p">(</span><span class="n">manager</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">command_manager</span><span class="p">),</span>
+            <span class="s2">&quot;termination_manager&quot;</span><span class="p">:</span> <span class="n">ManagerLiveVisualizer</span><span class="p">(</span><span class="n">manager</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">termination_manager</span><span class="p">),</span>
+            <span class="s2">&quot;reward_manager&quot;</span><span class="p">:</span> <span class="n">ManagerLiveVisualizer</span><span class="p">(</span><span class="n">manager</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">reward_manager</span><span class="p">),</span>
+            <span class="s2">&quot;curriculum_manager&quot;</span><span class="p">:</span> <span class="n">ManagerLiveVisualizer</span><span class="p">(</span><span class="n">manager</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">curriculum_manager</span><span class="p">),</span>
+        <span class="p">}</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - MDP</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerBasedRLEnv.step"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.step">[docs]</a>    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">action</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">VecEnvStepReturn</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Execute one time-step of the environment&#39;s dynamics and reset terminated environments.</span>
+
+<span class="sd">        Unlike the :class:`ManagerBasedEnv.step` class, the function performs the following operations:</span>
+
+<span class="sd">        1. Process the actions.</span>
+<span class="sd">        2. Perform physics stepping.</span>
+<span class="sd">        3. Perform rendering if gui is enabled.</span>
+<span class="sd">        4. Update the environment counters and compute the rewards and terminations.</span>
+<span class="sd">        5. Reset the environments that terminated.</span>
+<span class="sd">        6. Compute the observations.</span>
+<span class="sd">        7. Return the observations, rewards, resets and extras.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            action: The actions to apply on the environment. Shape is (num_envs, action_dim).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple containing the observations, rewards, resets (terminated and truncated) and extras.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># process actions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">process_action</span><span class="p">(</span><span class="n">action</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">))</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">record_pre_step</span><span class="p">()</span>
+
+        <span class="c1"># check if we need to do rendering within the physics loop</span>
+        <span class="c1"># note: checked here once to avoid multiple checks within the loop</span>
+        <span class="n">is_rendering</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">()</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span>
+
+        <span class="c1"># perform physics stepping</span>
+        <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">+=</span> <span class="mi">1</span>
+            <span class="c1"># set actions into buffers</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">apply_action</span><span class="p">()</span>
+            <span class="c1"># set actions into simulator</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+            <span class="c1"># simulate</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">render</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+            <span class="c1"># render between steps only if the GUI or an RTX sensor needs it</span>
+            <span class="c1"># note: we assume the render interval to be the shortest accepted rendering interval.</span>
+            <span class="c1">#    If a camera needs rendering at a faster frequency, this will lead to unexpected behavior.</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">%</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span> <span class="o">==</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">is_rendering</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+            <span class="c1"># update buffers at sim dt</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">physics_dt</span><span class="p">)</span>
+
+        <span class="c1"># post-step:</span>
+        <span class="c1"># -- update env counters (used for curriculum generation)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">+=</span> <span class="mi">1</span>  <span class="c1"># step in current episode (per env)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">common_step_counter</span> <span class="o">+=</span> <span class="mi">1</span>  <span class="c1"># total step (common for all envs)</span>
+        <span class="c1"># -- check terminations</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">termination_manager</span><span class="o">.</span><span class="n">compute</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">termination_manager</span><span class="o">.</span><span class="n">terminated</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_time_outs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">termination_manager</span><span class="o">.</span><span class="n">time_outs</span>
+        <span class="c1"># -- reward computation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reward_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reward_manager</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">active_terms</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># update observations for recording if needed</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">compute</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">record_post_step</span><span class="p">()</span>
+
+        <span class="c1"># -- reset envs that terminated/timed-out and log the episode information</span>
+        <span class="n">reset_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="o">.</span><span class="n">nonzero</span><span class="p">(</span><span class="n">as_tuple</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># trigger recorder terms for pre-reset calls</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">record_pre_reset</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span>
+            <span class="c1"># update articulation kinematics</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">forward</span><span class="p">()</span>
+
+            <span class="c1"># if sensors are added to the scene, make sure we render to reflect changes in reset</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rerender_on_reset</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+
+            <span class="c1"># trigger recorder terms for post-reset calls</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">record_post_reset</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span>
+
+        <span class="c1"># -- update command</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">command_manager</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span><span class="p">)</span>
+        <span class="c1"># -- step interval events</span>
+        <span class="k">if</span> <span class="s2">&quot;interval&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;interval&quot;</span><span class="p">,</span> <span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">step_dt</span><span class="p">)</span>
+        <span class="c1"># -- compute observations</span>
+        <span class="c1"># note: done after reset to get the correct observations for reset envs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">compute</span><span class="p">()</span>
+
+        <span class="c1"># return observations, rewards, resets and extras</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">reward_buf</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_time_outs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">extras</span></div>
+
+<div class="viewcode-block" id="ManagerBasedRLEnv.render"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.render">[docs]</a>    <span class="k">def</span> <span class="nf">render</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">recompute</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Run rendering without stepping through the physics.</span>
+
+<span class="sd">        By convention, if mode is:</span>
+
+<span class="sd">        - **human**: Render to the current display and return nothing. Usually for human consumption.</span>
+<span class="sd">        - **rgb_array**: Return an numpy.ndarray with shape (x, y, 3), representing RGB values for an</span>
+<span class="sd">          x-by-y pixel image, suitable for turning into a video.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            recompute: Whether to force a render even if the simulator has already rendered the scene.</span>
+<span class="sd">                Defaults to False.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The rendered image as a numpy array if mode is &quot;rgb_array&quot;. Otherwise, returns None.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If mode is set to &quot;rgb_data&quot; and simulation render mode does not support it.</span>
+<span class="sd">                In this case, the simulation render mode must be set to ``RenderMode.PARTIAL_RENDERING``</span>
+<span class="sd">                or ``RenderMode.FULL_RENDERING``.</span>
+<span class="sd">            NotImplementedError: If an unsupported rendering mode is specified.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># run a rendering step of the simulator</span>
+        <span class="c1"># if we have rtx sensors, we do not need to render again sin</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">has_rtx_sensors</span><span class="p">()</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">recompute</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+        <span class="c1"># decide the rendering mode</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">==</span> <span class="s2">&quot;human&quot;</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">None</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">==</span> <span class="s2">&quot;rgb_array&quot;</span><span class="p">:</span>
+            <span class="c1"># check that if any render could have happened</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_mode</span><span class="o">.</span><span class="n">value</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span><span class="o">.</span><span class="n">value</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Cannot render &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span><span class="si">}</span><span class="s2">&#39; when the simulation render mode is&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_mode</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39;. Please set the simulation render mode to:&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot;&#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39; or &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">FULL_RENDERING</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                    <span class="s2">&quot; If running headless, make sure --enable_cameras is set.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># create the annotator if it does not exist</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;_rgb_annotator&quot;</span><span class="p">):</span>
+                <span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+
+                <span class="c1"># create render product</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_render_product</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">create</span><span class="o">.</span><span class="n">render_product</span><span class="p">(</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">cam_prim_path</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">resolution</span>
+                <span class="p">)</span>
+                <span class="c1"># create rgb annotator -- used to read data from the render product</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_rgb_annotator</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">AnnotatorRegistry</span><span class="o">.</span><span class="n">get_annotator</span><span class="p">(</span><span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_rgb_annotator</span><span class="o">.</span><span class="n">attach</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">_render_product</span><span class="p">])</span>
+            <span class="c1"># obtain the rgb data</span>
+            <span class="n">rgb_data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rgb_annotator</span><span class="o">.</span><span class="n">get_data</span><span class="p">()</span>
+            <span class="c1"># convert to numpy array</span>
+            <span class="n">rgb_data</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">frombuffer</span><span class="p">(</span><span class="n">rgb_data</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">*</span><span class="n">rgb_data</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+            <span class="c1"># return the rgb data</span>
+            <span class="c1"># note: initially the renerer is warming up and returns empty data</span>
+            <span class="k">if</span> <span class="n">rgb_data</span><span class="o">.</span><span class="n">size</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">resolution</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">resolution</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">3</span><span class="p">),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">return</span> <span class="n">rgb_data</span><span class="p">[:,</span> <span class="p">:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Render mode &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span><span class="si">}</span><span class="s2">&#39; is not supported. Please use: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">metadata</span><span class="p">[</span><span class="s1">&#39;render_modes&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2">.&quot;</span>
+            <span class="p">)</span></div>
+
+<div class="viewcode-block" id="ManagerBasedRLEnv.close"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.close">[docs]</a>    <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_closed</span><span class="p">:</span>
+            <span class="c1"># destructor is order-sensitive</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">command_manager</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">reward_manager</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">termination_manager</span>
+            <span class="k">del</span> <span class="bp">self</span><span class="o">.</span><span class="n">curriculum_manager</span>
+            <span class="c1"># call the parent class to close the environment</span>
+            <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">close</span><span class="p">()</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_configure_gym_env_spaces</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Configure the action and observation spaces for the Gym environment.&quot;&quot;&quot;</span>
+        <span class="c1"># observation space (unbounded since we don&#39;t impose any limits)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">single_observation_space</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Dict</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">group_name</span><span class="p">,</span> <span class="n">group_term_names</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">active_terms</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># extract quantities about the group</span>
+            <span class="n">has_concatenated_obs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">group_obs_concatenate</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span>
+            <span class="n">group_dim</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">group_obs_dim</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span>
+            <span class="c1"># check if group is concatenated or not</span>
+            <span class="c1"># if not concatenated, then we need to add each term separately as a dictionary</span>
+            <span class="k">if</span> <span class="n">has_concatenated_obs</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">(</span><span class="n">low</span><span class="o">=-</span><span class="n">np</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span> <span class="n">high</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span> <span class="n">shape</span><span class="o">=</span><span class="n">group_dim</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Dict</span><span class="p">({</span>
+                    <span class="n">term_name</span><span class="p">:</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">(</span><span class="n">low</span><span class="o">=-</span><span class="n">np</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span> <span class="n">high</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span> <span class="n">shape</span><span class="o">=</span><span class="n">term_dim</span><span class="p">)</span>
+                    <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_dim</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">group_term_names</span><span class="p">,</span> <span class="n">group_dim</span><span class="p">)</span>
+                <span class="p">})</span>
+        <span class="c1"># action space (unbounded since we don&#39;t impose any limits)</span>
+        <span class="n">action_dim</span> <span class="o">=</span> <span class="nb">sum</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">action_term_dim</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">single_action_space</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">(</span><span class="n">low</span><span class="o">=-</span><span class="n">np</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span> <span class="n">high</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span> <span class="n">shape</span><span class="o">=</span><span class="p">(</span><span class="n">action_dim</span><span class="p">,))</span>
+
+        <span class="c1"># batch the spaces for vectorized environments</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">observation_space</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">vector</span><span class="o">.</span><span class="n">utils</span><span class="o">.</span><span class="n">batch_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">action_space</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">vector</span><span class="o">.</span><span class="n">utils</span><span class="o">.</span><span class="n">batch_space</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">single_action_space</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_reset_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset environments based on specified indices.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: List of environment ids which must be reset</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># update the curriculum for environments that need a reset</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">curriculum_manager</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># reset the internal buffers of the scene elements</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># apply events such as randomizations for environments that need a reset</span>
+        <span class="k">if</span> <span class="s2">&quot;reset&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">available_modes</span><span class="p">:</span>
+            <span class="n">env_step_count</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sim_step_counter</span> <span class="o">//</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">decimation</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">global_env_step_count</span><span class="o">=</span><span class="n">env_step_count</span><span class="p">)</span>
+
+        <span class="c1"># iterate over all managers and reset them</span>
+        <span class="c1"># this returns a dictionary of information which is stored in the extras</span>
+        <span class="c1"># note: This is order-sensitive! Certain things need be reset before others.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># -- observation manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+        <span class="c1"># -- action manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+        <span class="c1"># -- rewards manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reward_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+        <span class="c1"># -- curriculum manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">curriculum_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+        <span class="c1"># -- command manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">command_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+        <span class="c1"># -- event manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">event_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+        <span class="c1"># -- termination manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">termination_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+        <span class="c1"># -- recorder manager</span>
+        <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">recorder_manager</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">extras</span><span class="p">[</span><span class="s2">&quot;log&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">info</span><span class="p">)</span>
+
+        <span class="c1"># reset the episode length buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.envs.manager_based_rl_env_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.manager_based_env_cfg</span> <span class="kn">import</span> <span class="n">ManagerBasedEnvCfg</span>
+<span class="kn">from</span> <span class="nn">.ui</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnvWindow</span>
+
+
+<div class="viewcode-block" id="ManagerBasedRLEnvCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ManagerBasedRLEnvCfg</span><span class="p">(</span><span class="n">ManagerBasedEnvCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a reinforcement learning environment with the manager-based workflow.&quot;&quot;&quot;</span>
+
+    <span class="c1"># ui settings</span>
+    <span class="n">ui_window_class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="n">ManagerBasedRLEnvWindow</span>
+
+    <span class="c1"># general settings</span>
+    <span class="n">is_finite_horizon</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the learning task is treated as a finite or infinite horizon problem for the agent.</span>
+<span class="sd">    Defaults to False, which means the task is treated as an infinite horizon problem.</span>
+
+<span class="sd">    This flag handles the subtleties of finite and infinite horizon tasks:</span>
+
+<span class="sd">    * **Finite horizon**: no penalty or bootstrapping value is required by the the agent for</span>
+<span class="sd">      running out of time. However, the environment still needs to terminate the episode after the</span>
+<span class="sd">      time limit is reached.</span>
+<span class="sd">    * **Infinite horizon**: the agent needs to bootstrap the value of the state at the end of the episode.</span>
+<span class="sd">      This is done by sending a time-limit (or truncated) done signal to the agent, which triggers this</span>
+<span class="sd">      bootstrapping calculation.</span>
+
+<span class="sd">    If True, then the environment is treated as a finite horizon problem and no time-out (or truncated) done signal</span>
+<span class="sd">    is sent to the agent. If False, then the environment is treated as an infinite horizon problem and a time-out</span>
+<span class="sd">    (or truncated) done signal is sent to the agent.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The base :class:`ManagerBasedRLEnv` class does not use this flag directly. It is used by the environment</span>
+<span class="sd">        wrappers to determine what type of done signal to send to the corresponding learning agent.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">episode_length_s</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Duration of an episode (in seconds).</span>
+
+<span class="sd">    Based on the decimation rate and physics time step, the episode length is calculated as:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        episode_length_steps = ceil(episode_length_s / (decimation_rate * physics_time_step))</span>
+
+<span class="sd">    For example, if the decimation rate is 10, the physics time step is 0.01, and the episode length is 10 seconds,</span>
+<span class="sd">    then the episode length in steps is 100.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># environment settings</span>
+    <span class="n">rewards</span><span class="p">:</span> <span class="nb">object</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reward settings.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.managers.RewardManager` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">terminations</span><span class="p">:</span> <span class="nb">object</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Termination settings.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.managers.TerminationManager` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">curriculum</span><span class="p">:</span> <span class="nb">object</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Curriculum settings. Defaults to None, in which case no curriculum is applied.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.managers.CurriculumManager` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">commands</span><span class="p">:</span> <span class="nb">object</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Command settings. Defaults to None, in which case no commands are generated.</span>
+
+<span class="sd">    Please refer to the :class:`omni.isaac.lab.managers.CommandManager` class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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+        <p aria-level="2" class="caption" role="heading"><span class="caption-text">Getting Started</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/setup/ecosystem.html">Isaac Lab Ecosystem</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/setup/installation/index.html">Local Installation</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/setup/installation/pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
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+</details></li>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Overview</span></p>
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+</details></li>
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+
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+  <h1>Source code for omni.isaac.lab.envs.mdp.actions.actions_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.controllers</span> <span class="kn">import</span> <span class="n">DifferentialIKControllerCfg</span><span class="p">,</span> <span class="n">OperationalSpaceControllerCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers.action_manager</span> <span class="kn">import</span> <span class="n">ActionTerm</span><span class="p">,</span> <span class="n">ActionTermCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">binary_joint_actions</span><span class="p">,</span> <span class="n">joint_actions</span><span class="p">,</span> <span class="n">joint_actions_to_limits</span><span class="p">,</span> <span class="n">non_holonomic_actions</span><span class="p">,</span> <span class="n">task_space_actions</span>
+
+<span class="c1">##</span>
+<span class="c1"># Joint actions.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="JointActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">JointActionCfg</span><span class="p">(</span><span class="n">ActionTermCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the base joint action term.</span>
+
+<span class="sd">    See :class:`JointAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">joint_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;List of joint names or regex expressions that the action will be mapped to.&quot;&quot;&quot;</span>
+    <span class="n">scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale factor for the action (float or dict of regex expressions). Defaults to 1.0.&quot;&quot;&quot;</span>
+    <span class="n">offset</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Offset factor for the action (float or dict of regex expressions). Defaults to 0.0.&quot;&quot;&quot;</span>
+    <span class="n">preserve_order</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to preserve the order of the joint names in the action output. Defaults to False.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="JointPositionActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">JointPositionActionCfg</span><span class="p">(</span><span class="n">JointActionCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the joint position action term.</span>
+
+<span class="sd">    See :class:`JointPositionAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_actions</span><span class="o">.</span><span class="n">JointPositionAction</span>
+
+    <span class="n">use_default_offset</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to use default joint positions configured in the articulation asset as offset.</span>
+<span class="sd">    Defaults to True.</span>
+
+<span class="sd">    If True, this flag results in overwriting the values of :attr:`offset` to the default joint positions</span>
+<span class="sd">    from the articulation asset.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="RelativeJointPositionActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RelativeJointPositionActionCfg</span><span class="p">(</span><span class="n">JointActionCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the relative joint position action term.</span>
+
+<span class="sd">    See :class:`RelativeJointPositionAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_actions</span><span class="o">.</span><span class="n">RelativeJointPositionAction</span>
+
+    <span class="n">use_zero_offset</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to ignore the offset defined in articulation asset. Defaults to True.</span>
+
+<span class="sd">    If True, this flag results in overwriting the values of :attr:`offset` to zero.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="JointVelocityActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">JointVelocityActionCfg</span><span class="p">(</span><span class="n">JointActionCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the joint velocity action term.</span>
+
+<span class="sd">    See :class:`JointVelocityAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_actions</span><span class="o">.</span><span class="n">JointVelocityAction</span>
+
+    <span class="n">use_default_offset</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to use default joint velocities configured in the articulation asset as offset.</span>
+<span class="sd">    Defaults to True.</span>
+
+<span class="sd">    This overrides the settings from :attr:`offset` if set to True.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="JointEffortActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">JointEffortActionCfg</span><span class="p">(</span><span class="n">JointActionCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the joint effort action term.</span>
+
+<span class="sd">    See :class:`JointEffortAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_actions</span><span class="o">.</span><span class="n">JointEffortAction</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Joint actions rescaled to limits.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="JointPositionToLimitsActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">JointPositionToLimitsActionCfg</span><span class="p">(</span><span class="n">ActionTermCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the bounded joint position action term.</span>
+
+<span class="sd">    See :class:`JointPositionWithinLimitsAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_actions_to_limits</span><span class="o">.</span><span class="n">JointPositionToLimitsAction</span>
+
+    <span class="n">joint_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;List of joint names or regex expressions that the action will be mapped to.&quot;&quot;&quot;</span>
+
+    <span class="n">scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale factor for the action (float or dict of regex expressions). Defaults to 1.0.&quot;&quot;&quot;</span>
+
+    <span class="n">rescale_to_limits</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to rescale the action to the joint limits. Defaults to True.</span>
+
+<span class="sd">    If True, the input actions are rescaled to the joint limits, i.e., the action value in</span>
+<span class="sd">    the range [-1, 1] corresponds to the joint lower and upper limits respectively.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This operation is performed after applying the scale factor.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="EMAJointPositionToLimitsActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">EMAJointPositionToLimitsActionCfg</span><span class="p">(</span><span class="n">JointPositionToLimitsActionCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the exponential moving average (EMA) joint position action term.</span>
+
+<span class="sd">    See :class:`EMAJointPositionToLimitsAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_actions_to_limits</span><span class="o">.</span><span class="n">EMAJointPositionToLimitsAction</span>
+
+    <span class="n">alpha</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The weight for the moving average (float or dict of regex expressions). Defaults to 1.0.</span>
+
+<span class="sd">    If set to 1.0, the processed action is applied directly without any moving average window.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Gripper actions.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="BinaryJointActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">BinaryJointActionCfg</span><span class="p">(</span><span class="n">ActionTermCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the base binary joint action term.</span>
+
+<span class="sd">    See :class:`BinaryJointAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">joint_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;List of joint names or regex expressions that the action will be mapped to.&quot;&quot;&quot;</span>
+    <span class="n">open_command_expr</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint command to move to *open* configuration.&quot;&quot;&quot;</span>
+    <span class="n">close_command_expr</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint command to move to *close* configuration.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="BinaryJointPositionActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">BinaryJointPositionActionCfg</span><span class="p">(</span><span class="n">BinaryJointActionCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the binary joint position action term.</span>
+
+<span class="sd">    See :class:`BinaryJointPositionAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">binary_joint_actions</span><span class="o">.</span><span class="n">BinaryJointPositionAction</span></div>
+
+
+<div class="viewcode-block" id="BinaryJointVelocityActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">BinaryJointVelocityActionCfg</span><span class="p">(</span><span class="n">BinaryJointActionCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the binary joint velocity action term.</span>
+
+<span class="sd">    See :class:`BinaryJointVelocityAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">binary_joint_actions</span><span class="o">.</span><span class="n">BinaryJointVelocityAction</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Non-holonomic actions.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="NonHolonomicActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">NonHolonomicActionCfg</span><span class="p">(</span><span class="n">ActionTermCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the non-holonomic action term with dummy joints at the base.</span>
+
+<span class="sd">    See :class:`NonHolonomicAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">non_holonomic_actions</span><span class="o">.</span><span class="n">NonHolonomicAction</span>
+
+    <span class="n">body_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Name of the body which has the dummy mechanism connected to.&quot;&quot;&quot;</span>
+    <span class="n">x_joint_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dummy joint name in the x direction.&quot;&quot;&quot;</span>
+    <span class="n">y_joint_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dummy joint name in the y direction.&quot;&quot;&quot;</span>
+    <span class="n">yaw_joint_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dummy joint name in the yaw direction.&quot;&quot;&quot;</span>
+    <span class="n">scale</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale factor for the action. Defaults to (1.0, 1.0).&quot;&quot;&quot;</span>
+    <span class="n">offset</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Offset factor for the action. Defaults to (0.0, 0.0).&quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Task-space Actions.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="DifferentialInverseKinematicsActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DifferentialInverseKinematicsActionCfg</span><span class="p">(</span><span class="n">ActionTermCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for inverse differential kinematics action term.</span>
+
+<span class="sd">    See :class:`DifferentialInverseKinematicsAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DifferentialInverseKinematicsActionCfg.OffsetCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">OffsetCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The offset pose from parent frame to child frame.</span>
+
+<span class="sd">        On many robots, end-effector frames are fictitious frames that do not have a corresponding</span>
+<span class="sd">        rigid body. In such cases, it is easier to define this transform w.r.t. their parent rigid body.</span>
+<span class="sd">        For instance, for the Franka Emika arm, the end-effector is defined at an offset to the the</span>
+<span class="sd">        &quot;panda_hand&quot; frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="n">pos</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+        <span class="n">rot</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Quaternion rotation ``(w, x, y, z)`` w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).&quot;&quot;&quot;</span></div>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">task_space_actions</span><span class="o">.</span><span class="n">DifferentialInverseKinematicsAction</span>
+
+    <span class="n">joint_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;List of joint names or regex expressions that the action will be mapped to.&quot;&quot;&quot;</span>
+    <span class="n">body_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Name of the body or frame for which IK is performed.&quot;&quot;&quot;</span>
+    <span class="n">body_offset</span><span class="p">:</span> <span class="n">OffsetCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Offset of target frame w.r.t. to the body frame. Defaults to None, in which case no offset is applied.&quot;&quot;&quot;</span>
+    <span class="n">scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="o">...</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale factor for the action. Defaults to 1.0.&quot;&quot;&quot;</span>
+    <span class="n">controller</span><span class="p">:</span> <span class="n">DifferentialIKControllerCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the differential IK controller.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="OperationalSpaceControllerActionCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">OperationalSpaceControllerActionCfg</span><span class="p">(</span><span class="n">ActionTermCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for operational space controller action term.</span>
+
+<span class="sd">    See :class:`OperationalSpaceControllerAction` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="OperationalSpaceControllerActionCfg.OffsetCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">OffsetCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The offset pose from parent frame to child frame.</span>
+
+<span class="sd">        On many robots, end-effector frames are fictitious frames that do not have a corresponding</span>
+<span class="sd">        rigid body. In such cases, it is easier to define this transform w.r.t. their parent rigid body.</span>
+<span class="sd">        For instance, for the Franka Emika arm, the end-effector is defined at an offset to the the</span>
+<span class="sd">        &quot;panda_hand&quot; frame.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="n">pos</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+        <span class="n">rot</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Quaternion rotation ``(w, x, y, z)`` w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).&quot;&quot;&quot;</span></div>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">task_space_actions</span><span class="o">.</span><span class="n">OperationalSpaceControllerAction</span>
+
+    <span class="n">joint_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;List of joint names or regex expressions that the action will be mapped to.&quot;&quot;&quot;</span>
+
+    <span class="n">body_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Name of the body or frame for which motion/force control is performed.&quot;&quot;&quot;</span>
+
+    <span class="n">body_offset</span><span class="p">:</span> <span class="n">OffsetCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Offset of target frame w.r.t. to the body frame. Defaults to None, in which case no offset is applied.&quot;&quot;&quot;</span>
+
+    <span class="n">task_frame_rel_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The path of a ``RigidObject``, relative to the sub-environment, representing task frame. Defaults to None.&quot;&quot;&quot;</span>
+
+    <span class="n">controller_cfg</span><span class="p">:</span> <span class="n">OperationalSpaceControllerCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the operational space controller.&quot;&quot;&quot;</span>
+
+    <span class="n">position_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale factor for the position targets. Defaults to 1.0.&quot;&quot;&quot;</span>
+
+    <span class="n">orientation_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale factor for the orientation (quad for ``pose_abs`` or axis-angle for ``pose_rel``). Defaults to 1.0.&quot;&quot;&quot;</span>
+
+    <span class="n">wrench_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale factor for the wrench targets. Defaults to 1.0.&quot;&quot;&quot;</span>
+
+    <span class="n">stiffness_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale factor for the stiffness commands. Defaults to 1.0.&quot;&quot;&quot;</span>
+
+    <span class="n">damping_ratio_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale factor for the damping ratio commands. Defaults to 1.0.&quot;&quot;&quot;</span>
+
+    <span class="n">nullspace_joint_pos_target</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;none&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint targets for the null-space control: ``&quot;none&quot;``, ``&quot;zero&quot;``, ``&quot;default&quot;``, ``&quot;center&quot;``.</span>
+
+<span class="sd">    Note: Functional only when ``nullspace_control`` is set to ``&quot;position&quot;`` within the</span>
+<span class="sd">        ``OperationalSpaceControllerCfg``.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+</ul>
+</details></li>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+  <h1>Source code for omni.isaac.lab.envs.mdp.commands.commands_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">math</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">CommandTermCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkersCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers.config</span> <span class="kn">import</span> <span class="n">BLUE_ARROW_X_MARKER_CFG</span><span class="p">,</span> <span class="n">FRAME_MARKER_CFG</span><span class="p">,</span> <span class="n">GREEN_ARROW_X_MARKER_CFG</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.null_command</span> <span class="kn">import</span> <span class="n">NullCommand</span>
+<span class="kn">from</span> <span class="nn">.pose_2d_command</span> <span class="kn">import</span> <span class="n">TerrainBasedPose2dCommand</span><span class="p">,</span> <span class="n">UniformPose2dCommand</span>
+<span class="kn">from</span> <span class="nn">.pose_command</span> <span class="kn">import</span> <span class="n">UniformPoseCommand</span>
+<span class="kn">from</span> <span class="nn">.velocity_command</span> <span class="kn">import</span> <span class="n">NormalVelocityCommand</span><span class="p">,</span> <span class="n">UniformVelocityCommand</span>
+
+
+<div class="viewcode-block" id="NullCommandCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">NullCommandCfg</span><span class="p">(</span><span class="n">CommandTermCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the null command generator.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">NullCommand</span>
+
+    <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Post initialization.&quot;&quot;&quot;</span>
+        <span class="c1"># set the resampling time range to infinity to avoid resampling</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">resampling_time_range</span> <span class="o">=</span> <span class="p">(</span><span class="n">math</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span> <span class="n">math</span><span class="o">.</span><span class="n">inf</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="UniformVelocityCommandCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">UniformVelocityCommandCfg</span><span class="p">(</span><span class="n">CommandTermCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the uniform velocity command generator.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">UniformVelocityCommand</span>
+
+    <span class="n">asset_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Name of the asset in the environment for which the commands are generated.&quot;&quot;&quot;</span>
+
+    <span class="n">heading_command</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to use heading command or angular velocity command. Defaults to False.</span>
+
+<span class="sd">    If True, the angular velocity command is computed from the heading error, where the</span>
+<span class="sd">    target heading is sampled uniformly from provided range. Otherwise, the angular velocity</span>
+<span class="sd">    command is sampled uniformly from provided range.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">heading_control_stiffness</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale factor to convert the heading error to angular velocity command. Defaults to 1.0.&quot;&quot;&quot;</span>
+
+    <span class="n">rel_standing_envs</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The sampled probability of environments that should be standing still. Defaults to 0.0.&quot;&quot;&quot;</span>
+
+    <span class="n">rel_heading_envs</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The sampled probability of environments where the robots follow the heading-based angular velocity command</span>
+<span class="sd">    (the others follow the sampled angular velocity command). Defaults to 1.0.</span>
+
+<span class="sd">    This parameter is only used if :attr:`heading_command` is True.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="UniformVelocityCommandCfg.Ranges"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">Ranges</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Uniform distribution ranges for the velocity commands.&quot;&quot;&quot;</span>
+
+        <span class="n">lin_vel_x</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the linear-x velocity command (in m/s).&quot;&quot;&quot;</span>
+
+        <span class="n">lin_vel_y</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the linear-y velocity command (in m/s).&quot;&quot;&quot;</span>
+
+        <span class="n">ang_vel_z</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the angular-z velocity command (in rad/s).&quot;&quot;&quot;</span>
+
+        <span class="n">heading</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the heading command (in rad). Defaults to None.</span>
+
+<span class="sd">        This parameter is only used if :attr:`~UniformVelocityCommandCfg.heading_command` is True.</span>
+<span class="sd">        &quot;&quot;&quot;</span></div>
+
+    <span class="n">ranges</span><span class="p">:</span> <span class="n">Ranges</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Distribution ranges for the velocity commands.&quot;&quot;&quot;</span>
+
+    <span class="n">goal_vel_visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">GREEN_ARROW_X_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/Command/velocity_goal&quot;</span>
+    <span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.&quot;&quot;&quot;</span>
+
+    <span class="n">current_vel_visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">BLUE_ARROW_X_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/Command/velocity_current&quot;</span>
+    <span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG.&quot;&quot;&quot;</span>
+
+    <span class="c1"># Set the scale of the visualization markers to (0.5, 0.5, 0.5)</span>
+    <span class="n">goal_vel_visualizer_cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">[</span><span class="s2">&quot;arrow&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">scale</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">)</span>
+    <span class="n">current_vel_visualizer_cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">[</span><span class="s2">&quot;arrow&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">scale</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="NormalVelocityCommandCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">NormalVelocityCommandCfg</span><span class="p">(</span><span class="n">UniformVelocityCommandCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the normal velocity command generator.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">NormalVelocityCommand</span>
+    <span class="n">heading_command</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>  <span class="c1"># --&gt; we don&#39;t use heading command for normal velocity command.</span>
+
+<div class="viewcode-block" id="NormalVelocityCommandCfg.Ranges"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">Ranges</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Normal distribution ranges for the velocity commands.&quot;&quot;&quot;</span>
+
+        <span class="n">mean_vel</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Mean velocity for the normal distribution (in m/s).</span>
+
+<span class="sd">        The tuple contains the mean linear-x, linear-y, and angular-z velocity.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="n">std_vel</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Standard deviation for the normal distribution (in m/s).</span>
+
+<span class="sd">        The tuple contains the standard deviation linear-x, linear-y, and angular-z velocity.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="n">zero_prob</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Probability of zero velocity for the normal distribution.</span>
+
+<span class="sd">        The tuple contains the probability of zero linear-x, linear-y, and angular-z velocity.</span>
+<span class="sd">        &quot;&quot;&quot;</span></div>
+
+    <span class="n">ranges</span><span class="p">:</span> <span class="n">Ranges</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Distribution ranges for the velocity commands.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="UniformPoseCommandCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">UniformPoseCommandCfg</span><span class="p">(</span><span class="n">CommandTermCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for uniform pose command generator.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">UniformPoseCommand</span>
+
+    <span class="n">asset_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Name of the asset in the environment for which the commands are generated.&quot;&quot;&quot;</span>
+
+    <span class="n">body_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Name of the body in the asset for which the commands are generated.&quot;&quot;&quot;</span>
+
+    <span class="n">make_quat_unique</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to make the quaternion unique or not. Defaults to False.</span>
+
+<span class="sd">    If True, the quaternion is made unique by ensuring the real part is positive.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="UniformPoseCommandCfg.Ranges"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">Ranges</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Uniform distribution ranges for the pose commands.&quot;&quot;&quot;</span>
+
+        <span class="n">pos_x</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the x position (in m).&quot;&quot;&quot;</span>
+
+        <span class="n">pos_y</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the y position (in m).&quot;&quot;&quot;</span>
+
+        <span class="n">pos_z</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the z position (in m).&quot;&quot;&quot;</span>
+
+        <span class="n">roll</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the roll angle (in rad).&quot;&quot;&quot;</span>
+
+        <span class="n">pitch</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the pitch angle (in rad).&quot;&quot;&quot;</span>
+
+        <span class="n">yaw</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the yaw angle (in rad).&quot;&quot;&quot;</span></div>
+
+    <span class="n">ranges</span><span class="p">:</span> <span class="n">Ranges</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Ranges for the commands.&quot;&quot;&quot;</span>
+
+    <span class="n">goal_pose_visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">FRAME_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/Command/goal_pose&quot;</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the goal pose visualization marker. Defaults to FRAME_MARKER_CFG.&quot;&quot;&quot;</span>
+
+    <span class="n">current_pose_visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">FRAME_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/Command/body_pose&quot;</span>
+    <span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the current pose visualization marker. Defaults to FRAME_MARKER_CFG.&quot;&quot;&quot;</span>
+
+    <span class="c1"># Set the scale of the visualization markers to (0.1, 0.1, 0.1)</span>
+    <span class="n">goal_pose_visualizer_cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">[</span><span class="s2">&quot;frame&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">scale</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">)</span>
+    <span class="n">current_pose_visualizer_cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">[</span><span class="s2">&quot;frame&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">scale</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="UniformPose2dCommandCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">UniformPose2dCommandCfg</span><span class="p">(</span><span class="n">CommandTermCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the uniform 2D-pose command generator.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">UniformPose2dCommand</span>
+
+    <span class="n">asset_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Name of the asset in the environment for which the commands are generated.&quot;&quot;&quot;</span>
+
+    <span class="n">simple_heading</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to use simple heading or not.</span>
+
+<span class="sd">    If True, the heading is in the direction of the target position.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="UniformPose2dCommandCfg.Ranges"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">Ranges</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Uniform distribution ranges for the position commands.&quot;&quot;&quot;</span>
+
+        <span class="n">pos_x</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the x position (in m).&quot;&quot;&quot;</span>
+
+        <span class="n">pos_y</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Range for the y position (in m).&quot;&quot;&quot;</span>
+
+        <span class="n">heading</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Heading range for the position commands (in rad).</span>
+
+<span class="sd">        Used only if :attr:`simple_heading` is False.</span>
+<span class="sd">        &quot;&quot;&quot;</span></div>
+
+    <span class="n">ranges</span><span class="p">:</span> <span class="n">Ranges</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Distribution ranges for the position commands.&quot;&quot;&quot;</span>
+
+    <span class="n">goal_pose_visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">GREEN_ARROW_X_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/Command/pose_goal&quot;</span>
+    <span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration for the goal pose visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.&quot;&quot;&quot;</span>
+
+    <span class="c1"># Set the scale of the visualization markers to (0.2, 0.2, 0.8)</span>
+    <span class="n">goal_pose_visualizer_cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">[</span><span class="s2">&quot;arrow&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">scale</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.8</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="TerrainBasedPose2dCommandCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">TerrainBasedPose2dCommandCfg</span><span class="p">(</span><span class="n">UniformPose2dCommandCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the terrain-based position command generator.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span> <span class="o">=</span> <span class="n">TerrainBasedPose2dCommand</span>
+
+<div class="viewcode-block" id="TerrainBasedPose2dCommandCfg.Ranges"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">Ranges</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Uniform distribution ranges for the position commands.&quot;&quot;&quot;</span>
+
+        <span class="n">heading</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Heading range for the position commands (in rad).</span>
+
+<span class="sd">        Used only if :attr:`simple_heading` is False.</span>
+<span class="sd">        &quot;&quot;&quot;</span></div>
+
+    <span class="n">ranges</span><span class="p">:</span> <span class="n">Ranges</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Distribution ranges for the sampled commands.&quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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new file mode 100644
index 0000000000..13c711ee5f
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+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
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+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <h1>Source code for omni.isaac.lab.envs.mdp.curriculums</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Common functions that can be used to create curriculum for the learning environment.</span>
+
+<span class="sd">The functions can be passed to the :class:`omni.isaac.lab.managers.CurriculumTermCfg` object to enable</span>
+<span class="sd">the curriculum introduced by the function.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnv</span>
+
+
+<div class="viewcode-block" id="modify_reward_weight"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight">[docs]</a><span class="k">def</span> <span class="nf">modify_reward_weight</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span> <span class="n">term_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">weight</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">num_steps</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Curriculum that modifies a reward weight a given number of steps.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        env: The learning environment.</span>
+<span class="sd">        env_ids: Not used since all environments are affected.</span>
+<span class="sd">        term_name: The name of the reward term.</span>
+<span class="sd">        weight: The weight of the reward term.</span>
+<span class="sd">        num_steps: The number of steps after which the change should be applied.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="n">env</span><span class="o">.</span><span class="n">common_step_counter</span> <span class="o">&gt;</span> <span class="n">num_steps</span><span class="p">:</span>
+        <span class="c1"># obtain term settings</span>
+        <span class="n">term_cfg</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reward_manager</span><span class="o">.</span><span class="n">get_term_cfg</span><span class="p">(</span><span class="n">term_name</span><span class="p">)</span>
+        <span class="c1"># update term settings</span>
+        <span class="n">term_cfg</span><span class="o">.</span><span class="n">weight</span> <span class="o">=</span> <span class="n">weight</span>
+        <span class="n">env</span><span class="o">.</span><span class="n">reward_manager</span><span class="o">.</span><span class="n">set_term_cfg</span><span class="p">(</span><span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span><span class="p">)</span></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.envs.mdp.events</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Common functions that can be used to enable different events.</span>
+
+<span class="sd">Events include anything related to altering the simulation state. This includes changing the physics</span>
+<span class="sd">materials, applying external forces, and resetting the state of the asset.</span>
+
+<span class="sd">The functions can be passed to the :class:`omni.isaac.lab.managers.EventTermCfg` object to enable</span>
+<span class="sd">the event introduced by the function.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span><span class="p">,</span> <span class="n">Literal</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.actuators</span> <span class="kn">import</span> <span class="n">ImplicitActuator</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">Articulation</span><span class="p">,</span> <span class="n">DeformableObject</span><span class="p">,</span> <span class="n">RigidObject</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">EventTermCfg</span><span class="p">,</span> <span class="n">ManagerTermBase</span><span class="p">,</span> <span class="n">SceneEntityCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.terrains</span> <span class="kn">import</span> <span class="n">TerrainImporter</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedEnv</span>
+
+
+<div class="viewcode-block" id="randomize_rigid_body_material"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material">[docs]</a><span class="k">class</span> <span class="nc">randomize_rigid_body_material</span><span class="p">(</span><span class="n">ManagerTermBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Randomize the physics materials on all geometries of the asset.</span>
+
+<span class="sd">    This function creates a set of physics materials with random static friction, dynamic friction, and restitution</span>
+<span class="sd">    values. The number of materials is specified by ``num_buckets``. The materials are generated by sampling</span>
+<span class="sd">    uniform random values from the given ranges.</span>
+
+<span class="sd">    The material properties are then assigned to the geometries of the asset. The assignment is done by</span>
+<span class="sd">    creating a random integer tensor of shape  (num_instances, max_num_shapes) where ``num_instances``</span>
+<span class="sd">    is the number of assets spawned and ``max_num_shapes`` is the maximum number of shapes in the asset (over</span>
+<span class="sd">    all bodies). The integer values are used as indices to select the material properties from the</span>
+<span class="sd">    material buckets.</span>
+
+<span class="sd">    If the flag ``make_consistent`` is set to ``True``, the dynamic friction is set to be less than or equal to</span>
+<span class="sd">    the static friction. This obeys the physics constraint on friction values. However, it may not always be</span>
+<span class="sd">    essential for the application. Thus, the flag is set to ``False`` by default.</span>
+
+<span class="sd">    .. attention::</span>
+<span class="sd">        This function uses CPU tensors to assign the material properties. It is recommended to use this function</span>
+<span class="sd">        only during the initialization of the environment. Otherwise, it may lead to a significant performance</span>
+<span class="sd">        overhead.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        PhysX only allows 64000 unique physics materials in the scene. If the number of materials exceeds this</span>
+<span class="sd">        limit, the simulation will crash. Due to this reason, we sample the materials only once during initialization.</span>
+<span class="sd">        Afterwards, these materials are randomly assigned to the geometries of the asset.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="randomize_rigid_body_material.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">EventTermCfg</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration of the event term.</span>
+<span class="sd">            env: The environment instance.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the asset is not a RigidObject or an Articulation.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+
+        <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="p">[</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">|</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="p">,</span> <span class="p">(</span><span class="n">RigidObject</span><span class="p">,</span> <span class="n">Articulation</span><span class="p">)):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Randomization term &#39;randomize_rigid_body_material&#39; not supported for asset: &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39;&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; with type: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># obtain number of shapes per body (needed for indexing the material properties correctly)</span>
+        <span class="c1"># note: this is a workaround since the Articulation does not provide a direct way to obtain the number of shapes</span>
+        <span class="c1">#  per body. We use the physics simulation view to obtain the number of shapes per body.</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="p">,</span> <span class="n">Articulation</span><span class="p">)</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">body_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">num_shapes_per_body</span> <span class="o">=</span> <span class="p">[]</span>
+            <span class="k">for</span> <span class="n">link_path</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">link_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">]:</span>
+                <span class="n">link_physx_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_rigid_body_view</span><span class="p">(</span><span class="n">link_path</span><span class="p">)</span>  <span class="c1"># type: ignore</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">num_shapes_per_body</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">link_physx_view</span><span class="o">.</span><span class="n">max_shapes</span><span class="p">)</span>
+            <span class="c1"># ensure the parsing is correct</span>
+            <span class="n">num_shapes</span> <span class="o">=</span> <span class="nb">sum</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_shapes_per_body</span><span class="p">)</span>
+            <span class="n">expected_shapes</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">max_shapes</span>
+            <span class="k">if</span> <span class="n">num_shapes</span> <span class="o">!=</span> <span class="n">expected_shapes</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                    <span class="s2">&quot;Randomization term &#39;randomize_rigid_body_material&#39; failed to parse the number of shapes per body.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Expected total shapes: </span><span class="si">{</span><span class="n">expected_shapes</span><span class="si">}</span><span class="s2">, but got: </span><span class="si">{</span><span class="n">num_shapes</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># in this case, we don&#39;t need to do special indexing</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">num_shapes_per_body</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># obtain parameters for sampling friction and restitution values</span>
+        <span class="n">static_friction_range</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;static_friction_range&quot;</span><span class="p">,</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">))</span>
+        <span class="n">dynamic_friction_range</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;dynamic_friction_range&quot;</span><span class="p">,</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">))</span>
+        <span class="n">restitution_range</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;restitution_range&quot;</span><span class="p">,</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span>
+        <span class="n">num_buckets</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;num_buckets&quot;</span><span class="p">,</span> <span class="mi">1</span><span class="p">))</span>
+
+        <span class="c1"># sample material properties from the given ranges</span>
+        <span class="c1"># note: we only sample the materials once during initialization</span>
+        <span class="c1">#   afterwards these are randomly assigned to the geometries of the asset</span>
+        <span class="n">range_list</span> <span class="o">=</span> <span class="p">[</span><span class="n">static_friction_range</span><span class="p">,</span> <span class="n">dynamic_friction_range</span><span class="p">,</span> <span class="n">restitution_range</span><span class="p">]</span>
+        <span class="n">ranges</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">range_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">material_buckets</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">ranges</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">ranges</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="n">num_buckets</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+
+        <span class="c1"># ensure dynamic friction is always less than static friction</span>
+        <span class="n">make_consistent</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;make_consistent&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">make_consistent</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">material_buckets</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">min</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">material_buckets</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">material_buckets</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">])</span></div>
+
+    <span class="k">def</span> <span class="fm">__call__</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">static_friction_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+        <span class="n">dynamic_friction_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+        <span class="n">restitution_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+        <span class="n">num_buckets</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+        <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">,</span>
+        <span class="n">make_consistent</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+    <span class="p">):</span>
+        <span class="c1"># resolve environment ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span>
+
+        <span class="c1"># randomly assign material IDs to the geometries</span>
+        <span class="n">total_num_shapes</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">max_shapes</span>
+        <span class="n">bucket_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">num_buckets</span><span class="p">,</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="n">total_num_shapes</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+        <span class="n">material_samples</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">material_buckets</span><span class="p">[</span><span class="n">bucket_ids</span><span class="p">]</span>
+
+        <span class="c1"># retrieve material buffer from the physics simulation</span>
+        <span class="n">materials</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_material_properties</span><span class="p">()</span>
+
+        <span class="c1"># update material buffer with new samples</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_shapes_per_body</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># sample material properties from the given ranges</span>
+            <span class="k">for</span> <span class="n">body_id</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">:</span>
+                <span class="c1"># obtain indices of shapes for the body</span>
+                <span class="n">start_idx</span> <span class="o">=</span> <span class="nb">sum</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_shapes_per_body</span><span class="p">[:</span><span class="n">body_id</span><span class="p">])</span>
+                <span class="n">end_idx</span> <span class="o">=</span> <span class="n">start_idx</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_shapes_per_body</span><span class="p">[</span><span class="n">body_id</span><span class="p">]</span>
+                <span class="c1"># assign the new materials</span>
+                <span class="c1"># material samples are of shape: num_env_ids x total_num_shapes x 3</span>
+                <span class="n">materials</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">start_idx</span><span class="p">:</span><span class="n">end_idx</span><span class="p">]</span> <span class="o">=</span> <span class="n">material_samples</span><span class="p">[:,</span> <span class="n">start_idx</span><span class="p">:</span><span class="n">end_idx</span><span class="p">]</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># assign all the materials</span>
+            <span class="n">materials</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">material_samples</span><span class="p">[:]</span>
+
+        <span class="c1"># apply to simulation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_material_properties</span><span class="p">(</span><span class="n">materials</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="randomize_rigid_body_mass"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass">[docs]</a><span class="k">def</span> <span class="nf">randomize_rigid_body_mass</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">,</span>
+    <span class="n">mass_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">operation</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;add&quot;</span><span class="p">,</span> <span class="s2">&quot;scale&quot;</span><span class="p">,</span> <span class="s2">&quot;abs&quot;</span><span class="p">],</span>
+    <span class="n">distribution</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;log_uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;gaussian&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;uniform&quot;</span><span class="p">,</span>
+    <span class="n">recompute_inertia</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Randomize the mass of the bodies by adding, scaling, or setting random values.</span>
+
+<span class="sd">    This function allows randomizing the mass of the bodies of the asset. The function samples random values from the</span>
+<span class="sd">    given distribution parameters and adds, scales, or sets the values into the physics simulation based on the operation.</span>
+
+<span class="sd">    If the ``recompute_inertia`` flag is set to ``True``, the function recomputes the inertia tensor of the bodies</span>
+<span class="sd">    after setting the mass. This is useful when the mass is changed significantly, as the inertia tensor depends</span>
+<span class="sd">    on the mass. It assumes the body is a uniform density object. If the body is not a uniform density object,</span>
+<span class="sd">    the inertia tensor may not be accurate.</span>
+
+<span class="sd">    .. tip::</span>
+<span class="sd">        This function uses CPU tensors to assign the body masses. It is recommended to use this function</span>
+<span class="sd">        only during the initialization of the environment.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">|</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+
+    <span class="c1"># resolve environment ids</span>
+    <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">env_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span>
+
+    <span class="c1"># resolve body indices</span>
+    <span class="k">if</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">body_ids</span> <span class="o">==</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+        <span class="n">body_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">num_bodies</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">body_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+
+    <span class="c1"># get the current masses of the bodies (num_assets, num_bodies)</span>
+    <span class="n">masses</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_masses</span><span class="p">()</span>
+
+    <span class="c1"># apply randomization on default values</span>
+    <span class="c1"># this is to make sure when calling the function multiple times, the randomization is applied on the</span>
+    <span class="c1"># default values and not the previously randomized values</span>
+    <span class="n">masses</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">body_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_mass</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">body_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="c1"># sample from the given range</span>
+    <span class="c1"># note: we modify the masses in-place for all environments</span>
+    <span class="c1">#   however, the setter takes care that only the masses of the specified environments are modified</span>
+    <span class="n">masses</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+        <span class="n">masses</span><span class="p">,</span> <span class="n">mass_distribution_params</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">,</span> <span class="n">body_ids</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span> <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span>
+    <span class="p">)</span>
+
+    <span class="c1"># set the mass into the physics simulation</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_masses</span><span class="p">(</span><span class="n">masses</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+
+    <span class="c1"># recompute inertia tensors if needed</span>
+    <span class="k">if</span> <span class="n">recompute_inertia</span><span class="p">:</span>
+        <span class="c1"># compute the ratios of the new masses to the initial masses</span>
+        <span class="n">ratios</span> <span class="o">=</span> <span class="n">masses</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">body_ids</span><span class="p">]</span> <span class="o">/</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_mass</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">body_ids</span><span class="p">]</span>
+        <span class="c1"># scale the inertia tensors by the the ratios</span>
+        <span class="c1"># since mass randomization is done on default values, we can use the default inertia tensors</span>
+        <span class="n">inertias</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_inertias</span><span class="p">()</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset</span><span class="p">,</span> <span class="n">Articulation</span><span class="p">):</span>
+            <span class="c1"># inertia has shape: (num_envs, num_bodies, 9) for articulation</span>
+            <span class="n">inertias</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">body_ids</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_inertia</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">body_ids</span><span class="p">]</span> <span class="o">*</span> <span class="n">ratios</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="kc">None</span><span class="p">]</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># inertia has shape: (num_envs, 9) for rigid object</span>
+            <span class="n">inertias</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_inertia</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">*</span> <span class="n">ratios</span>
+        <span class="c1"># set the inertia tensors into the physics simulation</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">set_inertias</span><span class="p">(</span><span class="n">inertias</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="randomize_physics_scene_gravity"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity">[docs]</a><span class="k">def</span> <span class="nf">randomize_physics_scene_gravity</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">gravity_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">],</span> <span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">]],</span>
+    <span class="n">operation</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;add&quot;</span><span class="p">,</span> <span class="s2">&quot;scale&quot;</span><span class="p">,</span> <span class="s2">&quot;abs&quot;</span><span class="p">],</span>
+    <span class="n">distribution</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;log_uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;gaussian&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;uniform&quot;</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Randomize gravity by adding, scaling, or setting random values.</span>
+
+<span class="sd">    This function allows randomizing gravity of the physics scene. The function samples random values from the</span>
+<span class="sd">    given distribution parameters and adds, scales, or sets the values into the physics simulation based on the</span>
+<span class="sd">    operation.</span>
+
+<span class="sd">    The distribution parameters are lists of two elements each, representing the lower and upper bounds of the</span>
+<span class="sd">    distribution for the x, y, and z components of the gravity vector. The function samples random values for each</span>
+<span class="sd">    component independently.</span>
+
+<span class="sd">    .. attention::</span>
+<span class="sd">        This function applied the same gravity for all the environments.</span>
+
+<span class="sd">    .. tip::</span>
+<span class="sd">        This function uses CPU tensors to assign gravity.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># get the current gravity</span>
+    <span class="n">gravity</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">gravity</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+    <span class="n">dist_param_0</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">gravity_distribution_params</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+    <span class="n">dist_param_1</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">gravity_distribution_params</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+    <span class="n">gravity</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+        <span class="n">gravity</span><span class="p">,</span>
+        <span class="p">(</span><span class="n">dist_param_0</span><span class="p">,</span> <span class="n">dist_param_1</span><span class="p">),</span>
+        <span class="kc">None</span><span class="p">,</span>
+        <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">),</span>
+        <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span>
+        <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="c1"># unbatch the gravity tensor into a list</span>
+    <span class="n">gravity</span> <span class="o">=</span> <span class="n">gravity</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span>
+
+    <span class="c1"># set the gravity into the physics simulation</span>
+    <span class="n">physics_sim_view</span><span class="p">:</span> <span class="n">physx</span><span class="o">.</span><span class="n">SimulationView</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span><span class="o">.</span><span class="n">physics_sim_view</span>
+    <span class="n">physics_sim_view</span><span class="o">.</span><span class="n">set_gravity</span><span class="p">(</span><span class="n">carb</span><span class="o">.</span><span class="n">Float3</span><span class="p">(</span><span class="o">*</span><span class="n">gravity</span><span class="p">))</span></div>
+
+
+<div class="viewcode-block" id="randomize_actuator_gains"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_actuator_gains">[docs]</a><span class="k">def</span> <span class="nf">randomize_actuator_gains</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">,</span>
+    <span class="n">stiffness_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">damping_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">operation</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;add&quot;</span><span class="p">,</span> <span class="s2">&quot;scale&quot;</span><span class="p">,</span> <span class="s2">&quot;abs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;abs&quot;</span><span class="p">,</span>
+    <span class="n">distribution</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;log_uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;gaussian&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;uniform&quot;</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Randomize the actuator gains in an articulation by adding, scaling, or setting random values.</span>
+
+<span class="sd">    This function allows randomizing the actuator stiffness and damping gains.</span>
+
+<span class="sd">    The function samples random values from the given distribution parameters and applies the operation to the joint properties.</span>
+<span class="sd">    It then sets the values into the actuator models. If the distribution parameters are not provided for a particular property,</span>
+<span class="sd">    the function does not modify the property.</span>
+
+<span class="sd">    .. tip::</span>
+<span class="sd">        For implicit actuators, this function uses CPU tensors to assign the actuator gains into the simulation.</span>
+<span class="sd">        In such cases, it is recommended to use this function only during the initialization of the environment.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+
+    <span class="c1"># Resolve environment ids</span>
+    <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">env_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">randomize</span><span class="p">(</span><span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+            <span class="n">data</span><span class="p">,</span> <span class="n">params</span><span class="p">,</span> <span class="n">dim_0_ids</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">dim_1_ids</span><span class="o">=</span><span class="n">actuator_indices</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span> <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span>
+        <span class="p">)</span>
+
+    <span class="c1"># Loop through actuators and randomize gains</span>
+    <span class="k">for</span> <span class="n">actuator</span> <span class="ow">in</span> <span class="n">asset</span><span class="o">.</span><span class="n">actuators</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="nb">slice</span><span class="p">):</span>
+            <span class="c1"># we take all the joints of the actuator</span>
+            <span class="n">actuator_indices</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">,</span> <span class="nb">slice</span><span class="p">):</span>
+                <span class="n">global_indices</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">global_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">,</span> <span class="nb">slice</span><span class="p">):</span>
+            <span class="c1"># we take the joints defined in the asset config</span>
+            <span class="n">global_indices</span> <span class="o">=</span> <span class="n">actuator_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># we take the intersection of the actuator joints and the asset config joints</span>
+            <span class="n">actuator_joint_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+            <span class="n">asset_joint_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+            <span class="c1"># the indices of the joints in the actuator that have to be randomized</span>
+            <span class="n">actuator_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">nonzero</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">isin</span><span class="p">(</span><span class="n">actuator_joint_indices</span><span class="p">,</span> <span class="n">asset_joint_ids</span><span class="p">))</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">actuator_indices</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">continue</span>
+            <span class="c1"># maps actuator indices that have to be randomized to global joint indices</span>
+            <span class="n">global_indices</span> <span class="o">=</span> <span class="n">actuator_joint_indices</span><span class="p">[</span><span class="n">actuator_indices</span><span class="p">]</span>
+        <span class="c1"># Randomize stiffness</span>
+        <span class="k">if</span> <span class="n">stiffness_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">stiffness</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">stiffness</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">stiffness</span><span class="p">[:,</span> <span class="n">actuator_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_stiffness</span><span class="p">[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">global_indices</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">randomize</span><span class="p">(</span><span class="n">stiffness</span><span class="p">,</span> <span class="n">stiffness_distribution_params</span><span class="p">)</span>
+            <span class="n">actuator</span><span class="o">.</span><span class="n">stiffness</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">stiffness</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">actuator</span><span class="p">,</span> <span class="n">ImplicitActuator</span><span class="p">):</span>
+                <span class="n">asset</span><span class="o">.</span><span class="n">write_joint_stiffness_to_sim</span><span class="p">(</span><span class="n">stiffness</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># Randomize damping</span>
+        <span class="k">if</span> <span class="n">damping_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">damping</span> <span class="o">=</span> <span class="n">actuator</span><span class="o">.</span><span class="n">damping</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">damping</span><span class="p">[:,</span> <span class="n">actuator_indices</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_damping</span><span class="p">[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">global_indices</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">randomize</span><span class="p">(</span><span class="n">damping</span><span class="p">,</span> <span class="n">damping_distribution_params</span><span class="p">)</span>
+            <span class="n">actuator</span><span class="o">.</span><span class="n">damping</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">damping</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">actuator</span><span class="p">,</span> <span class="n">ImplicitActuator</span><span class="p">):</span>
+                <span class="n">asset</span><span class="o">.</span><span class="n">write_joint_damping_to_sim</span><span class="p">(</span><span class="n">damping</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">actuator</span><span class="o">.</span><span class="n">joint_indices</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="randomize_joint_parameters"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_joint_parameters">[docs]</a><span class="k">def</span> <span class="nf">randomize_joint_parameters</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">,</span>
+    <span class="n">friction_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">armature_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">lower_limit_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">upper_limit_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">operation</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;add&quot;</span><span class="p">,</span> <span class="s2">&quot;scale&quot;</span><span class="p">,</span> <span class="s2">&quot;abs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;abs&quot;</span><span class="p">,</span>
+    <span class="n">distribution</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;log_uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;gaussian&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;uniform&quot;</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Randomize the joint parameters of an articulation by adding, scaling, or setting random values.</span>
+
+<span class="sd">    This function allows randomizing the joint parameters of the asset.</span>
+<span class="sd">    These correspond to the physics engine joint properties that affect the joint behavior.</span>
+
+<span class="sd">    The function samples random values from the given distribution parameters and applies the operation to the joint properties.</span>
+<span class="sd">    It then sets the values into the physics simulation. If the distribution parameters are not provided for a</span>
+<span class="sd">    particular property, the function does not modify the property.</span>
+
+<span class="sd">    .. tip::</span>
+<span class="sd">        This function uses CPU tensors to assign the joint properties. It is recommended to use this function</span>
+<span class="sd">        only during the initialization of the environment.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+
+    <span class="c1"># resolve environment ids</span>
+    <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">env_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># resolve joint indices</span>
+    <span class="k">if</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span> <span class="o">==</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+        <span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>  <span class="c1"># for optimization purposes</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">joint_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># sample joint properties from the given ranges and set into the physics simulation</span>
+    <span class="c1"># -- friction</span>
+    <span class="k">if</span> <span class="n">friction_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">friction</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_friction</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">friction</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+            <span class="n">friction</span><span class="p">,</span> <span class="n">friction_distribution_params</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span> <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span>
+        <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">joint_ids</span><span class="p">]</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">write_joint_friction_to_sim</span><span class="p">(</span><span class="n">friction</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">joint_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+    <span class="c1"># -- armature</span>
+    <span class="k">if</span> <span class="n">armature_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">armature</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_armature</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">armature</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+            <span class="n">armature</span><span class="p">,</span> <span class="n">armature_distribution_params</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">,</span> <span class="n">joint_ids</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span> <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span>
+        <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">joint_ids</span><span class="p">]</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">write_joint_armature_to_sim</span><span class="p">(</span><span class="n">armature</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">joint_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+    <span class="c1"># -- dof limits</span>
+    <span class="k">if</span> <span class="n">lower_limit_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">upper_limit_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">dof_limits</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_limits</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="k">if</span> <span class="n">lower_limit_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">lower_limits</span> <span class="o">=</span> <span class="n">dof_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+            <span class="n">lower_limits</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+                <span class="n">lower_limits</span><span class="p">,</span>
+                <span class="n">lower_limit_distribution_params</span><span class="p">,</span>
+                <span class="n">env_ids</span><span class="p">,</span>
+                <span class="n">joint_ids</span><span class="p">,</span>
+                <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span>
+                <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span><span class="p">,</span>
+            <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">joint_ids</span><span class="p">]</span>
+            <span class="n">dof_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">joint_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">lower_limits</span>
+        <span class="k">if</span> <span class="n">upper_limit_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">upper_limits</span> <span class="o">=</span> <span class="n">dof_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+            <span class="n">upper_limits</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+                <span class="n">upper_limits</span><span class="p">,</span>
+                <span class="n">upper_limit_distribution_params</span><span class="p">,</span>
+                <span class="n">env_ids</span><span class="p">,</span>
+                <span class="n">joint_ids</span><span class="p">,</span>
+                <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span>
+                <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span><span class="p">,</span>
+            <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">joint_ids</span><span class="p">]</span>
+            <span class="n">dof_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">joint_ids</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">upper_limits</span>
+        <span class="k">if</span> <span class="p">(</span><span class="n">dof_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">joint_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">dof_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">joint_ids</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span><span class="o">.</span><span class="n">any</span><span class="p">():</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="s2">&quot;Randomization term &#39;randomize_joint_parameters&#39; is setting lower joint limits that are greater than&quot;</span>
+                <span class="s2">&quot; upper joint limits.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="n">asset</span><span class="o">.</span><span class="n">write_joint_limits_to_sim</span><span class="p">(</span><span class="n">dof_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">joint_ids</span><span class="p">],</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">joint_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="randomize_fixed_tendon_parameters"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters">[docs]</a><span class="k">def</span> <span class="nf">randomize_fixed_tendon_parameters</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">,</span>
+    <span class="n">stiffness_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">damping_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">limit_stiffness_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">lower_limit_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">upper_limit_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">rest_length_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">offset_distribution_params</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">operation</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;add&quot;</span><span class="p">,</span> <span class="s2">&quot;scale&quot;</span><span class="p">,</span> <span class="s2">&quot;abs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;abs&quot;</span><span class="p">,</span>
+    <span class="n">distribution</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;log_uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;gaussian&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;uniform&quot;</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Randomize the fixed tendon parameters of an articulation by adding, scaling, or setting random values.</span>
+
+<span class="sd">    This function allows randomizing the fixed tendon parameters of the asset.</span>
+<span class="sd">    These correspond to the physics engine tendon properties that affect the joint behavior.</span>
+
+<span class="sd">    The function samples random values from the given distribution parameters and applies the operation to the tendon properties.</span>
+<span class="sd">    It then sets the values into the physics simulation. If the distribution parameters are not provided for a</span>
+<span class="sd">    particular property, the function does not modify the property.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+
+    <span class="c1"># resolve environment ids</span>
+    <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">env_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># resolve joint indices</span>
+    <span class="k">if</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">fixed_tendon_ids</span> <span class="o">==</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+        <span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>  <span class="c1"># for optimization purposes</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># sample tendon properties from the given ranges and set into the physics simulation</span>
+    <span class="c1"># -- stiffness</span>
+    <span class="k">if</span> <span class="n">stiffness_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stiffness</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_fixed_tendon_stiffness</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">stiffness</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+            <span class="n">stiffness</span><span class="p">,</span>
+            <span class="n">stiffness_distribution_params</span><span class="p">,</span>
+            <span class="n">env_ids</span><span class="p">,</span>
+            <span class="n">fixed_tendon_ids</span><span class="p">,</span>
+            <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span>
+            <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span><span class="p">,</span>
+        <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">set_fixed_tendon_stiffness</span><span class="p">(</span><span class="n">stiffness</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+    <span class="c1"># -- damping</span>
+    <span class="k">if</span> <span class="n">damping_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">damping</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_fixed_tendon_damping</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">damping</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+            <span class="n">damping</span><span class="p">,</span>
+            <span class="n">damping_distribution_params</span><span class="p">,</span>
+            <span class="n">env_ids</span><span class="p">,</span>
+            <span class="n">fixed_tendon_ids</span><span class="p">,</span>
+            <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span>
+            <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span><span class="p">,</span>
+        <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">set_fixed_tendon_damping</span><span class="p">(</span><span class="n">damping</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+    <span class="c1"># -- limit stiffness</span>
+    <span class="k">if</span> <span class="n">limit_stiffness_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">limit_stiffness</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_fixed_tendon_limit_stiffness</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">limit_stiffness</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+            <span class="n">limit_stiffness</span><span class="p">,</span>
+            <span class="n">limit_stiffness_distribution_params</span><span class="p">,</span>
+            <span class="n">env_ids</span><span class="p">,</span>
+            <span class="n">fixed_tendon_ids</span><span class="p">,</span>
+            <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span>
+            <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span><span class="p">,</span>
+        <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">set_fixed_tendon_limit_stiffness</span><span class="p">(</span><span class="n">limit_stiffness</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+    <span class="c1"># -- limits</span>
+    <span class="k">if</span> <span class="n">lower_limit_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">upper_limit_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">limit</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_fixed_tendon_limit</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="c1"># -- lower limit</span>
+        <span class="k">if</span> <span class="n">lower_limit_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">lower_limit</span> <span class="o">=</span> <span class="n">limit</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+            <span class="n">lower_limit</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+                <span class="n">lower_limit</span><span class="p">,</span>
+                <span class="n">lower_limit_distribution_params</span><span class="p">,</span>
+                <span class="n">env_ids</span><span class="p">,</span>
+                <span class="n">fixed_tendon_ids</span><span class="p">,</span>
+                <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span>
+                <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span><span class="p">,</span>
+            <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span>
+            <span class="n">limit</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">lower_limit</span>
+        <span class="c1"># -- upper limit</span>
+        <span class="k">if</span> <span class="n">upper_limit_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">upper_limit</span> <span class="o">=</span> <span class="n">limit</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+            <span class="n">upper_limit</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+                <span class="n">upper_limit</span><span class="p">,</span>
+                <span class="n">upper_limit_distribution_params</span><span class="p">,</span>
+                <span class="n">env_ids</span><span class="p">,</span>
+                <span class="n">fixed_tendon_ids</span><span class="p">,</span>
+                <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span>
+                <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span><span class="p">,</span>
+            <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span>
+            <span class="n">limit</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">upper_limit</span>
+        <span class="k">if</span> <span class="p">(</span><span class="n">limit</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">limit</span><span class="p">[</span><span class="n">env_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">],</span> <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span><span class="o">.</span><span class="n">any</span><span class="p">():</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="s2">&quot;Randomization term &#39;randomize_fixed_tendon_parameters&#39; is setting lower tendon limits that are greater&quot;</span>
+                <span class="s2">&quot; than upper tendon limits.&quot;</span>
+            <span class="p">)</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">set_fixed_tendon_limit</span><span class="p">(</span><span class="n">limit</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+    <span class="c1"># -- rest length</span>
+    <span class="k">if</span> <span class="n">rest_length_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">rest_length</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_fixed_tendon_rest_length</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">rest_length</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+            <span class="n">rest_length</span><span class="p">,</span>
+            <span class="n">rest_length_distribution_params</span><span class="p">,</span>
+            <span class="n">env_ids</span><span class="p">,</span>
+            <span class="n">fixed_tendon_ids</span><span class="p">,</span>
+            <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span>
+            <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span><span class="p">,</span>
+        <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">set_fixed_tendon_rest_length</span><span class="p">(</span><span class="n">rest_length</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+    <span class="c1"># -- offset</span>
+    <span class="k">if</span> <span class="n">offset_distribution_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">offset</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_fixed_tendon_offset</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">offset</span> <span class="o">=</span> <span class="n">_randomize_prop_by_op</span><span class="p">(</span>
+            <span class="n">offset</span><span class="p">,</span>
+            <span class="n">offset_distribution_params</span><span class="p">,</span>
+            <span class="n">env_ids</span><span class="p">,</span>
+            <span class="n">fixed_tendon_ids</span><span class="p">,</span>
+            <span class="n">operation</span><span class="o">=</span><span class="n">operation</span><span class="p">,</span>
+            <span class="n">distribution</span><span class="o">=</span><span class="n">distribution</span><span class="p">,</span>
+        <span class="p">)[</span><span class="n">env_ids</span><span class="p">][:,</span> <span class="n">fixed_tendon_ids</span><span class="p">]</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">set_fixed_tendon_offset</span><span class="p">(</span><span class="n">offset</span><span class="p">,</span> <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_fixed_tendon_properties_to_sim</span><span class="p">(</span><span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="apply_external_force_torque"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.apply_external_force_torque">[docs]</a><span class="k">def</span> <span class="nf">apply_external_force_torque</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">force_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">torque_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">),</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Randomize the external forces and torques applied to the bodies.</span>
+
+<span class="sd">    This function creates a set of random forces and torques sampled from the given ranges. The number of forces</span>
+<span class="sd">    and torques is equal to the number of bodies times the number of environments. The forces and torques are</span>
+<span class="sd">    applied to the bodies by calling ``asset.set_external_force_and_torque``. The forces and torques are only</span>
+<span class="sd">    applied when ``asset.write_data_to_sim()`` is called in the environment.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">|</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># resolve environment ids</span>
+    <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">env_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="c1"># resolve number of bodies</span>
+    <span class="n">num_bodies</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">)</span> <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">,</span> <span class="nb">list</span><span class="p">)</span> <span class="k">else</span> <span class="n">asset</span><span class="o">.</span><span class="n">num_bodies</span>
+
+    <span class="c1"># sample random forces and torques</span>
+    <span class="n">size</span> <span class="o">=</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="n">num_bodies</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+    <span class="n">forces</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="o">*</span><span class="n">force_range</span><span class="p">,</span> <span class="n">size</span><span class="p">,</span> <span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">torques</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="o">*</span><span class="n">torque_range</span><span class="p">,</span> <span class="n">size</span><span class="p">,</span> <span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="c1"># set the forces and torques into the buffers</span>
+    <span class="c1"># note: these are only applied when you call: `asset.write_data_to_sim()`</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">set_external_force_and_torque</span><span class="p">(</span><span class="n">forces</span><span class="p">,</span> <span class="n">torques</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">body_ids</span><span class="o">=</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="push_by_setting_velocity"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.push_by_setting_velocity">[docs]</a><span class="k">def</span> <span class="nf">push_by_setting_velocity</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">velocity_range</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]],</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">),</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Push the asset by setting the root velocity to a random value within the given ranges.</span>
+
+<span class="sd">    This creates an effect similar to pushing the asset with a random impulse that changes the asset&#39;s velocity.</span>
+<span class="sd">    It samples the root velocity from the given ranges and sets the velocity into the physics simulation.</span>
+
+<span class="sd">    The function takes a dictionary of velocity ranges for each axis and rotation. The keys of the dictionary</span>
+<span class="sd">    are ``x``, ``y``, ``z``, ``roll``, ``pitch``, and ``yaw``. The values are tuples of the form ``(min, max)``.</span>
+<span class="sd">    If the dictionary does not contain a key, the velocity is set to zero for that axis.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">|</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+
+    <span class="c1"># velocities</span>
+    <span class="n">vel_w</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_vel_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+    <span class="c1"># sample random velocities</span>
+    <span class="n">range_list</span> <span class="o">=</span> <span class="p">[</span><span class="n">velocity_range</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;x&quot;</span><span class="p">,</span> <span class="s2">&quot;y&quot;</span><span class="p">,</span> <span class="s2">&quot;z&quot;</span><span class="p">,</span> <span class="s2">&quot;roll&quot;</span><span class="p">,</span> <span class="s2">&quot;pitch&quot;</span><span class="p">,</span> <span class="s2">&quot;yaw&quot;</span><span class="p">]]</span>
+    <span class="n">ranges</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">range_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">vel_w</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">ranges</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">ranges</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="n">vel_w</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="c1"># set the velocities into the physics simulation</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">vel_w</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="reset_root_state_uniform"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_root_state_uniform">[docs]</a><span class="k">def</span> <span class="nf">reset_root_state_uniform</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">pose_range</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]],</span>
+    <span class="n">velocity_range</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]],</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">),</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reset the asset root state to a random position and velocity uniformly within the given ranges.</span>
+
+<span class="sd">    This function randomizes the root position and velocity of the asset.</span>
+
+<span class="sd">    * It samples the root position from the given ranges and adds them to the default root position, before setting</span>
+<span class="sd">      them into the physics simulation.</span>
+<span class="sd">    * It samples the root orientation from the given ranges and sets them into the physics simulation.</span>
+<span class="sd">    * It samples the root velocity from the given ranges and sets them into the physics simulation.</span>
+
+<span class="sd">    The function takes a dictionary of pose and velocity ranges for each axis and rotation. The keys of the</span>
+<span class="sd">    dictionary are ``x``, ``y``, ``z``, ``roll``, ``pitch``, and ``yaw``. The values are tuples of the form</span>
+<span class="sd">    ``(min, max)``. If the dictionary does not contain a key, the position or velocity is set to zero for that axis.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">|</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># get default root state</span>
+    <span class="n">root_states</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="c1"># poses</span>
+    <span class="n">range_list</span> <span class="o">=</span> <span class="p">[</span><span class="n">pose_range</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;x&quot;</span><span class="p">,</span> <span class="s2">&quot;y&quot;</span><span class="p">,</span> <span class="s2">&quot;z&quot;</span><span class="p">,</span> <span class="s2">&quot;roll&quot;</span><span class="p">,</span> <span class="s2">&quot;pitch&quot;</span><span class="p">,</span> <span class="s2">&quot;yaw&quot;</span><span class="p">]]</span>
+    <span class="n">ranges</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">range_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">rand_samples</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">ranges</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">ranges</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="mi">6</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="n">positions</span> <span class="o">=</span> <span class="n">root_states</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+</span> <span class="n">rand_samples</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+    <span class="n">orientations_delta</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_from_euler_xyz</span><span class="p">(</span><span class="n">rand_samples</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">],</span> <span class="n">rand_samples</span><span class="p">[:,</span> <span class="mi">4</span><span class="p">],</span> <span class="n">rand_samples</span><span class="p">[:,</span> <span class="mi">5</span><span class="p">])</span>
+    <span class="n">orientations</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_mul</span><span class="p">(</span><span class="n">root_states</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">orientations_delta</span><span class="p">)</span>
+    <span class="c1"># velocities</span>
+    <span class="n">range_list</span> <span class="o">=</span> <span class="p">[</span><span class="n">velocity_range</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;x&quot;</span><span class="p">,</span> <span class="s2">&quot;y&quot;</span><span class="p">,</span> <span class="s2">&quot;z&quot;</span><span class="p">,</span> <span class="s2">&quot;roll&quot;</span><span class="p">,</span> <span class="s2">&quot;pitch&quot;</span><span class="p">,</span> <span class="s2">&quot;yaw&quot;</span><span class="p">]]</span>
+    <span class="n">ranges</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">range_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">rand_samples</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">ranges</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">ranges</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="mi">6</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="n">velocities</span> <span class="o">=</span> <span class="n">root_states</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span> <span class="o">+</span> <span class="n">rand_samples</span>
+
+    <span class="c1"># set into the physics simulation</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">positions</span><span class="p">,</span> <span class="n">orientations</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">velocities</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="reset_root_state_with_random_orientation"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation">[docs]</a><span class="k">def</span> <span class="nf">reset_root_state_with_random_orientation</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">pose_range</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]],</span>
+    <span class="n">velocity_range</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]],</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">),</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reset the asset root position and velocities sampled randomly within the given ranges</span>
+<span class="sd">    and the asset root orientation sampled randomly from the SO(3).</span>
+
+<span class="sd">    This function randomizes the root position and velocity of the asset.</span>
+
+<span class="sd">    * It samples the root position from the given ranges and adds them to the default root position, before setting</span>
+<span class="sd">      them into the physics simulation.</span>
+<span class="sd">    * It samples the root orientation uniformly from the SO(3) and sets them into the physics simulation.</span>
+<span class="sd">    * It samples the root velocity from the given ranges and sets them into the physics simulation.</span>
+
+<span class="sd">    The function takes a dictionary of position and velocity ranges for each axis and rotation:</span>
+
+<span class="sd">    * :attr:`pose_range` - a dictionary of position ranges for each axis. The keys of the dictionary are ``x``,</span>
+<span class="sd">      ``y``, and ``z``. The orientation is sampled uniformly from the SO(3).</span>
+<span class="sd">    * :attr:`velocity_range` - a dictionary of velocity ranges for each axis and rotation. The keys of the dictionary</span>
+<span class="sd">      are ``x``, ``y``, ``z``, ``roll``, ``pitch``, and ``yaw``.</span>
+
+<span class="sd">    The values are tuples of the form ``(min, max)``. If the dictionary does not contain a particular key,</span>
+<span class="sd">    the position is set to zero for that axis.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">|</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># get default root state</span>
+    <span class="n">root_states</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="c1"># poses</span>
+    <span class="n">range_list</span> <span class="o">=</span> <span class="p">[</span><span class="n">pose_range</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;x&quot;</span><span class="p">,</span> <span class="s2">&quot;y&quot;</span><span class="p">,</span> <span class="s2">&quot;z&quot;</span><span class="p">]]</span>
+    <span class="n">ranges</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">range_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">rand_samples</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">ranges</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">ranges</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="n">positions</span> <span class="o">=</span> <span class="n">root_states</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+</span> <span class="n">rand_samples</span>
+    <span class="n">orientations</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">random_orientation</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># velocities</span>
+    <span class="n">range_list</span> <span class="o">=</span> <span class="p">[</span><span class="n">velocity_range</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;x&quot;</span><span class="p">,</span> <span class="s2">&quot;y&quot;</span><span class="p">,</span> <span class="s2">&quot;z&quot;</span><span class="p">,</span> <span class="s2">&quot;roll&quot;</span><span class="p">,</span> <span class="s2">&quot;pitch&quot;</span><span class="p">,</span> <span class="s2">&quot;yaw&quot;</span><span class="p">]]</span>
+    <span class="n">ranges</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">range_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">rand_samples</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">ranges</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">ranges</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="mi">6</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="n">velocities</span> <span class="o">=</span> <span class="n">root_states</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span> <span class="o">+</span> <span class="n">rand_samples</span>
+
+    <span class="c1"># set into the physics simulation</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">positions</span><span class="p">,</span> <span class="n">orientations</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">velocities</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="reset_root_state_from_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain">[docs]</a><span class="k">def</span> <span class="nf">reset_root_state_from_terrain</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">pose_range</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]],</span>
+    <span class="n">velocity_range</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]],</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">),</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reset the asset root state by sampling a random valid pose from the terrain.</span>
+
+<span class="sd">    This function samples a random valid pose(based on flat patches) from the terrain and sets the root state</span>
+<span class="sd">    of the asset to this position. The function also samples random velocities from the given ranges and sets them</span>
+<span class="sd">    into the physics simulation.</span>
+
+<span class="sd">    The function takes a dictionary of position and velocity ranges for each axis and rotation:</span>
+
+<span class="sd">    * :attr:`pose_range` - a dictionary of pose ranges for each axis. The keys of the dictionary are ``roll``,</span>
+<span class="sd">      ``pitch``, and ``yaw``. The position is sampled from the flat patches of the terrain.</span>
+<span class="sd">    * :attr:`velocity_range` - a dictionary of velocity ranges for each axis and rotation. The keys of the dictionary</span>
+<span class="sd">      are ``x``, ``y``, ``z``, ``roll``, ``pitch``, and ``yaw``.</span>
+
+<span class="sd">    The values are tuples of the form ``(min, max)``. If the dictionary does not contain a particular key,</span>
+<span class="sd">    the position is set to zero for that axis.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The function expects the terrain to have valid flat patches under the key &quot;init_pos&quot;. The flat patches</span>
+<span class="sd">        are used to sample the random pose for the robot.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the terrain does not have valid flat patches under the key &quot;init_pos&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># access the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">|</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="n">terrain</span><span class="p">:</span> <span class="n">TerrainImporter</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">terrain</span>
+
+    <span class="c1"># obtain all flat patches corresponding to the valid poses</span>
+    <span class="n">valid_positions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="n">terrain</span><span class="o">.</span><span class="n">flat_patches</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;init_pos&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">valid_positions</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="s2">&quot;The event term &#39;reset_root_state_from_terrain&#39; requires valid flat patches under &#39;init_pos&#39;.&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot; Found: </span><span class="si">{</span><span class="nb">list</span><span class="p">(</span><span class="n">terrain</span><span class="o">.</span><span class="n">flat_patches</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+    <span class="c1"># sample random valid poses</span>
+    <span class="n">ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">valid_positions</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span> <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),),</span> <span class="n">device</span><span class="o">=</span><span class="n">env</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">positions</span> <span class="o">=</span> <span class="n">valid_positions</span><span class="p">[</span><span class="n">terrain</span><span class="o">.</span><span class="n">terrain_levels</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="n">terrain</span><span class="o">.</span><span class="n">terrain_types</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="n">ids</span><span class="p">]</span>
+    <span class="n">positions</span> <span class="o">+=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+    <span class="c1"># sample random orientations</span>
+    <span class="n">range_list</span> <span class="o">=</span> <span class="p">[</span><span class="n">pose_range</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;roll&quot;</span><span class="p">,</span> <span class="s2">&quot;pitch&quot;</span><span class="p">,</span> <span class="s2">&quot;yaw&quot;</span><span class="p">]]</span>
+    <span class="n">ranges</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">range_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">rand_samples</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">ranges</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">ranges</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># convert to quaternions</span>
+    <span class="n">orientations</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_from_euler_xyz</span><span class="p">(</span><span class="n">rand_samples</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">rand_samples</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="n">rand_samples</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">])</span>
+
+    <span class="c1"># sample random velocities</span>
+    <span class="n">range_list</span> <span class="o">=</span> <span class="p">[</span><span class="n">velocity_range</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;x&quot;</span><span class="p">,</span> <span class="s2">&quot;y&quot;</span><span class="p">,</span> <span class="s2">&quot;z&quot;</span><span class="p">,</span> <span class="s2">&quot;roll&quot;</span><span class="p">,</span> <span class="s2">&quot;pitch&quot;</span><span class="p">,</span> <span class="s2">&quot;yaw&quot;</span><span class="p">]]</span>
+    <span class="n">ranges</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">range_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">rand_samples</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">ranges</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">ranges</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="mi">6</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="n">velocities</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:</span><span class="mi">13</span><span class="p">]</span> <span class="o">+</span> <span class="n">rand_samples</span>
+
+    <span class="c1"># set into the physics simulation</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">positions</span><span class="p">,</span> <span class="n">orientations</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">velocities</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="reset_joints_by_scale"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_joints_by_scale">[docs]</a><span class="k">def</span> <span class="nf">reset_joints_by_scale</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">position_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">velocity_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">),</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reset the robot joints by scaling the default position and velocity by the given ranges.</span>
+
+<span class="sd">    This function samples random values from the given ranges and scales the default joint positions and velocities</span>
+<span class="sd">    by these values. The scaled values are then set into the physics simulation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># get default joint state</span>
+    <span class="n">joint_pos</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+    <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="c1"># scale these values randomly</span>
+    <span class="n">joint_pos</span> <span class="o">*=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="o">*</span><span class="n">position_range</span><span class="p">,</span> <span class="n">joint_pos</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span> <span class="n">joint_pos</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">joint_vel</span> <span class="o">*=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="o">*</span><span class="n">velocity_range</span><span class="p">,</span> <span class="n">joint_vel</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span> <span class="n">joint_vel</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># clamp joint pos to limits</span>
+    <span class="n">joint_pos_limits</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+    <span class="n">joint_pos</span> <span class="o">=</span> <span class="n">joint_pos</span><span class="o">.</span><span class="n">clamp_</span><span class="p">(</span><span class="n">joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span>
+    <span class="c1"># clamp joint vel to limits</span>
+    <span class="n">joint_vel_limits</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_vel_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+    <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">joint_vel</span><span class="o">.</span><span class="n">clamp_</span><span class="p">(</span><span class="o">-</span><span class="n">joint_vel_limits</span><span class="p">,</span> <span class="n">joint_vel_limits</span><span class="p">)</span>
+
+    <span class="c1"># set into the physics simulation</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="reset_joints_by_offset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_joints_by_offset">[docs]</a><span class="k">def</span> <span class="nf">reset_joints_by_offset</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">position_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">velocity_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">),</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reset the robot joints with offsets around the default position and velocity by the given ranges.</span>
+
+<span class="sd">    This function samples random values from the given ranges and biases the default joint positions and velocities</span>
+<span class="sd">    by these values. The biased values are then set into the physics simulation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+
+    <span class="c1"># get default joint state</span>
+    <span class="n">joint_pos</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+    <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="c1"># bias these values randomly</span>
+    <span class="n">joint_pos</span> <span class="o">+=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="o">*</span><span class="n">position_range</span><span class="p">,</span> <span class="n">joint_pos</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span> <span class="n">joint_pos</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">joint_vel</span> <span class="o">+=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="o">*</span><span class="n">velocity_range</span><span class="p">,</span> <span class="n">joint_vel</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span> <span class="n">joint_vel</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># clamp joint pos to limits</span>
+    <span class="n">joint_pos_limits</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+    <span class="n">joint_pos</span> <span class="o">=</span> <span class="n">joint_pos</span><span class="o">.</span><span class="n">clamp_</span><span class="p">(</span><span class="n">joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span>
+    <span class="c1"># clamp joint vel to limits</span>
+    <span class="n">joint_vel_limits</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_vel_limits</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+    <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">joint_vel</span><span class="o">.</span><span class="n">clamp_</span><span class="p">(</span><span class="o">-</span><span class="n">joint_vel_limits</span><span class="p">,</span> <span class="n">joint_vel_limits</span><span class="p">)</span>
+
+    <span class="c1"># set into the physics simulation</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="reset_nodal_state_uniform"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_nodal_state_uniform">[docs]</a><span class="k">def</span> <span class="nf">reset_nodal_state_uniform</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">position_range</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]],</span>
+    <span class="n">velocity_range</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]],</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">),</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reset the asset nodal state to a random position and velocity uniformly within the given ranges.</span>
+
+<span class="sd">    This function randomizes the nodal position and velocity of the asset.</span>
+
+<span class="sd">    * It samples the root position from the given ranges and adds them to the default nodal position, before setting</span>
+<span class="sd">      them into the physics simulation.</span>
+<span class="sd">    * It samples the root velocity from the given ranges and sets them into the physics simulation.</span>
+
+<span class="sd">    The function takes a dictionary of position and velocity ranges for each axis. The keys of the</span>
+<span class="sd">    dictionary are ``x``, ``y``, ``z``. The values are tuples of the form ``(min, max)``.</span>
+<span class="sd">    If the dictionary does not contain a key, the position or velocity is set to zero for that axis.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">DeformableObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># get default root state</span>
+    <span class="n">nodal_state</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_nodal_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="c1"># position</span>
+    <span class="n">range_list</span> <span class="o">=</span> <span class="p">[</span><span class="n">position_range</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;x&quot;</span><span class="p">,</span> <span class="s2">&quot;y&quot;</span><span class="p">,</span> <span class="s2">&quot;z&quot;</span><span class="p">]]</span>
+    <span class="n">ranges</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">range_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">rand_samples</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">ranges</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">ranges</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="n">nodal_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">rand_samples</span>
+
+    <span class="c1"># velocities</span>
+    <span class="n">range_list</span> <span class="o">=</span> <span class="p">[</span><span class="n">velocity_range</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span> <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;x&quot;</span><span class="p">,</span> <span class="s2">&quot;y&quot;</span><span class="p">,</span> <span class="s2">&quot;z&quot;</span><span class="p">]]</span>
+    <span class="n">ranges</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">range_list</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">rand_samples</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">ranges</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">ranges</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">asset</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="n">nodal_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:]</span> <span class="o">+=</span> <span class="n">rand_samples</span>
+
+    <span class="c1"># set into the physics simulation</span>
+    <span class="n">asset</span><span class="o">.</span><span class="n">write_nodal_state_to_sim</span><span class="p">(</span><span class="n">nodal_state</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="reset_scene_to_default"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_scene_to_default">[docs]</a><span class="k">def</span> <span class="nf">reset_scene_to_default</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reset the scene to the default state specified in the scene configuration.&quot;&quot;&quot;</span>
+    <span class="c1"># rigid bodies</span>
+    <span class="k">for</span> <span class="n">rigid_object</span> <span class="ow">in</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">rigid_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+        <span class="c1"># obtain default and deal with the offset for env origins</span>
+        <span class="n">default_root_state</span> <span class="o">=</span> <span class="n">rigid_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">default_root_state</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+        <span class="c1"># set into the physics simulation</span>
+        <span class="n">rigid_object</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">default_root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="n">rigid_object</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">default_root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+    <span class="c1"># articulations</span>
+    <span class="k">for</span> <span class="n">articulation_asset</span> <span class="ow">in</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+        <span class="c1"># obtain default and deal with the offset for env origins</span>
+        <span class="n">default_root_state</span> <span class="o">=</span> <span class="n">articulation_asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">default_root_state</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+        <span class="c1"># set into the physics simulation</span>
+        <span class="n">articulation_asset</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">default_root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="n">articulation_asset</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">default_root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># obtain default joint positions</span>
+        <span class="n">default_joint_pos</span> <span class="o">=</span> <span class="n">articulation_asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">default_joint_vel</span> <span class="o">=</span> <span class="n">articulation_asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="c1"># set into the physics simulation</span>
+        <span class="n">articulation_asset</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">default_joint_pos</span><span class="p">,</span> <span class="n">default_joint_vel</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+    <span class="c1"># deformable objects</span>
+    <span class="k">for</span> <span class="n">deformable_object</span> <span class="ow">in</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">deformable_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+        <span class="c1"># obtain default and set into the physics simulation</span>
+        <span class="n">nodal_state</span> <span class="o">=</span> <span class="n">deformable_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_nodal_state_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">deformable_object</span><span class="o">.</span><span class="n">write_nodal_state_to_sim</span><span class="p">(</span><span class="n">nodal_state</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Internal helper functions.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="k">def</span> <span class="nf">_randomize_prop_by_op</span><span class="p">(</span>
+    <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">distribution_parameters</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="nb">float</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">],</span>
+    <span class="n">dim_0_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">dim_1_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">slice</span><span class="p">,</span>
+    <span class="n">operation</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;add&quot;</span><span class="p">,</span> <span class="s2">&quot;scale&quot;</span><span class="p">,</span> <span class="s2">&quot;abs&quot;</span><span class="p">],</span>
+    <span class="n">distribution</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;log_uniform&quot;</span><span class="p">,</span> <span class="s2">&quot;gaussian&quot;</span><span class="p">],</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Perform data randomization based on the given operation and distribution.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: The data tensor to be randomized. Shape is (dim_0, dim_1).</span>
+<span class="sd">        distribution_parameters: The parameters for the distribution to sample values from.</span>
+<span class="sd">        dim_0_ids: The indices of the first dimension to randomize.</span>
+<span class="sd">        dim_1_ids: The indices of the second dimension to randomize.</span>
+<span class="sd">        operation: The operation to perform on the data. Options: &#39;add&#39;, &#39;scale&#39;, &#39;abs&#39;.</span>
+<span class="sd">        distribution: The distribution to sample the random values from. Options: &#39;uniform&#39;, &#39;log_uniform&#39;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The data tensor after randomization. Shape is (dim_0, dim_1).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        NotImplementedError: If the operation or distribution is not supported.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve shape</span>
+    <span class="c1"># -- dim 0</span>
+    <span class="k">if</span> <span class="n">dim_0_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">n_dim_0</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="n">dim_0_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">n_dim_0</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">dim_0_ids</span><span class="p">)</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">dim_1_ids</span><span class="p">,</span> <span class="nb">slice</span><span class="p">):</span>
+            <span class="n">dim_0_ids</span> <span class="o">=</span> <span class="n">dim_0_ids</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">]</span>
+    <span class="c1"># -- dim 1</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">dim_1_ids</span><span class="p">,</span> <span class="nb">slice</span><span class="p">):</span>
+        <span class="n">n_dim_1</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">n_dim_1</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">dim_1_ids</span><span class="p">)</span>
+
+    <span class="c1"># resolve the distribution</span>
+    <span class="k">if</span> <span class="n">distribution</span> <span class="o">==</span> <span class="s2">&quot;uniform&quot;</span><span class="p">:</span>
+        <span class="n">dist_fn</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_uniform</span>
+    <span class="k">elif</span> <span class="n">distribution</span> <span class="o">==</span> <span class="s2">&quot;log_uniform&quot;</span><span class="p">:</span>
+        <span class="n">dist_fn</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_log_uniform</span>
+    <span class="k">elif</span> <span class="n">distribution</span> <span class="o">==</span> <span class="s2">&quot;gaussian&quot;</span><span class="p">:</span>
+        <span class="n">dist_fn</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_gaussian</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Unknown distribution: &#39;</span><span class="si">{</span><span class="n">distribution</span><span class="si">}</span><span class="s2">&#39; for joint properties randomization.&quot;</span>
+            <span class="s2">&quot; Please use &#39;uniform&#39;, &#39;log_uniform&#39;, &#39;gaussian&#39;.&quot;</span>
+        <span class="p">)</span>
+    <span class="c1"># perform the operation</span>
+    <span class="k">if</span> <span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;add&quot;</span><span class="p">:</span>
+        <span class="n">data</span><span class="p">[</span><span class="n">dim_0_ids</span><span class="p">,</span> <span class="n">dim_1_ids</span><span class="p">]</span> <span class="o">+=</span> <span class="n">dist_fn</span><span class="p">(</span><span class="o">*</span><span class="n">distribution_parameters</span><span class="p">,</span> <span class="p">(</span><span class="n">n_dim_0</span><span class="p">,</span> <span class="n">n_dim_1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">data</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;scale&quot;</span><span class="p">:</span>
+        <span class="n">data</span><span class="p">[</span><span class="n">dim_0_ids</span><span class="p">,</span> <span class="n">dim_1_ids</span><span class="p">]</span> <span class="o">*=</span> <span class="n">dist_fn</span><span class="p">(</span><span class="o">*</span><span class="n">distribution_parameters</span><span class="p">,</span> <span class="p">(</span><span class="n">n_dim_0</span><span class="p">,</span> <span class="n">n_dim_1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">data</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;abs&quot;</span><span class="p">:</span>
+        <span class="n">data</span><span class="p">[</span><span class="n">dim_0_ids</span><span class="p">,</span> <span class="n">dim_1_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">dist_fn</span><span class="p">(</span><span class="o">*</span><span class="n">distribution_parameters</span><span class="p">,</span> <span class="p">(</span><span class="n">n_dim_0</span><span class="p">,</span> <span class="n">n_dim_1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">data</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Unknown operation: &#39;</span><span class="si">{</span><span class="n">operation</span><span class="si">}</span><span class="s2">&#39; for property randomization. Please use &#39;add&#39;, &#39;scale&#39;, or &#39;abs&#39;.&quot;</span>
+        <span class="p">)</span>
+    <span class="k">return</span> <span class="n">data</span>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.envs.mdp.observations</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Common functions that can be used to create observation terms.</span>
+
+<span class="sd">The functions can be passed to the :class:`omni.isaac.lab.managers.ObservationTermCfg` object to enable</span>
+<span class="sd">the observation introduced by the function.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">Articulation</span><span class="p">,</span> <span class="n">RigidObject</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">SceneEntityCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers.manager_base</span> <span class="kn">import</span> <span class="n">ManagerTermBase</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers.manager_term_cfg</span> <span class="kn">import</span> <span class="n">ObservationTermCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors</span> <span class="kn">import</span> <span class="n">Camera</span><span class="p">,</span> <span class="n">Imu</span><span class="p">,</span> <span class="n">RayCaster</span><span class="p">,</span> <span class="n">RayCasterCamera</span><span class="p">,</span> <span class="n">TiledCamera</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">ManagerBasedRLEnv</span>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Root state.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="base_pos_z"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.base_pos_z">[docs]</a><span class="k">def</span> <span class="nf">base_pos_z</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Root height in the simulation world frame.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_pos_w</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="base_lin_vel"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.base_lin_vel">[docs]</a><span class="k">def</span> <span class="nf">base_lin_vel</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Root linear velocity in the asset&#39;s root frame.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_lin_vel_b</span></div>
+
+
+<div class="viewcode-block" id="base_ang_vel"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.base_ang_vel">[docs]</a><span class="k">def</span> <span class="nf">base_ang_vel</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Root angular velocity in the asset&#39;s root frame.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_ang_vel_b</span></div>
+
+
+<div class="viewcode-block" id="projected_gravity"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.projected_gravity">[docs]</a><span class="k">def</span> <span class="nf">projected_gravity</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Gravity projection on the asset&#39;s root frame.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">projected_gravity_b</span></div>
+
+
+<div class="viewcode-block" id="root_pos_w"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.root_pos_w">[docs]</a><span class="k">def</span> <span class="nf">root_pos_w</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Asset root position in the environment frame.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_pos_w</span> <span class="o">-</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span></div>
+
+
+<div class="viewcode-block" id="root_quat_w"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.root_quat_w">[docs]</a><span class="k">def</span> <span class="nf">root_quat_w</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">make_quat_unique</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Asset root orientation (w, x, y, z) in the environment frame.</span>
+
+<span class="sd">    If :attr:`make_quat_unique` is True, then returned quaternion is made unique by ensuring</span>
+<span class="sd">    the quaternion has non-negative real component. This is because both ``q`` and ``-q`` represent</span>
+<span class="sd">    the same orientation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+
+    <span class="n">quat</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_quat_w</span>
+    <span class="c1"># make the quaternion real-part positive if configured</span>
+    <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_unique</span><span class="p">(</span><span class="n">quat</span><span class="p">)</span> <span class="k">if</span> <span class="n">make_quat_unique</span> <span class="k">else</span> <span class="n">quat</span></div>
+
+
+<div class="viewcode-block" id="root_lin_vel_w"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.root_lin_vel_w">[docs]</a><span class="k">def</span> <span class="nf">root_lin_vel_w</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Asset root linear velocity in the environment frame.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_lin_vel_w</span></div>
+
+
+<div class="viewcode-block" id="root_ang_vel_w"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.root_ang_vel_w">[docs]</a><span class="k">def</span> <span class="nf">root_ang_vel_w</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Asset root angular velocity in the environment frame.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_ang_vel_w</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Joint state.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="joint_pos"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.joint_pos">[docs]</a><span class="k">def</span> <span class="nf">joint_pos</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint positions of the asset.</span>
+
+<span class="sd">    Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their positions returned.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span></div>
+
+
+<div class="viewcode-block" id="joint_pos_rel"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.joint_pos_rel">[docs]</a><span class="k">def</span> <span class="nf">joint_pos_rel</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint positions of the asset w.r.t. the default joint positions.</span>
+
+<span class="sd">    Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their positions returned.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span> <span class="o">-</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span></div>
+
+
+<div class="viewcode-block" id="joint_pos_limit_normalized"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized">[docs]</a><span class="k">def</span> <span class="nf">joint_pos_limit_normalized</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint positions of the asset normalized with the asset&#39;s joint limits.</span>
+
+<span class="sd">    Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their normalized positions returned.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">scale_transform</span><span class="p">(</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">],</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span>
+    <span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="joint_vel"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.joint_vel">[docs]</a><span class="k">def</span> <span class="nf">joint_vel</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint velocities of the asset.</span>
+
+<span class="sd">    Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their velocities returned.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span></div>
+
+
+<div class="viewcode-block" id="joint_vel_rel"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.joint_vel_rel">[docs]</a><span class="k">def</span> <span class="nf">joint_vel_rel</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint velocities of the asset w.r.t. the default joint velocities.</span>
+
+<span class="sd">    Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their velocities returned.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span> <span class="o">-</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Sensors.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="height_scan"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.height_scan">[docs]</a><span class="k">def</span> <span class="nf">height_scan</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">sensor_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">,</span> <span class="n">offset</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.5</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Height scan from the given sensor w.r.t. the sensor&#39;s frame.</span>
+
+<span class="sd">    The provided offset (Defaults to 0.5) is subtracted from the returned values.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">sensor</span><span class="p">:</span> <span class="n">RayCaster</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">sensors</span><span class="p">[</span><span class="n">sensor_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># height scan: height = sensor_height - hit_point_z - offset</span>
+    <span class="k">return</span> <span class="n">sensor</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="o">-</span> <span class="n">sensor</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">ray_hits_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">-</span> <span class="n">offset</span></div>
+
+
+<div class="viewcode-block" id="body_incoming_wrench"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.body_incoming_wrench">[docs]</a><span class="k">def</span> <span class="nf">body_incoming_wrench</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Incoming spatial wrench on bodies of an articulation in the simulation world frame.</span>
+
+<span class="sd">    This is the 6-D wrench (force and torque) applied to the body link by the incoming joint force.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># obtain the link incoming forces in world frame</span>
+    <span class="n">link_incoming_forces</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_link_incoming_joint_force</span><span class="p">()[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">link_incoming_forces</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="imu_orientation"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.imu_orientation">[docs]</a><span class="k">def</span> <span class="nf">imu_orientation</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;imu&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Imu sensor orientation in the simulation world frame.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        env: The environment.</span>
+<span class="sd">        asset_cfg: The SceneEntity associated with an IMU sensor. Defaults to SceneEntityCfg(&quot;imu&quot;).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Orientation in the world frame in (w, x, y, z) quaternion form. Shape is (num_envs, 4).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Imu</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># return the orientation quaternion</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">quat_w</span></div>
+
+
+<div class="viewcode-block" id="imu_ang_vel"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.imu_ang_vel">[docs]</a><span class="k">def</span> <span class="nf">imu_ang_vel</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;imu&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Imu sensor angular velocity w.r.t. environment origin expressed in the sensor frame.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        env: The environment.</span>
+<span class="sd">        asset_cfg: The SceneEntity associated with an IMU sensor. Defaults to SceneEntityCfg(&quot;imu&quot;).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The angular velocity (rad/s) in the sensor frame. Shape is (num_envs, 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Imu</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># return the angular velocity</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">ang_vel_b</span></div>
+
+
+<div class="viewcode-block" id="imu_lin_acc"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.imu_lin_acc">[docs]</a><span class="k">def</span> <span class="nf">imu_lin_acc</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;imu&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Imu sensor linear acceleration w.r.t. the environment origin expressed in sensor frame.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        env: The environment.</span>
+<span class="sd">        asset_cfg: The SceneEntity associated with an IMU sensor. Defaults to SceneEntityCfg(&quot;imu&quot;).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The linear acceleration (m/s^2) in the sensor frame. Shape is (num_envs, 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Imu</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">lin_acc_b</span></div>
+
+
+<div class="viewcode-block" id="image"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.image">[docs]</a><span class="k">def</span> <span class="nf">image</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+    <span class="n">sensor_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;tiled_camera&quot;</span><span class="p">),</span>
+    <span class="n">data_type</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;rgb&quot;</span><span class="p">,</span>
+    <span class="n">convert_perspective_to_orthogonal</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+    <span class="n">normalize</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Images of a specific datatype from the camera sensor.</span>
+
+<span class="sd">    If the flag :attr:`normalize` is True, post-processing of the images are performed based on their</span>
+<span class="sd">    data-types:</span>
+
+<span class="sd">    - &quot;rgb&quot;: Scales the image to (0, 1) and subtracts with the mean of the current image batch.</span>
+<span class="sd">    - &quot;depth&quot; or &quot;distance_to_camera&quot; or &quot;distance_to_plane&quot;: Replaces infinity values with zero.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        env: The environment the cameras are placed within.</span>
+<span class="sd">        sensor_cfg: The desired sensor to read from. Defaults to SceneEntityCfg(&quot;tiled_camera&quot;).</span>
+<span class="sd">        data_type: The data type to pull from the desired camera. Defaults to &quot;rgb&quot;.</span>
+<span class="sd">        convert_perspective_to_orthogonal: Whether to orthogonalize perspective depth images.</span>
+<span class="sd">            This is used only when the data type is &quot;distance_to_camera&quot;. Defaults to False.</span>
+<span class="sd">        normalize: Whether to normalize the images. This depends on the selected data type.</span>
+<span class="sd">            Defaults to True.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The images produced at the last time-step</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">sensor</span><span class="p">:</span> <span class="n">TiledCamera</span> <span class="o">|</span> <span class="n">Camera</span> <span class="o">|</span> <span class="n">RayCasterCamera</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">sensors</span><span class="p">[</span><span class="n">sensor_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+
+    <span class="c1"># obtain the input image</span>
+    <span class="n">images</span> <span class="o">=</span> <span class="n">sensor</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">]</span>
+
+    <span class="c1"># depth image conversion</span>
+    <span class="k">if</span> <span class="p">(</span><span class="n">data_type</span> <span class="o">==</span> <span class="s2">&quot;distance_to_camera&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="n">convert_perspective_to_orthogonal</span><span class="p">:</span>
+        <span class="n">images</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">orthogonalize_perspective_depth</span><span class="p">(</span><span class="n">images</span><span class="p">,</span> <span class="n">sensor</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">)</span>
+
+    <span class="c1"># rgb/depth image normalization</span>
+    <span class="k">if</span> <span class="n">normalize</span><span class="p">:</span>
+        <span class="k">if</span> <span class="n">data_type</span> <span class="o">==</span> <span class="s2">&quot;rgb&quot;</span><span class="p">:</span>
+            <span class="n">images</span> <span class="o">=</span> <span class="n">images</span><span class="o">.</span><span class="n">float</span><span class="p">()</span> <span class="o">/</span> <span class="mf">255.0</span>
+            <span class="n">mean_tensor</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">images</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">),</span> <span class="n">keepdim</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+            <span class="n">images</span> <span class="o">-=</span> <span class="n">mean_tensor</span>
+        <span class="k">elif</span> <span class="s2">&quot;distance_to&quot;</span> <span class="ow">in</span> <span class="n">data_type</span> <span class="ow">or</span> <span class="s2">&quot;depth&quot;</span> <span class="ow">in</span> <span class="n">data_type</span><span class="p">:</span>
+            <span class="n">images</span><span class="p">[</span><span class="n">images</span> <span class="o">==</span> <span class="nb">float</span><span class="p">(</span><span class="s2">&quot;inf&quot;</span><span class="p">)]</span> <span class="o">=</span> <span class="mi">0</span>
+
+    <span class="k">return</span> <span class="n">images</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span></div>
+
+
+<div class="viewcode-block" id="image_features"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.image_features">[docs]</a><span class="k">class</span> <span class="nc">image_features</span><span class="p">(</span><span class="n">ManagerTermBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Extracted image features from a pre-trained frozen encoder.</span>
+
+<span class="sd">    This term uses models from the model zoo in PyTorch and extracts features from the images.</span>
+
+<span class="sd">    It calls the :func:`image` function to get the images and then processes them using the model zoo.</span>
+
+<span class="sd">    A user can provide their own model zoo configuration to use different models for feature extraction.</span>
+<span class="sd">    The model zoo configuration should be a dictionary that maps different model names to a dictionary</span>
+<span class="sd">    that defines the model, preprocess and inference functions. The dictionary should have the following</span>
+<span class="sd">    entries:</span>
+
+<span class="sd">    - &quot;model&quot;: A callable that returns the model when invoked without arguments.</span>
+<span class="sd">    - &quot;reset&quot;: A callable that resets the model. This is useful when the model has a state that needs to be reset.</span>
+<span class="sd">    - &quot;inference&quot;: A callable that, when given the model and the images, returns the extracted features.</span>
+
+<span class="sd">    If the model zoo configuration is not provided, the default model zoo configurations are used. The default</span>
+<span class="sd">    model zoo configurations include the models from Theia :cite:`shang2024theia` and ResNet :cite:`he2016deep`.</span>
+<span class="sd">    These models are loaded from `Hugging-Face transformers &lt;https://huggingface.co/docs/transformers/index&gt;`_ and</span>
+<span class="sd">    `PyTorch torchvision &lt;https://pytorch.org/vision/stable/models.html&gt;`_ respectively.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        sensor_cfg: The sensor configuration to poll. Defaults to SceneEntityCfg(&quot;tiled_camera&quot;).</span>
+<span class="sd">        data_type: The sensor data type. Defaults to &quot;rgb&quot;.</span>
+<span class="sd">        convert_perspective_to_orthogonal: Whether to orthogonalize perspective depth images.</span>
+<span class="sd">            This is used only when the data type is &quot;distance_to_camera&quot;. Defaults to False.</span>
+<span class="sd">        model_zoo_cfg: A user-defined dictionary that maps different model names to their respective configurations.</span>
+<span class="sd">            Defaults to None. If None, the default model zoo configurations are used.</span>
+<span class="sd">        model_name: The name of the model to use for inference. Defaults to &quot;resnet18&quot;.</span>
+<span class="sd">        model_device: The device to store and infer the model on. This is useful when offloading the computation</span>
+<span class="sd">            from the environment simulation device. Defaults to the environment device.</span>
+<span class="sd">        inference_kwargs: Additional keyword arguments to pass to the inference function. Defaults to None,</span>
+<span class="sd">            which means no additional arguments are passed.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The extracted features tensor. Shape is (num_envs, feature_dim).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the model name is not found in the provided model zoo configuration.</span>
+<span class="sd">        ValueError: When the model name is not found in the default model zoo configuration.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="image_features.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.image_features.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ObservationTermCfg</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">):</span>
+        <span class="c1"># initialize the base class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+
+        <span class="c1"># extract parameters from the configuration</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">model_zoo_cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;model_zoo_cfg&quot;</span><span class="p">)</span>  <span class="c1"># type: ignore</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">model_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;model_name&quot;</span><span class="p">,</span> <span class="s2">&quot;resnet18&quot;</span><span class="p">)</span>  <span class="c1"># type: ignore</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">model_device</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;model_device&quot;</span><span class="p">,</span> <span class="n">env</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>  <span class="c1"># type: ignore</span>
+
+        <span class="c1"># List of Theia models - These are configured through `_prepare_theia_transformer_model` function</span>
+        <span class="n">default_theia_models</span> <span class="o">=</span> <span class="p">[</span>
+            <span class="s2">&quot;theia-tiny-patch16-224-cddsv&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;theia-tiny-patch16-224-cdiv&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;theia-small-patch16-224-cdiv&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;theia-base-patch16-224-cdiv&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;theia-small-patch16-224-cddsv&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;theia-base-patch16-224-cddsv&quot;</span><span class="p">,</span>
+        <span class="p">]</span>
+        <span class="c1"># List of ResNet models - These are configured through `_prepare_resnet_model` function</span>
+        <span class="n">default_resnet_models</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;resnet18&quot;</span><span class="p">,</span> <span class="s2">&quot;resnet34&quot;</span><span class="p">,</span> <span class="s2">&quot;resnet50&quot;</span><span class="p">,</span> <span class="s2">&quot;resnet101&quot;</span><span class="p">]</span>
+
+        <span class="c1"># Check if model name is specified in the model zoo configuration</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">model_zoo_cfg</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">model_name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">model_zoo_cfg</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Model name &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">model_name</span><span class="si">}</span><span class="s2">&#39; not found in the provided model zoo configuration.&quot;</span>
+                <span class="s2">&quot; Please add the model to the model zoo configuration or use a different model name.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; Available models in the provided list: </span><span class="si">{</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">model_zoo_cfg</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">Hint: If you want to use a default model, consider using one of the following models:&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; </span><span class="si">{</span><span class="n">default_theia_models</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="n">default_resnet_models</span><span class="si">}</span><span class="s2">. In this case, you can remove the&quot;</span>
+                <span class="s2">&quot; &#39;model_zoo_cfg&#39; parameter from the observation term configuration.&quot;</span>
+            <span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">model_zoo_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">model_name</span> <span class="ow">in</span> <span class="n">default_theia_models</span><span class="p">:</span>
+                <span class="n">model_config</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_prepare_theia_transformer_model</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">model_name</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">model_device</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">model_name</span> <span class="ow">in</span> <span class="n">default_resnet_models</span><span class="p">:</span>
+                <span class="n">model_config</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_prepare_resnet_model</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">model_name</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">model_device</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Model name &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">model_name</span><span class="si">}</span><span class="s2">&#39; not found in the default model zoo configuration.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Available models: </span><span class="si">{</span><span class="n">default_theia_models</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="n">default_resnet_models</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">model_config</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">model_zoo_cfg</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">model_name</span><span class="p">]</span>
+
+        <span class="c1"># Retrieve the model, preprocess and inference functions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_model</span> <span class="o">=</span> <span class="n">model_config</span><span class="p">[</span><span class="s2">&quot;model&quot;</span><span class="p">]()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_reset_fn</span> <span class="o">=</span> <span class="n">model_config</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;reset&quot;</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_inference_fn</span> <span class="o">=</span> <span class="n">model_config</span><span class="p">[</span><span class="s2">&quot;inference&quot;</span><span class="p">]</span></div>
+
+<div class="viewcode-block" id="image_features.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.image_features.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="c1"># reset the model if a reset function is provided</span>
+        <span class="c1"># this might be useful when the model has a state that needs to be reset</span>
+        <span class="c1"># for example: video transformers</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reset_fn</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_reset_fn</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_model</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__call__</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span>
+        <span class="n">sensor_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;tiled_camera&quot;</span><span class="p">),</span>
+        <span class="n">data_type</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;rgb&quot;</span><span class="p">,</span>
+        <span class="n">convert_perspective_to_orthogonal</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+        <span class="n">model_zoo_cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">model_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;resnet18&quot;</span><span class="p">,</span>
+        <span class="n">model_device</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">inference_kwargs</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+        <span class="c1"># obtain the images from the sensor</span>
+        <span class="n">image_data</span> <span class="o">=</span> <span class="n">image</span><span class="p">(</span>
+            <span class="n">env</span><span class="o">=</span><span class="n">env</span><span class="p">,</span>
+            <span class="n">sensor_cfg</span><span class="o">=</span><span class="n">sensor_cfg</span><span class="p">,</span>
+            <span class="n">data_type</span><span class="o">=</span><span class="n">data_type</span><span class="p">,</span>
+            <span class="n">convert_perspective_to_orthogonal</span><span class="o">=</span><span class="n">convert_perspective_to_orthogonal</span><span class="p">,</span>
+            <span class="n">normalize</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>  <span class="c1"># we pre-process based on model</span>
+        <span class="p">)</span>
+        <span class="c1"># store the device of the image</span>
+        <span class="n">image_device</span> <span class="o">=</span> <span class="n">image_data</span><span class="o">.</span><span class="n">device</span>
+        <span class="c1"># forward the images through the model</span>
+        <span class="n">features</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_inference_fn</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_model</span><span class="p">,</span> <span class="n">image_data</span><span class="p">,</span> <span class="o">**</span><span class="p">(</span><span class="n">inference_kwargs</span> <span class="ow">or</span> <span class="p">{}))</span>
+
+        <span class="c1"># move the features back to the image device</span>
+        <span class="k">return</span> <span class="n">features</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">image_device</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_prepare_theia_transformer_model</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">model_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">model_device</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Prepare the Theia transformer model for inference.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            model_name: The name of the Theia transformer model to prepare.</span>
+<span class="sd">            model_device: The device to store and infer the model on.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A dictionary containing the model and inference functions.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="kn">from</span> <span class="nn">transformers</span> <span class="kn">import</span> <span class="n">AutoModel</span>
+
+        <span class="k">def</span> <span class="nf">_load_model</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">Module</span><span class="p">:</span>
+<span class="w">            </span><span class="sd">&quot;&quot;&quot;Load the Theia transformer model.&quot;&quot;&quot;</span>
+            <span class="n">model</span> <span class="o">=</span> <span class="n">AutoModel</span><span class="o">.</span><span class="n">from_pretrained</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;theaiinstitute/</span><span class="si">{</span><span class="n">model_name</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="n">trust_remote_code</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span><span class="o">.</span><span class="n">eval</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">model</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">model_device</span><span class="p">)</span>
+
+        <span class="k">def</span> <span class="nf">_inference</span><span class="p">(</span><span class="n">model</span><span class="p">,</span> <span class="n">images</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">            </span><span class="sd">&quot;&quot;&quot;Inference the Theia transformer model.</span>
+
+<span class="sd">            Args:</span>
+<span class="sd">                model: The Theia transformer model.</span>
+<span class="sd">                images: The preprocessed image tensor. Shape is (num_envs, height, width, channel).</span>
+
+<span class="sd">            Returns:</span>
+<span class="sd">                The extracted features tensor. Shape is (num_envs, feature_dim).</span>
+<span class="sd">            &quot;&quot;&quot;</span>
+            <span class="c1"># Move the image to the model device</span>
+            <span class="n">image_proc</span> <span class="o">=</span> <span class="n">images</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">model_device</span><span class="p">)</span>
+            <span class="c1"># permute the image to (num_envs, channel, height, width)</span>
+            <span class="n">image_proc</span> <span class="o">=</span> <span class="n">image_proc</span><span class="o">.</span><span class="n">permute</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span><span class="o">.</span><span class="n">float</span><span class="p">()</span> <span class="o">/</span> <span class="mf">255.0</span>
+            <span class="c1"># Normalize the image</span>
+            <span class="n">mean</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="mf">0.485</span><span class="p">,</span> <span class="mf">0.456</span><span class="p">,</span> <span class="mf">0.406</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="n">model_device</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+            <span class="n">std</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="mf">0.229</span><span class="p">,</span> <span class="mf">0.224</span><span class="p">,</span> <span class="mf">0.225</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="n">model_device</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+            <span class="n">image_proc</span> <span class="o">=</span> <span class="p">(</span><span class="n">image_proc</span> <span class="o">-</span> <span class="n">mean</span><span class="p">)</span> <span class="o">/</span> <span class="n">std</span>
+
+            <span class="c1"># Taken from Transformers; inference converted to be GPU only</span>
+            <span class="n">features</span> <span class="o">=</span> <span class="n">model</span><span class="o">.</span><span class="n">backbone</span><span class="o">.</span><span class="n">model</span><span class="p">(</span><span class="n">pixel_values</span><span class="o">=</span><span class="n">image_proc</span><span class="p">,</span> <span class="n">interpolate_pos_encoding</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+            <span class="k">return</span> <span class="n">features</span><span class="o">.</span><span class="n">last_hidden_state</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">:]</span>
+
+        <span class="c1"># return the model, preprocess and inference functions</span>
+        <span class="k">return</span> <span class="p">{</span><span class="s2">&quot;model&quot;</span><span class="p">:</span> <span class="n">_load_model</span><span class="p">,</span> <span class="s2">&quot;inference&quot;</span><span class="p">:</span> <span class="n">_inference</span><span class="p">}</span>
+
+    <span class="k">def</span> <span class="nf">_prepare_resnet_model</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">model_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">model_device</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Prepare the ResNet model for inference.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            model_name: The name of the ResNet model to prepare.</span>
+<span class="sd">            model_device: The device to store and infer the model on.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A dictionary containing the model and inference functions.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="kn">from</span> <span class="nn">torchvision</span> <span class="kn">import</span> <span class="n">models</span>
+
+        <span class="k">def</span> <span class="nf">_load_model</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">Module</span><span class="p">:</span>
+<span class="w">            </span><span class="sd">&quot;&quot;&quot;Load the ResNet model.&quot;&quot;&quot;</span>
+            <span class="c1"># map the model name to the weights</span>
+            <span class="n">resnet_weights</span> <span class="o">=</span> <span class="p">{</span>
+                <span class="s2">&quot;resnet18&quot;</span><span class="p">:</span> <span class="s2">&quot;ResNet18_Weights.IMAGENET1K_V1&quot;</span><span class="p">,</span>
+                <span class="s2">&quot;resnet34&quot;</span><span class="p">:</span> <span class="s2">&quot;ResNet34_Weights.IMAGENET1K_V1&quot;</span><span class="p">,</span>
+                <span class="s2">&quot;resnet50&quot;</span><span class="p">:</span> <span class="s2">&quot;ResNet50_Weights.IMAGENET1K_V1&quot;</span><span class="p">,</span>
+                <span class="s2">&quot;resnet101&quot;</span><span class="p">:</span> <span class="s2">&quot;ResNet101_Weights.IMAGENET1K_V1&quot;</span><span class="p">,</span>
+            <span class="p">}</span>
+
+            <span class="c1"># load the model</span>
+            <span class="n">model</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">models</span><span class="p">,</span> <span class="n">model_name</span><span class="p">)(</span><span class="n">weights</span><span class="o">=</span><span class="n">resnet_weights</span><span class="p">[</span><span class="n">model_name</span><span class="p">])</span><span class="o">.</span><span class="n">eval</span><span class="p">()</span>
+            <span class="k">return</span> <span class="n">model</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">model_device</span><span class="p">)</span>
+
+        <span class="k">def</span> <span class="nf">_inference</span><span class="p">(</span><span class="n">model</span><span class="p">,</span> <span class="n">images</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">            </span><span class="sd">&quot;&quot;&quot;Inference the ResNet model.</span>
+
+<span class="sd">            Args:</span>
+<span class="sd">                model: The ResNet model.</span>
+<span class="sd">                images: The preprocessed image tensor. Shape is (num_envs, channel, height, width).</span>
+
+<span class="sd">            Returns:</span>
+<span class="sd">                The extracted features tensor. Shape is (num_envs, feature_dim).</span>
+<span class="sd">            &quot;&quot;&quot;</span>
+            <span class="c1"># move the image to the model device</span>
+            <span class="n">image_proc</span> <span class="o">=</span> <span class="n">images</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">model_device</span><span class="p">)</span>
+            <span class="c1"># permute the image to (num_envs, channel, height, width)</span>
+            <span class="n">image_proc</span> <span class="o">=</span> <span class="n">image_proc</span><span class="o">.</span><span class="n">permute</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span><span class="o">.</span><span class="n">float</span><span class="p">()</span> <span class="o">/</span> <span class="mf">255.0</span>
+            <span class="c1"># normalize the image</span>
+            <span class="n">mean</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="mf">0.485</span><span class="p">,</span> <span class="mf">0.456</span><span class="p">,</span> <span class="mf">0.406</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="n">model_device</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+            <span class="n">std</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="mf">0.229</span><span class="p">,</span> <span class="mf">0.224</span><span class="p">,</span> <span class="mf">0.225</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="n">model_device</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+            <span class="n">image_proc</span> <span class="o">=</span> <span class="p">(</span><span class="n">image_proc</span> <span class="o">-</span> <span class="n">mean</span><span class="p">)</span> <span class="o">/</span> <span class="n">std</span>
+
+            <span class="c1"># forward the image through the model</span>
+            <span class="k">return</span> <span class="n">model</span><span class="p">(</span><span class="n">image_proc</span><span class="p">)</span>
+
+        <span class="c1"># return the model, preprocess and inference functions</span>
+        <span class="k">return</span> <span class="p">{</span><span class="s2">&quot;model&quot;</span><span class="p">:</span> <span class="n">_load_model</span><span class="p">,</span> <span class="s2">&quot;inference&quot;</span><span class="p">:</span> <span class="n">_inference</span><span class="p">}</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Actions.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="last_action"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.last_action">[docs]</a><span class="k">def</span> <span class="nf">last_action</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">action_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The last input action to the environment.</span>
+
+<span class="sd">    The name of the action term for which the action is required. If None, the</span>
+<span class="sd">    entire action tensor is returned.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="n">action_name</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">env</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">action</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">env</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">get_term</span><span class="p">(</span><span class="n">action_name</span><span class="p">)</span><span class="o">.</span><span class="n">raw_actions</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Commands.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="generated_commands"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.generated_commands">[docs]</a><span class="k">def</span> <span class="nf">generated_commands</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">command_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The generated command from command term in the command manager with the given name.&quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">env</span><span class="o">.</span><span class="n">command_manager</span><span class="o">.</span><span class="n">get_command</span><span class="p">(</span><span class="n">command_name</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/envs/mdp/rewards.html b/v1.4.0/_modules/omni/isaac/lab/envs/mdp/rewards.html
new file mode 100644
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+<ul class="nav bd-sidenav">
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
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+</ul>
+</details></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
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+                  
+  <h1>Source code for omni.isaac.lab.envs.mdp.rewards</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Common functions that can be used to enable reward functions.</span>
+
+<span class="sd">The functions can be passed to the :class:`omni.isaac.lab.managers.RewardTermCfg` object to include</span>
+<span class="sd">the reward introduced by the function.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">Articulation</span><span class="p">,</span> <span class="n">RigidObject</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">SceneEntityCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers.manager_base</span> <span class="kn">import</span> <span class="n">ManagerTermBase</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers.manager_term_cfg</span> <span class="kn">import</span> <span class="n">RewardTermCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors</span> <span class="kn">import</span> <span class="n">ContactSensor</span><span class="p">,</span> <span class="n">RayCaster</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnv</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">General.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="is_alive"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.is_alive">[docs]</a><span class="k">def</span> <span class="nf">is_alive</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reward for being alive.&quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="p">(</span><span class="o">~</span><span class="n">env</span><span class="o">.</span><span class="n">termination_manager</span><span class="o">.</span><span class="n">terminated</span><span class="p">)</span><span class="o">.</span><span class="n">float</span><span class="p">()</span></div>
+
+
+<div class="viewcode-block" id="is_terminated"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.is_terminated">[docs]</a><span class="k">def</span> <span class="nf">is_terminated</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize terminated episodes that don&#39;t correspond to episodic timeouts.&quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">env</span><span class="o">.</span><span class="n">termination_manager</span><span class="o">.</span><span class="n">terminated</span><span class="o">.</span><span class="n">float</span><span class="p">()</span></div>
+
+
+<div class="viewcode-block" id="is_terminated_term"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.is_terminated_term">[docs]</a><span class="k">class</span> <span class="nc">is_terminated_term</span><span class="p">(</span><span class="n">ManagerTermBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize termination for specific terms that don&#39;t correspond to episodic timeouts.</span>
+
+<span class="sd">    The parameters are as follows:</span>
+
+<span class="sd">    * attr:`term_keys`: The termination terms to penalize. This can be a string, a list of strings</span>
+<span class="sd">      or regular expressions. Default is &quot;.*&quot; which penalizes all terminations.</span>
+
+<span class="sd">    The reward is computed as the sum of the termination terms that are not episodic timeouts.</span>
+<span class="sd">    This means that the reward is 0 if the episode is terminated due to an episodic timeout. Otherwise,</span>
+<span class="sd">    if two termination terms are active, the reward is 2.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="is_terminated_term.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">RewardTermCfg</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">):</span>
+        <span class="c1"># initialize the base class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+        <span class="c1"># find and store the termination terms</span>
+        <span class="n">term_keys</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;term_keys&quot;</span><span class="p">,</span> <span class="s2">&quot;.*&quot;</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">termination_manager</span><span class="o">.</span><span class="n">find_terms</span><span class="p">(</span><span class="n">term_keys</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__call__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">term_keys</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;.*&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+        <span class="c1"># Return the unweighted reward for the termination terms</span>
+        <span class="n">reset_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">env</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span>
+            <span class="c1"># Sums over terminations term values to account for multiple terminations in the same step</span>
+            <span class="n">reset_buf</span> <span class="o">+=</span> <span class="n">env</span><span class="o">.</span><span class="n">termination_manager</span><span class="o">.</span><span class="n">get_term</span><span class="p">(</span><span class="n">term</span><span class="p">)</span>
+
+        <span class="k">return</span> <span class="p">(</span><span class="n">reset_buf</span> <span class="o">*</span> <span class="p">(</span><span class="o">~</span><span class="n">env</span><span class="o">.</span><span class="n">termination_manager</span><span class="o">.</span><span class="n">time_outs</span><span class="p">))</span><span class="o">.</span><span class="n">float</span><span class="p">()</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Root penalties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="lin_vel_z_l2"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2">[docs]</a><span class="k">def</span> <span class="nf">lin_vel_z_l2</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize z-axis base linear velocity using L2 squared kernel.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_lin_vel_b</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">])</span></div>
+
+
+<div class="viewcode-block" id="ang_vel_xy_l2"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.ang_vel_xy_l2">[docs]</a><span class="k">def</span> <span class="nf">ang_vel_xy_l2</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize xy-axis base angular velocity using L2 squared kernel.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_ang_vel_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">2</span><span class="p">]),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="flat_orientation_l2"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2">[docs]</a><span class="k">def</span> <span class="nf">flat_orientation_l2</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize non-flat base orientation using L2 squared kernel.</span>
+
+<span class="sd">    This is computed by penalizing the xy-components of the projected gravity vector.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">projected_gravity_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">2</span><span class="p">]),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="base_height_l2"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.base_height_l2">[docs]</a><span class="k">def</span> <span class="nf">base_height_l2</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span>
+    <span class="n">target_height</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">),</span>
+    <span class="n">sensor_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize asset height from its target using L2 squared kernel.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        For flat terrain, target height is in the world frame. For rough terrain,</span>
+<span class="sd">        sensor readings can adjust the target height to account for the terrain.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">if</span> <span class="n">sensor_cfg</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">sensor</span><span class="p">:</span> <span class="n">RayCaster</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">sensor_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+        <span class="c1"># Adjust the target height using the sensor data</span>
+        <span class="n">adjusted_target_height</span> <span class="o">=</span> <span class="n">target_height</span> <span class="o">+</span> <span class="n">sensor</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="c1"># Use the provided target height directly for flat terrain</span>
+        <span class="n">adjusted_target_height</span> <span class="o">=</span> <span class="n">target_height</span>
+    <span class="c1"># Compute the L2 squared penalty</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_pos_w</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">-</span> <span class="n">adjusted_target_height</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="body_lin_acc_l2"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2">[docs]</a><span class="k">def</span> <span class="nf">body_lin_acc_l2</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize the linear acceleration of bodies using L2-kernel.&quot;&quot;&quot;</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">body_lin_acc_w</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">,</span> <span class="p">:],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Joint penalties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="joint_torques_l2"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_torques_l2">[docs]</a><span class="k">def</span> <span class="nf">joint_torques_l2</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize joint torques applied on the articulation using L2 squared kernel.</span>
+
+<span class="sd">    NOTE: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their joint torques contribute to the term.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">applied_torque</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="joint_vel_l1"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_vel_l1">[docs]</a><span class="k">def</span> <span class="nf">joint_vel_l1</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize joint velocities on the articulation using an L1-kernel.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="joint_vel_l2"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_vel_l2">[docs]</a><span class="k">def</span> <span class="nf">joint_vel_l2</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize joint velocities on the articulation using L2 squared kernel.</span>
+
+<span class="sd">    NOTE: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their joint velocities contribute to the term.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="joint_acc_l2"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_acc_l2">[docs]</a><span class="k">def</span> <span class="nf">joint_acc_l2</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize joint accelerations on the articulation using L2 squared kernel.</span>
+
+<span class="sd">    NOTE: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their joint accelerations contribute to the term.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_acc</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="joint_deviation_l1"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1">[docs]</a><span class="k">def</span> <span class="nf">joint_deviation_l1</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize joint positions that deviate from the default one.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># compute out of limits constraints</span>
+    <span class="n">angle</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span> <span class="o">-</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">angle</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="joint_pos_limits"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_pos_limits">[docs]</a><span class="k">def</span> <span class="nf">joint_pos_limits</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize joint positions if they cross the soft limits.</span>
+
+<span class="sd">    This is computed as a sum of the absolute value of the difference between the joint position and the soft limits.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># compute out of limits constraints</span>
+    <span class="n">out_of_limits</span> <span class="o">=</span> <span class="o">-</span><span class="p">(</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span> <span class="o">-</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+    <span class="p">)</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="nb">max</span><span class="o">=</span><span class="mf">0.0</span><span class="p">)</span>
+    <span class="n">out_of_limits</span> <span class="o">+=</span> <span class="p">(</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span> <span class="o">-</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+    <span class="p">)</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="nb">min</span><span class="o">=</span><span class="mf">0.0</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">out_of_limits</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="joint_vel_limits"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_vel_limits">[docs]</a><span class="k">def</span> <span class="nf">joint_vel_limits</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">soft_ratio</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize joint velocities if they cross the soft limits.</span>
+
+<span class="sd">    This is computed as a sum of the absolute value of the difference between the joint velocity and the soft limits.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        soft_ratio: The ratio of the soft limits to be used.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># compute out of limits constraints</span>
+    <span class="n">out_of_limits</span> <span class="o">=</span> <span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">])</span>
+        <span class="o">-</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_vel_limits</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span> <span class="o">*</span> <span class="n">soft_ratio</span>
+    <span class="p">)</span>
+    <span class="c1"># clip to max error = 1 rad/s per joint to avoid huge penalties</span>
+    <span class="n">out_of_limits</span> <span class="o">=</span> <span class="n">out_of_limits</span><span class="o">.</span><span class="n">clip_</span><span class="p">(</span><span class="nb">min</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="mf">1.0</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">out_of_limits</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Action penalties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="applied_torque_limits"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.applied_torque_limits">[docs]</a><span class="k">def</span> <span class="nf">applied_torque_limits</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize applied torques if they cross the limits.</span>
+
+<span class="sd">    This is computed as a sum of the absolute value of the difference between the applied torques and the limits.</span>
+
+<span class="sd">    .. caution::</span>
+<span class="sd">        Currently, this only works for explicit actuators since we manually compute the applied torques.</span>
+<span class="sd">        For implicit actuators, we currently cannot retrieve the applied torques from the physics engine.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># compute out of limits constraints</span>
+    <span class="c1"># TODO: We need to fix this to support implicit joints.</span>
+    <span class="n">out_of_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">applied_torque</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span> <span class="o">-</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">computed_torque</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+    <span class="p">)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">out_of_limits</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="action_rate_l2"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.action_rate_l2">[docs]</a><span class="k">def</span> <span class="nf">action_rate_l2</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize the rate of change of the actions using L2 squared kernel.&quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">action</span> <span class="o">-</span> <span class="n">env</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">prev_action</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="action_l2"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.action_l2">[docs]</a><span class="k">def</span> <span class="nf">action_l2</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize the actions using L2 squared kernel.&quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">action</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Contact sensor.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="undesired_contacts"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.undesired_contacts">[docs]</a><span class="k">def</span> <span class="nf">undesired_contacts</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">threshold</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">sensor_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize undesired contacts as the number of violations that are above a threshold.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">contact_sensor</span><span class="p">:</span> <span class="n">ContactSensor</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">sensors</span><span class="p">[</span><span class="n">sensor_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># check if contact force is above threshold</span>
+    <span class="n">net_contact_forces</span> <span class="o">=</span> <span class="n">contact_sensor</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w_history</span>
+    <span class="n">is_contact</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">net_contact_forces</span><span class="p">[:,</span> <span class="p">:,</span> <span class="n">sensor_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">threshold</span>
+    <span class="c1"># sum over contacts for each environment</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">is_contact</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="contact_forces"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.contact_forces">[docs]</a><span class="k">def</span> <span class="nf">contact_forces</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">threshold</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">sensor_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penalize contact forces as the amount of violations of the net contact force.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">contact_sensor</span><span class="p">:</span> <span class="n">ContactSensor</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">sensors</span><span class="p">[</span><span class="n">sensor_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="n">net_contact_forces</span> <span class="o">=</span> <span class="n">contact_sensor</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w_history</span>
+    <span class="c1"># compute the violation</span>
+    <span class="n">violation</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">net_contact_forces</span><span class="p">[:,</span> <span class="p">:,</span> <span class="n">sensor_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">threshold</span>
+    <span class="c1"># compute the penalty</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">violation</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="nb">min</span><span class="o">=</span><span class="mf">0.0</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Velocity-tracking rewards.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="track_lin_vel_xy_exp"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp">[docs]</a><span class="k">def</span> <span class="nf">track_lin_vel_xy_exp</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">std</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">command_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reward tracking of linear velocity commands (xy axes) using exponential kernel.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># compute the error</span>
+    <span class="n">lin_vel_error</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">command_manager</span><span class="o">.</span><span class="n">get_command</span><span class="p">(</span><span class="n">command_name</span><span class="p">)[:,</span> <span class="p">:</span><span class="mi">2</span><span class="p">]</span> <span class="o">-</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_lin_vel_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">2</span><span class="p">]),</span>
+        <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">exp</span><span class="p">(</span><span class="o">-</span><span class="n">lin_vel_error</span> <span class="o">/</span> <span class="n">std</span><span class="o">**</span><span class="mi">2</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="track_ang_vel_z_exp"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp">[docs]</a><span class="k">def</span> <span class="nf">track_ang_vel_z_exp</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">std</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">command_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reward tracking of angular velocity commands (yaw) using exponential kernel.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># compute the error</span>
+    <span class="n">ang_vel_error</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span>
+        <span class="n">env</span><span class="o">.</span><span class="n">command_manager</span><span class="o">.</span><span class="n">get_command</span><span class="p">(</span><span class="n">command_name</span><span class="p">)[:,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">-</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_ang_vel_b</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span>
+    <span class="p">)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">exp</span><span class="p">(</span><span class="o">-</span><span class="n">ang_vel_error</span> <span class="o">/</span> <span class="n">std</span><span class="o">**</span><span class="mi">2</span><span class="p">)</span></div>
+</pre></div>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/envs/mdp/terminations.html b/v1.4.0/_modules/omni/isaac/lab/envs/mdp/terminations.html
new file mode 100644
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+                  
+  <h1>Source code for omni.isaac.lab.envs.mdp.terminations</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Common functions that can be used to activate certain terminations.</span>
+
+<span class="sd">The functions can be passed to the :class:`omni.isaac.lab.managers.TerminationTermCfg` object to enable</span>
+<span class="sd">the termination introduced by the function.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">Articulation</span><span class="p">,</span> <span class="n">RigidObject</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">SceneEntityCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors</span> <span class="kn">import</span> <span class="n">ContactSensor</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnv</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.managers.command_manager</span> <span class="kn">import</span> <span class="n">CommandTerm</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">MDP terminations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="time_out"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.time_out">[docs]</a><span class="k">def</span> <span class="nf">time_out</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Terminate the episode when the episode length exceeds the maximum episode length.&quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">env</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">&gt;=</span> <span class="n">env</span><span class="o">.</span><span class="n">max_episode_length</span></div>
+
+
+<div class="viewcode-block" id="command_resample"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.command_resample">[docs]</a><span class="k">def</span> <span class="nf">command_resample</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">command_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">num_resamples</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Terminate the episode based on the total number of times commands have been re-sampled.</span>
+
+<span class="sd">    This makes the maximum episode length fluid in nature as it depends on how the commands are</span>
+<span class="sd">    sampled. It is useful in situations where delayed rewards are used :cite:`rudin2022advanced`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">command</span><span class="p">:</span> <span class="n">CommandTerm</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">command_manager</span><span class="o">.</span><span class="n">get_term</span><span class="p">(</span><span class="n">command_name</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">logical_and</span><span class="p">((</span><span class="n">command</span><span class="o">.</span><span class="n">time_left</span> <span class="o">&lt;=</span> <span class="n">env</span><span class="o">.</span><span class="n">step_dt</span><span class="p">),</span> <span class="p">(</span><span class="n">command</span><span class="o">.</span><span class="n">command_counter</span> <span class="o">==</span> <span class="n">num_resamples</span><span class="p">))</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Root terminations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="bad_orientation"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.bad_orientation">[docs]</a><span class="k">def</span> <span class="nf">bad_orientation</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">limit_angle</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Terminate when the asset&#39;s orientation is too far from the desired orientation limits.</span>
+
+<span class="sd">    This is computed by checking the angle between the projected gravity vector and the z-axis.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">acos</span><span class="p">(</span><span class="o">-</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">projected_gravity_b</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">])</span><span class="o">.</span><span class="n">abs</span><span class="p">()</span> <span class="o">&gt;</span> <span class="n">limit_angle</span></div>
+
+
+<div class="viewcode-block" id="root_height_below_minimum"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum">[docs]</a><span class="k">def</span> <span class="nf">root_height_below_minimum</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">minimum_height</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Terminate when the asset&#39;s root height is below the minimum height.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This is currently only supported for flat terrains, i.e. the minimum height is in the world frame.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">return</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_pos_w</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">&lt;</span> <span class="n">minimum_height</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Joint terminations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="joint_pos_out_of_limit"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit">[docs]</a><span class="k">def</span> <span class="nf">joint_pos_out_of_limit</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Terminate when the asset&#39;s joint positions are outside of the soft joint limits.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># compute any violations</span>
+    <span class="n">out_of_upper_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">&gt;</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">out_of_lower_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">&lt;</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">logical_or</span><span class="p">(</span><span class="n">out_of_upper_limits</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">],</span> <span class="n">out_of_lower_limits</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">])</span></div>
+
+
+<div class="viewcode-block" id="joint_pos_out_of_manual_limit"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit">[docs]</a><span class="k">def</span> <span class="nf">joint_pos_out_of_manual_limit</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">bounds</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Terminate when the asset&#39;s joint positions are outside of the configured bounds.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This function is similar to :func:`joint_pos_out_of_limit` but allows the user to specify the bounds manually.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="k">if</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+    <span class="c1"># compute any violations</span>
+    <span class="n">out_of_upper_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">bounds</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">out_of_lower_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span> <span class="o">&lt;</span> <span class="n">bounds</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">logical_or</span><span class="p">(</span><span class="n">out_of_upper_limits</span><span class="p">,</span> <span class="n">out_of_lower_limits</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="joint_vel_out_of_limit"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit">[docs]</a><span class="k">def</span> <span class="nf">joint_vel_out_of_limit</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">))</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Terminate when the asset&#39;s joint velocities are outside of the soft joint limits.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># compute any violations</span>
+    <span class="n">limits</span> <span class="o">=</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_vel_limits</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">])</span> <span class="o">&gt;</span> <span class="n">limits</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">],</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="joint_vel_out_of_manual_limit"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit">[docs]</a><span class="k">def</span> <span class="nf">joint_vel_out_of_manual_limit</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">max_velocity</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Terminate when the asset&#39;s joint velocities are outside the provided limits.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># compute any violations</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">])</span> <span class="o">&gt;</span> <span class="n">max_velocity</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="joint_effort_out_of_limit"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit">[docs]</a><span class="k">def</span> <span class="nf">joint_effort_out_of_limit</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Terminate when effort applied on the asset&#39;s joints are outside of the soft joint limits.</span>
+
+<span class="sd">    In the actuators, the applied torque are the efforts applied on the joints. These are computed by clipping</span>
+<span class="sd">    the computed torques to the joint limits. Hence, we check if the computed torques are equal to the applied</span>
+<span class="sd">    torques.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">asset</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="c1"># check if any joint effort is out of limit</span>
+    <span class="n">out_of_limits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">isclose</span><span class="p">(</span>
+        <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">computed_torque</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">],</span> <span class="n">asset</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">applied_torque</span><span class="p">[:,</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+    <span class="p">)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">out_of_limits</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Contact sensor.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="illegal_contact"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.illegal_contact">[docs]</a><span class="k">def</span> <span class="nf">illegal_contact</span><span class="p">(</span><span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">threshold</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">sensor_cfg</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Terminate when the contact force on the sensor exceeds the force threshold.&quot;&quot;&quot;</span>
+    <span class="c1"># extract the used quantities (to enable type-hinting)</span>
+    <span class="n">contact_sensor</span><span class="p">:</span> <span class="n">ContactSensor</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">sensors</span><span class="p">[</span><span class="n">sensor_cfg</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+    <span class="n">net_contact_forces</span> <span class="o">=</span> <span class="n">contact_sensor</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w_history</span>
+    <span class="c1"># check if any contact force exceeds the threshold</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">net_contact_forces</span><span class="p">[:,</span> <span class="p">:,</span> <span class="n">sensor_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">threshold</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span>
+    <span class="p">)</span></div>
+</pre></div>
+
+                </article>
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+        <p aria-level="2" class="caption" role="heading"><span class="caption-text">Getting Started</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/setup/ecosystem.html">Isaac Lab Ecosystem</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/setup/installation/index.html">Local Installation</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/setup/installation/pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/setup/faq.html">Frequently Asked Questions</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Overview</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/developer-guide/index.html">Developer’s Guide</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/core-concepts/task_workflows.html">Task Design Workflows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/environments.html">Available Environments</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+  <h1>Source code for omni.isaac.lab.envs.ui.base_env_window</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">asyncio</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">datetime</span> <span class="kn">import</span> <span class="n">datetime</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.kit.app</span>
+<span class="kn">import</span> <span class="nn">omni.kit.commands</span>
+<span class="kn">import</span> <span class="nn">omni.usd</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">PhysxSchema</span><span class="p">,</span> <span class="n">Sdf</span><span class="p">,</span> <span class="n">Usd</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="p">,</span> <span class="n">UsdPhysics</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.ui.widgets</span> <span class="kn">import</span> <span class="n">ManagerLiveVisualizer</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">import</span> <span class="nn">omni.ui</span>
+
+    <span class="kn">from</span> <span class="nn">..manager_based_env</span> <span class="kn">import</span> <span class="n">ManagerBasedEnv</span>
+
+
+<div class="viewcode-block" id="BaseEnvWindow"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow">[docs]</a><span class="k">class</span> <span class="nc">BaseEnvWindow</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Window manager for the basic environment.</span>
+
+<span class="sd">    This class creates a window that is used to control the environment. The window</span>
+<span class="sd">    contains controls for rendering, debug visualization, and other environment-specific</span>
+<span class="sd">    UI elements.</span>
+
+<span class="sd">    Users can add their own UI elements to the window by using the `with` context manager.</span>
+<span class="sd">    This can be done either be inheriting the class or by using the `env.window` object</span>
+<span class="sd">    directly from the standalone execution script.</span>
+
+<span class="sd">    Example for adding a UI element from the standalone execution script:</span>
+<span class="sd">        &gt;&gt;&gt; with env.window.ui_window_elements[&quot;main_vstack&quot;]:</span>
+<span class="sd">        &gt;&gt;&gt;     ui.Label(&quot;My UI element&quot;)</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="BaseEnvWindow.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">window_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;IsaacLab&quot;</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the window.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env: The environment object.</span>
+<span class="sd">            window_name: The name of the window. Defaults to &quot;IsaacLab&quot;.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">env</span> <span class="o">=</span> <span class="n">env</span>
+        <span class="c1"># prepare the list of assets that can be followed by the viewport camera</span>
+        <span class="c1"># note that the first two options are &quot;World&quot; and &quot;Env&quot; which are special cases</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_viewer_assets_options</span> <span class="o">=</span> <span class="p">[</span>
+            <span class="s2">&quot;World&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;Env&quot;</span><span class="p">,</span>
+            <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">rigid_objects</span><span class="o">.</span><span class="n">keys</span><span class="p">(),</span>
+            <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="o">.</span><span class="n">keys</span><span class="p">(),</span>
+        <span class="p">]</span>
+
+        <span class="c1"># Listeners for environment selection changes</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ui_listeners</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">ManagerLiveVisualizer</span><span class="p">]</span> <span class="o">=</span> <span class="p">[]</span>
+
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Creating window for environment.&quot;</span><span class="p">)</span>
+        <span class="c1"># create window for UI</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ui_window</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Window</span><span class="p">(</span>
+            <span class="n">window_name</span><span class="p">,</span> <span class="n">width</span><span class="o">=</span><span class="mi">400</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mi">500</span><span class="p">,</span> <span class="n">visible</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">dock_preference</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">DockPreference</span><span class="o">.</span><span class="n">RIGHT_TOP</span>
+        <span class="p">)</span>
+        <span class="c1"># dock next to properties window</span>
+        <span class="n">asyncio</span><span class="o">.</span><span class="n">ensure_future</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_dock_window</span><span class="p">(</span><span class="n">window_title</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">ui_window</span><span class="o">.</span><span class="n">title</span><span class="p">))</span>
+
+        <span class="c1"># keep a dictionary of stacks so that child environments can add their own UI elements</span>
+        <span class="c1"># this can be done by using the `with` context manager</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># create main frame</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;main_frame&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window</span><span class="o">.</span><span class="n">frame</span>
+        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;main_frame&quot;</span><span class="p">]:</span>
+            <span class="c1"># create main stack</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;main_vstack&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">VStack</span><span class="p">(</span><span class="n">spacing</span><span class="o">=</span><span class="mi">5</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+            <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;main_vstack&quot;</span><span class="p">]:</span>
+                <span class="c1"># create collapsable frame for simulation</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_build_sim_frame</span><span class="p">()</span>
+                <span class="c1"># create collapsable frame for viewer</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_build_viewer_frame</span><span class="p">()</span>
+                <span class="c1"># create collapsable frame for debug visualization</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_build_debug_vis_frame</span><span class="p">()</span>
+                <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;debug_frame&quot;</span><span class="p">]:</span>
+                    <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;debug_vstack&quot;</span><span class="p">]:</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_visualize_manager</span><span class="p">(</span><span class="n">title</span><span class="o">=</span><span class="s2">&quot;Actions&quot;</span><span class="p">,</span> <span class="n">class_name</span><span class="o">=</span><span class="s2">&quot;action_manager&quot;</span><span class="p">)</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_visualize_manager</span><span class="p">(</span><span class="n">title</span><span class="o">=</span><span class="s2">&quot;Observations&quot;</span><span class="p">,</span> <span class="n">class_name</span><span class="o">=</span><span class="s2">&quot;observation_manager&quot;</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Destructor for the window.&quot;&quot;&quot;</span>
+        <span class="c1"># destroy the window</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">ui_window</span><span class="o">.</span><span class="n">visible</span> <span class="o">=</span> <span class="kc">False</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">ui_window</span><span class="o">.</span><span class="n">destroy</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">ui_window</span> <span class="o">=</span> <span class="kc">None</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Build sub-sections of the UI.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_build_sim_frame</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Builds the sim-related controls frame for the UI.&quot;&quot;&quot;</span>
+        <span class="c1"># create collapsable frame for controls</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;sim_frame&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">CollapsableFrame</span><span class="p">(</span>
+            <span class="n">title</span><span class="o">=</span><span class="s2">&quot;Simulation Settings&quot;</span><span class="p">,</span>
+            <span class="n">width</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Fraction</span><span class="p">(</span><span class="mi">1</span><span class="p">),</span>
+            <span class="n">height</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+            <span class="n">collapsed</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="n">style</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">get_style</span><span class="p">(),</span>
+            <span class="n">horizontal_scrollbar_policy</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ScrollBarPolicy</span><span class="o">.</span><span class="n">SCROLLBAR_AS_NEEDED</span><span class="p">,</span>
+            <span class="n">vertical_scrollbar_policy</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ScrollBarPolicy</span><span class="o">.</span><span class="n">SCROLLBAR_ALWAYS_ON</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;sim_frame&quot;</span><span class="p">]:</span>
+            <span class="c1"># create stack for controls</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;sim_vstack&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">VStack</span><span class="p">(</span><span class="n">spacing</span><span class="o">=</span><span class="mi">5</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+            <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;sim_vstack&quot;</span><span class="p">]:</span>
+                <span class="c1"># create rendering mode dropdown</span>
+                <span class="n">render_mode_cfg</span> <span class="o">=</span> <span class="p">{</span>
+                    <span class="s2">&quot;label&quot;</span><span class="p">:</span> <span class="s2">&quot;Rendering Mode&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;type&quot;</span><span class="p">:</span> <span class="s2">&quot;dropdown&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;default_val&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_mode</span><span class="o">.</span><span class="n">value</span><span class="p">,</span>
+                    <span class="s2">&quot;items&quot;</span><span class="p">:</span> <span class="p">[</span><span class="n">member</span><span class="o">.</span><span class="n">name</span> <span class="k">for</span> <span class="n">member</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span> <span class="k">if</span> <span class="n">member</span><span class="o">.</span><span class="n">value</span> <span class="o">&gt;=</span> <span class="mi">0</span><span class="p">],</span>
+                    <span class="s2">&quot;tooltip&quot;</span><span class="p">:</span> <span class="s2">&quot;Select a rendering mode</span><span class="se">\n</span><span class="s2">&quot;</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="vm">__doc__</span><span class="p">,</span>
+                    <span class="s2">&quot;on_clicked_fn&quot;</span><span class="p">:</span> <span class="k">lambda</span> <span class="n">value</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">set_render_mode</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">RenderMode</span><span class="p">[</span><span class="n">value</span><span class="p">]),</span>
+                <span class="p">}</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;render_dropdown&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">dropdown_builder</span><span class="p">(</span><span class="o">**</span><span class="n">render_mode_cfg</span><span class="p">)</span>
+
+                <span class="c1"># create animation recording box</span>
+                <span class="n">record_animate_cfg</span> <span class="o">=</span> <span class="p">{</span>
+                    <span class="s2">&quot;label&quot;</span><span class="p">:</span> <span class="s2">&quot;Record Animation&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;type&quot;</span><span class="p">:</span> <span class="s2">&quot;state_button&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;a_text&quot;</span><span class="p">:</span> <span class="s2">&quot;START&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;b_text&quot;</span><span class="p">:</span> <span class="s2">&quot;STOP&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;tooltip&quot;</span><span class="p">:</span> <span class="s2">&quot;Record the animation of the scene. Only effective if fabric is disabled.&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;on_clicked_fn&quot;</span><span class="p">:</span> <span class="k">lambda</span> <span class="n">value</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">_toggle_recording_animation_fn</span><span class="p">(</span><span class="n">value</span><span class="p">),</span>
+                <span class="p">}</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;record_animation&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">state_btn_builder</span><span class="p">(</span>
+                    <span class="o">**</span><span class="n">record_animate_cfg</span>
+                <span class="p">)</span>
+                <span class="c1"># disable the button if fabric is not enabled</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;record_animation&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">enabled</span> <span class="o">=</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">is_fabric_enabled</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">_build_viewer_frame</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Build the viewer-related control frame for the UI.&quot;&quot;&quot;</span>
+        <span class="c1"># create collapsable frame for viewer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_frame&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">CollapsableFrame</span><span class="p">(</span>
+            <span class="n">title</span><span class="o">=</span><span class="s2">&quot;Viewer Settings&quot;</span><span class="p">,</span>
+            <span class="n">width</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Fraction</span><span class="p">(</span><span class="mi">1</span><span class="p">),</span>
+            <span class="n">height</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+            <span class="n">collapsed</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="n">style</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">get_style</span><span class="p">(),</span>
+            <span class="n">horizontal_scrollbar_policy</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ScrollBarPolicy</span><span class="o">.</span><span class="n">SCROLLBAR_AS_NEEDED</span><span class="p">,</span>
+            <span class="n">vertical_scrollbar_policy</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ScrollBarPolicy</span><span class="o">.</span><span class="n">SCROLLBAR_ALWAYS_ON</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_frame&quot;</span><span class="p">]:</span>
+            <span class="c1"># create stack for controls</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_vstack&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">VStack</span><span class="p">(</span><span class="n">spacing</span><span class="o">=</span><span class="mi">5</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+            <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_vstack&quot;</span><span class="p">]:</span>
+                <span class="c1"># create a number slider to move to environment origin</span>
+                <span class="c1"># NOTE: slider is 1-indexed, whereas the env index is 0-indexed</span>
+                <span class="n">viewport_origin_cfg</span> <span class="o">=</span> <span class="p">{</span>
+                    <span class="s2">&quot;label&quot;</span><span class="p">:</span> <span class="s2">&quot;Environment Index&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;type&quot;</span><span class="p">:</span> <span class="s2">&quot;button&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;default_val&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">env_index</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span>
+                    <span class="s2">&quot;min&quot;</span><span class="p">:</span> <span class="mi">1</span><span class="p">,</span>
+                    <span class="s2">&quot;max&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span>
+                    <span class="s2">&quot;tooltip&quot;</span><span class="p">:</span> <span class="s2">&quot;The environment index to follow. Only effective if follow mode is not &#39;World&#39;.&quot;</span><span class="p">,</span>
+                <span class="p">}</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_env_index&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">int_builder</span><span class="p">(</span><span class="o">**</span><span class="n">viewport_origin_cfg</span><span class="p">)</span>
+                <span class="c1"># create a number slider to move to environment origin</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_env_index&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">add_value_changed_fn</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_set_viewer_env_index_fn</span><span class="p">)</span>
+
+                <span class="c1"># create a tracker for the camera location</span>
+                <span class="n">viewer_follow_cfg</span> <span class="o">=</span> <span class="p">{</span>
+                    <span class="s2">&quot;label&quot;</span><span class="p">:</span> <span class="s2">&quot;Follow Mode&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;type&quot;</span><span class="p">:</span> <span class="s2">&quot;dropdown&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;default_val&quot;</span><span class="p">:</span> <span class="mi">0</span><span class="p">,</span>
+                    <span class="s2">&quot;items&quot;</span><span class="p">:</span> <span class="p">[</span><span class="n">name</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;_&quot;</span><span class="p">,</span> <span class="s2">&quot; &quot;</span><span class="p">)</span><span class="o">.</span><span class="n">title</span><span class="p">()</span> <span class="k">for</span> <span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_viewer_assets_options</span><span class="p">],</span>
+                    <span class="s2">&quot;tooltip&quot;</span><span class="p">:</span> <span class="s2">&quot;Select the viewport camera following mode.&quot;</span><span class="p">,</span>
+                    <span class="s2">&quot;on_clicked_fn&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">_set_viewer_origin_type_fn</span><span class="p">,</span>
+                <span class="p">}</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_follow&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">dropdown_builder</span><span class="p">(</span><span class="o">**</span><span class="n">viewer_follow_cfg</span><span class="p">)</span>
+
+                <span class="c1"># add viewer default eye and lookat locations</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_eye&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">xyz_builder</span><span class="p">(</span>
+                    <span class="n">label</span><span class="o">=</span><span class="s2">&quot;Camera Eye&quot;</span><span class="p">,</span>
+                    <span class="n">tooltip</span><span class="o">=</span><span class="s2">&quot;Modify the XYZ location of the viewer eye.&quot;</span><span class="p">,</span>
+                    <span class="n">default_val</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">eye</span><span class="p">,</span>
+                    <span class="n">step</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span>
+                    <span class="n">on_value_changed_fn</span><span class="o">=</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_set_viewer_location_fn</span><span class="p">]</span> <span class="o">*</span> <span class="mi">3</span><span class="p">,</span>
+                <span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_lookat&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">xyz_builder</span><span class="p">(</span>
+                    <span class="n">label</span><span class="o">=</span><span class="s2">&quot;Camera Target&quot;</span><span class="p">,</span>
+                    <span class="n">tooltip</span><span class="o">=</span><span class="s2">&quot;Modify the XYZ location of the viewer target.&quot;</span><span class="p">,</span>
+                    <span class="n">default_val</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">lookat</span><span class="p">,</span>
+                    <span class="n">step</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span>
+                    <span class="n">on_value_changed_fn</span><span class="o">=</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_set_viewer_location_fn</span><span class="p">]</span> <span class="o">*</span> <span class="mi">3</span><span class="p">,</span>
+                <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_build_debug_vis_frame</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Builds the debug visualization frame for various scene elements.</span>
+
+<span class="sd">        This function inquires the scene for all elements that have a debug visualization</span>
+<span class="sd">        implemented and creates a checkbox to toggle the debug visualization for each element</span>
+<span class="sd">        that has it implemented. If the element does not have a debug visualization implemented,</span>
+<span class="sd">        a label is created instead.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># create collapsable frame for debug visualization</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;debug_frame&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">CollapsableFrame</span><span class="p">(</span>
+            <span class="n">title</span><span class="o">=</span><span class="s2">&quot;Scene Debug Visualization&quot;</span><span class="p">,</span>
+            <span class="n">width</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Fraction</span><span class="p">(</span><span class="mi">1</span><span class="p">),</span>
+            <span class="n">height</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+            <span class="n">collapsed</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="n">style</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">get_style</span><span class="p">(),</span>
+            <span class="n">horizontal_scrollbar_policy</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ScrollBarPolicy</span><span class="o">.</span><span class="n">SCROLLBAR_AS_NEEDED</span><span class="p">,</span>
+            <span class="n">vertical_scrollbar_policy</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ScrollBarPolicy</span><span class="o">.</span><span class="n">SCROLLBAR_ALWAYS_ON</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;debug_frame&quot;</span><span class="p">]:</span>
+            <span class="c1"># create stack for debug visualization</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;debug_vstack&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">VStack</span><span class="p">(</span><span class="n">spacing</span><span class="o">=</span><span class="mi">5</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+            <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;debug_vstack&quot;</span><span class="p">]:</span>
+                <span class="n">elements</span> <span class="o">=</span> <span class="p">[</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">terrain</span><span class="p">,</span>
+                    <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">rigid_objects</span><span class="o">.</span><span class="n">values</span><span class="p">(),</span>
+                    <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="o">.</span><span class="n">values</span><span class="p">(),</span>
+                    <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">sensors</span><span class="o">.</span><span class="n">values</span><span class="p">(),</span>
+                <span class="p">]</span>
+                <span class="n">names</span> <span class="o">=</span> <span class="p">[</span>
+                    <span class="s2">&quot;terrain&quot;</span><span class="p">,</span>
+                    <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">rigid_objects</span><span class="o">.</span><span class="n">keys</span><span class="p">(),</span>
+                    <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="o">.</span><span class="n">keys</span><span class="p">(),</span>
+                    <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">sensors</span><span class="o">.</span><span class="n">keys</span><span class="p">(),</span>
+                <span class="p">]</span>
+                <span class="c1"># create one for the terrain</span>
+                <span class="k">for</span> <span class="n">elem</span><span class="p">,</span> <span class="n">name</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">elements</span><span class="p">,</span> <span class="n">names</span><span class="p">):</span>
+                    <span class="k">if</span> <span class="n">elem</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_create_debug_vis_ui_element</span><span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">elem</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_visualize_manager</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">title</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">class_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Checks if the attribute with the name &#39;class_name&#39; can be visualized. If yes, create vis interface.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            title: The title of the manager visualization frame.</span>
+<span class="sd">            class_name: The name of the manager to visualize.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="p">,</span> <span class="n">class_name</span><span class="p">)</span> <span class="ow">and</span> <span class="n">class_name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">manager_visualizers</span><span class="p">:</span>
+            <span class="n">manager</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">manager_visualizers</span><span class="p">[</span><span class="n">class_name</span><span class="p">]</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">manager</span><span class="p">,</span> <span class="s2">&quot;has_debug_vis_implementation&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_create_debug_vis_ui_element</span><span class="p">(</span><span class="n">title</span><span class="p">,</span> <span class="n">manager</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="nb">print</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;ManagerLiveVisualizer cannot be created for manager: </span><span class="si">{</span><span class="n">class_name</span><span class="si">}</span><span class="s2">, has_debug_vis_implementation&quot;</span>
+                    <span class="s2">&quot; does not exist&quot;</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;ManagerLiveVisualizer cannot be created for manager: </span><span class="si">{</span><span class="n">class_name</span><span class="si">}</span><span class="s2">, Manager does not exist&quot;</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Custom callbacks for UI elements.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_toggle_recording_animation_fn</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">value</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Toggles the animation recording.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">value</span><span class="p">:</span>
+            <span class="c1"># log directory to save the recording</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;animation_log_dir&quot;</span><span class="p">):</span>
+                <span class="c1"># create a new log directory</span>
+                <span class="n">log_dir</span> <span class="o">=</span> <span class="n">datetime</span><span class="o">.</span><span class="n">now</span><span class="p">()</span><span class="o">.</span><span class="n">strftime</span><span class="p">(</span><span class="s2">&quot;%Y-%m-</span><span class="si">%d</span><span class="s2">_%H-%M-%S&quot;</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">animation_log_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">(),</span> <span class="s2">&quot;recordings&quot;</span><span class="p">,</span> <span class="n">log_dir</span><span class="p">)</span>
+            <span class="c1"># start the recording</span>
+            <span class="n">_</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span>
+                <span class="s2">&quot;StartRecording&quot;</span><span class="p">,</span>
+                <span class="n">target_paths</span><span class="o">=</span><span class="p">[(</span><span class="s2">&quot;/World&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)],</span>
+                <span class="n">live_mode</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+                <span class="n">use_frame_range</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+                <span class="n">start_frame</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+                <span class="n">end_frame</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+                <span class="n">use_preroll</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+                <span class="n">preroll_frame</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+                <span class="n">record_to</span><span class="o">=</span><span class="s2">&quot;FILE&quot;</span><span class="p">,</span>
+                <span class="n">fps</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+                <span class="n">apply_root_anim</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+                <span class="n">increment_name</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+                <span class="n">record_folder</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">animation_log_dir</span><span class="p">,</span>
+                <span class="n">take_name</span><span class="o">=</span><span class="s2">&quot;TimeSample&quot;</span><span class="p">,</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># stop the recording</span>
+            <span class="n">_</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span><span class="s2">&quot;StopRecording&quot;</span><span class="p">)</span>
+            <span class="c1"># save the current stage</span>
+            <span class="n">stage</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">get_context</span><span class="p">()</span><span class="o">.</span><span class="n">get_stage</span><span class="p">()</span>
+            <span class="n">source_layer</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetRootLayer</span><span class="p">()</span>
+            <span class="c1"># output the stage to a file</span>
+            <span class="n">stage_usd_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">animation_log_dir</span><span class="p">,</span> <span class="s2">&quot;Stage.usd&quot;</span><span class="p">)</span>
+            <span class="n">source_prim_path</span> <span class="o">=</span> <span class="s2">&quot;/&quot;</span>
+            <span class="c1"># creates empty anon layer</span>
+            <span class="n">temp_layer</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Find</span><span class="p">(</span><span class="n">stage_usd_path</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">temp_layer</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">temp_layer</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Layer</span><span class="o">.</span><span class="n">CreateNew</span><span class="p">(</span><span class="n">stage_usd_path</span><span class="p">)</span>
+            <span class="n">temp_stage</span> <span class="o">=</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span><span class="o">.</span><span class="n">Open</span><span class="p">(</span><span class="n">temp_layer</span><span class="p">)</span>
+            <span class="c1"># update stage data</span>
+            <span class="n">UsdGeom</span><span class="o">.</span><span class="n">SetStageUpAxis</span><span class="p">(</span><span class="n">temp_stage</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">GetStageUpAxis</span><span class="p">(</span><span class="n">stage</span><span class="p">))</span>
+            <span class="n">UsdGeom</span><span class="o">.</span><span class="n">SetStageMetersPerUnit</span><span class="p">(</span><span class="n">temp_stage</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">GetStageMetersPerUnit</span><span class="p">(</span><span class="n">stage</span><span class="p">))</span>
+            <span class="c1"># copy the prim</span>
+            <span class="n">Sdf</span><span class="o">.</span><span class="n">CreatePrimInLayer</span><span class="p">(</span><span class="n">temp_layer</span><span class="p">,</span> <span class="n">source_prim_path</span><span class="p">)</span>
+            <span class="n">Sdf</span><span class="o">.</span><span class="n">CopySpec</span><span class="p">(</span><span class="n">source_layer</span><span class="p">,</span> <span class="n">source_prim_path</span><span class="p">,</span> <span class="n">temp_layer</span><span class="p">,</span> <span class="n">source_prim_path</span><span class="p">)</span>
+            <span class="c1"># set the default prim</span>
+            <span class="n">temp_layer</span><span class="o">.</span><span class="n">defaultPrim</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="n">source_prim_path</span><span class="p">)</span><span class="o">.</span><span class="n">name</span>
+            <span class="c1"># remove all physics from the stage</span>
+            <span class="k">for</span> <span class="n">prim</span> <span class="ow">in</span> <span class="n">temp_stage</span><span class="o">.</span><span class="n">TraverseAll</span><span class="p">():</span>
+                <span class="c1"># skip if the prim is an instance</span>
+                <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsInstanceable</span><span class="p">():</span>
+                    <span class="k">continue</span>
+                <span class="c1"># if prim has articulation then disable it</span>
+                <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">):</span>
+                    <span class="n">prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">)</span>
+                    <span class="n">prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxArticulationAPI</span><span class="p">)</span>
+                <span class="c1"># if prim has rigid body then disable it</span>
+                <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">):</span>
+                    <span class="n">prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">)</span>
+                    <span class="n">prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxRigidBodyAPI</span><span class="p">)</span>
+                <span class="c1"># if prim is a joint type then disable it</span>
+                <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">Joint</span><span class="p">):</span>
+                    <span class="n">prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="s2">&quot;physics:jointEnabled&quot;</span><span class="p">)</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+            <span class="c1"># resolve all paths relative to layer path</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">resolve_paths</span><span class="p">(</span><span class="n">source_layer</span><span class="o">.</span><span class="n">identifier</span><span class="p">,</span> <span class="n">temp_layer</span><span class="o">.</span><span class="n">identifier</span><span class="p">)</span>
+            <span class="c1"># save the stage</span>
+            <span class="n">temp_layer</span><span class="o">.</span><span class="n">Save</span><span class="p">()</span>
+            <span class="c1"># print the path to the saved stage</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Recording completed.&quot;</span><span class="p">)</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Saved recorded stage to    : </span><span class="si">{</span><span class="n">stage_usd_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Saved recorded animation to: </span><span class="si">{</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">animation_log_dir</span><span class="p">,</span><span class="w"> </span><span class="s1">&#39;TimeSample_tk001.usd&#39;</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">To play the animation, check the instructions in the following link:&quot;</span><span class="p">)</span>
+            <span class="nb">print</span><span class="p">(</span>
+                <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">https://docs.omniverse.nvidia.com/extensions/latest/ext_animation_stage-recorder.html#using-the-captured-timesamples&quot;</span>
+            <span class="p">)</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="c1"># reset the log directory</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">animation_log_dir</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="nf">_set_viewer_origin_type_fn</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">value</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets the origin of the viewport&#39;s camera. This is based on the drop-down menu in the UI.&quot;&quot;&quot;</span>
+        <span class="c1"># Extract the viewport camera controller from environment</span>
+        <span class="n">vcc</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">viewport_camera_controller</span>
+        <span class="k">if</span> <span class="n">vcc</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Viewport camera controller is not initialized! Please check the rendering mode.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># Based on origin type, update the camera view</span>
+        <span class="k">if</span> <span class="n">value</span> <span class="o">==</span> <span class="s2">&quot;World&quot;</span><span class="p">:</span>
+            <span class="n">vcc</span><span class="o">.</span><span class="n">update_view_to_world</span><span class="p">()</span>
+        <span class="k">elif</span> <span class="n">value</span> <span class="o">==</span> <span class="s2">&quot;Env&quot;</span><span class="p">:</span>
+            <span class="n">vcc</span><span class="o">.</span><span class="n">update_view_to_env</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># find which index the asset is</span>
+            <span class="n">fancy_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">name</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;_&quot;</span><span class="p">,</span> <span class="s2">&quot; &quot;</span><span class="p">)</span><span class="o">.</span><span class="n">title</span><span class="p">()</span> <span class="k">for</span> <span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_viewer_assets_options</span><span class="p">]</span>
+            <span class="c1"># store the desired env index</span>
+            <span class="n">viewer_asset_name</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_viewer_assets_options</span><span class="p">[</span><span class="n">fancy_names</span><span class="o">.</span><span class="n">index</span><span class="p">(</span><span class="n">value</span><span class="p">)]</span>
+            <span class="c1"># update the camera view</span>
+            <span class="n">vcc</span><span class="o">.</span><span class="n">update_view_to_asset_root</span><span class="p">(</span><span class="n">viewer_asset_name</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_set_viewer_location_fn</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">model</span><span class="p">:</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">SimpleFloatModel</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets the viewport camera location based on the UI.&quot;&quot;&quot;</span>
+        <span class="c1"># access the viewport camera controller (for brevity)</span>
+        <span class="n">vcc</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">viewport_camera_controller</span>
+        <span class="k">if</span> <span class="n">vcc</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Viewport camera controller is not initialized! Please check the rendering mode.&quot;</span><span class="p">)</span>
+        <span class="c1"># obtain the camera locations and set them in the viewpoint camera controller</span>
+        <span class="n">eye</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_eye&quot;</span><span class="p">][</span><span class="n">i</span><span class="p">]</span><span class="o">.</span><span class="n">get_value_as_float</span><span class="p">()</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">3</span><span class="p">)]</span>
+        <span class="n">lookat</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;viewer_lookat&quot;</span><span class="p">][</span><span class="n">i</span><span class="p">]</span><span class="o">.</span><span class="n">get_value_as_float</span><span class="p">()</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">3</span><span class="p">)]</span>
+        <span class="c1"># update the camera view</span>
+        <span class="n">vcc</span><span class="o">.</span><span class="n">update_view_location</span><span class="p">(</span><span class="n">eye</span><span class="p">,</span> <span class="n">lookat</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_set_viewer_env_index_fn</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">model</span><span class="p">:</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">SimpleIntModel</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets the environment index and updates the camera if in &#39;env&#39; origin mode.&quot;&quot;&quot;</span>
+        <span class="c1"># access the viewport camera controller (for brevity)</span>
+        <span class="n">vcc</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">viewport_camera_controller</span>
+        <span class="k">if</span> <span class="n">vcc</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Viewport camera controller is not initialized! Please check the rendering mode.&quot;</span><span class="p">)</span>
+        <span class="c1"># store the desired env index, UI is 1-indexed</span>
+        <span class="n">vcc</span><span class="o">.</span><span class="n">set_view_env_index</span><span class="p">(</span><span class="n">model</span><span class="o">.</span><span class="n">as_int</span> <span class="o">-</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># notify additional listeners</span>
+        <span class="k">for</span> <span class="n">listener</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ui_listeners</span><span class="p">:</span>
+            <span class="n">listener</span><span class="o">.</span><span class="n">set_env_selection</span><span class="p">(</span><span class="n">model</span><span class="o">.</span><span class="n">as_int</span> <span class="o">-</span> <span class="mi">1</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions - UI building.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_create_debug_vis_ui_element</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">elem</span><span class="p">:</span> <span class="nb">object</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create a checkbox for toggling debug visualization for the given element.&quot;&quot;&quot;</span>
+        <span class="kn">from</span> <span class="nn">omni.kit.window.extensions</span> <span class="kn">import</span> <span class="n">SimpleCheckBox</span>
+
+        <span class="k">with</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">HStack</span><span class="p">():</span>
+            <span class="c1"># create the UI element</span>
+            <span class="n">text</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="s2">&quot;Toggle debug visualization.&quot;</span>
+                <span class="k">if</span> <span class="n">elem</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span>
+                <span class="k">else</span> <span class="s2">&quot;Debug visualization not implemented.&quot;</span>
+            <span class="p">)</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Label</span><span class="p">(</span>
+                <span class="n">name</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;_&quot;</span><span class="p">,</span> <span class="s2">&quot; &quot;</span><span class="p">)</span><span class="o">.</span><span class="n">title</span><span class="p">(),</span>
+                <span class="n">width</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">LABEL_WIDTH</span> <span class="o">-</span> <span class="mi">12</span><span class="p">,</span>
+                <span class="n">alignment</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Alignment</span><span class="o">.</span><span class="n">LEFT_CENTER</span><span class="p">,</span>
+                <span class="n">tooltip</span><span class="o">=</span><span class="n">text</span><span class="p">,</span>
+            <span class="p">)</span>
+            <span class="n">has_cfg</span> <span class="o">=</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">elem</span><span class="p">,</span> <span class="s2">&quot;cfg&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="n">elem</span><span class="o">.</span><span class="n">cfg</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span>
+            <span class="n">is_checked</span> <span class="o">=</span> <span class="kc">False</span>
+            <span class="k">if</span> <span class="n">has_cfg</span><span class="p">:</span>
+                <span class="n">is_checked</span> <span class="o">=</span> <span class="p">(</span><span class="nb">hasattr</span><span class="p">(</span><span class="n">elem</span><span class="o">.</span><span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;debug_vis&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="n">elem</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span><span class="p">)</span> <span class="ow">or</span> <span class="p">(</span>
+                    <span class="nb">hasattr</span><span class="p">(</span><span class="n">elem</span><span class="p">,</span> <span class="s2">&quot;debug_vis&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="n">elem</span><span class="o">.</span><span class="n">debug_vis</span>
+                <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">_cb&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">SimpleCheckBox</span><span class="p">(</span>
+                <span class="n">model</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">SimpleBoolModel</span><span class="p">(),</span>
+                <span class="n">enabled</span><span class="o">=</span><span class="n">elem</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span><span class="p">,</span>
+                <span class="n">checked</span><span class="o">=</span><span class="n">is_checked</span><span class="p">,</span>
+                <span class="n">on_checked_fn</span><span class="o">=</span><span class="k">lambda</span> <span class="n">value</span><span class="p">,</span> <span class="n">e</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="n">elem</span><span class="p">):</span> <span class="n">e</span><span class="o">.</span><span class="n">set_debug_vis</span><span class="p">(</span><span class="n">value</span><span class="p">),</span>
+            <span class="p">)</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">isaac</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">ui_utils</span><span class="o">.</span><span class="n">add_line_rect_flourish</span><span class="p">()</span>
+
+        <span class="c1"># Create a panel for the debug visualization</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">elem</span><span class="p">,</span> <span class="n">ManagerLiveVisualizer</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">_panel&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Frame</span><span class="p">(</span><span class="n">width</span><span class="o">=</span><span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Fraction</span><span class="p">(</span><span class="mi">1</span><span class="p">))</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="n">elem</span><span class="o">.</span><span class="n">set_vis_frame</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">_panel&quot;</span><span class="p">]):</span>
+                <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Frame failed to set for ManagerLiveVisualizer: </span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="c1"># Add listener for environment selection changes</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">elem</span><span class="p">,</span> <span class="n">ManagerLiveVisualizer</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_ui_listeners</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">elem</span><span class="p">)</span>
+
+    <span class="k">async</span> <span class="k">def</span> <span class="nf">_dock_window</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">window_title</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Docks the custom UI window to the property window.&quot;&quot;&quot;</span>
+        <span class="c1"># wait for the window to be created</span>
+        <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">5</span><span class="p">):</span>
+            <span class="k">if</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Workspace</span><span class="o">.</span><span class="n">get_window</span><span class="p">(</span><span class="n">window_title</span><span class="p">):</span>
+                <span class="k">break</span>
+            <span class="k">await</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">next_update_async</span><span class="p">()</span>
+
+        <span class="c1"># dock next to properties window</span>
+        <span class="n">custom_window</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Workspace</span><span class="o">.</span><span class="n">get_window</span><span class="p">(</span><span class="n">window_title</span><span class="p">)</span>
+        <span class="n">property_window</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">Workspace</span><span class="o">.</span><span class="n">get_window</span><span class="p">(</span><span class="s2">&quot;Property&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">custom_window</span> <span class="ow">and</span> <span class="n">property_window</span><span class="p">:</span>
+            <span class="n">custom_window</span><span class="o">.</span><span class="n">dock_in</span><span class="p">(</span><span class="n">property_window</span><span class="p">,</span> <span class="n">omni</span><span class="o">.</span><span class="n">ui</span><span class="o">.</span><span class="n">DockPosition</span><span class="o">.</span><span class="n">SAME</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+            <span class="n">custom_window</span><span class="o">.</span><span class="n">focus</span><span class="p">()</span></div>
+</pre></div>
+
+                </article>
+              
+
+              
+              
+              
+              
+                <footer class="prev-next-footer d-print-none">
+                  
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+  <div class="footer-item">
+    
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+By The Isaac Lab Project Developers.
+</p>
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+    
+
+  <p class="copyright">
+    
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+    <p class="last-updated">
+  Last updated on Dec 27, 2024.
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diff --git a/v1.4.0/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html b/v1.4.0/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html
new file mode 100644
index 0000000000..937720c3a8
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html
@@ -0,0 +1,629 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" data-content_root="" >
+
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>omni.isaac.lab.envs.ui.manager_based_rl_env_window &#8212; Isaac Lab Documentation</title>
+  
+  
+  
+  <script data-cfasync="false">
+    document.documentElement.dataset.mode = localStorage.getItem("mode") || "";
+    document.documentElement.dataset.theme = localStorage.getItem("theme") || "";
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+  <noscript>
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+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
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+</details></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
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+                  
+  <h1>Source code for omni.isaac.lab.envs.ui.manager_based_rl_env_window</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">.base_env_window</span> <span class="kn">import</span> <span class="n">BaseEnvWindow</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">..manager_based_rl_env</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnv</span>
+
+
+<div class="viewcode-block" id="ManagerBasedRLEnvWindow"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow">[docs]</a><span class="k">class</span> <span class="nc">ManagerBasedRLEnvWindow</span><span class="p">(</span><span class="n">BaseEnvWindow</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Window manager for the RL environment.</span>
+
+<span class="sd">    On top of the basic environment window, this class adds controls for the RL environment.</span>
+<span class="sd">    This includes visualization of the command manager.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerBasedRLEnvWindow.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">window_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;IsaacLab&quot;</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the window.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env: The environment object.</span>
+<span class="sd">            window_name: The name of the window. Defaults to &quot;IsaacLab&quot;.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># initialize base window</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">env</span><span class="p">,</span> <span class="n">window_name</span><span class="p">)</span>
+
+        <span class="c1"># add custom UI elements</span>
+        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;main_vstack&quot;</span><span class="p">]:</span>
+            <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;debug_frame&quot;</span><span class="p">]:</span>
+                <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;debug_vstack&quot;</span><span class="p">]:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_visualize_manager</span><span class="p">(</span><span class="n">title</span><span class="o">=</span><span class="s2">&quot;Commands&quot;</span><span class="p">,</span> <span class="n">class_name</span><span class="o">=</span><span class="s2">&quot;command_manager&quot;</span><span class="p">)</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_visualize_manager</span><span class="p">(</span><span class="n">title</span><span class="o">=</span><span class="s2">&quot;Rewards&quot;</span><span class="p">,</span> <span class="n">class_name</span><span class="o">=</span><span class="s2">&quot;reward_manager&quot;</span><span class="p">)</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_visualize_manager</span><span class="p">(</span><span class="n">title</span><span class="o">=</span><span class="s2">&quot;Curriculum&quot;</span><span class="p">,</span> <span class="n">class_name</span><span class="o">=</span><span class="s2">&quot;curriculum_manager&quot;</span><span class="p">)</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_visualize_manager</span><span class="p">(</span><span class="n">title</span><span class="o">=</span><span class="s2">&quot;Termination&quot;</span><span class="p">,</span> <span class="n">class_name</span><span class="o">=</span><span class="s2">&quot;termination_manager&quot;</span><span class="p">)</span></div></div>
+</pre></div>
+
+                </article>
+              
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html b/v1.4.0/_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html
new file mode 100644
index 0000000000..8e9e27c082
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html
@@ -0,0 +1,781 @@
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+  <h1>Source code for omni.isaac.lab.envs.ui.viewport_camera_controller</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">copy</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.kit.app</span>
+<span class="kn">import</span> <span class="nn">omni.timeline</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">DirectRLEnv</span><span class="p">,</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">ViewerCfg</span>
+
+
+<div class="viewcode-block" id="ViewportCameraController"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController">[docs]</a><span class="k">class</span> <span class="nc">ViewportCameraController</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;This class handles controlling the camera associated with a viewport in the simulator.</span>
+
+<span class="sd">    It can be used to set the viewpoint camera to track different origin types:</span>
+
+<span class="sd">    - **world**: the center of the world (static)</span>
+<span class="sd">    - **env**: the center of an environment (static)</span>
+<span class="sd">    - **asset_root**: the root of an asset in the scene (e.g. tracking a robot moving in the scene)</span>
+
+<span class="sd">    On creation, the camera is set to track the origin type specified in the configuration.</span>
+
+<span class="sd">    For the :attr:`asset_root` origin type, the camera is updated at each rendering step to track the asset&#39;s</span>
+<span class="sd">    root position. For this, it registers a callback to the post update event stream from the simulation app.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ViewportCameraController.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span> <span class="o">|</span> <span class="n">DirectRLEnv</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ViewerCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the ViewportCameraController.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env: The environment.</span>
+<span class="sd">            cfg: The configuration for the viewport camera controller.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If origin type is configured to be &quot;env&quot; but :attr:`cfg.env_index` is out of bounds.</span>
+<span class="sd">            ValueError: If origin type is configured to be &quot;asset_root&quot; but :attr:`cfg.asset_name` is unset.</span>
+
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_env</span> <span class="o">=</span> <span class="n">env</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_cfg</span> <span class="o">=</span> <span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># cast viewer eye and look-at to numpy arrays</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">default_cam_eye</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_cfg</span><span class="o">.</span><span class="n">eye</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">default_cam_lookat</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_cfg</span><span class="o">.</span><span class="n">lookat</span><span class="p">)</span>
+
+        <span class="c1"># set the camera origins</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">origin_type</span> <span class="o">==</span> <span class="s2">&quot;env&quot;</span><span class="p">:</span>
+            <span class="c1"># check that the env_index is within bounds</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">set_view_env_index</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">env_index</span><span class="p">)</span>
+            <span class="c1"># set the camera origin to the center of the environment</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">update_view_to_env</span><span class="p">()</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">origin_type</span> <span class="o">==</span> <span class="s2">&quot;asset_root&quot;</span><span class="p">:</span>
+            <span class="c1"># note: we do not yet update camera for tracking an asset origin, as the asset may not yet be</span>
+            <span class="c1"># in the scene when this is called. Instead, we subscribe to the post update event to update the camera</span>
+            <span class="c1"># at each rendering step.</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_name</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;No asset name provided for viewer with origin type: &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">origin_type</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># set the camera origin to the center of the world</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">update_view_to_world</span><span class="p">()</span>
+
+        <span class="c1"># subscribe to post update event so that camera view can be updated at each rendering step</span>
+        <span class="n">app_interface</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">get_app_interface</span><span class="p">()</span>
+        <span class="n">app_event_stream</span> <span class="o">=</span> <span class="n">app_interface</span><span class="o">.</span><span class="n">get_post_update_event_stream</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_camera_update_handle</span> <span class="o">=</span> <span class="n">app_event_stream</span><span class="o">.</span><span class="n">create_subscription_to_pop</span><span class="p">(</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_update_tracking_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Unsubscribe from the callback.&quot;&quot;&quot;</span>
+        <span class="c1"># use hasattr to handle case where __init__ has not completed before __del__ is called</span>
+        <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;_viewport_camera_update_handle&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_camera_update_handle</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_camera_update_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_camera_update_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ViewerCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The configuration for the viewer.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cfg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Public Functions</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ViewportCameraController.set_view_env_index"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.set_view_env_index">[docs]</a>    <span class="k">def</span> <span class="nf">set_view_env_index</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_index</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets the environment index for the camera view.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_index: The index of the environment to set the camera view to.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the environment index is out of bounds. It should be between 0 and num_envs - 1.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that the env_index is within bounds</span>
+        <span class="k">if</span> <span class="n">env_index</span> <span class="o">&lt;</span> <span class="mi">0</span> <span class="ow">or</span> <span class="n">env_index</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">num_envs</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Out of range value for attribute &#39;env_index&#39;: </span><span class="si">{</span><span class="n">env_index</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; Expected a value between 0 and </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">num_envs</span><span class="w"> </span><span class="o">-</span><span class="w"> </span><span class="mi">1</span><span class="si">}</span><span class="s2"> for the current environment.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># update the environment index</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">env_index</span> <span class="o">=</span> <span class="n">env_index</span>
+        <span class="c1"># update the camera view if the origin is set to env type (since, the camera view is static)</span>
+        <span class="c1"># note: for assets, the camera view is updated at each rendering step</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">origin_type</span> <span class="o">==</span> <span class="s2">&quot;env&quot;</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">update_view_to_env</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="ViewportCameraController.update_view_to_world"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_world">[docs]</a>    <span class="k">def</span> <span class="nf">update_view_to_world</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Updates the viewer&#39;s origin to the origin of the world which is (0, 0, 0).&quot;&quot;&quot;</span>
+        <span class="c1"># set origin type to world</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">origin_type</span> <span class="o">=</span> <span class="s2">&quot;world&quot;</span>
+        <span class="c1"># update the camera origins</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">viewer_origin</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>
+        <span class="c1"># update the camera view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">update_view_location</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="ViewportCameraController.update_view_to_env"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_env">[docs]</a>    <span class="k">def</span> <span class="nf">update_view_to_env</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Updates the viewer&#39;s origin to the origin of the selected environment.&quot;&quot;&quot;</span>
+        <span class="c1"># set origin type to world</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">origin_type</span> <span class="o">=</span> <span class="s2">&quot;env&quot;</span>
+        <span class="c1"># update the camera origins</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">viewer_origin</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">env_index</span><span class="p">]</span>
+        <span class="c1"># update the camera view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">update_view_location</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="ViewportCameraController.update_view_to_asset_root"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_asset_root">[docs]</a>    <span class="k">def</span> <span class="nf">update_view_to_asset_root</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">asset_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Updates the viewer&#39;s origin based upon the root of an asset in the scene.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            asset_name: The name of the asset in the scene. The name should match the name of the</span>
+<span class="sd">                asset in the scene.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the asset is not in the scene.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if the asset is in the scene</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_name</span> <span class="o">!=</span> <span class="n">asset_name</span><span class="p">:</span>
+            <span class="n">asset_entities</span> <span class="o">=</span> <span class="p">[</span><span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">rigid_objects</span><span class="o">.</span><span class="n">keys</span><span class="p">(),</span> <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="o">.</span><span class="n">keys</span><span class="p">()]</span>
+            <span class="k">if</span> <span class="n">asset_name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">asset_entities</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Asset &#39;</span><span class="si">{</span><span class="n">asset_name</span><span class="si">}</span><span class="s2">&#39; is not in the scene. Available entities: </span><span class="si">{</span><span class="n">asset_entities</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+        <span class="c1"># update the asset name</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_name</span> <span class="o">=</span> <span class="n">asset_name</span>
+        <span class="c1"># set origin type to asset_root</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">origin_type</span> <span class="o">=</span> <span class="s2">&quot;asset_root&quot;</span>
+        <span class="c1"># update the camera origins</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">viewer_origin</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_name</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_pos_w</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">env_index</span><span class="p">]</span>
+        <span class="c1"># update the camera view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">update_view_location</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="ViewportCameraController.update_view_location"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_location">[docs]</a>    <span class="k">def</span> <span class="nf">update_view_location</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">eye</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">lookat</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Updates the camera view pose based on the current viewer origin and the eye and lookat positions.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            eye: The eye position of the camera. If None, the current eye position is used.</span>
+<span class="sd">            lookat: The lookat position of the camera. If None, the current lookat position is used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store the camera view pose for later use</span>
+        <span class="k">if</span> <span class="n">eye</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">default_cam_eye</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">eye</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">lookat</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">default_cam_lookat</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">lookat</span><span class="p">)</span>
+        <span class="c1"># set the camera locations</span>
+        <span class="n">viewer_origin</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">viewer_origin</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+        <span class="n">cam_eye</span> <span class="o">=</span> <span class="n">viewer_origin</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">default_cam_eye</span>
+        <span class="n">cam_target</span> <span class="o">=</span> <span class="n">viewer_origin</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">default_cam_lookat</span>
+
+        <span class="c1"># set the camera view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">(</span><span class="n">eye</span><span class="o">=</span><span class="n">cam_eye</span><span class="p">,</span> <span class="n">target</span><span class="o">=</span><span class="n">cam_target</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Private Functions</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_update_tracking_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Updates the camera view at each rendering step.&quot;&quot;&quot;</span>
+        <span class="c1"># update the camera view if the origin is set to asset_root</span>
+        <span class="c1"># in other cases, the camera view is static and does not need to be updated continuously</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">origin_type</span> <span class="o">==</span> <span class="s2">&quot;asset_root&quot;</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_name</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">update_view_to_asset_root</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_name</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.managers.action_manager</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Action manager for processing actions sent to the environment.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">prettytable</span> <span class="kn">import</span> <span class="n">PrettyTable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.kit.app</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">AssetBase</span>
+
+<span class="kn">from</span> <span class="nn">.manager_base</span> <span class="kn">import</span> <span class="n">ManagerBase</span><span class="p">,</span> <span class="n">ManagerTermBase</span>
+<span class="kn">from</span> <span class="nn">.manager_term_cfg</span> <span class="kn">import</span> <span class="n">ActionTermCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedEnv</span>
+
+
+<div class="viewcode-block" id="ActionTerm"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm">[docs]</a><span class="k">class</span> <span class="nc">ActionTerm</span><span class="p">(</span><span class="n">ManagerTermBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base class for action terms.</span>
+
+<span class="sd">    The action term is responsible for processing the raw actions sent to the environment</span>
+<span class="sd">    and applying them to the asset managed by the term. The action term is comprised of two</span>
+<span class="sd">    operations:</span>
+
+<span class="sd">    * Processing of actions: This operation is performed once per **environment step** and</span>
+<span class="sd">      is responsible for pre-processing the raw actions sent to the environment.</span>
+<span class="sd">    * Applying actions: This operation is performed once per **simulation step** and is</span>
+<span class="sd">      responsible for applying the processed actions to the asset managed by the term.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ActionTerm.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ActionTermCfg</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the action term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object.</span>
+<span class="sd">            env: The environment instance.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># call the base class constructor</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+        <span class="c1"># parse config to obtain asset to which the term is applied</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_asset</span><span class="p">:</span> <span class="n">AssetBase</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">scene</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_name</span><span class="p">]</span>
+
+        <span class="c1"># add handle for debug visualization (this is set to a valid handle inside set_debug_vis)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># set initial state of debug visualization</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Unsubscribe from the callbacks.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">action_dim</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Dimension of the action term.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+    <span class="nd">@property</span>
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">raw_actions</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The input/raw actions sent to the term.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+    <span class="nd">@property</span>
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">processed_actions</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The actions computed by the term after applying any processing.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">has_debug_vis_implementation</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the action term has a debug visualization implemented.&quot;&quot;&quot;</span>
+        <span class="c1"># check if function raises NotImplementedError</span>
+        <span class="n">source_code</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">getsource</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">)</span>
+        <span class="k">return</span> <span class="s2">&quot;NotImplementedError&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">source_code</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ActionTerm.set_debug_vis"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.set_debug_vis">[docs]</a>    <span class="k">def</span> <span class="nf">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets whether to visualize the action term data.</span>
+<span class="sd">        Args:</span>
+<span class="sd">            debug_vis: Whether to visualize the action term data.</span>
+<span class="sd">        Returns:</span>
+<span class="sd">            Whether the debug visualization was successfully set. False if the action term does</span>
+<span class="sd">            not support debug visualization.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if debug visualization is supported</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">False</span>
+
+        <span class="c1"># toggle debug visualization objects</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">(</span><span class="n">debug_vis</span><span class="p">)</span>
+        <span class="c1"># toggle debug visualization handles</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="c1"># create a subscriber for the post update event if it doesn&#39;t exist</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">app_interface</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">get_app_interface</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="n">app_interface</span><span class="o">.</span><span class="n">get_post_update_event_stream</span><span class="p">()</span><span class="o">.</span><span class="n">create_subscription_to_pop</span><span class="p">(</span>
+                    <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_debug_vis_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># remove the subscriber if it exists</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># return success</span>
+        <span class="k">return</span> <span class="kc">True</span></div>
+
+<div class="viewcode-block" id="ActionTerm.process_actions"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.process_actions">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">process_actions</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Processes the actions sent to the environment.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This function is called once per environment step by the manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            actions: The actions to process.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+<div class="viewcode-block" id="ActionTerm.apply_actions"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.apply_actions">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">apply_actions</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Applies the actions to the asset managed by the term.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This is called at every simulation step by the manager.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set debug visualization into visualization objects.</span>
+<span class="sd">        This function is responsible for creating the visualization objects if they don&#39;t exist</span>
+<span class="sd">        and input ``debug_vis`` is True. If the visualization objects exist, the function should</span>
+<span class="sd">        set their visibility into the stage.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Debug visualization is not implemented for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_debug_vis_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Callback for debug visualization.</span>
+<span class="sd">        This function calls the visualization objects and sets the data to visualize into them.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Debug visualization is not implemented for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="ActionManager"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager">[docs]</a><span class="k">class</span> <span class="nc">ActionManager</span><span class="p">(</span><span class="n">ManagerBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Manager for processing and applying actions for a given world.</span>
+
+<span class="sd">    The action manager handles the interpretation and application of user-defined</span>
+<span class="sd">    actions on a given world. It is comprised of different action terms that decide</span>
+<span class="sd">    the dimension of the expected actions.</span>
+
+<span class="sd">    The action manager performs operations at two stages:</span>
+
+<span class="sd">    * processing of actions: It splits the input actions to each term and performs any</span>
+<span class="sd">      pre-processing needed. This should be called once at every environment step.</span>
+<span class="sd">    * apply actions: This operation typically sets the processed actions into the assets in the</span>
+<span class="sd">      scene (such as robots). It should be called before every simulation step.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ActionManager.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the action manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object or dictionary (``dict[str, ActionTermCfg]``).</span>
+<span class="sd">            env: The environment instance.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the configuration is None.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if config is None</span>
+        <span class="k">if</span> <span class="n">cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Action manager configuration is None. Please provide a valid configuration.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># call the base class constructor (this prepares the terms)</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+        <span class="c1"># create buffers to store actions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_action</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">total_action_dim</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_prev_action</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_action</span><span class="p">)</span>
+
+        <span class="c1"># check if any term has debug visualization implemented</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span> <span class="o">|=</span> <span class="n">term</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string representation for action manager.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;&lt;ActionManager&gt; contains </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">)</span><span class="si">}</span><span class="s2"> active terms.</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="c1"># create table for term information</span>
+        <span class="n">table</span> <span class="o">=</span> <span class="n">PrettyTable</span><span class="p">()</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">title</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Active Action Terms (shape: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">total_action_dim</span><span class="si">}</span><span class="s2">)&quot;</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">field_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;Index&quot;</span><span class="p">,</span> <span class="s2">&quot;Name&quot;</span><span class="p">,</span> <span class="s2">&quot;Dimension&quot;</span><span class="p">]</span>
+        <span class="c1"># set alignment of table columns</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;l&quot;</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Dimension&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;r&quot;</span>
+        <span class="c1"># add info on each term</span>
+        <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">term</span><span class="p">)</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">items</span><span class="p">()):</span>
+            <span class="n">table</span><span class="o">.</span><span class="n">add_row</span><span class="p">([</span><span class="n">index</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">term</span><span class="o">.</span><span class="n">action_dim</span><span class="p">])</span>
+        <span class="c1"># convert table to string</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="n">table</span><span class="o">.</span><span class="n">get_string</span><span class="p">()</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">total_action_dim</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Total dimension of actions.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">sum</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">action_term_dim</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">active_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Name of active action terms.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">action_term_dim</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Shape of each action term.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">[</span><span class="n">term</span><span class="o">.</span><span class="n">action_dim</span> <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">()]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">action</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The actions sent to the environment. Shape is (num_envs, total_action_dim).&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_action</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">prev_action</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The previous actions sent to the environment. Shape is (num_envs, total_action_dim).&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_prev_action</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">has_debug_vis_implementation</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the command terms have debug visualization implemented.&quot;&quot;&quot;</span>
+        <span class="c1"># check if function raises NotImplementedError</span>
+        <span class="n">has_debug_vis</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">has_debug_vis</span> <span class="o">|=</span> <span class="n">term</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span>
+        <span class="k">return</span> <span class="n">has_debug_vis</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ActionManager.get_active_iterable_terms"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.get_active_iterable_terms">[docs]</a>    <span class="k">def</span> <span class="nf">get_active_iterable_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_idx</span><span class="p">:</span> <span class="nb">int</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the active terms as iterable sequence of tuples.</span>
+
+<span class="sd">        The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_idx: The specific environment to pull the active terms from.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The active terms.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">terms</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="n">idx</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="n">term_actions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_action</span><span class="p">[</span><span class="n">env_idx</span><span class="p">,</span> <span class="n">idx</span> <span class="p">:</span> <span class="n">idx</span> <span class="o">+</span> <span class="n">term</span><span class="o">.</span><span class="n">action_dim</span><span class="p">]</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span>
+            <span class="n">terms</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">name</span><span class="p">,</span> <span class="n">term_actions</span><span class="o">.</span><span class="n">tolist</span><span class="p">()))</span>
+            <span class="n">idx</span> <span class="o">+=</span> <span class="n">term</span><span class="o">.</span><span class="n">action_dim</span>
+        <span class="k">return</span> <span class="n">terms</span></div>
+
+<div class="viewcode-block" id="ActionManager.set_debug_vis"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.set_debug_vis">[docs]</a>    <span class="k">def</span> <span class="nf">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets whether to visualize the action data.</span>
+<span class="sd">        Args:</span>
+<span class="sd">            debug_vis: Whether to visualize the action data.</span>
+<span class="sd">        Returns:</span>
+<span class="sd">            Whether the debug visualization was successfully set. False if the action</span>
+<span class="sd">            does not support debug visualization.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">term</span><span class="o">.</span><span class="n">set_debug_vis</span><span class="p">(</span><span class="n">debug_vis</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="ActionManager.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets the action history.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment ids. Defaults to None, in which case</span>
+<span class="sd">                all environments are considered.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            An empty dictionary.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve environment ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset the action history</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_prev_action</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_action</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="c1"># reset all action terms</span>
+        <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">term</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># nothing to log here</span>
+        <span class="k">return</span> <span class="p">{}</span></div>
+
+<div class="viewcode-block" id="ActionManager.process_action"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.process_action">[docs]</a>    <span class="k">def</span> <span class="nf">process_action</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">action</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Processes the actions sent to the environment.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This function should be called once per environment step.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            action: The actions to process.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if action dimension is valid</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">total_action_dim</span> <span class="o">!=</span> <span class="n">action</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">]:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid action shape, expected: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">total_action_dim</span><span class="si">}</span><span class="s2">, received: </span><span class="si">{</span><span class="n">action</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+        <span class="c1"># store the input actions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_prev_action</span><span class="p">[:]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_action</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_action</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">action</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># split the actions and apply to each tensor</span>
+        <span class="n">idx</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">term_actions</span> <span class="o">=</span> <span class="n">action</span><span class="p">[:,</span> <span class="n">idx</span> <span class="p">:</span> <span class="n">idx</span> <span class="o">+</span> <span class="n">term</span><span class="o">.</span><span class="n">action_dim</span><span class="p">]</span>
+            <span class="n">term</span><span class="o">.</span><span class="n">process_actions</span><span class="p">(</span><span class="n">term_actions</span><span class="p">)</span>
+            <span class="n">idx</span> <span class="o">+=</span> <span class="n">term</span><span class="o">.</span><span class="n">action_dim</span></div>
+
+<div class="viewcode-block" id="ActionManager.apply_action"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.apply_action">[docs]</a>    <span class="k">def</span> <span class="nf">apply_action</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Applies the actions to the environment/simulation.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This should be called at every simulation step.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">term</span><span class="o">.</span><span class="n">apply_actions</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="ActionManager.get_term"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.get_term">[docs]</a>    <span class="k">def</span> <span class="nf">get_term</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ActionTerm</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the action term with the specified name.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name: The name of the action term.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The action term with the specified name.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="p">[</span><span class="n">name</span><span class="p">]</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_prepare_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># create buffers to parse and store terms</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+
+        <span class="c1"># check if config is dict already</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="c1"># parse action terms from the config</span>
+        <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="n">cfg_items</span><span class="p">:</span>
+            <span class="c1"># check if term config is None</span>
+            <span class="k">if</span> <span class="n">term_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">continue</span>
+            <span class="c1"># check valid type</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">,</span> <span class="n">ActionTermCfg</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Configuration for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type ActionTermCfg.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># create the action term</span>
+            <span class="n">term</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">)</span>
+            <span class="c1"># sanity check if term is valid type</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term</span><span class="p">,</span> <span class="n">ActionTerm</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Returned object for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type ActionType.&quot;</span><span class="p">)</span>
+            <span class="c1"># add term name and parameters</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_name</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="p">[</span><span class="n">term_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">term</span></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/managers/command_manager.html b/v1.4.0/_modules/omni/isaac/lab/managers/command_manager.html
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+  <h1>Source code for omni.isaac.lab.managers.command_manager</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Command manager for generating and updating commands.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">prettytable</span> <span class="kn">import</span> <span class="n">PrettyTable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.kit.app</span>
+
+<span class="kn">from</span> <span class="nn">.manager_base</span> <span class="kn">import</span> <span class="n">ManagerBase</span><span class="p">,</span> <span class="n">ManagerTermBase</span>
+<span class="kn">from</span> <span class="nn">.manager_term_cfg</span> <span class="kn">import</span> <span class="n">CommandTermCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnv</span>
+
+
+<div class="viewcode-block" id="CommandTerm"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm">[docs]</a><span class="k">class</span> <span class="nc">CommandTerm</span><span class="p">(</span><span class="n">ManagerTermBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The base class for implementing a command term.</span>
+
+<span class="sd">    A command term is used to generate commands for goal-conditioned tasks. For example,</span>
+<span class="sd">    in the case of a goal-conditioned navigation task, the command term can be used to</span>
+<span class="sd">    generate a target position for the robot to navigate to.</span>
+
+<span class="sd">    It implements a resampling mechanism that allows the command to be resampled at a fixed</span>
+<span class="sd">    frequency. The resampling frequency can be specified in the configuration object.</span>
+<span class="sd">    Additionally, it is possible to assign a visualization function to the command term</span>
+<span class="sd">    that can be used to visualize the command in the simulator.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">CommandTermCfg</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the command generator class.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration parameters for the command generator.</span>
+<span class="sd">            env: The environment object.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+
+        <span class="c1"># create buffers to store the command</span>
+        <span class="c1"># -- metrics that can be used for logging</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">metrics</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># -- time left before resampling</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">time_left</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># -- counter for the number of times the command has been resampled within the current episode</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">command_counter</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+
+        <span class="c1"># add handle for debug visualization (this is set to a valid handle inside set_debug_vis)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># set initial state of debug visualization</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Unsubscribe from the callbacks.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">command</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The command tensor. Shape is (num_envs, command_dim).&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">has_debug_vis_implementation</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the command generator has a debug visualization implemented.&quot;&quot;&quot;</span>
+        <span class="c1"># check if function raises NotImplementedError</span>
+        <span class="n">source_code</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">getsource</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">)</span>
+        <span class="k">return</span> <span class="s2">&quot;NotImplementedError&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">source_code</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="CommandTerm.set_debug_vis"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm.set_debug_vis">[docs]</a>    <span class="k">def</span> <span class="nf">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets whether to visualize the command data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            debug_vis: Whether to visualize the command data.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Whether the debug visualization was successfully set. False if the command</span>
+<span class="sd">            generator does not support debug visualization.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if debug visualization is supported</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">False</span>
+        <span class="c1"># toggle debug visualization objects</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">(</span><span class="n">debug_vis</span><span class="p">)</span>
+        <span class="c1"># toggle debug visualization handles</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="c1"># create a subscriber for the post update event if it doesn&#39;t exist</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">app_interface</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">get_app_interface</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="n">app_interface</span><span class="o">.</span><span class="n">get_post_update_event_stream</span><span class="p">()</span><span class="o">.</span><span class="n">create_subscription_to_pop</span><span class="p">(</span>
+                    <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_debug_vis_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># remove the subscriber if it exists</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># return success</span>
+        <span class="k">return</span> <span class="kc">True</span></div>
+
+<div class="viewcode-block" id="CommandTerm.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the command generator and log metrics.</span>
+
+<span class="sd">        This function resets the command counter and resamples the command. It should be called</span>
+<span class="sd">        at the beginning of each episode.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The list of environment IDs to reset. Defaults to None.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A dictionary containing the information to log under the &quot;{name}&quot; key.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve the environment IDs</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+
+        <span class="c1"># add logging metrics</span>
+        <span class="n">extras</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="k">for</span> <span class="n">metric_name</span><span class="p">,</span> <span class="n">metric_value</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">metrics</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># compute the mean metric value</span>
+            <span class="n">extras</span><span class="p">[</span><span class="n">metric_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">metric_value</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span><span class="o">.</span><span class="n">item</span><span class="p">()</span>
+            <span class="c1"># reset the metric value</span>
+            <span class="n">metric_value</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+
+        <span class="c1"># set the command counter to zero</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">command_counter</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># resample the command</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_resample</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="k">return</span> <span class="n">extras</span></div>
+
+<div class="viewcode-block" id="CommandTerm.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute the command.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            dt: The time step passed since the last call to compute.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># update the metrics based on current state</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_metrics</span><span class="p">()</span>
+        <span class="c1"># reduce the time left before resampling</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">time_left</span> <span class="o">-=</span> <span class="n">dt</span>
+        <span class="c1"># resample the command if necessary</span>
+        <span class="n">resample_env_ids</span> <span class="o">=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">time_left</span> <span class="o">&lt;=</span> <span class="mf">0.0</span><span class="p">)</span><span class="o">.</span><span class="n">nonzero</span><span class="p">()</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">resample_env_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_resample</span><span class="p">(</span><span class="n">resample_env_ids</span><span class="p">)</span>
+        <span class="c1"># update the command</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_command</span><span class="p">()</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_resample</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resample the command.</span>
+
+<span class="sd">        This function resamples the command and time for which the command is applied for the</span>
+<span class="sd">        specified environment indices.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The list of environment IDs to resample.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># resample the time left before resampling</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">time_left</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">time_left</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">uniform_</span><span class="p">(</span><span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">resampling_time_range</span><span class="p">)</span>
+            <span class="c1"># increment the command counter</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">command_counter</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span>
+            <span class="c1"># resample the command</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_resample_command</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation specific functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_update_metrics</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Update the metrics based on the current state.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_resample_command</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resample the command for the specified environments.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_update_command</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Update the command based on the current state.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set debug visualization into visualization objects.</span>
+
+<span class="sd">        This function is responsible for creating the visualization objects if they don&#39;t exist</span>
+<span class="sd">        and input ``debug_vis`` is True. If the visualization objects exist, the function should</span>
+<span class="sd">        set their visibility into the stage.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Debug visualization is not implemented for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_debug_vis_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Callback for debug visualization.</span>
+
+<span class="sd">        This function calls the visualization objects and sets the data to visualize into them.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Debug visualization is not implemented for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="CommandManager"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager">[docs]</a><span class="k">class</span> <span class="nc">CommandManager</span><span class="p">(</span><span class="n">ManagerBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Manager for generating commands.</span>
+
+<span class="sd">    The command manager is used to generate commands for an agent to execute. It makes it convenient to switch</span>
+<span class="sd">    between different command generation strategies within the same environment. For instance, in an environment</span>
+<span class="sd">    consisting of a quadrupedal robot, the command to it could be a velocity command or position command.</span>
+<span class="sd">    By keeping the command generation logic separate from the environment, it is easy to switch between different</span>
+<span class="sd">    command generation strategies.</span>
+
+<span class="sd">    The command terms are implemented as classes that inherit from the :class:`CommandTerm` class.</span>
+<span class="sd">    Each command generator term should also have a corresponding configuration class that inherits from the</span>
+<span class="sd">    :class:`CommandTermCfg` class.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">_env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The environment instance.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="CommandManager.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the command manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object or dictionary (``dict[str, CommandTermCfg]``).</span>
+<span class="sd">            env: The environment instance.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># create buffers to parse and store terms</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">CommandTerm</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+
+        <span class="c1"># call the base class constructor (this prepares the terms)</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+        <span class="c1"># store the commands</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_commands</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span> <span class="o">=</span> <span class="kc">False</span>
+            <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span> <span class="o">|=</span> <span class="n">term</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string representation for the command manager.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;&lt;CommandManager&gt; contains </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">())</span><span class="si">}</span><span class="s2"> active terms.</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="c1"># create table for term information</span>
+        <span class="n">table</span> <span class="o">=</span> <span class="n">PrettyTable</span><span class="p">()</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">title</span> <span class="o">=</span> <span class="s2">&quot;Active Command Terms&quot;</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">field_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;Index&quot;</span><span class="p">,</span> <span class="s2">&quot;Name&quot;</span><span class="p">,</span> <span class="s2">&quot;Type&quot;</span><span class="p">]</span>
+        <span class="c1"># set alignment of table columns</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;l&quot;</span>
+        <span class="c1"># add info on each term</span>
+        <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">term</span><span class="p">)</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">items</span><span class="p">()):</span>
+            <span class="n">table</span><span class="o">.</span><span class="n">add_row</span><span class="p">([</span><span class="n">index</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">term</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="p">])</span>
+        <span class="c1"># convert table to string</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="n">table</span><span class="o">.</span><span class="n">get_string</span><span class="p">()</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">active_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Name of active command terms.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">has_debug_vis_implementation</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the command terms have debug visualization implemented.&quot;&quot;&quot;</span>
+        <span class="c1"># check if function raises NotImplementedError</span>
+        <span class="n">has_debug_vis</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">has_debug_vis</span> <span class="o">|=</span> <span class="n">term</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span>
+        <span class="k">return</span> <span class="n">has_debug_vis</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="CommandManager.get_active_iterable_terms"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.get_active_iterable_terms">[docs]</a>    <span class="k">def</span> <span class="nf">get_active_iterable_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_idx</span><span class="p">:</span> <span class="nb">int</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the active terms as iterable sequence of tuples.</span>
+
+<span class="sd">        The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_idx: The specific environment to pull the active terms from.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The active terms.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="n">terms</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="n">idx</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="n">terms</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">name</span><span class="p">,</span> <span class="n">term</span><span class="o">.</span><span class="n">command</span><span class="p">[</span><span class="n">env_idx</span><span class="p">]</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">tolist</span><span class="p">()))</span>
+            <span class="n">idx</span> <span class="o">+=</span> <span class="n">term</span><span class="o">.</span><span class="n">command</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
+        <span class="k">return</span> <span class="n">terms</span></div>
+
+<div class="viewcode-block" id="CommandManager.set_debug_vis"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.set_debug_vis">[docs]</a>    <span class="k">def</span> <span class="nf">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets whether to visualize the command data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            debug_vis: Whether to visualize the command data.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Whether the debug visualization was successfully set. False if the command</span>
+<span class="sd">            generator does not support debug visualization.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">term</span><span class="o">.</span><span class="n">set_debug_vis</span><span class="p">(</span><span class="n">debug_vis</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="CommandManager.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the command terms and log their metrics.</span>
+
+<span class="sd">        This function resets the command counter and resamples the command for each term. It should be called</span>
+<span class="sd">        at the beginning of each episode.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The list of environment IDs to reset. Defaults to None.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A dictionary containing the information to log under the &quot;Metrics/{term_name}/{metric_name}&quot; key.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve environment ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># store information</span>
+        <span class="n">extras</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># reset the command term</span>
+            <span class="n">metrics</span> <span class="o">=</span> <span class="n">term</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+            <span class="c1"># compute the mean metric value</span>
+            <span class="k">for</span> <span class="n">metric_name</span><span class="p">,</span> <span class="n">metric_value</span> <span class="ow">in</span> <span class="n">metrics</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                <span class="n">extras</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;Metrics/</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">metric_name</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">metric_value</span>
+        <span class="c1"># return logged information</span>
+        <span class="k">return</span> <span class="n">extras</span></div>
+
+<div class="viewcode-block" id="CommandManager.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Updates the commands.</span>
+
+<span class="sd">        This function calls each command term managed by the class.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            dt: The time-step interval of the environment.</span>
+
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># iterate over all the command terms</span>
+        <span class="k">for</span> <span class="n">term</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="c1"># compute term&#39;s value</span>
+            <span class="n">term</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="CommandManager.get_command"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.get_command">[docs]</a>    <span class="k">def</span> <span class="nf">get_command</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the command for the specified command term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name: The name of the command term.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The command tensor of the specified command term.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="p">[</span><span class="n">name</span><span class="p">]</span><span class="o">.</span><span class="n">command</span></div>
+
+<div class="viewcode-block" id="CommandManager.get_term"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.get_term">[docs]</a>    <span class="k">def</span> <span class="nf">get_term</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">CommandTerm</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the command term with the specified name.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name: The name of the command term.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The command term with the specified name.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="p">[</span><span class="n">name</span><span class="p">]</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_prepare_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># check if config is dict already</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="c1"># iterate over all the terms</span>
+        <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="n">cfg_items</span><span class="p">:</span>
+            <span class="c1"># check for non config</span>
+            <span class="k">if</span> <span class="n">term_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">continue</span>
+            <span class="c1"># check for valid config type</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">,</span> <span class="n">CommandTermCfg</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Configuration for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type CommandTermCfg.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># create the action term</span>
+            <span class="n">term</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">)</span>
+            <span class="c1"># sanity check if term is valid type</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term</span><span class="p">,</span> <span class="n">CommandTerm</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Returned object for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type CommandType.&quot;</span><span class="p">)</span>
+            <span class="c1"># add class to dict</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_terms</span><span class="p">[</span><span class="n">term_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">term</span></div>
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+  <h1>Source code for omni.isaac.lab.managers.curriculum_manager</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Curriculum manager for updating environment quantities subject to a training curriculum.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">prettytable</span> <span class="kn">import</span> <span class="n">PrettyTable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">.manager_base</span> <span class="kn">import</span> <span class="n">ManagerBase</span><span class="p">,</span> <span class="n">ManagerTermBase</span>
+<span class="kn">from</span> <span class="nn">.manager_term_cfg</span> <span class="kn">import</span> <span class="n">CurriculumTermCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnv</span>
+
+
+<div class="viewcode-block" id="CurriculumManager"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager">[docs]</a><span class="k">class</span> <span class="nc">CurriculumManager</span><span class="p">(</span><span class="n">ManagerBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Manager to implement and execute specific curricula.</span>
+
+<span class="sd">    The curriculum manager updates various quantities of the environment subject to a training curriculum by</span>
+<span class="sd">    calling a list of terms. These help stabilize learning by progressively making the learning tasks harder</span>
+<span class="sd">    as the agent improves.</span>
+
+<span class="sd">    The curriculum terms are parsed from a config class containing the manager&#39;s settings and each term&#39;s</span>
+<span class="sd">    parameters. Each curriculum term should instantiate the :class:`CurriculumTermCfg` class.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">_env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The environment instance.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="CurriculumManager.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object or dictionary (``dict[str, CurriculumTermCfg]``)</span>
+<span class="sd">            env: An environment object.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            TypeError: If curriculum term is not of type :class:`CurriculumTermCfg`.</span>
+<span class="sd">            ValueError: If curriculum term configuration does not satisfy its function signature.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># create buffers to parse and store terms</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">CurriculumTermCfg</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_class_term_cfgs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">CurriculumTermCfg</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+
+        <span class="c1"># call the base class constructor (this will parse the terms config)</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+
+        <span class="c1"># prepare logging</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_curriculum_state</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">term_name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_curriculum_state</span><span class="p">[</span><span class="n">term_name</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string representation for curriculum manager.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;&lt;CurriculumManager&gt; contains </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">)</span><span class="si">}</span><span class="s2"> active terms.</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="c1"># create table for term information</span>
+        <span class="n">table</span> <span class="o">=</span> <span class="n">PrettyTable</span><span class="p">()</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">title</span> <span class="o">=</span> <span class="s2">&quot;Active Curriculum Terms&quot;</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">field_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;Index&quot;</span><span class="p">,</span> <span class="s2">&quot;Name&quot;</span><span class="p">]</span>
+        <span class="c1"># set alignment of table columns</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;l&quot;</span>
+        <span class="c1"># add info on each term</span>
+        <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="n">name</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">):</span>
+            <span class="n">table</span><span class="o">.</span><span class="n">add_row</span><span class="p">([</span><span class="n">index</span><span class="p">,</span> <span class="n">name</span><span class="p">])</span>
+        <span class="c1"># convert table to string</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="n">table</span><span class="o">.</span><span class="n">get_string</span><span class="p">()</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">active_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Name of active curriculum terms.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="CurriculumManager.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the current state of individual curriculum terms.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This function does not use the environment indices :attr:`env_ids`</span>
+<span class="sd">            and logs the state of all the terms. The argument is only present</span>
+<span class="sd">            to maintain consistency with other classes.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Dictionary of curriculum terms and their states.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">extras</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_state</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_curriculum_state</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="k">if</span> <span class="n">term_state</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="c1"># deal with dict</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_state</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+                    <span class="c1"># each key is a separate state to log</span>
+                    <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">term_state</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                            <span class="n">value</span> <span class="o">=</span> <span class="n">value</span><span class="o">.</span><span class="n">item</span><span class="p">()</span>
+                        <span class="n">extras</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;Curriculum/</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="c1"># log directly if not a dict</span>
+                    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_state</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                        <span class="n">term_state</span> <span class="o">=</span> <span class="n">term_state</span><span class="o">.</span><span class="n">item</span><span class="p">()</span>
+                    <span class="n">extras</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;Curriculum/</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">term_state</span>
+        <span class="c1"># reset all the curriculum terms</span>
+        <span class="k">for</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_class_term_cfgs</span><span class="p">:</span>
+            <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># return logged information</span>
+        <span class="k">return</span> <span class="n">extras</span></div>
+
+<div class="viewcode-block" id="CurriculumManager.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Update the curriculum terms.</span>
+
+<span class="sd">        This function calls each curriculum term managed by the class.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The list of environment IDs to update.</span>
+<span class="sd">                If None, all the environments are updated. Defaults to None.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve environment indices</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># iterate over all the curriculum terms</span>
+        <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">):</span>
+            <span class="n">state</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">,</span> <span class="o">**</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_curriculum_state</span><span class="p">[</span><span class="n">name</span><span class="p">]</span> <span class="o">=</span> <span class="n">state</span></div>
+
+<div class="viewcode-block" id="CurriculumManager.get_active_iterable_terms"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.get_active_iterable_terms">[docs]</a>    <span class="k">def</span> <span class="nf">get_active_iterable_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_idx</span><span class="p">:</span> <span class="nb">int</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the active terms as iterable sequence of tuples.</span>
+
+<span class="sd">        The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_idx: The specific environment to pull the active terms from.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The active terms.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="n">terms</span> <span class="o">=</span> <span class="p">[]</span>
+
+        <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_state</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_curriculum_state</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="k">if</span> <span class="n">term_state</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="c1"># deal with dict</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="p">[]</span>
+
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_state</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+                    <span class="c1"># each key is a separate state to log</span>
+                    <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">term_state</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                            <span class="n">value</span> <span class="o">=</span> <span class="n">value</span><span class="o">.</span><span class="n">item</span><span class="p">()</span>
+                        <span class="n">terms</span><span class="p">[</span><span class="n">term_name</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="c1"># log directly if not a dict</span>
+                    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_state</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                        <span class="n">term_state</span> <span class="o">=</span> <span class="n">term_state</span><span class="o">.</span><span class="n">item</span><span class="p">()</span>
+                    <span class="n">data</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_state</span><span class="p">)</span>
+                <span class="n">terms</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">term_name</span><span class="p">,</span> <span class="n">data</span><span class="p">))</span>
+
+        <span class="k">return</span> <span class="n">terms</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_prepare_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># check if config is dict already</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="c1"># iterate over all the terms</span>
+        <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="n">cfg_items</span><span class="p">:</span>
+            <span class="c1"># check for non config</span>
+            <span class="k">if</span> <span class="n">term_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">continue</span>
+            <span class="c1"># check if the term is a valid term config</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">,</span> <span class="n">CurriculumTermCfg</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Configuration for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type CurriculumTermCfg.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># resolve common parameters</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_common_term_cfg</span><span class="p">(</span><span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span><span class="p">,</span> <span class="n">min_argc</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
+            <span class="c1"># add name and config to list</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_name</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span>
+            <span class="c1"># check if the term is a class</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">,</span> <span class="n">ManagerTermBase</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_class_term_cfgs</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
+              
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+  <h1>Source code for omni.isaac.lab.managers.event_manager</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Event manager for orchestrating operations based on different simulation events.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">prettytable</span> <span class="kn">import</span> <span class="n">PrettyTable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+
+<span class="kn">from</span> <span class="nn">.manager_base</span> <span class="kn">import</span> <span class="n">ManagerBase</span><span class="p">,</span> <span class="n">ManagerTermBase</span>
+<span class="kn">from</span> <span class="nn">.manager_term_cfg</span> <span class="kn">import</span> <span class="n">EventTermCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedEnv</span>
+
+
+<div class="viewcode-block" id="EventManager"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager">[docs]</a><span class="k">class</span> <span class="nc">EventManager</span><span class="p">(</span><span class="n">ManagerBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Manager for orchestrating operations based on different simulation events.</span>
+
+<span class="sd">    The event manager applies operations to the environment based on different simulation events. For example,</span>
+<span class="sd">    changing the masses of objects or their friction coefficients during initialization/ reset, or applying random</span>
+<span class="sd">    pushes to the robot at a fixed interval of steps. The user can specify several modes of events to fine-tune the</span>
+<span class="sd">    behavior based on when to apply the event.</span>
+
+<span class="sd">    The event terms are parsed from a config class containing the manager&#39;s settings and each term&#39;s</span>
+<span class="sd">    parameters. Each event term should instantiate the :class:`EventTermCfg` class.</span>
+
+<span class="sd">    Event terms can be grouped by their mode. The mode is a user-defined string that specifies when</span>
+<span class="sd">    the event term should be applied. This provides the user complete control over when event</span>
+<span class="sd">    terms should be applied.</span>
+
+<span class="sd">    For a typical training process, you may want to apply events in the following modes:</span>
+
+<span class="sd">    - &quot;startup&quot;: Event is applied once at the beginning of the training.</span>
+<span class="sd">    - &quot;reset&quot;: Event is applied at every reset.</span>
+<span class="sd">    - &quot;interval&quot;: Event is applied at pre-specified intervals of time.</span>
+
+<span class="sd">    However, you can also define your own modes and use them in the training process as you see fit.</span>
+<span class="sd">    For this you will need to add the triggering of that mode in the environment implementation as well.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        The triggering of operations corresponding to the mode ``&quot;interval&quot;`` are the only mode that are</span>
+<span class="sd">        directly handled by the manager itself. The other modes are handled by the environment implementation.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">_env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The environment instance.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="EventManager.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the event manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: A configuration object or dictionary (``dict[str, EventTermCfg]``).</span>
+<span class="sd">            env: An environment object.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># create buffers to parse and store terms</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_cfgs</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="n">EventTermCfg</span><span class="p">]]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_mode_class_term_cfgs</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="n">EventTermCfg</span><span class="p">]]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+
+        <span class="c1"># call the base class (this will parse the terms config)</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string representation for event manager.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;&lt;EventManager&gt; contains </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="p">)</span><span class="si">}</span><span class="s2"> active terms.</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="c1"># add info on each mode</span>
+        <span class="k">for</span> <span class="n">mode</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="p">:</span>
+            <span class="c1"># create table for term information</span>
+            <span class="n">table</span> <span class="o">=</span> <span class="n">PrettyTable</span><span class="p">()</span>
+            <span class="n">table</span><span class="o">.</span><span class="n">title</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Active Event Terms in Mode: &#39;</span><span class="si">{</span><span class="n">mode</span><span class="si">}</span><span class="s2">&#39;&quot;</span>
+            <span class="c1"># add table headers based on mode</span>
+            <span class="k">if</span> <span class="n">mode</span> <span class="o">==</span> <span class="s2">&quot;interval&quot;</span><span class="p">:</span>
+                <span class="n">table</span><span class="o">.</span><span class="n">field_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;Index&quot;</span><span class="p">,</span> <span class="s2">&quot;Name&quot;</span><span class="p">,</span> <span class="s2">&quot;Interval time range (s)&quot;</span><span class="p">]</span>
+                <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;l&quot;</span>
+                <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="nb">zip</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="p">[</span><span class="n">mode</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_cfgs</span><span class="p">[</span><span class="n">mode</span><span class="p">])):</span>
+                    <span class="n">table</span><span class="o">.</span><span class="n">add_row</span><span class="p">([</span><span class="n">index</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">interval_range_s</span><span class="p">])</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">table</span><span class="o">.</span><span class="n">field_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;Index&quot;</span><span class="p">,</span> <span class="s2">&quot;Name&quot;</span><span class="p">]</span>
+                <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;l&quot;</span>
+                <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="n">name</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="p">[</span><span class="n">mode</span><span class="p">]):</span>
+                    <span class="n">table</span><span class="o">.</span><span class="n">add_row</span><span class="p">([</span><span class="n">index</span><span class="p">,</span> <span class="n">name</span><span class="p">])</span>
+            <span class="c1"># convert table to string</span>
+            <span class="n">msg</span> <span class="o">+=</span> <span class="n">table</span><span class="o">.</span><span class="n">get_string</span><span class="p">()</span>
+            <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">active_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Name of active event terms.</span>
+
+<span class="sd">        The keys are the modes of event and the values are the names of the event terms.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">available_modes</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Modes of events.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="EventManager.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]:</span>
+        <span class="c1"># call all terms that are classes</span>
+        <span class="k">for</span> <span class="n">mode_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mode_class_term_cfgs</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="k">for</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="n">mode_cfg</span><span class="p">:</span>
+                <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># nothing to log here</span>
+        <span class="k">return</span> <span class="p">{}</span></div>
+
+<div class="viewcode-block" id="EventManager.apply"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.apply">[docs]</a>    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">mode</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">global_env_step_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Calls each event term in the specified mode.</span>
+
+<span class="sd">        This function iterates over all the event terms in the specified mode and calls the function</span>
+<span class="sd">        corresponding to the term. The function is called with the environment instance and the environment</span>
+<span class="sd">        indices to apply the event to.</span>
+
+<span class="sd">        For the &quot;interval&quot; mode, the function is called when the time interval has passed. This requires</span>
+<span class="sd">        specifying the time step of the environment.</span>
+
+<span class="sd">        For the &quot;reset&quot; mode, the function is called when the mode is &quot;reset&quot; and the total number of environment</span>
+<span class="sd">        steps that have happened since the last trigger of the function is equal to its configured parameter for</span>
+<span class="sd">        the number of environment steps between resets.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            mode: The mode of event.</span>
+<span class="sd">            env_ids: The indices of the environments to apply the event to.</span>
+<span class="sd">                Defaults to None, in which case the event is applied to all environments when applicable.</span>
+<span class="sd">            dt: The time step of the environment. This is only used for the &quot;interval&quot; mode.</span>
+<span class="sd">                Defaults to None to simplify the call for other modes.</span>
+<span class="sd">            global_env_step_count: The total number of environment steps that have happened. This is only used</span>
+<span class="sd">                for the &quot;reset&quot; mode. Defaults to None to simplify the call for other modes.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the mode is ``&quot;interval&quot;`` and the time step is not provided.</span>
+<span class="sd">            ValueError: If the mode is ``&quot;interval&quot;`` and the environment indices are provided. This is an undefined</span>
+<span class="sd">                behavior as the environment indices are computed based on the time left for each environment.</span>
+<span class="sd">            ValueError: If the mode is ``&quot;reset&quot;`` and the total number of environment steps that have happened</span>
+<span class="sd">                is not provided.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if mode is valid</span>
+        <span class="k">if</span> <span class="n">mode</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Event mode &#39;</span><span class="si">{</span><span class="n">mode</span><span class="si">}</span><span class="s2">&#39; is not defined. Skipping event.&quot;</span><span class="p">)</span>
+            <span class="k">return</span>
+        <span class="c1"># check if mode is interval and dt is not provided</span>
+        <span class="k">if</span> <span class="n">mode</span> <span class="o">==</span> <span class="s2">&quot;interval&quot;</span> <span class="ow">and</span> <span class="n">dt</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Event mode &#39;</span><span class="si">{</span><span class="n">mode</span><span class="si">}</span><span class="s2">&#39; requires the time-step of the environment.&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">mode</span> <span class="o">==</span> <span class="s2">&quot;interval&quot;</span> <span class="ow">and</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Event mode &#39;</span><span class="si">{</span><span class="n">mode</span><span class="si">}</span><span class="s2">&#39; does not require environment indices. This is an undefined behavior&quot;</span>
+                <span class="s2">&quot; as the environment indices are computed based on the time left for each environment.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># check if mode is reset and env step count is not provided</span>
+        <span class="k">if</span> <span class="n">mode</span> <span class="o">==</span> <span class="s2">&quot;reset&quot;</span> <span class="ow">and</span> <span class="n">global_env_step_count</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Event mode &#39;</span><span class="si">{</span><span class="n">mode</span><span class="si">}</span><span class="s2">&#39; requires the total number of environment steps to be provided.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># iterate over all the event terms</span>
+        <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_cfgs</span><span class="p">[</span><span class="n">mode</span><span class="p">]):</span>
+            <span class="k">if</span> <span class="n">mode</span> <span class="o">==</span> <span class="s2">&quot;interval&quot;</span><span class="p">:</span>
+                <span class="c1"># extract time left for this term</span>
+                <span class="n">time_left</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_interval_term_time_left</span><span class="p">[</span><span class="n">index</span><span class="p">]</span>
+                <span class="c1"># update the time left for each environment</span>
+                <span class="n">time_left</span> <span class="o">-=</span> <span class="n">dt</span>
+
+                <span class="c1"># check if the interval has passed and sample a new interval</span>
+                <span class="c1"># note: we compare with a small value to handle floating point errors</span>
+                <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">is_global_time</span><span class="p">:</span>
+                    <span class="k">if</span> <span class="n">time_left</span> <span class="o">&lt;</span> <span class="mf">1e-6</span><span class="p">:</span>
+                        <span class="n">lower</span><span class="p">,</span> <span class="n">upper</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">interval_range_s</span>
+                        <span class="n">sampled_interval</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">upper</span> <span class="o">-</span> <span class="n">lower</span><span class="p">)</span> <span class="o">+</span> <span class="n">lower</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_interval_term_time_left</span><span class="p">[</span><span class="n">index</span><span class="p">][:]</span> <span class="o">=</span> <span class="n">sampled_interval</span>
+
+                        <span class="c1"># call the event term (with None for env_ids)</span>
+                        <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">)</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="n">valid_env_ids</span> <span class="o">=</span> <span class="p">(</span><span class="n">time_left</span> <span class="o">&lt;</span> <span class="mf">1e-6</span><span class="p">)</span><span class="o">.</span><span class="n">nonzero</span><span class="p">()</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span>
+                    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">valid_env_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+                        <span class="n">lower</span><span class="p">,</span> <span class="n">upper</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">interval_range_s</span>
+                        <span class="n">sampled_time</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">valid_env_ids</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">upper</span> <span class="o">-</span> <span class="n">lower</span><span class="p">)</span> <span class="o">+</span> <span class="n">lower</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_interval_term_time_left</span><span class="p">[</span><span class="n">index</span><span class="p">][</span><span class="n">valid_env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">sampled_time</span>
+
+                        <span class="c1"># call the event term</span>
+                        <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">,</span> <span class="n">valid_env_ids</span><span class="p">,</span> <span class="o">**</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="n">mode</span> <span class="o">==</span> <span class="s2">&quot;reset&quot;</span><span class="p">:</span>
+                <span class="c1"># obtain the minimum step count between resets</span>
+                <span class="n">min_step_count</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">min_step_count_between_reset</span>
+                <span class="c1"># resolve the environment indices</span>
+                <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+
+                <span class="c1"># We bypass the trigger mechanism if min_step_count is zero, i.e. apply term on every reset call.</span>
+                <span class="c1"># This should avoid the overhead of checking the trigger condition.</span>
+                <span class="k">if</span> <span class="n">min_step_count</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_reset_term_last_triggered_step_id</span><span class="p">[</span><span class="n">index</span><span class="p">][</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">global_env_step_count</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_reset_term_last_triggered_once</span><span class="p">[</span><span class="n">index</span><span class="p">][</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="kc">True</span>
+
+                    <span class="c1"># call the event term with the environment indices</span>
+                    <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">,</span> <span class="o">**</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">)</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="c1"># extract last reset step for this term</span>
+                    <span class="n">last_triggered_step</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reset_term_last_triggered_step_id</span><span class="p">[</span><span class="n">index</span><span class="p">][</span><span class="n">env_ids</span><span class="p">]</span>
+                    <span class="n">triggered_at_least_once</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reset_term_last_triggered_once</span><span class="p">[</span><span class="n">index</span><span class="p">][</span><span class="n">env_ids</span><span class="p">]</span>
+                    <span class="c1"># compute the steps since last reset</span>
+                    <span class="n">steps_since_triggered</span> <span class="o">=</span> <span class="n">global_env_step_count</span> <span class="o">-</span> <span class="n">last_triggered_step</span>
+
+                    <span class="c1"># check if the term can be applied after the minimum step count between triggers has passed</span>
+                    <span class="n">valid_trigger</span> <span class="o">=</span> <span class="n">steps_since_triggered</span> <span class="o">&gt;=</span> <span class="n">min_step_count</span>
+                    <span class="c1"># check if the term has not been triggered yet (in that case, we trigger it at least once)</span>
+                    <span class="c1"># this is usually only needed at the start of the environment</span>
+                    <span class="n">valid_trigger</span> <span class="o">|=</span> <span class="p">(</span><span class="n">last_triggered_step</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="o">&amp;</span> <span class="o">~</span><span class="n">triggered_at_least_once</span>
+
+                    <span class="c1"># select the valid environment indices based on the trigger</span>
+                    <span class="k">if</span> <span class="n">env_ids</span> <span class="o">==</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+                        <span class="n">valid_env_ids</span> <span class="o">=</span> <span class="n">valid_trigger</span><span class="o">.</span><span class="n">nonzero</span><span class="p">()</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span>
+                    <span class="k">else</span><span class="p">:</span>
+                        <span class="n">valid_env_ids</span> <span class="o">=</span> <span class="n">env_ids</span><span class="p">[</span><span class="n">valid_trigger</span><span class="p">]</span>
+
+                    <span class="c1"># reset the last reset step for each environment to the current env step count</span>
+                    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">valid_env_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_reset_term_last_triggered_once</span><span class="p">[</span><span class="n">index</span><span class="p">][</span><span class="n">valid_env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="kc">True</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_reset_term_last_triggered_step_id</span><span class="p">[</span><span class="n">index</span><span class="p">][</span><span class="n">valid_env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">global_env_step_count</span>
+
+                        <span class="c1"># call the event term</span>
+                        <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">,</span> <span class="n">valid_env_ids</span><span class="p">,</span> <span class="o">**</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="c1"># call the event term</span>
+                <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">,</span> <span class="o">**</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Term settings.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="EventManager.set_term_cfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.set_term_cfg">[docs]</a>    <span class="k">def</span> <span class="nf">set_term_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">term_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">EventTermCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets the configuration of the specified term into the manager.</span>
+
+<span class="sd">        The method finds the term by name by searching through all the modes.</span>
+<span class="sd">        It then updates the configuration of the term with the first matching name.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            term_name: The name of the event term.</span>
+<span class="sd">            cfg: The configuration for the event term.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the term name is not found.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">term_found</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">for</span> <span class="n">mode</span><span class="p">,</span> <span class="n">terms</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="k">if</span> <span class="n">term_name</span> <span class="ow">in</span> <span class="n">terms</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_cfgs</span><span class="p">[</span><span class="n">mode</span><span class="p">][</span><span class="n">terms</span><span class="o">.</span><span class="n">index</span><span class="p">(</span><span class="n">term_name</span><span class="p">)]</span> <span class="o">=</span> <span class="n">cfg</span>
+                <span class="n">term_found</span> <span class="o">=</span> <span class="kc">True</span>
+                <span class="k">break</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">term_found</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Event term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; not found.&quot;</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="EventManager.get_term_cfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.get_term_cfg">[docs]</a>    <span class="k">def</span> <span class="nf">get_term_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">term_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">EventTermCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Gets the configuration for the specified term.</span>
+
+<span class="sd">        The method finds the term by name by searching through all the modes.</span>
+<span class="sd">        It then returns the configuration of the term with the first matching name.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            term_name: The name of the event term.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The configuration of the event term.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the term name is not found.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">for</span> <span class="n">mode</span><span class="p">,</span> <span class="n">terms</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="k">if</span> <span class="n">term_name</span> <span class="ow">in</span> <span class="n">terms</span><span class="p">:</span>
+                <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_cfgs</span><span class="p">[</span><span class="n">mode</span><span class="p">][</span><span class="n">terms</span><span class="o">.</span><span class="n">index</span><span class="p">(</span><span class="n">term_name</span><span class="p">)]</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Event term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; not found.&quot;</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_prepare_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># buffer to store the time left for &quot;interval&quot; mode</span>
+        <span class="c1"># if interval is global, then it is a single value, otherwise it is per environment</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_interval_term_time_left</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="c1"># buffer to store the step count when the term was last triggered for each environment for &quot;reset&quot; mode</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_reset_term_last_triggered_step_id</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_reset_term_last_triggered_once</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+
+        <span class="c1"># check if config is dict already</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="c1"># iterate over all the terms</span>
+        <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="n">cfg_items</span><span class="p">:</span>
+            <span class="c1"># check for non config</span>
+            <span class="k">if</span> <span class="n">term_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">continue</span>
+            <span class="c1"># check for valid config type</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">,</span> <span class="n">EventTermCfg</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Configuration for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type EventTermCfg.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="p">)</span>
+
+            <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">mode</span> <span class="o">!=</span> <span class="s2">&quot;reset&quot;</span> <span class="ow">and</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">min_step_count_between_reset</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Event term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; has &#39;min_step_count_between_reset&#39; set to a non-zero value&quot;</span>
+                    <span class="s2">&quot; but the mode is not &#39;reset&#39;. Ignoring the &#39;min_step_count_between_reset&#39; value.&quot;</span>
+                <span class="p">)</span>
+
+            <span class="c1"># resolve common parameters</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_common_term_cfg</span><span class="p">(</span><span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span><span class="p">,</span> <span class="n">min_argc</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
+            <span class="c1"># check if mode is a new mode</span>
+            <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">mode</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="p">:</span>
+                <span class="c1"># add new mode</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="p">[</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">mode</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_cfgs</span><span class="p">[</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">mode</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_mode_class_term_cfgs</span><span class="p">[</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">mode</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+            <span class="c1"># add term name and parameters</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_names</span><span class="p">[</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">mode</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_name</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_mode_term_cfgs</span><span class="p">[</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">mode</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span>
+
+            <span class="c1"># check if the term is a class</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">,</span> <span class="n">ManagerTermBase</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_mode_class_term_cfgs</span><span class="p">[</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">mode</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span>
+
+            <span class="c1"># resolve the mode of the events</span>
+            <span class="c1"># -- interval mode</span>
+            <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">mode</span> <span class="o">==</span> <span class="s2">&quot;interval&quot;</span><span class="p">:</span>
+                <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">interval_range_s</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;Event term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; has mode &#39;interval&#39; but &#39;interval_range_s&#39; is not specified.&quot;</span>
+                    <span class="p">)</span>
+
+                <span class="c1"># sample the time left for global</span>
+                <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">is_global_time</span><span class="p">:</span>
+                    <span class="n">lower</span><span class="p">,</span> <span class="n">upper</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">interval_range_s</span>
+                    <span class="n">time_left</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">upper</span> <span class="o">-</span> <span class="n">lower</span><span class="p">)</span> <span class="o">+</span> <span class="n">lower</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_interval_term_time_left</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">time_left</span><span class="p">)</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="c1"># sample the time left for each environment</span>
+                    <span class="n">lower</span><span class="p">,</span> <span class="n">upper</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">interval_range_s</span>
+                    <span class="n">time_left</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">upper</span> <span class="o">-</span> <span class="n">lower</span><span class="p">)</span> <span class="o">+</span> <span class="n">lower</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_interval_term_time_left</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">time_left</span><span class="p">)</span>
+            <span class="c1"># -- reset mode</span>
+            <span class="k">elif</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">mode</span> <span class="o">==</span> <span class="s2">&quot;reset&quot;</span><span class="p">:</span>
+                <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">min_step_count_between_reset</span> <span class="o">&lt;</span> <span class="mi">0</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;Event term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; has mode &#39;reset&#39; but &#39;min_step_count_between_reset&#39; is&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot; negative: </span><span class="si">{</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">min_step_count_between_reset</span><span class="si">}</span><span class="s2">. Please provide a non-negative value.&quot;</span>
+                    <span class="p">)</span>
+
+                <span class="c1"># initialize the current step count for each environment to zero</span>
+                <span class="n">step_count</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_reset_term_last_triggered_step_id</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">step_count</span><span class="p">)</span>
+                <span class="c1"># initialize the trigger flag for each environment to zero</span>
+                <span class="n">no_trigger</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">bool</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_reset_term_last_triggered_once</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">no_trigger</span><span class="p">)</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.managers.manager_base</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">copy</span>
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">ABC</span><span class="p">,</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span><span class="p">,</span> <span class="n">Any</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.string</span> <span class="k">as</span> <span class="nn">string_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">string_to_callable</span>
+
+<span class="kn">from</span> <span class="nn">.manager_term_cfg</span> <span class="kn">import</span> <span class="n">ManagerTermBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.scene_entity_cfg</span> <span class="kn">import</span> <span class="n">SceneEntityCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedEnv</span>
+
+
+<div class="viewcode-block" id="ManagerTermBase"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBase">[docs]</a><span class="k">class</span> <span class="nc">ManagerTermBase</span><span class="p">(</span><span class="n">ABC</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base class for manager terms.</span>
+
+<span class="sd">    Manager term implementations can be functions or classes. If the term is a class, it should</span>
+<span class="sd">    inherit from this base class and implement the required methods.</span>
+
+<span class="sd">    Each manager is implemented as a class that inherits from the :class:`ManagerBase` class. Each manager</span>
+<span class="sd">    class should also have a corresponding configuration class that defines the configuration terms for the</span>
+<span class="sd">    manager. Each term should the :class:`ManagerTermBaseCfg` class or its subclass.</span>
+
+<span class="sd">    Example pseudo-code for creating a manager:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        from omni.isaac.lab.utils import configclass</span>
+<span class="sd">        from omni.isaac.lab.utils.mdp import ManagerBase, ManagerTermBaseCfg</span>
+
+<span class="sd">        @configclass</span>
+<span class="sd">        class MyManagerCfg:</span>
+
+<span class="sd">            my_term_1: ManagerTermBaseCfg = ManagerTermBaseCfg(...)</span>
+<span class="sd">            my_term_2: ManagerTermBaseCfg = ManagerTermBaseCfg(...)</span>
+<span class="sd">            my_term_3: ManagerTermBaseCfg = ManagerTermBaseCfg(...)</span>
+
+<span class="sd">        # define manager instance</span>
+<span class="sd">        my_manager = ManagerBase(cfg=ManagerCfg(), env=env)</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerTermBase.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBase.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ManagerTermBaseCfg</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the manager term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object.</span>
+<span class="sd">            env: The environment instance.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store the inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_env</span> <span class="o">=</span> <span class="n">env</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_envs</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of environments.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">num_envs</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Device on which to perform computations.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">device</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerTermBase.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBase.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets the manager term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment ids. Defaults to None, in which case</span>
+<span class="sd">                all environments are considered.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">pass</span></div>
+
+    <span class="k">def</span> <span class="fm">__call__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Any</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the value of the term required by the manager.</span>
+
+<span class="sd">        In case of a class implementation, this function is called by the manager</span>
+<span class="sd">        to get the value of the term. The arguments passed to this function are</span>
+<span class="sd">        the ones specified in the term configuration (see :attr:`ManagerTermBaseCfg.params`).</span>
+
+<span class="sd">        .. attention::</span>
+<span class="sd">            To be consistent with memory-less implementation of terms with functions, it is</span>
+<span class="sd">            recommended to ensure that the returned mutable quantities are cloned before</span>
+<span class="sd">            returning them. For instance, if the term returns a tensor, it is recommended</span>
+<span class="sd">            to ensure that the returned tensor is a clone of the original tensor. This prevents</span>
+<span class="sd">            the manager from storing references to the tensors and altering the original tensors.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            *args: Variable length argument list.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The value of the term.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+
+<div class="viewcode-block" id="ManagerBase"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase">[docs]</a><span class="k">class</span> <span class="nc">ManagerBase</span><span class="p">(</span><span class="n">ABC</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base class for all managers.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerBase.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object. If None, the manager is initialized without any terms.</span>
+<span class="sd">            env: The environment instance.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store the inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_env</span> <span class="o">=</span> <span class="n">env</span>
+        <span class="c1"># parse config to create terms information</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_prepare_terms</span><span class="p">()</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_envs</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of environments.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">num_envs</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Device on which to perform computations.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">device</span>
+
+    <span class="nd">@property</span>
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">active_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Name of active terms.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ManagerBase.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets the manager and returns logging information for the current time-step.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment ids for which to log data.</span>
+<span class="sd">                Defaults None, which logs data for all environments.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Dictionary containing the logging information.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">{}</span></div>
+
+<div class="viewcode-block" id="ManagerBase.find_terms"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.find_terms">[docs]</a>    <span class="k">def</span> <span class="nf">find_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name_keys</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Find terms in the manager based on the names.</span>
+
+<span class="sd">        This function searches the manager for terms based on the names. The names can be</span>
+<span class="sd">        specified as regular expressions or a list of regular expressions. The search is</span>
+<span class="sd">        performed on the active terms in the manager.</span>
+
+<span class="sd">        Please check the :meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function for more</span>
+<span class="sd">        information on the name matching.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name_keys: A regular expression or a list of regular expressions to match the term names.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A list of term names that match the input keys.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve search keys</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">active_terms</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">list_of_strings</span> <span class="o">=</span> <span class="p">[]</span>
+            <span class="k">for</span> <span class="n">names</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">active_terms</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+                <span class="n">list_of_strings</span><span class="o">.</span><span class="n">extend</span><span class="p">(</span><span class="n">names</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">list_of_strings</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">active_terms</span>
+
+        <span class="c1"># return the matching names</span>
+        <span class="k">return</span> <span class="n">string_utils</span><span class="o">.</span><span class="n">resolve_matching_names</span><span class="p">(</span><span class="n">name_keys</span><span class="p">,</span> <span class="n">list_of_strings</span><span class="p">)[</span><span class="mi">1</span><span class="p">]</span></div>
+
+<div class="viewcode-block" id="ManagerBase.get_active_iterable_terms"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.get_active_iterable_terms">[docs]</a>    <span class="k">def</span> <span class="nf">get_active_iterable_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_idx</span><span class="p">:</span> <span class="nb">int</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the active terms as iterable sequence of tuples.</span>
+
+<span class="sd">        The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The active terms.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation specific.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_prepare_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Prepare terms information from the configuration object.&quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_resolve_common_term_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">term_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">term_cfg</span><span class="p">:</span> <span class="n">ManagerTermBaseCfg</span><span class="p">,</span> <span class="n">min_argc</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resolve common term configuration.</span>
+
+<span class="sd">        Usually, called by the :meth:`_prepare_terms` method to resolve common term configuration.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            By default, all term functions are expected to have at least one argument, which is the</span>
+<span class="sd">            environment object. Some other managers may expect functions to take more arguments, for</span>
+<span class="sd">            instance, the environment indices as the second argument. In such cases, the</span>
+<span class="sd">            ``min_argc`` argument can be used to specify the minimum number of arguments</span>
+<span class="sd">            required by the term function to be called correctly by the manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            term_name: The name of the term.</span>
+<span class="sd">            term_cfg: The term configuration.</span>
+<span class="sd">            min_argc: The minimum number of arguments required by the term function to be called correctly</span>
+<span class="sd">                by the manager.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            TypeError: If the term configuration is not of type :class:`ManagerTermBaseCfg`.</span>
+<span class="sd">            ValueError: If the scene entity defined in the term configuration does not exist.</span>
+<span class="sd">            AttributeError: If the term function is not callable.</span>
+<span class="sd">            ValueError: If the term function&#39;s arguments are not matched by the parameters.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if the term is a valid term config</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">,</span> <span class="n">ManagerTermBaseCfg</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Configuration for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type ManagerTermBaseCfg.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># iterate over all the entities and parse the joint and body names</span>
+        <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># deal with string</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="n">SceneEntityCfg</span><span class="p">):</span>
+                <span class="c1"># load the entity</span>
+                <span class="k">try</span><span class="p">:</span>
+                    <span class="n">value</span><span class="o">.</span><span class="n">resolve</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">scene</span><span class="p">)</span>
+                <span class="k">except</span> <span class="ne">ValueError</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Error while parsing &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">:</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&#39;. </span><span class="si">{</span><span class="n">e</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+                <span class="c1"># log the entity for checking later</span>
+                <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;[</span><span class="si">{</span><span class="n">term_cfg</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">] Found entity &#39;</span><span class="si">{</span><span class="n">value</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="k">if</span> <span class="n">value</span><span class="o">.</span><span class="n">joint_ids</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Joint names: </span><span class="si">{</span><span class="n">value</span><span class="o">.</span><span class="n">joint_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="n">value</span><span class="o">.</span><span class="n">joint_ids</span><span class="si">}</span><span class="s2">]&quot;</span>
+                <span class="k">if</span> <span class="n">value</span><span class="o">.</span><span class="n">body_ids</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Body names: </span><span class="si">{</span><span class="n">value</span><span class="o">.</span><span class="n">body_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="n">value</span><span class="o">.</span><span class="n">body_ids</span><span class="si">}</span><span class="s2">]&quot;</span>
+                <span class="c1"># print the information</span>
+                <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span>
+            <span class="c1"># store the entity</span>
+            <span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span>
+
+        <span class="c1"># get the corresponding function or functional class</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+            <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span> <span class="o">=</span> <span class="n">string_to_callable</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">)</span>
+
+        <span class="c1"># initialize the term if it is a class</span>
+        <span class="k">if</span> <span class="n">inspect</span><span class="o">.</span><span class="n">isclass</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">):</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">issubclass</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">,</span> <span class="n">ManagerTermBase</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Configuration for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type ManagerTermBase.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="p">)</span>
+            <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">term_cfg</span><span class="p">,</span> <span class="n">env</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">)</span>
+        <span class="c1"># check if function is callable</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">callable</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">AttributeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not callable. Received: </span><span class="si">{</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="c1"># check if term&#39;s arguments are matched by params</span>
+        <span class="n">term_params</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+        <span class="n">args</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">signature</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">)</span><span class="o">.</span><span class="n">parameters</span>
+        <span class="n">args_with_defaults</span> <span class="o">=</span> <span class="p">[</span><span class="n">arg</span> <span class="k">for</span> <span class="n">arg</span> <span class="ow">in</span> <span class="n">args</span> <span class="k">if</span> <span class="n">args</span><span class="p">[</span><span class="n">arg</span><span class="p">]</span><span class="o">.</span><span class="n">default</span> <span class="ow">is</span> <span class="ow">not</span> <span class="n">inspect</span><span class="o">.</span><span class="n">Parameter</span><span class="o">.</span><span class="n">empty</span><span class="p">]</span>
+        <span class="n">args_without_defaults</span> <span class="o">=</span> <span class="p">[</span><span class="n">arg</span> <span class="k">for</span> <span class="n">arg</span> <span class="ow">in</span> <span class="n">args</span> <span class="k">if</span> <span class="n">args</span><span class="p">[</span><span class="n">arg</span><span class="p">]</span><span class="o">.</span><span class="n">default</span> <span class="ow">is</span> <span class="n">inspect</span><span class="o">.</span><span class="n">Parameter</span><span class="o">.</span><span class="n">empty</span><span class="p">]</span>
+        <span class="n">args</span> <span class="o">=</span> <span class="n">args_without_defaults</span> <span class="o">+</span> <span class="n">args_with_defaults</span>
+        <span class="c1"># ignore first two arguments for env and env_ids</span>
+        <span class="c1"># Think: Check for cases when kwargs are set inside the function?</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">args</span><span class="p">)</span> <span class="o">&gt;</span> <span class="n">min_argc</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">set</span><span class="p">(</span><span class="n">args</span><span class="p">[</span><span class="n">min_argc</span><span class="p">:])</span> <span class="o">!=</span> <span class="nb">set</span><span class="p">(</span><span class="n">term_params</span> <span class="o">+</span> <span class="n">args_with_defaults</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;The term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; expects mandatory parameters: </span><span class="si">{</span><span class="n">args_without_defaults</span><span class="p">[</span><span class="n">min_argc</span><span class="p">:]</span><span class="si">}</span><span class="s2">&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; and optional parameters: </span><span class="si">{</span><span class="n">args_with_defaults</span><span class="si">}</span><span class="s2">, but received: </span><span class="si">{</span><span class="n">term_params</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="p">)</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.managers.manager_term_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Configuration terms for different managers.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span><span class="p">,</span> <span class="n">Any</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.modifiers</span> <span class="kn">import</span> <span class="n">ModifierCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.noise</span> <span class="kn">import</span> <span class="n">NoiseCfg</span>
+
+<span class="kn">from</span> <span class="nn">.scene_entity_cfg</span> <span class="kn">import</span> <span class="n">SceneEntityCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.action_manager</span> <span class="kn">import</span> <span class="n">ActionTerm</span>
+    <span class="kn">from</span> <span class="nn">.command_manager</span> <span class="kn">import</span> <span class="n">CommandTerm</span>
+    <span class="kn">from</span> <span class="nn">.manager_base</span> <span class="kn">import</span> <span class="n">ManagerTermBase</span>
+    <span class="kn">from</span> <span class="nn">.recorder_manager</span> <span class="kn">import</span> <span class="n">RecorderTerm</span>
+
+
+<div class="viewcode-block" id="ManagerTermBaseCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBaseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ManagerTermBaseCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a manager term.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">|</span> <span class="n">ManagerTermBase</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The function or class to be called for the term.</span>
+
+<span class="sd">    The function must take the environment object as the first argument.</span>
+<span class="sd">    The remaining arguments are specified in the :attr:`params` attribute.</span>
+
+<span class="sd">    It also supports `callable classes`_, i.e. classes that implement the :meth:`__call__`</span>
+<span class="sd">    method. In this case, the class should inherit from the :class:`ManagerTermBase` class</span>
+<span class="sd">    and implement the required methods.</span>
+
+<span class="sd">    .. _`callable classes`: https://docs.python.org/3/reference/datamodel.html#object.__call__</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">params</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span> <span class="o">|</span> <span class="n">SceneEntityCfg</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The parameters to be passed to the function as keyword arguments. Defaults to an empty dict.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        If the value is a :class:`SceneEntityCfg` object, the manager will query the scene entity</span>
+<span class="sd">        from the :class:`InteractiveScene` and process the entity&#39;s joints and bodies as specified</span>
+<span class="sd">        in the :class:`SceneEntityCfg` object.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Recorder manager.</span>
+<span class="c1">##</span>
+
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RecorderTermCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an recorder term.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">RecorderTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The associated recorder term class.</span>
+
+<span class="sd">    The class should inherit from :class:`omni.isaac.lab.managers.action_manager.RecorderTerm`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+
+<span class="c1">##</span>
+<span class="c1"># Action manager.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="ActionTermCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ActionTermCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an action term.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">ActionTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The associated action term class.</span>
+
+<span class="sd">    The class should inherit from :class:`omni.isaac.lab.managers.action_manager.ActionTerm`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">asset_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The name of the scene entity.</span>
+
+<span class="sd">    This is the name defined in the scene configuration file. See the :class:`InteractiveSceneCfg`</span>
+<span class="sd">    class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to visualize debug information. Defaults to False.&quot;&quot;&quot;</span>
+
+    <span class="n">clip</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Clip range for the action (dict of regex expressions). Defaults to None.&quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Command manager.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="CommandTermCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTermCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CommandTermCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a command generator term.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">CommandTerm</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The associated command term class to use.</span>
+
+<span class="sd">    The class should inherit from :class:`omni.isaac.lab.managers.command_manager.CommandTerm`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">resampling_time_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Time before commands are changed [s].&quot;&quot;&quot;</span>
+    <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to visualize debug information. Defaults to False.&quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Curriculum manager.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="CurriculumTermCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumTermCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CurriculumTermCfg</span><span class="p">(</span><span class="n">ManagerTermBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a curriculum term.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="nb">float</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The name of the function to be called.</span>
+
+<span class="sd">    This function should take the environment object, environment indices</span>
+<span class="sd">    and any other parameters as input and return the curriculum state for</span>
+<span class="sd">    logging purposes. If the function returns None, the curriculum state</span>
+<span class="sd">    is not logged.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Observation manager.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="ObservationTermCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ObservationTermCfg</span><span class="p">(</span><span class="n">ManagerTermBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an observation term.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The name of the function to be called.</span>
+
+<span class="sd">    This function should take the environment object and any other parameters</span>
+<span class="sd">    as input and return the observation signal as torch float tensors of</span>
+<span class="sd">    shape (num_envs, obs_term_dim).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">modifiers</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">ModifierCfg</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The list of data modifiers to apply to the observation in order. Defaults to None,</span>
+<span class="sd">    in which case no modifications will be applied.</span>
+
+<span class="sd">    Modifiers are applied in the order they are specified in the list. They can be stateless</span>
+<span class="sd">    or stateful, and can be used to apply transformations to the observation data. For example,</span>
+<span class="sd">    a modifier can be used to normalize the observation data or to apply a rolling average.</span>
+
+<span class="sd">    For more information on modifiers, see the :class:`~omni.isaac.lab.utils.modifiers.ModifierCfg` class.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">noise</span><span class="p">:</span> <span class="n">NoiseCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The noise to add to the observation. Defaults to None, in which case no noise is added.&quot;&quot;&quot;</span>
+
+    <span class="n">clip</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The clipping range for the observation after adding noise. Defaults to None,</span>
+<span class="sd">    in which case no clipping is applied.&quot;&quot;&quot;</span>
+
+    <span class="n">scale</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="o">...</span><span class="p">]</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The scale to apply to the observation after clipping. Defaults to None,</span>
+<span class="sd">    in which case no scaling is applied (same as setting scale to :obj:`1`).</span>
+
+<span class="sd">    We leverage PyTorch broadcasting to scale the observation tensor with the provided value. If a tuple is provided,</span>
+<span class="sd">    please make sure the length of the tuple matches the dimensions of the tensor outputted from the term.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">history_length</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of past observations to store in the observation buffers. Defaults to 0, meaning no history.</span>
+
+<span class="sd">    Observation history initializes to empty, but is filled with the first append after reset or initialization. Subsequent history</span>
+<span class="sd">    only adds a single entry to the history buffer. If flatten_history_dim is set to True, the source data of shape</span>
+<span class="sd">    (N, H, D, ...) where N is the batch dimension and H is the history length will be reshaped to a 2D tensor of shape</span>
+<span class="sd">    (N, H*D*...). Otherwise, the data will be returned as is.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">flatten_history_dim</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether or not the observation manager should flatten history-based observation terms to a 2D (N, D) tensor.</span>
+<span class="sd">    Defaults to True.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="ObservationGroupCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationGroupCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ObservationGroupCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an observation group.&quot;&quot;&quot;</span>
+
+    <span class="n">concatenate_terms</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to concatenate the observation terms in the group. Defaults to True.</span>
+
+<span class="sd">    If true, the observation terms in the group are concatenated along the last dimension.</span>
+<span class="sd">    Otherwise, they are kept separate and returned as a dictionary.</span>
+
+<span class="sd">    If the observation group contains terms of different dimensions, it must be set to False.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">enable_corruption</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to enable corruption for the observation group. Defaults to False.</span>
+
+<span class="sd">    If true, the observation terms in the group are corrupted by adding noise (if specified).</span>
+<span class="sd">    Otherwise, no corruption is applied.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">history_length</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of past observation to store in the observation buffers for all observation terms in group.</span>
+
+<span class="sd">    This parameter will override :attr:`ObservationTermCfg.history_length` if set. Defaults to None. If None, each</span>
+<span class="sd">    terms history will be controlled on a per term basis. See :class:`ObservationTermCfg` for details on history_length</span>
+<span class="sd">    implementation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">flatten_history_dim</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Flag to flatten history-based observation terms to a 2D (num_env, D) tensor for all observation terms in group.</span>
+<span class="sd">    Defaults to True.</span>
+
+<span class="sd">    This parameter will override all :attr:`ObservationTermCfg.flatten_history_dim` in the group if</span>
+<span class="sd">    ObservationGroupCfg.history_length is set.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Event manager</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="EventTermCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">EventTermCfg</span><span class="p">(</span><span class="n">ManagerTermBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a event term.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="kc">None</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The name of the function to be called.</span>
+
+<span class="sd">    This function should take the environment object, environment indices</span>
+<span class="sd">    and any other parameters as input.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The mode in which the event term is applied.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The mode name ``&quot;interval&quot;`` is a special mode that is handled by the</span>
+<span class="sd">        manager Hence, its name is reserved and cannot be used for other modes.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">interval_range_s</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The range of time in seconds at which the term is applied. Defaults to None.</span>
+
+<span class="sd">    Based on this, the interval is sampled uniformly between the specified</span>
+<span class="sd">    range for each environment instance. The term is applied on the environment</span>
+<span class="sd">    instances where the current time hits the interval time.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This is only used if the mode is ``&quot;interval&quot;``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">is_global_time</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether randomization should be tracked on a per-environment basis. Defaults to False.</span>
+
+<span class="sd">    If True, the same interval time is used for all the environment instances.</span>
+<span class="sd">    If False, the interval time is sampled independently for each environment instance</span>
+<span class="sd">    and the term is applied when the current time hits the interval time for that instance.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This is only used if the mode is ``&quot;interval&quot;``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">min_step_count_between_reset</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The number of environment steps after which the term is applied since its last application. Defaults to 0.</span>
+
+<span class="sd">    When the mode is &quot;reset&quot;, the term is only applied if the number of environment steps since</span>
+<span class="sd">    its last application exceeds this quantity. This helps to avoid calling the term too often,</span>
+<span class="sd">    thereby improving performance.</span>
+
+<span class="sd">    If the value is zero, the term is applied on every call to the manager with the mode &quot;reset&quot;.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This is only used if the mode is ``&quot;reset&quot;``.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Reward manager.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="RewardTermCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardTermCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RewardTermCfg</span><span class="p">(</span><span class="n">ManagerTermBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a reward term.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The name of the function to be called.</span>
+
+<span class="sd">    This function should take the environment object and any other parameters</span>
+<span class="sd">    as input and return the reward signals as torch float tensors of</span>
+<span class="sd">    shape (num_envs,).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">weight</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The weight of the reward term.</span>
+
+<span class="sd">    This is multiplied with the reward term&#39;s value to compute the final</span>
+<span class="sd">    reward.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If the weight is zero, the reward term is ignored.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Termination manager.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="TerminationTermCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationTermCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">TerminationTermCfg</span><span class="p">(</span><span class="n">ManagerTermBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a termination term.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The name of the function to be called.</span>
+
+<span class="sd">    This function should take the environment object and any other parameters</span>
+<span class="sd">    as input and return the termination signals as torch boolean tensors of</span>
+<span class="sd">    shape (num_envs,).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">time_out</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the termination term contributes towards episodic timeouts. Defaults to False.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        These usually correspond to tasks that have a fixed time limit.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.managers.observation_manager</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Observation manager for computing observation signals for a given world.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">prettytable</span> <span class="kn">import</span> <span class="n">PrettyTable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">modifiers</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.buffers</span> <span class="kn">import</span> <span class="n">CircularBuffer</span>
+
+<span class="kn">from</span> <span class="nn">.manager_base</span> <span class="kn">import</span> <span class="n">ManagerBase</span><span class="p">,</span> <span class="n">ManagerTermBase</span>
+<span class="kn">from</span> <span class="nn">.manager_term_cfg</span> <span class="kn">import</span> <span class="n">ObservationGroupCfg</span><span class="p">,</span> <span class="n">ObservationTermCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedEnv</span>
+
+
+<div class="viewcode-block" id="ObservationManager"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager">[docs]</a><span class="k">class</span> <span class="nc">ObservationManager</span><span class="p">(</span><span class="n">ManagerBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Manager for computing observation signals for a given world.</span>
+
+<span class="sd">    Observations are organized into groups based on their intended usage. This allows having different observation</span>
+<span class="sd">    groups for different types of learning such as asymmetric actor-critic and student-teacher training. Each</span>
+<span class="sd">    group contains observation terms which contain information about the observation function to call, the noise</span>
+<span class="sd">    corruption model to use, and the sensor to retrieve data from.</span>
+
+<span class="sd">    Each observation group should inherit from the :class:`ObservationGroupCfg` class. Within each group, each</span>
+<span class="sd">    observation term should instantiate the :class:`ObservationTermCfg` class. Based on the configuration, the</span>
+<span class="sd">    observations in a group can be concatenated into a single tensor or returned as a dictionary with keys</span>
+<span class="sd">    corresponding to the term&#39;s name.</span>
+
+<span class="sd">    If the observations in a group are concatenated, the shape of the concatenated tensor is computed based on the</span>
+<span class="sd">    shapes of the individual observation terms. This information is stored in the :attr:`group_obs_dim` dictionary</span>
+<span class="sd">    with keys as the group names and values as the shape of the observation tensor. When the terms in a group are not</span>
+<span class="sd">    concatenated, the attribute stores a list of shapes for each term in the group.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        When the observation terms in a group do not have the same shape, the observation terms cannot be</span>
+<span class="sd">        concatenated. In this case, please set the :attr:`ObservationGroupCfg.concatenate_terms` attribute in the</span>
+<span class="sd">        group configuration to False.</span>
+
+<span class="sd">    Observations can also have history. This means a running history is updated per sim step. History can be controlled</span>
+<span class="sd">    per :class:`ObservationTermCfg` (See the :attr:`ObservationTermCfg.history_length` and</span>
+<span class="sd">    :attr:`ObservationTermCfg.flatten_history_dim`). History can also be controlled via :class:`ObservationGroupCfg`</span>
+<span class="sd">    where group configuration overwrites per term configuration if set. History follows an oldest to newest ordering.</span>
+
+<span class="sd">    The observation manager can be used to compute observations for all the groups or for a specific group. The</span>
+<span class="sd">    observations are computed by calling the registered functions for each term in the group. The functions are</span>
+<span class="sd">    called in the order of the terms in the group. The functions are expected to return a tensor with shape</span>
+<span class="sd">    (num_envs, ...).</span>
+
+<span class="sd">    If a noise model or custom modifier is registered for a term, the function is called to corrupt</span>
+<span class="sd">    the observation. The corruption function is expected to return a tensor with the same shape as the observation.</span>
+<span class="sd">    The observations are clipped and scaled as per the configuration settings.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ObservationManager.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize observation manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object or dictionary (``dict[str, ObservationGroupCfg]``).</span>
+<span class="sd">            env: The environment instance.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the configuration is None.</span>
+<span class="sd">            RuntimeError: If the shapes of the observation terms in a group are not compatible for concatenation</span>
+<span class="sd">                and the :attr:`~ObservationGroupCfg.concatenate_terms` attribute is set to True.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that cfg is not None</span>
+        <span class="k">if</span> <span class="n">cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Observation manager configuration is None. Please provide a valid configuration.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># call the base class constructor (this will parse the terms config)</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+
+        <span class="c1"># compute combined vector for obs group</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_dim</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">]</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">]]]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">group_name</span><span class="p">,</span> <span class="n">group_term_dims</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_dim</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># if terms are concatenated, compute the combined shape into a single tuple</span>
+            <span class="c1"># otherwise, keep the list of shapes as is</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_concatenate</span><span class="p">[</span><span class="n">group_name</span><span class="p">]:</span>
+                <span class="k">try</span><span class="p">:</span>
+                    <span class="n">term_dims</span> <span class="o">=</span> <span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">dims</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span> <span class="k">for</span> <span class="n">dims</span> <span class="ow">in</span> <span class="n">group_term_dims</span><span class="p">]</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_dim</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="nb">tuple</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">(</span><span class="n">term_dims</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">0</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span><span class="o">.</span><span class="n">tolist</span><span class="p">())</span>
+                <span class="k">except</span> <span class="ne">RuntimeError</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;Unable to concatenate observation terms in group &#39;</span><span class="si">{</span><span class="n">group_name</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot; The shapes of the terms are: </span><span class="si">{</span><span class="n">group_term_dims</span><span class="si">}</span><span class="s2">.&quot;</span>
+                        <span class="s2">&quot; Please ensure that the shapes are compatible for concatenation.&quot;</span>
+                        <span class="s2">&quot; Otherwise, set &#39;concatenate_terms&#39; to False in the group configuration.&quot;</span>
+                    <span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_dim</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">group_term_dims</span>
+
+        <span class="c1"># Stores the latest observations.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_obs_buffer</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string representation for the observation manager.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;&lt;ObservationManager&gt; contains </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="p">)</span><span class="si">}</span><span class="s2"> groups.</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="c1"># add info for each group</span>
+        <span class="k">for</span> <span class="n">group_name</span><span class="p">,</span> <span class="n">group_dim</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_dim</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># create table for term information</span>
+            <span class="n">table</span> <span class="o">=</span> <span class="n">PrettyTable</span><span class="p">()</span>
+            <span class="n">table</span><span class="o">.</span><span class="n">title</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Active Observation Terms in Group: &#39;</span><span class="si">{</span><span class="n">group_name</span><span class="si">}</span><span class="s2">&#39;&quot;</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_concatenate</span><span class="p">[</span><span class="n">group_name</span><span class="p">]:</span>
+                <span class="n">table</span><span class="o">.</span><span class="n">title</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot; (shape: </span><span class="si">{</span><span class="n">group_dim</span><span class="si">}</span><span class="s2">)&quot;</span>
+            <span class="n">table</span><span class="o">.</span><span class="n">field_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;Index&quot;</span><span class="p">,</span> <span class="s2">&quot;Name&quot;</span><span class="p">,</span> <span class="s2">&quot;Shape&quot;</span><span class="p">]</span>
+            <span class="c1"># set alignment of table columns</span>
+            <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;l&quot;</span>
+            <span class="c1"># add info for each term</span>
+            <span class="n">obs_terms</span> <span class="o">=</span> <span class="nb">zip</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="p">[</span><span class="n">group_name</span><span class="p">],</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_dim</span><span class="p">[</span><span class="n">group_name</span><span class="p">],</span>
+            <span class="p">)</span>
+            <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">dims</span><span class="p">)</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">obs_terms</span><span class="p">):</span>
+                <span class="c1"># resolve inputs to simplify prints</span>
+                <span class="n">tab_dims</span> <span class="o">=</span> <span class="nb">tuple</span><span class="p">(</span><span class="n">dims</span><span class="p">)</span>
+                <span class="c1"># add row</span>
+                <span class="n">table</span><span class="o">.</span><span class="n">add_row</span><span class="p">([</span><span class="n">index</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">tab_dims</span><span class="p">])</span>
+            <span class="c1"># convert table to string</span>
+            <span class="n">msg</span> <span class="o">+=</span> <span class="n">table</span><span class="o">.</span><span class="n">get_string</span><span class="p">()</span>
+            <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="k">return</span> <span class="n">msg</span>
+
+<div class="viewcode-block" id="ObservationManager.get_active_iterable_terms"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.get_active_iterable_terms">[docs]</a>    <span class="k">def</span> <span class="nf">get_active_iterable_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_idx</span><span class="p">:</span> <span class="nb">int</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the active terms as iterable sequence of tuples.</span>
+
+<span class="sd">        The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_idx: The specific environment to pull the active terms from.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The active terms.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">terms</span> <span class="o">=</span> <span class="p">[]</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_obs_buffer</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">compute</span><span class="p">()</span>
+        <span class="n">obs_buffer</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_obs_buffer</span>
+
+        <span class="k">for</span> <span class="n">group_name</span><span class="p">,</span> <span class="n">_</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_dim</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">group_obs_concatenate</span><span class="p">[</span><span class="n">group_name</span><span class="p">]:</span>
+                <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">term</span> <span class="ow">in</span> <span class="n">obs_buffer</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                    <span class="n">terms</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">group_name</span> <span class="o">+</span> <span class="s2">&quot;-&quot;</span> <span class="o">+</span> <span class="n">name</span><span class="p">,</span> <span class="n">term</span><span class="p">[</span><span class="n">env_idx</span><span class="p">]</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">tolist</span><span class="p">()))</span>
+                <span class="k">continue</span>
+
+            <span class="n">idx</span> <span class="o">=</span> <span class="mi">0</span>
+            <span class="c1"># add info for each term</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="n">obs_buffer</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span>
+            <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">shape</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="p">[</span><span class="n">group_name</span><span class="p">],</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_dim</span><span class="p">[</span><span class="n">group_name</span><span class="p">],</span>
+            <span class="p">):</span>
+                <span class="n">data_length</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">prod</span><span class="p">(</span><span class="n">shape</span><span class="p">)</span>
+                <span class="n">term</span> <span class="o">=</span> <span class="n">data</span><span class="p">[</span><span class="n">env_idx</span><span class="p">,</span> <span class="n">idx</span> <span class="p">:</span> <span class="n">idx</span> <span class="o">+</span> <span class="n">data_length</span><span class="p">]</span>
+                <span class="n">terms</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">group_name</span> <span class="o">+</span> <span class="s2">&quot;-&quot;</span> <span class="o">+</span> <span class="n">name</span><span class="p">,</span> <span class="n">term</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">tolist</span><span class="p">()))</span>
+                <span class="n">idx</span> <span class="o">+=</span> <span class="n">data_length</span>
+
+        <span class="k">return</span> <span class="n">terms</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">active_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Name of active observation terms in each group.</span>
+
+<span class="sd">        The keys are the group names and the values are the list of observation term names in the group.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">group_obs_dim</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">]</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Shape of computed observations in each group.</span>
+
+<span class="sd">        The key is the group name and the value is the shape of the observation tensor.</span>
+<span class="sd">        If the terms in the group are concatenated, the value is a single tuple representing the</span>
+<span class="sd">        shape of the concatenated observation tensor. Otherwise, the value is a list of tuples,</span>
+<span class="sd">        where each tuple represents the shape of the observation tensor for a term in the group.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_dim</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">group_obs_term_dim</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Shape of individual observation terms in each group.</span>
+
+<span class="sd">        The key is the group name and the value is a list of tuples representing the shape of the observation terms</span>
+<span class="sd">        in the group. The order of the tuples corresponds to the order of the terms in the group.</span>
+<span class="sd">        This matches the order of the terms in the :attr:`active_terms`.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_dim</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">group_obs_concatenate</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">bool</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the observation terms are concatenated in each group or not.</span>
+
+<span class="sd">        The key is the group name and the value is a boolean specifying whether the observation terms in the group</span>
+<span class="sd">        are concatenated into a single tensor. If True, the observations are concatenated along the last dimension.</span>
+
+<span class="sd">        The values are set based on the :attr:`~ObservationGroupCfg.concatenate_terms` attribute in the group</span>
+<span class="sd">        configuration.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_concatenate</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ObservationManager.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]:</span>
+        <span class="c1"># call all terms that are classes</span>
+        <span class="k">for</span> <span class="n">group_name</span><span class="p">,</span> <span class="n">group_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_class_term_cfgs</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="k">for</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="n">group_cfg</span><span class="p">:</span>
+                <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+            <span class="c1"># reset terms with history</span>
+            <span class="k">for</span> <span class="n">term_name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="p">[</span><span class="n">group_name</span><span class="p">]:</span>
+                <span class="k">if</span> <span class="n">term_name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_history_buffer</span><span class="p">[</span><span class="n">group_name</span><span class="p">]:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_history_buffer</span><span class="p">[</span><span class="n">group_name</span><span class="p">][</span><span class="n">term_name</span><span class="p">]</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">batch_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># call all modifiers that are classes</span>
+        <span class="k">for</span> <span class="n">mod</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_class_modifiers</span><span class="p">:</span>
+            <span class="n">mod</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="c1"># nothing to log here</span>
+        <span class="k">return</span> <span class="p">{}</span></div>
+
+<div class="viewcode-block" id="ObservationManager.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute the observations per group for all groups.</span>
+
+<span class="sd">        The method computes the observations for all the groups handled by the observation manager.</span>
+<span class="sd">        Please check the :meth:`compute_group` on the processing of observations per group.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A dictionary with keys as the group names and values as the computed observations.</span>
+<span class="sd">            The observations are either concatenated into a single tensor or returned as a dictionary</span>
+<span class="sd">            with keys corresponding to the term&#39;s name.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># create a buffer for storing obs from all the groups</span>
+        <span class="n">obs_buffer</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># iterate over all the terms in each group</span>
+        <span class="k">for</span> <span class="n">group_name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="p">:</span>
+            <span class="n">obs_buffer</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">compute_group</span><span class="p">(</span><span class="n">group_name</span><span class="p">)</span>
+        <span class="c1"># otherwise return a dict with observations of all groups</span>
+
+        <span class="c1"># Cache the observations.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_obs_buffer</span> <span class="o">=</span> <span class="n">obs_buffer</span>
+        <span class="k">return</span> <span class="n">obs_buffer</span></div>
+
+<div class="viewcode-block" id="ObservationManager.compute_group"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.compute_group">[docs]</a>    <span class="k">def</span> <span class="nf">compute_group</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">group_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Computes the observations for a given group.</span>
+
+<span class="sd">        The observations for a given group are computed by calling the registered functions for each</span>
+<span class="sd">        term in the group. The functions are called in the order of the terms in the group. The functions</span>
+<span class="sd">        are expected to return a tensor with shape (num_envs, ...).</span>
+
+<span class="sd">        The following steps are performed for each observation term:</span>
+
+<span class="sd">        1. Compute observation term by calling the function</span>
+<span class="sd">        2. Apply custom modifiers in the order specified in :attr:`ObservationTermCfg.modifiers`</span>
+<span class="sd">        3. Apply corruption/noise model based on :attr:`ObservationTermCfg.noise`</span>
+<span class="sd">        4. Apply clipping based on :attr:`ObservationTermCfg.clip`</span>
+<span class="sd">        5. Apply scaling based on :attr:`ObservationTermCfg.scale`</span>
+
+<span class="sd">        We apply noise to the computed term first to maintain the integrity of how noise affects the data</span>
+<span class="sd">        as it truly exists in the real world. If the noise is applied after clipping or scaling, the noise</span>
+<span class="sd">        could be artificially constrained or amplified, which might misrepresent how noise naturally occurs</span>
+<span class="sd">        in the data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            group_name: The name of the group for which to compute the observations. Defaults to None,</span>
+<span class="sd">                in which case observations for all the groups are computed and returned.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Depending on the group&#39;s configuration, the tensors for individual observation terms are</span>
+<span class="sd">            concatenated along the last dimension into a single tensor. Otherwise, they are returned as</span>
+<span class="sd">            a dictionary with keys corresponding to the term&#39;s name.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If input ``group_name`` is not a valid group handled by the manager.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check ig group name is valid</span>
+        <span class="k">if</span> <span class="n">group_name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Unable to find the group &#39;</span><span class="si">{</span><span class="n">group_name</span><span class="si">}</span><span class="s2">&#39; in the observation manager.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; Available groups are: </span><span class="si">{</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># iterate over all the terms in each group</span>
+        <span class="n">group_term_names</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span>
+        <span class="c1"># buffer to store obs per group</span>
+        <span class="n">group_obs</span> <span class="o">=</span> <span class="nb">dict</span><span class="o">.</span><span class="n">fromkeys</span><span class="p">(</span><span class="n">group_term_names</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># read attributes for each term</span>
+        <span class="n">obs_terms</span> <span class="o">=</span> <span class="nb">zip</span><span class="p">(</span><span class="n">group_term_names</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_cfgs</span><span class="p">[</span><span class="n">group_name</span><span class="p">])</span>
+
+        <span class="c1"># evaluate terms: compute, add noise, clip, scale, custom modifiers</span>
+        <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="n">obs_terms</span><span class="p">:</span>
+            <span class="c1"># compute term&#39;s value</span>
+            <span class="n">obs</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">,</span> <span class="o">**</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="c1"># apply post-processing</span>
+            <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">modifiers</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">for</span> <span class="n">modifier</span> <span class="ow">in</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">modifiers</span><span class="p">:</span>
+                    <span class="n">obs</span> <span class="o">=</span> <span class="n">modifier</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="o">**</span><span class="n">modifier</span><span class="o">.</span><span class="n">params</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">noise</span><span class="p">:</span>
+                <span class="n">obs</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">noise</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">noise</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">clip</span><span class="p">:</span>
+                <span class="n">obs</span> <span class="o">=</span> <span class="n">obs</span><span class="o">.</span><span class="n">clip_</span><span class="p">(</span><span class="nb">min</span><span class="o">=</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">clip</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="nb">max</span><span class="o">=</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">clip</span><span class="p">[</span><span class="mi">1</span><span class="p">])</span>
+            <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">scale</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">obs</span> <span class="o">=</span> <span class="n">obs</span><span class="o">.</span><span class="n">mul_</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">scale</span><span class="p">)</span>
+            <span class="c1"># Update the history buffer if observation term has history enabled</span>
+            <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">history_length</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_history_buffer</span><span class="p">[</span><span class="n">group_name</span><span class="p">][</span><span class="n">term_name</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">obs</span><span class="p">)</span>
+                <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">flatten_history_dim</span><span class="p">:</span>
+                    <span class="n">group_obs</span><span class="p">[</span><span class="n">term_name</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_history_buffer</span><span class="p">[</span><span class="n">group_name</span><span class="p">][</span><span class="n">term_name</span><span class="p">]</span><span class="o">.</span><span class="n">buffer</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span>
+                    <span class="p">)</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="n">group_obs</span><span class="p">[</span><span class="n">term_name</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_history_buffer</span><span class="p">[</span><span class="n">group_name</span><span class="p">][</span><span class="n">term_name</span><span class="p">]</span><span class="o">.</span><span class="n">buffer</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">group_obs</span><span class="p">[</span><span class="n">term_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">obs</span>
+
+        <span class="c1"># concatenate all observations in the group together</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_concatenate</span><span class="p">[</span><span class="n">group_name</span><span class="p">]:</span>
+            <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span><span class="nb">list</span><span class="p">(</span><span class="n">group_obs</span><span class="o">.</span><span class="n">values</span><span class="p">()),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">return</span> <span class="n">group_obs</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_prepare_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Prepares a list of observation terms functions.&quot;&quot;&quot;</span>
+        <span class="c1"># create buffers to store information for each observation group</span>
+        <span class="c1"># TODO: Make this more convenient by using data structures.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_dim</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">]]]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_cfgs</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="n">ObservationTermCfg</span><span class="p">]]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_class_term_cfgs</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="n">ObservationTermCfg</span><span class="p">]]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_concatenate</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">bool</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_history_buffer</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># create a list to store modifiers that are classes</span>
+        <span class="c1"># we store it as a separate list to only call reset on them and prevent unnecessary calls</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_class_modifiers</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">modifiers</span><span class="o">.</span><span class="n">ModifierBase</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+
+        <span class="c1"># check if config is dict already</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">group_cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">group_cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="c1"># iterate over all the groups</span>
+        <span class="k">for</span> <span class="n">group_name</span><span class="p">,</span> <span class="n">group_cfg</span> <span class="ow">in</span> <span class="n">group_cfg_items</span><span class="p">:</span>
+            <span class="c1"># check for non config</span>
+            <span class="k">if</span> <span class="n">group_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">continue</span>
+            <span class="c1"># check if the term is a curriculum term</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">group_cfg</span><span class="p">,</span> <span class="n">ObservationGroupCfg</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Observation group &#39;</span><span class="si">{</span><span class="n">group_name</span><span class="si">}</span><span class="s2">&#39; is not of type &#39;ObservationGroupCfg&#39;.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">group_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># initialize list for the group settings</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_dim</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_cfgs</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_class_term_cfgs</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+            <span class="n">group_entry_history_buffer</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">CircularBuffer</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+            <span class="c1"># read common config for the group</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_concatenate</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">group_cfg</span><span class="o">.</span><span class="n">concatenate_terms</span>
+            <span class="c1"># check if config is dict already</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">group_cfg</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+                <span class="n">group_cfg_items</span> <span class="o">=</span> <span class="n">group_cfg</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">group_cfg_items</span> <span class="o">=</span> <span class="n">group_cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+            <span class="c1"># iterate over all the terms in each group</span>
+            <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="n">group_cfg_items</span><span class="p">:</span>
+                <span class="c1"># skip non-obs settings</span>
+                <span class="k">if</span> <span class="n">term_name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;enable_corruption&quot;</span><span class="p">,</span> <span class="s2">&quot;concatenate_terms&quot;</span><span class="p">,</span> <span class="s2">&quot;history_length&quot;</span><span class="p">,</span> <span class="s2">&quot;flatten_history_dim&quot;</span><span class="p">]:</span>
+                    <span class="k">continue</span>
+                <span class="c1"># check for non config</span>
+                <span class="k">if</span> <span class="n">term_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">continue</span>
+                <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">,</span> <span class="n">ObservationTermCfg</span><span class="p">):</span>
+                    <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;Configuration for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type ObservationTermCfg.&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                    <span class="p">)</span>
+                <span class="c1"># resolve common terms in the config</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_common_term_cfg</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">group_name</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="n">term_cfg</span><span class="p">,</span> <span class="n">min_argc</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+
+                <span class="c1"># check noise settings</span>
+                <span class="k">if</span> <span class="ow">not</span> <span class="n">group_cfg</span><span class="o">.</span><span class="n">enable_corruption</span><span class="p">:</span>
+                    <span class="n">term_cfg</span><span class="o">.</span><span class="n">noise</span> <span class="o">=</span> <span class="kc">None</span>
+                <span class="c1"># check group history params and override terms</span>
+                <span class="k">if</span> <span class="n">group_cfg</span><span class="o">.</span><span class="n">history_length</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">term_cfg</span><span class="o">.</span><span class="n">history_length</span> <span class="o">=</span> <span class="n">group_cfg</span><span class="o">.</span><span class="n">history_length</span>
+                    <span class="n">term_cfg</span><span class="o">.</span><span class="n">flatten_history_dim</span> <span class="o">=</span> <span class="n">group_cfg</span><span class="o">.</span><span class="n">flatten_history_dim</span>
+                <span class="c1"># add term config to list to list</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_names</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_name</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_cfgs</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span>
+                <span class="c1"># call function the first time to fill up dimensions</span>
+                <span class="n">obs_dims</span> <span class="o">=</span> <span class="nb">tuple</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">,</span> <span class="o">**</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">)</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+                <span class="c1"># create history buffers and calculate history term dimensions</span>
+                <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">history_length</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+                    <span class="n">group_entry_history_buffer</span><span class="p">[</span><span class="n">term_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">CircularBuffer</span><span class="p">(</span>
+                        <span class="n">max_len</span><span class="o">=</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">history_length</span><span class="p">,</span> <span class="n">batch_size</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">device</span>
+                    <span class="p">)</span>
+                    <span class="n">old_dims</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="n">obs_dims</span><span class="p">)</span>
+                    <span class="n">old_dims</span><span class="o">.</span><span class="n">insert</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">history_length</span><span class="p">)</span>
+                    <span class="n">obs_dims</span> <span class="o">=</span> <span class="nb">tuple</span><span class="p">(</span><span class="n">old_dims</span><span class="p">)</span>
+                    <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">flatten_history_dim</span><span class="p">:</span>
+                        <span class="n">obs_dims</span> <span class="o">=</span> <span class="p">(</span><span class="n">obs_dims</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">prod</span><span class="p">(</span><span class="n">obs_dims</span><span class="p">[</span><span class="mi">1</span><span class="p">:]))</span>
+
+                <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_dim</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">obs_dims</span><span class="p">[</span><span class="mi">1</span><span class="p">:])</span>
+
+                <span class="c1"># if scale is set, check if single float or tuple</span>
+                <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">scale</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">scale</span><span class="p">,</span> <span class="p">(</span><span class="nb">float</span><span class="p">,</span> <span class="nb">int</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">)):</span>
+                        <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                            <span class="sa">f</span><span class="s2">&quot;Scale for observation term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; in group &#39;</span><span class="si">{</span><span class="n">group_name</span><span class="si">}</span><span class="s2">&#39;&quot;</span>
+                            <span class="sa">f</span><span class="s2">&quot; is not of type float, int or tuple. Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">scale</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                        <span class="p">)</span>
+                    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">scale</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">)</span> <span class="ow">and</span> <span class="nb">len</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">scale</span><span class="p">)</span> <span class="o">!=</span> <span class="n">obs_dims</span><span class="p">[</span><span class="mi">1</span><span class="p">]:</span>
+                        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                            <span class="sa">f</span><span class="s2">&quot;Scale for observation term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; in group &#39;</span><span class="si">{</span><span class="n">group_name</span><span class="si">}</span><span class="s2">&#39;&quot;</span>
+                            <span class="sa">f</span><span class="s2">&quot; does not match the dimensions of the observation. Expected: </span><span class="si">{</span><span class="n">obs_dims</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span>
+                            <span class="sa">f</span><span class="s2">&quot; but received: </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">scale</span><span class="p">)</span><span class="si">}</span><span class="s2">.&quot;</span>
+                        <span class="p">)</span>
+
+                    <span class="c1"># cast the scale into torch tensor</span>
+                    <span class="n">term_cfg</span><span class="o">.</span><span class="n">scale</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">scale</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+                <span class="c1"># prepare modifiers for each observation</span>
+                <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">modifiers</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="c1"># initialize list of modifiers for term</span>
+                    <span class="k">for</span> <span class="n">mod_cfg</span> <span class="ow">in</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">modifiers</span><span class="p">:</span>
+                        <span class="c1"># check if class modifier and initialize with observation size when adding</span>
+                        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">mod_cfg</span><span class="p">,</span> <span class="n">modifiers</span><span class="o">.</span><span class="n">ModifierCfg</span><span class="p">):</span>
+                            <span class="c1"># to list of modifiers</span>
+                            <span class="k">if</span> <span class="n">inspect</span><span class="o">.</span><span class="n">isclass</span><span class="p">(</span><span class="n">mod_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">):</span>
+                                <span class="k">if</span> <span class="ow">not</span> <span class="nb">issubclass</span><span class="p">(</span><span class="n">mod_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">,</span> <span class="n">modifiers</span><span class="o">.</span><span class="n">ModifierBase</span><span class="p">):</span>
+                                    <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                                        <span class="sa">f</span><span class="s2">&quot;Modifier function &#39;</span><span class="si">{</span><span class="n">mod_cfg</span><span class="o">.</span><span class="n">func</span><span class="si">}</span><span class="s2">&#39; for observation term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39;&quot;</span>
+                                        <span class="sa">f</span><span class="s2">&quot; is not a subclass of &#39;ModifierBase&#39;. Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">mod_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                                    <span class="p">)</span>
+                                <span class="n">mod_cfg</span><span class="o">.</span><span class="n">func</span> <span class="o">=</span> <span class="n">mod_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">mod_cfg</span><span class="p">,</span> <span class="n">data_dim</span><span class="o">=</span><span class="n">obs_dims</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+                                <span class="c1"># add to list of class modifiers</span>
+                                <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_class_modifiers</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">mod_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">)</span>
+                        <span class="k">else</span><span class="p">:</span>
+                            <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                                <span class="sa">f</span><span class="s2">&quot;Modifier configuration &#39;</span><span class="si">{</span><span class="n">mod_cfg</span><span class="si">}</span><span class="s2">&#39; of observation term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of&quot;</span>
+                                <span class="sa">f</span><span class="s2">&quot; required type ModifierCfg, Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">mod_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;&quot;</span>
+                            <span class="p">)</span>
+
+                        <span class="c1"># check if function is callable</span>
+                        <span class="k">if</span> <span class="ow">not</span> <span class="nb">callable</span><span class="p">(</span><span class="n">mod_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">):</span>
+                            <span class="k">raise</span> <span class="ne">AttributeError</span><span class="p">(</span>
+                                <span class="sa">f</span><span class="s2">&quot;Modifier &#39;</span><span class="si">{</span><span class="n">mod_cfg</span><span class="si">}</span><span class="s2">&#39; of observation term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not callable.&quot;</span>
+                                <span class="sa">f</span><span class="s2">&quot; Received: </span><span class="si">{</span><span class="n">mod_cfg</span><span class="o">.</span><span class="n">func</span><span class="si">}</span><span class="s2">&quot;</span>
+                            <span class="p">)</span>
+
+                        <span class="c1"># check if term&#39;s arguments are matched by params</span>
+                        <span class="n">term_params</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="n">mod_cfg</span><span class="o">.</span><span class="n">params</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+                        <span class="n">args</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">signature</span><span class="p">(</span><span class="n">mod_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">)</span><span class="o">.</span><span class="n">parameters</span>
+                        <span class="n">args_with_defaults</span> <span class="o">=</span> <span class="p">[</span><span class="n">arg</span> <span class="k">for</span> <span class="n">arg</span> <span class="ow">in</span> <span class="n">args</span> <span class="k">if</span> <span class="n">args</span><span class="p">[</span><span class="n">arg</span><span class="p">]</span><span class="o">.</span><span class="n">default</span> <span class="ow">is</span> <span class="ow">not</span> <span class="n">inspect</span><span class="o">.</span><span class="n">Parameter</span><span class="o">.</span><span class="n">empty</span><span class="p">]</span>
+                        <span class="n">args_without_defaults</span> <span class="o">=</span> <span class="p">[</span><span class="n">arg</span> <span class="k">for</span> <span class="n">arg</span> <span class="ow">in</span> <span class="n">args</span> <span class="k">if</span> <span class="n">args</span><span class="p">[</span><span class="n">arg</span><span class="p">]</span><span class="o">.</span><span class="n">default</span> <span class="ow">is</span> <span class="n">inspect</span><span class="o">.</span><span class="n">Parameter</span><span class="o">.</span><span class="n">empty</span><span class="p">]</span>
+                        <span class="n">args</span> <span class="o">=</span> <span class="n">args_without_defaults</span> <span class="o">+</span> <span class="n">args_with_defaults</span>
+                        <span class="c1"># ignore first two arguments for env and env_ids</span>
+                        <span class="c1"># Think: Check for cases when kwargs are set inside the function?</span>
+                        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">args</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+                            <span class="k">if</span> <span class="nb">set</span><span class="p">(</span><span class="n">args</span><span class="p">[</span><span class="mi">1</span><span class="p">:])</span> <span class="o">!=</span> <span class="nb">set</span><span class="p">(</span><span class="n">term_params</span> <span class="o">+</span> <span class="n">args_with_defaults</span><span class="p">):</span>
+                                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                                    <span class="sa">f</span><span class="s2">&quot;Modifier &#39;</span><span class="si">{</span><span class="n">mod_cfg</span><span class="si">}</span><span class="s2">&#39; of observation term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; expects&quot;</span>
+                                    <span class="sa">f</span><span class="s2">&quot; mandatory parameters: </span><span class="si">{</span><span class="n">args_without_defaults</span><span class="p">[</span><span class="mi">1</span><span class="p">:]</span><span class="si">}</span><span class="s2">&quot;</span>
+                                    <span class="sa">f</span><span class="s2">&quot; and optional parameters: </span><span class="si">{</span><span class="n">args_with_defaults</span><span class="si">}</span><span class="s2">, but received: </span><span class="si">{</span><span class="n">term_params</span><span class="si">}</span><span class="s2">.&quot;</span>
+                                <span class="p">)</span>
+
+                <span class="c1"># add term in a separate list if term is a class</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">,</span> <span class="n">ManagerTermBase</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_class_term_cfgs</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span>
+                    <span class="c1"># call reset (in-case above call to get obs dims changed the state)</span>
+                    <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+            <span class="c1"># add history buffers for each group</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_group_obs_term_history_buffer</span><span class="p">[</span><span class="n">group_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">group_entry_history_buffer</span></div>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.managers.reward_manager</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Reward manager for computing reward signals for a given world.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">prettytable</span> <span class="kn">import</span> <span class="n">PrettyTable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">.manager_base</span> <span class="kn">import</span> <span class="n">ManagerBase</span><span class="p">,</span> <span class="n">ManagerTermBase</span>
+<span class="kn">from</span> <span class="nn">.manager_term_cfg</span> <span class="kn">import</span> <span class="n">RewardTermCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnv</span>
+
+
+<div class="viewcode-block" id="RewardManager"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager">[docs]</a><span class="k">class</span> <span class="nc">RewardManager</span><span class="p">(</span><span class="n">ManagerBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Manager for computing reward signals for a given world.</span>
+
+<span class="sd">    The reward manager computes the total reward as a sum of the weighted reward terms. The reward</span>
+<span class="sd">    terms are parsed from a nested config class containing the reward manger&#39;s settings and reward</span>
+<span class="sd">    terms configuration.</span>
+
+<span class="sd">    The reward terms are parsed from a config class containing the manager&#39;s settings and each term&#39;s</span>
+<span class="sd">    parameters. Each reward term should instantiate the :class:`RewardTermCfg` class.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        The reward manager multiplies the reward term&#39;s ``weight``  with the time-step interval ``dt``</span>
+<span class="sd">        of the environment. This is done to ensure that the computed reward terms are balanced with</span>
+<span class="sd">        respect to the chosen time-step interval in the environment.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">_env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The environment instance.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RewardManager.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the reward manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object or dictionary (``dict[str, RewardTermCfg]``).</span>
+<span class="sd">            env: The environment instance.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># create buffers to parse and store terms</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">RewardTermCfg</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_class_term_cfgs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">RewardTermCfg</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+
+        <span class="c1"># call the base class constructor (this will parse the terms config)</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+        <span class="c1"># prepare extra info to store individual reward term information</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_episode_sums</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">term_name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_episode_sums</span><span class="p">[</span><span class="n">term_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># create buffer for managing reward per environment</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_reward_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># Buffer which stores the current step reward for each term for each environment</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_step_reward</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">)),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string representation for reward manager.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;&lt;RewardManager&gt; contains </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">)</span><span class="si">}</span><span class="s2"> active terms.</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="c1"># create table for term information</span>
+        <span class="n">table</span> <span class="o">=</span> <span class="n">PrettyTable</span><span class="p">()</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">title</span> <span class="o">=</span> <span class="s2">&quot;Active Reward Terms&quot;</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">field_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;Index&quot;</span><span class="p">,</span> <span class="s2">&quot;Name&quot;</span><span class="p">,</span> <span class="s2">&quot;Weight&quot;</span><span class="p">]</span>
+        <span class="c1"># set alignment of table columns</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;l&quot;</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Weight&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;r&quot;</span>
+        <span class="c1"># add info on each term</span>
+        <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">term_cfg</span><span class="p">)</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="nb">zip</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">)):</span>
+            <span class="n">table</span><span class="o">.</span><span class="n">add_row</span><span class="p">([</span><span class="n">index</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">weight</span><span class="p">])</span>
+        <span class="c1"># convert table to string</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="n">table</span><span class="o">.</span><span class="n">get_string</span><span class="p">()</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">active_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Name of active reward terms.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RewardManager.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the episodic sum of individual reward terms.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment ids for which the episodic sum of</span>
+<span class="sd">                individual reward terms is to be returned. Defaults to all the environment ids.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Dictionary of episodic sum of individual reward terms.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve environment ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># store information</span>
+        <span class="n">extras</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_episode_sums</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+            <span class="c1"># store information</span>
+            <span class="c1"># r_1 + r_2 + ... + r_n</span>
+            <span class="n">episodic_sum_avg</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_episode_sums</span><span class="p">[</span><span class="n">key</span><span class="p">][</span><span class="n">env_ids</span><span class="p">])</span>
+            <span class="n">extras</span><span class="p">[</span><span class="s2">&quot;Episode_Reward/&quot;</span> <span class="o">+</span> <span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">episodic_sum_avg</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="o">.</span><span class="n">max_episode_length_s</span>
+            <span class="c1"># reset episodic sum</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_episode_sums</span><span class="p">[</span><span class="n">key</span><span class="p">][</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="c1"># reset all the reward terms</span>
+        <span class="k">for</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_class_term_cfgs</span><span class="p">:</span>
+            <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># return logged information</span>
+        <span class="k">return</span> <span class="n">extras</span></div>
+
+<div class="viewcode-block" id="RewardManager.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Computes the reward signal as a weighted sum of individual terms.</span>
+
+<span class="sd">        This function calls each reward term managed by the class and adds them to compute the net</span>
+<span class="sd">        reward signal. It also updates the episodic sums corresponding to individual reward terms.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            dt: The time-step interval of the environment.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The net reward signal of shape (num_envs,).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># reset computation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_reward_buf</span><span class="p">[:]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="c1"># iterate over all the reward terms</span>
+        <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">):</span>
+            <span class="c1"># skip if weight is zero (kind of a micro-optimization)</span>
+            <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">weight</span> <span class="o">==</span> <span class="mf">0.0</span><span class="p">:</span>
+                <span class="k">continue</span>
+            <span class="c1"># compute term&#39;s value</span>
+            <span class="n">value</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">,</span> <span class="o">**</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">)</span> <span class="o">*</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">weight</span> <span class="o">*</span> <span class="n">dt</span>
+            <span class="c1"># update total reward</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_reward_buf</span> <span class="o">+=</span> <span class="n">value</span>
+            <span class="c1"># update episodic sum</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_episode_sums</span><span class="p">[</span><span class="n">name</span><span class="p">]</span> <span class="o">+=</span> <span class="n">value</span>
+
+            <span class="c1"># Update current reward for this step.</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_step_reward</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="o">.</span><span class="n">index</span><span class="p">(</span><span class="n">name</span><span class="p">)]</span> <span class="o">=</span> <span class="n">value</span> <span class="o">/</span> <span class="n">dt</span>
+
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reward_buf</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Term settings.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RewardManager.set_term_cfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.set_term_cfg">[docs]</a>    <span class="k">def</span> <span class="nf">set_term_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">term_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">RewardTermCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets the configuration of the specified term into the manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            term_name: The name of the reward term.</span>
+<span class="sd">            cfg: The configuration for the reward term.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the term name is not found.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">term_name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Reward term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; not found.&quot;</span><span class="p">)</span>
+        <span class="c1"># set the configuration</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="o">.</span><span class="n">index</span><span class="p">(</span><span class="n">term_name</span><span class="p">)]</span> <span class="o">=</span> <span class="n">cfg</span></div>
+
+<div class="viewcode-block" id="RewardManager.get_term_cfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.get_term_cfg">[docs]</a>    <span class="k">def</span> <span class="nf">get_term_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">term_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">RewardTermCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Gets the configuration for the specified term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            term_name: The name of the reward term.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The configuration of the reward term.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the term name is not found.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">term_name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Reward term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; not found.&quot;</span><span class="p">)</span>
+        <span class="c1"># return the configuration</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="o">.</span><span class="n">index</span><span class="p">(</span><span class="n">term_name</span><span class="p">)]</span></div>
+
+<div class="viewcode-block" id="RewardManager.get_active_iterable_terms"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.get_active_iterable_terms">[docs]</a>    <span class="k">def</span> <span class="nf">get_active_iterable_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_idx</span><span class="p">:</span> <span class="nb">int</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the active terms as iterable sequence of tuples.</span>
+
+<span class="sd">        The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_idx: The specific environment to pull the active terms from.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The active terms.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">terms</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="k">for</span> <span class="n">idx</span><span class="p">,</span> <span class="n">name</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">):</span>
+            <span class="n">terms</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">name</span><span class="p">,</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_step_reward</span><span class="p">[</span><span class="n">env_idx</span><span class="p">,</span> <span class="n">idx</span><span class="p">]</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">item</span><span class="p">()]))</span>
+        <span class="k">return</span> <span class="n">terms</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_prepare_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># check if config is dict already</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="c1"># iterate over all the terms</span>
+        <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="n">cfg_items</span><span class="p">:</span>
+            <span class="c1"># check for non config</span>
+            <span class="k">if</span> <span class="n">term_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">continue</span>
+            <span class="c1"># check for valid config type</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">,</span> <span class="n">RewardTermCfg</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Configuration for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type RewardTermCfg.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># check for valid weight type</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">weight</span><span class="p">,</span> <span class="p">(</span><span class="nb">float</span><span class="p">,</span> <span class="nb">int</span><span class="p">)):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Weight for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type float or int.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">weight</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># resolve common parameters</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_common_term_cfg</span><span class="p">(</span><span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span><span class="p">,</span> <span class="n">min_argc</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+            <span class="c1"># add function to list</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_name</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span>
+            <span class="c1"># check if the term is a class</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">,</span> <span class="n">ManagerTermBase</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_class_term_cfgs</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html b/v1.4.0/_modules/omni/isaac/lab/managers/scene_entity_cfg.html
new file mode 100644
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+  <h1>Source code for omni.isaac.lab.managers.scene_entity_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Configuration terms for different managers.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">Articulation</span><span class="p">,</span> <span class="n">RigidObject</span><span class="p">,</span> <span class="n">RigidObjectCollection</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+
+<div class="viewcode-block" id="SceneEntityCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">SceneEntityCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a scene entity that is used by the manager&#39;s term.</span>
+
+<span class="sd">    This class is used to specify the name of the scene entity that is queried from the</span>
+<span class="sd">    :class:`InteractiveScene` and passed to the manager&#39;s term function.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The name of the scene entity.</span>
+
+<span class="sd">    This is the name defined in the scene configuration file. See the :class:`InteractiveSceneCfg`</span>
+<span class="sd">    class for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">joint_names</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The names of the joints from the scene entity. Defaults to None.</span>
+
+<span class="sd">    The names can be either joint names or a regular expression matching the joint names.</span>
+
+<span class="sd">    These are converted to joint indices on initialization of the manager and passed to the term</span>
+<span class="sd">    function as a list of joint indices under :attr:`joint_ids`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">joint_ids</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The indices of the joints from the asset required by the term. Defaults to slice(None), which means</span>
+<span class="sd">    all the joints in the asset (if present).</span>
+
+<span class="sd">    If :attr:`joint_names` is specified, this is filled in automatically on initialization of the</span>
+<span class="sd">    manager.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">fixed_tendon_names</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The names of the fixed tendons from the scene entity. Defaults to None.</span>
+
+<span class="sd">    The names can be either joint names or a regular expression matching the joint names.</span>
+
+<span class="sd">    These are converted to fixed tendon indices on initialization of the manager and passed to the term</span>
+<span class="sd">    function as a list of fixed tendon indices under :attr:`fixed_tendon_ids`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">fixed_tendon_ids</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The indices of the fixed tendons from the asset required by the term. Defaults to slice(None), which means</span>
+<span class="sd">    all the fixed tendons in the asset (if present).</span>
+
+<span class="sd">    If :attr:`fixed_tendon_names` is specified, this is filled in automatically on initialization of the</span>
+<span class="sd">    manager.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">body_names</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The names of the bodies from the asset required by the term. Defaults to None.</span>
+
+<span class="sd">    The names can be either body names or a regular expression matching the body names.</span>
+
+<span class="sd">    These are converted to body indices on initialization of the manager and passed to the term</span>
+<span class="sd">    function as a list of body indices under :attr:`body_ids`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">body_ids</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The indices of the bodies from the asset required by the term. Defaults to slice(None), which means</span>
+<span class="sd">    all the bodies in the asset.</span>
+
+<span class="sd">    If :attr:`body_names` is specified, this is filled in automatically on initialization of the</span>
+<span class="sd">    manager.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">object_collection_names</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The names of the objects in the rigid object collection required by the term. Defaults to None.</span>
+
+<span class="sd">    The names can be either names or a regular expression matching the object names in the collection.</span>
+
+<span class="sd">    These are converted to object indices on initialization of the manager and passed to the term</span>
+<span class="sd">    function as a list of object indices under :attr:`object_collection_ids`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">object_collection_ids</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The indices of the objects from the rigid object collection required by the term. Defaults to slice(None),</span>
+<span class="sd">    which means all the objects in the collection.</span>
+
+<span class="sd">    If :attr:`object_collection_names` is specified, this is filled in automatically on initialization of the manager.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">preserve_order</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to preserve indices ordering to match with that in the specified joint, body, or object collection names.</span>
+<span class="sd">    Defaults to False.</span>
+
+<span class="sd">    If False, the ordering of the indices are sorted in ascending order (i.e. the ordering in the entity&#39;s joints,</span>
+<span class="sd">    bodies, or object in the object collection). Otherwise, the indices are preserved in the order of the specified</span>
+<span class="sd">    joint, body, or object collection names.</span>
+
+<span class="sd">    For more details, see the :meth:`omni.isaac.lab.utils.string.resolve_matching_names` function.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This attribute is only used when :attr:`joint_names`, :attr:`body_names`, or :attr:`object_collection_names` are specified.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="SceneEntityCfg.resolve"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.resolve">[docs]</a>    <span class="k">def</span> <span class="nf">resolve</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resolves the scene entity and converts the joint and body names to indices.</span>
+
+<span class="sd">        This function examines the scene entity from the :class:`InteractiveScene` and resolves the indices</span>
+<span class="sd">        and names of the joints and bodies. It is an expensive operation as it resolves regular expressions</span>
+<span class="sd">        and should be called only once.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            scene: The interactive scene instance.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the scene entity is not found.</span>
+<span class="sd">            ValueError: If both ``joint_names`` and ``joint_ids`` are specified and are not consistent.</span>
+<span class="sd">            ValueError: If both ``fixed_tendon_names`` and ``fixed_tendon_ids`` are specified and are not consistent.</span>
+<span class="sd">            ValueError: If both ``body_names`` and ``body_ids`` are specified and are not consistent.</span>
+<span class="sd">            ValueError: If both ``object_collection_names`` and ``object_collection_ids`` are specified and are not consistent.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if the entity is valid</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">scene</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The scene entity &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39; does not exist. Available entities: </span><span class="si">{</span><span class="n">scene</span><span class="o">.</span><span class="n">keys</span><span class="p">()</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># convert joint names to indices based on regex</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_joint_names</span><span class="p">(</span><span class="n">scene</span><span class="p">)</span>
+
+        <span class="c1"># convert fixed tendon names to indices based on regex</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_fixed_tendon_names</span><span class="p">(</span><span class="n">scene</span><span class="p">)</span>
+
+        <span class="c1"># convert body names to indices based on regex</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_body_names</span><span class="p">(</span><span class="n">scene</span><span class="p">)</span>
+
+        <span class="c1"># convert object collection names to indices based on regex</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_object_collection_names</span><span class="p">(</span><span class="n">scene</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="nf">_resolve_joint_names</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+        <span class="c1"># convert joint names to indices based on regex</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">entity</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+            <span class="c1"># -- if both are not their default values, check if they are valid</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="p">]</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+                <span class="n">joint_ids</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">entity</span><span class="o">.</span><span class="n">find_joints</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">preserve_order</span><span class="p">)</span>
+                <span class="n">joint_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">entity</span><span class="o">.</span><span class="n">joint_names</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+                <span class="k">if</span> <span class="n">joint_ids</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span> <span class="ow">or</span> <span class="n">joint_names</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="s2">&quot;Both &#39;joint_names&#39; and &#39;joint_ids&#39; are specified, and are not consistent.&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">from joint names: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="n">joint_ids</span><span class="si">}</span><span class="s2">]&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">from joint ids: </span><span class="si">{</span><span class="n">joint_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span><span class="si">}</span><span class="s2">]&quot;</span>
+                        <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">Hint: Use either &#39;joint_names&#39; or &#39;joint_ids&#39; to avoid confusion.&quot;</span>
+                    <span class="p">)</span>
+            <span class="c1"># -- from joint names to joint indices</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="p">]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">entity</span><span class="o">.</span><span class="n">find_joints</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">preserve_order</span><span class="p">)</span>
+                <span class="c1"># performance optimization (slice offers faster indexing than list of indices)</span>
+                <span class="c1"># only all joint in the entity order are selected</span>
+                <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">)</span> <span class="o">==</span> <span class="n">entity</span><span class="o">.</span><span class="n">num_joints</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span> <span class="o">==</span> <span class="n">entity</span><span class="o">.</span><span class="n">joint_names</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="c1"># -- from joint indices to joint names</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">joint_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">entity</span><span class="o">.</span><span class="n">joint_names</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+
+    <span class="k">def</span> <span class="nf">_resolve_fixed_tendon_names</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+        <span class="c1"># convert tendon names to indices based on regex</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">entity</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+            <span class="c1"># -- if both are not their default values, check if they are valid</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span><span class="p">]</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span><span class="p">]</span>
+                <span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">entity</span><span class="o">.</span><span class="n">find_fixed_tendons</span><span class="p">(</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">preserve_order</span>
+                <span class="p">)</span>
+                <span class="n">fixed_tendon_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">entity</span><span class="o">.</span><span class="n">fixed_tendon_names</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span><span class="p">]</span>
+                <span class="k">if</span> <span class="n">fixed_tendon_ids</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span> <span class="ow">or</span> <span class="n">fixed_tendon_names</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="s2">&quot;Both &#39;fixed_tendon_names&#39; and &#39;fixed_tendon_ids&#39; are specified, and are not consistent.&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">from joint names: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="n">fixed_tendon_ids</span><span class="si">}</span><span class="s2">]&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">from joint ids: </span><span class="si">{</span><span class="n">fixed_tendon_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span><span class="si">}</span><span class="s2">]&quot;</span>
+                        <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">Hint: Use either &#39;fixed_tendon_names&#39; or &#39;fixed_tendon_ids&#39; to avoid confusion.&quot;</span>
+                    <span class="p">)</span>
+            <span class="c1"># -- from fixed tendon names to fixed tendon indices</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span><span class="p">]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">entity</span><span class="o">.</span><span class="n">find_fixed_tendons</span><span class="p">(</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">preserve_order</span>
+                <span class="p">)</span>
+                <span class="c1"># performance optimization (slice offers faster indexing than list of indices)</span>
+                <span class="c1"># only all fixed tendon in the entity order are selected</span>
+                <span class="k">if</span> <span class="p">(</span>
+                    <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span><span class="p">)</span> <span class="o">==</span> <span class="n">entity</span><span class="o">.</span><span class="n">num_fixed_tendons</span>
+                    <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span> <span class="o">==</span> <span class="n">entity</span><span class="o">.</span><span class="n">fixed_tendon_names</span>
+                <span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="c1"># -- from fixed tendon indices to fixed tendon names</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span><span class="p">]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">entity</span><span class="o">.</span><span class="n">fixed_tendon_names</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">fixed_tendon_ids</span><span class="p">]</span>
+
+    <span class="k">def</span> <span class="nf">_resolve_body_names</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+        <span class="c1"># convert body names to indices based on regex</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">entity</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+            <span class="c1"># -- if both are not their default values, check if they are valid</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="p">]</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span><span class="p">]</span>
+                <span class="n">body_ids</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">entity</span><span class="o">.</span><span class="n">find_bodies</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">preserve_order</span><span class="p">)</span>
+                <span class="n">body_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">entity</span><span class="o">.</span><span class="n">body_names</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span><span class="p">]</span>
+                <span class="k">if</span> <span class="n">body_ids</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span> <span class="ow">or</span> <span class="n">body_names</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="s2">&quot;Both &#39;body_names&#39; and &#39;body_ids&#39; are specified, and are not consistent.&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">from body names: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="n">body_ids</span><span class="si">}</span><span class="s2">]&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">from body ids: </span><span class="si">{</span><span class="n">body_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span><span class="si">}</span><span class="s2">]&quot;</span>
+                        <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">Hint: Use either &#39;body_names&#39; or &#39;body_ids&#39; to avoid confusion.&quot;</span>
+                    <span class="p">)</span>
+            <span class="c1"># -- from body names to body indices</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="p">]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">entity</span><span class="o">.</span><span class="n">find_bodies</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">preserve_order</span><span class="p">)</span>
+                <span class="c1"># performance optimization (slice offers faster indexing than list of indices)</span>
+                <span class="c1"># only all bodies in the entity order are selected</span>
+                <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span><span class="p">)</span> <span class="o">==</span> <span class="n">entity</span><span class="o">.</span><span class="n">num_bodies</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span> <span class="o">==</span> <span class="n">entity</span><span class="o">.</span><span class="n">body_names</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="c1"># -- from body indices to body names</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span><span class="p">]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">entity</span><span class="o">.</span><span class="n">body_names</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_ids</span><span class="p">]</span>
+
+    <span class="k">def</span> <span class="nf">_resolve_object_collection_names</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+        <span class="c1"># convert object names to indices based on regex</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+            <span class="n">entity</span><span class="p">:</span> <span class="n">RigidObjectCollection</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">name</span><span class="p">]</span>
+            <span class="c1"># -- if both are not their default values, check if they are valid</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span><span class="p">]</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span><span class="p">]</span>
+                <span class="n">object_ids</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">entity</span><span class="o">.</span><span class="n">find_objects</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">preserve_order</span><span class="p">)</span>
+                <span class="n">object_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">entity</span><span class="o">.</span><span class="n">object_names</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span><span class="p">]</span>
+                <span class="k">if</span> <span class="n">object_ids</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span> <span class="ow">or</span> <span class="n">object_names</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="s2">&quot;Both &#39;object_collection_names&#39; and &#39;object_collection_ids&#39; are specified, and are not&quot;</span>
+                        <span class="s2">&quot; consistent.</span><span class="se">\n\t</span><span class="s2">from object collection names:&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot; </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="n">object_ids</span><span class="si">}</span><span class="s2">]</span><span class="se">\n\t</span><span class="s2">from object collection ids:&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot; </span><span class="si">{</span><span class="n">object_names</span><span class="si">}</span><span class="s2"> [</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span><span class="si">}</span><span class="s2">]</span><span class="se">\n</span><span class="s2">Hint: Use either &#39;object_collection_names&#39; or&quot;</span>
+                        <span class="s2">&quot; &#39;object_collection_ids&#39; to avoid confusion.&quot;</span>
+                    <span class="p">)</span>
+            <span class="c1"># -- from object names to object indices</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span><span class="p">]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">entity</span><span class="o">.</span><span class="n">find_objects</span><span class="p">(</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">preserve_order</span>
+                <span class="p">)</span>
+            <span class="c1"># -- from object indices to object names</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span> <span class="o">!=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">):</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span><span class="p">]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">entity</span><span class="o">.</span><span class="n">object_names</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">object_collection_ids</span><span class="p">]</span></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.managers.termination_manager</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Termination manager for computing done signals for a given world.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">prettytable</span> <span class="kn">import</span> <span class="n">PrettyTable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">.manager_base</span> <span class="kn">import</span> <span class="n">ManagerBase</span><span class="p">,</span> <span class="n">ManagerTermBase</span>
+<span class="kn">from</span> <span class="nn">.manager_term_cfg</span> <span class="kn">import</span> <span class="n">TerminationTermCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnv</span>
+
+
+<div class="viewcode-block" id="TerminationManager"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager">[docs]</a><span class="k">class</span> <span class="nc">TerminationManager</span><span class="p">(</span><span class="n">ManagerBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Manager for computing done signals for a given world.</span>
+
+<span class="sd">    The termination manager computes the termination signal (also called dones) as a combination</span>
+<span class="sd">    of termination terms. Each termination term is a function which takes the environment as an</span>
+<span class="sd">    argument and returns a boolean tensor of shape (num_envs,). The termination manager</span>
+<span class="sd">    computes the termination signal as the union (logical or) of all the termination terms.</span>
+
+<span class="sd">    Following the `Gymnasium API &lt;https://gymnasium.farama.org/tutorials/gymnasium_basics/handling_time_limits/&gt;`_,</span>
+<span class="sd">    the termination signal is computed as the logical OR of the following signals:</span>
+
+<span class="sd">    * **Time-out**: This signal is set to true if the environment has ended after an externally defined condition</span>
+<span class="sd">      (that is outside the scope of a MDP). For example, the environment may be terminated if the episode has</span>
+<span class="sd">      timed out (i.e. reached max episode length).</span>
+<span class="sd">    * **Terminated**: This signal is set to true if the environment has reached a terminal state defined by the</span>
+<span class="sd">      environment. This state may correspond to task success, task failure, robot falling, etc.</span>
+
+<span class="sd">    These signals can be individually accessed using the :attr:`time_outs` and :attr:`terminated` properties.</span>
+
+<span class="sd">    The termination terms are parsed from a config class containing the manager&#39;s settings and each term&#39;s</span>
+<span class="sd">    parameters. Each termination term should instantiate the :class:`TerminationTermCfg` class. The term&#39;s</span>
+<span class="sd">    configuration :attr:`TerminationTermCfg.time_out` decides whether the term is a timeout or a termination term.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">_env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The environment instance.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="TerminationManager.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the termination manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration object or dictionary (``dict[str, TerminationTermCfg]``).</span>
+<span class="sd">            env: An environment object.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># create buffers to parse and store terms</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">TerminationTermCfg</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_class_term_cfgs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">TerminationTermCfg</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+
+        <span class="c1"># call the base class constructor (this will parse the terms config)</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+        <span class="c1"># prepare extra info to store individual termination term information</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_dones</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">term_name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_term_dones</span><span class="p">[</span><span class="n">term_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">bool</span><span class="p">)</span>
+        <span class="c1"># create buffer for managing termination per environment</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_truncated_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">bool</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_terminated_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_truncated_buf</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string representation for termination manager.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;&lt;TerminationManager&gt; contains </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">)</span><span class="si">}</span><span class="s2"> active terms.</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="c1"># create table for term information</span>
+        <span class="n">table</span> <span class="o">=</span> <span class="n">PrettyTable</span><span class="p">()</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">title</span> <span class="o">=</span> <span class="s2">&quot;Active Termination Terms&quot;</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">field_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;Index&quot;</span><span class="p">,</span> <span class="s2">&quot;Name&quot;</span><span class="p">,</span> <span class="s2">&quot;Time Out&quot;</span><span class="p">]</span>
+        <span class="c1"># set alignment of table columns</span>
+        <span class="n">table</span><span class="o">.</span><span class="n">align</span><span class="p">[</span><span class="s2">&quot;Name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;l&quot;</span>
+        <span class="c1"># add info on each term</span>
+        <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">term_cfg</span><span class="p">)</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="nb">zip</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">)):</span>
+            <span class="n">table</span><span class="o">.</span><span class="n">add_row</span><span class="p">([</span><span class="n">index</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">time_out</span><span class="p">])</span>
+        <span class="c1"># convert table to string</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="n">table</span><span class="o">.</span><span class="n">get_string</span><span class="p">()</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">active_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Name of active termination terms.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">dones</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The net termination signal. Shape is (num_envs,).&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_truncated_buf</span> <span class="o">|</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terminated_buf</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">time_outs</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The timeout signal (reaching max episode length). Shape is (num_envs,).</span>
+
+<span class="sd">        This signal is set to true if the environment has ended after an externally defined condition</span>
+<span class="sd">        (that is outside the scope of a MDP). For example, the environment may be terminated if the episode has</span>
+<span class="sd">        timed out (i.e. reached max episode length).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_truncated_buf</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">terminated</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The terminated signal (reaching a terminal state). Shape is (num_envs,).</span>
+
+<span class="sd">        This signal is set to true if the environment has reached a terminal state defined by the environment.</span>
+<span class="sd">        This state may correspond to task success, task failure, robot falling, etc.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terminated_buf</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="TerminationManager.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the episodic counts of individual termination terms.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment ids. Defaults to None, in which case</span>
+<span class="sd">                all environments are considered.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Dictionary of episodic sum of individual reward terms.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve environment ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># add to episode dict</span>
+        <span class="n">extras</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_dones</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+            <span class="c1"># store information</span>
+            <span class="n">extras</span><span class="p">[</span><span class="s2">&quot;Episode_Termination/&quot;</span> <span class="o">+</span> <span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">count_nonzero</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_dones</span><span class="p">[</span><span class="n">key</span><span class="p">][</span><span class="n">env_ids</span><span class="p">])</span><span class="o">.</span><span class="n">item</span><span class="p">()</span>
+        <span class="c1"># reset all the reward terms</span>
+        <span class="k">for</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_class_term_cfgs</span><span class="p">:</span>
+            <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># return logged information</span>
+        <span class="k">return</span> <span class="n">extras</span></div>
+
+<div class="viewcode-block" id="TerminationManager.compute"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Computes the termination signal as union of individual terms.</span>
+
+<span class="sd">        This function calls each termination term managed by the class and performs a logical OR operation</span>
+<span class="sd">        to compute the net termination signal.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The combined termination signal of shape (num_envs,).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># reset computation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_truncated_buf</span><span class="p">[:]</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_terminated_buf</span><span class="p">[:]</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="c1"># iterate over all the termination terms</span>
+        <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">):</span>
+            <span class="n">value</span> <span class="o">=</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_env</span><span class="p">,</span> <span class="o">**</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">params</span><span class="p">)</span>
+            <span class="c1"># store timeout signal separately</span>
+            <span class="k">if</span> <span class="n">term_cfg</span><span class="o">.</span><span class="n">time_out</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_truncated_buf</span> <span class="o">|=</span> <span class="n">value</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_terminated_buf</span> <span class="o">|=</span> <span class="n">value</span>
+            <span class="c1"># add to episode dones</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_term_dones</span><span class="p">[</span><span class="n">name</span><span class="p">][:]</span> <span class="o">=</span> <span class="n">value</span>
+        <span class="c1"># return combined termination signal</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_truncated_buf</span> <span class="o">|</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terminated_buf</span></div>
+
+<div class="viewcode-block" id="TerminationManager.get_term"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.get_term">[docs]</a>    <span class="k">def</span> <span class="nf">get_term</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the termination term with the specified name.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name: The name of the termination term.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The corresponding termination term value. Shape is (num_envs,).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_dones</span><span class="p">[</span><span class="n">name</span><span class="p">]</span></div>
+
+<div class="viewcode-block" id="TerminationManager.get_active_iterable_terms"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.get_active_iterable_terms">[docs]</a>    <span class="k">def</span> <span class="nf">get_active_iterable_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_idx</span><span class="p">:</span> <span class="nb">int</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">float</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the active terms as iterable sequence of tuples.</span>
+
+<span class="sd">        The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_idx: The specific environment to pull the active terms from.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The active terms.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">terms</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_dones</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+            <span class="n">terms</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">key</span><span class="p">,</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_dones</span><span class="p">[</span><span class="n">key</span><span class="p">][</span><span class="n">env_idx</span><span class="p">]</span><span class="o">.</span><span class="n">float</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">item</span><span class="p">()]))</span>
+        <span class="k">return</span> <span class="n">terms</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Term settings.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="TerminationManager.set_term_cfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.set_term_cfg">[docs]</a>    <span class="k">def</span> <span class="nf">set_term_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">term_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">TerminationTermCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets the configuration of the specified term into the manager.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            term_name: The name of the termination term.</span>
+<span class="sd">            cfg: The configuration for the termination term.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the term name is not found.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">term_name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Termination term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; not found.&quot;</span><span class="p">)</span>
+        <span class="c1"># set the configuration</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="o">.</span><span class="n">index</span><span class="p">(</span><span class="n">term_name</span><span class="p">)]</span> <span class="o">=</span> <span class="n">cfg</span></div>
+
+<div class="viewcode-block" id="TerminationManager.get_term_cfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.get_term_cfg">[docs]</a>    <span class="k">def</span> <span class="nf">get_term_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">term_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">TerminationTermCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Gets the configuration for the specified term.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            term_name: The name of the termination term.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The configuration of the termination term.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the term name is not found.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">term_name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Termination term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; not found.&quot;</span><span class="p">)</span>
+        <span class="c1"># return the configuration</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="o">.</span><span class="n">index</span><span class="p">(</span><span class="n">term_name</span><span class="p">)]</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_prepare_terms</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># check if config is dict already</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">cfg_items</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="c1"># iterate over all the terms</span>
+        <span class="k">for</span> <span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span> <span class="ow">in</span> <span class="n">cfg_items</span><span class="p">:</span>
+            <span class="c1"># check for non config</span>
+            <span class="k">if</span> <span class="n">term_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">continue</span>
+            <span class="c1"># check for valid config type</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">,</span> <span class="n">TerminationTermCfg</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Configuration for the term &#39;</span><span class="si">{</span><span class="n">term_name</span><span class="si">}</span><span class="s2">&#39; is not of type TerminationTermCfg.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Received: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># resolve common parameters</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_resolve_common_term_cfg</span><span class="p">(</span><span class="n">term_name</span><span class="p">,</span> <span class="n">term_cfg</span><span class="p">,</span> <span class="n">min_argc</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+            <span class="c1"># add function to list</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_term_names</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_name</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_term_cfgs</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span>
+            <span class="c1"># check if the term is a class</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">term_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">,</span> <span class="n">ManagerTermBase</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_class_term_cfgs</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">term_cfg</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.markers.visualization_markers</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;A class to coordinate groups of visual markers (such as spheres, frames or arrows)</span>
+<span class="sd">using `UsdGeom.PointInstancer`_ class.</span>
+
+<span class="sd">The class :class:`VisualizationMarkers` is used to create a group of visual markers and</span>
+<span class="sd">visualize them in the viewport. The markers are represented as :class:`UsdGeom.PointInstancer` prims</span>
+<span class="sd">in the USD stage. The markers are created as prototypes in the :class:`UsdGeom.PointInstancer` prim</span>
+<span class="sd">and are instanced in the :class:`UsdGeom.PointInstancer` prim. The markers can be visualized by</span>
+<span class="sd">passing the indices of the marker prototypes and their translations, orientations and scales.</span>
+<span class="sd">The marker prototypes can be configured with the :class:`VisualizationMarkersCfg` class.</span>
+
+<span class="sd">.. _UsdGeom.PointInstancer: https://graphics.pixar.com/usd/dev/api/class_usd_geom_point_instancer.html</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="c1"># needed to import for allowing type-hinting: np.ndarray | torch.Tensor | None</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">import</span> <span class="nn">omni.kit.commands</span>
+<span class="kn">import</span> <span class="nn">omni.physx.scripts.utils</span> <span class="k">as</span> <span class="nn">physx_utils</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Gf</span><span class="p">,</span> <span class="n">PhysxSchema</span><span class="p">,</span> <span class="n">Sdf</span><span class="p">,</span> <span class="n">Usd</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="p">,</span> <span class="n">UsdPhysics</span><span class="p">,</span> <span class="n">Vt</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners</span> <span class="kn">import</span> <span class="n">SpawnerCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.configclass</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="n">convert_quat</span>
+
+
+<div class="viewcode-block" id="VisualizationMarkersCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">VisualizationMarkersCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A class to configure a :class:`VisualizationMarkers`.&quot;&quot;&quot;</span>
+
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The prim path where the :class:`UsdGeom.PointInstancer` will be created.&quot;&quot;&quot;</span>
+
+    <span class="n">markers</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">SpawnerCfg</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dictionary of marker configurations.</span>
+
+<span class="sd">    The key is the name of the marker, and the value is the configuration of the marker.</span>
+<span class="sd">    The key is used to identify the marker in the class.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="VisualizationMarkers"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers">[docs]</a><span class="k">class</span> <span class="nc">VisualizationMarkers</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A class to coordinate groups of visual markers (loaded from USD).</span>
+
+<span class="sd">    This class allows visualization of different UI markers in the scene, such as points and frames.</span>
+<span class="sd">    The class wraps around the `UsdGeom.PointInstancer`_ for efficient handling of objects</span>
+<span class="sd">    in the stage via instancing the created marker prototype prims.</span>
+
+<span class="sd">    A marker prototype prim is a reusable template prim used for defining variations of objects</span>
+<span class="sd">    in the scene. For example, a sphere prim can be used as a marker prototype prim to create</span>
+<span class="sd">    multiple sphere prims in the scene at different locations. Thus, prototype prims are useful</span>
+<span class="sd">    for creating multiple instances of the same prim in the scene.</span>
+
+<span class="sd">    The class parses the configuration to create different the marker prototypes into the stage. Each marker</span>
+<span class="sd">    prototype prim is created as a child of the :class:`UsdGeom.PointInstancer` prim. The prim path for the</span>
+<span class="sd">    the marker prim is resolved using the key of the marker in the :attr:`VisualizationMarkersCfg.markers`</span>
+<span class="sd">    dictionary. The marker prototypes are created using the :meth:`omni.isaac.core.utils.create_prim`</span>
+<span class="sd">    function, and then then instanced using :class:`UsdGeom.PointInstancer` prim to allow creating multiple</span>
+<span class="sd">    instances of the marker prims.</span>
+
+<span class="sd">    Switching between different marker prototypes is possible by calling the :meth:`visualize` method with</span>
+<span class="sd">    the prototype indices corresponding to the marker prototype. The prototype indices are based on the order</span>
+<span class="sd">    in the :attr:`VisualizationMarkersCfg.markers` dictionary. For example, if the dictionary has two markers,</span>
+<span class="sd">    &quot;marker1&quot; and &quot;marker2&quot;, then their prototype indices are 0 and 1 respectively. The prototype indices</span>
+<span class="sd">    can be passed as a list or array of integers.</span>
+
+<span class="sd">    Usage:</span>
+<span class="sd">        The following snippet shows how to create 24 sphere markers with a radius of 1.0 at random translations</span>
+<span class="sd">        within the range [-1.0, 1.0]. The first 12 markers will be colored red and the rest will be colored green.</span>
+
+<span class="sd">        .. code-block:: python</span>
+
+<span class="sd">            import omni.isaac.lab.sim as sim_utils</span>
+<span class="sd">            from omni.isaac.lab.markers import VisualizationMarkersCfg, VisualizationMarkers</span>
+
+<span class="sd">            # Create the markers configuration</span>
+<span class="sd">            # This creates two marker prototypes, &quot;marker1&quot; and &quot;marker2&quot; which are spheres with a radius of 1.0.</span>
+<span class="sd">            # The color of &quot;marker1&quot; is red and the color of &quot;marker2&quot; is green.</span>
+<span class="sd">            cfg = VisualizationMarkersCfg(</span>
+<span class="sd">                prim_path=&quot;/World/Visuals/testMarkers&quot;,</span>
+<span class="sd">                markers={</span>
+<span class="sd">                    &quot;marker1&quot;: sim_utils.SphereCfg(</span>
+<span class="sd">                        radius=1.0,</span>
+<span class="sd">                        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),</span>
+<span class="sd">                    ),</span>
+<span class="sd">                    &quot;marker2&quot;: VisualizationMarkersCfg.SphereCfg(</span>
+<span class="sd">                        radius=1.0,</span>
+<span class="sd">                        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),</span>
+<span class="sd">                    ),</span>
+<span class="sd">                }</span>
+<span class="sd">            )</span>
+<span class="sd">            # Create the markers instance</span>
+<span class="sd">            # This will create a UsdGeom.PointInstancer prim at the given path along with the marker prototypes.</span>
+<span class="sd">            marker = VisualizationMarkers(cfg)</span>
+
+<span class="sd">            # Set position of the marker</span>
+<span class="sd">            # -- randomly sample translations between -1.0 and 1.0</span>
+<span class="sd">            marker_translations = np.random.uniform(-1.0, 1.0, (24, 3))</span>
+<span class="sd">            # -- this will create 24 markers at the given translations</span>
+<span class="sd">            # note: the markers will all be `marker1` since the marker indices are not given</span>
+<span class="sd">            marker.visualize(translations=marker_translations)</span>
+
+<span class="sd">            # alter the markers based on their prototypes indices</span>
+<span class="sd">            # first 12 markers will be marker1 and the rest will be marker2</span>
+<span class="sd">            # 0 -&gt; marker1, 1 -&gt; marker2</span>
+<span class="sd">            marker_indices = [0] * 12 + [1] * 12</span>
+<span class="sd">            # this will change the marker prototypes at the given indices</span>
+<span class="sd">            # note: the translations of the markers will not be changed from the previous call</span>
+<span class="sd">            #  since the translations are not given.</span>
+<span class="sd">            marker.visualize(marker_indices=marker_indices)</span>
+
+<span class="sd">            # alter the markers based on their prototypes indices and translations</span>
+<span class="sd">            marker.visualize(marker_indices=marker_indices, translations=marker_translations)</span>
+
+<span class="sd">    .. _UsdGeom.PointInstancer: https://graphics.pixar.com/usd/dev/api/class_usd_geom_point_instancer.html</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="VisualizationMarkers.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the class.</span>
+
+<span class="sd">        When the class is initialized, the :class:`UsdGeom.PointInstancer` is created into the stage</span>
+<span class="sd">        and the marker prims are registered into it.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            If a prim already exists at the given path, the function will find the next free path</span>
+<span class="sd">            and create the :class:`UsdGeom.PointInstancer` prim there.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration for the markers.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: When no markers are provided in the :obj:`cfg`.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># get next free path for the prim</span>
+        <span class="n">prim_path</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_next_free_path</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+        <span class="c1"># create a new prim</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span> <span class="o">=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">PointInstancer</span><span class="o">.</span><span class="n">Define</span><span class="p">(</span><span class="n">stage</span><span class="p">,</span> <span class="n">prim_path</span><span class="p">)</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">=</span> <span class="n">prim_path</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="c1"># check if any markers is provided</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The `cfg.markers` cannot be empty. Received: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">markers</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="c1"># create a child prim for the marker</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_add_markers_prototypes</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">)</span>
+        <span class="c1"># Note: We need to do this the first time to initialize the instancer.</span>
+        <span class="c1">#   Otherwise, the instancer will not be &quot;created&quot; and the function `GetInstanceIndices()` will fail.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="o">.</span><span class="n">GetProtoIndicesAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="nb">list</span><span class="p">(</span><span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_prototypes</span><span class="p">)))</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="o">.</span><span class="n">GetPositionsAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">([</span><span class="n">Gf</span><span class="o">.</span><span class="n">Vec3f</span><span class="p">(</span><span class="mf">0.0</span><span class="p">)]</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_prototypes</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_count</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_prototypes</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Return: A string representation of the class.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;VisualizationMarkers(prim_path=</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">)&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Count: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Number of prototypes: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_prototypes</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Markers Prototypes:&quot;</span>
+        <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">marker</span><span class="p">)</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">markers</span><span class="o">.</span><span class="n">items</span><span class="p">()):</span>
+            <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t\t</span><span class="s2">[Index: </span><span class="si">{</span><span class="n">index</span><span class="si">}</span><span class="s2">]: </span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">marker</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_prototypes</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The number of marker prototypes available.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">count</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The total number of marker instances.&quot;&quot;&quot;</span>
+        <span class="c1"># TODO: Update this when the USD API is available (Isaac Sim 2023.1)</span>
+        <span class="c1"># return self._instancer_manager.GetInstanceCount()</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_count</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="VisualizationMarkers.set_visibility"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.set_visibility">[docs]</a>    <span class="k">def</span> <span class="nf">set_visibility</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">visible</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets the visibility of the markers.</span>
+
+<span class="sd">        The method does this through the USD API.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            visible: flag to set the visibility.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">imageable</span> <span class="o">=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Imageable</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">visible</span><span class="p">:</span>
+            <span class="n">imageable</span><span class="o">.</span><span class="n">MakeVisible</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">imageable</span><span class="o">.</span><span class="n">MakeInvisible</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="VisualizationMarkers.is_visible"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.is_visible">[docs]</a>    <span class="k">def</span> <span class="nf">is_visible</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Checks the visibility of the markers.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            True if the markers are visible, False otherwise.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="o">.</span><span class="n">GetVisibilityAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">()</span> <span class="o">!=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Tokens</span><span class="o">.</span><span class="n">invisible</span></div>
+
+<div class="viewcode-block" id="VisualizationMarkers.visualize"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.visualize">[docs]</a>    <span class="k">def</span> <span class="nf">visualize</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">translations</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">orientations</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">scales</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">marker_indices</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Update markers in the viewport.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            If the prim `PointInstancer` is hidden in the stage, the function will simply return</span>
+<span class="sd">            without updating the markers. This helps in unnecessary computation when the markers</span>
+<span class="sd">            are not visible.</span>
+
+<span class="sd">        Whenever updating the markers, the input arrays must have the same number of elements</span>
+<span class="sd">        in the first dimension. If the number of elements is different, the `UsdGeom.PointInstancer`</span>
+<span class="sd">        will raise an error complaining about the mismatch.</span>
+
+<span class="sd">        Additionally, the function supports dynamic update of the markers. This means that the</span>
+<span class="sd">        number of markers can change between calls. For example, if you have 24 points that you</span>
+<span class="sd">        want to visualize, you can pass 24 translations, orientations, and scales. If you want to</span>
+<span class="sd">        visualize only 12 points, you can pass 12 translations, orientations, and scales. The</span>
+<span class="sd">        function will automatically update the number of markers in the scene.</span>
+
+<span class="sd">        The function will also update the marker prototypes based on their prototype indices. For instance,</span>
+<span class="sd">        if you have two marker prototypes, and you pass the following marker indices: [0, 1, 0, 1], the function</span>
+<span class="sd">        will update the first and third markers with the first prototype, and the second and fourth markers</span>
+<span class="sd">        with the second prototype. This is useful when you want to visualize different markers in the same</span>
+<span class="sd">        scene. The list of marker indices must have the same number of elements as the translations, orientations,</span>
+<span class="sd">        or scales. If the number of elements is different, the function will raise an error.</span>
+
+<span class="sd">        .. caution::</span>
+<span class="sd">            This function will update all the markers instanced from the prototypes. That means</span>
+<span class="sd">            if you have 24 markers, you will need to pass 24 translations, orientations, and scales.</span>
+
+<span class="sd">            If you want to update only a subset of the markers, you will need to handle the indices</span>
+<span class="sd">            yourself and pass the complete arrays to this function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            translations: Translations w.r.t. parent prim frame. Shape is (M, 3).</span>
+<span class="sd">                Defaults to None, which means left unchanged.</span>
+<span class="sd">            orientations: Quaternion orientations (w, x, y, z) w.r.t. parent prim frame. Shape is (M, 4).</span>
+<span class="sd">                Defaults to None, which means left unchanged.</span>
+<span class="sd">            scales: Scale applied before any rotation is applied. Shape is (M, 3).</span>
+<span class="sd">                Defaults to None, which means left unchanged.</span>
+<span class="sd">            marker_indices: Decides which marker prototype to visualize. Shape is (M).</span>
+<span class="sd">                Defaults to None, which means left unchanged provided that the total number of markers</span>
+<span class="sd">                is the same as the previous call. If the number of markers is different, the function</span>
+<span class="sd">                will update the number of markers in the scene.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: When input arrays do not follow the expected shapes.</span>
+<span class="sd">            ValueError: When the function is called with all None arguments.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if it is visible (if not then let&#39;s not waste time)</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">is_visible</span><span class="p">():</span>
+            <span class="k">return</span>
+        <span class="c1"># check if we have any markers to visualize</span>
+        <span class="n">num_markers</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># resolve inputs</span>
+        <span class="c1"># -- position</span>
+        <span class="k">if</span> <span class="n">translations</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">translations</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                <span class="n">translations</span> <span class="o">=</span> <span class="n">translations</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+            <span class="c1"># check that shape is correct</span>
+            <span class="k">if</span> <span class="n">translations</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">!=</span> <span class="mi">3</span> <span class="ow">or</span> <span class="nb">len</span><span class="p">(</span><span class="n">translations</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">2</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected `translations` to have shape (M, 3). Received: </span><span class="si">{</span><span class="n">translations</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+            <span class="c1"># apply translations</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="o">.</span><span class="n">GetPositionsAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">Vt</span><span class="o">.</span><span class="n">Vec3fArray</span><span class="o">.</span><span class="n">FromNumpy</span><span class="p">(</span><span class="n">translations</span><span class="p">))</span>
+            <span class="c1"># update number of markers</span>
+            <span class="n">num_markers</span> <span class="o">=</span> <span class="n">translations</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="c1"># -- orientation</span>
+        <span class="k">if</span> <span class="n">orientations</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">orientations</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                <span class="n">orientations</span> <span class="o">=</span> <span class="n">orientations</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+            <span class="c1"># check that shape is correct</span>
+            <span class="k">if</span> <span class="n">orientations</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">!=</span> <span class="mi">4</span> <span class="ow">or</span> <span class="nb">len</span><span class="p">(</span><span class="n">orientations</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">2</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected `orientations` to have shape (M, 4). Received: </span><span class="si">{</span><span class="n">orientations</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+            <span class="c1"># roll orientations from (w, x, y, z) to (x, y, z, w)</span>
+            <span class="c1"># internally USD expects (x, y, z, w)</span>
+            <span class="n">orientations</span> <span class="o">=</span> <span class="n">convert_quat</span><span class="p">(</span><span class="n">orientations</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;xyzw&quot;</span><span class="p">)</span>
+            <span class="c1"># apply orientations</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="o">.</span><span class="n">GetOrientationsAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">Vt</span><span class="o">.</span><span class="n">QuathArray</span><span class="o">.</span><span class="n">FromNumpy</span><span class="p">(</span><span class="n">orientations</span><span class="p">))</span>
+            <span class="c1"># update number of markers</span>
+            <span class="n">num_markers</span> <span class="o">=</span> <span class="n">orientations</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="c1"># -- scales</span>
+        <span class="k">if</span> <span class="n">scales</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">scales</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                <span class="n">scales</span> <span class="o">=</span> <span class="n">scales</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+            <span class="c1"># check that shape is correct</span>
+            <span class="k">if</span> <span class="n">scales</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">!=</span> <span class="mi">3</span> <span class="ow">or</span> <span class="nb">len</span><span class="p">(</span><span class="n">scales</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">2</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected `scales` to have shape (M, 3). Received: </span><span class="si">{</span><span class="n">scales</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+            <span class="c1"># apply scales</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="o">.</span><span class="n">GetScalesAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">Vt</span><span class="o">.</span><span class="n">Vec3fArray</span><span class="o">.</span><span class="n">FromNumpy</span><span class="p">(</span><span class="n">scales</span><span class="p">))</span>
+            <span class="c1"># update number of markers</span>
+            <span class="n">num_markers</span> <span class="o">=</span> <span class="n">scales</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="c1"># -- status</span>
+        <span class="k">if</span> <span class="n">marker_indices</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">num_markers</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_count</span><span class="p">:</span>
+            <span class="c1"># apply marker indices</span>
+            <span class="k">if</span> <span class="n">marker_indices</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">marker_indices</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                    <span class="n">marker_indices</span> <span class="o">=</span> <span class="n">marker_indices</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+                <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">marker_indices</span><span class="p">,</span> <span class="nb">list</span><span class="p">):</span>
+                    <span class="n">marker_indices</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">marker_indices</span><span class="p">)</span>
+                <span class="c1"># check that shape is correct</span>
+                <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">marker_indices</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">1</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected `marker_indices` to have shape (M,). Received: </span><span class="si">{</span><span class="n">marker_indices</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+                <span class="c1"># apply proto indices</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="o">.</span><span class="n">GetProtoIndicesAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">Vt</span><span class="o">.</span><span class="n">IntArray</span><span class="o">.</span><span class="n">FromNumpy</span><span class="p">(</span><span class="n">marker_indices</span><span class="p">))</span>
+                <span class="c1"># update number of markers</span>
+                <span class="n">num_markers</span> <span class="o">=</span> <span class="n">marker_indices</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="c1"># check that number of markers is not zero</span>
+                <span class="k">if</span> <span class="n">num_markers</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Number of markers cannot be zero! Hint: The function was called with no inputs?&quot;</span><span class="p">)</span>
+                <span class="c1"># set all markers to be the first prototype</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="o">.</span><span class="n">GetProtoIndicesAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">([</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="n">num_markers</span><span class="p">)</span>
+        <span class="c1"># set number of markers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_count</span> <span class="o">=</span> <span class="n">num_markers</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_add_markers_prototypes</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">markers_cfg</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SpawnerCfg</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Adds markers prototypes to the scene and sets the markers instancer to use them.&quot;&quot;&quot;</span>
+        <span class="c1"># add markers based on config</span>
+        <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">cfg</span> <span class="ow">in</span> <span class="n">markers_cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># resolve prim path</span>
+            <span class="n">marker_prim_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="c1"># create a child prim for the marker</span>
+            <span class="n">marker_prim</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="n">marker_prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="p">)</span>
+            <span class="c1"># make the asset uninstanceable (in case it is)</span>
+            <span class="c1"># point instancer defines its own prototypes so if an asset is already instanced, this doesn&#39;t work.</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_process_prototype_prim</span><span class="p">(</span><span class="n">marker_prim</span><span class="p">)</span>
+            <span class="c1"># add child reference to point instancer</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="o">.</span><span class="n">GetPrototypesRel</span><span class="p">()</span><span class="o">.</span><span class="n">AddTarget</span><span class="p">(</span><span class="n">marker_prim_path</span><span class="p">)</span>
+        <span class="c1"># check that we loaded all the prototypes</span>
+        <span class="n">prototypes</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_instancer_manager</span><span class="o">.</span><span class="n">GetPrototypesRel</span><span class="p">()</span><span class="o">.</span><span class="n">GetTargets</span><span class="p">()</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">prototypes</span><span class="p">)</span> <span class="o">!=</span> <span class="nb">len</span><span class="p">(</span><span class="n">markers_cfg</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Failed to load all the prototypes. Expected: </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">markers_cfg</span><span class="p">)</span><span class="si">}</span><span class="s2">. Received: </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">prototypes</span><span class="p">)</span><span class="si">}</span><span class="s2">.&quot;</span>
+            <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_process_prototype_prim</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">prim</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Process a prim and its descendants to make them suitable for defining prototypes.</span>
+
+<span class="sd">        Point instancer defines its own prototypes so if an asset is already instanced, this doesn&#39;t work.</span>
+<span class="sd">        This function checks if the prim at the specified prim path and its descendants are instanced.</span>
+<span class="sd">        If so, it makes the respective prim uninstanceable by disabling instancing on the prim.</span>
+
+<span class="sd">        Additionally, it makes the prim invisible to secondary rays. This is useful when we do not want</span>
+<span class="sd">        to see the marker prims on camera images.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            prim_path: The prim path to check.</span>
+<span class="sd">            stage: The stage where the prim exists.</span>
+<span class="sd">                Defaults to None, in which case the current stage is used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if prim is valid</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim at path &#39;</span><span class="si">{</span><span class="n">prim</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">()</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+        <span class="c1"># iterate over all prims under prim-path</span>
+        <span class="n">all_prims</span> <span class="o">=</span> <span class="p">[</span><span class="n">prim</span><span class="p">]</span>
+        <span class="k">while</span> <span class="nb">len</span><span class="p">(</span><span class="n">all_prims</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># get current prim</span>
+            <span class="n">child_prim</span> <span class="o">=</span> <span class="n">all_prims</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+            <span class="c1"># check if it is physics body -&gt; if so, remove it</span>
+            <span class="k">if</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">):</span>
+                <span class="n">child_prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">)</span>
+                <span class="n">child_prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxArticulationAPI</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">):</span>
+                <span class="n">child_prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">)</span>
+                <span class="n">child_prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxRigidBodyAPI</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">Joint</span><span class="p">):</span>
+                <span class="n">child_prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="s2">&quot;physics:jointEnabled&quot;</span><span class="p">)</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+            <span class="c1"># check if prim is instanced -&gt; if so, make it uninstanceable</span>
+            <span class="k">if</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">IsInstance</span><span class="p">():</span>
+                <span class="n">child_prim</span><span class="o">.</span><span class="n">SetInstanceable</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+            <span class="c1"># check if prim is a mesh -&gt; if so, make it invisible to secondary rays</span>
+            <span class="k">if</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">UsdGeom</span><span class="o">.</span><span class="n">Gprim</span><span class="p">):</span>
+                <span class="c1"># invisible to secondary rays such as depth images</span>
+                <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span>
+                    <span class="s2">&quot;ChangePropertyCommand&quot;</span><span class="p">,</span>
+                    <span class="n">prop_path</span><span class="o">=</span><span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">child_prim</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span><span class="si">}</span><span class="s2">.primvars:invisibleToSecondaryRays&quot;</span><span class="p">),</span>
+                    <span class="n">value</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+                    <span class="n">prev</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+                    <span class="n">type_to_create_if_not_exist</span><span class="o">=</span><span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Bool</span><span class="p">,</span>
+                <span class="p">)</span>
+            <span class="c1"># add children to list</span>
+            <span class="n">all_prims</span> <span class="o">+=</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">GetChildren</span><span class="p">()</span>
+
+        <span class="c1"># remove any physics on the markers because they are only for visualization!</span>
+        <span class="n">physx_utils</span><span class="o">.</span><span class="n">removeRigidBodySubtree</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
+              
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new file mode 100644
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+                  
+  <h1>Source code for omni.isaac.lab.scene.interactive_scene</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni.usd</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.cloner</span> <span class="kn">import</span> <span class="n">GridCloner</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.core.prims</span> <span class="kn">import</span> <span class="n">XFormPrimView</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">PhysxSchema</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="p">(</span>
+    <span class="n">Articulation</span><span class="p">,</span>
+    <span class="n">ArticulationCfg</span><span class="p">,</span>
+    <span class="n">AssetBaseCfg</span><span class="p">,</span>
+    <span class="n">DeformableObject</span><span class="p">,</span>
+    <span class="n">DeformableObjectCfg</span><span class="p">,</span>
+    <span class="n">RigidObject</span><span class="p">,</span>
+    <span class="n">RigidObjectCfg</span><span class="p">,</span>
+    <span class="n">RigidObjectCollection</span><span class="p">,</span>
+    <span class="n">RigidObjectCollectionCfg</span><span class="p">,</span>
+<span class="p">)</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors</span> <span class="kn">import</span> <span class="n">ContactSensorCfg</span><span class="p">,</span> <span class="n">FrameTransformerCfg</span><span class="p">,</span> <span class="n">SensorBase</span><span class="p">,</span> <span class="n">SensorBaseCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.terrains</span> <span class="kn">import</span> <span class="n">TerrainImporter</span><span class="p">,</span> <span class="n">TerrainImporterCfg</span>
+
+<span class="kn">from</span> <span class="nn">.interactive_scene_cfg</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+
+
+<div class="viewcode-block" id="InteractiveScene"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene">[docs]</a><span class="k">class</span> <span class="nc">InteractiveScene</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A scene that contains entities added to the simulation.</span>
+
+<span class="sd">    The interactive scene parses the :class:`InteractiveSceneCfg` class to create the scene.</span>
+<span class="sd">    Based on the specified number of environments, it clones the entities and groups them into different</span>
+<span class="sd">    categories (e.g., articulations, sensors, etc.).</span>
+
+<span class="sd">    Cloning can be performed in two ways:</span>
+
+<span class="sd">    * For tasks where all environments contain the same assets, a more performant cloning paradigm</span>
+<span class="sd">      can be used to allow for faster environment creation. This is specified by the ``replicate_physics`` flag.</span>
+
+<span class="sd">      .. code-block:: python</span>
+
+<span class="sd">          scene = InteractiveScene(cfg=InteractiveSceneCfg(replicate_physics=True))</span>
+
+<span class="sd">    * For tasks that require having separate assets in the environments, ``replicate_physics`` would have to</span>
+<span class="sd">      be set to False, which will add some costs to the overall startup time.</span>
+
+<span class="sd">      .. code-block:: python</span>
+
+<span class="sd">          scene = InteractiveScene(cfg=InteractiveSceneCfg(replicate_physics=False))</span>
+
+<span class="sd">    Each entity is registered to scene based on its name in the configuration class. For example, if the user</span>
+<span class="sd">    specifies a robot in the configuration class as follows:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        from omni.isaac.lab.scene import InteractiveSceneCfg</span>
+<span class="sd">        from omni.isaac.lab.utils import configclass</span>
+
+<span class="sd">        from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG</span>
+
+<span class="sd">        @configclass</span>
+<span class="sd">        class MySceneCfg(InteractiveSceneCfg):</span>
+
+<span class="sd">            robot = ANYMAL_C_CFG.replace(prim_path=&quot;{ENV_REGEX_NS}/Robot&quot;)</span>
+
+<span class="sd">    Then the robot can be accessed from the scene as follows:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        from omni.isaac.lab.scene import InteractiveScene</span>
+
+<span class="sd">        # create 128 environments</span>
+<span class="sd">        scene = InteractiveScene(cfg=MySceneCfg(num_envs=128))</span>
+
+<span class="sd">        # access the robot from the scene</span>
+<span class="sd">        robot = scene[&quot;robot&quot;]</span>
+<span class="sd">        # access the robot based on its type</span>
+<span class="sd">        robot = scene.articulations[&quot;robot&quot;]</span>
+
+<span class="sd">    If the :class:`InteractiveSceneCfg` class does not include asset entities, the cloning process</span>
+<span class="sd">    can still be triggered if assets were added to the stage outside of the :class:`InteractiveScene` class:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        scene = InteractiveScene(cfg=InteractiveSceneCfg(num_envs=128, replicate_physics=True))</span>
+<span class="sd">        scene.clone_environments()</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        It is important to note that the scene only performs common operations on the entities. For example,</span>
+<span class="sd">        resetting the internal buffers, writing the buffers to the simulation and updating the buffers from the</span>
+<span class="sd">        simulation. The scene does not perform any task specific to the entity. For example, it does not apply</span>
+<span class="sd">        actions to the robot or compute observations from the robot. These tasks are handled by different</span>
+<span class="sd">        modules called &quot;managers&quot; in the framework. Please refer to the :mod:`omni.isaac.lab.managers` sub-package</span>
+<span class="sd">        for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="InteractiveScene.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the scene.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration class for the scene.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that the config is valid</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">validate</span><span class="p">()</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="c1"># initialize scene elements</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_terrain</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_articulations</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_deformable_objects</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_objects</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_object_collections</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sensors</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_extras</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># obtain the current stage</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">stage</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">get_context</span><span class="p">()</span><span class="o">.</span><span class="n">get_stage</span><span class="p">()</span>
+        <span class="c1"># physics scene path</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_scene_path</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># prepare cloner for environment replication</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cloner</span> <span class="o">=</span> <span class="n">GridCloner</span><span class="p">(</span><span class="n">spacing</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">env_spacing</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cloner</span><span class="o">.</span><span class="n">define_base_env</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env_ns</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">env_prim_paths</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cloner</span><span class="o">.</span><span class="n">generate_paths</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">env_ns</span><span class="si">}</span><span class="s2">/env&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_envs</span><span class="p">)</span>
+        <span class="c1"># create source prim</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">stage</span><span class="o">.</span><span class="n">DefinePrim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env_prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+
+        <span class="c1"># when replicate_physics=False, we assume heterogeneous environments and clone the xforms first.</span>
+        <span class="c1"># this triggers per-object level cloning in the spawner.</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">replicate_physics</span><span class="p">:</span>
+            <span class="c1"># clone the env xform</span>
+            <span class="n">env_origins</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cloner</span><span class="o">.</span><span class="n">clone</span><span class="p">(</span>
+                <span class="n">source_prim_path</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span>
+                <span class="n">prim_paths</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_prim_paths</span><span class="p">,</span>
+                <span class="n">replicate_physics</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+                <span class="n">copy_from_source</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_default_env_origins</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">env_origins</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># otherwise, environment origins will be initialized during cloning at the end of environment creation</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_default_env_origins</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_global_prim_paths</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_scene_setup_from_cfg</span><span class="p">():</span>
+            <span class="c1"># add entities from config</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_add_entities_from_cfg</span><span class="p">()</span>
+            <span class="c1"># clone environments on a global scope if environment is homogeneous</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">replicate_physics</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">clone_environments</span><span class="p">(</span><span class="n">copy_from_source</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+            <span class="c1"># replicate physics if we have more than one environment</span>
+            <span class="c1"># this is done to make scene initialization faster at play time</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">replicate_physics</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cloner</span><span class="o">.</span><span class="n">replicate_physics</span><span class="p">(</span>
+                    <span class="n">source_prim_path</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span>
+                    <span class="n">prim_paths</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_prim_paths</span><span class="p">,</span>
+                    <span class="n">base_env_path</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_ns</span><span class="p">,</span>
+                    <span class="n">root_path</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_regex_ns</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;&quot;</span><span class="p">),</span>
+                <span class="p">)</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">filter_collisions</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_global_prim_paths</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="InteractiveScene.clone_environments"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.clone_environments">[docs]</a>    <span class="k">def</span> <span class="nf">clone_environments</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">copy_from_source</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Creates clones of the environment ``/World/envs/env_0``.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            copy_from_source: (bool): If set to False, clones inherit from /World/envs/env_0 and mirror its changes.</span>
+<span class="sd">            If True, clones are independent copies of the source prim and won&#39;t reflect its changes (start-up time</span>
+<span class="sd">            may increase). Defaults to False.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if user spawned different assets in individual environments</span>
+        <span class="c1"># this flag will be None if no multi asset is spawned</span>
+        <span class="n">carb_settings_iface</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">get_settings</span><span class="p">()</span>
+        <span class="n">has_multi_assets</span> <span class="o">=</span> <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;/isaaclab/spawn/multi_assets&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">has_multi_assets</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">replicate_physics</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;Varying assets might have been spawned under different environments.&quot;</span>
+                <span class="s2">&quot; However, the replicate physics flag is enabled in the &#39;InteractiveScene&#39; configuration.&quot;</span>
+                <span class="s2">&quot; This may adversely affect PhysX parsing. We recommend disabling this property.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># clone the environment</span>
+        <span class="n">env_origins</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cloner</span><span class="o">.</span><span class="n">clone</span><span class="p">(</span>
+            <span class="n">source_prim_path</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span>
+            <span class="n">prim_paths</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_prim_paths</span><span class="p">,</span>
+            <span class="n">replicate_physics</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">replicate_physics</span><span class="p">,</span>
+            <span class="n">copy_from_source</span><span class="o">=</span><span class="n">copy_from_source</span><span class="p">,</span>
+        <span class="p">)</span>
+
+        <span class="c1"># in case of heterogeneous cloning, the env origins is specified at init</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_default_env_origins</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_default_env_origins</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">env_origins</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="InteractiveScene.filter_collisions"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.filter_collisions">[docs]</a>    <span class="k">def</span> <span class="nf">filter_collisions</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">global_prim_paths</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Filter environments collisions.</span>
+
+<span class="sd">        Disables collisions between the environments in ``/World/envs/env_.*`` and enables collisions with the prims</span>
+<span class="sd">        in global prim paths (e.g. ground plane).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            global_prim_paths: A list of global prim paths to enable collisions with.</span>
+<span class="sd">                Defaults to None, in which case no global prim paths are considered.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># validate paths in global prim paths</span>
+        <span class="k">if</span> <span class="n">global_prim_paths</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">global_prim_paths</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># remove duplicates in paths</span>
+            <span class="n">global_prim_paths</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="nb">set</span><span class="p">(</span><span class="n">global_prim_paths</span><span class="p">))</span>
+
+        <span class="c1"># set global prim paths list if not previously defined</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_global_prim_paths</span><span class="p">)</span> <span class="o">&lt;</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_global_prim_paths</span> <span class="o">+=</span> <span class="n">global_prim_paths</span>
+
+        <span class="c1"># filter collisions within each environment instance</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cloner</span><span class="o">.</span><span class="n">filter_collisions</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">physics_scene_path</span><span class="p">,</span>
+            <span class="s2">&quot;/World/collisions&quot;</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">env_prim_paths</span><span class="p">,</span>
+            <span class="n">global_paths</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_global_prim_paths</span><span class="p">,</span>
+        <span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns a string representation of the scene.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;&lt;class </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">&gt;</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Number of environments: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_envs</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Environment spacing   : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">env_spacing</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Source prim name      : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">env_prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Global prim paths     : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_global_prim_paths</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Replicate physics     : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">replicate_physics</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">physics_scene_path</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The path to the USD Physics Scene.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_scene_path</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">for</span> <span class="n">prim</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">stage</span><span class="o">.</span><span class="n">Traverse</span><span class="p">():</span>
+                <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxSceneAPI</span><span class="p">):</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_physics_scene_path</span> <span class="o">=</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+                    <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Physics scene prim path: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_physics_scene_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+                    <span class="k">break</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_scene_path</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;No physics scene found! Please make sure one exists.&quot;</span><span class="p">)</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_scene_path</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">physics_dt</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The physics timestep of the scene.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>  <span class="c1"># pyright: ignore [reportOptionalMemberAccess]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The device on which the scene is created.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span><span class="o">.</span><span class="n">device</span>  <span class="c1"># pyright: ignore [reportOptionalMemberAccess]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">env_ns</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The namespace ``/World/envs`` in which all environments created.</span>
+
+<span class="sd">        The environments are present w.r.t. this namespace under &quot;env_{N}&quot; prim,</span>
+<span class="sd">        where N is a natural number.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="s2">&quot;/World/envs&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">env_regex_ns</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The namespace ``/World/envs/env_.*`` in which all environments created.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">env_ns</span><span class="si">}</span><span class="s2">/env_.*&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_envs</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The number of environments handled by the scene.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_envs</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">env_origins</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The origins of the environments in the scene. Shape is (num_envs, 3).&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terrain</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terrain</span><span class="o">.</span><span class="n">env_origins</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_default_env_origins</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">terrain</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">TerrainImporter</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The terrain in the scene. If None, then the scene has no terrain.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            We treat terrain separate from :attr:`extras` since terrains define environment origins and are</span>
+<span class="sd">            handled differently from other miscellaneous entities.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terrain</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">articulations</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Articulation</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;A dictionary of articulations in the scene.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_articulations</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">deformable_objects</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">DeformableObject</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;A dictionary of deformable objects in the scene.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_deformable_objects</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">rigid_objects</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">RigidObject</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;A dictionary of rigid objects in the scene.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_objects</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">rigid_object_collections</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">RigidObjectCollection</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;A dictionary of rigid object collections in the scene.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_object_collections</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">sensors</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">SensorBase</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;A dictionary of the sensors in the scene, such as cameras and contact reporters.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sensors</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">extras</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">XFormPrimView</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;A dictionary of miscellaneous simulation objects that neither inherit from assets nor sensors.</span>
+
+<span class="sd">        The keys are the names of the miscellaneous objects, and the values are the `XFormPrimView`_</span>
+<span class="sd">        of the corresponding prims.</span>
+
+<span class="sd">        As an example, lights or other props in the scene that do not have any attributes or properties that you</span>
+<span class="sd">        want to alter at runtime can be added to this dictionary.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            These are not reset or updated by the scene. They are mainly other prims that are not necessarily</span>
+<span class="sd">            handled by the interactive scene, but are useful to be accessed by the user.</span>
+
+<span class="sd">        .. _XFormPrimView: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.prims.XFormPrimView</span>
+
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_extras</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">state</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the state of the scene entities.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A dictionary of the state of the scene entities.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">get_state</span><span class="p">(</span><span class="n">is_relative</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+
+<div class="viewcode-block" id="InteractiveScene.get_state"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.get_state">[docs]</a>    <span class="k">def</span> <span class="nf">get_state</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">is_relative</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the state of the scene entities.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            is_relative: If set to True, the state is considered relative to the environment origins.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A dictionary of the state of the scene entities.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">state</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># articulations</span>
+        <span class="n">state</span><span class="p">[</span><span class="s2">&quot;articulation&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">asset_name</span><span class="p">,</span> <span class="n">articulation</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_articulations</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="n">asset_state</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+            <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;root_pose&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">articulation</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="k">if</span> <span class="n">is_relative</span><span class="p">:</span>
+                <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;root_pose&quot;</span><span class="p">][:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">-=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span>
+            <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;root_velocity&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">articulation</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_vel_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;joint_position&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">articulation</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;joint_velocity&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">articulation</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">state</span><span class="p">[</span><span class="s2">&quot;articulation&quot;</span><span class="p">][</span><span class="n">asset_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset_state</span>
+        <span class="c1"># deformable objects</span>
+        <span class="n">state</span><span class="p">[</span><span class="s2">&quot;deformable_object&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">asset_name</span><span class="p">,</span> <span class="n">deformable_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_deformable_objects</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="n">asset_state</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+            <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;nodal_position&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">deformable_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">nodal_pos_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="k">if</span> <span class="n">is_relative</span><span class="p">:</span>
+                <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;nodal_position&quot;</span><span class="p">][:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">-=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span>
+            <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;nodal_velocity&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">deformable_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">nodal_vel_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">state</span><span class="p">[</span><span class="s2">&quot;deformable_object&quot;</span><span class="p">][</span><span class="n">asset_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset_state</span>
+        <span class="c1"># rigid objects</span>
+        <span class="n">state</span><span class="p">[</span><span class="s2">&quot;rigid_object&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">asset_name</span><span class="p">,</span> <span class="n">rigid_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_objects</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="n">asset_state</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+            <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;root_pose&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">rigid_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="k">if</span> <span class="n">is_relative</span><span class="p">:</span>
+                <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;root_pose&quot;</span><span class="p">][:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">-=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span>
+            <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;root_velocity&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">rigid_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_vel_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">state</span><span class="p">[</span><span class="s2">&quot;rigid_object&quot;</span><span class="p">][</span><span class="n">asset_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset_state</span>
+        <span class="k">return</span> <span class="n">state</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="InteractiveScene.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets the scene entities.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The indices of the environments to reset.</span>
+<span class="sd">                Defaults to None (all instances).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># -- assets</span>
+        <span class="k">for</span> <span class="n">articulation</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_articulations</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">articulation</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">deformable_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_deformable_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">deformable_object</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">rigid_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">rigid_object</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">rigid_object_collection</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_object_collections</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">rigid_object_collection</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># -- sensors</span>
+        <span class="k">for</span> <span class="n">sensor</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sensors</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">sensor</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="InteractiveScene.reset_to"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.reset_to">[docs]</a>    <span class="k">def</span> <span class="nf">reset_to</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">state</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]]],</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">is_relative</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets the scene entities to the given state.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            state: The state to reset the scene entities to.</span>
+<span class="sd">            env_ids: The indices of the environments to reset.</span>
+<span class="sd">                Defaults to None (all instances).</span>
+<span class="sd">            is_relative: If set to True, the state is considered relative to the environment origins.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># articulations</span>
+        <span class="k">for</span> <span class="n">asset_name</span><span class="p">,</span> <span class="n">articulation</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_articulations</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="n">asset_state</span> <span class="o">=</span> <span class="n">state</span><span class="p">[</span><span class="s2">&quot;articulation&quot;</span><span class="p">][</span><span class="n">asset_name</span><span class="p">]</span>
+            <span class="c1"># root state</span>
+            <span class="n">root_pose</span> <span class="o">=</span> <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;root_pose&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="k">if</span> <span class="n">is_relative</span><span class="p">:</span>
+                <span class="n">root_pose</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+            <span class="n">root_velocity</span> <span class="o">=</span> <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;root_velocity&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">articulation</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_pose</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+            <span class="n">articulation</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+            <span class="c1"># joint state</span>
+            <span class="n">joint_position</span> <span class="o">=</span> <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;joint_position&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">joint_velocity</span> <span class="o">=</span> <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;joint_velocity&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">articulation</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_position</span><span class="p">,</span> <span class="n">joint_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+            <span class="n">articulation</span><span class="o">.</span><span class="n">set_joint_position_target</span><span class="p">(</span><span class="n">joint_position</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+            <span class="n">articulation</span><span class="o">.</span><span class="n">set_joint_velocity_target</span><span class="p">(</span><span class="n">joint_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># deformable objects</span>
+        <span class="k">for</span> <span class="n">asset_name</span><span class="p">,</span> <span class="n">deformable_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_deformable_objects</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="n">asset_state</span> <span class="o">=</span> <span class="n">state</span><span class="p">[</span><span class="s2">&quot;deformable_object&quot;</span><span class="p">][</span><span class="n">asset_name</span><span class="p">]</span>
+            <span class="n">nodal_position</span> <span class="o">=</span> <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;nodal_position&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="k">if</span> <span class="n">is_relative</span><span class="p">:</span>
+                <span class="n">nodal_position</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+            <span class="n">nodal_velocity</span> <span class="o">=</span> <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;nodal_velocity&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">deformable_object</span><span class="o">.</span><span class="n">write_nodal_pos_to_sim</span><span class="p">(</span><span class="n">nodal_position</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+            <span class="n">deformable_object</span><span class="o">.</span><span class="n">write_nodal_velocity_to_sim</span><span class="p">(</span><span class="n">nodal_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># rigid objects</span>
+        <span class="k">for</span> <span class="n">asset_name</span><span class="p">,</span> <span class="n">rigid_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_objects</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="n">asset_state</span> <span class="o">=</span> <span class="n">state</span><span class="p">[</span><span class="s2">&quot;rigid_object&quot;</span><span class="p">][</span><span class="n">asset_name</span><span class="p">]</span>
+            <span class="n">root_pose</span> <span class="o">=</span> <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;root_pose&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="k">if</span> <span class="n">is_relative</span><span class="p">:</span>
+                <span class="n">root_pose</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+            <span class="n">root_velocity</span> <span class="o">=</span> <span class="n">asset_state</span><span class="p">[</span><span class="s2">&quot;root_velocity&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">rigid_object</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_pose</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+            <span class="n">rigid_object</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_velocity</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="InteractiveScene.write_data_to_sim"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.write_data_to_sim">[docs]</a>    <span class="k">def</span> <span class="nf">write_data_to_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Writes the data of the scene entities to the simulation.&quot;&quot;&quot;</span>
+        <span class="c1"># -- assets</span>
+        <span class="k">for</span> <span class="n">articulation</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_articulations</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">articulation</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">deformable_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_deformable_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">deformable_object</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">rigid_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">rigid_object</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">rigid_object_collection</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_object_collections</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">rigid_object_collection</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="InteractiveScene.update"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.update">[docs]</a>    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Update the scene entities.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            dt: The amount of time passed from last :meth:`update` call.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># -- assets</span>
+        <span class="k">for</span> <span class="n">articulation</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_articulations</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">articulation</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">deformable_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_deformable_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">deformable_object</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">rigid_object</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">rigid_object</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">rigid_object_collection</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_object_collections</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">rigid_object_collection</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span>
+        <span class="c1"># -- sensors</span>
+        <span class="k">for</span> <span class="n">sensor</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sensors</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">sensor</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">,</span> <span class="n">force_recompute</span><span class="o">=</span><span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">lazy_sensor_update</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations: Iteration.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="InteractiveScene.keys"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.keys">[docs]</a>    <span class="k">def</span> <span class="nf">keys</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the keys of the scene entities.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The keys of the scene entities.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">all_keys</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;terrain&quot;</span><span class="p">]</span>
+        <span class="k">for</span> <span class="n">asset_family</span> <span class="ow">in</span> <span class="p">[</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_articulations</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_deformable_objects</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_objects</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_object_collections</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sensors</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_extras</span><span class="p">,</span>
+        <span class="p">]:</span>
+            <span class="n">all_keys</span> <span class="o">+=</span> <span class="nb">list</span><span class="p">(</span><span class="n">asset_family</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+        <span class="k">return</span> <span class="n">all_keys</span></div>
+
+    <span class="k">def</span> <span class="fm">__getitem__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Any</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the scene entity with the given key.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The key of the scene entity.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The scene entity.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if it is a terrain</span>
+        <span class="k">if</span> <span class="n">key</span> <span class="o">==</span> <span class="s2">&quot;terrain&quot;</span><span class="p">:</span>
+            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terrain</span>
+
+        <span class="n">all_keys</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;terrain&quot;</span><span class="p">]</span>
+        <span class="c1"># check if it is in other dictionaries</span>
+        <span class="k">for</span> <span class="n">asset_family</span> <span class="ow">in</span> <span class="p">[</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_articulations</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_deformable_objects</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_objects</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_object_collections</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sensors</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_extras</span><span class="p">,</span>
+        <span class="p">]:</span>
+            <span class="n">out</span> <span class="o">=</span> <span class="n">asset_family</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">)</span>
+            <span class="c1"># if found, return</span>
+            <span class="k">if</span> <span class="n">out</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">return</span> <span class="n">out</span>
+            <span class="n">all_keys</span> <span class="o">+=</span> <span class="nb">list</span><span class="p">(</span><span class="n">asset_family</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+        <span class="c1"># if not found, raise error</span>
+        <span class="k">raise</span> <span class="ne">KeyError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Scene entity with key &#39;</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&#39; not found. Available Entities: &#39;</span><span class="si">{</span><span class="n">all_keys</span><span class="si">}</span><span class="s2">&#39;&quot;</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal methods.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_is_scene_setup_from_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="k">return</span> <span class="nb">any</span><span class="p">(</span>
+            <span class="ow">not</span> <span class="p">(</span><span class="n">asset_name</span> <span class="ow">in</span> <span class="n">InteractiveSceneCfg</span><span class="o">.</span><span class="n">__dataclass_fields__</span> <span class="ow">or</span> <span class="n">asset_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">)</span>
+            <span class="k">for</span> <span class="n">asset_name</span><span class="p">,</span> <span class="n">asset_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_add_entities_from_cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add scene entities from the config.&quot;&quot;&quot;</span>
+        <span class="c1"># store paths that are in global collision filter</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_global_prim_paths</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="c1"># parse the entire scene config and resolve regex</span>
+        <span class="k">for</span> <span class="n">asset_name</span><span class="p">,</span> <span class="n">asset_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># skip keywords</span>
+            <span class="c1"># note: easier than writing a list of keywords: [num_envs, env_spacing, lazy_sensor_update]</span>
+            <span class="k">if</span> <span class="n">asset_name</span> <span class="ow">in</span> <span class="n">InteractiveSceneCfg</span><span class="o">.</span><span class="n">__dataclass_fields__</span> <span class="ow">or</span> <span class="n">asset_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">continue</span>
+            <span class="c1"># resolve regex</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="s2">&quot;prim_path&quot;</span><span class="p">):</span>
+                <span class="n">asset_cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">=</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">ENV_REGEX_NS</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_regex_ns</span><span class="p">)</span>
+            <span class="c1"># create asset</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">TerrainImporterCfg</span><span class="p">):</span>
+                <span class="c1"># terrains are special entities since they define environment origins</span>
+                <span class="n">asset_cfg</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_envs</span>
+                <span class="n">asset_cfg</span><span class="o">.</span><span class="n">env_spacing</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">env_spacing</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_terrain</span> <span class="o">=</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">ArticulationCfg</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_articulations</span><span class="p">[</span><span class="n">asset_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">DeformableObjectCfg</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_deformable_objects</span><span class="p">[</span><span class="n">asset_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">RigidObjectCfg</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_objects</span><span class="p">[</span><span class="n">asset_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">RigidObjectCollectionCfg</span><span class="p">):</span>
+                <span class="k">for</span> <span class="n">rigid_object_cfg</span> <span class="ow">in</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">rigid_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+                    <span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">=</span> <span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">ENV_REGEX_NS</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_regex_ns</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_rigid_object_collections</span><span class="p">[</span><span class="n">asset_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">)</span>
+                <span class="k">for</span> <span class="n">rigid_object_cfg</span> <span class="ow">in</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">rigid_objects</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+                    <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">rigid_object_cfg</span><span class="p">,</span> <span class="s2">&quot;collision_group&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">collision_group</span> <span class="o">==</span> <span class="o">-</span><span class="mi">1</span><span class="p">:</span>
+                        <span class="n">asset_paths</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_matching_prim_paths</span><span class="p">(</span><span class="n">rigid_object_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_global_prim_paths</span> <span class="o">+=</span> <span class="n">asset_paths</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">SensorBaseCfg</span><span class="p">):</span>
+                <span class="c1"># Update target frame path(s)&#39; regex name space for FrameTransformer</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">FrameTransformerCfg</span><span class="p">):</span>
+                    <span class="n">updated_target_frames</span> <span class="o">=</span> <span class="p">[]</span>
+                    <span class="k">for</span> <span class="n">target_frame</span> <span class="ow">in</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">target_frames</span><span class="p">:</span>
+                        <span class="n">target_frame</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">=</span> <span class="n">target_frame</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">ENV_REGEX_NS</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_regex_ns</span><span class="p">)</span>
+                        <span class="n">updated_target_frames</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">target_frame</span><span class="p">)</span>
+                    <span class="n">asset_cfg</span><span class="o">.</span><span class="n">target_frames</span> <span class="o">=</span> <span class="n">updated_target_frames</span>
+                <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">ContactSensorCfg</span><span class="p">):</span>
+                    <span class="n">updated_filter_prim_paths_expr</span> <span class="o">=</span> <span class="p">[]</span>
+                    <span class="k">for</span> <span class="n">filter_prim_path</span> <span class="ow">in</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">filter_prim_paths_expr</span><span class="p">:</span>
+                        <span class="n">updated_filter_prim_paths_expr</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">filter_prim_path</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">ENV_REGEX_NS</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">env_regex_ns</span><span class="p">))</span>
+                    <span class="n">asset_cfg</span><span class="o">.</span><span class="n">filter_prim_paths_expr</span> <span class="o">=</span> <span class="n">updated_filter_prim_paths_expr</span>
+
+                <span class="bp">self</span><span class="o">.</span><span class="n">_sensors</span><span class="p">[</span><span class="n">asset_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">AssetBaseCfg</span><span class="p">):</span>
+                <span class="c1"># manually spawn asset</span>
+                <span class="k">if</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">spawn</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">asset_cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+                        <span class="n">asset_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">,</span>
+                        <span class="n">asset_cfg</span><span class="o">.</span><span class="n">spawn</span><span class="p">,</span>
+                        <span class="n">translation</span><span class="o">=</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">pos</span><span class="p">,</span>
+                        <span class="n">orientation</span><span class="o">=</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">rot</span><span class="p">,</span>
+                    <span class="p">)</span>
+                <span class="c1"># store xform prim view corresponding to this asset</span>
+                <span class="c1"># all prims in the scene are Xform prims (i.e. have a transform component)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_extras</span><span class="p">[</span><span class="n">asset_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">XFormPrimView</span><span class="p">(</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">reset_xform_properties</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unknown asset config type for </span><span class="si">{</span><span class="n">asset_name</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">asset_cfg</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="c1"># store global collision paths</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="s2">&quot;collision_group&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">collision_group</span> <span class="o">==</span> <span class="o">-</span><span class="mi">1</span><span class="p">:</span>
+                <span class="n">asset_paths</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_matching_prim_paths</span><span class="p">(</span><span class="n">asset_cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_global_prim_paths</span> <span class="o">+=</span> <span class="n">asset_paths</span></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.scene.interactive_scene_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.configclass</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+
+<div class="viewcode-block" id="InteractiveSceneCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">InteractiveSceneCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the interactive scene.</span>
+
+<span class="sd">    The users can inherit from this class to add entities to their scene. This is then parsed by the</span>
+<span class="sd">    :class:`InteractiveScene` class to create the scene.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The adding of entities to the scene is sensitive to the order of the attributes in the configuration.</span>
+<span class="sd">        Please make sure to add the entities in the order you want them to be added to the scene.</span>
+<span class="sd">        The recommended order of specification is terrain, physics-related assets (articulations and rigid bodies),</span>
+<span class="sd">        sensors and non-physics-related assets (lights).</span>
+
+<span class="sd">    For example, to add a robot to the scene, the user can create a configuration class as follows:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        import omni.isaac.lab.sim as sim_utils</span>
+<span class="sd">        from omni.isaac.lab.assets import AssetBaseCfg</span>
+<span class="sd">        from omni.isaac.lab.scene import InteractiveSceneCfg</span>
+<span class="sd">        from omni.isaac.lab.sensors.ray_caster import GridPatternCfg, RayCasterCfg</span>
+<span class="sd">        from omni.isaac.lab.utils import configclass</span>
+
+<span class="sd">        from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG</span>
+
+<span class="sd">        @configclass</span>
+<span class="sd">        class MySceneCfg(InteractiveSceneCfg):</span>
+
+<span class="sd">            # terrain - flat terrain plane</span>
+<span class="sd">            terrain = TerrainImporterCfg(</span>
+<span class="sd">                prim_path=&quot;/World/ground&quot;,</span>
+<span class="sd">                terrain_type=&quot;plane&quot;,</span>
+<span class="sd">            )</span>
+
+<span class="sd">            # articulation - robot 1</span>
+<span class="sd">            robot_1 = ANYMAL_C_CFG.replace(prim_path=&quot;{ENV_REGEX_NS}/Robot_1&quot;)</span>
+<span class="sd">            # articulation - robot 2</span>
+<span class="sd">            robot_2 = ANYMAL_C_CFG.replace(prim_path=&quot;{ENV_REGEX_NS}/Robot_2&quot;)</span>
+<span class="sd">            robot_2.init_state.pos = (0.0, 1.0, 0.6)</span>
+
+<span class="sd">            # sensor - ray caster attached to the base of robot 1 that scans the ground</span>
+<span class="sd">            height_scanner = RayCasterCfg(</span>
+<span class="sd">                prim_path=&quot;{ENV_REGEX_NS}/Robot_1/base&quot;,</span>
+<span class="sd">                offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),</span>
+<span class="sd">                attach_yaw_only=True,</span>
+<span class="sd">                pattern_cfg=GridPatternCfg(resolution=0.1, size=[1.6, 1.0]),</span>
+<span class="sd">                debug_vis=True,</span>
+<span class="sd">                mesh_prim_paths=[&quot;/World/ground&quot;],</span>
+<span class="sd">            )</span>
+
+<span class="sd">            # extras - light</span>
+<span class="sd">            light = AssetBaseCfg(</span>
+<span class="sd">                prim_path=&quot;/World/light&quot;,</span>
+<span class="sd">                spawn=sim_utils.DistantLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)),</span>
+<span class="sd">                init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, 500.0)),</span>
+<span class="sd">            )</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of environment instances handled by the scene.&quot;&quot;&quot;</span>
+
+    <span class="n">env_spacing</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spacing between environments.</span>
+
+<span class="sd">    This is the default distance between environment origins in the scene. Used only when the</span>
+<span class="sd">    number of environments is greater than one.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">lazy_sensor_update</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to update sensors only when they are accessed. Default is True.</span>
+
+<span class="sd">    If true, the sensor data is only updated when their attribute ``data`` is accessed. Otherwise, the sensor</span>
+<span class="sd">    data is updated every time sensors are updated.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">replicate_physics</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enable/disable replication of physics schemas when using the Cloner APIs. Default is True.</span>
+
+<span class="sd">    If True, the simulation will have the same asset instances (USD prims) in all the cloned environments.</span>
+<span class="sd">    Internally, this ensures optimization in setting up the scene and parsing it via the physics stage parser.</span>
+
+<span class="sd">    If False, the simulation allows having separate asset instances (USD prims) in each environment.</span>
+<span class="sd">    This flexibility comes at a cost of slowdowns in setting up and parsing the scene.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        Optimized parsing of certain prim types (such as deformable objects) is not currently supported</span>
+<span class="sd">        by the physics engine. In these cases, this flag needs to be set to False.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+  <h1>Source code for omni.isaac.lab.sensors.camera.camera</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span><span class="p">,</span> <span class="n">Any</span><span class="p">,</span> <span class="n">Literal</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">import</span> <span class="nn">omni.kit.commands</span>
+<span class="kn">import</span> <span class="nn">omni.usd</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.core.prims</span> <span class="kn">import</span> <span class="n">XFormPrimView</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">UsdGeom</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">to_camel_case</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.array</span> <span class="kn">import</span> <span class="n">convert_to_torch</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="p">(</span>
+    <span class="n">convert_camera_frame_orientation_convention</span><span class="p">,</span>
+    <span class="n">create_rotation_matrix_from_view</span><span class="p">,</span>
+    <span class="n">quat_from_matrix</span><span class="p">,</span>
+<span class="p">)</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base</span> <span class="kn">import</span> <span class="n">SensorBase</span>
+<span class="kn">from</span> <span class="nn">.camera_data</span> <span class="kn">import</span> <span class="n">CameraData</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.camera_cfg</span> <span class="kn">import</span> <span class="n">CameraCfg</span>
+
+
+<div class="viewcode-block" id="Camera"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera">[docs]</a><span class="k">class</span> <span class="nc">Camera</span><span class="p">(</span><span class="n">SensorBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;The camera sensor for acquiring visual data.</span>
+
+<span class="sd">    This class wraps over the `UsdGeom Camera`_ for providing a consistent API for acquiring visual data.</span>
+<span class="sd">    It ensures that the camera follows the ROS convention for the coordinate system.</span>
+
+<span class="sd">    Summarizing from the `replicator extension`_, the following sensor types are supported:</span>
+
+<span class="sd">    - ``&quot;rgb&quot;``: A 3-channel rendered color image.</span>
+<span class="sd">    - ``&quot;rgba&quot;``: A 4-channel rendered color image with alpha channel.</span>
+<span class="sd">    - ``&quot;distance_to_camera&quot;``: An image containing the distance to camera optical center.</span>
+<span class="sd">    - ``&quot;distance_to_image_plane&quot;``: An image containing distances of 3D points from camera plane along camera&#39;s z-axis.</span>
+<span class="sd">    - ``&quot;depth&quot;``: The same as ``&quot;distance_to_image_plane&quot;``.</span>
+<span class="sd">    - ``&quot;normals&quot;``: An image containing the local surface normal vectors at each pixel.</span>
+<span class="sd">    - ``&quot;motion_vectors&quot;``: An image containing the motion vector data at each pixel.</span>
+<span class="sd">    - ``&quot;semantic_segmentation&quot;``: The semantic segmentation data.</span>
+<span class="sd">    - ``&quot;instance_segmentation_fast&quot;``: The instance segmentation data.</span>
+<span class="sd">    - ``&quot;instance_id_segmentation_fast&quot;``: The instance id segmentation data.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        Currently the following sensor types are not supported in a &quot;view&quot; format:</span>
+
+<span class="sd">        - ``&quot;instance_segmentation&quot;``: The instance segmentation data. Please use the fast counterparts instead.</span>
+<span class="sd">        - ``&quot;instance_id_segmentation&quot;``: The instance id segmentation data. Please use the fast counterparts instead.</span>
+<span class="sd">        - ``&quot;bounding_box_2d_tight&quot;``: The tight 2D bounding box data (only contains non-occluded regions).</span>
+<span class="sd">        - ``&quot;bounding_box_2d_tight_fast&quot;``: The tight 2D bounding box data (only contains non-occluded regions).</span>
+<span class="sd">        - ``&quot;bounding_box_2d_loose&quot;``: The loose 2D bounding box data (contains occluded regions).</span>
+<span class="sd">        - ``&quot;bounding_box_2d_loose_fast&quot;``: The loose 2D bounding box data (contains occluded regions).</span>
+<span class="sd">        - ``&quot;bounding_box_3d&quot;``: The 3D view space bounding box data.</span>
+<span class="sd">        - ``&quot;bounding_box_3d_fast&quot;``: The 3D view space bounding box data.</span>
+
+<span class="sd">    .. _replicator extension: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#annotator-output</span>
+<span class="sd">    .. _USDGeom Camera: https://graphics.pixar.com/usd/docs/api/class_usd_geom_camera.html</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">CameraCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration parameters.&quot;&quot;&quot;</span>
+
+    <span class="n">UNSUPPORTED_TYPES</span><span class="p">:</span> <span class="nb">set</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span>
+        <span class="s2">&quot;instance_id_segmentation&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;instance_segmentation&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_2d_tight&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_2d_loose&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_3d&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_2d_tight_fast&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_2d_loose_fast&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_3d_fast&quot;</span><span class="p">,</span>
+    <span class="p">}</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The set of sensor types that are not supported by the camera class.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Camera.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">CameraCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the camera sensor.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration parameters.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If no camera prim is found at the given path.</span>
+<span class="sd">            ValueError: If the provided data types are not supported by the camera.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if sensor path is valid</span>
+        <span class="c1"># note: currently we do not handle environment indices if there is a regex pattern in the leaf</span>
+        <span class="c1">#   For example, if the prim path is &quot;/World/Sensor_[1,2]&quot;.</span>
+        <span class="n">sensor_path</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+        <span class="n">sensor_path_is_regex</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;^[a-zA-Z0-9/_]+$&quot;</span><span class="p">,</span> <span class="n">sensor_path</span><span class="p">)</span> <span class="ow">is</span> <span class="kc">None</span>
+        <span class="k">if</span> <span class="n">sensor_path_is_regex</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Invalid prim path for the camera sensor: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Hint: Please ensure that the prim path does not contain any regex patterns in the leaf.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># perform check on supported data types</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_check_supported_data_types</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># initialize base class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+
+        <span class="c1"># toggle rendering of rtx sensors as True</span>
+        <span class="c1"># this flag is read by SimulationContext to determine if rtx sensors should be rendered</span>
+        <span class="n">carb_settings_iface</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">get_settings</span><span class="p">()</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/isaaclab/render/rtx_sensors&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+
+        <span class="c1"># spawn the asset</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># compute the rotation offset</span>
+            <span class="n">rot</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">offset</span><span class="o">.</span><span class="n">rot</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+            <span class="n">rot_offset</span> <span class="o">=</span> <span class="n">convert_camera_frame_orientation_convention</span><span class="p">(</span>
+                <span class="n">rot</span><span class="p">,</span> <span class="n">origin</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">offset</span><span class="o">.</span><span class="n">convention</span><span class="p">,</span> <span class="n">target</span><span class="o">=</span><span class="s2">&quot;opengl&quot;</span>
+            <span class="p">)</span>
+            <span class="n">rot_offset</span> <span class="o">=</span> <span class="n">rot_offset</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+            <span class="c1"># ensure vertical aperture is set, otherwise replace with default for squared pixels</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">vertical_aperture</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">vertical_aperture</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">horizontal_aperture</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span>
+            <span class="c1"># spawn the asset</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">offset</span><span class="o">.</span><span class="n">pos</span><span class="p">,</span> <span class="n">orientation</span><span class="o">=</span><span class="n">rot_offset</span>
+            <span class="p">)</span>
+        <span class="c1"># check that spawn was successful</span>
+        <span class="n">matching_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_matching_prims</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">matching_prims</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Could not find prim with path </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># UsdGeom Camera prim for the sensor</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sensor_prims</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">UsdGeom</span><span class="o">.</span><span class="n">Camera</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="c1"># Create empty variables for storing output data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span> <span class="o">=</span> <span class="n">CameraData</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Unsubscribes from callbacks and detach from the replicator registry.&quot;&quot;&quot;</span>
+        <span class="c1"># unsubscribe callbacks</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__del__</span><span class="p">()</span>
+        <span class="c1"># delete from replicator registry</span>
+        <span class="k">for</span> <span class="n">_</span><span class="p">,</span> <span class="n">annotators</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rep_registry</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="k">for</span> <span class="n">annotator</span><span class="p">,</span> <span class="n">render_product_path</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">annotators</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_render_product_paths</span><span class="p">):</span>
+                <span class="n">annotator</span><span class="o">.</span><span class="n">detach</span><span class="p">([</span><span class="n">render_product_path</span><span class="p">])</span>
+                <span class="n">annotator</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing information about the instance.&quot;&quot;&quot;</span>
+        <span class="c1"># message for class</span>
+        <span class="k">return</span> <span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Camera @ &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;: </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">data types   : </span><span class="si">{</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span><span class="si">}</span><span class="s2"> </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">semantic filter : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">semantic_filter</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">colorize semantic segm.   : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_semantic_segmentation</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">colorize instance segm.   : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_segmentation</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">colorize instance id segm.: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_id_segmentation</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">update period (s): </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">update_period</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">shape        : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of sensors : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_instances</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">CameraData</span><span class="p">:</span>
+        <span class="c1"># update sensors if needed</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+        <span class="c1"># return the data</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">frame</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Frame number when the measurement took place.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">render_product_paths</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The path of the render products for the cameras.</span>
+
+<span class="sd">        This can be used via replicator interfaces to attach to writes or external annotator registry.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_render_product_paths</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">image_shape</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">int</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;A tuple containing (height, width) of the camera sensor.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Configuration</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Camera.set_intrinsic_matrices"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.set_intrinsic_matrices">[docs]</a>    <span class="k">def</span> <span class="nf">set_intrinsic_matrices</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">matrices</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">focal_length</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set parameters of the USD camera from its intrinsic matrix.</span>
+
+<span class="sd">        The intrinsic matrix and focal length are used to set the following parameters to the USD camera:</span>
+
+<span class="sd">        - ``focal_length``: The focal length of the camera.</span>
+<span class="sd">        - ``horizontal_aperture``: The horizontal aperture of the camera.</span>
+<span class="sd">        - ``vertical_aperture``: The vertical aperture of the camera.</span>
+<span class="sd">        - ``horizontal_aperture_offset``: The horizontal offset of the camera.</span>
+<span class="sd">        - ``vertical_aperture_offset``: The vertical offset of the camera.</span>
+
+<span class="sd">        .. warning::</span>
+
+<span class="sd">            Due to limitations of Omniverse camera, we need to assume that the camera is a spherical lens,</span>
+<span class="sd">            i.e. has square pixels, and the optical center is centered at the camera eye. If this assumption</span>
+<span class="sd">            is not true in the input intrinsic matrix, then the camera will not set up correctly.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            matrices: The intrinsic matrices for the camera. Shape is (N, 3, 3).</span>
+<span class="sd">            focal_length: Focal length to use when computing aperture values (in cm). Defaults to 1.0.</span>
+<span class="sd">            env_ids: A sensor ids to manipulate. Defaults to None, which means all sensor indices.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># convert matrices to numpy tensors</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">matrices</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+            <span class="n">matrices</span> <span class="o">=</span> <span class="n">matrices</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">matrices</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">matrices</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="nb">float</span><span class="p">)</span>
+        <span class="c1"># iterate over env_ids</span>
+        <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">intrinsic_matrix</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">env_ids</span><span class="p">,</span> <span class="n">matrices</span><span class="p">):</span>
+            <span class="c1"># extract parameters from matrix</span>
+            <span class="n">f_x</span> <span class="o">=</span> <span class="n">intrinsic_matrix</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+            <span class="n">c_x</span> <span class="o">=</span> <span class="n">intrinsic_matrix</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span>
+            <span class="n">f_y</span> <span class="o">=</span> <span class="n">intrinsic_matrix</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+            <span class="n">c_y</span> <span class="o">=</span> <span class="n">intrinsic_matrix</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span>
+            <span class="c1"># get viewport parameters</span>
+            <span class="n">height</span><span class="p">,</span> <span class="n">width</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span>
+            <span class="n">height</span><span class="p">,</span> <span class="n">width</span> <span class="o">=</span> <span class="nb">float</span><span class="p">(</span><span class="n">height</span><span class="p">),</span> <span class="nb">float</span><span class="p">(</span><span class="n">width</span><span class="p">)</span>
+            <span class="c1"># resolve parameters for usd camera</span>
+            <span class="n">params</span> <span class="o">=</span> <span class="p">{</span>
+                <span class="s2">&quot;focal_length&quot;</span><span class="p">:</span> <span class="n">focal_length</span><span class="p">,</span>
+                <span class="s2">&quot;horizontal_aperture&quot;</span><span class="p">:</span> <span class="n">width</span> <span class="o">*</span> <span class="n">focal_length</span> <span class="o">/</span> <span class="n">f_x</span><span class="p">,</span>
+                <span class="s2">&quot;vertical_aperture&quot;</span><span class="p">:</span> <span class="n">height</span> <span class="o">*</span> <span class="n">focal_length</span> <span class="o">/</span> <span class="n">f_y</span><span class="p">,</span>
+                <span class="s2">&quot;horizontal_aperture_offset&quot;</span><span class="p">:</span> <span class="p">(</span><span class="n">c_x</span> <span class="o">-</span> <span class="n">width</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span> <span class="o">/</span> <span class="n">f_x</span><span class="p">,</span>
+                <span class="s2">&quot;vertical_aperture_offset&quot;</span><span class="p">:</span> <span class="p">(</span><span class="n">c_y</span> <span class="o">-</span> <span class="n">height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span> <span class="o">/</span> <span class="n">f_y</span><span class="p">,</span>
+            <span class="p">}</span>
+
+            <span class="c1"># TODO: Adjust to handle aperture offsets once supported by omniverse</span>
+            <span class="c1">#   Internal ticket from rendering team: OM-42611</span>
+            <span class="k">if</span> <span class="n">params</span><span class="p">[</span><span class="s2">&quot;horizontal_aperture_offset&quot;</span><span class="p">]</span> <span class="o">&gt;</span> <span class="mf">1e-4</span> <span class="ow">or</span> <span class="n">params</span><span class="p">[</span><span class="s2">&quot;vertical_aperture_offset&quot;</span><span class="p">]</span> <span class="o">&gt;</span> <span class="mf">1e-4</span><span class="p">:</span>
+                <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;Camera aperture offsets are not supported by Omniverse. These parameters are ignored.&quot;</span><span class="p">)</span>
+
+            <span class="c1"># change data for corresponding camera index</span>
+            <span class="n">sensor_prim</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sensor_prims</span><span class="p">[</span><span class="n">i</span><span class="p">]</span>
+            <span class="c1"># set parameters for camera</span>
+            <span class="k">for</span> <span class="n">param_name</span><span class="p">,</span> <span class="n">param_value</span> <span class="ow">in</span> <span class="n">params</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                <span class="c1"># convert to camel case (CC)</span>
+                <span class="n">param_name</span> <span class="o">=</span> <span class="n">to_camel_case</span><span class="p">(</span><span class="n">param_name</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;CC&quot;</span><span class="p">)</span>
+                <span class="c1"># get attribute from the class</span>
+                <span class="n">param_attr</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">sensor_prim</span><span class="p">,</span> <span class="sa">f</span><span class="s2">&quot;Get</span><span class="si">{</span><span class="n">param_name</span><span class="si">}</span><span class="s2">Attr&quot;</span><span class="p">)</span>
+                <span class="c1"># set value</span>
+                <span class="c1"># note: We have to do it this way because the camera might be on a different</span>
+                <span class="c1">#   layer (default cameras are on session layer), and this is the simplest</span>
+                <span class="c1">#   way to set the property on the right layer.</span>
+                <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">set_prop_val</span><span class="p">(</span><span class="n">param_attr</span><span class="p">(),</span> <span class="n">param_value</span><span class="p">)</span>
+        <span class="c1"># update the internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_intrinsic_matrices</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Set pose.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Camera.set_world_poses"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.set_world_poses">[docs]</a>    <span class="k">def</span> <span class="nf">set_world_poses</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">positions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">orientations</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">convention</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;opengl&quot;</span><span class="p">,</span> <span class="s2">&quot;ros&quot;</span><span class="p">,</span> <span class="s2">&quot;world&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;ros&quot;</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Set the pose of the camera w.r.t. the world frame using specified convention.</span>
+
+<span class="sd">        Since different fields use different conventions for camera orientations, the method allows users to</span>
+<span class="sd">        set the camera poses in the specified convention. Possible conventions are:</span>
+
+<span class="sd">        - :obj:`&quot;opengl&quot;` - forward axis: -Z - up axis +Y - Offset is applied in the OpenGL (Usd.Camera) convention</span>
+<span class="sd">        - :obj:`&quot;ros&quot;`    - forward axis: +Z - up axis -Y - Offset is applied in the ROS convention</span>
+<span class="sd">        - :obj:`&quot;world&quot;`  - forward axis: +X - up axis +Z - Offset is applied in the World Frame convention</span>
+
+<span class="sd">        See :meth:`omni.isaac.lab.sensors.camera.utils.convert_camera_frame_orientation_convention` for more details</span>
+<span class="sd">        on the conventions.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            positions: The cartesian coordinates (in meters). Shape is (N, 3).</span>
+<span class="sd">                Defaults to None, in which case the camera position in not changed.</span>
+<span class="sd">            orientations: The quaternion orientation in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">                Defaults to None, in which case the camera orientation in not changed.</span>
+<span class="sd">            env_ids: A sensor ids to manipulate. Defaults to None, which means all sensor indices.</span>
+<span class="sd">            convention: The convention in which the poses are fed. Defaults to &quot;ros&quot;.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If the camera prim is not set. Need to call :meth:`initialize` method first.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># convert to backend tensor</span>
+        <span class="k">if</span> <span class="n">positions</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">positions</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">):</span>
+                <span class="n">positions</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">from_numpy</span><span class="p">(</span><span class="n">positions</span><span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">positions</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                <span class="n">positions</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">positions</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># convert rotation matrix from input convention to OpenGL</span>
+        <span class="k">if</span> <span class="n">orientations</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">orientations</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">):</span>
+                <span class="n">orientations</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">from_numpy</span><span class="p">(</span><span class="n">orientations</span><span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">orientations</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+                <span class="n">orientations</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">orientations</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="n">orientations</span> <span class="o">=</span> <span class="n">convert_camera_frame_orientation_convention</span><span class="p">(</span><span class="n">orientations</span><span class="p">,</span> <span class="n">origin</span><span class="o">=</span><span class="n">convention</span><span class="p">,</span> <span class="n">target</span><span class="o">=</span><span class="s2">&quot;opengl&quot;</span><span class="p">)</span>
+        <span class="c1"># set the pose</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">set_world_poses</span><span class="p">(</span><span class="n">positions</span><span class="p">,</span> <span class="n">orientations</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="Camera.set_world_poses_from_view"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.set_world_poses_from_view">[docs]</a>    <span class="k">def</span> <span class="nf">set_world_poses_from_view</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">eyes</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">targets</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the poses of the camera from the eye position and look-at target position.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            eyes: The positions of the camera&#39;s eye. Shape is (N, 3).</span>
+<span class="sd">            targets: The target locations to look at. Shape is (N, 3).</span>
+<span class="sd">            env_ids: A sensor ids to manipulate. Defaults to None, which means all sensor indices.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If the camera prim is not set. Need to call :meth:`initialize` method first.</span>
+<span class="sd">            NotImplementedError: If the stage up-axis is not &quot;Y&quot; or &quot;Z&quot;.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># get up axis of current stage</span>
+        <span class="n">up_axis</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_stage_up_axis</span><span class="p">()</span>
+        <span class="c1"># set camera poses using the view</span>
+        <span class="n">orientations</span> <span class="o">=</span> <span class="n">quat_from_matrix</span><span class="p">(</span><span class="n">create_rotation_matrix_from_view</span><span class="p">(</span><span class="n">eyes</span><span class="p">,</span> <span class="n">targets</span><span class="p">,</span> <span class="n">up_axis</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">))</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">set_world_poses</span><span class="p">(</span><span class="n">eyes</span><span class="p">,</span> <span class="n">orientations</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Camera.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="s2">&quot;Camera could not be initialized. Please ensure --enable_cameras is used to enable rendering.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># reset the timestamps</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># resolve None</span>
+        <span class="c1"># note: cannot do smart indexing here since we do a for loop over data.</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="c1"># reset the data</span>
+        <span class="c1"># note: this recomputation is useful if one performs events such as randomizations on the camera poses.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_poses</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># Reset the frame count</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the sensor handles and internal buffers.</span>
+
+<span class="sd">        This function creates handles and registers the provided data types with the replicator registry to</span>
+<span class="sd">        be able to access the data from the sensor. It also initializes the internal buffers to store the data.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If the number of camera prims in the view does not match the number of environments.</span>
+<span class="sd">            RuntimeError: If replicator was not found.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">carb_settings_iface</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">get_settings</span><span class="p">()</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;/isaaclab/cameras_enabled&quot;</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="s2">&quot;A camera was spawned without the --enable_cameras flag. Please use --enable_cameras to enable&quot;</span>
+                <span class="s2">&quot; rendering.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+        <span class="kn">from</span> <span class="nn">omni.syntheticdata.scripts.SyntheticData</span> <span class="kn">import</span> <span class="n">SyntheticData</span>
+
+        <span class="c1"># Initialize parent class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_initialize_impl</span><span class="p">()</span>
+        <span class="c1"># Create a view for the sensor</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_view</span> <span class="o">=</span> <span class="n">XFormPrimView</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">reset_xform_properties</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">initialize</span><span class="p">()</span>
+        <span class="c1"># Check that sizes are correct</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Number of camera prims in the view (</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="s2">) does not match&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; the number of environments (</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="si">}</span><span class="s2">).&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># WAR: use DLAA antialiasing to avoid frame offset issue at small resolutions</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span> <span class="o">&lt;</span> <span class="mi">265</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span> <span class="o">&lt;</span> <span class="mi">265</span><span class="p">:</span>
+            <span class="n">rep</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">set_render_rtx_realtime</span><span class="p">(</span><span class="n">antialiasing</span><span class="o">=</span><span class="s2">&quot;DLAA&quot;</span><span class="p">)</span>
+
+        <span class="c1"># Create all env_ids buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+        <span class="c1"># Create frame count buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+
+        <span class="c1"># Attach the sensor data types to render node</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_render_product_paths</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_rep_registry</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="n">rep</span><span class="o">.</span><span class="n">annotators</span><span class="o">.</span><span class="n">Annotator</span><span class="p">]]</span> <span class="o">=</span> <span class="p">{</span><span class="n">name</span><span class="p">:</span> <span class="nb">list</span><span class="p">()</span> <span class="k">for</span> <span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">}</span>
+
+        <span class="c1"># Obtain current stage</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">get_context</span><span class="p">()</span><span class="o">.</span><span class="n">get_stage</span><span class="p">()</span>
+        <span class="c1"># Convert all encapsulated prims to Camera</span>
+        <span class="k">for</span> <span class="n">cam_prim_path</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">prim_paths</span><span class="p">:</span>
+            <span class="c1"># Get camera prim</span>
+            <span class="n">cam_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">cam_prim_path</span><span class="p">)</span>
+            <span class="c1"># Check if prim is a camera</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="n">cam_prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">UsdGeom</span><span class="o">.</span><span class="n">Camera</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim at path &#39;</span><span class="si">{</span><span class="n">cam_prim_path</span><span class="si">}</span><span class="s2">&#39; is not a Camera.&quot;</span><span class="p">)</span>
+            <span class="c1"># Add to list</span>
+            <span class="n">sensor_prim</span> <span class="o">=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Camera</span><span class="p">(</span><span class="n">cam_prim</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sensor_prims</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">sensor_prim</span><span class="p">)</span>
+
+            <span class="c1"># Get render product</span>
+            <span class="c1"># From Isaac Sim 2023.1 onwards, render product is a HydraTexture so we need to extract the path</span>
+            <span class="n">render_prod_path</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">create</span><span class="o">.</span><span class="n">render_product</span><span class="p">(</span><span class="n">cam_prim_path</span><span class="p">,</span> <span class="n">resolution</span><span class="o">=</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">))</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">render_prod_path</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                <span class="n">render_prod_path</span> <span class="o">=</span> <span class="n">render_prod_path</span><span class="o">.</span><span class="n">path</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_render_product_paths</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">render_prod_path</span><span class="p">)</span>
+
+            <span class="c1"># Check if semantic types or semantic filter predicate is provided</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">semantic_filter</span><span class="p">,</span> <span class="nb">list</span><span class="p">):</span>
+                <span class="n">semantic_filter_predicate</span> <span class="o">=</span> <span class="s2">&quot;:*; &quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">semantic_filter</span><span class="p">)</span> <span class="o">+</span> <span class="s2">&quot;:*&quot;</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">semantic_filter</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                <span class="n">semantic_filter_predicate</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">semantic_filter</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Semantic types must be a list or a string. Received: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">semantic_filter</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+            <span class="c1"># set the semantic filter predicate</span>
+            <span class="c1"># copied from rep.scripts.writes_default.basic_writer.py</span>
+            <span class="n">SyntheticData</span><span class="o">.</span><span class="n">Get</span><span class="p">()</span><span class="o">.</span><span class="n">set_instance_mapping_semantic_filter</span><span class="p">(</span><span class="n">semantic_filter_predicate</span><span class="p">)</span>
+
+            <span class="c1"># Iterate over each data type and create annotator</span>
+            <span class="c1"># TODO: This will move out of the loop once Replicator supports multiple render products within a single</span>
+            <span class="c1">#  annotator, i.e.: rep_annotator.attach(self._render_product_paths)</span>
+            <span class="k">for</span> <span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+                <span class="c1"># note: we are verbose here to make it easier to understand the code.</span>
+                <span class="c1">#   if colorize is true, the data is mapped to colors and a uint8 4 channel image is returned.</span>
+                <span class="c1">#   if colorize is false, the data is returned as a uint32 image with ids as values.</span>
+                <span class="k">if</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;semantic_segmentation&quot;</span><span class="p">:</span>
+                    <span class="n">init_params</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;colorize&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_semantic_segmentation</span><span class="p">}</span>
+                <span class="k">elif</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;instance_segmentation_fast&quot;</span><span class="p">:</span>
+                    <span class="n">init_params</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;colorize&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_segmentation</span><span class="p">}</span>
+                <span class="k">elif</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;instance_id_segmentation_fast&quot;</span><span class="p">:</span>
+                    <span class="n">init_params</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;colorize&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_id_segmentation</span><span class="p">}</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="n">init_params</span> <span class="o">=</span> <span class="kc">None</span>
+
+                <span class="c1"># Resolve device name</span>
+                <span class="k">if</span> <span class="s2">&quot;cuda&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">:</span>
+                    <span class="n">device_name</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;:&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="n">device_name</span> <span class="o">=</span> <span class="s2">&quot;cpu&quot;</span>
+
+                <span class="c1"># Map special cases to their corresponding annotator names</span>
+                <span class="n">special_cases</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;rgba&quot;</span><span class="p">:</span> <span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="s2">&quot;depth&quot;</span><span class="p">:</span> <span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">}</span>
+                <span class="c1"># Get the annotator name, falling back to the original name if not a special case</span>
+                <span class="n">annotator_name</span> <span class="o">=</span> <span class="n">special_cases</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">name</span><span class="p">)</span>
+                <span class="c1"># Create the annotator node</span>
+                <span class="n">rep_annotator</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">AnnotatorRegistry</span><span class="o">.</span><span class="n">get_annotator</span><span class="p">(</span><span class="n">annotator_name</span><span class="p">,</span> <span class="n">init_params</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device_name</span><span class="p">)</span>
+
+                <span class="c1"># attach annotator to render product</span>
+                <span class="n">rep_annotator</span><span class="o">.</span><span class="n">attach</span><span class="p">(</span><span class="n">render_prod_path</span><span class="p">)</span>
+                <span class="c1"># add to registry</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_rep_registry</span><span class="p">[</span><span class="n">name</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">rep_annotator</span><span class="p">)</span>
+
+        <span class="c1"># Create internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_buffers</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_intrinsic_matrices</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_update_buffers_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+        <span class="c1"># Increment frame count</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span>
+        <span class="c1"># -- pose</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_poses</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># -- read the data from annotator registry</span>
+        <span class="c1"># check if buffer is called for the first time. If so then, allocate the memory</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># this is the first time buffer is called</span>
+            <span class="c1"># it allocates memory for all the sensors</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_create_annotator_data</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># iterate over all the data types</span>
+            <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">annotators</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rep_registry</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                <span class="c1"># iterate over all the annotators</span>
+                <span class="k">for</span> <span class="n">index</span> <span class="ow">in</span> <span class="n">env_ids</span><span class="p">:</span>
+                    <span class="c1"># get the output</span>
+                    <span class="n">output</span> <span class="o">=</span> <span class="n">annotators</span><span class="p">[</span><span class="n">index</span><span class="p">]</span><span class="o">.</span><span class="n">get_data</span><span class="p">()</span>
+                    <span class="c1"># process the output</span>
+                    <span class="n">data</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_annotator_output</span><span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">output</span><span class="p">)</span>
+                    <span class="c1"># add data to output</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">][</span><span class="n">index</span><span class="p">]</span> <span class="o">=</span> <span class="n">data</span>
+                    <span class="c1"># add info to output</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">info</span><span class="p">[</span><span class="n">index</span><span class="p">][</span><span class="n">name</span><span class="p">]</span> <span class="o">=</span> <span class="n">info</span>
+                <span class="c1"># NOTE: The `distance_to_camera` annotator returns the distance to the camera optical center. However,</span>
+                <span class="c1">#       the replicator depth clipping is applied w.r.t. to the image plane which may result in values</span>
+                <span class="c1">#       larger than the clipping range in the output. We apply an additional clipping to ensure values</span>
+                <span class="c1">#       are within the clipping range for all the annotators.</span>
+                <span class="k">if</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;distance_to_camera&quot;</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">][</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">]</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">clipping_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span>
+                <span class="c1"># apply defined clipping behavior</span>
+                <span class="k">if</span> <span class="p">(</span>
+                    <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;distance_to_camera&quot;</span> <span class="ow">or</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;distance_to_image_plane&quot;</span>
+                <span class="p">)</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">depth_clipping_behavior</span> <span class="o">!=</span> <span class="s2">&quot;none&quot;</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">][</span><span class="n">torch</span><span class="o">.</span><span class="n">isinf</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">])]</span> <span class="o">=</span> <span class="p">(</span>
+                        <span class="mf">0.0</span> <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">depth_clipping_behavior</span> <span class="o">==</span> <span class="s2">&quot;zero&quot;</span> <span class="k">else</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">clipping_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
+                    <span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Private Helpers</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_check_supported_data_types</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">CameraCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Checks if the data types are supported by the ray-caster camera.&quot;&quot;&quot;</span>
+        <span class="c1"># check if there is any intersection in unsupported types</span>
+        <span class="c1"># reason: these use np structured data types which we can&#39;t yet convert to torch tensor</span>
+        <span class="n">common_elements</span> <span class="o">=</span> <span class="nb">set</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">)</span> <span class="o">&amp;</span> <span class="n">Camera</span><span class="o">.</span><span class="n">UNSUPPORTED_TYPES</span>
+        <span class="k">if</span> <span class="n">common_elements</span><span class="p">:</span>
+            <span class="c1"># provide alternative fast counterparts</span>
+            <span class="n">fast_common_elements</span> <span class="o">=</span> <span class="p">[]</span>
+            <span class="k">for</span> <span class="n">item</span> <span class="ow">in</span> <span class="n">common_elements</span><span class="p">:</span>
+                <span class="k">if</span> <span class="s2">&quot;instance_segmentation&quot;</span> <span class="ow">in</span> <span class="n">item</span> <span class="ow">or</span> <span class="s2">&quot;instance_id_segmentation&quot;</span> <span class="ow">in</span> <span class="n">item</span><span class="p">:</span>
+                    <span class="n">fast_common_elements</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">item</span> <span class="o">+</span> <span class="s2">&quot;_fast&quot;</span><span class="p">)</span>
+            <span class="c1"># raise error</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Camera class does not support the following sensor types: </span><span class="si">{</span><span class="n">common_elements</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">This is because these sensor types output numpy structured data types which&quot;</span>
+                <span class="s2">&quot;can&#39;t be converted to torch tensors easily.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Hint: If you need to work with these sensor types, we recommend using their fast counterparts.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t\t</span><span class="s2">Fast counterparts: </span><span class="si">{</span><span class="n">fast_common_elements</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_create_buffers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create buffers for storing data.&quot;&quot;&quot;</span>
+        <span class="c1"># create the data object</span>
+        <span class="c1"># -- pose of the cameras</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w_world</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># -- intrinsic matrix</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">image_shape</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span>
+        <span class="c1"># -- output data</span>
+        <span class="c1"># lazy allocation of data dictionary</span>
+        <span class="c1"># since the size of the output data is not known in advance, we leave it as None</span>
+        <span class="c1"># the memory will be allocated when the buffer() function is called for the first time.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">info</span> <span class="o">=</span> <span class="p">[{</span><span class="n">name</span><span class="p">:</span> <span class="kc">None</span> <span class="k">for</span> <span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">}</span> <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">)]</span>
+
+    <span class="k">def</span> <span class="nf">_update_intrinsic_matrices</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute camera&#39;s matrix of intrinsic parameters.</span>
+
+<span class="sd">        Also called calibration matrix. This matrix works for linear depth images. We assume square pixels.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            The calibration matrix projects points in the 3D scene onto an imaginary screen of the camera.</span>
+<span class="sd">            The coordinates of points on the image plane are in the homogeneous representation.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># iterate over all cameras</span>
+        <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="n">env_ids</span><span class="p">:</span>
+            <span class="c1"># Get corresponding sensor prim</span>
+            <span class="n">sensor_prim</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_sensor_prims</span><span class="p">[</span><span class="n">i</span><span class="p">]</span>
+            <span class="c1"># get camera parameters</span>
+            <span class="n">focal_length</span> <span class="o">=</span> <span class="n">sensor_prim</span><span class="o">.</span><span class="n">GetFocalLengthAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">()</span>
+            <span class="n">horiz_aperture</span> <span class="o">=</span> <span class="n">sensor_prim</span><span class="o">.</span><span class="n">GetHorizontalApertureAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">()</span>
+            <span class="n">vert_aperture</span> <span class="o">=</span> <span class="n">sensor_prim</span><span class="o">.</span><span class="n">GetVerticalApertureAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">()</span>
+            <span class="n">horiz_aperture_offset</span> <span class="o">=</span> <span class="n">sensor_prim</span><span class="o">.</span><span class="n">GetHorizontalApertureOffsetAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">()</span>
+            <span class="n">vert_aperture_offset</span> <span class="o">=</span> <span class="n">sensor_prim</span><span class="o">.</span><span class="n">GetVerticalApertureOffsetAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">()</span>
+            <span class="c1"># get viewport parameters</span>
+            <span class="n">height</span><span class="p">,</span> <span class="n">width</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span>
+            <span class="c1"># extract intrinsic parameters</span>
+            <span class="n">f_x</span> <span class="o">=</span> <span class="p">(</span><span class="n">width</span> <span class="o">*</span> <span class="n">focal_length</span><span class="p">)</span> <span class="o">/</span> <span class="n">horiz_aperture</span>
+            <span class="n">f_y</span> <span class="o">=</span> <span class="p">(</span><span class="n">height</span> <span class="o">*</span> <span class="n">focal_length</span><span class="p">)</span> <span class="o">/</span> <span class="n">vert_aperture</span>
+            <span class="n">c_x</span> <span class="o">=</span> <span class="n">width</span> <span class="o">*</span> <span class="mf">0.5</span> <span class="o">+</span> <span class="n">horiz_aperture_offset</span> <span class="o">*</span> <span class="n">f_x</span>
+            <span class="n">c_y</span> <span class="o">=</span> <span class="n">height</span> <span class="o">*</span> <span class="mf">0.5</span> <span class="o">+</span> <span class="n">vert_aperture_offset</span> <span class="o">*</span> <span class="n">f_y</span>
+            <span class="c1"># create intrinsic matrix for depth linear</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">i</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">f_x</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">i</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="n">c_x</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">i</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">f_y</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">i</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="n">c_y</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">i</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span>
+
+    <span class="k">def</span> <span class="nf">_update_poses</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Computes the pose of the camera in the world frame with ROS convention.</span>
+
+<span class="sd">        This methods uses the ROS convention to resolve the input pose. In this convention,</span>
+<span class="sd">        we assume that the camera front-axis is +Z-axis and up-axis is -Y-axis.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple of the position (in meters) and quaternion (w, x, y, z).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check camera prim exists</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_sensor_prims</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;Camera prim is None. Please call &#39;sim.play()&#39; first.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># get the poses from the view</span>
+        <span class="n">poses</span><span class="p">,</span> <span class="n">quat</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">get_world_poses</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">poses</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w_world</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">convert_camera_frame_orientation_convention</span><span class="p">(</span>
+            <span class="n">quat</span><span class="p">,</span> <span class="n">origin</span><span class="o">=</span><span class="s2">&quot;opengl&quot;</span><span class="p">,</span> <span class="n">target</span><span class="o">=</span><span class="s2">&quot;world&quot;</span>
+        <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_create_annotator_data</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create the buffers to store the annotator data.</span>
+
+<span class="sd">        We create a buffer for each annotator and store the data in a dictionary. Since the data</span>
+<span class="sd">        shape is not known beforehand, we create a list of buffers and concatenate them later.</span>
+
+<span class="sd">        This is an expensive operation and should be called only once.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># add data from the annotators</span>
+        <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">annotators</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_rep_registry</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># create a list to store the data for each annotator</span>
+            <span class="n">data_all_cameras</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+            <span class="c1"># iterate over all the annotators</span>
+            <span class="k">for</span> <span class="n">index</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span><span class="p">:</span>
+                <span class="c1"># get the output</span>
+                <span class="n">output</span> <span class="o">=</span> <span class="n">annotators</span><span class="p">[</span><span class="n">index</span><span class="p">]</span><span class="o">.</span><span class="n">get_data</span><span class="p">()</span>
+                <span class="c1"># process the output</span>
+                <span class="n">data</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_annotator_output</span><span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">output</span><span class="p">)</span>
+                <span class="c1"># append the data</span>
+                <span class="n">data_all_cameras</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">data</span><span class="p">)</span>
+                <span class="c1"># store the info</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">info</span><span class="p">[</span><span class="n">index</span><span class="p">][</span><span class="n">name</span><span class="p">]</span> <span class="o">=</span> <span class="n">info</span>
+            <span class="c1"># concatenate the data along the batch dimension</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">(</span><span class="n">data_all_cameras</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+            <span class="c1"># NOTE: `distance_to_camera` and `distance_to_image_plane` are not both clipped to the maximum defined</span>
+            <span class="c1">#       in the clipping range. The clipping is applied only to `distance_to_image_plane` and then both</span>
+            <span class="c1">#       outputs are only clipped where the values in `distance_to_image_plane` exceed the threshold. To</span>
+            <span class="c1">#       have a unified behavior between all cameras, we clip both outputs to the maximum value defined.</span>
+            <span class="k">if</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;distance_to_camera&quot;</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">][</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">]</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">clipping_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span>
+            <span class="c1"># clip the data if needed</span>
+            <span class="k">if</span> <span class="p">(</span>
+                <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;distance_to_camera&quot;</span> <span class="ow">or</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;distance_to_image_plane&quot;</span>
+            <span class="p">)</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">depth_clipping_behavior</span> <span class="o">!=</span> <span class="s2">&quot;none&quot;</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">][</span><span class="n">torch</span><span class="o">.</span><span class="n">isinf</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">])]</span> <span class="o">=</span> <span class="p">(</span>
+                    <span class="mf">0.0</span> <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">depth_clipping_behavior</span> <span class="o">==</span> <span class="s2">&quot;zero&quot;</span> <span class="k">else</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">clipping_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
+                <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_process_annotator_output</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">output</span><span class="p">:</span> <span class="n">Any</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">,</span> <span class="nb">dict</span> <span class="o">|</span> <span class="kc">None</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Process the annotator output.</span>
+
+<span class="sd">        This function is called after the data has been collected from all the cameras.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># extract info and data from the output</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">output</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="n">output</span><span class="p">[</span><span class="s2">&quot;data&quot;</span><span class="p">]</span>
+            <span class="n">info</span> <span class="o">=</span> <span class="n">output</span><span class="p">[</span><span class="s2">&quot;info&quot;</span><span class="p">]</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="n">output</span>
+            <span class="n">info</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># convert data into torch tensor</span>
+        <span class="n">data</span> <span class="o">=</span> <span class="n">convert_to_torch</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># process data for different segmentation types</span>
+        <span class="c1"># Note: Replicator returns raw buffers of dtype int32 for segmentation types</span>
+        <span class="c1">#   so we need to convert them to uint8 4 channel images for colorized types</span>
+        <span class="n">height</span><span class="p">,</span> <span class="n">width</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span>
+        <span class="k">if</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;semantic_segmentation&quot;</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_semantic_segmentation</span><span class="p">:</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="n">height</span><span class="p">,</span> <span class="n">width</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">height</span><span class="p">,</span> <span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;instance_segmentation_fast&quot;</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_segmentation</span><span class="p">:</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="n">height</span><span class="p">,</span> <span class="n">width</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">height</span><span class="p">,</span> <span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;instance_id_segmentation_fast&quot;</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_id_segmentation</span><span class="p">:</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="n">height</span><span class="p">,</span> <span class="n">width</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">height</span><span class="p">,</span> <span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># make sure buffer dimensions are consistent as (H, W, C)</span>
+        <span class="k">elif</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;distance_to_camera&quot;</span> <span class="ow">or</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;distance_to_image_plane&quot;</span> <span class="ow">or</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;depth&quot;</span><span class="p">:</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">height</span><span class="p">,</span> <span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># we only return the RGB channels from the RGBA output if rgb is required</span>
+        <span class="c1"># normals return (x, y, z) in first 3 channels, 4th channel is unused</span>
+        <span class="k">elif</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;rgb&quot;</span> <span class="ow">or</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;normals&quot;</span><span class="p">:</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="n">data</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="c1"># motion vectors return (x, y) in first 2 channels, 3rd and 4th channels are unused</span>
+        <span class="k">elif</span> <span class="n">name</span> <span class="o">==</span> <span class="s2">&quot;motion_vectors&quot;</span><span class="p">:</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="n">data</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">2</span><span class="p">]</span>
+
+        <span class="c1"># return the data and info</span>
+        <span class="k">return</span> <span class="n">data</span><span class="p">,</span> <span class="n">info</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="c1"># call parent</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="c1"># set all existing views to None to invalidate them</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_view</span> <span class="o">=</span> <span class="kc">None</span></div>
+</pre></div>
+
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new file mode 100644
index 0000000000..a0e35f26a6
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+  <h1>Source code for omni.isaac.lab.sensors.camera.camera_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">FisheyeCameraCfg</span><span class="p">,</span> <span class="n">PinholeCameraCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base_cfg</span> <span class="kn">import</span> <span class="n">SensorBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.camera</span> <span class="kn">import</span> <span class="n">Camera</span>
+
+
+<div class="viewcode-block" id="CameraCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CameraCfg</span><span class="p">(</span><span class="n">SensorBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a camera sensor.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="CameraCfg.OffsetCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.OffsetCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">OffsetCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The offset pose of the sensor&#39;s frame from the sensor&#39;s parent frame.&quot;&quot;&quot;</span>
+
+        <span class="n">pos</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+
+        <span class="n">rot</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+
+        <span class="n">convention</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;opengl&quot;</span><span class="p">,</span> <span class="s2">&quot;ros&quot;</span><span class="p">,</span> <span class="s2">&quot;world&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;ros&quot;</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The convention in which the frame offset is applied. Defaults to &quot;ros&quot;.</span>
+
+<span class="sd">        - ``&quot;opengl&quot;`` - forward axis: ``-Z`` - up axis: ``+Y`` - Offset is applied in the OpenGL (Usd.Camera) convention.</span>
+<span class="sd">        - ``&quot;ros&quot;``    - forward axis: ``+Z`` - up axis: ``-Y`` - Offset is applied in the ROS convention.</span>
+<span class="sd">        - ``&quot;world&quot;``  - forward axis: ``+X`` - up axis: ``+Z`` - Offset is applied in the World Frame convention.</span>
+
+<span class="sd">        &quot;&quot;&quot;</span></div>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">Camera</span>
+
+    <span class="n">offset</span><span class="p">:</span> <span class="n">OffsetCfg</span> <span class="o">=</span> <span class="n">OffsetCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The offset pose of the sensor&#39;s frame from the sensor&#39;s parent frame. Defaults to identity.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The parent frame is the frame the sensor attaches to. For example, the parent frame of a</span>
+<span class="sd">        camera at path ``/World/envs/env_0/Robot/Camera`` is ``/World/envs/env_0/Robot``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">spawn</span><span class="p">:</span> <span class="n">PinholeCameraCfg</span> <span class="o">|</span> <span class="n">FisheyeCameraCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spawn configuration for the asset.</span>
+
+<span class="sd">    If None, then the prim is not spawned by the asset. Instead, it is assumed that the</span>
+<span class="sd">    asset is already present in the scene.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">depth_clipping_behavior</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;max&quot;</span><span class="p">,</span> <span class="s2">&quot;zero&quot;</span><span class="p">,</span> <span class="s2">&quot;none&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;none&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Clipping behavior for the camera for values exceed the maximum value. Defaults to &quot;none&quot;.</span>
+
+<span class="sd">    - ``&quot;max&quot;``: Values are clipped to the maximum value.</span>
+<span class="sd">    - ``&quot;zero&quot;``: Values are clipped to zero.</span>
+<span class="sd">    - ``&quot;none``: No clipping is applied. Values will be returned as ``inf``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;List of sensor names/types to enable for the camera. Defaults to [&quot;rgb&quot;].</span>
+
+<span class="sd">    Please refer to the :class:`Camera` class for a list of available data types.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">width</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Width of the image in pixels.&quot;&quot;&quot;</span>
+
+    <span class="n">height</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Height of the image in pixels.&quot;&quot;&quot;</span>
+
+    <span class="n">semantic_filter</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;*:*&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A string or a list specifying a semantic filter predicate. Defaults to ``&quot;*:*&quot;``.</span>
+
+<span class="sd">    If a string, it should be a disjunctive normal form of (semantic type, labels). For examples:</span>
+
+<span class="sd">    * ``&quot;typeA : labelA &amp; !labelB | labelC , typeB: labelA ; typeC: labelE&quot;``:</span>
+<span class="sd">      All prims with semantic type &quot;typeA&quot; and label &quot;labelA&quot; but not &quot;labelB&quot; or with label &quot;labelC&quot;.</span>
+<span class="sd">      Also, all prims with semantic type &quot;typeB&quot; and label &quot;labelA&quot;, or with semantic type &quot;typeC&quot; and label &quot;labelE&quot;.</span>
+<span class="sd">    * ``&quot;typeA : * ; * : labelA&quot;``: All prims with semantic type &quot;typeA&quot; or with label &quot;labelA&quot;</span>
+
+<span class="sd">    If a list of strings, each string should be a semantic type. The segmentation for prims with</span>
+<span class="sd">    semantics of the specified types will be retrieved. For example, if the list is [&quot;class&quot;], only</span>
+<span class="sd">    the segmentation for prims with semantics of type &quot;class&quot; will be retrieved.</span>
+
+<span class="sd">    .. seealso::</span>
+
+<span class="sd">        For more information on the semantics filter, see the documentation on `Replicator Semantics Schema Editor`_.</span>
+
+<span class="sd">    .. _Replicator Semantics Schema Editor: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">colorize_semantic_segmentation</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to colorize the semantic segmentation images. Defaults to True.</span>
+
+<span class="sd">    If True, semantic segmentation is converted to an image where semantic IDs are mapped to colors</span>
+<span class="sd">    and returned as a ``uint8`` 4-channel array. If False, the output is returned as a ``int32`` array.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">colorize_instance_id_segmentation</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to colorize the instance ID segmentation images. Defaults to True.</span>
+
+<span class="sd">    If True, instance id segmentation is converted to an image where instance IDs are mapped to colors.</span>
+<span class="sd">    and returned as a ``uint8`` 4-channel array. If False, the output is returned as a ``int32`` array.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">colorize_instance_segmentation</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to colorize the instance ID segmentation images. Defaults to True.</span>
+
+<span class="sd">    If True, instance segmentation is converted to an image where instance IDs are mapped to colors.</span>
+<span class="sd">    and returned as a ``uint8`` 4-channel array. If False, the output is returned as a ``int32`` array.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+</details></li>
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+  <h1>Source code for omni.isaac.lab.sensors.camera.camera_data</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">dataclass</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="n">convert_camera_frame_orientation_convention</span>
+
+
+<div class="viewcode-block" id="CameraData"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData">[docs]</a><span class="nd">@dataclass</span>
+<span class="k">class</span> <span class="nc">CameraData</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Data container for the camera sensor.&quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Frame state.</span>
+    <span class="c1">##</span>
+
+    <span class="n">pos_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Position of the sensor origin in world frame, following ROS convention.</span>
+
+<span class="sd">    Shape is (N, 3) where N is the number of sensors.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">quat_w_world</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Quaternion orientation `(w, x, y, z)` of the sensor origin in world frame, following the world coordinate frame</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        World frame convention follows the camera aligned with forward axis +X and up axis +Z.</span>
+
+<span class="sd">    Shape is (N, 4) where N is the number of sensors.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Camera data</span>
+    <span class="c1">##</span>
+
+    <span class="n">image_shape</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">int</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A tuple containing (height, width) of the camera sensor.&quot;&quot;&quot;</span>
+
+    <span class="n">intrinsic_matrices</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The intrinsic matrices for the camera.</span>
+
+<span class="sd">    Shape is (N, 3, 3) where N is the number of sensors.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">output</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The retrieved sensor data with sensor types as key.</span>
+
+<span class="sd">    The format of the data is available in the `Replicator Documentation`_. For semantic-based data,</span>
+<span class="sd">    this corresponds to the ``&quot;data&quot;`` key in the output of the sensor.</span>
+
+<span class="sd">    .. _Replicator Documentation: https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_replicator/annotators_details.html#annotator-output</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">info</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]]</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The retrieved sensor info with sensor types as key.</span>
+
+<span class="sd">    This contains extra information provided by the sensor such as semantic segmentation label mapping, prim paths.</span>
+<span class="sd">    For semantic-based data, this corresponds to the ``&quot;info&quot;`` key in the output of the sensor. For other sensor</span>
+<span class="sd">    types, the info is empty.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Additional Frame orientation conventions</span>
+    <span class="c1">##</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">quat_w_ros</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Quaternion orientation `(w, x, y, z)` of the sensor origin in the world frame, following ROS convention.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            ROS convention follows the camera aligned with forward axis +Z and up axis -Y.</span>
+
+<span class="sd">        Shape is (N, 4) where N is the number of sensors.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">convert_camera_frame_orientation_convention</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">quat_w_world</span><span class="p">,</span> <span class="n">origin</span><span class="o">=</span><span class="s2">&quot;world&quot;</span><span class="p">,</span> <span class="n">target</span><span class="o">=</span><span class="s2">&quot;ros&quot;</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">quat_w_opengl</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Quaternion orientation `(w, x, y, z)` of the sensor origin in the world frame, following</span>
+<span class="sd">        Opengl / USD Camera convention.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            OpenGL convention follows the camera aligned with forward axis -Z and up axis +Y.</span>
+
+<span class="sd">        Shape is (N, 4) where N is the number of sensors.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">convert_camera_frame_orientation_convention</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">quat_w_world</span><span class="p">,</span> <span class="n">origin</span><span class="o">=</span><span class="s2">&quot;world&quot;</span><span class="p">,</span> <span class="n">target</span><span class="o">=</span><span class="s2">&quot;opengl&quot;</span><span class="p">)</span></div>
+</pre></div>
+
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new file mode 100644
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+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/changelog.html">Extensions Changelog</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/license.html">License</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/bibliography.html">Bibliography</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Project Links</span></p>
+<ul class="nav bd-sidenav">
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+  <h1>Source code for omni.isaac.lab.sensors.camera.tiled_camera</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">math</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span><span class="p">,</span> <span class="n">Any</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni.usd</span>
+<span class="kn">import</span> <span class="nn">warp</span> <span class="k">as</span> <span class="nn">wp</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.core.prims</span> <span class="kn">import</span> <span class="n">XFormPrimView</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.version</span> <span class="kn">import</span> <span class="n">get_version</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">UsdGeom</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.warp.kernels</span> <span class="kn">import</span> <span class="n">reshape_tiled_image</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base</span> <span class="kn">import</span> <span class="n">SensorBase</span>
+<span class="kn">from</span> <span class="nn">.camera</span> <span class="kn">import</span> <span class="n">Camera</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.tiled_camera_cfg</span> <span class="kn">import</span> <span class="n">TiledCameraCfg</span>
+
+
+<div class="viewcode-block" id="TiledCamera"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera">[docs]</a><span class="k">class</span> <span class="nc">TiledCamera</span><span class="p">(</span><span class="n">Camera</span><span class="p">):</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;The tiled rendering based camera sensor for acquiring the same data as the Camera class.</span>
+
+<span class="sd">    This class inherits from the :class:`Camera` class but uses the tiled-rendering API to acquire</span>
+<span class="sd">    the visual data. Tiled-rendering concatenates the rendered images from multiple cameras into a single image.</span>
+<span class="sd">    This allows for rendering multiple cameras in parallel and is useful for rendering large scenes with multiple</span>
+<span class="sd">    cameras efficiently.</span>
+
+<span class="sd">    The following sensor types are supported:</span>
+
+<span class="sd">    - ``&quot;rgb&quot;``: A 3-channel rendered color image.</span>
+<span class="sd">    - ``&quot;rgba&quot;``: A 4-channel rendered color image with alpha channel.</span>
+<span class="sd">    - ``&quot;distance_to_camera&quot;``: An image containing the distance to camera optical center.</span>
+<span class="sd">    - ``&quot;distance_to_image_plane&quot;``: An image containing distances of 3D points from camera plane along camera&#39;s z-axis.</span>
+<span class="sd">    - ``&quot;depth&quot;``: Alias for ``&quot;distance_to_image_plane&quot;``.</span>
+<span class="sd">    - ``&quot;normals&quot;``: An image containing the local surface normal vectors at each pixel.</span>
+<span class="sd">    - ``&quot;motion_vectors&quot;``: An image containing the motion vector data at each pixel.</span>
+<span class="sd">    - ``&quot;semantic_segmentation&quot;``: The semantic segmentation data.</span>
+<span class="sd">    - ``&quot;instance_segmentation_fast&quot;``: The instance segmentation data.</span>
+<span class="sd">    - ``&quot;instance_id_segmentation_fast&quot;``: The instance id segmentation data.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        Currently the following sensor types are not supported in a &quot;view&quot; format:</span>
+
+<span class="sd">        - ``&quot;instance_segmentation&quot;``: The instance segmentation data. Please use the fast counterparts instead.</span>
+<span class="sd">        - ``&quot;instance_id_segmentation&quot;``: The instance id segmentation data. Please use the fast counterparts instead.</span>
+<span class="sd">        - ``&quot;bounding_box_2d_tight&quot;``: The tight 2D bounding box data (only contains non-occluded regions).</span>
+<span class="sd">        - ``&quot;bounding_box_2d_tight_fast&quot;``: The tight 2D bounding box data (only contains non-occluded regions).</span>
+<span class="sd">        - ``&quot;bounding_box_2d_loose&quot;``: The loose 2D bounding box data (contains occluded regions).</span>
+<span class="sd">        - ``&quot;bounding_box_2d_loose_fast&quot;``: The loose 2D bounding box data (contains occluded regions).</span>
+<span class="sd">        - ``&quot;bounding_box_3d&quot;``: The 3D view space bounding box data.</span>
+<span class="sd">        - ``&quot;bounding_box_3d_fast&quot;``: The 3D view space bounding box data.</span>
+
+<span class="sd">    .. _replicator extension: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#annotator-output</span>
+<span class="sd">    .. _USDGeom Camera: https://graphics.pixar.com/usd/docs/api/class_usd_geom_camera.html</span>
+
+<span class="sd">    .. versionadded:: v1.0.0</span>
+
+<span class="sd">        This feature is available starting from Isaac Sim 4.2. Before this version, the tiled rendering APIs</span>
+<span class="sd">        were not available.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">TiledCameraCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration parameters.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="TiledCamera.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">TiledCameraCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the tiled camera sensor.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration parameters.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If no camera prim is found at the given path.</span>
+<span class="sd">            RuntimeError: If Isaac Sim version &lt; 4.2</span>
+<span class="sd">            ValueError: If the provided data types are not supported by the camera.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">isaac_sim_version</span> <span class="o">=</span> <span class="nb">float</span><span class="p">(</span><span class="s2">&quot;.&quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">get_version</span><span class="p">()[</span><span class="mi">2</span><span class="p">:</span><span class="mi">4</span><span class="p">]))</span>
+        <span class="k">if</span> <span class="n">isaac_sim_version</span> <span class="o">&lt;</span> <span class="mf">4.2</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;TiledCamera is only available from Isaac Sim 4.2.0. Current version is </span><span class="si">{</span><span class="n">isaac_sim_version</span><span class="si">}</span><span class="s2">. Please&quot;</span>
+                <span class="s2">&quot; update to Isaac Sim 4.2.0&quot;</span>
+            <span class="p">)</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Unsubscribes from callbacks and detach from the replicator registry.&quot;&quot;&quot;</span>
+        <span class="c1"># unsubscribe from callbacks</span>
+        <span class="n">SensorBase</span><span class="o">.</span><span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
+        <span class="c1"># detach from the replicator registry</span>
+        <span class="k">for</span> <span class="n">annotator</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_annotators</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">annotator</span><span class="o">.</span><span class="n">detach</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">render_product_paths</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing information about the instance.&quot;&quot;&quot;</span>
+        <span class="c1"># message for class</span>
+        <span class="k">return</span> <span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Tiled Camera @ &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;: </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">data types   : </span><span class="si">{</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span><span class="si">}</span><span class="s2"> </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">semantic filter : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">semantic_filter</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">colorize semantic segm.   : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_semantic_segmentation</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">colorize instance segm.   : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_segmentation</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">colorize instance id segm.: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_id_segmentation</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">update period (s): </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">update_period</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">shape        : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of sensors : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="TiledCamera.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="s2">&quot;TiledCamera could not be initialized. Please ensure --enable_cameras is used to enable rendering.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># reset the timestamps</span>
+        <span class="n">SensorBase</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># resolve None</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset the frame count</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the sensor handles and internal buffers.</span>
+
+<span class="sd">        This function creates handles and registers the provided data types with the replicator registry to</span>
+<span class="sd">        be able to access the data from the sensor. It also initializes the internal buffers to store the data.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If the number of camera prims in the view does not match the number of environments.</span>
+<span class="sd">            RuntimeError: If replicator was not found.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">carb_settings_iface</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">get_settings</span><span class="p">()</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;/isaaclab/cameras_enabled&quot;</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="s2">&quot;A camera was spawned without the --enable_cameras flag. Please use --enable_cameras to enable&quot;</span>
+                <span class="s2">&quot; rendering.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+
+        <span class="c1"># Initialize parent class</span>
+        <span class="n">SensorBase</span><span class="o">.</span><span class="n">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
+        <span class="c1"># Create a view for the sensor</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_view</span> <span class="o">=</span> <span class="n">XFormPrimView</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">reset_xform_properties</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">initialize</span><span class="p">()</span>
+        <span class="c1"># Check that sizes are correct</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Number of camera prims in the view (</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="s2">) does not match&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; the number of environments (</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="si">}</span><span class="s2">).&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># Create all env_ids buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+        <span class="c1"># Create frame count buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+
+        <span class="c1"># Obtain current stage</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">get_context</span><span class="p">()</span><span class="o">.</span><span class="n">get_stage</span><span class="p">()</span>
+        <span class="c1"># Convert all encapsulated prims to Camera</span>
+        <span class="k">for</span> <span class="n">cam_prim_path</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">prim_paths</span><span class="p">:</span>
+            <span class="c1"># Get camera prim</span>
+            <span class="n">cam_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">cam_prim_path</span><span class="p">)</span>
+            <span class="c1"># Check if prim is a camera</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="n">cam_prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">UsdGeom</span><span class="o">.</span><span class="n">Camera</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim at path &#39;</span><span class="si">{</span><span class="n">cam_prim_path</span><span class="si">}</span><span class="s2">&#39; is not a Camera.&quot;</span><span class="p">)</span>
+            <span class="c1"># Add to list</span>
+            <span class="n">sensor_prim</span> <span class="o">=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Camera</span><span class="p">(</span><span class="n">cam_prim</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sensor_prims</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">sensor_prim</span><span class="p">)</span>
+
+        <span class="c1"># Create replicator tiled render product</span>
+        <span class="n">rp</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">create</span><span class="o">.</span><span class="n">render_product_tiled</span><span class="p">(</span>
+            <span class="n">cameras</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">prim_paths</span><span class="p">,</span> <span class="n">tile_resolution</span><span class="o">=</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_render_product_paths</span> <span class="o">=</span> <span class="p">[</span><span class="n">rp</span><span class="o">.</span><span class="n">path</span><span class="p">]</span>
+
+        <span class="c1"># WAR: use DLAA antialiasing to avoid frame offset issue at small resolutions</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_tiling_grid_shape</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span> <span class="o">&lt;</span> <span class="mi">265</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">_tiling_grid_shape</span><span class="p">()[</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span> <span class="o">&lt;</span> <span class="mi">265</span><span class="p">:</span>
+            <span class="n">rep</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">set_render_rtx_realtime</span><span class="p">(</span><span class="n">antialiasing</span><span class="o">=</span><span class="s2">&quot;DLAA&quot;</span><span class="p">)</span>
+
+        <span class="c1"># Define the annotators based on requested data types</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_annotators</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">annotator_type</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">annotator_type</span> <span class="o">==</span> <span class="s2">&quot;rgba&quot;</span> <span class="ow">or</span> <span class="n">annotator_type</span> <span class="o">==</span> <span class="s2">&quot;rgb&quot;</span><span class="p">:</span>
+                <span class="n">annotator</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">AnnotatorRegistry</span><span class="o">.</span><span class="n">get_annotator</span><span class="p">(</span><span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">do_array_copy</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_annotators</span><span class="p">[</span><span class="s2">&quot;rgba&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">annotator</span>
+            <span class="k">elif</span> <span class="n">annotator_type</span> <span class="o">==</span> <span class="s2">&quot;depth&quot;</span> <span class="ow">or</span> <span class="n">annotator_type</span> <span class="o">==</span> <span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">:</span>
+                <span class="c1"># keep depth for backwards compatibility</span>
+                <span class="n">annotator</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">AnnotatorRegistry</span><span class="o">.</span><span class="n">get_annotator</span><span class="p">(</span>
+                    <span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">do_array_copy</span><span class="o">=</span><span class="kc">False</span>
+                <span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_annotators</span><span class="p">[</span><span class="n">annotator_type</span><span class="p">]</span> <span class="o">=</span> <span class="n">annotator</span>
+            <span class="c1"># note: we are verbose here to make it easier to understand the code.</span>
+            <span class="c1">#   if colorize is true, the data is mapped to colors and a uint8 4 channel image is returned.</span>
+            <span class="c1">#   if colorize is false, the data is returned as a uint32 image with ids as values.</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">init_params</span> <span class="o">=</span> <span class="kc">None</span>
+                <span class="k">if</span> <span class="n">annotator_type</span> <span class="o">==</span> <span class="s2">&quot;semantic_segmentation&quot;</span><span class="p">:</span>
+                    <span class="n">init_params</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;colorize&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_semantic_segmentation</span><span class="p">}</span>
+                <span class="k">elif</span> <span class="n">annotator_type</span> <span class="o">==</span> <span class="s2">&quot;instance_segmentation_fast&quot;</span><span class="p">:</span>
+                    <span class="n">init_params</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;colorize&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_segmentation</span><span class="p">}</span>
+                <span class="k">elif</span> <span class="n">annotator_type</span> <span class="o">==</span> <span class="s2">&quot;instance_id_segmentation_fast&quot;</span><span class="p">:</span>
+                    <span class="n">init_params</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;colorize&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_id_segmentation</span><span class="p">}</span>
+
+                <span class="n">annotator</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">AnnotatorRegistry</span><span class="o">.</span><span class="n">get_annotator</span><span class="p">(</span>
+                    <span class="n">annotator_type</span><span class="p">,</span> <span class="n">init_params</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">do_array_copy</span><span class="o">=</span><span class="kc">False</span>
+                <span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_annotators</span><span class="p">[</span><span class="n">annotator_type</span><span class="p">]</span> <span class="o">=</span> <span class="n">annotator</span>
+
+        <span class="c1"># Attach the annotator to the render product</span>
+        <span class="k">for</span> <span class="n">annotator</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_annotators</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">annotator</span><span class="o">.</span><span class="n">attach</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_render_product_paths</span><span class="p">)</span>
+
+        <span class="c1"># Create internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_buffers</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">_update_buffers_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+        <span class="c1"># Increment frame count</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span>
+
+        <span class="c1"># Extract the flattened image buffer</span>
+        <span class="k">for</span> <span class="n">data_type</span><span class="p">,</span> <span class="n">annotator</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_annotators</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># check whether returned data is a dict (used for segmentation)</span>
+            <span class="n">output</span> <span class="o">=</span> <span class="n">annotator</span><span class="o">.</span><span class="n">get_data</span><span class="p">()</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">output</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+                <span class="n">tiled_data_buffer</span> <span class="o">=</span> <span class="n">output</span><span class="p">[</span><span class="s2">&quot;data&quot;</span><span class="p">]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">info</span><span class="p">[</span><span class="n">data_type</span><span class="p">]</span> <span class="o">=</span> <span class="n">output</span><span class="p">[</span><span class="s2">&quot;info&quot;</span><span class="p">]</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">tiled_data_buffer</span> <span class="o">=</span> <span class="n">output</span>
+
+            <span class="c1"># convert data buffer to warp array</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">tiled_data_buffer</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">):</span>
+                <span class="n">tiled_data_buffer</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">tiled_data_buffer</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">tiled_data_buffer</span> <span class="o">=</span> <span class="n">tiled_data_buffer</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+            <span class="c1"># process data for different segmentation types</span>
+            <span class="c1"># Note: Replicator returns raw buffers of dtype uint32 for segmentation types</span>
+            <span class="c1">#   so we need to convert them to uint8 4 channel images for colorized types</span>
+            <span class="k">if</span> <span class="p">(</span>
+                <span class="p">(</span><span class="n">data_type</span> <span class="o">==</span> <span class="s2">&quot;semantic_segmentation&quot;</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_semantic_segmentation</span><span class="p">)</span>
+                <span class="ow">or</span> <span class="p">(</span><span class="n">data_type</span> <span class="o">==</span> <span class="s2">&quot;instance_segmentation_fast&quot;</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_segmentation</span><span class="p">)</span>
+                <span class="ow">or</span> <span class="p">(</span><span class="n">data_type</span> <span class="o">==</span> <span class="s2">&quot;instance_id_segmentation_fast&quot;</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_id_segmentation</span><span class="p">)</span>
+            <span class="p">):</span>
+                <span class="n">tiled_data_buffer</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">array</span><span class="p">(</span>
+                    <span class="n">ptr</span><span class="o">=</span><span class="n">tiled_data_buffer</span><span class="o">.</span><span class="n">ptr</span><span class="p">,</span> <span class="n">shape</span><span class="o">=</span><span class="p">(</span><span class="o">*</span><span class="n">tiled_data_buffer</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">uint8</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+                <span class="p">)</span>
+
+            <span class="n">wp</span><span class="o">.</span><span class="n">launch</span><span class="p">(</span>
+                <span class="n">kernel</span><span class="o">=</span><span class="n">reshape_tiled_image</span><span class="p">,</span>
+                <span class="n">dim</span><span class="o">=</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">),</span>
+                <span class="n">inputs</span><span class="o">=</span><span class="p">[</span>
+                    <span class="n">tiled_data_buffer</span><span class="o">.</span><span class="n">flatten</span><span class="p">(),</span>
+                    <span class="n">wp</span><span class="o">.</span><span class="n">from_torch</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">]),</span>  <span class="c1"># zero-copy alias</span>
+                    <span class="o">*</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">:]),</span>  <span class="c1"># height, width, num_channels</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_tiling_grid_shape</span><span class="p">()[</span><span class="mi">0</span><span class="p">],</span>  <span class="c1"># num_tiles_x</span>
+                <span class="p">],</span>
+                <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+            <span class="p">)</span>
+
+            <span class="c1"># alias rgb as first 3 channels of rgba</span>
+            <span class="k">if</span> <span class="n">data_type</span> <span class="o">==</span> <span class="s2">&quot;rgba&quot;</span> <span class="ow">and</span> <span class="s2">&quot;rgb&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;rgba&quot;</span><span class="p">][</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+
+            <span class="c1"># NOTE: The `distance_to_camera` annotator returns the distance to the camera optical center. However,</span>
+            <span class="c1">#       the replicator depth clipping is applied w.r.t. to the image plane which may result in values</span>
+            <span class="c1">#       larger than the clipping range in the output. We apply an additional clipping to ensure values</span>
+            <span class="c1">#       are within the clipping range for all the annotators.</span>
+            <span class="k">if</span> <span class="n">data_type</span> <span class="o">==</span> <span class="s2">&quot;distance_to_camera&quot;</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">][</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">]</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">clipping_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
+                <span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span>
+            <span class="c1"># apply defined clipping behavior</span>
+            <span class="k">if</span> <span class="p">(</span>
+                <span class="n">data_type</span> <span class="o">==</span> <span class="s2">&quot;distance_to_camera&quot;</span> <span class="ow">or</span> <span class="n">data_type</span> <span class="o">==</span> <span class="s2">&quot;distance_to_image_plane&quot;</span> <span class="ow">or</span> <span class="n">data_type</span> <span class="o">==</span> <span class="s2">&quot;depth&quot;</span>
+            <span class="p">)</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">depth_clipping_behavior</span> <span class="o">!=</span> <span class="s2">&quot;none&quot;</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">][</span><span class="n">torch</span><span class="o">.</span><span class="n">isinf</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">])]</span> <span class="o">=</span> <span class="p">(</span>
+                    <span class="mf">0.0</span> <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">depth_clipping_behavior</span> <span class="o">==</span> <span class="s2">&quot;zero&quot;</span> <span class="k">else</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">clipping_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
+                <span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Private Helpers</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_check_supported_data_types</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">TiledCameraCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Checks if the data types are supported by the ray-caster camera.&quot;&quot;&quot;</span>
+        <span class="c1"># check if there is any intersection in unsupported types</span>
+        <span class="c1"># reason: these use np structured data types which we can&#39;t yet convert to torch tensor</span>
+        <span class="n">common_elements</span> <span class="o">=</span> <span class="nb">set</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">)</span> <span class="o">&amp;</span> <span class="n">Camera</span><span class="o">.</span><span class="n">UNSUPPORTED_TYPES</span>
+        <span class="k">if</span> <span class="n">common_elements</span><span class="p">:</span>
+            <span class="c1"># provide alternative fast counterparts</span>
+            <span class="n">fast_common_elements</span> <span class="o">=</span> <span class="p">[]</span>
+            <span class="k">for</span> <span class="n">item</span> <span class="ow">in</span> <span class="n">common_elements</span><span class="p">:</span>
+                <span class="k">if</span> <span class="s2">&quot;instance_segmentation&quot;</span> <span class="ow">in</span> <span class="n">item</span> <span class="ow">or</span> <span class="s2">&quot;instance_id_segmentation&quot;</span> <span class="ow">in</span> <span class="n">item</span><span class="p">:</span>
+                    <span class="n">fast_common_elements</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">item</span> <span class="o">+</span> <span class="s2">&quot;_fast&quot;</span><span class="p">)</span>
+            <span class="c1"># raise error</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;TiledCamera class does not support the following sensor types: </span><span class="si">{</span><span class="n">common_elements</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">This is because these sensor types output numpy structured data types which&quot;</span>
+                <span class="s2">&quot;can&#39;t be converted to torch tensors easily.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Hint: If you need to work with these sensor types, we recommend using their fast counterparts.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t\t</span><span class="s2">Fast counterparts: </span><span class="si">{</span><span class="n">fast_common_elements</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_create_buffers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create buffers for storing data.&quot;&quot;&quot;</span>
+        <span class="c1"># create the data object</span>
+        <span class="c1"># -- pose of the cameras</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w_world</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_poses</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span><span class="p">)</span>
+        <span class="c1"># -- intrinsic matrix</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_intrinsic_matrices</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">image_shape</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span>
+        <span class="c1"># -- output data</span>
+        <span class="n">data_dict</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="k">if</span> <span class="s2">&quot;rgba&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span> <span class="ow">or</span> <span class="s2">&quot;rgb&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;rgba&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">uint8</span>
+            <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+        <span class="k">if</span> <span class="s2">&quot;rgb&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="c1"># RGB is the first 3 channels of RGBA</span>
+            <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;rgba&quot;</span><span class="p">][</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="k">if</span> <span class="s2">&quot;distance_to_image_plane&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span>
+            <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+        <span class="k">if</span> <span class="s2">&quot;depth&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;depth&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span>
+            <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+        <span class="k">if</span> <span class="s2">&quot;distance_to_camera&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;distance_to_camera&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span>
+            <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+        <span class="k">if</span> <span class="s2">&quot;normals&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;normals&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span>
+            <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+        <span class="k">if</span> <span class="s2">&quot;motion_vectors&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;motion_vectors&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">2</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span>
+            <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+        <span class="k">if</span> <span class="s2">&quot;semantic_segmentation&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_semantic_segmentation</span><span class="p">:</span>
+                <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;semantic_segmentation&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                    <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">uint8</span>
+                <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;semantic_segmentation&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                    <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int32</span>
+                <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+        <span class="k">if</span> <span class="s2">&quot;instance_segmentation_fast&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_segmentation</span><span class="p">:</span>
+                <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;instance_segmentation_fast&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                    <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">uint8</span>
+                <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;instance_segmentation_fast&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                    <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int32</span>
+                <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+        <span class="k">if</span> <span class="s2">&quot;instance_id_segmentation_fast&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_id_segmentation</span><span class="p">:</span>
+                <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;instance_id_segmentation_fast&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                    <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">uint8</span>
+                <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">data_dict</span><span class="p">[</span><span class="s2">&quot;instance_id_segmentation_fast&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                    <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int32</span>
+                <span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span> <span class="o">=</span> <span class="n">data_dict</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">info</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">_tiled_image_shape</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">int</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns a tuple containing the dimension of the tiled image.&quot;&quot;&quot;</span>
+        <span class="n">cols</span><span class="p">,</span> <span class="n">rows</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_tiling_grid_shape</span><span class="p">()</span>
+        <span class="k">return</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">width</span> <span class="o">*</span> <span class="n">cols</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span> <span class="o">*</span> <span class="n">rows</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_tiling_grid_shape</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">int</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns a tuple containing the tiling grid dimension.&quot;&quot;&quot;</span>
+        <span class="n">cols</span> <span class="o">=</span> <span class="n">math</span><span class="o">.</span><span class="n">ceil</span><span class="p">(</span><span class="n">math</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">))</span>
+        <span class="n">rows</span> <span class="o">=</span> <span class="n">math</span><span class="o">.</span><span class="n">ceil</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span> <span class="o">/</span> <span class="n">cols</span><span class="p">)</span>
+        <span class="k">return</span> <span class="p">(</span><span class="n">cols</span><span class="p">,</span> <span class="n">rows</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_create_annotator_data</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># we do not need to create annotator data for the tiled camera sensor</span>
+        <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;This function should not be called for the tiled camera sensor.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_process_annotator_output</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">output</span><span class="p">:</span> <span class="n">Any</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">,</span> <span class="nb">dict</span> <span class="o">|</span> <span class="kc">None</span><span class="p">]:</span>
+        <span class="c1"># we do not need to process annotator output for the tiled camera sensor</span>
+        <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;This function should not be called for the tiled camera sensor.&quot;</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="c1"># call parent</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="c1"># set all existing views to None to invalidate them</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_view</span> <span class="o">=</span> <span class="kc">None</span></div>
+</pre></div>
+
+                </article>
+              
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
new file mode 100644
index 0000000000..6e9e1d927d
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html
@@ -0,0 +1,613 @@
+
+
+<!DOCTYPE html>
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+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+  <h1>Source code for omni.isaac.lab.sensors.camera.tiled_camera_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.camera_cfg</span> <span class="kn">import</span> <span class="n">CameraCfg</span>
+<span class="kn">from</span> <span class="nn">.tiled_camera</span> <span class="kn">import</span> <span class="n">TiledCamera</span>
+
+
+<div class="viewcode-block" id="TiledCameraCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">TiledCameraCfg</span><span class="p">(</span><span class="n">CameraCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a tiled rendering-based camera sensor.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">TiledCamera</span>
+
+    <span class="n">return_latest_camera_pose</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to return the latest camera pose when fetching the camera&#39;s data. Defaults to False.</span>
+
+<span class="sd">    If True, the latest camera pose is returned in the camera&#39;s data which will slow down performance</span>
+<span class="sd">    due to the use of :class:`XformPrimView`.</span>
+<span class="sd">    If False, the pose of the camera during initialization is returned.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
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new file mode 100644
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+  <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="c1"># Ignore optional memory usage warning globally</span>
+<span class="c1"># pyright: reportOptionalSubscript=false</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">PhysxSchema</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.string</span> <span class="k">as</span> <span class="nn">string_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkers</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="n">convert_quat</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base</span> <span class="kn">import</span> <span class="n">SensorBase</span>
+<span class="kn">from</span> <span class="nn">.contact_sensor_data</span> <span class="kn">import</span> <span class="n">ContactSensorData</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.contact_sensor_cfg</span> <span class="kn">import</span> <span class="n">ContactSensorCfg</span>
+
+
+<div class="viewcode-block" id="ContactSensor"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor">[docs]</a><span class="k">class</span> <span class="nc">ContactSensor</span><span class="p">(</span><span class="n">SensorBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A contact reporting sensor.</span>
+
+<span class="sd">    The contact sensor reports the normal contact forces on a rigid body in the world frame.</span>
+<span class="sd">    It relies on the `PhysX ContactReporter`_ API to be activated on the rigid bodies.</span>
+
+<span class="sd">    To enable the contact reporter on a rigid body, please make sure to enable the</span>
+<span class="sd">    :attr:`omni.isaac.lab.sim.spawner.RigidObjectSpawnerCfg.activate_contact_sensors` on your</span>
+<span class="sd">    asset spawner configuration. This will enable the contact reporter on all the rigid bodies</span>
+<span class="sd">    in the asset.</span>
+
+<span class="sd">    The sensor can be configured to report the contact forces on a set of bodies with a given</span>
+<span class="sd">    filter pattern using the :attr:`ContactSensorCfg.filter_prim_paths_expr`. This is useful</span>
+<span class="sd">    when you want to report the contact forces between the sensor bodies and a specific set of</span>
+<span class="sd">    bodies in the scene. The data can be accessed using the :attr:`ContactSensorData.force_matrix_w`.</span>
+<span class="sd">    Please check the documentation on `RigidContactView`_ for more details.</span>
+
+<span class="sd">    The reporting of the filtered contact forces is only possible as one-to-many. This means that only one</span>
+<span class="sd">    sensor body in an environment can be filtered against multiple bodies in that environment. If you need to</span>
+<span class="sd">    filter multiple sensor bodies against multiple bodies, you need to create separate sensors for each sensor</span>
+<span class="sd">    body.</span>
+
+<span class="sd">    As an example, suppose you want to report the contact forces for all the feet of a robot against an object</span>
+<span class="sd">    exclusively. In that case, setting the :attr:`ContactSensorCfg.prim_path` and</span>
+<span class="sd">    :attr:`ContactSensorCfg.filter_prim_paths_expr` with ``{ENV_REGEX_NS}/Robot/.*_FOOT`` and ``{ENV_REGEX_NS}/Object``</span>
+<span class="sd">    respectively will not work. Instead, you need to create a separate sensor for each foot and filter</span>
+<span class="sd">    it against the object.</span>
+
+<span class="sd">    .. _PhysX ContactReporter: https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_contact_report_a_p_i.html</span>
+<span class="sd">    .. _RigidContactView: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.prims.RigidContactView</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">ContactSensorCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration parameters.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ContactSensor.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ContactSensorCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the contact sensor object.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration parameters.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># initialize base class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># Create empty variables for storing output data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="p">:</span> <span class="n">ContactSensorData</span> <span class="o">=</span> <span class="n">ContactSensorData</span><span class="p">()</span>
+        <span class="c1"># initialize self._body_physx_view for running in extension mode</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_body_physx_view</span> <span class="o">=</span> <span class="kc">None</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing information about the instance.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Contact sensor @ &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;: </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">view type         : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">body_physx_view</span><span class="o">.</span><span class="vm">__class__</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">update period (s) : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">update_period</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of bodies  : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">body names        : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_instances</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_physx_view</span><span class="o">.</span><span class="n">count</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ContactSensorData</span><span class="p">:</span>
+        <span class="c1"># update sensors if needed</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+        <span class="c1"># return the data</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_bodies</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of bodies with contact sensors attached.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_names</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Ordered names of bodies with contact sensors attached.&quot;&quot;&quot;</span>
+        <span class="n">prim_paths</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_physx_view</span><span class="o">.</span><span class="n">prim_paths</span><span class="p">[:</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_bodies</span><span class="p">]</span>
+        <span class="k">return</span> <span class="p">[</span><span class="n">path</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="k">for</span> <span class="n">path</span> <span class="ow">in</span> <span class="n">prim_paths</span><span class="p">]</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">body_physx_view</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">physx</span><span class="o">.</span><span class="n">RigidBodyView</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;View for the rigid bodies captured (PhysX).</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            Use this view with caution. It requires handling of tensors in a specific way.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_body_physx_view</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">contact_physx_view</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">physx</span><span class="o">.</span><span class="n">RigidContactView</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Contact reporter view for the bodies (PhysX).</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            Use this view with caution. It requires handling of tensors in a specific way.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_contact_physx_view</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="ContactSensor.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="c1"># reset the timers and counters</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># resolve None</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset accumulative data buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w_history</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">history_length</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w_history</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="c1"># reset force matrix</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">filter_prim_paths_expr</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">force_matrix_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="c1"># reset the current air time</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">track_air_time</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_air_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">last_air_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_contact_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">last_contact_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+<div class="viewcode-block" id="ContactSensor.find_bodies"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.find_bodies">[docs]</a>    <span class="k">def</span> <span class="nf">find_bodies</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name_keys</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">preserve_order</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Find bodies in the articulation based on the name keys.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name_keys: A regular expression or a list of regular expressions to match the body names.</span>
+<span class="sd">            preserve_order: Whether to preserve the order of the name keys in the output. Defaults to False.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple of lists containing the body indices and names.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">string_utils</span><span class="o">.</span><span class="n">resolve_matching_names</span><span class="p">(</span><span class="n">name_keys</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_names</span><span class="p">,</span> <span class="n">preserve_order</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="ContactSensor.compute_first_contact"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.compute_first_contact">[docs]</a>    <span class="k">def</span> <span class="nf">compute_first_contact</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">abs_tol</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0e-8</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Checks if bodies that have established contact within the last :attr:`dt` seconds.</span>
+
+<span class="sd">        This function checks if the bodies have established contact within the last :attr:`dt` seconds</span>
+<span class="sd">        by comparing the current contact time with the given time period. If the contact time is less</span>
+<span class="sd">        than the given time period, then the bodies are considered to be in contact.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            The function assumes that :attr:`dt` is a factor of the sensor update time-step. In other</span>
+<span class="sd">            words :math:`dt / dt_sensor = n`, where :math:`n` is a natural number. This is always true</span>
+<span class="sd">            if the sensor is updated by the physics or the environment stepping time-step and the sensor</span>
+<span class="sd">            is read by the environment stepping time-step.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            dt: The time period since the contact was established.</span>
+<span class="sd">            abs_tol: The absolute tolerance for the comparison.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A boolean tensor indicating the bodies that have established contact within the last</span>
+<span class="sd">            :attr:`dt` seconds. Shape is (N, B), where N is the number of sensors and B is the</span>
+<span class="sd">            number of bodies in each sensor.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If the sensor is not configured to track contact time.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if the sensor is configured to track contact time</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">track_air_time</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="s2">&quot;The contact sensor is not configured to track contact time.&quot;</span>
+                <span class="s2">&quot;Please enable the &#39;track_air_time&#39; in the sensor configuration.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># check if the bodies are in contact</span>
+        <span class="n">currently_in_contact</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">current_contact_time</span> <span class="o">&gt;</span> <span class="mf">0.0</span>
+        <span class="n">less_than_dt_in_contact</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">current_contact_time</span> <span class="o">&lt;</span> <span class="p">(</span><span class="n">dt</span> <span class="o">+</span> <span class="n">abs_tol</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">currently_in_contact</span> <span class="o">*</span> <span class="n">less_than_dt_in_contact</span></div>
+
+<div class="viewcode-block" id="ContactSensor.compute_first_air"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.compute_first_air">[docs]</a>    <span class="k">def</span> <span class="nf">compute_first_air</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">abs_tol</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0e-8</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Checks if bodies that have broken contact within the last :attr:`dt` seconds.</span>
+
+<span class="sd">        This function checks if the bodies have broken contact within the last :attr:`dt` seconds</span>
+<span class="sd">        by comparing the current air time with the given time period. If the air time is less</span>
+<span class="sd">        than the given time period, then the bodies are considered to not be in contact.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            It assumes that :attr:`dt` is a factor of the sensor update time-step. In other words,</span>
+<span class="sd">            :math:`dt / dt_sensor = n`, where :math:`n` is a natural number. This is always true if</span>
+<span class="sd">            the sensor is updated by the physics or the environment stepping time-step and the sensor</span>
+<span class="sd">            is read by the environment stepping time-step.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            dt: The time period since the contract is broken.</span>
+<span class="sd">            abs_tol: The absolute tolerance for the comparison.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A boolean tensor indicating the bodies that have broken contact within the last :attr:`dt` seconds.</span>
+<span class="sd">            Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If the sensor is not configured to track contact time.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if the sensor is configured to track contact time</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">track_air_time</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="s2">&quot;The contact sensor is not configured to track contact time.&quot;</span>
+                <span class="s2">&quot;Please enable the &#39;track_air_time&#39; in the sensor configuration.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># check if the sensor is configured to track contact time</span>
+        <span class="n">currently_detached</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">current_air_time</span> <span class="o">&gt;</span> <span class="mf">0.0</span>
+        <span class="n">less_than_dt_detached</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">current_air_time</span> <span class="o">&lt;</span> <span class="p">(</span><span class="n">dt</span> <span class="o">+</span> <span class="n">abs_tol</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">currently_detached</span> <span class="o">*</span> <span class="n">less_than_dt_detached</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_initialize_impl</span><span class="p">()</span>
+        <span class="c1"># create simulation view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_backend</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="c1"># check that only rigid bodies are selected</span>
+        <span class="n">leaf_pattern</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">rsplit</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">,</span> <span class="mi">1</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+        <span class="n">template_prim_path</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_parent_prims</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+        <span class="n">body_names</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="k">for</span> <span class="n">prim</span> <span class="ow">in</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_matching_prims</span><span class="p">(</span><span class="n">template_prim_path</span> <span class="o">+</span> <span class="s2">&quot;/&quot;</span> <span class="o">+</span> <span class="n">leaf_pattern</span><span class="p">):</span>
+            <span class="c1"># check if prim has contact reporter API</span>
+            <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxContactReportAPI</span><span class="p">):</span>
+                <span class="n">prim_path</span> <span class="o">=</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+                <span class="n">body_names</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">prim_path</span><span class="o">.</span><span class="n">rsplit</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">,</span> <span class="mi">1</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">])</span>
+        <span class="c1"># check that there is at least one body with contact reporter API</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">body_names</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Sensor at path &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; could not find any bodies with contact reporter API.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">HINT: Make sure to enable &#39;activate_contact_sensors&#39; in the corresponding asset spawn configuration.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># construct regex expression for the body names</span>
+        <span class="n">body_names_regex</span> <span class="o">=</span> <span class="sa">r</span><span class="s2">&quot;(&quot;</span> <span class="o">+</span> <span class="s2">&quot;|&quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">body_names</span><span class="p">)</span> <span class="o">+</span> <span class="sa">r</span><span class="s2">&quot;)&quot;</span>
+        <span class="n">body_names_regex</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">rsplit</span><span class="p">(</span><span class="s1">&#39;/&#39;</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">body_names_regex</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="c1"># convert regex expressions to glob expressions for PhysX</span>
+        <span class="n">body_names_glob</span> <span class="o">=</span> <span class="n">body_names_regex</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;*&quot;</span><span class="p">)</span>
+        <span class="n">filter_prim_paths_glob</span> <span class="o">=</span> <span class="p">[</span><span class="n">expr</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;*&quot;</span><span class="p">)</span> <span class="k">for</span> <span class="n">expr</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">filter_prim_paths_expr</span><span class="p">]</span>
+
+        <span class="c1"># create a rigid prim view for the sensor</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_body_physx_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_rigid_body_view</span><span class="p">(</span><span class="n">body_names_glob</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_contact_physx_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_rigid_contact_view</span><span class="p">(</span>
+            <span class="n">body_names_glob</span><span class="p">,</span> <span class="n">filter_patterns</span><span class="o">=</span><span class="n">filter_prim_paths_glob</span>
+        <span class="p">)</span>
+        <span class="c1"># resolve the true count of bodies</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_physx_view</span><span class="o">.</span><span class="n">count</span> <span class="o">//</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span>
+        <span class="c1"># check that contact reporter succeeded</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span> <span class="o">!=</span> <span class="nb">len</span><span class="p">(</span><span class="n">body_names</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="s2">&quot;Failed to initialize contact reporter for specified bodies.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Input prim path    : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Resolved prim paths: </span><span class="si">{</span><span class="n">body_names_regex</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># prepare data buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># optional buffers</span>
+        <span class="c1"># -- history of net forces</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">history_length</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w_history</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">history_length</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w_history</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># -- pose of sensor origins</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">track_pose</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="mi">4</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># -- air/contact time between contacts</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">track_air_time</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">last_air_time</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_air_time</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">last_contact_time</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_contact_time</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># force matrix: (num_envs, num_bodies, num_filter_shapes, 3)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">filter_prim_paths_expr</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="n">num_filters</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">contact_physx_view</span><span class="o">.</span><span class="n">filter_count</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">force_matrix_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="n">num_filters</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span>
+            <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_update_buffers_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Fills the buffers of the sensor data.&quot;&quot;&quot;</span>
+        <span class="c1"># default to all sensors</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+
+        <span class="c1"># obtain the contact forces</span>
+        <span class="c1"># TODO: We are handling the indexing ourself because of the shape; (N, B) vs expected (N * B).</span>
+        <span class="c1">#   This isn&#39;t the most efficient way to do this, but it&#39;s the easiest to implement.</span>
+        <span class="n">net_forces_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">contact_physx_view</span><span class="o">.</span><span class="n">get_net_contact_forces</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_physics_dt</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:,</span> <span class="p">:]</span> <span class="o">=</span> <span class="n">net_forces_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="mi">3</span><span class="p">)[</span><span class="n">env_ids</span><span class="p">]</span>
+        <span class="c1"># update contact force history</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">history_length</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w_history</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">1</span><span class="p">:]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w_history</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w_history</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+
+        <span class="c1"># obtain the contact force matrix</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">filter_prim_paths_expr</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># shape of the filtering matrix: (num_envs, num_bodies, num_filter_shapes, 3)</span>
+            <span class="n">num_filters</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">contact_physx_view</span><span class="o">.</span><span class="n">filter_count</span>
+            <span class="c1"># acquire and shape the force matrix</span>
+            <span class="n">force_matrix_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">contact_physx_view</span><span class="o">.</span><span class="n">get_contact_force_matrix</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_physics_dt</span><span class="p">)</span>
+            <span class="n">force_matrix_w</span> <span class="o">=</span> <span class="n">force_matrix_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="n">num_filters</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">force_matrix_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">force_matrix_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+
+        <span class="c1"># obtain the pose of the sensor origin</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">track_pose</span><span class="p">:</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="mi">7</span><span class="p">)[</span><span class="n">env_ids</span><span class="p">]</span>
+            <span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:]</span> <span class="o">=</span> <span class="n">convert_quat</span><span class="p">(</span><span class="n">pose</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">pose</span><span class="o">.</span><span class="n">split</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span> <span class="mi">4</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># obtain the air time</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">track_air_time</span><span class="p">:</span>
+            <span class="c1"># -- time elapsed since last update</span>
+            <span class="c1"># since this function is called every frame, we can use the difference to get the elapsed time</span>
+            <span class="n">elapsed_time</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp_last_update</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+            <span class="c1"># -- check contact state of bodies</span>
+            <span class="n">is_contact</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:,</span> <span class="p">:],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">force_threshold</span>
+            <span class="n">is_first_contact</span> <span class="o">=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_air_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">)</span> <span class="o">*</span> <span class="n">is_contact</span>
+            <span class="n">is_first_detached</span> <span class="o">=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_contact_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">)</span> <span class="o">*</span> <span class="o">~</span><span class="n">is_contact</span>
+            <span class="c1"># -- update the last contact time if body has just become in contact</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">last_air_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+                <span class="n">is_first_contact</span><span class="p">,</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_air_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+</span> <span class="n">elapsed_time</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">),</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">last_air_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span>
+            <span class="p">)</span>
+            <span class="c1"># -- increment time for bodies that are not in contact</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_air_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+                <span class="o">~</span><span class="n">is_contact</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_air_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+</span> <span class="n">elapsed_time</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">),</span> <span class="mf">0.0</span>
+            <span class="p">)</span>
+            <span class="c1"># -- update the last contact time if body has just detached</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">last_contact_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+                <span class="n">is_first_detached</span><span class="p">,</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_contact_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+</span> <span class="n">elapsed_time</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">),</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">last_contact_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span>
+            <span class="p">)</span>
+            <span class="c1"># -- increment time for bodies that are in contact</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_contact_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+                <span class="n">is_contact</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">current_contact_time</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+</span> <span class="n">elapsed_time</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">),</span> <span class="mf">0.0</span>
+            <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+        <span class="c1"># set visibility of markers</span>
+        <span class="c1"># note: parent only deals with callbacks. not their visibility</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="c1"># create markers if necessary for the first tome</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;contact_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">contact_visualizer</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">visualizer_cfg</span><span class="p">)</span>
+            <span class="c1"># set their visibility to true</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">contact_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;contact_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">contact_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_debug_vis_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+        <span class="c1"># safely return if view becomes invalid</span>
+        <span class="c1"># note: this invalidity happens because of isaac sim view callbacks</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_physx_view</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">return</span>
+        <span class="c1"># marker indices</span>
+        <span class="c1"># 0: contact, 1: no contact</span>
+        <span class="n">net_contact_force_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">,</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="n">marker_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">net_contact_force_w</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">force_threshold</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># check if prim is visualized</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">track_pose</span><span class="p">:</span>
+            <span class="n">frame_origins</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">pose</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">body_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span>
+            <span class="n">frame_origins</span> <span class="o">=</span> <span class="n">pose</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_bodies</span><span class="p">,</span> <span class="mi">7</span><span class="p">)[:,</span> <span class="p">:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="c1"># visualize</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">contact_visualizer</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">frame_origins</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">marker_indices</span><span class="o">=</span><span class="n">marker_indices</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">))</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="c1"># call parent</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="c1"># set all existing views to None to invalidate them</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_body_physx_view</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_contact_physx_view</span> <span class="o">=</span> <span class="kc">None</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
new file mode 100644
index 0000000000..6860730246
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html
@@ -0,0 +1,648 @@
+
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+  <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkersCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers.config</span> <span class="kn">import</span> <span class="n">CONTACT_SENSOR_MARKER_CFG</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base_cfg</span> <span class="kn">import</span> <span class="n">SensorBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.contact_sensor</span> <span class="kn">import</span> <span class="n">ContactSensor</span>
+
+
+<div class="viewcode-block" id="ContactSensorCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ContactSensorCfg</span><span class="p">(</span><span class="n">SensorBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the contact sensor.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">ContactSensor</span>
+
+    <span class="n">track_pose</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to track the pose of the sensor&#39;s origin. Defaults to False.&quot;&quot;&quot;</span>
+
+    <span class="n">track_air_time</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to track the air/contact time of the bodies (time between contacts). Defaults to False.&quot;&quot;&quot;</span>
+
+    <span class="n">force_threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The threshold on the norm of the contact force that determines whether two bodies are in collision or not.</span>
+
+<span class="sd">    This value is only used for tracking the mode duration (the time in contact or in air),</span>
+<span class="sd">    if :attr:`track_air_time` is True.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">filter_prim_paths_expr</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The list of primitive paths (or expressions) to filter contacts with. Defaults to an empty list, in which case</span>
+<span class="sd">    no filtering is applied.</span>
+
+<span class="sd">    The contact sensor allows reporting contacts between the primitive specified with :attr:`prim_path` and</span>
+<span class="sd">    other primitives in the scene. For instance, in a scene containing a robot, a ground plane and an object,</span>
+<span class="sd">    you can obtain individual contact reports of the base of the robot with the ground plane and the object.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The expression in the list can contain the environment namespace regex ``{ENV_REGEX_NS}`` which</span>
+<span class="sd">        will be replaced with the environment namespace.</span>
+
+<span class="sd">        Example: ``{ENV_REGEX_NS}/Object`` will be replaced with ``/World/envs/env_.*/Object``.</span>
+
+<span class="sd">    .. attention::</span>
+<span class="sd">        The reporting of filtered contacts only works when the sensor primitive :attr:`prim_path` corresponds to a</span>
+<span class="sd">        single primitive in that environment. If the sensor primitive corresponds to multiple primitives, the</span>
+<span class="sd">        filtering will not work as expected. Please check :class:`~omni.isaac.lab.sensors.contact_sensor.ContactSensor`</span>
+<span class="sd">        for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">CONTACT_SENSOR_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/ContactSensor&quot;</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration object for the visualization markers. Defaults to CONTACT_SENSOR_MARKER_CFG.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This attribute is only used when debug visualization is enabled.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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new file mode 100644
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+  <h1>Source code for omni.isaac.lab.sensors.contact_sensor.contact_sensor_data</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="c1"># needed to import for allowing type-hinting: torch.Tensor | None</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">dataclass</span>
+
+
+<div class="viewcode-block" id="ContactSensorData"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData">[docs]</a><span class="nd">@dataclass</span>
+<span class="k">class</span> <span class="nc">ContactSensorData</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Data container for the contact reporting sensor.&quot;&quot;&quot;</span>
+
+    <span class="n">pos_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Position of the sensor origin in world frame.</span>
+
+<span class="sd">    Shape is (N, 3), where N is the number of sensors.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If the :attr:`ContactSensorCfg.track_pose` is False, then this quantity is None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">quat_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Orientation of the sensor origin in quaternion (w, x, y, z) in world frame.</span>
+
+<span class="sd">    Shape is (N, 4), where N is the number of sensors.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If the :attr:`ContactSensorCfg.track_pose` is False, then this quantity is None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">net_forces_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The net normal contact forces in world frame.</span>
+
+<span class="sd">    Shape is (N, B, 3), where N is the number of sensors and B is the number of bodies in each sensor.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This quantity is the sum of the normal contact forces acting on the sensor bodies. It must not be confused</span>
+<span class="sd">        with the total contact forces acting on the sensor bodies (which also includes the tangential forces).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">net_forces_w_history</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The net normal contact forces in world frame.</span>
+
+<span class="sd">    Shape is (N, T, B, 3), where N is the number of sensors, T is the configured history length</span>
+<span class="sd">    and B is the number of bodies in each sensor.</span>
+
+<span class="sd">    In the history dimension, the first index is the most recent and the last index is the oldest.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This quantity is the sum of the normal contact forces acting on the sensor bodies. It must not be confused</span>
+<span class="sd">        with the total contact forces acting on the sensor bodies (which also includes the tangential forces).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">force_matrix_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The normal contact forces filtered between the sensor bodies and filtered bodies in world frame.</span>
+
+<span class="sd">    Shape is (N, B, M, 3), where N is the number of sensors, B is number of bodies in each sensor</span>
+<span class="sd">    and ``M`` is the number of filtered bodies.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If the :attr:`ContactSensorCfg.filter_prim_paths_expr` is empty, then this quantity is None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">last_air_time</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Time spent (in s) in the air before the last contact.</span>
+
+<span class="sd">    Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If the :attr:`ContactSensorCfg.track_air_time` is False, then this quantity is None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">current_air_time</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Time spent (in s) in the air since the last detach.</span>
+
+<span class="sd">    Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If the :attr:`ContactSensorCfg.track_air_time` is False, then this quantity is None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">last_contact_time</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Time spent (in s) in contact before the last detach.</span>
+
+<span class="sd">    Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If the :attr:`ContactSensorCfg.track_air_time` is False, then this quantity is None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">current_contact_time</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Time spent (in s) in contact since the last contact.</span>
+
+<span class="sd">    Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If the :attr:`ContactSensorCfg.track_air_time` is False, then this quantity is None.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
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+  <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">UsdPhysics</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkers</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="p">(</span>
+    <span class="n">combine_frame_transforms</span><span class="p">,</span>
+    <span class="n">convert_quat</span><span class="p">,</span>
+    <span class="n">is_identity_pose</span><span class="p">,</span>
+    <span class="n">subtract_frame_transforms</span><span class="p">,</span>
+<span class="p">)</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base</span> <span class="kn">import</span> <span class="n">SensorBase</span>
+<span class="kn">from</span> <span class="nn">.frame_transformer_data</span> <span class="kn">import</span> <span class="n">FrameTransformerData</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.frame_transformer_cfg</span> <span class="kn">import</span> <span class="n">FrameTransformerCfg</span>
+
+
+<div class="viewcode-block" id="FrameTransformer"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer">[docs]</a><span class="k">class</span> <span class="nc">FrameTransformer</span><span class="p">(</span><span class="n">SensorBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A sensor for reporting frame transforms.</span>
+
+<span class="sd">    This class provides an interface for reporting the transform of one or more frames (target frames)</span>
+<span class="sd">    with respect to another frame (source frame). The source frame is specified by the user as a prim path</span>
+<span class="sd">    (:attr:`FrameTransformerCfg.prim_path`) and the target frames are specified by the user as a list of</span>
+<span class="sd">    prim paths (:attr:`FrameTransformerCfg.target_frames`).</span>
+
+<span class="sd">    The source frame and target frames are assumed to be rigid bodies. The transform of the target frames</span>
+<span class="sd">    with respect to the source frame is computed by first extracting the transform of the source frame</span>
+<span class="sd">    and target frames from the physics engine and then computing the relative transform between the two.</span>
+
+<span class="sd">    Additionally, the user can specify an offset for the source frame and each target frame. This is useful</span>
+<span class="sd">    for specifying the transform of the desired frame with respect to the body&#39;s center of mass, for instance.</span>
+
+<span class="sd">    A common example of using this sensor is to track the position and orientation of the end effector of a</span>
+<span class="sd">    robotic manipulator. In this case, the source frame would be the body corresponding to the base frame of the</span>
+<span class="sd">    manipulator, and the target frame would be the body corresponding to the end effector. Since the end-effector is</span>
+<span class="sd">    typically a fictitious body, the user may need to specify an offset from the end-effector to the body of the</span>
+<span class="sd">    manipulator.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">FrameTransformerCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration parameters.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="FrameTransformer.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">FrameTransformerCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the frame transformer object.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration parameters.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># initialize base class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># Create empty variables for storing output data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="p">:</span> <span class="n">FrameTransformerData</span> <span class="o">=</span> <span class="n">FrameTransformerData</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing information about the instance.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;FrameTransformer @ &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;: </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">tracked body frames: </span><span class="si">{</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_body_name</span><span class="p">]</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_body_names</span><span class="si">}</span><span class="s2"> </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of envs: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">source body frame: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_body_name</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">target frames (count: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_names</span><span class="si">}</span><span class="s2">): </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_names</span><span class="p">)</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">FrameTransformerData</span><span class="p">:</span>
+        <span class="c1"># update sensors if needed</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+        <span class="c1"># return the data</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="FrameTransformer.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="c1"># reset the timers and counters</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># resolve None</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="o">...</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_initialize_impl</span><span class="p">()</span>
+
+        <span class="c1"># resolve source frame offset</span>
+        <span class="n">source_frame_offset_pos</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">source_frame_offset</span><span class="o">.</span><span class="n">pos</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="n">source_frame_offset_quat</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">source_frame_offset</span><span class="o">.</span><span class="n">rot</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># Only need to perform offsetting of source frame if the position offsets is non-zero and rotation offset is</span>
+        <span class="c1"># not the identity quaternion for efficiency in _update_buffer_impl</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_apply_source_frame_offset</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="c1"># Handle source frame offsets</span>
+        <span class="k">if</span> <span class="n">is_identity_pose</span><span class="p">(</span><span class="n">source_frame_offset_pos</span><span class="p">,</span> <span class="n">source_frame_offset_quat</span><span class="p">):</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">verbose</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;No offset application needed for source frame as it is identity: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_apply_source_frame_offset</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">verbose</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Applying offset to source frame as it is not identity: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="c1"># Store offsets as tensors (duplicating each env&#39;s offsets for ease of multiplication later)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_offset_pos</span> <span class="o">=</span> <span class="n">source_frame_offset_pos</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_offset_quat</span> <span class="o">=</span> <span class="n">source_frame_offset_quat</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># Keep track of mapping from the rigid body name to the desired frames and prim path, as there may be multiple frames</span>
+        <span class="c1"># based upon the same body name and we don&#39;t want to create unnecessary views</span>
+        <span class="n">body_names_to_frames</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">set</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="nb">str</span><span class="p">]]</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="c1"># The offsets associated with each target frame</span>
+        <span class="n">target_offsets</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]]</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="c1"># The frames whose offsets are not identity</span>
+        <span class="n">non_identity_offset_frames</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="p">[]</span>
+
+        <span class="c1"># Only need to perform offsetting of target frame if any of the position offsets are non-zero or any of the</span>
+        <span class="c1"># rotation offsets are not the identity quaternion for efficiency in _update_buffer_impl</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_apply_target_frame_offset</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># Need to keep track of whether the source frame is also a target frame</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_source_is_also_target_frame</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># Collect all target frames, their associated body prim paths and their offsets so that we can extract</span>
+        <span class="c1"># the prim, check that it has the appropriate rigid body API in a single loop.</span>
+        <span class="c1"># First element is None because user can&#39;t specify source frame name</span>
+        <span class="n">frames</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span><span class="p">]</span> <span class="o">+</span> <span class="p">[</span><span class="n">target_frame</span><span class="o">.</span><span class="n">name</span> <span class="k">for</span> <span class="n">target_frame</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">target_frames</span><span class="p">]</span>
+        <span class="n">frame_prim_paths</span> <span class="o">=</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">]</span> <span class="o">+</span> <span class="p">[</span><span class="n">target_frame</span><span class="o">.</span><span class="n">prim_path</span> <span class="k">for</span> <span class="n">target_frame</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">target_frames</span><span class="p">]</span>
+        <span class="c1"># First element is None because source frame offset is handled separately</span>
+        <span class="n">frame_offsets</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span><span class="p">]</span> <span class="o">+</span> <span class="p">[</span><span class="n">target_frame</span><span class="o">.</span><span class="n">offset</span> <span class="k">for</span> <span class="n">target_frame</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">target_frames</span><span class="p">]</span>
+        <span class="n">frame_types</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;source&quot;</span><span class="p">]</span> <span class="o">+</span> <span class="p">[</span><span class="s2">&quot;target&quot;</span><span class="p">]</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">target_frames</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">frame</span><span class="p">,</span> <span class="n">prim_path</span><span class="p">,</span> <span class="n">offset</span><span class="p">,</span> <span class="n">frame_type</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">frames</span><span class="p">,</span> <span class="n">frame_prim_paths</span><span class="p">,</span> <span class="n">frame_offsets</span><span class="p">,</span> <span class="n">frame_types</span><span class="p">):</span>
+            <span class="c1"># Find correct prim</span>
+            <span class="n">matching_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_matching_prims</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+            <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">matching_prims</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Failed to create frame transformer for frame &#39;</span><span class="si">{</span><span class="n">frame</span><span class="si">}</span><span class="s2">&#39; with path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                    <span class="s2">&quot; No matching prims were found.&quot;</span>
+                <span class="p">)</span>
+            <span class="k">for</span> <span class="n">prim</span> <span class="ow">in</span> <span class="n">matching_prims</span><span class="p">:</span>
+                <span class="c1"># Get the prim path of the matching prim</span>
+                <span class="n">matching_prim_path</span> <span class="o">=</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+                <span class="c1"># Check if it is a rigid prim</span>
+                <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">):</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;While resolving expression &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; found a prim &#39;</span><span class="si">{</span><span class="n">matching_prim_path</span><span class="si">}</span><span class="s2">&#39; which is not a&quot;</span>
+                        <span class="s2">&quot; rigid body. The class only supports transformations between rigid bodies.&quot;</span>
+                    <span class="p">)</span>
+
+                <span class="c1"># Get the name of the body</span>
+                <span class="n">body_name</span> <span class="o">=</span> <span class="n">matching_prim_path</span><span class="o">.</span><span class="n">rsplit</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">,</span> <span class="mi">1</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+                <span class="c1"># Use body name if frame isn&#39;t specified by user</span>
+                <span class="n">frame_name</span> <span class="o">=</span> <span class="n">frame</span> <span class="k">if</span> <span class="n">frame</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="k">else</span> <span class="n">body_name</span>
+
+                <span class="c1"># Keep track of which frames are associated with which bodies</span>
+                <span class="k">if</span> <span class="n">body_name</span> <span class="ow">in</span> <span class="n">body_names_to_frames</span><span class="p">:</span>
+                    <span class="n">body_names_to_frames</span><span class="p">[</span><span class="n">body_name</span><span class="p">][</span><span class="s2">&quot;frames&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="n">frame_name</span><span class="p">)</span>
+
+                    <span class="c1"># This is a corner case where the source frame is also a target frame</span>
+                    <span class="k">if</span> <span class="n">body_names_to_frames</span><span class="p">[</span><span class="n">body_name</span><span class="p">][</span><span class="s2">&quot;type&quot;</span><span class="p">]</span> <span class="o">==</span> <span class="s2">&quot;source&quot;</span> <span class="ow">and</span> <span class="n">frame_type</span> <span class="o">==</span> <span class="s2">&quot;target&quot;</span><span class="p">:</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_source_is_also_target_frame</span> <span class="o">=</span> <span class="kc">True</span>
+
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="c1"># Store the first matching prim path and the type of frame</span>
+                    <span class="n">body_names_to_frames</span><span class="p">[</span><span class="n">body_name</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span>
+                        <span class="s2">&quot;frames&quot;</span><span class="p">:</span> <span class="p">{</span><span class="n">frame_name</span><span class="p">},</span>
+                        <span class="s2">&quot;prim_path&quot;</span><span class="p">:</span> <span class="n">matching_prim_path</span><span class="p">,</span>
+                        <span class="s2">&quot;type&quot;</span><span class="p">:</span> <span class="n">frame_type</span><span class="p">,</span>
+                    <span class="p">}</span>
+
+                <span class="k">if</span> <span class="n">offset</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">offset_pos</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">offset</span><span class="o">.</span><span class="n">pos</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+                    <span class="n">offset_quat</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">offset</span><span class="o">.</span><span class="n">rot</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+                    <span class="c1"># Check if we need to apply offsets (optimized code path in _update_buffer_impl)</span>
+                    <span class="k">if</span> <span class="ow">not</span> <span class="n">is_identity_pose</span><span class="p">(</span><span class="n">offset_pos</span><span class="p">,</span> <span class="n">offset_quat</span><span class="p">):</span>
+                        <span class="n">non_identity_offset_frames</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">frame_name</span><span class="p">)</span>
+                        <span class="bp">self</span><span class="o">.</span><span class="n">_apply_target_frame_offset</span> <span class="o">=</span> <span class="kc">True</span>
+                    <span class="n">target_offsets</span><span class="p">[</span><span class="n">frame_name</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;pos&quot;</span><span class="p">:</span> <span class="n">offset_pos</span><span class="p">,</span> <span class="s2">&quot;quat&quot;</span><span class="p">:</span> <span class="n">offset_quat</span><span class="p">}</span>
+
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_apply_target_frame_offset</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;No offsets application needed from &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; to target frames as all&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; are identity: </span><span class="si">{</span><span class="n">frames</span><span class="p">[</span><span class="mi">1</span><span class="p">:]</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Offsets application needed from &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; to the following target frames:&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; </span><span class="si">{</span><span class="n">non_identity_offset_frames</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># The names of bodies that RigidPrimView will be tracking to later extract transforms from</span>
+        <span class="n">tracked_prim_paths</span> <span class="o">=</span> <span class="p">[</span><span class="n">body_names_to_frames</span><span class="p">[</span><span class="n">body_name</span><span class="p">][</span><span class="s2">&quot;prim_path&quot;</span><span class="p">]</span> <span class="k">for</span> <span class="n">body_name</span> <span class="ow">in</span> <span class="n">body_names_to_frames</span><span class="o">.</span><span class="n">keys</span><span class="p">()]</span>
+        <span class="n">tracked_body_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">body_name</span> <span class="k">for</span> <span class="n">body_name</span> <span class="ow">in</span> <span class="n">body_names_to_frames</span><span class="o">.</span><span class="n">keys</span><span class="p">()]</span>
+
+        <span class="n">body_names_regex</span> <span class="o">=</span> <span class="p">[</span><span class="n">tracked_prim_path</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;env_0&quot;</span><span class="p">,</span> <span class="s2">&quot;env_*&quot;</span><span class="p">)</span> <span class="k">for</span> <span class="n">tracked_prim_path</span> <span class="ow">in</span> <span class="n">tracked_prim_paths</span><span class="p">]</span>
+
+        <span class="c1"># Create simulation view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_backend</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="c1"># Create a prim view for all frames and initialize it</span>
+        <span class="c1"># order of transforms coming out of view will be source frame followed by target frame(s)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame_physx_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_rigid_body_view</span><span class="p">(</span><span class="n">body_names_regex</span><span class="p">)</span>
+
+        <span class="c1"># Determine the order in which regex evaluated body names so we can later index into frame transforms</span>
+        <span class="c1"># by frame name correctly</span>
+        <span class="n">all_prim_paths</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_frame_physx_view</span><span class="o">.</span><span class="n">prim_paths</span>
+
+        <span class="k">if</span> <span class="s2">&quot;env_&quot;</span> <span class="ow">in</span> <span class="n">all_prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">]:</span>
+
+            <span class="k">def</span> <span class="nf">extract_env_num_and_prim_path</span><span class="p">(</span><span class="n">item</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">str</span><span class="p">]:</span>
+<span class="w">                </span><span class="sd">&quot;&quot;&quot;Separates the environment number and prim_path from the item.</span>
+
+<span class="sd">                Args:</span>
+<span class="sd">                    item: The item to extract the environment number from. Assumes item is of the form</span>
+<span class="sd">                        `/World/envs/env_1/blah` or `/World/envs/env_11/blah`.</span>
+<span class="sd">                Returns:</span>
+<span class="sd">                    The environment number and the prim_path.</span>
+<span class="sd">                &quot;&quot;&quot;</span>
+                <span class="n">match</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">search</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;env_(\d+)(.*)&quot;</span><span class="p">,</span> <span class="n">item</span><span class="p">)</span>
+                <span class="k">return</span> <span class="p">(</span><span class="nb">int</span><span class="p">(</span><span class="n">match</span><span class="o">.</span><span class="n">group</span><span class="p">(</span><span class="mi">1</span><span class="p">)),</span> <span class="n">match</span><span class="o">.</span><span class="n">group</span><span class="p">(</span><span class="mi">2</span><span class="p">))</span>
+
+            <span class="c1"># Find the indices that would reorganize output to be per environment. We want `env_1/blah` to come before `env_11/blah`</span>
+            <span class="c1"># and env_1/Robot/base to come before env_1/Robot/foot so we need to use custom key function</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_per_env_indices</span> <span class="o">=</span> <span class="p">[</span>
+                <span class="n">index</span>
+                <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">sorted</span><span class="p">(</span>
+                    <span class="nb">list</span><span class="p">(</span><span class="nb">enumerate</span><span class="p">(</span><span class="n">all_prim_paths</span><span class="p">)),</span> <span class="n">key</span><span class="o">=</span><span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">extract_env_num_and_prim_path</span><span class="p">(</span><span class="n">x</span><span class="p">[</span><span class="mi">1</span><span class="p">])</span>
+                <span class="p">)</span>
+            <span class="p">]</span>
+
+            <span class="c1"># Only need 0th env as the names and their ordering are the same across environments</span>
+            <span class="n">sorted_prim_paths</span> <span class="o">=</span> <span class="p">[</span>
+                <span class="n">all_prim_paths</span><span class="p">[</span><span class="n">index</span><span class="p">]</span> <span class="k">for</span> <span class="n">index</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_per_env_indices</span> <span class="k">if</span> <span class="s2">&quot;env_0&quot;</span> <span class="ow">in</span> <span class="n">all_prim_paths</span><span class="p">[</span><span class="n">index</span><span class="p">]</span>
+            <span class="p">]</span>
+
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># If no environment is present, then the order of the body names is the same as the order of the prim paths sorted alphabetically</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_per_env_indices</span> <span class="o">=</span> <span class="p">[</span><span class="n">index</span> <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">sorted</span><span class="p">(</span><span class="nb">enumerate</span><span class="p">(</span><span class="n">all_prim_paths</span><span class="p">),</span> <span class="n">key</span><span class="o">=</span><span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">x</span><span class="p">[</span><span class="mi">1</span><span class="p">])]</span>
+            <span class="n">sorted_prim_paths</span> <span class="o">=</span> <span class="p">[</span><span class="n">all_prim_paths</span><span class="p">[</span><span class="n">index</span><span class="p">]</span> <span class="k">for</span> <span class="n">index</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_per_env_indices</span><span class="p">]</span>
+
+        <span class="c1"># -- target frames</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_body_names</span> <span class="o">=</span> <span class="p">[</span><span class="n">prim_path</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="k">for</span> <span class="n">prim_path</span> <span class="ow">in</span> <span class="n">sorted_prim_paths</span><span class="p">]</span>
+
+        <span class="c1"># -- source frame</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_body_name</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+        <span class="n">source_frame_index</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_body_names</span><span class="o">.</span><span class="n">index</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_body_name</span><span class="p">)</span>
+
+        <span class="c1"># Only remove source frame from tracked bodies if it is not also a target frame</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_source_is_also_target_frame</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_body_names</span><span class="o">.</span><span class="n">remove</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_body_name</span><span class="p">)</span>
+
+        <span class="c1"># Determine indices into all tracked body frames for both source and target frames</span>
+        <span class="n">all_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">tracked_body_names</span><span class="p">))</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_body_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">)</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">tracked_body_names</span><span class="p">)</span> <span class="o">+</span> <span class="n">source_frame_index</span>
+
+        <span class="c1"># If source frame is also a target frame, then the target frame body ids are the same as the source frame body ids</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_source_is_also_target_frame</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_body_ids</span> <span class="o">=</span> <span class="n">all_ids</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_body_ids</span> <span class="o">=</span> <span class="n">all_ids</span><span class="p">[</span><span class="o">~</span><span class="n">torch</span><span class="o">.</span><span class="n">isin</span><span class="p">(</span><span class="n">all_ids</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_body_ids</span><span class="p">)]</span>
+
+        <span class="c1"># The name of each of the target frame(s) - either user specified or defaulted to the body name</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="c1"># The position and rotation components of target frame offsets</span>
+        <span class="n">target_frame_offset_pos</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="n">target_frame_offset_quat</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="c1"># Stores the indices of bodies that need to be duplicated. For instance, if body &quot;LF_SHANK&quot; is needed</span>
+        <span class="c1"># for 2 frames, this list enables us to duplicate the body to both frames when doing the calculations</span>
+        <span class="c1"># when updating sensor in _update_buffers_impl</span>
+        <span class="n">duplicate_frame_indices</span> <span class="o">=</span> <span class="p">[]</span>
+
+        <span class="c1"># Go through each body name and determine the number of duplicates we need for that frame</span>
+        <span class="c1"># and extract the offsets. This is all done to handle the case where multiple frames</span>
+        <span class="c1"># reference the same body, but have different names and/or offsets</span>
+        <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">body_name</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_body_names</span><span class="p">):</span>
+            <span class="k">for</span> <span class="n">frame</span> <span class="ow">in</span> <span class="n">body_names_to_frames</span><span class="p">[</span><span class="n">body_name</span><span class="p">][</span><span class="s2">&quot;frames&quot;</span><span class="p">]:</span>
+                <span class="c1"># Only need to handle target frames here as source frame is handled separately</span>
+                <span class="k">if</span> <span class="n">frame</span> <span class="ow">in</span> <span class="n">target_offsets</span><span class="p">:</span>
+                    <span class="n">target_frame_offset_pos</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">target_offsets</span><span class="p">[</span><span class="n">frame</span><span class="p">][</span><span class="s2">&quot;pos&quot;</span><span class="p">])</span>
+                    <span class="n">target_frame_offset_quat</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">target_offsets</span><span class="p">[</span><span class="n">frame</span><span class="p">][</span><span class="s2">&quot;quat&quot;</span><span class="p">])</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_names</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">frame</span><span class="p">)</span>
+                    <span class="n">duplicate_frame_indices</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">i</span><span class="p">)</span>
+
+        <span class="c1"># To handle multiple environments, need to expand so [0, 1, 1, 2] with 2 environments becomes</span>
+        <span class="c1"># [0, 1, 1, 2, 3, 4, 4, 5]. Again, this is a optimization to make _update_buffer_impl more efficient</span>
+        <span class="n">duplicate_frame_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">duplicate_frame_indices</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_source_is_also_target_frame</span><span class="p">:</span>
+            <span class="n">num_target_body_frames</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">tracked_body_names</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">num_target_body_frames</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">tracked_body_names</span><span class="p">)</span> <span class="o">-</span> <span class="mi">1</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_duplicate_frame_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span>
+            <span class="p">[</span><span class="n">duplicate_frame_indices</span> <span class="o">+</span> <span class="n">num_target_body_frames</span> <span class="o">*</span> <span class="n">env_num</span> <span class="k">for</span> <span class="n">env_num</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">)]</span>
+        <span class="p">)</span>
+
+        <span class="c1"># Target frame offsets are only applied if at least one of the offsets are non-identity</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_apply_target_frame_offset</span><span class="p">:</span>
+            <span class="c1"># Stack up all the frame offsets for shape (num_envs, num_frames, 3) and (num_envs, num_frames, 4)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_offset_pos</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">(</span><span class="n">target_frame_offset_pos</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_offset_quat</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">(</span><span class="n">target_frame_offset_quat</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># fill the data buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_frame_names</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_names</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">source_pos_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">source_quat_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="mi">4</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_pos_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="nb">len</span><span class="p">(</span><span class="n">duplicate_frame_indices</span><span class="p">),</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_quat_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="nb">len</span><span class="p">(</span><span class="n">duplicate_frame_indices</span><span class="p">),</span> <span class="mi">4</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_pos_source</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_pos_w</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_quat_source</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_quat_w</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_update_buffers_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Fills the buffers of the sensor data.&quot;&quot;&quot;</span>
+        <span class="c1"># default to all sensors</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="o">...</span>
+
+        <span class="c1"># Extract transforms from view - shape is:</span>
+        <span class="c1"># (the total number of source and target body frames being tracked * self._num_envs, 7)</span>
+        <span class="n">transforms</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_frame_physx_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()</span>
+
+        <span class="c1"># Reorder the transforms to be per environment as is expected of SensorData</span>
+        <span class="n">transforms</span> <span class="o">=</span> <span class="n">transforms</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_per_env_indices</span><span class="p">]</span>
+
+        <span class="c1"># Convert quaternions as PhysX uses xyzw form</span>
+        <span class="n">transforms</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:]</span> <span class="o">=</span> <span class="n">convert_quat</span><span class="p">(</span><span class="n">transforms</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+
+        <span class="c1"># Process source frame transform</span>
+        <span class="n">source_frames</span> <span class="o">=</span> <span class="n">transforms</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_body_ids</span><span class="p">]</span>
+        <span class="c1"># Only apply offset if the offsets will result in a coordinate frame transform</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_apply_source_frame_offset</span><span class="p">:</span>
+            <span class="n">source_pos_w</span><span class="p">,</span> <span class="n">source_quat_w</span> <span class="o">=</span> <span class="n">combine_frame_transforms</span><span class="p">(</span>
+                <span class="n">source_frames</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span>
+                <span class="n">source_frames</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_offset_pos</span><span class="p">,</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_source_frame_offset_quat</span><span class="p">,</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">source_pos_w</span> <span class="o">=</span> <span class="n">source_frames</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+            <span class="n">source_quat_w</span> <span class="o">=</span> <span class="n">source_frames</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:]</span>
+
+        <span class="c1"># Process target frame transforms</span>
+        <span class="n">target_frames</span> <span class="o">=</span> <span class="n">transforms</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_body_ids</span><span class="p">]</span>
+        <span class="n">duplicated_target_frame_pos_w</span> <span class="o">=</span> <span class="n">target_frames</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_duplicate_frame_indices</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+        <span class="n">duplicated_target_frame_quat_w</span> <span class="o">=</span> <span class="n">target_frames</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_duplicate_frame_indices</span><span class="p">,</span> <span class="mi">3</span><span class="p">:]</span>
+
+        <span class="c1"># Only apply offset if the offsets will result in a coordinate frame transform</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_apply_target_frame_offset</span><span class="p">:</span>
+            <span class="n">target_pos_w</span><span class="p">,</span> <span class="n">target_quat_w</span> <span class="o">=</span> <span class="n">combine_frame_transforms</span><span class="p">(</span>
+                <span class="n">duplicated_target_frame_pos_w</span><span class="p">,</span>
+                <span class="n">duplicated_target_frame_quat_w</span><span class="p">,</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_offset_pos</span><span class="p">,</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_offset_quat</span><span class="p">,</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">target_pos_w</span> <span class="o">=</span> <span class="n">duplicated_target_frame_pos_w</span>
+            <span class="n">target_quat_w</span> <span class="o">=</span> <span class="n">duplicated_target_frame_quat_w</span>
+
+        <span class="c1"># Compute the transform of the target frame with respect to the source frame</span>
+        <span class="n">total_num_frames</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_target_frame_names</span><span class="p">)</span>
+        <span class="n">target_pos_source</span><span class="p">,</span> <span class="n">target_quat_source</span> <span class="o">=</span> <span class="n">subtract_frame_transforms</span><span class="p">(</span>
+            <span class="n">source_pos_w</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">expand</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="n">total_num_frames</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span>
+            <span class="n">source_quat_w</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">expand</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="n">total_num_frames</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span>
+            <span class="n">target_pos_w</span><span class="p">,</span>
+            <span class="n">target_quat_w</span><span class="p">,</span>
+        <span class="p">)</span>
+
+        <span class="c1"># Update buffers</span>
+        <span class="c1"># note: The frame names / ordering don&#39;t change so no need to update them after initialization</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">source_pos_w</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">source_pos_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">source_quat_w</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">source_quat_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_pos_w</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">target_pos_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="n">total_num_frames</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_quat_w</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">target_quat_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="n">total_num_frames</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_pos_source</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">target_pos_source</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="n">total_num_frames</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_quat_source</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">target_quat_source</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="n">total_num_frames</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+        <span class="c1"># set visibility of markers</span>
+        <span class="c1"># note: parent only deals with callbacks. not their visibility</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;frame_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">frame_visualizer</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">visualizer_cfg</span><span class="p">)</span>
+            <span class="c1"># set their visibility to true</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">frame_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;frame_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">frame_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_debug_vis_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+        <span class="c1"># Update the visualized markers</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">frame_visualizer</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">frame_visualizer</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_pos_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">target_quat_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">))</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="c1"># call parent</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="c1"># set all existing views to None to invalidate them</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame_physx_view</span> <span class="o">=</span> <span class="kc">None</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html
new file mode 100644
index 0000000000..ead348deba
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html
@@ -0,0 +1,662 @@
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+  <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers.config</span> <span class="kn">import</span> <span class="n">FRAME_MARKER_CFG</span><span class="p">,</span> <span class="n">VisualizationMarkersCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base_cfg</span> <span class="kn">import</span> <span class="n">SensorBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.frame_transformer</span> <span class="kn">import</span> <span class="n">FrameTransformer</span>
+
+
+<div class="viewcode-block" id="OffsetCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.OffsetCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">OffsetCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The offset pose of one frame relative to another frame.&quot;&quot;&quot;</span>
+
+    <span class="n">pos</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+    <span class="n">rot</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="FrameTransformerCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">FrameTransformerCfg</span><span class="p">(</span><span class="n">SensorBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the frame transformer sensor.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="FrameTransformerCfg.FrameCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">FrameCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Information specific to a coordinate frame.&quot;&quot;&quot;</span>
+
+        <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The prim path corresponding to a rigid body.</span>
+
+<span class="sd">        This can be a regex pattern to match multiple prims. For example, &quot;/Robot/.*&quot; will match all prims under &quot;/Robot&quot;.</span>
+
+<span class="sd">        This means that if the source :attr:`FrameTransformerCfg.prim_path` is &quot;/Robot/base&quot;, and the target :attr:`FrameTransformerCfg.FrameCfg.prim_path` is &quot;/Robot/.*&quot;,</span>
+<span class="sd">        then the frame transformer will track the poses of all the prims under &quot;/Robot&quot;,</span>
+<span class="sd">        including &quot;/Robot/base&quot; (even though this will result in an identity pose w.r.t. the source frame).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="n">name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;User-defined name for the new coordinate frame. Defaults to None.</span>
+
+<span class="sd">        If None, then the name is extracted from the leaf of the prim path.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="n">offset</span><span class="p">:</span> <span class="n">OffsetCfg</span> <span class="o">=</span> <span class="n">OffsetCfg</span><span class="p">()</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The pose offset from the parent prim frame.&quot;&quot;&quot;</span></div>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">FrameTransformer</span>
+
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The prim path of the body to transform from (source frame).&quot;&quot;&quot;</span>
+
+    <span class="n">source_frame_offset</span><span class="p">:</span> <span class="n">OffsetCfg</span> <span class="o">=</span> <span class="n">OffsetCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The pose offset from the source prim frame.&quot;&quot;&quot;</span>
+
+    <span class="n">target_frames</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">FrameCfg</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A list of the target frames.</span>
+
+<span class="sd">    This allows a single FrameTransformer to handle multiple target prims. For example, in a quadruped,</span>
+<span class="sd">    we can use a single FrameTransformer to track each foot&#39;s position and orientation in the body</span>
+<span class="sd">    frame using four frame offsets.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">FRAME_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/FrameTransformer&quot;</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration object for the visualization markers. Defaults to FRAME_MARKER_CFG.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This attribute is only used when debug visualization is enabled.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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new file mode 100644
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+  <h1>Source code for omni.isaac.lab.sensors.frame_transformer.frame_transformer_data</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">dataclass</span>
+
+
+<div class="viewcode-block" id="FrameTransformerData"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData">[docs]</a><span class="nd">@dataclass</span>
+<span class="k">class</span> <span class="nc">FrameTransformerData</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Data container for the frame transformer sensor.&quot;&quot;&quot;</span>
+
+    <span class="n">target_frame_names</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Target frame names (this denotes the order in which that frame data is ordered).</span>
+
+<span class="sd">    The frame names are resolved from the :attr:`FrameTransformerCfg.FrameCfg.name` field.</span>
+<span class="sd">    This does not necessarily follow the order in which the frames are defined in the config due to</span>
+<span class="sd">    the regex matching.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">target_pos_source</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Position of the target frame(s) relative to source frame.</span>
+
+<span class="sd">    Shape is (N, M, 3), where N is the number of environments, and M is the number of target frames.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">target_quat_source</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Orientation of the target frame(s) relative to source frame quaternion (w, x, y, z).</span>
+
+<span class="sd">    Shape is (N, M, 4), where N is the number of environments, and M is the number of target frames.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">target_pos_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Position of the target frame(s) after offset (in world frame).</span>
+
+<span class="sd">    Shape is (N, M, 3), where N is the number of environments, and M is the number of target frames.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">target_quat_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Orientation of the target frame(s) after offset (in world frame) quaternion (w, x, y, z).</span>
+
+<span class="sd">    Shape is (N, M, 4), where N is the number of environments, and M is the number of target frames.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">source_pos_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Position of the source frame after offset (in world frame).</span>
+
+<span class="sd">    Shape is (N, 3), where N is the number of environments.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">source_quat_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Orientation of the source frame after offset (in world frame) quaternion (w, x, y, z).</span>
+
+<span class="sd">    Shape is (N, 4), where N is the number of environments.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
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+  <h1>Source code for omni.isaac.lab.sensors.imu.imu</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">UsdPhysics</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkers</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base</span> <span class="kn">import</span> <span class="n">SensorBase</span>
+<span class="kn">from</span> <span class="nn">.imu_data</span> <span class="kn">import</span> <span class="n">ImuData</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.imu_cfg</span> <span class="kn">import</span> <span class="n">ImuCfg</span>
+
+
+<div class="viewcode-block" id="Imu"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu">[docs]</a><span class="k">class</span> <span class="nc">Imu</span><span class="p">(</span><span class="n">SensorBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The Inertia Measurement Unit (IMU) sensor.</span>
+
+<span class="sd">    The sensor can be attached to any :class:`RigidObject` or :class:`Articulation` in the scene. The sensor provides complete state information.</span>
+<span class="sd">    The sensor is primarily used to provide the linear acceleration and angular velocity of the object in the body frame. The sensor also provides</span>
+<span class="sd">    the position and orientation of the object in the world frame and the angular acceleration and linear velocity in the body frame. The extra</span>
+<span class="sd">    data outputs are useful for simulating with or comparing against &quot;perfect&quot; state estimation.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        We are computing the accelerations using numerical differentiation from the velocities. Consequently, the</span>
+<span class="sd">        IMU sensor accuracy depends on the chosen phsyx timestep. For a sufficient accuracy, we recommend to keep the</span>
+<span class="sd">        timestep at least as 200Hz.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        It is suggested to use the OffsetCfg to define an IMU frame relative to a rigid body prim defined at the root of</span>
+<span class="sd">        a :class:`RigidObject` or  a prim that is defined by a non-fixed joint in an :class:`Articulation` (except for the</span>
+<span class="sd">        root of a fixed based articulation). The use frames with fixed joints and small mass/inertia to emulate a transform</span>
+<span class="sd">        relative to a body frame can result in lower performance and accuracy.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">ImuCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration parameters.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Imu.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ImuCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the Imu sensor.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration parameters.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># initialize base class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># Create empty variables for storing output data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span> <span class="o">=</span> <span class="n">ImuData</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing information about the instance.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Imu sensor @ &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;: </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">view type         : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="vm">__class__</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">update period (s) : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">update_period</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of sensors : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ImuData</span><span class="p">:</span>
+        <span class="c1"># update sensors if needed</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+        <span class="c1"># return the data</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_instances</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Imu.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="c1"># reset the timestamps</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># resolve None</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset accumulative data buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">lin_vel_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">ang_vel_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">lin_acc_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">ang_acc_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">force_recompute</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">):</span>
+        <span class="c1"># save timestamp</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_dt</span> <span class="o">=</span> <span class="n">dt</span>
+        <span class="c1"># execute updating</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">,</span> <span class="n">force_recompute</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the sensor handles and internal buffers.</span>
+
+<span class="sd">        This function creates handles and registers the provided data types with the replicator registry to</span>
+<span class="sd">        be able to access the data from the sensor. It also initializes the internal buffers to store the data.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If the imu prim is not a RigidBodyPrim</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># Initialize parent class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_initialize_impl</span><span class="p">()</span>
+        <span class="c1"># create simulation view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_backend</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="c1"># check if the prim at path is a rigid prim</span>
+        <span class="n">prim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_first_matching_prim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">prim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to find a prim at path expression: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="c1"># check if it is a RigidBody Prim</span>
+        <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_rigid_body_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;*&quot;</span><span class="p">))</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to find a RigidBodyAPI for the prim paths: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="c1"># Create internal buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_buffers_impl</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">_update_buffers_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Fills the buffers of the sensor data.&quot;&quot;&quot;</span>
+        <span class="c1"># check if self._dt is set (this is set in the update function)</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;_dt&quot;</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="s2">&quot;The update function must be called before the data buffers are accessed the first time.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># default to all sensors</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># obtain the poses of the sensors</span>
+        <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span> <span class="mi">4</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="n">quat_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">quat_w</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+
+        <span class="c1"># store the poses</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">pos_w</span> <span class="o">+</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_offset_pos_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_mul</span><span class="p">(</span><span class="n">quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_offset_quat_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span>
+
+        <span class="c1"># get the offset from COM to link origin</span>
+        <span class="n">com_pos_b</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">get_coms</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">split</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span> <span class="mi">4</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+
+        <span class="c1"># obtain the velocities of the link COM</span>
+        <span class="n">lin_vel_w</span><span class="p">,</span> <span class="n">ang_vel_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">get_velocities</span><span class="p">()[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># if an offset is present or the COM does not agree with the link origin, the linear velocity has to be</span>
+        <span class="c1"># transformed taking the angular velocity into account</span>
+        <span class="n">lin_vel_w</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span>
+            <span class="n">ang_vel_w</span><span class="p">,</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="n">quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_offset_pos_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">-</span> <span class="n">com_pos_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span>
+        <span class="p">)</span>
+
+        <span class="c1"># numerical derivative</span>
+        <span class="n">lin_acc_w</span> <span class="o">=</span> <span class="p">(</span><span class="n">lin_vel_w</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_prev_lin_vel_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">_dt</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">_gravity_bias_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+        <span class="n">ang_acc_w</span> <span class="o">=</span> <span class="p">(</span><span class="n">ang_vel_w</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_prev_ang_vel_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">_dt</span>
+        <span class="c1"># store the velocities</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">lin_vel_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="n">lin_vel_w</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">ang_vel_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="n">ang_vel_w</span><span class="p">)</span>
+        <span class="c1"># store the accelerations</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">lin_acc_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="n">lin_acc_w</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">ang_acc_b</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="n">ang_acc_w</span><span class="p">)</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_prev_lin_vel_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">lin_vel_w</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_prev_ang_vel_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">ang_vel_w</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_buffers_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create buffers for storing data.&quot;&quot;&quot;</span>
+        <span class="c1"># data buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">4</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">lin_vel_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">ang_vel_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">lin_acc_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">ang_acc_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_prev_lin_vel_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_prev_ang_vel_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">)</span>
+
+        <span class="c1"># store sensor offset transformation</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_offset_pos_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">offset</span><span class="o">.</span><span class="n">pos</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_offset_quat_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">offset</span><span class="o">.</span><span class="n">rot</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># set gravity bias</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_gravity_bias_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">gravity_bias</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span>
+        <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+        <span class="c1"># set visibility of markers</span>
+        <span class="c1"># note: parent only deals with callbacks. not their visibility</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="c1"># create markers if necessary for the first tome</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;acceleration_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">acceleration_visualizer</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">visualizer_cfg</span><span class="p">)</span>
+            <span class="c1"># set their visibility to true</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">acceleration_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;acceleration_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">acceleration_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_debug_vis_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+        <span class="c1"># safely return if view becomes invalid</span>
+        <span class="c1"># note: this invalidity happens because of isaac sim view callbacks</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">return</span>
+        <span class="c1"># get marker location</span>
+        <span class="c1"># -- base state</span>
+        <span class="n">base_pos_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">base_pos_w</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">+=</span> <span class="mf">0.5</span>
+        <span class="c1"># -- resolve the scales</span>
+        <span class="n">default_scale</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">acceleration_visualizer</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">[</span><span class="s2">&quot;arrow&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">scale</span>
+        <span class="n">arrow_scale</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">default_scale</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">lin_acc_b</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># get up axis of current stage</span>
+        <span class="n">up_axis</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_stage_up_axis</span><span class="p">()</span>
+        <span class="c1"># arrow-direction</span>
+        <span class="n">quat_opengl</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_from_matrix</span><span class="p">(</span>
+            <span class="n">math_utils</span><span class="o">.</span><span class="n">create_rotation_matrix_from_view</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">,</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span> <span class="o">+</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_rotate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">lin_acc_b</span><span class="p">),</span>
+                <span class="n">up_axis</span><span class="o">=</span><span class="n">up_axis</span><span class="p">,</span>
+                <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">,</span>
+            <span class="p">)</span>
+        <span class="p">)</span>
+        <span class="n">quat_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_camera_frame_orientation_convention</span><span class="p">(</span><span class="n">quat_opengl</span><span class="p">,</span> <span class="s2">&quot;opengl&quot;</span><span class="p">,</span> <span class="s2">&quot;world&quot;</span><span class="p">)</span>
+        <span class="c1"># display markers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">acceleration_visualizer</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">base_pos_w</span><span class="p">,</span> <span class="n">quat_w</span><span class="p">,</span> <span class="n">arrow_scale</span><span class="p">)</span></div>
+</pre></div>
+
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new file mode 100644
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
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+  <h1>Source code for omni.isaac.lab.sensors.imu.imu_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkersCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers.config</span> <span class="kn">import</span> <span class="n">RED_ARROW_X_MARKER_CFG</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base_cfg</span> <span class="kn">import</span> <span class="n">SensorBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.imu</span> <span class="kn">import</span> <span class="n">Imu</span>
+
+
+<div class="viewcode-block" id="ImuCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ImuCfg</span><span class="p">(</span><span class="n">SensorBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an Inertial Measurement Unit (IMU) sensor.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">Imu</span>
+
+<div class="viewcode-block" id="ImuCfg.OffsetCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.OffsetCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">OffsetCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The offset pose of the sensor&#39;s frame from the sensor&#39;s parent frame.&quot;&quot;&quot;</span>
+
+        <span class="n">pos</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+
+        <span class="n">rot</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).&quot;&quot;&quot;</span></div>
+
+    <span class="n">offset</span><span class="p">:</span> <span class="n">OffsetCfg</span> <span class="o">=</span> <span class="n">OffsetCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The offset pose of the sensor&#39;s frame from the sensor&#39;s parent frame. Defaults to identity.&quot;&quot;&quot;</span>
+
+    <span class="n">visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">RED_ARROW_X_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/Command/velocity_goal&quot;</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration object for the visualization markers. Defaults to RED_ARROW_X_MARKER_CFG.</span>
+
+<span class="sd">    This attribute is only used when debug visualization is enabled.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">gravity_bias</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">9.81</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The linear acceleration bias applied to the linear acceleration in the world frame (x,y,z).</span>
+
+<span class="sd">    Imu sensors typically output a positive gravity acceleration in opposition to the direction of gravity. This</span>
+<span class="sd">    config parameter allows users to subtract that bias if set to (0.,0.,0.). By default this is set to (0.0,0.0,9.81)</span>
+<span class="sd">    which results in a positive acceleration reading in the world Z.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
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+  <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+<span class="kn">import</span> <span class="nn">warp</span> <span class="k">as</span> <span class="nn">wp</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.core.prims</span> <span class="kn">import</span> <span class="n">XFormPrimView</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">UsdGeom</span><span class="p">,</span> <span class="n">UsdPhysics</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkers</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.terrains.trimesh.utils</span> <span class="kn">import</span> <span class="n">make_plane</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="n">convert_quat</span><span class="p">,</span> <span class="n">quat_apply</span><span class="p">,</span> <span class="n">quat_apply_yaw</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.warp</span> <span class="kn">import</span> <span class="n">convert_to_warp_mesh</span><span class="p">,</span> <span class="n">raycast_mesh</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base</span> <span class="kn">import</span> <span class="n">SensorBase</span>
+<span class="kn">from</span> <span class="nn">.ray_caster_data</span> <span class="kn">import</span> <span class="n">RayCasterData</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.ray_caster_cfg</span> <span class="kn">import</span> <span class="n">RayCasterCfg</span>
+
+
+<div class="viewcode-block" id="RayCaster"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster">[docs]</a><span class="k">class</span> <span class="nc">RayCaster</span><span class="p">(</span><span class="n">SensorBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A ray-casting sensor.</span>
+
+<span class="sd">    The ray-caster uses a set of rays to detect collisions with meshes in the scene. The rays are</span>
+<span class="sd">    defined in the sensor&#39;s local coordinate frame. The sensor can be configured to ray-cast against</span>
+<span class="sd">    a set of meshes with a given ray pattern.</span>
+
+<span class="sd">    The meshes are parsed from the list of primitive paths provided in the configuration. These are then</span>
+<span class="sd">    converted to warp meshes and stored in the `warp_meshes` list. The ray-caster then ray-casts against</span>
+<span class="sd">    these warp meshes using the ray pattern provided in the configuration.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        Currently, only static meshes are supported. Extending the warp mesh to support dynamic meshes</span>
+<span class="sd">        is a work in progress.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">RayCasterCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration parameters.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RayCaster.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">RayCasterCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the ray-caster object.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration parameters.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if sensor path is valid</span>
+        <span class="c1"># note: currently we do not handle environment indices if there is a regex pattern in the leaf</span>
+        <span class="c1">#   For example, if the prim path is &quot;/World/Sensor_[1,2]&quot;.</span>
+        <span class="n">sensor_path</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+        <span class="n">sensor_path_is_regex</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;^[a-zA-Z0-9/_]+$&quot;</span><span class="p">,</span> <span class="n">sensor_path</span><span class="p">)</span> <span class="ow">is</span> <span class="kc">None</span>
+        <span class="k">if</span> <span class="n">sensor_path_is_regex</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Invalid prim path for the ray-caster sensor: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Hint: Please ensure that the prim path does not contain any regex patterns in the leaf.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># Initialize base class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># Create empty variables for storing output data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span> <span class="o">=</span> <span class="n">RayCasterData</span><span class="p">()</span>
+        <span class="c1"># the warp meshes used for raycasting.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">wp</span><span class="o">.</span><span class="n">Mesh</span><span class="p">]</span> <span class="o">=</span> <span class="p">{}</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing information about the instance.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Ray-caster @ &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;: </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">view type            : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="vm">__class__</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">update period (s)    : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">update_period</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of meshes     : </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">)</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of sensors    : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of rays/sensor: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">total number of rays : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_instances</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">RayCasterData</span><span class="p">:</span>
+        <span class="c1"># update sensors if needed</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+        <span class="c1"># return the data</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RayCaster.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="c1"># reset the timers and counters</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># resolve None</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># resample the drift</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">drift</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">uniform_</span><span class="p">(</span><span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">drift_range</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_initialize_impl</span><span class="p">()</span>
+        <span class="c1"># create simulation view</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="n">physx</span><span class="o">.</span><span class="n">create_simulation_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_backend</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">set_subspace_roots</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="c1"># check if the prim at path is an articulated or rigid prim</span>
+        <span class="c1"># we do this since for physics-based view classes we can access their data directly</span>
+        <span class="c1"># otherwise we need to use the xform view class which is slower</span>
+        <span class="n">found_supported_prim_class</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="n">prim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_first_matching_prim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">prim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to find a prim at path expression: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="c1"># create view based on the type of prim</span>
+        <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_articulation_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;*&quot;</span><span class="p">))</span>
+            <span class="n">found_supported_prim_class</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="k">elif</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_view</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span><span class="o">.</span><span class="n">create_rigid_body_view</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="s2">&quot;*&quot;</span><span class="p">))</span>
+            <span class="n">found_supported_prim_class</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_view</span> <span class="o">=</span> <span class="n">XFormPrimView</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">reset_xform_properties</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+            <span class="n">found_supported_prim_class</span> <span class="o">=</span> <span class="kc">True</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The prim at path </span><span class="si">{</span><span class="n">prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span><span class="si">}</span><span class="s2"> is not a physics prim! Using XFormPrimView.&quot;</span><span class="p">)</span>
+        <span class="c1"># check if prim view class is found</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">found_supported_prim_class</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to find a valid prim view class for the prim paths: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="c1"># load the meshes by parsing the stage</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_warp_meshes</span><span class="p">()</span>
+        <span class="c1"># initialize the ray start and directions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_rays_impl</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_warp_meshes</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># check number of mesh prims provided</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">mesh_prim_paths</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;RayCaster currently only supports one mesh prim. Received: </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">mesh_prim_paths</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># read prims to ray-cast</span>
+        <span class="k">for</span> <span class="n">mesh_prim_path</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">mesh_prim_paths</span><span class="p">:</span>
+            <span class="c1"># check if the prim is a plane - handle PhysX plane as a special case</span>
+            <span class="c1"># if a plane exists then we need to create an infinite mesh that is a plane</span>
+            <span class="n">mesh_prim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">get_first_matching_child_prim</span><span class="p">(</span>
+                <span class="n">mesh_prim_path</span><span class="p">,</span> <span class="k">lambda</span> <span class="n">prim</span><span class="p">:</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetTypeName</span><span class="p">()</span> <span class="o">==</span> <span class="s2">&quot;Plane&quot;</span>
+            <span class="p">)</span>
+            <span class="c1"># if we did not find a plane then we need to read the mesh</span>
+            <span class="k">if</span> <span class="n">mesh_prim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="c1"># obtain the mesh prim</span>
+                <span class="n">mesh_prim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">get_first_matching_child_prim</span><span class="p">(</span>
+                    <span class="n">mesh_prim_path</span><span class="p">,</span> <span class="k">lambda</span> <span class="n">prim</span><span class="p">:</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetTypeName</span><span class="p">()</span> <span class="o">==</span> <span class="s2">&quot;Mesh&quot;</span>
+                <span class="p">)</span>
+                <span class="c1"># check if valid</span>
+                <span class="k">if</span> <span class="n">mesh_prim</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="ow">not</span> <span class="n">mesh_prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+                    <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid mesh prim path: </span><span class="si">{</span><span class="n">mesh_prim_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+                <span class="c1"># cast into UsdGeomMesh</span>
+                <span class="n">mesh_prim</span> <span class="o">=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Mesh</span><span class="p">(</span><span class="n">mesh_prim</span><span class="p">)</span>
+                <span class="c1"># read the vertices and faces</span>
+                <span class="n">points</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">mesh_prim</span><span class="o">.</span><span class="n">GetPointsAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">())</span>
+                <span class="n">transform_matrix</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">get_world_transform_matrix</span><span class="p">(</span><span class="n">mesh_prim</span><span class="p">))</span><span class="o">.</span><span class="n">T</span>
+                <span class="n">points</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">matmul</span><span class="p">(</span><span class="n">points</span><span class="p">,</span> <span class="n">transform_matrix</span><span class="p">[:</span><span class="mi">3</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span><span class="o">.</span><span class="n">T</span><span class="p">)</span>
+                <span class="n">points</span> <span class="o">+=</span> <span class="n">transform_matrix</span><span class="p">[:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">]</span>
+                <span class="n">indices</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">mesh_prim</span><span class="o">.</span><span class="n">GetFaceVertexIndicesAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">())</span>
+                <span class="n">wp_mesh</span> <span class="o">=</span> <span class="n">convert_to_warp_mesh</span><span class="p">(</span><span class="n">points</span><span class="p">,</span> <span class="n">indices</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+                <span class="c1"># print info</span>
+                <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Read mesh prim: </span><span class="si">{</span><span class="n">mesh_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="si">}</span><span class="s2"> with </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">points</span><span class="p">)</span><span class="si">}</span><span class="s2"> vertices and </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">indices</span><span class="p">)</span><span class="si">}</span><span class="s2"> faces.&quot;</span>
+                <span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">mesh</span> <span class="o">=</span> <span class="n">make_plane</span><span class="p">(</span><span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">2e6</span><span class="p">,</span> <span class="mf">2e6</span><span class="p">),</span> <span class="n">height</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">center_zero</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+                <span class="n">wp_mesh</span> <span class="o">=</span> <span class="n">convert_to_warp_mesh</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">vertices</span><span class="p">,</span> <span class="n">mesh</span><span class="o">.</span><span class="n">faces</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+                <span class="c1"># print info</span>
+                <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Created infinite plane mesh prim: </span><span class="si">{</span><span class="n">mesh_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+            <span class="c1"># add the warp mesh to the list</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">[</span><span class="n">mesh_prim_path</span><span class="p">]</span> <span class="o">=</span> <span class="n">wp_mesh</span>
+
+        <span class="c1"># throw an error if no meshes are found</span>
+        <span class="k">if</span> <span class="nb">all</span><span class="p">([</span><span class="n">mesh_prim_path</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span> <span class="k">for</span> <span class="n">mesh_prim_path</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">mesh_prim_paths</span><span class="p">]):</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;No meshes found for ray-casting! Please check the mesh prim paths: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">mesh_prim_paths</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_rays_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># compute ray stars and directions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_starts</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span><span class="p">)</span>
+        <span class="c1"># apply offset transformation to the rays</span>
+        <span class="n">offset_pos</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">offset</span><span class="o">.</span><span class="n">pos</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="n">offset_quat</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">offset</span><span class="o">.</span><span class="n">rot</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span> <span class="o">=</span> <span class="n">quat_apply</span><span class="p">(</span><span class="n">offset_quat</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span><span class="p">),</span> <span class="mi">1</span><span class="p">),</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_starts</span> <span class="o">+=</span> <span class="n">offset_pos</span>
+        <span class="c1"># repeat the rays for each sensor</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_starts</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_starts</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># prepare drift</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">drift</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># fill the data buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">4</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">ray_hits_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_update_buffers_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Fills the buffers of the sensor data.&quot;&quot;&quot;</span>
+        <span class="c1"># obtain the poses of the sensors</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="p">,</span> <span class="n">XFormPrimView</span><span class="p">):</span>
+            <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">get_world_poses</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="p">,</span> <span class="n">physx</span><span class="o">.</span><span class="n">ArticulationView</span><span class="p">):</span>
+            <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">get_root_transforms</span><span class="p">()[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span> <span class="mi">4</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="n">quat_w</span> <span class="o">=</span> <span class="n">convert_quat</span><span class="p">(</span><span class="n">quat_w</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="p">,</span> <span class="n">physx</span><span class="o">.</span><span class="n">RigidBodyView</span><span class="p">):</span>
+            <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span> <span class="mi">4</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="n">quat_w</span> <span class="o">=</span> <span class="n">convert_quat</span><span class="p">(</span><span class="n">quat_w</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unsupported view type: </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="c1"># note: we clone here because we are read-only operations</span>
+        <span class="n">pos_w</span> <span class="o">=</span> <span class="n">pos_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">quat_w</span> <span class="o">=</span> <span class="n">quat_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="c1"># apply drift</span>
+        <span class="n">pos_w</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">drift</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+        <span class="c1"># store the poses</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">pos_w</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">quat_w</span>
+
+        <span class="c1"># ray cast based on the sensor poses</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">attach_yaw_only</span><span class="p">:</span>
+            <span class="c1"># only yaw orientation is considered and directions are not rotated</span>
+            <span class="n">ray_starts_w</span> <span class="o">=</span> <span class="n">quat_apply_yaw</span><span class="p">(</span><span class="n">quat_w</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="p">),</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_starts</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span>
+            <span class="n">ray_starts_w</span> <span class="o">+=</span> <span class="n">pos_w</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+            <span class="n">ray_directions_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># full orientation is considered</span>
+            <span class="n">ray_starts_w</span> <span class="o">=</span> <span class="n">quat_apply</span><span class="p">(</span><span class="n">quat_w</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="p">),</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_starts</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span>
+            <span class="n">ray_starts_w</span> <span class="o">+=</span> <span class="n">pos_w</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+            <span class="n">ray_directions_w</span> <span class="o">=</span> <span class="n">quat_apply</span><span class="p">(</span><span class="n">quat_w</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="p">),</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span>
+        <span class="c1"># ray cast and store the hits</span>
+        <span class="c1"># TODO: Make this work for multiple meshes?</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">ray_hits_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">raycast_mesh</span><span class="p">(</span>
+            <span class="n">ray_starts_w</span><span class="p">,</span>
+            <span class="n">ray_directions_w</span><span class="p">,</span>
+            <span class="n">max_dist</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_distance</span><span class="p">,</span>
+            <span class="n">mesh</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">mesh_prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+        <span class="c1"># set visibility of markers</span>
+        <span class="c1"># note: parent only deals with callbacks. not their visibility</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;ray_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ray_visualizer</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">visualizer_cfg</span><span class="p">)</span>
+            <span class="c1"># set their visibility to true</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">ray_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;ray_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">ray_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_debug_vis_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+        <span class="c1"># show ray hit positions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_visualizer</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">ray_hits_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="c1"># call parent</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="c1"># set all existing views to None to invalidate them</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_sim_view</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_view</span> <span class="o">=</span> <span class="kc">None</span></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html b/v1.4.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
new file mode 100644
index 0000000000..35fc8eca33
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html
@@ -0,0 +1,1019 @@
+
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+  <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_camera</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span><span class="p">,</span> <span class="n">ClassVar</span><span class="p">,</span> <span class="n">Literal</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">import</span> <span class="nn">omni.physics.tensors.impl.api</span> <span class="k">as</span> <span class="nn">physx</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.core.prims</span> <span class="kn">import</span> <span class="n">XFormPrimView</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors.camera</span> <span class="kn">import</span> <span class="n">CameraData</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.warp</span> <span class="kn">import</span> <span class="n">raycast_mesh</span>
+
+<span class="kn">from</span> <span class="nn">.ray_caster</span> <span class="kn">import</span> <span class="n">RayCaster</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.ray_caster_camera_cfg</span> <span class="kn">import</span> <span class="n">RayCasterCameraCfg</span>
+
+
+<div class="viewcode-block" id="RayCasterCamera"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera">[docs]</a><span class="k">class</span> <span class="nc">RayCasterCamera</span><span class="p">(</span><span class="n">RayCaster</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A ray-casting camera sensor.</span>
+
+<span class="sd">    The ray-caster camera uses a set of rays to get the distances to meshes in the scene. The rays are</span>
+<span class="sd">    defined in the sensor&#39;s local coordinate frame. The sensor has the same interface as the</span>
+<span class="sd">    :class:`omni.isaac.lab.sensors.Camera` that implements the camera class through USD camera prims.</span>
+<span class="sd">    However, this class provides a faster image generation. The sensor converts meshes from the list of</span>
+<span class="sd">    primitive paths provided in the configuration to Warp meshes. The camera then ray-casts against these</span>
+<span class="sd">    Warp meshes only.</span>
+
+<span class="sd">    Currently, only the following annotators are supported:</span>
+
+<span class="sd">    - ``&quot;distance_to_camera&quot;``: An image containing the distance to camera optical center.</span>
+<span class="sd">    - ``&quot;distance_to_image_plane&quot;``: An image containing distances of 3D points from camera plane along camera&#39;s z-axis.</span>
+<span class="sd">    - ``&quot;normals&quot;``: An image containing the local surface normal vectors at each pixel.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        Currently, only static meshes are supported. Extending the warp mesh to support dynamic meshes</span>
+<span class="sd">        is a work in progress.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">RayCasterCameraCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration parameters.&quot;&quot;&quot;</span>
+    <span class="n">UNSUPPORTED_TYPES</span><span class="p">:</span> <span class="n">ClassVar</span><span class="p">[</span><span class="nb">set</span><span class="p">[</span><span class="nb">str</span><span class="p">]]</span> <span class="o">=</span> <span class="p">{</span>
+        <span class="s2">&quot;rgb&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;instance_id_segmentation&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;instance_id_segmentation_fast&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;instance_segmentation&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;instance_segmentation_fast&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;semantic_segmentation&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;skeleton_data&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;motion_vectors&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_2d_tight&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_2d_tight_fast&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_2d_loose&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_2d_loose_fast&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_3d&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;bounding_box_3d_fast&quot;</span><span class="p">,</span>
+    <span class="p">}</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A set of sensor types that are not supported by the ray-caster camera.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RayCasterCamera.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">RayCasterCameraCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the camera object.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration parameters.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the provided data types are not supported by the ray-caster camera.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># perform check on supported data types</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_check_supported_data_types</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># initialize base class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># create empty variables for storing output data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span> <span class="o">=</span> <span class="n">CameraData</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns: A string containing information about the instance.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Ray-Caster-Camera @ &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;: </span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">view type            : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="vm">__class__</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">update period (s)    : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">update_period</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of meshes     : </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">)</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of sensors    : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">number of rays/sensor: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">total number of rays : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">image shape          : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">CameraData</span><span class="p">:</span>
+        <span class="c1"># update sensors if needed</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+        <span class="c1"># return the data</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">image_shape</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">int</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;A tuple containing (height, width) of the camera sensor.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="o">.</span><span class="n">width</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">frame</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Frame number when the measurement took place.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RayCasterCamera.set_intrinsic_matrices"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices">[docs]</a>    <span class="k">def</span> <span class="nf">set_intrinsic_matrices</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">matrices</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">focal_length</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the intrinsic matrix of the camera.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            matrices: The intrinsic matrices for the camera. Shape is (N, 3, 3).</span>
+<span class="sd">            focal_length: Focal length to use when computing aperture values (in cm). Defaults to 1.0.</span>
+<span class="sd">            env_ids: A sensor ids to manipulate. Defaults to None, which means all sensor indices.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># save new intrinsic matrices and focal length</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">matrices</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_focal_length</span> <span class="o">=</span> <span class="n">focal_length</span>
+        <span class="c1"># recompute ray directions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_starts</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">_device</span>
+        <span class="p">)</span></div>
+
+<div class="viewcode-block" id="RayCasterCamera.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="c1"># reset the timestamps</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># resolve None</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset the data</span>
+        <span class="c1"># note: this recomputation is useful if one performs events such as randomizations on the camera poses.</span>
+        <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_compute_camera_world_poses</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">pos_w</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w_world</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">quat_w</span>
+        <span class="c1"># Reset the frame count</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span></div>
+
+<div class="viewcode-block" id="RayCasterCamera.set_world_poses"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses">[docs]</a>    <span class="k">def</span> <span class="nf">set_world_poses</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">positions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">orientations</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+        <span class="n">convention</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;opengl&quot;</span><span class="p">,</span> <span class="s2">&quot;ros&quot;</span><span class="p">,</span> <span class="s2">&quot;world&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;ros&quot;</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the pose of the camera w.r.t. the world frame using specified convention.</span>
+
+<span class="sd">        Since different fields use different conventions for camera orientations, the method allows users to</span>
+<span class="sd">        set the camera poses in the specified convention. Possible conventions are:</span>
+
+<span class="sd">        - :obj:`&quot;opengl&quot;` - forward axis: -Z - up axis +Y - Offset is applied in the OpenGL (Usd.Camera) convention</span>
+<span class="sd">        - :obj:`&quot;ros&quot;`    - forward axis: +Z - up axis -Y - Offset is applied in the ROS convention</span>
+<span class="sd">        - :obj:`&quot;world&quot;`  - forward axis: +X - up axis +Z - Offset is applied in the World Frame convention</span>
+
+<span class="sd">        See :meth:`omni.isaac.lab.utils.maths.convert_camera_frame_orientation_convention` for more details</span>
+<span class="sd">        on the conventions.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            positions: The cartesian coordinates (in meters). Shape is (N, 3).</span>
+<span class="sd">                Defaults to None, in which case the camera position in not changed.</span>
+<span class="sd">            orientations: The quaternion orientation in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">                Defaults to None, in which case the camera orientation in not changed.</span>
+<span class="sd">            env_ids: A sensor ids to manipulate. Defaults to None, which means all sensor indices.</span>
+<span class="sd">            convention: The convention in which the poses are fed. Defaults to &quot;ros&quot;.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If the camera prim is not set. Need to call :meth:`initialize` method first.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve env_ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+
+        <span class="c1"># get current positions</span>
+        <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_compute_view_world_poses</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">positions</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># transform to camera frame</span>
+            <span class="n">pos_offset_world_frame</span> <span class="o">=</span> <span class="n">positions</span> <span class="o">-</span> <span class="n">pos_w</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_offset_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_apply</span><span class="p">(</span><span class="n">math_utils</span><span class="o">.</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">quat_w</span><span class="p">),</span> <span class="n">pos_offset_world_frame</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">orientations</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># convert rotation matrix from input convention to world</span>
+            <span class="n">quat_w_set</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_camera_frame_orientation_convention</span><span class="p">(</span>
+                <span class="n">orientations</span><span class="p">,</span> <span class="n">origin</span><span class="o">=</span><span class="n">convention</span><span class="p">,</span> <span class="n">target</span><span class="o">=</span><span class="s2">&quot;world&quot;</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_offset_quat</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_mul</span><span class="p">(</span><span class="n">math_utils</span><span class="o">.</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">quat_w</span><span class="p">),</span> <span class="n">quat_w_set</span><span class="p">)</span>
+
+        <span class="c1"># update the data</span>
+        <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_compute_camera_world_poses</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">pos_w</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w_world</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">quat_w</span></div>
+
+<div class="viewcode-block" id="RayCasterCamera.set_world_poses_from_view"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses_from_view">[docs]</a>    <span class="k">def</span> <span class="nf">set_world_poses_from_view</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">eyes</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">targets</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the poses of the camera from the eye position and look-at target position.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            eyes: The positions of the camera&#39;s eye. Shape is N, 3).</span>
+<span class="sd">            targets: The target locations to look at. Shape is (N, 3).</span>
+<span class="sd">            env_ids: A sensor ids to manipulate. Defaults to None, which means all sensor indices.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If the camera prim is not set. Need to call :meth:`initialize` method first.</span>
+<span class="sd">            NotImplementedError: If the stage up-axis is not &quot;Y&quot; or &quot;Z&quot;.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># get up axis of current stage</span>
+        <span class="n">up_axis</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_stage_up_axis</span><span class="p">()</span>
+        <span class="c1"># camera position and rotation in opengl convention</span>
+        <span class="n">orientations</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_from_matrix</span><span class="p">(</span>
+            <span class="n">math_utils</span><span class="o">.</span><span class="n">create_rotation_matrix_from_view</span><span class="p">(</span><span class="n">eyes</span><span class="p">,</span> <span class="n">targets</span><span class="p">,</span> <span class="n">up_axis</span><span class="o">=</span><span class="n">up_axis</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">set_world_poses</span><span class="p">(</span><span class="n">eyes</span><span class="p">,</span> <span class="n">orientations</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">,</span> <span class="n">convention</span><span class="o">=</span><span class="s2">&quot;opengl&quot;</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_rays_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># Create all indices buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+        <span class="c1"># Create frame count buffer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+        <span class="c1"># create buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_create_buffers</span><span class="p">()</span>
+        <span class="c1"># compute intrinsic matrices</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_compute_intrinsic_matrices</span><span class="p">()</span>
+        <span class="c1"># compute ray stars and directions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_starts</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_device</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
+        <span class="c1"># create buffer to store ray hits</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_hits_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># set offsets</span>
+        <span class="n">quat_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_camera_frame_orientation_convention</span><span class="p">(</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">offset</span><span class="o">.</span><span class="n">rot</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">),</span> <span class="n">origin</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">offset</span><span class="o">.</span><span class="n">convention</span><span class="p">,</span> <span class="n">target</span><span class="o">=</span><span class="s2">&quot;world&quot;</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_offset_quat</span> <span class="o">=</span> <span class="n">quat_w</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_offset_pos</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">offset</span><span class="o">.</span><span class="n">pos</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_update_buffers_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Fills the buffers of the sensor data.&quot;&quot;&quot;</span>
+        <span class="c1"># increment frame count</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_frame</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span>
+
+        <span class="c1"># compute poses from current view</span>
+        <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_compute_camera_world_poses</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># update the data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">pos_w</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w_world</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">quat_w</span>
+
+        <span class="c1"># note: full orientation is considered</span>
+        <span class="n">ray_starts_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_apply</span><span class="p">(</span><span class="n">quat_w</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="p">),</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_starts</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span>
+        <span class="n">ray_starts_w</span> <span class="o">+=</span> <span class="n">pos_w</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+        <span class="n">ray_directions_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_apply</span><span class="p">(</span><span class="n">quat_w</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="p">),</span> <span class="bp">self</span><span class="o">.</span><span class="n">ray_directions</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span>
+
+        <span class="c1"># ray cast and store the hits</span>
+        <span class="c1"># note: we set max distance to 1e6 during the ray-casting. THis is because we clip the distance</span>
+        <span class="c1"># to the image plane and distance to the camera to the maximum distance afterwards in-order to</span>
+        <span class="c1"># match the USD camera behavior.</span>
+
+        <span class="c1"># TODO: Make ray-casting work for multiple meshes?</span>
+        <span class="c1"># necessary for regular dictionaries.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_hits_w</span><span class="p">,</span> <span class="n">ray_depth</span><span class="p">,</span> <span class="n">ray_normal</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">raycast_mesh</span><span class="p">(</span>
+            <span class="n">ray_starts_w</span><span class="p">,</span>
+            <span class="n">ray_directions_w</span><span class="p">,</span>
+            <span class="n">mesh</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">mesh_prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+            <span class="n">max_dist</span><span class="o">=</span><span class="mf">1e6</span><span class="p">,</span>
+            <span class="n">return_distance</span><span class="o">=</span><span class="nb">any</span><span class="p">(</span>
+                <span class="p">[</span><span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span> <span class="k">for</span> <span class="n">name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">,</span> <span class="s2">&quot;distance_to_camera&quot;</span><span class="p">]]</span>
+            <span class="p">),</span>
+            <span class="n">return_normal</span><span class="o">=</span><span class="s2">&quot;normals&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="c1"># update output buffers</span>
+        <span class="k">if</span> <span class="s2">&quot;distance_to_image_plane&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="c1"># note: data is in camera frame so we only take the first component (z-axis of camera frame)</span>
+            <span class="n">distance_to_image_plane</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_apply</span><span class="p">(</span>
+                    <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">quat_w</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_rays</span><span class="p">),</span>
+                    <span class="p">(</span><span class="n">ray_depth</span><span class="p">[:,</span> <span class="p">:,</span> <span class="kc">None</span><span class="p">]</span> <span class="o">*</span> <span class="n">ray_directions_w</span><span class="p">),</span>
+                <span class="p">)</span>
+            <span class="p">)[:,</span> <span class="p">:,</span> <span class="mi">0</span><span class="p">]</span>
+            <span class="c1"># apply the maximum distance after the transformation</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">depth_clipping_behavior</span> <span class="o">==</span> <span class="s2">&quot;max&quot;</span><span class="p">:</span>
+                <span class="n">distance_to_image_plane</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">distance_to_image_plane</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_distance</span><span class="p">)</span>
+                <span class="n">distance_to_image_plane</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">isnan</span><span class="p">(</span><span class="n">distance_to_image_plane</span><span class="p">)]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_distance</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">depth_clipping_behavior</span> <span class="o">==</span> <span class="s2">&quot;zero&quot;</span><span class="p">:</span>
+                <span class="n">distance_to_image_plane</span><span class="p">[</span><span class="n">distance_to_image_plane</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_distance</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+                <span class="n">distance_to_image_plane</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">isnan</span><span class="p">(</span><span class="n">distance_to_image_plane</span><span class="p">)]</span> <span class="o">=</span> <span class="mf">0.0</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">][</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">distance_to_image_plane</span><span class="o">.</span><span class="n">view</span><span class="p">(</span>
+                <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span><span class="p">,</span> <span class="mi">1</span>
+            <span class="p">)</span>
+
+        <span class="k">if</span> <span class="s2">&quot;distance_to_camera&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">depth_clipping_behavior</span> <span class="o">==</span> <span class="s2">&quot;max&quot;</span><span class="p">:</span>
+                <span class="n">ray_depth</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">ray_depth</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_distance</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">depth_clipping_behavior</span> <span class="o">==</span> <span class="s2">&quot;zero&quot;</span><span class="p">:</span>
+                <span class="n">ray_depth</span><span class="p">[</span><span class="n">ray_depth</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_distance</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;distance_to_camera&quot;</span><span class="p">][</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">ray_depth</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="s2">&quot;normals&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;normals&quot;</span><span class="p">][</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">ray_normal</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_debug_vis_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+        <span class="c1"># in case it crashes be safe</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;ray_hits_w&quot;</span><span class="p">):</span>
+            <span class="k">return</span>
+        <span class="c1"># show ray hit positions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">ray_visualizer</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">ray_hits_w</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Private Helpers</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_check_supported_data_types</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">RayCasterCameraCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Checks if the data types are supported by the ray-caster camera.&quot;&quot;&quot;</span>
+        <span class="c1"># check if there is any intersection in unsupported types</span>
+        <span class="c1"># reason: we cannot obtain this data from simplified warp-based ray caster</span>
+        <span class="n">common_elements</span> <span class="o">=</span> <span class="nb">set</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">)</span> <span class="o">&amp;</span> <span class="n">RayCasterCamera</span><span class="o">.</span><span class="n">UNSUPPORTED_TYPES</span>
+        <span class="k">if</span> <span class="n">common_elements</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;RayCasterCamera class does not support the following sensor types: </span><span class="si">{</span><span class="n">common_elements</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">This is because these sensor types cannot be obtained in a fast way using &#39;&#39;warp&#39;&#39;.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Hint: If you need to work with these sensor types, we recommend using the USD camera&quot;</span>
+                <span class="s2">&quot; interface from the omni.isaac.lab.sensors.camera module.&quot;</span>
+            <span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_create_buffers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create buffers for storing data.&quot;&quot;&quot;</span>
+        <span class="c1"># prepare drift</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">drift</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># create the data object</span>
+        <span class="c1"># -- pose of the cameras</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">pos_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">quat_w_world</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># -- intrinsic matrix</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">image_shape</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">image_shape</span>
+        <span class="c1"># -- output data</span>
+        <span class="c1"># create the buffers to store the annotator data.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">info</span> <span class="o">=</span> <span class="p">[{</span><span class="n">name</span><span class="p">:</span> <span class="kc">None</span> <span class="k">for</span> <span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">}]</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span>
+        <span class="k">for</span> <span class="n">name</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">data_types</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">,</span> <span class="s2">&quot;distance_to_camera&quot;</span><span class="p">]:</span>
+                <span class="n">shape</span> <span class="o">=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="n">name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;normals&quot;</span><span class="p">]:</span>
+                <span class="n">shape</span> <span class="o">=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Received unknown data type: </span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">. Please check the configuration.&quot;</span><span class="p">)</span>
+            <span class="c1"># allocate tensor to store the data</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">name</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="o">*</span><span class="n">shape</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_compute_intrinsic_matrices</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Computes the intrinsic matrices for the camera based on the config provided.&quot;&quot;&quot;</span>
+        <span class="c1"># get the sensor properties</span>
+        <span class="n">pattern_cfg</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pattern_cfg</span>
+
+        <span class="c1"># check if vertical aperture is provided</span>
+        <span class="c1"># if not then it is auto-computed based on the aspect ratio to preserve squared pixels</span>
+        <span class="k">if</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">vertical_aperture</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">vertical_aperture</span> <span class="o">=</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">horizontal_aperture</span> <span class="o">*</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">height</span> <span class="o">/</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">width</span>
+
+        <span class="c1"># compute the intrinsic matrix</span>
+        <span class="n">f_x</span> <span class="o">=</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">width</span> <span class="o">*</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">focal_length</span> <span class="o">/</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">horizontal_aperture</span>
+        <span class="n">f_y</span> <span class="o">=</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">height</span> <span class="o">*</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">focal_length</span> <span class="o">/</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">vertical_aperture</span>
+        <span class="n">c_x</span> <span class="o">=</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">horizontal_aperture_offset</span> <span class="o">*</span> <span class="n">f_x</span> <span class="o">+</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">width</span> <span class="o">/</span> <span class="mi">2</span>
+        <span class="n">c_y</span> <span class="o">=</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">vertical_aperture_offset</span> <span class="o">*</span> <span class="n">f_y</span> <span class="o">+</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">height</span> <span class="o">/</span> <span class="mi">2</span>
+        <span class="c1"># allocate the intrinsic matrices</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">f_x</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="n">c_x</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">f_y</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="n">c_y</span>
+
+        <span class="c1"># save focal length</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_focal_length</span> <span class="o">=</span> <span class="n">pattern_cfg</span><span class="o">.</span><span class="n">focal_length</span>
+
+    <span class="k">def</span> <span class="nf">_compute_view_world_poses</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Obtains the pose of the view the camera is attached to in the world frame.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple of the position (in meters) and quaternion (w, x, y, z).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># obtain the poses of the sensors</span>
+        <span class="c1"># note: clone arg doesn&#39;t exist for xform prim view so we need to do this manually</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="p">,</span> <span class="n">XFormPrimView</span><span class="p">):</span>
+            <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">get_world_poses</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="p">,</span> <span class="n">physx</span><span class="o">.</span><span class="n">ArticulationView</span><span class="p">):</span>
+            <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">get_root_transforms</span><span class="p">()[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span> <span class="mi">4</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="n">quat_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">quat_w</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="p">,</span> <span class="n">physx</span><span class="o">.</span><span class="n">RigidBodyView</span><span class="p">):</span>
+            <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="o">.</span><span class="n">get_transforms</span><span class="p">()[</span><span class="n">env_ids</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span> <span class="mi">4</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+            <span class="n">quat_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">convert_quat</span><span class="p">(</span><span class="n">quat_w</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;wxyz&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unsupported view type: </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_view</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="c1"># return the pose</span>
+        <span class="k">return</span> <span class="n">pos_w</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span> <span class="n">quat_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">_compute_camera_world_poses</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Computes the pose of the camera in the world frame.</span>
+
+<span class="sd">        This function applies the offset pose to the pose of the view the camera is attached to.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A tuple of the position (in meters) and quaternion (w, x, y, z) in &quot;world&quot; convention.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># get the pose of the view the camera is attached to</span>
+        <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_compute_view_world_poses</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+        <span class="c1"># apply offsets</span>
+        <span class="c1"># need to apply quat because offset relative to parent frame</span>
+        <span class="n">pos_w</span> <span class="o">+=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_apply</span><span class="p">(</span><span class="n">quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_offset_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span>
+        <span class="n">quat_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">quat_mul</span><span class="p">(</span><span class="n">quat_w</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_offset_quat</span><span class="p">[</span><span class="n">env_ids</span><span class="p">])</span>
+
+        <span class="k">return</span> <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span></div>
+</pre></div>
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new file mode 100644
index 0000000000..f9d3aa8191
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+  <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Configuration for the ray-cast camera sensor.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.patterns</span> <span class="kn">import</span> <span class="n">PinholeCameraPatternCfg</span>
+<span class="kn">from</span> <span class="nn">.ray_caster_camera</span> <span class="kn">import</span> <span class="n">RayCasterCamera</span>
+<span class="kn">from</span> <span class="nn">.ray_caster_cfg</span> <span class="kn">import</span> <span class="n">RayCasterCfg</span>
+
+
+<div class="viewcode-block" id="RayCasterCameraCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RayCasterCameraCfg</span><span class="p">(</span><span class="n">RayCasterCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the ray-cast sensor.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RayCasterCameraCfg.OffsetCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">OffsetCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The offset pose of the sensor&#39;s frame from the sensor&#39;s parent frame.&quot;&quot;&quot;</span>
+
+        <span class="n">pos</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+
+        <span class="n">rot</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+
+        <span class="n">convention</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;opengl&quot;</span><span class="p">,</span> <span class="s2">&quot;ros&quot;</span><span class="p">,</span> <span class="s2">&quot;world&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;ros&quot;</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The convention in which the frame offset is applied. Defaults to &quot;ros&quot;.</span>
+
+<span class="sd">        - ``&quot;opengl&quot;`` - forward axis: ``-Z`` - up axis: ``+Y`` - Offset is applied in the OpenGL (Usd.Camera) convention.</span>
+<span class="sd">        - ``&quot;ros&quot;``    - forward axis: ``+Z`` - up axis: ``-Y`` - Offset is applied in the ROS convention.</span>
+<span class="sd">        - ``&quot;world&quot;``  - forward axis: ``+X`` - up axis: ``+Z`` - Offset is applied in the World Frame convention.</span>
+
+<span class="sd">        &quot;&quot;&quot;</span></div>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">RayCasterCamera</span>
+
+    <span class="n">offset</span><span class="p">:</span> <span class="n">OffsetCfg</span> <span class="o">=</span> <span class="n">OffsetCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The offset pose of the sensor&#39;s frame from the sensor&#39;s parent frame. Defaults to identity.&quot;&quot;&quot;</span>
+
+    <span class="n">data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">]</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;List of sensor names/types to enable for the camera. Defaults to [&quot;distance_to_image_plane&quot;].&quot;&quot;&quot;</span>
+
+    <span class="n">depth_clipping_behavior</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;max&quot;</span><span class="p">,</span> <span class="s2">&quot;zero&quot;</span><span class="p">,</span> <span class="s2">&quot;none&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;none&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Clipping behavior for the camera for values exceed the maximum value. Defaults to &quot;none&quot;.</span>
+
+<span class="sd">    - ``&quot;max&quot;``: Values are clipped to the maximum value.</span>
+<span class="sd">    - ``&quot;zero&quot;``: Values are clipped to zero.</span>
+<span class="sd">    - ``&quot;none``: No clipping is applied. Values will be returned as ``inf`` for ``distance_to_camera`` and ``nan``</span>
+<span class="sd">      for ``distance_to_image_plane`` data type.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">pattern_cfg</span><span class="p">:</span> <span class="n">PinholeCameraPatternCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The pattern that defines the local ray starting positions and directions in a pinhole camera pattern.&quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="c1"># for cameras, this quantity should be False always.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">attach_yaw_only</span> <span class="o">=</span> <span class="kc">False</span></div>
+</pre></div>
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new file mode 100644
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+  <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Configuration for the ray-cast sensor.&quot;&quot;&quot;</span>
+
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkersCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers.config</span> <span class="kn">import</span> <span class="n">RAY_CASTER_MARKER_CFG</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">..sensor_base_cfg</span> <span class="kn">import</span> <span class="n">SensorBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.patterns.patterns_cfg</span> <span class="kn">import</span> <span class="n">PatternBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.ray_caster</span> <span class="kn">import</span> <span class="n">RayCaster</span>
+
+
+<div class="viewcode-block" id="RayCasterCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RayCasterCfg</span><span class="p">(</span><span class="n">SensorBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the ray-cast sensor.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RayCasterCfg.OffsetCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">OffsetCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The offset pose of the sensor&#39;s frame from the sensor&#39;s parent frame.&quot;&quot;&quot;</span>
+
+        <span class="n">pos</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+        <span class="n">rot</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).&quot;&quot;&quot;</span></div>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">RayCaster</span>
+
+    <span class="n">mesh_prim_paths</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The list of mesh primitive paths to ray cast against.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        Currently, only a single static mesh is supported. We are working on supporting multiple</span>
+<span class="sd">        static meshes and dynamic meshes.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">offset</span><span class="p">:</span> <span class="n">OffsetCfg</span> <span class="o">=</span> <span class="n">OffsetCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The offset pose of the sensor&#39;s frame from the sensor&#39;s parent frame. Defaults to identity.&quot;&quot;&quot;</span>
+
+    <span class="n">attach_yaw_only</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the rays&#39; starting positions and directions only track the yaw orientation.</span>
+
+<span class="sd">    This is useful for ray-casting height maps, where only yaw rotation is needed.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">pattern_cfg</span><span class="p">:</span> <span class="n">PatternBaseCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The pattern that defines the local ray starting positions and directions.&quot;&quot;&quot;</span>
+
+    <span class="n">max_distance</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1e6</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Maximum distance (in meters) from the sensor to ray cast to. Defaults to 1e6.&quot;&quot;&quot;</span>
+
+    <span class="n">drift_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The range of drift (in meters) to add to the ray starting positions (xyz). Defaults to (0.0, 0.0).</span>
+
+<span class="sd">    For floating base robots, this is useful for simulating drift in the robot&#39;s pose estimation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">visualizer_cfg</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span> <span class="o">=</span> <span class="n">RAY_CASTER_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/RayCaster&quot;</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration object for the visualization markers. Defaults to RAY_CASTER_MARKER_CFG.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This attribute is only used when debug visualization is enabled.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html b/v1.4.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
new file mode 100644
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--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html
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+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
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+  <h1>Source code for omni.isaac.lab.sensors.ray_caster.ray_caster_data</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">dataclass</span>
+
+
+<div class="viewcode-block" id="RayCasterData"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterData">[docs]</a><span class="nd">@dataclass</span>
+<span class="k">class</span> <span class="nc">RayCasterData</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Data container for the ray-cast sensor.&quot;&quot;&quot;</span>
+
+    <span class="n">pos_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Position of the sensor origin in world frame.</span>
+
+<span class="sd">    Shape is (N, 3), where N is the number of sensors.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">quat_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Orientation of the sensor origin in quaternion (w, x, y, z) in world frame.</span>
+
+<span class="sd">    Shape is (N, 4), where N is the number of sensors.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">ray_hits_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The ray hit positions in the world frame.</span>
+
+<span class="sd">    Shape is (N, B, 3), where N is the number of sensors, B is the number of rays</span>
+<span class="sd">    in the scan pattern per sensor.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.sensors.sensor_base</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Base class for sensors.</span>
+
+<span class="sd">This class defines an interface for sensors similar to how the :class:`omni.isaac.lab.assets.AssetBase` class works.</span>
+<span class="sd">Each sensor class should inherit from this class and implement the abstract methods.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">ABC</span><span class="p">,</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span><span class="p">,</span> <span class="n">Any</span>
+
+<span class="kn">import</span> <span class="nn">omni.kit.app</span>
+<span class="kn">import</span> <span class="nn">omni.timeline</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.sensor_base_cfg</span> <span class="kn">import</span> <span class="n">SensorBaseCfg</span>
+
+
+<div class="viewcode-block" id="SensorBase"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase">[docs]</a><span class="k">class</span> <span class="nc">SensorBase</span><span class="p">(</span><span class="n">ABC</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The base class for implementing a sensor.</span>
+
+<span class="sd">    The implementation is based on lazy evaluation. The sensor data is only updated when the user</span>
+<span class="sd">    tries accessing the data through the :attr:`data` property or sets ``force_compute=True`` in</span>
+<span class="sd">    the :meth:`update` method. This is done to avoid unnecessary computation when the sensor data</span>
+<span class="sd">    is not used.</span>
+
+<span class="sd">    The sensor is updated at the specified update period. If the update period is zero, then the</span>
+<span class="sd">    sensor is updated at every simulation step.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="SensorBase.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">SensorBaseCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the sensor class.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration parameters for the sensor.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that config is valid</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">history_length</span> <span class="o">&lt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;History length must be greater than 0! Received: </span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">history_length</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="c1"># check that the config is valid</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">validate</span><span class="p">()</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="c1"># flag for whether the sensor is initialized</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="c1"># flag for whether the sensor is in visualization mode</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_visualizing</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># note: Use weakref on callbacks to ensure that this object can be deleted when its destructor is called.</span>
+        <span class="c1"># add callbacks for stage play/stop</span>
+        <span class="c1"># The order is set to 10 which is arbitrary but should be lower priority than the default order of 0</span>
+        <span class="n">timeline_event_stream</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">get_timeline_interface</span><span class="p">()</span><span class="o">.</span><span class="n">get_timeline_event_stream</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_handle</span> <span class="o">=</span> <span class="n">timeline_event_stream</span><span class="o">.</span><span class="n">create_subscription_to_pop_by_type</span><span class="p">(</span>
+            <span class="nb">int</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">TimelineEventType</span><span class="o">.</span><span class="n">PLAY</span><span class="p">),</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">),</span>
+            <span class="n">order</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_invalidate_initialize_handle</span> <span class="o">=</span> <span class="n">timeline_event_stream</span><span class="o">.</span><span class="n">create_subscription_to_pop_by_type</span><span class="p">(</span>
+            <span class="nb">int</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">TimelineEventType</span><span class="o">.</span><span class="n">STOP</span><span class="p">),</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_invalidate_initialize_callback</span><span class="p">(</span><span class="n">event</span><span class="p">),</span>
+            <span class="n">order</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="c1"># add handle for debug visualization (this is set to a valid handle inside set_debug_vis)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># set initial state of debug visualization</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Unsubscribe from the callbacks.&quot;&quot;&quot;</span>
+        <span class="c1"># clear physics events handles</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_handle</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_invalidate_initialize_handle</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_invalidate_initialize_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_invalidate_initialize_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># clear debug visualization</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">is_initialized</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the sensor is initialized.</span>
+
+<span class="sd">        Returns True if the sensor is initialized, False otherwise.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_instances</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Number of instances of the sensor.</span>
+
+<span class="sd">        This is equal to the number of sensors per environment multiplied by the number of environments.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Memory device for computation.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_device</span>
+
+    <span class="nd">@property</span>
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">data</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Any</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Data from the sensor.</span>
+
+<span class="sd">        This property is only updated when the user tries to access the data. This is done to avoid</span>
+<span class="sd">        unnecessary computation when the sensor data is not used.</span>
+
+<span class="sd">        For updating the sensor when this property is accessed, you can use the following</span>
+<span class="sd">        code snippet in your sensor implementation:</span>
+
+<span class="sd">        .. code-block:: python</span>
+
+<span class="sd">            # update sensors if needed</span>
+<span class="sd">            self._update_outdated_buffers()</span>
+<span class="sd">            # return the data (where `_data` is the data for the sensor)</span>
+<span class="sd">            return self._data</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">has_debug_vis_implementation</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the sensor has a debug visualization implemented.&quot;&quot;&quot;</span>
+        <span class="c1"># check if function raises NotImplementedError</span>
+        <span class="n">source_code</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">getsource</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">)</span>
+        <span class="k">return</span> <span class="s2">&quot;NotImplementedError&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">source_code</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="SensorBase.set_debug_vis"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.set_debug_vis">[docs]</a>    <span class="k">def</span> <span class="nf">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets whether to visualize the sensor data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            debug_vis: Whether to visualize the sensor data.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Whether the debug visualization was successfully set. False if the sensor</span>
+<span class="sd">            does not support debug visualization.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if debug visualization is supported</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">has_debug_vis_implementation</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">False</span>
+        <span class="c1"># toggle debug visualization objects</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_set_debug_vis_impl</span><span class="p">(</span><span class="n">debug_vis</span><span class="p">)</span>
+        <span class="c1"># toggle debug visualization flag</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_visualizing</span> <span class="o">=</span> <span class="n">debug_vis</span>
+        <span class="c1"># toggle debug visualization handles</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="c1"># create a subscriber for the post update event if it doesn&#39;t exist</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">app_interface</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">get_app_interface</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="n">app_interface</span><span class="o">.</span><span class="n">get_post_update_event_stream</span><span class="p">()</span><span class="o">.</span><span class="n">create_subscription_to_pop</span><span class="p">(</span>
+                    <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_debug_vis_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># remove the subscriber if it exists</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_debug_vis_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># return success</span>
+        <span class="k">return</span> <span class="kc">True</span></div>
+
+<div class="viewcode-block" id="SensorBase.reset"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets the sensor internals.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The sensor ids to reset. Defaults to None.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># Resolve sensor ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># Reset the timestamp for the sensors</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp_last_update</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="c1"># Set all reset sensors to outdated so that they are updated when data is called the next time.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_outdated</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="kc">True</span></div>
+
+    <span class="k">def</span> <span class="nf">update</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">force_recompute</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">):</span>
+        <span class="c1"># Update the timestamp for the sensors</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp</span> <span class="o">+=</span> <span class="n">dt</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_outdated</span> <span class="o">|=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp_last_update</span> <span class="o">+</span> <span class="mf">1e-6</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">update_period</span>
+        <span class="c1"># Update the buffers</span>
+        <span class="c1"># TODO (from @mayank): Why is there a history length here when it doesn&#39;t mean anything in the sensor base?!?</span>
+        <span class="c1">#   It is only for the contact sensor but there we should redefine the update function IMO.</span>
+        <span class="k">if</span> <span class="n">force_recompute</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_visualizing</span> <span class="ow">or</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">history_length</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation specific.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_initialize_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the sensor-related handles and internal buffers.&quot;&quot;&quot;</span>
+        <span class="c1"># Obtain Simulation Context</span>
+        <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span>
+        <span class="k">if</span> <span class="n">sim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;Simulation Context is not initialized!&quot;</span><span class="p">)</span>
+        <span class="c1"># Obtain device and backend</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_device</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">device</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_backend</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">backend</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_physics_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+        <span class="c1"># Count number of environments</span>
+        <span class="n">env_prim_path_expr</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="o">.</span><span class="n">rsplit</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">,</span> <span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_parent_prims</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_matching_prims</span><span class="p">(</span><span class="n">env_prim_path_expr</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_parent_prims</span><span class="p">)</span>
+        <span class="c1"># Boolean tensor indicating whether the sensor data has to be refreshed</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_outdated</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">ones</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">bool</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># Current timestamp (in seconds)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># Timestamp from last update</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp_last_update</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_timestamp</span><span class="p">)</span>
+
+    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_update_buffers_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Fills the sensor data for provided environment ids.</span>
+
+<span class="sd">        This function does not perform any time-based checks and directly fills the data into the</span>
+<span class="sd">        data container.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The indices of the sensors that are ready to capture.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span>
+
+    <span class="k">def</span> <span class="nf">_set_debug_vis_impl</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set debug visualization into visualization objects.</span>
+
+<span class="sd">        This function is responsible for creating the visualization objects if they don&#39;t exist</span>
+<span class="sd">        and input ``debug_vis`` is True. If the visualization objects exist, the function should</span>
+<span class="sd">        set their visibility into the stage.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Debug visualization is not implemented for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_debug_vis_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Callback for debug visualization.</span>
+
+<span class="sd">        This function calls the visualization objects and sets the data to visualize into them.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Debug visualization is not implemented for </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal simulation callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the scene elements.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            PhysX handles are only enabled once the simulator starts playing. Hence, this function needs to be</span>
+<span class="sd">            called whenever the simulator &quot;plays&quot; from a &quot;stop&quot; state.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_initialize_impl</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span> <span class="o">=</span> <span class="kc">True</span>
+
+    <span class="k">def</span> <span class="nf">_invalidate_initialize_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Invalidates the scene elements.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_initialized</span> <span class="o">=</span> <span class="kc">False</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_update_outdated_buffers</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Fills the sensor data for the outdated sensors.&quot;&quot;&quot;</span>
+        <span class="n">outdated_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_outdated</span><span class="o">.</span><span class="n">nonzero</span><span class="p">()</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">outdated_env_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># obtain new data</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_update_buffers_impl</span><span class="p">(</span><span class="n">outdated_env_ids</span><span class="p">)</span>
+            <span class="c1"># update the timestamp from last update</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp_last_update</span><span class="p">[</span><span class="n">outdated_env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_timestamp</span><span class="p">[</span><span class="n">outdated_env_ids</span><span class="p">]</span>
+            <span class="c1"># set outdated flag to false for the updated sensors</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_is_outdated</span><span class="p">[</span><span class="n">outdated_env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="kc">False</span></div>
+</pre></div>
+
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new file mode 100644
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+  <h1>Source code for omni.isaac.lab.sensors.sensor_base_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.sensor_base</span> <span class="kn">import</span> <span class="n">SensorBase</span>
+
+
+<div class="viewcode-block" id="SensorBaseCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBaseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">SensorBaseCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a sensor.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">SensorBase</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The associated sensor class.</span>
+
+<span class="sd">    The class should inherit from :class:`omni.isaac.lab.sensors.sensor_base.SensorBase`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Prim path (or expression) to the sensor.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The expression can contain the environment namespace regex ``{ENV_REGEX_NS}`` which</span>
+<span class="sd">        will be replaced with the environment namespace.</span>
+
+<span class="sd">        Example: ``{ENV_REGEX_NS}/Robot/sensor`` will be replaced with ``/World/envs/env_.*/Robot/sensor``.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">update_period</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step).&quot;&quot;&quot;</span>
+
+    <span class="n">history_length</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of past frames to store in the sensor buffers. Defaults to 0, which means that only</span>
+<span class="sd">    the current data is stored (no history).&quot;&quot;&quot;</span>
+
+    <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to visualize the sensor. Defaults to False.&quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+  <h1>Source code for omni.isaac.lab.sim.converters.asset_converter_base</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">abc</span>
+<span class="kn">import</span> <span class="nn">hashlib</span>
+<span class="kn">import</span> <span class="nn">json</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">pathlib</span>
+<span class="kn">import</span> <span class="nn">random</span>
+<span class="kn">from</span> <span class="nn">datetime</span> <span class="kn">import</span> <span class="n">datetime</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.converters.asset_converter_base_cfg</span> <span class="kn">import</span> <span class="n">AssetConverterBaseCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">check_file_path</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.io</span> <span class="kn">import</span> <span class="n">dump_yaml</span>
+
+
+<div class="viewcode-block" id="AssetConverterBase"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBase">[docs]</a><span class="k">class</span> <span class="nc">AssetConverterBase</span><span class="p">(</span><span class="n">abc</span><span class="o">.</span><span class="n">ABC</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base class for converting an asset file from different formats into USD format.</span>
+
+<span class="sd">    This class provides a common interface for converting an asset file into USD. It does not</span>
+<span class="sd">    provide any implementation for the conversion. The derived classes must implement the</span>
+<span class="sd">    :meth:`_convert_asset` method to provide the actual conversion.</span>
+
+<span class="sd">    The file conversion is lazy if the output directory (:obj:`AssetConverterBaseCfg.usd_dir`) is provided.</span>
+<span class="sd">    In the lazy conversion, the USD file is re-generated only if:</span>
+
+<span class="sd">    * The asset file is modified.</span>
+<span class="sd">    * The configuration parameters are modified.</span>
+<span class="sd">    * The USD file does not exist.</span>
+
+<span class="sd">    To override this behavior to force conversion, the flag :obj:`AssetConverterBaseCfg.force_usd_conversion`</span>
+<span class="sd">    can be set to True.</span>
+
+<span class="sd">    When no output directory is defined, lazy conversion is deactivated and the generated USD file is</span>
+<span class="sd">    stored in folder ``/tmp/IsaacLab/usd_{date}_{time}_{random}``, where the parameters in braces are generated</span>
+<span class="sd">    at runtime. The random identifiers help avoid a race condition where two simultaneously triggered conversions</span>
+<span class="sd">    try to use the same directory for reading/writing the generated files.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        Changes to the parameters :obj:`AssetConverterBaseCfg.asset_path`, :obj:`AssetConverterBaseCfg.usd_dir`, and</span>
+<span class="sd">        :obj:`AssetConverterBaseCfg.usd_file_name` are not considered as modifications in the configuration instance that</span>
+<span class="sd">        trigger USD file re-generation.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="AssetConverterBase.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBase.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">AssetConverterBaseCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the class.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration instance for converting an asset file to USD format.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: When provided asset file does not exist.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that the config is valid</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">validate</span><span class="p">()</span>
+        <span class="c1"># check if the asset file exists</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">check_file_path</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_path</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The asset path does not exist: </span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="c1"># save the inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+
+        <span class="c1"># resolve USD directory name</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">usd_dir</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># a folder in &quot;/tmp/IsaacLab&quot; by the name: usd_{date}_{time}_{random}</span>
+            <span class="n">time_tag</span> <span class="o">=</span> <span class="n">datetime</span><span class="o">.</span><span class="n">now</span><span class="p">()</span><span class="o">.</span><span class="n">strftime</span><span class="p">(</span><span class="s2">&quot;%Y%m</span><span class="si">%d</span><span class="s2">_%H%M%S&quot;</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_usd_dir</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;/tmp/IsaacLab/usd_</span><span class="si">{</span><span class="n">time_tag</span><span class="si">}</span><span class="s2">_</span><span class="si">{</span><span class="n">random</span><span class="o">.</span><span class="n">randrange</span><span class="p">(</span><span class="mi">10000</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_usd_dir</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">usd_dir</span>
+
+        <span class="c1"># resolve the file name from asset file name if not provided</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">usd_file_name</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">usd_file_name</span> <span class="o">=</span> <span class="n">pathlib</span><span class="o">.</span><span class="n">PurePath</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_path</span><span class="p">)</span><span class="o">.</span><span class="n">stem</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">usd_file_name</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">usd_file_name</span>
+        <span class="c1"># add USD extension if not provided</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="p">(</span><span class="n">usd_file_name</span><span class="o">.</span><span class="n">endswith</span><span class="p">(</span><span class="s2">&quot;.usd&quot;</span><span class="p">)</span> <span class="ow">or</span> <span class="n">usd_file_name</span><span class="o">.</span><span class="n">endswith</span><span class="p">(</span><span class="s2">&quot;.usda&quot;</span><span class="p">)):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_usd_file_name</span> <span class="o">=</span> <span class="n">usd_file_name</span> <span class="o">+</span> <span class="s2">&quot;.usd&quot;</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_usd_file_name</span> <span class="o">=</span> <span class="n">usd_file_name</span>
+
+        <span class="c1"># create the USD directory</span>
+        <span class="n">os</span><span class="o">.</span><span class="n">makedirs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_dir</span><span class="p">,</span> <span class="n">exist_ok</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+        <span class="c1"># check if usd files exist</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_usd_file_exists</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">isfile</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_path</span><span class="p">)</span>
+        <span class="c1"># path to read/write asset hash file</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_dest_hash_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_dir</span><span class="p">,</span> <span class="s2">&quot;.asset_hash&quot;</span><span class="p">)</span>
+        <span class="c1"># create asset hash to check if the asset has changed</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_asset_hash</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_config_to_hash</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># read the saved hash</span>
+        <span class="k">try</span><span class="p">:</span>
+            <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_dest_hash_path</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+                <span class="n">existing_asset_hash</span> <span class="o">=</span> <span class="n">f</span><span class="o">.</span><span class="n">readline</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_is_same_asset</span> <span class="o">=</span> <span class="n">existing_asset_hash</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">_asset_hash</span>
+        <span class="k">except</span> <span class="ne">FileNotFoundError</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_is_same_asset</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># convert the asset to USD if the hash is different or USD file does not exist</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">force_usd_conversion</span> <span class="ow">or</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_usd_file_exists</span> <span class="ow">or</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_same_asset</span><span class="p">:</span>
+            <span class="c1"># write the updated hash</span>
+            <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_dest_hash_path</span><span class="p">,</span> <span class="s2">&quot;w&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+                <span class="n">f</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_asset_hash</span><span class="p">)</span>
+            <span class="c1"># convert the asset to USD</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_convert_asset</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+            <span class="c1"># dump the configuration to a file</span>
+            <span class="n">dump_yaml</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_dir</span><span class="p">,</span> <span class="s2">&quot;config.yaml&quot;</span><span class="p">),</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">())</span>
+            <span class="c1"># add comment to top of the saved config file with information about the converter</span>
+            <span class="n">current_date</span> <span class="o">=</span> <span class="n">datetime</span><span class="o">.</span><span class="n">now</span><span class="p">()</span><span class="o">.</span><span class="n">strftime</span><span class="p">(</span><span class="s2">&quot;%Y-%m-</span><span class="si">%d</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="n">current_time</span> <span class="o">=</span> <span class="n">datetime</span><span class="o">.</span><span class="n">now</span><span class="p">()</span><span class="o">.</span><span class="n">strftime</span><span class="p">(</span><span class="s2">&quot;%H:%M:%S&quot;</span><span class="p">)</span>
+            <span class="n">generation_comment</span> <span class="o">=</span> <span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;##</span><span class="se">\n</span><span class="s2"># Generated by </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2"> on </span><span class="si">{</span><span class="n">current_date</span><span class="si">}</span><span class="s2"> at </span><span class="si">{</span><span class="n">current_time</span><span class="si">}</span><span class="s2">.</span><span class="se">\n</span><span class="s2">##</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+            <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_dir</span><span class="p">,</span> <span class="s2">&quot;config.yaml&quot;</span><span class="p">),</span> <span class="s2">&quot;a&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+                <span class="n">f</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="n">generation_comment</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">usd_dir</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The absolute path to the directory where the generated USD files are stored.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_usd_dir</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">usd_file_name</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The file name of the generated USD file.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_usd_file_name</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">usd_path</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The absolute path to the generated USD file.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_dir</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">usd_file_name</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">usd_instanceable_meshes_path</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The relative path to the USD file with meshes.</span>
+
+<span class="sd">        The path is with respect to the USD directory :attr:`usd_dir`. This is to ensure that the</span>
+<span class="sd">        mesh references in the generated USD file are resolved relatively. Otherwise, it becomes</span>
+<span class="sd">        difficult to move the USD asset to a different location.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="s2">&quot;.&quot;</span><span class="p">,</span> <span class="s2">&quot;Props&quot;</span><span class="p">,</span> <span class="s2">&quot;instanceable_meshes.usd&quot;</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation specifics.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@abc</span><span class="o">.</span><span class="n">abstractmethod</span>
+    <span class="k">def</span> <span class="nf">_convert_asset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">AssetConverterBaseCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Converts the asset file to USD.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration instance for the input asset to USD conversion.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">()</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Private helpers.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@staticmethod</span>
+    <span class="k">def</span> <span class="nf">_config_to_hash</span><span class="p">(</span><span class="n">cfg</span><span class="p">:</span> <span class="n">AssetConverterBaseCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Converts the configuration object and asset file to an MD5 hash of a string.</span>
+
+<span class="sd">        .. warning::</span>
+<span class="sd">            It only checks the main asset file (:attr:`cfg.asset_path`).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            config : The asset converter configuration object.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            An MD5 hash of a string.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="c1"># convert to dict and remove path related info</span>
+        <span class="n">config_dic</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+        <span class="n">_</span> <span class="o">=</span> <span class="n">config_dic</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;asset_path&quot;</span><span class="p">)</span>
+        <span class="n">_</span> <span class="o">=</span> <span class="n">config_dic</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;usd_dir&quot;</span><span class="p">)</span>
+        <span class="n">_</span> <span class="o">=</span> <span class="n">config_dic</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;usd_file_name&quot;</span><span class="p">)</span>
+        <span class="c1"># convert config dic to bytes</span>
+        <span class="n">config_bytes</span> <span class="o">=</span> <span class="n">json</span><span class="o">.</span><span class="n">dumps</span><span class="p">(</span><span class="n">config_dic</span><span class="p">)</span><span class="o">.</span><span class="n">encode</span><span class="p">()</span>
+        <span class="c1"># hash config</span>
+        <span class="n">md5</span> <span class="o">=</span> <span class="n">hashlib</span><span class="o">.</span><span class="n">md5</span><span class="p">()</span>
+        <span class="n">md5</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">config_bytes</span><span class="p">)</span>
+
+        <span class="c1"># read the asset file to observe changes</span>
+        <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_path</span><span class="p">,</span> <span class="s2">&quot;rb&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+            <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
+                <span class="c1"># read 64kb chunks to avoid memory issues for the large files!</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="n">f</span><span class="o">.</span><span class="n">read</span><span class="p">(</span><span class="mi">65536</span><span class="p">)</span>
+                <span class="k">if</span> <span class="ow">not</span> <span class="n">data</span><span class="p">:</span>
+                    <span class="k">break</span>
+                <span class="n">md5</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">data</span><span class="p">)</span>
+        <span class="c1"># return the hash</span>
+        <span class="k">return</span> <span class="n">md5</span><span class="o">.</span><span class="n">hexdigest</span><span class="p">()</span></div>
+</pre></div>
+
+                </article>
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new file mode 100644
index 0000000000..ac41802135
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+  <h1>Source code for omni.isaac.lab.sim.converters.asset_converter_base_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+
+<div class="viewcode-block" id="AssetConverterBaseCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBaseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">AssetConverterBaseCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The base configuration class for asset converters.&quot;&quot;&quot;</span>
+
+    <span class="n">asset_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The absolute path to the asset file to convert into USD.&quot;&quot;&quot;</span>
+
+    <span class="n">usd_dir</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The output directory path to store the generated USD file. Defaults to None.</span>
+
+<span class="sd">    If None, it is resolved as ``/tmp/IsaacLab/usd_{date}_{time}_{random}``, where</span>
+<span class="sd">    the parameters in braces are runtime generated.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">usd_file_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The name of the generated usd file. Defaults to None.</span>
+
+<span class="sd">    If None, it is resolved from the asset file name. For example, if the asset file</span>
+<span class="sd">    name is ``&quot;my_asset.urdf&quot;``, then the generated USD file name is ``&quot;my_asset.usd&quot;``.</span>
+
+<span class="sd">    If the providing file name does not end with &quot;.usd&quot; or &quot;.usda&quot;, then the extension</span>
+<span class="sd">    &quot;.usd&quot; is appended to the file name.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">force_usd_conversion</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Force the conversion of the asset file to usd. Defaults to False.</span>
+
+<span class="sd">    If True, then the USD file is always generated. It will overwrite the existing USD file if it exists.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">make_instanceable</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Make the generated USD file instanceable. Defaults to True.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        Instancing helps reduce the memory footprint of the asset when multiple copies of the asset are</span>
+<span class="sd">        used in the scene. For more information, please check the USD documentation on</span>
+<span class="sd">        `scene-graph instancing &lt;https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html&gt;`_.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
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+  <h1>Source code for omni.isaac.lab.sim.converters.mesh_converter</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">asyncio</span>
+<span class="kn">import</span> <span class="nn">os</span>
+
+<span class="kn">import</span> <span class="nn">omni</span>
+<span class="kn">import</span> <span class="nn">omni.kit.commands</span>
+<span class="kn">import</span> <span class="nn">omni.usd</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.core.utils.extensions</span> <span class="kn">import</span> <span class="n">enable_extension</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Gf</span><span class="p">,</span> <span class="n">Tf</span><span class="p">,</span> <span class="n">Usd</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="p">,</span> <span class="n">UsdPhysics</span><span class="p">,</span> <span class="n">UsdUtils</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.converters.asset_converter_base</span> <span class="kn">import</span> <span class="n">AssetConverterBase</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.converters.mesh_converter_cfg</span> <span class="kn">import</span> <span class="n">MeshConverterCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.schemas</span> <span class="kn">import</span> <span class="n">schemas</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.utils</span> <span class="kn">import</span> <span class="n">export_prim_to_file</span>
+
+
+<div class="viewcode-block" id="MeshConverter"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter">[docs]</a><span class="k">class</span> <span class="nc">MeshConverter</span><span class="p">(</span><span class="n">AssetConverterBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Converter for a mesh file in OBJ / STL / FBX format to a USD file.</span>
+
+<span class="sd">    This class wraps around the `omni.kit.asset_converter`_ extension to provide a lazy implementation</span>
+<span class="sd">    for mesh to USD conversion. It stores the output USD file in an instanceable format since that is</span>
+<span class="sd">    what is typically used in all learning related applications.</span>
+
+<span class="sd">    To make the asset instanceable, we must follow a certain structure dictated by how USD scene-graph</span>
+<span class="sd">    instancing and physics work. The rigid body component must be added to each instance and not the</span>
+<span class="sd">    referenced asset (i.e. the prototype prim itself). This is because the rigid body component defines</span>
+<span class="sd">    properties that are specific to each instance and cannot be shared under the referenced asset. For</span>
+<span class="sd">    more information, please check the `documentation &lt;https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#instancing-rigid-bodies&gt;`_.</span>
+
+<span class="sd">    Due to the above, we follow the following structure:</span>
+
+<span class="sd">    * ``{prim_path}`` - The root prim that is an Xform with the rigid body and mass APIs if configured.</span>
+<span class="sd">    * ``{prim_path}/geometry`` - The prim that contains the mesh and optionally the materials if configured.</span>
+<span class="sd">      If instancing is enabled, this prim will be an instanceable reference to the prototype prim.</span>
+
+<span class="sd">    .. _omni.kit.asset_converter: https://docs.omniverse.nvidia.com/extensions/latest/ext_asset-converter.html</span>
+
+<span class="sd">    .. caution::</span>
+<span class="sd">        When converting STL files, Z-up convention is assumed, even though this is not the default for many CAD</span>
+<span class="sd">        export programs. Asset orientation convention can either be modified directly in the CAD program&#39;s export</span>
+<span class="sd">        process or an offset can be added within the config in Isaac Lab.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">MeshConverterCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration instance for mesh to USD conversion.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="MeshConverter.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">MeshConverterCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the class.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration instance for mesh to USD conversion.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation specific methods.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_convert_asset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">MeshConverterCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Generate USD from OBJ, STL or FBX.</span>
+
+<span class="sd">        The USD file has Y-up axis and is scaled to meters.</span>
+<span class="sd">        The asset hierarchy is arranged as follows:</span>
+
+<span class="sd">        .. code-block:: none</span>
+<span class="sd">            mesh_file_basename (default prim)</span>
+<span class="sd">                |- /geometry/Looks</span>
+<span class="sd">                |- /geometry/mesh</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration for conversion of mesh to USD.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If the conversion using the Omniverse asset converter fails.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve mesh name and format</span>
+        <span class="n">mesh_file_basename</span><span class="p">,</span> <span class="n">mesh_file_format</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">basename</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_path</span><span class="p">)</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;.&quot;</span><span class="p">)</span>
+        <span class="n">mesh_file_format</span> <span class="o">=</span> <span class="n">mesh_file_format</span><span class="o">.</span><span class="n">lower</span><span class="p">()</span>
+
+        <span class="c1"># Check if mesh_file_basename is a valid USD identifier</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">Tf</span><span class="o">.</span><span class="n">IsValidIdentifier</span><span class="p">(</span><span class="n">mesh_file_basename</span><span class="p">):</span>
+            <span class="c1"># Correct the name to a valid identifier and update the basename</span>
+            <span class="n">mesh_file_basename_original</span> <span class="o">=</span> <span class="n">mesh_file_basename</span>
+            <span class="n">mesh_file_basename</span> <span class="o">=</span> <span class="n">Tf</span><span class="o">.</span><span class="n">MakeValidIdentifier</span><span class="p">(</span><span class="n">mesh_file_basename</span><span class="p">)</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Input file name &#39;</span><span class="si">{</span><span class="n">mesh_file_basename_original</span><span class="si">}</span><span class="s2">&#39; is an invalid identifier for the mesh prim path.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; Renaming it to &#39;</span><span class="si">{</span><span class="n">mesh_file_basename</span><span class="si">}</span><span class="s2">&#39; for the conversion.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># Convert USD</span>
+        <span class="n">asyncio</span><span class="o">.</span><span class="n">get_event_loop</span><span class="p">()</span><span class="o">.</span><span class="n">run_until_complete</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_convert_mesh_to_usd</span><span class="p">(</span><span class="n">in_file</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_path</span><span class="p">,</span> <span class="n">out_file</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_path</span><span class="p">)</span>
+        <span class="p">)</span>
+        <span class="c1"># Create a new stage, set Z up and meters per unit</span>
+        <span class="n">temp_stage</span> <span class="o">=</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span><span class="o">.</span><span class="n">CreateInMemory</span><span class="p">()</span>
+        <span class="n">UsdGeom</span><span class="o">.</span><span class="n">SetStageUpAxis</span><span class="p">(</span><span class="n">temp_stage</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Tokens</span><span class="o">.</span><span class="n">z</span><span class="p">)</span>
+        <span class="n">UsdGeom</span><span class="o">.</span><span class="n">SetStageMetersPerUnit</span><span class="p">(</span><span class="n">temp_stage</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+        <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">SetStageKilogramsPerUnit</span><span class="p">(</span><span class="n">temp_stage</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+        <span class="c1"># Add mesh to stage</span>
+        <span class="n">base_prim</span> <span class="o">=</span> <span class="n">temp_stage</span><span class="o">.</span><span class="n">DefinePrim</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;/</span><span class="si">{</span><span class="n">mesh_file_basename</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+        <span class="n">prim</span> <span class="o">=</span> <span class="n">temp_stage</span><span class="o">.</span><span class="n">DefinePrim</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;/</span><span class="si">{</span><span class="n">mesh_file_basename</span><span class="si">}</span><span class="s2">/geometry&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+        <span class="n">prim</span><span class="o">.</span><span class="n">GetReferences</span><span class="p">()</span><span class="o">.</span><span class="n">AddReference</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_path</span><span class="p">)</span>
+        <span class="n">temp_stage</span><span class="o">.</span><span class="n">SetDefaultPrim</span><span class="p">(</span><span class="n">base_prim</span><span class="p">)</span>
+        <span class="n">temp_stage</span><span class="o">.</span><span class="n">Export</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_path</span><span class="p">)</span>
+
+        <span class="c1"># Open converted USD stage</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span><span class="o">.</span><span class="n">Open</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_path</span><span class="p">)</span>
+        <span class="c1"># Need to reload the stage to get the new prim structure, otherwise it can be taken from the cache</span>
+        <span class="n">stage</span><span class="o">.</span><span class="n">Reload</span><span class="p">()</span>
+        <span class="c1"># Add USD to stage cache</span>
+        <span class="n">stage_id</span> <span class="o">=</span> <span class="n">UsdUtils</span><span class="o">.</span><span class="n">StageCache</span><span class="o">.</span><span class="n">Get</span><span class="p">()</span><span class="o">.</span><span class="n">Insert</span><span class="p">(</span><span class="n">stage</span><span class="p">)</span>
+        <span class="c1"># Get the default prim (which is the root prim) -- &quot;/{mesh_file_basename}&quot;</span>
+        <span class="n">xform_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetDefaultPrim</span><span class="p">()</span>
+        <span class="n">geom_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;/</span><span class="si">{</span><span class="n">mesh_file_basename</span><span class="si">}</span><span class="s2">/geometry&quot;</span><span class="p">)</span>
+        <span class="c1"># Move all meshes to underneath new Xform</span>
+        <span class="k">for</span> <span class="n">child_mesh_prim</span> <span class="ow">in</span> <span class="n">geom_prim</span><span class="o">.</span><span class="n">GetChildren</span><span class="p">():</span>
+            <span class="k">if</span> <span class="n">child_mesh_prim</span><span class="o">.</span><span class="n">GetTypeName</span><span class="p">()</span> <span class="o">==</span> <span class="s2">&quot;Mesh&quot;</span><span class="p">:</span>
+                <span class="c1"># Apply collider properties to mesh</span>
+                <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">collision_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="c1"># -- Collision approximation to mesh</span>
+                    <span class="c1"># TODO: Move this to a new Schema: https://github.com/isaac-orbit/IsaacLab/issues/163</span>
+                    <span class="n">mesh_collision_api</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">MeshCollisionAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">child_mesh_prim</span><span class="p">)</span>
+                    <span class="n">mesh_collision_api</span><span class="o">.</span><span class="n">GetApproximationAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">collision_approximation</span><span class="p">)</span>
+                    <span class="c1"># -- Collider properties such as offset, scale, etc.</span>
+                    <span class="n">schemas</span><span class="o">.</span><span class="n">define_collision_properties</span><span class="p">(</span>
+                        <span class="n">prim_path</span><span class="o">=</span><span class="n">child_mesh_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">(),</span> <span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">collision_props</span><span class="p">,</span> <span class="n">stage</span><span class="o">=</span><span class="n">stage</span>
+                    <span class="p">)</span>
+        <span class="c1"># Delete the old Xform and make the new Xform the default prim</span>
+        <span class="n">stage</span><span class="o">.</span><span class="n">SetDefaultPrim</span><span class="p">(</span><span class="n">xform_prim</span><span class="p">)</span>
+        <span class="c1"># Apply default Xform rotation to mesh -&gt; enable to set rotation and scale</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span>
+            <span class="s2">&quot;CreateDefaultXformOnPrimCommand&quot;</span><span class="p">,</span>
+            <span class="n">prim_path</span><span class="o">=</span><span class="n">xform_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">(),</span>
+            <span class="o">**</span><span class="p">{</span><span class="s2">&quot;stage&quot;</span><span class="p">:</span> <span class="n">stage</span><span class="p">},</span>
+        <span class="p">)</span>
+
+        <span class="c1"># Apply translation, rotation, and scale to the Xform</span>
+        <span class="n">geom_xform</span> <span class="o">=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Xform</span><span class="p">(</span><span class="n">geom_prim</span><span class="p">)</span>
+        <span class="n">geom_xform</span><span class="o">.</span><span class="n">ClearXformOpOrder</span><span class="p">()</span>
+
+        <span class="c1"># Remove any existing rotation attributes</span>
+        <span class="n">rotate_attr</span> <span class="o">=</span> <span class="n">geom_prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="s2">&quot;xformOp:rotateXYZ&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">rotate_attr</span><span class="p">:</span>
+            <span class="n">geom_prim</span><span class="o">.</span><span class="n">RemoveProperty</span><span class="p">(</span><span class="n">rotate_attr</span><span class="o">.</span><span class="n">GetName</span><span class="p">())</span>
+
+        <span class="c1"># translation</span>
+        <span class="n">translate_op</span> <span class="o">=</span> <span class="n">geom_xform</span><span class="o">.</span><span class="n">AddTranslateOp</span><span class="p">(</span><span class="n">UsdGeom</span><span class="o">.</span><span class="n">XformOp</span><span class="o">.</span><span class="n">PrecisionDouble</span><span class="p">)</span>
+        <span class="n">translate_op</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">Gf</span><span class="o">.</span><span class="n">Vec3d</span><span class="p">(</span><span class="o">*</span><span class="n">cfg</span><span class="o">.</span><span class="n">translation</span><span class="p">))</span>
+        <span class="c1"># rotation</span>
+        <span class="n">orient_op</span> <span class="o">=</span> <span class="n">geom_xform</span><span class="o">.</span><span class="n">AddOrientOp</span><span class="p">(</span><span class="n">UsdGeom</span><span class="o">.</span><span class="n">XformOp</span><span class="o">.</span><span class="n">PrecisionDouble</span><span class="p">)</span>
+        <span class="n">orient_op</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">Gf</span><span class="o">.</span><span class="n">Quatd</span><span class="p">(</span><span class="o">*</span><span class="n">cfg</span><span class="o">.</span><span class="n">rotation</span><span class="p">))</span>
+        <span class="c1"># scale</span>
+        <span class="n">scale_op</span> <span class="o">=</span> <span class="n">geom_xform</span><span class="o">.</span><span class="n">AddScaleOp</span><span class="p">(</span><span class="n">UsdGeom</span><span class="o">.</span><span class="n">XformOp</span><span class="o">.</span><span class="n">PrecisionDouble</span><span class="p">)</span>
+        <span class="n">scale_op</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">Gf</span><span class="o">.</span><span class="n">Vec3d</span><span class="p">(</span><span class="o">*</span><span class="n">cfg</span><span class="o">.</span><span class="n">scale</span><span class="p">))</span>
+
+        <span class="c1"># Handle instanceable</span>
+        <span class="c1"># Create a new Xform prim that will be the prototype prim</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">make_instanceable</span><span class="p">:</span>
+            <span class="c1"># Export Xform to a file so we can reference it from all instances</span>
+            <span class="n">export_prim_to_file</span><span class="p">(</span>
+                <span class="n">path</span><span class="o">=</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_dir</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">usd_instanceable_meshes_path</span><span class="p">),</span>
+                <span class="n">source_prim_path</span><span class="o">=</span><span class="n">geom_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">(),</span>
+                <span class="n">stage</span><span class="o">=</span><span class="n">stage</span><span class="p">,</span>
+            <span class="p">)</span>
+            <span class="c1"># Delete the original prim that will now be a reference</span>
+            <span class="n">geom_prim_path</span> <span class="o">=</span> <span class="n">geom_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span><span class="s2">&quot;DeletePrims&quot;</span><span class="p">,</span> <span class="n">paths</span><span class="o">=</span><span class="p">[</span><span class="n">geom_prim_path</span><span class="p">],</span> <span class="n">stage</span><span class="o">=</span><span class="n">stage</span><span class="p">)</span>
+            <span class="c1"># Update references to exported Xform and make it instanceable</span>
+            <span class="n">geom_undef_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">DefinePrim</span><span class="p">(</span><span class="n">geom_prim_path</span><span class="p">)</span>
+            <span class="n">geom_undef_prim</span><span class="o">.</span><span class="n">GetReferences</span><span class="p">()</span><span class="o">.</span><span class="n">AddReference</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_instanceable_meshes_path</span><span class="p">,</span> <span class="n">primPath</span><span class="o">=</span><span class="n">geom_prim_path</span><span class="p">)</span>
+            <span class="n">geom_undef_prim</span><span class="o">.</span><span class="n">SetInstanceable</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
+
+        <span class="c1"># Apply mass and rigid body properties after everything else</span>
+        <span class="c1"># Properties are applied to the top level prim to avoid the case where all instances of this</span>
+        <span class="c1">#   asset unintentionally share the same rigid body properties</span>
+        <span class="c1"># apply mass properties</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mass_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">schemas</span><span class="o">.</span><span class="n">define_mass_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="n">xform_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">(),</span> <span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">mass_props</span><span class="p">,</span> <span class="n">stage</span><span class="o">=</span><span class="n">stage</span><span class="p">)</span>
+        <span class="c1"># apply rigid body properties</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rigid_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">schemas</span><span class="o">.</span><span class="n">define_rigid_body_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="n">xform_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">(),</span> <span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">rigid_props</span><span class="p">,</span> <span class="n">stage</span><span class="o">=</span><span class="n">stage</span><span class="p">)</span>
+
+        <span class="c1"># Save changes to USD stage</span>
+        <span class="n">stage</span><span class="o">.</span><span class="n">Save</span><span class="p">()</span>
+        <span class="k">if</span> <span class="n">stage_id</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">UsdUtils</span><span class="o">.</span><span class="n">StageCache</span><span class="o">.</span><span class="n">Get</span><span class="p">()</span><span class="o">.</span><span class="n">Erase</span><span class="p">(</span><span class="n">stage_id</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper methods.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@staticmethod</span>
+    <span class="k">async</span> <span class="k">def</span> <span class="nf">_convert_mesh_to_usd</span><span class="p">(</span><span class="n">in_file</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">out_file</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">load_materials</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Convert mesh from supported file types to USD.</span>
+
+<span class="sd">        This function uses the Omniverse Asset Converter extension to convert a mesh file to USD.</span>
+<span class="sd">        It is an asynchronous function and should be called using `asyncio.get_event_loop().run_until_complete()`.</span>
+
+<span class="sd">        The converted asset is stored in the USD format in the specified output file.</span>
+<span class="sd">        The USD file has Y-up axis and is scaled to cm.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            in_file: The file to convert.</span>
+<span class="sd">            out_file: The path to store the output file.</span>
+<span class="sd">            load_materials: Set to True to enable attaching materials defined in the input file</span>
+<span class="sd">                to the generated USD mesh. Defaults to True.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            True if the conversion succeeds.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">enable_extension</span><span class="p">(</span><span class="s2">&quot;omni.kit.asset_converter&quot;</span><span class="p">)</span>
+
+        <span class="kn">import</span> <span class="nn">omni.kit.asset_converter</span>
+        <span class="kn">import</span> <span class="nn">omni.usd</span>
+
+        <span class="c1"># Create converter context</span>
+        <span class="n">converter_context</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">asset_converter</span><span class="o">.</span><span class="n">AssetConverterContext</span><span class="p">()</span>
+        <span class="c1"># Set up converter settings</span>
+        <span class="c1"># Don&#39;t import/export materials</span>
+        <span class="n">converter_context</span><span class="o">.</span><span class="n">ignore_materials</span> <span class="o">=</span> <span class="ow">not</span> <span class="n">load_materials</span>
+        <span class="n">converter_context</span><span class="o">.</span><span class="n">ignore_animations</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="n">converter_context</span><span class="o">.</span><span class="n">ignore_camera</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="n">converter_context</span><span class="o">.</span><span class="n">ignore_light</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="c1"># Merge all meshes into one</span>
+        <span class="n">converter_context</span><span class="o">.</span><span class="n">merge_all_meshes</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="c1"># Sets world units to meters, this will also scale asset if it&#39;s centimeters model.</span>
+        <span class="c1"># This does not work right now :(, so we need to scale the mesh manually</span>
+        <span class="n">converter_context</span><span class="o">.</span><span class="n">use_meter_as_world_unit</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="n">converter_context</span><span class="o">.</span><span class="n">baking_scales</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="c1"># Uses double precision for all transform ops.</span>
+        <span class="n">converter_context</span><span class="o">.</span><span class="n">use_double_precision_to_usd_transform_op</span> <span class="o">=</span> <span class="kc">True</span>
+
+        <span class="c1"># Create converter task</span>
+        <span class="n">instance</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">asset_converter</span><span class="o">.</span><span class="n">get_instance</span><span class="p">()</span>
+        <span class="n">task</span> <span class="o">=</span> <span class="n">instance</span><span class="o">.</span><span class="n">create_converter_task</span><span class="p">(</span><span class="n">in_file</span><span class="p">,</span> <span class="n">out_file</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="n">converter_context</span><span class="p">)</span>
+        <span class="c1"># Start conversion task and wait for it to finish</span>
+        <span class="n">success</span> <span class="o">=</span> <span class="k">await</span> <span class="n">task</span><span class="o">.</span><span class="n">wait_until_finished</span><span class="p">()</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">success</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Failed to convert </span><span class="si">{</span><span class="n">in_file</span><span class="si">}</span><span class="s2"> to USD. Error: </span><span class="si">{</span><span class="n">task</span><span class="o">.</span><span class="n">get_error_message</span><span class="p">()</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">success</span></div>
+</pre></div>
+
+                </article>
+              
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html
new file mode 100644
index 0000000000..206d6b360f
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html
@@ -0,0 +1,642 @@
+
+
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/changelog.html">Extensions Changelog</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/bibliography.html">Bibliography</a></li>
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+  <h1>Source code for omni.isaac.lab.sim.converters.mesh_converter_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.converters.asset_converter_base_cfg</span> <span class="kn">import</span> <span class="n">AssetConverterBaseCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.schemas</span> <span class="kn">import</span> <span class="n">schemas_cfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+
+<div class="viewcode-block" id="MeshConverterCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshConverterCfg</span><span class="p">(</span><span class="n">AssetConverterBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration class for MeshConverter.&quot;&quot;&quot;</span>
+
+    <span class="n">mass_props</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">MassPropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Mass properties to apply to the USD. Defaults to None.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If None, then no mass properties will be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">rigid_props</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Rigid body properties to apply to the USD. Defaults to None.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If None, then no rigid body properties will be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">collision_props</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Collision properties to apply to the USD. Defaults to None.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If None, then no collision properties will be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">collision_approximation</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;convexDecomposition&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Collision approximation method to use. Defaults to &quot;convexDecomposition&quot;.</span>
+
+<span class="sd">    Valid options are:</span>
+<span class="sd">    &quot;convexDecomposition&quot;, &quot;convexHull&quot;, &quot;boundingCube&quot;,</span>
+<span class="sd">    &quot;boundingSphere&quot;, &quot;meshSimplification&quot;, or &quot;none&quot;</span>
+
+<span class="sd">    &quot;none&quot; causes no collision mesh to be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The translation of the mesh to the origin. Defaults to (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+
+    <span class="n">rotation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The rotation of the mesh in quaternion format (w, x, y, z). Defaults to (1.0, 0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+
+    <span class="n">scale</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The scale of the mesh. Defaults to (1.0, 1.0, 1.0).&quot;&quot;&quot;</span></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html b/v1.4.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html
new file mode 100644
index 0000000000..0baf3bdb4f
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/converters/urdf_converter.html
@@ -0,0 +1,752 @@
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+                  
+  <h1>Source code for omni.isaac.lab.sim.converters.urdf_converter</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">os</span>
+
+<span class="kn">import</span> <span class="nn">omni.kit.commands</span>
+<span class="kn">import</span> <span class="nn">omni.usd</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.core.utils.extensions</span> <span class="kn">import</span> <span class="n">enable_extension</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.version</span> <span class="kn">import</span> <span class="n">get_version</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Usd</span>
+
+<span class="kn">from</span> <span class="nn">.asset_converter_base</span> <span class="kn">import</span> <span class="n">AssetConverterBase</span>
+<span class="kn">from</span> <span class="nn">.urdf_converter_cfg</span> <span class="kn">import</span> <span class="n">UrdfConverterCfg</span>
+
+<span class="n">_DRIVE_TYPE</span> <span class="o">=</span> <span class="p">{</span>
+    <span class="s2">&quot;none&quot;</span><span class="p">:</span> <span class="mi">0</span><span class="p">,</span>
+    <span class="s2">&quot;position&quot;</span><span class="p">:</span> <span class="mi">1</span><span class="p">,</span>
+    <span class="s2">&quot;velocity&quot;</span><span class="p">:</span> <span class="mi">2</span><span class="p">,</span>
+<span class="p">}</span>
+<span class="sd">&quot;&quot;&quot;Mapping from drive type name to URDF importer drive number.&quot;&quot;&quot;</span>
+
+<span class="n">_NORMALS_DIVISION</span> <span class="o">=</span> <span class="p">{</span>
+    <span class="s2">&quot;catmullClark&quot;</span><span class="p">:</span> <span class="mi">0</span><span class="p">,</span>
+    <span class="s2">&quot;loop&quot;</span><span class="p">:</span> <span class="mi">1</span><span class="p">,</span>
+    <span class="s2">&quot;bilinear&quot;</span><span class="p">:</span> <span class="mi">2</span><span class="p">,</span>
+    <span class="s2">&quot;none&quot;</span><span class="p">:</span> <span class="mi">3</span><span class="p">,</span>
+<span class="p">}</span>
+<span class="sd">&quot;&quot;&quot;Mapping from normals division name to urdf importer normals division number.&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="UrdfConverter"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter">[docs]</a><span class="k">class</span> <span class="nc">UrdfConverter</span><span class="p">(</span><span class="n">AssetConverterBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Converter for a URDF description file to a USD file.</span>
+
+<span class="sd">    This class wraps around the `omni.isaac.urdf_importer`_ extension to provide a lazy implementation</span>
+<span class="sd">    for URDF to USD conversion. It stores the output USD file in an instanceable format since that is</span>
+<span class="sd">    what is typically used in all learning related applications.</span>
+
+<span class="sd">    .. caution::</span>
+<span class="sd">        The current lazy conversion implementation does not automatically trigger USD generation if</span>
+<span class="sd">        only the mesh files used by the URDF are modified. To force generation, either set</span>
+<span class="sd">        :obj:`AssetConverterBaseCfg.force_usd_conversion` to True or delete the output directory.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        From Isaac Sim 2023.1 onwards, the extension name changed from ``omni.isaac.urdf`` to</span>
+<span class="sd">        ``omni.importer.urdf``. This converter class automatically detects the version of Isaac Sim</span>
+<span class="sd">        and uses the appropriate extension.</span>
+
+<span class="sd">        The new extension supports a custom XML tag``&quot;dont_collapse&quot;`` for joints. Setting this parameter</span>
+<span class="sd">        to true in the URDF joint tag prevents the child link from collapsing when the associated joint type</span>
+<span class="sd">        is &quot;fixed&quot;.</span>
+
+<span class="sd">    .. _omni.isaac.urdf_importer: https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_urdf.html</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">UrdfConverterCfg</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration instance for URDF to USD conversion.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="UrdfConverter.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">UrdfConverterCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the class.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration instance for URDF to USD conversion.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Implementation specific methods.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_convert_asset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">UrdfConverterCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Calls underlying Omniverse command to convert URDF to USD.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The URDF conversion configuration.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">import_config</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_urdf_import_config</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span>
+            <span class="s2">&quot;URDFParseAndImportFile&quot;</span><span class="p">,</span>
+            <span class="n">urdf_path</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">asset_path</span><span class="p">,</span>
+            <span class="n">import_config</span><span class="o">=</span><span class="n">import_config</span><span class="p">,</span>
+            <span class="n">dest_path</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_path</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="c1"># fix the issue that material paths are not relative</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">make_instanceable</span><span class="p">:</span>
+            <span class="n">instanced_usd_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_dir</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">usd_instanceable_meshes_path</span><span class="p">)</span>
+            <span class="n">stage</span> <span class="o">=</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span><span class="o">.</span><span class="n">Open</span><span class="p">(</span><span class="n">instanced_usd_path</span><span class="p">)</span>
+            <span class="c1"># resolve all paths relative to layer path</span>
+            <span class="n">source_layer</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetRootLayer</span><span class="p">()</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">resolve_paths</span><span class="p">(</span><span class="n">source_layer</span><span class="o">.</span><span class="n">identifier</span><span class="p">,</span> <span class="n">source_layer</span><span class="o">.</span><span class="n">identifier</span><span class="p">)</span>
+            <span class="n">stage</span><span class="o">.</span><span class="n">Save</span><span class="p">()</span>
+
+        <span class="c1"># fix the issue that material paths are not relative</span>
+        <span class="c1"># note: This issue seems to have popped up in Isaac Sim 2023.1.1</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span><span class="o">.</span><span class="n">Open</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_path</span><span class="p">)</span>
+        <span class="c1"># resolve all paths relative to layer path</span>
+        <span class="n">source_layer</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetRootLayer</span><span class="p">()</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">resolve_paths</span><span class="p">(</span><span class="n">source_layer</span><span class="o">.</span><span class="n">identifier</span><span class="p">,</span> <span class="n">source_layer</span><span class="o">.</span><span class="n">identifier</span><span class="p">)</span>
+        <span class="n">stage</span><span class="o">.</span><span class="n">Save</span><span class="p">()</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper methods.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_get_urdf_import_config</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">UrdfConverterCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">omni</span><span class="o">.</span><span class="n">importer</span><span class="o">.</span><span class="n">urdf</span><span class="o">.</span><span class="n">ImportConfig</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create and fill URDF ImportConfig with desired settings</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The URDF conversion configuration.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The constructed ``ImportConfig`` object containing the desired settings.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># Enable urdf extension</span>
+        <span class="n">enable_extension</span><span class="p">(</span><span class="s2">&quot;omni.importer.urdf&quot;</span><span class="p">)</span>
+
+        <span class="kn">from</span> <span class="nn">omni.importer.urdf</span> <span class="kn">import</span> <span class="n">_urdf</span> <span class="k">as</span> <span class="n">omni_urdf</span>
+
+        <span class="n">import_config</span> <span class="o">=</span> <span class="n">omni_urdf</span><span class="o">.</span><span class="n">ImportConfig</span><span class="p">()</span>
+
+        <span class="c1"># set the unit scaling factor, 1.0 means meters, 100.0 means cm</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_distance_scale</span><span class="p">(</span><span class="mf">1.0</span><span class="p">)</span>
+        <span class="c1"># set imported robot as default prim</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_make_default_prim</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
+        <span class="c1"># add a physics scene to the stage on import if none exists</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_create_physics_scene</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+
+        <span class="c1"># -- instancing settings</span>
+        <span class="c1"># meshes will be placed in a separate usd file</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_make_instanceable</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">make_instanceable</span><span class="p">)</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_instanceable_usd_path</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">usd_instanceable_meshes_path</span><span class="p">)</span>
+
+        <span class="c1"># -- asset settings</span>
+        <span class="c1"># default density used for links, use 0 to auto-compute</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_density</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">link_density</span><span class="p">)</span>
+        <span class="c1"># import inertia tensor from urdf, if it is not specified in urdf it will import as identity</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_import_inertia_tensor</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">import_inertia_tensor</span><span class="p">)</span>
+        <span class="c1"># decompose a convex mesh into smaller pieces for a closer fit</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_convex_decomp</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">convex_decompose_mesh</span><span class="p">)</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_subdivision_scheme</span><span class="p">(</span><span class="n">_NORMALS_DIVISION</span><span class="p">[</span><span class="s2">&quot;bilinear&quot;</span><span class="p">])</span>
+
+        <span class="c1"># -- physics settings</span>
+        <span class="c1"># create fix joint for base link</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_fix_base</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">fix_base</span><span class="p">)</span>
+        <span class="c1"># consolidating links that are connected by fixed joints</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_merge_fixed_joints</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">merge_fixed_joints</span><span class="p">)</span>
+        <span class="c1"># self collisions between links in the articulation</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_self_collision</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">self_collision</span><span class="p">)</span>
+
+        <span class="c1"># default drive type used for joints</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_default_drive_type</span><span class="p">(</span><span class="n">_DRIVE_TYPE</span><span class="p">[</span><span class="n">cfg</span><span class="o">.</span><span class="n">default_drive_type</span><span class="p">])</span>
+        <span class="c1"># default proportional gains</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_default_drive_strength</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">default_drive_stiffness</span><span class="p">)</span>
+        <span class="c1"># default derivative gains</span>
+        <span class="n">import_config</span><span class="o">.</span><span class="n">set_default_position_drive_damping</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">default_drive_damping</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">get_version</span><span class="p">()[</span><span class="mi">2</span><span class="p">]</span> <span class="o">==</span> <span class="s2">&quot;4&quot;</span><span class="p">:</span>
+            <span class="c1"># override joint dynamics parsed from urdf</span>
+            <span class="n">import_config</span><span class="o">.</span><span class="n">set_override_joint_dynamics</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">override_joint_dynamics</span><span class="p">)</span>
+
+        <span class="k">return</span> <span class="n">import_config</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
new file mode 100644
index 0000000000..c1686c83df
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html
@@ -0,0 +1,652 @@
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+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
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+  <h1>Source code for omni.isaac.lab.sim.converters.urdf_converter_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.converters.asset_converter_base_cfg</span> <span class="kn">import</span> <span class="n">AssetConverterBaseCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+
+<div class="viewcode-block" id="UrdfConverterCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">UrdfConverterCfg</span><span class="p">(</span><span class="n">AssetConverterBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The configuration class for UrdfConverter.&quot;&quot;&quot;</span>
+
+    <span class="n">link_density</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default density used for links. Defaults to 0.</span>
+
+<span class="sd">    This setting is only effective if ``&quot;inertial&quot;`` properties are missing in the URDF.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">import_inertia_tensor</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Import the inertia tensor from urdf. Defaults to True.</span>
+
+<span class="sd">    If the ``&quot;inertial&quot;`` tag is missing, then it is imported as an identity.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">convex_decompose_mesh</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Decompose a convex mesh into smaller pieces for a closer fit. Defaults to False.&quot;&quot;&quot;</span>
+
+    <span class="n">fix_base</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a fix joint to the root/base link.&quot;&quot;&quot;</span>
+
+    <span class="n">merge_fixed_joints</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Consolidate links that are connected by fixed joints. Defaults to False.&quot;&quot;&quot;</span>
+
+    <span class="n">self_collision</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Activate self-collisions between links of the articulation. Defaults to False.&quot;&quot;&quot;</span>
+
+    <span class="n">default_drive_type</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;none&quot;</span><span class="p">,</span> <span class="s2">&quot;position&quot;</span><span class="p">,</span> <span class="s2">&quot;velocity&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;none&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The drive type used for joints. Defaults to ``&quot;none&quot;``.</span>
+
+<span class="sd">    The drive type dictates the loaded joint PD gains and USD attributes for joint control:</span>
+
+<span class="sd">    * ``&quot;none&quot;``: The joint stiffness and damping are set to 0.0.</span>
+<span class="sd">    * ``&quot;position&quot;``: The joint stiff and damping are set based on the URDF file or provided configuration.</span>
+<span class="sd">    * ``&quot;velocity&quot;``: The joint stiff is set to zero and damping is based on the URDF file or provided configuration.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">override_joint_dynamics</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Override the joint dynamics parsed from the URDF file. Defaults to False.&quot;&quot;&quot;</span>
+
+    <span class="n">default_drive_stiffness</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The default stiffness of the joint drive. Defaults to 0.0.&quot;&quot;&quot;</span>
+
+    <span class="n">default_drive_damping</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The default damping of the joint drive. Defaults to 0.0.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If ``override_joint_dynamics`` is True, the values parsed from the URDF joint tag ``&quot;&lt;dynamics&gt;&lt;damping&gt;&quot;`` are used.</span>
+<span class="sd">        Otherwise, it is overridden by the configured value.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.sim.schemas.schemas</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="c1"># needed to import for allowing type-hinting: Usd.Stage | None</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physx.scripts.utils</span> <span class="k">as</span> <span class="nn">physx_utils</span>
+<span class="kn">from</span> <span class="nn">omni.physx.scripts</span> <span class="kn">import</span> <span class="n">deformableUtils</span> <span class="k">as</span> <span class="n">deformable_utils</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">PhysxSchema</span><span class="p">,</span> <span class="n">Usd</span><span class="p">,</span> <span class="n">UsdPhysics</span>
+
+<span class="kn">from</span> <span class="nn">..utils</span> <span class="kn">import</span> <span class="p">(</span>
+    <span class="n">apply_nested</span><span class="p">,</span>
+    <span class="n">find_global_fixed_joint_prim</span><span class="p">,</span>
+    <span class="n">get_all_matching_child_prims</span><span class="p">,</span>
+    <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">,</span>
+<span class="p">)</span>
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">schemas_cfg</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Articulation root properties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="define_articulation_root_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.define_articulation_root_properties">[docs]</a><span class="k">def</span> <span class="nf">define_articulation_root_properties</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">ArticulationRootPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Apply the articulation root schema on the input prim and set its properties.</span>
+
+<span class="sd">    See :func:`modify_articulation_root_properties` for more details on how the properties are set.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path where to apply the articulation root schema.</span>
+<span class="sd">        cfg: The configuration for the articulation root.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the prim path is not valid.</span>
+<span class="sd">        TypeError: When the prim already has conflicting API schemas.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get articulation USD prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim path is valid</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+    <span class="c1"># check if prim has articulation applied on it</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">(</span><span class="n">prim</span><span class="p">):</span>
+        <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+    <span class="c1"># set articulation root properties</span>
+    <span class="n">modify_articulation_root_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="modify_articulation_root_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_articulation_root_properties">[docs]</a><span class="nd">@apply_nested</span>
+<span class="k">def</span> <span class="nf">modify_articulation_root_properties</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">ArticulationRootPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Modify PhysX parameters for an articulation root prim.</span>
+
+<span class="sd">    The `articulation root`_ marks the root of an articulation tree. For floating articulations, this should be on</span>
+<span class="sd">    the root body. For fixed articulations, this API can be on a direct or indirect parent of the root joint</span>
+<span class="sd">    which is fixed to the world.</span>
+
+<span class="sd">    The schema comprises of attributes that belong to the `ArticulationRootAPI`_ and `PhysxArticulationAPI`_.</span>
+<span class="sd">    schemas. The latter contains the PhysX parameters for the articulation root.</span>
+
+<span class="sd">    The properties are applied to the articulation root prim. The common properties (such as solver position</span>
+<span class="sd">    and velocity iteration counts, sleep threshold, stabilization threshold) take precedence over those specified</span>
+<span class="sd">    in the rigid body schemas for all the rigid bodies in the articulation.</span>
+
+<span class="sd">    .. caution::</span>
+<span class="sd">        When the attribute :attr:`schemas_cfg.ArticulationRootPropertiesCfg.fix_root_link` is set to True,</span>
+<span class="sd">        a fixed joint is created between the root link and the world frame (if it does not already exist). However,</span>
+<span class="sd">        to deal with physics parser limitations, the articulation root schema needs to be applied to the parent of</span>
+<span class="sd">        the root link.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`apply_nested` that set the properties to all the prims</span>
+<span class="sd">        (that have the schema applied on them) under the input prim path.</span>
+
+<span class="sd">    .. _articulation root: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/Articulations.html</span>
+<span class="sd">    .. _ArticulationRootAPI: https://openusd.org/dev/api/class_usd_physics_articulation_root_a_p_i.html</span>
+<span class="sd">    .. _PhysxArticulationAPI: https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_articulation_a_p_i.html</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path to the articulation root.</span>
+<span class="sd">        cfg: The configuration for the articulation root.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        True if the properties were successfully set, False otherwise.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        NotImplementedError: When the root prim is not a rigid body and a fixed joint is to be created.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get articulation USD prim</span>
+    <span class="n">articulation_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim has articulation applied on it</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">(</span><span class="n">articulation_prim</span><span class="p">):</span>
+        <span class="k">return</span> <span class="kc">False</span>
+    <span class="c1"># retrieve the articulation api</span>
+    <span class="n">physx_articulation_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxArticulationAPI</span><span class="p">(</span><span class="n">articulation_prim</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">physx_articulation_api</span><span class="p">:</span>
+        <span class="n">physx_articulation_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxArticulationAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">articulation_prim</span><span class="p">)</span>
+
+    <span class="c1"># convert to dict</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+    <span class="c1"># extract non-USD properties</span>
+    <span class="n">fix_root_link</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;fix_root_link&quot;</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span>
+
+    <span class="c1"># set into physx api</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">physx_articulation_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+    <span class="c1"># fix root link based on input</span>
+    <span class="c1"># we do the fixed joint processing later to not interfere with setting other properties</span>
+    <span class="k">if</span> <span class="n">fix_root_link</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="c1"># check if a global fixed joint exists under the root prim</span>
+        <span class="n">existing_fixed_joint_prim</span> <span class="o">=</span> <span class="n">find_global_fixed_joint_prim</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+
+        <span class="c1"># if we found a fixed joint, enable/disable it based on the input</span>
+        <span class="c1"># otherwise, create a fixed joint between the world and the root link</span>
+        <span class="k">if</span> <span class="n">existing_fixed_joint_prim</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Found an existing fixed joint for the articulation: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;. Setting it to: </span><span class="si">{</span><span class="n">fix_root_link</span><span class="si">}</span><span class="s2">.&quot;</span>
+            <span class="p">)</span>
+            <span class="n">existing_fixed_joint_prim</span><span class="o">.</span><span class="n">GetJointEnabledAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">fix_root_link</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="n">fix_root_link</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Creating a fixed joint for the articulation: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+
+            <span class="c1"># note: we have to assume that the root prim is a rigid body,</span>
+            <span class="c1">#   i.e. we don&#39;t handle the case where the root prim is not a rigid body but has articulation api on it</span>
+            <span class="c1"># Currently, there is no obvious way to get first rigid body link identified by the PhysX parser</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="n">articulation_prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">):</span>
+                <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;The articulation prim &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; does not have the RigidBodyAPI applied.&quot;</span>
+                    <span class="s2">&quot; To create a fixed joint, we need to determine the first rigid body link in&quot;</span>
+                    <span class="s2">&quot; the articulation tree. However, this is not implemented yet.&quot;</span>
+                <span class="p">)</span>
+
+            <span class="c1"># create a fixed joint between the root link and the world frame</span>
+            <span class="n">physx_utils</span><span class="o">.</span><span class="n">createJoint</span><span class="p">(</span><span class="n">stage</span><span class="o">=</span><span class="n">stage</span><span class="p">,</span> <span class="n">joint_type</span><span class="o">=</span><span class="s2">&quot;Fixed&quot;</span><span class="p">,</span> <span class="n">from_prim</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">to_prim</span><span class="o">=</span><span class="n">articulation_prim</span><span class="p">)</span>
+
+            <span class="c1"># Having a fixed joint on a rigid body is not treated as &quot;fixed base articulation&quot;.</span>
+            <span class="c1"># instead, it is treated as a part of the maximal coordinate tree.</span>
+            <span class="c1"># Moving the articulation root to the parent solves this issue. This is a limitation of the PhysX parser.</span>
+            <span class="c1"># get parent prim</span>
+            <span class="n">parent_prim</span> <span class="o">=</span> <span class="n">articulation_prim</span><span class="o">.</span><span class="n">GetParent</span><span class="p">()</span>
+            <span class="c1"># apply api to parent</span>
+            <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">parent_prim</span><span class="p">)</span>
+            <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxArticulationAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">parent_prim</span><span class="p">)</span>
+
+            <span class="c1"># copy the attributes</span>
+            <span class="c1"># -- usd attributes</span>
+            <span class="n">usd_articulation_api</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">(</span><span class="n">articulation_prim</span><span class="p">)</span>
+            <span class="k">for</span> <span class="n">attr_name</span> <span class="ow">in</span> <span class="n">usd_articulation_api</span><span class="o">.</span><span class="n">GetSchemaAttributeNames</span><span class="p">():</span>
+                <span class="n">attr</span> <span class="o">=</span> <span class="n">articulation_prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="n">attr_name</span><span class="p">)</span>
+                <span class="n">parent_prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="n">attr_name</span><span class="p">)</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">attr</span><span class="o">.</span><span class="n">Get</span><span class="p">())</span>
+            <span class="c1"># -- physx attributes</span>
+            <span class="n">physx_articulation_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxArticulationAPI</span><span class="p">(</span><span class="n">articulation_prim</span><span class="p">)</span>
+            <span class="k">for</span> <span class="n">attr_name</span> <span class="ow">in</span> <span class="n">physx_articulation_api</span><span class="o">.</span><span class="n">GetSchemaAttributeNames</span><span class="p">():</span>
+                <span class="n">attr</span> <span class="o">=</span> <span class="n">articulation_prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="n">attr_name</span><span class="p">)</span>
+                <span class="n">parent_prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="n">attr_name</span><span class="p">)</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">attr</span><span class="o">.</span><span class="n">Get</span><span class="p">())</span>
+
+            <span class="c1"># remove api from root</span>
+            <span class="n">articulation_prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">)</span>
+            <span class="n">articulation_prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxArticulationAPI</span><span class="p">)</span>
+
+    <span class="c1"># success</span>
+    <span class="k">return</span> <span class="kc">True</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Rigid body properties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="define_rigid_body_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.define_rigid_body_properties">[docs]</a><span class="k">def</span> <span class="nf">define_rigid_body_properties</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Apply the rigid body schema on the input prim and set its properties.</span>
+
+<span class="sd">    See :func:`modify_rigid_body_properties` for more details on how the properties are set.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path where to apply the rigid body schema.</span>
+<span class="sd">        cfg: The configuration for the rigid body.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the prim path is not valid.</span>
+<span class="sd">        TypeError: When the prim already has conflicting API schemas.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get USD prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim path is valid</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+    <span class="c1"># check if prim has rigid body applied on it</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">(</span><span class="n">prim</span><span class="p">):</span>
+        <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+    <span class="c1"># set rigid body properties</span>
+    <span class="n">modify_rigid_body_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="modify_rigid_body_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_rigid_body_properties">[docs]</a><span class="nd">@apply_nested</span>
+<span class="k">def</span> <span class="nf">modify_rigid_body_properties</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Modify PhysX parameters for a rigid body prim.</span>
+
+<span class="sd">    A `rigid body`_ is a single body that can be simulated by PhysX. It can be either dynamic or kinematic.</span>
+<span class="sd">    A dynamic body responds to forces and collisions. A `kinematic body`_ can be moved by the user, but does not</span>
+<span class="sd">    respond to forces. They are similar to having static bodies that can be moved around.</span>
+
+<span class="sd">    The schema comprises of attributes that belong to the `RigidBodyAPI`_ and `PhysxRigidBodyAPI`_.</span>
+<span class="sd">    schemas. The latter contains the PhysX parameters for the rigid body.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`apply_nested` that sets the properties to all the prims</span>
+<span class="sd">        (that have the schema applied on them) under the input prim path.</span>
+
+<span class="sd">    .. _rigid body: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/RigidBodyOverview.html</span>
+<span class="sd">    .. _kinematic body: https://openusd.org/release/wp_rigid_body_physics.html#kinematic-bodies</span>
+<span class="sd">    .. _RigidBodyAPI: https://openusd.org/dev/api/class_usd_physics_rigid_body_a_p_i.html</span>
+<span class="sd">    .. _PhysxRigidBodyAPI: https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_rigid_body_a_p_i.html</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path to the rigid body.</span>
+<span class="sd">        cfg: The configuration for the rigid body.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        True if the properties were successfully set, False otherwise.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get rigid-body USD prim</span>
+    <span class="n">rigid_body_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim has rigid-body applied on it</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">(</span><span class="n">rigid_body_prim</span><span class="p">):</span>
+        <span class="k">return</span> <span class="kc">False</span>
+    <span class="c1"># retrieve the USD rigid-body api</span>
+    <span class="n">usd_rigid_body_api</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">(</span><span class="n">rigid_body_prim</span><span class="p">)</span>
+    <span class="c1"># retrieve the physx rigid-body api</span>
+    <span class="n">physx_rigid_body_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxRigidBodyAPI</span><span class="p">(</span><span class="n">rigid_body_prim</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">physx_rigid_body_api</span><span class="p">:</span>
+        <span class="n">physx_rigid_body_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxRigidBodyAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">rigid_body_prim</span><span class="p">)</span>
+
+    <span class="c1"># convert to dict</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+    <span class="c1"># set into USD API</span>
+    <span class="k">for</span> <span class="n">attr_name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;rigid_body_enabled&quot;</span><span class="p">,</span> <span class="s2">&quot;kinematic_enabled&quot;</span><span class="p">]:</span>
+        <span class="n">value</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="n">attr_name</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span>
+        <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">usd_rigid_body_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># set into PhysX API</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">physx_rigid_body_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># success</span>
+    <span class="k">return</span> <span class="kc">True</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Collision properties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="define_collision_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.define_collision_properties">[docs]</a><span class="k">def</span> <span class="nf">define_collision_properties</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Apply the collision schema on the input prim and set its properties.</span>
+
+<span class="sd">    See :func:`modify_collision_properties` for more details on how the properties are set.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path where to apply the rigid body schema.</span>
+<span class="sd">        cfg: The configuration for the collider.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the prim path is not valid.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get USD prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim path is valid</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+    <span class="c1"># check if prim has collision applied on it</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">CollisionAPI</span><span class="p">(</span><span class="n">prim</span><span class="p">):</span>
+        <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">CollisionAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+    <span class="c1"># set collision properties</span>
+    <span class="n">modify_collision_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="modify_collision_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_collision_properties">[docs]</a><span class="nd">@apply_nested</span>
+<span class="k">def</span> <span class="nf">modify_collision_properties</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Modify PhysX properties of collider prim.</span>
+
+<span class="sd">    These properties are based on the `UsdPhysics.CollisionAPI`_ and `PhysxSchema.PhysxCollisionAPI`_ schemas.</span>
+<span class="sd">    For more information on the properties, please refer to the official documentation.</span>
+
+<span class="sd">    Tuning these parameters influence the contact behavior of the rigid body. For more information on</span>
+<span class="sd">    tune them and their effect on the simulation, please refer to the</span>
+<span class="sd">    `PhysX documentation &lt;https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/AdvancedCollisionDetection.html&gt;`__.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`apply_nested` that sets the properties to all the prims</span>
+<span class="sd">        (that have the schema applied on them) under the input prim path.</span>
+
+<span class="sd">    .. _UsdPhysics.CollisionAPI: https://openusd.org/dev/api/class_usd_physics_collision_a_p_i.html</span>
+<span class="sd">    .. _PhysxSchema.PhysxCollisionAPI: https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_collision_a_p_i.html</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path of parent.</span>
+<span class="sd">        cfg: The configuration for the collider.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        True if the properties were successfully set, False otherwise.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get USD prim</span>
+    <span class="n">collider_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim has collision applied on it</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">CollisionAPI</span><span class="p">(</span><span class="n">collider_prim</span><span class="p">):</span>
+        <span class="k">return</span> <span class="kc">False</span>
+    <span class="c1"># retrieve the USD collision api</span>
+    <span class="n">usd_collision_api</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">CollisionAPI</span><span class="p">(</span><span class="n">collider_prim</span><span class="p">)</span>
+    <span class="c1"># retrieve the collision api</span>
+    <span class="n">physx_collision_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxCollisionAPI</span><span class="p">(</span><span class="n">collider_prim</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">physx_collision_api</span><span class="p">:</span>
+        <span class="n">physx_collision_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxCollisionAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">collider_prim</span><span class="p">)</span>
+
+    <span class="c1"># convert to dict</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+    <span class="c1"># set into USD API</span>
+    <span class="k">for</span> <span class="n">attr_name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;collision_enabled&quot;</span><span class="p">]:</span>
+        <span class="n">value</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="n">attr_name</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span>
+        <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">usd_collision_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># set into PhysX API</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">physx_collision_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># success</span>
+    <span class="k">return</span> <span class="kc">True</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Mass properties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="define_mass_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.define_mass_properties">[docs]</a><span class="k">def</span> <span class="nf">define_mass_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Apply the mass schema on the input prim and set its properties.</span>
+
+<span class="sd">    See :func:`modify_mass_properties` for more details on how the properties are set.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path where to apply the rigid body schema.</span>
+<span class="sd">        cfg: The configuration for the mass properties.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the prim path is not valid.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get USD prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim path is valid</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+    <span class="c1"># check if prim has mass applied on it</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">MassAPI</span><span class="p">(</span><span class="n">prim</span><span class="p">):</span>
+        <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">MassAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+    <span class="c1"># set mass properties</span>
+    <span class="n">modify_mass_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="modify_mass_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_mass_properties">[docs]</a><span class="nd">@apply_nested</span>
+<span class="k">def</span> <span class="nf">modify_mass_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Set properties for the mass of a rigid body prim.</span>
+
+<span class="sd">    These properties are based on the `UsdPhysics.MassAPI` schema. If the mass is not defined, the density is used</span>
+<span class="sd">    to compute the mass. However, in that case, a collision approximation of the rigid body is used to</span>
+<span class="sd">    compute the density. For more information on the properties, please refer to the</span>
+<span class="sd">    `documentation &lt;https://openusd.org/release/wp_rigid_body_physics.html#body-mass-properties&gt;`__.</span>
+
+<span class="sd">    .. caution::</span>
+
+<span class="sd">        The mass of an object can be specified in multiple ways and have several conflicting settings</span>
+<span class="sd">        that are resolved based on precedence. Please make sure to understand the precedence rules</span>
+<span class="sd">        before using this property.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`apply_nested` that sets the properties to all the prims</span>
+<span class="sd">        (that have the schema applied on them) under the input prim path.</span>
+
+<span class="sd">    .. UsdPhysics.MassAPI: https://openusd.org/dev/api/class_usd_physics_mass_a_p_i.html</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path of the rigid body.</span>
+<span class="sd">        cfg: The configuration for the mass properties.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        True if the properties were successfully set, False otherwise.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get USD prim</span>
+    <span class="n">rigid_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim has mass API applied on it</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">MassAPI</span><span class="p">(</span><span class="n">rigid_prim</span><span class="p">):</span>
+        <span class="k">return</span> <span class="kc">False</span>
+    <span class="c1"># retrieve the USD mass api</span>
+    <span class="n">usd_physics_mass_api</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">MassAPI</span><span class="p">(</span><span class="n">rigid_prim</span><span class="p">)</span>
+
+    <span class="c1"># convert to dict</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+    <span class="c1"># set into USD API</span>
+    <span class="k">for</span> <span class="n">attr_name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;mass&quot;</span><span class="p">,</span> <span class="s2">&quot;density&quot;</span><span class="p">]:</span>
+        <span class="n">value</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="n">attr_name</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span>
+        <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">usd_physics_mass_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># success</span>
+    <span class="k">return</span> <span class="kc">True</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Contact sensor.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="activate_contact_sensors"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.activate_contact_sensors">[docs]</a><span class="k">def</span> <span class="nf">activate_contact_sensors</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Activate the contact sensor on all rigid bodies under a specified prim path.</span>
+
+<span class="sd">    This function adds the PhysX contact report API to all rigid bodies under the specified prim path.</span>
+<span class="sd">    It also sets the force threshold beyond which the contact sensor reports the contact. The contact</span>
+<span class="sd">    reporting API can only be added to rigid bodies.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path under which to search and prepare contact sensors.</span>
+<span class="sd">        threshold: The threshold for the contact sensor. Defaults to 0.0.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the input prim path is not valid.</span>
+<span class="sd">        ValueError: If there are no rigid bodies under the prim path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get prim</span>
+    <span class="n">prim</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim is valid</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+    <span class="c1"># iterate over all children</span>
+    <span class="n">num_contact_sensors</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="n">all_prims</span> <span class="o">=</span> <span class="p">[</span><span class="n">prim</span><span class="p">]</span>
+    <span class="k">while</span> <span class="nb">len</span><span class="p">(</span><span class="n">all_prims</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="c1"># get current prim</span>
+        <span class="n">child_prim</span> <span class="o">=</span> <span class="n">all_prims</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+        <span class="c1"># check if prim is a rigid body</span>
+        <span class="c1"># nested rigid bodies are not allowed by SDK so we can safely assume that</span>
+        <span class="c1"># if a prim has a rigid body API, it is a rigid body and we don&#39;t need to</span>
+        <span class="c1"># check its children</span>
+        <span class="k">if</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">):</span>
+            <span class="c1"># set sleep threshold to zero</span>
+            <span class="n">rb</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxRigidBodyAPI</span><span class="o">.</span><span class="n">Get</span><span class="p">(</span><span class="n">stage</span><span class="p">,</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">())</span>
+            <span class="n">rb</span><span class="o">.</span><span class="n">CreateSleepThresholdAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="mf">0.0</span><span class="p">)</span>
+            <span class="c1"># add contact report API with threshold of zero</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxContactReportAPI</span><span class="p">):</span>
+                <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">verbose</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Adding contact report API to prim: &#39;</span><span class="si">{</span><span class="n">child_prim</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">()</span><span class="si">}</span><span class="s2">&#39;&quot;</span><span class="p">)</span>
+                <span class="n">cr_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxContactReportAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">child_prim</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">verbose</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Contact report API already exists on prim: &#39;</span><span class="si">{</span><span class="n">child_prim</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">()</span><span class="si">}</span><span class="s2">&#39;&quot;</span><span class="p">)</span>
+                <span class="n">cr_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxContactReportAPI</span><span class="o">.</span><span class="n">Get</span><span class="p">(</span><span class="n">stage</span><span class="p">,</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">())</span>
+            <span class="c1"># set threshold to zero</span>
+            <span class="n">cr_api</span><span class="o">.</span><span class="n">CreateThresholdAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">threshold</span><span class="p">)</span>
+            <span class="c1"># increment number of contact sensors</span>
+            <span class="n">num_contact_sensors</span> <span class="o">+=</span> <span class="mi">1</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># add all children to tree</span>
+            <span class="n">all_prims</span> <span class="o">+=</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">GetChildren</span><span class="p">()</span>
+    <span class="c1"># check if no contact sensors were found</span>
+    <span class="k">if</span> <span class="n">num_contact_sensors</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;No contact sensors added to the prim: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;. This means that no rigid bodies&quot;</span>
+            <span class="s2">&quot; are present under this prim. Please check the prim path.&quot;</span>
+        <span class="p">)</span>
+    <span class="c1"># success</span>
+    <span class="k">return</span> <span class="kc">True</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Joint drive properties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="modify_joint_drive_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_joint_drive_properties">[docs]</a><span class="nd">@apply_nested</span>
+<span class="k">def</span> <span class="nf">modify_joint_drive_properties</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">drive_props</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">JointDrivePropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Modify PhysX parameters for a joint prim.</span>
+
+<span class="sd">    This function checks if the input prim is a prismatic or revolute joint and applies the joint drive schema</span>
+<span class="sd">    on it. If the joint is a tendon (i.e., it has the `PhysxTendonAxisAPI`_ schema applied on it), then the joint</span>
+<span class="sd">    drive schema is not applied.</span>
+
+<span class="sd">    Based on the configuration, this method modifies the properties of the joint drive. These properties are</span>
+<span class="sd">    based on the `UsdPhysics.DriveAPI`_ schema. For more information on the properties, please refer to the</span>
+<span class="sd">    official documentation.</span>
+
+<span class="sd">    .. caution::</span>
+
+<span class="sd">        We highly recommend modifying joint properties of articulations through the functionalities in the</span>
+<span class="sd">        :mod:`omni.isaac.lab.actuators` module. The methods here are for setting simulation low-level</span>
+<span class="sd">        properties only.</span>
+
+<span class="sd">    .. _UsdPhysics.DriveAPI: https://openusd.org/dev/api/class_usd_physics_drive_a_p_i.html</span>
+<span class="sd">    .. _PhysxTendonAxisAPI: https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_tendon_axis_a_p_i.html</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path where to apply the joint drive schema.</span>
+<span class="sd">        drive_props: The configuration for the joint drive.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        True if the properties were successfully set, False otherwise.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the input prim path is not valid.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get USD prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim path is valid</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># check if prim has joint drive applied on it</span>
+    <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RevoluteJoint</span><span class="p">):</span>
+        <span class="n">drive_api_name</span> <span class="o">=</span> <span class="s2">&quot;angular&quot;</span>
+    <span class="k">elif</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">PrismaticJoint</span><span class="p">):</span>
+        <span class="n">drive_api_name</span> <span class="o">=</span> <span class="s2">&quot;linear&quot;</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="kc">False</span>
+    <span class="c1"># check that prim is not a tendon child prim</span>
+    <span class="c1"># note: root prim is what &quot;controls&quot; the tendon so we still want to apply the drive to it</span>
+    <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxTendonAxisAPI</span><span class="p">)</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxTendonAxisRootAPI</span><span class="p">):</span>
+        <span class="k">return</span> <span class="kc">False</span>
+
+    <span class="c1"># check if prim has joint drive applied on it</span>
+    <span class="n">usd_drive_api</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">DriveAPI</span><span class="p">(</span><span class="n">prim</span><span class="p">,</span> <span class="n">drive_api_name</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">usd_drive_api</span><span class="p">:</span>
+        <span class="n">usd_drive_api</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">DriveAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">prim</span><span class="p">,</span> <span class="n">drive_api_name</span><span class="p">)</span>
+
+    <span class="c1"># change the drive type to input</span>
+    <span class="k">if</span> <span class="n">drive_props</span><span class="o">.</span><span class="n">drive_type</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">usd_drive_api</span><span class="o">.</span><span class="n">CreateTypeAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">drive_props</span><span class="o">.</span><span class="n">drive_type</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="kc">True</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Fixed tendon properties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="modify_fixed_tendon_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties">[docs]</a><span class="nd">@apply_nested</span>
+<span class="k">def</span> <span class="nf">modify_fixed_tendon_properties</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">FixedTendonPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Modify PhysX parameters for a fixed tendon attachment prim.</span>
+
+<span class="sd">    A `fixed tendon`_ can be used to link multiple degrees of freedom of articulation joints</span>
+<span class="sd">    through length and limit constraints. For instance, it can be used to set up an equality constraint</span>
+<span class="sd">    between a driven and passive revolute joints.</span>
+
+<span class="sd">    The schema comprises of attributes that belong to the `PhysxTendonAxisRootAPI`_ schema.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`apply_nested` that sets the properties to all the prims</span>
+<span class="sd">        (that have the schema applied on them) under the input prim path.</span>
+
+<span class="sd">    .. _fixed tendon: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/classPxArticulationFixedTendon.html</span>
+<span class="sd">    .. _PhysxTendonAxisRootAPI: https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_tendon_axis_root_a_p_i.html</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path to the tendon attachment.</span>
+<span class="sd">        cfg: The configuration for the tendon attachment.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        True if the properties were successfully set, False otherwise.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the input prim path is not valid.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get USD prim</span>
+    <span class="n">tendon_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim has fixed tendon applied on it</span>
+    <span class="n">has_root_fixed_tendon</span> <span class="o">=</span> <span class="n">tendon_prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxTendonAxisRootAPI</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">has_root_fixed_tendon</span><span class="p">:</span>
+        <span class="k">return</span> <span class="kc">False</span>
+
+    <span class="c1"># resolve all available instances of the schema since it is multi-instance</span>
+    <span class="k">for</span> <span class="n">schema_name</span> <span class="ow">in</span> <span class="n">tendon_prim</span><span class="o">.</span><span class="n">GetAppliedSchemas</span><span class="p">():</span>
+        <span class="c1"># only consider the fixed tendon schema</span>
+        <span class="k">if</span> <span class="s2">&quot;PhysxTendonAxisRootAPI&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">schema_name</span><span class="p">:</span>
+            <span class="k">continue</span>
+        <span class="c1"># retrieve the USD tendon api</span>
+        <span class="n">instance_name</span> <span class="o">=</span> <span class="n">schema_name</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;:&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+        <span class="n">physx_tendon_axis_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxTendonAxisRootAPI</span><span class="p">(</span><span class="n">tendon_prim</span><span class="p">,</span> <span class="n">instance_name</span><span class="p">)</span>
+
+        <span class="c1"># convert to dict</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+        <span class="c1"># set into PhysX API</span>
+        <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">physx_tendon_axis_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># success</span>
+    <span class="k">return</span> <span class="kc">True</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Deformable body properties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="define_deformable_body_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.define_deformable_body_properties">[docs]</a><span class="k">def</span> <span class="nf">define_deformable_body_properties</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">DeformableBodyPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Apply the deformable body schema on the input prim and set its properties.</span>
+
+<span class="sd">    See :func:`modify_deformable_body_properties` for more details on how the properties are set.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        If the input prim is not a mesh, this function will traverse the prim and find the first mesh</span>
+<span class="sd">        under it. If no mesh or multiple meshes are found, an error is raised. This is because the deformable</span>
+<span class="sd">        body schema can only be applied to a single mesh.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path where to apply the deformable body schema.</span>
+<span class="sd">        cfg: The configuration for the deformable body.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the prim path is not valid.</span>
+<span class="sd">        ValueError: When the prim has no mesh or multiple meshes.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get USD prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim path is valid</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># traverse the prim and get the mesh</span>
+    <span class="n">matching_prims</span> <span class="o">=</span> <span class="n">get_all_matching_child_prims</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="k">lambda</span> <span class="n">p</span><span class="p">:</span> <span class="n">p</span><span class="o">.</span><span class="n">GetTypeName</span><span class="p">()</span> <span class="o">==</span> <span class="s2">&quot;Mesh&quot;</span><span class="p">)</span>
+    <span class="c1"># check if the mesh is valid</span>
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">matching_prims</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Could not find any mesh in &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;. Please check asset.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">matching_prims</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="c1"># get list of all meshes found</span>
+        <span class="n">mesh_paths</span> <span class="o">=</span> <span class="p">[</span><span class="n">p</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">()</span> <span class="k">for</span> <span class="n">p</span> <span class="ow">in</span> <span class="n">matching_prims</span><span class="p">]</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Found multiple meshes in &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;: </span><span class="si">{</span><span class="n">mesh_paths</span><span class="si">}</span><span class="s2">.&quot;</span>
+            <span class="s2">&quot; Deformable body schema can only be applied to one mesh.&quot;</span>
+        <span class="p">)</span>
+
+    <span class="c1"># get deformable-body USD prim</span>
+    <span class="n">mesh_prim</span> <span class="o">=</span> <span class="n">matching_prims</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+    <span class="c1"># check if prim has deformable-body applied on it</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxDeformableBodyAPI</span><span class="p">(</span><span class="n">mesh_prim</span><span class="p">):</span>
+        <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxDeformableBodyAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">mesh_prim</span><span class="p">)</span>
+    <span class="c1"># set deformable body properties</span>
+    <span class="n">modify_deformable_body_properties</span><span class="p">(</span><span class="n">mesh_prim</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">(),</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="modify_deformable_body_properties"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_deformable_body_properties">[docs]</a><span class="nd">@apply_nested</span>
+<span class="k">def</span> <span class="nf">modify_deformable_body_properties</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">schemas_cfg</span><span class="o">.</span><span class="n">DeformableBodyPropertiesCfg</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Modify PhysX parameters for a deformable body prim.</span>
+
+<span class="sd">    A `deformable body`_ is a single body that can be simulated by PhysX. Unlike rigid bodies, deformable bodies</span>
+<span class="sd">    support relative motion of the nodes in the mesh. Consequently, they can be used to simulate deformations</span>
+<span class="sd">    under applied forces.</span>
+
+<span class="sd">    PhysX soft body simulation employs Finite Element Analysis (FEA) to simulate the deformations of the mesh.</span>
+<span class="sd">    It uses two tetrahedral meshes to represent the deformable body:</span>
+
+<span class="sd">    1. **Simulation mesh**: This mesh is used for the simulation and is the one that is deformed by the solver.</span>
+<span class="sd">    2. **Collision mesh**: This mesh only needs to match the surface of the simulation mesh and is used for</span>
+<span class="sd">       collision detection.</span>
+
+<span class="sd">    For most applications, we assume that the above two meshes are computed from the &quot;render mesh&quot; of the deformable</span>
+<span class="sd">    body. The render mesh is the mesh that is visible in the scene and is used for rendering purposes. It is composed</span>
+<span class="sd">    of triangles and is the one that is used to compute the above meshes based on PhysX cookings.</span>
+
+<span class="sd">    The schema comprises of attributes that belong to the `PhysxDeformableBodyAPI`_. schemas containing the PhysX</span>
+<span class="sd">    parameters for the deformable body.</span>
+
+<span class="sd">    .. caution::</span>
+<span class="sd">        The deformable body schema is still under development by the Omniverse team. The current implementation</span>
+<span class="sd">        works with the PhysX schemas shipped with Isaac Sim 4.0.0 onwards. It may change in future releases.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`apply_nested` that sets the properties to all the prims</span>
+<span class="sd">        (that have the schema applied on them) under the input prim path.</span>
+
+<span class="sd">    .. _deformable body: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html</span>
+<span class="sd">    .. _PhysxDeformableBodyAPI: https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_deformable_a_p_i.html</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path to the deformable body.</span>
+<span class="sd">        cfg: The configuration for the deformable body.</span>
+<span class="sd">        stage: The stage where to find the prim. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        True if the properties were successfully set, False otherwise.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+
+    <span class="c1"># get deformable-body USD prim</span>
+    <span class="n">deformable_body_prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+
+    <span class="c1"># check if the prim is valid and has the deformable-body API</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">deformable_body_prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">()</span> <span class="ow">or</span> <span class="ow">not</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxDeformableBodyAPI</span><span class="p">(</span><span class="n">deformable_body_prim</span><span class="p">):</span>
+        <span class="k">return</span> <span class="kc">False</span>
+
+    <span class="c1"># retrieve the physx deformable-body api</span>
+    <span class="n">physx_deformable_body_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxDeformableBodyAPI</span><span class="p">(</span><span class="n">deformable_body_prim</span><span class="p">)</span>
+    <span class="c1"># retrieve the physx deformable api</span>
+    <span class="n">physx_deformable_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxDeformableAPI</span><span class="p">(</span><span class="n">physx_deformable_body_api</span><span class="p">)</span>
+
+    <span class="c1"># convert to dict</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+    <span class="c1"># set into deformable body API</span>
+    <span class="n">attr_kwargs</span> <span class="o">=</span> <span class="p">{</span>
+        <span class="n">attr_name</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="n">attr_name</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">attr_name</span> <span class="ow">in</span> <span class="p">[</span>
+            <span class="s2">&quot;kinematic_enabled&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;collision_simplification&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;collision_simplification_remeshing&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;collision_simplification_remeshing_resolution&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;collision_simplification_target_triangle_count&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;collision_simplification_force_conforming&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;simulation_hexahedral_resolution&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;solver_position_iteration_count&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;vertex_velocity_damping&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;sleep_damping&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;sleep_threshold&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;settling_threshold&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;self_collision&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;self_collision_filter_distance&quot;</span><span class="p">,</span>
+        <span class="p">]</span>
+    <span class="p">}</span>
+    <span class="n">status</span> <span class="o">=</span> <span class="n">deformable_utils</span><span class="o">.</span><span class="n">add_physx_deformable_body</span><span class="p">(</span><span class="n">stage</span><span class="p">,</span> <span class="n">prim_path</span><span class="o">=</span><span class="n">prim_path</span><span class="p">,</span> <span class="o">**</span><span class="n">attr_kwargs</span><span class="p">)</span>
+    <span class="c1"># check if the deformable body was successfully added</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">status</span><span class="p">:</span>
+        <span class="k">return</span> <span class="kc">False</span>
+
+    <span class="c1"># obtain the PhysX collision API (this is set when the deformable body is added)</span>
+    <span class="n">physx_collision_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxCollisionAPI</span><span class="p">(</span><span class="n">deformable_body_prim</span><span class="p">)</span>
+
+    <span class="c1"># set into PhysX API</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="k">if</span> <span class="n">attr_name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;rest_offset&quot;</span><span class="p">,</span> <span class="s2">&quot;contact_offset&quot;</span><span class="p">]:</span>
+            <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">physx_collision_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">physx_deformable_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+    <span class="c1"># success</span>
+    <span class="k">return</span> <span class="kc">True</span></div>
+</pre></div>
+
+                </article>
+              
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
new file mode 100644
index 0000000000..9d4cc9fd7c
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+++ b/v1.4.0/_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html
@@ -0,0 +1,956 @@
+
+
+<!DOCTYPE html>
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+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/core-concepts/task_workflows.html">Task Design Workflows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/environments.html">Available Environments</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
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+  <h1>Source code for omni.isaac.lab.sim.schemas.schemas_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+
+<div class="viewcode-block" id="ArticulationRootPropertiesCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ArticulationRootPropertiesCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to apply to the root of an articulation.</span>
+
+<span class="sd">    See :meth:`modify_articulation_root_properties` for more information.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        If the values are None, they are not modified. This is useful when you want to set only a subset of</span>
+<span class="sd">        the properties and leave the rest as-is.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">articulation_enabled</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to enable or disable articulation.&quot;&quot;&quot;</span>
+
+    <span class="n">enabled_self_collisions</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to enable or disable self-collisions.&quot;&quot;&quot;</span>
+
+    <span class="n">solver_position_iteration_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Solver position iteration counts for the body.&quot;&quot;&quot;</span>
+
+    <span class="n">solver_velocity_iteration_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Solver position iteration counts for the body.&quot;&quot;&quot;</span>
+
+    <span class="n">sleep_threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Mass-normalized kinetic energy threshold below which an actor may go to sleep.&quot;&quot;&quot;</span>
+
+    <span class="n">stabilization_threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The mass-normalized kinetic energy threshold below which an articulation may participate in stabilization.&quot;&quot;&quot;</span>
+
+    <span class="n">fix_root_link</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to fix the root link of the articulation.</span>
+
+<span class="sd">    * If set to None, the root link is not modified.</span>
+<span class="sd">    * If the articulation already has a fixed root link, this flag will enable or disable the fixed joint.</span>
+<span class="sd">    * If the articulation does not have a fixed root link, this flag will create a fixed joint between the world</span>
+<span class="sd">      frame and the root link. The joint is created with the name &quot;FixedJoint&quot; under the articulation prim.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This is a non-USD schema property. It is handled by the :meth:`modify_articulation_root_properties` function.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="RigidBodyPropertiesCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RigidBodyPropertiesCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to apply to a rigid body.</span>
+
+<span class="sd">    See :meth:`modify_rigid_body_properties` for more information.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        If the values are None, they are not modified. This is useful when you want to set only a subset of</span>
+<span class="sd">        the properties and leave the rest as-is.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">rigid_body_enabled</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to enable or disable the rigid body.&quot;&quot;&quot;</span>
+
+    <span class="n">kinematic_enabled</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Determines whether the body is kinematic or not.</span>
+
+<span class="sd">    A kinematic body is a body that is moved through animated poses or through user defined poses. The simulation</span>
+<span class="sd">    still derives velocities for the kinematic body based on the external motion.</span>
+
+<span class="sd">    For more information on kinematic bodies, please refer to the `documentation &lt;https://openusd.org/release/wp_rigid_body_physics.html#kinematic-bodies&gt;`_.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">disable_gravity</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Disable gravity for the actor.&quot;&quot;&quot;</span>
+
+    <span class="n">linear_damping</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Linear damping for the body.&quot;&quot;&quot;</span>
+
+    <span class="n">angular_damping</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Angular damping for the body.&quot;&quot;&quot;</span>
+
+    <span class="n">max_linear_velocity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Maximum linear velocity for rigid bodies (in m/s).&quot;&quot;&quot;</span>
+
+    <span class="n">max_angular_velocity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Maximum angular velocity for rigid bodies (in deg/s).&quot;&quot;&quot;</span>
+
+    <span class="n">max_depenetration_velocity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Maximum depenetration velocity permitted to be introduced by the solver (in m/s).&quot;&quot;&quot;</span>
+
+    <span class="n">max_contact_impulse</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The limit on the impulse that may be applied at a contact.&quot;&quot;&quot;</span>
+
+    <span class="n">enable_gyroscopic_forces</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enables computation of gyroscopic forces on the rigid body.&quot;&quot;&quot;</span>
+
+    <span class="n">retain_accelerations</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Carries over forces/accelerations over sub-steps.&quot;&quot;&quot;</span>
+
+    <span class="n">solver_position_iteration_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Solver position iteration counts for the body.&quot;&quot;&quot;</span>
+
+    <span class="n">solver_velocity_iteration_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Solver position iteration counts for the body.&quot;&quot;&quot;</span>
+
+    <span class="n">sleep_threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Mass-normalized kinetic energy threshold below which an actor may go to sleep.&quot;&quot;&quot;</span>
+
+    <span class="n">stabilization_threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The mass-normalized kinetic energy threshold below which an actor may participate in stabilization.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="CollisionPropertiesCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CollisionPropertiesCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to apply to colliders in a rigid body.</span>
+
+<span class="sd">    See :meth:`modify_collision_properties` for more information.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        If the values are None, they are not modified. This is useful when you want to set only a subset of</span>
+<span class="sd">        the properties and leave the rest as-is.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">collision_enabled</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to enable or disable collisions.&quot;&quot;&quot;</span>
+
+    <span class="n">contact_offset</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Contact offset for the collision shape (in m).</span>
+
+<span class="sd">    The collision detector generates contact points as soon as two shapes get closer than the sum of their</span>
+<span class="sd">    contact offsets. This quantity should be non-negative which means that contact generation can potentially start</span>
+<span class="sd">    before the shapes actually penetrate.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">rest_offset</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Rest offset for the collision shape (in m).</span>
+
+<span class="sd">    The rest offset quantifies how close a shape gets to others at rest, At rest, the distance between two</span>
+<span class="sd">    vertically stacked objects is the sum of their rest offsets. If a pair of shapes have a positive rest</span>
+<span class="sd">    offset, the shapes will be separated at rest by an air gap.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">torsional_patch_radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the contact patch for applying torsional friction (in m).</span>
+
+<span class="sd">    It is used to approximate rotational friction introduced by the compression of contacting surfaces.</span>
+<span class="sd">    If the radius is zero, no torsional friction is applied.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">min_torsional_patch_radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Minimum radius of the contact patch for applying torsional friction (in m).&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MassPropertiesCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MassPropertiesCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to define explicit mass properties of a rigid body.</span>
+
+<span class="sd">    See :meth:`modify_mass_properties` for more information.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        If the values are None, they are not modified. This is useful when you want to set only a subset of</span>
+<span class="sd">        the properties and leave the rest as-is.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">mass</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The mass of the rigid body (in kg).</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If non-zero, the mass is ignored and the density is used to compute the mass.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">density</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The density of the rigid body (in kg/m^3).</span>
+
+<span class="sd">    The density indirectly defines the mass of the rigid body. It is generally computed using the collision</span>
+<span class="sd">    approximation of the body.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="JointDrivePropertiesCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">JointDrivePropertiesCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to define the drive mechanism of a joint.</span>
+
+<span class="sd">    See :meth:`modify_joint_drive_properties` for more information.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        If the values are None, they are not modified. This is useful when you want to set only a subset of</span>
+<span class="sd">        the properties and leave the rest as-is.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">drive_type</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;force&quot;</span><span class="p">,</span> <span class="s2">&quot;acceleration&quot;</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Joint drive type to apply.</span>
+
+<span class="sd">    If the drive type is &quot;force&quot;, then the joint is driven by a force. If the drive type is &quot;acceleration&quot;,</span>
+<span class="sd">    then the joint is driven by an acceleration (usually used for kinematic joints).</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="FixedTendonPropertiesCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">FixedTendonPropertiesCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to define fixed tendons of an articulation.</span>
+
+<span class="sd">    See :meth:`modify_fixed_tendon_properties` for more information.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        If the values are None, they are not modified. This is useful when you want to set only a subset of</span>
+<span class="sd">        the properties and leave the rest as-is.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">tendon_enabled</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to enable or disable the tendon.&quot;&quot;&quot;</span>
+
+    <span class="n">stiffness</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spring stiffness term acting on the tendon&#39;s length.&quot;&quot;&quot;</span>
+
+    <span class="n">damping</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The damping term acting on both the tendon length and the tendon-length limits.&quot;&quot;&quot;</span>
+
+    <span class="n">limit_stiffness</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Limit stiffness term acting on the tendon&#39;s length limits.&quot;&quot;&quot;</span>
+
+    <span class="n">offset</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Length offset term for the tendon.</span>
+
+<span class="sd">    It defines an amount to be added to the accumulated length computed for the tendon. This allows the application</span>
+<span class="sd">    to actuate the tendon by shortening or lengthening it.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">rest_length</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spring rest length of the tendon.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="DeformableBodyPropertiesCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DeformableBodyPropertiesCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to apply to a deformable body.</span>
+
+<span class="sd">    A deformable body is a body that can deform under forces. The configuration allows users to specify</span>
+<span class="sd">    the properties of the deformable body, such as the solver iteration counts, damping, and self-collision.</span>
+
+<span class="sd">    An FEM-based deformable body is created by providing a collision mesh and simulation mesh. The collision mesh</span>
+<span class="sd">    is used for collision detection and the simulation mesh is used for simulation. The collision mesh is usually</span>
+<span class="sd">    a simplified version of the simulation mesh.</span>
+
+<span class="sd">    Based on the above, the PhysX team provides APIs to either set the simulation and collision mesh directly</span>
+<span class="sd">    (by specifying the points) or to simplify the collision mesh based on the simulation mesh. The simplification</span>
+<span class="sd">    process involves remeshing the collision mesh and simplifying it based on the target triangle count.</span>
+
+<span class="sd">    Since specifying the collision mesh points directly is not a common use case, we only expose the parameters</span>
+<span class="sd">    to simplify the collision mesh based on the simulation mesh. If you want to provide the collision mesh points,</span>
+<span class="sd">    please open an issue on the repository and we can add support for it.</span>
+
+<span class="sd">    See :meth:`modify_deformable_body_properties` for more information.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        If the values are :obj:`None`, they are not modified. This is useful when you want to set only a subset of</span>
+<span class="sd">        the properties and leave the rest as-is.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">deformable_enabled</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enables deformable body.&quot;&quot;&quot;</span>
+
+    <span class="n">kinematic_enabled</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enables kinematic body. Defaults to False, which means that the body is not kinematic.</span>
+
+<span class="sd">    Similar to rigid bodies, this allows setting user-driven motion for the deformable body. For more information,</span>
+<span class="sd">    please refer to the `documentation &lt;https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html#kinematic-soft-bodies&gt;`__.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">self_collision</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to enable or disable self-collisions for the deformable body based on the rest position distances.&quot;&quot;&quot;</span>
+
+    <span class="n">self_collision_filter_distance</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Penetration value that needs to get exceeded before contacts for self collision are generated.</span>
+
+<span class="sd">    This parameter must be greater than of equal to twice the :attr:`rest_offset` value.</span>
+
+<span class="sd">    This value has an effect only if :attr:`self_collision` is enabled.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">settling_threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Threshold vertex velocity (in m/s) under which sleep damping is applied in addition to velocity damping.&quot;&quot;&quot;</span>
+
+    <span class="n">sleep_damping</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Coefficient for the additional damping term if fertex velocity drops below setting threshold.&quot;&quot;&quot;</span>
+
+    <span class="n">sleep_threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The velocity threshold (in m/s) under which the vertex becomes a candidate for sleeping in the next step.&quot;&quot;&quot;</span>
+
+    <span class="n">solver_position_iteration_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of the solver positional iterations per step. Range is [1,255]&quot;&quot;&quot;</span>
+
+    <span class="n">vertex_velocity_damping</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Coefficient for artificial damping on the vertex velocity.</span>
+
+<span class="sd">    This parameter can be used to approximate the effect of air drag on the deformable body.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">simulation_hexahedral_resolution</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">10</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The target resolution for the hexahedral mesh used for simulation. Defaults to 10.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This value is ignored if the user provides the simulation mesh points directly. However, we assume that</span>
+<span class="sd">        most users will not provide the simulation mesh points directly. If you want to provide the simulation mesh</span>
+<span class="sd">        directly, please set this value to :obj:`None`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">collision_simplification</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether or not to simplify the collision mesh before creating a soft body out of it. Defaults to True.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This flag is ignored if the user provides the simulation mesh points directly. However, we assume that</span>
+<span class="sd">        most users will not provide the simulation mesh points directly. Hence, this flag is enabled by default.</span>
+
+<span class="sd">        If you want to provide the simulation mesh points directly, please set this flag to False.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">collision_simplification_remeshing</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether or not the collision mesh should be remeshed before simplification. Defaults to True.</span>
+
+<span class="sd">    This parameter is ignored if :attr:`collision_simplification` is False.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">collision_simplification_remeshing_resolution</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The resolution used for remeshing. Defaults to 0, which means that a heuristic is used to determine the</span>
+<span class="sd">    resolution.</span>
+
+<span class="sd">    This parameter is ignored if :attr:`collision_simplification_remeshing` is False.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">collision_simplification_target_triangle_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The target triangle count used for the simplification. Defaults to 0, which means that a heuristic based on</span>
+<span class="sd">    the :attr:`simulation_hexahedral_resolution` is used to determine the target count.</span>
+
+<span class="sd">    This parameter is ignored if :attr:`collision_simplification` is False.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">collision_simplification_force_conforming</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether or not the simplification should force the output mesh to conform to the input mesh. Defaults to True.</span>
+
+<span class="sd">    The flag indicates that the tretrahedralizer used to generate the collision mesh should produce tetrahedra</span>
+<span class="sd">    that conform to the triangle mesh. If False, the simplifier uses the output from the tretrahedralizer used.</span>
+
+<span class="sd">    This parameter is ignored if :attr:`collision_simplification` is False.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">contact_offset</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Contact offset for the collision shape (in m).</span>
+
+<span class="sd">    The collision detector generates contact points as soon as two shapes get closer than the sum of their</span>
+<span class="sd">    contact offsets. This quantity should be non-negative which means that contact generation can potentially start</span>
+<span class="sd">    before the shapes actually penetrate.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">rest_offset</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Rest offset for the collision shape (in m).</span>
+
+<span class="sd">    The rest offset quantifies how close a shape gets to others at rest, At rest, the distance between two</span>
+<span class="sd">    vertically stacked objects is the sum of their rest offsets. If a pair of shapes have a positive rest</span>
+<span class="sd">    offset, the shapes will be separated at rest by an air gap.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">max_depenetration_velocity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Maximum depenetration velocity permitted to be introduced by the solver (in m/s).&quot;&quot;&quot;</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.sim.simulation_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Base configuration of the environment.</span>
+
+<span class="sd">This module defines the general configuration of the environment. It includes parameters for</span>
+<span class="sd">configuring the environment instances, viewer settings, and simulation parameters.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.spawners.materials</span> <span class="kn">import</span> <span class="n">RigidBodyMaterialCfg</span>
+
+
+<div class="viewcode-block" id="PhysxCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">PhysxCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for PhysX solver-related parameters.</span>
+
+<span class="sd">    These parameters are used to configure the PhysX solver. For more information, see the `PhysX 5 SDK</span>
+<span class="sd">    documentation`_.</span>
+
+<span class="sd">    PhysX 5 supports GPU-accelerated physics simulation. This is enabled by default, but can be disabled</span>
+<span class="sd">    by setting the :attr:`~SimulationCfg.device` to ``cpu`` in :class:`SimulationCfg`. Unlike CPU PhysX, the GPU</span>
+<span class="sd">    simulation feature is unable to dynamically grow all the buffers. Therefore, it is necessary to provide</span>
+<span class="sd">    a reasonable estimate of the buffer sizes for GPU features. If insufficient buffer sizes are provided, the</span>
+<span class="sd">    simulation will fail with errors and lead to adverse behaviors. The buffer sizes can be adjusted through the</span>
+<span class="sd">    ``gpu_*`` parameters.</span>
+
+<span class="sd">    .. _PhysX 5 SDK documentation: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/classPxSceneDesc.html</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">solver_type</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The type of solver to use.Default is 1 (TGS).</span>
+
+<span class="sd">    Available solvers:</span>
+
+<span class="sd">    * :obj:`0`: PGS (Projective Gauss-Seidel)</span>
+<span class="sd">    * :obj:`1`: TGS (Truncated Gauss-Seidel)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">min_position_iteration_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Minimum number of solver position iterations (rigid bodies, cloth, particles etc.). Default is 1.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        Each physics actor in Omniverse specifies its own solver iteration count. The solver takes</span>
+<span class="sd">        the number of iterations specified by the actor with the highest iteration and clamps it to</span>
+<span class="sd">        the range ``[min_position_iteration_count, max_position_iteration_count]``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">max_position_iteration_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">255</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Maximum number of solver position iterations (rigid bodies, cloth, particles etc.). Default is 255.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        Each physics actor in Omniverse specifies its own solver iteration count. The solver takes</span>
+<span class="sd">        the number of iterations specified by the actor with the highest iteration and clamps it to</span>
+<span class="sd">        the range ``[min_position_iteration_count, max_position_iteration_count]``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">min_velocity_iteration_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Minimum number of solver velocity iterations (rigid bodies, cloth, particles etc.). Default is 0.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        Each physics actor in Omniverse specifies its own solver iteration count. The solver takes</span>
+<span class="sd">        the number of iterations specified by the actor with the highest iteration and clamps it to</span>
+<span class="sd">        the range ``[min_velocity_iteration_count, max_velocity_iteration_count]``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">max_velocity_iteration_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">255</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Maximum number of solver velocity iterations (rigid bodies, cloth, particles etc.). Default is 255.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        Each physics actor in Omniverse specifies its own solver iteration count. The solver takes</span>
+<span class="sd">        the number of iterations specified by the actor with the highest iteration and clamps it to</span>
+<span class="sd">        the range ``[min_velocity_iteration_count, max_velocity_iteration_count]``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">enable_ccd</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enable a second broad-phase pass that makes it possible to prevent objects from tunneling through each other.</span>
+<span class="sd">    Default is False.&quot;&quot;&quot;</span>
+
+    <span class="n">enable_stabilization</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enable/disable additional stabilization pass in solver. Default is True.&quot;&quot;&quot;</span>
+
+    <span class="n">enable_enhanced_determinism</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enable/disable improved determinism at the expense of performance. Defaults to False.</span>
+
+<span class="sd">    For more information on PhysX determinism, please check `here`_.</span>
+
+<span class="sd">    .. _here: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/RigidBodyDynamics.html#enhanced-determinism</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">bounce_threshold_velocity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.5</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Relative velocity threshold for contacts to bounce (in m/s). Default is 0.5 m/s.&quot;&quot;&quot;</span>
+
+    <span class="n">friction_offset_threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.04</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Threshold for contact point to experience friction force (in m). Default is 0.04 m.&quot;&quot;&quot;</span>
+
+    <span class="n">friction_correlation_distance</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.025</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Distance threshold for merging contacts into a single friction anchor point (in m). Default is 0.025 m.&quot;&quot;&quot;</span>
+
+    <span class="n">gpu_max_rigid_contact_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="o">**</span><span class="mi">23</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Size of rigid contact stream buffer allocated in pinned host memory. Default is 2 ** 23.&quot;&quot;&quot;</span>
+
+    <span class="n">gpu_max_rigid_patch_count</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">5</span> <span class="o">*</span> <span class="mi">2</span><span class="o">**</span><span class="mi">15</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Size of the rigid contact patch stream buffer allocated in pinned host memory. Default is 5 * 2 ** 15.&quot;&quot;&quot;</span>
+
+    <span class="n">gpu_found_lost_pairs_capacity</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="o">**</span><span class="mi">21</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Capacity of found and lost buffers allocated in GPU global memory. Default is 2 ** 21.</span>
+
+<span class="sd">    This is used for the found/lost pair reports in the BP.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">gpu_found_lost_aggregate_pairs_capacity</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="o">**</span><span class="mi">25</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Capacity of found and lost buffers in aggregate system allocated in GPU global memory.</span>
+<span class="sd">    Default is 2 ** 25.</span>
+
+<span class="sd">    This is used for the found/lost pair reports in AABB manager.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">gpu_total_aggregate_pairs_capacity</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="o">**</span><span class="mi">21</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Capacity of total number of aggregate pairs allocated in GPU global memory. Default is 2 ** 21.&quot;&quot;&quot;</span>
+
+    <span class="n">gpu_collision_stack_size</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="o">**</span><span class="mi">26</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Size of the collision stack buffer allocated in pinned host memory. Default is 2 ** 26.&quot;&quot;&quot;</span>
+
+    <span class="n">gpu_heap_capacity</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="o">**</span><span class="mi">26</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Initial capacity of the GPU and pinned host memory heaps. Additional memory will be allocated</span>
+<span class="sd">    if more memory is required. Default is 2 ** 26.&quot;&quot;&quot;</span>
+
+    <span class="n">gpu_temp_buffer_capacity</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="o">**</span><span class="mi">24</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Capacity of temp buffer allocated in pinned host memory. Default is 2 ** 24.&quot;&quot;&quot;</span>
+
+    <span class="n">gpu_max_num_partitions</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">8</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Limitation for the partitions in the GPU dynamics pipeline. Default is 8.</span>
+
+<span class="sd">    This variable must be power of 2. A value greater than 32 is currently not supported. Range: (1, 32)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">gpu_max_soft_body_contacts</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="o">**</span><span class="mi">20</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Size of soft body contacts stream buffer allocated in pinned host memory. Default is 2 ** 20.&quot;&quot;&quot;</span>
+
+    <span class="n">gpu_max_particle_contacts</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="o">**</span><span class="mi">20</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Size of particle contacts stream buffer allocated in pinned host memory. Default is 2 ** 20.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="RenderCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RenderCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for Omniverse RTX Renderer.</span>
+
+<span class="sd">    These parameters are used to configure the Omniverse RTX Renderer.</span>
+<span class="sd">    For more information, see the `Omniverse RTX Renderer documentation`_.</span>
+
+<span class="sd">    .. _Omniverse RTX Renderer documentation: https://docs.omniverse.nvidia.com/materials-and-rendering/latest/rtx-renderer.html</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">enable_translucency</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enables translucency for specular transmissive surfaces such as glass at the cost of some performance. Default is False.&quot;&quot;&quot;</span>
+
+    <span class="n">enable_reflections</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enables reflections at the cost of some performance. Default is False.&quot;&quot;&quot;</span>
+
+    <span class="n">enable_global_illumination</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enables Diffused Global Illumination at the cost of some performance. Default is False.&quot;&quot;&quot;</span>
+
+    <span class="n">antialiasing_mode</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;Off&quot;</span><span class="p">,</span> <span class="s2">&quot;FXAA&quot;</span><span class="p">,</span> <span class="s2">&quot;DLSS&quot;</span><span class="p">,</span> <span class="s2">&quot;TAA&quot;</span><span class="p">,</span> <span class="s2">&quot;DLAA&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;DLSS&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Selects the anti-aliasing mode to use. Defaults to DLSS.&quot;&quot;&quot;</span>
+
+    <span class="n">enable_dlssg</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;&quot;Enables the use of DLSS-G.</span>
+<span class="sd">        DLSS Frame Generation boosts performance by using AI to generate more frames.</span>
+<span class="sd">        DLSS analyzes sequential frames and motion data to create additional high quality frames.</span>
+<span class="sd">        This feature requires an Ada Lovelace architecture GPU.</span>
+<span class="sd">        Enabling this feature also enables additional thread-related activities, which can hurt performance.</span>
+<span class="sd">        Default is False.&quot;&quot;&quot;</span>
+
+    <span class="n">dlss_mode</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;For DLSS anti-aliasing, selects the performance/quality tradeoff mode.</span>
+<span class="sd">       Valid values are 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto). Default is 0.&quot;&quot;&quot;</span>
+
+    <span class="n">enable_direct_lighting</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enable direct light contributions from lights.&quot;&quot;&quot;</span>
+
+    <span class="n">samples_per_pixel</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Defines the Direct Lighting samples per pixel.</span>
+<span class="sd">       Higher values increase the direct lighting quality at the cost of performance. Default is 1.&quot;&quot;&quot;</span>
+
+    <span class="n">enable_shadows</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enables shadows at the cost of performance. When disabled, lights will not cast shadows. Defaults to True.&quot;&quot;&quot;</span>
+
+    <span class="n">enable_ambient_occlusion</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enables ambient occlusion at the cost of some performance. Default is False.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="SimulationCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">SimulationCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for simulation physics.&quot;&quot;&quot;</span>
+
+    <span class="n">physics_prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;/physicsScene&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The prim path where the USD PhysicsScene is created. Default is &quot;/physicsScene&quot;.&quot;&quot;&quot;</span>
+
+    <span class="n">device</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;cuda:0&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The device to run the simulation on. Default is ``&quot;cuda:0&quot;``.</span>
+
+<span class="sd">    Valid options are:</span>
+
+<span class="sd">    - ``&quot;cpu&quot;``: Use CPU.</span>
+<span class="sd">    - ``&quot;cuda&quot;``: Use GPU, where the device ID is inferred from :class:`~omni.isaac.lab.app.AppLauncher`&#39;s config.</span>
+<span class="sd">    - ``&quot;cuda:N&quot;``: Use GPU, where N is the device ID. For example, &quot;cuda:0&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span> <span class="o">/</span> <span class="mf">60.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The physics simulation time-step (in seconds). Default is 0.0167 seconds.&quot;&quot;&quot;</span>
+
+    <span class="n">render_interval</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The number of physics simulation steps per rendering step. Default is 1.&quot;&quot;&quot;</span>
+
+    <span class="n">gravity</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">9.81</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The gravity vector (in m/s^2). Default is (0.0, 0.0, -9.81).</span>
+
+<span class="sd">    If set to (0.0, 0.0, 0.0), gravity is disabled.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">enable_scene_query_support</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enable/disable scene query support for collision shapes. Default is False.</span>
+
+<span class="sd">    This flag allows performing collision queries (raycasts, sweeps, and overlaps) on actors and</span>
+<span class="sd">    attached shapes in the scene. This is useful for implementing custom collision detection logic</span>
+<span class="sd">    outside of the physics engine.</span>
+
+<span class="sd">    If set to False, the physics engine does not create the scene query manager and the scene query</span>
+<span class="sd">    functionality will not be available. However, this provides some performance speed-up.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This flag is overridden to True inside the :class:`SimulationContext` class when running the simulation</span>
+<span class="sd">        with the GUI enabled. This is to allow certain GUI features to work properly.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">use_fabric</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enable/disable reading of physics buffers directly. Default is True.</span>
+
+<span class="sd">    When running the simulation, updates in the states in the scene is normally synchronized with USD.</span>
+<span class="sd">    This leads to an overhead in reading the data and does not scale well with massive parallelization.</span>
+<span class="sd">    This flag allows disabling the synchronization and reading the data directly from the physics buffers.</span>
+
+<span class="sd">    It is recommended to set this flag to :obj:`True` when running the simulation with a large number</span>
+<span class="sd">    of primitives in the scene.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        When enabled, the GUI will not update the physics parameters in real-time. To enable real-time</span>
+<span class="sd">        updates, please set this flag to :obj:`False`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">disable_contact_processing</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enable/disable contact processing. Default is False.</span>
+
+<span class="sd">    By default, the physics engine processes all the contacts in the scene. However, reporting this contact</span>
+<span class="sd">    information can be expensive due to its combinatorial complexity. This flag allows disabling the contact</span>
+<span class="sd">    processing and querying the contacts manually by the user over a limited set of primitives in the scene.</span>
+
+<span class="sd">    .. note::</span>
+
+<span class="sd">        It is required to set this flag to :obj:`True` when using the TensorAPIs for contact reporting.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">physx</span><span class="p">:</span> <span class="n">PhysxCfg</span> <span class="o">=</span> <span class="n">PhysxCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;PhysX solver settings. Default is PhysxCfg().&quot;&quot;&quot;</span>
+
+    <span class="n">physics_material</span><span class="p">:</span> <span class="n">RigidBodyMaterialCfg</span> <span class="o">=</span> <span class="n">RigidBodyMaterialCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Default physics material settings for rigid bodies. Default is RigidBodyMaterialCfg().</span>
+
+<span class="sd">    The physics engine defaults to this physics material for all the rigid body prims that do not have any</span>
+<span class="sd">    physics material specified on them.</span>
+
+<span class="sd">    The material is created at the path: ``{physics_prim_path}/defaultMaterial``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">render</span><span class="p">:</span> <span class="n">RenderCfg</span> <span class="o">=</span> <span class="n">RenderCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Render settings. Default is RenderCfg().&quot;&quot;&quot;</span></div>
+</pre></div>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
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+</ul>
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+  <h1>Source code for omni.isaac.lab.sim.simulation_context</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">builtins</span>
+<span class="kn">import</span> <span class="nn">enum</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">sys</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">traceback</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Iterator</span>
+<span class="kn">from</span> <span class="nn">contextlib</span> <span class="kn">import</span> <span class="n">contextmanager</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">import</span> <span class="nn">omni.physx</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.core.simulation_context</span> <span class="kn">import</span> <span class="n">SimulationContext</span> <span class="k">as</span> <span class="n">_SimulationContext</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.core.utils.viewports</span> <span class="kn">import</span> <span class="n">set_camera_view</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.version</span> <span class="kn">import</span> <span class="n">get_version</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Gf</span><span class="p">,</span> <span class="n">PhysxSchema</span><span class="p">,</span> <span class="n">Usd</span><span class="p">,</span> <span class="n">UsdPhysics</span>
+
+<span class="kn">from</span> <span class="nn">.simulation_cfg</span> <span class="kn">import</span> <span class="n">SimulationCfg</span>
+<span class="kn">from</span> <span class="nn">.spawners</span> <span class="kn">import</span> <span class="n">DomeLightCfg</span><span class="p">,</span> <span class="n">GroundPlaneCfg</span>
+<span class="kn">from</span> <span class="nn">.utils</span> <span class="kn">import</span> <span class="n">bind_physics_material</span>
+
+
+<div class="viewcode-block" id="SimulationContext"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext">[docs]</a><span class="k">class</span> <span class="nc">SimulationContext</span><span class="p">(</span><span class="n">_SimulationContext</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A class to control simulation-related events such as physics stepping and rendering.</span>
+
+<span class="sd">    The simulation context helps control various simulation aspects. This includes:</span>
+
+<span class="sd">    * configure the simulator with different settings such as the physics time-step, the number of physics substeps,</span>
+<span class="sd">      and the physics solver parameters (for more information, see :class:`omni.isaac.lab.sim.SimulationCfg`)</span>
+<span class="sd">    * playing, pausing, stepping and stopping the simulation</span>
+<span class="sd">    * adding and removing callbacks to different simulation events such as physics stepping, rendering, etc.</span>
+
+<span class="sd">    This class inherits from the :class:`omni.isaac.core.simulation_context.SimulationContext` class and</span>
+<span class="sd">    adds additional functionalities such as setting up the simulation context with a configuration object,</span>
+<span class="sd">    exposing other commonly used simulator-related functions, and performing version checks of Isaac Sim</span>
+<span class="sd">    to ensure compatibility between releases.</span>
+
+<span class="sd">    The simulation context is a singleton object. This means that there can only be one instance</span>
+<span class="sd">    of the simulation context at any given time. This is enforced by the parent class. Therefore, it is</span>
+<span class="sd">    not possible to create multiple instances of the simulation context. Instead, the simulation context</span>
+<span class="sd">    can be accessed using the ``instance()`` method.</span>
+
+<span class="sd">    .. attention::</span>
+<span class="sd">        Since we only support the `PyTorch &lt;https://pytorch.org/&gt;`_ backend for simulation, the</span>
+<span class="sd">        simulation context is configured to use the ``torch`` backend by default. This means that</span>
+<span class="sd">        all the data structures used in the simulation are ``torch.Tensor`` objects.</span>
+
+<span class="sd">    The simulation context can be used in two different modes of operations:</span>
+
+<span class="sd">    1. **Standalone python script**: In this mode, the user has full control over the simulation and</span>
+<span class="sd">       can trigger stepping events synchronously (i.e. as a blocking call). In this case the user</span>
+<span class="sd">       has to manually call :meth:`step` step the physics simulation and :meth:`render` to</span>
+<span class="sd">       render the scene.</span>
+<span class="sd">    2. **Omniverse extension**: In this mode, the user has limited control over the simulation stepping</span>
+<span class="sd">       and all the simulation events are triggered asynchronously (i.e. as a non-blocking call). In this</span>
+<span class="sd">       case, the user can only trigger the simulation to start, pause, and stop. The simulation takes</span>
+<span class="sd">       care of stepping the physics simulation and rendering the scene.</span>
+
+<span class="sd">    Based on above, for most functions in this class there is an equivalent function that is suffixed</span>
+<span class="sd">    with ``_async``. The ``_async`` functions are used in the Omniverse extension mode and</span>
+<span class="sd">    the non-``_async`` functions are used in the standalone python script mode.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="SimulationContext.RenderMode"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.RenderMode">[docs]</a>    <span class="k">class</span> <span class="nc">RenderMode</span><span class="p">(</span><span class="n">enum</span><span class="o">.</span><span class="n">IntEnum</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Different rendering modes for the simulation.</span>
+
+<span class="sd">        Render modes correspond to how the viewport and other UI elements (such as listeners to keyboard or mouse</span>
+<span class="sd">        events) are updated. There are three main components that can be updated when the simulation is rendered:</span>
+
+<span class="sd">        1. **UI elements and other extensions**: These are UI elements (such as buttons, sliders, etc.) and other</span>
+<span class="sd">           extensions that are running in the background that need to be updated when the simulation is running.</span>
+<span class="sd">        2. **Cameras**: These are typically based on Hydra textures and are used to render the scene from different</span>
+<span class="sd">           viewpoints. They can be attached to a viewport or be used independently to render the scene.</span>
+<span class="sd">        3. **Viewports**: These are windows where you can see the rendered scene.</span>
+
+<span class="sd">        Updating each of the above components has a different overhead. For example, updating the viewports is</span>
+<span class="sd">        computationally expensive compared to updating the UI elements. Therefore, it is useful to be able to</span>
+<span class="sd">        control what is updated when the simulation is rendered. This is where the render mode comes in. There are</span>
+<span class="sd">        four different render modes:</span>
+
+<span class="sd">        * :attr:`NO_GUI_OR_RENDERING`: The simulation is running without a GUI and off-screen rendering flag is disabled,</span>
+<span class="sd">          so none of the above are updated.</span>
+<span class="sd">        * :attr:`NO_RENDERING`: No rendering, where only 1 is updated at a lower rate.</span>
+<span class="sd">        * :attr:`PARTIAL_RENDERING`: Partial rendering, where only 1 and 2 are updated.</span>
+<span class="sd">        * :attr:`FULL_RENDERING`: Full rendering, where everything (1, 2, 3) is updated.</span>
+
+<span class="sd">        .. _Viewports: https://docs.omniverse.nvidia.com/extensions/latest/ext_viewport.html</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="n">NO_GUI_OR_RENDERING</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The simulation is running without a GUI and off-screen rendering is disabled.&quot;&quot;&quot;</span>
+        <span class="n">NO_RENDERING</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;No rendering, where only other UI elements are updated at a lower rate.&quot;&quot;&quot;</span>
+        <span class="n">PARTIAL_RENDERING</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Partial rendering, where the simulation cameras and UI elements are updated.&quot;&quot;&quot;</span>
+        <span class="n">FULL_RENDERING</span> <span class="o">=</span> <span class="mi">2</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Full rendering, where all the simulation viewports, cameras and UI elements are updated.&quot;&quot;&quot;</span></div>
+
+<div class="viewcode-block" id="SimulationContext.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Creates a simulation context to control the simulator.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration of the simulation. Defaults to None,</span>
+<span class="sd">                in which case the default configuration is used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># store input</span>
+        <span class="k">if</span> <span class="n">cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">cfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">()</span>
+        <span class="c1"># check that the config is valid</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">validate</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="c1"># check that simulation is running</span>
+        <span class="k">if</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;The stage has not been created. Did you run the simulator?&quot;</span><span class="p">)</span>
+
+        <span class="c1"># set flags for simulator</span>
+        <span class="c1"># acquire settings interface</span>
+        <span class="n">carb_settings_iface</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">get_settings</span><span class="p">()</span>
+        <span class="c1"># enable hydra scene-graph instancing</span>
+        <span class="c1"># note: this allows rendering of instanceable assets on the GUI</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/persistent/omnihydra/useSceneGraphInstancing&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+        <span class="c1"># change dispatcher to use the default dispatcher in PhysX SDK instead of carb tasking</span>
+        <span class="c1"># note: dispatcher handles how threads are launched for multi-threaded physics</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/physics/physxDispatcher&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+        <span class="c1"># disable contact processing in omni.physx if requested</span>
+        <span class="c1"># note: helpful when creating contact reporting over limited number of objects in the scene</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">disable_contact_processing</span><span class="p">:</span>
+            <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/physics/disableContactProcessing&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+        <span class="c1"># enable custom geometry for cylinder and cone collision shapes to allow contact reporting for them</span>
+        <span class="c1"># reason: cylinders and cones aren&#39;t natively supported by PhysX so we need to use custom geometry flags</span>
+        <span class="c1"># reference: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/Geometry.html?highlight=capsule#geometry</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/physics/collisionConeCustomGeometry&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/physics/collisionCylinderCustomGeometry&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+        <span class="c1"># note: we read this once since it is not expected to change during runtime</span>
+        <span class="c1"># read flag for whether a local GUI is enabled</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_local_gui</span> <span class="o">=</span> <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;/app/window/enabled&quot;</span><span class="p">)</span>
+        <span class="c1"># read flag for whether livestreaming GUI is enabled</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_livestream_gui</span> <span class="o">=</span> <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;/app/livestream/enabled&quot;</span><span class="p">)</span>
+
+        <span class="c1"># read flag for whether the Isaac Lab viewport capture pipeline will be used,</span>
+        <span class="c1"># casting None to False if the flag doesn&#39;t exist</span>
+        <span class="c1"># this flag is set from the AppLauncher class</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_offscreen_render</span> <span class="o">=</span> <span class="nb">bool</span><span class="p">(</span><span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;/isaaclab/render/offscreen&quot;</span><span class="p">))</span>
+        <span class="c1"># read flag for whether the default viewport should be enabled</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_render_viewport</span> <span class="o">=</span> <span class="nb">bool</span><span class="p">(</span><span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;/isaaclab/render/active_viewport&quot;</span><span class="p">))</span>
+        <span class="c1"># flag for whether any GUI will be rendered (local, livestreamed or viewport)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_has_gui</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_local_gui</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">_livestream_gui</span>
+
+        <span class="c1"># apply render settings from render config</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/rtx/translucency/enabled&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render</span><span class="o">.</span><span class="n">enable_translucency</span><span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/rtx/reflections/enabled&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render</span><span class="o">.</span><span class="n">enable_reflections</span><span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/rtx/indirectDiffuse/enabled&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render</span><span class="o">.</span><span class="n">enable_global_illumination</span><span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/rtx/transient/dlssg/enabled&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render</span><span class="o">.</span><span class="n">enable_dlssg</span><span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_int</span><span class="p">(</span><span class="s2">&quot;/rtx/post/dlss/execMode&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render</span><span class="o">.</span><span class="n">dlss_mode</span><span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/rtx/directLighting/enabled&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render</span><span class="o">.</span><span class="n">enable_direct_lighting</span><span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_int</span><span class="p">(</span>
+            <span class="s2">&quot;/rtx/directLighting/sampledLighting/samplesPerPixel&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render</span><span class="o">.</span><span class="n">samples_per_pixel</span>
+        <span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/rtx/shadows/enabled&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render</span><span class="o">.</span><span class="n">enable_shadows</span><span class="p">)</span>
+        <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/rtx/ambientOcclusion/enabled&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render</span><span class="o">.</span><span class="n">enable_ambient_occlusion</span><span class="p">)</span>
+        <span class="c1"># set denoiser mode</span>
+        <span class="k">try</span><span class="p">:</span>
+            <span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+
+            <span class="n">rep</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">set_render_rtx_realtime</span><span class="p">(</span><span class="n">antialiasing</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render</span><span class="o">.</span><span class="n">antialiasing_mode</span><span class="p">)</span>
+        <span class="k">except</span> <span class="ne">Exception</span><span class="p">:</span>
+            <span class="k">pass</span>
+
+        <span class="c1"># store the default render mode</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_has_gui</span> <span class="ow">and</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_offscreen_render</span><span class="p">:</span>
+            <span class="c1"># set default render mode</span>
+            <span class="c1"># note: this is the terminal state: cannot exit from this render mode</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">NO_GUI_OR_RENDERING</span>
+            <span class="c1"># set viewport context to None</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_context</span> <span class="o">=</span> <span class="kc">None</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_window</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="k">elif</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_has_gui</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">_offscreen_render</span><span class="p">:</span>
+            <span class="c1"># set default render mode</span>
+            <span class="c1"># note: this is the terminal state: cannot exit from this render mode</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span>
+            <span class="c1"># set viewport context to None</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_context</span> <span class="o">=</span> <span class="kc">None</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_window</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># note: need to import here in case the UI is not available (ex. headless mode)</span>
+            <span class="kn">import</span> <span class="nn">omni.ui</span> <span class="k">as</span> <span class="nn">ui</span>
+            <span class="kn">from</span> <span class="nn">omni.kit.viewport.utility</span> <span class="kn">import</span> <span class="n">get_active_viewport</span>
+
+            <span class="c1"># set default render mode</span>
+            <span class="c1"># note: this can be changed by calling the `set_render_mode` function</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">FULL_RENDERING</span>
+            <span class="c1"># acquire viewport context</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_context</span> <span class="o">=</span> <span class="n">get_active_viewport</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_context</span><span class="o">.</span><span class="n">updates_enabled</span> <span class="o">=</span> <span class="kc">True</span>  <span class="c1"># pyright: ignore [reportOptionalMemberAccess]</span>
+            <span class="c1"># acquire viewport window</span>
+            <span class="c1"># TODO @mayank: Why not just use get_active_viewport_and_window() directly?</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_window</span> <span class="o">=</span> <span class="n">ui</span><span class="o">.</span><span class="n">Workspace</span><span class="o">.</span><span class="n">get_window</span><span class="p">(</span><span class="s2">&quot;Viewport&quot;</span><span class="p">)</span>
+            <span class="c1"># counter for periodic rendering</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_render_throttle_counter</span> <span class="o">=</span> <span class="mi">0</span>
+            <span class="c1"># rendering frequency in terms of number of render calls</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_render_throttle_period</span> <span class="o">=</span> <span class="mi">5</span>
+
+        <span class="c1"># check the case where we don&#39;t need to render the viewport</span>
+        <span class="c1"># since render_viewport can only be False in headless mode, we only need to check for offscreen_render</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_render_viewport</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">_offscreen_render</span><span class="p">:</span>
+            <span class="c1"># disable the viewport if offscreen_render is enabled</span>
+            <span class="kn">from</span> <span class="nn">omni.kit.viewport.utility</span> <span class="kn">import</span> <span class="n">get_active_viewport</span>
+
+            <span class="n">get_active_viewport</span><span class="p">()</span><span class="o">.</span><span class="n">updates_enabled</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="c1"># override enable scene querying if rendering is enabled</span>
+        <span class="c1"># this is needed for some GUI features</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_has_gui</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">enable_scene_query_support</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="c1"># set up flatcache/fabric interface (default is None)</span>
+        <span class="c1"># this is needed to flush the flatcache data into Hydra manually when calling `render()`</span>
+        <span class="c1"># ref: https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_physics.html</span>
+        <span class="c1"># note: need to do this here because super().__init__ calls render and this variable is needed</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_fabric_iface</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># read isaac sim version (this includes build tag, release tag etc.)</span>
+        <span class="c1"># note: we do it once here because it reads the VERSION file from disk and is not expected to change.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_isaacsim_version</span> <span class="o">=</span> <span class="n">get_version</span><span class="p">()</span>
+
+        <span class="c1"># create a tensor for gravity</span>
+        <span class="c1"># note: this line is needed to create a &quot;tensor&quot; in the device to avoid issues with torch 2.1 onwards.</span>
+        <span class="c1">#   the issue is with some heap memory corruption when torch tensor is created inside the asset class.</span>
+        <span class="c1">#   you can reproduce the issue by commenting out this line and running the test `test_articulation.py`.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_gravity_tensor</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">gravity</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># add callback to deal the simulation app when simulation is stopped.</span>
+        <span class="c1"># this is needed because physics views go invalid once we stop the simulation</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">builtins</span><span class="o">.</span><span class="n">ISAAC_LAUNCHED_FROM_TERMINAL</span><span class="p">:</span>
+            <span class="n">timeline_event_stream</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">get_timeline_interface</span><span class="p">()</span><span class="o">.</span><span class="n">get_timeline_event_stream</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_app_control_on_stop_handle</span> <span class="o">=</span> <span class="n">timeline_event_stream</span><span class="o">.</span><span class="n">create_subscription_to_pop_by_type</span><span class="p">(</span>
+                <span class="nb">int</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">TimelineEventType</span><span class="o">.</span><span class="n">STOP</span><span class="p">),</span>
+                <span class="k">lambda</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">_app_control_on_stop_callback</span><span class="p">(</span><span class="o">*</span><span class="n">args</span><span class="p">),</span>
+                <span class="n">order</span><span class="o">=</span><span class="mi">15</span><span class="p">,</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_app_control_on_stop_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># flatten out the simulation dictionary</span>
+        <span class="n">sim_params</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+        <span class="k">if</span> <span class="n">sim_params</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="s2">&quot;physx&quot;</span> <span class="ow">in</span> <span class="n">sim_params</span><span class="p">:</span>
+                <span class="n">physx_params</span> <span class="o">=</span> <span class="n">sim_params</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;physx&quot;</span><span class="p">)</span>
+                <span class="n">sim_params</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">physx_params</span><span class="p">)</span>
+        <span class="c1"># create a simulation context to control the simulator</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span>
+            <span class="n">stage_units_in_meters</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+            <span class="n">physics_dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">dt</span><span class="p">,</span>
+            <span class="n">rendering_dt</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">dt</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">render_interval</span><span class="p">,</span>
+            <span class="n">backend</span><span class="o">=</span><span class="s2">&quot;torch&quot;</span><span class="p">,</span>
+            <span class="n">sim_params</span><span class="o">=</span><span class="n">sim_params</span><span class="p">,</span>
+            <span class="n">physics_prim_path</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_prim_path</span><span class="p">,</span>
+            <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+        <span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - New.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="SimulationContext.has_gui"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.has_gui">[docs]</a>    <span class="k">def</span> <span class="nf">has_gui</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns whether the simulation has a GUI enabled.</span>
+
+<span class="sd">        True if the simulation has a GUI enabled either locally or live-streamed.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_has_gui</span></div>
+
+<div class="viewcode-block" id="SimulationContext.has_rtx_sensors"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.has_rtx_sensors">[docs]</a>    <span class="k">def</span> <span class="nf">has_rtx_sensors</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns whether the simulation has any RTX-rendering related sensors.</span>
+
+<span class="sd">        This function returns the value of the simulation parameter ``&quot;/isaaclab/render/rtx_sensors&quot;``.</span>
+<span class="sd">        The parameter is set to True when instances of RTX-related sensors (cameras or LiDARs) are</span>
+<span class="sd">        created using Isaac Lab&#39;s sensor classes.</span>
+
+<span class="sd">        True if the simulation has RTX sensors (such as USD Cameras or LiDARs).</span>
+
+<span class="sd">        For more information, please check `NVIDIA RTX documentation`_.</span>
+
+<span class="sd">        .. _NVIDIA RTX documentation: https://developer.nvidia.com/rendering-technologies</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_settings</span><span class="o">.</span><span class="n">get_as_bool</span><span class="p">(</span><span class="s2">&quot;/isaaclab/render/rtx_sensors&quot;</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="SimulationContext.is_fabric_enabled"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.is_fabric_enabled">[docs]</a>    <span class="k">def</span> <span class="nf">is_fabric_enabled</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns whether the fabric interface is enabled.</span>
+
+<span class="sd">        When fabric interface is enabled, USD read/write operations are disabled. Instead all applications</span>
+<span class="sd">        read and write the simulation state directly from the fabric interface. This reduces a lot of overhead</span>
+<span class="sd">        that occurs during USD read/write operations.</span>
+
+<span class="sd">        For more information, please check `Fabric documentation`_.</span>
+
+<span class="sd">        .. _Fabric documentation: https://docs.omniverse.nvidia.com/kit/docs/usdrt/latest/docs/usd_fabric_usdrt.html</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_fabric_iface</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span></div>
+
+<div class="viewcode-block" id="SimulationContext.get_version"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.get_version">[docs]</a>    <span class="k">def</span> <span class="nf">get_version</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">int</span><span class="p">,</span> <span class="nb">int</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the version of the simulator.</span>
+
+<span class="sd">        This is a wrapper around the ``omni.isaac.version.get_version()`` function.</span>
+
+<span class="sd">        The returned tuple contains the following information:</span>
+
+<span class="sd">        * Major version (int): This is the year of the release (e.g. 2022).</span>
+<span class="sd">        * Minor version (int): This is the half-year of the release (e.g. 1 or 2).</span>
+<span class="sd">        * Patch version (int): This is the patch number of the release (e.g. 0).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">int</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_isaacsim_version</span><span class="p">[</span><span class="mi">2</span><span class="p">]),</span> <span class="nb">int</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_isaacsim_version</span><span class="p">[</span><span class="mi">3</span><span class="p">]),</span> <span class="nb">int</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_isaacsim_version</span><span class="p">[</span><span class="mi">4</span><span class="p">])</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - New utilities.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="SimulationContext.set_camera_view"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.set_camera_view">[docs]</a>    <span class="k">def</span> <span class="nf">set_camera_view</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">eye</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+        <span class="n">target</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+        <span class="n">camera_prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;/OmniverseKit_Persp&quot;</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the location and target of the viewport camera in the stage.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This is a wrapper around the :math:`omni.isaac.core.utils.viewports.set_camera_view` function.</span>
+<span class="sd">            It is provided here for convenience to reduce the amount of imports needed.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            eye: The location of the camera eye.</span>
+<span class="sd">            target: The location of the camera target.</span>
+<span class="sd">            camera_prim_path: The path to the camera primitive in the stage. Defaults to</span>
+<span class="sd">                &quot;/OmniverseKit_Persp&quot;.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># safe call only if we have a GUI or viewport rendering enabled</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_has_gui</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">_offscreen_render</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">_render_viewport</span><span class="p">:</span>
+            <span class="n">set_camera_view</span><span class="p">(</span><span class="n">eye</span><span class="p">,</span> <span class="n">target</span><span class="p">,</span> <span class="n">camera_prim_path</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="SimulationContext.set_render_mode"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.set_render_mode">[docs]</a>    <span class="k">def</span> <span class="nf">set_render_mode</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">mode</span><span class="p">:</span> <span class="n">RenderMode</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Change the current render mode of the simulation.</span>
+
+<span class="sd">        Please see :class:`RenderMode` for more information on the different render modes.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            When no GUI is available (locally or livestreamed), we do not need to choose whether the viewport</span>
+<span class="sd">            needs to render or not (since there is no GUI). Thus, in this case, calling the function will not</span>
+<span class="sd">            change the render mode.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            mode (RenderMode): The rendering mode. If different than SimulationContext&#39;s rendering mode,</span>
+<span class="sd">            SimulationContext&#39;s mode is changed to the new mode.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the input mode is not supported.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if mode change is possible -- not possible when no GUI is available</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_has_gui</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Cannot change render mode when GUI is disabled. Using the default render mode: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span><span class="si">}</span><span class="s2">.&quot;</span>
+            <span class="p">)</span>
+            <span class="k">return</span>
+        <span class="c1"># check if there is a mode change</span>
+        <span class="c1"># note: this is mostly needed for GUI when we want to switch between full rendering and no rendering.</span>
+        <span class="k">if</span> <span class="n">mode</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">mode</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">FULL_RENDERING</span><span class="p">:</span>
+                <span class="c1"># display the viewport and enable updates</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_context</span><span class="o">.</span><span class="n">updates_enabled</span> <span class="o">=</span> <span class="kc">True</span>  <span class="c1"># pyright: ignore [reportOptionalMemberAccess]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_window</span><span class="o">.</span><span class="n">visible</span> <span class="o">=</span> <span class="kc">True</span>  <span class="c1"># pyright: ignore [reportOptionalMemberAccess]</span>
+            <span class="k">elif</span> <span class="n">mode</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">PARTIAL_RENDERING</span><span class="p">:</span>
+                <span class="c1"># hide the viewport and disable updates</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_context</span><span class="o">.</span><span class="n">updates_enabled</span> <span class="o">=</span> <span class="kc">False</span>  <span class="c1"># pyright: ignore [reportOptionalMemberAccess]</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_window</span><span class="o">.</span><span class="n">visible</span> <span class="o">=</span> <span class="kc">False</span>  <span class="c1"># pyright: ignore [reportOptionalMemberAccess]</span>
+            <span class="k">elif</span> <span class="n">mode</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">NO_RENDERING</span><span class="p">:</span>
+                <span class="c1"># hide the viewport and disable updates</span>
+                <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_context</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_context</span><span class="o">.</span><span class="n">updates_enabled</span> <span class="o">=</span> <span class="kc">False</span>  <span class="c1"># pyright: ignore [reportOptionalMemberAccess]</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_viewport_window</span><span class="o">.</span><span class="n">visible</span> <span class="o">=</span> <span class="kc">False</span>  <span class="c1"># pyright: ignore [reportOptionalMemberAccess]</span>
+                <span class="c1"># reset the throttle counter</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_render_throttle_counter</span> <span class="o">=</span> <span class="mi">0</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unsupported render mode: </span><span class="si">{</span><span class="n">mode</span><span class="si">}</span><span class="s2">! Please check `RenderMode` for details.&quot;</span><span class="p">)</span>
+            <span class="c1"># update render mode</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">=</span> <span class="n">mode</span></div>
+
+<div class="viewcode-block" id="SimulationContext.set_setting"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.set_setting">[docs]</a>    <span class="k">def</span> <span class="nf">set_setting</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">value</span><span class="p">:</span> <span class="n">Any</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set simulation settings using the Carbonite SDK.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            If the input setting name does not exist, it will be created. If it does exist, the value will be</span>
+<span class="sd">            overwritten. Please make sure to use the correct setting name.</span>
+
+<span class="sd">            To understand the settings interface, please refer to the</span>
+<span class="sd">            `Carbonite SDK &lt;https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/settings.html&gt;`_</span>
+<span class="sd">            documentation.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name: The name of the setting.</span>
+<span class="sd">            value: The value of the setting.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_settings</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">value</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="SimulationContext.get_setting"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.get_setting">[docs]</a>    <span class="k">def</span> <span class="nf">get_setting</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Any</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Read the simulation setting using the Carbonite SDK.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name: The name of the setting.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The value of the setting.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_settings</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">name</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="SimulationContext.forward"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.forward">[docs]</a>    <span class="k">def</span> <span class="nf">forward</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Updates articulation kinematics and fabric for rendering.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_fabric_iface</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">physics_sim_view</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">is_playing</span><span class="p">():</span>
+                <span class="c1"># Update the articulations&#39; link&#39;s poses before rendering</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">physics_sim_view</span><span class="o">.</span><span class="n">update_articulations_kinematic</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_update_fabric</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Override (standalone)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">soft</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">soft</span><span class="o">=</span><span class="n">soft</span><span class="p">)</span>
+        <span class="c1"># perform additional rendering steps to warm up replicator buffers</span>
+        <span class="c1"># this is only needed for the first time we set the simulation</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">soft</span><span class="p">:</span>
+            <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">2</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+
+<div class="viewcode-block" id="SimulationContext.step"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.step">[docs]</a>    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">render</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Steps the simulation.</span>
+
+<span class="sd">        .. note::</span>
+<span class="sd">            This function blocks if the timeline is paused. It only returns when the timeline is playing.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            render: Whether to render the scene after stepping the physics simulation.</span>
+<span class="sd">                    If set to False, the scene is not rendered and only the physics simulation is stepped.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if the simulation timeline is paused. in that case keep stepping until it is playing</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">is_playing</span><span class="p">():</span>
+            <span class="c1"># step the simulator (but not the physics) to have UI still active</span>
+            <span class="k">while</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">is_playing</span><span class="p">():</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+                <span class="c1"># meantime if someone stops, break out of the loop</span>
+                <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">is_stopped</span><span class="p">():</span>
+                    <span class="k">break</span>
+            <span class="c1"># need to do one step to refresh the app</span>
+            <span class="c1"># reason: physics has to parse the scene again and inform other extensions like hydra-delegate.</span>
+            <span class="c1">#   without this the app becomes unresponsive.</span>
+            <span class="c1"># FIXME: This steps physics as well, which we is not good in general.</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">update</span><span class="p">()</span>
+
+        <span class="c1"># step the simulation</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="SimulationContext.render"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.render">[docs]</a>    <span class="k">def</span> <span class="nf">render</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">mode</span><span class="p">:</span> <span class="n">RenderMode</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Refreshes the rendering components including UI elements and view-ports depending on the render mode.</span>
+
+<span class="sd">        This function is used to refresh the rendering components of the simulation. This includes updating the</span>
+<span class="sd">        view-ports, UI elements, and other extensions (besides physics simulation) that are running in the</span>
+<span class="sd">        background. The rendering components are refreshed based on the render mode.</span>
+
+<span class="sd">        Please see :class:`RenderMode` for more information on the different render modes.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            mode: The rendering mode. Defaults to None, in which case the current rendering mode is used.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if we need to change the render mode</span>
+        <span class="k">if</span> <span class="n">mode</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">set_render_mode</span><span class="p">(</span><span class="n">mode</span><span class="p">)</span>
+        <span class="c1"># render based on the render mode</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">NO_GUI_OR_RENDERING</span><span class="p">:</span>
+            <span class="c1"># we never want to render anything here (this is for complete headless mode)</span>
+            <span class="k">pass</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">RenderMode</span><span class="o">.</span><span class="n">NO_RENDERING</span><span class="p">:</span>
+            <span class="c1"># throttle the rendering frequency to keep the UI responsive</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_render_throttle_counter</span> <span class="o">+=</span> <span class="mi">1</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_render_throttle_counter</span> <span class="o">%</span> <span class="bp">self</span><span class="o">.</span><span class="n">_render_throttle_period</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_render_throttle_counter</span> <span class="o">=</span> <span class="mi">0</span>
+                <span class="c1"># here we don&#39;t render viewport so don&#39;t need to flush fabric data</span>
+                <span class="c1"># note: we don&#39;t call super().render() anymore because they do flush the fabric data</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">set_setting</span><span class="p">(</span><span class="s2">&quot;/app/player/playSimulations&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_app</span><span class="o">.</span><span class="n">update</span><span class="p">()</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">set_setting</span><span class="p">(</span><span class="s2">&quot;/app/player/playSimulations&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># manually flush the fabric data to update Hydra textures</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">forward</span><span class="p">()</span>
+            <span class="c1"># render the simulation</span>
+            <span class="c1"># note: we don&#39;t call super().render() anymore because they do above operation inside</span>
+            <span class="c1">#  and we don&#39;t want to do it twice. We may remove it once we drop support for Isaac Sim 2022.2.</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">set_setting</span><span class="p">(</span><span class="s2">&quot;/app/player/playSimulations&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_app</span><span class="o">.</span><span class="n">update</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">set_setting</span><span class="p">(</span><span class="s2">&quot;/app/player/playSimulations&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Override (extension)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">async</span> <span class="k">def</span> <span class="nf">reset_async</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">soft</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">):</span>
+        <span class="c1"># need to load all &quot;physics&quot; information from the USD file</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">soft</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">physx</span><span class="o">.</span><span class="n">acquire_physx_interface</span><span class="p">()</span><span class="o">.</span><span class="n">force_load_physics_from_usd</span><span class="p">()</span>
+        <span class="c1"># play the simulation</span>
+        <span class="k">await</span> <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset_async</span><span class="p">(</span><span class="n">soft</span><span class="o">=</span><span class="n">soft</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Initialization/Destruction - Override.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_init_stage</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span><span class="p">:</span>
+        <span class="n">_</span> <span class="o">=</span> <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_init_stage</span><span class="p">(</span><span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+        <span class="c1"># a stage update here is needed for the case when physics_dt != rendering_dt, otherwise the app crashes</span>
+        <span class="c1"># when in headless mode</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">set_setting</span><span class="p">(</span><span class="s2">&quot;/app/player/playSimulations&quot;</span><span class="p">,</span> <span class="kc">False</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_app</span><span class="o">.</span><span class="n">update</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">set_setting</span><span class="p">(</span><span class="s2">&quot;/app/player/playSimulations&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+        <span class="c1"># set additional physx parameters and bind material</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_set_additional_physx_params</span><span class="p">()</span>
+        <span class="c1"># load flatcache/fabric interface</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_load_fabric_interface</span><span class="p">()</span>
+        <span class="c1"># return the stage</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">stage</span>
+
+    <span class="k">async</span> <span class="k">def</span> <span class="nf">_initialize_stage_async</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span><span class="p">:</span>
+        <span class="k">await</span> <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_initialize_stage_async</span><span class="p">(</span><span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+        <span class="c1"># set additional physx parameters and bind material</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_set_additional_physx_params</span><span class="p">()</span>
+        <span class="c1"># load flatcache/fabric interface</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_load_fabric_interface</span><span class="p">()</span>
+        <span class="c1"># return the stage</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">stage</span>
+
+    <span class="nd">@classmethod</span>
+    <span class="k">def</span> <span class="nf">clear_instance</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
+        <span class="c1"># clear the callback</span>
+        <span class="k">if</span> <span class="bp">cls</span><span class="o">.</span><span class="n">_instance</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">cls</span><span class="o">.</span><span class="n">_instance</span><span class="o">.</span><span class="n">_app_control_on_stop_handle</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">cls</span><span class="o">.</span><span class="n">_instance</span><span class="o">.</span><span class="n">_app_control_on_stop_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+                <span class="bp">cls</span><span class="o">.</span><span class="n">_instance</span><span class="o">.</span><span class="n">_app_control_on_stop_handle</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># call parent to clear the instance</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">clear_instance</span><span class="p">()</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper Functions</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_set_additional_physx_params</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets additional PhysX parameters that are not directly supported by the parent class.&quot;&quot;&quot;</span>
+        <span class="c1"># obtain the physics scene api</span>
+        <span class="n">physics_scene</span><span class="p">:</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">Scene</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_context</span><span class="o">.</span><span class="n">_physics_scene</span>
+        <span class="n">physx_scene_api</span><span class="p">:</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxSceneAPI</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_physics_context</span><span class="o">.</span><span class="n">_physx_scene_api</span>
+        <span class="c1"># assert that scene api is not None</span>
+        <span class="k">if</span> <span class="n">physx_scene_api</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;Physics scene API is None! Please create the scene first.&quot;</span><span class="p">)</span>
+        <span class="c1"># set parameters not directly supported by the constructor</span>
+        <span class="c1"># -- Continuous Collision Detection (CCD)</span>
+        <span class="c1"># ref: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/AdvancedCollisionDetection.html?highlight=ccd#continuous-collision-detection</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_physics_context</span><span class="o">.</span><span class="n">enable_ccd</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physx</span><span class="o">.</span><span class="n">enable_ccd</span><span class="p">)</span>
+        <span class="c1"># -- GPU collision stack size</span>
+        <span class="n">physx_scene_api</span><span class="o">.</span><span class="n">CreateGpuCollisionStackSizeAttr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physx</span><span class="o">.</span><span class="n">gpu_collision_stack_size</span><span class="p">)</span>
+        <span class="c1"># -- Improved determinism by PhysX</span>
+        <span class="n">physx_scene_api</span><span class="o">.</span><span class="n">CreateEnableEnhancedDeterminismAttr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physx</span><span class="o">.</span><span class="n">enable_enhanced_determinism</span><span class="p">)</span>
+
+        <span class="c1"># -- Gravity</span>
+        <span class="c1"># note: Isaac sim only takes the &quot;up-axis&quot; as the gravity direction. But physics allows any direction so we</span>
+        <span class="c1">#  need to convert the gravity vector to a direction and magnitude pair explicitly.</span>
+        <span class="n">gravity</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">gravity</span><span class="p">)</span>
+        <span class="n">gravity_magnitude</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">gravity</span><span class="p">)</span>
+
+        <span class="c1"># Avoid division by zero</span>
+        <span class="k">if</span> <span class="n">gravity_magnitude</span> <span class="o">!=</span> <span class="mf">0.0</span><span class="p">:</span>
+            <span class="n">gravity_direction</span> <span class="o">=</span> <span class="n">gravity</span> <span class="o">/</span> <span class="n">gravity_magnitude</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">gravity_direction</span> <span class="o">=</span> <span class="n">gravity</span>
+
+        <span class="n">physics_scene</span><span class="o">.</span><span class="n">CreateGravityDirectionAttr</span><span class="p">(</span><span class="n">Gf</span><span class="o">.</span><span class="n">Vec3f</span><span class="p">(</span><span class="o">*</span><span class="n">gravity_direction</span><span class="p">))</span>
+        <span class="n">physics_scene</span><span class="o">.</span><span class="n">CreateGravityMagnitudeAttr</span><span class="p">(</span><span class="n">gravity_magnitude</span><span class="p">)</span>
+
+        <span class="c1"># position iteration count</span>
+        <span class="n">physx_scene_api</span><span class="o">.</span><span class="n">CreateMinPositionIterationCountAttr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physx</span><span class="o">.</span><span class="n">min_position_iteration_count</span><span class="p">)</span>
+        <span class="n">physx_scene_api</span><span class="o">.</span><span class="n">CreateMaxPositionIterationCountAttr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physx</span><span class="o">.</span><span class="n">max_position_iteration_count</span><span class="p">)</span>
+        <span class="c1"># velocity iteration count</span>
+        <span class="n">physx_scene_api</span><span class="o">.</span><span class="n">CreateMinVelocityIterationCountAttr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physx</span><span class="o">.</span><span class="n">min_velocity_iteration_count</span><span class="p">)</span>
+        <span class="n">physx_scene_api</span><span class="o">.</span><span class="n">CreateMaxVelocityIterationCountAttr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physx</span><span class="o">.</span><span class="n">max_velocity_iteration_count</span><span class="p">)</span>
+
+        <span class="c1"># create the default physics material</span>
+        <span class="c1"># this material is used when no material is specified for a primitive</span>
+        <span class="c1"># check: https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/simulation-control/physics-settings.html#physics-materials</span>
+        <span class="n">material_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_prim_path</span><span class="si">}</span><span class="s2">/defaultMaterial&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">material_path</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="p">)</span>
+        <span class="c1"># bind the physics material to the scene</span>
+        <span class="n">bind_physics_material</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_prim_path</span><span class="p">,</span> <span class="n">material_path</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_load_fabric_interface</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Loads the fabric interface if enabled.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">use_fabric</span><span class="p">:</span>
+            <span class="kn">from</span> <span class="nn">omni.physxfabric</span> <span class="kn">import</span> <span class="n">get_physx_fabric_interface</span>
+
+            <span class="c1"># acquire fabric interface</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_fabric_iface</span> <span class="o">=</span> <span class="n">get_physx_fabric_interface</span><span class="p">()</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_fabric_iface</span><span class="p">,</span> <span class="s2">&quot;force_update&quot;</span><span class="p">):</span>
+                <span class="c1"># The update method in the fabric interface only performs an update if a physics step has occurred.</span>
+                <span class="c1"># However, for rendering, we need to force an update since any element of the scene might have been</span>
+                <span class="c1"># modified in a reset (which occurs after the physics step) and we want the renderer to be aware of</span>
+                <span class="c1"># these changes.</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_update_fabric</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_fabric_iface</span><span class="o">.</span><span class="n">force_update</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="c1"># Needed for backward compatibility with older Isaac Sim versions</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_update_fabric</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_fabric_iface</span><span class="o">.</span><span class="n">update</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Callbacks.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_app_control_on_stop_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">:</span> <span class="n">carb</span><span class="o">.</span><span class="n">events</span><span class="o">.</span><span class="n">IEvent</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Callback to deal with the app when the simulation is stopped.</span>
+
+<span class="sd">        Once the simulation is stopped, the physics handles go invalid. After that, it is not possible to</span>
+<span class="sd">        resume the simulation from the last state. This leaves the app in an inconsistent state, where</span>
+<span class="sd">        two possible actions can be taken:</span>
+
+<span class="sd">        1. **Keep the app rendering**: In this case, the simulation is kept running and the app is not shutdown.</span>
+<span class="sd">           However, the physics is not updated and the script cannot be resumed from the last state. The</span>
+<span class="sd">           user has to manually close the app to stop the simulation.</span>
+<span class="sd">        2. **Shutdown the app**: This is the default behavior. In this case, the app is shutdown and</span>
+<span class="sd">           the simulation is stopped.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This callback is used only when running the simulation in a standalone python script. In an extension,</span>
+<span class="sd">            it is expected that the user handles the extension shutdown.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if the simulation is stopped</span>
+        <span class="k">if</span> <span class="n">event</span><span class="o">.</span><span class="n">type</span> <span class="o">==</span> <span class="nb">int</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">timeline</span><span class="o">.</span><span class="n">TimelineEventType</span><span class="o">.</span><span class="n">STOP</span><span class="p">):</span>
+            <span class="c1"># keep running the simulator when configured to not shutdown the app</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_has_gui</span> <span class="ow">and</span> <span class="n">sys</span><span class="o">.</span><span class="n">exc_info</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                    <span class="s2">&quot;Simulation is stopped. The app will keep running with physics disabled.&quot;</span>
+                    <span class="s2">&quot; Press Ctrl+C or close the window to exit the app.&quot;</span>
+                <span class="p">)</span>
+                <span class="k">while</span> <span class="bp">self</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+
+        <span class="c1"># Note: For the following code:</span>
+        <span class="c1">#   The method is an exact copy of the implementation in the `omni.isaac.kit.SimulationApp` class.</span>
+        <span class="c1">#   We need to remove this method once the SimulationApp class becomes a singleton.</span>
+
+        <span class="c1"># make sure that any replicator workflows finish rendering/writing</span>
+        <span class="k">try</span><span class="p">:</span>
+            <span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+
+            <span class="n">rep_status</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">orchestrator</span><span class="o">.</span><span class="n">get_status</span><span class="p">()</span>
+            <span class="k">if</span> <span class="n">rep_status</span> <span class="ow">not</span> <span class="ow">in</span> <span class="p">[</span><span class="n">rep</span><span class="o">.</span><span class="n">orchestrator</span><span class="o">.</span><span class="n">Status</span><span class="o">.</span><span class="n">STOPPED</span><span class="p">,</span> <span class="n">rep</span><span class="o">.</span><span class="n">orchestrator</span><span class="o">.</span><span class="n">Status</span><span class="o">.</span><span class="n">STOPPING</span><span class="p">]:</span>
+                <span class="n">rep</span><span class="o">.</span><span class="n">orchestrator</span><span class="o">.</span><span class="n">stop</span><span class="p">()</span>
+            <span class="k">if</span> <span class="n">rep_status</span> <span class="o">!=</span> <span class="n">rep</span><span class="o">.</span><span class="n">orchestrator</span><span class="o">.</span><span class="n">Status</span><span class="o">.</span><span class="n">STOPPED</span><span class="p">:</span>
+                <span class="n">rep</span><span class="o">.</span><span class="n">orchestrator</span><span class="o">.</span><span class="n">wait_until_complete</span><span class="p">()</span>
+
+            <span class="c1"># Disable capture on play to avoid replicator engaging on any new timeline events</span>
+            <span class="n">rep</span><span class="o">.</span><span class="n">orchestrator</span><span class="o">.</span><span class="n">set_capture_on_play</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+        <span class="k">except</span> <span class="ne">Exception</span><span class="p">:</span>
+            <span class="k">pass</span>
+
+        <span class="c1"># clear the instance and all callbacks</span>
+        <span class="c1"># note: clearing callbacks is important to prevent memory leaks</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">clear_all_callbacks</span><span class="p">()</span>
+
+        <span class="c1"># workaround for exit issues, clean the stage first:</span>
+        <span class="k">if</span> <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">get_context</span><span class="p">()</span><span class="o">.</span><span class="n">can_close_stage</span><span class="p">():</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">get_context</span><span class="p">()</span><span class="o">.</span><span class="n">close_stage</span><span class="p">()</span>
+
+        <span class="c1"># print logging information</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Simulation is stopped. Shutting down the app.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># Cleanup any running tracy instances so data is not lost</span>
+        <span class="k">try</span><span class="p">:</span>
+            <span class="n">profiler_tracy</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">profiler</span><span class="o">.</span><span class="n">acquire_profiler_interface</span><span class="p">(</span><span class="n">plugin_name</span><span class="o">=</span><span class="s2">&quot;carb.profiler-tracy.plugin&quot;</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">profiler_tracy</span><span class="p">:</span>
+                <span class="n">profiler_tracy</span><span class="o">.</span><span class="n">set_capture_mask</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+                <span class="n">profiler_tracy</span><span class="o">.</span><span class="n">end</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+                <span class="n">profiler_tracy</span><span class="o">.</span><span class="n">shutdown</span><span class="p">()</span>
+        <span class="k">except</span> <span class="ne">RuntimeError</span><span class="p">:</span>
+            <span class="c1"># Tracy plugin was not loaded, so profiler never started - skip checks.</span>
+            <span class="k">pass</span>
+
+        <span class="c1"># Disable logging before shutdown to keep the log clean</span>
+        <span class="c1"># Warnings at this point don&#39;t matter as the python process is about to be terminated</span>
+        <span class="n">logging</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">logging</span><span class="o">.</span><span class="n">acquire_logging</span><span class="p">()</span>
+        <span class="n">logging</span><span class="o">.</span><span class="n">set_level_threshold</span><span class="p">(</span><span class="n">carb</span><span class="o">.</span><span class="n">logging</span><span class="o">.</span><span class="n">LEVEL_ERROR</span><span class="p">)</span>
+
+        <span class="c1"># App shutdown is disabled to prevent crashes on shutdown. Terminating carb is faster</span>
+        <span class="c1"># self._app.shutdown()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_framework</span><span class="o">.</span><span class="n">unload_all_plugins</span><span class="p">()</span></div>
+
+
+<span class="nd">@contextmanager</span>
+<span class="k">def</span> <span class="nf">build_simulation_context</span><span class="p">(</span>
+    <span class="n">create_new_stage</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+    <span class="n">gravity_enabled</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+    <span class="n">device</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;cuda:0&quot;</span><span class="p">,</span>
+    <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.01</span><span class="p">,</span>
+    <span class="n">sim_cfg</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">add_ground_plane</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+    <span class="n">add_lighting</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+    <span class="n">auto_add_lighting</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Iterator</span><span class="p">[</span><span class="n">SimulationContext</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Context manager to build a simulation context with the provided settings.</span>
+
+<span class="sd">    This function facilitates the creation of a simulation context and provides flexibility in configuring various</span>
+<span class="sd">    aspects of the simulation, such as time step, gravity, device, and scene elements like ground plane and</span>
+<span class="sd">    lighting.</span>
+
+<span class="sd">    If :attr:`sim_cfg` is None, then an instance of :class:`SimulationCfg` is created with default settings, with parameters</span>
+<span class="sd">    overwritten based on arguments to the function.</span>
+
+<span class="sd">    An example usage of the context manager function:</span>
+
+<span class="sd">    ..  code-block:: python</span>
+
+<span class="sd">        with build_simulation_context() as sim:</span>
+<span class="sd">             # Design the scene</span>
+
+<span class="sd">             # Play the simulation</span>
+<span class="sd">             sim.reset()</span>
+<span class="sd">             while sim.is_playing():</span>
+<span class="sd">                 sim.step()</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        create_new_stage: Whether to create a new stage. Defaults to True.</span>
+<span class="sd">        gravity_enabled: Whether to enable gravity in the simulation. Defaults to True.</span>
+<span class="sd">        device: Device to run the simulation on. Defaults to &quot;cuda:0&quot;.</span>
+<span class="sd">        dt: Time step for the simulation: Defaults to 0.01.</span>
+<span class="sd">        sim_cfg: :class:`omni.isaac.lab.sim.SimulationCfg` to use for the simulation. Defaults to None.</span>
+<span class="sd">        add_ground_plane: Whether to add a ground plane to the simulation. Defaults to False.</span>
+<span class="sd">        add_lighting: Whether to add a dome light to the simulation. Defaults to False.</span>
+<span class="sd">        auto_add_lighting: Whether to automatically add a dome light to the simulation if the simulation has a GUI.</span>
+<span class="sd">            Defaults to False. This is useful for debugging tests in the GUI.</span>
+
+<span class="sd">    Yields:</span>
+<span class="sd">        The simulation context to use for the simulation.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="k">if</span> <span class="n">create_new_stage</span><span class="p">:</span>
+            <span class="n">stage_utils</span><span class="o">.</span><span class="n">create_new_stage</span><span class="p">()</span>
+
+        <span class="k">if</span> <span class="n">sim_cfg</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># Construct one and overwrite the dt, gravity, and device</span>
+            <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="n">dt</span><span class="p">)</span>
+
+            <span class="c1"># Set up gravity</span>
+            <span class="k">if</span> <span class="n">gravity_enabled</span><span class="p">:</span>
+                <span class="n">sim_cfg</span><span class="o">.</span><span class="n">gravity</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">9.81</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">sim_cfg</span><span class="o">.</span><span class="n">gravity</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+
+            <span class="c1"># Set device</span>
+            <span class="n">sim_cfg</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">device</span>
+
+        <span class="c1"># Construct simulation context</span>
+        <span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="n">add_ground_plane</span><span class="p">:</span>
+            <span class="c1"># Ground-plane</span>
+            <span class="n">cfg</span> <span class="o">=</span> <span class="n">GroundPlaneCfg</span><span class="p">()</span>
+            <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="n">add_lighting</span> <span class="ow">or</span> <span class="p">(</span><span class="n">auto_add_lighting</span> <span class="ow">and</span> <span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">()):</span>
+            <span class="c1"># Lighting</span>
+            <span class="n">cfg</span> <span class="o">=</span> <span class="n">DomeLightCfg</span><span class="p">(</span>
+                <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">),</span>
+                <span class="n">enable_color_temperature</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+                <span class="n">color_temperature</span><span class="o">=</span><span class="mi">5500</span><span class="p">,</span>
+                <span class="n">intensity</span><span class="o">=</span><span class="mi">10000</span><span class="p">,</span>
+            <span class="p">)</span>
+            <span class="c1"># Dome light named specifically to avoid conflicts</span>
+            <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultDomeLight&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">))</span>
+
+        <span class="k">yield</span> <span class="n">sim</span>
+
+    <span class="k">except</span> <span class="ne">Exception</span><span class="p">:</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">error</span><span class="p">(</span><span class="n">traceback</span><span class="o">.</span><span class="n">format_exc</span><span class="p">())</span>
+        <span class="k">raise</span>
+    <span class="k">finally</span><span class="p">:</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">():</span>
+            <span class="c1"># Stop simulation only if we aren&#39;t rendering otherwise the app will hang indefinitely</span>
+            <span class="n">sim</span><span class="o">.</span><span class="n">stop</span><span class="p">()</span>
+
+        <span class="c1"># Clear the stage</span>
+        <span class="n">sim</span><span class="o">.</span><span class="n">clear_all_callbacks</span><span class="p">()</span>
+        <span class="n">sim</span><span class="o">.</span><span class="n">clear_instance</span><span class="p">()</span>
+</pre></div>
+
+                </article>
+              
+
+              
+              
+              
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+                  
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
new file mode 100644
index 0000000000..fb62cd2006
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+++ b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html
@@ -0,0 +1,862 @@
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+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
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+</details></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+  <h1>Source code for omni.isaac.lab.sim.spawners.from_files.from_files</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">import</span> <span class="nn">omni.kit.commands</span>
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Gf</span><span class="p">,</span> <span class="n">Sdf</span><span class="p">,</span> <span class="n">Usd</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">converters</span><span class="p">,</span> <span class="n">schemas</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.utils</span> <span class="kn">import</span> <span class="n">bind_physics_material</span><span class="p">,</span> <span class="n">bind_visual_material</span><span class="p">,</span> <span class="n">clone</span><span class="p">,</span> <span class="n">select_usd_variants</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">from_files_cfg</span>
+
+
+<div class="viewcode-block" id="spawn_from_usd"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.spawn_from_usd">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_from_usd</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">from_files_cfg</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spawn an asset from a USD file and override the settings with the given config.</span>
+
+<span class="sd">    In the case of a USD file, the asset is spawned at the default prim specified in the USD file.</span>
+<span class="sd">    If a default prim is not specified, then the asset is spawned at the root prim.</span>
+
+<span class="sd">    In case a prim already exists at the given prim path, then the function does not create a new prim</span>
+<span class="sd">    or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides</span>
+<span class="sd">    the settings with the given config.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which</span>
+<span class="sd">            case the translation specified in the USD file is used.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case the orientation specified in the USD file is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The prim of the spawned asset.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        FileNotFoundError: If the USD file does not exist at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># spawn asset from the given usd file</span>
+    <span class="k">return</span> <span class="n">_spawn_from_usd_file</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">usd_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="spawn_from_urdf"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.spawn_from_urdf">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_from_urdf</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">from_files_cfg</span><span class="o">.</span><span class="n">UrdfFileCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spawn an asset from a URDF file and override the settings with the given config.</span>
+
+<span class="sd">    It uses the :class:`UrdfConverter` class to create a USD file from URDF. This file is then imported</span>
+<span class="sd">    at the specified prim path.</span>
+
+<span class="sd">    In case a prim already exists at the given prim path, then the function does not create a new prim</span>
+<span class="sd">    or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides</span>
+<span class="sd">    the settings with the given config.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which</span>
+<span class="sd">            case the translation specified in the generated USD file is used.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case the orientation specified in the generated USD file is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The prim of the spawned asset.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        FileNotFoundError: If the URDF file does not exist at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># urdf loader to convert urdf to usd</span>
+    <span class="n">urdf_loader</span> <span class="o">=</span> <span class="n">converters</span><span class="o">.</span><span class="n">UrdfConverter</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+    <span class="c1"># spawn asset from the generated usd file</span>
+    <span class="k">return</span> <span class="n">_spawn_from_usd_file</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">urdf_loader</span><span class="o">.</span><span class="n">usd_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="spawn_ground_plane"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane">[docs]</a><span class="k">def</span> <span class="nf">spawn_ground_plane</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">from_files_cfg</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spawns a ground plane into the scene.</span>
+
+<span class="sd">    This function loads the USD file containing the grid plane asset from Isaac Sim. It may</span>
+<span class="sd">    not work with other assets for ground planes. In those cases, please use the `spawn_from_usd`</span>
+<span class="sd">    function.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This function takes keyword arguments to be compatible with other spawners. However, it does not</span>
+<span class="sd">        use any of the kwargs.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The path to spawn the asset at.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which</span>
+<span class="sd">            case the translation specified in the USD file is used.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case the orientation specified in the USD file is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The prim of the spawned asset.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim path already exists.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Spawn Ground-plane</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="n">prim_path</span><span class="p">):</span>
+        <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">usd_path</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">usd_path</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="o">=</span><span class="n">orientation</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;A prim already exists at path: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Create physics material</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/physicsMaterial&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="p">)</span>
+        <span class="c1"># Apply physics material to ground plane</span>
+        <span class="n">collision_prim_path</span> <span class="o">=</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_path</span><span class="p">(</span>
+            <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_first_matching_child_prim</span><span class="p">(</span>
+                <span class="n">prim_path</span><span class="p">,</span> <span class="n">predicate</span><span class="o">=</span><span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_type_name</span><span class="p">(</span><span class="n">x</span><span class="p">)</span> <span class="o">==</span> <span class="s2">&quot;Plane&quot;</span>
+            <span class="p">)</span>
+        <span class="p">)</span>
+        <span class="n">bind_physics_material</span><span class="p">(</span><span class="n">collision_prim_path</span><span class="p">,</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/physicsMaterial&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Scale only the mesh</span>
+    <span class="c1"># Warning: This is specific to the default grid plane asset.</span>
+    <span class="k">if</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/Environment&quot;</span><span class="p">):</span>
+        <span class="c1"># compute scale from size</span>
+        <span class="n">scale</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="mf">100.0</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="mf">100.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+        <span class="c1"># apply scale to the mesh</span>
+        <span class="n">prim_utils</span><span class="o">.</span><span class="n">set_prim_property</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/Environment&quot;</span><span class="p">,</span> <span class="s2">&quot;xformOp:scale&quot;</span><span class="p">,</span> <span class="n">scale</span><span class="p">)</span>
+
+    <span class="c1"># Change the color of the plane</span>
+    <span class="c1"># Warning: This is specific to the default grid plane asset.</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">color</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">prop_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/Looks/theGrid/Shader.inputs:diffuse_tint&quot;</span>
+        <span class="c1"># change the color</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span>
+            <span class="s2">&quot;ChangePropertyCommand&quot;</span><span class="p">,</span>
+            <span class="n">prop_path</span><span class="o">=</span><span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="n">prop_path</span><span class="p">),</span>
+            <span class="n">value</span><span class="o">=</span><span class="n">Gf</span><span class="o">.</span><span class="n">Vec3f</span><span class="p">(</span><span class="o">*</span><span class="n">cfg</span><span class="o">.</span><span class="n">color</span><span class="p">),</span>
+            <span class="n">prev</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+            <span class="n">type_to_create_if_not_exist</span><span class="o">=</span><span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Color3f</span><span class="p">,</span>
+        <span class="p">)</span>
+    <span class="c1"># Remove the light from the ground plane</span>
+    <span class="c1"># It isn&#39;t bright enough and messes up with the user&#39;s lighting settings</span>
+    <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span><span class="s2">&quot;ToggleVisibilitySelectedPrims&quot;</span><span class="p">,</span> <span class="n">selected_paths</span><span class="o">=</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/SphereLight&quot;</span><span class="p">])</span>
+
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Helper functions.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="k">def</span> <span class="nf">_spawn_from_usd_file</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">usd_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">from_files_cfg</span><span class="o">.</span><span class="n">FileCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spawn an asset from a USD file and override the settings with the given config.</span>
+
+<span class="sd">    In case a prim already exists at the given prim path, then the function does not create a new prim</span>
+<span class="sd">    or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides</span>
+<span class="sd">    the settings with the given config.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        usd_path: The path to the USD file to spawn the asset from.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which</span>
+<span class="sd">            case the translation specified in the generated USD file is used.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case the orientation specified in the generated USD file is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The prim of the spawned asset.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        FileNotFoundError: If the USD file does not exist at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check file path exists</span>
+    <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">stage</span><span class="o">.</span><span class="n">ResolveIdentifierToEditTarget</span><span class="p">(</span><span class="n">usd_path</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">FileNotFoundError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;USD file not found at path: &#39;</span><span class="si">{</span><span class="n">usd_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># spawn asset if it doesn&#39;t exist.</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="n">prim_path</span><span class="p">):</span>
+        <span class="c1"># add prim as reference to stage</span>
+        <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span>
+            <span class="n">prim_path</span><span class="p">,</span>
+            <span class="n">usd_path</span><span class="o">=</span><span class="n">usd_path</span><span class="p">,</span>
+            <span class="n">translation</span><span class="o">=</span><span class="n">translation</span><span class="p">,</span>
+            <span class="n">orientation</span><span class="o">=</span><span class="n">orientation</span><span class="p">,</span>
+            <span class="n">scale</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">scale</span><span class="p">,</span>
+        <span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;A prim already exists at prim path: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># modify variants</span>
+    <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;variants&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="n">cfg</span><span class="o">.</span><span class="n">variants</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">select_usd_variants</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">variants</span><span class="p">)</span>
+
+    <span class="c1"># modify rigid body properties</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rigid_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">modify_rigid_body_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rigid_props</span><span class="p">)</span>
+    <span class="c1"># modify collision properties</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">collision_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">modify_collision_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">collision_props</span><span class="p">)</span>
+    <span class="c1"># modify mass properties</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mass_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">modify_mass_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mass_props</span><span class="p">)</span>
+
+    <span class="c1"># modify articulation root properties</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">articulation_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">modify_articulation_root_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">articulation_props</span><span class="p">)</span>
+    <span class="c1"># modify tendon properties</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">fixed_tendons_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">modify_fixed_tendon_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">fixed_tendons_props</span><span class="p">)</span>
+    <span class="c1"># define drive API on the joints</span>
+    <span class="c1"># note: these are only for setting low-level simulation properties. all others should be set or are</span>
+    <span class="c1">#  and overridden by the articulation/actuator properties.</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">joint_drive_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">modify_joint_drive_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">joint_drive_props</span><span class="p">)</span>
+
+    <span class="c1"># modify deformable body properties</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">deformable_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">modify_deformable_body_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">deformable_props</span><span class="p">)</span>
+
+    <span class="c1"># apply visual material</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+            <span class="n">material_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">visual_material_path</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">material_path</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material_path</span>
+        <span class="c1"># create material</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">material_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material</span><span class="p">)</span>
+        <span class="c1"># apply material</span>
+        <span class="n">bind_visual_material</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">material_path</span><span class="p">)</span>
+
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+</pre></div>
+
+                </article>
+              
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
new file mode 100644
index 0000000000..223677b49a
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html
@@ -0,0 +1,741 @@
+
+
+<!DOCTYPE html>
+
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+
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>omni.isaac.lab.sim.spawners.from_files.from_files_cfg &#8212; Isaac Lab Documentation</title>
+  
+  
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+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
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+</details></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+  <h1>Source code for omni.isaac.lab.sim.spawners.from_files.from_files_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">converters</span><span class="p">,</span> <span class="n">schemas</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners</span> <span class="kn">import</span> <span class="n">materials</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners.spawner_cfg</span> <span class="kn">import</span> <span class="n">DeformableObjectSpawnerCfg</span><span class="p">,</span> <span class="n">RigidObjectSpawnerCfg</span><span class="p">,</span> <span class="n">SpawnerCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">ISAAC_NUCLEUS_DIR</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">from_files</span>
+
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">FileCfg</span><span class="p">(</span><span class="n">RigidObjectSpawnerCfg</span><span class="p">,</span> <span class="n">DeformableObjectSpawnerCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for spawning an asset from a file.</span>
+
+<span class="sd">    This class is a base class for spawning assets from files. It includes the common parameters</span>
+<span class="sd">    for spawning assets from files, such as the path to the file and the function to use for spawning</span>
+<span class="sd">    the asset.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        By default, all properties are set to None. This means that no properties will be added or modified</span>
+<span class="sd">        to the prim outside of the properties available by default when spawning the prim.</span>
+
+<span class="sd">        If they are set to a value, then the properties are modified on the spawned prim in a nested manner.</span>
+<span class="sd">        This is done by calling the respective function with the specified properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">scale</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scale of the asset. Defaults to None, in which case the scale is not modified.&quot;&quot;&quot;</span>
+
+    <span class="n">articulation_props</span><span class="p">:</span> <span class="n">schemas</span><span class="o">.</span><span class="n">ArticulationRootPropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to apply to the articulation root.&quot;&quot;&quot;</span>
+
+    <span class="n">fixed_tendons_props</span><span class="p">:</span> <span class="n">schemas</span><span class="o">.</span><span class="n">FixedTendonsPropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to apply to the fixed tendons (if any).&quot;&quot;&quot;</span>
+
+    <span class="n">joint_drive_props</span><span class="p">:</span> <span class="n">schemas</span><span class="o">.</span><span class="n">JointDrivePropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to apply to a joint.&quot;&quot;&quot;</span>
+
+    <span class="n">visual_material_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;material&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Path to the visual material to use for the prim. Defaults to &quot;material&quot;.</span>
+
+<span class="sd">    If the path is relative, then it will be relative to the prim&#39;s path.</span>
+<span class="sd">    This parameter is ignored if `visual_material` is not None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">visual_material</span><span class="p">:</span> <span class="n">materials</span><span class="o">.</span><span class="n">VisualMaterialCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Visual material properties to override the visual material properties in the URDF file.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If None, then no visual material will be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="UsdFileCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">UsdFileCfg</span><span class="p">(</span><span class="n">FileCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;USD file to spawn asset from.</span>
+
+<span class="sd">    USD files are imported directly into the scene. However, given their complexity, there are various different</span>
+<span class="sd">    operations that can be performed on them. For example, selecting variants, applying materials, or modifying</span>
+<span class="sd">    existing properties.</span>
+
+<span class="sd">    To prevent the explosion of configuration parameters, the available operations are limited to the most common</span>
+<span class="sd">    ones. These include:</span>
+
+<span class="sd">    - **Selecting variants**: This is done by specifying the :attr:`variants` parameter.</span>
+<span class="sd">    - **Creating and applying materials**: This is done by specifying the :attr:`visual_material` parameter.</span>
+<span class="sd">    - **Modifying existing properties**: This is done by specifying the respective properties in the configuration</span>
+<span class="sd">      class. For instance, to modify the scale of the imported prim, set the :attr:`scale` parameter.</span>
+
+<span class="sd">    See :meth:`spawn_from_usd` for more information.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The configuration parameters include various properties. If not `None`, these properties</span>
+<span class="sd">        are modified on the spawned prim in a nested manner.</span>
+
+<span class="sd">        If they are set to a value, then the properties are modified on the spawned prim in a nested manner.</span>
+<span class="sd">        This is done by calling the respective function with the specified properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">from_files</span><span class="o">.</span><span class="n">spawn_from_usd</span>
+
+    <span class="n">usd_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Path to the USD file to spawn asset from.&quot;&quot;&quot;</span>
+
+    <span class="n">variants</span><span class="p">:</span> <span class="nb">object</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Variants to select from in the input USD file. Defaults to None, in which case no variants are applied.</span>
+
+<span class="sd">    This can either be a configclass object, in which case each attribute is used as a variant set name and its specified value,</span>
+<span class="sd">    or a dictionary mapping between the two. Please check the :meth:`~omni.isaac.lab.sim.utils.select_usd_variants` function</span>
+<span class="sd">    for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="UrdfFileCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">UrdfFileCfg</span><span class="p">(</span><span class="n">FileCfg</span><span class="p">,</span> <span class="n">converters</span><span class="o">.</span><span class="n">UrdfConverterCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;URDF file to spawn asset from.</span>
+
+<span class="sd">    It uses the :class:`UrdfConverter` class to create a USD file from URDF and spawns the imported</span>
+<span class="sd">    USD file. Similar to the :class:`UsdFileCfg`, the generated USD file can be modified by specifying</span>
+<span class="sd">    the respective properties in the configuration class.</span>
+
+<span class="sd">    See :meth:`spawn_from_urdf` for more information.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The configuration parameters include various properties. If not `None`, these properties</span>
+<span class="sd">        are modified on the spawned prim in a nested manner.</span>
+
+<span class="sd">        If they are set to a value, then the properties are modified on the spawned prim in a nested manner.</span>
+<span class="sd">        This is done by calling the respective function with the specified properties.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">from_files</span><span class="o">.</span><span class="n">spawn_from_urdf</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Spawning ground plane.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="GroundPlaneCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">GroundPlaneCfg</span><span class="p">(</span><span class="n">SpawnerCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a ground plane prim.</span>
+
+<span class="sd">    This uses the USD for the standard grid-world ground plane from Isaac Sim by default.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">from_files</span><span class="o">.</span><span class="n">spawn_ground_plane</span>
+
+    <span class="n">usd_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Environments/Grid/default_environment.usd&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Path to the USD file to spawn asset from. Defaults to the grid-world ground plane.&quot;&quot;&quot;</span>
+
+    <span class="n">color</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The color of the ground plane. Defaults to (0.0, 0.0, 0.0).</span>
+
+<span class="sd">    If None, then the color remains unchanged.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">size</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">100.0</span><span class="p">,</span> <span class="mf">100.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The size of the ground plane. Defaults to 100 m x 100 m.&quot;&quot;&quot;</span>
+
+    <span class="n">physics_material</span><span class="p">:</span> <span class="n">materials</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span> <span class="o">=</span> <span class="n">materials</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Physics material properties. Defaults to the default rigid body material.&quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html
new file mode 100644
index 0000000000..d07b6a5dda
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/lights/lights.html
@@ -0,0 +1,669 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" data-content_root="" >
+
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+<ul class="nav bd-sidenav">
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/environments.html">Available Environments</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+  <h1>Source code for omni.isaac.lab.sim.spawners.lights.lights</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Usd</span><span class="p">,</span> <span class="n">UsdLux</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.utils</span> <span class="kn">import</span> <span class="n">clone</span><span class="p">,</span> <span class="n">safe_set_attribute_on_usd_prim</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">lights_cfg</span>
+
+
+<div class="viewcode-block" id="spawn_light"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.spawn_light">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_light</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">lights_cfg</span><span class="o">.</span><span class="n">LightCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a light prim at the specified prim path with the specified configuration.</span>
+
+<span class="sd">    The created prim is based on the `USD.LuxLight &lt;https://openusd.org/dev/api/class_usd_lux_light_a_p_i.html&gt;`_ API.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration for the light source.</span>
+<span class="sd">        translation: The translation of the prim. Defaults to None, in which case this is set to the origin.</span>
+<span class="sd">        orientation: The orientation of the prim as (w, x, y, z). Defaults to None, in which case this</span>
+<span class="sd">            is set to identity.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError:  When a prim already exists at the specified prim path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check if prim already exists</span>
+    <span class="k">if</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="n">prim_path</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;A prim already exists at path: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># create the prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">prim_type</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_type</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="o">=</span><span class="n">orientation</span><span class="p">)</span>
+
+    <span class="c1"># convert to dict</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+    <span class="c1"># delete spawner func specific parameters</span>
+    <span class="k">del</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;prim_type&quot;</span><span class="p">]</span>
+    <span class="c1"># delete custom attributes in the config that are not USD parameters</span>
+    <span class="n">non_usd_cfg_param_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;func&quot;</span><span class="p">,</span> <span class="s2">&quot;copy_from_source&quot;</span><span class="p">,</span> <span class="s2">&quot;visible&quot;</span><span class="p">,</span> <span class="s2">&quot;semantic_tags&quot;</span><span class="p">]</span>
+    <span class="k">for</span> <span class="n">param_name</span> <span class="ow">in</span> <span class="n">non_usd_cfg_param_names</span><span class="p">:</span>
+        <span class="k">del</span> <span class="n">cfg</span><span class="p">[</span><span class="n">param_name</span><span class="p">]</span>
+    <span class="c1"># set into USD API</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="c1"># special operation for texture properties</span>
+        <span class="c1"># note: this is only used for dome light</span>
+        <span class="k">if</span> <span class="s2">&quot;texture&quot;</span> <span class="ow">in</span> <span class="n">attr_name</span><span class="p">:</span>
+            <span class="n">light_prim</span> <span class="o">=</span> <span class="n">UsdLux</span><span class="o">.</span><span class="n">DomeLight</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">attr_name</span> <span class="o">==</span> <span class="s2">&quot;texture_file&quot;</span><span class="p">:</span>
+                <span class="n">light_prim</span><span class="o">.</span><span class="n">CreateTextureFileAttr</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="n">attr_name</span> <span class="o">==</span> <span class="s2">&quot;texture_format&quot;</span><span class="p">:</span>
+                <span class="n">light_prim</span><span class="o">.</span><span class="n">CreateTextureFormatAttr</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unsupported texture attribute: &#39;</span><span class="si">{</span><span class="n">attr_name</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">attr_name</span> <span class="o">==</span> <span class="s2">&quot;visible_in_primary_ray&quot;</span><span class="p">:</span>
+                <span class="n">prim_prop_name</span> <span class="o">=</span> <span class="n">attr_name</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">prim_prop_name</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;inputs:</span><span class="si">{</span><span class="n">attr_name</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="c1"># set the attribute</span>
+            <span class="n">safe_set_attribute_on_usd_prim</span><span class="p">(</span><span class="n">prim</span><span class="p">,</span> <span class="n">prim_prop_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim</span></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
new file mode 100644
index 0000000000..601f17b93d
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html
@@ -0,0 +1,777 @@
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+<ul class="nav bd-sidenav">
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+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/core-concepts/task_workflows.html">Task Design Workflows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/environments.html">Available Environments</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
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+  <h1>Source code for omni.isaac.lab.sim.spawners.lights.lights_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners.spawner_cfg</span> <span class="kn">import</span> <span class="n">SpawnerCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">lights</span>
+
+
+<div class="viewcode-block" id="LightCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">LightCfg</span><span class="p">(</span><span class="n">SpawnerCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for creating a light in the scene.</span>
+
+<span class="sd">    Please refer to the documentation on `USD LuxLight &lt;https://openusd.org/dev/api/class_usd_lux_light_a_p_i.html&gt;`_</span>
+<span class="sd">    for more information.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The default values for the attributes are those specified in the their official documentation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">lights</span><span class="o">.</span><span class="n">spawn_light</span>
+
+    <span class="n">prim_type</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The prim type name for the light prim.&quot;&quot;&quot;</span>
+
+    <span class="n">color</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The color of emitted light, in energy-linear terms. Defaults to white.&quot;&quot;&quot;</span>
+
+    <span class="n">enable_color_temperature</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Enables color temperature. Defaults to false.&quot;&quot;&quot;</span>
+
+    <span class="n">color_temperature</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">6500.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.</span>
+
+<span class="sd">    The `color temperature &lt;https://en.wikipedia.org/wiki/Color_temperature&gt;`_ corresponds to the warmth</span>
+<span class="sd">    or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher</span>
+<span class="sd">    color temperature.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        It only takes effect when :attr:`enable_color_temperature` is true.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">normalize</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Normalizes power by the surface area of the light. Defaults to false.</span>
+
+<span class="sd">    This makes it easier to independently adjust the power and shape of the light, by causing the power</span>
+<span class="sd">    to not vary with the area or angular size of the light.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">exposure</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scales the power of the light exponentially as a power of 2. Defaults to 0.0.</span>
+
+<span class="sd">    The result is multiplied against the intensity.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">intensity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scales the power of the light linearly. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="DiskLightCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DiskLightCfg</span><span class="p">(</span><span class="n">LightCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for creating a disk light in the scene.</span>
+
+<span class="sd">    A disk light is a light source that emits light from a disk. It is useful for simulating</span>
+<span class="sd">    fluorescent lights. For more information, please refer to the documentation on</span>
+<span class="sd">    `USDLux DiskLight &lt;https://openusd.org/dev/api/class_usd_lux_disk_light.html&gt;`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The default values for the attributes are those specified in the their official documentation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">prim_type</span> <span class="o">=</span> <span class="s2">&quot;DiskLight&quot;</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.5</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the disk (in m). Defaults to 0.5m.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="DistantLightCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DistantLightCfg</span><span class="p">(</span><span class="n">LightCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for creating a distant light in the scene.</span>
+
+<span class="sd">    A distant light is a light source that is infinitely far away, and emits parallel rays of light.</span>
+<span class="sd">    It is useful for simulating sun/moon light. For more information, please refer to the documentation on</span>
+<span class="sd">    `USDLux DistantLight &lt;https://openusd.org/dev/api/class_usd_lux_distant_light.html&gt;`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The default values for the attributes are those specified in the their official documentation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">prim_type</span> <span class="o">=</span> <span class="s2">&quot;DistantLight&quot;</span>
+
+    <span class="n">angle</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.53</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Angular size of the light (in degrees). Defaults to 0.53 degrees.</span>
+
+<span class="sd">    As an example, the Sun is approximately 0.53 degrees as seen from Earth.</span>
+<span class="sd">    Higher values broaden the light and therefore soften shadow edges.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="DomeLightCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DomeLightCfg</span><span class="p">(</span><span class="n">LightCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for creating a dome light in the scene.</span>
+
+<span class="sd">    A dome light is a light source that emits light inwards from all directions. It is also possible to</span>
+<span class="sd">    attach a texture to the dome light, which will be used to emit light. For more information, please refer</span>
+<span class="sd">    to the documentation on `USDLux DomeLight &lt;https://openusd.org/dev/api/class_usd_lux_dome_light.html&gt;`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The default values for the attributes are those specified in the their official documentation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">prim_type</span> <span class="o">=</span> <span class="s2">&quot;DomeLight&quot;</span>
+
+    <span class="n">texture_file</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A color texture to use on the dome, such as an HDR (high dynamic range) texture intended</span>
+<span class="sd">    for IBL (image based lighting). Defaults to None.</span>
+
+<span class="sd">    If None, the dome will emit a uniform color.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">texture_format</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;automatic&quot;</span><span class="p">,</span> <span class="s2">&quot;latlong&quot;</span><span class="p">,</span> <span class="s2">&quot;mirroredBall&quot;</span><span class="p">,</span> <span class="s2">&quot;angular&quot;</span><span class="p">,</span> <span class="s2">&quot;cubeMapVerticalCross&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;automatic&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The parametrization format of the color map file. Defaults to &quot;automatic&quot;.</span>
+
+<span class="sd">    Valid values are:</span>
+
+<span class="sd">    * ``&quot;automatic&quot;``: Tries to determine the layout from the file itself. For example, Renderman texture files embed an explicit parameterization.</span>
+<span class="sd">    * ``&quot;latlong&quot;``: Latitude as X, longitude as Y.</span>
+<span class="sd">    * ``&quot;mirroredBall&quot;``: An image of the environment reflected in a sphere, using an implicitly orthogonal projection.</span>
+<span class="sd">    * ``&quot;angular&quot;``: Similar to mirroredBall but the radial dimension is mapped linearly to the angle, providing better sampling at the edges.</span>
+<span class="sd">    * ``&quot;cubeMapVerticalCross&quot;``: A cube map with faces laid out as a vertical cross.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">visible_in_primary_ray</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the dome light is visible in the primary ray. Defaults to True.</span>
+
+<span class="sd">    If true, the texture in the sky is visible, otherwise the sky is black.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="CylinderLightCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CylinderLightCfg</span><span class="p">(</span><span class="n">LightCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for creating a cylinder light in the scene.</span>
+
+<span class="sd">    A cylinder light is a light source that emits light from a cylinder. It is useful for simulating</span>
+<span class="sd">    fluorescent lights. For more information, please refer to the documentation on</span>
+<span class="sd">    `USDLux CylinderLight &lt;https://openusd.org/dev/api/class_usd_lux_cylinder_light.html&gt;`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The default values for the attributes are those specified in the their official documentation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">prim_type</span> <span class="o">=</span> <span class="s2">&quot;CylinderLight&quot;</span>
+
+    <span class="n">length</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Length of the cylinder (in m). Defaults to 1.0m.&quot;&quot;&quot;</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.5</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the cylinder (in m). Defaults to 0.5m.&quot;&quot;&quot;</span>
+
+    <span class="n">treat_as_line</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Treats the cylinder as a line source, i.e. a zero-radius cylinder. Defaults to false.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="SphereLightCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">SphereLightCfg</span><span class="p">(</span><span class="n">LightCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for creating a sphere light in the scene.</span>
+
+<span class="sd">    A sphere light is a light source that emits light outward from a sphere. For more information,</span>
+<span class="sd">    please refer to the documentation on</span>
+<span class="sd">    `USDLux SphereLight &lt;https://openusd.org/dev/api/class_usd_lux_sphere_light.html&gt;`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The default values for the attributes are those specified in the their official documentation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">prim_type</span> <span class="o">=</span> <span class="s2">&quot;SphereLight&quot;</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.5</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the sphere. Defaults to 0.5m.&quot;&quot;&quot;</span>
+
+    <span class="n">treat_as_point</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Treats the sphere as a point source, i.e. a zero-radius sphere. Defaults to false.&quot;&quot;&quot;</span></div>
+</pre></div>
+
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new file mode 100644
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+    <div class="bd-toc-item navbar-nav active">
+        <p aria-level="2" class="caption" role="heading"><span class="caption-text">Getting Started</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/setup/ecosystem.html">Isaac Lab Ecosystem</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/setup/installation/index.html">Local Installation</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/setup/installation/pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/setup/faq.html">Frequently Asked Questions</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Overview</span></p>
+<ul class="nav bd-sidenav">
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/developer-guide/repo_structure.html">Repository organization</a></li>
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+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/environments.html">Available Environments</a></li>
+
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+  <h1>Source code for omni.isaac.lab.sim.spawners.materials.physics_materials</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">PhysxSchema</span><span class="p">,</span> <span class="n">Usd</span><span class="p">,</span> <span class="n">UsdPhysics</span><span class="p">,</span> <span class="n">UsdShade</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.utils</span> <span class="kn">import</span> <span class="n">clone</span><span class="p">,</span> <span class="n">safe_set_attribute_on_usd_schema</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">physics_materials_cfg</span>
+
+
+<div class="viewcode-block" id="spawn_rigid_body_material"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.spawn_rigid_body_material">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_rigid_body_material</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">physics_materials_cfg</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create material with rigid-body physics properties.</span>
+
+<span class="sd">    Rigid body materials are used to define the physical properties to meshes of a rigid body. These</span>
+<span class="sd">    include the friction, restitution, and their respective combination modes. For more information on</span>
+<span class="sd">    rigid body material, please refer to the `documentation on PxMaterial &lt;https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/classPxBaseMaterial.html&gt;`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration for the physics material.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The spawned rigid body material prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError:  When a prim already exists at the specified prim path and is not a material.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># create material prim if no prim exists</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="n">prim_path</span><span class="p">):</span>
+        <span class="n">_</span> <span class="o">=</span> <span class="n">UsdShade</span><span class="o">.</span><span class="n">Material</span><span class="o">.</span><span class="n">Define</span><span class="p">(</span><span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">(),</span> <span class="n">prim_path</span><span class="p">)</span>
+
+    <span class="c1"># obtain prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim is a material</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">UsdShade</span><span class="o">.</span><span class="n">Material</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;A prim already exists at path: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; but is not a material.&quot;</span><span class="p">)</span>
+    <span class="c1"># retrieve the USD rigid-body api</span>
+    <span class="n">usd_physics_material_api</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">MaterialAPI</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">usd_physics_material_api</span><span class="p">:</span>
+        <span class="n">usd_physics_material_api</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">MaterialAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+    <span class="c1"># retrieve the collision api</span>
+    <span class="n">physx_material_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxMaterialAPI</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">physx_material_api</span><span class="p">:</span>
+        <span class="n">physx_material_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxMaterialAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+
+    <span class="c1"># convert to dict</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+    <span class="k">del</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;func&quot;</span><span class="p">]</span>
+    <span class="c1"># set into USD API</span>
+    <span class="k">for</span> <span class="n">attr_name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;static_friction&quot;</span><span class="p">,</span> <span class="s2">&quot;dynamic_friction&quot;</span><span class="p">,</span> <span class="s2">&quot;restitution&quot;</span><span class="p">]:</span>
+        <span class="n">value</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="n">attr_name</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span>
+        <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">usd_physics_material_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># set into PhysX API</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">physx_material_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim</span></div>
+
+
+<div class="viewcode-block" id="spawn_deformable_body_material"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.spawn_deformable_body_material">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_deformable_body_material</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">physics_materials_cfg</span><span class="o">.</span><span class="n">DeformableBodyMaterialCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create material with deformable-body physics properties.</span>
+
+<span class="sd">    Deformable body materials are used to define the physical properties to meshes of a deformable body. These</span>
+<span class="sd">    include the friction and deformable body properties. For more information on deformable body material,</span>
+<span class="sd">    please refer to the documentation on `PxFEMSoftBodyMaterial`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration for the physics material.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The spawned deformable body material prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError:  When a prim already exists at the specified prim path and is not a material.</span>
+
+<span class="sd">    .. _PxFEMSoftBodyMaterial: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/structPxFEMSoftBodyMaterialModel.html</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># create material prim if no prim exists</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="n">prim_path</span><span class="p">):</span>
+        <span class="n">_</span> <span class="o">=</span> <span class="n">UsdShade</span><span class="o">.</span><span class="n">Material</span><span class="o">.</span><span class="n">Define</span><span class="p">(</span><span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">(),</span> <span class="n">prim_path</span><span class="p">)</span>
+
+    <span class="c1"># obtain prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim is a material</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">UsdShade</span><span class="o">.</span><span class="n">Material</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;A prim already exists at path: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; but is not a material.&quot;</span><span class="p">)</span>
+    <span class="c1"># retrieve the deformable-body api</span>
+    <span class="n">physx_deformable_body_material_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxDeformableBodyMaterialAPI</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">physx_deformable_body_material_api</span><span class="p">:</span>
+        <span class="n">physx_deformable_body_material_api</span> <span class="o">=</span> <span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxDeformableBodyMaterialAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+
+    <span class="c1"># convert to dict</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+    <span class="k">del</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;func&quot;</span><span class="p">]</span>
+    <span class="c1"># set into PhysX API</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="n">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">physx_deformable_body_material_api</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim</span></div>
+</pre></div>
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new file mode 100644
index 0000000000..ec79e03869
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+  <h1>Source code for omni.isaac.lab.sim.spawners.materials.physics_materials_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">physics_materials</span>
+
+
+<div class="viewcode-block" id="PhysicsMaterialCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">PhysicsMaterialCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for creating a physics material.</span>
+
+<span class="sd">    Physics material are PhysX schemas that can be applied to a USD material prim to define the</span>
+<span class="sd">    physical properties related to the material. For example, the friction coefficient, restitution</span>
+<span class="sd">    coefficient, etc. For more information on physics material, please refer to the</span>
+<span class="sd">    `PhysX documentation &lt;https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/classPxBaseMaterial.html&gt;`__.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Function to use for creating the material.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="RigidBodyMaterialCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RigidBodyMaterialCfg</span><span class="p">(</span><span class="n">PhysicsMaterialCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Physics material parameters for rigid bodies.</span>
+
+<span class="sd">    See :meth:`spawn_rigid_body_material` for more information.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The default values are the `default values used by PhysX 5</span>
+<span class="sd">        &lt;https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#rigid-body-materials&gt;`__.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">physics_materials</span><span class="o">.</span><span class="n">spawn_rigid_body_material</span>
+
+    <span class="n">static_friction</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.5</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The static friction coefficient. Defaults to 0.5.&quot;&quot;&quot;</span>
+
+    <span class="n">dynamic_friction</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.5</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dynamic friction coefficient. Defaults to 0.5.&quot;&quot;&quot;</span>
+
+    <span class="n">restitution</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The restitution coefficient. Defaults to 0.0.&quot;&quot;&quot;</span>
+
+    <span class="n">improve_patch_friction</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to enable patch friction. Defaults to True.&quot;&quot;&quot;</span>
+
+    <span class="n">friction_combine_mode</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;average&quot;</span><span class="p">,</span> <span class="s2">&quot;min&quot;</span><span class="p">,</span> <span class="s2">&quot;multiply&quot;</span><span class="p">,</span> <span class="s2">&quot;max&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;average&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Determines the way friction will be combined during collisions. Defaults to `&quot;average&quot;`.</span>
+
+<span class="sd">    .. attention::</span>
+
+<span class="sd">        When two physics materials with different combine modes collide, the combine mode with the higher</span>
+<span class="sd">        priority will be used. The priority order is provided `here</span>
+<span class="sd">        &lt;https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/structPxCombineMode.html&gt;`__.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">restitution_combine_mode</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;average&quot;</span><span class="p">,</span> <span class="s2">&quot;min&quot;</span><span class="p">,</span> <span class="s2">&quot;multiply&quot;</span><span class="p">,</span> <span class="s2">&quot;max&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;average&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Determines the way restitution coefficient will be combined during collisions. Defaults to `&quot;average&quot;`.</span>
+
+<span class="sd">    .. attention::</span>
+
+<span class="sd">        When two physics materials with different combine modes collide, the combine mode with the higher</span>
+<span class="sd">        priority will be used. The priority order is provided `here</span>
+<span class="sd">        &lt;https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/structPxCombineMode.html&gt;`__.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">compliant_contact_stiffness</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spring stiffness for a compliant contact model using implicit springs. Defaults to 0.0.</span>
+
+<span class="sd">    A higher stiffness results in behavior closer to a rigid contact. The compliant contact model is only enabled</span>
+<span class="sd">    if the stiffness is larger than 0.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">compliant_contact_damping</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Damping coefficient for a compliant contact model using implicit springs. Defaults to 0.0.</span>
+
+<span class="sd">    Irrelevant if compliant contacts are disabled when :obj:`compliant_contact_stiffness` is set to zero and</span>
+<span class="sd">    rigid contacts are active.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="DeformableBodyMaterialCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DeformableBodyMaterialCfg</span><span class="p">(</span><span class="n">PhysicsMaterialCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Physics material parameters for deformable bodies.</span>
+
+<span class="sd">    See :meth:`spawn_deformable_body_material` for more information.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The default values are the `default values used by PhysX 5</span>
+<span class="sd">        &lt;https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/deformable-bodies.html#deformable-body-material&gt;`__.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">physics_materials</span><span class="o">.</span><span class="n">spawn_deformable_body_material</span>
+
+    <span class="n">density</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The material density. Defaults to None, in which case the simulation decides the default density.&quot;&quot;&quot;</span>
+
+    <span class="n">dynamic_friction</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.25</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The dynamic friction. Defaults to 0.25.&quot;&quot;&quot;</span>
+
+    <span class="n">youngs_modulus</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">50000000.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The Young&#39;s modulus, which defines the body&#39;s stiffness. Defaults to 50000000.0.</span>
+
+<span class="sd">    The Young&#39;s modulus is a measure of the material&#39;s ability to deform under stress. It is measured in Pascals (Pa).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">poissons_ratio</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.45</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The Poisson&#39;s ratio which defines the body&#39;s volume preservation. Defaults to 0.45.</span>
+
+<span class="sd">    The Poisson&#39;s ratio is a measure of the material&#39;s ability to expand in the lateral direction when compressed</span>
+<span class="sd">    in the axial direction. It is a dimensionless number between 0 and 0.5. Using a value of 0.5 will make the</span>
+<span class="sd">    material incompressible.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">elasticity_damping</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.005</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The elasticity damping for the deformable material. Defaults to 0.005.&quot;&quot;&quot;</span>
+
+    <span class="n">damping_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The damping scale for the deformable material. Defaults to 1.0.</span>
+
+<span class="sd">    A scale of 1 corresponds to default damping. A value of 0 will only apply damping to certain motions leading</span>
+<span class="sd">    to special effects that look similar to water filled soft bodies.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
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new file mode 100644
index 0000000000..7f60f39c64
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+  <h1>Source code for omni.isaac.lab.sim.spawners.materials.visual_materials</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.kit.commands</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Usd</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.utils</span> <span class="kn">import</span> <span class="n">clone</span><span class="p">,</span> <span class="n">safe_set_attribute_on_usd_prim</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">NVIDIA_NUCLEUS_DIR</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">visual_materials_cfg</span>
+
+
+<div class="viewcode-block" id="spawn_preview_surface"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.spawn_preview_surface">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_preview_surface</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">visual_materials_cfg</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a preview surface prim and override the settings with the given config.</span>
+
+<span class="sd">    A preview surface is a physically-based surface that handles simple shaders while supporting</span>
+<span class="sd">    both *specular* and *metallic* workflows. All color inputs are in linear color space (RGB).</span>
+<span class="sd">    For more information, see the `documentation &lt;https://openusd.org/release/spec_usdpreviewsurface.html&gt;`__.</span>
+
+<span class="sd">    The function calls the USD command `CreatePreviewSurfaceMaterialPrim`_ to create the prim.</span>
+
+<span class="sd">    .. _CreatePreviewSurfaceMaterialPrim: https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd.commands/omni.usd.commands.CreatePreviewSurfaceMaterialPrimCommand.html</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># spawn material if it doesn&#39;t exist.</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="n">prim_path</span><span class="p">):</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span><span class="s2">&quot;CreatePreviewSurfaceMaterialPrim&quot;</span><span class="p">,</span> <span class="n">mtl_path</span><span class="o">=</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">select_new_prim</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;A prim already exists at path: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># obtain prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/Shader&quot;</span><span class="p">)</span>
+    <span class="c1"># apply properties</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+    <span class="k">del</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;func&quot;</span><span class="p">]</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">attr_value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="n">safe_set_attribute_on_usd_prim</span><span class="p">(</span><span class="n">prim</span><span class="p">,</span> <span class="sa">f</span><span class="s2">&quot;inputs:</span><span class="si">{</span><span class="n">attr_name</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="n">attr_value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># return prim</span>
+    <span class="k">return</span> <span class="n">prim</span></div>
+
+
+<div class="viewcode-block" id="spawn_from_mdl_file"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.spawn_from_mdl_file">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_from_mdl_file</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">visual_materials_cfg</span><span class="o">.</span><span class="n">MdlMaterialCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Load a material from its MDL file and override the settings with the given config.</span>
+
+<span class="sd">    NVIDIA&#39;s `Material Definition Language (MDL) &lt;https://www.nvidia.com/en-us/design-visualization/technologies/material-definition-language/&gt;`__</span>
+<span class="sd">    is a language for defining physically-based materials. The MDL file format is a binary format</span>
+<span class="sd">    that can be loaded by Omniverse and other applications such as Adobe Substance Designer.</span>
+<span class="sd">    To learn more about MDL, see the `documentation &lt;https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html&gt;`_.</span>
+
+<span class="sd">    The function calls the USD command `CreateMdlMaterialPrim`_ to create the prim.</span>
+
+<span class="sd">    .. _CreateMdlMaterialPrim: https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd.commands/omni.usd.commands.CreateMdlMaterialPrimCommand.html</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># spawn material if it doesn&#39;t exist.</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="n">prim_path</span><span class="p">):</span>
+        <span class="c1"># extract material name from path</span>
+        <span class="n">material_name</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mdl_path</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;.&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span>
+            <span class="s2">&quot;CreateMdlMaterialPrim&quot;</span><span class="p">,</span>
+            <span class="n">mtl_url</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">mdl_path</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">NVIDIA_NUCLEUS_DIR</span><span class="o">=</span><span class="n">NVIDIA_NUCLEUS_DIR</span><span class="p">),</span>
+            <span class="n">mtl_name</span><span class="o">=</span><span class="n">material_name</span><span class="p">,</span>
+            <span class="n">mtl_path</span><span class="o">=</span><span class="n">prim_path</span><span class="p">,</span>
+            <span class="n">select_new_prim</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;A prim already exists at path: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># obtain prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/Shader&quot;</span><span class="p">)</span>
+    <span class="c1"># apply properties</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+    <span class="k">del</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;func&quot;</span><span class="p">]</span>
+    <span class="k">del</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;mdl_path&quot;</span><span class="p">]</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">attr_value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="n">safe_set_attribute_on_usd_prim</span><span class="p">(</span><span class="n">prim</span><span class="p">,</span> <span class="sa">f</span><span class="s2">&quot;inputs:</span><span class="si">{</span><span class="n">attr_name</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="n">attr_value</span><span class="p">,</span> <span class="n">camel_case</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+    <span class="c1"># return prim</span>
+    <span class="k">return</span> <span class="n">prim</span></div>
+</pre></div>
+
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new file mode 100644
index 0000000000..31c48d1190
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+  <h1>Source code for omni.isaac.lab.sim.spawners.materials.visual_materials_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">visual_materials</span>
+
+
+<div class="viewcode-block" id="VisualMaterialCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">VisualMaterialCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for creating a visual material.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The function to use for creating the material.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="PreviewSurfaceCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">VisualMaterialCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for creating a preview surface.</span>
+
+<span class="sd">    See :meth:`spawn_preview_surface` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">visual_materials</span><span class="o">.</span><span class="n">spawn_preview_surface</span>
+
+    <span class="n">diffuse_color</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.18</span><span class="p">,</span> <span class="mf">0.18</span><span class="p">,</span> <span class="mf">0.18</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The RGB diffusion color. This is the base color of the surface. Defaults to a dark gray.&quot;&quot;&quot;</span>
+    <span class="n">emissive_color</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The RGB emission component of the surface. Defaults to black.&quot;&quot;&quot;</span>
+    <span class="n">roughness</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.5</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The roughness for specular lobe. Ranges from 0 (smooth) to 1 (rough). Defaults to 0.5.&quot;&quot;&quot;</span>
+    <span class="n">metallic</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The metallic component. Ranges from 0 (dielectric) to 1 (metal). Defaults to 0.&quot;&quot;&quot;</span>
+    <span class="n">opacity</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The opacity of the surface. Ranges from 0 (transparent) to 1 (opaque). Defaults to 1.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        Opacity only affects the surface&#39;s appearance during interactive rendering.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MdlFileCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.MdlFileCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MdlFileCfg</span><span class="p">(</span><span class="n">VisualMaterialCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for loading an MDL material from a file.</span>
+
+<span class="sd">    See :meth:`spawn_from_mdl_file` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">visual_materials</span><span class="o">.</span><span class="n">spawn_from_mdl_file</span>
+
+    <span class="n">mdl_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The path to the MDL material.</span>
+
+<span class="sd">    NVIDIA Omniverse provides various MDL materials in the NVIDIA Nucleus.</span>
+<span class="sd">    To use these materials, you can set the path of the material in the nucleus directory</span>
+<span class="sd">    using the ``{NVIDIA_NUCLEUS_DIR}`` variable. This is internally resolved to the path of the</span>
+<span class="sd">    NVIDIA Nucleus directory on the host machine through the attribute</span>
+<span class="sd">    :attr:`omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR`.</span>
+
+<span class="sd">    For example, to use the &quot;Aluminum_Anodized&quot; material, you can set the path to:</span>
+<span class="sd">    ``{NVIDIA_NUCLEUS_DIR}/Materials/Base/Metals/Aluminum_Anodized.mdl``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">project_uvw</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to project the UVW coordinates of the material. Defaults to None.</span>
+
+<span class="sd">    If None, then the default setting in the MDL material will be used.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">albedo_brightness</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Multiplier for the diffuse color of the material. Defaults to None.</span>
+
+<span class="sd">    If None, then the default setting in the MDL material will be used.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">texture_scale</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The scale of the texture. Defaults to None.</span>
+
+<span class="sd">    If None, then the default setting in the MDL material will be used.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="GlassMdlCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">GlassMdlCfg</span><span class="p">(</span><span class="n">VisualMaterialCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for loading a glass MDL material.</span>
+
+<span class="sd">    This is a convenience class for loading a glass MDL material. For more information on</span>
+<span class="sd">    glass materials, see the `documentation &lt;https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html#omniglass&gt;`__.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The default values are taken from the glass material in the NVIDIA Nucleus.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">visual_materials</span><span class="o">.</span><span class="n">spawn_from_mdl_file</span>
+
+    <span class="n">mdl_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;OmniGlass.mdl&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The path to the MDL material. Defaults to the glass material in the NVIDIA Nucleus.&quot;&quot;&quot;</span>
+    <span class="n">glass_color</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The RGB color or tint of the glass. Defaults to white.&quot;&quot;&quot;</span>
+    <span class="n">frosting_roughness</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The amount of reflectivity of the surface. Ranges from 0 (perfectly clear) to 1 (frosted).</span>
+<span class="sd">    Defaults to 0.&quot;&quot;&quot;</span>
+    <span class="n">thin_walled</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to perform thin-walled refraction. Defaults to False.&quot;&quot;&quot;</span>
+    <span class="n">glass_ior</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.491</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The incidence of refraction to control how much light is bent when passing through the glass.</span>
+<span class="sd">    Defaults to 1.491, which is the IOR of glass.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
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new file mode 100644
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
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+  <h1>Source code for omni.isaac.lab.sim.spawners.meshes.meshes</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">trimesh</span>
+<span class="kn">import</span> <span class="nn">trimesh.transformations</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Usd</span><span class="p">,</span> <span class="n">UsdPhysics</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">schemas</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.utils</span> <span class="kn">import</span> <span class="n">bind_physics_material</span><span class="p">,</span> <span class="n">bind_visual_material</span><span class="p">,</span> <span class="n">clone</span>
+
+<span class="kn">from</span> <span class="nn">..materials</span> <span class="kn">import</span> <span class="n">DeformableBodyMaterialCfg</span><span class="p">,</span> <span class="n">RigidBodyMaterialCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">meshes_cfg</span>
+
+
+<div class="viewcode-block" id="spawn_mesh_sphere"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_sphere">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_mesh_sphere</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">meshes_cfg</span><span class="o">.</span><span class="n">MeshSphereCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USD-Mesh sphere prim with the given attributes.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># create a trimesh sphere</span>
+    <span class="n">sphere</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">uv_sphere</span><span class="p">(</span><span class="n">radius</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">radius</span><span class="p">)</span>
+    <span class="c1"># spawn the sphere as a mesh</span>
+    <span class="n">_spawn_mesh_geom_from_mesh</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">sphere</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="spawn_mesh_cuboid"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cuboid">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_mesh_cuboid</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">meshes_cfg</span><span class="o">.</span><span class="n">MeshCuboidCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USD-Mesh cuboid prim with the given attributes.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>  <span class="c1"># create a trimesh box</span>
+    <span class="n">box</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">)</span>
+    <span class="c1"># spawn the cuboid as a mesh</span>
+    <span class="n">_spawn_mesh_geom_from_mesh</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">box</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="spawn_mesh_cylinder"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cylinder">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_mesh_cylinder</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">meshes_cfg</span><span class="o">.</span><span class="n">MeshCylinderCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USD-Mesh cylinder prim with the given attributes.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># align axis from &quot;Z&quot; to input by rotating the cylinder</span>
+    <span class="n">axis</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">axis</span><span class="o">.</span><span class="n">upper</span><span class="p">()</span>
+    <span class="k">if</span> <span class="n">axis</span> <span class="o">==</span> <span class="s2">&quot;X&quot;</span><span class="p">:</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">rotation_matrix</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+    <span class="k">elif</span> <span class="n">axis</span> <span class="o">==</span> <span class="s2">&quot;Y&quot;</span><span class="p">:</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">rotation_matrix</span><span class="p">(</span><span class="o">-</span><span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="c1"># create a trimesh cylinder</span>
+    <span class="n">cylinder</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">cylinder</span><span class="p">(</span><span class="n">radius</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">radius</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="n">transform</span><span class="o">=</span><span class="n">transform</span><span class="p">)</span>
+    <span class="c1"># spawn the cylinder as a mesh</span>
+    <span class="n">_spawn_mesh_geom_from_mesh</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">cylinder</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="spawn_mesh_capsule"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_capsule">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_mesh_capsule</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">meshes_cfg</span><span class="o">.</span><span class="n">MeshCapsuleCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USD-Mesh capsule prim with the given attributes.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># align axis from &quot;Z&quot; to input by rotating the cylinder</span>
+    <span class="n">axis</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">axis</span><span class="o">.</span><span class="n">upper</span><span class="p">()</span>
+    <span class="k">if</span> <span class="n">axis</span> <span class="o">==</span> <span class="s2">&quot;X&quot;</span><span class="p">:</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">rotation_matrix</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+    <span class="k">elif</span> <span class="n">axis</span> <span class="o">==</span> <span class="s2">&quot;Y&quot;</span><span class="p">:</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">rotation_matrix</span><span class="p">(</span><span class="o">-</span><span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="c1"># create a trimesh capsule</span>
+    <span class="n">capsule</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">capsule</span><span class="p">(</span><span class="n">radius</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">radius</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="n">transform</span><span class="o">=</span><span class="n">transform</span><span class="p">)</span>
+    <span class="c1"># spawn capsule if it doesn&#39;t exist.</span>
+    <span class="n">_spawn_mesh_geom_from_mesh</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">capsule</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="spawn_mesh_cone"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cone">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_mesh_cone</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">meshes_cfg</span><span class="o">.</span><span class="n">MeshConeCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USD-Mesh cone prim with the given attributes.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># align axis from &quot;Z&quot; to input by rotating the cylinder</span>
+    <span class="n">axis</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">axis</span><span class="o">.</span><span class="n">upper</span><span class="p">()</span>
+    <span class="k">if</span> <span class="n">axis</span> <span class="o">==</span> <span class="s2">&quot;X&quot;</span><span class="p">:</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">rotation_matrix</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+    <span class="k">elif</span> <span class="n">axis</span> <span class="o">==</span> <span class="s2">&quot;Y&quot;</span><span class="p">:</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">rotation_matrix</span><span class="p">(</span><span class="o">-</span><span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="c1"># create a trimesh cone</span>
+    <span class="n">cone</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">cone</span><span class="p">(</span><span class="n">radius</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">radius</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="n">transform</span><span class="o">=</span><span class="n">transform</span><span class="p">)</span>
+    <span class="c1"># spawn cone if it doesn&#39;t exist.</span>
+    <span class="n">_spawn_mesh_geom_from_mesh</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">cone</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Helper functions.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="k">def</span> <span class="nf">_spawn_mesh_geom_from_mesh</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">meshes_cfg</span><span class="o">.</span><span class="n">MeshCfg</span><span class="p">,</span>
+    <span class="n">mesh</span><span class="p">:</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">scale</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a `USDGeomMesh`_ prim from the given mesh.</span>
+
+<span class="sd">    This function is similar to :func:`shapes._spawn_geom_from_prim_type` but spawns the prim from a given mesh.</span>
+<span class="sd">    In case of the mesh, it is spawned as a USDGeomMesh prim with the given vertices and faces.</span>
+
+<span class="sd">    There is a difference in how the properties are applied to the prim based on the type of object:</span>
+
+<span class="sd">    - Deformable body properties: The properties are applied to the mesh prim: ``{prim_path}/geometry/mesh``.</span>
+<span class="sd">    - Collision properties: The properties are applied to the mesh prim: ``{prim_path}/geometry/mesh``.</span>
+<span class="sd">    - Rigid body properties: The properties are applied to the parent prim: ``{prim_path}``.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path to spawn the asset at.</span>
+<span class="sd">        cfg: The config containing the properties to apply.</span>
+<span class="sd">        mesh: The mesh to spawn the prim from.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+<span class="sd">        scale: The scale to apply to the prim. Defaults to None, in which case this is set to identity.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">        ValueError: If both deformable and rigid properties are used.</span>
+<span class="sd">        ValueError: If both deformable and collision properties are used.</span>
+<span class="sd">        ValueError: If the physics material is not of the correct type. Deformable properties require a deformable</span>
+<span class="sd">            physics material, and rigid properties require a rigid physics material.</span>
+
+<span class="sd">    .. _USDGeomMesh: https://openusd.org/dev/api/class_usd_geom_mesh.html</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># spawn geometry if it doesn&#39;t exist.</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="n">prim_path</span><span class="p">):</span>
+        <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">prim_type</span><span class="o">=</span><span class="s2">&quot;Xform&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="o">=</span><span class="n">orientation</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;A prim already exists at path: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># check that invalid schema types are not used</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">deformable_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rigid_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Cannot use both deformable and rigid properties at the same time.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">deformable_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="n">cfg</span><span class="o">.</span><span class="n">collision_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Cannot use both deformable and collision properties at the same time.&quot;</span><span class="p">)</span>
+    <span class="c1"># check material types are correct</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">deformable_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="p">,</span> <span class="n">DeformableBodyMaterialCfg</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Deformable properties require a deformable physics material.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rigid_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="p">,</span> <span class="n">RigidBodyMaterialCfg</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Rigid properties require a rigid physics material.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># create all the paths we need for clarity</span>
+    <span class="n">geom_prim_path</span> <span class="o">=</span> <span class="n">prim_path</span> <span class="o">+</span> <span class="s2">&quot;/geometry&quot;</span>
+    <span class="n">mesh_prim_path</span> <span class="o">=</span> <span class="n">geom_prim_path</span> <span class="o">+</span> <span class="s2">&quot;/mesh&quot;</span>
+
+    <span class="c1"># create the mesh prim</span>
+    <span class="n">mesh_prim</span> <span class="o">=</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span>
+        <span class="n">mesh_prim_path</span><span class="p">,</span>
+        <span class="n">prim_type</span><span class="o">=</span><span class="s2">&quot;Mesh&quot;</span><span class="p">,</span>
+        <span class="n">scale</span><span class="o">=</span><span class="n">scale</span><span class="p">,</span>
+        <span class="n">attributes</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;points&quot;</span><span class="p">:</span> <span class="n">mesh</span><span class="o">.</span><span class="n">vertices</span><span class="p">,</span>
+            <span class="s2">&quot;faceVertexIndices&quot;</span><span class="p">:</span> <span class="n">mesh</span><span class="o">.</span><span class="n">faces</span><span class="o">.</span><span class="n">flatten</span><span class="p">(),</span>
+            <span class="s2">&quot;faceVertexCounts&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mi">3</span><span class="p">]</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">faces</span><span class="p">)),</span>
+            <span class="s2">&quot;subdivisionScheme&quot;</span><span class="p">:</span> <span class="s2">&quot;bilinear&quot;</span><span class="p">,</span>
+        <span class="p">},</span>
+    <span class="p">)</span>
+
+    <span class="c1"># note: in case of deformable objects, we need to apply the deformable properties to the mesh prim.</span>
+    <span class="c1">#   this is different from rigid objects where we apply the properties to the parent prim.</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">deformable_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="c1"># apply mass properties</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mass_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">schemas</span><span class="o">.</span><span class="n">define_mass_properties</span><span class="p">(</span><span class="n">mesh_prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mass_props</span><span class="p">)</span>
+        <span class="c1"># apply deformable body properties</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">define_deformable_body_properties</span><span class="p">(</span><span class="n">mesh_prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">deformable_props</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">cfg</span><span class="o">.</span><span class="n">collision_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="c1"># decide on type of collision approximation based on the mesh</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;MeshSphereCfg&quot;</span><span class="p">:</span>
+            <span class="n">collision_approximation</span> <span class="o">=</span> <span class="s2">&quot;boundingSphere&quot;</span>
+        <span class="k">elif</span> <span class="n">cfg</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;MeshCuboidCfg&quot;</span><span class="p">:</span>
+            <span class="n">collision_approximation</span> <span class="o">=</span> <span class="s2">&quot;boundingCube&quot;</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># for: MeshCylinderCfg, MeshCapsuleCfg, MeshConeCfg</span>
+            <span class="n">collision_approximation</span> <span class="o">=</span> <span class="s2">&quot;convexHull&quot;</span>
+        <span class="c1"># apply collision approximation to mesh</span>
+        <span class="c1"># note: for primitives, we use the convex hull approximation -- this should be sufficient for most cases.</span>
+        <span class="n">mesh_collision_api</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">MeshCollisionAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">mesh_prim</span><span class="p">)</span>
+        <span class="n">mesh_collision_api</span><span class="o">.</span><span class="n">GetApproximationAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">collision_approximation</span><span class="p">)</span>
+        <span class="c1"># apply collision properties</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">define_collision_properties</span><span class="p">(</span><span class="n">mesh_prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">collision_props</span><span class="p">)</span>
+
+    <span class="c1"># apply visual material</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+            <span class="n">material_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">geom_prim_path</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">visual_material_path</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">material_path</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material_path</span>
+        <span class="c1"># create material</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">material_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material</span><span class="p">)</span>
+        <span class="c1"># apply material</span>
+        <span class="n">bind_visual_material</span><span class="p">(</span><span class="n">mesh_prim_path</span><span class="p">,</span> <span class="n">material_path</span><span class="p">)</span>
+
+    <span class="c1"># apply physics material</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+            <span class="n">material_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">geom_prim_path</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_material_path</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">material_path</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material_path</span>
+        <span class="c1"># create material</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">material_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="p">)</span>
+        <span class="c1"># apply material</span>
+        <span class="n">bind_physics_material</span><span class="p">(</span><span class="n">mesh_prim_path</span><span class="p">,</span> <span class="n">material_path</span><span class="p">)</span>
+
+    <span class="c1"># note: we apply the rigid properties to the parent prim in case of rigid objects.</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rigid_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="c1"># apply mass properties</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mass_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">schemas</span><span class="o">.</span><span class="n">define_mass_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mass_props</span><span class="p">)</span>
+        <span class="c1"># apply rigid properties</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">define_rigid_body_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rigid_props</span><span class="p">)</span>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
new file mode 100644
index 0000000000..1c5256ba84
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html
@@ -0,0 +1,733 @@
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+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/core-concepts/task_workflows.html">Task Design Workflows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
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+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+  <h1>Source code for omni.isaac.lab.sim.spawners.meshes.meshes_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners</span> <span class="kn">import</span> <span class="n">materials</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners.spawner_cfg</span> <span class="kn">import</span> <span class="n">DeformableObjectSpawnerCfg</span><span class="p">,</span> <span class="n">RigidObjectSpawnerCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">meshes</span>
+
+
+<div class="viewcode-block" id="MeshCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshCfg</span><span class="p">(</span><span class="n">RigidObjectSpawnerCfg</span><span class="p">,</span> <span class="n">DeformableObjectSpawnerCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a USD Geometry or Geom prim.</span>
+
+<span class="sd">    This class is similar to :class:`ShapeCfg` but is specifically for meshes.</span>
+
+<span class="sd">    Meshes support both rigid and deformable properties. However, their schemas are applied at</span>
+<span class="sd">    different levels in the USD hierarchy based on the type of the object. These are described below:</span>
+
+<span class="sd">    - Deformable body properties: Applied to the mesh prim: ``{prim_path}/geometry/mesh``.</span>
+<span class="sd">    - Collision properties: Applied to the mesh prim: ``{prim_path}/geometry/mesh``.</span>
+<span class="sd">    - Rigid body properties: Applied to the parent prim: ``{prim_path}``.</span>
+
+<span class="sd">    where ``{prim_path}`` is the path to the prim in the USD stage and ``{prim_path}/geometry/mesh``</span>
+<span class="sd">    is the path to the mesh prim.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        There are mututally exclusive parameters for rigid and deformable properties. If both are set,</span>
+<span class="sd">        then an error will be raised. This also holds if collision and deformable properties are set together.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">visual_material_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;material&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Path to the visual material to use for the prim. Defaults to &quot;material&quot;.</span>
+
+<span class="sd">    If the path is relative, then it will be relative to the prim&#39;s path.</span>
+<span class="sd">    This parameter is ignored if `visual_material` is not None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">visual_material</span><span class="p">:</span> <span class="n">materials</span><span class="o">.</span><span class="n">VisualMaterialCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Visual material properties.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If None, then no visual material will be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">physics_material_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;material&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Path to the physics material to use for the prim. Defaults to &quot;material&quot;.</span>
+
+<span class="sd">    If the path is relative, then it will be relative to the prim&#39;s path.</span>
+<span class="sd">    This parameter is ignored if `physics_material` is not None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">physics_material</span><span class="p">:</span> <span class="n">materials</span><span class="o">.</span><span class="n">PhysicsMaterialCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Physics material properties.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If None, then no physics material will be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshSphereCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshSphereCfg</span><span class="p">(</span><span class="n">MeshCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a sphere mesh prim with deformable properties.</span>
+
+<span class="sd">    See :meth:`spawn_mesh_sphere` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">meshes</span><span class="o">.</span><span class="n">spawn_mesh_sphere</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the sphere (in m).&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshCuboidCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshCuboidCfg</span><span class="p">(</span><span class="n">MeshCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a cuboid mesh prim with deformable properties.</span>
+
+<span class="sd">    See :meth:`spawn_mesh_cuboid` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">meshes</span><span class="o">.</span><span class="n">spawn_mesh_cuboid</span>
+
+    <span class="n">size</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Size of the cuboid (in m).&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshCylinderCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshCylinderCfg</span><span class="p">(</span><span class="n">MeshCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a cylinder mesh prim with deformable properties.</span>
+
+<span class="sd">    See :meth:`spawn_cylinder` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">meshes</span><span class="o">.</span><span class="n">spawn_mesh_cylinder</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the cylinder (in m).&quot;&quot;&quot;</span>
+    <span class="n">height</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Height of the cylinder (in m).&quot;&quot;&quot;</span>
+    <span class="n">axis</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;X&quot;</span><span class="p">,</span> <span class="s2">&quot;Y&quot;</span><span class="p">,</span> <span class="s2">&quot;Z&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;Z&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Axis of the cylinder. Defaults to &quot;Z&quot;.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshCapsuleCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshCapsuleCfg</span><span class="p">(</span><span class="n">MeshCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a capsule mesh prim.</span>
+
+<span class="sd">    See :meth:`spawn_capsule` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">meshes</span><span class="o">.</span><span class="n">spawn_mesh_capsule</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the capsule (in m).&quot;&quot;&quot;</span>
+    <span class="n">height</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Height of the capsule (in m).&quot;&quot;&quot;</span>
+    <span class="n">axis</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;X&quot;</span><span class="p">,</span> <span class="s2">&quot;Y&quot;</span><span class="p">,</span> <span class="s2">&quot;Z&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;Z&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Axis of the capsule. Defaults to &quot;Z&quot;.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshConeCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshConeCfg</span><span class="p">(</span><span class="n">MeshCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a cone mesh prim.</span>
+
+<span class="sd">    See :meth:`spawn_cone` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">meshes</span><span class="o">.</span><span class="n">spawn_mesh_cone</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the cone (in m).&quot;&quot;&quot;</span>
+    <span class="n">height</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Height of the v (in m).&quot;&quot;&quot;</span>
+    <span class="n">axis</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;X&quot;</span><span class="p">,</span> <span class="s2">&quot;Y&quot;</span><span class="p">,</span> <span class="s2">&quot;Z&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;Z&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Axis of the cone. Defaults to &quot;Z&quot;.&quot;&quot;&quot;</span></div>
+</pre></div>
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+<ul class="nav bd-sidenav">
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+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/core-concepts/index.html">Core Concepts</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/core-concepts/task_workflows.html">Task Design Workflows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/environments.html">Available Environments</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+  <h1>Source code for omni.isaac.lab.sim.spawners.sensors.sensors</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.kit.commands</span>
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Sdf</span><span class="p">,</span> <span class="n">Usd</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.utils</span> <span class="kn">import</span> <span class="n">clone</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">to_camel_case</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">sensors_cfg</span>
+
+
+<span class="n">CUSTOM_PINHOLE_CAMERA_ATTRIBUTES</span> <span class="o">=</span> <span class="p">{</span>
+    <span class="s2">&quot;projection_type&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;cameraProjectionType&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Token</span><span class="p">),</span>
+<span class="p">}</span>
+<span class="sd">&quot;&quot;&quot;Custom attributes for pinhole camera model.</span>
+
+<span class="sd">The dictionary maps the attribute name in the configuration to the attribute name in the USD prim.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="n">CUSTOM_FISHEYE_CAMERA_ATTRIBUTES</span> <span class="o">=</span> <span class="p">{</span>
+    <span class="s2">&quot;projection_type&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;cameraProjectionType&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Token</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_nominal_width&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaWidth&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_nominal_height&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaHeight&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_optical_centre_x&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaCx&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_optical_centre_y&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaCy&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_max_fov&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaMaxFov&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_polynomial_a&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaPolyA&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_polynomial_b&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaPolyB&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_polynomial_c&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaPolyC&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_polynomial_d&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaPolyD&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_polynomial_e&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaPolyE&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+    <span class="s2">&quot;fisheye_polynomial_f&quot;</span><span class="p">:</span> <span class="p">(</span><span class="s2">&quot;fthetaPolyF&quot;</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span><span class="p">),</span>
+<span class="p">}</span>
+<span class="sd">&quot;&quot;&quot;Custom attributes for fisheye camera model.</span>
+
+<span class="sd">The dictionary maps the attribute name in the configuration to the attribute name in the USD prim.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="spawn_camera"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.spawn_camera">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_camera</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">sensors_cfg</span><span class="o">.</span><span class="n">PinholeCameraCfg</span> <span class="o">|</span> <span class="n">sensors_cfg</span><span class="o">.</span><span class="n">FisheyeCameraCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USD camera prim with given projection type.</span>
+
+<span class="sd">    The function creates various attributes on the camera prim that specify the camera&#39;s properties.</span>
+<span class="sd">    These are later used by ``omni.replicator.core`` to render the scene with the given camera.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># spawn camera if it doesn&#39;t exist.</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="n">prim_path</span><span class="p">):</span>
+        <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="s2">&quot;Camera&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="o">=</span><span class="n">orientation</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;A prim already exists at path: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># lock camera from viewport (this disables viewport movement for camera)</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">lock_camera</span><span class="p">:</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span>
+            <span class="s2">&quot;ChangePropertyCommand&quot;</span><span class="p">,</span>
+            <span class="n">prop_path</span><span class="o">=</span><span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">.omni:kit:cameraLock&quot;</span><span class="p">),</span>
+            <span class="n">value</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+            <span class="n">prev</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+            <span class="n">type_to_create_if_not_exist</span><span class="o">=</span><span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Bool</span><span class="p">,</span>
+        <span class="p">)</span>
+    <span class="c1"># decide the custom attributes to add</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">projection_type</span> <span class="o">==</span> <span class="s2">&quot;pinhole&quot;</span><span class="p">:</span>
+        <span class="n">attribute_types</span> <span class="o">=</span> <span class="n">CUSTOM_PINHOLE_CAMERA_ATTRIBUTES</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">attribute_types</span> <span class="o">=</span> <span class="n">CUSTOM_FISHEYE_CAMERA_ATTRIBUTES</span>
+
+    <span class="c1"># TODO: Adjust to handle aperture offsets once supported by omniverse</span>
+    <span class="c1">#   Internal ticket from rendering team: OM-42611</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_aperture_offset</span> <span class="o">&gt;</span> <span class="mf">1e-4</span> <span class="ow">or</span> <span class="n">cfg</span><span class="o">.</span><span class="n">vertical_aperture_offset</span> <span class="o">&gt;</span> <span class="mf">1e-4</span><span class="p">:</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;Camera aperture offsets are not supported by Omniverse. These parameters will be ignored.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># custom attributes in the config that are not USD Camera parameters</span>
+    <span class="n">non_usd_cfg_param_names</span> <span class="o">=</span> <span class="p">[</span>
+        <span class="s2">&quot;func&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;copy_from_source&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;lock_camera&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;visible&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;semantic_tags&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;from_intrinsic_matrix&quot;</span><span class="p">,</span>
+    <span class="p">]</span>
+    <span class="c1"># get camera prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># create attributes for the fisheye camera model</span>
+    <span class="c1"># note: for pinhole those are already part of the USD camera prim</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">attr_type</span> <span class="ow">in</span> <span class="n">attribute_types</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+        <span class="c1"># check if attribute does not exist</span>
+        <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="n">attr_name</span><span class="p">)</span><span class="o">.</span><span class="n">Get</span><span class="p">()</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># create attribute based on type</span>
+            <span class="n">prim</span><span class="o">.</span><span class="n">CreateAttribute</span><span class="p">(</span><span class="n">attr_name</span><span class="p">,</span> <span class="n">attr_type</span><span class="p">)</span>
+    <span class="c1"># set attribute values</span>
+    <span class="k">for</span> <span class="n">param_name</span><span class="p">,</span> <span class="n">param_value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="c1"># check if value is valid</span>
+        <span class="k">if</span> <span class="n">param_value</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">param_name</span> <span class="ow">in</span> <span class="n">non_usd_cfg_param_names</span><span class="p">:</span>
+            <span class="k">continue</span>
+        <span class="c1"># obtain prim property name</span>
+        <span class="k">if</span> <span class="n">param_name</span> <span class="ow">in</span> <span class="n">attribute_types</span><span class="p">:</span>
+            <span class="c1"># check custom attributes</span>
+            <span class="n">prim_prop_name</span> <span class="o">=</span> <span class="n">attribute_types</span><span class="p">[</span><span class="n">param_name</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># convert attribute name in prim to cfg name</span>
+            <span class="n">prim_prop_name</span> <span class="o">=</span> <span class="n">to_camel_case</span><span class="p">(</span><span class="n">param_name</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;cC&quot;</span><span class="p">)</span>
+        <span class="c1"># get attribute from the class</span>
+        <span class="n">prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="n">prim_prop_name</span><span class="p">)</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">param_value</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+</pre></div>
+
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new file mode 100644
index 0000000000..1c69e21b3b
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html
@@ -0,0 +1,824 @@
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
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+  <h1>Source code for omni.isaac.lab.sim.spawners.sensors.sensors_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners.spawner_cfg</span> <span class="kn">import</span> <span class="n">SpawnerCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">sensors</span>
+
+
+<div class="viewcode-block" id="PinholeCameraCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">PinholeCameraCfg</span><span class="p">(</span><span class="n">SpawnerCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a USD camera prim with pinhole camera settings.</span>
+
+<span class="sd">    For more information on the parameters, please refer to the `camera documentation &lt;https://docs.omniverse.nvidia.com/materials-and-rendering/latest/cameras.html&gt;`__.</span>
+
+<span class="sd">    ..note ::</span>
+<span class="sd">        Focal length as well as the aperture sizes and offsets are set as a tenth of the world unit. In our case, the</span>
+<span class="sd">        world unit is Meter s.t. all of these values are set in cm.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The default values are taken from the `Replicator camera &lt;https://docs.omniverse.nvidia.com/py/replicator/1.9.8/source/extensions/omni.replicator.core/docs/API.html#omni.replicator.core.create.camera&gt;`__</span>
+<span class="sd">        function.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">sensors</span><span class="o">.</span><span class="n">spawn_camera</span>
+
+    <span class="n">projection_type</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;pinhole&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Type of projection to use for the camera. Defaults to &quot;pinhole&quot;.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        Currently only &quot;pinhole&quot; is supported.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">clipping_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.01</span><span class="p">,</span> <span class="mf">1e6</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Near and far clipping distances (in m). Defaults to (0.01, 1e6).</span>
+
+<span class="sd">    The minimum clipping range will shift the camera forward by the specified distance. Don&#39;t set it too high to</span>
+<span class="sd">    avoid issues for distance related data types (e.g., ``distance_to_image_plane``).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">focal_length</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">24.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Perspective focal length (in cm). Defaults to 24.0cm.</span>
+
+<span class="sd">    Longer lens lengths narrower FOV, shorter lens lengths wider FOV.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">focus_distance</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">400.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Distance from the camera to the focus plane (in m). Defaults to 400.0.</span>
+
+<span class="sd">    The distance at which perfect sharpness is achieved.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">f_stop</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Lens aperture. Defaults to 0.0, which turns off focusing.</span>
+
+<span class="sd">    Controls Distance Blurring. Lower Numbers decrease focus range, larger numbers increase it.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">horizontal_aperture</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">20.955</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Horizontal aperture (in cm). Defaults to 20.955 cm.</span>
+
+<span class="sd">    Emulates sensor/film width on a camera.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The default value is the horizontal aperture of a 35 mm spherical projector.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">vertical_aperture</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Vertical aperture (in mm). Defaults to None.</span>
+
+<span class="sd">    Emulates sensor/film height on a camera. If None, then the vertical aperture is calculated based on the</span>
+<span class="sd">    horizontal aperture and the aspect ratio of the image to maintain squared pixels. This is calculated as:</span>
+
+<span class="sd">    .. math::</span>
+<span class="sd">        \text{vertical aperture} = \text{horizontal aperture} \times \frac{\text{height}}{\text{width}}</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">horizontal_aperture_offset</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Offsets Resolution/Film gate horizontally. Defaults to 0.0.&quot;&quot;&quot;</span>
+
+    <span class="n">vertical_aperture_offset</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Offsets Resolution/Film gate vertically. Defaults to 0.0.&quot;&quot;&quot;</span>
+
+    <span class="n">lock_camera</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Locks the camera in the Omniverse viewport. Defaults to True.</span>
+
+<span class="sd">    If True, then the camera remains fixed at its configured transform. This is useful when wanting to view</span>
+<span class="sd">    the camera output on the GUI and not accidentally moving the camera through the GUI interactions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="PinholeCameraCfg.from_intrinsic_matrix"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.from_intrinsic_matrix">[docs]</a>    <span class="nd">@classmethod</span>
+    <span class="k">def</span> <span class="nf">from_intrinsic_matrix</span><span class="p">(</span>
+        <span class="bp">cls</span><span class="p">,</span>
+        <span class="n">intrinsic_matrix</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">],</span>
+        <span class="n">width</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+        <span class="n">height</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+        <span class="n">clipping_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.01</span><span class="p">,</span> <span class="mf">1e6</span><span class="p">),</span>
+        <span class="n">focal_length</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">24.0</span><span class="p">,</span>
+        <span class="n">focus_distance</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">400.0</span><span class="p">,</span>
+        <span class="n">f_stop</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">projection_type</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;pinhole&quot;</span><span class="p">,</span>
+        <span class="n">lock_camera</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="n">PinholeCameraCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Create a :class:`PinholeCameraCfg` class instance from an intrinsic matrix.</span>
+
+<span class="sd">        The intrinsic matrix is a 3x3 matrix that defines the mapping between the 3D world coordinates and</span>
+<span class="sd">        the 2D image. The matrix is defined as:</span>
+
+<span class="sd">        .. math::</span>
+<span class="sd">            I_{cam} = \begin{bmatrix}</span>
+<span class="sd">            f_x &amp; 0 &amp; c_x \\</span>
+<span class="sd">            0 &amp; f_y &amp; c_y \\</span>
+<span class="sd">            0 &amp; 0 &amp; 1</span>
+<span class="sd">            \\end{bmatrix},</span>
+
+<span class="sd">        where :math:`f_x` and :math:`f_y` are the focal length along x and y direction, while :math:`c_x` and :math:`c_y` are the</span>
+<span class="sd">        principle point offsets along x and y direction respectively.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            intrinsic_matrix: Intrinsic matrix of the camera in row-major format.</span>
+<span class="sd">                The matrix is defined as [f_x, 0, c_x, 0, f_y, c_y, 0, 0, 1]. Shape is (9,).</span>
+<span class="sd">            width: Width of the image (in pixels).</span>
+<span class="sd">            height: Height of the image (in pixels).</span>
+<span class="sd">            clipping_range: Near and far clipping distances (in m). Defaults to (0.01, 1e6).</span>
+<span class="sd">            focal_length: Perspective focal length (in cm). Defaults to 24.0 cm.</span>
+<span class="sd">            focus_distance: Distance from the camera to the focus plane (in m). Defaults to 400.0 m.</span>
+<span class="sd">            f_stop: Lens aperture. Defaults to 0.0, which turns off focusing.</span>
+<span class="sd">            projection_type: Type of projection to use for the camera. Defaults to &quot;pinhole&quot;.</span>
+<span class="sd">            lock_camera: Locks the camera in the Omniverse viewport. Defaults to True.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            An instance of the :class:`PinholeCameraCfg` class.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># raise not implemented error is projection type is not pinhole</span>
+        <span class="k">if</span> <span class="n">projection_type</span> <span class="o">!=</span> <span class="s2">&quot;pinhole&quot;</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="s2">&quot;Only pinhole projection type is supported.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># extract parameters from matrix</span>
+        <span class="n">f_x</span> <span class="o">=</span> <span class="n">intrinsic_matrix</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="n">c_x</span> <span class="o">=</span> <span class="n">intrinsic_matrix</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span>
+        <span class="n">f_y</span> <span class="o">=</span> <span class="n">intrinsic_matrix</span><span class="p">[</span><span class="mi">4</span><span class="p">]</span>
+        <span class="n">c_y</span> <span class="o">=</span> <span class="n">intrinsic_matrix</span><span class="p">[</span><span class="mi">5</span><span class="p">]</span>
+        <span class="c1"># resolve parameters for usd camera</span>
+        <span class="n">horizontal_aperture</span> <span class="o">=</span> <span class="n">width</span> <span class="o">*</span> <span class="n">focal_length</span> <span class="o">/</span> <span class="n">f_x</span>
+        <span class="n">vertical_aperture</span> <span class="o">=</span> <span class="n">height</span> <span class="o">*</span> <span class="n">focal_length</span> <span class="o">/</span> <span class="n">f_y</span>
+        <span class="n">horizontal_aperture_offset</span> <span class="o">=</span> <span class="p">(</span><span class="n">c_x</span> <span class="o">-</span> <span class="n">width</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span> <span class="o">/</span> <span class="n">f_x</span>
+        <span class="n">vertical_aperture_offset</span> <span class="o">=</span> <span class="p">(</span><span class="n">c_y</span> <span class="o">-</span> <span class="n">height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span> <span class="o">/</span> <span class="n">f_y</span>
+
+        <span class="k">return</span> <span class="bp">cls</span><span class="p">(</span>
+            <span class="n">projection_type</span><span class="o">=</span><span class="n">projection_type</span><span class="p">,</span>
+            <span class="n">clipping_range</span><span class="o">=</span><span class="n">clipping_range</span><span class="p">,</span>
+            <span class="n">focal_length</span><span class="o">=</span><span class="n">focal_length</span><span class="p">,</span>
+            <span class="n">focus_distance</span><span class="o">=</span><span class="n">focus_distance</span><span class="p">,</span>
+            <span class="n">f_stop</span><span class="o">=</span><span class="n">f_stop</span><span class="p">,</span>
+            <span class="n">horizontal_aperture</span><span class="o">=</span><span class="n">horizontal_aperture</span><span class="p">,</span>
+            <span class="n">vertical_aperture</span><span class="o">=</span><span class="n">vertical_aperture</span><span class="p">,</span>
+            <span class="n">horizontal_aperture_offset</span><span class="o">=</span><span class="n">horizontal_aperture_offset</span><span class="p">,</span>
+            <span class="n">vertical_aperture_offset</span><span class="o">=</span><span class="n">vertical_aperture_offset</span><span class="p">,</span>
+            <span class="n">lock_camera</span><span class="o">=</span><span class="n">lock_camera</span><span class="p">,</span>
+        <span class="p">)</span></div></div>
+
+
+<div class="viewcode-block" id="FisheyeCameraCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">FisheyeCameraCfg</span><span class="p">(</span><span class="n">PinholeCameraCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a USD camera prim with `fish-eye camera`_ settings.</span>
+
+<span class="sd">    For more information on the parameters, please refer to the</span>
+<span class="sd">    `camera documentation &lt;https://docs.omniverse.nvidia.com/materials-and-rendering/latest/cameras.html#fisheye-properties&gt;`__.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The default values are taken from the `Replicator camera &lt;https://docs.omniverse.nvidia.com/py/replicator/1.9.8/source/extensions/omni.replicator.core/docs/API.html#omni.replicator.core.create.camera&gt;`__</span>
+<span class="sd">        function.</span>
+
+<span class="sd">    .. _fish-eye camera: https://en.wikipedia.org/wiki/Fisheye_lens</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">sensors</span><span class="o">.</span><span class="n">spawn_camera</span>
+
+    <span class="n">projection_type</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span>
+        <span class="s2">&quot;fisheyePolynomial&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;fisheyeSpherical&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;fisheyeKannalaBrandtK3&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;fisheyeRadTanThinPrism&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;omniDirectionalStereo&quot;</span><span class="p">,</span>
+    <span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;fisheyePolynomial&quot;</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Type of projection to use for the camera. Defaults to &quot;fisheyePolynomial&quot;.</span>
+
+<span class="sd">    Available options:</span>
+
+<span class="sd">    - ``&quot;fisheyePolynomial&quot;``: Fisheye camera model with :math:`360^{\circ}` spherical projection.</span>
+<span class="sd">    - ``&quot;fisheyeSpherical&quot;``: Fisheye camera model with :math:`360^{\circ}` full-frame projection.</span>
+<span class="sd">    - ``&quot;fisheyeKannalaBrandtK3&quot;``: Fisheye camera model using the Kannala-Brandt K3 distortion model.</span>
+<span class="sd">    - ``&quot;fisheyeRadTanThinPrism&quot;``: Fisheye camera model that combines radial and tangential distortions.</span>
+<span class="sd">    - ``&quot;omniDirectionalStereo&quot;``: Fisheye camera model supporting :math:`360^{\circ}` stereoscopic imaging.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_nominal_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1936.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Nominal width of fisheye lens model (in pixels). Defaults to 1936.0.&quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_nominal_height</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1216.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Nominal height of fisheye lens model (in pixels). Defaults to 1216.0.&quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_optical_centre_x</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">970.94244</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Horizontal optical centre position of fisheye lens model (in pixels). Defaults to 970.94244.&quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_optical_centre_y</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">600.37482</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Vertical optical centre position of fisheye lens model (in pixels). Defaults to 600.37482.&quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_max_fov</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">200.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Maximum field of view of fisheye lens model (in degrees). Defaults to 200.0 degrees.&quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_polynomial_a</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;First component of fisheye polynomial. Defaults to 0.0.&quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_polynomial_b</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.00245</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Second component of fisheye polynomial. Defaults to 0.00245.&quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_polynomial_c</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Third component of fisheye polynomial. Defaults to 0.0.&quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_polynomial_d</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Fourth component of fisheye polynomial. Defaults to 0.0.&quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_polynomial_e</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Fifth component of fisheye polynomial. Defaults to 0.0.&quot;&quot;&quot;</span>
+
+    <span class="n">fisheye_polynomial_f</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Sixth component of fisheye polynomial. Defaults to 0.0.&quot;&quot;&quot;</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Usd</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">schemas</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.utils</span> <span class="kn">import</span> <span class="n">bind_physics_material</span><span class="p">,</span> <span class="n">bind_visual_material</span><span class="p">,</span> <span class="n">clone</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">shapes_cfg</span>
+
+
+<div class="viewcode-block" id="spawn_sphere"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.spawn_sphere">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_sphere</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">shapes_cfg</span><span class="o">.</span><span class="n">SphereCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USDGeom-based sphere prim with the given attributes.</span>
+
+<span class="sd">    For more information, see `USDGeomSphere &lt;https://openusd.org/dev/api/class_usd_geom_sphere.html&gt;`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># spawn sphere if it doesn&#39;t exist.</span>
+    <span class="n">attributes</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;radius&quot;</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">radius</span><span class="p">}</span>
+    <span class="n">_spawn_geom_from_prim_type</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;Sphere&quot;</span><span class="p">,</span> <span class="n">attributes</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="spawn_cuboid"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.spawn_cuboid">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_cuboid</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">shapes_cfg</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USDGeom-based cuboid prim with the given attributes.</span>
+
+<span class="sd">    For more information, see `USDGeomCube &lt;https://openusd.org/dev/api/class_usd_geom_cube.html&gt;`_.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        Since USD only supports cubes, we set the size of the cube to the minimum of the given size and</span>
+<span class="sd">        scale the cube accordingly.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve the scale</span>
+    <span class="n">size</span> <span class="o">=</span> <span class="nb">min</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">)</span>
+    <span class="n">scale</span> <span class="o">=</span> <span class="p">[</span><span class="n">dim</span> <span class="o">/</span> <span class="n">size</span> <span class="k">for</span> <span class="n">dim</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">]</span>
+    <span class="c1"># spawn cuboid if it doesn&#39;t exist.</span>
+    <span class="n">attributes</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;size&quot;</span><span class="p">:</span> <span class="n">size</span><span class="p">}</span>
+    <span class="n">_spawn_geom_from_prim_type</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;Cube&quot;</span><span class="p">,</span> <span class="n">attributes</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">,</span> <span class="n">scale</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="spawn_cylinder"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.spawn_cylinder">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_cylinder</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">shapes_cfg</span><span class="o">.</span><span class="n">CylinderCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USDGeom-based cylinder prim with the given attributes.</span>
+
+<span class="sd">    For more information, see `USDGeomCylinder &lt;https://openusd.org/dev/api/class_usd_geom_cylinder.html&gt;`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># spawn cylinder if it doesn&#39;t exist.</span>
+    <span class="n">attributes</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;radius&quot;</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">radius</span><span class="p">,</span> <span class="s2">&quot;height&quot;</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="s2">&quot;axis&quot;</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">axis</span><span class="o">.</span><span class="n">upper</span><span class="p">()}</span>
+    <span class="n">_spawn_geom_from_prim_type</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;Cylinder&quot;</span><span class="p">,</span> <span class="n">attributes</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="spawn_capsule"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.spawn_capsule">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_capsule</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">shapes_cfg</span><span class="o">.</span><span class="n">CapsuleCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USDGeom-based capsule prim with the given attributes.</span>
+
+<span class="sd">    For more information, see `USDGeomCapsule &lt;https://openusd.org/dev/api/class_usd_geom_capsule.html&gt;`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># spawn capsule if it doesn&#39;t exist.</span>
+    <span class="n">attributes</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;radius&quot;</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">radius</span><span class="p">,</span> <span class="s2">&quot;height&quot;</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="s2">&quot;axis&quot;</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">axis</span><span class="o">.</span><span class="n">upper</span><span class="p">()}</span>
+    <span class="n">_spawn_geom_from_prim_type</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;Capsule&quot;</span><span class="p">,</span> <span class="n">attributes</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="spawn_cone"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.spawn_cone">[docs]</a><span class="nd">@clone</span>
+<span class="k">def</span> <span class="nf">spawn_cone</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">shapes_cfg</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USDGeom-based cone prim with the given attributes.</span>
+
+<span class="sd">    For more information, see `USDGeomCone &lt;https://openusd.org/dev/api/class_usd_geom_cone.html&gt;`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This function is decorated with :func:`clone` that resolves prim path into list of paths</span>
+<span class="sd">        if the input prim path is a regex pattern. This is done to support spawning multiple assets</span>
+<span class="sd">        from a single and cloning the USD prim at the given path expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,</span>
+<span class="sd">            then the asset is spawned at all the matching prim paths.</span>
+<span class="sd">        cfg: The configuration instance.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># spawn cone if it doesn&#39;t exist.</span>
+    <span class="n">attributes</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;radius&quot;</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">radius</span><span class="p">,</span> <span class="s2">&quot;height&quot;</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="s2">&quot;axis&quot;</span><span class="p">:</span> <span class="n">cfg</span><span class="o">.</span><span class="n">axis</span><span class="o">.</span><span class="n">upper</span><span class="p">()}</span>
+    <span class="n">_spawn_geom_from_prim_type</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;Cone&quot;</span><span class="p">,</span> <span class="n">attributes</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span>
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Helper functions.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="k">def</span> <span class="nf">_spawn_geom_from_prim_type</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">shapes_cfg</span><span class="o">.</span><span class="n">ShapeCfg</span><span class="p">,</span>
+    <span class="n">prim_type</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">attributes</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">scale</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USDGeom-based prim with the given attributes.</span>
+
+<span class="sd">    To make the asset instanceable, we must follow a certain structure dictated by how USD scene-graph</span>
+<span class="sd">    instancing and physics work. The rigid body component must be added to each instance and not the</span>
+<span class="sd">    referenced asset (i.e. the prototype prim itself). This is because the rigid body component defines</span>
+<span class="sd">    properties that are specific to each instance and cannot be shared under the referenced asset. For</span>
+<span class="sd">    more information, please check the `documentation &lt;https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#instancing-rigid-bodies&gt;`_.</span>
+
+<span class="sd">    Due to the above, we follow the following structure:</span>
+
+<span class="sd">    * ``{prim_path}`` - The root prim that is an Xform with the rigid body and mass APIs if configured.</span>
+<span class="sd">    * ``{prim_path}/geometry`` - The prim that contains the mesh and optionally the materials if configured.</span>
+<span class="sd">      If instancing is enabled, this prim will be an instanceable reference to the prototype prim.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path to spawn the asset at.</span>
+<span class="sd">        cfg: The config containing the properties to apply.</span>
+<span class="sd">        prim_type: The type of prim to create.</span>
+<span class="sd">        attributes: The attributes to apply to the prim.</span>
+<span class="sd">        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case</span>
+<span class="sd">            this is set to the origin.</span>
+<span class="sd">        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,</span>
+<span class="sd">            in which case this is set to identity.</span>
+<span class="sd">        scale: The scale to apply to the prim. Defaults to None, in which case this is set to identity.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If a prim already exists at the given path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># spawn geometry if it doesn&#39;t exist.</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">is_prim_path_valid</span><span class="p">(</span><span class="n">prim_path</span><span class="p">):</span>
+        <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">prim_type</span><span class="o">=</span><span class="s2">&quot;Xform&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="o">=</span><span class="n">orientation</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;A prim already exists at path: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># create all the paths we need for clarity</span>
+    <span class="n">geom_prim_path</span> <span class="o">=</span> <span class="n">prim_path</span> <span class="o">+</span> <span class="s2">&quot;/geometry&quot;</span>
+    <span class="n">mesh_prim_path</span> <span class="o">=</span> <span class="n">geom_prim_path</span> <span class="o">+</span> <span class="s2">&quot;/mesh&quot;</span>
+
+    <span class="c1"># create the geometry prim</span>
+    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="n">mesh_prim_path</span><span class="p">,</span> <span class="n">prim_type</span><span class="p">,</span> <span class="n">scale</span><span class="o">=</span><span class="n">scale</span><span class="p">,</span> <span class="n">attributes</span><span class="o">=</span><span class="n">attributes</span><span class="p">)</span>
+    <span class="c1"># apply collision properties</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">collision_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">define_collision_properties</span><span class="p">(</span><span class="n">mesh_prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">collision_props</span><span class="p">)</span>
+    <span class="c1"># apply visual material</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+            <span class="n">material_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">geom_prim_path</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">visual_material_path</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">material_path</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material_path</span>
+        <span class="c1"># create material</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">material_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visual_material</span><span class="p">)</span>
+        <span class="c1"># apply material</span>
+        <span class="n">bind_visual_material</span><span class="p">(</span><span class="n">mesh_prim_path</span><span class="p">,</span> <span class="n">material_path</span><span class="p">)</span>
+    <span class="c1"># apply physics material</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+            <span class="n">material_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">geom_prim_path</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_material_path</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">material_path</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material_path</span>
+        <span class="c1"># create material</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">material_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="p">)</span>
+        <span class="c1"># apply material</span>
+        <span class="n">bind_physics_material</span><span class="p">(</span><span class="n">mesh_prim_path</span><span class="p">,</span> <span class="n">material_path</span><span class="p">)</span>
+
+    <span class="c1"># note: we apply rigid properties in the end to later make the instanceable prim</span>
+    <span class="c1"># apply mass properties</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mass_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">define_mass_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mass_props</span><span class="p">)</span>
+    <span class="c1"># apply rigid body properties</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rigid_props</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">schemas</span><span class="o">.</span><span class="n">define_rigid_body_properties</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rigid_props</span><span class="p">)</span>
+</pre></div>
+
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new file mode 100644
index 0000000000..304fef2fee
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html
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+  <h1>Source code for omni.isaac.lab.sim.spawners.shapes.shapes_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners</span> <span class="kn">import</span> <span class="n">materials</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners.spawner_cfg</span> <span class="kn">import</span> <span class="n">RigidObjectSpawnerCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">shapes</span>
+
+
+<div class="viewcode-block" id="ShapeCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ShapeCfg</span><span class="p">(</span><span class="n">RigidObjectSpawnerCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a USD Geometry or Geom prim.&quot;&quot;&quot;</span>
+
+    <span class="n">visual_material_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;material&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Path to the visual material to use for the prim. Defaults to &quot;material&quot;.</span>
+
+<span class="sd">    If the path is relative, then it will be relative to the prim&#39;s path.</span>
+<span class="sd">    This parameter is ignored if `visual_material` is not None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">visual_material</span><span class="p">:</span> <span class="n">materials</span><span class="o">.</span><span class="n">VisualMaterialCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Visual material properties.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If None, then no visual material will be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">physics_material_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;material&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Path to the physics material to use for the prim. Defaults to &quot;material&quot;.</span>
+
+<span class="sd">    If the path is relative, then it will be relative to the prim&#39;s path.</span>
+<span class="sd">    This parameter is ignored if `physics_material` is not None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">physics_material</span><span class="p">:</span> <span class="n">materials</span><span class="o">.</span><span class="n">PhysicsMaterialCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Physics material properties.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        If None, then no physics material will be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="SphereCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">SphereCfg</span><span class="p">(</span><span class="n">ShapeCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a sphere prim.</span>
+
+<span class="sd">    See :meth:`spawn_sphere` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">shapes</span><span class="o">.</span><span class="n">spawn_sphere</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the sphere (in m).&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="CuboidCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CuboidCfg</span><span class="p">(</span><span class="n">ShapeCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a cuboid prim.</span>
+
+<span class="sd">    See :meth:`spawn_cuboid` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">shapes</span><span class="o">.</span><span class="n">spawn_cuboid</span>
+
+    <span class="n">size</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Size of the cuboid.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="CylinderCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CylinderCfg</span><span class="p">(</span><span class="n">ShapeCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a cylinder prim.</span>
+
+<span class="sd">    See :meth:`spawn_cylinder` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">shapes</span><span class="o">.</span><span class="n">spawn_cylinder</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the cylinder (in m).&quot;&quot;&quot;</span>
+    <span class="n">height</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Height of the cylinder (in m).&quot;&quot;&quot;</span>
+    <span class="n">axis</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;X&quot;</span><span class="p">,</span> <span class="s2">&quot;Y&quot;</span><span class="p">,</span> <span class="s2">&quot;Z&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;Z&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Axis of the cylinder. Defaults to &quot;Z&quot;.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="CapsuleCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CapsuleCfg</span><span class="p">(</span><span class="n">ShapeCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a capsule prim.</span>
+
+<span class="sd">    See :meth:`spawn_capsule` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">shapes</span><span class="o">.</span><span class="n">spawn_capsule</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the capsule (in m).&quot;&quot;&quot;</span>
+    <span class="n">height</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Height of the capsule (in m).&quot;&quot;&quot;</span>
+    <span class="n">axis</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;X&quot;</span><span class="p">,</span> <span class="s2">&quot;Y&quot;</span><span class="p">,</span> <span class="s2">&quot;Z&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;Z&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Axis of the capsule. Defaults to &quot;Z&quot;.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="ConeCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ConeCfg</span><span class="p">(</span><span class="n">ShapeCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a cone prim.</span>
+
+<span class="sd">    See :meth:`spawn_cone` for more information.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="n">shapes</span><span class="o">.</span><span class="n">spawn_cone</span>
+
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the cone (in m).&quot;&quot;&quot;</span>
+    <span class="n">height</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Height of the v (in m).&quot;&quot;&quot;</span>
+    <span class="n">axis</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;X&quot;</span><span class="p">,</span> <span class="s2">&quot;Y&quot;</span><span class="p">,</span> <span class="s2">&quot;Z&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;Z&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Axis of the cone. Defaults to &quot;Z&quot;.&quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
+              
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
new file mode 100644
index 0000000000..48da7b51f9
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html
@@ -0,0 +1,707 @@
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+  <h1>Source code for omni.isaac.lab.sim.spawners.spawner_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Usd</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">schemas</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+
+<div class="viewcode-block" id="SpawnerCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">SpawnerCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for spawning an asset.</span>
+
+<span class="sd">    Spawning an asset is done by calling the :attr:`func` function. The function takes in the</span>
+<span class="sd">    prim path to spawn the asset at, the configuration instance and transformation, and returns the</span>
+<span class="sd">    prim path of the spawned asset.</span>
+
+<span class="sd">    The function is typically decorated with :func:`omni.isaac.lab.sim.spawner.utils.clone` decorator</span>
+<span class="sd">    that checks if input prim path is a regex expression and spawns the asset at all matching prims.</span>
+<span class="sd">    For this, the decorator uses the Cloner API from Isaac Sim and handles the :attr:`copy_from_source`</span>
+<span class="sd">    parameter.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Function to use for spawning the asset.</span>
+
+<span class="sd">    The function takes in the prim path (or expression) to spawn the asset at, the configuration instance</span>
+<span class="sd">    and transformation, and returns the source prim spawned.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">visible</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the spawned asset should be visible. Defaults to True.&quot;&quot;&quot;</span>
+
+    <span class="n">semantic_tags</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">tuple</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">str</span><span class="p">]]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;List of semantic tags to add to the spawned asset. Defaults to None,</span>
+<span class="sd">    which means no semantic tags will be added.</span>
+
+<span class="sd">    The semantic tags follow the `Replicator Semantic` tagging system. Each tag is a tuple of the</span>
+<span class="sd">    form ``(type, data)``, where ``type`` is the type of the tag and ``data`` is the semantic label</span>
+<span class="sd">    associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic</span>
+<span class="sd">    tag would be ``[(&quot;class&quot;, &quot;avocado&quot;)]``.</span>
+
+<span class="sd">    You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a</span>
+<span class="sd">    spawned asset in the class avocado and the color green, the semantic tags would be</span>
+<span class="sd">    ``[(&quot;class&quot;, &quot;avocado&quot;), (&quot;color&quot;, &quot;green&quot;)]``.</span>
+
+<span class="sd">    .. seealso::</span>
+
+<span class="sd">        For more information on the semantics filter, see the documentation for the `semantics schema editor`_.</span>
+
+<span class="sd">    .. _semantics schema editor: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">copy_from_source</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to copy the asset from the source prim or inherit it. Defaults to True.</span>
+
+<span class="sd">    This parameter is only used when cloning prims. If False, then the asset will be inherited from</span>
+<span class="sd">    the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="RigidObjectSpawnerCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RigidObjectSpawnerCfg</span><span class="p">(</span><span class="n">SpawnerCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for spawning a rigid asset.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        By default, all properties are set to None. This means that no properties will be added or modified</span>
+<span class="sd">        to the prim outside of the properties available by default when spawning the prim.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">mass_props</span><span class="p">:</span> <span class="n">schemas</span><span class="o">.</span><span class="n">MassPropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Mass properties.&quot;&quot;&quot;</span>
+
+    <span class="n">rigid_props</span><span class="p">:</span> <span class="n">schemas</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Rigid body properties.</span>
+
+<span class="sd">    For making a rigid object static, set the :attr:`schemas.RigidBodyPropertiesCfg.kinematic_enabled`</span>
+<span class="sd">    as True. This will make the object static and will not be affected by gravity or other forces.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">collision_props</span><span class="p">:</span> <span class="n">schemas</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Properties to apply to all collision meshes.&quot;&quot;&quot;</span>
+
+    <span class="n">activate_contact_sensors</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Activate contact reporting on all rigid bodies. Defaults to False.</span>
+
+<span class="sd">    This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="DeformableObjectSpawnerCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DeformableObjectSpawnerCfg</span><span class="p">(</span><span class="n">SpawnerCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for spawning a deformable asset.</span>
+
+<span class="sd">    Unlike rigid objects, deformable objects are affected by forces and can deform when subjected to</span>
+<span class="sd">    external forces. This class is used to configure the properties of the deformable object.</span>
+
+<span class="sd">    Deformable bodies don&#39;t have a separate collision mesh. The collision mesh is the same as the visual mesh.</span>
+<span class="sd">    The collision properties such as rest and collision offsets are specified in the :attr:`deformable_props`.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        By default, all properties are set to None. This means that no properties will be added or modified</span>
+<span class="sd">        to the prim outside of the properties available by default when spawning the prim.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">mass_props</span><span class="p">:</span> <span class="n">schemas</span><span class="o">.</span><span class="n">MassPropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Mass properties.&quot;&quot;&quot;</span>
+
+    <span class="n">deformable_props</span><span class="p">:</span> <span class="n">schemas</span><span class="o">.</span><span class="n">DeformableBodyPropertiesCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Deformable body properties.&quot;&quot;&quot;</span></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers.html b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers.html
new file mode 100644
index 0000000000..76b0ecf1fc
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+  <h1>Source code for omni.isaac.lab.sim.spawners.wrappers.wrappers</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">random</span>
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Sdf</span><span class="p">,</span> <span class="n">Usd</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners.from_files</span> <span class="kn">import</span> <span class="n">UsdFileCfg</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">wrappers_cfg</span>
+
+
+<div class="viewcode-block" id="spawn_multi_asset"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_asset">[docs]</a><span class="k">def</span> <span class="nf">spawn_multi_asset</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">wrappers_cfg</span><span class="o">.</span><span class="n">MultiAssetSpawnerCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spawn multiple assets based on the provided configurations.</span>
+
+<span class="sd">    This function spawns multiple assets based on the provided configurations. The assets are spawned</span>
+<span class="sd">    in the order they are provided in the list. If the :attr:`~MultiAssetSpawnerCfg.random_choice` parameter is</span>
+<span class="sd">    set to True, a random asset configuration is selected for each spawn.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path to spawn the assets.</span>
+<span class="sd">        cfg: The configuration for spawning the assets.</span>
+<span class="sd">        translation: The translation of the spawned assets. Default is None.</span>
+<span class="sd">        orientation: The orientation of the spawned assets in (w, x, y, z) order. Default is None.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim at the first prim path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve: {SPAWN_NS}/AssetName</span>
+    <span class="c1"># note: this assumes that the spawn namespace already exists in the stage</span>
+    <span class="n">root_path</span><span class="p">,</span> <span class="n">asset_path</span> <span class="o">=</span> <span class="n">prim_path</span><span class="o">.</span><span class="n">rsplit</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="c1"># check if input is a regex expression</span>
+    <span class="c1"># note: a valid prim path can only contain alphanumeric characters, underscores, and forward slashes</span>
+    <span class="n">is_regex_expression</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;^[a-zA-Z0-9/_]+$&quot;</span><span class="p">,</span> <span class="n">root_path</span><span class="p">)</span> <span class="ow">is</span> <span class="kc">None</span>
+
+    <span class="c1"># resolve matching prims for source prim path expression</span>
+    <span class="k">if</span> <span class="n">is_regex_expression</span> <span class="ow">and</span> <span class="n">root_path</span> <span class="o">!=</span> <span class="s2">&quot;&quot;</span><span class="p">:</span>
+        <span class="n">source_prim_paths</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_matching_prim_paths</span><span class="p">(</span><span class="n">root_path</span><span class="p">)</span>
+        <span class="c1"># if no matching prims are found, raise an error</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">source_prim_paths</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Unable to find source prim path: &#39;</span><span class="si">{</span><span class="n">root_path</span><span class="si">}</span><span class="s2">&#39;. Please create the prim before spawning.&quot;</span>
+            <span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">source_prim_paths</span> <span class="o">=</span> <span class="p">[</span><span class="n">root_path</span><span class="p">]</span>
+
+    <span class="c1"># find a free prim path to hold all the template prims</span>
+    <span class="n">template_prim_path</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_next_free_path</span><span class="p">(</span><span class="s2">&quot;/World/Template&quot;</span><span class="p">)</span>
+    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="n">template_prim_path</span><span class="p">,</span> <span class="s2">&quot;Scope&quot;</span><span class="p">)</span>
+
+    <span class="c1"># spawn everything first in a &quot;Dataset&quot; prim</span>
+    <span class="n">proto_prim_paths</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+    <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="n">asset_cfg</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">assets_cfg</span><span class="p">):</span>
+        <span class="c1"># append semantic tags if specified</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">semantic_tags</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">asset_cfg</span><span class="o">.</span><span class="n">semantic_tags</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">asset_cfg</span><span class="o">.</span><span class="n">semantic_tags</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">semantic_tags</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">asset_cfg</span><span class="o">.</span><span class="n">semantic_tags</span> <span class="o">+=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">semantic_tags</span>
+        <span class="c1"># override settings for properties</span>
+        <span class="n">attr_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;mass_props&quot;</span><span class="p">,</span> <span class="s2">&quot;rigid_props&quot;</span><span class="p">,</span> <span class="s2">&quot;collision_props&quot;</span><span class="p">,</span> <span class="s2">&quot;activate_contact_sensors&quot;</span><span class="p">,</span> <span class="s2">&quot;deformable_props&quot;</span><span class="p">]</span>
+        <span class="k">for</span> <span class="n">attr_name</span> <span class="ow">in</span> <span class="n">attr_names</span><span class="p">:</span>
+            <span class="n">attr_value</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">)</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">)</span> <span class="ow">and</span> <span class="n">attr_value</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="nb">setattr</span><span class="p">(</span><span class="n">asset_cfg</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">attr_value</span><span class="p">)</span>
+        <span class="c1"># spawn single instance</span>
+        <span class="n">proto_prim_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">template_prim_path</span><span class="si">}</span><span class="s2">/Asset_</span><span class="si">{</span><span class="n">index</span><span class="si">:</span><span class="s2">04d</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">asset_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">proto_prim_path</span><span class="p">,</span> <span class="n">asset_cfg</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="o">=</span><span class="n">orientation</span><span class="p">)</span>
+        <span class="c1"># append to proto prim paths</span>
+        <span class="n">proto_prim_paths</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">proto_prim_path</span><span class="p">)</span>
+
+    <span class="c1"># resolve prim paths for spawning and cloning</span>
+    <span class="n">prim_paths</span> <span class="o">=</span> <span class="p">[</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">source_prim_path</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">asset_path</span><span class="si">}</span><span class="s2">&quot;</span> <span class="k">for</span> <span class="n">source_prim_path</span> <span class="ow">in</span> <span class="n">source_prim_paths</span><span class="p">]</span>
+
+    <span class="c1"># acquire stage</span>
+    <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+
+    <span class="c1"># manually clone prims if the source prim path is a regex expression</span>
+    <span class="c1"># note: unlike in the cloner API from Isaac Sim, we do not &quot;reset&quot; xforms on the copied prims.</span>
+    <span class="c1">#   This is because the &quot;spawn&quot; calls during the creation of the proto prims already handles this operation.</span>
+    <span class="k">with</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ChangeBlock</span><span class="p">():</span>
+        <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="n">prim_path</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">prim_paths</span><span class="p">):</span>
+            <span class="c1"># spawn single instance</span>
+            <span class="n">env_spec</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">CreatePrimInLayer</span><span class="p">(</span><span class="n">stage</span><span class="o">.</span><span class="n">GetRootLayer</span><span class="p">(),</span> <span class="n">prim_path</span><span class="p">)</span>
+            <span class="c1"># randomly select an asset configuration</span>
+            <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">random_choice</span><span class="p">:</span>
+                <span class="n">proto_path</span> <span class="o">=</span> <span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">proto_prim_paths</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">proto_path</span> <span class="o">=</span> <span class="n">proto_prim_paths</span><span class="p">[</span><span class="n">index</span> <span class="o">%</span> <span class="nb">len</span><span class="p">(</span><span class="n">proto_prim_paths</span><span class="p">)]</span>
+            <span class="c1"># copy the proto prim</span>
+            <span class="n">Sdf</span><span class="o">.</span><span class="n">CopySpec</span><span class="p">(</span><span class="n">env_spec</span><span class="o">.</span><span class="n">layer</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="n">proto_path</span><span class="p">),</span> <span class="n">env_spec</span><span class="o">.</span><span class="n">layer</span><span class="p">,</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="n">prim_path</span><span class="p">))</span>
+
+    <span class="c1"># delete the dataset prim after spawning</span>
+    <span class="n">prim_utils</span><span class="o">.</span><span class="n">delete_prim</span><span class="p">(</span><span class="n">template_prim_path</span><span class="p">)</span>
+
+    <span class="c1"># set carb setting to indicate Isaac Lab&#39;s environments that different prims have been spawned</span>
+    <span class="c1"># at varying prim paths. In this case, PhysX parser shouldn&#39;t optimize the stage parsing.</span>
+    <span class="c1"># the flag is mainly used to inform the user that they should disable `InteractiveScene.replicate_physics`</span>
+    <span class="n">carb_settings_iface</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">get_settings</span><span class="p">()</span>
+    <span class="n">carb_settings_iface</span><span class="o">.</span><span class="n">set_bool</span><span class="p">(</span><span class="s2">&quot;/isaaclab/spawn/multi_assets&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)</span>
+
+    <span class="c1"># return the prim</span>
+    <span class="k">return</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span></div>
+
+
+<div class="viewcode-block" id="spawn_multi_usd_file"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_usd_file">[docs]</a><span class="k">def</span> <span class="nf">spawn_multi_usd_file</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">wrappers_cfg</span><span class="o">.</span><span class="n">MultiUsdFileCfg</span><span class="p">,</span>
+    <span class="n">translation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Spawn multiple USD files based on the provided configurations.</span>
+
+<span class="sd">    This function creates configuration instances corresponding the individual USD files and</span>
+<span class="sd">    calls the :meth:`spawn_multi_asset` method to spawn them into the scene.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path to spawn the assets.</span>
+<span class="sd">        cfg: The configuration for spawning the assets.</span>
+<span class="sd">        translation: The translation of the spawned assets. Default is None.</span>
+<span class="sd">        orientation: The orientation of the spawned assets in (w, x, y, z) order. Default is None.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The created prim at the first prim path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># needed here to avoid circular imports</span>
+    <span class="kn">from</span> <span class="nn">.wrappers_cfg</span> <span class="kn">import</span> <span class="n">MultiAssetSpawnerCfg</span>
+
+    <span class="c1"># parse all the usd files</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">usd_path</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+        <span class="n">usd_paths</span> <span class="o">=</span> <span class="p">[</span><span class="n">cfg</span><span class="o">.</span><span class="n">usd_path</span><span class="p">]</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">usd_paths</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">usd_path</span>
+
+    <span class="c1"># make a template usd config</span>
+    <span class="n">usd_template_cfg</span> <span class="o">=</span> <span class="n">UsdFileCfg</span><span class="p">()</span>
+    <span class="k">for</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">attr_value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="c1"># skip names we know are not present</span>
+        <span class="k">if</span> <span class="n">attr_name</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;func&quot;</span><span class="p">,</span> <span class="s2">&quot;usd_path&quot;</span><span class="p">,</span> <span class="s2">&quot;random_choice&quot;</span><span class="p">]:</span>
+            <span class="k">continue</span>
+        <span class="c1"># set the attribute into the template</span>
+        <span class="nb">setattr</span><span class="p">(</span><span class="n">usd_template_cfg</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">attr_value</span><span class="p">)</span>
+
+    <span class="c1"># create multi asset configuration of USD files</span>
+    <span class="n">multi_asset_cfg</span> <span class="o">=</span> <span class="n">MultiAssetSpawnerCfg</span><span class="p">(</span><span class="n">assets_cfg</span><span class="o">=</span><span class="p">[])</span>
+    <span class="k">for</span> <span class="n">usd_path</span> <span class="ow">in</span> <span class="n">usd_paths</span><span class="p">:</span>
+        <span class="n">usd_cfg</span> <span class="o">=</span> <span class="n">usd_template_cfg</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">usd_path</span><span class="o">=</span><span class="n">usd_path</span><span class="p">)</span>
+        <span class="n">multi_asset_cfg</span><span class="o">.</span><span class="n">assets_cfg</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">usd_cfg</span><span class="p">)</span>
+    <span class="c1"># set random choice</span>
+    <span class="n">multi_asset_cfg</span><span class="o">.</span><span class="n">random_choice</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">random_choice</span>
+
+    <span class="c1"># call the original function</span>
+    <span class="k">return</span> <span class="n">spawn_multi_asset</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">multi_asset_cfg</span><span class="p">,</span> <span class="n">translation</span><span class="p">,</span> <span class="n">orientation</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html
new file mode 100644
index 0000000000..30fe0fce41
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html
@@ -0,0 +1,656 @@
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+<ul class="nav bd-sidenav">
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/core-concepts/task_workflows.html">Task Design Workflows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
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+  <h1>Source code for omni.isaac.lab.sim.spawners.wrappers.wrappers_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners.from_files</span> <span class="kn">import</span> <span class="n">UsdFileCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners.spawner_cfg</span> <span class="kn">import</span> <span class="n">DeformableObjectSpawnerCfg</span><span class="p">,</span> <span class="n">RigidObjectSpawnerCfg</span><span class="p">,</span> <span class="n">SpawnerCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">wrappers</span>
+
+
+<div class="viewcode-block" id="MultiAssetSpawnerCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MultiAssetSpawnerCfg</span><span class="p">(</span><span class="n">RigidObjectSpawnerCfg</span><span class="p">,</span> <span class="n">DeformableObjectSpawnerCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for loading multiple assets from their individual configurations.</span>
+
+<span class="sd">    Specifying values for any properties at the configuration level will override the settings of</span>
+<span class="sd">    individual assets&#39; configuration. For instance if the attribute</span>
+<span class="sd">    :attr:`MultiAssetSpawnerCfg.mass_props` is specified, its value will overwrite the values of the</span>
+<span class="sd">    mass properties in each configuration inside :attr:`assets_cfg` (wherever applicable).</span>
+<span class="sd">    This is done to simplify configuring similar properties globally. By default, all properties are set to None.</span>
+
+<span class="sd">    The following is an exception to the above:</span>
+
+<span class="sd">    * :attr:`visible`: This parameter is ignored. Its value for the individual assets is used.</span>
+<span class="sd">    * :attr:`semantic_tags`: If specified, it will be appended to each individual asset&#39;s semantic tags.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span> <span class="o">=</span> <span class="n">wrappers</span><span class="o">.</span><span class="n">spawn_multi_asset</span>
+
+    <span class="n">assets_cfg</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">SpawnerCfg</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;List of asset configurations to spawn.&quot;&quot;&quot;</span>
+
+    <span class="n">random_choice</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to randomly select an asset configuration. Default is True.</span>
+
+<span class="sd">    If False, the asset configurations are spawned in the order they are provided in the list.</span>
+<span class="sd">    If True, a random asset configuration is selected for each spawn.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MultiUsdFileCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MultiUsdFileCfg</span><span class="p">(</span><span class="n">UsdFileCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for loading multiple USD files.</span>
+
+<span class="sd">    Specifying values for any properties at the configuration level is applied to all the assets</span>
+<span class="sd">    imported from their USD files.</span>
+
+<span class="sd">    .. tip::</span>
+<span class="sd">        It is recommended that all the USD based assets follow a similar prim-hierarchy.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span> <span class="o">=</span> <span class="n">wrappers</span><span class="o">.</span><span class="n">spawn_multi_usd_file</span>
+
+    <span class="n">usd_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Path or a list of paths to the USD files to spawn asset from.&quot;&quot;&quot;</span>
+
+    <span class="n">random_choice</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to randomly select an asset configuration. Default is True.</span>
+
+<span class="sd">    If False, the asset configurations are spawned in the order they are provided in the list.</span>
+<span class="sd">    If True, a random asset configuration is selected for each spawn.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.sim.utils</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module with USD-related utilities.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">functools</span>
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span><span class="p">,</span> <span class="n">Any</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="k">as</span> <span class="nn">stage_utils</span>
+<span class="kn">import</span> <span class="nn">omni.kit.commands</span>
+<span class="kn">import</span> <span class="nn">omni.log</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.cloner</span> <span class="kn">import</span> <span class="n">Cloner</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">PhysxSchema</span><span class="p">,</span> <span class="n">Sdf</span><span class="p">,</span> <span class="n">Usd</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="p">,</span> <span class="n">UsdPhysics</span><span class="p">,</span> <span class="n">UsdShade</span>
+
+<span class="c1"># from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated</span>
+<span class="k">try</span><span class="p">:</span>
+    <span class="kn">import</span> <span class="nn">Semantics</span>
+<span class="k">except</span> <span class="ne">ModuleNotFoundError</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Semantics</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.string</span> <span class="kn">import</span> <span class="n">to_camel_case</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">schemas</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.spawners.spawner_cfg</span> <span class="kn">import</span> <span class="n">SpawnerCfg</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Attribute - Setters.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="safe_set_attribute_on_usd_schema"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema">[docs]</a><span class="k">def</span> <span class="nf">safe_set_attribute_on_usd_schema</span><span class="p">(</span><span class="n">schema_api</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">APISchemaBase</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">value</span><span class="p">:</span> <span class="n">Any</span><span class="p">,</span> <span class="n">camel_case</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Set the value of an attribute on its USD schema if it exists.</span>
+
+<span class="sd">    A USD API schema serves as an interface or API for authoring and extracting a set of attributes.</span>
+<span class="sd">    They typically derive from the :class:`pxr.Usd.SchemaBase` class. This function checks if the</span>
+<span class="sd">    attribute exists on the schema and sets the value of the attribute if it exists.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        schema_api: The USD schema to set the attribute on.</span>
+<span class="sd">        name: The name of the attribute.</span>
+<span class="sd">        value: The value to set the attribute to.</span>
+<span class="sd">        camel_case: Whether to convert the attribute name to camel case.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        TypeError: When the input attribute name does not exist on the provided schema API.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># if value is None, do nothing</span>
+    <span class="k">if</span> <span class="n">value</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">return</span>
+    <span class="c1"># convert attribute name to camel case</span>
+    <span class="k">if</span> <span class="n">camel_case</span><span class="p">:</span>
+        <span class="n">attr_name</span> <span class="o">=</span> <span class="n">to_camel_case</span><span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;CC&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">attr_name</span> <span class="o">=</span> <span class="n">name</span>
+    <span class="c1"># retrieve the attribute</span>
+    <span class="c1"># reference: https://openusd.org/dev/api/_usd__page__common_idioms.html#Usd_Create_Or_Get_Property</span>
+    <span class="n">attr</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">schema_api</span><span class="p">,</span> <span class="sa">f</span><span class="s2">&quot;Create</span><span class="si">{</span><span class="n">attr_name</span><span class="si">}</span><span class="s2">Attr&quot;</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span>
+    <span class="c1"># check if attribute exists</span>
+    <span class="k">if</span> <span class="n">attr</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">attr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="c1"># think: do we ever need to create the attribute if it doesn&#39;t exist?</span>
+        <span class="c1">#   currently, we are not doing this since the schemas are already created with some defaults.</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">error</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Attribute &#39;</span><span class="si">{</span><span class="n">attr_name</span><span class="si">}</span><span class="s2">&#39; does not exist on prim &#39;</span><span class="si">{</span><span class="n">schema_api</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+        <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Attribute &#39;</span><span class="si">{</span><span class="n">attr_name</span><span class="si">}</span><span class="s2">&#39; does not exist on prim &#39;</span><span class="si">{</span><span class="n">schema_api</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="safe_set_attribute_on_usd_prim"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim">[docs]</a><span class="k">def</span> <span class="nf">safe_set_attribute_on_usd_prim</span><span class="p">(</span><span class="n">prim</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">value</span><span class="p">:</span> <span class="n">Any</span><span class="p">,</span> <span class="n">camel_case</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Set the value of a attribute on its USD prim.</span>
+
+<span class="sd">    The function creates a new attribute if it does not exist on the prim. This is because in some cases (such</span>
+<span class="sd">    as with shaders), their attributes are not exposed as USD prim properties that can be altered. This function</span>
+<span class="sd">    allows us to set the value of the attributes in these cases.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim: The USD prim to set the attribute on.</span>
+<span class="sd">        attr_name: The name of the attribute.</span>
+<span class="sd">        value: The value to set the attribute to.</span>
+<span class="sd">        camel_case: Whether to convert the attribute name to camel case.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># if value is None, do nothing</span>
+    <span class="k">if</span> <span class="n">value</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">return</span>
+    <span class="c1"># convert attribute name to camel case</span>
+    <span class="k">if</span> <span class="n">camel_case</span><span class="p">:</span>
+        <span class="n">attr_name</span> <span class="o">=</span> <span class="n">to_camel_case</span><span class="p">(</span><span class="n">attr_name</span><span class="p">,</span> <span class="n">to</span><span class="o">=</span><span class="s2">&quot;cC&quot;</span><span class="p">)</span>
+    <span class="c1"># resolve sdf type based on value</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">bool</span><span class="p">):</span>
+        <span class="n">sdf_type</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Bool</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+        <span class="n">sdf_type</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Int</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">float</span><span class="p">):</span>
+        <span class="n">sdf_type</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="p">(</span><span class="nb">tuple</span><span class="p">,</span> <span class="nb">list</span><span class="p">))</span> <span class="ow">and</span> <span class="nb">len</span><span class="p">(</span><span class="n">value</span><span class="p">)</span> <span class="o">==</span> <span class="mi">3</span> <span class="ow">and</span> <span class="nb">any</span><span class="p">(</span><span class="nb">isinstance</span><span class="p">(</span><span class="n">v</span><span class="p">,</span> <span class="nb">float</span><span class="p">)</span> <span class="k">for</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">value</span><span class="p">):</span>
+        <span class="n">sdf_type</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float3</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="p">(</span><span class="nb">tuple</span><span class="p">,</span> <span class="nb">list</span><span class="p">))</span> <span class="ow">and</span> <span class="nb">len</span><span class="p">(</span><span class="n">value</span><span class="p">)</span> <span class="o">==</span> <span class="mi">2</span> <span class="ow">and</span> <span class="nb">any</span><span class="p">(</span><span class="nb">isinstance</span><span class="p">(</span><span class="n">v</span><span class="p">,</span> <span class="nb">float</span><span class="p">)</span> <span class="k">for</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">value</span><span class="p">):</span>
+        <span class="n">sdf_type</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ValueTypeNames</span><span class="o">.</span><span class="n">Float2</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Cannot set attribute &#39;</span><span class="si">{</span><span class="n">attr_name</span><span class="si">}</span><span class="s2">&#39; with value &#39;</span><span class="si">{</span><span class="n">value</span><span class="si">}</span><span class="s2">&#39;. Please modify the code to support this type.&quot;</span>
+        <span class="p">)</span>
+    <span class="c1"># change property</span>
+    <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span>
+        <span class="s2">&quot;ChangePropertyCommand&quot;</span><span class="p">,</span>
+        <span class="n">prop_path</span><span class="o">=</span><span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="si">}</span><span class="s2">.</span><span class="si">{</span><span class="n">attr_name</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">),</span>
+        <span class="n">value</span><span class="o">=</span><span class="n">value</span><span class="p">,</span>
+        <span class="n">prev</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+        <span class="n">type_to_create_if_not_exist</span><span class="o">=</span><span class="n">sdf_type</span><span class="p">,</span>
+        <span class="n">usd_context_name</span><span class="o">=</span><span class="n">prim</span><span class="o">.</span><span class="n">GetStage</span><span class="p">(),</span>
+    <span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Decorators.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="apply_nested"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.apply_nested">[docs]</a><span class="k">def</span> <span class="nf">apply_nested</span><span class="p">(</span><span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Callable</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Decorator to apply a function to all prims under a specified prim-path.</span>
+
+<span class="sd">    The function iterates over the provided prim path and all its children to apply input function</span>
+<span class="sd">    to all prims under the specified prim path.</span>
+
+<span class="sd">    If the function succeeds to apply to a prim, it will not look at the children of that prim.</span>
+<span class="sd">    This is based on the physics behavior that nested schemas are not allowed. For example, a parent prim</span>
+<span class="sd">    and its child prim cannot both have a rigid-body schema applied on them, or it is not possible to</span>
+<span class="sd">    have nested articulations.</span>
+
+<span class="sd">    While traversing the prims under the specified prim path, the function will throw a warning if it</span>
+<span class="sd">    does not succeed to apply the function to any prim. This is because the user may have intended to</span>
+<span class="sd">    apply the function to a prim that does not have valid attributes, or the prim may be an instanced prim.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        func: The function to apply to all prims under a specified prim-path. The function</span>
+<span class="sd">            must take the prim-path and other arguments. It should return a boolean indicating whether</span>
+<span class="sd">            the function succeeded or not.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The wrapped function that applies the function to all prims under a specified prim-path.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim-path does not exist on the stage.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@functools</span><span class="o">.</span><span class="n">wraps</span><span class="p">(</span><span class="n">func</span><span class="p">)</span>
+    <span class="k">def</span> <span class="nf">wrapper</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+        <span class="c1"># map args and kwargs to function signature so we can get the stage</span>
+        <span class="c1"># note: we do this to check if stage is given in arg or kwarg</span>
+        <span class="n">sig</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">signature</span><span class="p">(</span><span class="n">func</span><span class="p">)</span>
+        <span class="n">bound_args</span> <span class="o">=</span> <span class="n">sig</span><span class="o">.</span><span class="n">bind</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+        <span class="c1"># get current stage</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">bound_args</span><span class="o">.</span><span class="n">arguments</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;stage&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+        <span class="c1"># get USD prim</span>
+        <span class="n">prim</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+        <span class="c1"># check if prim is valid</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim at path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+        <span class="c1"># add iterable to check if property was applied on any of the prims</span>
+        <span class="n">count_success</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="n">instanced_prim_paths</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="c1"># iterate over all prims under prim-path</span>
+        <span class="n">all_prims</span> <span class="o">=</span> <span class="p">[</span><span class="n">prim</span><span class="p">]</span>
+        <span class="k">while</span> <span class="nb">len</span><span class="p">(</span><span class="n">all_prims</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># get current prim</span>
+            <span class="n">child_prim</span> <span class="o">=</span> <span class="n">all_prims</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+            <span class="n">child_prim_path</span> <span class="o">=</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span>  <span class="c1"># type: ignore</span>
+            <span class="c1"># check if prim is a prototype</span>
+            <span class="k">if</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">IsInstance</span><span class="p">():</span>
+                <span class="n">instanced_prim_paths</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">child_prim_path</span><span class="p">)</span>
+                <span class="k">continue</span>
+            <span class="c1"># set properties</span>
+            <span class="n">success</span> <span class="o">=</span> <span class="n">func</span><span class="p">(</span><span class="n">child_prim_path</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+            <span class="c1"># if successful, do not look at children</span>
+            <span class="c1"># this is based on the physics behavior that nested schemas are not allowed</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="n">success</span><span class="p">:</span>
+                <span class="n">all_prims</span> <span class="o">+=</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">GetChildren</span><span class="p">()</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">count_success</span> <span class="o">+=</span> <span class="mi">1</span>
+        <span class="c1"># check if we were successful in applying the function to any prim</span>
+        <span class="k">if</span> <span class="n">count_success</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Could not perform &#39;</span><span class="si">{</span><span class="n">func</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">&#39; on any prims under: &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="s2">&quot; This might be because of the following reasons:&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">(1) The desired attribute does not exist on any of the prims.&quot;</span>
+                <span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">(2) The desired attribute exists on an instanced prim.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t\t</span><span class="s2">Discovered list of instanced prim paths: </span><span class="si">{</span><span class="n">instanced_prim_paths</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">wrapper</span></div>
+
+
+<div class="viewcode-block" id="clone"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.clone">[docs]</a><span class="k">def</span> <span class="nf">clone</span><span class="p">(</span><span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Callable</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Decorator for cloning a prim based on matching prim paths of the prim&#39;s parent.</span>
+
+<span class="sd">    The decorator checks if the parent prim path matches any prim paths in the stage. If so, it clones the</span>
+<span class="sd">    spawned prim at each matching prim path. For example, if the input prim path is: ``/World/Table_[0-9]/Bottle``,</span>
+<span class="sd">    the decorator will clone the prim at each matching prim path of the parent prim: ``/World/Table_0/Bottle``,</span>
+<span class="sd">    ``/World/Table_1/Bottle``, etc.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        For matching prim paths, the decorator assumes that valid prims exist for all matching prim paths.</span>
+<span class="sd">        In case no matching prim paths are found, the decorator raises a ``RuntimeError``.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        func: The function to decorate.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The decorated function that spawns the prim and clones it at each matching prim path.</span>
+<span class="sd">        It returns the spawned source prim, i.e., the first prim in the list of matching prim paths.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@functools</span><span class="o">.</span><span class="n">wraps</span><span class="p">(</span><span class="n">func</span><span class="p">)</span>
+    <span class="k">def</span> <span class="nf">wrapper</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">SpawnerCfg</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+        <span class="c1"># cast prim_path to str type in case its an Sdf.Path</span>
+        <span class="n">prim_path</span> <span class="o">=</span> <span class="nb">str</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+        <span class="c1"># check prim path is global</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not global. It must start with &#39;/&#39;.&quot;</span><span class="p">)</span>
+        <span class="c1"># resolve: {SPAWN_NS}/AssetName</span>
+        <span class="c1"># note: this assumes that the spawn namespace already exists in the stage</span>
+        <span class="n">root_path</span><span class="p">,</span> <span class="n">asset_path</span> <span class="o">=</span> <span class="n">prim_path</span><span class="o">.</span><span class="n">rsplit</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># check if input is a regex expression</span>
+        <span class="c1"># note: a valid prim path can only contain alphanumeric characters, underscores, and forward slashes</span>
+        <span class="n">is_regex_expression</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;^[a-zA-Z0-9/_]+$&quot;</span><span class="p">,</span> <span class="n">root_path</span><span class="p">)</span> <span class="ow">is</span> <span class="kc">None</span>
+
+        <span class="c1"># resolve matching prims for source prim path expression</span>
+        <span class="k">if</span> <span class="n">is_regex_expression</span> <span class="ow">and</span> <span class="n">root_path</span> <span class="o">!=</span> <span class="s2">&quot;&quot;</span><span class="p">:</span>
+            <span class="n">source_prim_paths</span> <span class="o">=</span> <span class="n">find_matching_prim_paths</span><span class="p">(</span><span class="n">root_path</span><span class="p">)</span>
+            <span class="c1"># if no matching prims are found, raise an error</span>
+            <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">source_prim_paths</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;Unable to find source prim path: &#39;</span><span class="si">{</span><span class="n">root_path</span><span class="si">}</span><span class="s2">&#39;. Please create the prim before spawning.&quot;</span>
+                <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">source_prim_paths</span> <span class="o">=</span> <span class="p">[</span><span class="n">root_path</span><span class="p">]</span>
+
+        <span class="c1"># resolve prim paths for spawning and cloning</span>
+        <span class="n">prim_paths</span> <span class="o">=</span> <span class="p">[</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">source_prim_path</span><span class="si">}</span><span class="s2">/</span><span class="si">{</span><span class="n">asset_path</span><span class="si">}</span><span class="s2">&quot;</span> <span class="k">for</span> <span class="n">source_prim_path</span> <span class="ow">in</span> <span class="n">source_prim_paths</span><span class="p">]</span>
+        <span class="c1"># spawn single instance</span>
+        <span class="n">prim</span> <span class="o">=</span> <span class="n">func</span><span class="p">(</span><span class="n">prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">cfg</span><span class="p">,</span> <span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+        <span class="c1"># set the prim visibility</span>
+        <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;visible&quot;</span><span class="p">):</span>
+            <span class="n">imageable</span> <span class="o">=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Imageable</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">visible</span><span class="p">:</span>
+                <span class="n">imageable</span><span class="o">.</span><span class="n">MakeVisible</span><span class="p">()</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">imageable</span><span class="o">.</span><span class="n">MakeInvisible</span><span class="p">()</span>
+        <span class="c1"># set the semantic annotations</span>
+        <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;semantic_tags&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="n">cfg</span><span class="o">.</span><span class="n">semantic_tags</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># note: taken from replicator scripts.utils.utils.py</span>
+            <span class="k">for</span> <span class="n">semantic_type</span><span class="p">,</span> <span class="n">semantic_value</span> <span class="ow">in</span> <span class="n">cfg</span><span class="o">.</span><span class="n">semantic_tags</span><span class="p">:</span>
+                <span class="c1"># deal with spaces by replacing them with underscores</span>
+                <span class="n">semantic_type_sanitized</span> <span class="o">=</span> <span class="n">semantic_type</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot; &quot;</span><span class="p">,</span> <span class="s2">&quot;_&quot;</span><span class="p">)</span>
+                <span class="n">semantic_value_sanitized</span> <span class="o">=</span> <span class="n">semantic_value</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="s2">&quot; &quot;</span><span class="p">,</span> <span class="s2">&quot;_&quot;</span><span class="p">)</span>
+                <span class="c1"># set the semantic API for the instance</span>
+                <span class="n">instance_name</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">semantic_type_sanitized</span><span class="si">}</span><span class="s2">_</span><span class="si">{</span><span class="n">semantic_value_sanitized</span><span class="si">}</span><span class="s2">&quot;</span>
+                <span class="n">sem</span> <span class="o">=</span> <span class="n">Semantics</span><span class="o">.</span><span class="n">SemanticsAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">prim</span><span class="p">,</span> <span class="n">instance_name</span><span class="p">)</span>
+                <span class="c1"># create semantic type and data attributes</span>
+                <span class="n">sem</span><span class="o">.</span><span class="n">CreateSemanticTypeAttr</span><span class="p">()</span>
+                <span class="n">sem</span><span class="o">.</span><span class="n">CreateSemanticDataAttr</span><span class="p">()</span>
+                <span class="n">sem</span><span class="o">.</span><span class="n">GetSemanticTypeAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">semantic_type</span><span class="p">)</span>
+                <span class="n">sem</span><span class="o">.</span><span class="n">GetSemanticDataAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">semantic_value</span><span class="p">)</span>
+        <span class="c1"># activate rigid body contact sensors</span>
+        <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;activate_contact_sensors&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="n">cfg</span><span class="o">.</span><span class="n">activate_contact_sensors</span><span class="p">:</span>
+            <span class="n">schemas</span><span class="o">.</span><span class="n">activate_contact_sensors</span><span class="p">(</span><span class="n">prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">cfg</span><span class="o">.</span><span class="n">activate_contact_sensors</span><span class="p">)</span>
+        <span class="c1"># clone asset using cloner API</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">prim_paths</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="n">cloner</span> <span class="o">=</span> <span class="n">Cloner</span><span class="p">()</span>
+            <span class="c1"># clone the prim</span>
+            <span class="n">cloner</span><span class="o">.</span><span class="n">clone</span><span class="p">(</span><span class="n">prim_paths</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">prim_paths</span><span class="p">[</span><span class="mi">1</span><span class="p">:],</span> <span class="n">replicate_physics</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">copy_from_source</span><span class="o">=</span><span class="n">cfg</span><span class="o">.</span><span class="n">copy_from_source</span><span class="p">)</span>
+        <span class="c1"># return the source prim</span>
+        <span class="k">return</span> <span class="n">prim</span>
+
+    <span class="k">return</span> <span class="n">wrapper</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Material bindings.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="bind_visual_material"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.bind_visual_material">[docs]</a><span class="nd">@apply_nested</span>
+<span class="k">def</span> <span class="nf">bind_visual_material</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span>
+    <span class="n">material_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span>
+    <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">stronger_than_descendants</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Bind a visual material to a prim.</span>
+
+<span class="sd">    This function is a wrapper around the USD command `BindMaterialCommand`_.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The function is decorated with :meth:`apply_nested` to allow applying the function to a prim path</span>
+<span class="sd">        and all its descendants.</span>
+
+<span class="sd">    .. _BindMaterialCommand: https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd.commands/omni.usd.commands.BindMaterialCommand.html</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path where to apply the material.</span>
+<span class="sd">        material_path: The prim path of the material to apply.</span>
+<span class="sd">        stage: The stage where the prim and material exist.</span>
+<span class="sd">            Defaults to None, in which case the current stage is used.</span>
+<span class="sd">        stronger_than_descendants: Whether the material should override the material of its descendants.</span>
+<span class="sd">            Defaults to True.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the provided prim paths do not exist on stage.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># check if prim and material exists</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Target prim &#39;</span><span class="si">{</span><span class="n">material_path</span><span class="si">}</span><span class="s2">&#39; does not exist.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">material_path</span><span class="p">)</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Visual material &#39;</span><span class="si">{</span><span class="n">material_path</span><span class="si">}</span><span class="s2">&#39; does not exist.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># resolve token for weaker than descendants</span>
+    <span class="k">if</span> <span class="n">stronger_than_descendants</span><span class="p">:</span>
+        <span class="n">binding_strength</span> <span class="o">=</span> <span class="s2">&quot;strongerThanDescendants&quot;</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">binding_strength</span> <span class="o">=</span> <span class="s2">&quot;weakerThanDescendants&quot;</span>
+    <span class="c1"># obtain material binding API</span>
+    <span class="c1"># note: we prefer using the command here as it is more robust than the USD API</span>
+    <span class="n">success</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span>
+        <span class="s2">&quot;BindMaterialCommand&quot;</span><span class="p">,</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="n">prim_path</span><span class="p">,</span>
+        <span class="n">material_path</span><span class="o">=</span><span class="n">material_path</span><span class="p">,</span>
+        <span class="n">strength</span><span class="o">=</span><span class="n">binding_strength</span><span class="p">,</span>
+        <span class="n">stage</span><span class="o">=</span><span class="n">stage</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="c1"># return success</span>
+    <span class="k">return</span> <span class="n">success</span></div>
+
+
+<div class="viewcode-block" id="bind_physics_material"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.bind_physics_material">[docs]</a><span class="nd">@apply_nested</span>
+<span class="k">def</span> <span class="nf">bind_physics_material</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span>
+    <span class="n">material_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span>
+    <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">stronger_than_descendants</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Bind a physics material to a prim.</span>
+
+<span class="sd">    `Physics material`_ can be applied only to a prim with physics-enabled on them. This includes having</span>
+<span class="sd">    collision APIs, or deformable body APIs, or being a particle system. In case the prim does not have</span>
+<span class="sd">    any of these APIs, the function will not apply the material and return False.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        The function is decorated with :meth:`apply_nested` to allow applying the function to a prim path</span>
+<span class="sd">        and all its descendants.</span>
+
+<span class="sd">    .. _Physics material: https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/simulation-control/physics-settings.html#physics-materials</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path where to apply the material.</span>
+<span class="sd">        material_path: The prim path of the material to apply.</span>
+<span class="sd">        stage: The stage where the prim and material exist.</span>
+<span class="sd">            Defaults to None, in which case the current stage is used.</span>
+<span class="sd">        stronger_than_descendants: Whether the material should override the material of its descendants.</span>
+<span class="sd">            Defaults to True.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the provided prim paths do not exist on stage.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># check if prim and material exists</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Target prim &#39;</span><span class="si">{</span><span class="n">material_path</span><span class="si">}</span><span class="s2">&#39; does not exist.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">material_path</span><span class="p">)</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Physics material &#39;</span><span class="si">{</span><span class="n">material_path</span><span class="si">}</span><span class="s2">&#39; does not exist.&quot;</span><span class="p">)</span>
+    <span class="c1"># get USD prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim has collision applied on it</span>
+    <span class="n">has_physics_scene_api</span> <span class="o">=</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxSceneAPI</span><span class="p">)</span>
+    <span class="n">has_collider</span> <span class="o">=</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">CollisionAPI</span><span class="p">)</span>
+    <span class="n">has_deformable_body</span> <span class="o">=</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxDeformableBodyAPI</span><span class="p">)</span>
+    <span class="n">has_particle_system</span> <span class="o">=</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxParticleSystem</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="p">(</span><span class="n">has_physics_scene_api</span> <span class="ow">or</span> <span class="n">has_collider</span> <span class="ow">or</span> <span class="n">has_deformable_body</span> <span class="ow">or</span> <span class="n">has_particle_system</span><span class="p">):</span>
+        <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">verbose</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Cannot apply physics material &#39;</span><span class="si">{</span><span class="n">material_path</span><span class="si">}</span><span class="s2">&#39; on prim &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;. It is neither a&quot;</span>
+            <span class="s2">&quot; PhysX scene, collider, a deformable body, nor a particle system.&quot;</span>
+        <span class="p">)</span>
+        <span class="k">return</span> <span class="kc">False</span>
+
+    <span class="c1"># obtain material binding API</span>
+    <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdShade</span><span class="o">.</span><span class="n">MaterialBindingAPI</span><span class="p">):</span>
+        <span class="n">material_binding_api</span> <span class="o">=</span> <span class="n">UsdShade</span><span class="o">.</span><span class="n">MaterialBindingAPI</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">material_binding_api</span> <span class="o">=</span> <span class="n">UsdShade</span><span class="o">.</span><span class="n">MaterialBindingAPI</span><span class="o">.</span><span class="n">Apply</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+    <span class="c1"># obtain the material prim</span>
+    <span class="n">material</span> <span class="o">=</span> <span class="n">UsdShade</span><span class="o">.</span><span class="n">Material</span><span class="p">(</span><span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">material_path</span><span class="p">))</span>
+    <span class="c1"># resolve token for weaker than descendants</span>
+    <span class="k">if</span> <span class="n">stronger_than_descendants</span><span class="p">:</span>
+        <span class="n">binding_strength</span> <span class="o">=</span> <span class="n">UsdShade</span><span class="o">.</span><span class="n">Tokens</span><span class="o">.</span><span class="n">strongerThanDescendants</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">binding_strength</span> <span class="o">=</span> <span class="n">UsdShade</span><span class="o">.</span><span class="n">Tokens</span><span class="o">.</span><span class="n">weakerThanDescendants</span>
+    <span class="c1"># apply the material</span>
+    <span class="n">material_binding_api</span><span class="o">.</span><span class="n">Bind</span><span class="p">(</span><span class="n">material</span><span class="p">,</span> <span class="n">bindingStrength</span><span class="o">=</span><span class="n">binding_strength</span><span class="p">,</span> <span class="n">materialPurpose</span><span class="o">=</span><span class="s2">&quot;physics&quot;</span><span class="p">)</span>  <span class="c1"># type: ignore</span>
+    <span class="c1"># return success</span>
+    <span class="k">return</span> <span class="kc">True</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Exporting.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="export_prim_to_file"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.export_prim_to_file">[docs]</a><span class="k">def</span> <span class="nf">export_prim_to_file</span><span class="p">(</span>
+    <span class="n">path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span>
+    <span class="n">source_prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span>
+    <span class="n">target_prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Exports a prim from a given stage to a USD file.</span>
+
+<span class="sd">    The function creates a new layer at the provided path and copies the prim to the layer.</span>
+<span class="sd">    It sets the copied prim as the default prim in the target layer. Additionally, it updates</span>
+<span class="sd">    the stage up-axis and meters-per-unit to match the current stage.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        path: The filepath path to export the prim to.</span>
+<span class="sd">        source_prim_path: The prim path to export.</span>
+<span class="sd">        target_prim_path: The prim path to set as the default prim in the target layer.</span>
+<span class="sd">            Defaults to None, in which case the source prim path is used.</span>
+<span class="sd">        stage: The stage where the prim exists. Defaults to None, in which case the</span>
+<span class="sd">            current stage is used.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim paths are not global (i.e: do not start with &#39;/&#39;).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># automatically casting to str in case args</span>
+    <span class="c1"># are path types</span>
+    <span class="n">path</span> <span class="o">=</span> <span class="nb">str</span><span class="p">(</span><span class="n">path</span><span class="p">)</span>
+    <span class="n">source_prim_path</span> <span class="o">=</span> <span class="nb">str</span><span class="p">(</span><span class="n">source_prim_path</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">target_prim_path</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">target_prim_path</span> <span class="o">=</span> <span class="nb">str</span><span class="p">(</span><span class="n">target_prim_path</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">source_prim_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Source prim path &#39;</span><span class="si">{</span><span class="n">source_prim_path</span><span class="si">}</span><span class="s2">&#39; is not global. It must start with &#39;/&#39;.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">target_prim_path</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">target_prim_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Target prim path &#39;</span><span class="si">{</span><span class="n">target_prim_path</span><span class="si">}</span><span class="s2">&#39; is not global. It must start with &#39;/&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># get current stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">get_context</span><span class="p">()</span><span class="o">.</span><span class="n">get_stage</span><span class="p">()</span>
+    <span class="c1"># get root layer</span>
+    <span class="n">source_layer</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetRootLayer</span><span class="p">()</span>
+
+    <span class="c1"># only create a new layer if it doesn&#39;t exist already</span>
+    <span class="n">target_layer</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Find</span><span class="p">(</span><span class="n">path</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">target_layer</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">target_layer</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Layer</span><span class="o">.</span><span class="n">CreateNew</span><span class="p">(</span><span class="n">path</span><span class="p">)</span>
+    <span class="c1"># open the target stage</span>
+    <span class="n">target_stage</span> <span class="o">=</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span><span class="o">.</span><span class="n">Open</span><span class="p">(</span><span class="n">target_layer</span><span class="p">)</span>
+
+    <span class="c1"># update stage data</span>
+    <span class="n">UsdGeom</span><span class="o">.</span><span class="n">SetStageUpAxis</span><span class="p">(</span><span class="n">target_stage</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">GetStageUpAxis</span><span class="p">(</span><span class="n">stage</span><span class="p">))</span>
+    <span class="n">UsdGeom</span><span class="o">.</span><span class="n">SetStageMetersPerUnit</span><span class="p">(</span><span class="n">target_stage</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">GetStageMetersPerUnit</span><span class="p">(</span><span class="n">stage</span><span class="p">))</span>
+
+    <span class="c1"># specify the prim to copy</span>
+    <span class="n">source_prim_path</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="n">source_prim_path</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">target_prim_path</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">target_prim_path</span> <span class="o">=</span> <span class="n">source_prim_path</span>
+
+    <span class="c1"># copy the prim</span>
+    <span class="n">Sdf</span><span class="o">.</span><span class="n">CreatePrimInLayer</span><span class="p">(</span><span class="n">target_layer</span><span class="p">,</span> <span class="n">target_prim_path</span><span class="p">)</span>
+    <span class="n">Sdf</span><span class="o">.</span><span class="n">CopySpec</span><span class="p">(</span><span class="n">source_layer</span><span class="p">,</span> <span class="n">source_prim_path</span><span class="p">,</span> <span class="n">target_layer</span><span class="p">,</span> <span class="n">target_prim_path</span><span class="p">)</span>
+    <span class="c1"># set the default prim</span>
+    <span class="n">target_layer</span><span class="o">.</span><span class="n">defaultPrim</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="n">target_prim_path</span><span class="p">)</span><span class="o">.</span><span class="n">name</span>
+    <span class="c1"># resolve all paths relative to layer path</span>
+    <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">resolve_paths</span><span class="p">(</span><span class="n">source_layer</span><span class="o">.</span><span class="n">identifier</span><span class="p">,</span> <span class="n">target_layer</span><span class="o">.</span><span class="n">identifier</span><span class="p">)</span>
+    <span class="c1"># save the stage</span>
+    <span class="n">target_layer</span><span class="o">.</span><span class="n">Save</span><span class="p">()</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">USD Prim properties.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="make_uninstanceable"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.make_uninstanceable">[docs]</a><span class="k">def</span> <span class="nf">make_uninstanceable</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Check if a prim and its descendants are instanced and make them uninstanceable.</span>
+
+<span class="sd">    This function checks if the prim at the specified prim path and its descendants are instanced.</span>
+<span class="sd">    If so, it makes the respective prim uninstanceable by disabling instancing on the prim.</span>
+
+<span class="sd">    This is useful when we want to modify the properties of a prim that is instanced. For example, if we</span>
+<span class="sd">    want to apply a different material on an instanced prim, we need to make the prim uninstanceable first.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path to check.</span>
+<span class="sd">        stage: The stage where the prim exists. Defaults to None, in which case the current stage is used.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim path is not global (i.e: does not start with &#39;/&#39;).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># make paths str type if they aren&#39;t already</span>
+    <span class="n">prim_path</span> <span class="o">=</span> <span class="nb">str</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim path is global</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not global. It must start with &#39;/&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># get current stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get prim</span>
+    <span class="n">prim</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim is valid</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim at path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+    <span class="c1"># iterate over all prims under prim-path</span>
+    <span class="n">all_prims</span> <span class="o">=</span> <span class="p">[</span><span class="n">prim</span><span class="p">]</span>
+    <span class="k">while</span> <span class="nb">len</span><span class="p">(</span><span class="n">all_prims</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="c1"># get current prim</span>
+        <span class="n">child_prim</span> <span class="o">=</span> <span class="n">all_prims</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+        <span class="c1"># check if prim is instanced</span>
+        <span class="k">if</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">IsInstance</span><span class="p">():</span>
+            <span class="c1"># make the prim uninstanceable</span>
+            <span class="n">child_prim</span><span class="o">.</span><span class="n">SetInstanceable</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+        <span class="c1"># add children to list</span>
+        <span class="n">all_prims</span> <span class="o">+=</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">GetChildren</span><span class="p">()</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">USD Stage traversal.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="get_first_matching_child_prim"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.get_first_matching_child_prim">[docs]</a><span class="k">def</span> <span class="nf">get_first_matching_child_prim</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span> <span class="n">predicate</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[[</span><span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">],</span> <span class="nb">bool</span><span class="p">],</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Recursively get the first USD Prim at the path string that passes the predicate function</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The path of the prim in the stage.</span>
+<span class="sd">        predicate: The function to test the prims against. It takes a prim as input and returns a boolean.</span>
+<span class="sd">        stage: The stage where the prim exists. Defaults to None, in which case the current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The first prim on the path that passes the predicate. If no prim passes the predicate, it returns None.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim path is not global (i.e: does not start with &#39;/&#39;).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># make paths str type if they aren&#39;t already</span>
+    <span class="n">prim_path</span> <span class="o">=</span> <span class="nb">str</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim path is global</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not global. It must start with &#39;/&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># get current stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim is valid</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim at path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+    <span class="c1"># iterate over all prims under prim-path</span>
+    <span class="n">all_prims</span> <span class="o">=</span> <span class="p">[</span><span class="n">prim</span><span class="p">]</span>
+    <span class="k">while</span> <span class="nb">len</span><span class="p">(</span><span class="n">all_prims</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="c1"># get current prim</span>
+        <span class="n">child_prim</span> <span class="o">=</span> <span class="n">all_prims</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+        <span class="c1"># check if prim passes predicate</span>
+        <span class="k">if</span> <span class="n">predicate</span><span class="p">(</span><span class="n">child_prim</span><span class="p">):</span>
+            <span class="k">return</span> <span class="n">child_prim</span>
+        <span class="c1"># add children to list</span>
+        <span class="n">all_prims</span> <span class="o">+=</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">GetChildren</span><span class="p">()</span>
+    <span class="k">return</span> <span class="kc">None</span></div>
+
+
+<div class="viewcode-block" id="get_all_matching_child_prims"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.get_all_matching_child_prims">[docs]</a><span class="k">def</span> <span class="nf">get_all_matching_child_prims</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span>
+    <span class="n">predicate</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[[</span><span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">],</span> <span class="nb">bool</span><span class="p">]</span> <span class="o">=</span> <span class="k">lambda</span> <span class="n">_</span><span class="p">:</span> <span class="kc">True</span><span class="p">,</span>
+    <span class="n">depth</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Performs a search starting from the root and returns all the prims matching the predicate.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The root prim path to start the search from.</span>
+<span class="sd">        predicate: The predicate that checks if the prim matches the desired criteria. It takes a prim as input</span>
+<span class="sd">            and returns a boolean. Defaults to a function that always returns True.</span>
+<span class="sd">        depth: The maximum depth for traversal, should be bigger than zero if specified.</span>
+<span class="sd">            Defaults to None (i.e: traversal happens till the end of the tree).</span>
+<span class="sd">        stage: The stage where the prim exists. Defaults to None, in which case the current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A list containing all the prims matching the predicate.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim path is not global (i.e: does not start with &#39;/&#39;).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># make paths str type if they aren&#39;t already</span>
+    <span class="n">prim_path</span> <span class="o">=</span> <span class="nb">str</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim path is global</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not global. It must start with &#39;/&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># get current stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># get prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="c1"># check if prim is valid</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim at path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+    <span class="c1"># check if depth is valid</span>
+    <span class="k">if</span> <span class="n">depth</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="n">depth</span> <span class="o">&lt;=</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Depth must be bigger than zero, got </span><span class="si">{</span><span class="n">depth</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># iterate over all prims under prim-path</span>
+    <span class="c1"># list of tuples (prim, current_depth)</span>
+    <span class="n">all_prims_queue</span> <span class="o">=</span> <span class="p">[(</span><span class="n">prim</span><span class="p">,</span> <span class="mi">0</span><span class="p">)]</span>
+    <span class="n">output_prims</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">while</span> <span class="nb">len</span><span class="p">(</span><span class="n">all_prims_queue</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="c1"># get current prim</span>
+        <span class="n">child_prim</span><span class="p">,</span> <span class="n">current_depth</span> <span class="o">=</span> <span class="n">all_prims_queue</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+        <span class="c1"># check if prim passes predicate</span>
+        <span class="k">if</span> <span class="n">predicate</span><span class="p">(</span><span class="n">child_prim</span><span class="p">):</span>
+            <span class="n">output_prims</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">child_prim</span><span class="p">)</span>
+        <span class="c1"># add children to list</span>
+        <span class="k">if</span> <span class="n">depth</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">current_depth</span> <span class="o">&lt;</span> <span class="n">depth</span><span class="p">:</span>
+            <span class="n">all_prims_queue</span> <span class="o">+=</span> <span class="p">[(</span><span class="n">child</span><span class="p">,</span> <span class="n">current_depth</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="k">for</span> <span class="n">child</span> <span class="ow">in</span> <span class="n">child_prim</span><span class="o">.</span><span class="n">GetChildren</span><span class="p">()]</span>
+
+    <span class="k">return</span> <span class="n">output_prims</span></div>
+
+
+<div class="viewcode-block" id="find_first_matching_prim"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.find_first_matching_prim">[docs]</a><span class="k">def</span> <span class="nf">find_first_matching_prim</span><span class="p">(</span><span class="n">prim_path_regex</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Find the first matching prim in the stage based on input regex expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path_regex: The regex expression for prim path.</span>
+<span class="sd">        stage: The stage where the prim exists. Defaults to None, in which case the current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The first prim that matches input expression. If no prim matches, returns None.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim path is not global (i.e: does not start with &#39;/&#39;).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check prim path is global</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_path_regex</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path_regex</span><span class="si">}</span><span class="s2">&#39; is not global. It must start with &#39;/&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># get current stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># need to wrap the token patterns in &#39;^&#39; and &#39;$&#39; to prevent matching anywhere in the string</span>
+    <span class="n">pattern</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;^</span><span class="si">{</span><span class="n">prim_path_regex</span><span class="si">}</span><span class="s2">$&quot;</span>
+    <span class="n">compiled_pattern</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">compile</span><span class="p">(</span><span class="n">pattern</span><span class="p">)</span>
+    <span class="c1"># obtain matching prim (depth-first search)</span>
+    <span class="k">for</span> <span class="n">prim</span> <span class="ow">in</span> <span class="n">stage</span><span class="o">.</span><span class="n">Traverse</span><span class="p">():</span>
+        <span class="c1"># check if prim passes predicate</span>
+        <span class="k">if</span> <span class="n">compiled_pattern</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="n">prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span><span class="p">)</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">return</span> <span class="n">prim</span>
+    <span class="k">return</span> <span class="kc">None</span></div>
+
+
+<div class="viewcode-block" id="find_matching_prims"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.find_matching_prims">[docs]</a><span class="k">def</span> <span class="nf">find_matching_prims</span><span class="p">(</span><span class="n">prim_path_regex</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="n">Usd</span><span class="o">.</span><span class="n">Prim</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Find all the matching prims in the stage based on input regex expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path_regex: The regex expression for prim path.</span>
+<span class="sd">        stage: The stage where the prim exists. Defaults to None, in which case the current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A list of prims that match input expression.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim path is not global (i.e: does not start with &#39;/&#39;).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check prim path is global</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_path_regex</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path_regex</span><span class="si">}</span><span class="s2">&#39; is not global. It must start with &#39;/&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># get current stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># need to wrap the token patterns in &#39;^&#39; and &#39;$&#39; to prevent matching anywhere in the string</span>
+    <span class="n">tokens</span> <span class="o">=</span> <span class="n">prim_path_regex</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)[</span><span class="mi">1</span><span class="p">:]</span>
+    <span class="n">tokens</span> <span class="o">=</span> <span class="p">[</span><span class="sa">f</span><span class="s2">&quot;^</span><span class="si">{</span><span class="n">token</span><span class="si">}</span><span class="s2">$&quot;</span> <span class="k">for</span> <span class="n">token</span> <span class="ow">in</span> <span class="n">tokens</span><span class="p">]</span>
+    <span class="c1"># iterate over all prims in stage (breath-first search)</span>
+    <span class="n">all_prims</span> <span class="o">=</span> <span class="p">[</span><span class="n">stage</span><span class="o">.</span><span class="n">GetPseudoRoot</span><span class="p">()]</span>
+    <span class="n">output_prims</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="n">token</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">tokens</span><span class="p">):</span>
+        <span class="n">token_compiled</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">compile</span><span class="p">(</span><span class="n">token</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">prim</span> <span class="ow">in</span> <span class="n">all_prims</span><span class="p">:</span>
+            <span class="k">for</span> <span class="n">child</span> <span class="ow">in</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetAllChildren</span><span class="p">():</span>
+                <span class="k">if</span> <span class="n">token_compiled</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="n">child</span><span class="o">.</span><span class="n">GetName</span><span class="p">())</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">output_prims</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">child</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">index</span> <span class="o">&lt;</span> <span class="nb">len</span><span class="p">(</span><span class="n">tokens</span><span class="p">)</span> <span class="o">-</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="n">all_prims</span> <span class="o">=</span> <span class="n">output_prims</span>
+            <span class="n">output_prims</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">return</span> <span class="n">output_prims</span></div>
+
+
+<div class="viewcode-block" id="find_matching_prim_paths"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.find_matching_prim_paths">[docs]</a><span class="k">def</span> <span class="nf">find_matching_prim_paths</span><span class="p">(</span><span class="n">prim_path_regex</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Find all the matching prim paths in the stage based on input regex expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path_regex: The regex expression for prim path.</span>
+<span class="sd">        stage: The stage where the prim exists. Defaults to None, in which case the current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A list of prim paths that match input expression.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim path is not global (i.e: does not start with &#39;/&#39;).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain matching prims</span>
+    <span class="n">output_prims</span> <span class="o">=</span> <span class="n">find_matching_prims</span><span class="p">(</span><span class="n">prim_path_regex</span><span class="p">,</span> <span class="n">stage</span><span class="p">)</span>
+    <span class="c1"># convert prims to prim paths</span>
+    <span class="n">output_prim_paths</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">prim</span> <span class="ow">in</span> <span class="n">output_prims</span><span class="p">:</span>
+        <span class="n">output_prim_paths</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">prim</span><span class="o">.</span><span class="n">GetPath</span><span class="p">()</span><span class="o">.</span><span class="n">pathString</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">output_prim_paths</span></div>
+
+
+<div class="viewcode-block" id="find_global_fixed_joint_prim"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.find_global_fixed_joint_prim">[docs]</a><span class="k">def</span> <span class="nf">find_global_fixed_joint_prim</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">,</span> <span class="n">check_enabled_only</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">Joint</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Find the fixed joint prim under the specified prim path that connects the target to the simulation world.</span>
+
+<span class="sd">    A joint is a connection between two bodies. A fixed joint is a joint that does not allow relative motion</span>
+<span class="sd">    between the two bodies. When a fixed joint has only one target body, it is considered to attach the body</span>
+<span class="sd">    to the simulation world.</span>
+
+<span class="sd">    This function finds the fixed joint prim that has only one target under the specified prim path. If no such</span>
+<span class="sd">    fixed joint prim exists, it returns None.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The prim path to search for the fixed joint prim.</span>
+<span class="sd">        check_enabled_only: Whether to consider only enabled fixed joints. Defaults to False.</span>
+<span class="sd">            If False, then all joints (enabled or disabled) are considered.</span>
+<span class="sd">        stage: The stage where the prim exists. Defaults to None, in which case the current stage is used.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The fixed joint prim that has only one target. If no such fixed joint prim exists, it returns None.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim path is not global (i.e: does not start with &#39;/&#39;).</span>
+<span class="sd">        ValueError: If the prim path does not exist on the stage.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check prim path is global</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim_path</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not global. It must start with &#39;/&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># get current stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+
+    <span class="c1"># check if prim exists</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim at path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+
+    <span class="n">fixed_joint_prim</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="c1"># we check all joints under the root prim and classify the asset as fixed base if there exists</span>
+    <span class="c1"># a fixed joint that has only one target (i.e. the root link).</span>
+    <span class="k">for</span> <span class="n">prim</span> <span class="ow">in</span> <span class="n">Usd</span><span class="o">.</span><span class="n">PrimRange</span><span class="p">(</span><span class="n">prim</span><span class="p">):</span>
+        <span class="c1"># note: ideally checking if it is FixedJoint would have been enough, but some assets use &quot;Joint&quot; as the</span>
+        <span class="c1"># schema name which makes it difficult to distinguish between the two.</span>
+        <span class="n">joint_prim</span> <span class="o">=</span> <span class="n">UsdPhysics</span><span class="o">.</span><span class="n">Joint</span><span class="p">(</span><span class="n">prim</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">joint_prim</span><span class="p">:</span>
+            <span class="c1"># if check_enabled_only is True, we only consider enabled joints</span>
+            <span class="k">if</span> <span class="n">check_enabled_only</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">joint_prim</span><span class="o">.</span><span class="n">GetJointEnabledAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">():</span>
+                <span class="k">continue</span>
+            <span class="c1"># check body 0 and body 1 exist</span>
+            <span class="n">body_0_exist</span> <span class="o">=</span> <span class="n">joint_prim</span><span class="o">.</span><span class="n">GetBody0Rel</span><span class="p">()</span><span class="o">.</span><span class="n">GetTargets</span><span class="p">()</span> <span class="o">!=</span> <span class="p">[]</span>
+            <span class="n">body_1_exist</span> <span class="o">=</span> <span class="n">joint_prim</span><span class="o">.</span><span class="n">GetBody1Rel</span><span class="p">()</span><span class="o">.</span><span class="n">GetTargets</span><span class="p">()</span> <span class="o">!=</span> <span class="p">[]</span>
+            <span class="c1"># if either body 0 or body 1 does not exist, we have a fixed joint that connects to the world</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="p">(</span><span class="n">body_0_exist</span> <span class="ow">and</span> <span class="n">body_1_exist</span><span class="p">):</span>
+                <span class="n">fixed_joint_prim</span> <span class="o">=</span> <span class="n">joint_prim</span>
+                <span class="k">break</span>
+
+    <span class="k">return</span> <span class="n">fixed_joint_prim</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">USD Variants.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="select_usd_variants"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.select_usd_variants">[docs]</a><span class="k">def</span> <span class="nf">select_usd_variants</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">variants</span><span class="p">:</span> <span class="nb">object</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">str</span><span class="p">],</span> <span class="n">stage</span><span class="p">:</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Sets the variant selections from the specified variant sets on a USD prim.</span>
+
+<span class="sd">    `USD Variants`_ are a very powerful tool in USD composition that allows prims to have different options on</span>
+<span class="sd">    a single asset. This can be done by modifying variations of the same prim parameters per variant option in a set.</span>
+<span class="sd">    This function acts as a script-based utility to set the variant selections for the specified variant sets on a</span>
+<span class="sd">    USD prim.</span>
+
+<span class="sd">    The function takes a dictionary or a config class mapping variant set names to variant selections. For instance,</span>
+<span class="sd">    if we have a prim at ``&quot;/World/Table&quot;`` with two variant sets: &quot;color&quot; and &quot;size&quot;, we can set the variant</span>
+<span class="sd">    selections as follows:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        select_usd_variants(</span>
+<span class="sd">            prim_path=&quot;/World/Table&quot;,</span>
+<span class="sd">            variants={</span>
+<span class="sd">                &quot;color&quot;: &quot;red&quot;,</span>
+<span class="sd">                &quot;size&quot;: &quot;large&quot;,</span>
+<span class="sd">            },</span>
+<span class="sd">        )</span>
+
+<span class="sd">    Alternatively, we can use a config class to define the variant selections:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        @configclass</span>
+<span class="sd">        class TableVariants:</span>
+<span class="sd">            color: Literal[&quot;blue&quot;, &quot;red&quot;] = &quot;red&quot;</span>
+<span class="sd">            size: Literal[&quot;small&quot;, &quot;large&quot;] = &quot;large&quot;</span>
+
+<span class="sd">        select_usd_variants(</span>
+<span class="sd">            prim_path=&quot;/World/Table&quot;,</span>
+<span class="sd">            variants=TableVariants(),</span>
+<span class="sd">        )</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The path of the USD prim.</span>
+<span class="sd">        variants: A dictionary or config class mapping variant set names to variant selections.</span>
+<span class="sd">        stage: The USD stage. Defaults to None, in which case, the current stage is used.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the prim at the specified path is not valid.</span>
+
+<span class="sd">    .. _USD Variants: https://graphics.pixar.com/usd/docs/USD-Glossary.html#USDGlossary-Variant</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Resolve stage</span>
+    <span class="k">if</span> <span class="n">stage</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">stage</span> <span class="o">=</span> <span class="n">stage_utils</span><span class="o">.</span><span class="n">get_current_stage</span><span class="p">()</span>
+    <span class="c1"># Obtain prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetPrimAtPath</span><span class="p">(</span><span class="n">prim_path</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsValid</span><span class="p">():</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Prim at path &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39; is not valid.&quot;</span><span class="p">)</span>
+    <span class="c1"># Convert to dict if we have a configclass object.</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">variants</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+        <span class="n">variants</span> <span class="o">=</span> <span class="n">variants</span><span class="o">.</span><span class="n">to_dict</span><span class="p">()</span>
+
+    <span class="n">existing_variant_sets</span> <span class="o">=</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetVariantSets</span><span class="p">()</span>
+    <span class="k">for</span> <span class="n">variant_set_name</span><span class="p">,</span> <span class="n">variant_selection</span> <span class="ow">in</span> <span class="n">variants</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="c1"># Check if the variant set exists on the prim.</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">existing_variant_sets</span><span class="o">.</span><span class="n">HasVariantSet</span><span class="p">(</span><span class="n">variant_set_name</span><span class="p">):</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Variant set &#39;</span><span class="si">{</span><span class="n">variant_set_name</span><span class="si">}</span><span class="s2">&#39; does not exist on prim &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+            <span class="k">continue</span>
+
+        <span class="n">variant_set</span> <span class="o">=</span> <span class="n">existing_variant_sets</span><span class="o">.</span><span class="n">GetVariantSet</span><span class="p">(</span><span class="n">variant_set_name</span><span class="p">)</span>
+        <span class="c1"># Only set the variant selection if it is different from the current selection.</span>
+        <span class="k">if</span> <span class="n">variant_set</span><span class="o">.</span><span class="n">GetVariantSelection</span><span class="p">()</span> <span class="o">!=</span> <span class="n">variant_selection</span><span class="p">:</span>
+            <span class="n">variant_set</span><span class="o">.</span><span class="n">SetVariantSelection</span><span class="p">(</span><span class="n">variant_selection</span><span class="p">)</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;Setting variant selection &#39;</span><span class="si">{</span><span class="n">variant_selection</span><span class="si">}</span><span class="s2">&#39; for variant set &#39;</span><span class="si">{</span><span class="n">variant_set_name</span><span class="si">}</span><span class="s2">&#39; on&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; prim &#39;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+            <span class="p">)</span></div>
+</pre></div>
+
+                </article>
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+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/changelog.html">Extensions Changelog</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/bibliography.html">Bibliography</a></li>
+</ul>
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+  <h1>Source code for omni.isaac.lab.terrains.height_field.hf_terrains</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Functions to generate height fields for different terrains.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">scipy.interpolate</span> <span class="k">as</span> <span class="nn">interpolate</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">.utils</span> <span class="kn">import</span> <span class="n">height_field_to_mesh</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">hf_terrains_cfg</span>
+
+
+<div class="viewcode-block" id="random_uniform_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain">[docs]</a><span class="nd">@height_field_to_mesh</span>
+<span class="k">def</span> <span class="nf">random_uniform_terrain</span><span class="p">(</span><span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">hf_terrains_cfg</span><span class="o">.</span><span class="n">HfRandomUniformTerrainCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with height sampled uniformly from a specified range.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/height_field/random_uniform_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+<span class="sd">       :align: center</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The :obj:`difficulty` parameter is ignored for this terrain.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The height field of the terrain as a 2D numpy array with discretized heights.</span>
+<span class="sd">        The shape of the array is (width, length), where width and length are the number of points</span>
+<span class="sd">        along the x and y axis, respectively.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the downsampled scale is smaller than the horizontal scale.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check parameters</span>
+    <span class="c1"># -- horizontal scale</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">downsampled_scale</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">downsampled_scale</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span>
+    <span class="k">elif</span> <span class="n">cfg</span><span class="o">.</span><span class="n">downsampled_scale</span> <span class="o">&lt;</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="s2">&quot;Downsampled scale must be larger than or equal to the horizontal scale:&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot; </span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">downsampled_scale</span><span class="si">}</span><span class="s2"> &lt; </span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="si">}</span><span class="s2">.&quot;</span>
+        <span class="p">)</span>
+
+    <span class="c1"># switch parameters to discrete units</span>
+    <span class="c1"># -- horizontal scale</span>
+    <span class="n">width_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">length_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="c1"># -- downsampled scale</span>
+    <span class="n">width_downsampled</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">downsampled_scale</span><span class="p">)</span>
+    <span class="n">length_downsampled</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">downsampled_scale</span><span class="p">)</span>
+    <span class="c1"># -- height</span>
+    <span class="n">height_min</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">noise_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">vertical_scale</span><span class="p">)</span>
+    <span class="n">height_max</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">noise_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">vertical_scale</span><span class="p">)</span>
+    <span class="n">height_step</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">noise_step</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">vertical_scale</span><span class="p">)</span>
+
+    <span class="c1"># create range of heights possible</span>
+    <span class="n">height_range</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">height_min</span><span class="p">,</span> <span class="n">height_max</span> <span class="o">+</span> <span class="n">height_step</span><span class="p">,</span> <span class="n">height_step</span><span class="p">)</span>
+    <span class="c1"># sample heights randomly from the range along a grid</span>
+    <span class="n">height_field_downsampled</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">height_range</span><span class="p">,</span> <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="n">width_downsampled</span><span class="p">,</span> <span class="n">length_downsampled</span><span class="p">))</span>
+    <span class="c1"># create interpolation function for the sampled heights</span>
+    <span class="n">x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">linspace</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">,</span> <span class="n">width_downsampled</span><span class="p">)</span>
+    <span class="n">y</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">linspace</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">,</span> <span class="n">length_downsampled</span><span class="p">)</span>
+    <span class="n">func</span> <span class="o">=</span> <span class="n">interpolate</span><span class="o">.</span><span class="n">RectBivariateSpline</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">y</span><span class="p">,</span> <span class="n">height_field_downsampled</span><span class="p">)</span>
+
+    <span class="c1"># interpolate the sampled heights to obtain the height field</span>
+    <span class="n">x_upsampled</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">linspace</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">,</span> <span class="n">width_pixels</span><span class="p">)</span>
+    <span class="n">y_upsampled</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">linspace</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">)</span>
+    <span class="n">z_upsampled</span> <span class="o">=</span> <span class="n">func</span><span class="p">(</span><span class="n">x_upsampled</span><span class="p">,</span> <span class="n">y_upsampled</span><span class="p">)</span>
+    <span class="c1"># round off the interpolated heights to the nearest vertical step</span>
+    <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">rint</span><span class="p">(</span><span class="n">z_upsampled</span><span class="p">)</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">int16</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="pyramid_sloped_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain">[docs]</a><span class="nd">@height_field_to_mesh</span>
+<span class="k">def</span> <span class="nf">pyramid_sloped_terrain</span><span class="p">(</span><span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">hf_terrains_cfg</span><span class="o">.</span><span class="n">HfPyramidSlopedTerrainCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with a truncated pyramid structure.</span>
+
+<span class="sd">    The terrain is a pyramid-shaped sloped surface with a slope of :obj:`slope` that trims into a flat platform</span>
+<span class="sd">    at the center. The slope is defined as the ratio of the height change along the x axis to the width along the</span>
+<span class="sd">    x axis. For example, a slope of 1.0 means that the height changes by 1 unit for every 1 unit of width.</span>
+
+<span class="sd">    If the :obj:`cfg.inverted` flag is set to :obj:`True`, the terrain is inverted such that</span>
+<span class="sd">    the platform is at the bottom.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/height_field/pyramid_sloped_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/height_field/inverted_pyramid_sloped_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The height field of the terrain as a 2D numpy array with discretized heights.</span>
+<span class="sd">        The shape of the array is (width, length), where width and length are the number of points</span>
+<span class="sd">        along the x and y axis, respectively.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve terrain configuration</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">inverted</span><span class="p">:</span>
+        <span class="n">slope</span> <span class="o">=</span> <span class="o">-</span><span class="n">cfg</span><span class="o">.</span><span class="n">slope_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">slope_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">slope_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">slope</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">slope_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">slope_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">slope_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1"># switch parameters to discrete units</span>
+    <span class="c1"># -- horizontal scale</span>
+    <span class="n">width_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">length_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="c1"># -- height</span>
+    <span class="c1"># we want the height to be 1/2 of the width since the terrain is a pyramid</span>
+    <span class="n">height_max</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">slope</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="mi">2</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">vertical_scale</span><span class="p">)</span>
+    <span class="c1"># -- center of the terrain</span>
+    <span class="n">center_x</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">width_pixels</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">center_y</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">length_pixels</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+
+    <span class="c1"># create a meshgrid of the terrain</span>
+    <span class="n">x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">width_pixels</span><span class="p">)</span>
+    <span class="n">y</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">)</span>
+    <span class="n">xx</span><span class="p">,</span> <span class="n">yy</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">meshgrid</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">y</span><span class="p">,</span> <span class="n">sparse</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># offset the meshgrid to the center of the terrain</span>
+    <span class="n">xx</span> <span class="o">=</span> <span class="p">(</span><span class="n">center_x</span> <span class="o">-</span> <span class="n">np</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">center_x</span> <span class="o">-</span> <span class="n">xx</span><span class="p">))</span> <span class="o">/</span> <span class="n">center_x</span>
+    <span class="n">yy</span> <span class="o">=</span> <span class="p">(</span><span class="n">center_y</span> <span class="o">-</span> <span class="n">np</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">center_y</span> <span class="o">-</span> <span class="n">yy</span><span class="p">))</span> <span class="o">/</span> <span class="n">center_y</span>
+    <span class="c1"># reshape the meshgrid to be 2D</span>
+    <span class="n">xx</span> <span class="o">=</span> <span class="n">xx</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="n">width_pixels</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="n">yy</span> <span class="o">=</span> <span class="n">yy</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">)</span>
+    <span class="c1"># create a sloped surface</span>
+    <span class="n">hf_raw</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">width_pixels</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">))</span>
+    <span class="n">hf_raw</span> <span class="o">=</span> <span class="n">height_max</span> <span class="o">*</span> <span class="n">xx</span> <span class="o">*</span> <span class="n">yy</span>
+
+    <span class="c1"># create a flat platform at the center of the terrain</span>
+    <span class="n">platform_width</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="c1"># get the height of the platform at the corner of the platform</span>
+    <span class="n">x_pf</span> <span class="o">=</span> <span class="n">width_pixels</span> <span class="o">//</span> <span class="mi">2</span> <span class="o">-</span> <span class="n">platform_width</span>
+    <span class="n">y_pf</span> <span class="o">=</span> <span class="n">length_pixels</span> <span class="o">//</span> <span class="mi">2</span> <span class="o">-</span> <span class="n">platform_width</span>
+    <span class="n">z_pf</span> <span class="o">=</span> <span class="n">hf_raw</span><span class="p">[</span><span class="n">x_pf</span><span class="p">,</span> <span class="n">y_pf</span><span class="p">]</span>
+    <span class="n">hf_raw</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">hf_raw</span><span class="p">,</span> <span class="nb">min</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">z_pf</span><span class="p">),</span> <span class="nb">max</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">z_pf</span><span class="p">))</span>
+
+    <span class="c1"># round off the heights to the nearest vertical step</span>
+    <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">rint</span><span class="p">(</span><span class="n">hf_raw</span><span class="p">)</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">int16</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="pyramid_stairs_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain">[docs]</a><span class="nd">@height_field_to_mesh</span>
+<span class="k">def</span> <span class="nf">pyramid_stairs_terrain</span><span class="p">(</span><span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">hf_terrains_cfg</span><span class="o">.</span><span class="n">HfPyramidStairsTerrainCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with a pyramid stair pattern.</span>
+
+<span class="sd">    The terrain is a pyramid stair pattern which trims to a flat platform at the center of the terrain.</span>
+
+<span class="sd">    If the :obj:`cfg.inverted` flag is set to :obj:`True`, the terrain is inverted such that</span>
+<span class="sd">    the platform is at the bottom.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/height_field/pyramid_stairs_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/height_field/inverted_pyramid_stairs_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The height field of the terrain as a 2D numpy array with discretized heights.</span>
+<span class="sd">        The shape of the array is (width, length), where width and length are the number of points</span>
+<span class="sd">        along the x and y axis, respectively.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve terrain configuration</span>
+    <span class="n">step_height</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">step_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">inverted</span><span class="p">:</span>
+        <span class="n">step_height</span> <span class="o">*=</span> <span class="o">-</span><span class="mi">1</span>
+    <span class="c1"># switch parameters to discrete units</span>
+    <span class="c1"># -- terrain</span>
+    <span class="n">width_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">length_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="c1"># -- stairs</span>
+    <span class="n">step_width</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">step_height</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">step_height</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">vertical_scale</span><span class="p">)</span>
+    <span class="c1"># -- platform</span>
+    <span class="n">platform_width</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+
+    <span class="c1"># create a terrain with a flat platform at the center</span>
+    <span class="n">hf_raw</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">width_pixels</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">))</span>
+    <span class="c1"># add the steps</span>
+    <span class="n">current_step_height</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="n">start_x</span><span class="p">,</span> <span class="n">start_y</span> <span class="o">=</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span>
+    <span class="n">stop_x</span><span class="p">,</span> <span class="n">stop_y</span> <span class="o">=</span> <span class="n">width_pixels</span><span class="p">,</span> <span class="n">length_pixels</span>
+    <span class="k">while</span> <span class="p">(</span><span class="n">stop_x</span> <span class="o">-</span> <span class="n">start_x</span><span class="p">)</span> <span class="o">&gt;</span> <span class="n">platform_width</span> <span class="ow">and</span> <span class="p">(</span><span class="n">stop_y</span> <span class="o">-</span> <span class="n">start_y</span><span class="p">)</span> <span class="o">&gt;</span> <span class="n">platform_width</span><span class="p">:</span>
+        <span class="c1"># increment position</span>
+        <span class="c1"># -- x</span>
+        <span class="n">start_x</span> <span class="o">+=</span> <span class="n">step_width</span>
+        <span class="n">stop_x</span> <span class="o">-=</span> <span class="n">step_width</span>
+        <span class="c1"># -- y</span>
+        <span class="n">start_y</span> <span class="o">+=</span> <span class="n">step_width</span>
+        <span class="n">stop_y</span> <span class="o">-=</span> <span class="n">step_width</span>
+        <span class="c1"># increment height</span>
+        <span class="n">current_step_height</span> <span class="o">+=</span> <span class="n">step_height</span>
+        <span class="c1"># add the step</span>
+        <span class="n">hf_raw</span><span class="p">[</span><span class="n">start_x</span><span class="p">:</span><span class="n">stop_x</span><span class="p">,</span> <span class="n">start_y</span><span class="p">:</span><span class="n">stop_y</span><span class="p">]</span> <span class="o">=</span> <span class="n">current_step_height</span>
+
+    <span class="c1"># round off the heights to the nearest vertical step</span>
+    <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">rint</span><span class="p">(</span><span class="n">hf_raw</span><span class="p">)</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">int16</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="discrete_obstacles_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain">[docs]</a><span class="nd">@height_field_to_mesh</span>
+<span class="k">def</span> <span class="nf">discrete_obstacles_terrain</span><span class="p">(</span><span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">hf_terrains_cfg</span><span class="o">.</span><span class="n">HfDiscreteObstaclesTerrainCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with randomly generated obstacles as pillars with positive and negative heights.</span>
+
+<span class="sd">    The terrain is a flat platform at the center of the terrain with randomly generated obstacles as pillars</span>
+<span class="sd">    with positive and negative height. The obstacles are randomly generated cuboids with a random width and</span>
+<span class="sd">    height. They are placed randomly on the terrain with a minimum distance of :obj:`cfg.platform_width`</span>
+<span class="sd">    from the center of the terrain.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/height_field/discrete_obstacles_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+<span class="sd">       :align: center</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The height field of the terrain as a 2D numpy array with discretized heights.</span>
+<span class="sd">        The shape of the array is (width, length), where width and length are the number of points</span>
+<span class="sd">        along the x and y axis, respectively.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve terrain configuration</span>
+    <span class="n">obs_height</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">obstacle_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">obstacle_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">obstacle_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+    <span class="p">)</span>
+
+    <span class="c1"># switch parameters to discrete units</span>
+    <span class="c1"># -- terrain</span>
+    <span class="n">width_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">length_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="c1"># -- obstacles</span>
+    <span class="n">obs_height</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">obs_height</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">vertical_scale</span><span class="p">)</span>
+    <span class="n">obs_width_min</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">obstacle_width_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">obs_width_max</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">obstacle_width_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="c1"># -- center of the terrain</span>
+    <span class="n">platform_width</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+
+    <span class="c1"># create discrete ranges for the obstacles</span>
+    <span class="c1"># -- shape</span>
+    <span class="n">obs_width_range</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">obs_width_min</span><span class="p">,</span> <span class="n">obs_width_max</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+    <span class="n">obs_length_range</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">obs_width_min</span><span class="p">,</span> <span class="n">obs_width_max</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+    <span class="c1"># -- position</span>
+    <span class="n">obs_x_range</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">width_pixels</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+    <span class="n">obs_y_range</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+
+    <span class="c1"># create a terrain with a flat platform at the center</span>
+    <span class="n">hf_raw</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">width_pixels</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">))</span>
+    <span class="c1"># generate the obstacles</span>
+    <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_obstacles</span><span class="p">):</span>
+        <span class="c1"># sample size</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">obstacle_height_mode</span> <span class="o">==</span> <span class="s2">&quot;choice&quot;</span><span class="p">:</span>
+            <span class="n">height</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="o">-</span><span class="n">obs_height</span><span class="p">,</span> <span class="o">-</span><span class="n">obs_height</span> <span class="o">//</span> <span class="mi">2</span><span class="p">,</span> <span class="n">obs_height</span> <span class="o">//</span> <span class="mi">2</span><span class="p">,</span> <span class="n">obs_height</span><span class="p">])</span>
+        <span class="k">elif</span> <span class="n">cfg</span><span class="o">.</span><span class="n">obstacle_height_mode</span> <span class="o">==</span> <span class="s2">&quot;fixed&quot;</span><span class="p">:</span>
+            <span class="n">height</span> <span class="o">=</span> <span class="n">obs_height</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unknown obstacle height mode &#39;</span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">obstacle_height_mode</span><span class="si">}</span><span class="s2">&#39;. Must be &#39;choice&#39; or &#39;fixed&#39;.&quot;</span><span class="p">)</span>
+        <span class="n">width</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">obs_width_range</span><span class="p">))</span>
+        <span class="n">length</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">obs_length_range</span><span class="p">))</span>
+        <span class="c1"># sample position</span>
+        <span class="n">x_start</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">obs_x_range</span><span class="p">))</span>
+        <span class="n">y_start</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">obs_y_range</span><span class="p">))</span>
+        <span class="c1"># clip start position to the terrain</span>
+        <span class="k">if</span> <span class="n">x_start</span> <span class="o">+</span> <span class="n">width</span> <span class="o">&gt;</span> <span class="n">width_pixels</span><span class="p">:</span>
+            <span class="n">x_start</span> <span class="o">=</span> <span class="n">width_pixels</span> <span class="o">-</span> <span class="n">width</span>
+        <span class="k">if</span> <span class="n">y_start</span> <span class="o">+</span> <span class="n">length</span> <span class="o">&gt;</span> <span class="n">length_pixels</span><span class="p">:</span>
+            <span class="n">y_start</span> <span class="o">=</span> <span class="n">length_pixels</span> <span class="o">-</span> <span class="n">length</span>
+        <span class="c1"># add to terrain</span>
+        <span class="n">hf_raw</span><span class="p">[</span><span class="n">x_start</span> <span class="p">:</span> <span class="n">x_start</span> <span class="o">+</span> <span class="n">width</span><span class="p">,</span> <span class="n">y_start</span> <span class="p">:</span> <span class="n">y_start</span> <span class="o">+</span> <span class="n">length</span><span class="p">]</span> <span class="o">=</span> <span class="n">height</span>
+    <span class="c1"># clip the terrain to the platform</span>
+    <span class="n">x1</span> <span class="o">=</span> <span class="p">(</span><span class="n">width_pixels</span> <span class="o">-</span> <span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="mi">2</span>
+    <span class="n">x2</span> <span class="o">=</span> <span class="p">(</span><span class="n">width_pixels</span> <span class="o">+</span> <span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="mi">2</span>
+    <span class="n">y1</span> <span class="o">=</span> <span class="p">(</span><span class="n">length_pixels</span> <span class="o">-</span> <span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="mi">2</span>
+    <span class="n">y2</span> <span class="o">=</span> <span class="p">(</span><span class="n">length_pixels</span> <span class="o">+</span> <span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="mi">2</span>
+    <span class="n">hf_raw</span><span class="p">[</span><span class="n">x1</span><span class="p">:</span><span class="n">x2</span><span class="p">,</span> <span class="n">y1</span><span class="p">:</span><span class="n">y2</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="c1"># round off the heights to the nearest vertical step</span>
+    <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">rint</span><span class="p">(</span><span class="n">hf_raw</span><span class="p">)</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">int16</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="wave_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain">[docs]</a><span class="nd">@height_field_to_mesh</span>
+<span class="k">def</span> <span class="nf">wave_terrain</span><span class="p">(</span><span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">hf_terrains_cfg</span><span class="o">.</span><span class="n">HfWaveTerrainCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Generate a terrain with a wave pattern.</span>
+
+<span class="sd">    The terrain is a flat platform at the center of the terrain with a wave pattern. The wave pattern</span>
+<span class="sd">    is generated by adding sinusoidal waves based on the number of waves and the amplitude of the waves.</span>
+
+<span class="sd">    The height of the terrain at a point :math:`(x, y)` is given by:</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        h(x, y) =  A \left(\sin\left(\frac{2 \pi x}{\lambda}\right) + \cos\left(\frac{2 \pi y}{\lambda}\right) \right)</span>
+
+<span class="sd">    where :math:`A` is the amplitude of the waves, :math:`\lambda` is the wavelength of the waves.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/height_field/wave_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+<span class="sd">       :align: center</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The height field of the terrain as a 2D numpy array with discretized heights.</span>
+<span class="sd">        The shape of the array is (width, length), where width and length are the number of points</span>
+<span class="sd">        along the x and y axis, respectively.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the number of waves is non-positive.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check number of waves</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">num_waves</span> <span class="o">&lt;</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Number of waves must be a positive integer. Got: </span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_waves</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># resolve terrain configuration</span>
+    <span class="n">amplitude</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">amplitude_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">amplitude_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">amplitude_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+    <span class="c1"># switch parameters to discrete units</span>
+    <span class="c1"># -- terrain</span>
+    <span class="n">width_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">length_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">amplitude_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">amplitude</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">vertical_scale</span><span class="p">)</span>
+
+    <span class="c1"># compute the wave number: nu = 2 * pi / lambda</span>
+    <span class="n">wave_length</span> <span class="o">=</span> <span class="n">length_pixels</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">num_waves</span>
+    <span class="n">wave_number</span> <span class="o">=</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="n">wave_length</span>
+    <span class="c1"># create meshgrid for the terrain</span>
+    <span class="n">x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">width_pixels</span><span class="p">)</span>
+    <span class="n">y</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">)</span>
+    <span class="n">xx</span><span class="p">,</span> <span class="n">yy</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">meshgrid</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">y</span><span class="p">,</span> <span class="n">sparse</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="n">xx</span> <span class="o">=</span> <span class="n">xx</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="n">width_pixels</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="n">yy</span> <span class="o">=</span> <span class="n">yy</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">)</span>
+
+    <span class="c1"># create a terrain with a flat platform at the center</span>
+    <span class="n">hf_raw</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">width_pixels</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">))</span>
+    <span class="c1"># add the waves</span>
+    <span class="n">hf_raw</span> <span class="o">+=</span> <span class="n">amplitude_pixels</span> <span class="o">*</span> <span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">yy</span> <span class="o">*</span> <span class="n">wave_number</span><span class="p">)</span> <span class="o">+</span> <span class="n">np</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">xx</span> <span class="o">*</span> <span class="n">wave_number</span><span class="p">))</span>
+    <span class="c1"># round off the heights to the nearest vertical step</span>
+    <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">rint</span><span class="p">(</span><span class="n">hf_raw</span><span class="p">)</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">int16</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="stepping_stones_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain">[docs]</a><span class="nd">@height_field_to_mesh</span>
+<span class="k">def</span> <span class="nf">stepping_stones_terrain</span><span class="p">(</span><span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">hf_terrains_cfg</span><span class="o">.</span><span class="n">HfSteppingStonesTerrainCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with a stepping stones pattern.</span>
+
+<span class="sd">    The terrain is a stepping stones pattern which trims to a flat platform at the center of the terrain.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/height_field/stepping_stones_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+<span class="sd">       :align: center</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The height field of the terrain as a 2D numpy array with discretized heights.</span>
+<span class="sd">        The shape of the array is (width, length), where width and length are the number of points</span>
+<span class="sd">        along the x and y axis, respectively.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve terrain configuration</span>
+    <span class="n">stone_width</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">stone_width_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">stone_width_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">stone_width_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+    <span class="n">stone_distance</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">stone_distance_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">stone_distance_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">stone_distance_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+    <span class="p">)</span>
+
+    <span class="c1"># switch parameters to discrete units</span>
+    <span class="c1"># -- terrain</span>
+    <span class="n">width_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">length_pixels</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="c1"># -- stones</span>
+    <span class="n">stone_distance</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">stone_distance</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">stone_width</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">stone_width</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="n">stone_height_max</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">stone_height_max</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">vertical_scale</span><span class="p">)</span>
+    <span class="c1"># -- holes</span>
+    <span class="n">holes_depth</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">holes_depth</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">vertical_scale</span><span class="p">)</span>
+    <span class="c1"># -- platform</span>
+    <span class="n">platform_width</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span><span class="p">)</span>
+    <span class="c1"># create range of heights</span>
+    <span class="n">stone_height_range</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="o">-</span><span class="n">stone_height_max</span> <span class="o">-</span> <span class="mi">1</span><span class="p">,</span> <span class="n">stone_height_max</span><span class="p">,</span> <span class="n">step</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+
+    <span class="c1"># create a terrain with a flat platform at the center</span>
+    <span class="n">hf_raw</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">full</span><span class="p">((</span><span class="n">width_pixels</span><span class="p">,</span> <span class="n">length_pixels</span><span class="p">),</span> <span class="n">holes_depth</span><span class="p">)</span>
+    <span class="c1"># add the stones</span>
+    <span class="n">start_x</span><span class="p">,</span> <span class="n">start_y</span> <span class="o">=</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span>
+    <span class="c1"># -- if the terrain is longer than it is wide then fill the terrain column by column</span>
+    <span class="k">if</span> <span class="n">length_pixels</span> <span class="o">&gt;=</span> <span class="n">width_pixels</span><span class="p">:</span>
+        <span class="k">while</span> <span class="n">start_y</span> <span class="o">&lt;</span> <span class="n">length_pixels</span><span class="p">:</span>
+            <span class="c1"># ensure that stone stops along y-axis</span>
+            <span class="n">stop_y</span> <span class="o">=</span> <span class="nb">min</span><span class="p">(</span><span class="n">length_pixels</span><span class="p">,</span> <span class="n">start_y</span> <span class="o">+</span> <span class="n">stone_width</span><span class="p">)</span>
+            <span class="c1"># randomly sample x-position</span>
+            <span class="n">start_x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">stone_width</span><span class="p">)</span>
+            <span class="n">stop_x</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">start_x</span> <span class="o">-</span> <span class="n">stone_distance</span><span class="p">)</span>
+            <span class="c1"># fill first stone</span>
+            <span class="n">hf_raw</span><span class="p">[</span><span class="mi">0</span><span class="p">:</span><span class="n">stop_x</span><span class="p">,</span> <span class="n">start_y</span><span class="p">:</span><span class="n">stop_y</span><span class="p">]</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">stone_height_range</span><span class="p">)</span>
+            <span class="c1"># fill row with stones</span>
+            <span class="k">while</span> <span class="n">start_x</span> <span class="o">&lt;</span> <span class="n">width_pixels</span><span class="p">:</span>
+                <span class="n">stop_x</span> <span class="o">=</span> <span class="nb">min</span><span class="p">(</span><span class="n">width_pixels</span><span class="p">,</span> <span class="n">start_x</span> <span class="o">+</span> <span class="n">stone_width</span><span class="p">)</span>
+                <span class="n">hf_raw</span><span class="p">[</span><span class="n">start_x</span><span class="p">:</span><span class="n">stop_x</span><span class="p">,</span> <span class="n">start_y</span><span class="p">:</span><span class="n">stop_y</span><span class="p">]</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">stone_height_range</span><span class="p">)</span>
+                <span class="n">start_x</span> <span class="o">+=</span> <span class="n">stone_width</span> <span class="o">+</span> <span class="n">stone_distance</span>
+            <span class="c1"># update y-position</span>
+            <span class="n">start_y</span> <span class="o">+=</span> <span class="n">stone_width</span> <span class="o">+</span> <span class="n">stone_distance</span>
+    <span class="k">elif</span> <span class="n">width_pixels</span> <span class="o">&gt;</span> <span class="n">length_pixels</span><span class="p">:</span>
+        <span class="k">while</span> <span class="n">start_x</span> <span class="o">&lt;</span> <span class="n">width_pixels</span><span class="p">:</span>
+            <span class="c1"># ensure that stone stops along x-axis</span>
+            <span class="n">stop_x</span> <span class="o">=</span> <span class="nb">min</span><span class="p">(</span><span class="n">width_pixels</span><span class="p">,</span> <span class="n">start_x</span> <span class="o">+</span> <span class="n">stone_width</span><span class="p">)</span>
+            <span class="c1"># randomly sample y-position</span>
+            <span class="n">start_y</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">stone_width</span><span class="p">)</span>
+            <span class="n">stop_y</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">start_y</span> <span class="o">-</span> <span class="n">stone_distance</span><span class="p">)</span>
+            <span class="c1"># fill first stone</span>
+            <span class="n">hf_raw</span><span class="p">[</span><span class="n">start_x</span><span class="p">:</span><span class="n">stop_x</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="n">stop_y</span><span class="p">]</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">stone_height_range</span><span class="p">)</span>
+            <span class="c1"># fill column with stones</span>
+            <span class="k">while</span> <span class="n">start_y</span> <span class="o">&lt;</span> <span class="n">length_pixels</span><span class="p">:</span>
+                <span class="n">stop_y</span> <span class="o">=</span> <span class="nb">min</span><span class="p">(</span><span class="n">length_pixels</span><span class="p">,</span> <span class="n">start_y</span> <span class="o">+</span> <span class="n">stone_width</span><span class="p">)</span>
+                <span class="n">hf_raw</span><span class="p">[</span><span class="n">start_x</span><span class="p">:</span><span class="n">stop_x</span><span class="p">,</span> <span class="n">start_y</span><span class="p">:</span><span class="n">stop_y</span><span class="p">]</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">stone_height_range</span><span class="p">)</span>
+                <span class="n">start_y</span> <span class="o">+=</span> <span class="n">stone_width</span> <span class="o">+</span> <span class="n">stone_distance</span>
+            <span class="c1"># update x-position</span>
+            <span class="n">start_x</span> <span class="o">+=</span> <span class="n">stone_width</span> <span class="o">+</span> <span class="n">stone_distance</span>
+    <span class="c1"># add the platform in the center</span>
+    <span class="n">x1</span> <span class="o">=</span> <span class="p">(</span><span class="n">width_pixels</span> <span class="o">-</span> <span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="mi">2</span>
+    <span class="n">x2</span> <span class="o">=</span> <span class="p">(</span><span class="n">width_pixels</span> <span class="o">+</span> <span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="mi">2</span>
+    <span class="n">y1</span> <span class="o">=</span> <span class="p">(</span><span class="n">length_pixels</span> <span class="o">-</span> <span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="mi">2</span>
+    <span class="n">y2</span> <span class="o">=</span> <span class="p">(</span><span class="n">length_pixels</span> <span class="o">+</span> <span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="mi">2</span>
+    <span class="n">hf_raw</span><span class="p">[</span><span class="n">x1</span><span class="p">:</span><span class="n">x2</span><span class="p">,</span> <span class="n">y1</span><span class="p">:</span><span class="n">y2</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="c1"># round off the heights to the nearest vertical step</span>
+    <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">rint</span><span class="p">(</span><span class="n">hf_raw</span><span class="p">)</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">int16</span><span class="p">)</span></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html b/v1.4.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
new file mode 100644
index 0000000000..b99c3ef1cd
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+++ b/v1.4.0/_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html
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+  <h1>Source code for omni.isaac.lab.terrains.height_field.hf_terrains_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">..terrain_generator_cfg</span> <span class="kn">import</span> <span class="n">SubTerrainBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">hf_terrains</span>
+
+
+<div class="viewcode-block" id="HfTerrainBaseCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">HfTerrainBaseCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The base configuration for height field terrains.&quot;&quot;&quot;</span>
+
+    <span class="n">border_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the border/padding around the terrain (in m). Defaults to 0.0.</span>
+
+<span class="sd">    The border width is subtracted from the :obj:`size` of the terrain. If non-zero, it must be</span>
+<span class="sd">    greater than or equal to the :obj:`horizontal scale`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">horizontal_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.1</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.&quot;&quot;&quot;</span>
+    <span class="n">vertical_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.005</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The discretization of the terrain along the z axis (in m). Defaults to 0.005.&quot;&quot;&quot;</span>
+    <span class="n">slope_threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The slope threshold above which surfaces are made vertical. Defaults to None,</span>
+<span class="sd">    in which case no correction is applied.&quot;&quot;&quot;</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Different height field terrain configurations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="HfRandomUniformTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">HfRandomUniformTerrainCfg</span><span class="p">(</span><span class="n">HfTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a random uniform height field terrain.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">hf_terrains</span><span class="o">.</span><span class="n">random_uniform_terrain</span>
+
+    <span class="n">noise_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum height noise (i.e. along z) of the terrain (in m).&quot;&quot;&quot;</span>
+    <span class="n">noise_step</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum height (in m) change between two points.&quot;&quot;&quot;</span>
+    <span class="n">downsampled_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The distance between two randomly sampled points on the terrain. Defaults to None,</span>
+<span class="sd">    in which case the :obj:`horizontal scale` is used.</span>
+
+<span class="sd">    The heights are sampled at this resolution and interpolation is performed for intermediate points.</span>
+<span class="sd">    This must be larger than or equal to the :obj:`horizontal scale`.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="HfPyramidSlopedTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">HfPyramidSlopedTerrainCfg</span><span class="p">(</span><span class="n">HfTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a pyramid sloped height field terrain.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">hf_terrains</span><span class="o">.</span><span class="n">pyramid_sloped_terrain</span>
+
+    <span class="n">slope_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The slope of the terrain (in radians).&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span>
+    <span class="n">inverted</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the pyramid is inverted. Defaults to False.</span>
+
+<span class="sd">    If True, the terrain is inverted such that the platform is at the bottom and the slopes are upwards.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="HfInvertedPyramidSlopedTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">HfInvertedPyramidSlopedTerrainCfg</span><span class="p">(</span><span class="n">HfPyramidSlopedTerrainCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an inverted pyramid sloped height field terrain.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This is a subclass of :class:`HfPyramidSlopedTerrainCfg` with :obj:`inverted` set to True.</span>
+<span class="sd">        We make it as a separate class to make it easier to distinguish between the two and match</span>
+<span class="sd">        the naming convention of the other terrains.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">inverted</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span></div>
+
+
+<div class="viewcode-block" id="HfPyramidStairsTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">HfPyramidStairsTerrainCfg</span><span class="p">(</span><span class="n">HfTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a pyramid stairs height field terrain.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">hf_terrains</span><span class="o">.</span><span class="n">pyramid_stairs_terrain</span>
+
+    <span class="n">step_height_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum height of the steps (in m).&quot;&quot;&quot;</span>
+    <span class="n">step_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the steps (in m).&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span>
+    <span class="n">inverted</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether the pyramid stairs is inverted. Defaults to False.</span>
+
+<span class="sd">    If True, the terrain is inverted such that the platform is at the bottom and the stairs are upwards.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="HfInvertedPyramidStairsTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">HfInvertedPyramidStairsTerrainCfg</span><span class="p">(</span><span class="n">HfPyramidStairsTerrainCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an inverted pyramid stairs height field terrain.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This is a subclass of :class:`HfPyramidStairsTerrainCfg` with :obj:`inverted` set to True.</span>
+<span class="sd">        We make it as a separate class to make it easier to distinguish between the two and match</span>
+<span class="sd">        the naming convention of the other terrains.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">inverted</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span></div>
+
+
+<div class="viewcode-block" id="HfDiscreteObstaclesTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">HfDiscreteObstaclesTerrainCfg</span><span class="p">(</span><span class="n">HfTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a discrete obstacles height field terrain.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">hf_terrains</span><span class="o">.</span><span class="n">discrete_obstacles_terrain</span>
+
+    <span class="n">obstacle_height_mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;choice&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The mode to use for the obstacle height. Defaults to &quot;choice&quot;.</span>
+
+<span class="sd">    The following modes are supported: &quot;choice&quot;, &quot;fixed&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">obstacle_width_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum width of the obstacles (in m).&quot;&quot;&quot;</span>
+    <span class="n">obstacle_height_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum height of the obstacles (in m).&quot;&quot;&quot;</span>
+    <span class="n">num_obstacles</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The number of obstacles to generate.&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="HfWaveTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">HfWaveTerrainCfg</span><span class="p">(</span><span class="n">HfTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a wave height field terrain.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">hf_terrains</span><span class="o">.</span><span class="n">wave_terrain</span>
+
+    <span class="n">amplitude_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum amplitude of the wave (in m).&quot;&quot;&quot;</span>
+    <span class="n">num_waves</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The number of waves to generate. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="HfSteppingStonesTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">HfSteppingStonesTerrainCfg</span><span class="p">(</span><span class="n">HfTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a stepping stones height field terrain.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">hf_terrains</span><span class="o">.</span><span class="n">stepping_stones_terrain</span>
+
+    <span class="n">stone_height_max</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The maximum height of the stones (in m).&quot;&quot;&quot;</span>
+    <span class="n">stone_width_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum width of the stones (in m).&quot;&quot;&quot;</span>
+    <span class="n">stone_distance_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum distance between stones (in m).&quot;&quot;&quot;</span>
+    <span class="n">holes_depth</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="o">-</span><span class="mf">10.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The depth of the holes (negative obstacles). Defaults to -10.0.&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
+              
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+  <h1>Source code for omni.isaac.lab.terrains.terrain_generator</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">trimesh</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.dict</span> <span class="kn">import</span> <span class="n">dict_to_md5_hash</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.io</span> <span class="kn">import</span> <span class="n">dump_yaml</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.timer</span> <span class="kn">import</span> <span class="n">Timer</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.warp</span> <span class="kn">import</span> <span class="n">convert_to_warp_mesh</span>
+
+<span class="kn">from</span> <span class="nn">.height_field</span> <span class="kn">import</span> <span class="n">HfTerrainBaseCfg</span>
+<span class="kn">from</span> <span class="nn">.terrain_generator_cfg</span> <span class="kn">import</span> <span class="n">FlatPatchSamplingCfg</span><span class="p">,</span> <span class="n">SubTerrainBaseCfg</span><span class="p">,</span> <span class="n">TerrainGeneratorCfg</span>
+<span class="kn">from</span> <span class="nn">.trimesh.utils</span> <span class="kn">import</span> <span class="n">make_border</span>
+<span class="kn">from</span> <span class="nn">.utils</span> <span class="kn">import</span> <span class="n">color_meshes_by_height</span><span class="p">,</span> <span class="n">find_flat_patches</span>
+
+
+<div class="viewcode-block" id="TerrainGenerator"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGenerator">[docs]</a><span class="k">class</span> <span class="nc">TerrainGenerator</span><span class="p">:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Terrain generator to handle different terrain generation functions.</span>
+
+<span class="sd">    The terrains are represented as meshes. These are obtained either from height fields or by using the</span>
+<span class="sd">    `trimesh &lt;https://trimsh.org/trimesh.html&gt;`__ library. The height field representation is more</span>
+<span class="sd">    flexible, but it is less computationally and memory efficient than the trimesh representation.</span>
+
+<span class="sd">    All terrain generation functions take in the argument :obj:`difficulty` which determines the complexity</span>
+<span class="sd">    of the terrain. The difficulty is a number between 0 and 1, where 0 is the easiest and 1 is the hardest.</span>
+<span class="sd">    In most cases, the difficulty is used for linear interpolation between different terrain parameters.</span>
+<span class="sd">    For example, in a pyramid stairs terrain the step height is interpolated between the specified minimum</span>
+<span class="sd">    and maximum step height.</span>
+
+<span class="sd">    Each sub-terrain has a corresponding configuration class that can be used to specify the parameters</span>
+<span class="sd">    of the terrain. The configuration classes are inherited from the :class:`SubTerrainBaseCfg` class</span>
+<span class="sd">    which contains the common parameters for all terrains.</span>
+
+<span class="sd">    If a curriculum is used, the terrains are generated based on their difficulty parameter.</span>
+<span class="sd">    The difficulty is varied linearly over the number of rows (i.e. along x) with a small random value</span>
+<span class="sd">    added to the difficulty to ensure that the columns with the same sub-terrain type are not exactly</span>
+<span class="sd">    the same. The difficulty parameter for a sub-terrain at a given row is calculated as:</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        \text{difficulty} = \frac{\text{row_id} + \eta}{\text{num_rows}} \times (\text{upper} - \text{lower}) + \text{lower}</span>
+
+<span class="sd">    where :math:`\eta\sim\mathcal{U}(0, 1)` is a random perturbation to the difficulty, and</span>
+<span class="sd">    :math:`(\text{lower}, \text{upper})` is the range of the difficulty parameter, specified using the</span>
+<span class="sd">    :attr:`~TerrainGeneratorCfg.difficulty_range` parameter.</span>
+
+<span class="sd">    If a curriculum is not used, the terrains are generated randomly. In this case, the difficulty parameter</span>
+<span class="sd">    is randomly sampled from the specified range, given by the :attr:`~TerrainGeneratorCfg.difficulty_range` parameter:</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        \text{difficulty} \sim \mathcal{U}(\text{lower}, \text{upper})</span>
+
+<span class="sd">    If the :attr:`~TerrainGeneratorCfg.flat_patch_sampling` is specified for a sub-terrain, flat patches are sampled</span>
+<span class="sd">    on the terrain. These can be used for spawning robots, targets, etc. The sampled patches are stored</span>
+<span class="sd">    in the :obj:`flat_patches` dictionary. The key specifies the intention of the flat patches and the</span>
+<span class="sd">    value is a tensor containing the flat patches for each sub-terrain.</span>
+
+<span class="sd">    If the flag :attr:`~TerrainGeneratorCfg.use_cache` is set to True, the terrains are cached based on their</span>
+<span class="sd">    sub-terrain configurations. This means that if the same sub-terrain configuration is used</span>
+<span class="sd">    multiple times, the terrain is only generated once and then reused. This is useful when</span>
+<span class="sd">    generating complex sub-terrains that take a long time to generate.</span>
+
+<span class="sd">    .. attention::</span>
+
+<span class="sd">        The terrain generation has its own seed parameter. This is set using the :attr:`TerrainGeneratorCfg.seed`</span>
+<span class="sd">        parameter. If the seed is not set and the caching is disabled, the terrain generation may not be</span>
+<span class="sd">        completely reproducible.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">terrain_mesh</span><span class="p">:</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A single trimesh.Trimesh object for all the generated sub-terrains.&quot;&quot;&quot;</span>
+    <span class="n">terrain_meshes</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">]</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;List of trimesh.Trimesh objects for all the generated sub-terrains.&quot;&quot;&quot;</span>
+    <span class="n">terrain_origins</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The origin of each sub-terrain. Shape is (num_rows, num_cols, 3).&quot;&quot;&quot;</span>
+    <span class="n">flat_patches</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A dictionary of sampled valid (flat) patches for each sub-terrain.</span>
+
+<span class="sd">    The dictionary keys are the names of the flat patch sampling configurations. This maps to a</span>
+<span class="sd">    tensor containing the flat patches for each sub-terrain. The shape of the tensor is</span>
+<span class="sd">    (num_rows, num_cols, num_patches, 3).</span>
+
+<span class="sd">    For instance, the key &quot;root_spawn&quot; maps to a tensor containing the flat patches for spawning an asset.</span>
+<span class="sd">    Similarly, the key &quot;target_spawn&quot; maps to a tensor containing the flat patches for setting targets.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="TerrainGenerator.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGenerator.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">TerrainGeneratorCfg</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;cpu&quot;</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the terrain generator.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: Configuration for the terrain generator.</span>
+<span class="sd">            device: The device to use for the flat patches tensor.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check inputs</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">sub_terrains</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;No sub-terrains specified! Please add at least one sub-terrain.&quot;</span><span class="p">)</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">device</span>
+
+        <span class="c1"># set common values to all sub-terrains config</span>
+        <span class="k">for</span> <span class="n">sub_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sub_terrains</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="c1"># size of all terrains</span>
+            <span class="n">sub_cfg</span><span class="o">.</span><span class="n">size</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span>
+            <span class="c1"># params for height field terrains</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">sub_cfg</span><span class="p">,</span> <span class="n">HfTerrainBaseCfg</span><span class="p">):</span>
+                <span class="n">sub_cfg</span><span class="o">.</span><span class="n">horizontal_scale</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">horizontal_scale</span>
+                <span class="n">sub_cfg</span><span class="o">.</span><span class="n">vertical_scale</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">vertical_scale</span>
+                <span class="n">sub_cfg</span><span class="o">.</span><span class="n">slope_threshold</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">slope_threshold</span>
+
+        <span class="c1"># throw a warning if the cache is enabled but the seed is not set</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">use_cache</span> <span class="ow">and</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span>
+                <span class="s2">&quot;Cache is enabled but the seed is not set. The terrain generation will not be reproducible.&quot;</span>
+                <span class="s2">&quot; Please set the seed in the terrain generator configuration to make the generation reproducible.&quot;</span>
+            <span class="p">)</span>
+
+        <span class="c1"># if the seed is not set, we assume there is a global seed set and use that.</span>
+        <span class="c1"># this ensures that the terrain is reproducible if the seed is set at the beginning of the program.</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">seed</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">seed</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">get_state</span><span class="p">()[</span><span class="mi">1</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span>
+        <span class="c1"># set the seed for reproducibility</span>
+        <span class="c1"># note: we create a new random number generator to avoid affecting the global state</span>
+        <span class="c1">#  in the other places where random numbers are used.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">np_rng</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">default_rng</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
+
+        <span class="c1"># buffer for storing valid patches</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">flat_patches</span> <span class="o">=</span> <span class="p">{}</span>
+        <span class="c1"># create a list of all sub-terrains</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_meshes</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+
+        <span class="c1"># parse configuration and add sub-terrains</span>
+        <span class="c1"># create terrains based on curriculum or randomly</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">curriculum</span><span class="p">:</span>
+            <span class="k">with</span> <span class="n">Timer</span><span class="p">(</span><span class="s2">&quot;[INFO] Generating terrains based on curriculum took&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_generate_curriculum_terrains</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">with</span> <span class="n">Timer</span><span class="p">(</span><span class="s2">&quot;[INFO] Generating terrains randomly took&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_generate_random_terrains</span><span class="p">()</span>
+        <span class="c1"># add a border around the terrains</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_add_terrain_border</span><span class="p">()</span>
+        <span class="c1"># combine all the sub-terrains into a single mesh</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_mesh</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">concatenate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">terrain_meshes</span><span class="p">)</span>
+
+        <span class="c1"># color the terrain mesh</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">color_scheme</span> <span class="o">==</span> <span class="s2">&quot;height&quot;</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">terrain_mesh</span> <span class="o">=</span> <span class="n">color_meshes_by_height</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">terrain_mesh</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">color_scheme</span> <span class="o">==</span> <span class="s2">&quot;random&quot;</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">terrain_mesh</span><span class="o">.</span><span class="n">visual</span><span class="o">.</span><span class="n">vertex_colors</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">np_rng</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span>
+                <span class="nb">range</span><span class="p">(</span><span class="mi">256</span><span class="p">),</span> <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">terrain_mesh</span><span class="o">.</span><span class="n">vertices</span><span class="p">),</span> <span class="mi">4</span><span class="p">)</span>
+            <span class="p">)</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">color_scheme</span> <span class="o">==</span> <span class="s2">&quot;none&quot;</span><span class="p">:</span>
+            <span class="k">pass</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid color scheme: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">color_scheme</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># offset the entire terrain and origins so that it is centered</span>
+        <span class="c1"># -- terrain mesh</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">eye</span><span class="p">(</span><span class="mi">4</span><span class="p">)</span>
+        <span class="n">transform</span><span class="p">[:</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">,</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span> <span class="o">*</span> <span class="mf">0.5</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_mesh</span><span class="o">.</span><span class="n">apply_transform</span><span class="p">(</span><span class="n">transform</span><span class="p">)</span>
+        <span class="c1"># -- terrain origins</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span> <span class="o">+=</span> <span class="n">transform</span><span class="p">[:</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+        <span class="c1"># -- valid patches</span>
+        <span class="n">terrain_origins_torch</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">flat_patches</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">flat_patches</span><span class="p">[</span><span class="n">name</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span> <span class="o">+</span> <span class="n">terrain_origins_torch</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Return a string representation of the terrain generator.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="s2">&quot;Terrain Generator:&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Seed: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Number of rows: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Number of columns: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Sub-terrain size: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Sub-terrain types: </span><span class="si">{</span><span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sub_terrains</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Curriculum: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">curriculum</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Difficulty range: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">difficulty_range</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Color scheme: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">color_scheme</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Use cache: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">use_cache</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">use_cache</span><span class="p">:</span>
+            <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Cache directory: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">cache_dir</span><span class="si">}</span><span class="s2">&quot;</span>
+
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Terrain generator functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_generate_random_terrains</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add terrains based on randomly sampled difficulty parameter.&quot;&quot;&quot;</span>
+        <span class="c1"># normalize the proportions of the sub-terrains</span>
+        <span class="n">proportions</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">sub_cfg</span><span class="o">.</span><span class="n">proportion</span> <span class="k">for</span> <span class="n">sub_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sub_terrains</span><span class="o">.</span><span class="n">values</span><span class="p">()])</span>
+        <span class="n">proportions</span> <span class="o">/=</span> <span class="n">np</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">proportions</span><span class="p">)</span>
+        <span class="c1"># create a list of all terrain configs</span>
+        <span class="n">sub_terrains_cfgs</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sub_terrains</span><span class="o">.</span><span class="n">values</span><span class="p">())</span>
+
+        <span class="c1"># randomly sample sub-terrains</span>
+        <span class="k">for</span> <span class="n">index</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span><span class="p">):</span>
+            <span class="c1"># coordinate index of the sub-terrain</span>
+            <span class="p">(</span><span class="n">sub_row</span><span class="p">,</span> <span class="n">sub_col</span><span class="p">)</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">unravel_index</span><span class="p">(</span><span class="n">index</span><span class="p">,</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span><span class="p">))</span>
+            <span class="c1"># randomly sample terrain index</span>
+            <span class="n">sub_index</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">np_rng</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">proportions</span><span class="p">),</span> <span class="n">p</span><span class="o">=</span><span class="n">proportions</span><span class="p">)</span>
+            <span class="c1"># randomly sample difficulty parameter</span>
+            <span class="n">difficulty</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">np_rng</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span><span class="o">*</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">difficulty_range</span><span class="p">)</span>
+            <span class="c1"># generate terrain</span>
+            <span class="n">mesh</span><span class="p">,</span> <span class="n">origin</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_terrain_mesh</span><span class="p">(</span><span class="n">difficulty</span><span class="p">,</span> <span class="n">sub_terrains_cfgs</span><span class="p">[</span><span class="n">sub_index</span><span class="p">])</span>
+            <span class="c1"># add to sub-terrains</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_add_sub_terrain</span><span class="p">(</span><span class="n">mesh</span><span class="p">,</span> <span class="n">origin</span><span class="p">,</span> <span class="n">sub_row</span><span class="p">,</span> <span class="n">sub_col</span><span class="p">,</span> <span class="n">sub_terrains_cfgs</span><span class="p">[</span><span class="n">sub_index</span><span class="p">])</span>
+
+    <span class="k">def</span> <span class="nf">_generate_curriculum_terrains</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add terrains based on the difficulty parameter.&quot;&quot;&quot;</span>
+        <span class="c1"># normalize the proportions of the sub-terrains</span>
+        <span class="n">proportions</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">sub_cfg</span><span class="o">.</span><span class="n">proportion</span> <span class="k">for</span> <span class="n">sub_cfg</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sub_terrains</span><span class="o">.</span><span class="n">values</span><span class="p">()])</span>
+        <span class="n">proportions</span> <span class="o">/=</span> <span class="n">np</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">proportions</span><span class="p">)</span>
+
+        <span class="c1"># find the sub-terrain index for each column</span>
+        <span class="c1"># we generate the terrains based on their proportion (not randomly sampled)</span>
+        <span class="n">sub_indices</span> <span class="o">=</span> <span class="p">[]</span>
+        <span class="k">for</span> <span class="n">index</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span><span class="p">):</span>
+            <span class="n">sub_index</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">min</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">index</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span> <span class="o">+</span> <span class="mf">0.001</span> <span class="o">&lt;</span> <span class="n">np</span><span class="o">.</span><span class="n">cumsum</span><span class="p">(</span><span class="n">proportions</span><span class="p">))[</span><span class="mi">0</span><span class="p">])</span>
+            <span class="n">sub_indices</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">sub_index</span><span class="p">)</span>
+        <span class="n">sub_indices</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">sub_indices</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span>
+        <span class="c1"># create a list of all terrain configs</span>
+        <span class="n">sub_terrains_cfgs</span> <span class="o">=</span> <span class="nb">list</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">sub_terrains</span><span class="o">.</span><span class="n">values</span><span class="p">())</span>
+
+        <span class="c1"># curriculum-based sub-terrains</span>
+        <span class="k">for</span> <span class="n">sub_col</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span><span class="p">):</span>
+            <span class="k">for</span> <span class="n">sub_row</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span><span class="p">):</span>
+                <span class="c1"># vary the difficulty parameter linearly over the number of rows</span>
+                <span class="c1"># note: based on the proportion, multiple columns can have the same sub-terrain type.</span>
+                <span class="c1">#  Thus to increase the diversity along the rows, we add a small random value to the difficulty.</span>
+                <span class="c1">#  This ensures that the terrains are not exactly the same. For example, if the</span>
+                <span class="c1">#  the row index is 2 and the number of rows is 10, the nominal difficulty is 0.2.</span>
+                <span class="c1">#  We add a small random value to the difficulty to make it between 0.2 and 0.3.</span>
+                <span class="n">lower</span><span class="p">,</span> <span class="n">upper</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">difficulty_range</span>
+                <span class="n">difficulty</span> <span class="o">=</span> <span class="p">(</span><span class="n">sub_row</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">np_rng</span><span class="o">.</span><span class="n">uniform</span><span class="p">())</span> <span class="o">/</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span>
+                <span class="n">difficulty</span> <span class="o">=</span> <span class="n">lower</span> <span class="o">+</span> <span class="p">(</span><span class="n">upper</span> <span class="o">-</span> <span class="n">lower</span><span class="p">)</span> <span class="o">*</span> <span class="n">difficulty</span>
+                <span class="c1"># generate terrain</span>
+                <span class="n">mesh</span><span class="p">,</span> <span class="n">origin</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_terrain_mesh</span><span class="p">(</span><span class="n">difficulty</span><span class="p">,</span> <span class="n">sub_terrains_cfgs</span><span class="p">[</span><span class="n">sub_indices</span><span class="p">[</span><span class="n">sub_col</span><span class="p">]])</span>
+                <span class="c1"># add to sub-terrains</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_add_sub_terrain</span><span class="p">(</span><span class="n">mesh</span><span class="p">,</span> <span class="n">origin</span><span class="p">,</span> <span class="n">sub_row</span><span class="p">,</span> <span class="n">sub_col</span><span class="p">,</span> <span class="n">sub_terrains_cfgs</span><span class="p">[</span><span class="n">sub_indices</span><span class="p">[</span><span class="n">sub_col</span><span class="p">]])</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_add_terrain_border</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add a surrounding border over all the sub-terrains into the terrain meshes.&quot;&quot;&quot;</span>
+        <span class="c1"># border parameters</span>
+        <span class="n">border_size</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="mi">2</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="mi">2</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="n">inner_size</span> <span class="o">=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">])</span>
+        <span class="n">border_center</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span>
+            <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">border_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="c1"># border mesh</span>
+        <span class="n">border_meshes</span> <span class="o">=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">border_size</span><span class="p">,</span> <span class="n">inner_size</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">border_height</span><span class="p">,</span> <span class="n">position</span><span class="o">=</span><span class="n">border_center</span><span class="p">)</span>
+        <span class="n">border</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">concatenate</span><span class="p">(</span><span class="n">border_meshes</span><span class="p">)</span>
+        <span class="c1"># update the faces to have minimal triangles</span>
+        <span class="n">selector</span> <span class="o">=</span> <span class="o">~</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">border</span><span class="o">.</span><span class="n">triangles</span><span class="p">)[:,</span> <span class="p">:,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">&lt;</span> <span class="o">-</span><span class="mf">0.1</span><span class="p">)</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+        <span class="n">border</span><span class="o">.</span><span class="n">update_faces</span><span class="p">(</span><span class="n">selector</span><span class="p">)</span>
+        <span class="c1"># add the border to the list of meshes</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_meshes</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">border</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">_add_sub_terrain</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">mesh</span><span class="p">:</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">,</span> <span class="n">origin</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">row</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">col</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">sub_terrain_cfg</span><span class="p">:</span> <span class="n">SubTerrainBaseCfg</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add input sub-terrain to the list of sub-terrains.</span>
+
+<span class="sd">        This function adds the input sub-terrain mesh to the list of sub-terrains and updates the origin</span>
+<span class="sd">        of the sub-terrain in the list of origins. It also samples flat patches if specified.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            mesh: The mesh of the sub-terrain.</span>
+<span class="sd">            origin: The origin of the sub-terrain.</span>
+<span class="sd">            row: The row index of the sub-terrain.</span>
+<span class="sd">            col: The column index of the sub-terrain.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># sample flat patches if specified</span>
+        <span class="k">if</span> <span class="n">sub_terrain_cfg</span><span class="o">.</span><span class="n">flat_patch_sampling</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Sampling flat patches for sub-terrain at (row, col):  (</span><span class="si">{</span><span class="n">row</span><span class="si">}</span><span class="s2">, </span><span class="si">{</span><span class="n">col</span><span class="si">}</span><span class="s2">)&quot;</span><span class="p">)</span>
+            <span class="c1"># convert the mesh to warp mesh</span>
+            <span class="n">wp_mesh</span> <span class="o">=</span> <span class="n">convert_to_warp_mesh</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">vertices</span><span class="p">,</span> <span class="n">mesh</span><span class="o">.</span><span class="n">faces</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+            <span class="c1"># sample flat patches based on each patch configuration for that sub-terrain</span>
+            <span class="k">for</span> <span class="n">name</span><span class="p">,</span> <span class="n">patch_cfg</span> <span class="ow">in</span> <span class="n">sub_terrain_cfg</span><span class="o">.</span><span class="n">flat_patch_sampling</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                <span class="n">patch_cfg</span><span class="p">:</span> <span class="n">FlatPatchSamplingCfg</span>
+                <span class="c1"># create the flat patches tensor (if not already created)</span>
+                <span class="k">if</span> <span class="n">name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">flat_patches</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">flat_patches</span><span class="p">[</span><span class="n">name</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+                        <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_rows</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_cols</span><span class="p">,</span> <span class="n">patch_cfg</span><span class="o">.</span><span class="n">num_patches</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span>
+                    <span class="p">)</span>
+                <span class="c1"># add the flat patches to the tensor</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">flat_patches</span><span class="p">[</span><span class="n">name</span><span class="p">][</span><span class="n">row</span><span class="p">,</span> <span class="n">col</span><span class="p">]</span> <span class="o">=</span> <span class="n">find_flat_patches</span><span class="p">(</span>
+                    <span class="n">wp_mesh</span><span class="o">=</span><span class="n">wp_mesh</span><span class="p">,</span>
+                    <span class="n">origin</span><span class="o">=</span><span class="n">origin</span><span class="p">,</span>
+                    <span class="n">num_patches</span><span class="o">=</span><span class="n">patch_cfg</span><span class="o">.</span><span class="n">num_patches</span><span class="p">,</span>
+                    <span class="n">patch_radius</span><span class="o">=</span><span class="n">patch_cfg</span><span class="o">.</span><span class="n">patch_radius</span><span class="p">,</span>
+                    <span class="n">x_range</span><span class="o">=</span><span class="n">patch_cfg</span><span class="o">.</span><span class="n">x_range</span><span class="p">,</span>
+                    <span class="n">y_range</span><span class="o">=</span><span class="n">patch_cfg</span><span class="o">.</span><span class="n">y_range</span><span class="p">,</span>
+                    <span class="n">z_range</span><span class="o">=</span><span class="n">patch_cfg</span><span class="o">.</span><span class="n">z_range</span><span class="p">,</span>
+                    <span class="n">max_height_diff</span><span class="o">=</span><span class="n">patch_cfg</span><span class="o">.</span><span class="n">max_height_diff</span><span class="p">,</span>
+                <span class="p">)</span>
+
+        <span class="c1"># transform the mesh to the correct position</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">eye</span><span class="p">(</span><span class="mi">4</span><span class="p">)</span>
+        <span class="n">transform</span><span class="p">[</span><span class="mi">0</span><span class="p">:</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="n">row</span> <span class="o">+</span> <span class="mf">0.5</span><span class="p">)</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="p">(</span><span class="n">col</span> <span class="o">+</span> <span class="mf">0.5</span><span class="p">)</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span>
+        <span class="n">mesh</span><span class="o">.</span><span class="n">apply_transform</span><span class="p">(</span><span class="n">transform</span><span class="p">)</span>
+        <span class="c1"># add mesh to the list</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_meshes</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">mesh</span><span class="p">)</span>
+        <span class="c1"># add origin to the list</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span><span class="p">[</span><span class="n">row</span><span class="p">,</span> <span class="n">col</span><span class="p">]</span> <span class="o">=</span> <span class="n">origin</span> <span class="o">+</span> <span class="n">transform</span><span class="p">[:</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+
+    <span class="k">def</span> <span class="nf">_get_terrain_mesh</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">SubTerrainBaseCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Generate a sub-terrain mesh based on the input difficulty parameter.</span>
+
+<span class="sd">        If caching is enabled, the sub-terrain is cached and loaded from the cache if it exists.</span>
+<span class="sd">        The cache is stored in the cache directory specified in the configuration.</span>
+
+<span class="sd">        .. Note:</span>
+<span class="sd">            This function centers the 2D center of the mesh and its specified origin such that the</span>
+<span class="sd">            2D center becomes :math:`(0, 0)` instead of :math:`(size[0] / 2, size[1] / 2).</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            difficulty: The difficulty parameter.</span>
+<span class="sd">            cfg: The configuration of the sub-terrain.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The sub-terrain mesh and origin.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># copy the configuration</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">copy</span><span class="p">()</span>
+        <span class="c1"># add other parameters to the sub-terrain configuration</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">difficulty</span> <span class="o">=</span> <span class="nb">float</span><span class="p">(</span><span class="n">difficulty</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">seed</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">seed</span>
+        <span class="c1"># generate hash for the sub-terrain</span>
+        <span class="n">sub_terrain_hash</span> <span class="o">=</span> <span class="n">dict_to_md5_hash</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">())</span>
+        <span class="c1"># generate the file name</span>
+        <span class="n">sub_terrain_cache_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">cache_dir</span><span class="p">,</span> <span class="n">sub_terrain_hash</span><span class="p">)</span>
+        <span class="n">sub_terrain_obj_filename</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">sub_terrain_cache_dir</span><span class="p">,</span> <span class="s2">&quot;mesh.obj&quot;</span><span class="p">)</span>
+        <span class="n">sub_terrain_csv_filename</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">sub_terrain_cache_dir</span><span class="p">,</span> <span class="s2">&quot;origin.csv&quot;</span><span class="p">)</span>
+        <span class="n">sub_terrain_meta_filename</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">sub_terrain_cache_dir</span><span class="p">,</span> <span class="s2">&quot;cfg.yaml&quot;</span><span class="p">)</span>
+
+        <span class="c1"># check if hash exists - if true, load the mesh and origin and return</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">use_cache</span> <span class="ow">and</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">sub_terrain_obj_filename</span><span class="p">):</span>
+            <span class="c1"># load existing mesh</span>
+            <span class="n">mesh</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">load_mesh</span><span class="p">(</span><span class="n">sub_terrain_obj_filename</span><span class="p">,</span> <span class="n">process</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+            <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">loadtxt</span><span class="p">(</span><span class="n">sub_terrain_csv_filename</span><span class="p">,</span> <span class="n">delimiter</span><span class="o">=</span><span class="s2">&quot;,&quot;</span><span class="p">)</span>
+            <span class="c1"># return the generated mesh</span>
+            <span class="k">return</span> <span class="n">mesh</span><span class="p">,</span> <span class="n">origin</span>
+
+        <span class="c1"># generate the terrain</span>
+        <span class="n">meshes</span><span class="p">,</span> <span class="n">origin</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">function</span><span class="p">(</span><span class="n">difficulty</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+        <span class="n">mesh</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">concatenate</span><span class="p">(</span><span class="n">meshes</span><span class="p">)</span>
+        <span class="c1"># offset mesh such that they are in their center</span>
+        <span class="n">transform</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">eye</span><span class="p">(</span><span class="mi">4</span><span class="p">)</span>
+        <span class="n">transform</span><span class="p">[</span><span class="mi">0</span><span class="p">:</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">,</span> <span class="o">-</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="mf">0.5</span>
+        <span class="n">mesh</span><span class="o">.</span><span class="n">apply_transform</span><span class="p">(</span><span class="n">transform</span><span class="p">)</span>
+        <span class="c1"># change origin to be in the center of the sub-terrain</span>
+        <span class="n">origin</span> <span class="o">+=</span> <span class="n">transform</span><span class="p">[</span><span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+
+        <span class="c1"># if caching is enabled, save the mesh and origin</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">use_cache</span><span class="p">:</span>
+            <span class="c1"># create the cache directory</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">makedirs</span><span class="p">(</span><span class="n">sub_terrain_cache_dir</span><span class="p">,</span> <span class="n">exist_ok</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+            <span class="c1"># save the data</span>
+            <span class="n">mesh</span><span class="o">.</span><span class="n">export</span><span class="p">(</span><span class="n">sub_terrain_obj_filename</span><span class="p">)</span>
+            <span class="n">np</span><span class="o">.</span><span class="n">savetxt</span><span class="p">(</span><span class="n">sub_terrain_csv_filename</span><span class="p">,</span> <span class="n">origin</span><span class="p">,</span> <span class="n">delimiter</span><span class="o">=</span><span class="s2">&quot;,&quot;</span><span class="p">,</span> <span class="n">header</span><span class="o">=</span><span class="s2">&quot;x,y,z&quot;</span><span class="p">)</span>
+            <span class="n">dump_yaml</span><span class="p">(</span><span class="n">sub_terrain_meta_filename</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+        <span class="c1"># return the generated mesh</span>
+        <span class="k">return</span> <span class="n">mesh</span><span class="p">,</span> <span class="n">origin</span></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html b/v1.4.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
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+++ b/v1.4.0/_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html
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+    <title>omni.isaac.lab.terrains.terrain_generator_cfg &#8212; Isaac Lab Documentation</title>
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+  <h1>Source code for omni.isaac.lab.terrains.terrain_generator_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Configuration classes defining the different terrains available. Each configuration class must</span>
+<span class="sd">inherit from ``omni.isaac.lab.terrains.terrains_cfg.TerrainConfig`` and define the following attributes:</span>
+
+<span class="sd">- ``name``: Name of the terrain. This is used for the prim name in the USD stage.</span>
+<span class="sd">- ``function``: Function to generate the terrain. This function must take as input the terrain difficulty</span>
+<span class="sd">  and the configuration parameters and return a `tuple with the `trimesh`` mesh object and terrain origin.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">trimesh</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">FlatPatchSamplingCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for sampling flat patches on the sub-terrain.</span>
+
+<span class="sd">    For a given sub-terrain, this configuration specifies how to sample flat patches on the terrain.</span>
+<span class="sd">    The sampled flat patches can be used for spawning robots, targets, etc.</span>
+
+<span class="sd">    Please check the function :meth:`~omni.isaac.lab.terrains.utils.find_flat_patches` for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">num_patches</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of patches to sample.&quot;&quot;&quot;</span>
+
+    <span class="n">patch_radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Radius of the patches.</span>
+
+<span class="sd">    A list of radii can be provided to check for patches of different sizes. This is useful to deal with</span>
+<span class="sd">    cases where the terrain may have holes or obstacles in some areas.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">x_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="o">-</span><span class="mf">1e6</span><span class="p">,</span> <span class="mf">1e6</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The range of x-coordinates to sample from. Defaults to (-1e6, 1e6).</span>
+
+<span class="sd">    This range is internally clamped to the size of the terrain mesh.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">y_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="o">-</span><span class="mf">1e6</span><span class="p">,</span> <span class="mf">1e6</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The range of y-coordinates to sample from. Defaults to (-1e6, 1e6).</span>
+
+<span class="sd">    This range is internally clamped to the size of the terrain mesh.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">z_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="o">-</span><span class="mf">1e6</span><span class="p">,</span> <span class="mf">1e6</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Allowed range of z-coordinates for the sampled patch. Defaults to (-1e6, 1e6).&quot;&quot;&quot;</span>
+
+    <span class="n">max_height_diff</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Maximum allowed height difference between the highest and lowest points on the patch.&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="SubTerrainBaseCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.SubTerrainBaseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">SubTerrainBaseCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base class for terrain configurations.</span>
+
+<span class="sd">    All the sub-terrain configurations must inherit from this class.</span>
+
+<span class="sd">    The :attr:`size` attribute is the size of the generated sub-terrain. Based on this, the terrain must</span>
+<span class="sd">    extend from :math:`(0, 0)` to :math:`(size[0], size[1])`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">function</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[[</span><span class="nb">float</span><span class="p">,</span> <span class="n">SubTerrainBaseCfg</span><span class="p">],</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Function to generate the terrain.</span>
+
+<span class="sd">    This function must take as input the terrain difficulty and the configuration parameters and</span>
+<span class="sd">    return a tuple with a list of ``trimesh`` mesh objects and the terrain origin.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">proportion</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Proportion of the terrain to generate. Defaults to 1.0.</span>
+
+<span class="sd">    This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling</span>
+<span class="sd">    the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,</span>
+<span class="sd">    respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B</span>
+<span class="sd">    is 0.7.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">size</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">10.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</span>
+
+<span class="sd">    In case the :class:`~omni.isaac.lab.terrains.TerrainImporterCfg` is used, this parameter gets overridden by</span>
+<span class="sd">    :attr:`omni.isaac.lab.scene.TerrainImporterCfg.size` attribute.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">flat_patch_sampling</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">FlatPatchSamplingCfg</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,</span>
+<span class="sd">    in which case no flat patch sampling is performed.</span>
+
+<span class="sd">    The keys correspond to the name of the flat patch sampling configuration and the values are the</span>
+<span class="sd">    corresponding configurations.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="TerrainGeneratorCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">TerrainGeneratorCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the terrain generator.&quot;&quot;&quot;</span>
+
+    <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The seed for the random number generator. Defaults to None, in which case the seed from the</span>
+<span class="sd">    current NumPy&#39;s random state is used.</span>
+
+<span class="sd">    When the seed is set, the random number generator is initialized with the given seed. This ensures</span>
+<span class="sd">    that the generated terrains are deterministic across different runs. If the seed is not set, the</span>
+<span class="sd">    seed from the current NumPy&#39;s random state is used. This assumes that the seed is set elsewhere in</span>
+<span class="sd">    the code.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">curriculum</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to use the curriculum mode. Defaults to False.</span>
+
+<span class="sd">    If True, the terrains are generated based on their difficulty parameter. Otherwise,</span>
+<span class="sd">    they are randomly generated.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">size</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width (along x) and length (along y) of each sub-terrain (in m).</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">      This value is passed on to all the sub-terrain configurations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">border_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the border around the terrain (in m). Defaults to 0.0.&quot;&quot;&quot;</span>
+
+    <span class="n">border_height</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The height of the border around the terrain (in m). Defaults to 1.0.&quot;&quot;&quot;</span>
+
+    <span class="n">num_rows</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of rows of sub-terrains to generate. Defaults to 1.&quot;&quot;&quot;</span>
+
+    <span class="n">num_cols</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Number of columns of sub-terrains to generate. Defaults to 1.&quot;&quot;&quot;</span>
+
+    <span class="n">color_scheme</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;height&quot;</span><span class="p">,</span> <span class="s2">&quot;random&quot;</span><span class="p">,</span> <span class="s2">&quot;none&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;none&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Color scheme to use for the terrain. Defaults to &quot;none&quot;.</span>
+
+<span class="sd">    The available color schemes are:</span>
+
+<span class="sd">    - &quot;height&quot;: Color based on the height of the terrain.</span>
+<span class="sd">    - &quot;random&quot;: Random color scheme.</span>
+<span class="sd">    - &quot;none&quot;: No color scheme.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">horizontal_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.1</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</span>
+
+<span class="sd">    This value is passed on to all the height field sub-terrain configurations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">vertical_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.005</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The discretization of the terrain along the z axis (in m). Defaults to 0.005.</span>
+
+<span class="sd">    This value is passed on to all the height field sub-terrain configurations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">slope_threshold</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="mf">0.75</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The slope threshold above which surfaces are made vertical. Defaults to 0.75.</span>
+
+<span class="sd">    If None no correction is applied.</span>
+
+<span class="sd">    This value is passed on to all the height field sub-terrain configurations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">sub_terrains</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">SubTerrainBaseCfg</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Dictionary of sub-terrain configurations.</span>
+
+<span class="sd">    The keys correspond to the name of the sub-terrain configuration and the values are the corresponding</span>
+<span class="sd">    configurations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">difficulty_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The range of difficulty values for the sub-terrains. Defaults to (0.0, 1.0).</span>
+
+<span class="sd">    If curriculum is enabled, the terrains will be generated based on this range in ascending order</span>
+<span class="sd">    of difficulty. Otherwise, the terrains will be generated based on this range in a random order.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">use_cache</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to load the sub-terrain from cache if it exists. Defaults to True.</span>
+
+<span class="sd">    If enabled, the generated terrains are stored in the cache directory. When generating terrains, the cache</span>
+<span class="sd">    is checked to see if the terrain already exists. If it does, the terrain is loaded from the cache. Otherwise,</span>
+<span class="sd">    the terrain is generated and stored in the cache. Caching can be used to speed up terrain generation.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">cache_dir</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;/tmp/isaaclab/terrains&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The directory where the terrain cache is stored. Defaults to &quot;/tmp/isaaclab/terrains&quot;.&quot;&quot;&quot;</span></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.terrains.terrain_importer</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">trimesh</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">import</span> <span class="nn">warp</span>
+<span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">UsdGeom</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkers</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers.config</span> <span class="kn">import</span> <span class="n">FRAME_MARKER_CFG</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.warp</span> <span class="kn">import</span> <span class="n">convert_to_warp_mesh</span>
+
+<span class="kn">from</span> <span class="nn">.terrain_generator</span> <span class="kn">import</span> <span class="n">TerrainGenerator</span>
+<span class="kn">from</span> <span class="nn">.trimesh.utils</span> <span class="kn">import</span> <span class="n">make_plane</span>
+<span class="kn">from</span> <span class="nn">.utils</span> <span class="kn">import</span> <span class="n">create_prim_from_mesh</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.terrain_importer_cfg</span> <span class="kn">import</span> <span class="n">TerrainImporterCfg</span>
+
+
+<div class="viewcode-block" id="TerrainImporter"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter">[docs]</a><span class="k">class</span> <span class="nc">TerrainImporter</span><span class="p">:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;A class to handle terrain meshes and import them into the simulator.</span>
+
+<span class="sd">    We assume that a terrain mesh comprises of sub-terrains that are arranged in a grid with</span>
+<span class="sd">    rows ``num_rows`` and columns ``num_cols``. The terrain origins are the positions of the sub-terrains</span>
+<span class="sd">    where the robot should be spawned.</span>
+
+<span class="sd">    Based on the configuration, the terrain importer handles computing the environment origins from the sub-terrain</span>
+<span class="sd">    origins. In a typical setup, the number of sub-terrains (:math:`num\_rows \times num\_cols`) is smaller than</span>
+<span class="sd">    the number of environments (:math:`num\_envs`). In this case, the environment origins are computed by</span>
+<span class="sd">    sampling the sub-terrain origins.</span>
+
+<span class="sd">    If a curriculum is used, it is possible to update the environment origins to terrain origins that correspond</span>
+<span class="sd">    to a harder difficulty. This is done by calling :func:`update_terrain_levels`. The idea comes from game-based</span>
+<span class="sd">    curriculum. For example, in a game, the player starts with easy levels and progresses to harder levels.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">meshes</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">]</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A dictionary containing the names of the meshes and their keys.&quot;&quot;&quot;</span>
+    <span class="n">warp_meshes</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">warp</span><span class="o">.</span><span class="n">Mesh</span><span class="p">]</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A dictionary containing the names of the warp meshes and their keys.&quot;&quot;&quot;</span>
+    <span class="n">terrain_origins</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The origins of the sub-terrains in the added terrain mesh. Shape is (num_rows, num_cols, 3).</span>
+
+<span class="sd">    If None, then it is assumed no sub-terrains exist. The environment origins are computed in a grid.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">env_origins</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The origins of the environments. Shape is (num_envs, 3).&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="TerrainImporter.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">TerrainImporterCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the terrain importer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: The configuration for the terrain importer.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If input terrain type is not supported.</span>
+<span class="sd">            ValueError: If terrain type is &#39;generator&#39; and no configuration provided for ``terrain_generator``.</span>
+<span class="sd">            ValueError: If terrain type is &#39;usd&#39; and no configuration provided for ``usd_path``.</span>
+<span class="sd">            ValueError: If terrain type is &#39;usd&#39; or &#39;plane&#39; and no configuration provided for ``env_spacing``.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that the config is valid</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">validate</span><span class="p">()</span>
+        <span class="c1"># store inputs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span><span class="o">.</span><span class="n">device</span>  <span class="c1"># type: ignore</span>
+
+        <span class="c1"># create a dict of meshes</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">warp_meshes</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># private variables</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_terrain_flat_patches</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+
+        <span class="c1"># auto-import the terrain based on the config</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">terrain_type</span> <span class="o">==</span> <span class="s2">&quot;generator&quot;</span><span class="p">:</span>
+            <span class="c1"># check config is provided</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">terrain_generator</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Input terrain type is &#39;generator&#39; but no value provided for &#39;terrain_generator&#39;.&quot;</span><span class="p">)</span>
+            <span class="c1"># generate the terrain</span>
+            <span class="n">terrain_generator</span> <span class="o">=</span> <span class="n">TerrainGenerator</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">terrain_generator</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">import_mesh</span><span class="p">(</span><span class="s2">&quot;terrain&quot;</span><span class="p">,</span> <span class="n">terrain_generator</span><span class="o">.</span><span class="n">terrain_mesh</span><span class="p">)</span>
+            <span class="c1"># configure the terrain origins based on the terrain generator</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">configure_env_origins</span><span class="p">(</span><span class="n">terrain_generator</span><span class="o">.</span><span class="n">terrain_origins</span><span class="p">)</span>
+            <span class="c1"># refer to the flat patches</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_terrain_flat_patches</span> <span class="o">=</span> <span class="n">terrain_generator</span><span class="o">.</span><span class="n">flat_patches</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">terrain_type</span> <span class="o">==</span> <span class="s2">&quot;usd&quot;</span><span class="p">:</span>
+            <span class="c1"># check if config is provided</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">usd_path</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Input terrain type is &#39;usd&#39; but no value provided for &#39;usd_path&#39;.&quot;</span><span class="p">)</span>
+            <span class="c1"># import the terrain</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">import_usd</span><span class="p">(</span><span class="s2">&quot;terrain&quot;</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">usd_path</span><span class="p">)</span>
+            <span class="c1"># configure the origins in a grid</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">configure_env_origins</span><span class="p">()</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">terrain_type</span> <span class="o">==</span> <span class="s2">&quot;plane&quot;</span><span class="p">:</span>
+            <span class="c1"># load the plane</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">import_ground_plane</span><span class="p">(</span><span class="s2">&quot;terrain&quot;</span><span class="p">)</span>
+            <span class="c1"># configure the origins in a grid</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">configure_env_origins</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Terrain type &#39;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">terrain_type</span><span class="si">}</span><span class="s2">&#39; not available.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># set initial state of debug visualization</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">debug_vis</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">has_debug_vis_implementation</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the terrain importer has a debug visualization implemented.</span>
+
+<span class="sd">        This always returns True.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="kc">True</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">flat_patches</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;A dictionary containing the sampled valid (flat) patches for the terrain.</span>
+
+<span class="sd">        This is only available if the terrain type is &#39;generator&#39;. For other terrain types, this feature</span>
+<span class="sd">        is not available and the function returns an empty dictionary.</span>
+
+<span class="sd">        Please refer to the :attr:`TerrainGenerator.flat_patches` for more information.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_terrain_flat_patches</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Visibility.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="TerrainImporter.set_debug_vis"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.set_debug_vis">[docs]</a>    <span class="k">def</span> <span class="nf">set_debug_vis</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the debug visualization of the terrain importer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            debug_vis: Whether to visualize the terrain origins.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Whether the debug visualization was successfully set. False if the terrain</span>
+<span class="sd">            importer does not support debug visualization.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            RuntimeError: If terrain origins are not configured.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># create a marker if necessary</span>
+        <span class="k">if</span> <span class="n">debug_vis</span><span class="p">:</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;origin_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">origin_visualizer</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span>
+                    <span class="n">cfg</span><span class="o">=</span><span class="n">FRAME_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/TerrainOrigin&quot;</span><span class="p">)</span>
+                <span class="p">)</span>
+                <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">origin_visualizer</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+                <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">origin_visualizer</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;Terrain origins are not configured.&quot;</span><span class="p">)</span>
+            <span class="c1"># set visibility</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">origin_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;origin_visualizer&quot;</span><span class="p">):</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">origin_visualizer</span><span class="o">.</span><span class="n">set_visibility</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+        <span class="c1"># report success</span>
+        <span class="k">return</span> <span class="kc">True</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Import.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="TerrainImporter.import_ground_plane"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.import_ground_plane">[docs]</a>    <span class="k">def</span> <span class="nf">import_ground_plane</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">size</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">2.0e6</span><span class="p">,</span> <span class="mf">2.0e6</span><span class="p">)):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add a plane to the terrain importer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The key to store the mesh.</span>
+<span class="sd">            size: The size of the plane. Defaults to (2.0e6, 2.0e6).</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If a terrain with the same key already exists.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if key exists</span>
+        <span class="k">if</span> <span class="n">key</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Mesh with key </span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2"> already exists. Existing keys: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="o">.</span><span class="n">keys</span><span class="p">()</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+        <span class="c1"># create a plane</span>
+        <span class="n">mesh</span> <span class="o">=</span> <span class="n">make_plane</span><span class="p">(</span><span class="n">size</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">center_zero</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+        <span class="c1"># store the mesh</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">mesh</span>
+        <span class="c1"># create a warp mesh</span>
+        <span class="n">device</span> <span class="o">=</span> <span class="s2">&quot;cuda&quot;</span> <span class="k">if</span> <span class="s2">&quot;cuda&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="k">else</span> <span class="s2">&quot;cpu&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">warp_meshes</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">convert_to_warp_mesh</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">vertices</span><span class="p">,</span> <span class="n">mesh</span><span class="o">.</span><span class="n">faces</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># get the mesh</span>
+        <span class="n">ground_plane_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">(</span><span class="n">physics_material</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="p">,</span> <span class="n">size</span><span class="o">=</span><span class="n">size</span><span class="p">)</span>
+        <span class="n">ground_plane_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">ground_plane_cfg</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="TerrainImporter.import_mesh"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.import_mesh">[docs]</a>    <span class="k">def</span> <span class="nf">import_mesh</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">mesh</span><span class="p">:</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Import a mesh into the simulator.</span>
+
+<span class="sd">        The mesh is imported into the simulator under the prim path ``cfg.prim_path/{key}``. The created path</span>
+<span class="sd">        contains the mesh as a :class:`pxr.UsdGeom` instance along with visual or physics material prims.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The key to store the mesh.</span>
+<span class="sd">            mesh: The mesh to import.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If a terrain with the same key already exists.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if key exists</span>
+        <span class="k">if</span> <span class="n">key</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Mesh with key </span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2"> already exists. Existing keys: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="o">.</span><span class="n">keys</span><span class="p">()</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+        <span class="c1"># store the mesh</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">mesh</span>
+        <span class="c1"># create a warp mesh</span>
+        <span class="n">device</span> <span class="o">=</span> <span class="s2">&quot;cuda&quot;</span> <span class="k">if</span> <span class="s2">&quot;cuda&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="k">else</span> <span class="s2">&quot;cpu&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">warp_meshes</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">convert_to_warp_mesh</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">vertices</span><span class="p">,</span> <span class="n">mesh</span><span class="o">.</span><span class="n">faces</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># get the mesh</span>
+        <span class="n">mesh</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">[</span><span class="n">key</span><span class="p">]</span>
+        <span class="n">mesh_prim_path</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">+</span> <span class="sa">f</span><span class="s2">&quot;/</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="c1"># import the mesh</span>
+        <span class="n">create_prim_from_mesh</span><span class="p">(</span>
+            <span class="n">mesh_prim_path</span><span class="p">,</span>
+            <span class="n">mesh</span><span class="p">,</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">visual_material</span><span class="p">,</span>
+            <span class="n">physics_material</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">physics_material</span><span class="p">,</span>
+        <span class="p">)</span></div>
+
+<div class="viewcode-block" id="TerrainImporter.import_usd"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.import_usd">[docs]</a>    <span class="k">def</span> <span class="nf">import_usd</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">usd_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Import a mesh from a USD file.</span>
+
+<span class="sd">        We assume that the USD file contains a single mesh. If the USD file contains multiple meshes, then</span>
+<span class="sd">        the first mesh is used. The function mainly helps in registering the mesh into the warp meshes</span>
+<span class="sd">        and the meshes dictionary.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            We do not apply any material properties to the mesh. The material properties should</span>
+<span class="sd">            be defined in the USD file.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The key to store the mesh.</span>
+<span class="sd">            usd_path: The path to the USD file.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If a terrain with the same key already exists.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># add mesh to the dict</span>
+        <span class="k">if</span> <span class="n">key</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Mesh with key </span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2"> already exists. Existing keys: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="o">.</span><span class="n">keys</span><span class="p">()</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+        <span class="c1"># add the prim path</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span><span class="n">usd_path</span><span class="o">=</span><span class="n">usd_path</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">+</span> <span class="sa">f</span><span class="s2">&quot;/</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+
+        <span class="c1"># traverse the prim and get the collision mesh</span>
+        <span class="c1"># THINK: Should the user specify the collision mesh?</span>
+        <span class="n">mesh_prim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">get_first_matching_child_prim</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">+</span> <span class="sa">f</span><span class="s2">&quot;/</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="k">lambda</span> <span class="n">prim</span><span class="p">:</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetTypeName</span><span class="p">()</span> <span class="o">==</span> <span class="s2">&quot;Mesh&quot;</span>
+        <span class="p">)</span>
+        <span class="c1"># check if the mesh is valid</span>
+        <span class="k">if</span> <span class="n">mesh_prim</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Could not find any collision mesh in </span><span class="si">{</span><span class="n">usd_path</span><span class="si">}</span><span class="s2">. Please check asset.&quot;</span><span class="p">)</span>
+        <span class="c1"># cast into UsdGeomMesh</span>
+        <span class="n">mesh_prim</span> <span class="o">=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Mesh</span><span class="p">(</span><span class="n">mesh_prim</span><span class="p">)</span>
+        <span class="c1"># store the mesh</span>
+        <span class="n">vertices</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">mesh_prim</span><span class="o">.</span><span class="n">GetPointsAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">())</span>
+        <span class="n">faces</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">mesh_prim</span><span class="o">.</span><span class="n">GetFaceVertexIndicesAttr</span><span class="p">()</span><span class="o">.</span><span class="n">Get</span><span class="p">())</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">meshes</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">(</span><span class="n">vertices</span><span class="o">=</span><span class="n">vertices</span><span class="p">,</span> <span class="n">faces</span><span class="o">=</span><span class="n">faces</span><span class="p">)</span>
+        <span class="c1"># create a warp mesh</span>
+        <span class="n">device</span> <span class="o">=</span> <span class="s2">&quot;cuda&quot;</span> <span class="k">if</span> <span class="s2">&quot;cuda&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="k">else</span> <span class="s2">&quot;cpu&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">warp_meshes</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">convert_to_warp_mesh</span><span class="p">(</span><span class="n">vertices</span><span class="p">,</span> <span class="n">faces</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - Origins.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="TerrainImporter.configure_env_origins"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.configure_env_origins">[docs]</a>    <span class="k">def</span> <span class="nf">configure_env_origins</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">origins</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Configure the origins of the environments based on the added terrain.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            origins: The origins of the sub-terrains. Shape is (num_rows, num_cols, 3).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># decide whether to compute origins in a grid or based on curriculum</span>
+        <span class="k">if</span> <span class="n">origins</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># convert to numpy</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">origins</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">):</span>
+                <span class="n">origins</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">from_numpy</span><span class="p">(</span><span class="n">origins</span><span class="p">)</span>
+            <span class="c1"># store the origins</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span> <span class="o">=</span> <span class="n">origins</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">)</span>
+            <span class="c1"># compute environment origins</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_compute_env_origins_curriculum</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span> <span class="o">=</span> <span class="kc">None</span>
+            <span class="c1"># check if env spacing is valid</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">env_spacing</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Environment spacing must be specified for configuring grid-like origins.&quot;</span><span class="p">)</span>
+            <span class="c1"># compute environment origins</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_compute_env_origins_grid</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">env_spacing</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="TerrainImporter.update_env_origins"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.update_env_origins">[docs]</a>    <span class="k">def</span> <span class="nf">update_env_origins</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">move_up</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">move_down</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Update the environment origins based on the terrain levels.&quot;&quot;&quot;</span>
+        <span class="c1"># check if grid-like spawning</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">return</span>
+        <span class="c1"># update terrain level for the envs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_levels</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">+=</span> <span class="mi">1</span> <span class="o">*</span> <span class="n">move_up</span> <span class="o">-</span> <span class="mi">1</span> <span class="o">*</span> <span class="n">move_down</span>
+        <span class="c1"># robots that solve the last level are sent to a random one</span>
+        <span class="c1"># the minimum level is zero</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_levels</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">terrain_levels</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_terrain_level</span><span class="p">,</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">randint_like</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">terrain_levels</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_terrain_level</span><span class="p">),</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">terrain_levels</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="mi">0</span><span class="p">),</span>
+        <span class="p">)</span>
+        <span class="c1"># update the env origins</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">terrain_origins</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">terrain_levels</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">terrain_types</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]]</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Internal helpers.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_compute_env_origins_curriculum</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">origins</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute the origins of the environments defined by the sub-terrains origins.&quot;&quot;&quot;</span>
+        <span class="c1"># extract number of rows and cols</span>
+        <span class="n">num_rows</span><span class="p">,</span> <span class="n">num_cols</span> <span class="o">=</span> <span class="n">origins</span><span class="o">.</span><span class="n">shape</span><span class="p">[:</span><span class="mi">2</span><span class="p">]</span>
+        <span class="c1"># maximum initial level possible for the terrains</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_init_terrain_level</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">max_init_level</span> <span class="o">=</span> <span class="n">num_rows</span> <span class="o">-</span> <span class="mi">1</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">max_init_level</span> <span class="o">=</span> <span class="nb">min</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_init_terrain_level</span><span class="p">,</span> <span class="n">num_rows</span> <span class="o">-</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># store maximum terrain level possible</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">max_terrain_level</span> <span class="o">=</span> <span class="n">num_rows</span>
+        <span class="c1"># define all terrain levels and types available</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_levels</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">max_init_level</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="p">(</span><span class="n">num_envs</span><span class="p">,),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">terrain_types</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">div</span><span class="p">(</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">),</span>
+            <span class="p">(</span><span class="n">num_envs</span> <span class="o">/</span> <span class="n">num_cols</span><span class="p">),</span>
+            <span class="n">rounding_mode</span><span class="o">=</span><span class="s2">&quot;floor&quot;</span><span class="p">,</span>
+        <span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+        <span class="c1"># create tensor based on number of environments</span>
+        <span class="n">env_origins</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="n">env_origins</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">origins</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">terrain_levels</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">terrain_types</span><span class="p">]</span>
+        <span class="k">return</span> <span class="n">env_origins</span>
+
+    <span class="k">def</span> <span class="nf">_compute_env_origins_grid</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">env_spacing</span><span class="p">:</span> <span class="nb">float</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Compute the origins of the environments in a grid based on configured spacing.&quot;&quot;&quot;</span>
+        <span class="c1"># create tensor based on number of environments</span>
+        <span class="n">env_origins</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># create a grid of origins</span>
+        <span class="n">num_rows</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">ceil</span><span class="p">(</span><span class="n">num_envs</span> <span class="o">/</span> <span class="nb">int</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="n">num_envs</span><span class="p">)))</span>
+        <span class="n">num_cols</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">ceil</span><span class="p">(</span><span class="n">num_envs</span> <span class="o">/</span> <span class="n">num_rows</span><span class="p">)</span>
+        <span class="n">ii</span><span class="p">,</span> <span class="n">jj</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">meshgrid</span><span class="p">(</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">num_rows</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">),</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">num_cols</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">),</span> <span class="n">indexing</span><span class="o">=</span><span class="s2">&quot;ij&quot;</span>
+        <span class="p">)</span>
+        <span class="n">env_origins</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="p">(</span><span class="n">ii</span><span class="o">.</span><span class="n">flatten</span><span class="p">()[:</span><span class="n">num_envs</span><span class="p">]</span> <span class="o">-</span> <span class="p">(</span><span class="n">num_rows</span> <span class="o">-</span> <span class="mi">1</span><span class="p">)</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span> <span class="o">*</span> <span class="n">env_spacing</span>
+        <span class="n">env_origins</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="n">jj</span><span class="o">.</span><span class="n">flatten</span><span class="p">()[:</span><span class="n">num_envs</span><span class="p">]</span> <span class="o">-</span> <span class="p">(</span><span class="n">num_cols</span> <span class="o">-</span> <span class="mi">1</span><span class="p">)</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span> <span class="o">*</span> <span class="n">env_spacing</span>
+        <span class="n">env_origins</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="k">return</span> <span class="n">env_origins</span></div>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.terrains.terrain_importer_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span><span class="p">,</span> <span class="n">Literal</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.terrain_importer</span> <span class="kn">import</span> <span class="n">TerrainImporter</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.terrain_generator_cfg</span> <span class="kn">import</span> <span class="n">TerrainGeneratorCfg</span>
+
+
+<div class="viewcode-block" id="TerrainImporterCfg"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">TerrainImporterCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the terrain manager.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">TerrainImporter</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The class to use for the terrain importer.</span>
+
+<span class="sd">    Defaults to :class:`omni.isaac.lab.terrains.terrain_importer.TerrainImporter`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">collision_group</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The collision group of the terrain. Defaults to -1.&quot;&quot;&quot;</span>
+
+    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The absolute path of the USD terrain prim.</span>
+
+<span class="sd">    All sub-terrains are imported relative to this prim path.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The number of environment origins to consider. Defaults to 1.</span>
+
+<span class="sd">    In case, the :class:`~omni.isaac.lab.scene.InteractiveSceneCfg` is used, this parameter gets overridden by</span>
+<span class="sd">    :attr:`omni.isaac.lab.scene.InteractiveSceneCfg.num_envs` attribute.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">terrain_type</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;generator&quot;</span><span class="p">,</span> <span class="s2">&quot;plane&quot;</span><span class="p">,</span> <span class="s2">&quot;usd&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;generator&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The type of terrain to generate. Defaults to &quot;generator&quot;.</span>
+
+<span class="sd">    Available options are &quot;plane&quot;, &quot;usd&quot;, and &quot;generator&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">terrain_generator</span><span class="p">:</span> <span class="n">TerrainGeneratorCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The terrain generator configuration.</span>
+
+<span class="sd">    Only used if ``terrain_type`` is set to &quot;generator&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">usd_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The path to the USD file containing the terrain.</span>
+
+<span class="sd">    Only used if ``terrain_type`` is set to &quot;usd&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">env_spacing</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The spacing between environment origins when defined in a grid. Defaults to None.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">      This parameter is used only when the ``terrain_type`` is ``&quot;plane&quot;`` or ``&quot;usd&quot;``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">visual_material</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">VisualMaterialCfg</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span>
+        <span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.065</span><span class="p">,</span> <span class="mf">0.0725</span><span class="p">,</span> <span class="mf">0.080</span><span class="p">)</span>
+    <span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The visual material of the terrain. Defaults to a dark gray color material.</span>
+
+<span class="sd">    The material is created at the path: ``{prim_path}/visualMaterial``. If `None`, then no material is created.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This parameter is used only when the ``terrain_type`` is ``&quot;generator&quot;``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">physics_material</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The physics material of the terrain. Defaults to a default physics material.</span>
+
+<span class="sd">    The material is created at the path: ``{prim_path}/physicsMaterial``.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        This parameter is used only when the ``terrain_type`` is ``&quot;generator&quot;`` or ``&quot;plane&quot;``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">max_init_terrain_level</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The maximum initial terrain level for defining environment origins. Defaults to None.</span>
+
+<span class="sd">    The terrain levels are specified by the number of rows in the grid arrangement of</span>
+<span class="sd">    sub-terrains. If None, then the initial terrain level is set to the maximum</span>
+<span class="sd">    terrain level available (``num_rows - 1``).</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">      This parameter is used only when sub-terrain origins are defined.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">debug_vis</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to enable visualization of terrain origins for the terrain. Defaults to False.&quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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new file mode 100644
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+</details></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/changelog.html">Extensions Changelog</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/bibliography.html">Bibliography</a></li>
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+  <h1>Source code for omni.isaac.lab.terrains.trimesh.mesh_terrains</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Functions to generate different terrains using the ``trimesh`` library.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">scipy.spatial.transform</span> <span class="k">as</span> <span class="nn">tf</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">trimesh</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">.utils</span> <span class="kn">import</span> <span class="o">*</span>  <span class="c1"># noqa: F401, F403</span>
+<span class="kn">from</span> <span class="nn">.utils</span> <span class="kn">import</span> <span class="n">make_border</span><span class="p">,</span> <span class="n">make_plane</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">mesh_terrains_cfg</span>
+
+
+<div class="viewcode-block" id="flat_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain">[docs]</a><span class="k">def</span> <span class="nf">flat_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshPlaneTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a flat terrain as a plane.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/flat_terrain.jpg</span>
+<span class="sd">       :width: 45%</span>
+<span class="sd">       :align: center</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The :obj:`difficulty` parameter is ignored for this terrain.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># compute the position of the terrain</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="mf">2.0</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="mf">2.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+    <span class="c1"># compute the vertices of the terrain</span>
+    <span class="n">plane_mesh</span> <span class="o">=</span> <span class="n">make_plane</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="n">center_zero</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+    <span class="c1"># return the tri-mesh and the position</span>
+    <span class="k">return</span> <span class="p">[</span><span class="n">plane_mesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">origin</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="pyramid_stairs_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain">[docs]</a><span class="k">def</span> <span class="nf">pyramid_stairs_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshPyramidStairsTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with a pyramid stair pattern.</span>
+
+<span class="sd">    The terrain is a pyramid stair pattern which trims to a flat platform at the center of the terrain.</span>
+
+<span class="sd">    If :obj:`cfg.holes` is True, the terrain will have pyramid stairs of length or width</span>
+<span class="sd">    :obj:`cfg.platform_width` (depending on the direction) with no steps in the remaining area. Additionally,</span>
+<span class="sd">    no border will be added.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/pyramid_stairs_terrain.jpg</span>
+<span class="sd">       :width: 45%</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/pyramid_stairs_terrain_with_holes.jpg</span>
+<span class="sd">       :width: 45%</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve the terrain configuration</span>
+    <span class="n">step_height</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">step_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1"># compute number of steps in x and y direction</span>
+    <span class="n">num_steps_x</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="p">(</span><span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">)</span> <span class="o">+</span> <span class="mi">1</span>
+    <span class="n">num_steps_y</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="p">(</span><span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">)</span> <span class="o">+</span> <span class="mi">1</span>
+    <span class="c1"># we take the minimum number of steps in x and y direction</span>
+    <span class="n">num_steps</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="nb">min</span><span class="p">(</span><span class="n">num_steps_x</span><span class="p">,</span> <span class="n">num_steps_y</span><span class="p">))</span>
+
+    <span class="c1"># initialize list of meshes</span>
+    <span class="n">meshes_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+
+    <span class="c1"># generate the border if needed</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span> <span class="o">&gt;</span> <span class="mf">0.0</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">cfg</span><span class="o">.</span><span class="n">holes</span><span class="p">:</span>
+        <span class="c1"># obtain a list of meshes for the border</span>
+        <span class="n">border_center</span> <span class="o">=</span> <span class="p">[</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">step_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">]</span>
+        <span class="n">border_inner_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span><span class="p">)</span>
+        <span class="n">make_borders</span> <span class="o">=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">,</span> <span class="n">border_inner_size</span><span class="p">,</span> <span class="n">step_height</span><span class="p">,</span> <span class="n">border_center</span><span class="p">)</span>
+        <span class="c1"># add the border meshes to the list of meshes</span>
+        <span class="n">meshes_list</span> <span class="o">+=</span> <span class="n">make_borders</span>
+
+    <span class="c1"># generate the terrain</span>
+    <span class="c1"># -- compute the position of the center of the terrain</span>
+    <span class="n">terrain_center</span> <span class="o">=</span> <span class="p">[</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="mf">0.0</span><span class="p">]</span>
+    <span class="n">terrain_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span><span class="p">)</span>
+    <span class="c1"># -- generate the stair pattern</span>
+    <span class="k">for</span> <span class="n">k</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_steps</span><span class="p">):</span>
+        <span class="c1"># check if we need to add holes around the steps</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">holes</span><span class="p">:</span>
+            <span class="n">box_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">box_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">k</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span> <span class="n">terrain_size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">k</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">)</span>
+        <span class="c1"># compute the quantities of the box</span>
+        <span class="c1"># -- location</span>
+        <span class="n">box_z</span> <span class="o">=</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">+</span> <span class="n">k</span> <span class="o">*</span> <span class="n">step_height</span> <span class="o">/</span> <span class="mf">2.0</span>
+        <span class="n">box_offset</span> <span class="o">=</span> <span class="p">(</span><span class="n">k</span> <span class="o">+</span> <span class="mf">0.5</span><span class="p">)</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span>
+        <span class="c1"># -- dimensions</span>
+        <span class="n">box_height</span> <span class="o">=</span> <span class="p">(</span><span class="n">k</span> <span class="o">+</span> <span class="mi">2</span><span class="p">)</span> <span class="o">*</span> <span class="n">step_height</span>
+        <span class="c1"># generate the boxes</span>
+        <span class="c1"># top/bottom</span>
+        <span class="n">box_dims</span> <span class="o">=</span> <span class="p">(</span><span class="n">box_size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span> <span class="n">box_height</span><span class="p">)</span>
+        <span class="c1"># -- top</span>
+        <span class="n">box_pos</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="n">terrain_size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="mf">2.0</span> <span class="o">-</span> <span class="n">box_offset</span><span class="p">,</span> <span class="n">box_z</span><span class="p">)</span>
+        <span class="n">box_top</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dims</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">box_pos</span><span class="p">))</span>
+        <span class="c1"># -- bottom</span>
+        <span class="n">box_pos</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">terrain_size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="mf">2.0</span> <span class="o">+</span> <span class="n">box_offset</span><span class="p">,</span> <span class="n">box_z</span><span class="p">)</span>
+        <span class="n">box_bottom</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dims</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">box_pos</span><span class="p">))</span>
+        <span class="c1"># right/left</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">holes</span><span class="p">:</span>
+            <span class="n">box_dims</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span> <span class="n">box_size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">box_height</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">box_dims</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span> <span class="n">box_size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span> <span class="n">box_height</span><span class="p">)</span>
+        <span class="c1"># -- right</span>
+        <span class="n">box_pos</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">terrain_size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="mf">2.0</span> <span class="o">-</span> <span class="n">box_offset</span><span class="p">,</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">box_z</span><span class="p">)</span>
+        <span class="n">box_right</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dims</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">box_pos</span><span class="p">))</span>
+        <span class="c1"># -- left</span>
+        <span class="n">box_pos</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">terrain_size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="mf">2.0</span> <span class="o">+</span> <span class="n">box_offset</span><span class="p">,</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">box_z</span><span class="p">)</span>
+        <span class="n">box_left</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dims</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">box_pos</span><span class="p">))</span>
+        <span class="c1"># add the boxes to the list of meshes</span>
+        <span class="n">meshes_list</span> <span class="o">+=</span> <span class="p">[</span><span class="n">box_top</span><span class="p">,</span> <span class="n">box_bottom</span><span class="p">,</span> <span class="n">box_right</span><span class="p">,</span> <span class="n">box_left</span><span class="p">]</span>
+
+    <span class="c1"># generate final box for the middle of the terrain</span>
+    <span class="n">box_dims</span> <span class="o">=</span> <span class="p">(</span>
+        <span class="n">terrain_size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">num_steps</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span>
+        <span class="n">terrain_size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">num_steps</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span>
+        <span class="p">(</span><span class="n">num_steps</span> <span class="o">+</span> <span class="mi">2</span><span class="p">)</span> <span class="o">*</span> <span class="n">step_height</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">box_pos</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">+</span> <span class="n">num_steps</span> <span class="o">*</span> <span class="n">step_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">box_middle</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dims</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">box_pos</span><span class="p">))</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">box_middle</span><span class="p">)</span>
+    <span class="c1"># origin of the terrain</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="n">num_steps</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">step_height</span><span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">meshes_list</span><span class="p">,</span> <span class="n">origin</span></div>
+
+
+<div class="viewcode-block" id="inverted_pyramid_stairs_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain">[docs]</a><span class="k">def</span> <span class="nf">inverted_pyramid_stairs_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshInvertedPyramidStairsTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with a inverted pyramid stair pattern.</span>
+
+<span class="sd">    The terrain is an inverted pyramid stair pattern which trims to a flat platform at the center of the terrain.</span>
+
+<span class="sd">    If :obj:`cfg.holes` is True, the terrain will have pyramid stairs of length or width</span>
+<span class="sd">    :obj:`cfg.platform_width` (depending on the direction) with no steps in the remaining area. Additionally,</span>
+<span class="sd">    no border will be added.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/inverted_pyramid_stairs_terrain.jpg</span>
+<span class="sd">       :width: 45%</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/inverted_pyramid_stairs_terrain_with_holes.jpg</span>
+<span class="sd">       :width: 45%</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve the terrain configuration</span>
+    <span class="n">step_height</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">step_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1"># compute number of steps in x and y direction</span>
+    <span class="n">num_steps_x</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="p">(</span><span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">)</span> <span class="o">+</span> <span class="mi">1</span>
+    <span class="n">num_steps_y</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">//</span> <span class="p">(</span><span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">)</span> <span class="o">+</span> <span class="mi">1</span>
+    <span class="c1"># we take the minimum number of steps in x and y direction</span>
+    <span class="n">num_steps</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="nb">min</span><span class="p">(</span><span class="n">num_steps_x</span><span class="p">,</span> <span class="n">num_steps_y</span><span class="p">))</span>
+    <span class="c1"># total height of the terrain</span>
+    <span class="n">total_height</span> <span class="o">=</span> <span class="p">(</span><span class="n">num_steps</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">step_height</span>
+
+    <span class="c1"># initialize list of meshes</span>
+    <span class="n">meshes_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+
+    <span class="c1"># generate the border if needed</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span> <span class="o">&gt;</span> <span class="mf">0.0</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">cfg</span><span class="o">.</span><span class="n">holes</span><span class="p">:</span>
+        <span class="c1"># obtain a list of meshes for the border</span>
+        <span class="n">border_center</span> <span class="o">=</span> <span class="p">[</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">step_height</span><span class="p">]</span>
+        <span class="n">border_inner_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span><span class="p">)</span>
+        <span class="n">make_borders</span> <span class="o">=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">,</span> <span class="n">border_inner_size</span><span class="p">,</span> <span class="n">step_height</span><span class="p">,</span> <span class="n">border_center</span><span class="p">)</span>
+        <span class="c1"># add the border meshes to the list of meshes</span>
+        <span class="n">meshes_list</span> <span class="o">+=</span> <span class="n">make_borders</span>
+    <span class="c1"># generate the terrain</span>
+    <span class="c1"># -- compute the position of the center of the terrain</span>
+    <span class="n">terrain_center</span> <span class="o">=</span> <span class="p">[</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="mf">0.0</span><span class="p">]</span>
+    <span class="n">terrain_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">border_width</span><span class="p">)</span>
+    <span class="c1"># -- generate the stair pattern</span>
+    <span class="k">for</span> <span class="n">k</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_steps</span><span class="p">):</span>
+        <span class="c1"># check if we need to add holes around the steps</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">holes</span><span class="p">:</span>
+            <span class="n">box_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">box_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">k</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span> <span class="n">terrain_size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">k</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">)</span>
+        <span class="c1"># compute the quantities of the box</span>
+        <span class="c1"># -- location</span>
+        <span class="n">box_z</span> <span class="o">=</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">-</span> <span class="n">total_height</span> <span class="o">/</span> <span class="mi">2</span> <span class="o">-</span> <span class="p">(</span><span class="n">k</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">step_height</span> <span class="o">/</span> <span class="mf">2.0</span>
+        <span class="n">box_offset</span> <span class="o">=</span> <span class="p">(</span><span class="n">k</span> <span class="o">+</span> <span class="mf">0.5</span><span class="p">)</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span>
+        <span class="c1"># -- dimensions</span>
+        <span class="n">box_height</span> <span class="o">=</span> <span class="n">total_height</span> <span class="o">-</span> <span class="p">(</span><span class="n">k</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">step_height</span>
+        <span class="c1"># generate the boxes</span>
+        <span class="c1"># top/bottom</span>
+        <span class="n">box_dims</span> <span class="o">=</span> <span class="p">(</span><span class="n">box_size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span> <span class="n">box_height</span><span class="p">)</span>
+        <span class="c1"># -- top</span>
+        <span class="n">box_pos</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="n">terrain_size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="mf">2.0</span> <span class="o">-</span> <span class="n">box_offset</span><span class="p">,</span> <span class="n">box_z</span><span class="p">)</span>
+        <span class="n">box_top</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dims</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">box_pos</span><span class="p">))</span>
+        <span class="c1"># -- bottom</span>
+        <span class="n">box_pos</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">terrain_size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="mf">2.0</span> <span class="o">+</span> <span class="n">box_offset</span><span class="p">,</span> <span class="n">box_z</span><span class="p">)</span>
+        <span class="n">box_bottom</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dims</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">box_pos</span><span class="p">))</span>
+        <span class="c1"># right/left</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">holes</span><span class="p">:</span>
+            <span class="n">box_dims</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span> <span class="n">box_size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">box_height</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">box_dims</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span> <span class="n">box_size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span> <span class="n">box_height</span><span class="p">)</span>
+        <span class="c1"># -- right</span>
+        <span class="n">box_pos</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">terrain_size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="mf">2.0</span> <span class="o">-</span> <span class="n">box_offset</span><span class="p">,</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">box_z</span><span class="p">)</span>
+        <span class="n">box_right</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dims</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">box_pos</span><span class="p">))</span>
+        <span class="c1"># -- left</span>
+        <span class="n">box_pos</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">terrain_size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="mf">2.0</span> <span class="o">+</span> <span class="n">box_offset</span><span class="p">,</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">box_z</span><span class="p">)</span>
+        <span class="n">box_left</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dims</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">box_pos</span><span class="p">))</span>
+        <span class="c1"># add the boxes to the list of meshes</span>
+        <span class="n">meshes_list</span> <span class="o">+=</span> <span class="p">[</span><span class="n">box_top</span><span class="p">,</span> <span class="n">box_bottom</span><span class="p">,</span> <span class="n">box_right</span><span class="p">,</span> <span class="n">box_left</span><span class="p">]</span>
+    <span class="c1"># generate final box for the middle of the terrain</span>
+    <span class="n">box_dims</span> <span class="o">=</span> <span class="p">(</span>
+        <span class="n">terrain_size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">num_steps</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span>
+        <span class="n">terrain_size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">num_steps</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">step_width</span><span class="p">,</span>
+        <span class="n">step_height</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">box_pos</span> <span class="o">=</span> <span class="p">(</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">-</span> <span class="n">total_height</span> <span class="o">-</span> <span class="n">step_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">box_middle</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dims</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">box_pos</span><span class="p">))</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">box_middle</span><span class="p">)</span>
+    <span class="c1"># origin of the terrain</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="p">(</span><span class="n">num_steps</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">step_height</span><span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">meshes_list</span><span class="p">,</span> <span class="n">origin</span></div>
+
+
+<div class="viewcode-block" id="random_grid_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain">[docs]</a><span class="k">def</span> <span class="nf">random_grid_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshRandomGridTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with cells of random heights and fixed width.</span>
+
+<span class="sd">    The terrain is generated in the x-y plane and has a height of 1.0. It is then divided into a grid of the</span>
+<span class="sd">    specified size :obj:`cfg.grid_width`. Each grid cell is then randomly shifted in the z-direction by a value uniformly</span>
+<span class="sd">    sampled between :obj:`cfg.grid_height_range`. At the center of the terrain, a platform of the specified width</span>
+<span class="sd">    :obj:`cfg.platform_width` is generated.</span>
+
+<span class="sd">    If :obj:`cfg.holes` is True, the terrain will have randomized grid cells only along the plane extending</span>
+<span class="sd">    from the platform (like a plus sign). The remaining area remains empty and no border will be added.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/random_grid_terrain.jpg</span>
+<span class="sd">       :width: 45%</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/random_grid_terrain_with_holes.jpg</span>
+<span class="sd">       :width: 45%</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the terrain is not square. This method only supports square terrains.</span>
+<span class="sd">        RuntimeError: If the grid width is large such that the border width is negative.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check to ensure square terrain</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">!=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The terrain must be square. Received size: </span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+    <span class="c1"># resolve the terrain configuration</span>
+    <span class="n">grid_height</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">grid_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">grid_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">grid_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1"># initialize list of meshes</span>
+    <span class="n">meshes_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+    <span class="c1"># compute the number of boxes in each direction</span>
+    <span class="n">num_boxes_x</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">grid_width</span><span class="p">)</span>
+    <span class="n">num_boxes_y</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">grid_width</span><span class="p">)</span>
+    <span class="c1"># constant parameters</span>
+    <span class="n">terrain_height</span> <span class="o">=</span> <span class="mf">1.0</span>
+    <span class="n">device</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">device</span><span class="p">(</span><span class="s2">&quot;cuda&quot;</span><span class="p">)</span> <span class="k">if</span> <span class="n">torch</span><span class="o">.</span><span class="n">cuda</span><span class="o">.</span><span class="n">is_available</span><span class="p">()</span> <span class="k">else</span> <span class="n">torch</span><span class="o">.</span><span class="n">device</span><span class="p">(</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+
+    <span class="c1"># generate the border</span>
+    <span class="n">border_width</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="nb">min</span><span class="p">(</span><span class="n">num_boxes_x</span><span class="p">,</span> <span class="n">num_boxes_y</span><span class="p">)</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">grid_width</span>
+    <span class="k">if</span> <span class="n">border_width</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="c1"># compute parameters for the border</span>
+        <span class="n">border_center</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">terrain_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+        <span class="n">border_inner_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">border_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">border_width</span><span class="p">)</span>
+        <span class="c1"># create border meshes</span>
+        <span class="n">make_borders</span> <span class="o">=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">,</span> <span class="n">border_inner_size</span><span class="p">,</span> <span class="n">terrain_height</span><span class="p">,</span> <span class="n">border_center</span><span class="p">)</span>
+        <span class="n">meshes_list</span> <span class="o">+=</span> <span class="n">make_borders</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;Border width must be greater than 0! Adjust the parameter &#39;cfg.grid_width&#39;.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># create a template grid of terrain height</span>
+    <span class="n">grid_dim</span> <span class="o">=</span> <span class="p">[</span><span class="n">cfg</span><span class="o">.</span><span class="n">grid_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">grid_width</span><span class="p">,</span> <span class="n">terrain_height</span><span class="p">]</span>
+    <span class="n">grid_position</span> <span class="o">=</span> <span class="p">[</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">grid_width</span><span class="p">,</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">grid_width</span><span class="p">,</span> <span class="o">-</span><span class="n">terrain_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">]</span>
+    <span class="n">template_box</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">grid_dim</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">grid_position</span><span class="p">))</span>
+    <span class="c1"># extract vertices and faces of the box to create a template</span>
+    <span class="n">template_vertices</span> <span class="o">=</span> <span class="n">template_box</span><span class="o">.</span><span class="n">vertices</span>  <span class="c1"># (8, 3)</span>
+    <span class="n">template_faces</span> <span class="o">=</span> <span class="n">template_box</span><span class="o">.</span><span class="n">faces</span>
+
+    <span class="c1"># repeat the template box vertices to span the terrain (num_boxes_x * num_boxes_y, 8, 3)</span>
+    <span class="n">vertices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">template_vertices</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="n">num_boxes_x</span> <span class="o">*</span> <span class="n">num_boxes_y</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="c1"># create a meshgrid to offset the vertices</span>
+    <span class="n">x</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">num_boxes_x</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">y</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">num_boxes_y</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">xx</span><span class="p">,</span> <span class="n">yy</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">meshgrid</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">y</span><span class="p">,</span> <span class="n">indexing</span><span class="o">=</span><span class="s2">&quot;ij&quot;</span><span class="p">)</span>
+    <span class="n">xx</span> <span class="o">=</span> <span class="n">xx</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="n">yy</span> <span class="o">=</span> <span class="n">yy</span><span class="o">.</span><span class="n">flatten</span><span class="p">()</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="n">xx_yy</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">xx</span><span class="p">,</span> <span class="n">yy</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="c1"># offset the vertices</span>
+    <span class="n">offsets</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">grid_width</span> <span class="o">*</span> <span class="n">xx_yy</span> <span class="o">+</span> <span class="n">border_width</span> <span class="o">/</span> <span class="mi">2</span>
+    <span class="n">vertices</span><span class="p">[:,</span> <span class="p">:,</span> <span class="p">:</span><span class="mi">2</span><span class="p">]</span> <span class="o">+=</span> <span class="n">offsets</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+    <span class="c1"># mask the vertices to create holes, s.t. only grids along the x and y axis are present</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">holes</span><span class="p">:</span>
+        <span class="c1"># -- x-axis</span>
+        <span class="n">mask_x</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">logical_and</span><span class="p">(</span>
+            <span class="p">(</span><span class="n">vertices</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">border_width</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span><span class="o">.</span><span class="n">all</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+            <span class="p">(</span><span class="n">vertices</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">&lt;</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">border_width</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span><span class="o">.</span><span class="n">all</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+        <span class="p">)</span>
+        <span class="n">vertices_x</span> <span class="o">=</span> <span class="n">vertices</span><span class="p">[</span><span class="n">mask_x</span><span class="p">]</span>
+        <span class="c1"># -- y-axis</span>
+        <span class="n">mask_y</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">logical_and</span><span class="p">(</span>
+            <span class="p">(</span><span class="n">vertices</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">&gt;</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">border_width</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span><span class="o">.</span><span class="n">all</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+            <span class="p">(</span><span class="n">vertices</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">&lt;</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="n">border_width</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span><span class="o">.</span><span class="n">all</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+        <span class="p">)</span>
+        <span class="n">vertices_y</span> <span class="o">=</span> <span class="n">vertices</span><span class="p">[</span><span class="n">mask_y</span><span class="p">]</span>
+        <span class="c1"># -- combine these vertices</span>
+        <span class="n">vertices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">vertices_x</span><span class="p">,</span> <span class="n">vertices_y</span><span class="p">))</span>
+    <span class="c1"># add noise to the vertices to have a random height over each grid cell</span>
+    <span class="n">num_boxes</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">vertices</span><span class="p">)</span>
+    <span class="c1"># create noise for the z-axis</span>
+    <span class="n">h_noise</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">num_boxes</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">h_noise</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span><span class="o">.</span><span class="n">uniform_</span><span class="p">(</span><span class="o">-</span><span class="n">grid_height</span><span class="p">,</span> <span class="n">grid_height</span><span class="p">)</span>
+    <span class="c1"># reshape noise to match the vertices (num_boxes, 4, 3)</span>
+    <span class="c1"># only the top vertices of the box are affected</span>
+    <span class="n">vertices_noise</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">num_boxes</span><span class="p">,</span> <span class="mi">4</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">vertices_noise</span> <span class="o">+=</span> <span class="n">h_noise</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+    <span class="c1"># add height only to the top vertices of the box</span>
+    <span class="n">vertices</span><span class="p">[</span><span class="n">vertices</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">==</span> <span class="mi">0</span><span class="p">]</span> <span class="o">+=</span> <span class="n">vertices_noise</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+    <span class="c1"># move to numpy</span>
+    <span class="n">vertices</span> <span class="o">=</span> <span class="n">vertices</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+
+    <span class="c1"># create faces for boxes (num_boxes, 12, 3). Each box has 6 faces, each face has 2 triangles.</span>
+    <span class="n">faces</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">template_faces</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="n">num_boxes</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="n">face_offsets</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">num_boxes</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">12</span><span class="p">)</span> <span class="o">*</span> <span class="mi">8</span>
+    <span class="n">faces</span> <span class="o">+=</span> <span class="n">face_offsets</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
+    <span class="c1"># move to numpy</span>
+    <span class="n">faces</span> <span class="o">=</span> <span class="n">faces</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+    <span class="c1"># convert to trimesh</span>
+    <span class="n">grid_mesh</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">(</span><span class="n">vertices</span><span class="o">=</span><span class="n">vertices</span><span class="p">,</span> <span class="n">faces</span><span class="o">=</span><span class="n">faces</span><span class="p">)</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">grid_mesh</span><span class="p">)</span>
+
+    <span class="c1"># add a platform in the center of the terrain that is accessible from all sides</span>
+    <span class="n">dim</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">terrain_height</span> <span class="o">+</span> <span class="n">grid_height</span><span class="p">)</span>
+    <span class="n">pos</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">terrain_height</span> <span class="o">/</span> <span class="mi">2</span> <span class="o">+</span> <span class="n">grid_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">box_platform</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">dim</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">pos</span><span class="p">))</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">box_platform</span><span class="p">)</span>
+
+    <span class="c1"># specify the origin of the terrain</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">grid_height</span><span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">meshes_list</span><span class="p">,</span> <span class="n">origin</span></div>
+
+
+<div class="viewcode-block" id="rails_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain">[docs]</a><span class="k">def</span> <span class="nf">rails_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshRailsTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with box rails as extrusions.</span>
+
+<span class="sd">    The terrain contains two sets of box rails created as extrusions. The first set  (inner rails) is extruded from</span>
+<span class="sd">    the platform at the center of the terrain, and the second set is extruded between the first set of rails</span>
+<span class="sd">    and the terrain border. Each set of rails is extruded to the same height.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/rails_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+<span class="sd">       :align: center</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. this is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve the terrain configuration</span>
+    <span class="n">rail_height</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rail_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">rail_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rail_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1"># initialize list of meshes</span>
+    <span class="n">meshes_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+    <span class="c1"># extract quantities</span>
+    <span class="n">rail_1_thickness</span><span class="p">,</span> <span class="n">rail_2_thickness</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">rail_thickness_range</span>
+    <span class="n">rail_center</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">rail_height</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">)</span>
+    <span class="c1"># constants for terrain generation</span>
+    <span class="n">terrain_height</span> <span class="o">=</span> <span class="mf">1.0</span>
+    <span class="n">rail_2_ratio</span> <span class="o">=</span> <span class="mf">0.6</span>
+
+    <span class="c1"># generate first set of rails</span>
+    <span class="n">rail_1_inner_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span>
+    <span class="n">rail_1_outer_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="n">rail_1_thickness</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="n">rail_1_thickness</span><span class="p">)</span>
+    <span class="n">meshes_list</span> <span class="o">+=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">rail_1_outer_size</span><span class="p">,</span> <span class="n">rail_1_inner_size</span><span class="p">,</span> <span class="n">rail_height</span><span class="p">,</span> <span class="n">rail_center</span><span class="p">)</span>
+    <span class="c1"># generate second set of rails</span>
+    <span class="n">rail_2_inner_x</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">*</span> <span class="n">rail_2_ratio</span>
+    <span class="n">rail_2_inner_y</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">*</span> <span class="n">rail_2_ratio</span>
+    <span class="n">rail_2_inner_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">rail_2_inner_x</span><span class="p">,</span> <span class="n">rail_2_inner_y</span><span class="p">)</span>
+    <span class="n">rail_2_outer_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">rail_2_inner_x</span> <span class="o">+</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="n">rail_2_thickness</span><span class="p">,</span> <span class="n">rail_2_inner_y</span> <span class="o">+</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="n">rail_2_thickness</span><span class="p">)</span>
+    <span class="n">meshes_list</span> <span class="o">+=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">rail_2_outer_size</span><span class="p">,</span> <span class="n">rail_2_inner_size</span><span class="p">,</span> <span class="n">rail_height</span><span class="p">,</span> <span class="n">rail_center</span><span class="p">)</span>
+    <span class="c1"># generate the ground</span>
+    <span class="n">dim</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">terrain_height</span><span class="p">)</span>
+    <span class="n">pos</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">terrain_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">ground_meshes</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">dim</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">pos</span><span class="p">))</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">ground_meshes</span><span class="p">)</span>
+
+    <span class="c1"># specify the origin of the terrain</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">pos</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">pos</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="mf">0.0</span><span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">meshes_list</span><span class="p">,</span> <span class="n">origin</span></div>
+
+
+<div class="viewcode-block" id="pit_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain">[docs]</a><span class="k">def</span> <span class="nf">pit_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshPitTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with a pit with levels (stairs) leading out of the pit.</span>
+
+<span class="sd">    The terrain contains a platform at the center and a staircase leading out of the pit.</span>
+<span class="sd">    The staircase is a series of steps that are aligned along the x- and y- axis. The steps are</span>
+<span class="sd">    created by extruding a ring along the x- and y- axis. If :obj:`is_double_pit` is True, the pit</span>
+<span class="sd">    contains two levels.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/pit_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/pit_terrain_with_two_levels.jpg</span>
+<span class="sd">       :width: 40%</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve the terrain configuration</span>
+    <span class="n">pit_depth</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">pit_depth_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">pit_depth_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">pit_depth_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1"># initialize list of meshes</span>
+    <span class="n">meshes_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+    <span class="c1"># extract quantities</span>
+    <span class="n">inner_pit_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span>
+    <span class="n">total_depth</span> <span class="o">=</span> <span class="n">pit_depth</span>
+    <span class="c1"># constants for terrain generation</span>
+    <span class="n">terrain_height</span> <span class="o">=</span> <span class="mf">1.0</span>
+    <span class="n">ring_2_ratio</span> <span class="o">=</span> <span class="mf">0.6</span>
+
+    <span class="c1"># if the pit is double, the inner ring is smaller to fit the second level</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">double_pit</span><span class="p">:</span>
+        <span class="c1"># increase the total height of the pit</span>
+        <span class="n">total_depth</span> <span class="o">*=</span> <span class="mf">2.0</span>
+        <span class="c1"># reduce the size of the inner ring</span>
+        <span class="n">inner_pit_x</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">*</span> <span class="n">ring_2_ratio</span>
+        <span class="n">inner_pit_y</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">*</span> <span class="n">ring_2_ratio</span>
+        <span class="n">inner_pit_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">inner_pit_x</span><span class="p">,</span> <span class="n">inner_pit_y</span><span class="p">)</span>
+
+    <span class="c1"># generate the pit (outer ring)</span>
+    <span class="n">pit_center</span> <span class="o">=</span> <span class="p">[</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">total_depth</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">]</span>
+    <span class="n">meshes_list</span> <span class="o">+=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">,</span> <span class="n">inner_pit_size</span><span class="p">,</span> <span class="n">total_depth</span><span class="p">,</span> <span class="n">pit_center</span><span class="p">)</span>
+    <span class="c1"># generate the second level of the pit (inner ring)</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">double_pit</span><span class="p">:</span>
+        <span class="n">pit_center</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">total_depth</span>
+        <span class="n">meshes_list</span> <span class="o">+=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">inner_pit_size</span><span class="p">,</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">),</span> <span class="n">total_depth</span><span class="p">,</span> <span class="n">pit_center</span><span class="p">)</span>
+    <span class="c1"># generate the ground</span>
+    <span class="n">dim</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">terrain_height</span><span class="p">)</span>
+    <span class="n">pos</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">total_depth</span> <span class="o">-</span> <span class="n">terrain_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">ground_meshes</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">dim</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">pos</span><span class="p">))</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">ground_meshes</span><span class="p">)</span>
+
+    <span class="c1"># specify the origin of the terrain</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">pos</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">pos</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">total_depth</span><span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">meshes_list</span><span class="p">,</span> <span class="n">origin</span></div>
+
+
+<div class="viewcode-block" id="box_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain">[docs]</a><span class="k">def</span> <span class="nf">box_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshBoxTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with boxes (similar to a pyramid).</span>
+
+<span class="sd">    The terrain has a ground with boxes on top of it that are stacked on top of each other.</span>
+<span class="sd">    The boxes are created by extruding a rectangle along the z-axis. If :obj:`double_box` is True,</span>
+<span class="sd">    then two boxes of height :obj:`box_height` are stacked on top of each other.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/box_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/box_terrain_with_two_boxes.jpg</span>
+<span class="sd">       :width: 40%</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve the terrain configuration</span>
+    <span class="n">box_height</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">box_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">box_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">box_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1"># initialize list of meshes</span>
+    <span class="n">meshes_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+    <span class="c1"># extract quantities</span>
+    <span class="n">total_height</span> <span class="o">=</span> <span class="n">box_height</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">double_box</span><span class="p">:</span>
+        <span class="n">total_height</span> <span class="o">*=</span> <span class="mf">2.0</span>
+    <span class="c1"># constants for terrain generation</span>
+    <span class="n">terrain_height</span> <span class="o">=</span> <span class="mf">1.0</span>
+    <span class="n">box_2_ratio</span> <span class="o">=</span> <span class="mf">0.6</span>
+
+    <span class="c1"># Generate the top box</span>
+    <span class="n">dim</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">terrain_height</span> <span class="o">+</span> <span class="n">total_height</span><span class="p">)</span>
+    <span class="n">pos</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="n">total_height</span> <span class="o">-</span> <span class="n">terrain_height</span><span class="p">)</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">box_mesh</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">dim</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">pos</span><span class="p">))</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">box_mesh</span><span class="p">)</span>
+    <span class="c1"># Generate the lower box</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">double_box</span><span class="p">:</span>
+        <span class="c1"># calculate the size of the lower box</span>
+        <span class="n">outer_box_x</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">*</span> <span class="n">box_2_ratio</span>
+        <span class="n">outer_box_y</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span> <span class="o">*</span> <span class="n">box_2_ratio</span>
+        <span class="c1"># create the lower box</span>
+        <span class="n">dim</span> <span class="o">=</span> <span class="p">(</span><span class="n">outer_box_x</span><span class="p">,</span> <span class="n">outer_box_y</span><span class="p">,</span> <span class="n">terrain_height</span> <span class="o">+</span> <span class="n">total_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+        <span class="n">pos</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="p">(</span><span class="n">total_height</span> <span class="o">-</span> <span class="n">terrain_height</span><span class="p">)</span> <span class="o">/</span> <span class="mi">2</span> <span class="o">-</span> <span class="n">total_height</span> <span class="o">/</span> <span class="mi">4</span><span class="p">)</span>
+        <span class="n">box_mesh</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">dim</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">pos</span><span class="p">))</span>
+        <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">box_mesh</span><span class="p">)</span>
+    <span class="c1"># Generate the ground</span>
+    <span class="n">pos</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">terrain_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">dim</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">terrain_height</span><span class="p">)</span>
+    <span class="n">ground_mesh</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">dim</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">pos</span><span class="p">))</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">ground_mesh</span><span class="p">)</span>
+
+    <span class="c1"># specify the origin of the terrain</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">pos</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">pos</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">total_height</span><span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">meshes_list</span><span class="p">,</span> <span class="n">origin</span></div>
+
+
+<div class="viewcode-block" id="gap_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain">[docs]</a><span class="k">def</span> <span class="nf">gap_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshGapTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with a gap around the platform.</span>
+
+<span class="sd">    The terrain has a ground with a platform in the middle. The platform is surrounded by a gap</span>
+<span class="sd">    of width :obj:`gap_width` on all sides.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/gap_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+<span class="sd">       :align: center</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve the terrain configuration</span>
+    <span class="n">gap_width</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">gap_width_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">gap_width_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">gap_width_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1"># initialize list of meshes</span>
+    <span class="n">meshes_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+    <span class="c1"># constants for terrain generation</span>
+    <span class="n">terrain_height</span> <span class="o">=</span> <span class="mf">1.0</span>
+    <span class="n">terrain_center</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">terrain_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+
+    <span class="c1"># Generate the outer ring</span>
+    <span class="n">inner_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">gap_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">gap_width</span><span class="p">)</span>
+    <span class="n">meshes_list</span> <span class="o">+=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">,</span> <span class="n">inner_size</span><span class="p">,</span> <span class="n">terrain_height</span><span class="p">,</span> <span class="n">terrain_center</span><span class="p">)</span>
+    <span class="c1"># Generate the inner box</span>
+    <span class="n">box_dim</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">terrain_height</span><span class="p">)</span>
+    <span class="n">box</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">box_dim</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">terrain_center</span><span class="p">))</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">box</span><span class="p">)</span>
+
+    <span class="c1"># specify the origin of the terrain</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="n">terrain_center</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">terrain_center</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="mf">0.0</span><span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">meshes_list</span><span class="p">,</span> <span class="n">origin</span></div>
+
+
+<div class="viewcode-block" id="floating_ring_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain">[docs]</a><span class="k">def</span> <span class="nf">floating_ring_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshFloatingRingTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with a floating square ring.</span>
+
+<span class="sd">    The terrain has a ground with a floating ring in the middle. The ring extends from the center from</span>
+<span class="sd">    :obj:`platform_width` to :obj:`platform_width` + :obj:`ring_width` in the x and y directions.</span>
+<span class="sd">    The thickness of the ring is :obj:`ring_thickness` and the height of the ring from the terrain</span>
+<span class="sd">    is :obj:`ring_height`.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/floating_ring_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+<span class="sd">       :align: center</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve the terrain configuration</span>
+    <span class="n">ring_height</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">ring_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">ring_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">ring_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+    <span class="n">ring_width</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">ring_width_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">ring_width_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">ring_width_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1"># initialize list of meshes</span>
+    <span class="n">meshes_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+    <span class="c1"># constants for terrain generation</span>
+    <span class="n">terrain_height</span> <span class="o">=</span> <span class="mf">1.0</span>
+
+    <span class="c1"># Generate the floating ring</span>
+    <span class="n">ring_center</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">ring_height</span> <span class="o">+</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">ring_thickness</span><span class="p">)</span>
+    <span class="n">ring_outer_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">ring_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">+</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">ring_width</span><span class="p">)</span>
+    <span class="n">ring_inner_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">)</span>
+    <span class="n">meshes_list</span> <span class="o">+=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">ring_outer_size</span><span class="p">,</span> <span class="n">ring_inner_size</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">ring_thickness</span><span class="p">,</span> <span class="n">ring_center</span><span class="p">)</span>
+    <span class="c1"># Generate the ground</span>
+    <span class="n">dim</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">terrain_height</span><span class="p">)</span>
+    <span class="n">pos</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">terrain_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">ground</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">dim</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">pos</span><span class="p">))</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">ground</span><span class="p">)</span>
+
+    <span class="c1"># specify the origin of the terrain</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="n">pos</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">pos</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="mf">0.0</span><span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">meshes_list</span><span class="p">,</span> <span class="n">origin</span></div>
+
+
+<div class="viewcode-block" id="star_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain">[docs]</a><span class="k">def</span> <span class="nf">star_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshStarTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with a star.</span>
+
+<span class="sd">    The terrain has a ground with a cylinder in the middle. The star is made of :obj:`num_bars` bars</span>
+<span class="sd">    with a width of :obj:`bar_width` and a height of :obj:`bar_height`. The bars are evenly</span>
+<span class="sd">    spaced around the cylinder and connect to the peripheral of the terrain.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/star_terrain.jpg</span>
+<span class="sd">       :width: 40%</span>
+<span class="sd">       :align: center</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If :obj:`num_bars` is less than 2.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check the number of bars</span>
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">num_bars</span> <span class="o">&lt;</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The number of bars in the star must be greater than 2. Received: </span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_bars</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="c1"># resolve the terrain configuration</span>
+    <span class="n">bar_height</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">bar_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">bar_height_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">bar_height_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+    <span class="n">bar_width</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">bar_width_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">bar_width_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">bar_width_range</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+
+    <span class="c1"># initialize list of meshes</span>
+    <span class="n">meshes_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+    <span class="c1"># Generate a platform in the middle</span>
+    <span class="n">platform_center</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">bar_height</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">platform_transform</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">platform_center</span><span class="p">)</span>
+    <span class="n">platform</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">cylinder</span><span class="p">(</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">,</span> <span class="n">bar_height</span><span class="p">,</span> <span class="n">sections</span><span class="o">=</span><span class="mi">2</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">num_bars</span><span class="p">,</span> <span class="n">transform</span><span class="o">=</span><span class="n">platform_transform</span>
+    <span class="p">)</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">platform</span><span class="p">)</span>
+    <span class="c1"># Generate bars to connect the platform to the terrain</span>
+    <span class="n">transform</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">eye</span><span class="p">(</span><span class="mi">4</span><span class="p">)</span>
+    <span class="n">transform</span><span class="p">[:</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">platform_center</span><span class="p">)</span>
+    <span class="n">yaw</span> <span class="o">=</span> <span class="mf">0.0</span>
+    <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">num_bars</span><span class="p">):</span>
+        <span class="c1"># compute the length of the bar based on the yaw</span>
+        <span class="c1"># length changes since the bar is connected to a square border</span>
+        <span class="n">bar_length</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="k">if</span> <span class="n">yaw</span> <span class="o">&lt;</span> <span class="mf">0.25</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span><span class="p">:</span>
+            <span class="n">bar_length</span> <span class="o">/=</span> <span class="n">np</span><span class="o">.</span><span class="n">math</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">yaw</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="n">yaw</span> <span class="o">&lt;</span> <span class="mf">0.75</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span><span class="p">:</span>
+            <span class="n">bar_length</span> <span class="o">/=</span> <span class="n">np</span><span class="o">.</span><span class="n">math</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">yaw</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">bar_length</span> <span class="o">/=</span> <span class="n">np</span><span class="o">.</span><span class="n">math</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">-</span> <span class="n">yaw</span><span class="p">)</span>
+        <span class="c1"># compute the transform of the bar</span>
+        <span class="n">transform</span><span class="p">[</span><span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="n">tf</span><span class="o">.</span><span class="n">Rotation</span><span class="o">.</span><span class="n">from_euler</span><span class="p">(</span><span class="s2">&quot;z&quot;</span><span class="p">,</span> <span class="n">yaw</span><span class="p">)</span><span class="o">.</span><span class="n">as_matrix</span><span class="p">()</span>
+        <span class="c1"># add the bar to the mesh</span>
+        <span class="n">dim</span> <span class="o">=</span> <span class="p">[</span><span class="n">bar_length</span> <span class="o">-</span> <span class="n">bar_width</span><span class="p">,</span> <span class="n">bar_width</span><span class="p">,</span> <span class="n">bar_height</span><span class="p">]</span>
+        <span class="n">bar</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">dim</span><span class="p">,</span> <span class="n">transform</span><span class="p">)</span>
+        <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">bar</span><span class="p">)</span>
+        <span class="c1"># increment the yaw</span>
+        <span class="n">yaw</span> <span class="o">+=</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="n">cfg</span><span class="o">.</span><span class="n">num_bars</span>
+    <span class="c1"># Generate the exterior border</span>
+    <span class="n">inner_size</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">bar_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">bar_width</span><span class="p">)</span>
+    <span class="n">meshes_list</span> <span class="o">+=</span> <span class="n">make_border</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">,</span> <span class="n">inner_size</span><span class="p">,</span> <span class="n">bar_height</span><span class="p">,</span> <span class="n">platform_center</span><span class="p">)</span>
+    <span class="c1"># Generate the ground</span>
+    <span class="n">ground</span> <span class="o">=</span> <span class="n">make_plane</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">,</span> <span class="o">-</span><span class="n">bar_height</span><span class="p">,</span> <span class="n">center_zero</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">ground</span><span class="p">)</span>
+    <span class="c1"># specify the origin of the terrain</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="mf">0.0</span><span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">meshes_list</span><span class="p">,</span> <span class="n">origin</span></div>
+
+
+<div class="viewcode-block" id="repeated_objects_terrain"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain">[docs]</a><span class="k">def</span> <span class="nf">repeated_objects_terrain</span><span class="p">(</span>
+    <span class="n">difficulty</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">mesh_terrains_cfg</span><span class="o">.</span><span class="n">MeshRepeatedObjectsTerrainCfg</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Generate a terrain with a set of repeated objects.</span>
+
+<span class="sd">    The terrain has a ground with a platform in the middle. The objects are randomly placed on the</span>
+<span class="sd">    terrain s.t. they do not overlap with the platform.</span>
+
+<span class="sd">    Depending on the object type, the objects are generated with different parameters. The objects</span>
+<span class="sd">    The types of objects that can be generated are: ``&quot;cylinder&quot;``, ``&quot;box&quot;``, ``&quot;cone&quot;``.</span>
+
+<span class="sd">    The object parameters are specified in the configuration as curriculum parameters. The difficulty</span>
+<span class="sd">    is used to linearly interpolate between the minimum and maximum values of the parameters.</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/repeated_objects_cylinder_terrain.jpg</span>
+<span class="sd">       :width: 30%</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/repeated_objects_box_terrain.jpg</span>
+<span class="sd">       :width: 30%</span>
+
+<span class="sd">    .. image:: ../../_static/terrains/trimesh/repeated_objects_pyramid_terrain.jpg</span>
+<span class="sd">       :width: 30%</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        difficulty: The difficulty of the terrain. This is a value between 0 and 1.</span>
+<span class="sd">        cfg: The configuration for the terrain.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the object type is not supported. It must be either a string or a callable.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># import the object functions -- this is done here to avoid circular imports</span>
+    <span class="kn">from</span> <span class="nn">.mesh_terrains_cfg</span> <span class="kn">import</span> <span class="p">(</span>
+        <span class="n">MeshRepeatedBoxesTerrainCfg</span><span class="p">,</span>
+        <span class="n">MeshRepeatedCylindersTerrainCfg</span><span class="p">,</span>
+        <span class="n">MeshRepeatedPyramidsTerrainCfg</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="c1"># if object type is a string, get the function: make_{object_type}</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">object_type</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+        <span class="n">object_func</span> <span class="o">=</span> <span class="nb">globals</span><span class="p">()</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;make_</span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">object_type</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">object_func</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">object_type</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="nb">callable</span><span class="p">(</span><span class="n">object_func</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The attribute &#39;object_type&#39; must be a string or a callable. Received: </span><span class="si">{</span><span class="n">object_func</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Resolve the terrain configuration</span>
+    <span class="c1"># -- pass parameters to make calling simpler</span>
+    <span class="n">cp_0</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">object_params_start</span>
+    <span class="n">cp_1</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">object_params_end</span>
+    <span class="c1"># -- common parameters</span>
+    <span class="n">num_objects</span> <span class="o">=</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">num_objects</span> <span class="o">+</span> <span class="nb">int</span><span class="p">(</span><span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cp_1</span><span class="o">.</span><span class="n">num_objects</span> <span class="o">-</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">num_objects</span><span class="p">))</span>
+    <span class="n">height</span> <span class="o">=</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">height</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cp_1</span><span class="o">.</span><span class="n">height</span> <span class="o">-</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">height</span><span class="p">)</span>
+    <span class="c1"># -- object specific parameters</span>
+    <span class="c1"># note: SIM114 requires duplicated logical blocks under a single body.</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">MeshRepeatedBoxesTerrainCfg</span><span class="p">):</span>
+        <span class="n">cp_0</span><span class="p">:</span> <span class="n">MeshRepeatedBoxesTerrainCfg</span><span class="o">.</span><span class="n">ObjectCfg</span>
+        <span class="n">cp_1</span><span class="p">:</span> <span class="n">MeshRepeatedBoxesTerrainCfg</span><span class="o">.</span><span class="n">ObjectCfg</span>
+        <span class="n">object_kwargs</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="s2">&quot;length&quot;</span><span class="p">:</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cp_1</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">]),</span>
+            <span class="s2">&quot;width&quot;</span><span class="p">:</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cp_1</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">]),</span>
+            <span class="s2">&quot;max_yx_angle&quot;</span><span class="p">:</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">max_yx_angle</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cp_1</span><span class="o">.</span><span class="n">max_yx_angle</span> <span class="o">-</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">max_yx_angle</span><span class="p">),</span>
+            <span class="s2">&quot;degrees&quot;</span><span class="p">:</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">degrees</span><span class="p">,</span>
+        <span class="p">}</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">MeshRepeatedPyramidsTerrainCfg</span><span class="p">):</span>  <span class="c1"># noqa: SIM114</span>
+        <span class="n">cp_0</span><span class="p">:</span> <span class="n">MeshRepeatedPyramidsTerrainCfg</span><span class="o">.</span><span class="n">ObjectCfg</span>
+        <span class="n">cp_1</span><span class="p">:</span> <span class="n">MeshRepeatedPyramidsTerrainCfg</span><span class="o">.</span><span class="n">ObjectCfg</span>
+        <span class="n">object_kwargs</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="s2">&quot;radius&quot;</span><span class="p">:</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">radius</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cp_1</span><span class="o">.</span><span class="n">radius</span> <span class="o">-</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">radius</span><span class="p">),</span>
+            <span class="s2">&quot;max_yx_angle&quot;</span><span class="p">:</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">max_yx_angle</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cp_1</span><span class="o">.</span><span class="n">max_yx_angle</span> <span class="o">-</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">max_yx_angle</span><span class="p">),</span>
+            <span class="s2">&quot;degrees&quot;</span><span class="p">:</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">degrees</span><span class="p">,</span>
+        <span class="p">}</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">MeshRepeatedCylindersTerrainCfg</span><span class="p">):</span>  <span class="c1"># noqa: SIM114</span>
+        <span class="n">cp_0</span><span class="p">:</span> <span class="n">MeshRepeatedCylindersTerrainCfg</span><span class="o">.</span><span class="n">ObjectCfg</span>
+        <span class="n">cp_1</span><span class="p">:</span> <span class="n">MeshRepeatedCylindersTerrainCfg</span><span class="o">.</span><span class="n">ObjectCfg</span>
+        <span class="n">object_kwargs</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="s2">&quot;radius&quot;</span><span class="p">:</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">radius</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cp_1</span><span class="o">.</span><span class="n">radius</span> <span class="o">-</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">radius</span><span class="p">),</span>
+            <span class="s2">&quot;max_yx_angle&quot;</span><span class="p">:</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">max_yx_angle</span> <span class="o">+</span> <span class="n">difficulty</span> <span class="o">*</span> <span class="p">(</span><span class="n">cp_1</span><span class="o">.</span><span class="n">max_yx_angle</span> <span class="o">-</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">max_yx_angle</span><span class="p">),</span>
+            <span class="s2">&quot;degrees&quot;</span><span class="p">:</span> <span class="n">cp_0</span><span class="o">.</span><span class="n">degrees</span><span class="p">,</span>
+        <span class="p">}</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unknown terrain configuration: </span><span class="si">{</span><span class="n">cfg</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="c1"># constants for the terrain</span>
+    <span class="n">platform_clearance</span> <span class="o">=</span> <span class="mf">0.1</span>
+
+    <span class="c1"># initialize list of meshes</span>
+    <span class="n">meshes_list</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+    <span class="c1"># compute quantities</span>
+    <span class="n">origin</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">((</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">height</span><span class="p">))</span>
+    <span class="n">platform_corners</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span>
+        <span class="p">[</span><span class="n">origin</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="n">origin</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">/</span> <span class="mi">2</span><span class="p">],</span>
+        <span class="p">[</span><span class="n">origin</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="n">origin</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span> <span class="o">/</span> <span class="mi">2</span><span class="p">],</span>
+    <span class="p">])</span>
+    <span class="n">platform_corners</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="p">:]</span> <span class="o">*=</span> <span class="mi">1</span> <span class="o">-</span> <span class="n">platform_clearance</span>
+    <span class="n">platform_corners</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="p">:]</span> <span class="o">*=</span> <span class="mi">1</span> <span class="o">+</span> <span class="n">platform_clearance</span>
+    <span class="c1"># sample center for objects</span>
+    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
+        <span class="n">object_centers</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">num_objects</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+        <span class="n">object_centers</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">num_objects</span><span class="p">)</span>
+        <span class="n">object_centers</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">num_objects</span><span class="p">)</span>
+        <span class="c1"># filter out the centers that are on the platform</span>
+        <span class="n">is_within_platform_x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">logical_and</span><span class="p">(</span>
+            <span class="n">object_centers</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">&gt;=</span> <span class="n">platform_corners</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">object_centers</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">&lt;=</span> <span class="n">platform_corners</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+        <span class="p">)</span>
+        <span class="n">is_within_platform_y</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">logical_and</span><span class="p">(</span>
+            <span class="n">object_centers</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">&gt;=</span> <span class="n">platform_corners</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="n">object_centers</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">&lt;=</span> <span class="n">platform_corners</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+        <span class="p">)</span>
+        <span class="n">masks</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">logical_and</span><span class="p">(</span><span class="n">is_within_platform_x</span><span class="p">,</span> <span class="n">is_within_platform_y</span><span class="p">)</span>
+        <span class="c1"># if there are no objects on the platform, break</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">np</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">masks</span><span class="p">):</span>
+            <span class="k">break</span>
+
+    <span class="c1"># generate obstacles (but keep platform clean)</span>
+    <span class="k">for</span> <span class="n">index</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">object_centers</span><span class="p">)):</span>
+        <span class="c1"># randomize the height of the object</span>
+        <span class="n">ob_height</span> <span class="o">=</span> <span class="n">height</span> <span class="o">+</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span><span class="o">-</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_height_noise</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">max_height_noise</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">ob_height</span> <span class="o">&gt;</span> <span class="mf">0.0</span><span class="p">:</span>
+            <span class="n">object_mesh</span> <span class="o">=</span> <span class="n">object_func</span><span class="p">(</span><span class="n">center</span><span class="o">=</span><span class="n">object_centers</span><span class="p">[</span><span class="n">index</span><span class="p">],</span> <span class="n">height</span><span class="o">=</span><span class="n">ob_height</span><span class="p">,</span> <span class="o">**</span><span class="n">object_kwargs</span><span class="p">)</span>
+            <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">object_mesh</span><span class="p">)</span>
+
+    <span class="c1"># generate a ground plane for the terrain</span>
+    <span class="n">ground_plane</span> <span class="o">=</span> <span class="n">make_plane</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">center_zero</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">ground_plane</span><span class="p">)</span>
+    <span class="c1"># generate a platform in the middle</span>
+    <span class="n">dim</span> <span class="o">=</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="n">cfg</span><span class="o">.</span><span class="n">platform_width</span><span class="p">,</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">height</span><span class="p">)</span>
+    <span class="n">pos</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">size</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="mf">0.25</span> <span class="o">*</span> <span class="n">height</span><span class="p">)</span>
+    <span class="n">platform</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">creation</span><span class="o">.</span><span class="n">box</span><span class="p">(</span><span class="n">dim</span><span class="p">,</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">transformations</span><span class="o">.</span><span class="n">translation_matrix</span><span class="p">(</span><span class="n">pos</span><span class="p">))</span>
+    <span class="n">meshes_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">platform</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">meshes_list</span><span class="p">,</span> <span class="n">origin</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html b/v1.4.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
new file mode 100644
index 0000000000..6c729871f0
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+++ b/v1.4.0/_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html
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+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+<ul class="nav bd-sidenav">
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
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+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <h1>Source code for omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.terrains.trimesh.mesh_terrains</span> <span class="k">as</span> <span class="nn">mesh_terrains</span>
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.terrains.trimesh.utils</span> <span class="k">as</span> <span class="nn">mesh_utils_terrains</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">..terrain_generator_cfg</span> <span class="kn">import</span> <span class="n">SubTerrainBaseCfg</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Different trimesh terrain configurations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="MeshPlaneTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshPlaneTerrainCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a plane mesh terrain.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">flat_terrain</span></div>
+
+
+<div class="viewcode-block" id="MeshPyramidStairsTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshPyramidStairsTerrainCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a pyramid stair mesh terrain.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">pyramid_stairs_terrain</span>
+
+    <span class="n">border_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the border around the terrain (in m). Defaults to 0.0.</span>
+
+<span class="sd">    The border is a flat terrain with the same height as the terrain.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">step_height_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum height of the steps (in m).&quot;&quot;&quot;</span>
+    <span class="n">step_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the steps (in m).&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span>
+    <span class="n">holes</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;If True, the terrain will have holes in the steps. Defaults to False.</span>
+
+<span class="sd">    If :obj:`holes` is True, the terrain will have pyramid stairs of length or width</span>
+<span class="sd">    :obj:`platform_width` (depending on the direction) with no steps in the remaining area. Additionally,</span>
+<span class="sd">    no border will be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshInvertedPyramidStairsTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshInvertedPyramidStairsTerrainCfg</span><span class="p">(</span><span class="n">MeshPyramidStairsTerrainCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an inverted pyramid stair mesh terrain.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This is the same as :class:`MeshPyramidStairsTerrainCfg` except that the steps are inverted.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">inverted_pyramid_stairs_terrain</span></div>
+
+
+<div class="viewcode-block" id="MeshRandomGridTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshRandomGridTerrainCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a random grid mesh terrain.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">random_grid_terrain</span>
+
+    <span class="n">grid_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the grid cells (in m).&quot;&quot;&quot;</span>
+    <span class="n">grid_height_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum height of the grid cells (in m).&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span>
+    <span class="n">holes</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;If True, the terrain will have holes in the steps. Defaults to False.</span>
+
+<span class="sd">    If :obj:`holes` is True, the terrain will have randomized grid cells only along the plane extending</span>
+<span class="sd">    from the platform (like a plus sign). The remaining area remains empty and no border will be added.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshRailsTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshRailsTerrainCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a terrain with box rails as extrusions.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">rails_terrain</span>
+
+    <span class="n">rail_thickness_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The thickness of the inner and outer rails (in m).&quot;&quot;&quot;</span>
+    <span class="n">rail_height_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum height of the rails (in m).&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshPitTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshPitTerrainCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a terrain with a pit that leads out of the pit.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">pit_terrain</span>
+
+    <span class="n">pit_depth_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum height of the pit (in m).&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span>
+    <span class="n">double_pit</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;If True, the pit contains two levels of stairs. Defaults to False.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshBoxTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshBoxTerrainCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a terrain with boxes (similar to a pyramid).&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">box_terrain</span>
+
+    <span class="n">box_height_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum height of the box (in m).&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span>
+    <span class="n">double_box</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;If True, the pit contains two levels of stairs/boxes. Defaults to False.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshGapTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshGapTerrainCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a terrain with a gap around the platform.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">gap_terrain</span>
+
+    <span class="n">gap_width_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum width of the gap (in m).&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshFloatingRingTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshFloatingRingTerrainCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a terrain with a floating ring around the center.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">floating_ring_terrain</span>
+
+    <span class="n">ring_width_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum width of the ring (in m).&quot;&quot;&quot;</span>
+    <span class="n">ring_height_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum height of the ring (in m).&quot;&quot;&quot;</span>
+    <span class="n">ring_thickness</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The thickness (along z) of the ring (in m).&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the square platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshStarTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshStarTerrainCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a terrain with a star pattern.&quot;&quot;&quot;</span>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">star_terrain</span>
+
+    <span class="n">num_bars</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The number of bars per-side the star. Must be greater than 2.&quot;&quot;&quot;</span>
+    <span class="n">bar_width_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum width of the bars in the star (in m).&quot;&quot;&quot;</span>
+    <span class="n">bar_height_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum and maximum height of the bars in the star (in m).&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the cylindrical platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshRepeatedObjectsTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshRepeatedObjectsTerrainCfg</span><span class="p">(</span><span class="n">SubTerrainBaseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base configuration for a terrain with repeated objects.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="MeshRepeatedObjectsTerrainCfg.ObjectCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">ObjectCfg</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Configuration of repeated objects.&quot;&quot;&quot;</span>
+
+        <span class="n">num_objects</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The number of objects to add to the terrain.&quot;&quot;&quot;</span>
+        <span class="n">height</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The height (along z) of the object (in m).&quot;&quot;&quot;</span></div>
+
+    <span class="n">function</span> <span class="o">=</span> <span class="n">mesh_terrains</span><span class="o">.</span><span class="n">repeated_objects_terrain</span>
+
+    <span class="n">object_type</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;cylinder&quot;</span><span class="p">,</span> <span class="s2">&quot;box&quot;</span><span class="p">,</span> <span class="s2">&quot;cone&quot;</span><span class="p">]</span> <span class="o">|</span> <span class="nb">callable</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The type of object to generate.</span>
+
+<span class="sd">    The type can be a string or a callable. If it is a string, the function will look for a function called</span>
+<span class="sd">    ``make_{object_type}`` in the current module scope. If it is a callable, the function will</span>
+<span class="sd">    use the callable to generate the object.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">object_params_start</span><span class="p">:</span> <span class="n">ObjectCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The object curriculum parameters at the start of the curriculum.&quot;&quot;&quot;</span>
+    <span class="n">object_params_end</span><span class="p">:</span> <span class="n">ObjectCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The object curriculum parameters at the end of the curriculum.&quot;&quot;&quot;</span>
+
+    <span class="n">max_height_noise</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The maximum amount of noise to add to the height of the objects (in m). Defaults to 0.0.&quot;&quot;&quot;</span>
+    <span class="n">platform_width</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The width of the cylindrical platform at the center of the terrain. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshRepeatedPyramidsTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshRepeatedPyramidsTerrainCfg</span><span class="p">(</span><span class="n">MeshRepeatedObjectsTerrainCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a terrain with repeated pyramids.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="MeshRepeatedPyramidsTerrainCfg.ObjectCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">ObjectCfg</span><span class="p">(</span><span class="n">MeshRepeatedObjectsTerrainCfg</span><span class="o">.</span><span class="n">ObjectCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Configuration for a curriculum of repeated pyramids.&quot;&quot;&quot;</span>
+
+        <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The radius of the pyramids (in m).&quot;&quot;&quot;</span>
+        <span class="n">max_yx_angle</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The maximum angle along the y and x axis. Defaults to 0.0.&quot;&quot;&quot;</span>
+        <span class="n">degrees</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the angle is in degrees. Defaults to True.&quot;&quot;&quot;</span></div>
+
+    <span class="n">object_type</span> <span class="o">=</span> <span class="n">mesh_utils_terrains</span><span class="o">.</span><span class="n">make_cone</span>
+
+    <span class="n">object_params_start</span><span class="p">:</span> <span class="n">ObjectCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The object curriculum parameters at the start of the curriculum.&quot;&quot;&quot;</span>
+    <span class="n">object_params_end</span><span class="p">:</span> <span class="n">ObjectCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The object curriculum parameters at the end of the curriculum.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshRepeatedBoxesTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshRepeatedBoxesTerrainCfg</span><span class="p">(</span><span class="n">MeshRepeatedObjectsTerrainCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a terrain with repeated boxes.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="MeshRepeatedBoxesTerrainCfg.ObjectCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">ObjectCfg</span><span class="p">(</span><span class="n">MeshRepeatedObjectsTerrainCfg</span><span class="o">.</span><span class="n">ObjectCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Configuration for repeated boxes.&quot;&quot;&quot;</span>
+
+        <span class="n">size</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The width (along x) and length (along y) of the box (in m).&quot;&quot;&quot;</span>
+        <span class="n">max_yx_angle</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The maximum angle along the y and x axis. Defaults to 0.0.&quot;&quot;&quot;</span>
+        <span class="n">degrees</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the angle is in degrees. Defaults to True.&quot;&quot;&quot;</span></div>
+
+    <span class="n">object_type</span> <span class="o">=</span> <span class="n">mesh_utils_terrains</span><span class="o">.</span><span class="n">make_box</span>
+
+    <span class="n">object_params_start</span><span class="p">:</span> <span class="n">ObjectCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The box curriculum parameters at the start of the curriculum.&quot;&quot;&quot;</span>
+    <span class="n">object_params_end</span><span class="p">:</span> <span class="n">ObjectCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The box curriculum parameters at the end of the curriculum.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="MeshRepeatedCylindersTerrainCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MeshRepeatedCylindersTerrainCfg</span><span class="p">(</span><span class="n">MeshRepeatedObjectsTerrainCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a terrain with repeated cylinders.&quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="MeshRepeatedCylindersTerrainCfg.ObjectCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg">[docs]</a>    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">ObjectCfg</span><span class="p">(</span><span class="n">MeshRepeatedObjectsTerrainCfg</span><span class="o">.</span><span class="n">ObjectCfg</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Configuration for repeated cylinder.&quot;&quot;&quot;</span>
+
+        <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The radius of the pyramids (in m).&quot;&quot;&quot;</span>
+        <span class="n">max_yx_angle</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The maximum angle along the y and x axis. Defaults to 0.0.&quot;&quot;&quot;</span>
+        <span class="n">degrees</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether the angle is in degrees. Defaults to True.&quot;&quot;&quot;</span></div>
+
+    <span class="n">object_type</span> <span class="o">=</span> <span class="n">mesh_utils_terrains</span><span class="o">.</span><span class="n">make_cylinder</span>
+
+    <span class="n">object_params_start</span><span class="p">:</span> <span class="n">ObjectCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The box curriculum parameters at the start of the curriculum.&quot;&quot;&quot;</span>
+    <span class="n">object_params_end</span><span class="p">:</span> <span class="n">ObjectCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The box curriculum parameters at the end of the curriculum.&quot;&quot;&quot;</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.terrains.utils</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="c1"># needed to import for allowing type-hinting: np.ndarray | torch.Tensor | None</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">trimesh</span>
+
+<span class="kn">import</span> <span class="nn">warp</span> <span class="k">as</span> <span class="nn">wp</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.warp</span> <span class="kn">import</span> <span class="n">raycast_mesh</span>
+
+
+<div class="viewcode-block" id="color_meshes_by_height"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.utils.color_meshes_by_height">[docs]</a><span class="k">def</span> <span class="nf">color_meshes_by_height</span><span class="p">(</span><span class="n">meshes</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">],</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Color the vertices of a trimesh object based on the z-coordinate (height) of each vertex,</span>
+<span class="sd">    using the Turbo colormap. If the z-coordinates are all the same, the vertices will be colored</span>
+<span class="sd">    with a single color.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        meshes: A list of trimesh objects.</span>
+
+<span class="sd">    Keyword Args:</span>
+<span class="sd">        color: A list of 3 integers in the range [0,255] representing the RGB</span>
+<span class="sd">            color of the mesh. Used when the z-coordinates of all vertices are the same.</span>
+<span class="sd">            Defaults to [172, 216, 230].</span>
+<span class="sd">        color_map: The name of the color map to be used. Defaults to &quot;turbo&quot;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A trimesh object with the vertices colored based on the z-coordinate (height) of each vertex.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Combine all meshes into a single mesh</span>
+    <span class="n">mesh</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">concatenate</span><span class="p">(</span><span class="n">meshes</span><span class="p">)</span>
+    <span class="c1"># Get the z-coordinates of each vertex</span>
+    <span class="n">heights</span> <span class="o">=</span> <span class="n">mesh</span><span class="o">.</span><span class="n">vertices</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span>
+    <span class="c1"># Check if the z-coordinates are all the same</span>
+    <span class="k">if</span> <span class="n">np</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">heights</span><span class="p">)</span> <span class="o">==</span> <span class="n">np</span><span class="o">.</span><span class="n">min</span><span class="p">(</span><span class="n">heights</span><span class="p">):</span>
+        <span class="c1"># Obtain a single color: light blue</span>
+        <span class="n">color</span> <span class="o">=</span> <span class="n">kwargs</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;color&quot;</span><span class="p">,</span> <span class="p">(</span><span class="mi">172</span><span class="p">,</span> <span class="mi">216</span><span class="p">,</span> <span class="mi">230</span><span class="p">))</span>
+        <span class="n">color</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">color</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">uint8</span><span class="p">)</span>
+        <span class="c1"># Set the color for all vertices</span>
+        <span class="n">mesh</span><span class="o">.</span><span class="n">visual</span><span class="o">.</span><span class="n">vertex_colors</span> <span class="o">=</span> <span class="n">color</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="c1"># Normalize the heights to [0,1]</span>
+        <span class="n">heights_normalized</span> <span class="o">=</span> <span class="p">(</span><span class="n">heights</span> <span class="o">-</span> <span class="n">np</span><span class="o">.</span><span class="n">min</span><span class="p">(</span><span class="n">heights</span><span class="p">))</span> <span class="o">/</span> <span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">heights</span><span class="p">)</span> <span class="o">-</span> <span class="n">np</span><span class="o">.</span><span class="n">min</span><span class="p">(</span><span class="n">heights</span><span class="p">))</span>
+        <span class="c1"># clip lower and upper bounds to have better color mapping</span>
+        <span class="n">heights_normalized</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="n">heights_normalized</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.9</span><span class="p">)</span>
+        <span class="c1"># Get the color for each vertex based on the height</span>
+        <span class="n">color_map</span> <span class="o">=</span> <span class="n">kwargs</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;color_map&quot;</span><span class="p">,</span> <span class="s2">&quot;turbo&quot;</span><span class="p">)</span>
+        <span class="n">colors</span> <span class="o">=</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">visual</span><span class="o">.</span><span class="n">color</span><span class="o">.</span><span class="n">interpolate</span><span class="p">(</span><span class="n">heights_normalized</span><span class="p">,</span> <span class="n">color_map</span><span class="o">=</span><span class="n">color_map</span><span class="p">)</span>
+        <span class="c1"># Set the vertex colors</span>
+        <span class="n">mesh</span><span class="o">.</span><span class="n">visual</span><span class="o">.</span><span class="n">vertex_colors</span> <span class="o">=</span> <span class="n">colors</span>
+    <span class="c1"># Return the mesh</span>
+    <span class="k">return</span> <span class="n">mesh</span></div>
+
+
+<div class="viewcode-block" id="create_prim_from_mesh"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.utils.create_prim_from_mesh">[docs]</a><span class="k">def</span> <span class="nf">create_prim_from_mesh</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">mesh</span><span class="p">:</span> <span class="n">trimesh</span><span class="o">.</span><span class="n">Trimesh</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a USD prim with mesh defined from vertices and triangles.</span>
+
+<span class="sd">    The function creates a USD prim with a mesh defined from vertices and triangles. It performs the</span>
+<span class="sd">    following steps:</span>
+
+<span class="sd">    - Create a USD Xform prim at the path :obj:`prim_path`.</span>
+<span class="sd">    - Create a USD prim with a mesh defined from the input vertices and triangles at the path :obj:`{prim_path}/mesh`.</span>
+<span class="sd">    - Assign a physics material to the mesh at the path :obj:`{prim_path}/physicsMaterial`.</span>
+<span class="sd">    - Assign a visual material to the mesh at the path :obj:`{prim_path}/visualMaterial`.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        prim_path: The path to the primitive to be created.</span>
+<span class="sd">        mesh: The mesh to be used for the primitive.</span>
+
+<span class="sd">    Keyword Args:</span>
+<span class="sd">        translation: The translation of the terrain. Defaults to None.</span>
+<span class="sd">        orientation: The orientation of the terrain. Defaults to None.</span>
+<span class="sd">        visual_material: The visual material to apply. Defaults to None.</span>
+<span class="sd">        physics_material: The physics material to apply. Defaults to None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># need to import these here to prevent isaacsim launching when importing this module</span>
+    <span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+    <span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">UsdGeom</span>
+
+    <span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+
+    <span class="c1"># create parent prim</span>
+    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+    <span class="c1"># create mesh prim</span>
+    <span class="n">prim</span> <span class="o">=</span> <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span>
+        <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/mesh&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;Mesh&quot;</span><span class="p">,</span>
+        <span class="n">translation</span><span class="o">=</span><span class="n">kwargs</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;translation&quot;</span><span class="p">),</span>
+        <span class="n">orientation</span><span class="o">=</span><span class="n">kwargs</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;orientation&quot;</span><span class="p">),</span>
+        <span class="n">attributes</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;points&quot;</span><span class="p">:</span> <span class="n">mesh</span><span class="o">.</span><span class="n">vertices</span><span class="p">,</span>
+            <span class="s2">&quot;faceVertexIndices&quot;</span><span class="p">:</span> <span class="n">mesh</span><span class="o">.</span><span class="n">faces</span><span class="o">.</span><span class="n">flatten</span><span class="p">(),</span>
+            <span class="s2">&quot;faceVertexCounts&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mi">3</span><span class="p">]</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">faces</span><span class="p">)),</span>
+            <span class="s2">&quot;subdivisionScheme&quot;</span><span class="p">:</span> <span class="s2">&quot;bilinear&quot;</span><span class="p">,</span>
+        <span class="p">},</span>
+    <span class="p">)</span>
+    <span class="c1"># apply collider properties</span>
+    <span class="n">collider_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(</span><span class="n">collision_enabled</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="n">sim_utils</span><span class="o">.</span><span class="n">define_collision_properties</span><span class="p">(</span><span class="n">prim</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">(),</span> <span class="n">collider_cfg</span><span class="p">)</span>
+    <span class="c1"># add rgba color to the mesh primvars</span>
+    <span class="k">if</span> <span class="n">mesh</span><span class="o">.</span><span class="n">visual</span><span class="o">.</span><span class="n">vertex_colors</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="c1"># obtain color from the mesh</span>
+        <span class="n">rgba_colors</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">visual</span><span class="o">.</span><span class="n">vertex_colors</span><span class="p">)</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">float32</span><span class="p">)</span> <span class="o">/</span> <span class="mf">255.0</span>
+        <span class="c1"># displayColor is a primvar attribute that is used to color the mesh</span>
+        <span class="n">color_prim_attr</span> <span class="o">=</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="s2">&quot;primvars:displayColor&quot;</span><span class="p">)</span>
+        <span class="n">color_prim_var</span> <span class="o">=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Primvar</span><span class="p">(</span><span class="n">color_prim_attr</span><span class="p">)</span>
+        <span class="n">color_prim_var</span><span class="o">.</span><span class="n">SetInterpolation</span><span class="p">(</span><span class="n">UsdGeom</span><span class="o">.</span><span class="n">Tokens</span><span class="o">.</span><span class="n">vertex</span><span class="p">)</span>
+        <span class="n">color_prim_attr</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">rgba_colors</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">])</span>
+        <span class="c1"># displayOpacity is a primvar attribute that is used to set the opacity of the mesh</span>
+        <span class="n">display_prim_attr</span> <span class="o">=</span> <span class="n">prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="s2">&quot;primvars:displayOpacity&quot;</span><span class="p">)</span>
+        <span class="n">display_prim_var</span> <span class="o">=</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">Primvar</span><span class="p">(</span><span class="n">display_prim_attr</span><span class="p">)</span>
+        <span class="n">display_prim_var</span><span class="o">.</span><span class="n">SetInterpolation</span><span class="p">(</span><span class="n">UsdGeom</span><span class="o">.</span><span class="n">Tokens</span><span class="o">.</span><span class="n">vertex</span><span class="p">)</span>
+        <span class="n">display_prim_var</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="n">rgba_colors</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">])</span>
+
+    <span class="c1"># create visual material</span>
+    <span class="k">if</span> <span class="n">kwargs</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;visual_material&quot;</span><span class="p">)</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">visual_material_cfg</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">VisualMaterialCfg</span> <span class="o">=</span> <span class="n">kwargs</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;visual_material&quot;</span><span class="p">)</span>
+        <span class="c1"># spawn the material</span>
+        <span class="n">visual_material_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/visualMaterial&quot;</span><span class="p">,</span> <span class="n">visual_material_cfg</span><span class="p">)</span>
+        <span class="n">sim_utils</span><span class="o">.</span><span class="n">bind_visual_material</span><span class="p">(</span><span class="n">prim</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">(),</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/visualMaterial&quot;</span><span class="p">)</span>
+    <span class="c1"># create physics material</span>
+    <span class="k">if</span> <span class="n">kwargs</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;physics_material&quot;</span><span class="p">)</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">physics_material_cfg</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span> <span class="o">=</span> <span class="n">kwargs</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;physics_material&quot;</span><span class="p">)</span>
+        <span class="c1"># spawn the material</span>
+        <span class="n">physics_material_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/physicsMaterial&quot;</span><span class="p">,</span> <span class="n">physics_material_cfg</span><span class="p">)</span>
+        <span class="n">sim_utils</span><span class="o">.</span><span class="n">bind_physics_material</span><span class="p">(</span><span class="n">prim</span><span class="o">.</span><span class="n">GetPrimPath</span><span class="p">(),</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prim_path</span><span class="si">}</span><span class="s2">/physicsMaterial&quot;</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="find_flat_patches"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.utils.find_flat_patches">[docs]</a><span class="k">def</span> <span class="nf">find_flat_patches</span><span class="p">(</span>
+    <span class="n">wp_mesh</span><span class="p">:</span> <span class="n">wp</span><span class="o">.</span><span class="n">Mesh</span><span class="p">,</span>
+    <span class="n">num_patches</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+    <span class="n">patch_radius</span><span class="p">:</span> <span class="nb">float</span> <span class="o">|</span> <span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">],</span>
+    <span class="n">origin</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">x_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">y_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">z_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span>
+    <span class="n">max_height_diff</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Finds flat patches of given radius in the input mesh.</span>
+
+<span class="sd">    The function finds flat patches of given radius based on the search space defined by the input ranges.</span>
+<span class="sd">    The search space is characterized by origin in the mesh frame, and the x, y, and z ranges. The x and y</span>
+<span class="sd">    ranges are used to sample points in the 2D region around the origin, and the z range is used to filter</span>
+<span class="sd">    patches based on the height of the points.</span>
+
+<span class="sd">    The function performs rejection sampling to find the patches based on the following steps:</span>
+
+<span class="sd">    1. Sample patch locations in the 2D region around the origin.</span>
+<span class="sd">    2. Define a ring of points around each patch location to query the height of the points using ray-casting.</span>
+<span class="sd">    3. Reject patches that are outside the z range or have a height difference that is too large.</span>
+<span class="sd">    4. Keep sampling until all patches are valid.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        wp_mesh: The warp mesh to find patches in.</span>
+<span class="sd">        num_patches: The desired number of patches to find.</span>
+<span class="sd">        patch_radius: The radii used to form patches. If a list is provided, multiple patch sizes are checked.</span>
+<span class="sd">            This is useful to deal with holes or other artifacts in the mesh.</span>
+<span class="sd">        origin: The origin defining the center of the search space. This is specified in the mesh frame.</span>
+<span class="sd">        x_range: The range of X coordinates to sample from.</span>
+<span class="sd">        y_range: The range of Y coordinates to sample from.</span>
+<span class="sd">        z_range: The range of valid Z coordinates used for filtering patches.</span>
+<span class="sd">        max_height_diff: The maximum allowable distance between the lowest and highest points</span>
+<span class="sd">            on a patch to consider it as valid. If the difference is greater than this value,</span>
+<span class="sd">            the patch is rejected.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tensor of shape (num_patches, 3) containing the flat patches. The patches are defined in the mesh frame.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        RuntimeError: If the function fails to find valid patches. This can happen if the input parameters</span>
+<span class="sd">            are not suitable for finding valid patches and maximum number of iterations is reached.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># set device to warp mesh device</span>
+    <span class="n">device</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">device_to_torch</span><span class="p">(</span><span class="n">wp_mesh</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># resolve inputs to consistent type</span>
+    <span class="c1"># -- patch radii</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">patch_radius</span><span class="p">,</span> <span class="nb">float</span><span class="p">):</span>
+        <span class="n">patch_radius</span> <span class="o">=</span> <span class="p">[</span><span class="n">patch_radius</span><span class="p">]</span>
+    <span class="c1"># -- origin</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">origin</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">):</span>
+        <span class="n">origin</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">from_numpy</span><span class="p">(</span><span class="n">origin</span><span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">origin</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+        <span class="n">origin</span> <span class="o">=</span> <span class="n">origin</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">origin</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">origin</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># create ranges for the x and y coordinates around the origin.</span>
+    <span class="c1"># The provided ranges are bounded by the mesh&#39;s bounding box.</span>
+    <span class="n">x_range</span> <span class="o">=</span> <span class="p">(</span>
+        <span class="nb">max</span><span class="p">(</span><span class="n">x_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">origin</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">(),</span> <span class="n">wp_mesh</span><span class="o">.</span><span class="n">points</span><span class="o">.</span><span class="n">numpy</span><span class="p">()[:,</span> <span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">min</span><span class="p">()),</span>
+        <span class="nb">min</span><span class="p">(</span><span class="n">x_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="n">origin</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">(),</span> <span class="n">wp_mesh</span><span class="o">.</span><span class="n">points</span><span class="o">.</span><span class="n">numpy</span><span class="p">()[:,</span> <span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">max</span><span class="p">()),</span>
+    <span class="p">)</span>
+    <span class="n">y_range</span> <span class="o">=</span> <span class="p">(</span>
+        <span class="nb">max</span><span class="p">(</span><span class="n">y_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">origin</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">(),</span> <span class="n">wp_mesh</span><span class="o">.</span><span class="n">points</span><span class="o">.</span><span class="n">numpy</span><span class="p">()[:,</span> <span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">min</span><span class="p">()),</span>
+        <span class="nb">min</span><span class="p">(</span><span class="n">y_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="n">origin</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">(),</span> <span class="n">wp_mesh</span><span class="o">.</span><span class="n">points</span><span class="o">.</span><span class="n">numpy</span><span class="p">()[:,</span> <span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">max</span><span class="p">()),</span>
+    <span class="p">)</span>
+    <span class="n">z_range</span> <span class="o">=</span> <span class="p">(</span>
+        <span class="n">z_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="n">origin</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">(),</span>
+        <span class="n">z_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="n">origin</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">(),</span>
+    <span class="p">)</span>
+
+    <span class="c1"># create a circle of points around (0, 0) to query validity of the patches</span>
+    <span class="c1"># the ring of points is uniformly distributed around the circle</span>
+    <span class="n">angle</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linspace</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">query_x</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="n">query_y</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">radius</span> <span class="ow">in</span> <span class="n">patch_radius</span><span class="p">:</span>
+        <span class="n">query_x</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">radius</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">angle</span><span class="p">))</span>
+        <span class="n">query_y</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">radius</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">angle</span><span class="p">))</span>
+    <span class="n">query_x</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span><span class="n">query_x</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>  <span class="c1"># dim: (num_radii * 10, 1)</span>
+    <span class="n">query_y</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span><span class="n">query_y</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>  <span class="c1"># dim: (num_radii * 10, 1)</span>
+    <span class="c1"># dim: (num_radii * 10, 3)</span>
+    <span class="n">query_points</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">query_x</span><span class="p">,</span> <span class="n">query_y</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">query_x</span><span class="p">)],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+
+    <span class="c1"># create buffers</span>
+    <span class="c1"># -- a buffer to store indices of points that are not valid</span>
+    <span class="n">points_ids</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">num_patches</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="c1"># -- a buffer to store the flat patches locations</span>
+    <span class="n">flat_patches</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">num_patches</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="c1"># sample points and raycast to find the height.</span>
+    <span class="c1"># 1. Reject points that are outside the z_range or have a height difference that is too large.</span>
+    <span class="c1"># 2. Keep sampling until all points are valid.</span>
+    <span class="n">iter_count</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="k">while</span> <span class="nb">len</span><span class="p">(</span><span class="n">points_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">iter_count</span> <span class="o">&lt;</span> <span class="mi">10000</span><span class="p">:</span>
+        <span class="c1"># sample points in the 2D region around the origin</span>
+        <span class="n">pos_x</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">empty</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">points_ids</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">uniform_</span><span class="p">(</span><span class="o">*</span><span class="n">x_range</span><span class="p">)</span>
+        <span class="n">pos_y</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">empty</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">points_ids</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">uniform_</span><span class="p">(</span><span class="o">*</span><span class="n">y_range</span><span class="p">)</span>
+        <span class="n">flat_patches</span><span class="p">[</span><span class="n">points_ids</span><span class="p">,</span> <span class="p">:</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">([</span><span class="n">pos_x</span><span class="p">,</span> <span class="n">pos_y</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># define the query points to check validity of the patch</span>
+        <span class="c1"># dim: (num_patches, num_radii * 10, 3)</span>
+        <span class="n">points</span> <span class="o">=</span> <span class="n">flat_patches</span><span class="p">[</span><span class="n">points_ids</span><span class="p">]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="o">+</span> <span class="n">query_points</span>
+        <span class="n">points</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="mf">100.0</span>
+        <span class="c1"># ray-cast direction is downwards</span>
+        <span class="n">dirs</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">points</span><span class="p">)</span>
+        <span class="n">dirs</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+
+        <span class="c1"># ray-cast to find the height of the patches</span>
+        <span class="n">ray_hits</span> <span class="o">=</span> <span class="n">raycast_mesh</span><span class="p">(</span><span class="n">points</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">dirs</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">wp_mesh</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="n">heights</span> <span class="o">=</span> <span class="n">ray_hits</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">points</span><span class="o">.</span><span class="n">shape</span><span class="p">)[</span><span class="o">...</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span>
+        <span class="c1"># set the height of the patches</span>
+        <span class="c1"># note: for invalid patches, they would be overwritten in the next iteration</span>
+        <span class="c1">#   so it&#39;s safe to set the height to the last value</span>
+        <span class="n">flat_patches</span><span class="p">[</span><span class="n">points_ids</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="n">heights</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+
+        <span class="c1"># check validity</span>
+        <span class="c1"># -- height is within the z range</span>
+        <span class="n">not_valid</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">logical_or</span><span class="p">(</span><span class="n">heights</span> <span class="o">&lt;</span> <span class="n">z_range</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">heights</span> <span class="o">&gt;</span> <span class="n">z_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># -- height difference is within the max height difference</span>
+        <span class="n">not_valid</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">logical_or</span><span class="p">(</span><span class="n">not_valid</span><span class="p">,</span> <span class="p">(</span><span class="n">heights</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="n">heights</span><span class="o">.</span><span class="n">min</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">])</span> <span class="o">&gt;</span> <span class="n">max_height_diff</span><span class="p">)</span>
+
+        <span class="c1"># remove invalid patches indices</span>
+        <span class="n">points_ids</span> <span class="o">=</span> <span class="n">points_ids</span><span class="p">[</span><span class="n">not_valid</span><span class="p">]</span>
+        <span class="c1"># increment count</span>
+        <span class="n">iter_count</span> <span class="o">+=</span> <span class="mi">1</span>
+
+    <span class="c1"># check all patches are valid</span>
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">points_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span>
+            <span class="s2">&quot;Failed to find valid patches! Please check the input parameters.&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Maximum number of iterations reached: </span><span class="si">{</span><span class="n">iter_count</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Number of invalid patches: </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">points_ids</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Maximum height difference: </span><span class="si">{</span><span class="n">max_height_diff</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+    <span class="c1"># return the flat patches (in the mesh frame)</span>
+    <span class="k">return</span> <span class="n">flat_patches</span> <span class="o">-</span> <span class="n">origin</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.utils.array</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module containing utilities for working with different array backends.&quot;&quot;&quot;</span>
+
+<span class="c1"># needed to import for allowing type-hinting: torch.device | str | None</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Union</span>
+
+<span class="kn">import</span> <span class="nn">warp</span> <span class="k">as</span> <span class="nn">wp</span>
+
+<span class="n">TensorData</span> <span class="o">=</span> <span class="n">Union</span><span class="p">[</span><span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">wp</span><span class="o">.</span><span class="n">array</span><span class="p">]</span>
+<span class="sd">&quot;&quot;&quot;Type definition for a tensor data.</span>
+
+<span class="sd">Union of numpy, torch, and warp arrays.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="n">TENSOR_TYPES</span> <span class="o">=</span> <span class="p">{</span>
+    <span class="s2">&quot;numpy&quot;</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span>
+    <span class="s2">&quot;torch&quot;</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="s2">&quot;warp&quot;</span><span class="p">:</span> <span class="n">wp</span><span class="o">.</span><span class="n">array</span><span class="p">,</span>
+<span class="p">}</span>
+<span class="sd">&quot;&quot;&quot;A dictionary containing the types for each backend.</span>
+
+<span class="sd">The keys are the name of the backend (&quot;numpy&quot;, &quot;torch&quot;, &quot;warp&quot;) and the values are the corresponding type</span>
+<span class="sd">(``np.ndarray``, ``torch.Tensor``, ``wp.array``).</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="n">TENSOR_TYPE_CONVERSIONS</span> <span class="o">=</span> <span class="p">{</span>
+    <span class="s2">&quot;numpy&quot;</span><span class="p">:</span> <span class="p">{</span><span class="n">wp</span><span class="o">.</span><span class="n">array</span><span class="p">:</span> <span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">x</span><span class="o">.</span><span class="n">numpy</span><span class="p">(),</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span> <span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">x</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()},</span>
+    <span class="s2">&quot;torch&quot;</span><span class="p">:</span> <span class="p">{</span><span class="n">wp</span><span class="o">.</span><span class="n">array</span><span class="p">:</span> <span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">wp</span><span class="o">.</span><span class="n">torch</span><span class="o">.</span><span class="n">to_torch</span><span class="p">(</span><span class="n">x</span><span class="p">),</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span> <span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">from_numpy</span><span class="p">(</span><span class="n">x</span><span class="p">)},</span>
+    <span class="s2">&quot;warp&quot;</span><span class="p">:</span> <span class="p">{</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">:</span> <span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">wp</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">x</span><span class="p">),</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span> <span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">wp</span><span class="o">.</span><span class="n">torch</span><span class="o">.</span><span class="n">from_torch</span><span class="p">(</span><span class="n">x</span><span class="p">)},</span>
+<span class="p">}</span>
+<span class="sd">&quot;&quot;&quot;A nested dictionary containing the conversion functions for each backend.</span>
+
+<span class="sd">The keys of the outer dictionary are the name of target backend (&quot;numpy&quot;, &quot;torch&quot;, &quot;warp&quot;). The keys of the</span>
+<span class="sd">inner dictionary are the source backend (``np.ndarray``, ``torch.Tensor``, ``wp.array``).</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="convert_to_torch"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.array.convert_to_torch">[docs]</a><span class="k">def</span> <span class="nf">convert_to_torch</span><span class="p">(</span>
+    <span class="n">array</span><span class="p">:</span> <span class="n">TensorData</span><span class="p">,</span>
+    <span class="n">dtype</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">dtype</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">device</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">device</span> <span class="o">|</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Converts a given array into a torch tensor.</span>
+
+<span class="sd">    The function tries to convert the array to a torch tensor. If the array is a numpy/warp arrays, or python</span>
+<span class="sd">    list/tuples, it is converted to a torch tensor. If the array is already a torch tensor, it is returned</span>
+<span class="sd">    directly.</span>
+
+<span class="sd">    If ``device`` is None, then the function deduces the current device of the data. For numpy arrays,</span>
+<span class="sd">    this defaults to &quot;cpu&quot;, for torch tensors it is &quot;cpu&quot; or &quot;cuda&quot;, and for warp arrays it is &quot;cuda&quot;.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        Since PyTorch does not support unsigned integer types, unsigned integer arrays are converted to</span>
+<span class="sd">        signed integer arrays. This is done by casting the array to the corresponding signed integer type.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        array: The input array. It can be a numpy array, warp array, python list/tuple, or torch tensor.</span>
+<span class="sd">        dtype: Target data-type for the tensor.</span>
+<span class="sd">        device: The target device for the tensor. Defaults to None.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The converted array as torch tensor.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Convert array to tensor</span>
+    <span class="c1"># if the datatype is not currently supported by torch we need to improvise</span>
+    <span class="c1"># supported types are: https://pytorch.org/docs/stable/tensors.html</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">array</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+        <span class="n">tensor</span> <span class="o">=</span> <span class="n">array</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">array</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">):</span>
+        <span class="k">if</span> <span class="n">array</span><span class="o">.</span><span class="n">dtype</span> <span class="o">==</span> <span class="n">np</span><span class="o">.</span><span class="n">uint32</span><span class="p">:</span>
+            <span class="n">array</span> <span class="o">=</span> <span class="n">array</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span>
+        <span class="c1"># need to deal with object arrays (np.void) separately</span>
+        <span class="n">tensor</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">from_numpy</span><span class="p">(</span><span class="n">array</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">array</span><span class="p">,</span> <span class="n">wp</span><span class="o">.</span><span class="n">array</span><span class="p">):</span>
+        <span class="k">if</span> <span class="n">array</span><span class="o">.</span><span class="n">dtype</span> <span class="o">==</span> <span class="n">wp</span><span class="o">.</span><span class="n">uint32</span><span class="p">:</span>
+            <span class="n">array</span> <span class="o">=</span> <span class="n">array</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">wp</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span>
+        <span class="n">tensor</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">to_torch</span><span class="p">(</span><span class="n">array</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">tensor</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">(</span><span class="n">array</span><span class="p">)</span>
+    <span class="c1"># Convert tensor to the right device</span>
+    <span class="k">if</span> <span class="n">device</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="nb">str</span><span class="p">(</span><span class="n">tensor</span><span class="o">.</span><span class="n">device</span><span class="p">)</span> <span class="o">!=</span> <span class="nb">str</span><span class="p">(</span><span class="n">device</span><span class="p">):</span>
+        <span class="n">tensor</span> <span class="o">=</span> <span class="n">tensor</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="p">)</span>
+    <span class="c1"># Convert dtype of tensor if requested</span>
+    <span class="k">if</span> <span class="n">dtype</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="n">tensor</span><span class="o">.</span><span class="n">dtype</span> <span class="o">!=</span> <span class="n">dtype</span><span class="p">:</span>
+        <span class="n">tensor</span> <span class="o">=</span> <span class="n">tensor</span><span class="o">.</span><span class="n">type</span><span class="p">(</span><span class="n">dtype</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">tensor</span></div>
+</pre></div>
+
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+                  
+  <h1>Source code for omni.isaac.lab.utils.assets</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module that defines the host-server where assets and resources are stored.</span>
+
+<span class="sd">By default, we use the Isaac Sim Nucleus Server for hosting assets and resources. This makes</span>
+<span class="sd">distribution of the assets easier and makes the repository smaller in size code-wise.</span>
+
+<span class="sd">For more information, please check information on `Omniverse Nucleus`_.</span>
+
+<span class="sd">.. _Omniverse Nucleus: https://docs.omniverse.nvidia.com/nucleus/latest/overview/overview.html</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">io</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">tempfile</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">import</span> <span class="nn">carb</span>
+<span class="kn">import</span> <span class="nn">omni.client</span>
+
+<span class="n">NUCLEUS_ASSET_ROOT_DIR</span> <span class="o">=</span> <span class="n">carb</span><span class="o">.</span><span class="n">settings</span><span class="o">.</span><span class="n">get_settings</span><span class="p">()</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;/persistent/isaac/asset_root/cloud&quot;</span><span class="p">)</span>
+<span class="sd">&quot;&quot;&quot;Path to the root directory on the Nucleus Server.&quot;&quot;&quot;</span>
+
+<span class="n">NVIDIA_NUCLEUS_DIR</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">NUCLEUS_ASSET_ROOT_DIR</span><span class="si">}</span><span class="s2">/NVIDIA&quot;</span>
+<span class="sd">&quot;&quot;&quot;Path to the root directory on the NVIDIA Nucleus Server.&quot;&quot;&quot;</span>
+
+<span class="n">ISAAC_NUCLEUS_DIR</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">NUCLEUS_ASSET_ROOT_DIR</span><span class="si">}</span><span class="s2">/Isaac&quot;</span>
+<span class="sd">&quot;&quot;&quot;Path to the ``Isaac`` directory on the NVIDIA Nucleus Server.&quot;&quot;&quot;</span>
+
+<span class="n">ISAACLAB_NUCLEUS_DIR</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/IsaacLab&quot;</span>
+<span class="sd">&quot;&quot;&quot;Path to the ``Isaac/IsaacLab`` directory on the NVIDIA Nucleus Server.&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="check_file_path"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.check_file_path">[docs]</a><span class="k">def</span> <span class="nf">check_file_path</span><span class="p">(</span><span class="n">path</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Literal</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Checks if a file exists on the Nucleus Server or locally.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        path: The path to the file.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The status of the file. Possible values are listed below.</span>
+
+<span class="sd">        * :obj:`0` if the file does not exist</span>
+<span class="sd">        * :obj:`1` if the file exists locally</span>
+<span class="sd">        * :obj:`2` if the file exists on the Nucleus Server</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">isfile</span><span class="p">(</span><span class="n">path</span><span class="p">):</span>
+        <span class="k">return</span> <span class="mi">1</span>
+    <span class="k">elif</span> <span class="n">omni</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">stat</span><span class="p">(</span><span class="n">path</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span> <span class="o">==</span> <span class="n">omni</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">Result</span><span class="o">.</span><span class="n">OK</span><span class="p">:</span>
+        <span class="k">return</span> <span class="mi">2</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="mi">0</span></div>
+
+
+<div class="viewcode-block" id="retrieve_file_path"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.retrieve_file_path">[docs]</a><span class="k">def</span> <span class="nf">retrieve_file_path</span><span class="p">(</span><span class="n">path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">download_dir</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">force_download</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Retrieves the path to a file on the Nucleus Server or locally.</span>
+
+<span class="sd">    If the file exists locally, then the absolute path to the file is returned.</span>
+<span class="sd">    If the file exists on the Nucleus Server, then the file is downloaded to the local machine</span>
+<span class="sd">    and the absolute path to the file is returned.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        path: The path to the file.</span>
+<span class="sd">        download_dir: The directory where the file should be downloaded. Defaults to None, in which</span>
+<span class="sd">            case the file is downloaded to the system&#39;s temporary directory.</span>
+<span class="sd">        force_download: Whether to force download the file from the Nucleus Server. This will overwrite</span>
+<span class="sd">            the local file if it exists. Defaults to True.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The path to the file on the local machine.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        FileNotFoundError: When the file not found locally or on Nucleus Server.</span>
+<span class="sd">        RuntimeError: When the file cannot be copied from the Nucleus Server to the local machine. This</span>
+<span class="sd">            can happen when the file already exists locally and :attr:`force_download` is set to False.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check file status</span>
+    <span class="n">file_status</span> <span class="o">=</span> <span class="n">check_file_path</span><span class="p">(</span><span class="n">path</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">file_status</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="n">path</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">file_status</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="c1"># resolve download directory</span>
+        <span class="k">if</span> <span class="n">download_dir</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">download_dir</span> <span class="o">=</span> <span class="n">tempfile</span><span class="o">.</span><span class="n">gettempdir</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">download_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="n">download_dir</span><span class="p">)</span>
+        <span class="c1"># create download directory if it does not exist</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">download_dir</span><span class="p">):</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">makedirs</span><span class="p">(</span><span class="n">download_dir</span><span class="p">)</span>
+        <span class="c1"># download file in temp directory using os</span>
+        <span class="n">file_name</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">basename</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">break_url</span><span class="p">(</span><span class="n">path</span><span class="p">)</span><span class="o">.</span><span class="n">path</span><span class="p">)</span>
+        <span class="n">target_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">download_dir</span><span class="p">,</span> <span class="n">file_name</span><span class="p">)</span>
+        <span class="c1"># check if file already exists locally</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">isfile</span><span class="p">(</span><span class="n">target_path</span><span class="p">)</span> <span class="ow">or</span> <span class="n">force_download</span><span class="p">:</span>
+            <span class="c1"># copy file to local machine</span>
+            <span class="n">result</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">copy</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="n">target_path</span><span class="p">)</span>
+            <span class="k">if</span> <span class="n">result</span> <span class="o">!=</span> <span class="n">omni</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">Result</span><span class="o">.</span><span class="n">OK</span> <span class="ow">and</span> <span class="n">force_download</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unable to copy file: &#39;</span><span class="si">{</span><span class="n">path</span><span class="si">}</span><span class="s2">&#39;. Is the Nucleus Server running?&quot;</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="n">target_path</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">FileNotFoundError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unable to find the file: </span><span class="si">{</span><span class="n">path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="read_file"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.read_file">[docs]</a><span class="k">def</span> <span class="nf">read_file</span><span class="p">(</span><span class="n">path</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">io</span><span class="o">.</span><span class="n">BytesIO</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reads a file from the Nucleus Server or locally.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        path: The path to the file.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        FileNotFoundError: When the file not found locally or on Nucleus Server.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The content of the file.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check file status</span>
+    <span class="n">file_status</span> <span class="o">=</span> <span class="n">check_file_path</span><span class="p">(</span><span class="n">path</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">file_status</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="s2">&quot;rb&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+            <span class="k">return</span> <span class="n">io</span><span class="o">.</span><span class="n">BytesIO</span><span class="p">(</span><span class="n">f</span><span class="o">.</span><span class="n">read</span><span class="p">())</span>
+    <span class="k">elif</span> <span class="n">file_status</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="n">file_content</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">read_file</span><span class="p">(</span><span class="n">path</span><span class="p">)[</span><span class="mi">2</span><span class="p">]</span>
+        <span class="k">return</span> <span class="n">io</span><span class="o">.</span><span class="n">BytesIO</span><span class="p">(</span><span class="nb">memoryview</span><span class="p">(</span><span class="n">file_content</span><span class="p">)</span><span class="o">.</span><span class="n">tobytes</span><span class="p">())</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">FileNotFoundError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unable to find the file: </span><span class="si">{</span><span class="n">path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
+              
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diff --git a/v1.4.0/_modules/omni/isaac/lab/utils/buffers/circular_buffer.html b/v1.4.0/_modules/omni/isaac/lab/utils/buffers/circular_buffer.html
new file mode 100644
index 0000000000..d53951bfca
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+++ b/v1.4.0/_modules/omni/isaac/lab/utils/buffers/circular_buffer.html
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+
+<!DOCTYPE html>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
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+  <h1>Source code for omni.isaac.lab.utils.buffers.circular_buffer</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+
+
+<div class="viewcode-block" id="CircularBuffer"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer">[docs]</a><span class="k">class</span> <span class="nc">CircularBuffer</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Circular buffer for storing a history of batched tensor data.</span>
+
+<span class="sd">    This class implements a circular buffer for storing a history of batched tensor data. The buffer is</span>
+<span class="sd">    initialized with a maximum length and a batch size. The data is stored in a circular fashion, and the</span>
+<span class="sd">    data can be retrieved in a LIFO (Last-In-First-Out) fashion. The buffer is designed to be used in</span>
+<span class="sd">    multi-environment settings, where each environment has its own data.</span>
+
+<span class="sd">    The shape of the appended data is expected to be (batch_size, ...), where the first dimension is the</span>
+<span class="sd">    batch dimension. Correspondingly, the shape of the ring buffer is (max_len, batch_size, ...).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="CircularBuffer.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">max_len</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">batch_size</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the circular buffer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            max_len: The maximum length of the circular buffer. The minimum allowed value is 1.</span>
+<span class="sd">            batch_size: The batch dimension of the data.</span>
+<span class="sd">            device: The device used for processing.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the buffer size is less than one.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">max_len</span> <span class="o">&lt;</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The buffer size should be greater than zero. However, it is set to </span><span class="si">{</span><span class="n">max_len</span><span class="si">}</span><span class="s2">!&quot;</span><span class="p">)</span>
+        <span class="c1"># set the parameters</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_batch_size</span> <span class="o">=</span> <span class="n">batch_size</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_device</span> <span class="o">=</span> <span class="n">device</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">batch_size</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># max length tensor for comparisons</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_max_len</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">full</span><span class="p">((</span><span class="n">batch_size</span><span class="p">,),</span> <span class="n">max_len</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># number of data pushes passed since the last call to :meth:`reset`</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_num_pushes</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">batch_size</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+        <span class="c1"># the pointer to the current head of the circular buffer (-1 means not initialized)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_pointer</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span>
+        <span class="c1"># the actual buffer for data storage</span>
+        <span class="c1"># note: this is initialized on the first call to :meth:`append`</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_buffer</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>  <span class="c1"># type: ignore</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">batch_size</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The batch size of the ring buffer.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_batch_size</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The device used for processing.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_device</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_length</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The maximum length of the ring buffer.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">int</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_max_len</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">current_length</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The current length of the buffer. Shape is (batch_size,).</span>
+
+<span class="sd">        Since the buffer is circular, the current length is the minimum of the number of pushes</span>
+<span class="sd">        and the maximum length.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">minimum</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_pushes</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_max_len</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">buffer</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Complete circular buffer with most recent entry at the end and oldest entry at the beginning.</span>
+<span class="sd">        Returns:</span>
+<span class="sd">            Complete circular buffer with most recent entry at the end and oldest entry at the beginning of dimension 1. The shape is [batch_size, max_length, data.shape[1:]].</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="n">buf</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_buffer</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+        <span class="n">buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="n">buf</span><span class="p">,</span> <span class="n">shifts</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">max_length</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pointer</span> <span class="o">-</span> <span class="mi">1</span><span class="p">,</span> <span class="n">dims</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">transpose</span><span class="p">(</span><span class="n">buf</span><span class="p">,</span> <span class="n">dim0</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">dim1</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="CircularBuffer.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">batch_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the circular buffer at the specified batch indices.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            batch_ids: Elements to reset in the batch dimension. Default is None, which resets all the batch indices.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve all indices</span>
+        <span class="k">if</span> <span class="n">batch_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">batch_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset the number of pushes for the specified batch indices</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_num_pushes</span><span class="p">[</span><span class="n">batch_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_buffer</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="c1"># set buffer at batch_id reset indices to 0.0 so that the buffer() getter returns the cleared circular buffer after reset.</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_buffer</span><span class="p">[:,</span> <span class="n">batch_ids</span><span class="p">,</span> <span class="p">:]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+<div class="viewcode-block" id="CircularBuffer.append"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.append">[docs]</a>    <span class="k">def</span> <span class="nf">append</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Append the data to the circular buffer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            data: The data to append to the circular buffer. The first dimension should be the batch dimension.</span>
+<span class="sd">                Shape is (batch_size, ...).</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the input data has a different batch size than the buffer.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check the batch size</span>
+        <span class="k">if</span> <span class="n">data</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">batch_size</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The input data has </span><span class="si">{</span><span class="n">data</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="si">}</span><span class="s2"> environments while expecting </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">batch_size</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="c1"># at the first call, initialize the buffer size</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_buffer</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_pointer</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_buffer</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">empty</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">max_length</span><span class="p">,</span> <span class="o">*</span><span class="n">data</span><span class="o">.</span><span class="n">shape</span><span class="p">),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">data</span><span class="o">.</span><span class="n">dtype</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># move the head to the next slot</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_pointer</span> <span class="o">=</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_pointer</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">%</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_length</span>
+        <span class="c1"># add the new data to the last layer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_buffer</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_pointer</span><span class="p">]</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="c1"># Check for batches with zero pushes and initialize all values in batch to first append</span>
+        <span class="k">if</span> <span class="mi">0</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_pushes</span><span class="o">.</span><span class="n">tolist</span><span class="p">():</span>
+            <span class="n">fill_ids</span> <span class="o">=</span> <span class="p">[</span><span class="n">i</span> <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">x</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_pushes</span><span class="o">.</span><span class="n">tolist</span><span class="p">())</span> <span class="k">if</span> <span class="n">x</span> <span class="o">==</span> <span class="mi">0</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_num_pushes</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span><span class="o">.</span><span class="n">index</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span> <span class="k">if</span> <span class="mi">0</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_pushes</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span> <span class="k">else</span> <span class="kc">None</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_buffer</span><span class="p">[:,</span> <span class="n">fill_ids</span><span class="p">,</span> <span class="p">:]</span> <span class="o">=</span> <span class="n">data</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)[</span><span class="n">fill_ids</span><span class="p">]</span>
+        <span class="c1"># increment number of number of pushes for all batches</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_num_pushes</span> <span class="o">+=</span> <span class="mi">1</span></div>
+
+    <span class="k">def</span> <span class="fm">__getitem__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Retrieve the data from the circular buffer in last-in-first-out (LIFO) fashion.</span>
+
+<span class="sd">        If the requested index is larger than the number of pushes since the last call to :meth:`reset`,</span>
+<span class="sd">        the oldest stored data is returned.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The index to retrieve from the circular buffer. The index should be less than the number of pushes</span>
+<span class="sd">                since the last call to :meth:`reset`. Shape is (batch_size,).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The data from the circular buffer. Shape is (batch_size, ...).</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the input key has a different batch size than the buffer.</span>
+<span class="sd">            RuntimeError: If the buffer is empty.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check the batch size</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">key</span><span class="p">)</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">batch_size</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The argument &#39;key&#39; has length </span><span class="si">{</span><span class="n">key</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="si">}</span><span class="s2">, while expecting </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">batch_size</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="c1"># check if the buffer is empty</span>
+        <span class="k">if</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_pushes</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">_buffer</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="s2">&quot;Attempting to retrieve data on an empty circular buffer. Please append data first.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># admissible lag</span>
+        <span class="n">valid_keys</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">minimum</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_pushes</span> <span class="o">-</span> <span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># the index in the circular buffer (pointer points to the last+1 index)</span>
+        <span class="n">index_in_buffer</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">remainder</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_pointer</span> <span class="o">-</span> <span class="n">valid_keys</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_length</span><span class="p">)</span>
+        <span class="c1"># return output</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_buffer</span><span class="p">[</span><span class="n">index_in_buffer</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ALL_INDICES</span><span class="p">]</span></div>
+</pre></div>
+
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new file mode 100644
index 0000000000..ed05d20147
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+  <h1>Source code for omni.isaac.lab.utils.buffers.delay_buffer</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="c1"># needed because we concatenate int and torch.Tensor in the type hints</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+
+<span class="kn">from</span> <span class="nn">.circular_buffer</span> <span class="kn">import</span> <span class="n">CircularBuffer</span>
+
+
+<div class="viewcode-block" id="DelayBuffer"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer">[docs]</a><span class="k">class</span> <span class="nc">DelayBuffer</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Delay buffer that allows retrieving stored data with delays.</span>
+
+<span class="sd">    This class uses a batched circular buffer to store input data. Different to a standard circular buffer,</span>
+<span class="sd">    which uses the LIFO (last-in-first-out) principle to retrieve the data, the delay buffer class allows</span>
+<span class="sd">    retrieving data based on the lag set by the user. For instance, if the delay set inside the buffer</span>
+<span class="sd">    is 1, then the second last entry from the stream is retrieved. If it is 2, then the third last entry</span>
+<span class="sd">    and so on.</span>
+
+<span class="sd">    The class supports storing a batched tensor data. This means that the shape of the appended data</span>
+<span class="sd">    is expected to be (batch_size, ...), where the first dimension is the batch dimension. Correspondingly,</span>
+<span class="sd">    the delay can be set separately for each batch index. If the requested delay is larger than the current</span>
+<span class="sd">    length of the underlying buffer, the most recent entry is returned.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        By default, the delay buffer has no delay, meaning that the data is returned as is.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DelayBuffer.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">history_length</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">batch_size</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the delay buffer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            history_length: The history of the buffer, i.e., the number of time steps in the past that the data</span>
+<span class="sd">                will be buffered. It is recommended to set this value equal to the maximum time-step lag that</span>
+<span class="sd">                is expected. The minimum acceptable value is zero, which means only the latest data is stored.</span>
+<span class="sd">            batch_size: The batch dimension of the data.</span>
+<span class="sd">            device: The device used for processing.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># set the parameters</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_history_length</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">history_length</span><span class="p">)</span>
+
+        <span class="c1"># the buffer size: current data plus the history length</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_circular_buffer</span> <span class="o">=</span> <span class="n">CircularBuffer</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_history_length</span> <span class="o">+</span> <span class="mi">1</span><span class="p">,</span> <span class="n">batch_size</span><span class="p">,</span> <span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># the minimum and maximum lags across all environments.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_min_time_lag</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_max_time_lag</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># the lags for each environment.</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_time_lags</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">batch_size</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">batch_size</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The batch size of the ring buffer.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_circular_buffer</span><span class="o">.</span><span class="n">batch_size</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The device used for processing.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_circular_buffer</span><span class="o">.</span><span class="n">device</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">history_length</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The history length of the delay buffer.</span>
+
+<span class="sd">        If zero, only the latest data is stored. If one, the latest and the previous data are stored, and so on.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_history_length</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">min_time_lag</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Minimum amount of time steps that can be delayed.</span>
+
+<span class="sd">        This value cannot be negative or larger than :attr:`max_time_lag`.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_min_time_lag</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">max_time_lag</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Maximum amount of time steps that can be delayed.</span>
+
+<span class="sd">        This value cannot be greater than :attr:`history_length`.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_max_time_lag</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">time_lags</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The time lag across each batch index.</span>
+
+<span class="sd">        The shape of the tensor is (batch_size, ). The value at each index represents the delay for that index.</span>
+<span class="sd">        This value is used to retrieve the data from the buffer.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_time_lags</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="DelayBuffer.set_time_lag"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.set_time_lag">[docs]</a>    <span class="k">def</span> <span class="nf">set_time_lag</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">time_lag</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">batch_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Sets the time lag for the delay buffer across the provided batch indices.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            time_lag: The desired delay for the buffer.</span>
+
+<span class="sd">              * If an integer is provided, the same delay is set for the provided batch indices.</span>
+<span class="sd">              * If a tensor is provided, the delay is set for each batch index separately. The shape of the tensor</span>
+<span class="sd">                should be (len(batch_ids),).</span>
+
+<span class="sd">            batch_ids: The batch indices for which the time lag is set. Default is None, which sets the time lag</span>
+<span class="sd">                for all batch indices.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            TypeError: If the type of the :attr:`time_lag` is not int or integer tensor.</span>
+<span class="sd">            ValueError: If the minimum time lag is negative or the maximum time lag is larger than the history length.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve batch indices</span>
+        <span class="k">if</span> <span class="n">batch_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">batch_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+
+        <span class="c1"># parse requested time_lag</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">time_lag</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+            <span class="c1"># set the time lags across provided batch indices</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_time_lags</span><span class="p">[</span><span class="n">batch_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">time_lag</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">time_lag</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+            <span class="c1"># check valid dtype for time_lag: must be int or long</span>
+            <span class="k">if</span> <span class="n">time_lag</span><span class="o">.</span><span class="n">dtype</span> <span class="ow">not</span> <span class="ow">in</span> <span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">int</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">]:</span>
+                <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid dtype for time_lag: </span><span class="si">{</span><span class="n">time_lag</span><span class="o">.</span><span class="n">dtype</span><span class="si">}</span><span class="s2">. Expected torch.int or torch.long.&quot;</span><span class="p">)</span>
+            <span class="c1"># set the time lags</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_time_lags</span><span class="p">[</span><span class="n">batch_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">time_lag</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid type for time_lag: </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">time_lag</span><span class="p">)</span><span class="si">}</span><span class="s2">. Expected int or integer tensor.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># compute the min and max time lag</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_min_time_lag</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">min</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_time_lags</span><span class="p">)</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_max_time_lag</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_time_lags</span><span class="p">)</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+        <span class="c1"># check that time_lag is feasible</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_min_time_lag</span> <span class="o">&lt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The minimum time lag cannot be negative. Received: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_min_time_lag</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_max_time_lag</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_history_length</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;The maximum time lag cannot be larger than the history length. Received: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_max_time_lag</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span></div>
+
+<div class="viewcode-block" id="DelayBuffer.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">batch_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the data in the delay buffer at the specified batch indices.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            batch_ids: Elements to reset in the batch dimension. Default is None, which resets all the batch indices.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_circular_buffer</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">batch_ids</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="DelayBuffer.compute"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Append the input data to the buffer and returns a stale version of the data based on time lag delay.</span>
+
+<span class="sd">        If the requested delay is larger than the number of buffered data points since the last reset,</span>
+<span class="sd">        the function returns the latest data. For instance, if the delay is set to 2 and only one data point</span>
+<span class="sd">        is stored in the buffer, the function will return the latest data. If the delay is set to 2 and three</span>
+<span class="sd">        data points are stored, the function will return the first data point.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">           data: The input data. Shape is (batch_size, ...).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The delayed version of the data from the stored buffer. Shape is (batch_size, ...).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># add the new data to the last layer</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_circular_buffer</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">data</span><span class="p">)</span>
+        <span class="c1"># return output</span>
+        <span class="n">delayed_data</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_circular_buffer</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_time_lags</span><span class="p">]</span>
+        <span class="k">return</span> <span class="n">delayed_data</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span></div></div>
+</pre></div>
+
+                </article>
+              
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new file mode 100644
index 0000000000..30809ba1f4
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+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
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+  <h1>Source code for omni.isaac.lab.utils.buffers.timestamped_buffer</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">dataclass</span>
+
+
+<div class="viewcode-block" id="TimestampedBuffer"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.TimestampedBuffer">[docs]</a><span class="nd">@dataclass</span>
+<span class="k">class</span> <span class="nc">TimestampedBuffer</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A buffer class containing data and its timestamp.</span>
+
+<span class="sd">    This class is a simple data container that stores a tensor and its timestamp. The timestamp is used to</span>
+<span class="sd">    track the last update of the buffer. The timestamp is set to -1.0 by default, indicating that the buffer</span>
+<span class="sd">    has not been updated yet. The timestamp should be updated whenever the data in the buffer is updated. This</span>
+<span class="sd">    way the buffer can be used to check whether the data is outdated and needs to be refreshed.</span>
+
+<span class="sd">    The buffer is useful for creating lazy buffers that only update the data when it is outdated. This can be</span>
+<span class="sd">    useful when the data is expensive to compute or retrieve. For example usage, refer to the data classes in</span>
+<span class="sd">    the :mod:`omni.isaac.lab.assets` module.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">=</span> <span class="kc">None</span>  <span class="c1"># type: ignore</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The data stored in the buffer. Default is None, indicating that the buffer is empty.&quot;&quot;&quot;</span>
+
+    <span class="n">timestamp</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Timestamp at the last update of the buffer. Default is -1.0, indicating that the buffer has not been updated.&quot;&quot;&quot;</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.utils.configclass</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module that provides a wrapper around the Python 3.7 onwards ``dataclasses`` module.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">types</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">copy</span> <span class="kn">import</span> <span class="n">deepcopy</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span><span class="p">,</span> <span class="n">Field</span><span class="p">,</span> <span class="n">dataclass</span><span class="p">,</span> <span class="n">field</span><span class="p">,</span> <span class="n">replace</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span><span class="p">,</span> <span class="n">ClassVar</span>
+
+<span class="kn">from</span> <span class="nn">.dict</span> <span class="kn">import</span> <span class="n">class_to_dict</span><span class="p">,</span> <span class="n">update_class_from_dict</span>
+
+<span class="n">_CONFIGCLASS_METHODS</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;to_dict&quot;</span><span class="p">,</span> <span class="s2">&quot;from_dict&quot;</span><span class="p">,</span> <span class="s2">&quot;replace&quot;</span><span class="p">,</span> <span class="s2">&quot;copy&quot;</span><span class="p">,</span> <span class="s2">&quot;validate&quot;</span><span class="p">]</span>
+<span class="sd">&quot;&quot;&quot;List of class methods added at runtime to dataclass.&quot;&quot;&quot;</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Wrapper around dataclass.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="k">def</span> <span class="nf">__dataclass_transform__</span><span class="p">():</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Add annotations decorator for PyLance.&quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="k">lambda</span> <span class="n">a</span><span class="p">:</span> <span class="n">a</span>
+
+
+<div class="viewcode-block" id="configclass"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.configclass.configclass">[docs]</a><span class="nd">@__dataclass_transform__</span><span class="p">()</span>
+<span class="k">def</span> <span class="nf">configclass</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Wrapper around `dataclass` functionality to add extra checks and utilities.</span>
+
+<span class="sd">    As of Python 3.7, the standard dataclasses have two main issues which makes them non-generic for</span>
+<span class="sd">    configuration use-cases. These include:</span>
+
+<span class="sd">    1. Requiring a type annotation for all its members.</span>
+<span class="sd">    2. Requiring explicit usage of :meth:`field(default_factory=...)` to reinitialize mutable variables.</span>
+
+<span class="sd">    This function provides a decorator that wraps around Python&#39;s `dataclass`_ utility to deal with</span>
+<span class="sd">    the above two issues. It also provides additional helper functions for dictionary &lt;-&gt; class</span>
+<span class="sd">    conversion and easily copying class instances.</span>
+
+<span class="sd">    Usage:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        from dataclasses import MISSING</span>
+
+<span class="sd">        from omni.isaac.lab.utils.configclass import configclass</span>
+
+
+<span class="sd">        @configclass</span>
+<span class="sd">        class ViewerCfg:</span>
+<span class="sd">            eye: list = [7.5, 7.5, 7.5]  # field missing on purpose</span>
+<span class="sd">            lookat: list = field(default_factory=[0.0, 0.0, 0.0])</span>
+
+
+<span class="sd">        @configclass</span>
+<span class="sd">        class EnvCfg:</span>
+<span class="sd">            num_envs: int = MISSING</span>
+<span class="sd">            episode_length: int = 2000</span>
+<span class="sd">            viewer: ViewerCfg = ViewerCfg()</span>
+
+<span class="sd">        # create configuration instance</span>
+<span class="sd">        env_cfg = EnvCfg(num_envs=24)</span>
+
+<span class="sd">        # print information as a dictionary</span>
+<span class="sd">        print(env_cfg.to_dict())</span>
+
+<span class="sd">        # create a copy of the configuration</span>
+<span class="sd">        env_cfg_copy = env_cfg.copy()</span>
+
+<span class="sd">        # replace arbitrary fields using keyword arguments</span>
+<span class="sd">        env_cfg_copy = env_cfg_copy.replace(num_envs=32)</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        cls: The class to wrap around.</span>
+<span class="sd">        **kwargs: Additional arguments to pass to :func:`dataclass`.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The wrapped class.</span>
+
+<span class="sd">    .. _dataclass: https://docs.python.org/3/library/dataclasses.html</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># add type annotations</span>
+    <span class="n">_add_annotation_types</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span>
+    <span class="c1"># add field factory</span>
+    <span class="n">_process_mutable_types</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span>
+    <span class="c1"># copy mutable members</span>
+    <span class="c1"># note: we check if user defined __post_init__ function exists and augment it with our own</span>
+    <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="s2">&quot;__post_init__&quot;</span><span class="p">):</span>
+        <span class="nb">setattr</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="s2">&quot;__post_init__&quot;</span><span class="p">,</span> <span class="n">_combined_function</span><span class="p">(</span><span class="bp">cls</span><span class="o">.</span><span class="n">__post_init__</span><span class="p">,</span> <span class="n">_custom_post_init</span><span class="p">))</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="nb">setattr</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="s2">&quot;__post_init__&quot;</span><span class="p">,</span> <span class="n">_custom_post_init</span><span class="p">)</span>
+    <span class="c1"># add helper functions for dictionary conversion</span>
+    <span class="nb">setattr</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="s2">&quot;to_dict&quot;</span><span class="p">,</span> <span class="n">_class_to_dict</span><span class="p">)</span>
+    <span class="nb">setattr</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="s2">&quot;from_dict&quot;</span><span class="p">,</span> <span class="n">_update_class_from_dict</span><span class="p">)</span>
+    <span class="nb">setattr</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="s2">&quot;replace&quot;</span><span class="p">,</span> <span class="n">_replace_class_with_kwargs</span><span class="p">)</span>
+    <span class="nb">setattr</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="s2">&quot;copy&quot;</span><span class="p">,</span> <span class="n">_copy_class</span><span class="p">)</span>
+    <span class="nb">setattr</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="s2">&quot;validate&quot;</span><span class="p">,</span> <span class="n">_validate</span><span class="p">)</span>
+    <span class="c1"># wrap around dataclass</span>
+    <span class="bp">cls</span> <span class="o">=</span> <span class="n">dataclass</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+    <span class="c1"># return wrapped class</span>
+    <span class="k">return</span> <span class="bp">cls</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Dictionary &lt;-&gt; Class operations.</span>
+
+<span class="sd">These are redefined here to add new docstrings.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="k">def</span> <span class="nf">_class_to_dict</span><span class="p">(</span><span class="n">obj</span><span class="p">:</span> <span class="nb">object</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert an object into dictionary recursively.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        obj: The object to convert.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Converted dictionary mapping.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">class_to_dict</span><span class="p">(</span><span class="n">obj</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">_update_class_from_dict</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reads a dictionary and sets object variables recursively.</span>
+
+<span class="sd">    This function performs in-place update of the class member attributes.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        obj: The object to update.</span>
+<span class="sd">        data: Input (nested) dictionary to update from.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        TypeError: When input is not a dictionary.</span>
+<span class="sd">        ValueError: When dictionary has a value that does not match default config type.</span>
+<span class="sd">        KeyError: When dictionary has a key that does not exist in the default config type.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">update_class_from_dict</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="n">data</span><span class="p">,</span> <span class="n">_ns</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">_replace_class_with_kwargs</span><span class="p">(</span><span class="n">obj</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">object</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Return a new object replacing specified fields with new values.</span>
+
+<span class="sd">    This is especially useful for frozen classes.  Example usage:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        @configclass(frozen=True)</span>
+<span class="sd">        class C:</span>
+<span class="sd">            x: int</span>
+<span class="sd">            y: int</span>
+
+<span class="sd">        c = C(1, 2)</span>
+<span class="sd">        c1 = c.replace(x=3)</span>
+<span class="sd">        assert c1.x == 3 and c1.y == 2</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        obj: The object to replace.</span>
+<span class="sd">        **kwargs: The fields to replace and their new values.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The new object.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">replace</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">_copy_class</span><span class="p">(</span><span class="n">obj</span><span class="p">:</span> <span class="nb">object</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">object</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Return a new object with the same fields as the original.&quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">replace</span><span class="p">(</span><span class="n">obj</span><span class="p">)</span>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Private helper functions.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="k">def</span> <span class="nf">_add_annotation_types</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Add annotations to all elements in the dataclass.</span>
+
+<span class="sd">    By definition in Python, a field is defined as a class variable that has a type annotation.</span>
+
+<span class="sd">    In case type annotations are not provided, dataclass ignores those members when :func:`__dict__()` is called.</span>
+<span class="sd">    This function adds these annotations to the class variable to prevent any issues in case the user forgets to</span>
+<span class="sd">    specify the type annotation.</span>
+
+<span class="sd">    This makes the following a feasible operation:</span>
+
+<span class="sd">    @dataclass</span>
+<span class="sd">    class State:</span>
+<span class="sd">        pos = (0.0, 0.0, 0.0)</span>
+<span class="sd">           ^^</span>
+<span class="sd">           If the function is NOT used, the following type-error is returned:</span>
+<span class="sd">           TypeError: &#39;pos&#39; is a field but has no type annotation</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># get type hints</span>
+    <span class="n">hints</span> <span class="o">=</span> <span class="p">{}</span>
+    <span class="c1"># iterate over class inheritance</span>
+    <span class="c1"># we add annotations from base classes first</span>
+    <span class="k">for</span> <span class="n">base</span> <span class="ow">in</span> <span class="nb">reversed</span><span class="p">(</span><span class="bp">cls</span><span class="o">.</span><span class="vm">__mro__</span><span class="p">):</span>
+        <span class="c1"># check if base is object</span>
+        <span class="k">if</span> <span class="n">base</span> <span class="ow">is</span> <span class="nb">object</span><span class="p">:</span>
+            <span class="k">continue</span>
+        <span class="c1"># get base class annotations</span>
+        <span class="n">ann</span> <span class="o">=</span> <span class="n">base</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;__annotations__&quot;</span><span class="p">,</span> <span class="p">{})</span>
+        <span class="c1"># directly add all annotations from base class</span>
+        <span class="n">hints</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">ann</span><span class="p">)</span>
+        <span class="c1"># iterate over base class members</span>
+        <span class="c1"># Note: Do not change this to dir(base) since it orders the members alphabetically.</span>
+        <span class="c1">#   This is not desirable since the order of the members is important in some cases.</span>
+        <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="n">base</span><span class="o">.</span><span class="vm">__dict__</span><span class="p">:</span>
+            <span class="c1"># get class member</span>
+            <span class="n">value</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">base</span><span class="p">,</span> <span class="n">key</span><span class="p">)</span>
+            <span class="c1"># skip members</span>
+            <span class="k">if</span> <span class="n">_skippable_class_member</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">hints</span><span class="p">):</span>
+                <span class="k">continue</span>
+            <span class="c1"># add type annotations for members that don&#39;t have explicit type annotations</span>
+            <span class="c1"># for these, we deduce the type from the default value</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">type</span><span class="p">):</span>
+                <span class="k">if</span> <span class="n">key</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">hints</span><span class="p">:</span>
+                    <span class="c1"># check if var type is not MISSING</span>
+                    <span class="c1"># we cannot deduce type from MISSING!</span>
+                    <span class="k">if</span> <span class="n">value</span> <span class="ow">is</span> <span class="n">MISSING</span><span class="p">:</span>
+                        <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+                            <span class="sa">f</span><span class="s2">&quot;Missing type annotation for &#39;</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&#39; in class &#39;</span><span class="si">{</span><span class="bp">cls</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                            <span class="s2">&quot; Please add a type annotation or set a default value.&quot;</span>
+                        <span class="p">)</span>
+                    <span class="c1"># add type annotation</span>
+                    <span class="n">hints</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="nb">type</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="n">key</span> <span class="o">!=</span> <span class="n">value</span><span class="o">.</span><span class="vm">__name__</span><span class="p">:</span>
+                <span class="c1"># note: we don&#39;t want to add type annotations for nested configclass. Thus, we check if</span>
+                <span class="c1">#   the name of the type matches the name of the variable.</span>
+                <span class="c1"># since Python 3.10, type hints are stored as strings</span>
+                <span class="n">hints</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;type[</span><span class="si">{</span><span class="n">value</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">]&quot;</span>
+
+    <span class="c1"># Note: Do not change this line. `cls.__dict__.get(&quot;__annotations__&quot;, {})` is different from</span>
+    <span class="c1">#   `cls.__annotations__` because of inheritance.</span>
+    <span class="bp">cls</span><span class="o">.</span><span class="vm">__annotations__</span> <span class="o">=</span> <span class="bp">cls</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;__annotations__&quot;</span><span class="p">,</span> <span class="p">{})</span>
+    <span class="bp">cls</span><span class="o">.</span><span class="vm">__annotations__</span> <span class="o">=</span> <span class="n">hints</span>
+
+
+<span class="k">def</span> <span class="nf">_validate</span><span class="p">(</span><span class="n">obj</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">prefix</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Check the validity of configclass object.</span>
+
+<span class="sd">    This function checks if the object is a valid configclass object. A valid configclass object contains no MISSING</span>
+<span class="sd">    entries.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        obj: The object to check.</span>
+<span class="sd">        prefix: The prefix to add to the missing fields. Defaults to &#39;&#39;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A list of missing fields.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        TypeError: When the object is not a valid configuration object.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">missing_fields</span> <span class="o">=</span> <span class="p">[]</span>
+
+    <span class="k">if</span> <span class="nb">type</span><span class="p">(</span><span class="n">obj</span><span class="p">)</span> <span class="ow">is</span> <span class="nb">type</span><span class="p">(</span><span class="n">MISSING</span><span class="p">):</span>
+        <span class="n">missing_fields</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">prefix</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">missing_fields</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="p">(</span><span class="nb">list</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">)):</span>
+        <span class="k">for</span> <span class="n">index</span><span class="p">,</span> <span class="n">item</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">obj</span><span class="p">):</span>
+            <span class="n">current_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prefix</span><span class="si">}</span><span class="s2">[</span><span class="si">{</span><span class="n">index</span><span class="si">}</span><span class="s2">]&quot;</span>
+            <span class="n">missing_fields</span><span class="o">.</span><span class="n">extend</span><span class="p">(</span><span class="n">_validate</span><span class="p">(</span><span class="n">item</span><span class="p">,</span> <span class="n">prefix</span><span class="o">=</span><span class="n">current_path</span><span class="p">))</span>
+        <span class="k">return</span> <span class="n">missing_fields</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+        <span class="n">obj_dict</span> <span class="o">=</span> <span class="n">obj</span>
+    <span class="k">elif</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="s2">&quot;__dict__&quot;</span><span class="p">):</span>
+        <span class="n">obj_dict</span> <span class="o">=</span> <span class="n">obj</span><span class="o">.</span><span class="vm">__dict__</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">missing_fields</span>
+
+    <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">obj_dict</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="c1"># disregard builtin attributes</span>
+        <span class="k">if</span> <span class="n">key</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;__&quot;</span><span class="p">):</span>
+            <span class="k">continue</span>
+        <span class="n">current_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">prefix</span><span class="si">}</span><span class="s2">.</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&quot;</span> <span class="k">if</span> <span class="n">prefix</span> <span class="k">else</span> <span class="n">key</span>
+        <span class="n">missing_fields</span><span class="o">.</span><span class="n">extend</span><span class="p">(</span><span class="n">_validate</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="n">prefix</span><span class="o">=</span><span class="n">current_path</span><span class="p">))</span>
+
+    <span class="c1"># raise an error only once at the top-level call</span>
+    <span class="k">if</span> <span class="n">prefix</span> <span class="o">==</span> <span class="s2">&quot;&quot;</span> <span class="ow">and</span> <span class="n">missing_fields</span><span class="p">:</span>
+        <span class="n">formatted_message</span> <span class="o">=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;  - </span><span class="si">{</span><span class="n">field</span><span class="si">}</span><span class="s2">&quot;</span> <span class="k">for</span> <span class="n">field</span> <span class="ow">in</span> <span class="n">missing_fields</span><span class="p">)</span>
+        <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Missing values detected in object </span><span class="si">{</span><span class="n">obj</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2"> for the following&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot; fields:</span><span class="se">\n</span><span class="si">{</span><span class="n">formatted_message</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+    <span class="k">return</span> <span class="n">missing_fields</span>
+
+
+<span class="k">def</span> <span class="nf">_process_mutable_types</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Initialize all mutable elements through :obj:`dataclasses.Field` to avoid unnecessary complaints.</span>
+
+<span class="sd">    By default, dataclass requires usage of :obj:`field(default_factory=...)` to reinitialize mutable objects every time a new</span>
+<span class="sd">    class instance is created. If a member has a mutable type and it is created without specifying the `field(default_factory=...)`,</span>
+<span class="sd">    then Python throws an error requiring the usage of `default_factory`.</span>
+
+<span class="sd">    Additionally, Python only explicitly checks for field specification when the type is a list, set or dict. This misses the</span>
+<span class="sd">    use-case where the type is class itself. Thus, the code silently carries a bug with it which can lead to undesirable effects.</span>
+
+<span class="sd">    This function deals with this issue</span>
+
+<span class="sd">    This makes the following a feasible operation:</span>
+
+<span class="sd">    @dataclass</span>
+<span class="sd">    class State:</span>
+<span class="sd">        pos: list = [0.0, 0.0, 0.0]</span>
+<span class="sd">           ^^</span>
+<span class="sd">           If the function is NOT used, the following value-error is returned:</span>
+<span class="sd">           ValueError: mutable default &lt;class &#39;list&#39;&gt; for field pos is not allowed: use default_factory</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># note: Need to set this up in the same order as annotations. Otherwise, it</span>
+    <span class="c1">#   complains about missing positional arguments.</span>
+    <span class="n">ann</span> <span class="o">=</span> <span class="bp">cls</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;__annotations__&quot;</span><span class="p">,</span> <span class="p">{})</span>
+
+    <span class="c1"># iterate over all class members and store them in a dictionary</span>
+    <span class="n">class_members</span> <span class="o">=</span> <span class="p">{}</span>
+    <span class="k">for</span> <span class="n">base</span> <span class="ow">in</span> <span class="nb">reversed</span><span class="p">(</span><span class="bp">cls</span><span class="o">.</span><span class="vm">__mro__</span><span class="p">):</span>
+        <span class="c1"># check if base is object</span>
+        <span class="k">if</span> <span class="n">base</span> <span class="ow">is</span> <span class="nb">object</span><span class="p">:</span>
+            <span class="k">continue</span>
+        <span class="c1"># iterate over base class members</span>
+        <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="n">base</span><span class="o">.</span><span class="vm">__dict__</span><span class="p">:</span>
+            <span class="c1"># get class member</span>
+            <span class="n">f</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">base</span><span class="p">,</span> <span class="n">key</span><span class="p">)</span>
+            <span class="c1"># skip members</span>
+            <span class="k">if</span> <span class="n">_skippable_class_member</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="n">f</span><span class="p">):</span>
+                <span class="k">continue</span>
+            <span class="c1"># store class member if it is not a type or if it is already present in annotations</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">f</span><span class="p">,</span> <span class="nb">type</span><span class="p">)</span> <span class="ow">or</span> <span class="n">key</span> <span class="ow">in</span> <span class="n">ann</span><span class="p">:</span>
+                <span class="n">class_members</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">f</span>
+        <span class="c1"># iterate over base class data fields</span>
+        <span class="c1"># in previous call, things that became a dataclass field were removed from class members</span>
+        <span class="c1"># so we need to add them back here as a dataclass field directly</span>
+        <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">f</span> <span class="ow">in</span> <span class="n">base</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;__dataclass_fields__&quot;</span><span class="p">,</span> <span class="p">{})</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="c1"># store class member</span>
+            <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">f</span><span class="p">,</span> <span class="nb">type</span><span class="p">):</span>
+                <span class="n">class_members</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">f</span>
+
+    <span class="c1"># check that all annotations are present in class members</span>
+    <span class="c1"># note: mainly for debugging purposes</span>
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">class_members</span><span class="p">)</span> <span class="o">!=</span> <span class="nb">len</span><span class="p">(</span><span class="n">ann</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;In class &#39;</span><span class="si">{</span><span class="bp">cls</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">&#39;, number of annotations (</span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">ann</span><span class="p">)</span><span class="si">}</span><span class="s2">) does not match number of class members&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot; (</span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">class_members</span><span class="p">)</span><span class="si">}</span><span class="s2">). Please check that all class members have type annotations and/or a default&quot;</span>
+            <span class="s2">&quot; value. If you don&#39;t want to specify a default value, please use the literal `dataclasses.MISSING`.&quot;</span>
+        <span class="p">)</span>
+    <span class="c1"># iterate over annotations and add field factory for mutable types</span>
+    <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="n">ann</span><span class="p">:</span>
+        <span class="c1"># find matching field in class</span>
+        <span class="n">value</span> <span class="o">=</span> <span class="n">class_members</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="n">MISSING</span><span class="p">)</span>
+        <span class="c1"># check if key belongs to ClassVar</span>
+        <span class="c1"># in that case, we cannot use default_factory!</span>
+        <span class="n">origin</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">ann</span><span class="p">[</span><span class="n">key</span><span class="p">],</span> <span class="s2">&quot;__origin__&quot;</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">origin</span> <span class="ow">is</span> <span class="n">ClassVar</span><span class="p">:</span>
+            <span class="k">continue</span>
+        <span class="c1"># check if f is MISSING</span>
+        <span class="c1"># note: commented out for now since it causes issue with inheritance</span>
+        <span class="c1">#   of dataclasses when parent have some positional and some keyword arguments.</span>
+        <span class="c1"># Ref: https://stackoverflow.com/questions/51575931/class-inheritance-in-python-3-7-dataclasses</span>
+        <span class="c1"># TODO: check if this is fixed in Python 3.10</span>
+        <span class="c1"># if f is MISSING:</span>
+        <span class="c1">#     continue</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="n">Field</span><span class="p">):</span>
+            <span class="nb">setattr</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">type</span><span class="p">):</span>
+            <span class="c1"># create field factory for mutable types</span>
+            <span class="n">value</span> <span class="o">=</span> <span class="n">field</span><span class="p">(</span><span class="n">default_factory</span><span class="o">=</span><span class="n">_return_f</span><span class="p">(</span><span class="n">value</span><span class="p">))</span>
+            <span class="nb">setattr</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">_custom_post_init</span><span class="p">(</span><span class="n">obj</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Deepcopy all elements to avoid shared memory issues for mutable objects in dataclasses initialization.</span>
+
+<span class="sd">    This function is called explicitly instead of as a part of :func:`_process_mutable_types()` to prevent mapping</span>
+<span class="sd">    proxy type i.e. a read only proxy for mapping objects. The error is thrown when using hierarchical data-classes</span>
+<span class="sd">    for configuration.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">for</span> <span class="n">key</span> <span class="ow">in</span> <span class="nb">dir</span><span class="p">(</span><span class="n">obj</span><span class="p">):</span>
+        <span class="c1"># skip dunder members</span>
+        <span class="k">if</span> <span class="n">key</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;__&quot;</span><span class="p">):</span>
+            <span class="k">continue</span>
+        <span class="c1"># get data member</span>
+        <span class="n">value</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="n">key</span><span class="p">)</span>
+        <span class="c1"># check annotation</span>
+        <span class="n">ann</span> <span class="o">=</span> <span class="n">obj</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__dict__</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">key</span><span class="p">)</span>
+        <span class="c1"># duplicate data members that are mutable</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">callable</span><span class="p">(</span><span class="n">value</span><span class="p">)</span> <span class="ow">and</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">ann</span><span class="p">,</span> <span class="nb">property</span><span class="p">):</span>
+            <span class="nb">setattr</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="n">key</span><span class="p">,</span> <span class="n">deepcopy</span><span class="p">(</span><span class="n">value</span><span class="p">))</span>
+
+
+<span class="k">def</span> <span class="nf">_combined_function</span><span class="p">(</span><span class="n">f1</span><span class="p">:</span> <span class="n">Callable</span><span class="p">,</span> <span class="n">f2</span><span class="p">:</span> <span class="n">Callable</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Callable</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Combine two functions into one.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        f1: The first function.</span>
+<span class="sd">        f2: The second function.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The combined function.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_combined</span><span class="p">(</span><span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+        <span class="c1"># call both functions</span>
+        <span class="n">f1</span><span class="p">(</span><span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+        <span class="n">f2</span><span class="p">(</span><span class="o">*</span><span class="n">args</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">_combined</span>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Helper functions</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="k">def</span> <span class="nf">_skippable_class_member</span><span class="p">(</span><span class="n">key</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">value</span><span class="p">:</span> <span class="n">Any</span><span class="p">,</span> <span class="n">hints</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Check if the class member should be skipped in configclass processing.</span>
+
+<span class="sd">    The following members are skipped:</span>
+
+<span class="sd">    * Dunder members: ``__name__``, ``__module__``, ``__qualname__``, ``__annotations__``, ``__dict__``.</span>
+<span class="sd">    * Manually-added special class functions: From :obj:`_CONFIGCLASS_METHODS`.</span>
+<span class="sd">    * Members that are already present in the type annotations.</span>
+<span class="sd">    * Functions bounded to class object or class.</span>
+<span class="sd">    * Properties bounded to class object.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        key: The class member name.</span>
+<span class="sd">        value: The class member value.</span>
+<span class="sd">        hints: The type hints for the class. Defaults to None, in which case, the</span>
+<span class="sd">            members existence in type hints are not checked.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        True if the class member should be skipped, False otherwise.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># skip dunder members</span>
+    <span class="k">if</span> <span class="n">key</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;__&quot;</span><span class="p">):</span>
+        <span class="k">return</span> <span class="kc">True</span>
+    <span class="c1"># skip manually-added special class functions</span>
+    <span class="k">if</span> <span class="n">key</span> <span class="ow">in</span> <span class="n">_CONFIGCLASS_METHODS</span><span class="p">:</span>
+        <span class="k">return</span> <span class="kc">True</span>
+    <span class="c1"># check if key is already present</span>
+    <span class="k">if</span> <span class="n">hints</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="n">key</span> <span class="ow">in</span> <span class="n">hints</span><span class="p">:</span>
+        <span class="k">return</span> <span class="kc">True</span>
+    <span class="c1"># skip functions bounded to class</span>
+    <span class="k">if</span> <span class="nb">callable</span><span class="p">(</span><span class="n">value</span><span class="p">):</span>
+        <span class="c1"># FIXME: This doesn&#39;t yet work for static methods because they are essentially seen as function types.</span>
+        <span class="c1"># check for class methods</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="n">types</span><span class="o">.</span><span class="n">MethodType</span><span class="p">):</span>
+            <span class="k">return</span> <span class="kc">True</span>
+        <span class="c1"># check for instance methods</span>
+        <span class="n">signature</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">signature</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+        <span class="k">if</span> <span class="s2">&quot;self&quot;</span> <span class="ow">in</span> <span class="n">signature</span><span class="o">.</span><span class="n">parameters</span> <span class="ow">or</span> <span class="s2">&quot;cls&quot;</span> <span class="ow">in</span> <span class="n">signature</span><span class="o">.</span><span class="n">parameters</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">True</span>
+    <span class="c1"># skip property methods</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">property</span><span class="p">):</span>
+        <span class="k">return</span> <span class="kc">True</span>
+    <span class="c1"># Otherwise, don&#39;t skip</span>
+    <span class="k">return</span> <span class="kc">False</span>
+
+
+<span class="k">def</span> <span class="nf">_return_f</span><span class="p">(</span><span class="n">f</span><span class="p">:</span> <span class="n">Any</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Callable</span><span class="p">[[],</span> <span class="n">Any</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Returns default factory function for creating mutable/immutable variables.</span>
+
+<span class="sd">    This function should be used to create default factory functions for variables.</span>
+
+<span class="sd">    Example:</span>
+
+<span class="sd">        .. code-block:: python</span>
+
+<span class="sd">            value = field(default_factory=_return_f(value))</span>
+<span class="sd">            setattr(cls, key, value)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_wrap</span><span class="p">():</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">f</span><span class="p">,</span> <span class="n">Field</span><span class="p">):</span>
+            <span class="k">if</span> <span class="n">f</span><span class="o">.</span><span class="n">default_factory</span> <span class="ow">is</span> <span class="n">MISSING</span><span class="p">:</span>
+                <span class="k">return</span> <span class="n">deepcopy</span><span class="p">(</span><span class="n">f</span><span class="o">.</span><span class="n">default</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">return</span> <span class="n">f</span><span class="o">.</span><span class="n">default_factory</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">return</span> <span class="n">deepcopy</span><span class="p">(</span><span class="n">f</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">_wrap</span>
+</pre></div>
+
+                </article>
+              
+
+              
+              
+              
+              
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+<p class="component-author">
+By The Isaac Lab Project Developers.
+</p>
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new file mode 100644
index 0000000000..fe7eea4846
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+
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+                  
+  <h1>Source code for omni.isaac.lab.utils.dict</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module for utilities for working with dictionaries.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">collections.abc</span>
+<span class="kn">import</span> <span class="nn">hashlib</span>
+<span class="kn">import</span> <span class="nn">json</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Iterable</span><span class="p">,</span> <span class="n">Mapping</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span>
+
+<span class="kn">from</span> <span class="nn">.array</span> <span class="kn">import</span> <span class="n">TENSOR_TYPE_CONVERSIONS</span><span class="p">,</span> <span class="n">TENSOR_TYPES</span>
+<span class="kn">from</span> <span class="nn">.string</span> <span class="kn">import</span> <span class="n">callable_to_string</span><span class="p">,</span> <span class="n">string_to_callable</span><span class="p">,</span> <span class="n">string_to_slice</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Dictionary &lt;-&gt; Class operations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="class_to_dict"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.class_to_dict">[docs]</a><span class="k">def</span> <span class="nf">class_to_dict</span><span class="p">(</span><span class="n">obj</span><span class="p">:</span> <span class="nb">object</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert an object into dictionary recursively.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        Ignores all names starting with &quot;__&quot; (i.e. built-in methods).</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        obj: An instance of a class to convert.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When input argument is not an object.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Converted dictionary mapping.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check that input data is class instance</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="s2">&quot;__class__&quot;</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected a class instance. Received: </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">obj</span><span class="p">)</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+    <span class="c1"># convert object to dictionary</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+        <span class="n">obj_dict</span> <span class="o">=</span> <span class="n">obj</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+        <span class="c1"># We have to treat torch tensors specially because `torch.tensor.__dict__` returns an empty</span>
+        <span class="c1"># dict, which would mean that a torch.tensor would be stored as an empty dict. Instead we</span>
+        <span class="c1"># want to store it directly as the tensor.</span>
+        <span class="k">return</span> <span class="n">obj</span>
+    <span class="k">elif</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="s2">&quot;__dict__&quot;</span><span class="p">):</span>
+        <span class="n">obj_dict</span> <span class="o">=</span> <span class="n">obj</span><span class="o">.</span><span class="vm">__dict__</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">obj</span>
+
+    <span class="c1"># convert to dictionary</span>
+    <span class="n">data</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+    <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">obj_dict</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="c1"># disregard builtin attributes</span>
+        <span class="k">if</span> <span class="n">key</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;__&quot;</span><span class="p">):</span>
+            <span class="k">continue</span>
+        <span class="c1"># check if attribute is callable -- function</span>
+        <span class="k">if</span> <span class="nb">callable</span><span class="p">(</span><span class="n">value</span><span class="p">):</span>
+            <span class="n">data</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">callable_to_string</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+        <span class="c1"># check if attribute is a dictionary</span>
+        <span class="k">elif</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="s2">&quot;__dict__&quot;</span><span class="p">)</span> <span class="ow">or</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">data</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">class_to_dict</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+        <span class="c1"># check if attribute is a list or tuple</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="p">(</span><span class="nb">list</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">)):</span>
+            <span class="n">data</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="nb">type</span><span class="p">(</span><span class="n">value</span><span class="p">)([</span><span class="n">class_to_dict</span><span class="p">(</span><span class="n">v</span><span class="p">)</span> <span class="k">for</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">value</span><span class="p">])</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">data</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span>
+    <span class="k">return</span> <span class="n">data</span></div>
+
+
+<div class="viewcode-block" id="update_class_from_dict"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.update_class_from_dict">[docs]</a><span class="k">def</span> <span class="nf">update_class_from_dict</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">],</span> <span class="n">_ns</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reads a dictionary and sets object variables recursively.</span>
+
+<span class="sd">    This function performs in-place update of the class member attributes.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        obj: An instance of a class to update.</span>
+<span class="sd">        data: Input dictionary to update from.</span>
+<span class="sd">        _ns: Namespace of the current object. This is useful for nested configuration</span>
+<span class="sd">            classes or dictionaries. Defaults to &quot;&quot;.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        TypeError: When input is not a dictionary.</span>
+<span class="sd">        ValueError: When dictionary has a value that does not match default config type.</span>
+<span class="sd">        KeyError: When dictionary has a key that does not exist in the default config type.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">data</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="c1"># key_ns is the full namespace of the key</span>
+        <span class="n">key_ns</span> <span class="o">=</span> <span class="n">_ns</span> <span class="o">+</span> <span class="s2">&quot;/&quot;</span> <span class="o">+</span> <span class="n">key</span>
+        <span class="c1"># check if key is present in the object</span>
+        <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="n">key</span><span class="p">)</span> <span class="ow">or</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">obj_mem</span> <span class="o">=</span> <span class="n">obj</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="nb">dict</span><span class="p">)</span> <span class="k">else</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="n">key</span><span class="p">)</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="n">Mapping</span><span class="p">):</span>
+                <span class="c1"># recursively call if it is a dictionary</span>
+                <span class="n">update_class_from_dict</span><span class="p">(</span><span class="n">obj_mem</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">_ns</span><span class="o">=</span><span class="n">key_ns</span><span class="p">)</span>
+                <span class="k">continue</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="n">Iterable</span><span class="p">)</span> <span class="ow">and</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                <span class="c1"># check length of value to be safe</span>
+                <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">obj_mem</span><span class="p">)</span> <span class="o">!=</span> <span class="nb">len</span><span class="p">(</span><span class="n">value</span><span class="p">)</span> <span class="ow">and</span> <span class="n">obj_mem</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;[Config]: Incorrect length under namespace: </span><span class="si">{</span><span class="n">key_ns</span><span class="si">}</span><span class="s2">.&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot; Expected: </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">obj_mem</span><span class="p">)</span><span class="si">}</span><span class="s2">, Received: </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">value</span><span class="p">)</span><span class="si">}</span><span class="s2">.&quot;</span>
+                    <span class="p">)</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obj_mem</span><span class="p">,</span> <span class="nb">tuple</span><span class="p">):</span>
+                    <span class="n">value</span> <span class="o">=</span> <span class="nb">tuple</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="n">set_obj</span> <span class="o">=</span> <span class="kc">True</span>
+                    <span class="c1"># recursively call if iterable contains dictionaries</span>
+                    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">obj_mem</span><span class="p">)):</span>
+                        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">[</span><span class="n">i</span><span class="p">],</span> <span class="nb">dict</span><span class="p">):</span>
+                            <span class="n">update_class_from_dict</span><span class="p">(</span><span class="n">obj_mem</span><span class="p">[</span><span class="n">i</span><span class="p">],</span> <span class="n">value</span><span class="p">[</span><span class="n">i</span><span class="p">],</span> <span class="n">_ns</span><span class="o">=</span><span class="n">key_ns</span><span class="p">)</span>
+                            <span class="n">set_obj</span> <span class="o">=</span> <span class="kc">False</span>
+                    <span class="c1"># do not set value to obj, otherwise it overwrites the cfg class with the dict</span>
+                    <span class="k">if</span> <span class="ow">not</span> <span class="n">set_obj</span><span class="p">:</span>
+                        <span class="k">continue</span>
+            <span class="k">elif</span> <span class="nb">callable</span><span class="p">(</span><span class="n">obj_mem</span><span class="p">):</span>
+                <span class="c1"># update function name</span>
+                <span class="n">value</span> <span class="o">=</span> <span class="n">string_to_callable</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+            <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">type</span><span class="p">(</span><span class="n">obj_mem</span><span class="p">))</span> <span class="ow">or</span> <span class="n">value</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">pass</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                    <span class="sa">f</span><span class="s2">&quot;[Config]: Incorrect type under namespace: </span><span class="si">{</span><span class="n">key_ns</span><span class="si">}</span><span class="s2">.&quot;</span>
+                    <span class="sa">f</span><span class="s2">&quot; Expected: </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">obj_mem</span><span class="p">)</span><span class="si">}</span><span class="s2">, Received: </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">value</span><span class="p">)</span><span class="si">}</span><span class="s2">.&quot;</span>
+                <span class="p">)</span>
+            <span class="c1"># set value</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+                <span class="n">obj</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="nb">setattr</span><span class="p">(</span><span class="n">obj</span><span class="p">,</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">KeyError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[Config]: Key not found under namespace: </span><span class="si">{</span><span class="n">key_ns</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Dictionary &lt;-&gt; Hashable operations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="dict_to_md5_hash"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.dict_to_md5_hash">[docs]</a><span class="k">def</span> <span class="nf">dict_to_md5_hash</span><span class="p">(</span><span class="n">data</span><span class="p">:</span> <span class="nb">object</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert a dictionary into a hashable key using MD5 hash.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: Input dictionary or configuration object to convert.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A string object of double length containing only hexadecimal digits.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># convert to dictionary</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+        <span class="n">encoded_buffer</span> <span class="o">=</span> <span class="n">json</span><span class="o">.</span><span class="n">dumps</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="n">sort_keys</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span><span class="o">.</span><span class="n">encode</span><span class="p">()</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">encoded_buffer</span> <span class="o">=</span> <span class="n">json</span><span class="o">.</span><span class="n">dumps</span><span class="p">(</span><span class="n">class_to_dict</span><span class="p">(</span><span class="n">data</span><span class="p">),</span> <span class="n">sort_keys</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span><span class="o">.</span><span class="n">encode</span><span class="p">()</span>
+    <span class="c1"># compute hash using MD5</span>
+    <span class="n">data_hash</span> <span class="o">=</span> <span class="n">hashlib</span><span class="o">.</span><span class="n">md5</span><span class="p">()</span>
+    <span class="n">data_hash</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">encoded_buffer</span><span class="p">)</span>
+    <span class="c1"># return the hash key</span>
+    <span class="k">return</span> <span class="n">data_hash</span><span class="o">.</span><span class="n">hexdigest</span><span class="p">()</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Dictionary operations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="convert_dict_to_backend"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.convert_dict_to_backend">[docs]</a><span class="k">def</span> <span class="nf">convert_dict_to_backend</span><span class="p">(</span>
+    <span class="n">data</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span> <span class="n">backend</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;numpy&quot;</span><span class="p">,</span> <span class="n">array_types</span><span class="p">:</span> <span class="n">Iterable</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="s2">&quot;numpy&quot;</span><span class="p">,</span> <span class="s2">&quot;torch&quot;</span><span class="p">,</span> <span class="s2">&quot;warp&quot;</span><span class="p">)</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert all arrays or tensors in a dictionary to a given backend.</span>
+
+<span class="sd">    This function iterates over the dictionary, converts all arrays or tensors with the given types to</span>
+<span class="sd">    the desired backend, and stores them in a new dictionary. It also works with nested dictionaries.</span>
+
+<span class="sd">    Currently supported backends are &quot;numpy&quot;, &quot;torch&quot;, and &quot;warp&quot;.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This function only converts arrays or tensors. Other types of data are left unchanged. Mutable types</span>
+<span class="sd">        (e.g. lists) are referenced by the new dictionary, so they are not copied.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: An input dict containing array or tensor data as values.</span>
+<span class="sd">        backend: The backend (&quot;numpy&quot;, &quot;torch&quot;, &quot;warp&quot;) to which arrays in this dict should be converted.</span>
+<span class="sd">            Defaults to &quot;numpy&quot;.</span>
+<span class="sd">        array_types: A list containing the types of arrays that should be converted to</span>
+<span class="sd">            the desired backend. Defaults to (&quot;numpy&quot;, &quot;torch&quot;, &quot;warp&quot;).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the specified ``backend`` or ``array_types`` are unknown, i.e. not in the list of supported</span>
+<span class="sd">            backends (&quot;numpy&quot;, &quot;torch&quot;, &quot;warp&quot;).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The updated dict with the data converted to the desired backend.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># THINK: Should we also support converting to a specific device, e.g. &quot;cuda:0&quot;?</span>
+    <span class="c1"># Check the backend is valid.</span>
+    <span class="k">if</span> <span class="n">backend</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">TENSOR_TYPE_CONVERSIONS</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unknown backend &#39;</span><span class="si">{</span><span class="n">backend</span><span class="si">}</span><span class="s2">&#39;. Supported backends are &#39;numpy&#39;, &#39;torch&#39;, and &#39;warp&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># Define the conversion functions for each backend.</span>
+    <span class="n">tensor_type_conversions</span> <span class="o">=</span> <span class="n">TENSOR_TYPE_CONVERSIONS</span><span class="p">[</span><span class="n">backend</span><span class="p">]</span>
+
+    <span class="c1"># Parse the array types and convert them to the corresponding types: &quot;numpy&quot; -&gt; np.ndarray, etc.</span>
+    <span class="n">parsed_types</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+    <span class="k">for</span> <span class="n">t</span> <span class="ow">in</span> <span class="n">array_types</span><span class="p">:</span>
+        <span class="c1"># Check type is valid.</span>
+        <span class="k">if</span> <span class="n">t</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">TENSOR_TYPES</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unknown array type: &#39;</span><span class="si">{</span><span class="n">t</span><span class="si">}</span><span class="s2">&#39;. Supported array types are &#39;numpy&#39;, &#39;torch&#39;, and &#39;warp&#39;.&quot;</span><span class="p">)</span>
+        <span class="c1"># Exclude types that match the backend, since we do not need to convert these.</span>
+        <span class="k">if</span> <span class="n">t</span> <span class="o">==</span> <span class="n">backend</span><span class="p">:</span>
+            <span class="k">continue</span>
+        <span class="c1"># Convert the string types to the corresponding types.</span>
+        <span class="n">parsed_types</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">TENSOR_TYPES</span><span class="p">[</span><span class="n">t</span><span class="p">])</span>
+
+    <span class="c1"># Convert the data to the desired backend.</span>
+    <span class="n">output_dict</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+    <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">data</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="c1"># Obtain the data type of the current value.</span>
+        <span class="n">data_type</span> <span class="o">=</span> <span class="nb">type</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+        <span class="c1"># -- arrays</span>
+        <span class="k">if</span> <span class="n">data_type</span> <span class="ow">in</span> <span class="n">parsed_types</span><span class="p">:</span>
+            <span class="c1"># check if we have a known conversion.</span>
+            <span class="k">if</span> <span class="n">data_type</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">tensor_type_conversions</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;No registered conversion for data type: </span><span class="si">{</span><span class="n">data_type</span><span class="si">}</span><span class="s2"> to </span><span class="si">{</span><span class="n">backend</span><span class="si">}</span><span class="s2">!&quot;</span><span class="p">)</span>
+            <span class="c1"># convert the data to the desired backend.</span>
+            <span class="n">output_dict</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">tensor_type_conversions</span><span class="p">[</span><span class="n">data_type</span><span class="p">](</span><span class="n">value</span><span class="p">)</span>
+        <span class="c1"># -- nested dictionaries</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">data</span><span class="p">[</span><span class="n">key</span><span class="p">],</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="n">output_dict</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">convert_dict_to_backend</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+        <span class="c1"># -- everything else</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">output_dict</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span>
+
+    <span class="k">return</span> <span class="n">output_dict</span></div>
+
+
+<div class="viewcode-block" id="update_dict"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.update_dict">[docs]</a><span class="k">def</span> <span class="nf">update_dict</span><span class="p">(</span><span class="n">orig_dict</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span> <span class="n">new_dict</span><span class="p">:</span> <span class="n">collections</span><span class="o">.</span><span class="n">abc</span><span class="o">.</span><span class="n">Mapping</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Updates existing dictionary with values from a new dictionary.</span>
+
+<span class="sd">    This function mimics the dict.update() function. However, it works for</span>
+<span class="sd">    nested dictionaries as well.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        orig_dict: The original dictionary to insert items to.</span>
+<span class="sd">        new_dict: The new dictionary to insert items from.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The updated dictionary.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">for</span> <span class="n">keyname</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">new_dict</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="n">collections</span><span class="o">.</span><span class="n">abc</span><span class="o">.</span><span class="n">Mapping</span><span class="p">):</span>
+            <span class="n">orig_dict</span><span class="p">[</span><span class="n">keyname</span><span class="p">]</span> <span class="o">=</span> <span class="n">update_dict</span><span class="p">(</span><span class="n">orig_dict</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">keyname</span><span class="p">,</span> <span class="p">{}),</span> <span class="n">value</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">orig_dict</span><span class="p">[</span><span class="n">keyname</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span>
+    <span class="k">return</span> <span class="n">orig_dict</span></div>
+
+
+<div class="viewcode-block" id="replace_slices_with_strings"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.replace_slices_with_strings">[docs]</a><span class="k">def</span> <span class="nf">replace_slices_with_strings</span><span class="p">(</span><span class="n">data</span><span class="p">:</span> <span class="nb">dict</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Replace slice objects with their string representations in a dictionary.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: The dictionary to process.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The dictionary with slice objects replaced by their string representations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+        <span class="k">return</span> <span class="p">{</span><span class="n">k</span><span class="p">:</span> <span class="n">replace_slices_with_strings</span><span class="p">(</span><span class="n">v</span><span class="p">)</span> <span class="k">for</span> <span class="n">k</span><span class="p">,</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">data</span><span class="o">.</span><span class="n">items</span><span class="p">()}</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="nb">slice</span><span class="p">):</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;slice(</span><span class="si">{</span><span class="n">data</span><span class="o">.</span><span class="n">start</span><span class="si">}</span><span class="s2">,</span><span class="si">{</span><span class="n">data</span><span class="o">.</span><span class="n">stop</span><span class="si">}</span><span class="s2">,</span><span class="si">{</span><span class="n">data</span><span class="o">.</span><span class="n">step</span><span class="si">}</span><span class="s2">)&quot;</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">data</span></div>
+
+
+<div class="viewcode-block" id="replace_strings_with_slices"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.replace_strings_with_slices">[docs]</a><span class="k">def</span> <span class="nf">replace_strings_with_slices</span><span class="p">(</span><span class="n">data</span><span class="p">:</span> <span class="nb">dict</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Replace string representations of slices with slice objects in a dictionary.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: The dictionary to process.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The dictionary with string representations of slices replaced by slice objects.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+        <span class="k">return</span> <span class="p">{</span><span class="n">k</span><span class="p">:</span> <span class="n">replace_strings_with_slices</span><span class="p">(</span><span class="n">v</span><span class="p">)</span> <span class="k">for</span> <span class="n">k</span><span class="p">,</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">data</span><span class="o">.</span><span class="n">items</span><span class="p">()}</span>
+    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="nb">str</span><span class="p">)</span> <span class="ow">and</span> <span class="n">data</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;slice(&quot;</span><span class="p">):</span>
+        <span class="k">return</span> <span class="n">string_to_slice</span><span class="p">(</span><span class="n">data</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">data</span></div>
+
+
+<div class="viewcode-block" id="print_dict"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.print_dict">[docs]</a><span class="k">def</span> <span class="nf">print_dict</span><span class="p">(</span><span class="n">val</span><span class="p">,</span> <span class="n">nesting</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="o">-</span><span class="mi">4</span><span class="p">,</span> <span class="n">start</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Outputs a nested dictionary.&quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">val</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">start</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;&quot;</span><span class="p">)</span>
+        <span class="n">nesting</span> <span class="o">+=</span> <span class="mi">4</span>
+        <span class="k">for</span> <span class="n">k</span> <span class="ow">in</span> <span class="n">val</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="n">nesting</span> <span class="o">*</span> <span class="s2">&quot; &quot;</span><span class="p">,</span> <span class="n">end</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>
+            <span class="nb">print</span><span class="p">(</span><span class="n">k</span><span class="p">,</span> <span class="n">end</span><span class="o">=</span><span class="s2">&quot;: &quot;</span><span class="p">)</span>
+            <span class="n">print_dict</span><span class="p">(</span><span class="n">val</span><span class="p">[</span><span class="n">k</span><span class="p">],</span> <span class="n">nesting</span><span class="p">,</span> <span class="n">start</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="c1"># deal with functions in print statements</span>
+        <span class="k">if</span> <span class="nb">callable</span><span class="p">(</span><span class="n">val</span><span class="p">):</span>
+            <span class="nb">print</span><span class="p">(</span><span class="n">callable_to_string</span><span class="p">(</span><span class="n">val</span><span class="p">))</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="n">val</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+  <h1>Source code for omni.isaac.lab.utils.interpolation.linear_interpolation</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+
+
+<div class="viewcode-block" id="LinearInterpolation"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.interpolation.LinearInterpolation">[docs]</a><span class="k">class</span> <span class="nc">LinearInterpolation</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Linearly interpolates a sampled scalar function for arbitrary query points.</span>
+
+<span class="sd">    This class implements a linear interpolation for a scalar function. The function maps from real values, x, to</span>
+<span class="sd">    real values, y. It expects a set of samples from the function&#39;s domain, x, and the corresponding values, y.</span>
+<span class="sd">    The class allows querying the function&#39;s values at any arbitrary point.</span>
+
+<span class="sd">    The interpolation is done by finding the two closest points in x to the query point and then linearly</span>
+<span class="sd">    interpolating between the corresponding y values. For the query points that are outside the input points,</span>
+<span class="sd">    the class does a zero-order-hold extrapolation based on the boundary values. This means that the class</span>
+<span class="sd">    returns the value of the closest point in x.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="LinearInterpolation.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.interpolation.LinearInterpolation.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">x</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the linear interpolation.</span>
+
+<span class="sd">        The scalar function maps from real values, x, to real values, y. The input to the class is a set of samples</span>
+<span class="sd">        from the function&#39;s domain, x, and the corresponding values, y.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            The input tensor x should be sorted in ascending order.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            x: An vector of samples from the function&#39;s domain. The values should be sorted in ascending order.</span>
+<span class="sd">                Shape is (num_samples,)</span>
+<span class="sd">            y: The function&#39;s values associated to the input x. Shape is (num_samples,)</span>
+<span class="sd">            device: The device used for processing.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If the input tensors are empty or have different sizes.</span>
+<span class="sd">            ValueError: If the input tensor x is not sorted in ascending order.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># make sure that input tensors are 1D of size (num_samples,)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_x</span> <span class="o">=</span> <span class="n">x</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_y</span> <span class="o">=</span> <span class="n">y</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># make sure sizes are correct</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_x</span><span class="o">.</span><span class="n">numel</span><span class="p">()</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Input tensor x is empty!&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_x</span><span class="o">.</span><span class="n">numel</span><span class="p">()</span> <span class="o">!=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_y</span><span class="o">.</span><span class="n">numel</span><span class="p">():</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Input tensors x and y have different sizes: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_x</span><span class="o">.</span><span class="n">numel</span><span class="p">()</span><span class="si">}</span><span class="s2"> != </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_y</span><span class="o">.</span><span class="n">numel</span><span class="p">()</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="c1"># make sure that x is sorted</span>
+        <span class="k">if</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_x</span><span class="p">[</span><span class="mi">1</span><span class="p">:]</span> <span class="o">&lt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_x</span><span class="p">[:</span><span class="o">-</span><span class="mi">1</span><span class="p">]):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Input tensor x is not sorted in ascending order!&quot;</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="LinearInterpolation.compute"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.interpolation.LinearInterpolation.compute">[docs]</a>    <span class="k">def</span> <span class="nf">compute</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">q</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Calculates a linearly interpolated values for the query points.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">           q: The query points. It can have any arbitrary shape.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The interpolated values at query points. It has the same shape as the input tensor.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># serialized q</span>
+        <span class="n">q_1d</span> <span class="o">=</span> <span class="n">q</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="c1"># Number of elements in the x that are strictly smaller than query points (use int32 instead of int64)</span>
+        <span class="n">num_smaller_elements</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_x</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="o">&lt;</span> <span class="n">q_1d</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int</span><span class="p">)</span>
+
+        <span class="c1"># The index pointing to the first element in x such that x[lower_bound_i] &lt; q_i</span>
+        <span class="c1"># If a point is smaller that all x elements, it will assign 0</span>
+        <span class="n">lower_bound</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clamp</span><span class="p">(</span><span class="n">num_smaller_elements</span> <span class="o">-</span> <span class="mi">1</span><span class="p">,</span> <span class="nb">min</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
+        <span class="c1"># The index pointing to the first element in x such that x[upper_bound_i] &gt;= q_i</span>
+        <span class="c1"># If a point is greater than all x elements, it will assign the last elements&#39; index</span>
+        <span class="n">upper_bound</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clamp</span><span class="p">(</span><span class="n">num_smaller_elements</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_x</span><span class="o">.</span><span class="n">numel</span><span class="p">()</span> <span class="o">-</span> <span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># compute the weight as: (q_i - x_lb) / (x_ub - x_lb)</span>
+        <span class="n">weight</span> <span class="o">=</span> <span class="p">(</span><span class="n">q_1d</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_x</span><span class="p">[</span><span class="n">lower_bound</span><span class="p">])</span> <span class="o">/</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_x</span><span class="p">[</span><span class="n">upper_bound</span><span class="p">]</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_x</span><span class="p">[</span><span class="n">lower_bound</span><span class="p">])</span>
+        <span class="c1"># If a point is out of bounds assign weight 0.0</span>
+        <span class="n">weight</span><span class="p">[</span><span class="n">upper_bound</span> <span class="o">==</span> <span class="n">lower_bound</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+
+        <span class="c1"># Perform linear interpolation</span>
+        <span class="n">fq</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_y</span><span class="p">[</span><span class="n">lower_bound</span><span class="p">]</span> <span class="o">+</span> <span class="n">weight</span> <span class="o">*</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_y</span><span class="p">[</span><span class="n">upper_bound</span><span class="p">]</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_y</span><span class="p">[</span><span class="n">lower_bound</span><span class="p">])</span>
+
+        <span class="c1"># deserialized fq</span>
+        <span class="n">fq</span> <span class="o">=</span> <span class="n">fq</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">q</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">fq</span></div></div>
+</pre></div>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
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+  <h1>Source code for omni.isaac.lab.utils.io.pkl</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Utilities for file I/O with pickle.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">pickle</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span>
+
+
+<div class="viewcode-block" id="load_pickle"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.io.load_pickle">[docs]</a><span class="k">def</span> <span class="nf">load_pickle</span><span class="p">(</span><span class="n">filename</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Any</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Loads an input PKL file safely.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        filename: The path to pickled file.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        FileNotFoundError: When the specified file does not exist.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The data read from the input file.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">filename</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">FileNotFoundError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;File not found: </span><span class="si">{</span><span class="n">filename</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">filename</span><span class="p">,</span> <span class="s2">&quot;rb&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+        <span class="n">data</span> <span class="o">=</span> <span class="n">pickle</span><span class="o">.</span><span class="n">load</span><span class="p">(</span><span class="n">f</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">data</span></div>
+
+
+<div class="viewcode-block" id="dump_pickle"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.io.dump_pickle">[docs]</a><span class="k">def</span> <span class="nf">dump_pickle</span><span class="p">(</span><span class="n">filename</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">Any</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Saves data into a pickle file safely.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The function creates any missing directory along the file&#39;s path.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        filename: The path to save the file at.</span>
+<span class="sd">        data: The data to save.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check ending</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">filename</span><span class="o">.</span><span class="n">endswith</span><span class="p">(</span><span class="s2">&quot;pkl&quot;</span><span class="p">):</span>
+        <span class="n">filename</span> <span class="o">+=</span> <span class="s2">&quot;.pkl&quot;</span>
+    <span class="c1"># create directory</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">filename</span><span class="p">)):</span>
+        <span class="n">os</span><span class="o">.</span><span class="n">makedirs</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">filename</span><span class="p">),</span> <span class="n">exist_ok</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># save data</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">filename</span><span class="p">,</span> <span class="s2">&quot;wb&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+        <span class="n">pickle</span><span class="o">.</span><span class="n">dump</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="n">f</span><span class="p">)</span></div>
+</pre></div>
+
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+  <h1>Source code for omni.isaac.lab.utils.io.yaml</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Utilities for file I/O with yaml.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">yaml</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">class_to_dict</span>
+
+
+<div class="viewcode-block" id="load_yaml"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.io.load_yaml">[docs]</a><span class="k">def</span> <span class="nf">load_yaml</span><span class="p">(</span><span class="n">filename</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Loads an input PKL file safely.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        filename: The path to pickled file.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        FileNotFoundError: When the specified file does not exist.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The data read from the input file.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">filename</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">FileNotFoundError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;File not found: </span><span class="si">{</span><span class="n">filename</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">filename</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+        <span class="n">data</span> <span class="o">=</span> <span class="n">yaml</span><span class="o">.</span><span class="n">full_load</span><span class="p">(</span><span class="n">f</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">data</span></div>
+
+
+<div class="viewcode-block" id="dump_yaml"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.io.dump_yaml">[docs]</a><span class="k">def</span> <span class="nf">dump_yaml</span><span class="p">(</span><span class="n">filename</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">|</span> <span class="nb">object</span><span class="p">,</span> <span class="n">sort_keys</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Saves data into a YAML file safely.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The function creates any missing directory along the file&#39;s path.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        filename: The path to save the file at.</span>
+<span class="sd">        data: The data to save either a dictionary or class object.</span>
+<span class="sd">        sort_keys: Whether to sort the keys in the output file. Defaults to False.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check ending</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">filename</span><span class="o">.</span><span class="n">endswith</span><span class="p">(</span><span class="s2">&quot;yaml&quot;</span><span class="p">):</span>
+        <span class="n">filename</span> <span class="o">+=</span> <span class="s2">&quot;.yaml&quot;</span>
+    <span class="c1"># create directory</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">filename</span><span class="p">)):</span>
+        <span class="n">os</span><span class="o">.</span><span class="n">makedirs</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">filename</span><span class="p">),</span> <span class="n">exist_ok</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># convert data into dictionary</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+        <span class="n">data</span> <span class="o">=</span> <span class="n">class_to_dict</span><span class="p">(</span><span class="n">data</span><span class="p">)</span>
+    <span class="c1"># save data</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">filename</span><span class="p">,</span> <span class="s2">&quot;w&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+        <span class="n">yaml</span><span class="o">.</span><span class="n">dump</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="n">f</span><span class="p">,</span> <span class="n">default_flow_style</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">sort_keys</span><span class="o">=</span><span class="n">sort_keys</span><span class="p">)</span></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.utils.math</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module containing utilities for various math operations.&quot;&quot;&quot;</span>
+
+<span class="c1"># needed to import for allowing type-hinting: torch.Tensor | np.ndarray</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">math</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">torch.nn.functional</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">General</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">scale_transform</span><span class="p">(</span><span class="n">x</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">lower</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">upper</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Normalizes a given input tensor to a range of [-1, 1].</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        It uses pytorch broadcasting functionality to deal with batched input.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        x: Input tensor of shape (N, dims).</span>
+<span class="sd">        lower: The minimum value of the tensor. Shape is (N, dims) or (dims,).</span>
+<span class="sd">        upper: The maximum value of the tensor. Shape is (N, dims) or (dims,).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Normalized transform of the tensor. Shape is (N, dims).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># default value of center</span>
+    <span class="n">offset</span> <span class="o">=</span> <span class="p">(</span><span class="n">lower</span> <span class="o">+</span> <span class="n">upper</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.5</span>
+    <span class="c1"># return normalized tensor</span>
+    <span class="k">return</span> <span class="mi">2</span> <span class="o">*</span> <span class="p">(</span><span class="n">x</span> <span class="o">-</span> <span class="n">offset</span><span class="p">)</span> <span class="o">/</span> <span class="p">(</span><span class="n">upper</span> <span class="o">-</span> <span class="n">lower</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">unscale_transform</span><span class="p">(</span><span class="n">x</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">lower</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">upper</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;De-normalizes a given input tensor from range of [-1, 1] to (lower, upper).</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        It uses pytorch broadcasting functionality to deal with batched input.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        x: Input tensor of shape (N, dims).</span>
+<span class="sd">        lower: The minimum value of the tensor. Shape is (N, dims) or (dims,).</span>
+<span class="sd">        upper: The maximum value of the tensor. Shape is (N, dims) or (dims,).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        De-normalized transform of the tensor. Shape is (N, dims).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># default value of center</span>
+    <span class="n">offset</span> <span class="o">=</span> <span class="p">(</span><span class="n">lower</span> <span class="o">+</span> <span class="n">upper</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.5</span>
+    <span class="c1"># return normalized tensor</span>
+    <span class="k">return</span> <span class="n">x</span> <span class="o">*</span> <span class="p">(</span><span class="n">upper</span> <span class="o">-</span> <span class="n">lower</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.5</span> <span class="o">+</span> <span class="n">offset</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">saturate</span><span class="p">(</span><span class="n">x</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">lower</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">upper</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Clamps a given input tensor to (lower, upper).</span>
+
+<span class="sd">    It uses pytorch broadcasting functionality to deal with batched input.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        x: Input tensor of shape (N, dims).</span>
+<span class="sd">        lower: The minimum value of the tensor. Shape is (N, dims) or (dims,).</span>
+<span class="sd">        upper: The maximum value of the tensor. Shape is (N, dims) or (dims,).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Clamped transform of the tensor. Shape is (N, dims).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">min</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="n">upper</span><span class="p">),</span> <span class="n">lower</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">normalize</span><span class="p">(</span><span class="n">x</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">eps</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1e-9</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Normalizes a given input tensor to unit length.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        x: Input tensor of shape (N, dims).</span>
+<span class="sd">        eps: A small value to avoid division by zero. Defaults to 1e-9.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Normalized tensor of shape (N, dims).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">x</span> <span class="o">/</span> <span class="n">x</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">p</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">clamp</span><span class="p">(</span><span class="nb">min</span><span class="o">=</span><span class="n">eps</span><span class="p">,</span> <span class="nb">max</span><span class="o">=</span><span class="kc">None</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">wrap_to_pi</span><span class="p">(</span><span class="n">angles</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Wraps input angles (in radians) to the range :math:`[-\pi, \pi]`.</span>
+
+<span class="sd">    This function wraps angles in radians to the range :math:`[-\pi, \pi]`, such that</span>
+<span class="sd">    :math:`\pi` maps to :math:`\pi`, and :math:`-\pi` maps to :math:`-\pi`. In general,</span>
+<span class="sd">    odd positive multiples of :math:`\pi` are mapped to :math:`\pi`, and odd negative</span>
+<span class="sd">    multiples of :math:`\pi` are mapped to :math:`-\pi`.</span>
+
+<span class="sd">    The function behaves similar to MATLAB&#39;s `wrapToPi &lt;https://www.mathworks.com/help/map/ref/wraptopi.html&gt;`_</span>
+<span class="sd">    function.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        angles: Input angles of any shape.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Angles in the range :math:`[-\pi, \pi]`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># wrap to [0, 2*pi)</span>
+    <span class="n">wrapped_angle</span> <span class="o">=</span> <span class="p">(</span><span class="n">angles</span> <span class="o">+</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span><span class="p">)</span> <span class="o">%</span> <span class="p">(</span><span class="mi">2</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span><span class="p">)</span>
+    <span class="c1"># map to [-pi, pi]</span>
+    <span class="c1"># we check for zero in wrapped angle to make it go to pi when input angle is odd multiple of pi</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">((</span><span class="n">wrapped_angle</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span> <span class="o">&amp;</span> <span class="p">(</span><span class="n">angles</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">),</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="n">wrapped_angle</span> <span class="o">-</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">copysign</span><span class="p">(</span><span class="n">mag</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">other</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a new floating-point tensor with the magnitude of input and the sign of other, element-wise.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The implementation follows from `torch.copysign`. The function allows a scalar magnitude.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        mag: The magnitude scalar.</span>
+<span class="sd">        other: The tensor containing values whose signbits are applied to magnitude.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The output tensor.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">mag_torch</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">mag</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">other</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="n">other</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">mag_torch</span><span class="p">)</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sign</span><span class="p">(</span><span class="n">other</span><span class="p">)</span>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Rotation</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">matrix_from_quat</span><span class="p">(</span><span class="n">quaternions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert rotations given as quaternions to rotation matrices.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        quaternions: The quaternion orientation in (w, x, y, z). Shape is (..., 4).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Rotation matrices. The shape is (..., 3, 3).</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L41-L70</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">r</span><span class="p">,</span> <span class="n">i</span><span class="p">,</span> <span class="n">j</span><span class="p">,</span> <span class="n">k</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">unbind</span><span class="p">(</span><span class="n">quaternions</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="c1"># pyre-fixme[58]: `/` is not supported for operand types `float` and `Tensor`.</span>
+    <span class="n">two_s</span> <span class="o">=</span> <span class="mf">2.0</span> <span class="o">/</span> <span class="p">(</span><span class="n">quaternions</span> <span class="o">*</span> <span class="n">quaternions</span><span class="p">)</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+
+    <span class="n">o</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">(</span>
+        <span class="p">(</span>
+            <span class="mi">1</span> <span class="o">-</span> <span class="n">two_s</span> <span class="o">*</span> <span class="p">(</span><span class="n">j</span> <span class="o">*</span> <span class="n">j</span> <span class="o">+</span> <span class="n">k</span> <span class="o">*</span> <span class="n">k</span><span class="p">),</span>
+            <span class="n">two_s</span> <span class="o">*</span> <span class="p">(</span><span class="n">i</span> <span class="o">*</span> <span class="n">j</span> <span class="o">-</span> <span class="n">k</span> <span class="o">*</span> <span class="n">r</span><span class="p">),</span>
+            <span class="n">two_s</span> <span class="o">*</span> <span class="p">(</span><span class="n">i</span> <span class="o">*</span> <span class="n">k</span> <span class="o">+</span> <span class="n">j</span> <span class="o">*</span> <span class="n">r</span><span class="p">),</span>
+            <span class="n">two_s</span> <span class="o">*</span> <span class="p">(</span><span class="n">i</span> <span class="o">*</span> <span class="n">j</span> <span class="o">+</span> <span class="n">k</span> <span class="o">*</span> <span class="n">r</span><span class="p">),</span>
+            <span class="mi">1</span> <span class="o">-</span> <span class="n">two_s</span> <span class="o">*</span> <span class="p">(</span><span class="n">i</span> <span class="o">*</span> <span class="n">i</span> <span class="o">+</span> <span class="n">k</span> <span class="o">*</span> <span class="n">k</span><span class="p">),</span>
+            <span class="n">two_s</span> <span class="o">*</span> <span class="p">(</span><span class="n">j</span> <span class="o">*</span> <span class="n">k</span> <span class="o">-</span> <span class="n">i</span> <span class="o">*</span> <span class="n">r</span><span class="p">),</span>
+            <span class="n">two_s</span> <span class="o">*</span> <span class="p">(</span><span class="n">i</span> <span class="o">*</span> <span class="n">k</span> <span class="o">-</span> <span class="n">j</span> <span class="o">*</span> <span class="n">r</span><span class="p">),</span>
+            <span class="n">two_s</span> <span class="o">*</span> <span class="p">(</span><span class="n">j</span> <span class="o">*</span> <span class="n">k</span> <span class="o">+</span> <span class="n">i</span> <span class="o">*</span> <span class="n">r</span><span class="p">),</span>
+            <span class="mi">1</span> <span class="o">-</span> <span class="n">two_s</span> <span class="o">*</span> <span class="p">(</span><span class="n">i</span> <span class="o">*</span> <span class="n">i</span> <span class="o">+</span> <span class="n">j</span> <span class="o">*</span> <span class="n">j</span><span class="p">),</span>
+        <span class="p">),</span>
+        <span class="o">-</span><span class="mi">1</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="k">return</span> <span class="n">o</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="n">quaternions</span><span class="o">.</span><span class="n">shape</span><span class="p">[:</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">+</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+
+
+<div class="viewcode-block" id="convert_quat"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.convert_quat">[docs]</a><span class="k">def</span> <span class="nf">convert_quat</span><span class="p">(</span><span class="n">quat</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">to</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;xyzw&quot;</span><span class="p">,</span> <span class="s2">&quot;wxyz&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;xyzw&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Converts quaternion from one convention to another.</span>
+
+<span class="sd">    The convention to convert TO is specified as an optional argument. If to == &#39;xyzw&#39;,</span>
+<span class="sd">    then the input is in &#39;wxyz&#39; format, and vice-versa.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        quat: The quaternion of shape (..., 4).</span>
+<span class="sd">        to: Convention to convert quaternion to.. Defaults to &quot;xyzw&quot;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The converted quaternion in specified convention.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: Invalid input argument `to`, i.e. not &quot;xyzw&quot; or &quot;wxyz&quot;.</span>
+<span class="sd">        ValueError: Invalid shape of input `quat`, i.e. not (..., 4,).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check input is correct</span>
+    <span class="k">if</span> <span class="n">quat</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">!=</span> <span class="mi">4</span><span class="p">:</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Expected input quaternion shape mismatch: </span><span class="si">{</span><span class="n">quat</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2"> != (..., 4).&quot;</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">to</span> <span class="ow">not</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;xyzw&quot;</span><span class="p">,</span> <span class="s2">&quot;wxyz&quot;</span><span class="p">]:</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Expected input argument `to` to be &#39;xyzw&#39; or &#39;wxyz&#39;. Received: </span><span class="si">{</span><span class="n">to</span><span class="si">}</span><span class="s2">.&quot;</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span>
+    <span class="c1"># check if input is numpy array (we support this backend since some classes use numpy)</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">):</span>
+        <span class="c1"># use numpy functions</span>
+        <span class="k">if</span> <span class="n">to</span> <span class="o">==</span> <span class="s2">&quot;xyzw&quot;</span><span class="p">:</span>
+            <span class="c1"># wxyz -&gt; xyzw</span>
+            <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="n">axis</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># xyzw -&gt; wxyz</span>
+            <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="n">axis</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="c1"># convert to torch (sanity check)</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+            <span class="n">quat</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="nb">float</span><span class="p">)</span>
+        <span class="c1"># convert to specified quaternion type</span>
+        <span class="k">if</span> <span class="n">to</span> <span class="o">==</span> <span class="s2">&quot;xyzw&quot;</span><span class="p">:</span>
+            <span class="c1"># wxyz -&gt; xyzw</span>
+            <span class="k">return</span> <span class="n">quat</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="n">dims</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># xyzw -&gt; wxyz</span>
+            <span class="k">return</span> <span class="n">quat</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">dims</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span></div>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_conjugate</span><span class="p">(</span><span class="n">q</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Computes the conjugate of a quaternion.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        q: The quaternion orientation in (w, x, y, z). Shape is (..., 4).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The conjugate quaternion in (w, x, y, z). Shape is (..., 4).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">shape</span> <span class="o">=</span> <span class="n">q</span><span class="o">.</span><span class="n">shape</span>
+    <span class="n">q</span> <span class="o">=</span> <span class="n">q</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">q</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">1</span><span class="p">],</span> <span class="o">-</span><span class="n">q</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">:]),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">shape</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_inv</span><span class="p">(</span><span class="n">q</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Compute the inverse of a quaternion.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        q: The quaternion orientation in (w, x, y, z). Shape is (N, 4).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The inverse quaternion in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">normalize</span><span class="p">(</span><span class="n">quat_conjugate</span><span class="p">(</span><span class="n">q</span><span class="p">))</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_from_euler_xyz</span><span class="p">(</span><span class="n">roll</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">pitch</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">yaw</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert rotations given as Euler angles in radians to Quaternions.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The euler angles are assumed in XYZ convention.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        roll: Rotation around x-axis (in radians). Shape is (N,).</span>
+<span class="sd">        pitch: Rotation around y-axis (in radians). Shape is (N,).</span>
+<span class="sd">        yaw: Rotation around z-axis (in radians). Shape is (N,).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The quaternion in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">cy</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">yaw</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">)</span>
+    <span class="n">sy</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">yaw</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">)</span>
+    <span class="n">cr</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">roll</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">)</span>
+    <span class="n">sr</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">roll</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">)</span>
+    <span class="n">cp</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">pitch</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">)</span>
+    <span class="n">sp</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">pitch</span> <span class="o">*</span> <span class="mf">0.5</span><span class="p">)</span>
+    <span class="c1"># compute quaternion</span>
+    <span class="n">qw</span> <span class="o">=</span> <span class="n">cy</span> <span class="o">*</span> <span class="n">cr</span> <span class="o">*</span> <span class="n">cp</span> <span class="o">+</span> <span class="n">sy</span> <span class="o">*</span> <span class="n">sr</span> <span class="o">*</span> <span class="n">sp</span>
+    <span class="n">qx</span> <span class="o">=</span> <span class="n">cy</span> <span class="o">*</span> <span class="n">sr</span> <span class="o">*</span> <span class="n">cp</span> <span class="o">-</span> <span class="n">sy</span> <span class="o">*</span> <span class="n">cr</span> <span class="o">*</span> <span class="n">sp</span>
+    <span class="n">qy</span> <span class="o">=</span> <span class="n">cy</span> <span class="o">*</span> <span class="n">cr</span> <span class="o">*</span> <span class="n">sp</span> <span class="o">+</span> <span class="n">sy</span> <span class="o">*</span> <span class="n">sr</span> <span class="o">*</span> <span class="n">cp</span>
+    <span class="n">qz</span> <span class="o">=</span> <span class="n">sy</span> <span class="o">*</span> <span class="n">cr</span> <span class="o">*</span> <span class="n">cp</span> <span class="o">-</span> <span class="n">cy</span> <span class="o">*</span> <span class="n">sr</span> <span class="o">*</span> <span class="n">sp</span>
+
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">([</span><span class="n">qw</span><span class="p">,</span> <span class="n">qx</span><span class="p">,</span> <span class="n">qy</span><span class="p">,</span> <span class="n">qz</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">_sqrt_positive_part</span><span class="p">(</span><span class="n">x</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Returns torch.sqrt(torch.max(0, x)) but with a zero sub-gradient where x is 0.</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L91-L99</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">ret</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
+    <span class="n">positive_mask</span> <span class="o">=</span> <span class="n">x</span> <span class="o">&gt;</span> <span class="mi">0</span>
+    <span class="n">ret</span><span class="p">[</span><span class="n">positive_mask</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="n">x</span><span class="p">[</span><span class="n">positive_mask</span><span class="p">])</span>
+    <span class="k">return</span> <span class="n">ret</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_from_matrix</span><span class="p">(</span><span class="n">matrix</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert rotations given as rotation matrices to quaternions.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        matrix: The rotation matrices. Shape is (..., 3, 3).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The quaternion in (w, x, y, z). Shape is (..., 4).</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L102-L161</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="n">matrix</span><span class="o">.</span><span class="n">size</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">3</span> <span class="ow">or</span> <span class="n">matrix</span><span class="o">.</span><span class="n">size</span><span class="p">(</span><span class="o">-</span><span class="mi">2</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid rotation matrix shape </span><span class="si">{</span><span class="n">matrix</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="n">batch_dim</span> <span class="o">=</span> <span class="n">matrix</span><span class="o">.</span><span class="n">shape</span><span class="p">[:</span><span class="o">-</span><span class="mi">2</span><span class="p">]</span>
+    <span class="n">m00</span><span class="p">,</span> <span class="n">m01</span><span class="p">,</span> <span class="n">m02</span><span class="p">,</span> <span class="n">m10</span><span class="p">,</span> <span class="n">m11</span><span class="p">,</span> <span class="n">m12</span><span class="p">,</span> <span class="n">m20</span><span class="p">,</span> <span class="n">m21</span><span class="p">,</span> <span class="n">m22</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">unbind</span><span class="p">(</span><span class="n">matrix</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="n">batch_dim</span> <span class="o">+</span> <span class="p">(</span><span class="mi">9</span><span class="p">,)),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+
+    <span class="n">q_abs</span> <span class="o">=</span> <span class="n">_sqrt_positive_part</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">(</span>
+            <span class="p">[</span>
+                <span class="mf">1.0</span> <span class="o">+</span> <span class="n">m00</span> <span class="o">+</span> <span class="n">m11</span> <span class="o">+</span> <span class="n">m22</span><span class="p">,</span>
+                <span class="mf">1.0</span> <span class="o">+</span> <span class="n">m00</span> <span class="o">-</span> <span class="n">m11</span> <span class="o">-</span> <span class="n">m22</span><span class="p">,</span>
+                <span class="mf">1.0</span> <span class="o">-</span> <span class="n">m00</span> <span class="o">+</span> <span class="n">m11</span> <span class="o">-</span> <span class="n">m22</span><span class="p">,</span>
+                <span class="mf">1.0</span> <span class="o">-</span> <span class="n">m00</span> <span class="o">-</span> <span class="n">m11</span> <span class="o">+</span> <span class="n">m22</span><span class="p">,</span>
+            <span class="p">],</span>
+            <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span>
+        <span class="p">)</span>
+    <span class="p">)</span>
+
+    <span class="c1"># we produce the desired quaternion multiplied by each of r, i, j, k</span>
+    <span class="n">quat_by_rijk</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">(</span>
+        <span class="p">[</span>
+            <span class="c1"># pyre-fixme[58]: `**` is not supported for operand types `Tensor` and `int`.</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">([</span><span class="n">q_abs</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">**</span> <span class="mi">2</span><span class="p">,</span> <span class="n">m21</span> <span class="o">-</span> <span class="n">m12</span><span class="p">,</span> <span class="n">m02</span> <span class="o">-</span> <span class="n">m20</span><span class="p">,</span> <span class="n">m10</span> <span class="o">-</span> <span class="n">m01</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span>
+            <span class="c1"># pyre-fixme[58]: `**` is not supported for operand types `Tensor` and `int`.</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">([</span><span class="n">m21</span> <span class="o">-</span> <span class="n">m12</span><span class="p">,</span> <span class="n">q_abs</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">**</span> <span class="mi">2</span><span class="p">,</span> <span class="n">m10</span> <span class="o">+</span> <span class="n">m01</span><span class="p">,</span> <span class="n">m02</span> <span class="o">+</span> <span class="n">m20</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span>
+            <span class="c1"># pyre-fixme[58]: `**` is not supported for operand types `Tensor` and `int`.</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">([</span><span class="n">m02</span> <span class="o">-</span> <span class="n">m20</span><span class="p">,</span> <span class="n">m10</span> <span class="o">+</span> <span class="n">m01</span><span class="p">,</span> <span class="n">q_abs</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">**</span> <span class="mi">2</span><span class="p">,</span> <span class="n">m12</span> <span class="o">+</span> <span class="n">m21</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span>
+            <span class="c1"># pyre-fixme[58]: `**` is not supported for operand types `Tensor` and `int`.</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">([</span><span class="n">m10</span> <span class="o">-</span> <span class="n">m01</span><span class="p">,</span> <span class="n">m20</span> <span class="o">+</span> <span class="n">m02</span><span class="p">,</span> <span class="n">m21</span> <span class="o">+</span> <span class="n">m12</span><span class="p">,</span> <span class="n">q_abs</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">]</span> <span class="o">**</span> <span class="mi">2</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span>
+        <span class="p">],</span>
+        <span class="n">dim</span><span class="o">=-</span><span class="mi">2</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="c1"># We floor here at 0.1 but the exact level is not important; if q_abs is small,</span>
+    <span class="c1"># the candidate won&#39;t be picked.</span>
+    <span class="n">flr</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">dtype</span><span class="o">=</span><span class="n">q_abs</span><span class="o">.</span><span class="n">dtype</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">q_abs</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">quat_candidates</span> <span class="o">=</span> <span class="n">quat_by_rijk</span> <span class="o">/</span> <span class="p">(</span><span class="mf">2.0</span> <span class="o">*</span> <span class="n">q_abs</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="kc">None</span><span class="p">]</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">flr</span><span class="p">))</span>
+
+    <span class="c1"># if not for numerical problems, quat_candidates[i] should be same (up to a sign),</span>
+    <span class="c1"># forall i; we pick the best-conditioned one (with the largest denominator)</span>
+    <span class="k">return</span> <span class="n">quat_candidates</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">functional</span><span class="o">.</span><span class="n">one_hot</span><span class="p">(</span><span class="n">q_abs</span><span class="o">.</span><span class="n">argmax</span><span class="p">(</span><span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">),</span> <span class="n">num_classes</span><span class="o">=</span><span class="mi">4</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mf">0.5</span><span class="p">,</span> <span class="p">:]</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span>
+        <span class="n">batch_dim</span> <span class="o">+</span> <span class="p">(</span><span class="mi">4</span><span class="p">,)</span>
+    <span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">_axis_angle_rotation</span><span class="p">(</span><span class="n">axis</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;X&quot;</span><span class="p">,</span> <span class="s2">&quot;Y&quot;</span><span class="p">,</span> <span class="s2">&quot;Z&quot;</span><span class="p">],</span> <span class="n">angle</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Return the rotation matrices for one of the rotations about an axis of which Euler angles describe,</span>
+<span class="sd">    for each value of the angle given.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        axis: Axis label &quot;X&quot; or &quot;Y or &quot;Z&quot;.</span>
+<span class="sd">        angle: Euler angles in radians of any shape.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Rotation matrices. Shape is (..., 3, 3).</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L164-L191</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">cos</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">angle</span><span class="p">)</span>
+    <span class="n">sin</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">angle</span><span class="p">)</span>
+    <span class="n">one</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">ones_like</span><span class="p">(</span><span class="n">angle</span><span class="p">)</span>
+    <span class="n">zero</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">angle</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">axis</span> <span class="o">==</span> <span class="s2">&quot;X&quot;</span><span class="p">:</span>
+        <span class="n">R_flat</span> <span class="o">=</span> <span class="p">(</span><span class="n">one</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">cos</span><span class="p">,</span> <span class="o">-</span><span class="n">sin</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">sin</span><span class="p">,</span> <span class="n">cos</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">axis</span> <span class="o">==</span> <span class="s2">&quot;Y&quot;</span><span class="p">:</span>
+        <span class="n">R_flat</span> <span class="o">=</span> <span class="p">(</span><span class="n">cos</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">sin</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">one</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="o">-</span><span class="n">sin</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">cos</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">axis</span> <span class="o">==</span> <span class="s2">&quot;Z&quot;</span><span class="p">:</span>
+        <span class="n">R_flat</span> <span class="o">=</span> <span class="p">(</span><span class="n">cos</span><span class="p">,</span> <span class="o">-</span><span class="n">sin</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">sin</span><span class="p">,</span> <span class="n">cos</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">zero</span><span class="p">,</span> <span class="n">one</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;letter must be either X, Y or Z.&quot;</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">(</span><span class="n">R_flat</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="n">angle</span><span class="o">.</span><span class="n">shape</span> <span class="o">+</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+
+
+<div class="viewcode-block" id="matrix_from_euler"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.matrix_from_euler">[docs]</a><span class="k">def</span> <span class="nf">matrix_from_euler</span><span class="p">(</span><span class="n">euler_angles</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">convention</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Convert rotations given as Euler angles in radians to rotation matrices.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        euler_angles: Euler angles in radians. Shape is (..., 3).</span>
+<span class="sd">        convention: Convention string of three uppercase letters from {&quot;X&quot;, &quot;Y&quot;, and &quot;Z&quot;}.</span>
+<span class="sd">            For example, &quot;XYZ&quot; means that the rotations should be applied first about x,</span>
+<span class="sd">            then y, then z.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Rotation matrices. Shape is (..., 3, 3).</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L194-L220</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="n">euler_angles</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">0</span> <span class="ow">or</span> <span class="n">euler_angles</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Invalid input euler angles.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">convention</span><span class="p">)</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Convention must have 3 letters.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">convention</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="ow">in</span> <span class="p">(</span><span class="n">convention</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">convention</span><span class="p">[</span><span class="mi">2</span><span class="p">]):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid convention </span><span class="si">{</span><span class="n">convention</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+    <span class="k">for</span> <span class="n">letter</span> <span class="ow">in</span> <span class="n">convention</span><span class="p">:</span>
+        <span class="k">if</span> <span class="n">letter</span> <span class="ow">not</span> <span class="ow">in</span> <span class="p">(</span><span class="s2">&quot;X&quot;</span><span class="p">,</span> <span class="s2">&quot;Y&quot;</span><span class="p">,</span> <span class="s2">&quot;Z&quot;</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid letter </span><span class="si">{</span><span class="n">letter</span><span class="si">}</span><span class="s2"> in convention string.&quot;</span><span class="p">)</span>
+    <span class="n">matrices</span> <span class="o">=</span> <span class="p">[</span><span class="n">_axis_angle_rotation</span><span class="p">(</span><span class="n">c</span><span class="p">,</span> <span class="n">e</span><span class="p">)</span> <span class="k">for</span> <span class="n">c</span><span class="p">,</span> <span class="n">e</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">convention</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">unbind</span><span class="p">(</span><span class="n">euler_angles</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">))]</span>
+    <span class="c1"># return functools.reduce(torch.matmul, matrices)</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">matmul</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">matmul</span><span class="p">(</span><span class="n">matrices</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">matrices</span><span class="p">[</span><span class="mi">1</span><span class="p">]),</span> <span class="n">matrices</span><span class="p">[</span><span class="mi">2</span><span class="p">])</span></div>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">euler_xyz_from_quat</span><span class="p">(</span><span class="n">quat</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert rotations given as quaternions to Euler angles in radians.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The euler angles are assumed in XYZ convention.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        quat: The quaternion orientation in (w, x, y, z). Shape is (N, 4).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing roll-pitch-yaw. Each element is a tensor of shape (N,).</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">q_w</span><span class="p">,</span> <span class="n">q_x</span><span class="p">,</span> <span class="n">q_y</span><span class="p">,</span> <span class="n">q_z</span> <span class="o">=</span> <span class="n">quat</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">quat</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="n">quat</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">],</span> <span class="n">quat</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">]</span>
+    <span class="c1"># roll (x-axis rotation)</span>
+    <span class="n">sin_roll</span> <span class="o">=</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="p">(</span><span class="n">q_w</span> <span class="o">*</span> <span class="n">q_x</span> <span class="o">+</span> <span class="n">q_y</span> <span class="o">*</span> <span class="n">q_z</span><span class="p">)</span>
+    <span class="n">cos_roll</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="p">(</span><span class="n">q_x</span> <span class="o">*</span> <span class="n">q_x</span> <span class="o">+</span> <span class="n">q_y</span> <span class="o">*</span> <span class="n">q_y</span><span class="p">)</span>
+    <span class="n">roll</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">atan2</span><span class="p">(</span><span class="n">sin_roll</span><span class="p">,</span> <span class="n">cos_roll</span><span class="p">)</span>
+
+    <span class="c1"># pitch (y-axis rotation)</span>
+    <span class="n">sin_pitch</span> <span class="o">=</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="p">(</span><span class="n">q_w</span> <span class="o">*</span> <span class="n">q_y</span> <span class="o">-</span> <span class="n">q_z</span> <span class="o">*</span> <span class="n">q_x</span><span class="p">)</span>
+    <span class="n">pitch</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">sin_pitch</span><span class="p">)</span> <span class="o">&gt;=</span> <span class="mi">1</span><span class="p">,</span> <span class="n">copysign</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mf">2.0</span><span class="p">,</span> <span class="n">sin_pitch</span><span class="p">),</span> <span class="n">torch</span><span class="o">.</span><span class="n">asin</span><span class="p">(</span><span class="n">sin_pitch</span><span class="p">))</span>
+
+    <span class="c1"># yaw (z-axis rotation)</span>
+    <span class="n">sin_yaw</span> <span class="o">=</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="p">(</span><span class="n">q_w</span> <span class="o">*</span> <span class="n">q_z</span> <span class="o">+</span> <span class="n">q_x</span> <span class="o">*</span> <span class="n">q_y</span><span class="p">)</span>
+    <span class="n">cos_yaw</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="p">(</span><span class="n">q_y</span> <span class="o">*</span> <span class="n">q_y</span> <span class="o">+</span> <span class="n">q_z</span> <span class="o">*</span> <span class="n">q_z</span><span class="p">)</span>
+    <span class="n">yaw</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">atan2</span><span class="p">(</span><span class="n">sin_yaw</span><span class="p">,</span> <span class="n">cos_yaw</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">roll</span> <span class="o">%</span> <span class="p">(</span><span class="mi">2</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span><span class="p">),</span> <span class="n">pitch</span> <span class="o">%</span> <span class="p">(</span><span class="mi">2</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span><span class="p">),</span> <span class="n">yaw</span> <span class="o">%</span> <span class="p">(</span><span class="mi">2</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span><span class="p">)</span>  <span class="c1"># TODO: why not wrap_to_pi here ?</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_unique</span><span class="p">(</span><span class="n">q</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert a unit quaternion to a standard form where the real part is non-negative.</span>
+
+<span class="sd">    Quaternion representations have a singularity since ``q`` and ``-q`` represent the same</span>
+<span class="sd">    rotation. This function ensures the real part of the quaternion is non-negative.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        q: The quaternion orientation in (w, x, y, z). Shape is (..., 4).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Standardized quaternions. Shape is (..., 4).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">q</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">1</span><span class="p">]</span> <span class="o">&lt;</span> <span class="mi">0</span><span class="p">,</span> <span class="o">-</span><span class="n">q</span><span class="p">,</span> <span class="n">q</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_mul</span><span class="p">(</span><span class="n">q1</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">q2</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Multiply two quaternions together.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        q1: The first quaternion in (w, x, y, z). Shape is (..., 4).</span>
+<span class="sd">        q2: The second quaternion in (w, x, y, z). Shape is (..., 4).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The product of the two quaternions in (w, x, y, z). Shape is (..., 4).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: Input shapes of ``q1`` and ``q2`` are not matching.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check input is correct</span>
+    <span class="k">if</span> <span class="n">q1</span><span class="o">.</span><span class="n">shape</span> <span class="o">!=</span> <span class="n">q2</span><span class="o">.</span><span class="n">shape</span><span class="p">:</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;Expected input quaternion shape mismatch: </span><span class="si">{</span><span class="n">q1</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2"> != </span><span class="si">{</span><span class="n">q2</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">.&quot;</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span>
+    <span class="c1"># reshape to (N, 4) for multiplication</span>
+    <span class="n">shape</span> <span class="o">=</span> <span class="n">q1</span><span class="o">.</span><span class="n">shape</span>
+    <span class="n">q1</span> <span class="o">=</span> <span class="n">q1</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+    <span class="n">q2</span> <span class="o">=</span> <span class="n">q2</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+    <span class="c1"># extract components from quaternions</span>
+    <span class="n">w1</span><span class="p">,</span> <span class="n">x1</span><span class="p">,</span> <span class="n">y1</span><span class="p">,</span> <span class="n">z1</span> <span class="o">=</span> <span class="n">q1</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">q1</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="n">q1</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">],</span> <span class="n">q1</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">]</span>
+    <span class="n">w2</span><span class="p">,</span> <span class="n">x2</span><span class="p">,</span> <span class="n">y2</span><span class="p">,</span> <span class="n">z2</span> <span class="o">=</span> <span class="n">q2</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">q2</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">],</span> <span class="n">q2</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">],</span> <span class="n">q2</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">]</span>
+    <span class="c1"># perform multiplication</span>
+    <span class="n">ww</span> <span class="o">=</span> <span class="p">(</span><span class="n">z1</span> <span class="o">+</span> <span class="n">x1</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">x2</span> <span class="o">+</span> <span class="n">y2</span><span class="p">)</span>
+    <span class="n">yy</span> <span class="o">=</span> <span class="p">(</span><span class="n">w1</span> <span class="o">-</span> <span class="n">y1</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">w2</span> <span class="o">+</span> <span class="n">z2</span><span class="p">)</span>
+    <span class="n">zz</span> <span class="o">=</span> <span class="p">(</span><span class="n">w1</span> <span class="o">+</span> <span class="n">y1</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">w2</span> <span class="o">-</span> <span class="n">z2</span><span class="p">)</span>
+    <span class="n">xx</span> <span class="o">=</span> <span class="n">ww</span> <span class="o">+</span> <span class="n">yy</span> <span class="o">+</span> <span class="n">zz</span>
+    <span class="n">qq</span> <span class="o">=</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="p">(</span><span class="n">xx</span> <span class="o">+</span> <span class="p">(</span><span class="n">z1</span> <span class="o">-</span> <span class="n">x1</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">x2</span> <span class="o">-</span> <span class="n">y2</span><span class="p">))</span>
+    <span class="n">w</span> <span class="o">=</span> <span class="n">qq</span> <span class="o">-</span> <span class="n">ww</span> <span class="o">+</span> <span class="p">(</span><span class="n">z1</span> <span class="o">-</span> <span class="n">y1</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">y2</span> <span class="o">-</span> <span class="n">z2</span><span class="p">)</span>
+    <span class="n">x</span> <span class="o">=</span> <span class="n">qq</span> <span class="o">-</span> <span class="n">xx</span> <span class="o">+</span> <span class="p">(</span><span class="n">x1</span> <span class="o">+</span> <span class="n">w1</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">x2</span> <span class="o">+</span> <span class="n">w2</span><span class="p">)</span>
+    <span class="n">y</span> <span class="o">=</span> <span class="n">qq</span> <span class="o">-</span> <span class="n">yy</span> <span class="o">+</span> <span class="p">(</span><span class="n">w1</span> <span class="o">-</span> <span class="n">x1</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">y2</span> <span class="o">+</span> <span class="n">z2</span><span class="p">)</span>
+    <span class="n">z</span> <span class="o">=</span> <span class="n">qq</span> <span class="o">-</span> <span class="n">zz</span> <span class="o">+</span> <span class="p">(</span><span class="n">z1</span> <span class="o">+</span> <span class="n">y1</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">w2</span> <span class="o">-</span> <span class="n">x2</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">([</span><span class="n">w</span><span class="p">,</span> <span class="n">x</span><span class="p">,</span> <span class="n">y</span><span class="p">,</span> <span class="n">z</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">shape</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_box_minus</span><span class="p">(</span><span class="n">q1</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">q2</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The box-minus operator (quaternion difference) between two quaternions.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        q1: The first quaternion in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">        q2: The second quaternion in (w, x, y, z). Shape is (N, 4).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The difference between the two quaternions. Shape is (N, 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">quat_diff</span> <span class="o">=</span> <span class="n">quat_mul</span><span class="p">(</span><span class="n">q1</span><span class="p">,</span> <span class="n">quat_conjugate</span><span class="p">(</span><span class="n">q2</span><span class="p">))</span>  <span class="c1"># q1 * q2^-1</span>
+    <span class="n">re</span> <span class="o">=</span> <span class="n">quat_diff</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span>  <span class="c1"># real part, q = [w, x, y, z] = [re, im]</span>
+    <span class="n">im</span> <span class="o">=</span> <span class="n">quat_diff</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">:]</span>  <span class="c1"># imaginary part</span>
+    <span class="n">norm_im</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">im</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">scale</span> <span class="o">=</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">norm_im</span> <span class="o">&gt;</span> <span class="mf">1.0e-7</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">atan2</span><span class="p">(</span><span class="n">norm_im</span><span class="p">,</span> <span class="n">re</span><span class="p">)</span> <span class="o">/</span> <span class="n">norm_im</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">sign</span><span class="p">(</span><span class="n">re</span><span class="p">))</span>
+    <span class="k">return</span> <span class="n">scale</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">im</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">yaw_quat</span><span class="p">(</span><span class="n">quat</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Extract the yaw component of a quaternion.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        quat: The orientation in (w, x, y, z). Shape is (..., 4)</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A quaternion with only yaw component.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">shape</span> <span class="o">=</span> <span class="n">quat</span><span class="o">.</span><span class="n">shape</span>
+    <span class="n">quat_yaw</span> <span class="o">=</span> <span class="n">quat</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+    <span class="n">qw</span> <span class="o">=</span> <span class="n">quat_yaw</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span>
+    <span class="n">qx</span> <span class="o">=</span> <span class="n">quat_yaw</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span>
+    <span class="n">qy</span> <span class="o">=</span> <span class="n">quat_yaw</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span>
+    <span class="n">qz</span> <span class="o">=</span> <span class="n">quat_yaw</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">]</span>
+    <span class="n">yaw</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">atan2</span><span class="p">(</span><span class="mi">2</span> <span class="o">*</span> <span class="p">(</span><span class="n">qw</span> <span class="o">*</span> <span class="n">qz</span> <span class="o">+</span> <span class="n">qx</span> <span class="o">*</span> <span class="n">qy</span><span class="p">),</span> <span class="mi">1</span> <span class="o">-</span> <span class="mi">2</span> <span class="o">*</span> <span class="p">(</span><span class="n">qy</span> <span class="o">*</span> <span class="n">qy</span> <span class="o">+</span> <span class="n">qz</span> <span class="o">*</span> <span class="n">qz</span><span class="p">))</span>
+    <span class="n">quat_yaw</span><span class="p">[:]</span> <span class="o">=</span> <span class="mf">0.0</span>
+    <span class="n">quat_yaw</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">yaw</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">quat_yaw</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">yaw</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="n">quat_yaw</span> <span class="o">=</span> <span class="n">normalize</span><span class="p">(</span><span class="n">quat_yaw</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">quat_yaw</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">shape</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_apply</span><span class="p">(</span><span class="n">quat</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">vec</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Apply a quaternion rotation to a vector.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        quat: The quaternion in (w, x, y, z). Shape is (..., 4).</span>
+<span class="sd">        vec: The vector in (x, y, z). Shape is (..., 3).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The rotated vector in (x, y, z). Shape is (..., 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># store shape</span>
+    <span class="n">shape</span> <span class="o">=</span> <span class="n">vec</span><span class="o">.</span><span class="n">shape</span>
+    <span class="c1"># reshape to (N, 3) for multiplication</span>
+    <span class="n">quat</span> <span class="o">=</span> <span class="n">quat</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span>
+    <span class="n">vec</span> <span class="o">=</span> <span class="n">vec</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+    <span class="c1"># extract components from quaternions</span>
+    <span class="n">xyz</span> <span class="o">=</span> <span class="n">quat</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">:]</span>
+    <span class="n">t</span> <span class="o">=</span> <span class="n">xyz</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span><span class="n">vec</span><span class="p">,</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="mi">2</span>
+    <span class="k">return</span> <span class="p">(</span><span class="n">vec</span> <span class="o">+</span> <span class="n">quat</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="n">t</span> <span class="o">+</span> <span class="n">xyz</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span><span class="n">t</span><span class="p">,</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">))</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">shape</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_apply_yaw</span><span class="p">(</span><span class="n">quat</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">vec</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Rotate a vector only around the yaw-direction.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        quat: The orientation in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">        vec: The vector in (x, y, z). Shape is (N, 3).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The rotated vector in (x, y, z). Shape is (N, 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">quat_yaw</span> <span class="o">=</span> <span class="n">yaw_quat</span><span class="p">(</span><span class="n">quat</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">quat_apply</span><span class="p">(</span><span class="n">quat_yaw</span><span class="p">,</span> <span class="n">vec</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_rotate</span><span class="p">(</span><span class="n">q</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">v</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Rotate a vector by a quaternion along the last dimension of q and v.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        q: The quaternion in (w, x, y, z). Shape is (..., 4).</span>
+<span class="sd">        v: The vector in (x, y, z). Shape is (..., 3).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The rotated vector in (x, y, z). Shape is (..., 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">q_w</span> <span class="o">=</span> <span class="n">q</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+    <span class="n">q_vec</span> <span class="o">=</span> <span class="n">q</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">:]</span>
+    <span class="n">a</span> <span class="o">=</span> <span class="n">v</span> <span class="o">*</span> <span class="p">(</span><span class="mf">2.0</span> <span class="o">*</span> <span class="n">q_w</span><span class="o">**</span><span class="mi">2</span> <span class="o">-</span> <span class="mf">1.0</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span><span class="n">q_vec</span><span class="p">,</span> <span class="n">v</span><span class="p">,</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">q_w</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="mf">2.0</span>
+    <span class="c1"># for two-dimensional tensors, bmm is faster than einsum</span>
+    <span class="k">if</span> <span class="n">q_vec</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="n">c</span> <span class="o">=</span> <span class="n">q_vec</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">bmm</span><span class="p">(</span><span class="n">q_vec</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">q</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">v</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">q</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">))</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="mf">2.0</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">c</span> <span class="o">=</span> <span class="n">q_vec</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">einsum</span><span class="p">(</span><span class="s2">&quot;...i,...i-&gt;...&quot;</span><span class="p">,</span> <span class="n">q_vec</span><span class="p">,</span> <span class="n">v</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="mf">2.0</span>
+    <span class="k">return</span> <span class="n">a</span> <span class="o">+</span> <span class="n">b</span> <span class="o">+</span> <span class="n">c</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_rotate_inverse</span><span class="p">(</span><span class="n">q</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">v</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Rotate a vector by the inverse of a quaternion along the last dimension of q and v.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        q: The quaternion in (w, x, y, z). Shape is (..., 4).</span>
+<span class="sd">        v: The vector in (x, y, z). Shape is (..., 3).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The rotated vector in (x, y, z). Shape is (..., 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">q_w</span> <span class="o">=</span> <span class="n">q</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+    <span class="n">q_vec</span> <span class="o">=</span> <span class="n">q</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">:]</span>
+    <span class="n">a</span> <span class="o">=</span> <span class="n">v</span> <span class="o">*</span> <span class="p">(</span><span class="mf">2.0</span> <span class="o">*</span> <span class="n">q_w</span><span class="o">**</span><span class="mi">2</span> <span class="o">-</span> <span class="mf">1.0</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span><span class="n">q_vec</span><span class="p">,</span> <span class="n">v</span><span class="p">,</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">q_w</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="mf">2.0</span>
+    <span class="c1"># for two-dimensional tensors, bmm is faster than einsum</span>
+    <span class="k">if</span> <span class="n">q_vec</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="n">c</span> <span class="o">=</span> <span class="n">q_vec</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">bmm</span><span class="p">(</span><span class="n">q_vec</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">q</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">v</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">q</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">))</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="mf">2.0</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">c</span> <span class="o">=</span> <span class="n">q_vec</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">einsum</span><span class="p">(</span><span class="s2">&quot;...i,...i-&gt;...&quot;</span><span class="p">,</span> <span class="n">q_vec</span><span class="p">,</span> <span class="n">v</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="mf">2.0</span>
+    <span class="k">return</span> <span class="n">a</span> <span class="o">-</span> <span class="n">b</span> <span class="o">+</span> <span class="n">c</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_from_angle_axis</span><span class="p">(</span><span class="n">angle</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">axis</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert rotations given as angle-axis to quaternions.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        angle: The angle turned anti-clockwise in radians around the vector&#39;s direction. Shape is (N,).</span>
+<span class="sd">        axis: The axis of rotation. Shape is (N, 3).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The quaternion in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">theta</span> <span class="o">=</span> <span class="p">(</span><span class="n">angle</span> <span class="o">/</span> <span class="mi">2</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">xyz</span> <span class="o">=</span> <span class="n">normalize</span><span class="p">(</span><span class="n">axis</span><span class="p">)</span> <span class="o">*</span> <span class="n">theta</span><span class="o">.</span><span class="n">sin</span><span class="p">()</span>
+    <span class="n">w</span> <span class="o">=</span> <span class="n">theta</span><span class="o">.</span><span class="n">cos</span><span class="p">()</span>
+    <span class="k">return</span> <span class="n">normalize</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">w</span><span class="p">,</span> <span class="n">xyz</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">))</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">axis_angle_from_quat</span><span class="p">(</span><span class="n">quat</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">eps</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0e-6</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert rotations given as quaternions to axis/angle.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        quat: The quaternion orientation in (w, x, y, z). Shape is (..., 4).</span>
+<span class="sd">        eps: The tolerance for Taylor approximation. Defaults to 1.0e-6.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Rotations given as a vector in axis angle form. Shape is (..., 3).</span>
+<span class="sd">        The vector&#39;s magnitude is the angle turned anti-clockwise in radians around the vector&#39;s direction.</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L526-L554</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Modified to take in quat as [q_w, q_x, q_y, q_z]</span>
+    <span class="c1"># Quaternion is [q_w, q_x, q_y, q_z] = [cos(theta/2), n_x * sin(theta/2), n_y * sin(theta/2), n_z * sin(theta/2)]</span>
+    <span class="c1"># Axis-angle is [a_x, a_y, a_z] = [theta * n_x, theta * n_y, theta * n_z]</span>
+    <span class="c1"># Thus, axis-angle is [q_x, q_y, q_z] / (sin(theta/2) / theta)</span>
+    <span class="c1"># When theta = 0, (sin(theta/2) / theta) is undefined</span>
+    <span class="c1"># However, as theta --&gt; 0, we can use the Taylor approximation 1/2 - theta^2 / 48</span>
+    <span class="n">quat</span> <span class="o">=</span> <span class="n">quat</span> <span class="o">*</span> <span class="p">(</span><span class="mf">1.0</span> <span class="o">-</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="p">(</span><span class="n">quat</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">1</span><span class="p">]</span> <span class="o">&lt;</span> <span class="mf">0.0</span><span class="p">))</span>
+    <span class="n">mag</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">quat</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">:],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">half_angle</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">atan2</span><span class="p">(</span><span class="n">mag</span><span class="p">,</span> <span class="n">quat</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+    <span class="n">angle</span> <span class="o">=</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="n">half_angle</span>
+    <span class="c1"># check whether to apply Taylor approximation</span>
+    <span class="n">sin_half_angles_over_angles</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+        <span class="n">angle</span><span class="o">.</span><span class="n">abs</span><span class="p">()</span> <span class="o">&gt;</span> <span class="n">eps</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">half_angle</span><span class="p">)</span> <span class="o">/</span> <span class="n">angle</span><span class="p">,</span> <span class="mf">0.5</span> <span class="o">-</span> <span class="n">angle</span> <span class="o">*</span> <span class="n">angle</span> <span class="o">/</span> <span class="mi">48</span>
+    <span class="p">)</span>
+    <span class="k">return</span> <span class="n">quat</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">:</span><span class="mi">4</span><span class="p">]</span> <span class="o">/</span> <span class="n">sin_half_angles_over_angles</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">quat_error_magnitude</span><span class="p">(</span><span class="n">q1</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">q2</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Computes the rotation difference between two quaternions.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        q1: The first quaternion in (w, x, y, z). Shape is (..., 4).</span>
+<span class="sd">        q2: The second quaternion in (w, x, y, z). Shape is (..., 4).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Angular error between input quaternions in radians.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">quat_diff</span> <span class="o">=</span> <span class="n">quat_mul</span><span class="p">(</span><span class="n">q1</span><span class="p">,</span> <span class="n">quat_conjugate</span><span class="p">(</span><span class="n">q2</span><span class="p">))</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">norm</span><span class="p">(</span><span class="n">axis_angle_from_quat</span><span class="p">(</span><span class="n">quat_diff</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">skew_symmetric_matrix</span><span class="p">(</span><span class="n">vec</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Computes the skew-symmetric matrix of a vector.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        vec: The input vector. Shape is (3,) or (N, 3).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The skew-symmetric matrix. Shape is (1, 3, 3) or (N, 3, 3).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If input tensor is not of shape (..., 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check input is correct</span>
+    <span class="k">if</span> <span class="n">vec</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected input vector shape mismatch: </span><span class="si">{</span><span class="n">vec</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2"> != (..., 3).&quot;</span><span class="p">)</span>
+    <span class="c1"># unsqueeze the last dimension</span>
+    <span class="k">if</span> <span class="n">vec</span><span class="o">.</span><span class="n">ndim</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="n">vec</span> <span class="o">=</span> <span class="n">vec</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+    <span class="c1"># create a skew-symmetric matrix</span>
+    <span class="n">skew_sym_mat</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">vec</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">vec</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">vec</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
+    <span class="n">skew_sym_mat</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">vec</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span>
+    <span class="n">skew_sym_mat</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="n">vec</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span>
+    <span class="n">skew_sym_mat</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">vec</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span>
+    <span class="n">skew_sym_mat</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">vec</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span>
+    <span class="n">skew_sym_mat</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">vec</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span>
+    <span class="n">skew_sym_mat</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">vec</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span>
+
+    <span class="k">return</span> <span class="n">skew_sym_mat</span>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Transformations</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="is_identity_pose"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.is_identity_pose">[docs]</a><span class="k">def</span> <span class="nf">is_identity_pose</span><span class="p">(</span><span class="n">pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">,</span> <span class="n">rot</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Checks if input poses are identity transforms.</span>
+
+<span class="sd">    The function checks if the input position and orientation are close to zero and</span>
+<span class="sd">    identity respectively using L2-norm. It does NOT check the error in the orientation.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        pos: The cartesian position. Shape is (N, 3).</span>
+<span class="sd">        rot: The quaternion in (w, x, y, z). Shape is (N, 4).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        True if all the input poses result in identity transform. Otherwise, False.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># create identity transformations</span>
+    <span class="n">pos_identity</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">pos</span><span class="p">)</span>
+    <span class="n">rot_identity</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">rot</span><span class="p">)</span>
+    <span class="n">rot_identity</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span>
+    <span class="c1"># compare input to identity</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">allclose</span><span class="p">(</span><span class="n">pos</span><span class="p">,</span> <span class="n">pos_identity</span><span class="p">)</span> <span class="ow">and</span> <span class="n">torch</span><span class="o">.</span><span class="n">allclose</span><span class="p">(</span><span class="n">rot</span><span class="p">,</span> <span class="n">rot_identity</span><span class="p">)</span></div>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">combine_frame_transforms</span><span class="p">(</span>
+    <span class="n">t01</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">q01</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">t12</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">q12</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Combine transformations between two reference frames into a stationary frame.</span>
+
+<span class="sd">    It performs the following transformation operation: :math:`T_{02} = T_{01} \times T_{12}`,</span>
+<span class="sd">    where :math:`T_{AB}` is the homogeneous transformation matrix from frame A to B.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        t01: Position of frame 1 w.r.t. frame 0. Shape is (N, 3).</span>
+<span class="sd">        q01: Quaternion orientation of frame 1 w.r.t. frame 0 in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">        t12: Position of frame 2 w.r.t. frame 1. Shape is (N, 3).</span>
+<span class="sd">            Defaults to None, in which case the position is assumed to be zero.</span>
+<span class="sd">        q12: Quaternion orientation of frame 2 w.r.t. frame 1 in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">            Defaults to None, in which case the orientation is assumed to be identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the position and orientation of frame 2 w.r.t. frame 0.</span>
+<span class="sd">        Shape of the tensors are (N, 3) and (N, 4) respectively.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># compute orientation</span>
+    <span class="k">if</span> <span class="n">q12</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">q02</span> <span class="o">=</span> <span class="n">quat_mul</span><span class="p">(</span><span class="n">q01</span><span class="p">,</span> <span class="n">q12</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">q02</span> <span class="o">=</span> <span class="n">q01</span>
+    <span class="c1"># compute translation</span>
+    <span class="k">if</span> <span class="n">t12</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">t02</span> <span class="o">=</span> <span class="n">t01</span> <span class="o">+</span> <span class="n">quat_apply</span><span class="p">(</span><span class="n">q01</span><span class="p">,</span> <span class="n">t12</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">t02</span> <span class="o">=</span> <span class="n">t01</span>
+
+    <span class="k">return</span> <span class="n">t02</span><span class="p">,</span> <span class="n">q02</span>
+
+
+<span class="c1"># @torch.jit.script</span>
+<div class="viewcode-block" id="subtract_frame_transforms"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.subtract_frame_transforms">[docs]</a><span class="k">def</span> <span class="nf">subtract_frame_transforms</span><span class="p">(</span>
+    <span class="n">t01</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">q01</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">t02</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">q02</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Subtract transformations between two reference frames into a stationary frame.</span>
+
+<span class="sd">    It performs the following transformation operation: :math:`T_{12} = T_{01}^{-1} \times T_{02}`,</span>
+<span class="sd">    where :math:`T_{AB}` is the homogeneous transformation matrix from frame A to B.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        t01: Position of frame 1 w.r.t. frame 0. Shape is (N, 3).</span>
+<span class="sd">        q01: Quaternion orientation of frame 1 w.r.t. frame 0 in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">        t02: Position of frame 2 w.r.t. frame 0. Shape is (N, 3).</span>
+<span class="sd">            Defaults to None, in which case the position is assumed to be zero.</span>
+<span class="sd">        q02: Quaternion orientation of frame 2 w.r.t. frame 0 in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">            Defaults to None, in which case the orientation is assumed to be identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the position and orientation of frame 2 w.r.t. frame 1.</span>
+<span class="sd">        Shape of the tensors are (N, 3) and (N, 4) respectively.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># compute orientation</span>
+    <span class="n">q10</span> <span class="o">=</span> <span class="n">quat_inv</span><span class="p">(</span><span class="n">q01</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">q02</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">q12</span> <span class="o">=</span> <span class="n">quat_mul</span><span class="p">(</span><span class="n">q10</span><span class="p">,</span> <span class="n">q02</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">q12</span> <span class="o">=</span> <span class="n">q10</span>
+    <span class="c1"># compute translation</span>
+    <span class="k">if</span> <span class="n">t02</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">t12</span> <span class="o">=</span> <span class="n">quat_apply</span><span class="p">(</span><span class="n">q10</span><span class="p">,</span> <span class="n">t02</span> <span class="o">-</span> <span class="n">t01</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">t12</span> <span class="o">=</span> <span class="n">quat_apply</span><span class="p">(</span><span class="n">q10</span><span class="p">,</span> <span class="o">-</span><span class="n">t01</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">t12</span><span class="p">,</span> <span class="n">q12</span></div>
+
+
+<span class="c1"># @torch.jit.script</span>
+<div class="viewcode-block" id="compute_pose_error"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.compute_pose_error">[docs]</a><span class="k">def</span> <span class="nf">compute_pose_error</span><span class="p">(</span>
+    <span class="n">t01</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">q01</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">t02</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">q02</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">rot_error_type</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;quat&quot;</span><span class="p">,</span> <span class="s2">&quot;axis_angle&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;axis_angle&quot;</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Compute the position and orientation error between source and target frames.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        t01: Position of source frame. Shape is (N, 3).</span>
+<span class="sd">        q01: Quaternion orientation of source frame in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">        t02: Position of target frame. Shape is (N, 3).</span>
+<span class="sd">        q02: Quaternion orientation of target frame in (w, x, y, z). Shape is (N, 4).</span>
+<span class="sd">        rot_error_type: The rotation error type to return: &quot;quat&quot;, &quot;axis_angle&quot;.</span>
+<span class="sd">            Defaults to &quot;axis_angle&quot;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing position and orientation error. Shape of position error is (N, 3).</span>
+<span class="sd">        Shape of orientation error depends on the value of :attr:`rot_error_type`:</span>
+
+<span class="sd">        - If :attr:`rot_error_type` is &quot;quat&quot;, the orientation error is returned</span>
+<span class="sd">          as a quaternion. Shape is (N, 4).</span>
+<span class="sd">        - If :attr:`rot_error_type` is &quot;axis_angle&quot;, the orientation error is</span>
+<span class="sd">          returned as an axis-angle vector. Shape is (N, 3).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: Invalid rotation error type.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Compute quaternion error (i.e., difference quaternion)</span>
+    <span class="c1"># Reference: https://personal.utdallas.edu/~sxb027100/dock/quaternion.html</span>
+    <span class="c1"># q_current_norm = q_current * q_current_conj</span>
+    <span class="n">source_quat_norm</span> <span class="o">=</span> <span class="n">quat_mul</span><span class="p">(</span><span class="n">q01</span><span class="p">,</span> <span class="n">quat_conjugate</span><span class="p">(</span><span class="n">q01</span><span class="p">))[:,</span> <span class="mi">0</span><span class="p">]</span>
+    <span class="c1"># q_current_inv = q_current_conj / q_current_norm</span>
+    <span class="n">source_quat_inv</span> <span class="o">=</span> <span class="n">quat_conjugate</span><span class="p">(</span><span class="n">q01</span><span class="p">)</span> <span class="o">/</span> <span class="n">source_quat_norm</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="c1"># q_error = q_target * q_current_inv</span>
+    <span class="n">quat_error</span> <span class="o">=</span> <span class="n">quat_mul</span><span class="p">(</span><span class="n">q02</span><span class="p">,</span> <span class="n">source_quat_inv</span><span class="p">)</span>
+
+    <span class="c1"># Compute position error</span>
+    <span class="n">pos_error</span> <span class="o">=</span> <span class="n">t02</span> <span class="o">-</span> <span class="n">t01</span>
+
+    <span class="c1"># return error based on specified type</span>
+    <span class="k">if</span> <span class="n">rot_error_type</span> <span class="o">==</span> <span class="s2">&quot;quat&quot;</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">pos_error</span><span class="p">,</span> <span class="n">quat_error</span>
+    <span class="k">elif</span> <span class="n">rot_error_type</span> <span class="o">==</span> <span class="s2">&quot;axis_angle&quot;</span><span class="p">:</span>
+        <span class="c1"># Convert to axis-angle error</span>
+        <span class="n">axis_angle_error</span> <span class="o">=</span> <span class="n">axis_angle_from_quat</span><span class="p">(</span><span class="n">quat_error</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">pos_error</span><span class="p">,</span> <span class="n">axis_angle_error</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unsupported orientation error type: </span><span class="si">{</span><span class="n">rot_error_type</span><span class="si">}</span><span class="s2">. Valid: &#39;quat&#39;, &#39;axis_angle&#39;.&quot;</span><span class="p">)</span></div>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">apply_delta_pose</span><span class="p">(</span>
+    <span class="n">source_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">source_rot</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">delta_pose</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">eps</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0e-6</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Applies delta pose transformation on source pose.</span>
+
+<span class="sd">    The first three elements of `delta_pose` are interpreted as cartesian position displacement.</span>
+<span class="sd">    The remaining three elements of `delta_pose` are interpreted as orientation displacement</span>
+<span class="sd">    in the angle-axis format.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        source_pos: Position of source frame. Shape is (N, 3).</span>
+<span class="sd">        source_rot: Quaternion orientation of source frame in (w, x, y, z). Shape is (N, 4)..</span>
+<span class="sd">        delta_pose: Position and orientation displacements. Shape is (N, 6).</span>
+<span class="sd">        eps: The tolerance to consider orientation displacement as zero. Defaults to 1.0e-6.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple containing the displaced position and orientation frames.</span>
+<span class="sd">        Shape of the tensors are (N, 3) and (N, 4) respectively.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># number of poses given</span>
+    <span class="n">num_poses</span> <span class="o">=</span> <span class="n">source_pos</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+    <span class="n">device</span> <span class="o">=</span> <span class="n">source_pos</span><span class="o">.</span><span class="n">device</span>
+
+    <span class="c1"># interpret delta_pose[:, 0:3] as target position displacements</span>
+    <span class="n">target_pos</span> <span class="o">=</span> <span class="n">source_pos</span> <span class="o">+</span> <span class="n">delta_pose</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+    <span class="c1"># interpret delta_pose[:, 3:6] as target rotation displacements</span>
+    <span class="n">rot_actions</span> <span class="o">=</span> <span class="n">delta_pose</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">]</span>
+    <span class="n">angle</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">vector_norm</span><span class="p">(</span><span class="n">rot_actions</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">axis</span> <span class="o">=</span> <span class="n">rot_actions</span> <span class="o">/</span> <span class="n">angle</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="c1"># change from axis-angle to quat convention</span>
+    <span class="n">identity_quat</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="n">num_poses</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="n">rot_delta_quat</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+        <span class="n">angle</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">4</span><span class="p">)</span> <span class="o">&gt;</span> <span class="n">eps</span><span class="p">,</span> <span class="n">quat_from_angle_axis</span><span class="p">(</span><span class="n">angle</span><span class="p">,</span> <span class="n">axis</span><span class="p">),</span> <span class="n">identity_quat</span>
+    <span class="p">)</span>
+    <span class="c1"># TODO: Check if this is the correct order for this multiplication.</span>
+    <span class="n">target_rot</span> <span class="o">=</span> <span class="n">quat_mul</span><span class="p">(</span><span class="n">rot_delta_quat</span><span class="p">,</span> <span class="n">source_rot</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">target_pos</span><span class="p">,</span> <span class="n">target_rot</span>
+
+
+<span class="c1"># @torch.jit.script</span>
+<div class="viewcode-block" id="transform_points"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.transform_points">[docs]</a><span class="k">def</span> <span class="nf">transform_points</span><span class="p">(</span>
+    <span class="n">points</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">quat</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Transform input points in a given frame to a target frame.</span>
+
+<span class="sd">    This function transform points from a source frame to a target frame. The transformation is defined by the</span>
+<span class="sd">    position :math:`t` and orientation :math:`R` of the target frame in the source frame.</span>
+
+<span class="sd">    .. math::</span>
+<span class="sd">        p_{target} = R_{target} \times p_{source} + t_{target}</span>
+
+<span class="sd">    If the input `points` is a batch of points, the inputs `pos` and `quat` must be either a batch of</span>
+<span class="sd">    positions and quaternions or a single position and quaternion. If the inputs `pos` and `quat` are</span>
+<span class="sd">    a single position and quaternion, the same transformation is applied to all points in the batch.</span>
+
+<span class="sd">    If either the inputs :attr:`pos` and :attr:`quat` are None, the corresponding transformation is not applied.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        points: Points to transform. Shape is (N, P, 3) or (P, 3).</span>
+<span class="sd">        pos: Position of the target frame. Shape is (N, 3) or (3,).</span>
+<span class="sd">            Defaults to None, in which case the position is assumed to be zero.</span>
+<span class="sd">        quat: Quaternion orientation of the target frame in (w, x, y, z). Shape is (N, 4) or (4,).</span>
+<span class="sd">            Defaults to None, in which case the orientation is assumed to be identity.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Transformed points in the target frame. Shape is (N, P, 3) or (P, 3).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the inputs `points` is not of shape (N, P, 3) or (P, 3).</span>
+<span class="sd">        ValueError: If the inputs `pos` is not of shape (N, 3) or (3,).</span>
+<span class="sd">        ValueError: If the inputs `quat` is not of shape (N, 4) or (4,).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">points_batch</span> <span class="o">=</span> <span class="n">points</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+    <span class="c1"># check if inputs are batched</span>
+    <span class="n">is_batched</span> <span class="o">=</span> <span class="n">points_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">3</span>
+    <span class="c1"># -- check inputs</span>
+    <span class="k">if</span> <span class="n">points_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="n">points_batch</span> <span class="o">=</span> <span class="n">points_batch</span><span class="p">[</span><span class="kc">None</span><span class="p">]</span>  <span class="c1"># (P, 3) -&gt; (1, P, 3)</span>
+    <span class="k">if</span> <span class="n">points_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected points to have dim = 2 or dim = 3: got shape </span><span class="si">{</span><span class="n">points</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="p">(</span><span class="n">pos</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">pos</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">1</span> <span class="ow">or</span> <span class="n">pos</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected pos to have dim = 1 or dim = 2: got shape </span><span class="si">{</span><span class="n">pos</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="p">(</span><span class="n">quat</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">quat</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">1</span> <span class="ow">or</span> <span class="n">quat</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected quat to have dim = 1 or dim = 2: got shape </span><span class="si">{</span><span class="n">quat</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="c1"># -- rotation</span>
+    <span class="k">if</span> <span class="n">quat</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="c1"># convert to batched rotation matrix</span>
+        <span class="n">rot_mat</span> <span class="o">=</span> <span class="n">matrix_from_quat</span><span class="p">(</span><span class="n">quat</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">rot_mat</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+            <span class="n">rot_mat</span> <span class="o">=</span> <span class="n">rot_mat</span><span class="p">[</span><span class="kc">None</span><span class="p">]</span>  <span class="c1"># (3, 3) -&gt; (1, 3, 3)</span>
+        <span class="c1"># convert points to matching batch size (N, P, 3) -&gt; (N, 3, P)</span>
+        <span class="c1"># and apply rotation</span>
+        <span class="n">points_batch</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">matmul</span><span class="p">(</span><span class="n">rot_mat</span><span class="p">,</span> <span class="n">points_batch</span><span class="o">.</span><span class="n">transpose_</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">))</span>
+        <span class="c1"># (N, 3, P) -&gt; (N, P, 3)</span>
+        <span class="n">points_batch</span> <span class="o">=</span> <span class="n">points_batch</span><span class="o">.</span><span class="n">transpose_</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span>
+    <span class="c1"># -- translation</span>
+    <span class="k">if</span> <span class="n">pos</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="c1"># convert to batched translation vector</span>
+        <span class="k">if</span> <span class="n">pos</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="n">pos</span> <span class="o">=</span> <span class="n">pos</span><span class="p">[</span><span class="kc">None</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="p">:]</span>  <span class="c1"># (3,) -&gt; (1, 1, 3)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">pos</span> <span class="o">=</span> <span class="n">pos</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">,</span> <span class="p">:]</span>  <span class="c1"># (N, 3) -&gt; (N, 1, 3)</span>
+        <span class="c1"># apply translation</span>
+        <span class="n">points_batch</span> <span class="o">+=</span> <span class="n">pos</span>
+    <span class="c1"># -- return points in same shape as input</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">is_batched</span><span class="p">:</span>
+        <span class="n">points_batch</span> <span class="o">=</span> <span class="n">points_batch</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>  <span class="c1"># (1, P, 3) -&gt; (P, 3)</span>
+
+    <span class="k">return</span> <span class="n">points_batch</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Projection operations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">orthogonalize_perspective_depth</span><span class="p">(</span><span class="n">depth</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">intrinsics</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Converts perspective depth image to orthogonal depth image.</span>
+
+<span class="sd">    Perspective depth images contain distances measured from the camera&#39;s optical center.</span>
+<span class="sd">    Meanwhile, orthogonal depth images provide the distance from the camera&#39;s image plane.</span>
+<span class="sd">    This method uses the camera geometry to convert perspective depth to orthogonal depth image.</span>
+
+<span class="sd">    The function assumes that the width and height are both greater than 1.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        depth: The perspective depth images. Shape is (H, W) or or (H, W, 1) or (N, H, W) or (N, H, W, 1).</span>
+<span class="sd">        intrinsics: The camera&#39;s calibration matrix. If a single matrix is provided, the same</span>
+<span class="sd">            calibration matrix is used across all the depth images in the batch.</span>
+<span class="sd">            Shape is (3, 3) or (N, 3, 3).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The orthogonal depth images. Shape matches the input shape of depth images.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When depth is not of shape (H, W) or (H, W, 1) or (N, H, W) or (N, H, W, 1).</span>
+<span class="sd">        ValueError: When intrinsics is not of shape (3, 3) or (N, 3, 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Clone inputs to avoid in-place modifications</span>
+    <span class="n">perspective_depth_batch</span> <span class="o">=</span> <span class="n">depth</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+    <span class="n">intrinsics_batch</span> <span class="o">=</span> <span class="n">intrinsics</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="c1"># Check if inputs are batched</span>
+    <span class="n">is_batched</span> <span class="o">=</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">4</span> <span class="ow">or</span> <span class="p">(</span>
+        <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">3</span> <span class="ow">and</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">!=</span> <span class="mi">1</span>
+    <span class="p">)</span>
+
+    <span class="c1"># Track whether the last dimension was singleton</span>
+    <span class="n">add_last_dim</span> <span class="o">=</span> <span class="kc">False</span>
+    <span class="k">if</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">4</span> <span class="ow">and</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="n">add_last_dim</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="n">perspective_depth_batch</span> <span class="o">=</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">3</span><span class="p">)</span>  <span class="c1"># (N, H, W, 1) -&gt; (N, H, W)</span>
+    <span class="k">if</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">3</span> <span class="ow">and</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="n">add_last_dim</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="n">perspective_depth_batch</span> <span class="o">=</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>  <span class="c1"># (H, W, 1) -&gt; (H, W)</span>
+
+    <span class="k">if</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="n">perspective_depth_batch</span> <span class="o">=</span> <span class="n">perspective_depth_batch</span><span class="p">[</span><span class="kc">None</span><span class="p">]</span>  <span class="c1"># (H, W) -&gt; (1, H, W)</span>
+
+    <span class="k">if</span> <span class="n">intrinsics_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="n">intrinsics_batch</span> <span class="o">=</span> <span class="n">intrinsics_batch</span><span class="p">[</span><span class="kc">None</span><span class="p">]</span>  <span class="c1"># (3, 3) -&gt; (1, 3, 3)</span>
+
+    <span class="k">if</span> <span class="n">is_batched</span> <span class="ow">and</span> <span class="n">intrinsics_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="n">intrinsics_batch</span> <span class="o">=</span> <span class="n">intrinsics_batch</span><span class="o">.</span><span class="n">expand</span><span class="p">(</span><span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>  <span class="c1"># (1, 3, 3) -&gt; (N, 3, 3)</span>
+
+    <span class="c1"># Validate input shapes</span>
+    <span class="k">if</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected depth images to have 2, 3, or 4 dimensions; got </span><span class="si">{</span><span class="n">depth</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">intrinsics_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected intrinsics to have shape (3, 3) or (N, 3, 3); got </span><span class="si">{</span><span class="n">intrinsics</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Image dimensions</span>
+    <span class="n">im_height</span><span class="p">,</span> <span class="n">im_width</span> <span class="o">=</span> <span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">:]</span>
+
+    <span class="c1"># Get the intrinsics parameters</span>
+    <span class="n">fx</span> <span class="o">=</span> <span class="n">intrinsics_batch</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="n">fy</span> <span class="o">=</span> <span class="n">intrinsics_batch</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="n">cx</span> <span class="o">=</span> <span class="n">intrinsics_batch</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="n">cy</span> <span class="o">=</span> <span class="n">intrinsics_batch</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+
+    <span class="c1"># Create meshgrid of pixel coordinates</span>
+    <span class="n">u_grid</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">im_width</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">depth</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">depth</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
+    <span class="n">v_grid</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">im_height</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">depth</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">depth</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
+    <span class="n">u_grid</span><span class="p">,</span> <span class="n">v_grid</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">meshgrid</span><span class="p">(</span><span class="n">u_grid</span><span class="p">,</span> <span class="n">v_grid</span><span class="p">,</span> <span class="n">indexing</span><span class="o">=</span><span class="s2">&quot;xy&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Expand the grids for batch processing</span>
+    <span class="n">u_grid</span> <span class="o">=</span> <span class="n">u_grid</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span><span class="o">.</span><span class="n">expand</span><span class="p">(</span><span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">v_grid</span> <span class="o">=</span> <span class="n">v_grid</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span><span class="o">.</span><span class="n">expand</span><span class="p">(</span><span class="n">perspective_depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+
+    <span class="c1"># Compute the squared terms for efficiency</span>
+    <span class="n">x_term</span> <span class="o">=</span> <span class="p">((</span><span class="n">u_grid</span> <span class="o">-</span> <span class="n">cx</span><span class="p">)</span> <span class="o">/</span> <span class="n">fx</span><span class="p">)</span> <span class="o">**</span> <span class="mi">2</span>
+    <span class="n">y_term</span> <span class="o">=</span> <span class="p">((</span><span class="n">v_grid</span> <span class="o">-</span> <span class="n">cy</span><span class="p">)</span> <span class="o">/</span> <span class="n">fy</span><span class="p">)</span> <span class="o">**</span> <span class="mi">2</span>
+
+    <span class="c1"># Calculate the orthogonal (normal) depth</span>
+    <span class="n">orthogonal_depth</span> <span class="o">=</span> <span class="n">perspective_depth_batch</span> <span class="o">/</span> <span class="n">torch</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="mi">1</span> <span class="o">+</span> <span class="n">x_term</span> <span class="o">+</span> <span class="n">y_term</span><span class="p">)</span>
+
+    <span class="c1"># Restore the last dimension if it was present in the input</span>
+    <span class="k">if</span> <span class="n">add_last_dim</span><span class="p">:</span>
+        <span class="n">orthogonal_depth</span> <span class="o">=</span> <span class="n">orthogonal_depth</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+
+    <span class="c1"># Return to original shape if input was not batched</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">is_batched</span><span class="p">:</span>
+        <span class="n">orthogonal_depth</span> <span class="o">=</span> <span class="n">orthogonal_depth</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">orthogonal_depth</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">unproject_depth</span><span class="p">(</span><span class="n">depth</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">intrinsics</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">is_ortho</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Un-project depth image into a pointcloud.</span>
+
+<span class="sd">    This function converts orthogonal or perspective depth images into points given the calibration matrix</span>
+<span class="sd">    of the camera. It uses the following transformation based on camera geometry:</span>
+
+<span class="sd">    .. math::</span>
+<span class="sd">        p_{3D} = K^{-1} \times [u, v, 1]^T \times d</span>
+
+<span class="sd">    where :math:`p_{3D}` is the 3D point, :math:`d` is the depth value (measured from the image plane),</span>
+<span class="sd">    :math:`u` and :math:`v` are the pixel coordinates and :math:`K` is the intrinsic matrix.</span>
+
+<span class="sd">    The function assumes that the width and height are both greater than 1. This makes the function</span>
+<span class="sd">    deal with many possible shapes of depth images and intrinsics matrices.</span>
+
+<span class="sd">    .. note::</span>
+<span class="sd">        If :attr:`is_ortho` is False, the input depth images are transformed to orthogonal depth images</span>
+<span class="sd">        by using the :meth:`orthogonalize_perspective_depth` method.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        depth: The depth measurement. Shape is (H, W) or or (H, W, 1) or (N, H, W) or (N, H, W, 1).</span>
+<span class="sd">        intrinsics: The camera&#39;s calibration matrix. If a single matrix is provided, the same</span>
+<span class="sd">            calibration matrix is used across all the depth images in the batch.</span>
+<span class="sd">            Shape is (3, 3) or (N, 3, 3).</span>
+<span class="sd">        is_ortho: Whether the input depth image is orthogonal or perspective depth image. If True, the input</span>
+<span class="sd">            depth image is considered as the *orthogonal* type, where the measurements are from the camera&#39;s</span>
+<span class="sd">            image plane. If False, the depth image is considered as the *perspective* type, where the</span>
+<span class="sd">            measurements are from the camera&#39;s optical center. Defaults to True.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The 3D coordinates of points. Shape is (P, 3) or (N, P, 3).</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When depth is not of shape (H, W) or (H, W, 1) or (N, H, W) or (N, H, W, 1).</span>
+<span class="sd">        ValueError: When intrinsics is not of shape (3, 3) or (N, 3, 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># clone inputs to avoid in-place modifications</span>
+    <span class="n">intrinsics_batch</span> <span class="o">=</span> <span class="n">intrinsics</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+    <span class="c1"># convert depth image to orthogonal if needed</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">is_ortho</span><span class="p">:</span>
+        <span class="n">depth_batch</span> <span class="o">=</span> <span class="n">orthogonalize_perspective_depth</span><span class="p">(</span><span class="n">depth</span><span class="p">,</span> <span class="n">intrinsics</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">depth_batch</span> <span class="o">=</span> <span class="n">depth</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="c1"># check if inputs are batched</span>
+    <span class="n">is_batched</span> <span class="o">=</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">4</span> <span class="ow">or</span> <span class="p">(</span><span class="n">depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">3</span> <span class="ow">and</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">!=</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="c1"># make sure inputs are batched</span>
+    <span class="k">if</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">3</span> <span class="ow">and</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="n">depth_batch</span> <span class="o">=</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>  <span class="c1"># (H, W, 1) -&gt; (H, W)</span>
+    <span class="k">if</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="n">depth_batch</span> <span class="o">=</span> <span class="n">depth_batch</span><span class="p">[</span><span class="kc">None</span><span class="p">]</span>  <span class="c1"># (H, W) -&gt; (1, H, W)</span>
+    <span class="k">if</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">4</span> <span class="ow">and</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="n">depth_batch</span> <span class="o">=</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">3</span><span class="p">)</span>  <span class="c1"># (N, H, W, 1) -&gt; (N, H, W)</span>
+    <span class="k">if</span> <span class="n">intrinsics_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="n">intrinsics_batch</span> <span class="o">=</span> <span class="n">intrinsics_batch</span><span class="p">[</span><span class="kc">None</span><span class="p">]</span>  <span class="c1"># (3, 3) -&gt; (1, 3, 3)</span>
+    <span class="c1"># check shape of inputs</span>
+    <span class="k">if</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected depth images to have dim = 2 or 3 or 4: got shape </span><span class="si">{</span><span class="n">depth</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">intrinsics_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected intrinsics to have shape (3, 3) or (N, 3, 3): got shape </span><span class="si">{</span><span class="n">intrinsics</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="c1"># get image height and width</span>
+    <span class="n">im_height</span><span class="p">,</span> <span class="n">im_width</span> <span class="o">=</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">:]</span>
+    <span class="c1"># create image points in homogeneous coordinates (3, H x W)</span>
+    <span class="n">indices_u</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">im_width</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">depth</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">depth</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
+    <span class="n">indices_v</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">im_height</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">depth</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">depth</span><span class="o">.</span><span class="n">dtype</span><span class="p">)</span>
+    <span class="n">img_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">meshgrid</span><span class="p">([</span><span class="n">indices_u</span><span class="p">,</span> <span class="n">indices_v</span><span class="p">],</span> <span class="n">indexing</span><span class="o">=</span><span class="s2">&quot;ij&quot;</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">pixels</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">functional</span><span class="o">.</span><span class="n">pad</span><span class="p">(</span><span class="n">img_indices</span><span class="p">,</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span> <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;constant&quot;</span><span class="p">,</span> <span class="n">value</span><span class="o">=</span><span class="mf">1.0</span><span class="p">)</span>
+    <span class="n">pixels</span> <span class="o">=</span> <span class="n">pixels</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>  <span class="c1"># (3, H x W) -&gt; (1, 3, H x W)</span>
+
+    <span class="c1"># unproject points into 3D space</span>
+    <span class="n">points</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">matmul</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">inverse</span><span class="p">(</span><span class="n">intrinsics_batch</span><span class="p">),</span> <span class="n">pixels</span><span class="p">)</span>  <span class="c1"># (N, 3, H x W)</span>
+    <span class="n">points</span> <span class="o">=</span> <span class="n">points</span> <span class="o">/</span> <span class="n">points</span><span class="p">[:,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="p">:]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>  <span class="c1"># normalize by last coordinate</span>
+    <span class="c1"># flatten depth image (N, H, W) -&gt; (N, H x W)</span>
+    <span class="n">depth_batch</span> <span class="o">=</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">transpose_</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="n">depth_batch</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
+    <span class="n">depth_batch</span> <span class="o">=</span> <span class="n">depth_batch</span><span class="o">.</span><span class="n">expand</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+    <span class="c1"># scale points by depth</span>
+    <span class="n">points_xyz</span> <span class="o">=</span> <span class="n">points</span><span class="o">.</span><span class="n">transpose_</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span> <span class="o">*</span> <span class="n">depth_batch</span>  <span class="c1"># (N, H x W, 3)</span>
+
+    <span class="c1"># return points in same shape as input</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">is_batched</span><span class="p">:</span>
+        <span class="n">points_xyz</span> <span class="o">=</span> <span class="n">points_xyz</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">points_xyz</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">project_points</span><span class="p">(</span><span class="n">points</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">intrinsics</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Projects 3D points into 2D image plane.</span>
+
+<span class="sd">    This project 3D points into a 2D image plane. The transformation is defined by the intrinsic</span>
+<span class="sd">    matrix of the camera.</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        \begin{align}</span>
+<span class="sd">            p &amp;= K \times p_{3D}  = \\</span>
+<span class="sd">            p_{2D} &amp;= \begin{pmatrix} u \\ v \\  d \end{pmatrix}</span>
+<span class="sd">                    = \begin{pmatrix} p[0] / p[2] \\  p[1] / p[2] \\ Z \end{pmatrix}</span>
+<span class="sd">        \end{align}</span>
+
+<span class="sd">    where :math:`p_{2D} = (u, v, d)` is the projected 3D point, :math:`p_{3D} = (X, Y, Z)` is the</span>
+<span class="sd">    3D point and :math:`K \in \mathbb{R}^{3 \times 3}` is the intrinsic matrix.</span>
+
+<span class="sd">    If `points` is a batch of 3D points and `intrinsics` is a single intrinsic matrix, the same</span>
+<span class="sd">    calibration matrix is applied to all points in the batch.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        points: The 3D coordinates of points. Shape is (P, 3) or (N, P, 3).</span>
+<span class="sd">        intrinsics: Camera&#39;s calibration matrix. Shape is (3, 3) or (N, 3, 3).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Projected 3D coordinates of points. Shape is (P, 3) or (N, P, 3).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># clone the inputs to avoid in-place operations modifying the original data</span>
+    <span class="n">points_batch</span> <span class="o">=</span> <span class="n">points</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+    <span class="n">intrinsics_batch</span> <span class="o">=</span> <span class="n">intrinsics</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="c1"># check if inputs are batched</span>
+    <span class="n">is_batched</span> <span class="o">=</span> <span class="n">points_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span>
+    <span class="c1"># make sure inputs are batched</span>
+    <span class="k">if</span> <span class="n">points_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="n">points_batch</span> <span class="o">=</span> <span class="n">points_batch</span><span class="p">[</span><span class="kc">None</span><span class="p">]</span>  <span class="c1"># (P, 3) -&gt; (1, P, 3)</span>
+    <span class="k">if</span> <span class="n">intrinsics_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+        <span class="n">intrinsics_batch</span> <span class="o">=</span> <span class="n">intrinsics_batch</span><span class="p">[</span><span class="kc">None</span><span class="p">]</span>  <span class="c1"># (3, 3) -&gt; (1, 3, 3)</span>
+    <span class="c1"># check shape of inputs</span>
+    <span class="k">if</span> <span class="n">points_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected points to have dim = 3: got shape </span><span class="si">{</span><span class="n">points</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">intrinsics_batch</span><span class="o">.</span><span class="n">dim</span><span class="p">()</span> <span class="o">!=</span> <span class="mi">3</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Expected intrinsics to have shape (3, 3) or (N, 3, 3): got shape </span><span class="si">{</span><span class="n">intrinsics</span><span class="o">.</span><span class="n">shape</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># project points into 2D image plane</span>
+    <span class="n">points_2d</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">matmul</span><span class="p">(</span><span class="n">intrinsics_batch</span><span class="p">,</span> <span class="n">points_batch</span><span class="o">.</span><span class="n">transpose</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">))</span>
+    <span class="n">points_2d</span> <span class="o">=</span> <span class="n">points_2d</span> <span class="o">/</span> <span class="n">points_2d</span><span class="p">[:,</span> <span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="p">:]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>  <span class="c1"># normalize by last coordinate</span>
+    <span class="n">points_2d</span> <span class="o">=</span> <span class="n">points_2d</span><span class="o">.</span><span class="n">transpose_</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span>  <span class="c1"># (N, 3, P) -&gt; (N, P, 3)</span>
+    <span class="c1"># replace last coordinate with depth</span>
+    <span class="n">points_2d</span><span class="p">[:,</span> <span class="p">:,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">points_batch</span><span class="p">[:,</span> <span class="p">:,</span> <span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+
+    <span class="c1"># return points in same shape as input</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">is_batched</span><span class="p">:</span>
+        <span class="n">points_2d</span> <span class="o">=</span> <span class="n">points_2d</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>  <span class="c1"># (1, 3, P) -&gt; (3, P)</span>
+
+    <span class="k">return</span> <span class="n">points_2d</span>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Sampling</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">default_orientation</span><span class="p">(</span><span class="n">num</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Returns identity rotation transform.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        num: The number of rotations to sample.</span>
+<span class="sd">        device: Device to create tensor on.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Identity quaternion in (w, x, y, z). Shape is (num, 4).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">quat</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">num</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">quat</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span>
+
+    <span class="k">return</span> <span class="n">quat</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">random_orientation</span><span class="p">(</span><span class="n">num</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Returns sampled rotation in 3D as quaternion.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        num: The number of rotations to sample.</span>
+<span class="sd">        device: Device to create tensor on.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Sampled quaternion in (w, x, y, z). Shape is (num, 4).</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.random.html</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># sample random orientation from normal distribution</span>
+    <span class="n">quat</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn</span><span class="p">((</span><span class="n">num</span><span class="p">,</span> <span class="mi">4</span><span class="p">),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="c1"># normalize the quaternion</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">functional</span><span class="o">.</span><span class="n">normalize</span><span class="p">(</span><span class="n">quat</span><span class="p">,</span> <span class="n">p</span><span class="o">=</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span> <span class="n">eps</span><span class="o">=</span><span class="mf">1e-12</span><span class="p">)</span>
+
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">random_yaw_orientation</span><span class="p">(</span><span class="n">num</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Returns sampled rotation around z-axis.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        num: The number of rotations to sample.</span>
+<span class="sd">        device: Device to create tensor on.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Sampled quaternion in (w, x, y, z). Shape is (num, 4).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">roll</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">num</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">pitch</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">num</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">yaw</span> <span class="o">=</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="n">num</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">quat_from_euler_xyz</span><span class="p">(</span><span class="n">roll</span><span class="p">,</span> <span class="n">pitch</span><span class="p">,</span> <span class="n">yaw</span><span class="p">)</span>
+
+
+<div class="viewcode-block" id="sample_triangle"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.sample_triangle">[docs]</a><span class="k">def</span> <span class="nf">sample_triangle</span><span class="p">(</span><span class="n">lower</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">upper</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">size</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">],</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Randomly samples tensor from a triangular distribution.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        lower: The lower range of the sampled tensor.</span>
+<span class="sd">        upper: The upper range of the sampled tensor.</span>
+<span class="sd">        size: The shape of the tensor.</span>
+<span class="sd">        device: Device to create tensor on.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Sampled tensor. Shape is based on :attr:`size`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># convert to tuple</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">size</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+        <span class="n">size</span> <span class="o">=</span> <span class="p">(</span><span class="n">size</span><span class="p">,)</span>
+    <span class="c1"># create random tensor in the range [-1, 1]</span>
+    <span class="n">r</span> <span class="o">=</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="o">*</span><span class="n">size</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span> <span class="o">-</span> <span class="mi">1</span>
+    <span class="c1"># convert to triangular distribution</span>
+    <span class="n">r</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">r</span> <span class="o">&lt;</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="n">torch</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="o">-</span><span class="n">r</span><span class="p">),</span> <span class="n">torch</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="n">r</span><span class="p">))</span>
+    <span class="c1"># rescale back to [0, 1]</span>
+    <span class="n">r</span> <span class="o">=</span> <span class="p">(</span><span class="n">r</span> <span class="o">+</span> <span class="mf">1.0</span><span class="p">)</span> <span class="o">/</span> <span class="mf">2.0</span>
+    <span class="c1"># rescale to range [lower, upper]</span>
+    <span class="k">return</span> <span class="p">(</span><span class="n">upper</span> <span class="o">-</span> <span class="n">lower</span><span class="p">)</span> <span class="o">*</span> <span class="n">r</span> <span class="o">+</span> <span class="n">lower</span></div>
+
+
+<div class="viewcode-block" id="sample_uniform"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.sample_uniform">[docs]</a><span class="k">def</span> <span class="nf">sample_uniform</span><span class="p">(</span>
+    <span class="n">lower</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span> <span class="n">upper</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span> <span class="n">size</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">],</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Sample uniformly within a range.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        lower: Lower bound of uniform range.</span>
+<span class="sd">        upper: Upper bound of uniform range.</span>
+<span class="sd">        size: The shape of the tensor.</span>
+<span class="sd">        device: Device to create tensor on.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Sampled tensor. Shape is based on :attr:`size`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># convert to tuple</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">size</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+        <span class="n">size</span> <span class="o">=</span> <span class="p">(</span><span class="n">size</span><span class="p">,)</span>
+    <span class="c1"># return tensor</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="o">*</span><span class="n">size</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">upper</span> <span class="o">-</span> <span class="n">lower</span><span class="p">)</span> <span class="o">+</span> <span class="n">lower</span></div>
+
+
+<div class="viewcode-block" id="sample_log_uniform"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.sample_log_uniform">[docs]</a><span class="k">def</span> <span class="nf">sample_log_uniform</span><span class="p">(</span>
+    <span class="n">lower</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span> <span class="n">upper</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span> <span class="n">size</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">],</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Sample using log-uniform distribution within a range.</span>
+
+<span class="sd">    The log-uniform distribution is defined as a uniform distribution in the log-space. It</span>
+<span class="sd">    is useful for sampling values that span several orders of magnitude. The sampled values</span>
+<span class="sd">    are uniformly distributed in the log-space and then exponentiated to get the final values.</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        x = \exp(\text{uniform}(\log(\text{lower}), \log(\text{upper})))</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        lower: Lower bound of uniform range.</span>
+<span class="sd">        upper: Upper bound of uniform range.</span>
+<span class="sd">        size: The shape of the tensor.</span>
+<span class="sd">        device: Device to create tensor on.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Sampled tensor. Shape is based on :attr:`size`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># cast to tensor if not already</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">lower</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+        <span class="n">lower</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">lower</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">upper</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+        <span class="n">upper</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">upper</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="c1"># sample in log-space and exponentiate</span>
+    <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">exp</span><span class="p">(</span><span class="n">sample_uniform</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">log</span><span class="p">(</span><span class="n">lower</span><span class="p">),</span> <span class="n">torch</span><span class="o">.</span><span class="n">log</span><span class="p">(</span><span class="n">upper</span><span class="p">),</span> <span class="n">size</span><span class="p">,</span> <span class="n">device</span><span class="p">))</span></div>
+
+
+<div class="viewcode-block" id="sample_gaussian"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.sample_gaussian">[docs]</a><span class="k">def</span> <span class="nf">sample_gaussian</span><span class="p">(</span>
+    <span class="n">mean</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span> <span class="n">std</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span><span class="p">,</span> <span class="n">size</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">],</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Sample using gaussian distribution.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        mean: Mean of the gaussian.</span>
+<span class="sd">        std: Std of the gaussian.</span>
+<span class="sd">        size: The shape of the tensor.</span>
+<span class="sd">        device: Device to create tensor on.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Sampled tensor.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">mean</span><span class="p">,</span> <span class="nb">float</span><span class="p">):</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">size</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+            <span class="n">size</span> <span class="o">=</span> <span class="p">(</span><span class="n">size</span><span class="p">,)</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">normal</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="n">mean</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="n">std</span><span class="p">,</span> <span class="n">size</span><span class="o">=</span><span class="n">size</span><span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">normal</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="n">mean</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="n">std</span><span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="sample_cylinder"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.sample_cylinder">[docs]</a><span class="k">def</span> <span class="nf">sample_cylinder</span><span class="p">(</span>
+    <span class="n">radius</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">h_range</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">],</span> <span class="n">size</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">],</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Sample 3D points uniformly on a cylinder&#39;s surface.</span>
+
+<span class="sd">    The cylinder is centered at the origin and aligned with the z-axis. The height of the cylinder is</span>
+<span class="sd">    sampled uniformly from the range :obj:`h_range`, while the radius is fixed to :obj:`radius`.</span>
+
+<span class="sd">    The sampled points are returned as a tensor of shape :obj:`(*size, 3)`, i.e. the last dimension</span>
+<span class="sd">    contains the x, y, and z coordinates of the sampled points.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        radius: The radius of the cylinder.</span>
+<span class="sd">        h_range: The minimum and maximum height of the cylinder.</span>
+<span class="sd">        size: The shape of the tensor.</span>
+<span class="sd">        device: Device to create tensor on.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Sampled tensor. Shape is :obj:`(*size, 3)`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># sample angles</span>
+    <span class="n">angles</span> <span class="o">=</span> <span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="n">size</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span> <span class="o">*</span> <span class="mi">2</span> <span class="o">-</span> <span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span>
+    <span class="n">h_min</span><span class="p">,</span> <span class="n">h_max</span> <span class="o">=</span> <span class="n">h_range</span>
+    <span class="c1"># add shape</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">size</span><span class="p">,</span> <span class="nb">int</span><span class="p">):</span>
+        <span class="n">size</span> <span class="o">=</span> <span class="p">(</span><span class="n">size</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">size</span> <span class="o">+=</span> <span class="p">(</span><span class="mi">3</span><span class="p">,)</span>
+    <span class="c1"># allocate a tensor</span>
+    <span class="n">xyz</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">size</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">xyz</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">radius</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">cos</span><span class="p">(</span><span class="n">angles</span><span class="p">)</span>
+    <span class="n">xyz</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">radius</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sin</span><span class="p">(</span><span class="n">angles</span><span class="p">)</span>
+    <span class="n">xyz</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span><span class="o">.</span><span class="n">uniform_</span><span class="p">(</span><span class="n">h_min</span><span class="p">,</span> <span class="n">h_max</span><span class="p">)</span>
+    <span class="c1"># return positions</span>
+    <span class="k">return</span> <span class="n">xyz</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Orientation Conversions</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="convert_camera_frame_orientation_convention"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention">[docs]</a><span class="k">def</span> <span class="nf">convert_camera_frame_orientation_convention</span><span class="p">(</span>
+    <span class="n">orientation</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">origin</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;opengl&quot;</span><span class="p">,</span> <span class="s2">&quot;ros&quot;</span><span class="p">,</span> <span class="s2">&quot;world&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;opengl&quot;</span><span class="p">,</span>
+    <span class="n">target</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;opengl&quot;</span><span class="p">,</span> <span class="s2">&quot;ros&quot;</span><span class="p">,</span> <span class="s2">&quot;world&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;ros&quot;</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Converts a quaternion representing a rotation from one convention to another.</span>
+
+<span class="sd">    In USD, the camera follows the ``&quot;opengl&quot;`` convention. Thus, it is always in **Y up** convention.</span>
+<span class="sd">    This means that the camera is looking down the -Z axis with the +Y axis pointing up , and +X axis pointing right.</span>
+<span class="sd">    However, in ROS, the camera is looking down the +Z axis with the +Y axis pointing down, and +X axis pointing right.</span>
+<span class="sd">    Thus, the camera needs to be rotated by :math:`180^{\circ}` around the X axis to follow the ROS convention.</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        T_{ROS} = \begin{bmatrix} 1 &amp; 0 &amp; 0 &amp; 0 \\ 0 &amp; -1 &amp; 0 &amp; 0 \\ 0 &amp; 0 &amp; -1 &amp; 0 \\ 0 &amp; 0 &amp; 0 &amp; 1 \end{bmatrix} T_{USD}</span>
+
+<span class="sd">    On the other hand, the typical world coordinate system is with +X pointing forward, +Y pointing left,</span>
+<span class="sd">    and +Z pointing up. The camera can also be set in this convention by rotating the camera by :math:`90^{\circ}`</span>
+<span class="sd">    around the X axis and :math:`-90^{\circ}` around the Y axis.</span>
+
+<span class="sd">    .. math::</span>
+
+<span class="sd">        T_{WORLD} = \begin{bmatrix} 0 &amp; 0 &amp; -1 &amp; 0 \\ -1 &amp; 0 &amp; 0 &amp; 0 \\ 0 &amp; 1 &amp; 0 &amp; 0 \\ 0 &amp; 0 &amp; 0 &amp; 1 \end{bmatrix} T_{USD}</span>
+
+<span class="sd">    Thus, based on their application, cameras follow different conventions for their orientation. This function</span>
+<span class="sd">    converts a quaternion from one convention to another.</span>
+
+<span class="sd">    Possible conventions are:</span>
+
+<span class="sd">    - :obj:`&quot;opengl&quot;` - forward axis: -Z - up axis +Y - Offset is applied in the OpenGL (Usd.Camera) convention</span>
+<span class="sd">    - :obj:`&quot;ros&quot;`    - forward axis: +Z - up axis -Y - Offset is applied in the ROS convention</span>
+<span class="sd">    - :obj:`&quot;world&quot;`  - forward axis: +X - up axis +Z - Offset is applied in the World Frame convention</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        orientation: Quaternion of form `(w, x, y, z)` with shape (..., 4) in source convention.</span>
+<span class="sd">        origin: Convention to convert from. Defaults to &quot;opengl&quot;.</span>
+<span class="sd">        target: Convention to convert to. Defaults to &quot;ros&quot;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Quaternion of form `(w, x, y, z)` with shape (..., 4) in target convention</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="n">target</span> <span class="o">==</span> <span class="n">origin</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">orientation</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="c1"># -- unify input type</span>
+    <span class="k">if</span> <span class="n">origin</span> <span class="o">==</span> <span class="s2">&quot;ros&quot;</span><span class="p">:</span>
+        <span class="c1"># convert from ros to opengl convention</span>
+        <span class="n">rotm</span> <span class="o">=</span> <span class="n">matrix_from_quat</span><span class="p">(</span><span class="n">orientation</span><span class="p">)</span>
+        <span class="n">rotm</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">rotm</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">2</span><span class="p">]</span>
+        <span class="n">rotm</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">rotm</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">1</span><span class="p">]</span>
+        <span class="c1"># convert to opengl convention</span>
+        <span class="n">quat_gl</span> <span class="o">=</span> <span class="n">quat_from_matrix</span><span class="p">(</span><span class="n">rotm</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">origin</span> <span class="o">==</span> <span class="s2">&quot;world&quot;</span><span class="p">:</span>
+        <span class="c1"># convert from world (x forward and z up) to opengl convention</span>
+        <span class="n">rotm</span> <span class="o">=</span> <span class="n">matrix_from_quat</span><span class="p">(</span><span class="n">orientation</span><span class="p">)</span>
+        <span class="n">rotm</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">matmul</span><span class="p">(</span>
+            <span class="n">rotm</span><span class="p">,</span>
+            <span class="n">matrix_from_euler</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="n">orientation</span><span class="o">.</span><span class="n">device</span><span class="p">),</span> <span class="s2">&quot;XYZ&quot;</span><span class="p">),</span>
+        <span class="p">)</span>
+        <span class="c1"># convert to isaac-sim convention</span>
+        <span class="n">quat_gl</span> <span class="o">=</span> <span class="n">quat_from_matrix</span><span class="p">(</span><span class="n">rotm</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">quat_gl</span> <span class="o">=</span> <span class="n">orientation</span>
+
+    <span class="c1"># -- convert to target convention</span>
+    <span class="k">if</span> <span class="n">target</span> <span class="o">==</span> <span class="s2">&quot;ros&quot;</span><span class="p">:</span>
+        <span class="c1"># convert from opengl to ros convention</span>
+        <span class="n">rotm</span> <span class="o">=</span> <span class="n">matrix_from_quat</span><span class="p">(</span><span class="n">quat_gl</span><span class="p">)</span>
+        <span class="n">rotm</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">rotm</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">2</span><span class="p">]</span>
+        <span class="n">rotm</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="o">-</span><span class="n">rotm</span><span class="p">[:,</span> <span class="p">:,</span> <span class="mi">1</span><span class="p">]</span>
+        <span class="k">return</span> <span class="n">quat_from_matrix</span><span class="p">(</span><span class="n">rotm</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">target</span> <span class="o">==</span> <span class="s2">&quot;world&quot;</span><span class="p">:</span>
+        <span class="c1"># convert from opengl to world (x forward and z up) convention</span>
+        <span class="n">rotm</span> <span class="o">=</span> <span class="n">matrix_from_quat</span><span class="p">(</span><span class="n">quat_gl</span><span class="p">)</span>
+        <span class="n">rotm</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">matmul</span><span class="p">(</span>
+            <span class="n">rotm</span><span class="p">,</span>
+            <span class="n">matrix_from_euler</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">device</span><span class="o">=</span><span class="n">orientation</span><span class="o">.</span><span class="n">device</span><span class="p">),</span> <span class="s2">&quot;XYZ&quot;</span><span class="p">)</span><span class="o">.</span><span class="n">T</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="k">return</span> <span class="n">quat_from_matrix</span><span class="p">(</span><span class="n">rotm</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">quat_gl</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span></div>
+
+
+<div class="viewcode-block" id="create_rotation_matrix_from_view"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.create_rotation_matrix_from_view">[docs]</a><span class="k">def</span> <span class="nf">create_rotation_matrix_from_view</span><span class="p">(</span>
+    <span class="n">eyes</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">targets</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">up_axis</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;Y&quot;</span><span class="p">,</span> <span class="s2">&quot;Z&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;Z&quot;</span><span class="p">,</span>
+    <span class="n">device</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;cpu&quot;</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Compute the rotation matrix from world to view coordinates.</span>
+
+<span class="sd">    This function takes a vector &#39;&#39;eyes&#39;&#39; which specifies the location</span>
+<span class="sd">    of the camera in world coordinates and the vector &#39;&#39;targets&#39;&#39; which</span>
+<span class="sd">    indicate the position of the object.</span>
+<span class="sd">    The output is a rotation matrix representing the transformation</span>
+<span class="sd">    from world coordinates -&gt; view coordinates.</span>
+
+<span class="sd">        The inputs eyes and targets can each be a</span>
+<span class="sd">        - 3 element tuple/list</span>
+<span class="sd">        - torch tensor of shape (1, 3)</span>
+<span class="sd">        - torch tensor of shape (N, 3)</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        eyes: Position of the camera in world coordinates.</span>
+<span class="sd">        targets: Position of the object in world coordinates.</span>
+<span class="sd">        up_axis: The up axis of the camera. Defaults to &quot;Z&quot;.</span>
+<span class="sd">        device: The device to create torch tensors on. Defaults to &quot;cpu&quot;.</span>
+
+<span class="sd">    The vectors are broadcast against each other so they all have shape (N, 3).</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        R: (N, 3, 3) batched rotation matrices</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">    Based on PyTorch3D (https://github.com/facebookresearch/pytorch3d/blob/eaf0709d6af0025fe94d1ee7cec454bc3054826a/pytorch3d/renderer/cameras.py#L1635-L1685)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="n">up_axis</span> <span class="o">==</span> <span class="s2">&quot;Y&quot;</span><span class="p">:</span>
+        <span class="n">up_axis_vec</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="n">eyes</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">up_axis</span> <span class="o">==</span> <span class="s2">&quot;Z&quot;</span><span class="p">:</span>
+        <span class="n">up_axis_vec</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="n">eyes</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">1</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid up axis: </span><span class="si">{</span><span class="n">up_axis</span><span class="si">}</span><span class="s2">. Valid options are &#39;Y&#39; and &#39;Z&#39;.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># get rotation matrix in opengl format (-Z forward, +Y up)</span>
+    <span class="n">z_axis</span> <span class="o">=</span> <span class="o">-</span><span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">functional</span><span class="o">.</span><span class="n">normalize</span><span class="p">(</span><span class="n">targets</span> <span class="o">-</span> <span class="n">eyes</span><span class="p">,</span> <span class="n">eps</span><span class="o">=</span><span class="mf">1e-5</span><span class="p">)</span>
+    <span class="n">x_axis</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">functional</span><span class="o">.</span><span class="n">normalize</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span><span class="n">up_axis_vec</span><span class="p">,</span> <span class="n">z_axis</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">eps</span><span class="o">=</span><span class="mf">1e-5</span><span class="p">)</span>
+    <span class="n">y_axis</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">functional</span><span class="o">.</span><span class="n">normalize</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span><span class="n">z_axis</span><span class="p">,</span> <span class="n">x_axis</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">eps</span><span class="o">=</span><span class="mf">1e-5</span><span class="p">)</span>
+    <span class="n">is_close</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">isclose</span><span class="p">(</span><span class="n">x_axis</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="mf">0.0</span><span class="p">),</span> <span class="n">atol</span><span class="o">=</span><span class="mf">5e-3</span><span class="p">)</span><span class="o">.</span><span class="n">all</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">keepdim</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">is_close</span><span class="o">.</span><span class="n">any</span><span class="p">():</span>
+        <span class="n">replacement</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">functional</span><span class="o">.</span><span class="n">normalize</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">cross</span><span class="p">(</span><span class="n">y_axis</span><span class="p">,</span> <span class="n">z_axis</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">eps</span><span class="o">=</span><span class="mf">1e-5</span><span class="p">)</span>
+        <span class="n">x_axis</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">is_close</span><span class="p">,</span> <span class="n">replacement</span><span class="p">,</span> <span class="n">x_axis</span><span class="p">)</span>
+    <span class="n">R</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">((</span><span class="n">x_axis</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">,</span> <span class="p">:],</span> <span class="n">y_axis</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">,</span> <span class="p">:],</span> <span class="n">z_axis</span><span class="p">[:,</span> <span class="kc">None</span><span class="p">,</span> <span class="p">:]),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">R</span><span class="o">.</span><span class="n">transpose</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.utils.modifiers.modifier</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="kn">from</span> <span class="nn">.modifier_base</span> <span class="kn">import</span> <span class="n">ModifierBase</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">modifier_cfg</span>
+
+<span class="c1">##</span>
+<span class="c1"># Modifiers as functions</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="scale"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.scale">[docs]</a><span class="k">def</span> <span class="nf">scale</span><span class="p">(</span><span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">multiplier</span><span class="p">:</span> <span class="nb">float</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Scales input data by a multiplier.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: The data to apply the scale to.</span>
+<span class="sd">        multiplier: Value to scale input by.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Scaled data. Shape is the same as data.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">data</span> <span class="o">*</span> <span class="n">multiplier</span></div>
+
+
+<div class="viewcode-block" id="clip"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.clip">[docs]</a><span class="k">def</span> <span class="nf">clip</span><span class="p">(</span><span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">bounds</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span> <span class="nb">float</span> <span class="o">|</span> <span class="kc">None</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Clips the data to a minimum and maximum value.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: The data to apply the clip to.</span>
+<span class="sd">        bounds: A tuple containing the minimum and maximum values to clip data to.</span>
+<span class="sd">            If the value is None, that bound is not applied.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Clipped data. Shape is the same as data.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">data</span><span class="o">.</span><span class="n">clip</span><span class="p">(</span><span class="nb">min</span><span class="o">=</span><span class="n">bounds</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="nb">max</span><span class="o">=</span><span class="n">bounds</span><span class="p">[</span><span class="mi">1</span><span class="p">])</span></div>
+
+
+<div class="viewcode-block" id="bias"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.bias">[docs]</a><span class="k">def</span> <span class="nf">bias</span><span class="p">(</span><span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">value</span><span class="p">:</span> <span class="nb">float</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Adds a uniform bias to the data.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: The data to add bias to.</span>
+<span class="sd">        value: Value of bias to add to data.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Biased data. Shape is the same as data.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">data</span> <span class="o">+</span> <span class="n">value</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Sample of class based modifiers</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="DigitalFilter"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilter">[docs]</a><span class="k">class</span> <span class="nc">DigitalFilter</span><span class="p">(</span><span class="n">ModifierBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Modifier used to apply digital filtering to the input data.</span>
+
+<span class="sd">    `Digital filters &lt;https://en.wikipedia.org/wiki/Digital_filter&gt;`_ are used to process discrete-time</span>
+<span class="sd">    signals to extract useful parts of the signal, such as smoothing, noise reduction, or frequency separation.</span>
+
+<span class="sd">    The filter can be implemented as a linear difference equation in the time domain. This equation</span>
+<span class="sd">    can be used to calculate the output at each time-step based on the current and previous inputs and outputs.</span>
+
+<span class="sd">    .. math::</span>
+<span class="sd">         y_{i} = X B - Y A = \sum_{j=0}^{N} b_j x_{i-j} - \sum_{j=1}^{M} a_j y_{i-j}</span>
+
+<span class="sd">    where :math:`y_{i}` is the current output of the filter. The array :math:`Y` contains previous</span>
+<span class="sd">    outputs from the filter :math:`\{y_{i-j}\}_{j=1}^M` for :math:`M` previous time-steps. The array</span>
+<span class="sd">    :math:`X` contains current :math:`x_{i}` and previous inputs to the filter</span>
+<span class="sd">    :math:`\{x_{i-j}\}_{j=1}^N` for :math:`N` previous time-steps respectively.</span>
+<span class="sd">    The filter coefficients :math:`A` and :math:`B` are used to design the filter. They are column vectors of</span>
+<span class="sd">    length :math:`M` and :math:`N + 1` respectively.</span>
+
+<span class="sd">    Different types of filters can be implemented by choosing different values for :math:`A` and :math:`B`.</span>
+<span class="sd">    We provide some examples below.</span>
+
+<span class="sd">    Examples</span>
+<span class="sd">    ^^^^^^^^</span>
+
+<span class="sd">    **Unit Delay Filter**</span>
+
+<span class="sd">    A filter that delays the input signal by a single time-step simply outputs the previous input value.</span>
+
+<span class="sd">    .. math:: y_{i} = x_{i-1}</span>
+
+<span class="sd">    This can be implemented as a digital filter with the coefficients :math:`A = [0.0]` and :math:`B = [0.0, 1.0]`.</span>
+
+<span class="sd">    **Moving Average Filter**</span>
+
+<span class="sd">    A moving average filter is used to smooth out noise in a signal. It is similar to a low-pass filter</span>
+<span class="sd">    but has a finite impulse response (FIR) and is non-recursive.</span>
+
+<span class="sd">    The filter calculates the average of the input signal over a window of time-steps. The linear difference</span>
+<span class="sd">    equation for a moving average filter is:</span>
+
+<span class="sd">    .. math:: y_{i} = \frac{1}{N} \sum_{j=0}^{N} x_{i-j}</span>
+
+<span class="sd">    This can be implemented as a digital filter with the coefficients :math:`A = [0.0]` and</span>
+<span class="sd">    :math:`B = [1/N, 1/N, \cdots, 1/N]`.</span>
+
+<span class="sd">    **First-order recursive low-pass filter**</span>
+
+<span class="sd">    A recursive low-pass filter is used to smooth out high-frequency noise in a signal. It is a first-order</span>
+<span class="sd">    infinite impulse response (IIR) filter which means it has a recursive component (previous output) in the</span>
+<span class="sd">    linear difference equation.</span>
+
+<span class="sd">    A first-order low-pass IIR filter has the difference equation:</span>
+
+<span class="sd">    .. math:: y_{i} = \alpha y_{i-1} + (1-\alpha)x_{i}</span>
+
+<span class="sd">    where :math:`\alpha` is a smoothing parameter between 0 and 1. Typically, the value of :math:`\alpha` is</span>
+<span class="sd">    chosen based on the desired cut-off frequency of the filter.</span>
+
+<span class="sd">    This filter can be implemented as a digital filter with the coefficients :math:`A = [\alpha]` and</span>
+<span class="sd">    :math:`B = [1 - \alpha]`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">modifier_cfg</span><span class="o">.</span><span class="n">DigitalFilterCfg</span><span class="p">,</span> <span class="n">data_dim</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">],</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes digital filter.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: Configuration parameters.</span>
+<span class="sd">            data_dim: The dimensions of the data to be modified. First element is the batch size</span>
+<span class="sd">                which usually corresponds to number of environments in the simulation.</span>
+<span class="sd">            device: The device to run the modifier on.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: If filter coefficients are None.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that filter coefficients are not None</span>
+        <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">A</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="n">cfg</span><span class="o">.</span><span class="n">B</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Digital filter coefficients A and B must not be None. Please provide valid coefficients.&quot;</span><span class="p">)</span>
+
+        <span class="c1"># initialize parent class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">data_dim</span><span class="p">,</span> <span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># assign filter coefficients and make sure they are column vectors</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">A</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_cfg</span><span class="o">.</span><span class="n">A</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">B</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_cfg</span><span class="o">.</span><span class="n">B</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># create buffer for input and output history</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">x_n</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data_dim</span> <span class="o">+</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">B</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">y_n</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data_dim</span> <span class="o">+</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">A</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+
+<div class="viewcode-block" id="DigitalFilter.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilter.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets digital filter history.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment ids. Defaults to None, in which case</span>
+<span class="sd">                all environments are considered.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset history buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">x_n</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">y_n</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+<div class="viewcode-block" id="DigitalFilter.__call__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilter.__call__">[docs]</a>    <span class="k">def</span> <span class="fm">__call__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Applies digital filter modification with a rolling history window inputs and outputs.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            data: The data to apply filter to.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Filtered data. Shape is the same as data.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># move history window for input</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">x_n</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">x_n</span><span class="p">,</span> <span class="n">shifts</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">dims</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">x_n</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">data</span>
+
+        <span class="c1"># calculate current filter value: y[i] = Y*A - X*B</span>
+        <span class="n">y_i</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">matmul</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">x_n</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">B</span><span class="p">)</span> <span class="o">-</span> <span class="n">torch</span><span class="o">.</span><span class="n">matmul</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">y_n</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">A</span><span class="p">)</span>
+        <span class="n">y_i</span><span class="o">.</span><span class="n">squeeze_</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+
+        <span class="c1"># move history window for output and add current filter value to history</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">y_n</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">y_n</span><span class="p">,</span> <span class="n">shifts</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">dims</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">y_n</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">y_i</span>
+
+        <span class="k">return</span> <span class="n">y_i</span></div></div>
+
+
+<div class="viewcode-block" id="Integrator"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.Integrator">[docs]</a><span class="k">class</span> <span class="nc">Integrator</span><span class="p">(</span><span class="n">ModifierBase</span><span class="p">):</span>
+<span class="w">    </span><span class="sa">r</span><span class="sd">&quot;&quot;&quot;Modifier that applies a numerical forward integration based on a middle Reimann sum.</span>
+
+<span class="sd">    An integrator is used to calculate the integral of a signal over time. The integral of a signal</span>
+<span class="sd">    is the area under the curve of the signal. The integral can be approximated using numerical methods</span>
+<span class="sd">    such as the `Riemann sum &lt;https://en.wikipedia.org/wiki/Riemann_sum&gt;`_.</span>
+
+<span class="sd">    The middle Riemann sum is a method to approximate the integral of a function by dividing the area</span>
+<span class="sd">    under the curve into rectangles. The height of each rectangle is the value of the function at the</span>
+<span class="sd">    midpoint of the interval. The area of each rectangle is the width of the interval multiplied by the</span>
+<span class="sd">    height of the rectangle.</span>
+
+<span class="sd">    This integral method is useful for signals that are sampled at regular intervals. The integral</span>
+<span class="sd">    can be written as:</span>
+
+<span class="sd">    .. math::</span>
+<span class="sd">        \int_{t_0}^{t_n} f(t) dt &amp; \approx \int_{t_0}^{t_{n-1}} f(t) dt + \frac{f(t_{n-1}) + f(t_n)}{2} \Delta t</span>
+
+<span class="sd">    where :math:`f(t)` is the signal to integrate, :math:`t_i` is the time at the i-th sample, and</span>
+<span class="sd">    :math:`\Delta t` is the time step between samples.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">modifier_cfg</span><span class="o">.</span><span class="n">IntegratorCfg</span><span class="p">,</span> <span class="n">data_dim</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">],</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the integrator configuration and state.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: Integral parameters.</span>
+<span class="sd">            data_dim: The dimensions of the data to be modified. First element is the batch size</span>
+<span class="sd">                which usually corresponds to number of environments in the simulation.</span>
+<span class="sd">            device: The device to run the modifier on.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># initialize parent class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">data_dim</span><span class="p">,</span> <span class="n">device</span><span class="p">)</span>
+
+        <span class="c1"># assign buffer for integral and previous value</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">integral</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data_dim</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">y_prev</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_data_dim</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+
+<div class="viewcode-block" id="Integrator.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.Integrator.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets integrator state to zero.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment ids. Defaults to None, in which case</span>
+<span class="sd">                all environments are considered.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset history buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">integral</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">y_prev</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span></div>
+
+<div class="viewcode-block" id="Integrator.__call__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.Integrator.__call__">[docs]</a>    <span class="k">def</span> <span class="fm">__call__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Applies integral modification to input data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            data: The data to integrate.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Integral of input signal. Shape is the same as data.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># integrate using middle Riemann sum</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">integral</span> <span class="o">+=</span> <span class="p">(</span><span class="n">data</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">y_prev</span><span class="p">)</span> <span class="o">/</span> <span class="mi">2</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cfg</span><span class="o">.</span><span class="n">dt</span>
+        <span class="c1"># update previous value</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">y_prev</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">data</span>
+
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">integral</span></div></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.utils.modifiers.modifier_base</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">abc</span> <span class="kn">import</span> <span class="n">ABC</span><span class="p">,</span> <span class="n">abstractmethod</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.modifier_cfg</span> <span class="kn">import</span> <span class="n">ModifierCfg</span>
+
+
+<div class="viewcode-block" id="ModifierBase"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierBase">[docs]</a><span class="k">class</span> <span class="nc">ModifierBase</span><span class="p">(</span><span class="n">ABC</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base class for modifiers implemented as classes.</span>
+
+<span class="sd">    Modifiers implementations can be functions or classes. If a modifier is a class, it should</span>
+<span class="sd">    inherit from this class and implement the required methods.</span>
+
+<span class="sd">    A class implementation of a modifier can be used to store state information between calls.</span>
+<span class="sd">    This is useful for modifiers that require stateful operations, such as rolling averages</span>
+<span class="sd">    or delays or decaying filters.</span>
+
+<span class="sd">    Example pseudo-code to create and use the class:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        from omni.isaac.lab.utils import modifiers</span>
+
+<span class="sd">        # define custom keyword arguments to pass to ModifierCfg</span>
+<span class="sd">        kwarg_dict = {&quot;arg_1&quot; : VAL_1, &quot;arg_2&quot; : VAL_2}</span>
+
+<span class="sd">        # create modifier configuration object</span>
+<span class="sd">        # func is the class name of the modifier and params is the dictionary of arguments</span>
+<span class="sd">        modifier_config = modifiers.ModifierCfg(func=modifiers.ModifierBase, params=kwarg_dict)</span>
+
+<span class="sd">        # define modifier instance</span>
+<span class="sd">        my_modifier = modifiers.ModifierBase(cfg=modifier_config)</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">ModifierCfg</span><span class="p">,</span> <span class="n">data_dim</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="o">...</span><span class="p">],</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the modifier class.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            cfg: Configuration parameters.</span>
+<span class="sd">            data_dim: The dimensions of the data to be modified. First element is the batch size</span>
+<span class="sd">                which usually corresponds to number of environments in the simulation.</span>
+<span class="sd">            device: The device to run the modifier on.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_data_dim</span> <span class="o">=</span> <span class="n">data_dim</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_device</span> <span class="o">=</span> <span class="n">device</span>
+
+<div class="viewcode-block" id="ModifierBase.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierBase.reset">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Resets the Modifier.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment ids. Defaults to None, in which case</span>
+<span class="sd">                all environments are considered.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div>
+
+<div class="viewcode-block" id="ModifierBase.__call__"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierBase.__call__">[docs]</a>    <span class="nd">@abstractmethod</span>
+    <span class="k">def</span> <span class="fm">__call__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Abstract method for defining the modification function.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            data: The data to be modified. Shape should match the data_dim passed during initialization.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            Modified data. Shape is the same as the input data.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span></div></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.utils.modifiers.modifier_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">modifier</span>
+
+
+<div class="viewcode-block" id="ModifierCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ModifierCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters modifiers&quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Function or callable class used by modifier.</span>
+
+<span class="sd">    The function must take a torch tensor as the first argument. The remaining arguments are specified</span>
+<span class="sd">    in the :attr:`params` attribute.</span>
+
+<span class="sd">    It also supports `callable classes &lt;https://docs.python.org/3/reference/datamodel.html#object.__call__&gt;`_,</span>
+<span class="sd">    i.e. classes that implement the ``__call__()`` method. In this case, the class should inherit from the</span>
+<span class="sd">    :class:`ModifierBase` class and implement the required methods.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">params</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The parameters to be passed to the function or callable class as keyword arguments. Defaults to</span>
+<span class="sd">    an empty dictionary.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="DigitalFilterCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilterCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">DigitalFilterCfg</span><span class="p">(</span><span class="n">ModifierCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for a digital filter modifier.</span>
+
+<span class="sd">    For more information, please check the :class:`DigitalFilter` class.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">modifier</span><span class="o">.</span><span class="n">DigitalFilter</span><span class="p">]</span> <span class="o">=</span> <span class="n">modifier</span><span class="o">.</span><span class="n">DigitalFilter</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The digital filter function to be called for applying the filter.&quot;&quot;&quot;</span>
+
+    <span class="n">A</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The coefficients corresponding the the filter&#39;s response to past outputs.</span>
+
+<span class="sd">    These correspond to the weights of the past outputs of the filter. The first element is the coefficient</span>
+<span class="sd">    for the output at the previous time step, the second element is the coefficient for the output at two</span>
+<span class="sd">    time steps ago, and so on.</span>
+
+<span class="sd">    It is the denominator coefficients of the transfer function of the filter.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">B</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The coefficients corresponding the the filter&#39;s response to current and past inputs.</span>
+
+<span class="sd">    These correspond to the weights of the current and past inputs of the filter. The first element is the</span>
+<span class="sd">    coefficient for the current input, the second element is the coefficient for the input at the previous</span>
+<span class="sd">    time step, and so on.</span>
+
+<span class="sd">    It is the numerator coefficients of the transfer function of the filter.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="IntegratorCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.IntegratorCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">IntegratorCfg</span><span class="p">(</span><span class="n">ModifierCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration parameters for an integrator modifier.</span>
+
+<span class="sd">    For more information, please check the :class:`Integrator` class.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">modifier</span><span class="o">.</span><span class="n">Integrator</span><span class="p">]</span> <span class="o">=</span> <span class="n">modifier</span><span class="o">.</span><span class="n">Integrator</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The integrator function to be called for applying the integrator.&quot;&quot;&quot;</span>
+
+    <span class="n">dt</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The time step of the integrator.&quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab/utils/noise/noise_cfg.html b/v1.4.0/_modules/omni/isaac/lab/utils/noise/noise_cfg.html
new file mode 100644
index 0000000000..6836bdee00
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+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
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+  <h1>Source code for omni.isaac.lab.utils.noise.noise_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">noise_model</span>
+
+
+<div class="viewcode-block" id="NoiseCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">NoiseCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base configuration for a noise term.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span><span class="p">:</span> <span class="n">Callable</span><span class="p">[[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">NoiseCfg</span><span class="p">],</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The function to be called for applying the noise.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The shape of the input and output tensors must be the same.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">operation</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;add&quot;</span><span class="p">,</span> <span class="s2">&quot;scale&quot;</span><span class="p">,</span> <span class="s2">&quot;abs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;add&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The operation to apply the noise on the data. Defaults to &quot;add&quot;.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="ConstantNoiseCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.ConstantNoiseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ConstantNoiseCfg</span><span class="p">(</span><span class="n">NoiseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an additive constant noise term.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span> <span class="o">=</span> <span class="n">noise_model</span><span class="o">.</span><span class="n">constant_noise</span>
+
+    <span class="n">bias</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The bias to add. Defaults to 0.0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="UniformNoiseCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.UniformNoiseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">UniformNoiseCfg</span><span class="p">(</span><span class="n">NoiseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a additive uniform noise term.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span> <span class="o">=</span> <span class="n">noise_model</span><span class="o">.</span><span class="n">uniform_noise</span>
+
+    <span class="n">n_min</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The minimum value of the noise. Defaults to -1.0.&quot;&quot;&quot;</span>
+    <span class="n">n_max</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The maximum value of the noise. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="GaussianNoiseCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.GaussianNoiseCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">GaussianNoiseCfg</span><span class="p">(</span><span class="n">NoiseCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an additive gaussian noise term.&quot;&quot;&quot;</span>
+
+    <span class="n">func</span> <span class="o">=</span> <span class="n">noise_model</span><span class="o">.</span><span class="n">gaussian_noise</span>
+
+    <span class="n">mean</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The mean of the noise. Defaults to 0.0.&quot;&quot;&quot;</span>
+    <span class="n">std</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The standard deviation of the noise. Defaults to 1.0.&quot;&quot;&quot;</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Noise models</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="NoiseModelCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">NoiseModelCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a noise model.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">noise_model</span><span class="o">.</span><span class="n">NoiseModel</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The class type of the noise model.&quot;&quot;&quot;</span>
+
+    <span class="n">noise_cfg</span><span class="p">:</span> <span class="n">NoiseCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The noise configuration to use.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="NoiseModelWithAdditiveBiasCfg"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">NoiseModelWithAdditiveBiasCfg</span><span class="p">(</span><span class="n">NoiseModelCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for an additive gaussian noise with bias model.&quot;&quot;&quot;</span>
+
+    <span class="n">class_type</span><span class="p">:</span> <span class="nb">type</span> <span class="o">=</span> <span class="n">noise_model</span><span class="o">.</span><span class="n">NoiseModelWithAdditiveBias</span>
+
+    <span class="n">bias_noise_cfg</span><span class="p">:</span> <span class="n">NoiseCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The noise configuration for the bias.</span>
+
+<span class="sd">    Based on this configuration, the bias is sampled at every reset of the noise model.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.utils.noise.noise_model</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">TYPE_CHECKING</span>
+
+<span class="k">if</span> <span class="n">TYPE_CHECKING</span><span class="p">:</span>
+    <span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">noise_cfg</span>
+
+<span class="c1">##</span>
+<span class="c1"># Noise as functions.</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="constant_noise"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.constant_noise">[docs]</a><span class="k">def</span> <span class="nf">constant_noise</span><span class="p">(</span><span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">noise_cfg</span><span class="o">.</span><span class="n">ConstantNoiseCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Applies a constant noise bias to a given data set.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: The unmodified data set to apply noise to.</span>
+<span class="sd">        cfg: The configuration parameters for constant noise.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The data modified by the noise parameters provided.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># fix tensor device for bias on first call and update config parameters</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">bias</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">bias</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">bias</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">data</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;add&quot;</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">data</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">bias</span>
+    <span class="k">elif</span> <span class="n">cfg</span><span class="o">.</span><span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;scale&quot;</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">data</span> <span class="o">*</span> <span class="n">cfg</span><span class="o">.</span><span class="n">bias</span>
+    <span class="k">elif</span> <span class="n">cfg</span><span class="o">.</span><span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;abs&quot;</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">data</span><span class="p">)</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">bias</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unknown operation in noise: </span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">operation</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="uniform_noise"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.uniform_noise">[docs]</a><span class="k">def</span> <span class="nf">uniform_noise</span><span class="p">(</span><span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">noise_cfg</span><span class="o">.</span><span class="n">UniformNoiseCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Applies a uniform noise to a given data set.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: The unmodified data set to apply noise to.</span>
+<span class="sd">        cfg: The configuration parameters for uniform noise.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The data modified by the noise parameters provided.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># fix tensor device for n_max on first call and update config parameters</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">n_max</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">n_max</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">n_max</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">data</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="c1"># fix tensor device for n_min on first call and update config parameters</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">n_min</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">n_min</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">n_min</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">data</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;add&quot;</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">data</span> <span class="o">+</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand_like</span><span class="p">(</span><span class="n">data</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">n_max</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">n_min</span><span class="p">)</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">n_min</span>
+    <span class="k">elif</span> <span class="n">cfg</span><span class="o">.</span><span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;scale&quot;</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">data</span> <span class="o">*</span> <span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">rand_like</span><span class="p">(</span><span class="n">data</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">n_max</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">n_min</span><span class="p">)</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">n_min</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">cfg</span><span class="o">.</span><span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;abs&quot;</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand_like</span><span class="p">(</span><span class="n">data</span><span class="p">)</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">n_max</span> <span class="o">-</span> <span class="n">cfg</span><span class="o">.</span><span class="n">n_min</span><span class="p">)</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">n_min</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unknown operation in noise: </span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">operation</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="gaussian_noise"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.gaussian_noise">[docs]</a><span class="k">def</span> <span class="nf">gaussian_noise</span><span class="p">(</span><span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">noise_cfg</span><span class="o">.</span><span class="n">GaussianNoiseCfg</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Applies a gaussian noise to a given data set.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: The unmodified data set to apply noise to.</span>
+<span class="sd">        cfg: The configuration parameters for gaussian noise.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The data modified by the noise parameters provided.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1"># fix tensor device for mean on first call and update config parameters</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">mean</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">mean</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mean</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">data</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="c1"># fix tensor device for std on first call and update config parameters</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">std</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">std</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">std</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">data</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">cfg</span><span class="o">.</span><span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;add&quot;</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">data</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mean</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">std</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn_like</span><span class="p">(</span><span class="n">data</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">cfg</span><span class="o">.</span><span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;scale&quot;</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">data</span> <span class="o">*</span> <span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">mean</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">std</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn_like</span><span class="p">(</span><span class="n">data</span><span class="p">))</span>
+    <span class="k">elif</span> <span class="n">cfg</span><span class="o">.</span><span class="n">operation</span> <span class="o">==</span> <span class="s2">&quot;abs&quot;</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">cfg</span><span class="o">.</span><span class="n">mean</span> <span class="o">+</span> <span class="n">cfg</span><span class="o">.</span><span class="n">std</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn_like</span><span class="p">(</span><span class="n">data</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unknown operation in noise: </span><span class="si">{</span><span class="n">cfg</span><span class="o">.</span><span class="n">operation</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span></div>
+
+
+<span class="c1">##</span>
+<span class="c1"># Noise models as classes</span>
+<span class="c1">##</span>
+
+
+<div class="viewcode-block" id="NoiseModel"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModel">[docs]</a><span class="k">class</span> <span class="nc">NoiseModel</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Base class for noise models.&quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">noise_model_cfg</span><span class="p">:</span> <span class="n">noise_cfg</span><span class="o">.</span><span class="n">NoiseModelCfg</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the noise model.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            noise_model_cfg: The noise configuration to use.</span>
+<span class="sd">            num_envs: The number of environments.</span>
+<span class="sd">            device: The device to use for the noise model.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_noise_model_cfg</span> <span class="o">=</span> <span class="n">noise_model_cfg</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span> <span class="o">=</span> <span class="n">num_envs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_device</span> <span class="o">=</span> <span class="n">device</span>
+
+<div class="viewcode-block" id="NoiseModel.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModel.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the noise model.</span>
+
+<span class="sd">        This method can be implemented by derived classes to reset the noise model.</span>
+<span class="sd">        This is useful when implementing temporal noise models such as random walk.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment ids to reset the noise model for. Defaults to None,</span>
+<span class="sd">                in which case all environments are considered.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">pass</span></div>
+
+<div class="viewcode-block" id="NoiseModel.apply"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModel.apply">[docs]</a>    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Apply the noise to the data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            data: The data to apply the noise to. Shape is (num_envs, ...).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The data with the noise applied. Shape is the same as the input data.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_noise_model_cfg</span><span class="o">.</span><span class="n">noise_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_noise_model_cfg</span><span class="o">.</span><span class="n">noise_cfg</span><span class="p">)</span></div></div>
+
+
+<div class="viewcode-block" id="NoiseModelWithAdditiveBias"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias">[docs]</a><span class="k">class</span> <span class="nc">NoiseModelWithAdditiveBias</span><span class="p">(</span><span class="n">NoiseModel</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Noise model with an additive bias.</span>
+
+<span class="sd">    The bias term is sampled from a the specified distribution on reset.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">noise_model_cfg</span><span class="p">:</span> <span class="n">noise_cfg</span><span class="o">.</span><span class="n">NoiseModelWithAdditiveBiasCfg</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+        <span class="c1"># initialize parent class</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">noise_model_cfg</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="p">)</span>
+        <span class="c1"># store the bias noise configuration</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_bias_noise_cfg</span> <span class="o">=</span> <span class="n">noise_model_cfg</span><span class="o">.</span><span class="n">bias_noise_cfg</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_bias</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+
+<div class="viewcode-block" id="NoiseModelWithAdditiveBias.reset"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the noise model.</span>
+
+<span class="sd">        This method resets the bias term for the specified environments.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: The environment ids to reset the noise model for. Defaults to None,</span>
+<span class="sd">                in which case all environments are considered.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># resolve the environment ids</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+        <span class="c1"># reset the bias term</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_bias</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_bias_noise_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_bias</span><span class="p">[</span><span class="n">env_ids</span><span class="p">],</span> <span class="bp">self</span><span class="o">.</span><span class="n">_bias_noise_cfg</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="NoiseModelWithAdditiveBias.apply"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.apply">[docs]</a>    <span class="k">def</span> <span class="nf">apply</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">data</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Apply bias noise to the data.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            data: The data to apply the noise to. Shape is (num_envs, ...).</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The data with the noise applied. Shape is the same as the input data.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">apply</span><span class="p">(</span><span class="n">data</span><span class="p">)</span> <span class="o">+</span> <span class="bp">self</span><span class="o">.</span><span class="n">_bias</span></div></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.utils.string</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module containing utilities for transforming strings and regular expressions.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">ast</span>
+<span class="kn">import</span> <span class="nn">importlib</span>
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span><span class="p">,</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">String formatting.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="to_camel_case"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.to_camel_case">[docs]</a><span class="k">def</span> <span class="nf">to_camel_case</span><span class="p">(</span><span class="n">snake_str</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">to</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;cC&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Converts a string from snake case to camel case.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        snake_str: A string in snake case (i.e. with &#39;_&#39;)</span>
+<span class="sd">        to: Convention to convert string to. Defaults to &quot;cC&quot;.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: Invalid input argument `to`, i.e. not &quot;cC&quot; or &quot;CC&quot;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A string in camel-case format.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check input is correct</span>
+    <span class="k">if</span> <span class="n">to</span> <span class="ow">not</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;cC&quot;</span><span class="p">,</span> <span class="s2">&quot;CC&quot;</span><span class="p">]:</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="s2">&quot;to_camel_case(): Choose a valid `to` argument (CC or cC)&quot;</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span>
+    <span class="c1"># convert string to lower case and split</span>
+    <span class="n">components</span> <span class="o">=</span> <span class="n">snake_str</span><span class="o">.</span><span class="n">lower</span><span class="p">()</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;_&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">to</span> <span class="o">==</span> <span class="s2">&quot;cC&quot;</span><span class="p">:</span>
+        <span class="c1"># We capitalize the first letter of each component except the first one</span>
+        <span class="c1"># with the &#39;title&#39; method and join them together.</span>
+        <span class="k">return</span> <span class="n">components</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">+</span> <span class="s2">&quot;&quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">x</span><span class="o">.</span><span class="n">title</span><span class="p">()</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="n">components</span><span class="p">[</span><span class="mi">1</span><span class="p">:])</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="c1"># Capitalize first letter in all the components</span>
+        <span class="k">return</span> <span class="s2">&quot;&quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">x</span><span class="o">.</span><span class="n">title</span><span class="p">()</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="n">components</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="to_snake_case"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.to_snake_case">[docs]</a><span class="k">def</span> <span class="nf">to_snake_case</span><span class="p">(</span><span class="n">camel_str</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Converts a string from camel case to snake case.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        camel_str: A string in camel case.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A string in snake case (i.e. with &#39;_&#39;)</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">camel_str</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">sub</span><span class="p">(</span><span class="s2">&quot;(.)([A-Z][a-z]+)&quot;</span><span class="p">,</span> <span class="sa">r</span><span class="s2">&quot;\1_\2&quot;</span><span class="p">,</span> <span class="n">camel_str</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">re</span><span class="o">.</span><span class="n">sub</span><span class="p">(</span><span class="s2">&quot;([a-z0-9])([A-Z])&quot;</span><span class="p">,</span> <span class="sa">r</span><span class="s2">&quot;\1_\2&quot;</span><span class="p">,</span> <span class="n">camel_str</span><span class="p">)</span><span class="o">.</span><span class="n">lower</span><span class="p">()</span></div>
+
+
+<div class="viewcode-block" id="string_to_slice"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.string_to_slice">[docs]</a><span class="k">def</span> <span class="nf">string_to_slice</span><span class="p">(</span><span class="n">s</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert a string representation of a slice to a slice object.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        s: The string representation of the slice.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The slice object.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract the content inside the slice()</span>
+    <span class="n">match</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;slice\((.*),(.*),(.*)\)&quot;</span><span class="p">,</span> <span class="n">s</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">match</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid slice string format: </span><span class="si">{</span><span class="n">s</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="c1"># extract start, stop, and step values</span>
+    <span class="n">start_str</span><span class="p">,</span> <span class="n">stop_str</span><span class="p">,</span> <span class="n">step_str</span> <span class="o">=</span> <span class="n">match</span><span class="o">.</span><span class="n">groups</span><span class="p">()</span>
+
+    <span class="c1"># convert &#39;None&#39; to None and other strings to integers</span>
+    <span class="n">start</span> <span class="o">=</span> <span class="kc">None</span> <span class="k">if</span> <span class="n">start_str</span> <span class="o">==</span> <span class="s2">&quot;None&quot;</span> <span class="k">else</span> <span class="nb">int</span><span class="p">(</span><span class="n">start_str</span><span class="p">)</span>
+    <span class="n">stop</span> <span class="o">=</span> <span class="kc">None</span> <span class="k">if</span> <span class="n">stop_str</span> <span class="o">==</span> <span class="s2">&quot;None&quot;</span> <span class="k">else</span> <span class="nb">int</span><span class="p">(</span><span class="n">stop_str</span><span class="p">)</span>
+    <span class="n">step</span> <span class="o">=</span> <span class="kc">None</span> <span class="k">if</span> <span class="n">step_str</span> <span class="o">==</span> <span class="s2">&quot;None&quot;</span> <span class="k">else</span> <span class="nb">int</span><span class="p">(</span><span class="n">step_str</span><span class="p">)</span>
+
+    <span class="c1"># create and return the slice object</span>
+    <span class="k">return</span> <span class="nb">slice</span><span class="p">(</span><span class="n">start</span><span class="p">,</span> <span class="n">stop</span><span class="p">,</span> <span class="n">step</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">String &lt;-&gt; Callable operations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="is_lambda_expression"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.is_lambda_expression">[docs]</a><span class="k">def</span> <span class="nf">is_lambda_expression</span><span class="p">(</span><span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Checks if the input string is a lambda expression.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        name: The input string.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Whether the input string is a lambda expression.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">ast</span><span class="o">.</span><span class="n">parse</span><span class="p">(</span><span class="n">name</span><span class="p">)</span>
+        <span class="k">return</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">ast</span><span class="o">.</span><span class="n">parse</span><span class="p">(</span><span class="n">name</span><span class="p">)</span><span class="o">.</span><span class="n">body</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">ast</span><span class="o">.</span><span class="n">Expr</span><span class="p">)</span> <span class="ow">and</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">ast</span><span class="o">.</span><span class="n">parse</span><span class="p">(</span><span class="n">name</span><span class="p">)</span><span class="o">.</span><span class="n">body</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">value</span><span class="p">,</span> <span class="n">ast</span><span class="o">.</span><span class="n">Lambda</span><span class="p">)</span>
+    <span class="k">except</span> <span class="ne">SyntaxError</span><span class="p">:</span>
+        <span class="k">return</span> <span class="kc">False</span></div>
+
+
+<div class="viewcode-block" id="callable_to_string"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.callable_to_string">[docs]</a><span class="k">def</span> <span class="nf">callable_to_string</span><span class="p">(</span><span class="n">value</span><span class="p">:</span> <span class="n">Callable</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Converts a callable object to a string.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        value: A callable object.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the input argument is not a callable object.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A string representation of the callable object.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check if callable</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="nb">callable</span><span class="p">(</span><span class="n">value</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The input argument is not callable: </span><span class="si">{</span><span class="n">value</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+    <span class="c1"># check if lambda function</span>
+    <span class="k">if</span> <span class="n">value</span><span class="o">.</span><span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;&lt;lambda&gt;&quot;</span><span class="p">:</span>
+        <span class="c1"># we resolve the lambda expression by checking the source code and extracting the line with lambda expression</span>
+        <span class="c1"># we also remove any comments from the line</span>
+        <span class="n">lambda_line</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">getsourcelines</span><span class="p">(</span><span class="n">value</span><span class="p">)[</span><span class="mi">0</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">strip</span><span class="p">()</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;lambda&quot;</span><span class="p">)[</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">strip</span><span class="p">()</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;,&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="n">lambda_line</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">sub</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;#.*$&quot;</span><span class="p">,</span> <span class="s2">&quot;&quot;</span><span class="p">,</span> <span class="n">lambda_line</span><span class="p">)</span><span class="o">.</span><span class="n">rstrip</span><span class="p">()</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;lambda </span><span class="si">{</span><span class="n">lambda_line</span><span class="si">}</span><span class="s2">&quot;</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="c1"># get the module and function name</span>
+        <span class="n">module_name</span> <span class="o">=</span> <span class="n">value</span><span class="o">.</span><span class="vm">__module__</span>
+        <span class="n">function_name</span> <span class="o">=</span> <span class="n">value</span><span class="o">.</span><span class="vm">__name__</span>
+        <span class="c1"># return the string</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">module_name</span><span class="si">}</span><span class="s2">:</span><span class="si">{</span><span class="n">function_name</span><span class="si">}</span><span class="s2">&quot;</span></div>
+
+
+<div class="viewcode-block" id="string_to_callable"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.string_to_callable">[docs]</a><span class="k">def</span> <span class="nf">string_to_callable</span><span class="p">(</span><span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Callable</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Resolves the module and function names to return the function.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        name: The function name. The format should be &#39;module:attribute_name&#39; or a</span>
+<span class="sd">            lambda expression of format: &#39;lambda x: x&#39;.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the resolved attribute is not a function.</span>
+<span class="sd">        ValueError: When the module cannot be found.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        Callable: The function loaded from the module.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="k">if</span> <span class="n">is_lambda_expression</span><span class="p">(</span><span class="n">name</span><span class="p">):</span>
+            <span class="n">callable_object</span> <span class="o">=</span> <span class="nb">eval</span><span class="p">(</span><span class="n">name</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">mod_name</span><span class="p">,</span> <span class="n">attr_name</span> <span class="o">=</span> <span class="n">name</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;:&quot;</span><span class="p">)</span>
+            <span class="n">mod</span> <span class="o">=</span> <span class="n">importlib</span><span class="o">.</span><span class="n">import_module</span><span class="p">(</span><span class="n">mod_name</span><span class="p">)</span>
+            <span class="n">callable_object</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">mod</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">)</span>
+        <span class="c1"># check if attribute is callable</span>
+        <span class="k">if</span> <span class="nb">callable</span><span class="p">(</span><span class="n">callable_object</span><span class="p">):</span>
+            <span class="k">return</span> <span class="n">callable_object</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">AttributeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;The imported object is not callable: &#39;</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39;&quot;</span><span class="p">)</span>
+    <span class="k">except</span> <span class="p">(</span><span class="ne">ValueError</span><span class="p">,</span> <span class="ne">ModuleNotFoundError</span><span class="p">)</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Could not resolve the input string &#39;</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">&#39; into callable object.&quot;</span>
+            <span class="s2">&quot; The format of input should be &#39;module:attribute_name&#39;.</span><span class="se">\n</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;Received the error:</span><span class="se">\n</span><span class="s2"> </span><span class="si">{</span><span class="n">e</span><span class="si">}</span><span class="s2">.&quot;</span>
+        <span class="p">)</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="n">msg</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Regex operations.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="resolve_matching_names"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.resolve_matching_names">[docs]</a><span class="k">def</span> <span class="nf">resolve_matching_names</span><span class="p">(</span>
+    <span class="n">keys</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">list_of_strings</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">preserve_order</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Match a list of query regular expressions against a list of strings and return the matched indices and names.</span>
+
+<span class="sd">    When a list of query regular expressions is provided, the function checks each target string against each</span>
+<span class="sd">    query regular expression and returns the indices of the matched strings and the matched strings.</span>
+
+<span class="sd">    If the :attr:`preserve_order` is True, the ordering of the matched indices and names is the same as the order</span>
+<span class="sd">    of the provided list of strings. This means that the ordering is dictated by the order of the target strings</span>
+<span class="sd">    and not the order of the query regular expressions.</span>
+
+<span class="sd">    If the :attr:`preserve_order` is False, the ordering of the matched indices and names is the same as the order</span>
+<span class="sd">    of the provided list of query regular expressions.</span>
+
+<span class="sd">    For example, consider the list of strings is [&#39;a&#39;, &#39;b&#39;, &#39;c&#39;, &#39;d&#39;, &#39;e&#39;] and the regular expressions are [&#39;a|c&#39;, &#39;b&#39;].</span>
+<span class="sd">    If :attr:`preserve_order` is False, then the function will return the indices of the matched strings and the</span>
+<span class="sd">    strings as: ([0, 1, 2], [&#39;a&#39;, &#39;b&#39;, &#39;c&#39;]). When :attr:`preserve_order` is True, it will return them as:</span>
+<span class="sd">    ([0, 2, 1], [&#39;a&#39;, &#39;c&#39;, &#39;b&#39;]).</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        The function does not sort the indices. It returns the indices in the order they are found.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        keys: A regular expression or a list of regular expressions to match the strings in the list.</span>
+<span class="sd">        list_of_strings: A list of strings to match.</span>
+<span class="sd">        preserve_order: Whether to preserve the order of the query keys in the returned values. Defaults to False.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple of lists containing the matched indices and names.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When multiple matches are found for a string in the list.</span>
+<span class="sd">        ValueError: When not all regular expressions are matched.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># resolve name keys</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">keys</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+        <span class="n">keys</span> <span class="o">=</span> <span class="p">[</span><span class="n">keys</span><span class="p">]</span>
+    <span class="c1"># find matching patterns</span>
+    <span class="n">index_list</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="n">names_list</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="n">key_idx_list</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="c1"># book-keeping to check that we always have a one-to-one mapping</span>
+    <span class="c1"># i.e. each target string should match only one regular expression</span>
+    <span class="n">target_strings_match_found</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span> <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">list_of_strings</span><span class="p">))]</span>
+    <span class="n">keys_match_found</span> <span class="o">=</span> <span class="p">[[]</span> <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">keys</span><span class="p">))]</span>
+    <span class="c1"># loop over all target strings</span>
+    <span class="k">for</span> <span class="n">target_index</span><span class="p">,</span> <span class="n">potential_match_string</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">list_of_strings</span><span class="p">):</span>
+        <span class="k">for</span> <span class="n">key_index</span><span class="p">,</span> <span class="n">re_key</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">keys</span><span class="p">):</span>
+            <span class="k">if</span> <span class="n">re</span><span class="o">.</span><span class="n">fullmatch</span><span class="p">(</span><span class="n">re_key</span><span class="p">,</span> <span class="n">potential_match_string</span><span class="p">):</span>
+                <span class="c1"># check if match already found</span>
+                <span class="k">if</span> <span class="n">target_strings_match_found</span><span class="p">[</span><span class="n">target_index</span><span class="p">]:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;Multiple matches for &#39;</span><span class="si">{</span><span class="n">potential_match_string</span><span class="si">}</span><span class="s2">&#39;:&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot; &#39;</span><span class="si">{</span><span class="n">target_strings_match_found</span><span class="p">[</span><span class="n">target_index</span><span class="p">]</span><span class="si">}</span><span class="s2">&#39; and &#39;</span><span class="si">{</span><span class="n">re_key</span><span class="si">}</span><span class="s2">&#39;!&quot;</span>
+                    <span class="p">)</span>
+                <span class="c1"># add to list</span>
+                <span class="n">target_strings_match_found</span><span class="p">[</span><span class="n">target_index</span><span class="p">]</span> <span class="o">=</span> <span class="n">re_key</span>
+                <span class="n">index_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">target_index</span><span class="p">)</span>
+                <span class="n">names_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">potential_match_string</span><span class="p">)</span>
+                <span class="n">key_idx_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">key_index</span><span class="p">)</span>
+                <span class="c1"># add for regex key</span>
+                <span class="n">keys_match_found</span><span class="p">[</span><span class="n">key_index</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">potential_match_string</span><span class="p">)</span>
+    <span class="c1"># reorder keys if they should be returned in order of the query keys</span>
+    <span class="k">if</span> <span class="n">preserve_order</span><span class="p">:</span>
+        <span class="n">reordered_index_list</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span><span class="p">]</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">index_list</span><span class="p">)</span>
+        <span class="n">global_index</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="k">for</span> <span class="n">key_index</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">keys</span><span class="p">)):</span>
+            <span class="k">for</span> <span class="n">key_idx_position</span><span class="p">,</span> <span class="n">key_idx_entry</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">key_idx_list</span><span class="p">):</span>
+                <span class="k">if</span> <span class="n">key_idx_entry</span> <span class="o">==</span> <span class="n">key_index</span><span class="p">:</span>
+                    <span class="n">reordered_index_list</span><span class="p">[</span><span class="n">key_idx_position</span><span class="p">]</span> <span class="o">=</span> <span class="n">global_index</span>
+                    <span class="n">global_index</span> <span class="o">+=</span> <span class="mi">1</span>
+        <span class="c1"># reorder index and names list</span>
+        <span class="n">index_list_reorder</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span><span class="p">]</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">index_list</span><span class="p">)</span>
+        <span class="n">names_list_reorder</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span><span class="p">]</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">index_list</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">idx</span><span class="p">,</span> <span class="n">reorder_idx</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">reordered_index_list</span><span class="p">):</span>
+            <span class="n">index_list_reorder</span><span class="p">[</span><span class="n">reorder_idx</span><span class="p">]</span> <span class="o">=</span> <span class="n">index_list</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+            <span class="n">names_list_reorder</span><span class="p">[</span><span class="n">reorder_idx</span><span class="p">]</span> <span class="o">=</span> <span class="n">names_list</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+        <span class="c1"># update</span>
+        <span class="n">index_list</span> <span class="o">=</span> <span class="n">index_list_reorder</span>
+        <span class="n">names_list</span> <span class="o">=</span> <span class="n">names_list_reorder</span>
+    <span class="c1"># check that all regular expressions are matched</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="nb">all</span><span class="p">(</span><span class="n">keys_match_found</span><span class="p">):</span>
+        <span class="c1"># make this print nicely aligned for debugging</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">keys</span><span class="p">,</span> <span class="n">keys_match_found</span><span class="p">):</span>
+            <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">value</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;Available strings: </span><span class="si">{</span><span class="n">list_of_strings</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="c1"># raise error</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Not all regular expressions are matched! Please check that the regular expressions are correct: </span><span class="si">{</span><span class="n">msg</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+    <span class="c1"># return</span>
+    <span class="k">return</span> <span class="n">index_list</span><span class="p">,</span> <span class="n">names_list</span></div>
+
+
+<div class="viewcode-block" id="resolve_matching_names_values"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.resolve_matching_names_values">[docs]</a><span class="k">def</span> <span class="nf">resolve_matching_names_values</span><span class="p">(</span>
+    <span class="n">data</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">],</span> <span class="n">list_of_strings</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">preserve_order</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="nb">list</span><span class="p">[</span><span class="n">Any</span><span class="p">]]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Match a list of regular expressions in a dictionary against a list of strings and return</span>
+<span class="sd">    the matched indices, names, and values.</span>
+
+<span class="sd">    If the :attr:`preserve_order` is True, the ordering of the matched indices and names is the same as the order</span>
+<span class="sd">    of the provided list of strings. This means that the ordering is dictated by the order of the target strings</span>
+<span class="sd">    and not the order of the query regular expressions.</span>
+
+<span class="sd">    If the :attr:`preserve_order` is False, the ordering of the matched indices and names is the same as the order</span>
+<span class="sd">    of the provided list of query regular expressions.</span>
+
+<span class="sd">    For example, consider the dictionary is {&quot;a|d|e&quot;: 1, &quot;b|c&quot;: 2}, the list of strings is [&#39;a&#39;, &#39;b&#39;, &#39;c&#39;, &#39;d&#39;, &#39;e&#39;].</span>
+<span class="sd">    If :attr:`preserve_order` is False, then the function will return the indices of the matched strings, the</span>
+<span class="sd">    matched strings, and the values as: ([0, 1, 2, 3, 4], [&#39;a&#39;, &#39;b&#39;, &#39;c&#39;, &#39;d&#39;, &#39;e&#39;], [1, 2, 2, 1, 1]). When</span>
+<span class="sd">    :attr:`preserve_order` is True, it will return them as: ([0, 3, 4, 1, 2], [&#39;a&#39;, &#39;d&#39;, &#39;e&#39;, &#39;b&#39;, &#39;c&#39;], [1, 1, 1, 2, 2]).</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        data: A dictionary of regular expressions and values to match the strings in the list.</span>
+<span class="sd">        list_of_strings: A list of strings to match.</span>
+<span class="sd">        preserve_order: Whether to preserve the order of the query keys in the returned values. Defaults to False.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A tuple of lists containing the matched indices, names, and values.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        TypeError: When the input argument :attr:`data` is not a dictionary.</span>
+<span class="sd">        ValueError: When multiple matches are found for a string in the dictionary.</span>
+<span class="sd">        ValueError: When not all regular expressions in the data keys are matched.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check valid input</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">TypeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Input argument `data` should be a dictionary. Received: </span><span class="si">{</span><span class="n">data</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="c1"># find matching patterns</span>
+    <span class="n">index_list</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="n">names_list</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="n">values_list</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="n">key_idx_list</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="c1"># book-keeping to check that we always have a one-to-one mapping</span>
+    <span class="c1"># i.e. each target string should match only one regular expression</span>
+    <span class="n">target_strings_match_found</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span> <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">list_of_strings</span><span class="p">))]</span>
+    <span class="n">keys_match_found</span> <span class="o">=</span> <span class="p">[[]</span> <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">data</span><span class="p">))]</span>
+    <span class="c1"># loop over all target strings</span>
+    <span class="k">for</span> <span class="n">target_index</span><span class="p">,</span> <span class="n">potential_match_string</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">list_of_strings</span><span class="p">):</span>
+        <span class="k">for</span> <span class="n">key_index</span><span class="p">,</span> <span class="p">(</span><span class="n">re_key</span><span class="p">,</span> <span class="n">value</span><span class="p">)</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">data</span><span class="o">.</span><span class="n">items</span><span class="p">()):</span>
+            <span class="k">if</span> <span class="n">re</span><span class="o">.</span><span class="n">fullmatch</span><span class="p">(</span><span class="n">re_key</span><span class="p">,</span> <span class="n">potential_match_string</span><span class="p">):</span>
+                <span class="c1"># check if match already found</span>
+                <span class="k">if</span> <span class="n">target_strings_match_found</span><span class="p">[</span><span class="n">target_index</span><span class="p">]:</span>
+                    <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                        <span class="sa">f</span><span class="s2">&quot;Multiple matches for &#39;</span><span class="si">{</span><span class="n">potential_match_string</span><span class="si">}</span><span class="s2">&#39;:&quot;</span>
+                        <span class="sa">f</span><span class="s2">&quot; &#39;</span><span class="si">{</span><span class="n">target_strings_match_found</span><span class="p">[</span><span class="n">target_index</span><span class="p">]</span><span class="si">}</span><span class="s2">&#39; and &#39;</span><span class="si">{</span><span class="n">re_key</span><span class="si">}</span><span class="s2">&#39;!&quot;</span>
+                    <span class="p">)</span>
+                <span class="c1"># add to list</span>
+                <span class="n">target_strings_match_found</span><span class="p">[</span><span class="n">target_index</span><span class="p">]</span> <span class="o">=</span> <span class="n">re_key</span>
+                <span class="n">index_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">target_index</span><span class="p">)</span>
+                <span class="n">names_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">potential_match_string</span><span class="p">)</span>
+                <span class="n">values_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+                <span class="n">key_idx_list</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">key_index</span><span class="p">)</span>
+                <span class="c1"># add for regex key</span>
+                <span class="n">keys_match_found</span><span class="p">[</span><span class="n">key_index</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">potential_match_string</span><span class="p">)</span>
+    <span class="c1"># reorder keys if they should be returned in order of the query keys</span>
+    <span class="k">if</span> <span class="n">preserve_order</span><span class="p">:</span>
+        <span class="n">reordered_index_list</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span><span class="p">]</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">index_list</span><span class="p">)</span>
+        <span class="n">global_index</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="k">for</span> <span class="n">key_index</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">data</span><span class="p">)):</span>
+            <span class="k">for</span> <span class="n">key_idx_position</span><span class="p">,</span> <span class="n">key_idx_entry</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">key_idx_list</span><span class="p">):</span>
+                <span class="k">if</span> <span class="n">key_idx_entry</span> <span class="o">==</span> <span class="n">key_index</span><span class="p">:</span>
+                    <span class="n">reordered_index_list</span><span class="p">[</span><span class="n">key_idx_position</span><span class="p">]</span> <span class="o">=</span> <span class="n">global_index</span>
+                    <span class="n">global_index</span> <span class="o">+=</span> <span class="mi">1</span>
+        <span class="c1"># reorder index and names list</span>
+        <span class="n">index_list_reorder</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span><span class="p">]</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">index_list</span><span class="p">)</span>
+        <span class="n">names_list_reorder</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span><span class="p">]</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">index_list</span><span class="p">)</span>
+        <span class="n">values_list_reorder</span> <span class="o">=</span> <span class="p">[</span><span class="kc">None</span><span class="p">]</span> <span class="o">*</span> <span class="nb">len</span><span class="p">(</span><span class="n">index_list</span><span class="p">)</span>
+        <span class="k">for</span> <span class="n">idx</span><span class="p">,</span> <span class="n">reorder_idx</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">reordered_index_list</span><span class="p">):</span>
+            <span class="n">index_list_reorder</span><span class="p">[</span><span class="n">reorder_idx</span><span class="p">]</span> <span class="o">=</span> <span class="n">index_list</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+            <span class="n">names_list_reorder</span><span class="p">[</span><span class="n">reorder_idx</span><span class="p">]</span> <span class="o">=</span> <span class="n">names_list</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+            <span class="n">values_list_reorder</span><span class="p">[</span><span class="n">reorder_idx</span><span class="p">]</span> <span class="o">=</span> <span class="n">values_list</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+        <span class="c1"># update</span>
+        <span class="n">index_list</span> <span class="o">=</span> <span class="n">index_list_reorder</span>
+        <span class="n">names_list</span> <span class="o">=</span> <span class="n">names_list_reorder</span>
+        <span class="n">values_list</span> <span class="o">=</span> <span class="n">values_list_reorder</span>
+    <span class="c1"># check that all regular expressions are matched</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="nb">all</span><span class="p">(</span><span class="n">keys_match_found</span><span class="p">):</span>
+        <span class="c1"># make this print nicely aligned for debugging</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">data</span><span class="o">.</span><span class="n">keys</span><span class="p">(),</span> <span class="n">keys_match_found</span><span class="p">):</span>
+            <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">value</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;Available strings: </span><span class="si">{</span><span class="n">list_of_strings</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="c1"># raise error</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Not all regular expressions are matched! Please check that the regular expressions are correct: </span><span class="si">{</span><span class="n">msg</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+    <span class="c1"># return</span>
+    <span class="k">return</span> <span class="n">index_list</span><span class="p">,</span> <span class="n">names_list</span><span class="p">,</span> <span class="n">values_list</span></div>
+</pre></div>
+
+                </article>
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+  <h1>Source code for omni.isaac.lab.utils.timer</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module for a timer class that can be used for performance measurements.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">time</span>
+<span class="kn">from</span> <span class="nn">contextlib</span> <span class="kn">import</span> <span class="n">ContextDecorator</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span><span class="p">,</span> <span class="n">ClassVar</span>
+
+
+<div class="viewcode-block" id="TimerError"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.TimerError">[docs]</a><span class="k">class</span> <span class="nc">TimerError</span><span class="p">(</span><span class="ne">Exception</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A custom exception used to report errors in use of :class:`Timer` class.&quot;&quot;&quot;</span>
+
+    <span class="k">pass</span></div>
+
+
+<div class="viewcode-block" id="Timer"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer">[docs]</a><span class="k">class</span> <span class="nc">Timer</span><span class="p">(</span><span class="n">ContextDecorator</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;A timer for performance measurements.</span>
+
+<span class="sd">    A class to keep track of time for performance measurement.</span>
+<span class="sd">    It allows timing via context managers and decorators as well.</span>
+
+<span class="sd">    It uses the `time.perf_counter` function to measure time. This function</span>
+<span class="sd">    returns the number of seconds since the epoch as a float. It has the</span>
+<span class="sd">    highest resolution available on the system.</span>
+
+<span class="sd">    As a regular object:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        import time</span>
+
+<span class="sd">        from omni.isaac.lab.utils.timer import Timer</span>
+
+<span class="sd">        timer = Timer()</span>
+<span class="sd">        timer.start()</span>
+<span class="sd">        time.sleep(1)</span>
+<span class="sd">        print(1 &lt;= timer.time_elapsed &lt;= 2)  # Output: True</span>
+
+<span class="sd">        time.sleep(1)</span>
+<span class="sd">        timer.stop()</span>
+<span class="sd">        print(2 &lt;= stopwatch.total_run_time)  # Output: True</span>
+
+<span class="sd">    As a context manager:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        import time</span>
+
+<span class="sd">        from omni.isaac.lab.utils.timer import Timer</span>
+
+<span class="sd">        with Timer() as timer:</span>
+<span class="sd">            time.sleep(1)</span>
+<span class="sd">            print(1 &lt;= timer.time_elapsed &lt;= 2)  # Output: True</span>
+
+<span class="sd">    Reference: https://gist.github.com/sumeet/1123871</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">timing_info</span><span class="p">:</span> <span class="n">ClassVar</span><span class="p">[</span><span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="nb">float</span><span class="p">]]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Dictionary for storing the elapsed time per timer instances globally.</span>
+
+<span class="sd">    This dictionary logs the timer information. The keys are the names given to the timer class</span>
+<span class="sd">    at its initialization. If no :attr:`name` is passed to the constructor, no time</span>
+<span class="sd">    is recorded in the dictionary.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Timer.__init__"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">msg</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the timer.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            msg: The message to display when using the timer</span>
+<span class="sd">                class in a context manager. Defaults to None.</span>
+<span class="sd">            name: The name to use for logging times in a global</span>
+<span class="sd">                dictionary. Defaults to None.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_msg</span> <span class="o">=</span> <span class="n">msg</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_name</span> <span class="o">=</span> <span class="n">name</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_start_time</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_stop_time</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_elapsed_time</span> <span class="o">=</span> <span class="kc">None</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;A string representation of the class object.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A string containing the elapsed time.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">time_elapsed</span><span class="si">:</span><span class="s2">0.6f</span><span class="si">}</span><span class="s2"> seconds&quot;</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">time_elapsed</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The number of seconds that have elapsed since this timer started timing.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This is used for checking how much time has elapsed while the timer is still running.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="n">time</span><span class="o">.</span><span class="n">perf_counter</span><span class="p">()</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_start_time</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">total_run_time</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The number of seconds that elapsed from when the timer started to when it ended.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_elapsed_time</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Timer.start"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.start">[docs]</a>    <span class="k">def</span> <span class="nf">start</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Start timing.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_start_time</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="n">TimerError</span><span class="p">(</span><span class="s2">&quot;Timer is running. Use .stop() to stop it&quot;</span><span class="p">)</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_start_time</span> <span class="o">=</span> <span class="n">time</span><span class="o">.</span><span class="n">perf_counter</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="Timer.stop"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.stop">[docs]</a>    <span class="k">def</span> <span class="nf">stop</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Stop timing.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_start_time</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="n">TimerError</span><span class="p">(</span><span class="s2">&quot;Timer is not running. Use .start() to start it&quot;</span><span class="p">)</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_stop_time</span> <span class="o">=</span> <span class="n">time</span><span class="o">.</span><span class="n">perf_counter</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_elapsed_time</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_stop_time</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">_start_time</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_start_time</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_name</span><span class="p">:</span>
+            <span class="n">Timer</span><span class="o">.</span><span class="n">timing_info</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">_name</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_elapsed_time</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Context managers</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__enter__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Timer</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Start timing and return this `Timer` instance.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">start</span><span class="p">()</span>
+        <span class="k">return</span> <span class="bp">self</span>
+
+    <span class="k">def</span> <span class="fm">__exit__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="o">*</span><span class="n">exc_info</span><span class="p">:</span> <span class="n">Any</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Stop timing.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">stop</span><span class="p">()</span>
+        <span class="c1"># print message</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_msg</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_msg</span><span class="p">,</span> <span class="sa">f</span><span class="s2">&quot;: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_elapsed_time</span><span class="si">:</span><span class="s2">0.6f</span><span class="si">}</span><span class="s2"> seconds&quot;</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Static Methods</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Timer.get_timer_info"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.get_timer_info">[docs]</a>    <span class="nd">@staticmethod</span>
+    <span class="k">def</span> <span class="nf">get_timer_info</span><span class="p">(</span><span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Retrieves the time logged in the global dictionary</span>
+<span class="sd">            based on name.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            name: Name of the the entry to be retrieved.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            TimerError: If name doesn&#39;t exist in the log.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            A float containing the time logged if the name exists.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="n">name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">Timer</span><span class="o">.</span><span class="n">timing_info</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="n">TimerError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Timer </span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2"> does not exist&quot;</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">Timer</span><span class="o">.</span><span class="n">timing_info</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">name</span><span class="p">)</span></div></div>
+</pre></div>
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+  <h1>Source code for omni.isaac.lab.utils.types</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module for different data types.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">dataclass</span>
+
+
+<div class="viewcode-block" id="ArticulationActions"><a class="viewcode-back" href="../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions">[docs]</a><span class="nd">@dataclass</span>
+<span class="k">class</span> <span class="nc">ArticulationActions</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Data container to store articulation&#39;s joints actions.</span>
+
+<span class="sd">    This class is used to store the actions of the joints of an articulation.</span>
+<span class="sd">    It is used to store the joint positions, velocities, efforts, and indices.</span>
+
+<span class="sd">    If the actions are not provided, the values are set to None.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">joint_positions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint positions of the articulation. Defaults to None.&quot;&quot;&quot;</span>
+
+    <span class="n">joint_velocities</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint velocities of the articulation. Defaults to None.&quot;&quot;&quot;</span>
+
+    <span class="n">joint_efforts</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint efforts of the articulation. Defaults to None.&quot;&quot;&quot;</span>
+
+    <span class="n">joint_indices</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="nb">slice</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The joint indices of the articulation. Defaults to None.</span>
+
+<span class="sd">    If the joint indices are a slice, this indicates that the indices are continuous and correspond</span>
+<span class="sd">    to all the joints of the articulation. We use a slice to make the indexing more efficient.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
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+  <h1>Source code for omni.isaac.lab.utils.warp.ops</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Wrapping around warp kernels for compatibility with torch tensors.&quot;&quot;&quot;</span>
+
+<span class="c1"># needed to import for allowing type-hinting: torch.Tensor | None</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+
+<span class="kn">import</span> <span class="nn">warp</span> <span class="k">as</span> <span class="nn">wp</span>
+
+<span class="c1"># disable warp module initialization messages</span>
+<span class="n">wp</span><span class="o">.</span><span class="n">config</span><span class="o">.</span><span class="n">quiet</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="c1"># initialize the warp module</span>
+<span class="n">wp</span><span class="o">.</span><span class="n">init</span><span class="p">()</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">kernels</span>
+
+
+<div class="viewcode-block" id="raycast_mesh"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.warp.raycast_mesh">[docs]</a><span class="k">def</span> <span class="nf">raycast_mesh</span><span class="p">(</span>
+    <span class="n">ray_starts</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">ray_directions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">mesh</span><span class="p">:</span> <span class="n">wp</span><span class="o">.</span><span class="n">Mesh</span><span class="p">,</span>
+    <span class="n">max_dist</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">1e6</span><span class="p">,</span>
+    <span class="n">return_distance</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+    <span class="n">return_normal</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+    <span class="n">return_face_id</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="kc">None</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Performs ray-casting against a mesh.</span>
+
+<span class="sd">    Note that the `ray_starts` and `ray_directions`, and `ray_hits` should have compatible shapes</span>
+<span class="sd">    and data types to ensure proper execution. Additionally, they all must be in the same frame.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        ray_starts: The starting position of the rays. Shape (N, 3).</span>
+<span class="sd">        ray_directions: The ray directions for each ray. Shape (N, 3).</span>
+<span class="sd">        mesh: The warp mesh to ray-cast against.</span>
+<span class="sd">        max_dist: The maximum distance to ray-cast. Defaults to 1e6.</span>
+<span class="sd">        return_distance: Whether to return the distance of the ray until it hits the mesh. Defaults to False.</span>
+<span class="sd">        return_normal: Whether to return the normal of the mesh face the ray hits. Defaults to False.</span>
+<span class="sd">        return_face_id: Whether to return the face id of the mesh face the ray hits. Defaults to False.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The ray hit position. Shape (N, 3).</span>
+<span class="sd">            The returned tensor contains :obj:`float(&#39;inf&#39;)` for missed hits.</span>
+<span class="sd">        The ray hit distance. Shape (N,).</span>
+<span class="sd">            Will only return if :attr:`return_distance` is True, else returns None.</span>
+<span class="sd">            The returned tensor contains :obj:`float(&#39;inf&#39;)` for missed hits.</span>
+<span class="sd">        The ray hit normal. Shape (N, 3).</span>
+<span class="sd">            Will only return if :attr:`return_normal` is True else returns None.</span>
+<span class="sd">            The returned tensor contains :obj:`float(&#39;inf&#39;)` for missed hits.</span>
+<span class="sd">        The ray hit face id. Shape (N,).</span>
+<span class="sd">            Will only return if :attr:`return_face_id` is True else returns None.</span>
+<span class="sd">            The returned tensor contains :obj:`int(-1)` for missed hits.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># extract device and shape information</span>
+    <span class="n">shape</span> <span class="o">=</span> <span class="n">ray_starts</span><span class="o">.</span><span class="n">shape</span>
+    <span class="n">device</span> <span class="o">=</span> <span class="n">ray_starts</span><span class="o">.</span><span class="n">device</span>
+    <span class="c1"># device of the mesh</span>
+    <span class="n">torch_device</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">device_to_torch</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="c1"># reshape the tensors</span>
+    <span class="n">ray_starts</span> <span class="o">=</span> <span class="n">ray_starts</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">torch_device</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+    <span class="n">ray_directions</span> <span class="o">=</span> <span class="n">ray_directions</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">torch_device</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+    <span class="n">num_rays</span> <span class="o">=</span> <span class="n">ray_starts</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+    <span class="c1"># create output tensor for the ray hits</span>
+    <span class="n">ray_hits</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">full</span><span class="p">((</span><span class="n">num_rays</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="nb">float</span><span class="p">(</span><span class="s2">&quot;inf&quot;</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">torch_device</span><span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+
+    <span class="c1"># map the memory to warp arrays</span>
+    <span class="n">ray_starts_wp</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">from_torch</span><span class="p">(</span><span class="n">ray_starts</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">vec3</span><span class="p">)</span>
+    <span class="n">ray_directions_wp</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">from_torch</span><span class="p">(</span><span class="n">ray_directions</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">vec3</span><span class="p">)</span>
+    <span class="n">ray_hits_wp</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">from_torch</span><span class="p">(</span><span class="n">ray_hits</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">vec3</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">return_distance</span><span class="p">:</span>
+        <span class="n">ray_distance</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">full</span><span class="p">((</span><span class="n">num_rays</span><span class="p">,),</span> <span class="nb">float</span><span class="p">(</span><span class="s2">&quot;inf&quot;</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">torch_device</span><span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+        <span class="n">ray_distance_wp</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">from_torch</span><span class="p">(</span><span class="n">ray_distance</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">float32</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">ray_distance</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="n">ray_distance_wp</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">empty</span><span class="p">((</span><span class="mi">1</span><span class="p">,),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">float32</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">torch_device</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">return_normal</span><span class="p">:</span>
+        <span class="n">ray_normal</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">full</span><span class="p">((</span><span class="n">num_rays</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="nb">float</span><span class="p">(</span><span class="s2">&quot;inf&quot;</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">torch_device</span><span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span>
+        <span class="n">ray_normal_wp</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">from_torch</span><span class="p">(</span><span class="n">ray_normal</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">vec3</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">ray_normal</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="n">ray_normal_wp</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">empty</span><span class="p">((</span><span class="mi">1</span><span class="p">,),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">vec3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">torch_device</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">return_face_id</span><span class="p">:</span>
+        <span class="n">ray_face_id</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">ones</span><span class="p">((</span><span class="n">num_rays</span><span class="p">,),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int32</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">torch_device</span><span class="p">)</span><span class="o">.</span><span class="n">contiguous</span><span class="p">()</span> <span class="o">*</span> <span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+        <span class="n">ray_face_id_wp</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">from_torch</span><span class="p">(</span><span class="n">ray_face_id</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">ray_face_id</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="n">ray_face_id_wp</span> <span class="o">=</span> <span class="n">wp</span><span class="o">.</span><span class="n">empty</span><span class="p">((</span><span class="mi">1</span><span class="p">,),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">int32</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">torch_device</span><span class="p">)</span>
+
+    <span class="c1"># launch the warp kernel</span>
+    <span class="n">wp</span><span class="o">.</span><span class="n">launch</span><span class="p">(</span>
+        <span class="n">kernel</span><span class="o">=</span><span class="n">kernels</span><span class="o">.</span><span class="n">raycast_mesh_kernel</span><span class="p">,</span>
+        <span class="n">dim</span><span class="o">=</span><span class="n">num_rays</span><span class="p">,</span>
+        <span class="n">inputs</span><span class="o">=</span><span class="p">[</span>
+            <span class="n">mesh</span><span class="o">.</span><span class="n">id</span><span class="p">,</span>
+            <span class="n">ray_starts_wp</span><span class="p">,</span>
+            <span class="n">ray_directions_wp</span><span class="p">,</span>
+            <span class="n">ray_hits_wp</span><span class="p">,</span>
+            <span class="n">ray_distance_wp</span><span class="p">,</span>
+            <span class="n">ray_normal_wp</span><span class="p">,</span>
+            <span class="n">ray_face_id_wp</span><span class="p">,</span>
+            <span class="nb">float</span><span class="p">(</span><span class="n">max_dist</span><span class="p">),</span>
+            <span class="nb">int</span><span class="p">(</span><span class="n">return_distance</span><span class="p">),</span>
+            <span class="nb">int</span><span class="p">(</span><span class="n">return_normal</span><span class="p">),</span>
+            <span class="nb">int</span><span class="p">(</span><span class="n">return_face_id</span><span class="p">),</span>
+        <span class="p">],</span>
+        <span class="n">device</span><span class="o">=</span><span class="n">mesh</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="c1"># NOTE: Synchronize is not needed anymore, but we keep it for now. Check with @dhoeller.</span>
+    <span class="n">wp</span><span class="o">.</span><span class="n">synchronize</span><span class="p">()</span>
+
+    <span class="k">if</span> <span class="n">return_distance</span><span class="p">:</span>
+        <span class="n">ray_distance</span> <span class="o">=</span> <span class="n">ray_distance</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">])</span>
+    <span class="k">if</span> <span class="n">return_normal</span><span class="p">:</span>
+        <span class="n">ray_normal</span> <span class="o">=</span> <span class="n">ray_normal</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">shape</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">return_face_id</span><span class="p">:</span>
+        <span class="n">ray_face_id</span> <span class="o">=</span> <span class="n">ray_face_id</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">shape</span><span class="p">[</span><span class="mi">1</span><span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">ray_hits</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">shape</span><span class="p">),</span> <span class="n">ray_distance</span><span class="p">,</span> <span class="n">ray_normal</span><span class="p">,</span> <span class="n">ray_face_id</span></div>
+
+
+<div class="viewcode-block" id="convert_to_warp_mesh"><a class="viewcode-back" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.warp.convert_to_warp_mesh">[docs]</a><span class="k">def</span> <span class="nf">convert_to_warp_mesh</span><span class="p">(</span><span class="n">points</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">indices</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">wp</span><span class="o">.</span><span class="n">Mesh</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create a warp mesh object with a mesh defined from vertices and triangles.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        points: The vertices of the mesh. Shape is (N, 3), where N is the number of vertices.</span>
+<span class="sd">        indices: The triangles of the mesh as references to vertices for each triangle.</span>
+<span class="sd">            Shape is (M, 3), where M is the number of triangles / faces.</span>
+<span class="sd">        device: The device to use for the mesh.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The warp mesh object.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">return</span> <span class="n">wp</span><span class="o">.</span><span class="n">Mesh</span><span class="p">(</span>
+        <span class="n">points</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">points</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">float32</span><span class="p">),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">vec3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">),</span>
+        <span class="n">indices</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">indices</span><span class="o">.</span><span class="n">astype</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span><span class="o">.</span><span class="n">flatten</span><span class="p">(),</span> <span class="n">dtype</span><span class="o">=</span><span class="n">wp</span><span class="o">.</span><span class="n">int32</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">device</span><span class="p">),</span>
+    <span class="p">)</span></div>
+</pre></div>
+
+                </article>
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new file mode 100644
index 0000000000..350c98d6a7
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
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+  <h1>Source code for omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Interface to collect and store data from the environment using format from `robomimic`.&quot;&quot;&quot;</span>
+
+<span class="c1"># needed to import for allowing type-hinting: np.ndarray | torch.Tensor</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">h5py</span>
+<span class="kn">import</span> <span class="nn">json</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Iterable</span>
+
+<span class="kn">import</span> <span class="nn">omni.log</span>
+
+
+<div class="viewcode-block" id="RobomimicDataCollector"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector">[docs]</a><span class="k">class</span> <span class="nc">RobomimicDataCollector</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Data collection interface for robomimic.</span>
+
+<span class="sd">    This class implements a data collector interface for saving simulation states to disk.</span>
+<span class="sd">    The data is stored in `HDF5`_ binary data format. The class is useful for collecting</span>
+<span class="sd">    demonstrations. The collected data follows the `structure`_ from robomimic.</span>
+
+<span class="sd">    All datasets in `robomimic` require the observations and next observations obtained</span>
+<span class="sd">    from before and after the environment step. These are stored as a dictionary of</span>
+<span class="sd">    observations in the keys &quot;obs&quot; and &quot;next_obs&quot; respectively.</span>
+
+<span class="sd">    For certain agents in `robomimic`, the episode data should have the following</span>
+<span class="sd">    additional keys: &quot;actions&quot;, &quot;rewards&quot;, &quot;dones&quot;. This behavior can be altered by changing</span>
+<span class="sd">    the dataset keys required in the training configuration for the respective learning agent.</span>
+
+<span class="sd">    For reference on datasets, please check the robomimic `documentation`.</span>
+
+<span class="sd">    .. _HDF5: https://www.h5py.org/</span>
+<span class="sd">    .. _structure: https://robomimic.github.io/docs/datasets/overview.html#dataset-structure</span>
+<span class="sd">    .. _documentation: https://github.com/ARISE-Initiative/robomimic/blob/master/robomimic/config/base_config.py#L167-L173</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RobomimicDataCollector.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span>
+        <span class="n">env_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+        <span class="n">directory_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+        <span class="n">filename</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;test&quot;</span><span class="p">,</span>
+        <span class="n">num_demos</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span><span class="p">,</span>
+        <span class="n">flush_freq</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span><span class="p">,</span>
+        <span class="n">env_config</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the data collection wrapper.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_name: The name of the environment.</span>
+<span class="sd">            directory_path: The path to store collected data.</span>
+<span class="sd">            filename: The basename of the saved file. Defaults to &quot;test&quot;.</span>
+<span class="sd">            num_demos: Number of demonstrations to record until stopping. Defaults to 1.</span>
+<span class="sd">            flush_freq: Frequency to dump data to disk. Defaults to 1.</span>
+<span class="sd">            env_config: The configuration for the environment. Defaults to None.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># save input arguments</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_env_name</span> <span class="o">=</span> <span class="n">env_name</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_env_config</span> <span class="o">=</span> <span class="n">env_config</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_directory</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="n">directory_path</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_filename</span> <span class="o">=</span> <span class="n">filename</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_num_demos</span> <span class="o">=</span> <span class="n">num_demos</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_flush_freq</span> <span class="o">=</span> <span class="n">flush_freq</span>
+        <span class="c1"># print info</span>
+        <span class="nb">print</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="fm">__str__</span><span class="p">())</span>
+
+        <span class="c1"># create directory it doesn&#39;t exist</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">isdir</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_directory</span><span class="p">):</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">makedirs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_directory</span><span class="p">)</span>
+
+        <span class="c1"># placeholder for current hdf5 file object</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_h5_file_stream</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_h5_data_group</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_h5_episode_group</span> <span class="o">=</span> <span class="kc">None</span>
+
+        <span class="c1"># store count of demos within episode</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># flags for setting up</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_first_interaction</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_is_stop</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="c1"># create buffers to store data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Destructor for data collector.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_stop</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Represents the data collector as a string.&quot;&quot;&quot;</span>
+        <span class="n">msg</span> <span class="o">=</span> <span class="s2">&quot;Dataset collector &lt;class RobomimicDataCollector&gt; object&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Storing trajectories in directory: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_directory</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Number of demos for collection   : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_demos</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">msg</span> <span class="o">+=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Frequency for saving data to disk: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_flush_freq</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+        <span class="k">return</span> <span class="n">msg</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">demo_count</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The number of demos collected so far.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RobomimicDataCollector.is_stopped"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.is_stopped">[docs]</a>    <span class="k">def</span> <span class="nf">is_stopped</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Whether data collection is stopped or not.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            True if data collection has stopped.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_stop</span></div>
+
+<div class="viewcode-block" id="RobomimicDataCollector.reset"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.reset">[docs]</a>    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Reset the internals of data logger.&quot;&quot;&quot;</span>
+        <span class="c1"># setup the file to store data in</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_first_interaction</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span> <span class="o">=</span> <span class="mi">0</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_create_new_file</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_filename</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_is_first_interaction</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="c1"># clear out existing buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="RobomimicDataCollector.add"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.add">[docs]</a>    <span class="k">def</span> <span class="nf">add</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">key</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">value</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Add a key-value pair to the dataset.</span>
+
+<span class="sd">        The key can be nested by using the &quot;/&quot; character. For example:</span>
+<span class="sd">        &quot;obs/joint_pos&quot;. Currently only two-level nesting is supported.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            key: The key name.</span>
+<span class="sd">            value: The corresponding value</span>
+<span class="sd">                 of shape (N, ...), where `N` is number of environments.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: When provided key has sub-keys more than 2. Example: &quot;obs/joints/pos&quot;, instead</span>
+<span class="sd">                of &quot;obs/joint_pos&quot;.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check if data should be recorded</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_first_interaction</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="s2">&quot;Please call reset before adding new data. Calling reset...&quot;</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_stop</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">warn</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Desired number of demonstrations collected: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span><span class="si">}</span><span class="s2"> &gt;= </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_demos</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+            <span class="k">return</span>
+        <span class="c1"># check datatype</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+            <span class="n">value</span> <span class="o">=</span> <span class="n">value</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">value</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+        <span class="c1"># check if there are sub-keys</span>
+        <span class="n">sub_keys</span> <span class="o">=</span> <span class="n">key</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;/&quot;</span><span class="p">)</span>
+        <span class="n">num_sub_keys</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">sub_keys</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">sub_keys</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">2</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Input key &#39;</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&#39; has elements </span><span class="si">{</span><span class="n">num_sub_keys</span><span class="si">}</span><span class="s2"> which is more than two.&quot;</span><span class="p">)</span>
+        <span class="c1"># add key to dictionary if it doesn&#39;t exist</span>
+        <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">value</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]):</span>
+            <span class="c1"># demo index</span>
+            <span class="k">if</span> <span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+            <span class="c1"># key index</span>
+            <span class="k">if</span> <span class="n">num_sub_keys</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
+                <span class="c1"># create keys</span>
+                <span class="k">if</span> <span class="n">sub_keys</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">]:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">][</span><span class="n">sub_keys</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+                <span class="k">if</span> <span class="n">sub_keys</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">][</span><span class="n">sub_keys</span><span class="p">[</span><span class="mi">0</span><span class="p">]]:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">][</span><span class="n">sub_keys</span><span class="p">[</span><span class="mi">0</span><span class="p">]][</span><span class="n">sub_keys</span><span class="p">[</span><span class="mi">1</span><span class="p">]]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+                <span class="c1"># add data to key</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">][</span><span class="n">sub_keys</span><span class="p">[</span><span class="mi">0</span><span class="p">]][</span><span class="n">sub_keys</span><span class="p">[</span><span class="mi">1</span><span class="p">]]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">value</span><span class="p">[</span><span class="n">i</span><span class="p">])</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="c1"># create keys</span>
+                <span class="k">if</span> <span class="n">sub_keys</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">]:</span>
+                    <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">][</span><span class="n">sub_keys</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span> <span class="o">=</span> <span class="nb">list</span><span class="p">()</span>
+                <span class="c1"># add data to key</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">][</span><span class="n">sub_keys</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">value</span><span class="p">[</span><span class="n">i</span><span class="p">])</span></div>
+
+<div class="viewcode-block" id="RobomimicDataCollector.flush"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.flush">[docs]</a>    <span class="k">def</span> <span class="nf">flush</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Iterable</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mi">0</span><span class="p">,)):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Flush the episode data based on environment indices.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env_ids: Environment indices to write data for. Defaults to (0).</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that data is being recorded</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_h5_file_stream</span> <span class="ow">is</span> <span class="kc">None</span> <span class="ow">or</span> <span class="bp">self</span><span class="o">.</span><span class="n">_h5_data_group</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">omni</span><span class="o">.</span><span class="n">log</span><span class="o">.</span><span class="n">error</span><span class="p">(</span><span class="s2">&quot;No file stream has been opened. Please call reset before flushing data.&quot;</span><span class="p">)</span>
+            <span class="k">return</span>
+
+        <span class="c1"># iterate over each environment and add their data</span>
+        <span class="k">for</span> <span class="n">index</span> <span class="ow">in</span> <span class="n">env_ids</span><span class="p">:</span>
+            <span class="c1"># data corresponding to demo</span>
+            <span class="n">env_dataset</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">index</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">]</span>
+
+            <span class="c1"># create episode group based on demo count</span>
+            <span class="n">h5_episode_group</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_h5_data_group</span><span class="o">.</span><span class="n">create_group</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;demo_</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="c1"># store number of steps taken</span>
+            <span class="n">h5_episode_group</span><span class="o">.</span><span class="n">attrs</span><span class="p">[</span><span class="s2">&quot;num_samples&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">env_dataset</span><span class="p">[</span><span class="s2">&quot;actions&quot;</span><span class="p">])</span>
+            <span class="c1"># store other data from dictionary</span>
+            <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">env_dataset</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+                    <span class="c1"># create group</span>
+                    <span class="n">key_group</span> <span class="o">=</span> <span class="n">h5_episode_group</span><span class="o">.</span><span class="n">create_group</span><span class="p">(</span><span class="n">key</span><span class="p">)</span>
+                    <span class="c1"># add sub-keys values</span>
+                    <span class="k">for</span> <span class="n">sub_key</span><span class="p">,</span> <span class="n">sub_value</span> <span class="ow">in</span> <span class="n">value</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                        <span class="n">key_group</span><span class="o">.</span><span class="n">create_dataset</span><span class="p">(</span><span class="n">sub_key</span><span class="p">,</span> <span class="n">data</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">sub_value</span><span class="p">))</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="n">h5_episode_group</span><span class="o">.</span><span class="n">create_dataset</span><span class="p">(</span><span class="n">key</span><span class="p">,</span> <span class="n">data</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">value</span><span class="p">))</span>
+            <span class="c1"># increment total step counts</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_h5_data_group</span><span class="o">.</span><span class="n">attrs</span><span class="p">[</span><span class="s2">&quot;total&quot;</span><span class="p">]</span> <span class="o">+=</span> <span class="n">h5_episode_group</span><span class="o">.</span><span class="n">attrs</span><span class="p">[</span><span class="s2">&quot;num_samples&quot;</span><span class="p">]</span>
+
+            <span class="c1"># increment total demo counts</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span> <span class="o">+=</span> <span class="mi">1</span>
+            <span class="c1"># reset buffer for environment</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_dataset</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;env_</span><span class="si">{</span><span class="n">index</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+
+            <span class="c1"># dump at desired frequency</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span> <span class="o">%</span> <span class="bp">self</span><span class="o">.</span><span class="n">_flush_freq</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_h5_file_stream</span><span class="o">.</span><span class="n">flush</span><span class="p">()</span>
+                <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;&gt;&gt;&gt; Flushing data to disk. Collected demos: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span><span class="si">}</span><span class="s2"> / </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_demos</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+            <span class="c1"># if demos collected then stop</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_num_demos</span><span class="p">:</span>
+                <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;&gt;&gt;&gt; Desired number of demonstrations collected: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span><span class="si">}</span><span class="s2"> &gt;= </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_demos</span><span class="si">}</span><span class="s2">.&quot;</span><span class="p">)</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+                <span class="c1"># break out of loop</span>
+                <span class="k">break</span></div>
+
+<div class="viewcode-block" id="RobomimicDataCollector.close"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.close">[docs]</a>    <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Stop recording and save the file at its current state.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">_is_stop</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;&gt;&gt;&gt; Closing recording of data. Collected demos: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_demo_count</span><span class="si">}</span><span class="s2"> / </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_num_demos</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="c1"># close the file safely</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_h5_file_stream</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_h5_file_stream</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+            <span class="c1"># mark that data collection is stopped</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_is_stop</span> <span class="o">=</span> <span class="kc">True</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_create_new_file</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">fname</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Create a new HDF5 file for writing episode info into.</span>
+
+<span class="sd">        Reference:</span>
+<span class="sd">            https://robomimic.github.io/docs/datasets/overview.html</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            fname: The base name of the file.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">fname</span><span class="o">.</span><span class="n">endswith</span><span class="p">(</span><span class="s2">&quot;.hdf5&quot;</span><span class="p">):</span>
+            <span class="n">fname</span> <span class="o">+=</span> <span class="s2">&quot;.hdf5&quot;</span>
+        <span class="c1"># define path to file</span>
+        <span class="n">hdf5_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_directory</span><span class="p">,</span> <span class="n">fname</span><span class="p">)</span>
+        <span class="c1"># construct the stream object</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_h5_file_stream</span> <span class="o">=</span> <span class="n">h5py</span><span class="o">.</span><span class="n">File</span><span class="p">(</span><span class="n">hdf5_path</span><span class="p">,</span> <span class="s2">&quot;w&quot;</span><span class="p">)</span>
+        <span class="c1"># create group to store data</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_h5_data_group</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_h5_file_stream</span><span class="o">.</span><span class="n">create_group</span><span class="p">(</span><span class="s2">&quot;data&quot;</span><span class="p">)</span>
+        <span class="c1"># stores total number of samples accumulated across demonstrations</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_h5_data_group</span><span class="o">.</span><span class="n">attrs</span><span class="p">[</span><span class="s2">&quot;total&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># store the environment meta-info</span>
+        <span class="c1"># -- we use gym environment type</span>
+        <span class="c1"># Ref: https://github.com/ARISE-Initiative/robomimic/blob/master/robomimic/envs/env_base.py#L15</span>
+        <span class="n">env_type</span> <span class="o">=</span> <span class="mi">2</span>
+        <span class="c1"># -- check if env config provided</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env_config</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_env_config</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+        <span class="c1"># -- add info</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_h5_data_group</span><span class="o">.</span><span class="n">attrs</span><span class="p">[</span><span class="s2">&quot;env_args&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">json</span><span class="o">.</span><span class="n">dumps</span><span class="p">({</span>
+            <span class="s2">&quot;env_name&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env_name</span><span class="p">,</span>
+            <span class="s2">&quot;type&quot;</span><span class="p">:</span> <span class="n">env_type</span><span class="p">,</span>
+            <span class="s2">&quot;env_kwargs&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">_env_config</span><span class="p">,</span>
+        <span class="p">})</span></div>
+</pre></div>
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+                  
+  <h1>Source code for omni.isaac.lab_tasks.utils.importer</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module with utility for importing all modules in a package recursively.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">importlib</span>
+<span class="kn">import</span> <span class="nn">pkgutil</span>
+<span class="kn">import</span> <span class="nn">sys</span>
+
+
+<div class="viewcode-block" id="import_packages"><a class="viewcode-back" href="../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html#omni.isaac.lab_tasks.utils.import_packages">[docs]</a><span class="k">def</span> <span class="nf">import_packages</span><span class="p">(</span><span class="n">package_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">blacklist_pkgs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Import all sub-packages in a package recursively.</span>
+
+<span class="sd">    It is easier to use this function to import all sub-packages in a package recursively</span>
+<span class="sd">    than to manually import each sub-package.</span>
+
+<span class="sd">    It replaces the need of the following code snippet on the top of each package&#39;s ``__init__.py`` file:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        import .locomotion.velocity</span>
+<span class="sd">        import .manipulation.reach</span>
+<span class="sd">        import .manipulation.lift</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        package_name: The package name.</span>
+<span class="sd">        blacklist_pkgs: The list of blacklisted packages to skip. Defaults to None,</span>
+<span class="sd">            which means no packages are blacklisted.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Default blacklist</span>
+    <span class="k">if</span> <span class="n">blacklist_pkgs</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">blacklist_pkgs</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="c1"># Import the package itself</span>
+    <span class="n">package</span> <span class="o">=</span> <span class="n">importlib</span><span class="o">.</span><span class="n">import_module</span><span class="p">(</span><span class="n">package_name</span><span class="p">)</span>
+    <span class="c1"># Import all Python files</span>
+    <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="n">_walk_packages</span><span class="p">(</span><span class="n">package</span><span class="o">.</span><span class="n">__path__</span><span class="p">,</span> <span class="n">package</span><span class="o">.</span><span class="vm">__name__</span> <span class="o">+</span> <span class="s2">&quot;.&quot;</span><span class="p">,</span> <span class="n">blacklist_pkgs</span><span class="o">=</span><span class="n">blacklist_pkgs</span><span class="p">):</span>
+        <span class="k">pass</span></div>
+
+
+<span class="k">def</span> <span class="nf">_walk_packages</span><span class="p">(</span>
+    <span class="n">path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">prefix</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;&quot;</span><span class="p">,</span>
+    <span class="n">onerror</span><span class="p">:</span> <span class="nb">callable</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+    <span class="n">blacklist_pkgs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Yields ModuleInfo for all modules recursively on path, or, if path is None, all accessible modules.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        This function is a modified version of the original ``pkgutil.walk_packages`` function. It adds</span>
+<span class="sd">        the `blacklist_pkgs` argument to skip blacklisted packages. Please refer to the original</span>
+<span class="sd">        ``pkgutil.walk_packages`` function for more details.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="n">blacklist_pkgs</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">blacklist_pkgs</span> <span class="o">=</span> <span class="p">[]</span>
+
+    <span class="k">def</span> <span class="nf">seen</span><span class="p">(</span><span class="n">p</span><span class="p">,</span> <span class="n">m</span><span class="o">=</span><span class="p">{}):</span>
+        <span class="k">if</span> <span class="n">p</span> <span class="ow">in</span> <span class="n">m</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">True</span>
+        <span class="n">m</span><span class="p">[</span><span class="n">p</span><span class="p">]</span> <span class="o">=</span> <span class="kc">True</span>  <span class="c1"># noqa: R503</span>
+
+    <span class="k">for</span> <span class="n">info</span> <span class="ow">in</span> <span class="n">pkgutil</span><span class="o">.</span><span class="n">iter_modules</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="n">prefix</span><span class="p">):</span>
+        <span class="c1"># check blacklisted</span>
+        <span class="k">if</span> <span class="nb">any</span><span class="p">([</span><span class="n">black_pkg_name</span> <span class="ow">in</span> <span class="n">info</span><span class="o">.</span><span class="n">name</span> <span class="k">for</span> <span class="n">black_pkg_name</span> <span class="ow">in</span> <span class="n">blacklist_pkgs</span><span class="p">]):</span>
+            <span class="k">continue</span>
+
+        <span class="c1"># yield the module info</span>
+        <span class="k">yield</span> <span class="n">info</span>
+
+        <span class="k">if</span> <span class="n">info</span><span class="o">.</span><span class="n">ispkg</span><span class="p">:</span>
+            <span class="k">try</span><span class="p">:</span>
+                <span class="nb">__import__</span><span class="p">(</span><span class="n">info</span><span class="o">.</span><span class="n">name</span><span class="p">)</span>
+            <span class="k">except</span> <span class="ne">Exception</span><span class="p">:</span>
+                <span class="k">if</span> <span class="n">onerror</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">onerror</span><span class="p">(</span><span class="n">info</span><span class="o">.</span><span class="n">name</span><span class="p">)</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="k">raise</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">path</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">sys</span><span class="o">.</span><span class="n">modules</span><span class="p">[</span><span class="n">info</span><span class="o">.</span><span class="n">name</span><span class="p">],</span> <span class="s2">&quot;__path__&quot;</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span> <span class="ow">or</span> <span class="p">[]</span>
+
+                <span class="c1"># don&#39;t traverse path items we&#39;ve seen before</span>
+                <span class="n">path</span> <span class="o">=</span> <span class="p">[</span><span class="n">p</span> <span class="k">for</span> <span class="n">p</span> <span class="ow">in</span> <span class="n">path</span> <span class="k">if</span> <span class="ow">not</span> <span class="n">seen</span><span class="p">(</span><span class="n">p</span><span class="p">)]</span>
+
+                <span class="k">yield from</span> <span class="n">_walk_packages</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="n">info</span><span class="o">.</span><span class="n">name</span> <span class="o">+</span> <span class="s2">&quot;.&quot;</span><span class="p">,</span> <span class="n">onerror</span><span class="p">,</span> <span class="n">blacklist_pkgs</span><span class="p">)</span>
+</pre></div>
+
+                </article>
+              
+
+              
+              
+              
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diff --git a/v1.4.0/_modules/omni/isaac/lab_tasks/utils/parse_cfg.html b/v1.4.0/_modules/omni/isaac/lab_tasks/utils/parse_cfg.html
new file mode 100644
index 0000000000..977f0d8984
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab_tasks/utils/parse_cfg.html
@@ -0,0 +1,787 @@
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+  <h1>Source code for omni.isaac.lab_tasks.utils.parse_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Sub-module with utilities for parsing and loading configurations.&quot;&quot;&quot;</span>
+
+
+<span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+<span class="kn">import</span> <span class="nn">importlib</span>
+<span class="kn">import</span> <span class="nn">inspect</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">import</span> <span class="nn">yaml</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">DirectRLEnvCfg</span><span class="p">,</span> <span class="n">ManagerBasedRLEnvCfg</span>
+
+
+<div class="viewcode-block" id="load_cfg_from_registry"><a class="viewcode-back" href="../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html#omni.isaac.lab_tasks.utils.load_cfg_from_registry">[docs]</a><span class="k">def</span> <span class="nf">load_cfg_from_registry</span><span class="p">(</span><span class="n">task_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">entry_point_key</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span> <span class="o">|</span> <span class="nb">object</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Load default configuration given its entry point from the gym registry.</span>
+
+<span class="sd">    This function loads the configuration object from the gym registry for the given task name.</span>
+<span class="sd">    It supports both YAML and Python configuration files.</span>
+
+<span class="sd">    It expects the configuration to be registered in the gym registry as:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        gym.register(</span>
+<span class="sd">            id=&quot;My-Awesome-Task-v0&quot;,</span>
+<span class="sd">            ...</span>
+<span class="sd">            kwargs={&quot;env_entry_point_cfg&quot;: &quot;path.to.config:ConfigClass&quot;},</span>
+<span class="sd">        )</span>
+
+<span class="sd">    The parsed configuration object for above example can be obtained as:</span>
+
+<span class="sd">    .. code-block:: python</span>
+
+<span class="sd">        from omni.isaac.lab_tasks.utils.parse_cfg import load_cfg_from_registry</span>
+
+<span class="sd">        cfg = load_cfg_from_registry(&quot;My-Awesome-Task-v0&quot;, &quot;env_entry_point_cfg&quot;)</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        task_name: The name of the environment.</span>
+<span class="sd">        entry_point_key: The entry point key to resolve the configuration file.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The parsed configuration object. If the entry point is a YAML file, it is parsed into a dictionary.</span>
+<span class="sd">        If the entry point is a Python class, it is instantiated and returned.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the entry point key is not available in the gym registry for the task.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain the configuration entry point</span>
+    <span class="n">cfg_entry_point</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spec</span><span class="p">(</span><span class="n">task_name</span><span class="p">)</span><span class="o">.</span><span class="n">kwargs</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">entry_point_key</span><span class="p">)</span>
+    <span class="c1"># check if entry point exists</span>
+    <span class="k">if</span> <span class="n">cfg_entry_point</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Could not find configuration for the environment: &#39;</span><span class="si">{</span><span class="n">task_name</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot; Please check that the gym registry has the entry point: &#39;</span><span class="si">{</span><span class="n">entry_point_key</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+        <span class="p">)</span>
+    <span class="c1"># parse the default config file</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg_entry_point</span><span class="p">,</span> <span class="nb">str</span><span class="p">)</span> <span class="ow">and</span> <span class="n">cfg_entry_point</span><span class="o">.</span><span class="n">endswith</span><span class="p">(</span><span class="s2">&quot;.yaml&quot;</span><span class="p">):</span>
+        <span class="k">if</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">cfg_entry_point</span><span class="p">):</span>
+            <span class="c1"># absolute path for the config file</span>
+            <span class="n">config_file</span> <span class="o">=</span> <span class="n">cfg_entry_point</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># resolve path to the module location</span>
+            <span class="n">mod_name</span><span class="p">,</span> <span class="n">file_name</span> <span class="o">=</span> <span class="n">cfg_entry_point</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;:&quot;</span><span class="p">)</span>
+            <span class="n">mod_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">importlib</span><span class="o">.</span><span class="n">import_module</span><span class="p">(</span><span class="n">mod_name</span><span class="p">)</span><span class="o">.</span><span class="vm">__file__</span><span class="p">)</span>
+            <span class="c1"># obtain the configuration file path</span>
+            <span class="n">config_file</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">mod_path</span><span class="p">,</span> <span class="n">file_name</span><span class="p">)</span>
+        <span class="c1"># load the configuration</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Parsing configuration from: </span><span class="si">{</span><span class="n">config_file</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">config_file</span><span class="p">,</span> <span class="n">encoding</span><span class="o">=</span><span class="s2">&quot;utf-8&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+            <span class="n">cfg</span> <span class="o">=</span> <span class="n">yaml</span><span class="o">.</span><span class="n">full_load</span><span class="p">(</span><span class="n">f</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">if</span> <span class="nb">callable</span><span class="p">(</span><span class="n">cfg_entry_point</span><span class="p">):</span>
+            <span class="c1"># resolve path to the module location</span>
+            <span class="n">mod_path</span> <span class="o">=</span> <span class="n">inspect</span><span class="o">.</span><span class="n">getfile</span><span class="p">(</span><span class="n">cfg_entry_point</span><span class="p">)</span>
+            <span class="c1"># load the configuration</span>
+            <span class="n">cfg_cls</span> <span class="o">=</span> <span class="n">cfg_entry_point</span><span class="p">()</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg_entry_point</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+            <span class="c1"># resolve path to the module location</span>
+            <span class="n">mod_name</span><span class="p">,</span> <span class="n">attr_name</span> <span class="o">=</span> <span class="n">cfg_entry_point</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;:&quot;</span><span class="p">)</span>
+            <span class="n">mod</span> <span class="o">=</span> <span class="n">importlib</span><span class="o">.</span><span class="n">import_module</span><span class="p">(</span><span class="n">mod_name</span><span class="p">)</span>
+            <span class="n">cfg_cls</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">mod</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">cfg_cls</span> <span class="o">=</span> <span class="n">cfg_entry_point</span>
+        <span class="c1"># load the configuration</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Parsing configuration from: </span><span class="si">{</span><span class="n">cfg_entry_point</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">callable</span><span class="p">(</span><span class="n">cfg_cls</span><span class="p">):</span>
+            <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg_cls</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg_cls</span>
+    <span class="k">return</span> <span class="n">cfg</span></div>
+
+
+<div class="viewcode-block" id="parse_env_cfg"><a class="viewcode-back" href="../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html#omni.isaac.lab_tasks.utils.parse_env_cfg">[docs]</a><span class="k">def</span> <span class="nf">parse_env_cfg</span><span class="p">(</span>
+    <span class="n">task_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">device</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;cuda:0&quot;</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">use_fabric</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ManagerBasedRLEnvCfg</span> <span class="o">|</span> <span class="n">DirectRLEnvCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Parse configuration for an environment and override based on inputs.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        task_name: The name of the environment.</span>
+<span class="sd">        device: The device to run the simulation on. Defaults to &quot;cuda:0&quot;.</span>
+<span class="sd">        num_envs: Number of environments to create. Defaults to None, in which case it is left unchanged.</span>
+<span class="sd">        use_fabric: Whether to enable/disable fabric interface. If false, all read/write operations go through USD.</span>
+<span class="sd">            This slows down the simulation but allows seeing the changes in the USD through the USD stage.</span>
+<span class="sd">            Defaults to None, in which case it is left unchanged.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The parsed configuration object.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        RuntimeError: If the configuration for the task is not a class. We assume users always use a class for the</span>
+<span class="sd">            environment configuration.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># load the default configuration</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">load_cfg_from_registry</span><span class="p">(</span><span class="n">task_name</span><span class="p">,</span> <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">)</span>
+
+    <span class="c1"># check that it is not a dict</span>
+    <span class="c1"># we assume users always use a class for the configuration</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">RuntimeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Configuration for the task: &#39;</span><span class="si">{</span><span class="n">task_name</span><span class="si">}</span><span class="s2">&#39; is not a class. Please provide a class.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># simulation device</span>
+    <span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">device</span>
+    <span class="c1"># disable fabric to read/write through USD</span>
+    <span class="k">if</span> <span class="n">use_fabric</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">use_fabric</span> <span class="o">=</span> <span class="n">use_fabric</span>
+    <span class="c1"># number of environments</span>
+    <span class="k">if</span> <span class="n">num_envs</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">cfg</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="n">num_envs</span>
+
+    <span class="k">return</span> <span class="n">cfg</span></div>
+
+
+<div class="viewcode-block" id="get_checkpoint_path"><a class="viewcode-back" href="../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html#omni.isaac.lab_tasks.utils.get_checkpoint_path">[docs]</a><span class="k">def</span> <span class="nf">get_checkpoint_path</span><span class="p">(</span>
+    <span class="n">log_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">run_dir</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="n">checkpoint</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;.*&quot;</span><span class="p">,</span> <span class="n">other_dirs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">sort_alpha</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Get path to the model checkpoint in input directory.</span>
+
+<span class="sd">    The checkpoint file is resolved as: ``&lt;log_path&gt;/&lt;run_dir&gt;/&lt;*other_dirs&gt;/&lt;checkpoint&gt;``, where the</span>
+<span class="sd">    :attr:`other_dirs` are intermediate folder names to concatenate. These cannot be regex expressions.</span>
+
+<span class="sd">    If :attr:`run_dir` and :attr:`checkpoint` are regex expressions then the most recent (highest alphabetical order)</span>
+<span class="sd">    run and checkpoint are selected. To disable this behavior, set the flag :attr:`sort_alpha` to False.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        log_path: The log directory path to find models in.</span>
+<span class="sd">        run_dir: The regex expression for the name of the directory containing the run. Defaults to the most</span>
+<span class="sd">            recent directory created inside :attr:`log_path`.</span>
+<span class="sd">        other_dirs: The intermediate directories between the run directory and the checkpoint file. Defaults to</span>
+<span class="sd">            None, which implies that checkpoint file is directly under the run directory.</span>
+<span class="sd">        checkpoint: The regex expression for the model checkpoint file. Defaults to the most recent</span>
+<span class="sd">            torch-model saved in the :attr:`run_dir` directory.</span>
+<span class="sd">        sort_alpha: Whether to sort the runs by alphabetical order. Defaults to True.</span>
+<span class="sd">            If False, the folders in :attr:`run_dir` are sorted by the last modified time.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        The path to the model checkpoint.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When no runs are found in the input directory.</span>
+<span class="sd">        ValueError: When no checkpoints are found in the input directory.</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check if runs present in directory</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="c1"># find all runs in the directory that math the regex expression</span>
+        <span class="n">runs</span> <span class="o">=</span> <span class="p">[</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_path</span><span class="p">,</span> <span class="n">run</span><span class="p">)</span> <span class="k">for</span> <span class="n">run</span> <span class="ow">in</span> <span class="n">os</span><span class="o">.</span><span class="n">scandir</span><span class="p">(</span><span class="n">log_path</span><span class="p">)</span> <span class="k">if</span> <span class="n">run</span><span class="o">.</span><span class="n">is_dir</span><span class="p">()</span> <span class="ow">and</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="n">run_dir</span><span class="p">,</span> <span class="n">run</span><span class="o">.</span><span class="n">name</span><span class="p">)</span>
+        <span class="p">]</span>
+        <span class="c1"># sort matched runs by alphabetical order (latest run should be last)</span>
+        <span class="k">if</span> <span class="n">sort_alpha</span><span class="p">:</span>
+            <span class="n">runs</span><span class="o">.</span><span class="n">sort</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">runs</span> <span class="o">=</span> <span class="nb">sorted</span><span class="p">(</span><span class="n">runs</span><span class="p">,</span> <span class="n">key</span><span class="o">=</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">getmtime</span><span class="p">)</span>
+        <span class="c1"># create last run file path</span>
+        <span class="k">if</span> <span class="n">other_dirs</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">run_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">runs</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">],</span> <span class="o">*</span><span class="n">other_dirs</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">run_path</span> <span class="o">=</span> <span class="n">runs</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+    <span class="k">except</span> <span class="ne">IndexError</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;No runs present in the directory: &#39;</span><span class="si">{</span><span class="n">log_path</span><span class="si">}</span><span class="s2">&#39; match: &#39;</span><span class="si">{</span><span class="n">run_dir</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># list all model checkpoints in the directory</span>
+    <span class="n">model_checkpoints</span> <span class="o">=</span> <span class="p">[</span><span class="n">f</span> <span class="k">for</span> <span class="n">f</span> <span class="ow">in</span> <span class="n">os</span><span class="o">.</span><span class="n">listdir</span><span class="p">(</span><span class="n">run_path</span><span class="p">)</span> <span class="k">if</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="n">checkpoint</span><span class="p">,</span> <span class="n">f</span><span class="p">)]</span>
+    <span class="c1"># check if any checkpoints are present</span>
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">model_checkpoints</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;No checkpoints in the directory: &#39;</span><span class="si">{</span><span class="n">run_path</span><span class="si">}</span><span class="s2">&#39; match &#39;</span><span class="si">{</span><span class="n">checkpoint</span><span class="si">}</span><span class="s2">&#39;.&quot;</span><span class="p">)</span>
+    <span class="c1"># sort alphabetically while ensuring that *_10 comes after *_9</span>
+    <span class="n">model_checkpoints</span><span class="o">.</span><span class="n">sort</span><span class="p">(</span><span class="n">key</span><span class="o">=</span><span class="k">lambda</span> <span class="n">m</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">m</span><span class="si">:</span><span class="s2">0&gt;15</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="c1"># get latest matched checkpoint file</span>
+    <span class="n">checkpoint_file</span> <span class="o">=</span> <span class="n">model_checkpoints</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span>
+
+    <span class="k">return</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">run_path</span><span class="p">,</span> <span class="n">checkpoint_file</span><span class="p">)</span></div>
+</pre></div>
+
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diff --git a/v1.4.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html b/v1.4.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html
new file mode 100644
index 0000000000..3787714cbb
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html
@@ -0,0 +1,939 @@
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+  <h1>Source code for omni.isaac.lab_tasks.utils.wrappers.rl_games</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Wrapper to configure a :class:`ManagerBasedRLEnv` or :class:`DirectRlEnv` instance to RL-Games vectorized environment.</span>
+
+<span class="sd">The following example shows how to wrap an environment for RL-Games and register the environment construction</span>
+<span class="sd">for RL-Games :class:`Runner` class:</span>
+
+<span class="sd">.. code-block:: python</span>
+
+<span class="sd">    from rl_games.common import env_configurations, vecenv</span>
+
+<span class="sd">    from omni.isaac.lab_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper</span>
+
+<span class="sd">    # configuration parameters</span>
+<span class="sd">    rl_device = &quot;cuda:0&quot;</span>
+<span class="sd">    clip_obs = 10.0</span>
+<span class="sd">    clip_actions = 1.0</span>
+
+<span class="sd">    # wrap around environment for rl-games</span>
+<span class="sd">    env = RlGamesVecEnvWrapper(env, rl_device, clip_obs, clip_actions)</span>
+
+<span class="sd">    # register the environment to rl-games registry</span>
+<span class="sd">    # note: in agents configuration: environment name must be &quot;rlgpu&quot;</span>
+<span class="sd">    vecenv.register(</span>
+<span class="sd">        &quot;IsaacRlgWrapper&quot;, lambda config_name, num_actors, **kwargs: RlGamesGpuEnv(config_name, num_actors, **kwargs)</span>
+<span class="sd">    )</span>
+<span class="sd">    env_configurations.register(&quot;rlgpu&quot;, {&quot;vecenv_type&quot;: &quot;IsaacRlgWrapper&quot;, &quot;env_creator&quot;: lambda **kwargs: env})</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="c1"># needed to import for allowing type-hinting:gym.spaces.Box | None</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">gym.spaces</span>  <span class="c1"># needed for rl-games incompatibility: https://github.com/Denys88/rl_games/issues/261</span>
+<span class="kn">import</span> <span class="nn">gymnasium</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+
+<span class="kn">from</span> <span class="nn">rl_games.common</span> <span class="kn">import</span> <span class="n">env_configurations</span>
+<span class="kn">from</span> <span class="nn">rl_games.common.vecenv</span> <span class="kn">import</span> <span class="n">IVecEnv</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">DirectRLEnv</span><span class="p">,</span> <span class="n">ManagerBasedRLEnv</span><span class="p">,</span> <span class="n">VecEnvObs</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Vectorized environment wrapper.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="RlGamesVecEnvWrapper"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper">[docs]</a><span class="k">class</span> <span class="nc">RlGamesVecEnvWrapper</span><span class="p">(</span><span class="n">IVecEnv</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Wraps around Isaac Lab environment for RL-Games.</span>
+
+<span class="sd">    This class wraps around the Isaac Lab environment. Since RL-Games works directly on</span>
+<span class="sd">    GPU buffers, the wrapper handles moving of buffers from the simulation environment</span>
+<span class="sd">    to the same device as the learning agent. Additionally, it performs clipping of</span>
+<span class="sd">    observations and actions.</span>
+
+<span class="sd">    For algorithms like asymmetric actor-critic, RL-Games expects a dictionary for</span>
+<span class="sd">    observations. This dictionary contains &quot;obs&quot; and &quot;states&quot; which typically correspond</span>
+<span class="sd">    to the actor and critic observations respectively.</span>
+
+<span class="sd">    To use asymmetric actor-critic, the environment observations from :class:`ManagerBasedRLEnv` or :class:`DirectRLEnv`</span>
+<span class="sd">    must have the key or group name &quot;critic&quot;. The observation group is used to set the</span>
+<span class="sd">    :attr:`num_states` (int) and :attr:`state_space` (:obj:`gym.spaces.Box`). These are</span>
+<span class="sd">    used by the learning agent in RL-Games to allocate buffers in the trajectory memory.</span>
+<span class="sd">    Since this is optional for some environments, the wrapper checks if these attributes exist.</span>
+<span class="sd">    If they don&#39;t then the wrapper defaults to zero as number of privileged observations.</span>
+
+<span class="sd">    .. caution::</span>
+
+<span class="sd">        This class must be the last wrapper in the wrapper chain. This is because the wrapper does not follow</span>
+<span class="sd">        the :class:`gym.Wrapper` interface. Any subsequent wrappers will need to be modified to work with this</span>
+<span class="sd">        wrapper.</span>
+
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://github.com/Denys88/rl_games/blob/master/rl_games/common/ivecenv.py</span>
+<span class="sd">        https://github.com/NVIDIA-Omniverse/IsaacGymEnvs</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RlGamesVecEnvWrapper.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span> <span class="o">|</span> <span class="n">DirectRLEnv</span><span class="p">,</span> <span class="n">rl_device</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">clip_obs</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">clip_actions</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the wrapper instance.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env: The environment to wrap around.</span>
+<span class="sd">            rl_device: The device on which agent computations are performed.</span>
+<span class="sd">            clip_obs: The clipping value for observations.</span>
+<span class="sd">            clip_actions: The clipping value for actions.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: The environment is not inherited from :class:`ManagerBasedRLEnv` or :class:`DirectRLEnv`.</span>
+<span class="sd">            ValueError: If specified, the privileged observations (critic) are not of type :obj:`gym.spaces.Box`.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that input is valid</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="n">ManagerBasedRLEnv</span><span class="p">)</span> <span class="ow">and</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="n">DirectRLEnv</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="s2">&quot;The environment must be inherited from ManagerBasedRLEnv or DirectRLEnv. Environment type:&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">env</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># initialize the wrapper</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">env</span> <span class="o">=</span> <span class="n">env</span>
+        <span class="c1"># store provided arguments</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_rl_device</span> <span class="o">=</span> <span class="n">rl_device</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_clip_obs</span> <span class="o">=</span> <span class="n">clip_obs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_clip_actions</span> <span class="o">=</span> <span class="n">clip_actions</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_device</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">device</span>
+        <span class="c1"># information for privileged observations</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">rlg_num_states</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">rlg_num_states</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span><span class="o">.</span><span class="n">shape</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the wrapper name and the :attr:`env` representation string.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;&lt;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}{</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="si">}</span><span class="s2">&gt;&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Observations clipping: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_clip_obs</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Actions clipping     : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_clip_actions</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Agent device         : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_rl_device</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="se">\n\t</span><span class="s2">Asymmetric-learning  : </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">rlg_num_states</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="mi">0</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+    <span class="k">def</span> <span class="fm">__repr__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the string representation of the wrapper.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">str</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties -- Gym.Wrapper</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">render_mode</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the :attr:`Env` :attr:`render_mode`.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">render_mode</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">observation_space</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the :attr:`Env` :attr:`observation_space`.&quot;&quot;&quot;</span>
+        <span class="c1"># note: rl-games only wants single observation space</span>
+        <span class="n">policy_obs_space</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">]</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">policy_obs_space</span><span class="p">,</span> <span class="n">gymnasium</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;The RL-Games wrapper does not currently support observation space: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">policy_obs_space</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; If you need to support this, please modify the wrapper: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">,&quot;</span>
+                <span class="s2">&quot; and if you are nice, please send a merge-request.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># note: maybe should check if we are a sub-set of the actual space. don&#39;t do it right now since</span>
+        <span class="c1">#   in ManagerBasedRLEnv we are setting action space as (-inf, inf).</span>
+        <span class="k">return</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">(</span><span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">_clip_obs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_clip_obs</span><span class="p">,</span> <span class="n">policy_obs_space</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">action_space</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">gym</span><span class="o">.</span><span class="n">Space</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the :attr:`Env` :attr:`action_space`.&quot;&quot;&quot;</span>
+        <span class="c1"># note: rl-games only wants single action space</span>
+        <span class="n">action_space</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">single_action_space</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">action_space</span><span class="p">,</span> <span class="n">gymnasium</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;The RL-Games wrapper does not currently support action space: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">action_space</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; If you need to support this, please modify the wrapper: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">,&quot;</span>
+                <span class="s2">&quot; and if you are nice, please send a merge-request.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># return casted space in gym.spaces.Box (OpenAI Gym)</span>
+        <span class="c1"># note: maybe should check if we are a sub-set of the actual space. don&#39;t do it right now since</span>
+        <span class="c1">#   in ManagerBasedRLEnv we are setting action space as (-inf, inf).</span>
+        <span class="k">return</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">(</span><span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">_clip_actions</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_clip_actions</span><span class="p">,</span> <span class="n">action_space</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+
+<div class="viewcode-block" id="RlGamesVecEnvWrapper.class_name"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.class_name">[docs]</a>    <span class="nd">@classmethod</span>
+    <span class="k">def</span> <span class="nf">class_name</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the class name of the wrapper.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">cls</span><span class="o">.</span><span class="vm">__name__</span></div>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">unwrapped</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ManagerBasedRLEnv</span> <span class="o">|</span> <span class="n">DirectRLEnv</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the base environment of the wrapper.</span>
+
+<span class="sd">        This will be the bare :class:`gymnasium.Env` environment, underneath all layers of wrappers.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">num_envs</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the number of sub-environment instances.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">num_envs</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">device</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the base environment simulation device.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">device</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">state_space</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the :attr:`Env` :attr:`observation_space`.&quot;&quot;&quot;</span>
+        <span class="c1"># note: rl-games only wants single observation space</span>
+        <span class="n">critic_obs_space</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">single_observation_space</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;critic&quot;</span><span class="p">)</span>
+        <span class="c1"># check if we even have a critic obs</span>
+        <span class="k">if</span> <span class="n">critic_obs_space</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">return</span> <span class="kc">None</span>
+        <span class="k">elif</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">critic_obs_space</span><span class="p">,</span> <span class="n">gymnasium</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span>
+                <span class="sa">f</span><span class="s2">&quot;The RL-Games wrapper does not currently support state space: &#39;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">critic_obs_space</span><span class="p">)</span><span class="si">}</span><span class="s2">&#39;.&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; If you need to support this, please modify the wrapper: </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="vm">__class__</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">,&quot;</span>
+                <span class="s2">&quot; and if you are nice, please send a merge-request.&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># return casted space in gym.spaces.Box (OpenAI Gym)</span>
+        <span class="c1"># note: maybe should check if we are a sub-set of the actual space. don&#39;t do it right now since</span>
+        <span class="c1">#   in ManagerBasedRLEnv we are setting action space as (-inf, inf).</span>
+        <span class="k">return</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">(</span><span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">_clip_obs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_clip_obs</span><span class="p">,</span> <span class="n">critic_obs_space</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+
+<div class="viewcode-block" id="RlGamesVecEnvWrapper.get_number_of_agents"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_number_of_agents">[docs]</a>    <span class="k">def</span> <span class="nf">get_number_of_agents</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns number of actors in the environment.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">getattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;num_agents&quot;</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="RlGamesVecEnvWrapper.get_env_info"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_env_info">[docs]</a>    <span class="k">def</span> <span class="nf">get_env_info</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the Gym spaces for the environment.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="p">{</span>
+            <span class="s2">&quot;observation_space&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">observation_space</span><span class="p">,</span>
+            <span class="s2">&quot;action_space&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_space</span><span class="p">,</span>
+            <span class="s2">&quot;state_space&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">state_space</span><span class="p">,</span>
+        <span class="p">}</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - MDP</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">seed</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="n">obs_dict</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+        <span class="c1"># process observations and states</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_obs</span><span class="p">(</span><span class="n">obs_dict</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="c1"># move actions to sim-device</span>
+        <span class="n">actions</span> <span class="o">=</span> <span class="n">actions</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_sim_device</span><span class="p">)</span>
+        <span class="c1"># clip the actions</span>
+        <span class="n">actions</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clamp</span><span class="p">(</span><span class="n">actions</span><span class="p">,</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">_clip_actions</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_clip_actions</span><span class="p">)</span>
+        <span class="c1"># perform environment step</span>
+        <span class="n">obs_dict</span><span class="p">,</span> <span class="n">rew</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">extras</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">actions</span><span class="p">)</span>
+
+        <span class="c1"># move time out information to the extras dict</span>
+        <span class="c1"># this is only needed for infinite horizon tasks</span>
+        <span class="c1"># note: only useful when `value_bootstrap` is True in the agent configuration</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">is_finite_horizon</span><span class="p">:</span>
+            <span class="n">extras</span><span class="p">[</span><span class="s2">&quot;time_outs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">truncated</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_rl_device</span><span class="p">)</span>
+        <span class="c1"># process observations and states</span>
+        <span class="n">obs_and_states</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_obs</span><span class="p">(</span><span class="n">obs_dict</span><span class="p">)</span>
+        <span class="c1"># move buffers to rl-device</span>
+        <span class="c1"># note: we perform clone to prevent issues when rl-device and sim-device are the same.</span>
+        <span class="n">rew</span> <span class="o">=</span> <span class="n">rew</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_rl_device</span><span class="p">)</span>
+        <span class="n">dones</span> <span class="o">=</span> <span class="p">(</span><span class="n">terminated</span> <span class="o">|</span> <span class="n">truncated</span><span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_rl_device</span><span class="p">)</span>
+        <span class="n">extras</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="n">k</span><span class="p">:</span> <span class="n">v</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_rl_device</span><span class="p">,</span> <span class="n">non_blocking</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span> <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">v</span><span class="p">,</span> <span class="s2">&quot;to&quot;</span><span class="p">)</span> <span class="k">else</span> <span class="n">v</span> <span class="k">for</span> <span class="n">k</span><span class="p">,</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">extras</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+        <span class="p">}</span>
+        <span class="c1"># remap extras from &quot;log&quot; to &quot;episode&quot;</span>
+        <span class="k">if</span> <span class="s2">&quot;log&quot;</span> <span class="ow">in</span> <span class="n">extras</span><span class="p">:</span>
+            <span class="n">extras</span><span class="p">[</span><span class="s2">&quot;episode&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">extras</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;log&quot;</span><span class="p">)</span>
+
+        <span class="k">return</span> <span class="n">obs_and_states</span><span class="p">,</span> <span class="n">rew</span><span class="p">,</span> <span class="n">dones</span><span class="p">,</span> <span class="n">extras</span>
+
+    <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_process_obs</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">obs_dict</span><span class="p">:</span> <span class="n">VecEnvObs</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Processing of the observations and states from the environment.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            States typically refers to privileged observations for the critic function. It is typically used in</span>
+<span class="sd">            asymmetric actor-critic algorithms.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            obs_dict: The current observations from environment.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            If environment provides states, then a dictionary containing the observations and states is returned.</span>
+<span class="sd">            Otherwise just the observations tensor is returned.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># process policy obs</span>
+        <span class="n">obs</span> <span class="o">=</span> <span class="n">obs_dict</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">]</span>
+        <span class="c1"># clip the observations</span>
+        <span class="n">obs</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clamp</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">_clip_obs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_clip_obs</span><span class="p">)</span>
+        <span class="c1"># move the buffer to rl-device</span>
+        <span class="n">obs</span> <span class="o">=</span> <span class="n">obs</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_rl_device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+        <span class="c1"># check if asymmetric actor-critic or not</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">rlg_num_states</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="c1"># acquire states from the environment if it exists</span>
+            <span class="k">try</span><span class="p">:</span>
+                <span class="n">states</span> <span class="o">=</span> <span class="n">obs_dict</span><span class="p">[</span><span class="s2">&quot;critic&quot;</span><span class="p">]</span>
+            <span class="k">except</span> <span class="ne">AttributeError</span><span class="p">:</span>
+                <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="s2">&quot;Environment does not define key &#39;critic&#39; for privileged observations.&quot;</span><span class="p">)</span>
+            <span class="c1"># clip the states</span>
+            <span class="n">states</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">clamp</span><span class="p">(</span><span class="n">states</span><span class="p">,</span> <span class="o">-</span><span class="bp">self</span><span class="o">.</span><span class="n">_clip_obs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_clip_obs</span><span class="p">)</span>
+            <span class="c1"># move buffers to rl-device</span>
+            <span class="n">states</span> <span class="o">=</span> <span class="n">states</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_rl_device</span><span class="p">)</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="c1"># convert to dictionary</span>
+            <span class="k">return</span> <span class="p">{</span><span class="s2">&quot;obs&quot;</span><span class="p">:</span> <span class="n">obs</span><span class="p">,</span> <span class="s2">&quot;states&quot;</span><span class="p">:</span> <span class="n">states</span><span class="p">}</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">return</span> <span class="n">obs</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Environment Handler.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="RlGamesGpuEnv"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv">[docs]</a><span class="k">class</span> <span class="nc">RlGamesGpuEnv</span><span class="p">(</span><span class="n">IVecEnv</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Thin wrapper to create instance of the environment to fit RL-Games runner.&quot;&quot;&quot;</span>
+
+    <span class="c1"># TODO: Adding this for now but do we really need this?</span>
+
+<div class="viewcode-block" id="RlGamesGpuEnv.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">config_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">num_actors</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the environment.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            config_name: The name of the environment configuration.</span>
+<span class="sd">            num_actors: The number of actors in the environment. This is not used in this wrapper.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="p">:</span> <span class="n">RlGamesVecEnvWrapper</span> <span class="o">=</span> <span class="n">env_configurations</span><span class="o">.</span><span class="n">configurations</span><span class="p">[</span><span class="n">config_name</span><span class="p">][</span><span class="s2">&quot;env_creator&quot;</span><span class="p">](</span><span class="o">**</span><span class="n">kwargs</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">action</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+
+<div class="viewcode-block" id="RlGamesGpuEnv.get_number_of_agents"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents">[docs]</a>    <span class="k">def</span> <span class="nf">get_number_of_agents</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get number of agents in the environment.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The number of agents in the environment.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">get_number_of_agents</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="RlGamesGpuEnv.get_env_info"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info">[docs]</a>    <span class="k">def</span> <span class="nf">get_env_info</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get the Gym spaces for the environment.</span>
+
+<span class="sd">        Returns:</span>
+<span class="sd">            The Gym spaces for the environment.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">get_env_info</span><span class="p">()</span></div></div>
+</pre></div>
+
+                </article>
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+</details></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+  <h1>Source code for omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">copy</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+
+
+<div class="viewcode-block" id="export_policy_as_jit"><a class="viewcode-back" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_jit">[docs]</a><span class="k">def</span> <span class="nf">export_policy_as_jit</span><span class="p">(</span><span class="n">actor_critic</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">normalizer</span><span class="p">:</span> <span class="nb">object</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span> <span class="n">path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">filename</span><span class="o">=</span><span class="s2">&quot;policy.pt&quot;</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Export policy into a Torch JIT file.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        actor_critic: The actor-critic torch module.</span>
+<span class="sd">        normalizer: The empirical normalizer module. If None, Identity is used.</span>
+<span class="sd">        path: The path to the saving directory.</span>
+<span class="sd">        filename: The name of exported JIT file. Defaults to &quot;policy.pt&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">policy_exporter</span> <span class="o">=</span> <span class="n">_TorchPolicyExporter</span><span class="p">(</span><span class="n">actor_critic</span><span class="p">,</span> <span class="n">normalizer</span><span class="p">)</span>
+    <span class="n">policy_exporter</span><span class="o">.</span><span class="n">export</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="n">filename</span><span class="p">)</span></div>
+
+
+<div class="viewcode-block" id="export_policy_as_onnx"><a class="viewcode-back" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_onnx">[docs]</a><span class="k">def</span> <span class="nf">export_policy_as_onnx</span><span class="p">(</span>
+    <span class="n">actor_critic</span><span class="p">:</span> <span class="nb">object</span><span class="p">,</span> <span class="n">path</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">normalizer</span><span class="p">:</span> <span class="nb">object</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">filename</span><span class="o">=</span><span class="s2">&quot;policy.onnx&quot;</span><span class="p">,</span> <span class="n">verbose</span><span class="o">=</span><span class="kc">False</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Export policy into a Torch ONNX file.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        actor_critic: The actor-critic torch module.</span>
+<span class="sd">        normalizer: The empirical normalizer module. If None, Identity is used.</span>
+<span class="sd">        path: The path to the saving directory.</span>
+<span class="sd">        filename: The name of exported ONNX file. Defaults to &quot;policy.onnx&quot;.</span>
+<span class="sd">        verbose: Whether to print the model summary. Defaults to False.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">path</span><span class="p">):</span>
+        <span class="n">os</span><span class="o">.</span><span class="n">makedirs</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="n">exist_ok</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="n">policy_exporter</span> <span class="o">=</span> <span class="n">_OnnxPolicyExporter</span><span class="p">(</span><span class="n">actor_critic</span><span class="p">,</span> <span class="n">normalizer</span><span class="p">,</span> <span class="n">verbose</span><span class="p">)</span>
+    <span class="n">policy_exporter</span><span class="o">.</span><span class="n">export</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="n">filename</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Helper Classes - Private.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="k">class</span> <span class="nc">_TorchPolicyExporter</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">Module</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Exporter of actor-critic into JIT file.&quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actor_critic</span><span class="p">,</span> <span class="n">normalizer</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">actor</span> <span class="o">=</span> <span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">actor_critic</span><span class="o">.</span><span class="n">actor</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">is_recurrent</span> <span class="o">=</span> <span class="n">actor_critic</span><span class="o">.</span><span class="n">is_recurrent</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">is_recurrent</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span> <span class="o">=</span> <span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">actor_critic</span><span class="o">.</span><span class="n">memory_a</span><span class="o">.</span><span class="n">rnn</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">register_buffer</span><span class="p">(</span><span class="s2">&quot;hidden_state&quot;</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">num_layers</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">hidden_size</span><span class="p">))</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">register_buffer</span><span class="p">(</span><span class="s2">&quot;cell_state&quot;</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">num_layers</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">hidden_size</span><span class="p">))</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">forward</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">forward_lstm</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">reset</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_memory</span>
+        <span class="c1"># copy normalizer if exists</span>
+        <span class="k">if</span> <span class="n">normalizer</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">normalizer</span> <span class="o">=</span> <span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">normalizer</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">normalizer</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">Identity</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">forward_lstm</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">x</span><span class="p">):</span>
+        <span class="n">x</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">normalizer</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
+        <span class="n">x</span><span class="p">,</span> <span class="p">(</span><span class="n">h</span><span class="p">,</span> <span class="n">c</span><span class="p">)</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="p">(</span><span class="n">x</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">),</span> <span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">hidden_state</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cell_state</span><span class="p">))</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">hidden_state</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">h</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cell_state</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">c</span>
+        <span class="n">x</span> <span class="o">=</span> <span class="n">x</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">actor</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">forward</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">x</span><span class="p">):</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">actor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">normalizer</span><span class="p">(</span><span class="n">x</span><span class="p">))</span>
+
+    <span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">export</span>
+    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="k">pass</span>
+
+    <span class="k">def</span> <span class="nf">reset_memory</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">hidden_state</span><span class="p">[:]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cell_state</span><span class="p">[:]</span> <span class="o">=</span> <span class="mf">0.0</span>
+
+    <span class="k">def</span> <span class="nf">export</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">path</span><span class="p">,</span> <span class="n">filename</span><span class="p">):</span>
+        <span class="n">os</span><span class="o">.</span><span class="n">makedirs</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="n">exist_ok</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+        <span class="n">path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="n">filename</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+        <span class="n">traced_script_module</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
+        <span class="n">traced_script_module</span><span class="o">.</span><span class="n">save</span><span class="p">(</span><span class="n">path</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">_OnnxPolicyExporter</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">Module</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Exporter of actor-critic into ONNX file.&quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actor_critic</span><span class="p">,</span> <span class="n">normalizer</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">verbose</span><span class="o">=</span><span class="kc">False</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">verbose</span> <span class="o">=</span> <span class="n">verbose</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">actor</span> <span class="o">=</span> <span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">actor_critic</span><span class="o">.</span><span class="n">actor</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">is_recurrent</span> <span class="o">=</span> <span class="n">actor_critic</span><span class="o">.</span><span class="n">is_recurrent</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">is_recurrent</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span> <span class="o">=</span> <span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">actor_critic</span><span class="o">.</span><span class="n">memory_a</span><span class="o">.</span><span class="n">rnn</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">forward</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">forward_lstm</span>
+        <span class="c1"># copy normalizer if exists</span>
+        <span class="k">if</span> <span class="n">normalizer</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">normalizer</span> <span class="o">=</span> <span class="n">copy</span><span class="o">.</span><span class="n">deepcopy</span><span class="p">(</span><span class="n">normalizer</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">normalizer</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">Identity</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">forward_lstm</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">x_in</span><span class="p">,</span> <span class="n">h_in</span><span class="p">,</span> <span class="n">c_in</span><span class="p">):</span>
+        <span class="n">x_in</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">normalizer</span><span class="p">(</span><span class="n">x_in</span><span class="p">)</span>
+        <span class="n">x</span><span class="p">,</span> <span class="p">(</span><span class="n">h</span><span class="p">,</span> <span class="n">c</span><span class="p">)</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="p">(</span><span class="n">x_in</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">0</span><span class="p">),</span> <span class="p">(</span><span class="n">h_in</span><span class="p">,</span> <span class="n">c_in</span><span class="p">))</span>
+        <span class="n">x</span> <span class="o">=</span> <span class="n">x</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">actor</span><span class="p">(</span><span class="n">x</span><span class="p">),</span> <span class="n">h</span><span class="p">,</span> <span class="n">c</span>
+
+    <span class="k">def</span> <span class="nf">forward</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">x</span><span class="p">):</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">actor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">normalizer</span><span class="p">(</span><span class="n">x</span><span class="p">))</span>
+
+    <span class="k">def</span> <span class="nf">export</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">path</span><span class="p">,</span> <span class="n">filename</span><span class="p">):</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="s2">&quot;cpu&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">is_recurrent</span><span class="p">:</span>
+            <span class="n">obs</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">input_size</span><span class="p">)</span>
+            <span class="n">h_in</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">num_layers</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">hidden_size</span><span class="p">)</span>
+            <span class="n">c_in</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">num_layers</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">rnn</span><span class="o">.</span><span class="n">hidden_size</span><span class="p">)</span>
+            <span class="n">actions</span><span class="p">,</span> <span class="n">h_out</span><span class="p">,</span> <span class="n">c_out</span> <span class="o">=</span> <span class="bp">self</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="n">h_in</span><span class="p">,</span> <span class="n">c_in</span><span class="p">)</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">onnx</span><span class="o">.</span><span class="n">export</span><span class="p">(</span>
+                <span class="bp">self</span><span class="p">,</span>
+                <span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="n">h_in</span><span class="p">,</span> <span class="n">c_in</span><span class="p">),</span>
+                <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="n">filename</span><span class="p">),</span>
+                <span class="n">export_params</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+                <span class="n">opset_version</span><span class="o">=</span><span class="mi">11</span><span class="p">,</span>
+                <span class="n">verbose</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">verbose</span><span class="p">,</span>
+                <span class="n">input_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;obs&quot;</span><span class="p">,</span> <span class="s2">&quot;h_in&quot;</span><span class="p">,</span> <span class="s2">&quot;c_in&quot;</span><span class="p">],</span>
+                <span class="n">output_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;actions&quot;</span><span class="p">,</span> <span class="s2">&quot;h_out&quot;</span><span class="p">,</span> <span class="s2">&quot;c_out&quot;</span><span class="p">],</span>
+                <span class="n">dynamic_axes</span><span class="o">=</span><span class="p">{},</span>
+            <span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">obs</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">actor</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">in_features</span><span class="p">)</span>
+            <span class="n">torch</span><span class="o">.</span><span class="n">onnx</span><span class="o">.</span><span class="n">export</span><span class="p">(</span>
+                <span class="bp">self</span><span class="p">,</span>
+                <span class="n">obs</span><span class="p">,</span>
+                <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">path</span><span class="p">,</span> <span class="n">filename</span><span class="p">),</span>
+                <span class="n">export_params</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+                <span class="n">opset_version</span><span class="o">=</span><span class="mi">11</span><span class="p">,</span>
+                <span class="n">verbose</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">verbose</span><span class="p">,</span>
+                <span class="n">input_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;obs&quot;</span><span class="p">],</span>
+                <span class="n">output_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;actions&quot;</span><span class="p">],</span>
+                <span class="n">dynamic_axes</span><span class="o">=</span><span class="p">{},</span>
+            <span class="p">)</span>
+</pre></div>
+
+                </article>
+              
+
+              
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+    
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diff --git a/v1.4.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html b/v1.4.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html
new file mode 100644
index 0000000000..d3292c2b21
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html
@@ -0,0 +1,738 @@
+
+
+<!DOCTYPE html>
+
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+  <head>
+    <meta charset="utf-8" />
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+  
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+  <h1>Source code for omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+
+<div class="viewcode-block" id="RslRlPpoActorCriticCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RslRlPpoActorCriticCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the PPO actor-critic networks.&quot;&quot;&quot;</span>
+
+    <span class="n">class_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;ActorCritic&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The policy class name. Default is ActorCritic.&quot;&quot;&quot;</span>
+
+    <span class="n">init_noise_std</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The initial noise standard deviation for the policy.&quot;&quot;&quot;</span>
+
+    <span class="n">actor_hidden_dims</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The hidden dimensions of the actor network.&quot;&quot;&quot;</span>
+
+    <span class="n">critic_hidden_dims</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The hidden dimensions of the critic network.&quot;&quot;&quot;</span>
+
+    <span class="n">activation</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The activation function for the actor and critic networks.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="RslRlPpoAlgorithmCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RslRlPpoAlgorithmCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the PPO algorithm.&quot;&quot;&quot;</span>
+
+    <span class="n">class_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;PPO&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The algorithm class name. Default is PPO.&quot;&quot;&quot;</span>
+
+    <span class="n">value_loss_coef</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The coefficient for the value loss.&quot;&quot;&quot;</span>
+
+    <span class="n">use_clipped_value_loss</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to use clipped value loss.&quot;&quot;&quot;</span>
+
+    <span class="n">clip_param</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The clipping parameter for the policy.&quot;&quot;&quot;</span>
+
+    <span class="n">entropy_coef</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The coefficient for the entropy loss.&quot;&quot;&quot;</span>
+
+    <span class="n">num_learning_epochs</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The number of learning epochs per update.&quot;&quot;&quot;</span>
+
+    <span class="n">num_mini_batches</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The number of mini-batches per update.&quot;&quot;&quot;</span>
+
+    <span class="n">learning_rate</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The learning rate for the policy.&quot;&quot;&quot;</span>
+
+    <span class="n">schedule</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The learning rate schedule.&quot;&quot;&quot;</span>
+
+    <span class="n">gamma</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The discount factor.&quot;&quot;&quot;</span>
+
+    <span class="n">lam</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The lambda parameter for Generalized Advantage Estimation (GAE).&quot;&quot;&quot;</span>
+
+    <span class="n">desired_kl</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The desired KL divergence.&quot;&quot;&quot;</span>
+
+    <span class="n">max_grad_norm</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The maximum gradient norm.&quot;&quot;&quot;</span></div>
+
+
+<div class="viewcode-block" id="RslRlOnPolicyRunnerCfg"><a class="viewcode-back" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg">[docs]</a><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RslRlOnPolicyRunnerCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration of the runner for on-policy algorithms.&quot;&quot;&quot;</span>
+
+    <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">42</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The seed for the experiment. Default is 42.&quot;&quot;&quot;</span>
+
+    <span class="n">device</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;cuda:0&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The device for the rl-agent. Default is cuda:0.&quot;&quot;&quot;</span>
+
+    <span class="n">num_steps_per_env</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The number of steps per environment per update.&quot;&quot;&quot;</span>
+
+    <span class="n">max_iterations</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The maximum number of iterations.&quot;&quot;&quot;</span>
+
+    <span class="n">empirical_normalization</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to use empirical normalization.&quot;&quot;&quot;</span>
+
+    <span class="n">policy</span><span class="p">:</span> <span class="n">RslRlPpoActorCriticCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The policy configuration.&quot;&quot;&quot;</span>
+
+    <span class="n">algorithm</span><span class="p">:</span> <span class="n">RslRlPpoAlgorithmCfg</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The algorithm configuration.&quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Checkpointing parameters</span>
+    <span class="c1">##</span>
+
+    <span class="n">save_interval</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The number of iterations between saves.&quot;&quot;&quot;</span>
+
+    <span class="n">experiment_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="n">MISSING</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The experiment name.&quot;&quot;&quot;</span>
+
+    <span class="n">run_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The run name. Default is empty string.</span>
+
+<span class="sd">    The name of the run directory is typically the time-stamp at execution. If the run name is not empty,</span>
+<span class="sd">    then it is appended to the run directory&#39;s name, i.e. the logging directory&#39;s name will become</span>
+<span class="sd">    ``{time-stamp}_{run_name}``.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Logging parameters</span>
+    <span class="c1">##</span>
+
+    <span class="n">logger</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;tensorboard&quot;</span><span class="p">,</span> <span class="s2">&quot;neptune&quot;</span><span class="p">,</span> <span class="s2">&quot;wandb&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;tensorboard&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The logger to use. Default is tensorboard.&quot;&quot;&quot;</span>
+
+    <span class="n">neptune_project</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;isaaclab&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The neptune project name. Default is &quot;isaaclab&quot;.&quot;&quot;&quot;</span>
+
+    <span class="n">wandb_project</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;isaaclab&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The wandb project name. Default is &quot;isaaclab&quot;.&quot;&quot;&quot;</span>
+
+    <span class="c1">##</span>
+    <span class="c1"># Loading parameters</span>
+    <span class="c1">##</span>
+
+    <span class="n">resume</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Whether to resume. Default is False.&quot;&quot;&quot;</span>
+
+    <span class="n">load_run</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;.*&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The run directory to load. Default is &quot;.*&quot; (all).</span>
+
+<span class="sd">    If regex expression, the latest (alphabetical order) matching run will be loaded.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">load_checkpoint</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;model_.*.pt&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The checkpoint file to load. Default is ``&quot;model_.*.pt&quot;`` (all).</span>
+
+<span class="sd">    If regex expression, the latest (alphabetical order) matching file will be loaded.</span>
+<span class="sd">    &quot;&quot;&quot;</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html b/v1.4.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html
new file mode 100644
index 0000000000..06bcb906a7
--- /dev/null
+++ b/v1.4.0/_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html
@@ -0,0 +1,781 @@
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+  <h1>Source code for omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Wrapper to configure a :class:`ManagerBasedRLEnv` or :class:`DirectRlEnv` instance to RSL-RL vectorized environment.</span>
+
+<span class="sd">The following example shows how to wrap an environment for RSL-RL:</span>
+
+<span class="sd">.. code-block:: python</span>
+
+<span class="sd">    from omni.isaac.lab_tasks.utils.wrappers.rsl_rl import RslRlVecEnvWrapper</span>
+
+<span class="sd">    env = RslRlVecEnvWrapper(env)</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+
+<span class="kn">from</span> <span class="nn">rsl_rl.env</span> <span class="kn">import</span> <span class="n">VecEnv</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">DirectRLEnv</span><span class="p">,</span> <span class="n">ManagerBasedRLEnv</span>
+
+
+<div class="viewcode-block" id="RslRlVecEnvWrapper"><a class="viewcode-back" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper">[docs]</a><span class="k">class</span> <span class="nc">RslRlVecEnvWrapper</span><span class="p">(</span><span class="n">VecEnv</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Wraps around Isaac Lab environment for RSL-RL library</span>
+
+<span class="sd">    To use asymmetric actor-critic, the environment instance must have the attributes :attr:`num_privileged_obs` (int).</span>
+<span class="sd">    This is used by the learning agent to allocate buffers in the trajectory memory. Additionally, the returned</span>
+<span class="sd">    observations should have the key &quot;critic&quot; which corresponds to the privileged observations. Since this is</span>
+<span class="sd">    optional for some environments, the wrapper checks if these attributes exist. If they don&#39;t then the wrapper</span>
+<span class="sd">    defaults to zero as number of privileged observations.</span>
+
+<span class="sd">    .. caution::</span>
+
+<span class="sd">        This class must be the last wrapper in the wrapper chain. This is because the wrapper does not follow</span>
+<span class="sd">        the :class:`gym.Wrapper` interface. Any subsequent wrappers will need to be modified to work with this</span>
+<span class="sd">        wrapper.</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://github.com/leggedrobotics/rsl_rl/blob/master/rsl_rl/env/vec_env.py</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RslRlVecEnvWrapper.__init__"><a class="viewcode-back" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span> <span class="o">|</span> <span class="n">DirectRLEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initializes the wrapper.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            The wrapper calls :meth:`reset` at the start since the RSL-RL runner does not call reset.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env: The environment to wrap around.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: When the environment is not an instance of :class:`ManagerBasedRLEnv` or :class:`DirectRLEnv`.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that input is valid</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="n">ManagerBasedRLEnv</span><span class="p">)</span> <span class="ow">and</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="n">DirectRLEnv</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="s2">&quot;The environment must be inherited from ManagerBasedRLEnv or DirectRLEnv. Environment type:&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">env</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># initialize the wrapper</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">env</span> <span class="o">=</span> <span class="n">env</span>
+        <span class="c1"># store information required by wrapper</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">num_envs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">device</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">max_episode_length</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">max_episode_length</span>
+        <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="s2">&quot;action_manager&quot;</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">num_actions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">total_action_dim</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">num_actions</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">flatdim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">single_action_space</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="s2">&quot;observation_manager&quot;</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">num_obs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">group_obs_dim</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">num_obs</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">flatdim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">])</span>
+        <span class="c1"># -- privileged observations</span>
+        <span class="k">if</span> <span class="p">(</span>
+            <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="s2">&quot;observation_manager&quot;</span><span class="p">)</span>
+            <span class="ow">and</span> <span class="s2">&quot;critic&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">group_obs_dim</span>
+        <span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">num_privileged_obs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">group_obs_dim</span><span class="p">[</span><span class="s2">&quot;critic&quot;</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span>
+        <span class="k">elif</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="s2">&quot;num_states&quot;</span><span class="p">)</span> <span class="ow">and</span> <span class="s2">&quot;critic&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">num_privileged_obs</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">flatdim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">[</span><span class="s2">&quot;critic&quot;</span><span class="p">])</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">num_privileged_obs</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="c1"># reset at the start since the RSL-RL runner does not call reset</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the wrapper name and the :attr:`env` representation string.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;&lt;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}{</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="si">}</span><span class="s2">&gt;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__repr__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the string representation of the wrapper.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">str</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties -- Gym.Wrapper</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">cfg</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">object</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the configuration class instance of the environment.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">cfg</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">render_mode</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the :attr:`Env` :attr:`render_mode`.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">render_mode</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">observation_space</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">gym</span><span class="o">.</span><span class="n">Space</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the :attr:`Env` :attr:`observation_space`.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">observation_space</span>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">action_space</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">gym</span><span class="o">.</span><span class="n">Space</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the :attr:`Env` :attr:`action_space`.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">action_space</span>
+
+<div class="viewcode-block" id="RslRlVecEnvWrapper.class_name"><a class="viewcode-back" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.class_name">[docs]</a>    <span class="nd">@classmethod</span>
+    <span class="k">def</span> <span class="nf">class_name</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the class name of the wrapper.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">cls</span><span class="o">.</span><span class="vm">__name__</span></div>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">unwrapped</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ManagerBasedRLEnv</span> <span class="o">|</span> <span class="n">DirectRLEnv</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the base environment of the wrapper.</span>
+
+<span class="sd">        This will be the bare :class:`gymnasium.Env` environment, underneath all layers of wrappers.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="RslRlVecEnvWrapper.get_observations"><a class="viewcode-back" href="../../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.get_observations">[docs]</a>    <span class="k">def</span> <span class="nf">get_observations</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="nb">dict</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the current observations of the environment.&quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="s2">&quot;observation_manager&quot;</span><span class="p">):</span>
+            <span class="n">obs_dict</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">observation_manager</span><span class="o">.</span><span class="n">compute</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">obs_dict</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">_get_observations</span><span class="p">()</span>
+        <span class="k">return</span> <span class="n">obs_dict</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">],</span> <span class="p">{</span><span class="s2">&quot;observations&quot;</span><span class="p">:</span> <span class="n">obs_dict</span><span class="p">}</span></div>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">episode_length_buf</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;The episode length buffer.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">episode_length_buf</span>
+
+    <span class="nd">@episode_length_buf</span><span class="o">.</span><span class="n">setter</span>
+    <span class="k">def</span> <span class="nf">episode_length_buf</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">value</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Set the episode length buffer.</span>
+
+<span class="sd">        Note:</span>
+<span class="sd">            This is needed to perform random initialization of episode lengths in RSL-RL.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">=</span> <span class="n">value</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - MDP</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">seed</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="nb">dict</span><span class="p">]:</span>  <span class="c1"># noqa: D102</span>
+        <span class="c1"># reset the environment</span>
+        <span class="n">obs_dict</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+        <span class="c1"># return observations</span>
+        <span class="k">return</span> <span class="n">obs_dict</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">],</span> <span class="p">{</span><span class="s2">&quot;observations&quot;</span><span class="p">:</span> <span class="n">obs_dict</span><span class="p">}</span>
+
+    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="nb">dict</span><span class="p">]:</span>
+        <span class="c1"># record step information</span>
+        <span class="n">obs_dict</span><span class="p">,</span> <span class="n">rew</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">extras</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">actions</span><span class="p">)</span>
+        <span class="c1"># compute dones for compatibility with RSL-RL</span>
+        <span class="n">dones</span> <span class="o">=</span> <span class="p">(</span><span class="n">terminated</span> <span class="o">|</span> <span class="n">truncated</span><span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">long</span><span class="p">)</span>
+        <span class="c1"># move extra observations to the extras dict</span>
+        <span class="n">obs</span> <span class="o">=</span> <span class="n">obs_dict</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">]</span>
+        <span class="n">extras</span><span class="p">[</span><span class="s2">&quot;observations&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">obs_dict</span>
+        <span class="c1"># move time out information to the extras dict</span>
+        <span class="c1"># this is only needed for infinite horizon tasks</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">is_finite_horizon</span><span class="p">:</span>
+            <span class="n">extras</span><span class="p">[</span><span class="s2">&quot;time_outs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">truncated</span>
+
+        <span class="c1"># return the step information</span>
+        <span class="k">return</span> <span class="n">obs</span><span class="p">,</span> <span class="n">rew</span><span class="p">,</span> <span class="n">dones</span><span class="p">,</span> <span class="n">extras</span>
+
+    <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span></div>
+</pre></div>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+  <h1>Source code for omni.isaac.lab_tasks.utils.wrappers.sb3</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Wrapper to configure a :class:`ManagerBasedRLEnv` or :class:`DirectRLEnv` instance to Stable-Baselines3 vectorized environment.</span>
+
+<span class="sd">The following example shows how to wrap an environment for Stable-Baselines3:</span>
+
+<span class="sd">.. code-block:: python</span>
+
+<span class="sd">    from omni.isaac.lab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper</span>
+
+<span class="sd">    env = Sb3VecEnvWrapper(env)</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="c1"># needed to import for allowing type-hinting: torch.Tensor | dict[str, torch.Tensor]</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">import</span> <span class="nn">torch.nn</span> <span class="k">as</span> <span class="nn">nn</span>  <span class="c1"># noqa: F401</span>
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Any</span>
+
+<span class="kn">from</span> <span class="nn">stable_baselines3.common.utils</span> <span class="kn">import</span> <span class="n">constant_fn</span>
+<span class="kn">from</span> <span class="nn">stable_baselines3.common.vec_env.base_vec_env</span> <span class="kn">import</span> <span class="n">VecEnv</span><span class="p">,</span> <span class="n">VecEnvObs</span><span class="p">,</span> <span class="n">VecEnvStepReturn</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">DirectRLEnv</span><span class="p">,</span> <span class="n">ManagerBasedRLEnv</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Configuration Parser.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="process_sb3_cfg"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg">[docs]</a><span class="k">def</span> <span class="nf">process_sb3_cfg</span><span class="p">(</span><span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Convert simple YAML types to Stable-Baselines classes/components.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        cfg: A configuration dictionary.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        A dictionary containing the converted configuration.</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://github.com/DLR-RM/rl-baselines3-zoo/blob/0e5eb145faefa33e7d79c7f8c179788574b20da5/utils/exp_manager.py#L358</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">update_dict</span><span class="p">(</span><span class="n">hyperparams</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]:</span>
+        <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">hyperparams</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+            <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+                <span class="n">update_dict</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="k">if</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;policy_kwargs&quot;</span><span class="p">,</span> <span class="s2">&quot;replay_buffer_class&quot;</span><span class="p">,</span> <span class="s2">&quot;replay_buffer_kwargs&quot;</span><span class="p">]:</span>
+                    <span class="n">hyperparams</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="nb">eval</span><span class="p">(</span><span class="n">value</span><span class="p">)</span>
+                <span class="k">elif</span> <span class="n">key</span> <span class="ow">in</span> <span class="p">[</span><span class="s2">&quot;learning_rate&quot;</span><span class="p">,</span> <span class="s2">&quot;clip_range&quot;</span><span class="p">,</span> <span class="s2">&quot;clip_range_vf&quot;</span><span class="p">,</span> <span class="s2">&quot;delta_std&quot;</span><span class="p">]:</span>
+                    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="nb">str</span><span class="p">):</span>
+                        <span class="n">_</span><span class="p">,</span> <span class="n">initial_value</span> <span class="o">=</span> <span class="n">value</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;_&quot;</span><span class="p">)</span>
+                        <span class="n">initial_value</span> <span class="o">=</span> <span class="nb">float</span><span class="p">(</span><span class="n">initial_value</span><span class="p">)</span>
+                        <span class="n">hyperparams</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="k">lambda</span> <span class="n">progress_remaining</span><span class="p">:</span> <span class="n">progress_remaining</span> <span class="o">*</span> <span class="n">initial_value</span>
+                    <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">value</span><span class="p">,</span> <span class="p">(</span><span class="nb">float</span><span class="p">,</span> <span class="nb">int</span><span class="p">)):</span>
+                        <span class="c1"># Negative value: ignore (ex: for clipping)</span>
+                        <span class="k">if</span> <span class="n">value</span> <span class="o">&lt;</span> <span class="mi">0</span><span class="p">:</span>
+                            <span class="k">continue</span>
+                        <span class="n">hyperparams</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">constant_fn</span><span class="p">(</span><span class="nb">float</span><span class="p">(</span><span class="n">value</span><span class="p">))</span>
+                    <span class="k">else</span><span class="p">:</span>
+                        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Invalid value for </span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">hyperparams</span><span class="p">[</span><span class="n">key</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="k">return</span> <span class="n">hyperparams</span>
+
+    <span class="c1"># parse agent configuration and convert to classes</span>
+    <span class="k">return</span> <span class="n">update_dict</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span></div>
+
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Vectorized environment wrapper.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="Sb3VecEnvWrapper"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper">[docs]</a><span class="k">class</span> <span class="nc">Sb3VecEnvWrapper</span><span class="p">(</span><span class="n">VecEnv</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Wraps around Isaac Lab environment for Stable Baselines3.</span>
+
+<span class="sd">    Isaac Sim internally implements a vectorized environment. However, since it is</span>
+<span class="sd">    still considered a single environment instance, Stable Baselines tries to wrap</span>
+<span class="sd">    around it using the :class:`DummyVecEnv`. This is only done if the environment</span>
+<span class="sd">    is not inheriting from their :class:`VecEnv`. Thus, this class thinly wraps</span>
+<span class="sd">    over the environment from :class:`ManagerBasedRLEnv` or :class:`DirectRLEnv`.</span>
+
+<span class="sd">    Note:</span>
+<span class="sd">        While Stable-Baselines3 supports Gym 0.26+ API, their vectorized environment</span>
+<span class="sd">        still uses the old API (i.e. it is closer to Gym 0.21). Thus, we implement</span>
+<span class="sd">        the old API for the vectorized environment.</span>
+
+<span class="sd">    We also add monitoring functionality that computes the un-discounted episode</span>
+<span class="sd">    return and length. This information is added to the info dicts under key `episode`.</span>
+
+<span class="sd">    In contrast to the Isaac Lab environment, stable-baselines expect the following:</span>
+
+<span class="sd">    1. numpy datatype for MDP signals</span>
+<span class="sd">    2. a list of info dicts for each sub-environment (instead of a dict)</span>
+<span class="sd">    3. when environment has terminated, the observations from the environment should correspond</span>
+<span class="sd">       to the one after reset. The &quot;real&quot; final observation is passed using the info dicts</span>
+<span class="sd">       under the key ``terminal_observation``.</span>
+
+<span class="sd">    .. warning::</span>
+
+<span class="sd">        By the nature of physics stepping in Isaac Sim, it is not possible to forward the</span>
+<span class="sd">        simulation buffers without performing a physics step. Thus, reset is performed</span>
+<span class="sd">        inside the :meth:`step()` function after the actual physics step is taken.</span>
+<span class="sd">        Thus, the returned observations for terminated environments is the one after the reset.</span>
+
+<span class="sd">    .. caution::</span>
+
+<span class="sd">        This class must be the last wrapper in the wrapper chain. This is because the wrapper does not follow</span>
+<span class="sd">        the :class:`gym.Wrapper` interface. Any subsequent wrappers will need to be modified to work with this</span>
+<span class="sd">        wrapper.</span>
+
+<span class="sd">    Reference:</span>
+
+<span class="sd">    1. https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html</span>
+<span class="sd">    2. https://stable-baselines3.readthedocs.io/en/master/common/monitor.html</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Sb3VecEnvWrapper.__init__"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span> <span class="o">|</span> <span class="n">DirectRLEnv</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Initialize the wrapper.</span>
+
+<span class="sd">        Args:</span>
+<span class="sd">            env: The environment to wrap around.</span>
+
+<span class="sd">        Raises:</span>
+<span class="sd">            ValueError: When the environment is not an instance of :class:`ManagerBasedRLEnv` or :class:`DirectRLEnv`.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># check that input is valid</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="n">ManagerBasedRLEnv</span><span class="p">)</span> <span class="ow">and</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="n">DirectRLEnv</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+                <span class="s2">&quot;The environment must be inherited from ManagerBasedRLEnv or DirectRLEnv. Environment type:&quot;</span>
+                <span class="sa">f</span><span class="s2">&quot; </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">env</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="p">)</span>
+        <span class="c1"># initialize the wrapper</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">env</span> <span class="o">=</span> <span class="n">env</span>
+        <span class="c1"># collect common information</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">num_envs</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim_device</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">device</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">render_mode</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">render_mode</span>
+
+        <span class="c1"># obtain gym spaces</span>
+        <span class="c1"># note: stable-baselines3 does not like when we have unbounded action space so</span>
+        <span class="c1">#   we set it to some high value here. Maybe this is not general but something to think about.</span>
+        <span class="n">observation_space</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">single_observation_space</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">]</span>
+        <span class="n">action_space</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">single_action_space</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">action_space</span><span class="p">,</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">)</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">action_space</span><span class="o">.</span><span class="n">is_bounded</span><span class="p">(</span><span class="s2">&quot;both&quot;</span><span class="p">):</span>
+            <span class="n">action_space</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">spaces</span><span class="o">.</span><span class="n">Box</span><span class="p">(</span><span class="n">low</span><span class="o">=-</span><span class="mi">100</span><span class="p">,</span> <span class="n">high</span><span class="o">=</span><span class="mi">100</span><span class="p">,</span> <span class="n">shape</span><span class="o">=</span><span class="n">action_space</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+
+        <span class="c1"># initialize vec-env</span>
+        <span class="n">VecEnv</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">observation_space</span><span class="p">,</span> <span class="n">action_space</span><span class="p">)</span>
+        <span class="c1"># add buffer for logging episodic information</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ep_rew_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">sim_device</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ep_len_buf</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">sim_device</span><span class="p">)</span></div>
+
+    <span class="k">def</span> <span class="fm">__str__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the wrapper name and the :attr:`env` representation string.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;&lt;</span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}{</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="si">}</span><span class="s2">&gt;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__repr__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the string representation of the wrapper.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="nb">str</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties -- Gym.Wrapper</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Sb3VecEnvWrapper.class_name"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.class_name">[docs]</a>    <span class="nd">@classmethod</span>
+    <span class="k">def</span> <span class="nf">class_name</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the class name of the wrapper.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">cls</span><span class="o">.</span><span class="vm">__name__</span></div>
+
+    <span class="nd">@property</span>
+    <span class="k">def</span> <span class="nf">unwrapped</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">ManagerBasedRLEnv</span> <span class="o">|</span> <span class="n">DirectRLEnv</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the base environment of the wrapper.</span>
+
+<span class="sd">        This will be the bare :class:`gymnasium.Env` environment, underneath all layers of wrappers.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Properties</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="Sb3VecEnvWrapper.get_episode_rewards"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_rewards">[docs]</a>    <span class="k">def</span> <span class="nf">get_episode_rewards</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the rewards of all the episodes.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ep_rew_buf</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span></div>
+
+<div class="viewcode-block" id="Sb3VecEnvWrapper.get_episode_lengths"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_lengths">[docs]</a>    <span class="k">def</span> <span class="nf">get_episode_lengths</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Returns the number of time-steps of all the episodes.&quot;&quot;&quot;</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_ep_len_buf</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">tolist</span><span class="p">()</span></div>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Operations - MDP</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">seed</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span> <span class="o">|</span> <span class="kc">None</span><span class="p">]:</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">return</span> <span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)]</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">num_envs</span>
+
+    <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">VecEnvObs</span><span class="p">:</span>  <span class="c1"># noqa: D102</span>
+        <span class="n">obs_dict</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+        <span class="c1"># reset episodic information buffers</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ep_rew_buf</span><span class="o">.</span><span class="n">zero_</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ep_len_buf</span><span class="o">.</span><span class="n">zero_</span><span class="p">()</span>
+        <span class="c1"># convert data types to numpy depending on backend</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_obs</span><span class="p">(</span><span class="n">obs_dict</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">step_async</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="c1"># convert input to numpy array</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">actions</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+            <span class="n">actions</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">(</span><span class="n">actions</span><span class="p">)</span>
+            <span class="n">actions</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">from_numpy</span><span class="p">(</span><span class="n">actions</span><span class="p">)</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">sim_device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">actions</span> <span class="o">=</span> <span class="n">actions</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">sim_device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span><span class="p">)</span>
+        <span class="c1"># convert to tensor</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_async_actions</span> <span class="o">=</span> <span class="n">actions</span>
+
+    <span class="k">def</span> <span class="nf">step_wait</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">VecEnvStepReturn</span><span class="p">:</span>  <span class="c1"># noqa: D102</span>
+        <span class="c1"># record step information</span>
+        <span class="n">obs_dict</span><span class="p">,</span> <span class="n">rew</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">extras</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_async_actions</span><span class="p">)</span>
+        <span class="c1"># update episode un-discounted return and length</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ep_rew_buf</span> <span class="o">+=</span> <span class="n">rew</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ep_len_buf</span> <span class="o">+=</span> <span class="mi">1</span>
+        <span class="c1"># compute reset ids</span>
+        <span class="n">dones</span> <span class="o">=</span> <span class="n">terminated</span> <span class="o">|</span> <span class="n">truncated</span>
+        <span class="n">reset_ids</span> <span class="o">=</span> <span class="p">(</span><span class="n">dones</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">)</span><span class="o">.</span><span class="n">nonzero</span><span class="p">(</span><span class="n">as_tuple</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+
+        <span class="c1"># convert data types to numpy depending on backend</span>
+        <span class="c1"># note: ManagerBasedRLEnv uses torch backend (by default).</span>
+        <span class="n">obs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_obs</span><span class="p">(</span><span class="n">obs_dict</span><span class="p">)</span>
+        <span class="n">rew</span> <span class="o">=</span> <span class="n">rew</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+        <span class="n">terminated</span> <span class="o">=</span> <span class="n">terminated</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+        <span class="n">truncated</span> <span class="o">=</span> <span class="n">truncated</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+        <span class="n">dones</span> <span class="o">=</span> <span class="n">dones</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+        <span class="c1"># convert extra information to list of dicts</span>
+        <span class="n">infos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_extras</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">extras</span><span class="p">,</span> <span class="n">reset_ids</span><span class="p">)</span>
+
+        <span class="c1"># reset info for terminated environments</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ep_rew_buf</span><span class="p">[</span><span class="n">reset_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_ep_len_buf</span><span class="p">[</span><span class="n">reset_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+
+        <span class="k">return</span> <span class="n">obs</span><span class="p">,</span> <span class="n">rew</span><span class="p">,</span> <span class="n">dones</span><span class="p">,</span> <span class="n">infos</span>
+
+    <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">get_attr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="c1"># resolve indices</span>
+        <span class="k">if</span> <span class="n">indices</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">indices</span> <span class="o">=</span> <span class="nb">slice</span><span class="p">(</span><span class="kc">None</span><span class="p">)</span>
+            <span class="n">num_indices</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">num_indices</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">indices</span><span class="p">)</span>
+        <span class="c1"># obtain attribute value</span>
+        <span class="n">attr_val</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">)</span>
+        <span class="c1"># return the value</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">attr_val</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+            <span class="k">return</span> <span class="p">[</span><span class="n">attr_val</span><span class="p">]</span> <span class="o">*</span> <span class="n">num_indices</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">return</span> <span class="n">attr_val</span><span class="p">[</span><span class="n">indices</span><span class="p">]</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">set_attr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">attr_name</span><span class="p">,</span> <span class="n">value</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="s2">&quot;Setting attributes is not supported.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">env_method</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">method_name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="o">*</span><span class="n">method_args</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">method_kwargs</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">if</span> <span class="n">method_name</span> <span class="o">==</span> <span class="s2">&quot;render&quot;</span><span class="p">:</span>
+            <span class="c1"># gymnasium does not support changing render mode at runtime</span>
+            <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># this isn&#39;t properly implemented but it is not necessary.</span>
+            <span class="c1"># mostly done for completeness.</span>
+            <span class="n">env_method</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="p">,</span> <span class="n">method_name</span><span class="p">)</span>
+            <span class="k">return</span> <span class="n">env_method</span><span class="p">(</span><span class="o">*</span><span class="n">method_args</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">indices</span><span class="p">,</span> <span class="o">**</span><span class="n">method_kwargs</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">env_is_wrapped</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">wrapper_class</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="s2">&quot;Checking if environment is wrapped is not supported.&quot;</span><span class="p">)</span>
+
+    <span class="k">def</span> <span class="nf">get_images</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>  <span class="c1"># noqa: D102</span>
+        <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="s2">&quot;Getting images is not supported.&quot;</span><span class="p">)</span>
+
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Helper functions.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">_process_obs</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">obs_dict</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span> <span class="o">|</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Convert observations into NumPy data type.&quot;&quot;&quot;</span>
+        <span class="c1"># Sb3 doesn&#39;t support asymmetric observation spaces, so we only use &quot;policy&quot;</span>
+        <span class="n">obs</span> <span class="o">=</span> <span class="n">obs_dict</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">]</span>
+        <span class="c1"># note: ManagerBasedRLEnv uses torch backend (by default).</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+            <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">obs</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                <span class="n">obs</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+        <span class="k">elif</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+            <span class="n">obs</span> <span class="o">=</span> <span class="n">obs</span><span class="o">.</span><span class="n">detach</span><span class="p">()</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Unsupported data type: </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">obs</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">obs</span>
+
+    <span class="k">def</span> <span class="nf">_process_extras</span><span class="p">(</span>
+        <span class="bp">self</span><span class="p">,</span> <span class="n">obs</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">terminated</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">truncated</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">extras</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span> <span class="n">reset_ids</span><span class="p">:</span> <span class="n">np</span><span class="o">.</span><span class="n">ndarray</span>
+    <span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Convert miscellaneous information into dictionary for each sub-environment.&quot;&quot;&quot;</span>
+        <span class="c1"># create empty list of dictionaries to fill</span>
+        <span class="n">infos</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Any</span><span class="p">]]</span> <span class="o">=</span> <span class="p">[</span><span class="nb">dict</span><span class="o">.</span><span class="n">fromkeys</span><span class="p">(</span><span class="n">extras</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span> <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">)]</span>
+        <span class="c1"># fill-in information for each sub-environment</span>
+        <span class="c1"># note: This loop becomes slow when number of environments is large.</span>
+        <span class="k">for</span> <span class="n">idx</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">):</span>
+            <span class="c1"># fill-in episode monitoring info</span>
+            <span class="k">if</span> <span class="n">idx</span> <span class="ow">in</span> <span class="n">reset_ids</span><span class="p">:</span>
+                <span class="n">infos</span><span class="p">[</span><span class="n">idx</span><span class="p">][</span><span class="s2">&quot;episode&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">dict</span><span class="p">()</span>
+                <span class="n">infos</span><span class="p">[</span><span class="n">idx</span><span class="p">][</span><span class="s2">&quot;episode&quot;</span><span class="p">][</span><span class="s2">&quot;r&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">float</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_ep_rew_buf</span><span class="p">[</span><span class="n">idx</span><span class="p">])</span>
+                <span class="n">infos</span><span class="p">[</span><span class="n">idx</span><span class="p">][</span><span class="s2">&quot;episode&quot;</span><span class="p">][</span><span class="s2">&quot;l&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="nb">float</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_ep_len_buf</span><span class="p">[</span><span class="n">idx</span><span class="p">])</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">infos</span><span class="p">[</span><span class="n">idx</span><span class="p">][</span><span class="s2">&quot;episode&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+            <span class="c1"># fill-in bootstrap information</span>
+            <span class="n">infos</span><span class="p">[</span><span class="n">idx</span><span class="p">][</span><span class="s2">&quot;TimeLimit.truncated&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">truncated</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span> <span class="ow">and</span> <span class="ow">not</span> <span class="n">terminated</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+            <span class="c1"># fill-in information from extras</span>
+            <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">extras</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                <span class="c1"># 1. remap extra episodes information safely</span>
+                <span class="c1"># 2. for others just store their values</span>
+                <span class="k">if</span> <span class="n">key</span> <span class="o">==</span> <span class="s2">&quot;log&quot;</span><span class="p">:</span>
+                    <span class="c1"># only log this data for episodes that are terminated</span>
+                    <span class="k">if</span> <span class="n">infos</span><span class="p">[</span><span class="n">idx</span><span class="p">][</span><span class="s2">&quot;episode&quot;</span><span class="p">]</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                        <span class="k">for</span> <span class="n">sub_key</span><span class="p">,</span> <span class="n">sub_value</span> <span class="ow">in</span> <span class="n">value</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                            <span class="n">infos</span><span class="p">[</span><span class="n">idx</span><span class="p">][</span><span class="s2">&quot;episode&quot;</span><span class="p">][</span><span class="n">sub_key</span><span class="p">]</span> <span class="o">=</span> <span class="n">sub_value</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="n">infos</span><span class="p">[</span><span class="n">idx</span><span class="p">][</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+            <span class="c1"># add information about terminal observation separately</span>
+            <span class="k">if</span> <span class="n">idx</span> <span class="ow">in</span> <span class="n">reset_ids</span><span class="p">:</span>
+                <span class="c1"># extract terminal observations</span>
+                <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="nb">dict</span><span class="p">):</span>
+                    <span class="n">terminal_obs</span> <span class="o">=</span> <span class="nb">dict</span><span class="o">.</span><span class="n">fromkeys</span><span class="p">(</span><span class="n">obs</span><span class="o">.</span><span class="n">keys</span><span class="p">())</span>
+                    <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">obs</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+                        <span class="n">terminal_obs</span><span class="p">[</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="n">value</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="n">terminal_obs</span> <span class="o">=</span> <span class="n">obs</span><span class="p">[</span><span class="n">idx</span><span class="p">]</span>
+                <span class="c1"># add info to dict</span>
+                <span class="n">infos</span><span class="p">[</span><span class="n">idx</span><span class="p">][</span><span class="s2">&quot;terminal_observation&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">terminal_obs</span>
+            <span class="k">else</span><span class="p">:</span>
+                <span class="n">infos</span><span class="p">[</span><span class="n">idx</span><span class="p">][</span><span class="s2">&quot;terminal_observation&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="c1"># return list of dictionaries</span>
+        <span class="k">return</span> <span class="n">infos</span></div>
+</pre></div>
+
+                </article>
+              
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new file mode 100644
index 0000000000..f3ecb4bd38
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+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
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+</details></li>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../../../../../source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../../../../../source/refs/reference_architecture/index.html">Reference Architecture</a></li>
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+  <h1>Source code for omni.isaac.lab_tasks.utils.wrappers.skrl</h1><div class="highlight"><pre>
+<span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="sd">&quot;&quot;&quot;Wrapper to configure an Isaac Lab environment instance to skrl environment.</span>
+
+<span class="sd">The following example shows how to wrap an environment for skrl:</span>
+
+<span class="sd">.. code-block:: python</span>
+
+<span class="sd">    from omni.isaac.lab_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper</span>
+
+<span class="sd">    env = SkrlVecEnvWrapper(env, ml_framework=&quot;torch&quot;)  # or ml_framework=&quot;jax&quot;</span>
+
+<span class="sd">Or, equivalently, by directly calling the skrl library API as follows:</span>
+
+<span class="sd">.. code-block:: python</span>
+
+<span class="sd">    from skrl.envs.torch.wrappers import wrap_env  # for PyTorch, or...</span>
+<span class="sd">    from skrl.envs.jax.wrappers import wrap_env    # for JAX</span>
+
+<span class="sd">    env = wrap_env(env, wrapper=&quot;isaaclab&quot;)</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="c1"># needed to import for type hinting: Agent | list[Agent]</span>
+<span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+
+<span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Literal</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">DirectMARLEnv</span><span class="p">,</span> <span class="n">DirectRLEnv</span><span class="p">,</span> <span class="n">ManagerBasedRLEnv</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">Vectorized environment wrapper.</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+
+<div class="viewcode-block" id="SkrlVecEnvWrapper"><a class="viewcode-back" href="../../../../../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper">[docs]</a><span class="k">def</span> <span class="nf">SkrlVecEnvWrapper</span><span class="p">(</span>
+    <span class="n">env</span><span class="p">:</span> <span class="n">ManagerBasedRLEnv</span> <span class="o">|</span> <span class="n">DirectRLEnv</span> <span class="o">|</span> <span class="n">DirectMARLEnv</span><span class="p">,</span>
+    <span class="n">ml_framework</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;torch&quot;</span><span class="p">,</span> <span class="s2">&quot;jax&quot;</span><span class="p">,</span> <span class="s2">&quot;jax-numpy&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;torch&quot;</span><span class="p">,</span>
+    <span class="n">wrapper</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;auto&quot;</span><span class="p">,</span> <span class="s2">&quot;isaaclab&quot;</span><span class="p">,</span> <span class="s2">&quot;isaaclab-single-agent&quot;</span><span class="p">,</span> <span class="s2">&quot;isaaclab-multi-agent&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;isaaclab&quot;</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Wraps around Isaac Lab environment for skrl.</span>
+
+<span class="sd">    This function wraps around the Isaac Lab environment. Since the wrapping</span>
+<span class="sd">    functionality is defined within the skrl library itself, this implementation</span>
+<span class="sd">    is maintained for compatibility with the structure of the extension that contains it.</span>
+<span class="sd">    Internally it calls the :func:`wrap_env` from the skrl library API.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        env: The environment to wrap around.</span>
+<span class="sd">        ml_framework: The ML framework to use for the wrapper. Defaults to &quot;torch&quot;.</span>
+<span class="sd">        wrapper: The wrapper to use. Defaults to &quot;isaaclab&quot;: leave it to skrl to determine if the environment</span>
+<span class="sd">            will be wrapped as single-agent or multi-agent.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: When the environment is not an instance of any Isaac Lab environment interface.</span>
+<span class="sd">        ValueError: If the specified ML framework is not valid.</span>
+
+<span class="sd">    Reference:</span>
+<span class="sd">        https://skrl.readthedocs.io/en/latest/api/envs/wrapping.html</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># check that input is valid</span>
+    <span class="k">if</span> <span class="p">(</span>
+        <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="n">ManagerBasedRLEnv</span><span class="p">)</span>
+        <span class="ow">and</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="n">DirectRLEnv</span><span class="p">)</span>
+        <span class="ow">and</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="n">DirectMARLEnv</span><span class="p">)</span>
+    <span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="s2">&quot;The environment must be inherited from ManagerBasedRLEnv, DirectRLEnv or DirectMARLEnv. Environment type:&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot; </span><span class="si">{</span><span class="nb">type</span><span class="p">(</span><span class="n">env</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+
+    <span class="c1"># import statements according to the ML framework</span>
+    <span class="k">if</span> <span class="n">ml_framework</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;torch&quot;</span><span class="p">):</span>
+        <span class="kn">from</span> <span class="nn">skrl.envs.wrappers.torch</span> <span class="kn">import</span> <span class="n">wrap_env</span>
+    <span class="k">elif</span> <span class="n">ml_framework</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="s2">&quot;jax&quot;</span><span class="p">):</span>
+        <span class="kn">from</span> <span class="nn">skrl.envs.wrappers.jax</span> <span class="kn">import</span> <span class="n">wrap_env</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Invalid ML framework for skrl: </span><span class="si">{</span><span class="n">ml_framework</span><span class="si">}</span><span class="s2">. Available options are: &#39;torch&#39;, &#39;jax&#39; or &#39;jax-numpy&#39;&quot;</span>
+        <span class="p">)</span>
+
+    <span class="c1"># wrap and return the environment</span>
+    <span class="k">return</span> <span class="n">wrap_env</span><span class="p">(</span><span class="n">env</span><span class="p">,</span> <span class="n">wrapper</span><span class="p">)</span></div>
+</pre></div>
+
+                </article>
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diff --git a/v1.4.0/_sources/index.rst b/v1.4.0/_sources/index.rst
new file mode 100644
index 0000000000..4af2072b12
--- /dev/null
+++ b/v1.4.0/_sources/index.rst
@@ -0,0 +1,158 @@
+Overview
+========
+
+.. figure:: source/_static/isaaclab.jpg
+   :width: 100%
+   :alt: H1 Humanoid example using Isaac Lab
+
+**Isaac Lab** is a unified and modular framework for robot learning that aims to simplify common workflows
+in robotics research (such as reinforcement learning, learning from demonstrations, and motion planning). It is built upon
+`NVIDIA Isaac Sim`_ to leverage the latest simulation capabilities for photo-realistic scenes, and fast
+and efficient simulation.
+
+The core objectives of the framework are:
+
+- **Modularity**: Easily customize and add new environments, robots, and sensors.
+- **Agility**: Adapt to the changing needs of the community.
+- **Openness**: Remain open-sourced to allow the community to contribute and extend the framework.
+- **Battery-included**: Include a number of environments, sensors, and tasks that are ready to use.
+
+Key features available in Isaac Lab include fast and accurate physics simulation provided by PhysX,
+tiled rendering APIs for vectorized rendering, domain randomization for improving robustness and adaptability,
+and support for running in the cloud.
+
+Additionally, Isaac Lab provides over 26 environments, and we are actively working on adding more environments
+to the list. These include classic control tasks, fixed-arm and dexterous manipulation tasks, legged locomotion tasks,
+and navigation tasks. A complete list is available in the `environments <source/overview/environments>`_ section.
+
+The framework also includes over 16 robots. If you are looking to add a new robot, please refer to the
+:ref:`how-to` section. The current list of robots includes:
+
+- **Classic** Cartpole, Humanoid, Ant
+- **Fixed-Arm and Hands**: UR10, Franka, Allegro, Shadow Hand
+- **Quadrupeds**: Anybotics Anymal-B, Anymal-C, Anymal-D, Unitree A1, Unitree Go1, Unitree Go2, Boston Dynamics Spot
+- **Humanoids**: Unitree H1, Unitree G1
+- **Quadcopter**: Crazyflie
+
+For more information about the framework, please refer to the `paper <https://arxiv.org/abs/2301.04195>`_
+:cite:`mittal2023orbit`. For clarifications on NVIDIA Isaac ecosystem, please check out the
+:doc:`/source/setup/faq` section.
+
+.. figure:: source/_static/tasks.jpg
+   :width: 100%
+   :alt: Example tasks created using Isaac Lab
+
+
+License
+=======
+
+The Isaac Lab framework is open-sourced under the BSD-3-Clause license.
+Please refer to :ref:`license` for more details.
+
+Acknowledgement
+===============
+Isaac Lab development initiated from the `Orbit <https://isaac-orbit.github.io/>`_ framework. We would appreciate if you would cite it in academic publications as well:
+
+.. code:: bibtex
+
+   @article{mittal2023orbit,
+      author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
+      journal={IEEE Robotics and Automation Letters},
+      title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
+      year={2023},
+      volume={8},
+      number={6},
+      pages={3740-3747},
+      doi={10.1109/LRA.2023.3270034}
+   }
+
+
+Table of Contents
+=================
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Getting Started
+
+   source/setup/ecosystem
+   source/setup/installation/index
+   source/setup/installation/cloud_installation
+   source/setup/faq
+
+.. toctree::
+   :maxdepth: 3
+   :caption: Overview
+   :titlesonly:
+
+   source/overview/developer-guide/index
+   source/overview/core-concepts/index
+   source/overview/sensors/index
+   source/overview/environments
+   source/overview/reinforcement-learning/index
+   source/overview/teleop_imitation
+   source/overview/showroom
+   source/overview/simple_agents
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Features
+
+   source/features/hydra
+   source/features/multi_gpu
+   Tiled Rendering</source/overview/sensors/camera>
+   source/features/ray
+   source/features/reproducibility
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Resources
+   :titlesonly:
+
+   source/tutorials/index
+   source/how-to/index
+   source/deployment/index
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Migration Guides
+   :titlesonly:
+
+   source/migration/migrating_from_isaacgymenvs
+   source/migration/migrating_from_omniisaacgymenvs
+   source/migration/migrating_from_orbit
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Source API
+
+   source/api/index
+
+.. toctree::
+   :maxdepth: 1
+   :caption: References
+
+   source/refs/reference_architecture/index
+   source/refs/additional_resources
+   source/refs/contributing
+   source/refs/troubleshooting
+   source/refs/issues
+   source/refs/changelog
+   source/refs/license
+   source/refs/bibliography
+
+.. toctree::
+    :hidden:
+    :caption: Project Links
+
+    GitHub <https://github.com/isaac-sim/IsaacLab>
+    NVIDIA Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/index.html>
+    NVIDIA PhysX <https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html>
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
+
+.. _NVIDIA Isaac Sim: https://docs.omniverse.nvidia.com/isaacsim/latest/index.html
diff --git a/v1.4.0/_sources/source/api/index.rst b/v1.4.0/_sources/source/api/index.rst
new file mode 100644
index 0000000000..4de3c159a5
--- /dev/null
+++ b/v1.4.0/_sources/source/api/index.rst
@@ -0,0 +1,57 @@
+API Reference
+=============
+
+This page gives an overview of all the modules and classes in the Isaac Lab extensions.
+
+omni.isaac.lab extension
+------------------------
+
+The following modules are available in the ``omni.isaac.lab`` extension:
+
+.. currentmodule:: omni.isaac.lab
+
+.. autosummary::
+   :toctree: lab
+
+   app
+   actuators
+   assets
+   controllers
+   devices
+   envs
+   managers
+   markers
+   scene
+   sensors
+   sim
+   terrains
+   utils
+
+.. toctree::
+   :hidden:
+
+   lab/omni.isaac.lab.envs.mdp
+   lab/omni.isaac.lab.envs.ui
+   lab/omni.isaac.lab.sensors.patterns
+   lab/omni.isaac.lab.sim.converters
+   lab/omni.isaac.lab.sim.schemas
+   lab/omni.isaac.lab.sim.spawners
+
+omni.isaac.lab_tasks extension
+--------------------------------
+
+The following modules are available in the ``omni.isaac.lab_tasks`` extension:
+
+.. currentmodule:: omni.isaac.lab_tasks
+
+.. autosummary::
+   :toctree: lab_tasks
+
+   utils
+
+
+.. toctree::
+   :hidden:
+
+   lab_tasks/omni.isaac.lab_tasks.utils.wrappers
+   lab_tasks/omni.isaac.lab_tasks.utils.data_collector
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.actuators.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.actuators.rst
new file mode 100644
index 0000000000..312747f889
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.actuators.rst
@@ -0,0 +1,135 @@
+omni.isaac.lab.actuators
+========================
+
+.. automodule:: omni.isaac.lab.actuators
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    ActuatorBase
+    ActuatorBaseCfg
+    ImplicitActuator
+    ImplicitActuatorCfg
+    IdealPDActuator
+    IdealPDActuatorCfg
+    DCMotor
+    DCMotorCfg
+    DelayedPDActuator
+    DelayedPDActuatorCfg
+    RemotizedPDActuator
+    RemotizedPDActuatorCfg
+    ActuatorNetMLP
+    ActuatorNetMLPCfg
+    ActuatorNetLSTM
+    ActuatorNetLSTMCfg
+
+Actuator Base
+-------------
+
+.. autoclass:: ActuatorBase
+  :members:
+  :inherited-members:
+
+.. autoclass:: ActuatorBaseCfg
+  :members:
+  :inherited-members:
+  :exclude-members: __init__, class_type
+
+Implicit Actuator
+-----------------
+
+.. autoclass:: ImplicitActuator
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: ImplicitActuatorCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+Ideal PD Actuator
+-----------------
+
+.. autoclass:: IdealPDActuator
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: IdealPDActuatorCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+DC Motor Actuator
+-----------------
+
+.. autoclass:: DCMotor
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: DCMotorCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+Delayed PD Actuator
+-------------------
+
+.. autoclass:: DelayedPDActuator
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: DelayedPDActuatorCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+Remotized PD Actuator
+---------------------
+
+.. autoclass:: RemotizedPDActuator
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: RemotizedPDActuatorCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+MLP Network Actuator
+---------------------
+
+.. autoclass:: ActuatorNetMLP
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: ActuatorNetMLPCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
+
+LSTM Network Actuator
+---------------------
+
+.. autoclass:: ActuatorNetLSTM
+  :members:
+  :inherited-members:
+  :show-inheritance:
+
+.. autoclass:: ActuatorNetLSTMCfg
+  :members:
+  :inherited-members:
+  :show-inheritance:
+  :exclude-members: __init__, class_type
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.app.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.app.rst
new file mode 100644
index 0000000000..5616fa74ec
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.app.rst
@@ -0,0 +1,115 @@
+omni.isaac.lab.app
+==================
+
+.. automodule:: omni.isaac.lab.app
+
+   .. rubric:: Classes
+
+   .. autosummary::
+
+      AppLauncher
+
+
+Environment variables
+---------------------
+
+The following details the behavior of the class based on the environment variables:
+
+* **Headless mode**: If the environment variable ``HEADLESS=1``, then SimulationApp will be started in headless mode.
+  If ``LIVESTREAM={1,2}``, then it will supersede the ``HEADLESS`` envvar and force headlessness.
+
+  * ``HEADLESS=1`` causes the app to run in headless mode.
+
+* **Livestreaming**: If the environment variable ``LIVESTREAM={1,2}`` , then `livestream`_ is enabled. Any
+  of the livestream modes being true forces the app to run in headless mode.
+
+  * ``LIVESTREAM=1`` enables streaming via the Isaac `Native Livestream`_ extension. This allows users to
+    connect through the Omniverse Streaming Client.
+  * ``LIVESTREAM=2`` enables streaming  via the `WebRTC Livestream`_ extension. This allows users to
+    connect in a browser using the WebRTC protocol.
+
+  .. note::
+
+    Each Isaac Sim instance can only connect to one streaming client.
+    Connecting to an Isaac Sim instance that is currently serving a streaming client
+    results in an error for the second user.
+
+* **Enable cameras**: If the environment variable ``ENABLE_CAMERAS`` is set to 1, then the
+  cameras are enabled. This is useful for running the simulator without a GUI but still rendering the
+  viewport and camera images.
+
+  * ``ENABLE_CAMERAS=1``: Enables the offscreen-render pipeline which allows users to render
+    the scene without launching a GUI.
+
+  .. note::
+
+      The off-screen rendering pipeline only works when used in conjunction with the
+      :class:`omni.isaac.lab.sim.SimulationContext` class. This is because the off-screen rendering
+      pipeline enables flags that are internally used by the SimulationContext class.
+
+
+To set the environment variables, one can use the following command in the terminal:
+
+.. code:: bash
+
+   export REMOTE_DEPLOYMENT=3
+   export ENABLE_CAMERAS=1
+   # run the python script
+   ./isaaclab.sh -p source/standalone/demo/play_quadrupeds.py
+
+Alternatively, one can set the environment variables to the python script directly:
+
+.. code:: bash
+
+   REMOTE_DEPLOYMENT=3 ENABLE_CAMERAS=1 ./isaaclab.sh -p source/standalone/demo/play_quadrupeds.py
+
+
+Overriding the environment variables
+------------------------------------
+
+The environment variables can be overridden in the python script itself using the :class:`AppLauncher`.
+These can be passed as a dictionary, a :class:`argparse.Namespace` object or as keyword arguments.
+When the passed arguments are not the default values, then they override the environment variables.
+
+The following snippet shows how use the :class:`AppLauncher` in different ways:
+
+.. code:: python
+
+   import argparser
+
+   from omni.isaac.lab.app import AppLauncher
+
+   # add argparse arguments
+   parser = argparse.ArgumentParser()
+   # add your own arguments
+   # ....
+   # add app launcher arguments for cli
+   AppLauncher.add_app_launcher_args(parser)
+   # parse arguments
+   args = parser.parse_args()
+
+   # launch omniverse isaac-sim app
+   # -- Option 1: Pass the settings as a Namespace object
+   app_launcher = AppLauncher(args).app
+   # -- Option 2: Pass the settings as keywords arguments
+   app_launcher = AppLauncher(headless=args.headless, livestream=args.livestream)
+   # -- Option 3: Pass the settings as a dictionary
+   app_launcher = AppLauncher(vars(args))
+   # -- Option 4: Pass no settings
+   app_launcher = AppLauncher()
+
+   # obtain the launched app
+   simulation_app = app_launcher.app
+
+
+Simulation App Launcher
+-----------------------
+
+.. autoclass:: AppLauncher
+   :members:
+
+
+.. _livestream: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html
+.. _`Native Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-kit-remote
+.. _`Websocket Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-livestream-webrtc
+.. _`WebRTC Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-livestream-websocket
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.assets.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.assets.rst
new file mode 100644
index 0000000000..ba139a2395
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.assets.rst
@@ -0,0 +1,115 @@
+omni.isaac.lab.assets
+=====================
+
+.. automodule:: omni.isaac.lab.assets
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    AssetBase
+    AssetBaseCfg
+    RigidObject
+    RigidObjectData
+    RigidObjectCfg
+    RigidObjectCollection
+    RigidObjectCollectionData
+    RigidObjectCollectionCfg
+    Articulation
+    ArticulationData
+    ArticulationCfg
+    DeformableObject
+    DeformableObjectData
+    DeformableObjectCfg
+
+.. currentmodule:: omni.isaac.lab.assets
+
+Asset Base
+----------
+
+.. autoclass:: AssetBase
+    :members:
+
+.. autoclass:: AssetBaseCfg
+    :members:
+    :exclude-members: __init__, class_type
+
+Rigid Object
+------------
+
+.. autoclass:: RigidObject
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: RigidObjectData
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: RigidObjectCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Rigid Object Collection
+-----------------------
+
+.. autoclass:: RigidObjectCollection
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: RigidObjectCollectionData
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: RigidObjectCollectionCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Articulation
+------------
+
+.. autoclass:: Articulation
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: ArticulationData
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: ArticulationCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Deformable Object
+-----------------
+
+.. autoclass:: DeformableObject
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: DeformableObjectData
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: DeformableObjectCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.controllers.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.controllers.rst
new file mode 100644
index 0000000000..67136f0a3a
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.controllers.rst
@@ -0,0 +1,41 @@
+omni.isaac.lab.controllers
+==========================
+
+.. automodule:: omni.isaac.lab.controllers
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    DifferentialIKController
+    DifferentialIKControllerCfg
+    OperationalSpaceController
+    OperationalSpaceControllerCfg
+
+Differential Inverse Kinematics
+-------------------------------
+
+.. autoclass:: DifferentialIKController
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: DifferentialIKControllerCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Operational Space controllers
+-----------------------------
+
+.. autoclass:: OperationalSpaceController
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: OperationalSpaceControllerCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.devices.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.devices.rst
new file mode 100644
index 0000000000..876787ca36
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.devices.rst
@@ -0,0 +1,61 @@
+omni.isaac.lab.devices
+======================
+
+.. automodule:: omni.isaac.lab.devices
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    DeviceBase
+    Se2Gamepad
+    Se3Gamepad
+    Se2Keyboard
+    Se3Keyboard
+    Se3SpaceMouse
+    Se3SpaceMouse
+
+Device Base
+-----------
+
+.. autoclass:: DeviceBase
+    :members:
+
+Game Pad
+--------
+
+.. autoclass:: Se2Gamepad
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: Se3Gamepad
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+Keyboard
+--------
+
+.. autoclass:: Se2Keyboard
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: Se3Keyboard
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+Space Mouse
+-----------
+
+.. autoclass:: Se2SpaceMouse
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: Se3SpaceMouse
+    :members:
+    :inherited-members:
+    :show-inheritance:
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.envs.mdp.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.envs.mdp.rst
new file mode 100644
index 0000000000..0a24a84c85
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.envs.mdp.rst
@@ -0,0 +1,54 @@
+omni.isaac.lab.envs.mdp
+=======================
+
+.. automodule:: omni.isaac.lab.envs.mdp
+
+Observations
+------------
+
+.. automodule:: omni.isaac.lab.envs.mdp.observations
+    :members:
+
+Actions
+-------
+
+.. automodule:: omni.isaac.lab.envs.mdp.actions
+
+.. automodule:: omni.isaac.lab.envs.mdp.actions.actions_cfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Events
+------
+
+.. automodule:: omni.isaac.lab.envs.mdp.events
+    :members:
+
+Commands
+--------
+
+.. automodule:: omni.isaac.lab.envs.mdp.commands
+
+.. automodule:: omni.isaac.lab.envs.mdp.commands.commands_cfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Rewards
+-------
+
+.. automodule:: omni.isaac.lab.envs.mdp.rewards
+    :members:
+
+Terminations
+------------
+
+.. automodule:: omni.isaac.lab.envs.mdp.terminations
+    :members:
+
+Curriculum
+----------
+
+.. automodule:: omni.isaac.lab.envs.mdp.curriculums
+    :members:
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.envs.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.envs.rst
new file mode 100644
index 0000000000..da8e6e5c0e
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.envs.rst
@@ -0,0 +1,84 @@
+omni.isaac.lab.envs
+===================
+
+.. automodule:: omni.isaac.lab.envs
+
+  .. rubric:: Submodules
+
+  .. autosummary::
+
+    mdp
+    ui
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    ManagerBasedEnv
+    ManagerBasedEnvCfg
+    ManagerBasedRLEnv
+    ManagerBasedRLEnvCfg
+    DirectRLEnv
+    DirectRLEnvCfg
+    DirectMARLEnv
+    DirectMARLEnvCfg
+    ViewerCfg
+
+Manager Based Environment
+-------------------------
+
+.. autoclass:: ManagerBasedEnv
+    :members:
+
+.. autoclass:: ManagerBasedEnvCfg
+    :members:
+    :exclude-members: __init__, class_type
+
+Manager Based RL Environment
+----------------------------
+
+.. autoclass:: ManagerBasedRLEnv
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: ManagerBasedRLEnvCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Direct RL Environment
+---------------------
+
+.. autoclass:: DirectRLEnv
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: DirectRLEnvCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Direct Multi-Agent RL Environment
+---------------------------------
+
+.. autoclass:: DirectMARLEnv
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: DirectMARLEnvCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Common
+------
+
+.. autoclass:: ViewerCfg
+    :members:
+    :exclude-members: __init__
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.envs.ui.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.envs.ui.rst
new file mode 100644
index 0000000000..7818b780da
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.envs.ui.rst
@@ -0,0 +1,31 @@
+omni.isaac.lab.envs.ui
+======================
+
+.. automodule:: omni.isaac.lab.envs.ui
+
+    .. rubric:: Classes
+
+    .. autosummary::
+
+        BaseEnvWindow
+        ManagerBasedRLEnvWindow
+        ViewportCameraController
+
+Base Environment UI
+-------------------
+
+.. autoclass:: BaseEnvWindow
+    :members:
+
+Config Based RL Environment UI
+------------------------------
+
+.. autoclass:: ManagerBasedRLEnvWindow
+    :members:
+    :show-inheritance:
+
+Viewport Camera Controller
+--------------------------
+
+.. autoclass:: ViewportCameraController
+    :members:
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.managers.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.managers.rst
new file mode 100644
index 0000000000..cf6e14a7e4
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.managers.rst
@@ -0,0 +1,146 @@
+omni.isaac.lab.managers
+=======================
+
+.. automodule:: omni.isaac.lab.managers
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    SceneEntityCfg
+    ManagerBase
+    ManagerTermBase
+    ManagerTermBaseCfg
+    ObservationManager
+    ObservationGroupCfg
+    ObservationTermCfg
+    ActionManager
+    ActionTerm
+    ActionTermCfg
+    EventManager
+    EventTermCfg
+    CommandManager
+    CommandTerm
+    CommandTermCfg
+    RewardManager
+    RewardTermCfg
+    TerminationManager
+    TerminationTermCfg
+    CurriculumManager
+    CurriculumTermCfg
+
+Scene Entity
+------------
+
+.. autoclass:: SceneEntityCfg
+    :members:
+    :exclude-members: __init__
+
+Manager Base
+------------
+
+.. autoclass:: ManagerBase
+    :members:
+
+.. autoclass:: ManagerTermBase
+    :members:
+
+.. autoclass:: ManagerTermBaseCfg
+    :members:
+    :exclude-members: __init__
+
+Observation Manager
+-------------------
+
+.. autoclass:: ObservationManager
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: ObservationGroupCfg
+    :members:
+    :exclude-members: __init__
+
+.. autoclass:: ObservationTermCfg
+    :members:
+    :exclude-members: __init__
+
+Action Manager
+--------------
+
+.. autoclass:: ActionManager
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: ActionTerm
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: ActionTermCfg
+    :members:
+    :exclude-members: __init__
+
+Event Manager
+-------------
+
+.. autoclass:: EventManager
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: EventTermCfg
+    :members:
+    :exclude-members: __init__
+
+
+Command Manager
+---------------
+
+.. autoclass:: CommandManager
+    :members:
+
+.. autoclass:: CommandTerm
+    :members:
+    :exclude-members: __init__, class_type
+
+.. autoclass:: CommandTermCfg
+    :members:
+    :exclude-members: __init__, class_type
+
+
+Reward Manager
+--------------
+
+.. autoclass:: RewardManager
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: RewardTermCfg
+    :exclude-members: __init__
+
+Termination Manager
+-------------------
+
+.. autoclass:: TerminationManager
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: TerminationTermCfg
+    :members:
+    :exclude-members: __init__
+
+Curriculum Manager
+------------------
+
+.. autoclass:: CurriculumManager
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: CurriculumTermCfg
+    :members:
+    :exclude-members: __init__
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.markers.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.markers.rst
new file mode 100644
index 0000000000..f6a23e773d
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.markers.rst
@@ -0,0 +1,23 @@
+omni.isaac.lab.markers
+======================
+
+.. automodule:: omni.isaac.lab.markers
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    VisualizationMarkers
+    VisualizationMarkersCfg
+
+Visualization Markers
+---------------------
+
+.. autoclass:: VisualizationMarkers
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. autoclass:: VisualizationMarkersCfg
+    :members:
+    :exclude-members: __init__
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.scene.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.scene.rst
new file mode 100644
index 0000000000..5a9bba3a33
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.scene.rst
@@ -0,0 +1,23 @@
+omni.isaac.lab.scene
+====================
+
+.. automodule:: omni.isaac.lab.scene
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    InteractiveScene
+    InteractiveSceneCfg
+
+interactive Scene
+-----------------
+
+.. autoclass:: InteractiveScene
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+.. autoclass:: InteractiveSceneCfg
+    :members:
+    :exclude-members: __init__
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sensors.patterns.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sensors.patterns.rst
new file mode 100644
index 0000000000..41d6b727a3
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sensors.patterns.rst
@@ -0,0 +1,61 @@
+omni.isaac.lab.sensors.patterns
+===============================
+
+.. automodule:: omni.isaac.lab.sensors.patterns
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    PatternBaseCfg
+    GridPatternCfg
+    PinholeCameraPatternCfg
+    BpearlPatternCfg
+
+Pattern Base
+------------
+
+.. autoclass:: PatternBaseCfg
+    :members:
+    :inherited-members:
+    :exclude-members: __init__
+
+Grid Pattern
+------------
+
+.. autofunction:: omni.isaac.lab.sensors.patterns.grid_pattern
+
+.. autoclass:: GridPatternCfg
+    :members:
+    :inherited-members:
+    :exclude-members: __init__, func
+
+Pinhole Camera Pattern
+----------------------
+
+.. autofunction:: omni.isaac.lab.sensors.patterns.pinhole_camera_pattern
+
+.. autoclass:: PinholeCameraPatternCfg
+    :members:
+    :inherited-members:
+    :exclude-members: __init__, func
+
+RS-Bpearl Pattern
+-----------------
+
+.. autofunction:: omni.isaac.lab.sensors.patterns.bpearl_pattern
+
+.. autoclass:: BpearlPatternCfg
+    :members:
+    :inherited-members:
+    :exclude-members: __init__, func
+
+LiDAR Pattern
+-------------
+
+.. autofunction:: omni.isaac.lab.sensors.patterns.lidar_pattern
+
+.. autoclass:: LidarPatternCfg
+    :members:
+    :inherited-members:
+    :exclude-members: __init__, func
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sensors.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sensors.rst
new file mode 100644
index 0000000000..3a82a42904
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sensors.rst
@@ -0,0 +1,168 @@
+omni.isaac.lab.sensors
+======================
+
+.. automodule:: omni.isaac.lab.sensors
+
+  .. rubric:: Submodules
+
+  .. autosummary::
+
+    patterns
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    SensorBase
+    SensorBaseCfg
+    Camera
+    CameraData
+    CameraCfg
+    TiledCamera
+    TiledCameraCfg
+    ContactSensor
+    ContactSensorData
+    ContactSensorCfg
+    FrameTransformer
+    FrameTransformerData
+    FrameTransformerCfg
+    RayCaster
+    RayCasterData
+    RayCasterCfg
+    RayCasterCamera
+    RayCasterCameraCfg
+    Imu
+    ImuCfg
+
+Sensor Base
+-----------
+
+.. autoclass:: SensorBase
+    :members:
+
+.. autoclass:: SensorBaseCfg
+    :members:
+    :exclude-members: __init__, class_type
+
+USD Camera
+----------
+
+.. autoclass:: Camera
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: CameraData
+    :members:
+    :inherited-members:
+    :exclude-members: __init__
+
+.. autoclass:: CameraCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Tile-Rendered USD Camera
+------------------------
+
+.. autoclass:: TiledCamera
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: TiledCameraCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Contact Sensor
+--------------
+
+.. autoclass:: ContactSensor
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: ContactSensorData
+    :members:
+    :inherited-members:
+    :exclude-members: __init__
+
+.. autoclass:: ContactSensorCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Frame Transformer
+-----------------
+
+.. autoclass:: FrameTransformer
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: FrameTransformerData
+    :members:
+    :inherited-members:
+    :exclude-members: __init__
+
+.. autoclass:: FrameTransformerCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+.. autoclass:: OffsetCfg
+    :members:
+    :inherited-members:
+    :exclude-members: __init__
+
+Ray-Cast Sensor
+---------------
+
+.. autoclass:: RayCaster
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: RayCasterData
+    :members:
+    :inherited-members:
+    :exclude-members: __init__
+
+.. autoclass:: RayCasterCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Ray-Cast Camera
+---------------
+
+.. autoclass:: RayCasterCamera
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: RayCasterCameraCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+Inertia Measurement Unit
+------------------------
+
+.. autoclass:: Imu
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: ImuCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.converters.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.converters.rst
new file mode 100644
index 0000000000..1b5ee45c08
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.converters.rst
@@ -0,0 +1,54 @@
+omni.isaac.lab.sim.converters
+=============================
+
+.. automodule:: omni.isaac.lab.sim.converters
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    AssetConverterBase
+    AssetConverterBaseCfg
+    MeshConverter
+    MeshConverterCfg
+    UrdfConverter
+    UrdfConverterCfg
+
+Asset Converter Base
+--------------------
+
+.. autoclass:: AssetConverterBase
+    :members:
+
+.. autoclass:: AssetConverterBaseCfg
+    :members:
+    :exclude-members: __init__
+
+Mesh Converter
+--------------
+
+.. autoclass:: MeshConverter
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: MeshConverterCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+
+URDF Converter
+--------------
+
+.. autoclass:: UrdfConverter
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: UrdfConverterCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.rst
new file mode 100644
index 0000000000..b2b582c68b
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.rst
@@ -0,0 +1,65 @@
+omni.isaac.lab.sim
+==================
+
+.. automodule:: omni.isaac.lab.sim
+
+  .. rubric:: Submodules
+
+  .. autosummary::
+
+    converters
+    schemas
+    spawners
+    utils
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    SimulationContext
+    SimulationCfg
+    PhysxCfg
+    RenderCfg
+
+  .. rubric:: Functions
+
+  .. autosummary::
+
+    simulation_context.build_simulation_context
+
+Simulation Context
+------------------
+
+.. autoclass:: SimulationContext
+  :members:
+  :show-inheritance:
+
+Simulation Configuration
+------------------------
+
+.. autoclass:: SimulationCfg
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
+.. autoclass:: PhysxCfg
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
+.. autoclass:: RenderCfg
+  :members:
+  :show-inheritance:
+  :exclude-members: __init__
+
+Simulation Context Builder
+--------------------------
+
+.. automethod:: simulation_context.build_simulation_context
+
+Utilities
+---------
+
+.. automodule:: omni.isaac.lab.sim.utils
+  :members:
+  :show-inheritance:
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.schemas.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.schemas.rst
new file mode 100644
index 0000000000..7b1b8cfffd
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.schemas.rst
@@ -0,0 +1,103 @@
+omni.isaac.lab.sim.schemas
+==========================
+
+.. automodule:: omni.isaac.lab.sim.schemas
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    ArticulationRootPropertiesCfg
+    RigidBodyPropertiesCfg
+    CollisionPropertiesCfg
+    MassPropertiesCfg
+    JointDrivePropertiesCfg
+    FixedTendonPropertiesCfg
+    DeformableBodyPropertiesCfg
+
+  .. rubric:: Functions
+
+  .. autosummary::
+
+    define_articulation_root_properties
+    modify_articulation_root_properties
+    define_rigid_body_properties
+    modify_rigid_body_properties
+    activate_contact_sensors
+    define_collision_properties
+    modify_collision_properties
+    define_mass_properties
+    modify_mass_properties
+    modify_joint_drive_properties
+    modify_fixed_tendon_properties
+    define_deformable_body_properties
+    modify_deformable_body_properties
+
+Articulation Root
+-----------------
+
+.. autoclass:: ArticulationRootPropertiesCfg
+    :members:
+    :exclude-members: __init__
+
+.. autofunction:: define_articulation_root_properties
+.. autofunction:: modify_articulation_root_properties
+
+Rigid Body
+----------
+
+.. autoclass:: RigidBodyPropertiesCfg
+    :members:
+    :exclude-members: __init__
+
+.. autofunction:: define_rigid_body_properties
+.. autofunction:: modify_rigid_body_properties
+.. autofunction:: activate_contact_sensors
+
+Collision
+---------
+
+.. autoclass:: CollisionPropertiesCfg
+    :members:
+    :exclude-members: __init__
+
+.. autofunction:: define_collision_properties
+.. autofunction:: modify_collision_properties
+
+Mass
+----
+
+.. autoclass:: MassPropertiesCfg
+    :members:
+    :exclude-members: __init__
+
+.. autofunction:: define_mass_properties
+.. autofunction:: modify_mass_properties
+
+Joint Drive
+-----------
+
+.. autoclass:: JointDrivePropertiesCfg
+    :members:
+    :exclude-members: __init__
+
+.. autofunction:: modify_joint_drive_properties
+
+Fixed Tendon
+------------
+
+.. autoclass:: FixedTendonPropertiesCfg
+    :members:
+    :exclude-members: __init__
+
+.. autofunction:: modify_fixed_tendon_properties
+
+Deformable Body
+---------------
+
+.. autoclass:: DeformableBodyPropertiesCfg
+    :members:
+    :exclude-members: __init__
+
+.. autofunction:: define_deformable_body_properties
+.. autofunction:: modify_deformable_body_properties
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.spawners.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.spawners.rst
new file mode 100644
index 0000000000..a1c073d4c2
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.sim.spawners.rst
@@ -0,0 +1,329 @@
+omni.isaac.lab.sim.spawners
+===========================
+
+.. automodule:: omni.isaac.lab.sim.spawners
+
+  .. rubric:: Submodules
+
+  .. autosummary::
+
+    shapes
+    meshes
+    lights
+    sensors
+    from_files
+    materials
+    wrappers
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    SpawnerCfg
+    RigidObjectSpawnerCfg
+    DeformableObjectSpawnerCfg
+
+Spawners
+--------
+
+.. autoclass:: SpawnerCfg
+    :members:
+    :exclude-members: __init__
+
+.. autoclass:: RigidObjectSpawnerCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+.. autoclass:: DeformableObjectSpawnerCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
+Shapes
+------
+
+.. automodule:: omni.isaac.lab.sim.spawners.shapes
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    ShapeCfg
+    CapsuleCfg
+    ConeCfg
+    CuboidCfg
+    CylinderCfg
+    SphereCfg
+
+.. autoclass:: ShapeCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_capsule
+
+.. autoclass:: CapsuleCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_cone
+
+.. autoclass:: ConeCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_cuboid
+
+.. autoclass:: CuboidCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_cylinder
+
+.. autoclass:: CylinderCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_sphere
+
+.. autoclass:: SphereCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+Meshes
+------
+
+.. automodule:: omni.isaac.lab.sim.spawners.meshes
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    MeshCfg
+    MeshCapsuleCfg
+    MeshConeCfg
+    MeshCuboidCfg
+    MeshCylinderCfg
+    MeshSphereCfg
+
+.. autoclass:: MeshCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_mesh_capsule
+
+.. autoclass:: MeshCapsuleCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_mesh_cone
+
+.. autoclass:: MeshConeCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_mesh_cuboid
+
+.. autoclass:: MeshCuboidCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_mesh_cylinder
+
+.. autoclass:: MeshCylinderCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_mesh_sphere
+
+.. autoclass:: MeshSphereCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+Lights
+------
+
+.. automodule:: omni.isaac.lab.sim.spawners.lights
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    LightCfg
+    CylinderLightCfg
+    DiskLightCfg
+    DistantLightCfg
+    DomeLightCfg
+    SphereLightCfg
+
+.. autofunction:: spawn_light
+
+.. autoclass:: LightCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autoclass:: CylinderLightCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autoclass:: DiskLightCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autoclass:: DistantLightCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autoclass:: DomeLightCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autoclass:: SphereLightCfg
+    :members:
+    :exclude-members: __init__, func
+
+Sensors
+-------
+
+.. automodule:: omni.isaac.lab.sim.spawners.sensors
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    PinholeCameraCfg
+    FisheyeCameraCfg
+
+.. autofunction:: spawn_camera
+
+.. autoclass:: PinholeCameraCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autoclass:: FisheyeCameraCfg
+    :members:
+    :exclude-members: __init__, func
+
+From Files
+----------
+
+.. automodule:: omni.isaac.lab.sim.spawners.from_files
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    UrdfFileCfg
+    UsdFileCfg
+    GroundPlaneCfg
+
+.. autofunction:: spawn_from_urdf
+
+.. autoclass:: UrdfFileCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_from_usd
+
+.. autoclass:: UsdFileCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_ground_plane
+
+.. autoclass:: GroundPlaneCfg
+    :members:
+    :exclude-members: __init__, func
+
+Materials
+---------
+
+.. automodule:: omni.isaac.lab.sim.spawners.materials
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    VisualMaterialCfg
+    PreviewSurfaceCfg
+    MdlFileCfg
+    GlassMdlCfg
+    PhysicsMaterialCfg
+    RigidBodyMaterialCfg
+    DeformableBodyMaterialCfg
+
+Visual Materials
+~~~~~~~~~~~~~~~~
+
+.. autoclass:: VisualMaterialCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_preview_surface
+
+.. autoclass:: PreviewSurfaceCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_from_mdl_file
+
+.. autoclass:: MdlFileCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autoclass:: GlassMdlCfg
+    :members:
+    :exclude-members: __init__, func
+
+Physical Materials
+~~~~~~~~~~~~~~~~~~
+
+.. autoclass:: PhysicsMaterialCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_rigid_body_material
+
+.. autoclass:: RigidBodyMaterialCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_deformable_body_material
+
+.. autoclass:: DeformableBodyMaterialCfg
+    :members:
+    :exclude-members: __init__, func
+
+Wrappers
+--------
+
+.. automodule:: omni.isaac.lab.sim.spawners.wrappers
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    MultiAssetSpawnerCfg
+    MultiUsdFileCfg
+
+.. autofunction:: spawn_multi_asset
+
+.. autoclass:: MultiAssetSpawnerCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_multi_usd_file
+
+.. autoclass:: MultiUsdFileCfg
+    :members:
+    :exclude-members: __init__, func
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.terrains.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.terrains.rst
new file mode 100644
index 0000000000..3d11fa1f1b
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.terrains.rst
@@ -0,0 +1,261 @@
+omni.isaac.lab.terrains
+=======================
+
+.. automodule:: omni.isaac.lab.terrains
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    TerrainImporter
+    TerrainImporterCfg
+    TerrainGenerator
+    TerrainGeneratorCfg
+    SubTerrainBaseCfg
+
+
+Terrain importer
+----------------
+
+.. autoclass:: TerrainImporter
+    :members:
+    :show-inheritance:
+
+.. autoclass:: TerrainImporterCfg
+    :members:
+    :exclude-members: __init__, class_type
+
+Terrain generator
+-----------------
+
+.. autoclass:: TerrainGenerator
+    :members:
+
+.. autoclass:: TerrainGeneratorCfg
+    :members:
+    :exclude-members: __init__
+
+.. autoclass:: SubTerrainBaseCfg
+    :members:
+    :exclude-members: __init__
+
+Height fields
+-------------
+
+.. automodule:: omni.isaac.lab.terrains.height_field
+
+All sub-terrains must inherit from the :class:`HfTerrainBaseCfg` class which contains the common
+parameters for all terrains generated from height fields.
+
+.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Random Uniform Terrain
+^^^^^^^^^^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Pyramid Sloped Terrain
+^^^^^^^^^^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Pyramid Stairs Terrain
+^^^^^^^^^^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Discrete Obstacles Terrain
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Wave Terrain
+^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Stepping Stones Terrain
+^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Trimesh terrains
+----------------
+
+.. automodule:: omni.isaac.lab.terrains.trimesh
+
+
+Flat terrain
+^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Pyramid terrain
+^^^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Inverted pyramid terrain
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Random grid terrain
+^^^^^^^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Rails terrain
+^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Pit terrain
+^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Box terrain
+^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Gap terrain
+^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Floating ring terrain
+^^^^^^^^^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Star terrain
+^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Repeated Objects Terrain
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autofunction:: omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+.. autoclass:: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, function
+
+Utilities
+---------
+
+.. automodule:: omni.isaac.lab.terrains.utils
+    :members:
+    :undoc-members:
diff --git a/v1.4.0/_sources/source/api/lab/omni.isaac.lab.utils.rst b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.utils.rst
new file mode 100644
index 0000000000..c14ae19b6c
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab/omni.isaac.lab.utils.rst
@@ -0,0 +1,140 @@
+omni.isaac.lab.utils
+====================
+
+.. automodule:: omni.isaac.lab.utils
+
+   .. Rubric:: Submodules
+
+   .. autosummary::
+
+      io
+      array
+      assets
+      buffers
+      dict
+      interpolation
+      math
+      modifiers
+      noise
+      string
+      timer
+      types
+      warp
+
+   .. Rubric:: Functions
+
+   .. autosummary::
+
+      configclass
+
+Configuration class
+~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.configclass
+   :members:
+   :show-inheritance:
+
+IO operations
+~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.io
+   :members:
+   :imported-members:
+   :show-inheritance:
+
+Array operations
+~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.array
+   :members:
+   :show-inheritance:
+
+Asset operations
+~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.assets
+   :members:
+   :show-inheritance:
+
+Buffer operations
+~~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.buffers
+   :members:
+   :imported-members:
+   :inherited-members:
+   :show-inheritance:
+
+Dictionary operations
+~~~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.dict
+   :members:
+   :show-inheritance:
+
+Interpolation operations
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.interpolation
+   :members:
+   :imported-members:
+   :inherited-members:
+   :show-inheritance:
+
+Math operations
+~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.math
+   :members:
+   :inherited-members:
+   :show-inheritance:
+
+Modifier operations
+~~~~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.modifiers
+   :members:
+   :imported-members:
+   :special-members: __call__
+   :inherited-members:
+   :show-inheritance:
+   :exclude-members: __init__, func
+
+Noise operations
+~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.noise
+   :members:
+   :imported-members:
+   :inherited-members:
+   :show-inheritance:
+   :exclude-members: __init__, func
+
+String operations
+~~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.string
+   :members:
+   :show-inheritance:
+
+Timer operations
+~~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.timer
+   :members:
+   :show-inheritance:
+
+Type operations
+~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.types
+   :members:
+   :show-inheritance:
+
+Warp operations
+~~~~~~~~~~~~~~~
+
+.. automodule:: omni.isaac.lab.utils.warp
+   :members:
+   :imported-members:
+   :show-inheritance:
diff --git a/v1.4.0/_sources/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst b/v1.4.0/_sources/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst
new file mode 100644
index 0000000000..b29b1446b0
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst
@@ -0,0 +1,17 @@
+omni.isaac.lab_tasks.utils.data_collector
+=========================================
+
+.. automodule:: omni.isaac.lab_tasks.utils.data_collector
+
+    .. Rubric:: Classes
+
+    .. autosummary::
+
+        RobomimicDataCollector
+
+Robomimic Data Collector
+------------------------
+
+.. autoclass:: RobomimicDataCollector
+    :members:
+    :show-inheritance:
diff --git a/v1.4.0/_sources/source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst b/v1.4.0/_sources/source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst
new file mode 100644
index 0000000000..644bcaa439
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst
@@ -0,0 +1,13 @@
+omni.isaac.lab_tasks.utils
+==========================
+
+.. automodule:: omni.isaac.lab_tasks.utils
+   :members:
+   :imported-members:
+
+   .. rubric:: Submodules
+
+   .. autosummary::
+
+      data_collector
+      wrappers
diff --git a/v1.4.0/_sources/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst b/v1.4.0/_sources/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst
new file mode 100644
index 0000000000..e70975375d
--- /dev/null
+++ b/v1.4.0/_sources/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst
@@ -0,0 +1,33 @@
+omni.isaac.lab_tasks.utils.wrappers
+===================================
+
+.. automodule:: omni.isaac.lab_tasks.utils.wrappers
+
+RL-Games Wrapper
+----------------
+
+.. automodule:: omni.isaac.lab_tasks.utils.wrappers.rl_games
+   :members:
+   :show-inheritance:
+
+RSL-RL Wrapper
+--------------
+
+.. automodule:: omni.isaac.lab_tasks.utils.wrappers.rsl_rl
+   :members:
+   :imported-members:
+   :show-inheritance:
+
+SKRL Wrapper
+------------
+
+.. automodule:: omni.isaac.lab_tasks.utils.wrappers.skrl
+   :members:
+   :show-inheritance:
+
+Stable-Baselines3 Wrapper
+-------------------------
+
+.. automodule:: omni.isaac.lab_tasks.utils.wrappers.sb3
+   :members:
+   :show-inheritance:
diff --git a/v1.4.0/_sources/source/deployment/cluster.rst b/v1.4.0/_sources/source/deployment/cluster.rst
new file mode 100644
index 0000000000..467fda90f4
--- /dev/null
+++ b/v1.4.0/_sources/source/deployment/cluster.rst
@@ -0,0 +1,211 @@
+.. _deployment-cluster:
+
+
+Cluster Guide
+=============
+
+Clusters are a great way to speed up training and evaluation of learning algorithms.
+While the Isaac Lab Docker image can be used to run jobs on a cluster, many clusters only
+support singularity images. This is because `singularity`_ is designed for
+ease-of-use on shared multi-user systems and high performance computing (HPC) environments.
+It does not require root privileges to run containers and can be used to run user-defined
+containers.
+
+Singularity is compatible with all Docker images. In this section, we describe how to
+convert the Isaac Lab Docker image into a singularity image and use it to submit jobs to a cluster.
+
+.. attention::
+
+    Cluster setup varies across different institutions. The following instructions have been
+    tested on the `ETH Zurich Euler`_ cluster (which uses the SLURM workload manager), and the
+    IIT Genoa Franklin cluster (which uses PBS workload manager).
+
+    The instructions may need to be adapted for other clusters. If you have successfully
+    adapted the instructions for another cluster, please consider contributing to the
+    documentation.
+
+
+Setup Instructions
+------------------
+
+In order to export the Docker Image to a singularity image, `apptainer`_ is required.
+A detailed overview of the installation procedure for ``apptainer`` can be found in its
+`documentation`_. For convenience, we summarize the steps here for a local installation:
+
+.. code:: bash
+
+    sudo apt update
+    sudo apt install -y software-properties-common
+    sudo add-apt-repository -y ppa:apptainer/ppa
+    sudo apt update
+    sudo apt install -y apptainer
+
+For simplicity, we recommend that an SSH connection is set up between the local
+development machine and the cluster. Such a connection will simplify the file transfer and prevent
+the user cluster password from being requested multiple times.
+
+.. attention::
+  The workflow has been tested with:
+
+  - ``apptainer version 1.2.5-1.el7`` and ``docker version 24.0.7``
+  - ``apptainer version 1.3.4`` and ``docker version 27.3.1``
+
+  In the case of issues, please try to switch to those versions.
+
+
+Configuring the cluster parameters
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+First, you need to configure the cluster-specific parameters in ``docker/cluster/.env.cluster`` file.
+The following describes the parameters that need to be configured:
+
+.. list-table::
+   :header-rows: 1
+   :widths: 20 80
+
+   * - Parameter
+     - Description
+   * - CLUSTER_JOB_SCHEDULER
+     - The job scheduler/workload manager used by your cluster. Currently, we support 'SLURM' and
+       'PBS' workload managers.
+   * - CLUSTER_ISAAC_SIM_CACHE_DIR
+     - The directory on the cluster where the Isaac Sim cache is stored. This directory
+       has to end on ``docker-isaac-sim``. It will be copied to the compute node
+       and mounted into the singularity container. This should increase the speed of starting
+       the simulation.
+   * - CLUSTER_ISAACLAB_DIR
+     - The directory on the cluster where the Isaac Lab logs are stored. This directory has to
+       end on ``isaaclab``. It will be copied to the compute node and mounted into
+       the singularity container. When a job is submitted, the latest local changes will
+       be copied to the cluster to a new directory in the format ``${CLUSTER_ISAACLAB_DIR}_${datetime}``
+       with the date and time of the job submission. This allows to run multiple jobs with different code versions at
+       the same time.
+   * - CLUSTER_LOGIN
+     - The login to the cluster. Typically, this is the user and cluster names,
+       e.g., ``your_user@euler.ethz.ch``.
+   * - CLUSTER_SIF_PATH
+     - The path on the cluster where the singularity image will be stored. The image will be
+       copied to the compute node but not uploaded again to the cluster when a job is submitted.
+   * - REMOVE_CODE_COPY_AFTER_JOB
+     - Whether the copied code should be removed after the job is finished or not. The logs from the job will not be deleted
+       as these are saved under the permanent ``CLUSTER_ISAACLAB_DIR``. This feature is useful
+       to save disk space on the cluster. If set to ``true``, the code copy will be removed.
+   * - CLUSTER_PYTHON_EXECUTABLE
+     - The path within Isaac Lab to the Python executable that should be executed in the submitted job.
+
+When a ``job`` is submitted, it will also use variables defined in ``docker/.env.base``, though these
+should be correct by default.
+
+Exporting to singularity image
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Next, we need to export the Docker image to a singularity image and upload
+it to the cluster. This step is only required once when the first job is submitted
+or when the Docker image is updated. For instance, due to an upgrade of the Isaac Sim
+version, or additional requirements for your project.
+
+To export to a singularity image, execute the following command:
+
+.. code:: bash
+
+    ./docker/cluster/cluster_interface.sh push [profile]
+
+This command will create a singularity image under ``docker/exports`` directory and
+upload it to the defined location on the cluster. It requires that you have previously
+built the image with the ``container.py`` interface. Be aware that creating the singularity
+image can take a while.
+``[profile]`` is an optional argument that specifies the container profile to be used. If no profile is
+specified, the default profile ``base`` will be used.
+
+.. note::
+  By default, the singularity image is created without root access by providing the ``--fakeroot`` flag to
+  the ``apptainer build`` command. In case the image creation fails, you can try to create it with root
+  access by removing the flag in ``docker/cluster/cluster_interface.sh``.
+
+
+Defining the job parameters
+---------------------------
+
+The job parameters need to be defined based on the job scheduler used by your cluster.
+You only need to update the appropriate script for the scheduler available to you.
+
+- For SLURM, update the parameters in ``docker/cluster/submit_job_slurm.sh``.
+- For PBS, update the parameters in ``docker/cluster/submit_job_pbs.sh``.
+
+For SLURM
+~~~~~~~~~
+
+The job parameters are defined inside the ``docker/cluster/submit_job_slurm.sh``.
+A typical SLURM operation requires specifying the number of CPUs and GPUs, the memory, and
+the time limit. For more information, please check the `SLURM documentation`_.
+
+The default configuration is as follows:
+
+.. literalinclude:: ../../../docker/cluster/submit_job_slurm.sh
+  :language: bash
+  :lines: 12-19
+  :linenos:
+  :lineno-start: 12
+
+An essential requirement for the cluster is that the compute node has access to the internet at all times.
+This is required to load assets from the Nucleus server. For some cluster architectures, extra modules
+must be loaded to allow internet access.
+
+For instance, on ETH Zurich Euler cluster, the ``eth_proxy`` module needs to be loaded. This can be done
+by adding the following line to the ``submit_job_slurm.sh`` script:
+
+.. literalinclude:: ../../../docker/cluster/submit_job_slurm.sh
+  :language: bash
+  :lines: 3-5
+  :linenos:
+  :lineno-start: 3
+
+For PBS
+~~~~~~~
+
+The job parameters are defined inside the ``docker/cluster/submit_job_pbs.sh``.
+A typical PBS operation requires specifying the number of CPUs and GPUs, and the time limit. For more
+information, please check the `PBS Official Site`_.
+
+The default configuration is as follows:
+
+.. literalinclude:: ../../../docker/cluster/submit_job_pbs.sh
+  :language: bash
+  :lines: 11-17
+  :linenos:
+  :lineno-start: 11
+
+
+Submitting a job
+----------------
+
+To submit a job on the cluster, the following command can be used:
+
+.. code:: bash
+
+    ./docker/cluster/cluster_interface.sh job [profile] "argument1" "argument2" ...
+
+This command will copy the latest changes in your code to the cluster and submit a job. Please ensure that
+your Python executable's output is stored under ``isaaclab/logs`` as this directory is synced between the compute
+node and ``CLUSTER_ISAACLAB_DIR``.
+
+``[profile]`` is an optional argument that specifies which singularity image corresponding to the  container profile
+will be used. If no profile is specified, the default profile ``base`` will be used. The profile has be defined
+directlty after the ``job`` command. All other arguments are passed to the Python executable. If no profile is
+defined, all arguments are passed to the Python executable.
+
+The training arguments are passed to the Python executable. As an example, the standard
+ANYmal rough terrain locomotion training can be executed with the following command:
+
+.. code:: bash
+
+    ./docker/cluster/cluster_interface.sh job --task Isaac-Velocity-Rough-Anymal-C-v0 --headless --video --enable_cameras
+
+The above will, in addition, also render videos of the training progress and store them under ``isaaclab/logs`` directory.
+
+.. _Singularity: https://docs.sylabs.io/guides/2.6/user-guide/index.html
+.. _ETH Zurich Euler: https://scicomp.ethz.ch/wiki/Euler
+.. _PBS Official Site: https://openpbs.org/
+.. _apptainer: https://apptainer.org/
+.. _documentation: https://www.apptainer.org/docs/admin/main/installation.html#install-ubuntu-packages
+.. _SLURM documentation: https://www.slurm.schedmd.com/sbatch.html
diff --git a/v1.4.0/_sources/source/deployment/docker.rst b/v1.4.0/_sources/source/deployment/docker.rst
new file mode 100644
index 0000000000..dc5ce052c6
--- /dev/null
+++ b/v1.4.0/_sources/source/deployment/docker.rst
@@ -0,0 +1,314 @@
+.. _deployment-docker:
+
+
+Docker Guide
+============
+
+.. caution::
+
+    Due to the dependency on Isaac Sim docker image, by running this container you are implicitly
+    agreeing to the `NVIDIA Omniverse EULA`_. If you do not agree to the EULA, do not run this container.
+
+Setup Instructions
+------------------
+
+.. note::
+
+    The following steps are taken from the NVIDIA Omniverse Isaac Sim documentation on `container installation`_.
+    They have been added here for the sake of completeness.
+
+
+Docker and Docker Compose
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+We have tested the container using Docker Engine version 26.0.0 and Docker Compose version 2.25.0
+We recommend using these versions or newer.
+
+* To install Docker, please follow the instructions for your operating system on the `Docker website`_.
+* To install Docker Compose, please follow the instructions for your operating system on the `docker compose`_ page.
+* Follow the post-installation steps for Docker on the `post-installation steps`_ page. These steps allow you to run
+  Docker without using ``sudo``.
+* To build and run GPU-accelerated containers, you also need install the `NVIDIA Container Toolkit`_.
+  Please follow the instructions on the `Container Toolkit website`_ for installation steps.
+
+.. note::
+
+    Due to limitations with `snap <https://snapcraft.io/docs/home-outside-home>`_, please make sure
+    the Isaac Lab directory is placed under the ``/home`` directory tree when using docker.
+
+
+Obtaining the Isaac Sim Container
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+* Get access to the `Isaac Sim container`_ by joining the NVIDIA Developer Program credentials.
+* Generate your `NGC API key`_ to access locked container images from NVIDIA GPU Cloud (NGC).
+
+  * This step requires you to create an NGC account if you do not already have one.
+  * You would also need to install the NGC CLI to perform operations from the command line.
+  * Once you have your generated API key and have installed the NGC CLI, you need to log in to NGC
+    from the terminal.
+
+    .. code:: bash
+
+        ngc config set
+
+* Use the command line to pull the Isaac Sim container image from NGC.
+
+  .. code:: bash
+
+      docker login nvcr.io
+
+  * For the username, enter ``$oauthtoken`` exactly as shown. It is a special username that is used to
+    authenticate with NGC.
+
+    .. code:: text
+
+        Username: $oauthtoken
+        Password: <Your NGC API Key>
+
+
+Directory Organization
+----------------------
+
+The root of the Isaac Lab repository contains the ``docker`` directory that has various files and scripts
+needed to run Isaac Lab inside a Docker container. A subset of these are summarized below:
+
+* **Dockerfile.base**: Defines the base Isaac Lab image by overlaying its dependencies onto the Isaac Sim Docker image.
+  Dockerfiles which end with something else, (i.e. ``Dockerfile.ros2``) build an `image extension <#isaac-lab-image-extensions>`_.
+* **docker-compose.yaml**: Creates mounts to allow direct editing of Isaac Lab code from the host machine that runs
+  the container. It also creates several named volumes such as ``isaac-cache-kit`` to
+  store frequently re-used resources compiled by Isaac Sim, such as shaders, and to retain logs, data, and documents.
+* **.env.base**: Stores environment variables required for the ``base`` build process and the container itself. ``.env``
+  files which end with something else (i.e. ``.env.ros2``) define these for `image extension <#isaac-lab-image-extensions>`_.
+* **container.py**: A utility script that interfaces with tools in ``utils`` to configure and build the image,
+  and run and interact with the container.
+
+Running the Container
+---------------------
+
+.. note::
+
+    The docker container copies all the files from the repository into the container at the
+    location ``/workspace/isaaclab`` at build time. This means that any changes made to the files in the container would not
+    normally be reflected in the repository after the image has been built, i.e. after ``./container.py start`` is run.
+
+    For a faster development cycle, we mount the following directories in the Isaac Lab repository into the container
+    so that you can edit their files from the host machine:
+
+    * **IsaacLab/source**: This is the directory that contains the Isaac Lab source code.
+    * **IsaacLab/docs**: This is the directory that contains the source code for Isaac Lab documentation. This is overlaid except
+      for the ``_build`` subdirectory where build artifacts are stored.
+
+
+The script ``container.py`` parallels basic ``docker compose`` commands. Each can accept an `image extension argument <#isaac-lab-image-extensions>`_,
+or else they will default to the ``base`` image extension. These commands are:
+
+* **start**: This builds the image and brings up the container in detached mode (i.e. in the background).
+* **enter**: This begins a new bash process in an existing Isaac Lab container, and which can be exited
+  without bringing down the container.
+* **config**: This outputs the compose.yaml which would be result from the inputs given to ``container.py start``. This command is useful
+  for debugging a compose configuration.
+* **copy**: This copies the ``logs``, ``data_storage`` and ``docs/_build`` artifacts, from the ``isaac-lab-logs``, ``isaac-lab-data`` and ``isaac-lab-docs``
+  volumes respectively, to the ``docker/artifacts`` directory. These artifacts persist between docker container instances and are shared between image extensions.
+* **stop**: This brings down the container and removes it.
+
+The following shows how to launch the container in a detached state and enter it:
+
+.. code:: bash
+
+    # Launch the container in detached mode
+    # We don't pass an image extension arg, so it defaults to 'base'
+    ./docker/container.py start
+
+    # If we want to add .env or .yaml files to customize our compose config,
+    # we can simply specify them in the same manner as the compose cli
+    # ./docker/container.py start --file my-compose.yaml --env-file .env.my-vars
+
+    # Enter the container
+    # We pass 'base' explicitly, but if we hadn't it would default to 'base'
+    ./docker/container.py enter base
+
+To copy files from the base container to the host machine, you can use the following command:
+
+.. code:: bash
+
+    # Copy the file /workspace/isaaclab/logs to the current directory
+    docker cp isaac-lab-base:/workspace/isaaclab/logs .
+
+The script ``container.py`` provides a wrapper around this command to copy the ``logs`` , ``data_storage`` and ``docs/_build``
+directories to the ``docker/artifacts`` directory. This is useful for copying the logs, data and documentation:
+
+.. code:: bash
+
+    # stop the container
+    ./docker/container.py stop
+
+
+X11 forwarding
+~~~~~~~~~~~~~~
+
+The container supports X11 forwarding, which allows the user to run GUI applications from the container
+and display them on the host machine.
+
+The first time a container is started with ``./docker/container.py start``, the script prompts
+the user whether to activate X11 forwarding. This will create a file at ``docker/.container.cfg``
+to store the user's choice for future runs.
+
+If you want to change the choice, you can set the parameter ``X11_FORWARDING_ENABLED`` to '0' or '1'
+in the ``docker/.container.cfg`` file to disable or enable X11 forwarding, respectively. After that, you need to
+re-build the container by running ``./docker/container.py start``. The rebuilding process ensures that the changes
+are applied to the container. Otherwise, the changes will not take effect.
+
+After the container is started, you can enter the container and run GUI applications from it with X11 forwarding enabled.
+The display will be forwarded to the host machine.
+
+
+Python Interpreter
+~~~~~~~~~~~~~~~~~~
+
+The container uses the Python interpreter provided by Isaac Sim. This interpreter is located at
+``/isaac-sim/python.sh``. We set aliases inside the container to make it easier to run the Python
+interpreter. You can use the following commands to run the Python interpreter:
+
+.. code:: bash
+
+    # Run the Python interpreter -> points to /isaac-sim/python.sh
+    python
+
+
+Understanding the mounted volumes
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The ``docker-compose.yaml`` file creates several named volumes that are mounted to the container.
+These are summarized below:
+
+.. list-table::
+   :header-rows: 1
+   :widths: 23 45 32
+
+   * - Volume Name
+     - Description
+     - Container Path
+   * - isaac-cache-kit
+     - Stores cached Kit resources
+     - /isaac-sim/kit/cache
+   * - isaac-cache-ov
+     - Stores cached OV resources
+     - /root/.cache/ov
+   * - isaac-cache-pip
+     - Stores cached pip resources
+     - /root/.cache/pip
+   * - isaac-cache-gl
+     - Stores cached GLCache resources
+     - /root/.cache/nvidia/GLCache
+   * - isaac-cache-compute
+     - Stores cached compute resources
+     - /root/.nv/ComputeCache
+   * - isaac-logs
+     - Stores logs generated by Omniverse
+     - /root/.nvidia-omniverse/logs
+   * - isaac-carb-logs
+     - Stores logs generated by carb
+     - /isaac-sim/kit/logs/Kit/Isaac-Sim
+   * - isaac-data
+     - Stores data generated by Omniverse
+     - /root/.local/share/ov/data
+   * - isaac-docs
+     - Stores documents generated by Omniverse
+     - /root/Documents
+   * - isaac-lab-docs
+     - Stores documentation of Isaac Lab when built inside the container
+     - /workspace/isaaclab/docs/_build
+   * - isaac-lab-logs
+     - Stores logs generated by Isaac Lab workflows when run inside the container
+     - /workspace/isaaclab/logs
+   * - isaac-lab-data
+     - Stores whatever data users may want to preserve between container runs
+     - /workspace/isaaclab/data_storage
+
+To view the contents of these volumes, you can use the following command:
+
+.. code:: bash
+
+    # list all volumes
+    docker volume ls
+    # inspect a specific volume, e.g. isaac-cache-kit
+    docker volume inspect isaac-cache-kit
+
+
+
+Isaac Lab Image Extensions
+--------------------------
+
+The produced image depends upon the arguments passed to ``container.py start`` and ``container.py stop``. These
+commands accept an image extension parameter as an additional argument. If no argument is passed, then this
+parameter defaults to ``base``. Currently, the only valid values are (``base``, ``ros2``).
+Only one image extension can be passed at a time. The produced container will be named ``isaac-lab-${profile}``,
+where ``${profile}`` is the image extension name.
+
+.. code:: bash
+
+    # start base by default
+    ./docker/container.py start
+    # stop base explicitly
+    ./docker/container.py stop base
+    # start ros2 container
+    ./docker/container.py start ros2
+    # stop ros2 container
+    ./docker/container.py stop ros2
+
+The passed image extension argument will build the image defined in ``Dockerfile.${image_extension}``,
+with the corresponding `profile`_ in the ``docker-compose.yaml`` and the envars from ``.env.${image_extension}``
+in addition to the ``.env.base``, if any.
+
+ROS2 Image Extension
+~~~~~~~~~~~~~~~~~~~~
+
+In ``Dockerfile.ros2``, the container installs ROS2 Humble via an `apt package`_, and it is sourced in the ``.bashrc``.
+The exact version is specified by the variable ``ROS_APT_PACKAGE`` in the ``.env.ros2`` file,
+defaulting to ``ros-base``. Other relevant ROS2 variables are also specified in the ``.env.ros2`` file,
+including variables defining the `various middleware`_ options.
+
+The container defaults to ``FastRTPS``, but ``CylconeDDS`` is also supported. Each of these middlewares can be
+`tuned`_ using their corresponding ``.xml`` files under ``docker/.ros``.
+
+
+.. dropdown:: Parameters for ROS2 Image Extension
+   :icon: code
+
+   .. literalinclude:: ../../../docker/.env.ros2
+      :language: bash
+
+
+Known Issues
+------------
+
+WebRTC Streaming
+~~~~~~~~~~~~~~~~
+
+When streaming the GUI from Isaac Sim, there are `several streaming clients`_ available. There is a `known issue`_ when
+attempting to use WebRTC streaming client on Google Chrome and Safari while running Isaac Sim inside a container.
+To avoid this problem, we suggest using the Native Streaming Client or using the
+Mozilla Firefox browser on which WebRTC works.
+
+Streaming is the only supported method for visualizing the Isaac GUI from within the container. The Omniverse Streaming Client
+is freely available from the Omniverse app, and is easy to use. The other streaming methods similarly require only a web browser.
+If users want to use X11 forwarding in order to have the apps behave as local GUI windows, they can uncomment the relevant portions
+in docker-compose.yaml.
+
+
+.. _`NVIDIA Omniverse EULA`: https://docs.omniverse.nvidia.com/platform/latest/common/NVIDIA_Omniverse_License_Agreement.html
+.. _`container installation`: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html
+.. _`Docker website`: https://docs.docker.com/desktop/install/linux-install/
+.. _`docker compose`: https://docs.docker.com/compose/install/linux/#install-using-the-repository
+.. _`NVIDIA Container Toolkit`: https://github.com/NVIDIA/nvidia-container-toolkit
+.. _`Container Toolkit website`: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html
+.. _`post-installation steps`: https://docs.docker.com/engine/install/linux-postinstall/
+.. _`Isaac Sim container`: https://catalog.ngc.nvidia.com/orgs/nvidia/containers/isaac-sim
+.. _`NGC API key`: https://docs.nvidia.com/ngc/gpu-cloud/ngc-user-guide/index.html#generating-api-key
+.. _`several streaming clients`: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html
+.. _`known issue`: https://forums.developer.nvidia.com/t/unable-to-use-webrtc-when-i-run-runheadless-webrtc-sh-in-remote-headless-container/222916
+.. _`profile`: https://docs.docker.com/compose/compose-file/15-profiles/
+.. _`apt package`: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html#install-ros-2-packages
+.. _`various middleware`: https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html
+.. _`tuned`: https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html
diff --git a/v1.4.0/_sources/source/deployment/index.rst b/v1.4.0/_sources/source/deployment/index.rst
new file mode 100644
index 0000000000..c8e07ef9e2
--- /dev/null
+++ b/v1.4.0/_sources/source/deployment/index.rst
@@ -0,0 +1,22 @@
+Container Deployment
+====================
+
+Docker is a tool that allows for the creation of containers, which are isolated environments that can
+be used to run applications. They are useful for ensuring that an application can run on any machine
+that has Docker installed, regardless of the host machine's operating system or installed libraries.
+
+We include a Dockerfile and docker-compose.yaml file that can be used to build a Docker image that
+contains Isaac Lab and all of its dependencies. This image can then be used to run Isaac Lab in a container.
+The Dockerfile is based on the Isaac Sim image provided by NVIDIA, which includes the Omniverse
+application launcher and the Isaac Sim application. The Dockerfile installs Isaac Lab and its dependencies
+on top of this image.
+
+The following guides provide instructions for building the Docker image and running Isaac Lab in a
+container.
+
+.. toctree::
+  :maxdepth: 1
+
+  docker
+  cluster
+  run_docker_example
diff --git a/v1.4.0/_sources/source/deployment/run_docker_example.rst b/v1.4.0/_sources/source/deployment/run_docker_example.rst
new file mode 100644
index 0000000000..9134369f2b
--- /dev/null
+++ b/v1.4.0/_sources/source/deployment/run_docker_example.rst
@@ -0,0 +1,141 @@
+Running an example with Docker
+==============================
+
+From the root of the Isaac Lab repository,  the ``docker`` directory contains all the Docker relevant files. These include the three files
+(**Dockerfile**, **docker-compose.yaml**, **.env**) which are used by Docker, and an additional script that we use to interface with them,
+**container.py**.
+
+In this tutorial, we will learn how to use the Isaac Lab Docker container for development. For a detailed description of the Docker setup,
+including installation and obtaining access to an Isaac Sim image, please reference the :ref:`deployment-docker`. For a description
+of Docker in general, please refer to `their official documentation <https://docs.docker.com/get-started/overview/>`_.
+
+
+Building the Container
+~~~~~~~~~~~~~~~~~~~~~~
+
+To build the Isaac Lab container from the root of the Isaac Lab repository, we will run the following:
+
+
+.. code-block:: console
+
+   python docker/container.py start
+
+
+The terminal will first pull the base IsaacSim image, build the Isaac Lab image's additional layers on top of it, and run the Isaac Lab container.
+This should take several minutes upon the first build but will be shorter in subsequent runs as Docker's caching prevents repeated work.
+If we run the command ``docker container ls`` on the terminal, the output will list the containers that are running on the system. If
+everything has been set up correctly, a container with the ``NAME`` **isaac-lab-base** should appear, similar to below:
+
+
+.. code-block:: console
+
+   CONTAINER ID   IMAGE               COMMAND   CREATED           STATUS         PORTS     NAMES
+   483d1d5e2def   isaac-lab-base      "bash"    30 seconds ago   Up 30 seconds             isaac-lab-base
+
+
+Once the container is up and running, we can enter it from our terminal.
+
+.. code-block:: console
+
+   python docker/container.py enter
+
+
+On entering the Isaac Lab container, we are in the terminal as the superuser, ``root``. This environment contains a copy of the
+Isaac Lab repository, but also has access to the directories and libraries of Isaac Sim. We can run experiments from this environment
+using a few convenient aliases that have been put into the ``root`` **.bashrc**. For instance, we have made the **isaaclab.sh** script
+usable from anywhere by typing its alias ``isaaclab``.
+
+Additionally in the container, we have `bind mounted`_ the ``IsaacLab/source`` directory from the
+host machine. This means that if we modify files under this directory from an editor on the host machine, the changes are
+reflected immediately within the container without requiring us to rebuild the Docker image.
+
+We will now run a sample script from within the container to demonstrate how to extract artifacts
+from the Isaac Lab Docker container.
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``log_time.py`` script in the ``IsaacLab/source/standalone/tutorials/00_sim`` directory.
+
+.. dropdown:: Code for log_time.py
+   :icon: code
+
+   .. literalinclude:: ../../../source/standalone/tutorials/00_sim/log_time.py
+      :language: python
+      :emphasize-lines: 46-55, 72-79
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+The Isaac Lab Docker container has several `volumes`_ to facilitate persistent storage between the host computer and the
+container. One such volume is the ``/workspace/isaaclab/logs`` directory.
+The ``log_time.py`` script designates this directory as the location to which a ``log.txt`` should be written:
+
+.. literalinclude:: ../../../source/standalone/tutorials/00_sim/log_time.py
+   :language: python
+   :start-at: # Specify that the logs must be in logs/docker_tutorial
+   :end-at: print(f"[INFO] Logging experiment to directory: {log_dir_path}")
+
+
+As the comments note, :func:`os.path.abspath()` will prepend ``/workspace/isaaclab`` because in
+the Docker container all python execution is done through ``/workspace/isaaclab/isaaclab.sh``.
+The output will be a file, ``log.txt``, with the ``sim_time`` written on a newline at every simulation step:
+
+.. literalinclude:: ../../../source/standalone/tutorials/00_sim/log_time.py
+   :language: python
+   :start-at: # Prepare to count sim_time
+   :end-at: sim_time += sim_dt
+
+
+Executing the Script
+~~~~~~~~~~~~~~~~~~~~
+
+We will execute the script to produce a log, adding a ``--headless`` flag to our execution to prevent a GUI:
+
+.. code-block:: bash
+
+  isaaclab -p source/standalone/tutorials/00_sim/log_time.py --headless
+
+
+Now ``log.txt`` will have been produced at ``/workspace/isaaclab/logs/docker_tutorial``. If we exit the container
+by typing ``exit``, we will return to ``IsaacLab/docker`` in our host terminal environment. We can then enter
+the following command to retrieve our logs from the Docker container and put them on our host machine:
+
+.. code-block:: console
+
+  ./container.py copy
+
+
+We will see a terminal readout reporting the artifacts we have retrieved from the container. If we navigate to
+``/isaaclab/docker/artifacts/logs/docker_tutorial``, we will see a copy of the ``log.txt`` file which was produced
+by the script above.
+
+Each of the directories under ``artifacts`` corresponds to Docker `volumes`_ mapped to directories
+within the container and the ``container.py copy`` command copies them from those `volumes`_ to these directories.
+
+We could return to the Isaac Lab Docker terminal environment by running ``container.py enter`` again,
+but we have retrieved our logs and wish to go inspect them. We can stop the Isaac Lab Docker container with the following command:
+
+.. code-block:: console
+
+  ./container.py stop
+
+
+This will bring down the Docker Isaac Lab container. The image will persist and remain available for further use, as will
+the contents of any `volumes`_. If we wish to free up the disk space taken by the image, (~20.1GB), and do not mind repeating
+the build process when we next run ``./container.py start``, we may enter the following command to delete the **isaac-lab-base** image:
+
+.. code-block:: console
+
+  docker image rm isaac-lab-base
+
+A subsequent run of ``docker image ls`` will show that the image tagged **isaac-lab-base** is now gone. We can repeat the process for the
+underlying NVIDIA container if we wish to free up more space. If a more powerful method of freeing resources from Docker is desired,
+please consult the documentation for the `docker prune`_ commands.
+
+
+.. _volumes: https://docs.docker.com/storage/volumes/
+.. _bind mounted: https://docs.docker.com/storage/bind-mounts/
+.. _docker prune: https://docs.docker.com/config/pruning/
diff --git a/v1.4.0/_sources/source/features/hydra.rst b/v1.4.0/_sources/source/features/hydra.rst
new file mode 100644
index 0000000000..577eb7a6ec
--- /dev/null
+++ b/v1.4.0/_sources/source/features/hydra.rst
@@ -0,0 +1,129 @@
+Hydra Configuration System
+==========================
+
+.. currentmodule:: omni.isaac.lab
+
+Isaac Lab supports the `Hydra <https://hydra.cc/docs/intro/>`_ configuration system to modify the task's
+configuration using command line arguments, which can be useful to automate experiments and perform hyperparameter tuning.
+
+Any parameter of the environment can be modified by adding one or multiple elements of the form ``env.a.b.param1=value``
+to the command line input, where ``a.b.param1`` reflects the parameter's hierarchy, for example ``env.actions.joint_effort.scale=10.0``.
+Similarly, the agent's parameters can be modified by using the ``agent`` prefix, for example ``agent.seed=2024``.
+
+The way these command line arguments are set follow the exact structure of the configuration files. Since the different
+RL frameworks use different conventions, there might be differences in the way the parameters are set. For example,
+with *rl_games* the seed will be set with ``agent.params.seed``, while with *rsl_rl*, *skrl* and *sb3* it will be set with
+``agent.seed``.
+
+As a result, training with hydra arguments can be run with the following syntax:
+
+.. tab-set::
+    :sync-group: rl-train
+
+    .. tab-item:: rsl_rl
+        :sync: rsl_rl
+
+        .. code-block:: shell
+
+            python source/standalone/workflows/rsl_rl/train.py --task=Isaac-Cartpole-v0 --headless env.actions.joint_effort.scale=10.0 agent.seed=2024
+
+    .. tab-item:: rl_games
+        :sync: rl_games
+
+        .. code-block:: shell
+
+            python source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0 --headless env.actions.joint_effort.scale=10.0 agent.params.seed=2024
+
+    .. tab-item:: skrl
+        :sync: skrl
+
+        .. code-block:: shell
+
+            python source/standalone/workflows/skrl/train.py --task=Isaac-Cartpole-v0 --headless env.actions.joint_effort.scale=10.0 agent.seed=2024
+
+    .. tab-item:: sb3
+        :sync: sb3
+
+        .. code-block:: shell
+
+            python source/standalone/workflows/sb3/train.py --task=Isaac-Cartpole-v0 --headless env.actions.joint_effort.scale=10.0 agent.seed=2024
+
+The above command will run the training script with the task ``Isaac-Cartpole-v0`` in headless mode, and set the
+``env.actions.joint_effort.scale`` parameter to 10.0 and the ``agent.seed`` parameter to 2024.
+
+.. note::
+
+    To keep backwards compatibility, and to provide a more user-friendly experience, we have kept the old cli arguments
+    of the form ``--param``, for example ``--num_envs``, ``--seed``, ``--max_iterations``. These arguments have precedence
+    over the hydra arguments, and will overwrite the values set by the hydra arguments.
+
+
+Modifying advanced parameters
+-----------------------------
+
+Callables
+^^^^^^^^^
+
+It is possible to modify functions and classes in the configuration files by using the syntax ``module:attribute_name``.
+For example, in the Cartpole environment:
+
+.. literalinclude:: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
+    :language: python
+    :start-at: class ObservationsCfg
+    :end-at: policy: PolicyCfg = PolicyCfg()
+    :emphasize-lines: 9
+
+we could modify ``joint_pos_rel`` to compute absolute positions instead of relative positions with
+``env.observations.policy.joint_pos_rel.func=omni.isaac.lab.envs.mdp:joint_pos``.
+
+Setting parameters to None
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+To set parameters to None, use the ``null`` keyword, which is a special keyword in Hydra that is automatically converted to None.
+In the above example, we could also disable the ``joint_pos_rel`` observation by setting it to None with
+``env.observations.policy.joint_pos_rel=null``.
+
+Dictionaries
+^^^^^^^^^^^^
+Elements in dictionaries are handled as a parameters in the hierarchy. For example, in the Cartpole environment:
+
+.. literalinclude:: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
+    :language: python
+    :lines: 90-114
+    :emphasize-lines: 11
+
+the ``position_range`` parameter can be modified with ``env.events.reset_cart_position.params.position_range="[-2.0, 2.0]"``.
+This example shows two noteworthy points:
+
+- The parameter we set has a space, so it must be enclosed in quotes.
+- The parameter is a list while it is a tuple in the config. This is due to the fact that Hydra does not support tuples.
+
+
+Modifying inter-dependent parameters
+------------------------------------
+
+Particular care should be taken when modifying the parameters using command line arguments. Some of the configurations
+perform intermediate computations based on other parameters. These computations will not be updated when the parameters
+are modified.
+
+For example, for the configuration of the Cartpole camera depth environment:
+
+.. literalinclude:: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py
+    :language: python
+    :start-at: class CartpoleDepthCameraEnvCfg
+    :end-at: tiled_camera.width
+    :emphasize-lines: 10, 15
+
+If the user were to modify the width of the camera, i.e. ``env.tiled_camera.width=128``, then the parameter
+``env.observation_space=[80,128,1]`` must be updated and given as input as well.
+
+Similarly, the ``__post_init__`` method is not updated with the command line inputs. In the ``LocomotionVelocityRoughEnvCfg``, for example,
+the post init update is as follows:
+
+.. literalinclude:: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/velocity_env_cfg.py
+    :language: python
+    :start-at: class LocomotionVelocityRoughEnvCfg
+    :emphasize-lines: 23, 29, 31
+
+Here, when modifying ``env.decimation`` or ``env.sim.dt``, the user needs to give the updated ``env.sim.render_interval``,
+``env.scene.height_scanner.update_period``, and ``env.scene.contact_forces.update_period`` as input as well.
diff --git a/v1.4.0/_sources/source/features/multi_gpu.rst b/v1.4.0/_sources/source/features/multi_gpu.rst
new file mode 100644
index 0000000000..1611651a6a
--- /dev/null
+++ b/v1.4.0/_sources/source/features/multi_gpu.rst
@@ -0,0 +1,160 @@
+Multi-GPU and Multi-Node Training
+=================================
+
+.. currentmodule:: omni.isaac.lab
+
+Isaac Lab supports multi-GPU and multi-node reinforcement learning. Currently, this feature is only
+available for RL-Games and skrl libraries workflows. We are working on extending this feature to
+other workflows.
+
+.. attention::
+
+    Multi-GPU and multi-node training is only supported on Linux. Windows support is not available at this time.
+    This is due to limitations of the NCCL library on Windows.
+
+
+Multi-GPU Training
+------------------
+
+For complex reinforcement learning environments, it may be desirable to scale up training across multiple GPUs.
+This is possible in Isaac Lab through the use of the
+`PyTorch distributed <https://pytorch.org/docs/stable/distributed.html>`_ framework or the
+`JAX distributed <https://jax.readthedocs.io/en/latest/jax.distributed.html>`_ module respectively.
+
+In PyTorch, the :meth:`torch.distributed` API is used to launch multiple processes of training, where the number of
+processes must be equal to or less than the number of GPUs available. Each process runs on
+a dedicated GPU and launches its own instance of Isaac Sim and the Isaac Lab environment.
+Each process collects its own rollouts during the training process and has its own copy of the policy
+network. During training, gradients are aggregated across the processes and broadcasted back to the process
+at the end of the epoch.
+
+In JAX, since the ML framework doesn't automatically start multiple processes from a single program invocation,
+the skrl library provides a module to start them.
+
+.. image:: ../_static/multi-gpu-rl/a3c-light.svg
+    :class: only-light
+    :align: center
+    :alt: Multi-GPU training paradigm
+    :width: 80%
+
+.. image:: ../_static/multi-gpu-rl/a3c-dark.svg
+    :class: only-dark
+    :align: center
+    :width: 80%
+    :alt: Multi-GPU training paradigm
+
+|
+
+To train with multiple GPUs, use the following command, where ``--proc_per_node`` represents the number of available GPUs:
+
+.. tab-set::
+    :sync-group: rl-train
+
+    .. tab-item:: rl_games
+        :sync: rl_games
+
+        .. code-block:: shell
+
+            python -m torch.distributed.run --nnodes=1 --nproc_per_node=2 source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0 --headless --distributed
+
+    .. tab-item:: skrl
+        :sync: skrl
+
+        .. tab-set::
+
+            .. tab-item:: PyTorch
+                :sync: torch
+
+                .. code-block:: shell
+
+                    python -m torch.distributed.run --nnodes=1 --nproc_per_node=2 source/standalone/workflows/skrl/train.py --task=Isaac-Cartpole-v0 --headless --distributed
+
+            .. tab-item:: JAX
+                :sync: jax
+
+                .. code-block:: shell
+
+                    python -m skrl.utils.distributed.jax --nnodes=1 --nproc_per_node=2 source/standalone/workflows/skrl/train.py --task=Isaac-Cartpole-v0 --headless --distributed --ml_framework jax
+
+Multi-Node Training
+-------------------
+
+To scale up training beyond multiple GPUs on a single machine, it is also possible to train across multiple nodes.
+To train across multiple nodes/machines, it is required to launch an individual process on each node.
+
+For the master node, use the following command, where ``--nproc_per_node`` represents the number of available GPUs, and
+``--nnodes`` represents the number of nodes:
+
+.. tab-set::
+    :sync-group: rl-train
+
+    .. tab-item:: rl_games
+        :sync: rl_games
+
+        .. code-block:: shell
+
+            python -m torch.distributed.run --nproc_per_node=2 --nnodes=2 --node_rank=0 --rdzv_id=123 --rdzv_backend=c10d --rdzv_endpoint=localhost:5555 source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0 --headless --distributed
+
+    .. tab-item:: skrl
+        :sync: skrl
+
+        .. tab-set::
+
+            .. tab-item:: PyTorch
+                :sync: torch
+
+                .. code-block:: shell
+
+                    python -m torch.distributed.run --nproc_per_node=2 --nnodes=2 --node_rank=0 --rdzv_id=123 --rdzv_backend=c10d --rdzv_endpoint=localhost:5555 source/standalone/workflows/skrl/train.py --task=Isaac-Cartpole-v0 --headless --distributed
+
+            .. tab-item:: JAX
+                :sync: jax
+
+                .. code-block:: shell
+
+                    python -m skrl.utils.distributed.jax --nproc_per_node=2 --nnodes=2 --node_rank=0 --coordinator_address=ip_of_master_machine:5555 source/standalone/workflows/skrl/train.py --task=Isaac-Cartpole-v0 --headless --distributed --ml_framework jax
+
+Note that the port (``5555``) can be replaced with any other available port.
+
+For non-master nodes, use the following command, replacing ``--node_rank`` with the index of each machine:
+
+.. tab-set::
+    :sync-group: rl-train
+
+    .. tab-item:: rl_games
+        :sync: rl_games
+
+        .. code-block:: shell
+
+            python -m torch.distributed.run --nproc_per_node=2 --nnodes=2 --node_rank=1 --rdzv_id=123 --rdzv_backend=c10d --rdzv_endpoint=ip_of_master_machine:5555 source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0 --headless --distributed
+
+    .. tab-item:: skrl
+        :sync: skrl
+
+        .. tab-set::
+
+            .. tab-item:: PyTorch
+                :sync: torch
+
+                .. code-block:: shell
+
+                    python -m torch.distributed.run --nproc_per_node=2 --nnodes=2 --node_rank=1 --rdzv_id=123 --rdzv_backend=c10d --rdzv_endpoint=ip_of_master_machine:5555 source/standalone/workflows/skrl/train.py --task=Isaac-Cartpole-v0 --headless --distributed
+
+            .. tab-item:: JAX
+                :sync: jax
+
+                .. code-block:: shell
+
+                    python -m skrl.utils.distributed.jax --nproc_per_node=2 --nnodes=2 --node_rank=1 --coordinator_address=ip_of_master_machine:5555 source/standalone/workflows/skrl/train.py --task=Isaac-Cartpole-v0 --headless --distributed --ml_framework jax
+
+For more details on multi-node training with PyTorch, please visit the
+`PyTorch documentation <https://pytorch.org/tutorials/intermediate/ddp_series_multinode.html>`_.
+For more details on multi-node training with JAX, please visit the
+`skrl documentation <https://skrl.readthedocs.io/en/latest/api/utils/distributed.html>`_ and the
+`JAX documentation <https://jax.readthedocs.io/en/latest/multi_process.html>`_.
+
+.. note::
+
+    As mentioned in the PyTorch documentation, "multi-node training is bottlenecked by inter-node communication
+    latencies". When this latency is high, it is possible multi-node training will perform worse than running on
+    a single node instance.
diff --git a/v1.4.0/_sources/source/features/ray.rst b/v1.4.0/_sources/source/features/ray.rst
new file mode 100644
index 0000000000..86fdf48e5d
--- /dev/null
+++ b/v1.4.0/_sources/source/features/ray.rst
@@ -0,0 +1,380 @@
+===========================
+Ray Job Dispatch and Tuning
+===========================
+
+.. currentmodule:: omni.isaac.lab
+
+Isaac Lab supports `Ray <https://docs.ray.io/en/latest/index.html>`_ for streamlining dispatching multiple training jobs (in parallel and in series),
+and hyperparameter tuning, both on local and remote configurations.
+
+This `independent community contributed walkthrough video <https://youtu.be/z7MDgSga2Ho?feature=shared>`_
+demonstrates some of the core functionality of the Ray integration covered in this overview. Although there may be some
+differences in the codebase (such as file names being shortened) since the creation of the video,
+the general workflow is the same.
+
+.. attention::
+
+  This functionality is experimental, and has been tested only on Linux.
+
+.. contents:: Table of Contents
+  :depth: 3
+  :local:
+
+Overview
+--------
+
+The Ray integration is useful for the following:
+
+- Dispatching several training jobs in parallel or sequentially with minimal interaction
+- Tuning hyperparameters; in parallel or sequentially with support for multiple GPUs and/or multiple GPU Nodes
+- Using the same training setup everywhere (on cloud and local) with minimal overhead
+- Resource Isolation for training jobs
+
+The core functionality of the Ray workflow consists of two main scripts that enable the orchestration
+of resource-wrapped and tuning aggregate jobs. These scripts facilitate the decomposition of
+aggregate jobs (overarching experiments) into individual jobs, which are discrete commands
+executed on the cluster. An aggregate job can include multiple individual jobs.
+For clarity, this guide refers to the jobs one layer below the topmost aggregate level as sub-jobs.
+
+Both resource-wrapped and tuning aggregate jobs dispatch individual jobs to a designated Ray
+cluster, which leverages the cluster's resources (e.g., a single workstation node or multiple nodes)
+to execute these jobs with workers in parallel and/or sequentially. By default, aggregate jobs use all \
+available resources on each available GPU-enabled node for each sub-job worker. This can be changed through
+specifying the ``--num_workers`` argument, especially critical for parallel aggregate
+job processing on local or virtual multi-GPU machines
+
+In resource-wrapped aggregate jobs, each sub-job and its
+resource requirements are defined manually, enabling resource isolation.
+For tuning aggregate jobs, individual jobs are generated automatically based on a hyperparameter
+sweep configuration. This assumes homogeneous node resource composition for nodes with GPUs.
+
+.. dropdown:: source/standalone/workflows/ray/wrap_resources.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/wrap_resources.py
+    :language: python
+    :emphasize-lines: 14-66
+
+.. dropdown:: source/standalone/workflows/ray/tuner.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/tuner.py
+    :language: python
+    :emphasize-lines: 18-53
+
+
+The following script can be used to submit aggregate
+jobs to one or more Ray cluster(s), which can be used for
+running jobs on a remote cluster or simultaneous jobs with heterogeneous
+resource requirements:
+
+.. dropdown:: source/standalone/workflows/ray/submit_job.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/submit_job.py
+    :language: python
+    :emphasize-lines: 12-53
+
+The following script can be used to extract KubeRay Cluster information for aggregate job submission.
+
+.. dropdown:: source/standalone/workflows/ray/grok_cluster_with_kubectl.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/grok_cluster_with_kubectl.py
+    :language: python
+    :emphasize-lines: 14-26
+
+The following script can be used to easily create clusters on Google GKE.
+
+.. dropdown:: source/standalone/workflows/ray/launch.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/launch.py
+    :language: python
+    :emphasize-lines: 16-37
+
+**Installation**
+----------------
+
+The Ray functionality requires additional dependencies be installed.
+
+To use Ray without Kubernetes, like on a local computer or VM,
+``kubectl`` is not required. For use on Kubernetes clusters with KubeRay,
+such as Google Kubernetes Engine or Amazon Elastic Kubernetes Service, ``kubectl`` is required, and can
+be installed via the `Kubernetes website <https://kubernetes.io/docs/tasks/tools/>`_
+
+The pythonic dependencies can be installed with:
+
+.. code-block:: bash
+
+  # For multi-run support and resource isolation
+  ./isaaclab.sh -p -m pip install ray[default]==2.31.0
+  # For hyperparameter tuning
+  ./isaaclab.sh -p -m pip install ray[tune]==2.31.0
+  ./isaaclab.sh -p -m pip install optuna bayesian-optimization
+  # MLFlow is needed only for fetching logs on clusters, not needed for local
+  ./isaaclab.sh -p -m pip install mlflow
+
+If using KubeRay clusters on Google GKE with the batteries-included cluster launch file,
+the following dependencies are also needed.
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p -m pip install kubernetes Jinja2
+
+**Setup Overview: Cluster Configuration**
+-----------------------------------------
+
+Select one of the following methods to create a Ray Cluster to accept and execute dispatched jobs.
+
+Single-Node Ray Cluster (Recommended for Beginners)
+'''''''''''''''''''''''''''''''''''''''''''''''''''
+For use on a single machine (node) such as a local computer or VM, the
+following command can be used start a ray server. This is compatible with
+multiple-GPU machines. This Ray server will run indefinitely until it is stopped with ``CTRL + C``
+
+.. code-block:: bash
+
+  echo "import ray; ray.init(); import time; [time.sleep(10) for _ in iter(int, 1)]" | ./isaaclab.sh -p
+
+KubeRay Clusters
+''''''''''''''''
+.. attention::
+  The ``ray`` command should be modified to use Isaac python, which could be achieved in a fashion similar to
+  ``sed -i "1i $(echo "#!/workspace/isaaclab/_isaac_sim/python.sh")" \
+  /isaac-sim/kit/python/bin/ray && ln -s /isaac-sim/kit/python/bin/ray /usr/local/bin/ray``.
+
+Google Cloud is currently the only platform tested, although
+any cloud provider should work if one configures the following:
+
+- An container registry (NGC, GCS artifact registry, AWS ECR, etc) with
+  an Isaac Lab image configured to support Ray. See ``cluster_configs/Dockerfile`` to see how to modify the ``isaac-lab-base``
+  container for Ray compatibility. Ray should use the isaac sim python shebang, and ``nvidia-smi``
+  should work within the container. Be careful with the setup here as
+  paths need to be configured correctly for everything to work. It's likely that
+  the example dockerfile will work out of the box and can be pushed to the registry, as
+  long as the base image has already been built as in the container guide
+- A Kubernetes setup with available NVIDIA RTX (likely ``l4`` or ``l40`` or ``tesla-t4`` or ``a10``) GPU-passthrough node-pool resources,
+  that has access to your container registry/storage bucket and has the Ray operator enabled with correct IAM
+  permissions. This can be easily achieved with services such as Google GKE or AWS EKS,
+  provided that your account or organization has been granted a GPU-budget. It is recommended
+  to use manual kubernetes services as opposed to "autopilot" services for cost-effective
+  experimentation as this way clusters can be completely shut down when not in use, although
+  this may require installing the `Nvidia GPU Operator <https://docs.nvidia.com/datacenter/cloud-native/gpu-operator/latest/google-gke.html>`_
+- An MLFlow server that your cluster has access to.
+- A ``kuberay.yaml.ninja`` file that describes how to allocate resources (already included for
+  Google Cloud, which can be referenced for the format and MLFlow integration)
+
+Ray Clusters (Without Kubernetes)
+'''''''''''''''''''''''''''''''''
+.. attention::
+  Modify the Ray command to use Isaac Python like in KubeRay Clusters, and follow the same
+  steps for creating an image/cluster permissions/bucket access.
+
+See the `Ray Clusters Overview <https://docs.ray.io/en/latest/cluster/getting-started.html>`_ or
+`Anyscale <https://www.anyscale.com/product>`_ for more information
+
+
+**Dispatching Jobs and Tuning**
+-------------------------------
+
+Select one of the following guides that matches your desired Cluster configuration.
+
+Simple Ray Cluster (Local/VM)
+'''''''''''''''''''''''''''''
+
+This guide assumes that there is a Ray cluster already running, and that this script is run locally on the cluster, or
+that the cluster job submission address is known.
+
+1.) Testing that the cluster works can be done as follows.
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py --test
+
+2.) Submitting resource-wrapped sub-jobs can be done as described in the following file:
+
+.. dropdown:: source/standalone/workflows/ray/wrap_resources.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/wrap_resources.py
+    :language: python
+    :emphasize-lines: 14-66
+
+3.) For tuning jobs, specify the hyperparameter sweep similar to the following two files.
+
+.. dropdown:: source/standalone/workflows/ray/hyperparameter_tuning/vision_cfg.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/hyperparameter_tuning/vision_cfg.py
+    :language: python
+
+.. dropdown:: source/standalone/workflows/ray/hyperparameter_tuning/vision_cartpole_cfg.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/hyperparameter_tuning/vision_cartpole_cfg.py
+    :language: python
+
+Then, see the local examples in the following file to see how to start a tuning run.
+
+.. dropdown:: source/standalone/workflows/ray/tuner.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/tuner.py
+    :language: python
+    :emphasize-lines: 18-53
+
+
+
+To view the logs, simply run ``tensorboard --logdir=<LOCAL_STORAGE_PATH_READ_FROM_OUTPUT>``
+
+Remote Ray Cluster Setup and Use
+'''''''''''''''''''''''''''''''''
+This guide assumes that one desires to create a cluster on a remote host or server. This
+guide includes shared steps, and KubeRay or Ray specific steps. Follow all shared steps (part I and II), and then
+only the KubeRay or Ray steps depending on your desired configuration, in order of shared steps part I, then
+the configuration specific steps, then shared steps part II.
+
+Shared Steps Between KubeRay and Pure Ray Part I
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+1.) Build the Isaac Ray image, and upload it to your container registry of choice.
+
+.. code-block:: bash
+
+  # Login with NGC (nvcr.io) registry first, see docker steps in repo.
+  ./isaaclab.sh -p docker/container.py start
+  # Build the special Isaac Lab Ray Image
+  docker build -t <REGISTRY/IMAGE_NAME> -f source/standalone/workflows/ray/cluster_configs/Dockerfile .
+  # Push the image to your registry of choice.
+  docker push <REGISTRY/IMAGE_NAME>
+
+KubeRay Specific
+~~~~~~~~~~~~~~~~
+`k9s <https://github.com/derailed/k9s>`_ is a great tool for monitoring your clusters that can
+easily be installed with ``snap install k9s --devmode``.
+
+1.) Verify cluster access, and that the correct operators are installed.
+
+.. code-block:: bash
+
+  # Verify cluster access
+  kubectl cluster-info
+  # If using a manually managed cluster (not Autopilot or the like)
+  # verify that there are node pools
+  kubectl get nodes
+  # Check that the ray operator is installed on the cluster
+  # should list rayclusters.ray.io , rayjobs.ray.io , and rayservices.ray.io
+  kubectl get crds | grep ray
+  # Check that the NVIDIA Driver Operator is installed on the cluster
+  # should list clusterpolicies.nvidia.com
+  kubectl get crds | grep nvidia
+
+2.) Create the KubeRay cluster and an MLFlow server for receiving logs
+that your cluster has access to.
+This can be done automatically for Google GKE,
+where instructions are included in the following creation file. More than once cluster
+can be created at once. Each cluster can have heterogeneous resources if so desired,
+although only
+For other cloud services, the ``kuberay.yaml.ninja`` will be similar to that of
+Google's.
+
+.. dropdown:: source/standalone/workflows/ray/launch.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/launch.py
+    :language: python
+    :emphasize-lines: 15-37
+
+3.) Fetch the KubeRay cluster IP addresses, and the MLFLow Server IP.
+This can be done automatically for KubeRay clusters,
+where instructions are included in the following fetching file.
+The KubeRay clusters are saved to a file, but the MLFLow Server IP is
+printed.
+
+.. dropdown:: source/standalone/workflows/ray/grok_cluster_with_kubectl.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/grok_cluster_with_kubectl.py
+    :language: python
+    :emphasize-lines: 14-26
+
+Ray Specific
+~~~~~~~~~~~~
+
+
+1.) Verify cluster access.
+
+2.) Create a ``~/.cluster_config`` file, where ``name: <NAME> address: http://<IP>:<PORT>`` is on
+a new line for each unique cluster. For one cluster, there should only be one line in this file.
+
+3.) Start an MLFLow Server to receive the logs that the ray cluster has access to,
+and determine the server URI.
+
+Shared Steps Between KubeRay and Pure Ray Part II
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+1.) Test that your cluster is operational with the following.
+
+.. code-block:: bash
+
+  # Test that NVIDIA GPUs are visible and that Ray is operation with the following command:
+  ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py
+	--jobs wrap_resources.py --test
+
+2.) Submitting Jobs can be done in the following manner, with the following script.
+
+.. dropdown:: source/standalone/workflows/ray/submit_job.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/submit_job.py
+    :language: python
+    :emphasize-lines: 12-53
+
+3.) For tuning jobs, specify the hyperparameter sweep similar to :class:`RLGamesCameraJobCfg` in the following file:
+
+.. dropdown:: source/standalone/workflows/ray/tuner.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/tuner.py
+    :language: python
+    :emphasize-lines: 18-53
+
+For example, see the Cartpole Example configurations.
+
+.. dropdown:: source/standalone/workflows/ray/hyperparameter_tuning/vision_cartpole_cfg.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/standalone/workflows/ray/hyperparameter_tuning/vision_cartpole_cfg.py
+    :language: python
+
+
+Tuning jobs can also be submitted via ``submit_job.py``
+
+To view the tuning results, view the MLFlow dashboard of the server that you created.
+For KubeRay, this can be done through port forwarding the MLFlow dashboard, with
+
+``kubectl port-forward service/isaacray-mlflow 5000:5000``
+
+and visiting the following address in a browser.
+
+``localhost:5000``
+
+If the MLFlow port is forwarded like above, it can be converted into tensorboard logs with
+this following command.
+
+``./isaaclab.sh -p source/standalone/workflows/ray/mlflow_to_local_tensorboard.py \
+--uri http://localhost:5000 --experiment-name IsaacRay-<CLASS_JOB_CFG>-tune --download-dir test``
+
+
+**Cluster Cleanup**
+'''''''''''''''''''
+
+For the sake of conserving resources, and potentially freeing precious GPU resources for other people to use
+on shared compute platforms, please destroy the Ray cluster after use. They can be easily
+recreated! For KubeRay clusters, this can be done as follows.
+
+.. code-block:: bash
+
+  kubectl get raycluster | egrep 'isaacray' | awk '{print $1}' | xargs kubectl delete raycluster &&
+  kubectl get deployments | egrep 'mlflow' | awk '{print $1}' | xargs kubectl delete deployment &&
+  kubectl get services | egrep 'mlflow' | awk '{print $1}' | xargs kubectl delete service
diff --git a/v1.4.0/_sources/source/features/reproducibility.rst b/v1.4.0/_sources/source/features/reproducibility.rst
new file mode 100644
index 0000000000..5f77630d81
--- /dev/null
+++ b/v1.4.0/_sources/source/features/reproducibility.rst
@@ -0,0 +1,42 @@
+Reproducibility and Determinism
+-------------------------------
+
+Given the same hardware and Isaac Sim (and consequently PhysX) version, the simulation produces
+identical results for scenes with rigid bodies and articulations. However, the simulation results can
+vary across different hardware configurations due to floating point precision and rounding errors.
+At present, PhysX does not guarantee determinism for any scene with non-rigid bodies, such as cloth
+or soft bodies. For more information, please refer to the `PhysX Determinism documentation`_.
+
+Based on above, Isaac Lab provides a deterministic simulation that ensures consistent simulation
+results across different runs. This is achieved by using the same random seed for the
+simulation environment and the physics engine. At construction of the environment, the random seed
+is set to a fixed value using the :meth:`~omni.isaac.core.utils.torch.set_seed` method. This method sets the
+random seed for both the CPU and GPU globally across different libraries, including PyTorch and
+NumPy.
+
+In the included workflow scripts, the seed specified in the learning agent's configuration file or the
+command line argument is used to set the random seed for the environment. This ensures that the
+simulation results are reproducible across different runs. The seed is set into the environment
+parameters :attr:`omni.isaac.lab.envs.ManagerBasedEnvCfg.seed` or :attr:`omni.isaac.lab.envs.DirectRLEnvCfg.seed`
+depending on the manager-based or direct environment implementation respectively.
+
+For results on our determinacy testing for RL training, please check the GitHub Pull Request `#940`_.
+
+.. tip::
+
+  Due to GPU work scheduling, there's a possibility that runtime changes to simulation parameters
+  may alter the order in which operations take place. This occurs because environment updates can
+  happen while the GPU is occupied with other tasks. Due to the inherent nature of floating-point
+  numeric storage, any modification to the execution ordering can result in minor changes in the
+  least significant bits of output data. These changes may lead to divergent execution over the
+  course of simulating thousands of environments and simulation frames.
+
+  An illustrative example of this issue is observed with the runtime domain randomization of object's
+  physics materials. This process can introduce both determinacy and simulation issues when executed
+  on the GPU due to the way these parameters are passed from the CPU to the GPU in the lower-level APIs.
+  Consequently, it is strongly advised to perform this operation only at setup time, before the
+  environment stepping commences.
+
+
+.. _PhysX Determinism documentation: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/API.html#determinism
+.. _#940: https://github.com/isaac-sim/IsaacLab/pull/940
diff --git a/v1.4.0/_sources/source/how-to/add_own_library.rst b/v1.4.0/_sources/source/how-to/add_own_library.rst
new file mode 100644
index 0000000000..32e2d5b63e
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/add_own_library.rst
@@ -0,0 +1,91 @@
+Adding your own learning library
+================================
+
+Isaac Lab comes pre-integrated with a number of libraries (such as RSL-RL, RL-Games, SKRL, Stable Baselines, etc.).
+However, you may want to integrate your own library with Isaac Lab or use a different version of the libraries than
+the one installed by Isaac Lab. This is possible as long as the library is available as Python package that supports
+the Python version used by the underlying simulator. For instance, if you are using Isaac Sim 4.0.0 onwards, you need
+to ensure that the library is available for Python 3.10.
+
+Using a different version of a library
+--------------------------------------
+
+If you want to use a different version of a library than the one installed by Isaac Lab, you can install the library
+by building it from source or using a different version of the library available on PyPI.
+
+For instance, if you want to use your own modified version of the `rsl-rl`_ library, you can follow these steps:
+
+1. Follow the instructions for installing Isaac Lab. This will install the default version of the ``rsl-rl`` library.
+2. Clone the ``rsl-rl`` library from the GitHub repository:
+
+   .. code-block:: bash
+
+     git clone git@github.com:leggedrobotics/rsl_rl.git
+
+
+3. Install the library in your Python environment:
+
+   .. code-block:: bash
+
+     # Assuming you are in the root directory of the Isaac Lab repository
+     cd IsaacLab
+
+     # Note: If you are using a virtual environment, make sure to activate it before running the following command
+     ./isaaclab.sh -p -m pip install -e /path/to/rsl_rl
+
+In this case, the ``rsl-rl`` library will be installed in the Python environment used by Isaac Lab. You can now use the
+``rsl-rl`` library in your experiments. To check the library version and other details, you can use the following
+command:
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p -m pip show rsl-rl
+
+This should now show the location of the ``rsl-rl`` library as the directory where you cloned the library.
+For instance, if you cloned the library to ``/home/user/git/rsl_rl``, the output of the above command should be:
+
+.. code-block:: bash
+
+  Name: rsl_rl
+  Version: 2.0.2
+  Summary: Fast and simple RL algorithms implemented in pytorch
+  Home-page: https://github.com/leggedrobotics/rsl_rl
+  Author: ETH Zurich, NVIDIA CORPORATION
+  Author-email:
+  License: BSD-3
+  Location: /home/user/git/rsl_rl
+  Requires: torch, torchvision, numpy, GitPython, onnx
+  Required-by:
+
+
+Integrating a new library
+-------------------------
+
+Adding a new library to Isaac Lab is similar to using a different version of a library. You can install the library
+in your Python environment and use it in your experiments. However, if you want to integrate the library with
+Isaac Lab, you can will first need to make a wrapper for the library, as explained in
+:ref:`how-to-env-wrappers`.
+
+The following steps can be followed to integrate a new library with Isaac Lab:
+
+1. Add your library as an extra-dependency in the ``setup.py`` for the extension ``omni.isaac.lab_tasks``.
+   This will ensure that the library is installed when you install Isaac Lab or it will complain if the library is not
+   installed or available.
+2. Install your library in the Python environment used by Isaac Lab. You can do this by following the steps mentioned
+   in the previous section.
+3. Create a wrapper for the library. You can check the module :mod:`omni.isaac.lab_tasks.utils.wrappers`
+   for examples of wrappers for different libraries. You can create a new wrapper for your library and add it to the
+   module. You can also create a new module for the wrapper if you prefer.
+4. Create workflow scripts for your library to train and evaluate agents. You can check the existing workflow scripts
+   in the ``source/standalone/workflows`` directory for examples. You can create new workflow
+   scripts for your library and add them to the directory.
+
+Optionally, you can also add some tests and documentation for the wrapper. This will help ensure that the wrapper
+works as expected and can guide users on how to use the wrapper.
+
+* Add some tests to ensure that the wrapper works as expected and remains compatible with the library.
+  These tests can be added to the ``source/extensions/omni.isaac.lab_tasks/test/wrappers`` directory.
+* Add some documentation for the wrapper. You can add the API documentation to the
+  ``docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst`` file.
+
+.. _rsl-rl: https://github.com/leggedrobotics/rsl_rl
diff --git a/v1.4.0/_sources/source/how-to/draw_markers.rst b/v1.4.0/_sources/source/how-to/draw_markers.rst
new file mode 100644
index 0000000000..80f872d253
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/draw_markers.rst
@@ -0,0 +1,75 @@
+Creating Visualization Markers
+==============================
+
+.. currentmodule:: omni.isaac.lab
+
+Visualization markers are useful to debug the state of the environment. They can be used to visualize
+the frames, commands, and other information in the simulation.
+
+While Isaac Sim provides its own :mod:`omni.isaac.debug_draw` extension, it is limited to rendering only
+points, lines and splines. For cases, where you need to render more complex shapes, you can use the
+:class:`markers.VisualizationMarkers` class.
+
+This guide is accompanied by a sample script ``markers.py`` in the ``IsaacLab/source/standalone/demos`` directory.
+
+.. dropdown:: Code for markers.py
+   :icon: code
+
+   .. literalinclude:: ../../../source/standalone/demos/markers.py
+      :language: python
+      :emphasize-lines: 45-90, 106-107, 136-142
+      :linenos:
+
+
+
+Configuring the markers
+-----------------------
+
+The :class:`~markers.VisualizationMarkersCfg` class provides a simple interface to configure
+different types of markers. It takes in the following parameters:
+
+- :attr:`~markers.VisualizationMarkersCfg.prim_path`: The corresponding prim path for the marker class.
+- :attr:`~markers.VisualizationMarkersCfg.markers`: A dictionary specifying the different marker prototypes
+  handled by the class. The key is the name of the marker prototype and the value is its spawn configuration.
+
+.. note::
+
+   In case the marker prototype specifies a configuration with physics properties, these are removed.
+   This is because the markers are not meant to be simulated.
+
+Here we show all the different types of markers that can be configured. These range from simple shapes like
+cones and spheres to more complex geometries like a frame or arrows. The marker prototypes can also be
+configured from USD files.
+
+.. literalinclude:: ../../../source/standalone/demos/markers.py
+   :language: python
+   :lines: 45-90
+   :dedent:
+
+
+Drawing the markers
+-------------------
+
+To draw the markers, we call the :class:`~markers.VisualizationMarkers.visualize` method. This method takes in
+as arguments the pose of the markers and the corresponding marker prototypes to draw.
+
+.. literalinclude:: ../../../source/standalone/demos/markers.py
+   :language: python
+   :lines: 136-142
+   :dedent:
+
+
+Executing the Script
+--------------------
+
+To run the accompanying script, execute the following command:
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/demos/markers.py
+
+The simulation should start, and you can observe the different types of markers arranged in a grid pattern.
+The markers will rotating around their respective axes. Additionally every few rotations, they will
+roll forward on the grid.
+
+To stop the simulation, close the window, or use ``Ctrl+C`` in the terminal.
diff --git a/v1.4.0/_sources/source/how-to/estimate_how_many_cameras_can_run.rst b/v1.4.0/_sources/source/how-to/estimate_how_many_cameras_can_run.rst
new file mode 100644
index 0000000000..41238dcbe6
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/estimate_how_many_cameras_can_run.rst
@@ -0,0 +1,121 @@
+.. _how-to-estimate-how-cameras-can-run:
+
+
+Find How Many/What Cameras You Should Train With
+================================================
+
+.. currentmodule:: omni.isaac.lab
+
+Currently in Isaac Lab, there are several camera types; USD Cameras (standard), Tiled Cameras,
+and Ray Caster cameras. These camera types differ in functionality and performance. The ``benchmark_cameras.py``
+script can be used to understand the difference in cameras types, as well to characterize their relative performance
+at different parameters such as camera quantity, image dimensions, and data types.
+
+This utility is provided so that one easily can find the camera type/parameters that are the most performant
+while meeting the requirements of the user's scenario. This utility also helps estimate
+the maximum number of cameras one can realistically run, assuming that one wants to maximize the number
+of environments while minimizing step time.
+
+This utility can inject cameras into an existing task from the gym registry,
+which can be useful for benchmarking cameras in a specific scenario. Also,
+if you install ``pynvml``, you can let this utility automatically find the maximum
+numbers of cameras that can run in your task environment up to a
+certain specified system resource utilization threshold (without training; taking zero actions
+at each timestep).
+
+This guide accompanies the ``benchmark_cameras.py`` script in the ``source/standalone/benchmarks``
+directory.
+
+.. dropdown:: Code for benchmark_cameras.py
+   :icon: code
+
+   .. literalinclude:: ../../../source/standalone/benchmarks/benchmark_cameras.py
+      :language: python
+      :linenos:
+
+
+Possible Parameters
+-------------------
+
+First, run
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py -h
+
+to see all possible parameters you can vary with this utility.
+
+
+See the command line parameters related to ``autotune`` for more information about
+automatically determining maximum camera count.
+
+
+Compare Performance in Task Environments and Automatically Determine Task Max Camera Count
+------------------------------------------------------------------------------------------
+
+Currently, tiled cameras are the most performant camera that can handle multiple dynamic objects.
+
+For example, to see how your system could handle 100 tiled cameras in
+the cartpole environment, with 2 cameras per environment (so 50 environments total)
+only in RGB mode, run
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
+   --task Isaac-Cartpole-v0 --num_tiled_cameras 100 \
+   --task_num_cameras_per_env 2 \
+   --tiled_camera_data_types rgb
+
+If you have pynvml installed, (``./isaaclab.sh -p -m pip install pynvml``), you can also
+find the maximum number of cameras that you could run in the specified environment up to
+a certain performance threshold (specified by max CPU utilization percent, max RAM utilization percent,
+max GPU compute percent, and max GPU memory percent). For example, to find the maximum number of cameras
+you can run with cartpole, you could run:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
+   --task Isaac-Cartpole-v0 --num_tiled_cameras 100 \
+   --task_num_cameras_per_env 2 \
+   --tiled_camera_data_types rgb --autotune \
+   --autotune_max_percentage_util 100 80 50 50
+
+Autotune may lead to the program crashing, which means that it tried to run too many cameras at once.
+However, the max percentage utilization parameter is meant to prevent this from happening.
+
+The output of the benchmark doesn't include the overhead of training the network, so consider
+decreasing the maximum utilization percentages to account for this overhead. The final output camera
+count is for all cameras, so to get the total number of environments, divide the output camera count
+by the number of cameras per environment.
+
+
+Compare Camera Type and Performance (Without a Specified Task)
+--------------------------------------------------------------
+
+This tool can also asses performance without a task environment.
+For example, to view 100 random objects with 2 standard cameras, one could run
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py \
+   --height 100 --width 100 --num_standard_cameras 2 \
+   --standard_camera_data_types instance_segmentation_fast normals --num_objects 100 \
+   --experiment_length 100
+
+If your system cannot handle this due to performance reasons, then the process will be killed.
+It's recommended to monitor CPU/RAM utilization and GPU utilization while running this script, to get
+an idea of how many resources rendering the desired camera requires. In Ubuntu, you can use tools like ``htop`` and ``nvtop``
+to live monitor resources while running this script, and in Windows, you can use the Task Manager.
+
+If your system has a hard time handling the desired cameras, you can try the following
+
+   - Switch to headless mode (supply ``--headless``)
+   - Ensure you are using the GPU pipeline not CPU!
+   - If you aren't using Tiled Cameras, switch to Tiled Cameras
+   - Decrease camera resolution
+   - Decrease how many data_types there are for each camera.
+   - Decrease the number of cameras
+   - Decrease the number of objects in the scene
+
+If your system is able to handle the amount of cameras, then the time statistics will be printed to the terminal.
+After the simulations stops it can be closed with CTRL+C.
diff --git a/v1.4.0/_sources/source/how-to/import_new_asset.rst b/v1.4.0/_sources/source/how-to/import_new_asset.rst
new file mode 100644
index 0000000000..14a76a64c8
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/import_new_asset.rst
@@ -0,0 +1,241 @@
+Importing a New Asset
+=====================
+
+.. currentmodule:: omni.isaac.lab
+
+NVIDIA Omniverse relies on the Universal Scene Description (USD) file format to
+import and export assets. USD is an open source file format developed by Pixar
+Animation Studios. It is a scene description format optimized for large-scale,
+complex data sets. While this format is widely used in the film and animation
+industry, it is less common in the robotics community.
+
+To this end, NVIDIA has developed various importers that allow you to import
+assets from other file formats into USD. These importers are available as
+extensions to Omniverse Kit:
+
+* **URDF Importer** - Import assets from URDF files.
+* **MJCF Importer** - Import assets from MJCF files.
+* **Asset Importer** - Import assets from various file formats, including
+  OBJ, FBX, STL, and glTF.
+
+The recommended workflow from NVIDIA is to use the above importers to convert
+the asset into its USD representation. Once the asset is in USD format, you can
+use the Omniverse Kit to edit the asset and export it to other file formats. Isaac Sim includes these importers by default. They can also be enabled manually in Omniverse Kit.
+
+
+An important note to use assets for large-scale simulation is to ensure that they
+are in `instanceable`_ format. This allows the asset to be efficiently loaded
+into memory and used multiple times in a scene. Otherwise, the asset will be
+loaded into memory multiple times, which can cause performance issues.
+For more details on instanceable assets, please check the Isaac Sim `documentation`_.
+
+
+Using URDF Importer
+-------------------
+
+For using the URDF importer in the GUI, please check the documentation at `URDF importer`_. For using the URDF importer from Python scripts, we include a utility tool called ``convert_urdf.py``. This script creates an instance of :class:`~sim.converters.UrdfConverterCfg` which
+is then passed to the :class:`~sim.converters.UrdfConverter` class.
+
+The URDF importer has various configuration parameters that can be set to control the behavior of the importer.
+The default values for the importer's configuration parameters are specified are in the :class:`~sim.converters.UrdfConverterCfg` class, and they are listed below. We made a few commonly modified settings to be available as command-line arguments when calling the ``convert_urdf.py``, and they are marked with ``*``` in the list. For a comprehensive list of the configuration parameters, please check the the documentation at `URDF importer`_.
+
+* :attr:`~sim.converters.UrdfConverterCfg.fix_base*` - Whether to fix the base of the robot.
+  This depends on whether you have a floating-base or fixed-base robot. The command-line flag is
+  ``--fix-base`` where when set, the importer will fix the base of the robot, otherwise it will default to floating-base.
+* :attr:`~sim.converters.UrdfConverterCfg.make_instanceable*` - Whether to create instanceable assets.
+  Usually, this should be set to ``True``. The command-line flag is ``--make-instanceable`` where
+  when set, the importer will create instanceable assets, otherwise it will default to non-instanceable.
+* :attr:`~sim.converters.UrdfConverterCfg.merge_fixed_joints*` - Whether to merge the fixed joints.
+  Usually, this should be set to ``True`` to reduce the asset complexity. The command-line flag is
+  ``--merge-joints`` where when set, the importer will merge the fixed joints, otherwise it will default to not merging the fixed joints.
+* :attr:`~sim.converters.UrdfConverterCfg.default_drive_type` - The drive-type for the joints.
+  We recommend this to always be ``"none"``. This allows changing the drive configuration using the
+  actuator models.
+* :attr:`~sim.converters.UrdfConverterCfg.default_drive_stiffness` - The drive stiffness for the joints.
+  We recommend this to always be ``0.0``. This allows changing the drive configuration using the
+  actuator models.
+* :attr:`~sim.converters.UrdfConverterCfg.default_drive_damping` - The drive damping for the joints.
+  Similar to the stiffness, we recommend this to always be ``0.0``.
+
+
+Note that when instanceable option is selected, the
+importer will create two USD files: one for all the mesh data and one for
+all the non-mesh data (e.g. joints, rigid bodies, etc.). The prims in the mesh data file are
+referenced in the non-mesh data file. This allows the mesh data (which is often bulky) to be
+loaded into memory only once and used multiple times in a scene.
+
+Example Usage
+~~~~~~~~~~~~~
+
+In this example, we use the pre-processed URDF file of the ANYmal-D robot. To check the
+pre-process URDF, please check the file the `anymal.urdf`_. The main difference between the
+pre-processed URDF and the original URDF are:
+
+* We removed the ``<gazebo>`` tag from the URDF. This tag is not supported by the URDF importer.
+* We removed the ``<transmission>`` tag from the URDF. This tag is not supported by the URDF importer.
+* We removed various collision bodies from the URDF to reduce the complexity of the asset.
+* We changed all the joint's damping and friction parameters to ``0.0``. This ensures that we can perform
+  effort-control on the joints without PhysX adding additional damping.
+* We added the ``<dont_collapse>`` tag to fixed joints. This ensures that the importer does
+  not merge these fixed joints.
+
+The following shows the steps to clone the repository and run the converter:
+
+.. code-block:: bash
+
+  # create a directory to clone
+  mkdir ~/git && cd ~/git
+  # clone a repository with URDF files
+  git clone git@github.com:isaac-orbit/anymal_d_simple_description.git
+
+  # go to top of the Isaac Lab repository
+  cd IsaacLab
+  # run the converter
+  ./isaaclab.sh -p source/standalone/tools/convert_urdf.py \
+    ~/git/anymal_d_simple_description/urdf/anymal.urdf \
+    source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/anymal_d.usd \
+    --merge-joints \
+    --make-instanceable
+
+
+Executing the above script will create two USD files inside the
+``source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/`` directory:
+
+* ``anymal_d.usd`` - This is the main asset file. It contains all the non-mesh data.
+* ``Props/instanceable_assets.usd`` - This is the mesh data file.
+
+.. note::
+
+  Since Isaac Sim 2023.1.1, the URDF importer behavior has changed and it stores the mesh data inside the
+  main asset file even if the ``--make-instanceable`` flag is set. This means that the
+  ``Props/instanceable_assets.usd`` file is created but not used anymore.
+
+To run the script headless, you can add the ``--headless`` flag. This will not open the GUI and
+exit the script after the conversion is complete.
+
+You can press play on the opened window to see the asset in the scene. The asset should fall under gravity. If it blows up, then it might be that you have self-collisions present in the URDF.
+
+
+.. figure:: ../_static/tutorials/tutorial_convert_urdf.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of convert_urdf.py
+
+
+
+Using MJCF Importer
+-------------------
+
+Similar to the URDF Importer, the MJCF Importer also has a GUI interface. Please check the documentation at `MJCF importer`_ for more details. For using the MJCF importer from Python scripts, we include a utility tool called ``convert_mjcf.py``. This script creates an instance of :class:`~sim.converters.MjcfConverterCfg` which is then passed to the :class:`~sim.converters.MjcfConverter` class.
+
+The default values for the importer's configuration parameters are specified in the :class:`~sim.converters.MjcfConverterCfg` class. The configuration parameters are listed below. We made a few commonly modified settings to be available as command-line arguments when calling the ``convert_mjcf.py``, and they are marked with ``*`` in the list. For a comprehensive list of the configuration parameters, please check the the documentation at `MJCF importer`_.
+
+
+* :attr:`~sim.converters.MjcfConverterCfg.fix_base*` - Whether to fix the base of the robot.
+  This depends on whether you have a floating-base or fixed-base robot. The command-line flag is
+  ``--fix-base`` where when set, the importer will fix the base of the robot, otherwise it will default to floating-base.
+* :attr:`~sim.converters.MjcfConverterCfg.make_instanceable*` - Whether to create instanceable assets.
+  Usually, this should be set to ``True``. The command-line flag is ``--make-instanceable`` where
+  when set, the importer will create instanceable assets, otherwise it will default to non-instanceable.
+* :attr:`~sim.converters.MjcfConverterCfg.import_sites*` - Whether to parse the <site> tag in the MJCF.
+  Usually, this should be set to ``True``. The command-line flag is ``--import-sites`` where when set, the importer will parse the <site> tag, otherwise it will default to not parsing the <site> tag.
+
+
+Example Usage
+~~~~~~~~~~~~~
+
+In this example, we use the MuJoCo model of the Unitree's H1 humanoid robot in the `mujoco_menagerie`_.
+
+The following shows the steps to clone the repository and run the converter:
+
+.. code-block:: bash
+
+  # create a directory to clone
+  mkdir ~/git && cd ~/git
+  # clone a repository with URDF files
+  git clone git@github.com:git@github.com:google-deepmind/mujoco_menagerie.git
+
+  # go to top of the Isaac Lab repository
+  cd IsaacLab
+  # run the converter
+  ./isaaclab.sh -p source/standalone/tools/convert_mjcf.py \
+    ~/git/mujoco_menagerie/unitree_h1/h1.xml \
+    source/extensions/omni.isaac.lab_assets/data/Robots/Unitree/h1.usd \
+    --import-sites \
+    --make-instanceable
+
+.. figure:: ../_static/tutorials/tutorial_convert_mjcf.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of convert_mjcf.py
+
+
+
+
+Using Mesh Importer
+-------------------
+
+Omniverse Kit includes the mesh converter tool that uses the ASSIMP library to import assets
+from various mesh formats (e.g. OBJ, FBX, STL, glTF, etc.). The asset converter tool is available
+as an extension to Omniverse Kit. Please check the `asset converter`_ documentation for more details.
+However, unlike Isaac Sim's URDF and MJCF importers, the asset converter tool does not support
+creating instanceable assets. This means that the asset will be loaded into memory multiple times
+if it is used multiple times in a scene.
+
+Thus, we include a utility tool called ``convert_mesh.py`` that uses the asset converter tool to
+import the asset and then converts it into an instanceable asset. Internally, this script creates
+an instance of :class:`~sim.converters.MeshConverterCfg` which is then passed to the
+:class:`~sim.converters.MeshConverter` class. Since the mesh file does not contain any physics
+information, the configuration class accepts different physics properties (such as mass, collision
+shape, etc.) as input. Please check the documentation for :class:`~sim.converters.MeshConverterCfg`
+for more details.
+
+Example Usage
+~~~~~~~~~~~~~
+
+We use an OBJ file of a cube to demonstrate the usage of the mesh converter. The following shows
+the steps to clone the repository and run the converter:
+
+.. code-block:: bash
+
+  # create a directory to clone
+  mkdir ~/git && cd ~/git
+  # clone a repository with URDF files
+  git clone git@github.com:NVIDIA-Omniverse/IsaacGymEnvs.git
+
+  # go to top of the Isaac Lab repository
+  cd IsaacLab
+  # run the converter
+  ./isaaclab.sh -p source/standalone/tools/convert_mesh.py \
+    ~/git/IsaacGymEnvs/assets/trifinger/objects/meshes/cube_multicolor.obj \
+    source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/cube_multicolor.usd \
+    --make-instanceable \
+    --collision-approximation convexDecomposition \
+    --mass 1.0
+
+You may need to press 'F' to zoom in on the asset after import.
+
+Similar to the URDF and MJCF converter, executing the above script will create two USD files inside the
+``source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/`` directory. Additionally,
+if you press play on the opened window, you should see the asset fall down under the influence
+of gravity.
+
+* If you do not set the ``--mass`` flag, then no rigid body properties will be added to the asset.
+  It will be imported as a static asset.
+* If you also do not set the ``--collision-approximation`` flag, then the asset will not have any collider
+  properties as well and will be imported as a visual asset.
+
+
+.. figure:: ../_static/tutorials/tutorial_convert_mesh.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of convert_mesh.py
+
+
+.. _instanceable: https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html
+.. _documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_instanceable_assets.html
+.. _MJCF importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html
+.. _URDF importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html
+.. _anymal.urdf: https://github.com/isaac-orbit/anymal_d_simple_description/blob/master/urdf/anymal.urdf
+.. _asset converter: https://docs.omniverse.nvidia.com/extensions/latest/ext_asset-converter.html
+.. _mujoco_menagerie: https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1
diff --git a/v1.4.0/_sources/source/how-to/index.rst b/v1.4.0/_sources/source/how-to/index.rst
new file mode 100644
index 0000000000..4b5c426d82
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/index.rst
@@ -0,0 +1,115 @@
+.. _how-to:
+
+How-to Guides
+=============
+
+This section includes guides that help you use Isaac Lab. These are intended for users who
+have already worked through the tutorials and are looking for more information on how to
+use Isaac Lab. If you are new to Isaac Lab, we recommend you start with the tutorials.
+
+.. note::
+
+    This section is a work in progress. If you have a question that is not answered here,
+    please open an issue on our `GitHub page <https://github.com/isaac-sim/IsaacLab>`_.
+
+Importing a New Asset
+---------------------
+
+Importing an asset into Isaac Lab is a common task. It contains two steps: importing the asset into
+a USD format and then setting up the configuration object for the asset. The following guide explains
+how to import a new asset into Isaac Lab.
+
+.. toctree::
+    :maxdepth: 1
+
+    import_new_asset
+    write_articulation_cfg
+
+Creating a Fixed Asset
+----------------------
+
+Often you may want to create a fixed asset in your scene. For instance, making a floating base robot
+a fixed base robot. This guide goes over the various considerations and steps to create a fixed asset.
+
+.. toctree::
+    :maxdepth: 1
+
+    make_fixed_prim
+
+Spawning Multiple Assets
+------------------------
+
+This guide explains how to import and configure different assets in each environment. This is
+useful when you want to create diverse environments with different objects.
+
+.. toctree::
+    :maxdepth: 1
+
+    multi_asset_spawning
+
+Saving Camera Output
+--------------------
+
+This guide explains how to save the camera output in Isaac Lab.
+
+.. toctree::
+    :maxdepth: 1
+
+    save_camera_output
+
+Estimate How Many Cameras Can Run On Your Machine
+-------------------------------------------------
+
+This guide demonstrates how to estimate the number of cameras one can run on their machine under the desired parameters.
+
+.. toctree::
+    :maxdepth: 1
+
+    estimate_how_many_cameras_can_run
+
+
+Drawing Markers
+---------------
+
+This guide explains how to use the :class:`~omni.isaac.lab.markers.VisualizationMarkers` class to draw markers in
+Isaac Lab.
+
+.. toctree::
+    :maxdepth: 1
+
+    draw_markers
+
+
+Interfacing with Environments
+-----------------------------
+
+These guides explain how to interface with reinforcement learning environments in Isaac Lab.
+
+.. toctree::
+    :maxdepth: 1
+
+    wrap_rl_env
+    add_own_library
+
+
+Recording an Animation and Video
+--------------------------------
+
+This guide explains how to record an animation and video in Isaac Lab.
+
+.. toctree::
+    :maxdepth: 1
+
+    record_animation
+    record_video
+
+Mastering Omniverse
+-------------------
+
+Omniverse is a powerful platform that provides a wide range of features. This guide links to
+additional resources that help you use Omniverse features in Isaac Lab.
+
+.. toctree::
+    :maxdepth: 1
+
+    master_omniverse
diff --git a/v1.4.0/_sources/source/how-to/make_fixed_prim.rst b/v1.4.0/_sources/source/how-to/make_fixed_prim.rst
new file mode 100644
index 0000000000..1847c4805b
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/make_fixed_prim.rst
@@ -0,0 +1,179 @@
+Making a physics prim fixed in the simulation
+=============================================
+
+.. currentmodule:: omni.isaac.lab
+
+When a USD prim has physics schemas applied on it, it is affected by physics simulation.
+This means that the prim can move, rotate, and collide with other prims in the simulation world.
+However, there are cases where it is desirable to make certain prims static in the simulation world,
+i.e. the prim should still participate in collisions but its position and orientation should not change.
+
+The following sections describe how to spawn a prim with physics schemas and make it static in the simulation world.
+
+Static colliders
+----------------
+
+Static colliders are prims that are not affected by physics but can collide with other prims in the simulation world.
+These don't have any rigid body properties applied on them. However, this also means that they can't be accessed
+using the physics tensor API (i.e., through the :class:`assets.RigidObject` class).
+
+For instance, to spawn a cone static in the simulation world, the following code can be used:
+
+.. code-block:: python
+
+    import omni.isaac.lab.sim as sim_utils
+
+    cone_spawn_cfg = sim_utils.ConeCfg(
+        radius=0.15,
+        height=0.5,
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
+    )
+    cone_spawn_cfg.func(
+        "/World/Cone", cone_spawn_cfg, translation=(0.0, 0.0, 2.0), orientation=(0.5, 0.0, 0.5, 0.0)
+    )
+
+
+Rigid object
+------------
+
+Rigid objects (i.e. object only has a single body) can be made static by setting the parameter
+:attr:`sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled` as True. This will make the object
+kinematic and it will not be affected by physics.
+
+For instance, to spawn a cone static in the simulation world but with rigid body schema on it,
+the following code can be used:
+
+.. code-block:: python
+
+    import omni.isaac.lab.sim as sim_utils
+
+    cone_spawn_cfg = sim_utils.ConeCfg(
+        radius=0.15,
+        height=0.5,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
+        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+        visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
+    )
+    cone_spawn_cfg.func(
+        "/World/Cone", cone_spawn_cfg, translation=(0.0, 0.0, 2.0), orientation=(0.5, 0.0, 0.5, 0.0)
+    )
+
+
+Articulation
+------------
+
+Fixing the root of an articulation requires having a fixed joint to the root rigid body link of the articulation.
+This can be achieved by setting the parameter :attr:`sim.schemas.ArticulationRootPropertiesCfg.fix_root_link`
+as True. Based on the value of this parameter, the following cases are possible:
+
+* If set to :obj:`None`, the root link is not modified.
+* If the articulation already has a fixed root link, this flag will enable or disable the fixed joint.
+* If the articulation does not have a fixed root link, this flag will create a fixed joint between the world
+  frame and the root link. The joint is created with the name "FixedJoint" under the root link.
+
+For instance, to spawn an ANYmal robot and make it static in the simulation world, the following code can be used:
+
+.. code-block:: python
+
+    import omni.isaac.lab.sim as sim_utils
+    from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
+
+    anymal_spawn_cfg = sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True,
+            solver_position_iteration_count=4,
+            solver_velocity_iteration_count=0,
+            fix_root_link=True,
+        ),
+    )
+    anymal_spawn_cfg.func(
+        "/World/ANYmal", anymal_spawn_cfg, translation=(0.0, 0.0, 0.8), orientation=(1.0, 0.0, 0.0, 0.0)
+    )
+
+
+This will create a fixed joint between the world frame and the root link of the ANYmal robot
+at the prim path ``"/World/ANYmal/base/FixedJoint"`` since the root link is at the path ``"/World/ANYmal/base"``.
+
+
+Further notes
+-------------
+
+Given the flexibility of USD asset designing the following possible scenarios are usually encountered:
+
+1. **Articulation root schema on the rigid body prim without a fixed joint**:
+
+   This is the most common and recommended scenario for floating-base articulations. The root prim
+   has both the rigid body and the articulation root properties. In this case, the articulation root
+   is parsed as a floating-base with the root prim of the articulation ``Link0Xform``.
+
+   .. code-block:: text
+
+       ArticulationXform
+           └── Link0Xform  (RigidBody and ArticulationRoot schema)
+
+2. **Articulation root schema on the parent prim with a fixed joint**:
+
+   This is the expected arrangement for fixed-base articulations. The root prim has only the rigid body
+   properties and the articulation root properties are applied to its parent prim. In this case, the
+   articulation root is parsed as a fixed-base with the root prim of the articulation ``Link0Xform``.
+
+   .. code-block:: text
+
+       ArticulationXform (ArticulationRoot schema)
+           └── Link0Xform  (RigidBody schema)
+           └── FixedJoint (connecting the world frame and Link0Xform)
+
+3. **Articulation root schema on the parent prim without a fixed joint**:
+
+   This is a scenario where the root prim has only the rigid body properties and the articulation root properties
+   are applied to its parent prim. However, the fixed joint is not created between the world frame and the root link.
+   In this case, the articulation is parsed as a floating-base system. However, the PhysX parser uses its own
+   heuristic (such as alphabetical order) to determine the root prim of the articulation. It may select the root prim
+   at ``Link0Xform`` or choose another prim as the root prim.
+
+   .. code-block:: text
+
+       ArticulationXform (ArticulationRoot schema)
+           └── Link0Xform  (RigidBody schema)
+
+4. **Articulation root schema on the rigid body prim with a fixed joint**:
+
+   While this is a valid scenario, it is not recommended as it may lead to unexpected behavior. In this case,
+   the articulation is still parsed as a floating-base system. However, the fixed joint, created between the
+   world frame and the root link, is considered as a part of the maximal coordinate tree. This is different from
+   PhysX considering the articulation as a fixed-base system. Hence, the simulation may not behave as expected.
+
+   .. code-block:: text
+
+       ArticulationXform
+           └── Link0Xform  (RigidBody and ArticulationRoot schema)
+           └── FixedJoint (connecting the world frame and Link0Xform)
+
+For floating base articulations, the root prim usually has both the rigid body and the articulation
+root properties. However, directly connecting this prim to the world frame will cause the simulation
+to consider the fixed joint as a part of the maximal coordinate tree. This is different from PhysX
+considering the articulation as a fixed-base system.
+
+Internally, when the parameter :attr:`sim.schemas.ArticulationRootPropertiesCfg.fix_root_link` is set to True
+and the articulation is detected as a floating-base system, the fixed joint is created between the world frame
+the root rigid body link of the articulation. However, to make the PhysX parser consider the articulation as a
+fixed-base system, the articulation root properties are removed from the root rigid body prim and applied to
+its parent prim instead.
+
+.. note::
+
+    In future release of Isaac Sim, an explicit flag will be added to the articulation root schema from PhysX
+    to toggle between fixed-base and floating-base systems. This will resolve the need of the above workaround.
diff --git a/v1.4.0/_sources/source/how-to/master_omniverse.rst b/v1.4.0/_sources/source/how-to/master_omniverse.rst
new file mode 100644
index 0000000000..80385f1b89
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/master_omniverse.rst
@@ -0,0 +1,124 @@
+Mastering Omniverse for Robotics
+================================
+
+NVIDIA Omniverse offers a large suite of tools for 3D content workflows.
+There are three main components (relevant to robotics) in Omniverse:
+
+-  **USD Composer**: This is based on a novel file format (Universal Scene
+   Description) from the animation (originally Pixar) community that is
+   used in Omniverse
+-  **PhysX SDK**: This is the main physics engine behind Omniverse that
+   leverages GPU-based parallelization for massive scenes
+-  **RTX-enabled Renderer**: This uses ray-tracing kernels in NVIDIA RTX
+   GPUs for real-time physically-based rendering
+
+Of these, the first two require a deeper understanding to start working
+with Omniverse and its constituent applications (Isaac Sim and Isaac Lab).
+
+The main things to learn:
+
+-  How to use the Composer GUI efficiently?
+-  What are USD prims and schemas?
+-  How do you compose a USD scene?
+-  What is the difference between references and payloads in USD?
+-  What is meant by scene-graph instancing?
+-  How to apply PhysX schemas on prims? What all schemas are possible?
+-  How to write basic operations in USD for creating prims and modifying
+   their attributes?
+
+
+Part 1: Using USD Composer
+--------------------------
+
+While several `video
+tutorials <https://www.youtube.com/@NVIDIA-Studio>`__ and
+`documentation <https://docs.omniverse.nvidia.com/>`__ exist
+out there on NVIDIA Omniverse, going through all of them would take an
+extensive amount of time and effort. Thus, we have curated these
+resources to guide you through using Omniverse, specifically for
+robotics.
+
+Introduction to Omniverse and USD
+
+-  `What is NVIDIA Omniverse? <https://youtu.be/dvdB-ndYJBM>`__
+-  `What is the USD File Type? \| Getting Started in NVIDIA Omniverse <https://youtu.be/GOdyx-oSs2M>`__
+-  `What Makes USD Unique in NVIDIA Omniverse <https://youtu.be/o2x-30-PTkw>`__
+
+Using Omniverse USD Composer
+
+-  `Introduction to Omniverse USD Composer <https://youtu.be/_30Pf3nccuE>`__
+-  `Navigation Basics in Omniverse USD Composer <https://youtu.be/kb4ZA3TyMak>`__
+-  `Lighting Basics in NVIDIA Omniverse USD Composer <https://youtu.be/c7qyI8pZvF4>`__
+-  `Rendering Overview in NVIDIA Omniverse USD Composer <https://youtu.be/dCvq2ZyYmu4>`__
+
+Materials and MDL
+
+-  `Five Things to Know About Materials in NVIDIA Omniverse <https://youtu.be/C0HmcQXaENc>`__
+-  `How to apply materials? <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html#applying-materials>`__
+
+Omniverse Physics and PhysX SDK
+
+-  `Basics - Setting Up Physics and Toolbar Overview <https://youtu.be/nsJ0S9MycJI>`__
+-  `Basics - Demos Overview <https://youtu.be/-y0-EVTj10s>`__
+-  `Rigid Bodies - Mass Editing <https://youtu.be/GHl2RwWeRuM>`__
+-  `Materials - Friction Restitution and Defaults <https://youtu.be/oTW81DltNiE>`__
+-  `Overview of Simulation Ready Assets Physics in Omniverse <https://youtu.be/lFtEMg86lJc>`__
+
+Importing assets
+
+-  `Omniverse Create - Importing FBX Files \| NVIDIA Omniverse Tutorials <https://youtu.be/dQI0OpzfVHw>`__
+-  `Omniverse Asset Importer <https://docs.omniverse.nvidia.com/extensions/latest/ext_asset-importer.html>`__
+-  `Isaac Sim URDF impoter <https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_urdf.html>`__
+
+
+Part 2: Scripting in Omniverse
+------------------------------
+
+The above links mainly introduced how to use the USD Composer and its
+functionalities through UI operations. However, often developers
+need to write scripts to perform operations. This is especially true
+when you want to automate certain tasks or create custom applications
+that use Omniverse as a backend. This section will introduce you to
+scripting in Omniverse.
+
+USD is the main file format Omniverse operates with. So naturally, the
+APIs (from OpenUSD) for modifying USD are at the core of Omniverse.
+Most of the APIs are in C++ and Python bindings are provided for them.
+Thus, to script in Omniverse, you need to understand the USD APIs.
+
+.. note::
+
+   While Isaac Sim and Isaac Lab try to "relieve" users from understanding
+   the core USD concepts and APIs, understanding these basics still
+   help a lot once you start diving inside the codebase and modifying
+   it for your own application.
+
+Before diving into USD scripting, it is good to get acquainted with the
+terminologies used in USD. We recommend the following `introduction to
+USD basics <https://www.sidefx.com/docs/houdini/solaris/usd.html>`__ by
+Houdini, which is a 3D animation software.
+Make sure to go through the following sections:
+
+-  `Quick example <https://www.sidefx.com/docs/houdini/solaris/usd.html#quick-example>`__
+-  `Attributes and primvars <https://www.sidefx.com/docs/houdini/solaris/usd.html#attrs>`__
+-  `Composition <https://www.sidefx.com/docs/houdini/solaris/usd.html#compose>`__
+-  `Schemas <https://www.sidefx.com/docs/houdini/solaris/usd.html#schemas>`__
+-  `Instances <https://www.sidefx.com/docs/houdini/solaris/usd.html#instancing>`__
+   and `Scene-graph Instancing <https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html>`__
+
+As a test of understanding, make sure you can answer the following:
+
+-  What are prims? What is meant by a prim path in a stage?
+-  How are attributes related to prims?
+-  How are schemas related to prims?
+-  What is the difference between attributes and schemas?
+-  What is asset instancing?
+
+Part 3: More Resources
+----------------------
+
+- `Omniverse Glossary of Terms <https://docs.omniverse.nvidia.com/isaacsim/latest/common/glossary-of-terms.html>`__
+- `Omniverse Code Samples <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref.html>`__
+- `PhysX Collider Compatibility <https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#collidercompatibility>`__
+- `PhysX Limitations <https://docs.omniverse.nvidia.com/isaacsim/latest/simulation_fundamentals.html#omni-physics-and-physx-limitations>`__
+- `PhysX Documentation <https://nvidia-omniverse.github.io/PhysX/physx/>`__.
diff --git a/v1.4.0/_sources/source/how-to/multi_asset_spawning.rst b/v1.4.0/_sources/source/how-to/multi_asset_spawning.rst
new file mode 100644
index 0000000000..fe141981fc
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/multi_asset_spawning.rst
@@ -0,0 +1,129 @@
+
+Spawning Multiple Assets
+========================
+
+.. currentmodule:: omni.isaac.lab
+
+Typical spawning configurations (introduced in the :ref:`tutorial-spawn-prims` tutorial) copy the same
+asset (or USD primitive) across the different resolved prim paths from the expressions.
+For instance, if the user specifies to spawn the asset at "/World/Table\_.*/Object", the same
+asset is created at the paths "/World/Table_0/Object", "/World/Table_1/Object" and so on.
+
+However, we also support multi-asset spawning with two mechanisms:
+
+1. Rigid object collections. This allows the user to spawn multiple rigid objects in each environment and access/modify
+   them with a unified API, improving performance.
+
+2. Spawning different assets under the same prim path. This allows the user to create diverse simulations, where each
+   environment has a different asset.
+
+This guide describes how to use these two mechanisms.
+
+The sample script ``multi_asset.py`` is used as a reference, located in the
+``IsaacLab/source/standalone/demos`` directory.
+
+.. dropdown:: Code for multi_asset.py
+   :icon: code
+
+   .. literalinclude:: ../../../source/standalone/demos/multi_asset.py
+      :language: python
+      :emphasize-lines: 109-131, 135-179, 184-203
+      :linenos:
+
+This script creates multiple environments, where each environment has:
+
+* a rigid object collection containing a cone, a cube, and a sphere
+* a rigid object that is either a cone, a cube, or a sphere, chosen at random
+* an articulation that is either the ANYmal-C or ANYmal-D robot, chosen at random
+
+.. image:: ../_static/demos/multi_asset.jpg
+  :width: 100%
+  :alt: result of multi_asset.py
+
+
+Rigid Object Collections
+------------------------
+
+Multiple rigid objects can be spawned in each environment and accessed/modified with a unified ``(env_ids, obj_ids)`` API.
+While the user could also create multiple rigid objects by spawning them individually, the API is more user-friendly and
+more efficient since it uses a single physics view under the hood to handle all the objects.
+
+.. literalinclude:: ../../../source/standalone/demos/multi_asset.py
+   :language: python
+   :lines: 135-179
+   :dedent:
+
+The configuration :class:`~assets.RigidObjectCollectionCfg` is used to create the collection. It's attribute :attr:`~assets.RigidObjectCollectionCfg.rigid_objects`
+is a dictionary containing :class:`~assets.RigidObjectCfg` objects. The keys serve as unique identifiers for each
+rigid object in the collection.
+
+
+Spawning different assets under the same prim path
+--------------------------------------------------
+
+It is possible to spawn different assets and USDs under the same prim path in each environment using the spawners
+:class:`~sim.spawners.wrappers.MultiAssetSpawnerCfg` and :class:`~sim.spawners.wrappers.MultiUsdFileCfg`:
+
+* We set the spawn configuration in :class:`~assets.RigidObjectCfg` to be
+  :class:`~sim.spawners.wrappers.MultiAssetSpawnerCfg`:
+
+  .. literalinclude:: ../../../source/standalone/demos/multi_asset.py
+     :language: python
+     :lines: 107-133
+     :dedent:
+
+  This function allows you to define a list of different assets that can be spawned as rigid objects.
+  When :attr:`~sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice` is set to True, one asset from the list
+  is randomly selected and spawned at the specified prim path.
+
+* Similarly, we set the spawn configuration in :class:`~assets.ArticulationCfg` to be
+  :class:`~sim.spawners.wrappers.MultiUsdFileCfg`:
+
+  .. literalinclude:: ../../../source/standalone/demos/multi_asset.py
+     :language: python
+     :lines: 182-215
+     :dedent:
+
+  Similar to before, this configuration allows the selection of different USD files representing articulated assets.
+
+
+Things to Note
+~~~~~~~~~~~~~~
+
+Similar asset structuring
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+While spawning and handling multiple assets using the same physics interface (the rigid object or articulation classes),
+it is essential to have the assets at all the prim locations follow a similar structure. In case of an articulation,
+this means that they all must have the same number of links and joints, the same number of collision bodies and
+the same names for them. If that is not the case, the physics parsing of the prims can get affected and fail.
+
+The main purpose of this functionality is to enable the user to create randomized versions of the same asset,
+for example robots with different link lengths, or rigid objects with different collider shapes.
+
+Disabling physics replication in interactive scene
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+By default, the flag :attr:`scene.InteractiveScene.replicate_physics` is set to True. This flag informs the physics
+engine that the simulation environments are copies of one another so it just needs to parse the first environment
+to understand the entire simulation scene. This helps speed up the simulation scene parsing.
+
+However, in the case of spawning different assets in different environments, this assumption does not hold
+anymore. Hence the flag :attr:`scene.InteractiveScene.replicate_physics` must be disabled.
+
+.. literalinclude:: ../../../source/standalone/demos/multi_asset.py
+   :language: python
+   :lines: 280-283
+   :dedent:
+
+The Code Execution
+------------------
+
+To execute the script with multiple environments and randomized assets, use the following command:
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/demos/multi_asset.py --num_envs 2048
+
+This command runs the simulation with 2048 environments, each with randomly selected assets.
+To stop the simulation, you can close the window, or press ``Ctrl+C`` in the terminal.
diff --git a/v1.4.0/_sources/source/how-to/record_animation.rst b/v1.4.0/_sources/source/how-to/record_animation.rst
new file mode 100644
index 0000000000..035a09e943
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/record_animation.rst
@@ -0,0 +1,78 @@
+Recording Animations of Simulations
+===================================
+
+.. currentmodule:: omni.isaac.lab
+
+Omniverse includes tools to record animations of physics simulations. The `Stage Recorder`_ extension
+listens to all the motion and USD property changes within a USD stage and records them to a USD file.
+This file contains the time samples of the changes, which can be played back to render the animation.
+
+The timeSampled USD file only contains the changes to the stage. It uses the same hierarchy as the original
+stage at the time of recording. This allows adding the animation to the original stage, or to a different
+stage with the same hierarchy. The timeSampled file can be directly added as a sublayer to the original stage
+to play back the animation.
+
+.. note::
+
+  Omniverse only supports playing animation or playing physics on a USD prim at the same time. If you want to
+  play back the animation of a USD prim, you need to disable the physics simulation on the prim.
+
+
+In Isaac Lab, we directly use the `Stage Recorder`_ extension to record the animation of the physics simulation.
+This is available as a feature in the :class:`~omni.isaac.lab.envs.ui.BaseEnvWindow` class.
+However, to record the animation of a simulation, you need to disable `Fabric`_ to allow reading and writing
+all the changes (such as motion and USD properties) to the USD stage.
+
+
+Stage Recorder Settings
+~~~~~~~~~~~~~~~~~~~~~~~
+
+Isaac Lab integration of the `Stage Recorder`_ extension assumes certain default settings. If you want to change the
+settings, you can directly use the `Stage Recorder`_ extension in the Omniverse Create application.
+
+.. dropdown:: Settings used in base_env_window.py
+  :icon: code
+
+  .. literalinclude:: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py
+    :language: python
+    :linenos:
+    :pyobject: BaseEnvWindow._toggle_recording_animation_fn
+
+
+Example Usage
+~~~~~~~~~~~~~
+
+In all environment standalone scripts, Fabric can be disabled by passing the ``--disable_fabric`` flag to the script.
+Here we run the state-machine example and record the animation of the simulation.
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/environments/state_machine/lift_cube_sm.py --num_envs 8 --device cpu --disable_fabric
+
+
+On running the script, the Isaac Lab UI window opens with the button "Record Animation" in the toolbar.
+Clicking this button starts recording the animation of the simulation. On clicking the button again, the
+recording stops. The recorded animation and the original stage (with all physics disabled) are saved
+to the ``recordings`` folder in the current working directory. The files are stored in the ``usd`` format:
+
+- ``Stage.usd``: The original stage with all physics disabled
+- ``TimeSample_tk001.usd``: The timeSampled file containing the recorded animation
+
+You can open Omniverse Isaac Sim application to play back the animation. There are many ways to launch
+the application (such as from terminal or `Omniverse Launcher`_). Here we use the terminal to open the
+application and play the animation.
+
+.. code-block:: bash
+
+  ./isaaclab.sh -s  # Opens Isaac Sim application through _isaac_sim/isaac-sim.sh
+
+On a new stage, add the ``Stage.usd`` as a sublayer and then add the ``TimeSample_tk001.usd`` as a sublayer.
+You can do this by dragging and dropping the files from the file explorer to the stage. Please check out
+the `tutorial on layering in Omniverse`_ for more details.
+
+You can then play the animation by pressing the play button.
+
+.. _Stage Recorder: https://docs.omniverse.nvidia.com/extensions/latest/ext_animation_stage-recorder.html
+.. _Fabric: https://docs.omniverse.nvidia.com/kit/docs/usdrt/latest/docs/usd_fabric_usdrt.html
+.. _Omniverse Launcher: https://docs.omniverse.nvidia.com/launcher/latest/index.html
+.. _tutorial on layering in Omniverse: https://www.youtube.com/watch?v=LTwmNkSDh-c&ab_channel=NVIDIAOmniverse
diff --git a/v1.4.0/_sources/source/how-to/record_video.rst b/v1.4.0/_sources/source/how-to/record_video.rst
new file mode 100644
index 0000000000..7b8276c067
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/record_video.rst
@@ -0,0 +1,25 @@
+Recording video clips during training
+=====================================
+
+Isaac Lab supports recording video clips during training using the
+`gymnasium.wrappers.RecordVideo <https://gymnasium.farama.org/main/_modules/gymnasium/wrappers/record_video/>`_ class.
+
+This feature can be enabled by installing ``ffmpeg`` and using the following command line arguments with the training
+script:
+
+* ``--video``: enables video recording during training
+* ``--video_length``: length of each recorded video (in steps)
+* ``--video_interval``: interval between each video recording (in steps)
+
+Make sure to also add the ``--enable_cameras`` argument when running headless.
+Note that enabling recording is equivalent to enabling rendering during training, which will slow down both startup and runtime performance.
+
+Example usage:
+
+.. code-block:: shell
+
+    python source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0 --headless --video --video_length 100 --video_interval 500
+
+
+The recorded videos will be saved in the same directory as the training checkpoints, under
+``IsaacLab/logs/<rl_workflow>/<task>/<run>/videos/train``.
diff --git a/v1.4.0/_sources/source/how-to/save_camera_output.rst b/v1.4.0/_sources/source/how-to/save_camera_output.rst
new file mode 100644
index 0000000000..bbc7327b22
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/save_camera_output.rst
@@ -0,0 +1,102 @@
+.. _how-to-save-images-and-3d-reprojection:
+
+
+Saving rendered images and 3D re-projection
+===========================================
+
+.. currentmodule:: omni.isaac.lab
+
+This guide accompanied with the ``run_usd_camera.py`` script in the ``IsaacLab/source/standalone/tutorials/04_sensors``
+directory.
+
+.. dropdown:: Code for run_usd_camera.py
+   :icon: code
+
+   .. literalinclude:: ../../../source/standalone/tutorials/04_sensors/run_usd_camera.py
+      :language: python
+      :emphasize-lines: 171-179, 229-247, 251-264
+      :linenos:
+
+
+Saving using Replicator Basic Writer
+------------------------------------
+
+To save camera outputs, we use the basic write class from Omniverse Replicator. This class allows us to save the
+images in a numpy format. For more information on the basic writer, please check the
+`documentation <https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/writer_examples.html>`_.
+
+.. literalinclude:: ../../../source/standalone/tutorials/04_sensors/run_usd_camera.py
+   :language: python
+   :start-at: rep_writer = rep.BasicWriter(
+   :end-before: # Camera positions, targets, orientations
+
+While stepping the simulator, the images can be saved to the defined folder. Since the BasicWriter only supports
+saving data using NumPy format, we first need to convert the PyTorch sensors to NumPy arrays before packing
+them in a dictionary.
+
+.. literalinclude:: ../../../source/standalone/tutorials/04_sensors/run_usd_camera.py
+   :language: python
+   :start-at: # Save images from camera at camera_index
+   :end-at: single_cam_info = camera.data.info[camera_index]
+
+After this step, we can save the images using the BasicWriter.
+
+.. literalinclude:: ../../../source/standalone/tutorials/04_sensors/run_usd_camera.py
+   :language: python
+   :start-at: # Pack data back into replicator format to save them using its writer
+   :end-at: rep_writer.write(rep_output)
+
+
+Projection into 3D Space
+------------------------
+
+We include utilities to project the depth image into 3D Space. The re-projection operations are done using
+PyTorch operations which allows faster computation.
+
+.. code-block:: python
+
+   from omni.isaac.lab.utils.math import transform_points, unproject_depth
+
+   # Pointcloud in world frame
+   points_3d_cam = unproject_depth(
+      camera.data.output["distance_to_image_plane"], camera.data.intrinsic_matrices
+   )
+
+   points_3d_world = transform_points(points_3d_cam, camera.data.pos_w, camera.data.quat_w_ros)
+
+Alternately, we can use the :meth:`omni.isaac.lab.sensors.camera.utils.create_pointcloud_from_depth` function
+to create a point cloud from the depth image and transform it to the world frame.
+
+.. literalinclude:: ../../../source/standalone/tutorials/04_sensors/run_usd_camera.py
+   :language: python
+   :start-at: # Derive pointcloud from camera at camera_index
+   :end-before: # In the first few steps, things are still being instanced and Camera.data
+
+The resulting point cloud can be visualized using the :mod:`omni.isaac.debug_draw` extension from Isaac Sim.
+This makes it easy to visualize the point cloud in the 3D space.
+
+.. literalinclude:: ../../../source/standalone/tutorials/04_sensors/run_usd_camera.py
+   :language: python
+   :start-at: # In the first few steps, things are still being instanced and Camera.data
+   :end-at: pc_markers.visualize(translations=pointcloud)
+
+
+Executing the script
+--------------------
+
+To run the accompanying script, execute the following command:
+
+.. code-block:: bash
+
+   # Usage with saving and drawing
+   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py --save --draw --enable_cameras
+
+   # Usage with saving only in headless mode
+   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py --save --headless --enable_cameras
+
+
+The simulation should start, and you can observe different objects falling down. An output folder will be created
+in the ``IsaacLab/source/standalone/tutorials/04_sensors`` directory, where the images will be saved. Additionally,
+you should see the point cloud in the 3D space drawn on the viewport.
+
+To stop the simulation, close the window, or use ``Ctrl+C`` in the terminal.
diff --git a/v1.4.0/_sources/source/how-to/wrap_rl_env.rst b/v1.4.0/_sources/source/how-to/wrap_rl_env.rst
new file mode 100644
index 0000000000..c6c2594b28
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/wrap_rl_env.rst
@@ -0,0 +1,167 @@
+.. _how-to-env-wrappers:
+
+
+Wrapping environments
+=====================
+
+.. currentmodule:: omni.isaac.lab
+
+Environment wrappers are a way to modify the behavior of an environment without modifying the environment itself.
+This can be used to apply functions to modify observations or rewards, record videos, enforce time limits, etc.
+A detailed description of the API is available in the :class:`gymnasium.Wrapper` class.
+
+At present, all RL environments inheriting from the :class:`~envs.ManagerBasedRLEnv` or :class:`~envs.DirectRLEnv` classes
+are compatible with :class:`gymnasium.Wrapper`, since the base class implements the :class:`gymnasium.Env` interface.
+In order to wrap an environment, you need to first initialize the base environment. After that, you can
+wrap it with as many wrappers as you want by calling ``env = wrapper(env, *args, **kwargs)`` repeatedly.
+
+For example, here is how you would wrap an environment to enforce that reset is called before step or render:
+
+.. code-block:: python
+
+    """Launch Isaac Sim Simulator first."""
+
+
+    from omni.isaac.lab.app import AppLauncher
+
+    # launch omniverse app in headless mode
+    app_launcher = AppLauncher(headless=True)
+    simulation_app = app_launcher.app
+
+    """Rest everything follows."""
+
+    import gymnasium as gym
+
+    import omni.isaac.lab_tasks  # noqa: F401
+    from omni.isaac.lab_tasks.utils import load_cfg_from_registry
+
+    # create base environment
+    cfg = load_cfg_from_registry("Isaac-Reach-Franka-v0", "env_cfg_entry_point")
+    env = gym.make("Isaac-Reach-Franka-v0", cfg=cfg)
+    # wrap environment to enforce that reset is called before step
+    env = gym.wrappers.OrderEnforcing(env)
+
+
+Wrapper for recording videos
+----------------------------
+
+The :class:`gymnasium.wrappers.RecordVideo` wrapper can be used to record videos of the environment.
+The wrapper takes a ``video_dir`` argument, which specifies where to save the videos. The videos are saved in
+`mp4 <https://en.wikipedia.org/wiki/MP4_file_format>`__ format at specified intervals for specified
+number of environment steps or episodes.
+
+To use the wrapper, you need to first install ``ffmpeg``. On Ubuntu, you can install it by running:
+
+.. code-block:: bash
+
+    sudo apt-get install ffmpeg
+
+.. attention::
+
+  By default, when running an environment in headless mode, the Omniverse viewport is disabled. This is done to
+  improve performance by avoiding unnecessary rendering.
+
+  We notice the following performance in different rendering modes with the  ``Isaac-Reach-Franka-v0`` environment
+  using an RTX 3090 GPU:
+
+  * No GUI execution without off-screen rendering enabled: ~65,000 FPS
+  * No GUI execution with off-screen enabled: ~57,000 FPS
+  * GUI execution with full rendering: ~13,000 FPS
+
+
+The viewport camera used for rendering is the default camera in the scene called ``"/OmniverseKit_Persp"``.
+The camera's pose and image resolution can be configured through the
+:class:`~envs.ViewerCfg` class.
+
+
+.. dropdown:: Default parameters of the ViewerCfg class:
+    :icon: code
+
+    .. literalinclude:: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py
+        :language: python
+        :pyobject: ViewerCfg
+
+
+After adjusting the parameters, you can record videos by wrapping the environment with the
+:class:`gymnasium.wrappers.RecordVideo` wrapper and enabling the off-screen rendering
+flag. Additionally, you need to specify the render mode of the environment as ``"rgb_array"``.
+
+As an example, the following code records a video of the ``Isaac-Reach-Franka-v0`` environment
+for 200 steps, and saves it in the ``videos`` folder at a step interval of 1500 steps.
+
+.. code:: python
+
+    """Launch Isaac Sim Simulator first."""
+
+
+    from omni.isaac.lab.app import AppLauncher
+
+    # launch omniverse app in headless mode with off-screen rendering
+    app_launcher = AppLauncher(headless=True, enable_cameras=True)
+    simulation_app = app_launcher.app
+
+    """Rest everything follows."""
+
+    import gymnasium as gym
+
+    # adjust camera resolution and pose
+    env_cfg.viewer.resolution = (640, 480)
+    env_cfg.viewer.eye = (1.0, 1.0, 1.0)
+    env_cfg.viewer.lookat = (0.0, 0.0, 0.0)
+    # create isaac-env instance
+    # set render mode to rgb_array to obtain images on render calls
+    env = gym.make(task_name, cfg=env_cfg, render_mode="rgb_array")
+    # wrap for video recording
+    video_kwargs = {
+        "video_folder": "videos/train",
+        "step_trigger": lambda step: step % 1500 == 0,
+        "video_length": 200,
+    }
+    env = gym.wrappers.RecordVideo(env, **video_kwargs)
+
+
+Wrapper for learning frameworks
+-------------------------------
+
+Every learning framework has its own API for interacting with environments. For example, the
+`Stable-Baselines3`_ library uses the `gym.Env <https://gymnasium.farama.org/api/env/>`_
+interface to interact with environments. However, libraries like `RL-Games`_, `RSL-RL`_ or `SKRL`_
+use their own API for interfacing with a learning environments. Since there is no one-size-fits-all
+solution, we do not base the :class:`~envs.ManagerBasedRLEnv` and :class:`~envs.DirectRLEnv` classes on any particular learning framework's
+environment definition. Instead, we implement wrappers to make it compatible with the learning
+framework's environment definition.
+
+As an example of how to use the RL task environment with Stable-Baselines3:
+
+.. code:: python
+
+    from omni.isaac.lab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper
+
+    # create isaac-env instance
+    env = gym.make(task_name, cfg=env_cfg)
+    # wrap around environment for stable baselines
+    env = Sb3VecEnvWrapper(env)
+
+
+.. caution::
+
+  Wrapping the environment with the respective learning framework's wrapper should happen in the end,
+  i.e. after all other wrappers have been applied. This is because the learning framework's wrapper
+  modifies the interpretation of environment's APIs which may no longer be compatible with :class:`gymnasium.Env`.
+
+
+Adding new wrappers
+-------------------
+
+All new wrappers should be added to the :mod:`omni.isaac.lab_tasks.utils.wrappers` module.
+They should check that the underlying environment is an instance of :class:`omni.isaac.lab.envs.ManagerBasedRLEnv`
+or :class:`~envs.DirectRLEnv`
+before applying the wrapper. This can be done by using the :func:`unwrapped` property.
+
+We include a set of wrappers in this module that can be used as a reference to implement your own wrappers.
+If you implement a new wrapper, please consider contributing it to the framework by opening a pull request.
+
+.. _Stable-Baselines3: https://stable-baselines3.readthedocs.io/en/master/
+.. _SKRL: https://skrl.readthedocs.io
+.. _RL-Games: https://github.com/Denys88/rl_games
+.. _RSL-RL: https://github.com/leggedrobotics/rsl_rl
diff --git a/v1.4.0/_sources/source/how-to/write_articulation_cfg.rst b/v1.4.0/_sources/source/how-to/write_articulation_cfg.rst
new file mode 100644
index 0000000000..30d88dde34
--- /dev/null
+++ b/v1.4.0/_sources/source/how-to/write_articulation_cfg.rst
@@ -0,0 +1,116 @@
+.. _how-to-write-articulation-config:
+
+
+Writing an Asset Configuration
+==============================
+
+.. currentmodule:: omni.isaac.lab
+
+This guide walks through the process of creating an :class:`~assets.ArticulationCfg`.
+The :class:`~assets.ArticulationCfg` is a configuration object that defines the
+properties of an :class:`~assets.Articulation` in Isaac Lab.
+
+.. note::
+
+   While we only cover the creation of an :class:`~assets.ArticulationCfg` in this guide,
+   the process is similar for creating any other asset configuration object.
+
+We will use the Cartpole example to demonstrate how to create an :class:`~assets.ArticulationCfg`.
+The Cartpole is a simple robot that consists of a cart with a pole attached to it. The cart
+is free to move along a rail, and the pole is free to rotate about the cart.
+
+.. dropdown:: Code for Cartpole configuration
+   :icon: code
+
+   .. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py
+      :language: python
+      :linenos:
+
+
+Defining the spawn configuration
+--------------------------------
+
+As explained in :ref:`tutorial-spawn-prims` tutorials, the spawn configuration defines
+the properties of the assets to be spawned. This spawning may happen procedurally, or
+through an existing asset file (e.g. USD or URDF). In this example, we will spawn the
+Cartpole from a USD file.
+
+When spawning an asset from a USD file, we define its :class:`~sim.spawners.from_files.UsdFileCfg`.
+This configuration object takes in the following parameters:
+
+* :class:`~sim.spawners.from_files.UsdFileCfg.usd_path`: The USD file path to spawn from
+* :class:`~sim.spawners.from_files.UsdFileCfg.rigid_props`: The properties of the articulation's root
+* :class:`~sim.spawners.from_files.UsdFileCfg.articulation_props`: The properties of all the articulation's links
+
+The last two parameters are optional. If not specified, they are kept at their default values in the USD file.
+
+.. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py
+   :language: python
+   :lines: 19-35
+   :dedent:
+
+To import articulation from a URDF file instead of a USD file, you can replace the
+:class:`~sim.spawners.from_files.UsdFileCfg` with a :class:`~sim.spawners.from_files.UrdfFileCfg`.
+For more details, please check the API documentation.
+
+
+Defining the initial state
+--------------------------
+
+Every asset requires defining their initial or *default* state in the simulation through its configuration.
+This configuration is stored into the asset's default state buffers that can be accessed when the asset's
+state needs to be reset.
+
+.. note::
+   The initial state of an asset is defined w.r.t. its local environment frame. This then needs to
+   be transformed into the global simulation frame when resetting the asset's state. For more
+   details, please check the :ref:`tutorial-interact-articulation` tutorial.
+
+
+For an articulation, the :class:`~assets.ArticulationCfg.InitialStateCfg` object defines the
+initial state of the root of the articulation and the initial state of all its joints. In this
+example, we will spawn the Cartpole at the origin of the XY plane at a Z height of 2.0 meters.
+Meanwhile, the joint positions and velocities are set to 0.0.
+
+.. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py
+   :language: python
+   :lines: 36-38
+   :dedent:
+
+Defining the actuator configuration
+-----------------------------------
+
+Actuators are a crucial component of an articulation. Through this configuration, it is possible
+to define the type of actuator model to use. We can use the internal actuator model provided by
+the physics engine (i.e. the implicit actuator model), or use a custom actuator model which is
+governed by a user-defined system of equations (i.e. the explicit actuator model).
+For more details on actuators, see :ref:`overview-actuators`.
+
+The cartpole's articulation has two actuators, one corresponding to its each joint:
+``cart_to_pole`` and ``slider_to_cart``. We use two different actuator models for these actuators as
+an example. However, since they are both using the same actuator model, it is possible
+to combine them into a single actuator model.
+
+.. dropdown:: Actuator model configuration with separate actuator models
+   :icon: code
+
+   .. literalinclude:: ../../../source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py
+      :language: python
+      :lines: 39-49
+      :dedent:
+
+
+.. dropdown:: Actuator model configuration with a single actuator model
+   :icon: code
+
+   .. code-block:: python
+
+      actuators={
+         "all_joints": ImplicitActuatorCfg(
+            joint_names_expr=[".*"],
+            effort_limit=400.0,
+            velocity_limit=100.0,
+            stiffness={"slider_to_cart": 0.0, "cart_to_pole": 0.0},
+            damping={"slider_to_cart": 10.0, "cart_to_pole": 0.0},
+         ),
+      },
diff --git a/v1.4.0/_sources/source/migration/migrating_from_isaacgymenvs.rst b/v1.4.0/_sources/source/migration/migrating_from_isaacgymenvs.rst
new file mode 100644
index 0000000000..22bc33c9a5
--- /dev/null
+++ b/v1.4.0/_sources/source/migration/migrating_from_isaacgymenvs.rst
@@ -0,0 +1,929 @@
+.. _migrating-from-isaacgymenvs:
+
+From IsaacGymEnvs
+=================
+
+.. currentmodule:: omni.isaac.lab
+
+
+`IsaacGymEnvs`_ was a reinforcement learning framework designed for the `Isaac Gym Preview Release`_.
+As both IsaacGymEnvs and the Isaac Gym Preview Release are now deprecated, the following guide walks through
+the key differences between IsaacGymEnvs and Isaac Lab, as well as differences in APIs between Isaac Gym Preview
+Release and Isaac Sim.
+
+.. note::
+
+  The following changes are with respect to Isaac Lab 1.0 release. Please refer to the `release notes`_ for any changes
+  in the future releases.
+
+
+Task Config Setup
+~~~~~~~~~~~~~~~~~
+
+In IsaacGymEnvs, task config files were defined in ``.yaml`` format. With Isaac Lab, configs are now specified using
+a specialized Python class :class:`~omni.isaac.lab.utils.configclass`. The :class:`~omni.isaac.lab.utils.configclass`
+module provides a wrapper on top of Python's ``dataclasses`` module. Each environment should specify its own config
+class annotated by ``@configclass`` that inherits from :class:`~envs.DirectRLEnvCfg`, which can include simulation
+parameters, environment scene parameters, robot parameters, and task-specific parameters.
+
+Below is an example skeleton of a task config class:
+
+.. code-block:: python
+
+   from omni.isaac.lab.envs import DirectRLEnvCfg
+   from omni.isaac.lab.scene import InteractiveSceneCfg
+   from omni.isaac.lab.sim import SimulationCfg
+
+   @configclass
+   class MyEnvCfg(DirectRLEnvCfg):
+      # simulation
+      sim: SimulationCfg = SimulationCfg()
+      # robot
+      robot_cfg: ArticulationCfg = ArticulationCfg()
+      # scene
+      scene: InteractiveSceneCfg = InteractiveSceneCfg()
+      # env
+      decimation = 2
+      episode_length_s = 5.0
+      action_space = 1
+      observation_space = 4
+      state_space = 0
+      # task-specific parameters
+      ...
+
+Simulation Config
+-----------------
+
+Simulation related parameters are defined as part of the :class:`~omni.isaac.lab.sim.SimulationCfg` class,
+which is a :class:`~omni.isaac.lab.utils.configclass` module that holds simulation parameters such as ``dt``,
+``device``, and ``gravity``. Each task config must have a variable named ``sim`` defined that holds the type
+:class:`~omni.isaac.lab.sim.SimulationCfg`.
+
+In Isaac Lab, the use of ``substeps`` has been replaced
+by a combination of the simulation ``dt`` and the ``decimation`` parameters. For example, in IsaacGymEnvs, having
+``dt=1/60`` and ``substeps=2`` is equivalent to taking 2 simulation steps with ``dt=1/120``, but running the task step
+at ``1/60`` seconds. The ``decimation`` parameter is a task parameter that controls the number of simulation steps to
+take for each task (or RL) step, replacing the ``controlFrequencyInv`` parameter in IsaacGymEnvs.
+Thus, the same setup in Isaac Lab will become ``dt=1/120`` and ``decimation=2``.
+
+In Isaac Sim, physx simulation parameters such as ``num_position_iterations``, ``num_velocity_iterations``,
+``contact_offset``, ``rest_offset``, ``bounce_threshold_velocity``, ``max_depenetration_velocity`` can all
+be specified on a per-actor basis. These parameters have been moved from the physx simulation config
+to each individual articulation and rigid body config.
+
+When running simulation on the GPU, buffers in PhysX require pre-allocation for computing and storing
+information such as contacts, collisions and aggregate pairs. These buffers may need to be adjusted
+depending on the complexity of the environment, the number of expected contacts and collisions,
+and the number of actors in the environment. The :class:`~omni.isaac.lab.sim.PhysxCfg` class provides access for
+setting the GPU buffer dimensions.
+
++--------------------------------------------------------------+-------------------------------------------------------------------+
+|                                                              |                                                                   |
+|.. code-block:: yaml                                          |.. code-block:: python                                             |
+|                                                              |                                                                   |
+|  # IsaacGymEnvs                                              | # IsaacLab                                                        |
+|  sim:                                                        | sim: SimulationCfg = SimulationCfg(                               |
+|                                                              |    device = "cuda:0" # can be "cpu", "cuda", "cuda:<device_id>"   |
+|    dt: 0.0166 # 1/60 s                                       |    dt=1 / 120,                                                    |
+|    substeps: 2                                               |    # decimation will be set in the task config                    |
+|    up_axis: "z"                                              |    # up axis will always be Z in isaac sim                        |
+|    use_gpu_pipeline: ${eq:${...pipeline},"gpu"}              |    # use_gpu_pipeline is deduced from the device                  |
+|    gravity: [0.0, 0.0, -9.81]                                |    gravity=(0.0, 0.0, -9.81),                                     |
+|    physx:                                                    |    physx: PhysxCfg = PhysxCfg(                                    |
+|      num_threads: ${....num_threads}                         |        # num_threads is no longer needed                          |
+|      solver_type: ${....solver_type}                         |        solver_type=1,                                             |
+|      use_gpu: ${contains:"cuda",${....sim_device}}           |        # use_gpu is deduced from the device                       |
+|      num_position_iterations: 4                              |        max_position_iteration_count=4,                            |
+|      num_velocity_iterations: 0                              |        max_velocity_iteration_count=0,                            |
+|      contact_offset: 0.02                                    |        # moved to actor config                                    |
+|      rest_offset: 0.001                                      |        # moved to actor config                                    |
+|      bounce_threshold_velocity: 0.2                          |        bounce_threshold_velocity=0.2,                             |
+|      max_depenetration_velocity: 100.0                       |        # moved to actor config                                    |
+|      default_buffer_size_multiplier: 2.0                     |        # default_buffer_size_multiplier is no longer needed       |
+|      max_gpu_contact_pairs: 1048576 # 1024*1024              |        gpu_max_rigid_contact_count=2**23                          |
+|      num_subscenes: ${....num_subscenes}                     |        # num_subscenes is no longer needed                        |
+|      contact_collection: 0                                   |        # contact_collection is no longer needed                   |
+|                                                              | ))                                                                |
++--------------------------------------------------------------+-------------------------------------------------------------------+
+
+Scene Config
+------------
+
+The :class:`~omni.isaac.lab.scene.InteractiveSceneCfg` class can be used to specify parameters related to the scene,
+such as the number of environments and the spacing between environments. Each task config must have a variable named
+``scene`` defined that holds the type :class:`~omni.isaac.lab.scene.InteractiveSceneCfg`.
+
++--------------------------------------------------------------+-------------------------------------------------------------------+
+|                                                              |                                                                   |
+|.. code-block:: yaml                                          |.. code-block:: python                                             |
+|                                                              |                                                                   |
+|  # IsaacGymEnvs                                              | # IsaacLab                                                        |
+|  env:                                                        | scene: InteractiveSceneCfg = InteractiveSceneCfg(                 |
+|    numEnvs: ${resolve_default:512,${...num_envs}}            |    num_envs=512,                                                  |
+|    envSpacing: 4.0                                           |    env_spacing=4.0)                                               |
++--------------------------------------------------------------+-------------------------------------------------------------------+
+
+Task Config
+-----------
+
+Each environment should specify its own config class that holds task specific parameters, such as the dimensions of the
+observation and action buffers. Reward term scaling parameters can also be specified in the config class.
+
+The following parameters must be set for each environment config:
+
+.. code-block:: python
+
+   decimation = 2
+   episode_length_s = 5.0
+   action_space = 1
+   observation_space = 4
+   state_space = 0
+
+Note that the maximum episode length parameter (now ``episode_length_s``) is in seconds instead of steps as it was
+in IsaacGymEnvs. To convert between step count to seconds, use the equation:
+``episode_length_s = dt * decimation * num_steps``
+
+
+RL Config Setup
+~~~~~~~~~~~~~~~
+
+RL config files for the rl_games library can continue to be defined in ``.yaml`` files in Isaac Lab.
+Most of the content of the config file can be copied directly from IsaacGymEnvs.
+Note that in Isaac Lab, we do not use hydra to resolve relative paths in config files.
+Please replace any relative paths such as ``${....device}`` with the actual values of the parameters.
+
+Additionally, the observation and action clip ranges have been moved to the RL config file.
+For any ``clipObservations`` and ``clipActions`` parameters that were defined in the IsaacGymEnvs task config file,
+they should be moved to the RL config file in Isaac Lab.
+
++--------------------------+----------------------------+
+|                          |                            |
+| IsaacGymEnvs Task Config | Isaac Lab RL Config        |
++--------------------------+----------------------------+
+|.. code-block:: yaml      |.. code-block:: yaml        |
+|                          |                            |
+|  # IsaacGymEnvs          | # IsaacLab                 |
+|  env:                    | params:                    |
+|    clipObservations: 5.0 |   env:                     |
+|    clipActions: 1.0      |     clip_observations: 5.0 |
+|                          |     clip_actions: 1.0      |
++--------------------------+----------------------------+
+
+Environment Creation
+~~~~~~~~~~~~~~~~~~~~
+
+In IsaacGymEnvs, environment creation generally included four components: creating the sim object with ``create_sim()``,
+creating the ground plane, importing the assets from MJCF or URDF files, and finally creating the environments
+by looping through each environment and adding actors into the environments.
+
+Isaac Lab no longer requires calling the ``create_sim()`` method to retrieve the sim object. Instead, the simulation
+context is retrieved automatically by the framework. It is also no longer required to use the ``sim`` as an
+argument for the simulation APIs.
+
+In replacement of ``create_sim()``, tasks can implement the ``_setup_scene()`` method in Isaac Lab.
+This method can be used for adding actors into the scene, adding ground plane, cloning the actors, and
+adding any other optional objects into the scene, such as lights.
+
++------------------------------------------------------------------------------+------------------------------------------------------------------------+
+| IsaacGymEnvs                                                                 | Isaac Lab                                                              |
++------------------------------------------------------------------------------+------------------------------------------------------------------------+
+|.. code-block:: python                                                        |.. code-block:: python                                                  |
+|                                                                              |                                                                        |
+|   def create_sim(self):                                                      |   def _setup_scene(self):                                              |
+|     # set the up axis to be z-up                                             |     self.cartpole = Articulation(self.cfg.robot_cfg)                   |
+|     self.up_axis = self.cfg["sim"]["up_axis"]                                |     # add ground plane                                                 |
+|                                                                              |     spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg() |
+|     self.sim = super().create_sim(self.device_id, self.graphics_device_id,   |     # clone, filter, and replicate                                     |
+|                                     self.physics_engine, self.sim_params)    |     self.scene.clone_environments(copy_from_source=False)              |
+|     self._create_ground_plane()                                              |     self.scene.filter_collisions(global_prim_paths=[])                 |
+|     self._create_envs(self.num_envs, self.cfg["env"]['envSpacing'],          |     # add articulation to scene                                        |
+|                         int(np.sqrt(self.num_envs)))                         |     self.scene.articulations["cartpole"] = self.cartpole               |
+|                                                                              |     # add lights                                                       |
+|                                                                              |     light_cfg = sim_utils.DomeLightCfg(intensity=2000.0)               |
+|                                                                              |     light_cfg.func("/World/Light", light_cfg)                          |
++------------------------------------------------------------------------------+------------------------------------------------------------------------+
+
+
+Ground Plane
+------------
+
+In Isaac Lab, most of the environment creation process has been simplified into configs with the :class:`~omni.isaac.lab.utils.configclass` module.
+
+The ground plane can be defined using the :class:`~terrains.TerrainImporterCfg` class.
+
+.. code-block:: python
+
+   from omni.isaac.lab.terrains import TerrainImporterCfg
+
+   terrain = TerrainImporterCfg(
+        prim_path="/World/ground",
+        terrain_type="plane",
+        collision_group=-1,
+        physics_material=sim_utils.RigidBodyMaterialCfg(
+            friction_combine_mode="multiply",
+            restitution_combine_mode="multiply",
+            static_friction=1.0,
+            dynamic_friction=1.0,
+            restitution=0.0,
+        ),
+    )
+
+The terrain can then be added to the scene in ``_setup_scene(self)`` by referencing the ``TerrainImporterCfg`` object:
+
+.. code-block::python
+
+   def _setup_scene(self):
+      ...
+      self.cfg.terrain.num_envs = self.scene.cfg.num_envs
+      self.cfg.terrain.env_spacing = self.scene.cfg.env_spacing
+      self._terrain = self.cfg.terrain.class_type(self.cfg.terrain)
+
+
+Actors
+------
+
+Isaac Lab and Isaac Sim both use the `USD (Universal Scene Description) <https://github.com/PixarAnimationStudios/OpenUSD>`_
+library for describing the scene. Assets defined in MJCF and URDF formats can be imported to USD using importer
+tools described in the `Importing a New Asset <../how-to/import_new_asset.html>`_ tutorial.
+
+Each Articulation and Rigid Body actor can also have its own config class. The
+:class:`~omni.isaac.lab.assets.ArticulationCfg` class can be used to define parameters for articulation actors,
+including file path, simulation parameters, actuator properties, and initial states.
+
+.. code-block::python
+
+   from omni.isaac.lab.actuators import ImplicitActuatorCfg
+   from omni.isaac.lab.assets import ArticulationCfg
+
+   CARTPOLE_CFG = ArticulationCfg(
+       spawn=sim_utils.UsdFileCfg(
+           usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Classic/Cartpole/cartpole.usd",
+           rigid_props=sim_utils.RigidBodyPropertiesCfg(
+               rigid_body_enabled=True,
+               max_linear_velocity=1000.0,
+               max_angular_velocity=1000.0,
+               max_depenetration_velocity=100.0,
+               enable_gyroscopic_forces=True,
+           ),
+           articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+               enabled_self_collisions=False,
+               solver_position_iteration_count=4,
+               solver_velocity_iteration_count=0,
+               sleep_threshold=0.005,
+               stabilization_threshold=0.001,
+           ),
+       ),
+       init_state=ArticulationCfg.InitialStateCfg(
+           pos=(0.0, 0.0, 2.0), joint_pos={"slider_to_cart": 0.0, "cart_to_pole": 0.0}
+       ),
+       actuators={
+           "cart_actuator": ImplicitActuatorCfg(
+               joint_names_expr=["slider_to_cart"],
+               effort_limit=400.0,
+               velocity_limit=100.0,
+               stiffness=0.0,
+               damping=10.0,
+           ),
+           "pole_actuator": ImplicitActuatorCfg(
+               joint_names_expr=["cart_to_pole"], effort_limit=400.0, velocity_limit=100.0, stiffness=0.0, damping=0.0
+           ),
+       },
+   )
+
+Within the :class:`~assets.ArticulationCfg`, the ``spawn`` attribute can be used to add the robot to the scene by
+specifying the path to the robot file. In addition, :class:`~omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg` can
+be used to specify simulation properties for the rigid bodies in the articulation.
+Similarly, the :class:`~omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg` class can be used to specify
+simulation properties for the articulation. Joint properties are now specified as part of the ``actuators``
+dictionary using :class:`~actuators.ImplicitActuatorCfg`. Joints with the same properties can be grouped into
+regex expressions or provided as a list of names or expressions.
+
+Actors are added to the scene by simply calling ``self.cartpole = Articulation(self.cfg.robot_cfg)``,
+where ``self.cfg.robot_cfg`` is an :class:`~assets.ArticulationCfg` object. Once initialized, they should also
+be added to the :class:`~scene.InteractiveScene` by calling ``self.scene.articulations["cartpole"] = self.cartpole``
+so that the :class:`~scene.InteractiveScene` can traverse through actors in the scene for writing values to the
+simulation and resetting.
+
+Simulation Parameters for Actors
+""""""""""""""""""""""""""""""""
+
+Some simulation parameters related to Rigid Bodies and Articulations may have different
+default values between Isaac Gym Preview Release and Isaac Sim.
+It may be helpful to double check the USD assets to ensure that the default values are
+applicable for the asset.
+
+For instance, the following parameters in the ``RigidBodyAPI`` could be different
+between Isaac Gym Preview Release and Isaac Sim:
+
+.. list-table::
+   :widths: 50 50 50
+   :header-rows: 1
+
+   * - RigidBodyAPI Parameter
+     - Default Value in Isaac Sim
+     - Default Value in Isaac Gym Preview Release
+   * - Linear Damping
+     - 0.00
+     - 0.00
+   * - Angular Damping
+     - 0.05
+     - 0.0
+   * - Max Linear Velocity
+     - inf
+     - 1000
+   * - Max Angular Velocity
+     - 5729.58008 (degree/s)
+     - 64.0 (rad/s)
+   * - Max Contact Impulse
+     - inf
+     - 1e32
+
+Articulation parameters for the ``JointAPI`` and ``DriveAPI`` could be altered as well. Note
+that the Isaac Sim UI assumes the unit of angle to be degrees. It is particularly
+worth noting that the ``Damping`` and ``Stiffness`` parameters in the ``DriveAPI`` have the unit
+of ``1/deg`` in the Isaac Sim UI but ``1/rad`` in Isaac Gym Preview Release.
+
+.. list-table::
+   :widths: 50 50 50
+   :header-rows: 1
+
+   * - Joint Parameter
+     - Default Value in Isaac Sim
+     - Default Value in Isaac Gym Preview Releases
+   * - Maximum Joint Velocity
+     - 1000000.0 (deg)
+     - 100.0 (rad)
+
+
+Cloner
+------
+
+Isaac Sim introduced a concept of ``Cloner``, which is a class designed for replication during the scene creation process.
+In IsaacGymEnvs, scenes had to be created by looping through the number of environments.
+Within each iteration, actors were added to each environment and their handles had to be cached.
+Isaac Lab eliminates the need for looping through the environments by using the ``Cloner`` APIs.
+The scene creation process is as follow:
+
+#. Construct a single environment (what the scene would look like if number of environments = 1)
+#. Call ``clone_environments()`` to replicate the single environment
+#. Call ``filter_collisions()`` to filter out collision between environments (if required)
+
+
+.. code-block:: python
+
+   # construct a single environment with the Cartpole robot
+   self.cartpole = Articulation(self.cfg.robot_cfg)
+   # clone the environment
+   self.scene.clone_environments(copy_from_source=False)
+   # filter collisions
+   self.scene.filter_collisions(global_prim_paths=[self.cfg.terrain.prim_path])
+
+
+Accessing States from Simulation
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+APIs for accessing physics states in Isaac Lab require the creation of an :class:`~assets.Articulation` or :class:`~assets.RigidObject`
+object. Multiple objects can be initialized for different articulations or rigid bodies in the scene by defining
+corresponding :class:`~assets.ArticulationCfg` or :class:`~assets.RigidObjectCfg` config  as outlined in the section above.
+This approach eliminates the need of retrieving body handles to slice states for specific bodies in the scene.
+
+
+.. code-block:: python
+
+   self._robot = Articulation(self.cfg.robot)
+   self._cabinet = Articulation(self.cfg.cabinet)
+   self._object = RigidObject(self.cfg.object_cfg)
+
+
+We have also removed ``acquire`` and ``refresh`` APIs in Isaac Lab. Physics states can be directly applied or retrieved
+using APIs defined for the articulations and rigid objects.
+
+APIs provided in Isaac Lab no longer require explicit wrapping and un-wrapping of underlying buffers.
+APIs can now work with tensors directly for reading and writing data.
+
++------------------------------------------------------------------+-----------------------------------------------------------------+
+| IsaacGymEnvs                                                     | Isaac Lab                                                       |
++------------------------------------------------------------------+-----------------------------------------------------------------+
+|.. code-block:: python                                            |.. code-block:: python                                           |
+|                                                                  |                                                                 |
+|   dof_state_tensor = self.gym.acquire_dof_state_tensor(self.sim) |   self.joint_pos = self._robot.data.joint_pos                   |
+|   self.dof_state = gymtorch.wrap_tensor(dof_state_tensor)        |   self.joint_vel = self._robot.data.joint_vel                   |
+|   self.gym.refresh_dof_state_tensor(self.sim)                    |                                                                 |
++------------------------------------------------------------------+-----------------------------------------------------------------+
+
+Note some naming differences between APIs in Isaac Gym Preview Release and Isaac Lab. Most ``dof`` related APIs have been
+named to ``joint`` in Isaac Lab.
+APIs in Isaac Lab also no longer follow the explicit ``_tensors`` or ``_tensor_indexed`` suffixes in naming.
+Indexed versions of APIs now happen implicitly through the optional ``indices`` parameter.
+
+Most APIs in Isaac Lab also provide
+the option to specify an ``indices`` parameter, which can be used when reading or writing data for a subset
+of environments. Note that when setting states with the ``indices`` parameter, the shape of the states buffer
+should match with the dimension of the ``indices`` list.
+
++---------------------------------------------------------------------------+---------------------------------------------------------------+
+| IsaacGymEnvs                                                              | Isaac Lab                                                     |
++---------------------------------------------------------------------------+---------------------------------------------------------------+
+|.. code-block:: python                                                     |.. code-block:: python                                         |
+|                                                                           |                                                               |
+|   env_ids_int32 = env_ids.to(dtype=torch.int32)                           |   self._robot.write_joint_state_to_sim(joint_pos, joint_vel,  |
+|   self.gym.set_dof_state_tensor_indexed(self.sim,                         |                                    joint_ids, env_ids)        |
+|       gymtorch.unwrap_tensor(self.dof_state),                             |                                                               |
+|       gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))          |                                                               |
++---------------------------------------------------------------------------+---------------------------------------------------------------+
+
+Quaternion Convention
+---------------------
+
+Isaac Lab and Isaac Sim both adopt ``wxyz`` as the quaternion convention. However, the quaternion
+convention used in Isaac Gym Preview Release was ``xyzw``.
+Remember to switch all quaternions to use the ``xyzw`` convention when working indexing rotation data.
+Similarly, please ensure all quaternions are in ``wxyz`` before passing them to Isaac Lab APIs.
+
+
+Articulation Joint Order
+------------------------
+
+Physics simulation in Isaac Sim and Isaac Lab assumes a breadth-first
+ordering for the joints in a given kinematic tree.
+However, Isaac Gym Preview Release assumed a depth-first ordering for joints in the kinematic tree.
+This means that indexing joints based on their ordering may be different in IsaacGymEnvs and Isaac Lab.
+
+In Isaac Lab, the list of joint names can be retrieved with ``Articulation.data.joint_names``, which will
+also correspond to the ordering of the joints in the Articulation.
+
+
+Creating a New Environment
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Each environment in Isaac Lab should be in its own directory following this structure:
+
+.. code-block:: none
+
+    my_environment/
+        - agents/
+            - __init__.py
+            - rl_games_ppo_cfg.py
+        - __init__.py
+        my_env.py
+
+* ``my_environment`` is the root directory of the task.
+* ``my_environment/agents`` is the directory containing all RL config files for the task. Isaac Lab supports multiple RL libraries that can each have its own individual config file.
+* ``my_environment/__init__.py`` is the main file that registers the environment with the Gymnasium interface. This allows the training and inferencing scripts to find the task by its name. The content of this file should be as follow:
+
+.. code-block:: python
+
+   import gymnasium as gym
+
+   from . import agents
+   from .cartpole_env import CartpoleEnv, CartpoleEnvCfg
+
+   ##
+   # Register Gym environments.
+   ##
+
+   gym.register(
+       id="Isaac-Cartpole-Direct-v0",
+       entry_point="omni.isaac.lab_tasks.direct_workflow.cartpole:CartpoleEnv",
+       disable_env_checker=True,
+       kwargs={
+           "env_cfg_entry_point": CartpoleEnvCfg,
+           "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml"
+       },
+   )
+
+* ``my_environment/my_env.py`` is the main python script that implements the task logic and task config class for the environment.
+
+
+Task Logic
+~~~~~~~~~~
+
+In Isaac Lab, the ``post_physics_step`` function has been moved to the framework in the base class.
+Tasks are not required to implement this method, but can choose to override it if a different workflow is desired.
+
+By default, Isaac Lab follows the following flow in logic:
+
++----------------------------------+----------------------------------+
+| IsaacGymEnvs                     | Isaac Lab                        |
++----------------------------------+----------------------------------+
+|.. code-block:: none              |.. code-block:: none              |
+|                                  |                                  |
+|   pre_physics_step               |   pre_physics_step               |
+|     |-- apply_action             |     |-- _pre_physics_step(action)|
+|                                  |     |-- _apply_action()          |
+|                                  |                                  |
+|   post_physics_step              |   post_physics_step              |
+|     |-- reset_idx()              |     |-- _get_dones()             |
+|     |-- compute_observation()    |     |-- _get_rewards()           |
+|     |-- compute_reward()         |     |-- _reset_idx()             |
+|                                  |     |-- _get_observations()      |
++----------------------------------+----------------------------------+
+
+In Isaac Lab, we also separate the ``pre_physics_step`` API for processing actions from the policy with
+the ``apply_action`` API, which sets the actions into the simulation. This provides more flexibility in controlling
+when actions should be written to simulation when ``decimation`` is used.
+``pre_physics_step`` will be called once per step before stepping simulation.
+``apply_actions`` will be called ``decimation`` number of times for each RL step, once before each simulation step call.
+
+With this approach, resets are performed based on actions from the current step instead of the previous step.
+Observations will also be computed with the correct states after resets.
+
+We have also performed some renamings of APIs:
+
+* ``create_sim(self)`` --> ``_setup_scene(self)``
+* ``pre_physics_step(self, actions)`` --> ``_pre_physics_step(self, actions)`` and ``_apply_action(self)``
+* ``reset_idx(self, env_ids)`` --> ``_reset_idx(self, env_ids)``
+* ``compute_observations(self)`` --> ``_get_observations(self)`` - ``_get_observations()`` should now return a dictionary ``{"policy": obs}``
+* ``compute_reward(self)`` --> ``_get_rewards(self)`` - ``_get_rewards()`` should now return the reward buffer
+* ``post_physics_step(self)`` --> moved to the base class
+* In addition, Isaac Lab requires the implementation of ``_is_done(self)``, which should return two buffers: the ``reset`` buffer and the ``time_out`` buffer.
+
+
+Putting It All Together
+~~~~~~~~~~~~~~~~~~~~~~~
+
+The Cartpole environment is shown here in completion to fully show the comparison between the IsaacGymEnvs implementation and the Isaac Lab implementation.
+
+Task Config
+-----------
+
++--------------------------------------------------------+---------------------------------------------------------------------+
+| IsaacGymEnvs                                           | Isaac Lab                                                           |
++--------------------------------------------------------+---------------------------------------------------------------------+
+|.. code-block:: yaml                                    |.. code-block:: python                                               |
+|                                                        |                                                                     |
+| # used to create the object                            | @configclass                                                        |
+| name: Cartpole                                         | class CartpoleEnvCfg(DirectRLEnvCfg):                               |
+|                                                        |                                                                     |
+| physics_engine: ${..physics_engine}                    |     # simulation                                                    |
+|                                                        |     sim: SimulationCfg = SimulationCfg(dt=1 / 120)                  |
+| # if given, will override the device setting in gym.   |     # robot                                                         |
+| env:                                                   |     robot_cfg: ArticulationCfg = CARTPOLE_CFG.replace(              |
+|   numEnvs: ${resolve_default:512,${...num_envs}}       |         prim_path="/World/envs/env_.*/Robot")                       |
+|   envSpacing: 4.0                                      |     cart_dof_name = "slider_to_cart"                                |
+|   resetDist: 3.0                                       |     pole_dof_name = "cart_to_pole"                                  |
+|   maxEffort: 400.0                                     |     # scene                                                         |
+|                                                        |     scene: InteractiveSceneCfg = InteractiveSceneCfg(               |
+|   clipObservations: 5.0                                |         num_envs=4096, env_spacing=4.0, replicate_physics=True)     |
+|   clipActions: 1.0                                     |     # env                                                           |
+|                                                        |     decimation = 2                                                  |
+|   asset:                                               |     episode_length_s = 5.0                                          |
+|     assetRoot: "../../assets"                          |     action_scale = 100.0  # [N]                                     |
+|     assetFileName: "urdf/cartpole.urdf"                |     action_space = 1                                                |
+|                                                        |     observation_space = 4                                           |
+|   enableCameraSensors: False                           |     state_space = 0                                                 |
+|                                                        |     # reset                                                         |
+| sim:                                                   |     max_cart_pos = 3.0                                              |
+|   dt: 0.0166 # 1/60 s                                  |     initial_pole_angle_range = [-0.25, 0.25]                        |
+|   substeps: 2                                          |     # reward scales                                                 |
+|   up_axis: "z"                                         |     rew_scale_alive = 1.0                                           |
+|   use_gpu_pipeline: ${eq:${...pipeline},"gpu"}         |     rew_scale_terminated = -2.0                                     |
+|   gravity: [0.0, 0.0, -9.81]                           |     rew_scale_pole_pos = -1.0                                       |
+|   physx:                                               |     rew_scale_cart_vel = -0.01                                      |
+|     num_threads: ${....num_threads}                    |     rew_scale_pole_vel = -0.005                                     |
+|     solver_type: ${....solver_type}                    |                                                                     |
+|     use_gpu: ${contains:"cuda",${....sim_device}}      |                                                                     |
+|     num_position_iterations: 4                         |                                                                     |
+|     num_velocity_iterations: 0                         |                                                                     |
+|     contact_offset: 0.02                               |                                                                     |
+|     rest_offset: 0.001                                 |                                                                     |
+|     bounce_threshold_velocity: 0.2                     |                                                                     |
+|     max_depenetration_velocity: 100.0                  |                                                                     |
+|     default_buffer_size_multiplier: 2.0                |                                                                     |
+|     max_gpu_contact_pairs: 1048576 # 1024*1024         |                                                                     |
+|     num_subscenes: ${....num_subscenes}                |                                                                     |
+|     contact_collection: 0                              |                                                                     |
++--------------------------------------------------------+---------------------------------------------------------------------+
+
+
+
+Task Setup
+----------
+
+Isaac Lab no longer requires pre-initialization of buffers through the ``acquire_*`` APIs that were used in IsaacGymEnvs.
+It is also no longer necessary to ``wrap`` and ``unwrap`` tensors.
+
++-------------------------------------------------------------------------+-------------------------------------------------------------+
+| IsaacGymEnvs                                                            | Isaac Lab                                                   |
++-------------------------------------------------------------------------+-------------------------------------------------------------+
+|.. code-block:: python                                                   |.. code-block:: python                                       |
+|                                                                         |                                                             |
+|   class Cartpole(VecTask):                                              |   class CartpoleEnv(DirectRLEnv):                           |
+|                                                                         |     cfg: CartpoleEnvCfg                                     |
+|     def __init__(self, cfg, rl_device, sim_device, graphics_device_id,  |     def __init__(self, cfg: CartpoleEnvCfg,                 |
+|      headless, virtual_screen_capture, force_render):                   |             render_mode: str | None = None, **kwargs):      |
+|         self.cfg = cfg                                                  |                                                             |
+|                                                                         |         super().__init__(cfg, render_mode, **kwargs)        |
+|         self.reset_dist = self.cfg["env"]["resetDist"]                  |                                                             |
+|                                                                         |         self._cart_dof_idx, _ = self.cartpole.find_joints(  |
+|         self.max_push_effort = self.cfg["env"]["maxEffort"]             |             self.cfg.cart_dof_name)                         |
+|         self.max_episode_length = 500                                   |         self._pole_dof_idx, _ = self.cartpole.find_joints(  |
+|                                                                         |             self.cfg.pole_dof_name)                         |
+|         self.cfg["env"]["numObservations"] = 4                          |         self.action_scale = self.cfg.action_scale           |
+|         self.cfg["env"]["numActions"] = 1                               |                                                             |
+|                                                                         |         self.joint_pos = self.cartpole.data.joint_pos       |
+|         super().__init__(config=self.cfg,                               |         self.joint_vel = self.cartpole.data.joint_vel       |
+|            rl_device=rl_device, sim_device=sim_device,                  |                                                             |
+|            graphics_device_id=graphics_device_id, headless=headless,    |                                                             |
+|            virtual_screen_capture=virtual_screen_capture,               |                                                             |
+|            force_render=force_render)                                   |                                                             |
+|                                                                         |                                                             |
+|         dof_state_tensor = self.gym.acquire_dof_state_tensor(self.sim)  |                                                             |
+|         self.dof_state = gymtorch.wrap_tensor(dof_state_tensor)         |                                                             |
+|         self.dof_pos = self.dof_state.view(                             |                                                             |
+|             self.num_envs, self.num_dof, 2)[..., 0]                     |                                                             |
+|         self.dof_vel = self.dof_state.view(                             |                                                             |
+|             self.num_envs, self.num_dof, 2)[..., 1]                     |                                                             |
++-------------------------------------------------------------------------+-------------------------------------------------------------+
+
+
+
+Scene Setup
+-----------
+
+Scene setup is now done through the ``Cloner`` API and by specifying actor attributes in config objects.
+This eliminates the need to loop through the number of environments to set up the environments and avoids
+the need to set simulation parameters for actors in the task implementation.
+
++------------------------------------------------------------------------+---------------------------------------------------------------------+
+| IsaacGymEnvs                                                           | Isaac Lab                                                           |
++------------------------------------------------------------------------+---------------------------------------------------------------------+
+|.. code-block:: python                                                  |.. code-block:: python                                               |
+|                                                                        |                                                                     |
+| def create_sim(self):                                                  | def _setup_scene(self):                                             |
+|     # set the up axis to be z-up given that assets are y-up by default |     self.cartpole = Articulation(self.cfg.robot_cfg)                |
+|     self.up_axis = self.cfg["sim"]["up_axis"]                          |     # add ground plane                                              |
+|                                                                        |     spawn_ground_plane(prim_path="/World/ground",                   |
+|     self.sim = super().create_sim(self.device_id,                      |         cfg=GroundPlaneCfg())                                       |
+|         self.graphics_device_id, self.physics_engine,                  |     # clone, filter, and replicate                                  |
+|         self.sim_params)                                               |     self.scene.clone_environments(                                  |
+|     self._create_ground_plane()                                        |         copy_from_source=False)                                     |
+|     self._create_envs(self.num_envs,                                   |     self.scene.filter_collisions(                                   |
+|         self.cfg["env"]['envSpacing'],                                 |         global_prim_paths=[])                                       |
+|         int(np.sqrt(self.num_envs)))                                   |     # add articulation to scene                                     |
+|                                                                        |     self.scene.articulations["cartpole"] = self.cartpole            |
+| def _create_ground_plane(self):                                        |     # add lights                                                    |
+|     plane_params = gymapi.PlaneParams()                                |     light_cfg = sim_utils.DomeLightCfg(                             |
+|     # set the normal force to be z dimension                           |         intensity=2000.0, color=(0.75, 0.75, 0.75))                 |
+|     plane_params.normal = (gymapi.Vec3(0.0, 0.0, 1.0)                  |     light_cfg.func("/World/Light", light_cfg)                       |
+|         if self.up_axis == 'z'                                         |                                                                     |
+|         else gymapi.Vec3(0.0, 1.0, 0.0))                               | CARTPOLE_CFG = ArticulationCfg(                                     |
+|     self.gym.add_ground(self.sim, plane_params)                        |     spawn=sim_utils.UsdFileCfg(                                     |
+|                                                                        |         usd_path=f"{ISAACLAB_NUCLEUS_DIR}/.../cartpole.usd",        |
+| def _create_envs(self, num_envs, spacing, num_per_row):                |         rigid_props=sim_utils.RigidBodyPropertiesCfg(               |
+|     # define plane on which environments are initialized               |             rigid_body_enabled=True,                                |
+|     lower = (gymapi.Vec3(0.5 * -spacing, -spacing, 0.0)                |             max_linear_velocity=1000.0,                             |
+|         if self.up_axis == 'z'                                         |             max_angular_velocity=1000.0,                            |
+|         else gymapi.Vec3(0.5 * -spacing, 0.0, -spacing))               |             max_depenetration_velocity=100.0,                       |
+|     upper = gymapi.Vec3(0.5 * spacing, spacing, spacing)               |             enable_gyroscopic_forces=True,                          |
+|                                                                        |         ),                                                          |
+|     asset_root = os.path.join(os.path.dirname(                         |         articulation_props=sim_utils.ArticulationRootPropertiesCfg( |
+|         os.path.abspath(__file__)), "../../assets")                    |             enabled_self_collisions=False,                          |
+|     asset_file = "urdf/cartpole.urdf"                                  |             solver_position_iteration_count=4,                      |
+|                                                                        |             solver_velocity_iteration_count=0,                      |
+|     if "asset" in self.cfg["env"]:                                     |             sleep_threshold=0.005,                                  |
+|         asset_root = os.path.join(os.path.dirname(                     |             stabilization_threshold=0.001,                          |
+|             os.path.abspath(__file__)),                                |         ),                                                          |
+|             self.cfg["env"]["asset"].get("assetRoot", asset_root))     |     ),                                                              |
+|         asset_file = self.cfg["env"]["asset"].get(                     |     init_state=ArticulationCfg.InitialStateCfg(                     |
+|             "assetFileName", asset_file)                               |         pos=(0.0, 0.0, 2.0),                                        |
+|                                                                        |         joint_pos={"slider_to_cart": 0.0, "cart_to_pole": 0.0}      |
+|     asset_path = os.path.join(asset_root, asset_file)                  |     ),                                                              |
+|     asset_root = os.path.dirname(asset_path)                           |     actuators={                                                     |
+|     asset_file = os.path.basename(asset_path)                          |         "cart_actuator": ImplicitActuatorCfg(                       |
+|                                                                        |             joint_names_expr=["slider_to_cart"],                    |
+|     asset_options = gymapi.AssetOptions()                              |             effort_limit=400.0,                                     |
+|     asset_options.fix_base_link = True                                 |             velocity_limit=100.0,                                   |
+|     cartpole_asset = self.gym.load_asset(self.sim,                     |             stiffness=0.0,                                          |
+|         asset_root, asset_file, asset_options)                         |             damping=10.0,                                           |
+|     self.num_dof = self.gym.get_asset_dof_count(                       |         ),                                                          |
+|         cartpole_asset)                                                |         "pole_actuator": ImplicitActuatorCfg(                       |
+|                                                                        |             joint_names_expr=["cart_to_pole"], effort_limit=400.0,  |
+|     pose = gymapi.Transform()                                          |             velocity_limit=100.0, stiffness=0.0, damping=0.0        |
+|     if self.up_axis == 'z':                                            |         ),                                                          |
+|         pose.p.z = 2.0                                                 |     },                                                              |
+|         pose.r = gymapi.Quat(0.0, 0.0, 0.0, 1.0)                       | )                                                                   |
+|     else:                                                              |                                                                     |
+|         pose.p.y = 2.0                                                 |                                                                     |
+|         pose.r = gymapi.Quat(                                          |                                                                     |
+|             -np.sqrt(2)/2, 0.0, 0.0, np.sqrt(2)/2)                     |                                                                     |
+|                                                                        |                                                                     |
+|     self.cartpole_handles = []                                         |                                                                     |
+|     self.envs = []                                                     |                                                                     |
+|     for i in range(self.num_envs):                                     |                                                                     |
+|         # create env instance                                          |                                                                     |
+|         env_ptr = self.gym.create_env(                                 |                                                                     |
+|             self.sim, lower, upper, num_per_row                        |                                                                     |
+|         )                                                              |                                                                     |
+|         cartpole_handle = self.gym.create_actor(                       |                                                                     |
+|             env_ptr, cartpole_asset, pose,                             |                                                                     |
+|             "cartpole", i, 1, 0)                                       |                                                                     |
+|                                                                        |                                                                     |
+|         dof_props = self.gym.get_actor_dof_properties(                 |                                                                     |
+|             env_ptr, cartpole_handle)                                  |                                                                     |
+|         dof_props['driveMode'][0] = gymapi.DOF_MODE_EFFORT             |                                                                     |
+|         dof_props['driveMode'][1] = gymapi.DOF_MODE_NONE               |                                                                     |
+|         dof_props['stiffness'][:] = 0.0                                |                                                                     |
+|         dof_props['damping'][:] = 0.0                                  |                                                                     |
+|         self.gym.set_actor_dof_properties(env_ptr, c                   |                                                                     |
+|             artpole_handle, dof_props)                                 |                                                                     |
+|                                                                        |                                                                     |
+|         self.envs.append(env_ptr)                                      |                                                                     |
+|         self.cartpole_handles.append(cartpole_handle)                  |                                                                     |
++------------------------------------------------------------------------+---------------------------------------------------------------------+
+
+
+Pre and Post Physics Step
+-------------------------
+
+In IsaacGymEnvs, due to limitations of the GPU APIs, observations had stale data when environments had to perform resets.
+This restriction has been eliminated in Isaac Lab, and thus, tasks follow the correct workflow of applying actions, stepping simulation,
+collecting states, computing dones, calculating rewards, performing resets, and finally computing observations.
+This workflow is done automatically by the framework such that a ``post_physics_step`` API is not required in the task.
+However, individual tasks can override the ``step()`` API to control the workflow.
+
++------------------------------------------------------------------+-------------------------------------------------------------+
+| IsaacGymEnvs                                                     | IsaacLab                                                    |
++------------------------------------------------------------------+-------------------------------------------------------------+
+|.. code-block:: python                                            |.. code-block:: python                                       |
+|                                                                  |                                                             |
+| def pre_physics_step(self, actions):                             | def _pre_physics_step(self, actions: torch.Tensor) -> None: |
+|     actions_tensor = torch.zeros(                                |     self.actions = self.action_scale * actions              |
+|         self.num_envs * self.num_dof,                            |                                                             |
+|         device=self.device, dtype=torch.float)                   | def _apply_action(self) -> None:                            |
+|     actions_tensor[::self.num_dof] = actions.to(                 |     self.cartpole.set_joint_effort_target(                  |
+|         self.device).squeeze() * self.max_push_effort            |          self.actions, joint_ids=self._cart_dof_idx)        |
+|     forces = gymtorch.unwrap_tensor(actions_tensor)              |                                                             |
+|     self.gym.set_dof_actuation_force_tensor(                     |                                                             |
+|         self.sim, forces)                                        |                                                             |
+|                                                                  |                                                             |
+| def post_physics_step(self):                                     |                                                             |
+|     self.progress_buf += 1                                       |                                                             |
+|                                                                  |                                                             |
+|     env_ids = self.reset_buf.nonzero(                            |                                                             |
+|         as_tuple=False).squeeze(-1)                              |                                                             |
+|     if len(env_ids) > 0:                                         |                                                             |
+|         self.reset_idx(env_ids)                                  |                                                             |
+|                                                                  |                                                             |
+|     self.compute_observations()                                  |                                                             |
+|     self.compute_reward()                                        |                                                             |
++------------------------------------------------------------------+-------------------------------------------------------------+
+
+
+Dones and Resets
+----------------
+
+In Isaac Lab, ``dones`` are computed in the ``_get_dones()`` method and should return two variables: ``resets`` and ``time_out``.
+Tracking of the ``progress_buf`` has been moved to the base class and is now automatically incremented and reset by the framework.
+The ``progress_buf`` variable has also been renamed to ``episode_length_buf``.
+
++-----------------------------------------------------------------------+---------------------------------------------------------------------------+
+| IsaacGymEnvs                                                          | Isaac Lab                                                                 |
++-----------------------------------------------------------------------+---------------------------------------------------------------------------+
+|.. code-block:: python                                                 |.. code-block:: python                                                     |
+|                                                                       |                                                                           |
+| def reset_idx(self, env_ids):                                         | def _get_dones(self) -> tuple[torch.Tensor, torch.Tensor]:                |
+|     positions = 0.2 * (torch.rand((len(env_ids), self.num_dof),       |     self.joint_pos = self.cartpole.data.joint_pos                         |
+|         device=self.device) - 0.5)                                    |     self.joint_vel = self.cartpole.data.joint_vel                         |
+|     velocities = 0.5 * (torch.rand((len(env_ids), self.num_dof),      |                                                                           |
+|         device=self.device) - 0.5)                                    |     time_out = self.episode_length_buf >= self.max_episode_length - 1     |
+|                                                                       |     out_of_bounds = torch.any(torch.abs(                                  |
+|     self.dof_pos[env_ids, :] = positions[:]                           |         self.joint_pos[:, self._cart_dof_idx]) > self.cfg.max_cart_pos,   |
+|     self.dof_vel[env_ids, :] = velocities[:]                          |         dim=1)                                                            |
+|                                                                       |     out_of_bounds = out_of_bounds | torch.any(                            |
+|     env_ids_int32 = env_ids.to(dtype=torch.int32)                     |         torch.abs(self.joint_pos[:, self._pole_dof_idx]) > math.pi / 2,   |
+|     self.gym.set_dof_state_tensor_indexed(self.sim,                   |         dim=1)                                                            |
+|         gymtorch.unwrap_tensor(self.dof_state),                       |     return out_of_bounds, time_out                                        |
+|         gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))    |                                                                           |
+|     self.reset_buf[env_ids] = 0                                       | def _reset_idx(self, env_ids: Sequence[int] | None):                      |
+|     self.progress_buf[env_ids] = 0                                    |     if env_ids is None:                                                   |
+|                                                                       |         env_ids = self.cartpole._ALL_INDICES                              |
+|                                                                       |     super()._reset_idx(env_ids)                                           |
+|                                                                       |                                                                           |
+|                                                                       |     joint_pos = self.cartpole.data.default_joint_pos[env_ids]             |
+|                                                                       |     joint_pos[:, self._pole_dof_idx] += sample_uniform(                   |
+|                                                                       |         self.cfg.initial_pole_angle_range[0] * math.pi,                   |
+|                                                                       |         self.cfg.initial_pole_angle_range[1] * math.pi,                   |
+|                                                                       |         joint_pos[:, self._pole_dof_idx].shape,                           |
+|                                                                       |         joint_pos.device,                                                 |
+|                                                                       |     )                                                                     |
+|                                                                       |     joint_vel = self.cartpole.data.default_joint_vel[env_ids]             |
+|                                                                       |                                                                           |
+|                                                                       |     default_root_state = self.cartpole.data.default_root_state[env_ids]   |
+|                                                                       |     default_root_state[:, :3] += self.scene.env_origins[env_ids]          |
+|                                                                       |                                                                           |
+|                                                                       |     self.joint_pos[env_ids] = joint_pos                                   |
+|                                                                       |                                                                           |
+|                                                                       |     self.cartpole.write_root_link_pose_to_sim(                            |
+|                                                                       |         default_root_state[:, :7], env_ids)                               |
+|                                                                       |     self.cartpole.write_root_com_velocity_to_sim(                         |
+|                                                                       |         default_root_state[:, 7:], env_ids)                               |
+|                                                                       |     self.cartpole.write_joint_state_to_sim(                               |
+|                                                                       |         joint_pos, joint_vel, None, env_ids)                              |
++-----------------------------------------------------------------------+---------------------------------------------------------------------------+
+
+
+Observations
+------------
+
+In Isaac Lab, the ``_get_observations()`` API should now return a dictionary containing the ``policy`` key with the observation
+buffer as the value.
+For asymmetric policies, the dictionary should also include a ``critic`` key that holds the state buffer.
+
++--------------------------------------------------------------------------+---------------------------------------------------------------------------------------+
+| IsaacGymEnvs                                                             | Isaac Lab                                                                             |
++--------------------------------------------------------------------------+---------------------------------------------------------------------------------------+
+|.. code-block:: python                                                    |.. code-block:: python                                                                 |
+|                                                                          |                                                                                       |
+| def compute_observations(self, env_ids=None):                            | def _get_observations(self) -> dict:                                                  |
+|     if env_ids is None:                                                  |     obs = torch.cat(                                                                  |
+|         env_ids = np.arange(self.num_envs)                               |         (                                                                             |
+|                                                                          |             self.joint_pos[:, self._pole_dof_idx[0]],                                 |
+|     self.gym.refresh_dof_state_tensor(self.sim)                          |             self.joint_vel[:, self._pole_dof_idx[0]],                                 |
+|                                                                          |             self.joint_pos[:, self._cart_dof_idx[0]],                                 |
+|     self.obs_buf[env_ids, 0] = self.dof_pos[env_ids, 0]                  |             self.joint_vel[:, self._cart_dof_idx[0]],                                 |
+|     self.obs_buf[env_ids, 1] = self.dof_vel[env_ids, 0]                  |         ),                                                                            |
+|     self.obs_buf[env_ids, 2] = self.dof_pos[env_ids, 1]                  |         dim=-1,                                                                       |
+|     self.obs_buf[env_ids, 3] = self.dof_vel[env_ids, 1]                  |     )                                                                                 |
+|                                                                          |     observations = {"policy": obs}                                                    |
+|     return self.obs_buf                                                  |     return observations                                                               |
++--------------------------------------------------------------------------+---------------------------------------------------------------------------------------+
+
+
+Rewards
+-------
+
+In Isaac Lab, the reward method ``_get_rewards`` should return the reward buffer as a return value.
+Similar to IsaacGymEnvs, computations in the reward function can also be performed using pytorch jit
+by adding the ``@torch.jit.script`` annotation.
+
++--------------------------------------------------------------------------+----------------------------------------------------------------------------------------+
+| IsaacGymEnvs                                                             | Isaac Lab                                                                              |
++--------------------------------------------------------------------------+----------------------------------------------------------------------------------------+
+|.. code-block:: python                                                    |.. code-block:: python                                                                  |
+|                                                                          |                                                                                        |
+| def compute_reward(self):                                                | def _get_rewards(self) -> torch.Tensor:                                                |
+|     # retrieve environment observations from buffer                      |     total_reward = compute_rewards(                                                    |
+|     pole_angle = self.obs_buf[:, 2]                                      |         self.cfg.rew_scale_alive,                                                      |
+|     pole_vel = self.obs_buf[:, 3]                                        |         self.cfg.rew_scale_terminated,                                                 |
+|     cart_vel = self.obs_buf[:, 1]                                        |         self.cfg.rew_scale_pole_pos,                                                   |
+|     cart_pos = self.obs_buf[:, 0]                                        |         self.cfg.rew_scale_cart_vel,                                                   |
+|                                                                          |         self.cfg.rew_scale_pole_vel,                                                   |
+|     self.rew_buf[:], self.reset_buf[:] = compute_cartpole_reward(        |         self.joint_pos[:, self._pole_dof_idx[0]],                                      |
+|         pole_angle, pole_vel, cart_vel, cart_pos,                        |         self.joint_vel[:, self._pole_dof_idx[0]],                                      |
+|         self.reset_dist, self.reset_buf,                                 |         self.joint_pos[:, self._cart_dof_idx[0]],                                      |
+|         self.progress_buf, self.max_episode_length                       |         self.joint_vel[:, self._cart_dof_idx[0]],                                      |
+|     )                                                                    |         self.reset_terminated,                                                         |
+|                                                                          |     )                                                                                  |
+| @torch.jit.script                                                        |     return total_reward                                                                |
+| def compute_cartpole_reward(pole_angle, pole_vel,                        |                                                                                        |
+|                             cart_vel, cart_pos,                          | @torch.jit.script                                                                      |
+|                             reset_dist, reset_buf,                       | def compute_rewards(                                                                   |
+|                             progress_buf, max_episode_length):           |     rew_scale_alive: float,                                                            |
+|                                                                          |     rew_scale_terminated: float,                                                       |
+|     reward = (1.0 - pole_angle * pole_angle -                            |     rew_scale_pole_pos: float,                                                         |
+|         0.01 * torch.abs(cart_vel) -                                     |     rew_scale_cart_vel: float,                                                         |
+|         0.005 * torch.abs(pole_vel))                                     |     rew_scale_pole_vel: float,                                                         |
+|                                                                          |     pole_pos: torch.Tensor,                                                            |
+|     # adjust reward for reset agents                                     |     pole_vel: torch.Tensor,                                                            |
+|     reward = torch.where(torch.abs(cart_pos) > reset_dist,               |     cart_pos: torch.Tensor,                                                            |
+|         torch.ones_like(reward) * -2.0, reward)                          |     cart_vel: torch.Tensor,                                                            |
+|     reward = torch.where(torch.abs(pole_angle) > np.pi / 2,              |     reset_terminated: torch.Tensor,                                                    |
+|         torch.ones_like(reward) * -2.0, reward)                          | ):                                                                                     |
+|                                                                          |     rew_alive = rew_scale_alive * (1.0 - reset_terminated.float())                     |
+|     reset = torch.where(torch.abs(cart_pos) > reset_dist,                |     rew_termination = rew_scale_terminated * reset_terminated.float()                  |
+|         torch.ones_like(reset_buf), reset_buf)                           |     rew_pole_pos = rew_scale_pole_pos * torch.sum(                                     |
+|     reset = torch.where(torch.abs(pole_angle) > np.pi / 2,               |         torch.square(pole_pos), dim=-1)                                                |
+|         torch.ones_like(reset_buf), reset_buf)                           |     rew_cart_vel = rew_scale_cart_vel * torch.sum(                                     |
+|     reset = torch.where(progress_buf >= max_episode_length - 1,          |         torch.abs(cart_vel), dim=-1)                                                   |
+|         torch.ones_like(reset_buf), reset)                               |     rew_pole_vel = rew_scale_pole_vel * torch.sum(                                     |
+|                                                                          |         torch.abs(pole_vel), dim=-1)                                                   |
+|                                                                          |     total_reward = (rew_alive + rew_termination                                        |
+|                                                                          |                      + rew_pole_pos + rew_cart_vel + rew_pole_vel)                     |
+|                                                                          |     return total_reward                                                                |
++--------------------------------------------------------------------------+----------------------------------------------------------------------------------------+
+
+
+
+Launching Training
+~~~~~~~~~~~~~~~~~~
+
+To launch a training in Isaac Lab, use the command:
+
+.. code-block:: bash
+
+   python source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-Direct-v0 --headless
+
+Launching Inferencing
+~~~~~~~~~~~~~~~~~~~~~
+
+To launch inferencing in Isaac Lab, use the command:
+
+.. code-block:: bash
+
+   python source/standalone/workflows/rl_games/play.py --task=Isaac-Cartpole-Direct-v0 --num_envs=25 --checkpoint=<path/to/checkpoint>
+
+
+.. _IsaacGymEnvs: https://github.com/isaac-sim/IsaacGymEnvs
+.. _Isaac Gym Preview Release: https://developer.nvidia.com/isaac-gym
+.. _release notes: https://github.com/isaac-sim/IsaacLab/releases
diff --git a/v1.4.0/_sources/source/migration/migrating_from_omniisaacgymenvs.rst b/v1.4.0/_sources/source/migration/migrating_from_omniisaacgymenvs.rst
new file mode 100644
index 0000000000..629be58bd7
--- /dev/null
+++ b/v1.4.0/_sources/source/migration/migrating_from_omniisaacgymenvs.rst
@@ -0,0 +1,1000 @@
+.. _migrating-from-omniisaacgymenvs:
+
+From OmniIsaacGymEnvs
+=====================
+
+.. currentmodule:: omni.isaac.lab
+
+
+`OmniIsaacGymEnvs`_ was a reinforcement learning framework using the Isaac Sim platform.
+Features from OmniIsaacGymEnvs have been integrated into the Isaac Lab framework.
+We have updated OmniIsaacGymEnvs to Isaac Sim version 4.0.0 to support the migration process
+to Isaac Lab. Moving forward, OmniIsaacGymEnvs will be deprecated and future development
+will continue in Isaac Lab.
+
+.. note::
+
+  The following changes are with respect to Isaac Lab 1.0 release. Please refer to the `release notes`_ for any changes
+  in the future releases.
+
+Task Config Setup
+~~~~~~~~~~~~~~~~~
+
+In OmniIsaacGymEnvs, task config files were defined in ``.yaml`` format. With Isaac Lab, configs are now specified
+using a specialized Python class :class:`~omni.isaac.lab.utils.configclass`. The
+:class:`~omni.isaac.lab.utils.configclass` module provides a wrapper on top of Python's ``dataclasses`` module.
+Each environment should specify its own config class annotated by ``@configclass`` that inherits from the
+:class:`~envs.DirectRLEnvCfg` class, which can include simulation parameters, environment scene parameters,
+robot parameters, and task-specific parameters.
+
+Below is an example skeleton of a task config class:
+
+.. code-block:: python
+
+   from omni.isaac.lab.envs import DirectRLEnvCfg
+   from omni.isaac.lab.scene import InteractiveSceneCfg
+   from omni.isaac.lab.sim import SimulationCfg
+
+   @configclass
+   class MyEnvCfg(DirectRLEnvCfg):
+      # simulation
+      sim: SimulationCfg = SimulationCfg()
+      # robot
+      robot_cfg: ArticulationCfg = ArticulationCfg()
+      # scene
+      scene: InteractiveSceneCfg = InteractiveSceneCfg()
+      # env
+      decimation = 2
+      episode_length_s = 5.0
+      action_space = 1
+      observation_space = 4
+      state_space = 0
+      # task-specific parameters
+      ...
+
+Simulation Config
+-----------------
+
+Simulation related parameters are defined as part of the :class:`~omni.isaac.lab.sim.SimulationCfg` class,
+which is a :class:`~omni.isaac.lab.utils.configclass` module that holds simulation parameters such as ``dt``,
+``device``, and ``gravity``. Each task config must have a variable named ``sim`` defined that holds the type
+:class:`~omni.isaac.lab.sim.SimulationCfg`.
+
+Simulation parameters for articulations and rigid bodies such as ``num_position_iterations``, ``num_velocity_iterations``,
+``contact_offset``, ``rest_offset``, ``bounce_threshold_velocity``, ``max_depenetration_velocity`` can all
+be specified on a per-actor basis in the config class for each individual articulation and rigid body.
+
+When running simulation on the GPU, buffers in PhysX require pre-allocation for computing and storing
+information such as contacts, collisions and aggregate pairs. These buffers may need to be adjusted
+depending on the complexity of the environment, the number of expected contacts and collisions,
+and the number of actors in the environment. The :class:`~omni.isaac.lab.sim.PhysxCfg` class provides access
+for setting the GPU buffer dimensions.
+
++--------------------------------------------------------------+-------------------------------------------------------------------+
+|                                                              |                                                                   |
+|.. code-block:: yaml                                          |.. code-block:: python                                             |
+|                                                              |                                                                   |
+|  # OmniIsaacGymEnvs                                          | # IsaacLab                                                        |
+|  sim:                                                        | sim: SimulationCfg = SimulationCfg(                               |
+|                                                              |    device = "cuda:0" # can be "cpu", "cuda", "cuda:<device_id>"   |
+|    dt: 0.0083 # 1/120 s                                      |    dt=1 / 120,                                                    |
+|    use_gpu_pipeline: ${eq:${...pipeline},"gpu"}              |    # use_gpu_pipeline is deduced from the device                  |
+|    use_fabric: True                                          |    use_fabric=True,                                               |
+|    enable_scene_query_support: False                         |    enable_scene_query_support=False,                              |
+|    disable_contact_processing: False                         |    disable_contact_processing=False,                              |
+|    gravity: [0.0, 0.0, -9.81]                                |    gravity=(0.0, 0.0, -9.81),                                     |
+|                                                              |                                                                   |
+|    default_physics_material:                                 |    physics_material=RigidBodyMaterialCfg(                         |
+|      static_friction: 1.0                                    |        static_friction=1.0,                                       |
+|      dynamic_friction: 1.0                                   |        dynamic_friction=1.0,                                      |
+|      restitution: 0.0                                        |        restitution=0.0                                            |
+|                                                              |    )                                                              |
+|    physx:                                                    |    physx: PhysxCfg = PhysxCfg(                                    |
+|      worker_thread_count: ${....num_threads}                 |        # worker_thread_count is no longer needed                  |
+|      solver_type: ${....solver_type}                         |        solver_type=1,                                             |
+|      use_gpu: ${contains:"cuda",${....sim_device}}           |        # use_gpu is deduced from the device                       |
+|      solver_position_iteration_count: 4                      |        max_position_iteration_count=4,                            |
+|      solver_velocity_iteration_count: 0                      |        max_velocity_iteration_count=0,                            |
+|      contact_offset: 0.02                                    |        # moved to actor config                                    |
+|      rest_offset: 0.001                                      |        # moved to actor config                                    |
+|      bounce_threshold_velocity: 0.2                          |        bounce_threshold_velocity=0.2,                             |
+|      friction_offset_threshold: 0.04                         |        friction_offset_threshold=0.04,                            |
+|      friction_correlation_distance: 0.025                    |        friction_correlation_distance=0.025,                       |
+|      enable_sleeping: True                                   |        # enable_sleeping is no longer needed                      |
+|      enable_stabilization: True                              |        enable_stabilization=True,                                 |
+|      max_depenetration_velocity: 100.0                       |        # moved to RigidBodyPropertiesCfg                          |
+|                                                              |                                                                   |
+|      gpu_max_rigid_contact_count: 524288                     |        gpu_max_rigid_contact_count=2**23,                         |
+|      gpu_max_rigid_patch_count: 81920                        |        gpu_max_rigid_patch_count=5 * 2**15,                       |
+|      gpu_found_lost_pairs_capacity: 1024                     |        gpu_found_lost_pairs_capacity=2**21,                       |
+|      gpu_found_lost_aggregate_pairs_capacity: 262144         |        gpu_found_lost_aggregate_pairs_capacity=2**25,             |
+|      gpu_total_aggregate_pairs_capacity: 1024                |        gpu_total_aggregate_pairs_capacity=2**21,                  |
+|      gpu_heap_capacity: 67108864                             |        gpu_heap_capacity=2**26,                                   |
+|      gpu_temp_buffer_capacity: 16777216                      |        gpu_temp_buffer_capacity=2**24,                            |
+|      gpu_max_num_partitions: 8                               |        gpu_max_num_partitions=8,                                  |
+|      gpu_max_soft_body_contacts: 1048576                     |        gpu_max_soft_body_contacts=2**20,                          |
+|      gpu_max_particle_contacts: 1048576                      |        gpu_max_particle_contacts=2**20,                           |
+|                                                              |    )                                                              |
+|                                                              | )                                                                 |
++--------------------------------------------------------------+-------------------------------------------------------------------+
+
+Parameters such as ``add_ground_plane`` and ``add_distant_light`` are now part of the task logic when creating the scene.
+``enable_cameras`` is now a command line argument ``--enable_cameras`` that can be passed directly to the training script.
+
+
+Scene Config
+------------
+
+The :class:`~omni.isaac.lab.scene.InteractiveSceneCfg` class can be used to specify parameters related to the scene,
+such as the number of environments and the spacing between environments. Each task config must have a variable named
+``scene`` defined that holds the type :class:`~omni.isaac.lab.scene.InteractiveSceneCfg`.
+
++--------------------------------------------------------------+-------------------------------------------------------------------+
+|                                                              |                                                                   |
+|.. code-block:: yaml                                          |.. code-block:: python                                             |
+|                                                              |                                                                   |
+|  # OmniIsaacGymEnvs                                          | # IsaacLab                                                        |
+|  env:                                                        | scene: InteractiveSceneCfg = InteractiveSceneCfg(                 |
+|    numEnvs: ${resolve_default:512,${...num_envs}}            |    num_envs=512,                                                  |
+|    envSpacing: 4.0                                           |    env_spacing=4.0)                                               |
++--------------------------------------------------------------+-------------------------------------------------------------------+
+
+Task Config
+-----------
+
+Each environment should specify its own config class that holds task specific parameters, such as the dimensions of the
+observation and action buffers. Reward term scaling parameters can also be specified in the config class.
+
+In Isaac Lab, the ``controlFrequencyInv`` parameter has been renamed to ``decimation``,
+which must be specified as a parameter in the config class.
+
+In addition, the maximum episode length parameter (now ``episode_length_s``) is in seconds instead of steps as it was
+in OmniIsaacGymEnvs. To convert between step count to seconds, use the equation:
+``episode_length_s = dt * decimation * num_steps``.
+
+The following parameters must be set for each environment config:
+
+.. code-block:: python
+
+   decimation = 2
+   episode_length_s = 5.0
+   action_space = 1
+   observation_space = 4
+   state_space = 0
+
+
+RL Config Setup
+~~~~~~~~~~~~~~~
+
+RL config files for the rl_games library can continue to be defined in ``.yaml`` files in Isaac Lab.
+Most of the content of the config file can be copied directly from OmniIsaacGymEnvs.
+Note that in Isaac Lab, we do not use hydra to resolve relative paths in config files.
+Please replace any relative paths such as ``${....device}`` with the actual values of the parameters.
+
+Additionally, the observation and action clip ranges have been moved to the RL config file.
+For any ``clipObservations`` and ``clipActions`` parameters that were defined in the IsaacGymEnvs task config file,
+they should be moved to the RL config file in Isaac Lab.
+
++--------------------------+----------------------------+
+|                          |                            |
+| IsaacGymEnvs Task Config | Isaac Lab RL Config        |
++--------------------------+----------------------------+
+|.. code-block:: yaml      |.. code-block:: yaml        |
+|                          |                            |
+|  # OmniIsaacGymEnvs      | # IsaacLab                 |
+|  env:                    | params:                    |
+|    clipObservations: 5.0 |   env:                     |
+|    clipActions: 1.0      |     clip_observations: 5.0 |
+|                          |     clip_actions: 1.0      |
++--------------------------+----------------------------+
+
+Environment Creation
+~~~~~~~~~~~~~~~~~~~~
+
+In OmniIsaacGymEnvs, environment creation generally happened in the ``set_up_scene()`` API,
+which involved creating the initial environment, cloning the environment, filtering collisions,
+adding the ground plane and lights, and creating the ``View`` classes for the actors.
+
+Similar functionality is performed in Isaac Lab in the ``_setup_scene()`` API.
+The main difference is that the base class ``_setup_scene()`` no longer performs operations for
+cloning the environment and adding ground plane and lights. Instead, these operations
+should now be implemented in individual tasks' ``_setup_scene`` implementations to provide more
+flexibility around the scene setup process.
+
+Also note that by defining an ``Articulation`` or ``RigidObject`` object, the actors will be
+added to the scene by parsing the ``spawn`` parameter in the actor config and a ``View`` class
+will automatically be created for the actor. This avoids the need to separately define an
+``ArticulationView`` or ``RigidPrimView`` object for the actors.
+
+
++------------------------------------------------------------------------------+------------------------------------------------------------------------+
+| OmniIsaacGymEnvs                                                             | Isaac Lab                                                              |
++------------------------------------------------------------------------------+------------------------------------------------------------------------+
+|.. code-block:: python                                                        |.. code-block:: python                                                  |
+|                                                                              |                                                                        |
+|   def set_up_scene(self, scene) -> None:                                     |   def _setup_scene(self):                                              |
+|     self.get_cartpole()                                                      |     self.cartpole = Articulation(self.cfg.robot_cfg)                   |
+|     super().set_up_scene(scene)                                              |     # add ground plane                                                 |
+|                                                                              |     spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg() |
+|     self._cartpoles = ArticulationView(                                      |     # clone, filter, and replicate                                     |
+|                  prim_paths_expr="/World/envs/.*/Cartpole",                  |     self.scene.clone_environments(copy_from_source=False)              |
+|                  name="cartpole_view", reset_xform_properties=False          |     self.scene.filter_collisions(global_prim_paths=[])                 |
+|     )                                                                        |     # add articulation to scene                                        |
+|     scene.add(self._cartpoles)                                               |     self.scene.articulations["cartpole"] = self.cartpole               |
+|                                                                              |     # add lights                                                       |
+|                                                                              |     light_cfg = sim_utils.DomeLightCfg(intensity=2000.0)               |
+|                                                                              |     light_cfg.func("/World/Light", light_cfg)                          |
++------------------------------------------------------------------------------+------------------------------------------------------------------------+
+
+
+Ground Plane
+------------
+
+In addition to the above example, more sophisticated ground planes can be defined using the :class:`~terrains.TerrainImporterCfg` class.
+
+.. code-block:: python
+
+   from omni.isaac.lab.terrains import TerrainImporterCfg
+
+   terrain = TerrainImporterCfg(
+        prim_path="/World/ground",
+        terrain_type="plane",
+        collision_group=-1,
+        physics_material=sim_utils.RigidBodyMaterialCfg(
+            friction_combine_mode="multiply",
+            restitution_combine_mode="multiply",
+            static_friction=1.0,
+            dynamic_friction=1.0,
+            restitution=0.0,
+        ),
+    )
+
+The terrain can then be added to the scene in ``_setup_scene(self)`` by referencing the ``TerrainImporterCfg`` object:
+
+.. code-block::python
+
+   def _setup_scene(self):
+      ...
+      self.cfg.terrain.num_envs = self.scene.cfg.num_envs
+      self.cfg.terrain.env_spacing = self.scene.cfg.env_spacing
+      self._terrain = self.cfg.terrain.class_type(self.cfg.terrain)
+
+
+Actors
+------
+
+In Isaac Lab, each Articulation and Rigid Body actor can have its own config class. The
+:class:`~omni.isaac.lab.assets.ArticulationCfg` class can be used to define parameters for articulation actors,
+including file path, simulation parameters, actuator properties, and initial states.
+
+.. code-block::python
+
+   from omni.isaac.lab.actuators import ImplicitActuatorCfg
+   from omni.isaac.lab.assets import ArticulationCfg
+
+   CARTPOLE_CFG = ArticulationCfg(
+       spawn=sim_utils.UsdFileCfg(
+           usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Classic/Cartpole/cartpole.usd",
+           rigid_props=sim_utils.RigidBodyPropertiesCfg(
+               rigid_body_enabled=True,
+               max_linear_velocity=1000.0,
+               max_angular_velocity=1000.0,
+               max_depenetration_velocity=100.0,
+               enable_gyroscopic_forces=True,
+           ),
+           articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+               enabled_self_collisions=False,
+               solver_position_iteration_count=4,
+               solver_velocity_iteration_count=0,
+               sleep_threshold=0.005,
+               stabilization_threshold=0.001,
+           ),
+       ),
+       init_state=ArticulationCfg.InitialStateCfg(
+           pos=(0.0, 0.0, 2.0), joint_pos={"slider_to_cart": 0.0, "cart_to_pole": 0.0}
+       ),
+       actuators={
+           "cart_actuator": ImplicitActuatorCfg(
+               joint_names_expr=["slider_to_cart"],
+               effort_limit=400.0,
+               velocity_limit=100.0,
+               stiffness=0.0,
+               damping=10.0,
+           ),
+           "pole_actuator": ImplicitActuatorCfg(
+               joint_names_expr=["cart_to_pole"], effort_limit=400.0, velocity_limit=100.0, stiffness=0.0, damping=0.0
+           ),
+       },
+   )
+
+Within the :class:`~assets.ArticulationCfg`, the ``spawn`` attribute can be used to add the robot to the scene
+by specifying the path to the robot file. In addition, the :class:`~omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg`
+class can be used to specify simulation properties for the rigid bodies in the articulation. Similarly, the
+:class:`~omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg` class can be used to specify simulation properties
+for the articulation. The joint properties are now specified as part of the ``actuators`` dictionary using
+:class:`~actuators.ImplicitActuatorCfg`. Joints with the same properties can be grouped into regex expressions or
+provided as a list of names or expressions.
+
+Actors are added to the scene by simply calling ``self.cartpole = Articulation(self.cfg.robot_cfg)``, where
+``self.cfg.robot_cfg`` is an :class:`~assets.ArticulationCfg` object. Once initialized, they should also be added
+to the :class:`~scene.InteractiveScene` by calling ``self.scene.articulations["cartpole"] = self.cartpole`` so that
+the :class:`~scene.InteractiveScene` can traverse through actors in the scene for writing values to the simulation
+and resetting.
+
+
+Accessing States from Simulation
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+APIs for accessing physics states in Isaac Lab require the creation of an :class:`~assets.Articulation` or
+:class:`~assets.RigidObject` object. Multiple objects can be initialized for different articulations or rigid bodies
+in the scene by defining corresponding :class:`~assets.ArticulationCfg` or :class:`~assets.RigidObjectCfg` config,
+as outlined in the section above. This replaces the previously used :class:`~omni.isaac.core.articulations.ArticulationView`
+and :class:`omni.isaac.core.prims.RigidPrimView` classes used in OmniIsaacGymEnvs.
+
+However, functionality between the classes are similar:
+
++------------------------------------------------------------------+-----------------------------------------------------------------+
+| OmniIsaacGymEnvs                                                 | Isaac Lab                                                       |
++------------------------------------------------------------------+-----------------------------------------------------------------+
+|.. code-block:: python                                            |.. code-block:: python                                           |
+|                                                                  |                                                                 |
+|   dof_pos = self._cartpoles.get_joint_positions(clone=False)     |   self.joint_pos = self._robot.data.joint_pos                   |
+|   dof_vel = self._cartpoles.get_joint_velocities(clone=False)    |   self.joint_vel = self._robot.data.joint_vel                   |
++------------------------------------------------------------------+-----------------------------------------------------------------+
+
+In Isaac Lab, :class:`~assets.Articulation` and :class:`~assets.RigidObject` classes both have a ``data`` class.
+The data classes (:class:`~assets.ArticulationData` and :class:`~assets.RigidObjectData`) contain
+buffers that hold the states for the articulation and rigid objects and provide
+a more performant way of retrieving states from the actors.
+
+Apart from some renamings of APIs, setting states for actors can also be performed similarly between OmniIsaacGymEnvs and Isaac Lab.
+
++---------------------------------------------------------------------------+---------------------------------------------------------------+
+| OmniIsaacGymEnvs                                                          | Isaac Lab                                                     |
++---------------------------------------------------------------------------+---------------------------------------------------------------+
+|.. code-block:: python                                                     |.. code-block:: python                                         |
+|                                                                           |                                                               |
+|   indices = env_ids.to(dtype=torch.int32)                                 |   self._robot.write_joint_state_to_sim(joint_pos, joint_vel,  |
+|   self._cartpoles.set_joint_positions(dof_pos, indices=indices)           |                                    joint_ids, env_ids)        |
+|   self._cartpoles.set_joint_velocities(dof_vel, indices=indices)          |                                                               |
++---------------------------------------------------------------------------+---------------------------------------------------------------+
+
+In Isaac Lab, ``root_pose`` and ``root_velocity`` have been combined into single buffers and no longer split between
+``root_position``, ``root_orientation``, ``root_linear_velocity`` and ``root_angular_velocity``.
+
+.. code-block::python
+
+    self.cartpole.write_root_link_pose_to_sim(default_root_state[:, :7], env_ids)
+    self.cartpole.write_root_com_velocity_to_sim(default_root_state[:, 7:], env_ids)
+
+
+Creating a New Environment
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Each environment in Isaac Lab should be in its own directory following this structure:
+
+.. code-block:: none
+
+    my_environment/
+        - agents/
+            - __init__.py
+            - rl_games_ppo_cfg.py
+        - __init__.py
+        my_env.py
+
+* ``my_environment`` is the root directory of the task.
+* ``my_environment/agents`` is the directory containing all RL config files for the task. Isaac Lab supports multiple
+  RL libraries that can each have its own individual config file.
+* ``my_environment/__init__.py`` is the main file that registers the environment with the Gymnasium interface.
+  This allows the training and inferencing scripts to find the task by its name.
+  The content of this file should be as follow:
+
+  .. code-block:: python
+
+    import gymnasium as gym
+
+    from . import agents
+    from .cartpole_env import CartpoleEnv, CartpoleEnvCfg
+
+    ##
+    # Register Gym environments.
+    ##
+
+    gym.register(
+        id="Isaac-Cartpole-Direct-v0",
+        entry_point="omni.isaac.lab_tasks.direct_workflow.cartpole:CartpoleEnv",
+        disable_env_checker=True,
+        kwargs={
+            "env_cfg_entry_point": CartpoleEnvCfg,
+            "rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml"
+        },
+    )
+
+* ``my_environment/my_env.py`` is the main python script that implements the task logic and task config class for
+  the environment.
+
+
+Task Logic
+~~~~~~~~~~
+
+The ``post_reset`` API in OmniIsaacGymEnvs is no longer required in Isaac Lab. Everything that was previously
+done in ``post_reset`` can be done in the ``__init__`` method after executing the base class's
+``__init__``. At this point, simulation has already started.
+
+In OmniIsaacGymEnvs, due to limitations of the GPU APIs, resets could not be performed based on states of the current
+step. Instead, resets have to be performed at the beginning of the next time step.
+This restriction has been eliminated in Isaac Lab, and thus, tasks follow the correct workflow of applying actions,
+stepping simulation, collecting states, computing dones, calculating rewards, performing resets, and finally computing
+observations. This workflow is done automatically by the framework such that a ``post_physics_step`` API is not
+required in the task. However, individual tasks can override the ``step()`` API to control the workflow.
+
+In Isaac Lab, we also separate the ``pre_physics_step`` API for processing actions from the policy with
+the ``apply_action`` API, which sets the actions into the simulation. This provides more flexibility in controlling
+when actions should be written to simulation when ``decimation`` is used.
+The ``pre_physics_step`` method will be called once per step before stepping simulation.
+The ``apply_actions`` method will be called ``decimation`` number of times for each RL step,
+once before each simulation step call.
+
+The ordering of the calls are as follow:
+
++----------------------------------+----------------------------------+
+| OmniIsaacGymEnvs                 | Isaac Lab                        |
++----------------------------------+----------------------------------+
+|.. code-block:: none              |.. code-block:: none              |
+|                                  |                                  |
+|   pre_physics_step               |   pre_physics_step               |
+|     |-- reset_idx()              |     |-- _pre_physics_step(action)|
+|     |-- apply_action             |     |-- _apply_action()          |
+|                                  |                                  |
+|   post_physics_step              |   post_physics_step              |
+|     |-- get_observations()       |     |-- _get_dones()             |
+|     |-- calculate_metrics()      |     |-- _get_rewards()           |
+|     |-- is_done()                |     |-- _reset_idx()             |
+|                                  |     |-- _get_observations()      |
++----------------------------------+----------------------------------+
+
+With this approach, resets are performed based on actions from the current step instead of the previous step.
+Observations will also be computed with the correct states after resets.
+
+We have also performed some renamings of APIs:
+
+* ``set_up_scene(self, scene)`` --> ``_setup_scene(self)``
+* ``post_reset(self)`` --> ``__init__(...)``
+* ``pre_physics_step(self, actions)`` --> ``_pre_physics_step(self, actions)`` and ``_apply_action(self)``
+* ``reset_idx(self, env_ids)`` --> ``_reset_idx(self, env_ids)``
+* ``get_observations(self)`` --> ``_get_observations(self)`` - ``_get_observations()`` should now return a dictionary ``{"policy": obs}``
+* ``calculate_metrics(self)`` --> ``_get_rewards(self)`` - ``_get_rewards()`` should now return the reward buffer
+* ``is_done(self)`` --> ``_get_dones(self)`` - ``_get_dones()`` should now return 2 buffers: ``reset`` and ``time_out`` buffers
+
+
+
+Putting It All Together
+~~~~~~~~~~~~~~~~~~~~~~~
+
+The Cartpole environment is shown here in completion to fully show the comparison between the OmniIsaacGymEnvs
+implementation and the Isaac Lab implementation.
+
+Task Config
+-----------
+
+Task config in Isaac Lab can be split into the main task configuration class and individual config objects for the actors.
+
++-----------------------------------------------------------------+-----------------------------------------------------------------+
+| OmniIsaacGymEnvs                                                | Isaac Lab                                                       |
++-----------------------------------------------------------------+-----------------------------------------------------------------+
+|.. code-block:: yaml                                             |.. code-block:: python                                           |
+|                                                                 |                                                                 |
+| # used to create the object                                     | @configclass                                                    |
+|                                                                 | class CartpoleEnvCfg(DirectRLEnvCfg):                           |
+| name: Cartpole                                                  |                                                                 |
+|                                                                 |     # simulation                                                |
+| physics_engine: ${..physics_engine}                             |     sim: SimulationCfg = SimulationCfg(dt=1 / 120)              |
+|                                                                 |     # robot                                                     |
+| # if given, will override the device setting in gym.            |     robot_cfg: ArticulationCfg = CARTPOLE_CFG.replace(          |
+| env:                                                            |         prim_path="/World/envs/env_.*/Robot")                   |
+|                                                                 |     cart_dof_name = "slider_to_cart"                            |
+|   numEnvs: ${resolve_default:512,${...num_envs}}                |     pole_dof_name = "cart_to_pole"                              |
+|   envSpacing: 4.0                                               |     # scene                                                     |
+|   resetDist: 3.0                                                |     scene: InteractiveSceneCfg = InteractiveSceneCfg(           |
+|   maxEffort: 400.0                                              |       num_envs=4096, env_spacing=4.0, replicate_physics=True)   |
+|                                                                 |     # env                                                       |
+|   clipObservations: 5.0                                         |     decimation = 2                                              |
+|   clipActions: 1.0                                              |     episode_length_s = 5.0                                      |
+|   controlFrequencyInv: 2 # 60 Hz                                |     action_scale = 100.0  # [N]                                 |
+|                                                                 |     action_space = 1                                            |
+| sim:                                                            |     observation_space = 4                                       |
+|                                                                 |     state_space = 0                                             |
+|   dt: 0.0083 # 1/120 s                                          |     # reset                                                     |
+|   use_gpu_pipeline: ${eq:${...pipeline},"gpu"}                  |     max_cart_pos = 3.0                                          |
+|   gravity: [0.0, 0.0, -9.81]                                    |     initial_pole_angle_range = [-0.25, 0.25]                    |
+|   add_ground_plane: True                                        |     # reward scales                                             |
+|   add_distant_light: False                                      |     rew_scale_alive = 1.0                                       |
+|   use_fabric: True                                              |     rew_scale_terminated = -2.0                                 |
+|   enable_scene_query_support: False                             |     rew_scale_pole_pos = -1.0                                   |
+|   disable_contact_processing: False                             |     rew_scale_cart_vel = -0.01                                  |
+|                                                                 |     rew_scale_pole_vel = -0.005                                 |
+|   enable_cameras: False                                         |                                                                 |
+|                                                                 |                                                                 |
+|   default_physics_material:                                     | CARTPOLE_CFG = ArticulationCfg(                                 |
+|     static_friction: 1.0                                        |   spawn=sim_utils.UsdFileCfg(                                   |
+|     dynamic_friction: 1.0                                       |     usd_path=f"{ISAACLAB_NUCLEUS_DIR}/.../cartpole.usd",        |
+|     restitution: 0.0                                            |     rigid_props=sim_utils.RigidBodyPropertiesCfg(               |
+|                                                                 |       rigid_body_enabled=True,                                  |
+|   physx:                                                        |       max_linear_velocity=1000.0,                               |
+|     worker_thread_count: ${....num_threads}                     |       max_angular_velocity=1000.0,                              |
+|     solver_type: ${....solver_type}                             |       max_depenetration_velocity=100.0,                         |
+|     use_gpu: ${eq:${....sim_device},"gpu"} # set to False to... |       enable_gyroscopic_forces=True,                            |
+|     solver_position_iteration_count: 4                          |     ),                                                          |
+|     solver_velocity_iteration_count: 0                          |     articulation_props=sim_utils.ArticulationRootPropertiesCfg( |
+|     contact_offset: 0.02                                        |       enabled_self_collisions=False,                            |
+|     rest_offset: 0.001                                          |       solver_position_iteration_count=4,                        |
+|     bounce_threshold_velocity: 0.2                              |       solver_velocity_iteration_count=0,                        |
+|     friction_offset_threshold: 0.04                             |       sleep_threshold=0.005,                                    |
+|     friction_correlation_distance: 0.025                        |       stabilization_threshold=0.001,                            |
+|     enable_sleeping: True                                       |     ),                                                          |
+|     enable_stabilization: True                                  |   ),                                                            |
+|     max_depenetration_velocity: 100.0                           |   init_state=ArticulationCfg.InitialStateCfg(                   |
+|                                                                 |     pos=(0.0, 0.0, 2.0),                                        |
+|     # GPU buffers                                               |     joint_pos={"slider_to_cart": 0.0, "cart_to_pole": 0.0}      |
+|     gpu_max_rigid_contact_count: 524288                         |   ),                                                            |
+|     gpu_max_rigid_patch_count: 81920                            |   actuators={                                                   |
+|     gpu_found_lost_pairs_capacity: 1024                         |     "cart_actuator": ImplicitActuatorCfg(                       |
+|     gpu_found_lost_aggregate_pairs_capacity: 262144             |        joint_names_expr=["slider_to_cart"],                     |
+|     gpu_total_aggregate_pairs_capacity: 1024                    |        effort_limit=400.0,                                      |
+|     gpu_max_soft_body_contacts: 1048576                         |        velocity_limit=100.0,                                    |
+|     gpu_max_particle_contacts: 1048576                          |        stiffness=0.0,                                           |
+|     gpu_heap_capacity: 67108864                                 |        damping=10.0,                                            |
+|     gpu_temp_buffer_capacity: 16777216                          |     ),                                                          |
+|     gpu_max_num_partitions: 8                                   |     "pole_actuator": ImplicitActuatorCfg(                       |
+|                                                                 |        joint_names_expr=["cart_to_pole"], effort_limit=400.0,   |
+|     Cartpole:                                                   |        velocity_limit=100.0, stiffness=0.0, damping=0.0         |
+|       override_usd_defaults: False                              |     ),                                                          |
+|       enable_self_collisions: False                             |   },                                                            |
+|       enable_gyroscopic_forces: True                            | )                                                               |
+|       solver_position_iteration_count: 4                        |                                                                 |
+|       solver_velocity_iteration_count: 0                        |                                                                 |
+|       sleep_threshold: 0.005                                    |                                                                 |
+|       stabilization_threshold: 0.001                            |                                                                 |
+|       density: -1                                               |                                                                 |
+|       max_depenetration_velocity: 100.0                         |                                                                 |
+|       contact_offset: 0.02                                      |                                                                 |
+|       rest_offset: 0.001                                        |                                                                 |
++-----------------------------------------------------------------+-----------------------------------------------------------------+
+
+
+
+Task Setup
+----------
+
+The ``post_reset`` API in OmniIsaacGymEnvs is no longer required in Isaac Lab.
+Everything that was previously done in ``post_reset`` can be done in the ``__init__`` method after
+executing the base class's ``__init__``. At this point, simulation has already started.
+
++-------------------------------------------------------------------------+-------------------------------------------------------------+
+| OmniIsaacGymEnvs                                                        | Isaac Lab                                                   |
++-------------------------------------------------------------------------+-------------------------------------------------------------+
+|.. code-block:: python                                                   |.. code-block:: python                                       |
+|                                                                         |                                                             |
+| class CartpoleTask(RLTask):                                             | class CartpoleEnv(DirectRLEnv):                             |
+|                                                                         |     cfg: CartpoleEnvCfg                                     |
+|     def __init__(self, name, sim_config, env, offset=None) -> None:     |     def __init__(self, cfg: CartpoleEnvCfg,                 |
+|                                                                         |              render_mode: str | None = None, **kwargs):     |
+|         self.update_config(sim_config)                                  |         super().__init__(cfg, render_mode, **kwargs)        |
+|         self._max_episode_length = 500                                  |                                                             |
+|                                                                         |                                                             |
+|         self._num_observations = 4                                      |         self._cart_dof_idx, _ = self.cartpole.find_joints(  |
+|         self._num_actions = 1                                           |               self.cfg.cart_dof_name)                       |
+|                                                                         |         self._pole_dof_idx, _ = self.cartpole.find_joints(  |
+|         RLTask.__init__(self, name, env)                                |                self.cfg.pole_dof_name)                      |
+|                                                                         |         self.action_scale=self.cfg.action_scale             |
+|         def update_config(self, sim_config):                            |                                                             |
+|             self._sim_config = sim_config                               |         self.joint_pos = self.cartpole.data.joint_pos       |
+|             self._cfg = sim_config.config                               |         self.joint_vel = self.cartpole.data.joint_vel       |
+|             self._task_cfg = sim_config.                                |                                                             |
+|             task_config                                                 |                                                             |
+|                                                                         |                                                             |
+|             self._num_envs = self._task_cfg["env"]["numEnvs"]           |                                                             |
+|             self._env_spacing = self._task_cfg["env"]["envSpacing"]     |                                                             |
+|             self._cartpole_positions = torch.tensor([0.0, 0.0, 2.0])    |                                                             |
+|                                                                         |                                                             |
+|             self._reset_dist = self._task_cfg["env"]["resetDist"]       |                                                             |
+|             self._max_push_effort = self._task_cfg["env"]["maxEffort"]  |                                                             |
+|                                                                         |                                                             |
+|                                                                         |                                                             |
+|         def post_reset(self):                                           |                                                             |
+|             self._cart_dof_idx = self._cartpoles.get_dof_index(         |                                                             |
+|                 "cartJoint")                                            |                                                             |
+|             self._pole_dof_idx = self._cartpoles.get_dof_index(         |                                                             |
+|                 "poleJoint")                                            |                                                             |
+|             # randomize all envs                                        |                                                             |
+|             indices = torch.arange(                                     |                                                             |
+|                 self._cartpoles.count, dtype=torch.int64,               |                                                             |
+|                 device=self._device)                                    |                                                             |
+|             self.reset_idx(indices)                                     |                                                             |
++-------------------------------------------------------------------------+-------------------------------------------------------------+
+
+
+
+Scene Setup
+-----------
+
+The ``set_up_scene`` method in OmniIsaacGymEnvs has been replaced by the ``_setup_scene`` API in the task class in
+Isaac Lab. Additionally, scene cloning and collision filtering have been provided as APIs for the task class to
+call when necessary. Similarly, adding ground plane and lights should also be taken care of in the task class.
+Adding actors to the scene has been replaced by ``self.scene.articulations["cartpole"] = self.cartpole``.
+
++-----------------------------------------------------------+----------------------------------------------------------+
+| OmniIsaacGymEnvs                                          | Isaac Lab                                                |
++-----------------------------------------------------------+----------------------------------------------------------+
+|.. code-block:: python                                     |.. code-block:: python                                    |
+|                                                           |                                                          |
+| def set_up_scene(self, scene) -> None:                    | def _setup_scene(self):                                  |
+|                                                           |     self.cartpole = Articulation(self.cfg.robot_cfg)     |
+|     self.get_cartpole()                                   |     # add ground plane                                   |
+|     super().set_up_scene(scene)                           |     spawn_ground_plane(prim_path="/World/ground",        |
+|     self._cartpoles = ArticulationView(                   |         cfg=GroundPlaneCfg())                            |
+|         prim_paths_expr="/World/envs/.*/Cartpole",        |     # clone, filter, and replicate                       |
+|         name="cartpole_view",                             |     self.scene.clone_environments(                       |
+|         reset_xform_properties=False                      |         copy_from_source=False)                          |
+|     )                                                     |     self.scene.filter_collisions(                        |
+|     scene.add(self._cartpoles)                            |         global_prim_paths=[])                            |
+|     return                                                |     # add articulation to scene                          |
+|                                                           |     self.scene.articulations["cartpole"] = self.cartpole |
+| def get_cartpole(self):                                   |                                                          |
+|     cartpole = Cartpole(                                  |     # add lights                                         |
+|         prim_path=self.default_zero_env_path+"/Cartpole", |     light_cfg = sim_utils.DomeLightCfg(                  |
+|         name="Cartpole",                                  |         intensity=2000.0, color=(0.75, 0.75, 0.75))      |
+|         translation=self._cartpole_positions              |     light_cfg.func("/World/Light", light_cfg)            |
+|     )                                                     |                                                          |
+|     # applies articulation settings from the              |                                                          |
+|     # task configuration yaml file                        |                                                          |
+|     self._sim_config.apply_articulation_settings(         |                                                          |
+|         "Cartpole", get_prim_at_path(cartpole.prim_path), |                                                          |
+|         self._sim_config.parse_actor_config("Cartpole")   |                                                          |
+|     )                                                     |                                                          |
++-----------------------------------------------------------+----------------------------------------------------------+
+
+
+Pre-Physics Step
+----------------
+
+Note that resets are no longer performed in the ``pre_physics_step`` API. In addition, the separation of the
+``_pre_physics_step`` and ``_apply_action`` methods allow for more flexibility in processing the action buffer
+and setting actions into simulation.
+
++------------------------------------------------------------------+-------------------------------------------------------------+
+| OmniIsaacGymEnvs                                                 | IsaacLab                                                    |
++------------------------------------------------------------------+-------------------------------------------------------------+
+|.. code-block:: python                                            |.. code-block:: python                                       |
+|                                                                  |                                                             |
+| def pre_physics_step(self, actions) -> None:                     | def _pre_physics_step(self,                                 |
+|     if not self.world.is_playing():                              |         actions: torch.Tensor) -> None:                     |
+|         return                                                   |     self.actions = self.action_scale * actions              |
+|                                                                  |                                                             |
+|     reset_env_ids = self.reset_buf.nonzero(                      | def _apply_action(self) -> None:                            |
+|         as_tuple=False).squeeze(-1)                              |     self.cartpole.set_joint_effort_target(                  |
+|     if len(reset_env_ids) > 0:                                   |         self.actions, joint_ids=self._cart_dof_idx)         |
+|         self.reset_idx(reset_env_ids)                            |                                                             |
+|                                                                  |                                                             |
+|     actions = actions.to(self._device)                           |                                                             |
+|                                                                  |                                                             |
+|     forces = torch.zeros((self._cartpoles.count,                 |                                                             |
+|         self._cartpoles.num_dof),                                |                                                             |
+|         dtype=torch.float32, device=self._device)                |                                                             |
+|     forces[:, self._cart_dof_idx] =                              |                                                             |
+|         self._max_push_effort * actions[:, 0]                    |                                                             |
+|                                                                  |                                                             |
+|     indices = torch.arange(self._cartpoles.count,                |                                                             |
+|         dtype=torch.int32, device=self._device)                  |                                                             |
+|     self._cartpoles.set_joint_efforts(                           |                                                             |
+|         forces, indices=indices)                                 |                                                             |
++------------------------------------------------------------------+-------------------------------------------------------------+
+
+
+Dones and Resets
+----------------
+
+In Isaac Lab, the ``dones`` are computed in the ``_get_dones()`` method and should return two variables: ``resets`` and
+``time_out``. The ``_reset_idx()`` method is also called after stepping simulation instead of before, as it was done in
+OmniIsaacGymEnvs. The ``progress_buf`` tensor has been renamed to ``episode_length_buf`` in Isaac Lab and the
+bookkeeping is now done automatically by the framework. Task implementations no longer need to increment or
+reset the ``episode_length_buf`` buffer.
+
++------------------------------------------------------------------+--------------------------------------------------------------------------+
+| OmniIsaacGymEnvs                                                 | Isaac Lab                                                                |
++------------------------------------------------------------------+--------------------------------------------------------------------------+
+|.. code-block:: python                                            |.. code-block:: python                                                    |
+|                                                                  |                                                                          |
+| def is_done(self) -> None:                                       | def _get_dones(self) -> tuple[torch.Tensor, torch.Tensor]:               |
+|   resets = torch.where(                                          |     self.joint_pos = self.cartpole.data.joint_pos                        |
+|     torch.abs(self.cart_pos) > self._reset_dist, 1, 0)           |     self.joint_vel = self.cartpole.data.joint_vel                        |
+|   resets = torch.where(                                          |                                                                          |
+|     torch.abs(self.pole_pos) > math.pi / 2, 1, resets)           |     time_out = self.episode_length_buf >= self.max_episode_length - 1    |
+|   resets = torch.where(                                          |     out_of_bounds = torch.any(torch.abs(                                 |
+|     self.progress_buf >= self._max_episode_length, 1, resets)    |         self.joint_pos[:, self._cart_dof_idx]) > self.cfg.max_cart_pos,  |
+|   self.reset_buf[:] = resets                                     |         dim=1)                                                           |
+|                                                                  |     out_of_bounds = out_of_bounds | torch.any(                           |
+|                                                                  |         torch.abs(self.joint_pos[:, self._pole_dof_idx]) > math.pi / 2,  |
+|                                                                  |         dim=1)                                                           |
+|                                                                  |     return out_of_bounds, time_out                                       |
+|                                                                  |                                                                          |
+| def reset_idx(self, env_ids):                                    | def _reset_idx(self, env_ids: Sequence[int] | None):                     |
+|   num_resets = len(env_ids)                                      |     if env_ids is None:                                                  |
+|                                                                  |         env_ids = self.cartpole._ALL_INDICES                             |
+|   # randomize DOF positions                                      |     super()._reset_idx(env_ids)                                          |
+|   dof_pos = torch.zeros((num_resets, self._cartpoles.num_dof),   |                                                                          |
+|       device=self._device)                                       |     joint_pos = self.cartpole.data.default_joint_pos[env_ids]            |
+|   dof_pos[:, self._cart_dof_idx] = 1.0 * (                       |     joint_pos[:, self._pole_dof_idx] += sample_uniform(                  |
+|       1.0 - 2.0 * torch.rand(num_resets, device=self._device))   |         self.cfg.initial_pole_angle_range[0] * math.pi,                  |
+|   dof_pos[:, self._pole_dof_idx] = 0.125 * math.pi * (           |         self.cfg.initial_pole_angle_range[1] * math.pi,                  |
+|       1.0 - 2.0 * torch.rand(num_resets, device=self._device))   |         joint_pos[:, self._pole_dof_idx].shape,                          |
+|                                                                  |         joint_pos.device,                                                |
+|   # randomize DOF velocities                                     |     )                                                                    |
+|   dof_vel = torch.zeros((num_resets, self._cartpoles.num_dof),   |     joint_vel = self.cartpole.data.default_joint_vel[env_ids]            |
+|       device=self._device)                                       |                                                                          |
+|   dof_vel[:, self._cart_dof_idx] = 0.5 * (                       |     default_root_state = self.cartpole.data.default_root_state[env_ids]  |
+|       1.0 - 2.0 * torch.rand(num_resets, device=self._device))   |     default_root_state[:, :3] += self.scene.env_origins[env_ids]         |
+|   dof_vel[:, self._pole_dof_idx] = 0.25 * math.pi * (            |                                                                          |
+|       1.0 - 2.0 * torch.rand(num_resets, device=self._device))   |     self.joint_pos[env_ids] = joint_pos                                  |
+|                                                                  |     self.joint_vel[env_ids] = joint_vel                                  |
+|   # apply resets                                                 |                                                                          |
+|   indices = env_ids.to(dtype=torch.int32)                        |     self.cartpole.write_root_link_pose_to_sim(                           |
+|   self._cartpoles.set_joint_positions(dof_pos, indices=indices)  |         default_root_state[:, :7], env_ids)                              |
+|   self._cartpoles.set_joint_velocities(dof_vel, indices=indices) |     self.cartpole.write_root_com_velocity_to_sim(                        |
+|                                                                  |         default_root_state[:, 7:], env_ids)                              |
+|   # bookkeeping                                                  |     self.cartpole.write_joint_state_to_sim(                              |
+|   self.reset_buf[env_ids] = 0                                    |         joint_pos, joint_vel, None, env_ids)                             |
+|   self.progress_buf[env_ids] = 0                                 |                                                                          |
+|                                                                  |                                                                          |
+|                                                                  |                                                                          |
++------------------------------------------------------------------+--------------------------------------------------------------------------+
+
+
+Rewards
+-------
+
+In Isaac Lab, rewards are implemented in the ``_get_rewards`` API and should return the reward buffer instead of assigning
+it directly to ``self.rew_buf``. Computation in the reward function can also be performed using pytorch jit
+through defining functions with the ``@torch.jit.script`` annotation.
+
++-------------------------------------------------------+-----------------------------------------------------------------------+
+| OmniIsaacGymEnvs                                      | Isaac Lab                                                             |
++-------------------------------------------------------+-----------------------------------------------------------------------+
+|.. code-block:: python                                 |.. code-block:: python                                                 |
+|                                                       |                                                                       |
+| def calculate_metrics(self) -> None:                  | def _get_rewards(self) -> torch.Tensor:                               |
+|     reward = (1.0 - self.pole_pos * self.pole_pos     |     total_reward = compute_rewards(                                   |
+|         - 0.01 * torch.abs(self.cart_vel) - 0.005     |         self.cfg.rew_scale_alive,                                     |
+|         * torch.abs(self.pole_vel))                   |         self.cfg.rew_scale_terminated,                                |
+|     reward = torch.where(                             |         self.cfg.rew_scale_pole_pos,                                  |
+|         torch.abs(self.cart_pos) > self._reset_dist,  |         self.cfg.rew_scale_cart_vel,                                  |
+|         torch.ones_like(reward) * -2.0, reward)       |         self.cfg.rew_scale_pole_vel,                                  |
+|     reward = torch.where(                             |         self.joint_pos[:, self._pole_dof_idx[0]],                     |
+|         torch.abs(self.pole_pos) > np.pi / 2,         |         self.joint_vel[:, self._pole_dof_idx[0]],                     |
+|         torch.ones_like(reward) * -2.0, reward)       |         self.joint_pos[:, self._cart_dof_idx[0]],                     |
+|                                                       |         self.joint_vel[:, self._cart_dof_idx[0]],                     |
+|     self.rew_buf[:] = reward                          |         self.reset_terminated,                                        |
+|                                                       |     )                                                                 |
+|                                                       |     return total_reward                                               |
+|                                                       |                                                                       |
+|                                                       | @torch.jit.script                                                     |
+|                                                       | def compute_rewards(                                                  |
+|                                                       |     rew_scale_alive: float,                                           |
+|                                                       |     rew_scale_terminated: float,                                      |
+|                                                       |     rew_scale_pole_pos: float,                                        |
+|                                                       |     rew_scale_cart_vel: float,                                        |
+|                                                       |     rew_scale_pole_vel: float,                                        |
+|                                                       |     pole_pos: torch.Tensor,                                           |
+|                                                       |     pole_vel: torch.Tensor,                                           |
+|                                                       |     cart_pos: torch.Tensor,                                           |
+|                                                       |     cart_vel: torch.Tensor,                                           |
+|                                                       |     reset_terminated: torch.Tensor,                                   |
+|                                                       | ):                                                                    |
+|                                                       |     rew_alive = rew_scale_alive * (1.0 - reset_terminated.float())    |
+|                                                       |     rew_termination = rew_scale_terminated * reset_terminated.float() |
+|                                                       |     rew_pole_pos = rew_scale_pole_pos * torch.sum(                    |
+|                                                       |         torch.square(pole_pos), dim=-1)                               |
+|                                                       |     rew_cart_vel = rew_scale_cart_vel * torch.sum(                    |
+|                                                       |         torch.abs(cart_vel), dim=-1)                                  |
+|                                                       |     rew_pole_vel = rew_scale_pole_vel * torch.sum(                    |
+|                                                       |         torch.abs(pole_vel), dim=-1)                                  |
+|                                                       |     total_reward = (rew_alive + rew_termination                       |
+|                                                       |         + rew_pole_pos + rew_cart_vel + rew_pole_vel)                 |
+|                                                       |     return total_reward                                               |
++-------------------------------------------------------+-----------------------------------------------------------------------+
+
+
+Observations
+------------
+
+In Isaac Lab, the ``_get_observations()`` API must return a dictionary with the key ``policy`` that has the observation buffer as the value.
+When working with asymmetric actor-critic states, the states for the critic should have the key ``critic`` and be returned
+with the observation buffer in the same dictionary.
+
++------------------------------------------------------------------+-------------------------------------------------------------+
+| OmniIsaacGymEnvs                                                 | Isaac Lab                                                   |
++------------------------------------------------------------------+-------------------------------------------------------------+
+|.. code-block:: python                                            |.. code-block::                                              |
+|                                                                  |                                                             |
+| def get_observations(self) -> dict:                              | def _get_observations(self) -> dict:                        |
+|     dof_pos = self._cartpoles.get_joint_positions(clone=False)   |     obs = torch.cat(                                        |
+|     dof_vel = self._cartpoles.get_joint_velocities(clone=False)  |                  (                                          |
+|                                                                  |            self.joint_pos[:, self._pole_dof_idx[0]],        |
+|     self.cart_pos = dof_pos[:, self._cart_dof_idx]               |            self.joint_vel[:, self._pole_dof_idx[0]],        |
+|     self.cart_vel = dof_vel[:, self._cart_dof_idx]               |            self.joint_pos[:, self._cart_dof_idx[0]],        |
+|     self.pole_pos = dof_pos[:, self._pole_dof_idx]               |            self.joint_vel[:, self._cart_dof_idx[0]],        |
+|     self.pole_vel = dof_vel[:, self._pole_dof_idx]               |         ),                                                  |
+|     self.obs_buf[:, 0] = self.cart_pos                           |         dim=-1,                                             |
+|     self.obs_buf[:, 1] = self.cart_vel                           |     )                                                       |
+|     self.obs_buf[:, 2] = self.pole_pos                           |     observations = {"policy": obs}                          |
+|     self.obs_buf[:, 3] = self.pole_vel                           |     return observations                                     |
+|                                                                  |                                                             |
+|     observations = {self._cartpoles.name:                        |                                                             |
+|         {"obs_buf": self.obs_buf}}                               |                                                             |
+|     return observations                                          |                                                             |
++------------------------------------------------------------------+-------------------------------------------------------------+
+
+
+Domain Randomization
+~~~~~~~~~~~~~~~~~~~~
+
+In OmniIsaacGymEnvs, domain randomization was specified through the task ``.yaml`` config file.
+In Isaac Lab, the domain randomization configuration uses the :class:`~omni.isaac.lab.utils.configclass` module
+to specify a configuration class consisting of :class:`~managers.EventTermCfg` variables.
+
+Below is an example of a configuration class for domain randomization:
+
+.. code-block:: python
+
+  @configclass
+  class EventCfg:
+    robot_physics_material = EventTerm(
+        func=mdp.randomize_rigid_body_material,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
+            "static_friction_range": (0.7, 1.3),
+            "dynamic_friction_range": (1.0, 1.0),
+            "restitution_range": (1.0, 1.0),
+            "num_buckets": 250,
+        },
+    )
+    robot_joint_stiffness_and_damping = EventTerm(
+        func=mdp.randomize_actuator_gains,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", joint_names=".*"),
+            "stiffness_distribution_params": (0.75, 1.5),
+            "damping_distribution_params": (0.3, 3.0),
+            "operation": "scale",
+            "distribution": "log_uniform",
+        },
+    )
+    reset_gravity = EventTerm(
+        func=mdp.randomize_physics_scene_gravity,
+        mode="interval",
+        is_global_time=True,
+        interval_range_s=(36.0, 36.0),  # time_s = num_steps * (decimation * dt)
+        params={
+            "gravity_distribution_params": ([0.0, 0.0, 0.0], [0.0, 0.0, 0.4]),
+            "operation": "add",
+            "distribution": "gaussian",
+        },
+    )
+
+Each ``EventTerm`` object is of the :class:`~managers.EventTermCfg` class and takes in a ``func`` parameter
+for specifying the function to call during randomization, a ``mode`` parameter, which can be ``startup``,
+``reset`` or ``interval``. THe ``params`` dictionary should provide the necessary arguments to the
+function that is specified in the ``func`` parameter.
+Functions specified as ``func`` for the ``EventTerm`` can be found in the :class:`~envs.mdp.events` module.
+
+Note that as part of the ``"asset_cfg": SceneEntityCfg("robot", body_names=".*")`` parameter, the name of
+the actor ``"robot"`` is provided, along with the body or joint names specified as a regex expression,
+which will be the actors and bodies/joints that will have randomization applied.
+
+One difference with OmniIsaacGymEnvs is that ``interval`` randomization is now specified as seconds instead of
+steps. When ``mode="interval"``, the ``interval_range_s`` parameter must also be provided, which specifies
+the range of seconds for which randomization should be applied. This range will then be randomized to
+determine a specific time in seconds when the next randomization will occur for the term.
+To convert between steps to seconds, use the equation ``time_s = num_steps * (decimation * dt)``.
+
+Similar to OmniIsaacGymEnvs, randomization APIs are available for randomizing articulation properties,
+such as joint stiffness and damping, joint limits, rigid body materials, fixed tendon properties,
+as well as rigid body properties, such as mass and rigid body materials. Randomization of the
+physics scene gravity is also supported. Note that randomization of scale is current not supported
+in Isaac Lab. To randomize scale, please set up the scene in a way where each environment holds the actor
+at a different scale.
+
+Once the ``configclass`` for the randomization terms have been set up, the class must be added
+to the base config class for the task and be assigned to the variable ``events``.
+
+.. code-block:: python
+
+  @configclass
+  class MyTaskConfig:
+    events: EventCfg = EventCfg()
+
+
+Action and Observation Noise
+----------------------------
+
+Actions and observation noise can also be added using the :class:`~utils.configclass` module.
+Action and observation noise configs must be added to the main task config using the
+``action_noise_model`` and ``observation_noise_model`` variables:
+
+.. code-block:: python
+
+  @configclass
+  class MyTaskConfig:
+      # at every time-step add gaussian noise + bias. The bias is a gaussian sampled at reset
+      action_noise_model: NoiseModelWithAdditiveBiasCfg = NoiseModelWithAdditiveBiasCfg(
+        noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.05, operation="add"),
+        bias_noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.015, operation="abs"),
+      )
+      # at every time-step add gaussian noise + bias. The bias is a gaussian sampled at reset
+      observation_noise_model: NoiseModelWithAdditiveBiasCfg = NoiseModelWithAdditiveBiasCfg(
+        noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.002, operation="add"),
+        bias_noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.0001, operation="abs"),
+      )
+
+
+:class:`~.utils.noise.NoiseModelWithAdditiveBiasCfg` can be used to sample both uncorrelated noise
+per step as well as correlated noise that is re-sampled at reset time.
+The ``noise_cfg`` term specifies the Gaussian distribution that will be sampled at each
+step for all environments. This noise will be added to the corresponding actions and
+observations buffers at every step.
+The ``bias_noise_cfg`` term specifies the Gaussian distribution for the correlated noise
+that will be sampled at reset time for the environments being reset. The same noise
+will be applied each step for the remaining of the episode for the environments and
+resampled at the next reset.
+
+This replaces the following setup in OmniIsaacGymEnvs:
+
+.. code-block:: yaml
+
+   domain_randomization:
+   randomize: True
+   randomization_params:
+    observations:
+      on_reset:
+        operation: "additive"
+        distribution: "gaussian"
+        distribution_parameters: [0, .0001]
+      on_interval:
+        frequency_interval: 1
+        operation: "additive"
+        distribution: "gaussian"
+        distribution_parameters: [0, .002]
+    actions:
+      on_reset:
+        operation: "additive"
+        distribution: "gaussian"
+        distribution_parameters: [0, 0.015]
+      on_interval:
+        frequency_interval: 1
+        operation: "additive"
+        distribution: "gaussian"
+        distribution_parameters: [0., 0.05]
+
+
+Launching Training
+~~~~~~~~~~~~~~~~~~
+
+To launch a training in Isaac Lab, use the command:
+
+.. code-block:: bash
+
+   python source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-Direct-v0 --headless
+
+Launching Inferencing
+~~~~~~~~~~~~~~~~~~~~~
+
+To launch inferencing in Isaac Lab, use the command:
+
+.. code-block:: bash
+
+   python source/standalone/workflows/rl_games/play.py --task=Isaac-Cartpole-Direct-v0 --num_envs=25 --checkpoint=<path/to/checkpoint>
+
+
+.. _`OmniIsaacGymEnvs`: https://github.com/isaac-sim/OmniIsaacGymEnvs
+.. _release notes: https://github.com/isaac-sim/IsaacLab/releases
diff --git a/v1.4.0/_sources/source/migration/migrating_from_orbit.rst b/v1.4.0/_sources/source/migration/migrating_from_orbit.rst
new file mode 100644
index 0000000000..3b60cb5dcf
--- /dev/null
+++ b/v1.4.0/_sources/source/migration/migrating_from_orbit.rst
@@ -0,0 +1,150 @@
+.. _migrating-from-orbit:
+
+From Orbit
+==========
+
+.. currentmodule:: omni.isaac.lab
+
+Since `Orbit`_ was used as basis for Isaac Lab, migrating from Orbit to Isaac Lab is straightforward.
+The following sections describe the changes that need to be made to your code to migrate from Orbit to Isaac Lab.
+
+.. note::
+
+  The following changes are with respect to Isaac Lab 1.0 release. Please refer to the `release notes`_ for any changes
+  in the future releases.
+
+
+Renaming of the launch script
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The script ``orbit.sh`` has been renamed to ``isaaclab.sh``.
+
+
+Updates to extensions
+~~~~~~~~~~~~~~~~~~~~~
+
+The extensions ``omni.isaac.orbit``, ``omni.isaac.orbit_tasks``, and ``omni.isaac.orbit_assets`` have been renamed
+to ``omni.isaac.lab``, ``omni.isaac.lab_tasks``, and ``omni.isaac.lab_assets``, respectively. Thus,
+the new folder structure looks like this:
+
+- ``source/extensions/omni.isaac.lab/omni/isaac/lab``
+- ``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks``
+- ``source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets``
+
+The high level imports have to be updated as well:
+
++-------------------------------------+-----------------------------------+
+| Orbit                               | Isaac Lab                         |
++=====================================+===================================+
+| ``from omni.isaac.orbit...``        | ``from omni.isaac.lab...``        |
++-------------------------------------+-----------------------------------+
+| ``from omni.isaac.orbit_tasks...``  | ``from omni.isaac.lab_tasks...``  |
++-------------------------------------+-----------------------------------+
+| ``from omni.isaac.orbit_assets...`` | ``from omni.isaac.lab_assets...`` |
++-------------------------------------+-----------------------------------+
+
+
+Updates to class names
+~~~~~~~~~~~~~~~~~~~~~~
+
+In Isaac Lab, we introduced the concept of task design workflows (see :ref:`feature-workflows`). The Orbit code is using
+the manager-based workflow and the environment specific class names have been updated to reflect this change:
+
++------------------------+---------------------------------------------------------+
+| Orbit                  | Isaac Lab                                               |
++========================+=========================================================+
+| ``BaseEnv``            | :class:`omni.isaac.lab.envs.ManagerBasedEnv`            |
++------------------------+---------------------------------------------------------+
+| ``BaseEnvCfg``         | :class:`omni.isaac.lab.envs.ManagerBasedEnvCfg`         |
++------------------------+---------------------------------------------------------+
+| ``RLTaskEnv``          | :class:`omni.isaac.lab.envs.ManagerBasedRLEnv`          |
++------------------------+---------------------------------------------------------+
+| ``RLTaskEnvCfg``       | :class:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg`       |
++------------------------+---------------------------------------------------------+
+| ``RLTaskEnvWindow``    | :class:`omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow` |
++------------------------+---------------------------------------------------------+
+
+
+Updates to the tasks folder structure
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+To support the manager-based and direct workflows, we have added two folders in the tasks extension:
+
+- ``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based``
+- ``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct``
+
+The tasks from Orbit can now be found under the ``manager_based`` folder.
+This change must also be reflected in the imports for your tasks. For example,
+
+.. code-block:: python
+
+  from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg ...
+
+should now be:
+
+.. code-block:: python
+
+  from omni.isaac.lab_tasks.manager_based.locomotion.velocity.velocity_env_cfg ...
+
+
+Other Breaking changes
+~~~~~~~~~~~~~~~~~~~~~~
+
+Setting the device
+------------------
+
+The argument ``--cpu`` has been removed in favor of ``--device device_name``. Valid options for ``device_name`` are:
+
+- ``cpu``: Use CPU.
+- ``cuda``: Use GPU with device ID ``0``.
+- ``cuda:N``: Use GPU, where N is the device ID. For example, ``cuda:0``.
+
+The default value is ``cuda:0``.
+
+
+Offscreen rendering
+-------------------
+
+The input argument ``--offscreen_render`` given to :class:`omni.isaac.lab.app.AppLauncher` and the environment variable
+``OFFSCREEN_RENDER`` have been renamed to ``--enable_cameras`` and ``ENABLE_CAMERAS`` respectively.
+
+
+Event term distribution configuration
+-------------------------------------
+
+Some of the event functions in `events.py <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py>`_
+accepted a ``distribution`` parameter and a ``range`` to sample from. In an effort to support arbitrary distributions,
+we have renamed the input argument ``AAA_range`` to ``AAA_distribution_params`` for these functions.
+Therefore, event term configurations whose functions have a ``distribution`` argument should be updated. For example,
+
+.. code-block:: python
+  :emphasize-lines: 6
+
+  add_base_mass = EventTerm(
+      func=mdp.randomize_rigid_body_mass,
+      mode="startup",
+      params={
+          "asset_cfg": SceneEntityCfg("robot", body_names="base"),
+          "mass_range": (-5.0, 5.0),
+          "operation": "add",
+      },
+  )
+
+should now be:
+
+.. code-block:: python
+  :emphasize-lines: 6
+
+  add_base_mass = EventTerm(
+      func=mdp.randomize_rigid_body_mass,
+      mode="startup",
+      params={
+          "asset_cfg": SceneEntityCfg("robot", body_names="base"),
+          "mass_distribution_params": (-5.0, 5.0),
+          "operation": "add",
+      },
+  )
+
+
+.. _Orbit: https://isaac-orbit.github.io/
+.. _release notes: https://github.com/isaac-sim/IsaacLab/releases
diff --git a/v1.4.0/_sources/source/overview/core-concepts/actuators.rst b/v1.4.0/_sources/source/overview/core-concepts/actuators.rst
new file mode 100644
index 0000000000..15bde0cdb8
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/core-concepts/actuators.rst
@@ -0,0 +1,77 @@
+.. _overview-actuators:
+
+
+Actuators
+=========
+
+An articulated system comprises of actuated joints, also called the degrees of freedom (DOF).
+In a physical system, the actuation typically happens either through active components, such as
+electric or hydraulic motors, or passive components, such as springs. These components can introduce
+certain non-linear characteristics which includes delays or maximum producible velocity or torque.
+
+In simulation, the joints are either position, velocity, or torque-controlled. For position and velocity
+control, the physics engine internally implements a spring-damp (PD) controller which computes the torques
+applied on the actuated joints. In torque-control, the commands are set directly as the joint efforts.
+While this mimics an ideal behavior of the joint mechanism, it does not truly model how the drives work
+in the physical world. Thus, we provide a mechanism to inject external models to compute the
+joint commands that would represent the physical robot's behavior.
+
+Actuator models
+---------------
+
+We name two different types of actuator models:
+
+1. **implicit**: corresponds to the ideal simulation mechanism (provided by physics engine).
+2. **explicit**: corresponds to external drive models (implemented by user).
+
+The explicit actuator model performs two steps: 1) it computes the desired joint torques for tracking
+the input commands, and 2) it clips the desired torques based on the motor capabilities. The clipped
+torques are the desired actuation efforts that are set into the simulation.
+
+As an example of an ideal explicit actuator model, we provide the :class:`omni.isaac.lab.actuators.IdealPDActuator`
+class, which implements a PD controller with feed-forward effort, and simple clipping based on the configured
+maximum effort:
+
+.. math::
+
+    \tau_{j, computed} & = k_p * (q - q_{des}) + k_d * (\dot{q} - \dot{q}_{des}) + \tau_{ff} \\
+    \tau_{j, applied} & = clip(\tau_{computed}, -\tau_{j, max}, \tau_{j, max})
+
+
+where, :math:`k_p` and :math:`k_d` are joint stiffness and damping gains, :math:`q` and :math:`\dot{q}`
+are the current joint positions and velocities, :math:`q_{des}`, :math:`\dot{q}_{des}` and :math:`\tau_{ff}`
+are the desired joint positions, velocities and torques commands. The parameters :math:`\gamma` and
+:math:`\tau_{motor, max}`  are the gear box ratio and the maximum motor effort possible.
+
+Actuator groups
+---------------
+
+The actuator models by themselves are computational blocks that take as inputs the desired joint commands
+and output the joint commands to apply into the simulator. They do not contain any knowledge about the
+joints they are acting on themselves. These are handled by the :class:`omni.isaac.lab.assets.Articulation`
+class, which wraps around the physics engine's articulation class.
+
+Actuator are collected as a set of actuated joints on an articulation that are using the same actuator model.
+For instance, the quadruped, ANYmal-C, uses series elastic actuator, ANYdrive 3.0, for all its joints. This
+grouping configures the actuator model for those joints, translates the input commands to the joint level
+commands, and returns the articulation action to set into the simulator. Having an arm with a different
+actuator model, such as a DC motor, would require configuring a different actuator group.
+
+The following figure shows the actuator groups for a legged mobile manipulator:
+
+.. image:: ../../_static/actuator-group/actuator-light.svg
+    :class: only-light
+    :align: center
+    :alt: Actuator models for a legged mobile manipulator
+    :width: 80%
+
+.. image:: ../../_static/actuator-group/actuator-dark.svg
+    :class: only-dark
+    :align: center
+    :width: 80%
+    :alt: Actuator models for a legged mobile manipulator
+
+.. seealso::
+
+    We provide implementations for various explicit actuator models. These are detailed in
+    `omni.isaac.lab.actuators <../../api/lab/omni.isaac.lab.actuators.html>`_ sub-package.
diff --git a/v1.4.0/_sources/source/overview/core-concepts/index.rst b/v1.4.0/_sources/source/overview/core-concepts/index.rst
new file mode 100644
index 0000000000..488b5ee221
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/core-concepts/index.rst
@@ -0,0 +1,11 @@
+Core Concepts
+=============
+
+This section we introduce core concepts in Isaac Lab.
+
+.. toctree::
+  :maxdepth: 1
+
+
+  task_workflows
+  actuators
diff --git a/v1.4.0/_sources/source/overview/core-concepts/motion_generators.rst b/v1.4.0/_sources/source/overview/core-concepts/motion_generators.rst
new file mode 100644
index 0000000000..e4e09f2f17
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/core-concepts/motion_generators.rst
@@ -0,0 +1,229 @@
+Motion Generators
+=================
+
+Robotic tasks are typically defined in task-space in terms of desired
+end-effector trajectory, while control actions are executed in the
+joint-space. This naturally leads to *joint-space* and *task-space*
+(operational-space) control methods. However, successful execution of
+interaction tasks using motion control often requires an accurate model
+of both the robot manipulator as well as its environment. While a
+sufficiently precise manipulator's model might be known, detailed
+description of environment is hard to obtain :cite:p:`siciliano2009force`.
+Planning errors caused by this mismatch can be overcome by introducing a
+*compliant* behavior during interaction.
+
+While compliance is achievable passively through robot's structure (such
+as elastic actuators, soft robot arms), we are more interested in
+controller designs that focus on active interaction control. These are
+broadly categorized into:
+
+1. **impedance control:** indirect control method where motion deviations
+   caused during interaction relates to contact force as a mass-spring-damper
+   system with adjustable parameters (stiffness and damping). A specialized case
+   of this is *stiffness* control where only the static relationship between
+   position error and contact force is considered.
+
+2. **hybrid force/motion control:** active control method which controls motion
+   and force along unconstrained and constrained task directions respectively.
+   Among the various schemes for hybrid motion control, the provided implementation
+   is based on inverse dynamics control in the operational space :cite:p:`khatib1987osc`.
+
+.. note::
+
+    To provide an even broader set of motion generators, we welcome contributions from the
+    community. If you are interested, please open an issue to start a discussion!
+
+
+Joint-space controllers
+-----------------------
+
+Torque control
+~~~~~~~~~~~~~~
+
+Action dimensions: ``"n"`` (number of joints)
+
+In torque control mode, the input actions are directly set as feed-forward
+joint torque commands, i.e. at every time-step,
+
+.. math::
+
+    \tau = \tau_{des}
+
+Thus, this control mode is achievable by setting the command type for the actuator group, via
+the :class:`ActuatorControlCfg` class, to ``"t_abs"``.
+
+
+Velocity control
+~~~~~~~~~~~~~~~~
+
+Action dimensions: ``"n"`` (number of joints)
+
+In velocity control mode, a proportional control law is required to reduce the error between the
+current and desired joint velocities. Based on input actions, the joint torques commands are computed as:
+
+.. math::
+
+    \tau = k_d (\dot{q}_{des} - \dot{q})
+
+where :math:`k_d` are the gains parsed from configuration.
+
+This control mode is achievable by setting the command type for the actuator group, via
+the :class:`ActuatorControlCfg` class, to ``"v_abs"`` or ``"v_rel"``.
+
+.. attention::
+
+    While performing velocity control, in many cases, gravity compensation is required to ensure better
+    tracking of the command. In this case, we suggest disabling gravity for the links in the articulation
+    in simulation.
+
+Position control with fixed impedance
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Action dimensions: ``"n"`` (number of joints)
+
+In position control mode, a proportional-damping (PD) control law is employed to track the desired joint
+positions and ensuring the articulation remains still at the desired location (i.e., desired joint velocities
+are zero). Based on the input actions, the joint torque commands are computed as:
+
+.. math::
+
+    \tau = k_p (q_{des} - q)  - k_d \dot{q}
+
+where :math:`k_p` and :math:`k_d` are the gains parsed from configuration.
+
+In its simplest above form,  the control mode is achievable by setting the command type for the actuator group,
+via the :class:`ActuatorControlCfg` class, to ``"p_abs"`` or ``"p_rel"``.
+
+However, a more complete formulation which considers the dynamics of the articulation would be:
+
+.. math::
+
+    \tau = M \left( k_p (q_{des} - q)  - k_d \dot{q} \right) + g
+
+where :math:`M` is the joint-space inertia matrix of size :math:`n \times n`, and :math:`g` is the joint-space
+gravity vector. This implementation is available through the :class:`JointImpedanceController` class by setting the
+impedance mode to ``"fixed"``. The gains :math:`k_p` are parsed from the input configuration and :math:`k_d`
+are computed while considering the system as a decoupled point-mass oscillator, i.e.,
+
+.. math::
+
+    k_d = 2 \sqrt{k_p} \times D
+
+where :math:`D` is the damping ratio of the system. Critical damping is achieved for :math:`D = 1`, overcritical
+damping for :math:`D > 1` and undercritical damping for :math:`D < 1`.
+
+Additionally, it is possible to disable the inertial or gravity compensation in the controller by setting the
+flags :attr:`inertial_compensation` and  :attr:`gravity_compensation` in the configuration to :obj:`False`,
+respectively.
+
+Position control with variable stiffness
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Action dimensions: ``"2n"`` (number of joints)
+
+In stiffness control, the same formulation as above is employed, however, the gains :math:`k_p` are part of
+the input commands. This implementation is available through the :class:`JointImpedanceController` class by
+setting the impedance mode to ``"variable_kp"``.
+
+Position control with variable impedance
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Action dimensions: ``"3n"`` (number of joints)
+
+In impedance control, the same formulation as above is employed, however, both :math:`k_p` and :math:`k_d`
+are part of the input commands. This implementation is available through the :class:`JointImpedanceController`
+class by setting the impedance mode to ``"variable"``.
+
+Task-space controllers
+----------------------
+
+Differential inverse kinematics (IK)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Action dimensions:  ``"3"`` (relative/absolute position), ``"6"`` (relative pose), or ``"7"`` (absolute pose)
+
+Inverse kinematics converts the task-space tracking error to joint-space error. In its most typical implementation,
+the pose error in the task-sace, :math:`\Delta \chi_e = (\Delta p_e, \Delta \phi_e)`, is computed as the cartesian
+distance between the desired and current task-space positions, and the shortest distance in :math:`\mathbb{SO}(3)`
+between the desired and current task-space orientations.
+
+Using the geometric Jacobian :math:`J_{eO} \in \mathbb{R}^{6 \times n}`, that relates task-space velocity to joint-space velocities,
+we design the control law to obtain the desired joint positions as:
+
+.. math::
+
+    q_{des} = q + \eta J_{eO}^{-} \Delta \chi_e
+
+where :math:`\eta` is a scaling parameter and :math:`J_{eO}^{-}` is the pseudo-inverse of the Jacobian.
+
+It is possible to compute the pseudo-inverse of the Jacobian using different formulations:
+
+* Moore-Penrose pseduo-inverse: :math:`A^{-} = A^T(AA^T)^{-1}`.
+* Levenberg-Marquardt pseduo-inverse (damped least-squares): :math:`A^{-} = A^T (AA^T + \lambda \mathbb{I})^{-1}`.
+* Tanspose pseudo-inverse: :math:`A^{-} = A^T`.
+* Adaptive singular-vale decomposition (SVD) pseduo-inverse from :cite:t:`buss2004ik`.
+
+These implementations are available through the :class:`DifferentialInverseKinematics` class.
+
+Impedance controller
+~~~~~~~~~~~~~~~~~~~~
+
+
+It uses task-space pose error and Jacobian to compute join torques through mass-spring-damper system
+with a) fixed stiffness, b) variable stiffness (stiffness control),
+and c) variable stiffness and damping (impedance control).
+
+Operational-space controller
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Similar to task-space impedance
+control but uses the Equation of Motion (EoM) for computing the
+task-space force
+
+Closed-loop proportional force controller
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+It uses a proportional term
+to track the desired wrench command with respect to current wrench at
+the end-effector.
+
+Hybrid force-motion controller
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+It combines closed-loop force control
+and operational-space motion control to compute the desired wrench at
+the end-effector. It uses selection matrices that define the
+unconstrainted and constrained task directions.
+
+
+Reactive planners
+-----------------
+
+Typical task-space controllers do not account for motion constraints
+such as joint limits, self-collision and environment collision. Instead
+they rely on high-level planners (such as RRT) to handle these
+non-Euclidean constraints and give joint/task-space way-points to the
+controller. However, these methods are often conservative and have
+undesirable deceleration when close to an object. More recently,
+different approaches combine the constraints directly into an
+optimization problem, thereby providing a holistic solution for motion
+generation and control.
+
+We currently support the following planners:
+
+-  **RMPFlow (lula):** An acceleration-based policy that composes various Reimannian Motion Policies (RMPs) to
+   solve a hierarchy of tasks :cite:p:`cheng2021rmpflow`. It is capable of performing dynamic collision
+   avoidance while navigating the end-effector to a target.
+
+-  **MPC (OCS2):** A receding horizon control policy based on sequential linear-quadratic (SLQ) programming.
+   It formulates various constraints into a single optimization problem via soft-penalties and uses automatic
+   differentiation to compute derivatives of the system dynamics, constraints and costs. Currently, we support
+   the MPC formulation for end-effector trajectory tracking in fixed-arm and mobile manipulators. The formulation
+   considers a kinematic system model with joint limits and self-collision avoidance :cite:p:`mittal2021articulated`.
+
+
+.. warning::
+
+    We wrap around the python bindings for these reactive planners to perform a batched computing of
+    robot actions. However, their current implementations are CPU-based which may cause certain
+    slowdown for learning.
diff --git a/v1.4.0/_sources/source/overview/core-concepts/task_workflows.rst b/v1.4.0/_sources/source/overview/core-concepts/task_workflows.rst
new file mode 100644
index 0000000000..7aeb78e8dc
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/core-concepts/task_workflows.rst
@@ -0,0 +1,155 @@
+.. _feature-workflows:
+
+
+Task Design Workflows
+=====================
+
+.. currentmodule:: omni.isaac.lab
+
+Environments define the interface between the agent and the simulation. In the simplest case, the environment provides
+the agent with the current observations and executes the actions provided by the agent. In a Markov Decision Process
+(MDP) formulation, the environment can also provide additional information such as the current reward, done flag, and
+information about the current episode.
+
+While the environment interface is simple to understand, its implementation can vary significantly depending on the
+complexity of the task. In the context of reinforcement learning (RL), the environment implementation can be broken down
+into several components, such as the reward function, observation function, termination function, and reset function.
+Each of these components can be implemented in different ways depending on the complexity of the task and the desired
+level of modularity.
+
+We provide two different workflows for designing environments with the framework:
+
+* **Manager-based**: The environment is decomposed into individual components (or managers) that handle different
+  aspects of the environment (such as computing observations, applying actions, and applying randomization). The
+  user defines configuration classes for each component and the environment is responsible for coordinating the
+  managers and calling their functions.
+* **Direct**: The user defines a single class that implements the entire environment directly without the need for
+  separate managers. This class is responsible for computing observations, applying actions, and computing rewards.
+
+Both workflows have their own advantages and disadvantages. The manager-based workflow is more modular and allows
+different components of the environment to be swapped out easily. This is useful when prototyping the environment
+and experimenting with different configurations. On the other hand, the direct workflow is more efficient and allows
+for more fine-grained control over the environment logic. This is useful when optimizing the environment for performance
+or when implementing complex logic that is difficult to decompose into separate components.
+
+
+Manager-Based Environments
+--------------------------
+
+A majority of environment implementations follow a similar structure. The environment processes the input actions,
+steps through the simulation, computes observations and reward signals, applies randomization, and resets the terminated
+environments. Motivated by this, the environment can be decomposed into individual components that handle each of these tasks.
+For example, the observation manager is responsible for computing the observations, the reward manager is responsible for
+computing the rewards, and the termination manager is responsible for computing the termination signal. This approach
+is known as the manager-based environment design in the framework.
+
+.. image:: ../../_static/task-workflows/manager-based-light.svg
+    :class: only-light
+    :align: center
+    :alt: Manager-based Task Workflow
+
+.. image:: ../../_static/task-workflows/manager-based-dark.svg
+    :class: only-dark
+    :align: center
+    :alt: Manager-based Task Workflow
+
+Manager-based environments promote modular implementations of tasks by decomposing the task into individual
+components that are managed by separate classes. Each component of the task, such as rewards, observations,
+termination can all be specified as individual configuration classes that are then passed to the corresponding
+manager classes. The manager is then responsible for parsing the configurations and processing the contents specified
+in its configuration.
+
+The coordination between the different managers is orchestrated by the class :class:`envs.ManagerBasedRLEnv`.
+It takes in a task configuration class instance (:class:`envs.ManagerBasedRLEnvCfg`) that contains the configurations
+for each of the components of the task. Based on the configurations, the scene is set up and the task is initialized.
+Afterwards, while stepping through the environment, all the managers are called sequentially to perform the necessary
+operations.
+
+For their own tasks, we expect the user to mainly define the task configuration class and use the existing
+:class:`envs.ManagerBasedRLEnv` class for the task implementation. The task configuration class should inherit from
+the base class :class:`envs.ManagerBasedRLEnvCfg` and contain variables assigned to various configuration classes
+for each component (such as the ``ObservationCfg`` and ``RewardCfg``).
+
+.. dropdown:: Example for defining the reward function for the Cartpole task using the manager-style
+    :icon: plus
+
+    The following class is a part of the Cartpole environment configuration class. The :class:`RewardsCfg` class
+    defines individual terms that compose the reward function. Each reward term is defined by its function
+    implementation, weight and additional parameters to be passed to the function. Users can define multiple
+    reward terms and their weights to be used in the reward function.
+
+    .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
+        :language: python
+        :pyobject: RewardsCfg
+
+
+Through this approach, it is possible to easily vary the implementations of the task by switching some components
+while leaving the remaining of the code intact. This flexibility is desirable when prototyping the environment and
+experimenting with different configurations. It also allows for easy collaborating with others on implementing an
+environment, since contributors may choose to use different combinations of configurations for their own task
+specifications.
+
+.. seealso::
+
+    We provide a more detailed tutorial for setting up an environment using the manager-based workflow at
+    :ref:`tutorial-create-manager-rl-env`.
+
+
+Direct Environments
+-------------------
+
+The direct-style environment aligns more closely with traditional implementations of environments,
+where a single script directly implements the reward function, observation function, resets, and all the other components
+of the environment. This approach does not require the manager classes. Instead, users are provided the complete freedom
+to implement their task through the APIs from the base classes :class:`envs.DirectRLEnv` or :class:`envs.DirectMARLEnv`.
+For users migrating from the `IsaacGymEnvs`_ and `OmniIsaacGymEnvs`_ framework, this workflow may be more familiar.
+
+.. image:: ../../_static/task-workflows/direct-based-light.svg
+    :class: only-light
+    :align: center
+    :alt: Direct-based Task Workflow
+
+.. image:: ../../_static/task-workflows/direct-based-dark.svg
+    :class: only-dark
+    :align: center
+    :alt: Direct-based Task Workflow
+
+When defining an environment with the direct-style implementation, we expect the user define a single class that
+implements the entire environment. The task class should inherit from the base classes :class:`envs.DirectRLEnv` or
+:class:`envs.DirectMARLEnv` and should have its corresponding configuration class that inherits from
+:class:`envs.DirectRLEnvCfg` or :class:`envs.DirectMARLEnvCfg` respectively. The task class is responsible
+for setting up the scene, processing the actions, computing the rewards, observations, resets, and termination signals.
+
+.. dropdown:: Example for defining the reward function for the Cartpole task using the direct-style
+    :icon: plus
+
+    The following function is a part of the Cartpole environment class and is responsible for computing the rewards.
+
+    .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py
+        :language: python
+        :pyobject: CartpoleEnv._get_rewards
+        :dedent: 4
+
+    It calls the :meth:`compute_rewards` function which is Torch JIT compiled for performance benefits.
+
+    .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py
+        :language: python
+        :pyobject: compute_rewards
+
+This approach provides more transparency in the implementations of the environments, as logic is defined within the task
+class instead of abstracted with the use of managers. This may be beneficial when implementing complex logic that is
+difficult to decompose into separate components. Additionally, the direct-style implementation may bring more performance
+benefits for the environment, as it allows implementing large chunks of logic with optimized frameworks such as
+`PyTorch JIT`_ or `Warp`_. This may be valuable when scaling up training tremendously which requires optimizing individual
+operations in the environment.
+
+.. seealso::
+
+    We provide a more detailed tutorial for setting up a RL environment using the direct workflow at
+    :ref:`tutorial-create-direct-rl-env`.
+
+
+.. _IsaacGymEnvs: https://github.com/isaac-sim/IsaacGymEnvs
+.. _OmniIsaacGymEnvs: https://github.com/isaac-sim/OmniIsaacGymEnvs
+.. _Pytorch JIT: https://pytorch.org/docs/stable/jit.html
+.. _Warp: https://github.com/NVIDIA/warp
diff --git a/v1.4.0/_sources/source/overview/developer-guide/development.rst b/v1.4.0/_sources/source/overview/developer-guide/development.rst
new file mode 100644
index 0000000000..d2280918dc
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/developer-guide/development.rst
@@ -0,0 +1,176 @@
+Application Development
+=======================
+
+Extensions
+~~~~~~~~~~
+
+Extensions are the recommended way to develop applications in Isaac Sim. They are
+modularized packages that formulate the Omniverse ecosystem. Each extension
+provides a set of functionalities that can be used by other extensions or
+standalone applications. A folder is recognized as an extension if it contains
+an ``extension.toml`` file in the ``config`` directory. More information on extensions can be found in the
+`Omniverse documentation <https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/extensions_basic.html>`__.
+
+Each extension in Isaac Lab is written as a python package and follows the following structure:
+
+.. code:: bash
+
+   <extension-name>
+   ├── config
+   │   └── extension.toml
+   ├── docs
+   │   ├── CHANGELOG.md
+   │   └── README.md
+   ├── <extension-name>
+   │   ├── __init__.py
+   │   ├── ....
+   │   └── scripts
+   ├── setup.py
+   └── tests
+
+The ``config/extension.toml`` file contains the metadata of the extension. This
+includes the name, version, description, dependencies, etc. This information is used
+by Omniverse to load the extension. The ``docs`` directory contains the documentation
+for the extension with more detailed information about the extension and a CHANGELOG
+file that contains the changes made to the extension in each version.
+
+The ``<extension-name>`` directory contains the main python package for the extension.
+It may also contains the ``scripts`` directory for keeping python-based applications
+that are loaded into Omniverse when then extension is enabled using the
+`Extension Manager <https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/extensions_basic.html>`__.
+
+More specifically, when an extension is enabled, the python module specified in the
+``config/extension.toml`` file is loaded and scripts that contains children of the
+:class:`omni.ext.IExt` class are executed.
+
+.. code:: python
+
+   import omni.ext
+
+   class MyExt(omni.ext.IExt):
+      """My extension application."""
+
+      def on_startup(self, ext_id):
+         """Called when the extension is loaded."""
+         pass
+
+      def on_shutdown(self):
+         """Called when the extension is unloaded.
+
+         It releases all references to the extension and cleans up any resources.
+         """
+         pass
+
+While loading extensions into Omniverse happens automatically, using the python package
+in standalone applications requires additional steps. To simplify the build process and
+avoiding the need to understand the `premake <https://premake.github.io/>`__
+build system used by Omniverse, we directly use the `setuptools <https://setuptools.readthedocs.io/en/latest/>`__
+python package to build the python module provided by the extensions. This is done by the
+``setup.py`` file in the extension directory.
+
+.. note::
+
+   The ``setup.py`` file is not required for extensions that are only loaded into Omniverse
+   using the `Extension Manager <https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_extension-manager.html>`__.
+
+Lastly, the ``tests`` directory contains the unit tests for the extension. These are written
+using the `unittest <https://docs.python.org/3/library/unittest.html>`__ framework. It is
+important to note that Omniverse also provides a similar
+`testing framework <https://docs.omniverse.nvidia.com/kit/docs/kit-manual/104.0/guide/testing_exts_python.html>`__.
+However, it requires going through the build process and does not support testing of the python module in
+standalone applications.
+
+Custom Extension Dependency Management
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Certain extensions may have dependencies which require installation of additional packages before the extension
+can be used. While Python dependencies are handled by the `setuptools <https://setuptools.readthedocs.io/en/latest/>`__
+package and specified in the ``setup.py`` file, non-Python dependencies such as `ROS <https://www.ros.org/>`__
+packages or `apt <https://en.wikipedia.org/wiki/APT_(software)>`__ packages are not handled by setuptools.
+To handle these dependencies, we have created an additional setup procedure described in the next section.
+
+There are two types of dependencies that can be specified in the ``extension.toml`` file
+under the ``isaac_lab_settings`` section:
+
+1. **apt_deps**: A list of apt packages that need to be installed. These are installed using the
+   `apt <https://ubuntu.com/server/docs/package-management>`__ package manager.
+2. **ros_ws**: The path to the ROS workspace that contains the ROS packages. These are installed using
+   the `rosdep <https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html>`__ dependency manager.
+
+As an example, the following ``extension.toml`` file specifies the dependencies for the extension:
+
+.. code-block:: toml
+
+   [isaac_lab_settings]
+   # apt dependencies
+   apt_deps = ["libboost-all-dev"]
+
+   # ROS workspace
+   # note: if this path is relative, it is relative to the extension directory's root
+   ros_ws = "/home/user/catkin_ws"
+
+These dependencies are installed using the ``install_deps.py`` script provided in the ``tools`` directory.
+To install all dependencies for all extensions, run the following command:
+
+.. code-block:: bash
+
+   # execute from the root of the repository
+   # the script expects the type of dependencies to install and the path to the extensions directory
+   # available types are: 'apt', 'rosdep' and 'all'
+   python tools/install_deps.py all ${ISAACLAB_PATH}/source/extensions
+
+.. note::
+   Currently, this script is automatically executed during the build process of the ``Dockerfile.base``
+   and ``Dockerfile.ros2``. This ensures that all the 'apt' and 'rosdep' dependencies are installed
+   before building the extensions respectively.
+
+
+Standalone applications
+~~~~~~~~~~~~~~~~~~~~~~~
+
+In a typical Omniverse workflow, the simulator is launched first, after which the extensions are
+enabled that load the python module and run the python application. While this is a recommended
+workflow, it is not always possible to use this workflow.
+
+For example, for robot learning, it is essential to have complete control over simulation stepping
+and all the other functionalities instead of asynchronously waiting for the simulator to step. In
+such cases, it is necessary to write a standalone application that launches the simulator using
+:class:`~omni.isaac.lab.app.AppLauncher` and allows complete control over the simulation through
+the :class:`~omni.isaac.lab.sim.SimulationContext` class.
+
+The following snippet shows how to write a standalone application:
+
+.. code:: python
+
+   """Launch Isaac Sim Simulator first."""
+
+   from omni.isaac.lab.app import AppLauncher
+
+   # launch omniverse app
+   app_launcher = AppLauncher(headless=False)
+   simulation_app = app_launcher.app
+
+
+   """Rest everything follows."""
+
+   from omni.isaac.lab.sim import SimulationContext
+
+   if __name__ == "__main__":
+      # get simulation context
+      simulation_context = SimulationContext()
+      # reset and play simulation
+      simulation_context.reset()
+      # step simulation
+      simulation_context.step()
+      # stop simulation
+      simulation_context.stop()
+
+      # close the simulation
+      simulation_app.close()
+
+
+It is necessary to launch the simulator before running any other code because extensions are hot-loaded
+when the simulator starts. Many Omniverse modules become available only after the simulator is launched.
+To do this, use the :class:~omni.isaac.lab.app.AppLauncher class to start the simulator. After that,
+the :class:~omni.isaac.lab.sim.SimulationContext class can be used to control the simulation. For further
+details, we recommend exploring the Isaac Lab tutorials.
diff --git a/v1.4.0/_sources/source/overview/developer-guide/index.rst b/v1.4.0/_sources/source/overview/developer-guide/index.rst
new file mode 100644
index 0000000000..f45cf9cd73
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/developer-guide/index.rst
@@ -0,0 +1,16 @@
+Developer's Guide
+=================
+
+For development, we suggest using `Microsoft Visual Studio Code
+(VSCode) <https://code.visualstudio.com/>`__. This is also suggested by
+NVIDIA Omniverse and there exists tutorials on how to `debug Omniverse
+extensions <https://www.youtube.com/watch?v=Vr1bLtF1f4U&ab_channel=NVIDIAOmniverse>`__
+using VSCode.
+
+.. toctree::
+  :maxdepth: 1
+
+  vs_code
+  repo_structure
+  development
+  template
diff --git a/v1.4.0/_sources/source/overview/developer-guide/repo_structure.rst b/v1.4.0/_sources/source/overview/developer-guide/repo_structure.rst
new file mode 100644
index 0000000000..033e5dfe68
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/developer-guide/repo_structure.rst
@@ -0,0 +1,70 @@
+Repository organization
+-----------------------
+
+The Isaac Lab repository is structured as follows:
+
+.. code-block:: bash
+
+   IsaacLab
+   ├── .vscode
+   ├── .flake8
+   ├── CONTRIBUTING.md
+   ├── CONTRIBUTORS.md
+   ├── LICENSE
+   ├── isaaclab.bat
+   ├── isaaclab.sh
+   ├── pyproject.toml
+   ├── README.md
+   ├── docs
+   ├── docker
+   ├── source
+   │   ├── extensions
+   │   │   ├── omni.isaac.lab
+   │   │   ├── omni.isaac.lab_assets
+   │   │   └── omni.isaac.lab_tasks
+   │   ├── standalone
+   │   │   ├── demos
+   │   │   ├── environments
+   │   │   ├── tools
+   │   │   ├── tutorials
+   │   │   └── workflows
+   ├── tools
+   └── VERSION
+
+The ``source`` directory contains the source code for all Isaac Lab *extensions*
+and *standalone applications*. The two are the different development workflows
+supported in `Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_workflows.html>`__.
+
+
+Extensions
+~~~~~~~~~~
+
+Extensions are modularized packages that formulate the Omniverse ecosystem. In Isaac Lab. these are written
+into the ``source/extensions`` directory. To simplify the build process, Isaac Lab directly use the
+`setuptools <https://setuptools.readthedocs.io/en/latest/>`__ python package to build the python module
+provided by the extensions. This is done by the ``setup.py`` file in the extension directory.
+
+The extensions are organized as follows:
+
+* **omni.isaac.lab**: Contains the core interface extension for Isaac Lab. This provides the main modules for actuators,
+  objects, robots and sensors.
+* **omni.isaac.lab_assets**: Contains the extension with pre-configured assets for Isaac Lab.
+* **omni.isaac.lab_tasks**: Contains the extension with pre-configured environments for Isaac Lab. It also includes
+  wrappers for using these environments with different agents.
+
+
+Standalone
+~~~~~~~~~~
+
+The ``source/standalone`` directory contains various standalone applications written in python.
+They are structured as follows:
+
+* **benchmarks**: Contains scripts for benchmarking different framework components.
+* **demos**: Contains various demo applications that showcase the core framework :mod:`omni.isaac.lab`.
+* **environments**: Contains applications for running environments defined in :mod:`omni.isaac.lab_tasks` with
+  different agents. These include a random policy, zero-action policy, teleoperation or scripted state machines.
+* **tools**: Contains applications for using the tools provided by the framework. These include converting assets,
+  generating datasets, etc.
+* **tutorials**: Contains step-by-step tutorials for using the APIs provided by the framework.
+* **workflows**: Contains applications for using environments with various learning-based frameworks. These include different
+  reinforcement learning or imitation learning libraries.
diff --git a/v1.4.0/_sources/source/overview/developer-guide/template.rst b/v1.4.0/_sources/source/overview/developer-guide/template.rst
new file mode 100644
index 0000000000..e6c55b9b61
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/developer-guide/template.rst
@@ -0,0 +1,57 @@
+Building your Own Project
+=========================
+
+Traditionally, building new projects that utilize Isaac Lab's features required creating your own
+extensions within the Isaac Lab repository. However, this approach can obscure project visibility and
+complicate updates from one version of Isaac Lab to another. To circumvent these challenges, we now
+provide a pre-configured and customizable `extension template <https://github.com/isaac-sim/IsaacLabExtensionTemplate>`_
+for creating projects in an isolated environment.
+
+This template serves three distinct use cases:
+
+* **Project Template**: Provides essential access to Isaac Sim and Isaac Lab's features, making it ideal for projects
+  that require a standalone environment.
+* **Python Package**: Facilitates integration with Isaac Sim's native or virtual Python environment, allowing for
+  the creation of Python packages that can be shared and reused across multiple projects.
+* **Omniverse Extension**: Supports direct integration into Omniverse extension workflow.
+
+.. note::
+
+  We recommend using the extension template for new projects, as it provides a more streamlined and
+  efficient workflow. Additionally it ensures that your project remains up-to-date with the latest
+  features and improvements in Isaac Lab.
+
+
+Installation
+------------
+
+Install Isaac Lab by following the `installation guide <../../setup/installation/index.html>`_. We recommend using the conda installation as it simplifies calling Python scripts from the terminal.
+
+Clone the extension template repository separately from the Isaac Lab installation (i.e. outside the IsaacLab directory):
+
+.. code:: bash
+
+	# Option 1: HTTPS
+	git clone https://github.com/isaac-sim/IsaacLabExtensionTemplate.git
+
+	# Option 2: SSH
+	git clone git@github.com:isaac-sim/IsaacLabExtensionTemplate.git
+
+Throughout the repository, the name ``ext_template`` only serves as an example and we provide a script to rename all the references to it automatically:
+
+.. code:: bash
+
+	# Enter the repository
+	cd IsaacLabExtensionTemplate
+
+	# Rename all occurrences of ext_template (in files/directories) to your_fancy_extension_name
+	python scripts/rename_template.py your_fancy_extension_name
+
+Using a python interpreter that has Isaac Lab installed, install the library:
+
+.. code:: bash
+
+	python -m pip install -e exts/ext_template
+
+
+For more details, please follow the instructions in the `extension template repository <https://github.com/isaac-sim/IsaacLabExtensionTemplate>`_.
diff --git a/v1.4.0/_sources/source/overview/developer-guide/vs_code.rst b/v1.4.0/_sources/source/overview/developer-guide/vs_code.rst
new file mode 100644
index 0000000000..0413dd191e
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/developer-guide/vs_code.rst
@@ -0,0 +1,65 @@
+Setting up Visual Studio Code
+-----------------------------
+
+The following is only applicable for Isaac Sim installed via the Omniverse Launcher.
+The Isaac Lab repository includes the VSCode settings to easily allow setting
+up your development environment. These are included in the ``.vscode`` directory
+and include the following files:
+
+.. code-block:: bash
+
+   .vscode
+   ├── tools
+   │   ├── launch.template.json
+   │   ├── settings.template.json
+   │   └── setup_vscode.py
+   ├── extensions.json
+   ├── launch.json  # <- this is generated by setup_vscode.py
+   ├── settings.json  # <- this is generated by setup_vscode.py
+   └── tasks.json
+
+
+To setup the IDE, please follow these instructions:
+
+1. Open the ``IsaacLab`` directory on Visual Studio Code IDE
+2. Run VSCode `Tasks <https://code.visualstudio.com/docs/editor/tasks>`__, by
+   pressing ``Ctrl+Shift+P``, selecting ``Tasks: Run Task`` and running the
+   ``setup_python_env`` in the drop down menu.
+
+   .. image:: ../../_static/vscode_tasks.png
+      :width: 600px
+      :align: center
+      :alt: VSCode Tasks
+
+If everything executes correctly, it should create the following files:
+
+* ``.vscode/launch.json``: Contains the launch configurations for debugging python code.
+* ``.vscode/settings.json``: Contains the settings for the python interpreter and the python environment.
+
+For more information on VSCode support for Omniverse, please refer to the
+following links:
+
+* `Isaac Sim VSCode support <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_standalone_python.html#isaac-sim-python-vscode>`__
+* `Debugging with VSCode <https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_python_debugging.html>`__
+
+
+Configuring the python interpreter
+----------------------------------
+
+In the provided configuration, we set the default python interpreter to use the
+python executable provided by Omniverse. This is specified in the
+``.vscode/settings.json`` file:
+
+.. code-block:: json
+
+   {
+      "python.defaultInterpreterPath": "${workspaceFolder}/_isaac_sim/python.sh",
+   }
+
+If you want to use a different python interpreter (for instance, from your conda environment),
+you need to change the python interpreter used by selecting and activating the python interpreter
+of your choice in the bottom left corner of VSCode, or opening the command palette (``Ctrl+Shift+P``)
+and selecting ``Python: Select Interpreter``.
+
+For more information on how to set python interpreter for VSCode, please
+refer to the `VSCode documentation <https://code.visualstudio.com/docs/python/environments#_working-with-python-interpreters>`_.
diff --git a/v1.4.0/_sources/source/overview/environments.rst b/v1.4.0/_sources/source/overview/environments.rst
new file mode 100644
index 0000000000..00400c721d
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/environments.rst
@@ -0,0 +1,596 @@
+.. _environments:
+
+Available Environments
+======================
+
+The following lists comprises of all the RL tasks implementations that are available in Isaac Lab.
+While we try to keep this list up-to-date, you can always get the latest list of environments by
+running the following command:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         ./isaaclab.sh -p source/standalone/environments/list_envs.py
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         isaaclab.bat -p source\standalone\environments\list_envs.py
+
+We are actively working on adding more environments to the list. If you have any environments that
+you would like to add to Isaac Lab, please feel free to open a pull request!
+
+Single-agent
+------------
+
+Classic
+~~~~~~~
+
+Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-style environments.
+
+.. table::
+    :widths: 33 37 30
+
+    +------------------+-----------------------------+-------------------------------------------------------------------------+
+    | World            | Environment ID              | Description                                                             |
+    +==================+=============================+=========================================================================+
+    | |humanoid|       | |humanoid-link|             | Move towards a direction with the MuJoCo humanoid robot                 |
+    |                  |                             |                                                                         |
+    |                  | |humanoid-direct-link|      |                                                                         |
+    +------------------+-----------------------------+-------------------------------------------------------------------------+
+    | |ant|            | |ant-link|                  | Move towards a direction with the MuJoCo ant robot                      |
+    |                  |                             |                                                                         |
+    |                  | |ant-direct-link|           |                                                                         |
+    +------------------+-----------------------------+-------------------------------------------------------------------------+
+    | |cartpole|       | |cartpole-link|             | Move the cart to keep the pole upwards in the classic cartpole control  |
+    |                  |                             |                                                                         |
+    |                  | |cartpole-direct-link|      |                                                                         |
+    +------------------+-----------------------------+-------------------------------------------------------------------------+
+    | |cartpole|       | |cartpole-rgb-link|         | Move the cart to keep the pole upwards in the classic cartpole control  |
+    |                  |                             | and perceptive inputs                                                   |
+    |                  | |cartpole-depth-link|       |                                                                         |
+    |                  |                             |                                                                         |
+    |                  | |cartpole-rgb-direct-link|  |                                                                         |
+    |                  |                             |                                                                         |
+    |                  | |cartpole-depth-direct-link||                                                                         |
+    +------------------+-----------------------------+-------------------------------------------------------------------------+
+    | |cartpole|       | |cartpole-resnet-link|      | Move the cart to keep the pole upwards in the classic cartpole control  |
+    |                  |                             | based off of features extracted from perceptive inputs with pre-trained |
+    |                  | |cartpole-theia-link|       | frozen vision encoders                                                  |
+    +------------------+-----------------------------+-------------------------------------------------------------------------+
+
+.. |humanoid| image:: ../_static/tasks/classic/humanoid.jpg
+.. |ant| image:: ../_static/tasks/classic/ant.jpg
+.. |cartpole| image:: ../_static/tasks/classic/cartpole.jpg
+
+.. |humanoid-link| replace:: `Isaac-Humanoid-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py>`__
+.. |ant-link| replace:: `Isaac-Ant-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/ant_env_cfg.py>`__
+.. |cartpole-link| replace:: `Isaac-Cartpole-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py>`__
+.. |cartpole-rgb-link| replace:: `Isaac-Cartpole-RGB-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+.. |cartpole-depth-link| replace:: `Isaac-Cartpole-Depth-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+.. |cartpole-resnet-link| replace:: `Isaac-Cartpole-RGB-ResNet18-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+.. |cartpole-theia-link| replace:: `Isaac-Cartpole-RGB-TheiaTiny-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py>`__
+
+
+.. |humanoid-direct-link| replace:: `Isaac-Humanoid-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/humanoid_env.py>`__
+.. |ant-direct-link| replace:: `Isaac-Ant-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/ant_env.py>`__
+.. |cartpole-direct-link| replace:: `Isaac-Cartpole-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py>`__
+.. |cartpole-rgb-direct-link| replace:: `Isaac-Cartpole-RGB-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
+.. |cartpole-depth-direct-link| replace:: `Isaac-Cartpole-Depth-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
+
+Manipulation
+~~~~~~~~~~~~
+
+Environments based on fixed-arm manipulation tasks.
+
+For many of these tasks, we include configurations with different arm action spaces. For example,
+for the lift-cube environment:
+
+* |lift-cube-link|: Franka arm with joint position control
+* |lift-cube-ik-abs-link|: Franka arm with absolute IK control
+* |lift-cube-ik-rel-link|: Franka arm with relative IK control
+
+.. table::
+    :widths: 33 37 30
+
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | World              | Environment ID          | Description                                                                 |
+    +====================+=========================+=============================================================================+
+    | |reach-franka|     | |reach-franka-link|     | Move the end-effector to a sampled target pose with the Franka robot        |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |reach-ur10|       | |reach-ur10-link|       | Move the end-effector to a sampled target pose with the UR10 robot          |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |lift-cube|        | |lift-cube-link|        | Pick a cube and bring it to a sampled target position with the Franka robot |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |stack-cube|       | |stack-cube-link|       | Stack three cubes (bottom to top: blue, red, green) with the Franka robot   |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |cabi-franka|      | |cabi-franka-link|      | Grasp the handle of a cabinet's drawer and open it with the Franka robot    |
+    |                    |                         |                                                                             |
+    |                    | |franka-direct-link|    |                                                                             |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |cube-allegro|     | |cube-allegro-link|     | In-hand reorientation of a cube using Allegro hand                          |
+    |                    |                         |                                                                             |
+    |                    | |allegro-direct-link|   |                                                                             |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |cube-shadow|      | |cube-shadow-link|      | In-hand reorientation of a cube using Shadow hand                           |
+    |                    |                         |                                                                             |
+    |                    | |cube-shadow-ff-link|   |                                                                             |
+    |                    |                         |                                                                             |
+    |                    | |cube-shadow-lstm-link| |                                                                             |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |cube-shadow|      | |cube-shadow-vis-link|  | In-hand reorientation of a cube using Shadow hand using perceptive inputs   |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+
+.. |reach-franka| image:: ../_static/tasks/manipulation/franka_reach.jpg
+.. |reach-ur10| image:: ../_static/tasks/manipulation/ur10_reach.jpg
+.. |lift-cube| image:: ../_static/tasks/manipulation/franka_lift.jpg
+.. |cabi-franka| image:: ../_static/tasks/manipulation/franka_open_drawer.jpg
+.. |cube-allegro| image:: ../_static/tasks/manipulation/allegro_cube.jpg
+.. |cube-shadow| image:: ../_static/tasks/manipulation/shadow_cube.jpg
+.. |stack-cube| image:: ../_static/tasks/manipulation/franka_stack.jpg
+
+.. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py>`__
+.. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__
+.. |lift-cube-link| replace:: `Isaac-Lift-Cube-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py>`__
+.. |lift-cube-ik-abs-link| replace:: `Isaac-Lift-Cube-Franka-IK-Abs-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py>`__
+.. |lift-cube-ik-rel-link| replace:: `Isaac-Lift-Cube-Franka-IK-Rel-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py>`__
+.. |cabi-franka-link| replace:: `Isaac-Open-Drawer-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py>`__
+.. |franka-direct-link| replace:: `Isaac-Franka-Cabinet-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/franka_cabinet/franka_cabinet_env.py>`__
+.. |cube-allegro-link| replace:: `Isaac-Repose-Cube-Allegro-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py>`__
+.. |allegro-direct-link| replace:: `Isaac-Repose-Cube-Allegro-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py>`__
+.. |stack-cube-link| replace:: `Isaac-Stack-Cube-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py>`__
+
+.. |cube-shadow-link| replace:: `Isaac-Repose-Cube-Shadow-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
+.. |cube-shadow-ff-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
+.. |cube-shadow-lstm-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
+.. |cube-shadow-vis-link| replace:: `Isaac-Repose-Cube-Shadow-Vision-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_vision_env.py>`__
+
+Contact-rich Manipulation
+~~~~~~~~~~~~
+
+Environments based on contact-rich manipulation tasks such as peg insertion, gear meshing and nut-bolt fastening.
+
+These tasks share the same task configurations and control options. You can switch between them by specifying the task name.
+For example:
+
+* |factory-peg-link|: Peg insertion with the Franka arm
+* |factory-gear-link|: Gear meshing with the Franka arm
+* |factory-nut-link|: Nut-Bolt fastening with the Franka arm
+
+.. table::
+    :widths: 33 37 30
+
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | World              | Environment ID          | Description                                                                 |
+    +====================+=========================+=============================================================================+
+    | |factory-peg|      | |factory-peg-link|      | Insert peg into the socket with the Franka robot                            |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |factory-gear|     | |factory-gear-link|     | Insert and mesh gear into the base with other gears, using the Franka robot |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |factory-nut|      | |factory-nut-link|      | Thread the nut onto the first 2 threads of the bolt, using the Franka robot |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
+
+.. |factory-peg| image:: ../_static/tasks/factory/peg_insert.jpg
+.. |factory-gear| image:: ../_static/tasks/factory/gear_mesh.jpg
+.. |factory-nut| image:: ../_static/tasks/factory/nut_thread.jpg
+
+.. |factory-peg-link| replace:: `Isaac-Factory-PegInsert-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py>`__
+.. |factory-gear-link| replace:: `Isaac-Factory-GearMesh-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py>`__
+.. |factory-nut-link| replace:: `Isaac-Factory-NutThread-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py>`__
+
+Locomotion
+~~~~~~~~~~
+
+Environments based on legged locomotion tasks.
+
+.. table::
+    :widths: 33 37 30
+
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | World                        | Environment ID                               | Description                                                                  |
+    +==============================+==============================================+==============================================================================+
+    | |velocity-flat-anymal-b|     | |velocity-flat-anymal-b-link|                | Track a velocity command on flat terrain with the Anymal B robot             |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-rough-anymal-b|    | |velocity-rough-anymal-b-link|               | Track a velocity command on rough terrain with the Anymal B robot            |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-flat-anymal-c|     | |velocity-flat-anymal-c-link|                | Track a velocity command on flat terrain with the Anymal C robot             |
+    |                              |                                              |                                                                              |
+    |                              | |velocity-flat-anymal-c-direct-link|         |                                                                              |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-rough-anymal-c|    | |velocity-rough-anymal-c-link|               | Track a velocity command on rough terrain with the Anymal C robot            |
+    |                              |                                              |                                                                              |
+    |                              | |velocity-rough-anymal-c-direct-link|        |                                                                              |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-flat-anymal-d|     | |velocity-flat-anymal-d-link|                | Track a velocity command on flat terrain with the Anymal D robot             |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-rough-anymal-d|    | |velocity-rough-anymal-d-link|               | Track a velocity command on rough terrain with the Anymal D robot            |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-flat-unitree-a1|   | |velocity-flat-unitree-a1-link|              | Track a velocity command on flat terrain with the Unitree A1 robot           |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-rough-unitree-a1|  | |velocity-rough-unitree-a1-link|             | Track a velocity command on rough terrain with the Unitree A1 robot          |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-flat-unitree-go1|  | |velocity-flat-unitree-go1-link|             | Track a velocity command on flat terrain with the Unitree Go1 robot          |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-rough-unitree-go1| | |velocity-rough-unitree-go1-link|            | Track a velocity command on rough terrain with the Unitree Go1 robot         |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-flat-unitree-go2|  | |velocity-flat-unitree-go2-link|             | Track a velocity command on flat terrain with the Unitree Go2 robot          |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-rough-unitree-go2| | |velocity-rough-unitree-go2-link|            | Track a velocity command on rough terrain with the Unitree Go2 robot         |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-flat-spot|         | |velocity-flat-spot-link|                    | Track a velocity command on flat terrain with the Boston Dynamics Spot robot |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-flat-h1|           | |velocity-flat-h1-link|                      | Track a velocity command on flat terrain with the Unitree H1 robot           |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-rough-h1|          | |velocity-rough-h1-link|                     | Track a velocity command on rough terrain with the Unitree H1 robot          |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-flat-g1|           | |velocity-flat-g1-link|                      | Track a velocity command on flat terrain with the Unitree G1 robot           |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+    | |velocity-rough-g1|          | |velocity-rough-g1-link|                     | Track a velocity command on rough terrain with the Unitree G1 robot          |
+    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
+
+.. |velocity-flat-anymal-b-link| replace:: `Isaac-Velocity-Flat-Anymal-B-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py>`__
+.. |velocity-rough-anymal-b-link| replace:: `Isaac-Velocity-Rough-Anymal-B-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py>`__
+
+.. |velocity-flat-anymal-c-link| replace:: `Isaac-Velocity-Flat-Anymal-C-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py>`__
+.. |velocity-rough-anymal-c-link| replace:: `Isaac-Velocity-Rough-Anymal-C-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py>`__
+
+.. |velocity-flat-anymal-c-direct-link| replace:: `Isaac-Velocity-Flat-Anymal-C-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py>`__
+.. |velocity-rough-anymal-c-direct-link| replace:: `Isaac-Velocity-Rough-Anymal-C-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py>`__
+
+.. |velocity-flat-anymal-d-link| replace:: `Isaac-Velocity-Flat-Anymal-D-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py>`__
+.. |velocity-rough-anymal-d-link| replace:: `Isaac-Velocity-Rough-Anymal-D-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py>`__
+
+.. |velocity-flat-unitree-a1-link| replace:: `Isaac-Velocity-Flat-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py>`__
+.. |velocity-rough-unitree-a1-link| replace:: `Isaac-Velocity-Rough-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py>`__
+
+.. |velocity-flat-unitree-go1-link| replace:: `Isaac-Velocity-Flat-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py>`__
+.. |velocity-rough-unitree-go1-link| replace:: `Isaac-Velocity-Rough-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py>`__
+
+.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py>`__
+.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py>`__
+
+.. |velocity-flat-spot-link| replace:: `Isaac-Velocity-Flat-Spot-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py>`__
+
+.. |velocity-flat-h1-link| replace:: `Isaac-Velocity-Flat-H1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py>`__
+.. |velocity-rough-h1-link| replace:: `Isaac-Velocity-Rough-H1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py>`__
+
+.. |velocity-flat-g1-link| replace:: `Isaac-Velocity-Flat-G1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py>`__
+.. |velocity-rough-g1-link| replace:: `Isaac-Velocity-Rough-G1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py>`__
+
+
+.. |velocity-flat-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_flat.jpg
+.. |velocity-rough-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_rough.jpg
+.. |velocity-flat-anymal-c| image:: ../_static/tasks/locomotion/anymal_c_flat.jpg
+.. |velocity-rough-anymal-c| image:: ../_static/tasks/locomotion/anymal_c_rough.jpg
+.. |velocity-flat-anymal-d| image:: ../_static/tasks/locomotion/anymal_d_flat.jpg
+.. |velocity-rough-anymal-d| image:: ../_static/tasks/locomotion/anymal_d_rough.jpg
+.. |velocity-flat-unitree-a1| image:: ../_static/tasks/locomotion/a1_flat.jpg
+.. |velocity-rough-unitree-a1| image:: ../_static/tasks/locomotion/a1_rough.jpg
+.. |velocity-flat-unitree-go1| image:: ../_static/tasks/locomotion/go1_flat.jpg
+.. |velocity-rough-unitree-go1| image:: ../_static/tasks/locomotion/go1_rough.jpg
+.. |velocity-flat-unitree-go2| image:: ../_static/tasks/locomotion/go2_flat.jpg
+.. |velocity-rough-unitree-go2| image:: ../_static/tasks/locomotion/go2_rough.jpg
+.. |velocity-flat-spot| image:: ../_static/tasks/locomotion/spot_flat.jpg
+.. |velocity-flat-h1| image:: ../_static/tasks/locomotion/h1_flat.jpg
+.. |velocity-rough-h1| image:: ../_static/tasks/locomotion/h1_rough.jpg
+.. |velocity-flat-g1| image:: ../_static/tasks/locomotion/g1_flat.jpg
+.. |velocity-rough-g1| image:: ../_static/tasks/locomotion/g1_rough.jpg
+
+Navigation
+~~~~~~~~~~
+
+.. table::
+    :widths: 33 37 30
+
+    +----------------+---------------------+-----------------------------------------------------------------------------+
+    | World          | Environment ID      | Description                                                                 |
+    +================+=====================+=============================================================================+
+    | |anymal_c_nav| | |anymal_c_nav-link| | Navigate towards a target x-y position and heading with the ANYmal C robot. |
+    +----------------+---------------------+-----------------------------------------------------------------------------+
+
+.. |anymal_c_nav-link| replace:: `Isaac-Navigation-Flat-Anymal-C-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py>`__
+
+.. |anymal_c_nav| image:: ../_static/tasks/navigation/anymal_c_nav.jpg
+
+
+Others
+~~~~~~
+
+.. table::
+    :widths: 33 37 30
+
+    +----------------+---------------------+-----------------------------------------------------------------------------+
+    | World          | Environment ID      | Description                                                                 |
+    +================+=====================+=============================================================================+
+    | |quadcopter|   | |quadcopter-link|   | Fly and hover the Crazyflie copter at a goal point by applying thrust.      |
+    +----------------+---------------------+-----------------------------------------------------------------------------+
+
+.. |quadcopter-link| replace:: `Isaac-Quadcopter-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env.py>`__
+
+
+.. |quadcopter| image:: ../_static/tasks/others/quadcopter.jpg
+
+
+Multi-agent
+------------
+
+.. note::
+
+    True mutli-agent training is only available with the `skrl` library, see the `Multi-Agents Documentation <https://skrl.readthedocs.io/en/latest/api/multi_agents.html>`_ for more information.
+    It supports the `IPPO` and `MAPPO` algorithms, which can be activated by adding the command line input ``--algorithm IPPO`` or ``--algorithm MAPPO`` to the train/play script.
+    If these environments are run with other libraries or without the `IPPO` or `MAPPO` flags, they will be converted to single-agent environments under the hood.
+
+
+Classic
+~~~~~~~
+
+.. table::
+    :widths: 33 37 30
+
+    +------------------------+------------------------------------+-----------------------------------------------------------------------------------------------------------------------+
+    | World                  | Environment ID                     | Description                                                                                                           |
+    +========================+====================================+=======================================================================================================================+
+    | |cart-double-pendulum| | |cart-double-pendulum-direct-link| | Move the cart and the pendulum to keep the last one upwards in the classic inverted double pendulum on a cart control |
+    +------------------------+------------------------------------+-----------------------------------------------------------------------------------------------------------------------+
+
+.. |cart-double-pendulum| image:: ../_static/tasks/classic/cart_double_pendulum.jpg
+
+.. |cart-double-pendulum-direct-link| replace:: `Isaac-Cart-Double-Pendulum-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py>`__
+
+Manipulation
+~~~~~~~~~~~~
+
+Environments based on fixed-arm manipulation tasks.
+
+.. table::
+    :widths: 33 37 30
+
+    +----------------------+--------------------------------+--------------------------------------------------------+
+    | World                | Environment ID                 | Description                                            |
+    +======================+================================+========================================================+
+    | |shadow-hand-over|   | |shadow-hand-over-direct-link| | Passing an object from one hand over to the other hand |
+    +----------------------+--------------------------------+--------------------------------------------------------+
+
+.. |shadow-hand-over| image:: ../_static/tasks/manipulation/shadow_hand_over.jpg
+
+.. |shadow-hand-over-direct-link| replace:: `Isaac-Shadow-Hand-Over-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand_over/shadow_hand_over_env.py>`__
+
+|
+
+Comprehensive List of Environments
+==================================
+
+.. list-table::
+    :widths: 33 25 19 25
+
+    * - **Task Name**
+      - **Inference Task Name**
+      - **Workflow**
+      - **RL Library**
+    * - Isaac-Ant-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Ant-v0
+      -
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO), **sb3** (PPO)
+    * - Isaac-Cart-Double-Pendulum-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **skrl** (IPPO, MAPPO, PPO)
+    * - Isaac-Cartpole-Depth-Camera-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **skrl** (PPO)
+    * - Isaac-Cartpole-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO)
+    * - Isaac-Cartpole-RGB-Camera-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **skrl** (PPO)
+    * - Isaac-Cartpole-v0
+      -
+      - Manager Based
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO), **sb3** (PPO)
+    * - Isaac-Factory-GearMesh-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO)
+    * - Isaac-Factory-NutThread-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO)
+    * - Isaac-Factory-PegInsert-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO)
+    * - Isaac-Franka-Cabinet-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Humanoid-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Humanoid-v0
+      -
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO), **sb3** (PPO)
+    * - Isaac-Lift-Cube-Franka-IK-Abs-v0
+      -
+      - Manager Based
+      -
+    * - Isaac-Lift-Cube-Franka-IK-Rel-v0
+      -
+      - Manager Based
+      -
+    * - Isaac-Lift-Cube-Franka-v0
+      - Isaac-Lift-Cube-Franka-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO), **rl_games** (PPO)
+    * - Isaac-Navigation-Flat-Anymal-C-v0
+      - Isaac-Navigation-Flat-Anymal-C-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Open-Drawer-Franka-IK-Abs-v0
+      -
+      - Manager Based
+      -
+    * - Isaac-Open-Drawer-Franka-IK-Rel-v0
+      -
+      - Manager Based
+      -
+    * - Isaac-Open-Drawer-Franka-v0
+      - Isaac-Open-Drawer-Franka-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO)
+    * - Isaac-Quadcopter-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Reach-Franka-IK-Abs-v0
+      -
+      - Manager Based
+      -
+    * - Isaac-Reach-Franka-IK-Rel-v0
+      -
+      - Manager Based
+      -
+    * - Isaac-Reach-Franka-OSC-v0
+      - Isaac-Reach-Franka-OSC-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO)
+    * - Isaac-Reach-Franka-v0
+      - Isaac-Reach-Franka-Play-v0
+      - Manager Based
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Reach-UR10-v0
+      - Isaac-Reach-UR10-Play-v0
+      - Manager Based
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Repose-Cube-Allegro-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Repose-Cube-Allegro-NoVelObs-v0
+      - Isaac-Repose-Cube-Allegro-NoVelObs-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO)
+    * - Isaac-Repose-Cube-Allegro-v0
+      - Isaac-Repose-Cube-Allegro-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO)
+    * - Isaac-Repose-Cube-Shadow-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0
+      -
+      - Direct
+      - **rl_games** (FF), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0
+      -
+      - Direct
+      - **rl_games** (LSTM)
+    * - Isaac-Repose-Cube-Shadow-Vision-Direct-v0
+      - Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0
+      - Direct
+      - **rsl_rl** (PPO), **rl_games** (VISION)
+    * - Isaac-Shadow-Hand-Over-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **skrl** (IPPO, MAPPO, PPO)
+    * - Isaac-Velocity-Flat-Anymal-B-v0
+      - Isaac-Velocity-Flat-Anymal-B-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Flat-Anymal-C-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Flat-Anymal-C-v0
+      - Isaac-Velocity-Flat-Anymal-C-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Flat-Anymal-D-v0
+      - Isaac-Velocity-Flat-Anymal-D-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Flat-Cassie-v0
+      - Isaac-Velocity-Flat-Cassie-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Flat-G1-v0
+      - Isaac-Velocity-Flat-G1-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Flat-H1-v0
+      - Isaac-Velocity-Flat-H1-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Flat-Spot-v0
+      - Isaac-Velocity-Flat-Spot-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Flat-Unitree-A1-v0
+      - Isaac-Velocity-Flat-Unitree-A1-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Flat-Unitree-Go1-v0
+      - Isaac-Velocity-Flat-Unitree-Go1-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Flat-Unitree-Go2-v0
+      - Isaac-Velocity-Flat-Unitree-Go2-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Rough-Anymal-B-v0
+      - Isaac-Velocity-Rough-Anymal-B-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Rough-Anymal-C-Direct-v0
+      -
+      - Direct
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Rough-Anymal-C-v0
+      - Isaac-Velocity-Rough-Anymal-C-Play-v0
+      - Manager Based
+      - **rl_games** (PPO), **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Rough-Anymal-D-v0
+      - Isaac-Velocity-Rough-Anymal-D-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Rough-Cassie-v0
+      - Isaac-Velocity-Rough-Cassie-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Rough-G1-v0
+      - Isaac-Velocity-Rough-G1-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Rough-H1-v0
+      - Isaac-Velocity-Rough-H1-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Rough-Unitree-A1-v0
+      - Isaac-Velocity-Rough-Unitree-A1-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Rough-Unitree-Go1-v0
+      - Isaac-Velocity-Rough-Unitree-Go1-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Velocity-Rough-Unitree-Go2-v0
+      - Isaac-Velocity-Rough-Unitree-Go2-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO)
diff --git a/v1.4.0/_sources/source/overview/reinforcement-learning/index.rst b/v1.4.0/_sources/source/overview/reinforcement-learning/index.rst
new file mode 100644
index 0000000000..378e88da01
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/reinforcement-learning/index.rst
@@ -0,0 +1,14 @@
+Reinforcement Learning
+======================
+
+Isaac Lab supports multiple reinforcement learning frameworks.
+In this section, we show existing scripts for running reinforcement learning
+with supported RL libraries and provide a comparison of the supported
+learning frameworks.
+
+.. toctree::
+  :maxdepth: 1
+
+  rl_existing_scripts
+  rl_frameworks
+  performance_benchmarks
diff --git a/v1.4.0/_sources/source/overview/reinforcement-learning/performance_benchmarks.rst b/v1.4.0/_sources/source/overview/reinforcement-learning/performance_benchmarks.rst
new file mode 100644
index 0000000000..22a630ee5e
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/reinforcement-learning/performance_benchmarks.rst
@@ -0,0 +1,151 @@
+Performance Benchmarks
+======================
+
+Isaac Lab leverages end-to-end GPU training for reinforcement learning workflows,
+allowing for fast parallel training across thousands of environments.
+In this section, we provide runtime performance benchmark results for reinforcement learning
+training of various example environments on different GPU setups.
+Multi-GPU and multi-node training performance results are also outlined.
+
+
+Benchmark Results
+-----------------
+
+All benchmarking results were performed with the RL Games library with ``--headless`` flag on Ubuntu 22.04.
+``Isaac-Velocity-Rough-G1-v0`` environment benchmarks were performed with the RSL RL library.
+
+
+Memory Consumption
+^^^^^^^^^^^^^^^^^^
+
++------------------------------------+----------------+-------------------+----------+-----------+
+| Environment Name                   |                | # of Environments | RAM (GB) | VRAM (GB) |
++====================================+================+===================+==========+===========+
+| Isaac-Cartpole-Direct-v0           | |cartpole|     | 4096              | 3.7      | 3.3       |
++------------------------------------+----------------+-------------------+----------+-----------+
+| Isaac-Cartpole-RGB-Camera-Direct-v0| |cartpole-cam| | 1024              | 7.5      | 16.7      |
++------------------------------------+----------------+-------------------+----------+-----------+
+| Isaac-Velocity-Rough-G1-v0         | |g1|           | 4096              | 6.5      | 6.1       |
++------------------------------------+----------------+-------------------+----------+-----------+
+| Isaac-Repose-Cube-Shadow-Direct-v0 | |shadow|       | 8192              | 6.7      | 6.4       |
++------------------------------------+----------------+-------------------+----------+-----------+
+
+.. |cartpole| image:: ../../_static/benchmarks/cartpole.jpg
+    :width: 80
+    :height: 45
+.. |cartpole-cam| image:: ../../_static/benchmarks/cartpole_camera.jpg
+    :width: 80
+    :height: 45
+.. |g1| image:: ../../_static/benchmarks/g1_rough.jpg
+    :width: 80
+    :height: 45
+.. |shadow| image:: ../../_static/benchmarks/shadow.jpg
+    :width: 80
+    :height: 45
+
+
+Single GPU - RTX 4090
+^^^^^^^^^^^^^^^^^^^^^
+
+CPU: AMD Ryzen 9 7950X 16-Core Processor
+
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Environment Name                    | # of Environments | Environment  | Environment Step  | Environment Step,  |
+|                                     |                   | Step FPS     | and               | Inference,         |
+|                                     |                   |              | Inference FPS     | and Train FPS      |
++=====================================+===================+==============+===================+====================+
+| Isaac-Cartpole-Direct-v0            | 4096              | 1100000      | 910000            | 510000             |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Cartpole-RGB-Camera-Direct-v0 | 1024              | 50000        | 45000             | 32000              |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Velocity-Rough-G1-v0          | 4096              | 94000        | 88000             | 82000              |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Repose-Cube-Shadow-Direct-v0  | 8192              | 200000       | 190000            | 170000             |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+
+
+Single GPU - L40
+^^^^^^^^^^^^^^^^
+
+CPU: Intel(R) Xeon(R) Platinum 8362 CPU @ 2.80GHz
+
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Environment Name                    | # of Environments | Environment  | Environment Step  | Environment Step,  |
+|                                     |                   | Step FPS     | and               | Inference,         |
+|                                     |                   |              | Inference FPS     | and Train FPS      |
++=====================================+===================+==============+===================+====================+
+| Isaac-Cartpole-Direct-v0            | 4096              | 620000       | 490000            | 260000             |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Cartpole-RGB-Camera-Direct-v0 | 1024              | 30000        | 28000             | 21000              |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Velocity-Rough-G1-v0          | 4096              | 72000        | 64000             | 62000              |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Repose-Cube-Shadow-Direct-v0  | 8192              | 170000       | 140000            | 120000             |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+
+
+Single-Node, 4 x L40 GPUs
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+CPU: Intel(R) Xeon(R) Platinum 8362 CPU @ 2.80GHz
+
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Environment Name                    | # of Environments | Environment  | Environment Step  | Environment Step,  |
+|                                     |                   | Step FPS     | and               | Inference,         |
+|                                     |                   |              | Inference FPS     | and Train FPS      |
++=====================================+===================+==============+===================+====================+
+| Isaac-Cartpole-Direct-v0            | 4096              | 2700000      | 2100000           | 950000             |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Cartpole-RGB-Camera-Direct-v0 | 1024              | 130000       | 120000            | 90000              |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Velocity-Rough-G1-v0          | 4096              | 290000       | 270000            | 250000             |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Repose-Cube-Shadow-Direct-v0  | 8192              | 440000       | 420000            | 390000             |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+
+
+4 Nodes, 4 x L40 GPUs per node
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+CPU: Intel(R) Xeon(R) Platinum 8362 CPU @ 2.80GHz
+
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Environment Name                    | # of Environments | Environment  | Environment Step  | Environment Step,  |
+|                                     |                   | Step FPS     | and               | Inference,         |
+|                                     |                   |              | Inference FPS     | and Train FPS      |
++=====================================+===================+==============+===================+====================+
+| Isaac-Cartpole-Direct-v0            | 4096              | 10200000     | 8200000           | 3500000            |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Cartpole-RGB-Camera-Direct-v0 | 1024              | 530000       | 490000            | 260000             |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Velocity-Rough-G1-v0          | 4096              | 1200000      | 1100000           | 960000             |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+| Isaac-Repose-Cube-Shadow-Direct-v0  | 8192              | 2400000      | 2300000           | 1800000            |
++-------------------------------------+-------------------+--------------+-------------------+--------------------+
+
+
+Benchmark Scripts
+-----------------
+
+For ease of reproducibility, we provide benchmarking scripts available at ``source/standalone/benchmarks``.
+This folder contains individual benchmark scripts that resemble the ``train.py`` script for RL-Games
+and RSL RL. In addition, we also provide a benchmarking script that runs only the environment implementation
+without any reinforcement learning library.
+
+Example scripts can be run similarly to training scripts:
+
+.. code-block:: bash
+
+   # benchmark with RSL RL
+   python source/standalone/benchmarks/benchmark_rsl_rl.py --task=Isaac-Cartpole-v0 --headless
+
+   # benchmark with RL Games
+   python source/standalone/benchmarks/benchmark_rlgames.py --task=Isaac-Cartpole-v0 --headless
+
+   # benchmark without RL libraries
+   python source/standalone/benchmarks/benchmark_non_rl.py --task=Isaac-Cartpole-v0 --headless
+
+Each script will generate a set of KPI files at the end of the run, which includes data on the
+startup times, runtime statistics, such as the time taken for each simulation or rendering step,
+as well as overall environment FPS for stepping the environment, performing inference during
+rollout, as well as training.
diff --git a/v1.4.0/_sources/source/overview/reinforcement-learning/rl_existing_scripts.rst b/v1.4.0/_sources/source/overview/reinforcement-learning/rl_existing_scripts.rst
new file mode 100644
index 0000000000..40ba468398
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/reinforcement-learning/rl_existing_scripts.rst
@@ -0,0 +1,238 @@
+Reinforcement Learning Wrappers
+===============================
+
+We provide wrappers to different reinforcement libraries. These wrappers convert the data
+from the environments into the respective libraries function argument and return types.
+
+
+RL-Games
+--------
+
+-  Training an agent with
+   `RL-Games <https://github.com/Denys88/rl_games>`__ on ``Isaac-Ant-v0``:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            # install python module (for rl-games)
+            ./isaaclab.sh -i rl_games
+            # run script for training
+            ./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-Ant-v0 --headless
+            # run script for playing with 32 environments
+            ./isaaclab.sh -p source/standalone/workflows/rl_games/play.py --task Isaac-Ant-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth
+            # run script for recording video of a trained agent (requires installing `ffmpeg`)
+            ./isaaclab.sh -p source/standalone/workflows/rl_games/play.py --task Isaac-Ant-v0 --headless --video --video_length 200
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            :: install python module (for rl-games)
+            isaaclab.bat -i rl_games
+            :: run script for training
+            isaaclab.bat -p source\standalone\workflows\rl_games\train.py --task Isaac-Ant-v0 --headless
+            :: run script for playing with 32 environments
+            isaaclab.bat -p source\standalone\workflows\rl_games\play.py --task Isaac-Ant-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth
+            :: run script for recording video of a trained agent (requires installing `ffmpeg`)
+            isaaclab.bat -p source\standalone\workflows\rl_games\play.py --task Isaac-Ant-v0 --headless --video --video_length 200
+
+RSL-RL
+------
+
+-  Training an agent with
+   `RSL-RL <https://github.com/leggedrobotics/rsl_rl>`__ on ``Isaac-Reach-Franka-v0``:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            # install python module (for rsl-rl)
+            ./isaaclab.sh -i rsl_rl
+            # run script for training
+            ./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Reach-Franka-v0 --headless
+            # run script for playing with 32 environments
+            ./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --load_run run_folder_name --checkpoint model.pt
+            # run script for recording video of a trained agent (requires installing `ffmpeg`)
+            ./isaaclab.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            :: install python module (for rsl-rl)
+            isaaclab.bat -i rsl_rl
+            :: run script for training
+            isaaclab.bat -p source\standalone\workflows\rsl_rl\train.py --task Isaac-Reach-Franka-v0 --headless
+            :: run script for playing with 32 environments
+            isaaclab.bat -p source\standalone\workflows\rsl_rl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --load_run run_folder_name --checkpoint model.pt
+            :: run script for recording video of a trained agent (requires installing `ffmpeg`)
+            isaaclab.bat -p source\standalone\workflows\rsl_rl\play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200
+
+SKRL
+----
+
+-  Training an agent with
+   `SKRL <https://skrl.readthedocs.io>`__ on ``Isaac-Reach-Franka-v0``:
+
+   .. tab-set::
+
+      .. tab-item:: PyTorch
+
+            .. tab-set::
+               :sync-group: os
+
+               .. tab-item:: :icon:`fa-brands fa-linux` Linux
+                  :sync: linux
+
+                  .. code:: bash
+
+                     # install python module (for skrl)
+                     ./isaaclab.sh -i skrl
+                     # run script for training
+                     ./isaaclab.sh -p source/standalone/workflows/skrl/train.py --task Isaac-Reach-Franka-v0 --headless
+                     # run script for playing with 32 environments
+                     ./isaaclab.sh -p source/standalone/workflows/skrl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pt
+                     # run script for recording video of a trained agent (requires installing `ffmpeg`)
+                     ./isaaclab.sh -p source/standalone/workflows/skrl/play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200
+
+               .. tab-item:: :icon:`fa-brands fa-windows` Windows
+                  :sync: windows
+
+                  .. code:: batch
+
+                     :: install python module (for skrl)
+                     isaaclab.bat -i skrl
+                     :: run script for training
+                     isaaclab.bat -p source\standalone\workflows\skrl\train.py --task Isaac-Reach-Franka-v0 --headless
+                     :: run script for playing with 32 environments
+                     isaaclab.bat -p source\standalone\workflows\skrl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pt
+                     :: run script for recording video of a trained agent (requires installing `ffmpeg`)
+                     isaaclab.bat -p source\standalone\workflows\skrl\play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200
+
+      .. tab-item:: JAX
+
+         .. warning::
+
+            It is recommended to `install JAX <https://jax.readthedocs.io/en/latest/installation.html>`_ manually before proceeding to install skrl and its dependencies, as JAX installs its CPU version by default. For example, ``pip install -U "jax[cuda12]"`` can be used to install JAX for CUDA 12.
+            Visit the **skrl** `installation <https://skrl.readthedocs.io/en/latest/intro/installation.html>`_ page for more details.
+
+         .. code:: bash
+
+            # install python module (for skrl)
+            ./isaaclab.sh -i skrl
+            # install skrl dependencies for JAX
+            ./isaaclab.sh -p -m pip install skrl["jax"]
+            # run script for training
+            ./isaaclab.sh -p source/standalone/workflows/skrl/train.py --task Isaac-Reach-Franka-v0 --headless --ml_framework jax
+            # run script for playing with 32 environments
+            ./isaaclab.sh -p source/standalone/workflows/skrl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32  --ml_framework jax --checkpoint /PATH/TO/model.pt
+            # run script for recording video of a trained agent (requires installing `ffmpeg`)
+            ./isaaclab.sh -p source/standalone/workflows/skrl/play.py --task Isaac-Reach-Franka-v0 --headless --ml_framework jax --video --video_length 200
+
+   - Training the multi-agent environment ``Isaac-Shadow-Hand-Over-Direct-v0`` with skrl:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            # install python module (for skrl)
+            ./isaaclab.sh -i skrl
+            # run script for training with the MAPPO algorithm (IPPO is also supported)
+            ./isaaclab.sh -p source/standalone/workflows/skrl/train.py --task Isaac-Shadow-Hand-Over-Direct-v0 --headless --algorithm MAPPO
+            # run script for playing with 32 environments with the MAPPO algorithm (IPPO is also supported)
+            ./isaaclab.sh -p source/standalone/workflows/skrl/play.py --task Isaac-Shadow-Hand-Over-Direct-v0 --num_envs 32 --algorithm MAPPO --checkpoint /PATH/TO/model.pt
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            :: install python module (for skrl)
+            isaaclab.bat -i skrl
+            :: run script for training with the MAPPO algorithm (IPPO is also supported)
+            isaaclab.bat -p source\standalone\workflows\skrl\train.py --task Isaac-Shadow-Hand-Over-Direct-v0 --headless --algorithm MAPPO
+            :: run script for playing with 32 environments with the MAPPO algorithm (IPPO is also supported)
+            isaaclab.bat -p source\standalone\workflows\skrl\play.py --task Isaac-Shadow-Hand-Over-Direct-v0 --num_envs 32 --algorithm MAPPO --checkpoint /PATH/TO/model.pt
+
+Stable-Baselines3
+-----------------
+
+-  Training an agent with
+   `Stable-Baselines3 <https://stable-baselines3.readthedocs.io/en/master/index.html>`__
+   on ``Isaac-Cartpole-v0``:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            # install python module (for stable-baselines3)
+            ./isaaclab.sh -i sb3
+            # run script for training
+            # note: we set the device to cpu since SB3 doesn't optimize for GPU anyway
+            ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --device cpu
+            # run script for playing with 32 environments
+            ./isaaclab.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip
+            # run script for recording video of a trained agent (requires installing `ffmpeg`)
+            ./isaaclab.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --headless --video --video_length 200
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            :: install python module (for stable-baselines3)
+            isaaclab.bat -i sb3
+            :: run script for training
+            :: note: we set the device to cpu since SB3 doesn't optimize for GPU anyway
+            isaaclab.bat -p source\standalone\workflows\sb3\train.py --task Isaac-Cartpole-v0 --headless --device cpu
+            :: run script for playing with 32 environments
+            isaaclab.bat -p source\standalone\workflows\sb3\play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip
+            :: run script for recording video of a trained agent (requires installing `ffmpeg`)
+            isaaclab.bat -p source\standalone\workflows\sb3\play.py --task Isaac-Cartpole-v0 --headless --video --video_length 200
+
+All the scripts above log the training progress to `Tensorboard`_ in the ``logs`` directory in the root of
+the repository. The logs directory follows the pattern ``logs/<library>/<task>/<date-time>``, where ``<library>``
+is the name of the learning framework, ``<task>`` is the task name, and ``<date-time>`` is the timestamp at
+which the training script was executed.
+
+To view the logs, run:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         # execute from the root directory of the repository
+         ./isaaclab.sh -p -m tensorboard.main --logdir=logs
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         :: execute from the root directory of the repository
+         isaaclab.bat -p -m tensorboard.main --logdir=logs
+
+.. _Tensorboard: https://www.tensorflow.org/tensorboard
diff --git a/v1.4.0/_sources/source/overview/reinforcement-learning/rl_frameworks.rst b/v1.4.0/_sources/source/overview/reinforcement-learning/rl_frameworks.rst
new file mode 100644
index 0000000000..820f7b8ccd
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/reinforcement-learning/rl_frameworks.rst
@@ -0,0 +1,85 @@
+Reinforcement Learning Library Comparison
+=========================================
+
+In this section, we provide an overview of the supported reinforcement learning libraries in Isaac Lab,
+along with performance benchmarks across the libraries.
+
+The supported libraries are:
+
+- `SKRL <https://skrl.readthedocs.io>`__
+- `RSL-RL <https://github.com/leggedrobotics/rsl_rl>`__
+- `RL-Games <https://github.com/Denys88/rl_games>`__
+- `Stable-Baselines3 <https://stable-baselines3.readthedocs.io/en/master/index.html>`__
+
+Feature Comparison
+------------------
+
+.. list-table::
+   :widths: 20 20 20 20 20
+   :header-rows: 1
+
+   * - Feature
+     - RL-Games
+     - RSL RL
+     - SKRL
+     - Stable Baselines3
+   * - Algorithms Included
+     - PPO, SAC, A2C
+     - PPO
+     - `Extensive List <https://skrl.readthedocs.io/en/latest/#agents>`__
+     - `Extensive List <https://github.com/DLR-RM/stable-baselines3?tab=readme-ov-file#implemented-algorithms>`__
+   * - Vectorized Training
+     - Yes
+     - Yes
+     - Yes
+     - No
+   * - Distributed Training
+     - Yes
+     - No
+     - Yes
+     - No
+   * - ML Frameworks Supported
+     - PyTorch
+     - PyTorch
+     - PyTorch, JAX
+     - PyTorch
+   * - Multi-Agent Support
+     - PPO
+     - PPO
+     - PPO + Multi-Agent algorithms
+     - External projects support
+   * - Documentation
+     - Low
+     - Low
+     - Comprehensive
+     - Extensive
+   * - Community Support
+     - Small Community
+     - Small Community
+     - Small Community
+     - Large Community
+   * - Available Examples in Isaac Lab
+     - Large
+     - Large
+     - Large
+     - Small
+
+
+Training Performance
+--------------------
+
+We performed training with each RL library on the same ``Isaac-Humanoid-v0`` environment
+with ``--headless`` on a single RTX 4090 GPU
+and logged the total training time for 65.5M steps for each RL library.
+
++--------------------+-----------------+
+| RL Library         | Time in seconds |
++====================+=================+
+| RL-Games           | 216             |
++--------------------+-----------------+
+| RSL RL             | 215             |
++--------------------+-----------------+
+| SKRL               | 321             |
++--------------------+-----------------+
+| Stable-Baselines3  | 6320            |
++--------------------+-----------------+
diff --git a/v1.4.0/_sources/source/overview/sensors/camera.rst b/v1.4.0/_sources/source/overview/sensors/camera.rst
new file mode 100644
index 0000000000..0ef72196c5
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/sensors/camera.rst
@@ -0,0 +1,194 @@
+.. _overview_sensors_camera:
+
+
+Camera
+========
+
+Camera sensors are uniquely defined by the use of the ``render_product``, a structure for managing data generated by the rendering pipeline (images). Isaac Lab provides the ability to fully control how these renderings are created through camera parameters like focal length, pose, type, etc... and what kind of data you want to render through the use of Annotators, allowing you to record not only RGB, but also Instance segmentation, object pose, object ID, etc...
+
+Rendered images are unique among the supported data types in Isaac Lab due to the inherently large bandwidth requirements for moving those data. A single 800 x 600 image with 32-bit color (a single float per pixel) clocks in at just under 2 MB. If we render at 60 fps and record every frame, that camera needs to move 120 MB/s. Multiply this by the number of cameras in an environment and environments in a simulation, and you can quickly see how scaling a naive vectorization of camera data could lead to bandwidth challenges. NVIDIA's Isaac Lab leverages our expertise in GPU hardware to provide an API that specifically addresses these scaling challenges in the rendering pipeline.
+
+Tiled Rendering
+~~~~~~~~~~~~~~~~~
+
+.. note::
+
+    This feature is only available from Isaac Sim version 4.2.0 onwards.
+
+    Tiled rendering in combination with image processing networks require heavy memory resources, especially
+    at larger resolutions. We recommend running 512 cameras in the scene on RTX 4090 GPUs or similar.
+
+The Tiled Rendering APIs provide a vectorized interface for collecting data from camera sensors. This is useful for reinforcement learning environments where parallelization can be exploited to accelerate data collection and thus the training loop. Tiled rendering works by using a single ``render_product`` for **all** clones of a single camera in the scene. The desired dimensions of a single image and the number of environments are used to compute a much larger ``render_product``, consisting of the tiled individual renders from the separate clones of the camera. When all cameras have populated their buffers the render product is "completed" and can be moved around as a single, large image, dramatically reducing the overhead for moving the data from the host to the device, for example.  Only a single call is used to synchronize the device data, instead of one call per camera, and this is a big part of what makes the Tiled Rendering API more efficient for working with vision data.
+
+Isaac Lab provides tiled rendering APIs for RGB, depth, along with other annotators through the :class:`~sensors.TiledCamera` class. Configurations for the tiled rendering APIs can be defined through the :class:`~sensors.TiledCameraCfg` class, specifying parameters such as the regex expression for all camera paths, the transform for the cameras, the desired data type, the type of cameras to add to the scene, and the camera resolution.
+
+.. code-block:: python
+
+    tiled_camera: TiledCameraCfg = TiledCameraCfg(
+        prim_path="/World/envs/env_.*/Camera",
+        offset=TiledCameraCfg.OffsetCfg(pos=(-7.0, 0.0, 3.0), rot=(0.9945, 0.0, 0.1045, 0.0), convention="world"),
+        data_types=["rgb"],
+        spawn=sim_utils.PinholeCameraCfg(
+            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 20.0)
+        ),
+        width=80,
+        height=80,
+    )
+
+To access the tiled rendering interface, a :class:`~sensors.TiledCamera` object can be created and used to retrieve data from the cameras.
+
+.. code-block:: python
+
+    tiled_camera = TiledCamera(cfg.tiled_camera)
+    data_type = "rgb"
+    data = tiled_camera.data.output[data_type]
+
+The returned data will be transformed into the shape (num_cameras, height, width, num_channels), which can be used directly as observation for reinforcement learning.
+
+When working with rendering, make sure to add the ``--enable_cameras`` argument when launching the environment. For example:
+
+.. code-block:: shell
+
+    python source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-RGB-Camera-Direct-v0 --headless --enable_cameras
+
+
+Annotators
+~~~~~~~~~~~~~~~~~
+
+Both :class:`~sensors.TiledCamera` and :class:`~sensors.Camera` classes provide APIs for retrieving various types annotator data from replicator:
+
+* ``"rgb"``: A 3-channel rendered color image.
+* ``"rgba"``: A 4-channel rendered color image with alpha channel.
+* ``"distance_to_camera"``: An image containing the distance to camera optical center.
+* ``"distance_to_image_plane"``: An image containing distances of 3D points from camera plane along camera's z-axis.
+* ``"depth"``: The same as ``"distance_to_image_plane"``.
+* ``"normals"``: An image containing the local surface normal vectors at each pixel.
+* ``"motion_vectors"``: An image containing the motion vector data at each pixel.
+* ``"semantic_segmentation"``: The semantic segmentation data.
+* ``"instance_segmentation_fast"``: The instance segmentation data.
+* ``"instance_id_segmentation_fast"``: The instance id segmentation data.
+
+RGB and RGBA
+~~~~~~~~~~~~
+
+.. figure:: ../../_static/overview/overview_sensors_rgb.png
+    :align: center
+    :figwidth: 100%
+    :alt: A scene captured in RGB
+
+``rgb`` data type returns a 3-channel RGB colored image of type ``torch.uint8``, with dimension (B, H, W, 3).
+
+``rgba`` data type returns a 4-channel RGBA colored image of type ``torch.uint8``, with dimension (B, H, W, 4).
+
+To convert the ``torch.uint8`` data to ``torch.float32``, divide the buffer by 255.0 to obtain a ``torch.float32`` buffer containing data from 0 to 1.
+
+Depth and Distances
+~~~~~~~~~~~~~~~~~~~
+
+.. figure:: ../../_static/overview/overview_sensors_depth.png
+    :align: center
+    :figwidth: 100%
+    :alt: A scene captured in RGB
+
+``distance_to_camera`` returns a single-channel depth image with distance to the camera optical center. The dimension for this annotator is (B, H, W, 1) and has type ``torch.float32``.
+
+``distance_to_image_plane`` returns a single-channel depth image with distances of 3D points from the camera plane along the camera's Z-axis. The dimension for this annotator is (B, H, W, 1) and has type ``torch.float32``.
+
+``depth`` is provided as an alias for ``distance_to_image_plane`` and will return the same data as the ``distance_to_image_plane`` annotator, with dimension (B, H, W, 1) and type ``torch.float32``.
+
+Normals
+~~~~~~~
+
+.. figure:: ../../_static/overview/overview_sensors_normals.png
+    :align: center
+    :figwidth: 100%
+    :alt: A scene captured in RGB
+
+``normals`` returns an image containing the local surface normal vectors at each pixel. The buffer has dimension (B, H, W, 3), containing the (x, y, z) information for each vector, and has data type ``torch.float32``.
+
+Motion Vectors
+~~~~~~~~~~~~~~
+
+``motion_vectors`` returns the per-pixel motion vectors in image space, with a 2D array of motion vectors representing the relative motion of a pixel in the camera’s viewport between frames. The buffer has dimension (B, H, W, 2), representing x - the motion distance in the horizontal axis (image width) with movement to the left of the image being positive and movement to the right being negative and y - motion distance in the vertical axis (image height) with movement towards the top of the image being positive and movement to the bottom being negative. The data type is ``torch.float32``.
+
+Semantic Segmentation
+~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: ../../_static/overview/overview_sensors_semantic.png
+    :align: center
+    :figwidth: 100%
+    :alt: A scene captured in RGB
+
+``semantic_segmentation`` outputs semantic segmentation of each entity in the camera’s viewport that has semantic labels. In addition to the image buffer, an ``info`` dictionary can be retrieved with ``tiled_camera.data.info['semantic_segmentation']`` containing ID to labels information.
+
+- If ``colorize_semantic_segmentation=True`` in the camera config, a 4-channel RGBA image will be returned with dimension (B, H, W, 4) and type ``torch.uint8``. The info ``idToLabels`` dictionary will be the mapping from color to semantic labels.
+
+- If ``colorize_semantic_segmentation=False``, a buffer of dimension (B, H, W, 1) of type ``torch.int32`` will be returned, containing the semantic ID of each pixel. The info ``idToLabels`` dictionary will be the mapping from semantic ID to semantic labels.
+
+Instance ID Segmentation
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. figure:: ../../_static/overview/overview_sensors_instanceID.png
+    :align: center
+    :figwidth: 100%
+    :alt: A scene captured in RGB
+
+``instance_id_segmentation_fast`` outputs instance ID segmentation of each entity in the camera’s viewport. The instance ID is unique for each prim in the scene with different paths. In addition to the image buffer, an ``info`` dictionary can be retrieved with ``tiled_camera.data.info['instance_id_segmentation_fast']`` containing ID to labels information.
+
+The main difference between ``instance_id_segmentation_fast`` and ``instance_segmentation_fast`` are that instance segmentation annotator goes down the hierarchy to the lowest level prim which has semantic labels, where instance ID segmentation always goes down to the leaf prim.
+
+- If ``colorize_instance_id_segmentation=True`` in the camera config, a 4-channel RGBA image will be returned with dimension (B, H, W, 4) and type ``torch.uint8``. The info ``idToLabels`` dictionary will be the mapping from color to USD prim path of that entity.
+
+- If ``colorize_instance_id_segmentation=False``, a buffer of dimension (B, H, W, 1) of type ``torch.int32`` will be returned, containing the instance ID of each pixel. The info ``idToLabels`` dictionary will be the mapping from instance ID to USD prim path of that entity.
+
+Instance Segmentation
+"""""""""""""""""""""
+
+.. figure:: ../../_static/overview/overview_sensors_instance.png
+    :align: center
+    :figwidth: 100%
+    :alt: A scene captured in RGB
+
+``instance_segmentation_fast`` outputs instance segmentation of each entity in the camera’s viewport. In addition to the image buffer, an ``info`` dictionary can be retrieved with ``tiled_camera.data.info['instance_segmentation_fast']`` containing ID to labels and ID to semantic information.
+
+- If ``colorize_instance_segmentation=True`` in the camera config, a 4-channel RGBA image will be returned with dimension (B, H, W, 4) and type ``torch.uint8``.
+
+- If ``colorize_instance_segmentation=False``, a buffer of dimension (B, H, W, 1) of type ``torch.int32`` will be returned, containing the instance ID of each pixel.
+
+The info ``idToLabels`` dictionary will be the mapping from color to USD prim path of that semantic entity. The info ``idToSemantics`` dictionary will be the mapping from color to semantic labels of that semantic entity.
+
+
+Current Limitations
+-------------------
+
+Due to current limitations in the renderer, we can have only **one** :class:`~sensors.TiledCamera` instance in the scene.
+For use cases that require a setup with more than one camera, we can imitate the multi-camera behavior by moving the location
+of the camera in between render calls in a step.
+
+For example, in a stereo vision setup, the below snippet can be implemented:
+
+.. code-block:: python
+
+    # render image from "first" camera
+    camera_data_1 = self._tiled_camera.data.output["rgb"].clone() / 255.0
+    # update camera transform to the "second" camera location
+    self._tiled_camera.set_world_poses(
+        positions=pos,
+        orientations=rot,
+        convention="world"
+    )
+    # step the renderer
+    self.sim.render()
+    self._tiled_camera.update(0, force_recompute=True)
+    # render image from "second" camera
+    camera_data_2 = self._tiled_camera.data.output["rgb"].clone() / 255.0
+
+Note that this approach still limits the rendering resolution to be identical for all cameras. Currently, there is no workaround
+to achieve different resolution images using :class:`~sensors.TiledCamera`. The best approach is to use the largest resolution out of all of the
+desired resolutions and add additional scaling or cropping operations to the rendered output as a post-processing step.
+
+In addition, there may be visible quality differences when comparing render outputs of different numbers of environments.
+Currently, any combined resolution that has a width less than 265 pixels or height less than 265 will automatically switch
+to the DLAA anti-aliasing mode, which does not perform up-sampling during anti-aliasing. For resolutions larger than 265 in both
+width and height dimensions, we default to using the "performance" DLSS mode for anti-aliasing for performance benefits.
+Anti-aliasing modes and other rendering parameters can be specified in the :class:`~sim.RenderCfg`.
diff --git a/v1.4.0/_sources/source/overview/sensors/contact_sensor.rst b/v1.4.0/_sources/source/overview/sensors/contact_sensor.rst
new file mode 100644
index 0000000000..72239fd287
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/sensors/contact_sensor.rst
@@ -0,0 +1,145 @@
+.. _overview_sensors_contact:
+
+Contact Sensor
+================
+
+.. figure:: ../../_static/overview/overview_sensors_contact_diagram.png
+    :align: center
+    :figwidth: 100%
+    :alt: A contact sensor with filtering
+
+The contact sensor is designed to return the net contact force acting on a given ridgid body. The sensor is written to behave as a physical object, and so the "scope" of the contact sensor is limited to the body (or bodies) that defines it. There are multiple ways to define this scope, depending on your need to filter the forces coming from the contact.
+
+By default, the reported force is the total contact force, but your application may only care about contact forces due to specific objects. Retrieving contact forces from specific objects requires filtering, and this can only be done in a "many-to-one" way. A multi-legged robot that needs filterable contact information for its feet would require one sensor per foot to be defined in the environment, but a robotic hand with contact sensors on the tips of each finger can be defined with a single sensor.
+
+Consider a simple environment with an Anymal Quadruped and a block
+
+.. code-block:: python
+
+  @configclass
+  class ContactSensorsSceneCfg(InteractiveSceneCfg):
+      """Design the scene with sensors on the robot."""
+
+      # ground plane
+      ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg())
+
+      # lights
+      dome_light = AssetBaseCfg(
+          prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+      )
+
+      # robot
+      robot = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+
+      # Rigid Object
+      cube = RigidObjectCfg(
+          prim_path="{ENV_REGEX_NS}/Cube",
+          spawn=sim_utils.CuboidCfg(
+              size=(0.5,0.5,0.1),
+              rigid_props=sim_utils.RigidBodyPropertiesCfg(),
+              mass_props=sim_utils.MassPropertiesCfg(mass=100.0),
+              collision_props=sim_utils.CollisionPropertiesCfg(),
+              physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=1.0),
+              visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
+          ),
+          init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.5, 0.05)),
+      )
+
+      contact_forces_LF = ContactSensorCfg(
+          prim_path="{ENV_REGEX_NS}/Robot/LF_FOOT",
+          update_period=0.0,
+          history_length=6,
+          debug_vis=True,
+          filter_prim_paths_expr=["{ENV_REGEX_NS}/Cube"],
+      )
+
+      contact_forces_RF = ContactSensorCfg(
+          prim_path="{ENV_REGEX_NS}/Robot/RF_FOOT",
+          update_period=0.0,
+          history_length=6,
+          debug_vis=True,
+          filter_prim_paths_expr=["{ENV_REGEX_NS}/Cube"],
+      )
+
+      contact_forces_H = ContactSensorCfg(
+          prim_path="{ENV_REGEX_NS}/Robot/.*H_FOOT",
+          update_period=0.0,
+          history_length=6,
+          debug_vis=True,
+      )
+
+We define the sensors on the feet of the robot in two different ways.  The front feet are independent sensors (one sensor body per foot) and the "Cube" is placed under the left foot.  The hind feet are defined as a single sensor with multiple bodies.
+
+We can then run the scene and print the data from the sensors
+
+.. code-block:: python
+
+  def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
+    .
+    .
+    .
+    # Simulate physics
+    while simulation_app.is_running():
+      .
+      .
+      .
+      # print information from the sensors
+      print("-------------------------------")
+      print(scene["contact_forces_LF"])
+      print("Received force matrix of: ", scene["contact_forces_LF"].data.force_matrix_w)
+      print("Received contact force of: ", scene["contact_forces_LF"].data.net_forces_w)
+      print("-------------------------------")
+      print(scene["contact_forces_RF"])
+      print("Received force matrix of: ", scene["contact_forces_RF"].data.force_matrix_w)
+      print("Received contact force of: ", scene["contact_forces_RF"].data.net_forces_w)
+      print("-------------------------------")
+      print(scene["contact_forces_H"])
+      print("Received force matrix of: ", scene["contact_forces_H"].data.force_matrix_w)
+      print("Received contact force of: ", scene["contact_forces_H"].data.net_forces_w)
+
+Here, we print both the net contact force and the filtered force matrix for each contact sensor defined in the scene. The front left and front right feet report the following
+
+.. code-block:: bash
+
+  -------------------------------
+  Contact sensor @ '/World/envs/env_.*/Robot/LF_FOOT':
+          view type         : <class 'omni.physics.tensors.impl.api.RigidBodyView'>
+          update period (s) : 0.0
+          number of bodies  : 1
+          body names        : ['LF_FOOT']
+
+  Received force matrix of:  tensor([[[[-1.3923e-05,  1.5727e-04,  1.1032e+02]]]], device='cuda:0')
+  Received contact force of:  tensor([[[-1.3923e-05,  1.5727e-04,  1.1032e+02]]], device='cuda:0')
+  -------------------------------
+  Contact sensor @ '/World/envs/env_.*/Robot/RF_FOOT':
+          view type         : <class 'omni.physics.tensors.impl.api.RigidBodyView'>
+          update period (s) : 0.0
+          number of bodies  : 1
+          body names        : ['RF_FOOT']
+
+  Received force matrix of:  tensor([[[[0., 0., 0.]]]], device='cuda:0')
+  Received contact force of:  tensor([[[1.3529e-05, 0.0000e+00, 1.0069e+02]]], device='cuda:0')
+
+Notice that even with filtering, both sensors report the net contact force acting on the foot. However only the left foot has a non zero "force matrix", because the right foot isn't standing on the filtered body, ``/World/envs/env_.*/Cube``. Now, checkout the data coming from the hind feet!
+
+.. code-block:: bash
+
+  -------------------------------
+  Contact sensor @ '/World/envs/env_.*/Robot/.*H_FOOT':
+          view type         : <class 'omni.physics.tensors.impl.api.RigidBodyView'>
+          update period (s) : 0.0
+          number of bodies  : 2
+          body names        : ['LH_FOOT', 'RH_FOOT']
+
+  Received force matrix of:  None
+  Received contact force of:  tensor([[[9.7227e-06, 0.0000e+00, 7.2364e+01],
+          [2.4322e-05, 0.0000e+00, 1.8102e+02]]], device='cuda:0')
+
+In this case, the contact sensor has two bodies: the left and right hind feet.  When the force matrix is queried, the result is ``None`` because this is a many body sensor, and presently Isaac Lab only supports "many to one" contact force filtering. Unlike the single body contact sensor, the reported force tensor has multiple entries, with each "row" corresponding to the contact force on a single body of the sensor (matching the ordering at construction).
+
+.. dropdown:: Code for contact_sensor.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/demos/sensors/contact_sensor.py
+      :language: python
+      :linenos:
diff --git a/v1.4.0/_sources/source/overview/sensors/frame_transformer.rst b/v1.4.0/_sources/source/overview/sensors/frame_transformer.rst
new file mode 100644
index 0000000000..d60dd9304c
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/sensors/frame_transformer.rst
@@ -0,0 +1,158 @@
+.. _overview_sensors_frame_transformer:
+
+Frame Transformer
+====================
+
+.. figure:: ../../_static/overview/overview_sensors_frame_transformer.png
+    :align: center
+    :figwidth: 100%
+    :alt: A diagram outlining the basic geometry of frame transformations
+
+..
+  Do YOU want to know where things are relative to other things at a glance?  Then the frame transformer is the sensor for you!*
+
+One of the most common operations that needs to be performed within a physics simulation is the frame transformation: rewriting a vector or quaternion in the basis of an arbitrary euclidean coordinate system. There are many ways to accomplish this within Isaac and USD, but these methods can be cumbersome to implement within Isaac Lab's GPU based simulation and cloned environments. To mitigate this problem, we have designed the Frame Transformer Sensor, that tracks and calculate the relative frame transformations for rigid bodies of interest to the scene.
+
+The sensory is minimally defined by a source frame and a list of target frames.  These definitions take the form of a prim path (for the source) and list of regex capable prim paths the rigid bodies to be tracked (for the targets).
+
+.. code-block:: python
+
+  @configclass
+  class FrameTransformerSensorSceneCfg(InteractiveSceneCfg):
+      """Design the scene with sensors on the robot."""
+
+      # ground plane
+      ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg())
+
+      # lights
+      dome_light = AssetBaseCfg(
+          prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+      )
+
+      # robot
+      robot = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+
+      # Rigid Object
+      cube = RigidObjectCfg(
+          prim_path="{ENV_REGEX_NS}/Cube",
+          spawn=sim_utils.CuboidCfg(
+              size=(1,1,1),
+              rigid_props=sim_utils.RigidBodyPropertiesCfg(),
+              mass_props=sim_utils.MassPropertiesCfg(mass=100.0),
+              collision_props=sim_utils.CollisionPropertiesCfg(),
+              physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=1.0),
+              visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
+          ),
+          init_state=RigidObjectCfg.InitialStateCfg(pos=(5, 0, 0.5)),
+      )
+
+      specific_transforms = FrameTransformerCfg(
+          prim_path="{ENV_REGEX_NS}/Robot/base",
+          target_frames=[
+              FrameTransformerCfg.FrameCfg(prim_path="{ENV_REGEX_NS}/Robot/LF_FOOT"),
+              FrameTransformerCfg.FrameCfg(prim_path="{ENV_REGEX_NS}/Robot/RF_FOOT"),
+          ],
+          debug_vis=True,
+      )
+
+      cube_transform = FrameTransformerCfg(
+          prim_path="{ENV_REGEX_NS}/Robot/base",
+          target_frames=[
+              FrameTransformerCfg.FrameCfg(prim_path="{ENV_REGEX_NS}/Cube")
+          ],
+          debug_vis=False,
+      )
+
+      robot_transforms = FrameTransformerCfg(
+          prim_path="{ENV_REGEX_NS}/Robot/base",
+          target_frames=[
+              FrameTransformerCfg.FrameCfg(prim_path="{ENV_REGEX_NS}/Robot/.*")
+          ],
+          debug_vis=False,
+      )
+
+
+We can now run the scene and query the sensor for data
+
+.. code-block:: python
+
+  def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
+    .
+    .
+    .
+    # Simulate physics
+    while simulation_app.is_running():
+      .
+      .
+      .
+
+      # print information from the sensors
+      print("-------------------------------")
+      print(scene["specific_transforms"])
+      print("relative transforms:", scene["specific_transforms"].data.target_pos_source)
+      print("relative orientations:", scene["specific_transforms"].data.target_quat_source)
+      print("-------------------------------")
+      print(scene["cube_transform"])
+      print("relative transform:", scene["cube_transform"].data.target_pos_source)
+      print("-------------------------------")
+      print(scene["robot_transforms"])
+      print("relative transforms:", scene["robot_transforms"].data.target_pos_source)
+
+Let's take a look at the result for tracking specific objects. First, we can take a look at the data coming from the sensors on the feet
+
+.. code-block:: bash
+
+  -------------------------------
+  FrameTransformer @ '/World/envs/env_.*/Robot/base':
+          tracked body frames: ['base', 'LF_FOOT', 'RF_FOOT']
+          number of envs: 1
+          source body frame: base
+          target frames (count: ['LF_FOOT', 'RF_FOOT']): 2
+
+  relative transforms: tensor([[[ 0.4658,  0.3085, -0.4840],
+          [ 0.4487, -0.2959, -0.4828]]], device='cuda:0')
+  relative orientations: tensor([[[ 0.9623,  0.0072, -0.2717, -0.0020],
+          [ 0.9639,  0.0052, -0.2663, -0.0014]]], device='cuda:0')
+
+.. figure:: ../../_static/overview/overview_sensors_ft_visualizer.png
+    :align: center
+    :figwidth: 100%
+    :alt: The frame transformer visualizer
+
+By activating the visualizer, we can see that the frames of the feet are rotated "upward" slightly.  We can also see the explicit relative positions and rotations by querying the sensor for data, which returns these values as a list with the same order as the tracked frames.  This becomes even more apparent if we examine the transforms specified by regex.
+
+.. code-block:: bash
+
+  -------------------------------
+  FrameTransformer @ '/World/envs/env_.*/Robot/base':
+          tracked body frames: ['base', 'LF_FOOT', 'LF_HIP', 'LF_SHANK', 'LF_THIGH', 'LH_FOOT', 'LH_HIP', 'LH_SHANK', 'LH_THIGH', 'RF_FOOT', 'RF_HIP', 'RF_SHANK', 'RF_THIGH', 'RH_FOOT', 'RH_HIP', 'RH_SHANK', 'RH_THIGH', 'base']
+          number of envs: 1
+          source body frame: base
+          target frames (count: ['LF_FOOT', 'LF_HIP', 'LF_SHANK', 'LF_THIGH', 'LH_FOOT', 'LH_HIP', 'LH_SHANK', 'LH_THIGH', 'RF_FOOT', 'RF_HIP', 'RF_SHANK', 'RF_THIGH', 'RH_FOOT', 'RH_HIP', 'RH_SHANK', 'RH_THIGH', 'base']): 17
+
+  relative transforms: tensor([[[ 4.6581e-01,  3.0846e-01, -4.8398e-01],
+          [ 2.9990e-01,  1.0400e-01, -1.7062e-09],
+          [ 2.1409e-01,  2.9177e-01, -2.4214e-01],
+          [ 3.5980e-01,  1.8780e-01,  1.2608e-03],
+          [-4.8813e-01,  3.0973e-01, -4.5927e-01],
+          [-2.9990e-01,  1.0400e-01,  2.7044e-09],
+          [-2.1495e-01,  2.9264e-01, -2.4198e-01],
+          [-3.5980e-01,  1.8780e-01,  1.5582e-03],
+          [ 4.4871e-01, -2.9593e-01, -4.8277e-01],
+          [ 2.9990e-01, -1.0400e-01, -2.7057e-09],
+          [ 1.9971e-01, -2.8554e-01, -2.3778e-01],
+          [ 3.5980e-01, -1.8781e-01, -9.1049e-04],
+          [-5.0090e-01, -2.9095e-01, -4.5746e-01],
+          [-2.9990e-01, -1.0400e-01,  6.3592e-09],
+          [-2.1860e-01, -2.8251e-01, -2.5163e-01],
+          [-3.5980e-01, -1.8779e-01, -1.8792e-03],
+          [ 0.0000e+00,  0.0000e+00,  0.0000e+00]]], device='cuda:0')
+
+Here, the sensor is tracking all rigid body children of ``Robot/base``, but this expression is **inclusive**, meaning that the source body itself is also a target. This can be seen both by examining the source and target list, where ``base`` appears twice, and also in the returned data, where the sensor returns the relative transform to itself, (0, 0, 0).
+
+.. dropdown:: Code for frame_transformer_sensor.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/demos/sensors/frame_transformer_sensor.py
+      :language: python
+      :linenos:
diff --git a/v1.4.0/_sources/source/overview/sensors/index.rst b/v1.4.0/_sources/source/overview/sensors/index.rst
new file mode 100644
index 0000000000..496b4464a1
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/sensors/index.rst
@@ -0,0 +1,20 @@
+.. _overview_sensors:
+
+Sensors
+=========
+
+In this section, we will overview the various sensor APIs provided by Isaac Lab.
+
+Every sensor in Isaac Lab inherits from the ``SensorBase`` abstract class that provides the core functionality inherent to all sensors, which is to provide access to "measurements" of the scene. These measurements can take many forms such as ray-casting results, camera rendered images, or even simply ground truth data queried directly from the simulation (such as poses). Whatever the data may be, we can think of the sensor as having a buffer that is periodically updated with measurements by querying the scene. This ``update_period`` is defined in "simulated" seconds, meaning that even if the flow of time in the simulation is dilated relative to the real world, the sensor will update at the appropriate rate. The ``SensorBase`` is also designed with vectorizability in mind, holding the buffers for all copies of the sensor across cloned environments.
+
+Updating the buffers is done by overriding the ``_update_buffers_impl`` abstract method of the ``SensorBase`` class. On every time-step of the simulation, ``dt``, all sensors are queried for an update. During this query, the total time since the last update is incremented by ``dt`` for every buffer managed by that particular sensor. If the total time is greater than or equal to the ``update_period`` for a buffer, then that buffer is flagged to be updated on the next query.
+
+The following pages describe the available sensors in more detail:
+
+.. toctree::
+    :maxdepth: 1
+
+    camera
+    contact_sensor
+    frame_transformer
+    ray_caster
diff --git a/v1.4.0/_sources/source/overview/sensors/ray_caster.rst b/v1.4.0/_sources/source/overview/sensors/ray_caster.rst
new file mode 100644
index 0000000000..8c45d00c44
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/sensors/ray_caster.rst
@@ -0,0 +1,109 @@
+.. _overview_sensors_ray_caster:
+
+Ray Caster
+=============
+
+.. figure:: ../../_static/overview/overview_sensors_rc_patterns.png
+    :align: center
+    :figwidth: 100%
+    :alt: A diagram outlining the basic geometry of frame transformations
+
+The Ray Caster sensor (and the ray caster camera) are similar to RTX based rendering in that they both involve casting rays.  The difference here is that the rays cast by the Ray Caster sensor return strictly collision information along the cast, and the direction of each individual ray can be specified.  They do not bounce, nor are they affected by things like materials or opacity. For each ray specified by the sensor, a line is traced along the path of the ray and the location of first collision with the specified mesh is returned. This is the method used by some of our quadruped examples to measure the local height field.
+
+To keep the sensor performant when there are many cloned environments, the line tracing is done directly in `Warp <https://nvidia.github.io/warp/>`_. This is the reason why specific meshes need to be identified to cast against: that mesh data is loaded onto the device by warp when the sensor is initialized. As a consequence, the current iteration of this sensor only works for literally static meshes (meshes that *are not changed from the defaults specified in their USD file*).  This constraint will be removed in future releases.
+
+Using a ray caster sensor requires a **pattern** and a parent xform to be attached to.  The pattern defines how the rays are cast, while the prim properties defines the orientation and position of the sensor (additional offsets can be specified for more exact placement).  Isaac Lab supports a number of ray casting pattern configurations, including a generic LIDAR and grid pattern.
+
+.. code-block:: python
+
+  @configclass
+  class RaycasterSensorSceneCfg(InteractiveSceneCfg):
+      """Design the scene with sensors on the robot."""
+
+      # ground plane with texture for interesting casting results
+      ground = AssetBaseCfg(
+          prim_path="/World/Ground",
+          spawn=sim_utils.UsdFileCfg(
+              usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Terrains/rough_plane.usd",
+              scale = (1,1,1),
+          )
+      )
+
+      # lights
+      dome_light = AssetBaseCfg(
+          prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+      )
+
+      # robot
+      robot = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+
+      ray_caster = RayCasterCfg(
+          prim_path="{ENV_REGEX_NS}/Robot/base/lidar_cage",
+          update_period = 1/60,
+          offset=RayCasterCfg.OffsetCfg(pos=(0,0,0.5)),
+          mesh_prim_paths=["/World/Ground"],
+          attach_yaw_only=True,
+          pattern_cfg=patterns.LidarPatternCfg(
+            channels = 100,
+            vertical_fov_range=[-90, 90],
+            horizontal_fov_range = [-90,90],
+            horizontal_res=1.0),
+          debug_vis=True,
+      )
+
+
+Notice that the units on the pattern config is in degrees! Also, we enable visualization here to explicitly show the pattern in the rendering, but this is not required and should be disabled for performance tuning.
+
+.. figure:: ../../_static/overview/overview_sensors_rc_visualizer.png
+    :align: center
+    :figwidth: 100%
+    :alt: Lidar Pattern visualized
+
+Querying the sensor for data can be done at simulation run time like any other sensor.
+
+.. code-block:: python
+
+  def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
+    .
+    .
+    .
+    # Simulate physics
+    while simulation_app.is_running():
+      .
+      .
+      .
+      # print information from the sensors
+        print("-------------------------------")
+        print(scene["ray_caster"])
+        print("Ray cast hit results: ", scene["ray_caster"].data.ray_hits_w)
+
+
+.. code-block:: bash
+
+    -------------------------------
+    Ray-caster @ '/World/envs/env_.*/Robot/base/lidar_cage':
+            view type            : <class 'omni.isaac.core.prims.xform_prim_view.XFormPrimView'>
+            update period (s)    : 0.016666666666666666
+            number of meshes     : 1
+            number of sensors    : 1
+            number of rays/sensor: 18000
+            total number of rays : 18000
+    Ray cast hit results:  tensor([[[-0.3698,  0.0357,  0.0000],
+            [-0.3698,  0.0357,  0.0000],
+            [-0.3698,  0.0357,  0.0000],
+            ...,
+            [    inf,     inf,     inf],
+            [    inf,     inf,     inf],
+            [    inf,     inf,     inf]]], device='cuda:0')
+    -------------------------------
+
+Here we can see the data returned by the sensor itself.  Notice first that there are 3 closed brackets at the beginning and the end: this is because the data returned is batched by the number of sensors. The ray cast pattern itself has also been flattened, and so the dimensions of the array are ``[N, B, 3]`` where ``N`` is the number of sensors, ``B`` is the number of cast rays in the pattern, and 3 is the dimension of the casting space. Finally, notice that the first several values in this casting pattern are the same: this is because the lidar pattern is spherical and we have specified our FOV  to be hemispherical, which includes the poles. In this configuration, the "flattening pattern" becomes apparent: the first 180 entries will be the same because it's the bottom pole of this hemisphere, and there will be 180 of them because our horizontal FOV is 180 degrees with a resolution of 1 degree.
+
+You can use this script to experiment with pattern configurations and build an intuition about how the data is stored by altering the ``triggered`` variable on line 99.
+
+.. dropdown:: Code for raycaster_sensor.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/demos/sensors/raycaster_sensor.py
+      :language: python
+      :linenos:
diff --git a/v1.4.0/_sources/source/overview/showroom.rst b/v1.4.0/_sources/source/overview/showroom.rst
new file mode 100644
index 0000000000..d3d86fd777
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/showroom.rst
@@ -0,0 +1,170 @@
+Showroom Demos
+==============
+
+The main core interface extension in Isaac Lab ``omni.isaac.lab`` provides
+the main modules for actuators, objects, robots and sensors. We provide
+a list of demo scripts and tutorials. These showcase how to use the provided
+interfaces within a code in a minimal way.
+
+A few quick showroom scripts to run and checkout:
+
+-  Spawn different quadrupeds and make robots stand using position commands:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/quadrupeds.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\quadrupeds.py
+
+   .. image:: ../_static/demos/quadrupeds.jpg
+      :width: 100%
+      :alt: Quadrupeds in Isaac Lab
+
+-  Spawn different arms and apply random joint position commands:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/arms.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\arms.py
+
+   .. image:: ../_static/demos/arms.jpg
+      :width: 100%
+      :alt: Arms in Isaac Lab
+
+-  Spawn different hands and command them to open and close:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/hands.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\hands.py
+
+   .. image:: ../_static/demos/hands.jpg
+      :width: 100%
+      :alt: Dexterous hands in Isaac Lab
+
+-  Spawn different deformable (soft) bodies and let them fall from a height:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/deformables.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\deformables.py
+
+   .. image:: ../_static/demos/deformables.jpg
+      :width: 100%
+      :alt: Deformable primitive-shaped objects in Isaac Lab
+
+-  Use the interactive scene and spawn varying assets in individual environments:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/multi_asset.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\multi_asset.py
+
+   .. image:: ../_static/demos/multi_asset.jpg
+      :width: 100%
+      :alt: Multiple assets managed through the same simulation handles
+
+-  Create and spawn procedurally generated terrains with different configurations:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\procedural_terrain.py
+
+   .. image:: ../_static/demos/procedural_terrain.jpg
+      :width: 100%
+      :alt: Procedural Terrains in Isaac Lab
+
+-  Define multiple markers that are useful for visualizations:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p source/standalone/demos/markers.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p source\standalone\demos\markers.py
+
+   .. image:: ../_static/demos/markers.jpg
+      :width: 100%
+      :alt: Markers in Isaac Lab
diff --git a/v1.4.0/_sources/source/overview/simple_agents.rst b/v1.4.0/_sources/source/overview/simple_agents.rst
new file mode 100644
index 0000000000..07bf7cf8c3
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/simple_agents.rst
@@ -0,0 +1,120 @@
+Simple Agents
+=============
+
+Workflows
+---------
+
+With Isaac Lab, we also provide a suite of benchmark environments included
+in the ``omni.isaac.lab_tasks`` extension. We use the OpenAI Gym registry
+to register these environments. For each environment, we provide a default
+configuration file that defines the scene, observations, rewards and action spaces.
+
+The list of environments available registered with OpenAI Gym can be found by running:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         ./isaaclab.sh -p source/standalone/environments/list_envs.py
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         isaaclab.bat -p source\standalone\environments\list_envs.py
+
+Dummy agents
+~~~~~~~~~~~~
+
+These include dummy agents that output zero or random agents. They are
+useful to ensure that the environments are configured correctly.
+
+-  Zero-action agent on the Cart-pole example
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         ./isaaclab.sh -p source/standalone/environments/zero_agent.py --task Isaac-Cartpole-v0 --num_envs 32
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         isaaclab.bat -p source\standalone\environments\zero_agent.py --task Isaac-Cartpole-v0 --num_envs 32
+
+-  Random-action agent on the Cart-pole example:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         ./isaaclab.sh -p source/standalone/environments/random_agent.py --task Isaac-Cartpole-v0 --num_envs 32
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         isaaclab.bat -p source\standalone\environments\random_agent.py --task Isaac-Cartpole-v0 --num_envs 32
+
+
+State machine
+~~~~~~~~~~~~~
+
+We include examples on hand-crafted state machines for the environments. These
+help in understanding the environment and how to use the provided interfaces.
+The state machines are written in `warp <https://github.com/NVIDIA/warp>`__ which
+allows efficient execution for large number of environments using CUDA kernels.
+
+- Picking up a cube and placing it at a desired pose with a robotic arm:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         ./isaaclab.sh -p source/standalone/environments/state_machine/lift_cube_sm.py --num_envs 32
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         isaaclab.bat -p source\standalone\environments\state_machine\lift_cube_sm.py --num_envs 32
+
+- Picking up a deformable teddy bear and placing it at a desired pose with a robotic arm:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         ./isaaclab.sh -p source/standalone/environments/state_machine/lift_teddy_bear.py
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         isaaclab.bat -p source\standalone\environments\state_machine\lift_teddy_bear.py
diff --git a/v1.4.0/_sources/source/overview/teleop_imitation.rst b/v1.4.0/_sources/source/overview/teleop_imitation.rst
new file mode 100644
index 0000000000..642aada3fe
--- /dev/null
+++ b/v1.4.0/_sources/source/overview/teleop_imitation.rst
@@ -0,0 +1,76 @@
+Teleoperation and Imitation Learning
+====================================
+
+
+Teleoperation
+~~~~~~~~~~~~~
+
+We provide interfaces for providing commands in SE(2) and SE(3) space
+for robot control. In case of SE(2) teleoperation, the returned command
+is the linear x-y velocity and yaw rate, while in SE(3), the returned
+command is a 6-D vector representing the change in pose.
+
+To play inverse kinematics (IK) control with a keyboard device:
+
+.. code:: bash
+
+   ./isaaclab.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --teleop_device keyboard
+
+The script prints the teleoperation events configured. For keyboard,
+these are as follows:
+
+.. code:: text
+
+   Keyboard Controller for SE(3): Se3Keyboard
+       Reset all commands: L
+       Toggle gripper (open/close): K
+       Move arm along x-axis: W/S
+       Move arm along y-axis: A/D
+       Move arm along z-axis: Q/E
+       Rotate arm along x-axis: Z/X
+       Rotate arm along y-axis: T/G
+       Rotate arm along z-axis: C/V
+
+Imitation Learning
+~~~~~~~~~~~~~~~~~~
+
+Using the teleoperation devices, it is also possible to collect data for
+learning from demonstrations (LfD). For this, we support the learning
+framework `Robomimic <https://robomimic.github.io/>`__ (Linux only) and allow saving
+data in
+`HDF5 <https://robomimic.github.io/docs/tutorials/dataset_contents.html#viewing-hdf5-dataset-structure>`__
+format.
+
+1. Collect demonstrations with teleoperation for the environment
+   ``Isaac-Lift-Cube-Franka-IK-Rel-v0``:
+
+   .. code:: bash
+
+      # step a: collect data with keyboard
+      ./isaaclab.sh -p source/standalone/workflows/robomimic/collect_demonstrations.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --num_demos 10 --teleop_device keyboard
+      # step b: inspect the collected dataset
+      ./isaaclab.sh -p source/standalone/workflows/robomimic/tools/inspect_demonstrations.py logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5
+
+2. Split the dataset into train and validation set:
+
+   .. code:: bash
+
+      # install the dependencies
+      sudo apt install cmake build-essential
+      # install python module (for robomimic)
+      ./isaaclab.sh -i robomimic
+      # split data
+      ./isaaclab.sh -p source/standalone/workflows/robomimic/tools/split_train_val.py logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5 --ratio 0.2
+
+3. Train a BC agent for ``Isaac-Lift-Cube-Franka-IK-Rel-v0`` with
+   `Robomimic <https://robomimic.github.io/>`__:
+
+   .. code:: bash
+
+      ./isaaclab.sh -p source/standalone/workflows/robomimic/train.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --algo bc --dataset logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5
+
+4. Play the learned model to visualize results:
+
+   .. code:: bash
+
+      ./isaaclab.sh -p source/standalone/workflows/robomimic/play.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --checkpoint /PATH/TO/model.pth
diff --git a/v1.4.0/_sources/source/refs/additional_resources.rst b/v1.4.0/_sources/source/refs/additional_resources.rst
new file mode 100644
index 0000000000..54b29152d6
--- /dev/null
+++ b/v1.4.0/_sources/source/refs/additional_resources.rst
@@ -0,0 +1,34 @@
+Additional Resources
+====================
+
+Here we provide external links to tools and various resources that you may also find useful.
+
+
+Sim-to-Real Resources
+---------------------
+
+One of the core goals of the broader Isaac project is to bring real robots to life through the power of NVIDIA technology. There are many ways to do this, and thus, many tools that you could use.  These resources are dedicated to helping you navigate these possibilities by providing examples and discussions about closing the Sim-to-Real gap and deploying policies to actual real robots.
+
+* `Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab <https://developer.nvidia.com/blog/closing-the-sim-to-real-gap-training-spot-quadruped-locomotion-with-nvidia-isaac-lab/>`_ is a detailed guide for training a quadruped locomotion policy for the Spot Quadruped from Boston Dynamics, and deploying it to the real robot.
+
+
+LLM Generated Reward Functions
+------------------------------
+
+Our research endeavor, ``Eureka!``, has resulted in a pipeline for generating and tuning Reinforcement Learning (RL) reward functions using an LLM. These resources are dedicated to helping you utilize this pipeline to create RL based solutions to tasks that were once thought impossible!
+
+* `Isaac Lab Eureka <https://github.com/isaac-sim/IsaacLabEureka>`_ is a github repository where you can setup your own LLM reward generation pipeline for your direct RL environments built in Isaac Lab!
+
+* `Eureka! NVIDIA Research Breakthrough Puts New Spin on Robot Learning <https://blogs.nvidia.com/blog/eureka-robotics-research/>`_ is a blog post that covers the broad idea of this reward generation process.
+
+
+Simulation Features
+-------------------
+
+At the heart of Isaac Lab is Isaac Sim, which is itself a feature rich tool that is useful for robotics in general, and not only for RL. The stronger your understanding of the simulation, the readily you will be able to exploit its capabilities for your own projects and applications. These resources are dedicated to informing you about the other features of the simulation that may be useful to you given your specific interest in Isaac Lab!
+
+* `Deploying Policies in Isaac Sim <https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_policy_deployment.html>`_ is an Isaac Sim tutorial on how to use trained policies within the simulation.
+
+* `Supercharge Robotics Workflows with AI and Simulation Using NVIDIA Isaac Sim 4.0 and NVIDIA Isaac Lab <https://developer.nvidia.com/blog/supercharge-robotics-workflows-with-ai-and-simulation-using-nvidia-isaac-sim-4-0-and-nvidia-isaac-lab/>`_ is a blog post covering the newest features of Isaac Sim 4.0, including ``pip install``, a more advanced physics engine, updated sensor simulations, and more!
+
+* `Fast-Track Robot Learning in Simulation Using NVIDIA Isaac Lab <https://developer.nvidia.com/blog/fast-track-robot-learning-in-simulation-using-nvidia-isaac-lab/>`_ is a blog post covering the gamut of features for accelerated robot learning through Isaac Lab.
diff --git a/v1.4.0/_sources/source/refs/bibliography.rst b/v1.4.0/_sources/source/refs/bibliography.rst
new file mode 100644
index 0000000000..0d21440d01
--- /dev/null
+++ b/v1.4.0/_sources/source/refs/bibliography.rst
@@ -0,0 +1,4 @@
+Bibliography
+============
+
+.. bibliography::
diff --git a/v1.4.0/_sources/source/refs/changelog.rst b/v1.4.0/_sources/source/refs/changelog.rst
new file mode 100644
index 0000000000..0538e7c43c
--- /dev/null
+++ b/v1.4.0/_sources/source/refs/changelog.rst
@@ -0,0 +1,38 @@
+Extensions Changelog
+====================
+
+All notable changes to this project are documented in this file. The format is based on
+`Keep a Changelog <https://keepachangelog.com/en/1.0.0/>`__ and this project adheres to
+`Semantic Versioning <https://semver.org/spec/v2.0.0.html>`__. For a broader information
+about the changes in the framework, please refer to the
+`release notes <https://github.com/isaac-sim/IsaacLab/releases/>`__.
+
+Each extension has its own changelog. The changelog for each extension is located in the
+``docs`` directory of the extension. The changelog for each extension is also included in
+this changelog to make it easier to find the changelog for a specific extension.
+
+omni.isaac.lab
+--------------
+
+Extension containing the core framework of Isaac Lab.
+
+.. include:: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst
+   :start-line: 3
+
+
+omni.isaac.lab_assets
+---------------------
+
+Extension for configurations of various assets and sensors for Isaac Lab.
+
+.. include:: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst
+   :start-line: 3
+
+
+omni.isaac.lab_tasks
+--------------------
+
+Extension containing the environments built using Isaac Lab.
+
+.. include:: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst
+   :start-line: 3
diff --git a/v1.4.0/_sources/source/refs/contributing.rst b/v1.4.0/_sources/source/refs/contributing.rst
new file mode 100644
index 0000000000..4fff39f8d2
--- /dev/null
+++ b/v1.4.0/_sources/source/refs/contributing.rst
@@ -0,0 +1,270 @@
+Contribution Guidelines
+=======================
+
+We wholeheartedly welcome contributions to the project to make the framework more mature
+and useful for everyone. These may happen in forms of:
+
+* Bug reports: Please report any bugs you find in the `issue tracker <https://github.com/isaac-sim/IsaacLab/issues>`__.
+* Feature requests: Please suggest new features you would like to see in the `discussions <https://github.com/isaac-sim/IsaacLab/discussions>`__.
+* Code contributions: Please submit a `pull request <https://github.com/isaac-sim/IsaacLab/pulls>`__.
+
+  * Bug fixes
+  * New features
+  * Documentation improvements
+  * Tutorials and tutorial improvements
+
+
+.. attention::
+
+   We prefer GitHub `discussions <https://github.com/isaac-sim/IsaacLab/discussions>`_ for discussing ideas,
+   asking questions, conversations and requests for new features.
+
+   Please use the
+   `issue tracker <https://github.com/isaac-sim/IsaacLab/issues>`_ only to track executable pieces of work
+   with a definite scope and a clear deliverable. These can be fixing bugs, new features, or general updates.
+
+
+Contributing Code
+-----------------
+
+We use `GitHub <https://github.com/isaac-sim/IsaacLab>`__ for code hosting. Please
+follow the following steps to contribute code:
+
+1. Create an issue in the `issue tracker <https://github.com/isaac-sim/IsaacLab/issues>`__ to discuss
+   the changes or additions you would like to make. This helps us to avoid duplicate work and to make
+   sure that the changes are aligned with the roadmap of the project.
+2. Fork the repository.
+3. Create a new branch for your changes.
+4. Make your changes and commit them.
+5. Push your changes to your fork.
+6. Submit a pull request to the `main branch <https://github.com/isaac-sim/IsaacLab/compare>`__.
+7. Ensure all the checks on the pull request template are performed.
+
+After sending a pull request, the maintainers will review your code and provide feedback.
+
+Please ensure that your code is well-formatted, documented and passes all the tests.
+
+.. tip::
+
+   It is important to keep the pull request as small as possible. This makes it easier for the
+   maintainers to review your code. If you are making multiple changes, please send multiple pull requests.
+   Large pull requests are difficult to review and may take a long time to merge.
+
+
+Coding Style
+------------
+
+We follow the `Google Style
+Guides <https://google.github.io/styleguide/pyguide.html>`__ for the
+codebase. For Python code, the PEP guidelines are followed. Most
+important ones are `PEP-8 <https://www.python.org/dev/peps/pep-0008/>`__
+for code comments and layout,
+`PEP-484 <http://www.python.org/dev/peps/pep-0484>`__ and
+`PEP-585 <https://www.python.org/dev/peps/pep-0585/>`__ for
+type-hinting.
+
+For documentation, we adopt the `Google Style Guide <https://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_google.html>`__
+for docstrings. We use `Sphinx <https://www.sphinx-doc.org/en/master/>`__ for generating the documentation.
+Please make sure that your code is well-documented and follows the guidelines.
+
+Circular Imports
+^^^^^^^^^^^^^^^^
+
+Circular imports happen when two modules import each other, which is a common issue in Python.
+You can prevent circular imports by adhering to the best practices outlined in this
+`StackOverflow post <https://stackoverflow.com/questions/744373/circular-or-cyclic-imports-in-python>`__.
+
+In general, it is essential to avoid circular imports as they can lead to unpredictable behavior.
+
+However, in our codebase, we encounter circular imports at a sub-package level. This situation arises
+due to our specific code structure. We organize classes or functions and their corresponding configuration
+objects into separate files. This separation enhances code readability and maintainability. Nevertheless,
+it can result in circular imports because, in many configuration objects, we specify classes or functions
+as default values using the attributes ``class_type`` and ``func`` respectively.
+
+To address circular imports, we leverage the `typing.TYPE_CHECKING
+<https://docs.python.org/3/library/typing.html#typing.TYPE_CHECKING>`_ variable. This special variable is
+evaluated only during type-checking, allowing us to import classes or functions in the configuration objects
+without triggering circular imports.
+
+It is important to note that this is the sole instance within our codebase where circular imports are used
+and are acceptable. In all other scenarios, we adhere to best practices and recommend that you do the same.
+
+Type-hinting
+^^^^^^^^^^^^
+
+To make the code more readable, we use `type hints <https://docs.python.org/3/library/typing.html>`__ for
+all the functions and classes. This helps in understanding the code and makes it easier to maintain. Following
+this practice also helps in catching bugs early with static type checkers like `mypy <https://mypy.readthedocs.io/en/stable/>`__.
+
+To avoid duplication of efforts, we do not specify type hints for the arguments and return values in the docstrings.
+However, if your function or class is not self-explanatory, please add a docstring with the type hints.
+
+Tools
+^^^^^
+
+We use the following tools for maintaining code quality:
+
+* `pre-commit <https://pre-commit.com/>`__: Runs a list of formatters and linters over the codebase.
+* `black <https://black.readthedocs.io/en/stable/>`__: The uncompromising code formatter.
+* `flake8 <https://flake8.pycqa.org/en/latest/>`__: A wrapper around PyFlakes, pycodestyle and
+  McCabe complexity checker.
+
+Please check `here <https://pre-commit.com/#install>`__ for instructions
+to set these up. To run over the entire repository, please execute the
+following command in the terminal:
+
+.. code:: bash
+
+   ./isaaclab.sh --format  # or "./isaaclab.sh -f"
+
+Contributing Documentation
+--------------------------
+
+Contributing to the documentation is as easy as contributing to the codebase. All the source files
+for the documentation are located in the ``IsaacLab/docs`` directory. The documentation is written in
+`reStructuredText <https://docutils.sourceforge.io/rst.html>`__ format.
+
+We use `Sphinx <https://www.sphinx-doc.org/en/master/>`__ with the
+`Book Theme <https://sphinx-book-theme.readthedocs.io/en/stable/>`__
+for maintaining the documentation.
+
+Sending a pull request for the documentation is the same as sending a pull request for the codebase.
+Please follow the steps mentioned in the `Contributing Code`_ section.
+
+.. caution::
+
+  To build the documentation, we recommend creating a `virtual environment <https://docs.python.org/3/library/venv.html>`__
+  to install the dependencies. This can also be a `conda environment <https://docs.conda.io/projects/conda/en/latest/user-guide/tasks/manage-environments.html>`__.
+
+
+To build the documentation, run the following command in the terminal which installs the required python packages and
+builds the documentation using the ``docs/Makefile``:
+
+.. code:: bash
+
+   ./isaaclab.sh --docs  # or "./isaaclab.sh -d"
+
+The documentation is generated in the ``docs/_build`` directory. To view the documentation, open
+the ``index.html`` file in the ``html`` directory. This can be done by running the following command
+in the terminal:
+
+.. code:: bash
+
+   xdg-open docs/_build/html/index.html
+
+.. hint::
+
+   The ``xdg-open`` command is used to open the ``index.html`` file in the default browser. If you are
+   using a different operating system, you can use the appropriate command to open the file in the browser.
+
+
+To do a clean build, run the following command in the terminal:
+
+.. code:: bash
+
+   rm -rf docs/_build && ./isaaclab.sh --docs
+
+
+Contributing assets
+-------------------
+
+Currently, we host the assets for the extensions on `NVIDIA Nucleus Server <https://docs.omniverse.nvidia.com/nucleus/latest/index.html>`__.
+Nucleus is a cloud-based storage service that allows users to store and share large files. It is
+integrated with the `NVIDIA Omniverse Platform <https://developer.nvidia.com/omniverse>`__.
+
+Since all assets are hosted on Nucleus, we do not need to include them in the repository. However,
+we need to include the links to the assets in the documentation.
+
+The included assets are part of the `Isaac Sim Content <https://docs.omniverse.nvidia.com/isaacsim/latest/features/environment_setup/assets/usd_assets_overview.html>`__.
+To use this content, you need to download the files to a Nucleus server or create an **Isaac** Mount on
+a Nucleus server.
+
+Please check the `Isaac Sim documentation <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#assets-and-nucleus>`__
+for more information on how to download the assets.
+
+.. attention::
+
+  We are currently working on a better way to contribute assets. We will update this section once we
+  have a solution. In the meantime, please follow the steps mentioned below.
+
+To host your own assets, the current solution is:
+
+1. Create a separate repository for the assets and add it over there
+2. Make sure the assets are licensed for use and distribution
+3. Include images of the assets in the README file of the repository
+4. Send a pull request with a link to the repository
+
+We will then verify the assets, its licensing, and include the assets into the Nucleus server for hosting.
+In case you have any questions, please feel free to reach out to us through e-mail or by opening an issue
+in the repository.
+
+
+Maintaining a changelog
+-----------------------
+
+Each extension maintains a changelog in the ``CHANGELOG.rst`` file in the ``docs`` directory. The
+file is written in `reStructuredText <https://docutils.sourceforge.io/rst.html>`__ format. It
+contains a curated, chronologically ordered list of notable changes for each version of the extension.
+
+The goal of this changelog is to help users and contributors see precisely what notable changes have
+been made between each release (or version) of the extension. This is a *MUST* for every extension.
+
+For updating the changelog, please follow the following guidelines:
+
+* Each version should have a section with the version number and the release date.
+* The version number is updated according to `Semantic Versioning <https://semver.org/>`__. The
+  release date is the date on which the version is released.
+* Each version is divided into subsections based on the type of changes made.
+
+  * ``Added``: For new features.
+  * ``Changed``: For changes in existing functionality.
+  * ``Deprecated``: For soon-to-be removed features.
+  * ``Removed``: For now removed features.
+  * ``Fixed``: For any bug fixes.
+
+* Each change is described in its corresponding sub-section with a bullet point.
+* The bullet points are written in the past tense and in imperative mode.
+
+For example, the following is a sample changelog:
+
+.. code:: rst
+
+    Changelog
+    ---------
+
+    0.1.0 (2021-02-01)
+    ~~~~~~~~~~~~~~~~~~
+
+    Added
+    ^^^^^
+
+    * Added a new feature.
+
+    Changed
+    ^^^^^^^
+
+    * Changed an existing feature.
+
+    Deprecated
+    ^^^^^^^^^^
+
+    * Deprecated an existing feature.
+
+    Removed
+    ^^^^^^^
+
+    * Removed an existing feature.
+
+    Fixed
+    ^^^^^
+
+    * Fixed a bug.
+
+    0.0.1 (2021-01-01)
+    ~~~~~~~~~~~~~~~~~~
+
+    Added
+    ^^^^^
+
+    * Added a new feature.
diff --git a/v1.4.0/_sources/source/refs/issues.rst b/v1.4.0/_sources/source/refs/issues.rst
new file mode 100644
index 0000000000..0f79690e04
--- /dev/null
+++ b/v1.4.0/_sources/source/refs/issues.rst
@@ -0,0 +1,93 @@
+Known Issues
+============
+
+.. attention::
+
+    Please also refer to the `Omniverse Isaac Sim documentation`_ for known issues and workarounds.
+
+Stale values after resetting the environment
+--------------------------------------------
+
+When resetting the environment, some of the data fields of assets and sensors are not updated.
+These include the poses of links in a kinematic chain, the camera images, the contact sensor readings,
+and the lidar point clouds. This is a known issue which has to do with the way the PhysX and
+rendering engines work in Omniverse.
+
+Many physics engines do a simulation step as a two-level call: ``forward()`` and ``simulate()``,
+where the kinematic and dynamic states are updated, respectively. Unfortunately, PhysX has only a
+single ``step()`` call where the two operations are combined. Due to computations through GPU
+kernels, it is not so straightforward for them to split these operations. Thus, at the moment,
+it is not possible to set the root and/or joint states and do a forward call to update the
+kinematic states of links. This affects both initialization as well as episodic resets.
+
+Similarly for RTX rendering related sensors (such as cameras), the sensor data is not updated
+immediately after setting the state of the sensor. The rendering engine update is bundled with
+the simulator's ``step()`` call which only gets called when the simulation is stepped forward.
+This means that the sensor data is not updated immediately after a reset and it will hold
+outdated values.
+
+While the above is erroneous, there is currently no direct workaround for it. From our experience in
+using IsaacGym, the reset values affect the agent learning critically depending on how frequently
+the environment terminates. Eventually if the agent is learning successfully, this number drops
+and does not affect the performance that critically.
+
+We have made a feature request to the respective Omniverse teams to have complete control
+over stepping different parts of the simulation app. However, at this point, there is no set
+timeline for this feature request.
+
+.. note::
+    With Isaac Lab 1.2, we have introduced a PhysX kinematic update call inside the
+    :attr:`~omni.isaac.lab.assets.ArticulationData.body_state_w` attribute. This workaround
+    ensures that the states of the links are updated when the root state or joint state
+    of an articulation is set.
+
+
+Blank initial frames from the camera
+------------------------------------
+
+When using the :class:`~omni.isaac.lab.sensors.Camera` sensor in standalone scripts, the first few frames
+may be blank. This is a known issue with the simulator where it needs a few steps to load the material
+textures properly and fill up the render targets.
+
+A hack to work around this is to add the following after initializing the camera sensor and setting
+its pose:
+
+.. code-block:: python
+
+    from omni.isaac.lab.sim import SimulationContext
+
+    sim = SimulationContext.instance()
+
+    # note: the number of steps might vary depending on how complicated the scene is.
+    for _ in range(12):
+        sim.render()
+
+
+Using instanceable assets for markers
+-------------------------------------
+
+When using `instanceable assets`_ for markers, the markers do not work properly, since Omniverse does not support
+instanceable assets when using the :class:`UsdGeom.PointInstancer` schema. This is a known issue and will hopefully
+be fixed in a future release.
+
+If you use an instanceable assets for markers, the marker class removes all the physics properties of the asset.
+This is then replicated across other references of the same asset since physics properties of instanceable assets
+are stored in the instanceable asset's USD file and not in its stage reference's USD file.
+
+.. _instanceable assets: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_gym_instanceable_assets.html
+.. _Omniverse Isaac Sim documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/known_issues.html
+
+
+Exiting the process
+-------------------
+
+When exiting a process with ``Ctrl+C``, occasionally the below error may appear:
+
+.. code-block:: bash
+
+	[Error] [omni.physx.plugin] Subscription cannot be changed during the event call.
+
+This is due to the termination occurring in the middle of a physics event call and
+should not affect the functionality of Isaac Lab. It is safe to ignore the error
+message and continue with terminating the process. On Windows systems, please use
+``Ctrl+Break`` or ``Ctrl+fn+B`` to terminate the process.
diff --git a/v1.4.0/_sources/source/refs/license.rst b/v1.4.0/_sources/source/refs/license.rst
new file mode 100644
index 0000000000..4619970952
--- /dev/null
+++ b/v1.4.0/_sources/source/refs/license.rst
@@ -0,0 +1,47 @@
+.. _license:
+
+License
+========
+
+NVIDIA Isaac Sim is available freely under `individual license
+<https://www.nvidia.com/en-us/omniverse/download/>`_. For more information
+about its license terms, please check `here <https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement>`_.
+The license files for all its dependencies and included assets are available in its
+`documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/common/licenses.html>`_.
+
+
+The Isaac Lab framework is open-sourced under the
+`BSD-3-Clause license <https://opensource.org/licenses/BSD-3-Clause>`_.
+
+
+.. code-block:: text
+
+   Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+   All rights reserved.
+
+   SPDX-License-Identifier: BSD-3-Clause
+
+   Redistribution and use in source and binary forms, with or without modification,
+   are permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+
+   3. Neither the name of the copyright holder nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+   ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+   WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+   ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+   (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+   LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+   ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+   SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/v1.4.0/_sources/source/refs/migration.rst b/v1.4.0/_sources/source/refs/migration.rst
new file mode 100644
index 0000000000..513af9b136
--- /dev/null
+++ b/v1.4.0/_sources/source/refs/migration.rst
@@ -0,0 +1,90 @@
+Migration Guide (Isaac Sim)
+===========================
+
+Moving from Isaac Sim 2022.2.1 to 2023.1.0 and later brings in a number of changes to the
+APIs and the way the application is built. This document outlines the changes
+and how to migrate your code to the new APIs. Many of these changes attribute to
+the underlying Omniverse Kit upgrade from 104.2 to 105.1. The new upgrade brings
+the following notable changes:
+
+* Update to USD 22.11
+* Upgrading the Python from 3.7 to 3.10
+
+
+Renaming of PhysX Flatcache to PhysX Fabric
+-------------------------------------------
+
+The PhysX Flatcache has been renamed to PhysX Fabric. The new name is more
+descriptive of the functionality and is consistent with the naming convention
+used by Omniverse called `Fabric`_. Consequently, the Python module name has
+also been changed from :mod:`omni.physxflatcache` to :mod:`omni.physxfabric`.
+
+Following this, on the Isaac Sim side, various renaming have occurred:
+
+* The parameter passed to :class:`SimulationContext` constructor via the keyword :obj:`sim_params`
+  now expects the key ``use_fabric`` instead of ``use_flatcache``.
+* The Python attribute :attr:`SimulationContext.get_physics_context().use_flatcache` is now
+  :attr:`SimulationContext.get_physics_context().use_fabric`.
+* The Python function :meth:`SimulationContext.get_physics_context().enable_flatcache` is now
+  :meth:`SimulationContext.get_physics_context().enable_fabric`.
+
+
+Renaming of the URDF and MJCF Importers
+---------------------------------------
+
+Starting from Isaac Sim 2023.1, the URDF and MJCF importers have been renamed to be more consistent
+with the other asset importers in Omniverse. The importers are now available on NVIDIA-Omniverse GitHub
+as open source projects.
+
+Due to the extension name change, the Python module names have also been changed:
+
+* URDF Importer: :mod:`omni.importer.urdf` (previously :mod:`omni.isaac.urdf`)
+* MJCF Importer: :mod:`omni.importer.mjcf` (previously :mod:`omni.isaac.mjcf`)
+
+
+Deprecation of :class:`UsdLux.Light` API
+----------------------------------------
+
+As highlighted in the release notes of `USD 22.11`_, the ``UsdLux.Light`` API has
+been deprecated in favor of the new ``UsdLuxLightAPI`` API. In the new API the attributes
+are prefixed with ``inputs:``. For example, the ``intensity`` attribute is now available as
+``inputs:intensity``.
+
+The following example shows how to create a sphere light using the old API and
+the new API.
+
+.. dropdown:: Code for Isaac Sim 2022.2.1 and below
+  :icon: code
+
+  .. code-block:: python
+
+      import omni.isaac.core.utils.prims as prim_utils
+
+      prim_utils.create_prim(
+        "/World/Light/GreySphere",
+        "SphereLight",
+        translation=(4.5, 3.5, 10.0),
+        attributes={"radius": 2.5, "intensity": 600.0, "color": (0.75, 0.75, 0.75)},
+      )
+
+.. dropdown:: Code for Isaac Sim 2023.1.0 and above
+  :icon: code
+
+  .. code-block:: python
+
+      import omni.isaac.core.utils.prims as prim_utils
+
+      prim_utils.create_prim(
+          "/World/Light/WhiteSphere",
+          "SphereLight",
+          translation=(-4.5, 3.5, 10.0),
+          attributes={
+            "inputs:radius": 2.5,
+            "inputs:intensity": 600.0,
+            "inputs:color": (1.0, 1.0, 1.0)
+          },
+      )
+
+
+.. _Fabric: https://docs.omniverse.nvidia.com/kit/docs/usdrt/latest/docs/usd_fabric_usdrt.html
+.. _`USD 22.11`: https://github.com/PixarAnimationStudios/OpenUSD/blob/release/CHANGELOG.md
diff --git a/v1.4.0/_sources/source/refs/reference_architecture/index.rst b/v1.4.0/_sources/source/refs/reference_architecture/index.rst
new file mode 100644
index 0000000000..338b8a4415
--- /dev/null
+++ b/v1.4.0/_sources/source/refs/reference_architecture/index.rst
@@ -0,0 +1,375 @@
+Reference Architecture
+======================
+
+This document presents an overview of the end-to-end robot learning process with
+Isaac Lab and Isaac Sim. This is demonstrated using a reference architecture that highlights
+the major building blocks for training and deployment workflows. It provides a comprehensive,
+user-friendly guide on the entire process of developing applications from training to deploying
+the trained model in the real world, including links to demos, working examples, and documentation.
+
+Who is this document for?
+~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+This document is designed to assist robotics developers and researchers working with NVIDIA Isaac Lab
+in the robot learning field, including those at research labs, Original Equipment Manufacturers (OEM),
+Solutions Providers, Solutions Integrators (SI),  and independent software vendors (ISV). It offers
+guidance on utilizing Isaac Lab’s robot training framework and workflows as a foundational starting
+point for environment configuration, task design, and policy training and testing.
+
+
+
+.. image:: ../../_static/reference-architecture/isaac-lab-ra-light.svg
+    :class: only-light
+    :align: center
+    :alt: Isaac Lab Reference Architecture
+
+.. image:: ../../_static/reference-architecture/isaac-lab-ra-dark.svg
+    :class: only-dark
+    :align: center
+    :alt: Isaac Lab Reference Architecture
+
+
+|
+
+The reference architecture for Isaac Lab comprises the following components:
+
+1. :ref:`Asset Input<ra-asset-input>`
+2. :ref:`Configuration - Assets & Scene<ra-configuration>`
+3. :ref:`Robot Learning Task Design<ra-robot-learning-task-design>`
+4. :ref:`Register with Gymnasium<ra-register-gym>`
+5. :ref:`Environment Wrapping<ra-env-wrap>`
+6. :ref:`Run Training<ra-run-training>`
+7. :ref:`Run Testing<ra-run-testing>`
+
+
+
+
+Components
+~~~~~~~~~~~
+In this section, we will briefly discuss the individual blocks for creating a
+sample reference application in Isaac Lab.
+
+
+.. _ra-asset-input:
+
+Component 1 - Asset Input
+---------------------------
+Isaac Lab accepts URDF, MJCF XML or USD files for the assets. The first step to training using Isaac Lab is to
+have the USD file of your asset and the USD or URDF file of your robot. This can be achieved in
+the following ways:
+
+
+1. Design your assets or robot in Isaac Sim and export the USD file.
+
+2. Design your assets or robot in any software of your choice and export it to USD using Isaac Sim converters. Isaac Sim supports the different converters/importers to USD such as the `CAD Converter`_, `URDF Importer`_, `MJCF Importer`_, `Onshape Importer`_, etc. More details are found in the `Importing Assets section`_ in the `Isaac Sim Reference Architecture`_.
+
+3. If you already have the URDF or MJCF file of your robot, you do not need to convert to USD as Isaac Lab takes URDF and MJCF XML.
+
+
+.. _ra-configuration:
+
+Component 2 -  Configuration (Assets and Scene)
+------------------------------------------------------
+
+Asset Configuration
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+Given that you have the asset file for your robot and other assets such as environment objects based on the task, the next step is to import them into Isaac Lab. Isaac Lab uses asset configuration classes to spawn various objects (or prims) into the scene using Python. The first step is to write a configuration class to define the properties for the assets needed to complete the task. For example, a simple go-to-goal task for a mobile robot will include the robot asset, an object like cubes to signify the goal pose visually, lights, ground plane, etc. Isaac Lab understands these assets using the configuration classes. Isaac Lab provides various sim-ready assets such as physically accurate
+3D objects that encompass accurate physical properties and behavior. It also provides connected data streams to represent the real world in simulated digital worlds such as `robots <https://github.com/isaac-sim/IsaacLab/tree/main/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets>`__
+like ANYbotics Anymal, Unitree H1 Humanoid, etc. as well as `sensors <https://github.com/isaac-sim/IsaacLab/tree/main/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors>`__. We provide these assets configuration classes. Users can also define their own assets using the configuration classes.
+
+Follow the tutorial on `how to write an Articulation and ArticulationCfg class <https://isaac-sim.github.io/IsaacLab/main/source/how-to/write_articulation_cfg.html>`__.
+
+Scene Configuration
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+Given the individual asset configurations, the next step is to put all the assets together into a
+scene. The scene configuration is a simple config class that initializes all the assets in the
+scene that are needed for the task and for visualization. This is an example for the
+`Cartpole example scene configuration <https://isaac-sim.github.io/IsaacLab/main/source/tutorials/02_scene/create_scene.html#scene-configuration>`__,
+which includes the cartpole, ground plane, and dome light.
+
+
+.. _ra-robot-learning-task-design:
+
+Component 3 - Robot Learning Task Design
+------------------------------------------------------
+Now, we have the scene for the task, but we need to define the robot learning task. We will focus on
+`reinforcement learning (RL) <https://www.andrew.cmu.edu/course/10-703/textbook/BartoSutton.pdf>`__ algorithm here. We define the RL task
+that the agent is going to do. RL tasks are defined as a Markov Decision Process (MDP),
+which is a stochastic decision-making process where optional decisions are made for the agents
+considering their current state and environment they interact with. The environment provides the
+agents’ current state or observations, and executes the actions provided by the agent.
+The environment responds to the agents by providing the next states, reward of taking the
+action, done flag and information about the current episode. Therefore, different components
+of the MDP formulation (the environment) – states, actions, rewards, reset, done, etc. — must
+be defined by the user for the agent to perform the given task.
+
+In Isaac Lab, we provide two different workflows for designing environments.
+
+Manager-based
+^^^^^^^^^^^^^^^^^
+.. image:: ../../_static/task-workflows/manager-based-light.svg
+    :class: only-light
+    :align: center
+    :alt: Manager-based Task Workflow
+
+.. image:: ../../_static/task-workflows/manager-based-dark.svg
+    :class: only-dark
+    :align: center
+    :alt: Manager-based Task Workflow
+
+This workflow is modular, and the environment is decomposed into individual components (or managers)
+that handle the different aspects of the environment, such as computing observations,
+applying actions, and applying randomization. As a user, you define different configuration classes
+for each component.
+
+- An RL task should have the following configuration classes:
+
+  - Observations Config: Defines the agents’ observations for the task.
+  - Actions Config: Defines the agent’s action type, i.e. how the output of the agent are mapped to
+    the robot's control inputs.
+  - Rewards Config: Defines the reward function for the task
+  - Terminations Config: Defines the conditions for termination of an episode or when the task
+    is completed.
+
+- You can add other optional configuration classes such as Event Config which defines the set of randomizations and noisification for the agent and environment, Curriculum Config for tasks that require `curriculum learning`_ and Commands Config for tasks where the input is from a controller/setpoint controls e.g. a gamepad controller.
+
+.. tip::
+
+  To learn more on how you can design your own manager-based environment, see :ref:`tutorial-create-manager-rl-env`.
+
+
+
+Direct
+^^^^^^^^
+.. image:: ../../_static/task-workflows/direct-based-light.svg
+    :class: only-light
+    :align: center
+    :alt: Direct-based Task Workflow
+
+.. image:: ../../_static/task-workflows/direct-based-dark.svg
+    :class: only-dark
+    :align: center
+    :alt: Direct-based Task Workflow
+
+In this workflow, you implement a single class that is responsible for computing observations, applying actions, and computing rewards. This workflow allows for direct control of the environment logic.
+
+.. tip::
+  To learn more on how you can design your own direct environment, see :ref:`tutorial-create-direct-rl-env`.
+
+Users can choose from Isaac Lab’s large suite of pre-configured environments or users can define
+their own environments. For more technical information about the two workflows, please see the
+`documentation <https://isaac-sim.github.io/IsaacLab/main/source/overview/core-concepts/task_workflows.html>`__.
+
+
+In addition to designing the RL task, you will need to design your agent’s model, the neural
+network policy and value function. To train the RL agent to solve the task, you need to define
+the hyperparameters such as number of epochs, learning rate, etc. for training and the
+policy/value model architecture. This is defined in the training configuration file specific
+to the RL library you want to use. Examples are created under the agent's folder in each task directory.
+See an example of `RSL-RL <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/rsl_rl_ppo_cfg.py>`__ for Anymal-B.
+
+
+.. _ra-register-gym:
+
+Component 4 - Register with Gymnasium
+------------------------------------------------------
+
+The next step is to register the environments with the gymnasium registry to allow you to create the environment using the unique environment name.
+Registration is a way to make the environment accessible and reusable across different
+RL algorithms and experiments. This is common in the RL community. Follow the tutorial on
+`Registering an Environment <https://isaac-sim.github.io/IsaacLab/main/source/tutorials/03_envs/register_rl_env_gym.html>`__ to learn more about how to register in your own environment.
+
+.. _ra-env-wrap:
+
+Component 5 - Environment Wrapping
+------------------------------------------------------
+In running your RL task, you might want to change the behavior of your environment without
+changing the environment itself. For example, you might want to create functions to modify
+observations or rewards, record videos, or enforce time limits. Isaac Lab utilizes the API
+available in the `gymnasium.Wrapper <https://gymnasium.farama.org/api/wrappers/table/>`__ class to create interfaces to the simulated environments.
+
+Some wrappers include:
+
+* `Video Wrappers <https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#wrapper-for-recording-videos>`__
+* `RL Libraries Wrappers <https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#wrapper-for-learning-frameworks>`__
+
+Most RL libraries expect their own variation of an environment interface. This means the
+data types needed by each library differs. Isaac Lab provides its own wrappers to convert
+the environment into the expected interface by the RL library a user wants to use. These are
+specified in the `Isaac Lab utils wrapper module <https://isaac-sim.github.io/IsaacLab/main/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers>`__.
+
+See the `full list <https://gymnasium.farama.org/api/wrappers/#gymnasium.Wrapper>`__ of other wrappers APIs. For more information on how these wrappers work,
+please refer to the `Wrapping environments <https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#how-to-env-wrappers>`__ documentation.
+
+Adding your own wrappers
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+You can define your own wrappers by adding them to the Isaac Lab utils wrapper module. More information is available `on the GitHub page for wrapping environments <https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#adding-new-wrappers>`__.
+
+.. _ra-run-training:
+
+Component 6 - Run Training
+---------------------------
+
+Finally, the last step is to run the training of the RL agent. Isaac Lab provides scripts which utilizes four popular RL libraries for training the models (GPU-based training):
+
+* `StableBaselines3 <https://stable-baselines3.readthedocs.io/en/master/>`__
+* `RSL-RL <https://github.com/leggedrobotics/rsl_rl>`__
+* `RL-Games <https://github.com/Denys88/rl_games>`__
+* `SKRL <https://skrl.readthedocs.io/en/latest/>`__
+
+
+.. note::
+
+  Isaac Lab does not provide the implementation of these RL libraries. They are already implemented by different authors. We provide the environments and framework wrappers for the RL libraries.
+
+
+
+If you want to integrate a different version of the provided algorithms or your learning library, you can follow
+`these instructions <https://isaac-sim.github.io/IsaacLab/main/source/how-to/add_own_library.html>`__.
+
+
+
+Single GPU Training
+^^^^^^^^^^^^^^^^^^^^^^^^
+.. image:: ../../_static/reference-architecture/single-gpu-training-light.svg
+    :class: only-light
+    :align: center
+    :alt: Single GPU Training Data Flow
+
+.. image:: ../../_static/reference-architecture/single-gpu-training-dark.svg
+    :class: only-dark
+    :align: center
+    :alt: Single GPU Training Data Flow
+
+Isaac Lab supports training massively parallel environments to speed up RL training and provides rich data for the model to train.
+For single GPU training, the following steps show how training works in Isaac Sim and Isaac Lab:
+
+1. **In Isaac Sim**
+
+* Isaac Sim provides the asset states such as robot and sensor states, including the observations defined in the task observation config class.
+
+2. **In Isaac Lab**
+
+* Randomizations are added to the states defined in the event configuration class to obtain the observation for the task. Randomizations are however optional. If not defined, the states are the observations.
+* The observations are computed as PyTorch tensors, and it can optionally include the action provided by the trained model based on the task.
+
+3. **In the RL library**
+
+* The observation is passed to the policy.
+* The policy is trained to output the right actions for the robot using RL library algorithms such as PPO, TRPO, etc.
+* The actions can serve either as a setpoint for a controller that generates the action to the robot or used directly as the action to the robot based on the task.
+* Action types such as joint position for a quadruped is an input to a joint controller, velocity of 1 or 0 is used to control the cart directly in the cartpole task, etc.
+* In addition, based on how the task is defined, the previous action can be part of the next set of observations that is sent.
+
+4. **In Isaac Sim**
+
+* The actions from the policy are sent back to Isaac Sim to control the agent that is learning i.e. the robot. This is the physics simulation (sim) step. This generates the next states in Isaac Sim and the rewards are calculated in Isaac Lab.
+
+5. **Rendering**
+
+* The scene can be rendered to produce the cameras' images.
+
+
+The next state is then passed in the flow till the training reaches the specified training steps or epochs. The final product is the trained model/agent.
+
+
+
+Multi-GPU and Multi-Node Training
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.. image:: ../../_static/reference-architecture/multi-gpu-training-light.svg
+    :class: only-light
+    :align: center
+    :alt: Multi GPU Training Data Flow
+
+.. image:: ../../_static/reference-architecture/multi-gpu-training-dark.svg
+    :class: only-dark
+    :align: center
+    :alt: Multi GPU Training Data Flow
+
+
+Isaac Lab supports scaling up training by taking advantage of multi-GPU and multi-node training on Linux. Follow the tutorial on `Multi-GPU training <https://isaac-sim.github.io/IsaacLab/main/source/features/multi_gpu.html#multi-gpu-training>`__ and `Multi-Node training <https://isaac-sim.github.io/IsaacLab/main/source/features/multi_gpu.html#multi-node-training>`__ to get started.
+
+
+Cloud-Based Training
+^^^^^^^^^^^^^^^^^^^^^^^^
+Isaac Lab can be deployed alongside Isaac Sim onto the public clouds with `Isaac Automator <https://github.com/isaac-sim/IsaacAutomator>`__. AWS, GCP, Azure, and Alibaba Cloud are currently supported. Follow the tutorial on `how to run Isaac Lab in the cloud <https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/cloud_installation.html>`__.
+
+.. note::
+
+  Both multi-GPU and multi-node jobs can be easily scaled across heterogeneous environments with `OSMO <https://developer.nvidia.com/osmo>`__, a cloud-native, orchestration platform for scheduling complex multi-stage and multi-container heterogeneous computing workflows. Isaac Lab also provides the tools to run your RL task in Docker. See more details on `container deployment <https://isaac-sim.github.io/IsaacLab/main/source/deployment/index.html>`__.
+
+.. _ra-run-testing:
+
+Component 7: Run Testing
+-----------------------------
+Isaac Lab provides scripts for `testing/playing the trained policy <https://isaac-sim.github.io/IsaacLab/main/source/tutorials/03_envs/run_rl_training.html#playing-the-trained-agent>`__ on the environment and functions for converting the trained model from .pt to
+.jit and .onnx for deployment.
+
+
+Deployment on Physical Robots
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. image:: ../../_static/reference-architecture/deployment-light.svg
+    :class: only-light
+    :align: center
+    :alt: Isaac Lab Trained Policy Deployment
+
+.. image:: ../../_static/reference-architecture/deployment-dark.svg
+    :class: only-dark
+    :align: center
+    :alt: Isaac Lab Trained Policy Deployment
+
+
+To deploy your trained model on a real robot, you would need what is shown in the flow diagram. Note, this is a sample reference architecture, hence it can be tweaked for a different application.
+First, you need a robot with the required sensors and processing computer such as `NVIDIA Jetson <https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/>`__ to deploy on. Next, you need a state estimator for your robot. The state estimator should be able to deliver the list of observations used for training.
+
+Once the observations are extracted, they are passed into the model which delivers the action using the model inferencing runtime. The commanded action from the model serves as setpoints for the action controller. The action controller outputs scaled actions which are then used to control the robot to get to the next state, and this continues till the task is done.
+
+NVIDIA Isaac platform provides some tools for state estimation, including visual slam and inferencing engines such as `TensorRT <https://developer.nvidia.com/tensorrt-getting-started#:~:text=NVIDIA%C2%AE%20TensorRT%E2%84%A2%20is,high%20throughput%20for%20production%20applications.>`__. Other inferencing runtime includes `OnnxRuntime <https://onnxruntime.ai/>`__, direct inferencing on the PyTorch model, etc.
+
+
+
+
+Summary
+~~~~~~~~~~~
+
+This document presents a reference architecture for Isaac Lab that has undergone SQA testing. We have provided a user-friendly guide to end-to-end robot learning with Isaac Lab and Isaac Sim from training to real-world deployment, including demos, examples, and documentation links.
+
+
+How to Get Started
+~~~~~~~~~~~~~~~~~~~~~~
+Check out our resources on using Isaac Lab with your robots.
+
+Review Our Documentation & Samples Resources
+
+* `Isaac Lab Tutorials`_
+* `Fast-Track Robot Learning in Simulation Using NVIDIA Isaac Lab`_
+* `Supercharge Robotics Workflows with AI and Simulation Using NVIDIA Isaac Sim 4.0 and NVIDIA Isaac Lab`_
+* `Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab <https://developer.nvidia.com/blog/closing-the-sim-to-real-gap-training-spot-quadruped-locomotion-with-nvidia-isaac-lab/>`__
+* `Additional Resources`_
+
+Learn More About Featured NVIDIA Solutions
+
+* `Scale AI-Enabled Robotics Development Workloads with NVIDIA OSMO`_
+* `Parkour and More: How Simulation-Based RL Helps to Push the Boundaries in Legged Locomotion (GTC session) <https://www.nvidia.com/en-us/on-demand/session/gtc24-s63140/>`__
+* `Isaac Perceptor`_
+* `Isaac Manipulator`_
+
+.. _curriculum learning: https://arxiv.org/abs/2109.11978
+.. _CAD Converter: https://docs.omniverse.nvidia.com/extensions/latest/ext_cad-converter.html
+.. _URDF Importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html
+.. _MJCF Importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html#import-mjcf
+.. _Onshape Importer: https://docs.omniverse.nvidia.com/extensions/latest/ext_onshape.html
+.. _Isaac Sim Reference Architecture: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_reference_architecture.html
+.. _Importing Assets section: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_reference_architecture.html#importing-assets
+
+.. _Scale AI-Enabled Robotics Development Workloads with NVIDIA OSMO: https://developer.nvidia.com/blog/scale-ai-enabled-robotics-development-workloads-with-nvidia-osmo/
+.. _Isaac Perceptor: https://developer.nvidia.com/isaac/perceptor
+.. _Isaac Manipulator: https://developer.nvidia.com/isaac/manipulator
+.. _Additional Resources: https://isaac-sim.github.io/IsaacLab/main/source/refs/additional_resources.html
+.. _Isaac Lab Tutorials: file:///home/oomotuyi/isaac/IsaacLab/docs/_build/current/source/tutorials/index.html
+.. _Fast-Track Robot Learning in Simulation Using NVIDIA Isaac Lab: https://developer.nvidia.com/blog/fast-track-robot-learning-in-simulation-using-nvidia-isaac-lab/
+.. _Supercharge Robotics Workflows with AI and Simulation Using NVIDIA Isaac Sim 4.0 and NVIDIA Isaac Lab: https://developer.nvidia.com/blog/supercharge-robotics-workflows-with-ai-and-simulation-using-nvidia-isaac-sim-4-0-and-nvidia-isaac-lab/
diff --git a/v1.4.0/_sources/source/refs/troubleshooting.rst b/v1.4.0/_sources/source/refs/troubleshooting.rst
new file mode 100644
index 0000000000..91c251c373
--- /dev/null
+++ b/v1.4.0/_sources/source/refs/troubleshooting.rst
@@ -0,0 +1,264 @@
+Tricks and Troubleshooting
+==========================
+
+.. note::
+
+    The following lists some of the common tricks and troubleshooting methods that we use in our common workflows.
+    Please also check the `troubleshooting page on Omniverse
+    <https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/linux_troubleshooting.html>`__ for more
+    assistance.
+
+
+Checking the internal logs from the simulator
+---------------------------------------------
+
+When running the simulator from a standalone script, it logs warnings and errors to the terminal. At the same time,
+it also logs internal messages to a file. These are useful for debugging and understanding the internal state of the
+simulator. Depending on your system, the log file can be found in the locations listed
+`here <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#common-path-locations>`_.
+
+To obtain the exact location of the log file, you need to check the first few lines of the terminal output when
+you run the standalone script. The log file location is printed at the start of the terminal output. For example:
+
+.. code:: bash
+
+    [INFO] Using python from: /home/${USER}/git/IsaacLab/_isaac_sim/python.sh
+    ...
+    Passing the following args to the base kit application:  []
+    Loading user config located at: '.../data/Kit/Isaac-Sim/2023.1/user.config.json'
+    [Info] [carb] Logging to file: '.../logs/Kit/Isaac-Sim/2023.1/kit_20240328_183346.log'
+
+
+In the above example, the log file is located at ``.../logs/Kit/Isaac-Sim/2023.1/kit_20240328_183346.log``,
+``...`` is the path to the user's log directory. The log file is named ``kit_20240328_183346.log``
+
+You can open this file to check the internal logs from the simulator. Also when reporting issues, please include
+this log file to help us debug the issue.
+
+Changing logging channel levels for the simulator
+-------------------------------------------------
+
+By default, the simulator logs messages at the ``WARN`` level and above on the terminal. You can change the logging
+channel levels to get more detailed logs. The logging channel levels can be set through Omniverse's logging system.
+
+To obtain more detailed logs, you can run your application with the following flags:
+
+* ``--info``: This flag logs messages at the ``INFO`` level and above.
+* ``--verbose``: This flag logs messages at the ``VERBOSE`` level and above.
+
+For instance, to run a standalone script with verbose logging, you can use the following command:
+
+.. code-block:: bash
+
+    # Run the standalone script with info logging
+    ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py --headless --info
+
+For more fine-grained control, you can modify the logging channels through the ``omni.log`` module.
+For more information, please refer to its `documentation <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/omni.log/Logging.html>`__.
+
+Using CPU Scaling Governor for performance
+------------------------------------------
+
+By default on many systems, the CPU frequency governor is set to
+“powersave” mode, which sets the CPU to lowest static frequency. To
+increase the maximum performance, we recommend setting the CPU frequency
+governor to “performance” mode. For more details, please check the the
+link
+`here <https://access.redhat.com/documentation/en-us/red_hat_enterprise_linux/7/html/power_management_guide/cpufreq_governors>`__.
+
+.. warning::
+    We advice not to set the governor to “performance” mode on a system with poor
+    cooling (such as laptops), since it may cause the system to overheat.
+
+-  To view existing ``scaling_governor`` value per CPU:
+
+   .. code:: bash
+
+      cat /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
+
+-  To change the governor to “performance” mode for each CPU:
+
+   .. code:: bash
+
+      echo performance | sudo tee /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
+
+
+Observing long load times at the start of the simulation
+--------------------------------------------------------
+
+The first time you run the simulator, it will take a long time to load up. This is because the
+simulator is compiling shaders and loading assets. Subsequent runs should be faster to start up,
+but may still take some time.
+
+Please note that once the Isaac Sim app loads, the environment creation time may scale linearly with
+the number of environments. Please expect a longer load time if running with thousands of
+environments or if each environment contains a larger number of assets. We are continually working
+on improving the time needed for this.
+
+When an instance of Isaac Sim is already running, launching another Isaac Sim instance in a different
+process may appear to hang at startup for the first time. Please be patient and give it some time as
+the second process will take longer to start up due to slower shader compilation.
+
+
+Receiving a “PhysX error” when running simulation on GPU
+--------------------------------------------------------
+
+When using the GPU pipeline, the buffers used for the physics simulation are allocated on the GPU only
+once at the start of the simulation. This means that they do not grow dynamically as the number of
+collisions or objects in the scene changes. If the number of collisions or objects in the scene
+exceeds the size of the buffers, the simulation will fail with an error such as the following:
+
+.. code:: bash
+
+    PhysX error: the application need to increase the PxgDynamicsMemoryConfig::foundLostPairsCapacity
+    parameter to 3072, otherwise the simulation will miss interactions
+
+In this case, you need to increase the size of the buffers passed to the
+:class:`~omni.isaac.lab.sim.SimulationContext` class. The size of the buffers can be increased by setting
+the :attr:`~omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity` parameter in the
+:class:`~omni.isaac.lab.sim.PhysxCfg` class. For example, to increase the size of the buffers to
+4096, you can use the following code:
+
+.. code:: python
+
+    import omni.isaac.lab.sim as sim_utils
+
+    sim_cfg = sim_utils.SimulationConfig()
+    sim_cfg.physx.gpu_found_lost_pairs_capacity = 4096
+    sim = SimulationContext(sim_params=sim_cfg)
+
+Please see the documentation for :class:`~omni.isaac.lab.sim.SimulationCfg` for more details
+on the parameters that can be used to configure the simulation.
+
+
+Preventing memory leaks in the simulator
+----------------------------------------
+
+Memory leaks in the Isaac Sim simulator can occur when C++ callbacks are registered with Python objects.
+This happens when callback functions within classes maintain references to the Python objects they are
+associated with. As a result, Python's garbage collection is unable to reclaim memory associated with
+these objects, preventing the corresponding C++ objects from being destroyed. Over time, this can lead
+to memory leaks and increased resource usage.
+
+To prevent memory leaks in the Isaac Sim simulator, it is essential to use weak references when registering
+callbacks with the simulator. This ensures that Python objects can be garbage collected when they are no
+longer needed, thereby avoiding memory leaks. The `weakref <https://docs.python.org/3/library/weakref.html>`_
+module from the Python standard library can be employed for this purpose.
+
+
+For example, consider a class with a callback function ``on_event_callback`` that needs to be registered
+with the simulator. If you use a strong reference to the ``MyClass`` object when passing the callback,
+the reference count of the ``MyClass`` object will be incremented. This prevents the ``MyClass`` object
+from being garbage collected when it is no longer needed, i.e., the ``__del__`` destructor will not be
+called.
+
+.. code:: python
+
+    import omni.kit
+
+    class MyClass:
+        def __init__(self):
+            app_interface = omni.kit.app.get_app_interface()
+            self._handle = app_interface.get_post_update_event_stream().create_subscription_to_pop(
+                self.on_event_callback
+            )
+
+        def __del__(self):
+            self._handle.unsubscribe()
+            self._handle = None
+
+        def on_event_callback(self, event):
+            # do something with the message
+
+
+To fix this issue, it's crucial to employ weak references when registering the callback. While this approach
+adds some verbosity to the code, it ensures that the ``MyClass`` object can be garbage collected when no longer
+in use. Here's the modified code:
+
+.. code:: python
+
+    import omni.kit
+    import weakref
+
+    class MyClass:
+        def __init__(self):
+            app_interface = omni.kit.app.get_app_interface()
+            self._handle = app_interface.get_post_update_event_stream().create_subscription_to_pop(
+                lambda event, obj=weakref.proxy(self): obj.on_event_callback(event)
+            )
+
+        def __del__(self):
+            self._handle.unsubscribe()
+            self._handle = None
+
+        def on_event_callback(self, event):
+            # do something with the message
+
+
+In this revised code, the weak reference ``weakref.proxy(self)`` is used when registering the callback,
+allowing the ``MyClass`` object to be properly garbage collected.
+
+By following this pattern, you can prevent memory leaks and maintain a more efficient and stable simulation.
+
+
+Understanding the error logs from crashes
+-----------------------------------------
+
+Many times the simulator crashes due to a bug in the implementation.
+This swamps the terminal with exceptions, some of which are coming from
+the python interpreter calling ``__del__()`` destructor of the
+simulation application. These typically look like the following:
+
+.. code:: bash
+
+    ...
+
+    [INFO]: Completed setting up the environment...
+
+    Traceback (most recent call last):
+    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 166, in <module>
+        main()
+    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 126, in main
+        actions = pre_process_actions(delta_pose, gripper_command)
+    File "source/standalone/workflows/robomimic/collect_demonstrations.py", line 57, in pre_process_actions
+        return torch.concat([delta_pose, gripper_vel], dim=1)
+    TypeError: expected Tensor as element 1 in argument 0, but got int
+    Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
+    Traceback (most recent call last):
+    File "../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
+    File "../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
+    TypeError: 'NoneType' object is not callable
+    Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7f94ac097f80>
+    Traceback (most recent call last):
+    File "../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
+    File "../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
+    TypeError: 'NoneType' object is not callable
+    Exception ignored in: <function SettingChangeSubscription.__del__ at 0x7fa2ea173e60>
+    Traceback (most recent call last):
+    File "../IsaacLab/_isaac_sim/kit/kernel/py/omni/kit/app/_impl/__init__.py", line 114, in __del__
+    AttributeError: 'NoneType' object has no attribute 'get_settings'
+    Exception ignored in: <function RegisteredActions.__del__ at 0x7f935f5cae60>
+    Traceback (most recent call last):
+    File "../IsaacLab/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 345, in __del__
+    File "../IsaacLab/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py", line 350, in destroy
+    TypeError: 'NoneType' object is not callable
+    2022-12-02 15:41:54 [18,514ms] [Warning] [carb.audio.context] 1 contexts were leaked
+    ../IsaacLab/_isaac_sim/python.sh: line 41: 414372 Segmentation fault      (core dumped) $python_exe "$@" $args
+    There was an error running python
+
+This is a known error with running standalone scripts with the Isaac Sim
+simulator. Please scroll above the exceptions thrown with
+``registry`` to see the actual error log.
+
+In the above case, the actual error is:
+
+.. code:: bash
+
+    Traceback (most recent call last):
+    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 166, in <module>
+        main()
+    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 126, in main
+        actions = pre_process_actions(delta_pose, gripper_command)
+    File "source/standalone/workflows/robomimic/tools/collect_demonstrations.py", line 57, in pre_process_actions
+        return torch.concat([delta_pose, gripper_vel], dim=1)
+    TypeError: expected Tensor as element 1 in argument 0, but got int
diff --git a/v1.4.0/_sources/source/setup/ecosystem.rst b/v1.4.0/_sources/source/setup/ecosystem.rst
new file mode 100644
index 0000000000..107c95843d
--- /dev/null
+++ b/v1.4.0/_sources/source/setup/ecosystem.rst
@@ -0,0 +1,32 @@
+Isaac Lab Ecosystem
+===================
+
+Isaac Lab is built on top of Isaac Sim to provide a unified and flexible framework
+for robot learning that exploits latest simulation technologies. It is designed to be modular and extensible,
+and aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and
+motion planning). While it includes some pre-built environments, sensors, and tasks, its main goal is to
+provide an open-sourced, unified, and easy-to-use interface for developing and testing custom environments
+and robot learning algorithms.
+
+Working with Isaac Lab requires the installation of Isaac Sim, which is packaged with core robotics tools
+that Isaac Lab depends on, including URDF and MJCF importers, simulation managers, and ROS features. Isaac
+Sim also builds on top of the Nvidia Omniverse platform, leveraging advanced physics simulation from PhysX,
+photorealistic rendering technologies, and Universal Scene Description (USD) for scene creation.
+
+Isaac Lab not only inherits the capabilities of Isaac Sim, but also adds a number
+of new features that pertain to robot learning research. For example, including actuator dynamics in the
+simulation, procedural terrain generation, and support to collect data from human demonstrations.
+
+.. image:: ../_static/setup/ecosystem-light.jpg
+    :class: only-light
+    :align: center
+    :alt: The Isaac Lab, Isaac Sim, and Nvidia Omniverse ecosystem
+
+.. image:: ../_static/setup/ecosystem-dark.jpg
+    :class: only-dark
+    :align: center
+    :alt: The Isaac Lab, Isaac Sim, and Nvidia Omniverse ecosystem
+
+
+For a detailed explanation of Nvidia's development journey of robot learning frameworks, please visit
+the `FAQ page <faq.html>`_.
diff --git a/v1.4.0/_sources/source/setup/faq.rst b/v1.4.0/_sources/source/setup/faq.rst
new file mode 100644
index 0000000000..f088854cf9
--- /dev/null
+++ b/v1.4.0/_sources/source/setup/faq.rst
@@ -0,0 +1,87 @@
+Frequently Asked Questions
+==========================
+
+Where does Isaac Lab fit in the Isaac ecosystem?
+------------------------------------------------
+
+Over the years, NVIDIA has developed a number of tools for robotics and AI. These tools leverage
+the power of GPUs to accelerate the simulation both in terms of speed and realism. They show great
+promise in the field of simulation technology and are being used by many researchers and companies
+worldwide.
+
+`Isaac Gym`_ :cite:`makoviychuk2021isaac` provides a high performance GPU-based physics simulation
+for robot learning. It is built on top of `PhysX`_ which supports GPU-accelerated simulation of rigid bodies
+and a Python API to directly access physics simulation data. Through an end-to-end GPU pipeline, it is possible
+to achieve high frame rates compared to CPU-based physics engines. The tool has been used successfully in a
+number of research projects, including legged locomotion :cite:`rudin2022learning` :cite:`rudin2022advanced`,
+in-hand manipulation :cite:`handa2022dextreme` :cite:`allshire2022transferring`, and industrial assembly
+:cite:`narang2022factory`.
+
+Despite the success of Isaac Gym, it is not designed to be a general purpose simulator for
+robotics. For example, it does not include interaction between deformable and rigid objects, high-fidelity
+rendering, and support for ROS. The tool has been primarily designed as a preview release to showcase the
+capabilities of the underlying physics engine. With the release of `Isaac Sim`_, NVIDIA is building
+a general purpose simulator for robotics and has integrated the functionalities of Isaac Gym into
+Isaac Sim.
+
+`Isaac Sim`_ is a robot simulation toolkit built on top of Omniverse, which is a general purpose platform
+that aims to unite complex 3D workflows. Isaac Sim leverages the latest advances in graphics and
+physics simulation to provide a high-fidelity simulation environment for robotics. It supports
+ROS/ROS2, various sensor simulation, tools for domain randomization and synthetic data creation.
+Tiled rendering support in Isaac Sim allows for vectorized rendering across environments, along with
+support for running in the cloud using `Isaac Automator`_.
+Overall, it is a powerful tool for roboticists and is a huge step forward in the field of robotics
+simulation.
+
+With the release of above two tools, NVIDIA also released an open-sourced set of environments called
+`IsaacGymEnvs`_ and `OmniIsaacGymEnvs`_, that have been built on top of Isaac Gym and Isaac Sim respectively.
+These environments have been designed to display the capabilities of the underlying simulators and provide
+a starting point to understand what is possible with the simulators for robot learning. These environments
+can be used for benchmarking but are not designed for developing and testing custom environments and algorithms.
+This is where Isaac Lab comes in.
+
+Isaac Lab is built on top of Isaac Sim to provide a unified and flexible framework
+for robot learning that exploits latest simulation technologies. It is designed to be modular and extensible,
+and aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and
+motion planning). While it includes some pre-built environments, sensors, and tasks, its main goal is to
+provide an open-sourced, unified, and easy-to-use interface for developing and testing custom environments
+and robot learning algorithms. It not only inherits the capabilities of Isaac Sim, but also adds a number
+of new features that pertain to robot learning research. For example, including actuator dynamics in the
+simulation, procedural terrain generation, and support to collect data from human demonstrations.
+
+Isaac Lab replaces the previous `IsaacGymEnvs`_, `OmniIsaacGymEnvs`_ and `Orbit`_ frameworks and will
+be the single robot learning framework for Isaac Sim. Previously released frameworks are deprecated
+and we encourage users to follow our `migration guides`_ to transition over to Isaac Lab.
+
+
+Why should I use Isaac Lab?
+---------------------------
+
+Since Isaac Sim remains closed-sourced, it is difficult for users to contribute to the simulator and build a
+common framework for research. On its current path, we see the community using the simulator will simply
+develop their own frameworks that will result in scattered efforts with a lot of duplication of work.
+This has happened in the past with other simulators, and we believe that it is not the best way to move
+forward as a community.
+
+Isaac Lab provides an open-sourced platform for the community to drive progress with consolidated efforts
+toward designing benchmarks and robot learning systems as a joint initiative. This allows us to reuse
+existing components and algorithms, and to build on top of each other's work. Doing so not only saves
+time and effort, but also allows us to focus on the more important aspects of research. Our hope with
+Isaac Lab is that it becomes the de-facto platform for robot learning research and an environment *zoo*
+that leverages Isaac Sim. As the framework matures, we foresee it benefitting hugely from the latest
+simulation developments (as part of internal developments at NVIDIA and collaborating partners)
+and research in robotics.
+
+We are already working with labs in universities and research institutions to integrate their work into Isaac Lab
+and hope that others in the community will join us too in this effort. If you are interested in contributing
+to Isaac Lab, please reach out to us.
+
+
+.. _PhysX: https://developer.nvidia.com/physx-sdk
+.. _Isaac Sim: https://developer.nvidia.com/isaac-sim
+.. _Isaac Gym: https://developer.nvidia.com/isaac-gym
+.. _IsaacGymEnvs: https://github.com/isaac-sim/IsaacGymEnvs
+.. _OmniIsaacGymEnvs: https://github.com/isaac-sim/OmniIsaacGymEnvs
+.. _Orbit: https://isaac-orbit.github.io/
+.. _Isaac Automator: https://github.com/isaac-sim/IsaacAutomator
+.. _migration guides: ../migration/index.html
diff --git a/v1.4.0/_sources/source/setup/installation/binaries_installation.rst b/v1.4.0/_sources/source/setup/installation/binaries_installation.rst
new file mode 100644
index 0000000000..73138ebd17
--- /dev/null
+++ b/v1.4.0/_sources/source/setup/installation/binaries_installation.rst
@@ -0,0 +1,420 @@
+.. _isaacsim-binaries-installation:
+
+
+Installation using Isaac Sim Binaries
+=====================================
+
+.. note::
+
+   If you use Conda, we recommend using `Miniconda <https://docs.anaconda.com/miniconda/miniconda-other-installer-links/>`_.
+
+Installing Isaac Sim
+--------------------
+
+Downloading pre-built binaries
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Please follow the Isaac Sim
+`documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html>`__
+to install the latest Isaac Sim release.
+
+To check the minimum system requirements,refer to the documentation
+`here <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html>`__.
+
+.. note::
+   We have tested Isaac Lab with Isaac Sim 4.1 release on Ubuntu
+   20.04LTS with NVIDIA driver 525.147.
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         On Linux systems, by default, Isaac Sim is installed in the directory
+         ``${HOME}/.local/share/ov/pkg/isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version.
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         On Windows systems, by default,Isaac Sim is installed in the directory
+         ``%USERPROFILE%\AppData\Local\ov\pkg\isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version.
+
+Verifying the Isaac Sim installation
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+To avoid the overhead of finding and locating the Isaac Sim installation
+directory every time, we recommend exporting the following environment
+variables to your terminal for the remaining of the installation instructions:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         # Isaac Sim root directory
+         export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.2.0"
+         # Isaac Sim python executable
+         export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         :: Isaac Sim root directory
+         set ISAACSIM_PATH="%USERPROFILE%\AppData\Local\ov\pkg\isaac-sim-4.2.0"
+         :: Isaac Sim python executable
+         set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"
+
+
+For more information on common paths, please check the Isaac Sim
+`documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#common-path-locations>`__.
+
+
+-  Check that the simulator runs as expected:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            # note: you can pass the argument "--help" to see all arguments possible.
+            ${ISAACSIM_PATH}/isaac-sim.sh
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            :: note: you can pass the argument "--help" to see all arguments possible.
+            %ISAACSIM_PATH%\isaac-sim.bat
+
+
+-  Check that the simulator runs from a standalone python script:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            # checks that python path is set correctly
+            ${ISAACSIM_PYTHON_EXE} -c "print('Isaac Sim configuration is now complete.')"
+            # checks that Isaac Sim can be launched from python
+            ${ISAACSIM_PYTHON_EXE} ${ISAACSIM_PATH}/standalone_examples/api/omni.isaac.core/add_cubes.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            :: checks that python path is set correctly
+            %ISAACSIM_PYTHON_EXE% -c "print('Isaac Sim configuration is now complete.')"
+            :: checks that Isaac Sim can be launched from python
+            %ISAACSIM_PYTHON_EXE% %ISAACSIM_PATH%\standalone_examples\api\omni.isaac.core\add_cubes.py
+
+
+.. caution::
+
+   If you have been using a previous version of Isaac Sim, you need to run the following command for the *first*
+   time after installation to remove all the old user data and cached variables:
+
+   .. tab-set::
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+
+      	.. code:: bash
+
+      		${ISAACSIM_PATH}/isaac-sim.sh --reset-user
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+
+         .. code:: batch
+
+            %ISAACSIM_PATH%\isaac-sim.bat --reset-user
+
+
+If the simulator does not run or crashes while following the above
+instructions, it means that something is incorrectly configured. To
+debug and troubleshoot, please check Isaac Sim
+`documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html>`__
+and the
+`forums <https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_forums.html>`__.
+
+
+Installing Isaac Lab
+--------------------
+
+Cloning Isaac Lab
+~~~~~~~~~~~~~~~~~
+
+.. note::
+
+   We recommend making a `fork <https://github.com/isaac-sim/IsaacLab/fork>`_ of the Isaac Lab repository to contribute
+   to the project but this is not mandatory to use the framework. If you
+   make a fork, please replace ``isaac-sim`` with your username
+   in the following instructions.
+
+Clone the Isaac Lab repository into your workspace:
+
+.. tab-set::
+
+   .. tab-item:: SSH
+
+      .. code:: bash
+
+         git clone git@github.com:isaac-sim/IsaacLab.git
+
+   .. tab-item:: HTTPS
+
+      .. code:: bash
+
+         git clone https://github.com/isaac-sim/IsaacLab.git
+
+
+.. note::
+   We provide a helper executable `isaaclab.sh <https://github.com/isaac-sim/IsaacLab/blob/main/isaaclab.sh>`_ that provides
+   utilities to manage extensions:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: text
+
+            ./isaaclab.sh --help
+
+            usage: isaaclab.sh [-h] [-i] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Isaac Lab.
+
+            optional arguments:
+               -h, --help           Display the help content.
+               -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl-games, rsl-rl, sb3, skrl) as extra dependencies. Default is 'all'.
+               -f, --format         Run pre-commit to format the code and check lints.
+               -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
+               -s, --sim            Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
+               -t, --test           Run all python unittest tests.
+               -o, --docker         Run the docker container helper script (docker/container.sh).
+               -v, --vscode         Generate the VSCode settings file from template.
+               -d, --docs           Build the documentation from source using sphinx.
+               -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: text
+
+            isaaclab.bat --help
+
+            usage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage Isaac Lab.
+
+            optional arguments:
+               -h, --help           Display the help content.
+               -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl-games, rsl-rl, sb3, skrl) as extra dependencies. Default is 'all'.
+               -f, --format         Run pre-commit to format the code and check lints.
+               -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
+               -s, --sim            Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
+               -t, --test           Run all python unittest tests.
+               -v, --vscode         Generate the VSCode settings file from template.
+               -d, --docs           Build the documentation from source using sphinx.
+               -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
+
+
+Creating the Isaac Sim Symbolic Link
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Set up a symbolic link between the installed Isaac Sim root folder
+and ``_isaac_sim`` in the Isaac Lab directory. This makes it convenient
+to index the python modules and look for extensions shipped with Isaac Sim.
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         # enter the cloned repository
+         cd IsaacLab
+         # create a symbolic link
+         ln -s path_to_isaac_sim _isaac_sim
+         # For example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.2.0 _isaac_sim
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         :: enter the cloned repository
+         cd IsaacLab
+         :: create a symbolic link - requires launching Command Prompt with Administrator access
+         mklink /D _isaac_sim path_to_isaac_sim
+         :: For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.2.0
+
+
+Setting up the conda environment (optional)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. attention::
+   This step is optional. If you are using the bundled python with Isaac Sim, you can skip this step.
+
+The executable ``isaaclab.sh`` automatically fetches the python bundled with Isaac
+Sim, using ``./isaaclab.sh -p`` command (unless inside a virtual environment). This executable
+behaves like a python executable, and can be used to run any python script or
+module with the simulator. For more information, please refer to the
+`documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/manual_standalone_python.html#isaac-sim-python-environment>`__.
+
+Although using a virtual environment is optional, we recommend using ``conda``. To install
+``conda``, please follow the instructions `here <https://docs.conda.io/projects/conda/en/latest/user-guide/install/index.html>`__.
+In case you want to use ``conda`` to create a virtual environment, you can
+use the following command:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         # Option 1: Default name for conda environment is 'isaaclab'
+         ./isaaclab.sh --conda  # or "./isaaclab.sh -c"
+         # Option 2: Custom name for conda environment
+         ./isaaclab.sh --conda my_env  # or "./isaaclab.sh -c my_env"
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         :: Option 1: Default name for conda environment is 'isaaclab'
+         isaaclab.bat --conda  :: or "isaaclab.bat -c"
+         :: Option 2: Custom name for conda environment
+         isaaclab.bat --conda my_env  :: or "isaaclab.bat -c my_env"
+
+
+If you are using ``conda`` to create a virtual environment, make sure to
+activate the environment before running any scripts. For example:
+
+.. code:: bash
+
+   conda activate isaaclab  # or "conda activate my_env"
+
+Once you are in the virtual environment, you do not need to use ``./isaaclab.sh -p`` / ``isaaclab.bat -p``
+to run python scripts. You can use the default python executable in your environment
+by running ``python`` or ``python3``. However, for the rest of the documentation,
+we will assume that you are using ``./isaaclab.sh -p`` / ``isaaclab.bat -p`` to run python scripts. This command
+is equivalent to running ``python`` or ``python3`` in your virtual environment.
+
+
+Installation
+~~~~~~~~~~~~
+
+-  Install dependencies using ``apt`` (on Linux only):
+
+   .. code:: bash
+
+      # these dependency are needed by robomimic which is not available on Windows
+      sudo apt install cmake build-essential
+
+- Run the install command that iterates over all the extensions in ``source/extensions`` directory and installs them
+  using pip (with ``--editable`` flag):
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         ./isaaclab.sh --install # or "./isaaclab.sh -i"
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         isaaclab.bat --install :: or "isaaclab.bat -i"
+
+.. note::
+
+   By default, the above will install all the learning frameworks. If you want to install only a specific framework, you can
+   pass the name of the framework as an argument. For example, to install only the ``rl_games`` framework, you can run
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh --install rl_games  # or "./isaaclab.sh -i rl_games"
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat --install rl_games :: or "isaaclab.bat -i rl_games"
+
+   The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``, ``none``.
+
+Verifying the Isaac Lab installation
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+To verify that the installation was successful, run the following command from the
+top of the repository:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         # Option 1: Using the isaaclab.sh executable
+         # note: this works for both the bundled python and the virtual environment
+         ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py
+
+         # Option 2: Using python in your virtual environment
+         python source/standalone/tutorials/00_sim/create_empty.py
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         :: Option 1: Using the isaaclab.bat executable
+         :: note: this works for both the bundled python and the virtual environment
+         isaaclab.bat -p source\standalone\tutorials\00_sim\create_empty.py
+
+         :: Option 2: Using python in your virtual environment
+         python source\standalone\tutorials\00_sim\create_empty.py
+
+
+The above command should launch the simulator and display a window with a black
+viewport. You can exit the script by pressing ``Ctrl+C`` on your terminal.
+On Windows machines, please terminate the process from Command Prompt using
+``Ctrl+Break`` or ``Ctrl+fn+B``.
+
+.. figure:: ../../_static/setup/verify_install.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: Simulator with a black window.
+
+
+If you see this, then the installation was successful! |:tada:|
diff --git a/v1.4.0/_sources/source/setup/installation/cloud_installation.rst b/v1.4.0/_sources/source/setup/installation/cloud_installation.rst
new file mode 100644
index 0000000000..00703d2290
--- /dev/null
+++ b/v1.4.0/_sources/source/setup/installation/cloud_installation.rst
@@ -0,0 +1,155 @@
+Running Isaac Lab in the Cloud
+==============================
+
+Isaac Lab can be run in various cloud infrastructures with the use of `Isaac Automator <https://github.com/isaac-sim/IsaacAutomator>`__.
+Isaac Automator allows for quick deployment of Isaac Sim and Isaac Lab onto the public clouds (AWS, GCP, Azure, and Alibaba Cloud are currently supported).
+
+The result is a fully configured remote desktop cloud workstation, which can be used for development and testing of Isaac Lab within minutes and on a budget. Isaac Automator supports variety of GPU instances and stop-start functionality to save on cloud costs and a variety of tools to aid the workflow (like uploading and downloading data, autorun, deployment management, etc).
+
+
+Installing Isaac Automator
+--------------------------
+
+For the most update-to-date and complete installation instructions, please refer to `Isaac Automator <https://github.com/isaac-sim/IsaacAutomator?tab=readme-ov-file#installation>`__.
+
+To use Isaac Automator, first clone the repo:
+
+.. code-block:: bash
+
+   git clone https://github.com/isaac-sim/IsaacAutomator.git
+
+Isaac Automator requires having ``docker`` pre-installed on the system.
+
+* To install Docker, please follow the instructions for your operating system on the `Docker website`_.
+* Follow the post-installation steps for Docker on the `post-installation steps`_ page. These steps allow you to run
+  Docker without using ``sudo``.
+
+Isaac Automator also requires obtaining a NGC API key.
+
+* Get access to the `Isaac Sim container`_ by joining the NVIDIA Developer Program credentials.
+* Generate your `NGC API key`_ to access locked container images from NVIDIA GPU Cloud (NGC).
+
+  * This step requires you to create an NGC account if you do not already have one.
+  * Once you have your generated API key, you need to log in to NGC
+    from the terminal.
+
+    .. code:: bash
+
+         docker login nvcr.io
+
+  * For the username, enter ``$oauthtoken`` exactly as shown. It is a special username that is used to
+    authenticate with NGC.
+
+    .. code:: text
+
+        Username: $oauthtoken
+        Password: <Your NGC API Key>
+
+
+Running Isaac Automator
+-----------------------
+
+To run Isaac Automator, first build the Isaac Automator container:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code-block:: bash
+
+         ./build
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code-block:: batch
+
+         docker build --platform linux/x86_64 -t isa .
+
+Next, enter the automator container:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code-block:: bash
+
+         ./run
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code-block:: batch
+
+         docker run --platform linux/x86_64 -it --rm -v .:/app isa bash
+
+Next, run the deployed script for your preferred cloud:
+
+.. code-block:: bash
+
+   # AWS
+   ./deploy-aws
+   # Azure
+   ./deploy-azure
+   # GCP
+   ./deploy-gcp
+   # Alibaba Cloud
+   ./deploy-alicloud
+
+Follow the prompts for entering information regarding the environment setup and credentials.
+Once successful, instructions for connecting to the cloud instance will be available in the terminal.
+Connections can be made using SSH, noVCN, or NoMachine.
+
+For details on the credentials and setup required for each cloud, please visit the
+`Isaac Automator <https://github.com/isaac-sim/IsaacAutomator?tab=readme-ov-file#deploying-isaac-sim>`__
+page for more instructions.
+
+
+Running Isaac Lab on the Cloud
+------------------------------
+
+Once connected to the cloud instance, the desktop will have an icon showing ``isaaclab.sh``.
+Launch the ``isaaclab.sh`` executable, which will open a new Terminal. Within the terminal,
+Isaac Lab commands can be executed in the same way as running locally.
+
+For example:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code-block:: bash
+
+         ./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code-block:: batch
+
+         ./isaaclab.bat -p source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0
+
+
+Destroying a Development
+-------------------------
+
+To save costs, deployments can be destroyed when not being used.
+This can be done from within the Automator container, which can be entered with command ``./run``.
+
+To destroy a deployment, run:
+
+.. code:: bash
+
+   ./destroy <deployment-name>
+
+
+.. _`Docker website`: https://docs.docker.com/desktop/install/linux-install/
+.. _`post-installation steps`: https://docs.docker.com/engine/install/linux-postinstall/
+.. _`Isaac Sim container`: https://catalog.ngc.nvidia.com/orgs/nvidia/containers/isaac-sim
+.. _`NGC API key`: https://docs.nvidia.com/ngc/gpu-cloud/ngc-user-guide/index.html#generating-api-key
diff --git a/v1.4.0/_sources/source/setup/installation/index.rst b/v1.4.0/_sources/source/setup/installation/index.rst
new file mode 100644
index 0000000000..90c8937cfc
--- /dev/null
+++ b/v1.4.0/_sources/source/setup/installation/index.rst
@@ -0,0 +1,39 @@
+Local Installation
+==================
+
+.. image:: https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg
+   :target: https://developer.nvidia.com/isaac-sim
+   :alt: IsaacSim 4.2.0
+
+.. image:: https://img.shields.io/badge/python-3.10-blue.svg
+   :target: https://www.python.org/downloads/release/python-31013/
+   :alt: Python 3.10
+
+.. image:: https://img.shields.io/badge/platform-linux--64-orange.svg
+   :target: https://releases.ubuntu.com/20.04/
+   :alt: Ubuntu 20.04
+
+.. image:: https://img.shields.io/badge/platform-windows--64-orange.svg
+   :target: https://www.microsoft.com/en-ca/windows/windows-11
+   :alt: Windows 11
+
+.. caution::
+
+   We have dropped support for Isaac Sim versions 4.0.0 and below. We recommend using the latest
+   Isaac Sim 4.2.0 release to benefit from the latest features and improvements.
+
+   For more information, please refer to the
+   `Isaac Sim release notes <https://docs.omniverse.nvidia.com/isaacsim/latest/release_notes.html>`__.
+
+.. note::
+
+    We recommend system requirements with at least 32GB RAM and 16GB VRAM for Isaac Lab.
+    For the full list of system requirements for Isaac Sim, please refer to the
+    `Isaac Sim system requirements <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html#system-requirements>`_.
+
+
+.. toctree::
+    :maxdepth: 2
+
+    Pip installation (recommended for Ubuntu 22.04 and Windows) <pip_installation>
+    Binary installation (recommended for Ubuntu 20.04) <binaries_installation>
diff --git a/v1.4.0/_sources/source/setup/installation/pip_installation.rst b/v1.4.0/_sources/source/setup/installation/pip_installation.rst
new file mode 100644
index 0000000000..83a74194ce
--- /dev/null
+++ b/v1.4.0/_sources/source/setup/installation/pip_installation.rst
@@ -0,0 +1,331 @@
+.. _isaacsim-pip-installation:
+
+Installation using Isaac Sim pip
+================================
+
+.. note::
+
+   If you use Conda, we recommend using `Miniconda <https://docs.anaconda.com/miniconda/miniconda-other-installer-links/>`_.
+
+Installing Isaac Sim
+--------------------
+
+From Isaac Sim 4.0 release, it is possible to install Isaac Sim using pip. This approach is experimental and may have
+compatibility issues with some Linux distributions. If you encounter any issues, please report them to the
+`Isaac Sim Forums <https://docs.omniverse.nvidia.com/isaacsim/latest/common/feedback.html>`_.
+
+.. attention::
+
+   Installing Isaac Sim with pip requires GLIBC 2.34+ version compatibility.
+   To check the GLIBC version on your system, use command ``ldd --version``.
+
+   This may pose compatibility issues with some Linux distributions. For instance, Ubuntu 20.04 LTS has GLIBC 2.31
+   by default. If you encounter compatibility issues, we recommend following the
+   :ref:`Isaac Sim Binaries Installation <isaacsim-binaries-installation>` approach.
+
+.. attention::
+
+      On Windows with CUDA 12, the GPU driver version 552.86 is required.
+
+-  To use the pip installation approach for Isaac Sim, we recommend first creating a virtual environment.
+   Ensure that the python version of the virtual environment is **Python 3.10**.
+
+   .. tab-set::
+
+      .. tab-item:: conda environment
+
+         .. code-block:: bash
+
+            conda create -n isaaclab python=3.10
+            conda activate isaaclab
+
+      .. tab-item:: venv environment
+
+         .. tab-set::
+            :sync-group: os
+
+            .. tab-item:: :icon:`fa-brands fa-linux` Linux
+               :sync: linux
+
+               .. code-block:: bash
+
+                  # create a virtual environment named isaaclab with python3.10
+                  python3.10 -m venv isaaclab
+                  # activate the virtual environment
+                  source isaaclab/bin/activate
+
+            .. tab-item:: :icon:`fa-brands fa-windows` Windows
+               :sync: windows
+
+               .. code-block:: batch
+
+                  # create a virtual environment named isaaclab with python3.10
+                  python3.10 -m venv isaaclab
+                  # activate the virtual environment
+                  isaaclab\Scripts\activate
+
+
+-  Next, install a CUDA-enabled PyTorch 2.4.0 build based on the CUDA version available on your system. This step is optional for Linux, but required for Windows to ensure a CUDA-compatible version of PyTorch is installed.
+
+   .. tab-set::
+
+      .. tab-item:: CUDA 11
+
+         .. code-block:: bash
+
+            pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu118
+
+      .. tab-item:: CUDA 12
+
+         .. code-block:: bash
+
+            pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu121
+
+-  Before installing Isaac Sim, ensure the latest pip version is installed. To update pip, run
+
+   .. code-block:: bash
+
+      pip install --upgrade pip
+
+
+-  Then, install the Isaac Sim packages
+
+   .. code-block:: bash
+
+      pip install isaacsim==4.2.0.2 isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com
+
+
+- To install a minimal set of packages for running Isaac Lab only, the following command can be used. Note that you cannot run ``isaacsim`` with this.
+
+   .. code-block:: bash
+
+      pip install isaacsim-rl isaacsim-replicator isaacsim-extscache-physics isaacsim-extscache-kit-sdk isaacsim-extscache-kit isaacsim-app --extra-index-url https://pypi.nvidia.com
+
+
+Verifying the Isaac Sim installation
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+-  Make sure that your virtual environment is activated (if applicable)
+
+
+-  Check that the simulator runs as expected:
+
+   .. code:: bash
+
+      # note: you can pass the argument "--help" to see all arguments possible.
+      isaacsim
+
+   By default, this will launch an empty mini Kit window.
+
+-  To run with a specific experience file, run:
+
+   .. code:: bash
+
+      # experience files can be absolute path, or relative path searched in isaacsim/apps or omni/apps
+      isaacsim omni.isaac.sim.python.kit
+
+
+.. attention::
+
+   When running Isaac Sim for the first time, all dependent extensions will be pulled from the registry.
+   This process can take upwards of 10 minutes and is required on the first run of each experience file.
+   Once the extensions are pulled, consecutive runs using the same experience file will use the cached extensions.
+
+   In addition, the first run will prompt users to accept the Nvidia Omniverse License Agreement.
+   To accept the EULA, reply ``Yes`` when prompted with the below message:
+
+   .. code:: bash
+
+      By installing or using Isaac Sim, I agree to the terms of NVIDIA OMNIVERSE LICENSE AGREEMENT (EULA)
+      in https://docs.omniverse.nvidia.com/isaacsim/latest/common/NVIDIA_Omniverse_License_Agreement.html
+
+      Do you accept the EULA? (Yes/No): Yes
+
+
+If the simulator does not run or crashes while following the above
+instructions, it means that something is incorrectly configured. To
+debug and troubleshoot, please check Isaac Sim
+`documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html>`__
+and the
+`forums <https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_forums.html>`__.
+
+
+
+Installing Isaac Lab
+--------------------
+
+Cloning Isaac Lab
+~~~~~~~~~~~~~~~~~
+
+.. note::
+
+   We recommend making a `fork <https://github.com/isaac-sim/IsaacLab/fork>`_ of the Isaac Lab repository to contribute
+   to the project but this is not mandatory to use the framework. If you
+   make a fork, please replace ``isaac-sim`` with your username
+   in the following instructions.
+
+Clone the Isaac Lab repository into your workspace:
+
+.. tab-set::
+
+   .. tab-item:: SSH
+
+      .. code:: bash
+
+         git clone git@github.com:isaac-sim/IsaacLab.git
+
+   .. tab-item:: HTTPS
+
+      .. code:: bash
+
+         git clone https://github.com/isaac-sim/IsaacLab.git
+
+
+.. note::
+   We provide a helper executable `isaaclab.sh <https://github.com/isaac-sim/IsaacLab/blob/main/isaaclab.sh>`_ that provides
+   utilities to manage extensions:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: text
+
+            ./isaaclab.sh --help
+
+            usage: isaaclab.sh [-h] [-i] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Isaac Lab.
+
+            optional arguments:
+               -h, --help           Display the help content.
+               -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl_games, rsl_rl, sb3, skrl) as extra dependencies. Default is 'all'.
+               -f, --format         Run pre-commit to format the code and check lints.
+               -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
+               -s, --sim            Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
+               -t, --test           Run all python unittest tests.
+               -o, --docker         Run the docker container helper script (docker/container.sh).
+               -v, --vscode         Generate the VSCode settings file from template.
+               -d, --docs           Build the documentation from source using sphinx.
+               -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: text
+
+            isaaclab.bat --help
+
+            usage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage Isaac Lab.
+
+            optional arguments:
+               -h, --help           Display the help content.
+               -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl_games, rsl_rl, sb3, skrl) as extra dependencies. Default is 'all'.
+               -f, --format         Run pre-commit to format the code and check lints.
+               -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
+               -s, --sim            Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
+               -t, --test           Run all python unittest tests.
+               -v, --vscode         Generate the VSCode settings file from template.
+               -d, --docs           Build the documentation from source using sphinx.
+               -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is 'isaaclab'.
+
+Installation
+~~~~~~~~~~~~
+
+-  Install dependencies using ``apt`` (on Ubuntu):
+
+   .. code:: bash
+
+      sudo apt install cmake build-essential
+
+- Run the install command that iterates over all the extensions in ``source/extensions`` directory and installs them
+  using pip (with ``--editable`` flag):
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         ./isaaclab.sh --install # or "./isaaclab.sh -i"
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: bash
+
+         isaaclab.bat --install :: or "isaaclab.bat -i"
+
+.. note::
+
+   By default, this will install all the learning frameworks. If you want to install only a specific framework, you can
+   pass the name of the framework as an argument. For example, to install only the ``rl_games`` framework, you can run
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh --install rl_games  # or "./isaaclab.sh -i rl_games"
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: bash
+
+            isaaclab.bat --install rl_games :: or "isaaclab.bat -i rl_games"
+
+   The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``, ``none``.
+
+Verifying the Isaac Lab installation
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+To verify that the installation was successful, run the following command from the
+top of the repository:
+
+.. tab-set::
+   :sync-group: os
+
+   .. tab-item:: :icon:`fa-brands fa-linux` Linux
+      :sync: linux
+
+      .. code:: bash
+
+         # Option 1: Using the isaaclab.sh executable
+         # note: this works for both the bundled python and the virtual environment
+         ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py
+
+         # Option 2: Using python in your virtual environment
+         python source/standalone/tutorials/00_sim/create_empty.py
+
+   .. tab-item:: :icon:`fa-brands fa-windows` Windows
+      :sync: windows
+
+      .. code:: batch
+
+         :: Option 1: Using the isaaclab.bat executable
+         :: note: this works for both the bundled python and the virtual environment
+         isaaclab.bat -p source\standalone\tutorials\00_sim\create_empty.py
+
+         :: Option 2: Using python in your virtual environment
+         python source\standalone\tutorials\00_sim\create_empty.py
+
+
+The above command should launch the simulator and display a window with a black
+viewport as shown below. You can exit the script by pressing ``Ctrl+C`` on your terminal.
+On Windows machines, please terminate the process from Command Prompt using
+``Ctrl+Break`` or ``Ctrl+fn+B``.
+
+
+.. figure:: ../../_static/setup/verify_install.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: Simulator with a black window.
+
+
+If you see this, then the installation was successful! |:tada:|
diff --git a/v1.4.0/_sources/source/tutorials/00_sim/create_empty.rst b/v1.4.0/_sources/source/tutorials/00_sim/create_empty.rst
new file mode 100644
index 0000000000..4f4aba0511
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/00_sim/create_empty.rst
@@ -0,0 +1,168 @@
+Creating an empty scene
+=======================
+
+.. currentmodule:: omni.isaac.lab
+
+This tutorial shows how to launch and control Isaac Sim simulator from a standalone Python script. It sets up an
+empty scene in Isaac Lab and introduces the two main classes used in the framework, :class:`app.AppLauncher` and
+:class:`sim.SimulationContext`.
+
+Please review `Isaac Sim Interface`_ and `Isaac Sim Workflows`_ prior to beginning this tutorial to get
+an initial understanding of working with the simulator.
+
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``create_empty.py`` script in the ``source/standalone/tutorials/00_sim`` directory.
+
+.. dropdown:: Code for create_empty.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/00_sim/create_empty.py
+      :language: python
+      :emphasize-lines: 18-30,34,40-44,46-47,51-54,60-61
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+Launching the simulator
+-----------------------
+
+The first step when working with standalone Python scripts is to launch the simulation application.
+This is necessary to do at the start since various dependency modules of Isaac Sim are only available
+after the simulation app is running.
+
+This can be done by importing the :class:`app.AppLauncher` class. This utility class wraps around
+:class:`omni.isaac.kit.SimulationApp` class to launch the simulator. It provides mechanisms to
+configure the simulator using command-line arguments and environment variables.
+
+For this tutorial, we mainly look at adding the command-line options to a user-defined
+:class:`argparse.ArgumentParser`. This is done by passing the parser instance to the
+:meth:`app.AppLauncher.add_app_launcher_args` method, which appends different parameters
+to it. These include launching the app headless, configuring different Livestream options,
+and enabling off-screen rendering.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/create_empty.py
+   :language: python
+   :start-at: import argparse
+   :end-at: simulation_app = app_launcher.app
+
+Importing python modules
+------------------------
+
+Once the simulation app is running, it is possible to import different Python modules from
+Isaac Sim and other libraries. Here we import the following module:
+
+* :mod:`omni.isaac.lab.sim`: A sub-package in Isaac Lab for all the core simulator-related operations.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/create_empty.py
+   :language: python
+   :start-at: from omni.isaac.lab.sim import SimulationCfg, SimulationContext
+   :end-at: from omni.isaac.lab.sim import SimulationCfg, SimulationContext
+
+
+Configuring the simulation context
+----------------------------------
+
+When launching the simulator from a standalone script, the user has complete control over playing,
+pausing and stepping the simulator. All these operations are handled through the **simulation
+context**. It takes care of various timeline events and also configures the `physics scene`_ for
+simulation.
+
+In Isaac Lab, the :class:`sim.SimulationContext` class inherits from Isaac Sim's
+:class:`omni.isaac.core.simulation_context.SimulationContext` to allow configuring the simulation
+through Python's ``dataclass`` object and handle certain intricacies of the simulation stepping.
+
+For this tutorial, we set the physics and rendering time step to 0.01 seconds. This is done
+by passing these quantities to the :class:`sim.SimulationCfg`, which is then used to create an
+instance of the simulation context.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/create_empty.py
+   :language: python
+   :start-at: # Initialize the simulation context
+   :end-at: sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
+
+
+Following the creation of the simulation context, we have only configured the physics acting on the
+simulated scene. This includes the device to use for simulation, the gravity vector, and other advanced
+solver parameters. There are now two main steps remaining to run the simulation:
+
+1. Designing the simulation scene: Adding sensors, robots and other simulated objects
+2. Running the simulation loop: Stepping the simulator, and setting and getting data from the simulator
+
+In this tutorial, we look at Step 2 first for an empty scene to focus on the simulation control first.
+In the following tutorials, we will look into Step 1 and working with simulation handles for interacting
+with the simulator.
+
+Running the simulation
+----------------------
+
+The first thing, after setting up the simulation scene, is to call the :meth:`sim.SimulationContext.reset`
+method. This method plays the timeline and initializes the physics handles in the simulator. It must always
+be called the first time before stepping the simulator. Otherwise, the simulation handles are not initialized
+properly.
+
+.. note::
+
+   :meth:`sim.SimulationContext.reset` is different from :meth:`sim.SimulationContext.play` method as the latter
+   only plays the timeline and does not initializes the physics handles.
+
+After playing the simulation timeline, we set up a simple simulation loop where the simulator is stepped repeatedly
+while the simulation app is running. The method :meth:`sim.SimulationContext.step` takes in as argument :attr:`render`,
+which dictates whether the step includes updating the rendering-related events or not. By default, this flag is
+set to True.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/create_empty.py
+   :language: python
+   :start-at: # Play the simulator
+   :end-at: sim.step()
+
+Exiting the simulation
+----------------------
+
+Lastly, the simulation application is stopped and its window is closed by calling
+:meth:`omni.isaac.kit.SimulationApp.close` method.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/create_empty.py
+   :language: python
+   :start-at: # close sim app
+   :end-at: simulation_app.close()
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+Now that we have gone through the code, let's run the script and see the result:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py
+
+
+The simulation should be playing, and the stage should be rendering. To stop the simulation,
+you can either close the window, or press ``Ctrl+C`` in the terminal.
+
+.. figure:: ../../_static/tutorials/tutorial_create_empty.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of create_empty.py
+
+Passing ``--help`` to the above script will show the different command-line arguments added
+earlier by the :class:`app.AppLauncher` class. To run the script headless, you can execute the
+following:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py --headless
+
+
+Now that we have a basic understanding of how to run a simulation, let's move on to the
+following tutorial where we will learn how to add assets to the stage.
+
+.. _`Isaac Sim Interface`: https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_interface.html#isaac-sim-app-tutorial-intro-interface
+.. _`Isaac Sim Workflows`: https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_workflows.html
+.. _carb: https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/index.html
+.. _`physics scene`: https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_physics.html#physics-scene
diff --git a/v1.4.0/_sources/source/tutorials/00_sim/launch_app.rst b/v1.4.0/_sources/source/tutorials/00_sim/launch_app.rst
new file mode 100644
index 0000000000..335ad587da
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/00_sim/launch_app.rst
@@ -0,0 +1,176 @@
+Deep-dive into AppLauncher
+==========================
+
+.. currentmodule:: omni.isaac.lab
+
+In this tutorial, we will dive into the :class:`app.AppLauncher` class to configure the simulator using
+CLI arguments and environment variables (envars). Particularly, we will demonstrate how to use
+:class:`~app.AppLauncher` to enable livestreaming and configure the :class:`omni.isaac.kit.SimulationApp`
+instance it wraps, while also allowing user-provided options.
+
+The :class:`~app.AppLauncher` is a wrapper for :class:`~omni.isaac.kit.SimulationApp` to simplify
+its configuration. The :class:`~omni.isaac.kit.SimulationApp` has many extensions that must be
+loaded to enable different capabilities, and some of these extensions are order- and inter-dependent.
+Additionally, there are startup options such as ``headless`` which must be set at instantiation time,
+and which have an implied relationship with some extensions, e.g. the livestreaming extensions.
+The :class:`~app.AppLauncher` presents an interface that can handle these extensions and startup
+options in a portable manner across a variety of use cases. To achieve this, we offer CLI and envar
+flags which can be merged with user-defined CLI args, while passing forward arguments intended
+for :class:`~omni.isaac.kit.SimulationApp`.
+
+
+The Code
+--------
+
+The tutorial corresponds to the ``launch_app.py`` script in the
+``source/standalone/tutorials/00_sim`` directory.
+
+.. dropdown:: Code for launch_app.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/00_sim/launch_app.py
+      :language: python
+      :emphasize-lines: 18-40
+      :linenos:
+
+The Code Explained
+------------------
+
+Adding arguments to the argparser
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+:class:`~app.AppLauncher` is designed to be compatible with custom CLI args that users need for
+their own scripts, while still providing a portable CLI interface.
+
+In this tutorial, a standard :class:`argparse.ArgumentParser` is instantiated and given the
+script-specific ``--size`` argument, as well as the arguments ``--height`` and ``--width``.
+The latter are ingested by :class:`~omni.isaac.kit.SimulationApp`.
+
+The argument ``--size`` is not used by :class:`~app.AppLauncher`, but will merge seamlessly
+with the :class:`~app.AppLauncher` interface. In-script arguments can be merged with the
+:class:`~app.AppLauncher` interface via the :meth:`~app.AppLauncher.add_app_launcher_args` method,
+which will return a modified :class:`~argparse.ArgumentParser` with the :class:`~app.AppLauncher`
+arguments appended. This can then be processed into an :class:`argparse.Namespace` using the
+standard :meth:`argparse.ArgumentParser.parse_args` method and passed directly to
+:class:`~app.AppLauncher` for instantiation.
+
+.. literalinclude::  ../../../../source/standalone/tutorials/00_sim/launch_app.py
+   :language: python
+   :start-at: import argparse
+   :end-at: simulation_app = app_launcher.app
+
+The above only illustrates only one of several ways of passing arguments to :class:`~app.AppLauncher`.
+Please consult its documentation page to see further options.
+
+Understanding the output of --help
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+While executing the script, we can pass the ``--help`` argument and see the combined outputs of the
+custom arguments and those from :class:`~app.AppLauncher`.
+
+.. code-block:: console
+
+   ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --help
+
+   [INFO] Using python from: /isaac-sim/python.sh
+   [INFO][AppLauncher]: The argument 'width' will be used to configure the SimulationApp.
+   [INFO][AppLauncher]: The argument 'height' will be used to configure the SimulationApp.
+   usage: launch_app.py [-h] [--size SIZE] [--width WIDTH] [--height HEIGHT] [--headless] [--livestream {0,1,2}]
+                        [--enable_cameras] [--verbose] [--experience EXPERIENCE]
+
+   Tutorial on running IsaacSim via the AppLauncher.
+
+   options:
+   -h, --help            show this help message and exit
+   --size SIZE           Side-length of cuboid
+   --width WIDTH         Width of the viewport and generated images. Defaults to 1280
+   --height HEIGHT       Height of the viewport and generated images. Defaults to 720
+
+   app_launcher arguments:
+   --headless            Force display off at all times.
+   --livestream {0,1,2}
+                         Force enable livestreaming. Mapping corresponds to that for the "LIVESTREAM" environment variable.
+   --enable_cameras      Enable cameras when running without a GUI.
+   --verbose             Enable verbose terminal logging from the SimulationApp.
+   --experience EXPERIENCE
+                         The experience file to load when launching the SimulationApp.
+
+                         * If an empty string is provided, the experience file is determined based on the headless flag.
+                         * If a relative path is provided, it is resolved relative to the `apps` folder in Isaac Sim and
+                           Isaac Lab (in that order).
+
+This readout details the ``--size``, ``--height``, and ``--width`` arguments defined in the script directly,
+as well as the :class:`~app.AppLauncher` arguments.
+
+The ``[INFO]`` messages preceding the help output also reads out which of these arguments are going
+to be interpreted as arguments to the :class:`~omni.isaac.kit.SimulationApp` instance which the
+:class:`~app.AppLauncher` class wraps. In this case, it is ``--height`` and ``--width``. These
+are classified as such because they match the name and type of an argument which can be processed
+by :class:`~omni.isaac.kit.SimulationApp`. Please refer to the `specification`_ for such arguments
+for more examples.
+
+Using environment variables
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+As noted in the help message, the :class:`~app.AppLauncher` arguments (``--livestream``, ``--headless``)
+have corresponding environment variables (envar) as well. These are detailed in :mod:`omni.isaac.lab.app`
+documentation. Providing any of these arguments through CLI is equivalent to running the script in a shell
+environment where the corresponding envar is set.
+
+The support for :class:`~app.AppLauncher` envars are simply a convenience to provide session-persistent
+configurations, and can be set in the user's ``${HOME}/.bashrc`` for persistent settings between sessions.
+In the case where these arguments are provided from the CLI, they will override their corresponding envar,
+as we will demonstrate later in this tutorial.
+
+These arguments can be used with any script that starts the simulation using :class:`~app.AppLauncher`,
+with one exception, ``--enable_cameras``. This setting sets the rendering pipeline to use the
+offscreen renderer. However, this setting is only compatible with the :class:`omni.isaac.lab.sim.SimulationContext`.
+It will not work with Isaac Sim's :class:`omni.isaac.core.simulation_context.SimulationContext` class.
+For more information on this flag, please see the :class:`~app.AppLauncher` API documentation.
+
+
+The Code Execution
+------------------
+
+We will now run the example script:
+
+.. code-block:: console
+
+   LIVESTREAM=1 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5
+
+This will spawn a 0.5m\ :sup:`3` volume cuboid in the simulation. No GUI will appear, equivalent
+to if we had passed the ``--headless`` flag because headlessness is implied by our ``LIVESTREAM``
+envar. If a visualization is desired, we could get one via Isaac's `Native Livestreaming`_. Streaming
+is currently the only supported method of visualization from within the container. The
+process can be killed by pressing ``Ctrl+C`` in the launching terminal.
+
+.. figure:: ../../_static/tutorials/tutorial_launch_app.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of launch_app.py
+
+Now, let's look at how :class:`~app.AppLauncher` handles conflicting commands:
+
+.. code-block:: console
+
+   LIVESTREAM=0 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --livestream 1
+
+This will cause the same behavior as in the previous run, because although we have set ``LIVESTREAM=0``
+in our envars, CLI args such as ``--livestream`` take precedence in determining behavior. The process can
+be killed by pressing ``Ctrl+C`` in the launching terminal.
+
+Finally, we will examine passing arguments to :class:`~omni.isaac.kit.SimulationApp` through
+:class:`~app.AppLauncher`:
+
+.. code-block:: console
+
+   LIVESTREAM=1 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080
+
+This will cause the same behavior as before, but now the viewport will be rendered at 1920x1080p resolution.
+This can be useful when we want to gather high-resolution video, or we can specify a lower resolution if we
+want our simulation to be more performant. The process can be killed by pressing ``Ctrl+C`` in the launching
+terminal.
+
+
+.. _specification: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html#omni.isaac.kit.SimulationApp.DEFAULT_LAUNCHER_CONFIG
+.. _Native Livestreaming: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html#omniverse-streaming-client
diff --git a/v1.4.0/_sources/source/tutorials/00_sim/spawn_prims.rst b/v1.4.0/_sources/source/tutorials/00_sim/spawn_prims.rst
new file mode 100644
index 0000000000..1f7ed89ccc
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/00_sim/spawn_prims.rst
@@ -0,0 +1,192 @@
+.. _tutorial-spawn-prims:
+
+
+Spawning prims into the scene
+=============================
+
+.. currentmodule:: omni.isaac.lab
+
+This tutorial explores how to spawn various objects (or prims) into the scene in Isaac Lab from Python.
+It builds upon the previous tutorial on running the simulator from a standalone script and
+demonstrates how to spawn a ground plane, lights, primitive shapes, and meshes from USD files.
+
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``spawn_prims.py`` script in the ``source/standalone/tutorials/00_sim`` directory.
+Let's take a look at the Python script:
+
+.. dropdown:: Code for spawn_prims.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
+      :language: python
+      :emphasize-lines: 40-88, 100-101
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+Scene designing in Omniverse is built around a software system and file format called USD (Universal Scene Description).
+It allows describing 3D scenes in a hierarchical manner, similar to a file system. Since USD is a comprehensive framework,
+we recommend reading the `USD documentation`_ to learn more about it.
+
+For completeness, we introduce the must know concepts of USD in this tutorial.
+
+* **Primitives (Prims)**: These are the basic building blocks of a USD scene. They can be thought of as nodes in a scene
+  graph. Each node can be a mesh, a light, a camera, or a transform. It can also be a group of other prims under it.
+* **Attributes**: These are the properties of a prim. They can be thought of as key-value pairs. For example, a prim can
+  have an attribute called ``color`` with a value of ``red``.
+* **Relationships**: These are the connections between prims. They can be thought of as pointers to other prims. For
+  example, a mesh prim can have a relationship to a material prim for shading.
+
+A collection of these prims, with their attributes and relationships, is called a **USD stage**. It can be thought of
+as a container for all prims in a scene. When we say we are designing a scene, we are actually designing a USD stage.
+
+While working with direct USD APIs provides a lot of flexibility, it can be cumbersome to learn and use. To make it
+easier to design scenes, Isaac Lab builds on top of the USD APIs to provide a configuration-driven interface to spawn prims
+into a scene. These are included in the :mod:`sim.spawners` module.
+
+When spawning prims into the scene, each prim requires a configuration class instance that defines the prim's attributes
+and relationships (through material and shading information). The configuration class is then passed to its respective
+function where the prim name and transformation are specified. The function then spawns the prim into the scene.
+
+At a high-level, this is how it works:
+
+.. code-block:: python
+
+   # Create a configuration class instance
+   cfg = MyPrimCfg()
+   prim_path = "/path/to/prim"
+
+   # Spawn the prim into the scene using the corresponding spawner function
+   spawn_my_prim(prim_path, cfg, translation=[0, 0, 0], orientation=[1, 0, 0, 0], scale=[1, 1, 1])
+   # OR
+   # Use the spawner function directly from the configuration class
+   cfg.func(prim_path, cfg, translation=[0, 0, 0], orientation=[1, 0, 0, 0], scale=[1, 1, 1])
+
+
+In this tutorial, we demonstrate the spawning of various different prims into the scene. For more
+information on the available spawners, please refer to the :mod:`sim.spawners` module in Isaac Lab.
+
+.. attention::
+
+   All the scene designing must happen before the simulation starts. Once the simulation starts, we recommend keeping
+   the scene frozen and only altering the properties of the prim. This is particularly important for GPU simulation
+   as adding new prims during simulation may alter the physics simulation buffers on GPU and lead to unexpected
+   behaviors.
+
+
+Spawning a ground plane
+-----------------------
+
+The :class:`~sim.spawners.from_files.GroundPlaneCfg` configures a grid-like ground plane with
+modifiable properties such as its appearance and size.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
+   :language: python
+   :start-at: # Ground-plane
+   :end-at: cfg_ground.func("/World/defaultGroundPlane", cfg_ground)
+
+
+Spawning lights
+---------------
+
+It is possible to spawn `different light prims`_ into the stage. These include distant lights, sphere lights, disk
+lights, and cylinder lights. In this tutorial, we spawn a distant light which is a light that is infinitely far away
+from the scene and shines in a single direction.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
+   :language: python
+   :start-at: # spawn distant light
+   :end-at: cfg_light_distant.func("/World/lightDistant", cfg_light_distant, translation=(1, 0, 10))
+
+
+Spawning primitive shapes
+-------------------------
+
+Before spawning primitive shapes, we introduce the concept of a transform prim or Xform. A transform prim is a prim that
+contains only transformation properties. It is used to group other prims under it and to transform them as a group.
+Here we make an Xform prim to group all the primitive shapes under it.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
+   :language: python
+   :start-at: # create a new xform prim for all objects to be spawned under
+   :end-at: prim_utils.create_prim("/World/Objects", "Xform")
+
+Next, we spawn a cone using the :class:`~sim.spawners.shapes.ConeCfg` class. It is possible to specify
+the radius, height, physics properties, and material properties of the cone. By default, the physics and material
+properties are disabled.
+
+The first two cones we spawn ``Cone1`` and ``Cone2`` are visual elements and do not have physics enabled.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
+   :language: python
+   :start-at: # spawn a red cone
+   :end-at: cfg_cone.func("/World/Objects/Cone2", cfg_cone, translation=(-1.0, -1.0, 1.0))
+
+For the third cone ``ConeRigid``, we add rigid body physics to it by setting the attributes for that in the configuration
+class. Through these attributes, we can specify the mass, friction, and restitution of the cone. If unspecified, they
+default to the default values set by USD Physics.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
+   :language: python
+   :start-at: # spawn a green cone with colliders and rigid body
+   :end-before: # spawn a blue cuboid with deformable body
+
+Lastly, we spawn a cuboid ``CuboidDeformable`` which contains deformable body physics properties. Unlike the
+rigid body simulation, a deformable body can have relative motion between its vertices. This is useful for simulating
+soft bodies like cloth, rubber, or jello. It is important to note that deformable bodies are only supported in
+GPU simulation and require a mesh object to be spawned with the deformable body physics properties.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
+   :language: python
+   :start-at: # spawn a blue cuboid with deformable body
+   :end-before: # spawn a usd file of a table into the scene
+
+Spawning from another file
+--------------------------
+
+Lastly, it is possible to spawn prims from other file formats such as other USD, URDF, or OBJ files. In this tutorial,
+we spawn a USD file of a table into the scene. The table is a mesh prim and has a material prim associated with it.
+All of this information is stored in its USD file.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
+   :language: python
+   :start-at: # spawn a usd file of a table into the scene
+   :end-at: cfg.func("/World/Objects/Table", cfg, translation=(0.0, 0.0, 1.05))
+
+The table above is added as a reference to the scene. In layman terms, this means that the table is not actually added
+to the scene, but a ``pointer`` to the table asset is added. This allows us to modify the table asset and have the changes
+reflected in the scene in a non-destructive manner. For example, we can change the material of the table without
+actually modifying the underlying file for the table asset directly. Only the changes are stored in the USD stage.
+
+
+Executing the Script
+~~~~~~~~~~~~~~~~~~~~
+
+Similar to the tutorial before, to run the script, execute the following command:
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/tutorials/00_sim/spawn_prims.py
+
+Once the simulation starts, you should see a window with a ground plane, a light, some cones, and a table.
+The green cone, which has rigid body physics enabled, should fall and collide with the table and the ground
+plane. The other cones are visual elements and should not move. To stop the simulation, you can close the window,
+or press ``Ctrl+C`` in the terminal.
+
+.. figure:: ../../_static/tutorials/tutorial_spawn_prims.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of spawn_prims.py
+
+This tutorial provided a foundation for spawning various prims into the scene in Isaac Lab. Although simple, it
+demonstrates the basic concepts of scene designing in Isaac Lab and how to use the spawners. In the coming tutorials,
+we will now look at how to interact with the scene and the simulation.
+
+
+.. _`USD documentation`: https://graphics.pixar.com/usd/docs/index.html
+.. _`different light prims`: https://youtu.be/c7qyI8pZvF4?feature=shared
diff --git a/v1.4.0/_sources/source/tutorials/01_assets/run_articulation.rst b/v1.4.0/_sources/source/tutorials/01_assets/run_articulation.rst
new file mode 100644
index 0000000000..dd456d6c6d
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/01_assets/run_articulation.rst
@@ -0,0 +1,146 @@
+.. _tutorial-interact-articulation:
+
+Interacting with an articulation
+================================
+
+.. currentmodule:: omni.isaac.lab
+
+
+This tutorial shows how to interact with an articulated robot in the simulation. It is a continuation of the
+:ref:`tutorial-interact-rigid-object` tutorial, where we learned how to interact with a rigid object.
+On top of setting the root state, we will see how to set the joint state and apply commands to the articulated
+robot.
+
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``run_articulation.py`` script in the ``source/standalone/tutorials/01_assets``
+directory.
+
+.. dropdown:: Code for run_articulation.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_articulation.py
+      :language: python
+      :emphasize-lines: 58-69, 91-104, 108-111, 116-117
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+Designing the scene
+-------------------
+
+Similar to the previous tutorial, we populate the scene with a ground plane and a distant light. Instead of
+spawning rigid objects, we now spawn a cart-pole articulation from its USD file. The cart-pole is a simple robot
+consisting of a cart and a pole attached to it. The cart is free to move along the x-axis, and the pole is free to
+rotate about the cart. The USD file for the cart-pole contains the robot's geometry, joints, and other physical
+properties.
+
+For the cart-pole, we use its pre-defined configuration object, which is an instance of the
+:class:`assets.ArticulationCfg` class. This class contains information about the articulation's spawning strategy,
+default initial state, actuator models for different joints, and other meta-information. A deeper-dive into how to
+create this configuration object is provided in the :ref:`how-to-write-articulation-config` tutorial.
+
+As seen in the previous tutorial, we can spawn the articulation into the scene in a similar fashion by creating
+an instance of the :class:`assets.Articulation` class by passing the configuration object to its constructor.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_articulation.py
+   :language: python
+   :start-at: # Create separate groups called "Origin1", "Origin2"
+   :end-at: cartpole = Articulation(cfg=cartpole_cfg)
+
+
+Running the simulation loop
+---------------------------
+
+Continuing from the previous tutorial, we reset the simulation at regular intervals, set commands to the articulation,
+step the simulation, and update the articulation's internal buffers.
+
+Resetting the simulation
+""""""""""""""""""""""""
+
+Similar to a rigid object, an articulation also has a root state. This state corresponds to the root body in the
+articulation tree. On top of the root state, an articulation also has joint states. These states correspond to the
+joint positions and velocities.
+
+To reset the articulation, we first set the root state by calling the :meth:`Articulation.write_root_link_pose_to_sim` and :meth:`Articulation.write_root_com_velocity_to_sim`
+methods. Similarly, we set the joint states by calling the :meth:`Articulation.write_joint_state_to_sim` method.
+Finally, we call the :meth:`Articulation.reset` method to reset any internal buffers and caches.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_articulation.py
+   :language: python
+   :start-at: # reset the scene entities
+   :end-at: robot.reset()
+
+Stepping the simulation
+"""""""""""""""""""""""
+
+Applying commands to the articulation involves two steps:
+
+1. *Setting the joint targets*: This sets the desired joint position, velocity, or effort targets for the articulation.
+2. *Writing the data to the simulation*: Based on the articulation's configuration, this step handles any
+   :ref:`actuation conversions <overview-actuators>` and writes the converted values to the PhysX buffer.
+
+In this tutorial, we control the articulation using joint effort commands. For this to work, we need to set the
+articulation's stiffness and damping parameters to zero. This is done a-priori inside the cart-pole's pre-defined
+configuration object.
+
+At every step, we randomly sample joint efforts and set them to the articulation by calling the
+:meth:`Articulation.set_joint_effort_target` method. After setting the targets, we call the
+:meth:`Articulation.write_data_to_sim` method to write the data to the PhysX buffer. Finally, we step
+the simulation.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_articulation.py
+   :language: python
+   :start-at: # Apply random action
+   :end-at: robot.write_data_to_sim()
+
+
+Updating the state
+""""""""""""""""""
+
+Every articulation class contains a :class:`assets.ArticulationData` object. This stores the state of the
+articulation. To update the state inside the buffer, we call the :meth:`assets.Articulation.update` method.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_articulation.py
+   :language: python
+   :start-at: # Update buffers
+   :end-at: robot.update(sim_dt)
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+
+To run the code and see the results, let's run the script from the terminal:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/01_assets/run_articulation.py
+
+
+This command should open a stage with a ground plane, lights, and two cart-poles that are moving around randomly.
+To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal.
+
+.. figure:: ../../_static/tutorials/tutorial_run_articulation.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of run_articulation.py
+
+In this tutorial, we learned how to create and interact with a simple articulation. We saw how to set the state
+of an articulation (its root and joint state) and how to apply commands to it. We also saw how to update its
+buffers to read the latest state from the simulation.
+
+In addition to this tutorial, we also provide a few other scripts that spawn different robots.These are included
+in the ``source/standalone/demos`` directory. You can run these scripts as:
+
+.. code-block:: bash
+
+   # Spawn many different single-arm manipulators
+   ./isaaclab.sh -p source/standalone/demos/arms.py
+
+   # Spawn many different quadrupeds
+   ./isaaclab.sh -p source/standalone/demos/quadrupeds.py
diff --git a/v1.4.0/_sources/source/tutorials/01_assets/run_deformable_object.rst b/v1.4.0/_sources/source/tutorials/01_assets/run_deformable_object.rst
new file mode 100644
index 0000000000..8edb2fdf4a
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/01_assets/run_deformable_object.rst
@@ -0,0 +1,181 @@
+.. _tutorial-interact-deformable-object:
+
+
+Interacting with a deformable object
+====================================
+
+.. currentmodule:: omni.isaac.lab
+
+While deformable objects sometimes refer to a broader class of objects, such as cloths, fluids and soft bodies,
+in PhysX, deformable objects syntactically correspond to soft bodies. Unlike rigid objects, soft bodies can deform
+under external forces and collisions.
+
+Soft bodies are simulated using Finite Element Method (FEM) in PhysX. The soft body comprises of two tetrahedral
+meshes -- a simulation mesh and a collision mesh. The simulation mesh is used to simulate the deformations of
+the soft body, while the collision mesh is used to detect collisions with other objects in the scene.
+For more details, please check the `PhysX documentation`_.
+
+This tutorial shows how to interact with a deformable object in the simulation. We will spawn a
+set of soft cubes and see how to set their nodal positions and velocities, along with apply kinematic
+commands to the mesh nodes to move the soft body.
+
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``run_deformable_object.py`` script in the ``source/standalone/tutorials/01_assets`` directory.
+
+.. dropdown:: Code for run_deformable_object.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_deformable_object.py
+      :language: python
+      :emphasize-lines: 61-73, 75-77, 102-110, 112-115, 117-118, 123-130, 132-133, 139-140
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+Designing the scene
+-------------------
+
+Similar to the :ref:`tutorial-interact-rigid-object` tutorial, we populate the scene with a ground plane
+and a light source. In addition, we add a deformable object to the scene using the :class:`assets.DeformableObject`
+class. This class is responsible for spawning the prims at the input path and initializes their corresponding
+deformable body physics handles.
+
+In this tutorial, we create a cubical soft object using the spawn configuration similar to the deformable cube
+in the :ref:`Spawn Objects <tutorial-spawn-prims>` tutorial. The only difference is that now we wrap
+the spawning configuration into the :class:`assets.DeformableObjectCfg` class. This class contains information about
+the asset's spawning strategy and default initial state. When this class is passed to
+the :class:`assets.DeformableObject` class, it spawns the object and initializes the corresponding physics handles
+when the simulation is played.
+
+.. note::
+    The deformable object is only supported in GPU simulation and requires a mesh object to be spawned with the
+    deformable body physics properties on it.
+
+
+As seen in the rigid body tutorial, we can spawn the deformable object into the scene in a similar fashion by creating
+an instance of the :class:`assets.DeformableObject` class by passing the configuration object to its constructor.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_deformable_object.py
+   :language: python
+   :start-at: # Create separate groups called "Origin1", "Origin2", "Origin3"
+   :end-at: cube_object = DeformableObject(cfg=cfg)
+
+Running the simulation loop
+---------------------------
+
+Continuing from the rigid body tutorial, we reset the simulation at regular intervals, apply kinematic commands
+to the deformable body, step the simulation, and update the deformable object's internal buffers.
+
+Resetting the simulation state
+""""""""""""""""""""""""""""""
+
+Unlike rigid bodies and articulations, deformable objects have a different state representation. The state of a
+deformable object is defined by the nodal positions and velocities of the mesh. The nodal positions and velocities
+are defined in the **simulation world frame** and are stored in the :attr:`assets.DeformableObject.data` attribute.
+
+We use the :attr:`assets.DeformableObject.data.default_nodal_state_w` attribute to get the default nodal state of the
+spawned object prims. This default state can be configured from the :attr:`assets.DeformableObjectCfg.init_state`
+attribute, which we left as identity in this tutorial.
+
+.. attention::
+   The initial state in the configuration :attr:`assets.DeformableObjectCfg` specifies the pose
+   of the deformable object at the time of spawning. Based on this initial state, the default nodal state is
+   obtained when the simulation is played for the first time.
+
+We apply transformations to the nodal positions to randomize the initial state of the deformable object.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_deformable_object.py
+   :language: python
+   :start-at: # reset the nodal state of the object
+   :end-at: nodal_state[..., :3] = cube_object.transform_nodal_pos(nodal_state[..., :3], pos_w, quat_w)
+
+To reset the deformable object, we first set the nodal state by calling the :meth:`assets.DeformableObject.write_nodal_state_to_sim`
+method. This method writes the nodal state of the deformable object prim into the simulation buffer.
+Additionally, we free all the kinematic targets set for the nodes in the previous simulation step by calling
+the :meth:`assets.DeformableObject.write_nodal_kinematic_target_to_sim` method. We explain the
+kinematic targets in the next section.
+
+Finally, we call the :meth:`assets.DeformableObject.reset` method to reset any internal buffers and caches.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_deformable_object.py
+   :language: python
+   :start-at: # write nodal state to simulation
+   :end-at: cube_object.reset()
+
+Stepping the simulation
+"""""""""""""""""""""""
+
+Deformable bodies support user-driven kinematic control where a user can specify position targets for some of
+the mesh nodes while the rest of the nodes are simulated using the FEM solver. This `partial kinematic`_ control
+is useful for applications where the user wants to interact with the deformable object in a controlled manner.
+
+In this tutorial, we apply kinematic commands to two out of the four cubes in the scene. We set the position
+targets for the node at index 0 (bottom-left corner) to move the cube along the z-axis.
+
+At every step, we increment the kinematic position target for the node by a small value. Additionally,
+we set the flag to indicate that the target is a kinematic target for that node in the simulation buffer.
+These are set into the simulation buffer by calling the :meth:`assets.DeformableObject.write_nodal_kinematic_target_to_sim`
+method.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_deformable_object.py
+   :language: python
+   :start-at: # update the kinematic target for cubes at index 0 and 3
+   :end-at: cube_object.write_nodal_kinematic_target_to_sim(nodal_kinematic_target)
+
+Similar to the rigid object and articulation, we perform the :meth:`assets.DeformableObject.write_data_to_sim` method
+before stepping the simulation. For deformable objects, this method does not apply any external forces to the object.
+However, we keep this method for completeness and future extensions.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_deformable_object.py
+   :language: python
+   :start-at: # write internal data to simulation
+   :end-at: cube_object.write_data_to_sim()
+
+Updating the state
+""""""""""""""""""
+
+After stepping the simulation, we update the internal buffers of the deformable object prims to reflect their new state
+inside the :class:`assets.DeformableObject.data` attribute. This is done using the :meth:`assets.DeformableObject.update` method.
+
+At a fixed interval, we print the root position of the deformable object to the terminal. As mentioned
+earlier, there is no concept of a root state for deformable objects. However, we compute the root position as
+the average position of all the nodes in the mesh.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_deformable_object.py
+   :language: python
+   :start-at: # update buffers
+   :end-at: print(f"Root position (in world): {cube_object.data.root_link_pos_w[:, :3]}")
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+Now that we have gone through the code, let's run the script and see the result:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/01_assets/run_deformable_object.py
+
+
+This should open a stage with a ground plane, lights, and several green cubes. Two of the four cubes must be dropping
+from a height and settling on to the ground. Meanwhile the other two cubes must be moving along the z-axis. You
+should see a marker showing the kinematic target position for the nodes at the bottom-left corner of the cubes.
+To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal
+
+.. figure:: ../../_static/tutorials/tutorial_run_deformable_object.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of run_deformable_object.py
+
+This tutorial showed how to spawn deformable objects and wrap them in a :class:`DeformableObject` class to initialize their
+physics handles which allows setting and obtaining their state. We also saw how to apply kinematic commands to the
+deformable object to move the mesh nodes in a controlled manner. In the next tutorial, we will see how to create
+a scene using the :class:`InteractiveScene` class.
+
+.. _PhysX documentation: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html
+.. _partial kinematic: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html#kinematic-soft-bodies
diff --git a/v1.4.0/_sources/source/tutorials/01_assets/run_rigid_object.rst b/v1.4.0/_sources/source/tutorials/01_assets/run_rigid_object.rst
new file mode 100644
index 0000000000..e4249c45e0
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/01_assets/run_rigid_object.rst
@@ -0,0 +1,153 @@
+.. _tutorial-interact-rigid-object:
+
+
+Interacting with a rigid object
+===============================
+
+.. currentmodule:: omni.isaac.lab
+
+In the previous tutorials, we learned the essential workings of the standalone script and how to
+spawn different objects (or *prims*) into the simulation. This tutorial shows how to create and interact
+with a rigid object. For this, we will use the :class:`assets.RigidObject` class provided in Isaac Lab.
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``run_rigid_object.py`` script in the ``source/standalone/tutorials/01_assets`` directory.
+
+.. dropdown:: Code for run_rigid_object.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_rigid_object.py
+      :language: python
+      :emphasize-lines: 55-74, 76-78, 98-108, 111-112, 118-119, 132-134, 139-140
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+In this script, we split the ``main`` function into two separate functions, which highlight the two main
+steps of setting up any simulation in the simulator:
+
+1. **Design scene**: As the name suggests, this part is responsible for adding all the prims to the scene.
+2. **Run simulation**: This part is responsible for stepping the simulator, interacting with the prims
+   in the scene, e.g., changing their poses, and applying any commands to them.
+
+A distinction between these two steps is necessary because the second step only happens after the first step
+is complete and the simulator is reset. Once the simulator is reset (which automatically plays the simulation),
+no new (physics-enabled) prims should be added to the scene as it may lead to unexpected behaviors. However,
+the prims can be interacted with through their respective handles.
+
+
+Designing the scene
+-------------------
+
+Similar to the previous tutorial, we populate the scene with a ground plane and a light source. In addition,
+we add a rigid object to the scene using the :class:`assets.RigidObject` class. This class is responsible for
+spawning the prims at the input path and initializes their corresponding rigid body physics handles.
+
+In this tutorial, we create a conical rigid object using the spawn configuration similar to the rigid cone
+in the :ref:`Spawn Objects <tutorial-spawn-prims>` tutorial. The only difference is that now we wrap
+the spawning configuration into the :class:`assets.RigidObjectCfg` class. This class contains information about
+the asset's spawning strategy, default initial state, and other meta-information. When this class is passed to
+the :class:`assets.RigidObject` class, it spawns the object and initializes the corresponding physics handles
+when the simulation is played.
+
+As an example on spawning the rigid object prim multiple times, we create its parent Xform prims,
+``/World/Origin{i}``, that correspond to different spawn locations. When the regex expression
+``/World/Origin*/Cone`` is passed to the :class:`assets.RigidObject` class, it spawns the rigid object prim at
+each of the ``/World/Origin{i}`` locations. For instance, if ``/World/Origin1`` and ``/World/Origin2`` are
+present in the scene, the rigid object prims are spawned at the locations ``/World/Origin1/Cone`` and
+``/World/Origin2/Cone`` respectively.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_rigid_object.py
+   :language: python
+   :start-at: # Create separate groups called "Origin1", "Origin2", "Origin3"
+   :end-at: cone_object = RigidObject(cfg=cone_cfg)
+
+Since we want to interact with the rigid object, we pass this entity back to the main function. This entity
+is then used to interact with the rigid object in the simulation loop. In later tutorials, we will see a more
+convenient way to handle multiple scene entities using the :class:`scene.InteractiveScene` class.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_rigid_object.py
+   :language: python
+   :start-at: # return the scene information
+   :end-at: return scene_entities, origins
+
+
+Running the simulation loop
+---------------------------
+
+We modify the simulation loop to interact with the rigid object to include three steps -- resetting the
+simulation state at fixed intervals, stepping the simulation, and updating the internal buffers of the
+rigid object. For the convenience of this tutorial, we extract the rigid object's entity from the scene
+dictionary and store it in a variable.
+
+Resetting the simulation state
+""""""""""""""""""""""""""""""
+
+To reset the simulation state of the spawned rigid object prims, we need to set their pose and velocity.
+Together they define the root state of the spawned rigid objects. It is important to note that this state
+is defined in the **simulation world frame**, and not of their parent Xform prim. This is because the physics
+engine only understands the world frame and not the parent Xform prim's frame. Thus, we need to transform
+desired state of the rigid object prim into the world frame before setting it.
+
+We use the :attr:`assets.RigidObject.data.default_root_state` attribute to get the default root state of the
+spawned rigid object prims. This default state can be configured from the :attr:`assets.RigidObjectCfg.init_state`
+attribute, which we left as identity in this tutorial. We then randomize the translation of the root state and
+set the desired state of the rigid object prim using the :meth:`assets.RigidObject.write_root_link_pose_to_sim` and :meth:`assets.RigidObject.write_root_com_velocity_to_sim` methods.
+As the name suggests, this method writes the root state of the rigid object prim into the simulation buffer.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_rigid_object.py
+   :language: python
+   :start-at: # reset root state
+   :end-at: cone_object.reset()
+
+Stepping the simulation
+"""""""""""""""""""""""
+
+Before stepping the simulation, we perform the :meth:`assets.RigidObject.write_data_to_sim` method. This method
+writes other data, such as external forces, into the simulation buffer. In this tutorial, we do not apply any
+external forces to the rigid object, so this method is not necessary. However, it is included for completeness.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_rigid_object.py
+   :language: python
+   :start-at: # apply sim data
+   :end-at: cone_object.write_data_to_sim()
+
+Updating the state
+""""""""""""""""""
+
+After stepping the simulation, we update the internal buffers of the rigid object prims to reflect their new state
+inside the :class:`assets.RigidObject.data` attribute. This is done using the :meth:`assets.RigidObject.update` method.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/01_assets/run_rigid_object.py
+   :language: python
+   :start-at: # update buffers
+   :end-at: cone_object.update(sim_dt)
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+Now that we have gone through the code, let's run the script and see the result:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/01_assets/run_rigid_object.py
+
+
+This should open a stage with a ground plane, lights, and several green cones. The cones must be dropping from
+a random height and settling on to the ground. To stop the simulation, you can either close the window, or press
+the ``STOP`` button in the UI, or press ``Ctrl+C`` in the terminal
+
+.. figure:: ../../_static/tutorials/tutorial_run_rigid_object.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of run_rigid_object.py
+
+
+This tutorial showed how to spawn rigid objects and wrap them in a :class:`RigidObject` class to initialize their
+physics handles which allows setting and obtaining their state. In the next tutorial, we will see how to interact
+with an articulated object which is a collection of rigid objects connected by joints.
diff --git a/v1.4.0/_sources/source/tutorials/02_scene/create_scene.rst b/v1.4.0/_sources/source/tutorials/02_scene/create_scene.rst
new file mode 100644
index 0000000000..dbe6faea97
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/02_scene/create_scene.rst
@@ -0,0 +1,169 @@
+.. _tutorial-interactive-scene:
+
+Using the Interactive Scene
+===========================
+
+.. currentmodule:: omni.isaac.lab
+
+So far in the tutorials, we manually spawned assets into the simulation and created
+object instances to interact with them. However, as the complexity of the scene
+increases, it becomes tedious to perform these tasks manually. In this tutorial,
+we will introduce the :class:`scene.InteractiveScene` class, which provides a convenient
+interface for spawning prims and managing them in the simulation.
+
+At a high-level, the interactive scene is a collection of scene entities. Each entity
+can be either a non-interactive prim (e.g. ground plane, light source), an interactive
+prim (e.g. articulation, rigid object), or a sensor (e.g. camera, lidar). The interactive
+scene provides a convenient interface for spawning these entities and managing them
+in the simulation.
+
+Compared the manual approach, it provides the following benefits:
+
+* Alleviates the user needing to spawn each asset separately as this is handled implicitly.
+* Enables user-friendly cloning of scene prims for multiple environments.
+* Collects all the scene entities into a single object, which makes them easier to manage.
+
+In this tutorial, we take the cartpole example from the :ref:`tutorial-interact-articulation`
+tutorial and replace the ``design_scene`` function with an :class:`scene.InteractiveScene` object.
+While it may seem like overkill to use the interactive scene for this simple example, it will
+become more useful in the future as more assets and sensors are added to the scene.
+
+
+The Code
+~~~~~~~~
+
+This tutorial corresponds to the ``create_scene.py`` script within
+``source/standalone/tutorials/02_scene``.
+
+.. dropdown:: Code for create_scene.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/02_scene/create_scene.py
+      :language: python
+      :emphasize-lines: 50-63, 68-70, 91-92, 99-100, 105-106, 116-118
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+While the code is similar to the previous tutorial, there are a few key differences
+that we will go over in detail.
+
+Scene configuration
+-------------------
+
+The scene is composed of a collection of entities, each with their own configuration.
+These are specified in a configuration class that inherits from :class:`scene.InteractiveSceneCfg`.
+The configuration class is then passed to the :class:`scene.InteractiveScene` constructor
+to create the scene.
+
+For the cartpole example, we specify the same scene as in the previous tutorial, but list
+them now in the configuration class :class:`CartpoleSceneCfg` instead of manually spawning them.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/02_scene/create_scene.py
+   :language: python
+   :pyobject: CartpoleSceneCfg
+
+The variable names in the configuration class are used as keys to access the corresponding
+entity from the :class:`scene.InteractiveScene` object. For example, the cartpole can
+be accessed via ``scene["cartpole"]``. However, we will get to that later. First, let's
+look at how individual scene entities are configured.
+
+Similar to how a rigid object and articulation were configured in the previous tutorials,
+the configurations are specified using a configuration class. However, there is a key
+difference between the configurations for the ground plane and light source and the
+configuration for the cartpole. The ground plane and light source are non-interactive
+prims, while the cartpole is an interactive prim. This distinction is reflected in the
+configuration classes used to specify them. The configurations for the ground plane and
+light source are specified using an instance of the :class:`assets.AssetBaseCfg` class
+while the cartpole is configured using an instance of the :class:`assets.ArticulationCfg`.
+Anything that is not an interactive prim (i.e., neither an asset nor a sensor) is not
+*handled* by the scene during simulation steps.
+
+Another key difference to note is in the specification of the prim paths for the
+different prims:
+
+* Ground plane: ``/World/defaultGroundPlane``
+* Light source: ``/World/Light``
+* Cartpole: ``{ENV_REGEX_NS}/Robot``
+
+As we learned earlier, Omniverse creates a graph of prims in the USD stage. The prim
+paths are used to specify the location of the prim in the graph. The ground plane and
+light source are specified using absolute paths, while the cartpole is specified using
+a relative path. The relative path is specified using the ``ENV_REGEX_NS`` variable,
+which is a special variable that is replaced with the environment name during scene creation.
+Any entity that has the ``ENV_REGEX_NS`` variable in its prim path will be  cloned for each
+environment. This path is replaced by the scene object with ``/World/envs/env_{i}`` where
+``i`` is the environment index.
+
+Scene instantiation
+-------------------
+
+Unlike before where we called the ``design_scene`` function to create the scene, we now
+create an instance of the :class:`scene.InteractiveScene` class and pass in the configuration
+object to its constructor. While creating the configuration instance of ``CartpoleSceneCfg``
+we specify how many environment copies we want to create using the ``num_envs`` argument.
+This will be used to clone the scene for each environment.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/02_scene/create_scene.py
+   :language: python
+   :start-at: # Design scene
+   :end-at: scene = InteractiveScene(scene_cfg)
+
+Accessing scene elements
+------------------------
+
+Similar to how entities were accessed from a dictionary in the previous tutorials, the
+scene elements can be accessed from the :class:`InteractiveScene` object using the
+``[]`` operator. The operator takes in a string key and returns the corresponding
+entity. The key is specified through the configuration class for each entity. For example,
+the cartpole is specified using the key ``"cartpole"`` in the configuration class.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/02_scene/create_scene.py
+   :language: python
+   :start-at: # Extract scene entities
+   :end-at: robot = scene["cartpole"]
+
+Running the simulation loop
+---------------------------
+
+The rest of the script looks similar to previous scripts that interfaced with :class:`assets.Articulation`,
+with a few small differences in the methods called:
+
+* :meth:`assets.Articulation.reset` ⟶ :meth:`scene.InteractiveScene.reset`
+* :meth:`assets.Articulation.write_data_to_sim` ⟶ :meth:`scene.InteractiveScene.write_data_to_sim`
+* :meth:`assets.Articulation.update` ⟶ :meth:`scene.InteractiveScene.update`
+
+Under the hood, the methods of :class:`scene.InteractiveScene` call the corresponding
+methods of the entities in the scene.
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+
+
+Let's run the script to simulate 32 cartpoles in the scene. We can do this by passing
+the ``--num_envs`` argument to the script.
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/02_scene/create_scene.py --num_envs 32
+
+This should open a stage with 32 cartpoles swinging around randomly. You can use the
+mouse to rotate the camera and the arrow keys to move around the scene.
+
+
+.. figure:: ../../_static/tutorials/tutorial_creating_a_scene.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of create_scene.py
+
+In this tutorial, we saw how to use :class:`scene.InteractiveScene` to create a
+scene with multiple assets. We also saw how to use the ``num_envs`` argument
+to clone the scene for multiple environments.
+
+There are many more example usages of the :class:`scene.InteractiveSceneCfg` in the tasks found
+under the ``omni.isaac.lab_tasks`` extension. Please check out the source code to see
+how they are used for more complex scenes.
diff --git a/v1.4.0/_sources/source/tutorials/03_envs/create_direct_rl_env.rst b/v1.4.0/_sources/source/tutorials/03_envs/create_direct_rl_env.rst
new file mode 100644
index 0000000000..a4b945be9d
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/03_envs/create_direct_rl_env.rst
@@ -0,0 +1,339 @@
+.. _tutorial-create-direct-rl-env:
+
+
+Creating a Direct Workflow RL Environment
+=========================================
+
+.. currentmodule:: omni.isaac.lab
+
+In addition to the :class:`envs.ManagerBasedRLEnv` class, which encourages the use of configuration classes
+for more modular environments, the :class:`~omni.isaac.lab.envs.DirectRLEnv` class allows for more direct control
+in the scripting of environment.
+
+Instead of using Manager classes for defining rewards and observations, the direct workflow tasks
+implement the full reward and observation functions directly in the task script.
+This allows for more control in the implementation of the methods, such as using pytorch jit
+features, and provides a less abstracted framework that makes it easier to find the various
+pieces of code.
+
+In this tutorial, we will configure the cartpole environment using the direct workflow implementation to create a task
+for balancing the pole upright. We will learn how to specify the task using by implementing functions
+for scene creation, actions, resets, rewards and observations.
+
+
+The Code
+~~~~~~~~
+
+For this tutorial, we use the cartpole environment defined in ``omni.isaac.lab_tasks.direct.cartpole`` module.
+
+.. dropdown:: Code for cartpole_env.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py
+      :language: python
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+Similar to the manager-based environments, a configuration class is defined for the task to hold settings
+for the simulation parameters, the scene, the actors, and the task. With the direct workflow implementation,
+the :class:`envs.DirectRLEnvCfg` class is used as the base class for configurations.
+Since the direct workflow implementation does not use Action and Observation managers, the task
+config should define the number of actions and observations for the environment.
+
+.. code-block:: python
+
+   @configclass
+   class CartpoleEnvCfg(DirectRLEnvCfg):
+      ...
+      action_space = 1
+      observation_space = 4
+      state_space = 0
+
+The config class can also be used to define task-specific attributes, such as scaling for reward terms
+and thresholds for reset conditions.
+
+.. code-block:: python
+
+   @configclass
+   class CartpoleEnvCfg(DirectRLEnvCfg):
+      ...
+      # reset
+      max_cart_pos = 3.0
+      initial_pole_angle_range = [-0.25, 0.25]
+
+      # reward scales
+      rew_scale_alive = 1.0
+      rew_scale_terminated = -2.0
+      rew_scale_pole_pos = -1.0
+      rew_scale_cart_vel = -0.01
+      rew_scale_pole_vel = -0.005
+
+When creating a new environment, the code should define a new class that inherits from :class:`~omni.isaac.lab.envs.DirectRLEnv`.
+
+.. code-block:: python
+
+   class CartpoleEnv(DirectRLEnv):
+      cfg: CartpoleEnvCfg
+
+      def __init__(self, cfg: CartpoleEnvCfg, render_mode: str | None = None, **kwargs):
+        super().__init__(cfg, render_mode, **kwargs)
+
+The class can also hold class variables that are accessible by all functions in the class,
+including functions for applying actions, computing resets, rewards, and observations.
+
+Scene Creation
+--------------
+
+In contrast to manager-based environments where the scene creation is taken care of by the framework,
+the direct workflow implementation provides flexibility for users to implement their own scene creation
+function. This includes adding actors into the stage, cloning the environments, filtering collisions
+between the environments, adding the actors into the scene, and adding any additional props to the
+scene, such as ground plane and lights. These operations should be implemented in the
+``_setup_scene(self)`` method.
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py
+   :language: python
+   :pyobject: CartpoleEnv._setup_scene
+
+Defining Rewards
+----------------
+
+Reward function should be defined in the ``_get_rewards(self)`` API, which returns the reward
+buffer as a return value. Within this function, the task is free to implement the logic of
+the reward function. In this example, we implement a Pytorch JIT function that computes
+the various components of the reward function.
+
+.. code-block:: python
+
+   def _get_rewards(self) -> torch.Tensor:
+        total_reward = compute_rewards(
+            self.cfg.rew_scale_alive,
+            self.cfg.rew_scale_terminated,
+            self.cfg.rew_scale_pole_pos,
+            self.cfg.rew_scale_cart_vel,
+            self.cfg.rew_scale_pole_vel,
+            self.joint_pos[:, self._pole_dof_idx[0]],
+            self.joint_vel[:, self._pole_dof_idx[0]],
+            self.joint_pos[:, self._cart_dof_idx[0]],
+            self.joint_vel[:, self._cart_dof_idx[0]],
+            self.reset_terminated,
+        )
+        return total_reward
+
+   @torch.jit.script
+   def compute_rewards(
+       rew_scale_alive: float,
+       rew_scale_terminated: float,
+       rew_scale_pole_pos: float,
+       rew_scale_cart_vel: float,
+       rew_scale_pole_vel: float,
+       pole_pos: torch.Tensor,
+       pole_vel: torch.Tensor,
+       cart_pos: torch.Tensor,
+       cart_vel: torch.Tensor,
+       reset_terminated: torch.Tensor,
+   ):
+       rew_alive = rew_scale_alive * (1.0 - reset_terminated.float())
+       rew_termination = rew_scale_terminated * reset_terminated.float()
+       rew_pole_pos = rew_scale_pole_pos * torch.sum(torch.square(pole_pos), dim=-1)
+       rew_cart_vel = rew_scale_cart_vel * torch.sum(torch.abs(cart_vel), dim=-1)
+       rew_pole_vel = rew_scale_pole_vel * torch.sum(torch.abs(pole_vel), dim=-1)
+       total_reward = rew_alive + rew_termination + rew_pole_pos + rew_cart_vel + rew_pole_vel
+       return total_reward
+
+
+Defining Observations
+---------------------
+
+The observation buffer should be computed in the ``_get_observations(self)`` function,
+which constructs the observation buffer for the environment. At the end of this API,
+a dictionary should be returned that contains ``policy`` as the key, and the full
+observation buffer as the value. For asymmetric policies, the dictionary should also
+include the key ``critic`` and the states buffer as the value.
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py
+   :language: python
+   :pyobject: CartpoleEnv._get_observations
+
+Computing Dones and Performing Resets
+-------------------------------------
+
+Populating the ``dones`` buffer should be done in the ``_get_dones(self)`` method.
+This method is free to implement logic that computes which environments would need to be reset
+and which environments have reached the episode length limit. Both results should be
+returned by the ``_get_dones(self)`` function, in the form of a tuple of boolean tensors.
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py
+   :language: python
+   :pyobject: CartpoleEnv._get_dones
+
+Once the indices for environments requiring reset have been computed, the ``_reset_idx(self, env_ids)``
+function performs the reset operations on those environments. Within this function, new states
+for the environments requiring reset should be set directly into simulation.
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py
+   :language: python
+   :pyobject: CartpoleEnv._reset_idx
+
+Applying Actions
+----------------
+
+There are two APIs that are designed for working with actions. The ``_pre_physics_step(self, actions)`` takes in actions
+from the policy as an argument and is called once per RL step, prior to taking any physics steps. This function can
+be used to process the actions buffer from the policy and cache the data in a class variable for the environment.
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py
+   :language: python
+   :pyobject: CartpoleEnv._pre_physics_step
+
+The ``_apply_action(self)`` API is called ``decimation`` number of times for each RL step, prior to taking
+each physics step. This provides more flexibility for environments where actions should be applied
+for each physics step.
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py
+   :language: python
+   :pyobject: CartpoleEnv._apply_action
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+To run training for the direct workflow Cartpole environment, we can use the following command:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-Direct-v0
+
+.. figure:: ../../_static/tutorials/tutorial_create_direct_workflow.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of train.py
+
+All direct workflow tasks have the suffix ``-Direct`` added to the task name to differentiate the implementation style.
+
+
+Domain Randomization
+~~~~~~~~~~~~~~~~~~~~
+
+In the direct workflow, domain randomization configuration uses the :class:`~omni.isaac.lab.utils.configclass` module
+to specify a configuration class consisting of :class:`~managers.EventTermCfg` variables.
+
+Below is an example of a configuration class for domain randomization:
+
+.. code-block:: python
+
+  @configclass
+  class EventCfg:
+    robot_physics_material = EventTerm(
+        func=mdp.randomize_rigid_body_material,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", body_names=".*"),
+            "static_friction_range": (0.7, 1.3),
+            "dynamic_friction_range": (1.0, 1.0),
+            "restitution_range": (1.0, 1.0),
+            "num_buckets": 250,
+        },
+    )
+    robot_joint_stiffness_and_damping = EventTerm(
+        func=mdp.randomize_actuator_gains,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot", joint_names=".*"),
+            "stiffness_distribution_params": (0.75, 1.5),
+            "damping_distribution_params": (0.3, 3.0),
+            "operation": "scale",
+            "distribution": "log_uniform",
+        },
+    )
+    reset_gravity = EventTerm(
+        func=mdp.randomize_physics_scene_gravity,
+        mode="interval",
+        is_global_time=True,
+        interval_range_s=(36.0, 36.0),  # time_s = num_steps * (decimation * dt)
+        params={
+            "gravity_distribution_params": ([0.0, 0.0, 0.0], [0.0, 0.0, 0.4]),
+            "operation": "add",
+            "distribution": "gaussian",
+        },
+    )
+
+Each ``EventTerm`` object is of the :class:`~managers.EventTermCfg` class and takes in a ``func`` parameter
+for specifying the function to call during randomization, a ``mode`` parameter, which can be ``startup``,
+``reset`` or ``interval``. THe ``params`` dictionary should provide the necessary arguments to the
+function that is specified in the ``func`` parameter.
+Functions specified as ``func`` for the ``EventTerm`` can be found in the :class:`~envs.mdp.events` module.
+
+Note that as part of the ``"asset_cfg": SceneEntityCfg("robot", body_names=".*")`` parameter, the name of
+the actor ``"robot"`` is provided, along with the body or joint names specified as a regex expression,
+which will be the actors and bodies/joints that will have randomization applied.
+
+Once the ``configclass`` for the randomization terms have been set up, the class must be added
+to the base config class for the task and be assigned to the variable ``events``.
+
+.. code-block:: python
+
+  @configclass
+  class MyTaskConfig:
+    events: EventCfg = EventCfg()
+
+
+Action and Observation Noise
+----------------------------
+
+Actions and observation noise can also be added using the :class:`~utils.configclass` module.
+Action and observation noise configs must be added to the main task config using the
+``action_noise_model`` and ``observation_noise_model`` variables:
+
+.. code-block:: python
+
+  @configclass
+  class MyTaskConfig:
+
+      # at every time-step add gaussian noise + bias. The bias is a gaussian sampled at reset
+      action_noise_model: NoiseModelWithAdditiveBiasCfg = NoiseModelWithAdditiveBiasCfg(
+        noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.05, operation="add"),
+        bias_noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.015, operation="abs"),
+      )
+
+      # at every time-step add gaussian noise + bias. The bias is a gaussian sampled at reset
+      observation_noise_model: NoiseModelWithAdditiveBiasCfg = NoiseModelWithAdditiveBiasCfg(
+        noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.002, operation="add"),
+        bias_noise_cfg=GaussianNoiseCfg(mean=0.0, std=0.0001, operation="abs"),
+      )
+
+
+:class:`~.utils.noise.NoiseModelWithAdditiveBiasCfg` can be used to sample both uncorrelated noise
+per step as well as correlated noise that is re-sampled at reset time.
+
+The ``noise_cfg`` term specifies the Gaussian distribution that will be sampled at each
+step for all environments. This noise will be added to the corresponding actions and
+observations buffers at every step.
+
+The ``bias_noise_cfg`` term specifies the Gaussian distribution for the correlated noise
+that will be sampled at reset time for the environments being reset. The same noise
+will be applied each step for the remaining of the episode for the environments and
+resampled at the next reset.
+
+If only per-step noise is desired, :class:`~utils.noise.GaussianNoiseCfg` can be used
+to specify an additive Gaussian distribution that adds the sampled noise to the input buffer.
+
+.. code-block:: python
+
+  @configclass
+  class MyTaskConfig:
+    action_noise_model: GaussianNoiseCfg = GaussianNoiseCfg(mean=0.0, std=0.05, operation="add")
+
+
+
+
+In this tutorial, we learnt how to create a direct workflow task environment for reinforcement learning. We do this
+by extending the base environment to include the scene setup, actions, dones, reset, reward and observaion functions.
+
+While it is possible to manually create an instance of :class:`~omni.isaac.lab.envs.DirectRLEnv` class for a desired task,
+this is not scalable as it requires specialized scripts for each task. Thus, we exploit the
+:meth:`gymnasium.make` function to create the environment with the gym interface. We will learn how to do this
+in the next tutorial.
diff --git a/v1.4.0/_sources/source/tutorials/03_envs/create_manager_base_env.rst b/v1.4.0/_sources/source/tutorials/03_envs/create_manager_base_env.rst
new file mode 100644
index 0000000000..f54641f178
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/03_envs/create_manager_base_env.rst
@@ -0,0 +1,220 @@
+.. _tutorial-create-manager-base-env:
+
+
+Creating a Manager-Based Base Environment
+=========================================
+
+.. currentmodule:: omni.isaac.lab
+
+Environments bring together different aspects of the simulation such as
+the scene, observations and actions spaces, reset events etc. to create a
+coherent interface for various applications. In Isaac Lab, manager-based environments are
+implemented as :class:`envs.ManagerBasedEnv` and :class:`envs.ManagerBasedRLEnv` classes.
+The two classes are very similar, but :class:`envs.ManagerBasedRLEnv` is useful for
+reinforcement learning tasks and contains rewards, terminations, curriculum
+and command generation. The :class:`envs.ManagerBasedEnv` class is useful for
+traditional robot control and doesn't contain rewards and terminations.
+
+In this tutorial, we will look at the base class :class:`envs.ManagerBasedEnv` and its
+corresponding configuration class :class:`envs.ManagerBasedEnvCfg` for the manager-based workflow.
+We will use the
+cartpole environment from earlier to illustrate the different components
+in creating a new :class:`envs.ManagerBasedEnv` environment.
+
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``create_cartpole_base_env`` script  in the ``source/standalone/tutorials/03_envs``
+directory.
+
+.. dropdown:: Code for create_cartpole_base_env.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/03_envs/create_cartpole_base_env.py
+      :language: python
+      :emphasize-lines: 47-51, 54-71, 74-108, 111-130, 135-139, 144, 148, 153-154, 160-161
+      :linenos:
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+The base class :class:`envs.ManagerBasedEnv` wraps around many intricacies of the simulation interaction
+and provides a simple interface for the user to run the simulation and interact with it. It
+is composed of the following components:
+
+* :class:`scene.InteractiveScene` - The scene that is used for the simulation.
+* :class:`managers.ActionManager` - The manager that handles actions.
+* :class:`managers.ObservationManager` - The manager that handles observations.
+* :class:`managers.EventManager` - The manager that schedules operations (such as domain randomization)
+  at specified simulation events. For instance, at startup, on resets, or periodic intervals.
+
+By configuring these components, the user can create different variations of the same environment
+with minimal effort. In this tutorial, we will go through the different components of the
+:class:`envs.ManagerBasedEnv` class and how to configure them to create a new environment.
+
+Designing the scene
+-------------------
+
+The first step in creating a new environment is to configure its scene. For the cartpole
+environment, we will be using the scene from the previous tutorial. Thus, we omit the
+scene configuration here. For more details on how to configure a scene, see
+:ref:`tutorial-interactive-scene`.
+
+Defining actions
+----------------
+
+In the previous tutorial, we directly input the action to the cartpole using
+the :meth:`assets.Articulation.set_joint_effort_target` method. In this tutorial, we will
+use the :class:`managers.ActionManager` to handle the actions.
+
+The action manager can comprise of multiple :class:`managers.ActionTerm`. Each action term
+is responsible for applying *control* over a specific aspect of the environment. For instance,
+for robotic arm, we can have two action terms -- one for controlling the joints of the arm,
+and the other for controlling the gripper. This composition allows the user to define
+different control schemes for different aspects of the environment.
+
+In the cartpole environment, we want to control the force applied to the cart to balance the pole.
+Thus, we will create an action term that controls the force applied to the cart.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/03_envs/create_cartpole_base_env.py
+   :language: python
+   :pyobject: ActionsCfg
+
+Defining observations
+---------------------
+
+While the scene defines the state of the environment, the observations define the states
+that are observable by the agent. These observations are used by the agent to make decisions
+on what actions to take. In Isaac Lab, the observations are computed by the
+:class:`managers.ObservationManager` class.
+
+Similar to the action manager, the observation manager can comprise of multiple observation terms.
+These are further grouped into observation groups which are used to define different observation
+spaces for the environment. For instance, for hierarchical control, we may want to define
+two observation groups -- one for the low level controller and the other for the high level
+controller. It is assumed that all the observation terms in a group have the same dimensions.
+
+For this tutorial, we will only define one observation group named ``"policy"``. While not completely
+prescriptive, this group is a necessary requirement for various wrappers in Isaac Lab.
+We define a group by inheriting from the :class:`managers.ObservationGroupCfg` class. This class
+collects different observation terms and help define common properties for the group, such
+as enabling noise corruption or concatenating the observations into a single tensor.
+
+The individual terms are defined by inheriting from the :class:`managers.ObservationTermCfg` class.
+This class takes in the :attr:`managers.ObservationTermCfg.func` that specifies the function or
+callable class that computes the observation for that term. It includes other parameters for
+defining the noise model, clipping, scaling, etc. However, we leave these parameters to their
+default values for this tutorial.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/03_envs/create_cartpole_base_env.py
+   :language: python
+   :pyobject: ObservationsCfg
+
+Defining events
+---------------
+
+At this point, we have defined the scene, actions and observations for the cartpole environment.
+The general idea for all these components is to define the configuration classes and then
+pass them to the corresponding managers. The event manager is no different.
+
+The :class:`managers.EventManager` class is responsible for events corresponding to changes
+in the simulation state. This includes resetting (or randomizing) the scene, randomizing physical
+properties (such as mass, friction, etc.), and varying visual properties (such as colors, textures, etc.).
+Each of these are specified through the :class:`managers.EventTermCfg` class, which
+takes in the :attr:`managers.EventTermCfg.func` that specifies the function or callable
+class that performs the event.
+
+Additionally, it expects the **mode** of the event. The mode specifies when the event term should be applied.
+It is possible to specify your own mode. For this, you'll need to adapt the :class:`~envs.ManagerBasedEnv` class.
+However, out of the box, Isaac Lab provides three commonly used modes:
+
+* ``"startup"`` - Event that takes place only once at environment startup.
+* ``"reset"`` - Event that occurs on environment termination and reset.
+* ``"interval"`` - Event that are executed at a given interval, i.e., periodically after a certain number of steps.
+
+For this example, we define events that randomize the pole's mass on startup. This is done only once since this
+operation is expensive and we don't want to do it on every reset. We also create an event to randomize the initial
+joint state of the cartpole and the pole at every reset.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/03_envs/create_cartpole_base_env.py
+   :language: python
+   :pyobject: EventCfg
+
+Tying it all together
+---------------------
+
+Having defined the scene and manager configurations, we can now define the environment configuration
+through the :class:`envs.ManagerBasedEnvCfg` class. This class takes in the scene, action, observation and
+event configurations.
+
+In addition to these, it also takes in the :attr:`envs.ManagerBasedEnvCfg.sim` which defines the simulation
+parameters such as the timestep, gravity, etc. This is initialized to the default values, but can
+be modified as needed. We recommend doing so by defining the :meth:`__post_init__` method in the
+:class:`envs.ManagerBasedEnvCfg` class, which is called after the configuration is initialized.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/03_envs/create_cartpole_base_env.py
+   :language: python
+   :pyobject: CartpoleEnvCfg
+
+Running the simulation
+----------------------
+
+Lastly, we revisit the simulation execution loop. This is now much simpler since we have
+abstracted away most of the details into the environment configuration. We only need to
+call the :meth:`envs.ManagerBasedEnv.reset` method to reset the environment and :meth:`envs.ManagerBasedEnv.step`
+method to step the environment. Both these functions return the observation and an info dictionary
+which may contain additional information provided by the environment. These can be used by an
+agent for decision-making.
+
+The :class:`envs.ManagerBasedEnv` class does not have any notion of terminations since that concept is
+specific for episodic tasks. Thus, the user is responsible for defining the termination condition
+for the environment. In this tutorial, we reset the simulation at regular intervals.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/03_envs/create_cartpole_base_env.py
+   :language: python
+   :pyobject: main
+
+An important thing to note above is that the entire simulation loop is wrapped inside the
+:meth:`torch.inference_mode` context manager. This is because the environment uses PyTorch
+operations under-the-hood and we want to ensure that the simulation is not slowed down by
+the overhead of PyTorch's autograd engine and gradients are not computed for the simulation
+operations.
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+To run the base environment made in this tutorial, you can use the following command:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/03_envs/create_cartpole_base_env.py --num_envs 32
+
+This should open a stage with a ground plane, light source, and cartpoles. The simulation should be
+playing with random actions on the cartpole. Additionally, it opens a UI window on the bottom
+right corner of the screen named ``"Isaac Lab"``. This window contains different UI elements that
+can be used for debugging and visualization.
+
+
+.. figure:: ../../_static/tutorials/tutorial_create_manager_rl_env.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of create_cartpole_base_env.py
+
+To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal where you
+started the simulation.
+
+In this tutorial, we learned about the different managers that help define a base environment. We
+include more examples of defining the base environment in the ``source/standalone/tutorials/03_envs``
+directory. For completeness, they can be run using the following commands:
+
+.. code-block:: bash
+
+   # Floating cube environment with custom action term for PD control
+   ./isaaclab.sh -p source/standalone/tutorials/03_envs/create_cube_base_env.py --num_envs 32
+
+   # Quadrupedal locomotion environment with a policy that interacts with the environment
+   ./isaaclab.sh -p source/standalone/tutorials/03_envs/create_quadruped_base_env.py --num_envs 32
+
+In the following tutorial, we will look at the :class:`envs.ManagerBasedRLEnv` class and how to use it
+to create a Markovian Decision Process (MDP).
diff --git a/v1.4.0/_sources/source/tutorials/03_envs/create_manager_rl_env.rst b/v1.4.0/_sources/source/tutorials/03_envs/create_manager_rl_env.rst
new file mode 100644
index 0000000000..63f710965b
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/03_envs/create_manager_rl_env.rst
@@ -0,0 +1,190 @@
+.. _tutorial-create-manager-rl-env:
+
+
+Creating a Manager-Based RL Environment
+=======================================
+
+.. currentmodule:: omni.isaac.lab
+
+Having learnt how to create a base environment in :ref:`tutorial-create-manager-base-env`, we will now look at how to create a manager-based
+task environment for reinforcement learning.
+
+The base environment is designed as an sense-act environment where the agent can send commands to the environment
+and receive observations from the environment. This minimal interface is sufficient for many applications such as
+traditional motion planning and controls. However, many applications require a task-specification which often
+serves as the learning objective for the agent. For instance, in a navigation task, the agent may be required to
+reach a goal location. To this end, we use the :class:`envs.ManagerBasedRLEnv` class which extends the base environment
+to include a task specification.
+
+Similar to other components in Isaac Lab, instead of directly modifying the base class :class:`envs.ManagerBasedRLEnv`, we
+encourage users to simply implement a configuration :class:`envs.ManagerBasedRLEnvCfg` for their task environment.
+This practice allows us to separate the task specification from the environment implementation, making it easier
+to reuse components of the same environment for different tasks.
+
+In this tutorial, we will configure the cartpole environment using the :class:`envs.ManagerBasedRLEnvCfg` to create a manager-based task
+for balancing the pole upright. We will learn how to specify the task using reward terms, termination criteria,
+curriculum and commands.
+
+
+The Code
+~~~~~~~~
+
+For this tutorial, we use the cartpole environment defined in ``omni.isaac.lab_tasks.manager_based.classic.cartpole`` module.
+
+.. dropdown:: Code for cartpole_env_cfg.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
+      :language: python
+      :emphasize-lines: 117-141, 144-154, 172-174
+      :linenos:
+
+The script for running the environment ``run_cartpole_rl_env.py`` is present in the
+``isaaclab/source/standalone/tutorials/03_envs`` directory. The script is similar to the
+``cartpole_base_env.py`` script in the previous tutorial, except that it uses the
+:class:`envs.ManagerBasedRLEnv` instead of the :class:`envs.ManagerBasedEnv`.
+
+.. dropdown:: Code for run_cartpole_rl_env.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/03_envs/run_cartpole_rl_env.py
+      :language: python
+      :emphasize-lines: 38-42, 56-57
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+We already went through parts of the above in the :ref:`tutorial-create-manager-base-env` tutorial to learn
+about how to specify the scene, observations, actions and events. Thus, in this tutorial, we
+will focus only on the RL components of the environment.
+
+In Isaac Lab, we provide various implementations of different terms in the :mod:`envs.mdp` module. We will use
+some of these terms in this tutorial, but users are free to define their own terms as well. These
+are usually placed in their task-specific sub-package
+(for instance, in :mod:`omni.isaac.lab_tasks.manager_based.classic.cartpole.mdp`).
+
+
+Defining rewards
+----------------
+
+The :class:`managers.RewardManager` is used to compute the reward terms for the agent. Similar to the other
+managers, its terms are configured using the :class:`managers.RewardTermCfg` class. The
+:class:`managers.RewardTermCfg` class specifies the function or callable class that computes the reward
+as well as the weighting associated with it. It also takes in dictionary of arguments, ``"params"``
+that are passed to the reward function when it is called.
+
+For the cartpole task, we will use the following reward terms:
+
+* **Alive Reward**: Encourage the agent to stay alive for as long as possible.
+* **Terminating Reward**: Similarly penalize the agent for terminating.
+* **Pole Angle Reward**: Encourage the agent to keep the pole at the desired upright position.
+* **Cart Velocity Reward**: Encourage the agent to keep the cart velocity as small as possible.
+* **Pole Velocity Reward**: Encourage the agent to keep the pole velocity as small as possible.
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
+   :language: python
+   :pyobject: RewardsCfg
+
+Defining termination criteria
+-----------------------------
+
+Most learning tasks happen over a finite number of steps that we call an episode. For instance, in the cartpole
+task, we want the agent to balance the pole for as long as possible. However, if the agent reaches an unstable
+or unsafe state, we want to terminate the episode. On the other hand, if the agent is able to balance the pole
+for a long time, we want to terminate the episode and start a new one so that the agent can learn to balance the
+pole from a different starting configuration.
+
+The :class:`managers.TerminationsCfg` configures what constitutes for an episode to terminate. In this example,
+we want the task to terminate when either of the following conditions is met:
+
+* **Episode Length** The episode length is greater than the defined max_episode_length
+* **Cart out of bounds** The cart goes outside of the bounds [-3, 3]
+
+The flag :attr:`managers.TerminationsCfg.time_out` specifies whether the term is a time-out (truncation) term
+or terminated term. These are used to indicate the two types of terminations as described in `Gymnasium's documentation
+<https://gymnasium.farama.org/tutorials/gymnasium_basics/handling_time_limits/>`_.
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
+   :language: python
+   :pyobject: TerminationsCfg
+
+Defining commands
+-----------------
+
+For various goal-conditioned tasks, it is useful to specify the goals or commands for the agent. These are
+handled through the :class:`managers.CommandManager`. The command manager handles resampling and updating the
+commands at each step. It can also be used to provide the commands as an observation to the agent.
+
+For this simple task, we do not use any commands. Hence, we leave this attribute as its default value, which is None.
+You can see an example of how to define a command manager in the other locomotion or manipulation tasks.
+
+Defining curriculum
+-------------------
+
+Often times when training a learning agent, it helps to start with a simple task and gradually increase the
+tasks's difficulty as the agent training progresses. This is the idea behind curriculum learning. In Isaac Lab,
+we provide a :class:`managers.CurriculumManager` class that can be used to define a curriculum for your environment.
+
+In this tutorial we don't implement a curriculum for simplicity, but you can see an example of a
+curriculum definition in the other locomotion or manipulation tasks.
+
+Tying it all together
+---------------------
+
+With all the above components defined, we can now create the :class:`ManagerBasedRLEnvCfg` configuration for the
+cartpole environment. This is similar to the :class:`ManagerBasedEnvCfg` defined in :ref:`tutorial-create-manager-base-env`,
+only with the added RL components explained in the above sections.
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py
+   :language: python
+   :pyobject: CartpoleEnvCfg
+
+Running the simulation loop
+---------------------------
+
+Coming back to the ``run_cartpole_rl_env.py`` script, the simulation loop is similar to the previous tutorial.
+The only difference is that we create an instance of :class:`envs.ManagerBasedRLEnv` instead of the
+:class:`envs.ManagerBasedEnv`. Consequently, now the :meth:`envs.ManagerBasedRLEnv.step` method returns additional signals
+such as the reward and termination status. The information dictionary also maintains logging of quantities
+such as the reward contribution from individual terms, the termination status of each term, the episode length etc.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/03_envs/run_cartpole_rl_env.py
+   :language: python
+   :pyobject: main
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+
+Similar to the previous tutorial, we can run the environment by executing the ``run_cartpole_rl_env.py`` script.
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/03_envs/run_cartpole_rl_env.py --num_envs 32
+
+
+This should open a similar simulation as in the previous tutorial. However, this time, the environment
+returns more signals that specify the reward and termination status. Additionally, the individual
+environments reset themselves when they terminate based on the termination criteria specified in the
+configuration.
+
+.. figure:: ../../_static/tutorials/tutorial_create_manager_rl_env.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of run_cartpole_rl_env.py
+
+To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal
+where you started the simulation.
+
+In this tutorial, we learnt how to create a task environment for reinforcement learning. We do this
+by extending the base environment to include the rewards, terminations, commands and curriculum terms.
+We also learnt how to use the :class:`envs.ManagerBasedRLEnv` class to run the environment and receive various
+signals from it.
+
+While it is possible to manually create an instance of :class:`envs.ManagerBasedRLEnv` class for a desired task,
+this is not scalable as it requires specialized scripts for each task. Thus, we exploit the
+:meth:`gymnasium.make` function to create the environment with the gym interface. We will learn how to do this
+in the next tutorial.
diff --git a/v1.4.0/_sources/source/tutorials/03_envs/modify_direct_rl_env.rst b/v1.4.0/_sources/source/tutorials/03_envs/modify_direct_rl_env.rst
new file mode 100644
index 0000000000..1cae1f6802
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/03_envs/modify_direct_rl_env.rst
@@ -0,0 +1,133 @@
+.. _tutorial-modify-direct-rl-env:
+
+
+Modifying an existing Direct RL Environment
+===========================================
+
+.. currentmodule:: omni.isaac.lab
+
+Having learnt how to create a task in :ref:`tutorial-create-direct-rl-env`, register it in :ref:`tutorial-register-rl-env-gym`,
+and train it in :ref:`tutorial-run-rl-training`, we will now look at how to make minor modifications to an existing task.
+
+Sometimes it is necessary to create, due to complexity or variations from existing examples, tasks from scratch. However, in certain situations,
+it is possible to start from the existing code and introduce minor changes, one by one, to transform them according to our needs.
+
+In this tutorial, we will make minor modifications to the direct workflow Humanoid task to change the simple
+humanoid model to the Unitree H1 humanoid robot without affecting the original code.
+
+
+The Base Code
+~~~~~~~~~~~~~
+
+For this tutorial, we start from the direct workflow Humanoid environment defined in ``omni.isaac.lab_tasks.direct.humanoid`` module.
+
+.. dropdown:: Code for humanoid_env.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/humanoid_env.py
+      :language: python
+      :linenos:
+
+
+The Changes Explained
+~~~~~~~~~~~~~~~~~~~~~
+
+Duplicating the file and registering a new task
+-----------------------------------------------
+
+To avoid modifying the code of the existing task, we will make a copy of the file containing the Python
+code and perform the modification on this copy. Then, in the Isaac Lab project
+``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid``
+folder we make a copy of the ``humanoid_env.py`` file and rename it to ``h1_env.py``.
+
+Open the ``h1_env.py`` file in a code editor and replace all the humanoid task name (``HumanoidEnv``) and its configuration
+(``HumanoidEnvCfg``) instances to ``H1Env`` and ``H1EnvCfg`` respectively.
+This is necessary to avoid name conflicts during import when registering the environment.
+
+Once the name change has been made, we proceed to add a new entry to register the task under the name ``Isaac-H1-Direct-v0``.
+To do this, we modify the ``__init__.py`` file in the same working folder and add the following entry.
+Refer to the :ref:`tutorial-register-rl-env-gym` tutorial for more details about environment registrations.
+
+.. hint::
+
+   If the changes in the task are minimal, it is very likely that the same RL library agent configurations can be used to train it successfully.
+   Otherwise, it is advisable to create new configuration files (adjusting their name during registration under the ``kwargs`` parameter)
+   to avoid altering the original configurations.
+
+
+.. literalinclude:: ../../refs/snippets/tutorial_modify_direct_rl_env.py
+   :language: python
+   :start-after: [start-init-import]
+   :end-before: [end-init-import]
+
+.. literalinclude:: ../../refs/snippets/tutorial_modify_direct_rl_env.py
+   :language: python
+   :start-after: [start-init-register]
+   :end-before: [end-init-register]
+
+Changing the robot
+------------------
+
+The ``H1EnvCfg`` class (in the new created ``h1_env.py`` file) encapsulates the configuration values of the environment,
+including the assets to be instantiated. Particularly in this example, the ``robot`` property holds the target articulation configuration.
+
+Since the Unitree H1 robot is included in the Isaac Lab assets extension (``omni.isaac.lab_assets``) we can just import it
+and do the replacement directly (under the ``H1EnvCfg.robot`` property), as shown below. Note that we also need to modify the
+``joint_gears`` property as it holds robot-specific configuration values.
+
+.. |franka-direct-link| replace:: `Isaac-Franka-Cabinet-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/franka_cabinet/franka_cabinet_env.py>`__
+
+.. hint::
+
+   If the target robot is not included in the Isaac Lab assets extension, it is possible to load and configure it, from a USD file,
+   by using the :class:`~omni.isaac.lab.assets.ArticulationCfg` class.
+
+   * See the |franka-direct-link| source code for an example of loading and configuring a robot from a USD file.
+   * Refer to the `Importing a New Asset <../../how-to/import_new_asset.html>`_ tutorial for details on how to import an asset from URDF or MJCF file, and other formats.
+
+.. literalinclude:: ../../refs/snippets/tutorial_modify_direct_rl_env.py
+   :language: python
+   :start-after: [start-h1_env-import]
+   :end-before: [end-h1_env-import]
+
+.. literalinclude:: ../../refs/snippets/tutorial_modify_direct_rl_env.py
+   :language: python
+   :start-after: [start-h1_env-robot]
+   :end-before: [end-h1_env-robot]
+
+The robot changed, and with it the number of joints to control or the number of rigid bodies that compose the articulation, for example.
+Therefore, it is also necessary to adjust other values in the environment configuration that depend on the characteristics of the robot,
+such as the number of elements in the observation and action space.
+
+.. literalinclude:: ../../refs/snippets/tutorial_modify_direct_rl_env.py
+   :language: python
+   :start-after: [start-h1_env-spaces]
+   :end-before: [end-h1_env-spaces]
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+After the minor modification has been done, and similar to the previous tutorial, we can train on the task using one of the available RL workflows for such task.
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-H1-Direct-v0 --headless
+
+When the training is finished, we can visualize the result with the following command.
+To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal
+where you started the simulation.
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/workflows/rl_games/play.py --task Isaac-H1-Direct-v0 --num_envs 64
+
+.. figure:: ../../_static/tutorials/tutorial_modify_direct_rl_env.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of training Isaac-H1-Direct-v0 task
+
+In this tutorial, we learnt how to make minor modifications to an existing environment without affecting the original code.
+
+It is important to note, however, that while the changes to be made may be small, they may not always work on the first try,
+as there may be deeper dependencies on the original assets in the environment being modified.
+In these cases, it is advisable to analyze the code of the available examples in detail in order to make an appropriate adjustment.
diff --git a/v1.4.0/_sources/source/tutorials/03_envs/register_rl_env_gym.rst b/v1.4.0/_sources/source/tutorials/03_envs/register_rl_env_gym.rst
new file mode 100644
index 0000000000..cbec780399
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/03_envs/register_rl_env_gym.rst
@@ -0,0 +1,172 @@
+.. _tutorial-register-rl-env-gym:
+
+Registering an Environment
+==========================
+
+.. currentmodule:: omni.isaac.lab
+
+In the previous tutorial, we learned how to create a custom cartpole environment. We manually
+created an instance of the environment by importing the environment class and its configuration
+class.
+
+.. dropdown:: Environment creation in the previous tutorial
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/03_envs/run_cartpole_rl_env.py
+      :language: python
+      :start-at: # create environment configuration
+      :end-at: env = ManagerBasedRLEnv(cfg=env_cfg)
+
+While straightforward, this approach is not scalable as we have a large suite of environments.
+In this tutorial, we will show how to use the :meth:`gymnasium.register` method to register
+environments with the ``gymnasium`` registry. This allows us to create the environment through
+the :meth:`gymnasium.make` function.
+
+
+.. dropdown:: Environment creation in this tutorial
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/environments/random_agent.py
+      :language: python
+      :lines: 36-47
+
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``random_agent.py`` script in the ``source/standalone/environments`` directory.
+
+.. dropdown:: Code for random_agent.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/environments/random_agent.py
+      :language: python
+      :emphasize-lines: 36-37, 42-47
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+The :class:`envs.ManagerBasedRLEnv` class inherits from the :class:`gymnasium.Env` class to follow
+a standard interface. However, unlike the traditional Gym environments, the :class:`envs.ManagerBasedRLEnv`
+implements a *vectorized* environment. This means that multiple environment instances
+are running simultaneously in the same process, and all the data is returned in a batched
+fashion.
+
+Similarly, the :class:`envs.DirectRLEnv` class also inherits from the :class:`gymnasium.Env` class
+for the direct workflow. For :class:`envs.DirectMARLEnv`, although it does not inherit
+from Gymnasium, it can be registered and created in the same way.
+
+Using the gym registry
+----------------------
+
+To register an environment, we use the :meth:`gymnasium.register` method. This method takes
+in the environment name, the entry point to the environment class, and the entry point to the
+environment configuration class.
+
+.. note::
+    The :mod:`gymnasium` registry is a global registry. Hence, it is important to ensure that the
+    environment names are unique. Otherwise, the registry will throw an error when registering
+    the environment.
+
+Manager-Based Environments
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+For manager-based environments, the following shows the registration
+call for the cartpole environment in the ``omni.isaac.lab_tasks.manager_based.classic.cartpole`` sub-package:
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/__init__.py
+   :language: python
+   :lines: 10-
+   :emphasize-lines: 4, 11, 12, 15
+
+The ``id`` argument is the name of the environment. As a convention, we name all the environments
+with the prefix ``Isaac-`` to make it easier to search for them in the registry. The name of the
+environment is typically followed by the name of the task, and then the name of the robot.
+For instance, for legged locomotion with ANYmal C on flat terrain, the environment is called
+``Isaac-Velocity-Flat-Anymal-C-v0``. The version number ``v<N>`` is typically used to specify different
+variations of the same environment. Otherwise, the names of the environments can become too long
+and difficult to read.
+
+The ``entry_point`` argument is the entry point to the environment class. The entry point is a string
+of the form ``<module>:<class>``. In the case of the cartpole environment, the entry point is
+``omni.isaac.lab.envs:ManagerBasedRLEnv``. The entry point is used to import the environment class
+when creating the environment instance.
+
+The ``env_cfg_entry_point`` argument specifies the default configuration for the environment. The default
+configuration is loaded using the :meth:`omni.isaac.lab_tasks.utils.parse_env_cfg` function.
+It is then passed to the :meth:`gymnasium.make` function to create the environment instance.
+The configuration entry point can be both a YAML file or a python configuration class.
+
+Direct Environments
+^^^^^^^^^^^^^^^^^^^
+
+For direct-based environments, the environment registration follows a similar pattern. Instead of
+registering the environment's entry point as the :class:`~omni.isaac.lab.envs.ManagerBasedRLEnv` class,
+we register the environment's entry point as the implementation class of the environment.
+Additionally, we add the suffix ``-Direct`` to the environment name to differentiate it from the
+manager-based environments.
+
+As an example, the following shows the registration call for the cartpole environment in the
+``omni.isaac.lab_tasks.direct.cartpole`` sub-package:
+
+.. literalinclude:: ../../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/__init__.py
+   :language: python
+   :lines: 10-31
+   :emphasize-lines: 5, 12, 13, 16
+
+
+Creating the environment
+------------------------
+
+To inform the ``gym`` registry with all the environments provided by the ``omni.isaac.lab_tasks``
+extension, we must import the module at the start of the script. This will execute the ``__init__.py``
+file which iterates over all the sub-packages and registers their respective environments.
+
+.. literalinclude:: ../../../../source/standalone/environments/random_agent.py
+   :language: python
+   :start-at: import omni.isaac.lab_tasks  # noqa: F401
+   :end-at: import omni.isaac.lab_tasks  # noqa: F401
+
+In this tutorial, the task name is read from the command line. The task name is used to parse
+the default configuration as well as to create the environment instance. In addition, other
+parsed command line arguments such as the number of environments, the simulation device,
+and whether to render, are used to override the default configuration.
+
+.. literalinclude:: ../../../../source/standalone/environments/random_agent.py
+   :language: python
+   :start-at: # create environment configuration
+   :end-at: env = gym.make(args_cli.task, cfg=env_cfg)
+
+Once creating the environment, the rest of the execution follows the standard resetting and stepping.
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+Now that we have gone through the code, let's run the script and see the result:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/environments/random_agent.py --task Isaac-Cartpole-v0 --num_envs 32
+
+
+This should open a stage with everything similar to the :ref:`tutorial-create-manager-rl-env` tutorial.
+To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal.
+
+
+.. figure:: ../../_static/tutorials/tutorial_register_environment.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of random_agent.py
+
+
+In addition, you can also change the simulation device from GPU to CPU by setting the value of the ``--device`` flag explicitly:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/environments/random_agent.py --task Isaac-Cartpole-v0 --num_envs 32 --device cpu
+
+With the ``--device cpu`` flag, the simulation will run on the CPU. This is useful for debugging the simulation.
+However, the simulation will run much slower than on the GPU.
diff --git a/v1.4.0/_sources/source/tutorials/03_envs/run_rl_training.rst b/v1.4.0/_sources/source/tutorials/03_envs/run_rl_training.rst
new file mode 100644
index 0000000000..de01ee9f28
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/03_envs/run_rl_training.rst
@@ -0,0 +1,156 @@
+.. _tutorial-run-rl-training:
+
+Training with an RL Agent
+=========================
+
+.. currentmodule:: omni.isaac.lab
+
+In the previous tutorials, we covered how to define an RL task environment, register
+it into the ``gym`` registry, and interact with it using a random agent. We now move
+on to the next step: training an RL agent to solve the task.
+
+Although the :class:`envs.ManagerBasedRLEnv` conforms to the :class:`gymnasium.Env` interface,
+it is not exactly a ``gym`` environment. The input and outputs of the environment are
+not numpy arrays, but rather based on torch tensors with the first dimension being the
+number of environment instances.
+
+Additionally, most RL libraries expect their own variation of an environment interface.
+For example, `Stable-Baselines3`_ expects the environment to conform to its
+`VecEnv API`_ which expects a list of numpy arrays instead of a single tensor. Similarly,
+`RSL-RL`_, `RL-Games`_ and `SKRL`_ expect a different interface. Since there is no one-size-fits-all
+solution, we do not base the :class:`envs.ManagerBasedRLEnv` on any particular learning library.
+Instead, we implement wrappers to convert the environment into the expected interface.
+These are specified in the :mod:`omni.isaac.lab_tasks.utils.wrappers` module.
+
+In this tutorial, we will use `Stable-Baselines3`_ to train an RL agent to solve the
+cartpole balancing task.
+
+.. caution::
+
+  Wrapping the environment with the respective learning framework's wrapper should happen in the end,
+  i.e. after all other wrappers have been applied. This is because the learning framework's wrapper
+  modifies the interpretation of environment's APIs which may no longer be compatible with :class:`gymnasium.Env`.
+
+The Code
+--------
+
+For this tutorial, we use the training script from `Stable-Baselines3`_ workflow in the
+``source/standalone/workflows/sb3`` directory.
+
+.. dropdown:: Code for train.py
+    :icon: code
+
+    .. literalinclude:: ../../../../source/standalone/workflows/sb3/train.py
+      :language: python
+      :emphasize-lines: 57, 66, 68-70, 81, 90-98, 100, 105-113, 115-116, 121-126, 133-136
+      :linenos:
+
+The Code Explained
+------------------
+
+.. currentmodule:: omni.isaac.lab_tasks.utils
+
+Most of the code above is boilerplate code to create logging directories, saving the parsed configurations,
+and setting up different Stable-Baselines3 components. For this tutorial, the important part is creating
+the environment and wrapping it with the Stable-Baselines3 wrapper.
+
+There are three wrappers used in the code above:
+
+1. :class:`gymnasium.wrappers.RecordVideo`: This wrapper records a video of the environment
+   and saves it to the specified directory. This is useful for visualizing the agent's behavior
+   during training.
+2. :class:`wrappers.sb3.Sb3VecEnvWrapper`: This wrapper converts the environment
+   into a Stable-Baselines3 compatible environment.
+3. `stable_baselines3.common.vec_env.VecNormalize`_: This wrapper normalizes the
+   environment's observations and rewards.
+
+Each of these wrappers wrap around the previous wrapper by following ``env = wrapper(env, *args, **kwargs)``
+repeatedly. The final environment is then used to train the agent. For more information on how these
+wrappers work, please refer to the :ref:`how-to-env-wrappers` documentation.
+
+The Code Execution
+------------------
+
+We train a PPO agent from Stable-Baselines3 to solve the cartpole balancing task.
+
+Training the agent
+~~~~~~~~~~~~~~~~~~
+
+There are three main ways to train the agent. Each of them has their own advantages and disadvantages.
+It is up to you to decide which one you prefer based on your use case.
+
+Headless execution
+""""""""""""""""""
+
+If the ``--headless`` flag is set, the simulation is not rendered during training. This is useful
+when training on a remote server or when you do not want to see the simulation. Typically, it speeds
+up the training process since only physics simulation step is performed.
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --num_envs 64 --headless
+
+
+Headless execution with off-screen render
+"""""""""""""""""""""""""""""""""""""""""
+
+Since the above command does not render the simulation, it is not possible to visualize the agent's
+behavior during training. To visualize the agent's behavior, we pass the ``--enable_cameras`` which
+enables off-screen rendering. Additionally, we pass the flag ``--video`` which records a video of the
+agent's behavior during training.
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --num_envs 64 --headless --video
+
+The videos are saved to the ``logs/sb3/Isaac-Cartpole-v0/<run-dir>/videos/train`` directory. You can open these videos
+using any video player.
+
+Interactive execution
+"""""""""""""""""""""
+
+.. currentmodule:: omni.isaac.lab
+
+While the above two methods are useful for training the agent, they don't allow you to interact with the
+simulation to see what is happening. In this case, you can ignore the ``--headless`` flag and run the
+training script as follows:
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --num_envs 64
+
+This will open the Isaac Sim window and you can see the agent training in the environment. However, this
+will slow down the training process since the simulation is rendered on the screen. As a workaround, you
+can switch between different render modes in the ``"Isaac Lab"`` window that is docked on the bottom-right
+corner of the screen. To learn more about these render modes, please check the
+:class:`sim.SimulationContext.RenderMode` class.
+
+Viewing the logs
+~~~~~~~~~~~~~~~~
+
+On a separate terminal, you can monitor the training progress by executing the following command:
+
+.. code:: bash
+
+   # execute from the root directory of the repository
+   ./isaaclab.sh -p -m tensorboard.main --logdir logs/sb3/Isaac-Cartpole-v0
+
+Playing the trained agent
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Once the training is complete, you can visualize the trained agent by executing the following command:
+
+.. code:: bash
+
+   # execute from the root directory of the repository
+   ./isaaclab.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --use_last_checkpoint
+
+The above command will load the latest checkpoint from the ``logs/sb3/Isaac-Cartpole-v0``
+directory. You can also specify a specific checkpoint by passing the ``--checkpoint`` flag.
+
+.. _Stable-Baselines3: https://stable-baselines3.readthedocs.io/en/master/
+.. _VecEnv API: https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html#vecenv-api-vs-gym-api
+.. _`stable_baselines3.common.vec_env.VecNormalize`: https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html#vecnormalize
+.. _RL-Games: https://github.com/Denys88/rl_games
+.. _RSL-RL: https://github.com/leggedrobotics/rsl_rl
+.. _SKRL: https://skrl.readthedocs.io
diff --git a/v1.4.0/_sources/source/tutorials/04_sensors/add_sensors_on_robot.rst b/v1.4.0/_sources/source/tutorials/04_sensors/add_sensors_on_robot.rst
new file mode 100644
index 0000000000..3ddd39bf48
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/04_sensors/add_sensors_on_robot.rst
@@ -0,0 +1,210 @@
+.. _tutorial-add-sensors-on-robot:
+
+Adding sensors on a robot
+=========================
+
+.. currentmodule:: omni.isaac.lab
+
+
+While the asset classes allow us to create and simulate the physical embodiment of the robot,
+sensors help in obtaining information about the environment. They typically update at a lower
+frequency than the simulation and are useful for obtaining different proprioceptive and
+exteroceptive information. For example, a camera sensor can be used to obtain the visual
+information of the environment, and a contact sensor can be used to obtain the contact
+information of the robot with the environment.
+
+In this tutorial, we will see how to add different sensors to a robot. We will use the
+ANYmal-C robot for this tutorial. The ANYmal-C robot is a quadrupedal robot with 12 degrees
+of freedom. It has 4 legs, each with 3 degrees of freedom. The robot has the following
+sensors:
+
+- A camera sensor on the head of the robot which provides RGB-D images
+- A height scanner sensor that provides terrain height information
+- Contact sensors on the feet of the robot that provide contact information
+
+We continue this tutorial from the previous tutorial on :ref:`tutorial-interactive-scene`,
+where we learned about the :class:`scene.InteractiveScene` class.
+
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``add_sensors_on_robot.py`` script in the
+``source/standalone/tutorials/04_sensors`` directory.
+
+.. dropdown:: Code for add_sensors_on_robot.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/04_sensors/add_sensors_on_robot.py
+      :language: python
+      :emphasize-lines: 72-95, 143-153, 167-168
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+Similar to the previous tutorials, where we added assets to the scene, the sensors are also added
+to the scene using the scene configuration. All sensors inherit from the :class:`sensors.SensorBase` class
+and are configured through their respective config classes. Each sensor instance can define its own
+update period, which is the frequency at which the sensor is updated. The update period is specified
+in seconds through the :attr:`sensors.SensorBaseCfg.update_period` attribute.
+
+Depending on the specified path and the sensor type, the sensors are attached to the prims in the scene.
+They may have an associated prim that is created in the scene or they may be attached to an existing prim.
+For instance, the camera sensor has a corresponding prim that is created in the scene, whereas for the
+contact sensor, the activating the contact reporting is a property on a rigid body prim.
+
+In the following, we introduce the different sensors we use in this tutorial and how they are configured.
+For more description about them, please check the :mod:`sensors` module.
+
+Camera sensor
+-------------
+
+A camera is defined using the :class:`sensors.CameraCfg`. It is based on the USD Camera sensor and
+the different data types are captured using Omniverse Replicator API. Since it has a corresponding prim
+in the scene, the prims are created in the scene at the specified prim path.
+
+The configuration of the camera sensor includes the following parameters:
+
+* :attr:`~sensors.CameraCfg.spawn`: The type of USD camera to create. This can be either
+  :class:`~sim.spawners.sensors.PinholeCameraCfg` or :class:`~sim.spawners.sensors.FisheyeCameraCfg`.
+* :attr:`~sensors.CameraCfg.offset`: The offset of the camera sensor from the parent prim.
+* :attr:`~sensors.CameraCfg.data_types`: The data types to capture. This can be ``rgb``,
+  ``distance_to_image_plane``, ``normals``, or other types supported by the USD Camera sensor.
+
+To attach an RGB-D camera sensor to the head of the robot, we specify an offset relative to the base
+frame of the robot. The offset is specified as a translation and rotation relative to the base frame,
+and the :attr:`~sensors.CameraCfg.OffsetCfg.convention` in which the offset is specified.
+
+In the following, we show the configuration of the camera sensor used in this tutorial. We set the
+update period to 0.1s, which means that the camera sensor is updated at 10Hz. The prim path expression is
+set to ``{ENV_REGEX_NS}/Robot/base/front_cam`` where the ``{ENV_REGEX_NS}`` is the environment namespace,
+``"Robot"`` is the name of the robot, ``"base"`` is the name of the prim to which the camera is attached,
+and ``"front_cam"`` is the name of the prim associated with the camera sensor.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/04_sensors/add_sensors_on_robot.py
+   :language: python
+   :start-at: camera = CameraCfg(
+   :end-before: height_scanner = RayCasterCfg(
+
+Height scanner
+--------------
+
+The height-scanner is implemented as a virtual sensor using the NVIDIA Warp ray-casting kernels.
+Through the :class:`sensors.RayCasterCfg`, we can specify the pattern of rays to cast and the
+meshes against which to cast the rays. Since they are virtual sensors, there is no corresponding
+prim created in the scene for them. Instead they are attached to a prim in the scene, which is
+used to specify the location of the sensor.
+
+For this tutorial, the ray-cast based height scanner is attached to the base frame of the robot.
+The pattern of rays is specified using the :attr:`~sensors.RayCasterCfg.pattern` attribute. For
+a uniform grid pattern, we specify the pattern using :class:`~sensors.patterns.GridPatternCfg`.
+Since we only care about the height information, we do not need to consider the roll and pitch
+of the robot. Hence, we set the :attr:`~sensors.RayCasterCfg.attach_yaw_only` to true.
+
+For the height-scanner, you can visualize the points where the rays hit the mesh. This is done
+by setting the :attr:`~sensors.SensorBaseCfg.debug_vis` attribute to true.
+
+The entire configuration of the height-scanner is as follows:
+
+.. literalinclude:: ../../../../source/standalone/tutorials/04_sensors/add_sensors_on_robot.py
+   :language: python
+   :start-at: height_scanner = RayCasterCfg(
+   :end-before: contact_forces = ContactSensorCfg(
+
+Contact sensor
+--------------
+
+Contact sensors wrap around the PhysX contact reporting API to obtain the contact information of the robot
+with the environment. Since it relies of PhysX, the contact sensor expects the contact reporting API
+to be enabled on the rigid bodies of the robot. This can be done by setting the
+:attr:`~sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors` to true in the asset configuration.
+
+Through the :class:`sensors.ContactSensorCfg`, it is possible to specify the prims for which we want to
+obtain the contact information. Additional flags can be set to obtain more information about
+the contact, such as the contact air time, contact forces between filtered prims, etc.
+
+In this tutorial, we attach the contact sensor to the feet of the robot. The feet of the robot are
+named ``"LF_FOOT"``, ``"RF_FOOT"``, ``"LH_FOOT"``, and ``"RF_FOOT"``. We pass a Regex expression
+``".*_FOOT"`` to simplify the prim path specification. This Regex expression matches all prims that
+end with ``"_FOOT"``.
+
+We set the update period to 0 to update the sensor at the same frequency as the simulation. Additionally,
+for contact sensors, we can specify the history length of the contact information to store. For this
+tutorial, we set the history length to 6, which means that the contact information for the last 6
+simulation steps is stored.
+
+The entire configuration of the contact sensor is as follows:
+
+.. literalinclude:: ../../../../source/standalone/tutorials/04_sensors/add_sensors_on_robot.py
+   :language: python
+   :start-at: contact_forces = ContactSensorCfg(
+   :lines: 1-3
+
+Running the simulation loop
+---------------------------
+
+Similar to when using assets, the buffers and physics handles for the sensors are initialized only
+when the simulation is played, i.e., it is important to call ``sim.reset()`` after creating the scene.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/04_sensors/add_sensors_on_robot.py
+   :language: python
+   :start-at: # Play the simulator
+   :end-at: sim.reset()
+
+Besides that, the simulation loop is similar to the previous tutorials. The sensors are updated as part
+of the scene update and they internally handle the updating of their buffers based on their update
+periods.
+
+The data from the sensors can be accessed through their ``data`` attribute. As an example, we show how
+to access the data for the different sensors created in this tutorial:
+
+.. literalinclude:: ../../../../source/standalone/tutorials/04_sensors/add_sensors_on_robot.py
+   :language: python
+   :start-at: # print information from the sensors
+   :end-at: print("Received max contact force of: ", torch.max(scene["contact_forces"].data.net_forces_w).item())
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+
+Now that we have gone through the code, let's run the script and see the result:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/add_sensors_on_robot.py --num_envs 2 --enable_cameras
+
+
+This command should open a stage with a ground plane, lights, and two quadrupedal robots.
+Around the robots, you should see red spheres that indicate the points where the rays hit the mesh.
+Additionally, you can switch the viewport to the camera view to see the RGB image captured by the
+camera sensor. Please check `here <https://youtu.be/htPbcKkNMPs?feature=shared>`_ for more information
+on how to switch the viewport to the camera view.
+
+.. figure:: ../../_static/tutorials/tutorial_add_sensors. jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of add_sensors_on_robot.py
+
+To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal.
+
+While in this tutorial, we went over creating and using different sensors, there are many more sensors
+available in the :mod:`sensors` module. We include minimal examples of using these sensors in the
+``source/standalone/tutorials/04_sensors`` directory. For completeness, these scripts can be run using the
+following commands:
+
+.. code-block:: bash
+
+   # Frame Transformer
+   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_frame_transformer.py
+
+   # Ray Caster
+   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_ray_caster.py
+
+   # Ray Caster Camera
+   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_ray_caster_camera.py
+
+   # USD Camera
+   ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py
diff --git a/v1.4.0/_sources/source/tutorials/05_controllers/run_diff_ik.rst b/v1.4.0/_sources/source/tutorials/05_controllers/run_diff_ik.rst
new file mode 100644
index 0000000000..ab451ab8ca
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/05_controllers/run_diff_ik.rst
@@ -0,0 +1,159 @@
+Using a task-space controller
+=============================
+
+.. currentmodule:: omni.isaac.lab
+
+In the previous tutorials, we have joint-space controllers to control the robot. However, in many
+cases, it is more intuitive to control the robot using a task-space controller. For example, if we
+want to teleoperate the robot, it is easier to specify the desired end-effector pose rather than
+the desired joint positions.
+
+In this tutorial, we will learn how to use a task-space controller to control the robot.
+We will use the :class:`controllers.DifferentialIKController` class to track a desired
+end-effector pose command.
+
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``run_diff_ik.py`` script in the
+``source/standalone/tutorials/05_controllers`` directory.
+
+
+.. dropdown:: Code for run_diff_ik.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_diff_ik.py
+      :language: python
+      :emphasize-lines: 98-100, 121-136, 155-157, 161-171
+      :linenos:
+
+
+The Code Explained
+~~~~~~~~~~~~~~~~~~
+
+While using any task-space controller, it is important to ensure that the provided
+quantities are in the correct frames. When parallelizing environment instances, they are
+all existing in the same unique simulation world frame. However, typically, we want each
+environment itself to have its own local frame. This is accessible through the
+:attr:`scene.InteractiveScene.env_origins` attribute.
+
+In our APIs, we use the following notation for frames:
+
+- The simulation world frame (denoted as ``w``), which is the frame of the entire simulation.
+- The local environment frame (denoted as ``e``), which is the frame of the local environment.
+- The robot's base frame (denoted as ``b``), which is the frame of the robot's base link.
+
+Since the asset instances are not "aware" of the local environment frame, they return
+their states in the simulation world frame. Thus, we need to convert the obtained
+quantities to the local environment frame. This is done by subtracting the local environment
+origin from the obtained quantities.
+
+
+Creating an IK controller
+-------------------------
+
+The :class:`~controllers.DifferentialIKController` class computes the desired joint
+positions for a robot to reach a desired end-effector pose. The included implementation
+performs the computation in a batched format and uses PyTorch operations. It supports
+different types of inverse kinematics solvers, including the damped least-squares method
+and the pseudo-inverse method. These solvers can be specified using the
+:attr:`~controllers.DifferentialIKControllerCfg.ik_method` argument.
+Additionally, the controller can handle commands as both relative and absolute poses.
+
+In this tutorial, we will use the damped least-squares method to compute the desired
+joint positions. Additionally, since we want to track desired end-effector poses, we
+will use the absolute pose command mode.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_diff_ik.py
+   :language: python
+   :start-at: # Create controller
+   :end-at: diff_ik_controller = DifferentialIKController(diff_ik_cfg, num_envs=scene.num_envs, device=sim.device)
+
+Obtaining the robot's joint and body indices
+--------------------------------------------
+
+The IK controller implementation is a computation-only class. Thus, it expects the
+user to provide the necessary information about the robot. This includes the robot's
+joint positions, current end-effector pose, and the Jacobian matrix.
+
+While the attribute :attr:`assets.ArticulationData.joint_pos` provides the joint positions,
+we only want the joint positions of the robot's arm, and not the gripper. Similarly, while
+the attribute :attr:`assets.ArticulationData.body_link_state_w` provides the state of all the
+robot's bodies, we only want the state of the robot's end-effector. Thus, we need to
+index into these arrays to obtain the desired quantities.
+
+For this, the articulation class provides the methods :meth:`~assets.Articulation.find_joints`
+and :meth:`~assets.Articulation.find_bodies`. These methods take in the names of the joints
+and bodies and return their corresponding indices.
+
+While you may directly use these methods to obtain the indices, we recommend using the
+:attr:`~managers.SceneEntityCfg` class to resolve the indices. This class is used in various
+places in the APIs to extract certain information from a scene entity. Internally, it
+calls the above methods to obtain the indices. However, it also performs some additional
+checks to ensure that the provided names are valid. Thus, it is a safer option to use
+this class.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_diff_ik.py
+   :language: python
+   :start-at: # Specify robot-specific parameters
+   :end-before: # Define simulation stepping
+
+
+Computing robot command
+-----------------------
+
+The IK controller separates the operation of setting the desired command and
+computing the desired joint positions. This is done to allow for the user to
+run the IK controller at a different frequency than the robot's control frequency.
+
+The :meth:`~controllers.DifferentialIKController.set_command` method takes in
+the desired end-effector pose as a single batched array. The pose is specified in
+the robot's base frame.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_diff_ik.py
+   :language: python
+   :start-at: # reset controller
+   :end-at: diff_ik_controller.set_command(ik_commands)
+
+We can then compute the desired joint positions using the
+:meth:`~controllers.DifferentialIKController.compute` method.
+The method takes in the current end-effector pose (in base frame), Jacobian, and
+current joint positions. We read the Jacobian matrix from the robot's data, which uses
+its value computed from the physics engine.
+
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_diff_ik.py
+   :language: python
+   :start-at: # obtain quantities from simulation
+   :end-at: joint_pos_des = diff_ik_controller.compute(ee_pos_b, ee_quat_b, jacobian, joint_pos)
+
+The computed joint position targets can then be applied on the robot, as done in the
+previous tutorials.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_diff_ik.py
+   :language: python
+   :start-at: # apply actions
+   :end-at: scene.write_data_to_sim()
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+
+Now that we have gone through the code, let's run the script and see the result:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/05_controllers/run_diff_ik.py --robot franka_panda --num_envs 128
+
+The script will start a simulation with 128 robots. The robots will be controlled using the IK controller.
+The current and desired end-effector poses should be displayed using frame markers. When the robot reaches
+the desired pose, the command should cycle through to the next pose specified in the script.
+
+.. figure:: ../../_static/tutorials/tutorial_task_space_controller.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of run_diff_ik.py
+
+To stop the simulation, you can either close the window,  or press ``Ctrl+C`` in the terminal.
diff --git a/v1.4.0/_sources/source/tutorials/05_controllers/run_osc.rst b/v1.4.0/_sources/source/tutorials/05_controllers/run_osc.rst
new file mode 100644
index 0000000000..431dda1acb
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/05_controllers/run_osc.rst
@@ -0,0 +1,191 @@
+Using an operational space controller
+=====================================
+
+.. currentmodule:: omni.isaac.lab
+
+Sometimes, controlling the end-effector pose of the robot using a differential IK controller is not sufficient.
+For example, we might want to enforce a very specific pose tracking error dynamics in the task space, actuate the robot
+with joint effort/torque commands, or apply a contact force at a specific direction while controlling the motion of
+the other directions (e.g., washing the surface of the table with a cloth). In such tasks, we can use an
+operational space controller (OSC).
+
+.. rubric:: References for the operational space control:
+
+1. O Khatib. A unified approach for motion and force control of robot manipulators:
+   The operational space formulation. IEEE Journal of Robotics and Automation, 3(1):43–53, 1987. URL http://dx.doi.org/10.1109/JRA.1987.1087068.
+
+2. Robot Dynamics Lecture Notes by Marco Hutter (ETH Zurich). URL https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf
+
+In this tutorial, we will learn how to use an OSC to control the robot.
+We will use the :class:`controllers.OperationalSpaceController` class to apply a constant force perpendicular to a
+tilted wall surface while tracking a desired end-effector pose in all the other directions.
+
+The Code
+~~~~~~~~
+
+The tutorial corresponds to the ``run_osc.py`` script in the
+``source/standalone/tutorials/05_controllers`` directory.
+
+
+.. dropdown:: Code for run_osc.py
+   :icon: code
+
+   .. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_osc.py
+      :language: python
+      :linenos:
+
+
+Creating an Operational Space Controller
+----------------------------------------
+
+The :class:`~controllers.OperationalSpaceController` class computes the joint
+efforts/torques for a robot to do simultaneous motion and force control in task space.
+
+The reference frame of this task space could be an arbitrary coordinate frame in Euclidean space. By default,
+it is the robot's base frame. However, in certain cases, it could be easier to define target coordinates w.r.t. a
+different frame. In such cases, the pose of this task reference frame, w.r.t. to the robot's base frame, should be
+provided in the ``set_command`` method's ``current_task_frame_pose_b`` argument. For example, in this tutorial, it
+makes sense to define the target commands w.r.t. a frame that is parallel to the wall surface, as the force control
+direction would be then only nonzero in the z-axis of this frame. The target pose, which is set to have the same
+orientation as the wall surface, is such a candidate and is used as the task frame in this tutorial. Therefore, all
+the arguments to the :class:`~controllers.OperationalSpaceControllerCfg` should be set with this task reference frame
+in mind.
+
+For the motion control, the task space targets could be given as absolute (i.e., defined w.r.t. the robot base,
+``target_types: "pose_abs"``) or relative the the end-effector's current pose (i.e., ``target_types: "pose_rel"``).
+For the force control, the task space targets could be given as absolute (i.e., defined w.r.t. the robot base,
+``target_types: "force_abs"``). If it is desired to apply pose and force control simultaneously, the ``target_types``
+should be a list such as ``["pose_abs", "wrench_abs"]`` or ``["pose_rel", "wrench_abs"]``.
+
+The axes that the motion and force control will be applied can be specified using the ``motion_control_axes_task`` and
+``force_control_axes_task`` arguments, respectively. These lists should consist of 0/1 for all six axes (position and
+rotation) and be complementary to each other (e.g., for the x-axis, if the ``motion_control_axes_task`` is ``0``, the
+``force_control_axes_task`` should be ``1``).
+
+For the motion control axes, desired stiffness, and damping ratio values can be specified using the
+``motion_control_stiffness`` and ``motion_damping_ratio_task`` arguments, which can be a scalar (same value for all
+axes) or a list of six scalars, one value corresponding to each axis. If desired, the stiffness and damping ratio
+values could be a command parameter (e.g., to learn the values using RL or change them on the go). For this,
+``impedance_mode`` should be either ``"variable_kp"`` to include the stiffness values within the command or
+``"variable"`` to include both the stiffness and damping ratio values. In these cases, ``motion_stiffness_limits_task``
+and ``motion_damping_limits_task`` should be set as well, which puts bounds on the stiffness and damping ratio values.
+
+For contact force control, it is possible to apply an open-loop force control by not setting the
+``contact_wrench_stiffness_task``, or apply a closed-loop force control (with the feed-forward term) by setting
+the desired stiffness values using the ``contact_wrench_stiffness_task`` argument, which can be a scalar or a list
+of six scalars. Please note that, currently, only the linear part of the contact wrench (hence the first three
+elements of the ``contact_wrench_stiffness_task``) is considered in the closed-loop control, as the rotational part
+cannot be measured with the contact sensors.
+
+For the motion control, ``inertial_dynamics_decoupling`` should be set to ``True`` to use the robot's inertia matrix
+to decouple the desired accelerations in the task space. This is important for the motion control to be accurate,
+especially for rapid movements. This inertial decoupling accounts for the coupling between all the six motion axes.
+If desired, the inertial coupling between the translational and rotational axes could be ignored by setting the
+``partial_inertial_dynamics_decoupling`` to ``True``.
+
+If it is desired to include the gravity compensation in the operational space command, the ``gravity_compensation``
+should be set to ``True``.
+
+A final consideration regarding the operational space control is what to do with the null-space of redundant robots.
+The null-space is the subspace of the joint space that does not affect the task space coordinates. If nothing is done
+to control the null-space, the robot joints will float without moving the end-effector. This might be undesired (e.g.,
+the robot joints might get close to their limits), and one might want to control the robot behaviour within its
+null-space. One way to do is to set ``nullspace_control`` to ``"position"`` (by default it is ``"none"``) which
+integrates a null-space PD controller to attract the robot joints to desired targets without affecting the task
+space. The behaviour of this null-space controller can be defined using the ``nullspace_stiffness`` and
+``nullspace_damping_ratio`` arguments. Please note that theoretical decoupling of the null-space and task space
+accelerations is only possible when ``inertial_dynamics_decoupling`` is set to ``True`` and
+``partial_inertial_dynamics_decoupling`` is set to ``False``.
+
+The included OSC implementation performs the computation in a batched format and uses PyTorch operations.
+
+In this tutorial, we will use ``"pose_abs"`` for controlling the motion in all axes except the z-axis and
+``"wrench_abs"`` for controlling the force in the z-axis. Moreover, we will include the full inertia decoupling in
+the motion control and not include the gravity compensation, as the gravity is disabled from the robot configuration.
+We set the impedance mode to ``"variable_kp"`` to dynamically change the stiffness values
+(``motion_damping_ratio_task`` is set to ``1``: the kd values adapt according to kp values to maintain a critically
+damped response). Finally, ``nullspace_control`` is set to use ``"position"`` where the joint set points are provided
+to be the center of the joint position limits.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_osc.py
+   :language: python
+   :start-at: # Create the OSC
+   :end-at: osc = OperationalSpaceController(osc_cfg, num_envs=scene.num_envs, device=sim.device)
+
+Updating the states of the robot
+--------------------------------------------
+
+The OSC implementation is a computation-only class. Thus, it expects the user to provide the necessary information
+about the robot. This includes the robot's Jacobian matrix, mass/inertia matrix, end-effector pose, velocity, contact
+force (all in the root frame), and finally, the joint positions and velocities. Moreover, the user should provide
+gravity compensation vector and null-space joint position targets if required.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_osc.py
+   :language: python
+   :start-at: # Update robot states
+   :end-before: # Update the target commands
+
+
+Computing robot command
+-----------------------
+
+The OSC separates the operation of setting the desired command and computing the desired joint positions.
+To set the desired command, the user should provide command vector, which  includes the target commands
+(i.e., in the order they appear in the ``target_types`` argument of the OSC configuration),
+and the desired stiffness and damping ratio values if the impedance_mode is set to ``"variable_kp"`` or ``"variable"``.
+They should be all in the same coordinate frame as the task frame (e.g., indicated with ``_task`` subscript) and
+concatanated together.
+
+In this tutorial, the desired wrench is already defined w.r.t. the task frame, and the desired pose is transformed
+to the task frame as the following:
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_osc.py
+   :language: python
+   :start-at: # Convert the target commands to the task frame
+   :end-at: return command, task_frame_pose_b
+
+The OSC command is set with the command vector in the task frame, the end-effector pose in the base frame, and the
+task (reference) frame pose in the base frame as the following. This information is needed, as the internal
+computations are done in the base frame.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_osc.py
+   :language: python
+   :start-at: # set the osc command
+   :end-at: osc.set_command(command=command, current_ee_pose_b=ee_pose_b, current_task_frame_pose_b=task_frame_pose_b)
+
+The joint effort/torque values are computed using the provided robot states and the desired command as the following:
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_osc.py
+   :language: python
+   :start-at: # compute the joint commands
+   :end-at: )
+
+
+The computed joint effort/torque targets can then be applied on the robot.
+
+.. literalinclude:: ../../../../source/standalone/tutorials/05_controllers/run_osc.py
+   :language: python
+   :start-at: # apply actions
+   :end-at: robot.write_data_to_sim()
+
+
+The Code Execution
+~~~~~~~~~~~~~~~~~~
+
+You can now run the script and see the result:
+
+.. code-block:: bash
+
+   ./isaaclab.sh -p source/standalone/tutorials/05_controllers/run_osc.py --num_envs 128
+
+The script will start a simulation with 128 robots. The robots will be controlled using the OSC.
+The current and desired end-effector poses should be displayed using frame markers in addition to the red tilted wall.
+You should see that the robot reaches the desired pose while applying a constant force perpendicular to the wall
+surface.
+
+.. figure:: ../../_static/tutorials/tutorial_operational_space_controller.jpg
+    :align: center
+    :figwidth: 100%
+    :alt: result of run_osc.py
+
+To stop the simulation, you can either close the window or press ``Ctrl+C`` in the terminal.
diff --git a/v1.4.0/_sources/source/tutorials/index.rst b/v1.4.0/_sources/source/tutorials/index.rst
new file mode 100644
index 0000000000..3e6a09a1e6
--- /dev/null
+++ b/v1.4.0/_sources/source/tutorials/index.rst
@@ -0,0 +1,104 @@
+Tutorials
+=========
+
+Welcome to the Isaac Lab tutorials! These tutorials provide a step-by-step guide to help you understand
+and use various features of the framework. All the tutorials are written as Python scripts. You can
+find the source code for each tutorial in the ``source/standalone/tutorials`` directory of the Isaac Lab
+repository.
+
+.. note::
+
+    We would love to extend the tutorials to cover more topics and use cases, so please let us know if
+    you have any suggestions.
+
+We recommend that you go through the tutorials in the order they are listed here.
+
+
+Setting up a Simple Simulation
+-------------------------------
+
+These tutorials show you how to launch the simulation with different settings and spawn objects in the
+simulated scene. They cover the following APIs: :class:`~omni.isaac.lab.app.AppLauncher`,
+:class:`~omni.isaac.lab.sim.SimulationContext`, and :class:`~omni.isaac.lab.sim.spawners`.
+
+.. toctree::
+    :maxdepth: 1
+    :titlesonly:
+
+    00_sim/create_empty
+    00_sim/spawn_prims
+    00_sim/launch_app
+
+Interacting with Assets
+-----------------------
+
+Having spawned objects in the scene, these tutorials show you how to create physics handles for these
+objects and interact with them. These revolve around the :class:`~omni.isaac.lab.assets.AssetBase`
+class and its derivatives such as :class:`~omni.isaac.lab.assets.RigidObject`,
+:class:`~omni.isaac.lab.assets.Articulation` and :class:`~omni.isaac.lab.assets.DeformableObject`.
+
+.. toctree::
+    :maxdepth: 1
+    :titlesonly:
+
+    01_assets/run_rigid_object
+    01_assets/run_articulation
+    01_assets/run_deformable_object
+
+Creating a Scene
+----------------
+
+With the basic concepts of the framework covered, the tutorials move to a more intuitive scene
+interface that uses the :class:`~omni.isaac.lab.scene.InteractiveScene` class. This class
+provides a higher level abstraction for creating scenes easily.
+
+.. toctree::
+    :maxdepth: 1
+    :titlesonly:
+
+    02_scene/create_scene
+
+Designing an Environment
+------------------------
+
+The following tutorials introduce the concept of manager-based environments: :class:`~omni.isaac.lab.envs.ManagerBasedEnv`
+and its derivative :class:`~omni.isaac.lab.envs.ManagerBasedRLEnv`, as well as the direct workflow base class
+:class:`~omni.isaac.lab.envs.DirectRLEnv`. These environments bring-in together
+different aspects of the framework to create a simulation environment for agent interaction.
+
+.. toctree::
+    :maxdepth: 1
+    :titlesonly:
+
+    03_envs/create_manager_base_env
+    03_envs/create_manager_rl_env
+    03_envs/create_direct_rl_env
+    03_envs/register_rl_env_gym
+    03_envs/run_rl_training
+    03_envs/modify_direct_rl_env
+
+Integrating Sensors
+-------------------
+
+The following tutorial shows you how to integrate sensors into the simulation environment. The
+tutorials introduce the :class:`~omni.isaac.lab.sensors.SensorBase` class and its derivatives
+such as :class:`~omni.isaac.lab.sensors.Camera` and :class:`~omni.isaac.lab.sensors.RayCaster`.
+
+.. toctree::
+    :maxdepth: 1
+    :titlesonly:
+
+    04_sensors/add_sensors_on_robot
+
+Using motion generators
+-----------------------
+
+While the robots in the simulation environment can be controlled at the joint-level, the following
+tutorials show you how to use motion generators to control the robots at the task-level.
+
+.. toctree::
+    :maxdepth: 1
+    :titlesonly:
+
+    05_controllers/run_diff_ik
+    05_controllers/run_osc
diff --git a/v1.4.0/_sphinx_design_static/design-tabs.js b/v1.4.0/_sphinx_design_static/design-tabs.js
new file mode 100644
index 0000000000..b25bd6a4fa
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+
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+
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+ * @param {HTMLElement} el - The tab element.
+ * @returns {[string, string, string] | null} - The key.
+ *
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+
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+    if (label instanceof HTMLElement) {
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+
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+
+        // store map of key to elements
+        if (!sd_id_to_elements[key]) {
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+                "' from URL parameter: " +
+                tabParam
+            );
+            window.sessionStorage.setItem(storageKeyPrefix + group, tabParam);
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+        }
+
+        // Check is a specific tab has been selected previously
+        let previousId = window.sessionStorage.getItem(
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+        if (previousId === id) {
+          // console.log(
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+          // );
+          // @ts-ignore
+          label.previousElementSibling.checked = true;
+        }
+      }
+    }
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+}
+
+/**
+ *  Activate other tabs with the same sync id.
+ *
+ * @this {HTMLElement} - The element that was clicked.
+ */
+function onSDLabelClick() {
+  let data = create_key(this);
+  if (!data) return;
+  let [group, id, key] = data;
+  for (const label of sd_id_to_elements[key]) {
+    if (label === this) continue;
+    // @ts-ignore
+    label.previousElementSibling.checked = true;
+  }
+  window.sessionStorage.setItem(storageKeyPrefix + group, id);
+}
+
+document.addEventListener("DOMContentLoaded", ready, false);
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index 0000000000..12e95458e7
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diff --git a/v1.4.0/_static/NVIDIA-logo-white.png b/v1.4.0/_static/NVIDIA-logo-white.png
new file mode 100644
index 0000000000..1143326b85
Binary files /dev/null and b/v1.4.0/_static/NVIDIA-logo-white.png differ
diff --git a/v1.4.0/_static/basic.css b/v1.4.0/_static/basic.css
new file mode 100644
index 0000000000..7577acb1ad
--- /dev/null
+++ b/v1.4.0/_static/basic.css
@@ -0,0 +1,903 @@
+/*
+ * basic.css
+ * ~~~~~~~~~
+ *
+ * Sphinx stylesheet -- basic theme.
+ *
+ * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+/* -- main layout ----------------------------------------------------------- */
+
+div.clearer {
+    clear: both;
+}
+
+div.section::after {
+    display: block;
+    content: '';
+    clear: left;
+}
+
+/* -- relbar ---------------------------------------------------------------- */
+
+div.related {
+    width: 100%;
+    font-size: 90%;
+}
+
+div.related h3 {
+    display: none;
+}
+
+div.related ul {
+    margin: 0;
+    padding: 0 0 0 10px;
+    list-style: none;
+}
+
+div.related li {
+    display: inline;
+}
+
+div.related li.right {
+    float: right;
+    margin-right: 5px;
+}
+
+/* -- sidebar --------------------------------------------------------------- */
+
+div.sphinxsidebarwrapper {
+    padding: 10px 5px 0 10px;
+}
+
+div.sphinxsidebar {
+    float: left;
+    width: 230px;
+    margin-left: -100%;
+    font-size: 90%;
+    word-wrap: break-word;
+    overflow-wrap : break-word;
+}
+
+div.sphinxsidebar ul {
+    list-style: none;
+}
+
+div.sphinxsidebar ul ul,
+div.sphinxsidebar ul.want-points {
+    margin-left: 20px;
+    list-style: square;
+}
+
+div.sphinxsidebar ul ul {
+    margin-top: 0;
+    margin-bottom: 0;
+}
+
+div.sphinxsidebar form {
+    margin-top: 10px;
+}
+
+div.sphinxsidebar input {
+    border: 1px solid #98dbcc;
+    font-family: sans-serif;
+    font-size: 1em;
+}
+
+div.sphinxsidebar #searchbox form.search {
+    overflow: hidden;
+}
+
+div.sphinxsidebar #searchbox input[type="text"] {
+    float: left;
+    width: 80%;
+    padding: 0.25em;
+    box-sizing: border-box;
+}
+
+div.sphinxsidebar #searchbox input[type="submit"] {
+    float: left;
+    width: 20%;
+    border-left: none;
+    padding: 0.25em;
+    box-sizing: border-box;
+}
+
+
+img {
+    border: 0;
+    max-width: 100%;
+}
+
+/* -- search page ----------------------------------------------------------- */
+
+ul.search {
+    margin: 10px 0 0 20px;
+    padding: 0;
+}
+
+ul.search li {
+    padding: 5px 0 5px 20px;
+    background-image: url(file.png);
+    background-repeat: no-repeat;
+    background-position: 0 7px;
+}
+
+ul.search li a {
+    font-weight: bold;
+}
+
+ul.search li p.context {
+    color: #888;
+    margin: 2px 0 0 30px;
+    text-align: left;
+}
+
+ul.keywordmatches li.goodmatch a {
+    font-weight: bold;
+}
+
+/* -- index page ------------------------------------------------------------ */
+
+table.contentstable {
+    width: 90%;
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table.contentstable p.biglink {
+    line-height: 150%;
+}
+
+a.biglink {
+    font-size: 1.3em;
+}
+
+span.linkdescr {
+    font-style: italic;
+    padding-top: 5px;
+    font-size: 90%;
+}
+
+/* -- general index --------------------------------------------------------- */
+
+table.indextable {
+    width: 100%;
+}
+
+table.indextable td {
+    text-align: left;
+    vertical-align: top;
+}
+
+table.indextable ul {
+    margin-top: 0;
+    margin-bottom: 0;
+    list-style-type: none;
+}
+
+table.indextable > tbody > tr > td > ul {
+    padding-left: 0em;
+}
+
+table.indextable tr.pcap {
+    height: 10px;
+}
+
+table.indextable tr.cap {
+    margin-top: 10px;
+    background-color: #f2f2f2;
+}
+
+img.toggler {
+    margin-right: 3px;
+    margin-top: 3px;
+    cursor: pointer;
+}
+
+div.modindex-jumpbox {
+    border-top: 1px solid #ddd;
+    border-bottom: 1px solid #ddd;
+    margin: 1em 0 1em 0;
+    padding: 0.4em;
+}
+
+div.genindex-jumpbox {
+    border-top: 1px solid #ddd;
+    border-bottom: 1px solid #ddd;
+    margin: 1em 0 1em 0;
+    padding: 0.4em;
+}
+
+/* -- domain module index --------------------------------------------------- */
+
+table.modindextable td {
+    padding: 2px;
+    border-collapse: collapse;
+}
+
+/* -- general body styles --------------------------------------------------- */
+
+div.body {
+    min-width: 360px;
+    max-width: 800px;
+}
+
+div.body p, div.body dd, div.body li, div.body blockquote {
+    -moz-hyphens: auto;
+    -ms-hyphens: auto;
+    -webkit-hyphens: auto;
+    hyphens: auto;
+}
+
+a.headerlink {
+    visibility: hidden;
+}
+
+h1:hover > a.headerlink,
+h2:hover > a.headerlink,
+h3:hover > a.headerlink,
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+h6:hover > a.headerlink,
+dt:hover > a.headerlink,
+caption:hover > a.headerlink,
+p.caption:hover > a.headerlink,
+div.code-block-caption:hover > a.headerlink {
+    visibility: visible;
+}
+
+div.body p.caption {
+    text-align: inherit;
+}
+
+div.body td {
+    text-align: left;
+}
+
+.first {
+    margin-top: 0 !important;
+}
+
+p.rubric {
+    margin-top: 30px;
+    font-weight: bold;
+}
+
+img.align-left, figure.align-left, .figure.align-left, object.align-left {
+    clear: left;
+    float: left;
+    margin-right: 1em;
+}
+
+img.align-right, figure.align-right, .figure.align-right, object.align-right {
+    clear: right;
+    float: right;
+    margin-left: 1em;
+}
+
+img.align-center, figure.align-center, .figure.align-center, object.align-center {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+img.align-default, figure.align-default, .figure.align-default {
+  display: block;
+  margin-left: auto;
+  margin-right: auto;
+}
+
+.align-left {
+    text-align: left;
+}
+
+.align-center {
+    text-align: center;
+}
+
+.align-default {
+    text-align: center;
+}
+
+.align-right {
+    text-align: right;
+}
+
+/* -- sidebars -------------------------------------------------------------- */
+
+div.sidebar,
+aside.sidebar {
+    margin: 0 0 0.5em 1em;
+    border: 1px solid #ddb;
+    padding: 7px;
+    background-color: #ffe;
+    width: 40%;
+    float: right;
+    clear: right;
+    overflow-x: auto;
+}
+
+p.sidebar-title {
+    font-weight: bold;
+}
+
+nav.contents,
+aside.topic,
+div.admonition, div.topic, blockquote {
+    clear: left;
+}
+
+/* -- topics ---------------------------------------------------------------- */
+
+nav.contents,
+aside.topic,
+div.topic {
+    border: 1px solid #ccc;
+    padding: 7px;
+    margin: 10px 0 10px 0;
+}
+
+p.topic-title {
+    font-size: 1.1em;
+    font-weight: bold;
+    margin-top: 10px;
+}
+
+/* -- admonitions ----------------------------------------------------------- */
+
+div.admonition {
+    margin-top: 10px;
+    margin-bottom: 10px;
+    padding: 7px;
+}
+
+div.admonition dt {
+    font-weight: bold;
+}
+
+p.admonition-title {
+    margin: 0px 10px 5px 0px;
+    font-weight: bold;
+}
+
+div.body p.centered {
+    text-align: center;
+    margin-top: 25px;
+}
+
+/* -- content of sidebars/topics/admonitions -------------------------------- */
+
+div.sidebar > :last-child,
+aside.sidebar > :last-child,
+nav.contents > :last-child,
+aside.topic > :last-child,
+div.topic > :last-child,
+div.admonition > :last-child {
+    margin-bottom: 0;
+}
+
+div.sidebar::after,
+aside.sidebar::after,
+nav.contents::after,
+aside.topic::after,
+div.topic::after,
+div.admonition::after,
+blockquote::after {
+    display: block;
+    content: '';
+    clear: both;
+}
+
+/* -- tables ---------------------------------------------------------------- */
+
+table.docutils {
+    margin-top: 10px;
+    margin-bottom: 10px;
+    border: 0;
+    border-collapse: collapse;
+}
+
+table.align-center {
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table.align-default {
+    margin-left: auto;
+    margin-right: auto;
+}
+
+table caption span.caption-number {
+    font-style: italic;
+}
+
+table caption span.caption-text {
+}
+
+table.docutils td, table.docutils th {
+    padding: 1px 8px 1px 5px;
+    border-top: 0;
+    border-left: 0;
+    border-right: 0;
+    border-bottom: 1px solid #aaa;
+}
+
+th {
+    text-align: left;
+    padding-right: 5px;
+}
+
+table.citation {
+    border-left: solid 1px gray;
+    margin-left: 1px;
+}
+
+table.citation td {
+    border-bottom: none;
+}
+
+th > :first-child,
+td > :first-child {
+    margin-top: 0px;
+}
+
+th > :last-child,
+td > :last-child {
+    margin-bottom: 0px;
+}
+
+/* -- figures --------------------------------------------------------------- */
+
+div.figure, figure {
+    margin: 0.5em;
+    padding: 0.5em;
+}
+
+div.figure p.caption, figcaption {
+    padding: 0.3em;
+}
+
+div.figure p.caption span.caption-number,
+figcaption span.caption-number {
+    font-style: italic;
+}
+
+div.figure p.caption span.caption-text,
+figcaption span.caption-text {
+}
+
+/* -- field list styles ----------------------------------------------------- */
+
+table.field-list td, table.field-list th {
+    border: 0 !important;
+}
+
+.field-list ul {
+    margin: 0;
+    padding-left: 1em;
+}
+
+.field-list p {
+    margin: 0;
+}
+
+.field-name {
+    -moz-hyphens: manual;
+    -ms-hyphens: manual;
+    -webkit-hyphens: manual;
+    hyphens: manual;
+}
+
+/* -- hlist styles ---------------------------------------------------------- */
+
+table.hlist {
+    margin: 1em 0;
+}
+
+table.hlist td {
+    vertical-align: top;
+}
+
+/* -- object description styles --------------------------------------------- */
+
+.sig {
+	font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace;
+}
+
+.sig-name, code.descname {
+    background-color: transparent;
+    font-weight: bold;
+}
+
+.sig-name {
+	font-size: 1.1em;
+}
+
+code.descname {
+    font-size: 1.2em;
+}
+
+.sig-prename, code.descclassname {
+    background-color: transparent;
+}
+
+.optional {
+    font-size: 1.3em;
+}
+
+.sig-paren {
+    font-size: larger;
+}
+
+.sig-param.n {
+	font-style: italic;
+}
+
+/* C++ specific styling */
+
+.sig-inline.c-texpr,
+.sig-inline.cpp-texpr {
+	font-family: unset;
+}
+
+.sig.c   .k, .sig.c   .kt,
+.sig.cpp .k, .sig.cpp .kt {
+	color: #0033B3;
+}
+
+.sig.c   .m,
+.sig.cpp .m {
+	color: #1750EB;
+}
+
+.sig.c   .s, .sig.c   .sc,
+.sig.cpp .s, .sig.cpp .sc {
+	color: #067D17;
+}
+
+
+/* -- other body styles ----------------------------------------------------- */
+
+ol.arabic {
+    list-style: decimal;
+}
+
+ol.loweralpha {
+    list-style: lower-alpha;
+}
+
+ol.upperalpha {
+    list-style: upper-alpha;
+}
+
+ol.lowerroman {
+    list-style: lower-roman;
+}
+
+ol.upperroman {
+    list-style: upper-roman;
+}
+
+:not(li) > ol > li:first-child > :first-child,
+:not(li) > ul > li:first-child > :first-child {
+    margin-top: 0px;
+}
+
+:not(li) > ol > li:last-child > :last-child,
+:not(li) > ul > li:last-child > :last-child {
+    margin-bottom: 0px;
+}
+
+ol.simple ol p,
+ol.simple ul p,
+ul.simple ol p,
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+    margin-top: 0;
+}
+
+ol.simple > li:not(:first-child) > p,
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+}
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+ol.simple p,
+ul.simple p {
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+}
+
+aside.footnote > span,
+div.citation > span {
+    float: left;
+}
+aside.footnote > span:last-of-type,
+div.citation > span:last-of-type {
+  padding-right: 0.5em;
+}
+aside.footnote > p {
+  margin-left: 2em;
+}
+div.citation > p {
+  margin-left: 4em;
+}
+aside.footnote > p:last-of-type,
+div.citation > p:last-of-type {
+    margin-bottom: 0em;
+}
+aside.footnote > p:last-of-type:after,
+div.citation > p:last-of-type:after {
+    content: "";
+    clear: both;
+}
+
+dl.field-list {
+    display: grid;
+    grid-template-columns: fit-content(30%) auto;
+}
+
+dl.field-list > dt {
+    font-weight: bold;
+    word-break: break-word;
+    padding-left: 0.5em;
+    padding-right: 5px;
+}
+
+dl.field-list > dd {
+    padding-left: 0.5em;
+    margin-top: 0em;
+    margin-left: 0em;
+    margin-bottom: 0em;
+}
+
+dl {
+    margin-bottom: 15px;
+}
+
+dd > :first-child {
+    margin-top: 0px;
+}
+
+dd ul, dd table {
+    margin-bottom: 10px;
+}
+
+dd {
+    margin-top: 3px;
+    margin-bottom: 10px;
+    margin-left: 30px;
+}
+
+dl > dd:last-child,
+dl > dd:last-child > :last-child {
+    margin-bottom: 0;
+}
+
+dt:target, span.highlighted {
+    background-color: #fbe54e;
+}
+
+rect.highlighted {
+    fill: #fbe54e;
+}
+
+dl.glossary dt {
+    font-weight: bold;
+    font-size: 1.1em;
+}
+
+.versionmodified {
+    font-style: italic;
+}
+
+.system-message {
+    background-color: #fda;
+    padding: 5px;
+    border: 3px solid red;
+}
+
+.footnote:target  {
+    background-color: #ffa;
+}
+
+.line-block {
+    display: block;
+    margin-top: 1em;
+    margin-bottom: 1em;
+}
+
+.line-block .line-block {
+    margin-top: 0;
+    margin-bottom: 0;
+    margin-left: 1.5em;
+}
+
+.guilabel, .menuselection {
+    font-family: sans-serif;
+}
+
+.accelerator {
+    text-decoration: underline;
+}
+
+.classifier {
+    font-style: oblique;
+}
+
+.classifier:before {
+    font-style: normal;
+    margin: 0 0.5em;
+    content: ":";
+    display: inline-block;
+}
+
+abbr, acronym {
+    border-bottom: dotted 1px;
+    cursor: help;
+}
+
+/* -- code displays --------------------------------------------------------- */
+
+pre {
+    overflow: auto;
+    overflow-y: hidden;  /* fixes display issues on Chrome browsers */
+}
+
+pre, div[class*="highlight-"] {
+    clear: both;
+}
+
+span.pre {
+    -moz-hyphens: none;
+    -ms-hyphens: none;
+    -webkit-hyphens: none;
+    hyphens: none;
+    white-space: nowrap;
+}
+
+div[class*="highlight-"] {
+    margin: 1em 0;
+}
+
+td.linenos pre {
+    border: 0;
+    background-color: transparent;
+    color: #aaa;
+}
+
+table.highlighttable {
+    display: block;
+}
+
+table.highlighttable tbody {
+    display: block;
+}
+
+table.highlighttable tr {
+    display: flex;
+}
+
+table.highlighttable td {
+    margin: 0;
+    padding: 0;
+}
+
+table.highlighttable td.linenos {
+    padding-right: 0.5em;
+}
+
+table.highlighttable td.code {
+    flex: 1;
+    overflow: hidden;
+}
+
+.highlight .hll {
+    display: block;
+}
+
+div.highlight pre,
+table.highlighttable pre {
+    margin: 0;
+}
+
+div.code-block-caption + div {
+    margin-top: 0;
+}
+
+div.code-block-caption {
+    margin-top: 1em;
+    padding: 2px 5px;
+    font-size: small;
+}
+
+div.code-block-caption code {
+    background-color: transparent;
+}
+
+table.highlighttable td.linenos,
+span.linenos,
+div.highlight span.gp {  /* gp: Generic.Prompt */
+  user-select: none;
+  -webkit-user-select: text; /* Safari fallback only */
+  -webkit-user-select: none; /* Chrome/Safari */
+  -moz-user-select: none; /* Firefox */
+  -ms-user-select: none; /* IE10+ */
+}
+
+div.code-block-caption span.caption-number {
+    padding: 0.1em 0.3em;
+    font-style: italic;
+}
+
+div.code-block-caption span.caption-text {
+}
+
+div.literal-block-wrapper {
+    margin: 1em 0;
+}
+
+code.xref, a code {
+    background-color: transparent;
+    font-weight: bold;
+}
+
+h1 code, h2 code, h3 code, h4 code, h5 code, h6 code {
+    background-color: transparent;
+}
+
+.viewcode-link {
+    float: right;
+}
+
+.viewcode-back {
+    float: right;
+    font-family: sans-serif;
+}
+
+div.viewcode-block:target {
+    margin: -1px -10px;
+    padding: 0 10px;
+}
+
+/* -- math display ---------------------------------------------------------- */
+
+img.math {
+    vertical-align: middle;
+}
+
+div.body div.math p {
+    text-align: center;
+}
+
+span.eqno {
+    float: right;
+}
+
+span.eqno a.headerlink {
+    position: absolute;
+    z-index: 1;
+}
+
+div.math:hover a.headerlink {
+    visibility: visible;
+}
+
+/* -- printout stylesheet --------------------------------------------------- */
+
+@media print {
+    div.document,
+    div.documentwrapper,
+    div.bodywrapper {
+        margin: 0 !important;
+        width: 100%;
+    }
+
+    div.sphinxsidebar,
+    div.related,
+    div.footer,
+    #top-link {
+        display: none;
+    }
+}
\ No newline at end of file
diff --git a/v1.4.0/_static/check-solid.svg b/v1.4.0/_static/check-solid.svg
new file mode 100644
index 0000000000..92fad4b5c0
--- /dev/null
+++ b/v1.4.0/_static/check-solid.svg
@@ -0,0 +1,4 @@
+<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-check" width="44" height="44" viewBox="0 0 24 24" stroke-width="2" stroke="#22863a" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <path d="M5 12l5 5l10 -10" />
+</svg>
diff --git a/v1.4.0/_static/clipboard.min.js b/v1.4.0/_static/clipboard.min.js
new file mode 100644
index 0000000000..54b3c46381
--- /dev/null
+++ b/v1.4.0/_static/clipboard.min.js
@@ -0,0 +1,7 @@
+/*!
+ * clipboard.js v2.0.8
+ * https://clipboardjs.com/
+ *
+ * Licensed MIT © Zeno Rocha
+ */
+!function(t,e){"object"==typeof exports&&"object"==typeof module?module.exports=e():"function"==typeof define&&define.amd?define([],e):"object"==typeof exports?exports.ClipboardJS=e():t.ClipboardJS=e()}(this,function(){return n={686:function(t,e,n){"use strict";n.d(e,{default:function(){return o}});var e=n(279),i=n.n(e),e=n(370),u=n.n(e),e=n(817),c=n.n(e);function a(t){try{return document.execCommand(t)}catch(t){return}}var f=function(t){t=c()(t);return a("cut"),t};var l=function(t){var e,n,o,r=1<arguments.length&&void 0!==arguments[1]?arguments[1]:{container:document.body},i="";return"string"==typeof t?(e=t,n="rtl"===document.documentElement.getAttribute("dir"),(o=document.createElement("textarea")).style.fontSize="12pt",o.style.border="0",o.style.padding="0",o.style.margin="0",o.style.position="absolute",o.style[n?"right":"left"]="-9999px",n=window.pageYOffset||document.documentElement.scrollTop,o.style.top="".concat(n,"px"),o.setAttribute("readonly",""),o.value=e,o=o,r.container.appendChild(o),i=c()(o),a("copy"),o.remove()):(i=c()(t),a("copy")),i};function r(t){return(r="function"==typeof Symbol&&"symbol"==typeof Symbol.iterator?function(t){return typeof t}:function(t){return t&&"function"==typeof Symbol&&t.constructor===Symbol&&t!==Symbol.prototype?"symbol":typeof t})(t)}var s=function(){var t=0<arguments.length&&void 0!==arguments[0]?arguments[0]:{},e=t.action,n=void 0===e?"copy":e,o=t.container,e=t.target,t=t.text;if("copy"!==n&&"cut"!==n)throw new Error('Invalid "action" value, use either "copy" or "cut"');if(void 0!==e){if(!e||"object"!==r(e)||1!==e.nodeType)throw new Error('Invalid "target" value, use a valid Element');if("copy"===n&&e.hasAttribute("disabled"))throw new Error('Invalid "target" attribute. 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You can\'t cut text from elements with "readonly" or "disabled" attributes')}return t?l(t,{container:o}):e?"cut"===n?f(e):l(e,{container:o}):void 0};function d(t){return(d="function"==typeof Symbol&&"symbol"==typeof Symbol.iterator?function(t){return typeof t}:function(t){return t&&"function"==typeof Symbol&&t.constructor===Symbol&&t!==Symbol.prototype?"symbol":typeof t})(t)}function p(t,e){for(var n=0;n<e.length;n++){var o=e[n];o.enumerable=o.enumerable||!1,o.configurable=!0,"value"in o&&(o.writable=!0),Object.defineProperty(t,o.key,o)}}function y(t,e){return(y=Object.setPrototypeOf||function(t,e){return t.__proto__=e,t})(t,e)}function h(n){var o=function(){if("undefined"==typeof Reflect||!Reflect.construct)return!1;if(Reflect.construct.sham)return!1;if("function"==typeof Proxy)return!0;try{return Date.prototype.toString.call(Reflect.construct(Date,[],function(){})),!0}catch(t){return!1}}();return function(){var t,e=m(n);return t=o?(t=m(this).constructor,Reflect.construct(e,arguments,t)):e.apply(this,arguments),e=this,!(t=t)||"object"!==d(t)&&"function"!=typeof t?function(t){if(void 0!==t)return t;throw new ReferenceError("this hasn't been initialised - super() hasn't been called")}(e):t}}function m(t){return(m=Object.setPrototypeOf?Object.getPrototypeOf:function(t){return t.__proto__||Object.getPrototypeOf(t)})(t)}function v(t,e){t="data-clipboard-".concat(t);if(e.hasAttribute(t))return e.getAttribute(t)}var o=function(){!function(t,e){if("function"!=typeof e&&null!==e)throw new TypeError("Super expression must either be null or a function");t.prototype=Object.create(e&&e.prototype,{constructor:{value:t,writable:!0,configurable:!0}}),e&&y(t,e)}(r,i());var t,e,n,o=h(r);function r(t,e){var n;return function(t){if(!(t instanceof r))throw new TypeError("Cannot call a class as a function")}(this),(n=o.call(this)).resolveOptions(e),n.listenClick(t),n}return t=r,n=[{key:"copy",value:function(t){var e=1<arguments.length&&void 0!==arguments[1]?arguments[1]:{container:document.body};return l(t,e)}},{key:"cut",value:function(t){return f(t)}},{key:"isSupported",value:function(){var t=0<arguments.length&&void 0!==arguments[0]?arguments[0]:["copy","cut"],t="string"==typeof t?[t]:t,e=!!document.queryCommandSupported;return t.forEach(function(t){e=e&&!!document.queryCommandSupported(t)}),e}}],(e=[{key:"resolveOptions",value:function(){var t=0<arguments.length&&void 0!==arguments[0]?arguments[0]:{};this.action="function"==typeof t.action?t.action:this.defaultAction,this.target="function"==typeof t.target?t.target:this.defaultTarget,this.text="function"==typeof t.text?t.text:this.defaultText,this.container="object"===d(t.container)?t.container:document.body}},{key:"listenClick",value:function(t){var e=this;this.listener=u()(t,"click",function(t){return e.onClick(t)})}},{key:"onClick",value:function(t){var e=t.delegateTarget||t.currentTarget,t=s({action:this.action(e),container:this.container,target:this.target(e),text:this.text(e)});this.emit(t?"success":"error",{action:this.action,text:t,trigger:e,clearSelection:function(){e&&e.focus(),document.activeElement.blur(),window.getSelection().removeAllRanges()}})}},{key:"defaultAction",value:function(t){return v("action",t)}},{key:"defaultTarget",value:function(t){t=v("target",t);if(t)return document.querySelector(t)}},{key:"defaultText",value:function(t){return v("text",t)}},{key:"destroy",value:function(){this.listener.destroy()}}])&&p(t.prototype,e),n&&p(t,n),r}()},828:function(t){var e;"undefined"==typeof Element||Element.prototype.matches||((e=Element.prototype).matches=e.matchesSelector||e.mozMatchesSelector||e.msMatchesSelector||e.oMatchesSelector||e.webkitMatchesSelector),t.exports=function(t,e){for(;t&&9!==t.nodeType;){if("function"==typeof t.matches&&t.matches(e))return t;t=t.parentNode}}},438:function(t,e,n){var u=n(828);function 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f=n(879),l=n(438);t.exports=function(t,e,n){if(!t&&!e&&!n)throw new Error("Missing required arguments");if(!f.string(e))throw new TypeError("Second argument must be a String");if(!f.fn(n))throw new TypeError("Third argument must be a Function");if(f.node(t))return c=e,a=n,(u=t).addEventListener(c,a),{destroy:function(){u.removeEventListener(c,a)}};if(f.nodeList(t))return o=t,r=e,i=n,Array.prototype.forEach.call(o,function(t){t.addEventListener(r,i)}),{destroy:function(){Array.prototype.forEach.call(o,function(t){t.removeEventListener(r,i)})}};if(f.string(t))return t=t,e=e,n=n,l(document.body,t,e,n);throw new TypeError("First argument must be a String, HTMLElement, HTMLCollection, or NodeList");var o,r,i,u,c,a}},817:function(t){t.exports=function(t){var e,n="SELECT"===t.nodeName?(t.focus(),t.value):"INPUT"===t.nodeName||"TEXTAREA"===t.nodeName?((e=t.hasAttribute("readonly"))||t.setAttribute("readonly",""),t.select(),t.setSelectionRange(0,t.value.length),e||t.removeAttribute("readonly"),t.value):(t.hasAttribute("contenteditable")&&t.focus(),n=window.getSelection(),(e=document.createRange()).selectNodeContents(t),n.removeAllRanges(),n.addRange(e),n.toString());return n}},279:function(t){function e(){}e.prototype={on:function(t,e,n){var o=this.e||(this.e={});return(o[t]||(o[t]=[])).push({fn:e,ctx:n}),this},once:function(t,e,n){var o=this;function r(){o.off(t,r),e.apply(n,arguments)}return r._=e,this.on(t,r,n)},emit:function(t){for(var e=[].slice.call(arguments,1),n=((this.e||(this.e={}))[t]||[]).slice(),o=0,r=n.length;o<r;o++)n[o].fn.apply(n[o].ctx,e);return this},off:function(t,e){var n=this.e||(this.e={}),o=n[t],r=[];if(o&&e)for(var i=0,u=o.length;i<u;i++)o[i].fn!==e&&o[i].fn._!==e&&r.push(o[i]);return r.length?n[t]=r:delete n[t],this}},t.exports=e,t.exports.TinyEmitter=e}},r={},o.n=function(t){var e=t&&t.__esModule?function(){return t.default}:function(){return t};return o.d(e,{a:e}),e},o.d=function(t,e){for(var n in e)o.o(e,n)&&!o.o(t,n)&&Object.defineProperty(t,n,{enumerable:!0,get:e[n]})},o.o=function(t,e){return Object.prototype.hasOwnProperty.call(t,e)},o(686).default;function o(t){if(r[t])return r[t].exports;var e=r[t]={exports:{}};return n[t](e,e.exports,o),e.exports}var n,r});
\ No newline at end of file
diff --git a/v1.4.0/_static/copy-button.svg b/v1.4.0/_static/copy-button.svg
new file mode 100644
index 0000000000..9c074dae52
--- /dev/null
+++ b/v1.4.0/_static/copy-button.svg
@@ -0,0 +1,5 @@
+<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-copy" width="44" height="44" viewBox="0 0 24 24" stroke-width="1.5" stroke="#000000" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <rect x="8" y="8" width="12" height="12" rx="2" />
+  <path d="M16 8v-2a2 2 0 0 0 -2 -2h-8a2 2 0 0 0 -2 2v8a2 2 0 0 0 2 2h2" />
+</svg>
diff --git a/v1.4.0/_static/copybutton.css b/v1.4.0/_static/copybutton.css
new file mode 100644
index 0000000000..f1916ec7d1
--- /dev/null
+++ b/v1.4.0/_static/copybutton.css
@@ -0,0 +1,94 @@
+/* Copy buttons */
+button.copybtn {
+    position: absolute;
+    display: flex;
+    top: .3em;
+    right: .3em;
+    width: 1.7em;
+    height: 1.7em;
+	opacity: 0;
+    transition: opacity 0.3s, border .3s, background-color .3s;
+    user-select: none;
+    padding: 0;
+    border: none;
+    outline: none;
+    border-radius: 0.4em;
+    /* The colors that GitHub uses */
+    border: #1b1f2426 1px solid;
+    background-color: #f6f8fa;
+    color: #57606a;
+}
+
+button.copybtn.success {
+    border-color: #22863a;
+    color: #22863a;
+}
+
+button.copybtn svg {
+    stroke: currentColor;
+    width: 1.5em;
+    height: 1.5em;
+    padding: 0.1em;
+}
+
+div.highlight  {
+    position: relative;
+}
+
+/* Show the copybutton */
+.highlight:hover button.copybtn, button.copybtn.success {
+	opacity: 1;
+}
+
+.highlight button.copybtn:hover {
+    background-color: rgb(235, 235, 235);
+}
+
+.highlight button.copybtn:active {
+    background-color: rgb(187, 187, 187);
+}
+
+/**
+ * A minimal CSS-only tooltip copied from:
+ *   https://codepen.io/mildrenben/pen/rVBrpK
+ *
+ * To use, write HTML like the following:
+ *
+ * <p class="o-tooltip--left" data-tooltip="Hey">Short</p>
+ */
+ .o-tooltip--left {
+  position: relative;
+ }
+
+ .o-tooltip--left:after {
+    opacity: 0;
+    visibility: hidden;
+    position: absolute;
+    content: attr(data-tooltip);
+    padding: .2em;
+    font-size: .8em;
+    left: -.2em;
+    background: grey;
+    color: white;
+    white-space: nowrap;
+    z-index: 2;
+    border-radius: 2px;
+    transform: translateX(-102%) translateY(0);
+    transition: opacity 0.2s cubic-bezier(0.64, 0.09, 0.08, 1), transform 0.2s cubic-bezier(0.64, 0.09, 0.08, 1);
+}
+
+.o-tooltip--left:hover:after {
+    display: block;
+    opacity: 1;
+    visibility: visible;
+    transform: translateX(-100%) translateY(0);
+    transition: opacity 0.2s cubic-bezier(0.64, 0.09, 0.08, 1), transform 0.2s cubic-bezier(0.64, 0.09, 0.08, 1);
+    transition-delay: .5s;
+}
+
+/* By default the copy button shouldn't show up when printing a page */
+@media print {
+    button.copybtn {
+        display: none;
+    }
+}
diff --git a/v1.4.0/_static/copybutton.js b/v1.4.0/_static/copybutton.js
new file mode 100644
index 0000000000..2ea7ff3e21
--- /dev/null
+++ b/v1.4.0/_static/copybutton.js
@@ -0,0 +1,248 @@
+// Localization support
+const messages = {
+  'en': {
+    'copy': 'Copy',
+    'copy_to_clipboard': 'Copy to clipboard',
+    'copy_success': 'Copied!',
+    'copy_failure': 'Failed to copy',
+  },
+  'es' : {
+    'copy': 'Copiar',
+    'copy_to_clipboard': 'Copiar al portapapeles',
+    'copy_success': '¡Copiado!',
+    'copy_failure': 'Error al copiar',
+  },
+  'de' : {
+    'copy': 'Kopieren',
+    'copy_to_clipboard': 'In die Zwischenablage kopieren',
+    'copy_success': 'Kopiert!',
+    'copy_failure': 'Fehler beim Kopieren',
+  },
+  'fr' : {
+    'copy': 'Copier',
+    'copy_to_clipboard': 'Copier dans le presse-papier',
+    'copy_success': 'Copié !',
+    'copy_failure': 'Échec de la copie',
+  },
+  'ru': {
+    'copy': 'Скопировать',
+    'copy_to_clipboard': 'Скопировать в буфер',
+    'copy_success': 'Скопировано!',
+    'copy_failure': 'Не удалось скопировать',
+  },
+  'zh-CN': {
+    'copy': '复制',
+    'copy_to_clipboard': '复制到剪贴板',
+    'copy_success': '复制成功!',
+    'copy_failure': '复制失败',
+  },
+  'it' : {
+    'copy': 'Copiare',
+    'copy_to_clipboard': 'Copiato negli appunti',
+    'copy_success': 'Copiato!',
+    'copy_failure': 'Errore durante la copia',
+  }
+}
+
+let locale = 'en'
+if( document.documentElement.lang !== undefined
+    && messages[document.documentElement.lang] !== undefined ) {
+  locale = document.documentElement.lang
+}
+
+let doc_url_root = DOCUMENTATION_OPTIONS.URL_ROOT;
+if (doc_url_root == '#') {
+    doc_url_root = '';
+}
+
+/**
+ * SVG files for our copy buttons
+ */
+let iconCheck = `<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-check" width="44" height="44" viewBox="0 0 24 24" stroke-width="2" stroke="#22863a" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <title>${messages[locale]['copy_success']}</title>
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <path d="M5 12l5 5l10 -10" />
+</svg>`
+
+// If the user specified their own SVG use that, otherwise use the default
+let iconCopy = ``;
+if (!iconCopy) {
+  iconCopy = `<svg xmlns="http://www.w3.org/2000/svg" class="icon icon-tabler icon-tabler-copy" width="44" height="44" viewBox="0 0 24 24" stroke-width="1.5" stroke="#000000" fill="none" stroke-linecap="round" stroke-linejoin="round">
+  <title>${messages[locale]['copy_to_clipboard']}</title>
+  <path stroke="none" d="M0 0h24v24H0z" fill="none"/>
+  <rect x="8" y="8" width="12" height="12" rx="2" />
+  <path d="M16 8v-2a2 2 0 0 0 -2 -2h-8a2 2 0 0 0 -2 2v8a2 2 0 0 0 2 2h2" />
+</svg>`
+}
+
+/**
+ * Set up copy/paste for code blocks
+ */
+
+const runWhenDOMLoaded = cb => {
+  if (document.readyState != 'loading') {
+    cb()
+  } else if (document.addEventListener) {
+    document.addEventListener('DOMContentLoaded', cb)
+  } else {
+    document.attachEvent('onreadystatechange', function() {
+      if (document.readyState == 'complete') cb()
+    })
+  }
+}
+
+const codeCellId = index => `codecell${index}`
+
+// Clears selected text since ClipboardJS will select the text when copying
+const clearSelection = () => {
+  if (window.getSelection) {
+    window.getSelection().removeAllRanges()
+  } else if (document.selection) {
+    document.selection.empty()
+  }
+}
+
+// Changes tooltip text for a moment, then changes it back
+// We want the timeout of our `success` class to be a bit shorter than the
+// tooltip and icon change, so that we can hide the icon before changing back.
+var timeoutIcon = 2000;
+var timeoutSuccessClass = 1500;
+
+const temporarilyChangeTooltip = (el, oldText, newText) => {
+  el.setAttribute('data-tooltip', newText)
+  el.classList.add('success')
+  // Remove success a little bit sooner than we change the tooltip
+  // So that we can use CSS to hide the copybutton first
+  setTimeout(() => el.classList.remove('success'), timeoutSuccessClass)
+  setTimeout(() => el.setAttribute('data-tooltip', oldText), timeoutIcon)
+}
+
+// Changes the copy button icon for two seconds, then changes it back
+const temporarilyChangeIcon = (el) => {
+  el.innerHTML = iconCheck;
+  setTimeout(() => {el.innerHTML = iconCopy}, timeoutIcon)
+}
+
+const addCopyButtonToCodeCells = () => {
+  // If ClipboardJS hasn't loaded, wait a bit and try again. This
+  // happens because we load ClipboardJS asynchronously.
+  if (window.ClipboardJS === undefined) {
+    setTimeout(addCopyButtonToCodeCells, 250)
+    return
+  }
+
+  // Add copybuttons to all of our code cells
+  const COPYBUTTON_SELECTOR = 'div.highlight pre';
+  const codeCells = document.querySelectorAll(COPYBUTTON_SELECTOR)
+  codeCells.forEach((codeCell, index) => {
+    const id = codeCellId(index)
+    codeCell.setAttribute('id', id)
+
+    const clipboardButton = id =>
+    `<button class="copybtn o-tooltip--left" data-tooltip="${messages[locale]['copy']}" data-clipboard-target="#${id}">
+      ${iconCopy}
+    </button>`
+    codeCell.insertAdjacentHTML('afterend', clipboardButton(id))
+  })
+
+function escapeRegExp(string) {
+    return string.replace(/[.*+?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
+}
+
+/**
+ * Removes excluded text from a Node.
+ *
+ * @param {Node} target Node to filter.
+ * @param {string} exclude CSS selector of nodes to exclude.
+ * @returns {DOMString} Text from `target` with text removed.
+ */
+function filterText(target, exclude) {
+    const clone = target.cloneNode(true);  // clone as to not modify the live DOM
+    if (exclude) {
+        // remove excluded nodes
+        clone.querySelectorAll(exclude).forEach(node => node.remove());
+    }
+    return clone.innerText;
+}
+
+// Callback when a copy button is clicked. Will be passed the node that was clicked
+// should then grab the text and replace pieces of text that shouldn't be used in output
+function formatCopyText(textContent, copybuttonPromptText, isRegexp = false, onlyCopyPromptLines = true, removePrompts = true, copyEmptyLines = true, lineContinuationChar = "", hereDocDelim = "") {
+    var regexp;
+    var match;
+
+    // Do we check for line continuation characters and "HERE-documents"?
+    var useLineCont = !!lineContinuationChar
+    var useHereDoc = !!hereDocDelim
+
+    // create regexp to capture prompt and remaining line
+    if (isRegexp) {
+        regexp = new RegExp('^(' + copybuttonPromptText + ')(.*)')
+    } else {
+        regexp = new RegExp('^(' + escapeRegExp(copybuttonPromptText) + ')(.*)')
+    }
+
+    const outputLines = [];
+    var promptFound = false;
+    var gotLineCont = false;
+    var gotHereDoc = false;
+    const lineGotPrompt = [];
+    for (const line of textContent.split('\n')) {
+        match = line.match(regexp)
+        if (match || gotLineCont || gotHereDoc) {
+            promptFound = regexp.test(line)
+            lineGotPrompt.push(promptFound)
+            if (removePrompts && promptFound) {
+                outputLines.push(match[2])
+            } else {
+                outputLines.push(line)
+            }
+            gotLineCont = line.endsWith(lineContinuationChar) & useLineCont
+            if (line.includes(hereDocDelim) & useHereDoc)
+                gotHereDoc = !gotHereDoc
+        } else if (!onlyCopyPromptLines) {
+            outputLines.push(line)
+        } else if (copyEmptyLines && line.trim() === '') {
+            outputLines.push(line)
+        }
+    }
+
+    // If no lines with the prompt were found then just use original lines
+    if (lineGotPrompt.some(v => v === true)) {
+        textContent = outputLines.join('\n');
+    }
+
+    // Remove a trailing newline to avoid auto-running when pasting
+    if (textContent.endsWith("\n")) {
+        textContent = textContent.slice(0, -1)
+    }
+    return textContent
+}
+
+
+var copyTargetText = (trigger) => {
+  var target = document.querySelector(trigger.attributes['data-clipboard-target'].value);
+
+  // get filtered text
+  let exclude = '.linenos';
+
+  let text = filterText(target, exclude);
+  return formatCopyText(text, '', false, true, true, true, '', '')
+}
+
+  // Initialize with a callback so we can modify the text before copy
+  const clipboard = new ClipboardJS('.copybtn', {text: copyTargetText})
+
+  // Update UI with error/success messages
+  clipboard.on('success', event => {
+    clearSelection()
+    temporarilyChangeTooltip(event.trigger, messages[locale]['copy'], messages[locale]['copy_success'])
+    temporarilyChangeIcon(event.trigger)
+  })
+
+  clipboard.on('error', event => {
+    temporarilyChangeTooltip(event.trigger, messages[locale]['copy'], messages[locale]['copy_failure'])
+  })
+}
+
+runWhenDOMLoaded(addCopyButtonToCodeCells)
\ No newline at end of file
diff --git a/v1.4.0/_static/copybutton_funcs.js b/v1.4.0/_static/copybutton_funcs.js
new file mode 100644
index 0000000000..dbe1aaad79
--- /dev/null
+++ b/v1.4.0/_static/copybutton_funcs.js
@@ -0,0 +1,73 @@
+function escapeRegExp(string) {
+    return string.replace(/[.*+?^${}()|[\]\\]/g, '\\$&'); // $& means the whole matched string
+}
+
+/**
+ * Removes excluded text from a Node.
+ *
+ * @param {Node} target Node to filter.
+ * @param {string} exclude CSS selector of nodes to exclude.
+ * @returns {DOMString} Text from `target` with text removed.
+ */
+export function filterText(target, exclude) {
+    const clone = target.cloneNode(true);  // clone as to not modify the live DOM
+    if (exclude) {
+        // remove excluded nodes
+        clone.querySelectorAll(exclude).forEach(node => node.remove());
+    }
+    return clone.innerText;
+}
+
+// Callback when a copy button is clicked. Will be passed the node that was clicked
+// should then grab the text and replace pieces of text that shouldn't be used in output
+export function formatCopyText(textContent, copybuttonPromptText, isRegexp = false, onlyCopyPromptLines = true, removePrompts = true, copyEmptyLines = true, lineContinuationChar = "", hereDocDelim = "") {
+    var regexp;
+    var match;
+
+    // Do we check for line continuation characters and "HERE-documents"?
+    var useLineCont = !!lineContinuationChar
+    var useHereDoc = !!hereDocDelim
+
+    // create regexp to capture prompt and remaining line
+    if (isRegexp) {
+        regexp = new RegExp('^(' + copybuttonPromptText + ')(.*)')
+    } else {
+        regexp = new RegExp('^(' + escapeRegExp(copybuttonPromptText) + ')(.*)')
+    }
+
+    const outputLines = [];
+    var promptFound = false;
+    var gotLineCont = false;
+    var gotHereDoc = false;
+    const lineGotPrompt = [];
+    for (const line of textContent.split('\n')) {
+        match = line.match(regexp)
+        if (match || gotLineCont || gotHereDoc) {
+            promptFound = regexp.test(line)
+            lineGotPrompt.push(promptFound)
+            if (removePrompts && promptFound) {
+                outputLines.push(match[2])
+            } else {
+                outputLines.push(line)
+            }
+            gotLineCont = line.endsWith(lineContinuationChar) & useLineCont
+            if (line.includes(hereDocDelim) & useHereDoc)
+                gotHereDoc = !gotHereDoc
+        } else if (!onlyCopyPromptLines) {
+            outputLines.push(line)
+        } else if (copyEmptyLines && line.trim() === '') {
+            outputLines.push(line)
+        }
+    }
+
+    // If no lines with the prompt were found then just use original lines
+    if (lineGotPrompt.some(v => v === true)) {
+        textContent = outputLines.join('\n');
+    }
+
+    // Remove a trailing newline to avoid auto-running when pasting
+    if (textContent.endsWith("\n")) {
+        textContent = textContent.slice(0, -1)
+    }
+    return textContent
+}
diff --git a/v1.4.0/_static/custom.css b/v1.4.0/_static/custom.css
new file mode 100644
index 0000000000..4cc0b914ff
--- /dev/null
+++ b/v1.4.0/_static/custom.css
@@ -0,0 +1,84 @@
+/*
+ * For reference: https://pydata-sphinx-theme.readthedocs.io/en/v0.9.0/user_guide/customizing.html
+ * For colors: https://clrs.cc/
+ */
+
+/* anything related to the light theme */
+html[data-theme="light"] {
+    --pst-color-primary: #76B900;
+    --pst-color-secondary: #5b8e03;
+    --pst-color-secondary-highlight: #5b8e03;
+    --pst-color-inline-code-links: #76B900;
+    --pst-color-info: var(--pst-color-primary);
+    --pst-color-info-highlight: var(--pst-color-primary);
+    --pst-color-info-bg: #daedb9;
+    --pst-color-attention: #ffc107;
+    --pst-color-text-base: #323232;
+    --pst-color-text-muted: #646464;
+    --pst-color-shadow: #d8d8d8;
+    --pst-color-border: #c9c9c9;
+    --pst-color-inline-code: #76B900;
+    --pst-color-target: #fbe54e;
+    --pst-color-background: #fff;
+    --pst-color-on-background: #fff;
+    --pst-color-surface: #f5f5f5;
+    --pst-color-on-surface: #e1e1e1;
+    --pst-color-link: var(--pst-color-primary);
+    --pst-color-link-hover: #789841;
+    --pst-color-table-row-hover-bg: #daedb9;
+    --pst-color-accent: var(--pst-color-primary);
+}
+
+/* anything related to the dark theme */
+html[data-theme="dark"] {
+    --pst-color-primary: #76B900;
+    --pst-color-secondary: #c2f26f;
+    --pst-color-secondary-highlight: #c2f26f;
+    --pst-color-inline-code-links: #b6e664;
+    --pst-color-info: var(--pst-color-primary);
+    --pst-color-info-highlight: var(--pst-color-primary);
+    --pst-color-info-bg: #3a550b;
+    --pst-color-attention: #dca90f;
+    --pst-color-text-base: #cecece;
+    --pst-color-text-muted: #a6a6a6;
+    --pst-color-shadow: #212121;
+    --pst-color-border: silver;
+    --pst-color-inline-code: #76B900;
+    --pst-color-target: #472700;
+    --pst-color-background: #121212;
+    --pst-color-on-background: #1e1e1e;
+    --pst-color-surface: #212121;
+    --pst-color-on-surface: #373737;
+    --pst-color-link: var(--pst-color-primary);
+    --pst-color-link-hover: #aee354;
+    --pst-color-table-row-hover-bg: #3a550b;
+    --pst-color-accent: var(--pst-color-primary);
+}
+
+a {
+    text-decoration: none !important;
+}
+
+/* for the announcement link */
+.bd-header-announcement a,
+.bd-header-version-warning a {
+    color: #7FDBFF;
+}
+
+/* for the search box in the navbar */
+.form-control {
+    border-radius: 0 !important;
+    border: none !important;
+    outline: none !important;
+}
+
+/* reduce padding for logo */
+.navbar-brand {
+    padding-top: 0.0rem !important;
+    padding-bottom: 0.0rem !important;
+}
+
+.navbar-icon-links {
+    padding-top: 0.0rem !important;
+    padding-bottom: 0.0rem !important;
+}
diff --git a/v1.4.0/_static/design-tabs.js b/v1.4.0/_static/design-tabs.js
new file mode 100644
index 0000000000..b25bd6a4fa
--- /dev/null
+++ b/v1.4.0/_static/design-tabs.js
@@ -0,0 +1,101 @@
+// @ts-check
+
+// Extra JS capability for selected tabs to be synced
+// The selection is stored in local storage so that it persists across page loads.
+
+/**
+ * @type {Record<string, HTMLElement[]>}
+ */
+let sd_id_to_elements = {};
+const storageKeyPrefix = "sphinx-design-tab-id-";
+
+/**
+ * Create a key for a tab element.
+ * @param {HTMLElement} el - The tab element.
+ * @returns {[string, string, string] | null} - The key.
+ *
+ */
+function create_key(el) {
+  let syncId = el.getAttribute("data-sync-id");
+  let syncGroup = el.getAttribute("data-sync-group");
+  if (!syncId || !syncGroup) return null;
+  return [syncGroup, syncId, syncGroup + "--" + syncId];
+}
+
+/**
+ * Initialize the tab selection.
+ *
+ */
+function ready() {
+  // Find all tabs with sync data
+
+  /** @type {string[]} */
+  let groups = [];
+
+  document.querySelectorAll(".sd-tab-label").forEach((label) => {
+    if (label instanceof HTMLElement) {
+      let data = create_key(label);
+      if (data) {
+        let [group, id, key] = data;
+
+        // add click event listener
+        // @ts-ignore
+        label.onclick = onSDLabelClick;
+
+        // store map of key to elements
+        if (!sd_id_to_elements[key]) {
+          sd_id_to_elements[key] = [];
+        }
+        sd_id_to_elements[key].push(label);
+
+        if (groups.indexOf(group) === -1) {
+          groups.push(group);
+          // Check if a specific tab has been selected via URL parameter
+          const tabParam = new URLSearchParams(window.location.search).get(
+            group
+          );
+          if (tabParam) {
+            console.log(
+              "sphinx-design: Selecting tab id for group '" +
+                group +
+                "' from URL parameter: " +
+                tabParam
+            );
+            window.sessionStorage.setItem(storageKeyPrefix + group, tabParam);
+          }
+        }
+
+        // Check is a specific tab has been selected previously
+        let previousId = window.sessionStorage.getItem(
+          storageKeyPrefix + group
+        );
+        if (previousId === id) {
+          // console.log(
+          //   "sphinx-design: Selecting tab from session storage: " + id
+          // );
+          // @ts-ignore
+          label.previousElementSibling.checked = true;
+        }
+      }
+    }
+  });
+}
+
+/**
+ *  Activate other tabs with the same sync id.
+ *
+ * @this {HTMLElement} - The element that was clicked.
+ */
+function onSDLabelClick() {
+  let data = create_key(this);
+  if (!data) return;
+  let [group, id, key] = data;
+  for (const label of sd_id_to_elements[key]) {
+    if (label === this) continue;
+    // @ts-ignore
+    label.previousElementSibling.checked = true;
+  }
+  window.sessionStorage.setItem(storageKeyPrefix + group, id);
+}
+
+document.addEventListener("DOMContentLoaded", ready, false);
diff --git a/v1.4.0/_static/doctools.js b/v1.4.0/_static/doctools.js
new file mode 100644
index 0000000000..d06a71d751
--- /dev/null
+++ b/v1.4.0/_static/doctools.js
@@ -0,0 +1,156 @@
+/*
+ * doctools.js
+ * ~~~~~~~~~~~
+ *
+ * Base JavaScript utilities for all Sphinx HTML documentation.
+ *
+ * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+"use strict";
+
+const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([
+  "TEXTAREA",
+  "INPUT",
+  "SELECT",
+  "BUTTON",
+]);
+
+const _ready = (callback) => {
+  if (document.readyState !== "loading") {
+    callback();
+  } else {
+    document.addEventListener("DOMContentLoaded", callback);
+  }
+};
+
+/**
+ * Small JavaScript module for the documentation.
+ */
+const Documentation = {
+  init: () => {
+    Documentation.initDomainIndexTable();
+    Documentation.initOnKeyListeners();
+  },
+
+  /**
+   * i18n support
+   */
+  TRANSLATIONS: {},
+  PLURAL_EXPR: (n) => (n === 1 ? 0 : 1),
+  LOCALE: "unknown",
+
+  // gettext and ngettext don't access this so that the functions
+  // can safely bound to a different name (_ = Documentation.gettext)
+  gettext: (string) => {
+    const translated = Documentation.TRANSLATIONS[string];
+    switch (typeof translated) {
+      case "undefined":
+        return string; // no translation
+      case "string":
+        return translated; // translation exists
+      default:
+        return translated[0]; // (singular, plural) translation tuple exists
+    }
+  },
+
+  ngettext: (singular, plural, n) => {
+    const translated = Documentation.TRANSLATIONS[singular];
+    if (typeof translated !== "undefined")
+      return translated[Documentation.PLURAL_EXPR(n)];
+    return n === 1 ? singular : plural;
+  },
+
+  addTranslations: (catalog) => {
+    Object.assign(Documentation.TRANSLATIONS, catalog.messages);
+    Documentation.PLURAL_EXPR = new Function(
+      "n",
+      `return (${catalog.plural_expr})`
+    );
+    Documentation.LOCALE = catalog.locale;
+  },
+
+  /**
+   * helper function to focus on search bar
+   */
+  focusSearchBar: () => {
+    document.querySelectorAll("input[name=q]")[0]?.focus();
+  },
+
+  /**
+   * Initialise the domain index toggle buttons
+   */
+  initDomainIndexTable: () => {
+    const toggler = (el) => {
+      const idNumber = el.id.substr(7);
+      const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`);
+      if (el.src.substr(-9) === "minus.png") {
+        el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`;
+        toggledRows.forEach((el) => (el.style.display = "none"));
+      } else {
+        el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`;
+        toggledRows.forEach((el) => (el.style.display = ""));
+      }
+    };
+
+    const togglerElements = document.querySelectorAll("img.toggler");
+    togglerElements.forEach((el) =>
+      el.addEventListener("click", (event) => toggler(event.currentTarget))
+    );
+    togglerElements.forEach((el) => (el.style.display = ""));
+    if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler);
+  },
+
+  initOnKeyListeners: () => {
+    // only install a listener if it is really needed
+    if (
+      !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS &&
+      !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
+    )
+      return;
+
+    document.addEventListener("keydown", (event) => {
+      // bail for input elements
+      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
+      // bail with special keys
+      if (event.altKey || event.ctrlKey || event.metaKey) return;
+
+      if (!event.shiftKey) {
+        switch (event.key) {
+          case "ArrowLeft":
+            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+            const prevLink = document.querySelector('link[rel="prev"]');
+            if (prevLink && prevLink.href) {
+              window.location.href = prevLink.href;
+              event.preventDefault();
+            }
+            break;
+          case "ArrowRight":
+            if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+            const nextLink = document.querySelector('link[rel="next"]');
+            if (nextLink && nextLink.href) {
+              window.location.href = nextLink.href;
+              event.preventDefault();
+            }
+            break;
+        }
+      }
+
+      // some keyboard layouts may need Shift to get /
+      switch (event.key) {
+        case "/":
+          if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break;
+          Documentation.focusSearchBar();
+          event.preventDefault();
+      }
+    });
+  },
+};
+
+// quick alias for translations
+const _ = Documentation.gettext;
+
+_ready(Documentation.init);
diff --git a/v1.4.0/_static/documentation_options.js b/v1.4.0/_static/documentation_options.js
new file mode 100644
index 0000000000..05f76e701d
--- /dev/null
+++ b/v1.4.0/_static/documentation_options.js
@@ -0,0 +1,14 @@
+var DOCUMENTATION_OPTIONS = {
+    URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'),
+    VERSION: '',
+    LANGUAGE: 'en',
+    COLLAPSE_INDEX: false,
+    BUILDER: 'html',
+    FILE_SUFFIX: '.html',
+    LINK_SUFFIX: '.html',
+    HAS_SOURCE: true,
+    SOURCELINK_SUFFIX: '',
+    NAVIGATION_WITH_KEYS: false,
+    SHOW_SEARCH_SUMMARY: true,
+    ENABLE_SEARCH_SHORTCUTS: true,
+};
\ No newline at end of file
diff --git a/v1.4.0/_static/favicon.ico b/v1.4.0/_static/favicon.ico
new file mode 100644
index 0000000000..7b39f8af7a
Binary files /dev/null and b/v1.4.0/_static/favicon.ico differ
diff --git a/v1.4.0/_static/file.png b/v1.4.0/_static/file.png
new file mode 100644
index 0000000000..a858a410e4
Binary files /dev/null and b/v1.4.0/_static/file.png differ
diff --git a/v1.4.0/_static/images/logo_binder.svg b/v1.4.0/_static/images/logo_binder.svg
new file mode 100644
index 0000000000..45fecf7511
--- /dev/null
+++ b/v1.4.0/_static/images/logo_binder.svg
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 23.0.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 44.4 44.4" style="enable-background:new 0 0 44.4 44.4;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:none;stroke:#F5A252;stroke-width:5;stroke-miterlimit:10;}
+	.st1{fill:none;stroke:#579ACA;stroke-width:5;stroke-miterlimit:10;}
+	.st2{fill:none;stroke:#E66581;stroke-width:5;stroke-miterlimit:10;}
+</style>
+<title>logo</title>
+<g>
+	<path class="st0" d="M33.9,6.4c3.6,3.9,3.4,9.9-0.5,13.5s-9.9,3.4-13.5-0.5s-3.4-9.9,0.5-13.5l0,0C24.2,2.4,30.2,2.6,33.9,6.4z"/>
+	<path class="st1" d="M35.1,27.3c2.6,4.6,1.1,10.4-3.5,13c-4.6,2.6-10.4,1.1-13-3.5s-1.1-10.4,3.5-13l0,0
+		C26.6,21.2,32.4,22.7,35.1,27.3z"/>
+	<path class="st2" d="M25.9,17.8c2.6,4.6,1.1,10.4-3.5,13s-10.4,1.1-13-3.5s-1.1-10.4,3.5-13l0,0C17.5,11.7,23.3,13.2,25.9,17.8z"/>
+	<path class="st1" d="M19.2,26.4c3.1-4.3,9.1-5.2,13.3-2.1c1.1,0.8,2,1.8,2.7,3"/>
+	<path class="st0" d="M19.9,19.4c-3.6-3.9-3.4-9.9,0.5-13.5s9.9-3.4,13.5,0.5"/>
+</g>
+</svg>
diff --git a/v1.4.0/_static/images/logo_colab.png b/v1.4.0/_static/images/logo_colab.png
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diff --git a/v1.4.0/_static/images/logo_deepnote.svg b/v1.4.0/_static/images/logo_deepnote.svg
new file mode 100644
index 0000000000..fa77ebfc25
--- /dev/null
+++ b/v1.4.0/_static/images/logo_deepnote.svg
@@ -0,0 +1 @@
+<svg viewBox="0 0 128 128" fill="none" xmlns="http://www.w3.org/2000/svg"><path fill-rule="evenodd" clip-rule="evenodd" d="M0 128h52.512l29.539-11.077-11.077-43.487-34.051 3.693L0 128Z" fill="#0076D4"/><path fill-rule="evenodd" clip-rule="evenodd" d="M52.513 128s16.6-8.759 19.673-24.277c3.072-15.517-12.091-26.594-35.263-26.594 0-.41 20.343-28.718 20.343-28.718l49.4 1.435L95.71 107.7l-20.452 15.978L52.513 128Z" fill="#002868"/><path fill-rule="evenodd" clip-rule="evenodd" d="M0 60.718 41.025.001s1.006.01 3.282 0c16.082-.068 81.23 3.12 81.23 60.368 0 65.352-73.025 67.631-73.025 67.631s30.495-5.839 30.495-34.816c0-28.978-27.541-32.466-45.264-32.466H0Z" fill="#00A9FF"/></svg>
diff --git a/v1.4.0/_static/images/logo_jupyterhub.svg b/v1.4.0/_static/images/logo_jupyterhub.svg
new file mode 100644
index 0000000000..60cfe9f222
--- /dev/null
+++ b/v1.4.0/_static/images/logo_jupyterhub.svg
@@ -0,0 +1 @@
+<svg id="Layer_1" data-name="Layer 1" xmlns="http://www.w3.org/2000/svg" width="38.73" height="50" viewBox="0 0 38.73 50"><defs><style>.cls-1{fill:#767677;}.cls-2{fill:#f37726;}.cls-3{fill:#9e9e9e;}.cls-4{fill:#616262;}.cls-5{font-size:17.07px;fill:#fff;font-family:Roboto-Regular, Roboto;}</style></defs><title>logo_jupyterhub</title><g id="Canvas"><path id="path7_fill" data-name="path7 fill" class="cls-1" d="M39.51,3.53a3,3,0,0,1-1.7,2.9A3,3,0,0,1,34.48,6a3,3,0,0,1-.82-3.26,3,3,0,0,1,1.05-1.41A3,3,0,0,1,37.52.86a2.88,2.88,0,0,1,1,.6,3,3,0,0,1,.7.93,3.18,3.18,0,0,1,.28,1.14Z" transform="translate(-1.87 -0.69)"/><path id="path8_fill" data-name="path8 fill" class="cls-2" d="M21.91,38.39c-8,0-15.06-2.87-18.7-7.12a19.93,19.93,0,0,0,37.39,0C37,35.52,30,38.39,21.91,38.39Z" transform="translate(-1.87 -0.69)"/><path id="path9_fill" data-name="path9 fill" class="cls-2" d="M21.91,10.78c8,0,15.05,2.87,18.69,7.12a19.93,19.93,0,0,0-37.39,0C6.85,13.64,13.86,10.78,21.91,10.78Z" transform="translate(-1.87 -0.69)"/><path id="path10_fill" data-name="path10 fill" class="cls-3" d="M10.88,46.66a3.86,3.86,0,0,1-.52,2.15,3.81,3.81,0,0,1-1.62,1.51,3.93,3.93,0,0,1-2.19.34,3.79,3.79,0,0,1-2-.94,3.73,3.73,0,0,1-1.14-1.9,3.79,3.79,0,0,1,.1-2.21,3.86,3.86,0,0,1,1.33-1.78,3.92,3.92,0,0,1,3.54-.53,3.85,3.85,0,0,1,2.14,1.93,3.74,3.74,0,0,1,.37,1.43Z" transform="translate(-1.87 -0.69)"/><path id="path11_fill" data-name="path11 fill" class="cls-4" d="M4.12,9.81A2.18,2.18,0,0,1,2.9,9.48a2.23,2.23,0,0,1-.84-1A2.26,2.26,0,0,1,1.9,7.26a2.13,2.13,0,0,1,.56-1.13,2.18,2.18,0,0,1,2.36-.56,2.13,2.13,0,0,1,1,.76,2.18,2.18,0,0,1,.42,1.2A2.22,2.22,0,0,1,4.12,9.81Z" transform="translate(-1.87 -0.69)"/></g><text class="cls-5" transform="translate(5.24 30.01)">Hub</text></svg>
diff --git a/v1.4.0/_static/language_data.js b/v1.4.0/_static/language_data.js
new file mode 100644
index 0000000000..250f5665fa
--- /dev/null
+++ b/v1.4.0/_static/language_data.js
@@ -0,0 +1,199 @@
+/*
+ * language_data.js
+ * ~~~~~~~~~~~~~~~~
+ *
+ * This script contains the language-specific data used by searchtools.js,
+ * namely the list of stopwords, stemmer, scorer and splitter.
+ *
+ * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"];
+
+
+/* Non-minified version is copied as a separate JS file, is available */
+
+/**
+ * Porter Stemmer
+ */
+var Stemmer = function() {
+
+  var step2list = {
+    ational: 'ate',
+    tional: 'tion',
+    enci: 'ence',
+    anci: 'ance',
+    izer: 'ize',
+    bli: 'ble',
+    alli: 'al',
+    entli: 'ent',
+    eli: 'e',
+    ousli: 'ous',
+    ization: 'ize',
+    ation: 'ate',
+    ator: 'ate',
+    alism: 'al',
+    iveness: 'ive',
+    fulness: 'ful',
+    ousness: 'ous',
+    aliti: 'al',
+    iviti: 'ive',
+    biliti: 'ble',
+    logi: 'log'
+  };
+
+  var step3list = {
+    icate: 'ic',
+    ative: '',
+    alize: 'al',
+    iciti: 'ic',
+    ical: 'ic',
+    ful: '',
+    ness: ''
+  };
+
+  var c = "[^aeiou]";          // consonant
+  var v = "[aeiouy]";          // vowel
+  var C = c + "[^aeiouy]*";    // consonant sequence
+  var V = v + "[aeiou]*";      // vowel sequence
+
+  var mgr0 = "^(" + C + ")?" + V + C;                      // [C]VC... is m>0
+  var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$";    // [C]VC[V] is m=1
+  var mgr1 = "^(" + C + ")?" + V + C + V + C;              // [C]VCVC... is m>1
+  var s_v   = "^(" + C + ")?" + v;                         // vowel in stem
+
+  this.stemWord = function (w) {
+    var stem;
+    var suffix;
+    var firstch;
+    var origword = w;
+
+    if (w.length < 3)
+      return w;
+
+    var re;
+    var re2;
+    var re3;
+    var re4;
+
+    firstch = w.substr(0,1);
+    if (firstch == "y")
+      w = firstch.toUpperCase() + w.substr(1);
+
+    // Step 1a
+    re = /^(.+?)(ss|i)es$/;
+    re2 = /^(.+?)([^s])s$/;
+
+    if (re.test(w))
+      w = w.replace(re,"$1$2");
+    else if (re2.test(w))
+      w = w.replace(re2,"$1$2");
+
+    // Step 1b
+    re = /^(.+?)eed$/;
+    re2 = /^(.+?)(ed|ing)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      re = new RegExp(mgr0);
+      if (re.test(fp[1])) {
+        re = /.$/;
+        w = w.replace(re,"");
+      }
+    }
+    else if (re2.test(w)) {
+      var fp = re2.exec(w);
+      stem = fp[1];
+      re2 = new RegExp(s_v);
+      if (re2.test(stem)) {
+        w = stem;
+        re2 = /(at|bl|iz)$/;
+        re3 = new RegExp("([^aeiouylsz])\\1$");
+        re4 = new RegExp("^" + C + v + "[^aeiouwxy]$");
+        if (re2.test(w))
+          w = w + "e";
+        else if (re3.test(w)) {
+          re = /.$/;
+          w = w.replace(re,"");
+        }
+        else if (re4.test(w))
+          w = w + "e";
+      }
+    }
+
+    // Step 1c
+    re = /^(.+?)y$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(s_v);
+      if (re.test(stem))
+        w = stem + "i";
+    }
+
+    // Step 2
+    re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      suffix = fp[2];
+      re = new RegExp(mgr0);
+      if (re.test(stem))
+        w = stem + step2list[suffix];
+    }
+
+    // Step 3
+    re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      suffix = fp[2];
+      re = new RegExp(mgr0);
+      if (re.test(stem))
+        w = stem + step3list[suffix];
+    }
+
+    // Step 4
+    re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;
+    re2 = /^(.+?)(s|t)(ion)$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(mgr1);
+      if (re.test(stem))
+        w = stem;
+    }
+    else if (re2.test(w)) {
+      var fp = re2.exec(w);
+      stem = fp[1] + fp[2];
+      re2 = new RegExp(mgr1);
+      if (re2.test(stem))
+        w = stem;
+    }
+
+    // Step 5
+    re = /^(.+?)e$/;
+    if (re.test(w)) {
+      var fp = re.exec(w);
+      stem = fp[1];
+      re = new RegExp(mgr1);
+      re2 = new RegExp(meq1);
+      re3 = new RegExp("^" + C + v + "[^aeiouwxy]$");
+      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem))))
+        w = stem;
+    }
+    re = /ll$/;
+    re2 = new RegExp(mgr1);
+    if (re.test(w) && re2.test(w)) {
+      re = /.$/;
+      w = w.replace(re,"");
+    }
+
+    // and turn initial Y back to y
+    if (firstch == "y")
+      w = firstch.toLowerCase() + w.substr(1);
+    return w;
+  }
+}
+
diff --git a/v1.4.0/_static/locales/ar/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/ar/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..15541a6a37
Binary files /dev/null and b/v1.4.0/_static/locales/ar/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/ar/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/ar/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..2e8d682024
--- /dev/null
+++ b/v1.4.0/_static/locales/ar/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: ar\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "أقترح تحرير"
+
+msgid "Last updated on"
+msgstr "آخر تحديث في"
+
+msgid "Edit this page"
+msgstr "قم بتحرير هذه الصفحة"
+
+msgid "Launch"
+msgstr "إطلاق"
+
+msgid "Print to PDF"
+msgstr "طباعة إلى PDF"
+
+msgid "open issue"
+msgstr "قضية مفتوحة"
+
+msgid "Download notebook file"
+msgstr "تنزيل ملف دفتر الملاحظات"
+
+msgid "Toggle navigation"
+msgstr "تبديل التنقل"
+
+msgid "Source repository"
+msgstr "مستودع المصدر"
+
+msgid "By the"
+msgstr "بواسطة"
+
+msgid "next page"
+msgstr "الصفحة التالية"
+
+msgid "repository"
+msgstr "مخزن"
+
+msgid "Sphinx Book Theme"
+msgstr "موضوع كتاب أبو الهول"
+
+msgid "Download source file"
+msgstr "تنزيل ملف المصدر"
+
+msgid "Contents"
+msgstr "محتويات"
+
+msgid "By"
+msgstr "بواسطة"
+
+msgid "Copyright"
+msgstr "حقوق النشر"
+
+msgid "Fullscreen mode"
+msgstr "وضع ملء الشاشة"
+
+msgid "Open an issue"
+msgstr "افتح قضية"
+
+msgid "previous page"
+msgstr "الصفحة السابقة"
+
+msgid "Download this page"
+msgstr "قم بتنزيل هذه الصفحة"
+
+msgid "Theme by the"
+msgstr "موضوع بواسطة"
diff --git a/v1.4.0/_static/locales/bg/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/bg/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..da95120037
Binary files /dev/null and b/v1.4.0/_static/locales/bg/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/bg/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/bg/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..56ef0ebdfa
--- /dev/null
+++ b/v1.4.0/_static/locales/bg/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: bg\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "предложи редактиране"
+
+msgid "Last updated on"
+msgstr "Последна актуализация на"
+
+msgid "Edit this page"
+msgstr "Редактирайте тази страница"
+
+msgid "Launch"
+msgstr "Стартиране"
+
+msgid "Print to PDF"
+msgstr "Печат в PDF"
+
+msgid "open issue"
+msgstr "отворен брой"
+
+msgid "Download notebook file"
+msgstr "Изтеглете файла на бележника"
+
+msgid "Toggle navigation"
+msgstr "Превключване на навигацията"
+
+msgid "Source repository"
+msgstr "Хранилище на източника"
+
+msgid "By the"
+msgstr "По"
+
+msgid "next page"
+msgstr "Следваща страница"
+
+msgid "repository"
+msgstr "хранилище"
+
+msgid "Sphinx Book Theme"
+msgstr "Тема на книгата Sphinx"
+
+msgid "Download source file"
+msgstr "Изтеглете изходния файл"
+
+msgid "Contents"
+msgstr "Съдържание"
+
+msgid "By"
+msgstr "От"
+
+msgid "Copyright"
+msgstr "Авторско право"
+
+msgid "Fullscreen mode"
+msgstr "Режим на цял екран"
+
+msgid "Open an issue"
+msgstr "Отворете проблем"
+
+msgid "previous page"
+msgstr "предишна страница"
+
+msgid "Download this page"
+msgstr "Изтеглете тази страница"
+
+msgid "Theme by the"
+msgstr "Тема от"
diff --git a/v1.4.0/_static/locales/bn/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/bn/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..6b96639b72
Binary files /dev/null and b/v1.4.0/_static/locales/bn/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/bn/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/bn/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..243ca31f73
--- /dev/null
+++ b/v1.4.0/_static/locales/bn/LC_MESSAGES/booktheme.po
@@ -0,0 +1,63 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: bn\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "Last updated on"
+msgstr "সর্বশেষ আপডেট"
+
+msgid "Edit this page"
+msgstr "এই পৃষ্ঠাটি সম্পাদনা করুন"
+
+msgid "Launch"
+msgstr "শুরু করা"
+
+msgid "Print to PDF"
+msgstr "পিডিএফ প্রিন্ট করুন"
+
+msgid "open issue"
+msgstr "খোলা সমস্যা"
+
+msgid "Download notebook file"
+msgstr "নোটবুক ফাইল ডাউনলোড করুন"
+
+msgid "Toggle navigation"
+msgstr "নেভিগেশন টগল করুন"
+
+msgid "Source repository"
+msgstr "উত্স সংগ্রহস্থল"
+
+msgid "By the"
+msgstr "দ্বারা"
+
+msgid "next page"
+msgstr "পরবর্তী পৃষ্ঠা"
+
+msgid "Sphinx Book Theme"
+msgstr "স্পিনিক্স বুক থিম"
+
+msgid "Download source file"
+msgstr "উত্স ফাইল ডাউনলোড করুন"
+
+msgid "By"
+msgstr "দ্বারা"
+
+msgid "Copyright"
+msgstr "কপিরাইট"
+
+msgid "Open an issue"
+msgstr "একটি সমস্যা খুলুন"
+
+msgid "previous page"
+msgstr "আগের পৃষ্ঠা"
+
+msgid "Download this page"
+msgstr "এই পৃষ্ঠাটি ডাউনলোড করুন"
+
+msgid "Theme by the"
+msgstr "থিম দ্বারা"
diff --git a/v1.4.0/_static/locales/ca/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/ca/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..a4dd30e9bd
Binary files /dev/null and b/v1.4.0/_static/locales/ca/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/ca/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/ca/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..b27a13db9c
--- /dev/null
+++ b/v1.4.0/_static/locales/ca/LC_MESSAGES/booktheme.po
@@ -0,0 +1,66 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: ca\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "suggerir edició"
+
+msgid "Last updated on"
+msgstr "Darrera actualització el"
+
+msgid "Edit this page"
+msgstr "Editeu aquesta pàgina"
+
+msgid "Launch"
+msgstr "Llançament"
+
+msgid "Print to PDF"
+msgstr "Imprimeix a PDF"
+
+msgid "open issue"
+msgstr "número obert"
+
+msgid "Download notebook file"
+msgstr "Descarregar fitxer de quadern"
+
+msgid "Toggle navigation"
+msgstr "Commuta la navegació"
+
+msgid "Source repository"
+msgstr "Dipòsit de fonts"
+
+msgid "By the"
+msgstr "Per la"
+
+msgid "next page"
+msgstr "pàgina següent"
+
+msgid "Sphinx Book Theme"
+msgstr "Tema del llibre Esfinx"
+
+msgid "Download source file"
+msgstr "Baixeu el fitxer font"
+
+msgid "By"
+msgstr "Per"
+
+msgid "Copyright"
+msgstr "Copyright"
+
+msgid "Open an issue"
+msgstr "Obriu un número"
+
+msgid "previous page"
+msgstr "Pàgina anterior"
+
+msgid "Download this page"
+msgstr "Descarregueu aquesta pàgina"
+
+msgid "Theme by the"
+msgstr "Tema del"
diff --git a/v1.4.0/_static/locales/cs/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/cs/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..c39e01a6ae
Binary files /dev/null and b/v1.4.0/_static/locales/cs/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/cs/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/cs/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..3818df9765
--- /dev/null
+++ b/v1.4.0/_static/locales/cs/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: cs\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "navrhnout úpravy"
+
+msgid "Last updated on"
+msgstr "Naposledy aktualizováno"
+
+msgid "Edit this page"
+msgstr "Upravit tuto stránku"
+
+msgid "Launch"
+msgstr "Zahájení"
+
+msgid "Print to PDF"
+msgstr "Tisk do PDF"
+
+msgid "open issue"
+msgstr "otevřené číslo"
+
+msgid "Download notebook file"
+msgstr "Stáhnout soubor poznámkového bloku"
+
+msgid "Toggle navigation"
+msgstr "Přepnout navigaci"
+
+msgid "Source repository"
+msgstr "Zdrojové úložiště"
+
+msgid "By the"
+msgstr "Podle"
+
+msgid "next page"
+msgstr "další strana"
+
+msgid "repository"
+msgstr "úložiště"
+
+msgid "Sphinx Book Theme"
+msgstr "Téma knihy Sfinga"
+
+msgid "Download source file"
+msgstr "Stáhněte si zdrojový soubor"
+
+msgid "Contents"
+msgstr "Obsah"
+
+msgid "By"
+msgstr "Podle"
+
+msgid "Copyright"
+msgstr "autorská práva"
+
+msgid "Fullscreen mode"
+msgstr "Režim celé obrazovky"
+
+msgid "Open an issue"
+msgstr "Otevřete problém"
+
+msgid "previous page"
+msgstr "předchozí stránka"
+
+msgid "Download this page"
+msgstr "Stáhněte si tuto stránku"
+
+msgid "Theme by the"
+msgstr "Téma od"
diff --git a/v1.4.0/_static/locales/da/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/da/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..f43157d70c
Binary files /dev/null and b/v1.4.0/_static/locales/da/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/da/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/da/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..7f20a3bd09
--- /dev/null
+++ b/v1.4.0/_static/locales/da/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: da\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "foreslå redigering"
+
+msgid "Last updated on"
+msgstr "Sidst opdateret den"
+
+msgid "Edit this page"
+msgstr "Rediger denne side"
+
+msgid "Launch"
+msgstr "Start"
+
+msgid "Print to PDF"
+msgstr "Udskriv til PDF"
+
+msgid "open issue"
+msgstr "åbent nummer"
+
+msgid "Download notebook file"
+msgstr "Download notesbog-fil"
+
+msgid "Toggle navigation"
+msgstr "Skift navigation"
+
+msgid "Source repository"
+msgstr "Kildelager"
+
+msgid "By the"
+msgstr "Ved"
+
+msgid "next page"
+msgstr "Næste side"
+
+msgid "repository"
+msgstr "lager"
+
+msgid "Sphinx Book Theme"
+msgstr "Sphinx bogtema"
+
+msgid "Download source file"
+msgstr "Download kildefil"
+
+msgid "Contents"
+msgstr "Indhold"
+
+msgid "By"
+msgstr "Ved"
+
+msgid "Copyright"
+msgstr "ophavsret"
+
+msgid "Fullscreen mode"
+msgstr "Fuldskærmstilstand"
+
+msgid "Open an issue"
+msgstr "Åbn et problem"
+
+msgid "previous page"
+msgstr "forrige side"
+
+msgid "Download this page"
+msgstr "Download denne side"
+
+msgid "Theme by the"
+msgstr "Tema af"
diff --git a/v1.4.0/_static/locales/de/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/de/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..648b565c78
Binary files /dev/null and b/v1.4.0/_static/locales/de/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/de/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/de/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..c0027d3ab0
--- /dev/null
+++ b/v1.4.0/_static/locales/de/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: de\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "vorschlagen zu bearbeiten"
+
+msgid "Last updated on"
+msgstr "Zuletzt aktualisiert am"
+
+msgid "Edit this page"
+msgstr "Bearbeite diese Seite"
+
+msgid "Launch"
+msgstr "Starten"
+
+msgid "Print to PDF"
+msgstr "In PDF drucken"
+
+msgid "open issue"
+msgstr "offenes Thema"
+
+msgid "Download notebook file"
+msgstr "Notebook-Datei herunterladen"
+
+msgid "Toggle navigation"
+msgstr "Navigation umschalten"
+
+msgid "Source repository"
+msgstr "Quell-Repository"
+
+msgid "By the"
+msgstr "Bis zum"
+
+msgid "next page"
+msgstr "Nächste Seite"
+
+msgid "repository"
+msgstr "Repository"
+
+msgid "Sphinx Book Theme"
+msgstr "Sphinx-Buch-Thema"
+
+msgid "Download source file"
+msgstr "Quelldatei herunterladen"
+
+msgid "Contents"
+msgstr "Inhalt"
+
+msgid "By"
+msgstr "Durch"
+
+msgid "Copyright"
+msgstr "Urheberrechte ©"
+
+msgid "Fullscreen mode"
+msgstr "Vollbildmodus"
+
+msgid "Open an issue"
+msgstr "Öffnen Sie ein Problem"
+
+msgid "previous page"
+msgstr "vorherige Seite"
+
+msgid "Download this page"
+msgstr "Laden Sie diese Seite herunter"
+
+msgid "Theme by the"
+msgstr "Thema von der"
diff --git a/v1.4.0/_static/locales/el/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/el/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..fca6e9355f
Binary files /dev/null and b/v1.4.0/_static/locales/el/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/el/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/el/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..bdeb3270aa
--- /dev/null
+++ b/v1.4.0/_static/locales/el/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: el\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "προτείνω επεξεργασία"
+
+msgid "Last updated on"
+msgstr "Τελευταία ενημέρωση στις"
+
+msgid "Edit this page"
+msgstr "Επεξεργαστείτε αυτήν τη σελίδα"
+
+msgid "Launch"
+msgstr "Εκτόξευση"
+
+msgid "Print to PDF"
+msgstr "Εκτύπωση σε PDF"
+
+msgid "open issue"
+msgstr "ανοιχτό ζήτημα"
+
+msgid "Download notebook file"
+msgstr "Λήψη αρχείου σημειωματάριου"
+
+msgid "Toggle navigation"
+msgstr "Εναλλαγή πλοήγησης"
+
+msgid "Source repository"
+msgstr "Αποθήκη πηγής"
+
+msgid "By the"
+msgstr "Από το"
+
+msgid "next page"
+msgstr "επόμενη σελίδα"
+
+msgid "repository"
+msgstr "αποθήκη"
+
+msgid "Sphinx Book Theme"
+msgstr "Θέμα βιβλίου Sphinx"
+
+msgid "Download source file"
+msgstr "Λήψη αρχείου προέλευσης"
+
+msgid "Contents"
+msgstr "Περιεχόμενα"
+
+msgid "By"
+msgstr "Με"
+
+msgid "Copyright"
+msgstr "Πνευματική ιδιοκτησία"
+
+msgid "Fullscreen mode"
+msgstr "ΛΕΙΤΟΥΡΓΙΑ ΠΛΗΡΟΥΣ ΟΘΟΝΗΣ"
+
+msgid "Open an issue"
+msgstr "Ανοίξτε ένα ζήτημα"
+
+msgid "previous page"
+msgstr "προηγούμενη σελίδα"
+
+msgid "Download this page"
+msgstr "Λήψη αυτής της σελίδας"
+
+msgid "Theme by the"
+msgstr "Θέμα από το"
diff --git a/v1.4.0/_static/locales/eo/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/eo/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..d1072bbec6
Binary files /dev/null and b/v1.4.0/_static/locales/eo/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/eo/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/eo/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..6749f3a34a
--- /dev/null
+++ b/v1.4.0/_static/locales/eo/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: eo\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "sugesti redaktadon"
+
+msgid "Last updated on"
+msgstr "Laste ĝisdatigita la"
+
+msgid "Edit this page"
+msgstr "Redaktu ĉi tiun paĝon"
+
+msgid "Launch"
+msgstr "Lanĉo"
+
+msgid "Print to PDF"
+msgstr "Presi al PDF"
+
+msgid "open issue"
+msgstr "malferma numero"
+
+msgid "Download notebook file"
+msgstr "Elŝutu kajeran dosieron"
+
+msgid "Toggle navigation"
+msgstr "Ŝalti navigadon"
+
+msgid "Source repository"
+msgstr "Fonto-deponejo"
+
+msgid "By the"
+msgstr "Per la"
+
+msgid "next page"
+msgstr "sekva paĝo"
+
+msgid "repository"
+msgstr "deponejo"
+
+msgid "Sphinx Book Theme"
+msgstr "Sfinksa Libro-Temo"
+
+msgid "Download source file"
+msgstr "Elŝutu fontodosieron"
+
+msgid "Contents"
+msgstr "Enhavo"
+
+msgid "By"
+msgstr "De"
+
+msgid "Copyright"
+msgstr "Kopirajto"
+
+msgid "Fullscreen mode"
+msgstr "Plenekrana reĝimo"
+
+msgid "Open an issue"
+msgstr "Malfermu numeron"
+
+msgid "previous page"
+msgstr "antaŭa paĝo"
+
+msgid "Download this page"
+msgstr "Elŝutu ĉi tiun paĝon"
+
+msgid "Theme by the"
+msgstr "Temo de la"
diff --git a/v1.4.0/_static/locales/es/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/es/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..ba2ee4dc22
Binary files /dev/null and b/v1.4.0/_static/locales/es/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/es/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/es/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..71dde37f27
--- /dev/null
+++ b/v1.4.0/_static/locales/es/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: es\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "sugerir editar"
+
+msgid "Last updated on"
+msgstr "Ultima actualización en"
+
+msgid "Edit this page"
+msgstr "Edita esta página"
+
+msgid "Launch"
+msgstr "Lanzamiento"
+
+msgid "Print to PDF"
+msgstr "Imprimir en PDF"
+
+msgid "open issue"
+msgstr "Tema abierto"
+
+msgid "Download notebook file"
+msgstr "Descargar archivo de cuaderno"
+
+msgid "Toggle navigation"
+msgstr "Navegación de palanca"
+
+msgid "Source repository"
+msgstr "Repositorio de origen"
+
+msgid "By the"
+msgstr "Por el"
+
+msgid "next page"
+msgstr "siguiente página"
+
+msgid "repository"
+msgstr "repositorio"
+
+msgid "Sphinx Book Theme"
+msgstr "Tema del libro de la esfinge"
+
+msgid "Download source file"
+msgstr "Descargar archivo fuente"
+
+msgid "Contents"
+msgstr "Contenido"
+
+msgid "By"
+msgstr "Por"
+
+msgid "Copyright"
+msgstr "Derechos de autor"
+
+msgid "Fullscreen mode"
+msgstr "Modo de pantalla completa"
+
+msgid "Open an issue"
+msgstr "Abrir un problema"
+
+msgid "previous page"
+msgstr "pagina anterior"
+
+msgid "Download this page"
+msgstr "Descarga esta pagina"
+
+msgid "Theme by the"
+msgstr "Tema por el"
diff --git a/v1.4.0/_static/locales/et/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/et/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..983b82391f
Binary files /dev/null and b/v1.4.0/_static/locales/et/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/et/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/et/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..cdcd07c7d8
--- /dev/null
+++ b/v1.4.0/_static/locales/et/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: et\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "soovita muuta"
+
+msgid "Last updated on"
+msgstr "Viimati uuendatud"
+
+msgid "Edit this page"
+msgstr "Muutke seda lehte"
+
+msgid "Launch"
+msgstr "Käivitage"
+
+msgid "Print to PDF"
+msgstr "Prindi PDF-i"
+
+msgid "open issue"
+msgstr "avatud küsimus"
+
+msgid "Download notebook file"
+msgstr "Laadige sülearvuti fail alla"
+
+msgid "Toggle navigation"
+msgstr "Lülita navigeerimine sisse"
+
+msgid "Source repository"
+msgstr "Allikahoidla"
+
+msgid "By the"
+msgstr "Autor"
+
+msgid "next page"
+msgstr "järgmine leht"
+
+msgid "repository"
+msgstr "hoidla"
+
+msgid "Sphinx Book Theme"
+msgstr "Sfinksiraamatu teema"
+
+msgid "Download source file"
+msgstr "Laadige alla lähtefail"
+
+msgid "Contents"
+msgstr "Sisu"
+
+msgid "By"
+msgstr "Kõrval"
+
+msgid "Copyright"
+msgstr "Autoriõigus"
+
+msgid "Fullscreen mode"
+msgstr "Täisekraanirežiim"
+
+msgid "Open an issue"
+msgstr "Avage probleem"
+
+msgid "previous page"
+msgstr "eelmine leht"
+
+msgid "Download this page"
+msgstr "Laadige see leht alla"
+
+msgid "Theme by the"
+msgstr "Teema"
diff --git a/v1.4.0/_static/locales/fi/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/fi/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..d8ac054597
Binary files /dev/null and b/v1.4.0/_static/locales/fi/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/fi/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/fi/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..3c3dd08962
--- /dev/null
+++ b/v1.4.0/_static/locales/fi/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: fi\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "ehdottaa muokkausta"
+
+msgid "Last updated on"
+msgstr "Viimeksi päivitetty"
+
+msgid "Edit this page"
+msgstr "Muokkaa tätä sivua"
+
+msgid "Launch"
+msgstr "Tuoda markkinoille"
+
+msgid "Print to PDF"
+msgstr "Tulosta PDF-tiedostoon"
+
+msgid "open issue"
+msgstr "avoin ongelma"
+
+msgid "Download notebook file"
+msgstr "Lataa muistikirjatiedosto"
+
+msgid "Toggle navigation"
+msgstr "Vaihda navigointia"
+
+msgid "Source repository"
+msgstr "Lähteen arkisto"
+
+msgid "By the"
+msgstr "Mukaan"
+
+msgid "next page"
+msgstr "seuraava sivu"
+
+msgid "repository"
+msgstr "arkisto"
+
+msgid "Sphinx Book Theme"
+msgstr "Sphinx-kirjan teema"
+
+msgid "Download source file"
+msgstr "Lataa lähdetiedosto"
+
+msgid "Contents"
+msgstr "Sisällys"
+
+msgid "By"
+msgstr "Tekijä"
+
+msgid "Copyright"
+msgstr "Tekijänoikeus"
+
+msgid "Fullscreen mode"
+msgstr "Koko näytön tila"
+
+msgid "Open an issue"
+msgstr "Avaa ongelma"
+
+msgid "previous page"
+msgstr "Edellinen sivu"
+
+msgid "Download this page"
+msgstr "Lataa tämä sivu"
+
+msgid "Theme by the"
+msgstr "Teeman tekijä"
diff --git a/v1.4.0/_static/locales/fr/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/fr/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..f663d39f0f
Binary files /dev/null and b/v1.4.0/_static/locales/fr/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/fr/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/fr/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..b57d2fe745
--- /dev/null
+++ b/v1.4.0/_static/locales/fr/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: fr\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "suggestion de modification"
+
+msgid "Last updated on"
+msgstr "Dernière mise à jour le"
+
+msgid "Edit this page"
+msgstr "Modifier cette page"
+
+msgid "Launch"
+msgstr "lancement"
+
+msgid "Print to PDF"
+msgstr "Imprimer au format PDF"
+
+msgid "open issue"
+msgstr "signaler un problème"
+
+msgid "Download notebook file"
+msgstr "Télécharger le fichier notebook"
+
+msgid "Toggle navigation"
+msgstr "Basculer la navigation"
+
+msgid "Source repository"
+msgstr "Dépôt source"
+
+msgid "By the"
+msgstr "Par le"
+
+msgid "next page"
+msgstr "page suivante"
+
+msgid "repository"
+msgstr "dépôt"
+
+msgid "Sphinx Book Theme"
+msgstr "Thème du livre Sphinx"
+
+msgid "Download source file"
+msgstr "Télécharger le fichier source"
+
+msgid "Contents"
+msgstr "Contenu"
+
+msgid "By"
+msgstr "Par"
+
+msgid "Copyright"
+msgstr "droits d'auteur"
+
+msgid "Fullscreen mode"
+msgstr "Mode plein écran"
+
+msgid "Open an issue"
+msgstr "Ouvrez un problème"
+
+msgid "previous page"
+msgstr "page précédente"
+
+msgid "Download this page"
+msgstr "Téléchargez cette page"
+
+msgid "Theme by the"
+msgstr "Thème par le"
diff --git a/v1.4.0/_static/locales/hr/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/hr/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..eca4a1a284
Binary files /dev/null and b/v1.4.0/_static/locales/hr/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/hr/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/hr/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..4c425e89ae
--- /dev/null
+++ b/v1.4.0/_static/locales/hr/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: hr\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "predloži uređivanje"
+
+msgid "Last updated on"
+msgstr "Posljednje ažuriranje:"
+
+msgid "Edit this page"
+msgstr "Uredite ovu stranicu"
+
+msgid "Launch"
+msgstr "Pokrenite"
+
+msgid "Print to PDF"
+msgstr "Ispis u PDF"
+
+msgid "open issue"
+msgstr "otvoreno izdanje"
+
+msgid "Download notebook file"
+msgstr "Preuzmi datoteku bilježnice"
+
+msgid "Toggle navigation"
+msgstr "Uključi / isključi navigaciju"
+
+msgid "Source repository"
+msgstr "Izvorno spremište"
+
+msgid "By the"
+msgstr "Od strane"
+
+msgid "next page"
+msgstr "sljedeća stranica"
+
+msgid "repository"
+msgstr "spremište"
+
+msgid "Sphinx Book Theme"
+msgstr "Tema knjige Sphinx"
+
+msgid "Download source file"
+msgstr "Preuzmi izvornu datoteku"
+
+msgid "Contents"
+msgstr "Sadržaj"
+
+msgid "By"
+msgstr "Po"
+
+msgid "Copyright"
+msgstr "Autorska prava"
+
+msgid "Fullscreen mode"
+msgstr "Način preko cijelog zaslona"
+
+msgid "Open an issue"
+msgstr "Otvorite izdanje"
+
+msgid "previous page"
+msgstr "Prethodna stranica"
+
+msgid "Download this page"
+msgstr "Preuzmite ovu stranicu"
+
+msgid "Theme by the"
+msgstr "Tema autora"
diff --git a/v1.4.0/_static/locales/id/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/id/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..d07a06a9d2
Binary files /dev/null and b/v1.4.0/_static/locales/id/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/id/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/id/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..5db2ae1474
--- /dev/null
+++ b/v1.4.0/_static/locales/id/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: id\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "menyarankan edit"
+
+msgid "Last updated on"
+msgstr "Terakhir diperbarui saat"
+
+msgid "Edit this page"
+msgstr "Edit halaman ini"
+
+msgid "Launch"
+msgstr "Meluncurkan"
+
+msgid "Print to PDF"
+msgstr "Cetak ke PDF"
+
+msgid "open issue"
+msgstr "masalah terbuka"
+
+msgid "Download notebook file"
+msgstr "Unduh file notebook"
+
+msgid "Toggle navigation"
+msgstr "Alihkan navigasi"
+
+msgid "Source repository"
+msgstr "Repositori sumber"
+
+msgid "By the"
+msgstr "Oleh"
+
+msgid "next page"
+msgstr "halaman selanjutnya"
+
+msgid "repository"
+msgstr "gudang"
+
+msgid "Sphinx Book Theme"
+msgstr "Tema Buku Sphinx"
+
+msgid "Download source file"
+msgstr "Unduh file sumber"
+
+msgid "Contents"
+msgstr "Isi"
+
+msgid "By"
+msgstr "Oleh"
+
+msgid "Copyright"
+msgstr "hak cipta"
+
+msgid "Fullscreen mode"
+msgstr "Mode layar penuh"
+
+msgid "Open an issue"
+msgstr "Buka masalah"
+
+msgid "previous page"
+msgstr "halaman sebelumnya"
+
+msgid "Download this page"
+msgstr "Unduh halaman ini"
+
+msgid "Theme by the"
+msgstr "Tema oleh"
diff --git a/v1.4.0/_static/locales/it/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/it/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..53ba476edd
Binary files /dev/null and b/v1.4.0/_static/locales/it/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/it/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/it/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..7d54fdefa8
--- /dev/null
+++ b/v1.4.0/_static/locales/it/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: it\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "suggerisci modifica"
+
+msgid "Last updated on"
+msgstr "Ultimo aggiornamento il"
+
+msgid "Edit this page"
+msgstr "Modifica questa pagina"
+
+msgid "Launch"
+msgstr "Lanciare"
+
+msgid "Print to PDF"
+msgstr "Stampa in PDF"
+
+msgid "open issue"
+msgstr "questione aperta"
+
+msgid "Download notebook file"
+msgstr "Scarica il file del taccuino"
+
+msgid "Toggle navigation"
+msgstr "Attiva / disattiva la navigazione"
+
+msgid "Source repository"
+msgstr "Repository di origine"
+
+msgid "By the"
+msgstr "Dal"
+
+msgid "next page"
+msgstr "pagina successiva"
+
+msgid "repository"
+msgstr "repository"
+
+msgid "Sphinx Book Theme"
+msgstr "Tema del libro della Sfinge"
+
+msgid "Download source file"
+msgstr "Scarica il file sorgente"
+
+msgid "Contents"
+msgstr "Contenuti"
+
+msgid "By"
+msgstr "Di"
+
+msgid "Copyright"
+msgstr "Diritto d'autore"
+
+msgid "Fullscreen mode"
+msgstr "Modalità schermo intero"
+
+msgid "Open an issue"
+msgstr "Apri un problema"
+
+msgid "previous page"
+msgstr "pagina precedente"
+
+msgid "Download this page"
+msgstr "Scarica questa pagina"
+
+msgid "Theme by the"
+msgstr "Tema di"
diff --git a/v1.4.0/_static/locales/iw/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/iw/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..a45c6575e4
Binary files /dev/null and b/v1.4.0/_static/locales/iw/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/iw/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/iw/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..32b017cf69
--- /dev/null
+++ b/v1.4.0/_static/locales/iw/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: iw\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "מציע לערוך"
+
+msgid "Last updated on"
+msgstr "עודכן לאחרונה ב"
+
+msgid "Edit this page"
+msgstr "ערוך דף זה"
+
+msgid "Launch"
+msgstr "לְהַשִׁיק"
+
+msgid "Print to PDF"
+msgstr "הדפס לקובץ PDF"
+
+msgid "open issue"
+msgstr "בעיה פתוחה"
+
+msgid "Download notebook file"
+msgstr "הורד קובץ מחברת"
+
+msgid "Toggle navigation"
+msgstr "החלף ניווט"
+
+msgid "Source repository"
+msgstr "מאגר המקורות"
+
+msgid "By the"
+msgstr "דרך"
+
+msgid "next page"
+msgstr "עמוד הבא"
+
+msgid "repository"
+msgstr "מאגר"
+
+msgid "Sphinx Book Theme"
+msgstr "נושא ספר ספינקס"
+
+msgid "Download source file"
+msgstr "הורד את קובץ המקור"
+
+msgid "Contents"
+msgstr "תוכן"
+
+msgid "By"
+msgstr "על ידי"
+
+msgid "Copyright"
+msgstr "זכויות יוצרים"
+
+msgid "Fullscreen mode"
+msgstr "מצב מסך מלא"
+
+msgid "Open an issue"
+msgstr "פתח גיליון"
+
+msgid "previous page"
+msgstr "עמוד קודם"
+
+msgid "Download this page"
+msgstr "הורד דף זה"
+
+msgid "Theme by the"
+msgstr "נושא מאת"
diff --git a/v1.4.0/_static/locales/ja/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/ja/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..1cefd29ce3
Binary files /dev/null and b/v1.4.0/_static/locales/ja/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/ja/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/ja/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..16924e1972
--- /dev/null
+++ b/v1.4.0/_static/locales/ja/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: ja\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "編集を提案する"
+
+msgid "Last updated on"
+msgstr "最終更新日"
+
+msgid "Edit this page"
+msgstr "このページを編集"
+
+msgid "Launch"
+msgstr "起動"
+
+msgid "Print to PDF"
+msgstr "PDFに印刷"
+
+msgid "open issue"
+msgstr "未解決の問題"
+
+msgid "Download notebook file"
+msgstr "ノートブックファイルをダウンロード"
+
+msgid "Toggle navigation"
+msgstr "ナビゲーションを切り替え"
+
+msgid "Source repository"
+msgstr "ソースリポジトリ"
+
+msgid "By the"
+msgstr "によって"
+
+msgid "next page"
+msgstr "次のページ"
+
+msgid "repository"
+msgstr "リポジトリ"
+
+msgid "Sphinx Book Theme"
+msgstr "スフィンクスの本のテーマ"
+
+msgid "Download source file"
+msgstr "ソースファイルをダウンロード"
+
+msgid "Contents"
+msgstr "目次"
+
+msgid "By"
+msgstr "著者"
+
+msgid "Copyright"
+msgstr "Copyright"
+
+msgid "Fullscreen mode"
+msgstr "全画面モード"
+
+msgid "Open an issue"
+msgstr "問題を報告"
+
+msgid "previous page"
+msgstr "前のページ"
+
+msgid "Download this page"
+msgstr "このページをダウンロード"
+
+msgid "Theme by the"
+msgstr "のテーマ"
diff --git a/v1.4.0/_static/locales/ko/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/ko/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..06c7ec938b
Binary files /dev/null and b/v1.4.0/_static/locales/ko/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/ko/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/ko/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..69dd18f773
--- /dev/null
+++ b/v1.4.0/_static/locales/ko/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: ko\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "편집 제안"
+
+msgid "Last updated on"
+msgstr "마지막 업데이트"
+
+msgid "Edit this page"
+msgstr "이 페이지 편집"
+
+msgid "Launch"
+msgstr "시작하다"
+
+msgid "Print to PDF"
+msgstr "PDF로 인쇄"
+
+msgid "open issue"
+msgstr "열린 문제"
+
+msgid "Download notebook file"
+msgstr "노트북 파일 다운로드"
+
+msgid "Toggle navigation"
+msgstr "탐색 전환"
+
+msgid "Source repository"
+msgstr "소스 저장소"
+
+msgid "By the"
+msgstr "에 의해"
+
+msgid "next page"
+msgstr "다음 페이지"
+
+msgid "repository"
+msgstr "저장소"
+
+msgid "Sphinx Book Theme"
+msgstr "스핑크스 도서 테마"
+
+msgid "Download source file"
+msgstr "소스 파일 다운로드"
+
+msgid "Contents"
+msgstr "내용"
+
+msgid "By"
+msgstr "으로"
+
+msgid "Copyright"
+msgstr "저작권"
+
+msgid "Fullscreen mode"
+msgstr "전체 화면으로보기"
+
+msgid "Open an issue"
+msgstr "이슈 열기"
+
+msgid "previous page"
+msgstr "이전 페이지"
+
+msgid "Download this page"
+msgstr "이 페이지 다운로드"
+
+msgid "Theme by the"
+msgstr "테마별"
diff --git a/v1.4.0/_static/locales/lt/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/lt/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..4468ba04bc
Binary files /dev/null and b/v1.4.0/_static/locales/lt/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/lt/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/lt/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..9f037752c0
--- /dev/null
+++ b/v1.4.0/_static/locales/lt/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: lt\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "pasiūlyti redaguoti"
+
+msgid "Last updated on"
+msgstr "Paskutinį kartą atnaujinta"
+
+msgid "Edit this page"
+msgstr "Redaguoti šį puslapį"
+
+msgid "Launch"
+msgstr "Paleiskite"
+
+msgid "Print to PDF"
+msgstr "Spausdinti į PDF"
+
+msgid "open issue"
+msgstr "atviras klausimas"
+
+msgid "Download notebook file"
+msgstr "Atsisiųsti nešiojamojo kompiuterio failą"
+
+msgid "Toggle navigation"
+msgstr "Perjungti naršymą"
+
+msgid "Source repository"
+msgstr "Šaltinio saugykla"
+
+msgid "By the"
+msgstr "Prie"
+
+msgid "next page"
+msgstr "Kitas puslapis"
+
+msgid "repository"
+msgstr "saugykla"
+
+msgid "Sphinx Book Theme"
+msgstr "Sfinkso knygos tema"
+
+msgid "Download source file"
+msgstr "Atsisiųsti šaltinio failą"
+
+msgid "Contents"
+msgstr "Turinys"
+
+msgid "By"
+msgstr "Iki"
+
+msgid "Copyright"
+msgstr "Autorių teisės"
+
+msgid "Fullscreen mode"
+msgstr "Pilno ekrano režimas"
+
+msgid "Open an issue"
+msgstr "Atidarykite problemą"
+
+msgid "previous page"
+msgstr "Ankstesnis puslapis"
+
+msgid "Download this page"
+msgstr "Atsisiųskite šį puslapį"
+
+msgid "Theme by the"
+msgstr "Tema"
diff --git a/v1.4.0/_static/locales/lv/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/lv/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..74aa4d8985
Binary files /dev/null and b/v1.4.0/_static/locales/lv/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/lv/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/lv/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..c9633b545c
--- /dev/null
+++ b/v1.4.0/_static/locales/lv/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: lv\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "ieteikt rediģēt"
+
+msgid "Last updated on"
+msgstr "Pēdējoreiz atjaunināts"
+
+msgid "Edit this page"
+msgstr "Rediģēt šo lapu"
+
+msgid "Launch"
+msgstr "Uzsākt"
+
+msgid "Print to PDF"
+msgstr "Drukāt PDF formātā"
+
+msgid "open issue"
+msgstr "atklāts jautājums"
+
+msgid "Download notebook file"
+msgstr "Lejupielādēt piezīmju grāmatiņu"
+
+msgid "Toggle navigation"
+msgstr "Pārslēgt navigāciju"
+
+msgid "Source repository"
+msgstr "Avota krātuve"
+
+msgid "By the"
+msgstr "Ar"
+
+msgid "next page"
+msgstr "nākamā lapaspuse"
+
+msgid "repository"
+msgstr "krātuve"
+
+msgid "Sphinx Book Theme"
+msgstr "Sfinksa grāmatas tēma"
+
+msgid "Download source file"
+msgstr "Lejupielādēt avota failu"
+
+msgid "Contents"
+msgstr "Saturs"
+
+msgid "By"
+msgstr "Autors"
+
+msgid "Copyright"
+msgstr "Autortiesības"
+
+msgid "Fullscreen mode"
+msgstr "Pilnekrāna režīms"
+
+msgid "Open an issue"
+msgstr "Atveriet problēmu"
+
+msgid "previous page"
+msgstr "iepriekšējā lapa"
+
+msgid "Download this page"
+msgstr "Lejupielādējiet šo lapu"
+
+msgid "Theme by the"
+msgstr "Autora tēma"
diff --git a/v1.4.0/_static/locales/ml/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/ml/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..2736e8fcf6
Binary files /dev/null and b/v1.4.0/_static/locales/ml/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/ml/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/ml/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..9a6a41e8ec
--- /dev/null
+++ b/v1.4.0/_static/locales/ml/LC_MESSAGES/booktheme.po
@@ -0,0 +1,66 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: ml\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "എഡിറ്റുചെയ്യാൻ നിർദ്ദേശിക്കുക"
+
+msgid "Last updated on"
+msgstr "അവസാനം അപ്‌ഡേറ്റുചെയ്‌തത്"
+
+msgid "Edit this page"
+msgstr "ഈ പേജ് എഡിറ്റുചെയ്യുക"
+
+msgid "Launch"
+msgstr "സമാരംഭിക്കുക"
+
+msgid "Print to PDF"
+msgstr "PDF- ലേക്ക് പ്രിന്റുചെയ്യുക"
+
+msgid "open issue"
+msgstr "തുറന്ന പ്രശ്നം"
+
+msgid "Download notebook file"
+msgstr "നോട്ട്ബുക്ക് ഫയൽ ഡൺലോഡ് ചെയ്യുക"
+
+msgid "Toggle navigation"
+msgstr "നാവിഗേഷൻ ടോഗിൾ ചെയ്യുക"
+
+msgid "Source repository"
+msgstr "ഉറവിട ശേഖരം"
+
+msgid "By the"
+msgstr "എഴുതിയത്"
+
+msgid "next page"
+msgstr "അടുത്ത പേജ്"
+
+msgid "Sphinx Book Theme"
+msgstr "സ്ഫിങ്ക്സ് പുസ്തക തീം"
+
+msgid "Download source file"
+msgstr "ഉറവിട ഫയൽ ഡൗൺലോഡുചെയ്യുക"
+
+msgid "By"
+msgstr "എഴുതിയത്"
+
+msgid "Copyright"
+msgstr "പകർപ്പവകാശം"
+
+msgid "Open an issue"
+msgstr "ഒരു പ്രശ്നം തുറക്കുക"
+
+msgid "previous page"
+msgstr "മുൻപത്തെ താൾ"
+
+msgid "Download this page"
+msgstr "ഈ പേജ് ഡൗൺലോഡുചെയ്യുക"
+
+msgid "Theme by the"
+msgstr "പ്രമേയം"
diff --git a/v1.4.0/_static/locales/mr/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/mr/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..fe530100d7
Binary files /dev/null and b/v1.4.0/_static/locales/mr/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/mr/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/mr/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..ef72d8c6bc
--- /dev/null
+++ b/v1.4.0/_static/locales/mr/LC_MESSAGES/booktheme.po
@@ -0,0 +1,66 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: mr\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "संपादन सुचवा"
+
+msgid "Last updated on"
+msgstr "अखेरचे अद्यतनित"
+
+msgid "Edit this page"
+msgstr "हे पृष्ठ संपादित करा"
+
+msgid "Launch"
+msgstr "लाँच करा"
+
+msgid "Print to PDF"
+msgstr "पीडीएफवर मुद्रित करा"
+
+msgid "open issue"
+msgstr "खुला मुद्दा"
+
+msgid "Download notebook file"
+msgstr "नोटबुक फाईल डाउनलोड करा"
+
+msgid "Toggle navigation"
+msgstr "नेव्हिगेशन टॉगल करा"
+
+msgid "Source repository"
+msgstr "स्त्रोत भांडार"
+
+msgid "By the"
+msgstr "द्वारा"
+
+msgid "next page"
+msgstr "पुढील पृष्ठ"
+
+msgid "Sphinx Book Theme"
+msgstr "स्फिंक्स बुक थीम"
+
+msgid "Download source file"
+msgstr "स्त्रोत फाइल डाउनलोड करा"
+
+msgid "By"
+msgstr "द्वारा"
+
+msgid "Copyright"
+msgstr "कॉपीराइट"
+
+msgid "Open an issue"
+msgstr "एक मुद्दा उघडा"
+
+msgid "previous page"
+msgstr "मागील पान"
+
+msgid "Download this page"
+msgstr "हे पृष्ठ डाउनलोड करा"
+
+msgid "Theme by the"
+msgstr "द्वारा थीम"
diff --git a/v1.4.0/_static/locales/ms/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/ms/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..f02603fa25
Binary files /dev/null and b/v1.4.0/_static/locales/ms/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/ms/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/ms/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..e29cbe2ec2
--- /dev/null
+++ b/v1.4.0/_static/locales/ms/LC_MESSAGES/booktheme.po
@@ -0,0 +1,66 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: ms\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "cadangkan edit"
+
+msgid "Last updated on"
+msgstr "Terakhir dikemas kini pada"
+
+msgid "Edit this page"
+msgstr "Edit halaman ini"
+
+msgid "Launch"
+msgstr "Lancarkan"
+
+msgid "Print to PDF"
+msgstr "Cetak ke PDF"
+
+msgid "open issue"
+msgstr "isu terbuka"
+
+msgid "Download notebook file"
+msgstr "Muat turun fail buku nota"
+
+msgid "Toggle navigation"
+msgstr "Togol navigasi"
+
+msgid "Source repository"
+msgstr "Repositori sumber"
+
+msgid "By the"
+msgstr "Oleh"
+
+msgid "next page"
+msgstr "muka surat seterusnya"
+
+msgid "Sphinx Book Theme"
+msgstr "Tema Buku Sphinx"
+
+msgid "Download source file"
+msgstr "Muat turun fail sumber"
+
+msgid "By"
+msgstr "Oleh"
+
+msgid "Copyright"
+msgstr "hak cipta"
+
+msgid "Open an issue"
+msgstr "Buka masalah"
+
+msgid "previous page"
+msgstr "halaman sebelumnya"
+
+msgid "Download this page"
+msgstr "Muat turun halaman ini"
+
+msgid "Theme by the"
+msgstr "Tema oleh"
diff --git a/v1.4.0/_static/locales/nl/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/nl/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..e59e7ecb30
Binary files /dev/null and b/v1.4.0/_static/locales/nl/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/nl/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/nl/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..e4844d7c98
--- /dev/null
+++ b/v1.4.0/_static/locales/nl/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: nl\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "suggereren bewerken"
+
+msgid "Last updated on"
+msgstr "Laatst geupdate op"
+
+msgid "Edit this page"
+msgstr "bewerk deze pagina"
+
+msgid "Launch"
+msgstr "Lancering"
+
+msgid "Print to PDF"
+msgstr "Afdrukken naar pdf"
+
+msgid "open issue"
+msgstr "open probleem"
+
+msgid "Download notebook file"
+msgstr "Download notebookbestand"
+
+msgid "Toggle navigation"
+msgstr "Schakel navigatie"
+
+msgid "Source repository"
+msgstr "Bronopslagplaats"
+
+msgid "By the"
+msgstr "Door de"
+
+msgid "next page"
+msgstr "volgende bladzijde"
+
+msgid "repository"
+msgstr "repository"
+
+msgid "Sphinx Book Theme"
+msgstr "Sphinx-boekthema"
+
+msgid "Download source file"
+msgstr "Download het bronbestand"
+
+msgid "Contents"
+msgstr "Inhoud"
+
+msgid "By"
+msgstr "Door"
+
+msgid "Copyright"
+msgstr "auteursrechten"
+
+msgid "Fullscreen mode"
+msgstr "Volledig scherm"
+
+msgid "Open an issue"
+msgstr "Open een probleem"
+
+msgid "previous page"
+msgstr "vorige pagina"
+
+msgid "Download this page"
+msgstr "Download deze pagina"
+
+msgid "Theme by the"
+msgstr "Thema door de"
diff --git a/v1.4.0/_static/locales/no/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/no/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..6cd15c88de
Binary files /dev/null and b/v1.4.0/_static/locales/no/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/no/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/no/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..d079dd9b09
--- /dev/null
+++ b/v1.4.0/_static/locales/no/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: no\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "foreslå redigering"
+
+msgid "Last updated on"
+msgstr "Sist oppdatert den"
+
+msgid "Edit this page"
+msgstr "Rediger denne siden"
+
+msgid "Launch"
+msgstr "Start"
+
+msgid "Print to PDF"
+msgstr "Skriv ut til PDF"
+
+msgid "open issue"
+msgstr "åpent nummer"
+
+msgid "Download notebook file"
+msgstr "Last ned notatbokfilen"
+
+msgid "Toggle navigation"
+msgstr "Bytt navigasjon"
+
+msgid "Source repository"
+msgstr "Kildedepot"
+
+msgid "By the"
+msgstr "Ved"
+
+msgid "next page"
+msgstr "neste side"
+
+msgid "repository"
+msgstr "oppbevaringssted"
+
+msgid "Sphinx Book Theme"
+msgstr "Sphinx boktema"
+
+msgid "Download source file"
+msgstr "Last ned kildefilen"
+
+msgid "Contents"
+msgstr "Innhold"
+
+msgid "By"
+msgstr "Av"
+
+msgid "Copyright"
+msgstr "opphavsrett"
+
+msgid "Fullscreen mode"
+msgstr "Fullskjerm-modus"
+
+msgid "Open an issue"
+msgstr "Åpne et problem"
+
+msgid "previous page"
+msgstr "forrige side"
+
+msgid "Download this page"
+msgstr "Last ned denne siden"
+
+msgid "Theme by the"
+msgstr "Tema av"
diff --git a/v1.4.0/_static/locales/pl/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/pl/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..9ebb584f77
Binary files /dev/null and b/v1.4.0/_static/locales/pl/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/pl/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/pl/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..fcac51d329
--- /dev/null
+++ b/v1.4.0/_static/locales/pl/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: pl\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "zaproponuj edycję"
+
+msgid "Last updated on"
+msgstr "Ostatnia aktualizacja"
+
+msgid "Edit this page"
+msgstr "Edytuj tę strone"
+
+msgid "Launch"
+msgstr "Uruchomić"
+
+msgid "Print to PDF"
+msgstr "Drukuj do PDF"
+
+msgid "open issue"
+msgstr "otwarty problem"
+
+msgid "Download notebook file"
+msgstr "Pobierz plik notatnika"
+
+msgid "Toggle navigation"
+msgstr "Przełącz nawigację"
+
+msgid "Source repository"
+msgstr "Repozytorium źródłowe"
+
+msgid "By the"
+msgstr "Przez"
+
+msgid "next page"
+msgstr "Następna strona"
+
+msgid "repository"
+msgstr "magazyn"
+
+msgid "Sphinx Book Theme"
+msgstr "Motyw książki Sphinx"
+
+msgid "Download source file"
+msgstr "Pobierz plik źródłowy"
+
+msgid "Contents"
+msgstr "Zawartość"
+
+msgid "By"
+msgstr "Przez"
+
+msgid "Copyright"
+msgstr "prawa autorskie"
+
+msgid "Fullscreen mode"
+msgstr "Pełny ekran"
+
+msgid "Open an issue"
+msgstr "Otwórz problem"
+
+msgid "previous page"
+msgstr "Poprzednia strona"
+
+msgid "Download this page"
+msgstr "Pobierz tę stronę"
+
+msgid "Theme by the"
+msgstr "Motyw autorstwa"
diff --git a/v1.4.0/_static/locales/pt/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/pt/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..d0ddb8728e
Binary files /dev/null and b/v1.4.0/_static/locales/pt/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/pt/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/pt/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..1761db08ae
--- /dev/null
+++ b/v1.4.0/_static/locales/pt/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: pt\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "sugerir edição"
+
+msgid "Last updated on"
+msgstr "Última atualização em"
+
+msgid "Edit this page"
+msgstr "Edite essa página"
+
+msgid "Launch"
+msgstr "Lançamento"
+
+msgid "Print to PDF"
+msgstr "Imprimir em PDF"
+
+msgid "open issue"
+msgstr "questão aberta"
+
+msgid "Download notebook file"
+msgstr "Baixar arquivo de notebook"
+
+msgid "Toggle navigation"
+msgstr "Alternar de navegação"
+
+msgid "Source repository"
+msgstr "Repositório fonte"
+
+msgid "By the"
+msgstr "Pelo"
+
+msgid "next page"
+msgstr "próxima página"
+
+msgid "repository"
+msgstr "repositório"
+
+msgid "Sphinx Book Theme"
+msgstr "Tema do livro Sphinx"
+
+msgid "Download source file"
+msgstr "Baixar arquivo fonte"
+
+msgid "Contents"
+msgstr "Conteúdo"
+
+msgid "By"
+msgstr "De"
+
+msgid "Copyright"
+msgstr "direito autoral"
+
+msgid "Fullscreen mode"
+msgstr "Modo tela cheia"
+
+msgid "Open an issue"
+msgstr "Abra um problema"
+
+msgid "previous page"
+msgstr "página anterior"
+
+msgid "Download this page"
+msgstr "Baixe esta página"
+
+msgid "Theme by the"
+msgstr "Tema por"
diff --git a/v1.4.0/_static/locales/ro/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/ro/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..3c36ab1df7
Binary files /dev/null and b/v1.4.0/_static/locales/ro/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/ro/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/ro/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..db865c8f65
--- /dev/null
+++ b/v1.4.0/_static/locales/ro/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: ro\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "sugerează editare"
+
+msgid "Last updated on"
+msgstr "Ultima actualizare la"
+
+msgid "Edit this page"
+msgstr "Editați această pagină"
+
+msgid "Launch"
+msgstr "Lansa"
+
+msgid "Print to PDF"
+msgstr "Imprimați în PDF"
+
+msgid "open issue"
+msgstr "problema deschisă"
+
+msgid "Download notebook file"
+msgstr "Descărcați fișierul notebook"
+
+msgid "Toggle navigation"
+msgstr "Comutare navigare"
+
+msgid "Source repository"
+msgstr "Depozit sursă"
+
+msgid "By the"
+msgstr "Langa"
+
+msgid "next page"
+msgstr "pagina următoare"
+
+msgid "repository"
+msgstr "repertoriu"
+
+msgid "Sphinx Book Theme"
+msgstr "Tema Sphinx Book"
+
+msgid "Download source file"
+msgstr "Descărcați fișierul sursă"
+
+msgid "Contents"
+msgstr "Cuprins"
+
+msgid "By"
+msgstr "De"
+
+msgid "Copyright"
+msgstr "Drepturi de autor"
+
+msgid "Fullscreen mode"
+msgstr "Modul ecran întreg"
+
+msgid "Open an issue"
+msgstr "Deschideți o problemă"
+
+msgid "previous page"
+msgstr "pagina anterioară"
+
+msgid "Download this page"
+msgstr "Descarcă această pagină"
+
+msgid "Theme by the"
+msgstr "Tema de"
diff --git a/v1.4.0/_static/locales/ru/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/ru/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..6b8ca41f36
Binary files /dev/null and b/v1.4.0/_static/locales/ru/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/ru/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/ru/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..84ab6eb531
--- /dev/null
+++ b/v1.4.0/_static/locales/ru/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: ru\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "предложить редактировать"
+
+msgid "Last updated on"
+msgstr "Последнее обновление"
+
+msgid "Edit this page"
+msgstr "Редактировать эту страницу"
+
+msgid "Launch"
+msgstr "Запуск"
+
+msgid "Print to PDF"
+msgstr "Распечатать в PDF"
+
+msgid "open issue"
+msgstr "открытый вопрос"
+
+msgid "Download notebook file"
+msgstr "Скачать файл записной книжки"
+
+msgid "Toggle navigation"
+msgstr "Переключить навигацию"
+
+msgid "Source repository"
+msgstr "Исходный репозиторий"
+
+msgid "By the"
+msgstr "Посредством"
+
+msgid "next page"
+msgstr "Следующая страница"
+
+msgid "repository"
+msgstr "хранилище"
+
+msgid "Sphinx Book Theme"
+msgstr "Тема книги Сфинкс"
+
+msgid "Download source file"
+msgstr "Скачать исходный файл"
+
+msgid "Contents"
+msgstr "Содержание"
+
+msgid "By"
+msgstr "По"
+
+msgid "Copyright"
+msgstr "авторское право"
+
+msgid "Fullscreen mode"
+msgstr "Полноэкранный режим"
+
+msgid "Open an issue"
+msgstr "Открыть вопрос"
+
+msgid "previous page"
+msgstr "Предыдущая страница"
+
+msgid "Download this page"
+msgstr "Загрузите эту страницу"
+
+msgid "Theme by the"
+msgstr "Тема от"
diff --git a/v1.4.0/_static/locales/sk/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/sk/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..59bd0ddfa3
Binary files /dev/null and b/v1.4.0/_static/locales/sk/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/sk/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/sk/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..e44878b50e
--- /dev/null
+++ b/v1.4.0/_static/locales/sk/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: sk\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "navrhnúť úpravu"
+
+msgid "Last updated on"
+msgstr "Posledná aktualizácia dňa"
+
+msgid "Edit this page"
+msgstr "Upraviť túto stránku"
+
+msgid "Launch"
+msgstr "Spustiť"
+
+msgid "Print to PDF"
+msgstr "Tlač do PDF"
+
+msgid "open issue"
+msgstr "otvorené vydanie"
+
+msgid "Download notebook file"
+msgstr "Stiahnite si zošit"
+
+msgid "Toggle navigation"
+msgstr "Prepnúť navigáciu"
+
+msgid "Source repository"
+msgstr "Zdrojové úložisko"
+
+msgid "By the"
+msgstr "Podľa"
+
+msgid "next page"
+msgstr "ďalšia strana"
+
+msgid "repository"
+msgstr "Úložisko"
+
+msgid "Sphinx Book Theme"
+msgstr "Téma knihy Sfinga"
+
+msgid "Download source file"
+msgstr "Stiahnite si zdrojový súbor"
+
+msgid "Contents"
+msgstr "Obsah"
+
+msgid "By"
+msgstr "Autor:"
+
+msgid "Copyright"
+msgstr "Autorské práva"
+
+msgid "Fullscreen mode"
+msgstr "Režim celej obrazovky"
+
+msgid "Open an issue"
+msgstr "Otvorte problém"
+
+msgid "previous page"
+msgstr "predchádzajúca strana"
+
+msgid "Download this page"
+msgstr "Stiahnite si túto stránku"
+
+msgid "Theme by the"
+msgstr "Téma od"
diff --git a/v1.4.0/_static/locales/sl/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/sl/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..87bf26de68
Binary files /dev/null and b/v1.4.0/_static/locales/sl/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/sl/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/sl/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..228939bcdd
--- /dev/null
+++ b/v1.4.0/_static/locales/sl/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: sl\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "predlagajte urejanje"
+
+msgid "Last updated on"
+msgstr "Nazadnje posodobljeno dne"
+
+msgid "Edit this page"
+msgstr "Uredite to stran"
+
+msgid "Launch"
+msgstr "Kosilo"
+
+msgid "Print to PDF"
+msgstr "Natisni v PDF"
+
+msgid "open issue"
+msgstr "odprto vprašanje"
+
+msgid "Download notebook file"
+msgstr "Prenesite datoteko zvezka"
+
+msgid "Toggle navigation"
+msgstr "Preklopi navigacijo"
+
+msgid "Source repository"
+msgstr "Izvorno skladišče"
+
+msgid "By the"
+msgstr "Avtor"
+
+msgid "next page"
+msgstr "Naslednja stran"
+
+msgid "repository"
+msgstr "odlagališče"
+
+msgid "Sphinx Book Theme"
+msgstr "Tema knjige Sphinx"
+
+msgid "Download source file"
+msgstr "Prenesite izvorno datoteko"
+
+msgid "Contents"
+msgstr "Vsebina"
+
+msgid "By"
+msgstr "Avtor"
+
+msgid "Copyright"
+msgstr "avtorske pravice"
+
+msgid "Fullscreen mode"
+msgstr "Celozaslonski način"
+
+msgid "Open an issue"
+msgstr "Odprite številko"
+
+msgid "previous page"
+msgstr "Prejšnja stran"
+
+msgid "Download this page"
+msgstr "Prenesite to stran"
+
+msgid "Theme by the"
+msgstr "Tema avtorja"
diff --git a/v1.4.0/_static/locales/sr/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/sr/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..ec740f4852
Binary files /dev/null and b/v1.4.0/_static/locales/sr/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/sr/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/sr/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..1a712a18d8
--- /dev/null
+++ b/v1.4.0/_static/locales/sr/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: sr\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "предложи уређивање"
+
+msgid "Last updated on"
+msgstr "Последње ажурирање"
+
+msgid "Edit this page"
+msgstr "Уредите ову страницу"
+
+msgid "Launch"
+msgstr "Лансирање"
+
+msgid "Print to PDF"
+msgstr "Испис у ПДФ"
+
+msgid "open issue"
+msgstr "отворено издање"
+
+msgid "Download notebook file"
+msgstr "Преузмите датотеку бележнице"
+
+msgid "Toggle navigation"
+msgstr "Укључи / искључи навигацију"
+
+msgid "Source repository"
+msgstr "Изворно спремиште"
+
+msgid "By the"
+msgstr "Од"
+
+msgid "next page"
+msgstr "Следећа страна"
+
+msgid "repository"
+msgstr "спремиште"
+
+msgid "Sphinx Book Theme"
+msgstr "Тема књиге Спхинк"
+
+msgid "Download source file"
+msgstr "Преузми изворну датотеку"
+
+msgid "Contents"
+msgstr "Садржај"
+
+msgid "By"
+msgstr "Од стране"
+
+msgid "Copyright"
+msgstr "Ауторско право"
+
+msgid "Fullscreen mode"
+msgstr "Режим целог екрана"
+
+msgid "Open an issue"
+msgstr "Отворите издање"
+
+msgid "previous page"
+msgstr "Претходна страница"
+
+msgid "Download this page"
+msgstr "Преузмите ову страницу"
+
+msgid "Theme by the"
+msgstr "Тхеме би"
diff --git a/v1.4.0/_static/locales/sv/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/sv/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..be951bec20
Binary files /dev/null and b/v1.4.0/_static/locales/sv/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/sv/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/sv/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..7d2b56d949
--- /dev/null
+++ b/v1.4.0/_static/locales/sv/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: sv\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "föreslå redigering"
+
+msgid "Last updated on"
+msgstr "Senast uppdaterad den"
+
+msgid "Edit this page"
+msgstr "Redigera den här sidan"
+
+msgid "Launch"
+msgstr "Lansera"
+
+msgid "Print to PDF"
+msgstr "Skriv ut till PDF"
+
+msgid "open issue"
+msgstr "öppet problem"
+
+msgid "Download notebook file"
+msgstr "Ladda ner anteckningsbokfilen"
+
+msgid "Toggle navigation"
+msgstr "Växla navigering"
+
+msgid "Source repository"
+msgstr "Källförvar"
+
+msgid "By the"
+msgstr "Vid"
+
+msgid "next page"
+msgstr "nästa sida"
+
+msgid "repository"
+msgstr "förvar"
+
+msgid "Sphinx Book Theme"
+msgstr "Sphinx boktema"
+
+msgid "Download source file"
+msgstr "Ladda ner källfil"
+
+msgid "Contents"
+msgstr "Innehåll"
+
+msgid "By"
+msgstr "Förbi"
+
+msgid "Copyright"
+msgstr "upphovsrätt"
+
+msgid "Fullscreen mode"
+msgstr "Fullskärmsläge"
+
+msgid "Open an issue"
+msgstr "Öppna ett problem"
+
+msgid "previous page"
+msgstr "föregående sida"
+
+msgid "Download this page"
+msgstr "Ladda ner den här sidan"
+
+msgid "Theme by the"
+msgstr "Tema av"
diff --git a/v1.4.0/_static/locales/ta/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/ta/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..29f52e1f6f
Binary files /dev/null and b/v1.4.0/_static/locales/ta/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/ta/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/ta/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..c75ffe192c
--- /dev/null
+++ b/v1.4.0/_static/locales/ta/LC_MESSAGES/booktheme.po
@@ -0,0 +1,66 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: ta\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "திருத்த பரிந்துரைக்கவும்"
+
+msgid "Last updated on"
+msgstr "கடைசியாக புதுப்பிக்கப்பட்டது"
+
+msgid "Edit this page"
+msgstr "இந்தப் பக்கத்தைத் திருத்தவும்"
+
+msgid "Launch"
+msgstr "தொடங்க"
+
+msgid "Print to PDF"
+msgstr "PDF இல் அச்சிடுக"
+
+msgid "open issue"
+msgstr "திறந்த பிரச்சினை"
+
+msgid "Download notebook file"
+msgstr "நோட்புக் கோப்பைப் பதிவிறக்கவும்"
+
+msgid "Toggle navigation"
+msgstr "வழிசெலுத்தலை நிலைமாற்று"
+
+msgid "Source repository"
+msgstr "மூல களஞ்சியம்"
+
+msgid "By the"
+msgstr "மூலம்"
+
+msgid "next page"
+msgstr "அடுத்த பக்கம்"
+
+msgid "Sphinx Book Theme"
+msgstr "ஸ்பிங்க்ஸ் புத்தக தீம்"
+
+msgid "Download source file"
+msgstr "மூல கோப்பைப் பதிவிறக்குக"
+
+msgid "By"
+msgstr "வழங்கியவர்"
+
+msgid "Copyright"
+msgstr "பதிப்புரிமை"
+
+msgid "Open an issue"
+msgstr "சிக்கலைத் திறக்கவும்"
+
+msgid "previous page"
+msgstr "முந்தைய பக்கம்"
+
+msgid "Download this page"
+msgstr "இந்தப் பக்கத்தைப் பதிவிறக்கவும்"
+
+msgid "Theme by the"
+msgstr "வழங்கிய தீம்"
diff --git a/v1.4.0/_static/locales/te/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/te/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..0a5f4b46ad
Binary files /dev/null and b/v1.4.0/_static/locales/te/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/te/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/te/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..2595c03590
--- /dev/null
+++ b/v1.4.0/_static/locales/te/LC_MESSAGES/booktheme.po
@@ -0,0 +1,66 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: te\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "సవరించమని సూచించండి"
+
+msgid "Last updated on"
+msgstr "చివరిగా నవీకరించబడింది"
+
+msgid "Edit this page"
+msgstr "ఈ పేజీని సవరించండి"
+
+msgid "Launch"
+msgstr "ప్రారంభించండి"
+
+msgid "Print to PDF"
+msgstr "PDF కి ముద్రించండి"
+
+msgid "open issue"
+msgstr "ఓపెన్ ఇష్యూ"
+
+msgid "Download notebook file"
+msgstr "నోట్బుక్ ఫైల్ను డౌన్లోడ్ చేయండి"
+
+msgid "Toggle navigation"
+msgstr "నావిగేషన్‌ను టోగుల్ చేయండి"
+
+msgid "Source repository"
+msgstr "మూల రిపోజిటరీ"
+
+msgid "By the"
+msgstr "ద్వారా"
+
+msgid "next page"
+msgstr "తరువాతి పేజీ"
+
+msgid "Sphinx Book Theme"
+msgstr "సింహిక పుస్తక థీమ్"
+
+msgid "Download source file"
+msgstr "మూల ఫైల్‌ను డౌన్‌లోడ్ చేయండి"
+
+msgid "By"
+msgstr "ద్వారా"
+
+msgid "Copyright"
+msgstr "కాపీరైట్"
+
+msgid "Open an issue"
+msgstr "సమస్యను తెరవండి"
+
+msgid "previous page"
+msgstr "ముందు పేజి"
+
+msgid "Download this page"
+msgstr "ఈ పేజీని డౌన్‌లోడ్ చేయండి"
+
+msgid "Theme by the"
+msgstr "ద్వారా థీమ్"
diff --git a/v1.4.0/_static/locales/tg/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/tg/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..b21c6c6340
Binary files /dev/null and b/v1.4.0/_static/locales/tg/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/tg/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/tg/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..73cd30ea97
--- /dev/null
+++ b/v1.4.0/_static/locales/tg/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: tg\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "пешниҳод вироиш"
+
+msgid "Last updated on"
+msgstr "Last навсозӣ дар"
+
+msgid "Edit this page"
+msgstr "Ин саҳифаро таҳрир кунед"
+
+msgid "Launch"
+msgstr "Оғоз"
+
+msgid "Print to PDF"
+msgstr "Чоп ба PDF"
+
+msgid "open issue"
+msgstr "барориши кушод"
+
+msgid "Download notebook file"
+msgstr "Файли дафтарро зеркашӣ кунед"
+
+msgid "Toggle navigation"
+msgstr "Гузаришро иваз кунед"
+
+msgid "Source repository"
+msgstr "Анбори манбаъ"
+
+msgid "By the"
+msgstr "Бо"
+
+msgid "next page"
+msgstr "саҳифаи оянда"
+
+msgid "repository"
+msgstr "анбор"
+
+msgid "Sphinx Book Theme"
+msgstr "Сфинкс Мавзӯи китоб"
+
+msgid "Download source file"
+msgstr "Файли манбаъро зеркашӣ кунед"
+
+msgid "Contents"
+msgstr "Мундариҷа"
+
+msgid "By"
+msgstr "Бо"
+
+msgid "Copyright"
+msgstr "Ҳуқуқи муаллиф"
+
+msgid "Fullscreen mode"
+msgstr "Ҳолати экрани пурра"
+
+msgid "Open an issue"
+msgstr "Масъаларо кушоед"
+
+msgid "previous page"
+msgstr "саҳифаи қаблӣ"
+
+msgid "Download this page"
+msgstr "Ин саҳифаро зеркашӣ кунед"
+
+msgid "Theme by the"
+msgstr "Мавзӯъи аз"
diff --git a/v1.4.0/_static/locales/th/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/th/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..abede98aa1
Binary files /dev/null and b/v1.4.0/_static/locales/th/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/th/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/th/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..0392b4ad39
--- /dev/null
+++ b/v1.4.0/_static/locales/th/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: th\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "แนะนำแก้ไข"
+
+msgid "Last updated on"
+msgstr "ปรับปรุงล่าสุดเมื่อ"
+
+msgid "Edit this page"
+msgstr "แก้ไขหน้านี้"
+
+msgid "Launch"
+msgstr "เปิด"
+
+msgid "Print to PDF"
+msgstr "พิมพ์เป็น PDF"
+
+msgid "open issue"
+msgstr "เปิดปัญหา"
+
+msgid "Download notebook file"
+msgstr "ดาวน์โหลดไฟล์สมุดบันทึก"
+
+msgid "Toggle navigation"
+msgstr "ไม่ต้องสลับช่องทาง"
+
+msgid "Source repository"
+msgstr "ที่เก็บซอร์ส"
+
+msgid "By the"
+msgstr "โดย"
+
+msgid "next page"
+msgstr "หน้าต่อไป"
+
+msgid "repository"
+msgstr "ที่เก็บ"
+
+msgid "Sphinx Book Theme"
+msgstr "ธีมหนังสือสฟิงซ์"
+
+msgid "Download source file"
+msgstr "ดาวน์โหลดไฟล์ต้นฉบับ"
+
+msgid "Contents"
+msgstr "สารบัญ"
+
+msgid "By"
+msgstr "โดย"
+
+msgid "Copyright"
+msgstr "ลิขสิทธิ์"
+
+msgid "Fullscreen mode"
+msgstr "โหมดเต็มหน้าจอ"
+
+msgid "Open an issue"
+msgstr "เปิดปัญหา"
+
+msgid "previous page"
+msgstr "หน้าที่แล้ว"
+
+msgid "Download this page"
+msgstr "ดาวน์โหลดหน้านี้"
+
+msgid "Theme by the"
+msgstr "ธีมโดย"
diff --git a/v1.4.0/_static/locales/tl/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/tl/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..8df1b73310
Binary files /dev/null and b/v1.4.0/_static/locales/tl/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/tl/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/tl/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..c8375b5431
--- /dev/null
+++ b/v1.4.0/_static/locales/tl/LC_MESSAGES/booktheme.po
@@ -0,0 +1,66 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: tl\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "iminumungkahi i-edit"
+
+msgid "Last updated on"
+msgstr "Huling na-update noong"
+
+msgid "Edit this page"
+msgstr "I-edit ang pahinang ito"
+
+msgid "Launch"
+msgstr "Ilunsad"
+
+msgid "Print to PDF"
+msgstr "I-print sa PDF"
+
+msgid "open issue"
+msgstr "bukas na isyu"
+
+msgid "Download notebook file"
+msgstr "Mag-download ng file ng notebook"
+
+msgid "Toggle navigation"
+msgstr "I-toggle ang pag-navigate"
+
+msgid "Source repository"
+msgstr "Pinagmulan ng imbakan"
+
+msgid "By the"
+msgstr "Sa pamamagitan ng"
+
+msgid "next page"
+msgstr "Susunod na pahina"
+
+msgid "Sphinx Book Theme"
+msgstr "Tema ng Sphinx Book"
+
+msgid "Download source file"
+msgstr "Mag-download ng file ng pinagmulan"
+
+msgid "By"
+msgstr "Ni"
+
+msgid "Copyright"
+msgstr "Copyright"
+
+msgid "Open an issue"
+msgstr "Magbukas ng isyu"
+
+msgid "previous page"
+msgstr "Nakaraang pahina"
+
+msgid "Download this page"
+msgstr "I-download ang pahinang ito"
+
+msgid "Theme by the"
+msgstr "Tema ng"
diff --git a/v1.4.0/_static/locales/tr/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/tr/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..029ae18afb
Binary files /dev/null and b/v1.4.0/_static/locales/tr/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/tr/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/tr/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..47d7bdf7f5
--- /dev/null
+++ b/v1.4.0/_static/locales/tr/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: tr\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "düzenleme öner"
+
+msgid "Last updated on"
+msgstr "Son güncelleme tarihi"
+
+msgid "Edit this page"
+msgstr "Bu sayfayı düzenle"
+
+msgid "Launch"
+msgstr "Başlatmak"
+
+msgid "Print to PDF"
+msgstr "PDF olarak yazdır"
+
+msgid "open issue"
+msgstr "Açık konu"
+
+msgid "Download notebook file"
+msgstr "Defter dosyasını indirin"
+
+msgid "Toggle navigation"
+msgstr "Gezinmeyi değiştir"
+
+msgid "Source repository"
+msgstr "Kaynak kod deposu"
+
+msgid "By the"
+msgstr "Tarafından"
+
+msgid "next page"
+msgstr "sonraki Sayfa"
+
+msgid "repository"
+msgstr "depo"
+
+msgid "Sphinx Book Theme"
+msgstr "Sfenks Kitap Teması"
+
+msgid "Download source file"
+msgstr "Kaynak dosyayı indirin"
+
+msgid "Contents"
+msgstr "İçindekiler"
+
+msgid "By"
+msgstr "Tarafından"
+
+msgid "Copyright"
+msgstr "Telif hakkı"
+
+msgid "Fullscreen mode"
+msgstr "Tam ekran modu"
+
+msgid "Open an issue"
+msgstr "Bir sorunu açın"
+
+msgid "previous page"
+msgstr "önceki sayfa"
+
+msgid "Download this page"
+msgstr "Bu sayfayı indirin"
+
+msgid "Theme by the"
+msgstr "Tarafından tema"
diff --git a/v1.4.0/_static/locales/uk/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/uk/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..16ab78909c
Binary files /dev/null and b/v1.4.0/_static/locales/uk/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/uk/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/uk/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..e85f6f16ac
--- /dev/null
+++ b/v1.4.0/_static/locales/uk/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: uk\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "запропонувати редагувати"
+
+msgid "Last updated on"
+msgstr "Останнє оновлення:"
+
+msgid "Edit this page"
+msgstr "Редагувати цю сторінку"
+
+msgid "Launch"
+msgstr "Запуск"
+
+msgid "Print to PDF"
+msgstr "Друк у форматі PDF"
+
+msgid "open issue"
+msgstr "відкритий випуск"
+
+msgid "Download notebook file"
+msgstr "Завантажте файл блокнота"
+
+msgid "Toggle navigation"
+msgstr "Переключити навігацію"
+
+msgid "Source repository"
+msgstr "Джерело сховища"
+
+msgid "By the"
+msgstr "По"
+
+msgid "next page"
+msgstr "Наступна сторінка"
+
+msgid "repository"
+msgstr "сховище"
+
+msgid "Sphinx Book Theme"
+msgstr "Тема книги \"Сфінкс\""
+
+msgid "Download source file"
+msgstr "Завантажити вихідний файл"
+
+msgid "Contents"
+msgstr "Зміст"
+
+msgid "By"
+msgstr "Автор"
+
+msgid "Copyright"
+msgstr "Авторське право"
+
+msgid "Fullscreen mode"
+msgstr "Повноекранний режим"
+
+msgid "Open an issue"
+msgstr "Відкрийте випуск"
+
+msgid "previous page"
+msgstr "Попередня сторінка"
+
+msgid "Download this page"
+msgstr "Завантажте цю сторінку"
+
+msgid "Theme by the"
+msgstr "Тема від"
diff --git a/v1.4.0/_static/locales/ur/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/ur/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..de8c84b935
Binary files /dev/null and b/v1.4.0/_static/locales/ur/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/ur/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/ur/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..0f90726c12
--- /dev/null
+++ b/v1.4.0/_static/locales/ur/LC_MESSAGES/booktheme.po
@@ -0,0 +1,66 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: ur\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "ترمیم کی تجویز کریں"
+
+msgid "Last updated on"
+msgstr "آخری بار تازہ کاری ہوئی"
+
+msgid "Edit this page"
+msgstr "اس صفحے میں ترمیم کریں"
+
+msgid "Launch"
+msgstr "لانچ کریں"
+
+msgid "Print to PDF"
+msgstr "پی ڈی ایف پرنٹ کریں"
+
+msgid "open issue"
+msgstr "کھلا مسئلہ"
+
+msgid "Download notebook file"
+msgstr "نوٹ بک فائل ڈاؤن لوڈ کریں"
+
+msgid "Toggle navigation"
+msgstr "نیویگیشن ٹوگل کریں"
+
+msgid "Source repository"
+msgstr "ماخذ ذخیرہ"
+
+msgid "By the"
+msgstr "کی طرف"
+
+msgid "next page"
+msgstr "اگلا صفحہ"
+
+msgid "Sphinx Book Theme"
+msgstr "سپنکس بک تھیم"
+
+msgid "Download source file"
+msgstr "سورس فائل ڈاؤن لوڈ کریں"
+
+msgid "By"
+msgstr "بذریعہ"
+
+msgid "Copyright"
+msgstr "کاپی رائٹ"
+
+msgid "Open an issue"
+msgstr "ایک مسئلہ کھولیں"
+
+msgid "previous page"
+msgstr "سابقہ ​​صفحہ"
+
+msgid "Download this page"
+msgstr "اس صفحے کو ڈاؤن لوڈ کریں"
+
+msgid "Theme by the"
+msgstr "کے ذریعہ تھیم"
diff --git a/v1.4.0/_static/locales/vi/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/vi/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..2bb32555c3
Binary files /dev/null and b/v1.4.0/_static/locales/vi/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/vi/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/vi/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..2cb5cf3b82
--- /dev/null
+++ b/v1.4.0/_static/locales/vi/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: vi\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "đề nghị chỉnh sửa"
+
+msgid "Last updated on"
+msgstr "Cập nhật lần cuối vào"
+
+msgid "Edit this page"
+msgstr "chỉnh sửa trang này"
+
+msgid "Launch"
+msgstr "Phóng"
+
+msgid "Print to PDF"
+msgstr "In sang PDF"
+
+msgid "open issue"
+msgstr "vấn đề mở"
+
+msgid "Download notebook file"
+msgstr "Tải xuống tệp sổ tay"
+
+msgid "Toggle navigation"
+msgstr "Chuyển đổi điều hướng thành"
+
+msgid "Source repository"
+msgstr "Kho nguồn"
+
+msgid "By the"
+msgstr "Bằng"
+
+msgid "next page"
+msgstr "Trang tiếp theo"
+
+msgid "repository"
+msgstr "kho"
+
+msgid "Sphinx Book Theme"
+msgstr "Chủ đề sách nhân sư"
+
+msgid "Download source file"
+msgstr "Tải xuống tệp nguồn"
+
+msgid "Contents"
+msgstr "Nội dung"
+
+msgid "By"
+msgstr "Bởi"
+
+msgid "Copyright"
+msgstr "Bản quyền"
+
+msgid "Fullscreen mode"
+msgstr "Chế độ toàn màn hình"
+
+msgid "Open an issue"
+msgstr "Mở một vấn đề"
+
+msgid "previous page"
+msgstr "trang trước"
+
+msgid "Download this page"
+msgstr "Tải xuống trang này"
+
+msgid "Theme by the"
+msgstr "Chủ đề của"
diff --git a/v1.4.0/_static/locales/zh_CN/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/zh_CN/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..0e3235d090
Binary files /dev/null and b/v1.4.0/_static/locales/zh_CN/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/zh_CN/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/zh_CN/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..f91f3ba0a2
--- /dev/null
+++ b/v1.4.0/_static/locales/zh_CN/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: zh_CN\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "提出修改建议"
+
+msgid "Last updated on"
+msgstr "上次更新时间："
+
+msgid "Edit this page"
+msgstr "编辑此页面"
+
+msgid "Launch"
+msgstr "启动"
+
+msgid "Print to PDF"
+msgstr "列印成 PDF"
+
+msgid "open issue"
+msgstr "创建议题"
+
+msgid "Download notebook file"
+msgstr "下载笔记本文件"
+
+msgid "Toggle navigation"
+msgstr "显示或隐藏导航栏"
+
+msgid "Source repository"
+msgstr "源码库"
+
+msgid "By the"
+msgstr "作者："
+
+msgid "next page"
+msgstr "下一页"
+
+msgid "repository"
+msgstr "仓库"
+
+msgid "Sphinx Book Theme"
+msgstr "Sphinx Book 主题"
+
+msgid "Download source file"
+msgstr "下载源文件"
+
+msgid "Contents"
+msgstr "目录"
+
+msgid "By"
+msgstr "作者："
+
+msgid "Copyright"
+msgstr "版权"
+
+msgid "Fullscreen mode"
+msgstr "全屏模式"
+
+msgid "Open an issue"
+msgstr "创建议题"
+
+msgid "previous page"
+msgstr "上一页"
+
+msgid "Download this page"
+msgstr "下载此页面"
+
+msgid "Theme by the"
+msgstr "主题作者："
diff --git a/v1.4.0/_static/locales/zh_TW/LC_MESSAGES/booktheme.mo b/v1.4.0/_static/locales/zh_TW/LC_MESSAGES/booktheme.mo
new file mode 100644
index 0000000000..9116fa95d0
Binary files /dev/null and b/v1.4.0/_static/locales/zh_TW/LC_MESSAGES/booktheme.mo differ
diff --git a/v1.4.0/_static/locales/zh_TW/LC_MESSAGES/booktheme.po b/v1.4.0/_static/locales/zh_TW/LC_MESSAGES/booktheme.po
new file mode 100644
index 0000000000..7833d90432
--- /dev/null
+++ b/v1.4.0/_static/locales/zh_TW/LC_MESSAGES/booktheme.po
@@ -0,0 +1,75 @@
+
+msgid ""
+msgstr ""
+"Project-Id-Version: Sphinx-Book-Theme\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Language: zh_TW\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+msgid "suggest edit"
+msgstr "提出修改建議"
+
+msgid "Last updated on"
+msgstr "最後更新時間："
+
+msgid "Edit this page"
+msgstr "編輯此頁面"
+
+msgid "Launch"
+msgstr "啟動"
+
+msgid "Print to PDF"
+msgstr "列印成 PDF"
+
+msgid "open issue"
+msgstr "公開的問題"
+
+msgid "Download notebook file"
+msgstr "下載 Notebook 檔案"
+
+msgid "Toggle navigation"
+msgstr "顯示或隱藏導覽列"
+
+msgid "Source repository"
+msgstr "來源儲存庫"
+
+msgid "By the"
+msgstr "作者："
+
+msgid "next page"
+msgstr "下一頁"
+
+msgid "repository"
+msgstr "儲存庫"
+
+msgid "Sphinx Book Theme"
+msgstr "Sphinx Book 佈景主題"
+
+msgid "Download source file"
+msgstr "下載原始檔"
+
+msgid "Contents"
+msgstr "目錄"
+
+msgid "By"
+msgstr "作者："
+
+msgid "Copyright"
+msgstr "Copyright"
+
+msgid "Fullscreen mode"
+msgstr "全螢幕模式"
+
+msgid "Open an issue"
+msgstr "開啟議題"
+
+msgid "previous page"
+msgstr "上一頁"
+
+msgid "Download this page"
+msgstr "下載此頁面"
+
+msgid "Theme by the"
+msgstr "佈景主題作者："
diff --git a/v1.4.0/_static/minus.png b/v1.4.0/_static/minus.png
new file mode 100644
index 0000000000..d96755fdaf
Binary files /dev/null and b/v1.4.0/_static/minus.png differ
diff --git a/v1.4.0/_static/plus.png b/v1.4.0/_static/plus.png
new file mode 100644
index 0000000000..7107cec93a
Binary files /dev/null and b/v1.4.0/_static/plus.png differ
diff --git a/v1.4.0/_static/pygments.css b/v1.4.0/_static/pygments.css
new file mode 100644
index 0000000000..012e6a00a4
--- /dev/null
+++ b/v1.4.0/_static/pygments.css
@@ -0,0 +1,152 @@
+html[data-theme="light"] .highlight pre { line-height: 125%; }
+html[data-theme="light"] .highlight td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+html[data-theme="light"] .highlight span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+html[data-theme="light"] .highlight td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+html[data-theme="light"] .highlight span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+html[data-theme="light"] .highlight .hll { background-color: #fae4c2 }
+html[data-theme="light"] .highlight { background: #fefefe; color: #080808 }
+html[data-theme="light"] .highlight .c { color: #515151 } /* Comment */
+html[data-theme="light"] .highlight .err { color: #a12236 } /* Error */
+html[data-theme="light"] .highlight .k { color: #6730c5 } /* Keyword */
+html[data-theme="light"] .highlight .l { color: #7f4707 } /* Literal */
+html[data-theme="light"] .highlight .n { color: #080808 } /* Name */
+html[data-theme="light"] .highlight .o { color: #00622f } /* Operator */
+html[data-theme="light"] .highlight .p { color: #080808 } /* Punctuation */
+html[data-theme="light"] .highlight .ch { color: #515151 } /* Comment.Hashbang */
+html[data-theme="light"] .highlight .cm { color: #515151 } /* Comment.Multiline */
+html[data-theme="light"] .highlight .cp { color: #515151 } /* Comment.Preproc */
+html[data-theme="light"] .highlight .cpf { color: #515151 } /* Comment.PreprocFile */
+html[data-theme="light"] .highlight .c1 { color: #515151 } /* Comment.Single */
+html[data-theme="light"] .highlight .cs { color: #515151 } /* Comment.Special */
+html[data-theme="light"] .highlight .gd { color: #005b82 } /* Generic.Deleted */
+html[data-theme="light"] .highlight .ge { font-style: italic } /* Generic.Emph */
+html[data-theme="light"] .highlight .gh { color: #005b82 } /* Generic.Heading */
+html[data-theme="light"] .highlight .gs { font-weight: bold } /* Generic.Strong */
+html[data-theme="light"] .highlight .gu { color: #005b82 } /* Generic.Subheading */
+html[data-theme="light"] .highlight .kc { color: #6730c5 } /* Keyword.Constant */
+html[data-theme="light"] .highlight .kd { color: #6730c5 } /* Keyword.Declaration */
+html[data-theme="light"] .highlight .kn { color: #6730c5 } /* Keyword.Namespace */
+html[data-theme="light"] .highlight .kp { color: #6730c5 } /* Keyword.Pseudo */
+html[data-theme="light"] .highlight .kr { color: #6730c5 } /* Keyword.Reserved */
+html[data-theme="light"] .highlight .kt { color: #7f4707 } /* Keyword.Type */
+html[data-theme="light"] .highlight .ld { color: #7f4707 } /* Literal.Date */
+html[data-theme="light"] .highlight .m { color: #7f4707 } /* Literal.Number */
+html[data-theme="light"] .highlight .s { color: #00622f } /* Literal.String */
+html[data-theme="light"] .highlight .na { color: #912583 } /* Name.Attribute */
+html[data-theme="light"] .highlight .nb { color: #7f4707 } /* Name.Builtin */
+html[data-theme="light"] .highlight .nc { color: #005b82 } /* Name.Class */
+html[data-theme="light"] .highlight .no { color: #005b82 } /* Name.Constant */
+html[data-theme="light"] .highlight .nd { color: #7f4707 } /* Name.Decorator */
+html[data-theme="light"] .highlight .ni { color: #00622f } /* Name.Entity */
+html[data-theme="light"] .highlight .ne { color: #6730c5 } /* Name.Exception */
+html[data-theme="light"] .highlight .nf { color: #005b82 } /* Name.Function */
+html[data-theme="light"] .highlight .nl { color: #7f4707 } /* Name.Label */
+html[data-theme="light"] .highlight .nn { color: #080808 } /* Name.Namespace */
+html[data-theme="light"] .highlight .nx { color: #080808 } /* Name.Other */
+html[data-theme="light"] .highlight .py { color: #005b82 } /* Name.Property */
+html[data-theme="light"] .highlight .nt { color: #005b82 } /* Name.Tag */
+html[data-theme="light"] .highlight .nv { color: #a12236 } /* Name.Variable */
+html[data-theme="light"] .highlight .ow { color: #6730c5 } /* Operator.Word */
+html[data-theme="light"] .highlight .pm { color: #080808 } /* Punctuation.Marker */
+html[data-theme="light"] .highlight .w { color: #080808 } /* Text.Whitespace */
+html[data-theme="light"] .highlight .mb { color: #7f4707 } /* Literal.Number.Bin */
+html[data-theme="light"] .highlight .mf { color: #7f4707 } /* Literal.Number.Float */
+html[data-theme="light"] .highlight .mh { color: #7f4707 } /* Literal.Number.Hex */
+html[data-theme="light"] .highlight .mi { color: #7f4707 } /* Literal.Number.Integer */
+html[data-theme="light"] .highlight .mo { color: #7f4707 } /* Literal.Number.Oct */
+html[data-theme="light"] .highlight .sa { color: #00622f } /* Literal.String.Affix */
+html[data-theme="light"] .highlight .sb { color: #00622f } /* Literal.String.Backtick */
+html[data-theme="light"] .highlight .sc { color: #00622f } /* Literal.String.Char */
+html[data-theme="light"] .highlight .dl { color: #00622f } /* Literal.String.Delimiter */
+html[data-theme="light"] .highlight .sd { color: #00622f } /* Literal.String.Doc */
+html[data-theme="light"] .highlight .s2 { color: #00622f } /* Literal.String.Double */
+html[data-theme="light"] .highlight .se { color: #00622f } /* Literal.String.Escape */
+html[data-theme="light"] .highlight .sh { color: #00622f } /* Literal.String.Heredoc */
+html[data-theme="light"] .highlight .si { color: #00622f } /* Literal.String.Interpol */
+html[data-theme="light"] .highlight .sx { color: #00622f } /* Literal.String.Other */
+html[data-theme="light"] .highlight .sr { color: #a12236 } /* Literal.String.Regex */
+html[data-theme="light"] .highlight .s1 { color: #00622f } /* Literal.String.Single */
+html[data-theme="light"] .highlight .ss { color: #005b82 } /* Literal.String.Symbol */
+html[data-theme="light"] .highlight .bp { color: #7f4707 } /* Name.Builtin.Pseudo */
+html[data-theme="light"] .highlight .fm { color: #005b82 } /* Name.Function.Magic */
+html[data-theme="light"] .highlight .vc { color: #a12236 } /* Name.Variable.Class */
+html[data-theme="light"] .highlight .vg { color: #a12236 } /* Name.Variable.Global */
+html[data-theme="light"] .highlight .vi { color: #a12236 } /* Name.Variable.Instance */
+html[data-theme="light"] .highlight .vm { color: #7f4707 } /* Name.Variable.Magic */
+html[data-theme="light"] .highlight .il { color: #7f4707 } /* Literal.Number.Integer.Long */
+html[data-theme="dark"] .highlight pre { line-height: 125%; }
+html[data-theme="dark"] .highlight td.linenos .normal { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+html[data-theme="dark"] .highlight span.linenos { color: inherit; background-color: transparent; padding-left: 5px; padding-right: 5px; }
+html[data-theme="dark"] .highlight td.linenos .special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+html[data-theme="dark"] .highlight span.linenos.special { color: #000000; background-color: #ffffc0; padding-left: 5px; padding-right: 5px; }
+html[data-theme="dark"] .highlight .hll { background-color: #ffd9002e }
+html[data-theme="dark"] .highlight { background: #2b2b2b; color: #f8f8f2 }
+html[data-theme="dark"] .highlight .c { color: #ffd900 } /* Comment */
+html[data-theme="dark"] .highlight .err { color: #ffa07a } /* Error */
+html[data-theme="dark"] .highlight .k { color: #dcc6e0 } /* Keyword */
+html[data-theme="dark"] .highlight .l { color: #ffd900 } /* Literal */
+html[data-theme="dark"] .highlight .n { color: #f8f8f2 } /* Name */
+html[data-theme="dark"] .highlight .o { color: #abe338 } /* Operator */
+html[data-theme="dark"] .highlight .p { color: #f8f8f2 } /* Punctuation */
+html[data-theme="dark"] .highlight .ch { color: #ffd900 } /* Comment.Hashbang */
+html[data-theme="dark"] .highlight .cm { color: #ffd900 } /* Comment.Multiline */
+html[data-theme="dark"] .highlight .cp { color: #ffd900 } /* Comment.Preproc */
+html[data-theme="dark"] .highlight .cpf { color: #ffd900 } /* Comment.PreprocFile */
+html[data-theme="dark"] .highlight .c1 { color: #ffd900 } /* Comment.Single */
+html[data-theme="dark"] .highlight .cs { color: #ffd900 } /* Comment.Special */
+html[data-theme="dark"] .highlight .gd { color: #00e0e0 } /* Generic.Deleted */
+html[data-theme="dark"] .highlight .ge { font-style: italic } /* Generic.Emph */
+html[data-theme="dark"] .highlight .gh { color: #00e0e0 } /* Generic.Heading */
+html[data-theme="dark"] .highlight .gs { font-weight: bold } /* Generic.Strong */
+html[data-theme="dark"] .highlight .gu { color: #00e0e0 } /* Generic.Subheading */
+html[data-theme="dark"] .highlight .kc { color: #dcc6e0 } /* Keyword.Constant */
+html[data-theme="dark"] .highlight .kd { color: #dcc6e0 } /* Keyword.Declaration */
+html[data-theme="dark"] .highlight .kn { color: #dcc6e0 } /* Keyword.Namespace */
+html[data-theme="dark"] .highlight .kp { color: #dcc6e0 } /* Keyword.Pseudo */
+html[data-theme="dark"] .highlight .kr { color: #dcc6e0 } /* Keyword.Reserved */
+html[data-theme="dark"] .highlight .kt { color: #ffd900 } /* Keyword.Type */
+html[data-theme="dark"] .highlight .ld { color: #ffd900 } /* Literal.Date */
+html[data-theme="dark"] .highlight .m { color: #ffd900 } /* Literal.Number */
+html[data-theme="dark"] .highlight .s { color: #abe338 } /* Literal.String */
+html[data-theme="dark"] .highlight .na { color: #ffd900 } /* Name.Attribute */
+html[data-theme="dark"] .highlight .nb { color: #ffd900 } /* Name.Builtin */
+html[data-theme="dark"] .highlight .nc { color: #00e0e0 } /* Name.Class */
+html[data-theme="dark"] .highlight .no { color: #00e0e0 } /* Name.Constant */
+html[data-theme="dark"] .highlight .nd { color: #ffd900 } /* Name.Decorator */
+html[data-theme="dark"] .highlight .ni { color: #abe338 } /* Name.Entity */
+html[data-theme="dark"] .highlight .ne { color: #dcc6e0 } /* Name.Exception */
+html[data-theme="dark"] .highlight .nf { color: #00e0e0 } /* Name.Function */
+html[data-theme="dark"] .highlight .nl { color: #ffd900 } /* Name.Label */
+html[data-theme="dark"] .highlight .nn { color: #f8f8f2 } /* Name.Namespace */
+html[data-theme="dark"] .highlight .nx { color: #f8f8f2 } /* Name.Other */
+html[data-theme="dark"] .highlight .py { color: #00e0e0 } /* Name.Property */
+html[data-theme="dark"] .highlight .nt { color: #00e0e0 } /* Name.Tag */
+html[data-theme="dark"] .highlight .nv { color: #ffa07a } /* Name.Variable */
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+html[data-theme="dark"] .highlight .mb { color: #ffd900 } /* Literal.Number.Bin */
+html[data-theme="dark"] .highlight .mf { color: #ffd900 } /* Literal.Number.Float */
+html[data-theme="dark"] .highlight .mh { color: #ffd900 } /* Literal.Number.Hex */
+html[data-theme="dark"] .highlight .mi { color: #ffd900 } /* Literal.Number.Integer */
+html[data-theme="dark"] .highlight .mo { color: #ffd900 } /* Literal.Number.Oct */
+html[data-theme="dark"] .highlight .sa { color: #abe338 } /* Literal.String.Affix */
+html[data-theme="dark"] .highlight .sb { color: #abe338 } /* Literal.String.Backtick */
+html[data-theme="dark"] .highlight .sc { color: #abe338 } /* Literal.String.Char */
+html[data-theme="dark"] .highlight .dl { color: #abe338 } /* Literal.String.Delimiter */
+html[data-theme="dark"] .highlight .sd { color: #abe338 } /* Literal.String.Doc */
+html[data-theme="dark"] .highlight .s2 { color: #abe338 } /* Literal.String.Double */
+html[data-theme="dark"] .highlight .se { color: #abe338 } /* Literal.String.Escape */
+html[data-theme="dark"] .highlight .sh { color: #abe338 } /* Literal.String.Heredoc */
+html[data-theme="dark"] .highlight .si { color: #abe338 } /* Literal.String.Interpol */
+html[data-theme="dark"] .highlight .sx { color: #abe338 } /* Literal.String.Other */
+html[data-theme="dark"] .highlight .sr { color: #ffa07a } /* Literal.String.Regex */
+html[data-theme="dark"] .highlight .s1 { color: #abe338 } /* Literal.String.Single */
+html[data-theme="dark"] .highlight .ss { color: #00e0e0 } /* Literal.String.Symbol */
+html[data-theme="dark"] .highlight .bp { color: #ffd900 } /* Name.Builtin.Pseudo */
+html[data-theme="dark"] .highlight .fm { color: #00e0e0 } /* Name.Function.Magic */
+html[data-theme="dark"] .highlight .vc { color: #ffa07a } /* Name.Variable.Class */
+html[data-theme="dark"] .highlight .vg { color: #ffa07a } /* Name.Variable.Global */
+html[data-theme="dark"] .highlight .vi { color: #ffa07a } /* Name.Variable.Instance */
+html[data-theme="dark"] .highlight .vm { color: #ffd900 } /* Name.Variable.Magic */
+html[data-theme="dark"] .highlight .il { color: #ffd900 } /* Literal.Number.Integer.Long */
\ No newline at end of file
diff --git a/v1.4.0/_static/sbt-webpack-macros.html b/v1.4.0/_static/sbt-webpack-macros.html
new file mode 100644
index 0000000000..6cbf559faa
--- /dev/null
+++ b/v1.4.0/_static/sbt-webpack-macros.html
@@ -0,0 +1,11 @@
+<!--
+  All these macros are auto-generated and must **NOT** be edited by hand.
+  See the webpack.config.js file, to learn more about how this is generated.
+-->
+{% macro head_pre_bootstrap() %}
+  <link href="{{ pathto('_static/styles/sphinx-book-theme.css', 1) }}" rel="stylesheet">
+{% endmacro %}
+
+{% macro body_post() %}
+  <script src="{{ pathto('_static/scripts/sphinx-book-theme.js', 1) }}"></script>
+{% endmacro %}
diff --git a/v1.4.0/_static/scripts/bootstrap.js b/v1.4.0/_static/scripts/bootstrap.js
new file mode 100644
index 0000000000..c8178debbc
--- /dev/null
+++ b/v1.4.0/_static/scripts/bootstrap.js
@@ -0,0 +1,3 @@
+/*! For license information please see bootstrap.js.LICENSE.txt */
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ve{constructor(t,e){super(t,e),this._interval=null,this._activeElement=null,this._isSliding=!1,this.touchTimeout=null,this._swipeHelper=null,this._indicatorsElement=we.findOne(".carousel-indicators",this._element),this._addEventListeners(),this._config.ride===ti&&this.cycle()}static get Default(){return ri}static get DefaultType(){return ai}static get NAME(){return"carousel"}next(){this._slide(ze)}nextWhenVisible(){!document.hidden&&Bt(this._element)&&this.next()}prev(){this._slide(Re)}pause(){this._isSliding&&jt(this._element),this._clearInterval()}cycle(){this._clearInterval(),this._updateInterval(),this._interval=setInterval((()=>this.nextWhenVisible()),this._config.interval)}_maybeEnableCycle(){this._config.ride&&(this._isSliding?fe.one(this._element,Ke,(()=>this.cycle())):this.cycle())}to(t){const e=this._getItems();if(t>e.length-1||t<0)return;if(this._isSliding)return void fe.one(this._element,Ke,(()=>this.to(t)));const i=this._getItemIndex(this._getActive());if(i===t)return;const n=t>i?ze:Re;this._slide(n,e[t])}dispose(){this._swipeHelper&&this._swipeHelper.dispose(),super.dispose()}_configAfterMerge(t){return t.defaultInterval=t.interval,t}_addEventListeners(){this._config.keyboard&&fe.on(this._element,Qe,(t=>this._keydown(t))),"hover"===this._config.pause&&(fe.on(this._element,Xe,(()=>this.pause())),fe.on(this._element,Ue,(()=>this._maybeEnableCycle()))),this._config.touch&&je.isSupported()&&this._addTouchEventListeners()}_addTouchEventListeners(){for(const t of we.find(".carousel-item img",this._element))fe.on(t,Ge,(t=>t.preventDefault()));const t={leftCallback:()=>this._slide(this._directionToOrder(qe)),rightCallback:()=>this._slide(this._directionToOrder(Ve)),endCallback:()=>{"hover"===this._config.pause&&(this.pause(),this.touchTimeout&&clearTimeout(this.touchTimeout),this.touchTimeout=setTimeout((()=>this._maybeEnableCycle()),500+this._config.interval))}};this._swipeHelper=new je(this._element,t)}_keydown(t){if(/input|textarea/i.test(t.target.tagName))return;const e=oi[t.key];e&&(t.preventDefault(),this._slide(this._directionToOrder(e)))}_getItemIndex(t){return this._getItems().indexOf(t)}_setActiveIndicatorElement(t){if(!this._indicatorsElement)return;const e=we.findOne(ii,this._indicatorsElement);e.classList.remove(ei),e.removeAttribute("aria-current");const i=we.findOne(`[data-bs-slide-to="${t}"]`,this._indicatorsElement);i&&(i.classList.add(ei),i.setAttribute("aria-current","true"))}_updateInterval(){const t=this._activeElement||this._getActive();if(!t)return;const e=Number.parseInt(t.getAttribute("data-bs-interval"),10);this._config.interval=e||this._config.defaultInterval}_slide(t,e=null){if(this._isSliding)return;const i=this._getActive(),n=t===ze,s=e||Gt(this._getItems(),i,n,this._config.wrap);if(s===i)return;const 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.collapse.collapsing").filter((t=>t!==this._element)).map((t=>Ei.getOrCreateInstance(t,{toggle:!1})))),t.length&&t[0]._isTransitioning)return;if(fe.trigger(this._element,hi).defaultPrevented)return;for(const e of t)e.hide();const e=this._getDimension();this._element.classList.remove(gi),this._element.classList.add(_i),this._element.style[e]=0,this._addAriaAndCollapsedClass(this._triggerArray,!0),this._isTransitioning=!0;const i=`scroll${e[0].toUpperCase()+e.slice(1)}`;this._queueCallback((()=>{this._isTransitioning=!1,this._element.classList.remove(_i),this._element.classList.add(gi,mi),this._element.style[e]="",fe.trigger(this._element,di)}),this._element,!0),this._element.style[e]=`${this._element[i]}px`}hide(){if(this._isTransitioning||!this._isShown())return;if(fe.trigger(this._element,ui).defaultPrevented)return;const t=this._getDimension();this._element.style[t]=`${this._element.getBoundingClientRect()[t]}px`,qt(this._element),this._element.classList.add(_i),this._element.classList.remove(gi,mi);for(const t of this._triggerArray){const e=we.getElementFromSelector(t);e&&!this._isShown(e)&&this._addAriaAndCollapsedClass([t],!1)}this._isTransitioning=!0,this._element.style[t]="",this._queueCallback((()=>{this._isTransitioning=!1,this._element.classList.remove(_i),this._element.classList.add(gi),fe.trigger(this._element,fi)}),this._element,!0)}_isShown(t=this._element){return t.classList.contains(mi)}_configAfterMerge(t){return t.toggle=Boolean(t.toggle),t.parent=Ht(t.parent),t}_getDimension(){return this._element.classList.contains("collapse-horizontal")?"width":"height"}_initializeChildren(){if(!this._config.parent)return;const t=this._getFirstLevelChildren(vi);for(const e of t){const t=we.getElementFromSelector(e);t&&this._addAriaAndCollapsedClass([e],this._isShown(t))}}_getFirstLevelChildren(t){const e=we.find(bi,this._config.parent);return we.find(t,this._config.parent).filter((t=>!e.includes(t)))}_addAriaAndCollapsedClass(t,e){if(t.length)for(const i of t)i.classList.toggle("collapsed",!e),i.setAttribute("aria-expanded",e)}static jQueryInterface(t){const e={};return"string"==typeof t&&/show|hide/.test(t)&&(e.toggle=!1),this.each((function(){const i=Ei.getOrCreateInstance(this,e);if("string"==typeof t){if(void 0===i[t])throw new TypeError(`No method named "${t}"`);i[t]()}}))}}fe.on(document,pi,vi,(function(t){("A"===t.target.tagName||t.delegateTarget&&"A"===t.delegateTarget.tagName)&&t.preventDefault();for(const t of we.getMultipleElementsFromSelector(this))Ei.getOrCreateInstance(t,{toggle:!1}).toggle()})),Qt(Ei);const Ai="dropdown",Ti=".bs.dropdown",Ci=".data-api",Oi="ArrowUp",xi="ArrowDown",ki=`hide${Ti}`,Li=`hidden${Ti}`,Si=`show${Ti}`,Di=`shown${Ti}`,$i=`click${Ti}${Ci}`,Ii=`keydown${Ti}${Ci}`,Ni=`keyup${Ti}${Ci}`,Pi="show",Mi='[data-bs-toggle="dropdown"]:not(.disabled):not(:disabled)',ji=`${Mi}.${Pi}`,Fi=".dropdown-menu",Hi=Kt()?"top-end":"top-start",Bi=Kt()?"top-start":"top-end",Wi=Kt()?"bottom-end":"bottom-start",zi=Kt()?"bottom-start":"bottom-end",Ri=Kt()?"left-start":"right-start",qi=Kt()?"right-start":"left-start",Vi={autoClose:!0,boundary:"clippingParents",display:"dynamic",offset:[0,2],popperConfig:null,reference:"toggle"},Yi={autoClose:"(boolean|string)",boundary:"(string|element)",display:"string",offset:"(array|string|function)",popperConfig:"(null|object|function)",reference:"(string|element|object)"};class Ki extends ve{constructor(t,e){super(t,e),this._popper=null,this._parent=this._element.parentNode,this._menu=we.next(this._element,Fi)[0]||we.prev(this._element,Fi)[0]||we.findOne(Fi,this._parent),this._inNavbar=this._detectNavbar()}static get Default(){return Vi}static get DefaultType(){return Yi}static get NAME(){return Ai}toggle(){return this._isShown()?this.hide():this.show()}show(){if(Wt(this._element)||this._isShown())return;const t={relatedTarget:this._element};if(!fe.trigger(this._element,Si,t).defaultPrevented){if(this._createPopper(),"ontouchstart"in document.documentElement&&!this._parent.closest(".navbar-nav"))for(const t of[].concat(...document.body.children))fe.on(t,"mouseover",Rt);this._element.focus(),this._element.setAttribute("aria-expanded",!0),this._menu.classList.add(Pi),this._element.classList.add(Pi),fe.trigger(this._element,Di,t)}}hide(){if(Wt(this._element)||!this._isShown())return;const t={relatedTarget:this._element};this._completeHide(t)}dispose(){this._popper&&this._popper.destroy(),super.dispose()}update(){this._inNavbar=this._detectNavbar(),this._popper&&this._popper.update()}_completeHide(t){if(!fe.trigger(this._element,ki,t).defaultPrevented){if("ontouchstart"in document.documentElement)for(const t of[].concat(...document.body.children))fe.off(t,"mouseover",Rt);this._popper&&this._popper.destroy(),this._menu.classList.remove(Pi),this._element.classList.remove(Pi),this._element.setAttribute("aria-expanded","false"),_e.removeDataAttribute(this._menu,"popper"),fe.trigger(this._element,Li,t)}}_getConfig(t){if("object"==typeof(t=super._getConfig(t)).reference&&!Ft(t.reference)&&"function"!=typeof t.reference.getBoundingClientRect)throw new TypeError(`${Ai.toUpperCase()}: Option "reference" provided type "object" without a required "getBoundingClientRect" method.`);return t}_createPopper(){if(void 0===e)throw new TypeError("Bootstrap's dropdowns require Popper (https://popper.js.org)");let t=this._element;"parent"===this._config.reference?t=this._parent:Ft(this._config.reference)?t=Ht(this._config.reference):"object"==typeof this._config.reference&&(t=this._config.reference);const i=this._getPopperConfig();this._popper=Dt(t,this._menu,i)}_isShown(){return this._menu.classList.contains(Pi)}_getPlacement(){const t=this._parent;if(t.classList.contains("dropend"))return Ri;if(t.classList.contains("dropstart"))return qi;if(t.classList.contains("dropup-center"))return"top";if(t.classList.contains("dropdown-center"))return"bottom";const e="end"===getComputedStyle(this._menu).getPropertyValue("--bs-position").trim();return t.classList.contains("dropup")?e?Bi:Hi:e?zi:Wi}_detectNavbar(){return null!==this._element.closest(".navbar")}_getOffset(){const{offset:t}=this._config;return"string"==typeof t?t.split(",").map((t=>Number.parseInt(t,10))):"function"==typeof t?e=>t(e,this._element):t}_getPopperConfig(){const t={placement:this._getPlacement(),modifiers:[{name:"preventOverflow",options:{boundary:this._config.boundary}},{name:"offset",options:{offset:this._getOffset()}}]};return(this._inNavbar||"static"===this._config.display)&&(_e.setDataAttribute(this._menu,"popper","static"),t.modifiers=[{name:"applyStyles",enabled:!1}]),{...t,...Xt(this._config.popperConfig,[t])}}_selectMenuItem({key:t,target:e}){const i=we.find(".dropdown-menu .dropdown-item:not(.disabled):not(:disabled)",this._menu).filter((t=>Bt(t)));i.length&&Gt(i,e,t===xi,!i.includes(e)).focus()}static jQueryInterface(t){return this.each((function(){const e=Ki.getOrCreateInstance(this,t);if("string"==typeof t){if(void 0===e[t])throw new TypeError(`No method named "${t}"`);e[t]()}}))}static clearMenus(t){if(2===t.button||"keyup"===t.type&&"Tab"!==t.key)return;const e=we.find(ji);for(const i of e){const e=Ki.getInstance(i);if(!e||!1===e._config.autoClose)continue;const n=t.composedPath(),s=n.includes(e._menu);if(n.includes(e._element)||"inside"===e._config.autoClose&&!s||"outside"===e._config.autoClose&&s)continue;if(e._menu.contains(t.target)&&("keyup"===t.type&&"Tab"===t.key||/input|select|option|textarea|form/i.test(t.target.tagName)))continue;const o={relatedTarget:e._element};"click"===t.type&&(o.clickEvent=t),e._completeHide(o)}}static dataApiKeydownHandler(t){const e=/input|textarea/i.test(t.target.tagName),i="Escape"===t.key,n=[Oi,xi].includes(t.key);if(!n&&!i)return;if(e&&!i)return;t.preventDefault();const s=this.matches(Mi)?this:we.prev(this,Mi)[0]||we.next(this,Mi)[0]||we.findOne(Mi,t.delegateTarget.parentNode),o=Ki.getOrCreateInstance(s);if(n)return t.stopPropagation(),o.show(),void o._selectMenuItem(t);o._isShown()&&(t.stopPropagation(),o.hide(),s.focus())}}fe.on(document,Ii,Mi,Ki.dataApiKeydownHandler),fe.on(document,Ii,Fi,Ki.dataApiKeydownHandler),fe.on(document,$i,Ki.clearMenus),fe.on(document,Ni,Ki.clearMenus),fe.on(document,$i,Mi,(function(t){t.preventDefault(),Ki.getOrCreateInstance(this).toggle()})),Qt(Ki);const Qi="backdrop",Xi="show",Ui=`mousedown.bs.${Qi}`,Gi={className:"modal-backdrop",clickCallback:null,isAnimated:!1,isVisible:!0,rootElement:"body"},Ji={className:"string",clickCallback:"(function|null)",isAnimated:"boolean",isVisible:"boolean",rootElement:"(element|string)"};class Zi extends be{constructor(t){super(),this._config=this._getConfig(t),this._isAppended=!1,this._element=null}static get Default(){return Gi}static get DefaultType(){return Ji}static get NAME(){return Qi}show(t){if(!this._config.isVisible)return void Xt(t);this._append();const e=this._getElement();this._config.isAnimated&&qt(e),e.classList.add(Xi),this._emulateAnimation((()=>{Xt(t)}))}hide(t){this._config.isVisible?(this._getElement().classList.remove(Xi),this._emulateAnimation((()=>{this.dispose(),Xt(t)}))):Xt(t)}dispose(){this._isAppended&&(fe.off(this._element,Ui),this._element.remove(),this._isAppended=!1)}_getElement(){if(!this._element){const t=document.createElement("div");t.className=this._config.className,this._config.isAnimated&&t.classList.add("fade"),this._element=t}return this._element}_configAfterMerge(t){return t.rootElement=Ht(t.rootElement),t}_append(){if(this._isAppended)return;const t=this._getElement();this._config.rootElement.append(t),fe.on(t,Ui,(()=>{Xt(this._config.clickCallback)})),this._isAppended=!0}_emulateAnimation(t){Ut(t,this._getElement(),this._config.isAnimated)}}const tn=".bs.focustrap",en=`focusin${tn}`,nn=`keydown.tab${tn}`,sn="backward",on={autofocus:!0,trapElement:null},rn={autofocus:"boolean",trapElement:"element"};class an extends be{constructor(t){super(),this._config=this._getConfig(t),this._isActive=!1,this._lastTabNavDirection=null}static get Default(){return on}static get DefaultType(){return rn}static get NAME(){return"focustrap"}activate(){this._isActive||(this._config.autofocus&&this._config.trapElement.focus(),fe.off(document,tn),fe.on(document,en,(t=>this._handleFocusin(t))),fe.on(document,nn,(t=>this._handleKeydown(t))),this._isActive=!0)}deactivate(){this._isActive&&(this._isActive=!1,fe.off(document,tn))}_handleFocusin(t){const{trapElement:e}=this._config;if(t.target===document||t.target===e||e.contains(t.target))return;const i=we.focusableChildren(e);0===i.length?e.focus():this._lastTabNavDirection===sn?i[i.length-1].focus():i[0].focus()}_handleKeydown(t){"Tab"===t.key&&(this._lastTabNavDirection=t.shiftKey?sn:"forward")}}const ln=".fixed-top, .fixed-bottom, .is-fixed, .sticky-top",cn=".sticky-top",hn="padding-right",dn="margin-right";class un{constructor(){this._element=document.body}getWidth(){const t=document.documentElement.clientWidth;return Math.abs(window.innerWidth-t)}hide(){const t=this.getWidth();this._disableOverFlow(),this._setElementAttributes(this._element,hn,(e=>e+t)),this._setElementAttributes(ln,hn,(e=>e+t)),this._setElementAttributes(cn,dn,(e=>e-t))}reset(){this._resetElementAttributes(this._element,"overflow"),this._resetElementAttributes(this._element,hn),this._resetElementAttributes(ln,hn),this._resetElementAttributes(cn,dn)}isOverflowing(){return this.getWidth()>0}_disableOverFlow(){this._saveInitialAttribute(this._element,"overflow"),this._element.style.overflow="hidden"}_setElementAttributes(t,e,i){const n=this.getWidth();this._applyManipulationCallback(t,(t=>{if(t!==this._element&&window.innerWidth>t.clientWidth+n)return;this._saveInitialAttribute(t,e);const s=window.getComputedStyle(t).getPropertyValue(e);t.style.setProperty(e,`${i(Number.parseFloat(s))}px`)}))}_saveInitialAttribute(t,e){const i=t.style.getPropertyValue(e);i&&_e.setDataAttribute(t,e,i)}_resetElementAttributes(t,e){this._applyManipulationCallback(t,(t=>{const i=_e.getDataAttribute(t,e);null!==i?(_e.removeDataAttribute(t,e),t.style.setProperty(e,i)):t.style.removeProperty(e)}))}_applyManipulationCallback(t,e){if(Ft(t))e(t);else for(const i of we.find(t,this._element))e(i)}}const fn=".bs.modal",pn=`hide${fn}`,mn=`hidePrevented${fn}`,gn=`hidden${fn}`,_n=`show${fn}`,bn=`shown${fn}`,vn=`resize${fn}`,yn=`click.dismiss${fn}`,wn=`mousedown.dismiss${fn}`,En=`keydown.dismiss${fn}`,An=`click${fn}.data-api`,Tn="modal-open",Cn="show",On="modal-static",xn={backdrop:!0,focus:!0,keyboard:!0},kn={backdrop:"(boolean|string)",focus:"boolean",keyboard:"boolean"};class Ln extends ve{constructor(t,e){super(t,e),this._dialog=we.findOne(".modal-dialog",this._element),this._backdrop=this._initializeBackDrop(),this._focustrap=this._initializeFocusTrap(),this._isShown=!1,this._isTransitioning=!1,this._scrollBar=new un,this._addEventListeners()}static get Default(){return xn}static get DefaultType(){return kn}static get NAME(){return"modal"}toggle(t){return this._isShown?this.hide():this.show(t)}show(t){this._isShown||this._isTransitioning||fe.trigger(this._element,_n,{relatedTarget:t}).defaultPrevented||(this._isShown=!0,this._isTransitioning=!0,this._scrollBar.hide(),document.body.classList.add(Tn),this._adjustDialog(),this._backdrop.show((()=>this._showElement(t))))}hide(){this._isShown&&!this._isTransitioning&&(fe.trigger(this._element,pn).defaultPrevented||(this._isShown=!1,this._isTransitioning=!0,this._focustrap.deactivate(),this._element.classList.remove(Cn),this._queueCallback((()=>this._hideModal()),this._element,this._isAnimated())))}dispose(){fe.off(window,fn),fe.off(this._dialog,fn),this._backdrop.dispose(),this._focustrap.deactivate(),super.dispose()}handleUpdate(){this._adjustDialog()}_initializeBackDrop(){return new Zi({isVisible:Boolean(this._config.backdrop),isAnimated:this._isAnimated()})}_initializeFocusTrap(){return new an({trapElement:this._element})}_showElement(t){document.body.contains(this._element)||document.body.append(this._element),this._element.style.display="block",this._element.removeAttribute("aria-hidden"),this._element.setAttribute("aria-modal",!0),this._element.setAttribute("role","dialog"),this._element.scrollTop=0;const e=we.findOne(".modal-body",this._dialog);e&&(e.scrollTop=0),qt(this._element),this._element.classList.add(Cn),this._queueCallback((()=>{this._config.focus&&this._focustrap.activate(),this._isTransitioning=!1,fe.trigger(this._element,bn,{relatedTarget:t})}),this._dialog,this._isAnimated())}_addEventListeners(){fe.on(this._element,En,(t=>{"Escape"===t.key&&(this._config.keyboard?this.hide():this._triggerBackdropTransition())})),fe.on(window,vn,(()=>{this._isShown&&!this._isTransitioning&&this._adjustDialog()})),fe.on(this._element,wn,(t=>{fe.one(this._element,yn,(e=>{this._element===t.target&&this._element===e.target&&("static"!==this._config.backdrop?this._config.backdrop&&this.hide():this._triggerBackdropTransition())}))}))}_hideModal(){this._element.style.display="none",this._element.setAttribute("aria-hidden",!0),this._element.removeAttribute("aria-modal"),this._element.removeAttribute("role"),this._isTransitioning=!1,this._backdrop.hide((()=>{document.body.classList.remove(Tn),this._resetAdjustments(),this._scrollBar.reset(),fe.trigger(this._element,gn)}))}_isAnimated(){return this._element.classList.contains("fade")}_triggerBackdropTransition(){if(fe.trigger(this._element,mn).defaultPrevented)return;const t=this._element.scrollHeight>document.documentElement.clientHeight,e=this._element.style.overflowY;"hidden"===e||this._element.classList.contains(On)||(t||(this._element.style.overflowY="hidden"),this._element.classList.add(On),this._queueCallback((()=>{this._element.classList.remove(On),this._queueCallback((()=>{this._element.style.overflowY=e}),this._dialog)}),this._dialog),this._element.focus())}_adjustDialog(){const t=this._element.scrollHeight>document.documentElement.clientHeight,e=this._scrollBar.getWidth(),i=e>0;if(i&&!t){const t=Kt()?"paddingLeft":"paddingRight";this._element.style[t]=`${e}px`}if(!i&&t){const t=Kt()?"paddingRight":"paddingLeft";this._element.style[t]=`${e}px`}}_resetAdjustments(){this._element.style.paddingLeft="",this._element.style.paddingRight=""}static jQueryInterface(t,e){return this.each((function(){const i=Ln.getOrCreateInstance(this,t);if("string"==typeof t){if(void 0===i[t])throw new TypeError(`No method named "${t}"`);i[t](e)}}))}}fe.on(document,An,'[data-bs-toggle="modal"]',(function(t){const e=we.getElementFromSelector(this);["A","AREA"].includes(this.tagName)&&t.preventDefault(),fe.one(e,_n,(t=>{t.defaultPrevented||fe.one(e,gn,(()=>{Bt(this)&&this.focus()}))}));const i=we.findOne(".modal.show");i&&Ln.getInstance(i).hide(),Ln.getOrCreateInstance(e).toggle(this)})),Ee(Ln),Qt(Ln);const Sn=".bs.offcanvas",Dn=".data-api",$n=`load${Sn}${Dn}`,In="show",Nn="showing",Pn="hiding",Mn=".offcanvas.show",jn=`show${Sn}`,Fn=`shown${Sn}`,Hn=`hide${Sn}`,Bn=`hidePrevented${Sn}`,Wn=`hidden${Sn}`,zn=`resize${Sn}`,Rn=`click${Sn}${Dn}`,qn=`keydown.dismiss${Sn}`,Vn={backdrop:!0,keyboard:!0,scroll:!1},Yn={backdrop:"(boolean|string)",keyboard:"boolean",scroll:"boolean"};class Kn extends ve{constructor(t,e){super(t,e),this._isShown=!1,this._backdrop=this._initializeBackDrop(),this._focustrap=this._initializeFocusTrap(),this._addEventListeners()}static get Default(){return Vn}static get DefaultType(){return Yn}static get NAME(){return"offcanvas"}toggle(t){return this._isShown?this.hide():this.show(t)}show(t){this._isShown||fe.trigger(this._element,jn,{relatedTarget:t}).defaultPrevented||(this._isShown=!0,this._backdrop.show(),this._config.scroll||(new un).hide(),this._element.setAttribute("aria-modal",!0),this._element.setAttribute("role","dialog"),this._element.classList.add(Nn),this._queueCallback((()=>{this._config.scroll&&!this._config.backdrop||this._focustrap.activate(),this._element.classList.add(In),this._element.classList.remove(Nn),fe.trigger(this._element,Fn,{relatedTarget:t})}),this._element,!0))}hide(){this._isShown&&(fe.trigger(this._element,Hn).defaultPrevented||(this._focustrap.deactivate(),this._element.blur(),this._isShown=!1,this._element.classList.add(Pn),this._backdrop.hide(),this._queueCallback((()=>{this._element.classList.remove(In,Pn),this._element.removeAttribute("aria-modal"),this._element.removeAttribute("role"),this._config.scroll||(new un).reset(),fe.trigger(this._element,Wn)}),this._element,!0)))}dispose(){this._backdrop.dispose(),this._focustrap.deactivate(),super.dispose()}_initializeBackDrop(){const t=Boolean(this._config.backdrop);return new Zi({className:"offcanvas-backdrop",isVisible:t,isAnimated:!0,rootElement:this._element.parentNode,clickCallback:t?()=>{"static"!==this._config.backdrop?this.hide():fe.trigger(this._element,Bn)}:null})}_initializeFocusTrap(){return new an({trapElement:this._element})}_addEventListeners(){fe.on(this._element,qn,(t=>{"Escape"===t.key&&(this._config.keyboard?this.hide():fe.trigger(this._element,Bn))}))}static jQueryInterface(t){return this.each((function(){const e=Kn.getOrCreateInstance(this,t);if("string"==typeof t){if(void 0===e[t]||t.startsWith("_")||"constructor"===t)throw new TypeError(`No method named "${t}"`);e[t](this)}}))}}fe.on(document,Rn,'[data-bs-toggle="offcanvas"]',(function(t){const e=we.getElementFromSelector(this);if(["A","AREA"].includes(this.tagName)&&t.preventDefault(),Wt(this))return;fe.one(e,Wn,(()=>{Bt(this)&&this.focus()}));const i=we.findOne(Mn);i&&i!==e&&Kn.getInstance(i).hide(),Kn.getOrCreateInstance(e).toggle(this)})),fe.on(window,$n,(()=>{for(const t of we.find(Mn))Kn.getOrCreateInstance(t).show()})),fe.on(window,zn,(()=>{for(const t of we.find("[aria-modal][class*=show][class*=offcanvas-]"))"fixed"!==getComputedStyle(t).position&&Kn.getOrCreateInstance(t).hide()})),Ee(Kn),Qt(Kn);const Qn={"*":["class","dir","id","lang","role",/^aria-[\w-]*$/i],a:["target","href","title","rel"],area:[],b:[],br:[],col:[],code:[],dd:[],div:[],dl:[],dt:[],em:[],hr:[],h1:[],h2:[],h3:[],h4:[],h5:[],h6:[],i:[],img:["src","srcset","alt","title","width","height"],li:[],ol:[],p:[],pre:[],s:[],small:[],span:[],sub:[],sup:[],strong:[],u:[],ul:[]},Xn=new Set(["background","cite","href","itemtype","longdesc","poster","src","xlink:href"]),Un=/^(?!javascript:)(?:[a-z0-9+.-]+:|[^&:/?#]*(?:[/?#]|$))/i,Gn=(t,e)=>{const i=t.nodeName.toLowerCase();return e.includes(i)?!Xn.has(i)||Boolean(Un.test(t.nodeValue)):e.filter((t=>t instanceof RegExp)).some((t=>t.test(i)))},Jn={allowList:Qn,content:{},extraClass:"",html:!1,sanitize:!0,sanitizeFn:null,template:"<div></div>"},Zn={allowList:"object",content:"object",extraClass:"(string|function)",html:"boolean",sanitize:"boolean",sanitizeFn:"(null|function)",template:"string"},ts={entry:"(string|element|function|null)",selector:"(string|element)"};class es extends be{constructor(t){super(),this._config=this._getConfig(t)}static get Default(){return Jn}static get DefaultType(){return Zn}static get NAME(){return"TemplateFactory"}getContent(){return Object.values(this._config.content).map((t=>this._resolvePossibleFunction(t))).filter(Boolean)}hasContent(){return this.getContent().length>0}changeContent(t){return this._checkContent(t),this._config.content={...this._config.content,...t},this}toHtml(){const t=document.createElement("div");t.innerHTML=this._maybeSanitize(this._config.template);for(const[e,i]of Object.entries(this._config.content))this._setContent(t,i,e);const e=t.children[0],i=this._resolvePossibleFunction(this._config.extraClass);return i&&e.classList.add(...i.split(" ")),e}_typeCheckConfig(t){super._typeCheckConfig(t),this._checkContent(t.content)}_checkContent(t){for(const[e,i]of Object.entries(t))super._typeCheckConfig({selector:e,entry:i},ts)}_setContent(t,e,i){const n=we.findOne(i,t);n&&((e=this._resolvePossibleFunction(e))?Ft(e)?this._putElementInTemplate(Ht(e),n):this._config.html?n.innerHTML=this._maybeSanitize(e):n.textContent=e:n.remove())}_maybeSanitize(t){return this._config.sanitize?function(t,e,i){if(!t.length)return t;if(i&&"function"==typeof i)return i(t);const n=(new window.DOMParser).parseFromString(t,"text/html"),s=[].concat(...n.body.querySelectorAll("*"));for(const t of s){const i=t.nodeName.toLowerCase();if(!Object.keys(e).includes(i)){t.remove();continue}const n=[].concat(...t.attributes),s=[].concat(e["*"]||[],e[i]||[]);for(const e of n)Gn(e,s)||t.removeAttribute(e.nodeName)}return n.body.innerHTML}(t,this._config.allowList,this._config.sanitizeFn):t}_resolvePossibleFunction(t){return Xt(t,[this])}_putElementInTemplate(t,e){if(this._config.html)return e.innerHTML="",void e.append(t);e.textContent=t.textContent}}const is=new Set(["sanitize","allowList","sanitizeFn"]),ns="fade",ss="show",os=".tooltip-inner",rs=".modal",as="hide.bs.modal",ls="hover",cs="focus",hs={AUTO:"auto",TOP:"top",RIGHT:Kt()?"left":"right",BOTTOM:"bottom",LEFT:Kt()?"right":"left"},ds={allowList:Qn,animation:!0,boundary:"clippingParents",container:!1,customClass:"",delay:0,fallbackPlacements:["top","right","bottom","left"],html:!1,offset:[0,6],placement:"top",popperConfig:null,sanitize:!0,sanitizeFn:null,selector:!1,template:'<div class="tooltip" role="tooltip"><div class="tooltip-arrow"></div><div class="tooltip-inner"></div></div>',title:"",trigger:"hover focus"},us={allowList:"object",animation:"boolean",boundary:"(string|element)",container:"(string|element|boolean)",customClass:"(string|function)",delay:"(number|object)",fallbackPlacements:"array",html:"boolean",offset:"(array|string|function)",placement:"(string|function)",popperConfig:"(null|object|function)",sanitize:"boolean",sanitizeFn:"(null|function)",selector:"(string|boolean)",template:"string",title:"(string|element|function)",trigger:"string"};class fs extends ve{constructor(t,i){if(void 0===e)throw new TypeError("Bootstrap's tooltips require Popper (https://popper.js.org)");super(t,i),this._isEnabled=!0,this._timeout=0,this._isHovered=null,this._activeTrigger={},this._popper=null,this._templateFactory=null,this._newContent=null,this.tip=null,this._setListeners(),this._config.selector||this._fixTitle()}static get Default(){return ds}static get DefaultType(){return us}static get NAME(){return"tooltip"}enable(){this._isEnabled=!0}disable(){this._isEnabled=!1}toggleEnabled(){this._isEnabled=!this._isEnabled}toggle(){this._isEnabled&&(this._activeTrigger.click=!this._activeTrigger.click,this._isShown()?this._leave():this._enter())}dispose(){clearTimeout(this._timeout),fe.off(this._element.closest(rs),as,this._hideModalHandler),this._element.getAttribute("data-bs-original-title")&&this._element.setAttribute("title",this._element.getAttribute("data-bs-original-title")),this._disposePopper(),super.dispose()}show(){if("none"===this._element.style.display)throw new Error("Please use show on visible elements");if(!this._isWithContent()||!this._isEnabled)return;const t=fe.trigger(this._element,this.constructor.eventName("show")),e=(zt(this._element)||this._element.ownerDocument.documentElement).contains(this._element);if(t.defaultPrevented||!e)return;this._disposePopper();const i=this._getTipElement();this._element.setAttribute("aria-describedby",i.getAttribute("id"));const{container:n}=this._config;if(this._element.ownerDocument.documentElement.contains(this.tip)||(n.append(i),fe.trigger(this._element,this.constructor.eventName("inserted"))),this._popper=this._createPopper(i),i.classList.add(ss),"ontouchstart"in document.documentElement)for(const t of[].concat(...document.body.children))fe.on(t,"mouseover",Rt);this._queueCallback((()=>{fe.trigger(this._element,this.constructor.eventName("shown")),!1===this._isHovered&&this._leave(),this._isHovered=!1}),this.tip,this._isAnimated())}hide(){if(this._isShown()&&!fe.trigger(this._element,this.constructor.eventName("hide")).defaultPrevented){if(this._getTipElement().classList.remove(ss),"ontouchstart"in document.documentElement)for(const t of[].concat(...document.body.children))fe.off(t,"mouseover",Rt);this._activeTrigger.click=!1,this._activeTrigger[cs]=!1,this._activeTrigger[ls]=!1,this._isHovered=null,this._queueCallback((()=>{this._isWithActiveTrigger()||(this._isHovered||this._disposePopper(),this._element.removeAttribute("aria-describedby"),fe.trigger(this._element,this.constructor.eventName("hidden")))}),this.tip,this._isAnimated())}}update(){this._popper&&this._popper.update()}_isWithContent(){return Boolean(this._getTitle())}_getTipElement(){return this.tip||(this.tip=this._createTipElement(this._newContent||this._getContentForTemplate())),this.tip}_createTipElement(t){const e=this._getTemplateFactory(t).toHtml();if(!e)return null;e.classList.remove(ns,ss),e.classList.add(`bs-${this.constructor.NAME}-auto`);const i=(t=>{do{t+=Math.floor(1e6*Math.random())}while(document.getElementById(t));return t})(this.constructor.NAME).toString();return e.setAttribute("id",i),this._isAnimated()&&e.classList.add(ns),e}setContent(t){this._newContent=t,this._isShown()&&(this._disposePopper(),this.show())}_getTemplateFactory(t){return this._templateFactory?this._templateFactory.changeContent(t):this._templateFactory=new es({...this._config,content:t,extraClass:this._resolvePossibleFunction(this._config.customClass)}),this._templateFactory}_getContentForTemplate(){return{[os]:this._getTitle()}}_getTitle(){return this._resolvePossibleFunction(this._config.title)||this._element.getAttribute("data-bs-original-title")}_initializeOnDelegatedTarget(t){return this.constructor.getOrCreateInstance(t.delegateTarget,this._getDelegateConfig())}_isAnimated(){return this._config.animation||this.tip&&this.tip.classList.contains(ns)}_isShown(){return this.tip&&this.tip.classList.contains(ss)}_createPopper(t){const e=Xt(this._config.placement,[this,t,this._element]),i=hs[e.toUpperCase()];return Dt(this._element,t,this._getPopperConfig(i))}_getOffset(){const{offset:t}=this._config;return"string"==typeof t?t.split(",").map((t=>Number.parseInt(t,10))):"function"==typeof t?e=>t(e,this._element):t}_resolvePossibleFunction(t){return Xt(t,[this._element])}_getPopperConfig(t){const e={placement:t,modifiers:[{name:"flip",options:{fallbackPlacements:this._config.fallbackPlacements}},{name:"offset",options:{offset:this._getOffset()}},{name:"preventOverflow",options:{boundary:this._config.boundary}},{name:"arrow",options:{element:`.${this.constructor.NAME}-arrow`}},{name:"preSetPlacement",enabled:!0,phase:"beforeMain",fn:t=>{this._getTipElement().setAttribute("data-popper-placement",t.state.placement)}}]};return{...e,...Xt(this._config.popperConfig,[e])}}_setListeners(){const t=this._config.trigger.split(" ");for(const e of t)if("click"===e)fe.on(this._element,this.constructor.eventName("click"),this._config.selector,(t=>{this._initializeOnDelegatedTarget(t).toggle()}));else if("manual"!==e){const t=e===ls?this.constructor.eventName("mouseenter"):this.constructor.eventName("focusin"),i=e===ls?this.constructor.eventName("mouseleave"):this.constructor.eventName("focusout");fe.on(this._element,t,this._config.selector,(t=>{const e=this._initializeOnDelegatedTarget(t);e._activeTrigger["focusin"===t.type?cs:ls]=!0,e._enter()})),fe.on(this._element,i,this._config.selector,(t=>{const e=this._initializeOnDelegatedTarget(t);e._activeTrigger["focusout"===t.type?cs:ls]=e._element.contains(t.relatedTarget),e._leave()}))}this._hideModalHandler=()=>{this._element&&this.hide()},fe.on(this._element.closest(rs),as,this._hideModalHandler)}_fixTitle(){const t=this._element.getAttribute("title");t&&(this._element.getAttribute("aria-label")||this._element.textContent.trim()||this._element.setAttribute("aria-label",t),this._element.setAttribute("data-bs-original-title",t),this._element.removeAttribute("title"))}_enter(){this._isShown()||this._isHovered?this._isHovered=!0:(this._isHovered=!0,this._setTimeout((()=>{this._isHovered&&this.show()}),this._config.delay.show))}_leave(){this._isWithActiveTrigger()||(this._isHovered=!1,this._setTimeout((()=>{this._isHovered||this.hide()}),this._config.delay.hide))}_setTimeout(t,e){clearTimeout(this._timeout),this._timeout=setTimeout(t,e)}_isWithActiveTrigger(){return Object.values(this._activeTrigger).includes(!0)}_getConfig(t){const e=_e.getDataAttributes(this._element);for(const t of Object.keys(e))is.has(t)&&delete e[t];return t={...e,..."object"==typeof t&&t?t:{}},t=this._mergeConfigObj(t),t=this._configAfterMerge(t),this._typeCheckConfig(t),t}_configAfterMerge(t){return t.container=!1===t.container?document.body:Ht(t.container),"number"==typeof t.delay&&(t.delay={show:t.delay,hide:t.delay}),"number"==typeof t.title&&(t.title=t.title.toString()),"number"==typeof t.content&&(t.content=t.content.toString()),t}_getDelegateConfig(){const t={};for(const[e,i]of Object.entries(this._config))this.constructor.Default[e]!==i&&(t[e]=i);return t.selector=!1,t.trigger="manual",t}_disposePopper(){this._popper&&(this._popper.destroy(),this._popper=null),this.tip&&(this.tip.remove(),this.tip=null)}static jQueryInterface(t){return this.each((function(){const e=fs.getOrCreateInstance(this,t);if("string"==typeof t){if(void 0===e[t])throw new TypeError(`No method named "${t}"`);e[t]()}}))}}Qt(fs);const ps=".popover-header",ms=".popover-body",gs={...fs.Default,content:"",offset:[0,8],placement:"right",template:'<div class="popover" role="tooltip"><div class="popover-arrow"></div><h3 class="popover-header"></h3><div class="popover-body"></div></div>',trigger:"click"},_s={...fs.DefaultType,content:"(null|string|element|function)"};class bs extends fs{static get Default(){return gs}static get DefaultType(){return _s}static get NAME(){return"popover"}_isWithContent(){return this._getTitle()||this._getContent()}_getContentForTemplate(){return{[ps]:this._getTitle(),[ms]:this._getContent()}}_getContent(){return this._resolvePossibleFunction(this._config.content)}static jQueryInterface(t){return this.each((function(){const e=bs.getOrCreateInstance(this,t);if("string"==typeof t){if(void 0===e[t])throw new TypeError(`No method named "${t}"`);e[t]()}}))}}Qt(bs);const vs=".bs.scrollspy",ys=`activate${vs}`,ws=`click${vs}`,Es=`load${vs}.data-api`,As="active",Ts="[href]",Cs=".nav-link",Os=`${Cs}, .nav-item > ${Cs}, .list-group-item`,xs={offset:null,rootMargin:"0px 0px -25%",smoothScroll:!1,target:null,threshold:[.1,.5,1]},ks={offset:"(number|null)",rootMargin:"string",smoothScroll:"boolean",target:"element",threshold:"array"};class Ls extends ve{constructor(t,e){super(t,e),this._targetLinks=new Map,this._observableSections=new Map,this._rootElement="visible"===getComputedStyle(this._element).overflowY?null:this._element,this._activeTarget=null,this._observer=null,this._previousScrollData={visibleEntryTop:0,parentScrollTop:0},this.refresh()}static get Default(){return xs}static get DefaultType(){return ks}static get NAME(){return"scrollspy"}refresh(){this._initializeTargetsAndObservables(),this._maybeEnableSmoothScroll(),this._observer?this._observer.disconnect():this._observer=this._getNewObserver();for(const t of this._observableSections.values())this._observer.observe(t)}dispose(){this._observer.disconnect(),super.dispose()}_configAfterMerge(t){return t.target=Ht(t.target)||document.body,t.rootMargin=t.offset?`${t.offset}px 0px -30%`:t.rootMargin,"string"==typeof t.threshold&&(t.threshold=t.threshold.split(",").map((t=>Number.parseFloat(t)))),t}_maybeEnableSmoothScroll(){this._config.smoothScroll&&(fe.off(this._config.target,ws),fe.on(this._config.target,ws,Ts,(t=>{const e=this._observableSections.get(t.target.hash);if(e){t.preventDefault();const i=this._rootElement||window,n=e.offsetTop-this._element.offsetTop;if(i.scrollTo)return void i.scrollTo({top:n,behavior:"smooth"});i.scrollTop=n}})))}_getNewObserver(){const t={root:this._rootElement,threshold:this._config.threshold,rootMargin:this._config.rootMargin};return new IntersectionObserver((t=>this._observerCallback(t)),t)}_observerCallback(t){const e=t=>this._targetLinks.get(`#${t.target.id}`),i=t=>{this._previousScrollData.visibleEntryTop=t.target.offsetTop,this._process(e(t))},n=(this._rootElement||document.documentElement).scrollTop,s=n>=this._previousScrollData.parentScrollTop;this._previousScrollData.parentScrollTop=n;for(const o of t){if(!o.isIntersecting){this._activeTarget=null,this._clearActiveClass(e(o));continue}const t=o.target.offsetTop>=this._previousScrollData.visibleEntryTop;if(s&&t){if(i(o),!n)return}else s||t||i(o)}}_initializeTargetsAndObservables(){this._targetLinks=new Map,this._observableSections=new Map;const t=we.find(Ts,this._config.target);for(const e of t){if(!e.hash||Wt(e))continue;const t=we.findOne(decodeURI(e.hash),this._element);Bt(t)&&(this._targetLinks.set(decodeURI(e.hash),e),this._observableSections.set(e.hash,t))}}_process(t){this._activeTarget!==t&&(this._clearActiveClass(this._config.target),this._activeTarget=t,t.classList.add(As),this._activateParents(t),fe.trigger(this._element,ys,{relatedTarget:t}))}_activateParents(t){if(t.classList.contains("dropdown-item"))we.findOne(".dropdown-toggle",t.closest(".dropdown")).classList.add(As);else for(const e of we.parents(t,".nav, .list-group"))for(const t of we.prev(e,Os))t.classList.add(As)}_clearActiveClass(t){t.classList.remove(As);const e=we.find(`${Ts}.${As}`,t);for(const t of e)t.classList.remove(As)}static jQueryInterface(t){return this.each((function(){const e=Ls.getOrCreateInstance(this,t);if("string"==typeof t){if(void 0===e[t]||t.startsWith("_")||"constructor"===t)throw new TypeError(`No method named "${t}"`);e[t]()}}))}}fe.on(window,Es,(()=>{for(const t of we.find('[data-bs-spy="scroll"]'))Ls.getOrCreateInstance(t)})),Qt(Ls);const Ss=".bs.tab",Ds=`hide${Ss}`,$s=`hidden${Ss}`,Is=`show${Ss}`,Ns=`shown${Ss}`,Ps=`click${Ss}`,Ms=`keydown${Ss}`,js=`load${Ss}`,Fs="ArrowLeft",Hs="ArrowRight",Bs="ArrowUp",Ws="ArrowDown",zs="Home",Rs="End",qs="active",Vs="fade",Ys="show",Ks=".dropdown-toggle",Qs=`:not(${Ks})`,Xs='[data-bs-toggle="tab"], [data-bs-toggle="pill"], [data-bs-toggle="list"]',Us=`.nav-link${Qs}, .list-group-item${Qs}, [role="tab"]${Qs}, ${Xs}`,Gs=`.${qs}[data-bs-toggle="tab"], .${qs}[data-bs-toggle="pill"], .${qs}[data-bs-toggle="list"]`;class Js extends ve{constructor(t){super(t),this._parent=this._element.closest('.list-group, .nav, [role="tablist"]'),this._parent&&(this._setInitialAttributes(this._parent,this._getChildren()),fe.on(this._element,Ms,(t=>this._keydown(t))))}static get NAME(){return"tab"}show(){const t=this._element;if(this._elemIsActive(t))return;const e=this._getActiveElem(),i=e?fe.trigger(e,Ds,{relatedTarget:t}):null;fe.trigger(t,Is,{relatedTarget:e}).defaultPrevented||i&&i.defaultPrevented||(this._deactivate(e,t),this._activate(t,e))}_activate(t,e){t&&(t.classList.add(qs),this._activate(we.getElementFromSelector(t)),this._queueCallback((()=>{"tab"===t.getAttribute("role")?(t.removeAttribute("tabindex"),t.setAttribute("aria-selected",!0),this._toggleDropDown(t,!0),fe.trigger(t,Ns,{relatedTarget:e})):t.classList.add(Ys)}),t,t.classList.contains(Vs)))}_deactivate(t,e){t&&(t.classList.remove(qs),t.blur(),this._deactivate(we.getElementFromSelector(t)),this._queueCallback((()=>{"tab"===t.getAttribute("role")?(t.setAttribute("aria-selected",!1),t.setAttribute("tabindex","-1"),this._toggleDropDown(t,!1),fe.trigger(t,$s,{relatedTarget:e})):t.classList.remove(Ys)}),t,t.classList.contains(Vs)))}_keydown(t){if(![Fs,Hs,Bs,Ws,zs,Rs].includes(t.key))return;t.stopPropagation(),t.preventDefault();const e=this._getChildren().filter((t=>!Wt(t)));let i;if([zs,Rs].includes(t.key))i=e[t.key===zs?0:e.length-1];else{const n=[Hs,Ws].includes(t.key);i=Gt(e,t.target,n,!0)}i&&(i.focus({preventScroll:!0}),Js.getOrCreateInstance(i).show())}_getChildren(){return we.find(Us,this._parent)}_getActiveElem(){return this._getChildren().find((t=>this._elemIsActive(t)))||null}_setInitialAttributes(t,e){this._setAttributeIfNotExists(t,"role","tablist");for(const t of e)this._setInitialAttributesOnChild(t)}_setInitialAttributesOnChild(t){t=this._getInnerElement(t);const e=this._elemIsActive(t),i=this._getOuterElement(t);t.setAttribute("aria-selected",e),i!==t&&this._setAttributeIfNotExists(i,"role","presentation"),e||t.setAttribute("tabindex","-1"),this._setAttributeIfNotExists(t,"role","tab"),this._setInitialAttributesOnTargetPanel(t)}_setInitialAttributesOnTargetPanel(t){const e=we.getElementFromSelector(t);e&&(this._setAttributeIfNotExists(e,"role","tabpanel"),t.id&&this._setAttributeIfNotExists(e,"aria-labelledby",`${t.id}`))}_toggleDropDown(t,e){const i=this._getOuterElement(t);if(!i.classList.contains("dropdown"))return;const n=(t,n)=>{const s=we.findOne(t,i);s&&s.classList.toggle(n,e)};n(Ks,qs),n(".dropdown-menu",Ys),i.setAttribute("aria-expanded",e)}_setAttributeIfNotExists(t,e,i){t.hasAttribute(e)||t.setAttribute(e,i)}_elemIsActive(t){return t.classList.contains(qs)}_getInnerElement(t){return t.matches(Us)?t:we.findOne(Us,t)}_getOuterElement(t){return t.closest(".nav-item, .list-group-item")||t}static jQueryInterface(t){return this.each((function(){const e=Js.getOrCreateInstance(this);if("string"==typeof t){if(void 0===e[t]||t.startsWith("_")||"constructor"===t)throw new TypeError(`No method named "${t}"`);e[t]()}}))}}fe.on(document,Ps,Xs,(function(t){["A","AREA"].includes(this.tagName)&&t.preventDefault(),Wt(this)||Js.getOrCreateInstance(this).show()})),fe.on(window,js,(()=>{for(const t of we.find(Gs))Js.getOrCreateInstance(t)})),Qt(Js);const Zs=".bs.toast",to=`mouseover${Zs}`,eo=`mouseout${Zs}`,io=`focusin${Zs}`,no=`focusout${Zs}`,so=`hide${Zs}`,oo=`hidden${Zs}`,ro=`show${Zs}`,ao=`shown${Zs}`,lo="hide",co="show",ho="showing",uo={animation:"boolean",autohide:"boolean",delay:"number"},fo={animation:!0,autohide:!0,delay:5e3};class po extends ve{constructor(t,e){super(t,e),this._timeout=null,this._hasMouseInteraction=!1,this._hasKeyboardInteraction=!1,this._setListeners()}static get Default(){return fo}static get DefaultType(){return uo}static get NAME(){return"toast"}show(){fe.trigger(this._element,ro).defaultPrevented||(this._clearTimeout(),this._config.animation&&this._element.classList.add("fade"),this._element.classList.remove(lo),qt(this._element),this._element.classList.add(co,ho),this._queueCallback((()=>{this._element.classList.remove(ho),fe.trigger(this._element,ao),this._maybeScheduleHide()}),this._element,this._config.animation))}hide(){this.isShown()&&(fe.trigger(this._element,so).defaultPrevented||(this._element.classList.add(ho),this._queueCallback((()=>{this._element.classList.add(lo),this._element.classList.remove(ho,co),fe.trigger(this._element,oo)}),this._element,this._config.animation)))}dispose(){this._clearTimeout(),this.isShown()&&this._element.classList.remove(co),super.dispose()}isShown(){return this._element.classList.contains(co)}_maybeScheduleHide(){this._config.autohide&&(this._hasMouseInteraction||this._hasKeyboardInteraction||(this._timeout=setTimeout((()=>{this.hide()}),this._config.delay)))}_onInteraction(t,e){switch(t.type){case"mouseover":case"mouseout":this._hasMouseInteraction=e;break;case"focusin":case"focusout":this._hasKeyboardInteraction=e}if(e)return void this._clearTimeout();const i=t.relatedTarget;this._element===i||this._element.contains(i)||this._maybeScheduleHide()}_setListeners(){fe.on(this._element,to,(t=>this._onInteraction(t,!0))),fe.on(this._element,eo,(t=>this._onInteraction(t,!1))),fe.on(this._element,io,(t=>this._onInteraction(t,!0))),fe.on(this._element,no,(t=>this._onInteraction(t,!1)))}_clearTimeout(){clearTimeout(this._timeout),this._timeout=null}static jQueryInterface(t){return this.each((function(){const e=po.getOrCreateInstance(this,t);if("string"==typeof t){if(void 0===e[t])throw new TypeError(`No method named "${t}"`);e[t](this)}}))}}function mo(t){"loading"!=document.readyState?t():document.addEventListener("DOMContentLoaded",t)}Ee(po),Qt(po),mo((function(){[].slice.call(document.querySelectorAll('[data-bs-toggle="tooltip"]')).map((function(t){return new fs(t,{delay:{show:500,hide:100}})}))})),mo((function(){document.getElementById("pst-back-to-top").addEventListener("click",(function(){document.body.scrollTop=0,document.documentElement.scrollTop=0}))})),mo((function(){var t=document.getElementById("pst-back-to-top"),e=document.getElementsByClassName("bd-header")[0].getBoundingClientRect();window.addEventListener("scroll",(function(){this.oldScroll>this.scrollY&&this.scrollY>e.bottom?t.style.display="block":t.style.display="none",this.oldScroll=this.scrollY}))})),window.bootstrap=i})();
+//# sourceMappingURL=bootstrap.js.map
\ No newline at end of file
diff --git a/v1.4.0/_static/scripts/bootstrap.js.LICENSE.txt b/v1.4.0/_static/scripts/bootstrap.js.LICENSE.txt
new file mode 100644
index 0000000000..28755c2c5b
--- /dev/null
+++ b/v1.4.0/_static/scripts/bootstrap.js.LICENSE.txt
@@ -0,0 +1,5 @@
+/*!
+  * Bootstrap v5.3.3 (https://getbootstrap.com/)
+  * Copyright 2011-2024 The Bootstrap Authors (https://github.com/twbs/bootstrap/graphs/contributors)
+  * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)
+  */
diff --git a/v1.4.0/_static/scripts/bootstrap.js.map b/v1.4.0/_static/scripts/bootstrap.js.map
new file mode 100644
index 0000000000..4a3502aeb2
--- /dev/null
+++ b/v1.4.0/_static/scripts/bootstrap.js.map
@@ -0,0 +1 @@
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(element.nodeName || '').toLowerCase() : null;\n}","export default function getWindow(node) {\n  if (node == null) {\n    return window;\n  }\n\n  if (node.toString() !== '[object Window]') {\n    var ownerDocument = node.ownerDocument;\n    return ownerDocument ? ownerDocument.defaultView || window : window;\n  }\n\n  return node;\n}","import getWindow from \"./getWindow.js\";\n\nfunction isElement(node) {\n  var OwnElement = getWindow(node).Element;\n  return node instanceof OwnElement || node instanceof Element;\n}\n\nfunction isHTMLElement(node) {\n  var OwnElement = getWindow(node).HTMLElement;\n  return node instanceof OwnElement || node instanceof HTMLElement;\n}\n\nfunction isShadowRoot(node) {\n  // IE 11 has no ShadowRoot\n  if (typeof ShadowRoot === 'undefined') {\n    return false;\n  }\n\n  var OwnElement = getWindow(node).ShadowRoot;\n  return node instanceof OwnElement || node instanceof ShadowRoot;\n}\n\nexport { isElement, isHTMLElement, isShadowRoot };","import getNodeName from \"../dom-utils/getNodeName.js\";\nimport { isHTMLElement } from \"../dom-utils/instanceOf.js\"; // This modifier takes the styles prepared by the `computeStyles` modifier\n// and applies them to the HTMLElements such as popper and arrow\n\nfunction applyStyles(_ref) {\n  var state = _ref.state;\n  Object.keys(state.elements).forEach(function (name) {\n    var style = state.styles[name] || {};\n    var attributes = state.attributes[name] || {};\n    var element = state.elements[name]; // arrow is optional + virtual elements\n\n    if (!isHTMLElement(element) || !getNodeName(element)) {\n      return;\n    } // Flow doesn't support to extend this property, but it's the most\n    // effective way to apply styles to an HTMLElement\n    // $FlowFixMe[cannot-write]\n\n\n    Object.assign(element.style, style);\n    Object.keys(attributes).forEach(function (name) {\n      var value = attributes[name];\n\n      if (value === false) {\n        element.removeAttribute(name);\n      } else {\n        element.setAttribute(name, value === true ? '' : value);\n      }\n    });\n  });\n}\n\nfunction effect(_ref2) {\n  var state = _ref2.state;\n  var initialStyles = {\n    popper: {\n      position: state.options.strategy,\n      left: '0',\n      top: '0',\n      margin: '0'\n    },\n    arrow: {\n      position: 'absolute'\n    },\n    reference: {}\n  };\n  Object.assign(state.elements.popper.style, initialStyles.popper);\n  state.styles = initialStyles;\n\n  if (state.elements.arrow) {\n    Object.assign(state.elements.arrow.style, initialStyles.arrow);\n  }\n\n  return function () {\n    Object.keys(state.elements).forEach(function (name) {\n      var element = state.elements[name];\n      var attributes = state.attributes[name] || {};\n      var styleProperties = Object.keys(state.styles.hasOwnProperty(name) ? state.styles[name] : initialStyles[name]); // Set all values to an empty string to unset them\n\n      var style = styleProperties.reduce(function (style, property) {\n        style[property] = '';\n        return style;\n      }, {}); // arrow is optional + virtual elements\n\n      if (!isHTMLElement(element) || !getNodeName(element)) {\n        return;\n      }\n\n      Object.assign(element.style, style);\n      Object.keys(attributes).forEach(function (attribute) {\n        element.removeAttribute(attribute);\n      });\n    });\n  };\n} // eslint-disable-next-line import/no-unused-modules\n\n\nexport default {\n  name: 'applyStyles',\n  enabled: true,\n  phase: 'write',\n  fn: applyStyles,\n  effect: effect,\n  requires: ['computeStyles']\n};","import { auto } from \"../enums.js\";\nexport default function getBasePlacement(placement) {\n  return placement.split('-')[0];\n}","export var max = Math.max;\nexport var min = Math.min;\nexport var round = Math.round;","export default function getUAString() {\n  var uaData = navigator.userAgentData;\n\n  if (uaData != null && uaData.brands && Array.isArray(uaData.brands)) {\n    return uaData.brands.map(function (item) {\n      return item.brand + \"/\" + item.version;\n    }).join(' ');\n  }\n\n  return navigator.userAgent;\n}","import getUAString from \"../utils/userAgent.js\";\nexport default function isLayoutViewport() {\n  return !/^((?!chrome|android).)*safari/i.test(getUAString());\n}","import { isElement, isHTMLElement } from \"./instanceOf.js\";\nimport { round } from \"../utils/math.js\";\nimport getWindow from \"./getWindow.js\";\nimport isLayoutViewport from \"./isLayoutViewport.js\";\nexport default function getBoundingClientRect(element, includeScale, isFixedStrategy) {\n  if (includeScale === void 0) {\n    includeScale = false;\n  }\n\n  if (isFixedStrategy === void 0) {\n    isFixedStrategy = false;\n  }\n\n  var clientRect = element.getBoundingClientRect();\n  var scaleX = 1;\n  var scaleY = 1;\n\n  if (includeScale && isHTMLElement(element)) {\n    scaleX = element.offsetWidth > 0 ? round(clientRect.width) / element.offsetWidth || 1 : 1;\n    scaleY = element.offsetHeight > 0 ? round(clientRect.height) / element.offsetHeight || 1 : 1;\n  }\n\n  var _ref = isElement(element) ? getWindow(element) : window,\n      visualViewport = _ref.visualViewport;\n\n  var addVisualOffsets = !isLayoutViewport() && isFixedStrategy;\n  var x = (clientRect.left + (addVisualOffsets && visualViewport ? visualViewport.offsetLeft : 0)) / scaleX;\n  var y = (clientRect.top + (addVisualOffsets && visualViewport ? visualViewport.offsetTop : 0)) / scaleY;\n  var width = clientRect.width / scaleX;\n  var height = clientRect.height / scaleY;\n  return {\n    width: width,\n    height: height,\n    top: y,\n    right: x + width,\n    bottom: y + height,\n    left: x,\n    x: x,\n    y: y\n  };\n}","import getBoundingClientRect from \"./getBoundingClientRect.js\"; // Returns the layout rect of an element relative to its offsetParent. Layout\n// means it doesn't take into account transforms.\n\nexport default function getLayoutRect(element) {\n  var clientRect = getBoundingClientRect(element); // Use the clientRect sizes if it's not been transformed.\n  // Fixes https://github.com/popperjs/popper-core/issues/1223\n\n  var width = element.offsetWidth;\n  var height = element.offsetHeight;\n\n  if (Math.abs(clientRect.width - width) <= 1) {\n    width = clientRect.width;\n  }\n\n  if (Math.abs(clientRect.height - height) <= 1) {\n    height = clientRect.height;\n  }\n\n  return {\n    x: element.offsetLeft,\n    y: element.offsetTop,\n    width: width,\n    height: height\n  };\n}","import { isShadowRoot } from \"./instanceOf.js\";\nexport default function contains(parent, child) {\n  var rootNode = child.getRootNode && child.getRootNode(); // First, attempt with faster native method\n\n  if (parent.contains(child)) {\n    return true;\n  } // then fallback to custom implementation with Shadow DOM support\n  else if (rootNode && isShadowRoot(rootNode)) {\n      var next = child;\n\n      do {\n        if (next && parent.isSameNode(next)) {\n          return true;\n        } // $FlowFixMe[prop-missing]: need a better way to handle this...\n\n\n        next = next.parentNode || next.host;\n      } while (next);\n    } // Give up, the result is false\n\n\n  return false;\n}","import getWindow from \"./getWindow.js\";\nexport default function getComputedStyle(element) {\n  return getWindow(element).getComputedStyle(element);\n}","import getNodeName from \"./getNodeName.js\";\nexport default function isTableElement(element) {\n  return ['table', 'td', 'th'].indexOf(getNodeName(element)) >= 0;\n}","import { isElement } from \"./instanceOf.js\";\nexport default function getDocumentElement(element) {\n  // $FlowFixMe[incompatible-return]: assume body is always available\n  return ((isElement(element) ? element.ownerDocument : // $FlowFixMe[prop-missing]\n  element.document) || window.document).documentElement;\n}","import getNodeName from \"./getNodeName.js\";\nimport getDocumentElement from \"./getDocumentElement.js\";\nimport { isShadowRoot } from \"./instanceOf.js\";\nexport default function getParentNode(element) {\n  if (getNodeName(element) === 'html') {\n    return element;\n  }\n\n  return (// this is a quicker (but less type safe) way to save quite some bytes from the bundle\n    // $FlowFixMe[incompatible-return]\n    // $FlowFixMe[prop-missing]\n    element.assignedSlot || // step into the shadow DOM of the parent of a slotted node\n    element.parentNode || ( // DOM Element detected\n    isShadowRoot(element) ? element.host : null) || // ShadowRoot detected\n    // $FlowFixMe[incompatible-call]: HTMLElement is a Node\n    getDocumentElement(element) // fallback\n\n  );\n}","import getWindow from \"./getWindow.js\";\nimport getNodeName from \"./getNodeName.js\";\nimport getComputedStyle from \"./getComputedStyle.js\";\nimport { isHTMLElement, isShadowRoot } from \"./instanceOf.js\";\nimport isTableElement from \"./isTableElement.js\";\nimport getParentNode from \"./getParentNode.js\";\nimport getUAString from \"../utils/userAgent.js\";\n\nfunction getTrueOffsetParent(element) {\n  if (!isHTMLElement(element) || // https://github.com/popperjs/popper-core/issues/837\n  getComputedStyle(element).position === 'fixed') {\n    return null;\n  }\n\n  return element.offsetParent;\n} // `.offsetParent` reports `null` for fixed elements, while absolute elements\n// return the containing block\n\n\nfunction getContainingBlock(element) {\n  var isFirefox = /firefox/i.test(getUAString());\n  var isIE = /Trident/i.test(getUAString());\n\n  if (isIE && isHTMLElement(element)) {\n    // In IE 9, 10 and 11 fixed elements containing block is always established by the viewport\n    var elementCss = getComputedStyle(element);\n\n    if (elementCss.position === 'fixed') {\n      return null;\n    }\n  }\n\n  var currentNode = getParentNode(element);\n\n  if (isShadowRoot(currentNode)) {\n    currentNode = currentNode.host;\n  }\n\n  while (isHTMLElement(currentNode) && ['html', 'body'].indexOf(getNodeName(currentNode)) < 0) {\n    var css = getComputedStyle(currentNode); // This is non-exhaustive but covers the most common CSS properties that\n    // create a containing block.\n    // https://developer.mozilla.org/en-US/docs/Web/CSS/Containing_block#identifying_the_containing_block\n\n    if (css.transform !== 'none' || css.perspective !== 'none' || css.contain === 'paint' || ['transform', 'perspective'].indexOf(css.willChange) !== -1 || isFirefox && css.willChange === 'filter' || isFirefox && css.filter && css.filter !== 'none') {\n      return currentNode;\n    } else {\n      currentNode = currentNode.parentNode;\n    }\n  }\n\n  return null;\n} // Gets the closest ancestor positioned element. Handles some edge cases,\n// such as table ancestors and cross browser bugs.\n\n\nexport default function getOffsetParent(element) {\n  var window = getWindow(element);\n  var offsetParent = getTrueOffsetParent(element);\n\n  while (offsetParent && isTableElement(offsetParent) && getComputedStyle(offsetParent).position === 'static') {\n    offsetParent = getTrueOffsetParent(offsetParent);\n  }\n\n  if (offsetParent && (getNodeName(offsetParent) === 'html' || getNodeName(offsetParent) === 'body' && getComputedStyle(offsetParent).position === 'static')) {\n    return window;\n  }\n\n  return offsetParent || getContainingBlock(element) || window;\n}","export default function getMainAxisFromPlacement(placement) {\n  return ['top', 'bottom'].indexOf(placement) >= 0 ? 'x' : 'y';\n}","import { max as mathMax, min as mathMin } from \"./math.js\";\nexport function within(min, value, max) {\n  return mathMax(min, mathMin(value, max));\n}\nexport function withinMaxClamp(min, value, max) {\n  var v = within(min, value, max);\n  return v > max ? max : v;\n}","import getFreshSideObject from \"./getFreshSideObject.js\";\nexport default function mergePaddingObject(paddingObject) {\n  return Object.assign({}, getFreshSideObject(), paddingObject);\n}","export default function getFreshSideObject() {\n  return {\n    top: 0,\n    right: 0,\n    bottom: 0,\n    left: 0\n  };\n}","export default function expandToHashMap(value, keys) {\n  return keys.reduce(function (hashMap, key) {\n    hashMap[key] = value;\n    return hashMap;\n  }, {});\n}","import getBasePlacement from \"../utils/getBasePlacement.js\";\nimport getLayoutRect from \"../dom-utils/getLayoutRect.js\";\nimport contains from \"../dom-utils/contains.js\";\nimport getOffsetParent from \"../dom-utils/getOffsetParent.js\";\nimport getMainAxisFromPlacement from \"../utils/getMainAxisFromPlacement.js\";\nimport { within } from \"../utils/within.js\";\nimport mergePaddingObject from \"../utils/mergePaddingObject.js\";\nimport expandToHashMap from \"../utils/expandToHashMap.js\";\nimport { left, right, basePlacements, top, bottom } from \"../enums.js\"; // eslint-disable-next-line import/no-unused-modules\n\nvar toPaddingObject = function toPaddingObject(padding, state) {\n  padding = typeof padding === 'function' ? padding(Object.assign({}, state.rects, {\n    placement: state.placement\n  })) : padding;\n  return mergePaddingObject(typeof padding !== 'number' ? padding : expandToHashMap(padding, basePlacements));\n};\n\nfunction arrow(_ref) {\n  var _state$modifiersData$;\n\n  var state = _ref.state,\n      name = _ref.name,\n      options = _ref.options;\n  var arrowElement = state.elements.arrow;\n  var popperOffsets = state.modifiersData.popperOffsets;\n  var basePlacement = getBasePlacement(state.placement);\n  var axis = getMainAxisFromPlacement(basePlacement);\n  var isVertical = [left, right].indexOf(basePlacement) >= 0;\n  var len = isVertical ? 'height' : 'width';\n\n  if (!arrowElement || !popperOffsets) {\n    return;\n  }\n\n  var paddingObject = toPaddingObject(options.padding, state);\n  var arrowRect = getLayoutRect(arrowElement);\n  var minProp = axis === 'y' ? top : left;\n  var maxProp = axis === 'y' ? bottom : right;\n  var endDiff = state.rects.reference[len] + state.rects.reference[axis] - popperOffsets[axis] - state.rects.popper[len];\n  var startDiff = popperOffsets[axis] - state.rects.reference[axis];\n  var arrowOffsetParent = getOffsetParent(arrowElement);\n  var clientSize = arrowOffsetParent ? axis === 'y' ? arrowOffsetParent.clientHeight || 0 : arrowOffsetParent.clientWidth || 0 : 0;\n  var centerToReference = endDiff / 2 - startDiff / 2; // Make sure the arrow doesn't overflow the popper if the center point is\n  // outside of the popper bounds\n\n  var min = paddingObject[minProp];\n  var max = clientSize - arrowRect[len] - paddingObject[maxProp];\n  var center = clientSize / 2 - arrowRect[len] / 2 + centerToReference;\n  var offset = within(min, center, max); // Prevents breaking syntax highlighting...\n\n  var axisProp = axis;\n  state.modifiersData[name] = (_state$modifiersData$ = {}, _state$modifiersData$[axisProp] = offset, _state$modifiersData$.centerOffset = offset - center, _state$modifiersData$);\n}\n\nfunction effect(_ref2) {\n  var state = _ref2.state,\n      options = _ref2.options;\n  var _options$element = options.element,\n      arrowElement = _options$element === void 0 ? '[data-popper-arrow]' : _options$element;\n\n  if (arrowElement == null) {\n    return;\n  } // CSS selector\n\n\n  if (typeof arrowElement === 'string') {\n    arrowElement = state.elements.popper.querySelector(arrowElement);\n\n    if (!arrowElement) {\n      return;\n    }\n  }\n\n  if (!contains(state.elements.popper, arrowElement)) {\n    return;\n  }\n\n  state.elements.arrow = arrowElement;\n} // eslint-disable-next-line import/no-unused-modules\n\n\nexport default {\n  name: 'arrow',\n  enabled: true,\n  phase: 'main',\n  fn: arrow,\n  effect: effect,\n  requires: ['popperOffsets'],\n  requiresIfExists: ['preventOverflow']\n};","export default function getVariation(placement) {\n  return placement.split('-')[1];\n}","import { top, left, right, bottom, end } from \"../enums.js\";\nimport getOffsetParent from \"../dom-utils/getOffsetParent.js\";\nimport getWindow from \"../dom-utils/getWindow.js\";\nimport getDocumentElement from \"../dom-utils/getDocumentElement.js\";\nimport getComputedStyle from \"../dom-utils/getComputedStyle.js\";\nimport getBasePlacement from \"../utils/getBasePlacement.js\";\nimport getVariation from \"../utils/getVariation.js\";\nimport { round } from \"../utils/math.js\"; // eslint-disable-next-line import/no-unused-modules\n\nvar unsetSides = {\n  top: 'auto',\n  right: 'auto',\n  bottom: 'auto',\n  left: 'auto'\n}; // Round the offsets to the nearest suitable subpixel based on the DPR.\n// Zooming can change the DPR, but it seems to report a value that will\n// cleanly divide the values into the appropriate subpixels.\n\nfunction roundOffsetsByDPR(_ref, win) {\n  var x = _ref.x,\n      y = _ref.y;\n  var dpr = win.devicePixelRatio || 1;\n  return {\n    x: round(x * dpr) / dpr || 0,\n    y: round(y * dpr) / dpr || 0\n  };\n}\n\nexport function mapToStyles(_ref2) {\n  var _Object$assign2;\n\n  var popper = _ref2.popper,\n      popperRect = _ref2.popperRect,\n      placement = _ref2.placement,\n      variation = _ref2.variation,\n      offsets = _ref2.offsets,\n      position = _ref2.position,\n      gpuAcceleration = _ref2.gpuAcceleration,\n      adaptive = _ref2.adaptive,\n      roundOffsets = _ref2.roundOffsets,\n      isFixed = _ref2.isFixed;\n  var _offsets$x = offsets.x,\n      x = _offsets$x === void 0 ? 0 : _offsets$x,\n      _offsets$y = offsets.y,\n      y = _offsets$y === void 0 ? 0 : _offsets$y;\n\n  var _ref3 = typeof roundOffsets === 'function' ? roundOffsets({\n    x: x,\n    y: y\n  }) : {\n    x: x,\n    y: y\n  };\n\n  x = _ref3.x;\n  y = _ref3.y;\n  var hasX = offsets.hasOwnProperty('x');\n  var hasY = offsets.hasOwnProperty('y');\n  var sideX = left;\n  var sideY = top;\n  var win = window;\n\n  if (adaptive) {\n    var offsetParent = getOffsetParent(popper);\n    var heightProp = 'clientHeight';\n    var widthProp = 'clientWidth';\n\n    if (offsetParent === getWindow(popper)) {\n      offsetParent = getDocumentElement(popper);\n\n      if (getComputedStyle(offsetParent).position !== 'static' && position === 'absolute') {\n        heightProp = 'scrollHeight';\n        widthProp = 'scrollWidth';\n      }\n    } // $FlowFixMe[incompatible-cast]: force type refinement, we compare offsetParent with window above, but Flow doesn't detect it\n\n\n    offsetParent = offsetParent;\n\n    if (placement === top || (placement === left || placement === right) && variation === end) {\n      sideY = bottom;\n      var offsetY = isFixed && offsetParent === win && win.visualViewport ? win.visualViewport.height : // $FlowFixMe[prop-missing]\n      offsetParent[heightProp];\n      y -= offsetY - popperRect.height;\n      y *= gpuAcceleration ? 1 : -1;\n    }\n\n    if (placement === left || (placement === top || placement === bottom) && variation === end) {\n      sideX = right;\n      var offsetX = isFixed && offsetParent === win && win.visualViewport ? win.visualViewport.width : // $FlowFixMe[prop-missing]\n      offsetParent[widthProp];\n      x -= offsetX - popperRect.width;\n      x *= gpuAcceleration ? 1 : -1;\n    }\n  }\n\n  var commonStyles = Object.assign({\n    position: position\n  }, adaptive && unsetSides);\n\n  var _ref4 = roundOffsets === true ? roundOffsetsByDPR({\n    x: x,\n    y: y\n  }, getWindow(popper)) : {\n    x: x,\n    y: y\n  };\n\n  x = _ref4.x;\n  y = _ref4.y;\n\n  if (gpuAcceleration) {\n    var _Object$assign;\n\n    return Object.assign({}, commonStyles, (_Object$assign = {}, _Object$assign[sideY] = hasY ? '0' : '', _Object$assign[sideX] = hasX ? '0' : '', _Object$assign.transform = (win.devicePixelRatio || 1) <= 1 ? \"translate(\" + x + \"px, \" + y + \"px)\" : \"translate3d(\" + x + \"px, \" + y + \"px, 0)\", _Object$assign));\n  }\n\n  return Object.assign({}, commonStyles, (_Object$assign2 = {}, _Object$assign2[sideY] = hasY ? y + \"px\" : '', _Object$assign2[sideX] = hasX ? x + \"px\" : '', _Object$assign2.transform = '', _Object$assign2));\n}\n\nfunction computeStyles(_ref5) {\n  var state = _ref5.state,\n      options = _ref5.options;\n  var _options$gpuAccelerat = options.gpuAcceleration,\n      gpuAcceleration = _options$gpuAccelerat === void 0 ? true : _options$gpuAccelerat,\n      _options$adaptive = options.adaptive,\n      adaptive = _options$adaptive === void 0 ? true : _options$adaptive,\n      _options$roundOffsets = options.roundOffsets,\n      roundOffsets = _options$roundOffsets === void 0 ? true : _options$roundOffsets;\n  var commonStyles = {\n    placement: getBasePlacement(state.placement),\n    variation: getVariation(state.placement),\n    popper: state.elements.popper,\n    popperRect: state.rects.popper,\n    gpuAcceleration: gpuAcceleration,\n    isFixed: state.options.strategy === 'fixed'\n  };\n\n  if (state.modifiersData.popperOffsets != null) {\n    state.styles.popper = Object.assign({}, state.styles.popper, mapToStyles(Object.assign({}, commonStyles, {\n      offsets: state.modifiersData.popperOffsets,\n      position: state.options.strategy,\n      adaptive: adaptive,\n      roundOffsets: roundOffsets\n    })));\n  }\n\n  if (state.modifiersData.arrow != null) {\n    state.styles.arrow = Object.assign({}, state.styles.arrow, mapToStyles(Object.assign({}, commonStyles, {\n      offsets: state.modifiersData.arrow,\n      position: 'absolute',\n      adaptive: false,\n      roundOffsets: roundOffsets\n    })));\n  }\n\n  state.attributes.popper = Object.assign({}, state.attributes.popper, {\n    'data-popper-placement': state.placement\n  });\n} // eslint-disable-next-line import/no-unused-modules\n\n\nexport default {\n  name: 'computeStyles',\n  enabled: true,\n  phase: 'beforeWrite',\n  fn: computeStyles,\n  data: {}\n};","import getWindow from \"../dom-utils/getWindow.js\"; // eslint-disable-next-line import/no-unused-modules\n\nvar passive = {\n  passive: true\n};\n\nfunction effect(_ref) {\n  var state = _ref.state,\n      instance = _ref.instance,\n      options = _ref.options;\n  var _options$scroll = options.scroll,\n      scroll = _options$scroll === void 0 ? true : _options$scroll,\n      _options$resize = options.resize,\n      resize = _options$resize === void 0 ? true : _options$resize;\n  var window = getWindow(state.elements.popper);\n  var scrollParents = [].concat(state.scrollParents.reference, state.scrollParents.popper);\n\n  if (scroll) {\n    scrollParents.forEach(function (scrollParent) {\n      scrollParent.addEventListener('scroll', instance.update, passive);\n    });\n  }\n\n  if (resize) {\n    window.addEventListener('resize', instance.update, passive);\n  }\n\n  return function () {\n    if (scroll) {\n      scrollParents.forEach(function (scrollParent) {\n        scrollParent.removeEventListener('scroll', instance.update, passive);\n      });\n    }\n\n    if (resize) {\n      window.removeEventListener('resize', instance.update, passive);\n    }\n  };\n} // eslint-disable-next-line import/no-unused-modules\n\n\nexport default {\n  name: 'eventListeners',\n  enabled: true,\n  phase: 'write',\n  fn: function fn() {},\n  effect: effect,\n  data: {}\n};","var hash = {\n  left: 'right',\n  right: 'left',\n  bottom: 'top',\n  top: 'bottom'\n};\nexport default function getOppositePlacement(placement) {\n  return placement.replace(/left|right|bottom|top/g, function (matched) {\n    return hash[matched];\n  });\n}","var hash = {\n  start: 'end',\n  end: 'start'\n};\nexport default function getOppositeVariationPlacement(placement) {\n  return placement.replace(/start|end/g, function (matched) {\n    return hash[matched];\n  });\n}","import getWindow from \"./getWindow.js\";\nexport default function getWindowScroll(node) {\n  var win = getWindow(node);\n  var scrollLeft = win.pageXOffset;\n  var scrollTop = win.pageYOffset;\n  return {\n    scrollLeft: scrollLeft,\n    scrollTop: scrollTop\n  };\n}","import getBoundingClientRect from \"./getBoundingClientRect.js\";\nimport getDocumentElement from \"./getDocumentElement.js\";\nimport getWindowScroll from \"./getWindowScroll.js\";\nexport default function getWindowScrollBarX(element) {\n  // If <html> has a CSS width greater than the viewport, then this will be\n  // incorrect for RTL.\n  // Popper 1 is broken in this case and never had a bug report so let's assume\n  // it's not an issue. I don't think anyone ever specifies width on <html>\n  // anyway.\n  // Browsers where the left scrollbar doesn't cause an issue report `0` for\n  // this (e.g. Edge 2019, IE11, Safari)\n  return getBoundingClientRect(getDocumentElement(element)).left + getWindowScroll(element).scrollLeft;\n}","import getComputedStyle from \"./getComputedStyle.js\";\nexport default function isScrollParent(element) {\n  // Firefox wants us to check `-x` and `-y` variations as well\n  var _getComputedStyle = getComputedStyle(element),\n      overflow = _getComputedStyle.overflow,\n      overflowX = _getComputedStyle.overflowX,\n      overflowY = _getComputedStyle.overflowY;\n\n  return /auto|scroll|overlay|hidden/.test(overflow + overflowY + overflowX);\n}","import getParentNode from \"./getParentNode.js\";\nimport isScrollParent from \"./isScrollParent.js\";\nimport getNodeName from \"./getNodeName.js\";\nimport { isHTMLElement } from \"./instanceOf.js\";\nexport default function getScrollParent(node) {\n  if (['html', 'body', '#document'].indexOf(getNodeName(node)) >= 0) {\n    // $FlowFixMe[incompatible-return]: assume body is always available\n    return node.ownerDocument.body;\n  }\n\n  if (isHTMLElement(node) && isScrollParent(node)) {\n    return node;\n  }\n\n  return getScrollParent(getParentNode(node));\n}","import getScrollParent from \"./getScrollParent.js\";\nimport getParentNode from \"./getParentNode.js\";\nimport getWindow from \"./getWindow.js\";\nimport isScrollParent from \"./isScrollParent.js\";\n/*\ngiven a DOM element, return the list of all scroll parents, up the list of ancesors\nuntil we get to the top window object. This list is what we attach scroll listeners\nto, because if any of these parent elements scroll, we'll need to re-calculate the\nreference element's position.\n*/\n\nexport default function listScrollParents(element, list) {\n  var _element$ownerDocumen;\n\n  if (list === void 0) {\n    list = [];\n  }\n\n  var scrollParent = getScrollParent(element);\n  var isBody = scrollParent === ((_element$ownerDocumen = element.ownerDocument) == null ? void 0 : _element$ownerDocumen.body);\n  var win = getWindow(scrollParent);\n  var target = isBody ? [win].concat(win.visualViewport || [], isScrollParent(scrollParent) ? scrollParent : []) : scrollParent;\n  var updatedList = list.concat(target);\n  return isBody ? updatedList : // $FlowFixMe[incompatible-call]: isBody tells us target will be an HTMLElement here\n  updatedList.concat(listScrollParents(getParentNode(target)));\n}","export default function rectToClientRect(rect) {\n  return Object.assign({}, rect, {\n    left: rect.x,\n    top: rect.y,\n    right: rect.x + rect.width,\n    bottom: rect.y + rect.height\n  });\n}","import { viewport } from \"../enums.js\";\nimport getViewportRect from \"./getViewportRect.js\";\nimport getDocumentRect from \"./getDocumentRect.js\";\nimport listScrollParents from \"./listScrollParents.js\";\nimport getOffsetParent from \"./getOffsetParent.js\";\nimport getDocumentElement from \"./getDocumentElement.js\";\nimport getComputedStyle from \"./getComputedStyle.js\";\nimport { isElement, isHTMLElement } from \"./instanceOf.js\";\nimport getBoundingClientRect from \"./getBoundingClientRect.js\";\nimport getParentNode from \"./getParentNode.js\";\nimport contains from \"./contains.js\";\nimport getNodeName from \"./getNodeName.js\";\nimport rectToClientRect from \"../utils/rectToClientRect.js\";\nimport { max, min } from \"../utils/math.js\";\n\nfunction getInnerBoundingClientRect(element, strategy) {\n  var rect = getBoundingClientRect(element, false, strategy === 'fixed');\n  rect.top = rect.top + element.clientTop;\n  rect.left = rect.left + element.clientLeft;\n  rect.bottom = rect.top + element.clientHeight;\n  rect.right = rect.left + element.clientWidth;\n  rect.width = element.clientWidth;\n  rect.height = element.clientHeight;\n  rect.x = rect.left;\n  rect.y = rect.top;\n  return rect;\n}\n\nfunction getClientRectFromMixedType(element, clippingParent, strategy) {\n  return clippingParent === viewport ? rectToClientRect(getViewportRect(element, strategy)) : isElement(clippingParent) ? getInnerBoundingClientRect(clippingParent, strategy) : rectToClientRect(getDocumentRect(getDocumentElement(element)));\n} // A \"clipping parent\" is an overflowable container with the characteristic of\n// clipping (or hiding) overflowing elements with a position different from\n// `initial`\n\n\nfunction getClippingParents(element) {\n  var clippingParents = listScrollParents(getParentNode(element));\n  var canEscapeClipping = ['absolute', 'fixed'].indexOf(getComputedStyle(element).position) >= 0;\n  var clipperElement = canEscapeClipping && isHTMLElement(element) ? getOffsetParent(element) : element;\n\n  if (!isElement(clipperElement)) {\n    return [];\n  } // $FlowFixMe[incompatible-return]: https://github.com/facebook/flow/issues/1414\n\n\n  return clippingParents.filter(function (clippingParent) {\n    return isElement(clippingParent) && contains(clippingParent, clipperElement) && getNodeName(clippingParent) !== 'body';\n  });\n} // Gets the maximum area that the element is visible in due to any number of\n// clipping parents\n\n\nexport default function getClippingRect(element, boundary, rootBoundary, strategy) {\n  var mainClippingParents = boundary === 'clippingParents' ? getClippingParents(element) : [].concat(boundary);\n  var clippingParents = [].concat(mainClippingParents, [rootBoundary]);\n  var firstClippingParent = clippingParents[0];\n  var clippingRect = clippingParents.reduce(function (accRect, clippingParent) {\n    var rect = getClientRectFromMixedType(element, clippingParent, strategy);\n    accRect.top = max(rect.top, accRect.top);\n    accRect.right = min(rect.right, accRect.right);\n    accRect.bottom = min(rect.bottom, accRect.bottom);\n    accRect.left = max(rect.left, accRect.left);\n    return accRect;\n  }, getClientRectFromMixedType(element, firstClippingParent, strategy));\n  clippingRect.width = clippingRect.right - clippingRect.left;\n  clippingRect.height = clippingRect.bottom - clippingRect.top;\n  clippingRect.x = clippingRect.left;\n  clippingRect.y = clippingRect.top;\n  return clippingRect;\n}","import getWindow from \"./getWindow.js\";\nimport getDocumentElement from \"./getDocumentElement.js\";\nimport getWindowScrollBarX from \"./getWindowScrollBarX.js\";\nimport isLayoutViewport from \"./isLayoutViewport.js\";\nexport default function getViewportRect(element, strategy) {\n  var win = getWindow(element);\n  var html = getDocumentElement(element);\n  var visualViewport = win.visualViewport;\n  var width = html.clientWidth;\n  var height = html.clientHeight;\n  var x = 0;\n  var y = 0;\n\n  if (visualViewport) {\n    width = visualViewport.width;\n    height = visualViewport.height;\n    var layoutViewport = isLayoutViewport();\n\n    if (layoutViewport || !layoutViewport && strategy === 'fixed') {\n      x = visualViewport.offsetLeft;\n      y = visualViewport.offsetTop;\n    }\n  }\n\n  return {\n    width: width,\n    height: height,\n    x: x + getWindowScrollBarX(element),\n    y: y\n  };\n}","import getDocumentElement from \"./getDocumentElement.js\";\nimport getComputedStyle from \"./getComputedStyle.js\";\nimport getWindowScrollBarX from \"./getWindowScrollBarX.js\";\nimport getWindowScroll from \"./getWindowScroll.js\";\nimport { max } from \"../utils/math.js\"; // Gets the entire size of the scrollable document area, even extending outside\n// of the `<html>` and `<body>` rect bounds if horizontally scrollable\n\nexport default function getDocumentRect(element) {\n  var _element$ownerDocumen;\n\n  var html = getDocumentElement(element);\n  var winScroll = getWindowScroll(element);\n  var body = (_element$ownerDocumen = element.ownerDocument) == null ? void 0 : _element$ownerDocumen.body;\n  var width = max(html.scrollWidth, html.clientWidth, body ? body.scrollWidth : 0, body ? body.clientWidth : 0);\n  var height = max(html.scrollHeight, html.clientHeight, body ? body.scrollHeight : 0, body ? body.clientHeight : 0);\n  var x = -winScroll.scrollLeft + getWindowScrollBarX(element);\n  var y = -winScroll.scrollTop;\n\n  if (getComputedStyle(body || html).direction === 'rtl') {\n    x += max(html.clientWidth, body ? body.clientWidth : 0) - width;\n  }\n\n  return {\n    width: width,\n    height: height,\n    x: x,\n    y: y\n  };\n}","import getBasePlacement from \"./getBasePlacement.js\";\nimport getVariation from \"./getVariation.js\";\nimport getMainAxisFromPlacement from \"./getMainAxisFromPlacement.js\";\nimport { top, right, bottom, left, start, end } from \"../enums.js\";\nexport default function computeOffsets(_ref) {\n  var reference = _ref.reference,\n      element = _ref.element,\n      placement = _ref.placement;\n  var basePlacement = placement ? getBasePlacement(placement) : null;\n  var variation = placement ? getVariation(placement) : null;\n  var commonX = reference.x + reference.width / 2 - element.width / 2;\n  var commonY = reference.y + reference.height / 2 - element.height / 2;\n  var offsets;\n\n  switch (basePlacement) {\n    case top:\n      offsets = {\n        x: commonX,\n        y: reference.y - element.height\n      };\n      break;\n\n    case bottom:\n      offsets = {\n        x: commonX,\n        y: reference.y + reference.height\n      };\n      break;\n\n    case right:\n      offsets = {\n        x: reference.x + reference.width,\n        y: commonY\n      };\n      break;\n\n    case left:\n      offsets = {\n        x: reference.x - element.width,\n        y: commonY\n      };\n      break;\n\n    default:\n      offsets = {\n        x: reference.x,\n        y: reference.y\n      };\n  }\n\n  var mainAxis = basePlacement ? getMainAxisFromPlacement(basePlacement) : null;\n\n  if (mainAxis != null) {\n    var len = mainAxis === 'y' ? 'height' : 'width';\n\n    switch (variation) {\n      case start:\n        offsets[mainAxis] = offsets[mainAxis] - (reference[len] / 2 - element[len] / 2);\n        break;\n\n      case end:\n        offsets[mainAxis] = offsets[mainAxis] + (reference[len] / 2 - element[len] / 2);\n        break;\n\n      default:\n    }\n  }\n\n  return offsets;\n}","import getClippingRect from \"../dom-utils/getClippingRect.js\";\nimport getDocumentElement from \"../dom-utils/getDocumentElement.js\";\nimport getBoundingClientRect from \"../dom-utils/getBoundingClientRect.js\";\nimport computeOffsets from \"./computeOffsets.js\";\nimport rectToClientRect from \"./rectToClientRect.js\";\nimport { clippingParents, reference, popper, bottom, top, right, basePlacements, viewport } from \"../enums.js\";\nimport { isElement } from \"../dom-utils/instanceOf.js\";\nimport mergePaddingObject from \"./mergePaddingObject.js\";\nimport expandToHashMap from \"./expandToHashMap.js\"; // eslint-disable-next-line import/no-unused-modules\n\nexport default function detectOverflow(state, options) {\n  if (options === void 0) {\n    options = {};\n  }\n\n  var _options = options,\n      _options$placement = _options.placement,\n      placement = _options$placement === void 0 ? state.placement : _options$placement,\n      _options$strategy = _options.strategy,\n      strategy = _options$strategy === void 0 ? state.strategy : _options$strategy,\n      _options$boundary = _options.boundary,\n      boundary = _options$boundary === void 0 ? clippingParents : _options$boundary,\n      _options$rootBoundary = _options.rootBoundary,\n      rootBoundary = _options$rootBoundary === void 0 ? viewport : _options$rootBoundary,\n      _options$elementConte = _options.elementContext,\n      elementContext = _options$elementConte === void 0 ? popper : _options$elementConte,\n      _options$altBoundary = _options.altBoundary,\n      altBoundary = _options$altBoundary === void 0 ? false : _options$altBoundary,\n      _options$padding = _options.padding,\n      padding = _options$padding === void 0 ? 0 : _options$padding;\n  var paddingObject = mergePaddingObject(typeof padding !== 'number' ? padding : expandToHashMap(padding, basePlacements));\n  var altContext = elementContext === popper ? reference : popper;\n  var popperRect = state.rects.popper;\n  var element = state.elements[altBoundary ? altContext : elementContext];\n  var clippingClientRect = getClippingRect(isElement(element) ? element : element.contextElement || getDocumentElement(state.elements.popper), boundary, rootBoundary, strategy);\n  var referenceClientRect = getBoundingClientRect(state.elements.reference);\n  var popperOffsets = computeOffsets({\n    reference: referenceClientRect,\n    element: popperRect,\n    strategy: 'absolute',\n    placement: placement\n  });\n  var popperClientRect = rectToClientRect(Object.assign({}, popperRect, popperOffsets));\n  var elementClientRect = elementContext === popper ? popperClientRect : referenceClientRect; // positive = overflowing the clipping rect\n  // 0 or negative = within the clipping rect\n\n  var overflowOffsets = {\n    top: clippingClientRect.top - elementClientRect.top + paddingObject.top,\n    bottom: elementClientRect.bottom - clippingClientRect.bottom + paddingObject.bottom,\n    left: clippingClientRect.left - elementClientRect.left + paddingObject.left,\n    right: elementClientRect.right - clippingClientRect.right + paddingObject.right\n  };\n  var offsetData = state.modifiersData.offset; // Offsets can be applied only to the popper element\n\n  if (elementContext === popper && offsetData) {\n    var offset = offsetData[placement];\n    Object.keys(overflowOffsets).forEach(function (key) {\n      var multiply = [right, bottom].indexOf(key) >= 0 ? 1 : -1;\n      var axis = [top, bottom].indexOf(key) >= 0 ? 'y' : 'x';\n      overflowOffsets[key] += offset[axis] * multiply;\n    });\n  }\n\n  return overflowOffsets;\n}","import getOppositePlacement from \"../utils/getOppositePlacement.js\";\nimport getBasePlacement from \"../utils/getBasePlacement.js\";\nimport getOppositeVariationPlacement from \"../utils/getOppositeVariationPlacement.js\";\nimport detectOverflow from \"../utils/detectOverflow.js\";\nimport computeAutoPlacement from \"../utils/computeAutoPlacement.js\";\nimport { bottom, top, start, right, left, auto } from \"../enums.js\";\nimport getVariation from \"../utils/getVariation.js\"; // eslint-disable-next-line import/no-unused-modules\n\nfunction getExpandedFallbackPlacements(placement) {\n  if (getBasePlacement(placement) === auto) {\n    return [];\n  }\n\n  var oppositePlacement = getOppositePlacement(placement);\n  return [getOppositeVariationPlacement(placement), oppositePlacement, getOppositeVariationPlacement(oppositePlacement)];\n}\n\nfunction flip(_ref) {\n  var state = _ref.state,\n      options = _ref.options,\n      name = _ref.name;\n\n  if (state.modifiersData[name]._skip) {\n    return;\n  }\n\n  var _options$mainAxis = options.mainAxis,\n      checkMainAxis = _options$mainAxis === void 0 ? true : _options$mainAxis,\n      _options$altAxis = options.altAxis,\n      checkAltAxis = _options$altAxis === void 0 ? true : _options$altAxis,\n      specifiedFallbackPlacements = options.fallbackPlacements,\n      padding = options.padding,\n      boundary = options.boundary,\n      rootBoundary = options.rootBoundary,\n      altBoundary = options.altBoundary,\n      _options$flipVariatio = options.flipVariations,\n      flipVariations = _options$flipVariatio === void 0 ? true : _options$flipVariatio,\n      allowedAutoPlacements = options.allowedAutoPlacements;\n  var preferredPlacement = state.options.placement;\n  var basePlacement = getBasePlacement(preferredPlacement);\n  var isBasePlacement = basePlacement === preferredPlacement;\n  var fallbackPlacements = specifiedFallbackPlacements || (isBasePlacement || !flipVariations ? [getOppositePlacement(preferredPlacement)] : getExpandedFallbackPlacements(preferredPlacement));\n  var placements = [preferredPlacement].concat(fallbackPlacements).reduce(function (acc, placement) {\n    return acc.concat(getBasePlacement(placement) === auto ? computeAutoPlacement(state, {\n      placement: placement,\n      boundary: boundary,\n      rootBoundary: rootBoundary,\n      padding: padding,\n      flipVariations: flipVariations,\n      allowedAutoPlacements: allowedAutoPlacements\n    }) : placement);\n  }, []);\n  var referenceRect = state.rects.reference;\n  var popperRect = state.rects.popper;\n  var checksMap = new Map();\n  var makeFallbackChecks = true;\n  var firstFittingPlacement = placements[0];\n\n  for (var i = 0; i < placements.length; i++) {\n    var placement = placements[i];\n\n    var _basePlacement = getBasePlacement(placement);\n\n    var isStartVariation = getVariation(placement) === start;\n    var isVertical = [top, bottom].indexOf(_basePlacement) >= 0;\n    var len = isVertical ? 'width' : 'height';\n    var overflow = detectOverflow(state, {\n      placement: placement,\n      boundary: boundary,\n      rootBoundary: rootBoundary,\n      altBoundary: altBoundary,\n      padding: padding\n    });\n    var mainVariationSide = isVertical ? isStartVariation ? right : left : isStartVariation ? bottom : top;\n\n    if (referenceRect[len] > popperRect[len]) {\n      mainVariationSide = getOppositePlacement(mainVariationSide);\n    }\n\n    var altVariationSide = getOppositePlacement(mainVariationSide);\n    var checks = [];\n\n    if (checkMainAxis) {\n      checks.push(overflow[_basePlacement] <= 0);\n    }\n\n    if (checkAltAxis) {\n      checks.push(overflow[mainVariationSide] <= 0, overflow[altVariationSide] <= 0);\n    }\n\n    if (checks.every(function (check) {\n      return check;\n    })) {\n      firstFittingPlacement = placement;\n      makeFallbackChecks = false;\n      break;\n    }\n\n    checksMap.set(placement, checks);\n  }\n\n  if (makeFallbackChecks) {\n    // `2` may be desired in some cases – research later\n    var numberOfChecks = flipVariations ? 3 : 1;\n\n    var _loop = function _loop(_i) {\n      var fittingPlacement = placements.find(function (placement) {\n        var checks = checksMap.get(placement);\n\n        if (checks) {\n          return checks.slice(0, _i).every(function (check) {\n            return check;\n          });\n        }\n      });\n\n      if (fittingPlacement) {\n        firstFittingPlacement = fittingPlacement;\n        return \"break\";\n      }\n    };\n\n    for (var _i = numberOfChecks; _i > 0; _i--) {\n      var _ret = _loop(_i);\n\n      if (_ret === \"break\") break;\n    }\n  }\n\n  if (state.placement !== firstFittingPlacement) {\n    state.modifiersData[name]._skip = true;\n    state.placement = firstFittingPlacement;\n    state.reset = true;\n  }\n} // eslint-disable-next-line import/no-unused-modules\n\n\nexport default {\n  name: 'flip',\n  enabled: true,\n  phase: 'main',\n  fn: flip,\n  requiresIfExists: ['offset'],\n  data: {\n    _skip: false\n  }\n};","import getVariation from \"./getVariation.js\";\nimport { variationPlacements, basePlacements, placements as allPlacements } from \"../enums.js\";\nimport detectOverflow from \"./detectOverflow.js\";\nimport getBasePlacement from \"./getBasePlacement.js\";\nexport default function computeAutoPlacement(state, options) {\n  if (options === void 0) {\n    options = {};\n  }\n\n  var _options = options,\n      placement = _options.placement,\n      boundary = _options.boundary,\n      rootBoundary = _options.rootBoundary,\n      padding = _options.padding,\n      flipVariations = _options.flipVariations,\n      _options$allowedAutoP = _options.allowedAutoPlacements,\n      allowedAutoPlacements = _options$allowedAutoP === void 0 ? allPlacements : _options$allowedAutoP;\n  var variation = getVariation(placement);\n  var placements = variation ? flipVariations ? variationPlacements : variationPlacements.filter(function (placement) {\n    return getVariation(placement) === variation;\n  }) : basePlacements;\n  var allowedPlacements = placements.filter(function (placement) {\n    return allowedAutoPlacements.indexOf(placement) >= 0;\n  });\n\n  if (allowedPlacements.length === 0) {\n    allowedPlacements = placements;\n  } // $FlowFixMe[incompatible-type]: Flow seems to have problems with two array unions...\n\n\n  var overflows = allowedPlacements.reduce(function (acc, placement) {\n    acc[placement] = detectOverflow(state, {\n      placement: placement,\n      boundary: boundary,\n      rootBoundary: rootBoundary,\n      padding: padding\n    })[getBasePlacement(placement)];\n    return acc;\n  }, {});\n  return Object.keys(overflows).sort(function (a, b) {\n    return overflows[a] - overflows[b];\n  });\n}","import { top, bottom, left, right } from \"../enums.js\";\nimport detectOverflow from \"../utils/detectOverflow.js\";\n\nfunction getSideOffsets(overflow, rect, preventedOffsets) {\n  if (preventedOffsets === void 0) {\n    preventedOffsets = {\n      x: 0,\n      y: 0\n    };\n  }\n\n  return {\n    top: overflow.top - rect.height - preventedOffsets.y,\n    right: overflow.right - rect.width + preventedOffsets.x,\n    bottom: overflow.bottom - rect.height + preventedOffsets.y,\n    left: overflow.left - rect.width - preventedOffsets.x\n  };\n}\n\nfunction isAnySideFullyClipped(overflow) {\n  return [top, right, bottom, left].some(function (side) {\n    return overflow[side] >= 0;\n  });\n}\n\nfunction hide(_ref) {\n  var state = _ref.state,\n      name = _ref.name;\n  var referenceRect = state.rects.reference;\n  var popperRect = state.rects.popper;\n  var preventedOffsets = state.modifiersData.preventOverflow;\n  var referenceOverflow = detectOverflow(state, {\n    elementContext: 'reference'\n  });\n  var popperAltOverflow = detectOverflow(state, {\n    altBoundary: true\n  });\n  var referenceClippingOffsets = getSideOffsets(referenceOverflow, referenceRect);\n  var popperEscapeOffsets = getSideOffsets(popperAltOverflow, popperRect, preventedOffsets);\n  var isReferenceHidden = isAnySideFullyClipped(referenceClippingOffsets);\n  var hasPopperEscaped = isAnySideFullyClipped(popperEscapeOffsets);\n  state.modifiersData[name] = {\n    referenceClippingOffsets: referenceClippingOffsets,\n    popperEscapeOffsets: popperEscapeOffsets,\n    isReferenceHidden: isReferenceHidden,\n    hasPopperEscaped: hasPopperEscaped\n  };\n  state.attributes.popper = Object.assign({}, state.attributes.popper, {\n    'data-popper-reference-hidden': isReferenceHidden,\n    'data-popper-escaped': hasPopperEscaped\n  });\n} // eslint-disable-next-line import/no-unused-modules\n\n\nexport default {\n  name: 'hide',\n  enabled: true,\n  phase: 'main',\n  requiresIfExists: ['preventOverflow'],\n  fn: hide\n};","import getBasePlacement from \"../utils/getBasePlacement.js\";\nimport { top, left, right, placements } from \"../enums.js\"; // eslint-disable-next-line import/no-unused-modules\n\nexport function distanceAndSkiddingToXY(placement, rects, offset) {\n  var basePlacement = getBasePlacement(placement);\n  var invertDistance = [left, top].indexOf(basePlacement) >= 0 ? -1 : 1;\n\n  var _ref = typeof offset === 'function' ? offset(Object.assign({}, rects, {\n    placement: placement\n  })) : offset,\n      skidding = _ref[0],\n      distance = _ref[1];\n\n  skidding = skidding || 0;\n  distance = (distance || 0) * invertDistance;\n  return [left, right].indexOf(basePlacement) >= 0 ? {\n    x: distance,\n    y: skidding\n  } : {\n    x: skidding,\n    y: distance\n  };\n}\n\nfunction offset(_ref2) {\n  var state = _ref2.state,\n      options = _ref2.options,\n      name = _ref2.name;\n  var _options$offset = options.offset,\n      offset = _options$offset === void 0 ? [0, 0] : _options$offset;\n  var data = placements.reduce(function (acc, placement) {\n    acc[placement] = distanceAndSkiddingToXY(placement, state.rects, offset);\n    return acc;\n  }, {});\n  var _data$state$placement = data[state.placement],\n      x = _data$state$placement.x,\n      y = _data$state$placement.y;\n\n  if (state.modifiersData.popperOffsets != null) {\n    state.modifiersData.popperOffsets.x += x;\n    state.modifiersData.popperOffsets.y += y;\n  }\n\n  state.modifiersData[name] = data;\n} // eslint-disable-next-line import/no-unused-modules\n\n\nexport default {\n  name: 'offset',\n  enabled: true,\n  phase: 'main',\n  requires: ['popperOffsets'],\n  fn: offset\n};","import computeOffsets from \"../utils/computeOffsets.js\";\n\nfunction popperOffsets(_ref) {\n  var state = _ref.state,\n      name = _ref.name;\n  // Offsets are the actual position the popper needs to have to be\n  // properly positioned near its reference element\n  // This is the most basic placement, and will be adjusted by\n  // the modifiers in the next step\n  state.modifiersData[name] = computeOffsets({\n    reference: state.rects.reference,\n    element: state.rects.popper,\n    strategy: 'absolute',\n    placement: state.placement\n  });\n} // eslint-disable-next-line import/no-unused-modules\n\n\nexport default {\n  name: 'popperOffsets',\n  enabled: true,\n  phase: 'read',\n  fn: popperOffsets,\n  data: {}\n};","import { top, left, right, bottom, start } from \"../enums.js\";\nimport getBasePlacement from \"../utils/getBasePlacement.js\";\nimport getMainAxisFromPlacement from \"../utils/getMainAxisFromPlacement.js\";\nimport getAltAxis from \"../utils/getAltAxis.js\";\nimport { within, withinMaxClamp } from \"../utils/within.js\";\nimport getLayoutRect from \"../dom-utils/getLayoutRect.js\";\nimport getOffsetParent from \"../dom-utils/getOffsetParent.js\";\nimport detectOverflow from \"../utils/detectOverflow.js\";\nimport getVariation from \"../utils/getVariation.js\";\nimport getFreshSideObject from \"../utils/getFreshSideObject.js\";\nimport { min as mathMin, max as mathMax } from \"../utils/math.js\";\n\nfunction preventOverflow(_ref) {\n  var state = _ref.state,\n      options = _ref.options,\n      name = _ref.name;\n  var _options$mainAxis = options.mainAxis,\n      checkMainAxis = _options$mainAxis === void 0 ? true : _options$mainAxis,\n      _options$altAxis = options.altAxis,\n      checkAltAxis = _options$altAxis === void 0 ? false : _options$altAxis,\n      boundary = options.boundary,\n      rootBoundary = options.rootBoundary,\n      altBoundary = options.altBoundary,\n      padding = options.padding,\n      _options$tether = options.tether,\n      tether = _options$tether === void 0 ? true : _options$tether,\n      _options$tetherOffset = options.tetherOffset,\n      tetherOffset = _options$tetherOffset === void 0 ? 0 : _options$tetherOffset;\n  var overflow = detectOverflow(state, {\n    boundary: boundary,\n    rootBoundary: rootBoundary,\n    padding: padding,\n    altBoundary: altBoundary\n  });\n  var basePlacement = getBasePlacement(state.placement);\n  var variation = getVariation(state.placement);\n  var isBasePlacement = !variation;\n  var mainAxis = getMainAxisFromPlacement(basePlacement);\n  var altAxis = getAltAxis(mainAxis);\n  var popperOffsets = state.modifiersData.popperOffsets;\n  var referenceRect = state.rects.reference;\n  var popperRect = state.rects.popper;\n  var tetherOffsetValue = typeof tetherOffset === 'function' ? tetherOffset(Object.assign({}, state.rects, {\n    placement: state.placement\n  })) : tetherOffset;\n  var normalizedTetherOffsetValue = typeof tetherOffsetValue === 'number' ? {\n    mainAxis: tetherOffsetValue,\n    altAxis: tetherOffsetValue\n  } : Object.assign({\n    mainAxis: 0,\n    altAxis: 0\n  }, tetherOffsetValue);\n  var offsetModifierState = state.modifiersData.offset ? state.modifiersData.offset[state.placement] : null;\n  var data = {\n    x: 0,\n    y: 0\n  };\n\n  if (!popperOffsets) {\n    return;\n  }\n\n  if (checkMainAxis) {\n    var _offsetModifierState$;\n\n    var mainSide = mainAxis === 'y' ? top : left;\n    var altSide = mainAxis === 'y' ? bottom : right;\n    var len = mainAxis === 'y' ? 'height' : 'width';\n    var offset = popperOffsets[mainAxis];\n    var min = offset + overflow[mainSide];\n    var max = offset - overflow[altSide];\n    var additive = tether ? -popperRect[len] / 2 : 0;\n    var minLen = variation === start ? referenceRect[len] : popperRect[len];\n    var maxLen = variation === start ? -popperRect[len] : -referenceRect[len]; // We need to include the arrow in the calculation so the arrow doesn't go\n    // outside the reference bounds\n\n    var arrowElement = state.elements.arrow;\n    var arrowRect = tether && arrowElement ? getLayoutRect(arrowElement) : {\n      width: 0,\n      height: 0\n    };\n    var arrowPaddingObject = state.modifiersData['arrow#persistent'] ? state.modifiersData['arrow#persistent'].padding : getFreshSideObject();\n    var arrowPaddingMin = arrowPaddingObject[mainSide];\n    var arrowPaddingMax = arrowPaddingObject[altSide]; // If the reference length is smaller than the arrow length, we don't want\n    // to include its full size in the calculation. If the reference is small\n    // and near the edge of a boundary, the popper can overflow even if the\n    // reference is not overflowing as well (e.g. virtual elements with no\n    // width or height)\n\n    var arrowLen = within(0, referenceRect[len], arrowRect[len]);\n    var minOffset = isBasePlacement ? referenceRect[len] / 2 - additive - arrowLen - arrowPaddingMin - normalizedTetherOffsetValue.mainAxis : minLen - arrowLen - arrowPaddingMin - normalizedTetherOffsetValue.mainAxis;\n    var maxOffset = isBasePlacement ? -referenceRect[len] / 2 + additive + arrowLen + arrowPaddingMax + normalizedTetherOffsetValue.mainAxis : maxLen + arrowLen + arrowPaddingMax + normalizedTetherOffsetValue.mainAxis;\n    var arrowOffsetParent = state.elements.arrow && getOffsetParent(state.elements.arrow);\n    var clientOffset = arrowOffsetParent ? mainAxis === 'y' ? arrowOffsetParent.clientTop || 0 : arrowOffsetParent.clientLeft || 0 : 0;\n    var offsetModifierValue = (_offsetModifierState$ = offsetModifierState == null ? void 0 : offsetModifierState[mainAxis]) != null ? _offsetModifierState$ : 0;\n    var tetherMin = offset + minOffset - offsetModifierValue - clientOffset;\n    var tetherMax = offset + maxOffset - offsetModifierValue;\n    var preventedOffset = within(tether ? mathMin(min, tetherMin) : min, offset, tether ? mathMax(max, tetherMax) : max);\n    popperOffsets[mainAxis] = preventedOffset;\n    data[mainAxis] = preventedOffset - offset;\n  }\n\n  if (checkAltAxis) {\n    var _offsetModifierState$2;\n\n    var _mainSide = mainAxis === 'x' ? top : left;\n\n    var _altSide = mainAxis === 'x' ? bottom : right;\n\n    var _offset = popperOffsets[altAxis];\n\n    var _len = altAxis === 'y' ? 'height' : 'width';\n\n    var _min = _offset + overflow[_mainSide];\n\n    var _max = _offset - overflow[_altSide];\n\n    var isOriginSide = [top, left].indexOf(basePlacement) !== -1;\n\n    var _offsetModifierValue = (_offsetModifierState$2 = offsetModifierState == null ? void 0 : offsetModifierState[altAxis]) != null ? _offsetModifierState$2 : 0;\n\n    var _tetherMin = isOriginSide ? _min : _offset - referenceRect[_len] - popperRect[_len] - _offsetModifierValue + normalizedTetherOffsetValue.altAxis;\n\n    var _tetherMax = isOriginSide ? _offset + referenceRect[_len] + popperRect[_len] - _offsetModifierValue - normalizedTetherOffsetValue.altAxis : _max;\n\n    var _preventedOffset = tether && isOriginSide ? withinMaxClamp(_tetherMin, _offset, _tetherMax) : within(tether ? _tetherMin : _min, _offset, tether ? _tetherMax : _max);\n\n    popperOffsets[altAxis] = _preventedOffset;\n    data[altAxis] = _preventedOffset - _offset;\n  }\n\n  state.modifiersData[name] = data;\n} // eslint-disable-next-line import/no-unused-modules\n\n\nexport default {\n  name: 'preventOverflow',\n  enabled: true,\n  phase: 'main',\n  fn: preventOverflow,\n  requiresIfExists: ['offset']\n};","export default function getAltAxis(axis) {\n  return axis === 'x' ? 'y' : 'x';\n}","import getBoundingClientRect from \"./getBoundingClientRect.js\";\nimport getNodeScroll from \"./getNodeScroll.js\";\nimport getNodeName from \"./getNodeName.js\";\nimport { isHTMLElement } from \"./instanceOf.js\";\nimport getWindowScrollBarX from \"./getWindowScrollBarX.js\";\nimport getDocumentElement from \"./getDocumentElement.js\";\nimport isScrollParent from \"./isScrollParent.js\";\nimport { round } from \"../utils/math.js\";\n\nfunction isElementScaled(element) {\n  var rect = element.getBoundingClientRect();\n  var scaleX = round(rect.width) / element.offsetWidth || 1;\n  var scaleY = round(rect.height) / element.offsetHeight || 1;\n  return scaleX !== 1 || scaleY !== 1;\n} // Returns the composite rect of an element relative to its offsetParent.\n// Composite means it takes into account transforms as well as layout.\n\n\nexport default function getCompositeRect(elementOrVirtualElement, offsetParent, isFixed) {\n  if (isFixed === void 0) {\n    isFixed = false;\n  }\n\n  var isOffsetParentAnElement = isHTMLElement(offsetParent);\n  var offsetParentIsScaled = isHTMLElement(offsetParent) && isElementScaled(offsetParent);\n  var documentElement = getDocumentElement(offsetParent);\n  var rect = getBoundingClientRect(elementOrVirtualElement, offsetParentIsScaled, isFixed);\n  var scroll = {\n    scrollLeft: 0,\n    scrollTop: 0\n  };\n  var offsets = {\n    x: 0,\n    y: 0\n  };\n\n  if (isOffsetParentAnElement || !isOffsetParentAnElement && !isFixed) {\n    if (getNodeName(offsetParent) !== 'body' || // https://github.com/popperjs/popper-core/issues/1078\n    isScrollParent(documentElement)) {\n      scroll = getNodeScroll(offsetParent);\n    }\n\n    if (isHTMLElement(offsetParent)) {\n      offsets = getBoundingClientRect(offsetParent, true);\n      offsets.x += offsetParent.clientLeft;\n      offsets.y += offsetParent.clientTop;\n    } else if (documentElement) {\n      offsets.x = getWindowScrollBarX(documentElement);\n    }\n  }\n\n  return {\n    x: rect.left + scroll.scrollLeft - offsets.x,\n    y: rect.top + scroll.scrollTop - offsets.y,\n    width: rect.width,\n    height: rect.height\n  };\n}","import getWindowScroll from \"./getWindowScroll.js\";\nimport getWindow from \"./getWindow.js\";\nimport { isHTMLElement } from \"./instanceOf.js\";\nimport getHTMLElementScroll from \"./getHTMLElementScroll.js\";\nexport default function getNodeScroll(node) {\n  if (node === getWindow(node) || !isHTMLElement(node)) {\n    return getWindowScroll(node);\n  } else {\n    return getHTMLElementScroll(node);\n  }\n}","export default function getHTMLElementScroll(element) {\n  return {\n    scrollLeft: element.scrollLeft,\n    scrollTop: element.scrollTop\n  };\n}","import { modifierPhases } from \"../enums.js\"; // source: https://stackoverflow.com/questions/49875255\n\nfunction order(modifiers) {\n  var map = new Map();\n  var visited = new Set();\n  var result = [];\n  modifiers.forEach(function (modifier) {\n    map.set(modifier.name, modifier);\n  }); // On visiting object, check for its dependencies and visit them recursively\n\n  function sort(modifier) {\n    visited.add(modifier.name);\n    var requires = [].concat(modifier.requires || [], modifier.requiresIfExists || []);\n    requires.forEach(function (dep) {\n      if (!visited.has(dep)) {\n        var depModifier = map.get(dep);\n\n        if (depModifier) {\n          sort(depModifier);\n        }\n      }\n    });\n    result.push(modifier);\n  }\n\n  modifiers.forEach(function (modifier) {\n    if (!visited.has(modifier.name)) {\n      // check for visited object\n      sort(modifier);\n    }\n  });\n  return result;\n}\n\nexport default function orderModifiers(modifiers) {\n  // order based on dependencies\n  var orderedModifiers = order(modifiers); // order based on phase\n\n  return modifierPhases.reduce(function (acc, phase) {\n    return acc.concat(orderedModifiers.filter(function (modifier) {\n      return modifier.phase === phase;\n    }));\n  }, []);\n}","import getCompositeRect from \"./dom-utils/getCompositeRect.js\";\nimport getLayoutRect from \"./dom-utils/getLayoutRect.js\";\nimport listScrollParents from \"./dom-utils/listScrollParents.js\";\nimport getOffsetParent from \"./dom-utils/getOffsetParent.js\";\nimport orderModifiers from \"./utils/orderModifiers.js\";\nimport debounce from \"./utils/debounce.js\";\nimport mergeByName from \"./utils/mergeByName.js\";\nimport detectOverflow from \"./utils/detectOverflow.js\";\nimport { isElement } from \"./dom-utils/instanceOf.js\";\nvar DEFAULT_OPTIONS = {\n  placement: 'bottom',\n  modifiers: [],\n  strategy: 'absolute'\n};\n\nfunction areValidElements() {\n  for (var _len = arguments.length, args = new Array(_len), _key = 0; _key < _len; _key++) {\n    args[_key] = arguments[_key];\n  }\n\n  return !args.some(function (element) {\n    return !(element && typeof element.getBoundingClientRect === 'function');\n  });\n}\n\nexport function popperGenerator(generatorOptions) {\n  if (generatorOptions === void 0) {\n    generatorOptions = {};\n  }\n\n  var _generatorOptions = generatorOptions,\n      _generatorOptions$def = _generatorOptions.defaultModifiers,\n      defaultModifiers = _generatorOptions$def === void 0 ? [] : _generatorOptions$def,\n      _generatorOptions$def2 = _generatorOptions.defaultOptions,\n      defaultOptions = _generatorOptions$def2 === void 0 ? DEFAULT_OPTIONS : _generatorOptions$def2;\n  return function createPopper(reference, popper, options) {\n    if (options === void 0) {\n      options = defaultOptions;\n    }\n\n    var state = {\n      placement: 'bottom',\n      orderedModifiers: [],\n      options: Object.assign({}, DEFAULT_OPTIONS, defaultOptions),\n      modifiersData: {},\n      elements: {\n        reference: reference,\n        popper: popper\n      },\n      attributes: {},\n      styles: {}\n    };\n    var effectCleanupFns = [];\n    var isDestroyed = false;\n    var instance = {\n      state: state,\n      setOptions: function setOptions(setOptionsAction) {\n        var options = typeof setOptionsAction === 'function' ? setOptionsAction(state.options) : setOptionsAction;\n        cleanupModifierEffects();\n        state.options = Object.assign({}, defaultOptions, state.options, options);\n        state.scrollParents = {\n          reference: isElement(reference) ? listScrollParents(reference) : reference.contextElement ? listScrollParents(reference.contextElement) : [],\n          popper: listScrollParents(popper)\n        }; // Orders the modifiers based on their dependencies and `phase`\n        // properties\n\n        var orderedModifiers = orderModifiers(mergeByName([].concat(defaultModifiers, state.options.modifiers))); // Strip out disabled modifiers\n\n        state.orderedModifiers = orderedModifiers.filter(function (m) {\n          return m.enabled;\n        });\n        runModifierEffects();\n        return instance.update();\n      },\n      // Sync update – it will always be executed, even if not necessary. This\n      // is useful for low frequency updates where sync behavior simplifies the\n      // logic.\n      // For high frequency updates (e.g. `resize` and `scroll` events), always\n      // prefer the async Popper#update method\n      forceUpdate: function forceUpdate() {\n        if (isDestroyed) {\n          return;\n        }\n\n        var _state$elements = state.elements,\n            reference = _state$elements.reference,\n            popper = _state$elements.popper; // Don't proceed if `reference` or `popper` are not valid elements\n        // anymore\n\n        if (!areValidElements(reference, popper)) {\n          return;\n        } // Store the reference and popper rects to be read by modifiers\n\n\n        state.rects = {\n          reference: getCompositeRect(reference, getOffsetParent(popper), state.options.strategy === 'fixed'),\n          popper: getLayoutRect(popper)\n        }; // Modifiers have the ability to reset the current update cycle. The\n        // most common use case for this is the `flip` modifier changing the\n        // placement, which then needs to re-run all the modifiers, because the\n        // logic was previously ran for the previous placement and is therefore\n        // stale/incorrect\n\n        state.reset = false;\n        state.placement = state.options.placement; // On each update cycle, the `modifiersData` property for each modifier\n        // is filled with the initial data specified by the modifier. This means\n        // it doesn't persist and is fresh on each update.\n        // To ensure persistent data, use `${name}#persistent`\n\n        state.orderedModifiers.forEach(function (modifier) {\n          return state.modifiersData[modifier.name] = Object.assign({}, modifier.data);\n        });\n\n        for (var index = 0; index < state.orderedModifiers.length; index++) {\n          if (state.reset === true) {\n            state.reset = false;\n            index = -1;\n            continue;\n          }\n\n          var _state$orderedModifie = state.orderedModifiers[index],\n              fn = _state$orderedModifie.fn,\n              _state$orderedModifie2 = _state$orderedModifie.options,\n              _options = _state$orderedModifie2 === void 0 ? {} : _state$orderedModifie2,\n              name = _state$orderedModifie.name;\n\n          if (typeof fn === 'function') {\n            state = fn({\n              state: state,\n              options: _options,\n              name: name,\n              instance: instance\n            }) || state;\n          }\n        }\n      },\n      // Async and optimistically optimized update – it will not be executed if\n      // not necessary (debounced to run at most once-per-tick)\n      update: debounce(function () {\n        return new Promise(function (resolve) {\n          instance.forceUpdate();\n          resolve(state);\n        });\n      }),\n      destroy: function destroy() {\n        cleanupModifierEffects();\n        isDestroyed = true;\n      }\n    };\n\n    if (!areValidElements(reference, popper)) {\n      return instance;\n    }\n\n    instance.setOptions(options).then(function (state) {\n      if (!isDestroyed && options.onFirstUpdate) {\n        options.onFirstUpdate(state);\n      }\n    }); // Modifiers have the ability to execute arbitrary code before the first\n    // update cycle runs. They will be executed in the same order as the update\n    // cycle. This is useful when a modifier adds some persistent data that\n    // other modifiers need to use, but the modifier is run after the dependent\n    // one.\n\n    function runModifierEffects() {\n      state.orderedModifiers.forEach(function (_ref) {\n        var name = _ref.name,\n            _ref$options = _ref.options,\n            options = _ref$options === void 0 ? {} : _ref$options,\n            effect = _ref.effect;\n\n        if (typeof effect === 'function') {\n          var cleanupFn = effect({\n            state: state,\n            name: name,\n            instance: instance,\n            options: options\n          });\n\n          var noopFn = function noopFn() {};\n\n          effectCleanupFns.push(cleanupFn || noopFn);\n        }\n      });\n    }\n\n    function cleanupModifierEffects() {\n      effectCleanupFns.forEach(function (fn) {\n        return fn();\n      });\n      effectCleanupFns = [];\n    }\n\n    return instance;\n  };\n}\nexport var createPopper = /*#__PURE__*/popperGenerator(); // eslint-disable-next-line import/no-unused-modules\n\nexport { detectOverflow };","export default function debounce(fn) {\n  var pending;\n  return function () {\n    if (!pending) {\n      pending = new Promise(function (resolve) {\n        Promise.resolve().then(function () {\n          pending = undefined;\n          resolve(fn());\n        });\n      });\n    }\n\n    return pending;\n  };\n}","export default function mergeByName(modifiers) {\n  var merged = modifiers.reduce(function (merged, current) {\n    var existing = merged[current.name];\n    merged[current.name] = existing ? Object.assign({}, existing, current, {\n      options: Object.assign({}, existing.options, current.options),\n      data: Object.assign({}, existing.data, current.data)\n    }) : current;\n    return merged;\n  }, {}); // IE11 does not support Object.values\n\n  return Object.keys(merged).map(function (key) {\n    return merged[key];\n  });\n}","import { popperGenerator, detectOverflow } from \"./createPopper.js\";\nimport eventListeners from \"./modifiers/eventListeners.js\";\nimport popperOffsets from \"./modifiers/popperOffsets.js\";\nimport computeStyles from \"./modifiers/computeStyles.js\";\nimport applyStyles from \"./modifiers/applyStyles.js\";\nimport offset from \"./modifiers/offset.js\";\nimport flip from \"./modifiers/flip.js\";\nimport preventOverflow from \"./modifiers/preventOverflow.js\";\nimport arrow from \"./modifiers/arrow.js\";\nimport hide from \"./modifiers/hide.js\";\nvar defaultModifiers = [eventListeners, popperOffsets, computeStyles, applyStyles, offset, flip, preventOverflow, arrow, hide];\nvar createPopper = /*#__PURE__*/popperGenerator({\n  defaultModifiers: defaultModifiers\n}); // eslint-disable-next-line import/no-unused-modules\n\nexport { createPopper, popperGenerator, defaultModifiers, detectOverflow }; // eslint-disable-next-line import/no-unused-modules\n\nexport { createPopper as createPopperLite } from \"./popper-lite.js\"; // eslint-disable-next-line import/no-unused-modules\n\nexport * from \"./modifiers/index.js\";","import { popperGenerator, detectOverflow } from \"./createPopper.js\";\nimport eventListeners from \"./modifiers/eventListeners.js\";\nimport popperOffsets from \"./modifiers/popperOffsets.js\";\nimport computeStyles from \"./modifiers/computeStyles.js\";\nimport applyStyles from \"./modifiers/applyStyles.js\";\nvar defaultModifiers = [eventListeners, popperOffsets, computeStyles, applyStyles];\nvar createPopper = /*#__PURE__*/popperGenerator({\n  defaultModifiers: defaultModifiers\n}); // eslint-disable-next-line import/no-unused-modules\n\nexport { createPopper, popperGenerator, defaultModifiers, detectOverflow };","/*!\n  * Bootstrap v5.3.3 (https://getbootstrap.com/)\n  * Copyright 2011-2024 The Bootstrap Authors (https://github.com/twbs/bootstrap/graphs/contributors)\n  * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n  */\nimport * as Popper from '@popperjs/core';\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap dom/data.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n/**\n * Constants\n */\n\nconst elementMap = new Map();\nconst Data = {\n  set(element, key, instance) {\n    if (!elementMap.has(element)) {\n      elementMap.set(element, new Map());\n    }\n    const instanceMap = elementMap.get(element);\n\n    // make it clear we only want one instance per element\n    // can be removed later when multiple key/instances are fine to be used\n    if (!instanceMap.has(key) && instanceMap.size !== 0) {\n      // eslint-disable-next-line no-console\n      console.error(`Bootstrap doesn't allow more than one instance per element. Bound instance: ${Array.from(instanceMap.keys())[0]}.`);\n      return;\n    }\n    instanceMap.set(key, instance);\n  },\n  get(element, key) {\n    if (elementMap.has(element)) {\n      return elementMap.get(element).get(key) || null;\n    }\n    return null;\n  },\n  remove(element, key) {\n    if (!elementMap.has(element)) {\n      return;\n    }\n    const instanceMap = elementMap.get(element);\n    instanceMap.delete(key);\n\n    // free up element references if there are no instances left for an element\n    if (instanceMap.size === 0) {\n      elementMap.delete(element);\n    }\n  }\n};\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap util/index.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\nconst MAX_UID = 1000000;\nconst MILLISECONDS_MULTIPLIER = 1000;\nconst TRANSITION_END = 'transitionend';\n\n/**\n * Properly escape IDs selectors to handle weird IDs\n * @param {string} selector\n * @returns {string}\n */\nconst parseSelector = selector => {\n  if (selector && window.CSS && window.CSS.escape) {\n    // document.querySelector needs escaping to handle IDs (html5+) containing for instance /\n    selector = selector.replace(/#([^\\s\"#']+)/g, (match, id) => `#${CSS.escape(id)}`);\n  }\n  return selector;\n};\n\n// Shout-out Angus Croll (https://goo.gl/pxwQGp)\nconst toType = object => {\n  if (object === null || object === undefined) {\n    return `${object}`;\n  }\n  return Object.prototype.toString.call(object).match(/\\s([a-z]+)/i)[1].toLowerCase();\n};\n\n/**\n * Public Util API\n */\n\nconst getUID = prefix => {\n  do {\n    prefix += Math.floor(Math.random() * MAX_UID);\n  } while (document.getElementById(prefix));\n  return prefix;\n};\nconst getTransitionDurationFromElement = element => {\n  if (!element) {\n    return 0;\n  }\n\n  // Get transition-duration of the element\n  let {\n    transitionDuration,\n    transitionDelay\n  } = window.getComputedStyle(element);\n  const floatTransitionDuration = Number.parseFloat(transitionDuration);\n  const floatTransitionDelay = Number.parseFloat(transitionDelay);\n\n  // Return 0 if element or transition duration is not found\n  if (!floatTransitionDuration && !floatTransitionDelay) {\n    return 0;\n  }\n\n  // If multiple durations are defined, take the first\n  transitionDuration = transitionDuration.split(',')[0];\n  transitionDelay = transitionDelay.split(',')[0];\n  return (Number.parseFloat(transitionDuration) + Number.parseFloat(transitionDelay)) * MILLISECONDS_MULTIPLIER;\n};\nconst triggerTransitionEnd = element => {\n  element.dispatchEvent(new Event(TRANSITION_END));\n};\nconst isElement = object => {\n  if (!object || typeof object !== 'object') {\n    return false;\n  }\n  if (typeof object.jquery !== 'undefined') {\n    object = object[0];\n  }\n  return typeof object.nodeType !== 'undefined';\n};\nconst getElement = object => {\n  // it's a jQuery object or a node element\n  if (isElement(object)) {\n    return object.jquery ? object[0] : object;\n  }\n  if (typeof object === 'string' && object.length > 0) {\n    return document.querySelector(parseSelector(object));\n  }\n  return null;\n};\nconst isVisible = element => {\n  if (!isElement(element) || element.getClientRects().length === 0) {\n    return false;\n  }\n  const elementIsVisible = getComputedStyle(element).getPropertyValue('visibility') === 'visible';\n  // Handle `details` element as its content may falsie appear visible when it is closed\n  const closedDetails = element.closest('details:not([open])');\n  if (!closedDetails) {\n    return elementIsVisible;\n  }\n  if (closedDetails !== element) {\n    const summary = element.closest('summary');\n    if (summary && summary.parentNode !== closedDetails) {\n      return false;\n    }\n    if (summary === null) {\n      return false;\n    }\n  }\n  return elementIsVisible;\n};\nconst isDisabled = element => {\n  if (!element || element.nodeType !== Node.ELEMENT_NODE) {\n    return true;\n  }\n  if (element.classList.contains('disabled')) {\n    return true;\n  }\n  if (typeof element.disabled !== 'undefined') {\n    return element.disabled;\n  }\n  return element.hasAttribute('disabled') && element.getAttribute('disabled') !== 'false';\n};\nconst findShadowRoot = element => {\n  if (!document.documentElement.attachShadow) {\n    return null;\n  }\n\n  // Can find the shadow root otherwise it'll return the document\n  if (typeof element.getRootNode === 'function') {\n    const root = element.getRootNode();\n    return root instanceof ShadowRoot ? root : null;\n  }\n  if (element instanceof ShadowRoot) {\n    return element;\n  }\n\n  // when we don't find a shadow root\n  if (!element.parentNode) {\n    return null;\n  }\n  return findShadowRoot(element.parentNode);\n};\nconst noop = () => {};\n\n/**\n * Trick to restart an element's animation\n *\n * @param {HTMLElement} element\n * @return void\n *\n * @see https://www.charistheo.io/blog/2021/02/restart-a-css-animation-with-javascript/#restarting-a-css-animation\n */\nconst reflow = element => {\n  element.offsetHeight; // eslint-disable-line no-unused-expressions\n};\nconst getjQuery = () => {\n  if (window.jQuery && !document.body.hasAttribute('data-bs-no-jquery')) {\n    return window.jQuery;\n  }\n  return null;\n};\nconst DOMContentLoadedCallbacks = [];\nconst onDOMContentLoaded = callback => {\n  if (document.readyState === 'loading') {\n    // add listener on the first call when the document is in loading state\n    if (!DOMContentLoadedCallbacks.length) {\n      document.addEventListener('DOMContentLoaded', () => {\n        for (const callback of DOMContentLoadedCallbacks) {\n          callback();\n        }\n      });\n    }\n    DOMContentLoadedCallbacks.push(callback);\n  } else {\n    callback();\n  }\n};\nconst isRTL = () => document.documentElement.dir === 'rtl';\nconst defineJQueryPlugin = plugin => {\n  onDOMContentLoaded(() => {\n    const $ = getjQuery();\n    /* istanbul ignore if */\n    if ($) {\n      const name = plugin.NAME;\n      const JQUERY_NO_CONFLICT = $.fn[name];\n      $.fn[name] = plugin.jQueryInterface;\n      $.fn[name].Constructor = plugin;\n      $.fn[name].noConflict = () => {\n        $.fn[name] = JQUERY_NO_CONFLICT;\n        return plugin.jQueryInterface;\n      };\n    }\n  });\n};\nconst execute = (possibleCallback, args = [], defaultValue = possibleCallback) => {\n  return typeof possibleCallback === 'function' ? possibleCallback(...args) : defaultValue;\n};\nconst executeAfterTransition = (callback, transitionElement, waitForTransition = true) => {\n  if (!waitForTransition) {\n    execute(callback);\n    return;\n  }\n  const durationPadding = 5;\n  const emulatedDuration = getTransitionDurationFromElement(transitionElement) + durationPadding;\n  let called = false;\n  const handler = ({\n    target\n  }) => {\n    if (target !== transitionElement) {\n      return;\n    }\n    called = true;\n    transitionElement.removeEventListener(TRANSITION_END, handler);\n    execute(callback);\n  };\n  transitionElement.addEventListener(TRANSITION_END, handler);\n  setTimeout(() => {\n    if (!called) {\n      triggerTransitionEnd(transitionElement);\n    }\n  }, emulatedDuration);\n};\n\n/**\n * Return the previous/next element of a list.\n *\n * @param {array} list    The list of elements\n * @param activeElement   The active element\n * @param shouldGetNext   Choose to get next or previous element\n * @param isCycleAllowed\n * @return {Element|elem} The proper element\n */\nconst getNextActiveElement = (list, activeElement, shouldGetNext, isCycleAllowed) => {\n  const listLength = list.length;\n  let index = list.indexOf(activeElement);\n\n  // if the element does not exist in the list return an element\n  // depending on the direction and if cycle is allowed\n  if (index === -1) {\n    return !shouldGetNext && isCycleAllowed ? list[listLength - 1] : list[0];\n  }\n  index += shouldGetNext ? 1 : -1;\n  if (isCycleAllowed) {\n    index = (index + listLength) % listLength;\n  }\n  return list[Math.max(0, Math.min(index, listLength - 1))];\n};\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap dom/event-handler.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst namespaceRegex = /[^.]*(?=\\..*)\\.|.*/;\nconst stripNameRegex = /\\..*/;\nconst stripUidRegex = /::\\d+$/;\nconst eventRegistry = {}; // Events storage\nlet uidEvent = 1;\nconst customEvents = {\n  mouseenter: 'mouseover',\n  mouseleave: 'mouseout'\n};\nconst nativeEvents = new Set(['click', 'dblclick', 'mouseup', 'mousedown', 'contextmenu', 'mousewheel', 'DOMMouseScroll', 'mouseover', 'mouseout', 'mousemove', 'selectstart', 'selectend', 'keydown', 'keypress', 'keyup', 'orientationchange', 'touchstart', 'touchmove', 'touchend', 'touchcancel', 'pointerdown', 'pointermove', 'pointerup', 'pointerleave', 'pointercancel', 'gesturestart', 'gesturechange', 'gestureend', 'focus', 'blur', 'change', 'reset', 'select', 'submit', 'focusin', 'focusout', 'load', 'unload', 'beforeunload', 'resize', 'move', 'DOMContentLoaded', 'readystatechange', 'error', 'abort', 'scroll']);\n\n/**\n * Private methods\n */\n\nfunction makeEventUid(element, uid) {\n  return uid && `${uid}::${uidEvent++}` || element.uidEvent || uidEvent++;\n}\nfunction getElementEvents(element) {\n  const uid = makeEventUid(element);\n  element.uidEvent = uid;\n  eventRegistry[uid] = eventRegistry[uid] || {};\n  return eventRegistry[uid];\n}\nfunction bootstrapHandler(element, fn) {\n  return function handler(event) {\n    hydrateObj(event, {\n      delegateTarget: element\n    });\n    if (handler.oneOff) {\n      EventHandler.off(element, event.type, fn);\n    }\n    return fn.apply(element, [event]);\n  };\n}\nfunction bootstrapDelegationHandler(element, selector, fn) {\n  return function handler(event) {\n    const domElements = element.querySelectorAll(selector);\n    for (let {\n      target\n    } = event; target && target !== this; target = target.parentNode) {\n      for (const domElement of domElements) {\n        if (domElement !== target) {\n          continue;\n        }\n        hydrateObj(event, {\n          delegateTarget: target\n        });\n        if (handler.oneOff) {\n          EventHandler.off(element, event.type, selector, fn);\n        }\n        return fn.apply(target, [event]);\n      }\n    }\n  };\n}\nfunction findHandler(events, callable, delegationSelector = null) {\n  return Object.values(events).find(event => event.callable === callable && event.delegationSelector === delegationSelector);\n}\nfunction normalizeParameters(originalTypeEvent, handler, delegationFunction) {\n  const isDelegated = typeof handler === 'string';\n  // TODO: tooltip passes `false` instead of selector, so we need to check\n  const callable = isDelegated ? delegationFunction : handler || delegationFunction;\n  let typeEvent = getTypeEvent(originalTypeEvent);\n  if (!nativeEvents.has(typeEvent)) {\n    typeEvent = originalTypeEvent;\n  }\n  return [isDelegated, callable, typeEvent];\n}\nfunction addHandler(element, originalTypeEvent, handler, delegationFunction, oneOff) {\n  if (typeof originalTypeEvent !== 'string' || !element) {\n    return;\n  }\n  let [isDelegated, callable, typeEvent] = normalizeParameters(originalTypeEvent, handler, delegationFunction);\n\n  // in case of mouseenter or mouseleave wrap the handler within a function that checks for its DOM position\n  // this prevents the handler from being dispatched the same way as mouseover or mouseout does\n  if (originalTypeEvent in customEvents) {\n    const wrapFunction = fn => {\n      return function (event) {\n        if (!event.relatedTarget || event.relatedTarget !== event.delegateTarget && !event.delegateTarget.contains(event.relatedTarget)) {\n          return fn.call(this, event);\n        }\n      };\n    };\n    callable = wrapFunction(callable);\n  }\n  const events = getElementEvents(element);\n  const handlers = events[typeEvent] || (events[typeEvent] = {});\n  const previousFunction = findHandler(handlers, callable, isDelegated ? handler : null);\n  if (previousFunction) {\n    previousFunction.oneOff = previousFunction.oneOff && oneOff;\n    return;\n  }\n  const uid = makeEventUid(callable, originalTypeEvent.replace(namespaceRegex, ''));\n  const fn = isDelegated ? bootstrapDelegationHandler(element, handler, callable) : bootstrapHandler(element, callable);\n  fn.delegationSelector = isDelegated ? handler : null;\n  fn.callable = callable;\n  fn.oneOff = oneOff;\n  fn.uidEvent = uid;\n  handlers[uid] = fn;\n  element.addEventListener(typeEvent, fn, isDelegated);\n}\nfunction removeHandler(element, events, typeEvent, handler, delegationSelector) {\n  const fn = findHandler(events[typeEvent], handler, delegationSelector);\n  if (!fn) {\n    return;\n  }\n  element.removeEventListener(typeEvent, fn, Boolean(delegationSelector));\n  delete events[typeEvent][fn.uidEvent];\n}\nfunction removeNamespacedHandlers(element, events, typeEvent, namespace) {\n  const storeElementEvent = events[typeEvent] || {};\n  for (const [handlerKey, event] of Object.entries(storeElementEvent)) {\n    if (handlerKey.includes(namespace)) {\n      removeHandler(element, events, typeEvent, event.callable, event.delegationSelector);\n    }\n  }\n}\nfunction getTypeEvent(event) {\n  // allow to get the native events from namespaced events ('click.bs.button' --> 'click')\n  event = event.replace(stripNameRegex, '');\n  return customEvents[event] || event;\n}\nconst EventHandler = {\n  on(element, event, handler, delegationFunction) {\n    addHandler(element, event, handler, delegationFunction, false);\n  },\n  one(element, event, handler, delegationFunction) {\n    addHandler(element, event, handler, delegationFunction, true);\n  },\n  off(element, originalTypeEvent, handler, delegationFunction) {\n    if (typeof originalTypeEvent !== 'string' || !element) {\n      return;\n    }\n    const [isDelegated, callable, typeEvent] = normalizeParameters(originalTypeEvent, handler, delegationFunction);\n    const inNamespace = typeEvent !== originalTypeEvent;\n    const events = getElementEvents(element);\n    const storeElementEvent = events[typeEvent] || {};\n    const isNamespace = originalTypeEvent.startsWith('.');\n    if (typeof callable !== 'undefined') {\n      // Simplest case: handler is passed, remove that listener ONLY.\n      if (!Object.keys(storeElementEvent).length) {\n        return;\n      }\n      removeHandler(element, events, typeEvent, callable, isDelegated ? handler : null);\n      return;\n    }\n    if (isNamespace) {\n      for (const elementEvent of Object.keys(events)) {\n        removeNamespacedHandlers(element, events, elementEvent, originalTypeEvent.slice(1));\n      }\n    }\n    for (const [keyHandlers, event] of Object.entries(storeElementEvent)) {\n      const handlerKey = keyHandlers.replace(stripUidRegex, '');\n      if (!inNamespace || originalTypeEvent.includes(handlerKey)) {\n        removeHandler(element, events, typeEvent, event.callable, event.delegationSelector);\n      }\n    }\n  },\n  trigger(element, event, args) {\n    if (typeof event !== 'string' || !element) {\n      return null;\n    }\n    const $ = getjQuery();\n    const typeEvent = getTypeEvent(event);\n    const inNamespace = event !== typeEvent;\n    let jQueryEvent = null;\n    let bubbles = true;\n    let nativeDispatch = true;\n    let defaultPrevented = false;\n    if (inNamespace && $) {\n      jQueryEvent = $.Event(event, args);\n      $(element).trigger(jQueryEvent);\n      bubbles = !jQueryEvent.isPropagationStopped();\n      nativeDispatch = !jQueryEvent.isImmediatePropagationStopped();\n      defaultPrevented = jQueryEvent.isDefaultPrevented();\n    }\n    const evt = hydrateObj(new Event(event, {\n      bubbles,\n      cancelable: true\n    }), args);\n    if (defaultPrevented) {\n      evt.preventDefault();\n    }\n    if (nativeDispatch) {\n      element.dispatchEvent(evt);\n    }\n    if (evt.defaultPrevented && jQueryEvent) {\n      jQueryEvent.preventDefault();\n    }\n    return evt;\n  }\n};\nfunction hydrateObj(obj, meta = {}) {\n  for (const [key, value] of Object.entries(meta)) {\n    try {\n      obj[key] = value;\n    } catch (_unused) {\n      Object.defineProperty(obj, key, {\n        configurable: true,\n        get() {\n          return value;\n        }\n      });\n    }\n  }\n  return obj;\n}\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap dom/manipulator.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\nfunction normalizeData(value) {\n  if (value === 'true') {\n    return true;\n  }\n  if (value === 'false') {\n    return false;\n  }\n  if (value === Number(value).toString()) {\n    return Number(value);\n  }\n  if (value === '' || value === 'null') {\n    return null;\n  }\n  if (typeof value !== 'string') {\n    return value;\n  }\n  try {\n    return JSON.parse(decodeURIComponent(value));\n  } catch (_unused) {\n    return value;\n  }\n}\nfunction normalizeDataKey(key) {\n  return key.replace(/[A-Z]/g, chr => `-${chr.toLowerCase()}`);\n}\nconst Manipulator = {\n  setDataAttribute(element, key, value) {\n    element.setAttribute(`data-bs-${normalizeDataKey(key)}`, value);\n  },\n  removeDataAttribute(element, key) {\n    element.removeAttribute(`data-bs-${normalizeDataKey(key)}`);\n  },\n  getDataAttributes(element) {\n    if (!element) {\n      return {};\n    }\n    const attributes = {};\n    const bsKeys = Object.keys(element.dataset).filter(key => key.startsWith('bs') && !key.startsWith('bsConfig'));\n    for (const key of bsKeys) {\n      let pureKey = key.replace(/^bs/, '');\n      pureKey = pureKey.charAt(0).toLowerCase() + pureKey.slice(1, pureKey.length);\n      attributes[pureKey] = normalizeData(element.dataset[key]);\n    }\n    return attributes;\n  },\n  getDataAttribute(element, key) {\n    return normalizeData(element.getAttribute(`data-bs-${normalizeDataKey(key)}`));\n  }\n};\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap util/config.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Class definition\n */\n\nclass Config {\n  // Getters\n  static get Default() {\n    return {};\n  }\n  static get DefaultType() {\n    return {};\n  }\n  static get NAME() {\n    throw new Error('You have to implement the static method \"NAME\", for each component!');\n  }\n  _getConfig(config) {\n    config = this._mergeConfigObj(config);\n    config = this._configAfterMerge(config);\n    this._typeCheckConfig(config);\n    return config;\n  }\n  _configAfterMerge(config) {\n    return config;\n  }\n  _mergeConfigObj(config, element) {\n    const jsonConfig = isElement(element) ? Manipulator.getDataAttribute(element, 'config') : {}; // try to parse\n\n    return {\n      ...this.constructor.Default,\n      ...(typeof jsonConfig === 'object' ? jsonConfig : {}),\n      ...(isElement(element) ? Manipulator.getDataAttributes(element) : {}),\n      ...(typeof config === 'object' ? config : {})\n    };\n  }\n  _typeCheckConfig(config, configTypes = this.constructor.DefaultType) {\n    for (const [property, expectedTypes] of Object.entries(configTypes)) {\n      const value = config[property];\n      const valueType = isElement(value) ? 'element' : toType(value);\n      if (!new RegExp(expectedTypes).test(valueType)) {\n        throw new TypeError(`${this.constructor.NAME.toUpperCase()}: Option \"${property}\" provided type \"${valueType}\" but expected type \"${expectedTypes}\".`);\n      }\n    }\n  }\n}\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap base-component.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst VERSION = '5.3.3';\n\n/**\n * Class definition\n */\n\nclass BaseComponent extends Config {\n  constructor(element, config) {\n    super();\n    element = getElement(element);\n    if (!element) {\n      return;\n    }\n    this._element = element;\n    this._config = this._getConfig(config);\n    Data.set(this._element, this.constructor.DATA_KEY, this);\n  }\n\n  // Public\n  dispose() {\n    Data.remove(this._element, this.constructor.DATA_KEY);\n    EventHandler.off(this._element, this.constructor.EVENT_KEY);\n    for (const propertyName of Object.getOwnPropertyNames(this)) {\n      this[propertyName] = null;\n    }\n  }\n  _queueCallback(callback, element, isAnimated = true) {\n    executeAfterTransition(callback, element, isAnimated);\n  }\n  _getConfig(config) {\n    config = this._mergeConfigObj(config, this._element);\n    config = this._configAfterMerge(config);\n    this._typeCheckConfig(config);\n    return config;\n  }\n\n  // Static\n  static getInstance(element) {\n    return Data.get(getElement(element), this.DATA_KEY);\n  }\n  static getOrCreateInstance(element, config = {}) {\n    return this.getInstance(element) || new this(element, typeof config === 'object' ? config : null);\n  }\n  static get VERSION() {\n    return VERSION;\n  }\n  static get DATA_KEY() {\n    return `bs.${this.NAME}`;\n  }\n  static get EVENT_KEY() {\n    return `.${this.DATA_KEY}`;\n  }\n  static eventName(name) {\n    return `${name}${this.EVENT_KEY}`;\n  }\n}\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap dom/selector-engine.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\nconst getSelector = element => {\n  let selector = element.getAttribute('data-bs-target');\n  if (!selector || selector === '#') {\n    let hrefAttribute = element.getAttribute('href');\n\n    // The only valid content that could double as a selector are IDs or classes,\n    // so everything starting with `#` or `.`. If a \"real\" URL is used as the selector,\n    // `document.querySelector` will rightfully complain it is invalid.\n    // See https://github.com/twbs/bootstrap/issues/32273\n    if (!hrefAttribute || !hrefAttribute.includes('#') && !hrefAttribute.startsWith('.')) {\n      return null;\n    }\n\n    // Just in case some CMS puts out a full URL with the anchor appended\n    if (hrefAttribute.includes('#') && !hrefAttribute.startsWith('#')) {\n      hrefAttribute = `#${hrefAttribute.split('#')[1]}`;\n    }\n    selector = hrefAttribute && hrefAttribute !== '#' ? hrefAttribute.trim() : null;\n  }\n  return selector ? selector.split(',').map(sel => parseSelector(sel)).join(',') : null;\n};\nconst SelectorEngine = {\n  find(selector, element = document.documentElement) {\n    return [].concat(...Element.prototype.querySelectorAll.call(element, selector));\n  },\n  findOne(selector, element = document.documentElement) {\n    return Element.prototype.querySelector.call(element, selector);\n  },\n  children(element, selector) {\n    return [].concat(...element.children).filter(child => child.matches(selector));\n  },\n  parents(element, selector) {\n    const parents = [];\n    let ancestor = element.parentNode.closest(selector);\n    while (ancestor) {\n      parents.push(ancestor);\n      ancestor = ancestor.parentNode.closest(selector);\n    }\n    return parents;\n  },\n  prev(element, selector) {\n    let previous = element.previousElementSibling;\n    while (previous) {\n      if (previous.matches(selector)) {\n        return [previous];\n      }\n      previous = previous.previousElementSibling;\n    }\n    return [];\n  },\n  // TODO: this is now unused; remove later along with prev()\n  next(element, selector) {\n    let next = element.nextElementSibling;\n    while (next) {\n      if (next.matches(selector)) {\n        return [next];\n      }\n      next = next.nextElementSibling;\n    }\n    return [];\n  },\n  focusableChildren(element) {\n    const focusables = ['a', 'button', 'input', 'textarea', 'select', 'details', '[tabindex]', '[contenteditable=\"true\"]'].map(selector => `${selector}:not([tabindex^=\"-\"])`).join(',');\n    return this.find(focusables, element).filter(el => !isDisabled(el) && isVisible(el));\n  },\n  getSelectorFromElement(element) {\n    const selector = getSelector(element);\n    if (selector) {\n      return SelectorEngine.findOne(selector) ? selector : null;\n    }\n    return null;\n  },\n  getElementFromSelector(element) {\n    const selector = getSelector(element);\n    return selector ? SelectorEngine.findOne(selector) : null;\n  },\n  getMultipleElementsFromSelector(element) {\n    const selector = getSelector(element);\n    return selector ? SelectorEngine.find(selector) : [];\n  }\n};\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap util/component-functions.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\nconst enableDismissTrigger = (component, method = 'hide') => {\n  const clickEvent = `click.dismiss${component.EVENT_KEY}`;\n  const name = component.NAME;\n  EventHandler.on(document, clickEvent, `[data-bs-dismiss=\"${name}\"]`, function (event) {\n    if (['A', 'AREA'].includes(this.tagName)) {\n      event.preventDefault();\n    }\n    if (isDisabled(this)) {\n      return;\n    }\n    const target = SelectorEngine.getElementFromSelector(this) || this.closest(`.${name}`);\n    const instance = component.getOrCreateInstance(target);\n\n    // Method argument is left, for Alert and only, as it doesn't implement the 'hide' method\n    instance[method]();\n  });\n};\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap alert.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$f = 'alert';\nconst DATA_KEY$a = 'bs.alert';\nconst EVENT_KEY$b = `.${DATA_KEY$a}`;\nconst EVENT_CLOSE = `close${EVENT_KEY$b}`;\nconst EVENT_CLOSED = `closed${EVENT_KEY$b}`;\nconst CLASS_NAME_FADE$5 = 'fade';\nconst CLASS_NAME_SHOW$8 = 'show';\n\n/**\n * Class definition\n */\n\nclass Alert extends BaseComponent {\n  // Getters\n  static get NAME() {\n    return NAME$f;\n  }\n\n  // Public\n  close() {\n    const closeEvent = EventHandler.trigger(this._element, EVENT_CLOSE);\n    if (closeEvent.defaultPrevented) {\n      return;\n    }\n    this._element.classList.remove(CLASS_NAME_SHOW$8);\n    const isAnimated = this._element.classList.contains(CLASS_NAME_FADE$5);\n    this._queueCallback(() => this._destroyElement(), this._element, isAnimated);\n  }\n\n  // Private\n  _destroyElement() {\n    this._element.remove();\n    EventHandler.trigger(this._element, EVENT_CLOSED);\n    this.dispose();\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    return this.each(function () {\n      const data = Alert.getOrCreateInstance(this);\n      if (typeof config !== 'string') {\n        return;\n      }\n      if (data[config] === undefined || config.startsWith('_') || config === 'constructor') {\n        throw new TypeError(`No method named \"${config}\"`);\n      }\n      data[config](this);\n    });\n  }\n}\n\n/**\n * Data API implementation\n */\n\nenableDismissTrigger(Alert, 'close');\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Alert);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap button.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$e = 'button';\nconst DATA_KEY$9 = 'bs.button';\nconst EVENT_KEY$a = `.${DATA_KEY$9}`;\nconst DATA_API_KEY$6 = '.data-api';\nconst CLASS_NAME_ACTIVE$3 = 'active';\nconst SELECTOR_DATA_TOGGLE$5 = '[data-bs-toggle=\"button\"]';\nconst EVENT_CLICK_DATA_API$6 = `click${EVENT_KEY$a}${DATA_API_KEY$6}`;\n\n/**\n * Class definition\n */\n\nclass Button extends BaseComponent {\n  // Getters\n  static get NAME() {\n    return NAME$e;\n  }\n\n  // Public\n  toggle() {\n    // Toggle class and sync the `aria-pressed` attribute with the return value of the `.toggle()` method\n    this._element.setAttribute('aria-pressed', this._element.classList.toggle(CLASS_NAME_ACTIVE$3));\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    return this.each(function () {\n      const data = Button.getOrCreateInstance(this);\n      if (config === 'toggle') {\n        data[config]();\n      }\n    });\n  }\n}\n\n/**\n * Data API implementation\n */\n\nEventHandler.on(document, EVENT_CLICK_DATA_API$6, SELECTOR_DATA_TOGGLE$5, event => {\n  event.preventDefault();\n  const button = event.target.closest(SELECTOR_DATA_TOGGLE$5);\n  const data = Button.getOrCreateInstance(button);\n  data.toggle();\n});\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Button);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap util/swipe.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$d = 'swipe';\nconst EVENT_KEY$9 = '.bs.swipe';\nconst EVENT_TOUCHSTART = `touchstart${EVENT_KEY$9}`;\nconst EVENT_TOUCHMOVE = `touchmove${EVENT_KEY$9}`;\nconst EVENT_TOUCHEND = `touchend${EVENT_KEY$9}`;\nconst EVENT_POINTERDOWN = `pointerdown${EVENT_KEY$9}`;\nconst EVENT_POINTERUP = `pointerup${EVENT_KEY$9}`;\nconst POINTER_TYPE_TOUCH = 'touch';\nconst POINTER_TYPE_PEN = 'pen';\nconst CLASS_NAME_POINTER_EVENT = 'pointer-event';\nconst SWIPE_THRESHOLD = 40;\nconst Default$c = {\n  endCallback: null,\n  leftCallback: null,\n  rightCallback: null\n};\nconst DefaultType$c = {\n  endCallback: '(function|null)',\n  leftCallback: '(function|null)',\n  rightCallback: '(function|null)'\n};\n\n/**\n * Class definition\n */\n\nclass Swipe extends Config {\n  constructor(element, config) {\n    super();\n    this._element = element;\n    if (!element || !Swipe.isSupported()) {\n      return;\n    }\n    this._config = this._getConfig(config);\n    this._deltaX = 0;\n    this._supportPointerEvents = Boolean(window.PointerEvent);\n    this._initEvents();\n  }\n\n  // Getters\n  static get Default() {\n    return Default$c;\n  }\n  static get DefaultType() {\n    return DefaultType$c;\n  }\n  static get NAME() {\n    return NAME$d;\n  }\n\n  // Public\n  dispose() {\n    EventHandler.off(this._element, EVENT_KEY$9);\n  }\n\n  // Private\n  _start(event) {\n    if (!this._supportPointerEvents) {\n      this._deltaX = event.touches[0].clientX;\n      return;\n    }\n    if (this._eventIsPointerPenTouch(event)) {\n      this._deltaX = event.clientX;\n    }\n  }\n  _end(event) {\n    if (this._eventIsPointerPenTouch(event)) {\n      this._deltaX = event.clientX - this._deltaX;\n    }\n    this._handleSwipe();\n    execute(this._config.endCallback);\n  }\n  _move(event) {\n    this._deltaX = event.touches && event.touches.length > 1 ? 0 : event.touches[0].clientX - this._deltaX;\n  }\n  _handleSwipe() {\n    const absDeltaX = Math.abs(this._deltaX);\n    if (absDeltaX <= SWIPE_THRESHOLD) {\n      return;\n    }\n    const direction = absDeltaX / this._deltaX;\n    this._deltaX = 0;\n    if (!direction) {\n      return;\n    }\n    execute(direction > 0 ? this._config.rightCallback : this._config.leftCallback);\n  }\n  _initEvents() {\n    if (this._supportPointerEvents) {\n      EventHandler.on(this._element, EVENT_POINTERDOWN, event => this._start(event));\n      EventHandler.on(this._element, EVENT_POINTERUP, event => this._end(event));\n      this._element.classList.add(CLASS_NAME_POINTER_EVENT);\n    } else {\n      EventHandler.on(this._element, EVENT_TOUCHSTART, event => this._start(event));\n      EventHandler.on(this._element, EVENT_TOUCHMOVE, event => this._move(event));\n      EventHandler.on(this._element, EVENT_TOUCHEND, event => this._end(event));\n    }\n  }\n  _eventIsPointerPenTouch(event) {\n    return this._supportPointerEvents && (event.pointerType === POINTER_TYPE_PEN || event.pointerType === POINTER_TYPE_TOUCH);\n  }\n\n  // Static\n  static isSupported() {\n    return 'ontouchstart' in document.documentElement || navigator.maxTouchPoints > 0;\n  }\n}\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap carousel.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$c = 'carousel';\nconst DATA_KEY$8 = 'bs.carousel';\nconst EVENT_KEY$8 = `.${DATA_KEY$8}`;\nconst DATA_API_KEY$5 = '.data-api';\nconst ARROW_LEFT_KEY$1 = 'ArrowLeft';\nconst ARROW_RIGHT_KEY$1 = 'ArrowRight';\nconst TOUCHEVENT_COMPAT_WAIT = 500; // Time for mouse compat events to fire after touch\n\nconst ORDER_NEXT = 'next';\nconst ORDER_PREV = 'prev';\nconst DIRECTION_LEFT = 'left';\nconst DIRECTION_RIGHT = 'right';\nconst EVENT_SLIDE = `slide${EVENT_KEY$8}`;\nconst EVENT_SLID = `slid${EVENT_KEY$8}`;\nconst EVENT_KEYDOWN$1 = `keydown${EVENT_KEY$8}`;\nconst EVENT_MOUSEENTER$1 = `mouseenter${EVENT_KEY$8}`;\nconst EVENT_MOUSELEAVE$1 = `mouseleave${EVENT_KEY$8}`;\nconst EVENT_DRAG_START = `dragstart${EVENT_KEY$8}`;\nconst EVENT_LOAD_DATA_API$3 = `load${EVENT_KEY$8}${DATA_API_KEY$5}`;\nconst EVENT_CLICK_DATA_API$5 = `click${EVENT_KEY$8}${DATA_API_KEY$5}`;\nconst CLASS_NAME_CAROUSEL = 'carousel';\nconst CLASS_NAME_ACTIVE$2 = 'active';\nconst CLASS_NAME_SLIDE = 'slide';\nconst CLASS_NAME_END = 'carousel-item-end';\nconst CLASS_NAME_START = 'carousel-item-start';\nconst CLASS_NAME_NEXT = 'carousel-item-next';\nconst CLASS_NAME_PREV = 'carousel-item-prev';\nconst SELECTOR_ACTIVE = '.active';\nconst SELECTOR_ITEM = '.carousel-item';\nconst SELECTOR_ACTIVE_ITEM = SELECTOR_ACTIVE + SELECTOR_ITEM;\nconst SELECTOR_ITEM_IMG = '.carousel-item img';\nconst SELECTOR_INDICATORS = '.carousel-indicators';\nconst SELECTOR_DATA_SLIDE = '[data-bs-slide], [data-bs-slide-to]';\nconst SELECTOR_DATA_RIDE = '[data-bs-ride=\"carousel\"]';\nconst KEY_TO_DIRECTION = {\n  [ARROW_LEFT_KEY$1]: DIRECTION_RIGHT,\n  [ARROW_RIGHT_KEY$1]: DIRECTION_LEFT\n};\nconst Default$b = {\n  interval: 5000,\n  keyboard: true,\n  pause: 'hover',\n  ride: false,\n  touch: true,\n  wrap: true\n};\nconst DefaultType$b = {\n  interval: '(number|boolean)',\n  // TODO:v6 remove boolean support\n  keyboard: 'boolean',\n  pause: '(string|boolean)',\n  ride: '(boolean|string)',\n  touch: 'boolean',\n  wrap: 'boolean'\n};\n\n/**\n * Class definition\n */\n\nclass Carousel extends BaseComponent {\n  constructor(element, config) {\n    super(element, config);\n    this._interval = null;\n    this._activeElement = null;\n    this._isSliding = false;\n    this.touchTimeout = null;\n    this._swipeHelper = null;\n    this._indicatorsElement = SelectorEngine.findOne(SELECTOR_INDICATORS, this._element);\n    this._addEventListeners();\n    if (this._config.ride === CLASS_NAME_CAROUSEL) {\n      this.cycle();\n    }\n  }\n\n  // Getters\n  static get Default() {\n    return Default$b;\n  }\n  static get DefaultType() {\n    return DefaultType$b;\n  }\n  static get NAME() {\n    return NAME$c;\n  }\n\n  // Public\n  next() {\n    this._slide(ORDER_NEXT);\n  }\n  nextWhenVisible() {\n    // FIXME TODO use `document.visibilityState`\n    // Don't call next when the page isn't visible\n    // or the carousel or its parent isn't visible\n    if (!document.hidden && isVisible(this._element)) {\n      this.next();\n    }\n  }\n  prev() {\n    this._slide(ORDER_PREV);\n  }\n  pause() {\n    if (this._isSliding) {\n      triggerTransitionEnd(this._element);\n    }\n    this._clearInterval();\n  }\n  cycle() {\n    this._clearInterval();\n    this._updateInterval();\n    this._interval = setInterval(() => this.nextWhenVisible(), this._config.interval);\n  }\n  _maybeEnableCycle() {\n    if (!this._config.ride) {\n      return;\n    }\n    if (this._isSliding) {\n      EventHandler.one(this._element, EVENT_SLID, () => this.cycle());\n      return;\n    }\n    this.cycle();\n  }\n  to(index) {\n    const items = this._getItems();\n    if (index > items.length - 1 || index < 0) {\n      return;\n    }\n    if (this._isSliding) {\n      EventHandler.one(this._element, EVENT_SLID, () => this.to(index));\n      return;\n    }\n    const activeIndex = this._getItemIndex(this._getActive());\n    if (activeIndex === index) {\n      return;\n    }\n    const order = index > activeIndex ? ORDER_NEXT : ORDER_PREV;\n    this._slide(order, items[index]);\n  }\n  dispose() {\n    if (this._swipeHelper) {\n      this._swipeHelper.dispose();\n    }\n    super.dispose();\n  }\n\n  // Private\n  _configAfterMerge(config) {\n    config.defaultInterval = config.interval;\n    return config;\n  }\n  _addEventListeners() {\n    if (this._config.keyboard) {\n      EventHandler.on(this._element, EVENT_KEYDOWN$1, event => this._keydown(event));\n    }\n    if (this._config.pause === 'hover') {\n      EventHandler.on(this._element, EVENT_MOUSEENTER$1, () => this.pause());\n      EventHandler.on(this._element, EVENT_MOUSELEAVE$1, () => this._maybeEnableCycle());\n    }\n    if (this._config.touch && Swipe.isSupported()) {\n      this._addTouchEventListeners();\n    }\n  }\n  _addTouchEventListeners() {\n    for (const img of SelectorEngine.find(SELECTOR_ITEM_IMG, this._element)) {\n      EventHandler.on(img, EVENT_DRAG_START, event => event.preventDefault());\n    }\n    const endCallBack = () => {\n      if (this._config.pause !== 'hover') {\n        return;\n      }\n\n      // If it's a touch-enabled device, mouseenter/leave are fired as\n      // part of the mouse compatibility events on first tap - the carousel\n      // would stop cycling until user tapped out of it;\n      // here, we listen for touchend, explicitly pause the carousel\n      // (as if it's the second time we tap on it, mouseenter compat event\n      // is NOT fired) and after a timeout (to allow for mouse compatibility\n      // events to fire) we explicitly restart cycling\n\n      this.pause();\n      if (this.touchTimeout) {\n        clearTimeout(this.touchTimeout);\n      }\n      this.touchTimeout = setTimeout(() => this._maybeEnableCycle(), TOUCHEVENT_COMPAT_WAIT + this._config.interval);\n    };\n    const swipeConfig = {\n      leftCallback: () => this._slide(this._directionToOrder(DIRECTION_LEFT)),\n      rightCallback: () => this._slide(this._directionToOrder(DIRECTION_RIGHT)),\n      endCallback: endCallBack\n    };\n    this._swipeHelper = new Swipe(this._element, swipeConfig);\n  }\n  _keydown(event) {\n    if (/input|textarea/i.test(event.target.tagName)) {\n      return;\n    }\n    const direction = KEY_TO_DIRECTION[event.key];\n    if (direction) {\n      event.preventDefault();\n      this._slide(this._directionToOrder(direction));\n    }\n  }\n  _getItemIndex(element) {\n    return this._getItems().indexOf(element);\n  }\n  _setActiveIndicatorElement(index) {\n    if (!this._indicatorsElement) {\n      return;\n    }\n    const activeIndicator = SelectorEngine.findOne(SELECTOR_ACTIVE, this._indicatorsElement);\n    activeIndicator.classList.remove(CLASS_NAME_ACTIVE$2);\n    activeIndicator.removeAttribute('aria-current');\n    const newActiveIndicator = SelectorEngine.findOne(`[data-bs-slide-to=\"${index}\"]`, this._indicatorsElement);\n    if (newActiveIndicator) {\n      newActiveIndicator.classList.add(CLASS_NAME_ACTIVE$2);\n      newActiveIndicator.setAttribute('aria-current', 'true');\n    }\n  }\n  _updateInterval() {\n    const element = this._activeElement || this._getActive();\n    if (!element) {\n      return;\n    }\n    const elementInterval = Number.parseInt(element.getAttribute('data-bs-interval'), 10);\n    this._config.interval = elementInterval || this._config.defaultInterval;\n  }\n  _slide(order, element = null) {\n    if (this._isSliding) {\n      return;\n    }\n    const activeElement = this._getActive();\n    const isNext = order === ORDER_NEXT;\n    const nextElement = element || getNextActiveElement(this._getItems(), activeElement, isNext, this._config.wrap);\n    if (nextElement === activeElement) {\n      return;\n    }\n    const nextElementIndex = this._getItemIndex(nextElement);\n    const triggerEvent = eventName => {\n      return EventHandler.trigger(this._element, eventName, {\n        relatedTarget: nextElement,\n        direction: this._orderToDirection(order),\n        from: this._getItemIndex(activeElement),\n        to: nextElementIndex\n      });\n    };\n    const slideEvent = triggerEvent(EVENT_SLIDE);\n    if (slideEvent.defaultPrevented) {\n      return;\n    }\n    if (!activeElement || !nextElement) {\n      // Some weirdness is happening, so we bail\n      // TODO: change tests that use empty divs to avoid this check\n      return;\n    }\n    const isCycling = Boolean(this._interval);\n    this.pause();\n    this._isSliding = true;\n    this._setActiveIndicatorElement(nextElementIndex);\n    this._activeElement = nextElement;\n    const directionalClassName = isNext ? CLASS_NAME_START : CLASS_NAME_END;\n    const orderClassName = isNext ? CLASS_NAME_NEXT : CLASS_NAME_PREV;\n    nextElement.classList.add(orderClassName);\n    reflow(nextElement);\n    activeElement.classList.add(directionalClassName);\n    nextElement.classList.add(directionalClassName);\n    const completeCallBack = () => {\n      nextElement.classList.remove(directionalClassName, orderClassName);\n      nextElement.classList.add(CLASS_NAME_ACTIVE$2);\n      activeElement.classList.remove(CLASS_NAME_ACTIVE$2, orderClassName, directionalClassName);\n      this._isSliding = false;\n      triggerEvent(EVENT_SLID);\n    };\n    this._queueCallback(completeCallBack, activeElement, this._isAnimated());\n    if (isCycling) {\n      this.cycle();\n    }\n  }\n  _isAnimated() {\n    return this._element.classList.contains(CLASS_NAME_SLIDE);\n  }\n  _getActive() {\n    return SelectorEngine.findOne(SELECTOR_ACTIVE_ITEM, this._element);\n  }\n  _getItems() {\n    return SelectorEngine.find(SELECTOR_ITEM, this._element);\n  }\n  _clearInterval() {\n    if (this._interval) {\n      clearInterval(this._interval);\n      this._interval = null;\n    }\n  }\n  _directionToOrder(direction) {\n    if (isRTL()) {\n      return direction === DIRECTION_LEFT ? ORDER_PREV : ORDER_NEXT;\n    }\n    return direction === DIRECTION_LEFT ? ORDER_NEXT : ORDER_PREV;\n  }\n  _orderToDirection(order) {\n    if (isRTL()) {\n      return order === ORDER_PREV ? DIRECTION_LEFT : DIRECTION_RIGHT;\n    }\n    return order === ORDER_PREV ? DIRECTION_RIGHT : DIRECTION_LEFT;\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    return this.each(function () {\n      const data = Carousel.getOrCreateInstance(this, config);\n      if (typeof config === 'number') {\n        data.to(config);\n        return;\n      }\n      if (typeof config === 'string') {\n        if (data[config] === undefined || config.startsWith('_') || config === 'constructor') {\n          throw new TypeError(`No method named \"${config}\"`);\n        }\n        data[config]();\n      }\n    });\n  }\n}\n\n/**\n * Data API implementation\n */\n\nEventHandler.on(document, EVENT_CLICK_DATA_API$5, SELECTOR_DATA_SLIDE, function (event) {\n  const target = SelectorEngine.getElementFromSelector(this);\n  if (!target || !target.classList.contains(CLASS_NAME_CAROUSEL)) {\n    return;\n  }\n  event.preventDefault();\n  const carousel = Carousel.getOrCreateInstance(target);\n  const slideIndex = this.getAttribute('data-bs-slide-to');\n  if (slideIndex) {\n    carousel.to(slideIndex);\n    carousel._maybeEnableCycle();\n    return;\n  }\n  if (Manipulator.getDataAttribute(this, 'slide') === 'next') {\n    carousel.next();\n    carousel._maybeEnableCycle();\n    return;\n  }\n  carousel.prev();\n  carousel._maybeEnableCycle();\n});\nEventHandler.on(window, EVENT_LOAD_DATA_API$3, () => {\n  const carousels = SelectorEngine.find(SELECTOR_DATA_RIDE);\n  for (const carousel of carousels) {\n    Carousel.getOrCreateInstance(carousel);\n  }\n});\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Carousel);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap collapse.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$b = 'collapse';\nconst DATA_KEY$7 = 'bs.collapse';\nconst EVENT_KEY$7 = `.${DATA_KEY$7}`;\nconst DATA_API_KEY$4 = '.data-api';\nconst EVENT_SHOW$6 = `show${EVENT_KEY$7}`;\nconst EVENT_SHOWN$6 = `shown${EVENT_KEY$7}`;\nconst EVENT_HIDE$6 = `hide${EVENT_KEY$7}`;\nconst EVENT_HIDDEN$6 = `hidden${EVENT_KEY$7}`;\nconst EVENT_CLICK_DATA_API$4 = `click${EVENT_KEY$7}${DATA_API_KEY$4}`;\nconst CLASS_NAME_SHOW$7 = 'show';\nconst CLASS_NAME_COLLAPSE = 'collapse';\nconst CLASS_NAME_COLLAPSING = 'collapsing';\nconst CLASS_NAME_COLLAPSED = 'collapsed';\nconst CLASS_NAME_DEEPER_CHILDREN = `:scope .${CLASS_NAME_COLLAPSE} .${CLASS_NAME_COLLAPSE}`;\nconst CLASS_NAME_HORIZONTAL = 'collapse-horizontal';\nconst WIDTH = 'width';\nconst HEIGHT = 'height';\nconst SELECTOR_ACTIVES = '.collapse.show, .collapse.collapsing';\nconst SELECTOR_DATA_TOGGLE$4 = '[data-bs-toggle=\"collapse\"]';\nconst Default$a = {\n  parent: null,\n  toggle: true\n};\nconst DefaultType$a = {\n  parent: '(null|element)',\n  toggle: 'boolean'\n};\n\n/**\n * Class definition\n */\n\nclass Collapse extends BaseComponent {\n  constructor(element, config) {\n    super(element, config);\n    this._isTransitioning = false;\n    this._triggerArray = [];\n    const toggleList = SelectorEngine.find(SELECTOR_DATA_TOGGLE$4);\n    for (const elem of toggleList) {\n      const selector = SelectorEngine.getSelectorFromElement(elem);\n      const filterElement = SelectorEngine.find(selector).filter(foundElement => foundElement === this._element);\n      if (selector !== null && filterElement.length) {\n        this._triggerArray.push(elem);\n      }\n    }\n    this._initializeChildren();\n    if (!this._config.parent) {\n      this._addAriaAndCollapsedClass(this._triggerArray, this._isShown());\n    }\n    if (this._config.toggle) {\n      this.toggle();\n    }\n  }\n\n  // Getters\n  static get Default() {\n    return Default$a;\n  }\n  static get DefaultType() {\n    return DefaultType$a;\n  }\n  static get NAME() {\n    return NAME$b;\n  }\n\n  // Public\n  toggle() {\n    if (this._isShown()) {\n      this.hide();\n    } else {\n      this.show();\n    }\n  }\n  show() {\n    if (this._isTransitioning || this._isShown()) {\n      return;\n    }\n    let activeChildren = [];\n\n    // find active children\n    if (this._config.parent) {\n      activeChildren = this._getFirstLevelChildren(SELECTOR_ACTIVES).filter(element => element !== this._element).map(element => Collapse.getOrCreateInstance(element, {\n        toggle: false\n      }));\n    }\n    if (activeChildren.length && activeChildren[0]._isTransitioning) {\n      return;\n    }\n    const startEvent = EventHandler.trigger(this._element, EVENT_SHOW$6);\n    if (startEvent.defaultPrevented) {\n      return;\n    }\n    for (const activeInstance of activeChildren) {\n      activeInstance.hide();\n    }\n    const dimension = this._getDimension();\n    this._element.classList.remove(CLASS_NAME_COLLAPSE);\n    this._element.classList.add(CLASS_NAME_COLLAPSING);\n    this._element.style[dimension] = 0;\n    this._addAriaAndCollapsedClass(this._triggerArray, true);\n    this._isTransitioning = true;\n    const complete = () => {\n      this._isTransitioning = false;\n      this._element.classList.remove(CLASS_NAME_COLLAPSING);\n      this._element.classList.add(CLASS_NAME_COLLAPSE, CLASS_NAME_SHOW$7);\n      this._element.style[dimension] = '';\n      EventHandler.trigger(this._element, EVENT_SHOWN$6);\n    };\n    const capitalizedDimension = dimension[0].toUpperCase() + dimension.slice(1);\n    const scrollSize = `scroll${capitalizedDimension}`;\n    this._queueCallback(complete, this._element, true);\n    this._element.style[dimension] = `${this._element[scrollSize]}px`;\n  }\n  hide() {\n    if (this._isTransitioning || !this._isShown()) {\n      return;\n    }\n    const startEvent = EventHandler.trigger(this._element, EVENT_HIDE$6);\n    if (startEvent.defaultPrevented) {\n      return;\n    }\n    const dimension = this._getDimension();\n    this._element.style[dimension] = `${this._element.getBoundingClientRect()[dimension]}px`;\n    reflow(this._element);\n    this._element.classList.add(CLASS_NAME_COLLAPSING);\n    this._element.classList.remove(CLASS_NAME_COLLAPSE, CLASS_NAME_SHOW$7);\n    for (const trigger of this._triggerArray) {\n      const element = SelectorEngine.getElementFromSelector(trigger);\n      if (element && !this._isShown(element)) {\n        this._addAriaAndCollapsedClass([trigger], false);\n      }\n    }\n    this._isTransitioning = true;\n    const complete = () => {\n      this._isTransitioning = false;\n      this._element.classList.remove(CLASS_NAME_COLLAPSING);\n      this._element.classList.add(CLASS_NAME_COLLAPSE);\n      EventHandler.trigger(this._element, EVENT_HIDDEN$6);\n    };\n    this._element.style[dimension] = '';\n    this._queueCallback(complete, this._element, true);\n  }\n  _isShown(element = this._element) {\n    return element.classList.contains(CLASS_NAME_SHOW$7);\n  }\n\n  // Private\n  _configAfterMerge(config) {\n    config.toggle = Boolean(config.toggle); // Coerce string values\n    config.parent = getElement(config.parent);\n    return config;\n  }\n  _getDimension() {\n    return this._element.classList.contains(CLASS_NAME_HORIZONTAL) ? WIDTH : HEIGHT;\n  }\n  _initializeChildren() {\n    if (!this._config.parent) {\n      return;\n    }\n    const children = this._getFirstLevelChildren(SELECTOR_DATA_TOGGLE$4);\n    for (const element of children) {\n      const selected = SelectorEngine.getElementFromSelector(element);\n      if (selected) {\n        this._addAriaAndCollapsedClass([element], this._isShown(selected));\n      }\n    }\n  }\n  _getFirstLevelChildren(selector) {\n    const children = SelectorEngine.find(CLASS_NAME_DEEPER_CHILDREN, this._config.parent);\n    // remove children if greater depth\n    return SelectorEngine.find(selector, this._config.parent).filter(element => !children.includes(element));\n  }\n  _addAriaAndCollapsedClass(triggerArray, isOpen) {\n    if (!triggerArray.length) {\n      return;\n    }\n    for (const element of triggerArray) {\n      element.classList.toggle(CLASS_NAME_COLLAPSED, !isOpen);\n      element.setAttribute('aria-expanded', isOpen);\n    }\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    const _config = {};\n    if (typeof config === 'string' && /show|hide/.test(config)) {\n      _config.toggle = false;\n    }\n    return this.each(function () {\n      const data = Collapse.getOrCreateInstance(this, _config);\n      if (typeof config === 'string') {\n        if (typeof data[config] === 'undefined') {\n          throw new TypeError(`No method named \"${config}\"`);\n        }\n        data[config]();\n      }\n    });\n  }\n}\n\n/**\n * Data API implementation\n */\n\nEventHandler.on(document, EVENT_CLICK_DATA_API$4, SELECTOR_DATA_TOGGLE$4, function (event) {\n  // preventDefault only for <a> elements (which change the URL) not inside the collapsible element\n  if (event.target.tagName === 'A' || event.delegateTarget && event.delegateTarget.tagName === 'A') {\n    event.preventDefault();\n  }\n  for (const element of SelectorEngine.getMultipleElementsFromSelector(this)) {\n    Collapse.getOrCreateInstance(element, {\n      toggle: false\n    }).toggle();\n  }\n});\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Collapse);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap dropdown.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$a = 'dropdown';\nconst DATA_KEY$6 = 'bs.dropdown';\nconst EVENT_KEY$6 = `.${DATA_KEY$6}`;\nconst DATA_API_KEY$3 = '.data-api';\nconst ESCAPE_KEY$2 = 'Escape';\nconst TAB_KEY$1 = 'Tab';\nconst ARROW_UP_KEY$1 = 'ArrowUp';\nconst ARROW_DOWN_KEY$1 = 'ArrowDown';\nconst RIGHT_MOUSE_BUTTON = 2; // MouseEvent.button value for the secondary button, usually the right button\n\nconst EVENT_HIDE$5 = `hide${EVENT_KEY$6}`;\nconst EVENT_HIDDEN$5 = `hidden${EVENT_KEY$6}`;\nconst EVENT_SHOW$5 = `show${EVENT_KEY$6}`;\nconst EVENT_SHOWN$5 = `shown${EVENT_KEY$6}`;\nconst EVENT_CLICK_DATA_API$3 = `click${EVENT_KEY$6}${DATA_API_KEY$3}`;\nconst EVENT_KEYDOWN_DATA_API = `keydown${EVENT_KEY$6}${DATA_API_KEY$3}`;\nconst EVENT_KEYUP_DATA_API = `keyup${EVENT_KEY$6}${DATA_API_KEY$3}`;\nconst CLASS_NAME_SHOW$6 = 'show';\nconst CLASS_NAME_DROPUP = 'dropup';\nconst CLASS_NAME_DROPEND = 'dropend';\nconst CLASS_NAME_DROPSTART = 'dropstart';\nconst CLASS_NAME_DROPUP_CENTER = 'dropup-center';\nconst CLASS_NAME_DROPDOWN_CENTER = 'dropdown-center';\nconst SELECTOR_DATA_TOGGLE$3 = '[data-bs-toggle=\"dropdown\"]:not(.disabled):not(:disabled)';\nconst SELECTOR_DATA_TOGGLE_SHOWN = `${SELECTOR_DATA_TOGGLE$3}.${CLASS_NAME_SHOW$6}`;\nconst SELECTOR_MENU = '.dropdown-menu';\nconst SELECTOR_NAVBAR = '.navbar';\nconst SELECTOR_NAVBAR_NAV = '.navbar-nav';\nconst SELECTOR_VISIBLE_ITEMS = '.dropdown-menu .dropdown-item:not(.disabled):not(:disabled)';\nconst PLACEMENT_TOP = isRTL() ? 'top-end' : 'top-start';\nconst PLACEMENT_TOPEND = isRTL() ? 'top-start' : 'top-end';\nconst PLACEMENT_BOTTOM = isRTL() ? 'bottom-end' : 'bottom-start';\nconst PLACEMENT_BOTTOMEND = isRTL() ? 'bottom-start' : 'bottom-end';\nconst PLACEMENT_RIGHT = isRTL() ? 'left-start' : 'right-start';\nconst PLACEMENT_LEFT = isRTL() ? 'right-start' : 'left-start';\nconst PLACEMENT_TOPCENTER = 'top';\nconst PLACEMENT_BOTTOMCENTER = 'bottom';\nconst Default$9 = {\n  autoClose: true,\n  boundary: 'clippingParents',\n  display: 'dynamic',\n  offset: [0, 2],\n  popperConfig: null,\n  reference: 'toggle'\n};\nconst DefaultType$9 = {\n  autoClose: '(boolean|string)',\n  boundary: '(string|element)',\n  display: 'string',\n  offset: '(array|string|function)',\n  popperConfig: '(null|object|function)',\n  reference: '(string|element|object)'\n};\n\n/**\n * Class definition\n */\n\nclass Dropdown extends BaseComponent {\n  constructor(element, config) {\n    super(element, config);\n    this._popper = null;\n    this._parent = this._element.parentNode; // dropdown wrapper\n    // TODO: v6 revert #37011 & change markup https://getbootstrap.com/docs/5.3/forms/input-group/\n    this._menu = SelectorEngine.next(this._element, SELECTOR_MENU)[0] || SelectorEngine.prev(this._element, SELECTOR_MENU)[0] || SelectorEngine.findOne(SELECTOR_MENU, this._parent);\n    this._inNavbar = this._detectNavbar();\n  }\n\n  // Getters\n  static get Default() {\n    return Default$9;\n  }\n  static get DefaultType() {\n    return DefaultType$9;\n  }\n  static get NAME() {\n    return NAME$a;\n  }\n\n  // Public\n  toggle() {\n    return this._isShown() ? this.hide() : this.show();\n  }\n  show() {\n    if (isDisabled(this._element) || this._isShown()) {\n      return;\n    }\n    const relatedTarget = {\n      relatedTarget: this._element\n    };\n    const showEvent = EventHandler.trigger(this._element, EVENT_SHOW$5, relatedTarget);\n    if (showEvent.defaultPrevented) {\n      return;\n    }\n    this._createPopper();\n\n    // If this is a touch-enabled device we add extra\n    // empty mouseover listeners to the body's immediate children;\n    // only needed because of broken event delegation on iOS\n    // https://www.quirksmode.org/blog/archives/2014/02/mouse_event_bub.html\n    if ('ontouchstart' in document.documentElement && !this._parent.closest(SELECTOR_NAVBAR_NAV)) {\n      for (const element of [].concat(...document.body.children)) {\n        EventHandler.on(element, 'mouseover', noop);\n      }\n    }\n    this._element.focus();\n    this._element.setAttribute('aria-expanded', true);\n    this._menu.classList.add(CLASS_NAME_SHOW$6);\n    this._element.classList.add(CLASS_NAME_SHOW$6);\n    EventHandler.trigger(this._element, EVENT_SHOWN$5, relatedTarget);\n  }\n  hide() {\n    if (isDisabled(this._element) || !this._isShown()) {\n      return;\n    }\n    const relatedTarget = {\n      relatedTarget: this._element\n    };\n    this._completeHide(relatedTarget);\n  }\n  dispose() {\n    if (this._popper) {\n      this._popper.destroy();\n    }\n    super.dispose();\n  }\n  update() {\n    this._inNavbar = this._detectNavbar();\n    if (this._popper) {\n      this._popper.update();\n    }\n  }\n\n  // Private\n  _completeHide(relatedTarget) {\n    const hideEvent = EventHandler.trigger(this._element, EVENT_HIDE$5, relatedTarget);\n    if (hideEvent.defaultPrevented) {\n      return;\n    }\n\n    // If this is a touch-enabled device we remove the extra\n    // empty mouseover listeners we added for iOS support\n    if ('ontouchstart' in document.documentElement) {\n      for (const element of [].concat(...document.body.children)) {\n        EventHandler.off(element, 'mouseover', noop);\n      }\n    }\n    if (this._popper) {\n      this._popper.destroy();\n    }\n    this._menu.classList.remove(CLASS_NAME_SHOW$6);\n    this._element.classList.remove(CLASS_NAME_SHOW$6);\n    this._element.setAttribute('aria-expanded', 'false');\n    Manipulator.removeDataAttribute(this._menu, 'popper');\n    EventHandler.trigger(this._element, EVENT_HIDDEN$5, relatedTarget);\n  }\n  _getConfig(config) {\n    config = super._getConfig(config);\n    if (typeof config.reference === 'object' && !isElement(config.reference) && typeof config.reference.getBoundingClientRect !== 'function') {\n      // Popper virtual elements require a getBoundingClientRect method\n      throw new TypeError(`${NAME$a.toUpperCase()}: Option \"reference\" provided type \"object\" without a required \"getBoundingClientRect\" method.`);\n    }\n    return config;\n  }\n  _createPopper() {\n    if (typeof Popper === 'undefined') {\n      throw new TypeError('Bootstrap\\'s dropdowns require Popper (https://popper.js.org)');\n    }\n    let referenceElement = this._element;\n    if (this._config.reference === 'parent') {\n      referenceElement = this._parent;\n    } else if (isElement(this._config.reference)) {\n      referenceElement = getElement(this._config.reference);\n    } else if (typeof this._config.reference === 'object') {\n      referenceElement = this._config.reference;\n    }\n    const popperConfig = this._getPopperConfig();\n    this._popper = Popper.createPopper(referenceElement, this._menu, popperConfig);\n  }\n  _isShown() {\n    return this._menu.classList.contains(CLASS_NAME_SHOW$6);\n  }\n  _getPlacement() {\n    const parentDropdown = this._parent;\n    if (parentDropdown.classList.contains(CLASS_NAME_DROPEND)) {\n      return PLACEMENT_RIGHT;\n    }\n    if (parentDropdown.classList.contains(CLASS_NAME_DROPSTART)) {\n      return PLACEMENT_LEFT;\n    }\n    if (parentDropdown.classList.contains(CLASS_NAME_DROPUP_CENTER)) {\n      return PLACEMENT_TOPCENTER;\n    }\n    if (parentDropdown.classList.contains(CLASS_NAME_DROPDOWN_CENTER)) {\n      return PLACEMENT_BOTTOMCENTER;\n    }\n\n    // We need to trim the value because custom properties can also include spaces\n    const isEnd = getComputedStyle(this._menu).getPropertyValue('--bs-position').trim() === 'end';\n    if (parentDropdown.classList.contains(CLASS_NAME_DROPUP)) {\n      return isEnd ? PLACEMENT_TOPEND : PLACEMENT_TOP;\n    }\n    return isEnd ? PLACEMENT_BOTTOMEND : PLACEMENT_BOTTOM;\n  }\n  _detectNavbar() {\n    return this._element.closest(SELECTOR_NAVBAR) !== null;\n  }\n  _getOffset() {\n    const {\n      offset\n    } = this._config;\n    if (typeof offset === 'string') {\n      return offset.split(',').map(value => Number.parseInt(value, 10));\n    }\n    if (typeof offset === 'function') {\n      return popperData => offset(popperData, this._element);\n    }\n    return offset;\n  }\n  _getPopperConfig() {\n    const defaultBsPopperConfig = {\n      placement: this._getPlacement(),\n      modifiers: [{\n        name: 'preventOverflow',\n        options: {\n          boundary: this._config.boundary\n        }\n      }, {\n        name: 'offset',\n        options: {\n          offset: this._getOffset()\n        }\n      }]\n    };\n\n    // Disable Popper if we have a static display or Dropdown is in Navbar\n    if (this._inNavbar || this._config.display === 'static') {\n      Manipulator.setDataAttribute(this._menu, 'popper', 'static'); // TODO: v6 remove\n      defaultBsPopperConfig.modifiers = [{\n        name: 'applyStyles',\n        enabled: false\n      }];\n    }\n    return {\n      ...defaultBsPopperConfig,\n      ...execute(this._config.popperConfig, [defaultBsPopperConfig])\n    };\n  }\n  _selectMenuItem({\n    key,\n    target\n  }) {\n    const items = SelectorEngine.find(SELECTOR_VISIBLE_ITEMS, this._menu).filter(element => isVisible(element));\n    if (!items.length) {\n      return;\n    }\n\n    // if target isn't included in items (e.g. when expanding the dropdown)\n    // allow cycling to get the last item in case key equals ARROW_UP_KEY\n    getNextActiveElement(items, target, key === ARROW_DOWN_KEY$1, !items.includes(target)).focus();\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    return this.each(function () {\n      const data = Dropdown.getOrCreateInstance(this, config);\n      if (typeof config !== 'string') {\n        return;\n      }\n      if (typeof data[config] === 'undefined') {\n        throw new TypeError(`No method named \"${config}\"`);\n      }\n      data[config]();\n    });\n  }\n  static clearMenus(event) {\n    if (event.button === RIGHT_MOUSE_BUTTON || event.type === 'keyup' && event.key !== TAB_KEY$1) {\n      return;\n    }\n    const openToggles = SelectorEngine.find(SELECTOR_DATA_TOGGLE_SHOWN);\n    for (const toggle of openToggles) {\n      const context = Dropdown.getInstance(toggle);\n      if (!context || context._config.autoClose === false) {\n        continue;\n      }\n      const composedPath = event.composedPath();\n      const isMenuTarget = composedPath.includes(context._menu);\n      if (composedPath.includes(context._element) || context._config.autoClose === 'inside' && !isMenuTarget || context._config.autoClose === 'outside' && isMenuTarget) {\n        continue;\n      }\n\n      // Tab navigation through the dropdown menu or events from contained inputs shouldn't close the menu\n      if (context._menu.contains(event.target) && (event.type === 'keyup' && event.key === TAB_KEY$1 || /input|select|option|textarea|form/i.test(event.target.tagName))) {\n        continue;\n      }\n      const relatedTarget = {\n        relatedTarget: context._element\n      };\n      if (event.type === 'click') {\n        relatedTarget.clickEvent = event;\n      }\n      context._completeHide(relatedTarget);\n    }\n  }\n  static dataApiKeydownHandler(event) {\n    // If not an UP | DOWN | ESCAPE key => not a dropdown command\n    // If input/textarea && if key is other than ESCAPE => not a dropdown command\n\n    const isInput = /input|textarea/i.test(event.target.tagName);\n    const isEscapeEvent = event.key === ESCAPE_KEY$2;\n    const isUpOrDownEvent = [ARROW_UP_KEY$1, ARROW_DOWN_KEY$1].includes(event.key);\n    if (!isUpOrDownEvent && !isEscapeEvent) {\n      return;\n    }\n    if (isInput && !isEscapeEvent) {\n      return;\n    }\n    event.preventDefault();\n\n    // TODO: v6 revert #37011 & change markup https://getbootstrap.com/docs/5.3/forms/input-group/\n    const getToggleButton = this.matches(SELECTOR_DATA_TOGGLE$3) ? this : SelectorEngine.prev(this, SELECTOR_DATA_TOGGLE$3)[0] || SelectorEngine.next(this, SELECTOR_DATA_TOGGLE$3)[0] || SelectorEngine.findOne(SELECTOR_DATA_TOGGLE$3, event.delegateTarget.parentNode);\n    const instance = Dropdown.getOrCreateInstance(getToggleButton);\n    if (isUpOrDownEvent) {\n      event.stopPropagation();\n      instance.show();\n      instance._selectMenuItem(event);\n      return;\n    }\n    if (instance._isShown()) {\n      // else is escape and we check if it is shown\n      event.stopPropagation();\n      instance.hide();\n      getToggleButton.focus();\n    }\n  }\n}\n\n/**\n * Data API implementation\n */\n\nEventHandler.on(document, EVENT_KEYDOWN_DATA_API, SELECTOR_DATA_TOGGLE$3, Dropdown.dataApiKeydownHandler);\nEventHandler.on(document, EVENT_KEYDOWN_DATA_API, SELECTOR_MENU, Dropdown.dataApiKeydownHandler);\nEventHandler.on(document, EVENT_CLICK_DATA_API$3, Dropdown.clearMenus);\nEventHandler.on(document, EVENT_KEYUP_DATA_API, Dropdown.clearMenus);\nEventHandler.on(document, EVENT_CLICK_DATA_API$3, SELECTOR_DATA_TOGGLE$3, function (event) {\n  event.preventDefault();\n  Dropdown.getOrCreateInstance(this).toggle();\n});\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Dropdown);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap util/backdrop.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$9 = 'backdrop';\nconst CLASS_NAME_FADE$4 = 'fade';\nconst CLASS_NAME_SHOW$5 = 'show';\nconst EVENT_MOUSEDOWN = `mousedown.bs.${NAME$9}`;\nconst Default$8 = {\n  className: 'modal-backdrop',\n  clickCallback: null,\n  isAnimated: false,\n  isVisible: true,\n  // if false, we use the backdrop helper without adding any element to the dom\n  rootElement: 'body' // give the choice to place backdrop under different elements\n};\nconst DefaultType$8 = {\n  className: 'string',\n  clickCallback: '(function|null)',\n  isAnimated: 'boolean',\n  isVisible: 'boolean',\n  rootElement: '(element|string)'\n};\n\n/**\n * Class definition\n */\n\nclass Backdrop extends Config {\n  constructor(config) {\n    super();\n    this._config = this._getConfig(config);\n    this._isAppended = false;\n    this._element = null;\n  }\n\n  // Getters\n  static get Default() {\n    return Default$8;\n  }\n  static get DefaultType() {\n    return DefaultType$8;\n  }\n  static get NAME() {\n    return NAME$9;\n  }\n\n  // Public\n  show(callback) {\n    if (!this._config.isVisible) {\n      execute(callback);\n      return;\n    }\n    this._append();\n    const element = this._getElement();\n    if (this._config.isAnimated) {\n      reflow(element);\n    }\n    element.classList.add(CLASS_NAME_SHOW$5);\n    this._emulateAnimation(() => {\n      execute(callback);\n    });\n  }\n  hide(callback) {\n    if (!this._config.isVisible) {\n      execute(callback);\n      return;\n    }\n    this._getElement().classList.remove(CLASS_NAME_SHOW$5);\n    this._emulateAnimation(() => {\n      this.dispose();\n      execute(callback);\n    });\n  }\n  dispose() {\n    if (!this._isAppended) {\n      return;\n    }\n    EventHandler.off(this._element, EVENT_MOUSEDOWN);\n    this._element.remove();\n    this._isAppended = false;\n  }\n\n  // Private\n  _getElement() {\n    if (!this._element) {\n      const backdrop = document.createElement('div');\n      backdrop.className = this._config.className;\n      if (this._config.isAnimated) {\n        backdrop.classList.add(CLASS_NAME_FADE$4);\n      }\n      this._element = backdrop;\n    }\n    return this._element;\n  }\n  _configAfterMerge(config) {\n    // use getElement() with the default \"body\" to get a fresh Element on each instantiation\n    config.rootElement = getElement(config.rootElement);\n    return config;\n  }\n  _append() {\n    if (this._isAppended) {\n      return;\n    }\n    const element = this._getElement();\n    this._config.rootElement.append(element);\n    EventHandler.on(element, EVENT_MOUSEDOWN, () => {\n      execute(this._config.clickCallback);\n    });\n    this._isAppended = true;\n  }\n  _emulateAnimation(callback) {\n    executeAfterTransition(callback, this._getElement(), this._config.isAnimated);\n  }\n}\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap util/focustrap.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$8 = 'focustrap';\nconst DATA_KEY$5 = 'bs.focustrap';\nconst EVENT_KEY$5 = `.${DATA_KEY$5}`;\nconst EVENT_FOCUSIN$2 = `focusin${EVENT_KEY$5}`;\nconst EVENT_KEYDOWN_TAB = `keydown.tab${EVENT_KEY$5}`;\nconst TAB_KEY = 'Tab';\nconst TAB_NAV_FORWARD = 'forward';\nconst TAB_NAV_BACKWARD = 'backward';\nconst Default$7 = {\n  autofocus: true,\n  trapElement: null // The element to trap focus inside of\n};\nconst DefaultType$7 = {\n  autofocus: 'boolean',\n  trapElement: 'element'\n};\n\n/**\n * Class definition\n */\n\nclass FocusTrap extends Config {\n  constructor(config) {\n    super();\n    this._config = this._getConfig(config);\n    this._isActive = false;\n    this._lastTabNavDirection = null;\n  }\n\n  // Getters\n  static get Default() {\n    return Default$7;\n  }\n  static get DefaultType() {\n    return DefaultType$7;\n  }\n  static get NAME() {\n    return NAME$8;\n  }\n\n  // Public\n  activate() {\n    if (this._isActive) {\n      return;\n    }\n    if (this._config.autofocus) {\n      this._config.trapElement.focus();\n    }\n    EventHandler.off(document, EVENT_KEY$5); // guard against infinite focus loop\n    EventHandler.on(document, EVENT_FOCUSIN$2, event => this._handleFocusin(event));\n    EventHandler.on(document, EVENT_KEYDOWN_TAB, event => this._handleKeydown(event));\n    this._isActive = true;\n  }\n  deactivate() {\n    if (!this._isActive) {\n      return;\n    }\n    this._isActive = false;\n    EventHandler.off(document, EVENT_KEY$5);\n  }\n\n  // Private\n  _handleFocusin(event) {\n    const {\n      trapElement\n    } = this._config;\n    if (event.target === document || event.target === trapElement || trapElement.contains(event.target)) {\n      return;\n    }\n    const elements = SelectorEngine.focusableChildren(trapElement);\n    if (elements.length === 0) {\n      trapElement.focus();\n    } else if (this._lastTabNavDirection === TAB_NAV_BACKWARD) {\n      elements[elements.length - 1].focus();\n    } else {\n      elements[0].focus();\n    }\n  }\n  _handleKeydown(event) {\n    if (event.key !== TAB_KEY) {\n      return;\n    }\n    this._lastTabNavDirection = event.shiftKey ? TAB_NAV_BACKWARD : TAB_NAV_FORWARD;\n  }\n}\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap util/scrollBar.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst SELECTOR_FIXED_CONTENT = '.fixed-top, .fixed-bottom, .is-fixed, .sticky-top';\nconst SELECTOR_STICKY_CONTENT = '.sticky-top';\nconst PROPERTY_PADDING = 'padding-right';\nconst PROPERTY_MARGIN = 'margin-right';\n\n/**\n * Class definition\n */\n\nclass ScrollBarHelper {\n  constructor() {\n    this._element = document.body;\n  }\n\n  // Public\n  getWidth() {\n    // https://developer.mozilla.org/en-US/docs/Web/API/Window/innerWidth#usage_notes\n    const documentWidth = document.documentElement.clientWidth;\n    return Math.abs(window.innerWidth - documentWidth);\n  }\n  hide() {\n    const width = this.getWidth();\n    this._disableOverFlow();\n    // give padding to element to balance the hidden scrollbar width\n    this._setElementAttributes(this._element, PROPERTY_PADDING, calculatedValue => calculatedValue + width);\n    // trick: We adjust positive paddingRight and negative marginRight to sticky-top elements to keep showing fullwidth\n    this._setElementAttributes(SELECTOR_FIXED_CONTENT, PROPERTY_PADDING, calculatedValue => calculatedValue + width);\n    this._setElementAttributes(SELECTOR_STICKY_CONTENT, PROPERTY_MARGIN, calculatedValue => calculatedValue - width);\n  }\n  reset() {\n    this._resetElementAttributes(this._element, 'overflow');\n    this._resetElementAttributes(this._element, PROPERTY_PADDING);\n    this._resetElementAttributes(SELECTOR_FIXED_CONTENT, PROPERTY_PADDING);\n    this._resetElementAttributes(SELECTOR_STICKY_CONTENT, PROPERTY_MARGIN);\n  }\n  isOverflowing() {\n    return this.getWidth() > 0;\n  }\n\n  // Private\n  _disableOverFlow() {\n    this._saveInitialAttribute(this._element, 'overflow');\n    this._element.style.overflow = 'hidden';\n  }\n  _setElementAttributes(selector, styleProperty, callback) {\n    const scrollbarWidth = this.getWidth();\n    const manipulationCallBack = element => {\n      if (element !== this._element && window.innerWidth > element.clientWidth + scrollbarWidth) {\n        return;\n      }\n      this._saveInitialAttribute(element, styleProperty);\n      const calculatedValue = window.getComputedStyle(element).getPropertyValue(styleProperty);\n      element.style.setProperty(styleProperty, `${callback(Number.parseFloat(calculatedValue))}px`);\n    };\n    this._applyManipulationCallback(selector, manipulationCallBack);\n  }\n  _saveInitialAttribute(element, styleProperty) {\n    const actualValue = element.style.getPropertyValue(styleProperty);\n    if (actualValue) {\n      Manipulator.setDataAttribute(element, styleProperty, actualValue);\n    }\n  }\n  _resetElementAttributes(selector, styleProperty) {\n    const manipulationCallBack = element => {\n      const value = Manipulator.getDataAttribute(element, styleProperty);\n      // We only want to remove the property if the value is `null`; the value can also be zero\n      if (value === null) {\n        element.style.removeProperty(styleProperty);\n        return;\n      }\n      Manipulator.removeDataAttribute(element, styleProperty);\n      element.style.setProperty(styleProperty, value);\n    };\n    this._applyManipulationCallback(selector, manipulationCallBack);\n  }\n  _applyManipulationCallback(selector, callBack) {\n    if (isElement(selector)) {\n      callBack(selector);\n      return;\n    }\n    for (const sel of SelectorEngine.find(selector, this._element)) {\n      callBack(sel);\n    }\n  }\n}\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap modal.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$7 = 'modal';\nconst DATA_KEY$4 = 'bs.modal';\nconst EVENT_KEY$4 = `.${DATA_KEY$4}`;\nconst DATA_API_KEY$2 = '.data-api';\nconst ESCAPE_KEY$1 = 'Escape';\nconst EVENT_HIDE$4 = `hide${EVENT_KEY$4}`;\nconst EVENT_HIDE_PREVENTED$1 = `hidePrevented${EVENT_KEY$4}`;\nconst EVENT_HIDDEN$4 = `hidden${EVENT_KEY$4}`;\nconst EVENT_SHOW$4 = `show${EVENT_KEY$4}`;\nconst EVENT_SHOWN$4 = `shown${EVENT_KEY$4}`;\nconst EVENT_RESIZE$1 = `resize${EVENT_KEY$4}`;\nconst EVENT_CLICK_DISMISS = `click.dismiss${EVENT_KEY$4}`;\nconst EVENT_MOUSEDOWN_DISMISS = `mousedown.dismiss${EVENT_KEY$4}`;\nconst EVENT_KEYDOWN_DISMISS$1 = `keydown.dismiss${EVENT_KEY$4}`;\nconst EVENT_CLICK_DATA_API$2 = `click${EVENT_KEY$4}${DATA_API_KEY$2}`;\nconst CLASS_NAME_OPEN = 'modal-open';\nconst CLASS_NAME_FADE$3 = 'fade';\nconst CLASS_NAME_SHOW$4 = 'show';\nconst CLASS_NAME_STATIC = 'modal-static';\nconst OPEN_SELECTOR$1 = '.modal.show';\nconst SELECTOR_DIALOG = '.modal-dialog';\nconst SELECTOR_MODAL_BODY = '.modal-body';\nconst SELECTOR_DATA_TOGGLE$2 = '[data-bs-toggle=\"modal\"]';\nconst Default$6 = {\n  backdrop: true,\n  focus: true,\n  keyboard: true\n};\nconst DefaultType$6 = {\n  backdrop: '(boolean|string)',\n  focus: 'boolean',\n  keyboard: 'boolean'\n};\n\n/**\n * Class definition\n */\n\nclass Modal extends BaseComponent {\n  constructor(element, config) {\n    super(element, config);\n    this._dialog = SelectorEngine.findOne(SELECTOR_DIALOG, this._element);\n    this._backdrop = this._initializeBackDrop();\n    this._focustrap = this._initializeFocusTrap();\n    this._isShown = false;\n    this._isTransitioning = false;\n    this._scrollBar = new ScrollBarHelper();\n    this._addEventListeners();\n  }\n\n  // Getters\n  static get Default() {\n    return Default$6;\n  }\n  static get DefaultType() {\n    return DefaultType$6;\n  }\n  static get NAME() {\n    return NAME$7;\n  }\n\n  // Public\n  toggle(relatedTarget) {\n    return this._isShown ? this.hide() : this.show(relatedTarget);\n  }\n  show(relatedTarget) {\n    if (this._isShown || this._isTransitioning) {\n      return;\n    }\n    const showEvent = EventHandler.trigger(this._element, EVENT_SHOW$4, {\n      relatedTarget\n    });\n    if (showEvent.defaultPrevented) {\n      return;\n    }\n    this._isShown = true;\n    this._isTransitioning = true;\n    this._scrollBar.hide();\n    document.body.classList.add(CLASS_NAME_OPEN);\n    this._adjustDialog();\n    this._backdrop.show(() => this._showElement(relatedTarget));\n  }\n  hide() {\n    if (!this._isShown || this._isTransitioning) {\n      return;\n    }\n    const hideEvent = EventHandler.trigger(this._element, EVENT_HIDE$4);\n    if (hideEvent.defaultPrevented) {\n      return;\n    }\n    this._isShown = false;\n    this._isTransitioning = true;\n    this._focustrap.deactivate();\n    this._element.classList.remove(CLASS_NAME_SHOW$4);\n    this._queueCallback(() => this._hideModal(), this._element, this._isAnimated());\n  }\n  dispose() {\n    EventHandler.off(window, EVENT_KEY$4);\n    EventHandler.off(this._dialog, EVENT_KEY$4);\n    this._backdrop.dispose();\n    this._focustrap.deactivate();\n    super.dispose();\n  }\n  handleUpdate() {\n    this._adjustDialog();\n  }\n\n  // Private\n  _initializeBackDrop() {\n    return new Backdrop({\n      isVisible: Boolean(this._config.backdrop),\n      // 'static' option will be translated to true, and booleans will keep their value,\n      isAnimated: this._isAnimated()\n    });\n  }\n  _initializeFocusTrap() {\n    return new FocusTrap({\n      trapElement: this._element\n    });\n  }\n  _showElement(relatedTarget) {\n    // try to append dynamic modal\n    if (!document.body.contains(this._element)) {\n      document.body.append(this._element);\n    }\n    this._element.style.display = 'block';\n    this._element.removeAttribute('aria-hidden');\n    this._element.setAttribute('aria-modal', true);\n    this._element.setAttribute('role', 'dialog');\n    this._element.scrollTop = 0;\n    const modalBody = SelectorEngine.findOne(SELECTOR_MODAL_BODY, this._dialog);\n    if (modalBody) {\n      modalBody.scrollTop = 0;\n    }\n    reflow(this._element);\n    this._element.classList.add(CLASS_NAME_SHOW$4);\n    const transitionComplete = () => {\n      if (this._config.focus) {\n        this._focustrap.activate();\n      }\n      this._isTransitioning = false;\n      EventHandler.trigger(this._element, EVENT_SHOWN$4, {\n        relatedTarget\n      });\n    };\n    this._queueCallback(transitionComplete, this._dialog, this._isAnimated());\n  }\n  _addEventListeners() {\n    EventHandler.on(this._element, EVENT_KEYDOWN_DISMISS$1, event => {\n      if (event.key !== ESCAPE_KEY$1) {\n        return;\n      }\n      if (this._config.keyboard) {\n        this.hide();\n        return;\n      }\n      this._triggerBackdropTransition();\n    });\n    EventHandler.on(window, EVENT_RESIZE$1, () => {\n      if (this._isShown && !this._isTransitioning) {\n        this._adjustDialog();\n      }\n    });\n    EventHandler.on(this._element, EVENT_MOUSEDOWN_DISMISS, event => {\n      // a bad trick to segregate clicks that may start inside dialog but end outside, and avoid listen to scrollbar clicks\n      EventHandler.one(this._element, EVENT_CLICK_DISMISS, event2 => {\n        if (this._element !== event.target || this._element !== event2.target) {\n          return;\n        }\n        if (this._config.backdrop === 'static') {\n          this._triggerBackdropTransition();\n          return;\n        }\n        if (this._config.backdrop) {\n          this.hide();\n        }\n      });\n    });\n  }\n  _hideModal() {\n    this._element.style.display = 'none';\n    this._element.setAttribute('aria-hidden', true);\n    this._element.removeAttribute('aria-modal');\n    this._element.removeAttribute('role');\n    this._isTransitioning = false;\n    this._backdrop.hide(() => {\n      document.body.classList.remove(CLASS_NAME_OPEN);\n      this._resetAdjustments();\n      this._scrollBar.reset();\n      EventHandler.trigger(this._element, EVENT_HIDDEN$4);\n    });\n  }\n  _isAnimated() {\n    return this._element.classList.contains(CLASS_NAME_FADE$3);\n  }\n  _triggerBackdropTransition() {\n    const hideEvent = EventHandler.trigger(this._element, EVENT_HIDE_PREVENTED$1);\n    if (hideEvent.defaultPrevented) {\n      return;\n    }\n    const isModalOverflowing = this._element.scrollHeight > document.documentElement.clientHeight;\n    const initialOverflowY = this._element.style.overflowY;\n    // return if the following background transition hasn't yet completed\n    if (initialOverflowY === 'hidden' || this._element.classList.contains(CLASS_NAME_STATIC)) {\n      return;\n    }\n    if (!isModalOverflowing) {\n      this._element.style.overflowY = 'hidden';\n    }\n    this._element.classList.add(CLASS_NAME_STATIC);\n    this._queueCallback(() => {\n      this._element.classList.remove(CLASS_NAME_STATIC);\n      this._queueCallback(() => {\n        this._element.style.overflowY = initialOverflowY;\n      }, this._dialog);\n    }, this._dialog);\n    this._element.focus();\n  }\n\n  /**\n   * The following methods are used to handle overflowing modals\n   */\n\n  _adjustDialog() {\n    const isModalOverflowing = this._element.scrollHeight > document.documentElement.clientHeight;\n    const scrollbarWidth = this._scrollBar.getWidth();\n    const isBodyOverflowing = scrollbarWidth > 0;\n    if (isBodyOverflowing && !isModalOverflowing) {\n      const property = isRTL() ? 'paddingLeft' : 'paddingRight';\n      this._element.style[property] = `${scrollbarWidth}px`;\n    }\n    if (!isBodyOverflowing && isModalOverflowing) {\n      const property = isRTL() ? 'paddingRight' : 'paddingLeft';\n      this._element.style[property] = `${scrollbarWidth}px`;\n    }\n  }\n  _resetAdjustments() {\n    this._element.style.paddingLeft = '';\n    this._element.style.paddingRight = '';\n  }\n\n  // Static\n  static jQueryInterface(config, relatedTarget) {\n    return this.each(function () {\n      const data = Modal.getOrCreateInstance(this, config);\n      if (typeof config !== 'string') {\n        return;\n      }\n      if (typeof data[config] === 'undefined') {\n        throw new TypeError(`No method named \"${config}\"`);\n      }\n      data[config](relatedTarget);\n    });\n  }\n}\n\n/**\n * Data API implementation\n */\n\nEventHandler.on(document, EVENT_CLICK_DATA_API$2, SELECTOR_DATA_TOGGLE$2, function (event) {\n  const target = SelectorEngine.getElementFromSelector(this);\n  if (['A', 'AREA'].includes(this.tagName)) {\n    event.preventDefault();\n  }\n  EventHandler.one(target, EVENT_SHOW$4, showEvent => {\n    if (showEvent.defaultPrevented) {\n      // only register focus restorer if modal will actually get shown\n      return;\n    }\n    EventHandler.one(target, EVENT_HIDDEN$4, () => {\n      if (isVisible(this)) {\n        this.focus();\n      }\n    });\n  });\n\n  // avoid conflict when clicking modal toggler while another one is open\n  const alreadyOpen = SelectorEngine.findOne(OPEN_SELECTOR$1);\n  if (alreadyOpen) {\n    Modal.getInstance(alreadyOpen).hide();\n  }\n  const data = Modal.getOrCreateInstance(target);\n  data.toggle(this);\n});\nenableDismissTrigger(Modal);\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Modal);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap offcanvas.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$6 = 'offcanvas';\nconst DATA_KEY$3 = 'bs.offcanvas';\nconst EVENT_KEY$3 = `.${DATA_KEY$3}`;\nconst DATA_API_KEY$1 = '.data-api';\nconst EVENT_LOAD_DATA_API$2 = `load${EVENT_KEY$3}${DATA_API_KEY$1}`;\nconst ESCAPE_KEY = 'Escape';\nconst CLASS_NAME_SHOW$3 = 'show';\nconst CLASS_NAME_SHOWING$1 = 'showing';\nconst CLASS_NAME_HIDING = 'hiding';\nconst CLASS_NAME_BACKDROP = 'offcanvas-backdrop';\nconst OPEN_SELECTOR = '.offcanvas.show';\nconst EVENT_SHOW$3 = `show${EVENT_KEY$3}`;\nconst EVENT_SHOWN$3 = `shown${EVENT_KEY$3}`;\nconst EVENT_HIDE$3 = `hide${EVENT_KEY$3}`;\nconst EVENT_HIDE_PREVENTED = `hidePrevented${EVENT_KEY$3}`;\nconst EVENT_HIDDEN$3 = `hidden${EVENT_KEY$3}`;\nconst EVENT_RESIZE = `resize${EVENT_KEY$3}`;\nconst EVENT_CLICK_DATA_API$1 = `click${EVENT_KEY$3}${DATA_API_KEY$1}`;\nconst EVENT_KEYDOWN_DISMISS = `keydown.dismiss${EVENT_KEY$3}`;\nconst SELECTOR_DATA_TOGGLE$1 = '[data-bs-toggle=\"offcanvas\"]';\nconst Default$5 = {\n  backdrop: true,\n  keyboard: true,\n  scroll: false\n};\nconst DefaultType$5 = {\n  backdrop: '(boolean|string)',\n  keyboard: 'boolean',\n  scroll: 'boolean'\n};\n\n/**\n * Class definition\n */\n\nclass Offcanvas extends BaseComponent {\n  constructor(element, config) {\n    super(element, config);\n    this._isShown = false;\n    this._backdrop = this._initializeBackDrop();\n    this._focustrap = this._initializeFocusTrap();\n    this._addEventListeners();\n  }\n\n  // Getters\n  static get Default() {\n    return Default$5;\n  }\n  static get DefaultType() {\n    return DefaultType$5;\n  }\n  static get NAME() {\n    return NAME$6;\n  }\n\n  // Public\n  toggle(relatedTarget) {\n    return this._isShown ? this.hide() : this.show(relatedTarget);\n  }\n  show(relatedTarget) {\n    if (this._isShown) {\n      return;\n    }\n    const showEvent = EventHandler.trigger(this._element, EVENT_SHOW$3, {\n      relatedTarget\n    });\n    if (showEvent.defaultPrevented) {\n      return;\n    }\n    this._isShown = true;\n    this._backdrop.show();\n    if (!this._config.scroll) {\n      new ScrollBarHelper().hide();\n    }\n    this._element.setAttribute('aria-modal', true);\n    this._element.setAttribute('role', 'dialog');\n    this._element.classList.add(CLASS_NAME_SHOWING$1);\n    const completeCallBack = () => {\n      if (!this._config.scroll || this._config.backdrop) {\n        this._focustrap.activate();\n      }\n      this._element.classList.add(CLASS_NAME_SHOW$3);\n      this._element.classList.remove(CLASS_NAME_SHOWING$1);\n      EventHandler.trigger(this._element, EVENT_SHOWN$3, {\n        relatedTarget\n      });\n    };\n    this._queueCallback(completeCallBack, this._element, true);\n  }\n  hide() {\n    if (!this._isShown) {\n      return;\n    }\n    const hideEvent = EventHandler.trigger(this._element, EVENT_HIDE$3);\n    if (hideEvent.defaultPrevented) {\n      return;\n    }\n    this._focustrap.deactivate();\n    this._element.blur();\n    this._isShown = false;\n    this._element.classList.add(CLASS_NAME_HIDING);\n    this._backdrop.hide();\n    const completeCallback = () => {\n      this._element.classList.remove(CLASS_NAME_SHOW$3, CLASS_NAME_HIDING);\n      this._element.removeAttribute('aria-modal');\n      this._element.removeAttribute('role');\n      if (!this._config.scroll) {\n        new ScrollBarHelper().reset();\n      }\n      EventHandler.trigger(this._element, EVENT_HIDDEN$3);\n    };\n    this._queueCallback(completeCallback, this._element, true);\n  }\n  dispose() {\n    this._backdrop.dispose();\n    this._focustrap.deactivate();\n    super.dispose();\n  }\n\n  // Private\n  _initializeBackDrop() {\n    const clickCallback = () => {\n      if (this._config.backdrop === 'static') {\n        EventHandler.trigger(this._element, EVENT_HIDE_PREVENTED);\n        return;\n      }\n      this.hide();\n    };\n\n    // 'static' option will be translated to true, and booleans will keep their value\n    const isVisible = Boolean(this._config.backdrop);\n    return new Backdrop({\n      className: CLASS_NAME_BACKDROP,\n      isVisible,\n      isAnimated: true,\n      rootElement: this._element.parentNode,\n      clickCallback: isVisible ? clickCallback : null\n    });\n  }\n  _initializeFocusTrap() {\n    return new FocusTrap({\n      trapElement: this._element\n    });\n  }\n  _addEventListeners() {\n    EventHandler.on(this._element, EVENT_KEYDOWN_DISMISS, event => {\n      if (event.key !== ESCAPE_KEY) {\n        return;\n      }\n      if (this._config.keyboard) {\n        this.hide();\n        return;\n      }\n      EventHandler.trigger(this._element, EVENT_HIDE_PREVENTED);\n    });\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    return this.each(function () {\n      const data = Offcanvas.getOrCreateInstance(this, config);\n      if (typeof config !== 'string') {\n        return;\n      }\n      if (data[config] === undefined || config.startsWith('_') || config === 'constructor') {\n        throw new TypeError(`No method named \"${config}\"`);\n      }\n      data[config](this);\n    });\n  }\n}\n\n/**\n * Data API implementation\n */\n\nEventHandler.on(document, EVENT_CLICK_DATA_API$1, SELECTOR_DATA_TOGGLE$1, function (event) {\n  const target = SelectorEngine.getElementFromSelector(this);\n  if (['A', 'AREA'].includes(this.tagName)) {\n    event.preventDefault();\n  }\n  if (isDisabled(this)) {\n    return;\n  }\n  EventHandler.one(target, EVENT_HIDDEN$3, () => {\n    // focus on trigger when it is closed\n    if (isVisible(this)) {\n      this.focus();\n    }\n  });\n\n  // avoid conflict when clicking a toggler of an offcanvas, while another is open\n  const alreadyOpen = SelectorEngine.findOne(OPEN_SELECTOR);\n  if (alreadyOpen && alreadyOpen !== target) {\n    Offcanvas.getInstance(alreadyOpen).hide();\n  }\n  const data = Offcanvas.getOrCreateInstance(target);\n  data.toggle(this);\n});\nEventHandler.on(window, EVENT_LOAD_DATA_API$2, () => {\n  for (const selector of SelectorEngine.find(OPEN_SELECTOR)) {\n    Offcanvas.getOrCreateInstance(selector).show();\n  }\n});\nEventHandler.on(window, EVENT_RESIZE, () => {\n  for (const element of SelectorEngine.find('[aria-modal][class*=show][class*=offcanvas-]')) {\n    if (getComputedStyle(element).position !== 'fixed') {\n      Offcanvas.getOrCreateInstance(element).hide();\n    }\n  }\n});\nenableDismissTrigger(Offcanvas);\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Offcanvas);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap util/sanitizer.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n// js-docs-start allow-list\nconst ARIA_ATTRIBUTE_PATTERN = /^aria-[\\w-]*$/i;\nconst DefaultAllowlist = {\n  // Global attributes allowed on any supplied element below.\n  '*': ['class', 'dir', 'id', 'lang', 'role', ARIA_ATTRIBUTE_PATTERN],\n  a: ['target', 'href', 'title', 'rel'],\n  area: [],\n  b: [],\n  br: [],\n  col: [],\n  code: [],\n  dd: [],\n  div: [],\n  dl: [],\n  dt: [],\n  em: [],\n  hr: [],\n  h1: [],\n  h2: [],\n  h3: [],\n  h4: [],\n  h5: [],\n  h6: [],\n  i: [],\n  img: ['src', 'srcset', 'alt', 'title', 'width', 'height'],\n  li: [],\n  ol: [],\n  p: [],\n  pre: [],\n  s: [],\n  small: [],\n  span: [],\n  sub: [],\n  sup: [],\n  strong: [],\n  u: [],\n  ul: []\n};\n// js-docs-end allow-list\n\nconst uriAttributes = new Set(['background', 'cite', 'href', 'itemtype', 'longdesc', 'poster', 'src', 'xlink:href']);\n\n/**\n * A pattern that recognizes URLs that are safe wrt. XSS in URL navigation\n * contexts.\n *\n * Shout-out to Angular https://github.com/angular/angular/blob/15.2.8/packages/core/src/sanitization/url_sanitizer.ts#L38\n */\n// eslint-disable-next-line unicorn/better-regex\nconst SAFE_URL_PATTERN = /^(?!javascript:)(?:[a-z0-9+.-]+:|[^&:/?#]*(?:[/?#]|$))/i;\nconst allowedAttribute = (attribute, allowedAttributeList) => {\n  const attributeName = attribute.nodeName.toLowerCase();\n  if (allowedAttributeList.includes(attributeName)) {\n    if (uriAttributes.has(attributeName)) {\n      return Boolean(SAFE_URL_PATTERN.test(attribute.nodeValue));\n    }\n    return true;\n  }\n\n  // Check if a regular expression validates the attribute.\n  return allowedAttributeList.filter(attributeRegex => attributeRegex instanceof RegExp).some(regex => regex.test(attributeName));\n};\nfunction sanitizeHtml(unsafeHtml, allowList, sanitizeFunction) {\n  if (!unsafeHtml.length) {\n    return unsafeHtml;\n  }\n  if (sanitizeFunction && typeof sanitizeFunction === 'function') {\n    return sanitizeFunction(unsafeHtml);\n  }\n  const domParser = new window.DOMParser();\n  const createdDocument = domParser.parseFromString(unsafeHtml, 'text/html');\n  const elements = [].concat(...createdDocument.body.querySelectorAll('*'));\n  for (const element of elements) {\n    const elementName = element.nodeName.toLowerCase();\n    if (!Object.keys(allowList).includes(elementName)) {\n      element.remove();\n      continue;\n    }\n    const attributeList = [].concat(...element.attributes);\n    const allowedAttributes = [].concat(allowList['*'] || [], allowList[elementName] || []);\n    for (const attribute of attributeList) {\n      if (!allowedAttribute(attribute, allowedAttributes)) {\n        element.removeAttribute(attribute.nodeName);\n      }\n    }\n  }\n  return createdDocument.body.innerHTML;\n}\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap util/template-factory.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$5 = 'TemplateFactory';\nconst Default$4 = {\n  allowList: DefaultAllowlist,\n  content: {},\n  // { selector : text ,  selector2 : text2 , }\n  extraClass: '',\n  html: false,\n  sanitize: true,\n  sanitizeFn: null,\n  template: '<div></div>'\n};\nconst DefaultType$4 = {\n  allowList: 'object',\n  content: 'object',\n  extraClass: '(string|function)',\n  html: 'boolean',\n  sanitize: 'boolean',\n  sanitizeFn: '(null|function)',\n  template: 'string'\n};\nconst DefaultContentType = {\n  entry: '(string|element|function|null)',\n  selector: '(string|element)'\n};\n\n/**\n * Class definition\n */\n\nclass TemplateFactory extends Config {\n  constructor(config) {\n    super();\n    this._config = this._getConfig(config);\n  }\n\n  // Getters\n  static get Default() {\n    return Default$4;\n  }\n  static get DefaultType() {\n    return DefaultType$4;\n  }\n  static get NAME() {\n    return NAME$5;\n  }\n\n  // Public\n  getContent() {\n    return Object.values(this._config.content).map(config => this._resolvePossibleFunction(config)).filter(Boolean);\n  }\n  hasContent() {\n    return this.getContent().length > 0;\n  }\n  changeContent(content) {\n    this._checkContent(content);\n    this._config.content = {\n      ...this._config.content,\n      ...content\n    };\n    return this;\n  }\n  toHtml() {\n    const templateWrapper = document.createElement('div');\n    templateWrapper.innerHTML = this._maybeSanitize(this._config.template);\n    for (const [selector, text] of Object.entries(this._config.content)) {\n      this._setContent(templateWrapper, text, selector);\n    }\n    const template = templateWrapper.children[0];\n    const extraClass = this._resolvePossibleFunction(this._config.extraClass);\n    if (extraClass) {\n      template.classList.add(...extraClass.split(' '));\n    }\n    return template;\n  }\n\n  // Private\n  _typeCheckConfig(config) {\n    super._typeCheckConfig(config);\n    this._checkContent(config.content);\n  }\n  _checkContent(arg) {\n    for (const [selector, content] of Object.entries(arg)) {\n      super._typeCheckConfig({\n        selector,\n        entry: content\n      }, DefaultContentType);\n    }\n  }\n  _setContent(template, content, selector) {\n    const templateElement = SelectorEngine.findOne(selector, template);\n    if (!templateElement) {\n      return;\n    }\n    content = this._resolvePossibleFunction(content);\n    if (!content) {\n      templateElement.remove();\n      return;\n    }\n    if (isElement(content)) {\n      this._putElementInTemplate(getElement(content), templateElement);\n      return;\n    }\n    if (this._config.html) {\n      templateElement.innerHTML = this._maybeSanitize(content);\n      return;\n    }\n    templateElement.textContent = content;\n  }\n  _maybeSanitize(arg) {\n    return this._config.sanitize ? sanitizeHtml(arg, this._config.allowList, this._config.sanitizeFn) : arg;\n  }\n  _resolvePossibleFunction(arg) {\n    return execute(arg, [this]);\n  }\n  _putElementInTemplate(element, templateElement) {\n    if (this._config.html) {\n      templateElement.innerHTML = '';\n      templateElement.append(element);\n      return;\n    }\n    templateElement.textContent = element.textContent;\n  }\n}\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap tooltip.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$4 = 'tooltip';\nconst DISALLOWED_ATTRIBUTES = new Set(['sanitize', 'allowList', 'sanitizeFn']);\nconst CLASS_NAME_FADE$2 = 'fade';\nconst CLASS_NAME_MODAL = 'modal';\nconst CLASS_NAME_SHOW$2 = 'show';\nconst SELECTOR_TOOLTIP_INNER = '.tooltip-inner';\nconst SELECTOR_MODAL = `.${CLASS_NAME_MODAL}`;\nconst EVENT_MODAL_HIDE = 'hide.bs.modal';\nconst TRIGGER_HOVER = 'hover';\nconst TRIGGER_FOCUS = 'focus';\nconst TRIGGER_CLICK = 'click';\nconst TRIGGER_MANUAL = 'manual';\nconst EVENT_HIDE$2 = 'hide';\nconst EVENT_HIDDEN$2 = 'hidden';\nconst EVENT_SHOW$2 = 'show';\nconst EVENT_SHOWN$2 = 'shown';\nconst EVENT_INSERTED = 'inserted';\nconst EVENT_CLICK$1 = 'click';\nconst EVENT_FOCUSIN$1 = 'focusin';\nconst EVENT_FOCUSOUT$1 = 'focusout';\nconst EVENT_MOUSEENTER = 'mouseenter';\nconst EVENT_MOUSELEAVE = 'mouseleave';\nconst AttachmentMap = {\n  AUTO: 'auto',\n  TOP: 'top',\n  RIGHT: isRTL() ? 'left' : 'right',\n  BOTTOM: 'bottom',\n  LEFT: isRTL() ? 'right' : 'left'\n};\nconst Default$3 = {\n  allowList: DefaultAllowlist,\n  animation: true,\n  boundary: 'clippingParents',\n  container: false,\n  customClass: '',\n  delay: 0,\n  fallbackPlacements: ['top', 'right', 'bottom', 'left'],\n  html: false,\n  offset: [0, 6],\n  placement: 'top',\n  popperConfig: null,\n  sanitize: true,\n  sanitizeFn: null,\n  selector: false,\n  template: '<div class=\"tooltip\" role=\"tooltip\">' + '<div class=\"tooltip-arrow\"></div>' + '<div class=\"tooltip-inner\"></div>' + '</div>',\n  title: '',\n  trigger: 'hover focus'\n};\nconst DefaultType$3 = {\n  allowList: 'object',\n  animation: 'boolean',\n  boundary: '(string|element)',\n  container: '(string|element|boolean)',\n  customClass: '(string|function)',\n  delay: '(number|object)',\n  fallbackPlacements: 'array',\n  html: 'boolean',\n  offset: '(array|string|function)',\n  placement: '(string|function)',\n  popperConfig: '(null|object|function)',\n  sanitize: 'boolean',\n  sanitizeFn: '(null|function)',\n  selector: '(string|boolean)',\n  template: 'string',\n  title: '(string|element|function)',\n  trigger: 'string'\n};\n\n/**\n * Class definition\n */\n\nclass Tooltip extends BaseComponent {\n  constructor(element, config) {\n    if (typeof Popper === 'undefined') {\n      throw new TypeError('Bootstrap\\'s tooltips require Popper (https://popper.js.org)');\n    }\n    super(element, config);\n\n    // Private\n    this._isEnabled = true;\n    this._timeout = 0;\n    this._isHovered = null;\n    this._activeTrigger = {};\n    this._popper = null;\n    this._templateFactory = null;\n    this._newContent = null;\n\n    // Protected\n    this.tip = null;\n    this._setListeners();\n    if (!this._config.selector) {\n      this._fixTitle();\n    }\n  }\n\n  // Getters\n  static get Default() {\n    return Default$3;\n  }\n  static get DefaultType() {\n    return DefaultType$3;\n  }\n  static get NAME() {\n    return NAME$4;\n  }\n\n  // Public\n  enable() {\n    this._isEnabled = true;\n  }\n  disable() {\n    this._isEnabled = false;\n  }\n  toggleEnabled() {\n    this._isEnabled = !this._isEnabled;\n  }\n  toggle() {\n    if (!this._isEnabled) {\n      return;\n    }\n    this._activeTrigger.click = !this._activeTrigger.click;\n    if (this._isShown()) {\n      this._leave();\n      return;\n    }\n    this._enter();\n  }\n  dispose() {\n    clearTimeout(this._timeout);\n    EventHandler.off(this._element.closest(SELECTOR_MODAL), EVENT_MODAL_HIDE, this._hideModalHandler);\n    if (this._element.getAttribute('data-bs-original-title')) {\n      this._element.setAttribute('title', this._element.getAttribute('data-bs-original-title'));\n    }\n    this._disposePopper();\n    super.dispose();\n  }\n  show() {\n    if (this._element.style.display === 'none') {\n      throw new Error('Please use show on visible elements');\n    }\n    if (!(this._isWithContent() && this._isEnabled)) {\n      return;\n    }\n    const showEvent = EventHandler.trigger(this._element, this.constructor.eventName(EVENT_SHOW$2));\n    const shadowRoot = findShadowRoot(this._element);\n    const isInTheDom = (shadowRoot || this._element.ownerDocument.documentElement).contains(this._element);\n    if (showEvent.defaultPrevented || !isInTheDom) {\n      return;\n    }\n\n    // TODO: v6 remove this or make it optional\n    this._disposePopper();\n    const tip = this._getTipElement();\n    this._element.setAttribute('aria-describedby', tip.getAttribute('id'));\n    const {\n      container\n    } = this._config;\n    if (!this._element.ownerDocument.documentElement.contains(this.tip)) {\n      container.append(tip);\n      EventHandler.trigger(this._element, this.constructor.eventName(EVENT_INSERTED));\n    }\n    this._popper = this._createPopper(tip);\n    tip.classList.add(CLASS_NAME_SHOW$2);\n\n    // If this is a touch-enabled device we add extra\n    // empty mouseover listeners to the body's immediate children;\n    // only needed because of broken event delegation on iOS\n    // https://www.quirksmode.org/blog/archives/2014/02/mouse_event_bub.html\n    if ('ontouchstart' in document.documentElement) {\n      for (const element of [].concat(...document.body.children)) {\n        EventHandler.on(element, 'mouseover', noop);\n      }\n    }\n    const complete = () => {\n      EventHandler.trigger(this._element, this.constructor.eventName(EVENT_SHOWN$2));\n      if (this._isHovered === false) {\n        this._leave();\n      }\n      this._isHovered = false;\n    };\n    this._queueCallback(complete, this.tip, this._isAnimated());\n  }\n  hide() {\n    if (!this._isShown()) {\n      return;\n    }\n    const hideEvent = EventHandler.trigger(this._element, this.constructor.eventName(EVENT_HIDE$2));\n    if (hideEvent.defaultPrevented) {\n      return;\n    }\n    const tip = this._getTipElement();\n    tip.classList.remove(CLASS_NAME_SHOW$2);\n\n    // If this is a touch-enabled device we remove the extra\n    // empty mouseover listeners we added for iOS support\n    if ('ontouchstart' in document.documentElement) {\n      for (const element of [].concat(...document.body.children)) {\n        EventHandler.off(element, 'mouseover', noop);\n      }\n    }\n    this._activeTrigger[TRIGGER_CLICK] = false;\n    this._activeTrigger[TRIGGER_FOCUS] = false;\n    this._activeTrigger[TRIGGER_HOVER] = false;\n    this._isHovered = null; // it is a trick to support manual triggering\n\n    const complete = () => {\n      if (this._isWithActiveTrigger()) {\n        return;\n      }\n      if (!this._isHovered) {\n        this._disposePopper();\n      }\n      this._element.removeAttribute('aria-describedby');\n      EventHandler.trigger(this._element, this.constructor.eventName(EVENT_HIDDEN$2));\n    };\n    this._queueCallback(complete, this.tip, this._isAnimated());\n  }\n  update() {\n    if (this._popper) {\n      this._popper.update();\n    }\n  }\n\n  // Protected\n  _isWithContent() {\n    return Boolean(this._getTitle());\n  }\n  _getTipElement() {\n    if (!this.tip) {\n      this.tip = this._createTipElement(this._newContent || this._getContentForTemplate());\n    }\n    return this.tip;\n  }\n  _createTipElement(content) {\n    const tip = this._getTemplateFactory(content).toHtml();\n\n    // TODO: remove this check in v6\n    if (!tip) {\n      return null;\n    }\n    tip.classList.remove(CLASS_NAME_FADE$2, CLASS_NAME_SHOW$2);\n    // TODO: v6 the following can be achieved with CSS only\n    tip.classList.add(`bs-${this.constructor.NAME}-auto`);\n    const tipId = getUID(this.constructor.NAME).toString();\n    tip.setAttribute('id', tipId);\n    if (this._isAnimated()) {\n      tip.classList.add(CLASS_NAME_FADE$2);\n    }\n    return tip;\n  }\n  setContent(content) {\n    this._newContent = content;\n    if (this._isShown()) {\n      this._disposePopper();\n      this.show();\n    }\n  }\n  _getTemplateFactory(content) {\n    if (this._templateFactory) {\n      this._templateFactory.changeContent(content);\n    } else {\n      this._templateFactory = new TemplateFactory({\n        ...this._config,\n        // the `content` var has to be after `this._config`\n        // to override config.content in case of popover\n        content,\n        extraClass: this._resolvePossibleFunction(this._config.customClass)\n      });\n    }\n    return this._templateFactory;\n  }\n  _getContentForTemplate() {\n    return {\n      [SELECTOR_TOOLTIP_INNER]: this._getTitle()\n    };\n  }\n  _getTitle() {\n    return this._resolvePossibleFunction(this._config.title) || this._element.getAttribute('data-bs-original-title');\n  }\n\n  // Private\n  _initializeOnDelegatedTarget(event) {\n    return this.constructor.getOrCreateInstance(event.delegateTarget, this._getDelegateConfig());\n  }\n  _isAnimated() {\n    return this._config.animation || this.tip && this.tip.classList.contains(CLASS_NAME_FADE$2);\n  }\n  _isShown() {\n    return this.tip && this.tip.classList.contains(CLASS_NAME_SHOW$2);\n  }\n  _createPopper(tip) {\n    const placement = execute(this._config.placement, [this, tip, this._element]);\n    const attachment = AttachmentMap[placement.toUpperCase()];\n    return Popper.createPopper(this._element, tip, this._getPopperConfig(attachment));\n  }\n  _getOffset() {\n    const {\n      offset\n    } = this._config;\n    if (typeof offset === 'string') {\n      return offset.split(',').map(value => Number.parseInt(value, 10));\n    }\n    if (typeof offset === 'function') {\n      return popperData => offset(popperData, this._element);\n    }\n    return offset;\n  }\n  _resolvePossibleFunction(arg) {\n    return execute(arg, [this._element]);\n  }\n  _getPopperConfig(attachment) {\n    const defaultBsPopperConfig = {\n      placement: attachment,\n      modifiers: [{\n        name: 'flip',\n        options: {\n          fallbackPlacements: this._config.fallbackPlacements\n        }\n      }, {\n        name: 'offset',\n        options: {\n          offset: this._getOffset()\n        }\n      }, {\n        name: 'preventOverflow',\n        options: {\n          boundary: this._config.boundary\n        }\n      }, {\n        name: 'arrow',\n        options: {\n          element: `.${this.constructor.NAME}-arrow`\n        }\n      }, {\n        name: 'preSetPlacement',\n        enabled: true,\n        phase: 'beforeMain',\n        fn: data => {\n          // Pre-set Popper's placement attribute in order to read the arrow sizes properly.\n          // Otherwise, Popper mixes up the width and height dimensions since the initial arrow style is for top placement\n          this._getTipElement().setAttribute('data-popper-placement', data.state.placement);\n        }\n      }]\n    };\n    return {\n      ...defaultBsPopperConfig,\n      ...execute(this._config.popperConfig, [defaultBsPopperConfig])\n    };\n  }\n  _setListeners() {\n    const triggers = this._config.trigger.split(' ');\n    for (const trigger of triggers) {\n      if (trigger === 'click') {\n        EventHandler.on(this._element, this.constructor.eventName(EVENT_CLICK$1), this._config.selector, event => {\n          const context = this._initializeOnDelegatedTarget(event);\n          context.toggle();\n        });\n      } else if (trigger !== TRIGGER_MANUAL) {\n        const eventIn = trigger === TRIGGER_HOVER ? this.constructor.eventName(EVENT_MOUSEENTER) : this.constructor.eventName(EVENT_FOCUSIN$1);\n        const eventOut = trigger === TRIGGER_HOVER ? this.constructor.eventName(EVENT_MOUSELEAVE) : this.constructor.eventName(EVENT_FOCUSOUT$1);\n        EventHandler.on(this._element, eventIn, this._config.selector, event => {\n          const context = this._initializeOnDelegatedTarget(event);\n          context._activeTrigger[event.type === 'focusin' ? TRIGGER_FOCUS : TRIGGER_HOVER] = true;\n          context._enter();\n        });\n        EventHandler.on(this._element, eventOut, this._config.selector, event => {\n          const context = this._initializeOnDelegatedTarget(event);\n          context._activeTrigger[event.type === 'focusout' ? TRIGGER_FOCUS : TRIGGER_HOVER] = context._element.contains(event.relatedTarget);\n          context._leave();\n        });\n      }\n    }\n    this._hideModalHandler = () => {\n      if (this._element) {\n        this.hide();\n      }\n    };\n    EventHandler.on(this._element.closest(SELECTOR_MODAL), EVENT_MODAL_HIDE, this._hideModalHandler);\n  }\n  _fixTitle() {\n    const title = this._element.getAttribute('title');\n    if (!title) {\n      return;\n    }\n    if (!this._element.getAttribute('aria-label') && !this._element.textContent.trim()) {\n      this._element.setAttribute('aria-label', title);\n    }\n    this._element.setAttribute('data-bs-original-title', title); // DO NOT USE IT. Is only for backwards compatibility\n    this._element.removeAttribute('title');\n  }\n  _enter() {\n    if (this._isShown() || this._isHovered) {\n      this._isHovered = true;\n      return;\n    }\n    this._isHovered = true;\n    this._setTimeout(() => {\n      if (this._isHovered) {\n        this.show();\n      }\n    }, this._config.delay.show);\n  }\n  _leave() {\n    if (this._isWithActiveTrigger()) {\n      return;\n    }\n    this._isHovered = false;\n    this._setTimeout(() => {\n      if (!this._isHovered) {\n        this.hide();\n      }\n    }, this._config.delay.hide);\n  }\n  _setTimeout(handler, timeout) {\n    clearTimeout(this._timeout);\n    this._timeout = setTimeout(handler, timeout);\n  }\n  _isWithActiveTrigger() {\n    return Object.values(this._activeTrigger).includes(true);\n  }\n  _getConfig(config) {\n    const dataAttributes = Manipulator.getDataAttributes(this._element);\n    for (const dataAttribute of Object.keys(dataAttributes)) {\n      if (DISALLOWED_ATTRIBUTES.has(dataAttribute)) {\n        delete dataAttributes[dataAttribute];\n      }\n    }\n    config = {\n      ...dataAttributes,\n      ...(typeof config === 'object' && config ? config : {})\n    };\n    config = this._mergeConfigObj(config);\n    config = this._configAfterMerge(config);\n    this._typeCheckConfig(config);\n    return config;\n  }\n  _configAfterMerge(config) {\n    config.container = config.container === false ? document.body : getElement(config.container);\n    if (typeof config.delay === 'number') {\n      config.delay = {\n        show: config.delay,\n        hide: config.delay\n      };\n    }\n    if (typeof config.title === 'number') {\n      config.title = config.title.toString();\n    }\n    if (typeof config.content === 'number') {\n      config.content = config.content.toString();\n    }\n    return config;\n  }\n  _getDelegateConfig() {\n    const config = {};\n    for (const [key, value] of Object.entries(this._config)) {\n      if (this.constructor.Default[key] !== value) {\n        config[key] = value;\n      }\n    }\n    config.selector = false;\n    config.trigger = 'manual';\n\n    // In the future can be replaced with:\n    // const keysWithDifferentValues = Object.entries(this._config).filter(entry => this.constructor.Default[entry[0]] !== this._config[entry[0]])\n    // `Object.fromEntries(keysWithDifferentValues)`\n    return config;\n  }\n  _disposePopper() {\n    if (this._popper) {\n      this._popper.destroy();\n      this._popper = null;\n    }\n    if (this.tip) {\n      this.tip.remove();\n      this.tip = null;\n    }\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    return this.each(function () {\n      const data = Tooltip.getOrCreateInstance(this, config);\n      if (typeof config !== 'string') {\n        return;\n      }\n      if (typeof data[config] === 'undefined') {\n        throw new TypeError(`No method named \"${config}\"`);\n      }\n      data[config]();\n    });\n  }\n}\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Tooltip);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap popover.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$3 = 'popover';\nconst SELECTOR_TITLE = '.popover-header';\nconst SELECTOR_CONTENT = '.popover-body';\nconst Default$2 = {\n  ...Tooltip.Default,\n  content: '',\n  offset: [0, 8],\n  placement: 'right',\n  template: '<div class=\"popover\" role=\"tooltip\">' + '<div class=\"popover-arrow\"></div>' + '<h3 class=\"popover-header\"></h3>' + '<div class=\"popover-body\"></div>' + '</div>',\n  trigger: 'click'\n};\nconst DefaultType$2 = {\n  ...Tooltip.DefaultType,\n  content: '(null|string|element|function)'\n};\n\n/**\n * Class definition\n */\n\nclass Popover extends Tooltip {\n  // Getters\n  static get Default() {\n    return Default$2;\n  }\n  static get DefaultType() {\n    return DefaultType$2;\n  }\n  static get NAME() {\n    return NAME$3;\n  }\n\n  // Overrides\n  _isWithContent() {\n    return this._getTitle() || this._getContent();\n  }\n\n  // Private\n  _getContentForTemplate() {\n    return {\n      [SELECTOR_TITLE]: this._getTitle(),\n      [SELECTOR_CONTENT]: this._getContent()\n    };\n  }\n  _getContent() {\n    return this._resolvePossibleFunction(this._config.content);\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    return this.each(function () {\n      const data = Popover.getOrCreateInstance(this, config);\n      if (typeof config !== 'string') {\n        return;\n      }\n      if (typeof data[config] === 'undefined') {\n        throw new TypeError(`No method named \"${config}\"`);\n      }\n      data[config]();\n    });\n  }\n}\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Popover);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap scrollspy.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$2 = 'scrollspy';\nconst DATA_KEY$2 = 'bs.scrollspy';\nconst EVENT_KEY$2 = `.${DATA_KEY$2}`;\nconst DATA_API_KEY = '.data-api';\nconst EVENT_ACTIVATE = `activate${EVENT_KEY$2}`;\nconst EVENT_CLICK = `click${EVENT_KEY$2}`;\nconst EVENT_LOAD_DATA_API$1 = `load${EVENT_KEY$2}${DATA_API_KEY}`;\nconst CLASS_NAME_DROPDOWN_ITEM = 'dropdown-item';\nconst CLASS_NAME_ACTIVE$1 = 'active';\nconst SELECTOR_DATA_SPY = '[data-bs-spy=\"scroll\"]';\nconst SELECTOR_TARGET_LINKS = '[href]';\nconst SELECTOR_NAV_LIST_GROUP = '.nav, .list-group';\nconst SELECTOR_NAV_LINKS = '.nav-link';\nconst SELECTOR_NAV_ITEMS = '.nav-item';\nconst SELECTOR_LIST_ITEMS = '.list-group-item';\nconst SELECTOR_LINK_ITEMS = `${SELECTOR_NAV_LINKS}, ${SELECTOR_NAV_ITEMS} > ${SELECTOR_NAV_LINKS}, ${SELECTOR_LIST_ITEMS}`;\nconst SELECTOR_DROPDOWN = '.dropdown';\nconst SELECTOR_DROPDOWN_TOGGLE$1 = '.dropdown-toggle';\nconst Default$1 = {\n  offset: null,\n  // TODO: v6 @deprecated, keep it for backwards compatibility reasons\n  rootMargin: '0px 0px -25%',\n  smoothScroll: false,\n  target: null,\n  threshold: [0.1, 0.5, 1]\n};\nconst DefaultType$1 = {\n  offset: '(number|null)',\n  // TODO v6 @deprecated, keep it for backwards compatibility reasons\n  rootMargin: 'string',\n  smoothScroll: 'boolean',\n  target: 'element',\n  threshold: 'array'\n};\n\n/**\n * Class definition\n */\n\nclass ScrollSpy extends BaseComponent {\n  constructor(element, config) {\n    super(element, config);\n\n    // this._element is the observablesContainer and config.target the menu links wrapper\n    this._targetLinks = new Map();\n    this._observableSections = new Map();\n    this._rootElement = getComputedStyle(this._element).overflowY === 'visible' ? null : this._element;\n    this._activeTarget = null;\n    this._observer = null;\n    this._previousScrollData = {\n      visibleEntryTop: 0,\n      parentScrollTop: 0\n    };\n    this.refresh(); // initialize\n  }\n\n  // Getters\n  static get Default() {\n    return Default$1;\n  }\n  static get DefaultType() {\n    return DefaultType$1;\n  }\n  static get NAME() {\n    return NAME$2;\n  }\n\n  // Public\n  refresh() {\n    this._initializeTargetsAndObservables();\n    this._maybeEnableSmoothScroll();\n    if (this._observer) {\n      this._observer.disconnect();\n    } else {\n      this._observer = this._getNewObserver();\n    }\n    for (const section of this._observableSections.values()) {\n      this._observer.observe(section);\n    }\n  }\n  dispose() {\n    this._observer.disconnect();\n    super.dispose();\n  }\n\n  // Private\n  _configAfterMerge(config) {\n    // TODO: on v6 target should be given explicitly & remove the {target: 'ss-target'} case\n    config.target = getElement(config.target) || document.body;\n\n    // TODO: v6 Only for backwards compatibility reasons. Use rootMargin only\n    config.rootMargin = config.offset ? `${config.offset}px 0px -30%` : config.rootMargin;\n    if (typeof config.threshold === 'string') {\n      config.threshold = config.threshold.split(',').map(value => Number.parseFloat(value));\n    }\n    return config;\n  }\n  _maybeEnableSmoothScroll() {\n    if (!this._config.smoothScroll) {\n      return;\n    }\n\n    // unregister any previous listeners\n    EventHandler.off(this._config.target, EVENT_CLICK);\n    EventHandler.on(this._config.target, EVENT_CLICK, SELECTOR_TARGET_LINKS, event => {\n      const observableSection = this._observableSections.get(event.target.hash);\n      if (observableSection) {\n        event.preventDefault();\n        const root = this._rootElement || window;\n        const height = observableSection.offsetTop - this._element.offsetTop;\n        if (root.scrollTo) {\n          root.scrollTo({\n            top: height,\n            behavior: 'smooth'\n          });\n          return;\n        }\n\n        // Chrome 60 doesn't support `scrollTo`\n        root.scrollTop = height;\n      }\n    });\n  }\n  _getNewObserver() {\n    const options = {\n      root: this._rootElement,\n      threshold: this._config.threshold,\n      rootMargin: this._config.rootMargin\n    };\n    return new IntersectionObserver(entries => this._observerCallback(entries), options);\n  }\n\n  // The logic of selection\n  _observerCallback(entries) {\n    const targetElement = entry => this._targetLinks.get(`#${entry.target.id}`);\n    const activate = entry => {\n      this._previousScrollData.visibleEntryTop = entry.target.offsetTop;\n      this._process(targetElement(entry));\n    };\n    const parentScrollTop = (this._rootElement || document.documentElement).scrollTop;\n    const userScrollsDown = parentScrollTop >= this._previousScrollData.parentScrollTop;\n    this._previousScrollData.parentScrollTop = parentScrollTop;\n    for (const entry of entries) {\n      if (!entry.isIntersecting) {\n        this._activeTarget = null;\n        this._clearActiveClass(targetElement(entry));\n        continue;\n      }\n      const entryIsLowerThanPrevious = entry.target.offsetTop >= this._previousScrollData.visibleEntryTop;\n      // if we are scrolling down, pick the bigger offsetTop\n      if (userScrollsDown && entryIsLowerThanPrevious) {\n        activate(entry);\n        // if parent isn't scrolled, let's keep the first visible item, breaking the iteration\n        if (!parentScrollTop) {\n          return;\n        }\n        continue;\n      }\n\n      // if we are scrolling up, pick the smallest offsetTop\n      if (!userScrollsDown && !entryIsLowerThanPrevious) {\n        activate(entry);\n      }\n    }\n  }\n  _initializeTargetsAndObservables() {\n    this._targetLinks = new Map();\n    this._observableSections = new Map();\n    const targetLinks = SelectorEngine.find(SELECTOR_TARGET_LINKS, this._config.target);\n    for (const anchor of targetLinks) {\n      // ensure that the anchor has an id and is not disabled\n      if (!anchor.hash || isDisabled(anchor)) {\n        continue;\n      }\n      const observableSection = SelectorEngine.findOne(decodeURI(anchor.hash), this._element);\n\n      // ensure that the observableSection exists & is visible\n      if (isVisible(observableSection)) {\n        this._targetLinks.set(decodeURI(anchor.hash), anchor);\n        this._observableSections.set(anchor.hash, observableSection);\n      }\n    }\n  }\n  _process(target) {\n    if (this._activeTarget === target) {\n      return;\n    }\n    this._clearActiveClass(this._config.target);\n    this._activeTarget = target;\n    target.classList.add(CLASS_NAME_ACTIVE$1);\n    this._activateParents(target);\n    EventHandler.trigger(this._element, EVENT_ACTIVATE, {\n      relatedTarget: target\n    });\n  }\n  _activateParents(target) {\n    // Activate dropdown parents\n    if (target.classList.contains(CLASS_NAME_DROPDOWN_ITEM)) {\n      SelectorEngine.findOne(SELECTOR_DROPDOWN_TOGGLE$1, target.closest(SELECTOR_DROPDOWN)).classList.add(CLASS_NAME_ACTIVE$1);\n      return;\n    }\n    for (const listGroup of SelectorEngine.parents(target, SELECTOR_NAV_LIST_GROUP)) {\n      // Set triggered links parents as active\n      // With both <ul> and <nav> markup a parent is the previous sibling of any nav ancestor\n      for (const item of SelectorEngine.prev(listGroup, SELECTOR_LINK_ITEMS)) {\n        item.classList.add(CLASS_NAME_ACTIVE$1);\n      }\n    }\n  }\n  _clearActiveClass(parent) {\n    parent.classList.remove(CLASS_NAME_ACTIVE$1);\n    const activeNodes = SelectorEngine.find(`${SELECTOR_TARGET_LINKS}.${CLASS_NAME_ACTIVE$1}`, parent);\n    for (const node of activeNodes) {\n      node.classList.remove(CLASS_NAME_ACTIVE$1);\n    }\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    return this.each(function () {\n      const data = ScrollSpy.getOrCreateInstance(this, config);\n      if (typeof config !== 'string') {\n        return;\n      }\n      if (data[config] === undefined || config.startsWith('_') || config === 'constructor') {\n        throw new TypeError(`No method named \"${config}\"`);\n      }\n      data[config]();\n    });\n  }\n}\n\n/**\n * Data API implementation\n */\n\nEventHandler.on(window, EVENT_LOAD_DATA_API$1, () => {\n  for (const spy of SelectorEngine.find(SELECTOR_DATA_SPY)) {\n    ScrollSpy.getOrCreateInstance(spy);\n  }\n});\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(ScrollSpy);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap tab.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME$1 = 'tab';\nconst DATA_KEY$1 = 'bs.tab';\nconst EVENT_KEY$1 = `.${DATA_KEY$1}`;\nconst EVENT_HIDE$1 = `hide${EVENT_KEY$1}`;\nconst EVENT_HIDDEN$1 = `hidden${EVENT_KEY$1}`;\nconst EVENT_SHOW$1 = `show${EVENT_KEY$1}`;\nconst EVENT_SHOWN$1 = `shown${EVENT_KEY$1}`;\nconst EVENT_CLICK_DATA_API = `click${EVENT_KEY$1}`;\nconst EVENT_KEYDOWN = `keydown${EVENT_KEY$1}`;\nconst EVENT_LOAD_DATA_API = `load${EVENT_KEY$1}`;\nconst ARROW_LEFT_KEY = 'ArrowLeft';\nconst ARROW_RIGHT_KEY = 'ArrowRight';\nconst ARROW_UP_KEY = 'ArrowUp';\nconst ARROW_DOWN_KEY = 'ArrowDown';\nconst HOME_KEY = 'Home';\nconst END_KEY = 'End';\nconst CLASS_NAME_ACTIVE = 'active';\nconst CLASS_NAME_FADE$1 = 'fade';\nconst CLASS_NAME_SHOW$1 = 'show';\nconst CLASS_DROPDOWN = 'dropdown';\nconst SELECTOR_DROPDOWN_TOGGLE = '.dropdown-toggle';\nconst SELECTOR_DROPDOWN_MENU = '.dropdown-menu';\nconst NOT_SELECTOR_DROPDOWN_TOGGLE = `:not(${SELECTOR_DROPDOWN_TOGGLE})`;\nconst SELECTOR_TAB_PANEL = '.list-group, .nav, [role=\"tablist\"]';\nconst SELECTOR_OUTER = '.nav-item, .list-group-item';\nconst SELECTOR_INNER = `.nav-link${NOT_SELECTOR_DROPDOWN_TOGGLE}, .list-group-item${NOT_SELECTOR_DROPDOWN_TOGGLE}, [role=\"tab\"]${NOT_SELECTOR_DROPDOWN_TOGGLE}`;\nconst SELECTOR_DATA_TOGGLE = '[data-bs-toggle=\"tab\"], [data-bs-toggle=\"pill\"], [data-bs-toggle=\"list\"]'; // TODO: could only be `tab` in v6\nconst SELECTOR_INNER_ELEM = `${SELECTOR_INNER}, ${SELECTOR_DATA_TOGGLE}`;\nconst SELECTOR_DATA_TOGGLE_ACTIVE = `.${CLASS_NAME_ACTIVE}[data-bs-toggle=\"tab\"], .${CLASS_NAME_ACTIVE}[data-bs-toggle=\"pill\"], .${CLASS_NAME_ACTIVE}[data-bs-toggle=\"list\"]`;\n\n/**\n * Class definition\n */\n\nclass Tab extends BaseComponent {\n  constructor(element) {\n    super(element);\n    this._parent = this._element.closest(SELECTOR_TAB_PANEL);\n    if (!this._parent) {\n      return;\n      // TODO: should throw exception in v6\n      // throw new TypeError(`${element.outerHTML} has not a valid parent ${SELECTOR_INNER_ELEM}`)\n    }\n\n    // Set up initial aria attributes\n    this._setInitialAttributes(this._parent, this._getChildren());\n    EventHandler.on(this._element, EVENT_KEYDOWN, event => this._keydown(event));\n  }\n\n  // Getters\n  static get NAME() {\n    return NAME$1;\n  }\n\n  // Public\n  show() {\n    // Shows this elem and deactivate the active sibling if exists\n    const innerElem = this._element;\n    if (this._elemIsActive(innerElem)) {\n      return;\n    }\n\n    // Search for active tab on same parent to deactivate it\n    const active = this._getActiveElem();\n    const hideEvent = active ? EventHandler.trigger(active, EVENT_HIDE$1, {\n      relatedTarget: innerElem\n    }) : null;\n    const showEvent = EventHandler.trigger(innerElem, EVENT_SHOW$1, {\n      relatedTarget: active\n    });\n    if (showEvent.defaultPrevented || hideEvent && hideEvent.defaultPrevented) {\n      return;\n    }\n    this._deactivate(active, innerElem);\n    this._activate(innerElem, active);\n  }\n\n  // Private\n  _activate(element, relatedElem) {\n    if (!element) {\n      return;\n    }\n    element.classList.add(CLASS_NAME_ACTIVE);\n    this._activate(SelectorEngine.getElementFromSelector(element)); // Search and activate/show the proper section\n\n    const complete = () => {\n      if (element.getAttribute('role') !== 'tab') {\n        element.classList.add(CLASS_NAME_SHOW$1);\n        return;\n      }\n      element.removeAttribute('tabindex');\n      element.setAttribute('aria-selected', true);\n      this._toggleDropDown(element, true);\n      EventHandler.trigger(element, EVENT_SHOWN$1, {\n        relatedTarget: relatedElem\n      });\n    };\n    this._queueCallback(complete, element, element.classList.contains(CLASS_NAME_FADE$1));\n  }\n  _deactivate(element, relatedElem) {\n    if (!element) {\n      return;\n    }\n    element.classList.remove(CLASS_NAME_ACTIVE);\n    element.blur();\n    this._deactivate(SelectorEngine.getElementFromSelector(element)); // Search and deactivate the shown section too\n\n    const complete = () => {\n      if (element.getAttribute('role') !== 'tab') {\n        element.classList.remove(CLASS_NAME_SHOW$1);\n        return;\n      }\n      element.setAttribute('aria-selected', false);\n      element.setAttribute('tabindex', '-1');\n      this._toggleDropDown(element, false);\n      EventHandler.trigger(element, EVENT_HIDDEN$1, {\n        relatedTarget: relatedElem\n      });\n    };\n    this._queueCallback(complete, element, element.classList.contains(CLASS_NAME_FADE$1));\n  }\n  _keydown(event) {\n    if (![ARROW_LEFT_KEY, ARROW_RIGHT_KEY, ARROW_UP_KEY, ARROW_DOWN_KEY, HOME_KEY, END_KEY].includes(event.key)) {\n      return;\n    }\n    event.stopPropagation(); // stopPropagation/preventDefault both added to support up/down keys without scrolling the page\n    event.preventDefault();\n    const children = this._getChildren().filter(element => !isDisabled(element));\n    let nextActiveElement;\n    if ([HOME_KEY, END_KEY].includes(event.key)) {\n      nextActiveElement = children[event.key === HOME_KEY ? 0 : children.length - 1];\n    } else {\n      const isNext = [ARROW_RIGHT_KEY, ARROW_DOWN_KEY].includes(event.key);\n      nextActiveElement = getNextActiveElement(children, event.target, isNext, true);\n    }\n    if (nextActiveElement) {\n      nextActiveElement.focus({\n        preventScroll: true\n      });\n      Tab.getOrCreateInstance(nextActiveElement).show();\n    }\n  }\n  _getChildren() {\n    // collection of inner elements\n    return SelectorEngine.find(SELECTOR_INNER_ELEM, this._parent);\n  }\n  _getActiveElem() {\n    return this._getChildren().find(child => this._elemIsActive(child)) || null;\n  }\n  _setInitialAttributes(parent, children) {\n    this._setAttributeIfNotExists(parent, 'role', 'tablist');\n    for (const child of children) {\n      this._setInitialAttributesOnChild(child);\n    }\n  }\n  _setInitialAttributesOnChild(child) {\n    child = this._getInnerElement(child);\n    const isActive = this._elemIsActive(child);\n    const outerElem = this._getOuterElement(child);\n    child.setAttribute('aria-selected', isActive);\n    if (outerElem !== child) {\n      this._setAttributeIfNotExists(outerElem, 'role', 'presentation');\n    }\n    if (!isActive) {\n      child.setAttribute('tabindex', '-1');\n    }\n    this._setAttributeIfNotExists(child, 'role', 'tab');\n\n    // set attributes to the related panel too\n    this._setInitialAttributesOnTargetPanel(child);\n  }\n  _setInitialAttributesOnTargetPanel(child) {\n    const target = SelectorEngine.getElementFromSelector(child);\n    if (!target) {\n      return;\n    }\n    this._setAttributeIfNotExists(target, 'role', 'tabpanel');\n    if (child.id) {\n      this._setAttributeIfNotExists(target, 'aria-labelledby', `${child.id}`);\n    }\n  }\n  _toggleDropDown(element, open) {\n    const outerElem = this._getOuterElement(element);\n    if (!outerElem.classList.contains(CLASS_DROPDOWN)) {\n      return;\n    }\n    const toggle = (selector, className) => {\n      const element = SelectorEngine.findOne(selector, outerElem);\n      if (element) {\n        element.classList.toggle(className, open);\n      }\n    };\n    toggle(SELECTOR_DROPDOWN_TOGGLE, CLASS_NAME_ACTIVE);\n    toggle(SELECTOR_DROPDOWN_MENU, CLASS_NAME_SHOW$1);\n    outerElem.setAttribute('aria-expanded', open);\n  }\n  _setAttributeIfNotExists(element, attribute, value) {\n    if (!element.hasAttribute(attribute)) {\n      element.setAttribute(attribute, value);\n    }\n  }\n  _elemIsActive(elem) {\n    return elem.classList.contains(CLASS_NAME_ACTIVE);\n  }\n\n  // Try to get the inner element (usually the .nav-link)\n  _getInnerElement(elem) {\n    return elem.matches(SELECTOR_INNER_ELEM) ? elem : SelectorEngine.findOne(SELECTOR_INNER_ELEM, elem);\n  }\n\n  // Try to get the outer element (usually the .nav-item)\n  _getOuterElement(elem) {\n    return elem.closest(SELECTOR_OUTER) || elem;\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    return this.each(function () {\n      const data = Tab.getOrCreateInstance(this);\n      if (typeof config !== 'string') {\n        return;\n      }\n      if (data[config] === undefined || config.startsWith('_') || config === 'constructor') {\n        throw new TypeError(`No method named \"${config}\"`);\n      }\n      data[config]();\n    });\n  }\n}\n\n/**\n * Data API implementation\n */\n\nEventHandler.on(document, EVENT_CLICK_DATA_API, SELECTOR_DATA_TOGGLE, function (event) {\n  if (['A', 'AREA'].includes(this.tagName)) {\n    event.preventDefault();\n  }\n  if (isDisabled(this)) {\n    return;\n  }\n  Tab.getOrCreateInstance(this).show();\n});\n\n/**\n * Initialize on focus\n */\nEventHandler.on(window, EVENT_LOAD_DATA_API, () => {\n  for (const element of SelectorEngine.find(SELECTOR_DATA_TOGGLE_ACTIVE)) {\n    Tab.getOrCreateInstance(element);\n  }\n});\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Tab);\n\n/**\n * --------------------------------------------------------------------------\n * Bootstrap toast.js\n * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n * --------------------------------------------------------------------------\n */\n\n\n/**\n * Constants\n */\n\nconst NAME = 'toast';\nconst DATA_KEY = 'bs.toast';\nconst EVENT_KEY = `.${DATA_KEY}`;\nconst EVENT_MOUSEOVER = `mouseover${EVENT_KEY}`;\nconst EVENT_MOUSEOUT = `mouseout${EVENT_KEY}`;\nconst EVENT_FOCUSIN = `focusin${EVENT_KEY}`;\nconst EVENT_FOCUSOUT = `focusout${EVENT_KEY}`;\nconst EVENT_HIDE = `hide${EVENT_KEY}`;\nconst EVENT_HIDDEN = `hidden${EVENT_KEY}`;\nconst EVENT_SHOW = `show${EVENT_KEY}`;\nconst EVENT_SHOWN = `shown${EVENT_KEY}`;\nconst CLASS_NAME_FADE = 'fade';\nconst CLASS_NAME_HIDE = 'hide'; // @deprecated - kept here only for backwards compatibility\nconst CLASS_NAME_SHOW = 'show';\nconst CLASS_NAME_SHOWING = 'showing';\nconst DefaultType = {\n  animation: 'boolean',\n  autohide: 'boolean',\n  delay: 'number'\n};\nconst Default = {\n  animation: true,\n  autohide: true,\n  delay: 5000\n};\n\n/**\n * Class definition\n */\n\nclass Toast extends BaseComponent {\n  constructor(element, config) {\n    super(element, config);\n    this._timeout = null;\n    this._hasMouseInteraction = false;\n    this._hasKeyboardInteraction = false;\n    this._setListeners();\n  }\n\n  // Getters\n  static get Default() {\n    return Default;\n  }\n  static get DefaultType() {\n    return DefaultType;\n  }\n  static get NAME() {\n    return NAME;\n  }\n\n  // Public\n  show() {\n    const showEvent = EventHandler.trigger(this._element, EVENT_SHOW);\n    if (showEvent.defaultPrevented) {\n      return;\n    }\n    this._clearTimeout();\n    if (this._config.animation) {\n      this._element.classList.add(CLASS_NAME_FADE);\n    }\n    const complete = () => {\n      this._element.classList.remove(CLASS_NAME_SHOWING);\n      EventHandler.trigger(this._element, EVENT_SHOWN);\n      this._maybeScheduleHide();\n    };\n    this._element.classList.remove(CLASS_NAME_HIDE); // @deprecated\n    reflow(this._element);\n    this._element.classList.add(CLASS_NAME_SHOW, CLASS_NAME_SHOWING);\n    this._queueCallback(complete, this._element, this._config.animation);\n  }\n  hide() {\n    if (!this.isShown()) {\n      return;\n    }\n    const hideEvent = EventHandler.trigger(this._element, EVENT_HIDE);\n    if (hideEvent.defaultPrevented) {\n      return;\n    }\n    const complete = () => {\n      this._element.classList.add(CLASS_NAME_HIDE); // @deprecated\n      this._element.classList.remove(CLASS_NAME_SHOWING, CLASS_NAME_SHOW);\n      EventHandler.trigger(this._element, EVENT_HIDDEN);\n    };\n    this._element.classList.add(CLASS_NAME_SHOWING);\n    this._queueCallback(complete, this._element, this._config.animation);\n  }\n  dispose() {\n    this._clearTimeout();\n    if (this.isShown()) {\n      this._element.classList.remove(CLASS_NAME_SHOW);\n    }\n    super.dispose();\n  }\n  isShown() {\n    return this._element.classList.contains(CLASS_NAME_SHOW);\n  }\n\n  // Private\n\n  _maybeScheduleHide() {\n    if (!this._config.autohide) {\n      return;\n    }\n    if (this._hasMouseInteraction || this._hasKeyboardInteraction) {\n      return;\n    }\n    this._timeout = setTimeout(() => {\n      this.hide();\n    }, this._config.delay);\n  }\n  _onInteraction(event, isInteracting) {\n    switch (event.type) {\n      case 'mouseover':\n      case 'mouseout':\n        {\n          this._hasMouseInteraction = isInteracting;\n          break;\n        }\n      case 'focusin':\n      case 'focusout':\n        {\n          this._hasKeyboardInteraction = isInteracting;\n          break;\n        }\n    }\n    if (isInteracting) {\n      this._clearTimeout();\n      return;\n    }\n    const nextElement = event.relatedTarget;\n    if (this._element === nextElement || this._element.contains(nextElement)) {\n      return;\n    }\n    this._maybeScheduleHide();\n  }\n  _setListeners() {\n    EventHandler.on(this._element, EVENT_MOUSEOVER, event => this._onInteraction(event, true));\n    EventHandler.on(this._element, EVENT_MOUSEOUT, event => this._onInteraction(event, false));\n    EventHandler.on(this._element, EVENT_FOCUSIN, event => this._onInteraction(event, true));\n    EventHandler.on(this._element, EVENT_FOCUSOUT, event => this._onInteraction(event, false));\n  }\n  _clearTimeout() {\n    clearTimeout(this._timeout);\n    this._timeout = null;\n  }\n\n  // Static\n  static jQueryInterface(config) {\n    return this.each(function () {\n      const data = Toast.getOrCreateInstance(this, config);\n      if (typeof config === 'string') {\n        if (typeof data[config] === 'undefined') {\n          throw new TypeError(`No method named \"${config}\"`);\n        }\n        data[config](this);\n      }\n    });\n  }\n}\n\n/**\n * Data API implementation\n */\n\nenableDismissTrigger(Toast);\n\n/**\n * jQuery\n */\n\ndefineJQueryPlugin(Toast);\n\nexport { Alert, Button, Carousel, Collapse, Dropdown, Modal, Offcanvas, Popover, ScrollSpy, Tab, Toast, Tooltip };\n//# sourceMappingURL=bootstrap.esm.js.map\n","/* define several functions to replace jQuery methods\n * inspired by https://tobiasahlin.com/blog/move-from-jquery-to-vanilla-javascript/\n */\n\n/**\n * Execute a method if DOM has finished loading\n *\n * @param {function} callback the method to execute\n */\nexport function documentReady(callback) {\n  if (document.readyState != \"loading\") callback();\n  else document.addEventListener(\"DOMContentLoaded\", callback);\n}\n","// TODO: @trallard might end up moving this to the main JS file\n// Import and setup functions to control Bootstrap's behavior.\nimport \"@popperjs/core\";\n// Import all of Bootstrap's JS\nimport * as bootstrap from \"bootstrap\";\nimport { documentReady } from \"./mixin\";\n\n/*******************************************************************************\n * Trigger tooltips\n */\n\n/**\n * Add tooltip to each element with the \"tooltip\" data-bs-toogle class\n */\nfunction TriggerTooltip() {\n  var tooltipTriggerList = [].slice.call(\n    document.querySelectorAll('[data-bs-toggle=\"tooltip\"]'),\n  );\n  tooltipTriggerList.map(function (tooltipTriggerEl) {\n    return new bootstrap.Tooltip(tooltipTriggerEl, {\n      delay: { show: 500, hide: 100 },\n    });\n  });\n}\n\n/*******************************************************************************\n * back 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diff --git a/v1.4.0/_static/scripts/fontawesome.js b/v1.4.0/_static/scripts/fontawesome.js
new file mode 100644
index 0000000000..71955b4292
--- /dev/null
+++ b/v1.4.0/_static/scripts/fontawesome.js
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index 0000000000..a91750aff5
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+++ b/v1.4.0/_static/scripts/fontawesome.js.LICENSE.txt
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+/*!
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+ * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)
+ * Copyright 2024 Fonticons, Inc.
+ */
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define several functions to replace jQuery methods\n * inspired by https://tobiasahlin.com/blog/move-from-jquery-to-vanilla-javascript/\n */\n\n/**\n * Execute a method if DOM has finished loading\n *\n * @param {function} callback the method to execute\n */\nexport function documentReady(callback) {\n  if (document.readyState != \"loading\") callback();\n  else document.addEventListener(\"DOMContentLoaded\", callback);\n}\n","/**\n * Compare [semver](https://semver.org/) version strings to find greater, equal or lesser.\n * This library supports the full semver specification, including comparing versions with different number of digits like `1.0.0`, `1.0`, `1`, and pre-release versions like `1.0.0-alpha`.\n * @param v1 - First version to compare\n * @param v2 - Second version to compare\n * @returns Numeric value compatible with the [Array.sort(fn) interface](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/sort#Parameters).\n */\nexport const compareVersions = (v1, v2) => {\n    // validate input and split into segments\n    const n1 = validateAndParse(v1);\n    const n2 = validateAndParse(v2);\n    // pop off the patch\n    const p1 = n1.pop();\n    const p2 = n2.pop();\n    // validate numbers\n    const r = compareSegments(n1, n2);\n    if (r !== 0)\n        return r;\n    // validate pre-release\n    if (p1 && p2) {\n        return compareSegments(p1.split('.'), p2.split('.'));\n    }\n    else if (p1 || p2) {\n        return p1 ? -1 : 1;\n    }\n    return 0;\n};\n/**\n * Validate [semver](https://semver.org/) version strings.\n *\n * @param version Version number to validate\n * @returns `true` if the version number is a valid semver version number, `false` otherwise.\n *\n * @example\n * ```\n * validate('1.0.0-rc.1'); // return true\n * validate('1.0-rc.1'); // return false\n * validate('foo'); // return false\n * ```\n */\nexport const validate = (version) => typeof version === 'string' && /^[v\\d]/.test(version) && semver.test(version);\n/**\n * Compare [semver](https://semver.org/) version strings using the specified operator.\n *\n * @param v1 First version to compare\n * @param v2 Second version to compare\n * @param operator Allowed arithmetic operator to use\n * @returns `true` if the comparison between the firstVersion and the secondVersion satisfies the operator, `false` otherwise.\n *\n * @example\n * ```\n * compare('10.1.8', '10.0.4', '>'); // return true\n * compare('10.0.1', '10.0.1', '='); // return true\n * compare('10.1.1', '10.2.2', '<'); // return true\n * compare('10.1.1', '10.2.2', '<='); // return true\n * compare('10.1.1', '10.2.2', '>='); // return false\n * ```\n */\nexport const compare = (v1, v2, operator) => {\n    // validate input operator\n    assertValidOperator(operator);\n    // since result of compareVersions can only be -1 or 0 or 1\n    // a simple map can be used to replace switch\n    const res = compareVersions(v1, v2);\n    return operatorResMap[operator].includes(res);\n};\n/**\n * Match [npm semver](https://docs.npmjs.com/cli/v6/using-npm/semver) version range.\n *\n * @param version Version number to match\n * @param range Range pattern for version\n * @returns `true` if the version number is within the range, `false` otherwise.\n *\n * @example\n * ```\n * satisfies('1.1.0', '^1.0.0'); // return true\n * satisfies('1.1.0', '~1.0.0'); // return false\n * ```\n */\nexport const satisfies = (version, range) => {\n    // if no range operator then \"=\"\n    const m = range.match(/^([<>=~^]+)/);\n    const op = m ? m[1] : '=';\n    // if gt/lt/eq then operator compare\n    if (op !== '^' && op !== '~')\n        return compare(version, range, op);\n    // else range of either \"~\" or \"^\" is assumed\n    const [v1, v2, v3, , vp] = validateAndParse(version);\n    const [r1, r2, r3, , rp] = validateAndParse(range);\n    const v = [v1, v2, v3];\n    const r = [r1, r2 !== null && r2 !== void 0 ? r2 : 'x', r3 !== null && r3 !== void 0 ? r3 : 'x'];\n    // validate pre-release\n    if (rp) {\n        if (!vp)\n            return false;\n        if (compareSegments(v, r) !== 0)\n            return false;\n        if (compareSegments(vp.split('.'), rp.split('.')) === -1)\n            return false;\n    }\n    // first non-zero number\n    const nonZero = r.findIndex((v) => v !== '0') + 1;\n    // pointer to where segments can be >=\n    const i = op === '~' ? 2 : nonZero > 1 ? nonZero : 1;\n    // before pointer must be equal\n    if (compareSegments(v.slice(0, i), r.slice(0, i)) !== 0)\n        return false;\n    // after pointer must be >=\n    if (compareSegments(v.slice(i), r.slice(i)) === -1)\n        return false;\n    return true;\n};\nconst semver = /^[v^~<>=]*?(\\d+)(?:\\.([x*]|\\d+)(?:\\.([x*]|\\d+)(?:\\.([x*]|\\d+))?(?:-([\\da-z\\-]+(?:\\.[\\da-z\\-]+)*))?(?:\\+[\\da-z\\-]+(?:\\.[\\da-z\\-]+)*)?)?)?$/i;\nconst validateAndParse = (version) => {\n    if (typeof version !== 'string') {\n        throw new TypeError('Invalid argument expected string');\n    }\n    const match = version.match(semver);\n    if (!match) {\n        throw new Error(`Invalid argument not valid semver ('${version}' received)`);\n    }\n    match.shift();\n    return match;\n};\nconst isWildcard = (s) => s === '*' || s === 'x' || s === 'X';\nconst tryParse = (v) => {\n    const n = parseInt(v, 10);\n    return isNaN(n) ? v : n;\n};\nconst forceType = (a, b) => typeof a !== typeof b ? [String(a), String(b)] : [a, b];\nconst compareStrings = (a, b) => {\n    if (isWildcard(a) || isWildcard(b))\n        return 0;\n    const [ap, bp] = forceType(tryParse(a), tryParse(b));\n    if (ap > bp)\n        return 1;\n    if (ap < bp)\n        return -1;\n    return 0;\n};\nconst compareSegments = (a, b) => {\n    for (let i = 0; i < Math.max(a.length, b.length); i++) {\n        const r = compareStrings(a[i] || '0', b[i] || '0');\n        if (r !== 0)\n            return r;\n    }\n    return 0;\n};\nconst operatorResMap = {\n    '>': [1],\n    '>=': [0, 1],\n    '=': [0],\n    '<=': [-1, 0],\n    '<': [-1],\n};\nconst allowedOperators = Object.keys(operatorResMap);\nconst assertValidOperator = (op) => {\n    if (typeof op !== 'string') {\n        throw new TypeError(`Invalid operator type, expected string but got ${typeof op}`);\n    }\n    if (allowedOperators.indexOf(op) === -1) {\n        throw new Error(`Invalid operator, expected one of ${allowedOperators.join('|')}`);\n    }\n};\n//# sourceMappingURL=index.js.map","// Define the custom behavior of the page\nimport { documentReady } from \"./mixin\";\nimport { compare, validate } from \"compare-versions\";\n\nimport \"../styles/pydata-sphinx-theme.scss\";\n\n/*******************************************************************************\n * Theme interaction\n */\n\nvar prefersDark = window.matchMedia(\"(prefers-color-scheme: dark)\");\n\n/**\n * set the the body theme to the one specified by the user browser\n *\n * @param {event} e\n */\nfunction autoTheme(e) {\n  document.documentElement.dataset.theme = prefersDark.matches\n    ? \"dark\"\n    : \"light\";\n}\n\n/**\n * Set the theme using the specified mode.\n * It can be one of [\"auto\", \"dark\", \"light\"]\n *\n * @param {str} mode\n */\nfunction setTheme(mode) {\n  if (mode !== \"light\" && mode !== \"dark\" && mode !== \"auto\") {\n    console.error(`Got invalid theme mode: ${mode}. Resetting to auto.`);\n    mode = \"auto\";\n  }\n\n  // get the theme\n  var colorScheme = prefersDark.matches ? \"dark\" : \"light\";\n  document.documentElement.dataset.mode = mode;\n  var theme = mode == \"auto\" ? colorScheme : mode;\n  document.documentElement.dataset.theme = theme;\n  // TODO: remove this line after Bootstrap upgrade\n  // v5.3 has a colors mode: https://getbootstrap.com/docs/5.3/customize/color-modes/\n  document.querySelectorAll(\".dropdown-menu\").forEach((el) => {\n    if (theme === \"dark\") {\n      el.classList.add(\"dropdown-menu-dark\");\n    } else {\n      el.classList.remove(\"dropdown-menu-dark\");\n    }\n  });\n\n  // save mode and theme\n  localStorage.setItem(\"mode\", mode);\n  localStorage.setItem(\"theme\", theme);\n  console.log(`[PST]: Changed to ${mode} mode using the ${theme} theme.`);\n\n  // add a listener if set on auto\n  prefersDark.onchange = mode == \"auto\" ? autoTheme : \"\";\n}\n\n/**\n * Change the theme option order so that clicking on the btn is always a change\n * from \"auto\"\n */\nfunction cycleMode() {\n  const defaultMode = document.documentElement.dataset.defaultMode || \"auto\";\n  const currentMode = localStorage.getItem(\"mode\") || defaultMode;\n\n  var loopArray = (arr, current) => {\n    var nextPosition = arr.indexOf(current) + 1;\n    if (nextPosition === arr.length) {\n      nextPosition = 0;\n    }\n    return arr[nextPosition];\n  };\n\n  // make sure the next theme after auto is always a change\n  var modeList = prefersDark.matches\n    ? [\"auto\", \"light\", \"dark\"]\n    : [\"auto\", \"dark\", \"light\"];\n  var newMode = loopArray(modeList, currentMode);\n  setTheme(newMode);\n}\n\n/**\n * add the theme listener on the btns of the navbar\n */\nfunction addModeListener() {\n  // the theme was set a first time using the initial mini-script\n  // running setMode will ensure the use of the dark mode if auto is selected\n  setTheme(document.documentElement.dataset.mode);\n\n  // Attach event handlers for toggling themes colors\n  document.querySelectorAll(\".theme-switch-button\").forEach((el) => {\n    el.addEventListener(\"click\", cycleMode);\n  });\n}\n\n/*******************************************************************************\n * TOC interactivity\n */\n\n/**\n * TOC sidebar - add \"active\" class to parent list\n *\n * Bootstrap's scrollspy adds the active class to the <a> link,\n * but for the automatic collapsing we need this on the parent list item.\n *\n * The event is triggered on \"window\" (and not the nav item as documented),\n * see https://github.com/twbs/bootstrap/issues/20086\n */\nfunction addTOCInteractivity() {\n  window.addEventListener(\"activate.bs.scrollspy\", function () {\n    const navLinks = document.querySelectorAll(\".bd-toc-nav a\");\n\n    navLinks.forEach((navLink) => {\n      navLink.parentElement.classList.remove(\"active\");\n    });\n\n    const activeNavLinks = document.querySelectorAll(\".bd-toc-nav a.active\");\n    activeNavLinks.forEach((navLink) => {\n      navLink.parentElement.classList.add(\"active\");\n    });\n  });\n}\n\n/*******************************************************************************\n * Scroll\n */\n\n/**\n * Navigation sidebar scrolling to active page\n */\nfunction scrollToActive() {\n  // If the docs nav doesn't exist, do nothing (e.g., on search page)\n  if (!document.querySelector(\".bd-docs-nav\")) {\n    return;\n  }\n\n  var sidebar = document.querySelector(\"div.bd-sidebar\");\n\n  // Remember the sidebar scroll position between page loads\n  // Inspired on source of revealjs.com\n  let storedScrollTop = parseInt(\n    sessionStorage.getItem(\"sidebar-scroll-top\"),\n    10,\n  );\n\n  if (!isNaN(storedScrollTop)) {\n    // If we've got a saved scroll position, just use that\n    sidebar.scrollTop = storedScrollTop;\n    console.log(\"[PST]: Scrolled sidebar using stored browser position...\");\n  } else {\n    // Otherwise, calculate a position to scroll to based on the lowest `active` link\n    var sidebarNav = document.querySelector(\".bd-docs-nav\");\n    var active_pages = sidebarNav.querySelectorAll(\".active\");\n    if (active_pages.length > 0) {\n      // Use the last active page as the offset since it's the page we're on\n      var latest_active = active_pages[active_pages.length - 1];\n      var offset =\n        latest_active.getBoundingClientRect().y -\n        sidebar.getBoundingClientRect().y;\n      // Only scroll the navbar if the active link is lower than 50% of the page\n      if (latest_active.getBoundingClientRect().y > window.innerHeight * 0.5) {\n        let buffer = 0.25; // Buffer so we have some space above the scrolled item\n        sidebar.scrollTop = offset - sidebar.clientHeight * buffer;\n        console.log(\"[PST]: Scrolled sidebar using last active link...\");\n      }\n    }\n  }\n\n  // Store the sidebar scroll position\n  window.addEventListener(\"beforeunload\", () => {\n    sessionStorage.setItem(\"sidebar-scroll-top\", sidebar.scrollTop);\n  });\n}\n\n/*******************************************************************************\n * Search\n */\n\n/**\n * Find any search forms on the page and return their input element\n */\nvar findSearchInput = () => {\n  let forms = document.querySelectorAll(\"form.bd-search\");\n  if (!forms.length) {\n    // no search form found\n    return;\n  } else {\n    var form;\n    if (forms.length == 1) {\n      // there is exactly one search form (persistent or hidden)\n      form = forms[0];\n    } else {\n      // must be at least one persistent form, use the first persistent one\n      form = document.querySelector(\n        \":not(#pst-search-dialog) > form.bd-search\",\n      );\n    }\n    return form.querySelector(\"input\");\n  }\n};\n\n/**\n * Activate the search field on the page.\n * - If there is a search field already visible it will be activated.\n * - If not, then a search field will pop up.\n */\nvar toggleSearchField = () => {\n  // Find the search input to highlight\n  const input = findSearchInput();\n\n  // if the input field is the hidden one (the one associated with the\n  // search button) then toggle the button state (to show/hide the field)\n  const searchDialog = document.getElementById(\"pst-search-dialog\");\n  const hiddenInput = searchDialog.querySelector(\"input\");\n  if (input === hiddenInput) {\n    if (searchDialog.open) {\n      searchDialog.close();\n    } else {\n      // Note: browsers should focus the input field inside the modal dialog\n      // automatically when it is opened.\n      searchDialog.showModal();\n    }\n  } else {\n    // if the input field is not the hidden one, then toggle its focus state\n\n    if (document.activeElement === input) {\n      input.blur();\n    } else {\n      input.focus();\n      input.select();\n      input.scrollIntoView({ block: \"center\" });\n    }\n  }\n};\n\n/**\n * Add an event listener for toggleSearchField() for Ctrl/Cmd + K\n */\nvar addEventListenerForSearchKeyboard = () => {\n  window.addEventListener(\n    \"keydown\",\n    (event) => {\n      let input = findSearchInput();\n      // toggle on Ctrl+k or ⌘+k\n      if (\n        // Ignore if shift or alt are pressed\n        !event.shiftKey &&\n        !event.altKey &&\n        // On Mac use ⌘, all other OS use Ctrl\n        (useCommandKey\n          ? event.metaKey && !event.ctrlKey\n          : !event.metaKey && event.ctrlKey) &&\n        // Case-insensitive so the shortcut still works with caps lock\n        /^k$/i.test(event.key)\n      ) {\n        event.preventDefault();\n        toggleSearchField();\n      }\n      // also allow Escape key to hide (but not show) the dynamic search field\n      else if (document.activeElement === input && /Escape/i.test(event.key)) {\n        toggleSearchField();\n      }\n    },\n    true,\n  );\n};\n\n/**\n * If the user is on a Mac, use command (⌘) instead of control (ctrl) key\n *\n * Note: `navigator.platform` is deprecated; however MDN still recommends using\n * it for the one specific use case of detecting whether a keyboard shortcut\n * should use control or command:\n * https://developer.mozilla.org/en-US/docs/Web/API/Navigator/platform#examples\n */\nvar useCommandKey =\n  navigator.platform.indexOf(\"Mac\") === 0 || navigator.platform === \"iPhone\";\n\n/**\n * Change the search hint to `meta key` if we are a Mac\n */\n\nvar changeSearchShortcutKey = () => {\n  let shortcuts = document.querySelectorAll(\".search-button__kbd-shortcut\");\n  if (useCommandKey) {\n    shortcuts.forEach(\n      (f) => (f.querySelector(\"kbd.kbd-shortcut__modifier\").innerText = \"⌘\"),\n    );\n  }\n};\n\nconst closeDialogOnBackdropClick = ({\n  currentTarget: dialog,\n  clientX,\n  clientY,\n}) => {\n  if (!dialog.open) {\n    return;\n  }\n\n  // Dialog.getBoundingClientRect() does not include ::backdrop. (This is the\n  // trick that allows us to determine if click was inside or outside of the\n  // dialog: click handler includes backdrop, getBoundingClientRect does not.)\n  const { left, right, top, bottom } = dialog.getBoundingClientRect();\n\n  // 0, 0 means top left\n  const clickWasOutsideDialog =\n    clientX < left || right < clientX || clientY < top || bottom < clientY;\n\n  if (clickWasOutsideDialog) {\n    dialog.close();\n  }\n};\n\n/**\n * Activate callbacks for search button popup\n */\nvar setupSearchButtons = () => {\n  changeSearchShortcutKey();\n  addEventListenerForSearchKeyboard();\n\n  // Add the search button trigger event callback\n  document.querySelectorAll(\".search-button__button\").forEach((btn) => {\n    btn.onclick = toggleSearchField;\n  });\n\n  // If user clicks outside the search modal dialog, then close it.\n  const searchDialog = document.getElementById(\"pst-search-dialog\");\n  // Dialog click handler includes clicks on dialog ::backdrop.\n  searchDialog.addEventListener(\"click\", closeDialogOnBackdropClick);\n};\n\n/*******************************************************************************\n * Version Switcher\n * Note that this depends on two variables existing that are defined in\n * and `html-page-context` hook:\n *\n * - DOCUMENTATION_OPTIONS.pagename\n * - DOCUMENTATION_OPTIONS.theme_switcher_url\n */\n\n/**\n * path component of URL\n */\nvar getCurrentUrlPath = () => {\n  if (DOCUMENTATION_OPTIONS.BUILDER == \"dirhtml\") {\n    return DOCUMENTATION_OPTIONS.pagename.endsWith(\"index\")\n      ? `${DOCUMENTATION_OPTIONS.pagename.substring(0, DOCUMENTATION_OPTIONS.pagename.length - \"index\".length)}`\n      : `${DOCUMENTATION_OPTIONS.pagename}/`;\n  }\n  return `${DOCUMENTATION_OPTIONS.pagename}.html`;\n};\n\n/**\n * Allow user to dismiss the warning banner about the docs version being dev / old.\n * We store the dismissal date and version, to give us flexibility about making the\n * dismissal last for longer than one browser session, if we decide to do that.\n *\n * @param {event} event the event that trigger the check\n */\nasync function DismissBannerAndStorePref(event) {\n  const banner = document.querySelector(\"#bd-header-version-warning\");\n  banner.remove();\n  const version = DOCUMENTATION_OPTIONS.VERSION;\n  const now = new Date();\n  const banner_pref = JSON.parse(\n    localStorage.getItem(\"pst_banner_pref\") || \"{}\",\n  );\n  console.debug(\n    `[PST] Dismissing the version warning banner on ${version} starting ${now}.`,\n  );\n  banner_pref[version] = now;\n  localStorage.setItem(\"pst_banner_pref\", JSON.stringify(banner_pref));\n}\n\n/**\n * Check if corresponding page path exists in other version of docs\n * and, if so, go there instead of the homepage of the other docs version\n *\n * @param {event} event the event that trigger the check\n */\nasync function checkPageExistsAndRedirect(event) {\n  // ensure we don't follow the initial link\n  event.preventDefault();\n  const currentFilePath = getCurrentUrlPath();\n  let tryUrl = event.currentTarget.getAttribute(\"href\");\n  let otherDocsHomepage = tryUrl.replace(currentFilePath, \"\");\n  try {\n    let head = await fetch(tryUrl, { method: \"HEAD\" });\n    if (head.ok) {\n      location.href = tryUrl; // the page exists, go there\n    } else {\n      location.href = otherDocsHomepage;\n    }\n  } catch (err) {\n    // something went wrong, probably CORS restriction, fallback to other docs homepage\n    location.href = otherDocsHomepage;\n  }\n}\n\n/**\n * Load and parse the version switcher JSON file from an absolute or relative URL.\n *\n * @param {string} url The URL to load version switcher entries from.\n */\nasync function fetchVersionSwitcherJSON(url) {\n  const currentPath = getCurrentUrlPath();\n  // first check if it's a valid URL\n  try {\n    var result = new URL(url);\n  } catch (err) {\n    if (err instanceof TypeError) {\n      // Assume we got a relative path, and fix accordingly.\n      if (window.location.protocol == \"file:\") {\n        // Here instead of returning `null` we work out what the file path would be\n        // anyway (same code path as for served docs), as a convenience to folks who\n        // routinely disable CORS when they boot up their browser.\n        console.info(\n          \"[PST] looks like you're viewing this site from a local filesystem, so \" +\n            \"the version switcher won't work unless you've disabled CORS. See \" +\n            \"https://pydata-sphinx-theme.readthedocs.io/en/stable/user_guide/version-dropdown.html\",\n        );\n      }\n      const cutoff = window.location.href.indexOf(currentPath);\n      // cutoff == -1 can happen e.g. on the homepage of locally served docs, where you\n      // get something like http://127.0.0.1:8000/ (no trailing `index.html`)\n      const origin =\n        cutoff == -1\n          ? window.location.href\n          : window.location.href.substring(0, cutoff);\n      result = new URL(url, origin);\n    } else {\n      // something unexpected happened\n      throw err;\n    }\n  }\n  // load and return the JSON\n  const response = await fetch(result);\n  const data = await response.json();\n  return data;\n}\n\n// Populate the version switcher from the JSON data\nfunction populateVersionSwitcher(data, versionSwitcherBtns) {\n  const currentFilePath = getCurrentUrlPath();\n  versionSwitcherBtns.forEach((btn) => {\n    // Set empty strings by default so that these attributes exist and can be used in CSS selectors\n    btn.dataset[\"activeVersionName\"] = \"\";\n    btn.dataset[\"activeVersion\"] = \"\";\n  });\n  // in case there are multiple entries with the same version string, this helps us\n  // decide which entry's `name` to put on the button itself. Without this, it would\n  // always be the *last* version-matching entry; now it will be either the\n  // version-matching entry that is also marked as `\"preferred\": true`, or if that\n  // doesn't exist: the *first* version-matching entry.\n  data = data.map((entry) => {\n    // does this entry match the version that we're currently building/viewing?\n    entry.match =\n      entry.version == DOCUMENTATION_OPTIONS.theme_switcher_version_match;\n    entry.preferred = entry.preferred || false;\n    // if no custom name specified (e.g., \"latest\"), use version string\n    if (!(\"name\" in entry)) {\n      entry.name = entry.version;\n    }\n    return entry;\n  });\n  const hasMatchingPreferredEntry = data\n    .map((entry) => entry.preferred && entry.match)\n    .some(Boolean);\n  var foundMatch = false;\n  // create links to the corresponding page in the other docs versions\n  data.forEach((entry) => {\n    // create the node\n    const anchor = document.createElement(\"a\");\n    anchor.setAttribute(\n      \"class\",\n      \"dropdown-item list-group-item list-group-item-action py-1\",\n    );\n    anchor.setAttribute(\"href\", `${entry.url}${currentFilePath}`);\n    anchor.setAttribute(\"role\", \"option\");\n    const span = document.createElement(\"span\");\n    span.textContent = `${entry.name}`;\n    anchor.appendChild(span);\n    // Add dataset values for the version and name in case people want\n    // to apply CSS styling based on this information.\n    anchor.dataset[\"versionName\"] = entry.name;\n    anchor.dataset[\"version\"] = entry.version;\n    // replace dropdown button text with the preferred display name of the\n    // currently-viewed version, rather than using sphinx's {{ version }} variable.\n    // also highlight the dropdown entry for the currently-viewed version's entry\n    let matchesAndIsPreferred = hasMatchingPreferredEntry && entry.preferred;\n    let matchesAndIsFirst =\n      !hasMatchingPreferredEntry && !foundMatch && entry.match;\n    if (matchesAndIsPreferred || matchesAndIsFirst) {\n      anchor.classList.add(\"active\");\n      versionSwitcherBtns.forEach((btn) => {\n        btn.innerText = entry.name;\n        btn.dataset[\"activeVersionName\"] = entry.name;\n        btn.dataset[\"activeVersion\"] = entry.version;\n      });\n      foundMatch = true;\n    }\n    // There may be multiple version-switcher elements, e.g. one\n    // in a slide-over panel displayed on smaller screens.\n    document.querySelectorAll(\".version-switcher__menu\").forEach((menu) => {\n      // we need to clone the node for each menu, but onclick attributes are not\n      // preserved by `.cloneNode()` so we add onclick here after cloning.\n      let node = anchor.cloneNode(true);\n      node.onclick = checkPageExistsAndRedirect;\n      // on click, AJAX calls will check if the linked page exists before\n      // trying to redirect, and if not, will redirect to the homepage\n      // for that version of the docs.\n      menu.append(node);\n    });\n  });\n}\n\n/*******************************************************************************\n * Warning banner when viewing non-stable version of the docs.\n */\n\n/**\n * Show a warning banner when viewing a non-stable version of the docs.\n *\n * adapted 2023-06 from https://mne.tools/versionwarning.js, which was\n * originally adapted 2020-05 from https://scikit-learn.org/versionwarning.js\n *\n * @param {Array} data The version data used to populate the switcher menu.\n */\nfunction showVersionWarningBanner(data) {\n  var version = DOCUMENTATION_OPTIONS.VERSION;\n  // figure out what latest stable version is\n  var preferredEntries = data.filter((entry) => entry.preferred);\n  if (preferredEntries.length !== 1) {\n    const howMany = preferredEntries.length == 0 ? \"No\" : \"Multiple\";\n    console.log(\n      `[PST] ${howMany} versions marked \"preferred\" found in versions JSON, ignoring.`,\n    );\n    return;\n  }\n  const preferredVersion = preferredEntries[0].version;\n  const preferredURL = preferredEntries[0].url;\n  // if already on preferred version, nothing to do\n  const versionsAreComparable = validate(version) && validate(preferredVersion);\n  if (versionsAreComparable && compare(version, preferredVersion, \"=\")) {\n    console.log(\n      \"[PST]: This is the preferred version of the docs, not showing the warning banner.\",\n    );\n    return;\n  }\n  // check if banner has been dismissed recently\n  const dismiss_date_str = JSON.parse(\n    localStorage.getItem(\"pst_banner_pref\") || \"{}\",\n  )[version];\n  if (dismiss_date_str != null) {\n    const dismiss_date = new Date(dismiss_date_str);\n    const now = new Date();\n    const milliseconds_in_a_day = 24 * 60 * 60 * 1000;\n    const days_passed = (now - dismiss_date) / milliseconds_in_a_day;\n    const timeout_in_days = 14;\n    if (days_passed < timeout_in_days) {\n      console.info(\n        `[PST] Suppressing version warning banner; was dismissed ${Math.floor(\n          days_passed,\n        )} day(s) ago`,\n      );\n      return;\n    }\n  }\n\n  // now construct the warning banner\n  const banner = document.querySelector(\"#bd-header-version-warning\");\n  const middle = document.createElement(\"div\");\n  const inner = document.createElement(\"div\");\n  const bold = document.createElement(\"strong\");\n  const button = document.createElement(\"a\");\n  const close_btn = document.createElement(\"a\");\n  // these classes exist since pydata-sphinx-theme v0.10.0\n  // the init class is used for animation\n  middle.classList = \"bd-header-announcement__content  ms-auto me-auto\";\n  inner.classList = \"sidebar-message\";\n  button.classList =\n    \"btn text-wrap font-weight-bold ms-3 my-1 align-baseline pst-button-link-to-stable-version\";\n  button.href = `${preferredURL}${getCurrentUrlPath()}`;\n  button.innerText = \"Switch to stable version\";\n  button.onclick = checkPageExistsAndRedirect;\n  close_btn.classList = \"ms-3 my-1 align-baseline\";\n  const close_x = document.createElement(\"i\");\n  close_btn.append(close_x);\n  close_x.classList = \"fa-solid fa-xmark\";\n  close_btn.onclick = DismissBannerAndStorePref;\n  // add the version-dependent text\n  inner.innerText = \"This is documentation for \";\n  const isDev =\n    version.includes(\"dev\") ||\n    version.includes(\"rc\") ||\n    version.includes(\"pre\");\n  const newerThanPreferred =\n    versionsAreComparable && compare(version, preferredVersion, \">\");\n  if (isDev || newerThanPreferred) {\n    bold.innerText = \"an unstable development version\";\n  } else if (versionsAreComparable && compare(version, preferredVersion, \"<\")) {\n    bold.innerText = `an old version (${version})`;\n  } else if (!version) {\n    bold.innerText = \"an unknown version\"; // e.g., an empty string\n  } else {\n    bold.innerText = `version ${version}`;\n  }\n  banner.appendChild(middle);\n  banner.append(close_btn);\n  middle.appendChild(inner);\n  inner.appendChild(bold);\n  inner.appendChild(document.createTextNode(\".\"));\n  inner.appendChild(button);\n  banner.classList.remove(\"d-none\");\n}\n\nasync function fetchAndUseVersions() {\n  // fetch the JSON version data (only once), then use it to populate the version\n  // switcher and maybe show the version warning bar\n  var versionSwitcherBtns = document.querySelectorAll(\n    \".version-switcher__button\",\n  );\n  const hasSwitcherMenu = versionSwitcherBtns.length > 0;\n  const hasVersionsJSON = DOCUMENTATION_OPTIONS.hasOwnProperty(\n    \"theme_switcher_json_url\",\n  );\n  const wantsWarningBanner = DOCUMENTATION_OPTIONS.show_version_warning_banner;\n\n  if (hasVersionsJSON && (hasSwitcherMenu || wantsWarningBanner)) {\n    const data = await fetchVersionSwitcherJSON(\n      DOCUMENTATION_OPTIONS.theme_switcher_json_url,\n    );\n    // TODO: remove the `if(data)` once the `return null` is fixed within fetchVersionSwitcherJSON.\n    // We don't really want the switcher and warning bar to silently not work.\n    if (data) {\n      populateVersionSwitcher(data, versionSwitcherBtns);\n      if (wantsWarningBanner) {\n        showVersionWarningBanner(data);\n      }\n    }\n  }\n}\n\n/*******************************************************************************\n * Sidebar modals (for mobile / narrow screens)\n */\nfunction setupMobileSidebarKeyboardHandlers() {\n  // These are the left and right sidebars for wider screens. We cut and paste\n  // the content from these widescreen sidebars into the mobile dialogs, when\n  // the user clicks the hamburger icon button\n  const primarySidebar = document.getElementById(\"pst-primary-sidebar\");\n  const secondarySidebar = document.getElementById(\"pst-secondary-sidebar\");\n\n  // These are the corresponding left/right <dialog> elements, which are empty\n  // until the user clicks the hamburger icon\n  const primaryDialog = document.getElementById(\"pst-primary-sidebar-modal\");\n  const secondaryDialog = document.getElementById(\n    \"pst-secondary-sidebar-modal\",\n  );\n\n  // These are the hamburger-style buttons in the header nav bar. They only\n  // appear at narrow screen width.\n  const primaryToggle = document.querySelector(\".primary-toggle\");\n  const secondaryToggle = document.querySelector(\".secondary-toggle\");\n\n  // Cut nodes and classes from `from`, paste into/onto `to`\n  const cutAndPasteNodesAndClasses = (from, to) => {\n    Array.from(from.childNodes).forEach((node) => to.appendChild(node));\n    Array.from(from.classList).forEach((cls) => {\n      from.classList.remove(cls);\n      to.classList.add(cls);\n    });\n  };\n\n  // Hook up the ways to open and close the dialog\n  [\n    [primaryToggle, primaryDialog, primarySidebar],\n    [secondaryToggle, secondaryDialog, secondarySidebar],\n  ].forEach(([toggleButton, dialog, sidebar]) => {\n    if (!toggleButton || !dialog || !sidebar) {\n      return;\n    }\n\n    // Clicking the button can only open the sidebar, not close it.\n    // Clicking the button is also the *only* way to open the sidebar.\n    toggleButton.addEventListener(\"click\", (event) => {\n      event.preventDefault();\n      event.stopPropagation();\n\n      // When we open the dialog, we cut and paste the nodes and classes from\n      // the widescreen sidebar into the dialog\n      cutAndPasteNodesAndClasses(sidebar, dialog);\n\n      dialog.showModal();\n    });\n\n    // Listen for clicks on the backdrop in order to close the dialog\n    dialog.addEventListener(\"click\", closeDialogOnBackdropClick);\n\n    // We have to manually attach the escape key because there's some code in\n    // Sphinx's Sphinx_highlight.js that prevents the default behavior of the\n    // escape key\n    dialog.addEventListener(\"keydown\", (event) => {\n      if (event.key === \"Escape\") {\n        event.preventDefault();\n        event.stopPropagation();\n        dialog.close();\n      }\n    });\n\n    // When the dialog is closed, move the nodes (and classes) back to their\n    // original place\n    dialog.addEventListener(\"close\", () => {\n      cutAndPasteNodesAndClasses(dialog, sidebar);\n    });\n  });\n}\n\n/**\n * When the page loads, or the window resizes, or descendant nodes are added or\n * removed from the main element, check all code blocks and Jupyter notebook\n * outputs, and for each one that has scrollable overflow, set tabIndex = 0.\n */\nfunction addTabStopsToScrollableElements() {\n  const updateTabStops = () => {\n    document\n      .querySelectorAll(\n        [\n          // code blocks\n          \"pre\",\n          // NBSphinx notebook output\n          \".nboutput > .output_area\",\n          // Myst-NB\n          \".cell_output > .output\",\n          // ipywidgets\n          \".jp-RenderedHTMLCommon\",\n          // [rST table nodes](https://www.docutils.org/docs/ref/doctree.html#table)\n          \".pst-scrollable-table-container\",\n        ].join(\", \"),\n      )\n      .forEach((el) => {\n        el.tabIndex =\n          el.scrollWidth > el.clientWidth || el.scrollHeight > el.clientHeight\n            ? 0\n            : -1;\n      });\n  };\n  const debouncedUpdateTabStops = debounce(updateTabStops, 300);\n\n  // On window resize\n  window.addEventListener(\"resize\", debouncedUpdateTabStops);\n\n  // The following MutationObserver is for ipywidgets, which take some time to\n  // finish loading and rendering on the page (so even after the \"load\" event is\n  // fired, they still have not finished rendering). 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(!pstAnnouncementUrl) {\n    return;\n  }\n\n  try {\n    const response = await fetch(pstAnnouncementUrl);\n    if (!response.ok) {\n      throw new Error(\n        `[PST]: HTTP response status not ok: ${response.status} ${response.statusText}`,\n      );\n    }\n    const data = await response.text();\n    if (data.length === 0) {\n      console.log(`[PST]: Empty announcement at: ${pstAnnouncementUrl}`);\n      return;\n    }\n    banner.innerHTML = `<div class=\"bd-header-announcement__content\">${data}</div>`;\n    banner.classList.remove(\"d-none\");\n  } catch (_error) {\n    console.log(`[PST]: Failed to load announcement at: ${pstAnnouncementUrl}`);\n    console.error(_error);\n  }\n}\n\n/*******************************************************************************\n * Reveal (and animate) the banners (version warning, announcement) together\n */\nasync function fetchRevealBannersTogether() {\n  // Wait until finished fetching and loading banners\n  await 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\ No newline at end of file
diff --git a/v1.4.0/_static/scripts/sphinx-book-theme.js b/v1.4.0/_static/scripts/sphinx-book-theme.js
new file mode 100644
index 0000000000..be9fa44d61
--- /dev/null
+++ b/v1.4.0/_static/scripts/sphinx-book-theme.js
@@ -0,0 +1,2 @@
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new file mode 100644
index 0000000000..b8abcf8600
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+++ b/v1.4.0/_static/scripts/sphinx-book-theme.js.map
@@ -0,0 +1 @@
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0);\n","export default __webpack_public_path__ + \"styles/sphinx-book-theme.css\";","// Import CSS variables\n// ref: https://css-tricks.com/getting-javascript-to-talk-to-css-and-sass/\nimport \"../styles/index.scss\";\n\n/**\n * A helper function to load scripts when the DOM is loaded.\n * This waits for everything to be on the page first before running, since\n * some functionality doesn't behave properly until everything is ready.\n */\nvar sbRunWhenDOMLoaded = (cb) => {\n  if (document.readyState != \"loading\") {\n    cb();\n  } else if (document.addEventListener) {\n    document.addEventListener(\"DOMContentLoaded\", cb);\n  } else {\n    document.attachEvent(\"onreadystatechange\", function () {\n      if (document.readyState == \"complete\") cb();\n    });\n  }\n};\n\n/**\n * Toggle full-screen with button\n *\n * There are some browser-specific hacks in here:\n * - Safari requires a `webkit` prefix, so this uses conditionals to check for that\n *   ref: https://developer.mozilla.org/en-US/docs/Web/API/Fullscreen_API\n */\nvar toggleFullScreen = () => {\n  var isInFullScreen =\n    (document.fullscreenElement && document.fullscreenElement !== null) ||\n    (document.webkitFullscreenElement &&\n      document.webkitFullscreenElement !== null);\n  let docElm = document.documentElement;\n  if (!isInFullScreen) {\n    console.log(\"[SBT]: Entering full screen\");\n    if (docElm.requestFullscreen) {\n      docElm.requestFullscreen();\n    } else if (docElm.webkitRequestFullscreen) {\n      docElm.webkitRequestFullscreen();\n    }\n  } else {\n    console.log(\"[SBT]: Exiting full screen\");\n    if (document.exitFullscreen) {\n      document.exitFullscreen();\n    } else if (document.webkitExitFullscreen) {\n      document.webkitExitFullscreen();\n    }\n  }\n};\n\n/**\n * Manage scrolling behavior. This is primarily two things:\n *\n * 1. Hide the Table of Contents any time sidebar content is on the screen.\n *\n * This will be triggered any time a sidebar item enters or exits the screen.\n * It adds/removes items from an array if they have entered the screen, and\n * removes them when they exit the screen. It hides the TOC if anything is\n * on-screen.\n *\n * ref: https://developer.mozilla.org/en-US/docs/Web/API/Intersection_Observer_API\n *\n * 2. Add a `scrolled` class to <body> to trigger CSS changes.\n */\nvar initTocHide = () => {\n  var onScreenItems = [];\n  let hideTocCallback = (entries, observer) => {\n    // Check whether any sidebar item is displayed\n    entries.forEach((entry) => {\n      if (entry.isIntersecting) {\n        // If an element just came on screen, add it our list\n        onScreenItems.push(entry.target);\n      } else {\n        // Otherwise, if it's in our list then remove it\n        for (let ii = 0; ii < onScreenItems.length; ii++) {\n          if (onScreenItems[ii] === entry.target) {\n            onScreenItems.splice(ii, 1);\n            break;\n          }\n        }\n      }\n    });\n\n    // Hide the TOC if any margin content is displayed on the screen\n    if (onScreenItems.length > 0) {\n      document.querySelector(\"div.bd-sidebar-secondary\").classList.add(\"hide\");\n    } else {\n      document\n        .querySelector(\"div.bd-sidebar-secondary\")\n        .classList.remove(\"hide\");\n    }\n  };\n  let manageScrolledClassOnBody = (entries, observer) => {\n    // The pixel is at the top, so if we're < 0 that it means we've scrolled\n    if (entries[0].boundingClientRect.y < 0) {\n      document.body.classList.add(\"scrolled\");\n    } else {\n      document.body.classList.remove(\"scrolled\");\n    }\n  };\n\n  // Set up the intersection observer to watch all margin content\n  let options = {\n    // Trigger callback when the top of a margin item is 1/3 up the screen\n    rootMargin: \"0px 0px -33% 0px\",\n  };\n  let tocObserver = new IntersectionObserver(hideTocCallback, options);\n  // TODO: deprecate popout after v0.5.0\n  const selectorClasses = [\n    \"marginnote\",\n    \"sidenote\",\n    \"margin\",\n    \"margin-caption\",\n    \"full-width\",\n    \"sidebar\",\n    \"popout\",\n  ];\n  let marginSelector = [];\n  selectorClasses.forEach((ii) => {\n    // Use three permutations of each class name because `tag_` and `_` used to be supported\n    marginSelector.push(\n      ...[\n        `.${ii}`,\n        `.tag_${ii}`,\n        `.${ii.replace(\"-\", \"_\")}`,\n        `.tag_${ii.replace(\"-\", \"_\")}`,\n      ],\n    );\n  });\n  document.querySelectorAll(marginSelector.join(\", \")).forEach((ii) => {\n    tocObserver.observe(ii);\n  });\n\n  // Set up the observer to check if we've scrolled from top of page\n  let scrollObserver = new IntersectionObserver(manageScrolledClassOnBody);\n  scrollObserver.observe(document.querySelector(\".sbt-scroll-pixel-helper\"));\n};\n\n/**\n * Activate Thebe with a custom button click.\n */\nvar initThebeSBT = () => {\n  var title = document.querySelector(\"section h1\");\n  var sibling = title.nextElementSibling;\n  // If the next element after the title isn't a thebe button, add one now.\n  // That way it is initiatlized when thebe is first-clicked and isn't re-added after.\n  if (!sibling.classList.contains(\"thebe-launch-button\")) {\n    title.insertAdjacentHTML(\n      \"afterend\",\n      \"<button class='thebe-launch-button'></button>\",\n    );\n  }\n  // This function is provided by sphinx-thebe\n  initThebe();\n};\n\n/**\n * Add no print class to certain DOM elements\n */\n\nfunction addNoPrint() {\n  var noPrintSelector = [\n    \".bd-header-announcement\",\n    \".bd-header\",\n    \".bd-header-article\",\n    \".bd-sidebar-primary\",\n    \".bd-sidebar-secondary\",\n    \".bd-footer-article\",\n    \".bd-footer-content\",\n    \".bd-footer\",\n  ].join(\",\");\n  document.querySelectorAll(noPrintSelector).forEach((ii) => {\n    ii.classList.add(\"noprint\");\n  });\n}\n\n/**\n * Set up callback functions for UI click actions\n */\nwindow.initThebeSBT = initThebeSBT;\nwindow.toggleFullScreen = toggleFullScreen;\n\n/**\n * Set up functions to load when the DOM is ready\n */\nsbRunWhenDOMLoaded(initTocHide);\nsbRunWhenDOMLoaded(addNoPrint);\n"],"sourceRoot":""}
\ No newline at end of file
diff --git a/v1.4.0/_static/searchtools.js b/v1.4.0/_static/searchtools.js
new file mode 100644
index 0000000000..97d56a74d8
--- /dev/null
+++ b/v1.4.0/_static/searchtools.js
@@ -0,0 +1,566 @@
+/*
+ * searchtools.js
+ * ~~~~~~~~~~~~~~~~
+ *
+ * Sphinx JavaScript utilities for the full-text search.
+ *
+ * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+"use strict";
+
+/**
+ * Simple result scoring code.
+ */
+if (typeof Scorer === "undefined") {
+  var Scorer = {
+    // Implement the following function to further tweak the score for each result
+    // The function takes a result array [docname, title, anchor, descr, score, filename]
+    // and returns the new score.
+    /*
+    score: result => {
+      const [docname, title, anchor, descr, score, filename] = result
+      return score
+    },
+    */
+
+    // query matches the full name of an object
+    objNameMatch: 11,
+    // or matches in the last dotted part of the object name
+    objPartialMatch: 6,
+    // Additive scores depending on the priority of the object
+    objPrio: {
+      0: 15, // used to be importantResults
+      1: 5, // used to be objectResults
+      2: -5, // used to be unimportantResults
+    },
+    //  Used when the priority is not in the mapping.
+    objPrioDefault: 0,
+
+    // query found in title
+    title: 15,
+    partialTitle: 7,
+    // query found in terms
+    term: 5,
+    partialTerm: 2,
+  };
+}
+
+const _removeChildren = (element) => {
+  while (element && element.lastChild) element.removeChild(element.lastChild);
+};
+
+/**
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping
+ */
+const _escapeRegExp = (string) =>
+  string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string
+
+const _displayItem = (item, searchTerms) => {
+  const docBuilder = DOCUMENTATION_OPTIONS.BUILDER;
+  const docUrlRoot = DOCUMENTATION_OPTIONS.URL_ROOT;
+  const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX;
+  const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX;
+  const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY;
+
+  const [docName, title, anchor, descr, score, _filename] = item;
+
+  let listItem = document.createElement("li");
+  let requestUrl;
+  let linkUrl;
+  if (docBuilder === "dirhtml") {
+    // dirhtml builder
+    let dirname = docName + "/";
+    if (dirname.match(/\/index\/$/))
+      dirname = dirname.substring(0, dirname.length - 6);
+    else if (dirname === "index/") dirname = "";
+    requestUrl = docUrlRoot + dirname;
+    linkUrl = requestUrl;
+  } else {
+    // normal html builders
+    requestUrl = docUrlRoot + docName + docFileSuffix;
+    linkUrl = docName + docLinkSuffix;
+  }
+  let linkEl = listItem.appendChild(document.createElement("a"));
+  linkEl.href = linkUrl + anchor;
+  linkEl.dataset.score = score;
+  linkEl.innerHTML = title;
+  if (descr)
+    listItem.appendChild(document.createElement("span")).innerHTML =
+      " (" + descr + ")";
+  else if (showSearchSummary)
+    fetch(requestUrl)
+      .then((responseData) => responseData.text())
+      .then((data) => {
+        if (data)
+          listItem.appendChild(
+            Search.makeSearchSummary(data, searchTerms)
+          );
+      });
+  Search.output.appendChild(listItem);
+};
+const _finishSearch = (resultCount) => {
+  Search.stopPulse();
+  Search.title.innerText = _("Search Results");
+  if (!resultCount)
+    Search.status.innerText = Documentation.gettext(
+      "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories."
+    );
+  else
+    Search.status.innerText = _(
+      `Search finished, found ${resultCount} page(s) matching the search query.`
+    );
+};
+const _displayNextItem = (
+  results,
+  resultCount,
+  searchTerms
+) => {
+  // results left, load the summary and display it
+  // this is intended to be dynamic (don't sub resultsCount)
+  if (results.length) {
+    _displayItem(results.pop(), searchTerms);
+    setTimeout(
+      () => _displayNextItem(results, resultCount, searchTerms),
+      5
+    );
+  }
+  // search finished, update title and status message
+  else _finishSearch(resultCount);
+};
+
+/**
+ * Default splitQuery function. Can be overridden in ``sphinx.search`` with a
+ * custom function per language.
+ *
+ * The regular expression works by splitting the string on consecutive characters
+ * that are not Unicode letters, numbers, underscores, or emoji characters.
+ * This is the same as ``\W+`` in Python, preserving the surrogate pair area.
+ */
+if (typeof splitQuery === "undefined") {
+  var splitQuery = (query) => query
+      .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu)
+      .filter(term => term)  // remove remaining empty strings
+}
+
+/**
+ * Search Module
+ */
+const Search = {
+  _index: null,
+  _queued_query: null,
+  _pulse_status: -1,
+
+  htmlToText: (htmlString) => {
+    const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html');
+    htmlElement.querySelectorAll(".headerlink").forEach((el) => { el.remove() });
+    const docContent = htmlElement.querySelector('[role="main"]');
+    if (docContent !== undefined) return docContent.textContent;
+    console.warn(
+      "Content block not found. Sphinx search tries to obtain it via '[role=main]'. Could you check your theme or template."
+    );
+    return "";
+  },
+
+  init: () => {
+    const query = new URLSearchParams(window.location.search).get("q");
+    document
+      .querySelectorAll('input[name="q"]')
+      .forEach((el) => (el.value = query));
+    if (query) Search.performSearch(query);
+  },
+
+  loadIndex: (url) =>
+    (document.body.appendChild(document.createElement("script")).src = url),
+
+  setIndex: (index) => {
+    Search._index = index;
+    if (Search._queued_query !== null) {
+      const query = Search._queued_query;
+      Search._queued_query = null;
+      Search.query(query);
+    }
+  },
+
+  hasIndex: () => Search._index !== null,
+
+  deferQuery: (query) => (Search._queued_query = query),
+
+  stopPulse: () => (Search._pulse_status = -1),
+
+  startPulse: () => {
+    if (Search._pulse_status >= 0) return;
+
+    const pulse = () => {
+      Search._pulse_status = (Search._pulse_status + 1) % 4;
+      Search.dots.innerText = ".".repeat(Search._pulse_status);
+      if (Search._pulse_status >= 0) window.setTimeout(pulse, 500);
+    };
+    pulse();
+  },
+
+  /**
+   * perform a search for something (or wait until index is loaded)
+   */
+  performSearch: (query) => {
+    // create the required interface elements
+    const searchText = document.createElement("h2");
+    searchText.textContent = _("Searching");
+    const searchSummary = document.createElement("p");
+    searchSummary.classList.add("search-summary");
+    searchSummary.innerText = "";
+    const searchList = document.createElement("ul");
+    searchList.classList.add("search");
+
+    const out = document.getElementById("search-results");
+    Search.title = out.appendChild(searchText);
+    Search.dots = Search.title.appendChild(document.createElement("span"));
+    Search.status = out.appendChild(searchSummary);
+    Search.output = out.appendChild(searchList);
+
+    const searchProgress = document.getElementById("search-progress");
+    // Some themes don't use the search progress node
+    if (searchProgress) {
+      searchProgress.innerText = _("Preparing search...");
+    }
+    Search.startPulse();
+
+    // index already loaded, the browser was quick!
+    if (Search.hasIndex()) Search.query(query);
+    else Search.deferQuery(query);
+  },
+
+  /**
+   * execute search (requires search index to be loaded)
+   */
+  query: (query) => {
+    const filenames = Search._index.filenames;
+    const docNames = Search._index.docnames;
+    const titles = Search._index.titles;
+    const allTitles = Search._index.alltitles;
+    const indexEntries = Search._index.indexentries;
+
+    // stem the search terms and add them to the correct list
+    const stemmer = new Stemmer();
+    const searchTerms = new Set();
+    const excludedTerms = new Set();
+    const highlightTerms = new Set();
+    const objectTerms = new Set(splitQuery(query.toLowerCase().trim()));
+    splitQuery(query.trim()).forEach((queryTerm) => {
+      const queryTermLower = queryTerm.toLowerCase();
+
+      // maybe skip this "word"
+      // stopwords array is from language_data.js
+      if (
+        stopwords.indexOf(queryTermLower) !== -1 ||
+        queryTerm.match(/^\d+$/)
+      )
+        return;
+
+      // stem the word
+      let word = stemmer.stemWord(queryTermLower);
+      // select the correct list
+      if (word[0] === "-") excludedTerms.add(word.substr(1));
+      else {
+        searchTerms.add(word);
+        highlightTerms.add(queryTermLower);
+      }
+    });
+
+    if (SPHINX_HIGHLIGHT_ENABLED) {  // set in sphinx_highlight.js
+      localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" "))
+    }
+
+    // console.debug("SEARCH: searching for:");
+    // console.info("required: ", [...searchTerms]);
+    // console.info("excluded: ", [...excludedTerms]);
+
+    // array of [docname, title, anchor, descr, score, filename]
+    let results = [];
+    _removeChildren(document.getElementById("search-progress"));
+
+    const queryLower = query.toLowerCase();
+    for (const [title, foundTitles] of Object.entries(allTitles)) {
+      if (title.toLowerCase().includes(queryLower) && (queryLower.length >= title.length/2)) {
+        for (const [file, id] of foundTitles) {
+          let score = Math.round(100 * queryLower.length / title.length)
+          results.push([
+            docNames[file],
+            titles[file] !== title ? `${titles[file]} > ${title}` : title,
+            id !== null ? "#" + id : "",
+            null,
+            score,
+            filenames[file],
+          ]);
+        }
+      }
+    }
+
+    // search for explicit entries in index directives
+    for (const [entry, foundEntries] of Object.entries(indexEntries)) {
+      if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) {
+        for (const [file, id] of foundEntries) {
+          let score = Math.round(100 * queryLower.length / entry.length)
+          results.push([
+            docNames[file],
+            titles[file],
+            id ? "#" + id : "",
+            null,
+            score,
+            filenames[file],
+          ]);
+        }
+      }
+    }
+
+    // lookup as object
+    objectTerms.forEach((term) =>
+      results.push(...Search.performObjectSearch(term, objectTerms))
+    );
+
+    // lookup as search terms in fulltext
+    results.push(...Search.performTermsSearch(searchTerms, excludedTerms));
+
+    // let the scorer override scores with a custom scoring function
+    if (Scorer.score) results.forEach((item) => (item[4] = Scorer.score(item)));
+
+    // now sort the results by score (in opposite order of appearance, since the
+    // display function below uses pop() to retrieve items) and then
+    // alphabetically
+    results.sort((a, b) => {
+      const leftScore = a[4];
+      const rightScore = b[4];
+      if (leftScore === rightScore) {
+        // same score: sort alphabetically
+        const leftTitle = a[1].toLowerCase();
+        const rightTitle = b[1].toLowerCase();
+        if (leftTitle === rightTitle) return 0;
+        return leftTitle > rightTitle ? -1 : 1; // inverted is intentional
+      }
+      return leftScore > rightScore ? 1 : -1;
+    });
+
+    // remove duplicate search results
+    // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept
+    let seen = new Set();
+    results = results.reverse().reduce((acc, result) => {
+      let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(',');
+      if (!seen.has(resultStr)) {
+        acc.push(result);
+        seen.add(resultStr);
+      }
+      return acc;
+    }, []);
+
+    results = results.reverse();
+
+    // for debugging
+    //Search.lastresults = results.slice();  // a copy
+    // console.info("search results:", Search.lastresults);
+
+    // print the results
+    _displayNextItem(results, results.length, searchTerms);
+  },
+
+  /**
+   * search for object names
+   */
+  performObjectSearch: (object, objectTerms) => {
+    const filenames = Search._index.filenames;
+    const docNames = Search._index.docnames;
+    const objects = Search._index.objects;
+    const objNames = Search._index.objnames;
+    const titles = Search._index.titles;
+
+    const results = [];
+
+    const objectSearchCallback = (prefix, match) => {
+      const name = match[4]
+      const fullname = (prefix ? prefix + "." : "") + name;
+      const fullnameLower = fullname.toLowerCase();
+      if (fullnameLower.indexOf(object) < 0) return;
+
+      let score = 0;
+      const parts = fullnameLower.split(".");
+
+      // check for different match types: exact matches of full name or
+      // "last name" (i.e. last dotted part)
+      if (fullnameLower === object || parts.slice(-1)[0] === object)
+        score += Scorer.objNameMatch;
+      else if (parts.slice(-1)[0].indexOf(object) > -1)
+        score += Scorer.objPartialMatch; // matches in last name
+
+      const objName = objNames[match[1]][2];
+      const title = titles[match[0]];
+
+      // If more than one term searched for, we require other words to be
+      // found in the name/title/description
+      const otherTerms = new Set(objectTerms);
+      otherTerms.delete(object);
+      if (otherTerms.size > 0) {
+        const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase();
+        if (
+          [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0)
+        )
+          return;
+      }
+
+      let anchor = match[3];
+      if (anchor === "") anchor = fullname;
+      else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname;
+
+      const descr = objName + _(", in ") + title;
+
+      // add custom score for some objects according to scorer
+      if (Scorer.objPrio.hasOwnProperty(match[2]))
+        score += Scorer.objPrio[match[2]];
+      else score += Scorer.objPrioDefault;
+
+      results.push([
+        docNames[match[0]],
+        fullname,
+        "#" + anchor,
+        descr,
+        score,
+        filenames[match[0]],
+      ]);
+    };
+    Object.keys(objects).forEach((prefix) =>
+      objects[prefix].forEach((array) =>
+        objectSearchCallback(prefix, array)
+      )
+    );
+    return results;
+  },
+
+  /**
+   * search for full-text terms in the index
+   */
+  performTermsSearch: (searchTerms, excludedTerms) => {
+    // prepare search
+    const terms = Search._index.terms;
+    const titleTerms = Search._index.titleterms;
+    const filenames = Search._index.filenames;
+    const docNames = Search._index.docnames;
+    const titles = Search._index.titles;
+
+    const scoreMap = new Map();
+    const fileMap = new Map();
+
+    // perform the search on the required terms
+    searchTerms.forEach((word) => {
+      const files = [];
+      const arr = [
+        { files: terms[word], score: Scorer.term },
+        { files: titleTerms[word], score: Scorer.title },
+      ];
+      // add support for partial matches
+      if (word.length > 2) {
+        const escapedWord = _escapeRegExp(word);
+        Object.keys(terms).forEach((term) => {
+          if (term.match(escapedWord) && !terms[word])
+            arr.push({ files: terms[term], score: Scorer.partialTerm });
+        });
+        Object.keys(titleTerms).forEach((term) => {
+          if (term.match(escapedWord) && !titleTerms[word])
+            arr.push({ files: titleTerms[word], score: Scorer.partialTitle });
+        });
+      }
+
+      // no match but word was a required one
+      if (arr.every((record) => record.files === undefined)) return;
+
+      // found search word in contents
+      arr.forEach((record) => {
+        if (record.files === undefined) return;
+
+        let recordFiles = record.files;
+        if (recordFiles.length === undefined) recordFiles = [recordFiles];
+        files.push(...recordFiles);
+
+        // set score for the word in each file
+        recordFiles.forEach((file) => {
+          if (!scoreMap.has(file)) scoreMap.set(file, {});
+          scoreMap.get(file)[word] = record.score;
+        });
+      });
+
+      // create the mapping
+      files.forEach((file) => {
+        if (fileMap.has(file) && fileMap.get(file).indexOf(word) === -1)
+          fileMap.get(file).push(word);
+        else fileMap.set(file, [word]);
+      });
+    });
+
+    // now check if the files don't contain excluded terms
+    const results = [];
+    for (const [file, wordList] of fileMap) {
+      // check if all requirements are matched
+
+      // as search terms with length < 3 are discarded
+      const filteredTermCount = [...searchTerms].filter(
+        (term) => term.length > 2
+      ).length;
+      if (
+        wordList.length !== searchTerms.size &&
+        wordList.length !== filteredTermCount
+      )
+        continue;
+
+      // ensure that none of the excluded terms is in the search result
+      if (
+        [...excludedTerms].some(
+          (term) =>
+            terms[term] === file ||
+            titleTerms[term] === file ||
+            (terms[term] || []).includes(file) ||
+            (titleTerms[term] || []).includes(file)
+        )
+      )
+        break;
+
+      // select one (max) score for the file.
+      const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w]));
+      // add result to the result list
+      results.push([
+        docNames[file],
+        titles[file],
+        "",
+        null,
+        score,
+        filenames[file],
+      ]);
+    }
+    return results;
+  },
+
+  /**
+   * helper function to return a node containing the
+   * search summary for a given text. keywords is a list
+   * of stemmed words.
+   */
+  makeSearchSummary: (htmlText, keywords) => {
+    const text = Search.htmlToText(htmlText);
+    if (text === "") return null;
+
+    const textLower = text.toLowerCase();
+    const actualStartPosition = [...keywords]
+      .map((k) => textLower.indexOf(k.toLowerCase()))
+      .filter((i) => i > -1)
+      .slice(-1)[0];
+    const startWithContext = Math.max(actualStartPosition - 120, 0);
+
+    const top = startWithContext === 0 ? "" : "...";
+    const tail = startWithContext + 240 < text.length ? "..." : "";
+
+    let summary = document.createElement("p");
+    summary.classList.add("context");
+    summary.textContent = top + text.substr(startWithContext, 240).trim() + tail;
+
+    return summary;
+  },
+};
+
+_ready(Search.init);
diff --git a/v1.4.0/_static/sphinx-design.4cbf315f70debaebd550c87a6162cf0f.min.css b/v1.4.0/_static/sphinx-design.4cbf315f70debaebd550c87a6162cf0f.min.css
new file mode 100644
index 0000000000..860c36da0f
--- /dev/null
+++ b/v1.4.0/_static/sphinx-design.4cbf315f70debaebd550c87a6162cf0f.min.css
@@ -0,0 +1 @@
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0;position:relative}.sd-tab-set>input{opacity:0;position:absolute}.sd-tab-set>input:checked+label{border-color:var(--sd-color-tabs-underline-active);color:var(--sd-color-tabs-label-active)}.sd-tab-set>input:checked+label+.sd-tab-content{display:block}.sd-tab-set>input:not(:checked)+label:hover{color:var(--sd-color-tabs-label-hover);border-color:var(--sd-color-tabs-underline-hover)}.sd-tab-set>input:focus+label{outline-style:auto}.sd-tab-set>input:not(.focus-visible)+label{outline:none;-webkit-tap-highlight-color:transparent}.sd-tab-set>label{border-bottom:.125rem solid transparent;margin-bottom:0;color:var(--sd-color-tabs-label-inactive);border-color:var(--sd-color-tabs-underline-inactive);cursor:pointer;font-size:var(--sd-fontsize-tabs-label);font-weight:700;padding:1em 1.25em .5em;transition:color 250ms;width:auto;z-index:1}html .sd-tab-set>label:hover{color:var(--sd-color-tabs-label-active)}.sd-col>.sd-tab-set{width:100%}.sd-tab-content{box-shadow:0 -0.0625rem var(--sd-color-tabs-overline),0 .0625rem var(--sd-color-tabs-underline);display:none;order:99;padding-bottom:.75rem;padding-top:.75rem;width:100%}.sd-tab-content>:first-child{margin-top:0 !important}.sd-tab-content>:last-child{margin-bottom:0 !important}.sd-tab-content>.sd-tab-set{margin:0}.sd-sphinx-override,.sd-sphinx-override *{-moz-box-sizing:border-box;-webkit-box-sizing:border-box;box-sizing:border-box}.sd-sphinx-override p{margin-top:0}:root{--sd-color-primary: #0071bc;--sd-color-secondary: #6c757d;--sd-color-success: #28a745;--sd-color-info: #17a2b8;--sd-color-warning: #f0b37e;--sd-color-danger: #dc3545;--sd-color-light: #f8f9fa;--sd-color-muted: #6c757d;--sd-color-dark: #212529;--sd-color-black: black;--sd-color-white: white;--sd-color-primary-highlight: #0060a0;--sd-color-secondary-highlight: #5c636a;--sd-color-success-highlight: #228e3b;--sd-color-info-highlight: #148a9c;--sd-color-warning-highlight: #cc986b;--sd-color-danger-highlight: #bb2d3b;--sd-color-light-highlight: #d3d4d5;--sd-color-muted-highlight: #5c636a;--sd-color-dark-highlight: #1c1f23;--sd-color-black-highlight: black;--sd-color-white-highlight: #d9d9d9;--sd-color-primary-bg: rgba(0, 113, 188, 0.2);--sd-color-secondary-bg: rgba(108, 117, 125, 0.2);--sd-color-success-bg: rgba(40, 167, 69, 0.2);--sd-color-info-bg: rgba(23, 162, 184, 0.2);--sd-color-warning-bg: rgba(240, 179, 126, 0.2);--sd-color-danger-bg: rgba(220, 53, 69, 0.2);--sd-color-light-bg: rgba(248, 249, 250, 0.2);--sd-color-muted-bg: rgba(108, 117, 125, 0.2);--sd-color-dark-bg: rgba(33, 37, 41, 0.2);--sd-color-black-bg: rgba(0, 0, 0, 0.2);--sd-color-white-bg: rgba(255, 255, 255, 0.2);--sd-color-primary-text: #fff;--sd-color-secondary-text: #fff;--sd-color-success-text: #fff;--sd-color-info-text: #fff;--sd-color-warning-text: #212529;--sd-color-danger-text: #fff;--sd-color-light-text: #212529;--sd-color-muted-text: #fff;--sd-color-dark-text: #fff;--sd-color-black-text: #fff;--sd-color-white-text: #212529;--sd-color-shadow: rgba(0, 0, 0, 0.15);--sd-color-card-border: rgba(0, 0, 0, 0.125);--sd-color-card-border-hover: hsla(231, 99%, 66%, 1);--sd-color-card-background: transparent;--sd-color-card-text: inherit;--sd-color-card-header: transparent;--sd-color-card-footer: transparent;--sd-color-tabs-label-active: hsla(231, 99%, 66%, 1);--sd-color-tabs-label-hover: hsla(231, 99%, 66%, 1);--sd-color-tabs-label-inactive: hsl(0, 0%, 66%);--sd-color-tabs-underline-active: hsla(231, 99%, 66%, 1);--sd-color-tabs-underline-hover: rgba(178, 206, 245, 0.62);--sd-color-tabs-underline-inactive: transparent;--sd-color-tabs-overline: rgb(222, 222, 222);--sd-color-tabs-underline: rgb(222, 222, 222);--sd-fontsize-tabs-label: 1rem;--sd-fontsize-dropdown: inherit;--sd-fontsize-dropdown-title: 1rem;--sd-fontweight-dropdown-title: 700}
diff --git a/v1.4.0/_static/sphinx_highlight.js b/v1.4.0/_static/sphinx_highlight.js
new file mode 100644
index 0000000000..aae669d7ea
--- /dev/null
+++ b/v1.4.0/_static/sphinx_highlight.js
@@ -0,0 +1,144 @@
+/* Highlighting utilities for Sphinx HTML documentation. */
+"use strict";
+
+const SPHINX_HIGHLIGHT_ENABLED = true
+
+/**
+ * highlight a given string on a node by wrapping it in
+ * span elements with the given class name.
+ */
+const _highlight = (node, addItems, text, className) => {
+  if (node.nodeType === Node.TEXT_NODE) {
+    const val = node.nodeValue;
+    const parent = node.parentNode;
+    const pos = val.toLowerCase().indexOf(text);
+    if (
+      pos >= 0 &&
+      !parent.classList.contains(className) &&
+      !parent.classList.contains("nohighlight")
+    ) {
+      let span;
+
+      const closestNode = parent.closest("body, svg, foreignObject");
+      const isInSVG = closestNode && closestNode.matches("svg");
+      if (isInSVG) {
+        span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+      } else {
+        span = document.createElement("span");
+        span.classList.add(className);
+      }
+
+      span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+      parent.insertBefore(
+        span,
+        parent.insertBefore(
+          document.createTextNode(val.substr(pos + text.length)),
+          node.nextSibling
+        )
+      );
+      node.nodeValue = val.substr(0, pos);
+
+      if (isInSVG) {
+        const rect = document.createElementNS(
+          "http://www.w3.org/2000/svg",
+          "rect"
+        );
+        const bbox = parent.getBBox();
+        rect.x.baseVal.value = bbox.x;
+        rect.y.baseVal.value = bbox.y;
+        rect.width.baseVal.value = bbox.width;
+        rect.height.baseVal.value = bbox.height;
+        rect.setAttribute("class", className);
+        addItems.push({ parent: parent, target: rect });
+      }
+    }
+  } else if (node.matches && !node.matches("button, select, textarea")) {
+    node.childNodes.forEach((el) => _highlight(el, addItems, text, className));
+  }
+};
+const _highlightText = (thisNode, text, className) => {
+  let addItems = [];
+  _highlight(thisNode, addItems, text, className);
+  addItems.forEach((obj) =>
+    obj.parent.insertAdjacentElement("beforebegin", obj.target)
+  );
+};
+
+/**
+ * Small JavaScript module for the documentation.
+ */
+const SphinxHighlight = {
+
+  /**
+   * highlight the search words provided in localstorage in the text
+   */
+  highlightSearchWords: () => {
+    if (!SPHINX_HIGHLIGHT_ENABLED) return;  // bail if no highlight
+
+    // get and clear terms from localstorage
+    const url = new URL(window.location);
+    const highlight =
+        localStorage.getItem("sphinx_highlight_terms")
+        || url.searchParams.get("highlight")
+        || "";
+    localStorage.removeItem("sphinx_highlight_terms")
+    url.searchParams.delete("highlight");
+    window.history.replaceState({}, "", url);
+
+    // get individual terms from highlight string
+    const terms = highlight.toLowerCase().split(/\s+/).filter(x => x);
+    if (terms.length === 0) return; // nothing to do
+
+    // There should never be more than one element matching "div.body"
+    const divBody = document.querySelectorAll("div.body");
+    const body = divBody.length ? divBody[0] : document.querySelector("body");
+    window.setTimeout(() => {
+      terms.forEach((term) => _highlightText(body, term, "highlighted"));
+    }, 10);
+
+    const searchBox = document.getElementById("searchbox");
+    if (searchBox === null) return;
+    searchBox.appendChild(
+      document
+        .createRange()
+        .createContextualFragment(
+          '<p class="highlight-link">' +
+            '<a href="javascript:SphinxHighlight.hideSearchWords()">' +
+            _("Hide Search Matches") +
+            "</a></p>"
+        )
+    );
+  },
+
+  /**
+   * helper function to hide the search marks again
+   */
+  hideSearchWords: () => {
+    document
+      .querySelectorAll("#searchbox .highlight-link")
+      .forEach((el) => el.remove());
+    document
+      .querySelectorAll("span.highlighted")
+      .forEach((el) => el.classList.remove("highlighted"));
+    localStorage.removeItem("sphinx_highlight_terms")
+  },
+
+  initEscapeListener: () => {
+    // only install a listener if it is really needed
+    if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return;
+
+    document.addEventListener("keydown", (event) => {
+      // bail for input elements
+      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
+      // bail with special keys
+      if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return;
+      if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) {
+        SphinxHighlight.hideSearchWords();
+        event.preventDefault();
+      }
+    });
+  },
+};
+
+_ready(SphinxHighlight.highlightSearchWords);
+_ready(SphinxHighlight.initEscapeListener);
diff --git a/v1.4.0/_static/styles/pydata-sphinx-theme.css b/v1.4.0/_static/styles/pydata-sphinx-theme.css
new file mode 100644
index 0000000000..d26dd09d8f
--- /dev/null
+++ b/v1.4.0/_static/styles/pydata-sphinx-theme.css
@@ -0,0 +1,32 @@
+@charset "UTF-8";
+/*!
+ * Bootstrap  v5.3.3 (https://getbootstrap.com/)
+ * Copyright 2011-2024 The Bootstrap Authors
+ * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)
+ */:root,[data-bs-theme=light]{--bs-blue:#0d6efd;--bs-indigo:#6610f2;--bs-purple:#6f42c1;--bs-pink:#d63384;--bs-red:#dc3545;--bs-orange:#fd7e14;--bs-yellow:#ffc107;--bs-green:#198754;--bs-teal:#20c997;--bs-cyan:#0dcaf0;--bs-black:#000;--bs-white:#fff;--bs-gray:#6c757d;--bs-gray-dark:#343a40;--bs-gray-100:#f8f9fa;--bs-gray-200:#e9ecef;--bs-gray-300:#dee2e6;--bs-gray-400:#ced4da;--bs-gray-500:#adb5bd;--bs-gray-600:#6c757d;--bs-gray-700:#495057;--bs-gray-800:#343a40;--bs-gray-900:#212529;--bs-primary:#0d6efd;--bs-secondary:#6c757d;--bs-success:#198754;--bs-info:#0dcaf0;--bs-warning:#ffc107;--bs-danger:#dc3545;--bs-light:#f8f9fa;--bs-dark:#212529;--bs-primary-rgb:13,110,253;--bs-secondary-rgb:108,117,125;--bs-success-rgb:25,135,84;--bs-info-rgb:13,202,240;--bs-warning-rgb:255,193,7;--bs-danger-rgb:220,53,69;--bs-light-rgb:248,249,250;--bs-dark-rgb:33,37,41;--bs-primary-text-emphasis:#052c65;--bs-secondary-text-emphasis:#2b2f32;--bs-success-text-emphasis:#0a3622;--bs-info-text-emphasis:#055160;--bs-warning-text-emphasis:#664d03;--bs-danger-text-emphasis:#58151c;--bs-light-text-emphasis:#495057;--bs-dark-text-emphasis:#495057;--bs-primary-bg-subtle:#cfe2ff;--bs-secondary-bg-subtle:#e2e3e5;--bs-success-bg-subtle:#d1e7dd;--bs-info-bg-subtle:#cff4fc;--bs-warning-bg-subtle:#fff3cd;--bs-danger-bg-subtle:#f8d7da;--bs-light-bg-subtle:#fcfcfd;--bs-dark-bg-subtle:#ced4da;--bs-primary-border-subtle:#9ec5fe;--bs-secondary-border-subtle:#c4c8cb;--bs-success-border-subtle:#a3cfbb;--bs-info-border-subtle:#9eeaf9;--bs-warning-border-subtle:#ffe69c;--bs-danger-border-subtle:#f1aeb5;--bs-light-border-subtle:#e9ecef;--bs-dark-border-subtle:#adb5bd;--bs-white-rgb:255,255,255;--bs-black-rgb:0,0,0;--bs-font-sans-serif:system-ui,-apple-system,"Segoe UI",Roboto,"Helvetica Neue","Noto Sans","Liberation Sans",Arial,sans-serif,"Apple Color Emoji","Segoe UI Emoji","Segoe UI Symbol","Noto Color Emoji";--bs-font-monospace:SFMono-Regular,Menlo,Monaco,Consolas,"Liberation Mono","Courier 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0.5rem 1rem rgba(0,0,0,.15);--bs-box-shadow-sm:0 0.125rem 0.25rem rgba(0,0,0,.075);--bs-box-shadow-lg:0 1rem 3rem rgba(0,0,0,.175);--bs-box-shadow-inset:inset 0 1px 2px rgba(0,0,0,.075);--bs-focus-ring-width:0.1875rem;--bs-focus-ring-opacity:1;--bs-focus-ring-color:var(--pst-color-accent);--bs-form-valid-color:#198754;--bs-form-valid-border-color:#198754;--bs-form-invalid-color:#dc3545;--bs-form-invalid-border-color:#dc3545}[data-bs-theme=dark]{--bs-body-color:#dee2e6;--bs-body-color-rgb:222,226,230;--bs-body-bg:#212529;--bs-body-bg-rgb:33,37,41;--bs-emphasis-color:#fff;--bs-emphasis-color-rgb:255,255,255;--bs-secondary-color:rgba(222,226,230,.75);--bs-secondary-color-rgb:222,226,230;--bs-secondary-bg:#343a40;--bs-secondary-bg-rgb:52,58,64;--bs-tertiary-color:rgba(222,226,230,.5);--bs-tertiary-color-rgb:222,226,230;--bs-tertiary-bg:#2b3035;--bs-tertiary-bg-rgb:43,48,53;--bs-primary-text-emphasis:#6ea8fe;--bs-secondary-text-emphasis:#a7acb1;--bs-success-text-emphasis:#75b798;--bs-info-text-emphasis:#6edff6;--bs-warning-text-emphasis:#ffda6a;--bs-danger-text-emphasis:#ea868f;--bs-light-text-emphasis:#f8f9fa;--bs-dark-text-emphasis:#dee2e6;--bs-primary-bg-subtle:#031633;--bs-secondary-bg-subtle:#161719;--bs-success-bg-subtle:#051b11;--bs-info-bg-subtle:#032830;--bs-warning-bg-subtle:#332701;--bs-danger-bg-subtle:#2c0b0e;--bs-light-bg-subtle:#343a40;--bs-dark-bg-subtle:#1a1d20;--bs-primary-border-subtle:#084298;--bs-secondary-border-subtle:#41464b;--bs-success-border-subtle:#0f5132;--bs-info-border-subtle:#087990;--bs-warning-border-subtle:#997404;--bs-danger-border-subtle:#842029;--bs-light-border-subtle:#495057;--bs-dark-border-subtle:#343a40;--bs-heading-color:inherit;--bs-link-color:#6ea8fe;--bs-link-hover-color:#8bb9fe;--bs-link-color-rgb:110,168,254;--bs-link-hover-color-rgb:139,185,254;--bs-code-color:#e685b5;--bs-highlight-color:#dee2e6;--bs-highlight-bg:#664d03;--bs-border-color:#495057;--bs-border-color-translucent:hsla(0,0%,100%,.15);--bs-form-valid-color:#75b798;--bs-form-valid-border-color:#75b798;--bs-form-invalid-color:#ea868f;--bs-form-invalid-border-color:#ea868f;color-scheme:dark}*,:after,:before{box-sizing:border-box}@media 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;--bs-breadcrumb-divider-color:var(--bs-secondary-color);--bs-breadcrumb-item-padding-x:0.5rem;--bs-breadcrumb-item-active-color:var(--bs-secondary-color);background-color:var(--bs-breadcrumb-bg);border-radius:var(--bs-breadcrumb-border-radius);display:flex;flex-wrap:wrap;font-size:var(--bs-breadcrumb-font-size);list-style:none;margin-bottom:var(--bs-breadcrumb-margin-bottom);padding:var(--bs-breadcrumb-padding-y) var(--bs-breadcrumb-padding-x)}.breadcrumb-item+.breadcrumb-item{padding-left:var(--bs-breadcrumb-item-padding-x)}.breadcrumb-item+.breadcrumb-item:before{color:var(--bs-breadcrumb-divider-color);content:var(--bs-breadcrumb-divider,"/");float:left;padding-right:var(--bs-breadcrumb-item-padding-x)}.breadcrumb-item.active{color:var(--bs-breadcrumb-item-active-color)}.pagination{--bs-pagination-padding-x:0.75rem;--bs-pagination-padding-y:0.375rem;--bs-pagination-font-size:1rem;--bs-pagination-color:var(--bs-link-color);--bs-pagination-bg:var(--bs-body-bg);--bs-pagination-border-width:var(--bs-border-width);--bs-pagination-border-color:var(--bs-border-color);--bs-pagination-border-radius:var(--bs-border-radius);--bs-pagination-hover-color:var(--bs-link-hover-color);--bs-pagination-hover-bg:var(--bs-tertiary-bg);--bs-pagination-hover-border-color:var(--bs-border-color);--bs-pagination-focus-color:var(--bs-link-hover-color);--bs-pagination-focus-bg:var(--bs-secondary-bg);--bs-pagination-focus-box-shadow:0 0 0 0.1875rem var(--pst-color-accent);--bs-pagination-active-color:#fff;--bs-pagination-active-bg:#0d6efd;--bs-pagination-active-border-color:#0d6efd;--bs-pagination-disabled-color:var(--bs-secondary-color);--bs-pagination-disabled-bg:var(--bs-secondary-bg);--bs-pagination-disabled-border-color:var(--bs-border-color);display:flex;list-style:none;padding-left:0}.page-link{background-color:var(--bs-pagination-bg);border:var(--bs-pagination-border-width) solid var(--bs-pagination-border-color);color:var(--bs-pagination-color);display:block;font-size:var(--bs-pagination-font-size);padding:var(--bs-pagination-padding-y) var(--bs-pagination-padding-x);position:relative;text-decoration:none;transition:color .15s ease-in-out,background-color .15s ease-in-out,border-color .15s ease-in-out,box-shadow .15s ease-in-out}@media (prefers-reduced-motion:reduce){.page-link{transition:none}}.page-link:hover{background-color:var(--bs-pagination-hover-bg);border-color:var(--bs-pagination-hover-border-color);color:var(--bs-pagination-hover-color);z-index:2}.page-link:focus{background-color:var(--bs-pagination-focus-bg);box-shadow:var(--bs-pagination-focus-box-shadow);color:var(--bs-pagination-focus-color);outline:0;z-index:3}.active>.page-link,.page-link.active{background-color:var(--bs-pagination-active-bg);border-color:var(--bs-pagination-active-border-color);color:var(--bs-pagination-active-color);z-index:3}.disabled>.page-link,.page-link.disabled{background-color:var(--bs-pagination-disabled-bg);border-color:var(--bs-pagination-disabled-border-color);color:var(--bs-pagination-disabled-color);pointer-events:none}.page-item:not(:first-child) .page-link{margin-left:calc(var(--bs-border-width)*-1)}.page-item:first-child .page-link{border-bottom-left-radius:var(--bs-pagination-border-radius);border-top-left-radius:var(--bs-pagination-border-radius)}.page-item:last-child .page-link{border-bottom-right-radius:var(--bs-pagination-border-radius);border-top-right-radius:var(--bs-pagination-border-radius)}.pagination-lg{--bs-pagination-padding-x:1.5rem;--bs-pagination-padding-y:0.75rem;--bs-pagination-font-size:1.25rem;--bs-pagination-border-radius:var(--bs-border-radius-lg)}.pagination-sm{--bs-pagination-padding-x:0.5rem;--bs-pagination-padding-y:0.25rem;--bs-pagination-font-size:0.875rem;--bs-pagination-border-radius:var(--bs-border-radius-sm)}.badge{--bs-badge-padding-x:0.65em;--bs-badge-padding-y:0.35em;--bs-badge-font-size:0.75em;--bs-badge-font-weight:700;--bs-badge-color:#fff;--bs-badge-border-radius:var(--bs-border-radius);border-radius:var(--bs-badge-border-radius);color:var(--bs-badge-color);display:inline-block;font-size:var(--bs-badge-font-size);font-weight:var(--bs-badge-font-weight);line-height:1;padding:var(--bs-badge-padding-y) var(--bs-badge-padding-x);text-align:center;vertical-align:baseline;white-space:nowrap}.badge:empty{display:none}.btn .badge{position:relative;top:-1px}.alert{--bs-alert-bg:transparent;--bs-alert-padding-x:1rem;--bs-alert-padding-y:1rem;--bs-alert-margin-bottom:1rem;--bs-alert-color:inherit;--bs-alert-border-color:transparent;--bs-alert-border:var(--bs-border-width) solid var(--bs-alert-border-color);--bs-alert-border-radius:var(--bs-border-radius);--bs-alert-link-color:inherit;background-color:var(--bs-alert-bg);border:var(--bs-alert-border);border-radius:var(--bs-alert-border-radius);color:var(--bs-alert-color);margin-bottom:var(--bs-alert-margin-bottom);padding:var(--bs-alert-padding-y) var(--bs-alert-padding-x);position:relative}.alert-heading{color:inherit}.alert-link{color:var(--bs-alert-link-color);font-weight:700}.alert-dismissible{padding-right:3rem}.alert-dismissible .btn-close{padding:1.25rem 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progress-bar-stripes{0%{background-position-x:1rem}}.progress,.progress-stacked{--bs-progress-height:1rem;--bs-progress-font-size:0.75rem;--bs-progress-bg:var(--bs-secondary-bg);--bs-progress-border-radius:var(--bs-border-radius);--bs-progress-box-shadow:var(--bs-box-shadow-inset);--bs-progress-bar-color:#fff;--bs-progress-bar-bg:#0d6efd;--bs-progress-bar-transition:width 0.6s ease;background-color:var(--bs-progress-bg);border-radius:var(--bs-progress-border-radius);display:flex;font-size:var(--bs-progress-font-size);height:var(--bs-progress-height);overflow:hidden}.progress-bar{background-color:var(--bs-progress-bar-bg);color:var(--bs-progress-bar-color);display:flex;flex-direction:column;justify-content:center;overflow:hidden;text-align:center;transition:var(--bs-progress-bar-transition);white-space:nowrap}@media (prefers-reduced-motion:reduce){.progress-bar{transition:none}}.progress-bar-striped{background-image:linear-gradient(45deg,hsla(0,0%,100%,.15) 25%,transparent 0,transparent 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";counter-increment:section}.list-group-item-action{color:var(--bs-list-group-action-color);text-align:inherit;width:100%}.list-group-item-action:focus,.list-group-item-action:hover{background-color:var(--bs-list-group-action-hover-bg);color:var(--bs-list-group-action-hover-color);text-decoration:none;z-index:1}.list-group-item-action:active{background-color:var(--bs-list-group-action-active-bg);color:var(--bs-list-group-action-active-color)}.list-group-item{background-color:var(--bs-list-group-bg);border:var(--bs-list-group-border-width) solid var(--bs-list-group-border-color);color:var(--bs-list-group-color);display:block;padding:var(--bs-list-group-item-padding-y) 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--bs-cyan: #0dcaf0;\n  --bs-black: #000;\n  --bs-white: #fff;\n  --bs-gray: #6c757d;\n  --bs-gray-dark: #343a40;\n  --bs-gray-100: #f8f9fa;\n  --bs-gray-200: #e9ecef;\n  --bs-gray-300: #dee2e6;\n  --bs-gray-400: #ced4da;\n  --bs-gray-500: #adb5bd;\n  --bs-gray-600: #6c757d;\n  --bs-gray-700: #495057;\n  --bs-gray-800: #343a40;\n  --bs-gray-900: #212529;\n  --bs-primary: #0d6efd;\n  --bs-secondary: #6c757d;\n  --bs-success: #198754;\n  --bs-info: #0dcaf0;\n  --bs-warning: #ffc107;\n  --bs-danger: #dc3545;\n  --bs-light: #f8f9fa;\n  --bs-dark: #212529;\n  --bs-primary-rgb: 13, 110, 253;\n  --bs-secondary-rgb: 108, 117, 125;\n  --bs-success-rgb: 25, 135, 84;\n  --bs-info-rgb: 13, 202, 240;\n  --bs-warning-rgb: 255, 193, 7;\n  --bs-danger-rgb: 220, 53, 69;\n  --bs-light-rgb: 248, 249, 250;\n  --bs-dark-rgb: 33, 37, 41;\n  --bs-primary-text-emphasis: #052c65;\n  --bs-secondary-text-emphasis: #2b2f32;\n  --bs-success-text-emphasis: #0a3622;\n  --bs-info-text-emphasis: #055160;\n  --bs-warning-text-emphasis: #664d03;\n  --bs-danger-text-emphasis: #58151c;\n  --bs-light-text-emphasis: #495057;\n  --bs-dark-text-emphasis: #495057;\n  --bs-primary-bg-subtle: #cfe2ff;\n  --bs-secondary-bg-subtle: #e2e3e5;\n  --bs-success-bg-subtle: #d1e7dd;\n  --bs-info-bg-subtle: #cff4fc;\n  --bs-warning-bg-subtle: #fff3cd;\n  --bs-danger-bg-subtle: #f8d7da;\n  --bs-light-bg-subtle: #fcfcfd;\n  --bs-dark-bg-subtle: #ced4da;\n  --bs-primary-border-subtle: #9ec5fe;\n  --bs-secondary-border-subtle: #c4c8cb;\n  --bs-success-border-subtle: #a3cfbb;\n  --bs-info-border-subtle: #9eeaf9;\n  --bs-warning-border-subtle: #ffe69c;\n  --bs-danger-border-subtle: #f1aeb5;\n  --bs-light-border-subtle: #e9ecef;\n  --bs-dark-border-subtle: #adb5bd;\n  --bs-white-rgb: 255, 255, 255;\n  --bs-black-rgb: 0, 0, 0;\n  --bs-font-sans-serif: system-ui, -apple-system, \"Segoe UI\", Roboto, \"Helvetica Neue\", \"Noto Sans\", \"Liberation Sans\", Arial, sans-serif, \"Apple Color Emoji\", \"Segoe UI Emoji\", \"Segoe UI Symbol\", \"Noto Color Emoji\";\n  --bs-font-monospace: SFMono-Regular, Menlo, Monaco, Consolas, \"Liberation Mono\", \"Courier New\", monospace;\n  --bs-gradient: linear-gradient(180deg, rgba(255, 255, 255, 0.15), rgba(255, 255, 255, 0));\n  --bs-body-font-family: var(--bs-font-sans-serif);\n  --bs-body-font-size: 1rem;\n  --bs-body-font-weight: 400;\n  --bs-body-line-height: 1.5;\n  --bs-body-color: #212529;\n  --bs-body-color-rgb: 33, 37, 41;\n  --bs-body-bg: #fff;\n  --bs-body-bg-rgb: 255, 255, 255;\n  --bs-emphasis-color: #000;\n  --bs-emphasis-color-rgb: 0, 0, 0;\n  --bs-secondary-color: rgba(33, 37, 41, 0.75);\n  --bs-secondary-color-rgb: 33, 37, 41;\n  --bs-secondary-bg: #e9ecef;\n  --bs-secondary-bg-rgb: 233, 236, 239;\n  --bs-tertiary-color: rgba(33, 37, 41, 0.5);\n  --bs-tertiary-color-rgb: 33, 37, 41;\n  --bs-tertiary-bg: #f8f9fa;\n  --bs-tertiary-bg-rgb: 248, 249, 250;\n  --bs-heading-color: inherit;\n  --bs-link-color: #0d6efd;\n  --bs-link-color-rgb: 13, 110, 253;\n  --bs-link-decoration: underline;\n  --bs-link-hover-color: #0a58ca;\n  --bs-link-hover-color-rgb: 10, 88, 202;\n  --bs-code-color: #d63384;\n  --bs-highlight-color: #212529;\n  --bs-highlight-bg: #fff3cd;\n  --bs-border-width: 1px;\n  --bs-border-style: solid;\n  --bs-border-color: #dee2e6;\n  --bs-border-color-translucent: rgba(0, 0, 0, 0.175);\n  --bs-border-radius: 0.375rem;\n  --bs-border-radius-sm: 0.25rem;\n  --bs-border-radius-lg: 0.5rem;\n  --bs-border-radius-xl: 1rem;\n  --bs-border-radius-xxl: 2rem;\n  --bs-border-radius-2xl: var(--bs-border-radius-xxl);\n  --bs-border-radius-pill: 50rem;\n  --bs-box-shadow: 0 0.5rem 1rem rgba(0, 0, 0, 0.15);\n  --bs-box-shadow-sm: 0 0.125rem 0.25rem rgba(0, 0, 0, 0.075);\n  --bs-box-shadow-lg: 0 1rem 3rem rgba(0, 0, 0, 0.175);\n  --bs-box-shadow-inset: inset 0 1px 2px rgba(0, 0, 0, 0.075);\n  --bs-focus-ring-width: 0.1875rem;\n  --bs-focus-ring-opacity: 1;\n  --bs-focus-ring-color: var(--pst-color-accent);\n  --bs-form-valid-color: #198754;\n  --bs-form-valid-border-color: #198754;\n  --bs-form-invalid-color: #dc3545;\n  --bs-form-invalid-border-color: #dc3545;\n}\n\n[data-bs-theme=dark] {\n  color-scheme: dark;\n  --bs-body-color: #dee2e6;\n  --bs-body-color-rgb: 222, 226, 230;\n  --bs-body-bg: #212529;\n  --bs-body-bg-rgb: 33, 37, 41;\n  --bs-emphasis-color: #fff;\n  --bs-emphasis-color-rgb: 255, 255, 255;\n  --bs-secondary-color: rgba(222, 226, 230, 0.75);\n  --bs-secondary-color-rgb: 222, 226, 230;\n  --bs-secondary-bg: #343a40;\n  --bs-secondary-bg-rgb: 52, 58, 64;\n  --bs-tertiary-color: rgba(222, 226, 230, 0.5);\n  --bs-tertiary-color-rgb: 222, 226, 230;\n  --bs-tertiary-bg: #2b3035;\n  --bs-tertiary-bg-rgb: 43, 48, 53;\n  --bs-primary-text-emphasis: #6ea8fe;\n  --bs-secondary-text-emphasis: #a7acb1;\n  --bs-success-text-emphasis: #75b798;\n  --bs-info-text-emphasis: #6edff6;\n  --bs-warning-text-emphasis: #ffda6a;\n  --bs-danger-text-emphasis: #ea868f;\n  --bs-light-text-emphasis: #f8f9fa;\n  --bs-dark-text-emphasis: #dee2e6;\n  --bs-primary-bg-subtle: #031633;\n  --bs-secondary-bg-subtle: #161719;\n  --bs-success-bg-subtle: #051b11;\n  --bs-info-bg-subtle: #032830;\n  --bs-warning-bg-subtle: #332701;\n  --bs-danger-bg-subtle: #2c0b0e;\n  --bs-light-bg-subtle: #343a40;\n  --bs-dark-bg-subtle: #1a1d20;\n  --bs-primary-border-subtle: #084298;\n  --bs-secondary-border-subtle: #41464b;\n  --bs-success-border-subtle: #0f5132;\n  --bs-info-border-subtle: #087990;\n  --bs-warning-border-subtle: #997404;\n  --bs-danger-border-subtle: #842029;\n  --bs-light-border-subtle: #495057;\n  --bs-dark-border-subtle: #343a40;\n  --bs-heading-color: inherit;\n  --bs-link-color: #6ea8fe;\n  --bs-link-hover-color: #8bb9fe;\n  --bs-link-color-rgb: 110, 168, 254;\n  --bs-link-hover-color-rgb: 139, 185, 254;\n  --bs-code-color: #e685b5;\n  --bs-highlight-color: #dee2e6;\n  --bs-highlight-bg: #664d03;\n  --bs-border-color: #495057;\n  --bs-border-color-translucent: rgba(255, 255, 255, 0.15);\n  --bs-form-valid-color: #75b798;\n  --bs-form-valid-border-color: #75b798;\n  --bs-form-invalid-color: #ea868f;\n  --bs-form-invalid-border-color: #ea868f;\n}\n\n*,\n*::before,\n*::after {\n  box-sizing: border-box;\n}\n\n@media (prefers-reduced-motion: no-preference) {\n  :root {\n    scroll-behavior: smooth;\n  }\n}\n\nbody {\n  margin: 0;\n  font-family: var(--bs-body-font-family);\n  font-size: var(--bs-body-font-size);\n  font-weight: var(--bs-body-font-weight);\n  line-height: var(--bs-body-line-height);\n  color: var(--bs-body-color);\n  text-align: var(--bs-body-text-align);\n  background-color: var(--bs-body-bg);\n  -webkit-text-size-adjust: 100%;\n  -webkit-tap-highlight-color: rgba(0, 0, 0, 0);\n}\n\nhr {\n  margin: 1rem 0;\n  color: inherit;\n  border: 0;\n  border-top: var(--bs-border-width) solid;\n  opacity: 0.25;\n}\n\nh6, .h6, h5, .h5, h4, .h4, h3, .h3, h2, .h2, h1, .h1 {\n  margin-top: 0;\n  margin-bottom: 0.5rem;\n  font-weight: 500;\n  line-height: 1.2;\n  color: var(--bs-heading-color);\n}\n\nh1, .h1 {\n  font-size: calc(1.375rem + 1.5vw);\n}\n@media (min-width: 1200px) {\n  h1, .h1 {\n    font-size: 2.5rem;\n  }\n}\n\nh2, .h2 {\n  font-size: calc(1.325rem + 0.9vw);\n}\n@media (min-width: 1200px) {\n  h2, .h2 {\n    font-size: 2rem;\n  }\n}\n\nh3, .h3 {\n  font-size: calc(1.3rem + 0.6vw);\n}\n@media (min-width: 1200px) {\n  h3, .h3 {\n    font-size: 1.75rem;\n  }\n}\n\nh4, .h4 {\n  font-size: calc(1.275rem + 0.3vw);\n}\n@media (min-width: 1200px) {\n  h4, .h4 {\n    font-size: 1.5rem;\n  }\n}\n\nh5, .h5 {\n  font-size: 1.25rem;\n}\n\nh6, .h6 {\n  font-size: 1rem;\n}\n\np {\n  margin-top: 0;\n  margin-bottom: 1rem;\n}\n\nabbr[title] {\n  text-decoration: underline dotted;\n  cursor: help;\n  text-decoration-skip-ink: none;\n}\n\naddress {\n  margin-bottom: 1rem;\n  font-style: normal;\n  line-height: inherit;\n}\n\nol,\nul {\n  padding-left: 2rem;\n}\n\nol,\nul,\ndl {\n  margin-top: 0;\n  margin-bottom: 1rem;\n}\n\nol ol,\nul ul,\nol ul,\nul ol {\n  margin-bottom: 0;\n}\n\ndt {\n  font-weight: 700;\n}\n\ndd {\n  margin-bottom: 0.5rem;\n  margin-left: 0;\n}\n\nblockquote {\n  margin: 0 0 1rem;\n}\n\nb,\nstrong {\n  font-weight: bolder;\n}\n\nsmall, .small {\n  font-size: 0.875em;\n}\n\nmark, .mark {\n  padding: 0.1875em;\n  color: var(--bs-highlight-color);\n  background-color: var(--bs-highlight-bg);\n}\n\nsub,\nsup {\n  position: relative;\n  font-size: 0.75em;\n  line-height: 0;\n  vertical-align: baseline;\n}\n\nsub {\n  bottom: -0.25em;\n}\n\nsup {\n  top: -0.5em;\n}\n\na {\n  color: rgba(var(--bs-link-color-rgb), var(--bs-link-opacity, 1));\n  text-decoration: underline;\n}\na:hover {\n  --bs-link-color-rgb: var(--bs-link-hover-color-rgb);\n}\n\na:not([href]):not([class]), a:not([href]):not([class]):hover {\n  color: inherit;\n  text-decoration: none;\n}\n\npre,\ncode,\nkbd,\nsamp {\n  font-family: var(--bs-font-monospace);\n  font-size: 1em;\n}\n\npre {\n  display: block;\n  margin-top: 0;\n  margin-bottom: 1rem;\n  overflow: auto;\n  font-size: 0.875em;\n}\npre code {\n  font-size: inherit;\n  color: inherit;\n  word-break: normal;\n}\n\ncode {\n  font-size: 0.875em;\n  color: var(--bs-code-color);\n  word-wrap: break-word;\n}\na > code {\n  color: inherit;\n}\n\nkbd {\n  padding: 0.1875rem 0.375rem;\n  font-size: 0.875em;\n  color: var(--bs-body-bg);\n  background-color: var(--bs-body-color);\n  border-radius: 0.25rem;\n}\nkbd kbd {\n  padding: 0;\n  font-size: 1em;\n}\n\nfigure {\n  margin: 0 0 1rem;\n}\n\nimg,\nsvg {\n  vertical-align: middle;\n}\n\ntable {\n  caption-side: bottom;\n  border-collapse: collapse;\n}\n\ncaption {\n  padding-top: 0.5rem;\n  padding-bottom: 0.5rem;\n  color: var(--bs-secondary-color);\n  text-align: left;\n}\n\nth {\n  text-align: inherit;\n  text-align: -webkit-match-parent;\n}\n\nthead,\ntbody,\ntfoot,\ntr,\ntd,\nth {\n  border-color: inherit;\n  border-style: solid;\n  border-width: 0;\n}\n\nlabel {\n  display: inline-block;\n}\n\nbutton {\n  border-radius: 0;\n}\n\nbutton:focus:not(:focus-visible) {\n  outline: 0;\n}\n\ninput,\nbutton,\nselect,\noptgroup,\ntextarea {\n  margin: 0;\n  font-family: inherit;\n  font-size: inherit;\n  line-height: inherit;\n}\n\nbutton,\nselect {\n  text-transform: none;\n}\n\n[role=button] {\n  cursor: pointer;\n}\n\nselect {\n  word-wrap: normal;\n}\nselect:disabled {\n  opacity: 1;\n}\n\n[list]:not([type=date]):not([type=datetime-local]):not([type=month]):not([type=week]):not([type=time])::-webkit-calendar-picker-indicator {\n  display: none !important;\n}\n\nbutton,\n[type=button],\n[type=reset],\n[type=submit] {\n  -webkit-appearance: button;\n}\nbutton:not(:disabled),\n[type=button]:not(:disabled),\n[type=reset]:not(:disabled),\n[type=submit]:not(:disabled) {\n  cursor: pointer;\n}\n\n::-moz-focus-inner {\n  padding: 0;\n  border-style: none;\n}\n\ntextarea {\n  resize: vertical;\n}\n\nfieldset {\n  min-width: 0;\n  padding: 0;\n  margin: 0;\n  border: 0;\n}\n\nlegend {\n  float: left;\n  width: 100%;\n  padding: 0;\n  margin-bottom: 0.5rem;\n  font-size: calc(1.275rem + 0.3vw);\n  line-height: inherit;\n}\n@media (min-width: 1200px) {\n  legend {\n    font-size: 1.5rem;\n  }\n}\nlegend + * {\n  clear: left;\n}\n\n::-webkit-datetime-edit-fields-wrapper,\n::-webkit-datetime-edit-text,\n::-webkit-datetime-edit-minute,\n::-webkit-datetime-edit-hour-field,\n::-webkit-datetime-edit-day-field,\n::-webkit-datetime-edit-month-field,\n::-webkit-datetime-edit-year-field {\n  padding: 0;\n}\n\n::-webkit-inner-spin-button {\n  height: auto;\n}\n\n[type=search] {\n  -webkit-appearance: textfield;\n  outline-offset: -2px;\n}\n\n/* rtl:raw:\n[type=\"tel\"],\n[type=\"url\"],\n[type=\"email\"],\n[type=\"number\"] {\n  direction: ltr;\n}\n*/\n::-webkit-search-decoration {\n  -webkit-appearance: none;\n}\n\n::-webkit-color-swatch-wrapper {\n  padding: 0;\n}\n\n::file-selector-button {\n  font: inherit;\n  -webkit-appearance: button;\n}\n\noutput {\n  display: inline-block;\n}\n\niframe {\n  border: 0;\n}\n\nsummary {\n  display: list-item;\n  cursor: pointer;\n}\n\nprogress {\n  vertical-align: baseline;\n}\n\n[hidden] {\n  display: none !important;\n}\n\n.lead {\n  font-size: 1.25rem;\n  font-weight: 300;\n}\n\n.display-1 {\n  font-size: calc(1.625rem + 4.5vw);\n  font-weight: 300;\n  line-height: 1.2;\n}\n@media (min-width: 1200px) {\n  .display-1 {\n    font-size: 5rem;\n  }\n}\n\n.display-2 {\n  font-size: calc(1.575rem + 3.9vw);\n  font-weight: 300;\n  line-height: 1.2;\n}\n@media (min-width: 1200px) {\n  .display-2 {\n    font-size: 4.5rem;\n  }\n}\n\n.display-3 {\n  font-size: calc(1.525rem + 3.3vw);\n  font-weight: 300;\n  line-height: 1.2;\n}\n@media (min-width: 1200px) {\n  .display-3 {\n    font-size: 4rem;\n  }\n}\n\n.display-4 {\n  font-size: calc(1.475rem + 2.7vw);\n  font-weight: 300;\n  line-height: 1.2;\n}\n@media (min-width: 1200px) {\n  .display-4 {\n    font-size: 3.5rem;\n  }\n}\n\n.display-5 {\n  font-size: calc(1.425rem + 2.1vw);\n  font-weight: 300;\n  line-height: 1.2;\n}\n@media (min-width: 1200px) {\n  .display-5 {\n    font-size: 3rem;\n  }\n}\n\n.display-6 {\n  font-size: calc(1.375rem + 1.5vw);\n  font-weight: 300;\n  line-height: 1.2;\n}\n@media (min-width: 1200px) {\n  .display-6 {\n    font-size: 2.5rem;\n  }\n}\n\n.list-unstyled {\n  padding-left: 0;\n  list-style: none;\n}\n\n.list-inline {\n  padding-left: 0;\n  list-style: none;\n}\n\n.list-inline-item {\n  display: inline-block;\n}\n.list-inline-item:not(:last-child) {\n  margin-right: 0.5rem;\n}\n\n.initialism {\n  font-size: 0.875em;\n  text-transform: uppercase;\n}\n\n.blockquote {\n  margin-bottom: 1rem;\n  font-size: 1.25rem;\n}\n.blockquote > :last-child {\n  margin-bottom: 0;\n}\n\n.blockquote-footer {\n  margin-top: -1rem;\n  margin-bottom: 1rem;\n  font-size: 0.875em;\n  color: #6c757d;\n}\n.blockquote-footer::before {\n  content: \"— \";\n}\n\n.img-fluid {\n  max-width: 100%;\n  height: auto;\n}\n\n.img-thumbnail {\n  padding: 0.25rem;\n  background-color: var(--bs-body-bg);\n  border: var(--bs-border-width) solid var(--bs-border-color);\n  border-radius: var(--bs-border-radius);\n  max-width: 100%;\n  height: auto;\n}\n\n.figure {\n  display: inline-block;\n}\n\n.figure-img {\n  margin-bottom: 0.5rem;\n  line-height: 1;\n}\n\n.figure-caption {\n  font-size: 0.875em;\n  color: var(--bs-secondary-color);\n}\n\n.container,\n.container-fluid,\n.container-xl,\n.container-lg,\n.container-md,\n.container-sm {\n  --bs-gutter-x: 1.5rem;\n  --bs-gutter-y: 0;\n  width: 100%;\n  padding-right: calc(var(--bs-gutter-x) * 0.5);\n  padding-left: calc(var(--bs-gutter-x) * 0.5);\n  margin-right: auto;\n  margin-left: auto;\n}\n\n@media (min-width: 540px) {\n  .container-sm, .container {\n    max-width: 540px;\n  }\n}\n@media (min-width: 720px) {\n  .container-md, .container-sm, .container {\n    max-width: 720px;\n  }\n}\n@media (min-width: 960px) {\n  .container-lg, .container-md, .container-sm, .container {\n    max-width: 960px;\n  }\n}\n@media (min-width: 1200px) {\n  .container-xl, .container-lg, .container-md, .container-sm, .container {\n    max-width: 1400px;\n  }\n}\n:root {\n  --bs-breakpoint-xs: 0;\n  --bs-breakpoint-sm: 540px;\n  --bs-breakpoint-md: 720px;\n  --bs-breakpoint-lg: 960px;\n  --bs-breakpoint-xl: 1200px;\n}\n\n.row {\n  --bs-gutter-x: 1.5rem;\n  --bs-gutter-y: 0;\n  display: flex;\n  flex-wrap: wrap;\n  margin-top: calc(-1 * var(--bs-gutter-y));\n  margin-right: calc(-0.5 * var(--bs-gutter-x));\n  margin-left: calc(-0.5 * var(--bs-gutter-x));\n}\n.row > * {\n  flex-shrink: 0;\n  width: 100%;\n  max-width: 100%;\n  padding-right: calc(var(--bs-gutter-x) * 0.5);\n  padding-left: calc(var(--bs-gutter-x) * 0.5);\n  margin-top: var(--bs-gutter-y);\n}\n\n.col {\n  flex: 1 0 0%;\n}\n\n.row-cols-auto > * {\n  flex: 0 0 auto;\n  width: auto;\n}\n\n.row-cols-1 > * {\n  flex: 0 0 auto;\n  width: 100%;\n}\n\n.row-cols-2 > * {\n  flex: 0 0 auto;\n  width: 50%;\n}\n\n.row-cols-3 > * {\n  flex: 0 0 auto;\n  width: 33.33333333%;\n}\n\n.row-cols-4 > * {\n  flex: 0 0 auto;\n  width: 25%;\n}\n\n.row-cols-5 > * {\n  flex: 0 0 auto;\n  width: 20%;\n}\n\n.row-cols-6 > * {\n  flex: 0 0 auto;\n  width: 16.66666667%;\n}\n\n.col-auto {\n  flex: 0 0 auto;\n  width: auto;\n}\n\n.col-1 {\n  flex: 0 0 auto;\n  width: 8.33333333%;\n}\n\n.col-2 {\n  flex: 0 0 auto;\n  width: 16.66666667%;\n}\n\n.col-3 {\n  flex: 0 0 auto;\n  width: 25%;\n}\n\n.col-4 {\n  flex: 0 0 auto;\n  width: 33.33333333%;\n}\n\n.col-5 {\n  flex: 0 0 auto;\n  width: 41.66666667%;\n}\n\n.col-6 {\n  flex: 0 0 auto;\n  width: 50%;\n}\n\n.col-7 {\n  flex: 0 0 auto;\n  width: 58.33333333%;\n}\n\n.col-8 {\n  flex: 0 0 auto;\n  width: 66.66666667%;\n}\n\n.col-9 {\n  flex: 0 0 auto;\n  width: 75%;\n}\n\n.col-10 {\n  flex: 0 0 auto;\n  width: 83.33333333%;\n}\n\n.col-11 {\n  flex: 0 0 auto;\n  width: 91.66666667%;\n}\n\n.col-12 {\n  flex: 0 0 auto;\n  width: 100%;\n}\n\n.offset-1 {\n  margin-left: 8.33333333%;\n}\n\n.offset-2 {\n  margin-left: 16.66666667%;\n}\n\n.offset-3 {\n  margin-left: 25%;\n}\n\n.offset-4 {\n  margin-left: 33.33333333%;\n}\n\n.offset-5 {\n  margin-left: 41.66666667%;\n}\n\n.offset-6 {\n  margin-left: 50%;\n}\n\n.offset-7 {\n  margin-left: 58.33333333%;\n}\n\n.offset-8 {\n  margin-left: 66.66666667%;\n}\n\n.offset-9 {\n  margin-left: 75%;\n}\n\n.offset-10 {\n  margin-left: 83.33333333%;\n}\n\n.offset-11 {\n  margin-left: 91.66666667%;\n}\n\n.g-0,\n.gx-0 {\n  --bs-gutter-x: 0;\n}\n\n.g-0,\n.gy-0 {\n  --bs-gutter-y: 0;\n}\n\n.g-1,\n.gx-1 {\n  --bs-gutter-x: 0.25rem;\n}\n\n.g-1,\n.gy-1 {\n  --bs-gutter-y: 0.25rem;\n}\n\n.g-2,\n.gx-2 {\n  --bs-gutter-x: 0.5rem;\n}\n\n.g-2,\n.gy-2 {\n  --bs-gutter-y: 0.5rem;\n}\n\n.g-3,\n.gx-3 {\n  --bs-gutter-x: 1rem;\n}\n\n.g-3,\n.gy-3 {\n  --bs-gutter-y: 1rem;\n}\n\n.g-4,\n.gx-4 {\n  --bs-gutter-x: 1.5rem;\n}\n\n.g-4,\n.gy-4 {\n  --bs-gutter-y: 1.5rem;\n}\n\n.g-5,\n.gx-5 {\n  --bs-gutter-x: 3rem;\n}\n\n.g-5,\n.gy-5 {\n  --bs-gutter-y: 3rem;\n}\n\n@media (min-width: 540px) {\n  .col-sm {\n    flex: 1 0 0%;\n  }\n  .row-cols-sm-auto > * {\n    flex: 0 0 auto;\n    width: auto;\n  }\n  .row-cols-sm-1 > * {\n    flex: 0 0 auto;\n    width: 100%;\n  }\n  .row-cols-sm-2 > * {\n    flex: 0 0 auto;\n    width: 50%;\n  }\n  .row-cols-sm-3 > * {\n    flex: 0 0 auto;\n    width: 33.33333333%;\n  }\n  .row-cols-sm-4 > * {\n    flex: 0 0 auto;\n    width: 25%;\n  }\n  .row-cols-sm-5 > * {\n    flex: 0 0 auto;\n    width: 20%;\n  }\n  .row-cols-sm-6 > * {\n    flex: 0 0 auto;\n    width: 16.66666667%;\n  }\n  .col-sm-auto {\n    flex: 0 0 auto;\n    width: auto;\n  }\n  .col-sm-1 {\n    flex: 0 0 auto;\n    width: 8.33333333%;\n  }\n  .col-sm-2 {\n    flex: 0 0 auto;\n    width: 16.66666667%;\n  }\n  .col-sm-3 {\n    flex: 0 0 auto;\n    width: 25%;\n  }\n  .col-sm-4 {\n    flex: 0 0 auto;\n    width: 33.33333333%;\n  }\n  .col-sm-5 {\n    flex: 0 0 auto;\n    width: 41.66666667%;\n  }\n  .col-sm-6 {\n    flex: 0 0 auto;\n    width: 50%;\n  }\n  .col-sm-7 {\n    flex: 0 0 auto;\n    width: 58.33333333%;\n  }\n  .col-sm-8 {\n    flex: 0 0 auto;\n    width: 66.66666667%;\n  }\n  .col-sm-9 {\n    flex: 0 0 auto;\n    width: 75%;\n  }\n  .col-sm-10 {\n    flex: 0 0 auto;\n    width: 83.33333333%;\n  }\n  .col-sm-11 {\n    flex: 0 0 auto;\n    width: 91.66666667%;\n  }\n  .col-sm-12 {\n    flex: 0 0 auto;\n    width: 100%;\n  }\n  .offset-sm-0 {\n    margin-left: 0;\n  }\n  .offset-sm-1 {\n    margin-left: 8.33333333%;\n  }\n  .offset-sm-2 {\n    margin-left: 16.66666667%;\n  }\n  .offset-sm-3 {\n    margin-left: 25%;\n  }\n  .offset-sm-4 {\n    margin-left: 33.33333333%;\n  }\n  .offset-sm-5 {\n    margin-left: 41.66666667%;\n  }\n  .offset-sm-6 {\n    margin-left: 50%;\n  }\n  .offset-sm-7 {\n    margin-left: 58.33333333%;\n  }\n  .offset-sm-8 {\n    margin-left: 66.66666667%;\n  }\n  .offset-sm-9 {\n    margin-left: 75%;\n  }\n  .offset-sm-10 {\n    margin-left: 83.33333333%;\n  }\n  .offset-sm-11 {\n    margin-left: 91.66666667%;\n  }\n  .g-sm-0,\n  .gx-sm-0 {\n    --bs-gutter-x: 0;\n  }\n  .g-sm-0,\n  .gy-sm-0 {\n    --bs-gutter-y: 0;\n  }\n  .g-sm-1,\n  .gx-sm-1 {\n    --bs-gutter-x: 0.25rem;\n  }\n  .g-sm-1,\n  .gy-sm-1 {\n    --bs-gutter-y: 0.25rem;\n  }\n  .g-sm-2,\n  .gx-sm-2 {\n    --bs-gutter-x: 0.5rem;\n  }\n  .g-sm-2,\n  .gy-sm-2 {\n    --bs-gutter-y: 0.5rem;\n  }\n  .g-sm-3,\n  .gx-sm-3 {\n    --bs-gutter-x: 1rem;\n  }\n  .g-sm-3,\n  .gy-sm-3 {\n    --bs-gutter-y: 1rem;\n  }\n  .g-sm-4,\n  .gx-sm-4 {\n    --bs-gutter-x: 1.5rem;\n  }\n  .g-sm-4,\n  .gy-sm-4 {\n    --bs-gutter-y: 1.5rem;\n  }\n  .g-sm-5,\n  .gx-sm-5 {\n    --bs-gutter-x: 3rem;\n  }\n  .g-sm-5,\n  .gy-sm-5 {\n    --bs-gutter-y: 3rem;\n  }\n}\n@media (min-width: 720px) {\n  .col-md {\n    flex: 1 0 0%;\n  }\n  .row-cols-md-auto > * {\n    flex: 0 0 auto;\n    width: auto;\n  }\n  .row-cols-md-1 > * {\n    flex: 0 0 auto;\n    width: 100%;\n  }\n  .row-cols-md-2 > * {\n    flex: 0 0 auto;\n    width: 50%;\n  }\n  .row-cols-md-3 > * {\n    flex: 0 0 auto;\n    width: 33.33333333%;\n  }\n  .row-cols-md-4 > * {\n    flex: 0 0 auto;\n    width: 25%;\n  }\n  .row-cols-md-5 > * {\n    flex: 0 0 auto;\n    width: 20%;\n  }\n  .row-cols-md-6 > * {\n    flex: 0 0 auto;\n    width: 16.66666667%;\n  }\n  .col-md-auto {\n    flex: 0 0 auto;\n    width: auto;\n  }\n  .col-md-1 {\n    flex: 0 0 auto;\n    width: 8.33333333%;\n  }\n  .col-md-2 {\n    flex: 0 0 auto;\n    width: 16.66666667%;\n  }\n  .col-md-3 {\n    flex: 0 0 auto;\n    width: 25%;\n  }\n  .col-md-4 {\n    flex: 0 0 auto;\n    width: 33.33333333%;\n  }\n  .col-md-5 {\n    flex: 0 0 auto;\n    width: 41.66666667%;\n  }\n  .col-md-6 {\n    flex: 0 0 auto;\n    width: 50%;\n  }\n  .col-md-7 {\n    flex: 0 0 auto;\n    width: 58.33333333%;\n  }\n  .col-md-8 {\n    flex: 0 0 auto;\n    width: 66.66666667%;\n  }\n  .col-md-9 {\n    flex: 0 0 auto;\n    width: 75%;\n  }\n  .col-md-10 {\n    flex: 0 0 auto;\n    width: 83.33333333%;\n  }\n  .col-md-11 {\n    flex: 0 0 auto;\n    width: 91.66666667%;\n  }\n  .col-md-12 {\n    flex: 0 0 auto;\n    width: 100%;\n  }\n  .offset-md-0 {\n    margin-left: 0;\n  }\n  .offset-md-1 {\n    margin-left: 8.33333333%;\n  }\n  .offset-md-2 {\n    margin-left: 16.66666667%;\n  }\n  .offset-md-3 {\n    margin-left: 25%;\n  }\n  .offset-md-4 {\n    margin-left: 33.33333333%;\n  }\n  .offset-md-5 {\n    margin-left: 41.66666667%;\n  }\n  .offset-md-6 {\n    margin-left: 50%;\n  }\n  .offset-md-7 {\n    margin-left: 58.33333333%;\n  }\n  .offset-md-8 {\n    margin-left: 66.66666667%;\n  }\n  .offset-md-9 {\n    margin-left: 75%;\n  }\n  .offset-md-10 {\n    margin-left: 83.33333333%;\n  }\n  .offset-md-11 {\n    margin-left: 91.66666667%;\n  }\n  .g-md-0,\n  .gx-md-0 {\n    --bs-gutter-x: 0;\n  }\n  .g-md-0,\n  .gy-md-0 {\n    --bs-gutter-y: 0;\n  }\n  .g-md-1,\n  .gx-md-1 {\n    --bs-gutter-x: 0.25rem;\n  }\n  .g-md-1,\n  .gy-md-1 {\n    --bs-gutter-y: 0.25rem;\n  }\n  .g-md-2,\n  .gx-md-2 {\n    --bs-gutter-x: 0.5rem;\n  }\n  .g-md-2,\n  .gy-md-2 {\n    --bs-gutter-y: 0.5rem;\n  }\n  .g-md-3,\n  .gx-md-3 {\n    --bs-gutter-x: 1rem;\n  }\n  .g-md-3,\n  .gy-md-3 {\n    --bs-gutter-y: 1rem;\n  }\n  .g-md-4,\n  .gx-md-4 {\n    --bs-gutter-x: 1.5rem;\n  }\n  .g-md-4,\n  .gy-md-4 {\n    --bs-gutter-y: 1.5rem;\n  }\n  .g-md-5,\n  .gx-md-5 {\n    --bs-gutter-x: 3rem;\n  }\n  .g-md-5,\n  .gy-md-5 {\n    --bs-gutter-y: 3rem;\n  }\n}\n@media (min-width: 960px) {\n  .col-lg {\n    flex: 1 0 0%;\n  }\n  .row-cols-lg-auto > * {\n    flex: 0 0 auto;\n    width: auto;\n  }\n  .row-cols-lg-1 > * {\n    flex: 0 0 auto;\n    width: 100%;\n  }\n  .row-cols-lg-2 > * {\n    flex: 0 0 auto;\n    width: 50%;\n  }\n  .row-cols-lg-3 > * {\n    flex: 0 0 auto;\n    width: 33.33333333%;\n  }\n  .row-cols-lg-4 > * {\n    flex: 0 0 auto;\n    width: 25%;\n  }\n  .row-cols-lg-5 > * {\n    flex: 0 0 auto;\n    width: 20%;\n  }\n  .row-cols-lg-6 > * {\n    flex: 0 0 auto;\n    width: 16.66666667%;\n  }\n  .col-lg-auto {\n    flex: 0 0 auto;\n    width: auto;\n  }\n  .col-lg-1 {\n    flex: 0 0 auto;\n    width: 8.33333333%;\n  }\n  .col-lg-2 {\n    flex: 0 0 auto;\n    width: 16.66666667%;\n  }\n  .col-lg-3 {\n    flex: 0 0 auto;\n    width: 25%;\n  }\n  .col-lg-4 {\n    flex: 0 0 auto;\n    width: 33.33333333%;\n  }\n  .col-lg-5 {\n    flex: 0 0 auto;\n    width: 41.66666667%;\n  }\n  .col-lg-6 {\n    flex: 0 0 auto;\n    width: 50%;\n  }\n  .col-lg-7 {\n    flex: 0 0 auto;\n    width: 58.33333333%;\n  }\n  .col-lg-8 {\n    flex: 0 0 auto;\n    width: 66.66666667%;\n  }\n  .col-lg-9 {\n    flex: 0 0 auto;\n    width: 75%;\n  }\n  .col-lg-10 {\n    flex: 0 0 auto;\n    width: 83.33333333%;\n  }\n  .col-lg-11 {\n    flex: 0 0 auto;\n    width: 91.66666667%;\n  }\n  .col-lg-12 {\n    flex: 0 0 auto;\n    width: 100%;\n  }\n  .offset-lg-0 {\n    margin-left: 0;\n  }\n  .offset-lg-1 {\n    margin-left: 8.33333333%;\n  }\n  .offset-lg-2 {\n    margin-left: 16.66666667%;\n  }\n  .offset-lg-3 {\n    margin-left: 25%;\n  }\n  .offset-lg-4 {\n    margin-left: 33.33333333%;\n  }\n  .offset-lg-5 {\n    margin-left: 41.66666667%;\n  }\n  .offset-lg-6 {\n    margin-left: 50%;\n  }\n  .offset-lg-7 {\n    margin-left: 58.33333333%;\n  }\n  .offset-lg-8 {\n    margin-left: 66.66666667%;\n  }\n  .offset-lg-9 {\n    margin-left: 75%;\n  }\n  .offset-lg-10 {\n    margin-left: 83.33333333%;\n  }\n  .offset-lg-11 {\n    margin-left: 91.66666667%;\n  }\n  .g-lg-0,\n  .gx-lg-0 {\n    --bs-gutter-x: 0;\n  }\n  .g-lg-0,\n  .gy-lg-0 {\n    --bs-gutter-y: 0;\n  }\n  .g-lg-1,\n  .gx-lg-1 {\n    --bs-gutter-x: 0.25rem;\n  }\n  .g-lg-1,\n  .gy-lg-1 {\n    --bs-gutter-y: 0.25rem;\n  }\n  .g-lg-2,\n  .gx-lg-2 {\n    --bs-gutter-x: 0.5rem;\n  }\n  .g-lg-2,\n  .gy-lg-2 {\n    --bs-gutter-y: 0.5rem;\n  }\n  .g-lg-3,\n  .gx-lg-3 {\n    --bs-gutter-x: 1rem;\n  }\n  .g-lg-3,\n  .gy-lg-3 {\n    --bs-gutter-y: 1rem;\n  }\n  .g-lg-4,\n  .gx-lg-4 {\n    --bs-gutter-x: 1.5rem;\n  }\n  .g-lg-4,\n  .gy-lg-4 {\n    --bs-gutter-y: 1.5rem;\n  }\n  .g-lg-5,\n  .gx-lg-5 {\n    --bs-gutter-x: 3rem;\n  }\n  .g-lg-5,\n  .gy-lg-5 {\n    --bs-gutter-y: 3rem;\n  }\n}\n@media (min-width: 1200px) {\n  .col-xl {\n    flex: 1 0 0%;\n  }\n  .row-cols-xl-auto > * {\n    flex: 0 0 auto;\n    width: auto;\n  }\n  .row-cols-xl-1 > * {\n    flex: 0 0 auto;\n    width: 100%;\n  }\n  .row-cols-xl-2 > * {\n    flex: 0 0 auto;\n    width: 50%;\n  }\n  .row-cols-xl-3 > * {\n    flex: 0 0 auto;\n    width: 33.33333333%;\n  }\n  .row-cols-xl-4 > * {\n    flex: 0 0 auto;\n    width: 25%;\n  }\n  .row-cols-xl-5 > * {\n    flex: 0 0 auto;\n    width: 20%;\n  }\n  .row-cols-xl-6 > * {\n    flex: 0 0 auto;\n    width: 16.66666667%;\n  }\n  .col-xl-auto {\n    flex: 0 0 auto;\n    width: auto;\n  }\n  .col-xl-1 {\n    flex: 0 0 auto;\n    width: 8.33333333%;\n  }\n  .col-xl-2 {\n    flex: 0 0 auto;\n    width: 16.66666667%;\n  }\n  .col-xl-3 {\n    flex: 0 0 auto;\n    width: 25%;\n  }\n  .col-xl-4 {\n    flex: 0 0 auto;\n    width: 33.33333333%;\n  }\n  .col-xl-5 {\n    flex: 0 0 auto;\n    width: 41.66666667%;\n  }\n  .col-xl-6 {\n    flex: 0 0 auto;\n    width: 50%;\n  }\n  .col-xl-7 {\n    flex: 0 0 auto;\n    width: 58.33333333%;\n  }\n  .col-xl-8 {\n    flex: 0 0 auto;\n    width: 66.66666667%;\n  }\n  .col-xl-9 {\n    flex: 0 0 auto;\n    width: 75%;\n  }\n  .col-xl-10 {\n    flex: 0 0 auto;\n    width: 83.33333333%;\n  }\n  .col-xl-11 {\n    flex: 0 0 auto;\n    width: 91.66666667%;\n  }\n  .col-xl-12 {\n    flex: 0 0 auto;\n    width: 100%;\n  }\n  .offset-xl-0 {\n    margin-left: 0;\n  }\n  .offset-xl-1 {\n    margin-left: 8.33333333%;\n  }\n  .offset-xl-2 {\n    margin-left: 16.66666667%;\n  }\n  .offset-xl-3 {\n    margin-left: 25%;\n  }\n  .offset-xl-4 {\n    margin-left: 33.33333333%;\n  }\n  .offset-xl-5 {\n    margin-left: 41.66666667%;\n  }\n  .offset-xl-6 {\n    margin-left: 50%;\n  }\n  .offset-xl-7 {\n    margin-left: 58.33333333%;\n  }\n  .offset-xl-8 {\n    margin-left: 66.66666667%;\n  }\n  .offset-xl-9 {\n    margin-left: 75%;\n  }\n  .offset-xl-10 {\n    margin-left: 83.33333333%;\n  }\n  .offset-xl-11 {\n    margin-left: 91.66666667%;\n  }\n  .g-xl-0,\n  .gx-xl-0 {\n    --bs-gutter-x: 0;\n  }\n  .g-xl-0,\n  .gy-xl-0 {\n    --bs-gutter-y: 0;\n  }\n  .g-xl-1,\n  .gx-xl-1 {\n    --bs-gutter-x: 0.25rem;\n  }\n  .g-xl-1,\n  .gy-xl-1 {\n    --bs-gutter-y: 0.25rem;\n  }\n  .g-xl-2,\n  .gx-xl-2 {\n    --bs-gutter-x: 0.5rem;\n  }\n  .g-xl-2,\n  .gy-xl-2 {\n    --bs-gutter-y: 0.5rem;\n  }\n  .g-xl-3,\n  .gx-xl-3 {\n    --bs-gutter-x: 1rem;\n  }\n  .g-xl-3,\n  .gy-xl-3 {\n    --bs-gutter-y: 1rem;\n  }\n  .g-xl-4,\n  .gx-xl-4 {\n    --bs-gutter-x: 1.5rem;\n  }\n  .g-xl-4,\n  .gy-xl-4 {\n    --bs-gutter-y: 1.5rem;\n  }\n  .g-xl-5,\n  .gx-xl-5 {\n    --bs-gutter-x: 3rem;\n  }\n  .g-xl-5,\n  .gy-xl-5 {\n    --bs-gutter-y: 3rem;\n  }\n}\n.table {\n  --bs-table-color-type: initial;\n  --bs-table-bg-type: initial;\n  --bs-table-color-state: initial;\n  --bs-table-bg-state: initial;\n  --bs-table-color: var(--bs-emphasis-color);\n  --bs-table-bg: var(--bs-body-bg);\n  --bs-table-border-color: var(--bs-border-color);\n  --bs-table-accent-bg: transparent;\n  --bs-table-striped-color: var(--bs-emphasis-color);\n  --bs-table-striped-bg: rgba(var(--bs-emphasis-color-rgb), 0.05);\n  --bs-table-active-color: var(--bs-emphasis-color);\n  --bs-table-active-bg: rgba(var(--bs-emphasis-color-rgb), 0.1);\n  --bs-table-hover-color: var(--bs-emphasis-color);\n  --bs-table-hover-bg: rgba(var(--bs-emphasis-color-rgb), 0.075);\n  width: 100%;\n  margin-bottom: 1rem;\n  vertical-align: top;\n  border-color: var(--bs-table-border-color);\n}\n.table > :not(caption) > * > * {\n  padding: 0.5rem 0.5rem;\n  color: var(--bs-table-color-state, var(--bs-table-color-type, var(--bs-table-color)));\n  background-color: var(--bs-table-bg);\n  border-bottom-width: var(--bs-border-width);\n  box-shadow: inset 0 0 0 9999px var(--bs-table-bg-state, var(--bs-table-bg-type, var(--bs-table-accent-bg)));\n}\n.table > tbody {\n  vertical-align: inherit;\n}\n.table > thead {\n  vertical-align: bottom;\n}\n\n.table-group-divider {\n  border-top: calc(var(--bs-border-width) * 2) solid currentcolor;\n}\n\n.caption-top {\n  caption-side: top;\n}\n\n.table-sm > :not(caption) > * > * {\n  padding: 0.25rem 0.25rem;\n}\n\n.table-bordered > :not(caption) > * {\n  border-width: var(--bs-border-width) 0;\n}\n.table-bordered > :not(caption) > * > * {\n  border-width: 0 var(--bs-border-width);\n}\n\n.table-borderless > :not(caption) > * > * {\n  border-bottom-width: 0;\n}\n.table-borderless > :not(:first-child) {\n  border-top-width: 0;\n}\n\n.table-striped > tbody > tr:nth-of-type(odd) > * {\n  --bs-table-color-type: var(--bs-table-striped-color);\n  --bs-table-bg-type: var(--bs-table-striped-bg);\n}\n\n.table-striped-columns > :not(caption) > tr > :nth-child(even) {\n  --bs-table-color-type: var(--bs-table-striped-color);\n  --bs-table-bg-type: var(--bs-table-striped-bg);\n}\n\n.table-active {\n  --bs-table-color-state: var(--bs-table-active-color);\n  --bs-table-bg-state: var(--bs-table-active-bg);\n}\n\n.table-hover > tbody > tr:hover > * {\n  --bs-table-color-state: var(--bs-table-hover-color);\n  --bs-table-bg-state: var(--bs-table-hover-bg);\n}\n\n.table-primary {\n  --bs-table-color: #000;\n  --bs-table-bg: #cfe2ff;\n  --bs-table-border-color: #a6b5cc;\n  --bs-table-striped-bg: #c5d7f2;\n  --bs-table-striped-color: #000;\n  --bs-table-active-bg: #bacbe6;\n  --bs-table-active-color: #000;\n  --bs-table-hover-bg: #bfd1ec;\n  --bs-table-hover-color: #000;\n  color: var(--bs-table-color);\n  border-color: var(--bs-table-border-color);\n}\n\n.table-secondary {\n  --bs-table-color: #000;\n  --bs-table-bg: #e2e3e5;\n  --bs-table-border-color: #b5b6b7;\n  --bs-table-striped-bg: #d7d8da;\n  --bs-table-striped-color: #000;\n  --bs-table-active-bg: #cbccce;\n  --bs-table-active-color: #000;\n  --bs-table-hover-bg: #d1d2d4;\n  --bs-table-hover-color: #000;\n  color: var(--bs-table-color);\n  border-color: var(--bs-table-border-color);\n}\n\n.table-success {\n  --bs-table-color: #000;\n  --bs-table-bg: #d1e7dd;\n  --bs-table-border-color: #a7b9b1;\n  --bs-table-striped-bg: #c7dbd2;\n  --bs-table-striped-color: #000;\n  --bs-table-active-bg: #bcd0c7;\n  --bs-table-active-color: #000;\n  --bs-table-hover-bg: #c1d6cc;\n  --bs-table-hover-color: #000;\n  color: var(--bs-table-color);\n  border-color: var(--bs-table-border-color);\n}\n\n.table-info {\n  --bs-table-color: #000;\n  --bs-table-bg: #cff4fc;\n  --bs-table-border-color: #a6c3ca;\n  --bs-table-striped-bg: #c5e8ef;\n  --bs-table-striped-color: #000;\n  --bs-table-active-bg: #badce3;\n  --bs-table-active-color: #000;\n  --bs-table-hover-bg: #bfe2e9;\n  --bs-table-hover-color: #000;\n  color: var(--bs-table-color);\n  border-color: var(--bs-table-border-color);\n}\n\n.table-warning {\n  --bs-table-color: #000;\n  --bs-table-bg: #fff3cd;\n  --bs-table-border-color: #ccc2a4;\n  --bs-table-striped-bg: #f2e7c3;\n  --bs-table-striped-color: #000;\n  --bs-table-active-bg: #e6dbb9;\n  --bs-table-active-color: #000;\n  --bs-table-hover-bg: #ece1be;\n  --bs-table-hover-color: #000;\n  color: var(--bs-table-color);\n  border-color: var(--bs-table-border-color);\n}\n\n.table-danger {\n  --bs-table-color: #000;\n  --bs-table-bg: #f8d7da;\n  --bs-table-border-color: #c6acae;\n  --bs-table-striped-bg: #eccccf;\n  --bs-table-striped-color: #000;\n  --bs-table-active-bg: #dfc2c4;\n  --bs-table-active-color: #000;\n  --bs-table-hover-bg: #e5c7ca;\n  --bs-table-hover-color: #000;\n  color: var(--bs-table-color);\n  border-color: var(--bs-table-border-color);\n}\n\n.table-light {\n  --bs-table-color: #000;\n  --bs-table-bg: #f8f9fa;\n  --bs-table-border-color: #c6c7c8;\n  --bs-table-striped-bg: #ecedee;\n  --bs-table-striped-color: #000;\n  --bs-table-active-bg: #dfe0e1;\n  --bs-table-active-color: #000;\n  --bs-table-hover-bg: #e5e6e7;\n  --bs-table-hover-color: #000;\n  color: var(--bs-table-color);\n  border-color: var(--bs-table-border-color);\n}\n\n.table-dark {\n  --bs-table-color: #fff;\n  --bs-table-bg: #212529;\n  --bs-table-border-color: #4d5154;\n  --bs-table-striped-bg: #2c3034;\n  --bs-table-striped-color: #fff;\n  --bs-table-active-bg: #373b3e;\n  --bs-table-active-color: #fff;\n  --bs-table-hover-bg: #323539;\n  --bs-table-hover-color: #fff;\n  color: var(--bs-table-color);\n  border-color: var(--bs-table-border-color);\n}\n\n.table-responsive {\n  overflow-x: auto;\n  -webkit-overflow-scrolling: touch;\n}\n\n@media (max-width: 539.98px) {\n  .table-responsive-sm {\n    overflow-x: auto;\n    -webkit-overflow-scrolling: touch;\n  }\n}\n@media (max-width: 719.98px) {\n  .table-responsive-md {\n    overflow-x: auto;\n    -webkit-overflow-scrolling: touch;\n  }\n}\n@media (max-width: 959.98px) {\n  .table-responsive-lg {\n    overflow-x: auto;\n    -webkit-overflow-scrolling: touch;\n  }\n}\n@media (max-width: 1199.98px) {\n  .table-responsive-xl {\n    overflow-x: auto;\n    -webkit-overflow-scrolling: touch;\n  }\n}\n.form-label {\n  margin-bottom: 0.5rem;\n}\n\n.col-form-label {\n  padding-top: calc(0.375rem + var(--bs-border-width));\n  padding-bottom: calc(0.375rem + var(--bs-border-width));\n  margin-bottom: 0;\n  font-size: inherit;\n  line-height: 1.5;\n}\n\n.col-form-label-lg {\n  padding-top: calc(0.5rem + var(--bs-border-width));\n  padding-bottom: calc(0.5rem + var(--bs-border-width));\n  font-size: 1.25rem;\n}\n\n.col-form-label-sm {\n  padding-top: calc(0.25rem + var(--bs-border-width));\n  padding-bottom: calc(0.25rem + var(--bs-border-width));\n  font-size: 0.875rem;\n}\n\n.form-text {\n  margin-top: 0.25rem;\n  font-size: 0.875em;\n  color: var(--bs-secondary-color);\n}\n\n.form-control {\n  display: block;\n  width: 100%;\n  padding: 0.375rem 0.75rem;\n  font-size: 1rem;\n  font-weight: 400;\n  line-height: 1.5;\n  color: var(--bs-body-color);\n  appearance: none;\n  background-color: var(--bs-body-bg);\n  background-clip: padding-box;\n  border: var(--bs-border-width) solid var(--bs-border-color);\n  border-radius: var(--bs-border-radius);\n  transition: border-color 0.15s ease-in-out, box-shadow 0.15s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .form-control {\n    transition: none;\n  }\n}\n.form-control[type=file] {\n  overflow: hidden;\n}\n.form-control[type=file]:not(:disabled):not([readonly]) {\n  cursor: pointer;\n}\n.form-control:focus {\n  color: var(--bs-body-color);\n  background-color: var(--bs-body-bg);\n  border-color: #86b7fe;\n  outline: 0;\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n}\n.form-control::-webkit-date-and-time-value {\n  min-width: 85px;\n  height: 1.5em;\n  margin: 0;\n}\n.form-control::-webkit-datetime-edit {\n  display: block;\n  padding: 0;\n}\n.form-control::placeholder {\n  color: var(--bs-secondary-color);\n  opacity: 1;\n}\n.form-control:disabled {\n  background-color: var(--bs-secondary-bg);\n  opacity: 1;\n}\n.form-control::file-selector-button {\n  padding: 0.375rem 0.75rem;\n  margin: -0.375rem -0.75rem;\n  margin-inline-end: 0.75rem;\n  color: var(--bs-body-color);\n  background-color: var(--bs-tertiary-bg);\n  pointer-events: none;\n  border-color: inherit;\n  border-style: solid;\n  border-width: 0;\n  border-inline-end-width: var(--bs-border-width);\n  border-radius: 0;\n  transition: color 0.15s ease-in-out, background-color 0.15s ease-in-out, border-color 0.15s ease-in-out, box-shadow 0.15s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .form-control::file-selector-button {\n    transition: none;\n  }\n}\n.form-control:hover:not(:disabled):not([readonly])::file-selector-button {\n  background-color: var(--bs-secondary-bg);\n}\n\n.form-control-plaintext {\n  display: block;\n  width: 100%;\n  padding: 0.375rem 0;\n  margin-bottom: 0;\n  line-height: 1.5;\n  color: var(--bs-body-color);\n  background-color: transparent;\n  border: solid transparent;\n  border-width: var(--bs-border-width) 0;\n}\n.form-control-plaintext:focus {\n  outline: 0;\n}\n.form-control-plaintext.form-control-sm, .form-control-plaintext.form-control-lg {\n  padding-right: 0;\n  padding-left: 0;\n}\n\n.form-control-sm {\n  min-height: calc(1.5em + 0.5rem + calc(var(--bs-border-width) * 2));\n  padding: 0.25rem 0.5rem;\n  font-size: 0.875rem;\n  border-radius: var(--bs-border-radius-sm);\n}\n.form-control-sm::file-selector-button {\n  padding: 0.25rem 0.5rem;\n  margin: -0.25rem -0.5rem;\n  margin-inline-end: 0.5rem;\n}\n\n.form-control-lg {\n  min-height: calc(1.5em + 1rem + calc(var(--bs-border-width) * 2));\n  padding: 0.5rem 1rem;\n  font-size: 1.25rem;\n  border-radius: var(--bs-border-radius-lg);\n}\n.form-control-lg::file-selector-button {\n  padding: 0.5rem 1rem;\n  margin: -0.5rem -1rem;\n  margin-inline-end: 1rem;\n}\n\ntextarea.form-control {\n  min-height: calc(1.5em + 0.75rem + calc(var(--bs-border-width) * 2));\n}\ntextarea.form-control-sm {\n  min-height: calc(1.5em + 0.5rem + calc(var(--bs-border-width) * 2));\n}\ntextarea.form-control-lg {\n  min-height: calc(1.5em + 1rem + calc(var(--bs-border-width) * 2));\n}\n\n.form-control-color {\n  width: 3rem;\n  height: calc(1.5em + 0.75rem + calc(var(--bs-border-width) * 2));\n  padding: 0.375rem;\n}\n.form-control-color:not(:disabled):not([readonly]) {\n  cursor: pointer;\n}\n.form-control-color::-moz-color-swatch {\n  border: 0 !important;\n  border-radius: var(--bs-border-radius);\n}\n.form-control-color::-webkit-color-swatch {\n  border: 0 !important;\n  border-radius: var(--bs-border-radius);\n}\n.form-control-color.form-control-sm {\n  height: calc(1.5em + 0.5rem + calc(var(--bs-border-width) * 2));\n}\n.form-control-color.form-control-lg {\n  height: calc(1.5em + 1rem + calc(var(--bs-border-width) * 2));\n}\n\n.form-select {\n  --bs-form-select-bg-img: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16'%3e%3cpath fill='none' stroke='%23343a40' stroke-linecap='round' stroke-linejoin='round' stroke-width='2' d='m2 5 6 6 6-6'/%3e%3c/svg%3e\");\n  display: block;\n  width: 100%;\n  padding: 0.375rem 2.25rem 0.375rem 0.75rem;\n  font-size: 1rem;\n  font-weight: 400;\n  line-height: 1.5;\n  color: var(--bs-body-color);\n  appearance: none;\n  background-color: var(--bs-body-bg);\n  background-image: var(--bs-form-select-bg-img), var(--bs-form-select-bg-icon, none);\n  background-repeat: no-repeat;\n  background-position: right 0.75rem center;\n  background-size: 16px 12px;\n  border: var(--bs-border-width) solid var(--bs-border-color);\n  border-radius: var(--bs-border-radius);\n  transition: border-color 0.15s ease-in-out, box-shadow 0.15s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .form-select {\n    transition: none;\n  }\n}\n.form-select:focus {\n  border-color: #86b7fe;\n  outline: 0;\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n}\n.form-select[multiple], .form-select[size]:not([size=\"1\"]) {\n  padding-right: 0.75rem;\n  background-image: none;\n}\n.form-select:disabled {\n  background-color: var(--bs-secondary-bg);\n}\n.form-select:-moz-focusring {\n  color: transparent;\n  text-shadow: 0 0 0 var(--bs-body-color);\n}\n\n.form-select-sm {\n  padding-top: 0.25rem;\n  padding-bottom: 0.25rem;\n  padding-left: 0.5rem;\n  font-size: 0.875rem;\n  border-radius: var(--bs-border-radius-sm);\n}\n\n.form-select-lg {\n  padding-top: 0.5rem;\n  padding-bottom: 0.5rem;\n  padding-left: 1rem;\n  font-size: 1.25rem;\n  border-radius: var(--bs-border-radius-lg);\n}\n\n[data-bs-theme=dark] .form-select {\n  --bs-form-select-bg-img: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16'%3e%3cpath fill='none' stroke='%23dee2e6' stroke-linecap='round' stroke-linejoin='round' stroke-width='2' d='m2 5 6 6 6-6'/%3e%3c/svg%3e\");\n}\n\n.form-check {\n  display: block;\n  min-height: 1.5rem;\n  padding-left: 1.5em;\n  margin-bottom: 0.125rem;\n}\n.form-check .form-check-input {\n  float: left;\n  margin-left: -1.5em;\n}\n\n.form-check-reverse {\n  padding-right: 1.5em;\n  padding-left: 0;\n  text-align: right;\n}\n.form-check-reverse .form-check-input {\n  float: right;\n  margin-right: -1.5em;\n  margin-left: 0;\n}\n\n.form-check-input {\n  --bs-form-check-bg: var(--bs-body-bg);\n  flex-shrink: 0;\n  width: 1em;\n  height: 1em;\n  margin-top: 0.25em;\n  vertical-align: top;\n  appearance: none;\n  background-color: var(--bs-form-check-bg);\n  background-image: var(--bs-form-check-bg-image);\n  background-repeat: no-repeat;\n  background-position: center;\n  background-size: contain;\n  border: var(--bs-border-width) solid var(--bs-border-color);\n  print-color-adjust: exact;\n}\n.form-check-input[type=checkbox] {\n  border-radius: 0.25em;\n}\n.form-check-input[type=radio] {\n  border-radius: 50%;\n}\n.form-check-input:active {\n  filter: brightness(90%);\n}\n.form-check-input:focus {\n  border-color: #86b7fe;\n  outline: 0;\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n}\n.form-check-input:checked {\n  background-color: #0d6efd;\n  border-color: #0d6efd;\n}\n.form-check-input:checked[type=checkbox] {\n  --bs-form-check-bg-image: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 20 20'%3e%3cpath fill='none' stroke='%23fff' stroke-linecap='round' stroke-linejoin='round' stroke-width='3' d='m6 10 3 3 6-6'/%3e%3c/svg%3e\");\n}\n.form-check-input:checked[type=radio] {\n  --bs-form-check-bg-image: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='-4 -4 8 8'%3e%3ccircle r='2' fill='%23fff'/%3e%3c/svg%3e\");\n}\n.form-check-input[type=checkbox]:indeterminate {\n  background-color: #0d6efd;\n  border-color: #0d6efd;\n  --bs-form-check-bg-image: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 20 20'%3e%3cpath fill='none' stroke='%23fff' stroke-linecap='round' stroke-linejoin='round' stroke-width='3' d='M6 10h8'/%3e%3c/svg%3e\");\n}\n.form-check-input:disabled {\n  pointer-events: none;\n  filter: none;\n  opacity: 0.5;\n}\n.form-check-input[disabled] ~ .form-check-label, .form-check-input:disabled ~ .form-check-label {\n  cursor: default;\n  opacity: 0.5;\n}\n\n.form-switch {\n  padding-left: 2.5em;\n}\n.form-switch .form-check-input {\n  --bs-form-switch-bg: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='-4 -4 8 8'%3e%3ccircle r='3' fill='rgba%280, 0, 0, 0.25%29'/%3e%3c/svg%3e\");\n  width: 2em;\n  margin-left: -2.5em;\n  background-image: var(--bs-form-switch-bg);\n  background-position: left center;\n  border-radius: 2em;\n  transition: background-position 0.15s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .form-switch .form-check-input {\n    transition: none;\n  }\n}\n.form-switch .form-check-input:focus {\n  --bs-form-switch-bg: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='-4 -4 8 8'%3e%3ccircle r='3' fill='%2386b7fe'/%3e%3c/svg%3e\");\n}\n.form-switch .form-check-input:checked {\n  background-position: right center;\n  --bs-form-switch-bg: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='-4 -4 8 8'%3e%3ccircle r='3' fill='%23fff'/%3e%3c/svg%3e\");\n}\n.form-switch.form-check-reverse {\n  padding-right: 2.5em;\n  padding-left: 0;\n}\n.form-switch.form-check-reverse .form-check-input {\n  margin-right: -2.5em;\n  margin-left: 0;\n}\n\n.form-check-inline {\n  display: inline-block;\n  margin-right: 1rem;\n}\n\n.btn-check {\n  position: absolute;\n  clip: rect(0, 0, 0, 0);\n  pointer-events: none;\n}\n.btn-check[disabled] + .btn, .btn-check:disabled + .btn {\n  pointer-events: none;\n  filter: none;\n  opacity: 0.65;\n}\n\n[data-bs-theme=dark] .form-switch .form-check-input:not(:checked):not(:focus) {\n  --bs-form-switch-bg: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='-4 -4 8 8'%3e%3ccircle r='3' fill='rgba%28255, 255, 255, 0.25%29'/%3e%3c/svg%3e\");\n}\n\n.form-range {\n  width: 100%;\n  height: 1.375rem;\n  padding: 0;\n  appearance: none;\n  background-color: transparent;\n}\n.form-range:focus {\n  outline: 0;\n}\n.form-range:focus::-webkit-slider-thumb {\n  box-shadow: 0 0 0 1px #fff, 0 0 0 0.1875rem var(--pst-color-accent);\n}\n.form-range:focus::-moz-range-thumb {\n  box-shadow: 0 0 0 1px #fff, 0 0 0 0.1875rem var(--pst-color-accent);\n}\n.form-range::-moz-focus-outer {\n  border: 0;\n}\n.form-range::-webkit-slider-thumb {\n  width: 1rem;\n  height: 1rem;\n  margin-top: -0.25rem;\n  appearance: none;\n  background-color: #0d6efd;\n  border: 0;\n  border-radius: 1rem;\n  transition: background-color 0.15s ease-in-out, border-color 0.15s ease-in-out, box-shadow 0.15s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .form-range::-webkit-slider-thumb {\n    transition: none;\n  }\n}\n.form-range::-webkit-slider-thumb:active {\n  background-color: #b6d4fe;\n}\n.form-range::-webkit-slider-runnable-track {\n  width: 100%;\n  height: 0.5rem;\n  color: transparent;\n  cursor: pointer;\n  background-color: var(--bs-secondary-bg);\n  border-color: transparent;\n  border-radius: 1rem;\n}\n.form-range::-moz-range-thumb {\n  width: 1rem;\n  height: 1rem;\n  appearance: none;\n  background-color: #0d6efd;\n  border: 0;\n  border-radius: 1rem;\n  transition: background-color 0.15s ease-in-out, border-color 0.15s ease-in-out, box-shadow 0.15s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .form-range::-moz-range-thumb {\n    transition: none;\n  }\n}\n.form-range::-moz-range-thumb:active {\n  background-color: #b6d4fe;\n}\n.form-range::-moz-range-track {\n  width: 100%;\n  height: 0.5rem;\n  color: transparent;\n  cursor: pointer;\n  background-color: var(--bs-secondary-bg);\n  border-color: transparent;\n  border-radius: 1rem;\n}\n.form-range:disabled {\n  pointer-events: none;\n}\n.form-range:disabled::-webkit-slider-thumb {\n  background-color: var(--bs-secondary-color);\n}\n.form-range:disabled::-moz-range-thumb {\n  background-color: var(--bs-secondary-color);\n}\n\n.form-floating {\n  position: relative;\n}\n.form-floating > .form-control,\n.form-floating > .form-control-plaintext,\n.form-floating > .form-select {\n  height: calc(3.5rem + calc(var(--bs-border-width) * 2));\n  min-height: calc(3.5rem + calc(var(--bs-border-width) * 2));\n  line-height: 1.25;\n}\n.form-floating > label {\n  position: absolute;\n  top: 0;\n  left: 0;\n  z-index: 2;\n  height: 100%;\n  padding: 1rem 0.75rem;\n  overflow: hidden;\n  text-align: start;\n  text-overflow: ellipsis;\n  white-space: nowrap;\n  pointer-events: none;\n  border: var(--bs-border-width) solid transparent;\n  transform-origin: 0 0;\n  transition: opacity 0.1s ease-in-out, transform 0.1s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .form-floating > label {\n    transition: none;\n  }\n}\n.form-floating > .form-control,\n.form-floating > .form-control-plaintext {\n  padding: 1rem 0.75rem;\n}\n.form-floating > .form-control::placeholder,\n.form-floating > .form-control-plaintext::placeholder {\n  color: transparent;\n}\n.form-floating > .form-control:focus, .form-floating > .form-control:not(:placeholder-shown),\n.form-floating > .form-control-plaintext:focus,\n.form-floating > .form-control-plaintext:not(:placeholder-shown) {\n  padding-top: 1.625rem;\n  padding-bottom: 0.625rem;\n}\n.form-floating > .form-control:-webkit-autofill,\n.form-floating > .form-control-plaintext:-webkit-autofill {\n  padding-top: 1.625rem;\n  padding-bottom: 0.625rem;\n}\n.form-floating > .form-select {\n  padding-top: 1.625rem;\n  padding-bottom: 0.625rem;\n}\n.form-floating > .form-control:focus ~ label,\n.form-floating > .form-control:not(:placeholder-shown) ~ label,\n.form-floating > .form-control-plaintext ~ label,\n.form-floating > .form-select ~ label {\n  color: rgba(var(--bs-body-color-rgb), 0.65);\n  transform: scale(0.85) translateY(-0.5rem) translateX(0.15rem);\n}\n.form-floating > .form-control:focus ~ label::after,\n.form-floating > .form-control:not(:placeholder-shown) ~ label::after,\n.form-floating > .form-control-plaintext ~ label::after,\n.form-floating > .form-select ~ label::after {\n  position: absolute;\n  inset: 1rem 0.375rem;\n  z-index: -1;\n  height: 1.5em;\n  content: \"\";\n  background-color: var(--bs-body-bg);\n  border-radius: var(--bs-border-radius);\n}\n.form-floating > .form-control:-webkit-autofill ~ label {\n  color: rgba(var(--bs-body-color-rgb), 0.65);\n  transform: scale(0.85) translateY(-0.5rem) translateX(0.15rem);\n}\n.form-floating > .form-control-plaintext ~ label {\n  border-width: var(--bs-border-width) 0;\n}\n.form-floating > :disabled ~ label,\n.form-floating > .form-control:disabled ~ label {\n  color: #6c757d;\n}\n.form-floating > :disabled ~ label::after,\n.form-floating > .form-control:disabled ~ label::after {\n  background-color: var(--bs-secondary-bg);\n}\n\n.input-group {\n  position: relative;\n  display: flex;\n  flex-wrap: wrap;\n  align-items: stretch;\n  width: 100%;\n}\n.input-group > .form-control,\n.input-group > .form-select,\n.input-group > .form-floating {\n  position: relative;\n  flex: 1 1 auto;\n  width: 1%;\n  min-width: 0;\n}\n.input-group > .form-control:focus,\n.input-group > .form-select:focus,\n.input-group > .form-floating:focus-within {\n  z-index: 5;\n}\n.input-group .btn {\n  position: relative;\n  z-index: 2;\n}\n.input-group .btn:focus {\n  z-index: 5;\n}\n\n.input-group-text {\n  display: flex;\n  align-items: center;\n  padding: 0.375rem 0.75rem;\n  font-size: 1rem;\n  font-weight: 400;\n  line-height: 1.5;\n  color: var(--bs-body-color);\n  text-align: center;\n  white-space: nowrap;\n  background-color: var(--bs-tertiary-bg);\n  border: var(--bs-border-width) solid var(--bs-border-color);\n  border-radius: var(--bs-border-radius);\n}\n\n.input-group-lg > .form-control,\n.input-group-lg > .form-select,\n.input-group-lg > .input-group-text,\n.input-group-lg > .btn {\n  padding: 0.5rem 1rem;\n  font-size: 1.25rem;\n  border-radius: var(--bs-border-radius-lg);\n}\n\n.input-group-sm > .form-control,\n.input-group-sm > .form-select,\n.input-group-sm > .input-group-text,\n.input-group-sm > .btn {\n  padding: 0.25rem 0.5rem;\n  font-size: 0.875rem;\n  border-radius: var(--bs-border-radius-sm);\n}\n\n.input-group-lg > .form-select,\n.input-group-sm > .form-select {\n  padding-right: 3rem;\n}\n\n.input-group:not(.has-validation) > :not(:last-child):not(.dropdown-toggle):not(.dropdown-menu):not(.form-floating),\n.input-group:not(.has-validation) > .dropdown-toggle:nth-last-child(n+3),\n.input-group:not(.has-validation) > .form-floating:not(:last-child) > .form-control,\n.input-group:not(.has-validation) > .form-floating:not(:last-child) > .form-select {\n  border-top-right-radius: 0;\n  border-bottom-right-radius: 0;\n}\n.input-group.has-validation > :nth-last-child(n+3):not(.dropdown-toggle):not(.dropdown-menu):not(.form-floating),\n.input-group.has-validation > .dropdown-toggle:nth-last-child(n+4),\n.input-group.has-validation > .form-floating:nth-last-child(n+3) > .form-control,\n.input-group.has-validation > .form-floating:nth-last-child(n+3) > .form-select {\n  border-top-right-radius: 0;\n  border-bottom-right-radius: 0;\n}\n.input-group > :not(:first-child):not(.dropdown-menu):not(.valid-tooltip):not(.valid-feedback):not(.invalid-tooltip):not(.invalid-feedback) {\n  margin-left: calc(var(--bs-border-width) * -1);\n  border-top-left-radius: 0;\n  border-bottom-left-radius: 0;\n}\n.input-group > .form-floating:not(:first-child) > .form-control,\n.input-group > .form-floating:not(:first-child) > .form-select {\n  border-top-left-radius: 0;\n  border-bottom-left-radius: 0;\n}\n\n.valid-feedback {\n  display: none;\n  width: 100%;\n  margin-top: 0.25rem;\n  font-size: 0.875em;\n  color: var(--bs-form-valid-color);\n}\n\n.valid-tooltip {\n  position: absolute;\n  top: 100%;\n  z-index: 5;\n  display: none;\n  max-width: 100%;\n  padding: 0.25rem 0.5rem;\n  margin-top: 0.1rem;\n  font-size: 0.875rem;\n  color: #fff;\n  background-color: var(--bs-success);\n  border-radius: var(--bs-border-radius);\n}\n\n.was-validated :valid ~ .valid-feedback,\n.was-validated :valid ~ .valid-tooltip,\n.is-valid ~ .valid-feedback,\n.is-valid ~ .valid-tooltip {\n  display: block;\n}\n\n.was-validated .form-control:valid, .form-control.is-valid {\n  border-color: var(--bs-form-valid-border-color);\n  padding-right: calc(1.5em + 0.75rem);\n  background-image: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 8 8'%3e%3cpath fill='%23198754' d='M2.3 6.73.6 4.53c-.4-1.04.46-1.4 1.1-.8l1.1 1.4 3.4-3.8c.6-.63 1.6-.27 1.2.7l-4 4.6c-.43.5-.8.4-1.1.1z'/%3e%3c/svg%3e\");\n  background-repeat: no-repeat;\n  background-position: right calc(0.375em + 0.1875rem) center;\n  background-size: calc(0.75em + 0.375rem) calc(0.75em + 0.375rem);\n}\n.was-validated .form-control:valid:focus, .form-control.is-valid:focus {\n  border-color: var(--bs-form-valid-border-color);\n  box-shadow: 0 0 0 0.1875rem rgba(var(--bs-success-rgb), 1);\n}\n\n.was-validated textarea.form-control:valid, textarea.form-control.is-valid {\n  padding-right: calc(1.5em + 0.75rem);\n  background-position: top calc(0.375em + 0.1875rem) right calc(0.375em + 0.1875rem);\n}\n\n.was-validated .form-select:valid, .form-select.is-valid {\n  border-color: var(--bs-form-valid-border-color);\n}\n.was-validated .form-select:valid:not([multiple]):not([size]), .was-validated .form-select:valid:not([multiple])[size=\"1\"], .form-select.is-valid:not([multiple]):not([size]), .form-select.is-valid:not([multiple])[size=\"1\"] {\n  --bs-form-select-bg-icon: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 8 8'%3e%3cpath fill='%23198754' d='M2.3 6.73.6 4.53c-.4-1.04.46-1.4 1.1-.8l1.1 1.4 3.4-3.8c.6-.63 1.6-.27 1.2.7l-4 4.6c-.43.5-.8.4-1.1.1z'/%3e%3c/svg%3e\");\n  padding-right: 4.125rem;\n  background-position: right 0.75rem center, center right 2.25rem;\n  background-size: 16px 12px, calc(0.75em + 0.375rem) calc(0.75em + 0.375rem);\n}\n.was-validated .form-select:valid:focus, .form-select.is-valid:focus {\n  border-color: var(--bs-form-valid-border-color);\n  box-shadow: 0 0 0 0.1875rem rgba(var(--bs-success-rgb), 1);\n}\n\n.was-validated .form-control-color:valid, .form-control-color.is-valid {\n  width: calc(3rem + calc(1.5em + 0.75rem));\n}\n\n.was-validated .form-check-input:valid, .form-check-input.is-valid {\n  border-color: var(--bs-form-valid-border-color);\n}\n.was-validated .form-check-input:valid:checked, .form-check-input.is-valid:checked {\n  background-color: var(--bs-form-valid-color);\n}\n.was-validated .form-check-input:valid:focus, .form-check-input.is-valid:focus {\n  box-shadow: 0 0 0 0.1875rem rgba(var(--bs-success-rgb), 1);\n}\n.was-validated .form-check-input:valid ~ .form-check-label, .form-check-input.is-valid ~ .form-check-label {\n  color: var(--bs-form-valid-color);\n}\n\n.form-check-inline .form-check-input ~ .valid-feedback {\n  margin-left: 0.5em;\n}\n\n.was-validated .input-group > .form-control:not(:focus):valid, .input-group > .form-control:not(:focus).is-valid,\n.was-validated .input-group > .form-select:not(:focus):valid,\n.input-group > .form-select:not(:focus).is-valid,\n.was-validated .input-group > .form-floating:not(:focus-within):valid,\n.input-group > .form-floating:not(:focus-within).is-valid {\n  z-index: 3;\n}\n\n.invalid-feedback {\n  display: none;\n  width: 100%;\n  margin-top: 0.25rem;\n  font-size: 0.875em;\n  color: var(--bs-form-invalid-color);\n}\n\n.invalid-tooltip {\n  position: absolute;\n  top: 100%;\n  z-index: 5;\n  display: none;\n  max-width: 100%;\n  padding: 0.25rem 0.5rem;\n  margin-top: 0.1rem;\n  font-size: 0.875rem;\n  color: #fff;\n  background-color: var(--bs-danger);\n  border-radius: var(--bs-border-radius);\n}\n\n.was-validated :invalid ~ .invalid-feedback,\n.was-validated :invalid ~ .invalid-tooltip,\n.is-invalid ~ .invalid-feedback,\n.is-invalid ~ .invalid-tooltip {\n  display: block;\n}\n\n.was-validated .form-control:invalid, .form-control.is-invalid {\n  border-color: var(--bs-form-invalid-border-color);\n  padding-right: calc(1.5em + 0.75rem);\n  background-image: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 12 12' width='12' height='12' fill='none' stroke='%23dc3545'%3e%3ccircle cx='6' cy='6' r='4.5'/%3e%3cpath stroke-linejoin='round' d='M5.8 3.6h.4L6 6.5z'/%3e%3ccircle cx='6' cy='8.2' r='.6' fill='%23dc3545' stroke='none'/%3e%3c/svg%3e\");\n  background-repeat: no-repeat;\n  background-position: right calc(0.375em + 0.1875rem) center;\n  background-size: calc(0.75em + 0.375rem) calc(0.75em + 0.375rem);\n}\n.was-validated .form-control:invalid:focus, .form-control.is-invalid:focus {\n  border-color: var(--bs-form-invalid-border-color);\n  box-shadow: 0 0 0 0.1875rem rgba(var(--bs-danger-rgb), 1);\n}\n\n.was-validated textarea.form-control:invalid, textarea.form-control.is-invalid {\n  padding-right: calc(1.5em + 0.75rem);\n  background-position: top calc(0.375em + 0.1875rem) right calc(0.375em + 0.1875rem);\n}\n\n.was-validated .form-select:invalid, .form-select.is-invalid {\n  border-color: var(--bs-form-invalid-border-color);\n}\n.was-validated .form-select:invalid:not([multiple]):not([size]), .was-validated .form-select:invalid:not([multiple])[size=\"1\"], .form-select.is-invalid:not([multiple]):not([size]), .form-select.is-invalid:not([multiple])[size=\"1\"] {\n  --bs-form-select-bg-icon: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 12 12' width='12' height='12' fill='none' stroke='%23dc3545'%3e%3ccircle cx='6' cy='6' r='4.5'/%3e%3cpath stroke-linejoin='round' d='M5.8 3.6h.4L6 6.5z'/%3e%3ccircle cx='6' cy='8.2' r='.6' fill='%23dc3545' stroke='none'/%3e%3c/svg%3e\");\n  padding-right: 4.125rem;\n  background-position: right 0.75rem center, center right 2.25rem;\n  background-size: 16px 12px, calc(0.75em + 0.375rem) calc(0.75em + 0.375rem);\n}\n.was-validated .form-select:invalid:focus, .form-select.is-invalid:focus {\n  border-color: var(--bs-form-invalid-border-color);\n  box-shadow: 0 0 0 0.1875rem rgba(var(--bs-danger-rgb), 1);\n}\n\n.was-validated .form-control-color:invalid, .form-control-color.is-invalid {\n  width: calc(3rem + calc(1.5em + 0.75rem));\n}\n\n.was-validated .form-check-input:invalid, .form-check-input.is-invalid {\n  border-color: var(--bs-form-invalid-border-color);\n}\n.was-validated .form-check-input:invalid:checked, .form-check-input.is-invalid:checked {\n  background-color: var(--bs-form-invalid-color);\n}\n.was-validated .form-check-input:invalid:focus, .form-check-input.is-invalid:focus {\n  box-shadow: 0 0 0 0.1875rem rgba(var(--bs-danger-rgb), 1);\n}\n.was-validated .form-check-input:invalid ~ .form-check-label, .form-check-input.is-invalid ~ .form-check-label {\n  color: var(--bs-form-invalid-color);\n}\n\n.form-check-inline .form-check-input ~ .invalid-feedback {\n  margin-left: 0.5em;\n}\n\n.was-validated .input-group > .form-control:not(:focus):invalid, .input-group > .form-control:not(:focus).is-invalid,\n.was-validated .input-group > .form-select:not(:focus):invalid,\n.input-group > .form-select:not(:focus).is-invalid,\n.was-validated .input-group > .form-floating:not(:focus-within):invalid,\n.input-group > .form-floating:not(:focus-within).is-invalid {\n  z-index: 4;\n}\n\n.btn {\n  --bs-btn-padding-x: 0.75rem;\n  --bs-btn-padding-y: 0.375rem;\n  --bs-btn-font-family: ;\n  --bs-btn-font-size: 1rem;\n  --bs-btn-font-weight: 400;\n  --bs-btn-line-height: 1.5;\n  --bs-btn-color: var(--bs-body-color);\n  --bs-btn-bg: transparent;\n  --bs-btn-border-width: var(--bs-border-width);\n  --bs-btn-border-color: transparent;\n  --bs-btn-border-radius: var(--bs-border-radius);\n  --bs-btn-hover-border-color: transparent;\n  --bs-btn-box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.15), 0 1px 1px rgba(0, 0, 0, 0.075);\n  --bs-btn-disabled-opacity: 0.65;\n  --bs-btn-focus-box-shadow: 0 0 0 0.1875rem rgba(var(--bs-btn-focus-shadow-rgb), .5);\n  display: inline-block;\n  padding: var(--bs-btn-padding-y) var(--bs-btn-padding-x);\n  font-family: var(--bs-btn-font-family);\n  font-size: var(--bs-btn-font-size);\n  font-weight: var(--bs-btn-font-weight);\n  line-height: var(--bs-btn-line-height);\n  color: var(--bs-btn-color);\n  text-align: center;\n  text-decoration: none;\n  vertical-align: middle;\n  cursor: pointer;\n  user-select: none;\n  border: var(--bs-btn-border-width) solid var(--bs-btn-border-color);\n  border-radius: var(--bs-btn-border-radius);\n  background-color: var(--bs-btn-bg);\n  transition: color 0.15s ease-in-out, background-color 0.15s ease-in-out, border-color 0.15s ease-in-out, box-shadow 0.15s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .btn {\n    transition: none;\n  }\n}\n.btn:hover {\n  color: var(--bs-btn-hover-color);\n  background-color: var(--bs-btn-hover-bg);\n  border-color: var(--bs-btn-hover-border-color);\n}\n.btn-check + .btn:hover {\n  color: var(--bs-btn-color);\n  background-color: var(--bs-btn-bg);\n  border-color: var(--bs-btn-border-color);\n}\n.btn:focus-visible {\n  color: var(--bs-btn-hover-color);\n  background-color: var(--bs-btn-hover-bg);\n  border-color: var(--bs-btn-hover-border-color);\n  outline: 0;\n  box-shadow: var(--bs-btn-focus-box-shadow);\n}\n.btn-check:focus-visible + .btn {\n  border-color: var(--bs-btn-hover-border-color);\n  outline: 0;\n  box-shadow: var(--bs-btn-focus-box-shadow);\n}\n.btn-check:checked + .btn, :not(.btn-check) + .btn:active, .btn:first-child:active, .btn.active, .btn.show {\n  color: var(--bs-btn-active-color);\n  background-color: var(--bs-btn-active-bg);\n  border-color: var(--bs-btn-active-border-color);\n}\n.btn-check:checked + .btn:focus-visible, :not(.btn-check) + .btn:active:focus-visible, .btn:first-child:active:focus-visible, .btn.active:focus-visible, .btn.show:focus-visible {\n  box-shadow: var(--bs-btn-focus-box-shadow);\n}\n.btn-check:checked:focus-visible + .btn {\n  box-shadow: var(--bs-btn-focus-box-shadow);\n}\n.btn:disabled, .btn.disabled, fieldset:disabled .btn {\n  color: var(--bs-btn-disabled-color);\n  pointer-events: none;\n  background-color: var(--bs-btn-disabled-bg);\n  border-color: var(--bs-btn-disabled-border-color);\n  opacity: var(--bs-btn-disabled-opacity);\n}\n\n.btn-primary {\n  --bs-btn-color: #fff;\n  --bs-btn-bg: #0d6efd;\n  --bs-btn-border-color: #0d6efd;\n  --bs-btn-hover-color: #fff;\n  --bs-btn-hover-bg: #0b5ed7;\n  --bs-btn-hover-border-color: #0a58ca;\n  --bs-btn-focus-shadow-rgb: 49, 132, 253;\n  --bs-btn-active-color: #fff;\n  --bs-btn-active-bg: #0a58ca;\n  --bs-btn-active-border-color: #0a53be;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #fff;\n  --bs-btn-disabled-bg: #0d6efd;\n  --bs-btn-disabled-border-color: #0d6efd;\n}\n\n.btn-secondary {\n  --bs-btn-color: #fff;\n  --bs-btn-bg: #6c757d;\n  --bs-btn-border-color: #6c757d;\n  --bs-btn-hover-color: #fff;\n  --bs-btn-hover-bg: #5c636a;\n  --bs-btn-hover-border-color: #565e64;\n  --bs-btn-focus-shadow-rgb: 130, 138, 145;\n  --bs-btn-active-color: #fff;\n  --bs-btn-active-bg: #565e64;\n  --bs-btn-active-border-color: #51585e;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #fff;\n  --bs-btn-disabled-bg: #6c757d;\n  --bs-btn-disabled-border-color: #6c757d;\n}\n\n.btn-success {\n  --bs-btn-color: #fff;\n  --bs-btn-bg: #198754;\n  --bs-btn-border-color: #198754;\n  --bs-btn-hover-color: #fff;\n  --bs-btn-hover-bg: #157347;\n  --bs-btn-hover-border-color: #146c43;\n  --bs-btn-focus-shadow-rgb: 60, 153, 110;\n  --bs-btn-active-color: #fff;\n  --bs-btn-active-bg: #146c43;\n  --bs-btn-active-border-color: #13653f;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #fff;\n  --bs-btn-disabled-bg: #198754;\n  --bs-btn-disabled-border-color: #198754;\n}\n\n.btn-info {\n  --bs-btn-color: #000;\n  --bs-btn-bg: #0dcaf0;\n  --bs-btn-border-color: #0dcaf0;\n  --bs-btn-hover-color: #000;\n  --bs-btn-hover-bg: #31d2f2;\n  --bs-btn-hover-border-color: #25cff2;\n  --bs-btn-focus-shadow-rgb: 11, 172, 204;\n  --bs-btn-active-color: #000;\n  --bs-btn-active-bg: #3dd5f3;\n  --bs-btn-active-border-color: #25cff2;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #000;\n  --bs-btn-disabled-bg: #0dcaf0;\n  --bs-btn-disabled-border-color: #0dcaf0;\n}\n\n.btn-warning {\n  --bs-btn-color: #000;\n  --bs-btn-bg: #ffc107;\n  --bs-btn-border-color: #ffc107;\n  --bs-btn-hover-color: #000;\n  --bs-btn-hover-bg: #ffca2c;\n  --bs-btn-hover-border-color: #ffc720;\n  --bs-btn-focus-shadow-rgb: 217, 164, 6;\n  --bs-btn-active-color: #000;\n  --bs-btn-active-bg: #ffcd39;\n  --bs-btn-active-border-color: #ffc720;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #000;\n  --bs-btn-disabled-bg: #ffc107;\n  --bs-btn-disabled-border-color: #ffc107;\n}\n\n.btn-danger {\n  --bs-btn-color: #fff;\n  --bs-btn-bg: #dc3545;\n  --bs-btn-border-color: #dc3545;\n  --bs-btn-hover-color: #fff;\n  --bs-btn-hover-bg: #bb2d3b;\n  --bs-btn-hover-border-color: #b02a37;\n  --bs-btn-focus-shadow-rgb: 225, 83, 97;\n  --bs-btn-active-color: #fff;\n  --bs-btn-active-bg: #b02a37;\n  --bs-btn-active-border-color: #a52834;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #fff;\n  --bs-btn-disabled-bg: #dc3545;\n  --bs-btn-disabled-border-color: #dc3545;\n}\n\n.btn-light {\n  --bs-btn-color: #000;\n  --bs-btn-bg: #f8f9fa;\n  --bs-btn-border-color: #f8f9fa;\n  --bs-btn-hover-color: #000;\n  --bs-btn-hover-bg: #d3d4d5;\n  --bs-btn-hover-border-color: #c6c7c8;\n  --bs-btn-focus-shadow-rgb: 211, 212, 213;\n  --bs-btn-active-color: #000;\n  --bs-btn-active-bg: #c6c7c8;\n  --bs-btn-active-border-color: #babbbc;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #000;\n  --bs-btn-disabled-bg: #f8f9fa;\n  --bs-btn-disabled-border-color: #f8f9fa;\n}\n\n.btn-dark {\n  --bs-btn-color: #fff;\n  --bs-btn-bg: #212529;\n  --bs-btn-border-color: #212529;\n  --bs-btn-hover-color: #fff;\n  --bs-btn-hover-bg: #424649;\n  --bs-btn-hover-border-color: #373b3e;\n  --bs-btn-focus-shadow-rgb: 66, 70, 73;\n  --bs-btn-active-color: #fff;\n  --bs-btn-active-bg: #4d5154;\n  --bs-btn-active-border-color: #373b3e;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #fff;\n  --bs-btn-disabled-bg: #212529;\n  --bs-btn-disabled-border-color: #212529;\n}\n\n.btn-outline-primary {\n  --bs-btn-color: #0d6efd;\n  --bs-btn-border-color: #0d6efd;\n  --bs-btn-hover-color: #fff;\n  --bs-btn-hover-bg: #0d6efd;\n  --bs-btn-hover-border-color: #0d6efd;\n  --bs-btn-focus-shadow-rgb: 13, 110, 253;\n  --bs-btn-active-color: #fff;\n  --bs-btn-active-bg: #0d6efd;\n  --bs-btn-active-border-color: #0d6efd;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #0d6efd;\n  --bs-btn-disabled-bg: transparent;\n  --bs-btn-disabled-border-color: #0d6efd;\n  --bs-gradient: none;\n}\n\n.btn-outline-secondary {\n  --bs-btn-color: #6c757d;\n  --bs-btn-border-color: #6c757d;\n  --bs-btn-hover-color: #fff;\n  --bs-btn-hover-bg: #6c757d;\n  --bs-btn-hover-border-color: #6c757d;\n  --bs-btn-focus-shadow-rgb: 108, 117, 125;\n  --bs-btn-active-color: #fff;\n  --bs-btn-active-bg: #6c757d;\n  --bs-btn-active-border-color: #6c757d;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #6c757d;\n  --bs-btn-disabled-bg: transparent;\n  --bs-btn-disabled-border-color: #6c757d;\n  --bs-gradient: none;\n}\n\n.btn-outline-success {\n  --bs-btn-color: #198754;\n  --bs-btn-border-color: #198754;\n  --bs-btn-hover-color: #fff;\n  --bs-btn-hover-bg: #198754;\n  --bs-btn-hover-border-color: #198754;\n  --bs-btn-focus-shadow-rgb: 25, 135, 84;\n  --bs-btn-active-color: #fff;\n  --bs-btn-active-bg: #198754;\n  --bs-btn-active-border-color: #198754;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #198754;\n  --bs-btn-disabled-bg: transparent;\n  --bs-btn-disabled-border-color: #198754;\n  --bs-gradient: none;\n}\n\n.btn-outline-info {\n  --bs-btn-color: #0dcaf0;\n  --bs-btn-border-color: #0dcaf0;\n  --bs-btn-hover-color: #000;\n  --bs-btn-hover-bg: #0dcaf0;\n  --bs-btn-hover-border-color: #0dcaf0;\n  --bs-btn-focus-shadow-rgb: 13, 202, 240;\n  --bs-btn-active-color: #000;\n  --bs-btn-active-bg: #0dcaf0;\n  --bs-btn-active-border-color: #0dcaf0;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #0dcaf0;\n  --bs-btn-disabled-bg: transparent;\n  --bs-btn-disabled-border-color: #0dcaf0;\n  --bs-gradient: none;\n}\n\n.btn-outline-warning {\n  --bs-btn-color: #ffc107;\n  --bs-btn-border-color: #ffc107;\n  --bs-btn-hover-color: #000;\n  --bs-btn-hover-bg: #ffc107;\n  --bs-btn-hover-border-color: #ffc107;\n  --bs-btn-focus-shadow-rgb: 255, 193, 7;\n  --bs-btn-active-color: #000;\n  --bs-btn-active-bg: #ffc107;\n  --bs-btn-active-border-color: #ffc107;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #ffc107;\n  --bs-btn-disabled-bg: transparent;\n  --bs-btn-disabled-border-color: #ffc107;\n  --bs-gradient: none;\n}\n\n.btn-outline-danger {\n  --bs-btn-color: #dc3545;\n  --bs-btn-border-color: #dc3545;\n  --bs-btn-hover-color: #fff;\n  --bs-btn-hover-bg: #dc3545;\n  --bs-btn-hover-border-color: #dc3545;\n  --bs-btn-focus-shadow-rgb: 220, 53, 69;\n  --bs-btn-active-color: #fff;\n  --bs-btn-active-bg: #dc3545;\n  --bs-btn-active-border-color: #dc3545;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #dc3545;\n  --bs-btn-disabled-bg: transparent;\n  --bs-btn-disabled-border-color: #dc3545;\n  --bs-gradient: none;\n}\n\n.btn-outline-light {\n  --bs-btn-color: #f8f9fa;\n  --bs-btn-border-color: #f8f9fa;\n  --bs-btn-hover-color: #000;\n  --bs-btn-hover-bg: #f8f9fa;\n  --bs-btn-hover-border-color: #f8f9fa;\n  --bs-btn-focus-shadow-rgb: 248, 249, 250;\n  --bs-btn-active-color: #000;\n  --bs-btn-active-bg: #f8f9fa;\n  --bs-btn-active-border-color: #f8f9fa;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #f8f9fa;\n  --bs-btn-disabled-bg: transparent;\n  --bs-btn-disabled-border-color: #f8f9fa;\n  --bs-gradient: none;\n}\n\n.btn-outline-dark {\n  --bs-btn-color: #212529;\n  --bs-btn-border-color: #212529;\n  --bs-btn-hover-color: #fff;\n  --bs-btn-hover-bg: #212529;\n  --bs-btn-hover-border-color: #212529;\n  --bs-btn-focus-shadow-rgb: 33, 37, 41;\n  --bs-btn-active-color: #fff;\n  --bs-btn-active-bg: #212529;\n  --bs-btn-active-border-color: #212529;\n  --bs-btn-active-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);\n  --bs-btn-disabled-color: #212529;\n  --bs-btn-disabled-bg: transparent;\n  --bs-btn-disabled-border-color: #212529;\n  --bs-gradient: none;\n}\n\n.btn-link {\n  --bs-btn-font-weight: 400;\n  --bs-btn-color: var(--bs-link-color);\n  --bs-btn-bg: transparent;\n  --bs-btn-border-color: transparent;\n  --bs-btn-hover-color: var(--bs-link-hover-color);\n  --bs-btn-hover-border-color: transparent;\n  --bs-btn-active-color: var(--bs-link-hover-color);\n  --bs-btn-active-border-color: transparent;\n  --bs-btn-disabled-color: #6c757d;\n  --bs-btn-disabled-border-color: transparent;\n  --bs-btn-box-shadow: 0 0 0 #000;\n  --bs-btn-focus-shadow-rgb: 49, 132, 253;\n  text-decoration: underline;\n}\n.btn-link:focus-visible {\n  color: var(--bs-btn-color);\n}\n.btn-link:hover {\n  color: var(--bs-btn-hover-color);\n}\n\n.btn-lg, .btn-group-lg > .btn {\n  --bs-btn-padding-y: 0.5rem;\n  --bs-btn-padding-x: 1rem;\n  --bs-btn-font-size: 1.25rem;\n  --bs-btn-border-radius: var(--bs-border-radius-lg);\n}\n\n.btn-sm, .btn-group-sm > .btn {\n  --bs-btn-padding-y: 0.25rem;\n  --bs-btn-padding-x: 0.5rem;\n  --bs-btn-font-size: 0.875rem;\n  --bs-btn-border-radius: var(--bs-border-radius-sm);\n}\n\n.fade {\n  transition: opacity 0.15s linear;\n}\n@media (prefers-reduced-motion: reduce) {\n  .fade {\n    transition: none;\n  }\n}\n.fade:not(.show) {\n  opacity: 0;\n}\n\n.collapse:not(.show) {\n  display: none;\n}\n\n.collapsing {\n  height: 0;\n  overflow: hidden;\n  transition: height 0.35s ease;\n}\n@media (prefers-reduced-motion: reduce) {\n  .collapsing {\n    transition: none;\n  }\n}\n.collapsing.collapse-horizontal {\n  width: 0;\n  height: auto;\n  transition: width 0.35s ease;\n}\n@media (prefers-reduced-motion: reduce) {\n  .collapsing.collapse-horizontal {\n    transition: none;\n  }\n}\n\n.dropup,\n.dropend,\n.dropdown,\n.dropstart,\n.dropup-center,\n.dropdown-center {\n  position: relative;\n}\n\n.dropdown-toggle {\n  white-space: nowrap;\n}\n.dropdown-toggle::after {\n  display: inline-block;\n  margin-left: 0.255em;\n  vertical-align: 0.255em;\n  content: \"\";\n  border-top: 0.3em solid;\n  border-right: 0.3em solid transparent;\n  border-bottom: 0;\n  border-left: 0.3em solid transparent;\n}\n.dropdown-toggle:empty::after {\n  margin-left: 0;\n}\n\n.dropdown-menu {\n  --bs-dropdown-zindex: 1000;\n  --bs-dropdown-min-width: 10rem;\n  --bs-dropdown-padding-x: 0;\n  --bs-dropdown-padding-y: 0.5rem;\n  --bs-dropdown-spacer: 0.125rem;\n  --bs-dropdown-font-size: 1rem;\n  --bs-dropdown-color: var(--bs-body-color);\n  --bs-dropdown-bg: var(--bs-body-bg);\n  --bs-dropdown-border-color: var(--bs-border-color-translucent);\n  --bs-dropdown-border-radius: var(--bs-border-radius);\n  --bs-dropdown-border-width: var(--bs-border-width);\n  --bs-dropdown-inner-border-radius: calc(var(--bs-border-radius) - var(--bs-border-width));\n  --bs-dropdown-divider-bg: var(--bs-border-color-translucent);\n  --bs-dropdown-divider-margin-y: 0.5rem;\n  --bs-dropdown-box-shadow: var(--bs-box-shadow);\n  --bs-dropdown-link-color: var(--bs-body-color);\n  --bs-dropdown-link-hover-color: var(--bs-body-color);\n  --bs-dropdown-link-hover-bg: var(--pst-color-surface);\n  --bs-dropdown-link-active-color: #fff;\n  --bs-dropdown-link-active-bg: var(--pst-color-surface);\n  --bs-dropdown-link-disabled-color: var(--bs-tertiary-color);\n  --bs-dropdown-item-padding-x: 1rem;\n  --bs-dropdown-item-padding-y: 0.25rem;\n  --bs-dropdown-header-color: #6c757d;\n  --bs-dropdown-header-padding-x: 1rem;\n  --bs-dropdown-header-padding-y: 0.5rem;\n  position: absolute;\n  z-index: var(--bs-dropdown-zindex);\n  display: none;\n  min-width: var(--bs-dropdown-min-width);\n  padding: var(--bs-dropdown-padding-y) var(--bs-dropdown-padding-x);\n  margin: 0;\n  font-size: var(--bs-dropdown-font-size);\n  color: var(--bs-dropdown-color);\n  text-align: left;\n  list-style: none;\n  background-color: var(--bs-dropdown-bg);\n  background-clip: padding-box;\n  border: var(--bs-dropdown-border-width) solid var(--bs-dropdown-border-color);\n  border-radius: var(--bs-dropdown-border-radius);\n}\n.dropdown-menu[data-bs-popper] {\n  top: 100%;\n  left: 0;\n  margin-top: var(--bs-dropdown-spacer);\n}\n\n.dropdown-menu-start {\n  --bs-position: start;\n}\n.dropdown-menu-start[data-bs-popper] {\n  right: auto;\n  left: 0;\n}\n\n.dropdown-menu-end {\n  --bs-position: end;\n}\n.dropdown-menu-end[data-bs-popper] {\n  right: 0;\n  left: auto;\n}\n\n@media (min-width: 540px) {\n  .dropdown-menu-sm-start {\n    --bs-position: start;\n  }\n  .dropdown-menu-sm-start[data-bs-popper] {\n    right: auto;\n    left: 0;\n  }\n  .dropdown-menu-sm-end {\n    --bs-position: end;\n  }\n  .dropdown-menu-sm-end[data-bs-popper] {\n    right: 0;\n    left: auto;\n  }\n}\n@media (min-width: 720px) {\n  .dropdown-menu-md-start {\n    --bs-position: start;\n  }\n  .dropdown-menu-md-start[data-bs-popper] {\n    right: auto;\n    left: 0;\n  }\n  .dropdown-menu-md-end {\n    --bs-position: end;\n  }\n  .dropdown-menu-md-end[data-bs-popper] {\n    right: 0;\n    left: auto;\n  }\n}\n@media (min-width: 960px) {\n  .dropdown-menu-lg-start {\n    --bs-position: start;\n  }\n  .dropdown-menu-lg-start[data-bs-popper] {\n    right: auto;\n    left: 0;\n  }\n  .dropdown-menu-lg-end {\n    --bs-position: end;\n  }\n  .dropdown-menu-lg-end[data-bs-popper] {\n    right: 0;\n    left: auto;\n  }\n}\n@media (min-width: 1200px) {\n  .dropdown-menu-xl-start {\n    --bs-position: start;\n  }\n  .dropdown-menu-xl-start[data-bs-popper] {\n    right: auto;\n    left: 0;\n  }\n  .dropdown-menu-xl-end {\n    --bs-position: end;\n  }\n  .dropdown-menu-xl-end[data-bs-popper] {\n    right: 0;\n    left: auto;\n  }\n}\n.dropup .dropdown-menu[data-bs-popper] {\n  top: auto;\n  bottom: 100%;\n  margin-top: 0;\n  margin-bottom: var(--bs-dropdown-spacer);\n}\n.dropup .dropdown-toggle::after {\n  display: inline-block;\n  margin-left: 0.255em;\n  vertical-align: 0.255em;\n  content: \"\";\n  border-top: 0;\n  border-right: 0.3em solid transparent;\n  border-bottom: 0.3em solid;\n  border-left: 0.3em solid transparent;\n}\n.dropup .dropdown-toggle:empty::after {\n  margin-left: 0;\n}\n\n.dropend .dropdown-menu[data-bs-popper] {\n  top: 0;\n  right: auto;\n  left: 100%;\n  margin-top: 0;\n  margin-left: var(--bs-dropdown-spacer);\n}\n.dropend .dropdown-toggle::after {\n  display: inline-block;\n  margin-left: 0.255em;\n  vertical-align: 0.255em;\n  content: \"\";\n  border-top: 0.3em solid transparent;\n  border-right: 0;\n  border-bottom: 0.3em solid transparent;\n  border-left: 0.3em solid;\n}\n.dropend .dropdown-toggle:empty::after {\n  margin-left: 0;\n}\n.dropend .dropdown-toggle::after {\n  vertical-align: 0;\n}\n\n.dropstart .dropdown-menu[data-bs-popper] {\n  top: 0;\n  right: 100%;\n  left: auto;\n  margin-top: 0;\n  margin-right: var(--bs-dropdown-spacer);\n}\n.dropstart .dropdown-toggle::after {\n  display: inline-block;\n  margin-left: 0.255em;\n  vertical-align: 0.255em;\n  content: \"\";\n}\n.dropstart .dropdown-toggle::after {\n  display: none;\n}\n.dropstart .dropdown-toggle::before {\n  display: inline-block;\n  margin-right: 0.255em;\n  vertical-align: 0.255em;\n  content: \"\";\n  border-top: 0.3em solid transparent;\n  border-right: 0.3em solid;\n  border-bottom: 0.3em solid transparent;\n}\n.dropstart .dropdown-toggle:empty::after {\n  margin-left: 0;\n}\n.dropstart .dropdown-toggle::before {\n  vertical-align: 0;\n}\n\n.dropdown-divider {\n  height: 0;\n  margin: var(--bs-dropdown-divider-margin-y) 0;\n  overflow: hidden;\n  border-top: 1px solid var(--bs-dropdown-divider-bg);\n  opacity: 1;\n}\n\n.dropdown-item {\n  display: block;\n  width: 100%;\n  padding: var(--bs-dropdown-item-padding-y) var(--bs-dropdown-item-padding-x);\n  clear: both;\n  font-weight: 400;\n  color: var(--bs-dropdown-link-color);\n  text-align: inherit;\n  text-decoration: none;\n  white-space: nowrap;\n  background-color: transparent;\n  border: 0;\n  border-radius: var(--bs-dropdown-item-border-radius, 0);\n}\n.dropdown-item:hover, .dropdown-item:focus {\n  color: var(--bs-dropdown-link-hover-color);\n  background-color: var(--bs-dropdown-link-hover-bg);\n}\n.dropdown-item.active, .dropdown-item:active {\n  color: var(--bs-dropdown-link-active-color);\n  text-decoration: none;\n  background-color: var(--bs-dropdown-link-active-bg);\n}\n.dropdown-item.disabled, .dropdown-item:disabled {\n  color: var(--bs-dropdown-link-disabled-color);\n  pointer-events: none;\n  background-color: transparent;\n}\n\n.dropdown-menu.show {\n  display: block;\n}\n\n.dropdown-header {\n  display: block;\n  padding: var(--bs-dropdown-header-padding-y) var(--bs-dropdown-header-padding-x);\n  margin-bottom: 0;\n  font-size: 0.875rem;\n  color: var(--bs-dropdown-header-color);\n  white-space: nowrap;\n}\n\n.dropdown-item-text {\n  display: block;\n  padding: var(--bs-dropdown-item-padding-y) var(--bs-dropdown-item-padding-x);\n  color: var(--bs-dropdown-link-color);\n}\n\n.dropdown-menu-dark {\n  --bs-dropdown-color: #dee2e6;\n  --bs-dropdown-bg: #343a40;\n  --bs-dropdown-border-color: var(--bs-border-color-translucent);\n  --bs-dropdown-box-shadow: ;\n  --bs-dropdown-link-color: #dee2e6;\n  --bs-dropdown-link-hover-color: #fff;\n  --bs-dropdown-divider-bg: var(--bs-border-color-translucent);\n  --bs-dropdown-link-hover-bg: var(--pst-color-surface);\n  --bs-dropdown-link-active-color: #fff;\n  --bs-dropdown-link-active-bg: var(--pst-color-surface);\n  --bs-dropdown-link-disabled-color: #adb5bd;\n  --bs-dropdown-header-color: #adb5bd;\n}\n\n.btn-group,\n.btn-group-vertical {\n  position: relative;\n  display: inline-flex;\n  vertical-align: middle;\n}\n.btn-group > .btn,\n.btn-group-vertical > .btn {\n  position: relative;\n  flex: 1 1 auto;\n}\n.btn-group > .btn-check:checked + .btn,\n.btn-group > .btn-check:focus + .btn,\n.btn-group > .btn:hover,\n.btn-group > .btn:focus,\n.btn-group > .btn:active,\n.btn-group > .btn.active,\n.btn-group-vertical > .btn-check:checked + .btn,\n.btn-group-vertical > .btn-check:focus + .btn,\n.btn-group-vertical > .btn:hover,\n.btn-group-vertical > .btn:focus,\n.btn-group-vertical > .btn:active,\n.btn-group-vertical > .btn.active {\n  z-index: 1;\n}\n\n.btn-toolbar {\n  display: flex;\n  flex-wrap: wrap;\n  justify-content: flex-start;\n}\n.btn-toolbar .input-group {\n  width: auto;\n}\n\n.btn-group {\n  border-radius: var(--bs-border-radius);\n}\n.btn-group > :not(.btn-check:first-child) + .btn,\n.btn-group > .btn-group:not(:first-child) {\n  margin-left: calc(var(--bs-border-width) * -1);\n}\n.btn-group > .btn:not(:last-child):not(.dropdown-toggle),\n.btn-group > .btn.dropdown-toggle-split:first-child,\n.btn-group > .btn-group:not(:last-child) > .btn {\n  border-top-right-radius: 0;\n  border-bottom-right-radius: 0;\n}\n.btn-group > .btn:nth-child(n+3),\n.btn-group > :not(.btn-check) + .btn,\n.btn-group > .btn-group:not(:first-child) > .btn {\n  border-top-left-radius: 0;\n  border-bottom-left-radius: 0;\n}\n\n.dropdown-toggle-split {\n  padding-right: 0.5625rem;\n  padding-left: 0.5625rem;\n}\n.dropdown-toggle-split::after, .dropup .dropdown-toggle-split::after, .dropend .dropdown-toggle-split::after {\n  margin-left: 0;\n}\n.dropstart .dropdown-toggle-split::before {\n  margin-right: 0;\n}\n\n.btn-sm + .dropdown-toggle-split, .btn-group-sm > .btn + .dropdown-toggle-split {\n  padding-right: 0.375rem;\n  padding-left: 0.375rem;\n}\n\n.btn-lg + .dropdown-toggle-split, .btn-group-lg > .btn + .dropdown-toggle-split {\n  padding-right: 0.75rem;\n  padding-left: 0.75rem;\n}\n\n.btn-group-vertical {\n  flex-direction: column;\n  align-items: flex-start;\n  justify-content: center;\n}\n.btn-group-vertical > .btn,\n.btn-group-vertical > .btn-group {\n  width: 100%;\n}\n.btn-group-vertical > .btn:not(:first-child),\n.btn-group-vertical > .btn-group:not(:first-child) {\n  margin-top: calc(var(--bs-border-width) * -1);\n}\n.btn-group-vertical > .btn:not(:last-child):not(.dropdown-toggle),\n.btn-group-vertical > .btn-group:not(:last-child) > .btn {\n  border-bottom-right-radius: 0;\n  border-bottom-left-radius: 0;\n}\n.btn-group-vertical > .btn ~ .btn,\n.btn-group-vertical > .btn-group:not(:first-child) > .btn {\n  border-top-left-radius: 0;\n  border-top-right-radius: 0;\n}\n\n.nav {\n  --bs-nav-link-padding-x: 1rem;\n  --bs-nav-link-padding-y: 0.5rem;\n  --bs-nav-link-font-weight: ;\n  --bs-nav-link-color: var(--bs-link-color);\n  --bs-nav-link-hover-color: var(--bs-link-hover-color);\n  --bs-nav-link-disabled-color: var(--bs-secondary-color);\n  display: flex;\n  flex-wrap: wrap;\n  padding-left: 0;\n  margin-bottom: 0;\n  list-style: none;\n}\n\n.nav-link {\n  display: block;\n  padding: var(--bs-nav-link-padding-y) var(--bs-nav-link-padding-x);\n  font-size: var(--bs-nav-link-font-size);\n  font-weight: var(--bs-nav-link-font-weight);\n  color: var(--bs-nav-link-color);\n  text-decoration: none;\n  background: none;\n  border: 0;\n  transition: color 0.15s ease-in-out, background-color 0.15s ease-in-out, border-color 0.15s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .nav-link {\n    transition: none;\n  }\n}\n.nav-link:hover, .nav-link:focus {\n  color: var(--bs-nav-link-hover-color);\n}\n.nav-link:focus-visible {\n  outline: 0;\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n}\n.nav-link.disabled, .nav-link:disabled {\n  color: var(--bs-nav-link-disabled-color);\n  pointer-events: none;\n  cursor: default;\n}\n\n.nav-tabs {\n  --bs-nav-tabs-border-width: var(--bs-border-width);\n  --bs-nav-tabs-border-color: var(--bs-border-color);\n  --bs-nav-tabs-border-radius: var(--bs-border-radius);\n  --bs-nav-tabs-link-hover-border-color: var(--bs-secondary-bg) var(--bs-secondary-bg) var(--bs-border-color);\n  --bs-nav-tabs-link-active-color: var(--bs-emphasis-color);\n  --bs-nav-tabs-link-active-bg: var(--bs-body-bg);\n  --bs-nav-tabs-link-active-border-color: var(--bs-border-color) var(--bs-border-color) var(--bs-body-bg);\n  border-bottom: var(--bs-nav-tabs-border-width) solid var(--bs-nav-tabs-border-color);\n}\n.nav-tabs .nav-link {\n  margin-bottom: calc(-1 * var(--bs-nav-tabs-border-width));\n  border: var(--bs-nav-tabs-border-width) solid transparent;\n  border-top-left-radius: var(--bs-nav-tabs-border-radius);\n  border-top-right-radius: var(--bs-nav-tabs-border-radius);\n}\n.nav-tabs .nav-link:hover, .nav-tabs .nav-link:focus {\n  isolation: isolate;\n  border-color: var(--bs-nav-tabs-link-hover-border-color);\n}\n.nav-tabs .nav-link.active,\n.nav-tabs .nav-item.show .nav-link {\n  color: var(--bs-nav-tabs-link-active-color);\n  background-color: var(--bs-nav-tabs-link-active-bg);\n  border-color: var(--bs-nav-tabs-link-active-border-color);\n}\n.nav-tabs .dropdown-menu {\n  margin-top: calc(-1 * var(--bs-nav-tabs-border-width));\n  border-top-left-radius: 0;\n  border-top-right-radius: 0;\n}\n\n.nav-pills {\n  --bs-nav-pills-border-radius: var(--bs-border-radius);\n  --bs-nav-pills-link-active-color: #fff;\n  --bs-nav-pills-link-active-bg: #0d6efd;\n}\n.nav-pills .nav-link {\n  border-radius: var(--bs-nav-pills-border-radius);\n}\n.nav-pills .nav-link.active,\n.nav-pills .show > .nav-link {\n  color: var(--bs-nav-pills-link-active-color);\n  background-color: var(--bs-nav-pills-link-active-bg);\n}\n\n.nav-underline {\n  --bs-nav-underline-gap: 1rem;\n  --bs-nav-underline-border-width: 0.125rem;\n  --bs-nav-underline-link-active-color: var(--bs-emphasis-color);\n  gap: var(--bs-nav-underline-gap);\n}\n.nav-underline .nav-link {\n  padding-right: 0;\n  padding-left: 0;\n  border-bottom: var(--bs-nav-underline-border-width) solid transparent;\n}\n.nav-underline .nav-link:hover, .nav-underline .nav-link:focus {\n  border-bottom-color: currentcolor;\n}\n.nav-underline .nav-link.active,\n.nav-underline .show > .nav-link {\n  font-weight: 700;\n  color: var(--bs-nav-underline-link-active-color);\n  border-bottom-color: currentcolor;\n}\n\n.nav-fill > .nav-link,\n.nav-fill .nav-item {\n  flex: 1 1 auto;\n  text-align: center;\n}\n\n.nav-justified > .nav-link,\n.nav-justified .nav-item {\n  flex-basis: 0;\n  flex-grow: 1;\n  text-align: center;\n}\n\n.nav-fill .nav-item .nav-link,\n.nav-justified .nav-item .nav-link {\n  width: 100%;\n}\n\n.tab-content > .tab-pane {\n  display: none;\n}\n.tab-content > .active {\n  display: block;\n}\n\n.navbar {\n  --bs-navbar-padding-x: 0;\n  --bs-navbar-padding-y: 0.5rem;\n  --bs-navbar-color: rgba(var(--bs-emphasis-color-rgb), 0.65);\n  --bs-navbar-hover-color: rgba(var(--bs-emphasis-color-rgb), 0.8);\n  --bs-navbar-disabled-color: rgba(var(--bs-emphasis-color-rgb), 0.3);\n  --bs-navbar-active-color: rgba(var(--bs-emphasis-color-rgb), 1);\n  --bs-navbar-brand-padding-y: 0.3125rem;\n  --bs-navbar-brand-margin-end: 1rem;\n  --bs-navbar-brand-font-size: 1.25rem;\n  --bs-navbar-brand-color: rgba(var(--bs-emphasis-color-rgb), 1);\n  --bs-navbar-brand-hover-color: rgba(var(--bs-emphasis-color-rgb), 1);\n  --bs-navbar-nav-link-padding-x: 0.5rem;\n  --bs-navbar-toggler-padding-y: 0.25rem;\n  --bs-navbar-toggler-padding-x: 0.75rem;\n  --bs-navbar-toggler-font-size: 1.25rem;\n  --bs-navbar-toggler-icon-bg: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 30 30'%3e%3cpath stroke='rgba%2833, 37, 41, 0.75%29' stroke-linecap='round' stroke-miterlimit='10' stroke-width='2' d='M4 7h22M4 15h22M4 23h22'/%3e%3c/svg%3e\");\n  --bs-navbar-toggler-border-color: rgba(var(--bs-emphasis-color-rgb), 0.15);\n  --bs-navbar-toggler-border-radius: var(--bs-border-radius);\n  --bs-navbar-toggler-focus-width: 0.1875rem;\n  --bs-navbar-toggler-transition: box-shadow 0.15s ease-in-out;\n  position: relative;\n  display: flex;\n  flex-wrap: wrap;\n  align-items: center;\n  justify-content: space-between;\n  padding: var(--bs-navbar-padding-y) var(--bs-navbar-padding-x);\n}\n.navbar > .container,\n.navbar > .container-fluid,\n.navbar > .container-sm,\n.navbar > .container-md,\n.navbar > .container-lg,\n.navbar > .container-xl {\n  display: flex;\n  flex-wrap: inherit;\n  align-items: center;\n  justify-content: space-between;\n}\n.navbar-brand {\n  padding-top: var(--bs-navbar-brand-padding-y);\n  padding-bottom: var(--bs-navbar-brand-padding-y);\n  margin-right: var(--bs-navbar-brand-margin-end);\n  font-size: var(--bs-navbar-brand-font-size);\n  color: var(--bs-navbar-brand-color);\n  text-decoration: none;\n  white-space: nowrap;\n}\n.navbar-brand:hover, .navbar-brand:focus {\n  color: var(--bs-navbar-brand-hover-color);\n}\n\n.navbar-nav {\n  --bs-nav-link-padding-x: 0;\n  --bs-nav-link-padding-y: 0.5rem;\n  --bs-nav-link-font-weight: ;\n  --bs-nav-link-color: var(--bs-navbar-color);\n  --bs-nav-link-hover-color: var(--bs-navbar-hover-color);\n  --bs-nav-link-disabled-color: var(--bs-navbar-disabled-color);\n  display: flex;\n  flex-direction: column;\n  padding-left: 0;\n  margin-bottom: 0;\n  list-style: none;\n}\n.navbar-nav .nav-link.active, .navbar-nav .nav-link.show {\n  color: var(--bs-navbar-active-color);\n}\n.navbar-nav .dropdown-menu {\n  position: static;\n}\n\n.navbar-text {\n  padding-top: 0.5rem;\n  padding-bottom: 0.5rem;\n  color: var(--bs-navbar-color);\n}\n.navbar-text a,\n.navbar-text a:hover,\n.navbar-text a:focus {\n  color: var(--bs-navbar-active-color);\n}\n\n.navbar-collapse {\n  flex-basis: 100%;\n  flex-grow: 1;\n  align-items: center;\n}\n\n.navbar-toggler {\n  padding: var(--bs-navbar-toggler-padding-y) var(--bs-navbar-toggler-padding-x);\n  font-size: var(--bs-navbar-toggler-font-size);\n  line-height: 1;\n  color: var(--bs-navbar-color);\n  background-color: transparent;\n  border: var(--bs-border-width) solid var(--bs-navbar-toggler-border-color);\n  border-radius: var(--bs-navbar-toggler-border-radius);\n  transition: var(--bs-navbar-toggler-transition);\n}\n@media (prefers-reduced-motion: reduce) {\n  .navbar-toggler {\n    transition: none;\n  }\n}\n.navbar-toggler:hover {\n  text-decoration: none;\n}\n.navbar-toggler:focus {\n  text-decoration: none;\n  outline: 0;\n  box-shadow: 0 0 0 var(--bs-navbar-toggler-focus-width);\n}\n\n.navbar-toggler-icon {\n  display: inline-block;\n  width: 1.5em;\n  height: 1.5em;\n  vertical-align: middle;\n  background-image: var(--bs-navbar-toggler-icon-bg);\n  background-repeat: no-repeat;\n  background-position: center;\n  background-size: 100%;\n}\n\n.navbar-nav-scroll {\n  max-height: var(--bs-scroll-height, 75vh);\n  overflow-y: auto;\n}\n\n@media (min-width: 540px) {\n  .navbar-expand-sm {\n    flex-wrap: nowrap;\n    justify-content: flex-start;\n  }\n  .navbar-expand-sm .navbar-nav {\n    flex-direction: row;\n  }\n  .navbar-expand-sm .navbar-nav .dropdown-menu {\n    position: absolute;\n  }\n  .navbar-expand-sm .navbar-nav .nav-link {\n    padding-right: var(--bs-navbar-nav-link-padding-x);\n    padding-left: var(--bs-navbar-nav-link-padding-x);\n  }\n  .navbar-expand-sm .navbar-nav-scroll {\n    overflow: visible;\n  }\n  .navbar-expand-sm .navbar-collapse {\n    display: flex !important;\n    flex-basis: auto;\n  }\n  .navbar-expand-sm .navbar-toggler {\n    display: none;\n  }\n  .navbar-expand-sm .offcanvas {\n    position: static;\n    z-index: auto;\n    flex-grow: 1;\n    width: auto !important;\n    height: auto !important;\n    visibility: visible !important;\n    background-color: transparent !important;\n    border: 0 !important;\n    transform: none !important;\n    transition: none;\n  }\n  .navbar-expand-sm .offcanvas .offcanvas-header {\n    display: none;\n  }\n  .navbar-expand-sm .offcanvas .offcanvas-body {\n    display: flex;\n    flex-grow: 0;\n    padding: 0;\n    overflow-y: visible;\n  }\n}\n@media (min-width: 720px) {\n  .navbar-expand-md {\n    flex-wrap: nowrap;\n    justify-content: flex-start;\n  }\n  .navbar-expand-md .navbar-nav {\n    flex-direction: row;\n  }\n  .navbar-expand-md .navbar-nav .dropdown-menu {\n    position: absolute;\n  }\n  .navbar-expand-md .navbar-nav .nav-link {\n    padding-right: var(--bs-navbar-nav-link-padding-x);\n    padding-left: var(--bs-navbar-nav-link-padding-x);\n  }\n  .navbar-expand-md .navbar-nav-scroll {\n    overflow: visible;\n  }\n  .navbar-expand-md .navbar-collapse {\n    display: flex !important;\n    flex-basis: auto;\n  }\n  .navbar-expand-md .navbar-toggler {\n    display: none;\n  }\n  .navbar-expand-md .offcanvas {\n    position: static;\n    z-index: auto;\n    flex-grow: 1;\n    width: auto !important;\n    height: auto !important;\n    visibility: visible !important;\n    background-color: transparent !important;\n    border: 0 !important;\n    transform: none !important;\n    transition: none;\n  }\n  .navbar-expand-md .offcanvas .offcanvas-header {\n    display: none;\n  }\n  .navbar-expand-md .offcanvas .offcanvas-body {\n    display: flex;\n    flex-grow: 0;\n    padding: 0;\n    overflow-y: visible;\n  }\n}\n@media (min-width: 960px) {\n  .navbar-expand-lg {\n    flex-wrap: nowrap;\n    justify-content: flex-start;\n  }\n  .navbar-expand-lg .navbar-nav {\n    flex-direction: row;\n  }\n  .navbar-expand-lg .navbar-nav .dropdown-menu {\n    position: absolute;\n  }\n  .navbar-expand-lg .navbar-nav .nav-link {\n    padding-right: var(--bs-navbar-nav-link-padding-x);\n    padding-left: var(--bs-navbar-nav-link-padding-x);\n  }\n  .navbar-expand-lg .navbar-nav-scroll {\n    overflow: visible;\n  }\n  .navbar-expand-lg .navbar-collapse {\n    display: flex !important;\n    flex-basis: auto;\n  }\n  .navbar-expand-lg .navbar-toggler {\n    display: none;\n  }\n  .navbar-expand-lg .offcanvas {\n    position: static;\n    z-index: auto;\n    flex-grow: 1;\n    width: auto !important;\n    height: auto !important;\n    visibility: visible !important;\n    background-color: transparent !important;\n    border: 0 !important;\n    transform: none !important;\n    transition: none;\n  }\n  .navbar-expand-lg .offcanvas .offcanvas-header {\n    display: none;\n  }\n  .navbar-expand-lg .offcanvas .offcanvas-body {\n    display: flex;\n    flex-grow: 0;\n    padding: 0;\n    overflow-y: visible;\n  }\n}\n@media (min-width: 1200px) {\n  .navbar-expand-xl {\n    flex-wrap: nowrap;\n    justify-content: flex-start;\n  }\n  .navbar-expand-xl .navbar-nav {\n    flex-direction: row;\n  }\n  .navbar-expand-xl .navbar-nav .dropdown-menu {\n    position: absolute;\n  }\n  .navbar-expand-xl .navbar-nav .nav-link {\n    padding-right: var(--bs-navbar-nav-link-padding-x);\n    padding-left: var(--bs-navbar-nav-link-padding-x);\n  }\n  .navbar-expand-xl .navbar-nav-scroll {\n    overflow: visible;\n  }\n  .navbar-expand-xl .navbar-collapse {\n    display: flex !important;\n    flex-basis: auto;\n  }\n  .navbar-expand-xl .navbar-toggler {\n    display: none;\n  }\n  .navbar-expand-xl .offcanvas {\n    position: static;\n    z-index: auto;\n    flex-grow: 1;\n    width: auto !important;\n    height: auto !important;\n    visibility: visible !important;\n    background-color: transparent !important;\n    border: 0 !important;\n    transform: none !important;\n    transition: none;\n  }\n  .navbar-expand-xl .offcanvas .offcanvas-header {\n    display: none;\n  }\n  .navbar-expand-xl .offcanvas .offcanvas-body {\n    display: flex;\n    flex-grow: 0;\n    padding: 0;\n    overflow-y: visible;\n  }\n}\n.navbar-expand {\n  flex-wrap: nowrap;\n  justify-content: flex-start;\n}\n.navbar-expand .navbar-nav {\n  flex-direction: row;\n}\n.navbar-expand .navbar-nav .dropdown-menu {\n  position: absolute;\n}\n.navbar-expand .navbar-nav .nav-link {\n  padding-right: var(--bs-navbar-nav-link-padding-x);\n  padding-left: var(--bs-navbar-nav-link-padding-x);\n}\n.navbar-expand .navbar-nav-scroll {\n  overflow: visible;\n}\n.navbar-expand .navbar-collapse {\n  display: flex !important;\n  flex-basis: auto;\n}\n.navbar-expand .navbar-toggler {\n  display: none;\n}\n.navbar-expand .offcanvas {\n  position: static;\n  z-index: auto;\n  flex-grow: 1;\n  width: auto !important;\n  height: auto !important;\n  visibility: visible !important;\n  background-color: transparent !important;\n  border: 0 !important;\n  transform: none !important;\n  transition: none;\n}\n.navbar-expand .offcanvas .offcanvas-header {\n  display: none;\n}\n.navbar-expand .offcanvas .offcanvas-body {\n  display: flex;\n  flex-grow: 0;\n  padding: 0;\n  overflow-y: visible;\n}\n\n.navbar-dark,\n.navbar[data-bs-theme=dark] {\n  --bs-navbar-color: rgba(255, 255, 255, 0.55);\n  --bs-navbar-hover-color: rgba(255, 255, 255, 0.75);\n  --bs-navbar-disabled-color: rgba(255, 255, 255, 0.25);\n  --bs-navbar-active-color: #fff;\n  --bs-navbar-brand-color: #fff;\n  --bs-navbar-brand-hover-color: #fff;\n  --bs-navbar-toggler-border-color: rgba(255, 255, 255, 0.1);\n  --bs-navbar-toggler-icon-bg: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 30 30'%3e%3cpath stroke='rgba%28255, 255, 255, 0.55%29' stroke-linecap='round' stroke-miterlimit='10' stroke-width='2' d='M4 7h22M4 15h22M4 23h22'/%3e%3c/svg%3e\");\n}\n\n[data-bs-theme=dark] .navbar-toggler-icon {\n  --bs-navbar-toggler-icon-bg: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 30 30'%3e%3cpath stroke='rgba%28255, 255, 255, 0.55%29' stroke-linecap='round' stroke-miterlimit='10' stroke-width='2' d='M4 7h22M4 15h22M4 23h22'/%3e%3c/svg%3e\");\n}\n\n.card {\n  --bs-card-spacer-y: 1rem;\n  --bs-card-spacer-x: 1rem;\n  --bs-card-title-spacer-y: 0.5rem;\n  --bs-card-title-color: ;\n  --bs-card-subtitle-color: ;\n  --bs-card-border-width: var(--bs-border-width);\n  --bs-card-border-color: var(--bs-border-color-translucent);\n  --bs-card-border-radius: var(--bs-border-radius);\n  --bs-card-box-shadow: ;\n  --bs-card-inner-border-radius: calc(var(--bs-border-radius) - (var(--bs-border-width)));\n  --bs-card-cap-padding-y: 0.5rem;\n  --bs-card-cap-padding-x: 1rem;\n  --bs-card-cap-bg: rgba(var(--bs-body-color-rgb), 0.03);\n  --bs-card-cap-color: ;\n  --bs-card-height: ;\n  --bs-card-color: ;\n  --bs-card-bg: var(--bs-body-bg);\n  --bs-card-img-overlay-padding: 1rem;\n  --bs-card-group-margin: 0.75rem;\n  position: relative;\n  display: flex;\n  flex-direction: column;\n  min-width: 0;\n  height: var(--bs-card-height);\n  color: var(--bs-body-color);\n  word-wrap: break-word;\n  background-color: var(--bs-card-bg);\n  background-clip: border-box;\n  border: var(--bs-card-border-width) solid var(--bs-card-border-color);\n  border-radius: var(--bs-card-border-radius);\n}\n.card > hr {\n  margin-right: 0;\n  margin-left: 0;\n}\n.card > .list-group {\n  border-top: inherit;\n  border-bottom: inherit;\n}\n.card > .list-group:first-child {\n  border-top-width: 0;\n  border-top-left-radius: var(--bs-card-inner-border-radius);\n  border-top-right-radius: var(--bs-card-inner-border-radius);\n}\n.card > .list-group:last-child {\n  border-bottom-width: 0;\n  border-bottom-right-radius: var(--bs-card-inner-border-radius);\n  border-bottom-left-radius: var(--bs-card-inner-border-radius);\n}\n.card > .card-header + .list-group,\n.card > .list-group + .card-footer {\n  border-top: 0;\n}\n\n.card-body {\n  flex: 1 1 auto;\n  padding: var(--bs-card-spacer-y) var(--bs-card-spacer-x);\n  color: var(--bs-card-color);\n}\n\n.card-title {\n  margin-bottom: var(--bs-card-title-spacer-y);\n  color: var(--bs-card-title-color);\n}\n\n.card-subtitle {\n  margin-top: calc(-0.5 * var(--bs-card-title-spacer-y));\n  margin-bottom: 0;\n  color: var(--bs-card-subtitle-color);\n}\n\n.card-text:last-child {\n  margin-bottom: 0;\n}\n\n.card-link + .card-link {\n  margin-left: var(--bs-card-spacer-x);\n}\n\n.card-header {\n  padding: var(--bs-card-cap-padding-y) var(--bs-card-cap-padding-x);\n  margin-bottom: 0;\n  color: var(--bs-card-cap-color);\n  background-color: var(--bs-card-cap-bg);\n  border-bottom: var(--bs-card-border-width) solid var(--bs-card-border-color);\n}\n.card-header:first-child {\n  border-radius: var(--bs-card-inner-border-radius) var(--bs-card-inner-border-radius) 0 0;\n}\n\n.card-footer {\n  padding: var(--bs-card-cap-padding-y) var(--bs-card-cap-padding-x);\n  color: var(--bs-card-cap-color);\n  background-color: var(--bs-card-cap-bg);\n  border-top: var(--bs-card-border-width) solid var(--bs-card-border-color);\n}\n.card-footer:last-child {\n  border-radius: 0 0 var(--bs-card-inner-border-radius) var(--bs-card-inner-border-radius);\n}\n\n.card-header-tabs {\n  margin-right: calc(-0.5 * var(--bs-card-cap-padding-x));\n  margin-bottom: calc(-1 * var(--bs-card-cap-padding-y));\n  margin-left: calc(-0.5 * var(--bs-card-cap-padding-x));\n  border-bottom: 0;\n}\n.card-header-tabs .nav-link.active {\n  background-color: var(--bs-card-bg);\n  border-bottom-color: var(--bs-card-bg);\n}\n\n.card-header-pills {\n  margin-right: calc(-0.5 * var(--bs-card-cap-padding-x));\n  margin-left: calc(-0.5 * var(--bs-card-cap-padding-x));\n}\n\n.card-img-overlay {\n  position: absolute;\n  top: 0;\n  right: 0;\n  bottom: 0;\n  left: 0;\n  padding: var(--bs-card-img-overlay-padding);\n  border-radius: var(--bs-card-inner-border-radius);\n}\n\n.card-img,\n.card-img-top,\n.card-img-bottom {\n  width: 100%;\n}\n\n.card-img,\n.card-img-top {\n  border-top-left-radius: var(--bs-card-inner-border-radius);\n  border-top-right-radius: var(--bs-card-inner-border-radius);\n}\n\n.card-img,\n.card-img-bottom {\n  border-bottom-right-radius: var(--bs-card-inner-border-radius);\n  border-bottom-left-radius: var(--bs-card-inner-border-radius);\n}\n\n.card-group > .card {\n  margin-bottom: var(--bs-card-group-margin);\n}\n@media (min-width: 540px) {\n  .card-group {\n    display: flex;\n    flex-flow: row wrap;\n  }\n  .card-group > .card {\n    flex: 1 0 0%;\n    margin-bottom: 0;\n  }\n  .card-group > .card + .card {\n    margin-left: 0;\n    border-left: 0;\n  }\n  .card-group > .card:not(:last-child) {\n    border-top-right-radius: 0;\n    border-bottom-right-radius: 0;\n  }\n  .card-group > .card:not(:last-child) .card-img-top,\n  .card-group > .card:not(:last-child) .card-header {\n    border-top-right-radius: 0;\n  }\n  .card-group > .card:not(:last-child) .card-img-bottom,\n  .card-group > .card:not(:last-child) .card-footer {\n    border-bottom-right-radius: 0;\n  }\n  .card-group > .card:not(:first-child) {\n    border-top-left-radius: 0;\n    border-bottom-left-radius: 0;\n  }\n  .card-group > .card:not(:first-child) .card-img-top,\n  .card-group > .card:not(:first-child) .card-header {\n    border-top-left-radius: 0;\n  }\n  .card-group > .card:not(:first-child) .card-img-bottom,\n  .card-group > .card:not(:first-child) .card-footer {\n    border-bottom-left-radius: 0;\n  }\n}\n\n.accordion {\n  --bs-accordion-color: var(--bs-body-color);\n  --bs-accordion-bg: var(--bs-body-bg);\n  --bs-accordion-transition: color 0.15s ease-in-out, background-color 0.15s ease-in-out, border-color 0.15s ease-in-out, box-shadow 0.15s ease-in-out, border-radius 0.15s ease;\n  --bs-accordion-border-color: var(--bs-border-color);\n  --bs-accordion-border-width: var(--bs-border-width);\n  --bs-accordion-border-radius: var(--bs-border-radius);\n  --bs-accordion-inner-border-radius: calc(var(--bs-border-radius) - (var(--bs-border-width)));\n  --bs-accordion-btn-padding-x: 1.25rem;\n  --bs-accordion-btn-padding-y: 1rem;\n  --bs-accordion-btn-color: var(--bs-body-color);\n  --bs-accordion-btn-bg: var(--bs-accordion-bg);\n  --bs-accordion-btn-icon: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='none' stroke='%23212529' stroke-linecap='round' stroke-linejoin='round'%3e%3cpath d='M2 5L8 11L14 5'/%3e%3c/svg%3e\");\n  --bs-accordion-btn-icon-width: 1.25rem;\n  --bs-accordion-btn-icon-transform: rotate(-180deg);\n  --bs-accordion-btn-icon-transition: transform 0.2s ease-in-out;\n  --bs-accordion-btn-active-icon: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='none' stroke='%23052c65' stroke-linecap='round' stroke-linejoin='round'%3e%3cpath d='M2 5L8 11L14 5'/%3e%3c/svg%3e\");\n  --bs-accordion-btn-focus-box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n  --bs-accordion-body-padding-x: 1.25rem;\n  --bs-accordion-body-padding-y: 1rem;\n  --bs-accordion-active-color: var(--bs-primary-text-emphasis);\n  --bs-accordion-active-bg: var(--bs-primary-bg-subtle);\n}\n\n.accordion-button {\n  position: relative;\n  display: flex;\n  align-items: center;\n  width: 100%;\n  padding: var(--bs-accordion-btn-padding-y) var(--bs-accordion-btn-padding-x);\n  font-size: 1rem;\n  color: var(--bs-accordion-btn-color);\n  text-align: left;\n  background-color: var(--bs-accordion-btn-bg);\n  border: 0;\n  border-radius: 0;\n  overflow-anchor: none;\n  transition: var(--bs-accordion-transition);\n}\n@media (prefers-reduced-motion: reduce) {\n  .accordion-button {\n    transition: none;\n  }\n}\n.accordion-button:not(.collapsed) {\n  color: var(--bs-accordion-active-color);\n  background-color: var(--bs-accordion-active-bg);\n  box-shadow: inset 0 calc(-1 * var(--bs-accordion-border-width)) 0 var(--bs-accordion-border-color);\n}\n.accordion-button:not(.collapsed)::after {\n  background-image: var(--bs-accordion-btn-active-icon);\n  transform: var(--bs-accordion-btn-icon-transform);\n}\n.accordion-button::after {\n  flex-shrink: 0;\n  width: var(--bs-accordion-btn-icon-width);\n  height: var(--bs-accordion-btn-icon-width);\n  margin-left: auto;\n  content: \"\";\n  background-image: var(--bs-accordion-btn-icon);\n  background-repeat: no-repeat;\n  background-size: var(--bs-accordion-btn-icon-width);\n  transition: var(--bs-accordion-btn-icon-transition);\n}\n@media (prefers-reduced-motion: reduce) {\n  .accordion-button::after {\n    transition: none;\n  }\n}\n.accordion-button:hover {\n  z-index: 2;\n}\n.accordion-button:focus {\n  z-index: 3;\n  outline: 0;\n  box-shadow: var(--bs-accordion-btn-focus-box-shadow);\n}\n\n.accordion-header {\n  margin-bottom: 0;\n}\n\n.accordion-item {\n  color: var(--bs-accordion-color);\n  background-color: var(--bs-accordion-bg);\n  border: var(--bs-accordion-border-width) solid var(--bs-accordion-border-color);\n}\n.accordion-item:first-of-type {\n  border-top-left-radius: var(--bs-accordion-border-radius);\n  border-top-right-radius: var(--bs-accordion-border-radius);\n}\n.accordion-item:first-of-type > .accordion-header .accordion-button {\n  border-top-left-radius: var(--bs-accordion-inner-border-radius);\n  border-top-right-radius: var(--bs-accordion-inner-border-radius);\n}\n.accordion-item:not(:first-of-type) {\n  border-top: 0;\n}\n.accordion-item:last-of-type {\n  border-bottom-right-radius: var(--bs-accordion-border-radius);\n  border-bottom-left-radius: var(--bs-accordion-border-radius);\n}\n.accordion-item:last-of-type > .accordion-header .accordion-button.collapsed {\n  border-bottom-right-radius: var(--bs-accordion-inner-border-radius);\n  border-bottom-left-radius: var(--bs-accordion-inner-border-radius);\n}\n.accordion-item:last-of-type > .accordion-collapse {\n  border-bottom-right-radius: var(--bs-accordion-border-radius);\n  border-bottom-left-radius: var(--bs-accordion-border-radius);\n}\n\n.accordion-body {\n  padding: var(--bs-accordion-body-padding-y) var(--bs-accordion-body-padding-x);\n}\n\n.accordion-flush > .accordion-item {\n  border-right: 0;\n  border-left: 0;\n  border-radius: 0;\n}\n.accordion-flush > .accordion-item:first-child {\n  border-top: 0;\n}\n.accordion-flush > .accordion-item:last-child {\n  border-bottom: 0;\n}\n.accordion-flush > .accordion-item > .accordion-header .accordion-button, .accordion-flush > .accordion-item > .accordion-header .accordion-button.collapsed {\n  border-radius: 0;\n}\n.accordion-flush > .accordion-item > .accordion-collapse {\n  border-radius: 0;\n}\n\n[data-bs-theme=dark] .accordion-button::after {\n  --bs-accordion-btn-icon: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='%236ea8fe'%3e%3cpath fill-rule='evenodd' d='M1.646 4.646a.5.5 0 0 1 .708 0L8 10.293l5.646-5.647a.5.5 0 0 1 .708.708l-6 6a.5.5 0 0 1-.708 0l-6-6a.5.5 0 0 1 0-.708z'/%3e%3c/svg%3e\");\n  --bs-accordion-btn-active-icon: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='%236ea8fe'%3e%3cpath fill-rule='evenodd' d='M1.646 4.646a.5.5 0 0 1 .708 0L8 10.293l5.646-5.647a.5.5 0 0 1 .708.708l-6 6a.5.5 0 0 1-.708 0l-6-6a.5.5 0 0 1 0-.708z'/%3e%3c/svg%3e\");\n}\n\n.breadcrumb {\n  --bs-breadcrumb-padding-x: 0;\n  --bs-breadcrumb-padding-y: 0;\n  --bs-breadcrumb-margin-bottom: 1rem;\n  --bs-breadcrumb-bg: ;\n  --bs-breadcrumb-border-radius: ;\n  --bs-breadcrumb-divider-color: var(--bs-secondary-color);\n  --bs-breadcrumb-item-padding-x: 0.5rem;\n  --bs-breadcrumb-item-active-color: var(--bs-secondary-color);\n  display: flex;\n  flex-wrap: wrap;\n  padding: var(--bs-breadcrumb-padding-y) var(--bs-breadcrumb-padding-x);\n  margin-bottom: var(--bs-breadcrumb-margin-bottom);\n  font-size: var(--bs-breadcrumb-font-size);\n  list-style: none;\n  background-color: var(--bs-breadcrumb-bg);\n  border-radius: var(--bs-breadcrumb-border-radius);\n}\n\n.breadcrumb-item + .breadcrumb-item {\n  padding-left: var(--bs-breadcrumb-item-padding-x);\n}\n.breadcrumb-item + .breadcrumb-item::before {\n  float: left;\n  padding-right: var(--bs-breadcrumb-item-padding-x);\n  color: var(--bs-breadcrumb-divider-color);\n  content: var(--bs-breadcrumb-divider, \"/\") /* rtl: var(--bs-breadcrumb-divider, \"/\") */;\n}\n.breadcrumb-item.active {\n  color: var(--bs-breadcrumb-item-active-color);\n}\n\n.pagination {\n  --bs-pagination-padding-x: 0.75rem;\n  --bs-pagination-padding-y: 0.375rem;\n  --bs-pagination-font-size: 1rem;\n  --bs-pagination-color: var(--bs-link-color);\n  --bs-pagination-bg: var(--bs-body-bg);\n  --bs-pagination-border-width: var(--bs-border-width);\n  --bs-pagination-border-color: var(--bs-border-color);\n  --bs-pagination-border-radius: var(--bs-border-radius);\n  --bs-pagination-hover-color: var(--bs-link-hover-color);\n  --bs-pagination-hover-bg: var(--bs-tertiary-bg);\n  --bs-pagination-hover-border-color: var(--bs-border-color);\n  --bs-pagination-focus-color: var(--bs-link-hover-color);\n  --bs-pagination-focus-bg: var(--bs-secondary-bg);\n  --bs-pagination-focus-box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n  --bs-pagination-active-color: #fff;\n  --bs-pagination-active-bg: #0d6efd;\n  --bs-pagination-active-border-color: #0d6efd;\n  --bs-pagination-disabled-color: var(--bs-secondary-color);\n  --bs-pagination-disabled-bg: var(--bs-secondary-bg);\n  --bs-pagination-disabled-border-color: var(--bs-border-color);\n  display: flex;\n  padding-left: 0;\n  list-style: none;\n}\n\n.page-link {\n  position: relative;\n  display: block;\n  padding: var(--bs-pagination-padding-y) var(--bs-pagination-padding-x);\n  font-size: var(--bs-pagination-font-size);\n  color: var(--bs-pagination-color);\n  text-decoration: none;\n  background-color: var(--bs-pagination-bg);\n  border: var(--bs-pagination-border-width) solid var(--bs-pagination-border-color);\n  transition: color 0.15s ease-in-out, background-color 0.15s ease-in-out, border-color 0.15s ease-in-out, box-shadow 0.15s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .page-link {\n    transition: none;\n  }\n}\n.page-link:hover {\n  z-index: 2;\n  color: var(--bs-pagination-hover-color);\n  background-color: var(--bs-pagination-hover-bg);\n  border-color: var(--bs-pagination-hover-border-color);\n}\n.page-link:focus {\n  z-index: 3;\n  color: var(--bs-pagination-focus-color);\n  background-color: var(--bs-pagination-focus-bg);\n  outline: 0;\n  box-shadow: var(--bs-pagination-focus-box-shadow);\n}\n.page-link.active, .active > .page-link {\n  z-index: 3;\n  color: var(--bs-pagination-active-color);\n  background-color: var(--bs-pagination-active-bg);\n  border-color: var(--bs-pagination-active-border-color);\n}\n.page-link.disabled, .disabled > .page-link {\n  color: var(--bs-pagination-disabled-color);\n  pointer-events: none;\n  background-color: var(--bs-pagination-disabled-bg);\n  border-color: var(--bs-pagination-disabled-border-color);\n}\n\n.page-item:not(:first-child) .page-link {\n  margin-left: calc(var(--bs-border-width) * -1);\n}\n.page-item:first-child .page-link {\n  border-top-left-radius: var(--bs-pagination-border-radius);\n  border-bottom-left-radius: var(--bs-pagination-border-radius);\n}\n.page-item:last-child .page-link {\n  border-top-right-radius: var(--bs-pagination-border-radius);\n  border-bottom-right-radius: var(--bs-pagination-border-radius);\n}\n\n.pagination-lg {\n  --bs-pagination-padding-x: 1.5rem;\n  --bs-pagination-padding-y: 0.75rem;\n  --bs-pagination-font-size: 1.25rem;\n  --bs-pagination-border-radius: var(--bs-border-radius-lg);\n}\n\n.pagination-sm {\n  --bs-pagination-padding-x: 0.5rem;\n  --bs-pagination-padding-y: 0.25rem;\n  --bs-pagination-font-size: 0.875rem;\n  --bs-pagination-border-radius: var(--bs-border-radius-sm);\n}\n\n.badge {\n  --bs-badge-padding-x: 0.65em;\n  --bs-badge-padding-y: 0.35em;\n  --bs-badge-font-size: 0.75em;\n  --bs-badge-font-weight: 700;\n  --bs-badge-color: #fff;\n  --bs-badge-border-radius: var(--bs-border-radius);\n  display: inline-block;\n  padding: var(--bs-badge-padding-y) var(--bs-badge-padding-x);\n  font-size: var(--bs-badge-font-size);\n  font-weight: var(--bs-badge-font-weight);\n  line-height: 1;\n  color: var(--bs-badge-color);\n  text-align: center;\n  white-space: nowrap;\n  vertical-align: baseline;\n  border-radius: var(--bs-badge-border-radius);\n}\n.badge:empty {\n  display: none;\n}\n\n.btn .badge {\n  position: relative;\n  top: -1px;\n}\n\n.alert {\n  --bs-alert-bg: transparent;\n  --bs-alert-padding-x: 1rem;\n  --bs-alert-padding-y: 1rem;\n  --bs-alert-margin-bottom: 1rem;\n  --bs-alert-color: inherit;\n  --bs-alert-border-color: transparent;\n  --bs-alert-border: var(--bs-border-width) solid var(--bs-alert-border-color);\n  --bs-alert-border-radius: var(--bs-border-radius);\n  --bs-alert-link-color: inherit;\n  position: relative;\n  padding: var(--bs-alert-padding-y) var(--bs-alert-padding-x);\n  margin-bottom: var(--bs-alert-margin-bottom);\n  color: var(--bs-alert-color);\n  background-color: var(--bs-alert-bg);\n  border: var(--bs-alert-border);\n  border-radius: var(--bs-alert-border-radius);\n}\n\n.alert-heading {\n  color: inherit;\n}\n\n.alert-link {\n  font-weight: 700;\n  color: var(--bs-alert-link-color);\n}\n\n.alert-dismissible {\n  padding-right: 3rem;\n}\n.alert-dismissible .btn-close {\n  position: absolute;\n  top: 0;\n  right: 0;\n  z-index: 2;\n  padding: 1.25rem 1rem;\n}\n\n.alert-primary {\n  --bs-alert-color: var(--bs-primary-text-emphasis);\n  --bs-alert-bg: var(--bs-primary-bg-subtle);\n  --bs-alert-border-color: var(--bs-primary-border-subtle);\n  --bs-alert-link-color: var(--bs-primary-text-emphasis);\n}\n\n.alert-secondary {\n  --bs-alert-color: var(--bs-secondary-text-emphasis);\n  --bs-alert-bg: var(--bs-secondary-bg-subtle);\n  --bs-alert-border-color: var(--bs-secondary-border-subtle);\n  --bs-alert-link-color: var(--bs-secondary-text-emphasis);\n}\n\n.alert-success {\n  --bs-alert-color: var(--bs-success-text-emphasis);\n  --bs-alert-bg: var(--bs-success-bg-subtle);\n  --bs-alert-border-color: var(--bs-success-border-subtle);\n  --bs-alert-link-color: var(--bs-success-text-emphasis);\n}\n\n.alert-info {\n  --bs-alert-color: var(--bs-info-text-emphasis);\n  --bs-alert-bg: var(--bs-info-bg-subtle);\n  --bs-alert-border-color: var(--bs-info-border-subtle);\n  --bs-alert-link-color: var(--bs-info-text-emphasis);\n}\n\n.alert-warning {\n  --bs-alert-color: var(--bs-warning-text-emphasis);\n  --bs-alert-bg: var(--bs-warning-bg-subtle);\n  --bs-alert-border-color: var(--bs-warning-border-subtle);\n  --bs-alert-link-color: var(--bs-warning-text-emphasis);\n}\n\n.alert-danger {\n  --bs-alert-color: var(--bs-danger-text-emphasis);\n  --bs-alert-bg: var(--bs-danger-bg-subtle);\n  --bs-alert-border-color: var(--bs-danger-border-subtle);\n  --bs-alert-link-color: var(--bs-danger-text-emphasis);\n}\n\n.alert-light {\n  --bs-alert-color: var(--bs-light-text-emphasis);\n  --bs-alert-bg: var(--bs-light-bg-subtle);\n  --bs-alert-border-color: var(--bs-light-border-subtle);\n  --bs-alert-link-color: var(--bs-light-text-emphasis);\n}\n\n.alert-dark {\n  --bs-alert-color: var(--bs-dark-text-emphasis);\n  --bs-alert-bg: var(--bs-dark-bg-subtle);\n  --bs-alert-border-color: var(--bs-dark-border-subtle);\n  --bs-alert-link-color: var(--bs-dark-text-emphasis);\n}\n\n@keyframes progress-bar-stripes {\n  0% {\n    background-position-x: 1rem;\n  }\n}\n.progress,\n.progress-stacked {\n  --bs-progress-height: 1rem;\n  --bs-progress-font-size: 0.75rem;\n  --bs-progress-bg: var(--bs-secondary-bg);\n  --bs-progress-border-radius: var(--bs-border-radius);\n  --bs-progress-box-shadow: var(--bs-box-shadow-inset);\n  --bs-progress-bar-color: #fff;\n  --bs-progress-bar-bg: #0d6efd;\n  --bs-progress-bar-transition: width 0.6s ease;\n  display: flex;\n  height: var(--bs-progress-height);\n  overflow: hidden;\n  font-size: var(--bs-progress-font-size);\n  background-color: var(--bs-progress-bg);\n  border-radius: var(--bs-progress-border-radius);\n}\n\n.progress-bar {\n  display: flex;\n  flex-direction: column;\n  justify-content: center;\n  overflow: hidden;\n  color: var(--bs-progress-bar-color);\n  text-align: center;\n  white-space: nowrap;\n  background-color: var(--bs-progress-bar-bg);\n  transition: var(--bs-progress-bar-transition);\n}\n@media (prefers-reduced-motion: reduce) {\n  .progress-bar {\n    transition: none;\n  }\n}\n\n.progress-bar-striped {\n  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);\n  background-size: var(--bs-progress-height) var(--bs-progress-height);\n}\n\n.progress-stacked > .progress {\n  overflow: visible;\n}\n\n.progress-stacked > .progress > .progress-bar {\n  width: 100%;\n}\n\n.progress-bar-animated {\n  animation: 1s linear infinite progress-bar-stripes;\n}\n@media (prefers-reduced-motion: reduce) {\n  .progress-bar-animated {\n    animation: none;\n  }\n}\n\n.list-group {\n  --bs-list-group-color: var(--bs-body-color);\n  --bs-list-group-bg: var(--bs-body-bg);\n  --bs-list-group-border-color: var(--bs-border-color);\n  --bs-list-group-border-width: var(--bs-border-width);\n  --bs-list-group-border-radius: var(--bs-border-radius);\n  --bs-list-group-item-padding-x: 1rem;\n  --bs-list-group-item-padding-y: 0.5rem;\n  --bs-list-group-action-color: var(--bs-secondary-color);\n  --bs-list-group-action-hover-color: var(--bs-emphasis-color);\n  --bs-list-group-action-hover-bg: var(--bs-tertiary-bg);\n  --bs-list-group-action-active-color: var(--bs-body-color);\n  --bs-list-group-action-active-bg: var(--bs-secondary-bg);\n  --bs-list-group-disabled-color: var(--bs-secondary-color);\n  --bs-list-group-disabled-bg: var(--bs-body-bg);\n  --bs-list-group-active-color: #fff;\n  --bs-list-group-active-bg: #0d6efd;\n  --bs-list-group-active-border-color: #0d6efd;\n  display: flex;\n  flex-direction: column;\n  padding-left: 0;\n  margin-bottom: 0;\n  border-radius: var(--bs-list-group-border-radius);\n}\n\n.list-group-numbered {\n  list-style-type: none;\n  counter-reset: section;\n}\n.list-group-numbered > .list-group-item::before {\n  content: counters(section, \".\") \". \";\n  counter-increment: section;\n}\n\n.list-group-item-action {\n  width: 100%;\n  color: var(--bs-list-group-action-color);\n  text-align: inherit;\n}\n.list-group-item-action:hover, .list-group-item-action:focus {\n  z-index: 1;\n  color: var(--bs-list-group-action-hover-color);\n  text-decoration: none;\n  background-color: var(--bs-list-group-action-hover-bg);\n}\n.list-group-item-action:active {\n  color: var(--bs-list-group-action-active-color);\n  background-color: var(--bs-list-group-action-active-bg);\n}\n\n.list-group-item {\n  position: relative;\n  display: block;\n  padding: var(--bs-list-group-item-padding-y) var(--bs-list-group-item-padding-x);\n  color: var(--bs-list-group-color);\n  text-decoration: none;\n  background-color: var(--bs-list-group-bg);\n  border: var(--bs-list-group-border-width) solid var(--bs-list-group-border-color);\n}\n.list-group-item:first-child {\n  border-top-left-radius: inherit;\n  border-top-right-radius: inherit;\n}\n.list-group-item:last-child {\n  border-bottom-right-radius: inherit;\n  border-bottom-left-radius: inherit;\n}\n.list-group-item.disabled, .list-group-item:disabled {\n  color: var(--bs-list-group-disabled-color);\n  pointer-events: none;\n  background-color: var(--bs-list-group-disabled-bg);\n}\n.list-group-item.active {\n  z-index: 2;\n  color: var(--bs-list-group-active-color);\n  background-color: var(--bs-list-group-active-bg);\n  border-color: var(--bs-list-group-active-border-color);\n}\n.list-group-item + .list-group-item {\n  border-top-width: 0;\n}\n.list-group-item + .list-group-item.active {\n  margin-top: calc(-1 * var(--bs-list-group-border-width));\n  border-top-width: var(--bs-list-group-border-width);\n}\n\n.list-group-horizontal {\n  flex-direction: row;\n}\n.list-group-horizontal > .list-group-item:first-child:not(:last-child) {\n  border-bottom-left-radius: var(--bs-list-group-border-radius);\n  border-top-right-radius: 0;\n}\n.list-group-horizontal > .list-group-item:last-child:not(:first-child) {\n  border-top-right-radius: var(--bs-list-group-border-radius);\n  border-bottom-left-radius: 0;\n}\n.list-group-horizontal > .list-group-item.active {\n  margin-top: 0;\n}\n.list-group-horizontal > .list-group-item + .list-group-item {\n  border-top-width: var(--bs-list-group-border-width);\n  border-left-width: 0;\n}\n.list-group-horizontal > .list-group-item + .list-group-item.active {\n  margin-left: calc(-1 * var(--bs-list-group-border-width));\n  border-left-width: var(--bs-list-group-border-width);\n}\n\n@media (min-width: 540px) {\n  .list-group-horizontal-sm {\n    flex-direction: row;\n  }\n  .list-group-horizontal-sm > .list-group-item:first-child:not(:last-child) {\n    border-bottom-left-radius: var(--bs-list-group-border-radius);\n    border-top-right-radius: 0;\n  }\n  .list-group-horizontal-sm > .list-group-item:last-child:not(:first-child) {\n    border-top-right-radius: var(--bs-list-group-border-radius);\n    border-bottom-left-radius: 0;\n  }\n  .list-group-horizontal-sm > .list-group-item.active {\n    margin-top: 0;\n  }\n  .list-group-horizontal-sm > .list-group-item + .list-group-item {\n    border-top-width: var(--bs-list-group-border-width);\n    border-left-width: 0;\n  }\n  .list-group-horizontal-sm > .list-group-item + .list-group-item.active {\n    margin-left: calc(-1 * var(--bs-list-group-border-width));\n    border-left-width: var(--bs-list-group-border-width);\n  }\n}\n@media (min-width: 720px) {\n  .list-group-horizontal-md {\n    flex-direction: row;\n  }\n  .list-group-horizontal-md > .list-group-item:first-child:not(:last-child) {\n    border-bottom-left-radius: var(--bs-list-group-border-radius);\n    border-top-right-radius: 0;\n  }\n  .list-group-horizontal-md > .list-group-item:last-child:not(:first-child) {\n    border-top-right-radius: var(--bs-list-group-border-radius);\n    border-bottom-left-radius: 0;\n  }\n  .list-group-horizontal-md > .list-group-item.active {\n    margin-top: 0;\n  }\n  .list-group-horizontal-md > .list-group-item + .list-group-item {\n    border-top-width: var(--bs-list-group-border-width);\n    border-left-width: 0;\n  }\n  .list-group-horizontal-md > .list-group-item + .list-group-item.active {\n    margin-left: calc(-1 * var(--bs-list-group-border-width));\n    border-left-width: var(--bs-list-group-border-width);\n  }\n}\n@media (min-width: 960px) {\n  .list-group-horizontal-lg {\n    flex-direction: row;\n  }\n  .list-group-horizontal-lg > .list-group-item:first-child:not(:last-child) {\n    border-bottom-left-radius: var(--bs-list-group-border-radius);\n    border-top-right-radius: 0;\n  }\n  .list-group-horizontal-lg > .list-group-item:last-child:not(:first-child) {\n    border-top-right-radius: var(--bs-list-group-border-radius);\n    border-bottom-left-radius: 0;\n  }\n  .list-group-horizontal-lg > .list-group-item.active {\n    margin-top: 0;\n  }\n  .list-group-horizontal-lg > .list-group-item + .list-group-item {\n    border-top-width: var(--bs-list-group-border-width);\n    border-left-width: 0;\n  }\n  .list-group-horizontal-lg > .list-group-item + .list-group-item.active {\n    margin-left: calc(-1 * var(--bs-list-group-border-width));\n    border-left-width: var(--bs-list-group-border-width);\n  }\n}\n@media (min-width: 1200px) {\n  .list-group-horizontal-xl {\n    flex-direction: row;\n  }\n  .list-group-horizontal-xl > .list-group-item:first-child:not(:last-child) {\n    border-bottom-left-radius: var(--bs-list-group-border-radius);\n    border-top-right-radius: 0;\n  }\n  .list-group-horizontal-xl > .list-group-item:last-child:not(:first-child) {\n    border-top-right-radius: var(--bs-list-group-border-radius);\n    border-bottom-left-radius: 0;\n  }\n  .list-group-horizontal-xl > .list-group-item.active {\n    margin-top: 0;\n  }\n  .list-group-horizontal-xl > .list-group-item + .list-group-item {\n    border-top-width: var(--bs-list-group-border-width);\n    border-left-width: 0;\n  }\n  .list-group-horizontal-xl > .list-group-item + .list-group-item.active {\n    margin-left: calc(-1 * var(--bs-list-group-border-width));\n    border-left-width: var(--bs-list-group-border-width);\n  }\n}\n.list-group-flush {\n  border-radius: 0;\n}\n.list-group-flush > .list-group-item {\n  border-width: 0 0 var(--bs-list-group-border-width);\n}\n.list-group-flush > .list-group-item:last-child {\n  border-bottom-width: 0;\n}\n\n.list-group-item-primary {\n  --bs-list-group-color: var(--bs-primary-text-emphasis);\n  --bs-list-group-bg: var(--bs-primary-bg-subtle);\n  --bs-list-group-border-color: var(--bs-primary-border-subtle);\n  --bs-list-group-action-hover-color: var(--bs-emphasis-color);\n  --bs-list-group-action-hover-bg: var(--bs-primary-border-subtle);\n  --bs-list-group-action-active-color: var(--bs-emphasis-color);\n  --bs-list-group-action-active-bg: var(--bs-primary-border-subtle);\n  --bs-list-group-active-color: var(--bs-primary-bg-subtle);\n  --bs-list-group-active-bg: var(--bs-primary-text-emphasis);\n  --bs-list-group-active-border-color: var(--bs-primary-text-emphasis);\n}\n\n.list-group-item-secondary {\n  --bs-list-group-color: var(--bs-secondary-text-emphasis);\n  --bs-list-group-bg: var(--bs-secondary-bg-subtle);\n  --bs-list-group-border-color: var(--bs-secondary-border-subtle);\n  --bs-list-group-action-hover-color: var(--bs-emphasis-color);\n  --bs-list-group-action-hover-bg: var(--bs-secondary-border-subtle);\n  --bs-list-group-action-active-color: var(--bs-emphasis-color);\n  --bs-list-group-action-active-bg: var(--bs-secondary-border-subtle);\n  --bs-list-group-active-color: var(--bs-secondary-bg-subtle);\n  --bs-list-group-active-bg: var(--bs-secondary-text-emphasis);\n  --bs-list-group-active-border-color: var(--bs-secondary-text-emphasis);\n}\n\n.list-group-item-success {\n  --bs-list-group-color: var(--bs-success-text-emphasis);\n  --bs-list-group-bg: var(--bs-success-bg-subtle);\n  --bs-list-group-border-color: var(--bs-success-border-subtle);\n  --bs-list-group-action-hover-color: var(--bs-emphasis-color);\n  --bs-list-group-action-hover-bg: var(--bs-success-border-subtle);\n  --bs-list-group-action-active-color: var(--bs-emphasis-color);\n  --bs-list-group-action-active-bg: var(--bs-success-border-subtle);\n  --bs-list-group-active-color: var(--bs-success-bg-subtle);\n  --bs-list-group-active-bg: var(--bs-success-text-emphasis);\n  --bs-list-group-active-border-color: var(--bs-success-text-emphasis);\n}\n\n.list-group-item-info {\n  --bs-list-group-color: var(--bs-info-text-emphasis);\n  --bs-list-group-bg: var(--bs-info-bg-subtle);\n  --bs-list-group-border-color: var(--bs-info-border-subtle);\n  --bs-list-group-action-hover-color: var(--bs-emphasis-color);\n  --bs-list-group-action-hover-bg: var(--bs-info-border-subtle);\n  --bs-list-group-action-active-color: var(--bs-emphasis-color);\n  --bs-list-group-action-active-bg: var(--bs-info-border-subtle);\n  --bs-list-group-active-color: var(--bs-info-bg-subtle);\n  --bs-list-group-active-bg: var(--bs-info-text-emphasis);\n  --bs-list-group-active-border-color: var(--bs-info-text-emphasis);\n}\n\n.list-group-item-warning {\n  --bs-list-group-color: var(--bs-warning-text-emphasis);\n  --bs-list-group-bg: var(--bs-warning-bg-subtle);\n  --bs-list-group-border-color: var(--bs-warning-border-subtle);\n  --bs-list-group-action-hover-color: var(--bs-emphasis-color);\n  --bs-list-group-action-hover-bg: var(--bs-warning-border-subtle);\n  --bs-list-group-action-active-color: var(--bs-emphasis-color);\n  --bs-list-group-action-active-bg: var(--bs-warning-border-subtle);\n  --bs-list-group-active-color: var(--bs-warning-bg-subtle);\n  --bs-list-group-active-bg: var(--bs-warning-text-emphasis);\n  --bs-list-group-active-border-color: var(--bs-warning-text-emphasis);\n}\n\n.list-group-item-danger {\n  --bs-list-group-color: var(--bs-danger-text-emphasis);\n  --bs-list-group-bg: var(--bs-danger-bg-subtle);\n  --bs-list-group-border-color: var(--bs-danger-border-subtle);\n  --bs-list-group-action-hover-color: var(--bs-emphasis-color);\n  --bs-list-group-action-hover-bg: var(--bs-danger-border-subtle);\n  --bs-list-group-action-active-color: var(--bs-emphasis-color);\n  --bs-list-group-action-active-bg: var(--bs-danger-border-subtle);\n  --bs-list-group-active-color: var(--bs-danger-bg-subtle);\n  --bs-list-group-active-bg: var(--bs-danger-text-emphasis);\n  --bs-list-group-active-border-color: var(--bs-danger-text-emphasis);\n}\n\n.list-group-item-light {\n  --bs-list-group-color: var(--bs-light-text-emphasis);\n  --bs-list-group-bg: var(--bs-light-bg-subtle);\n  --bs-list-group-border-color: var(--bs-light-border-subtle);\n  --bs-list-group-action-hover-color: var(--bs-emphasis-color);\n  --bs-list-group-action-hover-bg: var(--bs-light-border-subtle);\n  --bs-list-group-action-active-color: var(--bs-emphasis-color);\n  --bs-list-group-action-active-bg: var(--bs-light-border-subtle);\n  --bs-list-group-active-color: var(--bs-light-bg-subtle);\n  --bs-list-group-active-bg: var(--bs-light-text-emphasis);\n  --bs-list-group-active-border-color: var(--bs-light-text-emphasis);\n}\n\n.list-group-item-dark {\n  --bs-list-group-color: var(--bs-dark-text-emphasis);\n  --bs-list-group-bg: var(--bs-dark-bg-subtle);\n  --bs-list-group-border-color: var(--bs-dark-border-subtle);\n  --bs-list-group-action-hover-color: var(--bs-emphasis-color);\n  --bs-list-group-action-hover-bg: var(--bs-dark-border-subtle);\n  --bs-list-group-action-active-color: var(--bs-emphasis-color);\n  --bs-list-group-action-active-bg: var(--bs-dark-border-subtle);\n  --bs-list-group-active-color: var(--bs-dark-bg-subtle);\n  --bs-list-group-active-bg: var(--bs-dark-text-emphasis);\n  --bs-list-group-active-border-color: var(--bs-dark-text-emphasis);\n}\n\n.btn-close {\n  --bs-btn-close-color: #000;\n  --bs-btn-close-bg: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='%23000'%3e%3cpath d='M.293.293a1 1 0 0 1 1.414 0L8 6.586 14.293.293a1 1 0 1 1 1.414 1.414L9.414 8l6.293 6.293a1 1 0 0 1-1.414 1.414L8 9.414l-6.293 6.293a1 1 0 0 1-1.414-1.414L6.586 8 .293 1.707a1 1 0 0 1 0-1.414z'/%3e%3c/svg%3e\");\n  --bs-btn-close-opacity: 0.5;\n  --bs-btn-close-hover-opacity: 0.75;\n  --bs-btn-close-focus-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n  --bs-btn-close-focus-opacity: 1;\n  --bs-btn-close-disabled-opacity: 0.25;\n  --bs-btn-close-white-filter: invert(1) grayscale(100%) brightness(200%);\n  box-sizing: content-box;\n  width: 1em;\n  height: 1em;\n  padding: 0.25em 0.25em;\n  color: var(--bs-btn-close-color);\n  background: transparent var(--bs-btn-close-bg) center/1em auto no-repeat;\n  border: 0;\n  border-radius: 0.375rem;\n  opacity: var(--bs-btn-close-opacity);\n}\n.btn-close:hover {\n  color: var(--bs-btn-close-color);\n  text-decoration: none;\n  opacity: var(--bs-btn-close-hover-opacity);\n}\n.btn-close:focus {\n  outline: 0;\n  box-shadow: var(--bs-btn-close-focus-shadow);\n  opacity: var(--bs-btn-close-focus-opacity);\n}\n.btn-close:disabled, .btn-close.disabled {\n  pointer-events: none;\n  user-select: none;\n  opacity: var(--bs-btn-close-disabled-opacity);\n}\n\n.btn-close-white {\n  filter: var(--bs-btn-close-white-filter);\n}\n\n[data-bs-theme=dark] .btn-close {\n  filter: var(--bs-btn-close-white-filter);\n}\n\n.toast {\n  --bs-toast-zindex: 1090;\n  --bs-toast-padding-x: 0.75rem;\n  --bs-toast-padding-y: 0.5rem;\n  --bs-toast-spacing: 1.5rem;\n  --bs-toast-max-width: 350px;\n  --bs-toast-font-size: 0.875rem;\n  --bs-toast-color: ;\n  --bs-toast-bg: rgba(var(--bs-body-bg-rgb), 0.85);\n  --bs-toast-border-width: var(--bs-border-width);\n  --bs-toast-border-color: var(--bs-border-color-translucent);\n  --bs-toast-border-radius: var(--bs-border-radius);\n  --bs-toast-box-shadow: var(--bs-box-shadow);\n  --bs-toast-header-color: var(--bs-secondary-color);\n  --bs-toast-header-bg: rgba(var(--bs-body-bg-rgb), 0.85);\n  --bs-toast-header-border-color: var(--bs-border-color-translucent);\n  width: var(--bs-toast-max-width);\n  max-width: 100%;\n  font-size: var(--bs-toast-font-size);\n  color: var(--bs-toast-color);\n  pointer-events: auto;\n  background-color: var(--bs-toast-bg);\n  background-clip: padding-box;\n  border: var(--bs-toast-border-width) solid var(--bs-toast-border-color);\n  box-shadow: var(--bs-toast-box-shadow);\n  border-radius: var(--bs-toast-border-radius);\n}\n.toast.showing {\n  opacity: 0;\n}\n.toast:not(.show) {\n  display: none;\n}\n\n.toast-container {\n  --bs-toast-zindex: 1090;\n  position: absolute;\n  z-index: var(--bs-toast-zindex);\n  width: max-content;\n  max-width: 100%;\n  pointer-events: none;\n}\n.toast-container > :not(:last-child) {\n  margin-bottom: var(--bs-toast-spacing);\n}\n\n.toast-header {\n  display: flex;\n  align-items: center;\n  padding: var(--bs-toast-padding-y) var(--bs-toast-padding-x);\n  color: var(--bs-toast-header-color);\n  background-color: var(--bs-toast-header-bg);\n  background-clip: padding-box;\n  border-bottom: var(--bs-toast-border-width) solid var(--bs-toast-header-border-color);\n  border-top-left-radius: calc(var(--bs-toast-border-radius) - var(--bs-toast-border-width));\n  border-top-right-radius: calc(var(--bs-toast-border-radius) - var(--bs-toast-border-width));\n}\n.toast-header .btn-close {\n  margin-right: calc(-0.5 * var(--bs-toast-padding-x));\n  margin-left: var(--bs-toast-padding-x);\n}\n\n.toast-body {\n  padding: var(--bs-toast-padding-x);\n  word-wrap: break-word;\n}\n\n.modal {\n  --bs-modal-zindex: 1055;\n  --bs-modal-width: 500px;\n  --bs-modal-padding: 1rem;\n  --bs-modal-margin: 0.5rem;\n  --bs-modal-color: ;\n  --bs-modal-bg: var(--bs-body-bg);\n  --bs-modal-border-color: var(--bs-border-color-translucent);\n  --bs-modal-border-width: var(--bs-border-width);\n  --bs-modal-border-radius: var(--bs-border-radius-lg);\n  --bs-modal-box-shadow: var(--bs-box-shadow-sm);\n  --bs-modal-inner-border-radius: calc(var(--bs-border-radius-lg) - (var(--bs-border-width)));\n  --bs-modal-header-padding-x: 1rem;\n  --bs-modal-header-padding-y: 1rem;\n  --bs-modal-header-padding: 1rem 1rem;\n  --bs-modal-header-border-color: var(--bs-border-color);\n  --bs-modal-header-border-width: var(--bs-border-width);\n  --bs-modal-title-line-height: 1.5;\n  --bs-modal-footer-gap: 0.5rem;\n  --bs-modal-footer-bg: ;\n  --bs-modal-footer-border-color: var(--bs-border-color);\n  --bs-modal-footer-border-width: var(--bs-border-width);\n  position: fixed;\n  top: 0;\n  left: 0;\n  z-index: var(--bs-modal-zindex);\n  display: none;\n  width: 100%;\n  height: 100%;\n  overflow-x: hidden;\n  overflow-y: auto;\n  outline: 0;\n}\n\n.modal-dialog {\n  position: relative;\n  width: auto;\n  margin: var(--bs-modal-margin);\n  pointer-events: none;\n}\n.modal.fade .modal-dialog {\n  transition: transform 0.3s ease-out;\n  transform: translate(0, -50px);\n}\n@media (prefers-reduced-motion: reduce) {\n  .modal.fade .modal-dialog {\n    transition: none;\n  }\n}\n.modal.show .modal-dialog {\n  transform: none;\n}\n.modal.modal-static .modal-dialog {\n  transform: scale(1.02);\n}\n\n.modal-dialog-scrollable {\n  height: calc(100% - var(--bs-modal-margin) * 2);\n}\n.modal-dialog-scrollable .modal-content {\n  max-height: 100%;\n  overflow: hidden;\n}\n.modal-dialog-scrollable .modal-body {\n  overflow-y: auto;\n}\n\n.modal-dialog-centered {\n  display: flex;\n  align-items: center;\n  min-height: calc(100% - var(--bs-modal-margin) * 2);\n}\n\n.modal-content {\n  position: relative;\n  display: flex;\n  flex-direction: column;\n  width: 100%;\n  color: var(--bs-modal-color);\n  pointer-events: auto;\n  background-color: var(--bs-modal-bg);\n  background-clip: padding-box;\n  border: var(--bs-modal-border-width) solid var(--bs-modal-border-color);\n  border-radius: var(--bs-modal-border-radius);\n  outline: 0;\n}\n\n.modal-backdrop {\n  --bs-backdrop-zindex: 1050;\n  --bs-backdrop-bg: #000;\n  --bs-backdrop-opacity: 0.5;\n  position: fixed;\n  top: 0;\n  left: 0;\n  z-index: var(--bs-backdrop-zindex);\n  width: 100vw;\n  height: 100vh;\n  background-color: var(--bs-backdrop-bg);\n}\n.modal-backdrop.fade {\n  opacity: 0;\n}\n.modal-backdrop.show {\n  opacity: var(--bs-backdrop-opacity);\n}\n\n.modal-header {\n  display: flex;\n  flex-shrink: 0;\n  align-items: center;\n  padding: var(--bs-modal-header-padding);\n  border-bottom: var(--bs-modal-header-border-width) solid var(--bs-modal-header-border-color);\n  border-top-left-radius: var(--bs-modal-inner-border-radius);\n  border-top-right-radius: var(--bs-modal-inner-border-radius);\n}\n.modal-header .btn-close {\n  padding: calc(var(--bs-modal-header-padding-y) * 0.5) calc(var(--bs-modal-header-padding-x) * 0.5);\n  margin: calc(-0.5 * var(--bs-modal-header-padding-y)) calc(-0.5 * var(--bs-modal-header-padding-x)) calc(-0.5 * var(--bs-modal-header-padding-y)) auto;\n}\n\n.modal-title {\n  margin-bottom: 0;\n  line-height: var(--bs-modal-title-line-height);\n}\n\n.modal-body {\n  position: relative;\n  flex: 1 1 auto;\n  padding: var(--bs-modal-padding);\n}\n\n.modal-footer {\n  display: flex;\n  flex-shrink: 0;\n  flex-wrap: wrap;\n  align-items: center;\n  justify-content: flex-end;\n  padding: calc(var(--bs-modal-padding) - var(--bs-modal-footer-gap) * 0.5);\n  background-color: var(--bs-modal-footer-bg);\n  border-top: var(--bs-modal-footer-border-width) solid var(--bs-modal-footer-border-color);\n  border-bottom-right-radius: var(--bs-modal-inner-border-radius);\n  border-bottom-left-radius: var(--bs-modal-inner-border-radius);\n}\n.modal-footer > * {\n  margin: calc(var(--bs-modal-footer-gap) * 0.5);\n}\n\n@media (min-width: 540px) {\n  .modal {\n    --bs-modal-margin: 1.75rem;\n    --bs-modal-box-shadow: var(--bs-box-shadow);\n  }\n  .modal-dialog {\n    max-width: var(--bs-modal-width);\n    margin-right: auto;\n    margin-left: auto;\n  }\n  .modal-sm {\n    --bs-modal-width: 300px;\n  }\n}\n@media (min-width: 960px) {\n  .modal-lg,\n  .modal-xl {\n    --bs-modal-width: 800px;\n  }\n}\n@media (min-width: 1200px) {\n  .modal-xl {\n    --bs-modal-width: 1140px;\n  }\n}\n.modal-fullscreen {\n  width: 100vw;\n  max-width: none;\n  height: 100%;\n  margin: 0;\n}\n.modal-fullscreen .modal-content {\n  height: 100%;\n  border: 0;\n  border-radius: 0;\n}\n.modal-fullscreen .modal-header,\n.modal-fullscreen .modal-footer {\n  border-radius: 0;\n}\n.modal-fullscreen .modal-body {\n  overflow-y: auto;\n}\n\n@media (max-width: 539.98px) {\n  .modal-fullscreen-sm-down {\n    width: 100vw;\n    max-width: none;\n    height: 100%;\n    margin: 0;\n  }\n  .modal-fullscreen-sm-down .modal-content {\n    height: 100%;\n    border: 0;\n    border-radius: 0;\n  }\n  .modal-fullscreen-sm-down .modal-header,\n  .modal-fullscreen-sm-down .modal-footer {\n    border-radius: 0;\n  }\n  .modal-fullscreen-sm-down .modal-body {\n    overflow-y: auto;\n  }\n}\n@media (max-width: 719.98px) {\n  .modal-fullscreen-md-down {\n    width: 100vw;\n    max-width: none;\n    height: 100%;\n    margin: 0;\n  }\n  .modal-fullscreen-md-down .modal-content {\n    height: 100%;\n    border: 0;\n    border-radius: 0;\n  }\n  .modal-fullscreen-md-down .modal-header,\n  .modal-fullscreen-md-down .modal-footer {\n    border-radius: 0;\n  }\n  .modal-fullscreen-md-down .modal-body {\n    overflow-y: auto;\n  }\n}\n@media (max-width: 959.98px) {\n  .modal-fullscreen-lg-down {\n    width: 100vw;\n    max-width: none;\n    height: 100%;\n    margin: 0;\n  }\n  .modal-fullscreen-lg-down .modal-content {\n    height: 100%;\n    border: 0;\n    border-radius: 0;\n  }\n  .modal-fullscreen-lg-down .modal-header,\n  .modal-fullscreen-lg-down .modal-footer {\n    border-radius: 0;\n  }\n  .modal-fullscreen-lg-down .modal-body {\n    overflow-y: auto;\n  }\n}\n@media (max-width: 1199.98px) {\n  .modal-fullscreen-xl-down {\n    width: 100vw;\n    max-width: none;\n    height: 100%;\n    margin: 0;\n  }\n  .modal-fullscreen-xl-down .modal-content {\n    height: 100%;\n    border: 0;\n    border-radius: 0;\n  }\n  .modal-fullscreen-xl-down .modal-header,\n  .modal-fullscreen-xl-down .modal-footer {\n    border-radius: 0;\n  }\n  .modal-fullscreen-xl-down .modal-body {\n    overflow-y: auto;\n  }\n}\n.tooltip {\n  --bs-tooltip-zindex: 1080;\n  --bs-tooltip-max-width: 200px;\n  --bs-tooltip-padding-x: 0.5rem;\n  --bs-tooltip-padding-y: 0.25rem;\n  --bs-tooltip-margin: ;\n  --bs-tooltip-font-size: 0.875rem;\n  --bs-tooltip-color: var(--bs-body-bg);\n  --bs-tooltip-bg: var(--bs-emphasis-color);\n  --bs-tooltip-border-radius: var(--bs-border-radius);\n  --bs-tooltip-opacity: 0.9;\n  --bs-tooltip-arrow-width: 0.8rem;\n  --bs-tooltip-arrow-height: 0.4rem;\n  z-index: var(--bs-tooltip-zindex);\n  display: block;\n  margin: var(--bs-tooltip-margin);\n  font-family: var(--bs-font-sans-serif);\n  font-style: normal;\n  font-weight: 400;\n  line-height: 1.5;\n  text-align: left;\n  text-align: start;\n  text-decoration: none;\n  text-shadow: none;\n  text-transform: none;\n  letter-spacing: normal;\n  word-break: normal;\n  white-space: normal;\n  word-spacing: normal;\n  line-break: auto;\n  font-size: var(--bs-tooltip-font-size);\n  word-wrap: break-word;\n  opacity: 0;\n}\n.tooltip.show {\n  opacity: var(--bs-tooltip-opacity);\n}\n.tooltip .tooltip-arrow {\n  display: block;\n  width: var(--bs-tooltip-arrow-width);\n  height: var(--bs-tooltip-arrow-height);\n}\n.tooltip .tooltip-arrow::before {\n  position: absolute;\n  content: \"\";\n  border-color: transparent;\n  border-style: solid;\n}\n\n.bs-tooltip-top .tooltip-arrow, .bs-tooltip-auto[data-popper-placement^=top] .tooltip-arrow {\n  bottom: calc(-1 * var(--bs-tooltip-arrow-height));\n}\n.bs-tooltip-top .tooltip-arrow::before, .bs-tooltip-auto[data-popper-placement^=top] .tooltip-arrow::before {\n  top: -1px;\n  border-width: var(--bs-tooltip-arrow-height) calc(var(--bs-tooltip-arrow-width) * 0.5) 0;\n  border-top-color: var(--bs-tooltip-bg);\n}\n\n/* rtl:begin:ignore */\n.bs-tooltip-end .tooltip-arrow, .bs-tooltip-auto[data-popper-placement^=right] .tooltip-arrow {\n  left: calc(-1 * var(--bs-tooltip-arrow-height));\n  width: var(--bs-tooltip-arrow-height);\n  height: var(--bs-tooltip-arrow-width);\n}\n.bs-tooltip-end .tooltip-arrow::before, .bs-tooltip-auto[data-popper-placement^=right] .tooltip-arrow::before {\n  right: -1px;\n  border-width: calc(var(--bs-tooltip-arrow-width) * 0.5) var(--bs-tooltip-arrow-height) calc(var(--bs-tooltip-arrow-width) * 0.5) 0;\n  border-right-color: var(--bs-tooltip-bg);\n}\n\n/* rtl:end:ignore */\n.bs-tooltip-bottom .tooltip-arrow, .bs-tooltip-auto[data-popper-placement^=bottom] .tooltip-arrow {\n  top: calc(-1 * var(--bs-tooltip-arrow-height));\n}\n.bs-tooltip-bottom .tooltip-arrow::before, .bs-tooltip-auto[data-popper-placement^=bottom] .tooltip-arrow::before {\n  bottom: -1px;\n  border-width: 0 calc(var(--bs-tooltip-arrow-width) * 0.5) var(--bs-tooltip-arrow-height);\n  border-bottom-color: var(--bs-tooltip-bg);\n}\n\n/* rtl:begin:ignore */\n.bs-tooltip-start .tooltip-arrow, .bs-tooltip-auto[data-popper-placement^=left] .tooltip-arrow {\n  right: calc(-1 * var(--bs-tooltip-arrow-height));\n  width: var(--bs-tooltip-arrow-height);\n  height: var(--bs-tooltip-arrow-width);\n}\n.bs-tooltip-start .tooltip-arrow::before, .bs-tooltip-auto[data-popper-placement^=left] .tooltip-arrow::before {\n  left: -1px;\n  border-width: calc(var(--bs-tooltip-arrow-width) * 0.5) 0 calc(var(--bs-tooltip-arrow-width) * 0.5) var(--bs-tooltip-arrow-height);\n  border-left-color: var(--bs-tooltip-bg);\n}\n\n/* rtl:end:ignore */\n.tooltip-inner {\n  max-width: var(--bs-tooltip-max-width);\n  padding: var(--bs-tooltip-padding-y) var(--bs-tooltip-padding-x);\n  color: var(--bs-tooltip-color);\n  text-align: center;\n  background-color: var(--bs-tooltip-bg);\n  border-radius: var(--bs-tooltip-border-radius);\n}\n\n.popover {\n  --bs-popover-zindex: 1070;\n  --bs-popover-max-width: 276px;\n  --bs-popover-font-size: 0.875rem;\n  --bs-popover-bg: var(--bs-body-bg);\n  --bs-popover-border-width: var(--bs-border-width);\n  --bs-popover-border-color: var(--bs-border-color-translucent);\n  --bs-popover-border-radius: var(--bs-border-radius-lg);\n  --bs-popover-inner-border-radius: calc(var(--bs-border-radius-lg) - var(--bs-border-width));\n  --bs-popover-box-shadow: var(--bs-box-shadow);\n  --bs-popover-header-padding-x: 1rem;\n  --bs-popover-header-padding-y: 0.5rem;\n  --bs-popover-header-font-size: 1rem;\n  --bs-popover-header-color: inherit;\n  --bs-popover-header-bg: var(--bs-secondary-bg);\n  --bs-popover-body-padding-x: 1rem;\n  --bs-popover-body-padding-y: 1rem;\n  --bs-popover-body-color: var(--bs-body-color);\n  --bs-popover-arrow-width: 1rem;\n  --bs-popover-arrow-height: 0.5rem;\n  --bs-popover-arrow-border: var(--bs-popover-border-color);\n  z-index: var(--bs-popover-zindex);\n  display: block;\n  max-width: var(--bs-popover-max-width);\n  font-family: var(--bs-font-sans-serif);\n  font-style: normal;\n  font-weight: 400;\n  line-height: 1.5;\n  text-align: left;\n  text-align: start;\n  text-decoration: none;\n  text-shadow: none;\n  text-transform: none;\n  letter-spacing: normal;\n  word-break: normal;\n  white-space: normal;\n  word-spacing: normal;\n  line-break: auto;\n  font-size: var(--bs-popover-font-size);\n  word-wrap: break-word;\n  background-color: var(--bs-popover-bg);\n  background-clip: padding-box;\n  border: var(--bs-popover-border-width) solid var(--bs-popover-border-color);\n  border-radius: var(--bs-popover-border-radius);\n}\n.popover .popover-arrow {\n  display: block;\n  width: var(--bs-popover-arrow-width);\n  height: var(--bs-popover-arrow-height);\n}\n.popover .popover-arrow::before, .popover .popover-arrow::after {\n  position: absolute;\n  display: block;\n  content: \"\";\n  border-color: transparent;\n  border-style: solid;\n  border-width: 0;\n}\n\n.bs-popover-top > .popover-arrow, .bs-popover-auto[data-popper-placement^=top] > .popover-arrow {\n  bottom: calc(-1 * (var(--bs-popover-arrow-height)) - var(--bs-popover-border-width));\n}\n.bs-popover-top > .popover-arrow::before, .bs-popover-auto[data-popper-placement^=top] > .popover-arrow::before, .bs-popover-top > .popover-arrow::after, .bs-popover-auto[data-popper-placement^=top] > .popover-arrow::after {\n  border-width: var(--bs-popover-arrow-height) calc(var(--bs-popover-arrow-width) * 0.5) 0;\n}\n.bs-popover-top > .popover-arrow::before, .bs-popover-auto[data-popper-placement^=top] > .popover-arrow::before {\n  bottom: 0;\n  border-top-color: var(--bs-popover-arrow-border);\n}\n.bs-popover-top > .popover-arrow::after, .bs-popover-auto[data-popper-placement^=top] > .popover-arrow::after {\n  bottom: var(--bs-popover-border-width);\n  border-top-color: var(--bs-popover-bg);\n}\n\n/* rtl:begin:ignore */\n.bs-popover-end > .popover-arrow, .bs-popover-auto[data-popper-placement^=right] > .popover-arrow {\n  left: calc(-1 * (var(--bs-popover-arrow-height)) - var(--bs-popover-border-width));\n  width: var(--bs-popover-arrow-height);\n  height: var(--bs-popover-arrow-width);\n}\n.bs-popover-end > .popover-arrow::before, .bs-popover-auto[data-popper-placement^=right] > .popover-arrow::before, .bs-popover-end > .popover-arrow::after, .bs-popover-auto[data-popper-placement^=right] > .popover-arrow::after {\n  border-width: calc(var(--bs-popover-arrow-width) * 0.5) var(--bs-popover-arrow-height) calc(var(--bs-popover-arrow-width) * 0.5) 0;\n}\n.bs-popover-end > .popover-arrow::before, .bs-popover-auto[data-popper-placement^=right] > .popover-arrow::before {\n  left: 0;\n  border-right-color: var(--bs-popover-arrow-border);\n}\n.bs-popover-end > .popover-arrow::after, .bs-popover-auto[data-popper-placement^=right] > .popover-arrow::after {\n  left: var(--bs-popover-border-width);\n  border-right-color: var(--bs-popover-bg);\n}\n\n/* rtl:end:ignore */\n.bs-popover-bottom > .popover-arrow, .bs-popover-auto[data-popper-placement^=bottom] > .popover-arrow {\n  top: calc(-1 * (var(--bs-popover-arrow-height)) - var(--bs-popover-border-width));\n}\n.bs-popover-bottom > .popover-arrow::before, .bs-popover-auto[data-popper-placement^=bottom] > .popover-arrow::before, .bs-popover-bottom > .popover-arrow::after, .bs-popover-auto[data-popper-placement^=bottom] > .popover-arrow::after {\n  border-width: 0 calc(var(--bs-popover-arrow-width) * 0.5) var(--bs-popover-arrow-height);\n}\n.bs-popover-bottom > .popover-arrow::before, .bs-popover-auto[data-popper-placement^=bottom] > .popover-arrow::before {\n  top: 0;\n  border-bottom-color: var(--bs-popover-arrow-border);\n}\n.bs-popover-bottom > .popover-arrow::after, .bs-popover-auto[data-popper-placement^=bottom] > .popover-arrow::after {\n  top: var(--bs-popover-border-width);\n  border-bottom-color: var(--bs-popover-bg);\n}\n.bs-popover-bottom .popover-header::before, .bs-popover-auto[data-popper-placement^=bottom] .popover-header::before {\n  position: absolute;\n  top: 0;\n  left: 50%;\n  display: block;\n  width: var(--bs-popover-arrow-width);\n  margin-left: calc(-0.5 * var(--bs-popover-arrow-width));\n  content: \"\";\n  border-bottom: var(--bs-popover-border-width) solid var(--bs-popover-header-bg);\n}\n\n/* rtl:begin:ignore */\n.bs-popover-start > .popover-arrow, .bs-popover-auto[data-popper-placement^=left] > .popover-arrow {\n  right: calc(-1 * (var(--bs-popover-arrow-height)) - var(--bs-popover-border-width));\n  width: var(--bs-popover-arrow-height);\n  height: var(--bs-popover-arrow-width);\n}\n.bs-popover-start > .popover-arrow::before, .bs-popover-auto[data-popper-placement^=left] > .popover-arrow::before, .bs-popover-start > .popover-arrow::after, .bs-popover-auto[data-popper-placement^=left] > .popover-arrow::after {\n  border-width: calc(var(--bs-popover-arrow-width) * 0.5) 0 calc(var(--bs-popover-arrow-width) * 0.5) var(--bs-popover-arrow-height);\n}\n.bs-popover-start > .popover-arrow::before, .bs-popover-auto[data-popper-placement^=left] > .popover-arrow::before {\n  right: 0;\n  border-left-color: var(--bs-popover-arrow-border);\n}\n.bs-popover-start > .popover-arrow::after, .bs-popover-auto[data-popper-placement^=left] > .popover-arrow::after {\n  right: var(--bs-popover-border-width);\n  border-left-color: var(--bs-popover-bg);\n}\n\n/* rtl:end:ignore */\n.popover-header {\n  padding: var(--bs-popover-header-padding-y) var(--bs-popover-header-padding-x);\n  margin-bottom: 0;\n  font-size: var(--bs-popover-header-font-size);\n  color: var(--bs-popover-header-color);\n  background-color: var(--bs-popover-header-bg);\n  border-bottom: var(--bs-popover-border-width) solid var(--bs-popover-border-color);\n  border-top-left-radius: var(--bs-popover-inner-border-radius);\n  border-top-right-radius: var(--bs-popover-inner-border-radius);\n}\n.popover-header:empty {\n  display: none;\n}\n\n.popover-body {\n  padding: var(--bs-popover-body-padding-y) var(--bs-popover-body-padding-x);\n  color: var(--bs-popover-body-color);\n}\n\n.carousel {\n  position: relative;\n}\n\n.carousel.pointer-event {\n  touch-action: pan-y;\n}\n\n.carousel-inner {\n  position: relative;\n  width: 100%;\n  overflow: hidden;\n}\n.carousel-inner::after {\n  display: block;\n  clear: both;\n  content: \"\";\n}\n\n.carousel-item {\n  position: relative;\n  display: none;\n  float: left;\n  width: 100%;\n  margin-right: -100%;\n  backface-visibility: hidden;\n  transition: transform 0.6s ease-in-out;\n}\n@media (prefers-reduced-motion: reduce) {\n  .carousel-item {\n    transition: none;\n  }\n}\n\n.carousel-item.active,\n.carousel-item-next,\n.carousel-item-prev {\n  display: block;\n}\n\n.carousel-item-next:not(.carousel-item-start),\n.active.carousel-item-end {\n  transform: translateX(100%);\n}\n\n.carousel-item-prev:not(.carousel-item-end),\n.active.carousel-item-start {\n  transform: translateX(-100%);\n}\n\n.carousel-fade .carousel-item {\n  opacity: 0;\n  transition-property: opacity;\n  transform: none;\n}\n.carousel-fade .carousel-item.active,\n.carousel-fade .carousel-item-next.carousel-item-start,\n.carousel-fade .carousel-item-prev.carousel-item-end {\n  z-index: 1;\n  opacity: 1;\n}\n.carousel-fade .active.carousel-item-start,\n.carousel-fade .active.carousel-item-end {\n  z-index: 0;\n  opacity: 0;\n  transition: opacity 0s 0.6s;\n}\n@media (prefers-reduced-motion: reduce) {\n  .carousel-fade .active.carousel-item-start,\n  .carousel-fade .active.carousel-item-end {\n    transition: none;\n  }\n}\n\n.carousel-control-prev,\n.carousel-control-next {\n  position: absolute;\n  top: 0;\n  bottom: 0;\n  z-index: 1;\n  display: flex;\n  align-items: center;\n  justify-content: center;\n  width: 15%;\n  padding: 0;\n  color: #fff;\n  text-align: center;\n  background: none;\n  border: 0;\n  opacity: 0.5;\n  transition: opacity 0.15s ease;\n}\n@media (prefers-reduced-motion: reduce) {\n  .carousel-control-prev,\n  .carousel-control-next {\n    transition: none;\n  }\n}\n.carousel-control-prev:hover, .carousel-control-prev:focus,\n.carousel-control-next:hover,\n.carousel-control-next:focus {\n  color: #fff;\n  text-decoration: none;\n  outline: 0;\n  opacity: 0.9;\n}\n\n.carousel-control-prev {\n  left: 0;\n}\n\n.carousel-control-next {\n  right: 0;\n}\n\n.carousel-control-prev-icon,\n.carousel-control-next-icon {\n  display: inline-block;\n  width: 2rem;\n  height: 2rem;\n  background-repeat: no-repeat;\n  background-position: 50%;\n  background-size: 100% 100%;\n}\n\n.carousel-control-prev-icon {\n  background-image: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='%23fff'%3e%3cpath d='M11.354 1.646a.5.5 0 0 1 0 .708L5.707 8l5.647 5.646a.5.5 0 0 1-.708.708l-6-6a.5.5 0 0 1 0-.708l6-6a.5.5 0 0 1 .708 0z'/%3e%3c/svg%3e\") /*rtl:url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='%23fff'%3e%3cpath d='M4.646 1.646a.5.5 0 0 1 .708 0l6 6a.5.5 0 0 1 0 .708l-6 6a.5.5 0 0 1-.708-.708L10.293 8 4.646 2.354a.5.5 0 0 1 0-.708z'/%3e%3c/svg%3e\")*/;\n}\n\n.carousel-control-next-icon {\n  background-image: url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='%23fff'%3e%3cpath d='M4.646 1.646a.5.5 0 0 1 .708 0l6 6a.5.5 0 0 1 0 .708l-6 6a.5.5 0 0 1-.708-.708L10.293 8 4.646 2.354a.5.5 0 0 1 0-.708z'/%3e%3c/svg%3e\") /*rtl:url(\"data:image/svg+xml,%3csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='%23fff'%3e%3cpath d='M11.354 1.646a.5.5 0 0 1 0 .708L5.707 8l5.647 5.646a.5.5 0 0 1-.708.708l-6-6a.5.5 0 0 1 0-.708l6-6a.5.5 0 0 1 .708 0z'/%3e%3c/svg%3e\")*/;\n}\n\n.carousel-indicators {\n  position: absolute;\n  right: 0;\n  bottom: 0;\n  left: 0;\n  z-index: 2;\n  display: flex;\n  justify-content: center;\n  padding: 0;\n  margin-right: 15%;\n  margin-bottom: 1rem;\n  margin-left: 15%;\n}\n.carousel-indicators [data-bs-target] {\n  box-sizing: content-box;\n  flex: 0 1 auto;\n  width: 30px;\n  height: 3px;\n  padding: 0;\n  margin-right: 3px;\n  margin-left: 3px;\n  text-indent: -999px;\n  cursor: pointer;\n  background-color: #fff;\n  background-clip: padding-box;\n  border: 0;\n  border-top: 10px solid transparent;\n  border-bottom: 10px solid transparent;\n  opacity: 0.5;\n  transition: opacity 0.6s ease;\n}\n@media (prefers-reduced-motion: reduce) {\n  .carousel-indicators [data-bs-target] {\n    transition: none;\n  }\n}\n.carousel-indicators .active {\n  opacity: 1;\n}\n\n.carousel-caption {\n  position: absolute;\n  right: 15%;\n  bottom: 1.25rem;\n  left: 15%;\n  padding-top: 1.25rem;\n  padding-bottom: 1.25rem;\n  color: #fff;\n  text-align: center;\n}\n\n.carousel-dark .carousel-control-prev-icon,\n.carousel-dark .carousel-control-next-icon {\n  filter: invert(1) grayscale(100);\n}\n.carousel-dark .carousel-indicators [data-bs-target] {\n  background-color: #000;\n}\n.carousel-dark .carousel-caption {\n  color: #000;\n}\n\n[data-bs-theme=dark] .carousel .carousel-control-prev-icon,\n[data-bs-theme=dark] .carousel .carousel-control-next-icon, [data-bs-theme=dark].carousel .carousel-control-prev-icon,\n[data-bs-theme=dark].carousel .carousel-control-next-icon {\n  filter: invert(1) grayscale(100);\n}\n[data-bs-theme=dark] .carousel .carousel-indicators [data-bs-target], [data-bs-theme=dark].carousel .carousel-indicators [data-bs-target] {\n  background-color: #000;\n}\n[data-bs-theme=dark] .carousel .carousel-caption, [data-bs-theme=dark].carousel .carousel-caption {\n  color: #000;\n}\n\n.spinner-grow,\n.spinner-border {\n  display: inline-block;\n  width: var(--bs-spinner-width);\n  height: var(--bs-spinner-height);\n  vertical-align: var(--bs-spinner-vertical-align);\n  border-radius: 50%;\n  animation: var(--bs-spinner-animation-speed) linear infinite var(--bs-spinner-animation-name);\n}\n\n@keyframes spinner-border {\n  to {\n    transform: rotate(360deg) /* rtl:ignore */;\n  }\n}\n.spinner-border {\n  --bs-spinner-width: 2rem;\n  --bs-spinner-height: 2rem;\n  --bs-spinner-vertical-align: -0.125em;\n  --bs-spinner-border-width: 0.25em;\n  --bs-spinner-animation-speed: 0.75s;\n  --bs-spinner-animation-name: spinner-border;\n  border: var(--bs-spinner-border-width) solid currentcolor;\n  border-right-color: transparent;\n}\n\n.spinner-border-sm {\n  --bs-spinner-width: 1rem;\n  --bs-spinner-height: 1rem;\n  --bs-spinner-border-width: 0.2em;\n}\n\n@keyframes spinner-grow {\n  0% {\n    transform: scale(0);\n  }\n  50% {\n    opacity: 1;\n    transform: none;\n  }\n}\n.spinner-grow {\n  --bs-spinner-width: 2rem;\n  --bs-spinner-height: 2rem;\n  --bs-spinner-vertical-align: -0.125em;\n  --bs-spinner-animation-speed: 0.75s;\n  --bs-spinner-animation-name: spinner-grow;\n  background-color: currentcolor;\n  opacity: 0;\n}\n\n.spinner-grow-sm {\n  --bs-spinner-width: 1rem;\n  --bs-spinner-height: 1rem;\n}\n\n@media (prefers-reduced-motion: reduce) {\n  .spinner-border,\n  .spinner-grow {\n    --bs-spinner-animation-speed: 1.5s;\n  }\n}\n.offcanvas, .offcanvas-xl, .offcanvas-lg, .offcanvas-md, .offcanvas-sm {\n  --bs-offcanvas-zindex: 1045;\n  --bs-offcanvas-width: 400px;\n  --bs-offcanvas-height: 30vh;\n  --bs-offcanvas-padding-x: 1rem;\n  --bs-offcanvas-padding-y: 1rem;\n  --bs-offcanvas-color: var(--bs-body-color);\n  --bs-offcanvas-bg: var(--bs-body-bg);\n  --bs-offcanvas-border-width: var(--bs-border-width);\n  --bs-offcanvas-border-color: var(--bs-border-color-translucent);\n  --bs-offcanvas-box-shadow: var(--bs-box-shadow-sm);\n  --bs-offcanvas-transition: transform 0.3s ease-in-out;\n  --bs-offcanvas-title-line-height: 1.5;\n}\n\n@media (max-width: 539.98px) {\n  .offcanvas-sm {\n    position: fixed;\n    bottom: 0;\n    z-index: var(--bs-offcanvas-zindex);\n    display: flex;\n    flex-direction: column;\n    max-width: 100%;\n    color: var(--bs-offcanvas-color);\n    visibility: hidden;\n    background-color: var(--bs-offcanvas-bg);\n    background-clip: padding-box;\n    outline: 0;\n    transition: var(--bs-offcanvas-transition);\n  }\n}\n@media (max-width: 539.98px) and (prefers-reduced-motion: reduce) {\n  .offcanvas-sm {\n    transition: none;\n  }\n}\n@media (max-width: 539.98px) {\n  .offcanvas-sm.offcanvas-start {\n    top: 0;\n    left: 0;\n    width: var(--bs-offcanvas-width);\n    border-right: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateX(-100%);\n  }\n  .offcanvas-sm.offcanvas-end {\n    top: 0;\n    right: 0;\n    width: var(--bs-offcanvas-width);\n    border-left: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateX(100%);\n  }\n  .offcanvas-sm.offcanvas-top {\n    top: 0;\n    right: 0;\n    left: 0;\n    height: var(--bs-offcanvas-height);\n    max-height: 100%;\n    border-bottom: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateY(-100%);\n  }\n  .offcanvas-sm.offcanvas-bottom {\n    right: 0;\n    left: 0;\n    height: var(--bs-offcanvas-height);\n    max-height: 100%;\n    border-top: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateY(100%);\n  }\n  .offcanvas-sm.showing, .offcanvas-sm.show:not(.hiding) {\n    transform: none;\n  }\n  .offcanvas-sm.showing, .offcanvas-sm.hiding, .offcanvas-sm.show {\n    visibility: visible;\n  }\n}\n@media (min-width: 540px) {\n  .offcanvas-sm {\n    --bs-offcanvas-height: auto;\n    --bs-offcanvas-border-width: 0;\n    background-color: transparent !important;\n  }\n  .offcanvas-sm .offcanvas-header {\n    display: none;\n  }\n  .offcanvas-sm .offcanvas-body {\n    display: flex;\n    flex-grow: 0;\n    padding: 0;\n    overflow-y: visible;\n    background-color: transparent !important;\n  }\n}\n\n@media (max-width: 719.98px) {\n  .offcanvas-md {\n    position: fixed;\n    bottom: 0;\n    z-index: var(--bs-offcanvas-zindex);\n    display: flex;\n    flex-direction: column;\n    max-width: 100%;\n    color: var(--bs-offcanvas-color);\n    visibility: hidden;\n    background-color: var(--bs-offcanvas-bg);\n    background-clip: padding-box;\n    outline: 0;\n    transition: var(--bs-offcanvas-transition);\n  }\n}\n@media (max-width: 719.98px) and (prefers-reduced-motion: reduce) {\n  .offcanvas-md {\n    transition: none;\n  }\n}\n@media (max-width: 719.98px) {\n  .offcanvas-md.offcanvas-start {\n    top: 0;\n    left: 0;\n    width: var(--bs-offcanvas-width);\n    border-right: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateX(-100%);\n  }\n  .offcanvas-md.offcanvas-end {\n    top: 0;\n    right: 0;\n    width: var(--bs-offcanvas-width);\n    border-left: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateX(100%);\n  }\n  .offcanvas-md.offcanvas-top {\n    top: 0;\n    right: 0;\n    left: 0;\n    height: var(--bs-offcanvas-height);\n    max-height: 100%;\n    border-bottom: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateY(-100%);\n  }\n  .offcanvas-md.offcanvas-bottom {\n    right: 0;\n    left: 0;\n    height: var(--bs-offcanvas-height);\n    max-height: 100%;\n    border-top: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateY(100%);\n  }\n  .offcanvas-md.showing, .offcanvas-md.show:not(.hiding) {\n    transform: none;\n  }\n  .offcanvas-md.showing, .offcanvas-md.hiding, .offcanvas-md.show {\n    visibility: visible;\n  }\n}\n@media (min-width: 720px) {\n  .offcanvas-md {\n    --bs-offcanvas-height: auto;\n    --bs-offcanvas-border-width: 0;\n    background-color: transparent !important;\n  }\n  .offcanvas-md .offcanvas-header {\n    display: none;\n  }\n  .offcanvas-md .offcanvas-body {\n    display: flex;\n    flex-grow: 0;\n    padding: 0;\n    overflow-y: visible;\n    background-color: transparent !important;\n  }\n}\n\n@media (max-width: 959.98px) {\n  .offcanvas-lg {\n    position: fixed;\n    bottom: 0;\n    z-index: var(--bs-offcanvas-zindex);\n    display: flex;\n    flex-direction: column;\n    max-width: 100%;\n    color: var(--bs-offcanvas-color);\n    visibility: hidden;\n    background-color: var(--bs-offcanvas-bg);\n    background-clip: padding-box;\n    outline: 0;\n    transition: var(--bs-offcanvas-transition);\n  }\n}\n@media (max-width: 959.98px) and (prefers-reduced-motion: reduce) {\n  .offcanvas-lg {\n    transition: none;\n  }\n}\n@media (max-width: 959.98px) {\n  .offcanvas-lg.offcanvas-start {\n    top: 0;\n    left: 0;\n    width: var(--bs-offcanvas-width);\n    border-right: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateX(-100%);\n  }\n  .offcanvas-lg.offcanvas-end {\n    top: 0;\n    right: 0;\n    width: var(--bs-offcanvas-width);\n    border-left: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateX(100%);\n  }\n  .offcanvas-lg.offcanvas-top {\n    top: 0;\n    right: 0;\n    left: 0;\n    height: var(--bs-offcanvas-height);\n    max-height: 100%;\n    border-bottom: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateY(-100%);\n  }\n  .offcanvas-lg.offcanvas-bottom {\n    right: 0;\n    left: 0;\n    height: var(--bs-offcanvas-height);\n    max-height: 100%;\n    border-top: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateY(100%);\n  }\n  .offcanvas-lg.showing, .offcanvas-lg.show:not(.hiding) {\n    transform: none;\n  }\n  .offcanvas-lg.showing, .offcanvas-lg.hiding, .offcanvas-lg.show {\n    visibility: visible;\n  }\n}\n@media (min-width: 960px) {\n  .offcanvas-lg {\n    --bs-offcanvas-height: auto;\n    --bs-offcanvas-border-width: 0;\n    background-color: transparent !important;\n  }\n  .offcanvas-lg .offcanvas-header {\n    display: none;\n  }\n  .offcanvas-lg .offcanvas-body {\n    display: flex;\n    flex-grow: 0;\n    padding: 0;\n    overflow-y: visible;\n    background-color: transparent !important;\n  }\n}\n\n@media (max-width: 1199.98px) {\n  .offcanvas-xl {\n    position: fixed;\n    bottom: 0;\n    z-index: var(--bs-offcanvas-zindex);\n    display: flex;\n    flex-direction: column;\n    max-width: 100%;\n    color: var(--bs-offcanvas-color);\n    visibility: hidden;\n    background-color: var(--bs-offcanvas-bg);\n    background-clip: padding-box;\n    outline: 0;\n    transition: var(--bs-offcanvas-transition);\n  }\n}\n@media (max-width: 1199.98px) and (prefers-reduced-motion: reduce) {\n  .offcanvas-xl {\n    transition: none;\n  }\n}\n@media (max-width: 1199.98px) {\n  .offcanvas-xl.offcanvas-start {\n    top: 0;\n    left: 0;\n    width: var(--bs-offcanvas-width);\n    border-right: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateX(-100%);\n  }\n  .offcanvas-xl.offcanvas-end {\n    top: 0;\n    right: 0;\n    width: var(--bs-offcanvas-width);\n    border-left: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateX(100%);\n  }\n  .offcanvas-xl.offcanvas-top {\n    top: 0;\n    right: 0;\n    left: 0;\n    height: var(--bs-offcanvas-height);\n    max-height: 100%;\n    border-bottom: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateY(-100%);\n  }\n  .offcanvas-xl.offcanvas-bottom {\n    right: 0;\n    left: 0;\n    height: var(--bs-offcanvas-height);\n    max-height: 100%;\n    border-top: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n    transform: translateY(100%);\n  }\n  .offcanvas-xl.showing, .offcanvas-xl.show:not(.hiding) {\n    transform: none;\n  }\n  .offcanvas-xl.showing, .offcanvas-xl.hiding, .offcanvas-xl.show {\n    visibility: visible;\n  }\n}\n@media (min-width: 1200px) {\n  .offcanvas-xl {\n    --bs-offcanvas-height: auto;\n    --bs-offcanvas-border-width: 0;\n    background-color: transparent !important;\n  }\n  .offcanvas-xl .offcanvas-header {\n    display: none;\n  }\n  .offcanvas-xl .offcanvas-body {\n    display: flex;\n    flex-grow: 0;\n    padding: 0;\n    overflow-y: visible;\n    background-color: transparent !important;\n  }\n}\n\n.offcanvas {\n  position: fixed;\n  bottom: 0;\n  z-index: var(--bs-offcanvas-zindex);\n  display: flex;\n  flex-direction: column;\n  max-width: 100%;\n  color: var(--bs-offcanvas-color);\n  visibility: hidden;\n  background-color: var(--bs-offcanvas-bg);\n  background-clip: padding-box;\n  outline: 0;\n  transition: var(--bs-offcanvas-transition);\n}\n@media (prefers-reduced-motion: reduce) {\n  .offcanvas {\n    transition: none;\n  }\n}\n.offcanvas.offcanvas-start {\n  top: 0;\n  left: 0;\n  width: var(--bs-offcanvas-width);\n  border-right: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n  transform: translateX(-100%);\n}\n.offcanvas.offcanvas-end {\n  top: 0;\n  right: 0;\n  width: var(--bs-offcanvas-width);\n  border-left: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n  transform: translateX(100%);\n}\n.offcanvas.offcanvas-top {\n  top: 0;\n  right: 0;\n  left: 0;\n  height: var(--bs-offcanvas-height);\n  max-height: 100%;\n  border-bottom: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n  transform: translateY(-100%);\n}\n.offcanvas.offcanvas-bottom {\n  right: 0;\n  left: 0;\n  height: var(--bs-offcanvas-height);\n  max-height: 100%;\n  border-top: var(--bs-offcanvas-border-width) solid var(--bs-offcanvas-border-color);\n  transform: translateY(100%);\n}\n.offcanvas.showing, .offcanvas.show:not(.hiding) {\n  transform: none;\n}\n.offcanvas.showing, .offcanvas.hiding, .offcanvas.show {\n  visibility: visible;\n}\n\n.offcanvas-backdrop {\n  position: fixed;\n  top: 0;\n  left: 0;\n  z-index: 1040;\n  width: 100vw;\n  height: 100vh;\n  background-color: #000;\n}\n.offcanvas-backdrop.fade {\n  opacity: 0;\n}\n.offcanvas-backdrop.show {\n  opacity: 0.5;\n}\n\n.offcanvas-header {\n  display: flex;\n  align-items: center;\n  padding: var(--bs-offcanvas-padding-y) var(--bs-offcanvas-padding-x);\n}\n.offcanvas-header .btn-close {\n  padding: calc(var(--bs-offcanvas-padding-y) * 0.5) calc(var(--bs-offcanvas-padding-x) * 0.5);\n  margin: calc(-0.5 * var(--bs-offcanvas-padding-y)) calc(-0.5 * var(--bs-offcanvas-padding-x)) calc(-0.5 * var(--bs-offcanvas-padding-y)) auto;\n}\n\n.offcanvas-title {\n  margin-bottom: 0;\n  line-height: var(--bs-offcanvas-title-line-height);\n}\n\n.offcanvas-body {\n  flex-grow: 1;\n  padding: var(--bs-offcanvas-padding-y) var(--bs-offcanvas-padding-x);\n  overflow-y: auto;\n}\n\n.placeholder {\n  display: inline-block;\n  min-height: 1em;\n  vertical-align: middle;\n  cursor: wait;\n  background-color: currentcolor;\n  opacity: 0.5;\n}\n.placeholder.btn::before {\n  display: inline-block;\n  content: \"\";\n}\n\n.placeholder-xs {\n  min-height: 0.6em;\n}\n\n.placeholder-sm {\n  min-height: 0.8em;\n}\n\n.placeholder-lg {\n  min-height: 1.2em;\n}\n\n.placeholder-glow .placeholder {\n  animation: placeholder-glow 2s ease-in-out infinite;\n}\n\n@keyframes placeholder-glow {\n  50% {\n    opacity: 0.2;\n  }\n}\n.placeholder-wave {\n  mask-image: linear-gradient(130deg, #000 55%, rgba(0, 0, 0, 0.8) 75%, #000 95%);\n  mask-size: 200% 100%;\n  animation: placeholder-wave 2s linear infinite;\n}\n\n@keyframes placeholder-wave {\n  100% {\n    mask-position: -200% 0%;\n  }\n}\n.clearfix::after {\n  display: block;\n  clear: both;\n  content: \"\";\n}\n\n.text-bg-primary {\n  color: #fff !important;\n  background-color: RGBA(var(--bs-primary-rgb), var(--bs-bg-opacity, 1)) !important;\n}\n\n.text-bg-secondary {\n  color: #fff !important;\n  background-color: RGBA(var(--bs-secondary-rgb), var(--bs-bg-opacity, 1)) !important;\n}\n\n.text-bg-success {\n  color: #fff !important;\n  background-color: RGBA(var(--bs-success-rgb), var(--bs-bg-opacity, 1)) !important;\n}\n\n.text-bg-info {\n  color: #000 !important;\n  background-color: RGBA(var(--bs-info-rgb), var(--bs-bg-opacity, 1)) !important;\n}\n\n.text-bg-warning {\n  color: #000 !important;\n  background-color: RGBA(var(--bs-warning-rgb), var(--bs-bg-opacity, 1)) !important;\n}\n\n.text-bg-danger {\n  color: #fff !important;\n  background-color: RGBA(var(--bs-danger-rgb), var(--bs-bg-opacity, 1)) !important;\n}\n\n.text-bg-light {\n  color: #000 !important;\n  background-color: RGBA(var(--bs-light-rgb), var(--bs-bg-opacity, 1)) !important;\n}\n\n.text-bg-dark {\n  color: #fff !important;\n  background-color: RGBA(var(--bs-dark-rgb), var(--bs-bg-opacity, 1)) !important;\n}\n\n.link-primary {\n  color: RGBA(var(--bs-primary-rgb), var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(var(--bs-primary-rgb), var(--bs-link-underline-opacity, 1)) !important;\n}\n.link-primary:hover, .link-primary:focus {\n  color: RGBA(10, 88, 202, var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(10, 88, 202, var(--bs-link-underline-opacity, 1)) !important;\n}\n\n.link-secondary {\n  color: RGBA(var(--bs-secondary-rgb), var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(var(--bs-secondary-rgb), var(--bs-link-underline-opacity, 1)) !important;\n}\n.link-secondary:hover, .link-secondary:focus {\n  color: RGBA(86, 94, 100, var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(86, 94, 100, var(--bs-link-underline-opacity, 1)) !important;\n}\n\n.link-success {\n  color: RGBA(var(--bs-success-rgb), var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(var(--bs-success-rgb), var(--bs-link-underline-opacity, 1)) !important;\n}\n.link-success:hover, .link-success:focus {\n  color: RGBA(20, 108, 67, var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(20, 108, 67, var(--bs-link-underline-opacity, 1)) !important;\n}\n\n.link-info {\n  color: RGBA(var(--bs-info-rgb), var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(var(--bs-info-rgb), var(--bs-link-underline-opacity, 1)) !important;\n}\n.link-info:hover, .link-info:focus {\n  color: RGBA(61, 213, 243, var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(61, 213, 243, var(--bs-link-underline-opacity, 1)) !important;\n}\n\n.link-warning {\n  color: RGBA(var(--bs-warning-rgb), var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(var(--bs-warning-rgb), var(--bs-link-underline-opacity, 1)) !important;\n}\n.link-warning:hover, .link-warning:focus {\n  color: RGBA(255, 205, 57, var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(255, 205, 57, var(--bs-link-underline-opacity, 1)) !important;\n}\n\n.link-danger {\n  color: RGBA(var(--bs-danger-rgb), var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(var(--bs-danger-rgb), var(--bs-link-underline-opacity, 1)) !important;\n}\n.link-danger:hover, .link-danger:focus {\n  color: RGBA(176, 42, 55, var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(176, 42, 55, var(--bs-link-underline-opacity, 1)) !important;\n}\n\n.link-light {\n  color: RGBA(var(--bs-light-rgb), var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(var(--bs-light-rgb), var(--bs-link-underline-opacity, 1)) !important;\n}\n.link-light:hover, .link-light:focus {\n  color: RGBA(249, 250, 251, var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(249, 250, 251, var(--bs-link-underline-opacity, 1)) !important;\n}\n\n.link-dark {\n  color: RGBA(var(--bs-dark-rgb), var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(var(--bs-dark-rgb), var(--bs-link-underline-opacity, 1)) !important;\n}\n.link-dark:hover, .link-dark:focus {\n  color: RGBA(26, 30, 33, var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(26, 30, 33, var(--bs-link-underline-opacity, 1)) !important;\n}\n\n.link-body-emphasis {\n  color: RGBA(var(--bs-emphasis-color-rgb), var(--bs-link-opacity, 1)) !important;\n  text-decoration-color: RGBA(var(--bs-emphasis-color-rgb), var(--bs-link-underline-opacity, 1)) !important;\n}\n.link-body-emphasis:hover, .link-body-emphasis:focus {\n  color: RGBA(var(--bs-emphasis-color-rgb), var(--bs-link-opacity, 0.75)) !important;\n  text-decoration-color: RGBA(var(--bs-emphasis-color-rgb), var(--bs-link-underline-opacity, 0.75)) !important;\n}\n\n.focus-ring:focus {\n  outline: 0;\n  box-shadow: var(--bs-focus-ring-x, 0) var(--bs-focus-ring-y, 0) var(--bs-focus-ring-blur, 0) var(--bs-focus-ring-width) var(--bs-focus-ring-color);\n}\n\n.icon-link {\n  display: inline-flex;\n  gap: 0.375rem;\n  align-items: center;\n  text-decoration-color: rgba(var(--bs-link-color-rgb), var(--bs-link-opacity, 0.5));\n  text-underline-offset: 0.25em;\n  backface-visibility: hidden;\n}\n.icon-link > .bi {\n  flex-shrink: 0;\n  width: 1em;\n  height: 1em;\n  fill: currentcolor;\n  transition: 0.2s ease-in-out transform;\n}\n@media (prefers-reduced-motion: reduce) {\n  .icon-link > .bi {\n    transition: none;\n  }\n}\n\n.icon-link-hover:hover > .bi, .icon-link-hover:focus-visible > .bi {\n  transform: var(--bs-icon-link-transform, translate3d(0.25em, 0, 0));\n}\n\n.ratio {\n  position: relative;\n  width: 100%;\n}\n.ratio::before {\n  display: block;\n  padding-top: var(--bs-aspect-ratio);\n  content: \"\";\n}\n.ratio > * {\n  position: absolute;\n  top: 0;\n  left: 0;\n  width: 100%;\n  height: 100%;\n}\n\n.ratio-1x1 {\n  --bs-aspect-ratio: 100%;\n}\n\n.ratio-4x3 {\n  --bs-aspect-ratio: 75%;\n}\n\n.ratio-16x9 {\n  --bs-aspect-ratio: 56.25%;\n}\n\n.ratio-21x9 {\n  --bs-aspect-ratio: 42.8571428571%;\n}\n\n.fixed-top {\n  position: fixed;\n  top: 0;\n  right: 0;\n  left: 0;\n  z-index: 1030;\n}\n\n.fixed-bottom {\n  position: fixed;\n  right: 0;\n  bottom: 0;\n  left: 0;\n  z-index: 1030;\n}\n\n.sticky-top {\n  position: sticky;\n  top: 0;\n  z-index: 1020;\n}\n\n.sticky-bottom {\n  position: sticky;\n  bottom: 0;\n  z-index: 1020;\n}\n\n@media (min-width: 540px) {\n  .sticky-sm-top {\n    position: sticky;\n    top: 0;\n    z-index: 1020;\n  }\n  .sticky-sm-bottom {\n    position: sticky;\n    bottom: 0;\n    z-index: 1020;\n  }\n}\n@media (min-width: 720px) {\n  .sticky-md-top {\n    position: sticky;\n    top: 0;\n    z-index: 1020;\n  }\n  .sticky-md-bottom {\n    position: sticky;\n    bottom: 0;\n    z-index: 1020;\n  }\n}\n@media (min-width: 960px) {\n  .sticky-lg-top {\n    position: sticky;\n    top: 0;\n    z-index: 1020;\n  }\n  .sticky-lg-bottom {\n    position: sticky;\n    bottom: 0;\n    z-index: 1020;\n  }\n}\n@media (min-width: 1200px) {\n  .sticky-xl-top {\n    position: sticky;\n    top: 0;\n    z-index: 1020;\n  }\n  .sticky-xl-bottom {\n    position: sticky;\n    bottom: 0;\n    z-index: 1020;\n  }\n}\n.hstack {\n  display: flex;\n  flex-direction: row;\n  align-items: center;\n  align-self: stretch;\n}\n\n.vstack {\n  display: flex;\n  flex: 1 1 auto;\n  flex-direction: column;\n  align-self: stretch;\n}\n\n.visually-hidden,\n.visually-hidden-focusable:not(:focus):not(:focus-within) {\n  width: 1px !important;\n  height: 1px !important;\n  padding: 0 !important;\n  margin: -1px !important;\n  overflow: hidden !important;\n  clip: rect(0, 0, 0, 0) !important;\n  white-space: nowrap !important;\n  border: 0 !important;\n}\n.visually-hidden:not(caption),\n.visually-hidden-focusable:not(:focus):not(:focus-within):not(caption) {\n  position: absolute !important;\n}\n\n.stretched-link::after {\n  position: absolute;\n  top: 0;\n  right: 0;\n  bottom: 0;\n  left: 0;\n  z-index: 1;\n  content: \"\";\n}\n\n.text-truncate {\n  overflow: hidden;\n  text-overflow: ellipsis;\n  white-space: nowrap;\n}\n\n.vr {\n  display: inline-block;\n  align-self: stretch;\n  width: var(--bs-border-width);\n  min-height: 1em;\n  background-color: currentcolor;\n  opacity: 0.25;\n}\n\n.align-baseline {\n  vertical-align: baseline !important;\n}\n\n.align-top {\n  vertical-align: top !important;\n}\n\n.align-middle {\n  vertical-align: middle !important;\n}\n\n.align-bottom {\n  vertical-align: bottom !important;\n}\n\n.align-text-bottom {\n  vertical-align: text-bottom !important;\n}\n\n.align-text-top {\n  vertical-align: text-top !important;\n}\n\n.float-start {\n  float: left !important;\n}\n\n.float-end {\n  float: right !important;\n}\n\n.float-none {\n  float: none !important;\n}\n\n.object-fit-contain {\n  object-fit: contain !important;\n}\n\n.object-fit-cover {\n  object-fit: cover !important;\n}\n\n.object-fit-fill {\n  object-fit: fill !important;\n}\n\n.object-fit-scale {\n  object-fit: scale-down !important;\n}\n\n.object-fit-none {\n  object-fit: none !important;\n}\n\n.opacity-0 {\n  opacity: 0 !important;\n}\n\n.opacity-25 {\n  opacity: 0.25 !important;\n}\n\n.opacity-50 {\n  opacity: 0.5 !important;\n}\n\n.opacity-75 {\n  opacity: 0.75 !important;\n}\n\n.opacity-100 {\n  opacity: 1 !important;\n}\n\n.overflow-auto {\n  overflow: auto !important;\n}\n\n.overflow-hidden {\n  overflow: hidden !important;\n}\n\n.overflow-visible {\n  overflow: visible !important;\n}\n\n.overflow-scroll {\n  overflow: scroll !important;\n}\n\n.overflow-x-auto {\n  overflow-x: auto !important;\n}\n\n.overflow-x-hidden {\n  overflow-x: hidden !important;\n}\n\n.overflow-x-visible {\n  overflow-x: visible !important;\n}\n\n.overflow-x-scroll {\n  overflow-x: scroll !important;\n}\n\n.overflow-y-auto {\n  overflow-y: auto !important;\n}\n\n.overflow-y-hidden {\n  overflow-y: hidden !important;\n}\n\n.overflow-y-visible {\n  overflow-y: visible !important;\n}\n\n.overflow-y-scroll {\n  overflow-y: scroll !important;\n}\n\n.d-inline {\n  display: inline !important;\n}\n\n.d-inline-block {\n  display: inline-block !important;\n}\n\n.d-block {\n  display: block !important;\n}\n\n.d-grid {\n  display: grid !important;\n}\n\n.d-inline-grid {\n  display: inline-grid !important;\n}\n\n.d-table {\n  display: table !important;\n}\n\n.d-table-row {\n  display: table-row !important;\n}\n\n.d-table-cell {\n  display: table-cell !important;\n}\n\n.d-flex {\n  display: flex !important;\n}\n\n.d-inline-flex {\n  display: inline-flex !important;\n}\n\n.d-none {\n  display: none !important;\n}\n\n.shadow {\n  box-shadow: var(--bs-box-shadow) !important;\n}\n\n.shadow-sm {\n  box-shadow: var(--bs-box-shadow-sm) !important;\n}\n\n.shadow-lg {\n  box-shadow: var(--bs-box-shadow-lg) !important;\n}\n\n.shadow-none {\n  box-shadow: none !important;\n}\n\n.focus-ring-primary {\n  --bs-focus-ring-color: rgba(var(--bs-primary-rgb), var(--bs-focus-ring-opacity));\n}\n\n.focus-ring-secondary {\n  --bs-focus-ring-color: rgba(var(--bs-secondary-rgb), var(--bs-focus-ring-opacity));\n}\n\n.focus-ring-success {\n  --bs-focus-ring-color: rgba(var(--bs-success-rgb), var(--bs-focus-ring-opacity));\n}\n\n.focus-ring-info {\n  --bs-focus-ring-color: rgba(var(--bs-info-rgb), var(--bs-focus-ring-opacity));\n}\n\n.focus-ring-warning {\n  --bs-focus-ring-color: rgba(var(--bs-warning-rgb), var(--bs-focus-ring-opacity));\n}\n\n.focus-ring-danger {\n  --bs-focus-ring-color: rgba(var(--bs-danger-rgb), var(--bs-focus-ring-opacity));\n}\n\n.focus-ring-light {\n  --bs-focus-ring-color: rgba(var(--bs-light-rgb), var(--bs-focus-ring-opacity));\n}\n\n.focus-ring-dark {\n  --bs-focus-ring-color: rgba(var(--bs-dark-rgb), var(--bs-focus-ring-opacity));\n}\n\n.position-static {\n  position: static !important;\n}\n\n.position-relative {\n  position: relative !important;\n}\n\n.position-absolute {\n  position: absolute !important;\n}\n\n.position-fixed {\n  position: fixed !important;\n}\n\n.position-sticky {\n  position: sticky !important;\n}\n\n.top-0 {\n  top: 0 !important;\n}\n\n.top-50 {\n  top: 50% !important;\n}\n\n.top-100 {\n  top: 100% !important;\n}\n\n.bottom-0 {\n  bottom: 0 !important;\n}\n\n.bottom-50 {\n  bottom: 50% !important;\n}\n\n.bottom-100 {\n  bottom: 100% !important;\n}\n\n.start-0 {\n  left: 0 !important;\n}\n\n.start-50 {\n  left: 50% !important;\n}\n\n.start-100 {\n  left: 100% !important;\n}\n\n.end-0 {\n  right: 0 !important;\n}\n\n.end-50 {\n  right: 50% !important;\n}\n\n.end-100 {\n  right: 100% !important;\n}\n\n.translate-middle {\n  transform: translate(-50%, -50%) !important;\n}\n\n.translate-middle-x {\n  transform: translateX(-50%) !important;\n}\n\n.translate-middle-y {\n  transform: translateY(-50%) !important;\n}\n\n.border {\n  border: var(--bs-border-width) var(--bs-border-style) var(--bs-border-color) !important;\n}\n\n.border-0 {\n  border: 0 !important;\n}\n\n.border-top {\n  border-top: var(--bs-border-width) var(--bs-border-style) var(--bs-border-color) !important;\n}\n\n.border-top-0 {\n  border-top: 0 !important;\n}\n\n.border-end {\n  border-right: var(--bs-border-width) var(--bs-border-style) var(--bs-border-color) !important;\n}\n\n.border-end-0 {\n  border-right: 0 !important;\n}\n\n.border-bottom {\n  border-bottom: var(--bs-border-width) var(--bs-border-style) var(--bs-border-color) !important;\n}\n\n.border-bottom-0 {\n  border-bottom: 0 !important;\n}\n\n.border-start {\n  border-left: var(--bs-border-width) var(--bs-border-style) var(--bs-border-color) !important;\n}\n\n.border-start-0 {\n  border-left: 0 !important;\n}\n\n.border-primary {\n  --bs-border-opacity: 1;\n  border-color: rgba(var(--bs-primary-rgb), var(--bs-border-opacity)) !important;\n}\n\n.border-secondary {\n  --bs-border-opacity: 1;\n  border-color: rgba(var(--bs-secondary-rgb), var(--bs-border-opacity)) !important;\n}\n\n.border-success {\n  --bs-border-opacity: 1;\n  border-color: rgba(var(--bs-success-rgb), var(--bs-border-opacity)) !important;\n}\n\n.border-info {\n  --bs-border-opacity: 1;\n  border-color: rgba(var(--bs-info-rgb), var(--bs-border-opacity)) !important;\n}\n\n.border-warning {\n  --bs-border-opacity: 1;\n  border-color: rgba(var(--bs-warning-rgb), var(--bs-border-opacity)) !important;\n}\n\n.border-danger {\n  --bs-border-opacity: 1;\n  border-color: rgba(var(--bs-danger-rgb), var(--bs-border-opacity)) !important;\n}\n\n.border-light {\n  --bs-border-opacity: 1;\n  border-color: rgba(var(--bs-light-rgb), var(--bs-border-opacity)) !important;\n}\n\n.border-dark {\n  --bs-border-opacity: 1;\n  border-color: rgba(var(--bs-dark-rgb), var(--bs-border-opacity)) !important;\n}\n\n.border-black {\n  --bs-border-opacity: 1;\n  border-color: rgba(var(--bs-black-rgb), var(--bs-border-opacity)) !important;\n}\n\n.border-white {\n  --bs-border-opacity: 1;\n  border-color: rgba(var(--bs-white-rgb), var(--bs-border-opacity)) !important;\n}\n\n.border-primary-subtle {\n  border-color: var(--bs-primary-border-subtle) !important;\n}\n\n.border-secondary-subtle {\n  border-color: var(--bs-secondary-border-subtle) !important;\n}\n\n.border-success-subtle {\n  border-color: var(--bs-success-border-subtle) !important;\n}\n\n.border-info-subtle {\n  border-color: var(--bs-info-border-subtle) !important;\n}\n\n.border-warning-subtle {\n  border-color: var(--bs-warning-border-subtle) !important;\n}\n\n.border-danger-subtle {\n  border-color: var(--bs-danger-border-subtle) !important;\n}\n\n.border-light-subtle {\n  border-color: var(--bs-light-border-subtle) !important;\n}\n\n.border-dark-subtle {\n  border-color: var(--bs-dark-border-subtle) !important;\n}\n\n.border-1 {\n  border-width: 1px !important;\n}\n\n.border-2 {\n  border-width: 2px !important;\n}\n\n.border-3 {\n  border-width: 3px !important;\n}\n\n.border-4 {\n  border-width: 4px !important;\n}\n\n.border-5 {\n  border-width: 5px !important;\n}\n\n.border-opacity-10 {\n  --bs-border-opacity: 0.1;\n}\n\n.border-opacity-25 {\n  --bs-border-opacity: 0.25;\n}\n\n.border-opacity-50 {\n  --bs-border-opacity: 0.5;\n}\n\n.border-opacity-75 {\n  --bs-border-opacity: 0.75;\n}\n\n.border-opacity-100 {\n  --bs-border-opacity: 1;\n}\n\n.w-25 {\n  width: 25% !important;\n}\n\n.w-50 {\n  width: 50% !important;\n}\n\n.w-75 {\n  width: 75% !important;\n}\n\n.w-100 {\n  width: 100% !important;\n}\n\n.w-auto {\n  width: auto !important;\n}\n\n.mw-100 {\n  max-width: 100% !important;\n}\n\n.vw-100 {\n  width: 100vw !important;\n}\n\n.min-vw-100 {\n  min-width: 100vw !important;\n}\n\n.h-25 {\n  height: 25% !important;\n}\n\n.h-50 {\n  height: 50% !important;\n}\n\n.h-75 {\n  height: 75% !important;\n}\n\n.h-100 {\n  height: 100% !important;\n}\n\n.h-auto {\n  height: auto !important;\n}\n\n.mh-100 {\n  max-height: 100% !important;\n}\n\n.vh-100 {\n  height: 100vh !important;\n}\n\n.min-vh-100 {\n  min-height: 100vh !important;\n}\n\n.flex-fill {\n  flex: 1 1 auto !important;\n}\n\n.flex-row {\n  flex-direction: row !important;\n}\n\n.flex-column {\n  flex-direction: column !important;\n}\n\n.flex-row-reverse {\n  flex-direction: row-reverse !important;\n}\n\n.flex-column-reverse {\n  flex-direction: column-reverse !important;\n}\n\n.flex-grow-0 {\n  flex-grow: 0 !important;\n}\n\n.flex-grow-1 {\n  flex-grow: 1 !important;\n}\n\n.flex-shrink-0 {\n  flex-shrink: 0 !important;\n}\n\n.flex-shrink-1 {\n  flex-shrink: 1 !important;\n}\n\n.flex-wrap {\n  flex-wrap: wrap !important;\n}\n\n.flex-nowrap {\n  flex-wrap: nowrap !important;\n}\n\n.flex-wrap-reverse {\n  flex-wrap: wrap-reverse !important;\n}\n\n.justify-content-start {\n  justify-content: flex-start !important;\n}\n\n.justify-content-end {\n  justify-content: flex-end !important;\n}\n\n.justify-content-center {\n  justify-content: center !important;\n}\n\n.justify-content-between {\n  justify-content: space-between !important;\n}\n\n.justify-content-around {\n  justify-content: space-around !important;\n}\n\n.justify-content-evenly {\n  justify-content: space-evenly !important;\n}\n\n.align-items-start {\n  align-items: flex-start !important;\n}\n\n.align-items-end {\n  align-items: flex-end !important;\n}\n\n.align-items-center {\n  align-items: center !important;\n}\n\n.align-items-baseline {\n  align-items: baseline !important;\n}\n\n.align-items-stretch {\n  align-items: stretch !important;\n}\n\n.align-content-start {\n  align-content: flex-start !important;\n}\n\n.align-content-end {\n  align-content: flex-end !important;\n}\n\n.align-content-center {\n  align-content: center !important;\n}\n\n.align-content-between {\n  align-content: space-between !important;\n}\n\n.align-content-around {\n  align-content: space-around !important;\n}\n\n.align-content-stretch {\n  align-content: stretch !important;\n}\n\n.align-self-auto {\n  align-self: auto !important;\n}\n\n.align-self-start {\n  align-self: flex-start !important;\n}\n\n.align-self-end {\n  align-self: flex-end !important;\n}\n\n.align-self-center {\n  align-self: center !important;\n}\n\n.align-self-baseline {\n  align-self: baseline !important;\n}\n\n.align-self-stretch {\n  align-self: stretch !important;\n}\n\n.order-first {\n  order: -1 !important;\n}\n\n.order-0 {\n  order: 0 !important;\n}\n\n.order-1 {\n  order: 1 !important;\n}\n\n.order-2 {\n  order: 2 !important;\n}\n\n.order-3 {\n  order: 3 !important;\n}\n\n.order-4 {\n  order: 4 !important;\n}\n\n.order-5 {\n  order: 5 !important;\n}\n\n.order-last {\n  order: 6 !important;\n}\n\n.m-0 {\n  margin: 0 !important;\n}\n\n.m-1 {\n  margin: 0.25rem !important;\n}\n\n.m-2 {\n  margin: 0.5rem !important;\n}\n\n.m-3 {\n  margin: 1rem !important;\n}\n\n.m-4 {\n  margin: 1.5rem !important;\n}\n\n.m-5 {\n  margin: 3rem !important;\n}\n\n.m-auto {\n  margin: auto !important;\n}\n\n.mx-0 {\n  margin-right: 0 !important;\n  margin-left: 0 !important;\n}\n\n.mx-1 {\n  margin-right: 0.25rem !important;\n  margin-left: 0.25rem !important;\n}\n\n.mx-2 {\n  margin-right: 0.5rem !important;\n  margin-left: 0.5rem !important;\n}\n\n.mx-3 {\n  margin-right: 1rem !important;\n  margin-left: 1rem !important;\n}\n\n.mx-4 {\n  margin-right: 1.5rem !important;\n  margin-left: 1.5rem !important;\n}\n\n.mx-5 {\n  margin-right: 3rem !important;\n  margin-left: 3rem !important;\n}\n\n.mx-auto {\n  margin-right: auto !important;\n  margin-left: auto !important;\n}\n\n.my-0 {\n  margin-top: 0 !important;\n  margin-bottom: 0 !important;\n}\n\n.my-1 {\n  margin-top: 0.25rem !important;\n  margin-bottom: 0.25rem !important;\n}\n\n.my-2 {\n  margin-top: 0.5rem !important;\n  margin-bottom: 0.5rem !important;\n}\n\n.my-3 {\n  margin-top: 1rem !important;\n  margin-bottom: 1rem !important;\n}\n\n.my-4 {\n  margin-top: 1.5rem !important;\n  margin-bottom: 1.5rem !important;\n}\n\n.my-5 {\n  margin-top: 3rem !important;\n  margin-bottom: 3rem !important;\n}\n\n.my-auto {\n  margin-top: auto !important;\n  margin-bottom: auto !important;\n}\n\n.mt-0 {\n  margin-top: 0 !important;\n}\n\n.mt-1 {\n  margin-top: 0.25rem !important;\n}\n\n.mt-2 {\n  margin-top: 0.5rem !important;\n}\n\n.mt-3 {\n  margin-top: 1rem !important;\n}\n\n.mt-4 {\n  margin-top: 1.5rem !important;\n}\n\n.mt-5 {\n  margin-top: 3rem !important;\n}\n\n.mt-auto {\n  margin-top: auto !important;\n}\n\n.me-0 {\n  margin-right: 0 !important;\n}\n\n.me-1 {\n  margin-right: 0.25rem !important;\n}\n\n.me-2 {\n  margin-right: 0.5rem !important;\n}\n\n.me-3 {\n  margin-right: 1rem !important;\n}\n\n.me-4 {\n  margin-right: 1.5rem !important;\n}\n\n.me-5 {\n  margin-right: 3rem !important;\n}\n\n.me-auto {\n  margin-right: auto !important;\n}\n\n.mb-0 {\n  margin-bottom: 0 !important;\n}\n\n.mb-1 {\n  margin-bottom: 0.25rem !important;\n}\n\n.mb-2 {\n  margin-bottom: 0.5rem !important;\n}\n\n.mb-3 {\n  margin-bottom: 1rem !important;\n}\n\n.mb-4 {\n  margin-bottom: 1.5rem !important;\n}\n\n.mb-5 {\n  margin-bottom: 3rem !important;\n}\n\n.mb-auto {\n  margin-bottom: auto !important;\n}\n\n.ms-0 {\n  margin-left: 0 !important;\n}\n\n.ms-1 {\n  margin-left: 0.25rem !important;\n}\n\n.ms-2 {\n  margin-left: 0.5rem !important;\n}\n\n.ms-3 {\n  margin-left: 1rem !important;\n}\n\n.ms-4 {\n  margin-left: 1.5rem !important;\n}\n\n.ms-5 {\n  margin-left: 3rem !important;\n}\n\n.ms-auto {\n  margin-left: auto !important;\n}\n\n.p-0 {\n  padding: 0 !important;\n}\n\n.p-1 {\n  padding: 0.25rem !important;\n}\n\n.p-2 {\n  padding: 0.5rem !important;\n}\n\n.p-3 {\n  padding: 1rem !important;\n}\n\n.p-4 {\n  padding: 1.5rem !important;\n}\n\n.p-5 {\n  padding: 3rem !important;\n}\n\n.px-0 {\n  padding-right: 0 !important;\n  padding-left: 0 !important;\n}\n\n.px-1 {\n  padding-right: 0.25rem !important;\n  padding-left: 0.25rem !important;\n}\n\n.px-2 {\n  padding-right: 0.5rem !important;\n  padding-left: 0.5rem !important;\n}\n\n.px-3 {\n  padding-right: 1rem !important;\n  padding-left: 1rem !important;\n}\n\n.px-4 {\n  padding-right: 1.5rem !important;\n  padding-left: 1.5rem !important;\n}\n\n.px-5 {\n  padding-right: 3rem !important;\n  padding-left: 3rem !important;\n}\n\n.py-0 {\n  padding-top: 0 !important;\n  padding-bottom: 0 !important;\n}\n\n.py-1 {\n  padding-top: 0.25rem !important;\n  padding-bottom: 0.25rem !important;\n}\n\n.py-2 {\n  padding-top: 0.5rem !important;\n  padding-bottom: 0.5rem !important;\n}\n\n.py-3 {\n  padding-top: 1rem !important;\n  padding-bottom: 1rem !important;\n}\n\n.py-4 {\n  padding-top: 1.5rem !important;\n  padding-bottom: 1.5rem !important;\n}\n\n.py-5 {\n  padding-top: 3rem !important;\n  padding-bottom: 3rem !important;\n}\n\n.pt-0 {\n  padding-top: 0 !important;\n}\n\n.pt-1 {\n  padding-top: 0.25rem !important;\n}\n\n.pt-2 {\n  padding-top: 0.5rem !important;\n}\n\n.pt-3 {\n  padding-top: 1rem !important;\n}\n\n.pt-4 {\n  padding-top: 1.5rem !important;\n}\n\n.pt-5 {\n  padding-top: 3rem !important;\n}\n\n.pe-0 {\n  padding-right: 0 !important;\n}\n\n.pe-1 {\n  padding-right: 0.25rem !important;\n}\n\n.pe-2 {\n  padding-right: 0.5rem !important;\n}\n\n.pe-3 {\n  padding-right: 1rem !important;\n}\n\n.pe-4 {\n  padding-right: 1.5rem !important;\n}\n\n.pe-5 {\n  padding-right: 3rem !important;\n}\n\n.pb-0 {\n  padding-bottom: 0 !important;\n}\n\n.pb-1 {\n  padding-bottom: 0.25rem !important;\n}\n\n.pb-2 {\n  padding-bottom: 0.5rem !important;\n}\n\n.pb-3 {\n  padding-bottom: 1rem !important;\n}\n\n.pb-4 {\n  padding-bottom: 1.5rem !important;\n}\n\n.pb-5 {\n  padding-bottom: 3rem !important;\n}\n\n.ps-0 {\n  padding-left: 0 !important;\n}\n\n.ps-1 {\n  padding-left: 0.25rem !important;\n}\n\n.ps-2 {\n  padding-left: 0.5rem !important;\n}\n\n.ps-3 {\n  padding-left: 1rem !important;\n}\n\n.ps-4 {\n  padding-left: 1.5rem !important;\n}\n\n.ps-5 {\n  padding-left: 3rem !important;\n}\n\n.gap-0 {\n  gap: 0 !important;\n}\n\n.gap-1 {\n  gap: 0.25rem !important;\n}\n\n.gap-2 {\n  gap: 0.5rem !important;\n}\n\n.gap-3 {\n  gap: 1rem !important;\n}\n\n.gap-4 {\n  gap: 1.5rem !important;\n}\n\n.gap-5 {\n  gap: 3rem !important;\n}\n\n.row-gap-0 {\n  row-gap: 0 !important;\n}\n\n.row-gap-1 {\n  row-gap: 0.25rem !important;\n}\n\n.row-gap-2 {\n  row-gap: 0.5rem !important;\n}\n\n.row-gap-3 {\n  row-gap: 1rem !important;\n}\n\n.row-gap-4 {\n  row-gap: 1.5rem !important;\n}\n\n.row-gap-5 {\n  row-gap: 3rem !important;\n}\n\n.column-gap-0 {\n  column-gap: 0 !important;\n}\n\n.column-gap-1 {\n  column-gap: 0.25rem !important;\n}\n\n.column-gap-2 {\n  column-gap: 0.5rem !important;\n}\n\n.column-gap-3 {\n  column-gap: 1rem !important;\n}\n\n.column-gap-4 {\n  column-gap: 1.5rem !important;\n}\n\n.column-gap-5 {\n  column-gap: 3rem !important;\n}\n\n.font-monospace {\n  font-family: var(--bs-font-monospace) !important;\n}\n\n.fs-1 {\n  font-size: calc(1.375rem + 1.5vw) !important;\n}\n\n.fs-2 {\n  font-size: calc(1.325rem + 0.9vw) !important;\n}\n\n.fs-3 {\n  font-size: calc(1.3rem + 0.6vw) !important;\n}\n\n.fs-4 {\n  font-size: calc(1.275rem + 0.3vw) !important;\n}\n\n.fs-5 {\n  font-size: 1.25rem !important;\n}\n\n.fs-6 {\n  font-size: 1rem !important;\n}\n\n.fst-italic {\n  font-style: italic !important;\n}\n\n.fst-normal {\n  font-style: normal !important;\n}\n\n.fw-lighter {\n  font-weight: lighter !important;\n}\n\n.fw-light {\n  font-weight: 300 !important;\n}\n\n.fw-normal {\n  font-weight: 400 !important;\n}\n\n.fw-medium {\n  font-weight: 500 !important;\n}\n\n.fw-semibold {\n  font-weight: 600 !important;\n}\n\n.fw-bold {\n  font-weight: 700 !important;\n}\n\n.fw-bolder {\n  font-weight: bolder !important;\n}\n\n.lh-1 {\n  line-height: 1 !important;\n}\n\n.lh-sm {\n  line-height: 1.25 !important;\n}\n\n.lh-base {\n  line-height: 1.5 !important;\n}\n\n.lh-lg {\n  line-height: 2 !important;\n}\n\n.text-start {\n  text-align: left !important;\n}\n\n.text-end {\n  text-align: right !important;\n}\n\n.text-center {\n  text-align: center !important;\n}\n\n.text-decoration-none {\n  text-decoration: none !important;\n}\n\n.text-decoration-underline {\n  text-decoration: underline !important;\n}\n\n.text-decoration-line-through {\n  text-decoration: line-through !important;\n}\n\n.text-lowercase {\n  text-transform: lowercase !important;\n}\n\n.text-uppercase {\n  text-transform: uppercase !important;\n}\n\n.text-capitalize {\n  text-transform: capitalize !important;\n}\n\n.text-wrap {\n  white-space: normal !important;\n}\n\n.text-nowrap {\n  white-space: nowrap !important;\n}\n\n/* rtl:begin:remove */\n.text-break {\n  word-wrap: break-word !important;\n  word-break: break-word !important;\n}\n\n/* rtl:end:remove */\n.text-primary {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-primary-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-secondary {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-secondary-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-success {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-success-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-info {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-info-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-warning {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-warning-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-danger {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-danger-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-light {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-light-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-dark {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-dark-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-black {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-black-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-white {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-white-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-body {\n  --bs-text-opacity: 1;\n  color: rgba(var(--bs-body-color-rgb), var(--bs-text-opacity)) !important;\n}\n\n.text-muted {\n  --bs-text-opacity: 1;\n  color: var(--bs-secondary-color) !important;\n}\n\n.text-black-50 {\n  --bs-text-opacity: 1;\n  color: rgba(0, 0, 0, 0.5) !important;\n}\n\n.text-white-50 {\n  --bs-text-opacity: 1;\n  color: rgba(255, 255, 255, 0.5) !important;\n}\n\n.text-body-secondary {\n  --bs-text-opacity: 1;\n  color: var(--bs-secondary-color) !important;\n}\n\n.text-body-tertiary {\n  --bs-text-opacity: 1;\n  color: var(--bs-tertiary-color) !important;\n}\n\n.text-body-emphasis {\n  --bs-text-opacity: 1;\n  color: var(--bs-emphasis-color) !important;\n}\n\n.text-reset {\n  --bs-text-opacity: 1;\n  color: inherit !important;\n}\n\n.text-opacity-25 {\n  --bs-text-opacity: 0.25;\n}\n\n.text-opacity-50 {\n  --bs-text-opacity: 0.5;\n}\n\n.text-opacity-75 {\n  --bs-text-opacity: 0.75;\n}\n\n.text-opacity-100 {\n  --bs-text-opacity: 1;\n}\n\n.text-primary-emphasis {\n  color: var(--bs-primary-text-emphasis) !important;\n}\n\n.text-secondary-emphasis {\n  color: var(--bs-secondary-text-emphasis) !important;\n}\n\n.text-success-emphasis {\n  color: var(--bs-success-text-emphasis) !important;\n}\n\n.text-info-emphasis {\n  color: var(--bs-info-text-emphasis) !important;\n}\n\n.text-warning-emphasis {\n  color: var(--bs-warning-text-emphasis) !important;\n}\n\n.text-danger-emphasis {\n  color: var(--bs-danger-text-emphasis) !important;\n}\n\n.text-light-emphasis {\n  color: var(--bs-light-text-emphasis) !important;\n}\n\n.text-dark-emphasis {\n  color: var(--bs-dark-text-emphasis) !important;\n}\n\n.link-opacity-10 {\n  --bs-link-opacity: 0.1;\n}\n\n.link-opacity-10-hover:hover {\n  --bs-link-opacity: 0.1;\n}\n\n.link-opacity-25 {\n  --bs-link-opacity: 0.25;\n}\n\n.link-opacity-25-hover:hover {\n  --bs-link-opacity: 0.25;\n}\n\n.link-opacity-50 {\n  --bs-link-opacity: 0.5;\n}\n\n.link-opacity-50-hover:hover {\n  --bs-link-opacity: 0.5;\n}\n\n.link-opacity-75 {\n  --bs-link-opacity: 0.75;\n}\n\n.link-opacity-75-hover:hover {\n  --bs-link-opacity: 0.75;\n}\n\n.link-opacity-100 {\n  --bs-link-opacity: 1;\n}\n\n.link-opacity-100-hover:hover {\n  --bs-link-opacity: 1;\n}\n\n.link-offset-1 {\n  text-underline-offset: 0.125em !important;\n}\n\n.link-offset-1-hover:hover {\n  text-underline-offset: 0.125em !important;\n}\n\n.link-offset-2 {\n  text-underline-offset: 0.25em !important;\n}\n\n.link-offset-2-hover:hover {\n  text-underline-offset: 0.25em !important;\n}\n\n.link-offset-3 {\n  text-underline-offset: 0.375em !important;\n}\n\n.link-offset-3-hover:hover {\n  text-underline-offset: 0.375em !important;\n}\n\n.link-underline-primary {\n  --bs-link-underline-opacity: 1;\n  text-decoration-color: rgba(var(--bs-primary-rgb), var(--bs-link-underline-opacity)) !important;\n}\n\n.link-underline-secondary {\n  --bs-link-underline-opacity: 1;\n  text-decoration-color: rgba(var(--bs-secondary-rgb), var(--bs-link-underline-opacity)) !important;\n}\n\n.link-underline-success {\n  --bs-link-underline-opacity: 1;\n  text-decoration-color: rgba(var(--bs-success-rgb), var(--bs-link-underline-opacity)) !important;\n}\n\n.link-underline-info {\n  --bs-link-underline-opacity: 1;\n  text-decoration-color: rgba(var(--bs-info-rgb), var(--bs-link-underline-opacity)) !important;\n}\n\n.link-underline-warning {\n  --bs-link-underline-opacity: 1;\n  text-decoration-color: rgba(var(--bs-warning-rgb), var(--bs-link-underline-opacity)) !important;\n}\n\n.link-underline-danger {\n  --bs-link-underline-opacity: 1;\n  text-decoration-color: rgba(var(--bs-danger-rgb), var(--bs-link-underline-opacity)) !important;\n}\n\n.link-underline-light {\n  --bs-link-underline-opacity: 1;\n  text-decoration-color: rgba(var(--bs-light-rgb), var(--bs-link-underline-opacity)) !important;\n}\n\n.link-underline-dark {\n  --bs-link-underline-opacity: 1;\n  text-decoration-color: rgba(var(--bs-dark-rgb), var(--bs-link-underline-opacity)) !important;\n}\n\n.link-underline {\n  --bs-link-underline-opacity: 1;\n  text-decoration-color: rgba(var(--bs-link-color-rgb), var(--bs-link-underline-opacity, 1)) !important;\n}\n\n.link-underline-opacity-0 {\n  --bs-link-underline-opacity: 0;\n}\n\n.link-underline-opacity-0-hover:hover {\n  --bs-link-underline-opacity: 0;\n}\n\n.link-underline-opacity-10 {\n  --bs-link-underline-opacity: 0.1;\n}\n\n.link-underline-opacity-10-hover:hover {\n  --bs-link-underline-opacity: 0.1;\n}\n\n.link-underline-opacity-25 {\n  --bs-link-underline-opacity: 0.25;\n}\n\n.link-underline-opacity-25-hover:hover {\n  --bs-link-underline-opacity: 0.25;\n}\n\n.link-underline-opacity-50 {\n  --bs-link-underline-opacity: 0.5;\n}\n\n.link-underline-opacity-50-hover:hover {\n  --bs-link-underline-opacity: 0.5;\n}\n\n.link-underline-opacity-75 {\n  --bs-link-underline-opacity: 0.75;\n}\n\n.link-underline-opacity-75-hover:hover {\n  --bs-link-underline-opacity: 0.75;\n}\n\n.link-underline-opacity-100 {\n  --bs-link-underline-opacity: 1;\n}\n\n.link-underline-opacity-100-hover:hover {\n  --bs-link-underline-opacity: 1;\n}\n\n.bg-primary {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-primary-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-secondary {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-secondary-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-success {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-success-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-info {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-info-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-warning {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-warning-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-danger {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-danger-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-light {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-light-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-dark {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-dark-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-black {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-black-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-white {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-white-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-body {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-body-bg-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-transparent {\n  --bs-bg-opacity: 1;\n  background-color: transparent !important;\n}\n\n.bg-body-secondary {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-secondary-bg-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-body-tertiary {\n  --bs-bg-opacity: 1;\n  background-color: rgba(var(--bs-tertiary-bg-rgb), var(--bs-bg-opacity)) !important;\n}\n\n.bg-opacity-10 {\n  --bs-bg-opacity: 0.1;\n}\n\n.bg-opacity-25 {\n  --bs-bg-opacity: 0.25;\n}\n\n.bg-opacity-50 {\n  --bs-bg-opacity: 0.5;\n}\n\n.bg-opacity-75 {\n  --bs-bg-opacity: 0.75;\n}\n\n.bg-opacity-100 {\n  --bs-bg-opacity: 1;\n}\n\n.bg-primary-subtle {\n  background-color: var(--bs-primary-bg-subtle) !important;\n}\n\n.bg-secondary-subtle {\n  background-color: var(--bs-secondary-bg-subtle) !important;\n}\n\n.bg-success-subtle {\n  background-color: var(--bs-success-bg-subtle) !important;\n}\n\n.bg-info-subtle {\n  background-color: var(--bs-info-bg-subtle) !important;\n}\n\n.bg-warning-subtle {\n  background-color: var(--bs-warning-bg-subtle) !important;\n}\n\n.bg-danger-subtle {\n  background-color: var(--bs-danger-bg-subtle) !important;\n}\n\n.bg-light-subtle {\n  background-color: var(--bs-light-bg-subtle) !important;\n}\n\n.bg-dark-subtle {\n  background-color: var(--bs-dark-bg-subtle) !important;\n}\n\n.bg-gradient {\n  background-image: var(--bs-gradient) !important;\n}\n\n.user-select-all {\n  user-select: all !important;\n}\n\n.user-select-auto {\n  user-select: auto !important;\n}\n\n.user-select-none {\n  user-select: none !important;\n}\n\n.pe-none {\n  pointer-events: none !important;\n}\n\n.pe-auto {\n  pointer-events: auto !important;\n}\n\n.rounded {\n  border-radius: var(--bs-border-radius) !important;\n}\n\n.rounded-0 {\n  border-radius: 0 !important;\n}\n\n.rounded-1 {\n  border-radius: var(--bs-border-radius-sm) !important;\n}\n\n.rounded-2 {\n  border-radius: var(--bs-border-radius) !important;\n}\n\n.rounded-3 {\n  border-radius: var(--bs-border-radius-lg) !important;\n}\n\n.rounded-4 {\n  border-radius: var(--bs-border-radius-xl) !important;\n}\n\n.rounded-5 {\n  border-radius: var(--bs-border-radius-xxl) !important;\n}\n\n.rounded-circle {\n  border-radius: 50% !important;\n}\n\n.rounded-pill {\n  border-radius: var(--bs-border-radius-pill) !important;\n}\n\n.rounded-top {\n  border-top-left-radius: var(--bs-border-radius) !important;\n  border-top-right-radius: var(--bs-border-radius) !important;\n}\n\n.rounded-top-0 {\n  border-top-left-radius: 0 !important;\n  border-top-right-radius: 0 !important;\n}\n\n.rounded-top-1 {\n  border-top-left-radius: var(--bs-border-radius-sm) !important;\n  border-top-right-radius: var(--bs-border-radius-sm) !important;\n}\n\n.rounded-top-2 {\n  border-top-left-radius: var(--bs-border-radius) !important;\n  border-top-right-radius: var(--bs-border-radius) !important;\n}\n\n.rounded-top-3 {\n  border-top-left-radius: var(--bs-border-radius-lg) !important;\n  border-top-right-radius: var(--bs-border-radius-lg) !important;\n}\n\n.rounded-top-4 {\n  border-top-left-radius: var(--bs-border-radius-xl) !important;\n  border-top-right-radius: var(--bs-border-radius-xl) !important;\n}\n\n.rounded-top-5 {\n  border-top-left-radius: var(--bs-border-radius-xxl) !important;\n  border-top-right-radius: var(--bs-border-radius-xxl) !important;\n}\n\n.rounded-top-circle {\n  border-top-left-radius: 50% !important;\n  border-top-right-radius: 50% !important;\n}\n\n.rounded-top-pill {\n  border-top-left-radius: var(--bs-border-radius-pill) !important;\n  border-top-right-radius: var(--bs-border-radius-pill) !important;\n}\n\n.rounded-end {\n  border-top-right-radius: var(--bs-border-radius) !important;\n  border-bottom-right-radius: var(--bs-border-radius) !important;\n}\n\n.rounded-end-0 {\n  border-top-right-radius: 0 !important;\n  border-bottom-right-radius: 0 !important;\n}\n\n.rounded-end-1 {\n  border-top-right-radius: var(--bs-border-radius-sm) !important;\n  border-bottom-right-radius: var(--bs-border-radius-sm) !important;\n}\n\n.rounded-end-2 {\n  border-top-right-radius: var(--bs-border-radius) !important;\n  border-bottom-right-radius: var(--bs-border-radius) !important;\n}\n\n.rounded-end-3 {\n  border-top-right-radius: var(--bs-border-radius-lg) !important;\n  border-bottom-right-radius: var(--bs-border-radius-lg) !important;\n}\n\n.rounded-end-4 {\n  border-top-right-radius: var(--bs-border-radius-xl) !important;\n  border-bottom-right-radius: var(--bs-border-radius-xl) !important;\n}\n\n.rounded-end-5 {\n  border-top-right-radius: var(--bs-border-radius-xxl) !important;\n  border-bottom-right-radius: var(--bs-border-radius-xxl) !important;\n}\n\n.rounded-end-circle {\n  border-top-right-radius: 50% !important;\n  border-bottom-right-radius: 50% !important;\n}\n\n.rounded-end-pill {\n  border-top-right-radius: var(--bs-border-radius-pill) !important;\n  border-bottom-right-radius: var(--bs-border-radius-pill) !important;\n}\n\n.rounded-bottom {\n  border-bottom-right-radius: var(--bs-border-radius) !important;\n  border-bottom-left-radius: var(--bs-border-radius) !important;\n}\n\n.rounded-bottom-0 {\n  border-bottom-right-radius: 0 !important;\n  border-bottom-left-radius: 0 !important;\n}\n\n.rounded-bottom-1 {\n  border-bottom-right-radius: var(--bs-border-radius-sm) !important;\n  border-bottom-left-radius: var(--bs-border-radius-sm) !important;\n}\n\n.rounded-bottom-2 {\n  border-bottom-right-radius: var(--bs-border-radius) !important;\n  border-bottom-left-radius: var(--bs-border-radius) !important;\n}\n\n.rounded-bottom-3 {\n  border-bottom-right-radius: var(--bs-border-radius-lg) !important;\n  border-bottom-left-radius: var(--bs-border-radius-lg) !important;\n}\n\n.rounded-bottom-4 {\n  border-bottom-right-radius: var(--bs-border-radius-xl) !important;\n  border-bottom-left-radius: var(--bs-border-radius-xl) !important;\n}\n\n.rounded-bottom-5 {\n  border-bottom-right-radius: var(--bs-border-radius-xxl) !important;\n  border-bottom-left-radius: var(--bs-border-radius-xxl) !important;\n}\n\n.rounded-bottom-circle {\n  border-bottom-right-radius: 50% !important;\n  border-bottom-left-radius: 50% !important;\n}\n\n.rounded-bottom-pill {\n  border-bottom-right-radius: var(--bs-border-radius-pill) !important;\n  border-bottom-left-radius: var(--bs-border-radius-pill) !important;\n}\n\n.rounded-start {\n  border-bottom-left-radius: var(--bs-border-radius) !important;\n  border-top-left-radius: var(--bs-border-radius) !important;\n}\n\n.rounded-start-0 {\n  border-bottom-left-radius: 0 !important;\n  border-top-left-radius: 0 !important;\n}\n\n.rounded-start-1 {\n  border-bottom-left-radius: var(--bs-border-radius-sm) !important;\n  border-top-left-radius: var(--bs-border-radius-sm) !important;\n}\n\n.rounded-start-2 {\n  border-bottom-left-radius: var(--bs-border-radius) !important;\n  border-top-left-radius: var(--bs-border-radius) !important;\n}\n\n.rounded-start-3 {\n  border-bottom-left-radius: var(--bs-border-radius-lg) !important;\n  border-top-left-radius: var(--bs-border-radius-lg) !important;\n}\n\n.rounded-start-4 {\n  border-bottom-left-radius: var(--bs-border-radius-xl) !important;\n  border-top-left-radius: var(--bs-border-radius-xl) !important;\n}\n\n.rounded-start-5 {\n  border-bottom-left-radius: var(--bs-border-radius-xxl) !important;\n  border-top-left-radius: var(--bs-border-radius-xxl) !important;\n}\n\n.rounded-start-circle {\n  border-bottom-left-radius: 50% !important;\n  border-top-left-radius: 50% !important;\n}\n\n.rounded-start-pill {\n  border-bottom-left-radius: var(--bs-border-radius-pill) !important;\n  border-top-left-radius: var(--bs-border-radius-pill) !important;\n}\n\n.visible {\n  visibility: visible !important;\n}\n\n.invisible {\n  visibility: hidden !important;\n}\n\n.z-n1 {\n  z-index: -1 !important;\n}\n\n.z-0 {\n  z-index: 0 !important;\n}\n\n.z-1 {\n  z-index: 1 !important;\n}\n\n.z-2 {\n  z-index: 2 !important;\n}\n\n.z-3 {\n  z-index: 3 !important;\n}\n\n@media (min-width: 540px) {\n  .float-sm-start {\n    float: left !important;\n  }\n  .float-sm-end {\n    float: right !important;\n  }\n  .float-sm-none {\n    float: none !important;\n  }\n  .object-fit-sm-contain {\n    object-fit: contain !important;\n  }\n  .object-fit-sm-cover {\n    object-fit: cover !important;\n  }\n  .object-fit-sm-fill {\n    object-fit: fill !important;\n  }\n  .object-fit-sm-scale {\n    object-fit: scale-down !important;\n  }\n  .object-fit-sm-none {\n    object-fit: none !important;\n  }\n  .d-sm-inline {\n    display: inline !important;\n  }\n  .d-sm-inline-block {\n    display: inline-block !important;\n  }\n  .d-sm-block {\n    display: block !important;\n  }\n  .d-sm-grid {\n    display: grid !important;\n  }\n  .d-sm-inline-grid {\n    display: inline-grid !important;\n  }\n  .d-sm-table {\n    display: table !important;\n  }\n  .d-sm-table-row {\n    display: table-row !important;\n  }\n  .d-sm-table-cell {\n    display: table-cell !important;\n  }\n  .d-sm-flex {\n    display: flex !important;\n  }\n  .d-sm-inline-flex {\n    display: inline-flex !important;\n  }\n  .d-sm-none {\n    display: none !important;\n  }\n  .flex-sm-fill {\n    flex: 1 1 auto !important;\n  }\n  .flex-sm-row {\n    flex-direction: row !important;\n  }\n  .flex-sm-column {\n    flex-direction: column !important;\n  }\n  .flex-sm-row-reverse {\n    flex-direction: row-reverse !important;\n  }\n  .flex-sm-column-reverse {\n    flex-direction: column-reverse !important;\n  }\n  .flex-sm-grow-0 {\n    flex-grow: 0 !important;\n  }\n  .flex-sm-grow-1 {\n    flex-grow: 1 !important;\n  }\n  .flex-sm-shrink-0 {\n    flex-shrink: 0 !important;\n  }\n  .flex-sm-shrink-1 {\n    flex-shrink: 1 !important;\n  }\n  .flex-sm-wrap {\n    flex-wrap: wrap !important;\n  }\n  .flex-sm-nowrap {\n    flex-wrap: nowrap !important;\n  }\n  .flex-sm-wrap-reverse {\n    flex-wrap: wrap-reverse !important;\n  }\n  .justify-content-sm-start {\n    justify-content: flex-start !important;\n  }\n  .justify-content-sm-end {\n    justify-content: flex-end !important;\n  }\n  .justify-content-sm-center {\n    justify-content: center !important;\n  }\n  .justify-content-sm-between {\n    justify-content: space-between !important;\n  }\n  .justify-content-sm-around {\n    justify-content: space-around !important;\n  }\n  .justify-content-sm-evenly {\n    justify-content: space-evenly !important;\n  }\n  .align-items-sm-start {\n    align-items: flex-start !important;\n  }\n  .align-items-sm-end {\n    align-items: flex-end !important;\n  }\n  .align-items-sm-center {\n    align-items: center !important;\n  }\n  .align-items-sm-baseline {\n    align-items: baseline !important;\n  }\n  .align-items-sm-stretch {\n    align-items: stretch !important;\n  }\n  .align-content-sm-start {\n    align-content: flex-start !important;\n  }\n  .align-content-sm-end {\n    align-content: flex-end !important;\n  }\n  .align-content-sm-center {\n    align-content: center !important;\n  }\n  .align-content-sm-between {\n    align-content: space-between !important;\n  }\n  .align-content-sm-around {\n    align-content: space-around !important;\n  }\n  .align-content-sm-stretch {\n    align-content: stretch !important;\n  }\n  .align-self-sm-auto {\n    align-self: auto !important;\n  }\n  .align-self-sm-start {\n    align-self: flex-start !important;\n  }\n  .align-self-sm-end {\n    align-self: flex-end !important;\n  }\n  .align-self-sm-center {\n    align-self: center !important;\n  }\n  .align-self-sm-baseline {\n    align-self: baseline !important;\n  }\n  .align-self-sm-stretch {\n    align-self: stretch !important;\n  }\n  .order-sm-first {\n    order: -1 !important;\n  }\n  .order-sm-0 {\n    order: 0 !important;\n  }\n  .order-sm-1 {\n    order: 1 !important;\n  }\n  .order-sm-2 {\n    order: 2 !important;\n  }\n  .order-sm-3 {\n    order: 3 !important;\n  }\n  .order-sm-4 {\n    order: 4 !important;\n  }\n  .order-sm-5 {\n    order: 5 !important;\n  }\n  .order-sm-last {\n    order: 6 !important;\n  }\n  .m-sm-0 {\n    margin: 0 !important;\n  }\n  .m-sm-1 {\n    margin: 0.25rem !important;\n  }\n  .m-sm-2 {\n    margin: 0.5rem !important;\n  }\n  .m-sm-3 {\n    margin: 1rem !important;\n  }\n  .m-sm-4 {\n    margin: 1.5rem !important;\n  }\n  .m-sm-5 {\n    margin: 3rem !important;\n  }\n  .m-sm-auto {\n    margin: auto !important;\n  }\n  .mx-sm-0 {\n    margin-right: 0 !important;\n    margin-left: 0 !important;\n  }\n  .mx-sm-1 {\n    margin-right: 0.25rem !important;\n    margin-left: 0.25rem !important;\n  }\n  .mx-sm-2 {\n    margin-right: 0.5rem !important;\n    margin-left: 0.5rem !important;\n  }\n  .mx-sm-3 {\n    margin-right: 1rem !important;\n    margin-left: 1rem !important;\n  }\n  .mx-sm-4 {\n    margin-right: 1.5rem !important;\n    margin-left: 1.5rem !important;\n  }\n  .mx-sm-5 {\n    margin-right: 3rem !important;\n    margin-left: 3rem !important;\n  }\n  .mx-sm-auto {\n    margin-right: auto !important;\n    margin-left: auto !important;\n  }\n  .my-sm-0 {\n    margin-top: 0 !important;\n    margin-bottom: 0 !important;\n  }\n  .my-sm-1 {\n    margin-top: 0.25rem !important;\n    margin-bottom: 0.25rem !important;\n  }\n  .my-sm-2 {\n    margin-top: 0.5rem !important;\n    margin-bottom: 0.5rem !important;\n  }\n  .my-sm-3 {\n    margin-top: 1rem !important;\n    margin-bottom: 1rem !important;\n  }\n  .my-sm-4 {\n    margin-top: 1.5rem !important;\n    margin-bottom: 1.5rem !important;\n  }\n  .my-sm-5 {\n    margin-top: 3rem !important;\n    margin-bottom: 3rem !important;\n  }\n  .my-sm-auto {\n    margin-top: auto !important;\n    margin-bottom: auto !important;\n  }\n  .mt-sm-0 {\n    margin-top: 0 !important;\n  }\n  .mt-sm-1 {\n    margin-top: 0.25rem !important;\n  }\n  .mt-sm-2 {\n    margin-top: 0.5rem !important;\n  }\n  .mt-sm-3 {\n    margin-top: 1rem !important;\n  }\n  .mt-sm-4 {\n    margin-top: 1.5rem !important;\n  }\n  .mt-sm-5 {\n    margin-top: 3rem !important;\n  }\n  .mt-sm-auto {\n    margin-top: auto !important;\n  }\n  .me-sm-0 {\n    margin-right: 0 !important;\n  }\n  .me-sm-1 {\n    margin-right: 0.25rem !important;\n  }\n  .me-sm-2 {\n    margin-right: 0.5rem !important;\n  }\n  .me-sm-3 {\n    margin-right: 1rem !important;\n  }\n  .me-sm-4 {\n    margin-right: 1.5rem !important;\n  }\n  .me-sm-5 {\n    margin-right: 3rem !important;\n  }\n  .me-sm-auto {\n    margin-right: auto !important;\n  }\n  .mb-sm-0 {\n    margin-bottom: 0 !important;\n  }\n  .mb-sm-1 {\n    margin-bottom: 0.25rem !important;\n  }\n  .mb-sm-2 {\n    margin-bottom: 0.5rem !important;\n  }\n  .mb-sm-3 {\n    margin-bottom: 1rem !important;\n  }\n  .mb-sm-4 {\n    margin-bottom: 1.5rem !important;\n  }\n  .mb-sm-5 {\n    margin-bottom: 3rem !important;\n  }\n  .mb-sm-auto {\n    margin-bottom: auto !important;\n  }\n  .ms-sm-0 {\n    margin-left: 0 !important;\n  }\n  .ms-sm-1 {\n    margin-left: 0.25rem !important;\n  }\n  .ms-sm-2 {\n    margin-left: 0.5rem !important;\n  }\n  .ms-sm-3 {\n    margin-left: 1rem !important;\n  }\n  .ms-sm-4 {\n    margin-left: 1.5rem !important;\n  }\n  .ms-sm-5 {\n    margin-left: 3rem !important;\n  }\n  .ms-sm-auto {\n    margin-left: auto !important;\n  }\n  .p-sm-0 {\n    padding: 0 !important;\n  }\n  .p-sm-1 {\n    padding: 0.25rem !important;\n  }\n  .p-sm-2 {\n    padding: 0.5rem !important;\n  }\n  .p-sm-3 {\n    padding: 1rem !important;\n  }\n  .p-sm-4 {\n    padding: 1.5rem !important;\n  }\n  .p-sm-5 {\n    padding: 3rem !important;\n  }\n  .px-sm-0 {\n    padding-right: 0 !important;\n    padding-left: 0 !important;\n  }\n  .px-sm-1 {\n    padding-right: 0.25rem !important;\n    padding-left: 0.25rem !important;\n  }\n  .px-sm-2 {\n    padding-right: 0.5rem !important;\n    padding-left: 0.5rem !important;\n  }\n  .px-sm-3 {\n    padding-right: 1rem !important;\n    padding-left: 1rem !important;\n  }\n  .px-sm-4 {\n    padding-right: 1.5rem !important;\n    padding-left: 1.5rem !important;\n  }\n  .px-sm-5 {\n    padding-right: 3rem !important;\n    padding-left: 3rem !important;\n  }\n  .py-sm-0 {\n    padding-top: 0 !important;\n    padding-bottom: 0 !important;\n  }\n  .py-sm-1 {\n    padding-top: 0.25rem !important;\n    padding-bottom: 0.25rem !important;\n  }\n  .py-sm-2 {\n    padding-top: 0.5rem !important;\n    padding-bottom: 0.5rem !important;\n  }\n  .py-sm-3 {\n    padding-top: 1rem !important;\n    padding-bottom: 1rem !important;\n  }\n  .py-sm-4 {\n    padding-top: 1.5rem !important;\n    padding-bottom: 1.5rem !important;\n  }\n  .py-sm-5 {\n    padding-top: 3rem !important;\n    padding-bottom: 3rem !important;\n  }\n  .pt-sm-0 {\n    padding-top: 0 !important;\n  }\n  .pt-sm-1 {\n    padding-top: 0.25rem !important;\n  }\n  .pt-sm-2 {\n    padding-top: 0.5rem !important;\n  }\n  .pt-sm-3 {\n    padding-top: 1rem !important;\n  }\n  .pt-sm-4 {\n    padding-top: 1.5rem !important;\n  }\n  .pt-sm-5 {\n    padding-top: 3rem !important;\n  }\n  .pe-sm-0 {\n    padding-right: 0 !important;\n  }\n  .pe-sm-1 {\n    padding-right: 0.25rem !important;\n  }\n  .pe-sm-2 {\n    padding-right: 0.5rem !important;\n  }\n  .pe-sm-3 {\n    padding-right: 1rem !important;\n  }\n  .pe-sm-4 {\n    padding-right: 1.5rem !important;\n  }\n  .pe-sm-5 {\n    padding-right: 3rem !important;\n  }\n  .pb-sm-0 {\n    padding-bottom: 0 !important;\n  }\n  .pb-sm-1 {\n    padding-bottom: 0.25rem !important;\n  }\n  .pb-sm-2 {\n    padding-bottom: 0.5rem !important;\n  }\n  .pb-sm-3 {\n    padding-bottom: 1rem !important;\n  }\n  .pb-sm-4 {\n    padding-bottom: 1.5rem !important;\n  }\n  .pb-sm-5 {\n    padding-bottom: 3rem !important;\n  }\n  .ps-sm-0 {\n    padding-left: 0 !important;\n  }\n  .ps-sm-1 {\n    padding-left: 0.25rem !important;\n  }\n  .ps-sm-2 {\n    padding-left: 0.5rem !important;\n  }\n  .ps-sm-3 {\n    padding-left: 1rem !important;\n  }\n  .ps-sm-4 {\n    padding-left: 1.5rem !important;\n  }\n  .ps-sm-5 {\n    padding-left: 3rem !important;\n  }\n  .gap-sm-0 {\n    gap: 0 !important;\n  }\n  .gap-sm-1 {\n    gap: 0.25rem !important;\n  }\n  .gap-sm-2 {\n    gap: 0.5rem !important;\n  }\n  .gap-sm-3 {\n    gap: 1rem !important;\n  }\n  .gap-sm-4 {\n    gap: 1.5rem !important;\n  }\n  .gap-sm-5 {\n    gap: 3rem !important;\n  }\n  .row-gap-sm-0 {\n    row-gap: 0 !important;\n  }\n  .row-gap-sm-1 {\n    row-gap: 0.25rem !important;\n  }\n  .row-gap-sm-2 {\n    row-gap: 0.5rem !important;\n  }\n  .row-gap-sm-3 {\n    row-gap: 1rem !important;\n  }\n  .row-gap-sm-4 {\n    row-gap: 1.5rem !important;\n  }\n  .row-gap-sm-5 {\n    row-gap: 3rem !important;\n  }\n  .column-gap-sm-0 {\n    column-gap: 0 !important;\n  }\n  .column-gap-sm-1 {\n    column-gap: 0.25rem !important;\n  }\n  .column-gap-sm-2 {\n    column-gap: 0.5rem !important;\n  }\n  .column-gap-sm-3 {\n    column-gap: 1rem !important;\n  }\n  .column-gap-sm-4 {\n    column-gap: 1.5rem !important;\n  }\n  .column-gap-sm-5 {\n    column-gap: 3rem !important;\n  }\n  .text-sm-start {\n    text-align: left !important;\n  }\n  .text-sm-end {\n    text-align: right !important;\n  }\n  .text-sm-center {\n    text-align: center !important;\n  }\n}\n@media (min-width: 720px) {\n  .float-md-start {\n    float: left !important;\n  }\n  .float-md-end {\n    float: right !important;\n  }\n  .float-md-none {\n    float: none !important;\n  }\n  .object-fit-md-contain {\n    object-fit: contain !important;\n  }\n  .object-fit-md-cover {\n    object-fit: cover !important;\n  }\n  .object-fit-md-fill {\n    object-fit: fill !important;\n  }\n  .object-fit-md-scale {\n    object-fit: scale-down !important;\n  }\n  .object-fit-md-none {\n    object-fit: none !important;\n  }\n  .d-md-inline {\n    display: inline !important;\n  }\n  .d-md-inline-block {\n    display: inline-block !important;\n  }\n  .d-md-block {\n    display: block !important;\n  }\n  .d-md-grid {\n    display: grid !important;\n  }\n  .d-md-inline-grid {\n    display: inline-grid !important;\n  }\n  .d-md-table {\n    display: table !important;\n  }\n  .d-md-table-row {\n    display: table-row !important;\n  }\n  .d-md-table-cell {\n    display: table-cell !important;\n  }\n  .d-md-flex {\n    display: flex !important;\n  }\n  .d-md-inline-flex {\n    display: inline-flex !important;\n  }\n  .d-md-none {\n    display: none !important;\n  }\n  .flex-md-fill {\n    flex: 1 1 auto !important;\n  }\n  .flex-md-row {\n    flex-direction: row !important;\n  }\n  .flex-md-column {\n    flex-direction: column !important;\n  }\n  .flex-md-row-reverse {\n    flex-direction: row-reverse !important;\n  }\n  .flex-md-column-reverse {\n    flex-direction: column-reverse !important;\n  }\n  .flex-md-grow-0 {\n    flex-grow: 0 !important;\n  }\n  .flex-md-grow-1 {\n    flex-grow: 1 !important;\n  }\n  .flex-md-shrink-0 {\n    flex-shrink: 0 !important;\n  }\n  .flex-md-shrink-1 {\n    flex-shrink: 1 !important;\n  }\n  .flex-md-wrap {\n    flex-wrap: wrap !important;\n  }\n  .flex-md-nowrap {\n    flex-wrap: nowrap !important;\n  }\n  .flex-md-wrap-reverse {\n    flex-wrap: wrap-reverse !important;\n  }\n  .justify-content-md-start {\n    justify-content: flex-start !important;\n  }\n  .justify-content-md-end {\n    justify-content: flex-end !important;\n  }\n  .justify-content-md-center {\n    justify-content: center !important;\n  }\n  .justify-content-md-between {\n    justify-content: space-between !important;\n  }\n  .justify-content-md-around {\n    justify-content: space-around !important;\n  }\n  .justify-content-md-evenly {\n    justify-content: space-evenly !important;\n  }\n  .align-items-md-start {\n    align-items: flex-start !important;\n  }\n  .align-items-md-end {\n    align-items: flex-end !important;\n  }\n  .align-items-md-center {\n    align-items: center !important;\n  }\n  .align-items-md-baseline {\n    align-items: baseline !important;\n  }\n  .align-items-md-stretch {\n    align-items: stretch !important;\n  }\n  .align-content-md-start {\n    align-content: flex-start !important;\n  }\n  .align-content-md-end {\n    align-content: flex-end !important;\n  }\n  .align-content-md-center {\n    align-content: center !important;\n  }\n  .align-content-md-between {\n    align-content: space-between !important;\n  }\n  .align-content-md-around {\n    align-content: space-around !important;\n  }\n  .align-content-md-stretch {\n    align-content: stretch !important;\n  }\n  .align-self-md-auto {\n    align-self: auto !important;\n  }\n  .align-self-md-start {\n    align-self: flex-start !important;\n  }\n  .align-self-md-end {\n    align-self: flex-end !important;\n  }\n  .align-self-md-center {\n    align-self: center !important;\n  }\n  .align-self-md-baseline {\n    align-self: baseline !important;\n  }\n  .align-self-md-stretch {\n    align-self: stretch !important;\n  }\n  .order-md-first {\n    order: -1 !important;\n  }\n  .order-md-0 {\n    order: 0 !important;\n  }\n  .order-md-1 {\n    order: 1 !important;\n  }\n  .order-md-2 {\n    order: 2 !important;\n  }\n  .order-md-3 {\n    order: 3 !important;\n  }\n  .order-md-4 {\n    order: 4 !important;\n  }\n  .order-md-5 {\n    order: 5 !important;\n  }\n  .order-md-last {\n    order: 6 !important;\n  }\n  .m-md-0 {\n    margin: 0 !important;\n  }\n  .m-md-1 {\n    margin: 0.25rem !important;\n  }\n  .m-md-2 {\n    margin: 0.5rem !important;\n  }\n  .m-md-3 {\n    margin: 1rem !important;\n  }\n  .m-md-4 {\n    margin: 1.5rem !important;\n  }\n  .m-md-5 {\n    margin: 3rem !important;\n  }\n  .m-md-auto {\n    margin: auto !important;\n  }\n  .mx-md-0 {\n    margin-right: 0 !important;\n    margin-left: 0 !important;\n  }\n  .mx-md-1 {\n    margin-right: 0.25rem !important;\n    margin-left: 0.25rem !important;\n  }\n  .mx-md-2 {\n    margin-right: 0.5rem !important;\n    margin-left: 0.5rem !important;\n  }\n  .mx-md-3 {\n    margin-right: 1rem !important;\n    margin-left: 1rem !important;\n  }\n  .mx-md-4 {\n    margin-right: 1.5rem !important;\n    margin-left: 1.5rem !important;\n  }\n  .mx-md-5 {\n    margin-right: 3rem !important;\n    margin-left: 3rem !important;\n  }\n  .mx-md-auto {\n    margin-right: auto !important;\n    margin-left: auto !important;\n  }\n  .my-md-0 {\n    margin-top: 0 !important;\n    margin-bottom: 0 !important;\n  }\n  .my-md-1 {\n    margin-top: 0.25rem !important;\n    margin-bottom: 0.25rem !important;\n  }\n  .my-md-2 {\n    margin-top: 0.5rem !important;\n    margin-bottom: 0.5rem !important;\n  }\n  .my-md-3 {\n    margin-top: 1rem !important;\n    margin-bottom: 1rem !important;\n  }\n  .my-md-4 {\n    margin-top: 1.5rem !important;\n    margin-bottom: 1.5rem !important;\n  }\n  .my-md-5 {\n    margin-top: 3rem !important;\n    margin-bottom: 3rem !important;\n  }\n  .my-md-auto {\n    margin-top: auto !important;\n    margin-bottom: auto !important;\n  }\n  .mt-md-0 {\n    margin-top: 0 !important;\n  }\n  .mt-md-1 {\n    margin-top: 0.25rem !important;\n  }\n  .mt-md-2 {\n    margin-top: 0.5rem !important;\n  }\n  .mt-md-3 {\n    margin-top: 1rem !important;\n  }\n  .mt-md-4 {\n    margin-top: 1.5rem !important;\n  }\n  .mt-md-5 {\n    margin-top: 3rem !important;\n  }\n  .mt-md-auto {\n    margin-top: auto !important;\n  }\n  .me-md-0 {\n    margin-right: 0 !important;\n  }\n  .me-md-1 {\n    margin-right: 0.25rem !important;\n  }\n  .me-md-2 {\n    margin-right: 0.5rem !important;\n  }\n  .me-md-3 {\n    margin-right: 1rem !important;\n  }\n  .me-md-4 {\n    margin-right: 1.5rem !important;\n  }\n  .me-md-5 {\n    margin-right: 3rem !important;\n  }\n  .me-md-auto {\n    margin-right: auto !important;\n  }\n  .mb-md-0 {\n    margin-bottom: 0 !important;\n  }\n  .mb-md-1 {\n    margin-bottom: 0.25rem !important;\n  }\n  .mb-md-2 {\n    margin-bottom: 0.5rem !important;\n  }\n  .mb-md-3 {\n    margin-bottom: 1rem !important;\n  }\n  .mb-md-4 {\n    margin-bottom: 1.5rem !important;\n  }\n  .mb-md-5 {\n    margin-bottom: 3rem !important;\n  }\n  .mb-md-auto {\n    margin-bottom: auto !important;\n  }\n  .ms-md-0 {\n    margin-left: 0 !important;\n  }\n  .ms-md-1 {\n    margin-left: 0.25rem !important;\n  }\n  .ms-md-2 {\n    margin-left: 0.5rem !important;\n  }\n  .ms-md-3 {\n    margin-left: 1rem !important;\n  }\n  .ms-md-4 {\n    margin-left: 1.5rem !important;\n  }\n  .ms-md-5 {\n    margin-left: 3rem !important;\n  }\n  .ms-md-auto {\n    margin-left: auto !important;\n  }\n  .p-md-0 {\n    padding: 0 !important;\n  }\n  .p-md-1 {\n    padding: 0.25rem !important;\n  }\n  .p-md-2 {\n    padding: 0.5rem !important;\n  }\n  .p-md-3 {\n    padding: 1rem !important;\n  }\n  .p-md-4 {\n    padding: 1.5rem !important;\n  }\n  .p-md-5 {\n    padding: 3rem !important;\n  }\n  .px-md-0 {\n    padding-right: 0 !important;\n    padding-left: 0 !important;\n  }\n  .px-md-1 {\n    padding-right: 0.25rem !important;\n    padding-left: 0.25rem !important;\n  }\n  .px-md-2 {\n    padding-right: 0.5rem !important;\n    padding-left: 0.5rem !important;\n  }\n  .px-md-3 {\n    padding-right: 1rem !important;\n    padding-left: 1rem !important;\n  }\n  .px-md-4 {\n    padding-right: 1.5rem !important;\n    padding-left: 1.5rem !important;\n  }\n  .px-md-5 {\n    padding-right: 3rem !important;\n    padding-left: 3rem !important;\n  }\n  .py-md-0 {\n    padding-top: 0 !important;\n    padding-bottom: 0 !important;\n  }\n  .py-md-1 {\n    padding-top: 0.25rem !important;\n    padding-bottom: 0.25rem !important;\n  }\n  .py-md-2 {\n    padding-top: 0.5rem !important;\n    padding-bottom: 0.5rem !important;\n  }\n  .py-md-3 {\n    padding-top: 1rem !important;\n    padding-bottom: 1rem !important;\n  }\n  .py-md-4 {\n    padding-top: 1.5rem !important;\n    padding-bottom: 1.5rem !important;\n  }\n  .py-md-5 {\n    padding-top: 3rem !important;\n    padding-bottom: 3rem !important;\n  }\n  .pt-md-0 {\n    padding-top: 0 !important;\n  }\n  .pt-md-1 {\n    padding-top: 0.25rem !important;\n  }\n  .pt-md-2 {\n    padding-top: 0.5rem !important;\n  }\n  .pt-md-3 {\n    padding-top: 1rem !important;\n  }\n  .pt-md-4 {\n    padding-top: 1.5rem !important;\n  }\n  .pt-md-5 {\n    padding-top: 3rem !important;\n  }\n  .pe-md-0 {\n    padding-right: 0 !important;\n  }\n  .pe-md-1 {\n    padding-right: 0.25rem !important;\n  }\n  .pe-md-2 {\n    padding-right: 0.5rem !important;\n  }\n  .pe-md-3 {\n    padding-right: 1rem !important;\n  }\n  .pe-md-4 {\n    padding-right: 1.5rem !important;\n  }\n  .pe-md-5 {\n    padding-right: 3rem !important;\n  }\n  .pb-md-0 {\n    padding-bottom: 0 !important;\n  }\n  .pb-md-1 {\n    padding-bottom: 0.25rem !important;\n  }\n  .pb-md-2 {\n    padding-bottom: 0.5rem !important;\n  }\n  .pb-md-3 {\n    padding-bottom: 1rem !important;\n  }\n  .pb-md-4 {\n    padding-bottom: 1.5rem !important;\n  }\n  .pb-md-5 {\n    padding-bottom: 3rem !important;\n  }\n  .ps-md-0 {\n    padding-left: 0 !important;\n  }\n  .ps-md-1 {\n    padding-left: 0.25rem !important;\n  }\n  .ps-md-2 {\n    padding-left: 0.5rem !important;\n  }\n  .ps-md-3 {\n    padding-left: 1rem !important;\n  }\n  .ps-md-4 {\n    padding-left: 1.5rem !important;\n  }\n  .ps-md-5 {\n    padding-left: 3rem !important;\n  }\n  .gap-md-0 {\n    gap: 0 !important;\n  }\n  .gap-md-1 {\n    gap: 0.25rem !important;\n  }\n  .gap-md-2 {\n    gap: 0.5rem !important;\n  }\n  .gap-md-3 {\n    gap: 1rem !important;\n  }\n  .gap-md-4 {\n    gap: 1.5rem !important;\n  }\n  .gap-md-5 {\n    gap: 3rem !important;\n  }\n  .row-gap-md-0 {\n    row-gap: 0 !important;\n  }\n  .row-gap-md-1 {\n    row-gap: 0.25rem !important;\n  }\n  .row-gap-md-2 {\n    row-gap: 0.5rem !important;\n  }\n  .row-gap-md-3 {\n    row-gap: 1rem !important;\n  }\n  .row-gap-md-4 {\n    row-gap: 1.5rem !important;\n  }\n  .row-gap-md-5 {\n    row-gap: 3rem !important;\n  }\n  .column-gap-md-0 {\n    column-gap: 0 !important;\n  }\n  .column-gap-md-1 {\n    column-gap: 0.25rem !important;\n  }\n  .column-gap-md-2 {\n    column-gap: 0.5rem !important;\n  }\n  .column-gap-md-3 {\n    column-gap: 1rem !important;\n  }\n  .column-gap-md-4 {\n    column-gap: 1.5rem !important;\n  }\n  .column-gap-md-5 {\n    column-gap: 3rem !important;\n  }\n  .text-md-start {\n    text-align: left !important;\n  }\n  .text-md-end {\n    text-align: right !important;\n  }\n  .text-md-center {\n    text-align: center !important;\n  }\n}\n@media (min-width: 960px) {\n  .float-lg-start {\n    float: left !important;\n  }\n  .float-lg-end {\n    float: right !important;\n  }\n  .float-lg-none {\n    float: none !important;\n  }\n  .object-fit-lg-contain {\n    object-fit: contain !important;\n  }\n  .object-fit-lg-cover {\n    object-fit: cover !important;\n  }\n  .object-fit-lg-fill {\n    object-fit: fill !important;\n  }\n  .object-fit-lg-scale {\n    object-fit: scale-down !important;\n  }\n  .object-fit-lg-none {\n    object-fit: none !important;\n  }\n  .d-lg-inline {\n    display: inline !important;\n  }\n  .d-lg-inline-block {\n    display: inline-block !important;\n  }\n  .d-lg-block {\n    display: block !important;\n  }\n  .d-lg-grid {\n    display: grid !important;\n  }\n  .d-lg-inline-grid {\n    display: inline-grid !important;\n  }\n  .d-lg-table {\n    display: table !important;\n  }\n  .d-lg-table-row {\n    display: table-row !important;\n  }\n  .d-lg-table-cell {\n    display: table-cell !important;\n  }\n  .d-lg-flex {\n    display: flex !important;\n  }\n  .d-lg-inline-flex {\n    display: inline-flex !important;\n  }\n  .d-lg-none {\n    display: none !important;\n  }\n  .flex-lg-fill {\n    flex: 1 1 auto !important;\n  }\n  .flex-lg-row {\n    flex-direction: row !important;\n  }\n  .flex-lg-column {\n    flex-direction: column !important;\n  }\n  .flex-lg-row-reverse {\n    flex-direction: row-reverse !important;\n  }\n  .flex-lg-column-reverse {\n    flex-direction: column-reverse !important;\n  }\n  .flex-lg-grow-0 {\n    flex-grow: 0 !important;\n  }\n  .flex-lg-grow-1 {\n    flex-grow: 1 !important;\n  }\n  .flex-lg-shrink-0 {\n    flex-shrink: 0 !important;\n  }\n  .flex-lg-shrink-1 {\n    flex-shrink: 1 !important;\n  }\n  .flex-lg-wrap {\n    flex-wrap: wrap !important;\n  }\n  .flex-lg-nowrap {\n    flex-wrap: nowrap !important;\n  }\n  .flex-lg-wrap-reverse {\n    flex-wrap: wrap-reverse !important;\n  }\n  .justify-content-lg-start {\n    justify-content: flex-start !important;\n  }\n  .justify-content-lg-end {\n    justify-content: flex-end !important;\n  }\n  .justify-content-lg-center {\n    justify-content: center !important;\n  }\n  .justify-content-lg-between {\n    justify-content: space-between !important;\n  }\n  .justify-content-lg-around {\n    justify-content: space-around !important;\n  }\n  .justify-content-lg-evenly {\n    justify-content: space-evenly !important;\n  }\n  .align-items-lg-start {\n    align-items: flex-start !important;\n  }\n  .align-items-lg-end {\n    align-items: flex-end !important;\n  }\n  .align-items-lg-center {\n    align-items: center !important;\n  }\n  .align-items-lg-baseline {\n    align-items: baseline !important;\n  }\n  .align-items-lg-stretch {\n    align-items: stretch !important;\n  }\n  .align-content-lg-start {\n    align-content: flex-start !important;\n  }\n  .align-content-lg-end {\n    align-content: flex-end !important;\n  }\n  .align-content-lg-center {\n    align-content: center !important;\n  }\n  .align-content-lg-between {\n    align-content: space-between !important;\n  }\n  .align-content-lg-around {\n    align-content: space-around !important;\n  }\n  .align-content-lg-stretch {\n    align-content: stretch !important;\n  }\n  .align-self-lg-auto {\n    align-self: auto !important;\n  }\n  .align-self-lg-start {\n    align-self: flex-start !important;\n  }\n  .align-self-lg-end {\n    align-self: flex-end !important;\n  }\n  .align-self-lg-center {\n    align-self: center !important;\n  }\n  .align-self-lg-baseline {\n    align-self: baseline !important;\n  }\n  .align-self-lg-stretch {\n    align-self: stretch !important;\n  }\n  .order-lg-first {\n    order: -1 !important;\n  }\n  .order-lg-0 {\n    order: 0 !important;\n  }\n  .order-lg-1 {\n    order: 1 !important;\n  }\n  .order-lg-2 {\n    order: 2 !important;\n  }\n  .order-lg-3 {\n    order: 3 !important;\n  }\n  .order-lg-4 {\n    order: 4 !important;\n  }\n  .order-lg-5 {\n    order: 5 !important;\n  }\n  .order-lg-last {\n    order: 6 !important;\n  }\n  .m-lg-0 {\n    margin: 0 !important;\n  }\n  .m-lg-1 {\n    margin: 0.25rem !important;\n  }\n  .m-lg-2 {\n    margin: 0.5rem !important;\n  }\n  .m-lg-3 {\n    margin: 1rem !important;\n  }\n  .m-lg-4 {\n    margin: 1.5rem !important;\n  }\n  .m-lg-5 {\n    margin: 3rem !important;\n  }\n  .m-lg-auto {\n    margin: auto !important;\n  }\n  .mx-lg-0 {\n    margin-right: 0 !important;\n    margin-left: 0 !important;\n  }\n  .mx-lg-1 {\n    margin-right: 0.25rem !important;\n    margin-left: 0.25rem !important;\n  }\n  .mx-lg-2 {\n    margin-right: 0.5rem !important;\n    margin-left: 0.5rem !important;\n  }\n  .mx-lg-3 {\n    margin-right: 1rem !important;\n    margin-left: 1rem !important;\n  }\n  .mx-lg-4 {\n    margin-right: 1.5rem !important;\n    margin-left: 1.5rem !important;\n  }\n  .mx-lg-5 {\n    margin-right: 3rem !important;\n    margin-left: 3rem !important;\n  }\n  .mx-lg-auto {\n    margin-right: auto !important;\n    margin-left: auto !important;\n  }\n  .my-lg-0 {\n    margin-top: 0 !important;\n    margin-bottom: 0 !important;\n  }\n  .my-lg-1 {\n    margin-top: 0.25rem !important;\n    margin-bottom: 0.25rem !important;\n  }\n  .my-lg-2 {\n    margin-top: 0.5rem !important;\n    margin-bottom: 0.5rem !important;\n  }\n  .my-lg-3 {\n    margin-top: 1rem !important;\n    margin-bottom: 1rem !important;\n  }\n  .my-lg-4 {\n    margin-top: 1.5rem !important;\n    margin-bottom: 1.5rem !important;\n  }\n  .my-lg-5 {\n    margin-top: 3rem !important;\n    margin-bottom: 3rem !important;\n  }\n  .my-lg-auto {\n    margin-top: auto !important;\n    margin-bottom: auto !important;\n  }\n  .mt-lg-0 {\n    margin-top: 0 !important;\n  }\n  .mt-lg-1 {\n    margin-top: 0.25rem !important;\n  }\n  .mt-lg-2 {\n    margin-top: 0.5rem !important;\n  }\n  .mt-lg-3 {\n    margin-top: 1rem !important;\n  }\n  .mt-lg-4 {\n    margin-top: 1.5rem !important;\n  }\n  .mt-lg-5 {\n    margin-top: 3rem !important;\n  }\n  .mt-lg-auto {\n    margin-top: auto !important;\n  }\n  .me-lg-0 {\n    margin-right: 0 !important;\n  }\n  .me-lg-1 {\n    margin-right: 0.25rem !important;\n  }\n  .me-lg-2 {\n    margin-right: 0.5rem !important;\n  }\n  .me-lg-3 {\n    margin-right: 1rem !important;\n  }\n  .me-lg-4 {\n    margin-right: 1.5rem !important;\n  }\n  .me-lg-5 {\n    margin-right: 3rem !important;\n  }\n  .me-lg-auto {\n    margin-right: auto !important;\n  }\n  .mb-lg-0 {\n    margin-bottom: 0 !important;\n  }\n  .mb-lg-1 {\n    margin-bottom: 0.25rem !important;\n  }\n  .mb-lg-2 {\n    margin-bottom: 0.5rem !important;\n  }\n  .mb-lg-3 {\n    margin-bottom: 1rem !important;\n  }\n  .mb-lg-4 {\n    margin-bottom: 1.5rem !important;\n  }\n  .mb-lg-5 {\n    margin-bottom: 3rem !important;\n  }\n  .mb-lg-auto {\n    margin-bottom: auto !important;\n  }\n  .ms-lg-0 {\n    margin-left: 0 !important;\n  }\n  .ms-lg-1 {\n    margin-left: 0.25rem !important;\n  }\n  .ms-lg-2 {\n    margin-left: 0.5rem !important;\n  }\n  .ms-lg-3 {\n    margin-left: 1rem !important;\n  }\n  .ms-lg-4 {\n    margin-left: 1.5rem !important;\n  }\n  .ms-lg-5 {\n    margin-left: 3rem !important;\n  }\n  .ms-lg-auto {\n    margin-left: auto !important;\n  }\n  .p-lg-0 {\n    padding: 0 !important;\n  }\n  .p-lg-1 {\n    padding: 0.25rem !important;\n  }\n  .p-lg-2 {\n    padding: 0.5rem !important;\n  }\n  .p-lg-3 {\n    padding: 1rem !important;\n  }\n  .p-lg-4 {\n    padding: 1.5rem !important;\n  }\n  .p-lg-5 {\n    padding: 3rem !important;\n  }\n  .px-lg-0 {\n    padding-right: 0 !important;\n    padding-left: 0 !important;\n  }\n  .px-lg-1 {\n    padding-right: 0.25rem !important;\n    padding-left: 0.25rem !important;\n  }\n  .px-lg-2 {\n    padding-right: 0.5rem !important;\n    padding-left: 0.5rem !important;\n  }\n  .px-lg-3 {\n    padding-right: 1rem !important;\n    padding-left: 1rem !important;\n  }\n  .px-lg-4 {\n    padding-right: 1.5rem !important;\n    padding-left: 1.5rem !important;\n  }\n  .px-lg-5 {\n    padding-right: 3rem !important;\n    padding-left: 3rem !important;\n  }\n  .py-lg-0 {\n    padding-top: 0 !important;\n    padding-bottom: 0 !important;\n  }\n  .py-lg-1 {\n    padding-top: 0.25rem !important;\n    padding-bottom: 0.25rem !important;\n  }\n  .py-lg-2 {\n    padding-top: 0.5rem !important;\n    padding-bottom: 0.5rem !important;\n  }\n  .py-lg-3 {\n    padding-top: 1rem !important;\n    padding-bottom: 1rem !important;\n  }\n  .py-lg-4 {\n    padding-top: 1.5rem !important;\n    padding-bottom: 1.5rem !important;\n  }\n  .py-lg-5 {\n    padding-top: 3rem !important;\n    padding-bottom: 3rem !important;\n  }\n  .pt-lg-0 {\n    padding-top: 0 !important;\n  }\n  .pt-lg-1 {\n    padding-top: 0.25rem !important;\n  }\n  .pt-lg-2 {\n    padding-top: 0.5rem !important;\n  }\n  .pt-lg-3 {\n    padding-top: 1rem !important;\n  }\n  .pt-lg-4 {\n    padding-top: 1.5rem !important;\n  }\n  .pt-lg-5 {\n    padding-top: 3rem !important;\n  }\n  .pe-lg-0 {\n    padding-right: 0 !important;\n  }\n  .pe-lg-1 {\n    padding-right: 0.25rem !important;\n  }\n  .pe-lg-2 {\n    padding-right: 0.5rem !important;\n  }\n  .pe-lg-3 {\n    padding-right: 1rem !important;\n  }\n  .pe-lg-4 {\n    padding-right: 1.5rem !important;\n  }\n  .pe-lg-5 {\n    padding-right: 3rem !important;\n  }\n  .pb-lg-0 {\n    padding-bottom: 0 !important;\n  }\n  .pb-lg-1 {\n    padding-bottom: 0.25rem !important;\n  }\n  .pb-lg-2 {\n    padding-bottom: 0.5rem !important;\n  }\n  .pb-lg-3 {\n    padding-bottom: 1rem !important;\n  }\n  .pb-lg-4 {\n    padding-bottom: 1.5rem !important;\n  }\n  .pb-lg-5 {\n    padding-bottom: 3rem !important;\n  }\n  .ps-lg-0 {\n    padding-left: 0 !important;\n  }\n  .ps-lg-1 {\n    padding-left: 0.25rem !important;\n  }\n  .ps-lg-2 {\n    padding-left: 0.5rem !important;\n  }\n  .ps-lg-3 {\n    padding-left: 1rem !important;\n  }\n  .ps-lg-4 {\n    padding-left: 1.5rem !important;\n  }\n  .ps-lg-5 {\n    padding-left: 3rem !important;\n  }\n  .gap-lg-0 {\n    gap: 0 !important;\n  }\n  .gap-lg-1 {\n    gap: 0.25rem !important;\n  }\n  .gap-lg-2 {\n    gap: 0.5rem !important;\n  }\n  .gap-lg-3 {\n    gap: 1rem !important;\n  }\n  .gap-lg-4 {\n    gap: 1.5rem !important;\n  }\n  .gap-lg-5 {\n    gap: 3rem !important;\n  }\n  .row-gap-lg-0 {\n    row-gap: 0 !important;\n  }\n  .row-gap-lg-1 {\n    row-gap: 0.25rem !important;\n  }\n  .row-gap-lg-2 {\n    row-gap: 0.5rem !important;\n  }\n  .row-gap-lg-3 {\n    row-gap: 1rem !important;\n  }\n  .row-gap-lg-4 {\n    row-gap: 1.5rem !important;\n  }\n  .row-gap-lg-5 {\n    row-gap: 3rem !important;\n  }\n  .column-gap-lg-0 {\n    column-gap: 0 !important;\n  }\n  .column-gap-lg-1 {\n    column-gap: 0.25rem !important;\n  }\n  .column-gap-lg-2 {\n    column-gap: 0.5rem !important;\n  }\n  .column-gap-lg-3 {\n    column-gap: 1rem !important;\n  }\n  .column-gap-lg-4 {\n    column-gap: 1.5rem !important;\n  }\n  .column-gap-lg-5 {\n    column-gap: 3rem !important;\n  }\n  .text-lg-start {\n    text-align: left !important;\n  }\n  .text-lg-end {\n    text-align: right !important;\n  }\n  .text-lg-center {\n    text-align: center !important;\n  }\n}\n@media (min-width: 1200px) {\n  .float-xl-start {\n    float: left !important;\n  }\n  .float-xl-end {\n    float: right !important;\n  }\n  .float-xl-none {\n    float: none !important;\n  }\n  .object-fit-xl-contain {\n    object-fit: contain !important;\n  }\n  .object-fit-xl-cover {\n    object-fit: cover !important;\n  }\n  .object-fit-xl-fill {\n    object-fit: fill !important;\n  }\n  .object-fit-xl-scale {\n    object-fit: scale-down !important;\n  }\n  .object-fit-xl-none {\n    object-fit: none !important;\n  }\n  .d-xl-inline {\n    display: inline !important;\n  }\n  .d-xl-inline-block {\n    display: inline-block !important;\n  }\n  .d-xl-block {\n    display: block !important;\n  }\n  .d-xl-grid {\n    display: grid !important;\n  }\n  .d-xl-inline-grid {\n    display: inline-grid !important;\n  }\n  .d-xl-table {\n    display: table !important;\n  }\n  .d-xl-table-row {\n    display: table-row !important;\n  }\n  .d-xl-table-cell {\n    display: table-cell !important;\n  }\n  .d-xl-flex {\n    display: flex !important;\n  }\n  .d-xl-inline-flex {\n    display: inline-flex !important;\n  }\n  .d-xl-none {\n    display: none !important;\n  }\n  .flex-xl-fill {\n    flex: 1 1 auto !important;\n  }\n  .flex-xl-row {\n    flex-direction: row !important;\n  }\n  .flex-xl-column {\n    flex-direction: column !important;\n  }\n  .flex-xl-row-reverse {\n    flex-direction: row-reverse !important;\n  }\n  .flex-xl-column-reverse {\n    flex-direction: column-reverse !important;\n  }\n  .flex-xl-grow-0 {\n    flex-grow: 0 !important;\n  }\n  .flex-xl-grow-1 {\n    flex-grow: 1 !important;\n  }\n  .flex-xl-shrink-0 {\n    flex-shrink: 0 !important;\n  }\n  .flex-xl-shrink-1 {\n    flex-shrink: 1 !important;\n  }\n  .flex-xl-wrap {\n    flex-wrap: wrap !important;\n  }\n  .flex-xl-nowrap {\n    flex-wrap: nowrap !important;\n  }\n  .flex-xl-wrap-reverse {\n    flex-wrap: wrap-reverse !important;\n  }\n  .justify-content-xl-start {\n    justify-content: flex-start !important;\n  }\n  .justify-content-xl-end {\n    justify-content: flex-end !important;\n  }\n  .justify-content-xl-center {\n    justify-content: center !important;\n  }\n  .justify-content-xl-between {\n    justify-content: space-between !important;\n  }\n  .justify-content-xl-around {\n    justify-content: space-around !important;\n  }\n  .justify-content-xl-evenly {\n    justify-content: space-evenly !important;\n  }\n  .align-items-xl-start {\n    align-items: flex-start !important;\n  }\n  .align-items-xl-end {\n    align-items: flex-end !important;\n  }\n  .align-items-xl-center {\n    align-items: center !important;\n  }\n  .align-items-xl-baseline {\n    align-items: baseline !important;\n  }\n  .align-items-xl-stretch {\n    align-items: stretch !important;\n  }\n  .align-content-xl-start {\n    align-content: flex-start !important;\n  }\n  .align-content-xl-end {\n    align-content: flex-end !important;\n  }\n  .align-content-xl-center {\n    align-content: center !important;\n  }\n  .align-content-xl-between {\n    align-content: space-between !important;\n  }\n  .align-content-xl-around {\n    align-content: space-around !important;\n  }\n  .align-content-xl-stretch {\n    align-content: stretch !important;\n  }\n  .align-self-xl-auto {\n    align-self: auto !important;\n  }\n  .align-self-xl-start {\n    align-self: flex-start !important;\n  }\n  .align-self-xl-end {\n    align-self: flex-end !important;\n  }\n  .align-self-xl-center {\n    align-self: center !important;\n  }\n  .align-self-xl-baseline {\n    align-self: baseline !important;\n  }\n  .align-self-xl-stretch {\n    align-self: stretch !important;\n  }\n  .order-xl-first {\n    order: -1 !important;\n  }\n  .order-xl-0 {\n    order: 0 !important;\n  }\n  .order-xl-1 {\n    order: 1 !important;\n  }\n  .order-xl-2 {\n    order: 2 !important;\n  }\n  .order-xl-3 {\n    order: 3 !important;\n  }\n  .order-xl-4 {\n    order: 4 !important;\n  }\n  .order-xl-5 {\n    order: 5 !important;\n  }\n  .order-xl-last {\n    order: 6 !important;\n  }\n  .m-xl-0 {\n    margin: 0 !important;\n  }\n  .m-xl-1 {\n    margin: 0.25rem !important;\n  }\n  .m-xl-2 {\n    margin: 0.5rem !important;\n  }\n  .m-xl-3 {\n    margin: 1rem !important;\n  }\n  .m-xl-4 {\n    margin: 1.5rem !important;\n  }\n  .m-xl-5 {\n    margin: 3rem !important;\n  }\n  .m-xl-auto {\n    margin: auto !important;\n  }\n  .mx-xl-0 {\n    margin-right: 0 !important;\n    margin-left: 0 !important;\n  }\n  .mx-xl-1 {\n    margin-right: 0.25rem !important;\n    margin-left: 0.25rem !important;\n  }\n  .mx-xl-2 {\n    margin-right: 0.5rem !important;\n    margin-left: 0.5rem !important;\n  }\n  .mx-xl-3 {\n    margin-right: 1rem !important;\n    margin-left: 1rem !important;\n  }\n  .mx-xl-4 {\n    margin-right: 1.5rem !important;\n    margin-left: 1.5rem !important;\n  }\n  .mx-xl-5 {\n    margin-right: 3rem !important;\n    margin-left: 3rem !important;\n  }\n  .mx-xl-auto {\n    margin-right: auto !important;\n    margin-left: auto !important;\n  }\n  .my-xl-0 {\n    margin-top: 0 !important;\n    margin-bottom: 0 !important;\n  }\n  .my-xl-1 {\n    margin-top: 0.25rem !important;\n    margin-bottom: 0.25rem !important;\n  }\n  .my-xl-2 {\n    margin-top: 0.5rem !important;\n    margin-bottom: 0.5rem !important;\n  }\n  .my-xl-3 {\n    margin-top: 1rem !important;\n    margin-bottom: 1rem !important;\n  }\n  .my-xl-4 {\n    margin-top: 1.5rem !important;\n    margin-bottom: 1.5rem !important;\n  }\n  .my-xl-5 {\n    margin-top: 3rem !important;\n    margin-bottom: 3rem !important;\n  }\n  .my-xl-auto {\n    margin-top: auto !important;\n    margin-bottom: auto !important;\n  }\n  .mt-xl-0 {\n    margin-top: 0 !important;\n  }\n  .mt-xl-1 {\n    margin-top: 0.25rem !important;\n  }\n  .mt-xl-2 {\n    margin-top: 0.5rem !important;\n  }\n  .mt-xl-3 {\n    margin-top: 1rem !important;\n  }\n  .mt-xl-4 {\n    margin-top: 1.5rem !important;\n  }\n  .mt-xl-5 {\n    margin-top: 3rem !important;\n  }\n  .mt-xl-auto {\n    margin-top: auto !important;\n  }\n  .me-xl-0 {\n    margin-right: 0 !important;\n  }\n  .me-xl-1 {\n    margin-right: 0.25rem !important;\n  }\n  .me-xl-2 {\n    margin-right: 0.5rem !important;\n  }\n  .me-xl-3 {\n    margin-right: 1rem !important;\n  }\n  .me-xl-4 {\n    margin-right: 1.5rem !important;\n  }\n  .me-xl-5 {\n    margin-right: 3rem !important;\n  }\n  .me-xl-auto {\n    margin-right: auto !important;\n  }\n  .mb-xl-0 {\n    margin-bottom: 0 !important;\n  }\n  .mb-xl-1 {\n    margin-bottom: 0.25rem !important;\n  }\n  .mb-xl-2 {\n    margin-bottom: 0.5rem !important;\n  }\n  .mb-xl-3 {\n    margin-bottom: 1rem !important;\n  }\n  .mb-xl-4 {\n    margin-bottom: 1.5rem !important;\n  }\n  .mb-xl-5 {\n    margin-bottom: 3rem !important;\n  }\n  .mb-xl-auto {\n    margin-bottom: auto !important;\n  }\n  .ms-xl-0 {\n    margin-left: 0 !important;\n  }\n  .ms-xl-1 {\n    margin-left: 0.25rem !important;\n  }\n  .ms-xl-2 {\n    margin-left: 0.5rem !important;\n  }\n  .ms-xl-3 {\n    margin-left: 1rem !important;\n  }\n  .ms-xl-4 {\n    margin-left: 1.5rem !important;\n  }\n  .ms-xl-5 {\n    margin-left: 3rem !important;\n  }\n  .ms-xl-auto {\n    margin-left: auto !important;\n  }\n  .p-xl-0 {\n    padding: 0 !important;\n  }\n  .p-xl-1 {\n    padding: 0.25rem !important;\n  }\n  .p-xl-2 {\n    padding: 0.5rem !important;\n  }\n  .p-xl-3 {\n    padding: 1rem !important;\n  }\n  .p-xl-4 {\n    padding: 1.5rem !important;\n  }\n  .p-xl-5 {\n    padding: 3rem !important;\n  }\n  .px-xl-0 {\n    padding-right: 0 !important;\n    padding-left: 0 !important;\n  }\n  .px-xl-1 {\n    padding-right: 0.25rem !important;\n    padding-left: 0.25rem !important;\n  }\n  .px-xl-2 {\n    padding-right: 0.5rem !important;\n    padding-left: 0.5rem !important;\n  }\n  .px-xl-3 {\n    padding-right: 1rem !important;\n    padding-left: 1rem !important;\n  }\n  .px-xl-4 {\n    padding-right: 1.5rem !important;\n    padding-left: 1.5rem !important;\n  }\n  .px-xl-5 {\n    padding-right: 3rem !important;\n    padding-left: 3rem !important;\n  }\n  .py-xl-0 {\n    padding-top: 0 !important;\n    padding-bottom: 0 !important;\n  }\n  .py-xl-1 {\n    padding-top: 0.25rem !important;\n    padding-bottom: 0.25rem !important;\n  }\n  .py-xl-2 {\n    padding-top: 0.5rem !important;\n    padding-bottom: 0.5rem !important;\n  }\n  .py-xl-3 {\n    padding-top: 1rem !important;\n    padding-bottom: 1rem !important;\n  }\n  .py-xl-4 {\n    padding-top: 1.5rem !important;\n    padding-bottom: 1.5rem !important;\n  }\n  .py-xl-5 {\n    padding-top: 3rem !important;\n    padding-bottom: 3rem !important;\n  }\n  .pt-xl-0 {\n    padding-top: 0 !important;\n  }\n  .pt-xl-1 {\n    padding-top: 0.25rem !important;\n  }\n  .pt-xl-2 {\n    padding-top: 0.5rem !important;\n  }\n  .pt-xl-3 {\n    padding-top: 1rem !important;\n  }\n  .pt-xl-4 {\n    padding-top: 1.5rem !important;\n  }\n  .pt-xl-5 {\n    padding-top: 3rem !important;\n  }\n  .pe-xl-0 {\n    padding-right: 0 !important;\n  }\n  .pe-xl-1 {\n    padding-right: 0.25rem !important;\n  }\n  .pe-xl-2 {\n    padding-right: 0.5rem !important;\n  }\n  .pe-xl-3 {\n    padding-right: 1rem !important;\n  }\n  .pe-xl-4 {\n    padding-right: 1.5rem !important;\n  }\n  .pe-xl-5 {\n    padding-right: 3rem !important;\n  }\n  .pb-xl-0 {\n    padding-bottom: 0 !important;\n  }\n  .pb-xl-1 {\n    padding-bottom: 0.25rem !important;\n  }\n  .pb-xl-2 {\n    padding-bottom: 0.5rem !important;\n  }\n  .pb-xl-3 {\n    padding-bottom: 1rem !important;\n  }\n  .pb-xl-4 {\n    padding-bottom: 1.5rem !important;\n  }\n  .pb-xl-5 {\n    padding-bottom: 3rem !important;\n  }\n  .ps-xl-0 {\n    padding-left: 0 !important;\n  }\n  .ps-xl-1 {\n    padding-left: 0.25rem !important;\n  }\n  .ps-xl-2 {\n    padding-left: 0.5rem !important;\n  }\n  .ps-xl-3 {\n    padding-left: 1rem !important;\n  }\n  .ps-xl-4 {\n    padding-left: 1.5rem !important;\n  }\n  .ps-xl-5 {\n    padding-left: 3rem !important;\n  }\n  .gap-xl-0 {\n    gap: 0 !important;\n  }\n  .gap-xl-1 {\n    gap: 0.25rem !important;\n  }\n  .gap-xl-2 {\n    gap: 0.5rem !important;\n  }\n  .gap-xl-3 {\n    gap: 1rem !important;\n  }\n  .gap-xl-4 {\n    gap: 1.5rem !important;\n  }\n  .gap-xl-5 {\n    gap: 3rem !important;\n  }\n  .row-gap-xl-0 {\n    row-gap: 0 !important;\n  }\n  .row-gap-xl-1 {\n    row-gap: 0.25rem !important;\n  }\n  .row-gap-xl-2 {\n    row-gap: 0.5rem !important;\n  }\n  .row-gap-xl-3 {\n    row-gap: 1rem !important;\n  }\n  .row-gap-xl-4 {\n    row-gap: 1.5rem !important;\n  }\n  .row-gap-xl-5 {\n    row-gap: 3rem !important;\n  }\n  .column-gap-xl-0 {\n    column-gap: 0 !important;\n  }\n  .column-gap-xl-1 {\n    column-gap: 0.25rem !important;\n  }\n  .column-gap-xl-2 {\n    column-gap: 0.5rem !important;\n  }\n  .column-gap-xl-3 {\n    column-gap: 1rem !important;\n  }\n  .column-gap-xl-4 {\n    column-gap: 1.5rem !important;\n  }\n  .column-gap-xl-5 {\n    column-gap: 3rem !important;\n  }\n  .text-xl-start {\n    text-align: left !important;\n  }\n  .text-xl-end {\n    text-align: right !important;\n  }\n  .text-xl-center {\n    text-align: center !important;\n  }\n}\n@media (min-width: 1200px) {\n  .fs-1 {\n    font-size: 2.5rem !important;\n  }\n  .fs-2 {\n    font-size: 2rem !important;\n  }\n  .fs-3 {\n    font-size: 1.75rem !important;\n  }\n  .fs-4 {\n    font-size: 1.5rem !important;\n  }\n}\n@media print {\n  .d-print-inline {\n    display: inline !important;\n  }\n  .d-print-inline-block {\n    display: inline-block !important;\n  }\n  .d-print-block {\n    display: block !important;\n  }\n  .d-print-grid {\n    display: grid !important;\n  }\n  .d-print-inline-grid {\n    display: inline-grid !important;\n  }\n  .d-print-table {\n    display: table !important;\n  }\n  .d-print-table-row {\n    display: table-row !important;\n  }\n  .d-print-table-cell {\n    display: table-cell !important;\n  }\n  .d-print-flex {\n    display: flex !important;\n  }\n  .d-print-inline-flex {\n    display: inline-flex !important;\n  }\n  .d-print-none {\n    display: none !important;\n  }\n}\n/*!\n * Font Awesome Free 6.5.2 by @fontawesome - https://fontawesome.com\n * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)\n * Copyright 2024 Fonticons, Inc.\n */\n.fa {\n  font-family: var(--fa-style-family, \"Font Awesome 6 Free\");\n  font-weight: var(--fa-style, 900);\n}\n\n.fa,\n.fa-classic,\n.fa-sharp,\n.fas,\n.fa-solid,\n.far,\n.fa-regular,\n.fab,\n.fa-brands {\n  -moz-osx-font-smoothing: grayscale;\n  -webkit-font-smoothing: antialiased;\n  display: var(--fa-display, inline-block);\n  font-style: normal;\n  font-variant: normal;\n  line-height: 1;\n  text-rendering: auto;\n}\n\n.fas,\n.fa-classic,\n.fa-solid,\n.far,\n.fa-regular {\n  font-family: \"Font Awesome 6 Free\";\n}\n\n.fab,\n.fa-brands {\n  font-family: \"Font Awesome 6 Brands\";\n}\n\n.fa-1x {\n  font-size: 1em;\n}\n\n.fa-2x {\n  font-size: 2em;\n}\n\n.fa-3x {\n  font-size: 3em;\n}\n\n.fa-4x {\n  font-size: 4em;\n}\n\n.fa-5x {\n  font-size: 5em;\n}\n\n.fa-6x {\n  font-size: 6em;\n}\n\n.fa-7x {\n  font-size: 7em;\n}\n\n.fa-8x {\n  font-size: 8em;\n}\n\n.fa-9x {\n  font-size: 9em;\n}\n\n.fa-10x {\n  font-size: 10em;\n}\n\n.fa-2xs {\n  font-size: 0.625em;\n  line-height: 0.1em;\n  vertical-align: 0.225em;\n}\n\n.fa-xs {\n  font-size: 0.75em;\n  line-height: 0.0833333337em;\n  vertical-align: 0.125em;\n}\n\n.fa-sm {\n  font-size: 0.875em;\n  line-height: 0.0714285718em;\n  vertical-align: 0.0535714295em;\n}\n\n.fa-lg {\n  font-size: 1.25em;\n  line-height: 0.05em;\n  vertical-align: -0.075em;\n}\n\n.fa-xl {\n  font-size: 1.5em;\n  line-height: 0.0416666682em;\n  vertical-align: -0.125em;\n}\n\n.fa-2xl {\n  font-size: 2em;\n  line-height: 0.03125em;\n  vertical-align: -0.1875em;\n}\n\n.fa-fw {\n  text-align: center;\n  width: 1.25em;\n}\n\n.fa-ul {\n  list-style-type: none;\n  margin-left: var(--fa-li-margin, 2.5em);\n  padding-left: 0;\n}\n.fa-ul > li {\n  position: relative;\n}\n\n.fa-li {\n  left: calc(var(--fa-li-width, 2em) * -1);\n  position: absolute;\n  text-align: center;\n  width: var(--fa-li-width, 2em);\n  line-height: inherit;\n}\n\n.fa-border {\n  border-color: var(--fa-border-color, #eee);\n  border-radius: var(--fa-border-radius, 0.1em);\n  border-style: var(--fa-border-style, solid);\n  border-width: var(--fa-border-width, 0.08em);\n  padding: var(--fa-border-padding, 0.2em 0.25em 0.15em);\n}\n\n.fa-pull-left {\n  float: left;\n  margin-right: var(--fa-pull-margin, 0.3em);\n}\n\n.fa-pull-right {\n  float: right;\n  margin-left: var(--fa-pull-margin, 0.3em);\n}\n\n.fa-beat {\n  animation-name: fa-beat;\n  animation-delay: var(--fa-animation-delay, 0s);\n  animation-direction: var(--fa-animation-direction, normal);\n  animation-duration: var(--fa-animation-duration, 1s);\n  animation-iteration-count: var(--fa-animation-iteration-count, infinite);\n  animation-timing-function: var(--fa-animation-timing, ease-in-out);\n}\n\n.fa-bounce {\n  animation-name: fa-bounce;\n  animation-delay: var(--fa-animation-delay, 0s);\n  animation-direction: var(--fa-animation-direction, normal);\n  animation-duration: var(--fa-animation-duration, 1s);\n  animation-iteration-count: var(--fa-animation-iteration-count, infinite);\n  animation-timing-function: var(--fa-animation-timing, cubic-bezier(0.28, 0.84, 0.42, 1));\n}\n\n.fa-fade {\n  animation-name: fa-fade;\n  animation-delay: var(--fa-animation-delay, 0s);\n  animation-direction: var(--fa-animation-direction, normal);\n  animation-duration: var(--fa-animation-duration, 1s);\n  animation-iteration-count: var(--fa-animation-iteration-count, infinite);\n  animation-timing-function: var(--fa-animation-timing, cubic-bezier(0.4, 0, 0.6, 1));\n}\n\n.fa-beat-fade {\n  animation-name: fa-beat-fade;\n  animation-delay: var(--fa-animation-delay, 0s);\n  animation-direction: var(--fa-animation-direction, normal);\n  animation-duration: var(--fa-animation-duration, 1s);\n  animation-iteration-count: var(--fa-animation-iteration-count, infinite);\n  animation-timing-function: var(--fa-animation-timing, cubic-bezier(0.4, 0, 0.6, 1));\n}\n\n.fa-flip {\n  animation-name: fa-flip;\n  animation-delay: var(--fa-animation-delay, 0s);\n  animation-direction: var(--fa-animation-direction, normal);\n  animation-duration: var(--fa-animation-duration, 1s);\n  animation-iteration-count: var(--fa-animation-iteration-count, infinite);\n  animation-timing-function: var(--fa-animation-timing, ease-in-out);\n}\n\n.fa-shake {\n  animation-name: fa-shake;\n  animation-delay: var(--fa-animation-delay, 0s);\n  animation-direction: var(--fa-animation-direction, normal);\n  animation-duration: var(--fa-animation-duration, 1s);\n  animation-iteration-count: var(--fa-animation-iteration-count, infinite);\n  animation-timing-function: var(--fa-animation-timing, linear);\n}\n\n.fa-spin {\n  animation-name: fa-spin;\n  animation-delay: var(--fa-animation-delay, 0s);\n  animation-direction: var(--fa-animation-direction, normal);\n  animation-duration: var(--fa-animation-duration, 2s);\n  animation-iteration-count: var(--fa-animation-iteration-count, infinite);\n  animation-timing-function: var(--fa-animation-timing, linear);\n}\n\n.fa-spin-reverse {\n  --fa-animation-direction: reverse;\n}\n\n.fa-pulse,\n.fa-spin-pulse {\n  animation-name: fa-spin;\n  animation-direction: var(--fa-animation-direction, normal);\n  animation-duration: var(--fa-animation-duration, 1s);\n  animation-iteration-count: var(--fa-animation-iteration-count, infinite);\n  animation-timing-function: var(--fa-animation-timing, steps(8));\n}\n\n@media (prefers-reduced-motion: reduce) {\n  .fa-beat,\n  .fa-bounce,\n  .fa-fade,\n  .fa-beat-fade,\n  .fa-flip,\n  .fa-pulse,\n  .fa-shake,\n  .fa-spin,\n  .fa-spin-pulse {\n    animation-delay: -1ms;\n    animation-duration: 1ms;\n    animation-iteration-count: 1;\n    transition-delay: 0s;\n    transition-duration: 0s;\n  }\n}\n@keyframes fa-beat {\n  0%, 90% {\n    transform: scale(1);\n  }\n  45% {\n    transform: scale(var(--fa-beat-scale, 1.25));\n  }\n}\n@keyframes fa-bounce {\n  0% {\n    transform: scale(1, 1) translateY(0);\n  }\n  10% {\n    transform: scale(var(--fa-bounce-start-scale-x, 1.1), var(--fa-bounce-start-scale-y, 0.9)) translateY(0);\n  }\n  30% {\n    transform: scale(var(--fa-bounce-jump-scale-x, 0.9), var(--fa-bounce-jump-scale-y, 1.1)) translateY(var(--fa-bounce-height, -0.5em));\n  }\n  50% {\n    transform: scale(var(--fa-bounce-land-scale-x, 1.05), var(--fa-bounce-land-scale-y, 0.95)) translateY(0);\n  }\n  57% {\n    transform: scale(1, 1) translateY(var(--fa-bounce-rebound, -0.125em));\n  }\n  64% {\n    transform: scale(1, 1) translateY(0);\n  }\n  100% {\n    transform: scale(1, 1) translateY(0);\n  }\n}\n@keyframes fa-fade {\n  50% {\n    opacity: var(--fa-fade-opacity, 0.4);\n  }\n}\n@keyframes fa-beat-fade {\n  0%, 100% {\n    opacity: var(--fa-beat-fade-opacity, 0.4);\n    transform: scale(1);\n  }\n  50% {\n    opacity: 1;\n    transform: scale(var(--fa-beat-fade-scale, 1.125));\n  }\n}\n@keyframes fa-flip {\n  50% {\n    transform: rotate3d(var(--fa-flip-x, 0), var(--fa-flip-y, 1), var(--fa-flip-z, 0), var(--fa-flip-angle, -180deg));\n  }\n}\n@keyframes fa-shake {\n  0% {\n    transform: rotate(-15deg);\n  }\n  4% {\n    transform: rotate(15deg);\n  }\n  8%, 24% {\n    transform: rotate(-18deg);\n  }\n  12%, 28% {\n    transform: rotate(18deg);\n  }\n  16% {\n    transform: rotate(-22deg);\n  }\n  20% {\n    transform: rotate(22deg);\n  }\n  32% {\n    transform: rotate(-12deg);\n  }\n  36% {\n    transform: rotate(12deg);\n  }\n  40%, 100% {\n    transform: rotate(0deg);\n  }\n}\n@keyframes fa-spin {\n  0% {\n    transform: rotate(0deg);\n  }\n  100% {\n    transform: rotate(360deg);\n  }\n}\n.fa-rotate-90 {\n  transform: rotate(90deg);\n}\n\n.fa-rotate-180 {\n  transform: rotate(180deg);\n}\n\n.fa-rotate-270 {\n  transform: rotate(270deg);\n}\n\n.fa-flip-horizontal {\n  transform: scale(-1, 1);\n}\n\n.fa-flip-vertical {\n  transform: scale(1, -1);\n}\n\n.fa-flip-both,\n.fa-flip-horizontal.fa-flip-vertical {\n  transform: scale(-1, -1);\n}\n\n.fa-rotate-by {\n  transform: rotate(var(--fa-rotate-angle, 0));\n}\n\n.fa-stack {\n  display: inline-block;\n  height: 2em;\n  line-height: 2em;\n  position: relative;\n  vertical-align: middle;\n  width: 2.5em;\n}\n\n.fa-stack-1x,\n.fa-stack-2x {\n  left: 0;\n  position: absolute;\n  text-align: center;\n  width: 100%;\n  z-index: var(--fa-stack-z-index, auto);\n}\n\n.fa-stack-1x {\n  line-height: inherit;\n}\n\n.fa-stack-2x {\n  font-size: 2em;\n}\n\n.fa-inverse {\n  color: var(--fa-inverse, #fff);\n}\n\n/* Font Awesome uses the Unicode Private Use Area (PUA) to ensure screen\nreaders do not read off random characters that represent icons */\n.fa-0::before {\n  content: \"\\30 \";\n}\n\n.fa-1::before {\n  content: \"\\31 \";\n}\n\n.fa-2::before {\n  content: \"\\32 \";\n}\n\n.fa-3::before {\n  content: \"\\33 \";\n}\n\n.fa-4::before {\n  content: \"\\34 \";\n}\n\n.fa-5::before {\n  content: \"\\35 \";\n}\n\n.fa-6::before {\n  content: \"\\36 \";\n}\n\n.fa-7::before {\n  content: \"\\37 \";\n}\n\n.fa-8::before {\n  content: \"\\38 \";\n}\n\n.fa-9::before {\n  content: \"\\39 \";\n}\n\n.fa-fill-drip::before {\n  content: \"\\f576\";\n}\n\n.fa-arrows-to-circle::before {\n  content: \"\\e4bd\";\n}\n\n.fa-circle-chevron-right::before {\n  content: \"\\f138\";\n}\n\n.fa-chevron-circle-right::before {\n  content: \"\\f138\";\n}\n\n.fa-at::before {\n  content: \"\\@\";\n}\n\n.fa-trash-can::before {\n  content: \"\\f2ed\";\n}\n\n.fa-trash-alt::before {\n  content: \"\\f2ed\";\n}\n\n.fa-text-height::before {\n  content: \"\\f034\";\n}\n\n.fa-user-xmark::before {\n  content: \"\\f235\";\n}\n\n.fa-user-times::before {\n  content: \"\\f235\";\n}\n\n.fa-stethoscope::before {\n  content: \"\\f0f1\";\n}\n\n.fa-message::before {\n  content: \"\\f27a\";\n}\n\n.fa-comment-alt::before {\n  content: \"\\f27a\";\n}\n\n.fa-info::before {\n  content: \"\\f129\";\n}\n\n.fa-down-left-and-up-right-to-center::before {\n  content: \"\\f422\";\n}\n\n.fa-compress-alt::before {\n  content: \"\\f422\";\n}\n\n.fa-explosion::before {\n  content: \"\\e4e9\";\n}\n\n.fa-file-lines::before {\n  content: \"\\f15c\";\n}\n\n.fa-file-alt::before {\n  content: \"\\f15c\";\n}\n\n.fa-file-text::before {\n  content: \"\\f15c\";\n}\n\n.fa-wave-square::before {\n  content: \"\\f83e\";\n}\n\n.fa-ring::before {\n  content: \"\\f70b\";\n}\n\n.fa-building-un::before {\n  content: \"\\e4d9\";\n}\n\n.fa-dice-three::before {\n  content: \"\\f527\";\n}\n\n.fa-calendar-days::before {\n  content: \"\\f073\";\n}\n\n.fa-calendar-alt::before {\n  content: \"\\f073\";\n}\n\n.fa-anchor-circle-check::before {\n  content: \"\\e4aa\";\n}\n\n.fa-building-circle-arrow-right::before {\n  content: \"\\e4d1\";\n}\n\n.fa-volleyball::before {\n  content: \"\\f45f\";\n}\n\n.fa-volleyball-ball::before {\n  content: \"\\f45f\";\n}\n\n.fa-arrows-up-to-line::before {\n  content: \"\\e4c2\";\n}\n\n.fa-sort-down::before {\n  content: \"\\f0dd\";\n}\n\n.fa-sort-desc::before {\n  content: \"\\f0dd\";\n}\n\n.fa-circle-minus::before {\n  content: \"\\f056\";\n}\n\n.fa-minus-circle::before {\n  content: \"\\f056\";\n}\n\n.fa-door-open::before {\n  content: \"\\f52b\";\n}\n\n.fa-right-from-bracket::before {\n  content: \"\\f2f5\";\n}\n\n.fa-sign-out-alt::before {\n  content: \"\\f2f5\";\n}\n\n.fa-atom::before {\n  content: \"\\f5d2\";\n}\n\n.fa-soap::before {\n  content: \"\\e06e\";\n}\n\n.fa-icons::before {\n  content: \"\\f86d\";\n}\n\n.fa-heart-music-camera-bolt::before {\n  content: \"\\f86d\";\n}\n\n.fa-microphone-lines-slash::before {\n  content: \"\\f539\";\n}\n\n.fa-microphone-alt-slash::before {\n  content: \"\\f539\";\n}\n\n.fa-bridge-circle-check::before {\n  content: \"\\e4c9\";\n}\n\n.fa-pump-medical::before {\n  content: \"\\e06a\";\n}\n\n.fa-fingerprint::before {\n  content: \"\\f577\";\n}\n\n.fa-hand-point-right::before {\n  content: \"\\f0a4\";\n}\n\n.fa-magnifying-glass-location::before {\n  content: \"\\f689\";\n}\n\n.fa-search-location::before {\n  content: \"\\f689\";\n}\n\n.fa-forward-step::before {\n  content: \"\\f051\";\n}\n\n.fa-step-forward::before {\n  content: \"\\f051\";\n}\n\n.fa-face-smile-beam::before {\n  content: \"\\f5b8\";\n}\n\n.fa-smile-beam::before {\n  content: \"\\f5b8\";\n}\n\n.fa-flag-checkered::before {\n  content: \"\\f11e\";\n}\n\n.fa-football::before {\n  content: \"\\f44e\";\n}\n\n.fa-football-ball::before {\n  content: \"\\f44e\";\n}\n\n.fa-school-circle-exclamation::before {\n  content: \"\\e56c\";\n}\n\n.fa-crop::before {\n  content: \"\\f125\";\n}\n\n.fa-angles-down::before {\n  content: \"\\f103\";\n}\n\n.fa-angle-double-down::before {\n  content: \"\\f103\";\n}\n\n.fa-users-rectangle::before {\n  content: \"\\e594\";\n}\n\n.fa-people-roof::before {\n  content: \"\\e537\";\n}\n\n.fa-people-line::before {\n  content: \"\\e534\";\n}\n\n.fa-beer-mug-empty::before {\n  content: \"\\f0fc\";\n}\n\n.fa-beer::before {\n  content: \"\\f0fc\";\n}\n\n.fa-diagram-predecessor::before {\n  content: \"\\e477\";\n}\n\n.fa-arrow-up-long::before {\n  content: \"\\f176\";\n}\n\n.fa-long-arrow-up::before {\n  content: \"\\f176\";\n}\n\n.fa-fire-flame-simple::before {\n  content: \"\\f46a\";\n}\n\n.fa-burn::before {\n  content: \"\\f46a\";\n}\n\n.fa-person::before {\n  content: \"\\f183\";\n}\n\n.fa-male::before {\n  content: \"\\f183\";\n}\n\n.fa-laptop::before {\n  content: \"\\f109\";\n}\n\n.fa-file-csv::before {\n  content: \"\\f6dd\";\n}\n\n.fa-menorah::before {\n  content: \"\\f676\";\n}\n\n.fa-truck-plane::before {\n  content: \"\\e58f\";\n}\n\n.fa-record-vinyl::before {\n  content: \"\\f8d9\";\n}\n\n.fa-face-grin-stars::before {\n  content: \"\\f587\";\n}\n\n.fa-grin-stars::before {\n  content: \"\\f587\";\n}\n\n.fa-bong::before {\n  content: \"\\f55c\";\n}\n\n.fa-spaghetti-monster-flying::before {\n  content: \"\\f67b\";\n}\n\n.fa-pastafarianism::before {\n  content: \"\\f67b\";\n}\n\n.fa-arrow-down-up-across-line::before {\n  content: \"\\e4af\";\n}\n\n.fa-spoon::before {\n  content: \"\\f2e5\";\n}\n\n.fa-utensil-spoon::before {\n  content: \"\\f2e5\";\n}\n\n.fa-jar-wheat::before {\n  content: \"\\e517\";\n}\n\n.fa-envelopes-bulk::before {\n  content: \"\\f674\";\n}\n\n.fa-mail-bulk::before {\n  content: \"\\f674\";\n}\n\n.fa-file-circle-exclamation::before {\n  content: \"\\e4eb\";\n}\n\n.fa-circle-h::before {\n  content: \"\\f47e\";\n}\n\n.fa-hospital-symbol::before {\n  content: \"\\f47e\";\n}\n\n.fa-pager::before {\n  content: \"\\f815\";\n}\n\n.fa-address-book::before {\n  content: \"\\f2b9\";\n}\n\n.fa-contact-book::before {\n  content: \"\\f2b9\";\n}\n\n.fa-strikethrough::before {\n  content: \"\\f0cc\";\n}\n\n.fa-k::before {\n  content: \"K\";\n}\n\n.fa-landmark-flag::before {\n  content: \"\\e51c\";\n}\n\n.fa-pencil::before {\n  content: \"\\f303\";\n}\n\n.fa-pencil-alt::before {\n  content: \"\\f303\";\n}\n\n.fa-backward::before {\n  content: \"\\f04a\";\n}\n\n.fa-caret-right::before {\n  content: \"\\f0da\";\n}\n\n.fa-comments::before {\n  content: \"\\f086\";\n}\n\n.fa-paste::before {\n  content: \"\\f0ea\";\n}\n\n.fa-file-clipboard::before {\n  content: \"\\f0ea\";\n}\n\n.fa-code-pull-request::before {\n  content: \"\\e13c\";\n}\n\n.fa-clipboard-list::before {\n  content: \"\\f46d\";\n}\n\n.fa-truck-ramp-box::before {\n  content: \"\\f4de\";\n}\n\n.fa-truck-loading::before {\n  content: \"\\f4de\";\n}\n\n.fa-user-check::before {\n  content: \"\\f4fc\";\n}\n\n.fa-vial-virus::before {\n  content: \"\\e597\";\n}\n\n.fa-sheet-plastic::before {\n  content: \"\\e571\";\n}\n\n.fa-blog::before {\n  content: \"\\f781\";\n}\n\n.fa-user-ninja::before {\n  content: \"\\f504\";\n}\n\n.fa-person-arrow-up-from-line::before {\n  content: \"\\e539\";\n}\n\n.fa-scroll-torah::before {\n  content: \"\\f6a0\";\n}\n\n.fa-torah::before {\n  content: \"\\f6a0\";\n}\n\n.fa-broom-ball::before {\n  content: \"\\f458\";\n}\n\n.fa-quidditch::before {\n  content: \"\\f458\";\n}\n\n.fa-quidditch-broom-ball::before {\n  content: \"\\f458\";\n}\n\n.fa-toggle-off::before {\n  content: \"\\f204\";\n}\n\n.fa-box-archive::before {\n  content: \"\\f187\";\n}\n\n.fa-archive::before {\n  content: \"\\f187\";\n}\n\n.fa-person-drowning::before {\n  content: \"\\e545\";\n}\n\n.fa-arrow-down-9-1::before {\n  content: \"\\f886\";\n}\n\n.fa-sort-numeric-desc::before {\n  content: \"\\f886\";\n}\n\n.fa-sort-numeric-down-alt::before {\n  content: \"\\f886\";\n}\n\n.fa-face-grin-tongue-squint::before {\n  content: \"\\f58a\";\n}\n\n.fa-grin-tongue-squint::before {\n  content: \"\\f58a\";\n}\n\n.fa-spray-can::before {\n  content: \"\\f5bd\";\n}\n\n.fa-truck-monster::before {\n  content: \"\\f63b\";\n}\n\n.fa-w::before {\n  content: \"W\";\n}\n\n.fa-earth-africa::before {\n  content: \"\\f57c\";\n}\n\n.fa-globe-africa::before {\n  content: \"\\f57c\";\n}\n\n.fa-rainbow::before {\n  content: \"\\f75b\";\n}\n\n.fa-circle-notch::before {\n  content: \"\\f1ce\";\n}\n\n.fa-tablet-screen-button::before {\n  content: \"\\f3fa\";\n}\n\n.fa-tablet-alt::before {\n  content: \"\\f3fa\";\n}\n\n.fa-paw::before {\n  content: \"\\f1b0\";\n}\n\n.fa-cloud::before {\n  content: \"\\f0c2\";\n}\n\n.fa-trowel-bricks::before {\n  content: \"\\e58a\";\n}\n\n.fa-face-flushed::before {\n  content: \"\\f579\";\n}\n\n.fa-flushed::before {\n  content: \"\\f579\";\n}\n\n.fa-hospital-user::before {\n  content: \"\\f80d\";\n}\n\n.fa-tent-arrow-left-right::before {\n  content: \"\\e57f\";\n}\n\n.fa-gavel::before {\n  content: \"\\f0e3\";\n}\n\n.fa-legal::before {\n  content: \"\\f0e3\";\n}\n\n.fa-binoculars::before {\n  content: \"\\f1e5\";\n}\n\n.fa-microphone-slash::before {\n  content: \"\\f131\";\n}\n\n.fa-box-tissue::before {\n  content: \"\\e05b\";\n}\n\n.fa-motorcycle::before {\n  content: \"\\f21c\";\n}\n\n.fa-bell-concierge::before {\n  content: \"\\f562\";\n}\n\n.fa-concierge-bell::before {\n  content: \"\\f562\";\n}\n\n.fa-pen-ruler::before {\n  content: \"\\f5ae\";\n}\n\n.fa-pencil-ruler::before {\n  content: \"\\f5ae\";\n}\n\n.fa-people-arrows::before {\n  content: \"\\e068\";\n}\n\n.fa-people-arrows-left-right::before {\n  content: \"\\e068\";\n}\n\n.fa-mars-and-venus-burst::before {\n  content: \"\\e523\";\n}\n\n.fa-square-caret-right::before {\n  content: \"\\f152\";\n}\n\n.fa-caret-square-right::before {\n  content: \"\\f152\";\n}\n\n.fa-scissors::before {\n  content: \"\\f0c4\";\n}\n\n.fa-cut::before {\n  content: \"\\f0c4\";\n}\n\n.fa-sun-plant-wilt::before {\n  content: \"\\e57a\";\n}\n\n.fa-toilets-portable::before {\n  content: \"\\e584\";\n}\n\n.fa-hockey-puck::before {\n  content: \"\\f453\";\n}\n\n.fa-table::before {\n  content: \"\\f0ce\";\n}\n\n.fa-magnifying-glass-arrow-right::before {\n  content: \"\\e521\";\n}\n\n.fa-tachograph-digital::before {\n  content: \"\\f566\";\n}\n\n.fa-digital-tachograph::before {\n  content: \"\\f566\";\n}\n\n.fa-users-slash::before {\n  content: \"\\e073\";\n}\n\n.fa-clover::before {\n  content: \"\\e139\";\n}\n\n.fa-reply::before {\n  content: \"\\f3e5\";\n}\n\n.fa-mail-reply::before {\n  content: \"\\f3e5\";\n}\n\n.fa-star-and-crescent::before {\n  content: \"\\f699\";\n}\n\n.fa-house-fire::before {\n  content: \"\\e50c\";\n}\n\n.fa-square-minus::before {\n  content: \"\\f146\";\n}\n\n.fa-minus-square::before {\n  content: \"\\f146\";\n}\n\n.fa-helicopter::before {\n  content: \"\\f533\";\n}\n\n.fa-compass::before {\n  content: \"\\f14e\";\n}\n\n.fa-square-caret-down::before {\n  content: \"\\f150\";\n}\n\n.fa-caret-square-down::before {\n  content: \"\\f150\";\n}\n\n.fa-file-circle-question::before {\n  content: \"\\e4ef\";\n}\n\n.fa-laptop-code::before {\n  content: \"\\f5fc\";\n}\n\n.fa-swatchbook::before {\n  content: \"\\f5c3\";\n}\n\n.fa-prescription-bottle::before {\n  content: \"\\f485\";\n}\n\n.fa-bars::before {\n  content: \"\\f0c9\";\n}\n\n.fa-navicon::before {\n  content: \"\\f0c9\";\n}\n\n.fa-people-group::before {\n  content: \"\\e533\";\n}\n\n.fa-hourglass-end::before {\n  content: \"\\f253\";\n}\n\n.fa-hourglass-3::before {\n  content: \"\\f253\";\n}\n\n.fa-heart-crack::before {\n  content: \"\\f7a9\";\n}\n\n.fa-heart-broken::before {\n  content: \"\\f7a9\";\n}\n\n.fa-square-up-right::before {\n  content: \"\\f360\";\n}\n\n.fa-external-link-square-alt::before {\n  content: \"\\f360\";\n}\n\n.fa-face-kiss-beam::before {\n  content: \"\\f597\";\n}\n\n.fa-kiss-beam::before {\n  content: \"\\f597\";\n}\n\n.fa-film::before {\n  content: \"\\f008\";\n}\n\n.fa-ruler-horizontal::before {\n  content: \"\\f547\";\n}\n\n.fa-people-robbery::before {\n  content: \"\\e536\";\n}\n\n.fa-lightbulb::before {\n  content: \"\\f0eb\";\n}\n\n.fa-caret-left::before {\n  content: \"\\f0d9\";\n}\n\n.fa-circle-exclamation::before {\n  content: \"\\f06a\";\n}\n\n.fa-exclamation-circle::before {\n  content: \"\\f06a\";\n}\n\n.fa-school-circle-xmark::before {\n  content: \"\\e56d\";\n}\n\n.fa-arrow-right-from-bracket::before {\n  content: \"\\f08b\";\n}\n\n.fa-sign-out::before {\n  content: \"\\f08b\";\n}\n\n.fa-circle-chevron-down::before {\n  content: \"\\f13a\";\n}\n\n.fa-chevron-circle-down::before {\n  content: \"\\f13a\";\n}\n\n.fa-unlock-keyhole::before {\n  content: \"\\f13e\";\n}\n\n.fa-unlock-alt::before {\n  content: \"\\f13e\";\n}\n\n.fa-cloud-showers-heavy::before {\n  content: \"\\f740\";\n}\n\n.fa-headphones-simple::before {\n  content: \"\\f58f\";\n}\n\n.fa-headphones-alt::before {\n  content: \"\\f58f\";\n}\n\n.fa-sitemap::before {\n  content: \"\\f0e8\";\n}\n\n.fa-circle-dollar-to-slot::before {\n  content: \"\\f4b9\";\n}\n\n.fa-donate::before {\n  content: \"\\f4b9\";\n}\n\n.fa-memory::before {\n  content: \"\\f538\";\n}\n\n.fa-road-spikes::before {\n  content: \"\\e568\";\n}\n\n.fa-fire-burner::before {\n  content: \"\\e4f1\";\n}\n\n.fa-flag::before {\n  content: \"\\f024\";\n}\n\n.fa-hanukiah::before {\n  content: \"\\f6e6\";\n}\n\n.fa-feather::before {\n  content: \"\\f52d\";\n}\n\n.fa-volume-low::before {\n  content: \"\\f027\";\n}\n\n.fa-volume-down::before {\n  content: \"\\f027\";\n}\n\n.fa-comment-slash::before {\n  content: \"\\f4b3\";\n}\n\n.fa-cloud-sun-rain::before {\n  content: \"\\f743\";\n}\n\n.fa-compress::before {\n  content: \"\\f066\";\n}\n\n.fa-wheat-awn::before {\n  content: \"\\e2cd\";\n}\n\n.fa-wheat-alt::before {\n  content: \"\\e2cd\";\n}\n\n.fa-ankh::before {\n  content: \"\\f644\";\n}\n\n.fa-hands-holding-child::before {\n  content: \"\\e4fa\";\n}\n\n.fa-asterisk::before {\n  content: \"\\*\";\n}\n\n.fa-square-check::before {\n  content: \"\\f14a\";\n}\n\n.fa-check-square::before {\n  content: \"\\f14a\";\n}\n\n.fa-peseta-sign::before {\n  content: \"\\e221\";\n}\n\n.fa-heading::before {\n  content: \"\\f1dc\";\n}\n\n.fa-header::before {\n  content: \"\\f1dc\";\n}\n\n.fa-ghost::before {\n  content: \"\\f6e2\";\n}\n\n.fa-list::before {\n  content: \"\\f03a\";\n}\n\n.fa-list-squares::before {\n  content: \"\\f03a\";\n}\n\n.fa-square-phone-flip::before {\n  content: \"\\f87b\";\n}\n\n.fa-phone-square-alt::before {\n  content: \"\\f87b\";\n}\n\n.fa-cart-plus::before {\n  content: \"\\f217\";\n}\n\n.fa-gamepad::before {\n  content: \"\\f11b\";\n}\n\n.fa-circle-dot::before {\n  content: \"\\f192\";\n}\n\n.fa-dot-circle::before {\n  content: \"\\f192\";\n}\n\n.fa-face-dizzy::before {\n  content: \"\\f567\";\n}\n\n.fa-dizzy::before {\n  content: \"\\f567\";\n}\n\n.fa-egg::before {\n  content: \"\\f7fb\";\n}\n\n.fa-house-medical-circle-xmark::before {\n  content: \"\\e513\";\n}\n\n.fa-campground::before {\n  content: \"\\f6bb\";\n}\n\n.fa-folder-plus::before {\n  content: \"\\f65e\";\n}\n\n.fa-futbol::before {\n  content: \"\\f1e3\";\n}\n\n.fa-futbol-ball::before {\n  content: \"\\f1e3\";\n}\n\n.fa-soccer-ball::before {\n  content: \"\\f1e3\";\n}\n\n.fa-paintbrush::before {\n  content: \"\\f1fc\";\n}\n\n.fa-paint-brush::before {\n  content: \"\\f1fc\";\n}\n\n.fa-lock::before {\n  content: \"\\f023\";\n}\n\n.fa-gas-pump::before {\n  content: \"\\f52f\";\n}\n\n.fa-hot-tub-person::before {\n  content: \"\\f593\";\n}\n\n.fa-hot-tub::before {\n  content: \"\\f593\";\n}\n\n.fa-map-location::before {\n  content: \"\\f59f\";\n}\n\n.fa-map-marked::before {\n  content: \"\\f59f\";\n}\n\n.fa-house-flood-water::before {\n  content: \"\\e50e\";\n}\n\n.fa-tree::before {\n  content: \"\\f1bb\";\n}\n\n.fa-bridge-lock::before {\n  content: \"\\e4cc\";\n}\n\n.fa-sack-dollar::before {\n  content: \"\\f81d\";\n}\n\n.fa-pen-to-square::before {\n  content: \"\\f044\";\n}\n\n.fa-edit::before {\n  content: \"\\f044\";\n}\n\n.fa-car-side::before {\n  content: \"\\f5e4\";\n}\n\n.fa-share-nodes::before {\n  content: \"\\f1e0\";\n}\n\n.fa-share-alt::before {\n  content: \"\\f1e0\";\n}\n\n.fa-heart-circle-minus::before {\n  content: \"\\e4ff\";\n}\n\n.fa-hourglass-half::before {\n  content: \"\\f252\";\n}\n\n.fa-hourglass-2::before {\n  content: \"\\f252\";\n}\n\n.fa-microscope::before {\n  content: \"\\f610\";\n}\n\n.fa-sink::before {\n  content: \"\\e06d\";\n}\n\n.fa-bag-shopping::before {\n  content: \"\\f290\";\n}\n\n.fa-shopping-bag::before {\n  content: \"\\f290\";\n}\n\n.fa-arrow-down-z-a::before {\n  content: \"\\f881\";\n}\n\n.fa-sort-alpha-desc::before {\n  content: \"\\f881\";\n}\n\n.fa-sort-alpha-down-alt::before {\n  content: \"\\f881\";\n}\n\n.fa-mitten::before {\n  content: \"\\f7b5\";\n}\n\n.fa-person-rays::before {\n  content: \"\\e54d\";\n}\n\n.fa-users::before {\n  content: \"\\f0c0\";\n}\n\n.fa-eye-slash::before {\n  content: \"\\f070\";\n}\n\n.fa-flask-vial::before {\n  content: \"\\e4f3\";\n}\n\n.fa-hand::before {\n  content: \"\\f256\";\n}\n\n.fa-hand-paper::before {\n  content: \"\\f256\";\n}\n\n.fa-om::before {\n  content: \"\\f679\";\n}\n\n.fa-worm::before {\n  content: \"\\e599\";\n}\n\n.fa-house-circle-xmark::before {\n  content: \"\\e50b\";\n}\n\n.fa-plug::before {\n  content: \"\\f1e6\";\n}\n\n.fa-chevron-up::before {\n  content: \"\\f077\";\n}\n\n.fa-hand-spock::before {\n  content: \"\\f259\";\n}\n\n.fa-stopwatch::before {\n  content: \"\\f2f2\";\n}\n\n.fa-face-kiss::before {\n  content: \"\\f596\";\n}\n\n.fa-kiss::before {\n  content: \"\\f596\";\n}\n\n.fa-bridge-circle-xmark::before {\n  content: \"\\e4cb\";\n}\n\n.fa-face-grin-tongue::before {\n  content: \"\\f589\";\n}\n\n.fa-grin-tongue::before {\n  content: \"\\f589\";\n}\n\n.fa-chess-bishop::before {\n  content: \"\\f43a\";\n}\n\n.fa-face-grin-wink::before {\n  content: \"\\f58c\";\n}\n\n.fa-grin-wink::before {\n  content: \"\\f58c\";\n}\n\n.fa-ear-deaf::before {\n  content: \"\\f2a4\";\n}\n\n.fa-deaf::before {\n  content: \"\\f2a4\";\n}\n\n.fa-deafness::before {\n  content: \"\\f2a4\";\n}\n\n.fa-hard-of-hearing::before {\n  content: \"\\f2a4\";\n}\n\n.fa-road-circle-check::before {\n  content: \"\\e564\";\n}\n\n.fa-dice-five::before {\n  content: \"\\f523\";\n}\n\n.fa-square-rss::before {\n  content: \"\\f143\";\n}\n\n.fa-rss-square::before {\n  content: \"\\f143\";\n}\n\n.fa-land-mine-on::before {\n  content: \"\\e51b\";\n}\n\n.fa-i-cursor::before {\n  content: \"\\f246\";\n}\n\n.fa-stamp::before {\n  content: \"\\f5bf\";\n}\n\n.fa-stairs::before {\n  content: \"\\e289\";\n}\n\n.fa-i::before {\n  content: \"I\";\n}\n\n.fa-hryvnia-sign::before {\n  content: \"\\f6f2\";\n}\n\n.fa-hryvnia::before {\n  content: \"\\f6f2\";\n}\n\n.fa-pills::before {\n  content: \"\\f484\";\n}\n\n.fa-face-grin-wide::before {\n  content: \"\\f581\";\n}\n\n.fa-grin-alt::before {\n  content: \"\\f581\";\n}\n\n.fa-tooth::before {\n  content: \"\\f5c9\";\n}\n\n.fa-v::before {\n  content: \"V\";\n}\n\n.fa-bangladeshi-taka-sign::before {\n  content: \"\\e2e6\";\n}\n\n.fa-bicycle::before {\n  content: \"\\f206\";\n}\n\n.fa-staff-snake::before {\n  content: \"\\e579\";\n}\n\n.fa-rod-asclepius::before {\n  content: \"\\e579\";\n}\n\n.fa-rod-snake::before {\n  content: \"\\e579\";\n}\n\n.fa-staff-aesculapius::before {\n  content: \"\\e579\";\n}\n\n.fa-head-side-cough-slash::before {\n  content: \"\\e062\";\n}\n\n.fa-truck-medical::before {\n  content: \"\\f0f9\";\n}\n\n.fa-ambulance::before {\n  content: \"\\f0f9\";\n}\n\n.fa-wheat-awn-circle-exclamation::before {\n  content: \"\\e598\";\n}\n\n.fa-snowman::before {\n  content: \"\\f7d0\";\n}\n\n.fa-mortar-pestle::before {\n  content: \"\\f5a7\";\n}\n\n.fa-road-barrier::before {\n  content: \"\\e562\";\n}\n\n.fa-school::before {\n  content: \"\\f549\";\n}\n\n.fa-igloo::before {\n  content: \"\\f7ae\";\n}\n\n.fa-joint::before {\n  content: \"\\f595\";\n}\n\n.fa-angle-right::before {\n  content: \"\\f105\";\n}\n\n.fa-horse::before {\n  content: \"\\f6f0\";\n}\n\n.fa-q::before {\n  content: \"Q\";\n}\n\n.fa-g::before {\n  content: \"G\";\n}\n\n.fa-notes-medical::before {\n  content: \"\\f481\";\n}\n\n.fa-temperature-half::before {\n  content: \"\\f2c9\";\n}\n\n.fa-temperature-2::before {\n  content: \"\\f2c9\";\n}\n\n.fa-thermometer-2::before {\n  content: \"\\f2c9\";\n}\n\n.fa-thermometer-half::before {\n  content: \"\\f2c9\";\n}\n\n.fa-dong-sign::before {\n  content: \"\\e169\";\n}\n\n.fa-capsules::before {\n  content: \"\\f46b\";\n}\n\n.fa-poo-storm::before {\n  content: \"\\f75a\";\n}\n\n.fa-poo-bolt::before {\n  content: \"\\f75a\";\n}\n\n.fa-face-frown-open::before {\n  content: \"\\f57a\";\n}\n\n.fa-frown-open::before {\n  content: \"\\f57a\";\n}\n\n.fa-hand-point-up::before {\n  content: \"\\f0a6\";\n}\n\n.fa-money-bill::before {\n  content: \"\\f0d6\";\n}\n\n.fa-bookmark::before {\n  content: \"\\f02e\";\n}\n\n.fa-align-justify::before {\n  content: \"\\f039\";\n}\n\n.fa-umbrella-beach::before {\n  content: \"\\f5ca\";\n}\n\n.fa-helmet-un::before {\n  content: \"\\e503\";\n}\n\n.fa-bullseye::before {\n  content: \"\\f140\";\n}\n\n.fa-bacon::before {\n  content: \"\\f7e5\";\n}\n\n.fa-hand-point-down::before {\n  content: \"\\f0a7\";\n}\n\n.fa-arrow-up-from-bracket::before {\n  content: \"\\e09a\";\n}\n\n.fa-folder::before {\n  content: \"\\f07b\";\n}\n\n.fa-folder-blank::before {\n  content: \"\\f07b\";\n}\n\n.fa-file-waveform::before {\n  content: \"\\f478\";\n}\n\n.fa-file-medical-alt::before {\n  content: \"\\f478\";\n}\n\n.fa-radiation::before {\n  content: \"\\f7b9\";\n}\n\n.fa-chart-simple::before {\n  content: \"\\e473\";\n}\n\n.fa-mars-stroke::before {\n  content: \"\\f229\";\n}\n\n.fa-vial::before {\n  content: \"\\f492\";\n}\n\n.fa-gauge::before {\n  content: \"\\f624\";\n}\n\n.fa-dashboard::before {\n  content: \"\\f624\";\n}\n\n.fa-gauge-med::before {\n  content: \"\\f624\";\n}\n\n.fa-tachometer-alt-average::before {\n  content: \"\\f624\";\n}\n\n.fa-wand-magic-sparkles::before {\n  content: \"\\e2ca\";\n}\n\n.fa-magic-wand-sparkles::before {\n  content: \"\\e2ca\";\n}\n\n.fa-e::before {\n  content: \"E\";\n}\n\n.fa-pen-clip::before {\n  content: \"\\f305\";\n}\n\n.fa-pen-alt::before {\n  content: \"\\f305\";\n}\n\n.fa-bridge-circle-exclamation::before {\n  content: \"\\e4ca\";\n}\n\n.fa-user::before {\n  content: \"\\f007\";\n}\n\n.fa-school-circle-check::before {\n  content: \"\\e56b\";\n}\n\n.fa-dumpster::before {\n  content: \"\\f793\";\n}\n\n.fa-van-shuttle::before {\n  content: \"\\f5b6\";\n}\n\n.fa-shuttle-van::before {\n  content: \"\\f5b6\";\n}\n\n.fa-building-user::before {\n  content: \"\\e4da\";\n}\n\n.fa-square-caret-left::before {\n  content: \"\\f191\";\n}\n\n.fa-caret-square-left::before {\n  content: \"\\f191\";\n}\n\n.fa-highlighter::before {\n  content: \"\\f591\";\n}\n\n.fa-key::before {\n  content: \"\\f084\";\n}\n\n.fa-bullhorn::before {\n  content: \"\\f0a1\";\n}\n\n.fa-globe::before {\n  content: \"\\f0ac\";\n}\n\n.fa-synagogue::before {\n  content: \"\\f69b\";\n}\n\n.fa-person-half-dress::before {\n  content: \"\\e548\";\n}\n\n.fa-road-bridge::before {\n  content: \"\\e563\";\n}\n\n.fa-location-arrow::before {\n  content: \"\\f124\";\n}\n\n.fa-c::before {\n  content: \"C\";\n}\n\n.fa-tablet-button::before {\n  content: \"\\f10a\";\n}\n\n.fa-building-lock::before {\n  content: \"\\e4d6\";\n}\n\n.fa-pizza-slice::before {\n  content: \"\\f818\";\n}\n\n.fa-money-bill-wave::before {\n  content: \"\\f53a\";\n}\n\n.fa-chart-area::before {\n  content: \"\\f1fe\";\n}\n\n.fa-area-chart::before {\n  content: \"\\f1fe\";\n}\n\n.fa-house-flag::before {\n  content: \"\\e50d\";\n}\n\n.fa-person-circle-minus::before {\n  content: \"\\e540\";\n}\n\n.fa-ban::before {\n  content: \"\\f05e\";\n}\n\n.fa-cancel::before {\n  content: \"\\f05e\";\n}\n\n.fa-camera-rotate::before {\n  content: \"\\e0d8\";\n}\n\n.fa-spray-can-sparkles::before {\n  content: \"\\f5d0\";\n}\n\n.fa-air-freshener::before {\n  content: \"\\f5d0\";\n}\n\n.fa-star::before {\n  content: \"\\f005\";\n}\n\n.fa-repeat::before {\n  content: \"\\f363\";\n}\n\n.fa-cross::before {\n  content: \"\\f654\";\n}\n\n.fa-box::before {\n  content: \"\\f466\";\n}\n\n.fa-venus-mars::before {\n  content: \"\\f228\";\n}\n\n.fa-arrow-pointer::before {\n  content: \"\\f245\";\n}\n\n.fa-mouse-pointer::before {\n  content: \"\\f245\";\n}\n\n.fa-maximize::before {\n  content: \"\\f31e\";\n}\n\n.fa-expand-arrows-alt::before {\n  content: \"\\f31e\";\n}\n\n.fa-charging-station::before {\n  content: \"\\f5e7\";\n}\n\n.fa-shapes::before {\n  content: \"\\f61f\";\n}\n\n.fa-triangle-circle-square::before {\n  content: \"\\f61f\";\n}\n\n.fa-shuffle::before {\n  content: \"\\f074\";\n}\n\n.fa-random::before {\n  content: \"\\f074\";\n}\n\n.fa-person-running::before {\n  content: \"\\f70c\";\n}\n\n.fa-running::before {\n  content: \"\\f70c\";\n}\n\n.fa-mobile-retro::before {\n  content: \"\\e527\";\n}\n\n.fa-grip-lines-vertical::before {\n  content: \"\\f7a5\";\n}\n\n.fa-spider::before {\n  content: \"\\f717\";\n}\n\n.fa-hands-bound::before {\n  content: \"\\e4f9\";\n}\n\n.fa-file-invoice-dollar::before {\n  content: \"\\f571\";\n}\n\n.fa-plane-circle-exclamation::before {\n  content: \"\\e556\";\n}\n\n.fa-x-ray::before {\n  content: \"\\f497\";\n}\n\n.fa-spell-check::before {\n  content: \"\\f891\";\n}\n\n.fa-slash::before {\n  content: \"\\f715\";\n}\n\n.fa-computer-mouse::before {\n  content: \"\\f8cc\";\n}\n\n.fa-mouse::before {\n  content: \"\\f8cc\";\n}\n\n.fa-arrow-right-to-bracket::before {\n  content: \"\\f090\";\n}\n\n.fa-sign-in::before {\n  content: \"\\f090\";\n}\n\n.fa-shop-slash::before {\n  content: \"\\e070\";\n}\n\n.fa-store-alt-slash::before {\n  content: \"\\e070\";\n}\n\n.fa-server::before {\n  content: \"\\f233\";\n}\n\n.fa-virus-covid-slash::before {\n  content: \"\\e4a9\";\n}\n\n.fa-shop-lock::before {\n  content: \"\\e4a5\";\n}\n\n.fa-hourglass-start::before {\n  content: \"\\f251\";\n}\n\n.fa-hourglass-1::before {\n  content: \"\\f251\";\n}\n\n.fa-blender-phone::before {\n  content: \"\\f6b6\";\n}\n\n.fa-building-wheat::before {\n  content: \"\\e4db\";\n}\n\n.fa-person-breastfeeding::before {\n  content: \"\\e53a\";\n}\n\n.fa-right-to-bracket::before {\n  content: \"\\f2f6\";\n}\n\n.fa-sign-in-alt::before {\n  content: \"\\f2f6\";\n}\n\n.fa-venus::before {\n  content: \"\\f221\";\n}\n\n.fa-passport::before {\n  content: \"\\f5ab\";\n}\n\n.fa-heart-pulse::before {\n  content: \"\\f21e\";\n}\n\n.fa-heartbeat::before {\n  content: \"\\f21e\";\n}\n\n.fa-people-carry-box::before {\n  content: \"\\f4ce\";\n}\n\n.fa-people-carry::before {\n  content: \"\\f4ce\";\n}\n\n.fa-temperature-high::before {\n  content: \"\\f769\";\n}\n\n.fa-microchip::before {\n  content: \"\\f2db\";\n}\n\n.fa-crown::before {\n  content: \"\\f521\";\n}\n\n.fa-weight-hanging::before {\n  content: \"\\f5cd\";\n}\n\n.fa-xmarks-lines::before {\n  content: \"\\e59a\";\n}\n\n.fa-file-prescription::before {\n  content: \"\\f572\";\n}\n\n.fa-weight-scale::before {\n  content: \"\\f496\";\n}\n\n.fa-weight::before {\n  content: \"\\f496\";\n}\n\n.fa-user-group::before {\n  content: \"\\f500\";\n}\n\n.fa-user-friends::before {\n  content: \"\\f500\";\n}\n\n.fa-arrow-up-a-z::before {\n  content: \"\\f15e\";\n}\n\n.fa-sort-alpha-up::before {\n  content: \"\\f15e\";\n}\n\n.fa-chess-knight::before {\n  content: \"\\f441\";\n}\n\n.fa-face-laugh-squint::before {\n  content: \"\\f59b\";\n}\n\n.fa-laugh-squint::before {\n  content: \"\\f59b\";\n}\n\n.fa-wheelchair::before {\n  content: \"\\f193\";\n}\n\n.fa-circle-arrow-up::before {\n  content: \"\\f0aa\";\n}\n\n.fa-arrow-circle-up::before {\n  content: \"\\f0aa\";\n}\n\n.fa-toggle-on::before {\n  content: \"\\f205\";\n}\n\n.fa-person-walking::before {\n  content: \"\\f554\";\n}\n\n.fa-walking::before {\n  content: \"\\f554\";\n}\n\n.fa-l::before {\n  content: \"L\";\n}\n\n.fa-fire::before {\n  content: \"\\f06d\";\n}\n\n.fa-bed-pulse::before {\n  content: \"\\f487\";\n}\n\n.fa-procedures::before {\n  content: \"\\f487\";\n}\n\n.fa-shuttle-space::before {\n  content: \"\\f197\";\n}\n\n.fa-space-shuttle::before {\n  content: \"\\f197\";\n}\n\n.fa-face-laugh::before {\n  content: \"\\f599\";\n}\n\n.fa-laugh::before {\n  content: \"\\f599\";\n}\n\n.fa-folder-open::before {\n  content: \"\\f07c\";\n}\n\n.fa-heart-circle-plus::before {\n  content: \"\\e500\";\n}\n\n.fa-code-fork::before {\n  content: \"\\e13b\";\n}\n\n.fa-city::before {\n  content: \"\\f64f\";\n}\n\n.fa-microphone-lines::before {\n  content: \"\\f3c9\";\n}\n\n.fa-microphone-alt::before {\n  content: \"\\f3c9\";\n}\n\n.fa-pepper-hot::before {\n  content: \"\\f816\";\n}\n\n.fa-unlock::before {\n  content: \"\\f09c\";\n}\n\n.fa-colon-sign::before {\n  content: \"\\e140\";\n}\n\n.fa-headset::before {\n  content: \"\\f590\";\n}\n\n.fa-store-slash::before {\n  content: \"\\e071\";\n}\n\n.fa-road-circle-xmark::before {\n  content: \"\\e566\";\n}\n\n.fa-user-minus::before {\n  content: \"\\f503\";\n}\n\n.fa-mars-stroke-up::before {\n  content: \"\\f22a\";\n}\n\n.fa-mars-stroke-v::before {\n  content: \"\\f22a\";\n}\n\n.fa-champagne-glasses::before {\n  content: \"\\f79f\";\n}\n\n.fa-glass-cheers::before {\n  content: \"\\f79f\";\n}\n\n.fa-clipboard::before {\n  content: \"\\f328\";\n}\n\n.fa-house-circle-exclamation::before {\n  content: \"\\e50a\";\n}\n\n.fa-file-arrow-up::before {\n  content: \"\\f574\";\n}\n\n.fa-file-upload::before {\n  content: \"\\f574\";\n}\n\n.fa-wifi::before {\n  content: \"\\f1eb\";\n}\n\n.fa-wifi-3::before {\n  content: \"\\f1eb\";\n}\n\n.fa-wifi-strong::before {\n  content: \"\\f1eb\";\n}\n\n.fa-bath::before {\n  content: \"\\f2cd\";\n}\n\n.fa-bathtub::before {\n  content: \"\\f2cd\";\n}\n\n.fa-underline::before {\n  content: \"\\f0cd\";\n}\n\n.fa-user-pen::before {\n  content: \"\\f4ff\";\n}\n\n.fa-user-edit::before {\n  content: \"\\f4ff\";\n}\n\n.fa-signature::before {\n  content: \"\\f5b7\";\n}\n\n.fa-stroopwafel::before {\n  content: \"\\f551\";\n}\n\n.fa-bold::before {\n  content: \"\\f032\";\n}\n\n.fa-anchor-lock::before {\n  content: \"\\e4ad\";\n}\n\n.fa-building-ngo::before {\n  content: \"\\e4d7\";\n}\n\n.fa-manat-sign::before {\n  content: \"\\e1d5\";\n}\n\n.fa-not-equal::before {\n  content: \"\\f53e\";\n}\n\n.fa-border-top-left::before {\n  content: \"\\f853\";\n}\n\n.fa-border-style::before {\n  content: \"\\f853\";\n}\n\n.fa-map-location-dot::before {\n  content: \"\\f5a0\";\n}\n\n.fa-map-marked-alt::before {\n  content: \"\\f5a0\";\n}\n\n.fa-jedi::before {\n  content: \"\\f669\";\n}\n\n.fa-square-poll-vertical::before {\n  content: \"\\f681\";\n}\n\n.fa-poll::before {\n  content: \"\\f681\";\n}\n\n.fa-mug-hot::before {\n  content: \"\\f7b6\";\n}\n\n.fa-car-battery::before {\n  content: \"\\f5df\";\n}\n\n.fa-battery-car::before {\n  content: \"\\f5df\";\n}\n\n.fa-gift::before {\n  content: \"\\f06b\";\n}\n\n.fa-dice-two::before {\n  content: \"\\f528\";\n}\n\n.fa-chess-queen::before {\n  content: \"\\f445\";\n}\n\n.fa-glasses::before {\n  content: \"\\f530\";\n}\n\n.fa-chess-board::before {\n  content: \"\\f43c\";\n}\n\n.fa-building-circle-check::before {\n  content: \"\\e4d2\";\n}\n\n.fa-person-chalkboard::before {\n  content: \"\\e53d\";\n}\n\n.fa-mars-stroke-right::before {\n  content: \"\\f22b\";\n}\n\n.fa-mars-stroke-h::before {\n  content: \"\\f22b\";\n}\n\n.fa-hand-back-fist::before {\n  content: \"\\f255\";\n}\n\n.fa-hand-rock::before {\n  content: \"\\f255\";\n}\n\n.fa-square-caret-up::before {\n  content: \"\\f151\";\n}\n\n.fa-caret-square-up::before {\n  content: \"\\f151\";\n}\n\n.fa-cloud-showers-water::before {\n  content: \"\\e4e4\";\n}\n\n.fa-chart-bar::before {\n  content: \"\\f080\";\n}\n\n.fa-bar-chart::before {\n  content: \"\\f080\";\n}\n\n.fa-hands-bubbles::before {\n  content: \"\\e05e\";\n}\n\n.fa-hands-wash::before {\n  content: \"\\e05e\";\n}\n\n.fa-less-than-equal::before {\n  content: \"\\f537\";\n}\n\n.fa-train::before {\n  content: \"\\f238\";\n}\n\n.fa-eye-low-vision::before {\n  content: \"\\f2a8\";\n}\n\n.fa-low-vision::before {\n  content: \"\\f2a8\";\n}\n\n.fa-crow::before {\n  content: \"\\f520\";\n}\n\n.fa-sailboat::before {\n  content: \"\\e445\";\n}\n\n.fa-window-restore::before {\n  content: \"\\f2d2\";\n}\n\n.fa-square-plus::before {\n  content: \"\\f0fe\";\n}\n\n.fa-plus-square::before {\n  content: \"\\f0fe\";\n}\n\n.fa-torii-gate::before {\n  content: \"\\f6a1\";\n}\n\n.fa-frog::before {\n  content: \"\\f52e\";\n}\n\n.fa-bucket::before {\n  content: \"\\e4cf\";\n}\n\n.fa-image::before {\n  content: \"\\f03e\";\n}\n\n.fa-microphone::before {\n  content: \"\\f130\";\n}\n\n.fa-cow::before {\n  content: \"\\f6c8\";\n}\n\n.fa-caret-up::before {\n  content: \"\\f0d8\";\n}\n\n.fa-screwdriver::before {\n  content: \"\\f54a\";\n}\n\n.fa-folder-closed::before {\n  content: \"\\e185\";\n}\n\n.fa-house-tsunami::before {\n  content: \"\\e515\";\n}\n\n.fa-square-nfi::before {\n  content: \"\\e576\";\n}\n\n.fa-arrow-up-from-ground-water::before {\n  content: \"\\e4b5\";\n}\n\n.fa-martini-glass::before {\n  content: \"\\f57b\";\n}\n\n.fa-glass-martini-alt::before {\n  content: \"\\f57b\";\n}\n\n.fa-rotate-left::before {\n  content: \"\\f2ea\";\n}\n\n.fa-rotate-back::before {\n  content: \"\\f2ea\";\n}\n\n.fa-rotate-backward::before {\n  content: \"\\f2ea\";\n}\n\n.fa-undo-alt::before {\n  content: \"\\f2ea\";\n}\n\n.fa-table-columns::before {\n  content: \"\\f0db\";\n}\n\n.fa-columns::before {\n  content: \"\\f0db\";\n}\n\n.fa-lemon::before {\n  content: \"\\f094\";\n}\n\n.fa-head-side-mask::before {\n  content: \"\\e063\";\n}\n\n.fa-handshake::before {\n  content: \"\\f2b5\";\n}\n\n.fa-gem::before {\n  content: \"\\f3a5\";\n}\n\n.fa-dolly::before {\n  content: \"\\f472\";\n}\n\n.fa-dolly-box::before {\n  content: \"\\f472\";\n}\n\n.fa-smoking::before {\n  content: \"\\f48d\";\n}\n\n.fa-minimize::before {\n  content: \"\\f78c\";\n}\n\n.fa-compress-arrows-alt::before {\n  content: \"\\f78c\";\n}\n\n.fa-monument::before {\n  content: \"\\f5a6\";\n}\n\n.fa-snowplow::before {\n  content: \"\\f7d2\";\n}\n\n.fa-angles-right::before {\n  content: \"\\f101\";\n}\n\n.fa-angle-double-right::before {\n  content: \"\\f101\";\n}\n\n.fa-cannabis::before {\n  content: \"\\f55f\";\n}\n\n.fa-circle-play::before {\n  content: \"\\f144\";\n}\n\n.fa-play-circle::before {\n  content: \"\\f144\";\n}\n\n.fa-tablets::before {\n  content: \"\\f490\";\n}\n\n.fa-ethernet::before {\n  content: \"\\f796\";\n}\n\n.fa-euro-sign::before {\n  content: \"\\f153\";\n}\n\n.fa-eur::before {\n  content: \"\\f153\";\n}\n\n.fa-euro::before {\n  content: \"\\f153\";\n}\n\n.fa-chair::before {\n  content: \"\\f6c0\";\n}\n\n.fa-circle-check::before {\n  content: \"\\f058\";\n}\n\n.fa-check-circle::before {\n  content: \"\\f058\";\n}\n\n.fa-circle-stop::before {\n  content: \"\\f28d\";\n}\n\n.fa-stop-circle::before {\n  content: \"\\f28d\";\n}\n\n.fa-compass-drafting::before {\n  content: \"\\f568\";\n}\n\n.fa-drafting-compass::before {\n  content: \"\\f568\";\n}\n\n.fa-plate-wheat::before {\n  content: \"\\e55a\";\n}\n\n.fa-icicles::before {\n  content: \"\\f7ad\";\n}\n\n.fa-person-shelter::before {\n  content: \"\\e54f\";\n}\n\n.fa-neuter::before {\n  content: \"\\f22c\";\n}\n\n.fa-id-badge::before {\n  content: \"\\f2c1\";\n}\n\n.fa-marker::before {\n  content: \"\\f5a1\";\n}\n\n.fa-face-laugh-beam::before {\n  content: \"\\f59a\";\n}\n\n.fa-laugh-beam::before {\n  content: \"\\f59a\";\n}\n\n.fa-helicopter-symbol::before {\n  content: \"\\e502\";\n}\n\n.fa-universal-access::before {\n  content: \"\\f29a\";\n}\n\n.fa-circle-chevron-up::before {\n  content: \"\\f139\";\n}\n\n.fa-chevron-circle-up::before {\n  content: \"\\f139\";\n}\n\n.fa-lari-sign::before {\n  content: \"\\e1c8\";\n}\n\n.fa-volcano::before {\n  content: \"\\f770\";\n}\n\n.fa-person-walking-dashed-line-arrow-right::before {\n  content: \"\\e553\";\n}\n\n.fa-sterling-sign::before {\n  content: \"\\f154\";\n}\n\n.fa-gbp::before {\n  content: \"\\f154\";\n}\n\n.fa-pound-sign::before {\n  content: \"\\f154\";\n}\n\n.fa-viruses::before {\n  content: \"\\e076\";\n}\n\n.fa-square-person-confined::before {\n  content: \"\\e577\";\n}\n\n.fa-user-tie::before {\n  content: \"\\f508\";\n}\n\n.fa-arrow-down-long::before {\n  content: \"\\f175\";\n}\n\n.fa-long-arrow-down::before {\n  content: \"\\f175\";\n}\n\n.fa-tent-arrow-down-to-line::before {\n  content: \"\\e57e\";\n}\n\n.fa-certificate::before {\n  content: \"\\f0a3\";\n}\n\n.fa-reply-all::before {\n  content: \"\\f122\";\n}\n\n.fa-mail-reply-all::before {\n  content: \"\\f122\";\n}\n\n.fa-suitcase::before {\n  content: \"\\f0f2\";\n}\n\n.fa-person-skating::before {\n  content: \"\\f7c5\";\n}\n\n.fa-skating::before {\n  content: \"\\f7c5\";\n}\n\n.fa-filter-circle-dollar::before {\n  content: \"\\f662\";\n}\n\n.fa-funnel-dollar::before {\n  content: \"\\f662\";\n}\n\n.fa-camera-retro::before {\n  content: \"\\f083\";\n}\n\n.fa-circle-arrow-down::before {\n  content: \"\\f0ab\";\n}\n\n.fa-arrow-circle-down::before {\n  content: \"\\f0ab\";\n}\n\n.fa-file-import::before {\n  content: \"\\f56f\";\n}\n\n.fa-arrow-right-to-file::before {\n  content: \"\\f56f\";\n}\n\n.fa-square-arrow-up-right::before {\n  content: \"\\f14c\";\n}\n\n.fa-external-link-square::before {\n  content: \"\\f14c\";\n}\n\n.fa-box-open::before {\n  content: \"\\f49e\";\n}\n\n.fa-scroll::before {\n  content: \"\\f70e\";\n}\n\n.fa-spa::before {\n  content: \"\\f5bb\";\n}\n\n.fa-location-pin-lock::before {\n  content: \"\\e51f\";\n}\n\n.fa-pause::before {\n  content: \"\\f04c\";\n}\n\n.fa-hill-avalanche::before {\n  content: \"\\e507\";\n}\n\n.fa-temperature-empty::before {\n  content: \"\\f2cb\";\n}\n\n.fa-temperature-0::before {\n  content: \"\\f2cb\";\n}\n\n.fa-thermometer-0::before {\n  content: \"\\f2cb\";\n}\n\n.fa-thermometer-empty::before {\n  content: \"\\f2cb\";\n}\n\n.fa-bomb::before {\n  content: \"\\f1e2\";\n}\n\n.fa-registered::before {\n  content: \"\\f25d\";\n}\n\n.fa-address-card::before {\n  content: \"\\f2bb\";\n}\n\n.fa-contact-card::before {\n  content: \"\\f2bb\";\n}\n\n.fa-vcard::before {\n  content: \"\\f2bb\";\n}\n\n.fa-scale-unbalanced-flip::before {\n  content: \"\\f516\";\n}\n\n.fa-balance-scale-right::before {\n  content: \"\\f516\";\n}\n\n.fa-subscript::before {\n  content: \"\\f12c\";\n}\n\n.fa-diamond-turn-right::before {\n  content: \"\\f5eb\";\n}\n\n.fa-directions::before {\n  content: \"\\f5eb\";\n}\n\n.fa-burst::before {\n  content: \"\\e4dc\";\n}\n\n.fa-house-laptop::before {\n  content: \"\\e066\";\n}\n\n.fa-laptop-house::before {\n  content: \"\\e066\";\n}\n\n.fa-face-tired::before {\n  content: \"\\f5c8\";\n}\n\n.fa-tired::before {\n  content: \"\\f5c8\";\n}\n\n.fa-money-bills::before {\n  content: \"\\e1f3\";\n}\n\n.fa-smog::before {\n  content: \"\\f75f\";\n}\n\n.fa-crutch::before {\n  content: \"\\f7f7\";\n}\n\n.fa-cloud-arrow-up::before {\n  content: \"\\f0ee\";\n}\n\n.fa-cloud-upload::before {\n  content: \"\\f0ee\";\n}\n\n.fa-cloud-upload-alt::before {\n  content: \"\\f0ee\";\n}\n\n.fa-palette::before {\n  content: \"\\f53f\";\n}\n\n.fa-arrows-turn-right::before {\n  content: \"\\e4c0\";\n}\n\n.fa-vest::before {\n  content: \"\\e085\";\n}\n\n.fa-ferry::before {\n  content: \"\\e4ea\";\n}\n\n.fa-arrows-down-to-people::before {\n  content: \"\\e4b9\";\n}\n\n.fa-seedling::before {\n  content: \"\\f4d8\";\n}\n\n.fa-sprout::before {\n  content: \"\\f4d8\";\n}\n\n.fa-left-right::before {\n  content: \"\\f337\";\n}\n\n.fa-arrows-alt-h::before {\n  content: \"\\f337\";\n}\n\n.fa-boxes-packing::before {\n  content: \"\\e4c7\";\n}\n\n.fa-circle-arrow-left::before {\n  content: \"\\f0a8\";\n}\n\n.fa-arrow-circle-left::before {\n  content: \"\\f0a8\";\n}\n\n.fa-group-arrows-rotate::before {\n  content: \"\\e4f6\";\n}\n\n.fa-bowl-food::before {\n  content: \"\\e4c6\";\n}\n\n.fa-candy-cane::before {\n  content: \"\\f786\";\n}\n\n.fa-arrow-down-wide-short::before {\n  content: \"\\f160\";\n}\n\n.fa-sort-amount-asc::before {\n  content: \"\\f160\";\n}\n\n.fa-sort-amount-down::before {\n  content: \"\\f160\";\n}\n\n.fa-cloud-bolt::before {\n  content: \"\\f76c\";\n}\n\n.fa-thunderstorm::before {\n  content: \"\\f76c\";\n}\n\n.fa-text-slash::before {\n  content: \"\\f87d\";\n}\n\n.fa-remove-format::before {\n  content: \"\\f87d\";\n}\n\n.fa-face-smile-wink::before {\n  content: \"\\f4da\";\n}\n\n.fa-smile-wink::before {\n  content: \"\\f4da\";\n}\n\n.fa-file-word::before {\n  content: \"\\f1c2\";\n}\n\n.fa-file-powerpoint::before {\n  content: \"\\f1c4\";\n}\n\n.fa-arrows-left-right::before {\n  content: \"\\f07e\";\n}\n\n.fa-arrows-h::before {\n  content: \"\\f07e\";\n}\n\n.fa-house-lock::before {\n  content: \"\\e510\";\n}\n\n.fa-cloud-arrow-down::before {\n  content: \"\\f0ed\";\n}\n\n.fa-cloud-download::before {\n  content: \"\\f0ed\";\n}\n\n.fa-cloud-download-alt::before {\n  content: \"\\f0ed\";\n}\n\n.fa-children::before {\n  content: \"\\e4e1\";\n}\n\n.fa-chalkboard::before {\n  content: \"\\f51b\";\n}\n\n.fa-blackboard::before {\n  content: \"\\f51b\";\n}\n\n.fa-user-large-slash::before {\n  content: \"\\f4fa\";\n}\n\n.fa-user-alt-slash::before {\n  content: \"\\f4fa\";\n}\n\n.fa-envelope-open::before {\n  content: \"\\f2b6\";\n}\n\n.fa-handshake-simple-slash::before {\n  content: \"\\e05f\";\n}\n\n.fa-handshake-alt-slash::before {\n  content: \"\\e05f\";\n}\n\n.fa-mattress-pillow::before {\n  content: \"\\e525\";\n}\n\n.fa-guarani-sign::before {\n  content: \"\\e19a\";\n}\n\n.fa-arrows-rotate::before {\n  content: \"\\f021\";\n}\n\n.fa-refresh::before {\n  content: \"\\f021\";\n}\n\n.fa-sync::before {\n  content: \"\\f021\";\n}\n\n.fa-fire-extinguisher::before {\n  content: \"\\f134\";\n}\n\n.fa-cruzeiro-sign::before {\n  content: \"\\e152\";\n}\n\n.fa-greater-than-equal::before {\n  content: \"\\f532\";\n}\n\n.fa-shield-halved::before {\n  content: \"\\f3ed\";\n}\n\n.fa-shield-alt::before {\n  content: \"\\f3ed\";\n}\n\n.fa-book-atlas::before {\n  content: \"\\f558\";\n}\n\n.fa-atlas::before {\n  content: \"\\f558\";\n}\n\n.fa-virus::before {\n  content: \"\\e074\";\n}\n\n.fa-envelope-circle-check::before {\n  content: \"\\e4e8\";\n}\n\n.fa-layer-group::before {\n  content: \"\\f5fd\";\n}\n\n.fa-arrows-to-dot::before {\n  content: \"\\e4be\";\n}\n\n.fa-archway::before {\n  content: \"\\f557\";\n}\n\n.fa-heart-circle-check::before {\n  content: \"\\e4fd\";\n}\n\n.fa-house-chimney-crack::before {\n  content: \"\\f6f1\";\n}\n\n.fa-house-damage::before {\n  content: \"\\f6f1\";\n}\n\n.fa-file-zipper::before {\n  content: \"\\f1c6\";\n}\n\n.fa-file-archive::before {\n  content: \"\\f1c6\";\n}\n\n.fa-square::before {\n  content: \"\\f0c8\";\n}\n\n.fa-martini-glass-empty::before {\n  content: \"\\f000\";\n}\n\n.fa-glass-martini::before {\n  content: \"\\f000\";\n}\n\n.fa-couch::before {\n  content: \"\\f4b8\";\n}\n\n.fa-cedi-sign::before {\n  content: \"\\e0df\";\n}\n\n.fa-italic::before {\n  content: \"\\f033\";\n}\n\n.fa-table-cells-column-lock::before {\n  content: \"\\e678\";\n}\n\n.fa-church::before {\n  content: \"\\f51d\";\n}\n\n.fa-comments-dollar::before {\n  content: \"\\f653\";\n}\n\n.fa-democrat::before {\n  content: \"\\f747\";\n}\n\n.fa-z::before {\n  content: \"Z\";\n}\n\n.fa-person-skiing::before {\n  content: \"\\f7c9\";\n}\n\n.fa-skiing::before {\n  content: \"\\f7c9\";\n}\n\n.fa-road-lock::before {\n  content: \"\\e567\";\n}\n\n.fa-a::before {\n  content: \"A\";\n}\n\n.fa-temperature-arrow-down::before {\n  content: \"\\e03f\";\n}\n\n.fa-temperature-down::before {\n  content: \"\\e03f\";\n}\n\n.fa-feather-pointed::before {\n  content: \"\\f56b\";\n}\n\n.fa-feather-alt::before {\n  content: \"\\f56b\";\n}\n\n.fa-p::before {\n  content: \"P\";\n}\n\n.fa-snowflake::before {\n  content: \"\\f2dc\";\n}\n\n.fa-newspaper::before {\n  content: \"\\f1ea\";\n}\n\n.fa-rectangle-ad::before {\n  content: \"\\f641\";\n}\n\n.fa-ad::before {\n  content: \"\\f641\";\n}\n\n.fa-circle-arrow-right::before {\n  content: \"\\f0a9\";\n}\n\n.fa-arrow-circle-right::before {\n  content: \"\\f0a9\";\n}\n\n.fa-filter-circle-xmark::before {\n  content: \"\\e17b\";\n}\n\n.fa-locust::before {\n  content: \"\\e520\";\n}\n\n.fa-sort::before {\n  content: \"\\f0dc\";\n}\n\n.fa-unsorted::before {\n  content: \"\\f0dc\";\n}\n\n.fa-list-ol::before {\n  content: \"\\f0cb\";\n}\n\n.fa-list-1-2::before {\n  content: \"\\f0cb\";\n}\n\n.fa-list-numeric::before {\n  content: \"\\f0cb\";\n}\n\n.fa-person-dress-burst::before {\n  content: \"\\e544\";\n}\n\n.fa-money-check-dollar::before {\n  content: \"\\f53d\";\n}\n\n.fa-money-check-alt::before {\n  content: \"\\f53d\";\n}\n\n.fa-vector-square::before {\n  content: \"\\f5cb\";\n}\n\n.fa-bread-slice::before {\n  content: \"\\f7ec\";\n}\n\n.fa-language::before {\n  content: \"\\f1ab\";\n}\n\n.fa-face-kiss-wink-heart::before {\n  content: \"\\f598\";\n}\n\n.fa-kiss-wink-heart::before {\n  content: \"\\f598\";\n}\n\n.fa-filter::before {\n  content: \"\\f0b0\";\n}\n\n.fa-question::before {\n  content: \"\\?\";\n}\n\n.fa-file-signature::before {\n  content: \"\\f573\";\n}\n\n.fa-up-down-left-right::before {\n  content: \"\\f0b2\";\n}\n\n.fa-arrows-alt::before {\n  content: \"\\f0b2\";\n}\n\n.fa-house-chimney-user::before {\n  content: \"\\e065\";\n}\n\n.fa-hand-holding-heart::before {\n  content: \"\\f4be\";\n}\n\n.fa-puzzle-piece::before {\n  content: \"\\f12e\";\n}\n\n.fa-money-check::before {\n  content: \"\\f53c\";\n}\n\n.fa-star-half-stroke::before {\n  content: \"\\f5c0\";\n}\n\n.fa-star-half-alt::before {\n  content: \"\\f5c0\";\n}\n\n.fa-code::before {\n  content: \"\\f121\";\n}\n\n.fa-whiskey-glass::before {\n  content: \"\\f7a0\";\n}\n\n.fa-glass-whiskey::before {\n  content: \"\\f7a0\";\n}\n\n.fa-building-circle-exclamation::before {\n  content: \"\\e4d3\";\n}\n\n.fa-magnifying-glass-chart::before {\n  content: \"\\e522\";\n}\n\n.fa-arrow-up-right-from-square::before {\n  content: \"\\f08e\";\n}\n\n.fa-external-link::before {\n  content: \"\\f08e\";\n}\n\n.fa-cubes-stacked::before {\n  content: \"\\e4e6\";\n}\n\n.fa-won-sign::before {\n  content: \"\\f159\";\n}\n\n.fa-krw::before {\n  content: \"\\f159\";\n}\n\n.fa-won::before {\n  content: \"\\f159\";\n}\n\n.fa-virus-covid::before {\n  content: \"\\e4a8\";\n}\n\n.fa-austral-sign::before {\n  content: \"\\e0a9\";\n}\n\n.fa-f::before {\n  content: \"F\";\n}\n\n.fa-leaf::before {\n  content: \"\\f06c\";\n}\n\n.fa-road::before {\n  content: \"\\f018\";\n}\n\n.fa-taxi::before {\n  content: \"\\f1ba\";\n}\n\n.fa-cab::before {\n  content: \"\\f1ba\";\n}\n\n.fa-person-circle-plus::before {\n  content: \"\\e541\";\n}\n\n.fa-chart-pie::before {\n  content: \"\\f200\";\n}\n\n.fa-pie-chart::before {\n  content: \"\\f200\";\n}\n\n.fa-bolt-lightning::before {\n  content: \"\\e0b7\";\n}\n\n.fa-sack-xmark::before {\n  content: \"\\e56a\";\n}\n\n.fa-file-excel::before {\n  content: \"\\f1c3\";\n}\n\n.fa-file-contract::before {\n  content: \"\\f56c\";\n}\n\n.fa-fish-fins::before {\n  content: \"\\e4f2\";\n}\n\n.fa-building-flag::before {\n  content: \"\\e4d5\";\n}\n\n.fa-face-grin-beam::before {\n  content: \"\\f582\";\n}\n\n.fa-grin-beam::before {\n  content: \"\\f582\";\n}\n\n.fa-object-ungroup::before {\n  content: \"\\f248\";\n}\n\n.fa-poop::before {\n  content: \"\\f619\";\n}\n\n.fa-location-pin::before {\n  content: \"\\f041\";\n}\n\n.fa-map-marker::before {\n  content: \"\\f041\";\n}\n\n.fa-kaaba::before {\n  content: \"\\f66b\";\n}\n\n.fa-toilet-paper::before {\n  content: \"\\f71e\";\n}\n\n.fa-helmet-safety::before {\n  content: \"\\f807\";\n}\n\n.fa-hard-hat::before {\n  content: \"\\f807\";\n}\n\n.fa-hat-hard::before {\n  content: \"\\f807\";\n}\n\n.fa-eject::before {\n  content: \"\\f052\";\n}\n\n.fa-circle-right::before {\n  content: \"\\f35a\";\n}\n\n.fa-arrow-alt-circle-right::before {\n  content: \"\\f35a\";\n}\n\n.fa-plane-circle-check::before {\n  content: \"\\e555\";\n}\n\n.fa-face-rolling-eyes::before {\n  content: \"\\f5a5\";\n}\n\n.fa-meh-rolling-eyes::before {\n  content: \"\\f5a5\";\n}\n\n.fa-object-group::before {\n  content: \"\\f247\";\n}\n\n.fa-chart-line::before {\n  content: \"\\f201\";\n}\n\n.fa-line-chart::before {\n  content: \"\\f201\";\n}\n\n.fa-mask-ventilator::before {\n  content: \"\\e524\";\n}\n\n.fa-arrow-right::before {\n  content: \"\\f061\";\n}\n\n.fa-signs-post::before {\n  content: \"\\f277\";\n}\n\n.fa-map-signs::before {\n  content: \"\\f277\";\n}\n\n.fa-cash-register::before {\n  content: \"\\f788\";\n}\n\n.fa-person-circle-question::before {\n  content: \"\\e542\";\n}\n\n.fa-h::before {\n  content: \"H\";\n}\n\n.fa-tarp::before {\n  content: \"\\e57b\";\n}\n\n.fa-screwdriver-wrench::before {\n  content: \"\\f7d9\";\n}\n\n.fa-tools::before {\n  content: \"\\f7d9\";\n}\n\n.fa-arrows-to-eye::before {\n  content: \"\\e4bf\";\n}\n\n.fa-plug-circle-bolt::before {\n  content: \"\\e55b\";\n}\n\n.fa-heart::before {\n  content: \"\\f004\";\n}\n\n.fa-mars-and-venus::before {\n  content: \"\\f224\";\n}\n\n.fa-house-user::before {\n  content: \"\\e1b0\";\n}\n\n.fa-home-user::before {\n  content: \"\\e1b0\";\n}\n\n.fa-dumpster-fire::before {\n  content: \"\\f794\";\n}\n\n.fa-house-crack::before {\n  content: \"\\e3b1\";\n}\n\n.fa-martini-glass-citrus::before {\n  content: \"\\f561\";\n}\n\n.fa-cocktail::before {\n  content: \"\\f561\";\n}\n\n.fa-face-surprise::before {\n  content: \"\\f5c2\";\n}\n\n.fa-surprise::before {\n  content: \"\\f5c2\";\n}\n\n.fa-bottle-water::before {\n  content: \"\\e4c5\";\n}\n\n.fa-circle-pause::before {\n  content: \"\\f28b\";\n}\n\n.fa-pause-circle::before {\n  content: \"\\f28b\";\n}\n\n.fa-toilet-paper-slash::before {\n  content: \"\\e072\";\n}\n\n.fa-apple-whole::before {\n  content: \"\\f5d1\";\n}\n\n.fa-apple-alt::before {\n  content: \"\\f5d1\";\n}\n\n.fa-kitchen-set::before {\n  content: \"\\e51a\";\n}\n\n.fa-r::before {\n  content: \"R\";\n}\n\n.fa-temperature-quarter::before {\n  content: \"\\f2ca\";\n}\n\n.fa-temperature-1::before {\n  content: \"\\f2ca\";\n}\n\n.fa-thermometer-1::before {\n  content: \"\\f2ca\";\n}\n\n.fa-thermometer-quarter::before {\n  content: \"\\f2ca\";\n}\n\n.fa-cube::before {\n  content: \"\\f1b2\";\n}\n\n.fa-bitcoin-sign::before {\n  content: \"\\e0b4\";\n}\n\n.fa-shield-dog::before {\n  content: \"\\e573\";\n}\n\n.fa-solar-panel::before {\n  content: \"\\f5ba\";\n}\n\n.fa-lock-open::before {\n  content: \"\\f3c1\";\n}\n\n.fa-elevator::before {\n  content: \"\\e16d\";\n}\n\n.fa-money-bill-transfer::before {\n  content: \"\\e528\";\n}\n\n.fa-money-bill-trend-up::before {\n  content: \"\\e529\";\n}\n\n.fa-house-flood-water-circle-arrow-right::before {\n  content: \"\\e50f\";\n}\n\n.fa-square-poll-horizontal::before {\n  content: \"\\f682\";\n}\n\n.fa-poll-h::before {\n  content: \"\\f682\";\n}\n\n.fa-circle::before {\n  content: \"\\f111\";\n}\n\n.fa-backward-fast::before {\n  content: \"\\f049\";\n}\n\n.fa-fast-backward::before {\n  content: \"\\f049\";\n}\n\n.fa-recycle::before {\n  content: \"\\f1b8\";\n}\n\n.fa-user-astronaut::before {\n  content: \"\\f4fb\";\n}\n\n.fa-plane-slash::before {\n  content: \"\\e069\";\n}\n\n.fa-trademark::before {\n  content: \"\\f25c\";\n}\n\n.fa-basketball::before {\n  content: \"\\f434\";\n}\n\n.fa-basketball-ball::before {\n  content: \"\\f434\";\n}\n\n.fa-satellite-dish::before {\n  content: \"\\f7c0\";\n}\n\n.fa-circle-up::before {\n  content: \"\\f35b\";\n}\n\n.fa-arrow-alt-circle-up::before {\n  content: \"\\f35b\";\n}\n\n.fa-mobile-screen-button::before {\n  content: \"\\f3cd\";\n}\n\n.fa-mobile-alt::before {\n  content: \"\\f3cd\";\n}\n\n.fa-volume-high::before {\n  content: \"\\f028\";\n}\n\n.fa-volume-up::before {\n  content: \"\\f028\";\n}\n\n.fa-users-rays::before {\n  content: \"\\e593\";\n}\n\n.fa-wallet::before {\n  content: \"\\f555\";\n}\n\n.fa-clipboard-check::before {\n  content: \"\\f46c\";\n}\n\n.fa-file-audio::before {\n  content: \"\\f1c7\";\n}\n\n.fa-burger::before {\n  content: \"\\f805\";\n}\n\n.fa-hamburger::before {\n  content: \"\\f805\";\n}\n\n.fa-wrench::before {\n  content: \"\\f0ad\";\n}\n\n.fa-bugs::before {\n  content: \"\\e4d0\";\n}\n\n.fa-rupee-sign::before {\n  content: \"\\f156\";\n}\n\n.fa-rupee::before {\n  content: \"\\f156\";\n}\n\n.fa-file-image::before {\n  content: \"\\f1c5\";\n}\n\n.fa-circle-question::before {\n  content: \"\\f059\";\n}\n\n.fa-question-circle::before {\n  content: \"\\f059\";\n}\n\n.fa-plane-departure::before {\n  content: \"\\f5b0\";\n}\n\n.fa-handshake-slash::before {\n  content: \"\\e060\";\n}\n\n.fa-book-bookmark::before {\n  content: \"\\e0bb\";\n}\n\n.fa-code-branch::before {\n  content: \"\\f126\";\n}\n\n.fa-hat-cowboy::before {\n  content: \"\\f8c0\";\n}\n\n.fa-bridge::before {\n  content: \"\\e4c8\";\n}\n\n.fa-phone-flip::before {\n  content: \"\\f879\";\n}\n\n.fa-phone-alt::before {\n  content: \"\\f879\";\n}\n\n.fa-truck-front::before {\n  content: \"\\e2b7\";\n}\n\n.fa-cat::before {\n  content: \"\\f6be\";\n}\n\n.fa-anchor-circle-exclamation::before {\n  content: \"\\e4ab\";\n}\n\n.fa-truck-field::before {\n  content: \"\\e58d\";\n}\n\n.fa-route::before {\n  content: \"\\f4d7\";\n}\n\n.fa-clipboard-question::before {\n  content: \"\\e4e3\";\n}\n\n.fa-panorama::before {\n  content: \"\\e209\";\n}\n\n.fa-comment-medical::before {\n  content: \"\\f7f5\";\n}\n\n.fa-teeth-open::before {\n  content: \"\\f62f\";\n}\n\n.fa-file-circle-minus::before {\n  content: \"\\e4ed\";\n}\n\n.fa-tags::before {\n  content: \"\\f02c\";\n}\n\n.fa-wine-glass::before {\n  content: \"\\f4e3\";\n}\n\n.fa-forward-fast::before {\n  content: \"\\f050\";\n}\n\n.fa-fast-forward::before {\n  content: \"\\f050\";\n}\n\n.fa-face-meh-blank::before {\n  content: \"\\f5a4\";\n}\n\n.fa-meh-blank::before {\n  content: \"\\f5a4\";\n}\n\n.fa-square-parking::before {\n  content: \"\\f540\";\n}\n\n.fa-parking::before {\n  content: \"\\f540\";\n}\n\n.fa-house-signal::before {\n  content: \"\\e012\";\n}\n\n.fa-bars-progress::before {\n  content: \"\\f828\";\n}\n\n.fa-tasks-alt::before {\n  content: \"\\f828\";\n}\n\n.fa-faucet-drip::before {\n  content: \"\\e006\";\n}\n\n.fa-cart-flatbed::before {\n  content: \"\\f474\";\n}\n\n.fa-dolly-flatbed::before {\n  content: \"\\f474\";\n}\n\n.fa-ban-smoking::before {\n  content: \"\\f54d\";\n}\n\n.fa-smoking-ban::before {\n  content: \"\\f54d\";\n}\n\n.fa-terminal::before {\n  content: \"\\f120\";\n}\n\n.fa-mobile-button::before {\n  content: \"\\f10b\";\n}\n\n.fa-house-medical-flag::before {\n  content: \"\\e514\";\n}\n\n.fa-basket-shopping::before {\n  content: \"\\f291\";\n}\n\n.fa-shopping-basket::before {\n  content: \"\\f291\";\n}\n\n.fa-tape::before {\n  content: \"\\f4db\";\n}\n\n.fa-bus-simple::before {\n  content: \"\\f55e\";\n}\n\n.fa-bus-alt::before {\n  content: \"\\f55e\";\n}\n\n.fa-eye::before {\n  content: \"\\f06e\";\n}\n\n.fa-face-sad-cry::before {\n  content: \"\\f5b3\";\n}\n\n.fa-sad-cry::before {\n  content: \"\\f5b3\";\n}\n\n.fa-audio-description::before {\n  content: \"\\f29e\";\n}\n\n.fa-person-military-to-person::before {\n  content: \"\\e54c\";\n}\n\n.fa-file-shield::before {\n  content: \"\\e4f0\";\n}\n\n.fa-user-slash::before {\n  content: \"\\f506\";\n}\n\n.fa-pen::before {\n  content: \"\\f304\";\n}\n\n.fa-tower-observation::before {\n  content: \"\\e586\";\n}\n\n.fa-file-code::before {\n  content: \"\\f1c9\";\n}\n\n.fa-signal::before {\n  content: \"\\f012\";\n}\n\n.fa-signal-5::before {\n  content: \"\\f012\";\n}\n\n.fa-signal-perfect::before {\n  content: \"\\f012\";\n}\n\n.fa-bus::before {\n  content: \"\\f207\";\n}\n\n.fa-heart-circle-xmark::before {\n  content: \"\\e501\";\n}\n\n.fa-house-chimney::before {\n  content: \"\\e3af\";\n}\n\n.fa-home-lg::before {\n  content: \"\\e3af\";\n}\n\n.fa-window-maximize::before {\n  content: \"\\f2d0\";\n}\n\n.fa-face-frown::before {\n  content: \"\\f119\";\n}\n\n.fa-frown::before {\n  content: \"\\f119\";\n}\n\n.fa-prescription::before {\n  content: \"\\f5b1\";\n}\n\n.fa-shop::before {\n  content: \"\\f54f\";\n}\n\n.fa-store-alt::before {\n  content: \"\\f54f\";\n}\n\n.fa-floppy-disk::before {\n  content: \"\\f0c7\";\n}\n\n.fa-save::before {\n  content: \"\\f0c7\";\n}\n\n.fa-vihara::before {\n  content: \"\\f6a7\";\n}\n\n.fa-scale-unbalanced::before {\n  content: \"\\f515\";\n}\n\n.fa-balance-scale-left::before {\n  content: \"\\f515\";\n}\n\n.fa-sort-up::before {\n  content: \"\\f0de\";\n}\n\n.fa-sort-asc::before {\n  content: \"\\f0de\";\n}\n\n.fa-comment-dots::before {\n  content: \"\\f4ad\";\n}\n\n.fa-commenting::before {\n  content: \"\\f4ad\";\n}\n\n.fa-plant-wilt::before {\n  content: \"\\e5aa\";\n}\n\n.fa-diamond::before {\n  content: \"\\f219\";\n}\n\n.fa-face-grin-squint::before {\n  content: \"\\f585\";\n}\n\n.fa-grin-squint::before {\n  content: \"\\f585\";\n}\n\n.fa-hand-holding-dollar::before {\n  content: \"\\f4c0\";\n}\n\n.fa-hand-holding-usd::before {\n  content: \"\\f4c0\";\n}\n\n.fa-bacterium::before {\n  content: \"\\e05a\";\n}\n\n.fa-hand-pointer::before {\n  content: \"\\f25a\";\n}\n\n.fa-drum-steelpan::before {\n  content: \"\\f56a\";\n}\n\n.fa-hand-scissors::before {\n  content: \"\\f257\";\n}\n\n.fa-hands-praying::before {\n  content: \"\\f684\";\n}\n\n.fa-praying-hands::before {\n  content: \"\\f684\";\n}\n\n.fa-arrow-rotate-right::before {\n  content: \"\\f01e\";\n}\n\n.fa-arrow-right-rotate::before {\n  content: \"\\f01e\";\n}\n\n.fa-arrow-rotate-forward::before {\n  content: \"\\f01e\";\n}\n\n.fa-redo::before {\n  content: \"\\f01e\";\n}\n\n.fa-biohazard::before {\n  content: \"\\f780\";\n}\n\n.fa-location-crosshairs::before {\n  content: \"\\f601\";\n}\n\n.fa-location::before {\n  content: \"\\f601\";\n}\n\n.fa-mars-double::before {\n  content: \"\\f227\";\n}\n\n.fa-child-dress::before {\n  content: \"\\e59c\";\n}\n\n.fa-users-between-lines::before {\n  content: \"\\e591\";\n}\n\n.fa-lungs-virus::before {\n  content: \"\\e067\";\n}\n\n.fa-face-grin-tears::before {\n  content: \"\\f588\";\n}\n\n.fa-grin-tears::before {\n  content: \"\\f588\";\n}\n\n.fa-phone::before {\n  content: \"\\f095\";\n}\n\n.fa-calendar-xmark::before {\n  content: \"\\f273\";\n}\n\n.fa-calendar-times::before {\n  content: \"\\f273\";\n}\n\n.fa-child-reaching::before {\n  content: \"\\e59d\";\n}\n\n.fa-head-side-virus::before {\n  content: \"\\e064\";\n}\n\n.fa-user-gear::before {\n  content: \"\\f4fe\";\n}\n\n.fa-user-cog::before {\n  content: \"\\f4fe\";\n}\n\n.fa-arrow-up-1-9::before {\n  content: \"\\f163\";\n}\n\n.fa-sort-numeric-up::before {\n  content: \"\\f163\";\n}\n\n.fa-door-closed::before {\n  content: \"\\f52a\";\n}\n\n.fa-shield-virus::before {\n  content: \"\\e06c\";\n}\n\n.fa-dice-six::before {\n  content: \"\\f526\";\n}\n\n.fa-mosquito-net::before {\n  content: \"\\e52c\";\n}\n\n.fa-bridge-water::before {\n  content: \"\\e4ce\";\n}\n\n.fa-person-booth::before {\n  content: \"\\f756\";\n}\n\n.fa-text-width::before {\n  content: \"\\f035\";\n}\n\n.fa-hat-wizard::before {\n  content: \"\\f6e8\";\n}\n\n.fa-pen-fancy::before {\n  content: \"\\f5ac\";\n}\n\n.fa-person-digging::before {\n  content: \"\\f85e\";\n}\n\n.fa-digging::before {\n  content: \"\\f85e\";\n}\n\n.fa-trash::before {\n  content: \"\\f1f8\";\n}\n\n.fa-gauge-simple::before {\n  content: \"\\f629\";\n}\n\n.fa-gauge-simple-med::before {\n  content: \"\\f629\";\n}\n\n.fa-tachometer-average::before {\n  content: \"\\f629\";\n}\n\n.fa-book-medical::before {\n  content: \"\\f7e6\";\n}\n\n.fa-poo::before {\n  content: \"\\f2fe\";\n}\n\n.fa-quote-right::before {\n  content: \"\\f10e\";\n}\n\n.fa-quote-right-alt::before {\n  content: \"\\f10e\";\n}\n\n.fa-shirt::before {\n  content: \"\\f553\";\n}\n\n.fa-t-shirt::before {\n  content: \"\\f553\";\n}\n\n.fa-tshirt::before {\n  content: \"\\f553\";\n}\n\n.fa-cubes::before {\n  content: \"\\f1b3\";\n}\n\n.fa-divide::before {\n  content: \"\\f529\";\n}\n\n.fa-tenge-sign::before {\n  content: \"\\f7d7\";\n}\n\n.fa-tenge::before {\n  content: \"\\f7d7\";\n}\n\n.fa-headphones::before {\n  content: \"\\f025\";\n}\n\n.fa-hands-holding::before {\n  content: \"\\f4c2\";\n}\n\n.fa-hands-clapping::before {\n  content: \"\\e1a8\";\n}\n\n.fa-republican::before {\n  content: \"\\f75e\";\n}\n\n.fa-arrow-left::before {\n  content: \"\\f060\";\n}\n\n.fa-person-circle-xmark::before {\n  content: \"\\e543\";\n}\n\n.fa-ruler::before {\n  content: \"\\f545\";\n}\n\n.fa-align-left::before {\n  content: \"\\f036\";\n}\n\n.fa-dice-d6::before {\n  content: \"\\f6d1\";\n}\n\n.fa-restroom::before {\n  content: \"\\f7bd\";\n}\n\n.fa-j::before {\n  content: \"J\";\n}\n\n.fa-users-viewfinder::before {\n  content: \"\\e595\";\n}\n\n.fa-file-video::before {\n  content: \"\\f1c8\";\n}\n\n.fa-up-right-from-square::before {\n  content: \"\\f35d\";\n}\n\n.fa-external-link-alt::before {\n  content: \"\\f35d\";\n}\n\n.fa-table-cells::before {\n  content: \"\\f00a\";\n}\n\n.fa-th::before {\n  content: \"\\f00a\";\n}\n\n.fa-file-pdf::before {\n  content: \"\\f1c1\";\n}\n\n.fa-book-bible::before {\n  content: \"\\f647\";\n}\n\n.fa-bible::before {\n  content: \"\\f647\";\n}\n\n.fa-o::before {\n  content: \"O\";\n}\n\n.fa-suitcase-medical::before {\n  content: \"\\f0fa\";\n}\n\n.fa-medkit::before {\n  content: \"\\f0fa\";\n}\n\n.fa-user-secret::before {\n  content: \"\\f21b\";\n}\n\n.fa-otter::before {\n  content: \"\\f700\";\n}\n\n.fa-person-dress::before {\n  content: \"\\f182\";\n}\n\n.fa-female::before {\n  content: \"\\f182\";\n}\n\n.fa-comment-dollar::before {\n  content: \"\\f651\";\n}\n\n.fa-business-time::before {\n  content: \"\\f64a\";\n}\n\n.fa-briefcase-clock::before {\n  content: \"\\f64a\";\n}\n\n.fa-table-cells-large::before {\n  content: \"\\f009\";\n}\n\n.fa-th-large::before {\n  content: \"\\f009\";\n}\n\n.fa-book-tanakh::before {\n  content: \"\\f827\";\n}\n\n.fa-tanakh::before {\n  content: \"\\f827\";\n}\n\n.fa-phone-volume::before {\n  content: \"\\f2a0\";\n}\n\n.fa-volume-control-phone::before {\n  content: \"\\f2a0\";\n}\n\n.fa-hat-cowboy-side::before {\n  content: \"\\f8c1\";\n}\n\n.fa-clipboard-user::before {\n  content: \"\\f7f3\";\n}\n\n.fa-child::before {\n  content: \"\\f1ae\";\n}\n\n.fa-lira-sign::before {\n  content: \"\\f195\";\n}\n\n.fa-satellite::before {\n  content: \"\\f7bf\";\n}\n\n.fa-plane-lock::before {\n  content: \"\\e558\";\n}\n\n.fa-tag::before {\n  content: \"\\f02b\";\n}\n\n.fa-comment::before {\n  content: \"\\f075\";\n}\n\n.fa-cake-candles::before {\n  content: \"\\f1fd\";\n}\n\n.fa-birthday-cake::before {\n  content: \"\\f1fd\";\n}\n\n.fa-cake::before {\n  content: \"\\f1fd\";\n}\n\n.fa-envelope::before {\n  content: \"\\f0e0\";\n}\n\n.fa-angles-up::before {\n  content: \"\\f102\";\n}\n\n.fa-angle-double-up::before {\n  content: \"\\f102\";\n}\n\n.fa-paperclip::before {\n  content: \"\\f0c6\";\n}\n\n.fa-arrow-right-to-city::before {\n  content: \"\\e4b3\";\n}\n\n.fa-ribbon::before {\n  content: \"\\f4d6\";\n}\n\n.fa-lungs::before {\n  content: \"\\f604\";\n}\n\n.fa-arrow-up-9-1::before {\n  content: \"\\f887\";\n}\n\n.fa-sort-numeric-up-alt::before {\n  content: \"\\f887\";\n}\n\n.fa-litecoin-sign::before {\n  content: \"\\e1d3\";\n}\n\n.fa-border-none::before {\n  content: \"\\f850\";\n}\n\n.fa-circle-nodes::before {\n  content: \"\\e4e2\";\n}\n\n.fa-parachute-box::before {\n  content: \"\\f4cd\";\n}\n\n.fa-indent::before {\n  content: \"\\f03c\";\n}\n\n.fa-truck-field-un::before {\n  content: \"\\e58e\";\n}\n\n.fa-hourglass::before {\n  content: \"\\f254\";\n}\n\n.fa-hourglass-empty::before {\n  content: \"\\f254\";\n}\n\n.fa-mountain::before {\n  content: \"\\f6fc\";\n}\n\n.fa-user-doctor::before {\n  content: \"\\f0f0\";\n}\n\n.fa-user-md::before {\n  content: \"\\f0f0\";\n}\n\n.fa-circle-info::before {\n  content: \"\\f05a\";\n}\n\n.fa-info-circle::before {\n  content: \"\\f05a\";\n}\n\n.fa-cloud-meatball::before {\n  content: \"\\f73b\";\n}\n\n.fa-camera::before {\n  content: \"\\f030\";\n}\n\n.fa-camera-alt::before {\n  content: \"\\f030\";\n}\n\n.fa-square-virus::before {\n  content: \"\\e578\";\n}\n\n.fa-meteor::before {\n  content: \"\\f753\";\n}\n\n.fa-car-on::before {\n  content: \"\\e4dd\";\n}\n\n.fa-sleigh::before {\n  content: \"\\f7cc\";\n}\n\n.fa-arrow-down-1-9::before {\n  content: \"\\f162\";\n}\n\n.fa-sort-numeric-asc::before {\n  content: \"\\f162\";\n}\n\n.fa-sort-numeric-down::before {\n  content: \"\\f162\";\n}\n\n.fa-hand-holding-droplet::before {\n  content: \"\\f4c1\";\n}\n\n.fa-hand-holding-water::before {\n  content: \"\\f4c1\";\n}\n\n.fa-water::before {\n  content: \"\\f773\";\n}\n\n.fa-calendar-check::before {\n  content: \"\\f274\";\n}\n\n.fa-braille::before {\n  content: \"\\f2a1\";\n}\n\n.fa-prescription-bottle-medical::before {\n  content: \"\\f486\";\n}\n\n.fa-prescription-bottle-alt::before {\n  content: \"\\f486\";\n}\n\n.fa-landmark::before {\n  content: \"\\f66f\";\n}\n\n.fa-truck::before {\n  content: \"\\f0d1\";\n}\n\n.fa-crosshairs::before {\n  content: \"\\f05b\";\n}\n\n.fa-person-cane::before {\n  content: \"\\e53c\";\n}\n\n.fa-tent::before {\n  content: \"\\e57d\";\n}\n\n.fa-vest-patches::before {\n  content: \"\\e086\";\n}\n\n.fa-check-double::before {\n  content: \"\\f560\";\n}\n\n.fa-arrow-down-a-z::before {\n  content: \"\\f15d\";\n}\n\n.fa-sort-alpha-asc::before {\n  content: \"\\f15d\";\n}\n\n.fa-sort-alpha-down::before {\n  content: \"\\f15d\";\n}\n\n.fa-money-bill-wheat::before {\n  content: \"\\e52a\";\n}\n\n.fa-cookie::before {\n  content: \"\\f563\";\n}\n\n.fa-arrow-rotate-left::before {\n  content: \"\\f0e2\";\n}\n\n.fa-arrow-left-rotate::before {\n  content: \"\\f0e2\";\n}\n\n.fa-arrow-rotate-back::before {\n  content: \"\\f0e2\";\n}\n\n.fa-arrow-rotate-backward::before {\n  content: \"\\f0e2\";\n}\n\n.fa-undo::before {\n  content: \"\\f0e2\";\n}\n\n.fa-hard-drive::before {\n  content: \"\\f0a0\";\n}\n\n.fa-hdd::before {\n  content: \"\\f0a0\";\n}\n\n.fa-face-grin-squint-tears::before {\n  content: \"\\f586\";\n}\n\n.fa-grin-squint-tears::before {\n  content: \"\\f586\";\n}\n\n.fa-dumbbell::before {\n  content: \"\\f44b\";\n}\n\n.fa-rectangle-list::before {\n  content: \"\\f022\";\n}\n\n.fa-list-alt::before {\n  content: \"\\f022\";\n}\n\n.fa-tarp-droplet::before {\n  content: \"\\e57c\";\n}\n\n.fa-house-medical-circle-check::before {\n  content: \"\\e511\";\n}\n\n.fa-person-skiing-nordic::before {\n  content: \"\\f7ca\";\n}\n\n.fa-skiing-nordic::before {\n  content: \"\\f7ca\";\n}\n\n.fa-calendar-plus::before {\n  content: \"\\f271\";\n}\n\n.fa-plane-arrival::before {\n  content: \"\\f5af\";\n}\n\n.fa-circle-left::before {\n  content: \"\\f359\";\n}\n\n.fa-arrow-alt-circle-left::before {\n  content: \"\\f359\";\n}\n\n.fa-train-subway::before {\n  content: \"\\f239\";\n}\n\n.fa-subway::before {\n  content: \"\\f239\";\n}\n\n.fa-chart-gantt::before {\n  content: \"\\e0e4\";\n}\n\n.fa-indian-rupee-sign::before {\n  content: \"\\e1bc\";\n}\n\n.fa-indian-rupee::before {\n  content: \"\\e1bc\";\n}\n\n.fa-inr::before {\n  content: \"\\e1bc\";\n}\n\n.fa-crop-simple::before {\n  content: \"\\f565\";\n}\n\n.fa-crop-alt::before {\n  content: \"\\f565\";\n}\n\n.fa-money-bill-1::before {\n  content: \"\\f3d1\";\n}\n\n.fa-money-bill-alt::before {\n  content: \"\\f3d1\";\n}\n\n.fa-left-long::before {\n  content: \"\\f30a\";\n}\n\n.fa-long-arrow-alt-left::before {\n  content: \"\\f30a\";\n}\n\n.fa-dna::before {\n  content: \"\\f471\";\n}\n\n.fa-virus-slash::before {\n  content: \"\\e075\";\n}\n\n.fa-minus::before {\n  content: \"\\f068\";\n}\n\n.fa-subtract::before {\n  content: \"\\f068\";\n}\n\n.fa-chess::before {\n  content: \"\\f439\";\n}\n\n.fa-arrow-left-long::before {\n  content: \"\\f177\";\n}\n\n.fa-long-arrow-left::before {\n  content: \"\\f177\";\n}\n\n.fa-plug-circle-check::before {\n  content: \"\\e55c\";\n}\n\n.fa-street-view::before {\n  content: \"\\f21d\";\n}\n\n.fa-franc-sign::before {\n  content: \"\\e18f\";\n}\n\n.fa-volume-off::before {\n  content: \"\\f026\";\n}\n\n.fa-hands-asl-interpreting::before {\n  content: \"\\f2a3\";\n}\n\n.fa-american-sign-language-interpreting::before {\n  content: \"\\f2a3\";\n}\n\n.fa-asl-interpreting::before {\n  content: \"\\f2a3\";\n}\n\n.fa-hands-american-sign-language-interpreting::before {\n  content: \"\\f2a3\";\n}\n\n.fa-gear::before {\n  content: \"\\f013\";\n}\n\n.fa-cog::before {\n  content: \"\\f013\";\n}\n\n.fa-droplet-slash::before {\n  content: \"\\f5c7\";\n}\n\n.fa-tint-slash::before {\n  content: \"\\f5c7\";\n}\n\n.fa-mosque::before {\n  content: \"\\f678\";\n}\n\n.fa-mosquito::before {\n  content: \"\\e52b\";\n}\n\n.fa-star-of-david::before {\n  content: \"\\f69a\";\n}\n\n.fa-person-military-rifle::before {\n  content: \"\\e54b\";\n}\n\n.fa-cart-shopping::before {\n  content: \"\\f07a\";\n}\n\n.fa-shopping-cart::before {\n  content: \"\\f07a\";\n}\n\n.fa-vials::before {\n  content: \"\\f493\";\n}\n\n.fa-plug-circle-plus::before {\n  content: \"\\e55f\";\n}\n\n.fa-place-of-worship::before {\n  content: \"\\f67f\";\n}\n\n.fa-grip-vertical::before {\n  content: \"\\f58e\";\n}\n\n.fa-arrow-turn-up::before {\n  content: \"\\f148\";\n}\n\n.fa-level-up::before {\n  content: \"\\f148\";\n}\n\n.fa-u::before {\n  content: \"U\";\n}\n\n.fa-square-root-variable::before {\n  content: \"\\f698\";\n}\n\n.fa-square-root-alt::before {\n  content: \"\\f698\";\n}\n\n.fa-clock::before {\n  content: \"\\f017\";\n}\n\n.fa-clock-four::before {\n  content: \"\\f017\";\n}\n\n.fa-backward-step::before {\n  content: \"\\f048\";\n}\n\n.fa-step-backward::before {\n  content: \"\\f048\";\n}\n\n.fa-pallet::before {\n  content: \"\\f482\";\n}\n\n.fa-faucet::before {\n  content: \"\\e005\";\n}\n\n.fa-baseball-bat-ball::before {\n  content: \"\\f432\";\n}\n\n.fa-s::before {\n  content: \"S\";\n}\n\n.fa-timeline::before {\n  content: \"\\e29c\";\n}\n\n.fa-keyboard::before {\n  content: \"\\f11c\";\n}\n\n.fa-caret-down::before {\n  content: \"\\f0d7\";\n}\n\n.fa-house-chimney-medical::before {\n  content: \"\\f7f2\";\n}\n\n.fa-clinic-medical::before {\n  content: \"\\f7f2\";\n}\n\n.fa-temperature-three-quarters::before {\n  content: \"\\f2c8\";\n}\n\n.fa-temperature-3::before {\n  content: \"\\f2c8\";\n}\n\n.fa-thermometer-3::before {\n  content: \"\\f2c8\";\n}\n\n.fa-thermometer-three-quarters::before {\n  content: \"\\f2c8\";\n}\n\n.fa-mobile-screen::before {\n  content: \"\\f3cf\";\n}\n\n.fa-mobile-android-alt::before {\n  content: \"\\f3cf\";\n}\n\n.fa-plane-up::before {\n  content: \"\\e22d\";\n}\n\n.fa-piggy-bank::before {\n  content: \"\\f4d3\";\n}\n\n.fa-battery-half::before {\n  content: \"\\f242\";\n}\n\n.fa-battery-3::before {\n  content: \"\\f242\";\n}\n\n.fa-mountain-city::before {\n  content: \"\\e52e\";\n}\n\n.fa-coins::before {\n  content: \"\\f51e\";\n}\n\n.fa-khanda::before {\n  content: \"\\f66d\";\n}\n\n.fa-sliders::before {\n  content: \"\\f1de\";\n}\n\n.fa-sliders-h::before {\n  content: \"\\f1de\";\n}\n\n.fa-folder-tree::before {\n  content: \"\\f802\";\n}\n\n.fa-network-wired::before {\n  content: \"\\f6ff\";\n}\n\n.fa-map-pin::before {\n  content: \"\\f276\";\n}\n\n.fa-hamsa::before {\n  content: \"\\f665\";\n}\n\n.fa-cent-sign::before {\n  content: \"\\e3f5\";\n}\n\n.fa-flask::before {\n  content: \"\\f0c3\";\n}\n\n.fa-person-pregnant::before {\n  content: \"\\e31e\";\n}\n\n.fa-wand-sparkles::before {\n  content: \"\\f72b\";\n}\n\n.fa-ellipsis-vertical::before {\n  content: \"\\f142\";\n}\n\n.fa-ellipsis-v::before {\n  content: \"\\f142\";\n}\n\n.fa-ticket::before {\n  content: \"\\f145\";\n}\n\n.fa-power-off::before {\n  content: \"\\f011\";\n}\n\n.fa-right-long::before {\n  content: \"\\f30b\";\n}\n\n.fa-long-arrow-alt-right::before {\n  content: \"\\f30b\";\n}\n\n.fa-flag-usa::before {\n  content: \"\\f74d\";\n}\n\n.fa-laptop-file::before {\n  content: \"\\e51d\";\n}\n\n.fa-tty::before {\n  content: \"\\f1e4\";\n}\n\n.fa-teletype::before {\n  content: \"\\f1e4\";\n}\n\n.fa-diagram-next::before {\n  content: \"\\e476\";\n}\n\n.fa-person-rifle::before {\n  content: \"\\e54e\";\n}\n\n.fa-house-medical-circle-exclamation::before {\n  content: \"\\e512\";\n}\n\n.fa-closed-captioning::before {\n  content: \"\\f20a\";\n}\n\n.fa-person-hiking::before {\n  content: \"\\f6ec\";\n}\n\n.fa-hiking::before {\n  content: \"\\f6ec\";\n}\n\n.fa-venus-double::before {\n  content: \"\\f226\";\n}\n\n.fa-images::before {\n  content: \"\\f302\";\n}\n\n.fa-calculator::before {\n  content: \"\\f1ec\";\n}\n\n.fa-people-pulling::before {\n  content: \"\\e535\";\n}\n\n.fa-n::before {\n  content: \"N\";\n}\n\n.fa-cable-car::before {\n  content: \"\\f7da\";\n}\n\n.fa-tram::before {\n  content: \"\\f7da\";\n}\n\n.fa-cloud-rain::before {\n  content: \"\\f73d\";\n}\n\n.fa-building-circle-xmark::before {\n  content: \"\\e4d4\";\n}\n\n.fa-ship::before {\n  content: \"\\f21a\";\n}\n\n.fa-arrows-down-to-line::before {\n  content: \"\\e4b8\";\n}\n\n.fa-download::before {\n  content: \"\\f019\";\n}\n\n.fa-face-grin::before {\n  content: \"\\f580\";\n}\n\n.fa-grin::before {\n  content: \"\\f580\";\n}\n\n.fa-delete-left::before {\n  content: \"\\f55a\";\n}\n\n.fa-backspace::before {\n  content: \"\\f55a\";\n}\n\n.fa-eye-dropper::before {\n  content: \"\\f1fb\";\n}\n\n.fa-eye-dropper-empty::before {\n  content: \"\\f1fb\";\n}\n\n.fa-eyedropper::before {\n  content: \"\\f1fb\";\n}\n\n.fa-file-circle-check::before {\n  content: \"\\e5a0\";\n}\n\n.fa-forward::before {\n  content: \"\\f04e\";\n}\n\n.fa-mobile::before {\n  content: \"\\f3ce\";\n}\n\n.fa-mobile-android::before {\n  content: \"\\f3ce\";\n}\n\n.fa-mobile-phone::before {\n  content: \"\\f3ce\";\n}\n\n.fa-face-meh::before {\n  content: \"\\f11a\";\n}\n\n.fa-meh::before {\n  content: \"\\f11a\";\n}\n\n.fa-align-center::before {\n  content: \"\\f037\";\n}\n\n.fa-book-skull::before {\n  content: \"\\f6b7\";\n}\n\n.fa-book-dead::before {\n  content: \"\\f6b7\";\n}\n\n.fa-id-card::before {\n  content: \"\\f2c2\";\n}\n\n.fa-drivers-license::before {\n  content: \"\\f2c2\";\n}\n\n.fa-outdent::before {\n  content: \"\\f03b\";\n}\n\n.fa-dedent::before {\n  content: \"\\f03b\";\n}\n\n.fa-heart-circle-exclamation::before {\n  content: \"\\e4fe\";\n}\n\n.fa-house::before {\n  content: \"\\f015\";\n}\n\n.fa-home::before {\n  content: \"\\f015\";\n}\n\n.fa-home-alt::before {\n  content: \"\\f015\";\n}\n\n.fa-home-lg-alt::before {\n  content: \"\\f015\";\n}\n\n.fa-calendar-week::before {\n  content: \"\\f784\";\n}\n\n.fa-laptop-medical::before {\n  content: \"\\f812\";\n}\n\n.fa-b::before {\n  content: \"B\";\n}\n\n.fa-file-medical::before {\n  content: \"\\f477\";\n}\n\n.fa-dice-one::before {\n  content: \"\\f525\";\n}\n\n.fa-kiwi-bird::before {\n  content: \"\\f535\";\n}\n\n.fa-arrow-right-arrow-left::before {\n  content: \"\\f0ec\";\n}\n\n.fa-exchange::before {\n  content: \"\\f0ec\";\n}\n\n.fa-rotate-right::before {\n  content: \"\\f2f9\";\n}\n\n.fa-redo-alt::before {\n  content: \"\\f2f9\";\n}\n\n.fa-rotate-forward::before {\n  content: \"\\f2f9\";\n}\n\n.fa-utensils::before {\n  content: \"\\f2e7\";\n}\n\n.fa-cutlery::before {\n  content: \"\\f2e7\";\n}\n\n.fa-arrow-up-wide-short::before {\n  content: \"\\f161\";\n}\n\n.fa-sort-amount-up::before {\n  content: \"\\f161\";\n}\n\n.fa-mill-sign::before {\n  content: \"\\e1ed\";\n}\n\n.fa-bowl-rice::before {\n  content: \"\\e2eb\";\n}\n\n.fa-skull::before {\n  content: \"\\f54c\";\n}\n\n.fa-tower-broadcast::before {\n  content: \"\\f519\";\n}\n\n.fa-broadcast-tower::before {\n  content: \"\\f519\";\n}\n\n.fa-truck-pickup::before {\n  content: \"\\f63c\";\n}\n\n.fa-up-long::before {\n  content: \"\\f30c\";\n}\n\n.fa-long-arrow-alt-up::before {\n  content: \"\\f30c\";\n}\n\n.fa-stop::before {\n  content: \"\\f04d\";\n}\n\n.fa-code-merge::before {\n  content: \"\\f387\";\n}\n\n.fa-upload::before {\n  content: \"\\f093\";\n}\n\n.fa-hurricane::before {\n  content: \"\\f751\";\n}\n\n.fa-mound::before {\n  content: \"\\e52d\";\n}\n\n.fa-toilet-portable::before {\n  content: \"\\e583\";\n}\n\n.fa-compact-disc::before {\n  content: \"\\f51f\";\n}\n\n.fa-file-arrow-down::before {\n  content: \"\\f56d\";\n}\n\n.fa-file-download::before {\n  content: \"\\f56d\";\n}\n\n.fa-caravan::before {\n  content: \"\\f8ff\";\n}\n\n.fa-shield-cat::before {\n  content: \"\\e572\";\n}\n\n.fa-bolt::before {\n  content: \"\\f0e7\";\n}\n\n.fa-zap::before {\n  content: \"\\f0e7\";\n}\n\n.fa-glass-water::before {\n  content: \"\\e4f4\";\n}\n\n.fa-oil-well::before {\n  content: \"\\e532\";\n}\n\n.fa-vault::before {\n  content: \"\\e2c5\";\n}\n\n.fa-mars::before {\n  content: \"\\f222\";\n}\n\n.fa-toilet::before {\n  content: \"\\f7d8\";\n}\n\n.fa-plane-circle-xmark::before {\n  content: \"\\e557\";\n}\n\n.fa-yen-sign::before {\n  content: \"\\f157\";\n}\n\n.fa-cny::before {\n  content: \"\\f157\";\n}\n\n.fa-jpy::before {\n  content: \"\\f157\";\n}\n\n.fa-rmb::before {\n  content: \"\\f157\";\n}\n\n.fa-yen::before {\n  content: \"\\f157\";\n}\n\n.fa-ruble-sign::before {\n  content: \"\\f158\";\n}\n\n.fa-rouble::before {\n  content: \"\\f158\";\n}\n\n.fa-rub::before {\n  content: \"\\f158\";\n}\n\n.fa-ruble::before {\n  content: \"\\f158\";\n}\n\n.fa-sun::before {\n  content: \"\\f185\";\n}\n\n.fa-guitar::before {\n  content: \"\\f7a6\";\n}\n\n.fa-face-laugh-wink::before {\n  content: \"\\f59c\";\n}\n\n.fa-laugh-wink::before {\n  content: \"\\f59c\";\n}\n\n.fa-horse-head::before {\n  content: \"\\f7ab\";\n}\n\n.fa-bore-hole::before {\n  content: \"\\e4c3\";\n}\n\n.fa-industry::before {\n  content: \"\\f275\";\n}\n\n.fa-circle-down::before {\n  content: \"\\f358\";\n}\n\n.fa-arrow-alt-circle-down::before {\n  content: \"\\f358\";\n}\n\n.fa-arrows-turn-to-dots::before {\n  content: \"\\e4c1\";\n}\n\n.fa-florin-sign::before {\n  content: \"\\e184\";\n}\n\n.fa-arrow-down-short-wide::before {\n  content: \"\\f884\";\n}\n\n.fa-sort-amount-desc::before {\n  content: \"\\f884\";\n}\n\n.fa-sort-amount-down-alt::before {\n  content: \"\\f884\";\n}\n\n.fa-less-than::before {\n  content: \"\\<\";\n}\n\n.fa-angle-down::before {\n  content: \"\\f107\";\n}\n\n.fa-car-tunnel::before {\n  content: \"\\e4de\";\n}\n\n.fa-head-side-cough::before {\n  content: \"\\e061\";\n}\n\n.fa-grip-lines::before {\n  content: \"\\f7a4\";\n}\n\n.fa-thumbs-down::before {\n  content: \"\\f165\";\n}\n\n.fa-user-lock::before {\n  content: \"\\f502\";\n}\n\n.fa-arrow-right-long::before {\n  content: \"\\f178\";\n}\n\n.fa-long-arrow-right::before {\n  content: \"\\f178\";\n}\n\n.fa-anchor-circle-xmark::before {\n  content: \"\\e4ac\";\n}\n\n.fa-ellipsis::before {\n  content: \"\\f141\";\n}\n\n.fa-ellipsis-h::before {\n  content: \"\\f141\";\n}\n\n.fa-chess-pawn::before {\n  content: \"\\f443\";\n}\n\n.fa-kit-medical::before {\n  content: \"\\f479\";\n}\n\n.fa-first-aid::before {\n  content: \"\\f479\";\n}\n\n.fa-person-through-window::before {\n  content: \"\\e5a9\";\n}\n\n.fa-toolbox::before {\n  content: \"\\f552\";\n}\n\n.fa-hands-holding-circle::before {\n  content: \"\\e4fb\";\n}\n\n.fa-bug::before {\n  content: \"\\f188\";\n}\n\n.fa-credit-card::before {\n  content: \"\\f09d\";\n}\n\n.fa-credit-card-alt::before {\n  content: \"\\f09d\";\n}\n\n.fa-car::before {\n  content: \"\\f1b9\";\n}\n\n.fa-automobile::before {\n  content: \"\\f1b9\";\n}\n\n.fa-hand-holding-hand::before {\n  content: \"\\e4f7\";\n}\n\n.fa-book-open-reader::before {\n  content: \"\\f5da\";\n}\n\n.fa-book-reader::before {\n  content: \"\\f5da\";\n}\n\n.fa-mountain-sun::before {\n  content: \"\\e52f\";\n}\n\n.fa-arrows-left-right-to-line::before {\n  content: \"\\e4ba\";\n}\n\n.fa-dice-d20::before {\n  content: \"\\f6cf\";\n}\n\n.fa-truck-droplet::before {\n  content: \"\\e58c\";\n}\n\n.fa-file-circle-xmark::before {\n  content: \"\\e5a1\";\n}\n\n.fa-temperature-arrow-up::before {\n  content: \"\\e040\";\n}\n\n.fa-temperature-up::before {\n  content: \"\\e040\";\n}\n\n.fa-medal::before {\n  content: \"\\f5a2\";\n}\n\n.fa-bed::before {\n  content: \"\\f236\";\n}\n\n.fa-square-h::before {\n  content: \"\\f0fd\";\n}\n\n.fa-h-square::before {\n  content: \"\\f0fd\";\n}\n\n.fa-podcast::before {\n  content: \"\\f2ce\";\n}\n\n.fa-temperature-full::before {\n  content: \"\\f2c7\";\n}\n\n.fa-temperature-4::before {\n  content: \"\\f2c7\";\n}\n\n.fa-thermometer-4::before {\n  content: \"\\f2c7\";\n}\n\n.fa-thermometer-full::before {\n  content: \"\\f2c7\";\n}\n\n.fa-bell::before {\n  content: \"\\f0f3\";\n}\n\n.fa-superscript::before {\n  content: \"\\f12b\";\n}\n\n.fa-plug-circle-xmark::before {\n  content: \"\\e560\";\n}\n\n.fa-star-of-life::before {\n  content: \"\\f621\";\n}\n\n.fa-phone-slash::before {\n  content: \"\\f3dd\";\n}\n\n.fa-paint-roller::before {\n  content: \"\\f5aa\";\n}\n\n.fa-handshake-angle::before {\n  content: \"\\f4c4\";\n}\n\n.fa-hands-helping::before {\n  content: \"\\f4c4\";\n}\n\n.fa-location-dot::before {\n  content: \"\\f3c5\";\n}\n\n.fa-map-marker-alt::before {\n  content: \"\\f3c5\";\n}\n\n.fa-file::before {\n  content: \"\\f15b\";\n}\n\n.fa-greater-than::before {\n  content: \"\\>\";\n}\n\n.fa-person-swimming::before {\n  content: \"\\f5c4\";\n}\n\n.fa-swimmer::before {\n  content: \"\\f5c4\";\n}\n\n.fa-arrow-down::before {\n  content: \"\\f063\";\n}\n\n.fa-droplet::before {\n  content: \"\\f043\";\n}\n\n.fa-tint::before {\n  content: \"\\f043\";\n}\n\n.fa-eraser::before {\n  content: \"\\f12d\";\n}\n\n.fa-earth-americas::before {\n  content: \"\\f57d\";\n}\n\n.fa-earth::before {\n  content: \"\\f57d\";\n}\n\n.fa-earth-america::before {\n  content: \"\\f57d\";\n}\n\n.fa-globe-americas::before {\n  content: \"\\f57d\";\n}\n\n.fa-person-burst::before {\n  content: \"\\e53b\";\n}\n\n.fa-dove::before {\n  content: \"\\f4ba\";\n}\n\n.fa-battery-empty::before {\n  content: \"\\f244\";\n}\n\n.fa-battery-0::before {\n  content: \"\\f244\";\n}\n\n.fa-socks::before {\n  content: \"\\f696\";\n}\n\n.fa-inbox::before {\n  content: \"\\f01c\";\n}\n\n.fa-section::before {\n  content: \"\\e447\";\n}\n\n.fa-gauge-high::before {\n  content: \"\\f625\";\n}\n\n.fa-tachometer-alt::before {\n  content: \"\\f625\";\n}\n\n.fa-tachometer-alt-fast::before {\n  content: \"\\f625\";\n}\n\n.fa-envelope-open-text::before {\n  content: \"\\f658\";\n}\n\n.fa-hospital::before {\n  content: \"\\f0f8\";\n}\n\n.fa-hospital-alt::before {\n  content: \"\\f0f8\";\n}\n\n.fa-hospital-wide::before {\n  content: \"\\f0f8\";\n}\n\n.fa-wine-bottle::before {\n  content: \"\\f72f\";\n}\n\n.fa-chess-rook::before {\n  content: \"\\f447\";\n}\n\n.fa-bars-staggered::before {\n  content: \"\\f550\";\n}\n\n.fa-reorder::before {\n  content: \"\\f550\";\n}\n\n.fa-stream::before {\n  content: \"\\f550\";\n}\n\n.fa-dharmachakra::before {\n  content: \"\\f655\";\n}\n\n.fa-hotdog::before {\n  content: \"\\f80f\";\n}\n\n.fa-person-walking-with-cane::before {\n  content: \"\\f29d\";\n}\n\n.fa-blind::before {\n  content: \"\\f29d\";\n}\n\n.fa-drum::before {\n  content: \"\\f569\";\n}\n\n.fa-ice-cream::before {\n  content: \"\\f810\";\n}\n\n.fa-heart-circle-bolt::before {\n  content: \"\\e4fc\";\n}\n\n.fa-fax::before {\n  content: \"\\f1ac\";\n}\n\n.fa-paragraph::before {\n  content: \"\\f1dd\";\n}\n\n.fa-check-to-slot::before {\n  content: \"\\f772\";\n}\n\n.fa-vote-yea::before {\n  content: \"\\f772\";\n}\n\n.fa-star-half::before {\n  content: \"\\f089\";\n}\n\n.fa-boxes-stacked::before {\n  content: \"\\f468\";\n}\n\n.fa-boxes::before {\n  content: \"\\f468\";\n}\n\n.fa-boxes-alt::before {\n  content: \"\\f468\";\n}\n\n.fa-link::before {\n  content: \"\\f0c1\";\n}\n\n.fa-chain::before {\n  content: \"\\f0c1\";\n}\n\n.fa-ear-listen::before {\n  content: \"\\f2a2\";\n}\n\n.fa-assistive-listening-systems::before {\n  content: \"\\f2a2\";\n}\n\n.fa-tree-city::before {\n  content: \"\\e587\";\n}\n\n.fa-play::before {\n  content: \"\\f04b\";\n}\n\n.fa-font::before {\n  content: \"\\f031\";\n}\n\n.fa-table-cells-row-lock::before {\n  content: \"\\e67a\";\n}\n\n.fa-rupiah-sign::before {\n  content: \"\\e23d\";\n}\n\n.fa-magnifying-glass::before {\n  content: \"\\f002\";\n}\n\n.fa-search::before {\n  content: \"\\f002\";\n}\n\n.fa-table-tennis-paddle-ball::before {\n  content: \"\\f45d\";\n}\n\n.fa-ping-pong-paddle-ball::before {\n  content: \"\\f45d\";\n}\n\n.fa-table-tennis::before {\n  content: \"\\f45d\";\n}\n\n.fa-person-dots-from-line::before {\n  content: \"\\f470\";\n}\n\n.fa-diagnoses::before {\n  content: \"\\f470\";\n}\n\n.fa-trash-can-arrow-up::before {\n  content: \"\\f82a\";\n}\n\n.fa-trash-restore-alt::before {\n  content: \"\\f82a\";\n}\n\n.fa-naira-sign::before {\n  content: \"\\e1f6\";\n}\n\n.fa-cart-arrow-down::before {\n  content: \"\\f218\";\n}\n\n.fa-walkie-talkie::before {\n  content: \"\\f8ef\";\n}\n\n.fa-file-pen::before {\n  content: \"\\f31c\";\n}\n\n.fa-file-edit::before {\n  content: \"\\f31c\";\n}\n\n.fa-receipt::before {\n  content: \"\\f543\";\n}\n\n.fa-square-pen::before {\n  content: \"\\f14b\";\n}\n\n.fa-pen-square::before {\n  content: \"\\f14b\";\n}\n\n.fa-pencil-square::before {\n  content: \"\\f14b\";\n}\n\n.fa-suitcase-rolling::before {\n  content: \"\\f5c1\";\n}\n\n.fa-person-circle-exclamation::before {\n  content: \"\\e53f\";\n}\n\n.fa-chevron-down::before {\n  content: \"\\f078\";\n}\n\n.fa-battery-full::before {\n  content: \"\\f240\";\n}\n\n.fa-battery::before {\n  content: \"\\f240\";\n}\n\n.fa-battery-5::before {\n  content: \"\\f240\";\n}\n\n.fa-skull-crossbones::before {\n  content: \"\\f714\";\n}\n\n.fa-code-compare::before {\n  content: \"\\e13a\";\n}\n\n.fa-list-ul::before {\n  content: \"\\f0ca\";\n}\n\n.fa-list-dots::before {\n  content: \"\\f0ca\";\n}\n\n.fa-school-lock::before {\n  content: \"\\e56f\";\n}\n\n.fa-tower-cell::before {\n  content: \"\\e585\";\n}\n\n.fa-down-long::before {\n  content: \"\\f309\";\n}\n\n.fa-long-arrow-alt-down::before {\n  content: \"\\f309\";\n}\n\n.fa-ranking-star::before {\n  content: \"\\e561\";\n}\n\n.fa-chess-king::before {\n  content: \"\\f43f\";\n}\n\n.fa-person-harassing::before {\n  content: \"\\e549\";\n}\n\n.fa-brazilian-real-sign::before {\n  content: \"\\e46c\";\n}\n\n.fa-landmark-dome::before {\n  content: \"\\f752\";\n}\n\n.fa-landmark-alt::before {\n  content: \"\\f752\";\n}\n\n.fa-arrow-up::before {\n  content: \"\\f062\";\n}\n\n.fa-tv::before {\n  content: \"\\f26c\";\n}\n\n.fa-television::before {\n  content: \"\\f26c\";\n}\n\n.fa-tv-alt::before {\n  content: \"\\f26c\";\n}\n\n.fa-shrimp::before {\n  content: \"\\e448\";\n}\n\n.fa-list-check::before {\n  content: \"\\f0ae\";\n}\n\n.fa-tasks::before {\n  content: \"\\f0ae\";\n}\n\n.fa-jug-detergent::before {\n  content: \"\\e519\";\n}\n\n.fa-circle-user::before {\n  content: \"\\f2bd\";\n}\n\n.fa-user-circle::before {\n  content: \"\\f2bd\";\n}\n\n.fa-user-shield::before {\n  content: \"\\f505\";\n}\n\n.fa-wind::before {\n  content: \"\\f72e\";\n}\n\n.fa-car-burst::before {\n  content: \"\\f5e1\";\n}\n\n.fa-car-crash::before {\n  content: \"\\f5e1\";\n}\n\n.fa-y::before {\n  content: \"Y\";\n}\n\n.fa-person-snowboarding::before {\n  content: \"\\f7ce\";\n}\n\n.fa-snowboarding::before {\n  content: \"\\f7ce\";\n}\n\n.fa-truck-fast::before {\n  content: \"\\f48b\";\n}\n\n.fa-shipping-fast::before {\n  content: \"\\f48b\";\n}\n\n.fa-fish::before {\n  content: \"\\f578\";\n}\n\n.fa-user-graduate::before {\n  content: \"\\f501\";\n}\n\n.fa-circle-half-stroke::before {\n  content: \"\\f042\";\n}\n\n.fa-adjust::before {\n  content: \"\\f042\";\n}\n\n.fa-clapperboard::before {\n  content: \"\\e131\";\n}\n\n.fa-circle-radiation::before {\n  content: \"\\f7ba\";\n}\n\n.fa-radiation-alt::before {\n  content: \"\\f7ba\";\n}\n\n.fa-baseball::before {\n  content: \"\\f433\";\n}\n\n.fa-baseball-ball::before {\n  content: \"\\f433\";\n}\n\n.fa-jet-fighter-up::before {\n  content: \"\\e518\";\n}\n\n.fa-diagram-project::before {\n  content: \"\\f542\";\n}\n\n.fa-project-diagram::before {\n  content: \"\\f542\";\n}\n\n.fa-copy::before {\n  content: \"\\f0c5\";\n}\n\n.fa-volume-xmark::before {\n  content: \"\\f6a9\";\n}\n\n.fa-volume-mute::before {\n  content: \"\\f6a9\";\n}\n\n.fa-volume-times::before {\n  content: \"\\f6a9\";\n}\n\n.fa-hand-sparkles::before {\n  content: \"\\e05d\";\n}\n\n.fa-grip::before {\n  content: \"\\f58d\";\n}\n\n.fa-grip-horizontal::before {\n  content: \"\\f58d\";\n}\n\n.fa-share-from-square::before {\n  content: \"\\f14d\";\n}\n\n.fa-share-square::before {\n  content: \"\\f14d\";\n}\n\n.fa-child-combatant::before {\n  content: \"\\e4e0\";\n}\n\n.fa-child-rifle::before {\n  content: \"\\e4e0\";\n}\n\n.fa-gun::before {\n  content: \"\\e19b\";\n}\n\n.fa-square-phone::before {\n  content: \"\\f098\";\n}\n\n.fa-phone-square::before {\n  content: \"\\f098\";\n}\n\n.fa-plus::before {\n  content: \"\\+\";\n}\n\n.fa-add::before {\n  content: \"\\+\";\n}\n\n.fa-expand::before {\n  content: \"\\f065\";\n}\n\n.fa-computer::before {\n  content: \"\\e4e5\";\n}\n\n.fa-xmark::before {\n  content: \"\\f00d\";\n}\n\n.fa-close::before {\n  content: \"\\f00d\";\n}\n\n.fa-multiply::before {\n  content: \"\\f00d\";\n}\n\n.fa-remove::before {\n  content: \"\\f00d\";\n}\n\n.fa-times::before {\n  content: \"\\f00d\";\n}\n\n.fa-arrows-up-down-left-right::before {\n  content: \"\\f047\";\n}\n\n.fa-arrows::before {\n  content: \"\\f047\";\n}\n\n.fa-chalkboard-user::before {\n  content: \"\\f51c\";\n}\n\n.fa-chalkboard-teacher::before {\n  content: \"\\f51c\";\n}\n\n.fa-peso-sign::before {\n  content: \"\\e222\";\n}\n\n.fa-building-shield::before {\n  content: \"\\e4d8\";\n}\n\n.fa-baby::before {\n  content: \"\\f77c\";\n}\n\n.fa-users-line::before {\n  content: \"\\e592\";\n}\n\n.fa-quote-left::before {\n  content: \"\\f10d\";\n}\n\n.fa-quote-left-alt::before {\n  content: \"\\f10d\";\n}\n\n.fa-tractor::before {\n  content: \"\\f722\";\n}\n\n.fa-trash-arrow-up::before {\n  content: \"\\f829\";\n}\n\n.fa-trash-restore::before {\n  content: \"\\f829\";\n}\n\n.fa-arrow-down-up-lock::before {\n  content: \"\\e4b0\";\n}\n\n.fa-lines-leaning::before {\n  content: \"\\e51e\";\n}\n\n.fa-ruler-combined::before {\n  content: \"\\f546\";\n}\n\n.fa-copyright::before {\n  content: \"\\f1f9\";\n}\n\n.fa-equals::before {\n  content: \"\\=\";\n}\n\n.fa-blender::before {\n  content: \"\\f517\";\n}\n\n.fa-teeth::before {\n  content: \"\\f62e\";\n}\n\n.fa-shekel-sign::before {\n  content: \"\\f20b\";\n}\n\n.fa-ils::before {\n  content: \"\\f20b\";\n}\n\n.fa-shekel::before {\n  content: \"\\f20b\";\n}\n\n.fa-sheqel::before {\n  content: \"\\f20b\";\n}\n\n.fa-sheqel-sign::before {\n  content: \"\\f20b\";\n}\n\n.fa-map::before {\n  content: \"\\f279\";\n}\n\n.fa-rocket::before {\n  content: \"\\f135\";\n}\n\n.fa-photo-film::before {\n  content: \"\\f87c\";\n}\n\n.fa-photo-video::before {\n  content: \"\\f87c\";\n}\n\n.fa-folder-minus::before {\n  content: \"\\f65d\";\n}\n\n.fa-store::before {\n  content: \"\\f54e\";\n}\n\n.fa-arrow-trend-up::before {\n  content: \"\\e098\";\n}\n\n.fa-plug-circle-minus::before {\n  content: \"\\e55e\";\n}\n\n.fa-sign-hanging::before {\n  content: \"\\f4d9\";\n}\n\n.fa-sign::before {\n  content: \"\\f4d9\";\n}\n\n.fa-bezier-curve::before {\n  content: \"\\f55b\";\n}\n\n.fa-bell-slash::before {\n  content: \"\\f1f6\";\n}\n\n.fa-tablet::before {\n  content: \"\\f3fb\";\n}\n\n.fa-tablet-android::before {\n  content: \"\\f3fb\";\n}\n\n.fa-school-flag::before {\n  content: \"\\e56e\";\n}\n\n.fa-fill::before {\n  content: \"\\f575\";\n}\n\n.fa-angle-up::before {\n  content: \"\\f106\";\n}\n\n.fa-drumstick-bite::before {\n  content: \"\\f6d7\";\n}\n\n.fa-holly-berry::before {\n  content: \"\\f7aa\";\n}\n\n.fa-chevron-left::before {\n  content: \"\\f053\";\n}\n\n.fa-bacteria::before {\n  content: \"\\e059\";\n}\n\n.fa-hand-lizard::before {\n  content: \"\\f258\";\n}\n\n.fa-notdef::before {\n  content: \"\\e1fe\";\n}\n\n.fa-disease::before {\n  content: \"\\f7fa\";\n}\n\n.fa-briefcase-medical::before {\n  content: \"\\f469\";\n}\n\n.fa-genderless::before {\n  content: \"\\f22d\";\n}\n\n.fa-chevron-right::before {\n  content: \"\\f054\";\n}\n\n.fa-retweet::before {\n  content: \"\\f079\";\n}\n\n.fa-car-rear::before {\n  content: \"\\f5de\";\n}\n\n.fa-car-alt::before {\n  content: \"\\f5de\";\n}\n\n.fa-pump-soap::before {\n  content: \"\\e06b\";\n}\n\n.fa-video-slash::before {\n  content: \"\\f4e2\";\n}\n\n.fa-battery-quarter::before {\n  content: \"\\f243\";\n}\n\n.fa-battery-2::before {\n  content: \"\\f243\";\n}\n\n.fa-radio::before {\n  content: \"\\f8d7\";\n}\n\n.fa-baby-carriage::before {\n  content: \"\\f77d\";\n}\n\n.fa-carriage-baby::before {\n  content: \"\\f77d\";\n}\n\n.fa-traffic-light::before {\n  content: \"\\f637\";\n}\n\n.fa-thermometer::before {\n  content: \"\\f491\";\n}\n\n.fa-vr-cardboard::before {\n  content: \"\\f729\";\n}\n\n.fa-hand-middle-finger::before {\n  content: \"\\f806\";\n}\n\n.fa-percent::before {\n  content: \"\\%\";\n}\n\n.fa-percentage::before {\n  content: \"\\%\";\n}\n\n.fa-truck-moving::before {\n  content: \"\\f4df\";\n}\n\n.fa-glass-water-droplet::before {\n  content: \"\\e4f5\";\n}\n\n.fa-display::before {\n  content: \"\\e163\";\n}\n\n.fa-face-smile::before {\n  content: \"\\f118\";\n}\n\n.fa-smile::before {\n  content: \"\\f118\";\n}\n\n.fa-thumbtack::before {\n  content: \"\\f08d\";\n}\n\n.fa-thumb-tack::before {\n  content: \"\\f08d\";\n}\n\n.fa-trophy::before {\n  content: \"\\f091\";\n}\n\n.fa-person-praying::before {\n  content: \"\\f683\";\n}\n\n.fa-pray::before {\n  content: \"\\f683\";\n}\n\n.fa-hammer::before {\n  content: \"\\f6e3\";\n}\n\n.fa-hand-peace::before {\n  content: \"\\f25b\";\n}\n\n.fa-rotate::before {\n  content: \"\\f2f1\";\n}\n\n.fa-sync-alt::before {\n  content: \"\\f2f1\";\n}\n\n.fa-spinner::before {\n  content: \"\\f110\";\n}\n\n.fa-robot::before {\n  content: \"\\f544\";\n}\n\n.fa-peace::before {\n  content: \"\\f67c\";\n}\n\n.fa-gears::before {\n  content: \"\\f085\";\n}\n\n.fa-cogs::before {\n  content: \"\\f085\";\n}\n\n.fa-warehouse::before {\n  content: \"\\f494\";\n}\n\n.fa-arrow-up-right-dots::before {\n  content: \"\\e4b7\";\n}\n\n.fa-splotch::before {\n  content: \"\\f5bc\";\n}\n\n.fa-face-grin-hearts::before {\n  content: \"\\f584\";\n}\n\n.fa-grin-hearts::before {\n  content: \"\\f584\";\n}\n\n.fa-dice-four::before {\n  content: \"\\f524\";\n}\n\n.fa-sim-card::before {\n  content: \"\\f7c4\";\n}\n\n.fa-transgender::before {\n  content: \"\\f225\";\n}\n\n.fa-transgender-alt::before {\n  content: \"\\f225\";\n}\n\n.fa-mercury::before {\n  content: \"\\f223\";\n}\n\n.fa-arrow-turn-down::before {\n  content: \"\\f149\";\n}\n\n.fa-level-down::before {\n  content: \"\\f149\";\n}\n\n.fa-person-falling-burst::before {\n  content: \"\\e547\";\n}\n\n.fa-award::before {\n  content: \"\\f559\";\n}\n\n.fa-ticket-simple::before {\n  content: \"\\f3ff\";\n}\n\n.fa-ticket-alt::before {\n  content: \"\\f3ff\";\n}\n\n.fa-building::before {\n  content: \"\\f1ad\";\n}\n\n.fa-angles-left::before {\n  content: \"\\f100\";\n}\n\n.fa-angle-double-left::before {\n  content: \"\\f100\";\n}\n\n.fa-qrcode::before {\n  content: \"\\f029\";\n}\n\n.fa-clock-rotate-left::before {\n  content: \"\\f1da\";\n}\n\n.fa-history::before {\n  content: \"\\f1da\";\n}\n\n.fa-face-grin-beam-sweat::before {\n  content: \"\\f583\";\n}\n\n.fa-grin-beam-sweat::before {\n  content: \"\\f583\";\n}\n\n.fa-file-export::before {\n  content: \"\\f56e\";\n}\n\n.fa-arrow-right-from-file::before {\n  content: \"\\f56e\";\n}\n\n.fa-shield::before {\n  content: \"\\f132\";\n}\n\n.fa-shield-blank::before {\n  content: \"\\f132\";\n}\n\n.fa-arrow-up-short-wide::before {\n  content: \"\\f885\";\n}\n\n.fa-sort-amount-up-alt::before {\n  content: \"\\f885\";\n}\n\n.fa-house-medical::before {\n  content: \"\\e3b2\";\n}\n\n.fa-golf-ball-tee::before {\n  content: \"\\f450\";\n}\n\n.fa-golf-ball::before {\n  content: \"\\f450\";\n}\n\n.fa-circle-chevron-left::before {\n  content: \"\\f137\";\n}\n\n.fa-chevron-circle-left::before {\n  content: \"\\f137\";\n}\n\n.fa-house-chimney-window::before {\n  content: \"\\e00d\";\n}\n\n.fa-pen-nib::before {\n  content: \"\\f5ad\";\n}\n\n.fa-tent-arrow-turn-left::before {\n  content: \"\\e580\";\n}\n\n.fa-tents::before {\n  content: \"\\e582\";\n}\n\n.fa-wand-magic::before {\n  content: \"\\f0d0\";\n}\n\n.fa-magic::before {\n  content: \"\\f0d0\";\n}\n\n.fa-dog::before {\n  content: \"\\f6d3\";\n}\n\n.fa-carrot::before {\n  content: \"\\f787\";\n}\n\n.fa-moon::before {\n  content: \"\\f186\";\n}\n\n.fa-wine-glass-empty::before {\n  content: \"\\f5ce\";\n}\n\n.fa-wine-glass-alt::before {\n  content: \"\\f5ce\";\n}\n\n.fa-cheese::before {\n  content: \"\\f7ef\";\n}\n\n.fa-yin-yang::before {\n  content: \"\\f6ad\";\n}\n\n.fa-music::before {\n  content: \"\\f001\";\n}\n\n.fa-code-commit::before {\n  content: \"\\f386\";\n}\n\n.fa-temperature-low::before {\n  content: \"\\f76b\";\n}\n\n.fa-person-biking::before {\n  content: \"\\f84a\";\n}\n\n.fa-biking::before {\n  content: \"\\f84a\";\n}\n\n.fa-broom::before {\n  content: \"\\f51a\";\n}\n\n.fa-shield-heart::before {\n  content: \"\\e574\";\n}\n\n.fa-gopuram::before {\n  content: \"\\f664\";\n}\n\n.fa-earth-oceania::before {\n  content: \"\\e47b\";\n}\n\n.fa-globe-oceania::before {\n  content: \"\\e47b\";\n}\n\n.fa-square-xmark::before {\n  content: \"\\f2d3\";\n}\n\n.fa-times-square::before {\n  content: \"\\f2d3\";\n}\n\n.fa-xmark-square::before {\n  content: \"\\f2d3\";\n}\n\n.fa-hashtag::before {\n  content: \"\\#\";\n}\n\n.fa-up-right-and-down-left-from-center::before {\n  content: \"\\f424\";\n}\n\n.fa-expand-alt::before {\n  content: \"\\f424\";\n}\n\n.fa-oil-can::before {\n  content: \"\\f613\";\n}\n\n.fa-t::before {\n  content: \"T\";\n}\n\n.fa-hippo::before {\n  content: \"\\f6ed\";\n}\n\n.fa-chart-column::before {\n  content: \"\\e0e3\";\n}\n\n.fa-infinity::before {\n  content: \"\\f534\";\n}\n\n.fa-vial-circle-check::before {\n  content: \"\\e596\";\n}\n\n.fa-person-arrow-down-to-line::before {\n  content: \"\\e538\";\n}\n\n.fa-voicemail::before {\n  content: \"\\f897\";\n}\n\n.fa-fan::before {\n  content: \"\\f863\";\n}\n\n.fa-person-walking-luggage::before {\n  content: \"\\e554\";\n}\n\n.fa-up-down::before {\n  content: \"\\f338\";\n}\n\n.fa-arrows-alt-v::before {\n  content: \"\\f338\";\n}\n\n.fa-cloud-moon-rain::before {\n  content: \"\\f73c\";\n}\n\n.fa-calendar::before {\n  content: \"\\f133\";\n}\n\n.fa-trailer::before {\n  content: \"\\e041\";\n}\n\n.fa-bahai::before {\n  content: \"\\f666\";\n}\n\n.fa-haykal::before {\n  content: \"\\f666\";\n}\n\n.fa-sd-card::before {\n  content: \"\\f7c2\";\n}\n\n.fa-dragon::before {\n  content: \"\\f6d5\";\n}\n\n.fa-shoe-prints::before {\n  content: \"\\f54b\";\n}\n\n.fa-circle-plus::before {\n  content: \"\\f055\";\n}\n\n.fa-plus-circle::before {\n  content: \"\\f055\";\n}\n\n.fa-face-grin-tongue-wink::before {\n  content: \"\\f58b\";\n}\n\n.fa-grin-tongue-wink::before {\n  content: \"\\f58b\";\n}\n\n.fa-hand-holding::before {\n  content: \"\\f4bd\";\n}\n\n.fa-plug-circle-exclamation::before {\n  content: \"\\e55d\";\n}\n\n.fa-link-slash::before {\n  content: \"\\f127\";\n}\n\n.fa-chain-broken::before {\n  content: \"\\f127\";\n}\n\n.fa-chain-slash::before {\n  content: \"\\f127\";\n}\n\n.fa-unlink::before {\n  content: \"\\f127\";\n}\n\n.fa-clone::before {\n  content: \"\\f24d\";\n}\n\n.fa-person-walking-arrow-loop-left::before {\n  content: \"\\e551\";\n}\n\n.fa-arrow-up-z-a::before {\n  content: \"\\f882\";\n}\n\n.fa-sort-alpha-up-alt::before {\n  content: \"\\f882\";\n}\n\n.fa-fire-flame-curved::before {\n  content: \"\\f7e4\";\n}\n\n.fa-fire-alt::before {\n  content: \"\\f7e4\";\n}\n\n.fa-tornado::before {\n  content: \"\\f76f\";\n}\n\n.fa-file-circle-plus::before {\n  content: \"\\e494\";\n}\n\n.fa-book-quran::before {\n  content: \"\\f687\";\n}\n\n.fa-quran::before {\n  content: \"\\f687\";\n}\n\n.fa-anchor::before {\n  content: \"\\f13d\";\n}\n\n.fa-border-all::before {\n  content: \"\\f84c\";\n}\n\n.fa-face-angry::before {\n  content: \"\\f556\";\n}\n\n.fa-angry::before {\n  content: \"\\f556\";\n}\n\n.fa-cookie-bite::before {\n  content: \"\\f564\";\n}\n\n.fa-arrow-trend-down::before {\n  content: \"\\e097\";\n}\n\n.fa-rss::before {\n  content: \"\\f09e\";\n}\n\n.fa-feed::before {\n  content: \"\\f09e\";\n}\n\n.fa-draw-polygon::before {\n  content: \"\\f5ee\";\n}\n\n.fa-scale-balanced::before {\n  content: \"\\f24e\";\n}\n\n.fa-balance-scale::before {\n  content: \"\\f24e\";\n}\n\n.fa-gauge-simple-high::before {\n  content: \"\\f62a\";\n}\n\n.fa-tachometer::before {\n  content: \"\\f62a\";\n}\n\n.fa-tachometer-fast::before {\n  content: \"\\f62a\";\n}\n\n.fa-shower::before {\n  content: \"\\f2cc\";\n}\n\n.fa-desktop::before {\n  content: \"\\f390\";\n}\n\n.fa-desktop-alt::before {\n  content: \"\\f390\";\n}\n\n.fa-m::before {\n  content: \"M\";\n}\n\n.fa-table-list::before {\n  content: \"\\f00b\";\n}\n\n.fa-th-list::before {\n  content: \"\\f00b\";\n}\n\n.fa-comment-sms::before {\n  content: \"\\f7cd\";\n}\n\n.fa-sms::before {\n  content: \"\\f7cd\";\n}\n\n.fa-book::before {\n  content: \"\\f02d\";\n}\n\n.fa-user-plus::before {\n  content: \"\\f234\";\n}\n\n.fa-check::before {\n  content: \"\\f00c\";\n}\n\n.fa-battery-three-quarters::before {\n  content: \"\\f241\";\n}\n\n.fa-battery-4::before {\n  content: \"\\f241\";\n}\n\n.fa-house-circle-check::before {\n  content: \"\\e509\";\n}\n\n.fa-angle-left::before {\n  content: \"\\f104\";\n}\n\n.fa-diagram-successor::before {\n  content: \"\\e47a\";\n}\n\n.fa-truck-arrow-right::before {\n  content: \"\\e58b\";\n}\n\n.fa-arrows-split-up-and-left::before {\n  content: \"\\e4bc\";\n}\n\n.fa-hand-fist::before {\n  content: \"\\f6de\";\n}\n\n.fa-fist-raised::before {\n  content: \"\\f6de\";\n}\n\n.fa-cloud-moon::before {\n  content: \"\\f6c3\";\n}\n\n.fa-briefcase::before {\n  content: \"\\f0b1\";\n}\n\n.fa-person-falling::before {\n  content: \"\\e546\";\n}\n\n.fa-image-portrait::before {\n  content: \"\\f3e0\";\n}\n\n.fa-portrait::before {\n  content: \"\\f3e0\";\n}\n\n.fa-user-tag::before {\n  content: \"\\f507\";\n}\n\n.fa-rug::before {\n  content: \"\\e569\";\n}\n\n.fa-earth-europe::before {\n  content: \"\\f7a2\";\n}\n\n.fa-globe-europe::before {\n  content: \"\\f7a2\";\n}\n\n.fa-cart-flatbed-suitcase::before {\n  content: \"\\f59d\";\n}\n\n.fa-luggage-cart::before {\n  content: \"\\f59d\";\n}\n\n.fa-rectangle-xmark::before {\n  content: \"\\f410\";\n}\n\n.fa-rectangle-times::before {\n  content: \"\\f410\";\n}\n\n.fa-times-rectangle::before {\n  content: \"\\f410\";\n}\n\n.fa-window-close::before {\n  content: \"\\f410\";\n}\n\n.fa-baht-sign::before {\n  content: \"\\e0ac\";\n}\n\n.fa-book-open::before {\n  content: \"\\f518\";\n}\n\n.fa-book-journal-whills::before {\n  content: \"\\f66a\";\n}\n\n.fa-journal-whills::before {\n  content: \"\\f66a\";\n}\n\n.fa-handcuffs::before {\n  content: \"\\e4f8\";\n}\n\n.fa-triangle-exclamation::before {\n  content: \"\\f071\";\n}\n\n.fa-exclamation-triangle::before {\n  content: \"\\f071\";\n}\n\n.fa-warning::before {\n  content: \"\\f071\";\n}\n\n.fa-database::before {\n  content: \"\\f1c0\";\n}\n\n.fa-share::before {\n  content: \"\\f064\";\n}\n\n.fa-mail-forward::before {\n  content: \"\\f064\";\n}\n\n.fa-bottle-droplet::before {\n  content: \"\\e4c4\";\n}\n\n.fa-mask-face::before {\n  content: \"\\e1d7\";\n}\n\n.fa-hill-rockslide::before {\n  content: \"\\e508\";\n}\n\n.fa-right-left::before {\n  content: \"\\f362\";\n}\n\n.fa-exchange-alt::before {\n  content: \"\\f362\";\n}\n\n.fa-paper-plane::before {\n  content: \"\\f1d8\";\n}\n\n.fa-road-circle-exclamation::before {\n  content: \"\\e565\";\n}\n\n.fa-dungeon::before {\n  content: \"\\f6d9\";\n}\n\n.fa-align-right::before {\n  content: \"\\f038\";\n}\n\n.fa-money-bill-1-wave::before {\n  content: \"\\f53b\";\n}\n\n.fa-money-bill-wave-alt::before {\n  content: \"\\f53b\";\n}\n\n.fa-life-ring::before {\n  content: \"\\f1cd\";\n}\n\n.fa-hands::before {\n  content: \"\\f2a7\";\n}\n\n.fa-sign-language::before {\n  content: \"\\f2a7\";\n}\n\n.fa-signing::before {\n  content: \"\\f2a7\";\n}\n\n.fa-calendar-day::before {\n  content: \"\\f783\";\n}\n\n.fa-water-ladder::before {\n  content: \"\\f5c5\";\n}\n\n.fa-ladder-water::before {\n  content: \"\\f5c5\";\n}\n\n.fa-swimming-pool::before {\n  content: \"\\f5c5\";\n}\n\n.fa-arrows-up-down::before {\n  content: \"\\f07d\";\n}\n\n.fa-arrows-v::before {\n  content: \"\\f07d\";\n}\n\n.fa-face-grimace::before {\n  content: \"\\f57f\";\n}\n\n.fa-grimace::before {\n  content: \"\\f57f\";\n}\n\n.fa-wheelchair-move::before {\n  content: \"\\e2ce\";\n}\n\n.fa-wheelchair-alt::before {\n  content: \"\\e2ce\";\n}\n\n.fa-turn-down::before {\n  content: \"\\f3be\";\n}\n\n.fa-level-down-alt::before {\n  content: \"\\f3be\";\n}\n\n.fa-person-walking-arrow-right::before {\n  content: \"\\e552\";\n}\n\n.fa-square-envelope::before {\n  content: \"\\f199\";\n}\n\n.fa-envelope-square::before {\n  content: \"\\f199\";\n}\n\n.fa-dice::before {\n  content: \"\\f522\";\n}\n\n.fa-bowling-ball::before {\n  content: \"\\f436\";\n}\n\n.fa-brain::before {\n  content: \"\\f5dc\";\n}\n\n.fa-bandage::before {\n  content: \"\\f462\";\n}\n\n.fa-band-aid::before {\n  content: \"\\f462\";\n}\n\n.fa-calendar-minus::before {\n  content: \"\\f272\";\n}\n\n.fa-circle-xmark::before {\n  content: \"\\f057\";\n}\n\n.fa-times-circle::before {\n  content: \"\\f057\";\n}\n\n.fa-xmark-circle::before {\n  content: \"\\f057\";\n}\n\n.fa-gifts::before {\n  content: \"\\f79c\";\n}\n\n.fa-hotel::before {\n  content: \"\\f594\";\n}\n\n.fa-earth-asia::before {\n  content: \"\\f57e\";\n}\n\n.fa-globe-asia::before {\n  content: \"\\f57e\";\n}\n\n.fa-id-card-clip::before {\n  content: \"\\f47f\";\n}\n\n.fa-id-card-alt::before {\n  content: \"\\f47f\";\n}\n\n.fa-magnifying-glass-plus::before {\n  content: \"\\f00e\";\n}\n\n.fa-search-plus::before {\n  content: \"\\f00e\";\n}\n\n.fa-thumbs-up::before {\n  content: \"\\f164\";\n}\n\n.fa-user-clock::before {\n  content: \"\\f4fd\";\n}\n\n.fa-hand-dots::before {\n  content: \"\\f461\";\n}\n\n.fa-allergies::before {\n  content: \"\\f461\";\n}\n\n.fa-file-invoice::before {\n  content: \"\\f570\";\n}\n\n.fa-window-minimize::before {\n  content: \"\\f2d1\";\n}\n\n.fa-mug-saucer::before {\n  content: \"\\f0f4\";\n}\n\n.fa-coffee::before {\n  content: \"\\f0f4\";\n}\n\n.fa-brush::before {\n  content: \"\\f55d\";\n}\n\n.fa-mask::before {\n  content: \"\\f6fa\";\n}\n\n.fa-magnifying-glass-minus::before {\n  content: \"\\f010\";\n}\n\n.fa-search-minus::before {\n  content: \"\\f010\";\n}\n\n.fa-ruler-vertical::before {\n  content: \"\\f548\";\n}\n\n.fa-user-large::before {\n  content: \"\\f406\";\n}\n\n.fa-user-alt::before {\n  content: \"\\f406\";\n}\n\n.fa-train-tram::before {\n  content: \"\\e5b4\";\n}\n\n.fa-user-nurse::before {\n  content: \"\\f82f\";\n}\n\n.fa-syringe::before {\n  content: \"\\f48e\";\n}\n\n.fa-cloud-sun::before {\n  content: \"\\f6c4\";\n}\n\n.fa-stopwatch-20::before {\n  content: \"\\e06f\";\n}\n\n.fa-square-full::before {\n  content: \"\\f45c\";\n}\n\n.fa-magnet::before {\n  content: \"\\f076\";\n}\n\n.fa-jar::before {\n  content: \"\\e516\";\n}\n\n.fa-note-sticky::before {\n  content: \"\\f249\";\n}\n\n.fa-sticky-note::before {\n  content: \"\\f249\";\n}\n\n.fa-bug-slash::before {\n  content: \"\\e490\";\n}\n\n.fa-arrow-up-from-water-pump::before {\n  content: \"\\e4b6\";\n}\n\n.fa-bone::before {\n  content: \"\\f5d7\";\n}\n\n.fa-user-injured::before {\n  content: \"\\f728\";\n}\n\n.fa-face-sad-tear::before {\n  content: \"\\f5b4\";\n}\n\n.fa-sad-tear::before {\n  content: \"\\f5b4\";\n}\n\n.fa-plane::before {\n  content: \"\\f072\";\n}\n\n.fa-tent-arrows-down::before {\n  content: \"\\e581\";\n}\n\n.fa-exclamation::before {\n  content: \"\\!\";\n}\n\n.fa-arrows-spin::before {\n  content: \"\\e4bb\";\n}\n\n.fa-print::before {\n  content: \"\\f02f\";\n}\n\n.fa-turkish-lira-sign::before {\n  content: \"\\e2bb\";\n}\n\n.fa-try::before {\n  content: \"\\e2bb\";\n}\n\n.fa-turkish-lira::before {\n  content: \"\\e2bb\";\n}\n\n.fa-dollar-sign::before {\n  content: \"\\$\";\n}\n\n.fa-dollar::before {\n  content: \"\\$\";\n}\n\n.fa-usd::before {\n  content: \"\\$\";\n}\n\n.fa-x::before {\n  content: \"X\";\n}\n\n.fa-magnifying-glass-dollar::before {\n  content: \"\\f688\";\n}\n\n.fa-search-dollar::before {\n  content: \"\\f688\";\n}\n\n.fa-users-gear::before {\n  content: \"\\f509\";\n}\n\n.fa-users-cog::before {\n  content: \"\\f509\";\n}\n\n.fa-person-military-pointing::before {\n  content: \"\\e54a\";\n}\n\n.fa-building-columns::before {\n  content: \"\\f19c\";\n}\n\n.fa-bank::before {\n  content: \"\\f19c\";\n}\n\n.fa-institution::before {\n  content: \"\\f19c\";\n}\n\n.fa-museum::before {\n  content: \"\\f19c\";\n}\n\n.fa-university::before {\n  content: \"\\f19c\";\n}\n\n.fa-umbrella::before {\n  content: \"\\f0e9\";\n}\n\n.fa-trowel::before {\n  content: \"\\e589\";\n}\n\n.fa-d::before {\n  content: \"D\";\n}\n\n.fa-stapler::before {\n  content: \"\\e5af\";\n}\n\n.fa-masks-theater::before {\n  content: \"\\f630\";\n}\n\n.fa-theater-masks::before {\n  content: \"\\f630\";\n}\n\n.fa-kip-sign::before {\n  content: \"\\e1c4\";\n}\n\n.fa-hand-point-left::before {\n  content: \"\\f0a5\";\n}\n\n.fa-handshake-simple::before {\n  content: \"\\f4c6\";\n}\n\n.fa-handshake-alt::before {\n  content: \"\\f4c6\";\n}\n\n.fa-jet-fighter::before {\n  content: \"\\f0fb\";\n}\n\n.fa-fighter-jet::before {\n  content: \"\\f0fb\";\n}\n\n.fa-square-share-nodes::before {\n  content: \"\\f1e1\";\n}\n\n.fa-share-alt-square::before {\n  content: \"\\f1e1\";\n}\n\n.fa-barcode::before {\n  content: \"\\f02a\";\n}\n\n.fa-plus-minus::before {\n  content: \"\\e43c\";\n}\n\n.fa-video::before {\n  content: \"\\f03d\";\n}\n\n.fa-video-camera::before {\n  content: \"\\f03d\";\n}\n\n.fa-graduation-cap::before {\n  content: \"\\f19d\";\n}\n\n.fa-mortar-board::before {\n  content: \"\\f19d\";\n}\n\n.fa-hand-holding-medical::before {\n  content: \"\\e05c\";\n}\n\n.fa-person-circle-check::before {\n  content: \"\\e53e\";\n}\n\n.fa-turn-up::before {\n  content: \"\\f3bf\";\n}\n\n.fa-level-up-alt::before {\n  content: \"\\f3bf\";\n}\n\n.sr-only,\n.fa-sr-only {\n  position: absolute;\n  width: 1px;\n  height: 1px;\n  padding: 0;\n  margin: -1px;\n  overflow: hidden;\n  clip: rect(0, 0, 0, 0);\n  white-space: nowrap;\n  border-width: 0;\n}\n\n.sr-only-focusable:not(:focus),\n.fa-sr-only-focusable:not(:focus) {\n  position: absolute;\n  width: 1px;\n  height: 1px;\n  padding: 0;\n  margin: -1px;\n  overflow: hidden;\n  clip: rect(0, 0, 0, 0);\n  white-space: nowrap;\n  border-width: 0;\n}\n\n/*!\n * Font Awesome Free 6.5.2 by @fontawesome - https://fontawesome.com\n * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)\n * Copyright 2024 Fonticons, Inc.\n */\n:root, :host {\n  --fa-style-family-classic: \"Font Awesome 6 Free\";\n  --fa-font-solid: normal 900 1em/1 \"Font Awesome 6 Free\";\n}\n\n@font-face {\n  font-family: \"Font Awesome 6 Free\";\n  font-style: normal;\n  font-weight: 900;\n  font-display: block;\n  src: url(\"../webfonts/fa-solid-900.woff2\") format(\"woff2\"), url(\"../webfonts/fa-solid-900.ttf\") format(\"truetype\");\n}\n.fas,\n.fa-solid {\n  font-weight: 900;\n}\n\n/*!\n * Font Awesome Free 6.5.2 by @fontawesome - https://fontawesome.com\n * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)\n * Copyright 2024 Fonticons, Inc.\n */\n:root, :host {\n  --fa-style-family-classic: \"Font Awesome 6 Free\";\n  --fa-font-regular: normal 400 1em/1 \"Font Awesome 6 Free\";\n}\n\n@font-face {\n  font-family: \"Font Awesome 6 Free\";\n  font-style: normal;\n  font-weight: 400;\n  font-display: block;\n  src: url(\"../webfonts/fa-regular-400.woff2\") format(\"woff2\"), url(\"../webfonts/fa-regular-400.ttf\") format(\"truetype\");\n}\n.far,\n.fa-regular {\n  font-weight: 400;\n}\n\n/*!\n * Font Awesome Free 6.5.2 by @fontawesome - https://fontawesome.com\n * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)\n * Copyright 2024 Fonticons, Inc.\n */\n:root, :host {\n  --fa-style-family-brands: \"Font Awesome 6 Brands\";\n  --fa-font-brands: normal 400 1em/1 \"Font Awesome 6 Brands\";\n}\n\n@font-face {\n  font-family: \"Font Awesome 6 Brands\";\n  font-style: normal;\n  font-weight: 400;\n  font-display: block;\n  src: url(\"../webfonts/fa-brands-400.woff2\") format(\"woff2\"), url(\"../webfonts/fa-brands-400.ttf\") format(\"truetype\");\n}\n.fab,\n.fa-brands {\n  font-weight: 400;\n}\n\n.fa-monero:before {\n  content: \"\\f3d0\";\n}\n\n.fa-hooli:before {\n  content: \"\\f427\";\n}\n\n.fa-yelp:before {\n  content: \"\\f1e9\";\n}\n\n.fa-cc-visa:before {\n  content: \"\\f1f0\";\n}\n\n.fa-lastfm:before {\n  content: \"\\f202\";\n}\n\n.fa-shopware:before {\n  content: \"\\f5b5\";\n}\n\n.fa-creative-commons-nc:before {\n  content: \"\\f4e8\";\n}\n\n.fa-aws:before {\n  content: \"\\f375\";\n}\n\n.fa-redhat:before {\n  content: \"\\f7bc\";\n}\n\n.fa-yoast:before {\n  content: \"\\f2b1\";\n}\n\n.fa-cloudflare:before {\n  content: \"\\e07d\";\n}\n\n.fa-ups:before {\n  content: \"\\f7e0\";\n}\n\n.fa-pixiv:before {\n  content: \"\\e640\";\n}\n\n.fa-wpexplorer:before {\n  content: \"\\f2de\";\n}\n\n.fa-dyalog:before {\n  content: \"\\f399\";\n}\n\n.fa-bity:before {\n  content: \"\\f37a\";\n}\n\n.fa-stackpath:before {\n  content: \"\\f842\";\n}\n\n.fa-buysellads:before {\n  content: \"\\f20d\";\n}\n\n.fa-first-order:before {\n  content: \"\\f2b0\";\n}\n\n.fa-modx:before {\n  content: \"\\f285\";\n}\n\n.fa-guilded:before {\n  content: \"\\e07e\";\n}\n\n.fa-vnv:before {\n  content: \"\\f40b\";\n}\n\n.fa-square-js:before {\n  content: \"\\f3b9\";\n}\n\n.fa-js-square:before {\n  content: \"\\f3b9\";\n}\n\n.fa-microsoft:before {\n  content: \"\\f3ca\";\n}\n\n.fa-qq:before {\n  content: \"\\f1d6\";\n}\n\n.fa-orcid:before {\n  content: \"\\f8d2\";\n}\n\n.fa-java:before {\n  content: \"\\f4e4\";\n}\n\n.fa-invision:before {\n  content: \"\\f7b0\";\n}\n\n.fa-creative-commons-pd-alt:before {\n  content: \"\\f4ed\";\n}\n\n.fa-centercode:before {\n  content: \"\\f380\";\n}\n\n.fa-glide-g:before {\n  content: \"\\f2a6\";\n}\n\n.fa-drupal:before {\n  content: \"\\f1a9\";\n}\n\n.fa-jxl:before {\n  content: \"\\e67b\";\n}\n\n.fa-hire-a-helper:before {\n  content: \"\\f3b0\";\n}\n\n.fa-creative-commons-by:before {\n  content: \"\\f4e7\";\n}\n\n.fa-unity:before {\n  content: \"\\e049\";\n}\n\n.fa-whmcs:before {\n  content: \"\\f40d\";\n}\n\n.fa-rocketchat:before {\n  content: \"\\f3e8\";\n}\n\n.fa-vk:before {\n  content: \"\\f189\";\n}\n\n.fa-untappd:before {\n  content: \"\\f405\";\n}\n\n.fa-mailchimp:before {\n  content: \"\\f59e\";\n}\n\n.fa-css3-alt:before {\n  content: \"\\f38b\";\n}\n\n.fa-square-reddit:before {\n  content: \"\\f1a2\";\n}\n\n.fa-reddit-square:before {\n  content: \"\\f1a2\";\n}\n\n.fa-vimeo-v:before {\n  content: \"\\f27d\";\n}\n\n.fa-contao:before {\n  content: \"\\f26d\";\n}\n\n.fa-square-font-awesome:before {\n  content: \"\\e5ad\";\n}\n\n.fa-deskpro:before {\n  content: \"\\f38f\";\n}\n\n.fa-brave:before {\n  content: \"\\e63c\";\n}\n\n.fa-sistrix:before {\n  content: \"\\f3ee\";\n}\n\n.fa-square-instagram:before {\n  content: \"\\e055\";\n}\n\n.fa-instagram-square:before {\n  content: \"\\e055\";\n}\n\n.fa-battle-net:before {\n  content: \"\\f835\";\n}\n\n.fa-the-red-yeti:before {\n  content: \"\\f69d\";\n}\n\n.fa-square-hacker-news:before {\n  content: \"\\f3af\";\n}\n\n.fa-hacker-news-square:before {\n  content: \"\\f3af\";\n}\n\n.fa-edge:before {\n  content: \"\\f282\";\n}\n\n.fa-threads:before {\n  content: \"\\e618\";\n}\n\n.fa-napster:before {\n  content: \"\\f3d2\";\n}\n\n.fa-square-snapchat:before {\n  content: \"\\f2ad\";\n}\n\n.fa-snapchat-square:before {\n  content: \"\\f2ad\";\n}\n\n.fa-google-plus-g:before {\n  content: \"\\f0d5\";\n}\n\n.fa-artstation:before {\n  content: \"\\f77a\";\n}\n\n.fa-markdown:before {\n  content: \"\\f60f\";\n}\n\n.fa-sourcetree:before {\n  content: \"\\f7d3\";\n}\n\n.fa-google-plus:before {\n  content: \"\\f2b3\";\n}\n\n.fa-diaspora:before {\n  content: \"\\f791\";\n}\n\n.fa-foursquare:before {\n  content: \"\\f180\";\n}\n\n.fa-stack-overflow:before {\n  content: \"\\f16c\";\n}\n\n.fa-github-alt:before {\n  content: \"\\f113\";\n}\n\n.fa-phoenix-squadron:before {\n  content: \"\\f511\";\n}\n\n.fa-pagelines:before {\n  content: \"\\f18c\";\n}\n\n.fa-algolia:before {\n  content: \"\\f36c\";\n}\n\n.fa-red-river:before {\n  content: \"\\f3e3\";\n}\n\n.fa-creative-commons-sa:before {\n  content: \"\\f4ef\";\n}\n\n.fa-safari:before {\n  content: \"\\f267\";\n}\n\n.fa-google:before {\n  content: \"\\f1a0\";\n}\n\n.fa-square-font-awesome-stroke:before {\n  content: \"\\f35c\";\n}\n\n.fa-font-awesome-alt:before {\n  content: \"\\f35c\";\n}\n\n.fa-atlassian:before {\n  content: \"\\f77b\";\n}\n\n.fa-linkedin-in:before {\n  content: \"\\f0e1\";\n}\n\n.fa-digital-ocean:before {\n  content: \"\\f391\";\n}\n\n.fa-nimblr:before {\n  content: \"\\f5a8\";\n}\n\n.fa-chromecast:before {\n  content: \"\\f838\";\n}\n\n.fa-evernote:before {\n  content: \"\\f839\";\n}\n\n.fa-hacker-news:before {\n  content: \"\\f1d4\";\n}\n\n.fa-creative-commons-sampling:before {\n  content: \"\\f4f0\";\n}\n\n.fa-adversal:before {\n  content: \"\\f36a\";\n}\n\n.fa-creative-commons:before {\n  content: \"\\f25e\";\n}\n\n.fa-watchman-monitoring:before {\n  content: \"\\e087\";\n}\n\n.fa-fonticons:before {\n  content: \"\\f280\";\n}\n\n.fa-weixin:before {\n  content: \"\\f1d7\";\n}\n\n.fa-shirtsinbulk:before {\n  content: \"\\f214\";\n}\n\n.fa-codepen:before {\n  content: \"\\f1cb\";\n}\n\n.fa-git-alt:before {\n  content: \"\\f841\";\n}\n\n.fa-lyft:before {\n  content: \"\\f3c3\";\n}\n\n.fa-rev:before {\n  content: \"\\f5b2\";\n}\n\n.fa-windows:before {\n  content: \"\\f17a\";\n}\n\n.fa-wizards-of-the-coast:before {\n  content: \"\\f730\";\n}\n\n.fa-square-viadeo:before {\n  content: \"\\f2aa\";\n}\n\n.fa-viadeo-square:before {\n  content: \"\\f2aa\";\n}\n\n.fa-meetup:before {\n  content: \"\\f2e0\";\n}\n\n.fa-centos:before {\n  content: \"\\f789\";\n}\n\n.fa-adn:before {\n  content: \"\\f170\";\n}\n\n.fa-cloudsmith:before {\n  content: \"\\f384\";\n}\n\n.fa-opensuse:before {\n  content: \"\\e62b\";\n}\n\n.fa-pied-piper-alt:before {\n  content: \"\\f1a8\";\n}\n\n.fa-square-dribbble:before {\n  content: \"\\f397\";\n}\n\n.fa-dribbble-square:before {\n  content: \"\\f397\";\n}\n\n.fa-codiepie:before {\n  content: \"\\f284\";\n}\n\n.fa-node:before {\n  content: \"\\f419\";\n}\n\n.fa-mix:before {\n  content: \"\\f3cb\";\n}\n\n.fa-steam:before {\n  content: \"\\f1b6\";\n}\n\n.fa-cc-apple-pay:before {\n  content: \"\\f416\";\n}\n\n.fa-scribd:before {\n  content: \"\\f28a\";\n}\n\n.fa-debian:before {\n  content: \"\\e60b\";\n}\n\n.fa-openid:before {\n  content: \"\\f19b\";\n}\n\n.fa-instalod:before {\n  content: \"\\e081\";\n}\n\n.fa-expeditedssl:before {\n  content: \"\\f23e\";\n}\n\n.fa-sellcast:before {\n  content: \"\\f2da\";\n}\n\n.fa-square-twitter:before {\n  content: \"\\f081\";\n}\n\n.fa-twitter-square:before {\n  content: \"\\f081\";\n}\n\n.fa-r-project:before {\n  content: \"\\f4f7\";\n}\n\n.fa-delicious:before {\n  content: \"\\f1a5\";\n}\n\n.fa-freebsd:before {\n  content: \"\\f3a4\";\n}\n\n.fa-vuejs:before {\n  content: \"\\f41f\";\n}\n\n.fa-accusoft:before {\n  content: \"\\f369\";\n}\n\n.fa-ioxhost:before {\n  content: \"\\f208\";\n}\n\n.fa-fonticons-fi:before {\n  content: \"\\f3a2\";\n}\n\n.fa-app-store:before {\n  content: \"\\f36f\";\n}\n\n.fa-cc-mastercard:before {\n  content: \"\\f1f1\";\n}\n\n.fa-itunes-note:before {\n  content: \"\\f3b5\";\n}\n\n.fa-golang:before {\n  content: \"\\e40f\";\n}\n\n.fa-kickstarter:before {\n  content: \"\\f3bb\";\n}\n\n.fa-square-kickstarter:before {\n  content: \"\\f3bb\";\n}\n\n.fa-grav:before {\n  content: \"\\f2d6\";\n}\n\n.fa-weibo:before {\n  content: \"\\f18a\";\n}\n\n.fa-uncharted:before {\n  content: \"\\e084\";\n}\n\n.fa-firstdraft:before {\n  content: \"\\f3a1\";\n}\n\n.fa-square-youtube:before {\n  content: \"\\f431\";\n}\n\n.fa-youtube-square:before {\n  content: \"\\f431\";\n}\n\n.fa-wikipedia-w:before {\n  content: \"\\f266\";\n}\n\n.fa-wpressr:before {\n  content: \"\\f3e4\";\n}\n\n.fa-rendact:before {\n  content: \"\\f3e4\";\n}\n\n.fa-angellist:before {\n  content: \"\\f209\";\n}\n\n.fa-galactic-republic:before {\n  content: \"\\f50c\";\n}\n\n.fa-nfc-directional:before {\n  content: \"\\e530\";\n}\n\n.fa-skype:before {\n  content: \"\\f17e\";\n}\n\n.fa-joget:before {\n  content: \"\\f3b7\";\n}\n\n.fa-fedora:before {\n  content: \"\\f798\";\n}\n\n.fa-stripe-s:before {\n  content: \"\\f42a\";\n}\n\n.fa-meta:before {\n  content: \"\\e49b\";\n}\n\n.fa-laravel:before {\n  content: \"\\f3bd\";\n}\n\n.fa-hotjar:before {\n  content: \"\\f3b1\";\n}\n\n.fa-bluetooth-b:before {\n  content: \"\\f294\";\n}\n\n.fa-square-letterboxd:before {\n  content: \"\\e62e\";\n}\n\n.fa-sticker-mule:before {\n  content: \"\\f3f7\";\n}\n\n.fa-creative-commons-zero:before {\n  content: \"\\f4f3\";\n}\n\n.fa-hips:before {\n  content: \"\\f452\";\n}\n\n.fa-behance:before {\n  content: \"\\f1b4\";\n}\n\n.fa-reddit:before {\n  content: \"\\f1a1\";\n}\n\n.fa-discord:before {\n  content: \"\\f392\";\n}\n\n.fa-chrome:before {\n  content: \"\\f268\";\n}\n\n.fa-app-store-ios:before {\n  content: \"\\f370\";\n}\n\n.fa-cc-discover:before {\n  content: \"\\f1f2\";\n}\n\n.fa-wpbeginner:before {\n  content: \"\\f297\";\n}\n\n.fa-confluence:before {\n  content: \"\\f78d\";\n}\n\n.fa-shoelace:before {\n  content: \"\\e60c\";\n}\n\n.fa-mdb:before {\n  content: \"\\f8ca\";\n}\n\n.fa-dochub:before {\n  content: \"\\f394\";\n}\n\n.fa-accessible-icon:before {\n  content: \"\\f368\";\n}\n\n.fa-ebay:before {\n  content: \"\\f4f4\";\n}\n\n.fa-amazon:before {\n  content: \"\\f270\";\n}\n\n.fa-unsplash:before {\n  content: \"\\e07c\";\n}\n\n.fa-yarn:before {\n  content: \"\\f7e3\";\n}\n\n.fa-square-steam:before {\n  content: \"\\f1b7\";\n}\n\n.fa-steam-square:before {\n  content: \"\\f1b7\";\n}\n\n.fa-500px:before {\n  content: \"\\f26e\";\n}\n\n.fa-square-vimeo:before {\n  content: \"\\f194\";\n}\n\n.fa-vimeo-square:before {\n  content: \"\\f194\";\n}\n\n.fa-asymmetrik:before {\n  content: \"\\f372\";\n}\n\n.fa-font-awesome:before {\n  content: \"\\f2b4\";\n}\n\n.fa-font-awesome-flag:before {\n  content: \"\\f2b4\";\n}\n\n.fa-font-awesome-logo-full:before {\n  content: \"\\f2b4\";\n}\n\n.fa-gratipay:before {\n  content: \"\\f184\";\n}\n\n.fa-apple:before {\n  content: \"\\f179\";\n}\n\n.fa-hive:before {\n  content: \"\\e07f\";\n}\n\n.fa-gitkraken:before {\n  content: \"\\f3a6\";\n}\n\n.fa-keybase:before {\n  content: \"\\f4f5\";\n}\n\n.fa-apple-pay:before {\n  content: \"\\f415\";\n}\n\n.fa-padlet:before {\n  content: \"\\e4a0\";\n}\n\n.fa-amazon-pay:before {\n  content: \"\\f42c\";\n}\n\n.fa-square-github:before {\n  content: \"\\f092\";\n}\n\n.fa-github-square:before {\n  content: \"\\f092\";\n}\n\n.fa-stumbleupon:before {\n  content: \"\\f1a4\";\n}\n\n.fa-fedex:before {\n  content: \"\\f797\";\n}\n\n.fa-phoenix-framework:before {\n  content: \"\\f3dc\";\n}\n\n.fa-shopify:before {\n  content: \"\\e057\";\n}\n\n.fa-neos:before {\n  content: \"\\f612\";\n}\n\n.fa-square-threads:before {\n  content: \"\\e619\";\n}\n\n.fa-hackerrank:before {\n  content: \"\\f5f7\";\n}\n\n.fa-researchgate:before {\n  content: \"\\f4f8\";\n}\n\n.fa-swift:before {\n  content: \"\\f8e1\";\n}\n\n.fa-angular:before {\n  content: \"\\f420\";\n}\n\n.fa-speakap:before {\n  content: \"\\f3f3\";\n}\n\n.fa-angrycreative:before {\n  content: \"\\f36e\";\n}\n\n.fa-y-combinator:before {\n  content: \"\\f23b\";\n}\n\n.fa-empire:before {\n  content: \"\\f1d1\";\n}\n\n.fa-envira:before {\n  content: \"\\f299\";\n}\n\n.fa-google-scholar:before {\n  content: \"\\e63b\";\n}\n\n.fa-square-gitlab:before {\n  content: \"\\e5ae\";\n}\n\n.fa-gitlab-square:before {\n  content: \"\\e5ae\";\n}\n\n.fa-studiovinari:before {\n  content: \"\\f3f8\";\n}\n\n.fa-pied-piper:before {\n  content: \"\\f2ae\";\n}\n\n.fa-wordpress:before {\n  content: \"\\f19a\";\n}\n\n.fa-product-hunt:before {\n  content: \"\\f288\";\n}\n\n.fa-firefox:before {\n  content: \"\\f269\";\n}\n\n.fa-linode:before {\n  content: \"\\f2b8\";\n}\n\n.fa-goodreads:before {\n  content: \"\\f3a8\";\n}\n\n.fa-square-odnoklassniki:before {\n  content: \"\\f264\";\n}\n\n.fa-odnoklassniki-square:before {\n  content: \"\\f264\";\n}\n\n.fa-jsfiddle:before {\n  content: \"\\f1cc\";\n}\n\n.fa-sith:before {\n  content: \"\\f512\";\n}\n\n.fa-themeisle:before {\n  content: \"\\f2b2\";\n}\n\n.fa-page4:before {\n  content: \"\\f3d7\";\n}\n\n.fa-hashnode:before {\n  content: \"\\e499\";\n}\n\n.fa-react:before {\n  content: \"\\f41b\";\n}\n\n.fa-cc-paypal:before {\n  content: \"\\f1f4\";\n}\n\n.fa-squarespace:before {\n  content: \"\\f5be\";\n}\n\n.fa-cc-stripe:before {\n  content: \"\\f1f5\";\n}\n\n.fa-creative-commons-share:before {\n  content: \"\\f4f2\";\n}\n\n.fa-bitcoin:before {\n  content: \"\\f379\";\n}\n\n.fa-keycdn:before {\n  content: \"\\f3ba\";\n}\n\n.fa-opera:before {\n  content: \"\\f26a\";\n}\n\n.fa-itch-io:before {\n  content: \"\\f83a\";\n}\n\n.fa-umbraco:before {\n  content: \"\\f8e8\";\n}\n\n.fa-galactic-senate:before {\n  content: \"\\f50d\";\n}\n\n.fa-ubuntu:before {\n  content: \"\\f7df\";\n}\n\n.fa-draft2digital:before {\n  content: \"\\f396\";\n}\n\n.fa-stripe:before {\n  content: \"\\f429\";\n}\n\n.fa-houzz:before {\n  content: \"\\f27c\";\n}\n\n.fa-gg:before {\n  content: \"\\f260\";\n}\n\n.fa-dhl:before {\n  content: \"\\f790\";\n}\n\n.fa-square-pinterest:before {\n  content: \"\\f0d3\";\n}\n\n.fa-pinterest-square:before {\n  content: \"\\f0d3\";\n}\n\n.fa-xing:before {\n  content: \"\\f168\";\n}\n\n.fa-blackberry:before {\n  content: \"\\f37b\";\n}\n\n.fa-creative-commons-pd:before {\n  content: \"\\f4ec\";\n}\n\n.fa-playstation:before {\n  content: \"\\f3df\";\n}\n\n.fa-quinscape:before {\n  content: \"\\f459\";\n}\n\n.fa-less:before {\n  content: \"\\f41d\";\n}\n\n.fa-blogger-b:before {\n  content: \"\\f37d\";\n}\n\n.fa-opencart:before {\n  content: \"\\f23d\";\n}\n\n.fa-vine:before {\n  content: \"\\f1ca\";\n}\n\n.fa-signal-messenger:before {\n  content: \"\\e663\";\n}\n\n.fa-paypal:before {\n  content: \"\\f1ed\";\n}\n\n.fa-gitlab:before {\n  content: \"\\f296\";\n}\n\n.fa-typo3:before {\n  content: \"\\f42b\";\n}\n\n.fa-reddit-alien:before {\n  content: \"\\f281\";\n}\n\n.fa-yahoo:before {\n  content: \"\\f19e\";\n}\n\n.fa-dailymotion:before {\n  content: \"\\e052\";\n}\n\n.fa-affiliatetheme:before {\n  content: \"\\f36b\";\n}\n\n.fa-pied-piper-pp:before {\n  content: \"\\f1a7\";\n}\n\n.fa-bootstrap:before {\n  content: \"\\f836\";\n}\n\n.fa-odnoklassniki:before {\n  content: \"\\f263\";\n}\n\n.fa-nfc-symbol:before {\n  content: \"\\e531\";\n}\n\n.fa-mintbit:before {\n  content: \"\\e62f\";\n}\n\n.fa-ethereum:before {\n  content: \"\\f42e\";\n}\n\n.fa-speaker-deck:before {\n  content: \"\\f83c\";\n}\n\n.fa-creative-commons-nc-eu:before {\n  content: \"\\f4e9\";\n}\n\n.fa-patreon:before {\n  content: \"\\f3d9\";\n}\n\n.fa-avianex:before {\n  content: \"\\f374\";\n}\n\n.fa-ello:before {\n  content: \"\\f5f1\";\n}\n\n.fa-gofore:before {\n  content: \"\\f3a7\";\n}\n\n.fa-bimobject:before {\n  content: \"\\f378\";\n}\n\n.fa-brave-reverse:before {\n  content: \"\\e63d\";\n}\n\n.fa-facebook-f:before {\n  content: \"\\f39e\";\n}\n\n.fa-square-google-plus:before {\n  content: \"\\f0d4\";\n}\n\n.fa-google-plus-square:before {\n  content: \"\\f0d4\";\n}\n\n.fa-web-awesome:before {\n  content: \"\\e682\";\n}\n\n.fa-mandalorian:before {\n  content: \"\\f50f\";\n}\n\n.fa-first-order-alt:before {\n  content: \"\\f50a\";\n}\n\n.fa-osi:before {\n  content: \"\\f41a\";\n}\n\n.fa-google-wallet:before {\n  content: \"\\f1ee\";\n}\n\n.fa-d-and-d-beyond:before {\n  content: \"\\f6ca\";\n}\n\n.fa-periscope:before {\n  content: \"\\f3da\";\n}\n\n.fa-fulcrum:before {\n  content: \"\\f50b\";\n}\n\n.fa-cloudscale:before {\n  content: \"\\f383\";\n}\n\n.fa-forumbee:before {\n  content: \"\\f211\";\n}\n\n.fa-mizuni:before {\n  content: \"\\f3cc\";\n}\n\n.fa-schlix:before {\n  content: \"\\f3ea\";\n}\n\n.fa-square-xing:before {\n  content: \"\\f169\";\n}\n\n.fa-xing-square:before {\n  content: \"\\f169\";\n}\n\n.fa-bandcamp:before {\n  content: \"\\f2d5\";\n}\n\n.fa-wpforms:before {\n  content: \"\\f298\";\n}\n\n.fa-cloudversify:before {\n  content: \"\\f385\";\n}\n\n.fa-usps:before {\n  content: \"\\f7e1\";\n}\n\n.fa-megaport:before {\n  content: \"\\f5a3\";\n}\n\n.fa-magento:before {\n  content: \"\\f3c4\";\n}\n\n.fa-spotify:before {\n  content: \"\\f1bc\";\n}\n\n.fa-optin-monster:before {\n  content: \"\\f23c\";\n}\n\n.fa-fly:before {\n  content: \"\\f417\";\n}\n\n.fa-aviato:before {\n  content: \"\\f421\";\n}\n\n.fa-itunes:before {\n  content: \"\\f3b4\";\n}\n\n.fa-cuttlefish:before {\n  content: \"\\f38c\";\n}\n\n.fa-blogger:before {\n  content: \"\\f37c\";\n}\n\n.fa-flickr:before {\n  content: \"\\f16e\";\n}\n\n.fa-viber:before {\n  content: \"\\f409\";\n}\n\n.fa-soundcloud:before {\n  content: \"\\f1be\";\n}\n\n.fa-digg:before {\n  content: \"\\f1a6\";\n}\n\n.fa-tencent-weibo:before {\n  content: \"\\f1d5\";\n}\n\n.fa-letterboxd:before {\n  content: \"\\e62d\";\n}\n\n.fa-symfony:before {\n  content: \"\\f83d\";\n}\n\n.fa-maxcdn:before {\n  content: \"\\f136\";\n}\n\n.fa-etsy:before {\n  content: \"\\f2d7\";\n}\n\n.fa-facebook-messenger:before {\n  content: \"\\f39f\";\n}\n\n.fa-audible:before {\n  content: \"\\f373\";\n}\n\n.fa-think-peaks:before {\n  content: \"\\f731\";\n}\n\n.fa-bilibili:before {\n  content: \"\\e3d9\";\n}\n\n.fa-erlang:before {\n  content: \"\\f39d\";\n}\n\n.fa-x-twitter:before {\n  content: \"\\e61b\";\n}\n\n.fa-cotton-bureau:before {\n  content: \"\\f89e\";\n}\n\n.fa-dashcube:before {\n  content: \"\\f210\";\n}\n\n.fa-42-group:before {\n  content: \"\\e080\";\n}\n\n.fa-innosoft:before {\n  content: \"\\e080\";\n}\n\n.fa-stack-exchange:before {\n  content: \"\\f18d\";\n}\n\n.fa-elementor:before {\n  content: \"\\f430\";\n}\n\n.fa-square-pied-piper:before {\n  content: \"\\e01e\";\n}\n\n.fa-pied-piper-square:before {\n  content: \"\\e01e\";\n}\n\n.fa-creative-commons-nd:before {\n  content: \"\\f4eb\";\n}\n\n.fa-palfed:before {\n  content: \"\\f3d8\";\n}\n\n.fa-superpowers:before {\n  content: \"\\f2dd\";\n}\n\n.fa-resolving:before {\n  content: \"\\f3e7\";\n}\n\n.fa-xbox:before {\n  content: \"\\f412\";\n}\n\n.fa-square-web-awesome-stroke:before {\n  content: \"\\e684\";\n}\n\n.fa-searchengin:before {\n  content: \"\\f3eb\";\n}\n\n.fa-tiktok:before {\n  content: \"\\e07b\";\n}\n\n.fa-square-facebook:before {\n  content: \"\\f082\";\n}\n\n.fa-facebook-square:before {\n  content: \"\\f082\";\n}\n\n.fa-renren:before {\n  content: \"\\f18b\";\n}\n\n.fa-linux:before {\n  content: \"\\f17c\";\n}\n\n.fa-glide:before {\n  content: \"\\f2a5\";\n}\n\n.fa-linkedin:before {\n  content: \"\\f08c\";\n}\n\n.fa-hubspot:before {\n  content: \"\\f3b2\";\n}\n\n.fa-deploydog:before {\n  content: \"\\f38e\";\n}\n\n.fa-twitch:before {\n  content: \"\\f1e8\";\n}\n\n.fa-ravelry:before {\n  content: \"\\f2d9\";\n}\n\n.fa-mixer:before {\n  content: \"\\e056\";\n}\n\n.fa-square-lastfm:before {\n  content: \"\\f203\";\n}\n\n.fa-lastfm-square:before {\n  content: \"\\f203\";\n}\n\n.fa-vimeo:before {\n  content: \"\\f40a\";\n}\n\n.fa-mendeley:before {\n  content: \"\\f7b3\";\n}\n\n.fa-uniregistry:before {\n  content: \"\\f404\";\n}\n\n.fa-figma:before {\n  content: \"\\f799\";\n}\n\n.fa-creative-commons-remix:before {\n  content: \"\\f4ee\";\n}\n\n.fa-cc-amazon-pay:before {\n  content: \"\\f42d\";\n}\n\n.fa-dropbox:before {\n  content: \"\\f16b\";\n}\n\n.fa-instagram:before {\n  content: \"\\f16d\";\n}\n\n.fa-cmplid:before {\n  content: \"\\e360\";\n}\n\n.fa-upwork:before {\n  content: \"\\e641\";\n}\n\n.fa-facebook:before {\n  content: \"\\f09a\";\n}\n\n.fa-gripfire:before {\n  content: \"\\f3ac\";\n}\n\n.fa-jedi-order:before {\n  content: \"\\f50e\";\n}\n\n.fa-uikit:before {\n  content: \"\\f403\";\n}\n\n.fa-fort-awesome-alt:before {\n  content: \"\\f3a3\";\n}\n\n.fa-phabricator:before {\n  content: \"\\f3db\";\n}\n\n.fa-ussunnah:before {\n  content: \"\\f407\";\n}\n\n.fa-earlybirds:before {\n  content: \"\\f39a\";\n}\n\n.fa-trade-federation:before {\n  content: \"\\f513\";\n}\n\n.fa-autoprefixer:before {\n  content: \"\\f41c\";\n}\n\n.fa-whatsapp:before {\n  content: \"\\f232\";\n}\n\n.fa-square-upwork:before {\n  content: \"\\e67c\";\n}\n\n.fa-slideshare:before {\n  content: \"\\f1e7\";\n}\n\n.fa-google-play:before {\n  content: \"\\f3ab\";\n}\n\n.fa-viadeo:before {\n  content: \"\\f2a9\";\n}\n\n.fa-line:before {\n  content: \"\\f3c0\";\n}\n\n.fa-google-drive:before {\n  content: \"\\f3aa\";\n}\n\n.fa-servicestack:before {\n  content: \"\\f3ec\";\n}\n\n.fa-simplybuilt:before {\n  content: \"\\f215\";\n}\n\n.fa-bitbucket:before {\n  content: \"\\f171\";\n}\n\n.fa-imdb:before {\n  content: \"\\f2d8\";\n}\n\n.fa-deezer:before {\n  content: \"\\e077\";\n}\n\n.fa-raspberry-pi:before {\n  content: \"\\f7bb\";\n}\n\n.fa-jira:before {\n  content: \"\\f7b1\";\n}\n\n.fa-docker:before {\n  content: \"\\f395\";\n}\n\n.fa-screenpal:before {\n  content: \"\\e570\";\n}\n\n.fa-bluetooth:before {\n  content: \"\\f293\";\n}\n\n.fa-gitter:before {\n  content: \"\\f426\";\n}\n\n.fa-d-and-d:before {\n  content: \"\\f38d\";\n}\n\n.fa-microblog:before {\n  content: \"\\e01a\";\n}\n\n.fa-cc-diners-club:before {\n  content: \"\\f24c\";\n}\n\n.fa-gg-circle:before {\n  content: \"\\f261\";\n}\n\n.fa-pied-piper-hat:before {\n  content: \"\\f4e5\";\n}\n\n.fa-kickstarter-k:before {\n  content: \"\\f3bc\";\n}\n\n.fa-yandex:before {\n  content: \"\\f413\";\n}\n\n.fa-readme:before {\n  content: \"\\f4d5\";\n}\n\n.fa-html5:before {\n  content: \"\\f13b\";\n}\n\n.fa-sellsy:before {\n  content: \"\\f213\";\n}\n\n.fa-square-web-awesome:before {\n  content: \"\\e683\";\n}\n\n.fa-sass:before {\n  content: \"\\f41e\";\n}\n\n.fa-wirsindhandwerk:before {\n  content: \"\\e2d0\";\n}\n\n.fa-wsh:before {\n  content: \"\\e2d0\";\n}\n\n.fa-buromobelexperte:before {\n  content: \"\\f37f\";\n}\n\n.fa-salesforce:before {\n  content: \"\\f83b\";\n}\n\n.fa-octopus-deploy:before {\n  content: \"\\e082\";\n}\n\n.fa-medapps:before {\n  content: \"\\f3c6\";\n}\n\n.fa-ns8:before {\n  content: \"\\f3d5\";\n}\n\n.fa-pinterest-p:before {\n  content: \"\\f231\";\n}\n\n.fa-apper:before {\n  content: \"\\f371\";\n}\n\n.fa-fort-awesome:before {\n  content: \"\\f286\";\n}\n\n.fa-waze:before {\n  content: \"\\f83f\";\n}\n\n.fa-bluesky:before {\n  content: \"\\e671\";\n}\n\n.fa-cc-jcb:before {\n  content: \"\\f24b\";\n}\n\n.fa-snapchat:before {\n  content: \"\\f2ab\";\n}\n\n.fa-snapchat-ghost:before {\n  content: \"\\f2ab\";\n}\n\n.fa-fantasy-flight-games:before {\n  content: \"\\f6dc\";\n}\n\n.fa-rust:before {\n  content: \"\\e07a\";\n}\n\n.fa-wix:before {\n  content: \"\\f5cf\";\n}\n\n.fa-square-behance:before {\n  content: \"\\f1b5\";\n}\n\n.fa-behance-square:before {\n  content: \"\\f1b5\";\n}\n\n.fa-supple:before {\n  content: \"\\f3f9\";\n}\n\n.fa-webflow:before {\n  content: \"\\e65c\";\n}\n\n.fa-rebel:before {\n  content: \"\\f1d0\";\n}\n\n.fa-css3:before {\n  content: \"\\f13c\";\n}\n\n.fa-staylinked:before {\n  content: \"\\f3f5\";\n}\n\n.fa-kaggle:before {\n  content: \"\\f5fa\";\n}\n\n.fa-space-awesome:before {\n  content: \"\\e5ac\";\n}\n\n.fa-deviantart:before {\n  content: \"\\f1bd\";\n}\n\n.fa-cpanel:before {\n  content: \"\\f388\";\n}\n\n.fa-goodreads-g:before {\n  content: \"\\f3a9\";\n}\n\n.fa-square-git:before {\n  content: \"\\f1d2\";\n}\n\n.fa-git-square:before {\n  content: \"\\f1d2\";\n}\n\n.fa-square-tumblr:before {\n  content: \"\\f174\";\n}\n\n.fa-tumblr-square:before {\n  content: \"\\f174\";\n}\n\n.fa-trello:before {\n  content: \"\\f181\";\n}\n\n.fa-creative-commons-nc-jp:before {\n  content: \"\\f4ea\";\n}\n\n.fa-get-pocket:before {\n  content: \"\\f265\";\n}\n\n.fa-perbyte:before {\n  content: \"\\e083\";\n}\n\n.fa-grunt:before {\n  content: \"\\f3ad\";\n}\n\n.fa-weebly:before {\n  content: \"\\f5cc\";\n}\n\n.fa-connectdevelop:before {\n  content: \"\\f20e\";\n}\n\n.fa-leanpub:before {\n  content: \"\\f212\";\n}\n\n.fa-black-tie:before {\n  content: \"\\f27e\";\n}\n\n.fa-themeco:before {\n  content: \"\\f5c6\";\n}\n\n.fa-python:before {\n  content: \"\\f3e2\";\n}\n\n.fa-android:before {\n  content: \"\\f17b\";\n}\n\n.fa-bots:before {\n  content: \"\\e340\";\n}\n\n.fa-free-code-camp:before {\n  content: \"\\f2c5\";\n}\n\n.fa-hornbill:before {\n  content: \"\\f592\";\n}\n\n.fa-js:before {\n  content: \"\\f3b8\";\n}\n\n.fa-ideal:before {\n  content: \"\\e013\";\n}\n\n.fa-git:before {\n  content: \"\\f1d3\";\n}\n\n.fa-dev:before {\n  content: \"\\f6cc\";\n}\n\n.fa-sketch:before {\n  content: \"\\f7c6\";\n}\n\n.fa-yandex-international:before {\n  content: \"\\f414\";\n}\n\n.fa-cc-amex:before {\n  content: \"\\f1f3\";\n}\n\n.fa-uber:before {\n  content: \"\\f402\";\n}\n\n.fa-github:before {\n  content: \"\\f09b\";\n}\n\n.fa-php:before {\n  content: \"\\f457\";\n}\n\n.fa-alipay:before {\n  content: \"\\f642\";\n}\n\n.fa-youtube:before {\n  content: \"\\f167\";\n}\n\n.fa-skyatlas:before {\n  content: \"\\f216\";\n}\n\n.fa-firefox-browser:before {\n  content: \"\\e007\";\n}\n\n.fa-replyd:before {\n  content: \"\\f3e6\";\n}\n\n.fa-suse:before {\n  content: \"\\f7d6\";\n}\n\n.fa-jenkins:before {\n  content: \"\\f3b6\";\n}\n\n.fa-twitter:before {\n  content: \"\\f099\";\n}\n\n.fa-rockrms:before {\n  content: \"\\f3e9\";\n}\n\n.fa-pinterest:before {\n  content: \"\\f0d2\";\n}\n\n.fa-buffer:before {\n  content: \"\\f837\";\n}\n\n.fa-npm:before {\n  content: \"\\f3d4\";\n}\n\n.fa-yammer:before {\n  content: \"\\f840\";\n}\n\n.fa-btc:before {\n  content: \"\\f15a\";\n}\n\n.fa-dribbble:before {\n  content: \"\\f17d\";\n}\n\n.fa-stumbleupon-circle:before {\n  content: \"\\f1a3\";\n}\n\n.fa-internet-explorer:before {\n  content: \"\\f26b\";\n}\n\n.fa-stubber:before {\n  content: \"\\e5c7\";\n}\n\n.fa-telegram:before {\n  content: \"\\f2c6\";\n}\n\n.fa-telegram-plane:before {\n  content: \"\\f2c6\";\n}\n\n.fa-old-republic:before {\n  content: \"\\f510\";\n}\n\n.fa-odysee:before {\n  content: \"\\e5c6\";\n}\n\n.fa-square-whatsapp:before {\n  content: \"\\f40c\";\n}\n\n.fa-whatsapp-square:before {\n  content: \"\\f40c\";\n}\n\n.fa-node-js:before {\n  content: \"\\f3d3\";\n}\n\n.fa-edge-legacy:before {\n  content: \"\\e078\";\n}\n\n.fa-slack:before {\n  content: \"\\f198\";\n}\n\n.fa-slack-hash:before {\n  content: \"\\f198\";\n}\n\n.fa-medrt:before {\n  content: \"\\f3c8\";\n}\n\n.fa-usb:before {\n  content: \"\\f287\";\n}\n\n.fa-tumblr:before {\n  content: \"\\f173\";\n}\n\n.fa-vaadin:before {\n  content: \"\\f408\";\n}\n\n.fa-quora:before {\n  content: \"\\f2c4\";\n}\n\n.fa-square-x-twitter:before {\n  content: \"\\e61a\";\n}\n\n.fa-reacteurope:before {\n  content: \"\\f75d\";\n}\n\n.fa-medium:before {\n  content: \"\\f23a\";\n}\n\n.fa-medium-m:before {\n  content: \"\\f23a\";\n}\n\n.fa-amilia:before {\n  content: \"\\f36d\";\n}\n\n.fa-mixcloud:before {\n  content: \"\\f289\";\n}\n\n.fa-flipboard:before {\n  content: \"\\f44d\";\n}\n\n.fa-viacoin:before {\n  content: \"\\f237\";\n}\n\n.fa-critical-role:before {\n  content: \"\\f6c9\";\n}\n\n.fa-sitrox:before {\n  content: \"\\e44a\";\n}\n\n.fa-discourse:before {\n  content: \"\\f393\";\n}\n\n.fa-joomla:before {\n  content: \"\\f1aa\";\n}\n\n.fa-mastodon:before {\n  content: \"\\f4f6\";\n}\n\n.fa-airbnb:before {\n  content: \"\\f834\";\n}\n\n.fa-wolf-pack-battalion:before {\n  content: \"\\f514\";\n}\n\n.fa-buy-n-large:before {\n  content: \"\\f8a6\";\n}\n\n.fa-gulp:before {\n  content: \"\\f3ae\";\n}\n\n.fa-creative-commons-sampling-plus:before {\n  content: \"\\f4f1\";\n}\n\n.fa-strava:before {\n  content: \"\\f428\";\n}\n\n.fa-ember:before {\n  content: \"\\f423\";\n}\n\n.fa-canadian-maple-leaf:before {\n  content: \"\\f785\";\n}\n\n.fa-teamspeak:before {\n  content: \"\\f4f9\";\n}\n\n.fa-pushed:before {\n  content: \"\\f3e1\";\n}\n\n.fa-wordpress-simple:before {\n  content: \"\\f411\";\n}\n\n.fa-nutritionix:before {\n  content: \"\\f3d6\";\n}\n\n.fa-wodu:before {\n  content: \"\\e088\";\n}\n\n.fa-google-pay:before {\n  content: \"\\e079\";\n}\n\n.fa-intercom:before {\n  content: \"\\f7af\";\n}\n\n.fa-zhihu:before {\n  content: \"\\f63f\";\n}\n\n.fa-korvue:before {\n  content: \"\\f42f\";\n}\n\n.fa-pix:before {\n  content: \"\\e43a\";\n}\n\n.fa-steam-symbol:before {\n  content: \"\\f3f6\";\n}\n\nhtml {\n  /*****************************************************************************\n  * Overall Layout Variables\n  */\n  --pst-header-height: 4rem;\n  --pst-header-article-height: calc(var(--pst-header-height) * 2 / 3);\n  --pst-sidebar-secondary: 17rem;\n}\n\n/*******************************************************************************\n* Breakpoints that trigger UI changes\n*\n* Note that media-breakpoint-down begins at the next highest level!\n* So we should choose a media-breakpoint-down one *lower* than when we want to start\n* example: media-breakpoint-up(md) and media-breakpoint-down(sm) trigger at the same time\n* ref: https://github.com/twbs/bootstrap/issues/31214\n*/\n/*******************************************************************************\n* Define the animation behaviour\n*/\n/*******************************************************************************\n* UI shaping and padding\n*/\nhtml {\n  /*****************************************************************************\n  * Font features used in this theme\n  */\n  --pst-font-size-base: 1rem;\n  --pst-font-size-h1: 2.625rem;\n  --pst-font-size-h2: 2.125rem;\n  --pst-font-size-h3: 1.75rem;\n  --pst-font-size-h4: 1.5rem;\n  --pst-font-size-h5: 1.25rem;\n  --pst-font-size-h6: 1rem;\n  --pst-font-size-milli: 0.9rem;\n  --pst-sidebar-font-size: 0.9rem;\n  --pst-sidebar-font-size-mobile: 1.1rem;\n  --pst-sidebar-header-font-size: 1.2rem;\n  --pst-sidebar-header-font-weight: 600;\n  --pst-admonition-font-weight-heading: 600;\n  --pst-font-weight-caption: 300;\n  --pst-font-weight-heading: 600;\n  --pst-font-family-base-system: -apple-system, \"BlinkMacSystemFont\", \"Segoe UI\",\n    \"Helvetica Neue\", \"Arial\", sans-serif, \"Apple Color Emoji\", \"Segoe UI Emoji\",\n    \"Segoe UI Symbol\";\n  --pst-font-family-monospace-system: \"SFMono-Regular\", \"Menlo\", \"Consolas\",\n    \"Monaco\", \"Liberation Mono\", \"Lucida Console\", monospace;\n  --pst-font-family-base: var(--pst-font-family-base-system);\n  --pst-font-family-heading: var(--pst-font-family-base-system);\n  --pst-font-family-monospace: var(--pst-font-family-monospace-system);\n}\n\nhtml {\n  /*****************************************************************************\n  * Icon\n  */\n  --pst-font-size-icon: 1.5rem;\n  --pst-icon-check-circle: \"\";\n  --pst-icon-info-circle: \"\";\n  --pst-icon-exclamation-triangle: \"\";\n  --pst-icon-exclamation-circle: \"\";\n  --pst-icon-times-circle: \"\";\n  --pst-icon-lightbulb: \"\";\n  --pst-icon-download: \"\";\n  --pst-icon-angle-left: \"\";\n  --pst-icon-angle-right: \"\";\n  --pst-icon-external-link: \"\";\n  --pst-icon-search-minus: \"\";\n  --pst-icon-github: \"\";\n  --pst-icon-gitlab: \"\";\n  --pst-icon-share: \"\";\n  --pst-icon-bell: \"\";\n  --pst-icon-pencil: \"\";\n  --pst-breadcrumb-divider: \"\";\n}\n\nhtml {\n  /*****************************************************************************\n  * Admonitions\n  **/\n  --pst-icon-admonition-default: var(--pst-icon-bell);\n  --pst-icon-admonition-note: var(--pst-icon-info-circle);\n  --pst-icon-admonition-attention: var(--pst-icon-exclamation-circle);\n  --pst-icon-admonition-caution: var(--pst-icon-exclamation-triangle);\n  --pst-icon-admonition-warning: var(--pst-icon-exclamation-triangle);\n  --pst-icon-admonition-danger: var(--pst-icon-exclamation-triangle);\n  --pst-icon-admonition-error: var(--pst-icon-times-circle);\n  --pst-icon-admonition-hint: var(--pst-icon-lightbulb);\n  --pst-icon-admonition-tip: var(--pst-icon-lightbulb);\n  --pst-icon-admonition-important: var(--pst-icon-exclamation-circle);\n  --pst-icon-admonition-seealso: var(--pst-icon-share);\n  --pst-icon-admonition-todo: var(--pst-icon-pencil);\n}\n\nhtml {\n  /*****************************************************************************\n  * versionmodified\n  **/\n  --pst-icon-versionmodified-default: var(--pst-icon-exclamation-circle);\n  --pst-icon-versionmodified-added: var(--pst-icon-exclamation-circle);\n  --pst-icon-versionmodified-changed: var(--pst-icon-exclamation-circle);\n  --pst-icon-versionmodified-deprecated: var(--pst-icon-exclamation-circle);\n}\n\n/*******************************************************************************\n* master color map. Only the colors that actually differ between light and dark\n* themes are specified separately.\n*\n* To see the full list of colors see https://www.figma.com/file/rUrrHGhUBBIAAjQ82x6pz9/PyData-Design-system---proposal-for-implementation-(2)?node-id=1234%3A765&t=ifcFT1JtnrSshGfi-1\n*/\n/**\n* Function to get items from nested maps\n*/\n/* Assign base colors for the PyData theme */\n:root {\n  --pst-teal-50: #f4fbfc;\n  --pst-teal-100: #e9f6f8;\n  --pst-teal-200: #d0ecf1;\n  --pst-teal-300: #abdde6;\n  --pst-teal-400: #3fb1c5;\n  --pst-teal-500: #0a7d91;\n  --pst-teal-600: #085d6c;\n  --pst-teal-700: #064752;\n  --pst-teal-800: #042c33;\n  --pst-teal-900: #021b1f;\n  --pst-violet-50: #f4eefb;\n  --pst-violet-100: #e0c7ff;\n  --pst-violet-200: #d5b4fd;\n  --pst-violet-300: #b780ff;\n  --pst-violet-400: #9c5ffd;\n  --pst-violet-500: #8045e5;\n  --pst-violet-600: #6432bd;\n  --pst-violet-700: #4b258f;\n  --pst-violet-800: #341a61;\n  --pst-violet-900: #1e0e39;\n  --pst-gray-50: #f9f9fa;\n  --pst-gray-100: #f3f4f5;\n  --pst-gray-200: #e5e7ea;\n  --pst-gray-300: #d1d5da;\n  --pst-gray-400: #9ca4af;\n  --pst-gray-500: #677384;\n  --pst-gray-600: #48566b;\n  --pst-gray-700: #29313d;\n  --pst-gray-800: #222832;\n  --pst-gray-900: #14181e;\n  --pst-pink-50: #fcf8fd;\n  --pst-pink-100: #fcf0fa;\n  --pst-pink-200: #f8dff5;\n  --pst-pink-300: #f3c7ee;\n  --pst-pink-400: #e47fd7;\n  --pst-pink-500: #c132af;\n  --pst-pink-600: #912583;\n  --pst-pink-700: #6e1c64;\n  --pst-pink-800: #46123f;\n  --pst-pink-900: #2b0b27;\n  --pst-foundation-white: #ffffff;\n  --pst-foundation-black: #14181e;\n}\n\n/*******************************************************************************\n* write the color rules for each theme (light/dark)\n*/\n/* NOTE:\n * Mixins enable us to reuse the same definitions for the different modes\n * https://sass-lang.com/documentation/at-rules/mixin\n * something inserts a variable into a CSS selector or property name\n * https://sass-lang.com/documentation/interpolation\n */\n/* Defaults to light mode if data-theme is not set */\nhtml:not([data-theme]) {\n  --pst-color-primary: #0a7d91;\n  --pst-color-primary-bg: #d0ecf1;\n  --pst-color-secondary: #8045e5;\n  --pst-color-secondary-bg: #e0c7ff;\n  --pst-color-accent: #c132af;\n  --pst-color-accent-bg: #f8dff5;\n  --pst-color-info: #276be9;\n  --pst-color-info-bg: #dce7fc;\n  --pst-color-warning: #f66a0a;\n  --pst-color-warning-bg: #f8e3d0;\n  --pst-color-success: #00843f;\n  --pst-color-success-bg: #d6ece1;\n  --pst-color-attention: var(--pst-color-warning);\n  --pst-color-attention-bg: var(--pst-color-warning-bg);\n  --pst-color-danger: #d72d47;\n  --pst-color-danger-bg: #f9e1e4;\n  --pst-color-text-base: #222832;\n  --pst-color-text-muted: #48566b;\n  --pst-color-shadow: rgba(0, 0, 0, 0.1);\n  --pst-color-border: #d1d5da;\n  --pst-color-border-muted: rgba(23, 23, 26, 0.2);\n  --pst-color-blockquote-notch: #677384;\n  --pst-color-inline-code: #912583;\n  --pst-color-inline-code-links: #085d6c;\n  --pst-color-target: #f3cf95;\n  --pst-color-table: #14181e;\n  --pst-color-table-row-hover-bg: #d5b4fd;\n  --pst-color-table-inner-border: #e5e7ea;\n  --pst-color-background: #ffffff;\n  --pst-color-on-background: #ffffff;\n  --pst-color-surface: #f3f4f5;\n  --pst-color-on-surface: #222832;\n}\nhtml:not([data-theme]) {\n  --pst-color-heading: var(--pst-color-text-base);\n  --pst-color-link: var(--pst-color-primary);\n  --pst-color-link-hover: var(--pst-color-secondary);\n  --pst-color-table-outer-border: var(--pst-color-surface);\n  --pst-color-table-heading-bg: var(--pst-color-surface);\n  --pst-color-table-row-zebra-high-bg: var(--pst-color-on-background);\n  --pst-color-table-row-zebra-low-bg: var(--pst-color-surface);\n}\nhtml:not([data-theme]) .only-dark,\nhtml:not([data-theme]) .only-dark ~ figcaption {\n  display: none !important;\n}\n\n/* NOTE: @each {...} is like a for-loop\n * https://sass-lang.com/documentation/at-rules/control/each\n */\nhtml[data-theme=light] {\n  --pst-color-primary: #0a7d91;\n  --pst-color-primary-bg: #d0ecf1;\n  --pst-color-secondary: #8045e5;\n  --pst-color-secondary-bg: #e0c7ff;\n  --pst-color-accent: #c132af;\n  --pst-color-accent-bg: #f8dff5;\n  --pst-color-info: #276be9;\n  --pst-color-info-bg: #dce7fc;\n  --pst-color-warning: #f66a0a;\n  --pst-color-warning-bg: #f8e3d0;\n  --pst-color-success: #00843f;\n  --pst-color-success-bg: #d6ece1;\n  --pst-color-attention: var(--pst-color-warning);\n  --pst-color-attention-bg: var(--pst-color-warning-bg);\n  --pst-color-danger: #d72d47;\n  --pst-color-danger-bg: #f9e1e4;\n  --pst-color-text-base: #222832;\n  --pst-color-text-muted: #48566b;\n  --pst-color-shadow: rgba(0, 0, 0, 0.1);\n  --pst-color-border: #d1d5da;\n  --pst-color-border-muted: rgba(23, 23, 26, 0.2);\n  --pst-color-blockquote-notch: #677384;\n  --pst-color-inline-code: #912583;\n  --pst-color-inline-code-links: #085d6c;\n  --pst-color-target: #f3cf95;\n  --pst-color-table: #14181e;\n  --pst-color-table-row-hover-bg: #d5b4fd;\n  --pst-color-table-inner-border: #e5e7ea;\n  --pst-color-background: #ffffff;\n  --pst-color-on-background: #ffffff;\n  --pst-color-surface: #f3f4f5;\n  --pst-color-on-surface: #222832;\n  color-scheme: light;\n}\nhtml[data-theme=light] {\n  --pst-color-heading: var(--pst-color-text-base);\n  --pst-color-link: var(--pst-color-primary);\n  --pst-color-link-hover: var(--pst-color-secondary);\n  --pst-color-table-outer-border: var(--pst-color-surface);\n  --pst-color-table-heading-bg: var(--pst-color-surface);\n  --pst-color-table-row-zebra-high-bg: var(--pst-color-on-background);\n  --pst-color-table-row-zebra-low-bg: var(--pst-color-surface);\n}\nhtml[data-theme=light] .only-dark,\nhtml[data-theme=light] .only-dark ~ figcaption {\n  display: none !important;\n}\n\nhtml[data-theme=dark] {\n  --pst-color-primary: #3fb1c5;\n  --pst-color-primary-bg: #042c33;\n  --pst-color-secondary: #9c5ffd;\n  --pst-color-secondary-bg: #341a61;\n  --pst-color-accent: #e47fd7;\n  --pst-color-accent-bg: #46123f;\n  --pst-color-info: #79a3f2;\n  --pst-color-info-bg: #06245d;\n  --pst-color-warning: #ff9245;\n  --pst-color-warning-bg: #652a02;\n  --pst-color-success: #5fb488;\n  --pst-color-success-bg: #002f17;\n  --pst-color-attention: var(--pst-color-warning);\n  --pst-color-attention-bg: var(--pst-color-warning-bg);\n  --pst-color-danger: #e78894;\n  --pst-color-danger-bg: #4e111b;\n  --pst-color-text-base: #ced6dd;\n  --pst-color-text-muted: #9ca4af;\n  --pst-color-shadow: rgba(0, 0, 0, 0.2);\n  --pst-color-border: #48566b;\n  --pst-color-border-muted: #29313d;\n  --pst-color-blockquote-notch: #9ca4af;\n  --pst-color-inline-code: #f3c7ee;\n  --pst-color-inline-code-links: #3fb1c5;\n  --pst-color-target: #675c04;\n  --pst-color-table: #ffffff;\n  --pst-color-table-row-hover-bg: #4b258f;\n  --pst-color-table-inner-border: #364150;\n  --pst-color-background: #14181e;\n  --pst-color-on-background: #222832;\n  --pst-color-surface: #29313d;\n  --pst-color-on-surface: #f3f4f5;\n  /* Adjust images in dark mode (unless they have class .only-dark or\n   * .dark-light, in which case assume they're already optimized for dark\n   * mode).\n   */\n  /* Give images a light background in dark mode in case they have\n  *  transparency and black text (unless they have class .only-dark or .dark-light, in\n  *  which case assume they're already optimized for dark mode).\n  */\n  color-scheme: dark;\n}\nhtml[data-theme=dark] {\n  --pst-color-heading: var(--pst-color-text-base);\n  --pst-color-link: var(--pst-color-primary);\n  --pst-color-link-hover: var(--pst-color-secondary);\n  --pst-color-table-outer-border: var(--pst-color-surface);\n  --pst-color-table-heading-bg: var(--pst-color-surface);\n  --pst-color-table-row-zebra-high-bg: var(--pst-color-on-background);\n  --pst-color-table-row-zebra-low-bg: var(--pst-color-surface);\n}\nhtml[data-theme=dark] .only-light,\nhtml[data-theme=dark] .only-light ~ figcaption {\n  display: none !important;\n}\nhtml[data-theme=dark] img:not(.only-dark, .dark-light) {\n  filter: brightness(0.8) contrast(1.2);\n}\nhtml[data-theme=dark] .bd-content img:not(.only-dark, .dark-light) {\n  background-color: rgb(255, 255, 255);\n  border-radius: 0.25rem;\n}\nhtml[data-theme=dark] .MathJax_SVG * {\n  fill: var(--pst-color-text-base);\n}\n\n.pst-color-primary {\n  color: var(--pst-color-primary);\n}\n\n.pst-color-secondary {\n  color: var(--pst-color-secondary);\n}\n\n.pst-color-accent {\n  color: var(--pst-color-accent);\n}\n\n.pst-color-info {\n  color: var(--pst-color-info);\n}\n\n.pst-color-warning {\n  color: var(--pst-color-warning);\n}\n\n.pst-color-success {\n  color: var(--pst-color-success);\n}\n\n.pst-color-attention {\n  color: var(--pst-color-attention);\n}\n\n.pst-color-danger {\n  color: var(--pst-color-danger);\n}\n\n.pst-color-text-base {\n  color: var(--pst-color-text-base);\n}\n\n.pst-color-text-muted {\n  color: var(--pst-color-text-muted);\n}\n\n.pst-color-shadow {\n  color: var(--pst-color-shadow);\n}\n\n.pst-color-border {\n  color: var(--pst-color-border);\n}\n\n.pst-color-border-muted {\n  color: var(--pst-color-border-muted);\n}\n\n.pst-color-blockquote-notch {\n  color: var(--pst-color-blockquote-notch);\n}\n\n.pst-color-inline-code {\n  color: var(--pst-color-inline-code);\n}\n\n.pst-color-inline-code-links {\n  color: var(--pst-color-inline-code-links);\n}\n\n.pst-color-target {\n  color: var(--pst-color-target);\n}\n\n.pst-color-table {\n  color: var(--pst-color-table);\n}\n\n.pst-color-table-row-hover {\n  color: var(--pst-color-table-row-hover);\n}\n\n.pst-color-table-inner-border {\n  color: var(--pst-color-table-inner-border);\n}\n\n.pst-color-background {\n  color: var(--pst-color-background);\n}\n\n.pst-color-on-background {\n  color: var(--pst-color-on-background);\n}\n\n.pst-color-surface {\n  color: var(--pst-color-surface);\n}\n\n.pst-color-on-surface {\n  color: var(--pst-color-on-surface);\n}\n\n/**\n * Miscellaneous color functions and mixins\n**/\n/**\n* Function to get items from nested maps\n*/\n/**\n  * Function to check if the color needs converting to a \"color\" type\n  * if it is a string we cannot use other color manipulation functions\n  * It is used to create the sphinx-design colours as these are often interpolated\n  */\n/**\n  * Function to convert the string representation of a color to a color type (hex)\n  */\n/*********************************************\n* SASS Mixins\n*********************************************/\n/**\n * A consistent box shadow style we apply across elements.\n */\n/**\n   * Set background of some cell outputs to white-ish to make sure colors work\n   * This is because many libraries make output that only looks good on white\n   */\nhtml {\n  font-size: var(--pst-font-size-base);\n  scroll-padding-top: calc(var(--pst-header-height) + 1rem);\n}\n\nbody {\n  background-color: var(--pst-color-background);\n  font-family: var(--pst-font-family-base);\n  font-weight: 400;\n  line-height: 1.65;\n  color: var(--pst-color-text-base);\n  min-height: 100vh;\n  display: flex;\n  flex-direction: column;\n}\nbody::-webkit-scrollbar-track {\n  background-color: var(--pst-color-background);\n}\n\np {\n  margin-bottom: 1.15rem;\n  font-size: 1em;\n  /* section header in docstring pages */\n}\np.rubric {\n  border-bottom: 1px solid var(--pst-color-border);\n}\np.centered {\n  text-align: center;\n}\n\na {\n  word-wrap: break-word;\n  color: var(--pst-color-link);\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n}\na:hover {\n  color: var(--pst-color-link-hover);\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n}\na:active {\n  color: var(--pst-color-link);\n}\na:visited {\n  color: var(--pst-color-link);\n}\na:visited:hover {\n  color: var(--pst-color-link-hover);\n}\na.headerlink {\n  color: var(--pst-color-secondary);\n  font-size: 0.8em;\n  padding: 0 4px;\n  margin-left: 0.2em;\n  text-decoration: none;\n  user-select: none;\n}\na.github::before, a.gitlab::before {\n  color: var(--pst-color-text-muted);\n  font: var(--fa-font-brands);\n  margin-right: 0.25rem;\n}\na.github::before {\n  content: var(--pst-icon-github);\n}\na.gitlab::before {\n  content: var(--pst-icon-gitlab);\n}\n\nh6, .h6, h5, .h5, h4, .h4, h3, .h3, h2, .h2, h1, .h1 {\n  margin: 2.75rem 0 1.05rem;\n  font-family: var(--pst-font-family-heading);\n  font-weight: var(--pst-font-weight-heading);\n  line-height: 1.15;\n}\n\nh1, .h1 {\n  margin-top: 0;\n  font-size: var(--pst-font-size-h1);\n  color: var(--pst-color-heading);\n}\n\nh2, .h2 {\n  font-size: var(--pst-font-size-h2);\n  color: var(--pst-color-heading);\n}\n\nh3, .h3 {\n  font-size: var(--pst-font-size-h3);\n  color: var(--pst-color-heading);\n}\n\nh4, .h4 {\n  font-size: var(--pst-font-size-h4);\n  color: var(--pst-color-heading);\n}\n\nh5, .h5 {\n  font-size: var(--pst-font-size-h5);\n  color: var(--pst-color-text-base);\n}\n\nh6, .h6 {\n  font-size: var(--pst-font-size-h6);\n  color: var(--pst-color-text-base);\n}\n\nsmall, .small,\n.text_small {\n  font-size: var(--pst-font-size-milli);\n}\n\nhr {\n  border: 0;\n  border-top: 1px solid var(--pst-color-border);\n}\n\npre,\ncode,\nkbd,\nsamp {\n  font-family: var(--pst-font-family-monospace);\n}\n\nkbd {\n  background-color: var(--pst-color-on-background);\n  color: var(--pst-color-text-muted);\n}\nkbd:not(.compound) {\n  border: 1px solid var(--pst-color-border);\n  margin: 0 0.1rem;\n  padding: 0.1rem 0.4rem;\n  box-shadow: 1px 1px 1px var(--pst-color-shadow);\n}\n\ncode {\n  color: var(--pst-color-inline-code);\n}\n\npre {\n  margin: 1.5em 0;\n  padding: 1rem;\n  background-color: var(--pst-color-surface);\n  color: var(--pst-color-text-base);\n  line-height: 1.2em;\n  border: 1px solid var(--pst-color-border);\n  border-radius: 0.25rem;\n}\npre .linenos {\n  opacity: 0.8;\n  padding-right: 10px;\n}\n\n#pst-back-to-top {\n  z-index: 1080;\n  position: fixed;\n  display: none;\n  top: 90vh;\n  left: 50vw;\n  transform: translate(-50%);\n  color: var(--pst-color-secondary-text);\n  background-color: var(--pst-color-secondary);\n  border: none;\n}\n#pst-back-to-top .fa-arrow-up {\n  margin-inline-end: 0.5em;\n}\n#pst-back-to-top:hover {\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n  color: var(--pst-color-link-hover);\n  text-decoration-thickness: 1px;\n  background-color: var(--pst-color-secondary-highlight);\n  color: var(--pst-color-secondary-highlight-text);\n}\n#pst-back-to-top:focus-visible {\n  box-shadow: none;\n  outline: var(--pst-color-accent) solid 0.1875rem;\n  outline-color: var(--pst-color-secondary);\n  outline-offset: 0.1875rem;\n}\n\n:focus-visible {\n  outline: var(--pst-color-accent) solid 0.1875rem;\n  box-shadow: none;\n}\n\n/***\n * Rules for the UX/UI of skip navigation link btn.\n * It's only visible to people\n * navigating with keyboard for accessibility purposes\n * ref: https://www.youtube.com/watch?v=VUR0I5mqq7I\n ***/\n.skip-link {\n  position: fixed;\n  top: 0;\n  left: 0;\n  right: 0;\n  text-align: center;\n  background-color: var(--pst-color-warning);\n  padding: 0.5rem;\n  z-index: 1055;\n  border-bottom: 1px solid var(--pst-color-border);\n  transform: translateY(-100%);\n  transition: transform 150ms ease-in-out;\n}\n.skip-link:focus-within {\n  transform: translateY(0%);\n}\n.skip-link a {\n  color: var(--pst-color-warning-text) !important;\n}\n.skip-link a:focus-visible {\n  outline-color: #14181e;\n}\n\n.bd-container {\n  flex-grow: 1;\n  display: flex;\n  justify-content: center;\n}\n.bd-container .bd-container__inner {\n  display: flex;\n}\n\n.bd-page-width {\n  width: 100%;\n}\n@media (min-width: 960px) {\n  .bd-page-width {\n    max-width: 88rem;\n  }\n}\n\n.pst-async-banner-revealer {\n  height: 0;\n  overflow: hidden;\n  transition: height 300ms ease-in-out;\n}\n@media (prefers-reduced-motion) {\n  .pst-async-banner-revealer {\n    transition: none;\n  }\n}\n\n#bd-header-version-warning,\n.bd-header-announcement {\n  min-height: 3rem;\n  width: 100%;\n  display: flex;\n  position: relative;\n  align-items: center;\n  justify-content: center;\n  text-align: center;\n  padding: 0.5rem 12.5%;\n}\n@media (max-width: 959.98px) {\n  #bd-header-version-warning,\n  .bd-header-announcement {\n    padding: 0.5rem 2%;\n  }\n}\n#bd-header-version-warning p,\n.bd-header-announcement p {\n  font-weight: bold;\n  margin: 0;\n}\n#bd-header-version-warning a,\n.bd-header-announcement a {\n  color: var(--pst-color-inline-code-links);\n}\n#bd-header-version-warning .pst-button-link-to-stable-version,\n.bd-header-announcement .pst-button-link-to-stable-version {\n  box-shadow: 0 0.2rem 0.5rem var(--pst-color-shadow), 0 0 0.0625rem var(--pst-color-shadow) !important;\n  background-color: var(--pst-color-danger);\n  border-color: var(--pst-color-danger);\n  color: var(--pst-color-danger-text);\n  border-radius: 0.25rem;\n}\n#bd-header-version-warning .pst-button-link-to-stable-version:hover,\n.bd-header-announcement .pst-button-link-to-stable-version:hover {\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n  color: var(--pst-color-link-hover);\n  text-decoration-thickness: 1px;\n  background-color: var(--pst-color-danger-highlight);\n  border-color: var(--pst-color-danger-highlight);\n  color: var(--pst-color-danger-highlight-text);\n}\n#bd-header-version-warning .pst-button-link-to-stable-version:focus-visible,\n.bd-header-announcement .pst-button-link-to-stable-version:focus-visible {\n  outline: 0.1875rem solid var(--pst-color-danger);\n  outline-offset: 0.1875rem;\n}\n\n.bd-header-announcement {\n  background-color: var(--pst-color-secondary-bg);\n}\n\n#bd-header-version-warning {\n  background-color: var(--pst-color-danger-bg);\n}\n\n/**\n * Main content area\n */\n.bd-main {\n  flex-grow: 1;\n  flex-direction: column;\n  display: flex;\n  min-width: 0;\n}\n.bd-main .bd-content {\n  display: flex;\n  justify-content: center;\n  height: 100%;\n}\n.bd-main .bd-content .bd-article-container {\n  justify-content: start;\n  display: flex;\n  flex-direction: column;\n  width: 100%;\n  max-width: 60em;\n  overflow-x: auto;\n  padding: 1rem;\n}\n@media (min-width: 1200px) {\n  .bd-main .bd-content .bd-article-container .bd-article {\n    padding-top: 1.5rem;\n    padding-left: 2rem;\n  }\n}\n\n.bd-footer {\n  width: 100%;\n  border-top: 1px solid var(--pst-color-border);\n}\n.bd-footer .bd-footer__inner {\n  display: flex;\n  flex-grow: 1;\n  padding: 1rem;\n  margin: auto;\n}\n.bd-footer .footer-items__start,\n.bd-footer .footer-items__center,\n.bd-footer .footer-items__end {\n  display: flex;\n  flex-direction: column;\n  gap: 0.5rem;\n  justify-content: center;\n  flex-grow: 1;\n}\n.bd-footer .footer-items__center {\n  text-align: center;\n}\n.bd-footer .footer-items__end {\n  text-align: end;\n}\n.bd-footer .footer-item p {\n  margin-bottom: 0;\n}\n\n.bd-footer-article {\n  margin-top: auto;\n}\n.bd-footer-article .footer-article-items {\n  display: flex;\n  flex-direction: column;\n}\n\n.bd-footer-content .footer-content-items {\n  display: flex;\n  flex-direction: column;\n  margin-top: auto;\n}\n\n/**\n * Header at the top of the page\n * It includes the announcement bar and the navigation bar.\n */\n.bd-header {\n  position: sticky;\n  top: 0;\n  z-index: 1030;\n  background-color: var(--pst-color-on-background) !important;\n  box-shadow: 0 0.125rem 0.25rem 0 var(--pst-color-shadow);\n  width: 100%;\n  padding: 0;\n  max-width: 100vw;\n  justify-content: center;\n}\n.bd-header .bd-header__inner {\n  display: flex;\n  align-items: center;\n  height: fit-content;\n  padding-left: 1rem;\n  padding-right: 1rem;\n}\n.bd-header :focus-visible {\n  border-radius: 0.125rem;\n}\n.bd-header .navbar-item {\n  height: var(--pst-header-height);\n  max-height: var(--pst-header-height);\n  display: flex;\n  align-items: center;\n}\n.bd-header .navbar-header-items {\n  display: none;\n  flex-shrink: 1;\n}\n@media (min-width: 960px) {\n  .bd-header .navbar-header-items {\n    display: inherit;\n    flex-grow: 1;\n    padding: 0 0 0 0.5rem;\n  }\n}\n.bd-header .navbar-header-items__end,\n.bd-header .navbar-header-items__center,\n.bd-header .navbar-header-items__start {\n  display: flex;\n  align-items: center;\n  flex-flow: wrap;\n  row-gap: 0;\n}\n.bd-header .navbar-header-items__end,\n.bd-header .navbar-header-items__center {\n  column-gap: 1.12rem;\n}\n.bd-header .navbar-header-items__start {\n  flex-shrink: 0;\n  margin-right: auto;\n  gap: 0.5rem;\n}\n.bd-header .navbar-header-items__end {\n  justify-content: end;\n}\n.bd-header ul.navbar-nav {\n  display: flex;\n}\n@media (min-width: 960px) {\n  .bd-header ul.navbar-nav {\n    align-items: baseline;\n  }\n}\n.bd-header ul.navbar-nav > li.nav-item {\n  margin-inline: 2px;\n}\n.bd-header ul.navbar-nav > li.nav-item > .nav-link {\n  color: var(--pst-color-text-muted);\n  position: relative;\n  padding-inline: 6px;\n}\n.bd-header ul.navbar-nav > li.nav-item > .nav-link::before {\n  content: \"\";\n  display: block;\n  position: absolute;\n  inset: 0;\n  background-color: transparent;\n  bottom: calc(-1 * max(3px, .1875rem, .12em));\n  margin: max(3px, .1875rem, .12em) 0;\n}\n.bd-header ul.navbar-nav > li.nav-item > .nav-link:hover {\n  color: var(--pst-color-secondary);\n  text-decoration: none;\n}\n.bd-header ul.navbar-nav > li.nav-item > .nav-link:hover::before {\n  border-bottom: max(3px, .1875rem, .12em) solid var(--pst-color-secondary);\n}\n.bd-header ul.navbar-nav > li.nav-item > .nav-link:focus-visible {\n  box-shadow: none;\n  outline: 3px solid var(--pst-color-accent);\n  outline-offset: 0.1875rem;\n}\n.bd-header ul.navbar-nav > li.nav-item.current > .nav-link {\n  color: var(--pst-color-primary);\n}\n.bd-header ul.navbar-nav > li.nav-item.current > .nav-link::before {\n  border-bottom: 3px solid var(--pst-color-primary);\n}\n.bd-header ul.navbar-nav > li.nav-item.dropdown {\n  margin-inline: 4px;\n}\n.bd-header ul.navbar-nav > li.nav-item.dropdown button {\n  padding-inline: 8px;\n}\n.bd-header ul.navbar-nav > li.nav-item.dropdown > .dropdown-toggle {\n  border-radius: 0.125rem;\n  color: var(--pst-color-text-muted);\n}\n.bd-header ul.navbar-nav > li.nav-item.dropdown > .dropdown-toggle:focus-visible {\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n}\n.bd-header ul.navbar-nav > li.nav-item.dropdown > .dropdown-toggle:hover {\n  text-decoration: none;\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-link-hover);\n  color: var(--pst-color-text-base);\n}\n.bd-header ul.navbar-nav li a.nav-link.dropdown-item {\n  color: var(--pst-color-text-muted);\n  text-decoration: none;\n}\n.bd-header ul.navbar-nav li a.nav-link.dropdown-item:hover {\n  color: var(--pst-color-link-hover);\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n}\n.bd-header ul.navbar-nav .dropdown button {\n  display: unset;\n  border: none;\n}\n.bd-header ul.navbar-nav .dropdown button:hover {\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n  color: var(--pst-color-link-hover);\n}\n.bd-header ul.navbar-nav .dropdown .dropdown-menu {\n  z-index: 1070;\n  border: 1px solid var(--pst-color-border);\n  box-shadow: 0 0 0.3rem 0.1rem var(--pst-color-shadow);\n  background-color: var(--pst-color-on-background);\n  padding: 0.5rem 0;\n  margin: 0.5rem 0;\n  min-width: 20rem;\n}\n.bd-header ul.navbar-nav .dropdown .dropdown-menu .dropdown-item {\n  padding: 0.25rem 1.5rem;\n}\n.bd-header ul.navbar-nav .dropdown .dropdown-menu .dropdown-item:focus:not(:hover, :active) {\n  background-color: inherit;\n}\n.bd-header ul.navbar-nav .dropdown .dropdown-menu .dropdown-item:focus-visible {\n  z-index: 10;\n}\n.bd-header ul.navbar-nav .dropdown .dropdown-menu:not(.show) {\n  display: none;\n}\n.bd-header button.sidebar-toggle {\n  font-size: var(--pst-font-size-icon);\n  color: var(--pst-color-muted);\n  margin-bottom: 0;\n  background-color: inherit;\n  padding: 0.5rem;\n}\n.bd-header button.primary-toggle {\n  margin-right: 1rem;\n}\n@media (min-width: 960px) {\n  .bd-header button.primary-toggle {\n    display: none;\n  }\n}\n.bd-header button.secondary-toggle {\n  margin-left: 1rem;\n}\n@media (min-width: 1200px) {\n  .bd-header button.secondary-toggle {\n    display: none;\n  }\n}\n\n@media (min-width: 960px) {\n  .navbar-center-items .navbar-item {\n    display: inline-block;\n  }\n}\n.nav-link {\n  transition: none;\n}\n.nav-link:hover {\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n  color: var(--pst-color-link-hover);\n}\n.nav-link.nav-external::after {\n  font: var(--fa-font-solid);\n  content: var(--pst-icon-external-link);\n  font-size: 0.75em;\n  margin-left: 0.3em;\n}\n\n.bd-navbar-elements li.nav-item i {\n  font-size: 0.7rem;\n  padding-left: 2px;\n  vertical-align: middle;\n}\n\n.navbar-persistent--mobile {\n  margin-left: auto;\n}\n@media (min-width: 960px) {\n  .navbar-persistent--mobile {\n    display: none;\n  }\n}\n\n.navbar-persistent--container {\n  display: none;\n}\n@media (min-width: 960px) {\n  .navbar-persistent--container {\n    display: flex;\n  }\n}\n\n.header-article__inner {\n  padding: 0 0.5rem;\n}\n.header-article__inner .header-article-item {\n  min-height: var(--pst-header-article-height);\n}\n.header-article__inner .header-article-items__end {\n  margin-left: auto;\n}\n\n/**\n * The primary sidebar on the left.\n * e.g., between-pages navigation.\n */\n.bd-sidebar-primary {\n  display: flex;\n  flex-direction: column;\n  gap: 1rem;\n  max-height: calc(100vh - var(--pst-header-height));\n  position: sticky;\n  top: var(--pst-header-height);\n  flex: 0 0 auto;\n  width: 25%;\n  padding: 2rem 1rem 1rem 1rem;\n  border-right: 1px solid var(--pst-color-border);\n  background-color: var(--pst-color-background);\n  overflow-y: auto;\n  font-size: var(--pst-sidebar-font-size-mobile);\n}\n@media (min-width: 960px) {\n  .bd-sidebar-primary {\n    font-size: var(--pst-sidebar-font-size);\n  }\n}\n.bd-sidebar-primary :focus-visible {\n  border-radius: 0.125rem;\n}\n.bd-sidebar-primary .nav-link {\n  font-size: var(--pst-sidebar-font-size-mobile);\n}\n.bd-sidebar-primary.no-sidebar {\n  border-right: 0;\n}\n@media (min-width: 960px) {\n  .bd-sidebar-primary.hide-on-wide {\n    display: none;\n  }\n}\n.bd-sidebar-primary h1, .bd-sidebar-primary .h1,\n.bd-sidebar-primary h2,\n.bd-sidebar-primary .h2,\n.bd-sidebar-primary h3,\n.bd-sidebar-primary .h3,\n.bd-sidebar-primary h4,\n.bd-sidebar-primary .h4 {\n  color: var(--pst-color-text-base);\n}\n.bd-sidebar-primary .sidebar-primary-items__start .sidebar-primary-item,\n.bd-sidebar-primary .sidebar-primary-items__end .sidebar-primary-item {\n  padding: 0.5rem 0;\n}\n.bd-sidebar-primary .sidebar-header-items {\n  display: flex;\n  flex-direction: column;\n}\n.bd-sidebar-primary .sidebar-header-items .sidebar-header-items__title {\n  font-weight: var(--pst-sidebar-header-font-weight);\n  font-size: var(--pst-sidebar-header-font-size);\n  color: var(--pst-color-text-base);\n  margin-bottom: 0.5rem;\n}\n.bd-sidebar-primary .sidebar-header-items .bd-navbar-elements .nav-link:focus-visible {\n  box-shadow: none;\n  outline: var(--pst-color-accent) solid 0.1875rem;\n  outline-offset: 0.1875rem;\n}\n.bd-sidebar-primary .sidebar-header-items .sidebar-header-items__center {\n  display: flex;\n  flex-direction: column;\n}\n.bd-sidebar-primary .sidebar-header-items .sidebar-header-items__end {\n  display: flex;\n  align-items: center;\n  gap: 1rem;\n}\n@media (min-width: 960px) {\n  .bd-sidebar-primary .sidebar-header-items {\n    display: none;\n  }\n}\n.bd-sidebar-primary .sidebar-primary-items__start {\n  border-top: 1px solid var(--pst-color-border);\n}\n@media (min-width: 960px) {\n  .bd-sidebar-primary .sidebar-primary-items__start {\n    border-top: none;\n  }\n}\n.bd-sidebar-primary .sidebar-primary-items__end {\n  margin-top: auto;\n  margin-bottom: 1em;\n}\n.bd-sidebar-primary .list-caption {\n  list-style: none;\n  padding-left: 0;\n}\n.bd-sidebar-primary .list-caption li.toctree-l0.has-children > details > summary {\n  position: relative;\n  height: auto;\n  width: auto;\n  display: flex;\n  justify-content: space-between;\n  align-items: baseline;\n}\n.bd-sidebar-primary .list-caption li.toctree-l0.has-children > details > summary .toctree-toggle {\n  flex: 0 0 auto;\n}\n.bd-sidebar-primary .list-caption li.toctree-l0.has-children > details > summary .toctree-toggle .fa-chevron-down {\n  font-size: 1rem;\n}\n.bd-sidebar-primary li.has-children {\n  position: relative;\n}\n.bd-sidebar-primary li.has-children > .reference,\n.bd-sidebar-primary li.has-children .caption {\n  margin-right: calc(30px + 0.1875rem);\n  padding-top: 0.25rem;\n}\n.bd-sidebar-primary li.has-children > details > summary {\n  list-style: none;\n}\n.bd-sidebar-primary li.has-children > details > summary::-webkit-details-marker {\n  display: none;\n}\n.bd-sidebar-primary li.has-children > details > summary:focus-visible {\n  outline: none;\n}\n.bd-sidebar-primary li.has-children > details > summary:focus-visible > .toctree-toggle {\n  outline: var(--pst-color-accent) solid 0.1875rem;\n  outline-offset: -0.1875rem;\n}\n.bd-sidebar-primary li.has-children > details > summary .toctree-toggle {\n  cursor: pointer;\n  position: absolute;\n  top: 0;\n  right: 0;\n  width: 30px;\n  height: 30px;\n  display: inline-flex;\n  justify-content: center;\n  align-items: center;\n}\n.bd-sidebar-primary li.has-children > details > summary .toctree-toggle .fa-chevron-down {\n  font-size: 0.75rem;\n}\n.bd-sidebar-primary li.has-children > details[open] > summary .fa-chevron-down {\n  transform: rotate(180deg);\n}\n\n/* Between-page links and captions */\nnav.bd-links {\n  margin-right: -1rem;\n}\n@media (min-width: 960px) {\n  nav.bd-links {\n    display: block;\n  }\n}\nnav.bd-links ul {\n  display: block;\n  list-style: none;\n}\nnav.bd-links ul ul {\n  padding: 0 0 0 1rem;\n}\nnav.bd-links li > a {\n  display: block;\n  padding: 0.25rem 0.65rem;\n  color: var(--pst-color-text-muted);\n  text-decoration: none;\n  box-shadow: none;\n  margin-right: 0.1875rem;\n}\nnav.bd-links li > a:hover {\n  text-decoration: underline;\n  background-color: transparent;\n  color: var(--pst-color-link-hover);\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n}\nnav.bd-links li > a:active {\n  color: var(--pst-color-link-hover);\n}\nnav.bd-links li > a:focus-visible {\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n  outline: none;\n  z-index: 10;\n}\nnav.bd-links li > a.reference.external::after {\n  font: var(--fa-font-solid);\n  content: var(--pst-icon-external-link);\n  font-size: 0.75em;\n  margin-left: 0.3em;\n}\nnav.bd-links .current > a {\n  font-weight: 600;\n  color: var(--pst-color-primary);\n  box-shadow: inset max(3px, .1875rem, .12em) 0 0 var(--pst-color-primary);\n  background-color: transparent;\n}\nnav.bd-links .current > a:focus-visible {\n  box-shadow: inset max(3px, .1875rem, .12em) 0 0 var(--pst-color-primary), 0 0 0 0.1875rem var(--pst-color-accent);\n  outline: none;\n}\nnav.bd-links p.bd-links__title {\n  font-size: var(--pst-sidebar-header-font-size);\n  font-weight: var(--pst-sidebar-header-font-weight);\n  margin-bottom: 0.5rem;\n}\nnav.bd-links p.caption {\n  font-weight: var(--pst-sidebar-header-font-weight);\n  position: relative;\n  margin-top: 1.25rem;\n  margin-bottom: 0.5rem;\n  color: var(--pst-color-text-base);\n  font-size: var(--pst-sidebar-font-size-mobile);\n}\nnav.bd-links p.caption:first-child {\n  margin-top: 0;\n}\n@media (min-width: 960px) {\n  nav.bd-links p.caption {\n    font-size: var(--pst-sidebar-font-size);\n  }\n}\n\n/**\n * Secondary sidebar on the right.\n * e.g., in-page table of contents.\n */\n.bd-sidebar-secondary {\n  display: flex;\n  order: 2;\n  flex-shrink: 0;\n  flex-direction: column;\n  position: sticky;\n  top: var(--pst-header-height);\n  max-height: calc(100vh - var(--pst-header-height));\n  padding: 2rem 1rem 1rem;\n  width: var(--pst-sidebar-secondary);\n  font-size: var(--pst-sidebar-font-size-mobile);\n  background-color: var(--pst-color-background);\n  overflow-y: auto;\n}\n@media (min-width: 1200px) {\n  .bd-sidebar-secondary {\n    font-size: var(--pst-sidebar-font-size);\n  }\n}\n\n.sidebar-secondary-item {\n  padding: 0.5rem;\n}\n@media (min-width: 1200px) {\n  .sidebar-secondary-item {\n    border-left: 1px solid var(--pst-color-border);\n    padding-left: 1rem;\n  }\n}\n.sidebar-secondary-item i {\n  padding-right: 0.5rem;\n}\n\n/*******************************************************************************\n* Rules for the UX/UI of sidebar sliding drawers on mobile\n* Note that this sheet controls styles across many parts of the theme\n* It is aggregated into this one sheet instead of being split across\n* components in order to keep it easier to debug in one place.\n* It is broken up into major sections below.\n*/\n/*******************************************************************************\n* Sidebar drawer behavior\n*/\n/**\n * NOTE: We use this mixin to define the toggle behavior on narrow screens,\n * And the wide-screen behavior of the sections is defined in their own section\n * .scss files.\n */\n.bd-sidebar::backdrop {\n  background-color: black;\n  opacity: 0.5;\n}\n\n@media (max-width: 959.98px) {\n  .bd-sidebar-primary {\n    position: fixed;\n    top: 0;\n    z-index: 1055;\n    height: 100vh;\n    max-height: 100vh;\n    width: 75%;\n    flex-grow: 0.75;\n    max-width: 350px;\n    transition: visibility 200ms ease-out, margin 200ms ease-out;\n    visibility: hidden;\n    border: 0;\n    margin-left: -75%;\n    left: 0;\n  }\n}\n.bd-sidebar-primary[open] {\n  margin-left: 0;\n  visibility: visible;\n}\n\n@media (max-width: 1199.98px) {\n  .bd-sidebar-secondary {\n    position: fixed;\n    top: 0;\n    z-index: 1055;\n    height: 100vh;\n    max-height: 100vh;\n    width: 75%;\n    flex-grow: 0.75;\n    max-width: 350px;\n    transition: visibility 200ms ease-out, margin 200ms ease-out;\n    visibility: hidden;\n    border: 0;\n    margin-right: -75%;\n    right: 0;\n  }\n}\n.bd-sidebar-secondary[open] {\n  margin-right: 0;\n  visibility: visible;\n}\n\n/**\n * Breadcrumbs for parent pages meant for the article header\n */\nul.bd-breadcrumbs {\n  list-style: none;\n  padding-left: 0;\n  display: flex;\n  flex-wrap: wrap;\n  font-size: 0.8rem;\n}\nul.bd-breadcrumbs li.breadcrumb-item {\n  display: flex;\n  align-items: center;\n  white-space: nowrap;\n  overflow-x: hidden;\n  font-weight: bold;\n}\nul.bd-breadcrumbs li.breadcrumb-item a,\nul.bd-breadcrumbs li.breadcrumb-item .ellipsis {\n  overflow-x: hidden;\n  text-overflow: ellipsis;\n  margin: 0.1875rem;\n}\nul.bd-breadcrumbs li.breadcrumb-item a {\n  color: var(--pst-color-text-muted);\n  text-decoration: none;\n}\nul.bd-breadcrumbs li.breadcrumb-item a:hover {\n  color: var(--pst-color-link-hover);\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n}\nul.bd-breadcrumbs li.breadcrumb-item:not(.breadcrumb-home)::before {\n  font: var(--fa-font-solid);\n  font-size: 0.8rem;\n  content: var(--pst-breadcrumb-divider);\n  color: var(--pst-color-text-muted);\n  padding: 0 0.5rem;\n}\n\n/**\n * Icon links in the navbar\n */\nhtml .pst-navbar-icon {\n  box-sizing: border-box;\n  min-width: 24px;\n  min-height: 24px;\n  color: var(--pst-color-text-muted);\n  position: relative;\n  display: flex;\n  align-items: center;\n  justify-content: center;\n  border-radius: 0;\n  border: none;\n  font-size: 1rem;\n  line-height: 1.65;\n  padding: 0.25rem 0;\n  height: 2.15rem;\n}\nhtml .pst-navbar-icon::before {\n  content: \"\";\n  display: block;\n  position: absolute;\n  inset: 0;\n  background-color: transparent;\n  bottom: calc(-1 * max(3px, .1875rem, .12em));\n  margin: max(3px, .1875rem, .12em) 0;\n}\nhtml .pst-navbar-icon:hover {\n  color: var(--pst-color-secondary);\n  text-decoration: none;\n}\nhtml .pst-navbar-icon:hover::before {\n  border-bottom: max(3px, .1875rem, .12em) solid var(--pst-color-secondary);\n}\nhtml .pst-navbar-icon:focus-visible {\n  box-shadow: none;\n  outline: 3px solid var(--pst-color-accent);\n  outline-offset: 0.1875rem;\n}\n\nul.navbar-icon-links {\n  display: flex;\n  flex-flow: row wrap;\n  column-gap: 1.12rem;\n  justify-content: space-evenly;\n  align-items: center;\n  padding-left: 0;\n  margin-bottom: 0;\n  list-style: none;\n}\nul.navbar-icon-links i {\n  /* Social media buttons hard-code the brand color */\n}\nul.navbar-icon-links i.fa-brands, ul.navbar-icon-links i.fa-regular, ul.navbar-icon-links i.fa-solid {\n  vertical-align: middle;\n  font-style: normal;\n  font-size: var(--pst-font-size-icon);\n}\nul.navbar-icon-links i.fa-square-twitter::before {\n  color: #55acee;\n}\nul.navbar-icon-links i.fa-square-gitlab::before {\n  color: #548;\n}\nul.navbar-icon-links i.fa-bitbucket::before {\n  color: #0052cc;\n}\nul.navbar-icon-links img.icon-link-image {\n  height: 1.5em;\n  border-radius: 0.2rem;\n}\nul.navbar-icon-links .fa-pydata {\n  stroke: var(--pst-color-background);\n  stroke-linejoin: round;\n  stroke-width: 0.35;\n}\n\n/**\n * Logo in the navbar\n */\n.navbar-brand {\n  position: relative;\n  height: var(--pst-header-height);\n  max-height: var(--pst-header-height);\n  padding: 0.5rem 0;\n  width: auto;\n  margin: 0;\n  display: flex;\n  flex-shrink: 0;\n  align-items: center;\n  gap: 0.5rem;\n}\n.navbar-brand p {\n  color: var(--pst-color-text-base);\n  margin-bottom: 0;\n}\n.navbar-brand img {\n  max-width: 100%;\n  height: 100%;\n  width: auto;\n}\n.navbar-brand:hover, .navbar-brand:visited:hover {\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n  color: var(--pst-color-link-hover);\n  color: var(--pst-color-text-base);\n}\n\n/**\n * Navigation links in the navbar and icon links\n */\nul.navbar-nav ul {\n  padding: 0 0 0 1rem;\n}\nul.navbar-nav li {\n  display: flex;\n  flex-direction: column;\n}\nul.navbar-nav li a {\n  display: flex;\n  align-items: center;\n  height: 100%;\n  padding-top: 0.25rem;\n  padding-bottom: 0.25rem;\n  color: var(--pst-color-text-muted);\n  text-decoration: none;\n}\nul.navbar-nav li a:hover {\n  color: var(--pst-color-link-hover);\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n}\n\n/**\n * The list of in-page TOC links\n */\n.page-toc .section-nav {\n  padding-left: 0;\n  border-bottom: none;\n}\n.page-toc .section-nav ul {\n  padding-left: 1rem;\n}\n.page-toc .nav-link {\n  font-size: var(--pst-sidebar-font-size-mobile);\n}\n@media (min-width: 1200px) {\n  .page-toc .nav-link {\n    font-size: var(--pst-sidebar-font-size);\n  }\n}\n.page-toc .onthispage {\n  color: var(--pst-color-text-base);\n  font-weight: var(--pst-sidebar-header-font-weight);\n  margin-bottom: 0.5rem;\n}\n\n/**\n* Previous / Next navigation buttons\n**/\n.prev-next-area {\n  width: 100%;\n}\n.prev-next-area p {\n  color: var(--pst-color-text-muted);\n  margin: 0 0.3em;\n  line-height: 1.3em;\n}\n.prev-next-area i {\n  font-size: 1.2em;\n}\n.prev-next-area a {\n  display: flex;\n  align-items: center;\n  border: none;\n  padding: 10px;\n  max-width: 45%;\n  overflow-x: hidden;\n  color: var(--pst-color-text-muted);\n  text-decoration: none;\n}\n.prev-next-area a p.prev-next-title {\n  word-wrap: break-word;\n  color: var(--pst-color-link);\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  font-weight: var(--pst-admonition-font-weight-heading);\n  font-size: 1.1em;\n}\n.prev-next-area a p.prev-next-title:hover {\n  color: var(--pst-color-link-hover);\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n}\n.prev-next-area a p.prev-next-title:active {\n  color: var(--pst-color-link);\n}\n.prev-next-area a p.prev-next-title:visited {\n  color: var(--pst-color-link);\n}\n.prev-next-area a p.prev-next-title:visited:hover {\n  color: var(--pst-color-link-hover);\n}\n.prev-next-area a:hover p.prev-next-title, .prev-next-area a:visited:hover p.prev-next-title {\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n  color: var(--pst-color-link-hover);\n}\n.prev-next-area a .prev-next-info {\n  flex-direction: column;\n  margin: 0 0.5em;\n}\n.prev-next-area a .prev-next-info .prev-next-subtitle {\n  text-transform: capitalize;\n}\n.prev-next-area a.left-prev {\n  float: left;\n}\n.prev-next-area a.right-next {\n  float: right;\n}\n.prev-next-area a.right-next div.prev-next-info {\n  text-align: right;\n}\n\n/**\n * Search field\n **/\n.bd-search {\n  position: relative;\n  padding-left: 0.5rem;\n  gap: 0.5rem;\n  background-color: var(--pst-color-background);\n  border-radius: 0.25rem;\n  border: 1px solid var(--pst-color-border);\n  color: var(--pst-color-text-base);\n}\n.bd-search:active {\n  background-color: var(--pst-color-background);\n  color: var(--pst-color-text-muted);\n}\n.bd-search:focus-within {\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n}\n.bd-search:focus-within input:focus {\n  box-shadow: none;\n}\n.bd-search .icon {\n  position: absolute;\n  color: var(--pst-color-border);\n  left: 25px;\n}\n.bd-search .fa-solid.fa-magnifying-glass {\n  position: absolute;\n  left: calc((2.5rem - 0.7em) / 2);\n  color: var(--pst-color-text-muted);\n}\n.bd-search input.form-control {\n  background-color: var(--pst-color-background);\n  color: var(--pst-color-text-base);\n  border: none;\n}\n.bd-search input.form-control::placeholder {\n  color: var(--pst-color-text-muted);\n}\n.bd-search input.form-control::-webkit-search-cancel-button, .bd-search input.form-control::-webkit-search-decoration {\n  appearance: none;\n}\n.bd-search input.form-control:focus, .bd-search input.form-control:focus-visible {\n  color: var(--pst-color-text-muted);\n}\n.bd-search .search-button__kbd-shortcut {\n  display: none;\n  margin-inline-end: 0.5rem;\n  color: var(--pst-color-border);\n}\n@media (min-width: 720px) {\n  .bd-search .search-button__kbd-shortcut {\n    display: flex;\n  }\n}\n\n/**\n * Search button - located in the navbar\n */\n.search-button i {\n  font-size: 1.3rem;\n}\n\n/**\n * The search modal <dialog>\n */\n#pst-search-dialog {\n  display: none;\n}\n#pst-search-dialog[open] {\n  display: flex;\n  position: fixed;\n  z-index: 1055;\n  top: 30%;\n  left: 50%;\n  transform: translate(-50%, -50%);\n  right: 1rem;\n  margin-top: 0.5rem;\n  width: 90%;\n  max-width: 800px;\n  background-color: transparent;\n  padding: 0.1875rem;\n  border: none;\n}\n#pst-search-dialog[open]::backdrop {\n  background-color: black;\n  opacity: 0.5;\n}\n#pst-search-dialog[open] form.bd-search {\n  flex-grow: 1;\n}\n#pst-search-dialog[open] form.bd-search svg,\n#pst-search-dialog[open] form.bd-search input {\n  font-size: var(--pst-font-size-icon);\n}\n\n/**\n * The search button component that looks like a field.\n * Lives at components/search-button-field.html\n */\n.search-button-field {\n  display: inline-flex;\n  align-items: center;\n  border: var(--pst-color-border) solid 1px;\n  border-radius: 1.5em;\n  color: var(--pst-color-text-muted);\n  padding: 0.5em;\n  background-color: var(--pst-color-surface);\n}\n.search-button-field:hover {\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-link-hover);\n}\n.search-button-field:focus-visible {\n  border-radius: 1.5em;\n}\n.search-button-field .search-button__default-text {\n  font-size: var(--bs-nav-link-font-size);\n  font-weight: var(--bs-nav-link-font-weight);\n  margin-right: 0.5em;\n  margin-left: 0.5em;\n}\n.search-button-field .kbd-shortcut__modifier {\n  font-size: 0.75em;\n}\n.search-button-field > * {\n  align-items: center;\n}\n.search-button-field > :not(svg) {\n  display: none;\n}\n@media (min-width: 960px) {\n  .search-button-field > :not(svg) {\n    display: flex;\n  }\n}\n\n/**\n * The 'Hide Search Matches' button.\n * This only shows up when a person lands on a page after clicking a search result.\n * Clicking it removes the highlighting of the search term from the page.\n * We want it to behave like a button.\n */\ndiv#searchbox p.highlight-link {\n  margin: 1rem 0;\n  width: fit-content;\n  box-shadow: 0 0.2rem 0.5rem var(--pst-color-shadow), 0 0 0.0625rem var(--pst-color-shadow) !important;\n}\n@media (min-width: 1200px) {\n  div#searchbox p.highlight-link {\n    margin-left: 2rem;\n  }\n}\ndiv#searchbox p.highlight-link a {\n  border-radius: 0.25rem;\n  font-size: 1.25rem;\n  padding: 0.75rem;\n  background-color: var(--pst-color-primary);\n  color: var(--pst-color-primary-text);\n  text-decoration: none;\n  transition: box-shadow 0.25s ease-out;\n}\ndiv#searchbox p.highlight-link a:hover {\n  box-shadow: inset 0 0 50px 50px rgba(0, 0, 0, 0.25);\n}\ndiv#searchbox p.highlight-link a::before {\n  content: var(--pst-icon-search-minus);\n  color: unset;\n  font: var(--fa-font-solid);\n  margin-right: 0.5rem;\n}\n\n/**\n * Light/dark theme switcher\n */\n.theme-switch-button .theme-switch {\n  display: none;\n}\n.theme-switch-button .theme-switch:active {\n  text-decoration: none;\n  color: var(--pst-color-link-hover);\n}\n.theme-switch-button .theme-switch .fa-lg {\n  aspect-ratio: 1/1;\n}\n\nhtml[data-mode=auto] .theme-switch-button .theme-switch[data-mode=auto] {\n  display: inline;\n}\n\nhtml[data-mode=light] .theme-switch-button .theme-switch[data-mode=light] {\n  display: inline;\n}\n\nhtml[data-mode=dark] .theme-switch-button .theme-switch[data-mode=dark] {\n  display: inline;\n}\n\nbutton.btn.version-switcher__button {\n  border-color: var(--pst-color-border);\n  color: var(--pst-color-text-base);\n  margin-bottom: 1em;\n}\n@media (min-width: 960px) {\n  button.btn.version-switcher__button {\n    margin-bottom: unset;\n  }\n}\nbutton.btn.version-switcher__button:hover {\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-secondary);\n  border-color: transparent;\n}\nbutton.btn.version-switcher__button:active {\n  color: var(--pst-color-text-base);\n  border-color: var(--pst-color-border);\n}\nbutton.btn.version-switcher__button:focus-visible {\n  border-color: transparent;\n}\n\n.version-switcher__menu {\n  border-color: var(--pst-color-border);\n  border-radius: var(--bs-dropdown-border-radius);\n}\n.version-switcher__menu a.list-group-item {\n  background-color: var(--pst-color-on-background);\n  color: var(--pst-color-text-base);\n  padding: 0.75rem 1.25rem;\n}\n.version-switcher__menu a.list-group-item:not(:last-child) {\n  border-bottom: 1px solid var(--pst-color-border);\n}\n.version-switcher__menu a.list-group-item:hover {\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n  color: var(--pst-color-link-hover);\n  background-color: var(--pst-color-surface);\n}\n.version-switcher__menu a.list-group-item.active {\n  font-weight: 600;\n  color: var(--pst-color-primary);\n  box-shadow: inset max(3px, .1875rem, .12em) 0 0 var(--pst-color-primary);\n  position: relative;\n  z-index: 1;\n}\n.version-switcher__menu a.list-group-item.active:focus-visible {\n  box-shadow: inset max(3px, .1875rem, .12em) 0 0 var(--pst-color-primary), 0 0 0 0.1875rem var(--pst-color-accent);\n  outline: none;\n}\n.version-switcher__menu a.list-group-item.active span::before {\n  content: \"\";\n  width: 100%;\n  height: 100%;\n  position: absolute;\n  z-index: -1;\n  left: 0;\n  top: 0;\n}\n.version-switcher__menu a.list-group-item:focus-visible {\n  z-index: 10;\n}\n\nbutton.version-switcher__button,\n.version-switcher__menu {\n  font-size: 1.1em;\n  z-index: 1055;\n  box-sizing: border-box;\n  min-width: 24px;\n  min-height: 24px;\n}\n@media (min-width: 960px) {\n  button.version-switcher__button,\n  .version-switcher__menu {\n    font-size: unset;\n  }\n}\n\n/* Collapsing of the TOC sidebar while scrolling */\n/* Nav: hide second level (shown on .active) */\nnav.page-toc {\n  margin-bottom: 1rem;\n}\n\n.bd-toc .nav .nav {\n  display: none;\n}\n.bd-toc .nav .nav.visible {\n  display: block;\n}\n.bd-toc .nav > .active > ul {\n  display: block;\n}\n\n.toc-entry {\n  display: block;\n}\n.toc-entry a > code {\n  color: var(--pst-color-text-muted);\n}\n.toc-entry a.nav-link {\n  display: block;\n  padding: 0.25rem 0;\n  padding-left: 1rem;\n  margin-left: -1rem;\n  color: var(--pst-color-text-muted);\n  text-decoration: none;\n}\n.toc-entry a.nav-link:hover {\n  text-decoration: underline;\n  background-color: transparent;\n  color: var(--pst-color-link-hover);\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n}\n.toc-entry a.nav-link:active {\n  color: var(--pst-color-link-hover);\n}\n.toc-entry a.nav-link:focus-visible {\n  box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n  outline: none;\n  z-index: 10;\n}\n.toc-entry a.nav-link.active {\n  font-weight: 600;\n  color: var(--pst-color-primary);\n  box-shadow: inset max(3px, .1875rem, .12em) 0 0 var(--pst-color-primary);\n  background-color: transparent;\n}\n.toc-entry a.nav-link.active:focus-visible {\n  box-shadow: inset max(3px, .1875rem, .12em) 0 0 var(--pst-color-primary), 0 0 0 0.1875rem var(--pst-color-accent);\n  outline: none;\n}\n.toc-entry a.nav-link.active:hover {\n  color: var(--pst-color-link-hover);\n}\n.toc-entry a.nav-link:focus-visible {\n  border-radius: 0.125rem;\n}\n\ndiv.versionadded,\ndiv.versionchanged,\ndiv.deprecated {\n  vertical-align: middle;\n  margin: 1.5625em auto;\n  padding: 0 0.6rem;\n  overflow: hidden;\n  /* break-inside has replaced page-break-inside and is widely usable since 2019 */\n  page-break-inside: avoid;\n  break-inside: avoid;\n  border-left: 0.2rem solid;\n  border-color: var(--pst-color-info);\n  border-radius: 0.25rem;\n  background-color: var(--pst-color-on-background);\n  box-shadow: 0 0.2rem 0.5rem var(--pst-color-shadow), 0 0 0.0625rem var(--pst-color-shadow) !important;\n  position: relative;\n}\ndiv.versionadded > p,\ndiv.versionchanged > p,\ndiv.deprecated > p {\n  margin-bottom: 0.6rem;\n  margin-top: 0.6rem;\n}\n\ndiv.versionadded {\n  border-color: var(--pst-color-success);\n  background-color: var(--pst-color-success-bg);\n}\n\ndiv.versionchanged {\n  border-color: var(--pst-color-warning);\n  background-color: var(--pst-color-warning-bg);\n}\n\ndiv.deprecated {\n  border-color: var(--pst-color-danger);\n  background-color: var(--pst-color-danger-bg);\n}\n\nspan.versionmodified {\n  font-weight: 600;\n}\nspan.versionmodified::before {\n  margin-right: 0.6rem;\n  color: var(--pst-color-info);\n  font: var(--fa-font-solid);\n  content: var(--pst-icon-versionmodified-default);\n}\n\nspan.versionmodified.added::before {\n  color: var(--pst-color-success);\n  content: var(--pst-icon-versionmodified-added);\n}\n\nspan.versionmodified.changed::before {\n  color: var(--pst-color-warning);\n  content: var(--pst-icon-versionmodified-changed);\n}\n\nspan.versionmodified.deprecated::before {\n  color: var(--pst-color-danger);\n  content: var(--pst-icon-versionmodified-deprecated);\n}\n\n.sidebar-indices-items {\n  display: flex;\n  flex-direction: column;\n  border-top: 1px solid var(--pst-color-border);\n}\n@media (min-width: 960px) {\n  .sidebar-indices-items {\n    border-top: none;\n  }\n}\n.sidebar-indices-items .sidebar-indices-items__title {\n  font-weight: var(--pst-sidebar-header-font-weight);\n  font-size: var(--pst-sidebar-header-font-size);\n  color: var(--pst-color-text-base);\n  margin-bottom: 0.5rem;\n}\n.sidebar-indices-items ul.indices-link {\n  margin-right: -1rem;\n  list-style: none;\n  padding: 0;\n}\n.sidebar-indices-items ul.indices-link li > a {\n  display: block;\n  padding: 0.25rem 0;\n  color: var(--pst-color-text-muted);\n}\n.sidebar-indices-items ul.indices-link li > a:hover {\n  color: var(--pst-color-primary);\n  text-decoration: none;\n  background-color: transparent;\n}\n\n/**\n * Admonitions and blocks of styled content.\n * Admonitions CSS originally inspired by https://squidfunk.github.io/mkdocs-material/getting-started/\n */\ndiv.admonition,\n.admonition {\n  margin: 1.5625em auto;\n  padding: 0 0.6rem 0.8rem;\n  overflow: hidden;\n  /* break-inside has replaced page-break-inside and is widely usable since 2019 */\n  page-break-inside: avoid;\n  break-inside: avoid;\n  border-left: 0.2rem solid;\n  border-color: var(--pst-color-info);\n  border-radius: 0.25rem;\n  background-color: var(--pst-color-on-background);\n  box-shadow: 0 0.2rem 0.5rem var(--pst-color-shadow), 0 0 0.0625rem var(--pst-color-shadow) !important;\n  /**\n   * Special-case for a `sidebar` class that makes the admonition float to\n   * the right like the {sidebar} directive.\n   */\n}\ndiv.admonition *:last-child,\n.admonition *:last-child {\n  margin-bottom: 0;\n}\ndiv.admonition p.admonition-title ~ *,\n.admonition p.admonition-title ~ * {\n  margin-left: 1.4rem;\n  margin-right: 1.4rem;\n}\ndiv.admonition > ol,\ndiv.admonition > ul,\n.admonition > ol,\n.admonition > ul {\n  margin-left: 1em;\n}\ndiv.admonition > .admonition-title,\n.admonition > .admonition-title {\n  margin: 0 -0.6rem;\n  padding: 0.4rem 0.6rem 0.4rem 2rem;\n  font-weight: var(--pst-admonition-font-weight-heading);\n  position: relative;\n  background-color: var(--pst-color-info-bg);\n  z-index: 1;\n}\ndiv.admonition > .admonition-title::before,\n.admonition > .admonition-title::before {\n  content: \"\";\n  width: 100%;\n  height: 100%;\n  position: absolute;\n  left: 0;\n  top: 0;\n  z-index: -1;\n  pointer-events: none;\n}\ndiv.admonition > .admonition-title::after,\n.admonition > .admonition-title::after {\n  position: absolute;\n  left: 0.5rem;\n  width: 1rem;\n  height: 1rem;\n  color: var(--pst-color-info);\n  font: var(--fa-font-solid);\n  line-height: inherit;\n  content: var(--pst-icon-admonition-default);\n  opacity: 1;\n}\ndiv.admonition > .admonition-title + *,\n.admonition > .admonition-title + * {\n  margin-top: 0.4em;\n}\ndiv.admonition.attention,\n.admonition.attention {\n  border-color: var(--pst-color-attention);\n}\ndiv.admonition.attention > .admonition-title,\n.admonition.attention > .admonition-title {\n  background-color: var(--pst-color-attention-bg);\n}\ndiv.admonition.attention > .admonition-title::after,\n.admonition.attention > .admonition-title::after {\n  color: var(--pst-color-attention);\n  content: var(--pst-icon-admonition-attention);\n}\ndiv.admonition.caution,\n.admonition.caution {\n  border-color: var(--pst-color-warning);\n}\ndiv.admonition.caution > .admonition-title,\n.admonition.caution > .admonition-title {\n  background-color: var(--pst-color-warning-bg);\n}\ndiv.admonition.caution > .admonition-title::after,\n.admonition.caution > .admonition-title::after {\n  color: var(--pst-color-warning);\n  content: var(--pst-icon-admonition-caution);\n}\ndiv.admonition.warning,\n.admonition.warning {\n  border-color: var(--pst-color-warning);\n}\ndiv.admonition.warning > .admonition-title,\n.admonition.warning > .admonition-title {\n  background-color: var(--pst-color-warning-bg);\n}\ndiv.admonition.warning > .admonition-title::after,\n.admonition.warning > .admonition-title::after {\n  color: var(--pst-color-warning);\n  content: var(--pst-icon-admonition-warning);\n}\ndiv.admonition.danger,\n.admonition.danger {\n  border-color: var(--pst-color-danger);\n}\ndiv.admonition.danger > .admonition-title,\n.admonition.danger > .admonition-title {\n  background-color: var(--pst-color-danger-bg);\n}\ndiv.admonition.danger > .admonition-title::after,\n.admonition.danger > .admonition-title::after {\n  color: var(--pst-color-danger);\n  content: var(--pst-icon-admonition-danger);\n}\ndiv.admonition.error,\n.admonition.error {\n  border-color: var(--pst-color-danger);\n}\ndiv.admonition.error > .admonition-title,\n.admonition.error > .admonition-title {\n  background-color: var(--pst-color-danger-bg);\n}\ndiv.admonition.error > .admonition-title::after,\n.admonition.error > .admonition-title::after {\n  color: var(--pst-color-danger);\n  content: var(--pst-icon-admonition-error);\n}\ndiv.admonition.hint,\n.admonition.hint {\n  border-color: var(--pst-color-success);\n}\ndiv.admonition.hint > .admonition-title,\n.admonition.hint > .admonition-title {\n  background-color: var(--pst-color-success-bg);\n}\ndiv.admonition.hint > .admonition-title::after,\n.admonition.hint > .admonition-title::after {\n  color: var(--pst-color-success);\n  content: var(--pst-icon-admonition-hint);\n}\ndiv.admonition.tip,\n.admonition.tip {\n  border-color: var(--pst-color-success);\n}\ndiv.admonition.tip > .admonition-title,\n.admonition.tip > .admonition-title {\n  background-color: var(--pst-color-success-bg);\n}\ndiv.admonition.tip > .admonition-title::after,\n.admonition.tip > .admonition-title::after {\n  color: var(--pst-color-success);\n  content: var(--pst-icon-admonition-tip);\n}\ndiv.admonition.important,\n.admonition.important {\n  border-color: var(--pst-color-attention);\n}\ndiv.admonition.important > .admonition-title,\n.admonition.important > .admonition-title {\n  background-color: var(--pst-color-attention-bg);\n}\ndiv.admonition.important > .admonition-title::after,\n.admonition.important > .admonition-title::after {\n  color: var(--pst-color-attention);\n  content: var(--pst-icon-admonition-important);\n}\ndiv.admonition.note,\n.admonition.note {\n  border-color: var(--pst-color-info);\n}\ndiv.admonition.note > .admonition-title,\n.admonition.note > .admonition-title {\n  background-color: var(--pst-color-info-bg);\n}\ndiv.admonition.note > .admonition-title::after,\n.admonition.note > .admonition-title::after {\n  color: var(--pst-color-info);\n  content: var(--pst-icon-admonition-note);\n}\ndiv.admonition.seealso,\n.admonition.seealso {\n  border-color: var(--pst-color-success);\n}\ndiv.admonition.seealso > .admonition-title,\n.admonition.seealso > .admonition-title {\n  background-color: var(--pst-color-success-bg);\n}\ndiv.admonition.seealso > .admonition-title::after,\n.admonition.seealso > .admonition-title::after {\n  color: var(--pst-color-success);\n  content: var(--pst-icon-admonition-seealso);\n}\ndiv.admonition.admonition-todo,\n.admonition.admonition-todo {\n  border-color: var(--pst-color-secondary);\n}\ndiv.admonition.admonition-todo > .admonition-title,\n.admonition.admonition-todo > .admonition-title {\n  background-color: var(--pst-color-secondary-bg);\n}\ndiv.admonition.admonition-todo > .admonition-title::after,\n.admonition.admonition-todo > .admonition-title::after {\n  color: var(--pst-color-secondary);\n  content: var(--pst-icon-admonition-todo);\n}\ndiv.admonition.sidebar,\n.admonition.sidebar {\n  max-width: 40%;\n  float: right;\n  clear: both;\n  margin-left: 0.5rem;\n  margin-top: 0;\n  border-width: 0 0 0 0.2rem;\n}\ndiv.admonition.sidebar.attention, div.admonition.sidebar.important,\n.admonition.sidebar.attention,\n.admonition.sidebar.important {\n  border-color: var(--pst-color-attention);\n}\ndiv.admonition.sidebar.caution, div.admonition.sidebar.warning,\n.admonition.sidebar.caution,\n.admonition.sidebar.warning {\n  border-color: var(--pst-color-warning);\n}\ndiv.admonition.sidebar.danger, div.admonition.sidebar.error,\n.admonition.sidebar.danger,\n.admonition.sidebar.error {\n  border-color: var(--pst-color-danger);\n}\ndiv.admonition.sidebar.hint, div.admonition.sidebar.tip, div.admonition.sidebar.seealso,\n.admonition.sidebar.hint,\n.admonition.sidebar.tip,\n.admonition.sidebar.seealso {\n  border-color: var(--pst-color-success);\n}\ndiv.admonition.sidebar.note, div.admonition.sidebar.todo,\n.admonition.sidebar.note,\n.admonition.sidebar.todo {\n  border-color: var(--pst-color-info);\n}\ndiv.admonition.sidebar p.admonition-title ~ *,\n.admonition.sidebar p.admonition-title ~ * {\n  margin-left: 0;\n  margin-right: 0;\n}\n\n/**************************************************************\n * Similar content blocks that are not technically admonitions.\n */\n/**\n * Topics and the {contents} directive\n */\ndiv.topic,\ndiv.topic.contents,\nnav.contents,\naside.topic {\n  display: flex;\n  flex-direction: column;\n  background-color: var(--pst-color-surface);\n  border-color: var(--pst-color-border);\n  border-radius: 0.25rem;\n  padding: 1rem 1.25rem;\n  box-shadow: 0 0.2rem 0.5rem var(--pst-color-shadow), 0 0 0.0625rem var(--pst-color-shadow) !important;\n}\ndiv.topic .topic-title,\ndiv.topic.contents .topic-title,\nnav.contents .topic-title,\naside.topic .topic-title {\n  margin: 0 0 0.5rem;\n}\ndiv.topic p,\ndiv.topic.contents p,\nnav.contents p,\naside.topic p {\n  color: var(--pst-color-on-surface) !important;\n}\ndiv.topic ul.simple,\ndiv.topic.contents ul.simple,\nnav.contents ul.simple,\naside.topic ul.simple {\n  padding-left: 1rem;\n}\ndiv.topic ul.simple ul,\ndiv.topic.contents ul.simple ul,\nnav.contents ul.simple ul,\naside.topic ul.simple ul {\n  padding-left: 2em;\n}\n\n/**\n * Sidebar directive\n */\naside.sidebar {\n  border: 1px solid var(--pst-color-border);\n  background-color: var(--pst-color-surface);\n  border-radius: 0.25rem;\n  margin-left: 0.5rem;\n  padding: 0;\n}\naside.sidebar > *:last-child {\n  padding-bottom: 1rem;\n}\naside.sidebar p.sidebar-title {\n  position: relative;\n  margin-bottom: 0;\n  padding-top: 0.5rem;\n  padding-bottom: 0.5rem;\n  border-bottom: 1px solid var(--pst-color-border);\n  font-family: var(--pst-font-family-heading);\n  font-weight: var(--pst-admonition-font-weight-heading);\n}\naside.sidebar > *:not(.sidebar-title):first-child,\naside.sidebar > p.sidebar-title + * {\n  margin-top: 1rem;\n}\naside.sidebar > * {\n  padding-left: 1rem;\n  padding-right: 1rem;\n}\n\n/**\n * Rubrics look kind of like section headers\n */\np.rubric {\n  display: flex;\n  flex-direction: column;\n}\n\n/**\n * Seealso is kind of like a vertically-collapsed admonition\n */\n.seealso dd {\n  margin-top: 0;\n  margin-bottom: 0;\n}\n\n/*******************************************************************************\n* Styling for field lists\n*/\n/* grey highlighting of 'parameter' and 'returns' field */\ntable.field-list {\n  border-collapse: separate;\n  border-spacing: 10px;\n  margin-left: 1px;\n  /* italic font for parameter types */\n}\ntable.field-list th.field-name {\n  padding: 1px 8px 1px 5px;\n  white-space: nowrap;\n  background-color: var(--pst-color-surface);\n}\ntable.field-list td.field-body {\n  /* reduced space around parameter description */\n}\ntable.field-list td.field-body p {\n  font-style: italic;\n}\ntable.field-list td.field-body p > strong {\n  font-style: normal;\n}\ntable.field-list td.field-body blockquote {\n  border-left: none;\n  margin: 0 0 0.3em;\n  padding-left: 30px;\n}\n\n/*******************************************************************************\n* Styling for autosummary tables\n*/\n.table.autosummary td:first-child {\n  white-space: nowrap;\n}\n\n/* overriding basic.css to use our own monospace font */\n.sig {\n  font-family: var(--pst-font-family-monospace);\n}\n\n/* C++ specific styling - overriding the basic.css to avoid custom colors */\n.sig-inline.c-texpr,\n.sig-inline.cpp-texpr {\n  font-family: unset;\n}\n\n.sig.c .k,\n.sig.c .kt,\n.sig.cpp .k,\n.sig.cpp .kt {\n  color: var(--pst-color-text-base);\n}\n\n.sig.c .m,\n.sig.cpp .m {\n  color: var(--pst-color-text-base);\n}\n\n.sig.c .s,\n.sig.c .sc,\n.sig.cpp .s,\n.sig.cpp .sc {\n  color: var(--pst-color-text-base);\n}\n\n.sig-name {\n  color: var(--pst-color-inline-code);\n}\n\n.sig-param .o,\n.sig-param .default_value {\n  color: var(--pst-color-text-muted);\n  font-weight: normal;\n}\n\ndt:target,\nspan.highlighted {\n  background-color: var(--pst-color-target);\n}\n\n.viewcode-back {\n  font-family: var(--pst-font-family-base);\n}\n\n.viewcode-block:target {\n  border-top: 1px solid var(--pst-color-border);\n  border-bottom: 1px solid var(--pst-color-border);\n  position: relative;\n  background-color: var(--pst-color-target);\n}\n\ndl > dt > a:has(.viewcode-link) {\n  float: right;\n}\ndl > dt > a:has(.viewcode-link) .viewcode-link {\n  float: none;\n}\n\n/*******************************************************************************\n* Styling for autosummary titles like \"parameters\" and \"returns\"\n*/\ndl[class]:not(.option-list, .field-list, .footnote, .glossary, .simple) {\n  margin-bottom: 3rem;\n}\ndl[class]:not(.option-list, .field-list, .footnote, .glossary, .simple) dd {\n  margin-left: 2rem;\n}\ndl[class]:not(.option-list, .field-list, .footnote, .glossary, .simple) dd > dl.simple > dt {\n  display: flex;\n}\ndl[class]:not(.option-list, .field-list, .footnote, .glossary, .simple) dl.field-list {\n  display: grid;\n  grid-template-columns: unset;\n}\ndl[class]:not(.option-list, .field-list, .footnote, .glossary, .simple) dt.field-odd,\ndl[class]:not(.option-list, .field-list, .footnote, .glossary, .simple) dt.field-even {\n  margin-top: 0.2rem;\n  margin-bottom: 0.1rem;\n  background-color: var(--pst-color-surface);\n}\n\n/**\n * Code block styling\n * Note that we inherit a lot of styling from Bootstrap so not many rules here.\n */\ndiv[class*=highlight-],\ndiv.highlight,\ndiv.literal-block-wrapper {\n  display: flex;\n  flex-direction: column;\n  width: unset;\n  border-radius: 0.25rem;\n  break-inside: avoid;\n}\n\ndiv.literal-block-wrapper {\n  border: 1px solid var(--pst-color-border);\n  border-radius: 0.25rem;\n}\ndiv.literal-block-wrapper div.code-block-caption {\n  margin: 0;\n  border-bottom: 1px solid var(--pst-color-border);\n  padding: 0.5rem;\n  font-size: 1rem;\n  font-weight: var(--pst-font-weight-caption);\n}\ndiv.literal-block-wrapper div.code-block-caption a.headerlink {\n  font-size: inherit;\n}\ndiv.literal-block-wrapper div[class*=highlight-] {\n  margin: 0;\n  border-radius: 0;\n}\ndiv.literal-block-wrapper div[class*=highlight-] pre {\n  border: none;\n  box-shadow: none;\n}\n\n/**\n * In-line code\n */\ncode.literal {\n  padding: 0.1rem 0.25rem;\n  background-color: var(--pst-color-surface);\n  border: 1px solid var(--pst-color-border);\n  border-radius: 0.25rem;\n}\n\na > code {\n  color: var(--pst-color-inline-code-links);\n}\na > code:hover {\n  color: var(--pst-color-link-hover);\n}\n\nspan.linenos {\n  opacity: 0.8 !important;\n}\n\nfigure > a,\nfigure > a > img,\nfigure > img,\nfigure > video {\n  display: block;\n  margin-left: auto;\n  margin-right: auto;\n}\n\nfigure a.headerlink {\n  position: absolute;\n  font-size: inherit;\n}\nfigure:hover a.headerlink {\n  visibility: visible;\n}\nfigure figcaption {\n  font-family: var(--pst-font-family-heading);\n  font-weight: var(--pst-font-weight-caption);\n  color: var(--pst-color-text-muted);\n  margin-left: auto;\n  margin-right: auto;\n  margin-top: 0.3rem;\n  text-align: center;\n}\nfigure figcaption > p:last-child {\n  margin-bottom: 0;\n}\nfigure figcaption p {\n  text-align: start;\n  display: inline-block;\n}\nfigure figcaption table.table {\n  width: fit-content;\n  margin-left: auto;\n  margin-right: auto;\n}\n\ndt.label > span.brackets:not(:only-child)::before {\n  content: \"[\";\n}\n\ndt.label > span.brackets:not(:only-child)::after {\n  content: \"]\";\n}\n\na.footnote-reference {\n  vertical-align: super;\n  font-size: small;\n}\n\naside.footnote {\n  margin-bottom: 0.5rem;\n}\naside.footnote:last-child {\n  margin-bottom: 1rem;\n}\naside.footnote span.label,\naside.footnote span.backrefs {\n  font-weight: bold;\n}\naside.footnote:target {\n  background-color: var(--pst-color-target);\n}\n\n/**\n * Hacky fixes that don't fit cleanly into other sections\n */\ntable.highlighttable td.linenos,\nspan.linenos,\ndiv.doctest > div.highlight span.gp {\n  /* gp: Generic.Prompt */\n  user-select: none;\n}\n\ndd {\n  margin-top: 3px;\n  margin-bottom: 10px;\n  margin-left: 30px;\n}\n\nol,\nul {\n  padding-inline-start: 2rem;\n}\nol li > p:first-child,\nul li > p:first-child {\n  margin-bottom: 0.25rem;\n  margin-top: 0.25rem;\n}\n\nblockquote {\n  padding: 1em;\n  color: var(--pst-color-text-muted);\n  border-left: 0.25em solid var(--pst-color-blockquote-notch);\n  border-radius: 0.25rem;\n  position: relative;\n  background-color: var(--pst-color-surface);\n}\nblockquote p {\n  color: var(--pst-color-text-base);\n}\nblockquote .line-block {\n  margin: 0;\n}\nblockquote p:last-child {\n  margin-bottom: 0;\n}\nblockquote::before {\n  content: \"\";\n  width: 100%;\n  height: 100%;\n  position: absolute;\n  left: 0;\n  top: 0;\n  z-index: -1;\n  pointer-events: none;\n}\nblockquote a {\n  color: var(--pst-color-inline-code-links);\n}\nblockquote::before {\n  z-index: -1;\n}\n\n/**\n * Span-level styling within content\n */\nspan.guilabel {\n  border: 1px solid var(--pst-color-info);\n  font-size: 80%;\n  font-weight: 700;\n  border-radius: 4px;\n  padding: 2.4px 6px;\n  margin: auto 2px;\n  position: relative;\n  background-color: var(--pst-color-info-bg);\n}\nspan.guilabel::before {\n  content: \"\";\n  width: 100%;\n  height: 100%;\n  position: absolute;\n  left: 0;\n  top: 0;\n  z-index: -1;\n  pointer-events: none;\n}\n\na.reference.download::before {\n  content: var(--pst-icon-download);\n  font: var(--fa-font-solid);\n  font-size: 0.8em;\n  padding: 0 0.25em;\n  color: var(--pst-color-text-muted);\n}\n\n/**\n * Tables\n */\ntable {\n  margin-left: auto;\n  margin-right: auto;\n}\ntable.table-right {\n  margin-right: 0;\n}\ntable.table-left {\n  margin-left: 0;\n}\n\ntable caption {\n  text-align: center;\n  caption-side: top;\n  color: var(--pst-color-text-muted);\n}\n\nth.text-left,\ntd.text-left {\n  text-align: left;\n}\nth.text-right,\ntd.text-right {\n  text-align: right;\n}\nth.text-center,\ntd.text-center {\n  text-align: center;\n}\n\n.table {\n  color: var(--pst-color-table);\n  border: 1px solid var(--pst-color-table-outer-border);\n  --bs-table-bg: transparent;\n  --bs-table-color: var(\n    --pst-color-text-base\n  );\n}\n.table th ~ th,\n.table th ~ td,\n.table td ~ th,\n.table td ~ td {\n  border-left: 1px solid var(--pst-color-table-inner-border);\n}\n.table thead tr {\n  background-color: var(--pst-color-table-heading-bg);\n  border-bottom: 2px solid var(--pst-color-primary);\n}\n.table tbody tr:nth-child(odd) {\n  background-color: var(--pst-color-table-row-zebra-low-bg);\n}\n.table tbody tr:nth-child(even) {\n  background-color: var(--pst-color-table-row-zebra-high-bg);\n}\n\n.pst-scrollable-table-container {\n  overflow-x: auto;\n}\n\n/**\n * Style the toctree component in pages (avoid modifying the navbars)\n */\n.toctree-wrapper p.caption {\n  font-size: 1.5em;\n  margin-bottom: 0;\n}\n.toctree-wrapper > ul {\n  padding-left: 0;\n}\n.toctree-wrapper li[class^=toctree-l] {\n  list-style: none;\n  margin-bottom: 0.2em;\n}\n.toctree-wrapper li[class^=toctree-l] > a {\n  list-style: none;\n  font-size: 1.1em;\n}\n.toctree-wrapper li[class^=toctree-l] > ul {\n  list-style: none;\n  padding-inline-start: 1.5em;\n}\n.toctree-wrapper .toctree-l1 > a {\n  font-size: 1.3em;\n}\n\ndiv.topic.contents ul.simple,\nnav.contents ul.simple {\n  list-style: none;\n  padding-left: 0;\n}\n\n/**\n * Mathematics via MathJax.\n *\n * This is designed for MathJax v3\n * ref: https://www.sphinx-doc.org/en/master/usage/extensions/math.html#module-sphinx.ext.mathjax\n */\nspan.math,\ndiv.math {\n  align-items: center;\n  display: flex;\n  max-width: 100%;\n  overflow: hidden;\n}\n\nspan.math {\n  display: inline-flex;\n}\n\ndiv.math {\n  gap: 0.5em;\n  flex-direction: row-reverse;\n}\ndiv.math span.eqno a.headerlink {\n  position: relative;\n  font-size: 1em;\n}\ndiv.math mjx-container {\n  flex-grow: 1;\n  padding-bottom: 0.2rem;\n  overflow: auto;\n}\ndiv.math mjx-container mjx-assistive-mml {\n  height: 0;\n}\n\n/**\n * ABlog\n * ref: https://ablog.readthedocs.io/\n */\n/**\n * Sidebar template components\n */\n.ablog-sidebar-item h2, .ablog-sidebar-item .h2,\n.ablog-sidebar-item h3,\n.ablog-sidebar-item .h3 {\n  font-size: var(--pst-sidebar-header-font-size);\n  margin-top: 0.5rem;\n}\n.ablog-sidebar-item h2 a, .ablog-sidebar-item .h2 a,\n.ablog-sidebar-item h3 a,\n.ablog-sidebar-item .h3 a {\n  color: var(--pst-color-text-base);\n}\n.ablog-sidebar-item ul {\n  list-style: none;\n  padding-left: 0;\n  overflow-y: hidden;\n  display: flex;\n  flex-direction: column;\n  gap: 0.5em;\n  margin-bottom: 0;\n}\n.ablog-sidebar-item ul.ablog-cloud {\n  flex-flow: row wrap;\n  gap: 0.5rem;\n}\n.ablog-sidebar-item ul.ablog-cloud li {\n  display: flex;\n  align-items: center;\n}\n\n/**\n * Previous / next buttons at the bottom\n */\n.ablog__prev-next {\n  font-size: 1.2em;\n  display: flex;\n  padding: 1rem 0;\n}\n.ablog__prev-next > span {\n  display: flex;\n  max-width: 45%;\n}\n.ablog__prev-next > span a {\n  display: flex;\n  align-items: center;\n  margin-left: auto;\n  gap: 1rem;\n  line-height: 1.5rem;\n}\n.ablog__prev-next > span a i::before {\n  color: var(--pst-color-text-base);\n}\n.ablog__prev-next span.ablog__prev i.fa-arrow-circle-left::before {\n  content: var(--pst-icon-angle-left);\n}\n.ablog__prev-next span.ablog__spacer {\n  display: none;\n}\n.ablog__prev-next span.ablog__next {\n  margin-left: auto;\n  text-align: right;\n}\n.ablog__prev-next span.ablog__next i.fa-arrow-circle-right::before {\n  content: var(--pst-icon-angle-right);\n}\n\n/**\n * {postlist} directive and posts page\n */\n.ablog__collection,\n.postlist {\n  padding-left: 0;\n}\n.ablog__collection .ablog-post,\n.postlist .ablog-post {\n  list-style: none;\n}\n.ablog__collection .ablog-post .ablog-archive,\n.postlist .ablog-post .ablog-archive {\n  display: flex;\n  flex-flow: row wrap;\n  gap: 1rem;\n  list-style: none;\n  font-size: 0.75rem;\n  padding-left: 0;\n}\n.ablog__collection .ablog-post .ablog-post-title,\n.postlist .ablog-post .ablog-post-title {\n  margin-top: 0;\n  font-size: 1.25rem;\n}\n.ablog__collection .ablog-post .ablog-post-title a,\n.postlist .ablog-post .ablog-post-title a {\n  font-weight: bold;\n}\n.ablog__collection .ablog-post .ablog-post-expand,\n.postlist .ablog-post .ablog-post-expand {\n  margin-bottom: 0.5rem;\n}\n\n/**\n * Special cases for Bootstrap functionality\n */\n.docutils.container {\n  padding-left: unset;\n  padding-right: unset;\n  margin-left: unset;\n  margin-right: unset;\n  max-width: unset;\n  width: unset;\n}\n\n.btn {\n  --bs-btn-focus-box-shadow: 0 0 0 0.1875rem var(--pst-color-accent);\n}\n\n/**\n * Sphinx Copybutton\n * ref: https://sphinx-copybutton.readthedocs.io/\n */\ndiv.highlight button.copybtn {\n  display: flex;\n  align-items: center;\n  justify-content: center;\n  border: none;\n  background-color: var(--pst-color-surface);\n}\ndiv.highlight button.copybtn:not(.success) {\n  color: var(--pst-color-muted);\n}\ndiv.highlight button.copybtn:hover:not(.success) {\n  color: var(--pst-color-text);\n  background-color: var(--pst-color-shadow);\n}\ndiv.highlight button.copybtn.o-tooltip--left::after {\n  color: var(--pst-color-text);\n  background-color: var(--pst-color-surface);\n}\ndiv.highlight button.copybtn:focus {\n  opacity: 1;\n}\ndiv.highlight button.copybtn:focus-visible {\n  outline: var(--pst-color-accent) solid 0.1875rem;\n}\n\ndiv.highlight:has(button.copybtn) {\n  min-height: 2em;\n}\n\n#ethical-ad-placement .ethical-sidebar a,\n#ethical-ad-placement .ethical-sidebar a:visited,\n#ethical-ad-placement .ethical-sidebar a:hover,\n#ethical-ad-placement .ethical-sidebar a:active,\n#ethical-ad-placement .ethical-footer a,\n#ethical-ad-placement .ethical-footer a:visited,\n#ethical-ad-placement .ethical-footer a:hover,\n#ethical-ad-placement .ethical-footer a:active {\n  color: var(--pst-color-text-base);\n}\n#ethical-ad-placement .ethical-sidebar,\n#ethical-ad-placement .ethical-footer {\n  background-color: var(--pst-color-background);\n  border: 1px solid var(--pst-color-border);\n  border-radius: 5px;\n  color: var(--pst-color-text-base);\n  font-size: 14px;\n  line-height: 20px;\n}\n\n/**\n * Styles for various Sphinx execution libraries.\n * For now, where these define output sections, we simply revert their background\n * to be a \"light theme\" background. This ensures that inputs/outputs behave similarly,\n * because the CSS is often controlled by each package.\n * In the future, we might add dark theme support for specific packages.\n */\n/******************************************************************************\n * Jupyter Sphinx\n */\n.bd-content div.jupyter_container {\n  border: none;\n  background-color: unset;\n  box-shadow: none;\n}\n.bd-content div.jupyter_container div.output,\n.bd-content div.jupyter_container div.highlight {\n  border-radius: 0.25rem;\n}\n.bd-content div.jupyter_container div.highlight {\n  background-color: var(--pst-color-surface);\n}\n.bd-content div.jupyter_container .cell_input,\n.bd-content div.jupyter_container .cell_output {\n  border-radius: 0.25rem;\n}\n.bd-content div.jupyter_container .cell_input pre,\n.bd-content div.jupyter_container .cell_output pre {\n  padding: 1rem;\n}\n\n/* Styles for graphviz generated output from Sphinx */\n/* Style the inheritance diagram such that it has a dark mode */\nhtml[data-theme=dark] div.graphviz > object.inheritance {\n  filter: brightness(0.8) invert(0.82) contrast(1.2);\n  color-scheme: normal;\n}\n\n/**\n * Special-cases for packages in the PyData ecosystem\n */\n.xr-wrap[hidden] {\n  display: block !important;\n}\n\n.jp-OutputArea-output.lm-Widget {\n  overflow: auto;\n}\n\n/*******************************************************************************\n* master color map. Only the colors that actually differ between light and dark\n* themes are specified separately.\n*\n* To see the full list of colors see https://www.figma.com/file/rUrrHGhUBBIAAjQ82x6pz9/PyData-Design-system---proposal-for-implementation-(2)?node-id=1234%3A765&t=ifcFT1JtnrSshGfi-1\n*/\n/**\n* Function to get items from nested maps\n*/\n/* Assign base colors for the PyData theme */\n:root {\n  --pst-teal-50: #f4fbfc;\n  --pst-teal-100: #e9f6f8;\n  --pst-teal-200: #d0ecf1;\n  --pst-teal-300: #abdde6;\n  --pst-teal-400: #3fb1c5;\n  --pst-teal-500: #0a7d91;\n  --pst-teal-600: #085d6c;\n  --pst-teal-700: #064752;\n  --pst-teal-800: #042c33;\n  --pst-teal-900: #021b1f;\n  --pst-violet-50: #f4eefb;\n  --pst-violet-100: #e0c7ff;\n  --pst-violet-200: #d5b4fd;\n  --pst-violet-300: #b780ff;\n  --pst-violet-400: #9c5ffd;\n  --pst-violet-500: #8045e5;\n  --pst-violet-600: #6432bd;\n  --pst-violet-700: #4b258f;\n  --pst-violet-800: #341a61;\n  --pst-violet-900: #1e0e39;\n  --pst-gray-50: #f9f9fa;\n  --pst-gray-100: #f3f4f5;\n  --pst-gray-200: #e5e7ea;\n  --pst-gray-300: #d1d5da;\n  --pst-gray-400: #9ca4af;\n  --pst-gray-500: #677384;\n  --pst-gray-600: #48566b;\n  --pst-gray-700: #29313d;\n  --pst-gray-800: #222832;\n  --pst-gray-900: #14181e;\n  --pst-pink-50: #fcf8fd;\n  --pst-pink-100: #fcf0fa;\n  --pst-pink-200: #f8dff5;\n  --pst-pink-300: #f3c7ee;\n  --pst-pink-400: #e47fd7;\n  --pst-pink-500: #c132af;\n  --pst-pink-600: #912583;\n  --pst-pink-700: #6e1c64;\n  --pst-pink-800: #46123f;\n  --pst-pink-900: #2b0b27;\n  --pst-foundation-white: #ffffff;\n  --pst-foundation-black: #14181e;\n}\n\n/*******************************************************************************\n* write the color rules for each theme (light/dark)\n*/\n/* NOTE:\n * Mixins enable us to reuse the same definitions for the different modes\n * https://sass-lang.com/documentation/at-rules/mixin\n * something inserts a variable into a CSS selector or property name\n * https://sass-lang.com/documentation/interpolation\n */\n/* Defaults to light mode if data-theme is not set */\nhtml:not([data-theme]) {\n  --pst-color-primary: #0a7d91;\n  --pst-color-primary-bg: #d0ecf1;\n  --pst-color-secondary: #8045e5;\n  --pst-color-secondary-bg: #e0c7ff;\n  --pst-color-accent: #c132af;\n  --pst-color-accent-bg: #f8dff5;\n  --pst-color-info: #276be9;\n  --pst-color-info-bg: #dce7fc;\n  --pst-color-warning: #f66a0a;\n  --pst-color-warning-bg: #f8e3d0;\n  --pst-color-success: #00843f;\n  --pst-color-success-bg: #d6ece1;\n  --pst-color-attention: var(--pst-color-warning);\n  --pst-color-attention-bg: var(--pst-color-warning-bg);\n  --pst-color-danger: #d72d47;\n  --pst-color-danger-bg: #f9e1e4;\n  --pst-color-text-base: #222832;\n  --pst-color-text-muted: #48566b;\n  --pst-color-shadow: rgba(0, 0, 0, 0.1);\n  --pst-color-border: #d1d5da;\n  --pst-color-border-muted: rgba(23, 23, 26, 0.2);\n  --pst-color-blockquote-notch: #677384;\n  --pst-color-inline-code: #912583;\n  --pst-color-inline-code-links: #085d6c;\n  --pst-color-target: #f3cf95;\n  --pst-color-table: #14181e;\n  --pst-color-table-row-hover-bg: #d5b4fd;\n  --pst-color-table-inner-border: #e5e7ea;\n  --pst-color-background: #ffffff;\n  --pst-color-on-background: #ffffff;\n  --pst-color-surface: #f3f4f5;\n  --pst-color-on-surface: #222832;\n}\n\nhtml:not([data-theme]) {\n  --pst-color-heading: var(--pst-color-text-base);\n  --pst-color-link: var(--pst-color-primary);\n  --pst-color-link-hover: var(--pst-color-secondary);\n  --pst-color-table-outer-border: var(--pst-color-surface);\n  --pst-color-table-heading-bg: var(--pst-color-surface);\n  --pst-color-table-row-zebra-high-bg: var(--pst-color-on-background);\n  --pst-color-table-row-zebra-low-bg: var(--pst-color-surface);\n}\n\nhtml:not([data-theme]) .only-dark,\nhtml:not([data-theme]) .only-dark ~ figcaption {\n  display: none !important;\n}\n\n/* NOTE: @each {...} is like a for-loop\n * https://sass-lang.com/documentation/at-rules/control/each\n */\nhtml[data-theme=light] {\n  --pst-color-primary: #0a7d91;\n  --pst-color-primary-bg: #d0ecf1;\n  --pst-color-secondary: #8045e5;\n  --pst-color-secondary-bg: #e0c7ff;\n  --pst-color-accent: #c132af;\n  --pst-color-accent-bg: #f8dff5;\n  --pst-color-info: #276be9;\n  --pst-color-info-bg: #dce7fc;\n  --pst-color-warning: #f66a0a;\n  --pst-color-warning-bg: #f8e3d0;\n  --pst-color-success: #00843f;\n  --pst-color-success-bg: #d6ece1;\n  --pst-color-attention: var(--pst-color-warning);\n  --pst-color-attention-bg: var(--pst-color-warning-bg);\n  --pst-color-danger: #d72d47;\n  --pst-color-danger-bg: #f9e1e4;\n  --pst-color-text-base: #222832;\n  --pst-color-text-muted: #48566b;\n  --pst-color-shadow: rgba(0, 0, 0, 0.1);\n  --pst-color-border: #d1d5da;\n  --pst-color-border-muted: rgba(23, 23, 26, 0.2);\n  --pst-color-blockquote-notch: #677384;\n  --pst-color-inline-code: #912583;\n  --pst-color-inline-code-links: #085d6c;\n  --pst-color-target: #f3cf95;\n  --pst-color-table: #14181e;\n  --pst-color-table-row-hover-bg: #d5b4fd;\n  --pst-color-table-inner-border: #e5e7ea;\n  --pst-color-background: #ffffff;\n  --pst-color-on-background: #ffffff;\n  --pst-color-surface: #f3f4f5;\n  --pst-color-on-surface: #222832;\n  color-scheme: light;\n}\n\nhtml[data-theme=light] {\n  --pst-color-heading: var(--pst-color-text-base);\n  --pst-color-link: var(--pst-color-primary);\n  --pst-color-link-hover: var(--pst-color-secondary);\n  --pst-color-table-outer-border: var(--pst-color-surface);\n  --pst-color-table-heading-bg: var(--pst-color-surface);\n  --pst-color-table-row-zebra-high-bg: var(--pst-color-on-background);\n  --pst-color-table-row-zebra-low-bg: var(--pst-color-surface);\n}\n\nhtml[data-theme=light] .only-dark,\nhtml[data-theme=light] .only-dark ~ figcaption {\n  display: none !important;\n}\n\nhtml[data-theme=dark] {\n  --pst-color-primary: #3fb1c5;\n  --pst-color-primary-bg: #042c33;\n  --pst-color-secondary: #9c5ffd;\n  --pst-color-secondary-bg: #341a61;\n  --pst-color-accent: #e47fd7;\n  --pst-color-accent-bg: #46123f;\n  --pst-color-info: #79a3f2;\n  --pst-color-info-bg: #06245d;\n  --pst-color-warning: #ff9245;\n  --pst-color-warning-bg: #652a02;\n  --pst-color-success: #5fb488;\n  --pst-color-success-bg: #002f17;\n  --pst-color-attention: var(--pst-color-warning);\n  --pst-color-attention-bg: var(--pst-color-warning-bg);\n  --pst-color-danger: #e78894;\n  --pst-color-danger-bg: #4e111b;\n  --pst-color-text-base: #ced6dd;\n  --pst-color-text-muted: #9ca4af;\n  --pst-color-shadow: rgba(0, 0, 0, 0.2);\n  --pst-color-border: #48566b;\n  --pst-color-border-muted: #29313d;\n  --pst-color-blockquote-notch: #9ca4af;\n  --pst-color-inline-code: #f3c7ee;\n  --pst-color-inline-code-links: #3fb1c5;\n  --pst-color-target: #675c04;\n  --pst-color-table: #ffffff;\n  --pst-color-table-row-hover-bg: #4b258f;\n  --pst-color-table-inner-border: #364150;\n  --pst-color-background: #14181e;\n  --pst-color-on-background: #222832;\n  --pst-color-surface: #29313d;\n  --pst-color-on-surface: #f3f4f5;\n  /* Adjust images in dark mode (unless they have class .only-dark or\n   * .dark-light, in which case assume they're already optimized for dark\n   * mode).\n   */\n  /* Give images a light background in dark mode in case they have\n  *  transparency and black text (unless they have class .only-dark or .dark-light, in\n  *  which case assume they're already optimized for dark mode).\n  */\n  color-scheme: dark;\n}\n\nhtml[data-theme=dark] {\n  --pst-color-heading: var(--pst-color-text-base);\n  --pst-color-link: var(--pst-color-primary);\n  --pst-color-link-hover: var(--pst-color-secondary);\n  --pst-color-table-outer-border: var(--pst-color-surface);\n  --pst-color-table-heading-bg: var(--pst-color-surface);\n  --pst-color-table-row-zebra-high-bg: var(--pst-color-on-background);\n  --pst-color-table-row-zebra-low-bg: var(--pst-color-surface);\n}\n\nhtml[data-theme=dark] .only-light,\nhtml[data-theme=dark] .only-light ~ figcaption {\n  display: none !important;\n}\n\nhtml[data-theme=dark] img:not(.only-dark, .dark-light) {\n  filter: brightness(0.8) contrast(1.2);\n}\n\nhtml[data-theme=dark] .bd-content img:not(.only-dark, .dark-light) {\n  background-color: rgb(255, 255, 255);\n  border-radius: 0.25rem;\n}\n\nhtml[data-theme=dark] .MathJax_SVG * {\n  fill: var(--pst-color-text-base);\n}\n\n.pst-color-primary {\n  color: var(--pst-color-primary);\n}\n\n.pst-color-secondary {\n  color: var(--pst-color-secondary);\n}\n\n.pst-color-accent {\n  color: var(--pst-color-accent);\n}\n\n.pst-color-info {\n  color: var(--pst-color-info);\n}\n\n.pst-color-warning {\n  color: var(--pst-color-warning);\n}\n\n.pst-color-success {\n  color: var(--pst-color-success);\n}\n\n.pst-color-attention {\n  color: var(--pst-color-attention);\n}\n\n.pst-color-danger {\n  color: var(--pst-color-danger);\n}\n\n.pst-color-text-base {\n  color: var(--pst-color-text-base);\n}\n\n.pst-color-text-muted {\n  color: var(--pst-color-text-muted);\n}\n\n.pst-color-shadow {\n  color: var(--pst-color-shadow);\n}\n\n.pst-color-border {\n  color: var(--pst-color-border);\n}\n\n.pst-color-border-muted {\n  color: var(--pst-color-border-muted);\n}\n\n.pst-color-blockquote-notch {\n  color: var(--pst-color-blockquote-notch);\n}\n\n.pst-color-inline-code {\n  color: var(--pst-color-inline-code);\n}\n\n.pst-color-inline-code-links {\n  color: var(--pst-color-inline-code-links);\n}\n\n.pst-color-target {\n  color: var(--pst-color-target);\n}\n\n.pst-color-table {\n  color: var(--pst-color-table);\n}\n\n.pst-color-table-row-hover {\n  color: var(--pst-color-table-row-hover);\n}\n\n.pst-color-table-inner-border {\n  color: var(--pst-color-table-inner-border);\n}\n\n.pst-color-background {\n  color: var(--pst-color-background);\n}\n\n.pst-color-on-background {\n  color: var(--pst-color-on-background);\n}\n\n.pst-color-surface {\n  color: var(--pst-color-surface);\n}\n\n.pst-color-on-surface {\n  color: var(--pst-color-on-surface);\n}\n\n/*******************************************************************************\n  * Color and variables\n  *\n  * This is a list of the semantic color names from sphinx-design (we only\n  * need to override variables that sphinx-design has actually defined).\n  * https://github.com/executablebooks/sphinx-design/blob/9226a12a/style/_colors.scss#L31-L43\n  */\n/**\n  * Here we create some extra --pst-color-* variables and use\n  * them to override the value of the corresponding sphinx-design variables.\n  * This is easier than re-writing the sphinx-design rules. Even easier would be\n  * directly assigning our values to the --sd-color-* variables, but then our\n  * downstream users couldn't override *our* colors and have it affect buttons\n  * and badges.\n  *\n  * First, define the extra keys needed to cover the full range of semantic\n  * color names used in sphinx-design, then merge them with the names we\n  * already define for our own needs.\n  * see https://sphinx-design.readthedocs.io/en/latest/css_variables.html\n  */\nhtml[data-theme=light] {\n  --pst-color-primary: rgb(10, 125, 145);\n  --pst-color-primary-text: #fff;\n  --pst-color-primary-highlight: #086b7c;\n  --sd-color-primary: var(--pst-color-primary);\n  --sd-color-primary-text: var(--pst-color-primary-text);\n  --sd-color-primary-highlight: var(--pst-color-primary-highlight);\n  --pst-color-primary-highlight-text: #fff;\n  --sd-color-primary-bg: #d0ecf1;\n  --sd-color-primary-bg-text: #14181e;\n  --pst-color-secondary: rgb(128, 69, 229);\n  --pst-color-secondary-text: #fff;\n  --pst-color-secondary-highlight: #651ee0;\n  --sd-color-secondary: var(--pst-color-secondary);\n  --sd-color-secondary-text: var(--pst-color-secondary-text);\n  --sd-color-secondary-highlight: var(--pst-color-secondary-highlight);\n  --pst-color-secondary-highlight-text: #fff;\n  --sd-color-secondary-bg: #e0c7ff;\n  --sd-color-secondary-bg-text: #14181e;\n  --pst-color-success: #00843f;\n  --pst-color-success-text: #fff;\n  --pst-color-success-highlight: #007036;\n  --sd-color-success: var(--pst-color-success);\n  --sd-color-success-text: var(--pst-color-success-text);\n  --sd-color-success-highlight: var(--pst-color-success-highlight);\n  --pst-color-success-highlight-text: #fff;\n  --sd-color-success-bg: #d6ece1;\n  --sd-color-success-bg-text: #14181e;\n  --pst-color-info: #276be9;\n  --pst-color-info-text: #fff;\n  --pst-color-info-highlight: #1457d3;\n  --sd-color-info: var(--pst-color-info);\n  --sd-color-info-text: var(--pst-color-info-text);\n  --sd-color-info-highlight: var(--pst-color-info-highlight);\n  --pst-color-info-highlight-text: #fff;\n  --sd-color-info-bg: #dce7fc;\n  --sd-color-info-bg-text: #14181e;\n  --pst-color-warning: #f66a0a;\n  --pst-color-warning-text: #14181e;\n  --pst-color-warning-highlight: #d25a07;\n  --sd-color-warning: var(--pst-color-warning);\n  --sd-color-warning-text: var(--pst-color-warning-text);\n  --sd-color-warning-highlight: var(--pst-color-warning-highlight);\n  --pst-color-warning-highlight-text: #14181e;\n  --sd-color-warning-bg: #f8e3d0;\n  --sd-color-warning-bg-text: #14181e;\n  --pst-color-danger: #d72d47;\n  --pst-color-danger-text: #fff;\n  --pst-color-danger-highlight: #bb2239;\n  --sd-color-danger: var(--pst-color-danger);\n  --sd-color-danger-text: var(--pst-color-danger-text);\n  --sd-color-danger-highlight: var(--pst-color-danger-highlight);\n  --pst-color-danger-highlight-text: #fff;\n  --sd-color-danger-bg: #f9e1e4;\n  --sd-color-danger-bg-text: #14181e;\n  --pst-color-light: #f3f4f5;\n  --pst-color-light-text: #14181e;\n  --pst-color-light-highlight: #c9cfd6;\n  --sd-color-light: var(--pst-color-light);\n  --sd-color-light-text: var(--pst-color-light-text);\n  --sd-color-light-highlight: var(--pst-color-light-highlight);\n  --pst-color-light-highlight-text: #14181e;\n  --sd-color-light-bg: #f7f7f8;\n  --sd-color-light-bg-text: #14181e;\n  --pst-color-muted: #29313d;\n  --pst-color-muted-text: #fff;\n  --pst-color-muted-highlight: #212936;\n  --sd-color-muted: var(--pst-color-muted);\n  --sd-color-muted-text: var(--pst-color-muted-text);\n  --sd-color-muted-highlight: var(--pst-color-muted-highlight);\n  --pst-color-muted-highlight-text: #fff;\n  --sd-color-muted-bg: #5a6c86;\n  --sd-color-muted-bg-text: #fff;\n  --pst-color-dark: #222832;\n  --pst-color-dark-text: #fff;\n  --pst-color-dark-highlight: #1b222c;\n  --sd-color-dark: var(--pst-color-dark);\n  --sd-color-dark-text: var(--pst-color-dark-text);\n  --sd-color-dark-highlight: var(--pst-color-dark-highlight);\n  --pst-color-dark-highlight-text: #fff;\n  --pst-color-black: #14181e;\n  --pst-color-black-text: #fff;\n  --pst-color-black-highlight: #10141a;\n  --sd-color-black: var(--pst-color-black);\n  --sd-color-black-text: var(--pst-color-black-text);\n  --sd-color-black-highlight: var(--pst-color-black-highlight);\n  --pst-color-black-highlight-text: #fff;\n  --pst-color-white: #fff;\n  --pst-color-white-text: #14181e;\n  --pst-color-white-highlight: #dbd7d7;\n  --sd-color-white: var(--pst-color-white);\n  --sd-color-white-text: var(--pst-color-white-text);\n  --sd-color-white-highlight: var(--pst-color-white-highlight);\n  --pst-color-white-highlight-text: #14181e;\n}\n\nhtml[data-theme=dark] {\n  --pst-color-primary: rgb(63, 177, 197);\n  --pst-color-primary-text: #14181e;\n  --pst-color-primary-highlight: #319aac;\n  --sd-color-primary: var(--pst-color-primary);\n  --sd-color-primary-text: var(--pst-color-primary-text);\n  --sd-color-primary-highlight: var(--pst-color-primary-highlight);\n  --pst-color-primary-highlight-text: #14181e;\n  --sd-color-primary-bg: #042c33;\n  --sd-color-primary-bg-text: #fff;\n  --pst-color-secondary: rgb(156, 95, 253);\n  --pst-color-secondary-text: #14181e;\n  --pst-color-secondary-highlight: #7c2bfc;\n  --sd-color-secondary: var(--pst-color-secondary);\n  --sd-color-secondary-text: var(--pst-color-secondary-text);\n  --sd-color-secondary-highlight: var(--pst-color-secondary-highlight);\n  --pst-color-secondary-highlight-text: #fff;\n  --sd-color-secondary-bg: #341a61;\n  --sd-color-secondary-bg-text: #fff;\n  --pst-color-success: #5fb488;\n  --pst-color-success-text: #14181e;\n  --pst-color-success-highlight: #47a373;\n  --sd-color-success: var(--pst-color-success);\n  --sd-color-success-text: var(--pst-color-success-text);\n  --sd-color-success-highlight: var(--pst-color-success-highlight);\n  --pst-color-success-highlight-text: #14181e;\n  --sd-color-success-bg: #002f17;\n  --sd-color-success-bg-text: #fff;\n  --pst-color-info: #79a3f2;\n  --pst-color-info-text: #14181e;\n  --pst-color-info-highlight: #4681ee;\n  --sd-color-info: var(--pst-color-info);\n  --sd-color-info-text: var(--pst-color-info-text);\n  --sd-color-info-highlight: var(--pst-color-info-highlight);\n  --pst-color-info-highlight-text: #14181e;\n  --sd-color-info-bg: #06245d;\n  --sd-color-info-bg-text: #fff;\n  --pst-color-warning: #ff9245;\n  --pst-color-warning-text: #14181e;\n  --pst-color-warning-highlight: #ff7614;\n  --sd-color-warning: var(--pst-color-warning);\n  --sd-color-warning-text: var(--pst-color-warning-text);\n  --sd-color-warning-highlight: var(--pst-color-warning-highlight);\n  --pst-color-warning-highlight-text: #14181e;\n  --sd-color-warning-bg: #652a02;\n  --sd-color-warning-bg-text: #fff;\n  --pst-color-danger: #e78894;\n  --pst-color-danger-text: #14181e;\n  --pst-color-danger-highlight: #df596a;\n  --sd-color-danger: var(--pst-color-danger);\n  --sd-color-danger-text: var(--pst-color-danger-text);\n  --sd-color-danger-highlight: var(--pst-color-danger-highlight);\n  --pst-color-danger-highlight-text: #14181e;\n  --sd-color-danger-bg: #4e111b;\n  --sd-color-danger-bg-text: #fff;\n  --pst-color-light: #f3f4f5;\n  --pst-color-light-text: #14181e;\n  --pst-color-light-highlight: #c9cfd6;\n  --sd-color-light: var(--pst-color-light);\n  --sd-color-light-text: var(--pst-color-light-text);\n  --sd-color-light-highlight: var(--pst-color-light-highlight);\n  --pst-color-light-highlight-text: #14181e;\n  --sd-color-light-bg: #a3abb2;\n  --sd-color-light-bg-text: #14181e;\n  --pst-color-muted: #f3f4f5;\n  --pst-color-muted-text: #14181e;\n  --pst-color-muted-highlight: #c9cfd6;\n  --sd-color-muted: var(--pst-color-muted);\n  --sd-color-muted-text: var(--pst-color-muted-text);\n  --sd-color-muted-highlight: var(--pst-color-muted-highlight);\n  --pst-color-muted-highlight-text: #14181e;\n  --sd-color-muted-bg: #1d222b;\n  --sd-color-muted-bg-text: #fff;\n  --pst-color-dark: #222832;\n  --pst-color-dark-text: #fff;\n  --pst-color-dark-highlight: #1b222c;\n  --sd-color-dark: var(--pst-color-dark);\n  --sd-color-dark-text: var(--pst-color-dark-text);\n  --sd-color-dark-highlight: var(--pst-color-dark-highlight);\n  --pst-color-dark-highlight-text: #fff;\n  --pst-color-black: #14181e;\n  --pst-color-black-text: #fff;\n  --pst-color-black-highlight: #10141a;\n  --sd-color-black: var(--pst-color-black);\n  --sd-color-black-text: var(--pst-color-black-text);\n  --sd-color-black-highlight: var(--pst-color-black-highlight);\n  --pst-color-black-highlight-text: #fff;\n  --pst-color-white: #fff;\n  --pst-color-white-text: #14181e;\n  --pst-color-white-highlight: #dbd7d7;\n  --sd-color-white: var(--pst-color-white);\n  --sd-color-white-text: var(--pst-color-white-text);\n  --sd-color-white-highlight: var(--pst-color-white-highlight);\n  --pst-color-white-highlight-text: #14181e;\n}\n\nhtml[data-theme=light] {\n  --sd-color-card-border: var(--pst-color-border);\n}\n\nhtml[data-theme=dark] {\n  --sd-color-card-border: var(--pst-color-border);\n}\n\n/*******************************************************************************\n  * shadows\n  */\nhtml[data-theme=light] .sd-shadow-xs,\nhtml[data-theme=light] .sd-shadow-sm,\nhtml[data-theme=light] .sd-shadow-md,\nhtml[data-theme=light] .sd-shadow-lg {\n  box-shadow: 0 0.2rem 0.5rem var(--pst-color-shadow), 0 0 0.0625rem var(--pst-color-shadow) !important;\n}\n\n/*******************************************************************************\n  * cards\n  */\n.bd-content .sd-card {\n  border: 1px solid var(--pst-color-border);\n}\n.bd-content .sd-card .sd-card-header {\n  background-color: var(--pst-color-on-background);\n  border-bottom: 1px solid var(--pst-color-border);\n}\n.bd-content .sd-card .sd-card-footer {\n  background-color: var(--pst-color-on-background);\n  border-top: 1px solid var(--pst-color-border);\n}\n.bd-content .sd-card .sd-card-body {\n  background-color: var(--pst-color-on-background);\n}\n.bd-content .sd-card .sd-stretched-link:focus-visible {\n  outline: none;\n}\n.bd-content .sd-card .sd-stretched-link:focus-visible::after {\n  outline: var(--pst-color-accent) solid 0.1875rem;\n  border-radius: 0.25rem;\n}\n.bd-content .sd-card.sd-card-hover:hover {\n  border-color: var(--pst-color-link-hover);\n}\n\n/*******************************************************************************\n  * tabs\n  */\n.bd-content .sd-tab-set > input:checked + label {\n  border-style: solid solid none;\n  border-color: var(--pst-color-primary) var(--pst-color-primary) transparent;\n  border-width: 0.125rem 0.125rem 0;\n  border-radius: 0.125rem 0.125rem 0 0;\n  background-color: var(--pst-color-on-background);\n  transform: translateY(0.125rem);\n  color: var(--pst-color-primary);\n}\n.bd-content .sd-tab-set > input:focus-visible + label {\n  border: 0.125rem solid var(--pst-color-accent);\n  border-radius: 0.125rem;\n  background-color: var(--pst-color-accent-bg);\n  color: var(--pst-color-on-surface);\n}\n.bd-content .sd-tab-set > input:not(:checked, :focus-visible) + label:hover {\n  border-color: transparent;\n  color: var(--pst-color-secondary);\n  text-decoration-line: underline;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n}\n.bd-content .sd-tab-set > label {\n  color: var(--pst-color-on-surface);\n  border: 0.125rem solid transparent;\n  border-radius: 0.125rem 0.125rem 0 0;\n  background-color: var(--pst-color-surface);\n  padding: 0 0.75em;\n  margin-inline-end: 0.25rem;\n  line-height: 1.95;\n}\nhtml[data-theme=dark] .bd-content .sd-tab-set > label {\n  background-color: var(--pst-color-on-background);\n}\n.bd-content .sd-tab-set .sd-tab-content {\n  border: 0.125rem solid var(--pst-color-primary);\n  border-radius: 0.1875rem;\n  box-shadow: unset;\n  padding: 0.625rem;\n  background-color: var(--pst-color-on-background);\n}\n\n/*******************************************************************************\n* Dropdowns\n*/\ndetails.sd-dropdown {\n  border: 0 !important;\n  box-shadow: 0 0.2rem 0.5rem var(--pst-color-shadow), 0 0 0.0625rem var(--pst-color-shadow) !important;\n}\ndetails.sd-dropdown summary.sd-card-header {\n  border: 0 !important;\n  display: flex;\n  align-items: center;\n  position: relative;\n  font-weight: 600;\n  padding-top: 0.5rem;\n  padding-bottom: 0.5rem;\n  --pst-sd-dropdown-color: var(--pst-gray-500);\n  --pst-sd-dropdown-bg-color: var(--pst-color-surface);\n  background-color: var(--pst-sd-dropdown-bg-color) !important;\n  border-left: 0.2rem solid var(--pst-sd-dropdown-color) !important;\n}\ndetails.sd-dropdown summary.sd-card-header + div.sd-summary-content {\n  border: 0;\n  --pst-sd-dropdown-color: var(--sd-color-card-border);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-primary {\n  --pst-sd-dropdown-color: var(--sd-color-primary);\n  --pst-sd-dropdown-bg-color: var(--sd-color-primary-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-primary + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-primary);\n  --pst-sd-dropdown-bg-color: var(--sd-color-primary-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-primary {\n  color: var(--sd-color-primary-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-secondary {\n  --pst-sd-dropdown-color: var(--sd-color-secondary);\n  --pst-sd-dropdown-bg-color: var(--sd-color-secondary-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-secondary + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-secondary);\n  --pst-sd-dropdown-bg-color: var(--sd-color-secondary-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-secondary {\n  color: var(--sd-color-secondary-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-success {\n  --pst-sd-dropdown-color: var(--sd-color-success);\n  --pst-sd-dropdown-bg-color: var(--sd-color-success-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-success + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-success);\n  --pst-sd-dropdown-bg-color: var(--sd-color-success-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-success {\n  color: var(--sd-color-success-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-info {\n  --pst-sd-dropdown-color: var(--sd-color-info);\n  --pst-sd-dropdown-bg-color: var(--sd-color-info-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-info + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-info);\n  --pst-sd-dropdown-bg-color: var(--sd-color-info-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-info {\n  color: var(--sd-color-info-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-warning {\n  --pst-sd-dropdown-color: var(--sd-color-warning);\n  --pst-sd-dropdown-bg-color: var(--sd-color-warning-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-warning + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-warning);\n  --pst-sd-dropdown-bg-color: var(--sd-color-warning-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-warning {\n  color: var(--sd-color-warning-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-danger {\n  --pst-sd-dropdown-color: var(--sd-color-danger);\n  --pst-sd-dropdown-bg-color: var(--sd-color-danger-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-danger + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-danger);\n  --pst-sd-dropdown-bg-color: var(--sd-color-danger-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-danger {\n  color: var(--sd-color-danger-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-light {\n  --pst-sd-dropdown-color: var(--sd-color-light);\n  --pst-sd-dropdown-bg-color: var(--sd-color-light-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-light + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-light);\n  --pst-sd-dropdown-bg-color: var(--sd-color-light-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-light {\n  color: var(--sd-color-light-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-muted {\n  --pst-sd-dropdown-color: var(--sd-color-muted);\n  --pst-sd-dropdown-bg-color: var(--sd-color-muted-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-muted + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-muted);\n  --pst-sd-dropdown-bg-color: var(--sd-color-muted-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-muted {\n  color: var(--sd-color-muted-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-dark {\n  --pst-sd-dropdown-color: var(--sd-color-dark);\n  --pst-sd-dropdown-bg-color: var(--sd-color-dark-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-dark + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-dark);\n  --pst-sd-dropdown-bg-color: var(--sd-color-dark-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-dark {\n  color: var(--sd-color-dark-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-black {\n  --pst-sd-dropdown-color: var(--sd-color-black);\n  --pst-sd-dropdown-bg-color: var(--sd-color-black-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-black + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-black);\n  --pst-sd-dropdown-bg-color: var(--sd-color-black-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-black {\n  color: var(--sd-color-black-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-white {\n  --pst-sd-dropdown-color: var(--sd-color-white);\n  --pst-sd-dropdown-bg-color: var(--sd-color-white-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-white + div.sd-summary-content {\n  --pst-sd-dropdown-color: var(--sd-color-white);\n  --pst-sd-dropdown-bg-color: var(--sd-color-white-bg);\n}\ndetails.sd-dropdown summary.sd-card-header.sd-bg-text-white {\n  color: var(--sd-color-white-bg-text) !important;\n}\ndetails.sd-dropdown summary.sd-card-header::before {\n  content: \"\";\n  width: 100%;\n  height: 100%;\n  position: absolute;\n  left: 0;\n  top: 0;\n  z-index: -1;\n  pointer-events: none;\n}\ndetails.sd-dropdown summary.sd-card-header + div.sd-summary-content {\n  border-left: 0.2rem solid var(--pst-sd-dropdown-color) !important;\n  border-bottom-left-radius: calc(0.25rem - 1px);\n  background-color: var(--pst-color-on-background);\n}\ndetails.sd-dropdown summary.sd-card-header span.sd-summary-icon {\n  display: inline-flex;\n  align-items: center;\n  color: var(--pst-sd-dropdown-color) !important;\n}\ndetails.sd-dropdown summary.sd-card-header span.sd-summary-icon svg {\n  opacity: 1;\n}\ndetails.sd-dropdown summary.sd-card-header .sd-summary-up,\ndetails.sd-dropdown summary.sd-card-header .sd-summary-down {\n  top: 0.7rem;\n}\ndetails.sd-dropdown summary.sd-card-header:hover {\n  filter: brightness(0.9);\n}\nhtml[data-theme=dark] details.sd-dropdown summary.sd-card-header:hover {\n  filter: brightness(1.1);\n}\ndetails.sd-dropdown summary.sd-card-header:focus:focus-visible {\n  outline: var(--pst-color-accent) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n}\ndetails.sd-dropdown[open] summary.sd-card-header:focus:focus-visible {\n  border-bottom-left-radius: 0;\n  border-bottom-right-radius: 0;\n}\n\n/*******************************************************************************\n* Buttons (which in Sphinx Design are actually links that look like buttons)\n* ref: https://sphinx-design.readthedocs.io/en/pydata-theme/badges_buttons.html#buttons\n*/\nhtml .sd-btn {\n  min-width: 2.25rem;\n  padding: 0.3125rem 0.75rem 0.4375rem;\n}\nhtml .sd-btn:hover {\n  text-decoration: underline;\n  text-decoration-thickness: max(1px, .0625rem);\n  text-underline-offset: 0.1578em;\n  text-decoration-thickness: max(3px, .1875rem, .12em);\n  text-decoration-skip-ink: none;\n  color: var(--pst-color-link-hover);\n  text-decoration-thickness: 1px;\n}\nhtml .sd-btn-primary:hover {\n  color: var(--pst-color-primary-highlight-text) !important;\n}\nhtml .sd-btn-secondary:hover {\n  color: var(--pst-color-secondary-highlight-text) !important;\n}\nhtml .sd-btn-success:hover {\n  color: var(--pst-color-success-highlight-text) !important;\n}\nhtml .sd-btn-info:hover {\n  color: var(--pst-color-info-highlight-text) !important;\n}\nhtml .sd-btn-warning:hover {\n  color: var(--pst-color-warning-highlight-text) !important;\n}\nhtml .sd-btn-danger:hover {\n  color: var(--pst-color-danger-highlight-text) !important;\n}\nhtml .sd-btn-light:hover {\n  color: var(--pst-color-light-highlight-text) !important;\n}\nhtml .sd-btn-muted:hover {\n  color: var(--pst-color-muted-highlight-text) !important;\n}\nhtml .sd-btn-dark:hover {\n  color: var(--pst-color-dark-highlight-text) !important;\n}\nhtml .sd-btn-black:hover {\n  color: var(--pst-color-black-highlight-text) !important;\n}\nhtml .sd-btn-white:hover {\n  color: var(--pst-color-white-highlight-text) !important;\n}\nhtml .sd-btn-primary:focus-visible,\nhtml .sd-btn-outline-primary:focus-visible {\n  outline: var(--sd-color-primary) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-primary) !important;\n  border-color: var(--sd-color-primary) !important;\n}\nhtml .sd-btn-secondary:focus-visible,\nhtml .sd-btn-outline-secondary:focus-visible {\n  outline: var(--sd-color-secondary) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-secondary) !important;\n  border-color: var(--sd-color-secondary) !important;\n}\nhtml .sd-btn-success:focus-visible,\nhtml .sd-btn-outline-success:focus-visible {\n  outline: var(--sd-color-success) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-success) !important;\n  border-color: var(--sd-color-success) !important;\n}\nhtml .sd-btn-info:focus-visible,\nhtml .sd-btn-outline-info:focus-visible {\n  outline: var(--sd-color-info) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-info) !important;\n  border-color: var(--sd-color-info) !important;\n}\nhtml .sd-btn-warning:focus-visible,\nhtml .sd-btn-outline-warning:focus-visible {\n  outline: var(--sd-color-warning) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-warning) !important;\n  border-color: var(--sd-color-warning) !important;\n}\nhtml .sd-btn-danger:focus-visible,\nhtml .sd-btn-outline-danger:focus-visible {\n  outline: var(--sd-color-danger) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-danger) !important;\n  border-color: var(--sd-color-danger) !important;\n}\nhtml .sd-btn-light:focus-visible,\nhtml .sd-btn-outline-light:focus-visible {\n  outline: var(--sd-color-light) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-light) !important;\n  border-color: var(--sd-color-light) !important;\n}\nhtml .sd-btn-muted:focus-visible,\nhtml .sd-btn-outline-muted:focus-visible {\n  outline: var(--sd-color-muted) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-muted) !important;\n  border-color: var(--sd-color-muted) !important;\n}\nhtml .sd-btn-dark:focus-visible,\nhtml .sd-btn-outline-dark:focus-visible {\n  outline: var(--sd-color-dark) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-dark) !important;\n  border-color: var(--sd-color-dark) !important;\n}\nhtml .sd-btn-black:focus-visible,\nhtml .sd-btn-outline-black:focus-visible {\n  outline: var(--sd-color-black) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-black) !important;\n  border-color: var(--sd-color-black) !important;\n}\nhtml .sd-btn-white:focus-visible,\nhtml .sd-btn-outline-white:focus-visible {\n  outline: var(--sd-color-white) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n  background-color: var(--sd-color-white) !important;\n  border-color: var(--sd-color-white) !important;\n}\n\n/**\n * Sphinx togglebutton\n *\n * The rules in this style sheet are meant to tweak the\n * [sphinx-togglebutton](https://sphinx-togglebutton.readthedocs.io/en/latest/index.html)\n * extension so that it matches the look and feel of this theme.\n */\n.bd-content .dropdown.admonition.toggle .admonition-title:hover .tb-icon {\n  opacity: 1;\n  scale: 1.1;\n}\n.bd-content .dropdown.admonition.toggle .admonition-title .tb-icon {\n  opacity: 0.6;\n}\n.bd-content .dropdown.admonition.toggle .admonition-title:hover {\n  filter: brightness(0.9);\n}\nhtml[data-theme=dark] .bd-content .dropdown.admonition.toggle .admonition-title:hover {\n  filter: brightness(1.1);\n}\n.bd-content .dropdown.admonition.toggle .admonition-title:hover {\n  box-shadow: none;\n}\n.bd-content .dropdown.admonition.toggle button.toggle-button {\n  color: inherit;\n}\n.bd-content .dropdown.admonition.toggle button.toggle-button.toggle-button-hidden .toggle-chevron-right {\n  transform: rotate(90deg);\n  transition: none;\n}\n.bd-content .dropdown.admonition.toggle button.toggle-button .toggle-chevron-right {\n  transform: rotate(-90deg);\n  transition: none;\n}\n.bd-content .dropdown.admonition.toggle:has(:focus-visible) {\n  /* Override Sphinx Toggle Button. Make the overflow visible, otherwise the\n  focus ring is hidden. */\n  overflow: visible;\n  /*\n  Why not just do the following?\n\n  ```\n  .admonition-title {\n    outline: $focus-ring-outline;\n  }\n  ```\n\n  Why use ::before? If we put the focus ring on the ::before pseudo-element,\n  we can reposition the focus ring by repositioning the pseudo-element.\n\n  Why reposition? The left edge of the admonition title box does not align\n  with the left edge of the overall admonition box. There is a left border\n  that belongs to the overall box. The border is outside of the admonition\n  title, which means it is also outside of a focus ring around the title. We\n  can make the focus ring bigger, with `outline-offset`, but this will\n  result in a ring that looks off-centered. So we have to pull the ring left\n  and stretch it right. That's what the pseudo-element allows us to do.\n\n  Note: we do not have to do this for collapsible admonitions made with\n  Sphinx Design (as opposed to sphinx-togglebutton).\n  */\n}\n.bd-content .dropdown.admonition.toggle:has(:focus-visible) .admonition-title::before {\n  content: \"\";\n  left: -0.2rem;\n  width: calc(100% + 0.2rem);\n  height: 100%;\n  outline: var(--pst-color-accent) solid 0.1875rem;\n  outline-offset: 0.125rem;\n  border-radius: 0.1875rem;\n}\n.bd-content .dropdown.admonition.toggle:has(:focus-visible):not(.toggle-hidden) .admonition-title::before {\n  border-bottom-left-radius: 0;\n  border-bottom-right-radius: 0;\n}\n.bd-content details.toggle-details summary {\n  border-left: 3px solid var(--pst-color-primary);\n}\n.bd-content details.toggle-details summary .toggle-chevron-right {\n  transform: rotate(90deg);\n  transition: none;\n}\n.bd-content details.toggle-details summary:hover .tb-icon {\n  opacity: 1;\n  scale: 1.1;\n}\n.bd-content details.toggle-details summary .tb-icon {\n  opacity: 0.6;\n}\n.bd-content details.toggle-details summary:hover {\n  filter: brightness(0.9);\n}\nhtml[data-theme=dark] .bd-content details.toggle-details summary:hover {\n  filter: brightness(1.1);\n}\n.bd-content details.toggle-details summary:hover {\n  box-shadow: none;\n}\n.bd-content details.toggle-details summary:focus-visible {\n  outline-offset: 0.125rem;\n}\n.bd-content details.toggle-details[open] .toggle-chevron-right {\n  transform: rotate(-90deg);\n  transition: none;\n}\n.bd-content details.toggle-details[open] :focus-visible {\n  border-bottom-left-radius: 0;\n  border-bottom-right-radius: 0;\n}\n\n/**\n * Styles for various Sphinx execution libraries to display pre-executed notebooks.\n * For now, where these define output sections, we simply revert their background\n * to be a \"light theme\" background. This ensures that inputs/outputs behave similarly,\n * because the CSS is often controlled by each package.\n * In the future, we might add dark theme support for specific packages.\n */\n/*******************************************************************************\n * nbsphinx\n */\nhtml div.rendered_html,\nhtml .jp-RenderedHTMLCommon {\n  margin: 0.1875rem;\n}\nhtml div.rendered_html table,\nhtml .jp-RenderedHTMLCommon table {\n  table-layout: auto;\n}\n\n.bd-content .nboutput .output_area.rendered_html table.dataframe,\n.bd-content .nboutput .output_area .jp-RenderedHTMLCommon table.dataframe {\n  color: var(--pst-color-table);\n  border: 1px solid var(--pst-color-table-outer-border);\n}\n.bd-content .nboutput .output_area.rendered_html table.dataframe th ~ th,\n.bd-content .nboutput .output_area.rendered_html table.dataframe th ~ td,\n.bd-content .nboutput .output_area.rendered_html table.dataframe td ~ th,\n.bd-content .nboutput .output_area.rendered_html table.dataframe td ~ td,\n.bd-content .nboutput .output_area .jp-RenderedHTMLCommon table.dataframe th ~ th,\n.bd-content .nboutput .output_area .jp-RenderedHTMLCommon table.dataframe th ~ td,\n.bd-content .nboutput .output_area .jp-RenderedHTMLCommon table.dataframe td ~ th,\n.bd-content .nboutput .output_area .jp-RenderedHTMLCommon table.dataframe td ~ td {\n  border-left: 1px solid var(--pst-color-table-inner-border);\n}\n.bd-content .nboutput .output_area.rendered_html table.dataframe thead tr,\n.bd-content .nboutput .output_area .jp-RenderedHTMLCommon table.dataframe thead tr {\n  background-color: var(--pst-color-table-heading-bg);\n  border-bottom: 2px solid var(--pst-color-primary);\n}\n.bd-content .nboutput .output_area.rendered_html table.dataframe tbody tr:nth-child(odd),\n.bd-content .nboutput .output_area .jp-RenderedHTMLCommon table.dataframe tbody tr:nth-child(odd) {\n  background-color: var(--pst-color-table-row-zebra-low-bg);\n}\n.bd-content .nboutput .output_area.rendered_html table.dataframe tbody tr:nth-child(even),\n.bd-content .nboutput .output_area .jp-RenderedHTMLCommon table.dataframe tbody tr:nth-child(even) {\n  background-color: var(--pst-color-table-row-zebra-high-bg);\n}\n.bd-content .nboutput .output_area.rendered_html table.dataframe tbody tr:hover,\n.bd-content .nboutput .output_area .jp-RenderedHTMLCommon table.dataframe tbody tr:hover {\n  background-color: var(--pst-color-table-row-hover-bg);\n}\nhtml[data-theme=dark] .bd-content .nboutput .output_area.rendered_html:not(:has(table.dataframe)),\nhtml[data-theme=dark] .bd-content .nboutput .output_area .widget-subarea {\n  color: var(--pst-color-on-background);\n  background-color: var(--pst-color-text-base);\n  border-radius: 0.25rem;\n  padding: 0.5rem;\n}\nhtml[data-theme=dark] .bd-content .nboutput .output_area.stderr {\n  background-color: var(--pst-color-danger);\n}\n\ndiv.nblast.container {\n  margin-bottom: 1rem;\n}\n\nhtml[data-theme=light] .nbinput.container .prompt pre {\n  color: #005b82;\n}\nhtml[data-theme=dark] .nbinput.container .prompt pre {\n  color: #00e0e0;\n}\n\nhtml[data-theme=light] .nboutput.container .prompt pre {\n  color: #a12236;\n}\nhtml[data-theme=dark] .nboutput.container .prompt pre {\n  color: #ffa07a;\n}\n\n/*******************************************************************************\n * myst NB\n */\ndiv.cell_output .output {\n  max-width: 100%;\n  overflow-x: auto;\n}\n\n.bd-content div.cell_output table.dataframe {\n  color: var(--pst-color-table);\n  border: 1px solid var(--pst-color-table-outer-border);\n}\n.bd-content div.cell_output table.dataframe th ~ th,\n.bd-content div.cell_output table.dataframe th ~ td,\n.bd-content div.cell_output table.dataframe td ~ th,\n.bd-content div.cell_output table.dataframe td ~ td {\n  border-left: 1px solid var(--pst-color-table-inner-border);\n}\n.bd-content div.cell_output table.dataframe thead tr {\n  background-color: var(--pst-color-table-heading-bg);\n  border-bottom: 2px solid var(--pst-color-primary);\n}\n.bd-content div.cell_output table.dataframe tbody tr:nth-child(odd) {\n  background-color: var(--pst-color-table-row-zebra-low-bg);\n}\n.bd-content div.cell_output table.dataframe tbody tr:nth-child(even) {\n  background-color: var(--pst-color-table-row-zebra-high-bg);\n}\n.bd-content div.cell_output table.dataframe tbody tr:hover {\n  background-color: var(--pst-color-table-row-hover-bg);\n}\nhtml[data-theme=dark] .bd-content div.cell_output img,\nhtml[data-theme=dark] .bd-content div.cell_output .text_html:not(:has(table.dataframe)),\nhtml[data-theme=dark] .bd-content div.cell_output .widget-subarea {\n  color: var(--pst-color-on-background);\n  background-color: var(--pst-color-text-base);\n  border-radius: 0.25rem;\n  padding: 0.5rem;\n}\n\n.bd-content div.cell_input {\n  display: flex;\n  flex-direction: column;\n  justify-content: stretch;\n}\n.bd-content div.cell_input,\n.bd-content div.output {\n  border-radius: 0.25rem;\n}\n.bd-content div.output table {\n  table-layout: auto;\n}\n\n/**\n * style for the various mapping libs based on leaflet (folium, geemap, ipyleaflet)\n * mainly ensure the good display of the maps in both themes and avoid the customization\n * of the tiles\n */\n/**\n * avoid border override from pydata-sphinx-theme\n * minimal selctor to get the priority\n */\nhtml[data-theme=dark] .bd-content img.leaflet-tile.leaflet-tile-loaded {\n  border-radius: 0;\n  padding: 0;\n}\n\n/**\n * /search.html page special-cases\n */\n.bd-search-container {\n  /*******************************************\n  * Search results\n  */\n}\n.bd-search-container div#search-results > h2, .bd-search-container div#search-results > .h2 {\n  font-size: var(--pst-font-size-icon);\n  margin-top: 1rem;\n}\n.bd-search-container div#search-results p.search-summary {\n  color: var(--pst-color-text-muted);\n}\n.bd-search-container ul.search {\n  margin: 0;\n  list-style: none;\n}\n.bd-search-container ul.search li {\n  background-image: none;\n  padding: 1rem 0;\n  margin: 1rem 0;\n  border-top: 1px solid var(--pst-color-text-muted);\n}\n.bd-search-container ul.search li > a {\n  font-size: 1.2em;\n}\n.bd-search-container ul.search li div.context,\n.bd-search-container ul.search li p.context {\n  color: var(--pst-color-text-base);\n  margin: 0.5em 0 0;\n}\n.bd-search-container ul.search li div.context a::before,\n.bd-search-container ul.search li p.context a::before {\n  content: \"#\";\n  padding-right: 0.2em;\n  color: var(--pst-color-text-muted);\n}","@mixin bsBanner($file) {\n  /*!\n   * Bootstrap #{$file} v5.3.3 (https://getbootstrap.com/)\n   * Copyright 2011-2024 The Bootstrap Authors\n   * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE)\n   */\n}\n",":root,\n[data-bs-theme=\"light\"] {\n  // Note: Custom variable values only support SassScript inside `#{}`.\n\n  // Colors\n  //\n  // Generate palettes for full colors, grays, and theme colors.\n\n  @each $color, $value in $colors {\n    --#{$prefix}#{$color}: #{$value};\n  }\n\n  @each $color, $value in $grays {\n    --#{$prefix}gray-#{$color}: #{$value};\n  }\n\n  @each $color, $value in $theme-colors {\n    --#{$prefix}#{$color}: #{$value};\n  }\n\n  @each $color, $value in $theme-colors-rgb {\n    --#{$prefix}#{$color}-rgb: #{$value};\n  }\n\n  @each $color, $value in $theme-colors-text {\n    --#{$prefix}#{$color}-text-emphasis: #{$value};\n  }\n\n  @each $color, $value in $theme-colors-bg-subtle {\n    --#{$prefix}#{$color}-bg-subtle: #{$value};\n  }\n\n  @each $color, $value in $theme-colors-border-subtle {\n    --#{$prefix}#{$color}-border-subtle: #{$value};\n  }\n\n  --#{$prefix}white-rgb: #{to-rgb($white)};\n  --#{$prefix}black-rgb: #{to-rgb($black)};\n\n  // Fonts\n\n  // Note: Use `inspect` for lists so that quoted items keep the quotes.\n  // See https://github.com/sass/sass/issues/2383#issuecomment-336349172\n  --#{$prefix}font-sans-serif: #{inspect($font-family-sans-serif)};\n  --#{$prefix}font-monospace: #{inspect($font-family-monospace)};\n  --#{$prefix}gradient: #{$gradient};\n\n  // Root and body\n  // scss-docs-start root-body-variables\n  @if $font-size-root != null {\n    --#{$prefix}root-font-size: #{$font-size-root};\n  }\n  --#{$prefix}body-font-family: #{inspect($font-family-base)};\n  @include rfs($font-size-base, --#{$prefix}body-font-size);\n  --#{$prefix}body-font-weight: #{$font-weight-base};\n  --#{$prefix}body-line-height: #{$line-height-base};\n  @if $body-text-align != null {\n    --#{$prefix}body-text-align: #{$body-text-align};\n  }\n\n  --#{$prefix}body-color: #{$body-color};\n  --#{$prefix}body-color-rgb: #{to-rgb($body-color)};\n  --#{$prefix}body-bg: #{$body-bg};\n  --#{$prefix}body-bg-rgb: #{to-rgb($body-bg)};\n\n  --#{$prefix}emphasis-color: #{$body-emphasis-color};\n  --#{$prefix}emphasis-color-rgb: #{to-rgb($body-emphasis-color)};\n\n  --#{$prefix}secondary-color: #{$body-secondary-color};\n  --#{$prefix}secondary-color-rgb: #{to-rgb($body-secondary-color)};\n  --#{$prefix}secondary-bg: #{$body-secondary-bg};\n  --#{$prefix}secondary-bg-rgb: #{to-rgb($body-secondary-bg)};\n\n  --#{$prefix}tertiary-color: #{$body-tertiary-color};\n  --#{$prefix}tertiary-color-rgb: #{to-rgb($body-tertiary-color)};\n  --#{$prefix}tertiary-bg: #{$body-tertiary-bg};\n  --#{$prefix}tertiary-bg-rgb: #{to-rgb($body-tertiary-bg)};\n  // scss-docs-end root-body-variables\n\n  --#{$prefix}heading-color: #{$headings-color};\n\n  --#{$prefix}link-color: #{$link-color};\n  --#{$prefix}link-color-rgb: #{to-rgb($link-color)};\n  --#{$prefix}link-decoration: #{$link-decoration};\n\n  --#{$prefix}link-hover-color: #{$link-hover-color};\n  --#{$prefix}link-hover-color-rgb: #{to-rgb($link-hover-color)};\n\n  @if $link-hover-decoration != null {\n    --#{$prefix}link-hover-decoration: #{$link-hover-decoration};\n  }\n\n  --#{$prefix}code-color: #{$code-color};\n  --#{$prefix}highlight-color: #{$mark-color};\n  --#{$prefix}highlight-bg: #{$mark-bg};\n\n  // scss-docs-start root-border-var\n  --#{$prefix}border-width: #{$border-width};\n  --#{$prefix}border-style: #{$border-style};\n  --#{$prefix}border-color: #{$border-color};\n  --#{$prefix}border-color-translucent: #{$border-color-translucent};\n\n  --#{$prefix}border-radius: #{$border-radius};\n  --#{$prefix}border-radius-sm: #{$border-radius-sm};\n  --#{$prefix}border-radius-lg: #{$border-radius-lg};\n  --#{$prefix}border-radius-xl: #{$border-radius-xl};\n  --#{$prefix}border-radius-xxl: #{$border-radius-xxl};\n  --#{$prefix}border-radius-2xl: var(--#{$prefix}border-radius-xxl); // Deprecated in v5.3.0 for consistency\n  --#{$prefix}border-radius-pill: #{$border-radius-pill};\n  // scss-docs-end root-border-var\n\n  --#{$prefix}box-shadow: #{$box-shadow};\n  --#{$prefix}box-shadow-sm: #{$box-shadow-sm};\n  --#{$prefix}box-shadow-lg: #{$box-shadow-lg};\n  --#{$prefix}box-shadow-inset: #{$box-shadow-inset};\n\n  // Focus styles\n  // scss-docs-start root-focus-variables\n  --#{$prefix}focus-ring-width: #{$focus-ring-width};\n  --#{$prefix}focus-ring-opacity: #{$focus-ring-opacity};\n  --#{$prefix}focus-ring-color: #{$focus-ring-color};\n  // scss-docs-end root-focus-variables\n\n  // scss-docs-start root-form-validation-variables\n  --#{$prefix}form-valid-color: #{$form-valid-color};\n  --#{$prefix}form-valid-border-color: #{$form-valid-border-color};\n  --#{$prefix}form-invalid-color: #{$form-invalid-color};\n  --#{$prefix}form-invalid-border-color: #{$form-invalid-border-color};\n  // scss-docs-end root-form-validation-variables\n}\n\n@if $enable-dark-mode {\n  @include color-mode(dark, true) {\n    color-scheme: dark;\n\n    // scss-docs-start root-dark-mode-vars\n    --#{$prefix}body-color: #{$body-color-dark};\n    --#{$prefix}body-color-rgb: #{to-rgb($body-color-dark)};\n    --#{$prefix}body-bg: #{$body-bg-dark};\n    --#{$prefix}body-bg-rgb: #{to-rgb($body-bg-dark)};\n\n    --#{$prefix}emphasis-color: #{$body-emphasis-color-dark};\n    --#{$prefix}emphasis-color-rgb: #{to-rgb($body-emphasis-color-dark)};\n\n    --#{$prefix}secondary-color: #{$body-secondary-color-dark};\n    --#{$prefix}secondary-color-rgb: #{to-rgb($body-secondary-color-dark)};\n    --#{$prefix}secondary-bg: #{$body-secondary-bg-dark};\n    --#{$prefix}secondary-bg-rgb: #{to-rgb($body-secondary-bg-dark)};\n\n    --#{$prefix}tertiary-color: #{$body-tertiary-color-dark};\n    --#{$prefix}tertiary-color-rgb: #{to-rgb($body-tertiary-color-dark)};\n    --#{$prefix}tertiary-bg: #{$body-tertiary-bg-dark};\n    --#{$prefix}tertiary-bg-rgb: #{to-rgb($body-tertiary-bg-dark)};\n\n    @each $color, $value in $theme-colors-text-dark {\n      --#{$prefix}#{$color}-text-emphasis: #{$value};\n    }\n\n    @each $color, $value in $theme-colors-bg-subtle-dark {\n      --#{$prefix}#{$color}-bg-subtle: #{$value};\n    }\n\n    @each $color, $value in $theme-colors-border-subtle-dark {\n      --#{$prefix}#{$color}-border-subtle: #{$value};\n    }\n\n    --#{$prefix}heading-color: #{$headings-color-dark};\n\n    --#{$prefix}link-color: #{$link-color-dark};\n    --#{$prefix}link-hover-color: #{$link-hover-color-dark};\n    --#{$prefix}link-color-rgb: #{to-rgb($link-color-dark)};\n    --#{$prefix}link-hover-color-rgb: #{to-rgb($link-hover-color-dark)};\n\n    --#{$prefix}code-color: #{$code-color-dark};\n    --#{$prefix}highlight-color: #{$mark-color-dark};\n    --#{$prefix}highlight-bg: #{$mark-bg-dark};\n\n    --#{$prefix}border-color: #{$border-color-dark};\n    --#{$prefix}border-color-translucent: #{$border-color-translucent-dark};\n\n    --#{$prefix}form-valid-color: #{$form-valid-color-dark};\n    --#{$prefix}form-valid-border-color: #{$form-valid-border-color-dark};\n    --#{$prefix}form-invalid-color: #{$form-invalid-color-dark};\n    --#{$prefix}form-invalid-border-color: #{$form-invalid-border-color-dark};\n    // scss-docs-end root-dark-mode-vars\n  }\n}\n","// stylelint-disable scss/dimension-no-non-numeric-values\n\n// SCSS RFS mixin\n//\n// Automated responsive values for font sizes, paddings, margins and much more\n//\n// Licensed under MIT (https://github.com/twbs/rfs/blob/main/LICENSE)\n\n// Configuration\n\n// Base value\n$rfs-base-value: 1.25rem !default;\n$rfs-unit: rem !default;\n\n@if $rfs-unit != rem and $rfs-unit != px {\n  @error \"`#{$rfs-unit}` is not a valid unit for $rfs-unit. Use `px` or `rem`.\";\n}\n\n// Breakpoint at where values start decreasing if screen width is smaller\n$rfs-breakpoint: 1200px !default;\n$rfs-breakpoint-unit: px !default;\n\n@if $rfs-breakpoint-unit != px and $rfs-breakpoint-unit != em and $rfs-breakpoint-unit != rem {\n  @error \"`#{$rfs-breakpoint-unit}` is not a valid unit for $rfs-breakpoint-unit. Use `px`, `em` or `rem`.\";\n}\n\n// Resize values based on screen height and width\n$rfs-two-dimensional: false !default;\n\n// Factor of decrease\n$rfs-factor: 10 !default;\n\n@if type-of($rfs-factor) != number or $rfs-factor <= 1 {\n  @error \"`#{$rfs-factor}` is not a valid  $rfs-factor, it must be greater than 1.\";\n}\n\n// Mode. Possibilities: \"min-media-query\", \"max-media-query\"\n$rfs-mode: min-media-query !default;\n\n// Generate enable or disable classes. Possibilities: false, \"enable\" or \"disable\"\n$rfs-class: false !default;\n\n// 1 rem = $rfs-rem-value px\n$rfs-rem-value: 16 !default;\n\n// Safari iframe resize bug: https://github.com/twbs/rfs/issues/14\n$rfs-safari-iframe-resize-bug-fix: false !default;\n\n// Disable RFS by setting $enable-rfs to false\n$enable-rfs: true !default;\n\n// Cache $rfs-base-value unit\n$rfs-base-value-unit: unit($rfs-base-value);\n\n@function divide($dividend, $divisor, $precision: 10) {\n  $sign: if($dividend > 0 and $divisor > 0 or $dividend < 0 and $divisor < 0, 1, -1);\n  $dividend: abs($dividend);\n  $divisor: abs($divisor);\n  @if $dividend == 0 {\n    @return 0;\n  }\n  @if $divisor == 0 {\n    @error \"Cannot divide by 0\";\n  }\n  $remainder: $dividend;\n  $result: 0;\n  $factor: 10;\n  @while ($remainder > 0 and $precision >= 0) {\n    $quotient: 0;\n    @while ($remainder >= $divisor) {\n      $remainder: $remainder - $divisor;\n      $quotient: $quotient + 1;\n    }\n    $result: $result * 10 + $quotient;\n    $factor: $factor * .1;\n    $remainder: $remainder * 10;\n    $precision: $precision - 1;\n    @if ($precision < 0 and $remainder >= $divisor * 5) {\n      $result: $result + 1;\n    }\n  }\n  $result: $result * $factor * $sign;\n  $dividend-unit: unit($dividend);\n  $divisor-unit: unit($divisor);\n  $unit-map: (\n    \"px\": 1px,\n    \"rem\": 1rem,\n    \"em\": 1em,\n    \"%\": 1%\n  );\n  @if ($dividend-unit != $divisor-unit and map-has-key($unit-map, $dividend-unit)) {\n    $result: $result * map-get($unit-map, $dividend-unit);\n  }\n  @return $result;\n}\n\n// Remove px-unit from $rfs-base-value for calculations\n@if $rfs-base-value-unit == px {\n  $rfs-base-value: divide($rfs-base-value, $rfs-base-value * 0 + 1);\n}\n@else if $rfs-base-value-unit == rem {\n  $rfs-base-value: divide($rfs-base-value, divide($rfs-base-value * 0 + 1, $rfs-rem-value));\n}\n\n// Cache $rfs-breakpoint unit to prevent multiple calls\n$rfs-breakpoint-unit-cache: unit($rfs-breakpoint);\n\n// Remove unit from $rfs-breakpoint for calculations\n@if $rfs-breakpoint-unit-cache == px {\n  $rfs-breakpoint: divide($rfs-breakpoint, $rfs-breakpoint * 0 + 1);\n}\n@else if $rfs-breakpoint-unit-cache == rem or $rfs-breakpoint-unit-cache == \"em\" {\n  $rfs-breakpoint: divide($rfs-breakpoint, divide($rfs-breakpoint * 0 + 1, $rfs-rem-value));\n}\n\n// Calculate the media query value\n$rfs-mq-value: if($rfs-breakpoint-unit == px, #{$rfs-breakpoint}px, #{divide($rfs-breakpoint, $rfs-rem-value)}#{$rfs-breakpoint-unit});\n$rfs-mq-property-width: if($rfs-mode == max-media-query, max-width, min-width);\n$rfs-mq-property-height: if($rfs-mode == max-media-query, max-height, min-height);\n\n// Internal mixin used to determine which media query needs to be used\n@mixin _rfs-media-query {\n  @if $rfs-two-dimensional {\n    @if $rfs-mode == max-media-query {\n      @media (#{$rfs-mq-property-width}: #{$rfs-mq-value}), (#{$rfs-mq-property-height}: #{$rfs-mq-value}) {\n        @content;\n      }\n    }\n    @else {\n      @media (#{$rfs-mq-property-width}: #{$rfs-mq-value}) and (#{$rfs-mq-property-height}: #{$rfs-mq-value}) {\n        @content;\n      }\n    }\n  }\n  @else {\n    @media (#{$rfs-mq-property-width}: #{$rfs-mq-value}) {\n      @content;\n    }\n  }\n}\n\n// Internal mixin that adds disable classes to the selector if needed.\n@mixin _rfs-rule {\n  @if $rfs-class == disable and $rfs-mode == max-media-query {\n    // Adding an extra class increases specificity, which prevents the media query to override the property\n    &,\n    .disable-rfs &,\n    &.disable-rfs {\n      @content;\n    }\n  }\n  @else if $rfs-class == enable and $rfs-mode == min-media-query {\n    .enable-rfs &,\n    &.enable-rfs {\n      @content;\n    }\n  } @else {\n    @content;\n  }\n}\n\n// Internal mixin that adds enable classes to the selector if needed.\n@mixin _rfs-media-query-rule {\n\n  @if $rfs-class == enable {\n    @if $rfs-mode == min-media-query {\n      @content;\n    }\n\n    @include _rfs-media-query () {\n      .enable-rfs &,\n      &.enable-rfs {\n        @content;\n      }\n    }\n  }\n  @else {\n    @if $rfs-class == disable and $rfs-mode == min-media-query {\n      .disable-rfs &,\n      &.disable-rfs {\n        @content;\n      }\n    }\n    @include _rfs-media-query () {\n      @content;\n    }\n  }\n}\n\n// Helper function to get the formatted non-responsive value\n@function rfs-value($values) {\n  // Convert to list\n  $values: if(type-of($values) != list, ($values,), $values);\n\n  $val: \"\";\n\n  // Loop over each value and calculate value\n  @each $value in $values {\n    @if $value == 0 {\n      $val: $val + \" 0\";\n    }\n    @else {\n      // Cache $value unit\n      $unit: if(type-of($value) == \"number\", unit($value), false);\n\n      @if $unit == px {\n        // Convert to rem if needed\n        $val: $val + \" \" + if($rfs-unit == rem, #{divide($value, $value * 0 + $rfs-rem-value)}rem, $value);\n      }\n      @else if $unit == rem {\n        // Convert to px if needed\n        $val: $val + \" \" + if($rfs-unit == px, #{divide($value, $value * 0 + 1) * $rfs-rem-value}px, $value);\n      } @else {\n        // If $value isn't a number (like inherit) or $value has a unit (not px or rem, like 1.5em) or $ is 0, just print the value\n        $val: $val + \" \" + $value;\n      }\n    }\n  }\n\n  // Remove first space\n  @return unquote(str-slice($val, 2));\n}\n\n// Helper function to get the responsive value calculated by RFS\n@function rfs-fluid-value($values) {\n  // Convert to list\n  $values: if(type-of($values) != list, ($values,), $values);\n\n  $val: \"\";\n\n  // Loop over each value and calculate value\n  @each $value in $values {\n    @if $value == 0 {\n      $val: $val + \" 0\";\n    } @else {\n      // Cache $value unit\n      $unit: if(type-of($value) == \"number\", unit($value), false);\n\n      // If $value isn't a number (like inherit) or $value has a unit (not px or rem, like 1.5em) or $ is 0, just print the value\n      @if not $unit or $unit != px and $unit != rem {\n        $val: $val + \" \" + $value;\n      } @else {\n        // Remove unit from $value for calculations\n        $value: divide($value, $value * 0 + if($unit == px, 1, divide(1, $rfs-rem-value)));\n\n        // Only add the media query if the value is greater than the minimum value\n        @if abs($value) <= $rfs-base-value or not $enable-rfs {\n          $val: $val + \" \" + if($rfs-unit == rem, #{divide($value, $rfs-rem-value)}rem, #{$value}px);\n        }\n        @else {\n          // Calculate the minimum value\n          $value-min: $rfs-base-value + divide(abs($value) - $rfs-base-value, $rfs-factor);\n\n          // Calculate difference between $value and the minimum value\n          $value-diff: abs($value) - $value-min;\n\n          // Base value formatting\n          $min-width: if($rfs-unit == rem, #{divide($value-min, $rfs-rem-value)}rem, #{$value-min}px);\n\n          // Use negative value if needed\n          $min-width: if($value < 0, -$min-width, $min-width);\n\n          // Use `vmin` if two-dimensional is enabled\n          $variable-unit: if($rfs-two-dimensional, vmin, vw);\n\n          // Calculate the variable width between 0 and $rfs-breakpoint\n          $variable-width: #{divide($value-diff * 100, $rfs-breakpoint)}#{$variable-unit};\n\n          // Return the calculated value\n          $val: $val + \" calc(\" + $min-width + if($value < 0, \" - \", \" + \") + $variable-width + \")\";\n        }\n      }\n    }\n  }\n\n  // Remove first space\n  @return unquote(str-slice($val, 2));\n}\n\n// RFS mixin\n@mixin rfs($values, $property: font-size) {\n  @if $values != null {\n    $val: rfs-value($values);\n    $fluid-val: rfs-fluid-value($values);\n\n    // Do not print the media query if responsive & non-responsive values are the same\n    @if $val == $fluid-val {\n      #{$property}: $val;\n    }\n    @else {\n      @include _rfs-rule () {\n        #{$property}: if($rfs-mode == max-media-query, $val, $fluid-val);\n\n        // Include safari iframe resize fix if needed\n        min-width: if($rfs-safari-iframe-resize-bug-fix, (0 * 1vw), null);\n      }\n\n      @include _rfs-media-query-rule () {\n        #{$property}: if($rfs-mode == max-media-query, $fluid-val, $val);\n      }\n    }\n  }\n}\n\n// Shorthand helper mixins\n@mixin font-size($value) {\n  @include rfs($value);\n}\n\n@mixin padding($value) {\n  @include rfs($value, padding);\n}\n\n@mixin padding-top($value) {\n  @include rfs($value, padding-top);\n}\n\n@mixin padding-right($value) {\n  @include rfs($value, padding-right);\n}\n\n@mixin padding-bottom($value) {\n  @include rfs($value, padding-bottom);\n}\n\n@mixin padding-left($value) {\n  @include rfs($value, padding-left);\n}\n\n@mixin margin($value) {\n  @include rfs($value, margin);\n}\n\n@mixin margin-top($value) {\n  @include rfs($value, margin-top);\n}\n\n@mixin margin-right($value) {\n  @include rfs($value, margin-right);\n}\n\n@mixin margin-bottom($value) {\n  @include rfs($value, margin-bottom);\n}\n\n@mixin margin-left($value) {\n  @include rfs($value, margin-left);\n}\n","// scss-docs-start color-mode-mixin\n@mixin color-mode($mode: light, $root: false) {\n  @if $color-mode-type == \"media-query\" {\n    @if $root == true {\n      @media (prefers-color-scheme: $mode) {\n        :root {\n          @content;\n        }\n      }\n    } @else {\n      @media (prefers-color-scheme: $mode) {\n        @content;\n      }\n    }\n  } @else {\n    [data-bs-theme=\"#{$mode}\"] {\n      @content;\n    }\n  }\n}\n// scss-docs-end color-mode-mixin\n","// stylelint-disable declaration-no-important, selector-no-qualifying-type, property-no-vendor-prefix\n\n\n// Reboot\n//\n// Normalization of HTML elements, manually forked from Normalize.css to remove\n// styles targeting irrelevant browsers while applying new styles.\n//\n// Normalize is licensed MIT. https://github.com/necolas/normalize.css\n\n\n// Document\n//\n// Change from `box-sizing: content-box` so that `width` is not affected by `padding` or `border`.\n\n*,\n*::before,\n*::after {\n  box-sizing: border-box;\n}\n\n\n// Root\n//\n// Ability to the value of the root font sizes, affecting the value of `rem`.\n// null by default, thus nothing is generated.\n\n:root {\n  @if $font-size-root != null {\n    @include font-size(var(--#{$prefix}root-font-size));\n  }\n\n  @if $enable-smooth-scroll {\n    @media (prefers-reduced-motion: no-preference) {\n      scroll-behavior: smooth;\n    }\n  }\n}\n\n\n// Body\n//\n// 1. Remove the margin in all browsers.\n// 2. As a best practice, apply a default `background-color`.\n// 3. Prevent adjustments of font size after orientation changes in iOS.\n// 4. Change the default tap highlight to be completely transparent in iOS.\n\n// scss-docs-start reboot-body-rules\nbody {\n  margin: 0; // 1\n  font-family: var(--#{$prefix}body-font-family);\n  @include font-size(var(--#{$prefix}body-font-size));\n  font-weight: var(--#{$prefix}body-font-weight);\n  line-height: var(--#{$prefix}body-line-height);\n  color: var(--#{$prefix}body-color);\n  text-align: var(--#{$prefix}body-text-align);\n  background-color: var(--#{$prefix}body-bg); // 2\n  -webkit-text-size-adjust: 100%; // 3\n  -webkit-tap-highlight-color: rgba($black, 0); // 4\n}\n// scss-docs-end reboot-body-rules\n\n\n// Content grouping\n//\n// 1. Reset Firefox's gray color\n\nhr {\n  margin: $hr-margin-y 0;\n  color: $hr-color; // 1\n  border: 0;\n  border-top: $hr-border-width solid $hr-border-color;\n  opacity: $hr-opacity;\n}\n\n\n// Typography\n//\n// 1. Remove top margins from headings\n//    By default, `<h1>`-`<h6>` all receive top and bottom margins. We nuke the top\n//    margin for easier control within type scales as it avoids margin collapsing.\n\n%heading {\n  margin-top: 0; // 1\n  margin-bottom: $headings-margin-bottom;\n  font-family: $headings-font-family;\n  font-style: $headings-font-style;\n  font-weight: $headings-font-weight;\n  line-height: $headings-line-height;\n  color: var(--#{$prefix}heading-color);\n}\n\nh1 {\n  @extend %heading;\n  @include font-size($h1-font-size);\n}\n\nh2 {\n  @extend %heading;\n  @include font-size($h2-font-size);\n}\n\nh3 {\n  @extend %heading;\n  @include font-size($h3-font-size);\n}\n\nh4 {\n  @extend %heading;\n  @include font-size($h4-font-size);\n}\n\nh5 {\n  @extend %heading;\n  @include font-size($h5-font-size);\n}\n\nh6 {\n  @extend %heading;\n  @include font-size($h6-font-size);\n}\n\n\n// Reset margins on paragraphs\n//\n// Similarly, the top margin on `<p>`s get reset. However, we also reset the\n// bottom margin to use `rem` units instead of `em`.\n\np {\n  margin-top: 0;\n  margin-bottom: $paragraph-margin-bottom;\n}\n\n\n// Abbreviations\n//\n// 1. Add the correct text decoration in Chrome, Edge, Opera, and Safari.\n// 2. Add explicit cursor to indicate changed behavior.\n// 3. Prevent the text-decoration to be skipped.\n\nabbr[title] {\n  text-decoration: underline dotted; // 1\n  cursor: help; // 2\n  text-decoration-skip-ink: none; // 3\n}\n\n\n// Address\n\naddress {\n  margin-bottom: 1rem;\n  font-style: normal;\n  line-height: inherit;\n}\n\n\n// Lists\n\nol,\nul {\n  padding-left: 2rem;\n}\n\nol,\nul,\ndl {\n  margin-top: 0;\n  margin-bottom: 1rem;\n}\n\nol ol,\nul ul,\nol ul,\nul ol {\n  margin-bottom: 0;\n}\n\ndt {\n  font-weight: $dt-font-weight;\n}\n\n// 1. Undo browser default\n\ndd {\n  margin-bottom: .5rem;\n  margin-left: 0; // 1\n}\n\n\n// Blockquote\n\nblockquote {\n  margin: 0 0 1rem;\n}\n\n\n// Strong\n//\n// Add the correct font weight in Chrome, Edge, and Safari\n\nb,\nstrong {\n  font-weight: $font-weight-bolder;\n}\n\n\n// Small\n//\n// Add the correct font size in all browsers\n\nsmall {\n  @include font-size($small-font-size);\n}\n\n\n// Mark\n\nmark {\n  padding: $mark-padding;\n  color: var(--#{$prefix}highlight-color);\n  background-color: var(--#{$prefix}highlight-bg);\n}\n\n\n// Sub and Sup\n//\n// Prevent `sub` and `sup` elements from affecting the line height in\n// all browsers.\n\nsub,\nsup {\n  position: relative;\n  @include font-size($sub-sup-font-size);\n  line-height: 0;\n  vertical-align: baseline;\n}\n\nsub { bottom: -.25em; }\nsup { top: -.5em; }\n\n\n// Links\n\na {\n  color: rgba(var(--#{$prefix}link-color-rgb), var(--#{$prefix}link-opacity, 1));\n  text-decoration: $link-decoration;\n\n  &:hover {\n    --#{$prefix}link-color-rgb: var(--#{$prefix}link-hover-color-rgb);\n    text-decoration: $link-hover-decoration;\n  }\n}\n\n// And undo these styles for placeholder links/named anchors (without href).\n// It would be more straightforward to just use a[href] in previous block, but that\n// causes specificity issues in many other styles that are too complex to fix.\n// See https://github.com/twbs/bootstrap/issues/19402\n\na:not([href]):not([class]) {\n  &,\n  &:hover {\n    color: inherit;\n    text-decoration: none;\n  }\n}\n\n\n// Code\n\npre,\ncode,\nkbd,\nsamp {\n  font-family: $font-family-code;\n  @include font-size(1em); // Correct the odd `em` font sizing in all browsers.\n}\n\n// 1. Remove browser default top margin\n// 2. Reset browser default of `1em` to use `rem`s\n// 3. Don't allow content to break outside\n\npre {\n  display: block;\n  margin-top: 0; // 1\n  margin-bottom: 1rem; // 2\n  overflow: auto; // 3\n  @include font-size($code-font-size);\n  color: $pre-color;\n\n  // Account for some code outputs that place code tags in pre tags\n  code {\n    @include font-size(inherit);\n    color: inherit;\n    word-break: normal;\n  }\n}\n\ncode {\n  @include font-size($code-font-size);\n  color: var(--#{$prefix}code-color);\n  word-wrap: break-word;\n\n  // Streamline the style when inside anchors to avoid broken underline and more\n  a > & {\n    color: inherit;\n  }\n}\n\nkbd {\n  padding: $kbd-padding-y $kbd-padding-x;\n  @include font-size($kbd-font-size);\n  color: $kbd-color;\n  background-color: $kbd-bg;\n  @include border-radius($border-radius-sm);\n\n  kbd {\n    padding: 0;\n    @include font-size(1em);\n    font-weight: $nested-kbd-font-weight;\n  }\n}\n\n\n// Figures\n//\n// Apply a consistent margin strategy (matches our type styles).\n\nfigure {\n  margin: 0 0 1rem;\n}\n\n\n// Images and content\n\nimg,\nsvg {\n  vertical-align: middle;\n}\n\n\n// Tables\n//\n// Prevent double borders\n\ntable {\n  caption-side: bottom;\n  border-collapse: collapse;\n}\n\ncaption {\n  padding-top: $table-cell-padding-y;\n  padding-bottom: $table-cell-padding-y;\n  color: $table-caption-color;\n  text-align: left;\n}\n\n// 1. Removes font-weight bold by inheriting\n// 2. Matches default `<td>` alignment by inheriting `text-align`.\n// 3. Fix alignment for Safari\n\nth {\n  font-weight: $table-th-font-weight; // 1\n  text-align: inherit; // 2\n  text-align: -webkit-match-parent; // 3\n}\n\nthead,\ntbody,\ntfoot,\ntr,\ntd,\nth {\n  border-color: inherit;\n  border-style: solid;\n  border-width: 0;\n}\n\n\n// Forms\n//\n// 1. Allow labels to use `margin` for spacing.\n\nlabel {\n  display: inline-block; // 1\n}\n\n// Remove the default `border-radius` that macOS Chrome adds.\n// See https://github.com/twbs/bootstrap/issues/24093\n\nbutton {\n  // stylelint-disable-next-line property-disallowed-list\n  border-radius: 0;\n}\n\n// Explicitly remove focus outline in Chromium when it shouldn't be\n// visible (e.g. as result of mouse click or touch tap). It already\n// should be doing this automatically, but seems to currently be\n// confused and applies its very visible two-tone outline anyway.\n\nbutton:focus:not(:focus-visible) {\n  outline: 0;\n}\n\n// 1. Remove the margin in Firefox and Safari\n\ninput,\nbutton,\nselect,\noptgroup,\ntextarea {\n  margin: 0; // 1\n  font-family: inherit;\n  @include font-size(inherit);\n  line-height: inherit;\n}\n\n// Remove the inheritance of text transform in Firefox\nbutton,\nselect {\n  text-transform: none;\n}\n// Set the cursor for non-`<button>` buttons\n//\n// Details at https://github.com/twbs/bootstrap/pull/30562\n[role=\"button\"] {\n  cursor: pointer;\n}\n\nselect {\n  // Remove the inheritance of word-wrap in Safari.\n  // See https://github.com/twbs/bootstrap/issues/24990\n  word-wrap: normal;\n\n  // Undo the opacity change from Chrome\n  &:disabled {\n    opacity: 1;\n  }\n}\n\n// Remove the dropdown arrow only from text type inputs built with datalists in Chrome.\n// See https://stackoverflow.com/a/54997118\n\n[list]:not([type=\"date\"]):not([type=\"datetime-local\"]):not([type=\"month\"]):not([type=\"week\"]):not([type=\"time\"])::-webkit-calendar-picker-indicator {\n  display: none !important;\n}\n\n// 1. Prevent a WebKit bug where (2) destroys native `audio` and `video`\n//    controls in Android 4.\n// 2. Correct the inability to style clickable types in iOS and Safari.\n// 3. Opinionated: add \"hand\" cursor to non-disabled button elements.\n\nbutton,\n[type=\"button\"], // 1\n[type=\"reset\"],\n[type=\"submit\"] {\n  -webkit-appearance: button; // 2\n\n  @if $enable-button-pointers {\n    &:not(:disabled) {\n      cursor: pointer; // 3\n    }\n  }\n}\n\n// Remove inner border and padding from Firefox, but don't restore the outline like Normalize.\n\n::-moz-focus-inner {\n  padding: 0;\n  border-style: none;\n}\n\n// 1. Textareas should really only resize vertically so they don't break their (horizontal) containers.\n\ntextarea {\n  resize: vertical; // 1\n}\n\n// 1. Browsers set a default `min-width: min-content;` on fieldsets,\n//    unlike e.g. `<div>`s, which have `min-width: 0;` by default.\n//    So we reset that to ensure fieldsets behave more like a standard block element.\n//    See https://github.com/twbs/bootstrap/issues/12359\n//    and https://html.spec.whatwg.org/multipage/#the-fieldset-and-legend-elements\n// 2. Reset the default outline behavior of fieldsets so they don't affect page layout.\n\nfieldset {\n  min-width: 0; // 1\n  padding: 0; // 2\n  margin: 0; // 2\n  border: 0; // 2\n}\n\n// 1. By using `float: left`, the legend will behave like a block element.\n//    This way the border of a fieldset wraps around the legend if present.\n// 2. Fix wrapping bug.\n//    See https://github.com/twbs/bootstrap/issues/29712\n\nlegend {\n  float: left; // 1\n  width: 100%;\n  padding: 0;\n  margin-bottom: $legend-margin-bottom;\n  @include font-size($legend-font-size);\n  font-weight: $legend-font-weight;\n  line-height: inherit;\n\n  + * {\n    clear: left; // 2\n  }\n}\n\n// Fix height of inputs with a type of datetime-local, date, month, week, or time\n// See https://github.com/twbs/bootstrap/issues/18842\n\n::-webkit-datetime-edit-fields-wrapper,\n::-webkit-datetime-edit-text,\n::-webkit-datetime-edit-minute,\n::-webkit-datetime-edit-hour-field,\n::-webkit-datetime-edit-day-field,\n::-webkit-datetime-edit-month-field,\n::-webkit-datetime-edit-year-field {\n  padding: 0;\n}\n\n::-webkit-inner-spin-button {\n  height: auto;\n}\n\n// 1. This overrides the extra rounded corners on search inputs in iOS so that our\n//    `.form-control` class can properly style them. Note that this cannot simply\n//    be added to `.form-control` as it's not specific enough. For details, see\n//    https://github.com/twbs/bootstrap/issues/11586.\n// 2. Correct the outline style in Safari.\n\n[type=\"search\"] {\n  -webkit-appearance: textfield; // 1\n  outline-offset: -2px; // 2\n}\n\n// 1. A few input types should stay LTR\n// See https://rtlstyling.com/posts/rtl-styling#form-inputs\n// 2. RTL only output\n// See https://rtlcss.com/learn/usage-guide/control-directives/#raw\n\n/* rtl:raw:\n[type=\"tel\"],\n[type=\"url\"],\n[type=\"email\"],\n[type=\"number\"] {\n  direction: ltr;\n}\n*/\n\n// Remove the inner padding in Chrome and Safari on macOS.\n\n::-webkit-search-decoration {\n  -webkit-appearance: none;\n}\n\n// Remove padding around color pickers in webkit browsers\n\n::-webkit-color-swatch-wrapper {\n  padding: 0;\n}\n\n\n// 1. Inherit font family and line height for file input buttons\n// 2. Correct the inability to style clickable types in iOS and Safari.\n\n::file-selector-button {\n  font: inherit; // 1\n  -webkit-appearance: button; // 2\n}\n\n// Correct element displays\n\noutput {\n  display: inline-block;\n}\n\n// Remove border from iframe\n\niframe {\n  border: 0;\n}\n\n// Summary\n//\n// 1. Add the correct display in all browsers\n\nsummary {\n  display: list-item; // 1\n  cursor: pointer;\n}\n\n\n// Progress\n//\n// Add the correct vertical alignment in Chrome, Firefox, and Opera.\n\nprogress {\n  vertical-align: baseline;\n}\n\n\n// Hidden attribute\n//\n// Always hide an element with the `hidden` HTML attribute.\n\n[hidden] {\n  display: none !important;\n}\n","// Variables\n//\n// Variables should follow the `$component-state-property-size` formula for\n// consistent naming. Ex: $nav-link-disabled-color and $modal-content-box-shadow-xs.\n\n// Color system\n\n// scss-docs-start gray-color-variables\n$white:    #fff !default;\n$gray-100: #f8f9fa !default;\n$gray-200: #e9ecef !default;\n$gray-300: #dee2e6 !default;\n$gray-400: #ced4da !default;\n$gray-500: #adb5bd !default;\n$gray-600: #6c757d !default;\n$gray-700: #495057 !default;\n$gray-800: #343a40 !default;\n$gray-900: #212529 !default;\n$black:    #000 !default;\n// scss-docs-end gray-color-variables\n\n// fusv-disable\n// scss-docs-start gray-colors-map\n$grays: (\n  \"100\": $gray-100,\n  \"200\": $gray-200,\n  \"300\": $gray-300,\n  \"400\": $gray-400,\n  \"500\": $gray-500,\n  \"600\": $gray-600,\n  \"700\": $gray-700,\n  \"800\": $gray-800,\n  \"900\": $gray-900\n) !default;\n// scss-docs-end gray-colors-map\n// fusv-enable\n\n// scss-docs-start color-variables\n$blue:    #0d6efd !default;\n$indigo:  #6610f2 !default;\n$purple:  #6f42c1 !default;\n$pink:    #d63384 !default;\n$red:     #dc3545 !default;\n$orange:  #fd7e14 !default;\n$yellow:  #ffc107 !default;\n$green:   #198754 !default;\n$teal:    #20c997 !default;\n$cyan:    #0dcaf0 !default;\n// scss-docs-end color-variables\n\n// scss-docs-start colors-map\n$colors: (\n  \"blue\":       $blue,\n  \"indigo\":     $indigo,\n  \"purple\":     $purple,\n  \"pink\":       $pink,\n  \"red\":        $red,\n  \"orange\":     $orange,\n  \"yellow\":     $yellow,\n  \"green\":      $green,\n  \"teal\":       $teal,\n  \"cyan\":       $cyan,\n  \"black\":      $black,\n  \"white\":      $white,\n  \"gray\":       $gray-600,\n  \"gray-dark\":  $gray-800\n) !default;\n// scss-docs-end colors-map\n\n// The contrast ratio to reach against white, to determine if color changes from \"light\" to \"dark\". Acceptable values for WCAG 2.0 are 3, 4.5 and 7.\n// See https://www.w3.org/TR/WCAG20/#visual-audio-contrast-contrast\n$min-contrast-ratio:   4.5 !default;\n\n// Customize the light and dark text colors for use in our color contrast function.\n$color-contrast-dark:      $black !default;\n$color-contrast-light:     $white !default;\n\n// fusv-disable\n$blue-100: tint-color($blue, 80%) !default;\n$blue-200: tint-color($blue, 60%) !default;\n$blue-300: tint-color($blue, 40%) !default;\n$blue-400: tint-color($blue, 20%) !default;\n$blue-500: $blue !default;\n$blue-600: shade-color($blue, 20%) !default;\n$blue-700: shade-color($blue, 40%) !default;\n$blue-800: shade-color($blue, 60%) !default;\n$blue-900: shade-color($blue, 80%) !default;\n\n$indigo-100: tint-color($indigo, 80%) !default;\n$indigo-200: tint-color($indigo, 60%) !default;\n$indigo-300: tint-color($indigo, 40%) !default;\n$indigo-400: tint-color($indigo, 20%) !default;\n$indigo-500: $indigo !default;\n$indigo-600: shade-color($indigo, 20%) !default;\n$indigo-700: shade-color($indigo, 40%) !default;\n$indigo-800: shade-color($indigo, 60%) !default;\n$indigo-900: shade-color($indigo, 80%) !default;\n\n$purple-100: tint-color($purple, 80%) !default;\n$purple-200: tint-color($purple, 60%) !default;\n$purple-300: tint-color($purple, 40%) !default;\n$purple-400: tint-color($purple, 20%) !default;\n$purple-500: $purple !default;\n$purple-600: shade-color($purple, 20%) !default;\n$purple-700: shade-color($purple, 40%) !default;\n$purple-800: shade-color($purple, 60%) !default;\n$purple-900: shade-color($purple, 80%) !default;\n\n$pink-100: tint-color($pink, 80%) !default;\n$pink-200: tint-color($pink, 60%) !default;\n$pink-300: tint-color($pink, 40%) !default;\n$pink-400: tint-color($pink, 20%) !default;\n$pink-500: $pink !default;\n$pink-600: shade-color($pink, 20%) !default;\n$pink-700: shade-color($pink, 40%) !default;\n$pink-800: shade-color($pink, 60%) !default;\n$pink-900: shade-color($pink, 80%) !default;\n\n$red-100: tint-color($red, 80%) !default;\n$red-200: tint-color($red, 60%) !default;\n$red-300: tint-color($red, 40%) !default;\n$red-400: tint-color($red, 20%) !default;\n$red-500: $red !default;\n$red-600: shade-color($red, 20%) !default;\n$red-700: shade-color($red, 40%) !default;\n$red-800: shade-color($red, 60%) !default;\n$red-900: shade-color($red, 80%) !default;\n\n$orange-100: tint-color($orange, 80%) !default;\n$orange-200: tint-color($orange, 60%) !default;\n$orange-300: tint-color($orange, 40%) !default;\n$orange-400: tint-color($orange, 20%) !default;\n$orange-500: $orange !default;\n$orange-600: shade-color($orange, 20%) !default;\n$orange-700: shade-color($orange, 40%) !default;\n$orange-800: shade-color($orange, 60%) !default;\n$orange-900: shade-color($orange, 80%) !default;\n\n$yellow-100: tint-color($yellow, 80%) !default;\n$yellow-200: tint-color($yellow, 60%) !default;\n$yellow-300: tint-color($yellow, 40%) !default;\n$yellow-400: tint-color($yellow, 20%) !default;\n$yellow-500: $yellow !default;\n$yellow-600: shade-color($yellow, 20%) !default;\n$yellow-700: shade-color($yellow, 40%) !default;\n$yellow-800: shade-color($yellow, 60%) !default;\n$yellow-900: shade-color($yellow, 80%) !default;\n\n$green-100: tint-color($green, 80%) !default;\n$green-200: tint-color($green, 60%) !default;\n$green-300: tint-color($green, 40%) !default;\n$green-400: tint-color($green, 20%) !default;\n$green-500: $green !default;\n$green-600: shade-color($green, 20%) !default;\n$green-700: shade-color($green, 40%) !default;\n$green-800: shade-color($green, 60%) !default;\n$green-900: shade-color($green, 80%) !default;\n\n$teal-100: tint-color($teal, 80%) !default;\n$teal-200: tint-color($teal, 60%) !default;\n$teal-300: tint-color($teal, 40%) !default;\n$teal-400: tint-color($teal, 20%) !default;\n$teal-500: $teal !default;\n$teal-600: shade-color($teal, 20%) !default;\n$teal-700: shade-color($teal, 40%) !default;\n$teal-800: shade-color($teal, 60%) !default;\n$teal-900: shade-color($teal, 80%) !default;\n\n$cyan-100: tint-color($cyan, 80%) !default;\n$cyan-200: tint-color($cyan, 60%) !default;\n$cyan-300: tint-color($cyan, 40%) !default;\n$cyan-400: tint-color($cyan, 20%) !default;\n$cyan-500: $cyan !default;\n$cyan-600: shade-color($cyan, 20%) !default;\n$cyan-700: shade-color($cyan, 40%) !default;\n$cyan-800: shade-color($cyan, 60%) !default;\n$cyan-900: shade-color($cyan, 80%) !default;\n\n$blues: (\n  \"blue-100\": $blue-100,\n  \"blue-200\": $blue-200,\n  \"blue-300\": $blue-300,\n  \"blue-400\": $blue-400,\n  \"blue-500\": $blue-500,\n  \"blue-600\": $blue-600,\n  \"blue-700\": $blue-700,\n  \"blue-800\": $blue-800,\n  \"blue-900\": $blue-900\n) !default;\n\n$indigos: (\n  \"indigo-100\": $indigo-100,\n  \"indigo-200\": $indigo-200,\n  \"indigo-300\": $indigo-300,\n  \"indigo-400\": $indigo-400,\n  \"indigo-500\": $indigo-500,\n  \"indigo-600\": $indigo-600,\n  \"indigo-700\": $indigo-700,\n  \"indigo-800\": $indigo-800,\n  \"indigo-900\": $indigo-900\n) !default;\n\n$purples: (\n  \"purple-100\": $purple-100,\n  \"purple-200\": $purple-200,\n  \"purple-300\": $purple-300,\n  \"purple-400\": $purple-400,\n  \"purple-500\": $purple-500,\n  \"purple-600\": $purple-600,\n  \"purple-700\": $purple-700,\n  \"purple-800\": $purple-800,\n  \"purple-900\": $purple-900\n) !default;\n\n$pinks: (\n  \"pink-100\": $pink-100,\n  \"pink-200\": $pink-200,\n  \"pink-300\": $pink-300,\n  \"pink-400\": $pink-400,\n  \"pink-500\": $pink-500,\n  \"pink-600\": $pink-600,\n  \"pink-700\": $pink-700,\n  \"pink-800\": $pink-800,\n  \"pink-900\": $pink-900\n) !default;\n\n$reds: (\n  \"red-100\": $red-100,\n  \"red-200\": $red-200,\n  \"red-300\": $red-300,\n  \"red-400\": $red-400,\n  \"red-500\": $red-500,\n  \"red-600\": $red-600,\n  \"red-700\": $red-700,\n  \"red-800\": $red-800,\n  \"red-900\": $red-900\n) !default;\n\n$oranges: (\n  \"orange-100\": $orange-100,\n  \"orange-200\": $orange-200,\n  \"orange-300\": $orange-300,\n  \"orange-400\": $orange-400,\n  \"orange-500\": $orange-500,\n  \"orange-600\": $orange-600,\n  \"orange-700\": $orange-700,\n  \"orange-800\": $orange-800,\n  \"orange-900\": $orange-900\n) !default;\n\n$yellows: (\n  \"yellow-100\": $yellow-100,\n  \"yellow-200\": $yellow-200,\n  \"yellow-300\": $yellow-300,\n  \"yellow-400\": $yellow-400,\n  \"yellow-500\": $yellow-500,\n  \"yellow-600\": $yellow-600,\n  \"yellow-700\": $yellow-700,\n  \"yellow-800\": $yellow-800,\n  \"yellow-900\": $yellow-900\n) !default;\n\n$greens: (\n  \"green-100\": $green-100,\n  \"green-200\": $green-200,\n  \"green-300\": $green-300,\n  \"green-400\": $green-400,\n  \"green-500\": $green-500,\n  \"green-600\": $green-600,\n  \"green-700\": $green-700,\n  \"green-800\": $green-800,\n  \"green-900\": $green-900\n) !default;\n\n$teals: (\n  \"teal-100\": $teal-100,\n  \"teal-200\": $teal-200,\n  \"teal-300\": $teal-300,\n  \"teal-400\": $teal-400,\n  \"teal-500\": $teal-500,\n  \"teal-600\": $teal-600,\n  \"teal-700\": $teal-700,\n  \"teal-800\": $teal-800,\n  \"teal-900\": $teal-900\n) !default;\n\n$cyans: (\n  \"cyan-100\": $cyan-100,\n  \"cyan-200\": $cyan-200,\n  \"cyan-300\": $cyan-300,\n  \"cyan-400\": $cyan-400,\n  \"cyan-500\": $cyan-500,\n  \"cyan-600\": $cyan-600,\n  \"cyan-700\": $cyan-700,\n  \"cyan-800\": $cyan-800,\n  \"cyan-900\": $cyan-900\n) !default;\n// fusv-enable\n\n// scss-docs-start theme-color-variables\n$primary:       $blue !default;\n$secondary:     $gray-600 !default;\n$success:       $green !default;\n$info:          $cyan !default;\n$warning:       $yellow !default;\n$danger:        $red !default;\n$light:         $gray-100 !default;\n$dark:          $gray-900 !default;\n// scss-docs-end theme-color-variables\n\n// scss-docs-start theme-colors-map\n$theme-colors: (\n  \"primary\":    $primary,\n  \"secondary\":  $secondary,\n  \"success\":    $success,\n  \"info\":       $info,\n  \"warning\":    $warning,\n  \"danger\":     $danger,\n  \"light\":      $light,\n  \"dark\":       $dark\n) !default;\n// scss-docs-end theme-colors-map\n\n// scss-docs-start theme-text-variables\n$primary-text-emphasis:   shade-color($primary, 60%) !default;\n$secondary-text-emphasis: shade-color($secondary, 60%) !default;\n$success-text-emphasis:   shade-color($success, 60%) !default;\n$info-text-emphasis:      shade-color($info, 60%) !default;\n$warning-text-emphasis:   shade-color($warning, 60%) !default;\n$danger-text-emphasis:    shade-color($danger, 60%) !default;\n$light-text-emphasis:     $gray-700 !default;\n$dark-text-emphasis:      $gray-700 !default;\n// scss-docs-end theme-text-variables\n\n// scss-docs-start theme-bg-subtle-variables\n$primary-bg-subtle:       tint-color($primary, 80%) !default;\n$secondary-bg-subtle:     tint-color($secondary, 80%) !default;\n$success-bg-subtle:       tint-color($success, 80%) !default;\n$info-bg-subtle:          tint-color($info, 80%) !default;\n$warning-bg-subtle:       tint-color($warning, 80%) !default;\n$danger-bg-subtle:        tint-color($danger, 80%) !default;\n$light-bg-subtle:         mix($gray-100, $white) !default;\n$dark-bg-subtle:          $gray-400 !default;\n// scss-docs-end theme-bg-subtle-variables\n\n// scss-docs-start theme-border-subtle-variables\n$primary-border-subtle:   tint-color($primary, 60%) !default;\n$secondary-border-subtle: tint-color($secondary, 60%) !default;\n$success-border-subtle:   tint-color($success, 60%) !default;\n$info-border-subtle:      tint-color($info, 60%) !default;\n$warning-border-subtle:   tint-color($warning, 60%) !default;\n$danger-border-subtle:    tint-color($danger, 60%) !default;\n$light-border-subtle:     $gray-200 !default;\n$dark-border-subtle:      $gray-500 !default;\n// scss-docs-end theme-border-subtle-variables\n\n// Characters which are escaped by the escape-svg function\n$escaped-characters: (\n  (\"<\", \"%3c\"),\n  (\">\", \"%3e\"),\n  (\"#\", \"%23\"),\n  (\"(\", \"%28\"),\n  (\")\", \"%29\"),\n) !default;\n\n// Options\n//\n// Quickly modify global styling by enabling or disabling optional features.\n\n$enable-caret:                true !default;\n$enable-rounded:              true !default;\n$enable-shadows:              false !default;\n$enable-gradients:            false !default;\n$enable-transitions:          true !default;\n$enable-reduced-motion:       true !default;\n$enable-smooth-scroll:        true !default;\n$enable-grid-classes:         true !default;\n$enable-container-classes:    true !default;\n$enable-cssgrid:              false !default;\n$enable-button-pointers:      true !default;\n$enable-rfs:                  true !default;\n$enable-validation-icons:     true !default;\n$enable-negative-margins:     false !default;\n$enable-deprecation-messages: true !default;\n$enable-important-utilities:  true !default;\n\n$enable-dark-mode:            true !default;\n$color-mode-type:             data !default; // `data` or `media-query`\n\n// Prefix for :root CSS variables\n\n$variable-prefix:             bs- !default; // Deprecated in v5.2.0 for the shorter `$prefix`\n$prefix:                      $variable-prefix !default;\n\n// Gradient\n//\n// The gradient which is added to components if `$enable-gradients` is `true`\n// This gradient is also added to elements with `.bg-gradient`\n// scss-docs-start variable-gradient\n$gradient: linear-gradient(180deg, rgba($white, .15), rgba($white, 0)) !default;\n// scss-docs-end variable-gradient\n\n// Spacing\n//\n// Control the default styling of most Bootstrap elements by modifying these\n// variables. Mostly focused on spacing.\n// You can add more entries to the $spacers map, should you need more variation.\n\n// scss-docs-start spacer-variables-maps\n$spacer: 1rem !default;\n$spacers: (\n  0: 0,\n  1: $spacer * .25,\n  2: $spacer * .5,\n  3: $spacer,\n  4: $spacer * 1.5,\n  5: $spacer * 3,\n) !default;\n// scss-docs-end spacer-variables-maps\n\n// Position\n//\n// Define the edge positioning anchors of the position utilities.\n\n// scss-docs-start position-map\n$position-values: (\n  0: 0,\n  50: 50%,\n  100: 100%\n) !default;\n// scss-docs-end position-map\n\n// Body\n//\n// Settings for the `<body>` element.\n\n$body-text-align:           null !default;\n$body-color:                $gray-900 !default;\n$body-bg:                   $white !default;\n\n$body-secondary-color:      rgba($body-color, .75) !default;\n$body-secondary-bg:         $gray-200 !default;\n\n$body-tertiary-color:       rgba($body-color, .5) !default;\n$body-tertiary-bg:          $gray-100 !default;\n\n$body-emphasis-color:       $black !default;\n\n// Links\n//\n// Style anchor elements.\n\n$link-color:                              $primary !default;\n$link-decoration:                         underline !default;\n$link-shade-percentage:                   20% !default;\n$link-hover-color:                        shift-color($link-color, $link-shade-percentage) !default;\n$link-hover-decoration:                   null !default;\n\n$stretched-link-pseudo-element:           after !default;\n$stretched-link-z-index:                  1 !default;\n\n// Icon links\n// scss-docs-start icon-link-variables\n$icon-link-gap:               .375rem !default;\n$icon-link-underline-offset:  .25em !default;\n$icon-link-icon-size:         1em !default;\n$icon-link-icon-transition:   .2s ease-in-out transform !default;\n$icon-link-icon-transform:    translate3d(.25em, 0, 0) !default;\n// scss-docs-end icon-link-variables\n\n// Paragraphs\n//\n// Style p element.\n\n$paragraph-margin-bottom:   1rem !default;\n\n\n// Grid breakpoints\n//\n// Define the minimum dimensions at which your layout will change,\n// adapting to different screen sizes, for use in media queries.\n\n// scss-docs-start grid-breakpoints\n$grid-breakpoints: (\n  xs: 0,\n  sm: 576px,\n  md: 768px,\n  lg: 992px,\n  xl: 1200px,\n  xxl: 1400px\n) !default;\n// scss-docs-end grid-breakpoints\n\n@include _assert-ascending($grid-breakpoints, \"$grid-breakpoints\");\n@include _assert-starts-at-zero($grid-breakpoints, \"$grid-breakpoints\");\n\n\n// Grid containers\n//\n// Define the maximum width of `.container` for different screen sizes.\n\n// scss-docs-start container-max-widths\n$container-max-widths: (\n  sm: 540px,\n  md: 720px,\n  lg: 960px,\n  xl: 1140px,\n  xxl: 1320px\n) !default;\n// scss-docs-end container-max-widths\n\n@include _assert-ascending($container-max-widths, \"$container-max-widths\");\n\n\n// Grid columns\n//\n// Set the number of columns and specify the width of the gutters.\n\n$grid-columns:                12 !default;\n$grid-gutter-width:           1.5rem !default;\n$grid-row-columns:            6 !default;\n\n// Container padding\n\n$container-padding-x: $grid-gutter-width !default;\n\n\n// Components\n//\n// Define common padding and border radius sizes and more.\n\n// scss-docs-start border-variables\n$border-width:                1px !default;\n$border-widths: (\n  1: 1px,\n  2: 2px,\n  3: 3px,\n  4: 4px,\n  5: 5px\n) !default;\n$border-style:                solid !default;\n$border-color:                $gray-300 !default;\n$border-color-translucent:    rgba($black, .175) !default;\n// scss-docs-end border-variables\n\n// scss-docs-start border-radius-variables\n$border-radius:               .375rem !default;\n$border-radius-sm:            .25rem !default;\n$border-radius-lg:            .5rem !default;\n$border-radius-xl:            1rem !default;\n$border-radius-xxl:           2rem !default;\n$border-radius-pill:          50rem !default;\n// scss-docs-end border-radius-variables\n// fusv-disable\n$border-radius-2xl:           $border-radius-xxl !default; // Deprecated in v5.3.0\n// fusv-enable\n\n// scss-docs-start box-shadow-variables\n$box-shadow:                  0 .5rem 1rem rgba($black, .15) !default;\n$box-shadow-sm:               0 .125rem .25rem rgba($black, .075) !default;\n$box-shadow-lg:               0 1rem 3rem rgba($black, .175) !default;\n$box-shadow-inset:            inset 0 1px 2px rgba($black, .075) !default;\n// scss-docs-end box-shadow-variables\n\n$component-active-color:      $white !default;\n$component-active-bg:         $primary !default;\n\n// scss-docs-start focus-ring-variables\n$focus-ring-width:      .25rem !default;\n$focus-ring-opacity:    .25 !default;\n$focus-ring-color:      rgba($primary, $focus-ring-opacity) !default;\n$focus-ring-blur:       0 !default;\n$focus-ring-box-shadow: 0 0 $focus-ring-blur $focus-ring-width $focus-ring-color !default;\n// scss-docs-end focus-ring-variables\n\n// scss-docs-start caret-variables\n$caret-width:                 .3em !default;\n$caret-vertical-align:        $caret-width * .85 !default;\n$caret-spacing:               $caret-width * .85 !default;\n// scss-docs-end caret-variables\n\n$transition-base:             all .2s ease-in-out !default;\n$transition-fade:             opacity .15s linear !default;\n// scss-docs-start collapse-transition\n$transition-collapse:         height .35s ease !default;\n$transition-collapse-width:   width .35s ease !default;\n// scss-docs-end collapse-transition\n\n// stylelint-disable function-disallowed-list\n// scss-docs-start aspect-ratios\n$aspect-ratios: (\n  \"1x1\": 100%,\n  \"4x3\": calc(3 / 4 * 100%),\n  \"16x9\": calc(9 / 16 * 100%),\n  \"21x9\": calc(9 / 21 * 100%)\n) !default;\n// scss-docs-end aspect-ratios\n// stylelint-enable function-disallowed-list\n\n// Typography\n//\n// Font, line-height, and color for body text, headings, and more.\n\n// scss-docs-start font-variables\n// stylelint-disable value-keyword-case\n$font-family-sans-serif:      system-ui, -apple-system, \"Segoe UI\", Roboto, \"Helvetica Neue\", \"Noto Sans\", \"Liberation Sans\", Arial, sans-serif, \"Apple Color Emoji\", \"Segoe UI Emoji\", \"Segoe UI Symbol\", \"Noto Color Emoji\" !default;\n$font-family-monospace:       SFMono-Regular, Menlo, Monaco, Consolas, \"Liberation Mono\", \"Courier New\", monospace !default;\n// stylelint-enable value-keyword-case\n$font-family-base:            var(--#{$prefix}font-sans-serif) !default;\n$font-family-code:            var(--#{$prefix}font-monospace) !default;\n\n// $font-size-root affects the value of `rem`, which is used for as well font sizes, paddings, and margins\n// $font-size-base affects the font size of the body text\n$font-size-root:              null !default;\n$font-size-base:              1rem !default; // Assumes the browser default, typically `16px`\n$font-size-sm:                $font-size-base * .875 !default;\n$font-size-lg:                $font-size-base * 1.25 !default;\n\n$font-weight-lighter:         lighter !default;\n$font-weight-light:           300 !default;\n$font-weight-normal:          400 !default;\n$font-weight-medium:          500 !default;\n$font-weight-semibold:        600 !default;\n$font-weight-bold:            700 !default;\n$font-weight-bolder:          bolder !default;\n\n$font-weight-base:            $font-weight-normal !default;\n\n$line-height-base:            1.5 !default;\n$line-height-sm:              1.25 !default;\n$line-height-lg:              2 !default;\n\n$h1-font-size:                $font-size-base * 2.5 !default;\n$h2-font-size:                $font-size-base * 2 !default;\n$h3-font-size:                $font-size-base * 1.75 !default;\n$h4-font-size:                $font-size-base * 1.5 !default;\n$h5-font-size:                $font-size-base * 1.25 !default;\n$h6-font-size:                $font-size-base !default;\n// scss-docs-end font-variables\n\n// scss-docs-start font-sizes\n$font-sizes: (\n  1: $h1-font-size,\n  2: $h2-font-size,\n  3: $h3-font-size,\n  4: $h4-font-size,\n  5: $h5-font-size,\n  6: $h6-font-size\n) !default;\n// scss-docs-end font-sizes\n\n// scss-docs-start headings-variables\n$headings-margin-bottom:      $spacer * .5 !default;\n$headings-font-family:        null !default;\n$headings-font-style:         null !default;\n$headings-font-weight:        500 !default;\n$headings-line-height:        1.2 !default;\n$headings-color:              inherit !default;\n// scss-docs-end headings-variables\n\n// scss-docs-start display-headings\n$display-font-sizes: (\n  1: 5rem,\n  2: 4.5rem,\n  3: 4rem,\n  4: 3.5rem,\n  5: 3rem,\n  6: 2.5rem\n) !default;\n\n$display-font-family: null !default;\n$display-font-style:  null !default;\n$display-font-weight: 300 !default;\n$display-line-height: $headings-line-height !default;\n// scss-docs-end display-headings\n\n// scss-docs-start type-variables\n$lead-font-size:              $font-size-base * 1.25 !default;\n$lead-font-weight:            300 !default;\n\n$small-font-size:             .875em !default;\n\n$sub-sup-font-size:           .75em !default;\n\n// fusv-disable\n$text-muted:                  var(--#{$prefix}secondary-color) !default; // Deprecated in 5.3.0\n// fusv-enable\n\n$initialism-font-size:        $small-font-size !default;\n\n$blockquote-margin-y:         $spacer !default;\n$blockquote-font-size:        $font-size-base * 1.25 !default;\n$blockquote-footer-color:     $gray-600 !default;\n$blockquote-footer-font-size: $small-font-size !default;\n\n$hr-margin-y:                 $spacer !default;\n$hr-color:                    inherit !default;\n\n// fusv-disable\n$hr-bg-color:                 null !default; // Deprecated in v5.2.0\n$hr-height:                   null !default; // Deprecated in v5.2.0\n// fusv-enable\n\n$hr-border-color:             null !default; // Allows for inherited colors\n$hr-border-width:             var(--#{$prefix}border-width) !default;\n$hr-opacity:                  .25 !default;\n\n// scss-docs-start vr-variables\n$vr-border-width:             var(--#{$prefix}border-width) !default;\n// scss-docs-end vr-variables\n\n$legend-margin-bottom:        .5rem !default;\n$legend-font-size:            1.5rem !default;\n$legend-font-weight:          null !default;\n\n$dt-font-weight:              $font-weight-bold !default;\n\n$list-inline-padding:         .5rem !default;\n\n$mark-padding:                .1875em !default;\n$mark-color:                  $body-color !default;\n$mark-bg:                     $yellow-100 !default;\n// scss-docs-end type-variables\n\n\n// Tables\n//\n// Customizes the `.table` component with basic values, each used across all table variations.\n\n// scss-docs-start table-variables\n$table-cell-padding-y:        .5rem !default;\n$table-cell-padding-x:        .5rem !default;\n$table-cell-padding-y-sm:     .25rem !default;\n$table-cell-padding-x-sm:     .25rem !default;\n\n$table-cell-vertical-align:   top !default;\n\n$table-color:                 var(--#{$prefix}emphasis-color) !default;\n$table-bg:                    var(--#{$prefix}body-bg) !default;\n$table-accent-bg:             transparent !default;\n\n$table-th-font-weight:        null !default;\n\n$table-striped-color:         $table-color !default;\n$table-striped-bg-factor:     .05 !default;\n$table-striped-bg:            rgba(var(--#{$prefix}emphasis-color-rgb), $table-striped-bg-factor) !default;\n\n$table-active-color:          $table-color !default;\n$table-active-bg-factor:      .1 !default;\n$table-active-bg:             rgba(var(--#{$prefix}emphasis-color-rgb), $table-active-bg-factor) !default;\n\n$table-hover-color:           $table-color !default;\n$table-hover-bg-factor:       .075 !default;\n$table-hover-bg:              rgba(var(--#{$prefix}emphasis-color-rgb), $table-hover-bg-factor) !default;\n\n$table-border-factor:         .2 !default;\n$table-border-width:          var(--#{$prefix}border-width) !default;\n$table-border-color:          var(--#{$prefix}border-color) !default;\n\n$table-striped-order:         odd !default;\n$table-striped-columns-order: even !default;\n\n$table-group-separator-color: currentcolor !default;\n\n$table-caption-color:         var(--#{$prefix}secondary-color) !default;\n\n$table-bg-scale:              -80% !default;\n// scss-docs-end table-variables\n\n// scss-docs-start table-loop\n$table-variants: (\n  \"primary\":    shift-color($primary, $table-bg-scale),\n  \"secondary\":  shift-color($secondary, $table-bg-scale),\n  \"success\":    shift-color($success, $table-bg-scale),\n  \"info\":       shift-color($info, $table-bg-scale),\n  \"warning\":    shift-color($warning, $table-bg-scale),\n  \"danger\":     shift-color($danger, $table-bg-scale),\n  \"light\":      $light,\n  \"dark\":       $dark,\n) !default;\n// scss-docs-end table-loop\n\n\n// Buttons + Forms\n//\n// Shared variables that are reassigned to `$input-` and `$btn-` specific variables.\n\n// scss-docs-start input-btn-variables\n$input-btn-padding-y:         .375rem !default;\n$input-btn-padding-x:         .75rem !default;\n$input-btn-font-family:       null !default;\n$input-btn-font-size:         $font-size-base !default;\n$input-btn-line-height:       $line-height-base !default;\n\n$input-btn-focus-width:         $focus-ring-width !default;\n$input-btn-focus-color-opacity: $focus-ring-opacity !default;\n$input-btn-focus-color:         $focus-ring-color !default;\n$input-btn-focus-blur:          $focus-ring-blur !default;\n$input-btn-focus-box-shadow:    $focus-ring-box-shadow !default;\n\n$input-btn-padding-y-sm:      .25rem !default;\n$input-btn-padding-x-sm:      .5rem !default;\n$input-btn-font-size-sm:      $font-size-sm !default;\n\n$input-btn-padding-y-lg:      .5rem !default;\n$input-btn-padding-x-lg:      1rem !default;\n$input-btn-font-size-lg:      $font-size-lg !default;\n\n$input-btn-border-width:      var(--#{$prefix}border-width) !default;\n// scss-docs-end input-btn-variables\n\n\n// Buttons\n//\n// For each of Bootstrap's buttons, define text, background, and border color.\n\n// scss-docs-start btn-variables\n$btn-color:                   var(--#{$prefix}body-color) !default;\n$btn-padding-y:               $input-btn-padding-y !default;\n$btn-padding-x:               $input-btn-padding-x !default;\n$btn-font-family:             $input-btn-font-family !default;\n$btn-font-size:               $input-btn-font-size !default;\n$btn-line-height:             $input-btn-line-height !default;\n$btn-white-space:             null !default; // Set to `nowrap` to prevent text wrapping\n\n$btn-padding-y-sm:            $input-btn-padding-y-sm !default;\n$btn-padding-x-sm:            $input-btn-padding-x-sm !default;\n$btn-font-size-sm:            $input-btn-font-size-sm !default;\n\n$btn-padding-y-lg:            $input-btn-padding-y-lg !default;\n$btn-padding-x-lg:            $input-btn-padding-x-lg !default;\n$btn-font-size-lg:            $input-btn-font-size-lg !default;\n\n$btn-border-width:            $input-btn-border-width !default;\n\n$btn-font-weight:             $font-weight-normal !default;\n$btn-box-shadow:              inset 0 1px 0 rgba($white, .15), 0 1px 1px rgba($black, .075) !default;\n$btn-focus-width:             $input-btn-focus-width !default;\n$btn-focus-box-shadow:        $input-btn-focus-box-shadow !default;\n$btn-disabled-opacity:        .65 !default;\n$btn-active-box-shadow:       inset 0 3px 5px rgba($black, .125) !default;\n\n$btn-link-color:              var(--#{$prefix}link-color) !default;\n$btn-link-hover-color:        var(--#{$prefix}link-hover-color) !default;\n$btn-link-disabled-color:     $gray-600 !default;\n$btn-link-focus-shadow-rgb:   to-rgb(mix(color-contrast($link-color), $link-color, 15%)) !default;\n\n// Allows for customizing button radius independently from global border radius\n$btn-border-radius:           var(--#{$prefix}border-radius) !default;\n$btn-border-radius-sm:        var(--#{$prefix}border-radius-sm) !default;\n$btn-border-radius-lg:        var(--#{$prefix}border-radius-lg) !default;\n\n$btn-transition:              color .15s ease-in-out, background-color .15s ease-in-out, border-color .15s ease-in-out, box-shadow .15s ease-in-out !default;\n\n$btn-hover-bg-shade-amount:       15% !default;\n$btn-hover-bg-tint-amount:        15% !default;\n$btn-hover-border-shade-amount:   20% !default;\n$btn-hover-border-tint-amount:    10% !default;\n$btn-active-bg-shade-amount:      20% !default;\n$btn-active-bg-tint-amount:       20% !default;\n$btn-active-border-shade-amount:  25% !default;\n$btn-active-border-tint-amount:   10% !default;\n// scss-docs-end btn-variables\n\n\n// Forms\n\n// scss-docs-start form-text-variables\n$form-text-margin-top:                  .25rem !default;\n$form-text-font-size:                   $small-font-size !default;\n$form-text-font-style:                  null !default;\n$form-text-font-weight:                 null !default;\n$form-text-color:                       var(--#{$prefix}secondary-color) !default;\n// scss-docs-end form-text-variables\n\n// scss-docs-start form-label-variables\n$form-label-margin-bottom:              .5rem !default;\n$form-label-font-size:                  null !default;\n$form-label-font-style:                 null !default;\n$form-label-font-weight:                null !default;\n$form-label-color:                      null !default;\n// scss-docs-end form-label-variables\n\n// scss-docs-start form-input-variables\n$input-padding-y:                       $input-btn-padding-y !default;\n$input-padding-x:                       $input-btn-padding-x !default;\n$input-font-family:                     $input-btn-font-family !default;\n$input-font-size:                       $input-btn-font-size !default;\n$input-font-weight:                     $font-weight-base !default;\n$input-line-height:                     $input-btn-line-height !default;\n\n$input-padding-y-sm:                    $input-btn-padding-y-sm !default;\n$input-padding-x-sm:                    $input-btn-padding-x-sm !default;\n$input-font-size-sm:                    $input-btn-font-size-sm !default;\n\n$input-padding-y-lg:                    $input-btn-padding-y-lg !default;\n$input-padding-x-lg:                    $input-btn-padding-x-lg !default;\n$input-font-size-lg:                    $input-btn-font-size-lg !default;\n\n$input-bg:                              var(--#{$prefix}body-bg) !default;\n$input-disabled-color:                  null !default;\n$input-disabled-bg:                     var(--#{$prefix}secondary-bg) !default;\n$input-disabled-border-color:           null !default;\n\n$input-color:                           var(--#{$prefix}body-color) !default;\n$input-border-color:                    var(--#{$prefix}border-color) !default;\n$input-border-width:                    $input-btn-border-width !default;\n$input-box-shadow:                      var(--#{$prefix}box-shadow-inset) !default;\n\n$input-border-radius:                   var(--#{$prefix}border-radius) !default;\n$input-border-radius-sm:                var(--#{$prefix}border-radius-sm) !default;\n$input-border-radius-lg:                var(--#{$prefix}border-radius-lg) !default;\n\n$input-focus-bg:                        $input-bg !default;\n$input-focus-border-color:              tint-color($component-active-bg, 50%) !default;\n$input-focus-color:                     $input-color !default;\n$input-focus-width:                     $input-btn-focus-width !default;\n$input-focus-box-shadow:                $input-btn-focus-box-shadow !default;\n\n$input-placeholder-color:               var(--#{$prefix}secondary-color) !default;\n$input-plaintext-color:                 var(--#{$prefix}body-color) !default;\n\n$input-height-border:                   calc(#{$input-border-width} * 2) !default; // stylelint-disable-line function-disallowed-list\n\n$input-height-inner:                    add($input-line-height * 1em, $input-padding-y * 2) !default;\n$input-height-inner-half:               add($input-line-height * .5em, $input-padding-y) !default;\n$input-height-inner-quarter:            add($input-line-height * .25em, $input-padding-y * .5) !default;\n\n$input-height:                          add($input-line-height * 1em, add($input-padding-y * 2, $input-height-border, false)) !default;\n$input-height-sm:                       add($input-line-height * 1em, add($input-padding-y-sm * 2, $input-height-border, false)) !default;\n$input-height-lg:                       add($input-line-height * 1em, add($input-padding-y-lg * 2, $input-height-border, false)) !default;\n\n$input-transition:                      border-color .15s ease-in-out, box-shadow .15s ease-in-out !default;\n\n$form-color-width:                      3rem !default;\n// scss-docs-end form-input-variables\n\n// scss-docs-start form-check-variables\n$form-check-input-width:                  1em !default;\n$form-check-min-height:                   $font-size-base * $line-height-base !default;\n$form-check-padding-start:                $form-check-input-width + .5em !default;\n$form-check-margin-bottom:                .125rem !default;\n$form-check-label-color:                  null !default;\n$form-check-label-cursor:                 null !default;\n$form-check-transition:                   null !default;\n\n$form-check-input-active-filter:          brightness(90%) !default;\n\n$form-check-input-bg:                     $input-bg !default;\n$form-check-input-border:                 var(--#{$prefix}border-width) solid var(--#{$prefix}border-color) !default;\n$form-check-input-border-radius:          .25em !default;\n$form-check-radio-border-radius:          50% !default;\n$form-check-input-focus-border:           $input-focus-border-color !default;\n$form-check-input-focus-box-shadow:       $focus-ring-box-shadow !default;\n\n$form-check-input-checked-color:          $component-active-color !default;\n$form-check-input-checked-bg-color:       $component-active-bg !default;\n$form-check-input-checked-border-color:   $form-check-input-checked-bg-color !default;\n$form-check-input-checked-bg-image:       url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 20 20'><path fill='none' stroke='#{$form-check-input-checked-color}' stroke-linecap='round' stroke-linejoin='round' stroke-width='3' d='m6 10 3 3 6-6'/></svg>\") !default;\n$form-check-radio-checked-bg-image:       url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='-4 -4 8 8'><circle r='2' fill='#{$form-check-input-checked-color}'/></svg>\") !default;\n\n$form-check-input-indeterminate-color:          $component-active-color !default;\n$form-check-input-indeterminate-bg-color:       $component-active-bg !default;\n$form-check-input-indeterminate-border-color:   $form-check-input-indeterminate-bg-color !default;\n$form-check-input-indeterminate-bg-image:       url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 20 20'><path fill='none' stroke='#{$form-check-input-indeterminate-color}' stroke-linecap='round' stroke-linejoin='round' stroke-width='3' d='M6 10h8'/></svg>\") !default;\n\n$form-check-input-disabled-opacity:        .5 !default;\n$form-check-label-disabled-opacity:        $form-check-input-disabled-opacity !default;\n$form-check-btn-check-disabled-opacity:    $btn-disabled-opacity !default;\n\n$form-check-inline-margin-end:    1rem !default;\n// scss-docs-end form-check-variables\n\n// scss-docs-start form-switch-variables\n$form-switch-color:               rgba($black, .25) !default;\n$form-switch-width:               2em !default;\n$form-switch-padding-start:       $form-switch-width + .5em !default;\n$form-switch-bg-image:            url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='-4 -4 8 8'><circle r='3' fill='#{$form-switch-color}'/></svg>\") !default;\n$form-switch-border-radius:       $form-switch-width !default;\n$form-switch-transition:          background-position .15s ease-in-out !default;\n\n$form-switch-focus-color:         $input-focus-border-color !default;\n$form-switch-focus-bg-image:      url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='-4 -4 8 8'><circle r='3' fill='#{$form-switch-focus-color}'/></svg>\") !default;\n\n$form-switch-checked-color:       $component-active-color !default;\n$form-switch-checked-bg-image:    url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='-4 -4 8 8'><circle r='3' fill='#{$form-switch-checked-color}'/></svg>\") !default;\n$form-switch-checked-bg-position: right center !default;\n// scss-docs-end form-switch-variables\n\n// scss-docs-start input-group-variables\n$input-group-addon-padding-y:           $input-padding-y !default;\n$input-group-addon-padding-x:           $input-padding-x !default;\n$input-group-addon-font-weight:         $input-font-weight !default;\n$input-group-addon-color:               $input-color !default;\n$input-group-addon-bg:                  var(--#{$prefix}tertiary-bg) !default;\n$input-group-addon-border-color:        $input-border-color !default;\n// scss-docs-end input-group-variables\n\n// scss-docs-start form-select-variables\n$form-select-padding-y:             $input-padding-y !default;\n$form-select-padding-x:             $input-padding-x !default;\n$form-select-font-family:           $input-font-family !default;\n$form-select-font-size:             $input-font-size !default;\n$form-select-indicator-padding:     $form-select-padding-x * 3 !default; // Extra padding for background-image\n$form-select-font-weight:           $input-font-weight !default;\n$form-select-line-height:           $input-line-height !default;\n$form-select-color:                 $input-color !default;\n$form-select-bg:                    $input-bg !default;\n$form-select-disabled-color:        null !default;\n$form-select-disabled-bg:           $input-disabled-bg !default;\n$form-select-disabled-border-color: $input-disabled-border-color !default;\n$form-select-bg-position:           right $form-select-padding-x center !default;\n$form-select-bg-size:               16px 12px !default; // In pixels because image dimensions\n$form-select-indicator-color:       $gray-800 !default;\n$form-select-indicator:             url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16'><path fill='none' stroke='#{$form-select-indicator-color}' stroke-linecap='round' stroke-linejoin='round' stroke-width='2' d='m2 5 6 6 6-6'/></svg>\") !default;\n\n$form-select-feedback-icon-padding-end: $form-select-padding-x * 2.5 + $form-select-indicator-padding !default;\n$form-select-feedback-icon-position:    center right $form-select-indicator-padding !default;\n$form-select-feedback-icon-size:        $input-height-inner-half $input-height-inner-half !default;\n\n$form-select-border-width:        $input-border-width !default;\n$form-select-border-color:        $input-border-color !default;\n$form-select-border-radius:       $input-border-radius !default;\n$form-select-box-shadow:          var(--#{$prefix}box-shadow-inset) !default;\n\n$form-select-focus-border-color:  $input-focus-border-color !default;\n$form-select-focus-width:         $input-focus-width !default;\n$form-select-focus-box-shadow:    0 0 0 $form-select-focus-width $input-btn-focus-color !default;\n\n$form-select-padding-y-sm:        $input-padding-y-sm !default;\n$form-select-padding-x-sm:        $input-padding-x-sm !default;\n$form-select-font-size-sm:        $input-font-size-sm !default;\n$form-select-border-radius-sm:    $input-border-radius-sm !default;\n\n$form-select-padding-y-lg:        $input-padding-y-lg !default;\n$form-select-padding-x-lg:        $input-padding-x-lg !default;\n$form-select-font-size-lg:        $input-font-size-lg !default;\n$form-select-border-radius-lg:    $input-border-radius-lg !default;\n\n$form-select-transition:          $input-transition !default;\n// scss-docs-end form-select-variables\n\n// scss-docs-start form-range-variables\n$form-range-track-width:          100% !default;\n$form-range-track-height:         .5rem !default;\n$form-range-track-cursor:         pointer !default;\n$form-range-track-bg:             var(--#{$prefix}secondary-bg) !default;\n$form-range-track-border-radius:  1rem !default;\n$form-range-track-box-shadow:     var(--#{$prefix}box-shadow-inset) !default;\n\n$form-range-thumb-width:                   1rem !default;\n$form-range-thumb-height:                  $form-range-thumb-width !default;\n$form-range-thumb-bg:                      $component-active-bg !default;\n$form-range-thumb-border:                  0 !default;\n$form-range-thumb-border-radius:           1rem !default;\n$form-range-thumb-box-shadow:              0 .1rem .25rem rgba($black, .1) !default;\n$form-range-thumb-focus-box-shadow:        0 0 0 1px $body-bg, $input-focus-box-shadow !default;\n$form-range-thumb-focus-box-shadow-width:  $input-focus-width !default; // For focus box shadow issue in Edge\n$form-range-thumb-active-bg:               tint-color($component-active-bg, 70%) !default;\n$form-range-thumb-disabled-bg:             var(--#{$prefix}secondary-color) !default;\n$form-range-thumb-transition:              background-color .15s ease-in-out, border-color .15s ease-in-out, box-shadow .15s ease-in-out !default;\n// scss-docs-end form-range-variables\n\n// scss-docs-start form-file-variables\n$form-file-button-color:          $input-color !default;\n$form-file-button-bg:             var(--#{$prefix}tertiary-bg) !default;\n$form-file-button-hover-bg:       var(--#{$prefix}secondary-bg) !default;\n// scss-docs-end form-file-variables\n\n// scss-docs-start form-floating-variables\n$form-floating-height:                  add(3.5rem, $input-height-border) !default;\n$form-floating-line-height:             1.25 !default;\n$form-floating-padding-x:               $input-padding-x !default;\n$form-floating-padding-y:               1rem !default;\n$form-floating-input-padding-t:         1.625rem !default;\n$form-floating-input-padding-b:         .625rem !default;\n$form-floating-label-height:            1.5em !default;\n$form-floating-label-opacity:           .65 !default;\n$form-floating-label-transform:         scale(.85) translateY(-.5rem) translateX(.15rem) !default;\n$form-floating-label-disabled-color:    $gray-600 !default;\n$form-floating-transition:              opacity .1s ease-in-out, transform .1s ease-in-out !default;\n// scss-docs-end form-floating-variables\n\n// Form validation\n\n// scss-docs-start form-feedback-variables\n$form-feedback-margin-top:          $form-text-margin-top !default;\n$form-feedback-font-size:           $form-text-font-size !default;\n$form-feedback-font-style:          $form-text-font-style !default;\n$form-feedback-valid-color:         $success !default;\n$form-feedback-invalid-color:       $danger !default;\n\n$form-feedback-icon-valid-color:    $form-feedback-valid-color !default;\n$form-feedback-icon-valid:          url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 8 8'><path fill='#{$form-feedback-icon-valid-color}' d='M2.3 6.73.6 4.53c-.4-1.04.46-1.4 1.1-.8l1.1 1.4 3.4-3.8c.6-.63 1.6-.27 1.2.7l-4 4.6c-.43.5-.8.4-1.1.1z'/></svg>\") !default;\n$form-feedback-icon-invalid-color:  $form-feedback-invalid-color !default;\n$form-feedback-icon-invalid:        url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 12 12' width='12' height='12' fill='none' stroke='#{$form-feedback-icon-invalid-color}'><circle cx='6' cy='6' r='4.5'/><path stroke-linejoin='round' d='M5.8 3.6h.4L6 6.5z'/><circle cx='6' cy='8.2' r='.6' fill='#{$form-feedback-icon-invalid-color}' stroke='none'/></svg>\") !default;\n// scss-docs-end form-feedback-variables\n\n// scss-docs-start form-validation-colors\n$form-valid-color:                  $form-feedback-valid-color !default;\n$form-valid-border-color:           $form-feedback-valid-color !default;\n$form-invalid-color:                $form-feedback-invalid-color !default;\n$form-invalid-border-color:         $form-feedback-invalid-color !default;\n// scss-docs-end form-validation-colors\n\n// scss-docs-start form-validation-states\n$form-validation-states: (\n  \"valid\": (\n    \"color\": var(--#{$prefix}form-valid-color),\n    \"icon\": $form-feedback-icon-valid,\n    \"tooltip-color\": #fff,\n    \"tooltip-bg-color\": var(--#{$prefix}success),\n    \"focus-box-shadow\": 0 0 $input-btn-focus-blur $input-focus-width rgba(var(--#{$prefix}success-rgb), $input-btn-focus-color-opacity),\n    \"border-color\": var(--#{$prefix}form-valid-border-color),\n  ),\n  \"invalid\": (\n    \"color\": var(--#{$prefix}form-invalid-color),\n    \"icon\": $form-feedback-icon-invalid,\n    \"tooltip-color\": #fff,\n    \"tooltip-bg-color\": var(--#{$prefix}danger),\n    \"focus-box-shadow\": 0 0 $input-btn-focus-blur $input-focus-width rgba(var(--#{$prefix}danger-rgb), $input-btn-focus-color-opacity),\n    \"border-color\": var(--#{$prefix}form-invalid-border-color),\n  )\n) !default;\n// scss-docs-end form-validation-states\n\n// Z-index master list\n//\n// Warning: Avoid customizing these values. They're used for a bird's eye view\n// of components dependent on the z-axis and are designed to all work together.\n\n// scss-docs-start zindex-stack\n$zindex-dropdown:                   1000 !default;\n$zindex-sticky:                     1020 !default;\n$zindex-fixed:                      1030 !default;\n$zindex-offcanvas-backdrop:         1040 !default;\n$zindex-offcanvas:                  1045 !default;\n$zindex-modal-backdrop:             1050 !default;\n$zindex-modal:                      1055 !default;\n$zindex-popover:                    1070 !default;\n$zindex-tooltip:                    1080 !default;\n$zindex-toast:                      1090 !default;\n// scss-docs-end zindex-stack\n\n// scss-docs-start zindex-levels-map\n$zindex-levels: (\n  n1: -1,\n  0: 0,\n  1: 1,\n  2: 2,\n  3: 3\n) !default;\n// scss-docs-end zindex-levels-map\n\n\n// Navs\n\n// scss-docs-start nav-variables\n$nav-link-padding-y:                .5rem !default;\n$nav-link-padding-x:                1rem !default;\n$nav-link-font-size:                null !default;\n$nav-link-font-weight:              null !default;\n$nav-link-color:                    var(--#{$prefix}link-color) !default;\n$nav-link-hover-color:              var(--#{$prefix}link-hover-color) !default;\n$nav-link-transition:               color .15s ease-in-out, background-color .15s ease-in-out, border-color .15s ease-in-out !default;\n$nav-link-disabled-color:           var(--#{$prefix}secondary-color) !default;\n$nav-link-focus-box-shadow:         $focus-ring-box-shadow !default;\n\n$nav-tabs-border-color:             var(--#{$prefix}border-color) !default;\n$nav-tabs-border-width:             var(--#{$prefix}border-width) !default;\n$nav-tabs-border-radius:            var(--#{$prefix}border-radius) !default;\n$nav-tabs-link-hover-border-color:  var(--#{$prefix}secondary-bg) var(--#{$prefix}secondary-bg) $nav-tabs-border-color !default;\n$nav-tabs-link-active-color:        var(--#{$prefix}emphasis-color) !default;\n$nav-tabs-link-active-bg:           var(--#{$prefix}body-bg) !default;\n$nav-tabs-link-active-border-color: var(--#{$prefix}border-color) var(--#{$prefix}border-color) $nav-tabs-link-active-bg !default;\n\n$nav-pills-border-radius:           var(--#{$prefix}border-radius) !default;\n$nav-pills-link-active-color:       $component-active-color !default;\n$nav-pills-link-active-bg:          $component-active-bg !default;\n\n$nav-underline-gap:                 1rem !default;\n$nav-underline-border-width:        .125rem !default;\n$nav-underline-link-active-color:   var(--#{$prefix}emphasis-color) !default;\n// scss-docs-end nav-variables\n\n\n// Navbar\n\n// scss-docs-start navbar-variables\n$navbar-padding-y:                  $spacer * .5 !default;\n$navbar-padding-x:                  null !default;\n\n$navbar-nav-link-padding-x:         .5rem !default;\n\n$navbar-brand-font-size:            $font-size-lg !default;\n// Compute the navbar-brand padding-y so the navbar-brand will have the same height as navbar-text and nav-link\n$nav-link-height:                   $font-size-base * $line-height-base + $nav-link-padding-y * 2 !default;\n$navbar-brand-height:               $navbar-brand-font-size * $line-height-base !default;\n$navbar-brand-padding-y:            ($nav-link-height - $navbar-brand-height) * .5 !default;\n$navbar-brand-margin-end:           1rem !default;\n\n$navbar-toggler-padding-y:          .25rem !default;\n$navbar-toggler-padding-x:          .75rem !default;\n$navbar-toggler-font-size:          $font-size-lg !default;\n$navbar-toggler-border-radius:      $btn-border-radius !default;\n$navbar-toggler-focus-width:        $btn-focus-width !default;\n$navbar-toggler-transition:         box-shadow .15s ease-in-out !default;\n\n$navbar-light-color:                rgba(var(--#{$prefix}emphasis-color-rgb), .65) !default;\n$navbar-light-hover-color:          rgba(var(--#{$prefix}emphasis-color-rgb), .8) !default;\n$navbar-light-active-color:         rgba(var(--#{$prefix}emphasis-color-rgb), 1) !default;\n$navbar-light-disabled-color:       rgba(var(--#{$prefix}emphasis-color-rgb), .3) !default;\n$navbar-light-icon-color:           rgba($body-color, .75) !default;\n$navbar-light-toggler-icon-bg:      url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 30 30'><path stroke='#{$navbar-light-icon-color}' stroke-linecap='round' stroke-miterlimit='10' stroke-width='2' d='M4 7h22M4 15h22M4 23h22'/></svg>\") !default;\n$navbar-light-toggler-border-color: rgba(var(--#{$prefix}emphasis-color-rgb), .15) !default;\n$navbar-light-brand-color:          $navbar-light-active-color !default;\n$navbar-light-brand-hover-color:    $navbar-light-active-color !default;\n// scss-docs-end navbar-variables\n\n// scss-docs-start navbar-dark-variables\n$navbar-dark-color:                 rgba($white, .55) !default;\n$navbar-dark-hover-color:           rgba($white, .75) !default;\n$navbar-dark-active-color:          $white !default;\n$navbar-dark-disabled-color:        rgba($white, .25) !default;\n$navbar-dark-icon-color:            $navbar-dark-color !default;\n$navbar-dark-toggler-icon-bg:       url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 30 30'><path stroke='#{$navbar-dark-icon-color}' stroke-linecap='round' stroke-miterlimit='10' stroke-width='2' d='M4 7h22M4 15h22M4 23h22'/></svg>\") !default;\n$navbar-dark-toggler-border-color:  rgba($white, .1) !default;\n$navbar-dark-brand-color:           $navbar-dark-active-color !default;\n$navbar-dark-brand-hover-color:     $navbar-dark-active-color !default;\n// scss-docs-end navbar-dark-variables\n\n\n// Dropdowns\n//\n// Dropdown menu container and contents.\n\n// scss-docs-start dropdown-variables\n$dropdown-min-width:                10rem !default;\n$dropdown-padding-x:                0 !default;\n$dropdown-padding-y:                .5rem !default;\n$dropdown-spacer:                   .125rem !default;\n$dropdown-font-size:                $font-size-base !default;\n$dropdown-color:                    var(--#{$prefix}body-color) !default;\n$dropdown-bg:                       var(--#{$prefix}body-bg) !default;\n$dropdown-border-color:             var(--#{$prefix}border-color-translucent) !default;\n$dropdown-border-radius:            var(--#{$prefix}border-radius) !default;\n$dropdown-border-width:             var(--#{$prefix}border-width) !default;\n$dropdown-inner-border-radius:      calc(#{$dropdown-border-radius} - #{$dropdown-border-width}) !default; // stylelint-disable-line function-disallowed-list\n$dropdown-divider-bg:               $dropdown-border-color !default;\n$dropdown-divider-margin-y:         $spacer * .5 !default;\n$dropdown-box-shadow:               var(--#{$prefix}box-shadow) !default;\n\n$dropdown-link-color:               var(--#{$prefix}body-color) !default;\n$dropdown-link-hover-color:         $dropdown-link-color !default;\n$dropdown-link-hover-bg:            var(--#{$prefix}tertiary-bg) !default;\n\n$dropdown-link-active-color:        $component-active-color !default;\n$dropdown-link-active-bg:           $component-active-bg !default;\n\n$dropdown-link-disabled-color:      var(--#{$prefix}tertiary-color) !default;\n\n$dropdown-item-padding-y:           $spacer * .25 !default;\n$dropdown-item-padding-x:           $spacer !default;\n\n$dropdown-header-color:             $gray-600 !default;\n$dropdown-header-padding-x:         $dropdown-item-padding-x !default;\n$dropdown-header-padding-y:         $dropdown-padding-y !default;\n// fusv-disable\n$dropdown-header-padding:           $dropdown-header-padding-y $dropdown-header-padding-x !default; // Deprecated in v5.2.0\n// fusv-enable\n// scss-docs-end dropdown-variables\n\n// scss-docs-start dropdown-dark-variables\n$dropdown-dark-color:               $gray-300 !default;\n$dropdown-dark-bg:                  $gray-800 !default;\n$dropdown-dark-border-color:        $dropdown-border-color !default;\n$dropdown-dark-divider-bg:          $dropdown-divider-bg !default;\n$dropdown-dark-box-shadow:          null !default;\n$dropdown-dark-link-color:          $dropdown-dark-color !default;\n$dropdown-dark-link-hover-color:    $white !default;\n$dropdown-dark-link-hover-bg:       rgba($white, .15) !default;\n$dropdown-dark-link-active-color:   $dropdown-link-active-color !default;\n$dropdown-dark-link-active-bg:      $dropdown-link-active-bg !default;\n$dropdown-dark-link-disabled-color: $gray-500 !default;\n$dropdown-dark-header-color:        $gray-500 !default;\n// scss-docs-end dropdown-dark-variables\n\n\n// Pagination\n\n// scss-docs-start pagination-variables\n$pagination-padding-y:              .375rem !default;\n$pagination-padding-x:              .75rem !default;\n$pagination-padding-y-sm:           .25rem !default;\n$pagination-padding-x-sm:           .5rem !default;\n$pagination-padding-y-lg:           .75rem !default;\n$pagination-padding-x-lg:           1.5rem !default;\n\n$pagination-font-size:              $font-size-base !default;\n\n$pagination-color:                  var(--#{$prefix}link-color) !default;\n$pagination-bg:                     var(--#{$prefix}body-bg) !default;\n$pagination-border-radius:          var(--#{$prefix}border-radius) !default;\n$pagination-border-width:           var(--#{$prefix}border-width) !default;\n$pagination-margin-start:           calc(#{$pagination-border-width} * -1) !default; // stylelint-disable-line function-disallowed-list\n$pagination-border-color:           var(--#{$prefix}border-color) !default;\n\n$pagination-focus-color:            var(--#{$prefix}link-hover-color) !default;\n$pagination-focus-bg:               var(--#{$prefix}secondary-bg) !default;\n$pagination-focus-box-shadow:       $focus-ring-box-shadow !default;\n$pagination-focus-outline:          0 !default;\n\n$pagination-hover-color:            var(--#{$prefix}link-hover-color) !default;\n$pagination-hover-bg:               var(--#{$prefix}tertiary-bg) !default;\n$pagination-hover-border-color:     var(--#{$prefix}border-color) !default; // Todo in v6: remove this?\n\n$pagination-active-color:           $component-active-color !default;\n$pagination-active-bg:              $component-active-bg !default;\n$pagination-active-border-color:    $component-active-bg !default;\n\n$pagination-disabled-color:         var(--#{$prefix}secondary-color) !default;\n$pagination-disabled-bg:            var(--#{$prefix}secondary-bg) !default;\n$pagination-disabled-border-color:  var(--#{$prefix}border-color) !default;\n\n$pagination-transition:              color .15s ease-in-out, background-color .15s ease-in-out, border-color .15s ease-in-out, box-shadow .15s ease-in-out !default;\n\n$pagination-border-radius-sm:       var(--#{$prefix}border-radius-sm) !default;\n$pagination-border-radius-lg:       var(--#{$prefix}border-radius-lg) !default;\n// scss-docs-end pagination-variables\n\n\n// Placeholders\n\n// scss-docs-start placeholders\n$placeholder-opacity-max:           .5 !default;\n$placeholder-opacity-min:           .2 !default;\n// scss-docs-end placeholders\n\n// Cards\n\n// scss-docs-start card-variables\n$card-spacer-y:                     $spacer !default;\n$card-spacer-x:                     $spacer !default;\n$card-title-spacer-y:               $spacer * .5 !default;\n$card-title-color:                  null !default;\n$card-subtitle-color:               null !default;\n$card-border-width:                 var(--#{$prefix}border-width) !default;\n$card-border-color:                 var(--#{$prefix}border-color-translucent) !default;\n$card-border-radius:                var(--#{$prefix}border-radius) !default;\n$card-box-shadow:                   null !default;\n$card-inner-border-radius:          subtract($card-border-radius, $card-border-width) !default;\n$card-cap-padding-y:                $card-spacer-y * .5 !default;\n$card-cap-padding-x:                $card-spacer-x !default;\n$card-cap-bg:                       rgba(var(--#{$prefix}body-color-rgb), .03) !default;\n$card-cap-color:                    null !default;\n$card-height:                       null !default;\n$card-color:                        null !default;\n$card-bg:                           var(--#{$prefix}body-bg) !default;\n$card-img-overlay-padding:          $spacer !default;\n$card-group-margin:                 $grid-gutter-width * .5 !default;\n// scss-docs-end card-variables\n\n// Accordion\n\n// scss-docs-start accordion-variables\n$accordion-padding-y:                     1rem !default;\n$accordion-padding-x:                     1.25rem !default;\n$accordion-color:                         var(--#{$prefix}body-color) !default;\n$accordion-bg:                            var(--#{$prefix}body-bg) !default;\n$accordion-border-width:                  var(--#{$prefix}border-width) !default;\n$accordion-border-color:                  var(--#{$prefix}border-color) !default;\n$accordion-border-radius:                 var(--#{$prefix}border-radius) !default;\n$accordion-inner-border-radius:           subtract($accordion-border-radius, $accordion-border-width) !default;\n\n$accordion-body-padding-y:                $accordion-padding-y !default;\n$accordion-body-padding-x:                $accordion-padding-x !default;\n\n$accordion-button-padding-y:              $accordion-padding-y !default;\n$accordion-button-padding-x:              $accordion-padding-x !default;\n$accordion-button-color:                  var(--#{$prefix}body-color) !default;\n$accordion-button-bg:                     var(--#{$prefix}accordion-bg) !default;\n$accordion-transition:                    $btn-transition, border-radius .15s ease !default;\n$accordion-button-active-bg:              var(--#{$prefix}primary-bg-subtle) !default;\n$accordion-button-active-color:           var(--#{$prefix}primary-text-emphasis) !default;\n\n// fusv-disable\n$accordion-button-focus-border-color:     $input-focus-border-color !default; // Deprecated in v5.3.3\n// fusv-enable\n$accordion-button-focus-box-shadow:       $btn-focus-box-shadow !default;\n\n$accordion-icon-width:                    1.25rem !default;\n$accordion-icon-color:                    $body-color !default;\n$accordion-icon-active-color:             $primary-text-emphasis !default;\n$accordion-icon-transition:               transform .2s ease-in-out !default;\n$accordion-icon-transform:                rotate(-180deg) !default;\n\n$accordion-button-icon:         url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='none' stroke='#{$accordion-icon-color}' stroke-linecap='round' stroke-linejoin='round'><path d='M2 5L8 11L14 5'/></svg>\") !default;\n$accordion-button-active-icon:  url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='none' stroke='#{$accordion-icon-active-color}' stroke-linecap='round' stroke-linejoin='round'><path d='M2 5L8 11L14 5'/></svg>\") !default;\n// scss-docs-end accordion-variables\n\n// Tooltips\n\n// scss-docs-start tooltip-variables\n$tooltip-font-size:                 $font-size-sm !default;\n$tooltip-max-width:                 200px !default;\n$tooltip-color:                     var(--#{$prefix}body-bg) !default;\n$tooltip-bg:                        var(--#{$prefix}emphasis-color) !default;\n$tooltip-border-radius:             var(--#{$prefix}border-radius) !default;\n$tooltip-opacity:                   .9 !default;\n$tooltip-padding-y:                 $spacer * .25 !default;\n$tooltip-padding-x:                 $spacer * .5 !default;\n$tooltip-margin:                    null !default; // TODO: remove this in v6\n\n$tooltip-arrow-width:               .8rem !default;\n$tooltip-arrow-height:              .4rem !default;\n// fusv-disable\n$tooltip-arrow-color:               null !default; // Deprecated in Bootstrap 5.2.0 for CSS variables\n// fusv-enable\n// scss-docs-end tooltip-variables\n\n// Form tooltips must come after regular tooltips\n// scss-docs-start tooltip-feedback-variables\n$form-feedback-tooltip-padding-y:     $tooltip-padding-y !default;\n$form-feedback-tooltip-padding-x:     $tooltip-padding-x !default;\n$form-feedback-tooltip-font-size:     $tooltip-font-size !default;\n$form-feedback-tooltip-line-height:   null !default;\n$form-feedback-tooltip-opacity:       $tooltip-opacity !default;\n$form-feedback-tooltip-border-radius: $tooltip-border-radius !default;\n// scss-docs-end tooltip-feedback-variables\n\n\n// Popovers\n\n// scss-docs-start popover-variables\n$popover-font-size:                 $font-size-sm !default;\n$popover-bg:                        var(--#{$prefix}body-bg) !default;\n$popover-max-width:                 276px !default;\n$popover-border-width:              var(--#{$prefix}border-width) !default;\n$popover-border-color:              var(--#{$prefix}border-color-translucent) !default;\n$popover-border-radius:             var(--#{$prefix}border-radius-lg) !default;\n$popover-inner-border-radius:       calc(#{$popover-border-radius} - #{$popover-border-width}) !default; // stylelint-disable-line function-disallowed-list\n$popover-box-shadow:                var(--#{$prefix}box-shadow) !default;\n\n$popover-header-font-size:          $font-size-base !default;\n$popover-header-bg:                 var(--#{$prefix}secondary-bg) !default;\n$popover-header-color:              $headings-color !default;\n$popover-header-padding-y:          .5rem !default;\n$popover-header-padding-x:          $spacer !default;\n\n$popover-body-color:                var(--#{$prefix}body-color) !default;\n$popover-body-padding-y:            $spacer !default;\n$popover-body-padding-x:            $spacer !default;\n\n$popover-arrow-width:               1rem !default;\n$popover-arrow-height:              .5rem !default;\n// scss-docs-end popover-variables\n\n// fusv-disable\n// Deprecated in Bootstrap 5.2.0 for CSS variables\n$popover-arrow-color:               $popover-bg !default;\n$popover-arrow-outer-color:         var(--#{$prefix}border-color-translucent) !default;\n// fusv-enable\n\n\n// Toasts\n\n// scss-docs-start toast-variables\n$toast-max-width:                   350px !default;\n$toast-padding-x:                   .75rem !default;\n$toast-padding-y:                   .5rem !default;\n$toast-font-size:                   .875rem !default;\n$toast-color:                       null !default;\n$toast-background-color:            rgba(var(--#{$prefix}body-bg-rgb), .85) !default;\n$toast-border-width:                var(--#{$prefix}border-width) !default;\n$toast-border-color:                var(--#{$prefix}border-color-translucent) !default;\n$toast-border-radius:               var(--#{$prefix}border-radius) !default;\n$toast-box-shadow:                  var(--#{$prefix}box-shadow) !default;\n$toast-spacing:                     $container-padding-x !default;\n\n$toast-header-color:                var(--#{$prefix}secondary-color) !default;\n$toast-header-background-color:     rgba(var(--#{$prefix}body-bg-rgb), .85) !default;\n$toast-header-border-color:         $toast-border-color !default;\n// scss-docs-end toast-variables\n\n\n// Badges\n\n// scss-docs-start badge-variables\n$badge-font-size:                   .75em !default;\n$badge-font-weight:                 $font-weight-bold !default;\n$badge-color:                       $white !default;\n$badge-padding-y:                   .35em !default;\n$badge-padding-x:                   .65em !default;\n$badge-border-radius:               var(--#{$prefix}border-radius) !default;\n// scss-docs-end badge-variables\n\n\n// Modals\n\n// scss-docs-start modal-variables\n$modal-inner-padding:               $spacer !default;\n\n$modal-footer-margin-between:       .5rem !default;\n\n$modal-dialog-margin:               .5rem !default;\n$modal-dialog-margin-y-sm-up:       1.75rem !default;\n\n$modal-title-line-height:           $line-height-base !default;\n\n$modal-content-color:               null !default;\n$modal-content-bg:                  var(--#{$prefix}body-bg) !default;\n$modal-content-border-color:        var(--#{$prefix}border-color-translucent) !default;\n$modal-content-border-width:        var(--#{$prefix}border-width) !default;\n$modal-content-border-radius:       var(--#{$prefix}border-radius-lg) !default;\n$modal-content-inner-border-radius: subtract($modal-content-border-radius, $modal-content-border-width) !default;\n$modal-content-box-shadow-xs:       var(--#{$prefix}box-shadow-sm) !default;\n$modal-content-box-shadow-sm-up:    var(--#{$prefix}box-shadow) !default;\n\n$modal-backdrop-bg:                 $black !default;\n$modal-backdrop-opacity:            .5 !default;\n\n$modal-header-border-color:         var(--#{$prefix}border-color) !default;\n$modal-header-border-width:         $modal-content-border-width !default;\n$modal-header-padding-y:            $modal-inner-padding !default;\n$modal-header-padding-x:            $modal-inner-padding !default;\n$modal-header-padding:              $modal-header-padding-y $modal-header-padding-x !default; // Keep this for backwards compatibility\n\n$modal-footer-bg:                   null !default;\n$modal-footer-border-color:         $modal-header-border-color !default;\n$modal-footer-border-width:         $modal-header-border-width !default;\n\n$modal-sm:                          300px !default;\n$modal-md:                          500px !default;\n$modal-lg:                          800px !default;\n$modal-xl:                          1140px !default;\n\n$modal-fade-transform:              translate(0, -50px) !default;\n$modal-show-transform:              none !default;\n$modal-transition:                  transform .3s ease-out !default;\n$modal-scale-transform:             scale(1.02) !default;\n// scss-docs-end modal-variables\n\n\n// Alerts\n//\n// Define alert colors, border radius, and padding.\n\n// scss-docs-start alert-variables\n$alert-padding-y:               $spacer !default;\n$alert-padding-x:               $spacer !default;\n$alert-margin-bottom:           1rem !default;\n$alert-border-radius:           var(--#{$prefix}border-radius) !default;\n$alert-link-font-weight:        $font-weight-bold !default;\n$alert-border-width:            var(--#{$prefix}border-width) !default;\n$alert-dismissible-padding-r:   $alert-padding-x * 3 !default; // 3x covers width of x plus default padding on either side\n// scss-docs-end alert-variables\n\n// fusv-disable\n$alert-bg-scale:                -80% !default; // Deprecated in v5.2.0, to be removed in v6\n$alert-border-scale:            -70% !default; // Deprecated in v5.2.0, to be removed in v6\n$alert-color-scale:             40% !default; // Deprecated in v5.2.0, to be removed in v6\n// fusv-enable\n\n// Progress bars\n\n// scss-docs-start progress-variables\n$progress-height:                   1rem !default;\n$progress-font-size:                $font-size-base * .75 !default;\n$progress-bg:                       var(--#{$prefix}secondary-bg) !default;\n$progress-border-radius:            var(--#{$prefix}border-radius) !default;\n$progress-box-shadow:               var(--#{$prefix}box-shadow-inset) !default;\n$progress-bar-color:                $white !default;\n$progress-bar-bg:                   $primary !default;\n$progress-bar-animation-timing:     1s linear infinite !default;\n$progress-bar-transition:           width .6s ease !default;\n// scss-docs-end progress-variables\n\n\n// List group\n\n// scss-docs-start list-group-variables\n$list-group-color:                  var(--#{$prefix}body-color) !default;\n$list-group-bg:                     var(--#{$prefix}body-bg) !default;\n$list-group-border-color:           var(--#{$prefix}border-color) !default;\n$list-group-border-width:           var(--#{$prefix}border-width) !default;\n$list-group-border-radius:          var(--#{$prefix}border-radius) !default;\n\n$list-group-item-padding-y:         $spacer * .5 !default;\n$list-group-item-padding-x:         $spacer !default;\n// fusv-disable\n$list-group-item-bg-scale:          -80% !default; // Deprecated in v5.3.0\n$list-group-item-color-scale:       40% !default; // Deprecated in v5.3.0\n// fusv-enable\n\n$list-group-hover-bg:               var(--#{$prefix}tertiary-bg) !default;\n$list-group-active-color:           $component-active-color !default;\n$list-group-active-bg:              $component-active-bg !default;\n$list-group-active-border-color:    $list-group-active-bg !default;\n\n$list-group-disabled-color:         var(--#{$prefix}secondary-color) !default;\n$list-group-disabled-bg:            $list-group-bg !default;\n\n$list-group-action-color:           var(--#{$prefix}secondary-color) !default;\n$list-group-action-hover-color:     var(--#{$prefix}emphasis-color) !default;\n\n$list-group-action-active-color:    var(--#{$prefix}body-color) !default;\n$list-group-action-active-bg:       var(--#{$prefix}secondary-bg) !default;\n// scss-docs-end list-group-variables\n\n\n// Image thumbnails\n\n// scss-docs-start thumbnail-variables\n$thumbnail-padding:                 .25rem !default;\n$thumbnail-bg:                      var(--#{$prefix}body-bg) !default;\n$thumbnail-border-width:            var(--#{$prefix}border-width) !default;\n$thumbnail-border-color:            var(--#{$prefix}border-color) !default;\n$thumbnail-border-radius:           var(--#{$prefix}border-radius) !default;\n$thumbnail-box-shadow:              var(--#{$prefix}box-shadow-sm) !default;\n// scss-docs-end thumbnail-variables\n\n\n// Figures\n\n// scss-docs-start figure-variables\n$figure-caption-font-size:          $small-font-size !default;\n$figure-caption-color:              var(--#{$prefix}secondary-color) !default;\n// scss-docs-end figure-variables\n\n\n// Breadcrumbs\n\n// scss-docs-start breadcrumb-variables\n$breadcrumb-font-size:              null !default;\n$breadcrumb-padding-y:              0 !default;\n$breadcrumb-padding-x:              0 !default;\n$breadcrumb-item-padding-x:         .5rem !default;\n$breadcrumb-margin-bottom:          1rem !default;\n$breadcrumb-bg:                     null !default;\n$breadcrumb-divider-color:          var(--#{$prefix}secondary-color) !default;\n$breadcrumb-active-color:           var(--#{$prefix}secondary-color) !default;\n$breadcrumb-divider:                quote(\"/\") !default;\n$breadcrumb-divider-flipped:        $breadcrumb-divider !default;\n$breadcrumb-border-radius:          null !default;\n// scss-docs-end breadcrumb-variables\n\n// Carousel\n\n// scss-docs-start carousel-variables\n$carousel-control-color:             $white !default;\n$carousel-control-width:             15% !default;\n$carousel-control-opacity:           .5 !default;\n$carousel-control-hover-opacity:     .9 !default;\n$carousel-control-transition:        opacity .15s ease !default;\n\n$carousel-indicator-width:           30px !default;\n$carousel-indicator-height:          3px !default;\n$carousel-indicator-hit-area-height: 10px !default;\n$carousel-indicator-spacer:          3px !default;\n$carousel-indicator-opacity:         .5 !default;\n$carousel-indicator-active-bg:       $white !default;\n$carousel-indicator-active-opacity:  1 !default;\n$carousel-indicator-transition:      opacity .6s ease !default;\n\n$carousel-caption-width:             70% !default;\n$carousel-caption-color:             $white !default;\n$carousel-caption-padding-y:         1.25rem !default;\n$carousel-caption-spacer:            1.25rem !default;\n\n$carousel-control-icon-width:        2rem !default;\n\n$carousel-control-prev-icon-bg:      url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='#{$carousel-control-color}'><path d='M11.354 1.646a.5.5 0 0 1 0 .708L5.707 8l5.647 5.646a.5.5 0 0 1-.708.708l-6-6a.5.5 0 0 1 0-.708l6-6a.5.5 0 0 1 .708 0z'/></svg>\") !default;\n$carousel-control-next-icon-bg:      url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='#{$carousel-control-color}'><path d='M4.646 1.646a.5.5 0 0 1 .708 0l6 6a.5.5 0 0 1 0 .708l-6 6a.5.5 0 0 1-.708-.708L10.293 8 4.646 2.354a.5.5 0 0 1 0-.708z'/></svg>\") !default;\n\n$carousel-transition-duration:       .6s !default;\n$carousel-transition:                transform $carousel-transition-duration ease-in-out !default; // Define transform transition first if using multiple transitions (e.g., `transform 2s ease, opacity .5s ease-out`)\n// scss-docs-end carousel-variables\n\n// scss-docs-start carousel-dark-variables\n$carousel-dark-indicator-active-bg:  $black !default;\n$carousel-dark-caption-color:        $black !default;\n$carousel-dark-control-icon-filter:  invert(1) grayscale(100) !default;\n// scss-docs-end carousel-dark-variables\n\n\n// Spinners\n\n// scss-docs-start spinner-variables\n$spinner-width:           2rem !default;\n$spinner-height:          $spinner-width !default;\n$spinner-vertical-align:  -.125em !default;\n$spinner-border-width:    .25em !default;\n$spinner-animation-speed: .75s !default;\n\n$spinner-width-sm:        1rem !default;\n$spinner-height-sm:       $spinner-width-sm !default;\n$spinner-border-width-sm: .2em !default;\n// scss-docs-end spinner-variables\n\n\n// Close\n\n// scss-docs-start close-variables\n$btn-close-width:            1em !default;\n$btn-close-height:           $btn-close-width !default;\n$btn-close-padding-x:        .25em !default;\n$btn-close-padding-y:        $btn-close-padding-x !default;\n$btn-close-color:            $black !default;\n$btn-close-bg:               url(\"data:image/svg+xml,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16' fill='#{$btn-close-color}'><path d='M.293.293a1 1 0 0 1 1.414 0L8 6.586 14.293.293a1 1 0 1 1 1.414 1.414L9.414 8l6.293 6.293a1 1 0 0 1-1.414 1.414L8 9.414l-6.293 6.293a1 1 0 0 1-1.414-1.414L6.586 8 .293 1.707a1 1 0 0 1 0-1.414z'/></svg>\") !default;\n$btn-close-focus-shadow:     $focus-ring-box-shadow !default;\n$btn-close-opacity:          .5 !default;\n$btn-close-hover-opacity:    .75 !default;\n$btn-close-focus-opacity:    1 !default;\n$btn-close-disabled-opacity: .25 !default;\n$btn-close-white-filter:     invert(1) grayscale(100%) brightness(200%) !default;\n// scss-docs-end close-variables\n\n\n// Offcanvas\n\n// scss-docs-start offcanvas-variables\n$offcanvas-padding-y:               $modal-inner-padding !default;\n$offcanvas-padding-x:               $modal-inner-padding !default;\n$offcanvas-horizontal-width:        400px !default;\n$offcanvas-vertical-height:         30vh !default;\n$offcanvas-transition-duration:     .3s !default;\n$offcanvas-border-color:            $modal-content-border-color !default;\n$offcanvas-border-width:            $modal-content-border-width !default;\n$offcanvas-title-line-height:       $modal-title-line-height !default;\n$offcanvas-bg-color:                var(--#{$prefix}body-bg) !default;\n$offcanvas-color:                   var(--#{$prefix}body-color) !default;\n$offcanvas-box-shadow:              $modal-content-box-shadow-xs !default;\n$offcanvas-backdrop-bg:             $modal-backdrop-bg !default;\n$offcanvas-backdrop-opacity:        $modal-backdrop-opacity !default;\n// scss-docs-end offcanvas-variables\n\n// Code\n\n$code-font-size:                    $small-font-size !default;\n$code-color:                        $pink !default;\n\n$kbd-padding-y:                     .1875rem !default;\n$kbd-padding-x:                     .375rem !default;\n$kbd-font-size:                     $code-font-size !default;\n$kbd-color:                         var(--#{$prefix}body-bg) !default;\n$kbd-bg:                            var(--#{$prefix}body-color) !default;\n$nested-kbd-font-weight:            null !default; // Deprecated in v5.2.0, removing in v6\n\n$pre-color:                         null !default;\n\n@import \"variables-dark\"; // TODO: can be removed safely in v6, only here to avoid breaking changes in v5.3\n","// stylelint-disable property-disallowed-list\n// Single side border-radius\n\n// Helper function to replace negative values with 0\n@function valid-radius($radius) {\n  $return: ();\n  @each $value in $radius {\n    @if type-of($value) == number {\n      $return: append($return, max($value, 0));\n    } @else {\n      $return: append($return, $value);\n    }\n  }\n  @return $return;\n}\n\n// scss-docs-start border-radius-mixins\n@mixin border-radius($radius: $border-radius, $fallback-border-radius: false) {\n  @if $enable-rounded {\n    border-radius: valid-radius($radius);\n  }\n  @else if $fallback-border-radius != false {\n    border-radius: $fallback-border-radius;\n  }\n}\n\n@mixin border-top-radius($radius: $border-radius) {\n  @if $enable-rounded {\n    border-top-left-radius: valid-radius($radius);\n    border-top-right-radius: valid-radius($radius);\n  }\n}\n\n@mixin border-end-radius($radius: $border-radius) {\n  @if $enable-rounded {\n    border-top-right-radius: valid-radius($radius);\n    border-bottom-right-radius: valid-radius($radius);\n  }\n}\n\n@mixin border-bottom-radius($radius: $border-radius) {\n  @if $enable-rounded {\n    border-bottom-right-radius: valid-radius($radius);\n    border-bottom-left-radius: valid-radius($radius);\n  }\n}\n\n@mixin border-start-radius($radius: $border-radius) {\n  @if $enable-rounded {\n    border-top-left-radius: valid-radius($radius);\n    border-bottom-left-radius: valid-radius($radius);\n  }\n}\n\n@mixin border-top-start-radius($radius: $border-radius) {\n  @if $enable-rounded {\n    border-top-left-radius: valid-radius($radius);\n  }\n}\n\n@mixin border-top-end-radius($radius: $border-radius) {\n  @if $enable-rounded {\n    border-top-right-radius: valid-radius($radius);\n  }\n}\n\n@mixin border-bottom-end-radius($radius: $border-radius) {\n  @if $enable-rounded {\n    border-bottom-right-radius: valid-radius($radius);\n  }\n}\n\n@mixin border-bottom-start-radius($radius: $border-radius) {\n  @if $enable-rounded {\n    border-bottom-left-radius: valid-radius($radius);\n  }\n}\n// scss-docs-end border-radius-mixins\n","// Lists\n\n// Unstyled keeps list items block level, just removes default browser padding and list-style\n@mixin list-unstyled {\n  padding-left: 0;\n  list-style: none;\n}\n","// Override bootstrap variables\n$spacer: 1rem;\n$container-max-widths: (\n  sm: 540px,\n  md: 720px,\n  lg: 960px,\n  xl: 1400px,\n);\n$grid-breakpoints: (\n  xs: 0,\n  sm: 540px,\n  md: 720px,\n  lg: 960px,\n  xl: 1200px,\n);\n$dropdown-link-hover-bg: var(--pst-color-surface);\n\n// --pst-color-surface can also be assigned to the dark variant because it is\n// scoped to different values depending on light/dark theme\n$dropdown-dark-link-hover-bg: var(--pst-color-surface);\n$dropdown-link-active-bg: var(--pst-color-surface);\n$dropdown-dark-link-active-bg: var(--pst-color-surface);\n$focus-ring-width: 0.1875rem; // 3px at 100% zoom (0.1875 * 16px base font = 3px)\n$focus-ring-opacity: 1;\n$focus-ring-color: var(--pst-color-accent);\n$focus-ring-blur: 0;\n$focus-ring-box-shadow: 0 0 $focus-ring-blur $focus-ring-width $focus-ring-color;\n\n// For many elements, we do not use `outline-offset`. For some we set the offset\n// equal to the focus ring width (either outwards or inwards). But for some\n// other elements (e.g., collapsible admonitions) we set it to this value.\n$focus-ring-offset: 0.125rem; // 2px at 100% zoom (0.125 * 16px base font = 2px)\n\n// outline creates the same style of focus ring, it just uses CSS outline instead of box shadow\n$focus-ring-outline: $focus-ring-color solid $focus-ring-width;\n$btn-focus-box-shadow: $focus-ring-box-shadow;\n","// Responsive images (ensure images don't scale beyond their parents)\n//\n// This is purposefully opt-in via an explicit class rather than being the default for all `<img>`s.\n// We previously tried the \"images are responsive by default\" approach in Bootstrap v2,\n// and abandoned it in Bootstrap v3 because it breaks lots of third-party widgets (including Google Maps)\n// which weren't expecting the images within themselves to be involuntarily resized.\n// See also https://github.com/twbs/bootstrap/issues/18178\n.img-fluid {\n  @include img-fluid();\n}\n\n\n// Image thumbnails\n.img-thumbnail {\n  padding: $thumbnail-padding;\n  background-color: $thumbnail-bg;\n  border: $thumbnail-border-width solid $thumbnail-border-color;\n  @include border-radius($thumbnail-border-radius);\n  @include box-shadow($thumbnail-box-shadow);\n\n  // Keep them at most 100% wide\n  @include img-fluid();\n}\n\n//\n// Figures\n//\n\n.figure {\n  // Ensures the caption's text aligns with the image.\n  display: inline-block;\n}\n\n.figure-img {\n  margin-bottom: $spacer * .5;\n  line-height: 1;\n}\n\n.figure-caption {\n  @include font-size($figure-caption-font-size);\n  color: $figure-caption-color;\n}\n","// Image Mixins\n// - Responsive image\n// - Retina image\n\n\n// Responsive image\n//\n// Keep images from scaling beyond the width of their parents.\n\n@mixin img-fluid {\n  // Part 1: Set a maximum relative to the parent\n  max-width: 100%;\n  // Part 2: Override the height to auto, otherwise images will be stretched\n  // when setting a width and height attribute on the img element.\n  height: auto;\n}\n","// Container widths\n//\n// Set the container width, and override it for fixed navbars in media queries.\n\n@if $enable-container-classes {\n  // Single container class with breakpoint max-widths\n  .container,\n  // 100% wide container at all breakpoints\n  .container-fluid {\n    @include make-container();\n  }\n\n  // Responsive containers that are 100% wide until a breakpoint\n  @each $breakpoint, $container-max-width in $container-max-widths {\n    .container-#{$breakpoint} {\n      @extend .container-fluid;\n    }\n\n    @include media-breakpoint-up($breakpoint, $grid-breakpoints) {\n      %responsive-container-#{$breakpoint} {\n        max-width: $container-max-width;\n      }\n\n      // Extend each breakpoint which is smaller or equal to the current breakpoint\n      $extend-breakpoint: true;\n\n      @each $name, $width in $grid-breakpoints {\n        @if ($extend-breakpoint) {\n          .container#{breakpoint-infix($name, $grid-breakpoints)} {\n            @extend %responsive-container-#{$breakpoint};\n          }\n\n          // Once the current breakpoint is reached, stop extending\n          @if ($breakpoint == $name) {\n            $extend-breakpoint: false;\n          }\n        }\n      }\n    }\n  }\n}\n","// Container mixins\n\n@mixin make-container($gutter: $container-padding-x) {\n  --#{$prefix}gutter-x: #{$gutter};\n  --#{$prefix}gutter-y: 0;\n  width: 100%;\n  padding-right: calc(var(--#{$prefix}gutter-x) * .5); // stylelint-disable-line function-disallowed-list\n  padding-left: calc(var(--#{$prefix}gutter-x) * .5); // stylelint-disable-line function-disallowed-list\n  margin-right: auto;\n  margin-left: auto;\n}\n","// Breakpoint viewport sizes and media queries.\n//\n// Breakpoints are defined as a map of (name: minimum width), order from small to large:\n//\n//    (xs: 0, sm: 576px, md: 768px, lg: 992px, xl: 1200px, xxl: 1400px)\n//\n// The map defined in the `$grid-breakpoints` global variable is used as the `$breakpoints` argument by default.\n\n// Name of the next breakpoint, or null for the last breakpoint.\n//\n//    >> breakpoint-next(sm)\n//    md\n//    >> breakpoint-next(sm, (xs: 0, sm: 576px, md: 768px, lg: 992px, xl: 1200px, xxl: 1400px))\n//    md\n//    >> breakpoint-next(sm, $breakpoint-names: (xs sm md lg xl xxl))\n//    md\n@function breakpoint-next($name, $breakpoints: $grid-breakpoints, $breakpoint-names: map-keys($breakpoints)) {\n  $n: index($breakpoint-names, $name);\n  @if not $n {\n    @error \"breakpoint `#{$name}` not found in `#{$breakpoints}`\";\n  }\n  @return if($n < length($breakpoint-names), nth($breakpoint-names, $n + 1), null);\n}\n\n// Minimum breakpoint width. Null for the smallest (first) breakpoint.\n//\n//    >> breakpoint-min(sm, (xs: 0, sm: 576px, md: 768px, lg: 992px, xl: 1200px, xxl: 1400px))\n//    576px\n@function breakpoint-min($name, $breakpoints: $grid-breakpoints) {\n  $min: map-get($breakpoints, $name);\n  @return if($min != 0, $min, null);\n}\n\n// Maximum breakpoint width.\n// The maximum value is reduced by 0.02px to work around the limitations of\n// `min-` and `max-` prefixes and viewports with fractional widths.\n// See https://www.w3.org/TR/mediaqueries-4/#mq-min-max\n// Uses 0.02px rather than 0.01px to work around a current rounding bug in Safari.\n// See https://bugs.webkit.org/show_bug.cgi?id=178261\n//\n//    >> breakpoint-max(md, (xs: 0, sm: 576px, md: 768px, lg: 992px, xl: 1200px, xxl: 1400px))\n//    767.98px\n@function breakpoint-max($name, $breakpoints: $grid-breakpoints) {\n  $max: map-get($breakpoints, $name);\n  @return if($max and $max > 0, $max - .02, null);\n}\n\n// Returns a blank string if smallest breakpoint, otherwise returns the name with a dash in front.\n// Useful for making responsive utilities.\n//\n//    >> breakpoint-infix(xs, (xs: 0, sm: 576px, md: 768px, lg: 992px, xl: 1200px, xxl: 1400px))\n//    \"\"  (Returns a blank string)\n//    >> breakpoint-infix(sm, (xs: 0, sm: 576px, md: 768px, lg: 992px, xl: 1200px, xxl: 1400px))\n//    \"-sm\"\n@function breakpoint-infix($name, $breakpoints: $grid-breakpoints) {\n  @return if(breakpoint-min($name, $breakpoints) == null, \"\", \"-#{$name}\");\n}\n\n// Media of at least the minimum breakpoint width. No query for the smallest breakpoint.\n// Makes the @content apply to the given breakpoint and wider.\n@mixin media-breakpoint-up($name, $breakpoints: $grid-breakpoints) {\n  $min: breakpoint-min($name, $breakpoints);\n  @if $min {\n    @media (min-width: $min) {\n      @content;\n    }\n  } @else {\n    @content;\n  }\n}\n\n// Media of at most the maximum breakpoint width. No query for the largest breakpoint.\n// Makes the @content apply to the given breakpoint and narrower.\n@mixin media-breakpoint-down($name, $breakpoints: $grid-breakpoints) {\n  $max: breakpoint-max($name, $breakpoints);\n  @if $max {\n    @media (max-width: $max) {\n      @content;\n    }\n  } @else {\n    @content;\n  }\n}\n\n// Media that spans multiple breakpoint widths.\n// Makes the @content apply between the min and max breakpoints\n@mixin media-breakpoint-between($lower, $upper, $breakpoints: $grid-breakpoints) {\n  $min: breakpoint-min($lower, $breakpoints);\n  $max: breakpoint-max($upper, $breakpoints);\n\n  @if $min != null and $max != null {\n    @media (min-width: $min) and (max-width: $max) {\n      @content;\n    }\n  } @else if $max == null {\n    @include media-breakpoint-up($lower, $breakpoints) {\n      @content;\n    }\n  } @else if $min == null {\n    @include media-breakpoint-down($upper, $breakpoints) {\n      @content;\n    }\n  }\n}\n\n// Media between the breakpoint's minimum and maximum widths.\n// No minimum for the smallest breakpoint, and no maximum for the largest one.\n// Makes the @content apply only to the given breakpoint, not viewports any wider or narrower.\n@mixin media-breakpoint-only($name, $breakpoints: $grid-breakpoints) {\n  $min:  breakpoint-min($name, $breakpoints);\n  $next: breakpoint-next($name, $breakpoints);\n  $max:  breakpoint-max($next, $breakpoints);\n\n  @if $min != null and $max != null {\n    @media (min-width: $min) and (max-width: $max) {\n      @content;\n    }\n  } @else if $max == null {\n    @include media-breakpoint-up($name, $breakpoints) {\n      @content;\n    }\n  } @else if $min == null {\n    @include media-breakpoint-down($next, $breakpoints) {\n      @content;\n    }\n  }\n}\n","// Row\n//\n// Rows contain your columns.\n\n:root {\n  @each $name, $value in $grid-breakpoints {\n    --#{$prefix}breakpoint-#{$name}: #{$value};\n  }\n}\n\n@if $enable-grid-classes {\n  .row {\n    @include make-row();\n\n    > * {\n      @include make-col-ready();\n    }\n  }\n}\n\n@if $enable-cssgrid {\n  .grid {\n    display: grid;\n    grid-template-rows: repeat(var(--#{$prefix}rows, 1), 1fr);\n    grid-template-columns: repeat(var(--#{$prefix}columns, #{$grid-columns}), 1fr);\n    gap: var(--#{$prefix}gap, #{$grid-gutter-width});\n\n    @include make-cssgrid();\n  }\n}\n\n\n// Columns\n//\n// Common styles for small and large grid columns\n\n@if $enable-grid-classes {\n  @include make-grid-columns();\n}\n","// Grid system\n//\n// Generate semantic grid columns with these mixins.\n\n@mixin make-row($gutter: $grid-gutter-width) {\n  --#{$prefix}gutter-x: #{$gutter};\n  --#{$prefix}gutter-y: 0;\n  display: flex;\n  flex-wrap: wrap;\n  // TODO: Revisit calc order after https://github.com/react-bootstrap/react-bootstrap/issues/6039 is fixed\n  margin-top: calc(-1 * var(--#{$prefix}gutter-y)); // stylelint-disable-line function-disallowed-list\n  margin-right: calc(-.5 * var(--#{$prefix}gutter-x)); // stylelint-disable-line function-disallowed-list\n  margin-left: calc(-.5 * var(--#{$prefix}gutter-x)); // stylelint-disable-line function-disallowed-list\n}\n\n@mixin make-col-ready() {\n  // Add box sizing if only the grid is loaded\n  box-sizing: if(variable-exists(include-column-box-sizing) and $include-column-box-sizing, border-box, null);\n  // Prevent columns from becoming too narrow when at smaller grid tiers by\n  // always setting `width: 100%;`. This works because we set the width\n  // later on to override this initial width.\n  flex-shrink: 0;\n  width: 100%;\n  max-width: 100%; // Prevent `.col-auto`, `.col` (& responsive variants) from breaking out the grid\n  padding-right: calc(var(--#{$prefix}gutter-x) * .5); // stylelint-disable-line function-disallowed-list\n  padding-left: calc(var(--#{$prefix}gutter-x) * .5); // stylelint-disable-line function-disallowed-list\n  margin-top: var(--#{$prefix}gutter-y);\n}\n\n@mixin make-col($size: false, $columns: $grid-columns) {\n  @if $size {\n    flex: 0 0 auto;\n    width: percentage(divide($size, $columns));\n\n  } @else {\n    flex: 1 1 0;\n    max-width: 100%;\n  }\n}\n\n@mixin make-col-auto() {\n  flex: 0 0 auto;\n  width: auto;\n}\n\n@mixin make-col-offset($size, $columns: $grid-columns) {\n  $num: divide($size, $columns);\n  margin-left: if($num == 0, 0, percentage($num));\n}\n\n// Row columns\n//\n// Specify on a parent element(e.g., .row) to force immediate children into NN\n// number of columns. Supports wrapping to new lines, but does not do a Masonry\n// style grid.\n@mixin row-cols($count) {\n  > * {\n    flex: 0 0 auto;\n    width: percentage(divide(1, $count));\n  }\n}\n\n// Framework grid generation\n//\n// Used only by Bootstrap to generate the correct number of grid classes given\n// any value of `$grid-columns`.\n\n@mixin make-grid-columns($columns: $grid-columns, $gutter: $grid-gutter-width, $breakpoints: $grid-breakpoints) {\n  @each $breakpoint in map-keys($breakpoints) {\n    $infix: breakpoint-infix($breakpoint, $breakpoints);\n\n    @include media-breakpoint-up($breakpoint, $breakpoints) {\n      // Provide basic `.col-{bp}` classes for equal-width flexbox columns\n      .col#{$infix} {\n        flex: 1 0 0%; // Flexbugs #4: https://github.com/philipwalton/flexbugs#flexbug-4\n      }\n\n      .row-cols#{$infix}-auto > * {\n        @include make-col-auto();\n      }\n\n      @if $grid-row-columns > 0 {\n        @for $i from 1 through $grid-row-columns {\n          .row-cols#{$infix}-#{$i} {\n            @include row-cols($i);\n          }\n        }\n      }\n\n      .col#{$infix}-auto {\n        @include make-col-auto();\n      }\n\n      @if $columns > 0 {\n        @for $i from 1 through $columns {\n          .col#{$infix}-#{$i} {\n            @include make-col($i, $columns);\n          }\n        }\n\n        // `$columns - 1` because offsetting by the width of an entire row isn't possible\n        @for $i from 0 through ($columns - 1) {\n          @if not ($infix == \"\" and $i == 0) { // Avoid emitting useless .offset-0\n            .offset#{$infix}-#{$i} {\n              @include make-col-offset($i, $columns);\n            }\n          }\n        }\n      }\n\n      // Gutters\n      //\n      // Make use of `.g-*`, `.gx-*` or `.gy-*` utilities to change spacing between the columns.\n      @each $key, $value in $gutters {\n        .g#{$infix}-#{$key},\n        .gx#{$infix}-#{$key} {\n          --#{$prefix}gutter-x: #{$value};\n        }\n\n        .g#{$infix}-#{$key},\n        .gy#{$infix}-#{$key} {\n          --#{$prefix}gutter-y: #{$value};\n        }\n      }\n    }\n  }\n}\n\n@mixin make-cssgrid($columns: $grid-columns, $breakpoints: $grid-breakpoints) {\n  @each $breakpoint in map-keys($breakpoints) {\n    $infix: breakpoint-infix($breakpoint, $breakpoints);\n\n    @include media-breakpoint-up($breakpoint, $breakpoints) {\n      @if $columns > 0 {\n        @for $i from 1 through $columns {\n          .g-col#{$infix}-#{$i} {\n            grid-column: auto / span $i;\n          }\n        }\n\n        // Start with `1` because `0` is an invalid value.\n        // Ends with `$columns - 1` because offsetting by the width of an entire row isn't possible.\n        @for $i from 1 through ($columns - 1) {\n          .g-start#{$infix}-#{$i} {\n            grid-column-start: $i;\n          }\n        }\n      }\n    }\n  }\n}\n","//\n// Basic Bootstrap table\n//\n\n.table {\n  // Reset needed for nesting tables\n  --#{$prefix}table-color-type: initial;\n  --#{$prefix}table-bg-type: initial;\n  --#{$prefix}table-color-state: initial;\n  --#{$prefix}table-bg-state: initial;\n  // End of reset\n  --#{$prefix}table-color: #{$table-color};\n  --#{$prefix}table-bg: #{$table-bg};\n  --#{$prefix}table-border-color: #{$table-border-color};\n  --#{$prefix}table-accent-bg: #{$table-accent-bg};\n  --#{$prefix}table-striped-color: #{$table-striped-color};\n  --#{$prefix}table-striped-bg: #{$table-striped-bg};\n  --#{$prefix}table-active-color: #{$table-active-color};\n  --#{$prefix}table-active-bg: #{$table-active-bg};\n  --#{$prefix}table-hover-color: #{$table-hover-color};\n  --#{$prefix}table-hover-bg: #{$table-hover-bg};\n\n  width: 100%;\n  margin-bottom: $spacer;\n  vertical-align: $table-cell-vertical-align;\n  border-color: var(--#{$prefix}table-border-color);\n\n  // Target th & td\n  // We need the child combinator to prevent styles leaking to nested tables which doesn't have a `.table` class.\n  // We use the universal selectors here to simplify the selector (else we would need 6 different selectors).\n  // Another advantage is that this generates less code and makes the selector less specific making it easier to override.\n  // stylelint-disable-next-line selector-max-universal\n  > :not(caption) > * > * {\n    padding: $table-cell-padding-y $table-cell-padding-x;\n    // Following the precept of cascades: https://codepen.io/miriamsuzanne/full/vYNgodb\n    color: var(--#{$prefix}table-color-state, var(--#{$prefix}table-color-type, var(--#{$prefix}table-color)));\n    background-color: var(--#{$prefix}table-bg);\n    border-bottom-width: $table-border-width;\n    box-shadow: inset 0 0 0 9999px var(--#{$prefix}table-bg-state, var(--#{$prefix}table-bg-type, var(--#{$prefix}table-accent-bg)));\n  }\n\n  > tbody {\n    vertical-align: inherit;\n  }\n\n  > thead {\n    vertical-align: bottom;\n  }\n}\n\n.table-group-divider {\n  border-top: calc(#{$table-border-width} * 2) solid $table-group-separator-color; // stylelint-disable-line function-disallowed-list\n}\n\n//\n// Change placement of captions with a class\n//\n\n.caption-top {\n  caption-side: top;\n}\n\n\n//\n// Condensed table w/ half padding\n//\n\n.table-sm {\n  // stylelint-disable-next-line selector-max-universal\n  > :not(caption) > * > * {\n    padding: $table-cell-padding-y-sm $table-cell-padding-x-sm;\n  }\n}\n\n\n// Border versions\n//\n// Add or remove borders all around the table and between all the columns.\n//\n// When borders are added on all sides of the cells, the corners can render odd when\n// these borders do not have the same color or if they are semi-transparent.\n// Therefore we add top and border bottoms to the `tr`s and left and right borders\n// to the `td`s or `th`s\n\n.table-bordered {\n  > :not(caption) > * {\n    border-width: $table-border-width 0;\n\n    // stylelint-disable-next-line selector-max-universal\n    > * {\n      border-width: 0 $table-border-width;\n    }\n  }\n}\n\n.table-borderless {\n  // stylelint-disable-next-line selector-max-universal\n  > :not(caption) > * > * {\n    border-bottom-width: 0;\n  }\n\n  > :not(:first-child) {\n    border-top-width: 0;\n  }\n}\n\n// Zebra-striping\n//\n// Default zebra-stripe styles (alternating gray and transparent backgrounds)\n\n// For rows\n.table-striped {\n  > tbody > tr:nth-of-type(#{$table-striped-order}) > * {\n    --#{$prefix}table-color-type: var(--#{$prefix}table-striped-color);\n    --#{$prefix}table-bg-type: var(--#{$prefix}table-striped-bg);\n  }\n}\n\n// For columns\n.table-striped-columns {\n  > :not(caption) > tr > :nth-child(#{$table-striped-columns-order}) {\n    --#{$prefix}table-color-type: var(--#{$prefix}table-striped-color);\n    --#{$prefix}table-bg-type: var(--#{$prefix}table-striped-bg);\n  }\n}\n\n// Active table\n//\n// The `.table-active` class can be added to highlight rows or cells\n\n.table-active {\n  --#{$prefix}table-color-state: var(--#{$prefix}table-active-color);\n  --#{$prefix}table-bg-state: var(--#{$prefix}table-active-bg);\n}\n\n// Hover effect\n//\n// Placed here since it has to come after the potential zebra striping\n\n.table-hover {\n  > tbody > tr:hover > * {\n    --#{$prefix}table-color-state: var(--#{$prefix}table-hover-color);\n    --#{$prefix}table-bg-state: var(--#{$prefix}table-hover-bg);\n  }\n}\n\n\n// Table variants\n//\n// Table variants set the table cell backgrounds, border colors\n// and the colors of the striped, hovered & active tables\n\n@each $color, $value in $table-variants {\n  @include table-variant($color, $value);\n}\n\n// Responsive tables\n//\n// Generate series of `.table-responsive-*` classes for configuring the screen\n// size of where your table will overflow.\n\n@each $breakpoint in map-keys($grid-breakpoints) {\n  $infix: breakpoint-infix($breakpoint, $grid-breakpoints);\n\n  @include media-breakpoint-down($breakpoint) {\n    .table-responsive#{$infix} {\n      overflow-x: auto;\n      -webkit-overflow-scrolling: touch;\n    }\n  }\n}\n","// scss-docs-start table-variant\n@mixin table-variant($state, $background) {\n  .table-#{$state} {\n    $color: color-contrast(opaque($body-bg, $background));\n    $hover-bg: mix($color, $background, percentage($table-hover-bg-factor));\n    $striped-bg: mix($color, $background, percentage($table-striped-bg-factor));\n    $active-bg: mix($color, $background, percentage($table-active-bg-factor));\n    $table-border-color: mix($color, $background, percentage($table-border-factor));\n\n    --#{$prefix}table-color: #{$color};\n    --#{$prefix}table-bg: #{$background};\n    --#{$prefix}table-border-color: #{$table-border-color};\n    --#{$prefix}table-striped-bg: #{$striped-bg};\n    --#{$prefix}table-striped-color: #{color-contrast($striped-bg)};\n    --#{$prefix}table-active-bg: #{$active-bg};\n    --#{$prefix}table-active-color: #{color-contrast($active-bg)};\n    --#{$prefix}table-hover-bg: #{$hover-bg};\n    --#{$prefix}table-hover-color: #{color-contrast($hover-bg)};\n\n    color: var(--#{$prefix}table-color);\n    border-color: var(--#{$prefix}table-border-color);\n  }\n}\n// scss-docs-end table-variant\n","//\n// Labels\n//\n\n.form-label {\n  margin-bottom: $form-label-margin-bottom;\n  @include font-size($form-label-font-size);\n  font-style: $form-label-font-style;\n  font-weight: $form-label-font-weight;\n  color: $form-label-color;\n}\n\n// For use with horizontal and inline forms, when you need the label (or legend)\n// text to align with the form controls.\n.col-form-label {\n  padding-top: add($input-padding-y, $input-border-width);\n  padding-bottom: add($input-padding-y, $input-border-width);\n  margin-bottom: 0; // Override the `<legend>` default\n  @include font-size(inherit); // Override the `<legend>` default\n  font-style: $form-label-font-style;\n  font-weight: $form-label-font-weight;\n  line-height: $input-line-height;\n  color: $form-label-color;\n}\n\n.col-form-label-lg {\n  padding-top: add($input-padding-y-lg, $input-border-width);\n  padding-bottom: add($input-padding-y-lg, $input-border-width);\n  @include font-size($input-font-size-lg);\n}\n\n.col-form-label-sm {\n  padding-top: add($input-padding-y-sm, $input-border-width);\n  padding-bottom: add($input-padding-y-sm, $input-border-width);\n  @include font-size($input-font-size-sm);\n}\n","//\n// Form text\n//\n\n.form-text {\n  margin-top: $form-text-margin-top;\n  @include font-size($form-text-font-size);\n  font-style: $form-text-font-style;\n  font-weight: $form-text-font-weight;\n  color: $form-text-color;\n}\n","//\n// General form controls (plus a few specific high-level interventions)\n//\n\n.form-control {\n  display: block;\n  width: 100%;\n  padding: $input-padding-y $input-padding-x;\n  font-family: $input-font-family;\n  @include font-size($input-font-size);\n  font-weight: $input-font-weight;\n  line-height: $input-line-height;\n  color: $input-color;\n  appearance: none; // Fix appearance for date inputs in Safari\n  background-color: $input-bg;\n  background-clip: padding-box;\n  border: $input-border-width solid $input-border-color;\n\n  // Note: This has no effect on <select>s in some browsers, due to the limited stylability of `<select>`s in CSS.\n  @include border-radius($input-border-radius, 0);\n\n  @include box-shadow($input-box-shadow);\n  @include transition($input-transition);\n\n  &[type=\"file\"] {\n    overflow: hidden; // prevent pseudo element button overlap\n\n    &:not(:disabled):not([readonly]) {\n      cursor: pointer;\n    }\n  }\n\n  // Customize the `:focus` state to imitate native WebKit styles.\n  &:focus {\n    color: $input-focus-color;\n    background-color: $input-focus-bg;\n    border-color: $input-focus-border-color;\n    outline: 0;\n    @if $enable-shadows {\n      @include box-shadow($input-box-shadow, $input-focus-box-shadow);\n    } @else {\n      // Avoid using mixin so we can pass custom focus shadow properly\n      box-shadow: $input-focus-box-shadow;\n    }\n  }\n\n  &::-webkit-date-and-time-value {\n    // On Android Chrome, form-control's \"width: 100%\" makes the input width too small\n    // Tested under Android 11 / Chrome 89, Android 12 / Chrome 100, Android 13 / Chrome 109\n    //\n    // On iOS Safari, form-control's \"appearance: none\" + \"width: 100%\" makes the input width too small\n    // Tested under iOS 16.2 / Safari 16.2\n    min-width: 85px; // Seems to be a good minimum safe width\n\n    // Add some height to date inputs on iOS\n    // https://github.com/twbs/bootstrap/issues/23307\n    // TODO: we can remove this workaround once https://bugs.webkit.org/show_bug.cgi?id=198959 is resolved\n    // Multiply line-height by 1em if it has no unit\n    height: if(unit($input-line-height) == \"\", $input-line-height * 1em, $input-line-height);\n\n    // Android Chrome type=\"date\" is taller than the other inputs\n    // because of \"margin: 1px 24px 1px 4px\" inside the shadow DOM\n    // Tested under Android 11 / Chrome 89, Android 12 / Chrome 100, Android 13 / Chrome 109\n    margin: 0;\n  }\n\n  // Prevent excessive date input height in Webkit\n  // https://github.com/twbs/bootstrap/issues/34433\n  &::-webkit-datetime-edit {\n    display: block;\n    padding: 0;\n  }\n\n  // Placeholder\n  &::placeholder {\n    color: $input-placeholder-color;\n    // Override Firefox's unusual default opacity; see https://github.com/twbs/bootstrap/pull/11526.\n    opacity: 1;\n  }\n\n  // Disabled inputs\n  //\n  // HTML5 says that controls under a fieldset > legend:first-child won't be\n  // disabled if the fieldset is disabled. Due to implementation difficulty, we\n  // don't honor that edge case; we style them as disabled anyway.\n  &:disabled {\n    color: $input-disabled-color;\n    background-color: $input-disabled-bg;\n    border-color: $input-disabled-border-color;\n    // iOS fix for unreadable disabled content; see https://github.com/twbs/bootstrap/issues/11655.\n    opacity: 1;\n  }\n\n  // File input buttons theming\n  &::file-selector-button {\n    padding: $input-padding-y $input-padding-x;\n    margin: (-$input-padding-y) (-$input-padding-x);\n    margin-inline-end: $input-padding-x;\n    color: $form-file-button-color;\n    @include gradient-bg($form-file-button-bg);\n    pointer-events: none;\n    border-color: inherit;\n    border-style: solid;\n    border-width: 0;\n    border-inline-end-width: $input-border-width;\n    border-radius: 0; // stylelint-disable-line property-disallowed-list\n    @include transition($btn-transition);\n  }\n\n  &:hover:not(:disabled):not([readonly])::file-selector-button {\n    background-color: $form-file-button-hover-bg;\n  }\n}\n\n// Readonly controls as plain text\n//\n// Apply class to a readonly input to make it appear like regular plain\n// text (without any border, background color, focus indicator)\n\n.form-control-plaintext {\n  display: block;\n  width: 100%;\n  padding: $input-padding-y 0;\n  margin-bottom: 0; // match inputs if this class comes on inputs with default margins\n  line-height: $input-line-height;\n  color: $input-plaintext-color;\n  background-color: transparent;\n  border: solid transparent;\n  border-width: $input-border-width 0;\n\n  &:focus {\n    outline: 0;\n  }\n\n  &.form-control-sm,\n  &.form-control-lg {\n    padding-right: 0;\n    padding-left: 0;\n  }\n}\n\n// Form control sizing\n//\n// Build on `.form-control` with modifier classes to decrease or increase the\n// height and font-size of form controls.\n//\n// Repeated in `_input_group.scss` to avoid Sass extend issues.\n\n.form-control-sm {\n  min-height: $input-height-sm;\n  padding: $input-padding-y-sm $input-padding-x-sm;\n  @include font-size($input-font-size-sm);\n  @include border-radius($input-border-radius-sm);\n\n  &::file-selector-button {\n    padding: $input-padding-y-sm $input-padding-x-sm;\n    margin: (-$input-padding-y-sm) (-$input-padding-x-sm);\n    margin-inline-end: $input-padding-x-sm;\n  }\n}\n\n.form-control-lg {\n  min-height: $input-height-lg;\n  padding: $input-padding-y-lg $input-padding-x-lg;\n  @include font-size($input-font-size-lg);\n  @include border-radius($input-border-radius-lg);\n\n  &::file-selector-button {\n    padding: $input-padding-y-lg $input-padding-x-lg;\n    margin: (-$input-padding-y-lg) (-$input-padding-x-lg);\n    margin-inline-end: $input-padding-x-lg;\n  }\n}\n\n// Make sure textareas don't shrink too much when resized\n// https://github.com/twbs/bootstrap/pull/29124\n// stylelint-disable selector-no-qualifying-type\ntextarea {\n  &.form-control {\n    min-height: $input-height;\n  }\n\n  &.form-control-sm {\n    min-height: $input-height-sm;\n  }\n\n  &.form-control-lg {\n    min-height: $input-height-lg;\n  }\n}\n// stylelint-enable selector-no-qualifying-type\n\n.form-control-color {\n  width: $form-color-width;\n  height: $input-height;\n  padding: $input-padding-y;\n\n  &:not(:disabled):not([readonly]) {\n    cursor: pointer;\n  }\n\n  &::-moz-color-swatch {\n    border: 0 !important; // stylelint-disable-line declaration-no-important\n    @include border-radius($input-border-radius);\n  }\n\n  &::-webkit-color-swatch {\n    border: 0 !important; // stylelint-disable-line declaration-no-important\n    @include border-radius($input-border-radius);\n  }\n\n  &.form-control-sm { height: $input-height-sm; }\n  &.form-control-lg { height: $input-height-lg; }\n}\n","// stylelint-disable property-disallowed-list\n@mixin transition($transition...) {\n  @if length($transition) == 0 {\n    $transition: $transition-base;\n  }\n\n  @if length($transition) > 1 {\n    @each $value in $transition {\n      @if $value == null or $value == none {\n        @warn \"The keyword 'none' or 'null' must be used as a single argument.\";\n      }\n    }\n  }\n\n  @if $enable-transitions {\n    @if nth($transition, 1) != null {\n      transition: $transition;\n    }\n\n    @if $enable-reduced-motion and nth($transition, 1) != null and nth($transition, 1) != none {\n      @media (prefers-reduced-motion: reduce) {\n        transition: none;\n      }\n    }\n  }\n}\n","// Gradients\n\n// scss-docs-start gradient-bg-mixin\n@mixin gradient-bg($color: null) {\n  background-color: $color;\n\n  @if $enable-gradients {\n    background-image: var(--#{$prefix}gradient);\n  }\n}\n// scss-docs-end gradient-bg-mixin\n\n// scss-docs-start gradient-mixins\n// Horizontal gradient, from left to right\n//\n// Creates two color stops, start and end, by specifying a color and position for each color stop.\n@mixin gradient-x($start-color: $gray-700, $end-color: $gray-800, $start-percent: 0%, $end-percent: 100%) {\n  background-image: linear-gradient(to right, $start-color $start-percent, $end-color $end-percent);\n}\n\n// Vertical gradient, from top to bottom\n//\n// Creates two color stops, start and end, by specifying a color and position for each color stop.\n@mixin gradient-y($start-color: $gray-700, $end-color: $gray-800, $start-percent: null, $end-percent: null) {\n  background-image: linear-gradient(to bottom, $start-color $start-percent, $end-color $end-percent);\n}\n\n@mixin gradient-directional($start-color: $gray-700, $end-color: $gray-800, $deg: 45deg) {\n  background-image: linear-gradient($deg, $start-color, $end-color);\n}\n\n@mixin gradient-x-three-colors($start-color: $blue, $mid-color: $purple, $color-stop: 50%, $end-color: $red) {\n  background-image: linear-gradient(to right, $start-color, $mid-color $color-stop, $end-color);\n}\n\n@mixin gradient-y-three-colors($start-color: $blue, $mid-color: $purple, $color-stop: 50%, $end-color: $red) {\n  background-image: linear-gradient($start-color, $mid-color $color-stop, $end-color);\n}\n\n@mixin gradient-radial($inner-color: $gray-700, $outer-color: $gray-800) {\n  background-image: radial-gradient(circle, $inner-color, $outer-color);\n}\n\n@mixin gradient-striped($color: rgba($white, .15), $angle: 45deg) {\n  background-image: linear-gradient($angle, $color 25%, transparent 25%, transparent 50%, $color 50%, $color 75%, transparent 75%, transparent);\n}\n// scss-docs-end gradient-mixins\n","// Select\n//\n// Replaces the browser default select with a custom one, mostly pulled from\n// https://primer.github.io/.\n\n.form-select {\n  --#{$prefix}form-select-bg-img: #{escape-svg($form-select-indicator)};\n\n  display: block;\n  width: 100%;\n  padding: $form-select-padding-y $form-select-indicator-padding $form-select-padding-y $form-select-padding-x;\n  font-family: $form-select-font-family;\n  @include font-size($form-select-font-size);\n  font-weight: $form-select-font-weight;\n  line-height: $form-select-line-height;\n  color: $form-select-color;\n  appearance: none;\n  background-color: $form-select-bg;\n  background-image: var(--#{$prefix}form-select-bg-img), var(--#{$prefix}form-select-bg-icon, none);\n  background-repeat: no-repeat;\n  background-position: $form-select-bg-position;\n  background-size: $form-select-bg-size;\n  border: $form-select-border-width solid $form-select-border-color;\n  @include border-radius($form-select-border-radius, 0);\n  @include box-shadow($form-select-box-shadow);\n  @include transition($form-select-transition);\n\n  &:focus {\n    border-color: $form-select-focus-border-color;\n    outline: 0;\n    @if $enable-shadows {\n      @include box-shadow($form-select-box-shadow, $form-select-focus-box-shadow);\n    } @else {\n      // Avoid using mixin so we can pass custom focus shadow properly\n      box-shadow: $form-select-focus-box-shadow;\n    }\n  }\n\n  &[multiple],\n  &[size]:not([size=\"1\"]) {\n    padding-right: $form-select-padding-x;\n    background-image: none;\n  }\n\n  &:disabled {\n    color: $form-select-disabled-color;\n    background-color: $form-select-disabled-bg;\n    border-color: $form-select-disabled-border-color;\n  }\n\n  // Remove outline from select box in FF\n  &:-moz-focusring {\n    color: transparent;\n    text-shadow: 0 0 0 $form-select-color;\n  }\n}\n\n.form-select-sm {\n  padding-top: $form-select-padding-y-sm;\n  padding-bottom: $form-select-padding-y-sm;\n  padding-left: $form-select-padding-x-sm;\n  @include font-size($form-select-font-size-sm);\n  @include border-radius($form-select-border-radius-sm);\n}\n\n.form-select-lg {\n  padding-top: $form-select-padding-y-lg;\n  padding-bottom: $form-select-padding-y-lg;\n  padding-left: $form-select-padding-x-lg;\n  @include font-size($form-select-font-size-lg);\n  @include border-radius($form-select-border-radius-lg);\n}\n\n@if $enable-dark-mode {\n  @include color-mode(dark) {\n    .form-select {\n      --#{$prefix}form-select-bg-img: #{escape-svg($form-select-indicator-dark)};\n    }\n  }\n}\n","//\n// Check/radio\n//\n\n.form-check {\n  display: block;\n  min-height: $form-check-min-height;\n  padding-left: $form-check-padding-start;\n  margin-bottom: $form-check-margin-bottom;\n\n  .form-check-input {\n    float: left;\n    margin-left: $form-check-padding-start * -1;\n  }\n}\n\n.form-check-reverse {\n  padding-right: $form-check-padding-start;\n  padding-left: 0;\n  text-align: right;\n\n  .form-check-input {\n    float: right;\n    margin-right: $form-check-padding-start * -1;\n    margin-left: 0;\n  }\n}\n\n.form-check-input {\n  --#{$prefix}form-check-bg: #{$form-check-input-bg};\n\n  flex-shrink: 0;\n  width: $form-check-input-width;\n  height: $form-check-input-width;\n  margin-top: ($line-height-base - $form-check-input-width) * .5; // line-height minus check height\n  vertical-align: top;\n  appearance: none;\n  background-color: var(--#{$prefix}form-check-bg);\n  background-image: var(--#{$prefix}form-check-bg-image);\n  background-repeat: no-repeat;\n  background-position: center;\n  background-size: contain;\n  border: $form-check-input-border;\n  print-color-adjust: exact; // Keep themed appearance for print\n  @include transition($form-check-transition);\n\n  &[type=\"checkbox\"] {\n    @include border-radius($form-check-input-border-radius);\n  }\n\n  &[type=\"radio\"] {\n    // stylelint-disable-next-line property-disallowed-list\n    border-radius: $form-check-radio-border-radius;\n  }\n\n  &:active {\n    filter: $form-check-input-active-filter;\n  }\n\n  &:focus {\n    border-color: $form-check-input-focus-border;\n    outline: 0;\n    box-shadow: $form-check-input-focus-box-shadow;\n  }\n\n  &:checked {\n    background-color: $form-check-input-checked-bg-color;\n    border-color: $form-check-input-checked-border-color;\n\n    &[type=\"checkbox\"] {\n      @if $enable-gradients {\n        --#{$prefix}form-check-bg-image: #{escape-svg($form-check-input-checked-bg-image)}, var(--#{$prefix}gradient);\n      } @else {\n        --#{$prefix}form-check-bg-image: #{escape-svg($form-check-input-checked-bg-image)};\n      }\n    }\n\n    &[type=\"radio\"] {\n      @if $enable-gradients {\n        --#{$prefix}form-check-bg-image: #{escape-svg($form-check-radio-checked-bg-image)}, var(--#{$prefix}gradient);\n      } @else {\n        --#{$prefix}form-check-bg-image: #{escape-svg($form-check-radio-checked-bg-image)};\n      }\n    }\n  }\n\n  &[type=\"checkbox\"]:indeterminate {\n    background-color: $form-check-input-indeterminate-bg-color;\n    border-color: $form-check-input-indeterminate-border-color;\n\n    @if $enable-gradients {\n      --#{$prefix}form-check-bg-image: #{escape-svg($form-check-input-indeterminate-bg-image)}, var(--#{$prefix}gradient);\n    } @else {\n      --#{$prefix}form-check-bg-image: #{escape-svg($form-check-input-indeterminate-bg-image)};\n    }\n  }\n\n  &:disabled {\n    pointer-events: none;\n    filter: none;\n    opacity: $form-check-input-disabled-opacity;\n  }\n\n  // Use disabled attribute in addition of :disabled pseudo-class\n  // See: https://github.com/twbs/bootstrap/issues/28247\n  &[disabled],\n  &:disabled {\n    ~ .form-check-label {\n      cursor: default;\n      opacity: $form-check-label-disabled-opacity;\n    }\n  }\n}\n\n.form-check-label {\n  color: $form-check-label-color;\n  cursor: $form-check-label-cursor;\n}\n\n//\n// Switch\n//\n\n.form-switch {\n  padding-left: $form-switch-padding-start;\n\n  .form-check-input {\n    --#{$prefix}form-switch-bg: #{escape-svg($form-switch-bg-image)};\n\n    width: $form-switch-width;\n    margin-left: $form-switch-padding-start * -1;\n    background-image: var(--#{$prefix}form-switch-bg);\n    background-position: left center;\n    @include border-radius($form-switch-border-radius, 0);\n    @include transition($form-switch-transition);\n\n    &:focus {\n      --#{$prefix}form-switch-bg: #{escape-svg($form-switch-focus-bg-image)};\n    }\n\n    &:checked {\n      background-position: $form-switch-checked-bg-position;\n\n      @if $enable-gradients {\n        --#{$prefix}form-switch-bg: #{escape-svg($form-switch-checked-bg-image)}, var(--#{$prefix}gradient);\n      } @else {\n        --#{$prefix}form-switch-bg: #{escape-svg($form-switch-checked-bg-image)};\n      }\n    }\n  }\n\n  &.form-check-reverse {\n    padding-right: $form-switch-padding-start;\n    padding-left: 0;\n\n    .form-check-input {\n      margin-right: $form-switch-padding-start * -1;\n      margin-left: 0;\n    }\n  }\n}\n\n.form-check-inline {\n  display: inline-block;\n  margin-right: $form-check-inline-margin-end;\n}\n\n.btn-check {\n  position: absolute;\n  clip: rect(0, 0, 0, 0);\n  pointer-events: none;\n\n  &[disabled],\n  &:disabled {\n    + .btn {\n      pointer-events: none;\n      filter: none;\n      opacity: $form-check-btn-check-disabled-opacity;\n    }\n  }\n}\n\n@if $enable-dark-mode {\n  @include color-mode(dark) {\n    .form-switch .form-check-input:not(:checked):not(:focus) {\n      --#{$prefix}form-switch-bg: #{escape-svg($form-switch-bg-image-dark)};\n    }\n  }\n}\n","// Range\n//\n// Style range inputs the same across browsers. Vendor-specific rules for pseudo\n// elements cannot be mixed. As such, there are no shared styles for focus or\n// active states on prefixed selectors.\n\n.form-range {\n  width: 100%;\n  height: add($form-range-thumb-height, $form-range-thumb-focus-box-shadow-width * 2);\n  padding: 0; // Need to reset padding\n  appearance: none;\n  background-color: transparent;\n\n  &:focus {\n    outline: 0;\n\n    // Pseudo-elements must be split across multiple rulesets to have an effect.\n    // No box-shadow() mixin for focus accessibility.\n    &::-webkit-slider-thumb { box-shadow: $form-range-thumb-focus-box-shadow; }\n    &::-moz-range-thumb     { box-shadow: $form-range-thumb-focus-box-shadow; }\n  }\n\n  &::-moz-focus-outer {\n    border: 0;\n  }\n\n  &::-webkit-slider-thumb {\n    width: $form-range-thumb-width;\n    height: $form-range-thumb-height;\n    margin-top: ($form-range-track-height - $form-range-thumb-height) * .5; // Webkit specific\n    appearance: none;\n    @include gradient-bg($form-range-thumb-bg);\n    border: $form-range-thumb-border;\n    @include border-radius($form-range-thumb-border-radius);\n    @include box-shadow($form-range-thumb-box-shadow);\n    @include transition($form-range-thumb-transition);\n\n    &:active {\n      @include gradient-bg($form-range-thumb-active-bg);\n    }\n  }\n\n  &::-webkit-slider-runnable-track {\n    width: $form-range-track-width;\n    height: $form-range-track-height;\n    color: transparent; // Why?\n    cursor: $form-range-track-cursor;\n    background-color: $form-range-track-bg;\n    border-color: transparent;\n    @include border-radius($form-range-track-border-radius);\n    @include box-shadow($form-range-track-box-shadow);\n  }\n\n  &::-moz-range-thumb {\n    width: $form-range-thumb-width;\n    height: $form-range-thumb-height;\n    appearance: none;\n    @include gradient-bg($form-range-thumb-bg);\n    border: $form-range-thumb-border;\n    @include border-radius($form-range-thumb-border-radius);\n    @include box-shadow($form-range-thumb-box-shadow);\n    @include transition($form-range-thumb-transition);\n\n    &:active {\n      @include gradient-bg($form-range-thumb-active-bg);\n    }\n  }\n\n  &::-moz-range-track {\n    width: $form-range-track-width;\n    height: $form-range-track-height;\n    color: transparent;\n    cursor: $form-range-track-cursor;\n    background-color: $form-range-track-bg;\n    border-color: transparent; // Firefox specific?\n    @include border-radius($form-range-track-border-radius);\n    @include box-shadow($form-range-track-box-shadow);\n  }\n\n  &:disabled {\n    pointer-events: none;\n\n    &::-webkit-slider-thumb {\n      background-color: $form-range-thumb-disabled-bg;\n    }\n\n    &::-moz-range-thumb {\n      background-color: $form-range-thumb-disabled-bg;\n    }\n  }\n}\n",".form-floating {\n  position: relative;\n\n  > .form-control,\n  > .form-control-plaintext,\n  > .form-select {\n    height: $form-floating-height;\n    min-height: $form-floating-height;\n    line-height: $form-floating-line-height;\n  }\n\n  > label {\n    position: absolute;\n    top: 0;\n    left: 0;\n    z-index: 2;\n    height: 100%; // allow textareas\n    padding: $form-floating-padding-y $form-floating-padding-x;\n    overflow: hidden;\n    text-align: start;\n    text-overflow: ellipsis;\n    white-space: nowrap;\n    pointer-events: none;\n    border: $input-border-width solid transparent; // Required for aligning label's text with the input as it affects inner box model\n    transform-origin: 0 0;\n    @include transition($form-floating-transition);\n  }\n\n  > .form-control,\n  > .form-control-plaintext {\n    padding: $form-floating-padding-y $form-floating-padding-x;\n\n    &::placeholder {\n      color: transparent;\n    }\n\n    &:focus,\n    &:not(:placeholder-shown) {\n      padding-top: $form-floating-input-padding-t;\n      padding-bottom: $form-floating-input-padding-b;\n    }\n    // Duplicated because `:-webkit-autofill` invalidates other selectors when grouped\n    &:-webkit-autofill {\n      padding-top: $form-floating-input-padding-t;\n      padding-bottom: $form-floating-input-padding-b;\n    }\n  }\n\n  > .form-select {\n    padding-top: $form-floating-input-padding-t;\n    padding-bottom: $form-floating-input-padding-b;\n  }\n\n  > .form-control:focus,\n  > .form-control:not(:placeholder-shown),\n  > .form-control-plaintext,\n  > .form-select {\n    ~ label {\n      color: rgba(var(--#{$prefix}body-color-rgb), #{$form-floating-label-opacity});\n      transform: $form-floating-label-transform;\n\n      &::after {\n        position: absolute;\n        inset: $form-floating-padding-y ($form-floating-padding-x * .5);\n        z-index: -1;\n        height: $form-floating-label-height;\n        content: \"\";\n        background-color: $input-bg;\n        @include border-radius($input-border-radius);\n      }\n    }\n  }\n  // Duplicated because `:-webkit-autofill` invalidates other selectors when grouped\n  > .form-control:-webkit-autofill {\n    ~ label {\n      color: rgba(var(--#{$prefix}body-color-rgb), #{$form-floating-label-opacity});\n      transform: $form-floating-label-transform;\n    }\n  }\n\n  > .form-control-plaintext {\n    ~ label {\n      border-width: $input-border-width 0; // Required to properly position label text - as explained above\n    }\n  }\n\n  > :disabled ~ label,\n  > .form-control:disabled ~ label { // Required for `.form-control`s because of specificity\n    color: $form-floating-label-disabled-color;\n\n    &::after {\n      background-color: $input-disabled-bg;\n    }\n  }\n}\n","//\n// Base styles\n//\n\n.input-group {\n  position: relative;\n  display: flex;\n  flex-wrap: wrap; // For form validation feedback\n  align-items: stretch;\n  width: 100%;\n\n  > .form-control,\n  > .form-select,\n  > .form-floating {\n    position: relative; // For focus state's z-index\n    flex: 1 1 auto;\n    width: 1%;\n    min-width: 0; // https://stackoverflow.com/questions/36247140/why-dont-flex-items-shrink-past-content-size\n  }\n\n  // Bring the \"active\" form control to the top of surrounding elements\n  > .form-control:focus,\n  > .form-select:focus,\n  > .form-floating:focus-within {\n    z-index: 5;\n  }\n\n  // Ensure buttons are always above inputs for more visually pleasing borders.\n  // This isn't needed for `.input-group-text` since it shares the same border-color\n  // as our inputs.\n  .btn {\n    position: relative;\n    z-index: 2;\n\n    &:focus {\n      z-index: 5;\n    }\n  }\n}\n\n\n// Textual addons\n//\n// Serves as a catch-all element for any text or radio/checkbox input you wish\n// to prepend or append to an input.\n\n.input-group-text {\n  display: flex;\n  align-items: center;\n  padding: $input-group-addon-padding-y $input-group-addon-padding-x;\n  @include font-size($input-font-size); // Match inputs\n  font-weight: $input-group-addon-font-weight;\n  line-height: $input-line-height;\n  color: $input-group-addon-color;\n  text-align: center;\n  white-space: nowrap;\n  background-color: $input-group-addon-bg;\n  border: $input-border-width solid $input-group-addon-border-color;\n  @include border-radius($input-border-radius);\n}\n\n\n// Sizing\n//\n// Remix the default form control sizing classes into new ones for easier\n// manipulation.\n\n.input-group-lg > .form-control,\n.input-group-lg > .form-select,\n.input-group-lg > .input-group-text,\n.input-group-lg > .btn {\n  padding: $input-padding-y-lg $input-padding-x-lg;\n  @include font-size($input-font-size-lg);\n  @include border-radius($input-border-radius-lg);\n}\n\n.input-group-sm > .form-control,\n.input-group-sm > .form-select,\n.input-group-sm > .input-group-text,\n.input-group-sm > .btn {\n  padding: $input-padding-y-sm $input-padding-x-sm;\n  @include font-size($input-font-size-sm);\n  @include border-radius($input-border-radius-sm);\n}\n\n.input-group-lg > .form-select,\n.input-group-sm > .form-select {\n  padding-right: $form-select-padding-x + $form-select-indicator-padding;\n}\n\n\n// Rounded corners\n//\n// These rulesets must come after the sizing ones to properly override sm and lg\n// border-radius values when extending. They're more specific than we'd like\n// with the `.input-group >` part, but without it, we cannot override the sizing.\n\n// stylelint-disable-next-line no-duplicate-selectors\n.input-group {\n  &:not(.has-validation) {\n    > :not(:last-child):not(.dropdown-toggle):not(.dropdown-menu):not(.form-floating),\n    > .dropdown-toggle:nth-last-child(n + 3),\n    > .form-floating:not(:last-child) > .form-control,\n    > .form-floating:not(:last-child) > .form-select {\n      @include border-end-radius(0);\n    }\n  }\n\n  &.has-validation {\n    > :nth-last-child(n + 3):not(.dropdown-toggle):not(.dropdown-menu):not(.form-floating),\n    > .dropdown-toggle:nth-last-child(n + 4),\n    > .form-floating:nth-last-child(n + 3) > .form-control,\n    > .form-floating:nth-last-child(n + 3) > .form-select {\n      @include border-end-radius(0);\n    }\n  }\n\n  $validation-messages: \"\";\n  @each $state in map-keys($form-validation-states) {\n    $validation-messages: $validation-messages + \":not(.\" + unquote($state) + \"-tooltip)\" + \":not(.\" + unquote($state) + \"-feedback)\";\n  }\n\n  > :not(:first-child):not(.dropdown-menu)#{$validation-messages} {\n    margin-left: calc(#{$input-border-width} * -1); // stylelint-disable-line function-disallowed-list\n    @include border-start-radius(0);\n  }\n\n  > .form-floating:not(:first-child) > .form-control,\n  > .form-floating:not(:first-child) > .form-select {\n    @include border-start-radius(0);\n  }\n}\n","// This mixin uses an `if()` technique to be compatible with Dart Sass\n// See https://github.com/sass/sass/issues/1873#issuecomment-152293725 for more details\n\n// scss-docs-start form-validation-mixins\n@mixin form-validation-state-selector($state) {\n  @if ($state == \"valid\" or $state == \"invalid\") {\n    .was-validated #{if(&, \"&\", \"\")}:#{$state},\n    #{if(&, \"&\", \"\")}.is-#{$state} {\n      @content;\n    }\n  } @else {\n    #{if(&, \"&\", \"\")}.is-#{$state} {\n      @content;\n    }\n  }\n}\n\n@mixin form-validation-state(\n  $state,\n  $color,\n  $icon,\n  $tooltip-color: color-contrast($color),\n  $tooltip-bg-color: rgba($color, $form-feedback-tooltip-opacity),\n  $focus-box-shadow: 0 0 $input-btn-focus-blur $input-focus-width rgba($color, $input-btn-focus-color-opacity),\n  $border-color: $color\n) {\n  .#{$state}-feedback {\n    display: none;\n    width: 100%;\n    margin-top: $form-feedback-margin-top;\n    @include font-size($form-feedback-font-size);\n    font-style: $form-feedback-font-style;\n    color: $color;\n  }\n\n  .#{$state}-tooltip {\n    position: absolute;\n    top: 100%;\n    z-index: 5;\n    display: none;\n    max-width: 100%; // Contain to parent when possible\n    padding: $form-feedback-tooltip-padding-y $form-feedback-tooltip-padding-x;\n    margin-top: .1rem;\n    @include font-size($form-feedback-tooltip-font-size);\n    line-height: $form-feedback-tooltip-line-height;\n    color: $tooltip-color;\n    background-color: $tooltip-bg-color;\n    @include border-radius($form-feedback-tooltip-border-radius);\n  }\n\n  @include form-validation-state-selector($state) {\n    ~ .#{$state}-feedback,\n    ~ .#{$state}-tooltip {\n      display: block;\n    }\n  }\n\n  .form-control {\n    @include form-validation-state-selector($state) {\n      border-color: $border-color;\n\n      @if $enable-validation-icons {\n        padding-right: $input-height-inner;\n        background-image: escape-svg($icon);\n        background-repeat: no-repeat;\n        background-position: right $input-height-inner-quarter center;\n        background-size: $input-height-inner-half $input-height-inner-half;\n      }\n\n      &:focus {\n        border-color: $border-color;\n        @if $enable-shadows {\n          @include box-shadow($input-box-shadow, $focus-box-shadow);\n        } @else {\n          // Avoid using mixin so we can pass custom focus shadow properly\n          box-shadow: $focus-box-shadow;\n        }\n      }\n    }\n  }\n\n  // stylelint-disable-next-line selector-no-qualifying-type\n  textarea.form-control {\n    @include form-validation-state-selector($state) {\n      @if $enable-validation-icons {\n        padding-right: $input-height-inner;\n        background-position: top $input-height-inner-quarter right $input-height-inner-quarter;\n      }\n    }\n  }\n\n  .form-select {\n    @include form-validation-state-selector($state) {\n      border-color: $border-color;\n\n      @if $enable-validation-icons {\n        &:not([multiple]):not([size]),\n        &:not([multiple])[size=\"1\"] {\n          --#{$prefix}form-select-bg-icon: #{escape-svg($icon)};\n          padding-right: $form-select-feedback-icon-padding-end;\n          background-position: $form-select-bg-position, $form-select-feedback-icon-position;\n          background-size: $form-select-bg-size, $form-select-feedback-icon-size;\n        }\n      }\n\n      &:focus {\n        border-color: $border-color;\n        @if $enable-shadows {\n          @include box-shadow($form-select-box-shadow, $focus-box-shadow);\n        } @else {\n          // Avoid using mixin so we can pass custom focus shadow properly\n          box-shadow: $focus-box-shadow;\n        }\n      }\n    }\n  }\n\n  .form-control-color {\n    @include form-validation-state-selector($state) {\n      @if $enable-validation-icons {\n        width: add($form-color-width, $input-height-inner);\n      }\n    }\n  }\n\n  .form-check-input {\n    @include form-validation-state-selector($state) {\n      border-color: $border-color;\n\n      &:checked {\n        background-color: $color;\n      }\n\n      &:focus {\n        box-shadow: $focus-box-shadow;\n      }\n\n      ~ .form-check-label {\n        color: $color;\n      }\n    }\n  }\n  .form-check-inline .form-check-input {\n    ~ .#{$state}-feedback {\n      margin-left: .5em;\n    }\n  }\n\n  .input-group {\n    > .form-control:not(:focus),\n    > .form-select:not(:focus),\n    > .form-floating:not(:focus-within) {\n      @include form-validation-state-selector($state) {\n        @if $state == \"valid\" {\n          z-index: 3;\n        } @else if $state == \"invalid\" {\n          z-index: 4;\n        }\n      }\n    }\n  }\n}\n// scss-docs-end form-validation-mixins\n","//\n// Base styles\n//\n\n.btn {\n  // scss-docs-start btn-css-vars\n  --#{$prefix}btn-padding-x: #{$btn-padding-x};\n  --#{$prefix}btn-padding-y: #{$btn-padding-y};\n  --#{$prefix}btn-font-family: #{$btn-font-family};\n  @include rfs($btn-font-size, --#{$prefix}btn-font-size);\n  --#{$prefix}btn-font-weight: #{$btn-font-weight};\n  --#{$prefix}btn-line-height: #{$btn-line-height};\n  --#{$prefix}btn-color: #{$btn-color};\n  --#{$prefix}btn-bg: transparent;\n  --#{$prefix}btn-border-width: #{$btn-border-width};\n  --#{$prefix}btn-border-color: transparent;\n  --#{$prefix}btn-border-radius: #{$btn-border-radius};\n  --#{$prefix}btn-hover-border-color: transparent;\n  --#{$prefix}btn-box-shadow: #{$btn-box-shadow};\n  --#{$prefix}btn-disabled-opacity: #{$btn-disabled-opacity};\n  --#{$prefix}btn-focus-box-shadow: 0 0 0 #{$btn-focus-width} rgba(var(--#{$prefix}btn-focus-shadow-rgb), .5);\n  // scss-docs-end btn-css-vars\n\n  display: inline-block;\n  padding: var(--#{$prefix}btn-padding-y) var(--#{$prefix}btn-padding-x);\n  font-family: var(--#{$prefix}btn-font-family);\n  @include font-size(var(--#{$prefix}btn-font-size));\n  font-weight: var(--#{$prefix}btn-font-weight);\n  line-height: var(--#{$prefix}btn-line-height);\n  color: var(--#{$prefix}btn-color);\n  text-align: center;\n  text-decoration: if($link-decoration == none, null, none);\n  white-space: $btn-white-space;\n  vertical-align: middle;\n  cursor: if($enable-button-pointers, pointer, null);\n  user-select: none;\n  border: var(--#{$prefix}btn-border-width) solid var(--#{$prefix}btn-border-color);\n  @include border-radius(var(--#{$prefix}btn-border-radius));\n  @include gradient-bg(var(--#{$prefix}btn-bg));\n  @include box-shadow(var(--#{$prefix}btn-box-shadow));\n  @include transition($btn-transition);\n\n  &:hover {\n    color: var(--#{$prefix}btn-hover-color);\n    text-decoration: if($link-hover-decoration == underline, none, null);\n    background-color: var(--#{$prefix}btn-hover-bg);\n    border-color: var(--#{$prefix}btn-hover-border-color);\n  }\n\n  .btn-check + &:hover {\n    // override for the checkbox/radio buttons\n    color: var(--#{$prefix}btn-color);\n    background-color: var(--#{$prefix}btn-bg);\n    border-color: var(--#{$prefix}btn-border-color);\n  }\n\n  &:focus-visible {\n    color: var(--#{$prefix}btn-hover-color);\n    @include gradient-bg(var(--#{$prefix}btn-hover-bg));\n    border-color: var(--#{$prefix}btn-hover-border-color);\n    outline: 0;\n    // Avoid using mixin so we can pass custom focus shadow properly\n    @if $enable-shadows {\n      box-shadow: var(--#{$prefix}btn-box-shadow), var(--#{$prefix}btn-focus-box-shadow);\n    } @else {\n      box-shadow: var(--#{$prefix}btn-focus-box-shadow);\n    }\n  }\n\n  .btn-check:focus-visible + & {\n    border-color: var(--#{$prefix}btn-hover-border-color);\n    outline: 0;\n    // Avoid using mixin so we can pass custom focus shadow properly\n    @if $enable-shadows {\n      box-shadow: var(--#{$prefix}btn-box-shadow), var(--#{$prefix}btn-focus-box-shadow);\n    } @else {\n      box-shadow: var(--#{$prefix}btn-focus-box-shadow);\n    }\n  }\n\n  .btn-check:checked + &,\n  :not(.btn-check) + &:active,\n  &:first-child:active,\n  &.active,\n  &.show {\n    color: var(--#{$prefix}btn-active-color);\n    background-color: var(--#{$prefix}btn-active-bg);\n    // Remove CSS gradients if they're enabled\n    background-image: if($enable-gradients, none, null);\n    border-color: var(--#{$prefix}btn-active-border-color);\n    @include box-shadow(var(--#{$prefix}btn-active-shadow));\n\n    &:focus-visible {\n      // Avoid using mixin so we can pass custom focus shadow properly\n      @if $enable-shadows {\n        box-shadow: var(--#{$prefix}btn-active-shadow), var(--#{$prefix}btn-focus-box-shadow);\n      } @else {\n        box-shadow: var(--#{$prefix}btn-focus-box-shadow);\n      }\n    }\n  }\n\n  .btn-check:checked:focus-visible + & {\n    // Avoid using mixin so we can pass custom focus shadow properly\n    @if $enable-shadows {\n      box-shadow: var(--#{$prefix}btn-active-shadow), var(--#{$prefix}btn-focus-box-shadow);\n    } @else {\n      box-shadow: var(--#{$prefix}btn-focus-box-shadow);\n    }\n  }\n\n  &:disabled,\n  &.disabled,\n  fieldset:disabled & {\n    color: var(--#{$prefix}btn-disabled-color);\n    pointer-events: none;\n    background-color: var(--#{$prefix}btn-disabled-bg);\n    background-image: if($enable-gradients, none, null);\n    border-color: var(--#{$prefix}btn-disabled-border-color);\n    opacity: var(--#{$prefix}btn-disabled-opacity);\n    @include box-shadow(none);\n  }\n}\n\n\n//\n// Alternate buttons\n//\n\n// scss-docs-start btn-variant-loops\n@each $color, $value in $theme-colors {\n  .btn-#{$color} {\n    @if $color == \"light\" {\n      @include button-variant(\n        $value,\n        $value,\n        $hover-background: shade-color($value, $btn-hover-bg-shade-amount),\n        $hover-border: shade-color($value, $btn-hover-border-shade-amount),\n        $active-background: shade-color($value, $btn-active-bg-shade-amount),\n        $active-border: shade-color($value, $btn-active-border-shade-amount)\n      );\n    } @else if $color == \"dark\" {\n      @include button-variant(\n        $value,\n        $value,\n        $hover-background: tint-color($value, $btn-hover-bg-tint-amount),\n        $hover-border: tint-color($value, $btn-hover-border-tint-amount),\n        $active-background: tint-color($value, $btn-active-bg-tint-amount),\n        $active-border: tint-color($value, $btn-active-border-tint-amount)\n      );\n    } @else {\n      @include button-variant($value, $value);\n    }\n  }\n}\n\n@each $color, $value in $theme-colors {\n  .btn-outline-#{$color} {\n    @include button-outline-variant($value);\n  }\n}\n// scss-docs-end btn-variant-loops\n\n\n//\n// Link buttons\n//\n\n// Make a button look and behave like a link\n.btn-link {\n  --#{$prefix}btn-font-weight: #{$font-weight-normal};\n  --#{$prefix}btn-color: #{$btn-link-color};\n  --#{$prefix}btn-bg: transparent;\n  --#{$prefix}btn-border-color: transparent;\n  --#{$prefix}btn-hover-color: #{$btn-link-hover-color};\n  --#{$prefix}btn-hover-border-color: transparent;\n  --#{$prefix}btn-active-color: #{$btn-link-hover-color};\n  --#{$prefix}btn-active-border-color: transparent;\n  --#{$prefix}btn-disabled-color: #{$btn-link-disabled-color};\n  --#{$prefix}btn-disabled-border-color: transparent;\n  --#{$prefix}btn-box-shadow: 0 0 0 #000; // Can't use `none` as keyword negates all values when used with multiple shadows\n  --#{$prefix}btn-focus-shadow-rgb: #{$btn-link-focus-shadow-rgb};\n\n  text-decoration: $link-decoration;\n  @if $enable-gradients {\n    background-image: none;\n  }\n\n  &:hover,\n  &:focus-visible {\n    text-decoration: $link-hover-decoration;\n  }\n\n  &:focus-visible {\n    color: var(--#{$prefix}btn-color);\n  }\n\n  &:hover {\n    color: var(--#{$prefix}btn-hover-color);\n  }\n\n  // No need for an active state here\n}\n\n\n//\n// Button Sizes\n//\n\n.btn-lg {\n  @include button-size($btn-padding-y-lg, $btn-padding-x-lg, $btn-font-size-lg, $btn-border-radius-lg);\n}\n\n.btn-sm {\n  @include button-size($btn-padding-y-sm, $btn-padding-x-sm, $btn-font-size-sm, $btn-border-radius-sm);\n}\n","// Button variants\n//\n// Easily pump out default styles, as well as :hover, :focus, :active,\n// and disabled options for all buttons\n\n// scss-docs-start btn-variant-mixin\n@mixin button-variant(\n  $background,\n  $border,\n  $color: color-contrast($background),\n  $hover-background: if($color == $color-contrast-light, shade-color($background, $btn-hover-bg-shade-amount), tint-color($background, $btn-hover-bg-tint-amount)),\n  $hover-border: if($color == $color-contrast-light, shade-color($border, $btn-hover-border-shade-amount), tint-color($border, $btn-hover-border-tint-amount)),\n  $hover-color: color-contrast($hover-background),\n  $active-background: if($color == $color-contrast-light, shade-color($background, $btn-active-bg-shade-amount), tint-color($background, $btn-active-bg-tint-amount)),\n  $active-border: if($color == $color-contrast-light, shade-color($border, $btn-active-border-shade-amount), tint-color($border, $btn-active-border-tint-amount)),\n  $active-color: color-contrast($active-background),\n  $disabled-background: $background,\n  $disabled-border: $border,\n  $disabled-color: color-contrast($disabled-background)\n) {\n  --#{$prefix}btn-color: #{$color};\n  --#{$prefix}btn-bg: #{$background};\n  --#{$prefix}btn-border-color: #{$border};\n  --#{$prefix}btn-hover-color: #{$hover-color};\n  --#{$prefix}btn-hover-bg: #{$hover-background};\n  --#{$prefix}btn-hover-border-color: #{$hover-border};\n  --#{$prefix}btn-focus-shadow-rgb: #{to-rgb(mix($color, $border, 15%))};\n  --#{$prefix}btn-active-color: #{$active-color};\n  --#{$prefix}btn-active-bg: #{$active-background};\n  --#{$prefix}btn-active-border-color: #{$active-border};\n  --#{$prefix}btn-active-shadow: #{$btn-active-box-shadow};\n  --#{$prefix}btn-disabled-color: #{$disabled-color};\n  --#{$prefix}btn-disabled-bg: #{$disabled-background};\n  --#{$prefix}btn-disabled-border-color: #{$disabled-border};\n}\n// scss-docs-end btn-variant-mixin\n\n// scss-docs-start btn-outline-variant-mixin\n@mixin button-outline-variant(\n  $color,\n  $color-hover: color-contrast($color),\n  $active-background: $color,\n  $active-border: $color,\n  $active-color: color-contrast($active-background)\n) {\n  --#{$prefix}btn-color: #{$color};\n  --#{$prefix}btn-border-color: #{$color};\n  --#{$prefix}btn-hover-color: #{$color-hover};\n  --#{$prefix}btn-hover-bg: #{$active-background};\n  --#{$prefix}btn-hover-border-color: #{$active-border};\n  --#{$prefix}btn-focus-shadow-rgb: #{to-rgb($color)};\n  --#{$prefix}btn-active-color: #{$active-color};\n  --#{$prefix}btn-active-bg: #{$active-background};\n  --#{$prefix}btn-active-border-color: #{$active-border};\n  --#{$prefix}btn-active-shadow: #{$btn-active-box-shadow};\n  --#{$prefix}btn-disabled-color: #{$color};\n  --#{$prefix}btn-disabled-bg: transparent;\n  --#{$prefix}btn-disabled-border-color: #{$color};\n  --#{$prefix}gradient: none;\n}\n// scss-docs-end btn-outline-variant-mixin\n\n// scss-docs-start btn-size-mixin\n@mixin button-size($padding-y, $padding-x, $font-size, $border-radius) {\n  --#{$prefix}btn-padding-y: #{$padding-y};\n  --#{$prefix}btn-padding-x: #{$padding-x};\n  @include rfs($font-size, --#{$prefix}btn-font-size);\n  --#{$prefix}btn-border-radius: #{$border-radius};\n}\n// scss-docs-end btn-size-mixin\n",".fade {\n  @include transition($transition-fade);\n\n  &:not(.show) {\n    opacity: 0;\n  }\n}\n\n// scss-docs-start collapse-classes\n.collapse {\n  &:not(.show) {\n    display: none;\n  }\n}\n\n.collapsing {\n  height: 0;\n  overflow: hidden;\n  @include transition($transition-collapse);\n\n  &.collapse-horizontal {\n    width: 0;\n    height: auto;\n    @include transition($transition-collapse-width);\n  }\n}\n// scss-docs-end collapse-classes\n","// The dropdown wrapper (`<div>`)\n.dropup,\n.dropend,\n.dropdown,\n.dropstart,\n.dropup-center,\n.dropdown-center {\n  position: relative;\n}\n\n.dropdown-toggle {\n  white-space: nowrap;\n\n  // Generate the caret automatically\n  @include caret();\n}\n\n// The dropdown menu\n.dropdown-menu {\n  // scss-docs-start dropdown-css-vars\n  --#{$prefix}dropdown-zindex: #{$zindex-dropdown};\n  --#{$prefix}dropdown-min-width: #{$dropdown-min-width};\n  --#{$prefix}dropdown-padding-x: #{$dropdown-padding-x};\n  --#{$prefix}dropdown-padding-y: #{$dropdown-padding-y};\n  --#{$prefix}dropdown-spacer: #{$dropdown-spacer};\n  @include rfs($dropdown-font-size, --#{$prefix}dropdown-font-size);\n  --#{$prefix}dropdown-color: #{$dropdown-color};\n  --#{$prefix}dropdown-bg: #{$dropdown-bg};\n  --#{$prefix}dropdown-border-color: #{$dropdown-border-color};\n  --#{$prefix}dropdown-border-radius: #{$dropdown-border-radius};\n  --#{$prefix}dropdown-border-width: #{$dropdown-border-width};\n  --#{$prefix}dropdown-inner-border-radius: #{$dropdown-inner-border-radius};\n  --#{$prefix}dropdown-divider-bg: #{$dropdown-divider-bg};\n  --#{$prefix}dropdown-divider-margin-y: #{$dropdown-divider-margin-y};\n  --#{$prefix}dropdown-box-shadow: #{$dropdown-box-shadow};\n  --#{$prefix}dropdown-link-color: #{$dropdown-link-color};\n  --#{$prefix}dropdown-link-hover-color: #{$dropdown-link-hover-color};\n  --#{$prefix}dropdown-link-hover-bg: #{$dropdown-link-hover-bg};\n  --#{$prefix}dropdown-link-active-color: #{$dropdown-link-active-color};\n  --#{$prefix}dropdown-link-active-bg: #{$dropdown-link-active-bg};\n  --#{$prefix}dropdown-link-disabled-color: #{$dropdown-link-disabled-color};\n  --#{$prefix}dropdown-item-padding-x: #{$dropdown-item-padding-x};\n  --#{$prefix}dropdown-item-padding-y: #{$dropdown-item-padding-y};\n  --#{$prefix}dropdown-header-color: #{$dropdown-header-color};\n  --#{$prefix}dropdown-header-padding-x: #{$dropdown-header-padding-x};\n  --#{$prefix}dropdown-header-padding-y: #{$dropdown-header-padding-y};\n  // scss-docs-end dropdown-css-vars\n\n  position: absolute;\n  z-index: var(--#{$prefix}dropdown-zindex);\n  display: none; // none by default, but block on \"open\" of the menu\n  min-width: var(--#{$prefix}dropdown-min-width);\n  padding: var(--#{$prefix}dropdown-padding-y) var(--#{$prefix}dropdown-padding-x);\n  margin: 0; // Override default margin of ul\n  @include font-size(var(--#{$prefix}dropdown-font-size));\n  color: var(--#{$prefix}dropdown-color);\n  text-align: left; // Ensures proper alignment if parent has it changed (e.g., modal footer)\n  list-style: none;\n  background-color: var(--#{$prefix}dropdown-bg);\n  background-clip: padding-box;\n  border: var(--#{$prefix}dropdown-border-width) solid var(--#{$prefix}dropdown-border-color);\n  @include border-radius(var(--#{$prefix}dropdown-border-radius));\n  @include box-shadow(var(--#{$prefix}dropdown-box-shadow));\n\n  &[data-bs-popper] {\n    top: 100%;\n    left: 0;\n    margin-top: var(--#{$prefix}dropdown-spacer);\n  }\n\n  @if $dropdown-padding-y == 0 {\n    > .dropdown-item:first-child,\n    > li:first-child .dropdown-item {\n      @include border-top-radius(var(--#{$prefix}dropdown-inner-border-radius));\n    }\n    > .dropdown-item:last-child,\n    > li:last-child .dropdown-item {\n      @include border-bottom-radius(var(--#{$prefix}dropdown-inner-border-radius));\n    }\n\n  }\n}\n\n// scss-docs-start responsive-breakpoints\n// We deliberately hardcode the `bs-` prefix because we check\n// this custom property in JS to determine Popper's positioning\n\n@each $breakpoint in map-keys($grid-breakpoints) {\n  @include media-breakpoint-up($breakpoint) {\n    $infix: breakpoint-infix($breakpoint, $grid-breakpoints);\n\n    .dropdown-menu#{$infix}-start {\n      --bs-position: start;\n\n      &[data-bs-popper] {\n        right: auto;\n        left: 0;\n      }\n    }\n\n    .dropdown-menu#{$infix}-end {\n      --bs-position: end;\n\n      &[data-bs-popper] {\n        right: 0;\n        left: auto;\n      }\n    }\n  }\n}\n// scss-docs-end responsive-breakpoints\n\n// Allow for dropdowns to go bottom up (aka, dropup-menu)\n// Just add .dropup after the standard .dropdown class and you're set.\n.dropup {\n  .dropdown-menu[data-bs-popper] {\n    top: auto;\n    bottom: 100%;\n    margin-top: 0;\n    margin-bottom: var(--#{$prefix}dropdown-spacer);\n  }\n\n  .dropdown-toggle {\n    @include caret(up);\n  }\n}\n\n.dropend {\n  .dropdown-menu[data-bs-popper] {\n    top: 0;\n    right: auto;\n    left: 100%;\n    margin-top: 0;\n    margin-left: var(--#{$prefix}dropdown-spacer);\n  }\n\n  .dropdown-toggle {\n    @include caret(end);\n    &::after {\n      vertical-align: 0;\n    }\n  }\n}\n\n.dropstart {\n  .dropdown-menu[data-bs-popper] {\n    top: 0;\n    right: 100%;\n    left: auto;\n    margin-top: 0;\n    margin-right: var(--#{$prefix}dropdown-spacer);\n  }\n\n  .dropdown-toggle {\n    @include caret(start);\n    &::before {\n      vertical-align: 0;\n    }\n  }\n}\n\n\n// Dividers (basically an `<hr>`) within the dropdown\n.dropdown-divider {\n  height: 0;\n  margin: var(--#{$prefix}dropdown-divider-margin-y) 0;\n  overflow: hidden;\n  border-top: 1px solid var(--#{$prefix}dropdown-divider-bg);\n  opacity: 1; // Revisit in v6 to de-dupe styles that conflict with <hr> element\n}\n\n// Links, buttons, and more within the dropdown menu\n//\n// `<button>`-specific styles are denoted with `// For <button>s`\n.dropdown-item {\n  display: block;\n  width: 100%; // For `<button>`s\n  padding: var(--#{$prefix}dropdown-item-padding-y) var(--#{$prefix}dropdown-item-padding-x);\n  clear: both;\n  font-weight: $font-weight-normal;\n  color: var(--#{$prefix}dropdown-link-color);\n  text-align: inherit; // For `<button>`s\n  text-decoration: if($link-decoration == none, null, none);\n  white-space: nowrap; // prevent links from randomly breaking onto new lines\n  background-color: transparent; // For `<button>`s\n  border: 0; // For `<button>`s\n  @include border-radius(var(--#{$prefix}dropdown-item-border-radius, 0));\n\n  &:hover,\n  &:focus {\n    color: var(--#{$prefix}dropdown-link-hover-color);\n    text-decoration: if($link-hover-decoration == underline, none, null);\n    @include gradient-bg(var(--#{$prefix}dropdown-link-hover-bg));\n  }\n\n  &.active,\n  &:active {\n    color: var(--#{$prefix}dropdown-link-active-color);\n    text-decoration: none;\n    @include gradient-bg(var(--#{$prefix}dropdown-link-active-bg));\n  }\n\n  &.disabled,\n  &:disabled {\n    color: var(--#{$prefix}dropdown-link-disabled-color);\n    pointer-events: none;\n    background-color: transparent;\n    // Remove CSS gradients if they're enabled\n    background-image: if($enable-gradients, none, null);\n  }\n}\n\n.dropdown-menu.show {\n  display: block;\n}\n\n// Dropdown section headers\n.dropdown-header {\n  display: block;\n  padding: var(--#{$prefix}dropdown-header-padding-y) var(--#{$prefix}dropdown-header-padding-x);\n  margin-bottom: 0; // for use with heading elements\n  @include font-size($font-size-sm);\n  color: var(--#{$prefix}dropdown-header-color);\n  white-space: nowrap; // as with > li > a\n}\n\n// Dropdown text\n.dropdown-item-text {\n  display: block;\n  padding: var(--#{$prefix}dropdown-item-padding-y) var(--#{$prefix}dropdown-item-padding-x);\n  color: var(--#{$prefix}dropdown-link-color);\n}\n\n// Dark dropdowns\n.dropdown-menu-dark {\n  // scss-docs-start dropdown-dark-css-vars\n  --#{$prefix}dropdown-color: #{$dropdown-dark-color};\n  --#{$prefix}dropdown-bg: #{$dropdown-dark-bg};\n  --#{$prefix}dropdown-border-color: #{$dropdown-dark-border-color};\n  --#{$prefix}dropdown-box-shadow: #{$dropdown-dark-box-shadow};\n  --#{$prefix}dropdown-link-color: #{$dropdown-dark-link-color};\n  --#{$prefix}dropdown-link-hover-color: #{$dropdown-dark-link-hover-color};\n  --#{$prefix}dropdown-divider-bg: #{$dropdown-dark-divider-bg};\n  --#{$prefix}dropdown-link-hover-bg: #{$dropdown-dark-link-hover-bg};\n  --#{$prefix}dropdown-link-active-color: #{$dropdown-dark-link-active-color};\n  --#{$prefix}dropdown-link-active-bg: #{$dropdown-dark-link-active-bg};\n  --#{$prefix}dropdown-link-disabled-color: #{$dropdown-dark-link-disabled-color};\n  --#{$prefix}dropdown-header-color: #{$dropdown-dark-header-color};\n  // scss-docs-end dropdown-dark-css-vars\n}\n","// scss-docs-start caret-mixins\n@mixin caret-down($width: $caret-width) {\n  border-top: $width solid;\n  border-right: $width solid transparent;\n  border-bottom: 0;\n  border-left: $width solid transparent;\n}\n\n@mixin caret-up($width: $caret-width) {\n  border-top: 0;\n  border-right: $width solid transparent;\n  border-bottom: $width solid;\n  border-left: $width solid transparent;\n}\n\n@mixin caret-end($width: $caret-width) {\n  border-top: $width solid transparent;\n  border-right: 0;\n  border-bottom: $width solid transparent;\n  border-left: $width solid;\n}\n\n@mixin caret-start($width: $caret-width) {\n  border-top: $width solid transparent;\n  border-right: $width solid;\n  border-bottom: $width solid transparent;\n}\n\n@mixin caret(\n  $direction: down,\n  $width: $caret-width,\n  $spacing: $caret-spacing,\n  $vertical-align: $caret-vertical-align\n) {\n  @if $enable-caret {\n    &::after {\n      display: inline-block;\n      margin-left: $spacing;\n      vertical-align: $vertical-align;\n      content: \"\";\n      @if $direction == down {\n        @include caret-down($width);\n      } @else if $direction == up {\n        @include caret-up($width);\n      } @else if $direction == end {\n        @include caret-end($width);\n      }\n    }\n\n    @if $direction == start {\n      &::after {\n        display: none;\n      }\n\n      &::before {\n        display: inline-block;\n        margin-right: $spacing;\n        vertical-align: $vertical-align;\n        content: \"\";\n        @include caret-start($width);\n      }\n    }\n\n    &:empty::after {\n      margin-left: 0;\n    }\n  }\n}\n// scss-docs-end caret-mixins\n","// Make the div behave like a button\n.btn-group,\n.btn-group-vertical {\n  position: relative;\n  display: inline-flex;\n  vertical-align: middle; // match .btn alignment given font-size hack above\n\n  > .btn {\n    position: relative;\n    flex: 1 1 auto;\n  }\n\n  // Bring the hover, focused, and \"active\" buttons to the front to overlay\n  // the borders properly\n  > .btn-check:checked + .btn,\n  > .btn-check:focus + .btn,\n  > .btn:hover,\n  > .btn:focus,\n  > .btn:active,\n  > .btn.active {\n    z-index: 1;\n  }\n}\n\n// Optional: Group multiple button groups together for a toolbar\n.btn-toolbar {\n  display: flex;\n  flex-wrap: wrap;\n  justify-content: flex-start;\n\n  .input-group {\n    width: auto;\n  }\n}\n\n.btn-group {\n  @include border-radius($btn-border-radius);\n\n  // Prevent double borders when buttons are next to each other\n  > :not(.btn-check:first-child) + .btn,\n  > .btn-group:not(:first-child) {\n    margin-left: calc(#{$btn-border-width} * -1); // stylelint-disable-line function-disallowed-list\n  }\n\n  // Reset rounded corners\n  > .btn:not(:last-child):not(.dropdown-toggle),\n  > .btn.dropdown-toggle-split:first-child,\n  > .btn-group:not(:last-child) > .btn {\n    @include border-end-radius(0);\n  }\n\n  // The left radius should be 0 if the button is:\n  // - the \"third or more\" child\n  // - the second child and the previous element isn't `.btn-check` (making it the first child visually)\n  // - part of a btn-group which isn't the first child\n  > .btn:nth-child(n + 3),\n  > :not(.btn-check) + .btn,\n  > .btn-group:not(:first-child) > .btn {\n    @include border-start-radius(0);\n  }\n}\n\n// Sizing\n//\n// Remix the default button sizing classes into new ones for easier manipulation.\n\n.btn-group-sm > .btn { @extend .btn-sm; }\n.btn-group-lg > .btn { @extend .btn-lg; }\n\n\n//\n// Split button dropdowns\n//\n\n.dropdown-toggle-split {\n  padding-right: $btn-padding-x * .75;\n  padding-left: $btn-padding-x * .75;\n\n  &::after,\n  .dropup &::after,\n  .dropend &::after {\n    margin-left: 0;\n  }\n\n  .dropstart &::before {\n    margin-right: 0;\n  }\n}\n\n.btn-sm + .dropdown-toggle-split {\n  padding-right: $btn-padding-x-sm * .75;\n  padding-left: $btn-padding-x-sm * .75;\n}\n\n.btn-lg + .dropdown-toggle-split {\n  padding-right: $btn-padding-x-lg * .75;\n  padding-left: $btn-padding-x-lg * .75;\n}\n\n\n// The clickable button for toggling the menu\n// Set the same inset shadow as the :active state\n.btn-group.show .dropdown-toggle {\n  @include box-shadow($btn-active-box-shadow);\n\n  // Show no shadow for `.btn-link` since it has no other button styles.\n  &.btn-link {\n    @include box-shadow(none);\n  }\n}\n\n\n//\n// Vertical button groups\n//\n\n.btn-group-vertical {\n  flex-direction: column;\n  align-items: flex-start;\n  justify-content: center;\n\n  > .btn,\n  > .btn-group {\n    width: 100%;\n  }\n\n  > .btn:not(:first-child),\n  > .btn-group:not(:first-child) {\n    margin-top: calc(#{$btn-border-width} * -1); // stylelint-disable-line function-disallowed-list\n  }\n\n  // Reset rounded corners\n  > .btn:not(:last-child):not(.dropdown-toggle),\n  > .btn-group:not(:last-child) > .btn {\n    @include border-bottom-radius(0);\n  }\n\n  > .btn ~ .btn,\n  > .btn-group:not(:first-child) > .btn {\n    @include border-top-radius(0);\n  }\n}\n","// Base class\n//\n// Kickstart any navigation component with a set of style resets. Works with\n// `<nav>`s, `<ul>`s or `<ol>`s.\n\n.nav {\n  // scss-docs-start nav-css-vars\n  --#{$prefix}nav-link-padding-x: #{$nav-link-padding-x};\n  --#{$prefix}nav-link-padding-y: #{$nav-link-padding-y};\n  @include rfs($nav-link-font-size, --#{$prefix}nav-link-font-size);\n  --#{$prefix}nav-link-font-weight: #{$nav-link-font-weight};\n  --#{$prefix}nav-link-color: #{$nav-link-color};\n  --#{$prefix}nav-link-hover-color: #{$nav-link-hover-color};\n  --#{$prefix}nav-link-disabled-color: #{$nav-link-disabled-color};\n  // scss-docs-end nav-css-vars\n\n  display: flex;\n  flex-wrap: wrap;\n  padding-left: 0;\n  margin-bottom: 0;\n  list-style: none;\n}\n\n.nav-link {\n  display: block;\n  padding: var(--#{$prefix}nav-link-padding-y) var(--#{$prefix}nav-link-padding-x);\n  @include font-size(var(--#{$prefix}nav-link-font-size));\n  font-weight: var(--#{$prefix}nav-link-font-weight);\n  color: var(--#{$prefix}nav-link-color);\n  text-decoration: if($link-decoration == none, null, none);\n  background: none;\n  border: 0;\n  @include transition($nav-link-transition);\n\n  &:hover,\n  &:focus {\n    color: var(--#{$prefix}nav-link-hover-color);\n    text-decoration: if($link-hover-decoration == underline, none, null);\n  }\n\n  &:focus-visible {\n    outline: 0;\n    box-shadow: $nav-link-focus-box-shadow;\n  }\n\n  // Disabled state lightens text\n  &.disabled,\n  &:disabled {\n    color: var(--#{$prefix}nav-link-disabled-color);\n    pointer-events: none;\n    cursor: default;\n  }\n}\n\n//\n// Tabs\n//\n\n.nav-tabs {\n  // scss-docs-start nav-tabs-css-vars\n  --#{$prefix}nav-tabs-border-width: #{$nav-tabs-border-width};\n  --#{$prefix}nav-tabs-border-color: #{$nav-tabs-border-color};\n  --#{$prefix}nav-tabs-border-radius: #{$nav-tabs-border-radius};\n  --#{$prefix}nav-tabs-link-hover-border-color: #{$nav-tabs-link-hover-border-color};\n  --#{$prefix}nav-tabs-link-active-color: #{$nav-tabs-link-active-color};\n  --#{$prefix}nav-tabs-link-active-bg: #{$nav-tabs-link-active-bg};\n  --#{$prefix}nav-tabs-link-active-border-color: #{$nav-tabs-link-active-border-color};\n  // scss-docs-end nav-tabs-css-vars\n\n  border-bottom: var(--#{$prefix}nav-tabs-border-width) solid var(--#{$prefix}nav-tabs-border-color);\n\n  .nav-link {\n    margin-bottom: calc(-1 * var(--#{$prefix}nav-tabs-border-width)); // stylelint-disable-line function-disallowed-list\n    border: var(--#{$prefix}nav-tabs-border-width) solid transparent;\n    @include border-top-radius(var(--#{$prefix}nav-tabs-border-radius));\n\n    &:hover,\n    &:focus {\n      // Prevents active .nav-link tab overlapping focus outline of previous/next .nav-link\n      isolation: isolate;\n      border-color: var(--#{$prefix}nav-tabs-link-hover-border-color);\n    }\n  }\n\n  .nav-link.active,\n  .nav-item.show .nav-link {\n    color: var(--#{$prefix}nav-tabs-link-active-color);\n    background-color: var(--#{$prefix}nav-tabs-link-active-bg);\n    border-color: var(--#{$prefix}nav-tabs-link-active-border-color);\n  }\n\n  .dropdown-menu {\n    // Make dropdown border overlap tab border\n    margin-top: calc(-1 * var(--#{$prefix}nav-tabs-border-width)); // stylelint-disable-line function-disallowed-list\n    // Remove the top rounded corners here since there is a hard edge above the menu\n    @include border-top-radius(0);\n  }\n}\n\n\n//\n// Pills\n//\n\n.nav-pills {\n  // scss-docs-start nav-pills-css-vars\n  --#{$prefix}nav-pills-border-radius: #{$nav-pills-border-radius};\n  --#{$prefix}nav-pills-link-active-color: #{$nav-pills-link-active-color};\n  --#{$prefix}nav-pills-link-active-bg: #{$nav-pills-link-active-bg};\n  // scss-docs-end nav-pills-css-vars\n\n  .nav-link {\n    @include border-radius(var(--#{$prefix}nav-pills-border-radius));\n  }\n\n  .nav-link.active,\n  .show > .nav-link {\n    color: var(--#{$prefix}nav-pills-link-active-color);\n    @include gradient-bg(var(--#{$prefix}nav-pills-link-active-bg));\n  }\n}\n\n\n//\n// Underline\n//\n\n.nav-underline {\n  // scss-docs-start nav-underline-css-vars\n  --#{$prefix}nav-underline-gap: #{$nav-underline-gap};\n  --#{$prefix}nav-underline-border-width: #{$nav-underline-border-width};\n  --#{$prefix}nav-underline-link-active-color: #{$nav-underline-link-active-color};\n  // scss-docs-end nav-underline-css-vars\n\n  gap: var(--#{$prefix}nav-underline-gap);\n\n  .nav-link {\n    padding-right: 0;\n    padding-left: 0;\n    border-bottom: var(--#{$prefix}nav-underline-border-width) solid transparent;\n\n    &:hover,\n    &:focus {\n      border-bottom-color: currentcolor;\n    }\n  }\n\n  .nav-link.active,\n  .show > .nav-link {\n    font-weight: $font-weight-bold;\n    color: var(--#{$prefix}nav-underline-link-active-color);\n    border-bottom-color: currentcolor;\n  }\n}\n\n\n//\n// Justified variants\n//\n\n.nav-fill {\n  > .nav-link,\n  .nav-item {\n    flex: 1 1 auto;\n    text-align: center;\n  }\n}\n\n.nav-justified {\n  > .nav-link,\n  .nav-item {\n    flex-basis: 0;\n    flex-grow: 1;\n    text-align: center;\n  }\n}\n\n.nav-fill,\n.nav-justified {\n  .nav-item .nav-link {\n    width: 100%; // Make sure button will grow\n  }\n}\n\n\n// Tabbable tabs\n//\n// Hide tabbable panes to start, show them when `.active`\n\n.tab-content {\n  > .tab-pane {\n    display: none;\n  }\n  > .active {\n    display: block;\n  }\n}\n","// Navbar\n//\n// Provide a static navbar from which we expand to create full-width, fixed, and\n// other navbar variations.\n\n.navbar {\n  // scss-docs-start navbar-css-vars\n  --#{$prefix}navbar-padding-x: #{if($navbar-padding-x == null, 0, $navbar-padding-x)};\n  --#{$prefix}navbar-padding-y: #{$navbar-padding-y};\n  --#{$prefix}navbar-color: #{$navbar-light-color};\n  --#{$prefix}navbar-hover-color: #{$navbar-light-hover-color};\n  --#{$prefix}navbar-disabled-color: #{$navbar-light-disabled-color};\n  --#{$prefix}navbar-active-color: #{$navbar-light-active-color};\n  --#{$prefix}navbar-brand-padding-y: #{$navbar-brand-padding-y};\n  --#{$prefix}navbar-brand-margin-end: #{$navbar-brand-margin-end};\n  --#{$prefix}navbar-brand-font-size: #{$navbar-brand-font-size};\n  --#{$prefix}navbar-brand-color: #{$navbar-light-brand-color};\n  --#{$prefix}navbar-brand-hover-color: #{$navbar-light-brand-hover-color};\n  --#{$prefix}navbar-nav-link-padding-x: #{$navbar-nav-link-padding-x};\n  --#{$prefix}navbar-toggler-padding-y: #{$navbar-toggler-padding-y};\n  --#{$prefix}navbar-toggler-padding-x: #{$navbar-toggler-padding-x};\n  --#{$prefix}navbar-toggler-font-size: #{$navbar-toggler-font-size};\n  --#{$prefix}navbar-toggler-icon-bg: #{escape-svg($navbar-light-toggler-icon-bg)};\n  --#{$prefix}navbar-toggler-border-color: #{$navbar-light-toggler-border-color};\n  --#{$prefix}navbar-toggler-border-radius: #{$navbar-toggler-border-radius};\n  --#{$prefix}navbar-toggler-focus-width: #{$navbar-toggler-focus-width};\n  --#{$prefix}navbar-toggler-transition: #{$navbar-toggler-transition};\n  // scss-docs-end navbar-css-vars\n\n  position: relative;\n  display: flex;\n  flex-wrap: wrap; // allow us to do the line break for collapsing content\n  align-items: center;\n  justify-content: space-between; // space out brand from logo\n  padding: var(--#{$prefix}navbar-padding-y) var(--#{$prefix}navbar-padding-x);\n  @include gradient-bg();\n\n  // Because flex properties aren't inherited, we need to redeclare these first\n  // few properties so that content nested within behave properly.\n  // The `flex-wrap` property is inherited to simplify the expanded navbars\n  %container-flex-properties {\n    display: flex;\n    flex-wrap: inherit;\n    align-items: center;\n    justify-content: space-between;\n  }\n\n  > .container,\n  > .container-fluid {\n    @extend %container-flex-properties;\n  }\n\n  @each $breakpoint, $container-max-width in $container-max-widths {\n    > .container#{breakpoint-infix($breakpoint, $container-max-widths)} {\n      @extend %container-flex-properties;\n    }\n  }\n}\n\n\n// Navbar brand\n//\n// Used for brand, project, or site names.\n\n.navbar-brand {\n  padding-top: var(--#{$prefix}navbar-brand-padding-y);\n  padding-bottom: var(--#{$prefix}navbar-brand-padding-y);\n  margin-right: var(--#{$prefix}navbar-brand-margin-end);\n  @include font-size(var(--#{$prefix}navbar-brand-font-size));\n  color: var(--#{$prefix}navbar-brand-color);\n  text-decoration: if($link-decoration == none, null, none);\n  white-space: nowrap;\n\n  &:hover,\n  &:focus {\n    color: var(--#{$prefix}navbar-brand-hover-color);\n    text-decoration: if($link-hover-decoration == underline, none, null);\n  }\n}\n\n\n// Navbar nav\n//\n// Custom navbar navigation (doesn't require `.nav`, but does make use of `.nav-link`).\n\n.navbar-nav {\n  // scss-docs-start navbar-nav-css-vars\n  --#{$prefix}nav-link-padding-x: 0;\n  --#{$prefix}nav-link-padding-y: #{$nav-link-padding-y};\n  @include rfs($nav-link-font-size, --#{$prefix}nav-link-font-size);\n  --#{$prefix}nav-link-font-weight: #{$nav-link-font-weight};\n  --#{$prefix}nav-link-color: var(--#{$prefix}navbar-color);\n  --#{$prefix}nav-link-hover-color: var(--#{$prefix}navbar-hover-color);\n  --#{$prefix}nav-link-disabled-color: var(--#{$prefix}navbar-disabled-color);\n  // scss-docs-end navbar-nav-css-vars\n\n  display: flex;\n  flex-direction: column; // cannot use `inherit` to get the `.navbar`s value\n  padding-left: 0;\n  margin-bottom: 0;\n  list-style: none;\n\n  .nav-link {\n    &.active,\n    &.show {\n      color: var(--#{$prefix}navbar-active-color);\n    }\n  }\n\n  .dropdown-menu {\n    position: static;\n  }\n}\n\n\n// Navbar text\n//\n//\n\n.navbar-text {\n  padding-top: $nav-link-padding-y;\n  padding-bottom: $nav-link-padding-y;\n  color: var(--#{$prefix}navbar-color);\n\n  a,\n  a:hover,\n  a:focus  {\n    color: var(--#{$prefix}navbar-active-color);\n  }\n}\n\n\n// Responsive navbar\n//\n// Custom styles for responsive collapsing and toggling of navbar contents.\n// Powered by the collapse Bootstrap JavaScript plugin.\n\n// When collapsed, prevent the toggleable navbar contents from appearing in\n// the default flexbox row orientation. Requires the use of `flex-wrap: wrap`\n// on the `.navbar` parent.\n.navbar-collapse {\n  flex-basis: 100%;\n  flex-grow: 1;\n  // For always expanded or extra full navbars, ensure content aligns itself\n  // properly vertically. Can be easily overridden with flex utilities.\n  align-items: center;\n}\n\n// Button for toggling the navbar when in its collapsed state\n.navbar-toggler {\n  padding: var(--#{$prefix}navbar-toggler-padding-y) var(--#{$prefix}navbar-toggler-padding-x);\n  @include font-size(var(--#{$prefix}navbar-toggler-font-size));\n  line-height: 1;\n  color: var(--#{$prefix}navbar-color);\n  background-color: transparent; // remove default button style\n  border: var(--#{$prefix}border-width) solid var(--#{$prefix}navbar-toggler-border-color); // remove default button style\n  @include border-radius(var(--#{$prefix}navbar-toggler-border-radius));\n  @include transition(var(--#{$prefix}navbar-toggler-transition));\n\n  &:hover {\n    text-decoration: none;\n  }\n\n  &:focus {\n    text-decoration: none;\n    outline: 0;\n    box-shadow: 0 0 0 var(--#{$prefix}navbar-toggler-focus-width);\n  }\n}\n\n// Keep as a separate element so folks can easily override it with another icon\n// or image file as needed.\n.navbar-toggler-icon {\n  display: inline-block;\n  width: 1.5em;\n  height: 1.5em;\n  vertical-align: middle;\n  background-image: var(--#{$prefix}navbar-toggler-icon-bg);\n  background-repeat: no-repeat;\n  background-position: center;\n  background-size: 100%;\n}\n\n.navbar-nav-scroll {\n  max-height: var(--#{$prefix}scroll-height, 75vh);\n  overflow-y: auto;\n}\n\n// scss-docs-start navbar-expand-loop\n// Generate series of `.navbar-expand-*` responsive classes for configuring\n// where your navbar collapses.\n.navbar-expand {\n  @each $breakpoint in map-keys($grid-breakpoints) {\n    $next: breakpoint-next($breakpoint, $grid-breakpoints);\n    $infix: breakpoint-infix($next, $grid-breakpoints);\n\n    // stylelint-disable-next-line scss/selector-no-union-class-name\n    &#{$infix} {\n      @include media-breakpoint-up($next) {\n        flex-wrap: nowrap;\n        justify-content: flex-start;\n\n        .navbar-nav {\n          flex-direction: row;\n\n          .dropdown-menu {\n            position: absolute;\n          }\n\n          .nav-link {\n            padding-right: var(--#{$prefix}navbar-nav-link-padding-x);\n            padding-left: var(--#{$prefix}navbar-nav-link-padding-x);\n          }\n        }\n\n        .navbar-nav-scroll {\n          overflow: visible;\n        }\n\n        .navbar-collapse {\n          display: flex !important; // stylelint-disable-line declaration-no-important\n          flex-basis: auto;\n        }\n\n        .navbar-toggler {\n          display: none;\n        }\n\n        .offcanvas {\n          // stylelint-disable declaration-no-important\n          position: static;\n          z-index: auto;\n          flex-grow: 1;\n          width: auto !important;\n          height: auto !important;\n          visibility: visible !important;\n          background-color: transparent !important;\n          border: 0 !important;\n          transform: none !important;\n          @include box-shadow(none);\n          @include transition(none);\n          // stylelint-enable declaration-no-important\n\n          .offcanvas-header {\n            display: none;\n          }\n\n          .offcanvas-body {\n            display: flex;\n            flex-grow: 0;\n            padding: 0;\n            overflow-y: visible;\n          }\n        }\n      }\n    }\n  }\n}\n// scss-docs-end navbar-expand-loop\n\n// Navbar themes\n//\n// Styles for switching between navbars with light or dark background.\n\n.navbar-light {\n  @include deprecate(\"`.navbar-light`\", \"v5.2.0\", \"v6.0.0\", true);\n}\n\n.navbar-dark,\n.navbar[data-bs-theme=\"dark\"] {\n  // scss-docs-start navbar-dark-css-vars\n  --#{$prefix}navbar-color: #{$navbar-dark-color};\n  --#{$prefix}navbar-hover-color: #{$navbar-dark-hover-color};\n  --#{$prefix}navbar-disabled-color: #{$navbar-dark-disabled-color};\n  --#{$prefix}navbar-active-color: #{$navbar-dark-active-color};\n  --#{$prefix}navbar-brand-color: #{$navbar-dark-brand-color};\n  --#{$prefix}navbar-brand-hover-color: #{$navbar-dark-brand-hover-color};\n  --#{$prefix}navbar-toggler-border-color: #{$navbar-dark-toggler-border-color};\n  --#{$prefix}navbar-toggler-icon-bg: #{escape-svg($navbar-dark-toggler-icon-bg)};\n  // scss-docs-end navbar-dark-css-vars\n}\n\n@if $enable-dark-mode {\n  @include color-mode(dark) {\n    .navbar-toggler-icon {\n      --#{$prefix}navbar-toggler-icon-bg: #{escape-svg($navbar-dark-toggler-icon-bg)};\n    }\n  }\n}\n","//\n// Base styles\n//\n\n.card {\n  // scss-docs-start card-css-vars\n  --#{$prefix}card-spacer-y: #{$card-spacer-y};\n  --#{$prefix}card-spacer-x: #{$card-spacer-x};\n  --#{$prefix}card-title-spacer-y: #{$card-title-spacer-y};\n  --#{$prefix}card-title-color: #{$card-title-color};\n  --#{$prefix}card-subtitle-color: #{$card-subtitle-color};\n  --#{$prefix}card-border-width: #{$card-border-width};\n  --#{$prefix}card-border-color: #{$card-border-color};\n  --#{$prefix}card-border-radius: #{$card-border-radius};\n  --#{$prefix}card-box-shadow: #{$card-box-shadow};\n  --#{$prefix}card-inner-border-radius: #{$card-inner-border-radius};\n  --#{$prefix}card-cap-padding-y: #{$card-cap-padding-y};\n  --#{$prefix}card-cap-padding-x: #{$card-cap-padding-x};\n  --#{$prefix}card-cap-bg: #{$card-cap-bg};\n  --#{$prefix}card-cap-color: #{$card-cap-color};\n  --#{$prefix}card-height: #{$card-height};\n  --#{$prefix}card-color: #{$card-color};\n  --#{$prefix}card-bg: #{$card-bg};\n  --#{$prefix}card-img-overlay-padding: #{$card-img-overlay-padding};\n  --#{$prefix}card-group-margin: #{$card-group-margin};\n  // scss-docs-end card-css-vars\n\n  position: relative;\n  display: flex;\n  flex-direction: column;\n  min-width: 0; // See https://github.com/twbs/bootstrap/pull/22740#issuecomment-305868106\n  height: var(--#{$prefix}card-height);\n  color: var(--#{$prefix}body-color);\n  word-wrap: break-word;\n  background-color: var(--#{$prefix}card-bg);\n  background-clip: border-box;\n  border: var(--#{$prefix}card-border-width) solid var(--#{$prefix}card-border-color);\n  @include border-radius(var(--#{$prefix}card-border-radius));\n  @include box-shadow(var(--#{$prefix}card-box-shadow));\n\n  > hr {\n    margin-right: 0;\n    margin-left: 0;\n  }\n\n  > .list-group {\n    border-top: inherit;\n    border-bottom: inherit;\n\n    &:first-child {\n      border-top-width: 0;\n      @include border-top-radius(var(--#{$prefix}card-inner-border-radius));\n    }\n\n    &:last-child  {\n      border-bottom-width: 0;\n      @include border-bottom-radius(var(--#{$prefix}card-inner-border-radius));\n    }\n  }\n\n  // Due to specificity of the above selector (`.card > .list-group`), we must\n  // use a child selector here to prevent double borders.\n  > .card-header + .list-group,\n  > .list-group + .card-footer {\n    border-top: 0;\n  }\n}\n\n.card-body {\n  // Enable `flex-grow: 1` for decks and groups so that card blocks take up\n  // as much space as possible, ensuring footers are aligned to the bottom.\n  flex: 1 1 auto;\n  padding: var(--#{$prefix}card-spacer-y) var(--#{$prefix}card-spacer-x);\n  color: var(--#{$prefix}card-color);\n}\n\n.card-title {\n  margin-bottom: var(--#{$prefix}card-title-spacer-y);\n  color: var(--#{$prefix}card-title-color);\n}\n\n.card-subtitle {\n  margin-top: calc(-.5 * var(--#{$prefix}card-title-spacer-y)); // stylelint-disable-line function-disallowed-list\n  margin-bottom: 0;\n  color: var(--#{$prefix}card-subtitle-color);\n}\n\n.card-text:last-child {\n  margin-bottom: 0;\n}\n\n.card-link {\n  &:hover {\n    text-decoration: if($link-hover-decoration == underline, none, null);\n  }\n\n  + .card-link {\n    margin-left: var(--#{$prefix}card-spacer-x);\n  }\n}\n\n//\n// Optional textual caps\n//\n\n.card-header {\n  padding: var(--#{$prefix}card-cap-padding-y) var(--#{$prefix}card-cap-padding-x);\n  margin-bottom: 0; // Removes the default margin-bottom of <hN>\n  color: var(--#{$prefix}card-cap-color);\n  background-color: var(--#{$prefix}card-cap-bg);\n  border-bottom: var(--#{$prefix}card-border-width) solid var(--#{$prefix}card-border-color);\n\n  &:first-child {\n    @include border-radius(var(--#{$prefix}card-inner-border-radius) var(--#{$prefix}card-inner-border-radius) 0 0);\n  }\n}\n\n.card-footer {\n  padding: var(--#{$prefix}card-cap-padding-y) var(--#{$prefix}card-cap-padding-x);\n  color: var(--#{$prefix}card-cap-color);\n  background-color: var(--#{$prefix}card-cap-bg);\n  border-top: var(--#{$prefix}card-border-width) solid var(--#{$prefix}card-border-color);\n\n  &:last-child {\n    @include border-radius(0 0 var(--#{$prefix}card-inner-border-radius) var(--#{$prefix}card-inner-border-radius));\n  }\n}\n\n\n//\n// Header navs\n//\n\n.card-header-tabs {\n  margin-right: calc(-.5 * var(--#{$prefix}card-cap-padding-x)); // stylelint-disable-line function-disallowed-list\n  margin-bottom: calc(-1 * var(--#{$prefix}card-cap-padding-y)); // stylelint-disable-line function-disallowed-list\n  margin-left: calc(-.5 * var(--#{$prefix}card-cap-padding-x)); // stylelint-disable-line function-disallowed-list\n  border-bottom: 0;\n\n  .nav-link.active {\n    background-color: var(--#{$prefix}card-bg);\n    border-bottom-color: var(--#{$prefix}card-bg);\n  }\n}\n\n.card-header-pills {\n  margin-right: calc(-.5 * var(--#{$prefix}card-cap-padding-x)); // stylelint-disable-line function-disallowed-list\n  margin-left: calc(-.5 * var(--#{$prefix}card-cap-padding-x)); // stylelint-disable-line function-disallowed-list\n}\n\n// Card image\n.card-img-overlay {\n  position: absolute;\n  top: 0;\n  right: 0;\n  bottom: 0;\n  left: 0;\n  padding: var(--#{$prefix}card-img-overlay-padding);\n  @include border-radius(var(--#{$prefix}card-inner-border-radius));\n}\n\n.card-img,\n.card-img-top,\n.card-img-bottom {\n  width: 100%; // Required because we use flexbox and this inherently applies align-self: stretch\n}\n\n.card-img,\n.card-img-top {\n  @include border-top-radius(var(--#{$prefix}card-inner-border-radius));\n}\n\n.card-img,\n.card-img-bottom {\n  @include border-bottom-radius(var(--#{$prefix}card-inner-border-radius));\n}\n\n\n//\n// Card groups\n//\n\n.card-group {\n  // The child selector allows nested `.card` within `.card-group`\n  // to display properly.\n  > .card {\n    margin-bottom: var(--#{$prefix}card-group-margin);\n  }\n\n  @include media-breakpoint-up(sm) {\n    display: flex;\n    flex-flow: row wrap;\n    // The child selector allows nested `.card` within `.card-group`\n    // to display properly.\n    > .card {\n      // Flexbugs #4: https://github.com/philipwalton/flexbugs#flexbug-4\n      flex: 1 0 0%;\n      margin-bottom: 0;\n\n      + .card {\n        margin-left: 0;\n        border-left: 0;\n      }\n\n      // Handle rounded corners\n      @if $enable-rounded {\n        &:not(:last-child) {\n          @include border-end-radius(0);\n\n          .card-img-top,\n          .card-header {\n            // stylelint-disable-next-line property-disallowed-list\n            border-top-right-radius: 0;\n          }\n          .card-img-bottom,\n          .card-footer {\n            // stylelint-disable-next-line property-disallowed-list\n            border-bottom-right-radius: 0;\n          }\n        }\n\n        &:not(:first-child) {\n          @include border-start-radius(0);\n\n          .card-img-top,\n          .card-header {\n            // stylelint-disable-next-line property-disallowed-list\n            border-top-left-radius: 0;\n          }\n          .card-img-bottom,\n          .card-footer {\n            // stylelint-disable-next-line property-disallowed-list\n            border-bottom-left-radius: 0;\n          }\n        }\n      }\n    }\n  }\n}\n","//\n// Base styles\n//\n\n.accordion {\n  // scss-docs-start accordion-css-vars\n  --#{$prefix}accordion-color: #{$accordion-color};\n  --#{$prefix}accordion-bg: #{$accordion-bg};\n  --#{$prefix}accordion-transition: #{$accordion-transition};\n  --#{$prefix}accordion-border-color: #{$accordion-border-color};\n  --#{$prefix}accordion-border-width: #{$accordion-border-width};\n  --#{$prefix}accordion-border-radius: #{$accordion-border-radius};\n  --#{$prefix}accordion-inner-border-radius: #{$accordion-inner-border-radius};\n  --#{$prefix}accordion-btn-padding-x: #{$accordion-button-padding-x};\n  --#{$prefix}accordion-btn-padding-y: #{$accordion-button-padding-y};\n  --#{$prefix}accordion-btn-color: #{$accordion-button-color};\n  --#{$prefix}accordion-btn-bg: #{$accordion-button-bg};\n  --#{$prefix}accordion-btn-icon: #{escape-svg($accordion-button-icon)};\n  --#{$prefix}accordion-btn-icon-width: #{$accordion-icon-width};\n  --#{$prefix}accordion-btn-icon-transform: #{$accordion-icon-transform};\n  --#{$prefix}accordion-btn-icon-transition: #{$accordion-icon-transition};\n  --#{$prefix}accordion-btn-active-icon: #{escape-svg($accordion-button-active-icon)};\n  --#{$prefix}accordion-btn-focus-box-shadow: #{$accordion-button-focus-box-shadow};\n  --#{$prefix}accordion-body-padding-x: #{$accordion-body-padding-x};\n  --#{$prefix}accordion-body-padding-y: #{$accordion-body-padding-y};\n  --#{$prefix}accordion-active-color: #{$accordion-button-active-color};\n  --#{$prefix}accordion-active-bg: #{$accordion-button-active-bg};\n  // scss-docs-end accordion-css-vars\n}\n\n.accordion-button {\n  position: relative;\n  display: flex;\n  align-items: center;\n  width: 100%;\n  padding: var(--#{$prefix}accordion-btn-padding-y) var(--#{$prefix}accordion-btn-padding-x);\n  @include font-size($font-size-base);\n  color: var(--#{$prefix}accordion-btn-color);\n  text-align: left; // Reset button style\n  background-color: var(--#{$prefix}accordion-btn-bg);\n  border: 0;\n  @include border-radius(0);\n  overflow-anchor: none;\n  @include transition(var(--#{$prefix}accordion-transition));\n\n  &:not(.collapsed) {\n    color: var(--#{$prefix}accordion-active-color);\n    background-color: var(--#{$prefix}accordion-active-bg);\n    box-shadow: inset 0 calc(-1 * var(--#{$prefix}accordion-border-width)) 0 var(--#{$prefix}accordion-border-color); // stylelint-disable-line function-disallowed-list\n\n    &::after {\n      background-image: var(--#{$prefix}accordion-btn-active-icon);\n      transform: var(--#{$prefix}accordion-btn-icon-transform);\n    }\n  }\n\n  // Accordion icon\n  &::after {\n    flex-shrink: 0;\n    width: var(--#{$prefix}accordion-btn-icon-width);\n    height: var(--#{$prefix}accordion-btn-icon-width);\n    margin-left: auto;\n    content: \"\";\n    background-image: var(--#{$prefix}accordion-btn-icon);\n    background-repeat: no-repeat;\n    background-size: var(--#{$prefix}accordion-btn-icon-width);\n    @include transition(var(--#{$prefix}accordion-btn-icon-transition));\n  }\n\n  &:hover {\n    z-index: 2;\n  }\n\n  &:focus {\n    z-index: 3;\n    outline: 0;\n    box-shadow: var(--#{$prefix}accordion-btn-focus-box-shadow);\n  }\n}\n\n.accordion-header {\n  margin-bottom: 0;\n}\n\n.accordion-item {\n  color: var(--#{$prefix}accordion-color);\n  background-color: var(--#{$prefix}accordion-bg);\n  border: var(--#{$prefix}accordion-border-width) solid var(--#{$prefix}accordion-border-color);\n\n  &:first-of-type {\n    @include border-top-radius(var(--#{$prefix}accordion-border-radius));\n\n    > .accordion-header .accordion-button {\n      @include border-top-radius(var(--#{$prefix}accordion-inner-border-radius));\n    }\n  }\n\n  &:not(:first-of-type) {\n    border-top: 0;\n  }\n\n  // Only set a border-radius on the last item if the accordion is collapsed\n  &:last-of-type {\n    @include border-bottom-radius(var(--#{$prefix}accordion-border-radius));\n\n    > .accordion-header .accordion-button {\n      &.collapsed {\n        @include border-bottom-radius(var(--#{$prefix}accordion-inner-border-radius));\n      }\n    }\n\n    > .accordion-collapse {\n      @include border-bottom-radius(var(--#{$prefix}accordion-border-radius));\n    }\n  }\n}\n\n.accordion-body {\n  padding: var(--#{$prefix}accordion-body-padding-y) var(--#{$prefix}accordion-body-padding-x);\n}\n\n\n// Flush accordion items\n//\n// Remove borders and border-radius to keep accordion items edge-to-edge.\n\n.accordion-flush {\n  > .accordion-item {\n    border-right: 0;\n    border-left: 0;\n    @include border-radius(0);\n\n    &:first-child { border-top: 0; }\n    &:last-child { border-bottom: 0; }\n\n    // stylelint-disable selector-max-class\n    > .accordion-header .accordion-button {\n      &,\n      &.collapsed {\n        @include border-radius(0);\n      }\n    }\n    // stylelint-enable selector-max-class\n\n    > .accordion-collapse {\n      @include border-radius(0);\n    }\n  }\n}\n\n@if $enable-dark-mode {\n  @include color-mode(dark) {\n    .accordion-button::after {\n      --#{$prefix}accordion-btn-icon: #{escape-svg($accordion-button-icon-dark)};\n      --#{$prefix}accordion-btn-active-icon: #{escape-svg($accordion-button-active-icon-dark)};\n    }\n  }\n}\n",".breadcrumb {\n  // scss-docs-start breadcrumb-css-vars\n  --#{$prefix}breadcrumb-padding-x: #{$breadcrumb-padding-x};\n  --#{$prefix}breadcrumb-padding-y: #{$breadcrumb-padding-y};\n  --#{$prefix}breadcrumb-margin-bottom: #{$breadcrumb-margin-bottom};\n  @include rfs($breadcrumb-font-size, --#{$prefix}breadcrumb-font-size);\n  --#{$prefix}breadcrumb-bg: #{$breadcrumb-bg};\n  --#{$prefix}breadcrumb-border-radius: #{$breadcrumb-border-radius};\n  --#{$prefix}breadcrumb-divider-color: #{$breadcrumb-divider-color};\n  --#{$prefix}breadcrumb-item-padding-x: #{$breadcrumb-item-padding-x};\n  --#{$prefix}breadcrumb-item-active-color: #{$breadcrumb-active-color};\n  // scss-docs-end breadcrumb-css-vars\n\n  display: flex;\n  flex-wrap: wrap;\n  padding: var(--#{$prefix}breadcrumb-padding-y) var(--#{$prefix}breadcrumb-padding-x);\n  margin-bottom: var(--#{$prefix}breadcrumb-margin-bottom);\n  @include font-size(var(--#{$prefix}breadcrumb-font-size));\n  list-style: none;\n  background-color: var(--#{$prefix}breadcrumb-bg);\n  @include border-radius(var(--#{$prefix}breadcrumb-border-radius));\n}\n\n.breadcrumb-item {\n  // The separator between breadcrumbs (by default, a forward-slash: \"/\")\n  + .breadcrumb-item {\n    padding-left: var(--#{$prefix}breadcrumb-item-padding-x);\n\n    &::before {\n      float: left; // Suppress inline spacings and underlining of the separator\n      padding-right: var(--#{$prefix}breadcrumb-item-padding-x);\n      color: var(--#{$prefix}breadcrumb-divider-color);\n      content: var(--#{$prefix}breadcrumb-divider, escape-svg($breadcrumb-divider)) #{\"/* rtl:\"} var(--#{$prefix}breadcrumb-divider, escape-svg($breadcrumb-divider-flipped)) #{\"*/\"};\n    }\n  }\n\n  &.active {\n    color: var(--#{$prefix}breadcrumb-item-active-color);\n  }\n}\n",".pagination {\n  // scss-docs-start pagination-css-vars\n  --#{$prefix}pagination-padding-x: #{$pagination-padding-x};\n  --#{$prefix}pagination-padding-y: #{$pagination-padding-y};\n  @include rfs($pagination-font-size, --#{$prefix}pagination-font-size);\n  --#{$prefix}pagination-color: #{$pagination-color};\n  --#{$prefix}pagination-bg: #{$pagination-bg};\n  --#{$prefix}pagination-border-width: #{$pagination-border-width};\n  --#{$prefix}pagination-border-color: #{$pagination-border-color};\n  --#{$prefix}pagination-border-radius: #{$pagination-border-radius};\n  --#{$prefix}pagination-hover-color: #{$pagination-hover-color};\n  --#{$prefix}pagination-hover-bg: #{$pagination-hover-bg};\n  --#{$prefix}pagination-hover-border-color: #{$pagination-hover-border-color};\n  --#{$prefix}pagination-focus-color: #{$pagination-focus-color};\n  --#{$prefix}pagination-focus-bg: #{$pagination-focus-bg};\n  --#{$prefix}pagination-focus-box-shadow: #{$pagination-focus-box-shadow};\n  --#{$prefix}pagination-active-color: #{$pagination-active-color};\n  --#{$prefix}pagination-active-bg: #{$pagination-active-bg};\n  --#{$prefix}pagination-active-border-color: #{$pagination-active-border-color};\n  --#{$prefix}pagination-disabled-color: #{$pagination-disabled-color};\n  --#{$prefix}pagination-disabled-bg: #{$pagination-disabled-bg};\n  --#{$prefix}pagination-disabled-border-color: #{$pagination-disabled-border-color};\n  // scss-docs-end pagination-css-vars\n\n  display: flex;\n  @include list-unstyled();\n}\n\n.page-link {\n  position: relative;\n  display: block;\n  padding: var(--#{$prefix}pagination-padding-y) var(--#{$prefix}pagination-padding-x);\n  @include font-size(var(--#{$prefix}pagination-font-size));\n  color: var(--#{$prefix}pagination-color);\n  text-decoration: if($link-decoration == none, null, none);\n  background-color: var(--#{$prefix}pagination-bg);\n  border: var(--#{$prefix}pagination-border-width) solid var(--#{$prefix}pagination-border-color);\n  @include transition($pagination-transition);\n\n  &:hover {\n    z-index: 2;\n    color: var(--#{$prefix}pagination-hover-color);\n    text-decoration: if($link-hover-decoration == underline, none, null);\n    background-color: var(--#{$prefix}pagination-hover-bg);\n    border-color: var(--#{$prefix}pagination-hover-border-color);\n  }\n\n  &:focus {\n    z-index: 3;\n    color: var(--#{$prefix}pagination-focus-color);\n    background-color: var(--#{$prefix}pagination-focus-bg);\n    outline: $pagination-focus-outline;\n    box-shadow: var(--#{$prefix}pagination-focus-box-shadow);\n  }\n\n  &.active,\n  .active > & {\n    z-index: 3;\n    color: var(--#{$prefix}pagination-active-color);\n    @include gradient-bg(var(--#{$prefix}pagination-active-bg));\n    border-color: var(--#{$prefix}pagination-active-border-color);\n  }\n\n  &.disabled,\n  .disabled > & {\n    color: var(--#{$prefix}pagination-disabled-color);\n    pointer-events: none;\n    background-color: var(--#{$prefix}pagination-disabled-bg);\n    border-color: var(--#{$prefix}pagination-disabled-border-color);\n  }\n}\n\n.page-item {\n  &:not(:first-child) .page-link {\n    margin-left: $pagination-margin-start;\n  }\n\n  @if $pagination-margin-start == calc(#{$pagination-border-width} * -1) {\n    &:first-child {\n      .page-link {\n        @include border-start-radius(var(--#{$prefix}pagination-border-radius));\n      }\n    }\n\n    &:last-child {\n      .page-link {\n        @include border-end-radius(var(--#{$prefix}pagination-border-radius));\n      }\n    }\n  } @else {\n    // Add border-radius to all pageLinks in case they have left margin\n    .page-link {\n      @include border-radius(var(--#{$prefix}pagination-border-radius));\n    }\n  }\n}\n\n\n//\n// Sizing\n//\n\n.pagination-lg {\n  @include pagination-size($pagination-padding-y-lg, $pagination-padding-x-lg, $font-size-lg, $pagination-border-radius-lg);\n}\n\n.pagination-sm {\n  @include pagination-size($pagination-padding-y-sm, $pagination-padding-x-sm, $font-size-sm, $pagination-border-radius-sm);\n}\n","// Pagination\n\n// scss-docs-start pagination-mixin\n@mixin pagination-size($padding-y, $padding-x, $font-size, $border-radius) {\n  --#{$prefix}pagination-padding-x: #{$padding-x};\n  --#{$prefix}pagination-padding-y: #{$padding-y};\n  @include rfs($font-size, --#{$prefix}pagination-font-size);\n  --#{$prefix}pagination-border-radius: #{$border-radius};\n}\n// scss-docs-end pagination-mixin\n","// Base class\n//\n// Requires one of the contextual, color modifier classes for `color` and\n// `background-color`.\n\n.badge {\n  // scss-docs-start badge-css-vars\n  --#{$prefix}badge-padding-x: #{$badge-padding-x};\n  --#{$prefix}badge-padding-y: #{$badge-padding-y};\n  @include rfs($badge-font-size, --#{$prefix}badge-font-size);\n  --#{$prefix}badge-font-weight: #{$badge-font-weight};\n  --#{$prefix}badge-color: #{$badge-color};\n  --#{$prefix}badge-border-radius: #{$badge-border-radius};\n  // scss-docs-end badge-css-vars\n\n  display: inline-block;\n  padding: var(--#{$prefix}badge-padding-y) var(--#{$prefix}badge-padding-x);\n  @include font-size(var(--#{$prefix}badge-font-size));\n  font-weight: var(--#{$prefix}badge-font-weight);\n  line-height: 1;\n  color: var(--#{$prefix}badge-color);\n  text-align: center;\n  white-space: nowrap;\n  vertical-align: baseline;\n  @include border-radius(var(--#{$prefix}badge-border-radius));\n  @include gradient-bg();\n\n  // Empty badges collapse automatically\n  &:empty {\n    display: none;\n  }\n}\n\n// Quick fix for badges in buttons\n.btn .badge {\n  position: relative;\n  top: -1px;\n}\n","//\n// Base styles\n//\n\n.alert {\n  // scss-docs-start alert-css-vars\n  --#{$prefix}alert-bg: transparent;\n  --#{$prefix}alert-padding-x: #{$alert-padding-x};\n  --#{$prefix}alert-padding-y: #{$alert-padding-y};\n  --#{$prefix}alert-margin-bottom: #{$alert-margin-bottom};\n  --#{$prefix}alert-color: inherit;\n  --#{$prefix}alert-border-color: transparent;\n  --#{$prefix}alert-border: #{$alert-border-width} solid var(--#{$prefix}alert-border-color);\n  --#{$prefix}alert-border-radius: #{$alert-border-radius};\n  --#{$prefix}alert-link-color: inherit;\n  // scss-docs-end alert-css-vars\n\n  position: relative;\n  padding: var(--#{$prefix}alert-padding-y) var(--#{$prefix}alert-padding-x);\n  margin-bottom: var(--#{$prefix}alert-margin-bottom);\n  color: var(--#{$prefix}alert-color);\n  background-color: var(--#{$prefix}alert-bg);\n  border: var(--#{$prefix}alert-border);\n  @include border-radius(var(--#{$prefix}alert-border-radius));\n}\n\n// Headings for larger alerts\n.alert-heading {\n  // Specified to prevent conflicts of changing $headings-color\n  color: inherit;\n}\n\n// Provide class for links that match alerts\n.alert-link {\n  font-weight: $alert-link-font-weight;\n  color: var(--#{$prefix}alert-link-color);\n}\n\n\n// Dismissible alerts\n//\n// Expand the right padding and account for the close button's positioning.\n\n.alert-dismissible {\n  padding-right: $alert-dismissible-padding-r;\n\n  // Adjust close link position\n  .btn-close {\n    position: absolute;\n    top: 0;\n    right: 0;\n    z-index: $stretched-link-z-index + 1;\n    padding: $alert-padding-y * 1.25 $alert-padding-x;\n  }\n}\n\n\n// scss-docs-start alert-modifiers\n// Generate contextual modifier classes for colorizing the alert\n@each $state in map-keys($theme-colors) {\n  .alert-#{$state} {\n    --#{$prefix}alert-color: var(--#{$prefix}#{$state}-text-emphasis);\n    --#{$prefix}alert-bg: var(--#{$prefix}#{$state}-bg-subtle);\n    --#{$prefix}alert-border-color: var(--#{$prefix}#{$state}-border-subtle);\n    --#{$prefix}alert-link-color: var(--#{$prefix}#{$state}-text-emphasis);\n  }\n}\n// scss-docs-end alert-modifiers\n","// Disable animation if transitions are disabled\n\n// scss-docs-start progress-keyframes\n@if $enable-transitions {\n  @keyframes progress-bar-stripes {\n    0% { background-position-x: $progress-height; }\n  }\n}\n// scss-docs-end progress-keyframes\n\n.progress,\n.progress-stacked {\n  // scss-docs-start progress-css-vars\n  --#{$prefix}progress-height: #{$progress-height};\n  @include rfs($progress-font-size, --#{$prefix}progress-font-size);\n  --#{$prefix}progress-bg: #{$progress-bg};\n  --#{$prefix}progress-border-radius: #{$progress-border-radius};\n  --#{$prefix}progress-box-shadow: #{$progress-box-shadow};\n  --#{$prefix}progress-bar-color: #{$progress-bar-color};\n  --#{$prefix}progress-bar-bg: #{$progress-bar-bg};\n  --#{$prefix}progress-bar-transition: #{$progress-bar-transition};\n  // scss-docs-end progress-css-vars\n\n  display: flex;\n  height: var(--#{$prefix}progress-height);\n  overflow: hidden; // force rounded corners by cropping it\n  @include font-size(var(--#{$prefix}progress-font-size));\n  background-color: var(--#{$prefix}progress-bg);\n  @include border-radius(var(--#{$prefix}progress-border-radius));\n  @include box-shadow(var(--#{$prefix}progress-box-shadow));\n}\n\n.progress-bar {\n  display: flex;\n  flex-direction: column;\n  justify-content: center;\n  overflow: hidden;\n  color: var(--#{$prefix}progress-bar-color);\n  text-align: center;\n  white-space: nowrap;\n  background-color: var(--#{$prefix}progress-bar-bg);\n  @include transition(var(--#{$prefix}progress-bar-transition));\n}\n\n.progress-bar-striped {\n  @include gradient-striped();\n  background-size: var(--#{$prefix}progress-height) var(--#{$prefix}progress-height);\n}\n\n.progress-stacked > .progress {\n  overflow: visible;\n}\n\n.progress-stacked > .progress > .progress-bar {\n  width: 100%;\n}\n\n@if $enable-transitions {\n  .progress-bar-animated {\n    animation: $progress-bar-animation-timing progress-bar-stripes;\n\n    @if $enable-reduced-motion {\n      @media (prefers-reduced-motion: reduce) {\n        animation: none;\n      }\n    }\n  }\n}\n","// Base class\n//\n// Easily usable on <ul>, <ol>, or <div>.\n\n.list-group {\n  // scss-docs-start list-group-css-vars\n  --#{$prefix}list-group-color: #{$list-group-color};\n  --#{$prefix}list-group-bg: #{$list-group-bg};\n  --#{$prefix}list-group-border-color: #{$list-group-border-color};\n  --#{$prefix}list-group-border-width: #{$list-group-border-width};\n  --#{$prefix}list-group-border-radius: #{$list-group-border-radius};\n  --#{$prefix}list-group-item-padding-x: #{$list-group-item-padding-x};\n  --#{$prefix}list-group-item-padding-y: #{$list-group-item-padding-y};\n  --#{$prefix}list-group-action-color: #{$list-group-action-color};\n  --#{$prefix}list-group-action-hover-color: #{$list-group-action-hover-color};\n  --#{$prefix}list-group-action-hover-bg: #{$list-group-hover-bg};\n  --#{$prefix}list-group-action-active-color: #{$list-group-action-active-color};\n  --#{$prefix}list-group-action-active-bg: #{$list-group-action-active-bg};\n  --#{$prefix}list-group-disabled-color: #{$list-group-disabled-color};\n  --#{$prefix}list-group-disabled-bg: #{$list-group-disabled-bg};\n  --#{$prefix}list-group-active-color: #{$list-group-active-color};\n  --#{$prefix}list-group-active-bg: #{$list-group-active-bg};\n  --#{$prefix}list-group-active-border-color: #{$list-group-active-border-color};\n  // scss-docs-end list-group-css-vars\n\n  display: flex;\n  flex-direction: column;\n\n  // No need to set list-style: none; since .list-group-item is block level\n  padding-left: 0; // reset padding because ul and ol\n  margin-bottom: 0;\n  @include border-radius(var(--#{$prefix}list-group-border-radius));\n}\n\n.list-group-numbered {\n  list-style-type: none;\n  counter-reset: section;\n\n  > .list-group-item::before {\n    // Increments only this instance of the section counter\n    content: counters(section, \".\") \". \";\n    counter-increment: section;\n  }\n}\n\n// Interactive list items\n//\n// Use anchor or button elements instead of `li`s or `div`s to create interactive\n// list items. Includes an extra `.active` modifier class for selected items.\n\n.list-group-item-action {\n  width: 100%; // For `<button>`s (anchors become 100% by default though)\n  color: var(--#{$prefix}list-group-action-color);\n  text-align: inherit; // For `<button>`s (anchors inherit)\n\n  // Hover state\n  &:hover,\n  &:focus {\n    z-index: 1; // Place hover/focus items above their siblings for proper border styling\n    color: var(--#{$prefix}list-group-action-hover-color);\n    text-decoration: none;\n    background-color: var(--#{$prefix}list-group-action-hover-bg);\n  }\n\n  &:active {\n    color: var(--#{$prefix}list-group-action-active-color);\n    background-color: var(--#{$prefix}list-group-action-active-bg);\n  }\n}\n\n// Individual list items\n//\n// Use on `li`s or `div`s within the `.list-group` parent.\n\n.list-group-item {\n  position: relative;\n  display: block;\n  padding: var(--#{$prefix}list-group-item-padding-y) var(--#{$prefix}list-group-item-padding-x);\n  color: var(--#{$prefix}list-group-color);\n  text-decoration: if($link-decoration == none, null, none);\n  background-color: var(--#{$prefix}list-group-bg);\n  border: var(--#{$prefix}list-group-border-width) solid var(--#{$prefix}list-group-border-color);\n\n  &:first-child {\n    @include border-top-radius(inherit);\n  }\n\n  &:last-child {\n    @include border-bottom-radius(inherit);\n  }\n\n  &.disabled,\n  &:disabled {\n    color: var(--#{$prefix}list-group-disabled-color);\n    pointer-events: none;\n    background-color: var(--#{$prefix}list-group-disabled-bg);\n  }\n\n  // Include both here for `<a>`s and `<button>`s\n  &.active {\n    z-index: 2; // Place active items above their siblings for proper border styling\n    color: var(--#{$prefix}list-group-active-color);\n    background-color: var(--#{$prefix}list-group-active-bg);\n    border-color: var(--#{$prefix}list-group-active-border-color);\n  }\n\n  // stylelint-disable-next-line scss/selector-no-redundant-nesting-selector\n  & + .list-group-item {\n    border-top-width: 0;\n\n    &.active {\n      margin-top: calc(-1 * var(--#{$prefix}list-group-border-width)); // stylelint-disable-line function-disallowed-list\n      border-top-width: var(--#{$prefix}list-group-border-width);\n    }\n  }\n}\n\n// Horizontal\n//\n// Change the layout of list group items from vertical (default) to horizontal.\n\n@each $breakpoint in map-keys($grid-breakpoints) {\n  @include media-breakpoint-up($breakpoint) {\n    $infix: breakpoint-infix($breakpoint, $grid-breakpoints);\n\n    .list-group-horizontal#{$infix} {\n      flex-direction: row;\n\n      > .list-group-item {\n        &:first-child:not(:last-child) {\n          @include border-bottom-start-radius(var(--#{$prefix}list-group-border-radius));\n          @include border-top-end-radius(0);\n        }\n\n        &:last-child:not(:first-child) {\n          @include border-top-end-radius(var(--#{$prefix}list-group-border-radius));\n          @include border-bottom-start-radius(0);\n        }\n\n        &.active {\n          margin-top: 0;\n        }\n\n        + .list-group-item {\n          border-top-width: var(--#{$prefix}list-group-border-width);\n          border-left-width: 0;\n\n          &.active {\n            margin-left: calc(-1 * var(--#{$prefix}list-group-border-width)); // stylelint-disable-line function-disallowed-list\n            border-left-width: var(--#{$prefix}list-group-border-width);\n          }\n        }\n      }\n    }\n  }\n}\n\n\n// Flush list items\n//\n// Remove borders and border-radius to keep list group items edge-to-edge. Most\n// useful within other components (e.g., cards).\n\n.list-group-flush {\n  @include border-radius(0);\n\n  > .list-group-item {\n    border-width: 0 0 var(--#{$prefix}list-group-border-width);\n\n    &:last-child {\n      border-bottom-width: 0;\n    }\n  }\n}\n\n\n// scss-docs-start list-group-modifiers\n// List group contextual variants\n//\n// Add modifier classes to change text and background color on individual items.\n// Organizationally, this must come after the `:hover` states.\n\n@each $state in map-keys($theme-colors) {\n  .list-group-item-#{$state} {\n    --#{$prefix}list-group-color: var(--#{$prefix}#{$state}-text-emphasis);\n    --#{$prefix}list-group-bg: var(--#{$prefix}#{$state}-bg-subtle);\n    --#{$prefix}list-group-border-color: var(--#{$prefix}#{$state}-border-subtle);\n    --#{$prefix}list-group-action-hover-color: var(--#{$prefix}emphasis-color);\n    --#{$prefix}list-group-action-hover-bg: var(--#{$prefix}#{$state}-border-subtle);\n    --#{$prefix}list-group-action-active-color: var(--#{$prefix}emphasis-color);\n    --#{$prefix}list-group-action-active-bg: var(--#{$prefix}#{$state}-border-subtle);\n    --#{$prefix}list-group-active-color: var(--#{$prefix}#{$state}-bg-subtle);\n    --#{$prefix}list-group-active-bg: var(--#{$prefix}#{$state}-text-emphasis);\n    --#{$prefix}list-group-active-border-color: var(--#{$prefix}#{$state}-text-emphasis);\n  }\n}\n// scss-docs-end list-group-modifiers\n","// Transparent background and border properties included for button version.\n// iOS requires the button element instead of an anchor tag.\n// If you want the anchor version, it requires `href=\"#\"`.\n// See https://developer.mozilla.org/en-US/docs/Web/Events/click#Safari_Mobile\n\n.btn-close {\n  // scss-docs-start close-css-vars\n  --#{$prefix}btn-close-color: #{$btn-close-color};\n  --#{$prefix}btn-close-bg: #{ escape-svg($btn-close-bg) };\n  --#{$prefix}btn-close-opacity: #{$btn-close-opacity};\n  --#{$prefix}btn-close-hover-opacity: #{$btn-close-hover-opacity};\n  --#{$prefix}btn-close-focus-shadow: #{$btn-close-focus-shadow};\n  --#{$prefix}btn-close-focus-opacity: #{$btn-close-focus-opacity};\n  --#{$prefix}btn-close-disabled-opacity: #{$btn-close-disabled-opacity};\n  --#{$prefix}btn-close-white-filter: #{$btn-close-white-filter};\n  // scss-docs-end close-css-vars\n\n  box-sizing: content-box;\n  width: $btn-close-width;\n  height: $btn-close-height;\n  padding: $btn-close-padding-y $btn-close-padding-x;\n  color: var(--#{$prefix}btn-close-color);\n  background: transparent var(--#{$prefix}btn-close-bg) center / $btn-close-width auto no-repeat; // include transparent for button elements\n  border: 0; // for button elements\n  @include border-radius();\n  opacity: var(--#{$prefix}btn-close-opacity);\n\n  // Override <a>'s hover style\n  &:hover {\n    color: var(--#{$prefix}btn-close-color);\n    text-decoration: none;\n    opacity: var(--#{$prefix}btn-close-hover-opacity);\n  }\n\n  &:focus {\n    outline: 0;\n    box-shadow: var(--#{$prefix}btn-close-focus-shadow);\n    opacity: var(--#{$prefix}btn-close-focus-opacity);\n  }\n\n  &:disabled,\n  &.disabled {\n    pointer-events: none;\n    user-select: none;\n    opacity: var(--#{$prefix}btn-close-disabled-opacity);\n  }\n}\n\n@mixin btn-close-white() {\n  filter: var(--#{$prefix}btn-close-white-filter);\n}\n\n.btn-close-white {\n  @include btn-close-white();\n}\n\n@if $enable-dark-mode {\n  @include color-mode(dark) {\n    .btn-close {\n      @include btn-close-white();\n    }\n  }\n}\n",".toast {\n  // scss-docs-start toast-css-vars\n  --#{$prefix}toast-zindex: #{$zindex-toast};\n  --#{$prefix}toast-padding-x: #{$toast-padding-x};\n  --#{$prefix}toast-padding-y: #{$toast-padding-y};\n  --#{$prefix}toast-spacing: #{$toast-spacing};\n  --#{$prefix}toast-max-width: #{$toast-max-width};\n  @include rfs($toast-font-size, --#{$prefix}toast-font-size);\n  --#{$prefix}toast-color: #{$toast-color};\n  --#{$prefix}toast-bg: #{$toast-background-color};\n  --#{$prefix}toast-border-width: #{$toast-border-width};\n  --#{$prefix}toast-border-color: #{$toast-border-color};\n  --#{$prefix}toast-border-radius: #{$toast-border-radius};\n  --#{$prefix}toast-box-shadow: #{$toast-box-shadow};\n  --#{$prefix}toast-header-color: #{$toast-header-color};\n  --#{$prefix}toast-header-bg: #{$toast-header-background-color};\n  --#{$prefix}toast-header-border-color: #{$toast-header-border-color};\n  // scss-docs-end toast-css-vars\n\n  width: var(--#{$prefix}toast-max-width);\n  max-width: 100%;\n  @include font-size(var(--#{$prefix}toast-font-size));\n  color: var(--#{$prefix}toast-color);\n  pointer-events: auto;\n  background-color: var(--#{$prefix}toast-bg);\n  background-clip: padding-box;\n  border: var(--#{$prefix}toast-border-width) solid var(--#{$prefix}toast-border-color);\n  box-shadow: var(--#{$prefix}toast-box-shadow);\n  @include border-radius(var(--#{$prefix}toast-border-radius));\n\n  &.showing {\n    opacity: 0;\n  }\n\n  &:not(.show) {\n    display: none;\n  }\n}\n\n.toast-container {\n  --#{$prefix}toast-zindex: #{$zindex-toast};\n\n  position: absolute;\n  z-index: var(--#{$prefix}toast-zindex);\n  width: max-content;\n  max-width: 100%;\n  pointer-events: none;\n\n  > :not(:last-child) {\n    margin-bottom: var(--#{$prefix}toast-spacing);\n  }\n}\n\n.toast-header {\n  display: flex;\n  align-items: center;\n  padding: var(--#{$prefix}toast-padding-y) var(--#{$prefix}toast-padding-x);\n  color: var(--#{$prefix}toast-header-color);\n  background-color: var(--#{$prefix}toast-header-bg);\n  background-clip: padding-box;\n  border-bottom: var(--#{$prefix}toast-border-width) solid var(--#{$prefix}toast-header-border-color);\n  @include border-top-radius(calc(var(--#{$prefix}toast-border-radius) - var(--#{$prefix}toast-border-width)));\n\n  .btn-close {\n    margin-right: calc(-.5 * var(--#{$prefix}toast-padding-x)); // stylelint-disable-line function-disallowed-list\n    margin-left: var(--#{$prefix}toast-padding-x);\n  }\n}\n\n.toast-body {\n  padding: var(--#{$prefix}toast-padding-x);\n  word-wrap: break-word;\n}\n","// stylelint-disable function-disallowed-list\n\n// .modal-open      - body class for killing the scroll\n// .modal           - container to scroll within\n// .modal-dialog    - positioning shell for the actual modal\n// .modal-content   - actual modal w/ bg and corners and stuff\n\n\n// Container that the modal scrolls within\n.modal {\n  // scss-docs-start modal-css-vars\n  --#{$prefix}modal-zindex: #{$zindex-modal};\n  --#{$prefix}modal-width: #{$modal-md};\n  --#{$prefix}modal-padding: #{$modal-inner-padding};\n  --#{$prefix}modal-margin: #{$modal-dialog-margin};\n  --#{$prefix}modal-color: #{$modal-content-color};\n  --#{$prefix}modal-bg: #{$modal-content-bg};\n  --#{$prefix}modal-border-color: #{$modal-content-border-color};\n  --#{$prefix}modal-border-width: #{$modal-content-border-width};\n  --#{$prefix}modal-border-radius: #{$modal-content-border-radius};\n  --#{$prefix}modal-box-shadow: #{$modal-content-box-shadow-xs};\n  --#{$prefix}modal-inner-border-radius: #{$modal-content-inner-border-radius};\n  --#{$prefix}modal-header-padding-x: #{$modal-header-padding-x};\n  --#{$prefix}modal-header-padding-y: #{$modal-header-padding-y};\n  --#{$prefix}modal-header-padding: #{$modal-header-padding}; // Todo in v6: Split this padding into x and y\n  --#{$prefix}modal-header-border-color: #{$modal-header-border-color};\n  --#{$prefix}modal-header-border-width: #{$modal-header-border-width};\n  --#{$prefix}modal-title-line-height: #{$modal-title-line-height};\n  --#{$prefix}modal-footer-gap: #{$modal-footer-margin-between};\n  --#{$prefix}modal-footer-bg: #{$modal-footer-bg};\n  --#{$prefix}modal-footer-border-color: #{$modal-footer-border-color};\n  --#{$prefix}modal-footer-border-width: #{$modal-footer-border-width};\n  // scss-docs-end modal-css-vars\n\n  position: fixed;\n  top: 0;\n  left: 0;\n  z-index: var(--#{$prefix}modal-zindex);\n  display: none;\n  width: 100%;\n  height: 100%;\n  overflow-x: hidden;\n  overflow-y: auto;\n  // Prevent Chrome on Windows from adding a focus outline. For details, see\n  // https://github.com/twbs/bootstrap/pull/10951.\n  outline: 0;\n  // We deliberately don't use `-webkit-overflow-scrolling: touch;` due to a\n  // gnarly iOS Safari bug: https://bugs.webkit.org/show_bug.cgi?id=158342\n  // See also https://github.com/twbs/bootstrap/issues/17695\n}\n\n// Shell div to position the modal with bottom padding\n.modal-dialog {\n  position: relative;\n  width: auto;\n  margin: var(--#{$prefix}modal-margin);\n  // allow clicks to pass through for custom click handling to close modal\n  pointer-events: none;\n\n  // When fading in the modal, animate it to slide down\n  .modal.fade & {\n    @include transition($modal-transition);\n    transform: $modal-fade-transform;\n  }\n  .modal.show & {\n    transform: $modal-show-transform;\n  }\n\n  // When trying to close, animate focus to scale\n  .modal.modal-static & {\n    transform: $modal-scale-transform;\n  }\n}\n\n.modal-dialog-scrollable {\n  height: calc(100% - var(--#{$prefix}modal-margin) * 2);\n\n  .modal-content {\n    max-height: 100%;\n    overflow: hidden;\n  }\n\n  .modal-body {\n    overflow-y: auto;\n  }\n}\n\n.modal-dialog-centered {\n  display: flex;\n  align-items: center;\n  min-height: calc(100% - var(--#{$prefix}modal-margin) * 2);\n}\n\n// Actual modal\n.modal-content {\n  position: relative;\n  display: flex;\n  flex-direction: column;\n  width: 100%; // Ensure `.modal-content` extends the full width of the parent `.modal-dialog`\n  // counteract the pointer-events: none; in the .modal-dialog\n  color: var(--#{$prefix}modal-color);\n  pointer-events: auto;\n  background-color: var(--#{$prefix}modal-bg);\n  background-clip: padding-box;\n  border: var(--#{$prefix}modal-border-width) solid var(--#{$prefix}modal-border-color);\n  @include border-radius(var(--#{$prefix}modal-border-radius));\n  @include box-shadow(var(--#{$prefix}modal-box-shadow));\n  // Remove focus outline from opened modal\n  outline: 0;\n}\n\n// Modal background\n.modal-backdrop {\n  // scss-docs-start modal-backdrop-css-vars\n  --#{$prefix}backdrop-zindex: #{$zindex-modal-backdrop};\n  --#{$prefix}backdrop-bg: #{$modal-backdrop-bg};\n  --#{$prefix}backdrop-opacity: #{$modal-backdrop-opacity};\n  // scss-docs-end modal-backdrop-css-vars\n\n  @include overlay-backdrop(var(--#{$prefix}backdrop-zindex), var(--#{$prefix}backdrop-bg), var(--#{$prefix}backdrop-opacity));\n}\n\n// Modal header\n// Top section of the modal w/ title and dismiss\n.modal-header {\n  display: flex;\n  flex-shrink: 0;\n  align-items: center;\n  padding: var(--#{$prefix}modal-header-padding);\n  border-bottom: var(--#{$prefix}modal-header-border-width) solid var(--#{$prefix}modal-header-border-color);\n  @include border-top-radius(var(--#{$prefix}modal-inner-border-radius));\n\n  .btn-close {\n    padding: calc(var(--#{$prefix}modal-header-padding-y) * .5) calc(var(--#{$prefix}modal-header-padding-x) * .5);\n    margin: calc(-.5 * var(--#{$prefix}modal-header-padding-y)) calc(-.5 * var(--#{$prefix}modal-header-padding-x)) calc(-.5 * var(--#{$prefix}modal-header-padding-y)) auto;\n  }\n}\n\n// Title text within header\n.modal-title {\n  margin-bottom: 0;\n  line-height: var(--#{$prefix}modal-title-line-height);\n}\n\n// Modal body\n// Where all modal content resides (sibling of .modal-header and .modal-footer)\n.modal-body {\n  position: relative;\n  // Enable `flex-grow: 1` so that the body take up as much space as possible\n  // when there should be a fixed height on `.modal-dialog`.\n  flex: 1 1 auto;\n  padding: var(--#{$prefix}modal-padding);\n}\n\n// Footer (for actions)\n.modal-footer {\n  display: flex;\n  flex-shrink: 0;\n  flex-wrap: wrap;\n  align-items: center; // vertically center\n  justify-content: flex-end; // Right align buttons with flex property because text-align doesn't work on flex items\n  padding: calc(var(--#{$prefix}modal-padding) - var(--#{$prefix}modal-footer-gap) * .5);\n  background-color: var(--#{$prefix}modal-footer-bg);\n  border-top: var(--#{$prefix}modal-footer-border-width) solid var(--#{$prefix}modal-footer-border-color);\n  @include border-bottom-radius(var(--#{$prefix}modal-inner-border-radius));\n\n  // Place margin between footer elements\n  // This solution is far from ideal because of the universal selector usage,\n  // but is needed to fix https://github.com/twbs/bootstrap/issues/24800\n  > * {\n    margin: calc(var(--#{$prefix}modal-footer-gap) * .5); // Todo in v6: replace with gap on parent class\n  }\n}\n\n// Scale up the modal\n@include media-breakpoint-up(sm) {\n  .modal {\n    --#{$prefix}modal-margin: #{$modal-dialog-margin-y-sm-up};\n    --#{$prefix}modal-box-shadow: #{$modal-content-box-shadow-sm-up};\n  }\n\n  // Automatically set modal's width for larger viewports\n  .modal-dialog {\n    max-width: var(--#{$prefix}modal-width);\n    margin-right: auto;\n    margin-left: auto;\n  }\n\n  .modal-sm {\n    --#{$prefix}modal-width: #{$modal-sm};\n  }\n}\n\n@include media-breakpoint-up(lg) {\n  .modal-lg,\n  .modal-xl {\n    --#{$prefix}modal-width: #{$modal-lg};\n  }\n}\n\n@include media-breakpoint-up(xl) {\n  .modal-xl {\n    --#{$prefix}modal-width: #{$modal-xl};\n  }\n}\n\n// scss-docs-start modal-fullscreen-loop\n@each $breakpoint in map-keys($grid-breakpoints) {\n  $infix: breakpoint-infix($breakpoint, $grid-breakpoints);\n  $postfix: if($infix != \"\", $infix + \"-down\", \"\");\n\n  @include media-breakpoint-down($breakpoint) {\n    .modal-fullscreen#{$postfix} {\n      width: 100vw;\n      max-width: none;\n      height: 100%;\n      margin: 0;\n\n      .modal-content {\n        height: 100%;\n        border: 0;\n        @include border-radius(0);\n      }\n\n      .modal-header,\n      .modal-footer {\n        @include border-radius(0);\n      }\n\n      .modal-body {\n        overflow-y: auto;\n      }\n    }\n  }\n}\n// scss-docs-end modal-fullscreen-loop\n","// Shared between modals and offcanvases\n@mixin overlay-backdrop($zindex, $backdrop-bg, $backdrop-opacity) {\n  position: fixed;\n  top: 0;\n  left: 0;\n  z-index: $zindex;\n  width: 100vw;\n  height: 100vh;\n  background-color: $backdrop-bg;\n\n  // Fade for backdrop\n  &.fade { opacity: 0; }\n  &.show { opacity: $backdrop-opacity; }\n}\n","// Base class\n.tooltip {\n  // scss-docs-start tooltip-css-vars\n  --#{$prefix}tooltip-zindex: #{$zindex-tooltip};\n  --#{$prefix}tooltip-max-width: #{$tooltip-max-width};\n  --#{$prefix}tooltip-padding-x: #{$tooltip-padding-x};\n  --#{$prefix}tooltip-padding-y: #{$tooltip-padding-y};\n  --#{$prefix}tooltip-margin: #{$tooltip-margin};\n  @include rfs($tooltip-font-size, --#{$prefix}tooltip-font-size);\n  --#{$prefix}tooltip-color: #{$tooltip-color};\n  --#{$prefix}tooltip-bg: #{$tooltip-bg};\n  --#{$prefix}tooltip-border-radius: #{$tooltip-border-radius};\n  --#{$prefix}tooltip-opacity: #{$tooltip-opacity};\n  --#{$prefix}tooltip-arrow-width: #{$tooltip-arrow-width};\n  --#{$prefix}tooltip-arrow-height: #{$tooltip-arrow-height};\n  // scss-docs-end tooltip-css-vars\n\n  z-index: var(--#{$prefix}tooltip-zindex);\n  display: block;\n  margin: var(--#{$prefix}tooltip-margin);\n  @include deprecate(\"`$tooltip-margin`\", \"v5\", \"v5.x\", true);\n  // Our parent element can be arbitrary since tooltips are by default inserted as a sibling of their target element.\n  // So reset our font and text properties to avoid inheriting weird values.\n  @include reset-text();\n  @include font-size(var(--#{$prefix}tooltip-font-size));\n  // Allow breaking very long words so they don't overflow the tooltip's bounds\n  word-wrap: break-word;\n  opacity: 0;\n\n  &.show { opacity: var(--#{$prefix}tooltip-opacity); }\n\n  .tooltip-arrow {\n    display: block;\n    width: var(--#{$prefix}tooltip-arrow-width);\n    height: var(--#{$prefix}tooltip-arrow-height);\n\n    &::before {\n      position: absolute;\n      content: \"\";\n      border-color: transparent;\n      border-style: solid;\n    }\n  }\n}\n\n.bs-tooltip-top .tooltip-arrow {\n  bottom: calc(-1 * var(--#{$prefix}tooltip-arrow-height)); // stylelint-disable-line function-disallowed-list\n\n  &::before {\n    top: -1px;\n    border-width: var(--#{$prefix}tooltip-arrow-height) calc(var(--#{$prefix}tooltip-arrow-width) * .5) 0; // stylelint-disable-line function-disallowed-list\n    border-top-color: var(--#{$prefix}tooltip-bg);\n  }\n}\n\n/* rtl:begin:ignore */\n.bs-tooltip-end .tooltip-arrow {\n  left: calc(-1 * var(--#{$prefix}tooltip-arrow-height)); // stylelint-disable-line function-disallowed-list\n  width: var(--#{$prefix}tooltip-arrow-height);\n  height: var(--#{$prefix}tooltip-arrow-width);\n\n  &::before {\n    right: -1px;\n    border-width: calc(var(--#{$prefix}tooltip-arrow-width) * .5) var(--#{$prefix}tooltip-arrow-height) calc(var(--#{$prefix}tooltip-arrow-width) * .5) 0; // stylelint-disable-line function-disallowed-list\n    border-right-color: var(--#{$prefix}tooltip-bg);\n  }\n}\n\n/* rtl:end:ignore */\n\n.bs-tooltip-bottom .tooltip-arrow {\n  top: calc(-1 * var(--#{$prefix}tooltip-arrow-height)); // stylelint-disable-line function-disallowed-list\n\n  &::before {\n    bottom: -1px;\n    border-width: 0 calc(var(--#{$prefix}tooltip-arrow-width) * .5) var(--#{$prefix}tooltip-arrow-height); // stylelint-disable-line function-disallowed-list\n    border-bottom-color: var(--#{$prefix}tooltip-bg);\n  }\n}\n\n/* rtl:begin:ignore */\n.bs-tooltip-start .tooltip-arrow {\n  right: calc(-1 * var(--#{$prefix}tooltip-arrow-height)); // stylelint-disable-line function-disallowed-list\n  width: var(--#{$prefix}tooltip-arrow-height);\n  height: var(--#{$prefix}tooltip-arrow-width);\n\n  &::before {\n    left: -1px;\n    border-width: calc(var(--#{$prefix}tooltip-arrow-width) * .5) 0 calc(var(--#{$prefix}tooltip-arrow-width) * .5) var(--#{$prefix}tooltip-arrow-height); // stylelint-disable-line function-disallowed-list\n    border-left-color: var(--#{$prefix}tooltip-bg);\n  }\n}\n\n/* rtl:end:ignore */\n\n.bs-tooltip-auto {\n  &[data-popper-placement^=\"top\"] {\n    @extend .bs-tooltip-top;\n  }\n  &[data-popper-placement^=\"right\"] {\n    @extend .bs-tooltip-end;\n  }\n  &[data-popper-placement^=\"bottom\"] {\n    @extend .bs-tooltip-bottom;\n  }\n  &[data-popper-placement^=\"left\"] {\n    @extend .bs-tooltip-start;\n  }\n}\n\n// Wrapper for the tooltip content\n.tooltip-inner {\n  max-width: var(--#{$prefix}tooltip-max-width);\n  padding: var(--#{$prefix}tooltip-padding-y) var(--#{$prefix}tooltip-padding-x);\n  color: var(--#{$prefix}tooltip-color);\n  text-align: center;\n  background-color: var(--#{$prefix}tooltip-bg);\n  @include border-radius(var(--#{$prefix}tooltip-border-radius));\n}\n","@mixin reset-text {\n  font-family: $font-family-base;\n  // We deliberately do NOT reset font-size or overflow-wrap / word-wrap.\n  font-style: normal;\n  font-weight: $font-weight-normal;\n  line-height: $line-height-base;\n  text-align: left; // Fallback for where `start` is not supported\n  text-align: start;\n  text-decoration: none;\n  text-shadow: none;\n  text-transform: none;\n  letter-spacing: normal;\n  word-break: normal;\n  white-space: normal;\n  word-spacing: normal;\n  line-break: auto;\n}\n",".popover {\n  // scss-docs-start popover-css-vars\n  --#{$prefix}popover-zindex: #{$zindex-popover};\n  --#{$prefix}popover-max-width: #{$popover-max-width};\n  @include rfs($popover-font-size, --#{$prefix}popover-font-size);\n  --#{$prefix}popover-bg: #{$popover-bg};\n  --#{$prefix}popover-border-width: #{$popover-border-width};\n  --#{$prefix}popover-border-color: #{$popover-border-color};\n  --#{$prefix}popover-border-radius: #{$popover-border-radius};\n  --#{$prefix}popover-inner-border-radius: #{$popover-inner-border-radius};\n  --#{$prefix}popover-box-shadow: #{$popover-box-shadow};\n  --#{$prefix}popover-header-padding-x: #{$popover-header-padding-x};\n  --#{$prefix}popover-header-padding-y: #{$popover-header-padding-y};\n  @include rfs($popover-header-font-size, --#{$prefix}popover-header-font-size);\n  --#{$prefix}popover-header-color: #{$popover-header-color};\n  --#{$prefix}popover-header-bg: #{$popover-header-bg};\n  --#{$prefix}popover-body-padding-x: #{$popover-body-padding-x};\n  --#{$prefix}popover-body-padding-y: #{$popover-body-padding-y};\n  --#{$prefix}popover-body-color: #{$popover-body-color};\n  --#{$prefix}popover-arrow-width: #{$popover-arrow-width};\n  --#{$prefix}popover-arrow-height: #{$popover-arrow-height};\n  --#{$prefix}popover-arrow-border: var(--#{$prefix}popover-border-color);\n  // scss-docs-end popover-css-vars\n\n  z-index: var(--#{$prefix}popover-zindex);\n  display: block;\n  max-width: var(--#{$prefix}popover-max-width);\n  // Our parent element can be arbitrary since tooltips are by default inserted as a sibling of their target element.\n  // So reset our font and text properties to avoid inheriting weird values.\n  @include reset-text();\n  @include font-size(var(--#{$prefix}popover-font-size));\n  // Allow breaking very long words so they don't overflow the popover's bounds\n  word-wrap: break-word;\n  background-color: var(--#{$prefix}popover-bg);\n  background-clip: padding-box;\n  border: var(--#{$prefix}popover-border-width) solid var(--#{$prefix}popover-border-color);\n  @include border-radius(var(--#{$prefix}popover-border-radius));\n  @include box-shadow(var(--#{$prefix}popover-box-shadow));\n\n  .popover-arrow {\n    display: block;\n    width: var(--#{$prefix}popover-arrow-width);\n    height: var(--#{$prefix}popover-arrow-height);\n\n    &::before,\n    &::after {\n      position: absolute;\n      display: block;\n      content: \"\";\n      border-color: transparent;\n      border-style: solid;\n      border-width: 0;\n    }\n  }\n}\n\n.bs-popover-top {\n  > .popover-arrow {\n    bottom: calc(-1 * (var(--#{$prefix}popover-arrow-height)) - var(--#{$prefix}popover-border-width)); // stylelint-disable-line function-disallowed-list\n\n    &::before,\n    &::after {\n      border-width: var(--#{$prefix}popover-arrow-height) calc(var(--#{$prefix}popover-arrow-width) * .5) 0; // stylelint-disable-line function-disallowed-list\n    }\n\n    &::before {\n      bottom: 0;\n      border-top-color: var(--#{$prefix}popover-arrow-border);\n    }\n\n    &::after {\n      bottom: var(--#{$prefix}popover-border-width);\n      border-top-color: var(--#{$prefix}popover-bg);\n    }\n  }\n}\n\n/* rtl:begin:ignore */\n.bs-popover-end {\n  > .popover-arrow {\n    left: calc(-1 * (var(--#{$prefix}popover-arrow-height)) - var(--#{$prefix}popover-border-width)); // stylelint-disable-line function-disallowed-list\n    width: var(--#{$prefix}popover-arrow-height);\n    height: var(--#{$prefix}popover-arrow-width);\n\n    &::before,\n    &::after {\n      border-width: calc(var(--#{$prefix}popover-arrow-width) * .5) var(--#{$prefix}popover-arrow-height) calc(var(--#{$prefix}popover-arrow-width) * .5) 0; // stylelint-disable-line function-disallowed-list\n    }\n\n    &::before {\n      left: 0;\n      border-right-color: var(--#{$prefix}popover-arrow-border);\n    }\n\n    &::after {\n      left: var(--#{$prefix}popover-border-width);\n      border-right-color: var(--#{$prefix}popover-bg);\n    }\n  }\n}\n\n/* rtl:end:ignore */\n\n.bs-popover-bottom {\n  > .popover-arrow {\n    top: calc(-1 * (var(--#{$prefix}popover-arrow-height)) - var(--#{$prefix}popover-border-width)); // stylelint-disable-line function-disallowed-list\n\n    &::before,\n    &::after {\n      border-width: 0 calc(var(--#{$prefix}popover-arrow-width) * .5) var(--#{$prefix}popover-arrow-height); // stylelint-disable-line function-disallowed-list\n    }\n\n    &::before {\n      top: 0;\n      border-bottom-color: var(--#{$prefix}popover-arrow-border);\n    }\n\n    &::after {\n      top: var(--#{$prefix}popover-border-width);\n      border-bottom-color: var(--#{$prefix}popover-bg);\n    }\n  }\n\n  // This will remove the popover-header's border just below the arrow\n  .popover-header::before {\n    position: absolute;\n    top: 0;\n    left: 50%;\n    display: block;\n    width: var(--#{$prefix}popover-arrow-width);\n    margin-left: calc(-.5 * var(--#{$prefix}popover-arrow-width)); // stylelint-disable-line function-disallowed-list\n    content: \"\";\n    border-bottom: var(--#{$prefix}popover-border-width) solid var(--#{$prefix}popover-header-bg);\n  }\n}\n\n/* rtl:begin:ignore */\n.bs-popover-start {\n  > .popover-arrow {\n    right: calc(-1 * (var(--#{$prefix}popover-arrow-height)) - var(--#{$prefix}popover-border-width)); // stylelint-disable-line function-disallowed-list\n    width: var(--#{$prefix}popover-arrow-height);\n    height: var(--#{$prefix}popover-arrow-width);\n\n    &::before,\n    &::after {\n      border-width: calc(var(--#{$prefix}popover-arrow-width) * .5) 0 calc(var(--#{$prefix}popover-arrow-width) * .5) var(--#{$prefix}popover-arrow-height); // stylelint-disable-line function-disallowed-list\n    }\n\n    &::before {\n      right: 0;\n      border-left-color: var(--#{$prefix}popover-arrow-border);\n    }\n\n    &::after {\n      right: var(--#{$prefix}popover-border-width);\n      border-left-color: var(--#{$prefix}popover-bg);\n    }\n  }\n}\n\n/* rtl:end:ignore */\n\n.bs-popover-auto {\n  &[data-popper-placement^=\"top\"] {\n    @extend .bs-popover-top;\n  }\n  &[data-popper-placement^=\"right\"] {\n    @extend .bs-popover-end;\n  }\n  &[data-popper-placement^=\"bottom\"] {\n    @extend .bs-popover-bottom;\n  }\n  &[data-popper-placement^=\"left\"] {\n    @extend .bs-popover-start;\n  }\n}\n\n// Offset the popover to account for the popover arrow\n.popover-header {\n  padding: var(--#{$prefix}popover-header-padding-y) var(--#{$prefix}popover-header-padding-x);\n  margin-bottom: 0; // Reset the default from Reboot\n  @include font-size(var(--#{$prefix}popover-header-font-size));\n  color: var(--#{$prefix}popover-header-color);\n  background-color: var(--#{$prefix}popover-header-bg);\n  border-bottom: var(--#{$prefix}popover-border-width) solid var(--#{$prefix}popover-border-color);\n  @include border-top-radius(var(--#{$prefix}popover-inner-border-radius));\n\n  &:empty {\n    display: none;\n  }\n}\n\n.popover-body {\n  padding: var(--#{$prefix}popover-body-padding-y) var(--#{$prefix}popover-body-padding-x);\n  color: var(--#{$prefix}popover-body-color);\n}\n","// Notes on the classes:\n//\n// 1. .carousel.pointer-event should ideally be pan-y (to allow for users to scroll vertically)\n//    even when their scroll action started on a carousel, but for compatibility (with Firefox)\n//    we're preventing all actions instead\n// 2. The .carousel-item-start and .carousel-item-end is used to indicate where\n//    the active slide is heading.\n// 3. .active.carousel-item is the current slide.\n// 4. .active.carousel-item-start and .active.carousel-item-end is the current\n//    slide in its in-transition state. Only one of these occurs at a time.\n// 5. .carousel-item-next.carousel-item-start and .carousel-item-prev.carousel-item-end\n//    is the upcoming slide in transition.\n\n.carousel {\n  position: relative;\n}\n\n.carousel.pointer-event {\n  touch-action: pan-y;\n}\n\n.carousel-inner {\n  position: relative;\n  width: 100%;\n  overflow: hidden;\n  @include clearfix();\n}\n\n.carousel-item {\n  position: relative;\n  display: none;\n  float: left;\n  width: 100%;\n  margin-right: -100%;\n  backface-visibility: hidden;\n  @include transition($carousel-transition);\n}\n\n.carousel-item.active,\n.carousel-item-next,\n.carousel-item-prev {\n  display: block;\n}\n\n.carousel-item-next:not(.carousel-item-start),\n.active.carousel-item-end {\n  transform: translateX(100%);\n}\n\n.carousel-item-prev:not(.carousel-item-end),\n.active.carousel-item-start {\n  transform: translateX(-100%);\n}\n\n\n//\n// Alternate transitions\n//\n\n.carousel-fade {\n  .carousel-item {\n    opacity: 0;\n    transition-property: opacity;\n    transform: none;\n  }\n\n  .carousel-item.active,\n  .carousel-item-next.carousel-item-start,\n  .carousel-item-prev.carousel-item-end {\n    z-index: 1;\n    opacity: 1;\n  }\n\n  .active.carousel-item-start,\n  .active.carousel-item-end {\n    z-index: 0;\n    opacity: 0;\n    @include transition(opacity 0s $carousel-transition-duration);\n  }\n}\n\n\n//\n// Left/right controls for nav\n//\n\n.carousel-control-prev,\n.carousel-control-next {\n  position: absolute;\n  top: 0;\n  bottom: 0;\n  z-index: 1;\n  // Use flex for alignment (1-3)\n  display: flex; // 1. allow flex styles\n  align-items: center; // 2. vertically center contents\n  justify-content: center; // 3. horizontally center contents\n  width: $carousel-control-width;\n  padding: 0;\n  color: $carousel-control-color;\n  text-align: center;\n  background: none;\n  border: 0;\n  opacity: $carousel-control-opacity;\n  @include transition($carousel-control-transition);\n\n  // Hover/focus state\n  &:hover,\n  &:focus {\n    color: $carousel-control-color;\n    text-decoration: none;\n    outline: 0;\n    opacity: $carousel-control-hover-opacity;\n  }\n}\n.carousel-control-prev {\n  left: 0;\n  background-image: if($enable-gradients, linear-gradient(90deg, rgba($black, .25), rgba($black, .001)), null);\n}\n.carousel-control-next {\n  right: 0;\n  background-image: if($enable-gradients, linear-gradient(270deg, rgba($black, .25), rgba($black, .001)), null);\n}\n\n// Icons for within\n.carousel-control-prev-icon,\n.carousel-control-next-icon {\n  display: inline-block;\n  width: $carousel-control-icon-width;\n  height: $carousel-control-icon-width;\n  background-repeat: no-repeat;\n  background-position: 50%;\n  background-size: 100% 100%;\n}\n\n.carousel-control-prev-icon {\n  background-image: escape-svg($carousel-control-prev-icon-bg) #{\"/*rtl:\" + escape-svg($carousel-control-next-icon-bg) + \"*/\"};\n}\n.carousel-control-next-icon {\n  background-image: escape-svg($carousel-control-next-icon-bg) #{\"/*rtl:\" + escape-svg($carousel-control-prev-icon-bg) + \"*/\"};\n}\n\n// Optional indicator pips/controls\n//\n// Add a container (such as a list) with the following class and add an item (ideally a focusable control,\n// like a button) with data-bs-target for each slide your carousel holds.\n\n.carousel-indicators {\n  position: absolute;\n  right: 0;\n  bottom: 0;\n  left: 0;\n  z-index: 2;\n  display: flex;\n  justify-content: center;\n  padding: 0;\n  // Use the .carousel-control's width as margin so we don't overlay those\n  margin-right: $carousel-control-width;\n  margin-bottom: 1rem;\n  margin-left: $carousel-control-width;\n\n  [data-bs-target] {\n    box-sizing: content-box;\n    flex: 0 1 auto;\n    width: $carousel-indicator-width;\n    height: $carousel-indicator-height;\n    padding: 0;\n    margin-right: $carousel-indicator-spacer;\n    margin-left: $carousel-indicator-spacer;\n    text-indent: -999px;\n    cursor: pointer;\n    background-color: $carousel-indicator-active-bg;\n    background-clip: padding-box;\n    border: 0;\n    // Use transparent borders to increase the hit area by 10px on top and bottom.\n    border-top: $carousel-indicator-hit-area-height solid transparent;\n    border-bottom: $carousel-indicator-hit-area-height solid transparent;\n    opacity: $carousel-indicator-opacity;\n    @include transition($carousel-indicator-transition);\n  }\n\n  .active {\n    opacity: $carousel-indicator-active-opacity;\n  }\n}\n\n\n// Optional captions\n//\n//\n\n.carousel-caption {\n  position: absolute;\n  right: (100% - $carousel-caption-width) * .5;\n  bottom: $carousel-caption-spacer;\n  left: (100% - $carousel-caption-width) * .5;\n  padding-top: $carousel-caption-padding-y;\n  padding-bottom: $carousel-caption-padding-y;\n  color: $carousel-caption-color;\n  text-align: center;\n}\n\n// Dark mode carousel\n\n@mixin carousel-dark() {\n  .carousel-control-prev-icon,\n  .carousel-control-next-icon {\n    filter: $carousel-dark-control-icon-filter;\n  }\n\n  .carousel-indicators [data-bs-target] {\n    background-color: $carousel-dark-indicator-active-bg;\n  }\n\n  .carousel-caption {\n    color: $carousel-dark-caption-color;\n  }\n}\n\n.carousel-dark {\n  @include carousel-dark();\n}\n\n@if $enable-dark-mode {\n  @include color-mode(dark) {\n    @if $color-mode-type == \"media-query\" {\n      .carousel {\n        @include carousel-dark();\n      }\n    } @else {\n      .carousel,\n      &.carousel {\n        @include carousel-dark();\n      }\n    }\n  }\n}\n","// scss-docs-start clearfix\n@mixin clearfix() {\n  &::after {\n    display: block;\n    clear: both;\n    content: \"\";\n  }\n}\n// scss-docs-end clearfix\n","//\n// Rotating border\n//\n\n.spinner-grow,\n.spinner-border {\n  display: inline-block;\n  width: var(--#{$prefix}spinner-width);\n  height: var(--#{$prefix}spinner-height);\n  vertical-align: var(--#{$prefix}spinner-vertical-align);\n  // stylelint-disable-next-line property-disallowed-list\n  border-radius: 50%;\n  animation: var(--#{$prefix}spinner-animation-speed) linear infinite var(--#{$prefix}spinner-animation-name);\n}\n\n// scss-docs-start spinner-border-keyframes\n@keyframes spinner-border {\n  to { transform: rotate(360deg) #{\"/* rtl:ignore */\"}; }\n}\n// scss-docs-end spinner-border-keyframes\n\n.spinner-border {\n  // scss-docs-start spinner-border-css-vars\n  --#{$prefix}spinner-width: #{$spinner-width};\n  --#{$prefix}spinner-height: #{$spinner-height};\n  --#{$prefix}spinner-vertical-align: #{$spinner-vertical-align};\n  --#{$prefix}spinner-border-width: #{$spinner-border-width};\n  --#{$prefix}spinner-animation-speed: #{$spinner-animation-speed};\n  --#{$prefix}spinner-animation-name: spinner-border;\n  // scss-docs-end spinner-border-css-vars\n\n  border: var(--#{$prefix}spinner-border-width) solid currentcolor;\n  border-right-color: transparent;\n}\n\n.spinner-border-sm {\n  // scss-docs-start spinner-border-sm-css-vars\n  --#{$prefix}spinner-width: #{$spinner-width-sm};\n  --#{$prefix}spinner-height: #{$spinner-height-sm};\n  --#{$prefix}spinner-border-width: #{$spinner-border-width-sm};\n  // scss-docs-end spinner-border-sm-css-vars\n}\n\n//\n// Growing circle\n//\n\n// scss-docs-start spinner-grow-keyframes\n@keyframes spinner-grow {\n  0% {\n    transform: scale(0);\n  }\n  50% {\n    opacity: 1;\n    transform: none;\n  }\n}\n// scss-docs-end spinner-grow-keyframes\n\n.spinner-grow {\n  // scss-docs-start spinner-grow-css-vars\n  --#{$prefix}spinner-width: #{$spinner-width};\n  --#{$prefix}spinner-height: #{$spinner-height};\n  --#{$prefix}spinner-vertical-align: #{$spinner-vertical-align};\n  --#{$prefix}spinner-animation-speed: #{$spinner-animation-speed};\n  --#{$prefix}spinner-animation-name: spinner-grow;\n  // scss-docs-end spinner-grow-css-vars\n\n  background-color: currentcolor;\n  opacity: 0;\n}\n\n.spinner-grow-sm {\n  --#{$prefix}spinner-width: #{$spinner-width-sm};\n  --#{$prefix}spinner-height: #{$spinner-height-sm};\n}\n\n@if $enable-reduced-motion {\n  @media (prefers-reduced-motion: reduce) {\n    .spinner-border,\n    .spinner-grow {\n      --#{$prefix}spinner-animation-speed: #{$spinner-animation-speed * 2};\n    }\n  }\n}\n","// stylelint-disable function-disallowed-list\n\n%offcanvas-css-vars {\n  // scss-docs-start offcanvas-css-vars\n  --#{$prefix}offcanvas-zindex: #{$zindex-offcanvas};\n  --#{$prefix}offcanvas-width: #{$offcanvas-horizontal-width};\n  --#{$prefix}offcanvas-height: #{$offcanvas-vertical-height};\n  --#{$prefix}offcanvas-padding-x: #{$offcanvas-padding-x};\n  --#{$prefix}offcanvas-padding-y: #{$offcanvas-padding-y};\n  --#{$prefix}offcanvas-color: #{$offcanvas-color};\n  --#{$prefix}offcanvas-bg: #{$offcanvas-bg-color};\n  --#{$prefix}offcanvas-border-width: #{$offcanvas-border-width};\n  --#{$prefix}offcanvas-border-color: #{$offcanvas-border-color};\n  --#{$prefix}offcanvas-box-shadow: #{$offcanvas-box-shadow};\n  --#{$prefix}offcanvas-transition: #{transform $offcanvas-transition-duration ease-in-out};\n  --#{$prefix}offcanvas-title-line-height: #{$offcanvas-title-line-height};\n  // scss-docs-end offcanvas-css-vars\n}\n\n@each $breakpoint in map-keys($grid-breakpoints) {\n  $next: breakpoint-next($breakpoint, $grid-breakpoints);\n  $infix: breakpoint-infix($next, $grid-breakpoints);\n\n  .offcanvas#{$infix} {\n    @extend %offcanvas-css-vars;\n  }\n}\n\n@each $breakpoint in map-keys($grid-breakpoints) {\n  $next: breakpoint-next($breakpoint, $grid-breakpoints);\n  $infix: breakpoint-infix($next, $grid-breakpoints);\n\n  .offcanvas#{$infix} {\n    @include media-breakpoint-down($next) {\n      position: fixed;\n      bottom: 0;\n      z-index: var(--#{$prefix}offcanvas-zindex);\n      display: flex;\n      flex-direction: column;\n      max-width: 100%;\n      color: var(--#{$prefix}offcanvas-color);\n      visibility: hidden;\n      background-color: var(--#{$prefix}offcanvas-bg);\n      background-clip: padding-box;\n      outline: 0;\n      @include box-shadow(var(--#{$prefix}offcanvas-box-shadow));\n      @include transition(var(--#{$prefix}offcanvas-transition));\n\n      &.offcanvas-start {\n        top: 0;\n        left: 0;\n        width: var(--#{$prefix}offcanvas-width);\n        border-right: var(--#{$prefix}offcanvas-border-width) solid var(--#{$prefix}offcanvas-border-color);\n        transform: translateX(-100%);\n      }\n\n      &.offcanvas-end {\n        top: 0;\n        right: 0;\n        width: var(--#{$prefix}offcanvas-width);\n        border-left: var(--#{$prefix}offcanvas-border-width) solid var(--#{$prefix}offcanvas-border-color);\n        transform: translateX(100%);\n      }\n\n      &.offcanvas-top {\n        top: 0;\n        right: 0;\n        left: 0;\n        height: var(--#{$prefix}offcanvas-height);\n        max-height: 100%;\n        border-bottom: var(--#{$prefix}offcanvas-border-width) solid var(--#{$prefix}offcanvas-border-color);\n        transform: translateY(-100%);\n      }\n\n      &.offcanvas-bottom {\n        right: 0;\n        left: 0;\n        height: var(--#{$prefix}offcanvas-height);\n        max-height: 100%;\n        border-top: var(--#{$prefix}offcanvas-border-width) solid var(--#{$prefix}offcanvas-border-color);\n        transform: translateY(100%);\n      }\n\n      &.showing,\n      &.show:not(.hiding) {\n        transform: none;\n      }\n\n      &.showing,\n      &.hiding,\n      &.show {\n        visibility: visible;\n      }\n    }\n\n    @if not ($infix == \"\") {\n      @include media-breakpoint-up($next) {\n        --#{$prefix}offcanvas-height: auto;\n        --#{$prefix}offcanvas-border-width: 0;\n        background-color: transparent !important; // stylelint-disable-line declaration-no-important\n\n        .offcanvas-header {\n          display: none;\n        }\n\n        .offcanvas-body {\n          display: flex;\n          flex-grow: 0;\n          padding: 0;\n          overflow-y: visible;\n          // Reset `background-color` in case `.bg-*` classes are used in offcanvas\n          background-color: transparent !important; // stylelint-disable-line declaration-no-important\n        }\n      }\n    }\n  }\n}\n\n.offcanvas-backdrop {\n  @include overlay-backdrop($zindex-offcanvas-backdrop, $offcanvas-backdrop-bg, $offcanvas-backdrop-opacity);\n}\n\n.offcanvas-header {\n  display: flex;\n  align-items: center;\n  padding: var(--#{$prefix}offcanvas-padding-y) var(--#{$prefix}offcanvas-padding-x);\n\n  .btn-close {\n    padding: calc(var(--#{$prefix}offcanvas-padding-y) * .5) calc(var(--#{$prefix}offcanvas-padding-x) * .5);\n    margin: calc(-.5 * var(--#{$prefix}offcanvas-padding-y)) calc(-.5 * var(--#{$prefix}offcanvas-padding-x)) calc(-.5 * var(--#{$prefix}offcanvas-padding-y)) auto;\n  }\n}\n\n.offcanvas-title {\n  margin-bottom: 0;\n  line-height: var(--#{$prefix}offcanvas-title-line-height);\n}\n\n.offcanvas-body {\n  flex-grow: 1;\n  padding: var(--#{$prefix}offcanvas-padding-y) var(--#{$prefix}offcanvas-padding-x);\n  overflow-y: auto;\n}\n",".placeholder {\n  display: inline-block;\n  min-height: 1em;\n  vertical-align: middle;\n  cursor: wait;\n  background-color: currentcolor;\n  opacity: $placeholder-opacity-max;\n\n  &.btn::before {\n    display: inline-block;\n    content: \"\";\n  }\n}\n\n// Sizing\n.placeholder-xs {\n  min-height: .6em;\n}\n\n.placeholder-sm {\n  min-height: .8em;\n}\n\n.placeholder-lg {\n  min-height: 1.2em;\n}\n\n// Animation\n.placeholder-glow {\n  .placeholder {\n    animation: placeholder-glow 2s ease-in-out infinite;\n  }\n}\n\n@keyframes placeholder-glow {\n  50% {\n    opacity: $placeholder-opacity-min;\n  }\n}\n\n.placeholder-wave {\n  mask-image: linear-gradient(130deg, $black 55%, rgba(0, 0, 0, (1 - $placeholder-opacity-min)) 75%, $black 95%);\n  mask-size: 200% 100%;\n  animation: placeholder-wave 2s linear infinite;\n}\n\n@keyframes placeholder-wave {\n  100% {\n    mask-position: -200% 0%;\n  }\n}\n","// All-caps `RGBA()` function used because of this Sass bug: https://github.com/sass/node-sass/issues/2251\n@each $color, $value in $theme-colors {\n  .text-bg-#{$color} {\n    color: color-contrast($value) if($enable-important-utilities, !important, null);\n    background-color: RGBA(var(--#{$prefix}#{$color}-rgb), var(--#{$prefix}bg-opacity, 1)) if($enable-important-utilities, !important, null);\n  }\n}\n","// All-caps `RGBA()` function used because of this Sass bug: https://github.com/sass/node-sass/issues/2251\n@each $color, $value in $theme-colors {\n  .link-#{$color} {\n    color: RGBA(var(--#{$prefix}#{$color}-rgb), var(--#{$prefix}link-opacity, 1)) if($enable-important-utilities, !important, null);\n    text-decoration-color: RGBA(var(--#{$prefix}#{$color}-rgb), var(--#{$prefix}link-underline-opacity, 1)) if($enable-important-utilities, !important, null);\n\n    @if $link-shade-percentage != 0 {\n      &:hover,\n      &:focus {\n        $hover-color: if(color-contrast($value) == $color-contrast-light, shade-color($value, $link-shade-percentage), tint-color($value, $link-shade-percentage));\n        color: RGBA(#{to-rgb($hover-color)}, var(--#{$prefix}link-opacity, 1)) if($enable-important-utilities, !important, null);\n        text-decoration-color: RGBA(to-rgb($hover-color), var(--#{$prefix}link-underline-opacity, 1)) if($enable-important-utilities, !important, null);\n      }\n    }\n  }\n}\n\n// One-off special link helper as a bridge until v6\n.link-body-emphasis {\n  color: RGBA(var(--#{$prefix}emphasis-color-rgb), var(--#{$prefix}link-opacity, 1)) if($enable-important-utilities, !important, null);\n  text-decoration-color: RGBA(var(--#{$prefix}emphasis-color-rgb), var(--#{$prefix}link-underline-opacity, 1)) if($enable-important-utilities, !important, null);\n\n  @if $link-shade-percentage != 0 {\n    &:hover,\n    &:focus {\n      color: RGBA(var(--#{$prefix}emphasis-color-rgb), var(--#{$prefix}link-opacity, .75)) if($enable-important-utilities, !important, null);\n      text-decoration-color: RGBA(var(--#{$prefix}emphasis-color-rgb), var(--#{$prefix}link-underline-opacity, .75)) if($enable-important-utilities, !important, null);\n    }\n  }\n}\n",".focus-ring:focus {\n  outline: 0;\n  // By default, there is no `--bs-focus-ring-x`, `--bs-focus-ring-y`, or `--bs-focus-ring-blur`, but we provide CSS variables with fallbacks to initial `0` values\n  box-shadow: var(--#{$prefix}focus-ring-x, 0) var(--#{$prefix}focus-ring-y, 0) var(--#{$prefix}focus-ring-blur, 0) var(--#{$prefix}focus-ring-width) var(--#{$prefix}focus-ring-color);\n}\n",".icon-link {\n  display: inline-flex;\n  gap: $icon-link-gap;\n  align-items: center;\n  text-decoration-color: rgba(var(--#{$prefix}link-color-rgb), var(--#{$prefix}link-opacity, .5));\n  text-underline-offset: $icon-link-underline-offset;\n  backface-visibility: hidden;\n\n  > .bi {\n    flex-shrink: 0;\n    width: $icon-link-icon-size;\n    height: $icon-link-icon-size;\n    fill: currentcolor;\n    @include transition($icon-link-icon-transition);\n  }\n}\n\n.icon-link-hover {\n  &:hover,\n  &:focus-visible {\n    > .bi {\n      transform: var(--#{$prefix}icon-link-transform, $icon-link-icon-transform);\n    }\n  }\n}\n","// Credit: Nicolas Gallagher and SUIT CSS.\n\n.ratio {\n  position: relative;\n  width: 100%;\n\n  &::before {\n    display: block;\n    padding-top: var(--#{$prefix}aspect-ratio);\n    content: \"\";\n  }\n\n  > * {\n    position: absolute;\n    top: 0;\n    left: 0;\n    width: 100%;\n    height: 100%;\n  }\n}\n\n@each $key, $ratio in $aspect-ratios {\n  .ratio-#{$key} {\n    --#{$prefix}aspect-ratio: #{$ratio};\n  }\n}\n","// Shorthand\n\n.fixed-top {\n  position: fixed;\n  top: 0;\n  right: 0;\n  left: 0;\n  z-index: $zindex-fixed;\n}\n\n.fixed-bottom {\n  position: fixed;\n  right: 0;\n  bottom: 0;\n  left: 0;\n  z-index: $zindex-fixed;\n}\n\n// Responsive sticky top and bottom\n@each $breakpoint in map-keys($grid-breakpoints) {\n  @include media-breakpoint-up($breakpoint) {\n    $infix: breakpoint-infix($breakpoint, $grid-breakpoints);\n\n    .sticky#{$infix}-top {\n      position: sticky;\n      top: 0;\n      z-index: $zindex-sticky;\n    }\n\n    .sticky#{$infix}-bottom {\n      position: sticky;\n      bottom: 0;\n      z-index: $zindex-sticky;\n    }\n  }\n}\n","// scss-docs-start stacks\n.hstack {\n  display: flex;\n  flex-direction: row;\n  align-items: center;\n  align-self: stretch;\n}\n\n.vstack {\n  display: flex;\n  flex: 1 1 auto;\n  flex-direction: column;\n  align-self: stretch;\n}\n// scss-docs-end stacks\n","//\n// Visually hidden\n//\n\n.visually-hidden,\n.visually-hidden-focusable:not(:focus):not(:focus-within) {\n  @include visually-hidden();\n}\n","// stylelint-disable declaration-no-important\n\n// Hide content visually while keeping it accessible to assistive technologies\n//\n// See: https://www.a11yproject.com/posts/2013-01-11-how-to-hide-content/\n// See: https://kittygiraudel.com/2016/10/13/css-hide-and-seek/\n\n@mixin visually-hidden() {\n  width: 1px !important;\n  height: 1px !important;\n  padding: 0 !important;\n  margin: -1px !important; // Fix for https://github.com/twbs/bootstrap/issues/25686\n  overflow: hidden !important;\n  clip: rect(0, 0, 0, 0) !important;\n  white-space: nowrap !important;\n  border: 0 !important;\n\n  // Fix for positioned table caption that could become anonymous cells\n  &:not(caption) {\n    position: absolute !important;\n  }\n}\n\n// Use to only display content when it's focused, or one of its child elements is focused\n// (i.e. when focus is within the element/container that the class was applied to)\n//\n// Useful for \"Skip to main content\" links; see https://www.w3.org/TR/2013/NOTE-WCAG20-TECHS-20130905/G1\n\n@mixin visually-hidden-focusable() {\n  &:not(:focus):not(:focus-within) {\n    @include visually-hidden();\n  }\n}\n","//\n// Stretched link\n//\n\n.stretched-link {\n  &::#{$stretched-link-pseudo-element} {\n    position: absolute;\n    top: 0;\n    right: 0;\n    bottom: 0;\n    left: 0;\n    z-index: $stretched-link-z-index;\n    content: \"\";\n  }\n}\n","//\n// Text truncation\n//\n\n.text-truncate {\n  @include text-truncate();\n}\n","// Text truncate\n// Requires inline-block or block for proper styling\n\n@mixin text-truncate() {\n  overflow: hidden;\n  text-overflow: ellipsis;\n  white-space: nowrap;\n}\n",".vr {\n  display: inline-block;\n  align-self: stretch;\n  width: $vr-border-width;\n  min-height: 1em;\n  background-color: currentcolor;\n  opacity: $hr-opacity;\n}\n","// Utility generator\n// Used to generate utilities & print utilities\n@mixin generate-utility($utility, $infix: \"\", $is-rfs-media-query: false) {\n  $values: map-get($utility, values);\n\n  // If the values are a list or string, convert it into a map\n  @if type-of($values) == \"string\" or type-of(nth($values, 1)) != \"list\" {\n    $values: zip($values, $values);\n  }\n\n  @each $key, $value in $values {\n    $properties: map-get($utility, property);\n\n    // Multiple properties are possible, for example with vertical or horizontal margins or paddings\n    @if type-of($properties) == \"string\" {\n      $properties: append((), $properties);\n    }\n\n    // Use custom class if present\n    $property-class: if(map-has-key($utility, class), map-get($utility, class), nth($properties, 1));\n    $property-class: if($property-class == null, \"\", $property-class);\n\n    // Use custom CSS variable name if present, otherwise default to `class`\n    $css-variable-name: if(map-has-key($utility, css-variable-name), map-get($utility, css-variable-name), map-get($utility, class));\n\n    // State params to generate pseudo-classes\n    $state: if(map-has-key($utility, state), map-get($utility, state), ());\n\n    $infix: if($property-class == \"\" and str-slice($infix, 1, 1) == \"-\", str-slice($infix, 2), $infix);\n\n    // Don't prefix if value key is null (e.g. with shadow class)\n    $property-class-modifier: if($key, if($property-class == \"\" and $infix == \"\", \"\", \"-\") + $key, \"\");\n\n    @if map-get($utility, rfs) {\n      // Inside the media query\n      @if $is-rfs-media-query {\n        $val: rfs-value($value);\n\n        // Do not render anything if fluid and non fluid values are the same\n        $value: if($val == rfs-fluid-value($value), null, $val);\n      }\n      @else {\n        $value: rfs-fluid-value($value);\n      }\n    }\n\n    $is-css-var: map-get($utility, css-var);\n    $is-local-vars: map-get($utility, local-vars);\n    $is-rtl: map-get($utility, rtl);\n\n    @if $value != null {\n      @if $is-rtl == false {\n        /* rtl:begin:remove */\n      }\n\n      @if $is-css-var {\n        .#{$property-class + $infix + $property-class-modifier} {\n          --#{$prefix}#{$css-variable-name}: #{$value};\n        }\n\n        @each $pseudo in $state {\n          .#{$property-class + $infix + $property-class-modifier}-#{$pseudo}:#{$pseudo} {\n            --#{$prefix}#{$css-variable-name}: #{$value};\n          }\n        }\n      } @else {\n        .#{$property-class + $infix + $property-class-modifier} {\n          @each $property in $properties {\n            @if $is-local-vars {\n              @each $local-var, $variable in $is-local-vars {\n                --#{$prefix}#{$local-var}: #{$variable};\n              }\n            }\n            #{$property}: $value if($enable-important-utilities, !important, null);\n          }\n        }\n\n        @each $pseudo in $state {\n          .#{$property-class + $infix + $property-class-modifier}-#{$pseudo}:#{$pseudo} {\n            @each $property in $properties {\n              @if $is-local-vars {\n                @each $local-var, $variable in $is-local-vars {\n                  --#{$prefix}#{$local-var}: #{$variable};\n                }\n              }\n              #{$property}: $value if($enable-important-utilities, !important, null);\n            }\n          }\n        }\n      }\n\n      @if $is-rtl == false {\n        /* rtl:end:remove */\n      }\n    }\n  }\n}\n","// Loop over each breakpoint\n@each $breakpoint in map-keys($grid-breakpoints) {\n\n  // Generate media query if needed\n  @include media-breakpoint-up($breakpoint) {\n    $infix: breakpoint-infix($breakpoint, $grid-breakpoints);\n\n    // Loop over each utility property\n    @each $key, $utility in $utilities {\n      // The utility can be disabled with `false`, thus check if the utility is a map first\n      // Only proceed if responsive media queries are enabled or if it's the base media query\n      @if type-of($utility) == \"map\" and (map-get($utility, responsive) or $infix == \"\") {\n        @include generate-utility($utility, $infix);\n      }\n    }\n  }\n}\n\n// RFS rescaling\n@media (min-width: $rfs-mq-value) {\n  @each $breakpoint in map-keys($grid-breakpoints) {\n    $infix: breakpoint-infix($breakpoint, $grid-breakpoints);\n\n    @if (map-get($grid-breakpoints, $breakpoint) < $rfs-breakpoint) {\n      // Loop over each utility property\n      @each $key, $utility in $utilities {\n        // The utility can be disabled with `false`, thus check if the utility is a map first\n        // Only proceed if responsive media queries are enabled or if it's the base media query\n        @if type-of($utility) == \"map\" and map-get($utility, rfs) and (map-get($utility, responsive) or $infix == \"\") {\n          @include generate-utility($utility, $infix, true);\n        }\n      }\n    }\n  }\n}\n\n\n// Print utilities\n@media print {\n  @each $key, $utility in $utilities {\n    // The utility can be disabled with `false`, thus check if the utility is a map first\n    // Then check if the utility needs print styles\n    @if type-of($utility) == \"map\" and map-get($utility, print) == true {\n      @include generate-utility($utility, \"-print\");\n    }\n  }\n}\n","/*!\n * Font Awesome Free 6.5.2 by @fontawesome - https://fontawesome.com\n * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)\n * Copyright 2024 Fonticons, Inc.\n */\n// Font Awesome core compile (Web Fonts-based)\n// -------------------------\n\n@import 'functions';\n@import 'variables';\n@import 'mixins';\n@import 'core';\n@import 'sizing';\n@import 'fixed-width';\n@import 'list';\n@import 'bordered-pulled';\n@import 'animated';\n@import 'rotated-flipped';\n@import 'stacked';\n@import 'icons';\n@import 'screen-reader';\n","// base icon class definition\n// -------------------------\n\n.#{$fa-css-prefix} {\n  font-family: var(--#{$fa-css-prefix}-style-family, '#{$fa-style-family}');\n  font-weight: var(--#{$fa-css-prefix}-style, #{$fa-style});\n}\n\n.#{$fa-css-prefix},\n.#{$fa-css-prefix}-classic,\n.#{$fa-css-prefix}-sharp,\n.fas,\n.#{$fa-css-prefix}-solid,\n.far,\n.#{$fa-css-prefix}-regular,\n.fab,\n.#{$fa-css-prefix}-brands {\n  -moz-osx-font-smoothing: grayscale;\n  -webkit-font-smoothing: antialiased;\n  display: var(--#{$fa-css-prefix}-display, #{$fa-display});\n  font-style: normal;\n  font-variant: normal;\n  line-height: 1;\n  text-rendering: auto;\n}\n\n.fas,\n.#{$fa-css-prefix}-classic,\n.#{$fa-css-prefix}-solid,\n.far,\n.#{$fa-css-prefix}-regular {\n  font-family: 'Font Awesome 6 Free';\n}\n\n.fab,\n.#{$fa-css-prefix}-brands {\n  font-family: 'Font Awesome 6 Brands';\n}\n\n\n%fa-icon {\n  @include fa-icon;\n}\n","// sizing icons\n// -------------------------\n\n// literal magnification scale\n@for $i from 1 through 10 {\n  .#{$fa-css-prefix}-#{$i}x {\n    font-size: $i * 1em;\n  }\n}\n\n// step-based scale (with alignment)\n@each $size, $value in $fa-sizes {\n  .#{$fa-css-prefix}-#{$size} {\n     @include fa-size($value);\n  }\n}\n","// mixins\n// --------------------------\n\n// base rendering for an icon\n@mixin fa-icon {\n  -webkit-font-smoothing: antialiased;\n  -moz-osx-font-smoothing: grayscale;\n  display: inline-block;\n  font-style: normal;\n  font-variant: normal;\n  font-weight: normal;\n  line-height: 1;\n}\n\n// sets relative font-sizing and alignment (in _sizing)\n@mixin fa-size ($font-size) {\n  font-size: fa-divide($font-size, $fa-size-scale-base) * 1em; // converts step in sizing scale into an em-based value that's relative to the scale's base\n  line-height: fa-divide(1, $font-size) * 1em; // sets the line-height of the icon back to that of it's parent\n  vertical-align: (fa-divide(6, $font-size) - fa-divide(3, 8)) * 1em; // vertically centers the icon taking into account the surrounding text's descender\n}\n\n// only display content to screen readers\n// see: https://www.a11yproject.com/posts/2013-01-11-how-to-hide-content/\n// see: https://hugogiraudel.com/2016/10/13/css-hide-and-seek/\n@mixin fa-sr-only() {\n  position: absolute;\n  width: 1px;\n  height: 1px;\n  padding: 0;\n  margin: -1px;\n  overflow: hidden;\n  clip: rect(0, 0, 0, 0);\n  white-space: nowrap;\n  border-width: 0;\n}\n\n// use in conjunction with .sr-only to only display content when it's focused\n@mixin fa-sr-only-focusable() {\n  &:not(:focus) {\n    @include fa-sr-only();\n  }\n}\n\n// sets a specific icon family to use alongside style + icon mixins\n\n// convenience mixins for declaring pseudo-elements by CSS variable,\n// including all style-specific font properties, and both the ::before\n// and ::after elements in the duotone case.\n@mixin fa-icon-solid($fa-var) {\n  @extend %fa-icon;\n  @extend .fa-solid;\n\n  &::before {\n    content: unquote(\"\\\"#{ $fa-var }\\\"\");\n  }\n}\n@mixin fa-icon-regular($fa-var) {\n  @extend %fa-icon;\n  @extend .fa-regular;\n\n  &::before {\n    content: unquote(\"\\\"#{ $fa-var }\\\"\");\n  }\n}\n@mixin fa-icon-brands($fa-var) {\n  @extend %fa-icon;\n  @extend .fa-brands;\n\n  &::before {\n    content: unquote(\"\\\"#{ $fa-var }\\\"\");\n  }\n}\n","// fixed-width icons\n// -------------------------\n\n.#{$fa-css-prefix}-fw {\n  text-align: center;\n  width: $fa-fw-width;\n}\n","// icons in a list\n// -------------------------\n\n.#{$fa-css-prefix}-ul {\n  list-style-type: none;\n  margin-left: var(--#{$fa-css-prefix}-li-margin, #{$fa-li-margin});\n  padding-left: 0;\n\n  > li { position: relative; }\n}\n\n.#{$fa-css-prefix}-li {\n  left: calc(var(--#{$fa-css-prefix}-li-width, #{$fa-li-width}) * -1);\n  position: absolute;\n  text-align: center;\n  width: var(--#{$fa-css-prefix}-li-width, #{$fa-li-width});\n  line-height: inherit;\n}\n","// bordered + pulled icons\n// -------------------------\n\n.#{$fa-css-prefix}-border {\n  border-color: var(--#{$fa-css-prefix}-border-color, #{$fa-border-color});\n  border-radius: var(--#{$fa-css-prefix}-border-radius, #{$fa-border-radius});\n  border-style: var(--#{$fa-css-prefix}-border-style, #{$fa-border-style});\n  border-width: var(--#{$fa-css-prefix}-border-width, #{$fa-border-width});\n  padding: var(--#{$fa-css-prefix}-border-padding, #{$fa-border-padding});\n}\n\n.#{$fa-css-prefix}-pull-left {\n  float: left;\n  margin-right: var(--#{$fa-css-prefix}-pull-margin, #{$fa-pull-margin}); \n}\n\n.#{$fa-css-prefix}-pull-right {\n  float: right;\n  margin-left: var(--#{$fa-css-prefix}-pull-margin, #{$fa-pull-margin}); \n}\n","// animating icons\n// --------------------------\n\n.#{$fa-css-prefix}-beat {\n  animation-name: #{$fa-css-prefix}-beat;\n  animation-delay: var(--#{$fa-css-prefix}-animation-delay, 0s);\n  animation-direction: var(--#{$fa-css-prefix}-animation-direction, normal);\n  animation-duration: var(--#{$fa-css-prefix}-animation-duration, 1s);\n  animation-iteration-count: var(--#{$fa-css-prefix}-animation-iteration-count, infinite);\n  animation-timing-function: var(--#{$fa-css-prefix}-animation-timing, ease-in-out);\n}\n\n.#{$fa-css-prefix}-bounce {\n  animation-name: #{$fa-css-prefix}-bounce;\n  animation-delay: var(--#{$fa-css-prefix}-animation-delay, 0s);\n  animation-direction: var(--#{$fa-css-prefix}-animation-direction, normal);\n  animation-duration: var(--#{$fa-css-prefix}-animation-duration, 1s);\n  animation-iteration-count: var(--#{$fa-css-prefix}-animation-iteration-count, infinite);\n  animation-timing-function: var(--#{$fa-css-prefix}-animation-timing, cubic-bezier(0.280, 0.840, 0.420, 1));\n}\n\n.#{$fa-css-prefix}-fade {\n  animation-name: #{$fa-css-prefix}-fade;\n  animation-delay: var(--#{$fa-css-prefix}-animation-delay, 0s);\n  animation-direction: var(--#{$fa-css-prefix}-animation-direction, normal);\n  animation-duration: var(--#{$fa-css-prefix}-animation-duration, 1s);\n  animation-iteration-count: var(--#{$fa-css-prefix}-animation-iteration-count, infinite);\n  animation-timing-function: var(--#{$fa-css-prefix}-animation-timing, cubic-bezier(.4,0,.6,1));\n}\n\n.#{$fa-css-prefix}-beat-fade {\n  animation-name: #{$fa-css-prefix}-beat-fade;\n  animation-delay: var(--#{$fa-css-prefix}-animation-delay, 0s);\n  animation-direction: var(--#{$fa-css-prefix}-animation-direction, normal);\n  animation-duration: var(--#{$fa-css-prefix}-animation-duration, 1s);\n  animation-iteration-count: var(--#{$fa-css-prefix}-animation-iteration-count, infinite);\n  animation-timing-function: var(--#{$fa-css-prefix}-animation-timing, cubic-bezier(.4,0,.6,1));\n}\n\n.#{$fa-css-prefix}-flip {\n  animation-name: #{$fa-css-prefix}-flip;\n  animation-delay: var(--#{$fa-css-prefix}-animation-delay, 0s);\n  animation-direction: var(--#{$fa-css-prefix}-animation-direction, normal);\n  animation-duration: var(--#{$fa-css-prefix}-animation-duration, 1s);\n  animation-iteration-count: var(--#{$fa-css-prefix}-animation-iteration-count, infinite);\n  animation-timing-function: var(--#{$fa-css-prefix}-animation-timing, ease-in-out);\n}\n\n.#{$fa-css-prefix}-shake {\n  animation-name: #{$fa-css-prefix}-shake;\n  animation-delay: var(--#{$fa-css-prefix}-animation-delay, 0s);\n  animation-direction: var(--#{$fa-css-prefix}-animation-direction, normal);\n  animation-duration: var(--#{$fa-css-prefix}-animation-duration, 1s);\n  animation-iteration-count: var(--#{$fa-css-prefix}-animation-iteration-count, infinite);\n  animation-timing-function: var(--#{$fa-css-prefix}-animation-timing, linear);\n}\n\n.#{$fa-css-prefix}-spin {\n  animation-name: #{$fa-css-prefix}-spin;\n  animation-delay: var(--#{$fa-css-prefix}-animation-delay, 0s);\n  animation-direction: var(--#{$fa-css-prefix}-animation-direction, normal);\n  animation-duration: var(--#{$fa-css-prefix}-animation-duration, 2s);\n  animation-iteration-count: var(--#{$fa-css-prefix}-animation-iteration-count, infinite);\n  animation-timing-function: var(--#{$fa-css-prefix}-animation-timing, linear);\n}\n\n.#{$fa-css-prefix}-spin-reverse {\n  --#{$fa-css-prefix}-animation-direction: reverse;\n}\n\n.#{$fa-css-prefix}-pulse,\n.#{$fa-css-prefix}-spin-pulse {\n  animation-name: #{$fa-css-prefix}-spin;\n  animation-direction: var(--#{$fa-css-prefix}-animation-direction, normal);\n  animation-duration: var(--#{$fa-css-prefix}-animation-duration, 1s);\n  animation-iteration-count: var(--#{$fa-css-prefix}-animation-iteration-count, infinite);\n  animation-timing-function: var(--#{$fa-css-prefix}-animation-timing, steps(8));\n}\n\n// if agent or operating system prefers reduced motion, disable animations\n// see: https://www.smashingmagazine.com/2020/09/design-reduced-motion-sensitivities/\n// see: https://developer.mozilla.org/en-US/docs/Web/CSS/@media/prefers-reduced-motion\n@media (prefers-reduced-motion: reduce) {\n  .#{$fa-css-prefix}-beat,\n  .#{$fa-css-prefix}-bounce,\n  .#{$fa-css-prefix}-fade,\n  .#{$fa-css-prefix}-beat-fade,\n  .#{$fa-css-prefix}-flip,\n  .#{$fa-css-prefix}-pulse,\n  .#{$fa-css-prefix}-shake,\n  .#{$fa-css-prefix}-spin,\n  .#{$fa-css-prefix}-spin-pulse {\n    animation-delay: -1ms;\n    animation-duration: 1ms;\n    animation-iteration-count: 1;\n    transition-delay: 0s;\n    transition-duration: 0s;\n  }\n}\n\n@keyframes #{$fa-css-prefix}-beat {\n  0%, 90% { transform: scale(1); }\n  45% { transform: scale(var(--#{$fa-css-prefix}-beat-scale, 1.25)); }\n}\n\n@keyframes #{$fa-css-prefix}-bounce {\n  0%   { transform: scale(1,1) translateY(0); }\n  10%  { transform: scale(var(--#{$fa-css-prefix}-bounce-start-scale-x, 1.1),var(--#{$fa-css-prefix}-bounce-start-scale-y, 0.9)) translateY(0); }\n  30%  { transform: scale(var(--#{$fa-css-prefix}-bounce-jump-scale-x, 0.9),var(--#{$fa-css-prefix}-bounce-jump-scale-y, 1.1)) translateY(var(--#{$fa-css-prefix}-bounce-height, -0.5em)); }\n  50%  { transform: scale(var(--#{$fa-css-prefix}-bounce-land-scale-x, 1.05),var(--#{$fa-css-prefix}-bounce-land-scale-y, 0.95)) translateY(0); }\n  57%  { transform: scale(1,1) translateY(var(--#{$fa-css-prefix}-bounce-rebound, -0.125em)); }\n  64%  { transform: scale(1,1) translateY(0); }\n  100% { transform: scale(1,1) translateY(0); }\n}\n\n@keyframes #{$fa-css-prefix}-fade {\n  50% { opacity: var(--#{$fa-css-prefix}-fade-opacity, 0.4); }\n}\n\n@keyframes #{$fa-css-prefix}-beat-fade {\n  0%, 100% {\n    opacity: var(--#{$fa-css-prefix}-beat-fade-opacity, 0.4);\n    transform: scale(1);\n  }\n  50% {\n    opacity: 1;\n    transform: scale(var(--#{$fa-css-prefix}-beat-fade-scale, 1.125));\n  }\n}\n\n@keyframes #{$fa-css-prefix}-flip {\n  50% {\n    transform: rotate3d(var(--#{$fa-css-prefix}-flip-x, 0), var(--#{$fa-css-prefix}-flip-y, 1), var(--#{$fa-css-prefix}-flip-z, 0), var(--#{$fa-css-prefix}-flip-angle, -180deg));\n  }\n}\n\n@keyframes #{$fa-css-prefix}-shake {\n  0% { transform: rotate(-15deg); }\n  4% { transform: rotate(15deg); }\n  8%, 24% { transform: rotate(-18deg); }\n  12%, 28% { transform: rotate(18deg); }\n  16% { transform: rotate(-22deg); }\n  20% { transform: rotate(22deg); }\n  32% { transform: rotate(-12deg); }\n  36% { transform: rotate(12deg); }\n  40%, 100% { transform: rotate(0deg); }\n}\n\n@keyframes #{$fa-css-prefix}-spin {\n  0% { transform: rotate(0deg); }\n  100% { transform: rotate(360deg); }\n}\n","// rotating + flipping icons\n// -------------------------\n\n.#{$fa-css-prefix}-rotate-90 {\n  transform: rotate(90deg);\n}\n\n.#{$fa-css-prefix}-rotate-180 {\n  transform: rotate(180deg);\n}\n\n.#{$fa-css-prefix}-rotate-270 {\n  transform: rotate(270deg);\n}\n\n.#{$fa-css-prefix}-flip-horizontal {\n  transform: scale(-1, 1);\n}\n\n.#{$fa-css-prefix}-flip-vertical {\n  transform: scale(1, -1);\n}\n\n.#{$fa-css-prefix}-flip-both,\n.#{$fa-css-prefix}-flip-horizontal.#{$fa-css-prefix}-flip-vertical {\n  transform: scale(-1, -1);\n}\n\n.#{$fa-css-prefix}-rotate-by {\n  transform: rotate(var(--#{$fa-css-prefix}-rotate-angle, 0));\n}\n","// stacking icons\n// -------------------------\n\n.#{$fa-css-prefix}-stack {\n  display: inline-block;\n  height: 2em;\n  line-height: 2em;\n  position: relative;\n  vertical-align: $fa-stack-vertical-align;\n  width: $fa-stack-width;\n}\n\n.#{$fa-css-prefix}-stack-1x,\n.#{$fa-css-prefix}-stack-2x {\n  left: 0;\n  position: absolute;\n  text-align: center;\n  width: 100%;\n  z-index: var(--#{$fa-css-prefix}-stack-z-index, #{$fa-stack-z-index});\n}\n\n.#{$fa-css-prefix}-stack-1x {\n  line-height: inherit;\n}\n\n.#{$fa-css-prefix}-stack-2x {\n  font-size: 2em;\n}\n\n.#{$fa-css-prefix}-inverse {\n  color: var(--#{$fa-css-prefix}-inverse, #{$fa-inverse});\n}\n","// variables\n// --------------------------\n\n$fa-css-prefix          : fa !default;\n$fa-style               : 900 !default;\n$fa-style-family        : \"Font Awesome 6 Free\" !default;\n\n$fa-display             : inline-block !default;\n\n$fa-fw-width            : fa-divide(20em, 16) !default;\n$fa-inverse             : #fff !default;\n\n$fa-border-color        : #eee !default;\n$fa-border-padding      : .2em .25em .15em !default;\n$fa-border-radius       : .1em !default;\n$fa-border-style        : solid !default;\n$fa-border-width        : .08em !default;\n\n$fa-size-scale-2xs      : 10 !default;\n$fa-size-scale-xs       : 12 !default;\n$fa-size-scale-sm       : 14 !default;\n$fa-size-scale-base     : 16 !default;\n$fa-size-scale-lg       : 20 !default;\n$fa-size-scale-xl       : 24 !default;\n$fa-size-scale-2xl      : 32 !default;\n\n$fa-sizes: (\n  \"2xs\"                 : $fa-size-scale-2xs,\n  \"xs\"                  : $fa-size-scale-xs,\n  \"sm\"                  : $fa-size-scale-sm,\n  \"lg\"                  : $fa-size-scale-lg,\n  \"xl\"                  : $fa-size-scale-xl,\n  \"2xl\"                 : $fa-size-scale-2xl\n) !default;\n\n$fa-li-width            : 2em !default;\n$fa-li-margin           : $fa-li-width * fa-divide(5, 4) !default;\n\n$fa-pull-margin         : .3em !default;\n\n$fa-primary-opacity     : 1 !default;\n$fa-secondary-opacity   : .4 !default;\n\n$fa-stack-vertical-align: middle !default;\n$fa-stack-width         : ($fa-fw-width * 2) !default;\n$fa-stack-z-index       : auto !default;\n\n$fa-font-display        : block !default;\n$fa-font-path           : \"../webfonts\" !default;\n\n$fa-var-0: \\30;\n$fa-var-1: \\31;\n$fa-var-2: \\32;\n$fa-var-3: \\33;\n$fa-var-4: \\34;\n$fa-var-5: \\35;\n$fa-var-6: \\36;\n$fa-var-7: \\37;\n$fa-var-8: \\38;\n$fa-var-9: \\39;\n$fa-var-fill-drip: \\f576;\n$fa-var-arrows-to-circle: \\e4bd;\n$fa-var-circle-chevron-right: \\f138;\n$fa-var-chevron-circle-right: \\f138;\n$fa-var-at: \\40;\n$fa-var-trash-can: \\f2ed;\n$fa-var-trash-alt: \\f2ed;\n$fa-var-text-height: \\f034;\n$fa-var-user-xmark: \\f235;\n$fa-var-user-times: \\f235;\n$fa-var-stethoscope: \\f0f1;\n$fa-var-message: \\f27a;\n$fa-var-comment-alt: \\f27a;\n$fa-var-info: \\f129;\n$fa-var-down-left-and-up-right-to-center: \\f422;\n$fa-var-compress-alt: \\f422;\n$fa-var-explosion: \\e4e9;\n$fa-var-file-lines: \\f15c;\n$fa-var-file-alt: \\f15c;\n$fa-var-file-text: \\f15c;\n$fa-var-wave-square: \\f83e;\n$fa-var-ring: \\f70b;\n$fa-var-building-un: \\e4d9;\n$fa-var-dice-three: \\f527;\n$fa-var-calendar-days: \\f073;\n$fa-var-calendar-alt: \\f073;\n$fa-var-anchor-circle-check: \\e4aa;\n$fa-var-building-circle-arrow-right: \\e4d1;\n$fa-var-volleyball: \\f45f;\n$fa-var-volleyball-ball: \\f45f;\n$fa-var-arrows-up-to-line: \\e4c2;\n$fa-var-sort-down: \\f0dd;\n$fa-var-sort-desc: \\f0dd;\n$fa-var-circle-minus: \\f056;\n$fa-var-minus-circle: \\f056;\n$fa-var-door-open: \\f52b;\n$fa-var-right-from-bracket: \\f2f5;\n$fa-var-sign-out-alt: \\f2f5;\n$fa-var-atom: \\f5d2;\n$fa-var-soap: \\e06e;\n$fa-var-icons: \\f86d;\n$fa-var-heart-music-camera-bolt: \\f86d;\n$fa-var-microphone-lines-slash: \\f539;\n$fa-var-microphone-alt-slash: \\f539;\n$fa-var-bridge-circle-check: \\e4c9;\n$fa-var-pump-medical: \\e06a;\n$fa-var-fingerprint: \\f577;\n$fa-var-hand-point-right: \\f0a4;\n$fa-var-magnifying-glass-location: \\f689;\n$fa-var-search-location: \\f689;\n$fa-var-forward-step: \\f051;\n$fa-var-step-forward: \\f051;\n$fa-var-face-smile-beam: \\f5b8;\n$fa-var-smile-beam: \\f5b8;\n$fa-var-flag-checkered: \\f11e;\n$fa-var-football: \\f44e;\n$fa-var-football-ball: \\f44e;\n$fa-var-school-circle-exclamation: \\e56c;\n$fa-var-crop: \\f125;\n$fa-var-angles-down: \\f103;\n$fa-var-angle-double-down: \\f103;\n$fa-var-users-rectangle: \\e594;\n$fa-var-people-roof: \\e537;\n$fa-var-people-line: \\e534;\n$fa-var-beer-mug-empty: \\f0fc;\n$fa-var-beer: \\f0fc;\n$fa-var-diagram-predecessor: \\e477;\n$fa-var-arrow-up-long: \\f176;\n$fa-var-long-arrow-up: \\f176;\n$fa-var-fire-flame-simple: \\f46a;\n$fa-var-burn: \\f46a;\n$fa-var-person: \\f183;\n$fa-var-male: \\f183;\n$fa-var-laptop: \\f109;\n$fa-var-file-csv: \\f6dd;\n$fa-var-menorah: \\f676;\n$fa-var-truck-plane: \\e58f;\n$fa-var-record-vinyl: \\f8d9;\n$fa-var-face-grin-stars: \\f587;\n$fa-var-grin-stars: \\f587;\n$fa-var-bong: \\f55c;\n$fa-var-spaghetti-monster-flying: \\f67b;\n$fa-var-pastafarianism: \\f67b;\n$fa-var-arrow-down-up-across-line: \\e4af;\n$fa-var-spoon: \\f2e5;\n$fa-var-utensil-spoon: \\f2e5;\n$fa-var-jar-wheat: \\e517;\n$fa-var-envelopes-bulk: \\f674;\n$fa-var-mail-bulk: \\f674;\n$fa-var-file-circle-exclamation: \\e4eb;\n$fa-var-circle-h: \\f47e;\n$fa-var-hospital-symbol: \\f47e;\n$fa-var-pager: \\f815;\n$fa-var-address-book: \\f2b9;\n$fa-var-contact-book: \\f2b9;\n$fa-var-strikethrough: \\f0cc;\n$fa-var-k: \\4b;\n$fa-var-landmark-flag: \\e51c;\n$fa-var-pencil: \\f303;\n$fa-var-pencil-alt: \\f303;\n$fa-var-backward: \\f04a;\n$fa-var-caret-right: \\f0da;\n$fa-var-comments: \\f086;\n$fa-var-paste: \\f0ea;\n$fa-var-file-clipboard: \\f0ea;\n$fa-var-code-pull-request: \\e13c;\n$fa-var-clipboard-list: \\f46d;\n$fa-var-truck-ramp-box: \\f4de;\n$fa-var-truck-loading: \\f4de;\n$fa-var-user-check: \\f4fc;\n$fa-var-vial-virus: \\e597;\n$fa-var-sheet-plastic: \\e571;\n$fa-var-blog: \\f781;\n$fa-var-user-ninja: \\f504;\n$fa-var-person-arrow-up-from-line: \\e539;\n$fa-var-scroll-torah: \\f6a0;\n$fa-var-torah: \\f6a0;\n$fa-var-broom-ball: \\f458;\n$fa-var-quidditch: \\f458;\n$fa-var-quidditch-broom-ball: \\f458;\n$fa-var-toggle-off: \\f204;\n$fa-var-box-archive: \\f187;\n$fa-var-archive: \\f187;\n$fa-var-person-drowning: \\e545;\n$fa-var-arrow-down-9-1: \\f886;\n$fa-var-sort-numeric-desc: \\f886;\n$fa-var-sort-numeric-down-alt: \\f886;\n$fa-var-face-grin-tongue-squint: \\f58a;\n$fa-var-grin-tongue-squint: \\f58a;\n$fa-var-spray-can: \\f5bd;\n$fa-var-truck-monster: \\f63b;\n$fa-var-w: \\57;\n$fa-var-earth-africa: \\f57c;\n$fa-var-globe-africa: \\f57c;\n$fa-var-rainbow: \\f75b;\n$fa-var-circle-notch: \\f1ce;\n$fa-var-tablet-screen-button: \\f3fa;\n$fa-var-tablet-alt: \\f3fa;\n$fa-var-paw: \\f1b0;\n$fa-var-cloud: \\f0c2;\n$fa-var-trowel-bricks: \\e58a;\n$fa-var-face-flushed: \\f579;\n$fa-var-flushed: \\f579;\n$fa-var-hospital-user: \\f80d;\n$fa-var-tent-arrow-left-right: \\e57f;\n$fa-var-gavel: \\f0e3;\n$fa-var-legal: \\f0e3;\n$fa-var-binoculars: \\f1e5;\n$fa-var-microphone-slash: \\f131;\n$fa-var-box-tissue: \\e05b;\n$fa-var-motorcycle: \\f21c;\n$fa-var-bell-concierge: \\f562;\n$fa-var-concierge-bell: \\f562;\n$fa-var-pen-ruler: \\f5ae;\n$fa-var-pencil-ruler: \\f5ae;\n$fa-var-people-arrows: \\e068;\n$fa-var-people-arrows-left-right: \\e068;\n$fa-var-mars-and-venus-burst: \\e523;\n$fa-var-square-caret-right: \\f152;\n$fa-var-caret-square-right: \\f152;\n$fa-var-scissors: \\f0c4;\n$fa-var-cut: \\f0c4;\n$fa-var-sun-plant-wilt: \\e57a;\n$fa-var-toilets-portable: \\e584;\n$fa-var-hockey-puck: \\f453;\n$fa-var-table: \\f0ce;\n$fa-var-magnifying-glass-arrow-right: \\e521;\n$fa-var-tachograph-digital: \\f566;\n$fa-var-digital-tachograph: \\f566;\n$fa-var-users-slash: \\e073;\n$fa-var-clover: \\e139;\n$fa-var-reply: \\f3e5;\n$fa-var-mail-reply: \\f3e5;\n$fa-var-star-and-crescent: \\f699;\n$fa-var-house-fire: \\e50c;\n$fa-var-square-minus: \\f146;\n$fa-var-minus-square: \\f146;\n$fa-var-helicopter: \\f533;\n$fa-var-compass: \\f14e;\n$fa-var-square-caret-down: \\f150;\n$fa-var-caret-square-down: \\f150;\n$fa-var-file-circle-question: \\e4ef;\n$fa-var-laptop-code: \\f5fc;\n$fa-var-swatchbook: \\f5c3;\n$fa-var-prescription-bottle: \\f485;\n$fa-var-bars: \\f0c9;\n$fa-var-navicon: \\f0c9;\n$fa-var-people-group: \\e533;\n$fa-var-hourglass-end: \\f253;\n$fa-var-hourglass-3: \\f253;\n$fa-var-heart-crack: \\f7a9;\n$fa-var-heart-broken: \\f7a9;\n$fa-var-square-up-right: \\f360;\n$fa-var-external-link-square-alt: \\f360;\n$fa-var-face-kiss-beam: \\f597;\n$fa-var-kiss-beam: \\f597;\n$fa-var-film: \\f008;\n$fa-var-ruler-horizontal: \\f547;\n$fa-var-people-robbery: \\e536;\n$fa-var-lightbulb: \\f0eb;\n$fa-var-caret-left: \\f0d9;\n$fa-var-circle-exclamation: \\f06a;\n$fa-var-exclamation-circle: \\f06a;\n$fa-var-school-circle-xmark: \\e56d;\n$fa-var-arrow-right-from-bracket: \\f08b;\n$fa-var-sign-out: \\f08b;\n$fa-var-circle-chevron-down: \\f13a;\n$fa-var-chevron-circle-down: \\f13a;\n$fa-var-unlock-keyhole: \\f13e;\n$fa-var-unlock-alt: \\f13e;\n$fa-var-cloud-showers-heavy: \\f740;\n$fa-var-headphones-simple: \\f58f;\n$fa-var-headphones-alt: \\f58f;\n$fa-var-sitemap: \\f0e8;\n$fa-var-circle-dollar-to-slot: \\f4b9;\n$fa-var-donate: \\f4b9;\n$fa-var-memory: \\f538;\n$fa-var-road-spikes: \\e568;\n$fa-var-fire-burner: \\e4f1;\n$fa-var-flag: \\f024;\n$fa-var-hanukiah: \\f6e6;\n$fa-var-feather: \\f52d;\n$fa-var-volume-low: \\f027;\n$fa-var-volume-down: \\f027;\n$fa-var-comment-slash: \\f4b3;\n$fa-var-cloud-sun-rain: \\f743;\n$fa-var-compress: \\f066;\n$fa-var-wheat-awn: \\e2cd;\n$fa-var-wheat-alt: \\e2cd;\n$fa-var-ankh: \\f644;\n$fa-var-hands-holding-child: \\e4fa;\n$fa-var-asterisk: \\2a;\n$fa-var-square-check: \\f14a;\n$fa-var-check-square: \\f14a;\n$fa-var-peseta-sign: \\e221;\n$fa-var-heading: \\f1dc;\n$fa-var-header: \\f1dc;\n$fa-var-ghost: \\f6e2;\n$fa-var-list: \\f03a;\n$fa-var-list-squares: \\f03a;\n$fa-var-square-phone-flip: \\f87b;\n$fa-var-phone-square-alt: \\f87b;\n$fa-var-cart-plus: \\f217;\n$fa-var-gamepad: \\f11b;\n$fa-var-circle-dot: \\f192;\n$fa-var-dot-circle: \\f192;\n$fa-var-face-dizzy: \\f567;\n$fa-var-dizzy: \\f567;\n$fa-var-egg: \\f7fb;\n$fa-var-house-medical-circle-xmark: \\e513;\n$fa-var-campground: \\f6bb;\n$fa-var-folder-plus: \\f65e;\n$fa-var-futbol: \\f1e3;\n$fa-var-futbol-ball: \\f1e3;\n$fa-var-soccer-ball: \\f1e3;\n$fa-var-paintbrush: \\f1fc;\n$fa-var-paint-brush: \\f1fc;\n$fa-var-lock: \\f023;\n$fa-var-gas-pump: \\f52f;\n$fa-var-hot-tub-person: \\f593;\n$fa-var-hot-tub: \\f593;\n$fa-var-map-location: \\f59f;\n$fa-var-map-marked: \\f59f;\n$fa-var-house-flood-water: \\e50e;\n$fa-var-tree: \\f1bb;\n$fa-var-bridge-lock: \\e4cc;\n$fa-var-sack-dollar: \\f81d;\n$fa-var-pen-to-square: \\f044;\n$fa-var-edit: \\f044;\n$fa-var-car-side: \\f5e4;\n$fa-var-share-nodes: \\f1e0;\n$fa-var-share-alt: \\f1e0;\n$fa-var-heart-circle-minus: \\e4ff;\n$fa-var-hourglass-half: \\f252;\n$fa-var-hourglass-2: \\f252;\n$fa-var-microscope: \\f610;\n$fa-var-sink: \\e06d;\n$fa-var-bag-shopping: \\f290;\n$fa-var-shopping-bag: \\f290;\n$fa-var-arrow-down-z-a: \\f881;\n$fa-var-sort-alpha-desc: \\f881;\n$fa-var-sort-alpha-down-alt: \\f881;\n$fa-var-mitten: \\f7b5;\n$fa-var-person-rays: \\e54d;\n$fa-var-users: \\f0c0;\n$fa-var-eye-slash: \\f070;\n$fa-var-flask-vial: \\e4f3;\n$fa-var-hand: \\f256;\n$fa-var-hand-paper: \\f256;\n$fa-var-om: \\f679;\n$fa-var-worm: \\e599;\n$fa-var-house-circle-xmark: \\e50b;\n$fa-var-plug: \\f1e6;\n$fa-var-chevron-up: \\f077;\n$fa-var-hand-spock: \\f259;\n$fa-var-stopwatch: \\f2f2;\n$fa-var-face-kiss: \\f596;\n$fa-var-kiss: \\f596;\n$fa-var-bridge-circle-xmark: \\e4cb;\n$fa-var-face-grin-tongue: \\f589;\n$fa-var-grin-tongue: \\f589;\n$fa-var-chess-bishop: \\f43a;\n$fa-var-face-grin-wink: \\f58c;\n$fa-var-grin-wink: \\f58c;\n$fa-var-ear-deaf: \\f2a4;\n$fa-var-deaf: \\f2a4;\n$fa-var-deafness: \\f2a4;\n$fa-var-hard-of-hearing: \\f2a4;\n$fa-var-road-circle-check: \\e564;\n$fa-var-dice-five: \\f523;\n$fa-var-square-rss: \\f143;\n$fa-var-rss-square: \\f143;\n$fa-var-land-mine-on: \\e51b;\n$fa-var-i-cursor: \\f246;\n$fa-var-stamp: \\f5bf;\n$fa-var-stairs: \\e289;\n$fa-var-i: \\49;\n$fa-var-hryvnia-sign: \\f6f2;\n$fa-var-hryvnia: \\f6f2;\n$fa-var-pills: \\f484;\n$fa-var-face-grin-wide: \\f581;\n$fa-var-grin-alt: \\f581;\n$fa-var-tooth: \\f5c9;\n$fa-var-v: \\56;\n$fa-var-bangladeshi-taka-sign: \\e2e6;\n$fa-var-bicycle: \\f206;\n$fa-var-staff-snake: \\e579;\n$fa-var-rod-asclepius: \\e579;\n$fa-var-rod-snake: \\e579;\n$fa-var-staff-aesculapius: \\e579;\n$fa-var-head-side-cough-slash: \\e062;\n$fa-var-truck-medical: \\f0f9;\n$fa-var-ambulance: \\f0f9;\n$fa-var-wheat-awn-circle-exclamation: \\e598;\n$fa-var-snowman: \\f7d0;\n$fa-var-mortar-pestle: \\f5a7;\n$fa-var-road-barrier: \\e562;\n$fa-var-school: \\f549;\n$fa-var-igloo: \\f7ae;\n$fa-var-joint: \\f595;\n$fa-var-angle-right: \\f105;\n$fa-var-horse: \\f6f0;\n$fa-var-q: \\51;\n$fa-var-g: \\47;\n$fa-var-notes-medical: \\f481;\n$fa-var-temperature-half: \\f2c9;\n$fa-var-temperature-2: \\f2c9;\n$fa-var-thermometer-2: \\f2c9;\n$fa-var-thermometer-half: \\f2c9;\n$fa-var-dong-sign: \\e169;\n$fa-var-capsules: \\f46b;\n$fa-var-poo-storm: \\f75a;\n$fa-var-poo-bolt: \\f75a;\n$fa-var-face-frown-open: \\f57a;\n$fa-var-frown-open: \\f57a;\n$fa-var-hand-point-up: \\f0a6;\n$fa-var-money-bill: \\f0d6;\n$fa-var-bookmark: \\f02e;\n$fa-var-align-justify: \\f039;\n$fa-var-umbrella-beach: \\f5ca;\n$fa-var-helmet-un: \\e503;\n$fa-var-bullseye: \\f140;\n$fa-var-bacon: \\f7e5;\n$fa-var-hand-point-down: \\f0a7;\n$fa-var-arrow-up-from-bracket: \\e09a;\n$fa-var-folder: \\f07b;\n$fa-var-folder-blank: \\f07b;\n$fa-var-file-waveform: \\f478;\n$fa-var-file-medical-alt: \\f478;\n$fa-var-radiation: \\f7b9;\n$fa-var-chart-simple: \\e473;\n$fa-var-mars-stroke: \\f229;\n$fa-var-vial: \\f492;\n$fa-var-gauge: \\f624;\n$fa-var-dashboard: \\f624;\n$fa-var-gauge-med: \\f624;\n$fa-var-tachometer-alt-average: \\f624;\n$fa-var-wand-magic-sparkles: \\e2ca;\n$fa-var-magic-wand-sparkles: \\e2ca;\n$fa-var-e: \\45;\n$fa-var-pen-clip: \\f305;\n$fa-var-pen-alt: \\f305;\n$fa-var-bridge-circle-exclamation: \\e4ca;\n$fa-var-user: \\f007;\n$fa-var-school-circle-check: \\e56b;\n$fa-var-dumpster: \\f793;\n$fa-var-van-shuttle: \\f5b6;\n$fa-var-shuttle-van: \\f5b6;\n$fa-var-building-user: \\e4da;\n$fa-var-square-caret-left: \\f191;\n$fa-var-caret-square-left: \\f191;\n$fa-var-highlighter: \\f591;\n$fa-var-key: \\f084;\n$fa-var-bullhorn: \\f0a1;\n$fa-var-globe: \\f0ac;\n$fa-var-synagogue: \\f69b;\n$fa-var-person-half-dress: \\e548;\n$fa-var-road-bridge: \\e563;\n$fa-var-location-arrow: \\f124;\n$fa-var-c: \\43;\n$fa-var-tablet-button: \\f10a;\n$fa-var-building-lock: \\e4d6;\n$fa-var-pizza-slice: \\f818;\n$fa-var-money-bill-wave: \\f53a;\n$fa-var-chart-area: \\f1fe;\n$fa-var-area-chart: \\f1fe;\n$fa-var-house-flag: \\e50d;\n$fa-var-person-circle-minus: \\e540;\n$fa-var-ban: \\f05e;\n$fa-var-cancel: \\f05e;\n$fa-var-camera-rotate: \\e0d8;\n$fa-var-spray-can-sparkles: \\f5d0;\n$fa-var-air-freshener: \\f5d0;\n$fa-var-star: \\f005;\n$fa-var-repeat: \\f363;\n$fa-var-cross: \\f654;\n$fa-var-box: \\f466;\n$fa-var-venus-mars: \\f228;\n$fa-var-arrow-pointer: \\f245;\n$fa-var-mouse-pointer: \\f245;\n$fa-var-maximize: \\f31e;\n$fa-var-expand-arrows-alt: \\f31e;\n$fa-var-charging-station: \\f5e7;\n$fa-var-shapes: \\f61f;\n$fa-var-triangle-circle-square: \\f61f;\n$fa-var-shuffle: \\f074;\n$fa-var-random: \\f074;\n$fa-var-person-running: \\f70c;\n$fa-var-running: \\f70c;\n$fa-var-mobile-retro: \\e527;\n$fa-var-grip-lines-vertical: \\f7a5;\n$fa-var-spider: \\f717;\n$fa-var-hands-bound: \\e4f9;\n$fa-var-file-invoice-dollar: \\f571;\n$fa-var-plane-circle-exclamation: \\e556;\n$fa-var-x-ray: \\f497;\n$fa-var-spell-check: \\f891;\n$fa-var-slash: \\f715;\n$fa-var-computer-mouse: \\f8cc;\n$fa-var-mouse: \\f8cc;\n$fa-var-arrow-right-to-bracket: \\f090;\n$fa-var-sign-in: \\f090;\n$fa-var-shop-slash: \\e070;\n$fa-var-store-alt-slash: \\e070;\n$fa-var-server: \\f233;\n$fa-var-virus-covid-slash: \\e4a9;\n$fa-var-shop-lock: \\e4a5;\n$fa-var-hourglass-start: \\f251;\n$fa-var-hourglass-1: \\f251;\n$fa-var-blender-phone: \\f6b6;\n$fa-var-building-wheat: \\e4db;\n$fa-var-person-breastfeeding: \\e53a;\n$fa-var-right-to-bracket: \\f2f6;\n$fa-var-sign-in-alt: \\f2f6;\n$fa-var-venus: \\f221;\n$fa-var-passport: \\f5ab;\n$fa-var-heart-pulse: \\f21e;\n$fa-var-heartbeat: \\f21e;\n$fa-var-people-carry-box: \\f4ce;\n$fa-var-people-carry: \\f4ce;\n$fa-var-temperature-high: \\f769;\n$fa-var-microchip: \\f2db;\n$fa-var-crown: \\f521;\n$fa-var-weight-hanging: \\f5cd;\n$fa-var-xmarks-lines: \\e59a;\n$fa-var-file-prescription: \\f572;\n$fa-var-weight-scale: \\f496;\n$fa-var-weight: \\f496;\n$fa-var-user-group: \\f500;\n$fa-var-user-friends: \\f500;\n$fa-var-arrow-up-a-z: \\f15e;\n$fa-var-sort-alpha-up: \\f15e;\n$fa-var-chess-knight: \\f441;\n$fa-var-face-laugh-squint: \\f59b;\n$fa-var-laugh-squint: \\f59b;\n$fa-var-wheelchair: \\f193;\n$fa-var-circle-arrow-up: \\f0aa;\n$fa-var-arrow-circle-up: \\f0aa;\n$fa-var-toggle-on: \\f205;\n$fa-var-person-walking: \\f554;\n$fa-var-walking: \\f554;\n$fa-var-l: \\4c;\n$fa-var-fire: \\f06d;\n$fa-var-bed-pulse: \\f487;\n$fa-var-procedures: \\f487;\n$fa-var-shuttle-space: \\f197;\n$fa-var-space-shuttle: \\f197;\n$fa-var-face-laugh: \\f599;\n$fa-var-laugh: \\f599;\n$fa-var-folder-open: \\f07c;\n$fa-var-heart-circle-plus: \\e500;\n$fa-var-code-fork: \\e13b;\n$fa-var-city: \\f64f;\n$fa-var-microphone-lines: \\f3c9;\n$fa-var-microphone-alt: \\f3c9;\n$fa-var-pepper-hot: \\f816;\n$fa-var-unlock: \\f09c;\n$fa-var-colon-sign: \\e140;\n$fa-var-headset: \\f590;\n$fa-var-store-slash: \\e071;\n$fa-var-road-circle-xmark: \\e566;\n$fa-var-user-minus: \\f503;\n$fa-var-mars-stroke-up: \\f22a;\n$fa-var-mars-stroke-v: \\f22a;\n$fa-var-champagne-glasses: \\f79f;\n$fa-var-glass-cheers: \\f79f;\n$fa-var-clipboard: \\f328;\n$fa-var-house-circle-exclamation: \\e50a;\n$fa-var-file-arrow-up: \\f574;\n$fa-var-file-upload: \\f574;\n$fa-var-wifi: \\f1eb;\n$fa-var-wifi-3: \\f1eb;\n$fa-var-wifi-strong: \\f1eb;\n$fa-var-bath: \\f2cd;\n$fa-var-bathtub: \\f2cd;\n$fa-var-underline: \\f0cd;\n$fa-var-user-pen: \\f4ff;\n$fa-var-user-edit: \\f4ff;\n$fa-var-signature: \\f5b7;\n$fa-var-stroopwafel: \\f551;\n$fa-var-bold: \\f032;\n$fa-var-anchor-lock: \\e4ad;\n$fa-var-building-ngo: \\e4d7;\n$fa-var-manat-sign: \\e1d5;\n$fa-var-not-equal: \\f53e;\n$fa-var-border-top-left: \\f853;\n$fa-var-border-style: \\f853;\n$fa-var-map-location-dot: \\f5a0;\n$fa-var-map-marked-alt: \\f5a0;\n$fa-var-jedi: \\f669;\n$fa-var-square-poll-vertical: \\f681;\n$fa-var-poll: \\f681;\n$fa-var-mug-hot: \\f7b6;\n$fa-var-car-battery: \\f5df;\n$fa-var-battery-car: \\f5df;\n$fa-var-gift: \\f06b;\n$fa-var-dice-two: \\f528;\n$fa-var-chess-queen: \\f445;\n$fa-var-glasses: \\f530;\n$fa-var-chess-board: \\f43c;\n$fa-var-building-circle-check: \\e4d2;\n$fa-var-person-chalkboard: \\e53d;\n$fa-var-mars-stroke-right: \\f22b;\n$fa-var-mars-stroke-h: \\f22b;\n$fa-var-hand-back-fist: \\f255;\n$fa-var-hand-rock: \\f255;\n$fa-var-square-caret-up: \\f151;\n$fa-var-caret-square-up: \\f151;\n$fa-var-cloud-showers-water: \\e4e4;\n$fa-var-chart-bar: \\f080;\n$fa-var-bar-chart: \\f080;\n$fa-var-hands-bubbles: \\e05e;\n$fa-var-hands-wash: \\e05e;\n$fa-var-less-than-equal: \\f537;\n$fa-var-train: \\f238;\n$fa-var-eye-low-vision: \\f2a8;\n$fa-var-low-vision: \\f2a8;\n$fa-var-crow: \\f520;\n$fa-var-sailboat: \\e445;\n$fa-var-window-restore: \\f2d2;\n$fa-var-square-plus: \\f0fe;\n$fa-var-plus-square: \\f0fe;\n$fa-var-torii-gate: \\f6a1;\n$fa-var-frog: \\f52e;\n$fa-var-bucket: \\e4cf;\n$fa-var-image: \\f03e;\n$fa-var-microphone: \\f130;\n$fa-var-cow: \\f6c8;\n$fa-var-caret-up: \\f0d8;\n$fa-var-screwdriver: \\f54a;\n$fa-var-folder-closed: \\e185;\n$fa-var-house-tsunami: \\e515;\n$fa-var-square-nfi: \\e576;\n$fa-var-arrow-up-from-ground-water: \\e4b5;\n$fa-var-martini-glass: \\f57b;\n$fa-var-glass-martini-alt: \\f57b;\n$fa-var-rotate-left: \\f2ea;\n$fa-var-rotate-back: \\f2ea;\n$fa-var-rotate-backward: \\f2ea;\n$fa-var-undo-alt: \\f2ea;\n$fa-var-table-columns: \\f0db;\n$fa-var-columns: \\f0db;\n$fa-var-lemon: \\f094;\n$fa-var-head-side-mask: \\e063;\n$fa-var-handshake: \\f2b5;\n$fa-var-gem: \\f3a5;\n$fa-var-dolly: \\f472;\n$fa-var-dolly-box: \\f472;\n$fa-var-smoking: \\f48d;\n$fa-var-minimize: \\f78c;\n$fa-var-compress-arrows-alt: \\f78c;\n$fa-var-monument: \\f5a6;\n$fa-var-snowplow: \\f7d2;\n$fa-var-angles-right: \\f101;\n$fa-var-angle-double-right: \\f101;\n$fa-var-cannabis: \\f55f;\n$fa-var-circle-play: \\f144;\n$fa-var-play-circle: \\f144;\n$fa-var-tablets: \\f490;\n$fa-var-ethernet: \\f796;\n$fa-var-euro-sign: \\f153;\n$fa-var-eur: \\f153;\n$fa-var-euro: \\f153;\n$fa-var-chair: \\f6c0;\n$fa-var-circle-check: \\f058;\n$fa-var-check-circle: \\f058;\n$fa-var-circle-stop: \\f28d;\n$fa-var-stop-circle: \\f28d;\n$fa-var-compass-drafting: \\f568;\n$fa-var-drafting-compass: \\f568;\n$fa-var-plate-wheat: \\e55a;\n$fa-var-icicles: \\f7ad;\n$fa-var-person-shelter: \\e54f;\n$fa-var-neuter: \\f22c;\n$fa-var-id-badge: \\f2c1;\n$fa-var-marker: \\f5a1;\n$fa-var-face-laugh-beam: \\f59a;\n$fa-var-laugh-beam: \\f59a;\n$fa-var-helicopter-symbol: \\e502;\n$fa-var-universal-access: \\f29a;\n$fa-var-circle-chevron-up: \\f139;\n$fa-var-chevron-circle-up: \\f139;\n$fa-var-lari-sign: \\e1c8;\n$fa-var-volcano: \\f770;\n$fa-var-person-walking-dashed-line-arrow-right: \\e553;\n$fa-var-sterling-sign: \\f154;\n$fa-var-gbp: \\f154;\n$fa-var-pound-sign: \\f154;\n$fa-var-viruses: \\e076;\n$fa-var-square-person-confined: \\e577;\n$fa-var-user-tie: \\f508;\n$fa-var-arrow-down-long: \\f175;\n$fa-var-long-arrow-down: \\f175;\n$fa-var-tent-arrow-down-to-line: \\e57e;\n$fa-var-certificate: \\f0a3;\n$fa-var-reply-all: \\f122;\n$fa-var-mail-reply-all: \\f122;\n$fa-var-suitcase: \\f0f2;\n$fa-var-person-skating: \\f7c5;\n$fa-var-skating: \\f7c5;\n$fa-var-filter-circle-dollar: \\f662;\n$fa-var-funnel-dollar: \\f662;\n$fa-var-camera-retro: \\f083;\n$fa-var-circle-arrow-down: \\f0ab;\n$fa-var-arrow-circle-down: \\f0ab;\n$fa-var-file-import: \\f56f;\n$fa-var-arrow-right-to-file: \\f56f;\n$fa-var-square-arrow-up-right: \\f14c;\n$fa-var-external-link-square: \\f14c;\n$fa-var-box-open: \\f49e;\n$fa-var-scroll: \\f70e;\n$fa-var-spa: \\f5bb;\n$fa-var-location-pin-lock: \\e51f;\n$fa-var-pause: \\f04c;\n$fa-var-hill-avalanche: \\e507;\n$fa-var-temperature-empty: \\f2cb;\n$fa-var-temperature-0: \\f2cb;\n$fa-var-thermometer-0: \\f2cb;\n$fa-var-thermometer-empty: \\f2cb;\n$fa-var-bomb: \\f1e2;\n$fa-var-registered: \\f25d;\n$fa-var-address-card: \\f2bb;\n$fa-var-contact-card: \\f2bb;\n$fa-var-vcard: \\f2bb;\n$fa-var-scale-unbalanced-flip: \\f516;\n$fa-var-balance-scale-right: \\f516;\n$fa-var-subscript: \\f12c;\n$fa-var-diamond-turn-right: \\f5eb;\n$fa-var-directions: \\f5eb;\n$fa-var-burst: \\e4dc;\n$fa-var-house-laptop: \\e066;\n$fa-var-laptop-house: \\e066;\n$fa-var-face-tired: \\f5c8;\n$fa-var-tired: \\f5c8;\n$fa-var-money-bills: \\e1f3;\n$fa-var-smog: \\f75f;\n$fa-var-crutch: \\f7f7;\n$fa-var-cloud-arrow-up: \\f0ee;\n$fa-var-cloud-upload: \\f0ee;\n$fa-var-cloud-upload-alt: \\f0ee;\n$fa-var-palette: \\f53f;\n$fa-var-arrows-turn-right: \\e4c0;\n$fa-var-vest: \\e085;\n$fa-var-ferry: \\e4ea;\n$fa-var-arrows-down-to-people: \\e4b9;\n$fa-var-seedling: \\f4d8;\n$fa-var-sprout: \\f4d8;\n$fa-var-left-right: \\f337;\n$fa-var-arrows-alt-h: \\f337;\n$fa-var-boxes-packing: \\e4c7;\n$fa-var-circle-arrow-left: \\f0a8;\n$fa-var-arrow-circle-left: \\f0a8;\n$fa-var-group-arrows-rotate: \\e4f6;\n$fa-var-bowl-food: \\e4c6;\n$fa-var-candy-cane: \\f786;\n$fa-var-arrow-down-wide-short: \\f160;\n$fa-var-sort-amount-asc: \\f160;\n$fa-var-sort-amount-down: \\f160;\n$fa-var-cloud-bolt: \\f76c;\n$fa-var-thunderstorm: \\f76c;\n$fa-var-text-slash: \\f87d;\n$fa-var-remove-format: \\f87d;\n$fa-var-face-smile-wink: \\f4da;\n$fa-var-smile-wink: \\f4da;\n$fa-var-file-word: \\f1c2;\n$fa-var-file-powerpoint: \\f1c4;\n$fa-var-arrows-left-right: \\f07e;\n$fa-var-arrows-h: \\f07e;\n$fa-var-house-lock: \\e510;\n$fa-var-cloud-arrow-down: \\f0ed;\n$fa-var-cloud-download: \\f0ed;\n$fa-var-cloud-download-alt: \\f0ed;\n$fa-var-children: \\e4e1;\n$fa-var-chalkboard: \\f51b;\n$fa-var-blackboard: \\f51b;\n$fa-var-user-large-slash: \\f4fa;\n$fa-var-user-alt-slash: \\f4fa;\n$fa-var-envelope-open: \\f2b6;\n$fa-var-handshake-simple-slash: \\e05f;\n$fa-var-handshake-alt-slash: \\e05f;\n$fa-var-mattress-pillow: \\e525;\n$fa-var-guarani-sign: \\e19a;\n$fa-var-arrows-rotate: \\f021;\n$fa-var-refresh: \\f021;\n$fa-var-sync: \\f021;\n$fa-var-fire-extinguisher: \\f134;\n$fa-var-cruzeiro-sign: \\e152;\n$fa-var-greater-than-equal: \\f532;\n$fa-var-shield-halved: \\f3ed;\n$fa-var-shield-alt: \\f3ed;\n$fa-var-book-atlas: \\f558;\n$fa-var-atlas: \\f558;\n$fa-var-virus: \\e074;\n$fa-var-envelope-circle-check: \\e4e8;\n$fa-var-layer-group: \\f5fd;\n$fa-var-arrows-to-dot: \\e4be;\n$fa-var-archway: \\f557;\n$fa-var-heart-circle-check: \\e4fd;\n$fa-var-house-chimney-crack: \\f6f1;\n$fa-var-house-damage: \\f6f1;\n$fa-var-file-zipper: \\f1c6;\n$fa-var-file-archive: \\f1c6;\n$fa-var-square: \\f0c8;\n$fa-var-martini-glass-empty: \\f000;\n$fa-var-glass-martini: \\f000;\n$fa-var-couch: \\f4b8;\n$fa-var-cedi-sign: \\e0df;\n$fa-var-italic: \\f033;\n$fa-var-table-cells-column-lock: \\e678;\n$fa-var-church: \\f51d;\n$fa-var-comments-dollar: \\f653;\n$fa-var-democrat: \\f747;\n$fa-var-z: \\5a;\n$fa-var-person-skiing: \\f7c9;\n$fa-var-skiing: \\f7c9;\n$fa-var-road-lock: \\e567;\n$fa-var-a: \\41;\n$fa-var-temperature-arrow-down: \\e03f;\n$fa-var-temperature-down: \\e03f;\n$fa-var-feather-pointed: \\f56b;\n$fa-var-feather-alt: \\f56b;\n$fa-var-p: \\50;\n$fa-var-snowflake: \\f2dc;\n$fa-var-newspaper: \\f1ea;\n$fa-var-rectangle-ad: \\f641;\n$fa-var-ad: \\f641;\n$fa-var-circle-arrow-right: \\f0a9;\n$fa-var-arrow-circle-right: \\f0a9;\n$fa-var-filter-circle-xmark: \\e17b;\n$fa-var-locust: \\e520;\n$fa-var-sort: \\f0dc;\n$fa-var-unsorted: \\f0dc;\n$fa-var-list-ol: \\f0cb;\n$fa-var-list-1-2: \\f0cb;\n$fa-var-list-numeric: \\f0cb;\n$fa-var-person-dress-burst: \\e544;\n$fa-var-money-check-dollar: \\f53d;\n$fa-var-money-check-alt: \\f53d;\n$fa-var-vector-square: \\f5cb;\n$fa-var-bread-slice: \\f7ec;\n$fa-var-language: \\f1ab;\n$fa-var-face-kiss-wink-heart: \\f598;\n$fa-var-kiss-wink-heart: \\f598;\n$fa-var-filter: \\f0b0;\n$fa-var-question: \\3f;\n$fa-var-file-signature: \\f573;\n$fa-var-up-down-left-right: \\f0b2;\n$fa-var-arrows-alt: \\f0b2;\n$fa-var-house-chimney-user: \\e065;\n$fa-var-hand-holding-heart: \\f4be;\n$fa-var-puzzle-piece: \\f12e;\n$fa-var-money-check: \\f53c;\n$fa-var-star-half-stroke: \\f5c0;\n$fa-var-star-half-alt: \\f5c0;\n$fa-var-code: \\f121;\n$fa-var-whiskey-glass: \\f7a0;\n$fa-var-glass-whiskey: \\f7a0;\n$fa-var-building-circle-exclamation: \\e4d3;\n$fa-var-magnifying-glass-chart: \\e522;\n$fa-var-arrow-up-right-from-square: \\f08e;\n$fa-var-external-link: \\f08e;\n$fa-var-cubes-stacked: \\e4e6;\n$fa-var-won-sign: \\f159;\n$fa-var-krw: \\f159;\n$fa-var-won: \\f159;\n$fa-var-virus-covid: \\e4a8;\n$fa-var-austral-sign: \\e0a9;\n$fa-var-f: \\46;\n$fa-var-leaf: \\f06c;\n$fa-var-road: \\f018;\n$fa-var-taxi: \\f1ba;\n$fa-var-cab: \\f1ba;\n$fa-var-person-circle-plus: \\e541;\n$fa-var-chart-pie: \\f200;\n$fa-var-pie-chart: \\f200;\n$fa-var-bolt-lightning: \\e0b7;\n$fa-var-sack-xmark: \\e56a;\n$fa-var-file-excel: \\f1c3;\n$fa-var-file-contract: \\f56c;\n$fa-var-fish-fins: \\e4f2;\n$fa-var-building-flag: \\e4d5;\n$fa-var-face-grin-beam: \\f582;\n$fa-var-grin-beam: \\f582;\n$fa-var-object-ungroup: \\f248;\n$fa-var-poop: \\f619;\n$fa-var-location-pin: \\f041;\n$fa-var-map-marker: \\f041;\n$fa-var-kaaba: \\f66b;\n$fa-var-toilet-paper: \\f71e;\n$fa-var-helmet-safety: \\f807;\n$fa-var-hard-hat: \\f807;\n$fa-var-hat-hard: \\f807;\n$fa-var-eject: \\f052;\n$fa-var-circle-right: \\f35a;\n$fa-var-arrow-alt-circle-right: \\f35a;\n$fa-var-plane-circle-check: \\e555;\n$fa-var-face-rolling-eyes: \\f5a5;\n$fa-var-meh-rolling-eyes: \\f5a5;\n$fa-var-object-group: \\f247;\n$fa-var-chart-line: \\f201;\n$fa-var-line-chart: \\f201;\n$fa-var-mask-ventilator: \\e524;\n$fa-var-arrow-right: \\f061;\n$fa-var-signs-post: \\f277;\n$fa-var-map-signs: \\f277;\n$fa-var-cash-register: \\f788;\n$fa-var-person-circle-question: \\e542;\n$fa-var-h: \\48;\n$fa-var-tarp: \\e57b;\n$fa-var-screwdriver-wrench: \\f7d9;\n$fa-var-tools: \\f7d9;\n$fa-var-arrows-to-eye: \\e4bf;\n$fa-var-plug-circle-bolt: \\e55b;\n$fa-var-heart: \\f004;\n$fa-var-mars-and-venus: \\f224;\n$fa-var-house-user: \\e1b0;\n$fa-var-home-user: \\e1b0;\n$fa-var-dumpster-fire: \\f794;\n$fa-var-house-crack: \\e3b1;\n$fa-var-martini-glass-citrus: \\f561;\n$fa-var-cocktail: \\f561;\n$fa-var-face-surprise: \\f5c2;\n$fa-var-surprise: \\f5c2;\n$fa-var-bottle-water: \\e4c5;\n$fa-var-circle-pause: \\f28b;\n$fa-var-pause-circle: \\f28b;\n$fa-var-toilet-paper-slash: \\e072;\n$fa-var-apple-whole: \\f5d1;\n$fa-var-apple-alt: \\f5d1;\n$fa-var-kitchen-set: \\e51a;\n$fa-var-r: \\52;\n$fa-var-temperature-quarter: \\f2ca;\n$fa-var-temperature-1: \\f2ca;\n$fa-var-thermometer-1: \\f2ca;\n$fa-var-thermometer-quarter: \\f2ca;\n$fa-var-cube: \\f1b2;\n$fa-var-bitcoin-sign: \\e0b4;\n$fa-var-shield-dog: \\e573;\n$fa-var-solar-panel: \\f5ba;\n$fa-var-lock-open: \\f3c1;\n$fa-var-elevator: \\e16d;\n$fa-var-money-bill-transfer: \\e528;\n$fa-var-money-bill-trend-up: \\e529;\n$fa-var-house-flood-water-circle-arrow-right: \\e50f;\n$fa-var-square-poll-horizontal: \\f682;\n$fa-var-poll-h: \\f682;\n$fa-var-circle: \\f111;\n$fa-var-backward-fast: \\f049;\n$fa-var-fast-backward: \\f049;\n$fa-var-recycle: \\f1b8;\n$fa-var-user-astronaut: \\f4fb;\n$fa-var-plane-slash: \\e069;\n$fa-var-trademark: \\f25c;\n$fa-var-basketball: \\f434;\n$fa-var-basketball-ball: \\f434;\n$fa-var-satellite-dish: \\f7c0;\n$fa-var-circle-up: \\f35b;\n$fa-var-arrow-alt-circle-up: \\f35b;\n$fa-var-mobile-screen-button: \\f3cd;\n$fa-var-mobile-alt: \\f3cd;\n$fa-var-volume-high: \\f028;\n$fa-var-volume-up: \\f028;\n$fa-var-users-rays: \\e593;\n$fa-var-wallet: \\f555;\n$fa-var-clipboard-check: \\f46c;\n$fa-var-file-audio: \\f1c7;\n$fa-var-burger: \\f805;\n$fa-var-hamburger: \\f805;\n$fa-var-wrench: \\f0ad;\n$fa-var-bugs: \\e4d0;\n$fa-var-rupee-sign: \\f156;\n$fa-var-rupee: \\f156;\n$fa-var-file-image: \\f1c5;\n$fa-var-circle-question: \\f059;\n$fa-var-question-circle: \\f059;\n$fa-var-plane-departure: \\f5b0;\n$fa-var-handshake-slash: \\e060;\n$fa-var-book-bookmark: \\e0bb;\n$fa-var-code-branch: \\f126;\n$fa-var-hat-cowboy: \\f8c0;\n$fa-var-bridge: \\e4c8;\n$fa-var-phone-flip: \\f879;\n$fa-var-phone-alt: \\f879;\n$fa-var-truck-front: \\e2b7;\n$fa-var-cat: \\f6be;\n$fa-var-anchor-circle-exclamation: \\e4ab;\n$fa-var-truck-field: \\e58d;\n$fa-var-route: \\f4d7;\n$fa-var-clipboard-question: \\e4e3;\n$fa-var-panorama: \\e209;\n$fa-var-comment-medical: \\f7f5;\n$fa-var-teeth-open: \\f62f;\n$fa-var-file-circle-minus: \\e4ed;\n$fa-var-tags: \\f02c;\n$fa-var-wine-glass: \\f4e3;\n$fa-var-forward-fast: \\f050;\n$fa-var-fast-forward: \\f050;\n$fa-var-face-meh-blank: \\f5a4;\n$fa-var-meh-blank: \\f5a4;\n$fa-var-square-parking: \\f540;\n$fa-var-parking: \\f540;\n$fa-var-house-signal: \\e012;\n$fa-var-bars-progress: \\f828;\n$fa-var-tasks-alt: \\f828;\n$fa-var-faucet-drip: \\e006;\n$fa-var-cart-flatbed: \\f474;\n$fa-var-dolly-flatbed: \\f474;\n$fa-var-ban-smoking: \\f54d;\n$fa-var-smoking-ban: \\f54d;\n$fa-var-terminal: \\f120;\n$fa-var-mobile-button: \\f10b;\n$fa-var-house-medical-flag: \\e514;\n$fa-var-basket-shopping: \\f291;\n$fa-var-shopping-basket: \\f291;\n$fa-var-tape: \\f4db;\n$fa-var-bus-simple: \\f55e;\n$fa-var-bus-alt: \\f55e;\n$fa-var-eye: \\f06e;\n$fa-var-face-sad-cry: \\f5b3;\n$fa-var-sad-cry: \\f5b3;\n$fa-var-audio-description: \\f29e;\n$fa-var-person-military-to-person: \\e54c;\n$fa-var-file-shield: \\e4f0;\n$fa-var-user-slash: \\f506;\n$fa-var-pen: \\f304;\n$fa-var-tower-observation: \\e586;\n$fa-var-file-code: \\f1c9;\n$fa-var-signal: \\f012;\n$fa-var-signal-5: \\f012;\n$fa-var-signal-perfect: \\f012;\n$fa-var-bus: \\f207;\n$fa-var-heart-circle-xmark: \\e501;\n$fa-var-house-chimney: \\e3af;\n$fa-var-home-lg: \\e3af;\n$fa-var-window-maximize: \\f2d0;\n$fa-var-face-frown: \\f119;\n$fa-var-frown: \\f119;\n$fa-var-prescription: \\f5b1;\n$fa-var-shop: \\f54f;\n$fa-var-store-alt: \\f54f;\n$fa-var-floppy-disk: \\f0c7;\n$fa-var-save: \\f0c7;\n$fa-var-vihara: \\f6a7;\n$fa-var-scale-unbalanced: \\f515;\n$fa-var-balance-scale-left: \\f515;\n$fa-var-sort-up: \\f0de;\n$fa-var-sort-asc: \\f0de;\n$fa-var-comment-dots: \\f4ad;\n$fa-var-commenting: \\f4ad;\n$fa-var-plant-wilt: \\e5aa;\n$fa-var-diamond: \\f219;\n$fa-var-face-grin-squint: \\f585;\n$fa-var-grin-squint: \\f585;\n$fa-var-hand-holding-dollar: \\f4c0;\n$fa-var-hand-holding-usd: \\f4c0;\n$fa-var-bacterium: \\e05a;\n$fa-var-hand-pointer: \\f25a;\n$fa-var-drum-steelpan: \\f56a;\n$fa-var-hand-scissors: \\f257;\n$fa-var-hands-praying: \\f684;\n$fa-var-praying-hands: \\f684;\n$fa-var-arrow-rotate-right: \\f01e;\n$fa-var-arrow-right-rotate: \\f01e;\n$fa-var-arrow-rotate-forward: \\f01e;\n$fa-var-redo: \\f01e;\n$fa-var-biohazard: \\f780;\n$fa-var-location-crosshairs: \\f601;\n$fa-var-location: \\f601;\n$fa-var-mars-double: \\f227;\n$fa-var-child-dress: \\e59c;\n$fa-var-users-between-lines: \\e591;\n$fa-var-lungs-virus: \\e067;\n$fa-var-face-grin-tears: \\f588;\n$fa-var-grin-tears: \\f588;\n$fa-var-phone: \\f095;\n$fa-var-calendar-xmark: \\f273;\n$fa-var-calendar-times: \\f273;\n$fa-var-child-reaching: \\e59d;\n$fa-var-head-side-virus: \\e064;\n$fa-var-user-gear: \\f4fe;\n$fa-var-user-cog: \\f4fe;\n$fa-var-arrow-up-1-9: \\f163;\n$fa-var-sort-numeric-up: \\f163;\n$fa-var-door-closed: \\f52a;\n$fa-var-shield-virus: \\e06c;\n$fa-var-dice-six: \\f526;\n$fa-var-mosquito-net: \\e52c;\n$fa-var-bridge-water: \\e4ce;\n$fa-var-person-booth: \\f756;\n$fa-var-text-width: \\f035;\n$fa-var-hat-wizard: \\f6e8;\n$fa-var-pen-fancy: \\f5ac;\n$fa-var-person-digging: \\f85e;\n$fa-var-digging: \\f85e;\n$fa-var-trash: \\f1f8;\n$fa-var-gauge-simple: \\f629;\n$fa-var-gauge-simple-med: \\f629;\n$fa-var-tachometer-average: \\f629;\n$fa-var-book-medical: \\f7e6;\n$fa-var-poo: \\f2fe;\n$fa-var-quote-right: \\f10e;\n$fa-var-quote-right-alt: \\f10e;\n$fa-var-shirt: \\f553;\n$fa-var-t-shirt: \\f553;\n$fa-var-tshirt: \\f553;\n$fa-var-cubes: \\f1b3;\n$fa-var-divide: \\f529;\n$fa-var-tenge-sign: \\f7d7;\n$fa-var-tenge: \\f7d7;\n$fa-var-headphones: \\f025;\n$fa-var-hands-holding: \\f4c2;\n$fa-var-hands-clapping: \\e1a8;\n$fa-var-republican: \\f75e;\n$fa-var-arrow-left: \\f060;\n$fa-var-person-circle-xmark: \\e543;\n$fa-var-ruler: \\f545;\n$fa-var-align-left: \\f036;\n$fa-var-dice-d6: \\f6d1;\n$fa-var-restroom: \\f7bd;\n$fa-var-j: \\4a;\n$fa-var-users-viewfinder: \\e595;\n$fa-var-file-video: \\f1c8;\n$fa-var-up-right-from-square: \\f35d;\n$fa-var-external-link-alt: \\f35d;\n$fa-var-table-cells: \\f00a;\n$fa-var-th: \\f00a;\n$fa-var-file-pdf: \\f1c1;\n$fa-var-book-bible: \\f647;\n$fa-var-bible: \\f647;\n$fa-var-o: \\4f;\n$fa-var-suitcase-medical: \\f0fa;\n$fa-var-medkit: \\f0fa;\n$fa-var-user-secret: \\f21b;\n$fa-var-otter: \\f700;\n$fa-var-person-dress: \\f182;\n$fa-var-female: \\f182;\n$fa-var-comment-dollar: \\f651;\n$fa-var-business-time: \\f64a;\n$fa-var-briefcase-clock: \\f64a;\n$fa-var-table-cells-large: \\f009;\n$fa-var-th-large: \\f009;\n$fa-var-book-tanakh: \\f827;\n$fa-var-tanakh: \\f827;\n$fa-var-phone-volume: \\f2a0;\n$fa-var-volume-control-phone: \\f2a0;\n$fa-var-hat-cowboy-side: \\f8c1;\n$fa-var-clipboard-user: \\f7f3;\n$fa-var-child: \\f1ae;\n$fa-var-lira-sign: \\f195;\n$fa-var-satellite: \\f7bf;\n$fa-var-plane-lock: \\e558;\n$fa-var-tag: \\f02b;\n$fa-var-comment: \\f075;\n$fa-var-cake-candles: \\f1fd;\n$fa-var-birthday-cake: \\f1fd;\n$fa-var-cake: \\f1fd;\n$fa-var-envelope: \\f0e0;\n$fa-var-angles-up: \\f102;\n$fa-var-angle-double-up: \\f102;\n$fa-var-paperclip: \\f0c6;\n$fa-var-arrow-right-to-city: \\e4b3;\n$fa-var-ribbon: \\f4d6;\n$fa-var-lungs: \\f604;\n$fa-var-arrow-up-9-1: \\f887;\n$fa-var-sort-numeric-up-alt: \\f887;\n$fa-var-litecoin-sign: \\e1d3;\n$fa-var-border-none: \\f850;\n$fa-var-circle-nodes: \\e4e2;\n$fa-var-parachute-box: \\f4cd;\n$fa-var-indent: \\f03c;\n$fa-var-truck-field-un: \\e58e;\n$fa-var-hourglass: \\f254;\n$fa-var-hourglass-empty: \\f254;\n$fa-var-mountain: \\f6fc;\n$fa-var-user-doctor: \\f0f0;\n$fa-var-user-md: \\f0f0;\n$fa-var-circle-info: \\f05a;\n$fa-var-info-circle: \\f05a;\n$fa-var-cloud-meatball: \\f73b;\n$fa-var-camera: \\f030;\n$fa-var-camera-alt: \\f030;\n$fa-var-square-virus: \\e578;\n$fa-var-meteor: \\f753;\n$fa-var-car-on: \\e4dd;\n$fa-var-sleigh: \\f7cc;\n$fa-var-arrow-down-1-9: \\f162;\n$fa-var-sort-numeric-asc: \\f162;\n$fa-var-sort-numeric-down: \\f162;\n$fa-var-hand-holding-droplet: \\f4c1;\n$fa-var-hand-holding-water: \\f4c1;\n$fa-var-water: \\f773;\n$fa-var-calendar-check: \\f274;\n$fa-var-braille: \\f2a1;\n$fa-var-prescription-bottle-medical: \\f486;\n$fa-var-prescription-bottle-alt: \\f486;\n$fa-var-landmark: \\f66f;\n$fa-var-truck: \\f0d1;\n$fa-var-crosshairs: \\f05b;\n$fa-var-person-cane: \\e53c;\n$fa-var-tent: \\e57d;\n$fa-var-vest-patches: \\e086;\n$fa-var-check-double: \\f560;\n$fa-var-arrow-down-a-z: \\f15d;\n$fa-var-sort-alpha-asc: \\f15d;\n$fa-var-sort-alpha-down: \\f15d;\n$fa-var-money-bill-wheat: \\e52a;\n$fa-var-cookie: \\f563;\n$fa-var-arrow-rotate-left: \\f0e2;\n$fa-var-arrow-left-rotate: \\f0e2;\n$fa-var-arrow-rotate-back: \\f0e2;\n$fa-var-arrow-rotate-backward: \\f0e2;\n$fa-var-undo: \\f0e2;\n$fa-var-hard-drive: \\f0a0;\n$fa-var-hdd: \\f0a0;\n$fa-var-face-grin-squint-tears: \\f586;\n$fa-var-grin-squint-tears: \\f586;\n$fa-var-dumbbell: \\f44b;\n$fa-var-rectangle-list: \\f022;\n$fa-var-list-alt: \\f022;\n$fa-var-tarp-droplet: \\e57c;\n$fa-var-house-medical-circle-check: \\e511;\n$fa-var-person-skiing-nordic: \\f7ca;\n$fa-var-skiing-nordic: \\f7ca;\n$fa-var-calendar-plus: \\f271;\n$fa-var-plane-arrival: \\f5af;\n$fa-var-circle-left: \\f359;\n$fa-var-arrow-alt-circle-left: \\f359;\n$fa-var-train-subway: \\f239;\n$fa-var-subway: \\f239;\n$fa-var-chart-gantt: \\e0e4;\n$fa-var-indian-rupee-sign: \\e1bc;\n$fa-var-indian-rupee: \\e1bc;\n$fa-var-inr: \\e1bc;\n$fa-var-crop-simple: \\f565;\n$fa-var-crop-alt: \\f565;\n$fa-var-money-bill-1: \\f3d1;\n$fa-var-money-bill-alt: \\f3d1;\n$fa-var-left-long: \\f30a;\n$fa-var-long-arrow-alt-left: \\f30a;\n$fa-var-dna: \\f471;\n$fa-var-virus-slash: \\e075;\n$fa-var-minus: \\f068;\n$fa-var-subtract: \\f068;\n$fa-var-chess: \\f439;\n$fa-var-arrow-left-long: \\f177;\n$fa-var-long-arrow-left: \\f177;\n$fa-var-plug-circle-check: \\e55c;\n$fa-var-street-view: \\f21d;\n$fa-var-franc-sign: \\e18f;\n$fa-var-volume-off: \\f026;\n$fa-var-hands-asl-interpreting: \\f2a3;\n$fa-var-american-sign-language-interpreting: \\f2a3;\n$fa-var-asl-interpreting: \\f2a3;\n$fa-var-hands-american-sign-language-interpreting: \\f2a3;\n$fa-var-gear: \\f013;\n$fa-var-cog: \\f013;\n$fa-var-droplet-slash: \\f5c7;\n$fa-var-tint-slash: \\f5c7;\n$fa-var-mosque: \\f678;\n$fa-var-mosquito: \\e52b;\n$fa-var-star-of-david: \\f69a;\n$fa-var-person-military-rifle: \\e54b;\n$fa-var-cart-shopping: \\f07a;\n$fa-var-shopping-cart: \\f07a;\n$fa-var-vials: \\f493;\n$fa-var-plug-circle-plus: \\e55f;\n$fa-var-place-of-worship: \\f67f;\n$fa-var-grip-vertical: \\f58e;\n$fa-var-arrow-turn-up: \\f148;\n$fa-var-level-up: \\f148;\n$fa-var-u: \\55;\n$fa-var-square-root-variable: \\f698;\n$fa-var-square-root-alt: \\f698;\n$fa-var-clock: \\f017;\n$fa-var-clock-four: \\f017;\n$fa-var-backward-step: \\f048;\n$fa-var-step-backward: \\f048;\n$fa-var-pallet: \\f482;\n$fa-var-faucet: \\e005;\n$fa-var-baseball-bat-ball: \\f432;\n$fa-var-s: \\53;\n$fa-var-timeline: \\e29c;\n$fa-var-keyboard: \\f11c;\n$fa-var-caret-down: \\f0d7;\n$fa-var-house-chimney-medical: \\f7f2;\n$fa-var-clinic-medical: \\f7f2;\n$fa-var-temperature-three-quarters: \\f2c8;\n$fa-var-temperature-3: \\f2c8;\n$fa-var-thermometer-3: \\f2c8;\n$fa-var-thermometer-three-quarters: \\f2c8;\n$fa-var-mobile-screen: \\f3cf;\n$fa-var-mobile-android-alt: \\f3cf;\n$fa-var-plane-up: \\e22d;\n$fa-var-piggy-bank: \\f4d3;\n$fa-var-battery-half: \\f242;\n$fa-var-battery-3: \\f242;\n$fa-var-mountain-city: \\e52e;\n$fa-var-coins: \\f51e;\n$fa-var-khanda: \\f66d;\n$fa-var-sliders: \\f1de;\n$fa-var-sliders-h: \\f1de;\n$fa-var-folder-tree: \\f802;\n$fa-var-network-wired: \\f6ff;\n$fa-var-map-pin: \\f276;\n$fa-var-hamsa: \\f665;\n$fa-var-cent-sign: \\e3f5;\n$fa-var-flask: \\f0c3;\n$fa-var-person-pregnant: \\e31e;\n$fa-var-wand-sparkles: \\f72b;\n$fa-var-ellipsis-vertical: \\f142;\n$fa-var-ellipsis-v: \\f142;\n$fa-var-ticket: \\f145;\n$fa-var-power-off: \\f011;\n$fa-var-right-long: \\f30b;\n$fa-var-long-arrow-alt-right: \\f30b;\n$fa-var-flag-usa: \\f74d;\n$fa-var-laptop-file: \\e51d;\n$fa-var-tty: \\f1e4;\n$fa-var-teletype: \\f1e4;\n$fa-var-diagram-next: \\e476;\n$fa-var-person-rifle: \\e54e;\n$fa-var-house-medical-circle-exclamation: \\e512;\n$fa-var-closed-captioning: \\f20a;\n$fa-var-person-hiking: \\f6ec;\n$fa-var-hiking: \\f6ec;\n$fa-var-venus-double: \\f226;\n$fa-var-images: \\f302;\n$fa-var-calculator: \\f1ec;\n$fa-var-people-pulling: \\e535;\n$fa-var-n: \\4e;\n$fa-var-cable-car: \\f7da;\n$fa-var-tram: \\f7da;\n$fa-var-cloud-rain: \\f73d;\n$fa-var-building-circle-xmark: \\e4d4;\n$fa-var-ship: \\f21a;\n$fa-var-arrows-down-to-line: \\e4b8;\n$fa-var-download: \\f019;\n$fa-var-face-grin: \\f580;\n$fa-var-grin: \\f580;\n$fa-var-delete-left: \\f55a;\n$fa-var-backspace: \\f55a;\n$fa-var-eye-dropper: \\f1fb;\n$fa-var-eye-dropper-empty: \\f1fb;\n$fa-var-eyedropper: \\f1fb;\n$fa-var-file-circle-check: \\e5a0;\n$fa-var-forward: \\f04e;\n$fa-var-mobile: \\f3ce;\n$fa-var-mobile-android: \\f3ce;\n$fa-var-mobile-phone: \\f3ce;\n$fa-var-face-meh: \\f11a;\n$fa-var-meh: \\f11a;\n$fa-var-align-center: \\f037;\n$fa-var-book-skull: \\f6b7;\n$fa-var-book-dead: \\f6b7;\n$fa-var-id-card: \\f2c2;\n$fa-var-drivers-license: \\f2c2;\n$fa-var-outdent: \\f03b;\n$fa-var-dedent: \\f03b;\n$fa-var-heart-circle-exclamation: \\e4fe;\n$fa-var-house: \\f015;\n$fa-var-home: \\f015;\n$fa-var-home-alt: \\f015;\n$fa-var-home-lg-alt: \\f015;\n$fa-var-calendar-week: \\f784;\n$fa-var-laptop-medical: \\f812;\n$fa-var-b: \\42;\n$fa-var-file-medical: \\f477;\n$fa-var-dice-one: \\f525;\n$fa-var-kiwi-bird: \\f535;\n$fa-var-arrow-right-arrow-left: \\f0ec;\n$fa-var-exchange: \\f0ec;\n$fa-var-rotate-right: \\f2f9;\n$fa-var-redo-alt: \\f2f9;\n$fa-var-rotate-forward: \\f2f9;\n$fa-var-utensils: \\f2e7;\n$fa-var-cutlery: \\f2e7;\n$fa-var-arrow-up-wide-short: \\f161;\n$fa-var-sort-amount-up: \\f161;\n$fa-var-mill-sign: \\e1ed;\n$fa-var-bowl-rice: \\e2eb;\n$fa-var-skull: \\f54c;\n$fa-var-tower-broadcast: \\f519;\n$fa-var-broadcast-tower: \\f519;\n$fa-var-truck-pickup: \\f63c;\n$fa-var-up-long: \\f30c;\n$fa-var-long-arrow-alt-up: \\f30c;\n$fa-var-stop: \\f04d;\n$fa-var-code-merge: \\f387;\n$fa-var-upload: \\f093;\n$fa-var-hurricane: \\f751;\n$fa-var-mound: \\e52d;\n$fa-var-toilet-portable: \\e583;\n$fa-var-compact-disc: \\f51f;\n$fa-var-file-arrow-down: \\f56d;\n$fa-var-file-download: \\f56d;\n$fa-var-caravan: \\f8ff;\n$fa-var-shield-cat: \\e572;\n$fa-var-bolt: \\f0e7;\n$fa-var-zap: \\f0e7;\n$fa-var-glass-water: \\e4f4;\n$fa-var-oil-well: \\e532;\n$fa-var-vault: \\e2c5;\n$fa-var-mars: \\f222;\n$fa-var-toilet: \\f7d8;\n$fa-var-plane-circle-xmark: \\e557;\n$fa-var-yen-sign: \\f157;\n$fa-var-cny: \\f157;\n$fa-var-jpy: \\f157;\n$fa-var-rmb: \\f157;\n$fa-var-yen: \\f157;\n$fa-var-ruble-sign: \\f158;\n$fa-var-rouble: \\f158;\n$fa-var-rub: \\f158;\n$fa-var-ruble: \\f158;\n$fa-var-sun: \\f185;\n$fa-var-guitar: \\f7a6;\n$fa-var-face-laugh-wink: \\f59c;\n$fa-var-laugh-wink: \\f59c;\n$fa-var-horse-head: \\f7ab;\n$fa-var-bore-hole: \\e4c3;\n$fa-var-industry: \\f275;\n$fa-var-circle-down: \\f358;\n$fa-var-arrow-alt-circle-down: \\f358;\n$fa-var-arrows-turn-to-dots: \\e4c1;\n$fa-var-florin-sign: \\e184;\n$fa-var-arrow-down-short-wide: \\f884;\n$fa-var-sort-amount-desc: \\f884;\n$fa-var-sort-amount-down-alt: \\f884;\n$fa-var-less-than: \\3c;\n$fa-var-angle-down: \\f107;\n$fa-var-car-tunnel: \\e4de;\n$fa-var-head-side-cough: \\e061;\n$fa-var-grip-lines: \\f7a4;\n$fa-var-thumbs-down: \\f165;\n$fa-var-user-lock: \\f502;\n$fa-var-arrow-right-long: \\f178;\n$fa-var-long-arrow-right: \\f178;\n$fa-var-anchor-circle-xmark: \\e4ac;\n$fa-var-ellipsis: \\f141;\n$fa-var-ellipsis-h: \\f141;\n$fa-var-chess-pawn: \\f443;\n$fa-var-kit-medical: \\f479;\n$fa-var-first-aid: \\f479;\n$fa-var-person-through-window: \\e5a9;\n$fa-var-toolbox: \\f552;\n$fa-var-hands-holding-circle: \\e4fb;\n$fa-var-bug: \\f188;\n$fa-var-credit-card: \\f09d;\n$fa-var-credit-card-alt: \\f09d;\n$fa-var-car: \\f1b9;\n$fa-var-automobile: \\f1b9;\n$fa-var-hand-holding-hand: \\e4f7;\n$fa-var-book-open-reader: \\f5da;\n$fa-var-book-reader: \\f5da;\n$fa-var-mountain-sun: \\e52f;\n$fa-var-arrows-left-right-to-line: \\e4ba;\n$fa-var-dice-d20: \\f6cf;\n$fa-var-truck-droplet: \\e58c;\n$fa-var-file-circle-xmark: \\e5a1;\n$fa-var-temperature-arrow-up: \\e040;\n$fa-var-temperature-up: \\e040;\n$fa-var-medal: \\f5a2;\n$fa-var-bed: \\f236;\n$fa-var-square-h: \\f0fd;\n$fa-var-h-square: \\f0fd;\n$fa-var-podcast: \\f2ce;\n$fa-var-temperature-full: \\f2c7;\n$fa-var-temperature-4: \\f2c7;\n$fa-var-thermometer-4: \\f2c7;\n$fa-var-thermometer-full: \\f2c7;\n$fa-var-bell: \\f0f3;\n$fa-var-superscript: \\f12b;\n$fa-var-plug-circle-xmark: \\e560;\n$fa-var-star-of-life: \\f621;\n$fa-var-phone-slash: \\f3dd;\n$fa-var-paint-roller: \\f5aa;\n$fa-var-handshake-angle: \\f4c4;\n$fa-var-hands-helping: \\f4c4;\n$fa-var-location-dot: \\f3c5;\n$fa-var-map-marker-alt: \\f3c5;\n$fa-var-file: \\f15b;\n$fa-var-greater-than: \\3e;\n$fa-var-person-swimming: \\f5c4;\n$fa-var-swimmer: \\f5c4;\n$fa-var-arrow-down: \\f063;\n$fa-var-droplet: \\f043;\n$fa-var-tint: \\f043;\n$fa-var-eraser: \\f12d;\n$fa-var-earth-americas: \\f57d;\n$fa-var-earth: \\f57d;\n$fa-var-earth-america: \\f57d;\n$fa-var-globe-americas: \\f57d;\n$fa-var-person-burst: \\e53b;\n$fa-var-dove: \\f4ba;\n$fa-var-battery-empty: \\f244;\n$fa-var-battery-0: \\f244;\n$fa-var-socks: \\f696;\n$fa-var-inbox: \\f01c;\n$fa-var-section: \\e447;\n$fa-var-gauge-high: \\f625;\n$fa-var-tachometer-alt: \\f625;\n$fa-var-tachometer-alt-fast: \\f625;\n$fa-var-envelope-open-text: \\f658;\n$fa-var-hospital: \\f0f8;\n$fa-var-hospital-alt: \\f0f8;\n$fa-var-hospital-wide: \\f0f8;\n$fa-var-wine-bottle: \\f72f;\n$fa-var-chess-rook: \\f447;\n$fa-var-bars-staggered: \\f550;\n$fa-var-reorder: \\f550;\n$fa-var-stream: \\f550;\n$fa-var-dharmachakra: \\f655;\n$fa-var-hotdog: \\f80f;\n$fa-var-person-walking-with-cane: \\f29d;\n$fa-var-blind: \\f29d;\n$fa-var-drum: \\f569;\n$fa-var-ice-cream: \\f810;\n$fa-var-heart-circle-bolt: \\e4fc;\n$fa-var-fax: \\f1ac;\n$fa-var-paragraph: \\f1dd;\n$fa-var-check-to-slot: \\f772;\n$fa-var-vote-yea: \\f772;\n$fa-var-star-half: \\f089;\n$fa-var-boxes-stacked: \\f468;\n$fa-var-boxes: \\f468;\n$fa-var-boxes-alt: \\f468;\n$fa-var-link: \\f0c1;\n$fa-var-chain: \\f0c1;\n$fa-var-ear-listen: \\f2a2;\n$fa-var-assistive-listening-systems: \\f2a2;\n$fa-var-tree-city: \\e587;\n$fa-var-play: \\f04b;\n$fa-var-font: \\f031;\n$fa-var-table-cells-row-lock: \\e67a;\n$fa-var-rupiah-sign: \\e23d;\n$fa-var-magnifying-glass: \\f002;\n$fa-var-search: \\f002;\n$fa-var-table-tennis-paddle-ball: \\f45d;\n$fa-var-ping-pong-paddle-ball: \\f45d;\n$fa-var-table-tennis: \\f45d;\n$fa-var-person-dots-from-line: \\f470;\n$fa-var-diagnoses: \\f470;\n$fa-var-trash-can-arrow-up: \\f82a;\n$fa-var-trash-restore-alt: \\f82a;\n$fa-var-naira-sign: \\e1f6;\n$fa-var-cart-arrow-down: \\f218;\n$fa-var-walkie-talkie: \\f8ef;\n$fa-var-file-pen: \\f31c;\n$fa-var-file-edit: \\f31c;\n$fa-var-receipt: \\f543;\n$fa-var-square-pen: \\f14b;\n$fa-var-pen-square: \\f14b;\n$fa-var-pencil-square: \\f14b;\n$fa-var-suitcase-rolling: \\f5c1;\n$fa-var-person-circle-exclamation: \\e53f;\n$fa-var-chevron-down: \\f078;\n$fa-var-battery-full: \\f240;\n$fa-var-battery: \\f240;\n$fa-var-battery-5: \\f240;\n$fa-var-skull-crossbones: \\f714;\n$fa-var-code-compare: \\e13a;\n$fa-var-list-ul: \\f0ca;\n$fa-var-list-dots: \\f0ca;\n$fa-var-school-lock: \\e56f;\n$fa-var-tower-cell: \\e585;\n$fa-var-down-long: \\f309;\n$fa-var-long-arrow-alt-down: \\f309;\n$fa-var-ranking-star: \\e561;\n$fa-var-chess-king: \\f43f;\n$fa-var-person-harassing: \\e549;\n$fa-var-brazilian-real-sign: \\e46c;\n$fa-var-landmark-dome: \\f752;\n$fa-var-landmark-alt: \\f752;\n$fa-var-arrow-up: \\f062;\n$fa-var-tv: \\f26c;\n$fa-var-television: \\f26c;\n$fa-var-tv-alt: \\f26c;\n$fa-var-shrimp: \\e448;\n$fa-var-list-check: \\f0ae;\n$fa-var-tasks: \\f0ae;\n$fa-var-jug-detergent: \\e519;\n$fa-var-circle-user: \\f2bd;\n$fa-var-user-circle: \\f2bd;\n$fa-var-user-shield: \\f505;\n$fa-var-wind: \\f72e;\n$fa-var-car-burst: \\f5e1;\n$fa-var-car-crash: \\f5e1;\n$fa-var-y: \\59;\n$fa-var-person-snowboarding: \\f7ce;\n$fa-var-snowboarding: \\f7ce;\n$fa-var-truck-fast: \\f48b;\n$fa-var-shipping-fast: \\f48b;\n$fa-var-fish: \\f578;\n$fa-var-user-graduate: \\f501;\n$fa-var-circle-half-stroke: \\f042;\n$fa-var-adjust: \\f042;\n$fa-var-clapperboard: \\e131;\n$fa-var-circle-radiation: \\f7ba;\n$fa-var-radiation-alt: \\f7ba;\n$fa-var-baseball: \\f433;\n$fa-var-baseball-ball: \\f433;\n$fa-var-jet-fighter-up: \\e518;\n$fa-var-diagram-project: \\f542;\n$fa-var-project-diagram: \\f542;\n$fa-var-copy: \\f0c5;\n$fa-var-volume-xmark: \\f6a9;\n$fa-var-volume-mute: \\f6a9;\n$fa-var-volume-times: \\f6a9;\n$fa-var-hand-sparkles: \\e05d;\n$fa-var-grip: \\f58d;\n$fa-var-grip-horizontal: \\f58d;\n$fa-var-share-from-square: \\f14d;\n$fa-var-share-square: \\f14d;\n$fa-var-child-combatant: \\e4e0;\n$fa-var-child-rifle: \\e4e0;\n$fa-var-gun: \\e19b;\n$fa-var-square-phone: \\f098;\n$fa-var-phone-square: \\f098;\n$fa-var-plus: \\2b;\n$fa-var-add: \\2b;\n$fa-var-expand: \\f065;\n$fa-var-computer: \\e4e5;\n$fa-var-xmark: \\f00d;\n$fa-var-close: \\f00d;\n$fa-var-multiply: \\f00d;\n$fa-var-remove: \\f00d;\n$fa-var-times: \\f00d;\n$fa-var-arrows-up-down-left-right: \\f047;\n$fa-var-arrows: \\f047;\n$fa-var-chalkboard-user: \\f51c;\n$fa-var-chalkboard-teacher: \\f51c;\n$fa-var-peso-sign: \\e222;\n$fa-var-building-shield: \\e4d8;\n$fa-var-baby: \\f77c;\n$fa-var-users-line: \\e592;\n$fa-var-quote-left: \\f10d;\n$fa-var-quote-left-alt: \\f10d;\n$fa-var-tractor: \\f722;\n$fa-var-trash-arrow-up: \\f829;\n$fa-var-trash-restore: \\f829;\n$fa-var-arrow-down-up-lock: \\e4b0;\n$fa-var-lines-leaning: \\e51e;\n$fa-var-ruler-combined: \\f546;\n$fa-var-copyright: \\f1f9;\n$fa-var-equals: \\3d;\n$fa-var-blender: \\f517;\n$fa-var-teeth: \\f62e;\n$fa-var-shekel-sign: \\f20b;\n$fa-var-ils: \\f20b;\n$fa-var-shekel: \\f20b;\n$fa-var-sheqel: \\f20b;\n$fa-var-sheqel-sign: \\f20b;\n$fa-var-map: \\f279;\n$fa-var-rocket: \\f135;\n$fa-var-photo-film: \\f87c;\n$fa-var-photo-video: \\f87c;\n$fa-var-folder-minus: \\f65d;\n$fa-var-store: \\f54e;\n$fa-var-arrow-trend-up: \\e098;\n$fa-var-plug-circle-minus: \\e55e;\n$fa-var-sign-hanging: \\f4d9;\n$fa-var-sign: \\f4d9;\n$fa-var-bezier-curve: \\f55b;\n$fa-var-bell-slash: \\f1f6;\n$fa-var-tablet: \\f3fb;\n$fa-var-tablet-android: \\f3fb;\n$fa-var-school-flag: \\e56e;\n$fa-var-fill: \\f575;\n$fa-var-angle-up: \\f106;\n$fa-var-drumstick-bite: \\f6d7;\n$fa-var-holly-berry: \\f7aa;\n$fa-var-chevron-left: \\f053;\n$fa-var-bacteria: \\e059;\n$fa-var-hand-lizard: \\f258;\n$fa-var-notdef: \\e1fe;\n$fa-var-disease: \\f7fa;\n$fa-var-briefcase-medical: \\f469;\n$fa-var-genderless: \\f22d;\n$fa-var-chevron-right: \\f054;\n$fa-var-retweet: \\f079;\n$fa-var-car-rear: \\f5de;\n$fa-var-car-alt: \\f5de;\n$fa-var-pump-soap: \\e06b;\n$fa-var-video-slash: \\f4e2;\n$fa-var-battery-quarter: \\f243;\n$fa-var-battery-2: \\f243;\n$fa-var-radio: \\f8d7;\n$fa-var-baby-carriage: \\f77d;\n$fa-var-carriage-baby: \\f77d;\n$fa-var-traffic-light: \\f637;\n$fa-var-thermometer: \\f491;\n$fa-var-vr-cardboard: \\f729;\n$fa-var-hand-middle-finger: \\f806;\n$fa-var-percent: \\25;\n$fa-var-percentage: \\25;\n$fa-var-truck-moving: \\f4df;\n$fa-var-glass-water-droplet: \\e4f5;\n$fa-var-display: \\e163;\n$fa-var-face-smile: \\f118;\n$fa-var-smile: \\f118;\n$fa-var-thumbtack: \\f08d;\n$fa-var-thumb-tack: \\f08d;\n$fa-var-trophy: \\f091;\n$fa-var-person-praying: \\f683;\n$fa-var-pray: \\f683;\n$fa-var-hammer: \\f6e3;\n$fa-var-hand-peace: \\f25b;\n$fa-var-rotate: \\f2f1;\n$fa-var-sync-alt: \\f2f1;\n$fa-var-spinner: \\f110;\n$fa-var-robot: \\f544;\n$fa-var-peace: \\f67c;\n$fa-var-gears: \\f085;\n$fa-var-cogs: \\f085;\n$fa-var-warehouse: \\f494;\n$fa-var-arrow-up-right-dots: \\e4b7;\n$fa-var-splotch: \\f5bc;\n$fa-var-face-grin-hearts: \\f584;\n$fa-var-grin-hearts: \\f584;\n$fa-var-dice-four: \\f524;\n$fa-var-sim-card: \\f7c4;\n$fa-var-transgender: \\f225;\n$fa-var-transgender-alt: \\f225;\n$fa-var-mercury: \\f223;\n$fa-var-arrow-turn-down: \\f149;\n$fa-var-level-down: \\f149;\n$fa-var-person-falling-burst: \\e547;\n$fa-var-award: \\f559;\n$fa-var-ticket-simple: \\f3ff;\n$fa-var-ticket-alt: \\f3ff;\n$fa-var-building: \\f1ad;\n$fa-var-angles-left: \\f100;\n$fa-var-angle-double-left: \\f100;\n$fa-var-qrcode: \\f029;\n$fa-var-clock-rotate-left: \\f1da;\n$fa-var-history: \\f1da;\n$fa-var-face-grin-beam-sweat: \\f583;\n$fa-var-grin-beam-sweat: \\f583;\n$fa-var-file-export: \\f56e;\n$fa-var-arrow-right-from-file: \\f56e;\n$fa-var-shield: 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\\f7cd;\n$fa-var-book: \\f02d;\n$fa-var-user-plus: \\f234;\n$fa-var-check: \\f00c;\n$fa-var-battery-three-quarters: \\f241;\n$fa-var-battery-4: \\f241;\n$fa-var-house-circle-check: \\e509;\n$fa-var-angle-left: \\f104;\n$fa-var-diagram-successor: \\e47a;\n$fa-var-truck-arrow-right: \\e58b;\n$fa-var-arrows-split-up-and-left: \\e4bc;\n$fa-var-hand-fist: \\f6de;\n$fa-var-fist-raised: \\f6de;\n$fa-var-cloud-moon: \\f6c3;\n$fa-var-briefcase: \\f0b1;\n$fa-var-person-falling: \\e546;\n$fa-var-image-portrait: \\f3e0;\n$fa-var-portrait: \\f3e0;\n$fa-var-user-tag: \\f507;\n$fa-var-rug: \\e569;\n$fa-var-earth-europe: \\f7a2;\n$fa-var-globe-europe: \\f7a2;\n$fa-var-cart-flatbed-suitcase: \\f59d;\n$fa-var-luggage-cart: \\f59d;\n$fa-var-rectangle-xmark: \\f410;\n$fa-var-rectangle-times: \\f410;\n$fa-var-times-rectangle: \\f410;\n$fa-var-window-close: \\f410;\n$fa-var-baht-sign: \\e0ac;\n$fa-var-book-open: \\f518;\n$fa-var-book-journal-whills: \\f66a;\n$fa-var-journal-whills: \\f66a;\n$fa-var-handcuffs: \\e4f8;\n$fa-var-triangle-exclamation: \\f071;\n$fa-var-exclamation-triangle: \\f071;\n$fa-var-warning: \\f071;\n$fa-var-database: \\f1c0;\n$fa-var-share: \\f064;\n$fa-var-mail-forward: \\f064;\n$fa-var-bottle-droplet: \\e4c4;\n$fa-var-mask-face: \\e1d7;\n$fa-var-hill-rockslide: \\e508;\n$fa-var-right-left: \\f362;\n$fa-var-exchange-alt: \\f362;\n$fa-var-paper-plane: \\f1d8;\n$fa-var-road-circle-exclamation: \\e565;\n$fa-var-dungeon: \\f6d9;\n$fa-var-align-right: \\f038;\n$fa-var-money-bill-1-wave: \\f53b;\n$fa-var-money-bill-wave-alt: \\f53b;\n$fa-var-life-ring: \\f1cd;\n$fa-var-hands: \\f2a7;\n$fa-var-sign-language: \\f2a7;\n$fa-var-signing: \\f2a7;\n$fa-var-calendar-day: \\f783;\n$fa-var-water-ladder: \\f5c5;\n$fa-var-ladder-water: \\f5c5;\n$fa-var-swimming-pool: \\f5c5;\n$fa-var-arrows-up-down: \\f07d;\n$fa-var-arrows-v: \\f07d;\n$fa-var-face-grimace: \\f57f;\n$fa-var-grimace: \\f57f;\n$fa-var-wheelchair-move: \\e2ce;\n$fa-var-wheelchair-alt: \\e2ce;\n$fa-var-turn-down: \\f3be;\n$fa-var-level-down-alt: \\f3be;\n$fa-var-person-walking-arrow-right: \\e552;\n$fa-var-square-envelope: \\f199;\n$fa-var-envelope-square: \\f199;\n$fa-var-dice: \\f522;\n$fa-var-bowling-ball: \\f436;\n$fa-var-brain: \\f5dc;\n$fa-var-bandage: \\f462;\n$fa-var-band-aid: \\f462;\n$fa-var-calendar-minus: \\f272;\n$fa-var-circle-xmark: \\f057;\n$fa-var-times-circle: \\f057;\n$fa-var-xmark-circle: \\f057;\n$fa-var-gifts: \\f79c;\n$fa-var-hotel: \\f594;\n$fa-var-earth-asia: \\f57e;\n$fa-var-globe-asia: \\f57e;\n$fa-var-id-card-clip: \\f47f;\n$fa-var-id-card-alt: \\f47f;\n$fa-var-magnifying-glass-plus: \\f00e;\n$fa-var-search-plus: \\f00e;\n$fa-var-thumbs-up: \\f164;\n$fa-var-user-clock: \\f4fd;\n$fa-var-hand-dots: \\f461;\n$fa-var-allergies: \\f461;\n$fa-var-file-invoice: \\f570;\n$fa-var-window-minimize: \\f2d1;\n$fa-var-mug-saucer: \\f0f4;\n$fa-var-coffee: \\f0f4;\n$fa-var-brush: \\f55d;\n$fa-var-mask: \\f6fa;\n$fa-var-magnifying-glass-minus: \\f010;\n$fa-var-search-minus: \\f010;\n$fa-var-ruler-vertical: \\f548;\n$fa-var-user-large: \\f406;\n$fa-var-user-alt: \\f406;\n$fa-var-train-tram: \\e5b4;\n$fa-var-user-nurse: \\f82f;\n$fa-var-syringe: \\f48e;\n$fa-var-cloud-sun: \\f6c4;\n$fa-var-stopwatch-20: \\e06f;\n$fa-var-square-full: \\f45c;\n$fa-var-magnet: \\f076;\n$fa-var-jar: \\e516;\n$fa-var-note-sticky: \\f249;\n$fa-var-sticky-note: \\f249;\n$fa-var-bug-slash: \\e490;\n$fa-var-arrow-up-from-water-pump: \\e4b6;\n$fa-var-bone: \\f5d7;\n$fa-var-user-injured: \\f728;\n$fa-var-face-sad-tear: \\f5b4;\n$fa-var-sad-tear: \\f5b4;\n$fa-var-plane: \\f072;\n$fa-var-tent-arrows-down: \\e581;\n$fa-var-exclamation: \\21;\n$fa-var-arrows-spin: \\e4bb;\n$fa-var-print: \\f02f;\n$fa-var-turkish-lira-sign: \\e2bb;\n$fa-var-try: \\e2bb;\n$fa-var-turkish-lira: \\e2bb;\n$fa-var-dollar-sign: \\24;\n$fa-var-dollar: \\24;\n$fa-var-usd: \\24;\n$fa-var-x: \\58;\n$fa-var-magnifying-glass-dollar: \\f688;\n$fa-var-search-dollar: \\f688;\n$fa-var-users-gear: \\f509;\n$fa-var-users-cog: \\f509;\n$fa-var-person-military-pointing: \\e54a;\n$fa-var-building-columns: \\f19c;\n$fa-var-bank: \\f19c;\n$fa-var-institution: \\f19c;\n$fa-var-museum: \\f19c;\n$fa-var-university: \\f19c;\n$fa-var-umbrella: \\f0e9;\n$fa-var-trowel: \\e589;\n$fa-var-d: \\44;\n$fa-var-stapler: \\e5af;\n$fa-var-masks-theater: \\f630;\n$fa-var-theater-masks: \\f630;\n$fa-var-kip-sign: \\e1c4;\n$fa-var-hand-point-left: \\f0a5;\n$fa-var-handshake-simple: \\f4c6;\n$fa-var-handshake-alt: \\f4c6;\n$fa-var-jet-fighter: \\f0fb;\n$fa-var-fighter-jet: \\f0fb;\n$fa-var-square-share-nodes: \\f1e1;\n$fa-var-share-alt-square: \\f1e1;\n$fa-var-barcode: \\f02a;\n$fa-var-plus-minus: \\e43c;\n$fa-var-video: \\f03d;\n$fa-var-video-camera: \\f03d;\n$fa-var-graduation-cap: \\f19d;\n$fa-var-mortar-board: \\f19d;\n$fa-var-hand-holding-medical: \\e05c;\n$fa-var-person-circle-check: \\e53e;\n$fa-var-turn-up: \\f3bf;\n$fa-var-level-up-alt: \\f3bf;\n\n$fa-var-monero: \\f3d0;\n$fa-var-hooli: \\f427;\n$fa-var-yelp: \\f1e9;\n$fa-var-cc-visa: \\f1f0;\n$fa-var-lastfm: \\f202;\n$fa-var-shopware: \\f5b5;\n$fa-var-creative-commons-nc: \\f4e8;\n$fa-var-aws: \\f375;\n$fa-var-redhat: \\f7bc;\n$fa-var-yoast: \\f2b1;\n$fa-var-cloudflare: \\e07d;\n$fa-var-ups: \\f7e0;\n$fa-var-pixiv: \\e640;\n$fa-var-wpexplorer: \\f2de;\n$fa-var-dyalog: \\f399;\n$fa-var-bity: \\f37a;\n$fa-var-stackpath: \\f842;\n$fa-var-buysellads: \\f20d;\n$fa-var-first-order: \\f2b0;\n$fa-var-modx: \\f285;\n$fa-var-guilded: \\e07e;\n$fa-var-vnv: \\f40b;\n$fa-var-square-js: \\f3b9;\n$fa-var-js-square: \\f3b9;\n$fa-var-microsoft: \\f3ca;\n$fa-var-qq: \\f1d6;\n$fa-var-orcid: \\f8d2;\n$fa-var-java: \\f4e4;\n$fa-var-invision: \\f7b0;\n$fa-var-creative-commons-pd-alt: \\f4ed;\n$fa-var-centercode: \\f380;\n$fa-var-glide-g: \\f2a6;\n$fa-var-drupal: \\f1a9;\n$fa-var-jxl: \\e67b;\n$fa-var-hire-a-helper: \\f3b0;\n$fa-var-creative-commons-by: \\f4e7;\n$fa-var-unity: \\e049;\n$fa-var-whmcs: \\f40d;\n$fa-var-rocketchat: \\f3e8;\n$fa-var-vk: \\f189;\n$fa-var-untappd: \\f405;\n$fa-var-mailchimp: \\f59e;\n$fa-var-css3-alt: \\f38b;\n$fa-var-square-reddit: \\f1a2;\n$fa-var-reddit-square: \\f1a2;\n$fa-var-vimeo-v: \\f27d;\n$fa-var-contao: \\f26d;\n$fa-var-square-font-awesome: \\e5ad;\n$fa-var-deskpro: \\f38f;\n$fa-var-brave: \\e63c;\n$fa-var-sistrix: \\f3ee;\n$fa-var-square-instagram: \\e055;\n$fa-var-instagram-square: \\e055;\n$fa-var-battle-net: \\f835;\n$fa-var-the-red-yeti: \\f69d;\n$fa-var-square-hacker-news: \\f3af;\n$fa-var-hacker-news-square: \\f3af;\n$fa-var-edge: \\f282;\n$fa-var-threads: \\e618;\n$fa-var-napster: \\f3d2;\n$fa-var-square-snapchat: \\f2ad;\n$fa-var-snapchat-square: \\f2ad;\n$fa-var-google-plus-g: \\f0d5;\n$fa-var-artstation: \\f77a;\n$fa-var-markdown: \\f60f;\n$fa-var-sourcetree: \\f7d3;\n$fa-var-google-plus: \\f2b3;\n$fa-var-diaspora: \\f791;\n$fa-var-foursquare: \\f180;\n$fa-var-stack-overflow: \\f16c;\n$fa-var-github-alt: \\f113;\n$fa-var-phoenix-squadron: \\f511;\n$fa-var-pagelines: \\f18c;\n$fa-var-algolia: \\f36c;\n$fa-var-red-river: \\f3e3;\n$fa-var-creative-commons-sa: \\f4ef;\n$fa-var-safari: \\f267;\n$fa-var-google: \\f1a0;\n$fa-var-square-font-awesome-stroke: \\f35c;\n$fa-var-font-awesome-alt: \\f35c;\n$fa-var-atlassian: \\f77b;\n$fa-var-linkedin-in: \\f0e1;\n$fa-var-digital-ocean: \\f391;\n$fa-var-nimblr: \\f5a8;\n$fa-var-chromecast: \\f838;\n$fa-var-evernote: \\f839;\n$fa-var-hacker-news: \\f1d4;\n$fa-var-creative-commons-sampling: \\f4f0;\n$fa-var-adversal: \\f36a;\n$fa-var-creative-commons: \\f25e;\n$fa-var-watchman-monitoring: \\e087;\n$fa-var-fonticons: \\f280;\n$fa-var-weixin: \\f1d7;\n$fa-var-shirtsinbulk: \\f214;\n$fa-var-codepen: \\f1cb;\n$fa-var-git-alt: \\f841;\n$fa-var-lyft: \\f3c3;\n$fa-var-rev: \\f5b2;\n$fa-var-windows: \\f17a;\n$fa-var-wizards-of-the-coast: \\f730;\n$fa-var-square-viadeo: \\f2aa;\n$fa-var-viadeo-square: \\f2aa;\n$fa-var-meetup: \\f2e0;\n$fa-var-centos: \\f789;\n$fa-var-adn: \\f170;\n$fa-var-cloudsmith: \\f384;\n$fa-var-opensuse: \\e62b;\n$fa-var-pied-piper-alt: \\f1a8;\n$fa-var-square-dribbble: \\f397;\n$fa-var-dribbble-square: \\f397;\n$fa-var-codiepie: \\f284;\n$fa-var-node: \\f419;\n$fa-var-mix: \\f3cb;\n$fa-var-steam: \\f1b6;\n$fa-var-cc-apple-pay: \\f416;\n$fa-var-scribd: \\f28a;\n$fa-var-debian: \\e60b;\n$fa-var-openid: \\f19b;\n$fa-var-instalod: \\e081;\n$fa-var-expeditedssl: \\f23e;\n$fa-var-sellcast: \\f2da;\n$fa-var-square-twitter: \\f081;\n$fa-var-twitter-square: \\f081;\n$fa-var-r-project: \\f4f7;\n$fa-var-delicious: \\f1a5;\n$fa-var-freebsd: \\f3a4;\n$fa-var-vuejs: \\f41f;\n$fa-var-accusoft: \\f369;\n$fa-var-ioxhost: \\f208;\n$fa-var-fonticons-fi: \\f3a2;\n$fa-var-app-store: \\f36f;\n$fa-var-cc-mastercard: \\f1f1;\n$fa-var-itunes-note: \\f3b5;\n$fa-var-golang: \\e40f;\n$fa-var-kickstarter: \\f3bb;\n$fa-var-square-kickstarter: \\f3bb;\n$fa-var-grav: \\f2d6;\n$fa-var-weibo: \\f18a;\n$fa-var-uncharted: \\e084;\n$fa-var-firstdraft: \\f3a1;\n$fa-var-square-youtube: \\f431;\n$fa-var-youtube-square: \\f431;\n$fa-var-wikipedia-w: \\f266;\n$fa-var-wpressr: \\f3e4;\n$fa-var-rendact: \\f3e4;\n$fa-var-angellist: \\f209;\n$fa-var-galactic-republic: \\f50c;\n$fa-var-nfc-directional: \\e530;\n$fa-var-skype: \\f17e;\n$fa-var-joget: \\f3b7;\n$fa-var-fedora: \\f798;\n$fa-var-stripe-s: \\f42a;\n$fa-var-meta: \\e49b;\n$fa-var-laravel: \\f3bd;\n$fa-var-hotjar: \\f3b1;\n$fa-var-bluetooth-b: \\f294;\n$fa-var-square-letterboxd: \\e62e;\n$fa-var-sticker-mule: \\f3f7;\n$fa-var-creative-commons-zero: \\f4f3;\n$fa-var-hips: \\f452;\n$fa-var-behance: \\f1b4;\n$fa-var-reddit: \\f1a1;\n$fa-var-discord: \\f392;\n$fa-var-chrome: \\f268;\n$fa-var-app-store-ios: \\f370;\n$fa-var-cc-discover: \\f1f2;\n$fa-var-wpbeginner: \\f297;\n$fa-var-confluence: \\f78d;\n$fa-var-shoelace: \\e60c;\n$fa-var-mdb: \\f8ca;\n$fa-var-dochub: \\f394;\n$fa-var-accessible-icon: \\f368;\n$fa-var-ebay: \\f4f4;\n$fa-var-amazon: \\f270;\n$fa-var-unsplash: \\e07c;\n$fa-var-yarn: \\f7e3;\n$fa-var-square-steam: \\f1b7;\n$fa-var-steam-square: \\f1b7;\n$fa-var-500px: \\f26e;\n$fa-var-square-vimeo: \\f194;\n$fa-var-vimeo-square: \\f194;\n$fa-var-asymmetrik: \\f372;\n$fa-var-font-awesome: \\f2b4;\n$fa-var-font-awesome-flag: \\f2b4;\n$fa-var-font-awesome-logo-full: \\f2b4;\n$fa-var-gratipay: \\f184;\n$fa-var-apple: \\f179;\n$fa-var-hive: \\e07f;\n$fa-var-gitkraken: \\f3a6;\n$fa-var-keybase: \\f4f5;\n$fa-var-apple-pay: \\f415;\n$fa-var-padlet: \\e4a0;\n$fa-var-amazon-pay: \\f42c;\n$fa-var-square-github: \\f092;\n$fa-var-github-square: \\f092;\n$fa-var-stumbleupon: \\f1a4;\n$fa-var-fedex: \\f797;\n$fa-var-phoenix-framework: \\f3dc;\n$fa-var-shopify: \\e057;\n$fa-var-neos: \\f612;\n$fa-var-square-threads: \\e619;\n$fa-var-hackerrank: \\f5f7;\n$fa-var-researchgate: \\f4f8;\n$fa-var-swift: \\f8e1;\n$fa-var-angular: \\f420;\n$fa-var-speakap: \\f3f3;\n$fa-var-angrycreative: \\f36e;\n$fa-var-y-combinator: \\f23b;\n$fa-var-empire: \\f1d1;\n$fa-var-envira: \\f299;\n$fa-var-google-scholar: \\e63b;\n$fa-var-square-gitlab: \\e5ae;\n$fa-var-gitlab-square: \\e5ae;\n$fa-var-studiovinari: \\f3f8;\n$fa-var-pied-piper: \\f2ae;\n$fa-var-wordpress: \\f19a;\n$fa-var-product-hunt: \\f288;\n$fa-var-firefox: \\f269;\n$fa-var-linode: \\f2b8;\n$fa-var-goodreads: \\f3a8;\n$fa-var-square-odnoklassniki: \\f264;\n$fa-var-odnoklassniki-square: \\f264;\n$fa-var-jsfiddle: \\f1cc;\n$fa-var-sith: \\f512;\n$fa-var-themeisle: \\f2b2;\n$fa-var-page4: \\f3d7;\n$fa-var-hashnode: \\e499;\n$fa-var-react: \\f41b;\n$fa-var-cc-paypal: \\f1f4;\n$fa-var-squarespace: \\f5be;\n$fa-var-cc-stripe: \\f1f5;\n$fa-var-creative-commons-share: \\f4f2;\n$fa-var-bitcoin: \\f379;\n$fa-var-keycdn: \\f3ba;\n$fa-var-opera: \\f26a;\n$fa-var-itch-io: \\f83a;\n$fa-var-umbraco: \\f8e8;\n$fa-var-galactic-senate: \\f50d;\n$fa-var-ubuntu: \\f7df;\n$fa-var-draft2digital: \\f396;\n$fa-var-stripe: \\f429;\n$fa-var-houzz: \\f27c;\n$fa-var-gg: \\f260;\n$fa-var-dhl: \\f790;\n$fa-var-square-pinterest: \\f0d3;\n$fa-var-pinterest-square: \\f0d3;\n$fa-var-xing: \\f168;\n$fa-var-blackberry: \\f37b;\n$fa-var-creative-commons-pd: \\f4ec;\n$fa-var-playstation: \\f3df;\n$fa-var-quinscape: \\f459;\n$fa-var-less: \\f41d;\n$fa-var-blogger-b: \\f37d;\n$fa-var-opencart: \\f23d;\n$fa-var-vine: \\f1ca;\n$fa-var-signal-messenger: \\e663;\n$fa-var-paypal: \\f1ed;\n$fa-var-gitlab: \\f296;\n$fa-var-typo3: \\f42b;\n$fa-var-reddit-alien: \\f281;\n$fa-var-yahoo: \\f19e;\n$fa-var-dailymotion: \\e052;\n$fa-var-affiliatetheme: \\f36b;\n$fa-var-pied-piper-pp: \\f1a7;\n$fa-var-bootstrap: \\f836;\n$fa-var-odnoklassniki: \\f263;\n$fa-var-nfc-symbol: \\e531;\n$fa-var-mintbit: \\e62f;\n$fa-var-ethereum: \\f42e;\n$fa-var-speaker-deck: \\f83c;\n$fa-var-creative-commons-nc-eu: \\f4e9;\n$fa-var-patreon: \\f3d9;\n$fa-var-avianex: \\f374;\n$fa-var-ello: \\f5f1;\n$fa-var-gofore: \\f3a7;\n$fa-var-bimobject: \\f378;\n$fa-var-brave-reverse: \\e63d;\n$fa-var-facebook-f: \\f39e;\n$fa-var-square-google-plus: \\f0d4;\n$fa-var-google-plus-square: \\f0d4;\n$fa-var-web-awesome: \\e682;\n$fa-var-mandalorian: \\f50f;\n$fa-var-first-order-alt: \\f50a;\n$fa-var-osi: \\f41a;\n$fa-var-google-wallet: \\f1ee;\n$fa-var-d-and-d-beyond: \\f6ca;\n$fa-var-periscope: \\f3da;\n$fa-var-fulcrum: \\f50b;\n$fa-var-cloudscale: \\f383;\n$fa-var-forumbee: \\f211;\n$fa-var-mizuni: \\f3cc;\n$fa-var-schlix: \\f3ea;\n$fa-var-square-xing: \\f169;\n$fa-var-xing-square: \\f169;\n$fa-var-bandcamp: \\f2d5;\n$fa-var-wpforms: \\f298;\n$fa-var-cloudversify: \\f385;\n$fa-var-usps: \\f7e1;\n$fa-var-megaport: \\f5a3;\n$fa-var-magento: \\f3c4;\n$fa-var-spotify: \\f1bc;\n$fa-var-optin-monster: \\f23c;\n$fa-var-fly: \\f417;\n$fa-var-aviato: \\f421;\n$fa-var-itunes: \\f3b4;\n$fa-var-cuttlefish: \\f38c;\n$fa-var-blogger: \\f37c;\n$fa-var-flickr: \\f16e;\n$fa-var-viber: \\f409;\n$fa-var-soundcloud: \\f1be;\n$fa-var-digg: \\f1a6;\n$fa-var-tencent-weibo: \\f1d5;\n$fa-var-letterboxd: \\e62d;\n$fa-var-symfony: \\f83d;\n$fa-var-maxcdn: \\f136;\n$fa-var-etsy: \\f2d7;\n$fa-var-facebook-messenger: \\f39f;\n$fa-var-audible: \\f373;\n$fa-var-think-peaks: \\f731;\n$fa-var-bilibili: \\e3d9;\n$fa-var-erlang: \\f39d;\n$fa-var-x-twitter: \\e61b;\n$fa-var-cotton-bureau: \\f89e;\n$fa-var-dashcube: \\f210;\n$fa-var-42-group: \\e080;\n$fa-var-innosoft: \\e080;\n$fa-var-stack-exchange: \\f18d;\n$fa-var-elementor: \\f430;\n$fa-var-square-pied-piper: \\e01e;\n$fa-var-pied-piper-square: \\e01e;\n$fa-var-creative-commons-nd: \\f4eb;\n$fa-var-palfed: \\f3d8;\n$fa-var-superpowers: \\f2dd;\n$fa-var-resolving: \\f3e7;\n$fa-var-xbox: \\f412;\n$fa-var-square-web-awesome-stroke: \\e684;\n$fa-var-searchengin: \\f3eb;\n$fa-var-tiktok: \\e07b;\n$fa-var-square-facebook: \\f082;\n$fa-var-facebook-square: \\f082;\n$fa-var-renren: \\f18b;\n$fa-var-linux: \\f17c;\n$fa-var-glide: \\f2a5;\n$fa-var-linkedin: \\f08c;\n$fa-var-hubspot: \\f3b2;\n$fa-var-deploydog: \\f38e;\n$fa-var-twitch: \\f1e8;\n$fa-var-ravelry: \\f2d9;\n$fa-var-mixer: \\e056;\n$fa-var-square-lastfm: \\f203;\n$fa-var-lastfm-square: \\f203;\n$fa-var-vimeo: \\f40a;\n$fa-var-mendeley: \\f7b3;\n$fa-var-uniregistry: \\f404;\n$fa-var-figma: \\f799;\n$fa-var-creative-commons-remix: \\f4ee;\n$fa-var-cc-amazon-pay: \\f42d;\n$fa-var-dropbox: \\f16b;\n$fa-var-instagram: \\f16d;\n$fa-var-cmplid: \\e360;\n$fa-var-upwork: \\e641;\n$fa-var-facebook: \\f09a;\n$fa-var-gripfire: \\f3ac;\n$fa-var-jedi-order: \\f50e;\n$fa-var-uikit: \\f403;\n$fa-var-fort-awesome-alt: \\f3a3;\n$fa-var-phabricator: \\f3db;\n$fa-var-ussunnah: \\f407;\n$fa-var-earlybirds: \\f39a;\n$fa-var-trade-federation: \\f513;\n$fa-var-autoprefixer: \\f41c;\n$fa-var-whatsapp: \\f232;\n$fa-var-square-upwork: \\e67c;\n$fa-var-slideshare: \\f1e7;\n$fa-var-google-play: \\f3ab;\n$fa-var-viadeo: \\f2a9;\n$fa-var-line: \\f3c0;\n$fa-var-google-drive: \\f3aa;\n$fa-var-servicestack: \\f3ec;\n$fa-var-simplybuilt: \\f215;\n$fa-var-bitbucket: \\f171;\n$fa-var-imdb: \\f2d8;\n$fa-var-deezer: \\e077;\n$fa-var-raspberry-pi: \\f7bb;\n$fa-var-jira: \\f7b1;\n$fa-var-docker: \\f395;\n$fa-var-screenpal: \\e570;\n$fa-var-bluetooth: \\f293;\n$fa-var-gitter: \\f426;\n$fa-var-d-and-d: \\f38d;\n$fa-var-microblog: \\e01a;\n$fa-var-cc-diners-club: \\f24c;\n$fa-var-gg-circle: \\f261;\n$fa-var-pied-piper-hat: \\f4e5;\n$fa-var-kickstarter-k: \\f3bc;\n$fa-var-yandex: \\f413;\n$fa-var-readme: \\f4d5;\n$fa-var-html5: \\f13b;\n$fa-var-sellsy: \\f213;\n$fa-var-square-web-awesome: \\e683;\n$fa-var-sass: \\f41e;\n$fa-var-wirsindhandwerk: \\e2d0;\n$fa-var-wsh: \\e2d0;\n$fa-var-buromobelexperte: \\f37f;\n$fa-var-salesforce: \\f83b;\n$fa-var-octopus-deploy: \\e082;\n$fa-var-medapps: \\f3c6;\n$fa-var-ns8: \\f3d5;\n$fa-var-pinterest-p: \\f231;\n$fa-var-apper: \\f371;\n$fa-var-fort-awesome: \\f286;\n$fa-var-waze: \\f83f;\n$fa-var-bluesky: \\e671;\n$fa-var-cc-jcb: \\f24b;\n$fa-var-snapchat: \\f2ab;\n$fa-var-snapchat-ghost: \\f2ab;\n$fa-var-fantasy-flight-games: \\f6dc;\n$fa-var-rust: \\e07a;\n$fa-var-wix: \\f5cf;\n$fa-var-square-behance: \\f1b5;\n$fa-var-behance-square: \\f1b5;\n$fa-var-supple: \\f3f9;\n$fa-var-webflow: \\e65c;\n$fa-var-rebel: \\f1d0;\n$fa-var-css3: \\f13c;\n$fa-var-staylinked: \\f3f5;\n$fa-var-kaggle: \\f5fa;\n$fa-var-space-awesome: \\e5ac;\n$fa-var-deviantart: \\f1bd;\n$fa-var-cpanel: \\f388;\n$fa-var-goodreads-g: \\f3a9;\n$fa-var-square-git: \\f1d2;\n$fa-var-git-square: \\f1d2;\n$fa-var-square-tumblr: \\f174;\n$fa-var-tumblr-square: \\f174;\n$fa-var-trello: \\f181;\n$fa-var-creative-commons-nc-jp: \\f4ea;\n$fa-var-get-pocket: \\f265;\n$fa-var-perbyte: \\e083;\n$fa-var-grunt: \\f3ad;\n$fa-var-weebly: \\f5cc;\n$fa-var-connectdevelop: \\f20e;\n$fa-var-leanpub: \\f212;\n$fa-var-black-tie: \\f27e;\n$fa-var-themeco: \\f5c6;\n$fa-var-python: \\f3e2;\n$fa-var-android: \\f17b;\n$fa-var-bots: \\e340;\n$fa-var-free-code-camp: \\f2c5;\n$fa-var-hornbill: \\f592;\n$fa-var-js: \\f3b8;\n$fa-var-ideal: \\e013;\n$fa-var-git: \\f1d3;\n$fa-var-dev: \\f6cc;\n$fa-var-sketch: \\f7c6;\n$fa-var-yandex-international: \\f414;\n$fa-var-cc-amex: \\f1f3;\n$fa-var-uber: \\f402;\n$fa-var-github: \\f09b;\n$fa-var-php: \\f457;\n$fa-var-alipay: \\f642;\n$fa-var-youtube: \\f167;\n$fa-var-skyatlas: \\f216;\n$fa-var-firefox-browser: \\e007;\n$fa-var-replyd: \\f3e6;\n$fa-var-suse: \\f7d6;\n$fa-var-jenkins: \\f3b6;\n$fa-var-twitter: \\f099;\n$fa-var-rockrms: \\f3e9;\n$fa-var-pinterest: \\f0d2;\n$fa-var-buffer: \\f837;\n$fa-var-npm: \\f3d4;\n$fa-var-yammer: \\f840;\n$fa-var-btc: \\f15a;\n$fa-var-dribbble: \\f17d;\n$fa-var-stumbleupon-circle: \\f1a3;\n$fa-var-internet-explorer: \\f26b;\n$fa-var-stubber: \\e5c7;\n$fa-var-telegram: \\f2c6;\n$fa-var-telegram-plane: \\f2c6;\n$fa-var-old-republic: \\f510;\n$fa-var-odysee: \\e5c6;\n$fa-var-square-whatsapp: \\f40c;\n$fa-var-whatsapp-square: \\f40c;\n$fa-var-node-js: \\f3d3;\n$fa-var-edge-legacy: \\e078;\n$fa-var-slack: \\f198;\n$fa-var-slack-hash: \\f198;\n$fa-var-medrt: \\f3c8;\n$fa-var-usb: \\f287;\n$fa-var-tumblr: \\f173;\n$fa-var-vaadin: \\f408;\n$fa-var-quora: \\f2c4;\n$fa-var-square-x-twitter: \\e61a;\n$fa-var-reacteurope: \\f75d;\n$fa-var-medium: \\f23a;\n$fa-var-medium-m: \\f23a;\n$fa-var-amilia: \\f36d;\n$fa-var-mixcloud: \\f289;\n$fa-var-flipboard: \\f44d;\n$fa-var-viacoin: \\f237;\n$fa-var-critical-role: \\f6c9;\n$fa-var-sitrox: \\e44a;\n$fa-var-discourse: \\f393;\n$fa-var-joomla: \\f1aa;\n$fa-var-mastodon: \\f4f6;\n$fa-var-airbnb: \\f834;\n$fa-var-wolf-pack-battalion: \\f514;\n$fa-var-buy-n-large: \\f8a6;\n$fa-var-gulp: \\f3ae;\n$fa-var-creative-commons-sampling-plus: \\f4f1;\n$fa-var-strava: \\f428;\n$fa-var-ember: \\f423;\n$fa-var-canadian-maple-leaf: \\f785;\n$fa-var-teamspeak: \\f4f9;\n$fa-var-pushed: \\f3e1;\n$fa-var-wordpress-simple: \\f411;\n$fa-var-nutritionix: \\f3d6;\n$fa-var-wodu: \\e088;\n$fa-var-google-pay: \\e079;\n$fa-var-intercom: \\f7af;\n$fa-var-zhihu: \\f63f;\n$fa-var-korvue: \\f42f;\n$fa-var-pix: \\e43a;\n$fa-var-steam-symbol: \\f3f6;\n\n$fa-icons: (\n  \"0\": $fa-var-0,\n  \"1\": $fa-var-1,\n  \"2\": $fa-var-2,\n  \"3\": $fa-var-3,\n  \"4\": $fa-var-4,\n  \"5\": $fa-var-5,\n  \"6\": $fa-var-6,\n  \"7\": $fa-var-7,\n  \"8\": $fa-var-8,\n  \"9\": $fa-var-9,\n  \"fill-drip\": $fa-var-fill-drip,\n  \"arrows-to-circle\": $fa-var-arrows-to-circle,\n  \"circle-chevron-right\": $fa-var-circle-chevron-right,\n  \"chevron-circle-right\": $fa-var-chevron-circle-right,\n  \"at\": $fa-var-at,\n  \"trash-can\": $fa-var-trash-can,\n  \"trash-alt\": $fa-var-trash-alt,\n  \"text-height\": $fa-var-text-height,\n  \"user-xmark\": $fa-var-user-xmark,\n  \"user-times\": $fa-var-user-times,\n  \"stethoscope\": $fa-var-stethoscope,\n  \"message\": $fa-var-message,\n  \"comment-alt\": $fa-var-comment-alt,\n  \"info\": $fa-var-info,\n  \"down-left-and-up-right-to-center\": $fa-var-down-left-and-up-right-to-center,\n  \"compress-alt\": $fa-var-compress-alt,\n  \"explosion\": $fa-var-explosion,\n  \"file-lines\": $fa-var-file-lines,\n  \"file-alt\": $fa-var-file-alt,\n  \"file-text\": $fa-var-file-text,\n  \"wave-square\": $fa-var-wave-square,\n  \"ring\": $fa-var-ring,\n  \"building-un\": $fa-var-building-un,\n  \"dice-three\": $fa-var-dice-three,\n  \"calendar-days\": $fa-var-calendar-days,\n  \"calendar-alt\": $fa-var-calendar-alt,\n  \"anchor-circle-check\": $fa-var-anchor-circle-check,\n  \"building-circle-arrow-right\": $fa-var-building-circle-arrow-right,\n  \"volleyball\": $fa-var-volleyball,\n  \"volleyball-ball\": $fa-var-volleyball-ball,\n  \"arrows-up-to-line\": $fa-var-arrows-up-to-line,\n  \"sort-down\": $fa-var-sort-down,\n  \"sort-desc\": $fa-var-sort-desc,\n  \"circle-minus\": $fa-var-circle-minus,\n  \"minus-circle\": $fa-var-minus-circle,\n  \"door-open\": $fa-var-door-open,\n  \"right-from-bracket\": $fa-var-right-from-bracket,\n  \"sign-out-alt\": $fa-var-sign-out-alt,\n  \"atom\": $fa-var-atom,\n  \"soap\": $fa-var-soap,\n  \"icons\": $fa-var-icons,\n  \"heart-music-camera-bolt\": $fa-var-heart-music-camera-bolt,\n  \"microphone-lines-slash\": $fa-var-microphone-lines-slash,\n  \"microphone-alt-slash\": $fa-var-microphone-alt-slash,\n  \"bridge-circle-check\": $fa-var-bridge-circle-check,\n  \"pump-medical\": $fa-var-pump-medical,\n  \"fingerprint\": $fa-var-fingerprint,\n  \"hand-point-right\": $fa-var-hand-point-right,\n  \"magnifying-glass-location\": $fa-var-magnifying-glass-location,\n  \"search-location\": $fa-var-search-location,\n  \"forward-step\": $fa-var-forward-step,\n  \"step-forward\": $fa-var-step-forward,\n  \"face-smile-beam\": $fa-var-face-smile-beam,\n  \"smile-beam\": $fa-var-smile-beam,\n  \"flag-checkered\": $fa-var-flag-checkered,\n  \"football\": $fa-var-football,\n  \"football-ball\": $fa-var-football-ball,\n  \"school-circle-exclamation\": $fa-var-school-circle-exclamation,\n  \"crop\": $fa-var-crop,\n  \"angles-down\": $fa-var-angles-down,\n  \"angle-double-down\": $fa-var-angle-double-down,\n  \"users-rectangle\": $fa-var-users-rectangle,\n  \"people-roof\": $fa-var-people-roof,\n  \"people-line\": $fa-var-people-line,\n  \"beer-mug-empty\": $fa-var-beer-mug-empty,\n  \"beer\": $fa-var-beer,\n  \"diagram-predecessor\": $fa-var-diagram-predecessor,\n  \"arrow-up-long\": $fa-var-arrow-up-long,\n  \"long-arrow-up\": $fa-var-long-arrow-up,\n  \"fire-flame-simple\": $fa-var-fire-flame-simple,\n  \"burn\": $fa-var-burn,\n  \"person\": $fa-var-person,\n  \"male\": $fa-var-male,\n  \"laptop\": $fa-var-laptop,\n  \"file-csv\": $fa-var-file-csv,\n  \"menorah\": $fa-var-menorah,\n  \"truck-plane\": $fa-var-truck-plane,\n  \"record-vinyl\": $fa-var-record-vinyl,\n  \"face-grin-stars\": $fa-var-face-grin-stars,\n  \"grin-stars\": $fa-var-grin-stars,\n  \"bong\": $fa-var-bong,\n  \"spaghetti-monster-flying\": $fa-var-spaghetti-monster-flying,\n  \"pastafarianism\": $fa-var-pastafarianism,\n  \"arrow-down-up-across-line\": $fa-var-arrow-down-up-across-line,\n  \"spoon\": $fa-var-spoon,\n  \"utensil-spoon\": $fa-var-utensil-spoon,\n  \"jar-wheat\": $fa-var-jar-wheat,\n  \"envelopes-bulk\": $fa-var-envelopes-bulk,\n  \"mail-bulk\": $fa-var-mail-bulk,\n  \"file-circle-exclamation\": $fa-var-file-circle-exclamation,\n  \"circle-h\": $fa-var-circle-h,\n  \"hospital-symbol\": $fa-var-hospital-symbol,\n  \"pager\": $fa-var-pager,\n  \"address-book\": $fa-var-address-book,\n  \"contact-book\": $fa-var-contact-book,\n  \"strikethrough\": $fa-var-strikethrough,\n  \"k\": $fa-var-k,\n  \"landmark-flag\": $fa-var-landmark-flag,\n  \"pencil\": $fa-var-pencil,\n  \"pencil-alt\": $fa-var-pencil-alt,\n  \"backward\": $fa-var-backward,\n  \"caret-right\": $fa-var-caret-right,\n  \"comments\": $fa-var-comments,\n  \"paste\": $fa-var-paste,\n  \"file-clipboard\": $fa-var-file-clipboard,\n  \"code-pull-request\": $fa-var-code-pull-request,\n  \"clipboard-list\": $fa-var-clipboard-list,\n  \"truck-ramp-box\": $fa-var-truck-ramp-box,\n  \"truck-loading\": $fa-var-truck-loading,\n  \"user-check\": $fa-var-user-check,\n  \"vial-virus\": $fa-var-vial-virus,\n  \"sheet-plastic\": $fa-var-sheet-plastic,\n  \"blog\": $fa-var-blog,\n  \"user-ninja\": $fa-var-user-ninja,\n  \"person-arrow-up-from-line\": $fa-var-person-arrow-up-from-line,\n  \"scroll-torah\": $fa-var-scroll-torah,\n  \"torah\": $fa-var-torah,\n  \"broom-ball\": $fa-var-broom-ball,\n  \"quidditch\": $fa-var-quidditch,\n  \"quidditch-broom-ball\": $fa-var-quidditch-broom-ball,\n  \"toggle-off\": $fa-var-toggle-off,\n  \"box-archive\": $fa-var-box-archive,\n  \"archive\": $fa-var-archive,\n  \"person-drowning\": $fa-var-person-drowning,\n  \"arrow-down-9-1\": $fa-var-arrow-down-9-1,\n  \"sort-numeric-desc\": $fa-var-sort-numeric-desc,\n  \"sort-numeric-down-alt\": $fa-var-sort-numeric-down-alt,\n  \"face-grin-tongue-squint\": $fa-var-face-grin-tongue-squint,\n  \"grin-tongue-squint\": $fa-var-grin-tongue-squint,\n  \"spray-can\": $fa-var-spray-can,\n  \"truck-monster\": $fa-var-truck-monster,\n  \"w\": $fa-var-w,\n  \"earth-africa\": $fa-var-earth-africa,\n  \"globe-africa\": $fa-var-globe-africa,\n  \"rainbow\": $fa-var-rainbow,\n  \"circle-notch\": $fa-var-circle-notch,\n  \"tablet-screen-button\": $fa-var-tablet-screen-button,\n  \"tablet-alt\": $fa-var-tablet-alt,\n  \"paw\": $fa-var-paw,\n  \"cloud\": $fa-var-cloud,\n  \"trowel-bricks\": $fa-var-trowel-bricks,\n  \"face-flushed\": $fa-var-face-flushed,\n  \"flushed\": $fa-var-flushed,\n  \"hospital-user\": $fa-var-hospital-user,\n  \"tent-arrow-left-right\": $fa-var-tent-arrow-left-right,\n  \"gavel\": $fa-var-gavel,\n  \"legal\": $fa-var-legal,\n  \"binoculars\": $fa-var-binoculars,\n  \"microphone-slash\": $fa-var-microphone-slash,\n  \"box-tissue\": $fa-var-box-tissue,\n  \"motorcycle\": $fa-var-motorcycle,\n  \"bell-concierge\": $fa-var-bell-concierge,\n  \"concierge-bell\": $fa-var-concierge-bell,\n  \"pen-ruler\": $fa-var-pen-ruler,\n  \"pencil-ruler\": $fa-var-pencil-ruler,\n  \"people-arrows\": $fa-var-people-arrows,\n  \"people-arrows-left-right\": $fa-var-people-arrows-left-right,\n  \"mars-and-venus-burst\": $fa-var-mars-and-venus-burst,\n  \"square-caret-right\": $fa-var-square-caret-right,\n  \"caret-square-right\": $fa-var-caret-square-right,\n  \"scissors\": $fa-var-scissors,\n  \"cut\": $fa-var-cut,\n  \"sun-plant-wilt\": $fa-var-sun-plant-wilt,\n  \"toilets-portable\": $fa-var-toilets-portable,\n  \"hockey-puck\": $fa-var-hockey-puck,\n  \"table\": $fa-var-table,\n  \"magnifying-glass-arrow-right\": $fa-var-magnifying-glass-arrow-right,\n  \"tachograph-digital\": $fa-var-tachograph-digital,\n  \"digital-tachograph\": $fa-var-digital-tachograph,\n  \"users-slash\": $fa-var-users-slash,\n  \"clover\": $fa-var-clover,\n  \"reply\": $fa-var-reply,\n  \"mail-reply\": $fa-var-mail-reply,\n  \"star-and-crescent\": $fa-var-star-and-crescent,\n  \"house-fire\": $fa-var-house-fire,\n  \"square-minus\": $fa-var-square-minus,\n  \"minus-square\": $fa-var-minus-square,\n  \"helicopter\": $fa-var-helicopter,\n  \"compass\": $fa-var-compass,\n  \"square-caret-down\": $fa-var-square-caret-down,\n  \"caret-square-down\": $fa-var-caret-square-down,\n  \"file-circle-question\": $fa-var-file-circle-question,\n  \"laptop-code\": $fa-var-laptop-code,\n  \"swatchbook\": $fa-var-swatchbook,\n  \"prescription-bottle\": $fa-var-prescription-bottle,\n  \"bars\": $fa-var-bars,\n  \"navicon\": $fa-var-navicon,\n  \"people-group\": $fa-var-people-group,\n  \"hourglass-end\": $fa-var-hourglass-end,\n  \"hourglass-3\": $fa-var-hourglass-3,\n  \"heart-crack\": $fa-var-heart-crack,\n  \"heart-broken\": $fa-var-heart-broken,\n  \"square-up-right\": $fa-var-square-up-right,\n  \"external-link-square-alt\": $fa-var-external-link-square-alt,\n  \"face-kiss-beam\": $fa-var-face-kiss-beam,\n  \"kiss-beam\": $fa-var-kiss-beam,\n  \"film\": $fa-var-film,\n  \"ruler-horizontal\": $fa-var-ruler-horizontal,\n  \"people-robbery\": $fa-var-people-robbery,\n  \"lightbulb\": $fa-var-lightbulb,\n  \"caret-left\": $fa-var-caret-left,\n  \"circle-exclamation\": $fa-var-circle-exclamation,\n  \"exclamation-circle\": $fa-var-exclamation-circle,\n  \"school-circle-xmark\": $fa-var-school-circle-xmark,\n  \"arrow-right-from-bracket\": $fa-var-arrow-right-from-bracket,\n  \"sign-out\": $fa-var-sign-out,\n  \"circle-chevron-down\": $fa-var-circle-chevron-down,\n  \"chevron-circle-down\": $fa-var-chevron-circle-down,\n  \"unlock-keyhole\": $fa-var-unlock-keyhole,\n  \"unlock-alt\": $fa-var-unlock-alt,\n  \"cloud-showers-heavy\": $fa-var-cloud-showers-heavy,\n  \"headphones-simple\": $fa-var-headphones-simple,\n  \"headphones-alt\": $fa-var-headphones-alt,\n  \"sitemap\": $fa-var-sitemap,\n  \"circle-dollar-to-slot\": $fa-var-circle-dollar-to-slot,\n  \"donate\": $fa-var-donate,\n  \"memory\": $fa-var-memory,\n  \"road-spikes\": $fa-var-road-spikes,\n  \"fire-burner\": $fa-var-fire-burner,\n  \"flag\": $fa-var-flag,\n  \"hanukiah\": $fa-var-hanukiah,\n  \"feather\": $fa-var-feather,\n  \"volume-low\": $fa-var-volume-low,\n  \"volume-down\": $fa-var-volume-down,\n  \"comment-slash\": $fa-var-comment-slash,\n  \"cloud-sun-rain\": $fa-var-cloud-sun-rain,\n  \"compress\": $fa-var-compress,\n  \"wheat-awn\": $fa-var-wheat-awn,\n  \"wheat-alt\": $fa-var-wheat-alt,\n  \"ankh\": $fa-var-ankh,\n  \"hands-holding-child\": $fa-var-hands-holding-child,\n  \"asterisk\": $fa-var-asterisk,\n  \"square-check\": $fa-var-square-check,\n  \"check-square\": $fa-var-check-square,\n  \"peseta-sign\": $fa-var-peseta-sign,\n  \"heading\": $fa-var-heading,\n  \"header\": $fa-var-header,\n  \"ghost\": $fa-var-ghost,\n  \"list\": $fa-var-list,\n  \"list-squares\": $fa-var-list-squares,\n  \"square-phone-flip\": $fa-var-square-phone-flip,\n  \"phone-square-alt\": $fa-var-phone-square-alt,\n  \"cart-plus\": $fa-var-cart-plus,\n  \"gamepad\": $fa-var-gamepad,\n  \"circle-dot\": $fa-var-circle-dot,\n  \"dot-circle\": $fa-var-dot-circle,\n  \"face-dizzy\": $fa-var-face-dizzy,\n  \"dizzy\": $fa-var-dizzy,\n  \"egg\": $fa-var-egg,\n  \"house-medical-circle-xmark\": $fa-var-house-medical-circle-xmark,\n  \"campground\": $fa-var-campground,\n  \"folder-plus\": $fa-var-folder-plus,\n  \"futbol\": $fa-var-futbol,\n  \"futbol-ball\": $fa-var-futbol-ball,\n  \"soccer-ball\": $fa-var-soccer-ball,\n  \"paintbrush\": $fa-var-paintbrush,\n  \"paint-brush\": $fa-var-paint-brush,\n  \"lock\": $fa-var-lock,\n  \"gas-pump\": $fa-var-gas-pump,\n  \"hot-tub-person\": $fa-var-hot-tub-person,\n  \"hot-tub\": $fa-var-hot-tub,\n  \"map-location\": $fa-var-map-location,\n  \"map-marked\": $fa-var-map-marked,\n  \"house-flood-water\": $fa-var-house-flood-water,\n  \"tree\": $fa-var-tree,\n  \"bridge-lock\": $fa-var-bridge-lock,\n  \"sack-dollar\": $fa-var-sack-dollar,\n  \"pen-to-square\": $fa-var-pen-to-square,\n  \"edit\": $fa-var-edit,\n  \"car-side\": $fa-var-car-side,\n  \"share-nodes\": $fa-var-share-nodes,\n  \"share-alt\": $fa-var-share-alt,\n  \"heart-circle-minus\": $fa-var-heart-circle-minus,\n  \"hourglass-half\": $fa-var-hourglass-half,\n  \"hourglass-2\": $fa-var-hourglass-2,\n  \"microscope\": $fa-var-microscope,\n  \"sink\": $fa-var-sink,\n  \"bag-shopping\": $fa-var-bag-shopping,\n  \"shopping-bag\": $fa-var-shopping-bag,\n  \"arrow-down-z-a\": $fa-var-arrow-down-z-a,\n  \"sort-alpha-desc\": $fa-var-sort-alpha-desc,\n  \"sort-alpha-down-alt\": $fa-var-sort-alpha-down-alt,\n  \"mitten\": $fa-var-mitten,\n  \"person-rays\": $fa-var-person-rays,\n  \"users\": $fa-var-users,\n  \"eye-slash\": $fa-var-eye-slash,\n  \"flask-vial\": $fa-var-flask-vial,\n  \"hand\": $fa-var-hand,\n  \"hand-paper\": $fa-var-hand-paper,\n  \"om\": $fa-var-om,\n  \"worm\": $fa-var-worm,\n  \"house-circle-xmark\": $fa-var-house-circle-xmark,\n  \"plug\": $fa-var-plug,\n  \"chevron-up\": $fa-var-chevron-up,\n  \"hand-spock\": $fa-var-hand-spock,\n  \"stopwatch\": $fa-var-stopwatch,\n  \"face-kiss\": $fa-var-face-kiss,\n  \"kiss\": $fa-var-kiss,\n  \"bridge-circle-xmark\": $fa-var-bridge-circle-xmark,\n  \"face-grin-tongue\": $fa-var-face-grin-tongue,\n  \"grin-tongue\": $fa-var-grin-tongue,\n  \"chess-bishop\": $fa-var-chess-bishop,\n  \"face-grin-wink\": $fa-var-face-grin-wink,\n  \"grin-wink\": $fa-var-grin-wink,\n  \"ear-deaf\": $fa-var-ear-deaf,\n  \"deaf\": $fa-var-deaf,\n  \"deafness\": $fa-var-deafness,\n  \"hard-of-hearing\": $fa-var-hard-of-hearing,\n  \"road-circle-check\": $fa-var-road-circle-check,\n  \"dice-five\": $fa-var-dice-five,\n  \"square-rss\": $fa-var-square-rss,\n  \"rss-square\": $fa-var-rss-square,\n  \"land-mine-on\": $fa-var-land-mine-on,\n  \"i-cursor\": $fa-var-i-cursor,\n  \"stamp\": $fa-var-stamp,\n  \"stairs\": $fa-var-stairs,\n  \"i\": $fa-var-i,\n  \"hryvnia-sign\": $fa-var-hryvnia-sign,\n  \"hryvnia\": $fa-var-hryvnia,\n  \"pills\": $fa-var-pills,\n  \"face-grin-wide\": $fa-var-face-grin-wide,\n  \"grin-alt\": $fa-var-grin-alt,\n  \"tooth\": $fa-var-tooth,\n  \"v\": $fa-var-v,\n  \"bangladeshi-taka-sign\": $fa-var-bangladeshi-taka-sign,\n  \"bicycle\": $fa-var-bicycle,\n  \"staff-snake\": $fa-var-staff-snake,\n  \"rod-asclepius\": $fa-var-rod-asclepius,\n  \"rod-snake\": $fa-var-rod-snake,\n  \"staff-aesculapius\": $fa-var-staff-aesculapius,\n  \"head-side-cough-slash\": $fa-var-head-side-cough-slash,\n  \"truck-medical\": $fa-var-truck-medical,\n  \"ambulance\": $fa-var-ambulance,\n  \"wheat-awn-circle-exclamation\": $fa-var-wheat-awn-circle-exclamation,\n  \"snowman\": $fa-var-snowman,\n  \"mortar-pestle\": $fa-var-mortar-pestle,\n  \"road-barrier\": $fa-var-road-barrier,\n  \"school\": $fa-var-school,\n  \"igloo\": $fa-var-igloo,\n  \"joint\": $fa-var-joint,\n  \"angle-right\": $fa-var-angle-right,\n  \"horse\": $fa-var-horse,\n  \"q\": $fa-var-q,\n  \"g\": $fa-var-g,\n  \"notes-medical\": $fa-var-notes-medical,\n  \"temperature-half\": $fa-var-temperature-half,\n  \"temperature-2\": $fa-var-temperature-2,\n  \"thermometer-2\": $fa-var-thermometer-2,\n  \"thermometer-half\": $fa-var-thermometer-half,\n  \"dong-sign\": $fa-var-dong-sign,\n  \"capsules\": $fa-var-capsules,\n  \"poo-storm\": $fa-var-poo-storm,\n  \"poo-bolt\": $fa-var-poo-bolt,\n  \"face-frown-open\": $fa-var-face-frown-open,\n  \"frown-open\": $fa-var-frown-open,\n  \"hand-point-up\": $fa-var-hand-point-up,\n  \"money-bill\": $fa-var-money-bill,\n  \"bookmark\": $fa-var-bookmark,\n  \"align-justify\": $fa-var-align-justify,\n  \"umbrella-beach\": $fa-var-umbrella-beach,\n  \"helmet-un\": $fa-var-helmet-un,\n  \"bullseye\": $fa-var-bullseye,\n  \"bacon\": $fa-var-bacon,\n  \"hand-point-down\": $fa-var-hand-point-down,\n  \"arrow-up-from-bracket\": $fa-var-arrow-up-from-bracket,\n  \"folder\": $fa-var-folder,\n  \"folder-blank\": $fa-var-folder-blank,\n  \"file-waveform\": $fa-var-file-waveform,\n  \"file-medical-alt\": $fa-var-file-medical-alt,\n  \"radiation\": $fa-var-radiation,\n  \"chart-simple\": $fa-var-chart-simple,\n  \"mars-stroke\": $fa-var-mars-stroke,\n  \"vial\": $fa-var-vial,\n  \"gauge\": $fa-var-gauge,\n  \"dashboard\": $fa-var-dashboard,\n  \"gauge-med\": $fa-var-gauge-med,\n  \"tachometer-alt-average\": $fa-var-tachometer-alt-average,\n  \"wand-magic-sparkles\": $fa-var-wand-magic-sparkles,\n  \"magic-wand-sparkles\": $fa-var-magic-wand-sparkles,\n  \"e\": $fa-var-e,\n  \"pen-clip\": $fa-var-pen-clip,\n  \"pen-alt\": $fa-var-pen-alt,\n  \"bridge-circle-exclamation\": $fa-var-bridge-circle-exclamation,\n  \"user\": $fa-var-user,\n  \"school-circle-check\": $fa-var-school-circle-check,\n  \"dumpster\": $fa-var-dumpster,\n  \"van-shuttle\": $fa-var-van-shuttle,\n  \"shuttle-van\": $fa-var-shuttle-van,\n  \"building-user\": $fa-var-building-user,\n  \"square-caret-left\": $fa-var-square-caret-left,\n  \"caret-square-left\": $fa-var-caret-square-left,\n  \"highlighter\": $fa-var-highlighter,\n  \"key\": $fa-var-key,\n  \"bullhorn\": $fa-var-bullhorn,\n  \"globe\": $fa-var-globe,\n  \"synagogue\": $fa-var-synagogue,\n  \"person-half-dress\": $fa-var-person-half-dress,\n  \"road-bridge\": $fa-var-road-bridge,\n  \"location-arrow\": $fa-var-location-arrow,\n  \"c\": $fa-var-c,\n  \"tablet-button\": $fa-var-tablet-button,\n  \"building-lock\": $fa-var-building-lock,\n  \"pizza-slice\": $fa-var-pizza-slice,\n  \"money-bill-wave\": $fa-var-money-bill-wave,\n  \"chart-area\": $fa-var-chart-area,\n  \"area-chart\": $fa-var-area-chart,\n  \"house-flag\": $fa-var-house-flag,\n  \"person-circle-minus\": $fa-var-person-circle-minus,\n  \"ban\": $fa-var-ban,\n  \"cancel\": $fa-var-cancel,\n  \"camera-rotate\": $fa-var-camera-rotate,\n  \"spray-can-sparkles\": $fa-var-spray-can-sparkles,\n  \"air-freshener\": $fa-var-air-freshener,\n  \"star\": $fa-var-star,\n  \"repeat\": $fa-var-repeat,\n  \"cross\": $fa-var-cross,\n  \"box\": $fa-var-box,\n  \"venus-mars\": $fa-var-venus-mars,\n  \"arrow-pointer\": $fa-var-arrow-pointer,\n  \"mouse-pointer\": $fa-var-mouse-pointer,\n  \"maximize\": $fa-var-maximize,\n  \"expand-arrows-alt\": $fa-var-expand-arrows-alt,\n  \"charging-station\": $fa-var-charging-station,\n  \"shapes\": $fa-var-shapes,\n  \"triangle-circle-square\": $fa-var-triangle-circle-square,\n  \"shuffle\": $fa-var-shuffle,\n  \"random\": $fa-var-random,\n  \"person-running\": $fa-var-person-running,\n  \"running\": $fa-var-running,\n  \"mobile-retro\": $fa-var-mobile-retro,\n  \"grip-lines-vertical\": $fa-var-grip-lines-vertical,\n  \"spider\": $fa-var-spider,\n  \"hands-bound\": $fa-var-hands-bound,\n  \"file-invoice-dollar\": $fa-var-file-invoice-dollar,\n  \"plane-circle-exclamation\": $fa-var-plane-circle-exclamation,\n  \"x-ray\": $fa-var-x-ray,\n  \"spell-check\": $fa-var-spell-check,\n  \"slash\": $fa-var-slash,\n  \"computer-mouse\": $fa-var-computer-mouse,\n  \"mouse\": $fa-var-mouse,\n  \"arrow-right-to-bracket\": $fa-var-arrow-right-to-bracket,\n  \"sign-in\": $fa-var-sign-in,\n  \"shop-slash\": $fa-var-shop-slash,\n  \"store-alt-slash\": $fa-var-store-alt-slash,\n  \"server\": $fa-var-server,\n  \"virus-covid-slash\": $fa-var-virus-covid-slash,\n  \"shop-lock\": $fa-var-shop-lock,\n  \"hourglass-start\": $fa-var-hourglass-start,\n  \"hourglass-1\": $fa-var-hourglass-1,\n  \"blender-phone\": $fa-var-blender-phone,\n  \"building-wheat\": $fa-var-building-wheat,\n  \"person-breastfeeding\": $fa-var-person-breastfeeding,\n  \"right-to-bracket\": $fa-var-right-to-bracket,\n  \"sign-in-alt\": $fa-var-sign-in-alt,\n  \"venus\": $fa-var-venus,\n  \"passport\": $fa-var-passport,\n  \"heart-pulse\": $fa-var-heart-pulse,\n  \"heartbeat\": $fa-var-heartbeat,\n  \"people-carry-box\": $fa-var-people-carry-box,\n  \"people-carry\": $fa-var-people-carry,\n  \"temperature-high\": $fa-var-temperature-high,\n  \"microchip\": $fa-var-microchip,\n  \"crown\": $fa-var-crown,\n  \"weight-hanging\": $fa-var-weight-hanging,\n  \"xmarks-lines\": $fa-var-xmarks-lines,\n  \"file-prescription\": $fa-var-file-prescription,\n  \"weight-scale\": $fa-var-weight-scale,\n  \"weight\": $fa-var-weight,\n  \"user-group\": $fa-var-user-group,\n  \"user-friends\": $fa-var-user-friends,\n  \"arrow-up-a-z\": $fa-var-arrow-up-a-z,\n  \"sort-alpha-up\": $fa-var-sort-alpha-up,\n  \"chess-knight\": $fa-var-chess-knight,\n  \"face-laugh-squint\": $fa-var-face-laugh-squint,\n  \"laugh-squint\": $fa-var-laugh-squint,\n  \"wheelchair\": $fa-var-wheelchair,\n  \"circle-arrow-up\": $fa-var-circle-arrow-up,\n  \"arrow-circle-up\": $fa-var-arrow-circle-up,\n  \"toggle-on\": $fa-var-toggle-on,\n  \"person-walking\": $fa-var-person-walking,\n  \"walking\": $fa-var-walking,\n  \"l\": $fa-var-l,\n  \"fire\": $fa-var-fire,\n  \"bed-pulse\": $fa-var-bed-pulse,\n  \"procedures\": $fa-var-procedures,\n  \"shuttle-space\": $fa-var-shuttle-space,\n  \"space-shuttle\": $fa-var-space-shuttle,\n  \"face-laugh\": $fa-var-face-laugh,\n  \"laugh\": $fa-var-laugh,\n  \"folder-open\": $fa-var-folder-open,\n  \"heart-circle-plus\": $fa-var-heart-circle-plus,\n  \"code-fork\": $fa-var-code-fork,\n  \"city\": $fa-var-city,\n  \"microphone-lines\": $fa-var-microphone-lines,\n  \"microphone-alt\": $fa-var-microphone-alt,\n  \"pepper-hot\": $fa-var-pepper-hot,\n  \"unlock\": $fa-var-unlock,\n  \"colon-sign\": $fa-var-colon-sign,\n  \"headset\": $fa-var-headset,\n  \"store-slash\": $fa-var-store-slash,\n  \"road-circle-xmark\": $fa-var-road-circle-xmark,\n  \"user-minus\": $fa-var-user-minus,\n  \"mars-stroke-up\": $fa-var-mars-stroke-up,\n  \"mars-stroke-v\": $fa-var-mars-stroke-v,\n  \"champagne-glasses\": $fa-var-champagne-glasses,\n  \"glass-cheers\": $fa-var-glass-cheers,\n  \"clipboard\": $fa-var-clipboard,\n  \"house-circle-exclamation\": $fa-var-house-circle-exclamation,\n  \"file-arrow-up\": $fa-var-file-arrow-up,\n  \"file-upload\": $fa-var-file-upload,\n  \"wifi\": $fa-var-wifi,\n  \"wifi-3\": $fa-var-wifi-3,\n  \"wifi-strong\": $fa-var-wifi-strong,\n  \"bath\": $fa-var-bath,\n  \"bathtub\": $fa-var-bathtub,\n  \"underline\": $fa-var-underline,\n  \"user-pen\": $fa-var-user-pen,\n  \"user-edit\": $fa-var-user-edit,\n  \"signature\": $fa-var-signature,\n  \"stroopwafel\": $fa-var-stroopwafel,\n  \"bold\": $fa-var-bold,\n  \"anchor-lock\": $fa-var-anchor-lock,\n  \"building-ngo\": $fa-var-building-ngo,\n  \"manat-sign\": $fa-var-manat-sign,\n  \"not-equal\": $fa-var-not-equal,\n  \"border-top-left\": $fa-var-border-top-left,\n  \"border-style\": $fa-var-border-style,\n  \"map-location-dot\": $fa-var-map-location-dot,\n  \"map-marked-alt\": $fa-var-map-marked-alt,\n  \"jedi\": $fa-var-jedi,\n  \"square-poll-vertical\": $fa-var-square-poll-vertical,\n  \"poll\": $fa-var-poll,\n  \"mug-hot\": $fa-var-mug-hot,\n  \"car-battery\": $fa-var-car-battery,\n  \"battery-car\": $fa-var-battery-car,\n  \"gift\": $fa-var-gift,\n  \"dice-two\": $fa-var-dice-two,\n  \"chess-queen\": $fa-var-chess-queen,\n  \"glasses\": $fa-var-glasses,\n  \"chess-board\": $fa-var-chess-board,\n  \"building-circle-check\": $fa-var-building-circle-check,\n  \"person-chalkboard\": $fa-var-person-chalkboard,\n  \"mars-stroke-right\": $fa-var-mars-stroke-right,\n  \"mars-stroke-h\": $fa-var-mars-stroke-h,\n  \"hand-back-fist\": $fa-var-hand-back-fist,\n  \"hand-rock\": $fa-var-hand-rock,\n  \"square-caret-up\": $fa-var-square-caret-up,\n  \"caret-square-up\": $fa-var-caret-square-up,\n  \"cloud-showers-water\": $fa-var-cloud-showers-water,\n  \"chart-bar\": $fa-var-chart-bar,\n  \"bar-chart\": $fa-var-bar-chart,\n  \"hands-bubbles\": $fa-var-hands-bubbles,\n  \"hands-wash\": $fa-var-hands-wash,\n  \"less-than-equal\": $fa-var-less-than-equal,\n  \"train\": $fa-var-train,\n  \"eye-low-vision\": $fa-var-eye-low-vision,\n  \"low-vision\": $fa-var-low-vision,\n  \"crow\": $fa-var-crow,\n  \"sailboat\": $fa-var-sailboat,\n  \"window-restore\": $fa-var-window-restore,\n  \"square-plus\": $fa-var-square-plus,\n  \"plus-square\": $fa-var-plus-square,\n  \"torii-gate\": $fa-var-torii-gate,\n  \"frog\": $fa-var-frog,\n  \"bucket\": $fa-var-bucket,\n  \"image\": $fa-var-image,\n  \"microphone\": $fa-var-microphone,\n  \"cow\": $fa-var-cow,\n  \"caret-up\": $fa-var-caret-up,\n  \"screwdriver\": $fa-var-screwdriver,\n  \"folder-closed\": $fa-var-folder-closed,\n  \"house-tsunami\": $fa-var-house-tsunami,\n  \"square-nfi\": $fa-var-square-nfi,\n  \"arrow-up-from-ground-water\": $fa-var-arrow-up-from-ground-water,\n  \"martini-glass\": $fa-var-martini-glass,\n  \"glass-martini-alt\": $fa-var-glass-martini-alt,\n  \"rotate-left\": $fa-var-rotate-left,\n  \"rotate-back\": $fa-var-rotate-back,\n  \"rotate-backward\": $fa-var-rotate-backward,\n  \"undo-alt\": $fa-var-undo-alt,\n  \"table-columns\": $fa-var-table-columns,\n  \"columns\": $fa-var-columns,\n  \"lemon\": $fa-var-lemon,\n  \"head-side-mask\": $fa-var-head-side-mask,\n  \"handshake\": $fa-var-handshake,\n  \"gem\": $fa-var-gem,\n  \"dolly\": $fa-var-dolly,\n  \"dolly-box\": $fa-var-dolly-box,\n  \"smoking\": $fa-var-smoking,\n  \"minimize\": $fa-var-minimize,\n  \"compress-arrows-alt\": $fa-var-compress-arrows-alt,\n  \"monument\": $fa-var-monument,\n  \"snowplow\": $fa-var-snowplow,\n  \"angles-right\": $fa-var-angles-right,\n  \"angle-double-right\": $fa-var-angle-double-right,\n  \"cannabis\": $fa-var-cannabis,\n  \"circle-play\": $fa-var-circle-play,\n  \"play-circle\": $fa-var-play-circle,\n  \"tablets\": $fa-var-tablets,\n  \"ethernet\": $fa-var-ethernet,\n  \"euro-sign\": $fa-var-euro-sign,\n  \"eur\": $fa-var-eur,\n  \"euro\": $fa-var-euro,\n  \"chair\": $fa-var-chair,\n  \"circle-check\": $fa-var-circle-check,\n  \"check-circle\": $fa-var-check-circle,\n  \"circle-stop\": $fa-var-circle-stop,\n  \"stop-circle\": $fa-var-stop-circle,\n  \"compass-drafting\": $fa-var-compass-drafting,\n  \"drafting-compass\": $fa-var-drafting-compass,\n  \"plate-wheat\": $fa-var-plate-wheat,\n  \"icicles\": $fa-var-icicles,\n  \"person-shelter\": $fa-var-person-shelter,\n  \"neuter\": $fa-var-neuter,\n  \"id-badge\": $fa-var-id-badge,\n  \"marker\": $fa-var-marker,\n  \"face-laugh-beam\": $fa-var-face-laugh-beam,\n  \"laugh-beam\": $fa-var-laugh-beam,\n  \"helicopter-symbol\": $fa-var-helicopter-symbol,\n  \"universal-access\": $fa-var-universal-access,\n  \"circle-chevron-up\": $fa-var-circle-chevron-up,\n  \"chevron-circle-up\": $fa-var-chevron-circle-up,\n  \"lari-sign\": $fa-var-lari-sign,\n  \"volcano\": $fa-var-volcano,\n  \"person-walking-dashed-line-arrow-right\": $fa-var-person-walking-dashed-line-arrow-right,\n  \"sterling-sign\": $fa-var-sterling-sign,\n  \"gbp\": $fa-var-gbp,\n  \"pound-sign\": $fa-var-pound-sign,\n  \"viruses\": $fa-var-viruses,\n  \"square-person-confined\": $fa-var-square-person-confined,\n  \"user-tie\": $fa-var-user-tie,\n  \"arrow-down-long\": $fa-var-arrow-down-long,\n  \"long-arrow-down\": $fa-var-long-arrow-down,\n  \"tent-arrow-down-to-line\": $fa-var-tent-arrow-down-to-line,\n  \"certificate\": $fa-var-certificate,\n  \"reply-all\": $fa-var-reply-all,\n  \"mail-reply-all\": $fa-var-mail-reply-all,\n  \"suitcase\": $fa-var-suitcase,\n  \"person-skating\": $fa-var-person-skating,\n  \"skating\": $fa-var-skating,\n  \"filter-circle-dollar\": $fa-var-filter-circle-dollar,\n  \"funnel-dollar\": $fa-var-funnel-dollar,\n  \"camera-retro\": $fa-var-camera-retro,\n  \"circle-arrow-down\": $fa-var-circle-arrow-down,\n  \"arrow-circle-down\": $fa-var-arrow-circle-down,\n  \"file-import\": $fa-var-file-import,\n  \"arrow-right-to-file\": $fa-var-arrow-right-to-file,\n  \"square-arrow-up-right\": $fa-var-square-arrow-up-right,\n  \"external-link-square\": $fa-var-external-link-square,\n  \"box-open\": $fa-var-box-open,\n  \"scroll\": $fa-var-scroll,\n  \"spa\": $fa-var-spa,\n  \"location-pin-lock\": $fa-var-location-pin-lock,\n  \"pause\": $fa-var-pause,\n  \"hill-avalanche\": $fa-var-hill-avalanche,\n  \"temperature-empty\": $fa-var-temperature-empty,\n  \"temperature-0\": $fa-var-temperature-0,\n  \"thermometer-0\": $fa-var-thermometer-0,\n  \"thermometer-empty\": $fa-var-thermometer-empty,\n  \"bomb\": $fa-var-bomb,\n  \"registered\": $fa-var-registered,\n  \"address-card\": $fa-var-address-card,\n  \"contact-card\": $fa-var-contact-card,\n  \"vcard\": $fa-var-vcard,\n  \"scale-unbalanced-flip\": $fa-var-scale-unbalanced-flip,\n  \"balance-scale-right\": $fa-var-balance-scale-right,\n  \"subscript\": $fa-var-subscript,\n  \"diamond-turn-right\": $fa-var-diamond-turn-right,\n  \"directions\": $fa-var-directions,\n  \"burst\": $fa-var-burst,\n  \"house-laptop\": $fa-var-house-laptop,\n  \"laptop-house\": $fa-var-laptop-house,\n  \"face-tired\": $fa-var-face-tired,\n  \"tired\": $fa-var-tired,\n  \"money-bills\": $fa-var-money-bills,\n  \"smog\": $fa-var-smog,\n  \"crutch\": $fa-var-crutch,\n  \"cloud-arrow-up\": $fa-var-cloud-arrow-up,\n  \"cloud-upload\": $fa-var-cloud-upload,\n  \"cloud-upload-alt\": $fa-var-cloud-upload-alt,\n  \"palette\": $fa-var-palette,\n  \"arrows-turn-right\": $fa-var-arrows-turn-right,\n  \"vest\": $fa-var-vest,\n  \"ferry\": $fa-var-ferry,\n  \"arrows-down-to-people\": $fa-var-arrows-down-to-people,\n  \"seedling\": $fa-var-seedling,\n  \"sprout\": $fa-var-sprout,\n  \"left-right\": $fa-var-left-right,\n  \"arrows-alt-h\": $fa-var-arrows-alt-h,\n  \"boxes-packing\": $fa-var-boxes-packing,\n  \"circle-arrow-left\": $fa-var-circle-arrow-left,\n  \"arrow-circle-left\": $fa-var-arrow-circle-left,\n  \"group-arrows-rotate\": $fa-var-group-arrows-rotate,\n  \"bowl-food\": $fa-var-bowl-food,\n  \"candy-cane\": $fa-var-candy-cane,\n  \"arrow-down-wide-short\": $fa-var-arrow-down-wide-short,\n  \"sort-amount-asc\": $fa-var-sort-amount-asc,\n  \"sort-amount-down\": $fa-var-sort-amount-down,\n  \"cloud-bolt\": $fa-var-cloud-bolt,\n  \"thunderstorm\": $fa-var-thunderstorm,\n  \"text-slash\": $fa-var-text-slash,\n  \"remove-format\": $fa-var-remove-format,\n  \"face-smile-wink\": $fa-var-face-smile-wink,\n  \"smile-wink\": $fa-var-smile-wink,\n  \"file-word\": $fa-var-file-word,\n  \"file-powerpoint\": $fa-var-file-powerpoint,\n  \"arrows-left-right\": $fa-var-arrows-left-right,\n  \"arrows-h\": $fa-var-arrows-h,\n  \"house-lock\": $fa-var-house-lock,\n  \"cloud-arrow-down\": $fa-var-cloud-arrow-down,\n  \"cloud-download\": $fa-var-cloud-download,\n  \"cloud-download-alt\": $fa-var-cloud-download-alt,\n  \"children\": $fa-var-children,\n  \"chalkboard\": $fa-var-chalkboard,\n  \"blackboard\": $fa-var-blackboard,\n  \"user-large-slash\": $fa-var-user-large-slash,\n  \"user-alt-slash\": $fa-var-user-alt-slash,\n  \"envelope-open\": $fa-var-envelope-open,\n  \"handshake-simple-slash\": $fa-var-handshake-simple-slash,\n  \"handshake-alt-slash\": $fa-var-handshake-alt-slash,\n  \"mattress-pillow\": $fa-var-mattress-pillow,\n  \"guarani-sign\": $fa-var-guarani-sign,\n  \"arrows-rotate\": $fa-var-arrows-rotate,\n  \"refresh\": $fa-var-refresh,\n  \"sync\": $fa-var-sync,\n  \"fire-extinguisher\": $fa-var-fire-extinguisher,\n  \"cruzeiro-sign\": $fa-var-cruzeiro-sign,\n  \"greater-than-equal\": $fa-var-greater-than-equal,\n  \"shield-halved\": $fa-var-shield-halved,\n  \"shield-alt\": $fa-var-shield-alt,\n  \"book-atlas\": $fa-var-book-atlas,\n  \"atlas\": $fa-var-atlas,\n  \"virus\": $fa-var-virus,\n  \"envelope-circle-check\": $fa-var-envelope-circle-check,\n  \"layer-group\": $fa-var-layer-group,\n  \"arrows-to-dot\": $fa-var-arrows-to-dot,\n  \"archway\": $fa-var-archway,\n  \"heart-circle-check\": $fa-var-heart-circle-check,\n  \"house-chimney-crack\": $fa-var-house-chimney-crack,\n  \"house-damage\": $fa-var-house-damage,\n  \"file-zipper\": $fa-var-file-zipper,\n  \"file-archive\": $fa-var-file-archive,\n  \"square\": $fa-var-square,\n  \"martini-glass-empty\": $fa-var-martini-glass-empty,\n  \"glass-martini\": $fa-var-glass-martini,\n  \"couch\": $fa-var-couch,\n  \"cedi-sign\": $fa-var-cedi-sign,\n  \"italic\": $fa-var-italic,\n  \"table-cells-column-lock\": $fa-var-table-cells-column-lock,\n  \"church\": $fa-var-church,\n  \"comments-dollar\": $fa-var-comments-dollar,\n  \"democrat\": $fa-var-democrat,\n  \"z\": $fa-var-z,\n  \"person-skiing\": $fa-var-person-skiing,\n  \"skiing\": $fa-var-skiing,\n  \"road-lock\": $fa-var-road-lock,\n  \"a\": $fa-var-a,\n  \"temperature-arrow-down\": $fa-var-temperature-arrow-down,\n  \"temperature-down\": $fa-var-temperature-down,\n  \"feather-pointed\": $fa-var-feather-pointed,\n  \"feather-alt\": $fa-var-feather-alt,\n  \"p\": $fa-var-p,\n  \"snowflake\": $fa-var-snowflake,\n  \"newspaper\": $fa-var-newspaper,\n  \"rectangle-ad\": $fa-var-rectangle-ad,\n  \"ad\": $fa-var-ad,\n  \"circle-arrow-right\": $fa-var-circle-arrow-right,\n  \"arrow-circle-right\": $fa-var-arrow-circle-right,\n  \"filter-circle-xmark\": $fa-var-filter-circle-xmark,\n  \"locust\": $fa-var-locust,\n  \"sort\": $fa-var-sort,\n  \"unsorted\": $fa-var-unsorted,\n  \"list-ol\": $fa-var-list-ol,\n  \"list-1-2\": $fa-var-list-1-2,\n  \"list-numeric\": $fa-var-list-numeric,\n  \"person-dress-burst\": $fa-var-person-dress-burst,\n  \"money-check-dollar\": $fa-var-money-check-dollar,\n  \"money-check-alt\": $fa-var-money-check-alt,\n  \"vector-square\": $fa-var-vector-square,\n  \"bread-slice\": $fa-var-bread-slice,\n  \"language\": $fa-var-language,\n  \"face-kiss-wink-heart\": $fa-var-face-kiss-wink-heart,\n  \"kiss-wink-heart\": $fa-var-kiss-wink-heart,\n  \"filter\": $fa-var-filter,\n  \"question\": $fa-var-question,\n  \"file-signature\": $fa-var-file-signature,\n  \"up-down-left-right\": $fa-var-up-down-left-right,\n  \"arrows-alt\": $fa-var-arrows-alt,\n  \"house-chimney-user\": $fa-var-house-chimney-user,\n  \"hand-holding-heart\": $fa-var-hand-holding-heart,\n  \"puzzle-piece\": $fa-var-puzzle-piece,\n  \"money-check\": $fa-var-money-check,\n  \"star-half-stroke\": $fa-var-star-half-stroke,\n  \"star-half-alt\": $fa-var-star-half-alt,\n  \"code\": $fa-var-code,\n  \"whiskey-glass\": $fa-var-whiskey-glass,\n  \"glass-whiskey\": $fa-var-glass-whiskey,\n  \"building-circle-exclamation\": $fa-var-building-circle-exclamation,\n  \"magnifying-glass-chart\": $fa-var-magnifying-glass-chart,\n  \"arrow-up-right-from-square\": $fa-var-arrow-up-right-from-square,\n  \"external-link\": $fa-var-external-link,\n  \"cubes-stacked\": $fa-var-cubes-stacked,\n  \"won-sign\": $fa-var-won-sign,\n  \"krw\": $fa-var-krw,\n  \"won\": $fa-var-won,\n  \"virus-covid\": $fa-var-virus-covid,\n  \"austral-sign\": $fa-var-austral-sign,\n  \"f\": $fa-var-f,\n  \"leaf\": $fa-var-leaf,\n  \"road\": $fa-var-road,\n  \"taxi\": $fa-var-taxi,\n  \"cab\": $fa-var-cab,\n  \"person-circle-plus\": $fa-var-person-circle-plus,\n  \"chart-pie\": $fa-var-chart-pie,\n  \"pie-chart\": $fa-var-pie-chart,\n  \"bolt-lightning\": $fa-var-bolt-lightning,\n  \"sack-xmark\": $fa-var-sack-xmark,\n  \"file-excel\": $fa-var-file-excel,\n  \"file-contract\": $fa-var-file-contract,\n  \"fish-fins\": $fa-var-fish-fins,\n  \"building-flag\": $fa-var-building-flag,\n  \"face-grin-beam\": $fa-var-face-grin-beam,\n  \"grin-beam\": $fa-var-grin-beam,\n  \"object-ungroup\": $fa-var-object-ungroup,\n  \"poop\": $fa-var-poop,\n  \"location-pin\": $fa-var-location-pin,\n  \"map-marker\": $fa-var-map-marker,\n  \"kaaba\": $fa-var-kaaba,\n  \"toilet-paper\": $fa-var-toilet-paper,\n  \"helmet-safety\": $fa-var-helmet-safety,\n  \"hard-hat\": $fa-var-hard-hat,\n  \"hat-hard\": $fa-var-hat-hard,\n  \"eject\": $fa-var-eject,\n  \"circle-right\": $fa-var-circle-right,\n  \"arrow-alt-circle-right\": $fa-var-arrow-alt-circle-right,\n  \"plane-circle-check\": $fa-var-plane-circle-check,\n  \"face-rolling-eyes\": $fa-var-face-rolling-eyes,\n  \"meh-rolling-eyes\": $fa-var-meh-rolling-eyes,\n  \"object-group\": $fa-var-object-group,\n  \"chart-line\": $fa-var-chart-line,\n  \"line-chart\": $fa-var-line-chart,\n  \"mask-ventilator\": $fa-var-mask-ventilator,\n  \"arrow-right\": $fa-var-arrow-right,\n  \"signs-post\": $fa-var-signs-post,\n  \"map-signs\": $fa-var-map-signs,\n  \"cash-register\": $fa-var-cash-register,\n  \"person-circle-question\": $fa-var-person-circle-question,\n  \"h\": $fa-var-h,\n  \"tarp\": $fa-var-tarp,\n  \"screwdriver-wrench\": $fa-var-screwdriver-wrench,\n  \"tools\": $fa-var-tools,\n  \"arrows-to-eye\": $fa-var-arrows-to-eye,\n  \"plug-circle-bolt\": $fa-var-plug-circle-bolt,\n  \"heart\": $fa-var-heart,\n  \"mars-and-venus\": $fa-var-mars-and-venus,\n  \"house-user\": $fa-var-house-user,\n  \"home-user\": $fa-var-home-user,\n  \"dumpster-fire\": $fa-var-dumpster-fire,\n  \"house-crack\": $fa-var-house-crack,\n  \"martini-glass-citrus\": $fa-var-martini-glass-citrus,\n  \"cocktail\": $fa-var-cocktail,\n  \"face-surprise\": $fa-var-face-surprise,\n  \"surprise\": $fa-var-surprise,\n  \"bottle-water\": $fa-var-bottle-water,\n  \"circle-pause\": $fa-var-circle-pause,\n  \"pause-circle\": $fa-var-pause-circle,\n  \"toilet-paper-slash\": $fa-var-toilet-paper-slash,\n  \"apple-whole\": $fa-var-apple-whole,\n  \"apple-alt\": $fa-var-apple-alt,\n  \"kitchen-set\": $fa-var-kitchen-set,\n  \"r\": $fa-var-r,\n  \"temperature-quarter\": $fa-var-temperature-quarter,\n  \"temperature-1\": $fa-var-temperature-1,\n  \"thermometer-1\": $fa-var-thermometer-1,\n  \"thermometer-quarter\": $fa-var-thermometer-quarter,\n  \"cube\": $fa-var-cube,\n  \"bitcoin-sign\": $fa-var-bitcoin-sign,\n  \"shield-dog\": $fa-var-shield-dog,\n  \"solar-panel\": $fa-var-solar-panel,\n  \"lock-open\": $fa-var-lock-open,\n  \"elevator\": $fa-var-elevator,\n  \"money-bill-transfer\": $fa-var-money-bill-transfer,\n  \"money-bill-trend-up\": $fa-var-money-bill-trend-up,\n  \"house-flood-water-circle-arrow-right\": $fa-var-house-flood-water-circle-arrow-right,\n  \"square-poll-horizontal\": $fa-var-square-poll-horizontal,\n  \"poll-h\": $fa-var-poll-h,\n  \"circle\": $fa-var-circle,\n  \"backward-fast\": $fa-var-backward-fast,\n  \"fast-backward\": $fa-var-fast-backward,\n  \"recycle\": $fa-var-recycle,\n  \"user-astronaut\": $fa-var-user-astronaut,\n  \"plane-slash\": $fa-var-plane-slash,\n  \"trademark\": $fa-var-trademark,\n  \"basketball\": $fa-var-basketball,\n  \"basketball-ball\": $fa-var-basketball-ball,\n  \"satellite-dish\": $fa-var-satellite-dish,\n  \"circle-up\": $fa-var-circle-up,\n  \"arrow-alt-circle-up\": $fa-var-arrow-alt-circle-up,\n  \"mobile-screen-button\": $fa-var-mobile-screen-button,\n  \"mobile-alt\": $fa-var-mobile-alt,\n  \"volume-high\": $fa-var-volume-high,\n  \"volume-up\": $fa-var-volume-up,\n  \"users-rays\": $fa-var-users-rays,\n  \"wallet\": $fa-var-wallet,\n  \"clipboard-check\": $fa-var-clipboard-check,\n  \"file-audio\": $fa-var-file-audio,\n  \"burger\": $fa-var-burger,\n  \"hamburger\": $fa-var-hamburger,\n  \"wrench\": $fa-var-wrench,\n  \"bugs\": $fa-var-bugs,\n  \"rupee-sign\": $fa-var-rupee-sign,\n  \"rupee\": $fa-var-rupee,\n  \"file-image\": $fa-var-file-image,\n  \"circle-question\": $fa-var-circle-question,\n  \"question-circle\": $fa-var-question-circle,\n  \"plane-departure\": $fa-var-plane-departure,\n  \"handshake-slash\": $fa-var-handshake-slash,\n  \"book-bookmark\": $fa-var-book-bookmark,\n  \"code-branch\": $fa-var-code-branch,\n  \"hat-cowboy\": $fa-var-hat-cowboy,\n  \"bridge\": $fa-var-bridge,\n  \"phone-flip\": $fa-var-phone-flip,\n  \"phone-alt\": $fa-var-phone-alt,\n  \"truck-front\": $fa-var-truck-front,\n  \"cat\": $fa-var-cat,\n  \"anchor-circle-exclamation\": $fa-var-anchor-circle-exclamation,\n  \"truck-field\": $fa-var-truck-field,\n  \"route\": $fa-var-route,\n  \"clipboard-question\": $fa-var-clipboard-question,\n  \"panorama\": $fa-var-panorama,\n  \"comment-medical\": $fa-var-comment-medical,\n  \"teeth-open\": $fa-var-teeth-open,\n  \"file-circle-minus\": $fa-var-file-circle-minus,\n  \"tags\": $fa-var-tags,\n  \"wine-glass\": $fa-var-wine-glass,\n  \"forward-fast\": $fa-var-forward-fast,\n  \"fast-forward\": $fa-var-fast-forward,\n  \"face-meh-blank\": $fa-var-face-meh-blank,\n  \"meh-blank\": $fa-var-meh-blank,\n  \"square-parking\": $fa-var-square-parking,\n  \"parking\": $fa-var-parking,\n  \"house-signal\": $fa-var-house-signal,\n  \"bars-progress\": $fa-var-bars-progress,\n  \"tasks-alt\": $fa-var-tasks-alt,\n  \"faucet-drip\": $fa-var-faucet-drip,\n  \"cart-flatbed\": $fa-var-cart-flatbed,\n  \"dolly-flatbed\": $fa-var-dolly-flatbed,\n  \"ban-smoking\": $fa-var-ban-smoking,\n  \"smoking-ban\": $fa-var-smoking-ban,\n  \"terminal\": $fa-var-terminal,\n  \"mobile-button\": $fa-var-mobile-button,\n  \"house-medical-flag\": $fa-var-house-medical-flag,\n  \"basket-shopping\": $fa-var-basket-shopping,\n  \"shopping-basket\": $fa-var-shopping-basket,\n  \"tape\": $fa-var-tape,\n  \"bus-simple\": $fa-var-bus-simple,\n  \"bus-alt\": $fa-var-bus-alt,\n  \"eye\": $fa-var-eye,\n  \"face-sad-cry\": $fa-var-face-sad-cry,\n  \"sad-cry\": $fa-var-sad-cry,\n  \"audio-description\": $fa-var-audio-description,\n  \"person-military-to-person\": $fa-var-person-military-to-person,\n  \"file-shield\": $fa-var-file-shield,\n  \"user-slash\": $fa-var-user-slash,\n  \"pen\": $fa-var-pen,\n  \"tower-observation\": $fa-var-tower-observation,\n  \"file-code\": $fa-var-file-code,\n  \"signal\": $fa-var-signal,\n  \"signal-5\": $fa-var-signal-5,\n  \"signal-perfect\": $fa-var-signal-perfect,\n  \"bus\": $fa-var-bus,\n  \"heart-circle-xmark\": $fa-var-heart-circle-xmark,\n  \"house-chimney\": $fa-var-house-chimney,\n  \"home-lg\": $fa-var-home-lg,\n  \"window-maximize\": $fa-var-window-maximize,\n  \"face-frown\": $fa-var-face-frown,\n  \"frown\": $fa-var-frown,\n  \"prescription\": $fa-var-prescription,\n  \"shop\": $fa-var-shop,\n  \"store-alt\": $fa-var-store-alt,\n  \"floppy-disk\": $fa-var-floppy-disk,\n  \"save\": $fa-var-save,\n  \"vihara\": $fa-var-vihara,\n  \"scale-unbalanced\": $fa-var-scale-unbalanced,\n  \"balance-scale-left\": $fa-var-balance-scale-left,\n  \"sort-up\": $fa-var-sort-up,\n  \"sort-asc\": $fa-var-sort-asc,\n  \"comment-dots\": $fa-var-comment-dots,\n  \"commenting\": $fa-var-commenting,\n  \"plant-wilt\": $fa-var-plant-wilt,\n  \"diamond\": $fa-var-diamond,\n  \"face-grin-squint\": $fa-var-face-grin-squint,\n  \"grin-squint\": $fa-var-grin-squint,\n  \"hand-holding-dollar\": $fa-var-hand-holding-dollar,\n  \"hand-holding-usd\": $fa-var-hand-holding-usd,\n  \"bacterium\": $fa-var-bacterium,\n  \"hand-pointer\": $fa-var-hand-pointer,\n  \"drum-steelpan\": $fa-var-drum-steelpan,\n  \"hand-scissors\": $fa-var-hand-scissors,\n  \"hands-praying\": $fa-var-hands-praying,\n  \"praying-hands\": $fa-var-praying-hands,\n  \"arrow-rotate-right\": $fa-var-arrow-rotate-right,\n  \"arrow-right-rotate\": $fa-var-arrow-right-rotate,\n  \"arrow-rotate-forward\": $fa-var-arrow-rotate-forward,\n  \"redo\": $fa-var-redo,\n  \"biohazard\": $fa-var-biohazard,\n  \"location-crosshairs\": $fa-var-location-crosshairs,\n  \"location\": $fa-var-location,\n  \"mars-double\": $fa-var-mars-double,\n  \"child-dress\": $fa-var-child-dress,\n  \"users-between-lines\": $fa-var-users-between-lines,\n  \"lungs-virus\": $fa-var-lungs-virus,\n  \"face-grin-tears\": $fa-var-face-grin-tears,\n  \"grin-tears\": $fa-var-grin-tears,\n  \"phone\": $fa-var-phone,\n  \"calendar-xmark\": $fa-var-calendar-xmark,\n  \"calendar-times\": $fa-var-calendar-times,\n  \"child-reaching\": $fa-var-child-reaching,\n  \"head-side-virus\": $fa-var-head-side-virus,\n  \"user-gear\": $fa-var-user-gear,\n  \"user-cog\": $fa-var-user-cog,\n  \"arrow-up-1-9\": $fa-var-arrow-up-1-9,\n  \"sort-numeric-up\": $fa-var-sort-numeric-up,\n  \"door-closed\": $fa-var-door-closed,\n  \"shield-virus\": $fa-var-shield-virus,\n  \"dice-six\": $fa-var-dice-six,\n  \"mosquito-net\": $fa-var-mosquito-net,\n  \"bridge-water\": $fa-var-bridge-water,\n  \"person-booth\": $fa-var-person-booth,\n  \"text-width\": $fa-var-text-width,\n  \"hat-wizard\": $fa-var-hat-wizard,\n  \"pen-fancy\": $fa-var-pen-fancy,\n  \"person-digging\": $fa-var-person-digging,\n  \"digging\": $fa-var-digging,\n  \"trash\": $fa-var-trash,\n  \"gauge-simple\": $fa-var-gauge-simple,\n  \"gauge-simple-med\": $fa-var-gauge-simple-med,\n  \"tachometer-average\": $fa-var-tachometer-average,\n  \"book-medical\": $fa-var-book-medical,\n  \"poo\": $fa-var-poo,\n  \"quote-right\": $fa-var-quote-right,\n  \"quote-right-alt\": $fa-var-quote-right-alt,\n  \"shirt\": $fa-var-shirt,\n  \"t-shirt\": $fa-var-t-shirt,\n  \"tshirt\": $fa-var-tshirt,\n  \"cubes\": $fa-var-cubes,\n  \"divide\": $fa-var-divide,\n  \"tenge-sign\": $fa-var-tenge-sign,\n  \"tenge\": $fa-var-tenge,\n  \"headphones\": $fa-var-headphones,\n  \"hands-holding\": $fa-var-hands-holding,\n  \"hands-clapping\": $fa-var-hands-clapping,\n  \"republican\": $fa-var-republican,\n  \"arrow-left\": $fa-var-arrow-left,\n  \"person-circle-xmark\": $fa-var-person-circle-xmark,\n  \"ruler\": $fa-var-ruler,\n  \"align-left\": $fa-var-align-left,\n  \"dice-d6\": $fa-var-dice-d6,\n  \"restroom\": $fa-var-restroom,\n  \"j\": $fa-var-j,\n  \"users-viewfinder\": $fa-var-users-viewfinder,\n  \"file-video\": $fa-var-file-video,\n  \"up-right-from-square\": $fa-var-up-right-from-square,\n  \"external-link-alt\": $fa-var-external-link-alt,\n  \"table-cells\": $fa-var-table-cells,\n  \"th\": $fa-var-th,\n  \"file-pdf\": $fa-var-file-pdf,\n  \"book-bible\": $fa-var-book-bible,\n  \"bible\": $fa-var-bible,\n  \"o\": $fa-var-o,\n  \"suitcase-medical\": $fa-var-suitcase-medical,\n  \"medkit\": $fa-var-medkit,\n  \"user-secret\": $fa-var-user-secret,\n  \"otter\": $fa-var-otter,\n  \"person-dress\": $fa-var-person-dress,\n  \"female\": $fa-var-female,\n  \"comment-dollar\": $fa-var-comment-dollar,\n  \"business-time\": $fa-var-business-time,\n  \"briefcase-clock\": $fa-var-briefcase-clock,\n  \"table-cells-large\": $fa-var-table-cells-large,\n  \"th-large\": $fa-var-th-large,\n  \"book-tanakh\": $fa-var-book-tanakh,\n  \"tanakh\": $fa-var-tanakh,\n  \"phone-volume\": $fa-var-phone-volume,\n  \"volume-control-phone\": $fa-var-volume-control-phone,\n  \"hat-cowboy-side\": $fa-var-hat-cowboy-side,\n  \"clipboard-user\": $fa-var-clipboard-user,\n  \"child\": $fa-var-child,\n  \"lira-sign\": $fa-var-lira-sign,\n  \"satellite\": $fa-var-satellite,\n  \"plane-lock\": $fa-var-plane-lock,\n  \"tag\": $fa-var-tag,\n  \"comment\": $fa-var-comment,\n  \"cake-candles\": $fa-var-cake-candles,\n  \"birthday-cake\": $fa-var-birthday-cake,\n  \"cake\": $fa-var-cake,\n  \"envelope\": $fa-var-envelope,\n  \"angles-up\": $fa-var-angles-up,\n  \"angle-double-up\": $fa-var-angle-double-up,\n  \"paperclip\": $fa-var-paperclip,\n  \"arrow-right-to-city\": $fa-var-arrow-right-to-city,\n  \"ribbon\": $fa-var-ribbon,\n  \"lungs\": $fa-var-lungs,\n  \"arrow-up-9-1\": $fa-var-arrow-up-9-1,\n  \"sort-numeric-up-alt\": $fa-var-sort-numeric-up-alt,\n  \"litecoin-sign\": $fa-var-litecoin-sign,\n  \"border-none\": $fa-var-border-none,\n  \"circle-nodes\": $fa-var-circle-nodes,\n  \"parachute-box\": $fa-var-parachute-box,\n  \"indent\": $fa-var-indent,\n  \"truck-field-un\": $fa-var-truck-field-un,\n  \"hourglass\": $fa-var-hourglass,\n  \"hourglass-empty\": $fa-var-hourglass-empty,\n  \"mountain\": $fa-var-mountain,\n  \"user-doctor\": $fa-var-user-doctor,\n  \"user-md\": $fa-var-user-md,\n  \"circle-info\": $fa-var-circle-info,\n  \"info-circle\": $fa-var-info-circle,\n  \"cloud-meatball\": $fa-var-cloud-meatball,\n  \"camera\": $fa-var-camera,\n  \"camera-alt\": $fa-var-camera-alt,\n  \"square-virus\": $fa-var-square-virus,\n  \"meteor\": $fa-var-meteor,\n  \"car-on\": $fa-var-car-on,\n  \"sleigh\": $fa-var-sleigh,\n  \"arrow-down-1-9\": $fa-var-arrow-down-1-9,\n  \"sort-numeric-asc\": $fa-var-sort-numeric-asc,\n  \"sort-numeric-down\": $fa-var-sort-numeric-down,\n  \"hand-holding-droplet\": $fa-var-hand-holding-droplet,\n  \"hand-holding-water\": $fa-var-hand-holding-water,\n  \"water\": $fa-var-water,\n  \"calendar-check\": $fa-var-calendar-check,\n  \"braille\": $fa-var-braille,\n  \"prescription-bottle-medical\": $fa-var-prescription-bottle-medical,\n  \"prescription-bottle-alt\": $fa-var-prescription-bottle-alt,\n  \"landmark\": $fa-var-landmark,\n  \"truck\": $fa-var-truck,\n  \"crosshairs\": $fa-var-crosshairs,\n  \"person-cane\": $fa-var-person-cane,\n  \"tent\": $fa-var-tent,\n  \"vest-patches\": $fa-var-vest-patches,\n  \"check-double\": $fa-var-check-double,\n  \"arrow-down-a-z\": $fa-var-arrow-down-a-z,\n  \"sort-alpha-asc\": $fa-var-sort-alpha-asc,\n  \"sort-alpha-down\": $fa-var-sort-alpha-down,\n  \"money-bill-wheat\": $fa-var-money-bill-wheat,\n  \"cookie\": $fa-var-cookie,\n  \"arrow-rotate-left\": $fa-var-arrow-rotate-left,\n  \"arrow-left-rotate\": $fa-var-arrow-left-rotate,\n  \"arrow-rotate-back\": $fa-var-arrow-rotate-back,\n  \"arrow-rotate-backward\": $fa-var-arrow-rotate-backward,\n  \"undo\": $fa-var-undo,\n  \"hard-drive\": $fa-var-hard-drive,\n  \"hdd\": $fa-var-hdd,\n  \"face-grin-squint-tears\": $fa-var-face-grin-squint-tears,\n  \"grin-squint-tears\": $fa-var-grin-squint-tears,\n  \"dumbbell\": $fa-var-dumbbell,\n  \"rectangle-list\": $fa-var-rectangle-list,\n  \"list-alt\": $fa-var-list-alt,\n  \"tarp-droplet\": $fa-var-tarp-droplet,\n  \"house-medical-circle-check\": $fa-var-house-medical-circle-check,\n  \"person-skiing-nordic\": $fa-var-person-skiing-nordic,\n  \"skiing-nordic\": $fa-var-skiing-nordic,\n  \"calendar-plus\": $fa-var-calendar-plus,\n  \"plane-arrival\": $fa-var-plane-arrival,\n  \"circle-left\": $fa-var-circle-left,\n  \"arrow-alt-circle-left\": $fa-var-arrow-alt-circle-left,\n  \"train-subway\": $fa-var-train-subway,\n  \"subway\": $fa-var-subway,\n  \"chart-gantt\": $fa-var-chart-gantt,\n  \"indian-rupee-sign\": $fa-var-indian-rupee-sign,\n  \"indian-rupee\": $fa-var-indian-rupee,\n  \"inr\": $fa-var-inr,\n  \"crop-simple\": $fa-var-crop-simple,\n  \"crop-alt\": $fa-var-crop-alt,\n  \"money-bill-1\": $fa-var-money-bill-1,\n  \"money-bill-alt\": $fa-var-money-bill-alt,\n  \"left-long\": $fa-var-left-long,\n  \"long-arrow-alt-left\": $fa-var-long-arrow-alt-left,\n  \"dna\": $fa-var-dna,\n  \"virus-slash\": $fa-var-virus-slash,\n  \"minus\": $fa-var-minus,\n  \"subtract\": $fa-var-subtract,\n  \"chess\": $fa-var-chess,\n  \"arrow-left-long\": $fa-var-arrow-left-long,\n  \"long-arrow-left\": $fa-var-long-arrow-left,\n  \"plug-circle-check\": $fa-var-plug-circle-check,\n  \"street-view\": $fa-var-street-view,\n  \"franc-sign\": $fa-var-franc-sign,\n  \"volume-off\": $fa-var-volume-off,\n  \"hands-asl-interpreting\": $fa-var-hands-asl-interpreting,\n  \"american-sign-language-interpreting\": $fa-var-american-sign-language-interpreting,\n  \"asl-interpreting\": $fa-var-asl-interpreting,\n  \"hands-american-sign-language-interpreting\": $fa-var-hands-american-sign-language-interpreting,\n  \"gear\": $fa-var-gear,\n  \"cog\": $fa-var-cog,\n  \"droplet-slash\": $fa-var-droplet-slash,\n  \"tint-slash\": $fa-var-tint-slash,\n  \"mosque\": $fa-var-mosque,\n  \"mosquito\": $fa-var-mosquito,\n  \"star-of-david\": $fa-var-star-of-david,\n  \"person-military-rifle\": $fa-var-person-military-rifle,\n  \"cart-shopping\": $fa-var-cart-shopping,\n  \"shopping-cart\": $fa-var-shopping-cart,\n  \"vials\": $fa-var-vials,\n  \"plug-circle-plus\": $fa-var-plug-circle-plus,\n  \"place-of-worship\": $fa-var-place-of-worship,\n  \"grip-vertical\": $fa-var-grip-vertical,\n  \"arrow-turn-up\": $fa-var-arrow-turn-up,\n  \"level-up\": $fa-var-level-up,\n  \"u\": $fa-var-u,\n  \"square-root-variable\": $fa-var-square-root-variable,\n  \"square-root-alt\": $fa-var-square-root-alt,\n  \"clock\": $fa-var-clock,\n  \"clock-four\": $fa-var-clock-four,\n  \"backward-step\": $fa-var-backward-step,\n  \"step-backward\": $fa-var-step-backward,\n  \"pallet\": $fa-var-pallet,\n  \"faucet\": $fa-var-faucet,\n  \"baseball-bat-ball\": $fa-var-baseball-bat-ball,\n  \"s\": $fa-var-s,\n  \"timeline\": $fa-var-timeline,\n  \"keyboard\": $fa-var-keyboard,\n  \"caret-down\": $fa-var-caret-down,\n  \"house-chimney-medical\": $fa-var-house-chimney-medical,\n  \"clinic-medical\": $fa-var-clinic-medical,\n  \"temperature-three-quarters\": $fa-var-temperature-three-quarters,\n  \"temperature-3\": $fa-var-temperature-3,\n  \"thermometer-3\": $fa-var-thermometer-3,\n  \"thermometer-three-quarters\": $fa-var-thermometer-three-quarters,\n  \"mobile-screen\": $fa-var-mobile-screen,\n  \"mobile-android-alt\": $fa-var-mobile-android-alt,\n  \"plane-up\": $fa-var-plane-up,\n  \"piggy-bank\": $fa-var-piggy-bank,\n  \"battery-half\": $fa-var-battery-half,\n  \"battery-3\": $fa-var-battery-3,\n  \"mountain-city\": $fa-var-mountain-city,\n  \"coins\": $fa-var-coins,\n  \"khanda\": $fa-var-khanda,\n  \"sliders\": $fa-var-sliders,\n  \"sliders-h\": $fa-var-sliders-h,\n  \"folder-tree\": $fa-var-folder-tree,\n  \"network-wired\": $fa-var-network-wired,\n  \"map-pin\": $fa-var-map-pin,\n  \"hamsa\": $fa-var-hamsa,\n  \"cent-sign\": $fa-var-cent-sign,\n  \"flask\": $fa-var-flask,\n  \"person-pregnant\": $fa-var-person-pregnant,\n  \"wand-sparkles\": $fa-var-wand-sparkles,\n  \"ellipsis-vertical\": $fa-var-ellipsis-vertical,\n  \"ellipsis-v\": $fa-var-ellipsis-v,\n  \"ticket\": $fa-var-ticket,\n  \"power-off\": $fa-var-power-off,\n  \"right-long\": $fa-var-right-long,\n  \"long-arrow-alt-right\": $fa-var-long-arrow-alt-right,\n  \"flag-usa\": $fa-var-flag-usa,\n  \"laptop-file\": $fa-var-laptop-file,\n  \"tty\": $fa-var-tty,\n  \"teletype\": $fa-var-teletype,\n  \"diagram-next\": $fa-var-diagram-next,\n  \"person-rifle\": $fa-var-person-rifle,\n  \"house-medical-circle-exclamation\": $fa-var-house-medical-circle-exclamation,\n  \"closed-captioning\": $fa-var-closed-captioning,\n  \"person-hiking\": $fa-var-person-hiking,\n  \"hiking\": $fa-var-hiking,\n  \"venus-double\": $fa-var-venus-double,\n  \"images\": $fa-var-images,\n  \"calculator\": $fa-var-calculator,\n  \"people-pulling\": $fa-var-people-pulling,\n  \"n\": $fa-var-n,\n  \"cable-car\": $fa-var-cable-car,\n  \"tram\": $fa-var-tram,\n  \"cloud-rain\": $fa-var-cloud-rain,\n  \"building-circle-xmark\": $fa-var-building-circle-xmark,\n  \"ship\": $fa-var-ship,\n  \"arrows-down-to-line\": $fa-var-arrows-down-to-line,\n  \"download\": $fa-var-download,\n  \"face-grin\": $fa-var-face-grin,\n  \"grin\": $fa-var-grin,\n  \"delete-left\": $fa-var-delete-left,\n  \"backspace\": $fa-var-backspace,\n  \"eye-dropper\": $fa-var-eye-dropper,\n  \"eye-dropper-empty\": $fa-var-eye-dropper-empty,\n  \"eyedropper\": $fa-var-eyedropper,\n  \"file-circle-check\": $fa-var-file-circle-check,\n  \"forward\": $fa-var-forward,\n  \"mobile\": $fa-var-mobile,\n  \"mobile-android\": $fa-var-mobile-android,\n  \"mobile-phone\": $fa-var-mobile-phone,\n  \"face-meh\": $fa-var-face-meh,\n  \"meh\": $fa-var-meh,\n  \"align-center\": $fa-var-align-center,\n  \"book-skull\": $fa-var-book-skull,\n  \"book-dead\": $fa-var-book-dead,\n  \"id-card\": $fa-var-id-card,\n  \"drivers-license\": $fa-var-drivers-license,\n  \"outdent\": $fa-var-outdent,\n  \"dedent\": $fa-var-dedent,\n  \"heart-circle-exclamation\": $fa-var-heart-circle-exclamation,\n  \"house\": $fa-var-house,\n  \"home\": $fa-var-home,\n  \"home-alt\": $fa-var-home-alt,\n  \"home-lg-alt\": $fa-var-home-lg-alt,\n  \"calendar-week\": $fa-var-calendar-week,\n  \"laptop-medical\": $fa-var-laptop-medical,\n  \"b\": $fa-var-b,\n  \"file-medical\": $fa-var-file-medical,\n  \"dice-one\": $fa-var-dice-one,\n  \"kiwi-bird\": $fa-var-kiwi-bird,\n  \"arrow-right-arrow-left\": $fa-var-arrow-right-arrow-left,\n  \"exchange\": $fa-var-exchange,\n  \"rotate-right\": $fa-var-rotate-right,\n  \"redo-alt\": $fa-var-redo-alt,\n  \"rotate-forward\": $fa-var-rotate-forward,\n  \"utensils\": $fa-var-utensils,\n  \"cutlery\": $fa-var-cutlery,\n  \"arrow-up-wide-short\": $fa-var-arrow-up-wide-short,\n  \"sort-amount-up\": $fa-var-sort-amount-up,\n  \"mill-sign\": $fa-var-mill-sign,\n  \"bowl-rice\": $fa-var-bowl-rice,\n  \"skull\": $fa-var-skull,\n  \"tower-broadcast\": $fa-var-tower-broadcast,\n  \"broadcast-tower\": $fa-var-broadcast-tower,\n  \"truck-pickup\": $fa-var-truck-pickup,\n  \"up-long\": $fa-var-up-long,\n  \"long-arrow-alt-up\": $fa-var-long-arrow-alt-up,\n  \"stop\": $fa-var-stop,\n  \"code-merge\": $fa-var-code-merge,\n  \"upload\": $fa-var-upload,\n  \"hurricane\": $fa-var-hurricane,\n  \"mound\": $fa-var-mound,\n  \"toilet-portable\": $fa-var-toilet-portable,\n  \"compact-disc\": $fa-var-compact-disc,\n  \"file-arrow-down\": $fa-var-file-arrow-down,\n  \"file-download\": $fa-var-file-download,\n  \"caravan\": $fa-var-caravan,\n  \"shield-cat\": $fa-var-shield-cat,\n  \"bolt\": $fa-var-bolt,\n  \"zap\": $fa-var-zap,\n  \"glass-water\": $fa-var-glass-water,\n  \"oil-well\": $fa-var-oil-well,\n  \"vault\": $fa-var-vault,\n  \"mars\": $fa-var-mars,\n  \"toilet\": $fa-var-toilet,\n  \"plane-circle-xmark\": $fa-var-plane-circle-xmark,\n  \"yen-sign\": $fa-var-yen-sign,\n  \"cny\": $fa-var-cny,\n  \"jpy\": $fa-var-jpy,\n  \"rmb\": $fa-var-rmb,\n  \"yen\": $fa-var-yen,\n  \"ruble-sign\": $fa-var-ruble-sign,\n  \"rouble\": $fa-var-rouble,\n  \"rub\": $fa-var-rub,\n  \"ruble\": $fa-var-ruble,\n  \"sun\": $fa-var-sun,\n  \"guitar\": $fa-var-guitar,\n  \"face-laugh-wink\": $fa-var-face-laugh-wink,\n  \"laugh-wink\": $fa-var-laugh-wink,\n  \"horse-head\": $fa-var-horse-head,\n  \"bore-hole\": $fa-var-bore-hole,\n  \"industry\": $fa-var-industry,\n  \"circle-down\": $fa-var-circle-down,\n  \"arrow-alt-circle-down\": $fa-var-arrow-alt-circle-down,\n  \"arrows-turn-to-dots\": $fa-var-arrows-turn-to-dots,\n  \"florin-sign\": $fa-var-florin-sign,\n  \"arrow-down-short-wide\": $fa-var-arrow-down-short-wide,\n  \"sort-amount-desc\": $fa-var-sort-amount-desc,\n  \"sort-amount-down-alt\": $fa-var-sort-amount-down-alt,\n  \"less-than\": $fa-var-less-than,\n  \"angle-down\": $fa-var-angle-down,\n  \"car-tunnel\": $fa-var-car-tunnel,\n  \"head-side-cough\": $fa-var-head-side-cough,\n  \"grip-lines\": $fa-var-grip-lines,\n  \"thumbs-down\": $fa-var-thumbs-down,\n  \"user-lock\": $fa-var-user-lock,\n  \"arrow-right-long\": $fa-var-arrow-right-long,\n  \"long-arrow-right\": $fa-var-long-arrow-right,\n  \"anchor-circle-xmark\": $fa-var-anchor-circle-xmark,\n  \"ellipsis\": $fa-var-ellipsis,\n  \"ellipsis-h\": $fa-var-ellipsis-h,\n  \"chess-pawn\": $fa-var-chess-pawn,\n  \"kit-medical\": $fa-var-kit-medical,\n  \"first-aid\": $fa-var-first-aid,\n  \"person-through-window\": $fa-var-person-through-window,\n  \"toolbox\": $fa-var-toolbox,\n  \"hands-holding-circle\": $fa-var-hands-holding-circle,\n  \"bug\": $fa-var-bug,\n  \"credit-card\": $fa-var-credit-card,\n  \"credit-card-alt\": $fa-var-credit-card-alt,\n  \"car\": $fa-var-car,\n  \"automobile\": $fa-var-automobile,\n  \"hand-holding-hand\": $fa-var-hand-holding-hand,\n  \"book-open-reader\": $fa-var-book-open-reader,\n  \"book-reader\": $fa-var-book-reader,\n  \"mountain-sun\": $fa-var-mountain-sun,\n  \"arrows-left-right-to-line\": $fa-var-arrows-left-right-to-line,\n  \"dice-d20\": $fa-var-dice-d20,\n  \"truck-droplet\": $fa-var-truck-droplet,\n  \"file-circle-xmark\": $fa-var-file-circle-xmark,\n  \"temperature-arrow-up\": $fa-var-temperature-arrow-up,\n  \"temperature-up\": $fa-var-temperature-up,\n  \"medal\": $fa-var-medal,\n  \"bed\": $fa-var-bed,\n  \"square-h\": $fa-var-square-h,\n  \"h-square\": $fa-var-h-square,\n  \"podcast\": $fa-var-podcast,\n  \"temperature-full\": $fa-var-temperature-full,\n  \"temperature-4\": $fa-var-temperature-4,\n  \"thermometer-4\": $fa-var-thermometer-4,\n  \"thermometer-full\": $fa-var-thermometer-full,\n  \"bell\": $fa-var-bell,\n  \"superscript\": $fa-var-superscript,\n  \"plug-circle-xmark\": $fa-var-plug-circle-xmark,\n  \"star-of-life\": $fa-var-star-of-life,\n  \"phone-slash\": $fa-var-phone-slash,\n  \"paint-roller\": $fa-var-paint-roller,\n  \"handshake-angle\": $fa-var-handshake-angle,\n  \"hands-helping\": $fa-var-hands-helping,\n  \"location-dot\": $fa-var-location-dot,\n  \"map-marker-alt\": $fa-var-map-marker-alt,\n  \"file\": $fa-var-file,\n  \"greater-than\": $fa-var-greater-than,\n  \"person-swimming\": $fa-var-person-swimming,\n  \"swimmer\": $fa-var-swimmer,\n  \"arrow-down\": $fa-var-arrow-down,\n  \"droplet\": $fa-var-droplet,\n  \"tint\": $fa-var-tint,\n  \"eraser\": $fa-var-eraser,\n  \"earth-americas\": $fa-var-earth-americas,\n  \"earth\": $fa-var-earth,\n  \"earth-america\": $fa-var-earth-america,\n  \"globe-americas\": $fa-var-globe-americas,\n  \"person-burst\": $fa-var-person-burst,\n  \"dove\": $fa-var-dove,\n  \"battery-empty\": $fa-var-battery-empty,\n  \"battery-0\": $fa-var-battery-0,\n  \"socks\": $fa-var-socks,\n  \"inbox\": $fa-var-inbox,\n  \"section\": $fa-var-section,\n  \"gauge-high\": $fa-var-gauge-high,\n  \"tachometer-alt\": $fa-var-tachometer-alt,\n  \"tachometer-alt-fast\": $fa-var-tachometer-alt-fast,\n  \"envelope-open-text\": $fa-var-envelope-open-text,\n  \"hospital\": $fa-var-hospital,\n  \"hospital-alt\": $fa-var-hospital-alt,\n  \"hospital-wide\": $fa-var-hospital-wide,\n  \"wine-bottle\": $fa-var-wine-bottle,\n  \"chess-rook\": $fa-var-chess-rook,\n  \"bars-staggered\": $fa-var-bars-staggered,\n  \"reorder\": $fa-var-reorder,\n  \"stream\": $fa-var-stream,\n  \"dharmachakra\": $fa-var-dharmachakra,\n  \"hotdog\": $fa-var-hotdog,\n  \"person-walking-with-cane\": $fa-var-person-walking-with-cane,\n  \"blind\": $fa-var-blind,\n  \"drum\": $fa-var-drum,\n  \"ice-cream\": $fa-var-ice-cream,\n  \"heart-circle-bolt\": $fa-var-heart-circle-bolt,\n  \"fax\": $fa-var-fax,\n  \"paragraph\": $fa-var-paragraph,\n  \"check-to-slot\": $fa-var-check-to-slot,\n  \"vote-yea\": $fa-var-vote-yea,\n  \"star-half\": $fa-var-star-half,\n  \"boxes-stacked\": $fa-var-boxes-stacked,\n  \"boxes\": $fa-var-boxes,\n  \"boxes-alt\": $fa-var-boxes-alt,\n  \"link\": $fa-var-link,\n  \"chain\": $fa-var-chain,\n  \"ear-listen\": $fa-var-ear-listen,\n  \"assistive-listening-systems\": $fa-var-assistive-listening-systems,\n  \"tree-city\": $fa-var-tree-city,\n  \"play\": $fa-var-play,\n  \"font\": $fa-var-font,\n  \"table-cells-row-lock\": $fa-var-table-cells-row-lock,\n  \"rupiah-sign\": $fa-var-rupiah-sign,\n  \"magnifying-glass\": $fa-var-magnifying-glass,\n  \"search\": $fa-var-search,\n  \"table-tennis-paddle-ball\": $fa-var-table-tennis-paddle-ball,\n  \"ping-pong-paddle-ball\": $fa-var-ping-pong-paddle-ball,\n  \"table-tennis\": $fa-var-table-tennis,\n  \"person-dots-from-line\": $fa-var-person-dots-from-line,\n  \"diagnoses\": $fa-var-diagnoses,\n  \"trash-can-arrow-up\": $fa-var-trash-can-arrow-up,\n  \"trash-restore-alt\": $fa-var-trash-restore-alt,\n  \"naira-sign\": $fa-var-naira-sign,\n  \"cart-arrow-down\": $fa-var-cart-arrow-down,\n  \"walkie-talkie\": $fa-var-walkie-talkie,\n  \"file-pen\": $fa-var-file-pen,\n  \"file-edit\": $fa-var-file-edit,\n  \"receipt\": $fa-var-receipt,\n  \"square-pen\": $fa-var-square-pen,\n  \"pen-square\": $fa-var-pen-square,\n  \"pencil-square\": $fa-var-pencil-square,\n  \"suitcase-rolling\": $fa-var-suitcase-rolling,\n  \"person-circle-exclamation\": $fa-var-person-circle-exclamation,\n  \"chevron-down\": $fa-var-chevron-down,\n  \"battery-full\": $fa-var-battery-full,\n  \"battery\": $fa-var-battery,\n  \"battery-5\": $fa-var-battery-5,\n  \"skull-crossbones\": $fa-var-skull-crossbones,\n  \"code-compare\": $fa-var-code-compare,\n  \"list-ul\": $fa-var-list-ul,\n  \"list-dots\": $fa-var-list-dots,\n  \"school-lock\": $fa-var-school-lock,\n  \"tower-cell\": $fa-var-tower-cell,\n  \"down-long\": $fa-var-down-long,\n  \"long-arrow-alt-down\": $fa-var-long-arrow-alt-down,\n  \"ranking-star\": $fa-var-ranking-star,\n  \"chess-king\": $fa-var-chess-king,\n  \"person-harassing\": $fa-var-person-harassing,\n  \"brazilian-real-sign\": $fa-var-brazilian-real-sign,\n  \"landmark-dome\": $fa-var-landmark-dome,\n  \"landmark-alt\": $fa-var-landmark-alt,\n  \"arrow-up\": $fa-var-arrow-up,\n  \"tv\": $fa-var-tv,\n  \"television\": $fa-var-television,\n  \"tv-alt\": $fa-var-tv-alt,\n  \"shrimp\": $fa-var-shrimp,\n  \"list-check\": $fa-var-list-check,\n  \"tasks\": $fa-var-tasks,\n  \"jug-detergent\": $fa-var-jug-detergent,\n  \"circle-user\": $fa-var-circle-user,\n  \"user-circle\": $fa-var-user-circle,\n  \"user-shield\": $fa-var-user-shield,\n  \"wind\": $fa-var-wind,\n  \"car-burst\": $fa-var-car-burst,\n  \"car-crash\": $fa-var-car-crash,\n  \"y\": $fa-var-y,\n  \"person-snowboarding\": $fa-var-person-snowboarding,\n  \"snowboarding\": $fa-var-snowboarding,\n  \"truck-fast\": $fa-var-truck-fast,\n  \"shipping-fast\": $fa-var-shipping-fast,\n  \"fish\": $fa-var-fish,\n  \"user-graduate\": $fa-var-user-graduate,\n  \"circle-half-stroke\": $fa-var-circle-half-stroke,\n  \"adjust\": $fa-var-adjust,\n  \"clapperboard\": $fa-var-clapperboard,\n  \"circle-radiation\": $fa-var-circle-radiation,\n  \"radiation-alt\": $fa-var-radiation-alt,\n  \"baseball\": $fa-var-baseball,\n  \"baseball-ball\": $fa-var-baseball-ball,\n  \"jet-fighter-up\": $fa-var-jet-fighter-up,\n  \"diagram-project\": $fa-var-diagram-project,\n  \"project-diagram\": $fa-var-project-diagram,\n  \"copy\": $fa-var-copy,\n  \"volume-xmark\": $fa-var-volume-xmark,\n  \"volume-mute\": $fa-var-volume-mute,\n  \"volume-times\": $fa-var-volume-times,\n  \"hand-sparkles\": $fa-var-hand-sparkles,\n  \"grip\": $fa-var-grip,\n  \"grip-horizontal\": $fa-var-grip-horizontal,\n  \"share-from-square\": $fa-var-share-from-square,\n  \"share-square\": $fa-var-share-square,\n  \"child-combatant\": $fa-var-child-combatant,\n  \"child-rifle\": $fa-var-child-rifle,\n  \"gun\": $fa-var-gun,\n  \"square-phone\": $fa-var-square-phone,\n  \"phone-square\": $fa-var-phone-square,\n  \"plus\": $fa-var-plus,\n  \"add\": $fa-var-add,\n  \"expand\": $fa-var-expand,\n  \"computer\": $fa-var-computer,\n  \"xmark\": $fa-var-xmark,\n  \"close\": $fa-var-close,\n  \"multiply\": $fa-var-multiply,\n  \"remove\": $fa-var-remove,\n  \"times\": $fa-var-times,\n  \"arrows-up-down-left-right\": $fa-var-arrows-up-down-left-right,\n  \"arrows\": $fa-var-arrows,\n  \"chalkboard-user\": $fa-var-chalkboard-user,\n  \"chalkboard-teacher\": $fa-var-chalkboard-teacher,\n  \"peso-sign\": $fa-var-peso-sign,\n  \"building-shield\": $fa-var-building-shield,\n  \"baby\": $fa-var-baby,\n  \"users-line\": $fa-var-users-line,\n  \"quote-left\": $fa-var-quote-left,\n  \"quote-left-alt\": $fa-var-quote-left-alt,\n  \"tractor\": $fa-var-tractor,\n  \"trash-arrow-up\": $fa-var-trash-arrow-up,\n  \"trash-restore\": $fa-var-trash-restore,\n  \"arrow-down-up-lock\": $fa-var-arrow-down-up-lock,\n  \"lines-leaning\": $fa-var-lines-leaning,\n  \"ruler-combined\": $fa-var-ruler-combined,\n  \"copyright\": $fa-var-copyright,\n  \"equals\": $fa-var-equals,\n  \"blender\": $fa-var-blender,\n  \"teeth\": $fa-var-teeth,\n  \"shekel-sign\": $fa-var-shekel-sign,\n  \"ils\": $fa-var-ils,\n  \"shekel\": $fa-var-shekel,\n  \"sheqel\": $fa-var-sheqel,\n  \"sheqel-sign\": $fa-var-sheqel-sign,\n  \"map\": $fa-var-map,\n  \"rocket\": $fa-var-rocket,\n  \"photo-film\": $fa-var-photo-film,\n  \"photo-video\": $fa-var-photo-video,\n  \"folder-minus\": $fa-var-folder-minus,\n  \"store\": $fa-var-store,\n  \"arrow-trend-up\": $fa-var-arrow-trend-up,\n  \"plug-circle-minus\": $fa-var-plug-circle-minus,\n  \"sign-hanging\": $fa-var-sign-hanging,\n  \"sign\": $fa-var-sign,\n  \"bezier-curve\": $fa-var-bezier-curve,\n  \"bell-slash\": $fa-var-bell-slash,\n  \"tablet\": $fa-var-tablet,\n  \"tablet-android\": $fa-var-tablet-android,\n  \"school-flag\": $fa-var-school-flag,\n  \"fill\": $fa-var-fill,\n  \"angle-up\": $fa-var-angle-up,\n  \"drumstick-bite\": $fa-var-drumstick-bite,\n  \"holly-berry\": $fa-var-holly-berry,\n  \"chevron-left\": $fa-var-chevron-left,\n  \"bacteria\": $fa-var-bacteria,\n  \"hand-lizard\": $fa-var-hand-lizard,\n  \"notdef\": $fa-var-notdef,\n  \"disease\": $fa-var-disease,\n  \"briefcase-medical\": $fa-var-briefcase-medical,\n  \"genderless\": $fa-var-genderless,\n  \"chevron-right\": $fa-var-chevron-right,\n  \"retweet\": $fa-var-retweet,\n  \"car-rear\": $fa-var-car-rear,\n  \"car-alt\": $fa-var-car-alt,\n  \"pump-soap\": $fa-var-pump-soap,\n  \"video-slash\": $fa-var-video-slash,\n  \"battery-quarter\": $fa-var-battery-quarter,\n  \"battery-2\": $fa-var-battery-2,\n  \"radio\": $fa-var-radio,\n  \"baby-carriage\": $fa-var-baby-carriage,\n  \"carriage-baby\": $fa-var-carriage-baby,\n  \"traffic-light\": $fa-var-traffic-light,\n  \"thermometer\": $fa-var-thermometer,\n  \"vr-cardboard\": $fa-var-vr-cardboard,\n  \"hand-middle-finger\": $fa-var-hand-middle-finger,\n  \"percent\": $fa-var-percent,\n  \"percentage\": $fa-var-percentage,\n  \"truck-moving\": $fa-var-truck-moving,\n  \"glass-water-droplet\": $fa-var-glass-water-droplet,\n  \"display\": $fa-var-display,\n  \"face-smile\": $fa-var-face-smile,\n  \"smile\": $fa-var-smile,\n  \"thumbtack\": $fa-var-thumbtack,\n  \"thumb-tack\": $fa-var-thumb-tack,\n  \"trophy\": $fa-var-trophy,\n  \"person-praying\": $fa-var-person-praying,\n  \"pray\": $fa-var-pray,\n  \"hammer\": $fa-var-hammer,\n  \"hand-peace\": $fa-var-hand-peace,\n  \"rotate\": $fa-var-rotate,\n  \"sync-alt\": $fa-var-sync-alt,\n  \"spinner\": $fa-var-spinner,\n  \"robot\": $fa-var-robot,\n  \"peace\": $fa-var-peace,\n  \"gears\": $fa-var-gears,\n  \"cogs\": $fa-var-cogs,\n  \"warehouse\": $fa-var-warehouse,\n  \"arrow-up-right-dots\": $fa-var-arrow-up-right-dots,\n  \"splotch\": $fa-var-splotch,\n  \"face-grin-hearts\": $fa-var-face-grin-hearts,\n  \"grin-hearts\": $fa-var-grin-hearts,\n  \"dice-four\": $fa-var-dice-four,\n  \"sim-card\": $fa-var-sim-card,\n  \"transgender\": $fa-var-transgender,\n  \"transgender-alt\": $fa-var-transgender-alt,\n  \"mercury\": $fa-var-mercury,\n  \"arrow-turn-down\": $fa-var-arrow-turn-down,\n  \"level-down\": $fa-var-level-down,\n  \"person-falling-burst\": $fa-var-person-falling-burst,\n  \"award\": $fa-var-award,\n  \"ticket-simple\": $fa-var-ticket-simple,\n  \"ticket-alt\": $fa-var-ticket-alt,\n  \"building\": $fa-var-building,\n  \"angles-left\": $fa-var-angles-left,\n  \"angle-double-left\": $fa-var-angle-double-left,\n  \"qrcode\": $fa-var-qrcode,\n  \"clock-rotate-left\": $fa-var-clock-rotate-left,\n  \"history\": $fa-var-history,\n  \"face-grin-beam-sweat\": $fa-var-face-grin-beam-sweat,\n  \"grin-beam-sweat\": $fa-var-grin-beam-sweat,\n  \"file-export\": $fa-var-file-export,\n  \"arrow-right-from-file\": $fa-var-arrow-right-from-file,\n  \"shield\": $fa-var-shield,\n  \"shield-blank\": $fa-var-shield-blank,\n  \"arrow-up-short-wide\": $fa-var-arrow-up-short-wide,\n  \"sort-amount-up-alt\": $fa-var-sort-amount-up-alt,\n  \"house-medical\": $fa-var-house-medical,\n  \"golf-ball-tee\": $fa-var-golf-ball-tee,\n  \"golf-ball\": $fa-var-golf-ball,\n  \"circle-chevron-left\": $fa-var-circle-chevron-left,\n  \"chevron-circle-left\": $fa-var-chevron-circle-left,\n  \"house-chimney-window\": $fa-var-house-chimney-window,\n  \"pen-nib\": $fa-var-pen-nib,\n  \"tent-arrow-turn-left\": $fa-var-tent-arrow-turn-left,\n  \"tents\": $fa-var-tents,\n  \"wand-magic\": $fa-var-wand-magic,\n  \"magic\": $fa-var-magic,\n  \"dog\": $fa-var-dog,\n  \"carrot\": $fa-var-carrot,\n  \"moon\": $fa-var-moon,\n  \"wine-glass-empty\": $fa-var-wine-glass-empty,\n  \"wine-glass-alt\": $fa-var-wine-glass-alt,\n  \"cheese\": $fa-var-cheese,\n  \"yin-yang\": $fa-var-yin-yang,\n  \"music\": $fa-var-music,\n  \"code-commit\": $fa-var-code-commit,\n  \"temperature-low\": $fa-var-temperature-low,\n  \"person-biking\": $fa-var-person-biking,\n  \"biking\": $fa-var-biking,\n  \"broom\": $fa-var-broom,\n  \"shield-heart\": $fa-var-shield-heart,\n  \"gopuram\": $fa-var-gopuram,\n  \"earth-oceania\": $fa-var-earth-oceania,\n  \"globe-oceania\": $fa-var-globe-oceania,\n  \"square-xmark\": $fa-var-square-xmark,\n  \"times-square\": $fa-var-times-square,\n  \"xmark-square\": $fa-var-xmark-square,\n  \"hashtag\": $fa-var-hashtag,\n  \"up-right-and-down-left-from-center\": $fa-var-up-right-and-down-left-from-center,\n  \"expand-alt\": $fa-var-expand-alt,\n  \"oil-can\": $fa-var-oil-can,\n  \"t\": $fa-var-t,\n  \"hippo\": $fa-var-hippo,\n  \"chart-column\": $fa-var-chart-column,\n  \"infinity\": $fa-var-infinity,\n  \"vial-circle-check\": $fa-var-vial-circle-check,\n  \"person-arrow-down-to-line\": $fa-var-person-arrow-down-to-line,\n  \"voicemail\": $fa-var-voicemail,\n  \"fan\": $fa-var-fan,\n  \"person-walking-luggage\": $fa-var-person-walking-luggage,\n  \"up-down\": $fa-var-up-down,\n  \"arrows-alt-v\": $fa-var-arrows-alt-v,\n  \"cloud-moon-rain\": $fa-var-cloud-moon-rain,\n  \"calendar\": $fa-var-calendar,\n  \"trailer\": $fa-var-trailer,\n  \"bahai\": $fa-var-bahai,\n  \"haykal\": $fa-var-haykal,\n  \"sd-card\": $fa-var-sd-card,\n  \"dragon\": $fa-var-dragon,\n  \"shoe-prints\": $fa-var-shoe-prints,\n  \"circle-plus\": $fa-var-circle-plus,\n  \"plus-circle\": $fa-var-plus-circle,\n  \"face-grin-tongue-wink\": $fa-var-face-grin-tongue-wink,\n  \"grin-tongue-wink\": $fa-var-grin-tongue-wink,\n  \"hand-holding\": $fa-var-hand-holding,\n  \"plug-circle-exclamation\": $fa-var-plug-circle-exclamation,\n  \"link-slash\": $fa-var-link-slash,\n  \"chain-broken\": $fa-var-chain-broken,\n  \"chain-slash\": $fa-var-chain-slash,\n  \"unlink\": $fa-var-unlink,\n  \"clone\": $fa-var-clone,\n  \"person-walking-arrow-loop-left\": $fa-var-person-walking-arrow-loop-left,\n  \"arrow-up-z-a\": $fa-var-arrow-up-z-a,\n  \"sort-alpha-up-alt\": $fa-var-sort-alpha-up-alt,\n  \"fire-flame-curved\": $fa-var-fire-flame-curved,\n  \"fire-alt\": $fa-var-fire-alt,\n  \"tornado\": $fa-var-tornado,\n  \"file-circle-plus\": $fa-var-file-circle-plus,\n  \"book-quran\": $fa-var-book-quran,\n  \"quran\": $fa-var-quran,\n  \"anchor\": $fa-var-anchor,\n  \"border-all\": $fa-var-border-all,\n  \"face-angry\": $fa-var-face-angry,\n  \"angry\": $fa-var-angry,\n  \"cookie-bite\": $fa-var-cookie-bite,\n  \"arrow-trend-down\": $fa-var-arrow-trend-down,\n  \"rss\": $fa-var-rss,\n  \"feed\": $fa-var-feed,\n  \"draw-polygon\": $fa-var-draw-polygon,\n  \"scale-balanced\": $fa-var-scale-balanced,\n  \"balance-scale\": $fa-var-balance-scale,\n  \"gauge-simple-high\": $fa-var-gauge-simple-high,\n  \"tachometer\": $fa-var-tachometer,\n  \"tachometer-fast\": $fa-var-tachometer-fast,\n  \"shower\": $fa-var-shower,\n  \"desktop\": $fa-var-desktop,\n  \"desktop-alt\": $fa-var-desktop-alt,\n  \"m\": $fa-var-m,\n  \"table-list\": $fa-var-table-list,\n  \"th-list\": $fa-var-th-list,\n  \"comment-sms\": $fa-var-comment-sms,\n  \"sms\": $fa-var-sms,\n  \"book\": $fa-var-book,\n  \"user-plus\": $fa-var-user-plus,\n  \"check\": $fa-var-check,\n  \"battery-three-quarters\": $fa-var-battery-three-quarters,\n  \"battery-4\": $fa-var-battery-4,\n  \"house-circle-check\": $fa-var-house-circle-check,\n  \"angle-left\": $fa-var-angle-left,\n  \"diagram-successor\": $fa-var-diagram-successor,\n  \"truck-arrow-right\": $fa-var-truck-arrow-right,\n  \"arrows-split-up-and-left\": $fa-var-arrows-split-up-and-left,\n  \"hand-fist\": $fa-var-hand-fist,\n  \"fist-raised\": $fa-var-fist-raised,\n  \"cloud-moon\": $fa-var-cloud-moon,\n  \"briefcase\": $fa-var-briefcase,\n  \"person-falling\": $fa-var-person-falling,\n  \"image-portrait\": $fa-var-image-portrait,\n  \"portrait\": $fa-var-portrait,\n  \"user-tag\": $fa-var-user-tag,\n  \"rug\": $fa-var-rug,\n  \"earth-europe\": $fa-var-earth-europe,\n  \"globe-europe\": $fa-var-globe-europe,\n  \"cart-flatbed-suitcase\": $fa-var-cart-flatbed-suitcase,\n  \"luggage-cart\": $fa-var-luggage-cart,\n  \"rectangle-xmark\": $fa-var-rectangle-xmark,\n  \"rectangle-times\": $fa-var-rectangle-times,\n  \"times-rectangle\": $fa-var-times-rectangle,\n  \"window-close\": $fa-var-window-close,\n  \"baht-sign\": $fa-var-baht-sign,\n  \"book-open\": $fa-var-book-open,\n  \"book-journal-whills\": $fa-var-book-journal-whills,\n  \"journal-whills\": $fa-var-journal-whills,\n  \"handcuffs\": $fa-var-handcuffs,\n  \"triangle-exclamation\": $fa-var-triangle-exclamation,\n  \"exclamation-triangle\": $fa-var-exclamation-triangle,\n  \"warning\": $fa-var-warning,\n  \"database\": $fa-var-database,\n  \"share\": $fa-var-share,\n  \"mail-forward\": $fa-var-mail-forward,\n  \"bottle-droplet\": $fa-var-bottle-droplet,\n  \"mask-face\": $fa-var-mask-face,\n  \"hill-rockslide\": $fa-var-hill-rockslide,\n  \"right-left\": $fa-var-right-left,\n  \"exchange-alt\": $fa-var-exchange-alt,\n  \"paper-plane\": $fa-var-paper-plane,\n  \"road-circle-exclamation\": $fa-var-road-circle-exclamation,\n  \"dungeon\": $fa-var-dungeon,\n  \"align-right\": $fa-var-align-right,\n  \"money-bill-1-wave\": $fa-var-money-bill-1-wave,\n  \"money-bill-wave-alt\": $fa-var-money-bill-wave-alt,\n  \"life-ring\": $fa-var-life-ring,\n  \"hands\": $fa-var-hands,\n  \"sign-language\": $fa-var-sign-language,\n  \"signing\": $fa-var-signing,\n  \"calendar-day\": $fa-var-calendar-day,\n  \"water-ladder\": $fa-var-water-ladder,\n  \"ladder-water\": $fa-var-ladder-water,\n  \"swimming-pool\": $fa-var-swimming-pool,\n  \"arrows-up-down\": $fa-var-arrows-up-down,\n  \"arrows-v\": $fa-var-arrows-v,\n  \"face-grimace\": $fa-var-face-grimace,\n  \"grimace\": $fa-var-grimace,\n  \"wheelchair-move\": $fa-var-wheelchair-move,\n  \"wheelchair-alt\": $fa-var-wheelchair-alt,\n  \"turn-down\": $fa-var-turn-down,\n  \"level-down-alt\": $fa-var-level-down-alt,\n  \"person-walking-arrow-right\": $fa-var-person-walking-arrow-right,\n  \"square-envelope\": $fa-var-square-envelope,\n  \"envelope-square\": $fa-var-envelope-square,\n  \"dice\": $fa-var-dice,\n  \"bowling-ball\": $fa-var-bowling-ball,\n  \"brain\": $fa-var-brain,\n  \"bandage\": $fa-var-bandage,\n  \"band-aid\": $fa-var-band-aid,\n  \"calendar-minus\": $fa-var-calendar-minus,\n  \"circle-xmark\": $fa-var-circle-xmark,\n  \"times-circle\": $fa-var-times-circle,\n  \"xmark-circle\": $fa-var-xmark-circle,\n  \"gifts\": $fa-var-gifts,\n  \"hotel\": $fa-var-hotel,\n  \"earth-asia\": $fa-var-earth-asia,\n  \"globe-asia\": $fa-var-globe-asia,\n  \"id-card-clip\": $fa-var-id-card-clip,\n  \"id-card-alt\": $fa-var-id-card-alt,\n  \"magnifying-glass-plus\": $fa-var-magnifying-glass-plus,\n  \"search-plus\": $fa-var-search-plus,\n  \"thumbs-up\": $fa-var-thumbs-up,\n  \"user-clock\": $fa-var-user-clock,\n  \"hand-dots\": $fa-var-hand-dots,\n  \"allergies\": $fa-var-allergies,\n  \"file-invoice\": $fa-var-file-invoice,\n  \"window-minimize\": $fa-var-window-minimize,\n  \"mug-saucer\": $fa-var-mug-saucer,\n  \"coffee\": $fa-var-coffee,\n  \"brush\": $fa-var-brush,\n  \"mask\": $fa-var-mask,\n  \"magnifying-glass-minus\": $fa-var-magnifying-glass-minus,\n  \"search-minus\": $fa-var-search-minus,\n  \"ruler-vertical\": $fa-var-ruler-vertical,\n  \"user-large\": $fa-var-user-large,\n  \"user-alt\": $fa-var-user-alt,\n  \"train-tram\": $fa-var-train-tram,\n  \"user-nurse\": $fa-var-user-nurse,\n  \"syringe\": $fa-var-syringe,\n  \"cloud-sun\": $fa-var-cloud-sun,\n  \"stopwatch-20\": $fa-var-stopwatch-20,\n  \"square-full\": $fa-var-square-full,\n  \"magnet\": $fa-var-magnet,\n  \"jar\": $fa-var-jar,\n  \"note-sticky\": $fa-var-note-sticky,\n  \"sticky-note\": $fa-var-sticky-note,\n  \"bug-slash\": $fa-var-bug-slash,\n  \"arrow-up-from-water-pump\": $fa-var-arrow-up-from-water-pump,\n  \"bone\": $fa-var-bone,\n  \"user-injured\": $fa-var-user-injured,\n  \"face-sad-tear\": $fa-var-face-sad-tear,\n  \"sad-tear\": $fa-var-sad-tear,\n  \"plane\": $fa-var-plane,\n  \"tent-arrows-down\": $fa-var-tent-arrows-down,\n  \"exclamation\": $fa-var-exclamation,\n  \"arrows-spin\": $fa-var-arrows-spin,\n  \"print\": $fa-var-print,\n  \"turkish-lira-sign\": $fa-var-turkish-lira-sign,\n  \"try\": $fa-var-try,\n  \"turkish-lira\": $fa-var-turkish-lira,\n  \"dollar-sign\": $fa-var-dollar-sign,\n  \"dollar\": $fa-var-dollar,\n  \"usd\": $fa-var-usd,\n  \"x\": $fa-var-x,\n  \"magnifying-glass-dollar\": $fa-var-magnifying-glass-dollar,\n  \"search-dollar\": $fa-var-search-dollar,\n  \"users-gear\": $fa-var-users-gear,\n  \"users-cog\": $fa-var-users-cog,\n  \"person-military-pointing\": $fa-var-person-military-pointing,\n  \"building-columns\": $fa-var-building-columns,\n  \"bank\": $fa-var-bank,\n  \"institution\": $fa-var-institution,\n  \"museum\": $fa-var-museum,\n  \"university\": $fa-var-university,\n  \"umbrella\": $fa-var-umbrella,\n  \"trowel\": $fa-var-trowel,\n  \"d\": $fa-var-d,\n  \"stapler\": $fa-var-stapler,\n  \"masks-theater\": $fa-var-masks-theater,\n  \"theater-masks\": $fa-var-theater-masks,\n  \"kip-sign\": $fa-var-kip-sign,\n  \"hand-point-left\": $fa-var-hand-point-left,\n  \"handshake-simple\": $fa-var-handshake-simple,\n  \"handshake-alt\": $fa-var-handshake-alt,\n  \"jet-fighter\": $fa-var-jet-fighter,\n  \"fighter-jet\": $fa-var-fighter-jet,\n  \"square-share-nodes\": $fa-var-square-share-nodes,\n  \"share-alt-square\": $fa-var-share-alt-square,\n  \"barcode\": $fa-var-barcode,\n  \"plus-minus\": $fa-var-plus-minus,\n  \"video\": $fa-var-video,\n  \"video-camera\": $fa-var-video-camera,\n  \"graduation-cap\": $fa-var-graduation-cap,\n  \"mortar-board\": $fa-var-mortar-board,\n  \"hand-holding-medical\": $fa-var-hand-holding-medical,\n  \"person-circle-check\": $fa-var-person-circle-check,\n  \"turn-up\": $fa-var-turn-up,\n  \"level-up-alt\": $fa-var-level-up-alt,\n);\n\n$fa-brand-icons: (\n  \"monero\": $fa-var-monero,\n  \"hooli\": $fa-var-hooli,\n  \"yelp\": $fa-var-yelp,\n  \"cc-visa\": $fa-var-cc-visa,\n  \"lastfm\": $fa-var-lastfm,\n  \"shopware\": $fa-var-shopware,\n  \"creative-commons-nc\": $fa-var-creative-commons-nc,\n  \"aws\": $fa-var-aws,\n  \"redhat\": $fa-var-redhat,\n  \"yoast\": $fa-var-yoast,\n  \"cloudflare\": $fa-var-cloudflare,\n  \"ups\": $fa-var-ups,\n  \"pixiv\": $fa-var-pixiv,\n  \"wpexplorer\": $fa-var-wpexplorer,\n  \"dyalog\": $fa-var-dyalog,\n  \"bity\": $fa-var-bity,\n  \"stackpath\": $fa-var-stackpath,\n  \"buysellads\": $fa-var-buysellads,\n  \"first-order\": $fa-var-first-order,\n  \"modx\": $fa-var-modx,\n  \"guilded\": $fa-var-guilded,\n  \"vnv\": $fa-var-vnv,\n  \"square-js\": $fa-var-square-js,\n  \"js-square\": $fa-var-js-square,\n  \"microsoft\": $fa-var-microsoft,\n  \"qq\": $fa-var-qq,\n  \"orcid\": $fa-var-orcid,\n  \"java\": $fa-var-java,\n  \"invision\": $fa-var-invision,\n  \"creative-commons-pd-alt\": $fa-var-creative-commons-pd-alt,\n  \"centercode\": $fa-var-centercode,\n  \"glide-g\": $fa-var-glide-g,\n  \"drupal\": $fa-var-drupal,\n  \"jxl\": $fa-var-jxl,\n  \"hire-a-helper\": $fa-var-hire-a-helper,\n  \"creative-commons-by\": $fa-var-creative-commons-by,\n  \"unity\": $fa-var-unity,\n  \"whmcs\": $fa-var-whmcs,\n  \"rocketchat\": $fa-var-rocketchat,\n  \"vk\": $fa-var-vk,\n  \"untappd\": $fa-var-untappd,\n  \"mailchimp\": $fa-var-mailchimp,\n  \"css3-alt\": $fa-var-css3-alt,\n  \"square-reddit\": $fa-var-square-reddit,\n  \"reddit-square\": $fa-var-reddit-square,\n  \"vimeo-v\": $fa-var-vimeo-v,\n  \"contao\": $fa-var-contao,\n  \"square-font-awesome\": $fa-var-square-font-awesome,\n  \"deskpro\": $fa-var-deskpro,\n  \"brave\": $fa-var-brave,\n  \"sistrix\": $fa-var-sistrix,\n  \"square-instagram\": $fa-var-square-instagram,\n  \"instagram-square\": $fa-var-instagram-square,\n  \"battle-net\": $fa-var-battle-net,\n  \"the-red-yeti\": $fa-var-the-red-yeti,\n  \"square-hacker-news\": $fa-var-square-hacker-news,\n  \"hacker-news-square\": $fa-var-hacker-news-square,\n  \"edge\": $fa-var-edge,\n  \"threads\": $fa-var-threads,\n  \"napster\": $fa-var-napster,\n  \"square-snapchat\": $fa-var-square-snapchat,\n  \"snapchat-square\": $fa-var-snapchat-square,\n  \"google-plus-g\": $fa-var-google-plus-g,\n  \"artstation\": $fa-var-artstation,\n  \"markdown\": $fa-var-markdown,\n  \"sourcetree\": $fa-var-sourcetree,\n  \"google-plus\": $fa-var-google-plus,\n  \"diaspora\": $fa-var-diaspora,\n  \"foursquare\": $fa-var-foursquare,\n  \"stack-overflow\": $fa-var-stack-overflow,\n  \"github-alt\": $fa-var-github-alt,\n  \"phoenix-squadron\": $fa-var-phoenix-squadron,\n  \"pagelines\": $fa-var-pagelines,\n  \"algolia\": $fa-var-algolia,\n  \"red-river\": $fa-var-red-river,\n  \"creative-commons-sa\": $fa-var-creative-commons-sa,\n  \"safari\": $fa-var-safari,\n  \"google\": $fa-var-google,\n  \"square-font-awesome-stroke\": $fa-var-square-font-awesome-stroke,\n  \"font-awesome-alt\": $fa-var-font-awesome-alt,\n  \"atlassian\": $fa-var-atlassian,\n  \"linkedin-in\": $fa-var-linkedin-in,\n  \"digital-ocean\": $fa-var-digital-ocean,\n  \"nimblr\": $fa-var-nimblr,\n  \"chromecast\": $fa-var-chromecast,\n  \"evernote\": $fa-var-evernote,\n  \"hacker-news\": $fa-var-hacker-news,\n  \"creative-commons-sampling\": $fa-var-creative-commons-sampling,\n  \"adversal\": $fa-var-adversal,\n  \"creative-commons\": $fa-var-creative-commons,\n  \"watchman-monitoring\": $fa-var-watchman-monitoring,\n  \"fonticons\": $fa-var-fonticons,\n  \"weixin\": $fa-var-weixin,\n  \"shirtsinbulk\": $fa-var-shirtsinbulk,\n  \"codepen\": $fa-var-codepen,\n  \"git-alt\": $fa-var-git-alt,\n  \"lyft\": $fa-var-lyft,\n  \"rev\": $fa-var-rev,\n  \"windows\": $fa-var-windows,\n  \"wizards-of-the-coast\": $fa-var-wizards-of-the-coast,\n  \"square-viadeo\": $fa-var-square-viadeo,\n  \"viadeo-square\": $fa-var-viadeo-square,\n  \"meetup\": $fa-var-meetup,\n  \"centos\": $fa-var-centos,\n  \"adn\": $fa-var-adn,\n  \"cloudsmith\": $fa-var-cloudsmith,\n  \"opensuse\": $fa-var-opensuse,\n  \"pied-piper-alt\": $fa-var-pied-piper-alt,\n  \"square-dribbble\": $fa-var-square-dribbble,\n  \"dribbble-square\": $fa-var-dribbble-square,\n  \"codiepie\": $fa-var-codiepie,\n  \"node\": $fa-var-node,\n  \"mix\": $fa-var-mix,\n  \"steam\": $fa-var-steam,\n  \"cc-apple-pay\": $fa-var-cc-apple-pay,\n  \"scribd\": $fa-var-scribd,\n  \"debian\": $fa-var-debian,\n  \"openid\": $fa-var-openid,\n  \"instalod\": $fa-var-instalod,\n  \"expeditedssl\": $fa-var-expeditedssl,\n  \"sellcast\": $fa-var-sellcast,\n  \"square-twitter\": $fa-var-square-twitter,\n  \"twitter-square\": $fa-var-twitter-square,\n  \"r-project\": $fa-var-r-project,\n  \"delicious\": $fa-var-delicious,\n  \"freebsd\": $fa-var-freebsd,\n  \"vuejs\": $fa-var-vuejs,\n  \"accusoft\": $fa-var-accusoft,\n  \"ioxhost\": $fa-var-ioxhost,\n  \"fonticons-fi\": $fa-var-fonticons-fi,\n  \"app-store\": $fa-var-app-store,\n  \"cc-mastercard\": $fa-var-cc-mastercard,\n  \"itunes-note\": $fa-var-itunes-note,\n  \"golang\": $fa-var-golang,\n  \"kickstarter\": $fa-var-kickstarter,\n  \"square-kickstarter\": $fa-var-square-kickstarter,\n  \"grav\": $fa-var-grav,\n  \"weibo\": $fa-var-weibo,\n  \"uncharted\": $fa-var-uncharted,\n  \"firstdraft\": $fa-var-firstdraft,\n  \"square-youtube\": $fa-var-square-youtube,\n  \"youtube-square\": $fa-var-youtube-square,\n  \"wikipedia-w\": $fa-var-wikipedia-w,\n  \"wpressr\": $fa-var-wpressr,\n  \"rendact\": $fa-var-rendact,\n  \"angellist\": $fa-var-angellist,\n  \"galactic-republic\": $fa-var-galactic-republic,\n  \"nfc-directional\": $fa-var-nfc-directional,\n  \"skype\": $fa-var-skype,\n  \"joget\": $fa-var-joget,\n  \"fedora\": $fa-var-fedora,\n  \"stripe-s\": $fa-var-stripe-s,\n  \"meta\": $fa-var-meta,\n  \"laravel\": $fa-var-laravel,\n  \"hotjar\": $fa-var-hotjar,\n  \"bluetooth-b\": $fa-var-bluetooth-b,\n  \"square-letterboxd\": $fa-var-square-letterboxd,\n  \"sticker-mule\": $fa-var-sticker-mule,\n  \"creative-commons-zero\": $fa-var-creative-commons-zero,\n  \"hips\": $fa-var-hips,\n  \"behance\": $fa-var-behance,\n  \"reddit\": $fa-var-reddit,\n  \"discord\": $fa-var-discord,\n  \"chrome\": $fa-var-chrome,\n  \"app-store-ios\": $fa-var-app-store-ios,\n  \"cc-discover\": $fa-var-cc-discover,\n  \"wpbeginner\": $fa-var-wpbeginner,\n  \"confluence\": $fa-var-confluence,\n  \"shoelace\": $fa-var-shoelace,\n  \"mdb\": $fa-var-mdb,\n  \"dochub\": $fa-var-dochub,\n  \"accessible-icon\": $fa-var-accessible-icon,\n  \"ebay\": $fa-var-ebay,\n  \"amazon\": $fa-var-amazon,\n  \"unsplash\": $fa-var-unsplash,\n  \"yarn\": $fa-var-yarn,\n  \"square-steam\": $fa-var-square-steam,\n  \"steam-square\": $fa-var-steam-square,\n  \"500px\": $fa-var-500px,\n  \"square-vimeo\": $fa-var-square-vimeo,\n  \"vimeo-square\": $fa-var-vimeo-square,\n  \"asymmetrik\": $fa-var-asymmetrik,\n  \"font-awesome\": $fa-var-font-awesome,\n  \"font-awesome-flag\": $fa-var-font-awesome-flag,\n  \"font-awesome-logo-full\": $fa-var-font-awesome-logo-full,\n  \"gratipay\": $fa-var-gratipay,\n  \"apple\": $fa-var-apple,\n  \"hive\": $fa-var-hive,\n  \"gitkraken\": $fa-var-gitkraken,\n  \"keybase\": $fa-var-keybase,\n  \"apple-pay\": $fa-var-apple-pay,\n  \"padlet\": $fa-var-padlet,\n  \"amazon-pay\": $fa-var-amazon-pay,\n  \"square-github\": $fa-var-square-github,\n  \"github-square\": $fa-var-github-square,\n  \"stumbleupon\": $fa-var-stumbleupon,\n  \"fedex\": $fa-var-fedex,\n  \"phoenix-framework\": $fa-var-phoenix-framework,\n  \"shopify\": $fa-var-shopify,\n  \"neos\": $fa-var-neos,\n  \"square-threads\": $fa-var-square-threads,\n  \"hackerrank\": $fa-var-hackerrank,\n  \"researchgate\": $fa-var-researchgate,\n  \"swift\": $fa-var-swift,\n  \"angular\": $fa-var-angular,\n  \"speakap\": $fa-var-speakap,\n  \"angrycreative\": $fa-var-angrycreative,\n  \"y-combinator\": $fa-var-y-combinator,\n  \"empire\": $fa-var-empire,\n  \"envira\": $fa-var-envira,\n  \"google-scholar\": $fa-var-google-scholar,\n  \"square-gitlab\": $fa-var-square-gitlab,\n  \"gitlab-square\": $fa-var-gitlab-square,\n  \"studiovinari\": $fa-var-studiovinari,\n  \"pied-piper\": $fa-var-pied-piper,\n  \"wordpress\": $fa-var-wordpress,\n  \"product-hunt\": $fa-var-product-hunt,\n  \"firefox\": $fa-var-firefox,\n  \"linode\": $fa-var-linode,\n  \"goodreads\": $fa-var-goodreads,\n  \"square-odnoklassniki\": $fa-var-square-odnoklassniki,\n  \"odnoklassniki-square\": $fa-var-odnoklassniki-square,\n  \"jsfiddle\": $fa-var-jsfiddle,\n  \"sith\": $fa-var-sith,\n  \"themeisle\": $fa-var-themeisle,\n  \"page4\": $fa-var-page4,\n  \"hashnode\": $fa-var-hashnode,\n  \"react\": $fa-var-react,\n  \"cc-paypal\": $fa-var-cc-paypal,\n  \"squarespace\": $fa-var-squarespace,\n  \"cc-stripe\": $fa-var-cc-stripe,\n  \"creative-commons-share\": $fa-var-creative-commons-share,\n  \"bitcoin\": $fa-var-bitcoin,\n  \"keycdn\": $fa-var-keycdn,\n  \"opera\": $fa-var-opera,\n  \"itch-io\": $fa-var-itch-io,\n  \"umbraco\": $fa-var-umbraco,\n  \"galactic-senate\": $fa-var-galactic-senate,\n  \"ubuntu\": $fa-var-ubuntu,\n  \"draft2digital\": $fa-var-draft2digital,\n  \"stripe\": $fa-var-stripe,\n  \"houzz\": $fa-var-houzz,\n  \"gg\": $fa-var-gg,\n  \"dhl\": $fa-var-dhl,\n  \"square-pinterest\": $fa-var-square-pinterest,\n  \"pinterest-square\": $fa-var-pinterest-square,\n  \"xing\": $fa-var-xing,\n  \"blackberry\": $fa-var-blackberry,\n  \"creative-commons-pd\": $fa-var-creative-commons-pd,\n  \"playstation\": $fa-var-playstation,\n  \"quinscape\": $fa-var-quinscape,\n  \"less\": $fa-var-less,\n  \"blogger-b\": $fa-var-blogger-b,\n  \"opencart\": $fa-var-opencart,\n  \"vine\": $fa-var-vine,\n  \"signal-messenger\": $fa-var-signal-messenger,\n  \"paypal\": $fa-var-paypal,\n  \"gitlab\": $fa-var-gitlab,\n  \"typo3\": $fa-var-typo3,\n  \"reddit-alien\": $fa-var-reddit-alien,\n  \"yahoo\": $fa-var-yahoo,\n  \"dailymotion\": $fa-var-dailymotion,\n  \"affiliatetheme\": $fa-var-affiliatetheme,\n  \"pied-piper-pp\": $fa-var-pied-piper-pp,\n  \"bootstrap\": $fa-var-bootstrap,\n  \"odnoklassniki\": $fa-var-odnoklassniki,\n  \"nfc-symbol\": $fa-var-nfc-symbol,\n  \"mintbit\": $fa-var-mintbit,\n  \"ethereum\": $fa-var-ethereum,\n  \"speaker-deck\": $fa-var-speaker-deck,\n  \"creative-commons-nc-eu\": $fa-var-creative-commons-nc-eu,\n  \"patreon\": $fa-var-patreon,\n  \"avianex\": $fa-var-avianex,\n  \"ello\": $fa-var-ello,\n  \"gofore\": $fa-var-gofore,\n  \"bimobject\": $fa-var-bimobject,\n  \"brave-reverse\": $fa-var-brave-reverse,\n  \"facebook-f\": $fa-var-facebook-f,\n  \"square-google-plus\": $fa-var-square-google-plus,\n  \"google-plus-square\": $fa-var-google-plus-square,\n  \"web-awesome\": $fa-var-web-awesome,\n  \"mandalorian\": $fa-var-mandalorian,\n  \"first-order-alt\": $fa-var-first-order-alt,\n  \"osi\": $fa-var-osi,\n  \"google-wallet\": $fa-var-google-wallet,\n  \"d-and-d-beyond\": $fa-var-d-and-d-beyond,\n  \"periscope\": $fa-var-periscope,\n  \"fulcrum\": $fa-var-fulcrum,\n  \"cloudscale\": $fa-var-cloudscale,\n  \"forumbee\": $fa-var-forumbee,\n  \"mizuni\": $fa-var-mizuni,\n  \"schlix\": $fa-var-schlix,\n  \"square-xing\": $fa-var-square-xing,\n  \"xing-square\": $fa-var-xing-square,\n  \"bandcamp\": $fa-var-bandcamp,\n  \"wpforms\": $fa-var-wpforms,\n  \"cloudversify\": $fa-var-cloudversify,\n  \"usps\": $fa-var-usps,\n  \"megaport\": $fa-var-megaport,\n  \"magento\": $fa-var-magento,\n  \"spotify\": $fa-var-spotify,\n  \"optin-monster\": $fa-var-optin-monster,\n  \"fly\": $fa-var-fly,\n  \"aviato\": $fa-var-aviato,\n  \"itunes\": $fa-var-itunes,\n  \"cuttlefish\": $fa-var-cuttlefish,\n  \"blogger\": $fa-var-blogger,\n  \"flickr\": $fa-var-flickr,\n  \"viber\": $fa-var-viber,\n  \"soundcloud\": $fa-var-soundcloud,\n  \"digg\": $fa-var-digg,\n  \"tencent-weibo\": $fa-var-tencent-weibo,\n  \"letterboxd\": $fa-var-letterboxd,\n  \"symfony\": $fa-var-symfony,\n  \"maxcdn\": $fa-var-maxcdn,\n  \"etsy\": $fa-var-etsy,\n  \"facebook-messenger\": $fa-var-facebook-messenger,\n  \"audible\": $fa-var-audible,\n  \"think-peaks\": $fa-var-think-peaks,\n  \"bilibili\": $fa-var-bilibili,\n  \"erlang\": $fa-var-erlang,\n  \"x-twitter\": $fa-var-x-twitter,\n  \"cotton-bureau\": $fa-var-cotton-bureau,\n  \"dashcube\": $fa-var-dashcube,\n  \"42-group\": $fa-var-42-group,\n  \"innosoft\": $fa-var-innosoft,\n  \"stack-exchange\": $fa-var-stack-exchange,\n  \"elementor\": $fa-var-elementor,\n  \"square-pied-piper\": $fa-var-square-pied-piper,\n  \"pied-piper-square\": $fa-var-pied-piper-square,\n  \"creative-commons-nd\": $fa-var-creative-commons-nd,\n  \"palfed\": $fa-var-palfed,\n  \"superpowers\": $fa-var-superpowers,\n  \"resolving\": $fa-var-resolving,\n  \"xbox\": $fa-var-xbox,\n  \"square-web-awesome-stroke\": $fa-var-square-web-awesome-stroke,\n  \"searchengin\": $fa-var-searchengin,\n  \"tiktok\": $fa-var-tiktok,\n  \"square-facebook\": $fa-var-square-facebook,\n  \"facebook-square\": $fa-var-facebook-square,\n  \"renren\": $fa-var-renren,\n  \"linux\": $fa-var-linux,\n  \"glide\": $fa-var-glide,\n  \"linkedin\": $fa-var-linkedin,\n  \"hubspot\": $fa-var-hubspot,\n  \"deploydog\": $fa-var-deploydog,\n  \"twitch\": $fa-var-twitch,\n  \"ravelry\": $fa-var-ravelry,\n  \"mixer\": $fa-var-mixer,\n  \"square-lastfm\": $fa-var-square-lastfm,\n  \"lastfm-square\": $fa-var-lastfm-square,\n  \"vimeo\": $fa-var-vimeo,\n  \"mendeley\": $fa-var-mendeley,\n  \"uniregistry\": $fa-var-uniregistry,\n  \"figma\": $fa-var-figma,\n  \"creative-commons-remix\": $fa-var-creative-commons-remix,\n  \"cc-amazon-pay\": $fa-var-cc-amazon-pay,\n  \"dropbox\": $fa-var-dropbox,\n  \"instagram\": $fa-var-instagram,\n  \"cmplid\": $fa-var-cmplid,\n  \"upwork\": $fa-var-upwork,\n  \"facebook\": $fa-var-facebook,\n  \"gripfire\": $fa-var-gripfire,\n  \"jedi-order\": $fa-var-jedi-order,\n  \"uikit\": $fa-var-uikit,\n  \"fort-awesome-alt\": $fa-var-fort-awesome-alt,\n  \"phabricator\": $fa-var-phabricator,\n  \"ussunnah\": $fa-var-ussunnah,\n  \"earlybirds\": $fa-var-earlybirds,\n  \"trade-federation\": $fa-var-trade-federation,\n  \"autoprefixer\": $fa-var-autoprefixer,\n  \"whatsapp\": $fa-var-whatsapp,\n  \"square-upwork\": $fa-var-square-upwork,\n  \"slideshare\": $fa-var-slideshare,\n  \"google-play\": $fa-var-google-play,\n  \"viadeo\": $fa-var-viadeo,\n  \"line\": $fa-var-line,\n  \"google-drive\": $fa-var-google-drive,\n  \"servicestack\": $fa-var-servicestack,\n  \"simplybuilt\": $fa-var-simplybuilt,\n  \"bitbucket\": $fa-var-bitbucket,\n  \"imdb\": $fa-var-imdb,\n  \"deezer\": $fa-var-deezer,\n  \"raspberry-pi\": $fa-var-raspberry-pi,\n  \"jira\": $fa-var-jira,\n  \"docker\": $fa-var-docker,\n  \"screenpal\": $fa-var-screenpal,\n  \"bluetooth\": $fa-var-bluetooth,\n  \"gitter\": $fa-var-gitter,\n  \"d-and-d\": $fa-var-d-and-d,\n  \"microblog\": $fa-var-microblog,\n  \"cc-diners-club\": $fa-var-cc-diners-club,\n  \"gg-circle\": $fa-var-gg-circle,\n  \"pied-piper-hat\": $fa-var-pied-piper-hat,\n  \"kickstarter-k\": $fa-var-kickstarter-k,\n  \"yandex\": $fa-var-yandex,\n  \"readme\": $fa-var-readme,\n  \"html5\": $fa-var-html5,\n  \"sellsy\": $fa-var-sellsy,\n  \"square-web-awesome\": $fa-var-square-web-awesome,\n  \"sass\": $fa-var-sass,\n  \"wirsindhandwerk\": $fa-var-wirsindhandwerk,\n  \"wsh\": $fa-var-wsh,\n  \"buromobelexperte\": $fa-var-buromobelexperte,\n  \"salesforce\": $fa-var-salesforce,\n  \"octopus-deploy\": $fa-var-octopus-deploy,\n  \"medapps\": $fa-var-medapps,\n  \"ns8\": $fa-var-ns8,\n  \"pinterest-p\": $fa-var-pinterest-p,\n  \"apper\": $fa-var-apper,\n  \"fort-awesome\": $fa-var-fort-awesome,\n  \"waze\": $fa-var-waze,\n  \"bluesky\": $fa-var-bluesky,\n  \"cc-jcb\": $fa-var-cc-jcb,\n  \"snapchat\": $fa-var-snapchat,\n  \"snapchat-ghost\": $fa-var-snapchat-ghost,\n  \"fantasy-flight-games\": $fa-var-fantasy-flight-games,\n  \"rust\": $fa-var-rust,\n  \"wix\": $fa-var-wix,\n  \"square-behance\": $fa-var-square-behance,\n  \"behance-square\": $fa-var-behance-square,\n  \"supple\": $fa-var-supple,\n  \"webflow\": $fa-var-webflow,\n  \"rebel\": $fa-var-rebel,\n  \"css3\": $fa-var-css3,\n  \"staylinked\": $fa-var-staylinked,\n  \"kaggle\": $fa-var-kaggle,\n  \"space-awesome\": $fa-var-space-awesome,\n  \"deviantart\": $fa-var-deviantart,\n  \"cpanel\": $fa-var-cpanel,\n  \"goodreads-g\": $fa-var-goodreads-g,\n  \"square-git\": $fa-var-square-git,\n  \"git-square\": $fa-var-git-square,\n  \"square-tumblr\": $fa-var-square-tumblr,\n  \"tumblr-square\": $fa-var-tumblr-square,\n  \"trello\": $fa-var-trello,\n  \"creative-commons-nc-jp\": $fa-var-creative-commons-nc-jp,\n  \"get-pocket\": $fa-var-get-pocket,\n  \"perbyte\": $fa-var-perbyte,\n  \"grunt\": $fa-var-grunt,\n  \"weebly\": $fa-var-weebly,\n  \"connectdevelop\": $fa-var-connectdevelop,\n  \"leanpub\": $fa-var-leanpub,\n  \"black-tie\": $fa-var-black-tie,\n  \"themeco\": $fa-var-themeco,\n  \"python\": $fa-var-python,\n  \"android\": $fa-var-android,\n  \"bots\": $fa-var-bots,\n  \"free-code-camp\": $fa-var-free-code-camp,\n  \"hornbill\": $fa-var-hornbill,\n  \"js\": $fa-var-js,\n  \"ideal\": $fa-var-ideal,\n  \"git\": $fa-var-git,\n  \"dev\": $fa-var-dev,\n  \"sketch\": $fa-var-sketch,\n  \"yandex-international\": $fa-var-yandex-international,\n  \"cc-amex\": $fa-var-cc-amex,\n  \"uber\": $fa-var-uber,\n  \"github\": $fa-var-github,\n  \"php\": $fa-var-php,\n  \"alipay\": $fa-var-alipay,\n  \"youtube\": $fa-var-youtube,\n  \"skyatlas\": $fa-var-skyatlas,\n  \"firefox-browser\": $fa-var-firefox-browser,\n  \"replyd\": $fa-var-replyd,\n  \"suse\": $fa-var-suse,\n  \"jenkins\": $fa-var-jenkins,\n  \"twitter\": $fa-var-twitter,\n  \"rockrms\": $fa-var-rockrms,\n  \"pinterest\": $fa-var-pinterest,\n  \"buffer\": $fa-var-buffer,\n  \"npm\": $fa-var-npm,\n  \"yammer\": $fa-var-yammer,\n  \"btc\": $fa-var-btc,\n  \"dribbble\": $fa-var-dribbble,\n  \"stumbleupon-circle\": $fa-var-stumbleupon-circle,\n  \"internet-explorer\": $fa-var-internet-explorer,\n  \"stubber\": $fa-var-stubber,\n  \"telegram\": $fa-var-telegram,\n  \"telegram-plane\": $fa-var-telegram-plane,\n  \"old-republic\": $fa-var-old-republic,\n  \"odysee\": $fa-var-odysee,\n  \"square-whatsapp\": $fa-var-square-whatsapp,\n  \"whatsapp-square\": $fa-var-whatsapp-square,\n  \"node-js\": $fa-var-node-js,\n  \"edge-legacy\": $fa-var-edge-legacy,\n  \"slack\": $fa-var-slack,\n  \"slack-hash\": $fa-var-slack-hash,\n  \"medrt\": $fa-var-medrt,\n  \"usb\": $fa-var-usb,\n  \"tumblr\": $fa-var-tumblr,\n  \"vaadin\": $fa-var-vaadin,\n  \"quora\": $fa-var-quora,\n  \"square-x-twitter\": $fa-var-square-x-twitter,\n  \"reacteurope\": $fa-var-reacteurope,\n  \"medium\": $fa-var-medium,\n  \"medium-m\": $fa-var-medium-m,\n  \"amilia\": $fa-var-amilia,\n  \"mixcloud\": $fa-var-mixcloud,\n  \"flipboard\": $fa-var-flipboard,\n  \"viacoin\": $fa-var-viacoin,\n  \"critical-role\": $fa-var-critical-role,\n  \"sitrox\": $fa-var-sitrox,\n  \"discourse\": $fa-var-discourse,\n  \"joomla\": $fa-var-joomla,\n  \"mastodon\": $fa-var-mastodon,\n  \"airbnb\": $fa-var-airbnb,\n  \"wolf-pack-battalion\": $fa-var-wolf-pack-battalion,\n  \"buy-n-large\": $fa-var-buy-n-large,\n  \"gulp\": $fa-var-gulp,\n  \"creative-commons-sampling-plus\": $fa-var-creative-commons-sampling-plus,\n  \"strava\": $fa-var-strava,\n  \"ember\": $fa-var-ember,\n  \"canadian-maple-leaf\": $fa-var-canadian-maple-leaf,\n  \"teamspeak\": $fa-var-teamspeak,\n  \"pushed\": $fa-var-pushed,\n  \"wordpress-simple\": $fa-var-wordpress-simple,\n  \"nutritionix\": $fa-var-nutritionix,\n  \"wodu\": $fa-var-wodu,\n  \"google-pay\": $fa-var-google-pay,\n  \"intercom\": $fa-var-intercom,\n  \"zhihu\": $fa-var-zhihu,\n  \"korvue\": $fa-var-korvue,\n  \"pix\": $fa-var-pix,\n  \"steam-symbol\": $fa-var-steam-symbol,\n);\n","// specific icon class definition\n// -------------------------\n\n/* Font Awesome uses the Unicode Private Use Area (PUA) to ensure screen\nreaders do not read off random characters that represent icons */\n\n@each $name, $icon in $fa-icons {\n  .#{$fa-css-prefix}-#{$name}::before { content: unquote(\"\\\"#{ $icon }\\\"\"); }\n}\n\n","/*!\n * Font Awesome Free 6.5.2 by @fontawesome - https://fontawesome.com\n * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)\n * Copyright 2024 Fonticons, Inc.\n */\n@import 'functions';\n@import 'variables';\n\n:root, :host {\n  --#{$fa-css-prefix}-style-family-classic: '#{ $fa-style-family }';\n  --#{$fa-css-prefix}-font-solid: normal 900 1em/1 '#{ $fa-style-family }';\n}\n\n@font-face {\n  font-family: 'Font Awesome 6 Free';\n  font-style: normal;\n  font-weight: 900;\n  font-display: $fa-font-display;\n  src: url('#{$fa-font-path}/fa-solid-900.woff2') format('woff2'),\n    url('#{$fa-font-path}/fa-solid-900.ttf') format('truetype');\n}\n\n.fas,\n.#{$fa-css-prefix}-solid {\n  font-weight: 900;\n}\n","/*!\n * Font Awesome Free 6.5.2 by @fontawesome - https://fontawesome.com\n * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)\n * Copyright 2024 Fonticons, Inc.\n */\n@import 'functions';\n@import 'variables';\n\n:root, :host {\n  --#{$fa-css-prefix}-style-family-classic: '#{ $fa-style-family }';\n  --#{$fa-css-prefix}-font-regular: normal 400 1em/1 '#{ $fa-style-family }';\n}\n\n@font-face {\n  font-family: 'Font Awesome 6 Free';\n  font-style: normal;\n  font-weight: 400;\n  font-display: $fa-font-display;\n  src: url('#{$fa-font-path}/fa-regular-400.woff2') format('woff2'),\n    url('#{$fa-font-path}/fa-regular-400.ttf') format('truetype');\n}\n\n.far,\n.#{$fa-css-prefix}-regular {\n  font-weight: 400;\n}\n","/*!\n * Font Awesome Free 6.5.2 by @fontawesome - https://fontawesome.com\n * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)\n * Copyright 2024 Fonticons, Inc.\n */\n@import 'functions';\n@import 'variables';\n\n:root, :host {\n  --#{$fa-css-prefix}-style-family-brands: 'Font Awesome 6 Brands';\n  --#{$fa-css-prefix}-font-brands: normal 400 1em/1 'Font Awesome 6 Brands';\n}\n\n@font-face {\n  font-family: 'Font Awesome 6 Brands';\n  font-style: normal;\n  font-weight: 400;\n  font-display: $fa-font-display;\n  src: url('#{$fa-font-path}/fa-brands-400.woff2') format('woff2'),\n    url('#{$fa-font-path}/fa-brands-400.ttf') format('truetype');\n}\n\n.fab,\n.#{$fa-css-prefix}-brands {\n  font-weight: 400;\n}\n\n@each $name, $icon in $fa-brand-icons {\n  .#{$fa-css-prefix}-#{$name}:before { content: unquote(\"\\\"#{ $icon }\\\"\"); }\n}\n","html {\n  /*****************************************************************************\n  * Overall Layout Variables\n  */\n\n  // Header height will impact the top offset for many sections\n  // Article header is 66% of Header\n  --pst-header-height: 4rem;\n  --pst-header-article-height: calc(var(--pst-header-height) * 2 / 3);\n  --pst-sidebar-secondary: 17rem;\n}\n\n/*******************************************************************************\n* Breakpoints that trigger UI changes\n*\n* Note that media-breakpoint-down begins at the next highest level!\n* So we should choose a media-breakpoint-down one *lower* than when we want to start\n* example: media-breakpoint-up(md) and media-breakpoint-down(sm) trigger at the same time\n* ref: https://github.com/twbs/bootstrap/issues/31214\n*/\n$breakpoint-sidebar-primary: lg; // When we collapse the primary sidebar\n$breakpoint-sidebar-secondary: xl; // When we collapse the secondary sidebar\n$breakpoint-page-width: 88rem; // taken from sphinx-basic-ng, which we are ultimately going to inherit\n\n/*******************************************************************************\n* Define the animation behaviour\n*/\n$animation-time: 200ms;\n\n/*******************************************************************************\n* UI shaping and padding\n*/\n$admonition-border-radius: 0.25rem;\n\n// In this theme, some focus rings have rounded corners while others do not.\n// This variable sets the border radius for the rounded focus rings.\n$focus-ring-radius: 0.125rem; // 2px at 100% zoom and 16px base font.\n\n$navbar-link-padding-y: 0.25rem;\n\n// Ensure that there is no overlap of bumper disks (smallest circle that\n// contains the bounding box of the interactive element).\n// - https://github.com/Quansight-Labs/czi-scientific-python-mgmt/issues/81#issuecomment-2251325783\n$nav-icon-column-gap: 1.12rem;\n\n// Determines vertical space between entries in both the section (left/primary\n// sidebar) and page (right/secondary sidebar) table of contents\n$toc-item-padding-y: 0.25rem;\n","html {\n  /*****************************************************************************\n  * Font features used in this theme\n  */\n\n  // base font size - applied at body/html level\n  --pst-font-size-base: 1rem;\n\n  // heading font sizes based on a medium contrast type scale\n  // - see: https://github.com/Quansight-Labs/czi-scientific-python-mgmt/issues/97#issuecomment-2310531483\n  --pst-font-size-h1: 2.625rem;\n  --pst-font-size-h2: 2.125rem;\n  --pst-font-size-h3: 1.75rem;\n  --pst-font-size-h4: 1.5rem;\n  --pst-font-size-h5: 1.25rem;\n  --pst-font-size-h6: 1rem;\n\n  // smaller than heading font sizes\n  --pst-font-size-milli: 0.9rem;\n\n  // Sidebar styles\n  --pst-sidebar-font-size: 0.9rem;\n  --pst-sidebar-font-size-mobile: 1.1rem;\n  --pst-sidebar-header-font-size: 1.2rem;\n  --pst-sidebar-header-font-weight: 600;\n\n  // Admonition styles\n  --pst-admonition-font-weight-heading: 600;\n\n  // Font weights\n  --pst-font-weight-caption: 300;\n  --pst-font-weight-heading: 600;\n\n  // Font family\n  // These are adapted from https://systemfontstack.com/ */\n  --pst-font-family-base-system: -apple-system, \"BlinkMacSystemFont\", \"Segoe UI\",\n    \"Helvetica Neue\", \"Arial\", sans-serif, \"Apple Color Emoji\", \"Segoe UI Emoji\",\n    \"Segoe UI Symbol\";\n  --pst-font-family-monospace-system: \"SFMono-Regular\", \"Menlo\", \"Consolas\",\n    \"Monaco\", \"Liberation Mono\", \"Lucida Console\", monospace;\n  --pst-font-family-base: var(--pst-font-family-base-system);\n  --pst-font-family-heading: var(--pst-font-family-base-system);\n  --pst-font-family-monospace: var(--pst-font-family-monospace-system);\n}\n\n$line-height-body: 1.65;\n$fa-font-path: \"vendor/fontawesome/webfonts/\";\n","html {\n  /*****************************************************************************\n  * Icon\n  */\n\n  // Font size across all icons\n  --pst-font-size-icon: 1.5rem;\n\n  // Font Awesome default icons\n  --pst-icon-check-circle: \"\\f058\"; // fa-solid fa-circle-check\n  --pst-icon-info-circle: \"\\f05a\"; // fa-solid fa-circle-info\n  --pst-icon-exclamation-triangle: \"\\f071\"; // fa-solid fa-triangle-exclamation\n  --pst-icon-exclamation-circle: \"\\f06a\"; // fa-solid fa-circle-exclamation\n  --pst-icon-times-circle: \"\\f057\"; // fa-solid fa-circle-xmark\n  --pst-icon-lightbulb: \"\\f0eb\"; // fa-solid fa-lightbulb\n  --pst-icon-download: \"\\f019\"; // fa-solid fa-download\n  --pst-icon-angle-left: \"\\f104\"; // fa-solid fa-angle-left\n  --pst-icon-angle-right: \"\\f105\"; // fa-solid fa-angle-right\n  --pst-icon-external-link: \"\\f35d\"; // fa-solid fa-up-right-from-square\n  --pst-icon-search-minus: \"\\f010\"; // fa-solid fa-magnifying-glass-minus\n  --pst-icon-github: \"\\f09b\"; // fa-brands fa-github\n  --pst-icon-gitlab: \"\\f296\"; // fa-brands fa-gitlab\n  --pst-icon-share: \"\\f064\"; // fa-solid fa-share\n  --pst-icon-bell: \"\\f0f3\"; // fa-solid fa-bell\n  --pst-icon-pencil: \"\\f303\"; // fa-solid fa-pencil\n\n  // Bootstrap icons\n  --pst-breadcrumb-divider: \"\\f105\";\n}\n","html {\n  /*****************************************************************************\n  * Admonitions\n  **/\n\n  --pst-icon-admonition-default: var(--pst-icon-bell);\n  --pst-icon-admonition-note: var(--pst-icon-info-circle);\n  --pst-icon-admonition-attention: var(--pst-icon-exclamation-circle);\n  --pst-icon-admonition-caution: var(--pst-icon-exclamation-triangle);\n  --pst-icon-admonition-warning: var(--pst-icon-exclamation-triangle);\n  --pst-icon-admonition-danger: var(--pst-icon-exclamation-triangle);\n  --pst-icon-admonition-error: var(--pst-icon-times-circle);\n  --pst-icon-admonition-hint: var(--pst-icon-lightbulb);\n  --pst-icon-admonition-tip: var(--pst-icon-lightbulb);\n  --pst-icon-admonition-important: var(--pst-icon-exclamation-circle);\n  --pst-icon-admonition-seealso: var(--pst-icon-share);\n  --pst-icon-admonition-todo: var(--pst-icon-pencil);\n}\n","html {\n  /*****************************************************************************\n  * versionmodified\n  **/\n\n  --pst-icon-versionmodified-default: var(--pst-icon-exclamation-circle);\n  --pst-icon-versionmodified-added: var(--pst-icon-exclamation-circle);\n  --pst-icon-versionmodified-changed: var(--pst-icon-exclamation-circle);\n  --pst-icon-versionmodified-deprecated: var(--pst-icon-exclamation-circle);\n}\n","html {\n  font-size: var(--pst-font-size-base);\n  scroll-padding-top: calc(var(--pst-header-height) + 1rem);\n}\n\nbody {\n  background-color: var(--pst-color-background);\n  font-family: var(--pst-font-family-base);\n  font-weight: 400;\n  line-height: $line-height-body;\n  color: var(--pst-color-text-base);\n  min-height: 100vh;\n  display: flex;\n  flex-direction: column;\n\n  // hack to avoid the black background on some browser including Safari\n  &::-webkit-scrollbar-track {\n    background-color: var(--pst-color-background);\n  }\n}\n\np {\n  margin-bottom: 1.15rem;\n  font-size: 1em;\n\n  /* section header in docstring pages */\n  &.rubric {\n    border-bottom: 1px solid var(--pst-color-border);\n  }\n\n  &.centered {\n    text-align: center;\n  }\n}\n\na {\n  @include link-style-default;\n\n  // The # anchor that appears on hover over headings\n  &.headerlink {\n    color: var(--pst-color-secondary);\n    font-size: 0.8em;\n    padding: 0 4px;\n    margin-left: 0.2em;\n    text-decoration: none;\n    user-select: none;\n  }\n\n  // set up a icon next to the shorten links from github and gitlab\n  &.github,\n  &.gitlab {\n    &::before {\n      color: var(--pst-color-text-muted);\n      font: var(--fa-font-brands);\n      margin-right: 0.25rem;\n    }\n  }\n\n  &.github::before {\n    content: var(--pst-icon-github);\n  }\n\n  &.gitlab::before {\n    content: var(--pst-icon-gitlab);\n  }\n}\n\n%heading-style {\n  margin: 2.75rem 0 1.05rem;\n  font-family: var(--pst-font-family-heading);\n  font-weight: var(--pst-font-weight-heading);\n  line-height: 1.15;\n}\n\nh1 {\n  @extend %heading-style;\n\n  margin-top: 0;\n  font-size: var(--pst-font-size-h1);\n  color: var(--pst-color-heading);\n}\n\nh2 {\n  @extend %heading-style;\n\n  font-size: var(--pst-font-size-h2);\n  color: var(--pst-color-heading);\n}\n\nh3 {\n  @extend %heading-style;\n\n  font-size: var(--pst-font-size-h3);\n  color: var(--pst-color-heading);\n}\n\nh4 {\n  @extend %heading-style;\n\n  font-size: var(--pst-font-size-h4);\n  color: var(--pst-color-heading);\n}\n\nh5 {\n  @extend %heading-style;\n\n  font-size: var(--pst-font-size-h5);\n  color: var(--pst-color-text-base);\n}\n\nh6 {\n  @extend %heading-style;\n\n  font-size: var(--pst-font-size-h6);\n  color: var(--pst-color-text-base);\n}\n\nsmall,\n.text_small {\n  font-size: var(--pst-font-size-milli);\n}\n\nhr {\n  border: 0;\n  border-top: 1px solid var(--pst-color-border);\n}\n\npre,\ncode,\nkbd,\nsamp {\n  font-family: var(--pst-font-family-monospace);\n}\n\nkbd {\n  // use theme negative\n  background-color: var(--pst-color-on-background);\n  color: var(--pst-color-text-muted);\n\n  // Compound keyboard elements will have nested kbd in them, so this prevents double lines\n  &:not(.compound) {\n    border: 1px solid var(--pst-color-border);\n    margin: 0 0.1rem;\n    padding: 0.1rem 0.4rem;\n    box-shadow: 1px 1px 1px var(--pst-color-shadow);\n  }\n}\n\ncode {\n  color: var(--pst-color-inline-code);\n}\n\npre {\n  margin: 1.5em 0;\n  padding: 1rem;\n  background-color: var(--pst-color-surface);\n  color: var(--pst-color-text-base);\n  line-height: 1.2em;\n  border: 1px solid var(--pst-color-border);\n  border-radius: $admonition-border-radius;\n\n  .linenos {\n    // minimum opacity to make the line numbers WCAG AA conformant\n    opacity: 0.8;\n    padding-right: 10px;\n  }\n}\n\n// the back to top btn\n#pst-back-to-top {\n  // zindex-tooltip comes from Bootstrap https://getbootstrap.com/docs/5.2/layout/z-index/\n  z-index: $zindex-tooltip;\n  position: fixed;\n  display: none;\n  top: 90vh;\n  left: 50vw;\n  transform: translate(-50%);\n  color: var(--pst-color-secondary-text);\n  background-color: var(--pst-color-secondary);\n  border: none;\n\n  .fa-arrow-up {\n    // Using margin instead of a space character prevents the space between the\n    // icon and the text from being underlined when the button is hovered.\n    margin-inline-end: 0.5em;\n  }\n\n  &:hover {\n    @include link-style-hover;\n\n    text-decoration-thickness: 1px;\n    background-color: var(--pst-color-secondary-highlight);\n    color: var(--pst-color-secondary-highlight-text);\n  }\n\n  &:focus-visible {\n    box-shadow: none;\n    outline: $focus-ring-outline;\n    outline-color: var(--pst-color-secondary);\n    outline-offset: $focus-ring-width;\n  }\n}\n\n// Focus ring\n// ----------\n// Note: The Bootstrap stylesheet provides the focus ring (customized by this\n// theme via Sass variables in _bootstrap.scss) in some cases. This rule covers\n// all other cases.\n:focus-visible {\n  outline: $focus-ring-outline;\n  box-shadow: none; // override Bootstrap\n}\n","// Consistent styling for links\n// ============================\n\n@use \"sass:string\";\n\n// Define some useful variables for links styling consistency\n\n// The default thickness of the underline for links will be either:\n//  - 1px\n//  - 0.0625rem if it's thicker than 1px because the user has changed the text\n//    size in their browser\n$link-underline-thickness: string.unquote(\"max(1px, .0625rem)\") !default;\n\n// Offset of link underlines from text baseline\n// The default is 3px expressed as ems, as calculated against the default body\n// font size (on desktop).\n$link-underline-offset: 0.1578em !default;\n\n// Thickness of link underlines in hover state\n// The default for each link will be the thickest of the following:\n//  - 3px\n//  - 0.1875rem, if it's thicker than 3px because the user has changed the text\n//    size in their browser\n//  - 0.12em (relative to the link's text size)\n$link-hover-decoration-thickness: string.unquote(\n  \"max(3px, .1875rem, .12em)\"\n) !default;\n\n// Ensures links have an underline decoration by default - needed to meet\n// WCAG SC 1.4.1\n@mixin link-decoration {\n  text-decoration: underline;\n\n  @if $link-underline-thickness {\n    text-decoration-thickness: $link-underline-thickness;\n  }\n\n  @if $link-underline-offset {\n    text-underline-offset: $link-underline-offset;\n  }\n}\n\n// Ensures links have an underline decoration on hover - distinct from the\n// default behaviour\n@mixin link-decoration-hover {\n  @if $link-hover-decoration-thickness {\n    text-decoration-thickness: $link-hover-decoration-thickness;\n\n    // Disable ink skipping on underlines on hover.\n    text-decoration-skip-ink: none;\n  }\n}\n\n// Simple hover style - can be used alone or in conjunction with other mixins\n// Add the text underline and change in thickness on hover.\n// Intended for use with the `:hover` pseudo-class.\n@mixin link-style-hover {\n  @include link-decoration;\n  @include link-decoration-hover;\n\n  color: var(--pst-color-link-hover);\n}\n\n// Default link styles\n// -------------------\n// Defines: default unvisited, visited, hover, and active.\n// TODO: @trallard to improve focus styles in subsequent PR\n@mixin link-style-default {\n  // So that really long links don't spill out of their container\n  word-wrap: break-word;\n  color: var(--pst-color-link);\n\n  @include link-decoration;\n\n  &:hover {\n    color: var(--pst-color-link-hover);\n\n    @include link-decoration-hover;\n  }\n\n  // TODO: @trallard to add active styles in subsequent PR\n  &:active {\n    color: var(--pst-color-link);\n  }\n\n  // Visited should still be hoverable\n  &:visited {\n    color: var(--pst-color-link);\n\n    &:hover {\n      color: var(--pst-color-link-hover);\n    }\n  }\n}\n\n// Text link styles\n// ----------------\n// Makes links use the muted text colour and removes the underline.\n// Use this mixin for navigation bar links.\n@mixin link-style-text {\n  color: var(--pst-color-text-muted);\n  text-decoration: none;\n\n  &:hover {\n    color: var(--pst-color-link-hover);\n\n    @include link-decoration;\n    @include link-decoration-hover;\n  }\n}\n\n// Sidebar and TOC links\n// ---------------------\n// Makes links use the muted text colour and removes the underline.\n// Use this mixin for navigation the primary sidebar and table of contents.\n// Active and hover should work together rather than one overriding the other.\n@mixin link-sidebar {\n  color: var(--pst-color-text-muted);\n  text-decoration: none;\n\n  &:hover {\n    text-decoration: underline;\n    background-color: transparent;\n    color: var(--pst-color-link-hover);\n\n    @include link-decoration-hover;\n  }\n\n  // TODO: @trallard to update active styles in subsequent PR\n  &:active {\n    color: var(--pst-color-link-hover);\n  }\n\n  &:focus-visible {\n    box-shadow: $focus-ring-box-shadow;\n    outline: none;\n    z-index: 10; // keep focus ring on top (prevent the link-sidebar-current notch from lying on top of the ring)\n  }\n}\n\n// Sidebar current page link styles\n// --------------------------------\n// Adds a vertical line on the left hand side of the link to indicate that\n// it's the current page. Note this is distinct from an active state.\n// Used on the primary sidebar and the TOC.\n// We want the side box shadow to have the same thickness as the hover underline\n@mixin link-sidebar-current {\n  font-weight: 600;\n  color: var(--pst-color-primary);\n\n  @if $link-hover-decoration-thickness {\n    $notch-shadow: inset\n      $link-hover-decoration-thickness\n      0\n      0\n      var(--pst-color-primary);\n\n    box-shadow: $notch-shadow;\n\n    &:focus-visible {\n      box-shadow: $notch-shadow, $focus-ring-box-shadow;\n      outline: none;\n    }\n  }\n}\n\n// Header navbar text and icon links\n// ---------------------------------\n// (includes light/dark mode button)\n\n// This mixin makes it possible to show hover/underline and focus/ring styles at\n// the same time. The trick is to use:\n//    - a pseudo-element with bottom border for the hover underline\n//    - a CSS outline for the focus ring.\n\n// Normally we use box-shadow for underline and outline for focus ring. But we\n// cannot apply box-shadow and outline together on the same element because the\n// border-radius value that we use to round the outline will also round the\n// box-shadow used for the underline. We also cannot use text-underline because\n// it does not work on non-text links, nor do we want to use it on text links\n// that we want to treat as blocks, such as the header nav links because the\n// underline will wrap across two lines if the link text also wraps across two\n// lines.\n@mixin link-style-block {\n  color: var(--pst-color-text-muted);\n\n  // Set position relative so that the child ::before pseudo-element's absolute\n  // position is relative to this element.\n  position: relative;\n\n  // Set up pseudo-element used for hover underline styles\n  &::before {\n    content: \"\";\n    display: block;\n    position: absolute;\n    inset: 0;\n    background-color: transparent;\n\n    @if $link-hover-decoration-thickness {\n      bottom: calc(-1 * $link-hover-decoration-thickness);\n      margin: $link-hover-decoration-thickness 0;\n    }\n  }\n\n  &:hover {\n    color: var(--pst-color-secondary);\n    text-decoration: none; // override the link-style-hover mixin\n    &::before {\n      @if $link-hover-decoration-thickness {\n        border-bottom: $link-hover-decoration-thickness\n          solid\n          var(--pst-color-secondary);\n      }\n    }\n  }\n\n  &:focus-visible {\n    box-shadow: none; // override Bootstrap\n    outline: 3px solid var(--pst-color-accent);\n    outline-offset: $focus-ring-width;\n  }\n}\n","/***\n * Rules for the UX/UI of skip navigation link btn.\n * It's only visible to people\n * navigating with keyboard for accessibility purposes\n * ref: https://www.youtube.com/watch?v=VUR0I5mqq7I\n ***/\n\n.skip-link {\n  position: fixed;\n  top: 0;\n  left: 0;\n  right: 0;\n  text-align: center;\n  background-color: var(--pst-color-warning);\n  padding: 0.5rem;\n  z-index: $zindex-modal;\n  border-bottom: 1px solid var(--pst-color-border);\n\n  // This shows / hides the button\n  transform: translateY(-100%);\n  transition: transform 150ms ease-in-out;\n\n  &:focus-within {\n    transform: translateY(0%);\n  }\n\n  a {\n    // Ensure we are using a WCAG conformant colour\n    color: var(--pst-color-warning-text) !important;\n\n    &:focus-visible {\n      // use color with sufficient contrast\n      outline-color: $foundation-black;\n    }\n  }\n}\n",".bd-container {\n  flex-grow: 1;\n  display: flex;\n  justify-content: center;\n\n  .bd-container__inner {\n    display: flex;\n  }\n}\n\n.bd-page-width {\n  width: 100%;\n\n  @include media-breakpoint-up(lg) {\n    max-width: $breakpoint-page-width;\n  }\n}\n",".pst-async-banner-revealer {\n  // Setting height to 0 and overflow to hidden allows us to add up the heights\n  // of this element's children before revealing them.\n  height: 0;\n  overflow: hidden;\n\n  // Height to be set by JavaScript, which should trigger the following\n  // transition rule (unless the user has set their system to reduce motion).\n  transition: height 300ms ease-in-out;\n\n  @media (prefers-reduced-motion) {\n    transition: none;\n  }\n}\n\n#bd-header-version-warning,\n.bd-header-announcement {\n  min-height: 3rem;\n  width: 100%;\n  display: flex;\n  position: relative;\n  align-items: center;\n  justify-content: center;\n  text-align: center;\n  padding: 0.5rem 12.5%; // Horizontal padding so the width is 75%\n  // One breakpoint less than $breakpoint-sidebar-primary. See variables/_layout.scss for more info.\n  @include media-breakpoint-down(lg) {\n    // Announcements can take a bit more width on mobile\n    padding: 0.5rem 2%;\n  }\n\n  p {\n    font-weight: bold;\n    margin: 0;\n  }\n\n  // Ensure there is enough contrast against the background\n  a {\n    color: var(--pst-color-inline-code-links);\n  }\n\n  // The \"Switch to stable version\" link (styled like a button)\n  .pst-button-link-to-stable-version {\n    @include box-shadow;\n\n    $background-color: var(--pst-color-danger);\n    $hover-background-color: var(--pst-color-danger-highlight);\n    $color: var(--pst-color-danger-text);\n\n    background-color: $background-color;\n    border-color: $background-color;\n    color: $color;\n    border-radius: 0.25rem;\n\n    &:hover {\n      // applying the same style as the SD \"buttons\"\n      @include link-style-hover;\n\n      text-decoration-thickness: 1px;\n      background-color: $hover-background-color;\n      border-color: $hover-background-color;\n      color: var(--pst-color-danger-highlight-text);\n    }\n\n    &:focus-visible {\n      outline: $focus-ring-width solid $background-color;\n      outline-offset: $focus-ring-width;\n    }\n  }\n}\n\n// Bg color is now defined in the theme color palette - using our secondary color\n.bd-header-announcement {\n  background-color: var(--pst-color-secondary-bg);\n}\n\n#bd-header-version-warning {\n  background-color: var(--pst-color-danger-bg);\n}\n","/*********************************************\n* SASS Mixins\n*********************************************/\n\n/**\n * A consistent box shadow style we apply across elements.\n */\n@mixin box-shadow() {\n  box-shadow:\n    0 0.2rem 0.5rem var(--pst-color-shadow),\n    0 0 0.0625rem var(--pst-color-shadow) !important;\n}\n\n/**\n   * Set background of some cell outputs to white-ish to make sure colors work\n   * This is because many libraries make output that only looks good on white\n   */\n@mixin cell-output-background {\n  color: var(--pst-color-on-background);\n  background-color: var(--pst-color-text-base);\n  border-radius: 0.25rem;\n  padding: 0.5rem;\n}\n\n@mixin table-colors {\n  color: var(--pst-color-table);\n  border: 1px solid var(--pst-color-table-outer-border);\n\n  th,\n  td {\n    ~ th,\n    ~ td {\n      border-left: 1px solid var(--pst-color-table-inner-border);\n    }\n  }\n\n  thead {\n    tr {\n      background-color: var(--pst-color-table-heading-bg);\n      border-bottom: 2px solid var(--pst-color-primary);\n    }\n  }\n\n  tbody {\n    tr {\n      &:nth-child(odd) {\n        background-color: var(--pst-color-table-row-zebra-low-bg);\n      }\n\n      &:nth-child(even) {\n        background-color: var(--pst-color-table-row-zebra-high-bg);\n      }\n    }\n  }\n}\n\n// Minimum mouse hit area\n// ----------------------\n// Ensures that the element has a minimum hit area that conforms to\n// accessibility guidelines. For WCAG AA, we need 24px x 24px, see:\n// https://www.w3.org/WAI/WCAG22/Understanding/target-size-minimum.html\n@mixin min-hit-area() {\n  box-sizing: border-box;\n  min-width: 24px;\n  min-height: 24px;\n}\n\n// Meant to darken the element on hover in light mode, or\n// lighten on hover in dark mode.\n@mixin hover-darken-lighten {\n  &:hover {\n    filter: brightness(0.9);\n\n    html[data-theme=\"dark\"] & {\n      filter: brightness(1.1);\n    }\n  }\n}\n","/**\n * Main content area\n */\n.bd-main {\n  flex-grow: 1;\n  flex-direction: column;\n  display: flex;\n  min-width: 0;\n\n  .bd-content {\n    display: flex;\n    justify-content: center;\n    height: 100%;\n\n    .bd-article-container {\n      justify-content: start;\n      display: flex;\n      flex-direction: column;\n\n      // Max-width is slightly more than the W3 since our docs often have images.\n      // We shoot for about 100 characters per line instead of 80.\n      // ref: https://www.w3.org/WAI/tutorials/page-structure/styling/#line-length\n      width: 100%;\n      max-width: 60em;\n      overflow-x: auto; // Prevent wide content from pushing off the secondary sidebar\n      padding: 1rem;\n\n      .bd-article {\n        // Give a bit more verticle spacing on wide screens\n        @include media-breakpoint-up($breakpoint-sidebar-secondary) {\n          padding-top: 1.5rem;\n          padding-left: 2rem;\n        }\n      }\n    }\n  }\n}\n",".bd-footer {\n  width: 100%;\n  border-top: 1px solid var(--pst-color-border);\n\n  .bd-footer__inner {\n    display: flex;\n    flex-grow: 1;\n    padding: 1rem;\n    margin: auto;\n  }\n\n  .footer-items__start,\n  .footer-items__center,\n  .footer-items__end {\n    display: flex;\n    flex-direction: column;\n    gap: 0.5rem;\n    justify-content: center;\n    flex-grow: 1;\n  }\n\n  .footer-items__center {\n    text-align: center;\n  }\n\n  .footer-items__end {\n    text-align: end;\n  }\n\n  // So that paragraphs don't take up extra room\n  .footer-item p {\n    margin-bottom: 0;\n  }\n}\n",".bd-footer-article {\n  margin-top: auto;\n\n  .footer-article-items {\n    display: flex;\n    flex-direction: column;\n  }\n}\n",".bd-footer-content {\n  .footer-content-items {\n    display: flex;\n    flex-direction: column;\n    margin-top: auto;\n  }\n}\n","/**\n * Header at the top of the page\n * It includes the announcement bar and the navigation bar.\n */\n\n// Styling for the Icon links can be found in components/_icon-links.scss\n\n// If we want the shadow to only point downward in the future, set\n// box-shadow to: 0 0.125rem 0.25rem -0.125rem rgba(0, 0, 0, 0.11);\n.bd-header {\n  position: sticky;\n  top: 0;\n  z-index: $zindex-fixed;\n\n  // Overrides bootstrap\n  background-color: var(--pst-color-on-background) !important;\n  box-shadow: 0 0.125rem 0.25rem 0 var(--pst-color-shadow);\n  width: 100%;\n  padding: 0;\n  max-width: 100vw;\n  justify-content: center;\n\n  .bd-header__inner {\n    display: flex;\n    align-items: center;\n    height: fit-content;\n    padding-left: 1rem;\n    padding-right: 1rem;\n  }\n\n  :focus-visible {\n    border-radius: $focus-ring-radius;\n  }\n\n  // These items will define the height of the header\n  .navbar-item {\n    height: var(--pst-header-height);\n    max-height: var(--pst-header-height);\n    display: flex;\n    align-items: center;\n  }\n\n  // Hide the navbar header items on mobile because they're in the sidebar\n  .navbar-header-items {\n    display: none;\n    flex-shrink: 1;\n\n    @include media-breakpoint-up($breakpoint-sidebar-primary) {\n      display: inherit;\n      flex-grow: 1;\n      padding: 0 0 0 0.5rem;\n    }\n  }\n\n  .navbar-header-items__end,\n  .navbar-header-items__center,\n  .navbar-header-items__start {\n    display: flex;\n    align-items: center;\n    flex-flow: wrap;\n\n    // In case we wrap our items to multiple rows on small screens\n    row-gap: 0;\n  }\n\n  .navbar-header-items__end,\n  .navbar-header-items__center {\n    column-gap: $nav-icon-column-gap;\n  }\n\n  // A little smaller because this is displayed by default on mobile\n  .navbar-header-items__start {\n    flex-shrink: 0;\n    margin-right: auto;\n    gap: 0.5rem;\n  }\n\n  .navbar-header-items__end {\n    // End navbar items should snap to the right\n    justify-content: end;\n  }\n\n  // Contains the navigation links within the navbar\n  ul.navbar-nav {\n    display: flex;\n\n    @include media-breakpoint-up($breakpoint-sidebar-primary) {\n      // Align on wide screens so the dropdown button is centered properly\n      align-items: baseline;\n    }\n\n    > li.nav-item {\n      margin-inline: 2px; // breathing room so hover and focus styles do not overlap\n\n      > .nav-link {\n        @include link-style-block;\n\n        padding-inline: 6px;\n      }\n\n      &.current {\n        > .nav-link {\n          color: var(--pst-color-primary);\n\n          // Underline the current navbar item\n          &::before {\n            border-bottom: 3px solid var(--pst-color-primary);\n          }\n        }\n      }\n\n      &.dropdown {\n        margin-inline: 4px;\n\n        button {\n          padding-inline: 8px;\n        }\n\n        > .dropdown-toggle {\n          border-radius: $focus-ring-radius; // make border radius the same for both hover ring and focus ring\n          color: var(--pst-color-text-muted);\n\n          &:focus-visible {\n            box-shadow: $focus-ring-box-shadow;\n          }\n\n          &:hover {\n            text-decoration: none;\n            box-shadow: 0 0 0 $focus-ring-width var(--pst-color-link-hover); // purple focus ring\n            // Brighten the text on hover (muted -> base)\n            color: var(--pst-color-text-base);\n          }\n        }\n      }\n    }\n\n    li a.nav-link.dropdown-item {\n      @include link-style-text;\n    }\n\n    // Dropdowns for the extra links\n    .dropdown {\n      button {\n        display: unset;\n        border: none;\n\n        &:hover {\n          @include link-style-hover;\n        }\n      }\n\n      .dropdown-menu {\n        z-index: $zindex-popover;\n        border: 1px solid var(--pst-color-border);\n        box-shadow: 0 0 0.3rem 0.1rem var(--pst-color-shadow);\n        background-color: var(--pst-color-on-background);\n        padding: 0.5rem 0;\n        margin: 0.5rem 0;\n        min-width: 20rem;\n\n        .dropdown-item {\n          // Give the items in the dropdown some breathing room but let the hit\n          // and hover area of the items extend to the edges of the menu\n          padding: 0.25rem 1.5rem;\n\n          // Override Bootstrap\n          &:focus:not(:hover, :active) {\n            background-color: inherit;\n          }\n\n          &:focus-visible {\n            z-index: 10; // keep focus ring on top (prevent the hover background of the next dropdown item from covering the ring)\n          }\n        }\n\n        // Hide the menu unless show has been clicked\n        &:not(.show) {\n          display: none;\n        }\n      }\n    }\n  }\n\n  // **************************************************************\n  // Showing and hiding the sidebar toggle buttons and header items\n  // **************************************************************\n\n  // Toggle buttons\n  button.sidebar-toggle {\n    font-size: var(--pst-font-size-icon);\n    color: var(--pst-color-muted);\n    margin-bottom: 0;\n    background-color: inherit;\n    padding: 0.5rem;\n  }\n\n  button.primary-toggle {\n    margin-right: 1rem;\n\n    @include media-breakpoint-up($breakpoint-sidebar-primary) {\n      display: none;\n    }\n  }\n\n  button.secondary-toggle {\n    margin-left: 1rem;\n\n    @include media-breakpoint-up($breakpoint-sidebar-secondary) {\n      display: none;\n    }\n  }\n}\n\n// inline the element in the navbar as long as they fit and use display block when collapsing\n@include media-breakpoint-up($breakpoint-sidebar-primary) {\n  .navbar-center-items .navbar-item {\n    display: inline-block;\n  }\n}\n\n.nav-link {\n  &:hover {\n    @include link-style-hover;\n  }\n\n  // Override Bootstrap\n  transition: none;\n\n  &.nav-external::after {\n    font: var(--fa-font-solid);\n    content: var(--pst-icon-external-link);\n    font-size: 0.75em;\n    margin-left: 0.3em;\n  }\n}\n\n.bd-navbar-elements li.nav-item i {\n  font-size: 0.7rem;\n  padding-left: 2px;\n  vertical-align: middle;\n}\n\n// THe elements next to the hamburger menu only show on narrow screens\n.navbar-persistent--mobile {\n  margin-left: auto;\n\n  @include media-breakpoint-up($breakpoint-sidebar-primary) {\n    display: none;\n  }\n}\n\n// The navbar-persistent content should only show on wide screens\n.navbar-persistent--container {\n  display: none;\n\n  @include media-breakpoint-up($breakpoint-sidebar-primary) {\n    display: flex;\n  }\n}\n",".header-article__inner {\n  padding: 0 0.5rem;\n\n  // The items define the height so that it disappears if there are no items\n  .header-article-item {\n    min-height: var(--pst-header-article-height);\n  }\n\n  .header-article-items__end {\n    margin-left: auto;\n  }\n}\n","/**\n * The primary sidebar on the left.\n * e.g., between-pages navigation.\n */\n\n$sidebar-padding-right: 1rem;\n\n.bd-sidebar-primary {\n  display: flex;\n  flex-direction: column;\n  gap: 1rem;\n  max-height: calc(100vh - var(--pst-header-height));\n  position: sticky;\n  top: var(--pst-header-height);\n\n  @include make-col(3);\n\n  // Borders padding and whitespace\n  padding: 2rem $sidebar-padding-right 1rem 1rem;\n  border-right: 1px solid var(--pst-color-border);\n  background-color: var(--pst-color-background);\n  overflow-y: auto;\n  font-size: var(--pst-sidebar-font-size-mobile);\n\n  @include media-breakpoint-up($breakpoint-sidebar-primary) {\n    font-size: var(--pst-sidebar-font-size);\n  }\n\n  :focus-visible {\n    border-radius: $focus-ring-radius;\n  }\n\n  // override bootstrap when navlink are displayed in the sidebar\n  .nav-link {\n    font-size: var(--pst-sidebar-font-size-mobile);\n  }\n\n  &.no-sidebar {\n    border-right: 0;\n  }\n\n  &.hide-on-wide {\n    @include media-breakpoint-up($breakpoint-sidebar-primary) {\n      display: none;\n    }\n  }\n\n  // Headers shouldn't be colored in the sidebars and some extensions add headers\n  h1,\n  h2,\n  h3,\n  h4 {\n    color: var(--pst-color-text-base);\n  }\n\n  .sidebar-primary-items__start,\n  .sidebar-primary-items__end {\n    .sidebar-primary-item {\n      padding: 0.5rem 0;\n    }\n  }\n\n  // Hide the sidebar header items on widescreen since they are visible in the header\n  .sidebar-header-items {\n    display: flex;\n    flex-direction: column;\n\n    .sidebar-header-items__title {\n      font-weight: var(--pst-sidebar-header-font-weight);\n      font-size: var(--pst-sidebar-header-font-size);\n      color: var(--pst-color-text-base);\n      margin-bottom: 0.5rem;\n    }\n\n    .bd-navbar-elements {\n      .nav-link {\n        &:focus-visible {\n          box-shadow: none; // Override Bootstrap\n          outline: $focus-ring-outline;\n          outline-offset: $focus-ring-width;\n        }\n      }\n    }\n\n    // Center header items get displayed vertically, end items are displayed horizontally\n    .sidebar-header-items__center {\n      display: flex;\n      flex-direction: column;\n    }\n\n    // Positioning end items\n    .sidebar-header-items__end {\n      display: flex;\n      align-items: center;\n      gap: 1rem;\n    }\n\n    @include media-breakpoint-up($breakpoint-sidebar-primary) {\n      display: none;\n    }\n  }\n\n  .sidebar-primary-items__start {\n    // Add a border on mobile to separate it from the header sidebar area\n    border-top: 1px solid var(--pst-color-border);\n\n    @include media-breakpoint-up($breakpoint-sidebar-primary) {\n      border-top: none;\n    }\n  }\n\n  .sidebar-primary-items__end {\n    margin-top: auto;\n    margin-bottom: 1em;\n  }\n\n  .list-caption {\n    list-style: none;\n    padding-left: 0;\n\n    // Level 0 TOC heading is put inside the <summary> tag\n    // so let the <summary> tag take up more space\n    li.toctree-l0.has-children {\n      > details {\n        > summary {\n          position: relative;\n          height: auto;\n          width: auto;\n          display: flex;\n          justify-content: space-between;\n          align-items: baseline;\n\n          .toctree-toggle {\n            // Prevent toggle icon from getting squished by summary being a\n            // flexbox\n            flex: 0 0 auto;\n\n            // Make the level 0 chevron icon slightly bigger than descendant\n            // levels\n            .fa-chevron-down {\n              font-size: 1rem;\n            }\n          }\n        }\n      }\n    }\n  }\n\n  li.has-children {\n    $toctree-toggle-width: 30px;\n\n    position: relative;\n\n    > .reference,\n    .caption {\n      margin-right: calc(\n        $toctree-toggle-width + $focus-ring-width\n      ); // keep clear of the toggle icon\n\n      padding-top: 0.25rem; // align caption text with toggle chevron\n    }\n\n    > details {\n      > summary {\n        // Remove browser default toggle icon\n        list-style: none;\n\n        &::-webkit-details-marker {\n          display: none;\n        }\n\n        // The summary element is natively focusable, but delegate the focus state to the toggle icon\n        &:focus-visible {\n          outline: none;\n\n          > .toctree-toggle {\n            outline: $focus-ring-outline;\n            outline-offset: -$focus-ring-width; // Prevent right side of focus ring from disappearing underneath the sidebar's right edge\n          }\n        }\n\n        // Container for expand/collapse chevron icon\n        .toctree-toggle {\n          cursor: pointer;\n\n          // Position it so that it's aligned with the top right corner of the\n          // last positioned element, in this case the li.has-children\n          position: absolute;\n          top: 0;\n          right: 0;\n\n          // Give it dimensions\n          width: $toctree-toggle-width;\n          height: $toctree-toggle-width; // make it square\n\n          // Vertically and horizontally center the icon within the container\n          display: inline-flex;\n          justify-content: center;\n          align-items: center;\n\n          .fa-chevron-down {\n            font-size: 0.75rem;\n          }\n        }\n      }\n\n      // The section is open/expanded, rotate the toggle icon (chevron) so it\n      // points up instead of down\n      &[open] {\n        > summary {\n          .fa-chevron-down {\n            transform: rotate(180deg);\n          }\n        }\n      }\n    }\n  }\n}\n\n/* Between-page links and captions */\nnav.bd-links {\n  margin-right: -$sidebar-padding-right; // align toctree toggle chevrons with right edge of sidebar and allow text to flow closer to the right edge\n\n  @include media-breakpoint-up($breakpoint-sidebar-primary) {\n    display: block;\n  }\n\n  ul {\n    display: block;\n    list-style: none;\n\n    // Reduce padding of nested `ul` items a bit\n    ul {\n      padding: 0 0 0 1rem;\n    }\n  }\n\n  li > a {\n    display: block;\n    padding: $toc-item-padding-y 0.65rem;\n\n    @include link-sidebar;\n\n    box-shadow: none;\n    margin-right: $focus-ring-width; // prevent the right side focus ring from disappearing under the sidebar right edge\n\n    &.reference.external {\n      &::after {\n        font: var(--fa-font-solid);\n        content: var(--pst-icon-external-link);\n        font-size: 0.75em;\n        margin-left: 0.3em;\n      }\n    }\n  }\n\n  .current > a {\n    @include link-sidebar-current;\n\n    background-color: transparent;\n  }\n\n  // Title\n  p.bd-links__title {\n    font-size: var(--pst-sidebar-header-font-size);\n    font-weight: var(--pst-sidebar-header-font-weight);\n    margin-bottom: 0.5rem;\n  }\n\n  // Toctree captions\n  p.caption {\n    font-weight: var(--pst-sidebar-header-font-weight);\n    position: relative;\n    margin-top: 1.25rem;\n    margin-bottom: 0.5rem;\n    color: var(--pst-color-text-base);\n\n    &:first-child {\n      margin-top: 0;\n    }\n\n    font-size: var(--pst-sidebar-font-size-mobile);\n\n    @include media-breakpoint-up($breakpoint-sidebar-primary) {\n      font-size: var(--pst-sidebar-font-size);\n    }\n  }\n}\n","/**\n * Secondary sidebar on the right.\n * e.g., in-page table of contents.\n */\n.bd-sidebar-secondary {\n  display: flex;\n  order: 2;\n  flex-shrink: 0;\n  flex-direction: column;\n  position: sticky;\n  top: var(--pst-header-height);\n  max-height: calc(100vh - var(--pst-header-height));\n  padding: 2rem 1rem 1rem;\n  width: var(--pst-sidebar-secondary);\n  font-size: var(--pst-sidebar-font-size-mobile);\n\n  @include media-breakpoint-up($breakpoint-sidebar-secondary) {\n    font-size: var(--pst-sidebar-font-size);\n  }\n\n  // Color and border\n  background-color: var(--pst-color-background);\n  overflow-y: auto;\n}\n\n.sidebar-secondary-item {\n  padding: 0.5rem;\n\n  @include media-breakpoint-up($breakpoint-sidebar-secondary) {\n    border-left: 1px solid var(--pst-color-border);\n    padding-left: 1rem;\n  }\n\n  i {\n    padding-right: 0.5rem;\n  }\n}\n","/*******************************************************************************\n* Rules for the UX/UI of sidebar sliding drawers on mobile\n* Note that this sheet controls styles across many parts of the theme\n* It is aggregated into this one sheet instead of being split across\n* components in order to keep it easier to debug in one place.\n* It is broken up into major sections below.\n*/\n\n/*******************************************************************************\n* Sidebar drawer behavior\n*/\n\n/**\n * NOTE: We use this mixin to define the toggle behavior on narrow screens,\n * And the wide-screen behavior of the sections is defined in their own section\n * .scss files.\n */\n@mixin sliding-drawer($side: \"left\") {\n  position: fixed;\n  top: 0;\n  z-index: $zindex-modal;\n  height: 100vh;\n  max-height: 100vh;\n  width: 75%;\n  flex-grow: 0.75;\n  max-width: 350px;\n  transition:\n    visibility $animation-time ease-out,\n    margin $animation-time ease-out;\n  visibility: hidden;\n  border: 0;\n\n  @if $side == \"right\" {\n    margin-right: -75%;\n    right: 0;\n  } @else {\n    margin-left: -75%;\n    left: 0;\n  }\n}\n\n.bd-sidebar::backdrop {\n  background-color: black;\n  opacity: 0.5;\n}\n\n.bd-sidebar-primary {\n  @include media-breakpoint-down($breakpoint-sidebar-primary) {\n    @include sliding-drawer(\"left\");\n  }\n\n  &[open] {\n    margin-left: 0;\n    visibility: visible;\n  }\n}\n\n.bd-sidebar-secondary {\n  @include media-breakpoint-down($breakpoint-sidebar-secondary) {\n    @include sliding-drawer(\"right\");\n  }\n\n  &[open] {\n    margin-right: 0;\n    visibility: visible;\n  }\n}\n","/**\n * Breadcrumbs for parent pages meant for the article header\n */\nul.bd-breadcrumbs {\n  list-style: none;\n  padding-left: 0;\n  display: flex;\n  flex-wrap: wrap;\n\n  // Font size slightly smaller to avoid cluttering up space too much\n  font-size: 0.8rem;\n\n  li.breadcrumb-item {\n    display: flex;\n    align-items: center;\n    white-space: nowrap;\n    overflow-x: hidden;\n\n    a,\n    .ellipsis {\n      overflow-x: hidden;\n      text-overflow: ellipsis;\n\n      // Need to add margin, otherwise the overflow: hidden rule on the parent\n      // will hide the focus ring\n      margin: $focus-ring-width;\n    }\n\n    // Style should look like heavier in-page links\n    // keeping visited in the default link colour\n    font-weight: bold;\n\n    a {\n      @include link-style-text;\n    }\n\n    // Items that aren't the home have a caret to the left\n    &:not(.breadcrumb-home)::before {\n      font: var(--fa-font-solid);\n      font-size: 0.8rem;\n      content: var(--pst-breadcrumb-divider);\n      color: var(--pst-color-text-muted);\n      padding: 0 0.5rem;\n    }\n  }\n}\n","/**\n * Icon links in the navbar\n */\n\n.pst-navbar-icon {\n  // Extra specificity needed for overrides\n  html & {\n    @include min-hit-area;\n    @include link-style-block;\n\n    display: flex;\n    align-items: center;\n    justify-content: center;\n\n    // Bootstrap overrides\n    border-radius: 0;\n    border: none;\n    font-size: 1rem;\n    line-height: $line-height-body; // Override Boostrap, which defines a separate line-height for buttons\n    padding: $navbar-link-padding-y 0; // Horizontal white space in nav bar between items is controlled via column gap rule on the container.\n\n    // Make the navbar icon links have the same size as the navbar text links\n    height: calc(2 * $navbar-link-padding-y + $line-height-body * 1rem);\n  }\n}\n\nul.navbar-icon-links {\n  display: flex;\n  flex-flow: row wrap;\n  column-gap: $nav-icon-column-gap;\n  justify-content: space-evenly;\n  align-items: center;\n  padding-left: 0;\n  margin-bottom: 0;\n  list-style: none;\n\n  // Icons styling\n  i {\n    &.fa-brands,\n    &.fa-regular,\n    &.fa-solid {\n      vertical-align: middle;\n      font-style: normal;\n      font-size: var(--pst-font-size-icon);\n    }\n\n    /* Social media buttons hard-code the brand color */\n    &.fa-square-twitter::before {\n      color: #55acee;\n    }\n\n    &.fa-square-gitlab::before {\n      color: #548;\n    }\n\n    &.fa-bitbucket::before {\n      color: #0052cc;\n    }\n  }\n\n  // Force images to be icon-sized\n  img.icon-link-image {\n    height: 1.5em;\n    border-radius: 0.2rem;\n  }\n\n  .fa-pydata {\n    stroke: var(--pst-color-background);\n    stroke-linejoin: round;\n    stroke-width: 0.35;\n  }\n}\n","/**\n * Logo in the navbar\n */\n\n.navbar-brand {\n  position: relative;\n  height: var(--pst-header-height);\n  max-height: var(--pst-header-height);\n  padding: 0.5rem 0;\n  width: auto;\n  margin: 0;\n  display: flex;\n\n  // Ensure that the logo stays the same length while other content shrinks\n  flex-shrink: 0;\n  align-items: center;\n  gap: 0.5rem;\n\n  // If there's no logo image, we use a p element w/ the site title\n  p {\n    color: var(--pst-color-text-base);\n    margin-bottom: 0;\n  }\n\n  // If there's a logo, it'll be in an img block\n  img {\n    max-width: 100%;\n    height: 100%;\n    width: auto;\n  }\n\n  &:hover,\n  &:visited:hover {\n    @include link-style-hover;\n\n    color: var(--pst-color-text-base);\n  }\n}\n","/**\n * Navigation links in the navbar and icon links\n */\nul.navbar-nav {\n  // Reduce padding of nested `ul` items a bit\n  ul {\n    padding: 0 0 0 1rem;\n  }\n\n  // Navbar links - do not have an underline by default\n  li {\n    display: flex;\n    flex-direction: column;\n\n    a {\n      display: flex;\n      align-items: center;\n      height: 100%;\n      padding-top: $navbar-link-padding-y;\n      padding-bottom: $navbar-link-padding-y;\n\n      @include link-style-text;\n    }\n  }\n}\n","/**\n * The list of in-page TOC links\n */\n.page-toc {\n  .section-nav {\n    padding-left: 0;\n    border-bottom: none;\n\n    ul {\n      padding-left: 1rem;\n    }\n  }\n\n  // override bootstrap settings\n  .nav-link {\n    font-size: var(--pst-sidebar-font-size-mobile);\n\n    @include media-breakpoint-up($breakpoint-sidebar-secondary) {\n      font-size: var(--pst-sidebar-font-size);\n    }\n  }\n\n  .onthispage {\n    color: var(--pst-color-text-base);\n    font-weight: var(--pst-sidebar-header-font-weight);\n    margin-bottom: 0.5rem;\n  }\n}\n","/**\n* Previous / Next navigation buttons\n**/\n.prev-next-area {\n  width: 100%;\n\n  p {\n    color: var(--pst-color-text-muted);\n    margin: 0 0.3em;\n    line-height: 1.3em;\n  }\n\n  i {\n    font-size: 1.2em;\n  }\n\n  a {\n    // So that buttons align with icons\n    display: flex;\n    align-items: center;\n    border: none;\n    padding: 10px;\n    max-width: 45%;\n    overflow-x: hidden;\n    color: var(--pst-color-text-muted);\n    text-decoration: none;\n\n    p.prev-next-title {\n      @include link-style-default;\n\n      font-weight: var(--pst-admonition-font-weight-heading);\n      font-size: 1.1em;\n    }\n\n    &:hover,\n    &:visited:hover {\n      p.prev-next-title {\n        @include link-style-hover;\n      }\n    }\n\n    .prev-next-info {\n      flex-direction: column;\n      margin: 0 0.5em;\n\n      .prev-next-subtitle {\n        text-transform: capitalize;\n      }\n    }\n\n    &.left-prev {\n      float: left;\n    }\n\n    &.right-next {\n      float: right;\n\n      div.prev-next-info {\n        text-align: right;\n      }\n    }\n  }\n}\n","/**\n * Search field\n **/\n.bd-search {\n  position: relative;\n  padding-left: 0.5rem;\n  gap: 0.5rem;\n  background-color: var(--pst-color-background);\n  border-radius: $admonition-border-radius;\n  border: 1px solid var(--pst-color-border);\n  color: var(--pst-color-text-base);\n\n  // Background should always be same color regardless of active or not\n  &:active {\n    background-color: var(--pst-color-background);\n    color: var(--pst-color-text-muted);\n  }\n\n  // Hoist the focus ring from the input field to its parent\n  &:focus-within {\n    box-shadow: $focus-ring-box-shadow;\n\n    input:focus {\n      box-shadow: none;\n    }\n  }\n\n  .icon {\n    position: absolute;\n    color: var(--pst-color-border);\n    left: 25px;\n  }\n\n  .fa-solid.fa-magnifying-glass {\n    position: absolute;\n    left: calc((2.5rem - 0.7em) / 2);\n    color: var(--pst-color-text-muted);\n  }\n\n  input.form-control {\n    background-color: var(--pst-color-background);\n    color: var(--pst-color-text-base);\n    border: none;\n\n    // Inner-text of the search bar\n    &::placeholder {\n      color: var(--pst-color-text-muted);\n    }\n\n    // Remove the little \"x\" that pops up when you start typing\n    &::-webkit-search-cancel-button,\n    &::-webkit-search-decoration {\n      appearance: none;\n    }\n\n    &:focus,\n    &:focus-visible {\n      color: var(--pst-color-text-muted);\n    }\n  }\n\n  // Shows off the keyboard shortcuts for the button\n  .search-button__kbd-shortcut {\n    display: none;\n    margin-inline-end: 0.5rem;\n    color: var(--pst-color-border);\n\n    @include media-breakpoint-up(md) {\n      display: flex;\n    }\n  }\n}\n\n/**\n * Search button - located in the navbar\n */\n.search-button i {\n  // Search link icon should be a bit bigger since it is separate from icon links\n  font-size: 1.3rem;\n}\n\n/**\n * The search modal <dialog>\n */\n#pst-search-dialog {\n  display: none;\n\n  &[open] {\n    display: flex;\n\n    // Center in middle of screen just underneath header\n    position: fixed;\n    z-index: $zindex-modal;\n    top: 30%;\n    left: 50%;\n    transform: translate(-50%, -50%);\n    right: 1rem;\n    margin-top: 0.5rem;\n    width: 90%;\n    max-width: 800px;\n    background-color: transparent;\n    padding: $focus-ring-width;\n    border: none;\n\n    &::backdrop {\n      background-color: black;\n      opacity: 0.5;\n    }\n\n    form.bd-search {\n      flex-grow: 1;\n\n      // Font and input text a bit bigger\n      svg,\n      input {\n        font-size: var(--pst-font-size-icon);\n      }\n    }\n  }\n}\n\n/**\n * The search button component that looks like a field.\n * Lives at components/search-button-field.html\n */\n.search-button-field {\n  $search-button-border-radius: 1.5em;\n\n  display: inline-flex;\n  align-items: center;\n  border: var(--pst-color-border) solid 1px;\n  border-radius: $search-button-border-radius;\n  color: var(--pst-color-text-muted);\n  padding: 0.5em;\n  background-color: var(--pst-color-surface);\n\n  &:hover {\n    box-shadow: 0 0 0 $focus-ring-width var(--pst-color-link-hover);\n  }\n\n  &:focus-visible {\n    border-radius: $search-button-border-radius;\n  }\n\n  // The keyboard shortcut text\n  .search-button__default-text {\n    font-size: var(--bs-nav-link-font-size);\n    font-weight: var(--bs-nav-link-font-weight);\n    margin-right: 0.5em;\n    margin-left: 0.5em;\n  }\n\n  .kbd-shortcut__modifier {\n    font-size: 0.75em;\n  }\n\n  // Ensures that all the text lines up in the middle\n  > * {\n    align-items: center;\n  }\n\n  // Only the icon should be visible on narrow screens\n  > :not(svg) {\n    display: none;\n\n    @include media-breakpoint-up(lg) {\n      display: flex;\n    }\n  }\n}\n","/**\n * The 'Hide Search Matches' button.\n * This only shows up when a person lands on a page after clicking a search result.\n * Clicking it removes the highlighting of the search term from the page.\n * We want it to behave like a button.\n */\ndiv#searchbox {\n  // Leave `#searchbox` rules empty so that it doesn't show at all when it is empty\n  p.highlight-link {\n    margin: 1rem 0;\n    width: fit-content;\n\n    // A bit more margin on wide screens to mimic article behavior\n    @include media-breakpoint-up($breakpoint-sidebar-secondary) {\n      margin-left: 2rem;\n    }\n\n    // Put outer shadow on this one so that we can darken the link w/ an inner shadow\n    @include box-shadow;\n\n    // Style the button to look like a Sphinx Design button\n    a {\n      border-radius: 0.25rem;\n      font-size: 1.25rem;\n      padding: 0.75rem;\n      background-color: var(--pst-color-primary);\n      color: var(--pst-color-primary-text);\n      text-decoration: none;\n\n      // The box shadow is inset so that it darkens the button on hover\n      transition: box-shadow 0.25s ease-out;\n\n      &:hover {\n        box-shadow: inset 0 0 50px 50px rgb(0 0 0 / 25%);\n      }\n\n      &::before {\n        content: var(--pst-icon-search-minus);\n        color: unset;\n        font: var(--fa-font-solid);\n        margin-right: 0.5rem;\n      }\n    }\n  }\n}\n","/**\n * Light/dark theme switcher\n */\n\n.theme-switch-button {\n  .theme-switch {\n    display: none;\n\n    &:active {\n      text-decoration: none;\n      color: var(--pst-color-link-hover);\n    }\n\n    .fa-lg {\n      aspect-ratio: 1 / 1;\n    }\n  }\n}\n\n@each $mode in auto, light, dark {\n  html[data-mode=\"#{$mode}\"]\n    .theme-switch-button\n    .theme-switch[data-mode=\"#{$mode}\"] {\n    display: inline; // inline needed for span height to be calculated using inherited font size and line height\n  }\n}\n","button.btn.version-switcher__button {\n  border-color: var(--pst-color-border);\n  color: var(--pst-color-text-base);\n\n  // Add a margin on narrow screens to avoid feeling cramped\n  margin-bottom: 1em;\n\n  @include media-breakpoint-up($breakpoint-sidebar-primary) {\n    margin-bottom: unset;\n  }\n\n  &:hover {\n    box-shadow: 0 0 0 $focus-ring-width var(--pst-color-secondary);\n    border-color: transparent;\n  }\n\n  &:active {\n    color: var(--pst-color-text-base);\n    border-color: var(--pst-color-border);\n  }\n\n  &:focus-visible {\n    border-color: transparent;\n  }\n}\n\n.version-switcher__menu {\n  border-color: var(--pst-color-border);\n  border-radius: var(--bs-dropdown-border-radius);\n\n  a.list-group-item {\n    background-color: var(--pst-color-on-background);\n    color: var(--pst-color-text-base);\n    padding: 0.75rem 1.25rem;\n\n    &:not(:last-child) {\n      border-bottom: 1px solid var(--pst-color-border);\n    }\n\n    &:hover {\n      @include link-style-hover;\n\n      background-color: var(--pst-color-surface);\n    }\n\n    &.active {\n      @include link-sidebar-current;\n\n      position: relative;\n      z-index: 1;\n\n      span::before {\n        content: \"\";\n        width: 100%;\n        height: 100%;\n        position: absolute;\n        z-index: -1;\n        left: 0;\n        top: 0;\n      }\n    }\n\n    &:focus-visible {\n      z-index: 10; // keep focus ring on top (prevent the hover background of the next dropdown item from covering the ring)\n    }\n  }\n}\n\n// Font behavior on mobile\nbutton.version-switcher__button,\n.version-switcher__menu {\n  font-size: 1.1em; // A bit smaller than other menu font\n  z-index: $zindex-modal; // higher than the sidebars\n\n  // Make sure it meets WCAG target size requirement no matter the version\n  // string displayed in the button\n  @include min-hit-area;\n\n  @include media-breakpoint-up($breakpoint-sidebar-primary) {\n    font-size: unset;\n  }\n}\n","/* Collapsing of the TOC sidebar while scrolling */\n\n/* Nav: hide second level (shown on .active) */\n\nnav.page-toc {\n  // A little extra space before the buttons\n  margin-bottom: 1rem;\n}\n\n.bd-toc .nav {\n  .nav {\n    display: none;\n\n    // So we can manually specify a level as visible in the config\n    &.visible {\n      display: block;\n    }\n  }\n\n  > .active > ul {\n    display: block;\n  }\n}\n\n// Each entry of the in-page TOC\n.toc-entry {\n  display: block;\n\n  a > code {\n    color: var(--pst-color-text-muted);\n  }\n\n  a.nav-link {\n    display: block;\n    padding: $toc-item-padding-y 0;\n\n    // Padding w/ negative margin so the top TOC item highlight overlaps w/ the TOC border\n    padding-left: 1rem;\n    margin-left: -1rem;\n\n    @include link-sidebar;\n\n    &.active {\n      @include link-sidebar-current;\n\n      background-color: transparent;\n\n      &:hover {\n        color: var(--pst-color-link-hover);\n      }\n    }\n\n    &:focus-visible {\n      border-radius: $focus-ring-radius;\n    }\n  }\n}\n","div.versionadded,\ndiv.versionchanged,\ndiv.deprecated {\n  vertical-align: middle;\n  margin: 1.5625em auto;\n  padding: 0 0.6rem;\n  overflow: hidden;\n\n  /* break-inside has replaced page-break-inside and is widely usable since 2019 */\n  page-break-inside: avoid;\n  break-inside: avoid;\n  border-left: 0.2rem solid;\n  border-color: var(--pst-color-info);\n  border-radius: $admonition-border-radius;\n  background-color: var(--pst-color-on-background);\n\n  @include box-shadow;\n\n  position: relative;\n\n  > p {\n    margin-bottom: 0.6rem;\n    margin-top: 0.6rem;\n  }\n}\n\ndiv.versionadded {\n  border-color: var(--pst-color-success);\n  background-color: var(--pst-color-success-bg);\n}\n\ndiv.versionchanged {\n  border-color: var(--pst-color-warning);\n  background-color: var(--pst-color-warning-bg);\n}\n\ndiv.deprecated {\n  border-color: var(--pst-color-danger);\n  background-color: var(--pst-color-danger-bg);\n}\n\nspan.versionmodified {\n  font-weight: 600;\n\n  &::before {\n    margin-right: 0.6rem;\n    color: var(--pst-color-info);\n    font: var(--fa-font-solid);\n    content: var(--pst-icon-versionmodified-default);\n  }\n}\n\nspan.versionmodified.added {\n  &::before {\n    color: var(--pst-color-success);\n    content: var(--pst-icon-versionmodified-added);\n  }\n}\n\nspan.versionmodified.changed {\n  &::before {\n    color: var(--pst-color-warning);\n    content: var(--pst-icon-versionmodified-changed);\n  }\n}\n\nspan.versionmodified.deprecated {\n  &::before {\n    color: var(--pst-color-danger);\n    content: var(--pst-icon-versionmodified-deprecated);\n  }\n}\n",".sidebar-indices-items {\n  display: flex;\n  flex-direction: column;\n  border-top: 1px solid var(--pst-color-border);\n\n  @include media-breakpoint-up($breakpoint-sidebar-primary) {\n    border-top: none;\n  }\n\n  .sidebar-indices-items__title {\n    font-weight: var(--pst-sidebar-header-font-weight);\n    font-size: var(--pst-sidebar-header-font-size);\n    color: var(--pst-color-text-base);\n    margin-bottom: 0.5rem;\n  }\n\n  ul.indices-link {\n    margin-right: -1rem;\n    list-style: none;\n    padding: 0;\n\n    li > a {\n      display: block;\n      padding: 0.25rem 0;\n      color: var(--pst-color-text-muted);\n\n      &:hover {\n        color: var(--pst-color-primary);\n        text-decoration: none;\n        background-color: transparent;\n      }\n    }\n  }\n}\n","/**\n * Admonitions and blocks of styled content.\n * Admonitions CSS originally inspired by https://squidfunk.github.io/mkdocs-material/getting-started/\n */\n$admonition-border-radius: 0.25rem;\n$admonition-left-border-width: 0.2rem;\n\ndiv.admonition,\n.admonition {\n  margin: 1.5625em auto;\n  padding: 0 0.6rem 0.8rem;\n  overflow: hidden;\n\n  /* break-inside has replaced page-break-inside and is widely usable since 2019 */\n  page-break-inside: avoid;\n  break-inside: avoid;\n  border-left: $admonition-left-border-width solid;\n  border-color: var(--pst-color-info);\n  border-radius: $admonition-border-radius;\n  background-color: var(--pst-color-on-background);\n\n  @include box-shadow;\n\n  // Last item should have no spacing since we'll control that w/ padding\n  *:last-child {\n    margin-bottom: 0;\n  }\n\n  // Items after the title should be indented\n  p.admonition-title ~ * {\n    margin-left: 1.4rem;\n    margin-right: 1.4rem;\n  }\n\n  // Lists need to have left margin so they don't spill into it\n  > ol,\n  > ul {\n    margin-left: 1em;\n  }\n\n  // Defaults for all admonitions\n  > .admonition-title {\n    margin: 0 -0.6rem;\n    padding: 0.4rem 0.6rem 0.4rem 2rem;\n    font-weight: var(--pst-admonition-font-weight-heading);\n    position: relative;\n\n    @include legacy-backdrop-placeholder;\n\n    background-color: var(--pst-color-info-bg);\n\n    // now that we use solid colors we want the title on top\n    z-index: 1;\n\n    &::after {\n      position: absolute;\n      left: 0.5rem;\n      width: 1rem;\n      height: 1rem;\n      color: var(--pst-color-info);\n      font: var(--fa-font-solid);\n      line-height: inherit;\n      content: var(--pst-icon-admonition-default);\n      opacity: 1;\n    }\n\n    // Next element after title needs some extra upper-space\n    + * {\n      margin-top: 0.4em;\n    }\n  }\n\n  &.attention {\n    border-color: var(--pst-color-attention);\n\n    > .admonition-title {\n      background-color: var(--pst-color-attention-bg);\n\n      &::after {\n        color: var(--pst-color-attention);\n        content: var(--pst-icon-admonition-attention);\n      }\n    }\n  }\n\n  &.caution {\n    border-color: var(--pst-color-warning);\n\n    > .admonition-title {\n      background-color: var(--pst-color-warning-bg);\n\n      &::after {\n        color: var(--pst-color-warning);\n        content: var(--pst-icon-admonition-caution);\n      }\n    }\n  }\n\n  &.warning {\n    border-color: var(--pst-color-warning);\n\n    > .admonition-title {\n      background-color: var(--pst-color-warning-bg);\n\n      &::after {\n        color: var(--pst-color-warning);\n        content: var(--pst-icon-admonition-warning);\n      }\n    }\n  }\n\n  &.danger {\n    border-color: var(--pst-color-danger);\n\n    > .admonition-title {\n      background-color: var(--pst-color-danger-bg);\n\n      &::after {\n        color: var(--pst-color-danger);\n        content: var(--pst-icon-admonition-danger);\n      }\n    }\n  }\n\n  &.error {\n    border-color: var(--pst-color-danger);\n\n    > .admonition-title {\n      background-color: var(--pst-color-danger-bg);\n\n      &::after {\n        color: var(--pst-color-danger);\n        content: var(--pst-icon-admonition-error);\n      }\n    }\n  }\n\n  &.hint {\n    border-color: var(--pst-color-success);\n\n    > .admonition-title {\n      background-color: var(--pst-color-success-bg);\n\n      &::after {\n        color: var(--pst-color-success);\n        content: var(--pst-icon-admonition-hint);\n      }\n    }\n  }\n\n  &.tip {\n    border-color: var(--pst-color-success);\n\n    > .admonition-title {\n      background-color: var(--pst-color-success-bg);\n\n      &::after {\n        color: var(--pst-color-success);\n        content: var(--pst-icon-admonition-tip);\n      }\n    }\n  }\n\n  &.important {\n    border-color: var(--pst-color-attention);\n\n    > .admonition-title {\n      background-color: var(--pst-color-attention-bg);\n\n      &::after {\n        color: var(--pst-color-attention);\n        content: var(--pst-icon-admonition-important);\n      }\n    }\n  }\n\n  &.note {\n    border-color: var(--pst-color-info);\n\n    > .admonition-title {\n      background-color: var(--pst-color-info-bg);\n\n      &::after {\n        color: var(--pst-color-info);\n        content: var(--pst-icon-admonition-note);\n      }\n    }\n  }\n\n  &.seealso {\n    border-color: var(--pst-color-success);\n\n    > .admonition-title {\n      background-color: var(--pst-color-success-bg);\n\n      &::after {\n        color: var(--pst-color-success);\n        content: var(--pst-icon-admonition-seealso);\n      }\n    }\n  }\n\n  &.admonition-todo {\n    border-color: var(--pst-color-secondary);\n\n    > .admonition-title {\n      background-color: var(--pst-color-secondary-bg);\n\n      &::after {\n        color: var(--pst-color-secondary);\n        content: var(--pst-icon-admonition-todo);\n      }\n    }\n  }\n\n  /**\n   * Special-case for a `sidebar` class that makes the admonition float to\n   * the right like the {sidebar} directive.\n   */\n  &.sidebar {\n    max-width: 40%;\n    float: right;\n    clear: both;\n    margin-left: 0.5rem;\n    margin-top: 0;\n\n    // Undo the .sidebar directive border\n    border-width: 0 0 0 $admonition-left-border-width;\n\n    // TODO: these semantic-color-names border-color rules might no longer be\n    //       needed when we drop support for Sphinx 4 / docutils 0.17\n    &.attention,\n    &.important {\n      border-color: var(--pst-color-attention);\n    }\n\n    &.caution,\n    &.warning {\n      border-color: var(--pst-color-warning);\n    }\n\n    &.danger,\n    &.error {\n      border-color: var(--pst-color-danger);\n    }\n\n    &.hint,\n    &.tip,\n    &.seealso {\n      border-color: var(--pst-color-success);\n    }\n\n    &.note,\n    &.todo {\n      border-color: var(--pst-color-info);\n    }\n\n    // No inner margin since we have less horizontal space w/ the sidebar\n    p.admonition-title ~ * {\n      margin-left: 0;\n      margin-right: 0;\n    }\n  }\n}\n\n/**************************************************************\n * Similar content blocks that are not technically admonitions.\n */\n\n/**\n * Topics and the {contents} directive\n */\n// Docutils <= 0.17\ndiv.topic,\ndiv.topic.contents,\n// Docutils >= 0.18\nnav.contents,\naside.topic {\n  display: flex;\n  flex-direction: column;\n  background-color: var(--pst-color-surface);\n  border-color: var(--pst-color-border);\n  border-radius: $admonition-border-radius;\n  padding: 1rem 1.25rem;\n\n  @include box-shadow;\n\n  .topic-title {\n    margin: 0 0 0.5rem;\n  }\n\n  // Over-ride text color to ensure enough contrast\n  p {\n    color: var(--pst-color-on-surface) !important;\n  }\n\n  // Over-ride large default padding\n  ul.simple {\n    padding-left: 1rem;\n\n    ul {\n      // So that sub-lists will have a bit less padding\n      padding-left: 2em;\n    }\n  }\n}\n\n/**\n * Sidebar directive\n */\naside.sidebar {\n  border: 1px solid var(--pst-color-border);\n  background-color: var(--pst-color-surface);\n  border-radius: $admonition-border-radius;\n\n  // to match the admonition-styled sidebars:\n  margin-left: 0.5rem;\n  padding: 0;\n\n  > *:last-child {\n    padding-bottom: 1rem;\n  }\n\n  p.sidebar-title {\n    position: relative;\n    margin-bottom: 0;\n    padding-top: 0.5rem;\n    padding-bottom: 0.5rem;\n    border-bottom: 1px solid var(--pst-color-border);\n    font-family: var(--pst-font-family-heading);\n    font-weight: var(--pst-admonition-font-weight-heading);\n  }\n\n  // Add margin to the first non-`.sidebar-title` item\n  > *:not(.sidebar-title):first-child,\n  > p.sidebar-title + * {\n    margin-top: 1rem;\n  }\n\n  > * {\n    padding-left: 1rem;\n    padding-right: 1rem;\n  }\n}\n\n/**\n * Rubrics look kind of like section headers\n */\np.rubric {\n  display: flex;\n  flex-direction: column;\n}\n\n/**\n * Seealso is kind of like a vertically-collapsed admonition\n */\n.seealso dd {\n  margin-top: 0;\n  margin-bottom: 0;\n}\n","/**\n * Miscellaneous color functions and mixins\n**/\n\n@use \"sass:list\";\n@use \"sass:map\";\n@use \"sass:meta\";\n@use \"sass:math\";\n@use \"sass:string\";\n\n// We must add ::before pseudo-element to some theme components (such as admonitions)\n// because users were instructed to customize the background color this way.\n@mixin legacy-backdrop-placeholder {\n  &::before {\n    content: \"\";\n    width: 100%;\n    height: 100%;\n    position: absolute;\n    left: 0;\n    top: 0;\n    z-index: -1;\n\n    // So that hovering over the text within background is still possible.\n    // Otherwise the background overlays the text and you cannot click or select easily.\n    // ref: https://developer.mozilla.org/en-US/docs/Web/CSS/pointer-events\n    pointer-events: none;\n  }\n}\n\n/**\n* Function to get items from nested maps\n*/\n// @param {Map} $map - Map\n// @param {Arglist} $keys - Keys to fetc\n// @return {*}\n@function map-deep-get($map, $keys...) {\n  @each $key in $keys {\n    $map: map.get($map, $key);\n  }\n\n  @return $map;\n}\n\n/**\n  * Function to check if the color needs converting to a \"color\" type\n  * if it is a string we cannot use other color manipulation functions\n  * It is used to create the sphinx-design colours as these are often interpolated\n  */\n// @param {String/Color} $color - Color definition from map\n// @return {Color} - Color type (in hex)\n@function check-color($color) {\n  @if meta.type-of($color) == string {\n    $color: from-hex($color);\n  }\n\n  @return $color;\n}\n\n/**\n  * Function to convert the string representation of a color to a color type (hex)\n  */\n// @param {String} $string - String representation of a color\n@function from-hex($string) {\n  $string-lower: string.to-lower-case($string);\n  $r: \"\";\n  $g: \"\";\n  $b: \"\";\n  $hex: \"0\" \"1\" \"2\" \"3\" \"4\" \"5\" \"6\" \"7\" \"8\" \"9\" \"a\" \"b\" \"c\" \"d\" \"e\" \"f\";\n  $length: string.length($string);\n  $max: if($length == 4, 1, 2);\n\n  // Check for length accuracy\n  @if $length != 4 and $length != 7 {\n    @return $string;\n  }\n\n  // Loop from the second character (omitting #)\n  @for $i from 2 through $length {\n    $c: string.slice($string-lower, $i, $i);\n\n    // If wrong character, return\n    @if not list.index($hex, $c) {\n      @return $string;\n    }\n\n    @if string.length($r) < $max {\n      $r: $r + $c;\n    } @else if string.length($g) < $max {\n      $g: $g + $c;\n    } @else if string.length($b) < $max {\n      $b: $b + $c;\n    }\n  }\n\n  @if $length == 4 {\n    $r: $r + $r;\n    $g: $g + $g;\n    $b: $b + $b;\n  }\n\n  @return rgb(hex-to-dec($r), hex-to-dec($g), hex-to-dec($b));\n}\n\n@function hex-to-dec($string) {\n  $hex: \"0\" \"1\" \"2\" \"3\" \"4\" \"5\" \"6\" \"7\" \"8\" \"9\" \"a\" \"b\" \"c\" \"d\" \"e\" \"f\";\n  $string: string.to-lower-case($string);\n  $length: string.length($string);\n  $dec: 0;\n\n  @for $i from 1 through $length {\n    $factor: 1 + (15 * ($length - $i));\n    $index: list.index($hex, string.slice($string, $i, $i));\n    $dec: $dec + $factor * ($index - 1);\n  }\n\n  @return $dec;\n}\n","// Style API docs from sphinx' autodoc / autosummary\n\n/*******************************************************************************\n* Styling for field lists\n*/\n\n/* grey highlighting of 'parameter' and 'returns' field */\ntable.field-list {\n  border-collapse: separate;\n  border-spacing: 10px;\n  margin-left: 1px;\n\n  th.field-name {\n    padding: 1px 8px 1px 5px;\n    white-space: nowrap;\n    background-color: var(--pst-color-surface);\n  }\n\n  /* italic font for parameter types */\n  td.field-body {\n    p {\n      font-style: italic;\n\n      > strong {\n        font-style: normal;\n      }\n    }\n\n    /* reduced space around parameter description */\n    blockquote {\n      border-left: none;\n      margin: 0 0 0.3em;\n      padding-left: 30px;\n    }\n  }\n}\n\n/*******************************************************************************\n* Styling for autosummary tables\n*/\n\n.table.autosummary {\n  // The first column (with the signature) should not wrap\n  td:first-child {\n    white-space: nowrap;\n  }\n}\n\n/* overriding basic.css to use our own monospace font */\n.sig {\n  font-family: var(--pst-font-family-monospace);\n}\n\n/* C++ specific styling - overriding the basic.css to avoid custom colors */\n\n.sig-inline.c-texpr,\n.sig-inline.cpp-texpr {\n  font-family: unset;\n}\n\n.sig.c .k,\n.sig.c .kt,\n.sig.cpp .k,\n.sig.cpp .kt {\n  color: var(--pst-color-text-base);\n}\n\n.sig.c .m,\n.sig.cpp .m {\n  color: var(--pst-color-text-base);\n}\n\n.sig.c .s,\n.sig.c .sc,\n.sig.cpp .s,\n.sig.cpp .sc {\n  color: var(--pst-color-text-base);\n}\n\n// addition\n\n// .sig.c .sig-name .n,\n// .sig.cpp .sig-name .n {\n//   color: var(--pst-color-inline-code);\n// }\n\n.sig-name {\n  color: var(--pst-color-inline-code);\n}\n\n.sig-param .o,\n.sig-param .default_value {\n  color: var(--pst-color-text-muted);\n  font-weight: normal;\n}\n\n// change target color for dark theme\ndt:target,\nspan.highlighted {\n  background-color: var(--pst-color-target);\n}\n\n.viewcode-back {\n  font-family: var(--pst-font-family-base);\n}\n\n.viewcode-block:target {\n  border-top: 1px solid var(--pst-color-border);\n  border-bottom: 1px solid var(--pst-color-border);\n  position: relative;\n  background-color: var(--pst-color-target);\n}\n\ndl > dt > a:has(.viewcode-link) {\n  // Sphinx applies a `float:right` rule to the .viewcode-line span, which\n  // exposes a browser glitch in the focus ring. It seems the browser creates\n  // two separate boxes, an empty box where the anchor element gets laid out and\n  // then another box around the anchor's contents that have been floated right.\n  // Firefox draws the focus ring around the empty anchor element box. Chrome\n  // draws two focus rings: one around the empty anchor and one around the\n  // floated-right element. To fix the glitch, we apply the float rule on the\n  // parent rather than the child.\n  float: right;\n\n  .viewcode-link {\n    float: none;\n  }\n}\n\n/*******************************************************************************\n* Styling for autosummary titles like \"parameters\" and \"returns\"\n*/\n\n// the API selector\n// from https://github.com/pradyunsg/furo/blob/main/src/furo/assets/styles/content/_api.sass#L6)\ndl[class]:not(.option-list, .field-list, .footnote, .glossary, .simple) {\n  // increase margin bottom after the dl elements\n  margin-bottom: 3rem;\n\n  dd {\n    margin-left: 2rem;\n\n    // Fix until this will be solved to Sphinx https://github.com/sphinx-doc/sphinx/issues/10815\n    & > dl.simple > dt {\n      display: flex;\n    }\n  }\n\n  dl.field-list {\n    display: grid;\n    grid-template-columns: unset;\n  }\n\n  dt.field-odd,\n  dt.field-even {\n    margin-top: 0.2rem;\n    margin-bottom: 0.1rem;\n    background-color: var(--pst-color-surface);\n  }\n}\n","/**\n * Code block styling\n * Note that we inherit a lot of styling from Bootstrap so not many rules here.\n */\n\n// General code block behavior\n// Unset bootstrap behavior\ndiv[class*=\"highlight-\"],\ndiv.highlight,\ndiv.literal-block-wrapper {\n  display: flex;\n  flex-direction: column;\n  width: unset;\n  border-radius: $admonition-border-radius;\n  break-inside: avoid;\n}\n\n// Code blocks with captions\n// There's a wrapper when the code block has a title\ndiv.literal-block-wrapper {\n  border: 1px solid var(--pst-color-border);\n  border-radius: $admonition-border-radius;\n\n  // This is where the title goes\n  div.code-block-caption {\n    margin: 0;\n    border-bottom: 1px solid var(--pst-color-border);\n    padding: 0.5rem;\n    font-size: 1rem;\n    font-weight: var(--pst-font-weight-caption);\n\n    a.headerlink {\n      font-size: inherit;\n    }\n  }\n\n  // Remove the upper border radius since we want it to connect with the title\n  // Remove the box shadow so the wrapper gets the shadow instead\n  div[class*=\"highlight-\"] {\n    margin: 0;\n    border-radius: 0;\n\n    pre {\n      border: none;\n      box-shadow: none;\n    }\n  }\n}\n\n/**\n * In-line code\n */\ncode.literal {\n  padding: 0.1rem 0.25rem;\n  background-color: var(--pst-color-surface);\n  border: 1px solid var(--pst-color-border);\n  border-radius: 0.25rem;\n}\n\na > code {\n  color: var(--pst-color-inline-code-links);\n\n  &:hover {\n    color: var(--pst-color-link-hover);\n  }\n}\n\n// Minimum opacity needed for linenos to be WCAG AA conformant\nspan.linenos {\n  opacity: 0.8 !important;\n}\n","figure > a,\nfigure > a > img,\nfigure > img,\nfigure > video {\n  display: block;\n  margin-left: auto;\n  margin-right: auto;\n}\n\nfigure {\n  a.headerlink {\n    // So that header link doesn't push caption to be off-center.\n    position: absolute;\n    font-size: inherit;\n  }\n\n  // Default headerlink hover doesn't trigger on figures\n  &:hover a.headerlink {\n    visibility: visible;\n  }\n\n  figcaption {\n    font-family: var(--pst-font-family-heading);\n    font-weight: var(--pst-font-weight-caption);\n    color: var(--pst-color-text-muted);\n    margin-left: auto;\n    margin-right: auto;\n    margin-top: 0.3rem;\n    text-align: center;\n\n    & > p:last-child {\n      // Don't add extra margin to already existing figure bottom margin\n      margin-bottom: 0;\n    }\n\n    p {\n      text-align: start;\n      display: inline-block;\n    }\n\n    table.table {\n      width: fit-content;\n      margin-left: auto;\n      margin-right: auto;\n    }\n  }\n}\n","// For consistency, add bracket around footnotes/citations which are\n// cited more than once. E.g. [Newton](1,2) instead of Newton(1,2)\ndt.label > span.brackets:not(:only-child)::before {\n  content: \"[\";\n}\n\ndt.label > span.brackets:not(:only-child)::after {\n  content: \"]\";\n}\n\n// Make footnote as a superscript\na.footnote-reference {\n  vertical-align: super;\n  font-size: small;\n}\n\n// Docutils 0.18 uses an `aside.footnote` container with different internal structure\naside.footnote {\n  margin-bottom: 0.5rem;\n\n  &:last-child {\n    margin-bottom: 1rem;\n  }\n\n  span.label,\n  span.backrefs {\n    font-weight: bold;\n  }\n\n  &:target {\n    background-color: var(--pst-color-target);\n  }\n}\n","/**\n * Hacky fixes that don't fit cleanly into other sections\n */\n\n// Ensure user highlighting/selecting behaves properly\n// From https://stackoverflow.com/a/34372191\ntable.highlighttable td.linenos,\nspan.linenos,\ndiv.doctest > div.highlight span.gp {\n  /* gp: Generic.Prompt */\n  user-select: none;\n}\n","// Override bootstrap by restoring the basic theme default.\ndd {\n  margin-top: 3px;\n  margin-bottom: 10px;\n  margin-left: 30px;\n}\n\nol,\nul {\n  padding-inline-start: 2rem;\n\n  li > p:first-child {\n    margin-bottom: 0.25rem;\n    margin-top: 0.25rem;\n  }\n}\n","// GitHub blockquote style\nblockquote {\n  padding: 1em;\n  color: var(--pst-color-text-muted);\n  border-left: 0.25em solid var(--pst-color-blockquote-notch);\n  border-radius: $admonition-border-radius;\n  position: relative;\n\n  p {\n    color: var(--pst-color-text-base);\n  }\n\n  // remove padding from included line-block to avoid duplication\n  .line-block {\n    margin: 0;\n  }\n\n  // remove margin bottom for the last p\n  p:last-child {\n    margin-bottom: 0;\n  }\n\n  @include legacy-backdrop-placeholder;\n\n  background-color: var(--pst-color-surface);\n\n  // Ensure there is enough contrast against the background\n  a {\n    color: var(--pst-color-inline-code-links);\n  }\n\n  // hack to make the text in the blockquote selectable\n  &::before {\n    z-index: -1;\n  }\n}\n","/**\n * Span-level styling within content\n */\n\nspan.guilabel {\n  border: 1px solid var(--pst-color-info);\n  font-size: 80%;\n  font-weight: 700;\n  border-radius: 4px;\n  padding: 2.4px 6px;\n  margin: auto 2px;\n  position: relative;\n\n  @include legacy-backdrop-placeholder;\n\n  background-color: var(--pst-color-info-bg);\n}\n\na.reference.download::before {\n  content: var(--pst-icon-download);\n  font: var(--fa-font-solid);\n  font-size: 0.8em;\n  padding: 0 0.25em;\n  color: var(--pst-color-text-muted);\n}\n","/**\n * Tables\n */\n\ntable {\n  // default to table-center\n  margin-left: auto;\n  margin-right: auto;\n\n  &.table-right {\n    margin-right: 0;\n  }\n\n  &.table-left {\n    margin-left: 0;\n  }\n}\n\n// customize table caption from bootstrap\n// to display them on top and centered\ntable caption {\n  text-align: center;\n  caption-side: top;\n  color: var(--pst-color-text-muted);\n}\n\n// MyST Markdown tables use these classes to control alignment\nth,\ntd {\n  &.text-left {\n    text-align: left;\n  }\n\n  &.text-right {\n    text-align: right;\n  }\n\n  &.text-center {\n    text-align: center;\n  }\n}\n\n// override bootstrap table colors\n.table {\n  @include table-colors;\n\n  --bs-table-bg: transparent; // background\n  --bs-table-color: var(\n    --pst-color-text-base\n  ); // ensure text and bullets are visible\n}\n\n.pst-scrollable-table-container {\n  // Put a horizontal scrollbar just below tables that are too wide to fit\n  // within the main column\n  overflow-x: auto;\n}\n","/**\n * Style the toctree component in pages (avoid modifying the navbars)\n */\n.toctree-wrapper {\n  p.caption {\n    font-size: 1.5em;\n    margin-bottom: 0;\n  }\n\n  & > ul {\n    padding-left: 0;\n  }\n\n  li[class^=\"toctree-l\"] {\n    list-style: none;\n    margin-bottom: 0.2em;\n\n    & > a {\n      list-style: none;\n      font-size: 1.1em;\n    }\n\n    & > ul {\n      list-style: none;\n      padding-inline-start: 1.5em;\n    }\n  }\n\n  // slightly bigger font for l1\n  .toctree-l1 > a {\n    font-size: 1.3em;\n  }\n}\n\ndiv.topic.contents,  // Docutils <= 0.17\nnav.contents  // Docutils >= 0.18\n{\n  // Style similarly to toctree\n  ul.simple {\n    list-style: none;\n    padding-left: 0;\n  }\n}\n","/**\n * Mathematics via MathJax.\n *\n * This is designed for MathJax v3\n * ref: https://www.sphinx-doc.org/en/master/usage/extensions/math.html#module-sphinx.ext.mathjax\n */\n\n// Applies to all math elements\nspan.math,\ndiv.math {\n  align-items: center;\n  display: flex;\n  max-width: 100%;\n\n  // This will be over-ridden for the y-direction and divs\n  overflow: hidden;\n}\n\n// Inline-only\nspan.math {\n  display: inline-flex;\n}\n\n// Block-level only\ndiv.math {\n  gap: 0.5em;\n\n  // So that the eqno shows up after the equation\n  flex-direction: row-reverse;\n\n  // The equation number / link\n  span.eqno a.headerlink {\n    position: relative;\n    font-size: 1em;\n  }\n\n  // The math container\n  mjx-container {\n    flex-grow: 1;\n    padding-bottom: 0.2rem;\n    overflow: auto;\n\n    // Set height to 0 so that it does not cause scrollbars to appear\n    // ref: https://github.com/mathjax/MathJax/issues/2521\n    mjx-assistive-mml {\n      height: 0;\n    }\n  }\n}\n","/**\n * ABlog\n * ref: https://ablog.readthedocs.io/\n */\n\n/**\n * Sidebar template components\n */\n.ablog-sidebar-item {\n  h2,\n  h3 {\n    font-size: var(--pst-sidebar-header-font-size);\n\n    // Remove unnecessary vertical whitespace\n    margin-top: 0.5rem;\n\n    // The headers are all links, but this makes them hard to parse\n    // So we change the colors to make them look like headers\n    a {\n      color: var(--pst-color-text-base);\n    }\n  }\n\n  ul {\n    // No bullet points for the primary sidebar items\n    list-style: none;\n    padding-left: 0;\n\n    // Otherwise a scrollbar randomly shows up\n    overflow-y: hidden;\n\n    // List of recent post items\n    display: flex;\n    flex-direction: column;\n    gap: 0.5em;\n    margin-bottom: 0;\n\n    // The ablog cloud should move horizontally\n    &.ablog-cloud {\n      flex-flow: row wrap;\n      gap: 0.5rem;\n\n      // Vertical-align tag clouds\n      li {\n        // Center the tag cloud items\n        display: flex;\n        align-items: center;\n      }\n    }\n  }\n}\n\n/**\n * Previous / next buttons at the bottom\n */\n.ablog__prev-next {\n  font-size: 1.2em;\n  display: flex;\n  padding: 1rem 0;\n\n  // The bottom previous / next arrows\n  > span {\n    // To ensure that the whole thing fits on one line even if there are long titles\n    display: flex;\n    max-width: 45%;\n\n    // Links within each span have the collection of icon + text\n    a {\n      display: flex;\n      align-items: center;\n      margin-left: auto;\n      gap: 1rem;\n      line-height: 1.5rem;\n\n      i::before {\n        color: var(--pst-color-text-base);\n      }\n    }\n  }\n\n  // The first span is for the previous page and aligns to the left\n  span.ablog__prev {\n    i.fa-arrow-circle-left::before {\n      content: var(--pst-icon-angle-left);\n    }\n  }\n\n  // The second span is just an empty space so we remove it because we're\n  // positioning with flex\n  span.ablog__spacer {\n    display: none;\n  }\n\n  // The third span is aligned to the right\n  span.ablog__next {\n    margin-left: auto;\n    text-align: right;\n\n    i.fa-arrow-circle-right::before {\n      content: var(--pst-icon-angle-right);\n    }\n  }\n}\n\n/**\n * {postlist} directive and posts page\n */\n.ablog__collection,\n.postlist {\n  padding-left: 0;\n\n  .ablog-post {\n    list-style: none;\n\n    // Post metadata tags (author, links ,etc) should be a bit smaller\n    .ablog-archive {\n      display: flex;\n      flex-flow: row wrap;\n      gap: 1rem;\n      list-style: none;\n      font-size: 0.75rem;\n      padding-left: 0;\n    }\n\n    // Title line should be a bit bigger and bold to stand out\n    .ablog-post-title {\n      margin-top: 0;\n      font-size: 1.25rem;\n\n      a {\n        font-weight: bold;\n      }\n    }\n\n    // Read more button should be a bit bigger\n    .ablog-post-expand {\n      margin-bottom: 0.5rem;\n    }\n  }\n}\n","/**\n * Special cases for Bootstrap functionality\n */\n\n// Bootstrap adds margin to their general container class. However, sphinx/docutils\n// can also generate output with the container class, but in those cases we should\n// not add the margin from bootstrap. Same for max-width.\n.docutils.container {\n  padding-left: unset;\n  padding-right: unset;\n  margin-left: unset;\n  margin-right: unset;\n  max-width: unset;\n  width: unset;\n}\n\n.btn {\n  --bs-btn-focus-box-shadow: #{$btn-focus-box-shadow};\n}\n","/**\n * Sphinx Copybutton\n * ref: https://sphinx-copybutton.readthedocs.io/\n */\n\ndiv.highlight button.copybtn {\n  // Nicer spacing\n  display: flex;\n  align-items: center;\n  justify-content: center;\n\n  // Don't over-ride the success color\n  &:not(.success) {\n    color: var(--pst-color-muted);\n  }\n\n  border: none;\n  background-color: var(--pst-color-surface);\n\n  &:hover {\n    &:not(.success) {\n      color: var(--pst-color-text);\n      background-color: var(--pst-color-shadow);\n    }\n  }\n\n  // Tooltip styling\n  &.o-tooltip--left::after {\n    color: var(--pst-color-text);\n    background-color: var(--pst-color-surface);\n  }\n\n  &:focus {\n    // For keyboard users, make the copy button visible when focussed.\n    opacity: 1;\n  }\n\n  &:focus-visible {\n    outline: $focus-ring-outline;\n  }\n}\n\ndiv.highlight:has(button.copybtn) {\n  // Make sure the code block has enough height for the copy button.\n  // Sphinx-copybutton sets 0.3em top offset plus 1.7em height:\n  // https://github.com/executablebooks/sphinx-copybutton/blob/master/sphinx_copybutton/_static/copybutton.css\n  min-height: 2em;\n}\n","// adapt ethical ad to the theme\n#ethical-ad-placement {\n  .ethical-sidebar a,\n  .ethical-sidebar a:visited,\n  .ethical-sidebar a:hover,\n  .ethical-sidebar a:active,\n  .ethical-footer a,\n  .ethical-footer a:visited,\n  .ethical-footer a:hover,\n  .ethical-footer a:active {\n    color: var(--pst-color-text-base);\n  }\n\n  .ethical-sidebar,\n  .ethical-footer {\n    background-color: var(--pst-color-background);\n    border: 1px solid var(--pst-color-border);\n    border-radius: 5px;\n    color: var(--pst-color-text-base);\n    font-size: 14px;\n    line-height: 20px;\n  }\n}\n","/**\n * Styles for various Sphinx execution libraries.\n * For now, where these define output sections, we simply revert their background\n * to be a \"light theme\" background. This ensures that inputs/outputs behave similarly,\n * because the CSS is often controlled by each package.\n * In the future, we might add dark theme support for specific packages.\n */\n\n/******************************************************************************\n * Jupyter Sphinx\n */\n\n.bd-content div.jupyter_container {\n  // We don't want borders around the whole container, just around code cells\n  border: none;\n  background-color: unset;\n  box-shadow: none;\n\n  // Code cells should have the same style as our other code objects\n  div.output,\n  div.highlight {\n    border-radius: 0.25rem;\n  }\n\n  div.highlight {\n    background-color: var(--pst-color-surface);\n  }\n\n  // Ensure the style is the same as our code cells. Jupyter Sphinx makes it tiny.\n  .cell_input,\n  .cell_output {\n    border-radius: 0.25rem;\n\n    pre {\n      padding: 1rem;\n    }\n  }\n}\n","/* Styles for graphviz generated output from Sphinx */\n\n/* Style the inheritance diagram such that it has a dark mode */\nhtml[data-theme=\"dark\"] div.graphviz > object.inheritance {\n  filter: brightness(0.8) invert(0.82) contrast(1.2);\n  color-scheme: normal;\n}\n","/**\n * Special-cases for packages in the PyData ecosystem\n */\n\n// xarray output display in bootstrap\n.xr-wrap[hidden] {\n  display: block !important;\n}\n\n// ipywidgets\n.jp-OutputArea-output.lm-Widget {\n  // override overflow:hidden rule from Lumino (.lm-Widget) to allow scrolling\n  overflow: auto;\n}\n","/*******************************************************************************\n* master color map. Only the colors that actually differ between light and dark\n* themes are specified separately.\n*\n* To see the full list of colors see https://www.figma.com/file/rUrrHGhUBBIAAjQ82x6pz9/PyData-Design-system---proposal-for-implementation-(2)?node-id=1234%3A765&t=ifcFT1JtnrSshGfi-1\n*/\n\n@use \"sass:map\";\n@use \"sass:meta\";\n@use \"sass:string\";\n\n/**\n* Function to get items from nested maps\n*/\n// @param {Map} $map - Map\n// @param {Arglist} $keys - Keys to fetch\n// @return {*}\n@function map-deep-get($map, $keys...) {\n  @each $key in $keys {\n    $map: map.get($map, $key);\n  }\n\n  @return $map;\n}\n\n/* Assign base colors for the PyData theme */\n$color-palette: (\n  // Primary color\n  \"teal\":\n    (\n      \"50\": #f4fbfc,\n      \"100\": #e9f6f8,\n      \"200\": #d0ecf1,\n      \"300\": #abdde6,\n      \"400\": #3fb1c5,\n      \"500\": #0a7d91,\n      \"600\": #085d6c,\n      \"700\": #064752,\n      \"800\": #042c33,\n      \"900\": #021b1f,\n    ),\n  // Secondary color\n  \"violet\":\n    (\n      \"50\": #f4eefb,\n      \"100\": #e0c7ff,\n      \"200\": #d5b4fd,\n      \"300\": #b780ff,\n      \"400\": #9c5ffd,\n      \"500\": #8045e5,\n      \"600\": #6432bd,\n      \"700\": #4b258f,\n      \"800\": #341a61,\n      \"900\": #1e0e39,\n    ),\n  // Neutrals\n  \"gray\":\n    (\n      \"50\": #f9f9fa,\n      \"100\": #f3f4f5,\n      \"200\": #e5e7ea,\n      \"300\": #d1d5da,\n      \"400\": #9ca4af,\n      \"500\": #677384,\n      \"600\": #48566b,\n      \"700\": #29313d,\n      \"800\": #222832,\n      \"900\": #14181e,\n    ),\n  // Accent color\n  \"pink\":\n    (\n      \"50\": #fcf8fd,\n      \"100\": #fcf0fa,\n      \"200\": #f8dff5,\n      \"300\": #f3c7ee,\n      \"400\": #e47fd7,\n      \"500\": #c132af,\n      \"600\": #912583,\n      \"700\": #6e1c64,\n      \"800\": #46123f,\n      \"900\": #2b0b27,\n    ),\n  \"foundation\": (\n    \"white\": #ffffff,\n    // gray-900\n    \"black\": #14181e,\n  )\n);\n\n:root {\n  // Add theme colours to the html root element\n  @each $group-color, $color in $color-palette {\n    @each $color-name, $definition in $color {\n      --pst-#{$group-color}-#{$color-name}: #{$definition};\n    }\n  }\n}\n\n// Static SCSS variables used thoroughout the theme\n// Minimum contrast ratio used for the theme.\n// Acceptable values for WCAG 2.0 are 3, 4.5 and 7.\n// See https://www.w3.org/TR/WCAG20/#visual-audio-contrast-contrast\n// 4.5 - is for text that is 14pt or less\n$min-contrast-ratio-4: 4.5;\n\n// 3 is for text that is 18pt or bold, or for non-text elements\n$min-contrast-ratio-3: 3;\n\n// Customize the light and dark text colors for use in our color contrast function.\n$foundation-black: #14181e;\n$foundation-white: #fff;\n\n// This is a custom - calculated  color between gray 100 and 200 - to reduce\n// the contrast ratio (avoid a jarring effect)\n$base-light-text: #ced6dd;\n\n// used in sphinx_design - gray 100\n$foundation-light-gray: #f3f4f5;\n\n// used in sphinx_design - gray 700\n$foundation-muted-gray: #29313d;\n\n// used in sphinx_design - gray 800\n$foundation-dark-gray: #222832;\n$pst-semantic-colors: (\n  \"primary\": (\n    \"light\": #{map-deep-get($color-palette, \"teal\", \"500\")},\n    \"bg-light\": #{map-deep-get($color-palette, \"teal\", \"200\")},\n    \"dark\": #{map-deep-get($color-palette, \"teal\", \"400\")},\n    \"bg-dark\": #{map-deep-get($color-palette, \"teal\", \"800\")},\n  ),\n  \"secondary\": (\n    \"light\": #{map-deep-get($color-palette, \"violet\", \"500\")},\n    \"bg-light\": #{map-deep-get($color-palette, \"violet\", \"100\")},\n    \"dark\": #{map-deep-get($color-palette, \"violet\", \"400\")},\n    \"bg-dark\": #{map-deep-get($color-palette, \"violet\", \"800\")},\n  ),\n  \"accent\": (\n    \"light\": #{map-deep-get($color-palette, \"pink\", \"500\")},\n    \"bg-light\": #{map-deep-get($color-palette, \"pink\", \"200\")},\n    \"dark\": #{map-deep-get($color-palette, \"pink\", \"400\")},\n    \"bg-dark\": #{map-deep-get($color-palette, \"pink\", \"800\")},\n  ),\n  \"info\": (\n    \"light\": #276be9,\n    \"bg-light\": #dce7fc,\n    \"dark\": #79a3f2,\n    \"bg-dark\": #06245d,\n  ),\n  \"warning\": (\n    \"light\": #f66a0a,\n    \"bg-light\": #f8e3d0,\n    \"dark\": #ff9245,\n    \"bg-dark\": #652a02,\n  ),\n  \"success\": (\n    \"light\": #00843f,\n    \"bg-light\": #d6ece1,\n    \"dark\": #5fb488,\n    \"bg-dark\": #002f17,\n  ),\n  // This is based on the warning color\n  \"attention\":\n    (\n      \"light\": var(--pst-color-warning),\n      \"bg-light\": var(--pst-color-warning-bg),\n      \"dark\": var(--pst-color-warning),\n      \"bg-dark\": var(--pst-color-warning-bg),\n    ),\n  \"danger\": (\n    \"light\": #d72d47,\n    \"bg-light\": #f9e1e4,\n    \"dark\": #e78894,\n    \"bg-dark\": #4e111b,\n  ),\n  \"text-base\": (\n    \"light\": #{map-deep-get($color-palette, \"gray\", \"800\")},\n    \"dark\": $base-light-text,\n  ),\n  \"text-muted\": (\n    \"light\": #{map-deep-get($color-palette, \"gray\", \"600\")},\n    \"dark\": #{map-deep-get($color-palette, \"gray\", \"400\")},\n  ),\n  \"shadow\": (\n    \"light\": rgba(0, 0, 0, 0.1),\n    \"dark\": rgba(0, 0, 0, 0.2),\n  ),\n  \"border\": (\n    \"light\": #{map-deep-get($color-palette, \"gray\", \"300\")},\n    \"dark\": #{map-deep-get($color-palette, \"gray\", \"600\")},\n  ),\n  \"border-muted\": (\n    \"light\": rgba(23, 23, 26, 0.2),\n    \"dark\": #{map-deep-get($color-palette, \"gray\", \"700\")},\n  ),\n  \"blockquote-notch\": (\n    // These colors have a contrast ratio > 3.0 against both the background and\n    // surface colors that the notch is sandwiched between\n    \"light\": #{map-deep-get($color-palette, \"gray\", \"500\")},\n    \"dark\": #{map-deep-get($color-palette, \"gray\", \"400\")},\n  ),\n  \"inline-code\": (\n    \"light\": #{map-deep-get($color-palette, \"pink\", \"600\")},\n    \"dark\": #{map-deep-get($color-palette, \"pink\", \"300\")},\n  ),\n  \"inline-code-links\": (\n    // need to make sure there is enough contrast against the code bg\n    \"light\": #{map-deep-get($color-palette, \"teal\", \"600\")},\n    // keep primary color for dark mode\n    \"dark\": #{map-deep-get($color-palette, \"teal\", \"400\")},\n  ),\n  \"target\": (\n    \"light\": #f3cf95,\n    \"dark\": #675c04,\n  ),\n  \"table\": (\n    \"light\": #{map-deep-get($color-palette, \"foundation\", \"black\")},\n    \"dark\": #{map-deep-get($color-palette, \"foundation\", \"white\")},\n  ),\n  \"table-row-hover\": (\n    \"bg-light\": #{map-deep-get($color-palette, \"violet\", \"200\")},\n    \"bg-dark\": #{map-deep-get($color-palette, \"violet\", \"700\")},\n  ),\n  \"table-inner-border\": (\n    \"light\": #{map-deep-get($color-palette, \"gray\", \"200\")},\n    \"dark\": #364150,\n  ),\n  // DEPTH COLORS - you can see the elevation colours and shades\n  // in the Figma file https://www.figma.com/file/rUrrHGhUBBIAAjQ82x6pz9/PyData-Design-system---proposal-for-implementation-(2)?node-id=1492%3A922&t=sQeQZehkOzposYEg-1\n  // background: color of the canvas / the furthest back layer\n  \"background\":\n    (\n      \"light\": #{map-deep-get($color-palette, \"foundation\", \"white\")},\n      \"dark\": #{map-deep-get($color-palette, \"foundation\", \"black\")},\n    ),\n  // on-background: provides slight contrast against background\n  // (by use of shadows in light theme)\n  \"on-background\":\n    (\n      \"light\": #{map-deep-get($color-palette, \"foundation\", \"white\")},\n      \"dark\": #{map-deep-get($color-palette, \"gray\", \"800\")},\n    ),\n  \"surface\": (\n    \"light\": #{map-deep-get($color-palette, \"gray\", \"100\")},\n    \"dark\": #{map-deep-get($color-palette, \"gray\", \"700\")},\n  ),\n  // on_surface: object on top of surface object (without shadows)\n  \"on-surface\":\n    (\n      \"light\": #{map-deep-get($color-palette, \"gray\", \"800\")},\n      \"dark\": $foundation-light-gray,\n    ),\n);\n\n/*******************************************************************************\n* write the color rules for each theme (light/dark)\n*/\n\n/* NOTE:\n * Mixins enable us to reuse the same definitions for the different modes\n * https://sass-lang.com/documentation/at-rules/mixin\n * #{something} inserts a variable into a CSS selector or property name\n * https://sass-lang.com/documentation/interpolation\n */\n@mixin theme-colors($mode) {\n  // check if this color is defined differently for light/dark\n  @each $col-name, $definition in $pst-semantic-colors {\n    @if meta.type-of($definition) == map {\n      @each $key, $val in $definition {\n        @if string.index($key, $mode) {\n          // since now we define the bg colours in the semantic colours and not\n          // by changing opacity, we need to check if the key contains bg and the\n          // correct mode (light/dark)\n          @if string.index($key, \"bg\") {\n            --pst-color-#{$col-name}-bg: #{$val};\n          } @else {\n            --pst-color-#{$col-name}: #{$val};\n          }\n        }\n      }\n    } @else {\n      --pst-color-#{$col-name}: #{$definition};\n    }\n  }\n\n  // assign the \"duplicate\" colors (ones that just reference other variables)\n  & {\n    --pst-color-heading: var(--pst-color-text-base);\n    --pst-color-link: var(--pst-color-primary);\n    --pst-color-link-hover: var(--pst-color-secondary);\n    --pst-color-table-outer-border: var(--pst-color-surface);\n    --pst-color-table-heading-bg: var(--pst-color-surface);\n    --pst-color-table-row-zebra-high-bg: var(--pst-color-on-background);\n    --pst-color-table-row-zebra-low-bg: var(--pst-color-surface);\n  }\n\n  // adapt to light/dark-specific content\n  @if $mode == \"light\" {\n    .only-dark,\n    .only-dark ~ figcaption {\n      display: none !important;\n    }\n  } @else {\n    .only-light,\n    .only-light ~ figcaption {\n      display: none !important;\n    }\n\n    /* Adjust images in dark mode (unless they have class .only-dark or\n     * .dark-light, in which case assume they're already optimized for dark\n     * mode).\n     */\n    img:not(.only-dark, .dark-light) {\n      filter: brightness(0.8) contrast(1.2);\n    }\n\n    /* Give images a light background in dark mode in case they have\n    *  transparency and black text (unless they have class .only-dark or .dark-light, in\n    *  which case assume they're already optimized for dark mode).\n    */\n    .bd-content img:not(.only-dark, .dark-light) {\n      background-color: rgb(255 255 255);\n      border-radius: 0.25rem;\n    }\n\n    // MathJax SVG outputs should be filled to same color as text.\n    .MathJax_SVG * {\n      fill: var(--pst-color-text-base);\n    }\n  }\n}\n\n/* Defaults to light mode if data-theme is not set */\nhtml:not([data-theme]) {\n  @include theme-colors(\"light\");\n}\n\n/* NOTE: @each {...} is like a for-loop\n * https://sass-lang.com/documentation/at-rules/control/each\n */\n@each $mode in (light, dark) {\n  html[data-theme=\"#{$mode}\"] {\n    @include theme-colors($mode);\n\n    color-scheme: $mode;\n  }\n}\n\n// assign classes too, for runtime use of theme colors\n@each $col-name, $definition in $pst-semantic-colors {\n  .pst-color-#{$col-name} {\n    color: var(--pst-color-#{$col-name});\n  }\n}\n","/*******************************************************************************\n * Special-cases for the sphinx-design library, mainly to make it compatible\n * with the dark/light themes of pydata-sphinx-theme.\n *\n * NOTE: sphinx-design uses !important quite liberally, so here we must do the\n * same for our overrides to have any effect.\n */\n@use \"../variables/color\" as pst-color;\n@use \"sass:color\";\n@use \"sass:map\";\n@use \"sass:meta\";\n@use \"sass:string\";\n\n/*******************************************************************************\n  * Color and variables\n  *\n  * This is a list of the semantic color names from sphinx-design (we only\n  * need to override variables that sphinx-design has actually defined).\n  * https://github.com/executablebooks/sphinx-design/blob/9226a12a/style/_colors.scss#L31-L43\n  */\n$sd-semantic-color-names: (\n  \"primary\",\n  \"secondary\",\n  \"success\",\n  \"info\",\n  \"warning\",\n  \"danger\",\n  \"light\",\n  \"muted\",\n  \"dark\",\n  \"black\",\n  \"white\"\n);\n\n/**\n  * Here we create some extra --pst-color-* variables and use\n  * them to override the value of the corresponding sphinx-design variables.\n  * This is easier than re-writing the sphinx-design rules. Even easier would be\n  * directly assigning our values to the --sd-color-* variables, but then our\n  * downstream users couldn't override *our* colors and have it affect buttons\n  * and badges.\n  *\n  * First, define the extra keys needed to cover the full range of semantic\n  * color names used in sphinx-design, then merge them with the names we\n  * already define for our own needs.\n  * see https://sphinx-design.readthedocs.io/en/latest/css_variables.html\n  */\n$extra-semantic-colors: (\n  \"white\": $foundation-white,\n  \"light\": (\n    light: $foundation-light-gray,\n    bg-light: color.scale($foundation-light-gray, $lightness: 30%),\n    dark: $foundation-light-gray,\n    bg-dark: color.scale($foundation-light-gray, $lightness: -30%),\n  ),\n  \"muted\": (\n    light: $foundation-muted-gray,\n    bg-light: color.scale($foundation-muted-gray, $lightness: 30%),\n    dark: $foundation-light-gray,\n    bg-dark: color.scale($foundation-muted-gray, $lightness: -30%),\n  ),\n  \"dark\": $foundation-dark-gray,\n  \"black\": $foundation-black,\n);\n$all-colors: map.merge($pst-semantic-colors, $extra-semantic-colors);\n\n@mixin create-sd-colors($value, $name) {\n  // define the pst variables, so that downstream user overrides will work\n  --pst-color-#{$name}: #{$value};\n\n  // we are now using a11y-combination to calculate the text color - this is based\n  // on the WCAG color contrast guidelines\n  --pst-color-#{$name}-text: #{a11y-combination($value)};\n\n  // highlight is used for hover effects on buttons, here we make some fluid scaling\n  // to avoid jarring effects -- we create a local variable that we can access\n  // later to calculate the text color\n  $highlight-color: color.scale($value, $lightness: -15%, $saturation: 5%);\n\n  --pst-color-#{$name}-highlight: #{$highlight-color};\n\n  // override the sphinx-design variables\n  --sd-color-#{$name}: var(--pst-color-#{$name});\n  --sd-color-#{$name}-text: var(--pst-color-#{$name}-text);\n  --sd-color-#{$name}-highlight: var(--pst-color-#{$name}-highlight);\n\n  // calculate the text color for the highlight color\n  --pst-color-#{$name}-highlight-text: #{a11y-combination($highlight-color)};\n}\n\n// Now we override the --sd-color-* variables.\n@each $mode in (light, dark) {\n  @debug \"Creating color variables for mode: #{$mode}\";\n  html[data-theme=\"#{$mode}\"] {\n    // check if this color is defined differently for light/dark\n    @each $name in $sd-semantic-color-names {\n      $definition: map.get($all-colors, $name);\n\n      @if meta.type-of($definition) == map {\n        @each $key, $value in $definition {\n          @if string.index($key, $mode) {\n            // since now we define the bg colours in the semantic colours and not\n            // by changing opacity, we need to check if the key contains bg and the\n            // correct mode (light/dark)\n            @if string.index($key, \"bg\") {\n              --sd-color-#{$name}-bg: #{$value};\n\n              // create local variable -- needed to calculate the text color\n              $value: check-color($value);\n\n              --sd-color-#{$name}-bg-text: #{a11y-combination($value)};\n            } @else {\n              $value: check-color($value);\n\n              @include create-sd-colors($value, $name);\n            }\n          }\n        }\n      } @else {\n        $value: map.get($all-colors, $name);\n\n        @include create-sd-colors($value, $name);\n      }\n    }\n  }\n}\n\n// Make sure the color border variables are set using our variables\n@each $mode in (light, dark) {\n  html[data-theme=\"#{$mode}\"] {\n    --sd-color-card-border: var(--pst-color-border);\n  }\n}\n\n/*******************************************************************************\n  * shadows\n  */\nhtml[data-theme=\"light\"] {\n  .sd-shadow-xs,\n  .sd-shadow-sm,\n  .sd-shadow-md,\n  .sd-shadow-lg {\n    @include box-shadow;\n  }\n}\n\n/*******************************************************************************\n  * cards\n  */\n\n.bd-content .sd-card {\n  border: 1px solid var(--pst-color-border);\n\n  .sd-card-header {\n    background-color: var(--pst-color-on-background);\n    border-bottom: 1px solid var(--pst-color-border);\n  }\n\n  .sd-card-footer {\n    background-color: var(--pst-color-on-background);\n    border-top: 1px solid var(--pst-color-border);\n  }\n\n  .sd-card-body {\n    background-color: var(--pst-color-on-background);\n  }\n\n  // Focus ring for link-cards\n  .sd-stretched-link:focus-visible {\n    // Don't put the focus ring on the <a> element (it has zero height in Sphinx Design cards)\n    outline: none;\n\n    // Put the focus ring on the <a> element's ::after pseudo-element\n    &::after {\n      outline: $focus-ring-outline;\n      border-radius: 0.25rem; // copied from Sphinx Design CSS for .sd-card\n    }\n  }\n\n  &.sd-card-hover:hover {\n    border-color: var(--pst-color-link-hover);\n  }\n}\n\n/*******************************************************************************\n  * tabs\n  */\n\n.bd-content .sd-tab-set {\n  > input {\n    // Active tab label\n    &:checked + label {\n      border-style: solid solid none;\n      border-color: var(--pst-color-primary) var(--pst-color-primary)\n        transparent; // top LR bottom\n\n      border-width: 0.125rem 0.125rem 0;\n      border-radius: 0.125rem 0.125rem 0 0;\n      background-color: var(--pst-color-on-background);\n      transform: translateY(0.125rem);\n      color: var(--pst-color-primary);\n    }\n\n    &:focus-visible + label {\n      border: 0.125rem solid var(--pst-color-accent);\n      border-radius: 0.125rem;\n      background-color: var(--pst-color-accent-bg);\n      color: var(--pst-color-on-surface);\n    }\n\n    // Hover label\n    &:not(:checked, :focus-visible) + label:hover {\n      border-color: transparent;\n      color: var(--pst-color-secondary);\n      text-decoration-line: underline;\n      text-decoration-thickness: $link-hover-decoration-thickness;\n    }\n  }\n\n  // Tab label\n  > label {\n    color: var(--pst-color-on-surface);\n    border: 0.125rem solid transparent;\n    border-radius: 0.125rem 0.125rem 0 0;\n    background-color: var(--pst-color-surface);\n    padding: 0 0.75em;\n    margin-inline-end: 0.25rem;\n    line-height: 1.95;\n\n    html[data-theme=\"dark\"] & {\n      background-color: var(--pst-color-on-background);\n    }\n  }\n\n  // panel\n  .sd-tab-content {\n    border: 0.125rem solid var(--pst-color-primary);\n    border-radius: 0.1875rem;\n    box-shadow: unset;\n    padding: 0.625rem;\n    background-color: var(--pst-color-on-background);\n  }\n}\n\n/*******************************************************************************\n* Dropdowns\n*/\n\ndetails.sd-dropdown {\n  // Remove all borders to over-ride SD behavior, and we'll add our own later\n  border: 0 !important;\n\n  // Drop shadow should behave same as admonitions\n  @include box-shadow;\n\n  // Header is where the \"clickable\" box goes\n  summary.sd-card-header {\n    border: 0 !important;\n    display: flex;\n    align-items: center;\n    position: relative; // So background color works\n    font-weight: 600;\n    padding-top: 0.5rem;\n    padding-bottom: 0.5rem;\n\n    // Set a variable that we can re-use for colors later\n    // We must set this in the current and content sibling container\n    // so that it is defined in both places\n    --pst-sd-dropdown-color: var(--pst-gray-500);\n    --pst-sd-dropdown-bg-color: var(--pst-color-surface);\n\n    & + div.sd-summary-content {\n      border: 0;\n\n      --pst-sd-dropdown-color: var(--sd-color-card-border);\n    }\n\n    @each $name in $sd-semantic-color-names {\n      &.sd-bg-#{$name} {\n        --pst-sd-dropdown-color: var(--sd-color-#{$name});\n        --pst-sd-dropdown-bg-color: var(--sd-color-#{$name}-bg);\n\n        // Otherwise it won't be defined in the sibling element\n        & + div.sd-summary-content {\n          --pst-sd-dropdown-color: var(--sd-color-#{$name});\n          --pst-sd-dropdown-bg-color: var(--sd-color-#{$name}-bg);\n        }\n      }\n      &.sd-bg-text-#{$name} {\n        // Use the WCAG conformant text color\n        color: var(--sd-color-#{$name}-bg-text) !important;\n      }\n    }\n\n    @include legacy-backdrop-placeholder;\n\n    background-color: var(--pst-sd-dropdown-bg-color) !important;\n\n    // Add a left border with the same structure as our admonitions\n    border-left: 0.2rem solid var(--pst-sd-dropdown-color) !important;\n\n    // stylelint-disable-next-line no-duplicate-selectors\n    & + div.sd-summary-content {\n      border-left: 0.2rem solid var(--pst-sd-dropdown-color) !important;\n      border-bottom-left-radius: calc(0.25rem - 1px);\n      background-color: var(--pst-color-on-background);\n    }\n\n    span.sd-summary-icon {\n      display: inline-flex;\n      align-items: center;\n      color: var(--pst-sd-dropdown-color) !important;\n\n      svg {\n        opacity: 1;\n      }\n    }\n\n    // Positioning of the caret\n    .sd-summary-up,\n    .sd-summary-down {\n      top: 0.7rem;\n    }\n\n    @include hover-darken-lighten;\n\n    // Focus ring\n    &:focus:focus-visible {\n      outline: $focus-ring-outline;\n      outline-offset: $focus-ring-offset;\n      border-radius: $focus-ring-width;\n    }\n  }\n\n  &[open] summary.sd-card-header:focus:focus-visible {\n    border-bottom-left-radius: 0;\n    border-bottom-right-radius: 0;\n  }\n}\n\n/*******************************************************************************\n* Buttons (which in Sphinx Design are actually links that look like buttons)\n* ref: https://sphinx-design.readthedocs.io/en/pydata-theme/badges_buttons.html#buttons\n*/\nhtml {\n  .sd-btn {\n    min-width: 2.25rem;\n    padding: 0.3125rem 0.75rem 0.4375rem; // 5px 12px 7px\n\n    &:hover {\n      @include link-style-hover; // override Sphinx Design\n\n      text-decoration-thickness: 1px;\n    }\n  }\n\n  @each $name in $sd-semantic-color-names {\n    .sd-btn-#{$name} {\n      &:hover {\n        color: var(--pst-color-#{$name}-highlight-text) !important;\n      }\n    }\n  }\n\n  @each $name in $sd-semantic-color-names {\n    .sd-btn-#{$name},\n    .sd-btn-outline-#{$name} {\n      &:focus-visible {\n        outline: var(--sd-color-#{$name}) solid $focus-ring-width;\n        outline-offset: $focus-ring-offset;\n        border-radius: $focus-ring-width;\n\n        // Override Sphinx Design's use of -highlight colors. The -highlight\n        // colors are 15% darker, so this would create the effect of darkening\n        // the button when focused but we just want the button to have a focus\n        // ring of the same (non-highlight) color.\n        background-color: var(--sd-color-#{$name}) !important;\n        border-color: var(--sd-color-#{$name}) !important;\n      }\n    }\n  }\n}\n","/**\n * Sphinx togglebutton\n *\n * The rules in this style sheet are meant to tweak the\n * [sphinx-togglebutton](https://sphinx-togglebutton.readthedocs.io/en/latest/index.html)\n * extension so that it matches the look and feel of this theme.\n */\n\n.bd-content {\n  @mixin chevron-down {\n    .toggle-chevron-right {\n      transform: rotate(90deg); // point chevron down\n      transition: none; // match non-animated behavior of other chevrons on site\n    }\n  }\n\n  @mixin chevron-up {\n    .toggle-chevron-right {\n      transform: rotate(-90deg); // point chevron up\n      transition: none; // match non-animated behavior of other chevrons on site\n    }\n  }\n\n  // Apply this mixin to the element that will be hovered. These styles are\n  // intended to match what sphinx-design does for its dropdown admonitions.\n  @mixin icon-hover-effects {\n    &:hover .tb-icon {\n      opacity: 1;\n      scale: 1.1;\n    }\n\n    .tb-icon {\n      opacity: 0.6;\n    }\n  }\n\n  // Collapsible admonition, implemented as <div> + <button>\n  .dropdown.admonition.toggle {\n    // The title is visible when the admonition is collapsed and expanded\n    .admonition-title {\n      @include icon-hover-effects;\n      @include hover-darken-lighten;\n\n      &:hover {\n        box-shadow: none;\n      }\n    }\n\n    button.toggle-button {\n      color: inherit;\n\n      // When disclosure widget is closed\n      &.toggle-button-hidden {\n        @include chevron-down;\n      }\n\n      // When open\n      @include chevron-up;\n    }\n\n    // Focus ring\n    // ----------\n    // Sphinx-togglebutton makes the entire admonition header clickable, but\n    // only the button within the header is focusable. But we want the entire\n    // header and not just the button inside the header to be surrounded by a\n    // a focus ring.\n    &:has(:focus-visible) {\n      /* Override Sphinx Toggle Button. Make the overflow visible, otherwise the\n      focus ring is hidden. */\n      overflow: visible;\n\n      /*\n      Why not just do the following?\n\n      ```\n      .admonition-title {\n        outline: $focus-ring-outline;\n      }\n      ```\n\n      Why use ::before? If we put the focus ring on the ::before pseudo-element,\n      we can reposition the focus ring by repositioning the pseudo-element.\n\n      Why reposition? The left edge of the admonition title box does not align\n      with the left edge of the overall admonition box. There is a left border\n      that belongs to the overall box. The border is outside of the admonition\n      title, which means it is also outside of a focus ring around the title. We\n      can make the focus ring bigger, with `outline-offset`, but this will\n      result in a ring that looks off-centered. So we have to pull the ring left\n      and stretch it right. That's what the pseudo-element allows us to do.\n\n      Note: we do not have to do this for collapsible admonitions made with\n      Sphinx Design (as opposed to sphinx-togglebutton).\n      */\n      .admonition-title::before {\n        content: \"\";\n\n        // pull the focus ring left and expand it right to be perfectly centered\n        // between the left border and the right edge of the admonition title\n        left: -$admonition-left-border-width;\n        width: calc(100% + $admonition-left-border-width);\n        height: 100%;\n        outline: $focus-ring-outline;\n        outline-offset: $focus-ring-offset;\n        border-radius: $focus-ring-width;\n      }\n\n      // When expanded, sharpen the bottom left and right corners of the focus ring\n      &:not(.toggle-hidden) .admonition-title::before {\n        border-bottom-left-radius: 0;\n        border-bottom-right-radius: 0;\n      }\n    }\n  }\n\n  // Collapsible component, implemented as <details> + <summary>\n  details.toggle-details {\n    // Over-ride border color to re-use our primary color\n    summary {\n      border-left: 3px solid var(--pst-color-primary);\n\n      @include chevron-down;\n      @include icon-hover-effects;\n      @include hover-darken-lighten;\n\n      &:hover {\n        box-shadow: none;\n      }\n\n      &:focus-visible {\n        outline-offset: $focus-ring-offset;\n      }\n    }\n\n    // When expanded, sharpen the bottom left and right corners of the focus ring\n    &[open] {\n      @include chevron-up;\n\n      :focus-visible {\n        border-bottom-left-radius: 0;\n        border-bottom-right-radius: 0;\n      }\n    }\n  }\n}\n","/**\n * Styles for various Sphinx execution libraries to display pre-executed notebooks.\n * For now, where these define output sections, we simply revert their background\n * to be a \"light theme\" background. This ensures that inputs/outputs behave similarly,\n * because the CSS is often controlled by each package.\n * In the future, we might add dark theme support for specific packages.\n */\n\n/*******************************************************************************\n * nbsphinx\n */\nhtml div.rendered_html,\n// NBsphinx ipywidgets output selector\nhtml .jp-RenderedHTMLCommon {\n  // Add some margin around the element box for the focus ring. Otherwise the\n  // focus ring gets clipped because the containing elements have `overflow:\n  // hidden` applied to them (via the `.lm-Widget` selector)\n  margin: $focus-ring-width;\n\n  table {\n    table-layout: auto;\n  }\n}\n\n.bd-content .nboutput {\n  .output_area {\n    &.rendered_html,\n    .jp-RenderedHTMLCommon {\n      // pandas\n      table.dataframe {\n        @include table-colors;\n\n        tbody {\n          tr:hover {\n            background-color: var(--pst-color-table-row-hover-bg);\n          }\n        }\n      }\n    }\n\n    // Dark theme special-cases\n    html[data-theme=\"dark\"] & {\n      &.rendered_html:not(:has(table.dataframe)),\n      // ipywidgets\n      .widget-subarea {\n        @include cell-output-background;\n      }\n\n      &.stderr {\n        background-color: var(--pst-color-danger);\n      }\n    }\n  }\n}\n\n// Add extra padding to the final item in an nbsphinx container\ndiv.nblast.container {\n  margin-bottom: 1rem;\n}\n\n// Override nbsphinx's colors for notebook cell prompts because they do not have\n// sufficient contrast. Colors chosen from accessible-pygments\n// a11y-high-contrast-{light,dark} themes.\n\n// Notebook cell input line number. Replace nbsphinx's low contrast blue with\n// higher contrast blues.\n.nbinput.container .prompt pre {\n  html[data-theme=\"light\"] & {\n    // Copied from accessible-pygments [a11y-high-contrast-light](https://github.com/Quansight-Labs/accessible-pygments/tree/main/a11y_pygments/a11y_high_contrast_light)\n    color: #005b82;\n  }\n\n  html[data-theme=\"dark\"] & {\n    // Copied from accessible-pygments [a11y-high-contrast-dark](https://github.com/Quansight-Labs/accessible-pygments/tree/main/a11y_pygments/a11y_high_contrast_dark)\n    color: #00e0e0;\n  }\n}\n\n// Notebook cell output line number. Replace nbsphinx's low contrast red with\n// higher contrast red / orange.\n.nboutput.container .prompt pre {\n  html[data-theme=\"light\"] & {\n    // Copied from accessible-pygments [a11y-high-contrast-light](https://github.com/Quansight-Labs/accessible-pygments/tree/main/a11y_pygments/a11y_high_contrast_light)\n    color: #a12236;\n  }\n\n  html[data-theme=\"dark\"] & {\n    // Copied from accessible-pygments [a11y-high-contrast-dark](https://github.com/Quansight-Labs/accessible-pygments/tree/main/a11y_pygments/a11y_high_contrast_dark)\n    color: #ffa07a;\n  }\n}\n\n/*******************************************************************************\n * myst NB\n */\n\ndiv.cell_output .output {\n  max-width: 100%;\n  overflow-x: auto;\n}\n\n.bd-content div.cell_output {\n  // pandas\n  table.dataframe {\n    @include table-colors;\n\n    tbody {\n      tr:hover {\n        background-color: var(--pst-color-table-row-hover-bg);\n      }\n    }\n  }\n\n  html[data-theme=\"dark\"] & {\n    img,\n    .text_html:not(:has(table.dataframe)),\n    // ipywidgets\n    .widget-subarea {\n      @include cell-output-background;\n    }\n  }\n}\n\n// Prevent tables from scrunching together\n.bd-content {\n  div.cell_input {\n    display: flex;\n    flex-direction: column;\n    justify-content: stretch;\n  }\n\n  div.cell_input,\n  div.output {\n    border-radius: $admonition-border-radius;\n  }\n\n  div.output {\n    table {\n      table-layout: auto;\n    }\n  }\n}\n","/**\n * style for the various mapping libs based on leaflet (folium, geemap, ipyleaflet)\n * mainly ensure the good display of the maps in both themes and avoid the customization\n * of the tiles\n */\n\n/**\n * avoid border override from pydata-sphinx-theme\n * minimal selctor to get the priority\n */\nhtml[data-theme=\"dark\"] .bd-content img.leaflet-tile.leaflet-tile-loaded {\n  border-radius: 0;\n  padding: 0;\n}\n","/**\n * /search.html page special-cases\n */\n\n.bd-search-container {\n  /*******************************************\n  * Search results\n  */\n  // Whitespace\n  div#search-results {\n    > h2 {\n      font-size: var(--pst-font-size-icon);\n      margin-top: 1rem;\n    }\n\n    p.search-summary {\n      color: var(--pst-color-text-muted);\n    }\n  }\n\n  ul.search {\n    margin: 0;\n    list-style: none;\n\n    li {\n      background-image: none;\n      padding: 1rem 0;\n      margin: 1rem 0;\n      border-top: 1px solid var(--pst-color-text-muted);\n\n      // First link is the page title, it should be a bit bigger\n      > a {\n        font-size: 1.2em;\n      }\n\n      div.context,\n      p.context {\n        color: var(--pst-color-text-base);\n        margin: 0.5em 0 0;\n\n        // Add a # before page section titles to make it clear they are sections\n        a::before {\n          content: \"#\";\n          padding-right: 0.2em;\n          color: var(--pst-color-text-muted);\n        }\n      }\n    }\n  }\n}\n"],"names":[],"sourceRoot":""}
\ No newline at end of file
diff --git a/v1.4.0/_static/styles/sphinx-book-theme.css b/v1.4.0/_static/styles/sphinx-book-theme.css
new file mode 100644
index 0000000000..e514f24e36
--- /dev/null
+++ b/v1.4.0/_static/styles/sphinx-book-theme.css
@@ -0,0 +1,8 @@
+/*! sphinx-book-theme CSS
+ * BSD 3-Clause License
+ * Copyright (c) 2020, EBP
+ * All rights reserved.
+ *
+ * This follows the 7-1 pattern described here:
+ * https://sass-guidelin.es/#architecture
+ */html{--pst-font-size-base:none}html[data-theme=light]{--sbt-color-announcement:#616161}html[data-theme=dark],html[data-theme=light]{--pst-color-primary:#579aca}html{scroll-padding-top:4rem}.sbt-scroll-pixel-helper{position:absolute;width:0;height:0;top:0;left:0}.d-n,.onlyprint{display:none}@media print{.onlyprint{display:block!important}}@media print{.noprint{display:none!important}}.bd-article-container h1,.bd-article-container h2,.bd-article-container h3,.bd-article-container h4,.bd-article-container h5,.bd-article-container p.caption{color:var(--pst-color-muted)}.bd-article-container h1,.bd-article-container h2{font-weight:500}a.brackets:before{color:inherit;font-family:inherit;margin-right:0}table{position:relative}@media print{.bd-main .bd-content{margin-left:2rem;height:auto}.bd-main .bd-content #jb-print-docs-body{margin-left:0}.bd-main .bd-content #jb-print-docs-body h1{font-size:3em;text-align:center;margin-bottom:0}.bd-main .bd-content .bd-article{padding-top:0}.bd-main .bd-content .bd-article h1:first-of-type{display:none}.bd-main .bd-content .container{min-width:0!important}.bd-main .bd-content h1{margin-top:1em;margin-bottom:1em}.bd-main .bd-content h1,.bd-main .bd-content h2,.bd-main .bd-content h3,.bd-main .bd-content h4{break-after:avoid;color:#000}.bd-main .bd-content table{break-inside:avoid}.bd-main .bd-content pre{word-wrap:break-word}.bd-main .bd-content a.headerlink{display:none}.bd-main .bd-content aside.margin,.bd-main .bd-content aside.sidebar,.bd-main .bd-content blockquote.epigraph{border:none}.bd-main .bd-content .footer{margin-top:1em}.bd-main .bd-content #jb-print-toc{margin-bottom:1.5rem;margin-left:0}.bd-main .bd-content #jb-print-toc .section-nav{border-left:0!important;list-style-type:disc!important;margin-left:3em!important}.bd-main .bd-content #jb-print-toc .section-nav a{text-decoration:none!important}.bd-main .bd-content #jb-print-toc .section-nav li{display:list-item!important}.bd-main .bd-content #jb-print-toc .section-nav .nav{display:none}.bd-main .bd-footer-content{display:none!important}}.bd-header-announcement{background-color:var(--sbt-color-announcement);color:#fff}.bd-main{flex-grow:0}.bd-main .bd-content .bd-article-container{padding:0;overflow-x:unset;min-width:0}.bd-main .bd-content .bd-article-container .bd-article{padding-right:2rem;padding-left:2rem}@media (max-width:768px){.bd-main .bd-content .bd-article-container .bd-article{padding-right:1rem;padding-left:1rem}}.bd-main .bd-content .bd-article-container details.above-input summary,.bd-main .bd-content .bd-article-container details.below-input summary{border-left:3px solid var(--pst-color-primary)}@media (min-width:768px){label.sidebar-toggle.primary-toggle{display:inline-block}}@media (max-width:768px){label.sidebar-toggle.primary-toggle{margin-bottom:0}}@media (min-width:992px){label.sidebar-toggle.secondary-toggle{display:none}}@media (max-width:768px){label.sidebar-toggle.secondary-toggle{margin-bottom:0}}.bd-header-article{display:flex;align-items:center;position:sticky;top:0;background-color:var(--pst-color-background);transition:left .2s;font-size:.9em;padding:0 1rem;z-index:1020}@media (max-width:768px){.bd-header-article{padding:0 .5rem;height:3.5rem}}.scrolled .bd-header-article{box-shadow:0 6px 6px -6px var(--pst-color-shadow)}.bd-header-article .header-article__inner{padding:0}.bd-header-article .header-article-items{display:flex;align-items:center;height:3rem;width:100%}.bd-header-article .header-article-item{display:flex;align-items:center}.bd-header-article .article-header-buttons{display:flex}.bd-header-article .btn{font-size:1.3rem;color:var(--pst-color-text-muted);border:none;padding:0 .5rem}.bd-header-article .btn.show,.bd-header-article .btn:hover{color:var(--pst-color-text-base);border:none}.bd-header-article .btn.show+.dropdown-menu,.bd-header-article .btn:hover+.dropdown-menu{display:block}.bd-header-article .btn:focus{box-shadow:none}.bd-header-article .btn.dropdown-toggle:after{display:none}.bd-header-article .theme-switch-button{margin:0}.bd-header-article .theme-switch-button button,.bd-header-article .theme-switch-button i,.bd-header-article .theme-switch-button span{padding:0}.bd-header-article .theme-switch-button i,.bd-header-article .theme-switch-button span{transition:color .25s ease-out}.bd-header-article .theme-switch-button:active,.bd-header-article .theme-switch-button:hover{background-color:unset!important}.bd-header-article .theme-switch-button:active i,.bd-header-article .theme-switch-button:active span,.bd-header-article .theme-switch-button:hover i,.bd-header-article .theme-switch-button:hover span{color:var(--pst-color-text-base)}.bd-header-article .dropdown-menu{margin-top:0;transform:translateX(-75%);box-shadow:0 .2rem .5rem var(--pst-color-shadow),0 0 .0625rem var(--pst-color-shadow)!important;border-color:var(--pst-color-border);background-color:var(--pst-color-background);color:var(--pst-color-text-muted)}.bd-header-article .dropdown-menu:hover{display:block}.bd-header-article .dropdown-menu .dropdown-item{display:inline-flex;align-items:center;padding-left:.5em;font-size:1em}.bd-header-article .dropdown-menu .dropdown-item:hover{text-decoration:none;background-color:initial;color:var(--pst-color-text-base)}.bd-header-article .dropdown-menu .dropdown-item span img{height:1em}.bd-header-article .dropdown-menu .dropdown-item span.btn__icon-container{width:1.7em;align-items:center;display:inline-flex;justify-content:center}.bd-header{position:inherit}.bd-header label.sidebar-toggle{display:none}.bd-sidebar-primary{top:0;max-height:100vh;padding:1rem;transition:margin-left .25s ease 0s,opacity .25s ease 0s,visibility .25s ease 0s}@media (max-width:768px){.bd-sidebar-primary{z-index:1081}}.bd-sidebar-primary .sidebar-primary-items__start{border-top:none}@media (min-width:992px){.bd-sidebar-primary{flex-basis:20%}}@media (min-width:992px){input#__primary:checked~.bd-container .bd-sidebar-primary{margin-left:-20%;visibility:hidden;opacity:0}}.bd-sidebar-secondary{top:0}@media (max-width:992px){.bd-sidebar-secondary{z-index:1081}}.bd-sidebar-secondary .sidebar-secondary-items{padding:0;display:flex;gap:.5rem}.bd-sidebar-secondary .sidebar-secondary-items .sidebar-secondary-item{padding-top:0;padding-bottom:0}.bd-sidebar-secondary .onthispage{height:3rem;min-height:3rem;display:flex;align-items:center;margin:0;color:var(--pst-color-muted)}@media (min-width:992px){.bd-sidebar-secondary{background:var(--pst-color-background);height:fit-content;transition:max-height .4s ease;z-index:2;padding:0}.bd-sidebar-secondary .toc-item{border-left-color:var(--pst-color-surface);padding-top:0}.bd-sidebar-secondary .toc-item nav.page-toc{margin-bottom:0;transition:opacity .4s ease}.bd-sidebar-secondary.hide:not(:hover){max-height:3rem;overflow-y:hidden}.scrolled .bd-sidebar-secondary.hide:not(:hover){box-shadow:0 6px 6px -6px rgba(0,0,0,.3)}.bd-sidebar-secondary.hide:not(:hover) .onthispage:after{opacity:1;content:"\f107";font-family:Font Awesome\ 5 Free;font-weight:900;padding-left:.5em;transition:opacity .3s ease}.bd-sidebar-secondary.hide:not(:hover) nav.page-toc{opacity:0}}footer{font-size:var(--sbt-font-size-small-1)}footer.bd-footer-content{display:flex;flex-wrap:wrap;padding:15px;border-top:1px solid #ccc;font-size:87.5%}footer.bd-footer-content .bd-footer-content__inner{padding-left:0}footer.bd-footer-content .bd-footer-content__inner p{margin-bottom:0}.bd-footer-article{padding:0 1rem}@media (max-width:768px){.bd-footer-article{padding:0 .5rem}}.bd-sidebar-primary .navbar-icon-links{column-gap:.5rem}.bd-sidebar-primary .navbar-icon-links .nav-link i,.bd-sidebar-primary .navbar-icon-links .nav-link span{font-size:1.2rem}.bd-sidebar-primary 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a{font-size:1rem}}img{max-width:100%}img.align-center{margin-left:auto;margin-right:auto;display:block}img.align-left{clear:left;float:left;margin-right:1em}img.align-right{clear:right;float:right;margin-left:1em}div.figure{width:100%;margin-bottom:1em;text-align:center}div.figure.align-left{text-align:left}div.figure.align-left p.caption{margin-left:0}div.figure.align-right{text-align:right}div.figure.align-right p.caption{margin-right:0}div.figure p.caption{margin:.5em 10%}div.figure.margin-caption p.caption,div.figure.margin p.caption{margin:.5em 0}div.figure.margin-caption p.caption{text-align:left}div.figure span.caption-number{font-weight:700}div.figure span{font-size:.9rem}label.margin-toggle{margin-bottom:0}label.margin-toggle.marginnote-label{display:none}label.margin-toggle sup{user-select:none}@media (max-width:992px){label.margin-toggle{cursor:pointer;color:#0071bc}label.margin-toggle.marginnote-label{display:inline}label.margin-toggle.marginnote-label:after{content:"\2295"}}input.margin-toggle{display:none}@media (max-width:992px){input.margin-toggle:checked+.marginnote,input.margin-toggle:checked+.sidenote{display:block;float:left;left:1rem;clear:both;width:95%;margin:1rem 2.5%;position:relative}}span.marginnote,span.sidenote{z-index:2;position:relative;width:40%;float:right;background-color:unset;font-size:.9em;margin-left:.5rem;border-left:none}span.marginnote sup,span.sidenote sup{user-select:none}@media (min-width:992px),print{span.marginnote,span.sidenote{width:33%;margin:0 -36% 0 0;clear:right}span.marginnote p.sidebar-title,span.sidenote p.sidebar-title{margin-bottom:-1rem;border-bottom:none;padding-left:0}span.marginnote p.sidebar-title~*,span.sidenote p.sidebar-title~*{padding-left:0;padding-right:0}}@media (max-width:992px){span.marginnote,span.sidenote{display:none}}aside.sidebar .note{margin:1rem;padding:0 0 1rem}aside.sidebar .admonition-title{margin:0 -1rem 0 0}aside.sidebar.margin .sidebar-title:empty{display:none}aside.sidebar.margin .admonition{margin:.5rem;padding-left:0;padding-right:0}aside.sidebar.margin .admonition .admonition-title{margin-left:0;margin-right:0}@media (min-width:992px){aside.sidebar.margin{border:none}aside.sidebar.margin .admonition{margin:1rem 0;padding:0 0 1rem}}.cell.tag_margin,.cell.tag_popout,.margin.docutils.container,aside.margin,div.margin,figure.margin{z-index:2;position:relative;width:40%;float:right;background-color:unset;font-size:.9em;margin-left:.5rem}@media (min-width:992px),print{.cell.tag_margin,.cell.tag_popout,.margin.docutils.container,aside.margin,div.margin,figure.margin{width:33%;margin:0 -36% 0 0;clear:right}.cell.tag_margin p.sidebar-title,.cell.tag_popout p.sidebar-title,.margin.docutils.container p.sidebar-title,aside.margin p.sidebar-title,div.margin p.sidebar-title,figure.margin p.sidebar-title{margin-bottom:-1rem;border-bottom:none;padding-left:0}.cell.tag_margin p.sidebar-title~*,.cell.tag_popout p.sidebar-title~*,.margin.docutils.container p.sidebar-title~*,aside.margin p.sidebar-title~*,div.margin p.sidebar-title~*,figure.margin p.sidebar-title~*{padding-left:0;padding-right:0}}.cell.tag_margin div.cell.tag_margin .cell_output,.cell.tag_popout div.cell.tag_margin .cell_output,.margin.docutils.container div.cell.tag_margin .cell_output,aside.margin div.cell.tag_margin .cell_output,div.margin div.cell.tag_margin .cell_output,figure.margin div.cell.tag_margin .cell_output{padding-left:0}div.figure.margin-caption figcaption,div.figure.margin-caption p.caption,figure.margin-caption figcaption{z-index:2;position:relative;width:40%;float:right;background-color:unset;font-size:.9em;margin-left:.5rem}@media (min-width:992px),print{div.figure.margin-caption figcaption,div.figure.margin-caption p.caption,figure.margin-caption figcaption{width:33%;margin:0 -36% 0 0;clear:right}div.figure.margin-caption figcaption p.sidebar-title,div.figure.margin-caption p.caption p.sidebar-title,figure.margin-caption figcaption p.sidebar-title{margin-bottom:-1rem;border-bottom:none;padding-left:0}div.figure.margin-caption figcaption p.sidebar-title~*,div.figure.margin-caption p.caption p.sidebar-title~*,figure.margin-caption figcaption p.sidebar-title~*{padding-left:0;padding-right:0}}.margin-caption figcaption{text-align:left}div.cell.tag_full-width,div.cell.tag_full_width,div.full-width,div.full_width{z-index:2;position:relative}@media (min-width:992px){div.cell.tag_full-width,div.cell.tag_full_width,div.full-width,div.full_width{max-width:136%;width:136%}}blockquote.epigraph,blockquote.highlights,blockquote.pull-quote{font-size:1.25em;border-left:none;background-color:var(--pst-color-background)}blockquote div>p+p.attribution{font-style:normal;font-size:.9em;text-align:right;color:#6c757d;padding-right:2em}div[class*=highlight-],pre{clear:none}div.cell.tag_output_scroll div.cell_output,div.cell.tag_scroll-input div.cell_input,div.cell.tag_scroll-output div.cell_output{max-height:24em;overflow-y:auto}@media only print{div.utterances,hypothesis-sidebar{display:none}}.thebelab-cell{border:none!important;margin-right:.5em!important}.thebelab-cell .thebelab-input{padding-left:10px!important}.cell.docutils.container{padding-right:0!important}button.thebe-launch-button{height:2.5em;font-size:1em}
\ No newline at end of file
diff --git a/v1.4.0/_static/styles/theme.css b/v1.4.0/_static/styles/theme.css
new file mode 100644
index 0000000000..4519dd9120
--- /dev/null
+++ b/v1.4.0/_static/styles/theme.css
@@ -0,0 +1,2 @@
+/* Provided by Sphinx's 'basic' theme, and included in the final set of assets */
+@import "../basic.css";
diff --git a/v1.4.0/_static/tabs.css b/v1.4.0/_static/tabs.css
new file mode 100644
index 0000000000..957ba60d69
--- /dev/null
+++ b/v1.4.0/_static/tabs.css
@@ -0,0 +1,89 @@
+.sphinx-tabs {
+  margin-bottom: 1rem;
+}
+
+[role="tablist"] {
+  border-bottom: 1px solid #a0b3bf;
+}
+
+.sphinx-tabs-tab {
+  position: relative;
+  font-family: Lato,'Helvetica Neue',Arial,Helvetica,sans-serif;
+  color: #1D5C87;
+  line-height: 24px;
+  margin: 0;
+  font-size: 16px;
+  font-weight: 400;
+  background-color: rgba(255, 255, 255, 0);
+  border-radius: 5px 5px 0 0;
+  border: 0;
+  padding: 1rem 1.5rem;
+  margin-bottom: 0;
+}
+
+.sphinx-tabs-tab[aria-selected="true"] {
+  font-weight: 700;
+  border: 1px solid #a0b3bf;
+  border-bottom: 1px solid white;
+  margin: -1px;
+  background-color: white;
+}
+
+.sphinx-tabs-tab:focus {
+  z-index: 1;
+  outline-offset: 1px;
+}
+
+.sphinx-tabs-panel {
+  position: relative;
+  padding: 1rem;
+  border: 1px solid #a0b3bf;
+  margin: 0px -1px -1px -1px;
+  border-radius: 0 0 5px 5px;
+  border-top: 0;
+  background: white;
+}
+
+.sphinx-tabs-panel.code-tab {
+  padding: 0.4rem;
+}
+
+.sphinx-tab img {
+	margin-bottom: 24 px;
+}
+
+/* Dark theme preference styling */
+
+@media (prefers-color-scheme: dark) {
+  body[data-theme="auto"] .sphinx-tabs-panel {
+    color: white;
+    background-color: rgb(50, 50, 50);
+  }
+
+  body[data-theme="auto"] .sphinx-tabs-tab {
+    color: white;
+    background-color: rgba(255, 255, 255, 0.05);
+  }
+
+  body[data-theme="auto"] .sphinx-tabs-tab[aria-selected="true"] {
+    border-bottom: 1px solid rgb(50, 50, 50);
+    background-color: rgb(50, 50, 50);
+  }
+}
+
+/* Explicit dark theme styling */
+
+body[data-theme="dark"] .sphinx-tabs-panel {
+  color: white;
+  background-color: rgb(50, 50, 50);
+}
+
+body[data-theme="dark"] .sphinx-tabs-tab {
+  color: white;
+  background-color: rgba(255, 255, 255, 0.05);
+}
+
+body[data-theme="dark"] .sphinx-tabs-tab[aria-selected="true"] {
+  border-bottom: 2px solid rgb(50, 50, 50);
+  background-color: rgb(50, 50, 50);
+}
diff --git a/v1.4.0/_static/tabs.js b/v1.4.0/_static/tabs.js
new file mode 100644
index 0000000000..48dc303c8c
--- /dev/null
+++ b/v1.4.0/_static/tabs.js
@@ -0,0 +1,145 @@
+try {
+  var session = window.sessionStorage || {};
+} catch (e) {
+  var session = {};
+}
+
+window.addEventListener("DOMContentLoaded", () => {
+  const allTabs = document.querySelectorAll('.sphinx-tabs-tab');
+  const tabLists = document.querySelectorAll('[role="tablist"]');
+
+  allTabs.forEach(tab => {
+    tab.addEventListener("click", changeTabs);
+  });
+
+  tabLists.forEach(tabList => {
+    tabList.addEventListener("keydown", keyTabs);
+  });
+
+  // Restore group tab selection from session
+  const lastSelected = session.getItem('sphinx-tabs-last-selected');
+  if (lastSelected != null) selectNamedTabs(lastSelected);
+});
+
+/**
+ * Key focus left and right between sibling elements using arrows
+ * @param  {Node} e the element in focus when key was pressed
+ */
+function keyTabs(e) {
+    const tab = e.target;
+    let nextTab = null;
+    if (e.keyCode === 39 || e.keyCode === 37) {
+      tab.setAttribute("tabindex", -1);
+      // Move right
+      if (e.keyCode === 39) {
+        nextTab = tab.nextElementSibling;
+        if (nextTab === null) {
+          nextTab = tab.parentNode.firstElementChild;
+        }
+      // Move left
+      } else if (e.keyCode === 37) {
+        nextTab = tab.previousElementSibling;
+        if (nextTab === null) {
+          nextTab = tab.parentNode.lastElementChild;
+        }
+      }
+    }
+
+    if (nextTab !== null) {
+      nextTab.setAttribute("tabindex", 0);
+      nextTab.focus();
+    }
+}
+
+/**
+ * Select or deselect clicked tab. If a group tab
+ * is selected, also select tab in other tabLists.
+ * @param  {Node} e the element that was clicked
+ */
+function changeTabs(e) {
+  // Use this instead of the element that was clicked, in case it's a child
+  const notSelected = this.getAttribute("aria-selected") === "false";
+  const positionBefore = this.parentNode.getBoundingClientRect().top;
+  const notClosable = !this.parentNode.classList.contains("closeable");
+
+  deselectTabList(this);
+
+  if (notSelected || notClosable) {
+    selectTab(this);
+    const name = this.getAttribute("name");
+    selectNamedTabs(name, this.id);
+
+    if (this.classList.contains("group-tab")) {
+      // Persist during session
+      session.setItem('sphinx-tabs-last-selected', name);
+    }
+  }
+
+  const positionAfter = this.parentNode.getBoundingClientRect().top;
+  const positionDelta = positionAfter - positionBefore;
+  // Scroll to offset content resizing
+  window.scrollTo(0, window.scrollY + positionDelta);
+}
+
+/**
+ * Select tab and show associated panel.
+ * @param  {Node} tab tab to select
+ */
+function selectTab(tab) {
+  tab.setAttribute("aria-selected", true);
+
+  // Show the associated panel
+  document
+    .getElementById(tab.getAttribute("aria-controls"))
+    .removeAttribute("hidden");
+}
+
+/**
+ * Hide the panels associated with all tabs within the
+ * tablist containing this tab.
+ * @param  {Node} tab a tab within the tablist to deselect
+ */
+function deselectTabList(tab) {
+  const parent = tab.parentNode;
+  const grandparent = parent.parentNode;
+
+  Array.from(parent.children)
+  .forEach(t => t.setAttribute("aria-selected", false));
+
+  Array.from(grandparent.children)
+    .slice(1)  // Skip tablist
+    .forEach(panel => panel.setAttribute("hidden", true));
+}
+
+/**
+ * Select grouped tabs with the same name, but no the tab
+ * with the given id.
+ * @param  {Node} name name of grouped tab to be selected
+ * @param  {Node} clickedId id of clicked tab
+ */
+function selectNamedTabs(name, clickedId=null) {
+  const groupedTabs = document.querySelectorAll(`.sphinx-tabs-tab[name="${name}"]`);
+  const tabLists = Array.from(groupedTabs).map(tab => tab.parentNode);
+
+  tabLists
+    .forEach(tabList => {
+      // Don't want to change the tabList containing the clicked tab
+      const clickedTab = tabList.querySelector(`[id="${clickedId}"]`);
+      if (clickedTab === null ) {
+        // Select first tab with matching name
+        const tab = tabList.querySelector(`.sphinx-tabs-tab[name="${name}"]`);
+        deselectTabList(tab);
+        selectTab(tab);
+      }
+    })
+}
+
+if (typeof exports === 'undefined') {
+  exports = {};
+}
+
+exports.keyTabs = keyTabs;
+exports.changeTabs = changeTabs;
+exports.selectTab = selectTab;
+exports.deselectTabList = deselectTabList;
+exports.selectNamedTabs = selectNamedTabs;
diff --git a/v1.4.0/_static/twemoji.css b/v1.4.0/_static/twemoji.css
new file mode 100644
index 0000000000..878d070d16
--- /dev/null
+++ b/v1.4.0/_static/twemoji.css
@@ -0,0 +1,6 @@
+img.emoji {
+    height: 1em;
+    width: 1em;
+    margin: 0 .05em 0 .1em;
+    vertical-align: -0.1em;
+}
diff --git a/v1.4.0/_static/twemoji.js b/v1.4.0/_static/twemoji.js
new file mode 100644
index 0000000000..91bc868f4f
--- /dev/null
+++ b/v1.4.0/_static/twemoji.js
@@ -0,0 +1,10 @@
+function addEvent(element, eventName, fn) {
+    if (element.addEventListener)
+        element.addEventListener(eventName, fn, false);
+    else if (element.attachEvent)
+        element.attachEvent('on' + eventName, fn);
+}
+
+addEvent(window, 'load', function() {
+    twemoji.parse(document.body, {'folder': 'svg', 'ext': '.svg'});
+});
diff --git a/v1.4.0/_static/vendor/fontawesome/webfonts/fa-brands-400.ttf b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-brands-400.ttf
new file mode 100644
index 0000000000..1fbb1f7c32
Binary files /dev/null and b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-brands-400.ttf differ
diff --git a/v1.4.0/_static/vendor/fontawesome/webfonts/fa-brands-400.woff2 b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-brands-400.woff2
new file mode 100644
index 0000000000..5d28021697
Binary files /dev/null and b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-brands-400.woff2 differ
diff --git a/v1.4.0/_static/vendor/fontawesome/webfonts/fa-regular-400.ttf b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-regular-400.ttf
new file mode 100644
index 0000000000..549d68dc02
Binary files /dev/null and b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-regular-400.ttf differ
diff --git a/v1.4.0/_static/vendor/fontawesome/webfonts/fa-regular-400.woff2 b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-regular-400.woff2
new file mode 100644
index 0000000000..18400d7fad
Binary files /dev/null and b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-regular-400.woff2 differ
diff --git a/v1.4.0/_static/vendor/fontawesome/webfonts/fa-solid-900.ttf b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-solid-900.ttf
new file mode 100644
index 0000000000..bb2a869565
Binary files /dev/null and b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-solid-900.ttf differ
diff --git a/v1.4.0/_static/vendor/fontawesome/webfonts/fa-solid-900.woff2 b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-solid-900.woff2
new file mode 100644
index 0000000000..758dd4f607
Binary files /dev/null and b/v1.4.0/_static/vendor/fontawesome/webfonts/fa-solid-900.woff2 differ
diff --git a/v1.4.0/_static/webpack-macros.html b/v1.4.0/_static/webpack-macros.html
new file mode 100644
index 0000000000..89732b23ed
--- /dev/null
+++ b/v1.4.0/_static/webpack-macros.html
@@ -0,0 +1,24 @@
+<!--
+  AUTO-GENERATED from webpack.config.js, do **NOT** edit by hand.
+  These are re-used in layout.html
+-->
+
+{% macro head_pre_assets() %}
+  <!-- Loaded before other Sphinx assets -->
+  <link href="{{ pathto('_static/styles/theme.css', 1) }}?digest=8878045cc6db502f8baf" rel="stylesheet" />
+<link href="{{ pathto('_static/styles/pydata-sphinx-theme.css', 1) }}?digest=8878045cc6db502f8baf" rel="stylesheet" />
+{% endmacro %}
+
+{% macro head_js_preload() %}
+  <!-- So that users can add custom icons -->
+  <script src="{{ pathto('_static/scripts/fontawesome.js', 1) }}?digest=8878045cc6db502f8baf"></script>
+  <!-- Pre-loaded scripts that we'll load fully later -->
+  <link rel="preload" as="script" href="{{ pathto('_static/scripts/bootstrap.js', 1) }}?digest=8878045cc6db502f8baf" />
+<link rel="preload" as="script" href="{{ pathto('_static/scripts/pydata-sphinx-theme.js', 1) }}?digest=8878045cc6db502f8baf" />
+{% endmacro %}
+
+{% macro body_post() %}
+  <!-- Scripts loaded after <body> so the DOM is not blocked -->
+  <script defer src="{{ pathto('_static/scripts/bootstrap.js', 1) }}?digest=8878045cc6db502f8baf"></script>
+<script defer src="{{ pathto('_static/scripts/pydata-sphinx-theme.js', 1) }}?digest=8878045cc6db502f8baf"></script>
+{% endmacro %}
\ No newline at end of file
diff --git a/v1.4.0/genindex.html b/v1.4.0/genindex.html
new file mode 100644
index 0000000000..250afc65e9
--- /dev/null
+++ b/v1.4.0/genindex.html
@@ -0,0 +1,7644 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" data-content_root="" >
+
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Index &#8212; Isaac Lab Documentation</title>
+  
+  
+  
+  <script data-cfasync="false">
+    document.documentElement.dataset.mode = localStorage.getItem("mode") || "";
+    document.documentElement.dataset.theme = localStorage.getItem("theme") || "";
+  </script>
+  <!--
+    this give us a css class that will be invisible only if js is disabled
+  -->
+  <noscript>
+    <style>
+      .pst-js-only { display: none !important; }
+
+    </style>
+  </noscript>
+  
+  <!-- Loaded before other Sphinx assets -->
+  <link href="_static/styles/theme.css?digest=8878045cc6db502f8baf" rel="stylesheet" />
+<link href="_static/styles/pydata-sphinx-theme.css?digest=8878045cc6db502f8baf" rel="stylesheet" />
+
+    <link rel="stylesheet" type="text/css" href="_static/pygments.css" />
+    <link rel="stylesheet" href="_static/styles/sphinx-book-theme.css?digest=14f4ca6b54d191a8c7657f6c759bf11a5fb86285" type="text/css" />
+    <link rel="stylesheet" type="text/css" href="/opt/hostedtoolcache/Python/3.10.15/x64/lib/python3.10/site-packages/sphinxcontrib/icon/node_modules/@fortawesome/fontawesome-free/css/all.min.css" />
+    <link rel="stylesheet" type="text/css" href="_static/copybutton.css" />
+    <link rel="stylesheet" type="text/css" href="_static/custom.css" />
+    <link rel="stylesheet" type="text/css" href="_static/sphinx-design.4cbf315f70debaebd550c87a6162cf0f.min.css" />
+  
+  <!-- So that users can add custom icons -->
+  <script src="_static/scripts/fontawesome.js?digest=8878045cc6db502f8baf"></script>
+  <!-- Pre-loaded scripts that we'll load fully later -->
+  <link rel="preload" as="script" href="_static/scripts/bootstrap.js?digest=8878045cc6db502f8baf" />
+<link rel="preload" as="script" href="_static/scripts/pydata-sphinx-theme.js?digest=8878045cc6db502f8baf" />
+
+    <script data-url_root="./" id="documentation_options" src="_static/documentation_options.js"></script>
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+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l1"><a class="reference internal" href="source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="source/features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="source/refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/contributing.html">Contribution Guidelines</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="source/refs/issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/changelog.html">Extensions Changelog</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/license.html">License</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/bibliography.html">Bibliography</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Project Links</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/index.html">NVIDIA Isaac Sim</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
+</ul>
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+    </div>
+</nav></div>
+    </div>
+  
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+  <div class="sidebar-primary-items__end sidebar-primary__section">
+      <div class="sidebar-primary-item">
+<div id="ethical-ad-placement"
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+      data-ea-type="readthedocs-sidebar"
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+              
+              <div class="bd-header-article d-print-none">
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+      
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+>
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+<span class="btn__text-container">Repository</span>
+</a>
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+      
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+      
+      <li><a href="https://github.com/isaac-sim/IsaacLab/issues/new?title=Issue%20on%20page%20%2Fgenindex.html&body=Your%20issue%20content%20here." target="_blank"
+   class="btn btn-sm btn-source-issues-button dropdown-item"
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+
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+ <a href="#_"><strong>_</strong></a>
+ | <a href="#A"><strong>A</strong></a>
+ | <a href="#B"><strong>B</strong></a>
+ | <a href="#C"><strong>C</strong></a>
+ | <a href="#D"><strong>D</strong></a>
+ | <a href="#E"><strong>E</strong></a>
+ | <a href="#F"><strong>F</strong></a>
+ | <a href="#G"><strong>G</strong></a>
+ | <a href="#H"><strong>H</strong></a>
+ | <a href="#I"><strong>I</strong></a>
+ | <a href="#J"><strong>J</strong></a>
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+ | <a href="#L"><strong>L</strong></a>
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+ | <a href="#X"><strong>X</strong></a>
+ | <a href="#Y"><strong>Y</strong></a>
+ | <a href="#Z"><strong>Z</strong></a>
+ 
+</div>
+<h2 id="_">_</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilter.__call__">__call__() (omni.isaac.lab.utils.modifiers.DigitalFilter method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.Integrator.__call__">(omni.isaac.lab.utils.modifiers.Integrator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierBase.__call__">(omni.isaac.lab.utils.modifiers.ModifierBase method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.__init__">__init__() (omni.isaac.lab.actuators.ActuatorBase method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.__init__">(omni.isaac.lab.actuators.ActuatorNetLSTM method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.__init__">(omni.isaac.lab.actuators.ActuatorNetMLP method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.__init__">(omni.isaac.lab.actuators.DCMotor method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.__init__">(omni.isaac.lab.actuators.DelayedPDActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.__init__">(omni.isaac.lab.actuators.IdealPDActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.__init__">(omni.isaac.lab.actuators.ImplicitActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.__init__">(omni.isaac.lab.actuators.RemotizedPDActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher.__init__">(omni.isaac.lab.app.AppLauncher method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.__init__">(omni.isaac.lab.assets.Articulation method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.__init__">(omni.isaac.lab.assets.AssetBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.__init__">(omni.isaac.lab.assets.DeformableObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.__init__">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.__init__">(omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.__init__">(omni.isaac.lab.controllers.DifferentialIKController method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController.__init__">(omni.isaac.lab.controllers.OperationalSpaceController method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.DeviceBase.__init__">(omni.isaac.lab.devices.DeviceBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Gamepad.__init__">(omni.isaac.lab.devices.Se2Gamepad method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Keyboard.__init__">(omni.isaac.lab.devices.Se2Keyboard method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2SpaceMouse.__init__">(omni.isaac.lab.devices.Se2SpaceMouse method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Gamepad.__init__">(omni.isaac.lab.devices.Se3Gamepad method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Keyboard.__init__">(omni.isaac.lab.devices.Se3Keyboard method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3SpaceMouse.__init__">(omni.isaac.lab.devices.Se3SpaceMouse method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.__init__">(omni.isaac.lab.envs.DirectMARLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.__init__">(omni.isaac.lab.envs.DirectRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.__init__">(omni.isaac.lab.envs.ManagerBasedEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.__init__">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material.__init__">(omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.image_features.__init__">(omni.isaac.lab.envs.mdp.observations.image_features method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__">(omni.isaac.lab.envs.mdp.rewards.is_terminated_term method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow.__init__">(omni.isaac.lab.envs.ui.BaseEnvWindow method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow.__init__">(omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.__init__">(omni.isaac.lab.envs.ui.ViewportCameraController method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.__init__">(omni.isaac.lab.managers.ActionManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.__init__">(omni.isaac.lab.managers.ActionTerm method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.__init__">(omni.isaac.lab.managers.CommandManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.__init__">(omni.isaac.lab.managers.CurriculumManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.__init__">(omni.isaac.lab.managers.EventManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.__init__">(omni.isaac.lab.managers.ManagerBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBase.__init__">(omni.isaac.lab.managers.ManagerTermBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.__init__">(omni.isaac.lab.managers.ObservationManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.__init__">(omni.isaac.lab.managers.RewardManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.__init__">(omni.isaac.lab.managers.TerminationManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.__init__">(omni.isaac.lab.markers.VisualizationMarkers method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.__init__">(omni.isaac.lab.scene.InteractiveScene method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.__init__">(omni.isaac.lab.sensors.Camera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.__init__">(omni.isaac.lab.sensors.ContactSensor method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.__init__">(omni.isaac.lab.sensors.FrameTransformer method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.__init__">(omni.isaac.lab.sensors.Imu method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.__init__">(omni.isaac.lab.sensors.RayCaster method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.__init__">(omni.isaac.lab.sensors.RayCasterCamera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.__init__">(omni.isaac.lab.sensors.SensorBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.__init__">(omni.isaac.lab.sensors.TiledCamera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBase.__init__">(omni.isaac.lab.sim.converters.AssetConverterBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter.__init__">(omni.isaac.lab.sim.converters.MeshConverter method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter.__init__">(omni.isaac.lab.sim.converters.UrdfConverter method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.__init__">(omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGenerator.__init__">(omni.isaac.lab.terrains.TerrainGenerator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.__init__">(omni.isaac.lab.terrains.TerrainImporter method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.__init__">(omni.isaac.lab.utils.buffers.CircularBuffer method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.__init__">(omni.isaac.lab.utils.buffers.DelayBuffer method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.TimestampedBuffer.__init__">(omni.isaac.lab.utils.buffers.TimestampedBuffer method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.interpolation.LinearInterpolation.__init__">(omni.isaac.lab.utils.interpolation.LinearInterpolation method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.__init__">(omni.isaac.lab.utils.timer.Timer method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions.__init__">(omni.isaac.lab.utils.types.ArticulationActions method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.__init__">(omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__">(omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__">(omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.__init__">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.__init__">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.__init__">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.__init__">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__">(omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper method)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardTermCfg.__new__">__new__() (omni.isaac.lab.managers.RewardTermCfg method)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="A">A</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.A">A (omni.isaac.lab.utils.modifiers.DigitalFilterCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.action">action (omni.isaac.lab.managers.ActionManager property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.action_dim">action_dim (omni.isaac.lab.controllers.DifferentialIKController property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController.action_dim">(omni.isaac.lab.controllers.OperationalSpaceController property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.action_dim">(omni.isaac.lab.managers.ActionTerm property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.action_l2">action_l2() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.action_noise_model">action_noise_model (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.action_rate_l2">action_rate_l2() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.action_space">action_space (omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space">(omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper property)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.action_space">action_space() (omni.isaac.lab.envs.DirectMARLEnv method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.action_spaces">action_spaces (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.action_term_dim">action_term_dim (omni.isaac.lab.managers.ActionManager property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager">ActionManager (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.actions">actions (omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm">ActionTerm (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg">ActionTermCfg (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors">activate_contact_sensors (omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.activate_contact_sensors">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.activate_contact_sensors">activate_contact_sensors() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.activation">activation (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.active_terms">active_terms (omni.isaac.lab.managers.ActionManager property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.active_terms">(omni.isaac.lab.managers.CommandManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.active_terms">(omni.isaac.lab.managers.CurriculumManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.active_terms">(omni.isaac.lab.managers.EventManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.active_terms">(omni.isaac.lab.managers.ManagerBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.active_terms">(omni.isaac.lab.managers.ObservationManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.active_terms">(omni.isaac.lab.managers.RewardManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.active_terms">(omni.isaac.lab.managers.TerminationManager property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.actor_hidden_dims">actor_hidden_dims (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase">ActuatorBase (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg">ActuatorBaseCfg (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM">ActuatorNetLSTM (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg">ActuatorNetLSTMCfg (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP">ActuatorNetMLP (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg">ActuatorNetMLPCfg (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.actuators">actuators (omni.isaac.lab.assets.Articulation attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.actuators">(omni.isaac.lab.assets.ArticulationCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.add">add() (omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher.add_app_launcher_args">add_app_launcher_args() (omni.isaac.lab.app.AppLauncher static method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.DeviceBase.add_callback">add_callback() (omni.isaac.lab.devices.DeviceBase method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Gamepad.add_callback">(omni.isaac.lab.devices.Se2Gamepad method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Keyboard.add_callback">(omni.isaac.lab.devices.Se2Keyboard method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2SpaceMouse.add_callback">(omni.isaac.lab.devices.Se2SpaceMouse method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Gamepad.add_callback">(omni.isaac.lab.devices.Se3Gamepad method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Keyboard.add_callback">(omni.isaac.lab.devices.Se3Keyboard method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3SpaceMouse.add_callback">(omni.isaac.lab.devices.Se3SpaceMouse method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.AdditiveGaussianNoiseCfg">AdditiveGaussianNoiseCfg (in module omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.AdditiveUniformNoiseCfg">AdditiveUniformNoiseCfg (in module omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.DeviceBase.advance">advance() (omni.isaac.lab.devices.DeviceBase method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Gamepad.advance">(omni.isaac.lab.devices.Se2Gamepad method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Keyboard.advance">(omni.isaac.lab.devices.Se2Keyboard method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2SpaceMouse.advance">(omni.isaac.lab.devices.Se2SpaceMouse method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Gamepad.advance">(omni.isaac.lab.devices.Se3Gamepad method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Keyboard.advance">(omni.isaac.lab.devices.Se3Keyboard method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3SpaceMouse.advance">(omni.isaac.lab.devices.Se3SpaceMouse method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness">albedo_brightness (omni.isaac.lab.sim.spawners.materials.MdlFileCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.algorithm">algorithm (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha">alpha (omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.amplitude_range">amplitude_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.ang_vel">ang_vel (omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.ang_vel">(omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.ang_vel_xy_l2">ang_vel_xy_l2() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.ang_vel_z">ang_vel_z (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle">angle (omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.angular_damping">angular_damping (omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg.antialiasing_mode">antialiasing_mode (omni.isaac.lab.sim.RenderCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher.app">app (omni.isaac.lab.app.AppLauncher property)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.append">append() (omni.isaac.lab.utils.buffers.CircularBuffer method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher">AppLauncher (class in omni.isaac.lab.app)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.applied_effort">applied_effort (omni.isaac.lab.actuators.ActuatorBase attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.applied_effort">(omni.isaac.lab.actuators.ActuatorNetLSTM attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.applied_effort">(omni.isaac.lab.actuators.ActuatorNetMLP attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.applied_effort">(omni.isaac.lab.actuators.DCMotor attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.applied_effort">(omni.isaac.lab.actuators.DelayedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.applied_effort">(omni.isaac.lab.actuators.IdealPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.applied_effort">(omni.isaac.lab.actuators.ImplicitActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.applied_effort">(omni.isaac.lab.actuators.RemotizedPDActuator attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.applied_torque">applied_torque (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.applied_torque_limits">applied_torque_limits() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.apply">apply() (omni.isaac.lab.managers.EventManager method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModel.apply">(omni.isaac.lab.utils.noise.NoiseModel method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.apply">(omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.apply_action">apply_action() (omni.isaac.lab.managers.ActionManager method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.apply_actions">apply_actions() (omni.isaac.lab.managers.ActionTerm method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.apply_delta_pose">apply_delta_pose() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.apply_external_force_torque">apply_external_force_torque() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.apply_nested">apply_nested() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.armature">armature (omni.isaac.lab.actuators.ActuatorBase attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg.armature">(omni.isaac.lab.actuators.ActuatorBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.armature">(omni.isaac.lab.actuators.ActuatorNetLSTM attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature">(omni.isaac.lab.actuators.ActuatorNetLSTMCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.armature">(omni.isaac.lab.actuators.ActuatorNetMLP attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature">(omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.armature">(omni.isaac.lab.actuators.DCMotor attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotorCfg.armature">(omni.isaac.lab.actuators.DCMotorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.armature">(omni.isaac.lab.actuators.DelayedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature">(omni.isaac.lab.actuators.DelayedPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.armature">(omni.isaac.lab.actuators.IdealPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuatorCfg.armature">(omni.isaac.lab.actuators.IdealPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.armature">(omni.isaac.lab.actuators.ImplicitActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg.armature">(omni.isaac.lab.actuators.ImplicitActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.armature">(omni.isaac.lab.actuators.RemotizedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature">(omni.isaac.lab.actuators.RemotizedPDActuatorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation">Articulation (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled">articulation_enabled (omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.articulation_props">articulation_props (omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.articulation_props">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions">ArticulationActions (class in omni.isaac.lab.utils.types)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg">ArticulationCfg (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg">ArticulationCfg.InitialStateCfg (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData">ArticulationData (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg">ArticulationRootPropertiesCfg (class in omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.articulations">articulations (omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name">asset_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.asset_name">(omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.asset_name">(omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.asset_name">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg.asset_name">(omni.isaac.lab.envs.ViewerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg.asset_name">(omni.isaac.lab.managers.ActionTermCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path">asset_path (omni.isaac.lab.sim.converters.AssetConverterBaseCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.asset_path">(omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.asset_path">(omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.asset_path">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase">AssetBase (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg">AssetBaseCfg (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg">AssetBaseCfg.InitialStateCfg (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBase">AssetConverterBase (class in omni.isaac.lab.sim.converters)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBaseCfg">AssetConverterBaseCfg (class in omni.isaac.lab.sim.converters)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.assets_cfg">assets_cfg (omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only">attach_yaw_only (omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.available_modes">available_modes (omni.isaac.lab.managers.EventManager property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.axis">axis (omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.axis">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.axis">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.axis">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.axis">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.axis">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.axis_angle_from_quat">axis_angle_from_quat() (in module omni.isaac.lab.utils.math)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="B">B</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.B">B (omni.isaac.lab.utils.modifiers.DigitalFilterCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.bad_orientation">bad_orientation() (in module omni.isaac.lab.envs.mdp.terminations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_height_range">bar_height_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_width_range">bar_width_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.base_ang_vel">base_ang_vel() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.base_height_l2">base_height_l2() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.base_lin_vel">base_lin_vel() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.base_pos_z">base_pos_z() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow">BaseEnvWindow (class in omni.isaac.lab.envs.ui)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.batch_size">batch_size (omni.isaac.lab.utils.buffers.CircularBuffer property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.batch_size">(omni.isaac.lab.utils.buffers.DelayBuffer property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias">bias (omni.isaac.lab.utils.noise.ConstantNoiseCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.bias">bias() (in module omni.isaac.lab.utils.modifiers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.bias_noise_cfg">bias_noise_cfg (omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg">BinaryJointActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg">BinaryJointPositionActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg">BinaryJointVelocityActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.bind_physics_material">bind_physics_material() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.bind_visual_material">bind_visual_material() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_acc_w">body_acc_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_acc_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_ang_acc_w">body_ang_acc_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_ang_acc_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_ang_vel_w">body_ang_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_ang_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_com_ang_vel_w">body_com_ang_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_com_ang_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_com_lin_vel_w">body_com_lin_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_com_lin_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_com_pos_w">body_com_pos_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_com_pos_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_com_quat_w">body_com_quat_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_com_quat_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_com_state_w">body_com_state_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_com_state_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_com_vel_w">body_com_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_com_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.body_ids">body_ids (omni.isaac.lab.managers.SceneEntityCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.body_incoming_wrench">body_incoming_wrench() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2">body_lin_acc_l2() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_lin_acc_w">body_lin_acc_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_lin_acc_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_lin_vel_w">body_lin_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_lin_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_link_ang_vel_w">body_link_ang_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_link_ang_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_link_lin_vel_w">body_link_lin_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_link_lin_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_link_pos_w">body_link_pos_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_link_pos_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_link_quat_w">body_link_quat_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_link_quat_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_link_state_w">body_link_state_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_link_state_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_link_vel_w">body_link_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_link_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_name">body_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_name">(omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.body_name">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.body_names">body_names (omni.isaac.lab.assets.Articulation property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_names">(omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.body_names">(omni.isaac.lab.assets.RigidObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_names">(omni.isaac.lab.assets.RigidObjectData attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.body_names">(omni.isaac.lab.managers.SceneEntityCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.body_names">(omni.isaac.lab.sensors.ContactSensor property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_offset">body_offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_offset">(omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.body_physx_view">body_physx_view (omni.isaac.lab.sensors.ContactSensor property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_pos_w">body_pos_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_pos_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_quat_w">body_quat_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_quat_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_state_w">body_state_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_state_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_vel_w">body_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.body_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.border_height">border_height (omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width">border_width (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.border_width">(omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.bounce_threshold_velocity">bounce_threshold_velocity (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range">box_height_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain">box_terrain() (in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.bpearl_pattern">bpearl_pattern() (in module omni.isaac.lab.sensors.patterns)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.BpearlPatternCfg">BpearlPatternCfg (class in omni.isaac.lab.sensors.patterns)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.buffer">buffer (omni.isaac.lab.utils.buffers.CircularBuffer property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.simulation_context.build_simulation_context">build_simulation_context() (omni.isaac.lab.sim.simulation_context method)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="C">C</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.cache_dir">cache_dir (omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.callable_to_string">callable_to_string() (in module omni.isaac.lab.utils.string)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg.cam_prim_path">cam_prim_path (omni.isaac.lab.envs.ViewerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera">Camera (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg">CameraCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.OffsetCfg">CameraCfg.OffsetCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData">CameraData (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg">CapsuleCfg (class in omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.cfg">cfg (omni.isaac.lab.actuators.ActuatorNetLSTM attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.cfg">(omni.isaac.lab.actuators.ActuatorNetMLP attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.cfg">(omni.isaac.lab.actuators.DCMotor attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.cfg">(omni.isaac.lab.actuators.DelayedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.cfg">(omni.isaac.lab.actuators.IdealPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.cfg">(omni.isaac.lab.actuators.ImplicitActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.cfg">(omni.isaac.lab.actuators.RemotizedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.cfg">(omni.isaac.lab.assets.Articulation attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.cfg">(omni.isaac.lab.assets.DeformableObject attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.cfg">(omni.isaac.lab.assets.RigidObject attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.cfg">(omni.isaac.lab.assets.RigidObjectCollection attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.cfg">(omni.isaac.lab.envs.ManagerBasedRLEnv attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.cfg">(omni.isaac.lab.envs.ui.ViewportCameraController property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.cfg">(omni.isaac.lab.sensors.Camera attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.cfg">(omni.isaac.lab.sensors.ContactSensor attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.cfg">(omni.isaac.lab.sensors.FrameTransformer attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.cfg">(omni.isaac.lab.sensors.Imu attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.cfg">(omni.isaac.lab.sensors.RayCaster attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.cfg">(omni.isaac.lab.sensors.RayCasterCamera attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.cfg">(omni.isaac.lab.sensors.TiledCamera attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter.cfg">(omni.isaac.lab.sim.converters.MeshConverter attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter.cfg">(omni.isaac.lab.sim.converters.UrdfConverter attribute)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.cfg">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.LidarPatternCfg.channels">channels (omni.isaac.lab.sensors.patterns.LidarPatternCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.check_file_path">check_file_path() (in module omni.isaac.lab.utils.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer">CircularBuffer (class in omni.isaac.lab.utils.buffers)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name">class_name (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.class_name">class_name() (omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper class method)</a>
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.class_name">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper class method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.class_name">(omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper class method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.class_to_dict">class_to_dict() (in module omni.isaac.lab.utils.dict)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg.class_type">class_type (omni.isaac.lab.managers.ActionTermCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelCfg.class_type">(omni.isaac.lab.utils.noise.NoiseModelCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.class_type">(omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.clip">clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.clip">(omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg.clip">(omni.isaac.lab.managers.ActionTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg.clip">(omni.isaac.lab.managers.ObservationTermCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.clip">clip() (in module omni.isaac.lab.utils.modifiers)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.clip_param">clip_param (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range">clipping_range (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.clone">clone() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.clone_environments">clone_environments() (omni.isaac.lab.scene.InteractiveScene method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.close">close() (omni.isaac.lab.envs.DirectMARLEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.close">(omni.isaac.lab.envs.DirectRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.close">(omni.isaac.lab.envs.ManagerBasedEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.close">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.close">(omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.close_command_expr">close_command_expr (omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.close_command_expr">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.close_command_expr">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation">collision_approximation (omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.collision_element_deform_gradient_w">collision_element_deform_gradient_w (omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.collision_element_quat_w">collision_element_quat_w (omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.collision_element_stress_w">collision_element_stress_w (omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled">collision_enabled (omni.isaac.lab.sim.schemas.CollisionPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.collision_group">collision_group (omni.isaac.lab.assets.ArticulationCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg.collision_group">(omni.isaac.lab.assets.AssetBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg.collision_group">(omni.isaac.lab.assets.DeformableObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.collision_group">(omni.isaac.lab.assets.RigidObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.collision_group">(omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props">collision_props (omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.collision_props">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.collision_props">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.collision_props">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.collision_props">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.collision_props">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.collision_props">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.collision_props">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.collision_props">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.collision_props">(omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.collision_props">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.collision_props">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.collision_props">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.collision_props">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.collision_props">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.collision_props">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.collision_props">(omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.collision_props">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification">collision_simplification (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_force_conforming">collision_simplification_force_conforming (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing">collision_simplification_remeshing (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing_resolution">collision_simplification_remeshing_resolution (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_target_triangle_count">collision_simplification_target_triangle_count (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg">CollisionPropertiesCfg (class in omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color">color (omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color">(omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color">(omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color">(omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg.color">(omni.isaac.lab.sim.spawners.lights.LightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.utils.color_meshes_by_height">color_meshes_by_height() (in module omni.isaac.lab.terrains.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme">color_scheme (omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature">color_temperature (omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature">(omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature">(omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature">(omni.isaac.lab.sim.spawners.lights.LightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation">colorize_instance_id_segmentation (omni.isaac.lab.sensors.CameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_id_segmentation">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation">colorize_instance_segmentation (omni.isaac.lab.sensors.CameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_segmentation">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation">colorize_semantic_segmentation (omni.isaac.lab.sensors.CameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.colorize_semantic_segmentation">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.com_pos_b">com_pos_b (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.com_pos_b">(omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.com_pos_b">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.com_quat_b">com_quat_b (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.com_quat_b">(omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.com_quat_b">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.combine_frame_transforms">combine_frame_transforms() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm.command">command (omni.isaac.lab.managers.CommandTerm property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.command_resample">command_resample() (in module omni.isaac.lab.envs.mdp.terminations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type">command_type (omni.isaac.lab.controllers.DifferentialIKControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager">CommandManager (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands">commands (omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm">CommandTerm (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTermCfg">CommandTermCfg (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping">compliant_contact_damping (omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness">compliant_contact_stiffness (omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.compute">compute() (omni.isaac.lab.actuators.ActuatorBase method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.compute">(omni.isaac.lab.actuators.ActuatorNetLSTM method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.compute">(omni.isaac.lab.actuators.ActuatorNetMLP method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.compute">(omni.isaac.lab.actuators.DCMotor method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.compute">(omni.isaac.lab.actuators.DelayedPDActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.compute">(omni.isaac.lab.actuators.IdealPDActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.compute">(omni.isaac.lab.actuators.ImplicitActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.compute">(omni.isaac.lab.actuators.RemotizedPDActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.compute">(omni.isaac.lab.controllers.DifferentialIKController method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController.compute">(omni.isaac.lab.controllers.OperationalSpaceController method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.compute">(omni.isaac.lab.managers.CommandManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm.compute">(omni.isaac.lab.managers.CommandTerm method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.compute">(omni.isaac.lab.managers.CurriculumManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.compute">(omni.isaac.lab.managers.ObservationManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.compute">(omni.isaac.lab.managers.RewardManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.compute">(omni.isaac.lab.managers.TerminationManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.compute">(omni.isaac.lab.utils.buffers.DelayBuffer method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.interpolation.LinearInterpolation.compute">(omni.isaac.lab.utils.interpolation.LinearInterpolation method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.compute_first_air">compute_first_air() (omni.isaac.lab.sensors.ContactSensor method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.compute_first_contact">compute_first_contact() (omni.isaac.lab.sensors.ContactSensor method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.compute_group">compute_group() (omni.isaac.lab.managers.ObservationManager method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.compute_pose_error">compute_pose_error() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.computed_effort">computed_effort (omni.isaac.lab.actuators.ActuatorBase attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.computed_effort">(omni.isaac.lab.actuators.ActuatorNetLSTM attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.computed_effort">(omni.isaac.lab.actuators.ActuatorNetMLP attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.computed_effort">(omni.isaac.lab.actuators.DCMotor attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.computed_effort">(omni.isaac.lab.actuators.DelayedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.computed_effort">(omni.isaac.lab.actuators.IdealPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.computed_effort">(omni.isaac.lab.actuators.ImplicitActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.computed_effort">(omni.isaac.lab.actuators.RemotizedPDActuator attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.computed_torque">computed_torque (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms">concatenate_terms (omni.isaac.lab.managers.ObservationGroupCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg">ConeCfg (class in omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.configclass.configclass">configclass() (in module omni.isaac.lab.utils.configclass)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.configure_env_origins">configure_env_origins() (omni.isaac.lab.terrains.TerrainImporter method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.constant_noise">constant_noise() (in module omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.ConstantBiasNoiseCfg">ConstantBiasNoiseCfg (in module omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.ConstantNoiseCfg">ConstantNoiseCfg (class in omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.contact_forces">contact_forces() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset">contact_offset (omni.isaac.lab.sim.schemas.CollisionPropertiesCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.contact_offset">(omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.contact_physx_view">contact_physx_view (omni.isaac.lab.sensors.ContactSensor property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_control_axes_task">contact_wrench_control_axes_task (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_stiffness_task">contact_wrench_stiffness_task (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor">ContactSensor (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg">ContactSensorCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData">ContactSensorData (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.controller">controller (omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.controller_cfg">controller_cfg (omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention">convention (omni.isaac.lab.sensors.CameraCfg.OffsetCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention">(omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention">(omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention">convert_camera_frame_orientation_convention() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.convert_dict_to_backend">convert_dict_to_backend() (in module omni.isaac.lab.utils.dict)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.convert_quat">convert_quat() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.array.convert_to_torch">convert_to_torch() (in module omni.isaac.lab.utils.array)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.warp.convert_to_warp_mesh">convert_to_warp_mesh() (in module omni.isaac.lab.utils.warp)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.convex_decompose_mesh">convex_decompose_mesh (omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.convex_decompose_mesh">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.copy_from_source">copy_from_source (omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source">(omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source">(omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source">(omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source">(omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source">(omni.isaac.lab.sim.spawners.lights.LightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.copy_from_source">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.copy_from_source">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.copy_from_source">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.copy_from_source">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.copy_from_source">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.copy_from_source">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source">(omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source">(omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source">(omni.isaac.lab.sim.spawners.SpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.copy_from_source">(omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.copy_from_source">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.copysign">copysign() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.count">count (omni.isaac.lab.markers.VisualizationMarkers property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.utils.create_prim_from_mesh">create_prim_from_mesh() (in module omni.isaac.lab.terrains.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.create_rotation_matrix_from_view">create_rotation_matrix_from_view() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.critic_hidden_dims">critic_hidden_dims (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg">CuboidCfg (class in omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData.current_air_time">current_air_time (omni.isaac.lab.sensors.ContactSensorData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData.current_contact_time">current_contact_time (omni.isaac.lab.sensors.ContactSensorData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.current_length">current_length (omni.isaac.lab.utils.buffers.CircularBuffer property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.current_pose_visualizer_cfg">current_pose_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.current_vel_visualizer_cfg">current_vel_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.current_vel_visualizer_cfg">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum">curriculum (omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum">(omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager">CurriculumManager (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumTermCfg">CurriculumTermCfg (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg">CylinderCfg (class in omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg">CylinderLightCfg (class in omni.isaac.lab.sim.spawners.lights)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="D">D</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.damping">damping (omni.isaac.lab.actuators.ActuatorBase attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg.damping">(omni.isaac.lab.actuators.ActuatorBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.damping">(omni.isaac.lab.actuators.ActuatorNetLSTM attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping">(omni.isaac.lab.actuators.ActuatorNetLSTMCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.damping">(omni.isaac.lab.actuators.ActuatorNetMLP attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping">(omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.damping">(omni.isaac.lab.actuators.DCMotor attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotorCfg.damping">(omni.isaac.lab.actuators.DCMotorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.damping">(omni.isaac.lab.actuators.DelayedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping">(omni.isaac.lab.actuators.DelayedPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.damping">(omni.isaac.lab.actuators.IdealPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuatorCfg.damping">(omni.isaac.lab.actuators.IdealPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.damping">(omni.isaac.lab.actuators.ImplicitActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg.damping">(omni.isaac.lab.actuators.ImplicitActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.damping">(omni.isaac.lab.actuators.RemotizedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping">(omni.isaac.lab.actuators.RemotizedPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.damping">(omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.damping_ratio_scale">damping_ratio_scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.damping_scale">damping_scale (omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.data">data (omni.isaac.lab.assets.Articulation property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.data">(omni.isaac.lab.assets.AssetBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.data">(omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.data">(omni.isaac.lab.assets.RigidObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.data">(omni.isaac.lab.assets.RigidObjectCollection property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.data">(omni.isaac.lab.sensors.Camera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.data">(omni.isaac.lab.sensors.ContactSensor property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.data">(omni.isaac.lab.sensors.FrameTransformer property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.data">(omni.isaac.lab.sensors.Imu property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.data">(omni.isaac.lab.sensors.RayCaster property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.data">(omni.isaac.lab.sensors.RayCasterCamera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.data">(omni.isaac.lab.sensors.SensorBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.data">(omni.isaac.lab.sensors.TiledCamera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.TimestampedBuffer.data">(omni.isaac.lab.utils.buffers.TimestampedBuffer attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.data_types">data_types (omni.isaac.lab.sensors.CameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.data_types">(omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.data_types">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor">DCMotor (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotorCfg">DCMotorCfg (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.debug_vis">debug_vis (omni.isaac.lab.assets.ArticulationCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg.debug_vis">(omni.isaac.lab.assets.AssetBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg.debug_vis">(omni.isaac.lab.assets.DeformableObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.debug_vis">(omni.isaac.lab.assets.RigidObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.debug_vis">(omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.debug_vis">(omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.debug_vis">(omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.debug_vis">(omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.debug_vis">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.debug_vis">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.debug_vis">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg.debug_vis">(omni.isaac.lab.managers.ActionTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTermCfg.debug_vis">(omni.isaac.lab.managers.CommandTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.debug_vis">(omni.isaac.lab.sensors.CameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg.debug_vis">(omni.isaac.lab.sensors.ContactSensorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.debug_vis">(omni.isaac.lab.sensors.FrameTransformerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.debug_vis">(omni.isaac.lab.sensors.ImuCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.debug_vis">(omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.debug_vis">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBaseCfg.debug_vis">(omni.isaac.lab.sensors.SensorBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.debug_vis">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.debug_vis">(omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.decimation">decimation (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.decimation">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation">(omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping">default_drive_damping (omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness">default_drive_stiffness (omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_stiffness">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type">default_drive_type (omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_damping">default_fixed_tendon_damping (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit">default_fixed_tendon_limit (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit_stiffness">default_fixed_tendon_limit_stiffness (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_offset">default_fixed_tendon_offset (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_rest_length">default_fixed_tendon_rest_length (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_stiffness">default_fixed_tendon_stiffness (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_inertia">default_inertia (omni.isaac.lab.assets.ArticulationData attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.default_inertia">(omni.isaac.lab.assets.RigidObjectCollectionData attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.default_inertia">(omni.isaac.lab.assets.RigidObjectData attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_joint_armature">default_joint_armature (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_joint_damping">default_joint_damping (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_joint_friction">default_joint_friction (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_joint_limits">default_joint_limits (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_joint_pos">default_joint_pos (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_joint_stiffness">default_joint_stiffness (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_joint_vel">default_joint_vel (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_mass">default_mass (omni.isaac.lab.assets.ArticulationData attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.default_mass">(omni.isaac.lab.assets.RigidObjectCollectionData attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.default_mass">(omni.isaac.lab.assets.RigidObjectData attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.default_nodal_state_w">default_nodal_state_w (omni.isaac.lab.assets.DeformableObjectData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.default_object_state">default_object_state (omni.isaac.lab.assets.RigidObjectCollectionData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.default_orientation">default_orientation() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.default_root_state">default_root_state (omni.isaac.lab.assets.ArticulationData attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.default_root_state">(omni.isaac.lab.assets.RigidObjectData attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.define_articulation_root_properties">define_articulation_root_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.define_collision_properties">define_collision_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.define_deformable_body_properties">define_deformable_body_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.define_mass_properties">define_mass_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.define_rigid_body_properties">define_rigid_body_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.deformable_enabled">deformable_enabled (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.deformable_objects">deformable_objects (omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.deformable_props">deformable_props (omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.deformable_props">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.deformable_props">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.deformable_props">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.deformable_props">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.deformable_props">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.deformable_props">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.deformable_props">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.deformable_props">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.deformable_props">(omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.deformable_props">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg">DeformableBodyMaterialCfg (class in omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg">DeformableBodyPropertiesCfg (class in omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject">DeformableObject (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg">DeformableObjectCfg (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg">DeformableObjectCfg.InitialStateCfg (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData">DeformableObjectData (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg">DeformableObjectSpawnerCfg (class in omni.isaac.lab.sim.spawners)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees">degrees (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer">DelayBuffer (class in omni.isaac.lab.utils.buffers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator">DelayedPDActuator (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg">DelayedPDActuatorCfg (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.demo_count">demo_count (omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg.density">density (omni.isaac.lab.sim.schemas.MassPropertiesCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.density">(omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.depth_clipping_behavior">depth_clipping_behavior (omni.isaac.lab.sensors.CameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.depth_clipping_behavior">(omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.depth_clipping_behavior">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.desired_kl">desired_kl (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.device">device (omni.isaac.lab.assets.Articulation property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.device">(omni.isaac.lab.assets.AssetBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.device">(omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.device">(omni.isaac.lab.assets.RigidObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.device">(omni.isaac.lab.assets.RigidObjectCollection property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.device">(omni.isaac.lab.envs.DirectMARLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.device">(omni.isaac.lab.envs.DirectRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.device">(omni.isaac.lab.envs.ManagerBasedEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.device">(omni.isaac.lab.envs.ManagerBasedRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.device">(omni.isaac.lab.managers.ActionManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.device">(omni.isaac.lab.managers.ActionTerm property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.device">(omni.isaac.lab.managers.CurriculumManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.device">(omni.isaac.lab.managers.EventManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.device">(omni.isaac.lab.managers.ManagerBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBase.device">(omni.isaac.lab.managers.ManagerTermBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.device">(omni.isaac.lab.managers.ObservationManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.device">(omni.isaac.lab.managers.RewardManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.device">(omni.isaac.lab.managers.TerminationManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.device">(omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.device">(omni.isaac.lab.sensors.Camera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.device">(omni.isaac.lab.sensors.ContactSensor property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.device">(omni.isaac.lab.sensors.FrameTransformer property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.device">(omni.isaac.lab.sensors.Imu property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.device">(omni.isaac.lab.sensors.RayCaster property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.device">(omni.isaac.lab.sensors.RayCasterCamera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.device">(omni.isaac.lab.sensors.SensorBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.device">(omni.isaac.lab.sensors.TiledCamera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.device">(omni.isaac.lab.sim.SimulationCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.device">(omni.isaac.lab.utils.buffers.CircularBuffer property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.device">(omni.isaac.lab.utils.buffers.DelayBuffer property)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.device">(omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper property)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.DeviceBase">DeviceBase (class in omni.isaac.lab.devices)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.dict_to_md5_hash">dict_to_md5_hash() (in module omni.isaac.lab.utils.dict)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController">DifferentialIKController (class in omni.isaac.lab.controllers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKControllerCfg">DifferentialIKControllerCfg (class in omni.isaac.lab.controllers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg">DifferentialInverseKinematicsActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg">DifferentialInverseKinematicsActionCfg.OffsetCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range">difficulty_range (omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color">diffuse_color (omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilter">DigitalFilter (class in omni.isaac.lab.utils.modifiers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilterCfg">DigitalFilterCfg (class in omni.isaac.lab.utils.modifiers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.GridPatternCfg.direction">direction (omni.isaac.lab.sensors.patterns.GridPatternCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv">DirectMARLEnv (class in omni.isaac.lab.envs)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg">DirectMARLEnvCfg (class in omni.isaac.lab.envs)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv">DirectRLEnv (class in omni.isaac.lab.envs)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg">DirectRLEnvCfg (class in omni.isaac.lab.envs)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.disable_contact_processing">disable_contact_processing (omni.isaac.lab.sim.SimulationCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.disable_gravity">disable_gravity (omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain">discrete_obstacles_terrain() (in module omni.isaac.lab.terrains.height_field.hf_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg">DiskLightCfg (class in omni.isaac.lab.sim.spawners.lights)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg">DistantLightCfg (class in omni.isaac.lab.sim.spawners.lights)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg.dlss_mode">dlss_mode (omni.isaac.lab.sim.RenderCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg">DomeLightCfg (class in omni.isaac.lab.sim.spawners.lights)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.dones">dones (omni.isaac.lab.managers.TerminationManager property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.double_box">double_box (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.double_pit">double_pit (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale">downsampled_scale (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range">drift_range (omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.drift_range">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type">drive_type (omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.dt">dt (omni.isaac.lab.sim.SimulationCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.IntegratorCfg.dt">(omni.isaac.lab.utils.modifiers.IntegratorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.io.dump_pickle">dump_pickle() (in module omni.isaac.lab.utils.io)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.io.dump_yaml">dump_yaml() (in module omni.isaac.lab.utils.io)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.dynamic_friction">dynamic_friction (omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.dynamic_friction">(omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+</tr></table>
+
+<h2 id="E">E</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.effort_limit">effort_limit (omni.isaac.lab.actuators.ActuatorBase attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit">(omni.isaac.lab.actuators.ActuatorBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.effort_limit">(omni.isaac.lab.actuators.ActuatorNetLSTM attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit">(omni.isaac.lab.actuators.ActuatorNetLSTMCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.effort_limit">(omni.isaac.lab.actuators.ActuatorNetMLP attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit">(omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.effort_limit">(omni.isaac.lab.actuators.DCMotor attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotorCfg.effort_limit">(omni.isaac.lab.actuators.DCMotorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.effort_limit">(omni.isaac.lab.actuators.DelayedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit">(omni.isaac.lab.actuators.DelayedPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.effort_limit">(omni.isaac.lab.actuators.IdealPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit">(omni.isaac.lab.actuators.IdealPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.effort_limit">(omni.isaac.lab.actuators.ImplicitActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit">(omni.isaac.lab.actuators.ImplicitActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.effort_limit">(omni.isaac.lab.actuators.RemotizedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit">(omni.isaac.lab.actuators.RemotizedPDActuatorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.elasticity_damping">elasticity_damping (omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg">EMAJointPositionToLimitsActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.emissive_color">emissive_color (omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.empirical_normalization">empirical_normalization (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg.enable_ambient_occlusion">enable_ambient_occlusion (omni.isaac.lab.sim.RenderCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.enable_ccd">enable_ccd (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature">enable_color_temperature (omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature">(omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature">(omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature">(omni.isaac.lab.sim.spawners.lights.LightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption">enable_corruption (omni.isaac.lab.managers.ObservationGroupCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg.enable_direct_lighting">enable_direct_lighting (omni.isaac.lab.sim.RenderCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg.enable_dlssg">enable_dlssg (omni.isaac.lab.sim.RenderCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism">enable_enhanced_determinism (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg.enable_global_illumination">enable_global_illumination (omni.isaac.lab.sim.RenderCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.enable_gyroscopic_forces">enable_gyroscopic_forces (omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg.enable_reflections">enable_reflections (omni.isaac.lab.sim.RenderCfg attribute)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support">enable_scene_query_support (omni.isaac.lab.sim.SimulationCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg.enable_shadows">enable_shadows (omni.isaac.lab.sim.RenderCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.enable_stabilization">enable_stabilization (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg.enable_translucency">enable_translucency (omni.isaac.lab.sim.RenderCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions">enabled_self_collisions (omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.entropy_coef">entropy_coef (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg.env_index">env_index (omni.isaac.lab.envs.ViewerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.env_ns">env_ns (omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.env_origins">env_origins (omni.isaac.lab.scene.InteractiveScene property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.env_origins">(omni.isaac.lab.terrains.TerrainImporter attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.env_regex_ns">env_regex_ns (omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing">env_spacing (omni.isaac.lab.scene.InteractiveSceneCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing">(omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.episode_length_buf">episode_length_buf (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.episode_length_s">episode_length_s (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.euler_xyz_from_quat">euler_xyz_from_quat() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager">EventManager (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.events">events (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.events">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.events">(omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg">EventTermCfg (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.experiment_name">experiment_name (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_jit">export_policy_as_jit() (in module omni.isaac.lab_tasks.utils.wrappers.rsl_rl)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_onnx">export_policy_as_onnx() (in module omni.isaac.lab_tasks.utils.wrappers.rsl_rl)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.export_prim_to_file">export_prim_to_file() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure">exposure (omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure">(omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure">(omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg.exposure">(omni.isaac.lab.sim.spawners.lights.LightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.extras">extras (omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg.eye">eye (omni.isaac.lab.envs.ViewerCfg attribute)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="F">F</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop">f_stop (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.filter_collisions">filter_collisions() (omni.isaac.lab.scene.InteractiveScene method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr">filter_prim_paths_expr (omni.isaac.lab.sensors.ContactSensorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.find_bodies">find_bodies() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.find_bodies">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.find_bodies">(omni.isaac.lab.sensors.ContactSensor method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.find_first_matching_prim">find_first_matching_prim() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.find_fixed_tendons">find_fixed_tendons() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.utils.find_flat_patches">find_flat_patches() (in module omni.isaac.lab.terrains.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.find_global_fixed_joint_prim">find_global_fixed_joint_prim() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.find_joints">find_joints() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.find_matching_prim_paths">find_matching_prim_paths() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.find_matching_prims">find_matching_prims() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.find_objects">find_objects() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.find_terms">find_terms() (omni.isaac.lab.managers.ActionManager method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.find_terms">(omni.isaac.lab.managers.CurriculumManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.find_terms">(omni.isaac.lab.managers.EventManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.find_terms">(omni.isaac.lab.managers.ManagerBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.find_terms">(omni.isaac.lab.managers.ObservationManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.find_terms">(omni.isaac.lab.managers.RewardManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.find_terms">(omni.isaac.lab.managers.TerminationManager method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_max_fov">fisheye_max_fov (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_height">fisheye_nominal_height (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_width">fisheye_nominal_width (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_x">fisheye_optical_centre_x (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_y">fisheye_optical_centre_y (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_a">fisheye_polynomial_a (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_b">fisheye_polynomial_b (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_c">fisheye_polynomial_c (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_d">fisheye_polynomial_d (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_e">fisheye_polynomial_e (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_f">fisheye_polynomial_f (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg">FisheyeCameraCfg (class in omni.isaac.lab.sim.spawners.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.fix_base">fix_base (omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fix_base">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link">fix_root_link (omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.fixed_tendon_damping">fixed_tendon_damping (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids">fixed_tendon_ids (omni.isaac.lab.managers.SceneEntityCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit">fixed_tendon_limit (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit_stiffness">fixed_tendon_limit_stiffness (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.fixed_tendon_names">fixed_tendon_names (omni.isaac.lab.assets.Articulation property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.fixed_tendon_names">(omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names">(omni.isaac.lab.managers.SceneEntityCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.fixed_tendon_offset">fixed_tendon_offset (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.fixed_tendon_rest_length">fixed_tendon_rest_length (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.fixed_tendon_stiffness">fixed_tendon_stiffness (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fixed_tendons_props">fixed_tendons_props (omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.fixed_tendons_props">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.fixed_tendons_props">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg">FixedTendonPropertiesCfg (class in omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2">flat_orientation_l2() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling">flat_patch_sampling (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling">(omni.isaac.lab.terrains.SubTerrainBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGenerator.flat_patches">flat_patches (omni.isaac.lab.terrains.TerrainGenerator attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.flat_patches">(omni.isaac.lab.terrains.TerrainImporter property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain">flat_terrain() (in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationGroupCfg.flatten_history_dim">flatten_history_dim (omni.isaac.lab.managers.ObservationGroupCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim">(omni.isaac.lab.managers.ObservationTermCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain">floating_ring_terrain() (in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.flush">flush() (omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length">focal_length (omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length">(omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance">focus_distance (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData.force_matrix_w">force_matrix_w (omni.isaac.lab.sensors.ContactSensorData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg.force_threshold">force_threshold (omni.isaac.lab.sensors.ContactSensorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion">force_usd_conversion (omni.isaac.lab.sim.converters.AssetConverterBaseCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion">(omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion">(omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.forward">forward() (omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.frame">frame (omni.isaac.lab.sensors.Camera property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.frame">(omni.isaac.lab.sensors.RayCasterCamera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.frame">(omni.isaac.lab.sensors.TiledCamera property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer">FrameTransformer (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg">FrameTransformerCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg">FrameTransformerCfg.FrameCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData">FrameTransformerData (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.friction">friction (omni.isaac.lab.actuators.ActuatorBase attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg.friction">(omni.isaac.lab.actuators.ActuatorBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.friction">(omni.isaac.lab.actuators.ActuatorNetLSTM attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction">(omni.isaac.lab.actuators.ActuatorNetLSTMCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.friction">(omni.isaac.lab.actuators.ActuatorNetMLP attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction">(omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.friction">(omni.isaac.lab.actuators.DCMotor attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotorCfg.friction">(omni.isaac.lab.actuators.DCMotorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.friction">(omni.isaac.lab.actuators.DelayedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction">(omni.isaac.lab.actuators.DelayedPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.friction">(omni.isaac.lab.actuators.IdealPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuatorCfg.friction">(omni.isaac.lab.actuators.IdealPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.friction">(omni.isaac.lab.actuators.ImplicitActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg.friction">(omni.isaac.lab.actuators.ImplicitActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.friction">(omni.isaac.lab.actuators.RemotizedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction">(omni.isaac.lab.actuators.RemotizedPDActuatorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode">friction_combine_mode (omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.friction_correlation_distance">friction_correlation_distance (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.friction_offset_threshold">friction_offset_threshold (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.from_intrinsic_matrix">from_intrinsic_matrix() (omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg class method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.from_intrinsic_matrix">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg class method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.frosting_roughness">frosting_roughness (omni.isaac.lab.sim.spawners.materials.GlassMdlCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING">FULL_RENDERING (omni.isaac.lab.sim.SimulationContext.RenderMode attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumTermCfg.func">func (omni.isaac.lab.managers.CurriculumTermCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg.func">(omni.isaac.lab.managers.EventTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBaseCfg.func">(omni.isaac.lab.managers.ManagerTermBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg.func">(omni.isaac.lab.managers.ObservationTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationTermCfg.func">(omni.isaac.lab.managers.TerminationTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PatternBaseCfg.func">(omni.isaac.lab.sensors.patterns.PatternBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.func">(omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func">(omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg.func">(omni.isaac.lab.sim.spawners.SpawnerCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.SubTerrainBaseCfg.function">function (omni.isaac.lab.terrains.SubTerrainBaseCfg attribute)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="G">G</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.gamma">gamma (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain">gap_terrain() (in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range">gap_width_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.gaussian_noise">gaussian_noise() (in module omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.GaussianNoiseCfg">GaussianNoiseCfg (class in omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.gear_ratio">gear_ratio (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.generated_commands">generated_commands() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.get_active_iterable_terms">get_active_iterable_terms() (omni.isaac.lab.managers.ActionManager method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.get_active_iterable_terms">(omni.isaac.lab.managers.CommandManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.get_active_iterable_terms">(omni.isaac.lab.managers.CurriculumManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.get_active_iterable_terms">(omni.isaac.lab.managers.EventManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.get_active_iterable_terms">(omni.isaac.lab.managers.ManagerBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.get_active_iterable_terms">(omni.isaac.lab.managers.ObservationManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.get_active_iterable_terms">(omni.isaac.lab.managers.RewardManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.get_active_iterable_terms">(omni.isaac.lab.managers.TerminationManager method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.get_all_matching_child_prims">get_all_matching_child_prims() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.html#omni.isaac.lab_tasks.utils.get_checkpoint_path">get_checkpoint_path() (in module omni.isaac.lab_tasks.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.get_command">get_command() (omni.isaac.lab.managers.CommandManager method)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info">get_env_info() (omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_env_info">(omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_lengths">get_episode_lengths() (omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper method)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_rewards">get_episode_rewards() (omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.get_first_matching_child_prim">get_first_matching_child_prim() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents">get_number_of_agents() (omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_number_of_agents">(omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.get_observations">get_observations() (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.get_setting">get_setting() (omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.get_state">get_state() (omni.isaac.lab.scene.InteractiveScene method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.get_term">get_term() (omni.isaac.lab.managers.ActionManager method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.get_term">(omni.isaac.lab.managers.CommandManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.get_term">(omni.isaac.lab.managers.TerminationManager method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.get_term_cfg">get_term_cfg() (omni.isaac.lab.managers.EventManager method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.get_term_cfg">(omni.isaac.lab.managers.RewardManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.get_term_cfg">(omni.isaac.lab.managers.TerminationManager method)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.get_timer_info">get_timer_info() (omni.isaac.lab.utils.timer.Timer static method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.get_version">get_version() (omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.get_wrapper_attr">get_wrapper_attr() (omni.isaac.lab.envs.DirectMARLEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.get_wrapper_attr">(omni.isaac.lab.envs.DirectRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.get_wrapper_attr">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_color">glass_color (omni.isaac.lab.sim.spawners.materials.GlassMdlCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_ior">glass_ior (omni.isaac.lab.sim.spawners.materials.GlassMdlCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg">GlassMdlCfg (class in omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg">goal_pose_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.goal_pose_visualizer_cfg">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.goal_pose_visualizer_cfg">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.goal_vel_visualizer_cfg">goal_vel_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.goal_vel_visualizer_cfg">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_collision_stack_size">gpu_collision_stack_size (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity">gpu_found_lost_aggregate_pairs_capacity (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity">gpu_found_lost_pairs_capacity (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_heap_capacity">gpu_heap_capacity (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions">gpu_max_num_partitions (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_max_particle_contacts">gpu_max_particle_contacts (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_contact_count">gpu_max_rigid_contact_count (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_patch_count">gpu_max_rigid_patch_count (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_max_soft_body_contacts">gpu_max_soft_body_contacts (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_temp_buffer_capacity">gpu_temp_buffer_capacity (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_total_aggregate_pairs_capacity">gpu_total_aggregate_pairs_capacity (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.gravity">gravity (omni.isaac.lab.sim.SimulationCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.gravity_bias">gravity_bias (omni.isaac.lab.sensors.ImuCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.gravity_compensation">gravity_compensation (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_height_range">grid_height_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.grid_pattern">grid_pattern() (in module omni.isaac.lab.sensors.patterns)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width">grid_width (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.GridPatternCfg">GridPatternCfg (class in omni.isaac.lab.sensors.patterns)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg">GroundPlaneCfg (class in omni.isaac.lab.sim.spawners.from_files)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.group_obs_concatenate">group_obs_concatenate (omni.isaac.lab.managers.ObservationManager property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.group_obs_dim">group_obs_dim (omni.isaac.lab.managers.ObservationManager property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.group_obs_term_dim">group_obs_term_dim (omni.isaac.lab.managers.ObservationManager property)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="H">H</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.has_debug_vis_implementation">has_debug_vis_implementation (omni.isaac.lab.assets.Articulation property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.has_debug_vis_implementation">(omni.isaac.lab.assets.AssetBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.has_debug_vis_implementation">(omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.has_debug_vis_implementation">(omni.isaac.lab.assets.RigidObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.has_debug_vis_implementation">(omni.isaac.lab.assets.RigidObjectCollection property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.has_debug_vis_implementation">(omni.isaac.lab.managers.ActionManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.has_debug_vis_implementation">(omni.isaac.lab.managers.ActionTerm property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.has_debug_vis_implementation">(omni.isaac.lab.managers.CommandManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm.has_debug_vis_implementation">(omni.isaac.lab.managers.CommandTerm property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.has_debug_vis_implementation">(omni.isaac.lab.sensors.Camera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.has_debug_vis_implementation">(omni.isaac.lab.sensors.ContactSensor property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.has_debug_vis_implementation">(omni.isaac.lab.sensors.FrameTransformer property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.has_debug_vis_implementation">(omni.isaac.lab.sensors.Imu property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.has_debug_vis_implementation">(omni.isaac.lab.sensors.RayCaster property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.has_debug_vis_implementation">(omni.isaac.lab.sensors.RayCasterCamera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.has_debug_vis_implementation">(omni.isaac.lab.sensors.SensorBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.has_debug_vis_implementation">(omni.isaac.lab.sensors.TiledCamera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation">(omni.isaac.lab.terrains.TerrainImporter property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.has_gui">has_gui() (omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.has_rtx_sensors">has_rtx_sensors() (omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.has_wrapper_attr">has_wrapper_attr() (omni.isaac.lab.envs.DirectMARLEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.has_wrapper_attr">(omni.isaac.lab.envs.DirectRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.has_wrapper_attr">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading">heading (omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.heading">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command">heading_command (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_control_stiffness">heading_control_stiffness (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_control_stiffness">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.heading_w">heading_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.heading_w">(omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.heading_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.height">height (omni.isaac.lab.sensors.CameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.height">(omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.height">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.height">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.height">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.height">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.height">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.height">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.height">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.height">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.height">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.height">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.height_scan">height_scan() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg">HfDiscreteObstaclesTerrainCfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg">HfInvertedPyramidSlopedTerrainCfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg">HfInvertedPyramidStairsTerrainCfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg">HfPyramidSlopedTerrainCfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg">HfPyramidStairsTerrainCfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg">HfRandomUniformTerrainCfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg">HfSteppingStonesTerrainCfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg">HfTerrainBaseCfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg">HfWaveTerrainCfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationGroupCfg.history_length">history_length (omni.isaac.lab.managers.ObservationGroupCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg.history_length">(omni.isaac.lab.managers.ObservationTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.history_length">(omni.isaac.lab.sensors.CameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg.history_length">(omni.isaac.lab.sensors.ContactSensorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.history_length">(omni.isaac.lab.sensors.FrameTransformerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.history_length">(omni.isaac.lab.sensors.ImuCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.history_length">(omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.history_length">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBaseCfg.history_length">(omni.isaac.lab.sensors.SensorBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.history_length">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.history_length">(omni.isaac.lab.utils.buffers.DelayBuffer property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes">holes (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.holes_depth">holes_depth (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture">horizontal_aperture (omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture">(omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture_offset">horizontal_aperture_offset (omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture_offset">(omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture_offset">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov">horizontal_fov (omni.isaac.lab.sensors.patterns.BpearlPatternCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_fov_range">horizontal_fov_range (omni.isaac.lab.sensors.patterns.LidarPatternCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_res">horizontal_res (omni.isaac.lab.sensors.patterns.BpearlPatternCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_res">(omni.isaac.lab.sensors.patterns.LidarPatternCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.horizontal_scale">horizontal_scale (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.horizontal_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.horizontal_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.horizontal_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.horizontal_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.horizontal_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.horizontal_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.horizontal_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.horizontal_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale">(omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+</tr></table>
+
+<h2 id="I">I</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator">IdealPDActuator (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuatorCfg">IdealPDActuatorCfg (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method">ik_method (omni.isaac.lab.controllers.DifferentialIKControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params">ik_params (omni.isaac.lab.controllers.DifferentialIKControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.illegal_contact">illegal_contact() (in module omni.isaac.lab.envs.mdp.terminations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.image">image() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.image_features">image_features (class in omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.image_shape">image_shape (omni.isaac.lab.sensors.Camera property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData.image_shape">(omni.isaac.lab.sensors.CameraData attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.image_shape">(omni.isaac.lab.sensors.RayCasterCamera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.image_shape">(omni.isaac.lab.sensors.TiledCamera property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode">impedance_mode (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator">ImplicitActuator (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg">ImplicitActuatorCfg (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.import_ground_plane">import_ground_plane() (omni.isaac.lab.terrains.TerrainImporter method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor">import_inertia_tensor (omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.import_mesh">import_mesh() (omni.isaac.lab.terrains.TerrainImporter method)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.html#omni.isaac.lab_tasks.utils.import_packages">import_packages() (in module omni.isaac.lab_tasks.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.import_usd">import_usd() (omni.isaac.lab.terrains.TerrainImporter method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.improve_patch_friction">improve_patch_friction (omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu">Imu (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.imu_ang_vel">imu_ang_vel() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.imu_lin_acc">imu_lin_acc() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.imu_orientation">imu_orientation() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg">ImuCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.OffsetCfg">ImuCfg.OffsetCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.inertial_dynamics_decoupling">inertial_dynamics_decoupling (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData.info">info (omni.isaac.lab.sensors.CameraData attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.init_noise_std">init_noise_std (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.init_state">init_state (omni.isaac.lab.assets.ArticulationCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg.init_state">(omni.isaac.lab.assets.AssetBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg.init_state">(omni.isaac.lab.assets.DeformableObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.init_state">(omni.isaac.lab.assets.RigidObjectCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx">input_idx (omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order">input_order (omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.Integrator">Integrator (class in omni.isaac.lab.utils.modifiers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.IntegratorCfg">IntegratorCfg (class in omni.isaac.lab.utils.modifiers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.intensity">intensity (omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.intensity">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.intensity">(omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.intensity">(omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg.intensity">(omni.isaac.lab.sim.spawners.lights.LightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.intensity">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene">InteractiveScene (class in omni.isaac.lab.scene)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg">InteractiveSceneCfg (class in omni.isaac.lab.scene)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg.interval_range_s">interval_range_s (omni.isaac.lab.managers.EventTermCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData.intrinsic_matrices">intrinsic_matrices (omni.isaac.lab.sensors.CameraData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted">inverted (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain">inverted_pyramid_stairs_terrain() (in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.is_alive">is_alive() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.is_fabric_enabled">is_fabric_enabled() (omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.is_finite_horizon">is_finite_horizon (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.is_fixed_base">is_fixed_base (omni.isaac.lab.assets.Articulation property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg.is_global_time">is_global_time (omni.isaac.lab.managers.EventTermCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.is_identity_pose">is_identity_pose() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.is_initialized">is_initialized (omni.isaac.lab.assets.Articulation property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.is_initialized">(omni.isaac.lab.assets.AssetBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.is_initialized">(omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.is_initialized">(omni.isaac.lab.assets.RigidObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.is_initialized">(omni.isaac.lab.assets.RigidObjectCollection property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.is_initialized">(omni.isaac.lab.sensors.Camera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.is_initialized">(omni.isaac.lab.sensors.ContactSensor property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.is_initialized">(omni.isaac.lab.sensors.FrameTransformer property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.is_initialized">(omni.isaac.lab.sensors.Imu property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.is_initialized">(omni.isaac.lab.sensors.RayCaster property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.is_initialized">(omni.isaac.lab.sensors.RayCasterCamera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.is_initialized">(omni.isaac.lab.sensors.SensorBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.is_initialized">(omni.isaac.lab.sensors.TiledCamera property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.is_lambda_expression">is_lambda_expression() (in module omni.isaac.lab.utils.string)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.is_stopped">is_stopped() (omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.is_terminated">is_terminated() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.is_terminated_term">is_terminated_term (class in omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.is_vector_env">is_vector_env (omni.isaac.lab.envs.DirectRLEnv attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env">(omni.isaac.lab.envs.ManagerBasedRLEnv attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.is_visible">is_visible() (omni.isaac.lab.markers.VisualizationMarkers method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.ISAAC_NUCLEUS_DIR">ISAAC_NUCLEUS_DIR (in module omni.isaac.lab.utils.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.ISAACLAB_NUCLEUS_DIR">ISAACLAB_NUCLEUS_DIR (in module omni.isaac.lab.utils.assets)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="J">J</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_acc">joint_acc (omni.isaac.lab.assets.ArticulationData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_acc_l2">joint_acc_l2() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_damping">joint_damping (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1">joint_deviation_l1() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.joint_drive_props">joint_drive_props (omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.joint_drive_props">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.joint_drive_props">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit">joint_effort_out_of_limit() (in module omni.isaac.lab.envs.mdp.terminations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_effort_target">joint_effort_target (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions.joint_efforts">joint_efforts (omni.isaac.lab.utils.types.ArticulationActions attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.joint_ids">joint_ids (omni.isaac.lab.managers.SceneEntityCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.joint_indices">joint_indices (omni.isaac.lab.actuators.ActuatorBase property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices">(omni.isaac.lab.actuators.ActuatorNetLSTM property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices">(omni.isaac.lab.actuators.ActuatorNetMLP property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.joint_indices">(omni.isaac.lab.actuators.DCMotor property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.joint_indices">(omni.isaac.lab.actuators.DelayedPDActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.joint_indices">(omni.isaac.lab.actuators.IdealPDActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.joint_indices">(omni.isaac.lab.actuators.ImplicitActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices">(omni.isaac.lab.actuators.RemotizedPDActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions.joint_indices">(omni.isaac.lab.utils.types.ArticulationActions attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_limits">joint_limits (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.joint_names">joint_names (omni.isaac.lab.actuators.ActuatorBase property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.joint_names">(omni.isaac.lab.actuators.ActuatorNetLSTM property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.joint_names">(omni.isaac.lab.actuators.ActuatorNetMLP property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.joint_names">(omni.isaac.lab.actuators.DCMotor property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.joint_names">(omni.isaac.lab.actuators.DelayedPDActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.joint_names">(omni.isaac.lab.actuators.IdealPDActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.joint_names">(omni.isaac.lab.actuators.ImplicitActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.joint_names">(omni.isaac.lab.actuators.RemotizedPDActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.joint_names">(omni.isaac.lab.assets.Articulation property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_names">(omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.joint_names">(omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.joint_names">(omni.isaac.lab.managers.SceneEntityCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr">joint_names_expr (omni.isaac.lab.actuators.ActuatorBaseCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr">(omni.isaac.lab.actuators.ActuatorNetLSTMCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr">(omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr">(omni.isaac.lab.actuators.DCMotorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr">(omni.isaac.lab.actuators.DelayedPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr">(omni.isaac.lab.actuators.IdealPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr">(omni.isaac.lab.actuators.ImplicitActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr">(omni.isaac.lab.actuators.RemotizedPDActuatorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup">joint_parameter_lookup (omni.isaac.lab.actuators.RemotizedPDActuatorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos">joint_pos (omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_pos">(omni.isaac.lab.assets.ArticulationData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.joint_pos">joint_pos() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized">joint_pos_limit_normalized() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_pos_limits">joint_pos_limits() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit">joint_pos_out_of_limit() (in module omni.isaac.lab.envs.mdp.terminations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit">joint_pos_out_of_manual_limit() (in module omni.isaac.lab.envs.mdp.terminations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.joint_pos_rel">joint_pos_rel() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_pos_target">joint_pos_target (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions.joint_positions">joint_positions (omni.isaac.lab.utils.types.ArticulationActions attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_stiffness">joint_stiffness (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_torques_l2">joint_torques_l2() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_vel">joint_vel (omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_vel">(omni.isaac.lab.assets.ArticulationData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.joint_vel">joint_vel() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_vel_l1">joint_vel_l1() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_vel_l2">joint_vel_l2() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.joint_vel_limits">joint_vel_limits() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit">joint_vel_out_of_limit() (in module omni.isaac.lab.envs.mdp.terminations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit">joint_vel_out_of_manual_limit() (in module omni.isaac.lab.envs.mdp.terminations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.joint_vel_rel">joint_vel_rel() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_vel_target">joint_vel_target (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions.joint_velocities">joint_velocities (omni.isaac.lab.utils.types.ArticulationActions attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_velocity_limits">joint_velocity_limits (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg">JointActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg">JointDrivePropertiesCfg (class in omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg">JointEffortActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg">JointPositionActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg">JointPositionToLimitsActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg">JointVelocityActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="K">K</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.keys">keys() (omni.isaac.lab.scene.InteractiveScene method)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.kinematic_enabled">kinematic_enabled (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled">(omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+</tr></table>
+
+<h2 id="L">L</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.lam">lam (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.last_action">last_action() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData.last_air_time">last_air_time (omni.isaac.lab.sensors.ContactSensorData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData.last_contact_time">last_contact_time (omni.isaac.lab.sensors.ContactSensorData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update">lazy_sensor_update (omni.isaac.lab.scene.InteractiveSceneCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.learning_rate">learning_rate (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.length">length (omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.lidar_pattern">lidar_pattern() (in module omni.isaac.lab.sensors.patterns)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.LidarPatternCfg">LidarPatternCfg (class in omni.isaac.lab.sensors.patterns)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg">LightCfg (class in omni.isaac.lab.sim.spawners.lights)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.limit_stiffness">limit_stiffness (omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.lin_vel">lin_vel (omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel">(omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_x">lin_vel_x (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_y">lin_vel_y (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges attribute)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2">lin_vel_z_l2() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.linear_damping">linear_damping (omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.interpolation.LinearInterpolation">LinearInterpolation (class in omni.isaac.lab.utils.interpolation)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density">link_density (omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.html#omni.isaac.lab_tasks.utils.load_cfg_from_registry">load_cfg_from_registry() (in module omni.isaac.lab_tasks.utils)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint">load_checkpoint (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.load_managers">load_managers() (omni.isaac.lab.envs.ManagerBasedEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.load_managers">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.io.load_pickle">load_pickle() (in module omni.isaac.lab.utils.io)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run">load_run (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.io.load_yaml">load_yaml() (in module omni.isaac.lab.utils.io)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera">lock_camera (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.logger">logger (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg.lookat">lookat (omni.isaac.lab.envs.ViewerCfg attribute)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="M">M</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable">make_instanceable (omni.isaac.lab.sim.converters.AssetConverterBaseCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable">(omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable">(omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique">make_quat_unique (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.make_uninstanceable">make_uninstanceable() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase">ManagerBase (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv">ManagerBasedEnv (class in omni.isaac.lab.envs)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg">ManagerBasedEnvCfg (class in omni.isaac.lab.envs)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv">ManagerBasedRLEnv (class in omni.isaac.lab.envs)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg">ManagerBasedRLEnvCfg (class in omni.isaac.lab.envs)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow">ManagerBasedRLEnvWindow (class in omni.isaac.lab.envs.ui)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBase">ManagerTermBase (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBaseCfg">ManagerTermBaseCfg (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg.markers">markers (omni.isaac.lab.markers.VisualizationMarkersCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass">mass (omni.isaac.lab.sim.schemas.MassPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props">mass_props (omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.mass_props">(omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.mass_props">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.mass_props">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.mass_props">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.mass_props">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.mass_props">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.mass_props">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.mass_props">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.mass_props">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.mass_props">(omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.mass_props">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.mass_props">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.mass_props">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.mass_props">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.mass_props">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.mass_props">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.mass_props">(omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.mass_props">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg">MassPropertiesCfg (class in omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.material_physx_view">material_physx_view (omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.matrix_from_euler">matrix_from_euler() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.matrix_from_quat">matrix_from_quat() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_angular_velocity">max_angular_velocity (omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.max_collision_elements_per_body">max_collision_elements_per_body (omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.max_collision_vertices_per_body">max_collision_vertices_per_body (omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse">max_contact_impulse (omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg.max_delay">max_delay (omni.isaac.lab.actuators.DelayedPDActuatorCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.max_delay">(omni.isaac.lab.actuators.RemotizedPDActuatorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.max_depenetration_velocity">max_depenetration_velocity (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_depenetration_velocity">(omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.max_distance">max_distance (omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.max_distance">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.max_episode_length">max_episode_length (omni.isaac.lab.envs.DirectMARLEnv property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.max_episode_length">(omni.isaac.lab.envs.DirectRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length">(omni.isaac.lab.envs.ManagerBasedRLEnv property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.max_episode_length_s">max_episode_length_s (omni.isaac.lab.envs.DirectMARLEnv property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.max_episode_length_s">(omni.isaac.lab.envs.DirectRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length_s">(omni.isaac.lab.envs.ManagerBasedRLEnv property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.max_grad_norm">max_grad_norm (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.max_height_noise">max_height_noise (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.max_height_noise">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.max_height_noise">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.max_height_noise">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level">max_init_terrain_level (omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.max_iterations">max_iterations (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.max_length">max_length (omni.isaac.lab.utils.buffers.CircularBuffer property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_linear_velocity">max_linear_velocity (omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.max_num_agents">max_num_agents (omni.isaac.lab.envs.DirectMARLEnv property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count">max_position_iteration_count (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.max_sim_elements_per_body">max_sim_elements_per_body (omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.max_sim_vertices_per_body">max_sim_vertices_per_body (omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag">max_time_lag (omni.isaac.lab.utils.buffers.DelayBuffer property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count">max_velocity_iteration_count (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle">max_yx_angle (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path">mdl_path (omni.isaac.lab.sim.spawners.materials.GlassMdlCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path">(omni.isaac.lab.sim.spawners.materials.MdlFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.MdlFileCfg">MdlFileCfg (class in omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean">mean (omni.isaac.lab.utils.noise.GaussianNoiseCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel">mean_vel (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.merge_fixed_joints">merge_fixed_joints (omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.merge_fixed_joints">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths">mesh_prim_paths (omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg">MeshBoxTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg">MeshCapsuleCfg (class in omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg">MeshCfg (class in omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg">MeshConeCfg (class in omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter">MeshConverter (class in omni.isaac.lab.sim.converters)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg">MeshConverterCfg (class in omni.isaac.lab.sim.converters)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg">MeshCuboidCfg (class in omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg">MeshCylinderCfg (class in omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.meshes">meshes (omni.isaac.lab.terrains.TerrainImporter attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg">MeshFloatingRingTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg">MeshGapTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg">MeshInvertedPyramidStairsTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg">MeshPitTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg">MeshPlaneTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg">MeshPyramidStairsTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg">MeshRailsTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg">MeshRandomGridTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg">MeshRepeatedBoxesTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg">MeshRepeatedBoxesTerrainCfg.ObjectCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg">MeshRepeatedCylindersTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg">MeshRepeatedCylindersTerrainCfg.ObjectCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg">MeshRepeatedObjectsTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg">MeshRepeatedObjectsTerrainCfg.ObjectCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg">MeshRepeatedPyramidsTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg">MeshRepeatedPyramidsTerrainCfg.ObjectCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg">MeshSphereCfg (class in omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg">MeshStarTerrainCfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.metadata">metadata (omni.isaac.lab.envs.DirectMARLEnv attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.metadata">(omni.isaac.lab.envs.DirectRLEnv attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.metadata">(omni.isaac.lab.envs.ManagerBasedRLEnv attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.metallic">metallic (omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg.min_delay">min_delay (omni.isaac.lab.actuators.DelayedPDActuatorCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.min_delay">(omni.isaac.lab.actuators.RemotizedPDActuatorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count">min_position_iteration_count (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg.min_step_count_between_reset">min_step_count_between_reset (omni.isaac.lab.managers.EventTermCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag">min_time_lag (omni.isaac.lab.utils.buffers.DelayBuffer property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.min_torsional_patch_radius">min_torsional_patch_radius (omni.isaac.lab.sim.schemas.CollisionPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count">min_velocity_iteration_count (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg.mode">mode (omni.isaac.lab.managers.EventTermCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierBase">ModifierBase (class in omni.isaac.lab.utils.modifiers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierCfg">ModifierCfg (class in omni.isaac.lab.utils.modifiers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg.modifiers">modifiers (omni.isaac.lab.managers.ObservationTermCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_articulation_root_properties">modify_articulation_root_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_collision_properties">modify_collision_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_deformable_body_properties">modify_deformable_body_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties">modify_fixed_tendon_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_joint_drive_properties">modify_joint_drive_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_mass_properties">modify_mass_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight">modify_reward_weight() (in module omni.isaac.lab.envs.mdp.curriculums)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.modify_rigid_body_properties">modify_rigid_body_properties() (in module omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li>
+    module
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#module-omni.isaac.lab.actuators">omni.isaac.lab.actuators</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.app.html#module-omni.isaac.lab.app">omni.isaac.lab.app</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#module-omni.isaac.lab.assets">omni.isaac.lab.assets</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.controllers.html#module-omni.isaac.lab.controllers">omni.isaac.lab.controllers</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#module-omni.isaac.lab.devices">omni.isaac.lab.devices</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#module-omni.isaac.lab.envs">omni.isaac.lab.envs</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp">omni.isaac.lab.envs.mdp</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.actions">omni.isaac.lab.envs.mdp.actions</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.actions.actions_cfg">omni.isaac.lab.envs.mdp.actions.actions_cfg</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.commands">omni.isaac.lab.envs.mdp.commands</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.commands.commands_cfg">omni.isaac.lab.envs.mdp.commands.commands_cfg</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.curriculums">omni.isaac.lab.envs.mdp.curriculums</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.events">omni.isaac.lab.envs.mdp.events</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.observations">omni.isaac.lab.envs.mdp.observations</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.rewards">omni.isaac.lab.envs.mdp.rewards</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.terminations">omni.isaac.lab.envs.mdp.terminations</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#module-omni.isaac.lab.envs.ui">omni.isaac.lab.envs.ui</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#module-omni.isaac.lab.managers">omni.isaac.lab.managers</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.markers.html#module-omni.isaac.lab.markers">omni.isaac.lab.markers</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#module-omni.isaac.lab.scene">omni.isaac.lab.scene</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#module-omni.isaac.lab.sensors">omni.isaac.lab.sensors</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#module-omni.isaac.lab.sensors.patterns">omni.isaac.lab.sensors.patterns</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.html#module-omni.isaac.lab.sim">omni.isaac.lab.sim</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#module-omni.isaac.lab.sim.converters">omni.isaac.lab.sim.converters</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#module-omni.isaac.lab.sim.schemas">omni.isaac.lab.sim.schemas</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners">omni.isaac.lab.sim.spawners</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.from_files">omni.isaac.lab.sim.spawners.from_files</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.lights">omni.isaac.lab.sim.spawners.lights</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.materials">omni.isaac.lab.sim.spawners.materials</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.meshes">omni.isaac.lab.sim.spawners.meshes</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.sensors">omni.isaac.lab.sim.spawners.sensors</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.shapes">omni.isaac.lab.sim.spawners.shapes</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.wrappers">omni.isaac.lab.sim.spawners.wrappers</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.html#module-omni.isaac.lab.sim.utils">omni.isaac.lab.sim.utils</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#module-omni.isaac.lab.terrains">omni.isaac.lab.terrains</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#module-omni.isaac.lab.terrains.height_field">omni.isaac.lab.terrains.height_field</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#module-omni.isaac.lab.terrains.trimesh">omni.isaac.lab.terrains.trimesh</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#module-omni.isaac.lab.terrains.utils">omni.isaac.lab.terrains.utils</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils">omni.isaac.lab.utils</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.array">omni.isaac.lab.utils.array</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.assets">omni.isaac.lab.utils.assets</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.buffers">omni.isaac.lab.utils.buffers</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass">omni.isaac.lab.utils.configclass</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.dict">omni.isaac.lab.utils.dict</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.interpolation">omni.isaac.lab.utils.interpolation</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.io">omni.isaac.lab.utils.io</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.math">omni.isaac.lab.utils.math</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.modifiers">omni.isaac.lab.utils.modifiers</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.noise">omni.isaac.lab.utils.noise</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.string">omni.isaac.lab.utils.string</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.timer">omni.isaac.lab.utils.timer</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.types">omni.isaac.lab.utils.types</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.warp">omni.isaac.lab.utils.warp</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.html#module-omni.isaac.lab_tasks.utils">omni.isaac.lab_tasks.utils</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#module-omni.isaac.lab_tasks.utils.data_collector">omni.isaac.lab_tasks.utils.data_collector</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers">omni.isaac.lab_tasks.utils.wrappers</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers.rl_games">omni.isaac.lab_tasks.utils.wrappers.rl_games</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers.rsl_rl">omni.isaac.lab_tasks.utils.wrappers.rsl_rl</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers.sb3">omni.isaac.lab_tasks.utils.wrappers.sb3</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers.skrl">omni.isaac.lab_tasks.utils.wrappers.skrl</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_control_axes_task">motion_control_axes_task (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_limits_task">motion_damping_ratio_limits_task (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_task">motion_damping_ratio_task (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_limits_task">motion_stiffness_limits_task (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_task">motion_stiffness_task (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg">MultiAssetSpawnerCfg (class in omni.isaac.lab.sim.spawners.wrappers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg">MultiUsdFileCfg (class in omni.isaac.lab.sim.spawners.wrappers)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="N">N</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.UniformNoiseCfg.n_max">n_max (omni.isaac.lab.utils.noise.UniformNoiseCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min">n_min (omni.isaac.lab.utils.noise.UniformNoiseCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.name">name (omni.isaac.lab.managers.SceneEntityCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name">(omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.neptune_project">neptune_project (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData.net_forces_w">net_forces_w (omni.isaac.lab.sensors.ContactSensorData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history">net_forces_w_history (omni.isaac.lab.sensors.ContactSensorData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.network_file">network_file (omni.isaac.lab.actuators.ActuatorNetLSTMCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.network_file">(omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING">NO_GUI_OR_RENDERING (omni.isaac.lab.sim.SimulationContext.RenderMode attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING">NO_RENDERING (omni.isaac.lab.sim.SimulationContext.RenderMode attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.nodal_kinematic_target">nodal_kinematic_target (omni.isaac.lab.assets.DeformableObjectData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.nodal_pos_w">nodal_pos_w (omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.nodal_state_w">nodal_state_w (omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.nodal_vel_w">nodal_vel_w (omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg.noise">noise (omni.isaac.lab.managers.ObservationTermCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelCfg.noise_cfg">noise_cfg (omni.isaac.lab.utils.noise.NoiseModelCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg">(omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range">noise_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_step">noise_step (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseCfg">NoiseCfg (class in omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModel">NoiseModel (class in omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelCfg">NoiseModelCfg (class in omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias">NoiseModelWithAdditiveBias (class in omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg">NoiseModelWithAdditiveBiasCfg (class in omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg">NonHolonomicActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize">normalize (omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize">(omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize">(omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg.normalize">(omni.isaac.lab.sim.spawners.lights.LightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.normalize">normalize() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg">NormalVelocityCommandCfg (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges">NormalVelocityCommandCfg.Ranges (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.np_random">np_random (omni.isaac.lab.envs.DirectMARLEnv property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.np_random">(omni.isaac.lab.envs.DirectRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random">(omni.isaac.lab.envs.ManagerBasedRLEnv property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.np_random_seed">np_random_seed (omni.isaac.lab.envs.DirectMARLEnv property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.np_random_seed">(omni.isaac.lab.envs.DirectRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random_seed">(omni.isaac.lab.envs.ManagerBasedRLEnv property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR">NUCLEUS_ASSET_ROOT_DIR (in module omni.isaac.lab.utils.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg">NullCommandCfg (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_control">nullspace_control (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_damping_ratio">nullspace_damping_ratio (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.nullspace_joint_pos_target">nullspace_joint_pos_target (omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_stiffness">nullspace_stiffness (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.num_actions">num_actions (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.num_actions">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.num_agents">num_agents (omni.isaac.lab.envs.DirectMARLEnv property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars">num_bars (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.num_bodies">num_bodies (omni.isaac.lab.assets.Articulation property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.num_bodies">(omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.num_bodies">(omni.isaac.lab.assets.RigidObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.num_bodies">(omni.isaac.lab.sensors.ContactSensor property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.num_cols">num_cols (omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.num_envs">num_envs (omni.isaac.lab.envs.DirectMARLEnv property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.num_envs">(omni.isaac.lab.envs.DirectRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.num_envs">(omni.isaac.lab.envs.ManagerBasedEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.num_envs">(omni.isaac.lab.envs.ManagerBasedRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.num_envs">(omni.isaac.lab.managers.ActionManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.num_envs">(omni.isaac.lab.managers.ActionTerm property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.num_envs">(omni.isaac.lab.managers.CurriculumManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.num_envs">(omni.isaac.lab.managers.EventManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.num_envs">(omni.isaac.lab.managers.ManagerBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBase.num_envs">(omni.isaac.lab.managers.ManagerTermBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.num_envs">(omni.isaac.lab.managers.ObservationManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.num_envs">(omni.isaac.lab.managers.RewardManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.num_envs">(omni.isaac.lab.managers.TerminationManager property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.num_envs">(omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg.num_envs">(omni.isaac.lab.scene.InteractiveSceneCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.num_envs">(omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.num_envs">(omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.num_fixed_tendons">num_fixed_tendons (omni.isaac.lab.assets.Articulation property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.num_instances">num_instances (omni.isaac.lab.assets.Articulation property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.num_instances">(omni.isaac.lab.assets.AssetBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.num_instances">(omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.num_instances">(omni.isaac.lab.assets.RigidObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.num_instances">(omni.isaac.lab.assets.RigidObjectCollection property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.num_instances">(omni.isaac.lab.sensors.Camera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.num_instances">(omni.isaac.lab.sensors.ContactSensor property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.num_instances">(omni.isaac.lab.sensors.FrameTransformer property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.num_instances">(omni.isaac.lab.sensors.Imu property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.num_instances">(omni.isaac.lab.sensors.RayCaster property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.num_instances">(omni.isaac.lab.sensors.RayCasterCamera property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.num_instances">(omni.isaac.lab.sensors.SensorBase property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.num_instances">(omni.isaac.lab.sensors.TiledCamera property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.num_joints">num_joints (omni.isaac.lab.actuators.ActuatorBase property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.num_joints">(omni.isaac.lab.actuators.ActuatorNetLSTM property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.num_joints">(omni.isaac.lab.actuators.ActuatorNetMLP property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.num_joints">(omni.isaac.lab.actuators.DCMotor property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.num_joints">(omni.isaac.lab.actuators.DelayedPDActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.num_joints">(omni.isaac.lab.actuators.IdealPDActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.num_joints">(omni.isaac.lab.actuators.ImplicitActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.num_joints">(omni.isaac.lab.actuators.RemotizedPDActuator property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.num_joints">(omni.isaac.lab.assets.Articulation property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_learning_epochs">num_learning_epochs (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_mini_batches">num_mini_batches (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.num_objects">num_objects (omni.isaac.lab.assets.RigidObjectCollection property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.num_observations">num_observations (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.num_observations">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.num_obstacles">num_obstacles (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.num_prototypes">num_prototypes (omni.isaac.lab.markers.VisualizationMarkers property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.num_rows">num_rows (omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.num_states">num_states (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.num_states">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.num_steps_per_env">num_steps_per_env (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.num_waves">num_waves (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR">NVIDIA_NUCLEUS_DIR (in module omni.isaac.lab.utils.assets)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="O">O</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_acc_w">object_acc_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_acc_w">object_ang_acc_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_b">object_ang_vel_b (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_w">object_ang_vel_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.object_collection_ids">object_collection_ids (omni.isaac.lab.managers.SceneEntityCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.object_collection_names">object_collection_names (omni.isaac.lab.managers.SceneEntityCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_b">object_com_ang_vel_b (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_w">object_com_ang_vel_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_b">object_com_lin_vel_b (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_w">object_com_lin_vel_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_pos_w">object_com_pos_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_quat_w">object_com_quat_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_state_w">object_com_state_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_vel_w">object_com_vel_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_acc_w">object_lin_acc_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_b">object_lin_vel_b (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_w">object_lin_vel_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_b">object_link_ang_vel_b (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_w">object_link_ang_vel_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_b">object_link_lin_vel_b (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_w">object_link_lin_vel_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_pos_w">object_link_pos_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_quat_w">object_link_quat_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_state_w">object_link_state_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_vel_w">object_link_vel_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.object_names">object_names (omni.isaac.lab.assets.RigidObjectCollection property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_names">(omni.isaac.lab.assets.RigidObjectCollectionData attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_end">object_params_end (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_end">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_end">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_end">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_start">object_params_start (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_start">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_start">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_start">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_pos_w">object_pos_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_quat_w">object_quat_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_state_w">object_state_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type">object_type (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.object_vel_w">object_vel_w (omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_noise_model">observation_noise_model (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.observation_space">observation_space (omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space">(omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper property)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.observation_space">observation_space() (omni.isaac.lab.envs.DirectMARLEnv method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_spaces">observation_spaces (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationGroupCfg">ObservationGroupCfg (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager">ObservationManager (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.observations">observations (omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg">ObservationTermCfg (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode">obstacle_height_mode (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_range">obstacle_height_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_width_range">obstacle_width_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.offset">offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.offset">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.offset">(omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset">(omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.offset">(omni.isaac.lab.sensors.CameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.offset">(omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.offset">(omni.isaac.lab.sensors.ImuCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.offset">(omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.offset">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.offset">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset">(omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.OffsetCfg">OffsetCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li>
+    omni.isaac.lab.actuators
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#module-omni.isaac.lab.actuators">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.app
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.app.html#module-omni.isaac.lab.app">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.assets
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#module-omni.isaac.lab.assets">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.controllers
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.controllers.html#module-omni.isaac.lab.controllers">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.devices
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#module-omni.isaac.lab.devices">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#module-omni.isaac.lab.envs">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.mdp
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.mdp.actions
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.actions">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.mdp.actions.actions_cfg
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.actions.actions_cfg">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.mdp.commands
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.commands">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.mdp.commands.commands_cfg
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.commands.commands_cfg">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.mdp.curriculums
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.curriculums">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.mdp.events
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.events">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.mdp.observations
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.observations">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.mdp.rewards
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.rewards">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.mdp.terminations
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.terminations">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.envs.ui
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#module-omni.isaac.lab.envs.ui">module</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li>
+    omni.isaac.lab.managers
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#module-omni.isaac.lab.managers">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.markers
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.markers.html#module-omni.isaac.lab.markers">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.scene
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#module-omni.isaac.lab.scene">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sensors
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#module-omni.isaac.lab.sensors">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sensors.patterns
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#module-omni.isaac.lab.sensors.patterns">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.html#module-omni.isaac.lab.sim">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.converters
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#module-omni.isaac.lab.sim.converters">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.schemas
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#module-omni.isaac.lab.sim.schemas">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.spawners
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.spawners.from_files
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.from_files">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.spawners.lights
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.lights">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.spawners.materials
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.materials">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.spawners.meshes
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.meshes">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.spawners.sensors
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.sensors">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.spawners.shapes
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.shapes">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.spawners.wrappers
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.wrappers">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.sim.utils
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.html#module-omni.isaac.lab.sim.utils">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.terrains
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#module-omni.isaac.lab.terrains">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.terrains.height_field
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#module-omni.isaac.lab.terrains.height_field">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.terrains.trimesh
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#module-omni.isaac.lab.terrains.trimesh">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.terrains.utils
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#module-omni.isaac.lab.terrains.utils">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.array
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.array">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.assets
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.assets">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.buffers
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.buffers">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.configclass
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.dict
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.dict">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.interpolation
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.interpolation">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.io
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.io">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.math
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.math">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.modifiers
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.modifiers">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.noise
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.noise">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.string
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.string">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.timer
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.timer">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.types
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.types">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab.utils.warp
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.warp">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab_tasks.utils
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.html#module-omni.isaac.lab_tasks.utils">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab_tasks.utils.data_collector
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#module-omni.isaac.lab_tasks.utils.data_collector">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab_tasks.utils.wrappers
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab_tasks.utils.wrappers.rl_games
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers.rl_games">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab_tasks.utils.wrappers.rsl_rl
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers.rsl_rl">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab_tasks.utils.wrappers.sb3
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers.sb3">module</a>
+</li>
+      </ul></li>
+      <li>
+    omni.isaac.lab_tasks.utils.wrappers.skrl
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers.skrl">module</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity">opacity (omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.open_command_expr">open_command_expr (omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.open_command_expr">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.open_command_expr">(omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.ConstantNoiseCfg.operation">operation (omni.isaac.lab.utils.noise.ConstantNoiseCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.GaussianNoiseCfg.operation">(omni.isaac.lab.utils.noise.GaussianNoiseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseCfg.operation">(omni.isaac.lab.utils.noise.NoiseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.UniformNoiseCfg.operation">(omni.isaac.lab.utils.noise.UniformNoiseCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController">OperationalSpaceController (class in omni.isaac.lab.controllers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg">OperationalSpaceControllerActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg">OperationalSpaceControllerActionCfg.OffsetCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg">OperationalSpaceControllerCfg (class in omni.isaac.lab.controllers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering">ordering (omni.isaac.lab.sensors.patterns.GridPatternCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.orientation_scale">orientation_scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg.origin_type">origin_type (omni.isaac.lab.envs.ViewerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.orthogonalize_perspective_depth">orthogonalize_perspective_depth() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData.output">output (omni.isaac.lab.sensors.CameraData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics">override_joint_dynamics (omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.override_joint_dynamics">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+</tr></table>
+
+<h2 id="P">P</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumTermCfg.params">params (omni.isaac.lab.managers.CurriculumTermCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg.params">(omni.isaac.lab.managers.EventTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBaseCfg.params">(omni.isaac.lab.managers.ManagerTermBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg.params">(omni.isaac.lab.managers.ObservationTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationTermCfg.params">(omni.isaac.lab.managers.TerminationTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.params">(omni.isaac.lab.utils.modifiers.DigitalFilterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.IntegratorCfg.params">(omni.isaac.lab.utils.modifiers.IntegratorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierCfg.params">(omni.isaac.lab.utils.modifiers.ModifierCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.html#omni.isaac.lab_tasks.utils.parse_env_cfg">parse_env_cfg() (in module omni.isaac.lab_tasks.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.partial_inertial_dynamics_decoupling">partial_inertial_dynamics_decoupling (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING">PARTIAL_RENDERING (omni.isaac.lab.sim.SimulationContext.RenderMode attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.pattern_cfg">pattern_cfg (omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.pattern_cfg">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PatternBaseCfg">PatternBaseCfg (class in omni.isaac.lab.sensors.patterns)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.physics_dt">physics_dt (omni.isaac.lab.envs.DirectMARLEnv property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.physics_dt">(omni.isaac.lab.envs.DirectRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.physics_dt">(omni.isaac.lab.envs.ManagerBasedEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt">(omni.isaac.lab.envs.ManagerBasedRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.physics_dt">(omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.physics_material">physics_material (omni.isaac.lab.sim.SimulationCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.physics_material">(omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.physics_material">(omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material_path">physics_material_path (omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.physics_prim_path">physics_prim_path (omni.isaac.lab.sim.SimulationCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.physics_scene_path">physics_scene_path (omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg">PhysicsMaterialCfg (class in omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.physx">physx (omni.isaac.lab.sim.SimulationCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg">PhysxCfg (class in omni.isaac.lab.sim)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.pinhole_camera_pattern">pinhole_camera_pattern() (in module omni.isaac.lab.sensors.patterns)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg">PinholeCameraCfg (class in omni.isaac.lab.sim.spawners.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg">PinholeCameraPatternCfg (class in omni.isaac.lab.sensors.patterns)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range">pit_depth_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain">pit_terrain() (in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pitch">pitch (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.platform_width">platform_width (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.platform_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.platform_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.platform_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.platform_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.platform_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.platform_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.poissons_ratio">poissons_ratio (omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.policy">policy (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.pos">pos (omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos">(omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.pos">(omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.pos">(omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos">(omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.pos">(omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos">(omni.isaac.lab.sensors.CameraCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.OffsetCfg.pos">(omni.isaac.lab.sensors.ImuCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.OffsetCfg.pos">(omni.isaac.lab.sensors.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos">(omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos">(omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos">(omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.pos_scale">pos_scale (omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData.pos_w">pos_w (omni.isaac.lab.sensors.CameraData attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData.pos_w">(omni.isaac.lab.sensors.ContactSensorData attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterData.pos_w">(omni.isaac.lab.sensors.RayCasterData attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x">pos_x (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_x">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_y">pos_y (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_y">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_z">pos_z (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.position_scale">position_scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.possible_agents">possible_agents (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.preserve_order">preserve_order (omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.preserve_order">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.preserve_order">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.preserve_order">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.preserve_order">(omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.preserve_order">(omni.isaac.lab.managers.SceneEntityCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.prev_action">prev_action (omni.isaac.lab.managers.ActionManager property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg">PreviewSurfaceCfg (class in omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.prim_path">prim_path (omni.isaac.lab.assets.ArticulationCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg.prim_path">(omni.isaac.lab.assets.AssetBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg.prim_path">(omni.isaac.lab.assets.DeformableObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.prim_path">(omni.isaac.lab.assets.RigidObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path">(omni.isaac.lab.markers.VisualizationMarkersCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.prim_path">(omni.isaac.lab.sensors.CameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg.prim_path">(omni.isaac.lab.sensors.ContactSensorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.prim_path">(omni.isaac.lab.sensors.FrameTransformerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path">(omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.prim_path">(omni.isaac.lab.sensors.ImuCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path">(omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.prim_path">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBaseCfg.prim_path">(omni.isaac.lab.sensors.SensorBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.prim_path">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.prim_path">(omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.prim_type">prim_type (omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type">(omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type">(omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type">(omni.isaac.lab.sim.spawners.lights.LightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.prim_type">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.print_dict">print_dict() (in module omni.isaac.lab.utils.dict)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.process_action">process_action() (omni.isaac.lab.managers.ActionManager method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.process_actions">process_actions() (omni.isaac.lab.managers.ActionTerm method)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg">process_sb3_cfg() (in module omni.isaac.lab_tasks.utils.wrappers.sb3)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.processed_actions">processed_actions (omni.isaac.lab.managers.ActionTerm property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.project_points">project_points() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw">project_uvw (omni.isaac.lab.sim.spawners.materials.MdlFileCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.projected_gravity">projected_gravity() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.projected_gravity_b">projected_gravity_b (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.projected_gravity_b">(omni.isaac.lab.assets.RigidObjectCollectionData property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.projected_gravity_b">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type">projection_type (omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion">proportion (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion">(omni.isaac.lab.terrains.SubTerrainBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.push_by_setting_velocity">push_by_setting_velocity() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain">pyramid_sloped_terrain() (in module omni.isaac.lab.terrains.height_field.hf_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain">pyramid_stairs_terrain() (in module omni.isaac.lab.terrains.height_field.hf_terrains)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain">(in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      </ul></li>
+  </ul></td>
+</tr></table>
+
+<h2 id="Q">Q</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_apply">quat_apply() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_apply_yaw">quat_apply_yaw() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_box_minus">quat_box_minus() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_conjugate">quat_conjugate() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_error_magnitude">quat_error_magnitude() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_from_angle_axis">quat_from_angle_axis() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_from_euler_xyz">quat_from_euler_xyz() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_from_matrix">quat_from_matrix() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_inv">quat_inv() (in module omni.isaac.lab.utils.math)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_mul">quat_mul() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_rotate">quat_rotate() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_rotate_inverse">quat_rotate_inverse() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_unique">quat_unique() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData.quat_w">quat_w (omni.isaac.lab.sensors.ContactSensorData attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterData.quat_w">(omni.isaac.lab.sensors.RayCasterData attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData.quat_w_opengl">quat_w_opengl (omni.isaac.lab.sensors.CameraData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData.quat_w_ros">quat_w_ros (omni.isaac.lab.sensors.CameraData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData.quat_w_world">quat_w_world (omni.isaac.lab.sensors.CameraData attribute)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="R">R</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.radius">radius (omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.radius">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.radius">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.radius">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.radius">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.radius">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.radius">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.radius">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.radius">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_height_range">rail_height_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range">rail_thickness_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain">rails_terrain() (in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice">random_choice (omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.random_choice">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain">random_grid_terrain() (in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.random_orientation">random_orientation() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain">random_uniform_terrain() (in module omni.isaac.lab.terrains.height_field.hf_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.random_yaw_orientation">random_yaw_orientation() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_actuator_gains">randomize_actuator_gains() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters">randomize_fixed_tendon_parameters() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_joint_parameters">randomize_joint_parameters() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity">randomize_physics_scene_gravity() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass">randomize_rigid_body_mass() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material">randomize_rigid_body_material (class in omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.ranges">ranges (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.ranges">(omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.ranges">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.ranges">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.ranges">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.raw_actions">raw_actions (omni.isaac.lab.managers.ActionTerm property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterData.ray_hits_w">ray_hits_w (omni.isaac.lab.sensors.RayCasterData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.warp.raycast_mesh">raycast_mesh() (in module omni.isaac.lab.utils.warp)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster">RayCaster (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera">RayCasterCamera (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg">RayCasterCameraCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg">RayCasterCameraCfg.OffsetCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg">RayCasterCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg">RayCasterCfg.OffsetCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterData">RayCasterData (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.read_file">read_file() (in module omni.isaac.lab.utils.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.recorders">recorders (omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.recorders">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_heading_envs">rel_heading_envs (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_heading_envs">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_standing_envs">rel_standing_envs (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_standing_envs">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg">RelativeJointPositionActionCfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator">RemotizedPDActuator (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg">RemotizedPDActuatorCfg (class in omni.isaac.lab.actuators)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.render">render (omni.isaac.lab.sim.SimulationCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.render">render() (omni.isaac.lab.envs.DirectMARLEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.render">(omni.isaac.lab.envs.DirectRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.render">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.render">(omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.render_interval">render_interval (omni.isaac.lab.sim.SimulationCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode">render_mode (omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper property)</a>
+
+      <ul>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.render_product_paths">render_product_paths (omni.isaac.lab.sensors.Camera property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.render_product_paths">(omni.isaac.lab.sensors.TiledCamera property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg">RenderCfg (class in omni.isaac.lab.sim)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain">repeated_objects_terrain() (in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.replace_slices_with_strings">replace_slices_with_strings() (in module omni.isaac.lab.utils.dict)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.replace_strings_with_slices">replace_strings_with_slices() (in module omni.isaac.lab.utils.dict)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics">replicate_physics (omni.isaac.lab.scene.InteractiveSceneCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.rerender_on_reset">rerender_on_reset (omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.rerender_on_reset">(omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rerender_on_reset">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.resampling_time_range">resampling_time_range (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.resampling_time_range">(omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range">(omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.resampling_time_range">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.resampling_time_range">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTermCfg.resampling_time_range">(omni.isaac.lab.managers.CommandTermCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits">rescale_to_limits (omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.reset">reset() (omni.isaac.lab.actuators.ActuatorBase method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.reset">(omni.isaac.lab.actuators.ActuatorNetLSTM method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.reset">(omni.isaac.lab.actuators.ActuatorNetMLP method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.reset">(omni.isaac.lab.actuators.DCMotor method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.reset">(omni.isaac.lab.actuators.DelayedPDActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.reset">(omni.isaac.lab.actuators.IdealPDActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.reset">(omni.isaac.lab.actuators.ImplicitActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.reset">(omni.isaac.lab.actuators.RemotizedPDActuator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.reset">(omni.isaac.lab.assets.Articulation method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.reset">(omni.isaac.lab.assets.AssetBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.reset">(omni.isaac.lab.assets.DeformableObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.reset">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.reset">(omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.reset">(omni.isaac.lab.controllers.DifferentialIKController method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController.reset">(omni.isaac.lab.controllers.OperationalSpaceController method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.DeviceBase.reset">(omni.isaac.lab.devices.DeviceBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Gamepad.reset">(omni.isaac.lab.devices.Se2Gamepad method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Keyboard.reset">(omni.isaac.lab.devices.Se2Keyboard method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2SpaceMouse.reset">(omni.isaac.lab.devices.Se2SpaceMouse method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Gamepad.reset">(omni.isaac.lab.devices.Se3Gamepad method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Keyboard.reset">(omni.isaac.lab.devices.Se3Keyboard method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3SpaceMouse.reset">(omni.isaac.lab.devices.Se3SpaceMouse method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.reset">(omni.isaac.lab.envs.DirectMARLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.reset">(omni.isaac.lab.envs.DirectRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.reset">(omni.isaac.lab.envs.ManagerBasedEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.reset">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.image_features.reset">(omni.isaac.lab.envs.mdp.observations.image_features method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.reset">(omni.isaac.lab.managers.ActionManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.reset">(omni.isaac.lab.managers.ActionTerm method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.reset">(omni.isaac.lab.managers.CommandManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm.reset">(omni.isaac.lab.managers.CommandTerm method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager.reset">(omni.isaac.lab.managers.CurriculumManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.reset">(omni.isaac.lab.managers.EventManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase.reset">(omni.isaac.lab.managers.ManagerBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBase.reset">(omni.isaac.lab.managers.ManagerTermBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager.reset">(omni.isaac.lab.managers.ObservationManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.reset">(omni.isaac.lab.managers.RewardManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.reset">(omni.isaac.lab.managers.TerminationManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.reset">(omni.isaac.lab.scene.InteractiveScene method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.reset">(omni.isaac.lab.sensors.Camera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.reset">(omni.isaac.lab.sensors.ContactSensor method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.reset">(omni.isaac.lab.sensors.FrameTransformer method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.reset">(omni.isaac.lab.sensors.Imu method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.reset">(omni.isaac.lab.sensors.RayCaster method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.reset">(omni.isaac.lab.sensors.RayCasterCamera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.reset">(omni.isaac.lab.sensors.SensorBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.reset">(omni.isaac.lab.sensors.TiledCamera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer.reset">(omni.isaac.lab.utils.buffers.CircularBuffer method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.reset">(omni.isaac.lab.utils.buffers.DelayBuffer method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.DigitalFilter.reset">(omni.isaac.lab.utils.modifiers.DigitalFilter method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.Integrator.reset">(omni.isaac.lab.utils.modifiers.Integrator method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierBase.reset">(omni.isaac.lab.utils.modifiers.ModifierBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModel.reset">(omni.isaac.lab.utils.noise.NoiseModel method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.reset">(omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias method)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.reset">(omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_joints_by_offset">reset_joints_by_offset() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_joints_by_scale">reset_joints_by_scale() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_nodal_state_uniform">reset_nodal_state_uniform() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain">reset_root_state_from_terrain() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_root_state_uniform">reset_root_state_uniform() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation">reset_root_state_with_random_orientation() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_scene_to_default">reset_scene_to_default() (in module omni.isaac.lab.envs.mdp.events)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.reset_to">reset_to() (omni.isaac.lab.envs.ManagerBasedEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.reset_to">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.reset_to">(omni.isaac.lab.scene.InteractiveScene method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.reshape_data_to_view">reshape_data_to_view() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.reshape_view_to_data">reshape_view_to_data() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg.resolution">resolution (omni.isaac.lab.envs.ViewerCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution">(omni.isaac.lab.sensors.patterns.GridPatternCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg.resolve">resolve() (omni.isaac.lab.managers.SceneEntityCfg method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.resolve_matching_names">resolve_matching_names() (in module omni.isaac.lab.utils.string)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.resolve_matching_names_values">resolve_matching_names_values() (in module omni.isaac.lab.utils.string)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.rest_length">rest_length (omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset">rest_offset (omni.isaac.lab.sim.schemas.CollisionPropertiesCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.rest_offset">(omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution">restitution (omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode">restitution_combine_mode (omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.resume">resume (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.retain_accelerations">retain_accelerations (omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.retrieve_file_path">retrieve_file_path() (in module omni.isaac.lab.utils.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose">return_latest_camera_pose (omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager">RewardManager (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards">rewards (omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardTermCfg">RewardTermCfg (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled">rigid_body_enabled (omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.rigid_object_collections">rigid_object_collections (omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects">rigid_objects (omni.isaac.lab.assets.RigidObjectCollectionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.rigid_objects">(omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props">rigid_props (omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.rigid_props">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.rigid_props">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.rigid_props">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.rigid_props">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.rigid_props">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.rigid_props">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props">(omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.rigid_props">(omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.rigid_props">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg">RigidBodyMaterialCfg (class in omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg">RigidBodyPropertiesCfg (class in omni.isaac.lab.sim.schemas)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject">RigidObject (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg">RigidObjectCfg (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg">RigidObjectCfg.InitialStateCfg (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection">RigidObjectCollection (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionCfg">RigidObjectCollectionCfg (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData">RigidObjectCollectionData (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData">RigidObjectData (class in omni.isaac.lab.assets)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg">RigidObjectSpawnerCfg (class in omni.isaac.lab.sim.spawners)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_height_range">ring_height_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_thickness">ring_thickness (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range">ring_width_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv">RlGamesGpuEnv (class in omni.isaac.lab_tasks.utils.wrappers.rl_games)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper">RlGamesVecEnvWrapper (class in omni.isaac.lab_tasks.utils.wrappers.rl_games)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector">RobomimicDataCollector (class in omni.isaac.lab_tasks.utils.data_collector)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.roll">roll (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_ang_vel_b">root_ang_vel_b (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_ang_vel_b">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_ang_vel_w">root_ang_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_ang_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.root_ang_vel_w">root_ang_vel_w() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_b">root_com_ang_vel_b (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_b">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_w">root_com_ang_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_b">root_com_lin_vel_b (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_b">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_w">root_com_lin_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_com_pos_w">root_com_pos_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_com_pos_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_com_quat_w">root_com_quat_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_com_quat_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_com_state_w">root_com_state_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_com_state_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_com_vel_w">root_com_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_com_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum">root_height_below_minimum() (in module omni.isaac.lab.envs.mdp.terminations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_lin_vel_b">root_lin_vel_b (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_lin_vel_b">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_lin_vel_w">root_lin_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_lin_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.root_lin_vel_w">root_lin_vel_w() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_b">root_link_ang_vel_b (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_b">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_w">root_link_ang_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_b">root_link_lin_vel_b (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_b">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_w">root_link_lin_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_link_pos_w">root_link_pos_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_link_pos_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_link_quat_w">root_link_quat_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_link_quat_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_link_state_w">root_link_state_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_link_state_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_link_vel_w">root_link_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_link_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.root_physx_view">root_physx_view (omni.isaac.lab.assets.Articulation property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.root_physx_view">(omni.isaac.lab.assets.DeformableObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.root_physx_view">(omni.isaac.lab.assets.RigidObject property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view">(omni.isaac.lab.assets.RigidObjectCollection property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_pos_w">root_pos_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.root_pos_w">(omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_pos_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.root_pos_w">root_pos_w() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_quat_w">root_quat_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_quat_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.observations.root_quat_w">root_quat_w() (in module omni.isaac.lab.envs.mdp.observations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_state_w">root_state_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_state_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.root_vel_w">root_vel_w (omni.isaac.lab.assets.ArticulationData property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.root_vel_w">(omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.root_vel_w">(omni.isaac.lab.assets.RigidObjectData property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.rot">rot (omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.rot">(omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.rot">(omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.rot">(omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.rot">(omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.rot">(omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.rot">(omni.isaac.lab.sensors.CameraCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.OffsetCfg.rot">(omni.isaac.lab.sensors.ImuCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.OffsetCfg.rot">(omni.isaac.lab.sensors.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.rot">(omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.rot">(omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.rot">(omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.rotation">rotation (omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.roughness">roughness (omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg">RslRlOnPolicyRunnerCfg (class in omni.isaac.lab_tasks.utils.wrappers.rsl_rl)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg">RslRlPpoActorCriticCfg (class in omni.isaac.lab_tasks.utils.wrappers.rsl_rl)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg">RslRlPpoAlgorithmCfg (class in omni.isaac.lab_tasks.utils.wrappers.rsl_rl)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper">RslRlVecEnvWrapper (class in omni.isaac.lab_tasks.utils.wrappers.rsl_rl)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name">run_name (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="S">S</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim">safe_set_attribute_on_usd_prim() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema">safe_set_attribute_on_usd_schema() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.sample_cylinder">sample_cylinder() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.sample_gaussian">sample_gaussian() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.sample_log_uniform">sample_log_uniform() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.sample_triangle">sample_triangle() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.sample_uniform">sample_uniform() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg.samples_per_pixel">samples_per_pixel (omni.isaac.lab.sim.RenderCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.saturate">saturate() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.saturation_effort">saturation_effort (omni.isaac.lab.actuators.ActuatorNetLSTMCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.saturation_effort">(omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotorCfg.saturation_effort">(omni.isaac.lab.actuators.DCMotorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.save_interval">save_interval (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper">Sb3VecEnvWrapper (class in omni.isaac.lab_tasks.utils.wrappers.sb3)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.scale">scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.scale">(omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.scale">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.scale">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.scale">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.scale">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.scale">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.scale">(omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.scale">(omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg.scale">(omni.isaac.lab.managers.ObservationTermCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.scale">(omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.scale">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.scale">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.scale">scale() (in module omni.isaac.lab.utils.modifiers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.scale_transform">scale_transform() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.scene">scene (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.scene">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.scene">(omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg">SceneEntityCfg (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.schedule">schedule (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Gamepad">Se2Gamepad (class in omni.isaac.lab.devices)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2Keyboard">Se2Keyboard (class in omni.isaac.lab.devices)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se2SpaceMouse">Se2SpaceMouse (class in omni.isaac.lab.devices)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Gamepad">Se3Gamepad (class in omni.isaac.lab.devices)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3Keyboard">Se3Keyboard (class in omni.isaac.lab.devices)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.devices.html#omni.isaac.lab.devices.Se3SpaceMouse">Se3SpaceMouse (class in omni.isaac.lab.devices)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.seed">seed (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.seed">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.seed">(omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.seed">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.seed">(omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.seed">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.seed">seed() (omni.isaac.lab.envs.DirectMARLEnv static method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.seed">(omni.isaac.lab.envs.DirectRLEnv static method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.seed">(omni.isaac.lab.envs.ManagerBasedEnv static method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.seed">(omni.isaac.lab.envs.ManagerBasedRLEnv static method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.select_usd_variants">select_usd_variants() (in module omni.isaac.lab.sim.utils)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.self_collision">self_collision (omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision">(omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.self_collision">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision_filter_distance">self_collision_filter_distance (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.semantic_filter">semantic_filter (omni.isaac.lab.sensors.CameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.semantic_filter">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.semantic_tags">semantic_tags (omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags">(omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags">(omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags">(omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags">(omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags">(omni.isaac.lab.sim.spawners.lights.LightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.semantic_tags">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.semantic_tags">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.semantic_tags">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.semantic_tags">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.semantic_tags">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.semantic_tags">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags">(omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags">(omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags">(omni.isaac.lab.sim.spawners.SpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.semantic_tags">(omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.semantic_tags">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase">SensorBase (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBaseCfg">SensorBaseCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.sensors">sensors (omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.set_camera_view">set_camera_view() (omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.set_command">set_command() (omni.isaac.lab.controllers.DifferentialIKController method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController.set_command">(omni.isaac.lab.controllers.OperationalSpaceController method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_debug_vis">set_debug_vis() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.set_debug_vis">(omni.isaac.lab.assets.AssetBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.set_debug_vis">(omni.isaac.lab.assets.DeformableObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.set_debug_vis">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.set_debug_vis">(omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.set_debug_vis">(omni.isaac.lab.envs.DirectMARLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.set_debug_vis">(omni.isaac.lab.envs.DirectRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.set_debug_vis">(omni.isaac.lab.managers.ActionManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm.set_debug_vis">(omni.isaac.lab.managers.ActionTerm method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager.set_debug_vis">(omni.isaac.lab.managers.CommandManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm.set_debug_vis">(omni.isaac.lab.managers.CommandTerm method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.set_debug_vis">(omni.isaac.lab.sensors.Camera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor.set_debug_vis">(omni.isaac.lab.sensors.ContactSensor method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer.set_debug_vis">(omni.isaac.lab.sensors.FrameTransformer method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu.set_debug_vis">(omni.isaac.lab.sensors.Imu method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster.set_debug_vis">(omni.isaac.lab.sensors.RayCaster method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.set_debug_vis">(omni.isaac.lab.sensors.RayCasterCamera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase.set_debug_vis">(omni.isaac.lab.sensors.SensorBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.set_debug_vis">(omni.isaac.lab.sensors.TiledCamera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.set_debug_vis">(omni.isaac.lab.terrains.TerrainImporter method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_external_force_and_torque">set_external_force_and_torque() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.set_external_force_and_torque">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.set_external_force_and_torque">(omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_damping">set_fixed_tendon_damping() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit">set_fixed_tendon_limit() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit_stiffness">set_fixed_tendon_limit_stiffness() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_offset">set_fixed_tendon_offset() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_rest_length">set_fixed_tendon_rest_length() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_fixed_tendon_stiffness">set_fixed_tendon_stiffness() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.set_intrinsic_matrices">set_intrinsic_matrices() (omni.isaac.lab.sensors.Camera method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices">(omni.isaac.lab.sensors.RayCasterCamera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.set_intrinsic_matrices">(omni.isaac.lab.sensors.TiledCamera method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_joint_effort_target">set_joint_effort_target() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_joint_position_target">set_joint_position_target() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_joint_velocity_target">set_joint_velocity_target() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.set_render_mode">set_render_mode() (omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.set_setting">set_setting() (omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.set_term_cfg">set_term_cfg() (omni.isaac.lab.managers.EventManager method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager.set_term_cfg">(omni.isaac.lab.managers.RewardManager method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.set_term_cfg">(omni.isaac.lab.managers.TerminationManager method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.set_time_lag">set_time_lag() (omni.isaac.lab.utils.buffers.DelayBuffer method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.set_view_env_index">set_view_env_index() (omni.isaac.lab.envs.ui.ViewportCameraController method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.set_visibility">set_visibility() (omni.isaac.lab.markers.VisualizationMarkers method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.set_world_poses">set_world_poses() (omni.isaac.lab.sensors.Camera method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses">(omni.isaac.lab.sensors.RayCasterCamera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.set_world_poses">(omni.isaac.lab.sensors.TiledCamera method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.set_world_poses_from_view">set_world_poses_from_view() (omni.isaac.lab.sensors.Camera method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses_from_view">(omni.isaac.lab.sensors.RayCasterCamera method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.set_world_poses_from_view">(omni.isaac.lab.sensors.TiledCamera method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.set_wrapper_attr">set_wrapper_attr() (omni.isaac.lab.envs.DirectMARLEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.set_wrapper_attr">(omni.isaac.lab.envs.DirectRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.set_wrapper_attr">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.settling_threshold">settling_threshold (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.setup_manager_visualizers">setup_manager_visualizers() (omni.isaac.lab.envs.ManagerBasedEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.setup_manager_visualizers">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg">ShapeCfg (class in omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.sim">sim (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.sim">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.sim">(omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.sim">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.sim_element_deform_gradient_w">sim_element_deform_gradient_w (omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.sim_element_quat_w">sim_element_quat_w (omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.sim_element_stress_w">sim_element_stress_w (omni.isaac.lab.assets.DeformableObjectData property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading">simple_heading (omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading">(omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.simulation_hexahedral_resolution">simulation_hexahedral_resolution (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg">SimulationCfg (class in omni.isaac.lab.sim)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext">SimulationContext (class in omni.isaac.lab.sim)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.RenderMode">SimulationContext.RenderMode (class in omni.isaac.lab.sim)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.GridPatternCfg.size">size (omni.isaac.lab.sensors.patterns.GridPatternCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.size">(omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.size">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.SubTerrainBaseCfg.size">(omni.isaac.lab.terrains.SubTerrainBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.size">(omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.size">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.skew_symmetric_matrix">skew_symmetric_matrix() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper">SkrlVecEnvWrapper() (in module omni.isaac.lab_tasks.utils.wrappers.skrl)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_damping">sleep_damping (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.sleep_threshold">sleep_threshold (omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_threshold">(omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.sleep_threshold">(omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_range">slope_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.slope_threshold">slope_threshold (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_threshold">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.slope_threshold">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_threshold">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.slope_threshold">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.slope_threshold">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.slope_threshold">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.slope_threshold">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.slope_threshold">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold">(omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.soft_joint_pos_limit_factor">soft_joint_pos_limit_factor (omni.isaac.lab.assets.ArticulationCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits">soft_joint_pos_limits (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.soft_joint_vel_limits">soft_joint_vel_limits (omni.isaac.lab.assets.ArticulationData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_position_iteration_count">solver_position_iteration_count (omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.solver_position_iteration_count">(omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_position_iteration_count">(omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.solver_type">solver_type (omni.isaac.lab.sim.PhysxCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_velocity_iteration_count">solver_velocity_iteration_count (omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_velocity_iteration_count">(omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.source_frame_offset">source_frame_offset (omni.isaac.lab.sensors.FrameTransformerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData.source_pos_w">source_pos_w (omni.isaac.lab.sensors.FrameTransformerData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData.source_quat_w">source_quat_w (omni.isaac.lab.sensors.FrameTransformerData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.spawn">spawn (omni.isaac.lab.assets.ArticulationCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg.spawn">(omni.isaac.lab.assets.AssetBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg.spawn">(omni.isaac.lab.assets.DeformableObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.spawn">(omni.isaac.lab.assets.RigidObjectCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.spawn">(omni.isaac.lab.sensors.CameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.spawn">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.spawn_camera">spawn_camera() (in module omni.isaac.lab.sim.spawners.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.spawn_capsule">spawn_capsule() (in module omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.spawn_cone">spawn_cone() (in module omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.spawn_cuboid">spawn_cuboid() (in module omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.spawn_cylinder">spawn_cylinder() (in module omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.spawn_deformable_body_material">spawn_deformable_body_material() (in module omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.spawn_from_mdl_file">spawn_from_mdl_file() (in module omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.spawn_from_urdf">spawn_from_urdf() (in module omni.isaac.lab.sim.spawners.from_files)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.spawn_from_usd">spawn_from_usd() (in module omni.isaac.lab.sim.spawners.from_files)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane">spawn_ground_plane() (in module omni.isaac.lab.sim.spawners.from_files)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.spawn_light">spawn_light() (in module omni.isaac.lab.sim.spawners.lights)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_capsule">spawn_mesh_capsule() (in module omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cone">spawn_mesh_cone() (in module omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cuboid">spawn_mesh_cuboid() (in module omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cylinder">spawn_mesh_cylinder() (in module omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_sphere">spawn_mesh_sphere() (in module omni.isaac.lab.sim.spawners.meshes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_asset">spawn_multi_asset() (in module omni.isaac.lab.sim.spawners.wrappers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_usd_file">spawn_multi_usd_file() (in module omni.isaac.lab.sim.spawners.wrappers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.spawn_preview_surface">spawn_preview_surface() (in module omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.spawn_rigid_body_material">spawn_rigid_body_material() (in module omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.spawn_sphere">spawn_sphere() (in module omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg">SpawnerCfg (class in omni.isaac.lab.sim.spawners)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg">SphereCfg (class in omni.isaac.lab.sim.spawners.shapes)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg">SphereLightCfg (class in omni.isaac.lab.sim.spawners.lights)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.stabilization_threshold">stabilization_threshold (omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.stabilization_threshold">(omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain">star_terrain() (in module omni.isaac.lab.terrains.trimesh.mesh_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.start">start() (omni.isaac.lab.utils.timer.Timer method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.state">state (omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.state">state() (omni.isaac.lab.envs.DirectMARLEnv method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.state_space">state_space (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.state_space">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space">(omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction">static_friction (omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.GaussianNoiseCfg.std">std (omni.isaac.lab.utils.noise.GaussianNoiseCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel">std_vel (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.step">step() (omni.isaac.lab.envs.DirectMARLEnv method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.step">(omni.isaac.lab.envs.DirectRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.step">(omni.isaac.lab.envs.ManagerBasedEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.step">(omni.isaac.lab.envs.ManagerBasedRLEnv method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.step">(omni.isaac.lab.sim.SimulationContext method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.step_dt">step_dt (omni.isaac.lab.envs.DirectMARLEnv property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.step_dt">(omni.isaac.lab.envs.DirectRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.step_dt">(omni.isaac.lab.envs.ManagerBasedEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt">(omni.isaac.lab.envs.ManagerBasedRLEnv property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_height_range">step_height_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_height_range">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_height_range">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_width">step_width (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_width">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_width">(omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain">stepping_stones_terrain() (in module omni.isaac.lab.terrains.height_field.hf_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.stiffness">stiffness (omni.isaac.lab.actuators.ActuatorBase attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness">(omni.isaac.lab.actuators.ActuatorBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.stiffness">(omni.isaac.lab.actuators.ActuatorNetLSTM attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness">(omni.isaac.lab.actuators.ActuatorNetLSTMCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.stiffness">(omni.isaac.lab.actuators.ActuatorNetMLP attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness">(omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.stiffness">(omni.isaac.lab.actuators.DCMotor attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotorCfg.stiffness">(omni.isaac.lab.actuators.DCMotorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.stiffness">(omni.isaac.lab.actuators.DelayedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness">(omni.isaac.lab.actuators.DelayedPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.stiffness">(omni.isaac.lab.actuators.IdealPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness">(omni.isaac.lab.actuators.IdealPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.stiffness">(omni.isaac.lab.actuators.ImplicitActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness">(omni.isaac.lab.actuators.ImplicitActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.stiffness">(omni.isaac.lab.actuators.RemotizedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness">(omni.isaac.lab.actuators.RemotizedPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.stiffness">(omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.stiffness_scale">stiffness_scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_distance_range">stone_distance_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_height_max">stone_height_max (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_width_range">stone_width_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.stop">stop() (omni.isaac.lab.utils.timer.Timer method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.string_to_callable">string_to_callable() (in module omni.isaac.lab.utils.string)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.string_to_slice">string_to_slice() (in module omni.isaac.lab.utils.string)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains">sub_terrains (omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.SubTerrainBaseCfg">SubTerrainBaseCfg (class in omni.isaac.lab.terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.subtract_frame_transforms">subtract_frame_transforms() (in module omni.isaac.lab.utils.math)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="T">T</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData.target_frame_names">target_frame_names (omni.isaac.lab.sensors.FrameTransformerData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.target_frames">target_frames (omni.isaac.lab.sensors.FrameTransformerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData.target_pos_source">target_pos_source (omni.isaac.lab.sensors.FrameTransformerData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData.target_pos_w">target_pos_w (omni.isaac.lab.sensors.FrameTransformerData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData.target_quat_source">target_quat_source (omni.isaac.lab.sensors.FrameTransformerData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData.target_quat_w">target_quat_w (omni.isaac.lab.sensors.FrameTransformerData attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.target_types">target_types (omni.isaac.lab.controllers.OperationalSpaceControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.task_frame_rel_path">task_frame_rel_path (omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled">tendon_enabled (omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS">TENSOR_TYPE_CONVERSIONS (in module omni.isaac.lab.utils.array)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.array.TENSOR_TYPES">TENSOR_TYPES (in module omni.isaac.lab.utils.array)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.array.TensorData">TensorData (in module omni.isaac.lab.utils.array)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.terminated">terminated (omni.isaac.lab.managers.TerminationManager property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager">TerminationManager (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations">terminations (omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationTermCfg">TerminationTermCfg (class in omni.isaac.lab.managers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.terrain">terrain (omni.isaac.lab.scene.InteractiveScene property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator">terrain_generator (omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGenerator.terrain_mesh">terrain_mesh (omni.isaac.lab.terrains.TerrainGenerator attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGenerator.terrain_meshes">terrain_meshes (omni.isaac.lab.terrains.TerrainGenerator attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGenerator.terrain_origins">terrain_origins (omni.isaac.lab.terrains.TerrainGenerator attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.terrain_origins">(omni.isaac.lab.terrains.TerrainImporter attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type">terrain_type (omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg">TerrainBasedPose2dCommandCfg (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges">TerrainBasedPose2dCommandCfg.Ranges (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGenerator">TerrainGenerator (class in omni.isaac.lab.terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg">TerrainGeneratorCfg (class in omni.isaac.lab.terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter">TerrainImporter (class in omni.isaac.lab.terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg">TerrainImporterCfg (class in omni.isaac.lab.terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file">texture_file (omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format">texture_format (omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale">texture_scale (omni.isaac.lab.sim.spawners.materials.MdlFileCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.thin_walled">thin_walled (omni.isaac.lab.sim.spawners.materials.GlassMdlCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera">TiledCamera (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg">TiledCameraCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg">TiledCameraCfg.OffsetCfg (class in omni.isaac.lab.sensors)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.time_elapsed">time_elapsed (omni.isaac.lab.utils.timer.Timer property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.DelayBuffer.time_lags">time_lags (omni.isaac.lab.utils.buffers.DelayBuffer property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationTermCfg.time_out">time_out (omni.isaac.lab.managers.TerminationTermCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.terminations.time_out">time_out() (in module omni.isaac.lab.envs.mdp.terminations)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.time_outs">time_outs (omni.isaac.lab.managers.TerminationManager property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer">Timer (class in omni.isaac.lab.utils.timer)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.TimerError">TimerError</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.TimestampedBuffer.timestamp">timestamp (omni.isaac.lab.utils.buffers.TimestampedBuffer attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.TimestampedBuffer">TimestampedBuffer (class in omni.isaac.lab.utils.buffers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.timing_info">timing_info (omni.isaac.lab.utils.timer.Timer attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.to_camel_case">to_camel_case() (in module omni.isaac.lab.utils.string)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.to_snake_case">to_snake_case() (in module omni.isaac.lab.utils.string)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.torque_scale">torque_scale (omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius">torsional_patch_radius (omni.isaac.lab.sim.schemas.CollisionPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager.total_action_dim">total_action_dim (omni.isaac.lab.managers.ActionManager property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.timer.Timer.total_run_time">total_run_time (omni.isaac.lab.utils.timer.Timer property)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg.track_air_time">track_air_time (omni.isaac.lab.sensors.ContactSensorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp">track_ang_vel_z_exp() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp">track_lin_vel_xy_exp() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg.track_pose">track_pose (omni.isaac.lab.sensors.ContactSensorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.transform_nodal_pos">transform_nodal_pos() (omni.isaac.lab.assets.DeformableObject method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.transform_points">transform_points() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.translation">translation (omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.treat_as_line">treat_as_line (omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.treat_as_point">treat_as_point (omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="U">U</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.ui_window_class_type">ui_window_class_type (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.ui_window_class_type">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.ui_window_class_type">(omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.ui_window_class_type">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.undesired_contacts">undesired_contacts() (in module omni.isaac.lab.envs.mdp.rewards)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.uniform_noise">uniform_noise() (in module omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.UniformNoiseCfg">UniformNoiseCfg (class in omni.isaac.lab.utils.noise)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg">UniformPose2dCommandCfg (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges">UniformPose2dCommandCfg.Ranges (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg">UniformPoseCommandCfg (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges">UniformPoseCommandCfg.Ranges (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg">UniformVelocityCommandCfg (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges">UniformVelocityCommandCfg.Ranges (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.unproject_depth">unproject_depth() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.unscale_transform">unscale_transform() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera.UNSUPPORTED_TYPES">UNSUPPORTED_TYPES (omni.isaac.lab.sensors.Camera attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.UNSUPPORTED_TYPES">(omni.isaac.lab.sensors.RayCasterCamera attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera.UNSUPPORTED_TYPES">(omni.isaac.lab.sensors.TiledCamera attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv.unwrapped">unwrapped (omni.isaac.lab.envs.DirectMARLEnv property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv.unwrapped">(omni.isaac.lab.envs.DirectRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped">(omni.isaac.lab.envs.ManagerBasedRLEnv property)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped">(omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper property)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped">(omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper property)</a>
+</li>
+        <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped">(omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.update">update() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.update">(omni.isaac.lab.assets.AssetBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.update">(omni.isaac.lab.assets.DeformableObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectData.update">(omni.isaac.lab.assets.DeformableObjectData method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.update">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.update">(omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionData.update">(omni.isaac.lab.assets.RigidObjectCollectionData method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData.update">(omni.isaac.lab.assets.RigidObjectData method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.update">(omni.isaac.lab.scene.InteractiveScene method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.update_class_from_dict">update_class_from_dict() (in module omni.isaac.lab.utils.dict)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.update_dict">update_dict() (in module omni.isaac.lab.utils.dict)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.update_env_origins">update_env_origins() (omni.isaac.lab.terrains.TerrainImporter method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.update_period">update_period (omni.isaac.lab.sensors.CameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg.update_period">(omni.isaac.lab.sensors.ContactSensorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.update_period">(omni.isaac.lab.sensors.FrameTransformerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.update_period">(omni.isaac.lab.sensors.ImuCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.update_period">(omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.update_period">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBaseCfg.update_period">(omni.isaac.lab.sensors.SensorBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.update_period">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_location">update_view_location() (omni.isaac.lab.envs.ui.ViewportCameraController method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_asset_root">update_view_to_asset_root() (omni.isaac.lab.envs.ui.ViewportCameraController method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_env">update_view_to_env() (omni.isaac.lab.envs.ui.ViewportCameraController method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_world">update_view_to_world() (omni.isaac.lab.envs.ui.ViewportCameraController method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter">UrdfConverter (class in omni.isaac.lab.sim.converters)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg">UrdfConverterCfg (class in omni.isaac.lab.sim.converters)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg">UrdfFileCfg (class in omni.isaac.lab.sim.spawners.from_files)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir">usd_dir (omni.isaac.lab.sim.converters.AssetConverterBase property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir">(omni.isaac.lab.sim.converters.AssetConverterBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter.usd_dir">(omni.isaac.lab.sim.converters.MeshConverter property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir">(omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter.usd_dir">(omni.isaac.lab.sim.converters.UrdfConverter property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir">(omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBase.usd_file_name">usd_file_name (omni.isaac.lab.sim.converters.AssetConverterBase property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name">(omni.isaac.lab.sim.converters.AssetConverterBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter.usd_file_name">(omni.isaac.lab.sim.converters.MeshConverter property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name">(omni.isaac.lab.sim.converters.MeshConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter.usd_file_name">(omni.isaac.lab.sim.converters.UrdfConverter property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name">(omni.isaac.lab.sim.converters.UrdfConverterCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path">usd_instanceable_meshes_path (omni.isaac.lab.sim.converters.AssetConverterBase property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path">(omni.isaac.lab.sim.converters.MeshConverter property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path">(omni.isaac.lab.sim.converters.UrdfConverter property)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.AssetConverterBase.usd_path">usd_path (omni.isaac.lab.sim.converters.AssetConverterBase property)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter.usd_path">(omni.isaac.lab.sim.converters.MeshConverter property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter.usd_path">(omni.isaac.lab.sim.converters.UrdfConverter property)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.usd_path">(omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.usd_path">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.usd_path">(omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg">UsdFileCfg (class in omni.isaac.lab.sim.spawners.from_files)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache">use_cache (omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.use_clipped_value_loss">use_clipped_value_loss (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset">use_default_offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset">(omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.use_fabric">use_fabric (omni.isaac.lab.sim.SimulationCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode">use_relative_mode (omni.isaac.lab.controllers.DifferentialIKControllerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset">use_zero_offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg attribute)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="V">V</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.value_loss_coef">value_loss_coef (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants">variants (omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.variants">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.vel_scale">vel_scale (omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase.velocity_limit">velocity_limit (omni.isaac.lab.actuators.ActuatorBase attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit">(omni.isaac.lab.actuators.ActuatorBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTM.velocity_limit">(omni.isaac.lab.actuators.ActuatorNetLSTM attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit">(omni.isaac.lab.actuators.ActuatorNetLSTMCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLP.velocity_limit">(omni.isaac.lab.actuators.ActuatorNetMLP attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit">(omni.isaac.lab.actuators.ActuatorNetMLPCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor.velocity_limit">(omni.isaac.lab.actuators.DCMotor attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotorCfg.velocity_limit">(omni.isaac.lab.actuators.DCMotorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuator.velocity_limit">(omni.isaac.lab.actuators.DelayedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit">(omni.isaac.lab.actuators.DelayedPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator.velocity_limit">(omni.isaac.lab.actuators.IdealPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit">(omni.isaac.lab.actuators.IdealPDActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuator.velocity_limit">(omni.isaac.lab.actuators.ImplicitActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit">(omni.isaac.lab.actuators.ImplicitActuatorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuator.velocity_limit">(omni.isaac.lab.actuators.RemotizedPDActuator attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit">(omni.isaac.lab.actuators.RemotizedPDActuatorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.vertex_velocity_damping">vertex_velocity_damping (omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture">vertical_aperture (omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture">(omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture_offset">vertical_aperture_offset (omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture_offset">(omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture_offset">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.LidarPatternCfg.vertical_fov_range">vertical_fov_range (omni.isaac.lab.sensors.patterns.LidarPatternCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles">vertical_ray_angles (omni.isaac.lab.sensors.patterns.BpearlPatternCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.vertical_scale">vertical_scale (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.vertical_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.vertical_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.vertical_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.vertical_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.vertical_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.vertical_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.vertical_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.vertical_scale">(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale">(omni.isaac.lab.terrains.TerrainGeneratorCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg.viewer">viewer (omni.isaac.lab.envs.DirectMARLEnvCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.viewer">(omni.isaac.lab.envs.DirectRLEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer">(omni.isaac.lab.envs.ManagerBasedEnvCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.viewer">(omni.isaac.lab.envs.ManagerBasedRLEnvCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg">ViewerCfg (class in omni.isaac.lab.envs)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ViewportCameraController">ViewportCameraController (class in omni.isaac.lab.envs.ui)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.visible">visible (omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible">(omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visible">(omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visible">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible">(omni.isaac.lab.sim.spawners.lights.CylinderLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.visible">(omni.isaac.lab.sim.spawners.lights.DiskLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.visible">(omni.isaac.lab.sim.spawners.lights.DistantLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible">(omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.LightCfg.visible">(omni.isaac.lab.sim.spawners.lights.LightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible">(omni.isaac.lab.sim.spawners.lights.SphereLightCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visible">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visible">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visible">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visible">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visible">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visible">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.visible">(omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.visible">(omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.visible">(omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visible">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visible">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visible">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visible">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg.visible">(omni.isaac.lab.sim.spawners.SpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.visible">(omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visible">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray">visible_in_primary_ray (omni.isaac.lab.sim.spawners.lights.DomeLightCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material">visual_material (omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg.visual_material">(omni.isaac.lab.terrains.TerrainImporterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path">visual_material_path (omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path">(omni.isaac.lab.sim.spawners.from_files.UsdFileCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material_path">(omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path">(omni.isaac.lab.sim.spawners.shapes.CapsuleCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path">(omni.isaac.lab.sim.spawners.shapes.ConeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path">(omni.isaac.lab.sim.spawners.shapes.CuboidCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path">(omni.isaac.lab.sim.spawners.shapes.CylinderCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path">(omni.isaac.lab.sim.spawners.shapes.ShapeCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path">(omni.isaac.lab.sim.spawners.shapes.SphereCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material_path">(omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers">VisualizationMarkers (class in omni.isaac.lab.markers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg">VisualizationMarkersCfg (class in omni.isaac.lab.markers)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.visualize">visualize() (omni.isaac.lab.markers.VisualizationMarkers method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg.visualizer_cfg">visualizer_cfg (omni.isaac.lab.assets.DeformableObjectCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg">(omni.isaac.lab.sensors.ContactSensorCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg">(omni.isaac.lab.sensors.FrameTransformerCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg.visualizer_cfg">(omni.isaac.lab.sensors.ImuCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg">(omni.isaac.lab.sensors.RayCasterCameraCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg">(omni.isaac.lab.sensors.RayCasterCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg">VisualMaterialCfg (class in omni.isaac.lab.sim.spawners.materials)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="W">W</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.wandb_project">wandb_project (omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.warp_meshes">warp_meshes (omni.isaac.lab.terrains.TerrainImporter attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain">wave_terrain() (in module omni.isaac.lab.terrains.height_field.hf_terrains)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.width">width (omni.isaac.lab.sensors.CameraCfg attribute)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.width">(omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg attribute)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCameraCfg.width">(omni.isaac.lab.sensors.TiledCameraCfg attribute)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.wrap_to_pi">wrap_to_pi() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.wrench_scale">wrench_scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_data_to_sim">write_data_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.write_data_to_sim">(omni.isaac.lab.assets.AssetBase method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_data_to_sim">(omni.isaac.lab.assets.DeformableObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_data_to_sim">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_data_to_sim">(omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+        <li><a href="source/api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.write_data_to_sim">(omni.isaac.lab.scene.InteractiveScene method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim">write_fixed_tendon_properties_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_armature_to_sim">write_joint_armature_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_damping_to_sim">write_joint_damping_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_effort_limit_to_sim">write_joint_effort_limit_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_friction_to_sim">write_joint_friction_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim">write_joint_limits_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_state_to_sim">write_joint_state_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_stiffness_to_sim">write_joint_stiffness_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_velocity_limit_to_sim">write_joint_velocity_limit_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim">write_nodal_kinematic_target_to_sim() (omni.isaac.lab.assets.DeformableObject method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_pos_to_sim">write_nodal_pos_to_sim() (omni.isaac.lab.assets.DeformableObject method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_state_to_sim">write_nodal_state_to_sim() (omni.isaac.lab.assets.DeformableObject method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_velocity_to_sim">write_nodal_velocity_to_sim() (omni.isaac.lab.assets.DeformableObject method)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_pose_to_sim">write_object_com_pose_to_sim() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_state_to_sim">write_object_com_state_to_sim() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_velocity_to_sim">write_object_com_velocity_to_sim() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_pose_to_sim">write_object_link_pose_to_sim() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_state_to_sim">write_object_link_state_to_sim() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_velocity_to_sim">write_object_link_velocity_to_sim() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_pose_to_sim">write_object_pose_to_sim() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_state_to_sim">write_object_state_to_sim() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection.write_object_velocity_to_sim">write_object_velocity_to_sim() (omni.isaac.lab.assets.RigidObjectCollection method)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_com_pose_to_sim">write_root_com_pose_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_com_pose_to_sim">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_com_state_to_sim">write_root_com_state_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_com_state_to_sim">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_com_velocity_to_sim">write_root_com_velocity_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_com_velocity_to_sim">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_link_pose_to_sim">write_root_link_pose_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_link_pose_to_sim">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_link_state_to_sim">write_root_link_state_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_link_state_to_sim">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_link_velocity_to_sim">write_root_link_velocity_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_link_velocity_to_sim">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_pose_to_sim">write_root_pose_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_pose_to_sim">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_state_to_sim">write_root_state_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_state_to_sim">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+      </ul></li>
+      <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_root_velocity_to_sim">write_root_velocity_to_sim() (omni.isaac.lab.assets.Articulation method)</a>
+
+      <ul>
+        <li><a href="source/api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_velocity_to_sim">(omni.isaac.lab.assets.RigidObject method)</a>
+</li>
+      </ul></li>
+  </ul></td>
+</tr></table>
+
+<h2 id="X">X</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.x_joint_name">x_joint_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg attribute)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="Y">Y</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.y_joint_name">y_joint_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.yaw">yaw (omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges attribute)</a>
+</li>
+  </ul></td>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.yaw_joint_name">yaw_joint_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg attribute)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.yaw_quat">yaw_quat() (in module omni.isaac.lab.utils.math)</a>
+</li>
+      <li><a href="source/api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.youngs_modulus">youngs_modulus (omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg attribute)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+<h2 id="Z">Z</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+  <td style="width: 33%; vertical-align: top;"><ul>
+      <li><a href="source/api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob">zero_prob (omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges attribute)</a>
+</li>
+  </ul></td>
+</tr></table>
+
+
+
+                </article>
+              
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+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="source/setup/ecosystem.html">Isaac Lab Ecosystem</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/setup/installation/index.html">Local Installation</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/setup/installation/pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="source/setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a></li>
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+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
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+
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="source/refs/reference_architecture/index.html">Reference Architecture</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="source/refs/issues.html">Known Issues</a></li>
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+</ul>
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+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/index.html">NVIDIA Isaac Sim</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+</button>
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+              
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Overview</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#">Overview</a></li>
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#license">License</a></li>
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#acknowledgement">Acknowledgement</a></li>
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#table-of-contents">Table of Contents</a><ul class="visible nav section-nav flex-column">
+</ul>
+</li>
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#indices-and-tables">Indices and tables</a></li>
+</ul>
+
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="overview">
+<h1>Overview<a class="headerlink" href="#overview" title="Permalink to this heading">#</a></h1>
+<figure class="align-default">
+<a class="reference internal image-reference" href="_images/isaaclab.jpg"><img alt="H1 Humanoid example using Isaac Lab" src="_images/isaaclab.jpg" style="width: 100%;" /></a>
+</figure>
+<p><strong>Isaac Lab</strong> is a unified and modular framework for robot learning that aims to simplify common workflows
+in robotics research (such as reinforcement learning, learning from demonstrations, and motion planning). It is built upon
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/index.html">NVIDIA Isaac Sim</a> to leverage the latest simulation capabilities for photo-realistic scenes, and fast
+and efficient simulation.</p>
+<p>The core objectives of the framework are:</p>
+<ul class="simple">
+<li><p><strong>Modularity</strong>: Easily customize and add new environments, robots, and sensors.</p></li>
+<li><p><strong>Agility</strong>: Adapt to the changing needs of the community.</p></li>
+<li><p><strong>Openness</strong>: Remain open-sourced to allow the community to contribute and extend the framework.</p></li>
+<li><p><strong>Battery-included</strong>: Include a number of environments, sensors, and tasks that are ready to use.</p></li>
+</ul>
+<p>Key features available in Isaac Lab include fast and accurate physics simulation provided by PhysX,
+tiled rendering APIs for vectorized rendering, domain randomization for improving robustness and adaptability,
+and support for running in the cloud.</p>
+<p>Additionally, Isaac Lab provides over 26 environments, and we are actively working on adding more environments
+to the list. These include classic control tasks, fixed-arm and dexterous manipulation tasks, legged locomotion tasks,
+and navigation tasks. A complete list is available in the <a class="reference external" href="source/overview/environments">environments</a> section.</p>
+<p>The framework also includes over 16 robots. If you are looking to add a new robot, please refer to the
+<a class="reference internal" href="source/how-to/index.html#how-to"><span class="std std-ref">How-to Guides</span></a> section. The current list of robots includes:</p>
+<ul class="simple">
+<li><p><strong>Classic</strong> Cartpole, Humanoid, Ant</p></li>
+<li><p><strong>Fixed-Arm and Hands</strong>: UR10, Franka, Allegro, Shadow Hand</p></li>
+<li><p><strong>Quadrupeds</strong>: Anybotics Anymal-B, Anymal-C, Anymal-D, Unitree A1, Unitree Go1, Unitree Go2, Boston Dynamics Spot</p></li>
+<li><p><strong>Humanoids</strong>: Unitree H1, Unitree G1</p></li>
+<li><p><strong>Quadcopter</strong>: Crazyflie</p></li>
+</ul>
+<p>For more information about the framework, please refer to the <a class="reference external" href="https://arxiv.org/abs/2301.04195">paper</a>
+<span id="id1">[<a class="reference internal" href="source/refs/bibliography.html#id16" title="Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg. Orbit: a unified simulation framework for interactive robot learning environments. IEEE Robotics and Automation Letters, 8(6):3740-3747, 2023. doi:10.1109/LRA.2023.3270034.">MYY+23</a>]</span>. For clarifications on NVIDIA Isaac ecosystem, please check out the
+<a class="reference internal" href="source/setup/faq.html"><span class="doc">Frequently Asked Questions</span></a> section.</p>
+<figure class="align-default">
+<a class="reference internal image-reference" href="_images/tasks.jpg"><img alt="Example tasks created using Isaac Lab" src="_images/tasks.jpg" style="width: 100%;" /></a>
+</figure>
+</section>
+<section id="license">
+<h1>License<a class="headerlink" href="#license" title="Permalink to this heading">#</a></h1>
+<p>The Isaac Lab framework is open-sourced under the BSD-3-Clause license.
+Please refer to <a class="reference internal" href="source/refs/license.html#license"><span class="std std-ref">License</span></a> for more details.</p>
+</section>
+<section id="acknowledgement">
+<h1>Acknowledgement<a class="headerlink" href="#acknowledgement" title="Permalink to this heading">#</a></h1>
+<p>Isaac Lab development initiated from the <a class="reference external" href="https://isaac-orbit.github.io/">Orbit</a> framework. We would appreciate if you would cite it in academic publications as well:</p>
+<div class="highlight-bibtex notranslate"><div class="highlight"><pre><span></span><span class="nc">@article</span><span class="p">{</span><span class="nl">mittal2023orbit</span><span class="p">,</span>
+<span class="w">   </span><span class="na">author</span><span class="p">=</span><span class="s">{Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh}</span><span class="p">,</span>
+<span class="w">   </span><span class="na">journal</span><span class="p">=</span><span class="s">{IEEE Robotics and Automation Letters}</span><span class="p">,</span>
+<span class="w">   </span><span class="na">title</span><span class="p">=</span><span class="s">{Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments}</span><span class="p">,</span>
+<span class="w">   </span><span class="na">year</span><span class="p">=</span><span class="s">{2023}</span><span class="p">,</span>
+<span class="w">   </span><span class="na">volume</span><span class="p">=</span><span class="s">{8}</span><span class="p">,</span>
+<span class="w">   </span><span class="na">number</span><span class="p">=</span><span class="s">{6}</span><span class="p">,</span>
+<span class="w">   </span><span class="na">pages</span><span class="p">=</span><span class="s">{3740-3747}</span><span class="p">,</span>
+<span class="w">   </span><span class="na">doi</span><span class="p">=</span><span class="s">{10.1109/LRA.2023.3270034}</span>
+<span class="p">}</span>
+</pre></div>
+</div>
+</section>
+<section id="table-of-contents">
+<h1>Table of Contents<a class="headerlink" href="#table-of-contents" title="Permalink to this heading">#</a></h1>
+<div class="toctree-wrapper compound">
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Getting Started</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="source/setup/ecosystem.html">Isaac Lab Ecosystem</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/setup/installation/index.html">Local Installation</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/setup/installation/pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/setup/installation/cloud_installation.html#installing-isaac-automator">Installing Isaac Automator</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/setup/installation/cloud_installation.html#running-isaac-automator">Running Isaac Automator</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/setup/installation/cloud_installation.html#running-isaac-lab-on-the-cloud">Running Isaac Lab on the Cloud</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/setup/installation/cloud_installation.html#destroying-a-development">Destroying a Development</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/setup/faq.html">Frequently Asked Questions</a><ul>
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+<ul>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/developer-guide/index.html">Developer’s Guide</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/developer-guide/vs_code.html">Setting up Visual Studio Code</a></li>
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+</ul>
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+<li class="toctree-l1"><a class="reference internal" href="source/overview/sensors/index.html">Sensors</a><ul>
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+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
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+<li class="toctree-l1"><a class="reference internal" href="source/overview/environments.html">Available Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/environments.html#comprehensive-list-of-environments">Comprehensive List of Environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
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+<li class="toctree-l1"><a class="reference internal" href="source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
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+</ul>
+</div>
+<div class="toctree-wrapper compound">
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="source/features/hydra.html">Hydra Configuration System</a><ul>
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+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/camera.html#normals">Normals</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/camera.html#semantic-segmentation">Semantic Segmentation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/camera.html#instance-id-segmentation">Instance ID Segmentation</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/features/ray.html">Ray Job Dispatch and Tuning</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/features/ray.html#overview">Overview</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/features/ray.html#dispatching-jobs-and-tuning"><strong>Dispatching Jobs and Tuning</strong></a></li>
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+<li class="toctree-l1"><a class="reference internal" href="source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="source/how-to/index.html">How-to Guides</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
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+</ul>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/changelog.html">Extensions Changelog</a></li>
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+<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this heading">#</a></h1>
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+<li class="toctree-l1"><a class="reference internal" href="source/setup/ecosystem.html">Isaac Lab Ecosystem</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/setup/installation/index.html">Local Installation</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/setup/installation/pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="source/setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/setup/faq.html">Frequently Asked Questions</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Overview</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/overview/developer-guide/index.html">Developer’s Guide</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/developer-guide/vs_code.html">Setting up Visual Studio Code</a></li>
+
+<li class="toctree-l2"><a class="reference internal" href="source/overview/developer-guide/repo_structure.html">Repository organization</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/developer-guide/development.html">Application Development</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/developer-guide/template.html">Building your Own Project</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/overview/core-concepts/index.html">Core Concepts</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/core-concepts/task_workflows.html">Task Design Workflows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/environments.html">Available Environments</a></li>
+
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="source/features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="source/refs/reference_architecture/index.html">Reference Architecture</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="source/refs/issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/refs/changelog.html">Extensions Changelog</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="source/refs/bibliography.html">Bibliography</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Project Links</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/index.html">NVIDIA Isaac Sim</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+   </div>
+
+   <table class="indextable modindextable">
+     <tr class="pcap"><td></td><td>&#160;</td><td></td></tr>
+     <tr class="cap" id="cap-o"><td></td><td>
+       <strong>o</strong></td><td></td></tr>
+     <tr>
+       <td><img src="_static/minus.png" class="toggler"
+              id="toggle-1" style="display: none" alt="-" /></td>
+       <td>
+       <code class="xref">omni</code></td><td>
+       <em></em></td></tr>
+     <tr class="cg-1">
+       <td></td>
+       <td>&#160;&#160;&#160;
+       <a href="source/api/lab/omni.isaac.lab.actuators.html#module-omni.isaac.lab.actuators"><code class="xref">omni.isaac.lab.actuators</code></a></td><td>
+       <em></em></td></tr>
+     <tr class="cg-1">
+       <td></td>
+       <td>&#160;&#160;&#160;
+       <a href="source/api/lab/omni.isaac.lab.app.html#module-omni.isaac.lab.app"><code class="xref">omni.isaac.lab.app</code></a></td><td>
+       <em></em></td></tr>
+     <tr class="cg-1">
+       <td></td>
+       <td>&#160;&#160;&#160;
+       <a href="source/api/lab/omni.isaac.lab.assets.html#module-omni.isaac.lab.assets"><code class="xref">omni.isaac.lab.assets</code></a></td><td>
+       <em></em></td></tr>
+     <tr class="cg-1">
+       <td></td>
+       <td>&#160;&#160;&#160;
+       <a href="source/api/lab/omni.isaac.lab.controllers.html#module-omni.isaac.lab.controllers"><code class="xref">omni.isaac.lab.controllers</code></a></td><td>
+       <em></em></td></tr>
+     <tr class="cg-1">
+       <td></td>
+       <td>&#160;&#160;&#160;
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+       <td>&#160;&#160;&#160;
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+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
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+<li class="toctree-l1"><a class="reference internal" href="source/overview/simple_agents.html">Simple Agents</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="source/features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="source/how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="source/deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/deployment/docker.html">Docker Guide</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="source/api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
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87, 88, 89, 90, 91, 93, 94, 96, 97, 98, 99, 100, 101], "model": [2, 4, 7, 8, 10, 18, 20, 21, 23, 30, 35, 44, 50, 60, 69, 71, 72, 77, 88, 93, 95, 97], "behavior": [2, 3, 8, 10, 13, 15, 16, 17, 18, 21, 22, 23, 35, 37, 43, 48, 50, 62, 72, 73, 77, 86, 87, 90, 97], "articul": [2, 5, 8, 12, 13, 15, 16, 18, 20, 31, 39, 40, 44, 46, 48, 50, 71, 72, 74, 77, 89, 90, 91, 92, 93, 95, 99, 100, 101], "usual": [2, 4, 7, 10, 17, 35, 37, 94], "meant": [2, 30, 33, 34, 38], "There": [2, 7, 15, 18, 19, 25, 30, 38, 40, 42, 52, 63, 64, 70, 78, 85, 91, 92, 97], "two": [2, 4, 5, 6, 7, 8, 10, 11, 12, 13, 15, 16, 17, 18, 19, 20, 22, 28, 30, 35, 36, 38, 39, 42, 44, 45, 46, 47, 48, 51, 52, 54, 63, 72, 73, 74, 77, 80, 85, 87, 88, 89, 90, 92, 93, 94, 97, 98], "main": [2, 4, 15, 18, 19, 20, 27, 30, 33, 34, 35, 38, 39, 42, 45, 46, 52, 54, 60, 62, 63, 64, 66, 67, 72, 73, 78, 79, 80, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 96, 97, 98, 99, 100], "categori": [2, 6, 12], "engin": [2, 4, 8, 12, 13, 15, 25, 30, 31, 38, 39, 44, 48, 70, 71, 74, 77, 80, 90, 93, 99], "similar": [2, 4, 7, 8, 17, 18, 19, 20, 23, 27, 30, 32, 35, 44, 45, 46, 50, 51, 52, 62, 66, 72, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 98], "have": [2, 4, 7, 8, 10, 11, 12, 13, 15, 17, 18, 19, 20, 22, 23, 24, 25, 27, 28, 30, 34, 35, 36, 37, 38, 39, 43, 45, 46, 47, 48, 50, 51, 52, 57, 62, 64, 65, 66, 72, 73, 74, 76, 77, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101], "continu": [2, 20, 30, 40, 45, 46, 66, 72, 74, 77, 78, 88, 89, 98], "time": [2, 4, 7, 8, 10, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 29, 30, 31, 34, 35, 38, 39, 40, 42, 43, 45, 46, 50, 59, 60, 61, 63, 64, 65, 66, 72, 73, 77, 80, 81, 84, 85, 86, 89, 90, 92, 94, 98, 99, 100], "sens": [2, 4, 94, 100], "explicitli": [2, 3, 25, 66, 72, 96], "defin": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 23, 25, 30, 33, 34, 39, 42, 43, 45, 46, 50, 51, 54, 62, 63, 64, 65, 66, 67, 68, 72, 77, 85, 86, 87, 88, 89, 90, 91, 95, 97, 98, 99, 100], "user": [2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 15, 17, 18, 20, 21, 24, 25, 28, 32, 34, 36, 38, 39, 44, 48, 51, 52, 72, 73, 77, 78, 80, 81, 84, 85, 86, 89, 91, 92, 93, 94, 99, 100], "explicit": [2, 4, 8, 17, 18, 20, 37, 44, 45, 48, 64, 72], "drive": [2, 4, 5, 16, 18, 35, 48, 72, 80], "deriv": [2, 4, 15, 16, 17, 20, 42, 50, 75, 101], "first": [2, 4, 5, 6, 7, 10, 11, 13, 15, 17, 18, 19, 20, 24, 25, 27, 30, 32, 33, 34, 38, 39, 42, 43, 45, 52, 57, 62, 63, 64, 66, 72, 74, 77, 78, 81, 82, 84, 85, 86, 87, 88, 89, 90, 91, 93, 94, 95, 96, 97, 98, 99, 100], "principl": [2, 4, 14, 18, 20], "neural": [2, 77], "data": [2, 4, 6, 7, 8, 10, 12, 13, 15, 18, 20, 21, 23, 25, 30, 31, 34, 35, 39, 40, 42, 45, 46, 59, 60, 62, 63, 64, 65, 66, 69, 72, 74, 75, 77, 78, 79, 80, 81, 82, 85, 88, 89, 90, 91, 92, 96, 98, 99, 100], "everi": [2, 4, 7, 10, 12, 13, 19, 20, 27, 33, 43, 44, 46, 50, 62, 65, 72, 73, 81, 88, 89, 92, 93, 100], "inherit": [2, 6, 7, 9, 10, 12, 13, 15, 18, 19, 20, 23, 30, 43, 45, 46, 51, 65, 72, 79, 80, 85, 91, 92, 93, 96, 98], "actuatorbas": [2, 4, 72], "which": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 31, 34, 35, 38, 40, 41, 42, 43, 44, 45, 46, 48, 50, 51, 52, 57, 59, 60, 62, 64, 65, 66, 68, 70, 72, 73, 74, 77, 78, 79, 80, 81, 82, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 96, 97, 98, 99, 100], "interfac": [2, 3, 4, 6, 7, 13, 14, 15, 16, 18, 21, 22, 23, 24, 25, 27, 33, 35, 39, 42, 43, 45, 46, 51, 54, 62, 67, 68, 69, 72, 77, 79, 80, 85, 86, 87, 91, 92, 93, 94, 96, 97, 101], "handl": [2, 4, 7, 9, 10, 11, 12, 13, 17, 18, 19, 23, 28, 33, 34, 39, 45, 48, 50, 51, 52, 57, 72, 77, 85, 86, 88, 89, 90, 91, 93, 94, 98, 99, 101], "call": [2, 4, 5, 6, 7, 8, 10, 11, 12, 13, 15, 18, 19, 20, 22, 23, 27, 33, 35, 43, 45, 46, 48, 51, 52, 55, 62, 72, 74, 76, 78, 80, 85, 87, 88, 89, 90, 91, 92, 93, 94, 96, 98, 99], "asset": [2, 7, 8, 9, 10, 12, 13, 15, 17, 18, 19, 24, 33, 34, 37, 38, 42, 43, 45, 48, 54, 63, 64, 66, 67, 72, 75, 76, 78, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 98, 99, 100], "sourc": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 17, 18, 19, 20, 21, 22, 23, 25, 27, 28, 29, 30, 32, 33, 34, 35, 39, 40, 41, 42, 45, 46, 47, 52, 54, 57, 59, 60, 62, 64, 67, 68, 69, 72, 73, 75, 76, 78, 79, 80, 81, 82, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101], "collect": [2, 7, 10, 12, 22, 29, 34, 45, 46, 48, 62, 69, 78, 79, 80, 87, 90, 91, 92, 93], "joint": [2, 4, 5, 7, 8, 10, 13, 15, 16, 18, 20, 22, 35, 37, 39, 40, 44, 46, 48, 57, 63, 64, 66, 67, 72, 74, 77, 80, 88, 90, 91, 92, 93, 94, 95, 98, 100, 101], "augment": [2, 4], "extern": [2, 4, 5, 8, 10, 13, 17, 18, 48, 61, 70, 72, 89, 90], "convert": [2, 7, 8, 10, 13, 15, 18, 20, 23, 24, 28, 30, 35, 42, 45, 46, 50, 54, 57, 60, 62, 72, 77, 88, 97, 99, 100], "command": [2, 3, 4, 5, 6, 7, 9, 15, 18, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 35, 39, 40, 41, 42, 45, 46, 48, 50, 52, 56, 57, 63, 64, 66, 67, 69, 72, 73, 77, 78, 81, 82, 84, 85, 86, 87, 88, 89, 90, 92, 93, 95, 96, 97, 98], "posit": [2, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17, 18, 19, 20, 28, 33, 34, 37, 42, 43, 44, 45, 46, 48, 57, 62, 63, 64, 66, 67, 72, 77, 88, 89, 90, 91, 92, 94, 98, 99, 100], "veloc": [2, 4, 5, 6, 7, 8, 10, 13, 15, 16, 17, 18, 20, 21, 24, 28, 44, 45, 46, 47, 48, 51, 57, 59, 69, 72, 77, 88, 89, 90, 94, 96, 100], "effort": [2, 4, 5, 8, 20, 35, 38, 47, 48, 73, 80, 88, 91, 93, 100], "desir": [2, 3, 4, 5, 7, 8, 13, 15, 19, 20, 23, 27, 29, 30, 34, 36, 37, 45, 48, 50, 51, 62, 68, 72, 86, 88, 90, 92, 94, 99, 100], "appli": [2, 4, 5, 7, 8, 10, 11, 12, 13, 15, 16, 17, 18, 19, 20, 25, 30, 34, 37, 38, 39, 43, 45, 46, 48, 51, 57, 63, 64, 66, 67, 72, 77, 88, 89, 90, 91, 93, 96, 97, 98, 99, 100], "respons": [2, 5, 7, 8, 10, 20, 51, 77, 89, 90, 93, 100], "pars": [2, 3, 4, 10, 11, 12, 13, 16, 18, 21, 27, 30, 33, 34, 35, 37, 39, 42, 46, 50, 51, 63, 64, 66, 72, 85, 86, 87, 88, 89, 90, 91, 93, 94, 96, 97, 98, 99, 100], "store": [2, 4, 8, 10, 13, 16, 18, 19, 20, 22, 24, 25, 35, 40, 44, 45, 46, 66, 72, 73, 74, 87, 88, 89, 90, 98, 99], "them": [2, 3, 4, 6, 7, 8, 10, 12, 13, 15, 17, 18, 19, 20, 22, 24, 25, 27, 29, 32, 37, 38, 39, 40, 42, 44, 45, 57, 66, 67, 72, 73, 74, 77, 81, 84, 87, 88, 89, 90, 91, 93, 95, 96, 97, 98, 100, 101], "buffer": [2, 4, 10, 12, 13, 15, 23, 39, 44, 45, 46, 62, 63, 64, 65, 66, 72, 78, 87, 88, 89, 90, 91, 92, 97, 98, 99, 100], "reset": [2, 4, 5, 6, 7, 8, 10, 12, 13, 15, 20, 22, 23, 27, 28, 33, 34, 39, 40, 42, 43, 44, 51, 52, 63, 64, 66, 69, 72, 77, 81, 85, 86, 87, 91, 93, 94, 96, 98, 99, 100], "comput": [2, 4, 5, 6, 7, 8, 10, 11, 12, 13, 17, 19, 20, 23, 24, 25, 27, 28, 30, 34, 42, 45, 46, 48, 50, 51, 62, 71, 72, 74, 77, 89, 93, 94], "each": [2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 25, 27, 29, 30, 34, 36, 39, 41, 44, 45, 46, 51, 52, 59, 61, 62, 63, 66, 68, 72, 73, 77, 78, 80, 82, 84, 87, 88, 89, 90, 91, 92, 93, 94, 97, 98, 99, 100, 101], "correspond": [2, 3, 4, 7, 8, 10, 11, 12, 13, 15, 18, 19, 20, 22, 23, 24, 25, 27, 33, 44, 45, 46, 48, 51, 63, 72, 73, 78, 81, 85, 86, 87, 88, 89, 90, 91, 92, 93, 96, 98, 99, 100], "specifi": [2, 4, 7, 8, 9, 10, 12, 13, 14, 15, 17, 18, 19, 20, 22, 23, 24, 25, 27, 30, 31, 33, 35, 39, 42, 43, 44, 45, 46, 51, 52, 56, 57, 62, 64, 66, 72, 73, 77, 86, 87, 89, 91, 92, 93, 94, 96, 97, 98, 99, 100], "name": [2, 4, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 30, 32, 33, 34, 37, 39, 40, 43, 45, 46, 48, 52, 55, 57, 59, 60, 63, 72, 75, 76, 77, 78, 81, 82, 84, 86, 87, 90, 91, 92, 93, 95, 96, 97, 98, 99], "can": [2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 50, 51, 52, 55, 57, 59, 60, 62, 63, 64, 65, 66, 68, 70, 72, 73, 77, 78, 80, 81, 82, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101], "regular": [2, 4, 8, 10, 13, 14, 20, 30, 72, 88, 89, 93], "express": [2, 4, 8, 10, 13, 15, 18, 20, 21, 23, 39, 45, 46, 62, 64, 72, 75, 90, 92, 98], "match": [2, 4, 5, 9, 10, 13, 14, 15, 17, 18, 19, 20, 23, 30, 45, 63, 72, 86, 98], "against": [2, 6, 13, 15, 18, 20, 34, 66, 98], "To": [2, 3, 4, 5, 13, 15, 16, 18, 21, 23, 24, 25, 27, 28, 29, 30, 32, 33, 35, 39, 42, 43, 44, 45, 46, 47, 50, 52, 54, 55, 56, 60, 62, 64, 66, 69, 72, 73, 77, 78, 81, 82, 84, 85, 86, 87, 88, 89, 90, 92, 93, 94, 95, 96, 97, 98, 99, 100], "see": [2, 4, 7, 8, 10, 13, 15, 17, 18, 19, 20, 21, 27, 30, 34, 35, 42, 44, 47, 57, 62, 64, 66, 73, 77, 78, 80, 81, 84, 85, 86, 87, 88, 89, 90, 91, 93, 94, 95, 96, 97, 98, 99, 100], "method": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 22, 23, 25, 27, 28, 30, 31, 33, 45, 46, 50, 64, 65, 66, 71, 72, 78, 85, 86, 88, 89, 90, 91, 92, 93, 94, 96, 97, 99, 100], "attribut": [2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 22, 23, 38, 39, 45, 46, 72, 73, 74, 76, 78, 87, 89, 90, 92, 94, 98, 99], "__init__": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 19, 20, 21, 22, 23, 30, 45, 46, 52, 78, 92, 95, 96], "cfg": [2, 4, 5, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 23, 25, 30, 33, 34, 42, 43, 45, 46, 51, 62, 72, 87, 88, 89, 90, 92, 93, 94, 95, 96, 97, 100], "actuatorbasecfg": [2, 4, 72], "joint_nam": [2, 4, 8, 10, 28, 45, 46, 51, 92, 93, 94, 99], "str": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 30, 34, 39, 43, 45, 46, 72, 88, 89, 90, 92, 95, 96, 97, 99], "joint_id": [2, 4, 8, 10, 45, 46, 72, 92, 99, 100], "slice": [2, 4, 8, 10, 20, 45, 72], "sequenc": [2, 4, 5, 7, 8, 9, 10, 12, 13, 14, 20, 45, 46, 92], "int": [2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 30, 34, 39, 42, 43, 45, 46, 63, 64, 66, 72, 78, 86, 91, 92, 93, 94, 96, 97, 98, 99, 100], "num_env": [2, 5, 7, 8, 9, 10, 12, 19, 20, 21, 22, 23, 28, 30, 34, 39, 40, 45, 46, 60, 63, 64, 66, 68, 69, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100], "devic": [2, 3, 4, 5, 7, 8, 10, 12, 13, 14, 15, 19, 20, 21, 23, 33, 34, 39, 40, 42, 45, 46, 60, 62, 63, 64, 66, 69, 72, 78, 85, 86, 87, 88, 89, 90, 91, 92, 96, 97, 98, 99, 100], "stiff": [2, 4, 5, 8, 16, 17, 18, 35, 44, 45, 46, 48, 72, 88, 100], "torch": [2, 4, 5, 7, 8, 10, 11, 12, 13, 14, 15, 19, 20, 21, 22, 23, 29, 32, 33, 34, 42, 45, 46, 51, 62, 63, 64, 66, 72, 78, 84, 88, 89, 90, 91, 92, 93, 94, 96, 97, 98, 99, 100], "tensor": [2, 4, 5, 7, 8, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 22, 23, 33, 34, 37, 42, 45, 46, 51, 63, 64, 66, 72, 77, 78, 88, 89, 90, 92, 93, 97, 99, 100], "float": [2, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 20, 23, 30, 31, 34, 35, 36, 37, 43, 45, 46, 51, 62, 72, 86, 88, 92, 93, 95, 100], "0": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 32, 33, 34, 35, 37, 39, 40, 42, 43, 44, 45, 46, 47, 48, 51, 62, 63, 64, 66, 69, 70, 73, 76, 77, 78, 81, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 97, 98, 99, 100], "damp": [2, 4, 5, 8, 16, 17, 18, 35, 44, 45, 46, 48, 50, 71, 72, 88, 99, 100], "armatur": [2, 4, 72], "friction": [2, 4, 7, 8, 10, 15, 17, 18, 35, 38, 72, 87, 93], "effort_limit": [2, 44, 45, 46], "inf": [2, 13, 20, 45, 66, 97], "velocity_limit": [2, 44, 45, 46, 72], "default": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 30, 32, 34, 35, 38, 39, 40, 42, 43, 44, 45, 47, 56, 60, 62, 63, 64, 66, 68, 72, 73, 78, 81, 84, 85, 86, 87, 88, 89, 90, 91, 93, 94, 96, 97, 98, 99, 100], "valu": [2, 3, 4, 5, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 22, 23, 25, 28, 30, 31, 33, 34, 35, 37, 40, 42, 44, 45, 46, 47, 64, 66, 72, 73, 77, 78, 87, 88, 89, 92, 93, 94, 95, 96, 98, 99, 100], "argument": [2, 3, 6, 7, 8, 10, 11, 14, 15, 18, 19, 20, 24, 25, 27, 28, 30, 31, 33, 34, 35, 39, 41, 42, 43, 45, 46, 47, 60, 62, 63, 64, 66, 72, 73, 78, 81, 84, 85, 87, 88, 89, 90, 91, 92, 93, 94, 96, 97, 98, 99, 100], "indic": [2, 4, 5, 8, 10, 11, 12, 13, 14, 15, 17, 20, 22, 33, 45, 46, 72, 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"module-omni.isaac.lab.envs.mdp"]], "Observations": [[8, "module-omni.isaac.lab.envs.mdp.observations"], [45, "observations"], [46, "observations"]], "Actions": [[8, "module-omni.isaac.lab.envs.mdp.actions"]], "Events": [[8, "module-omni.isaac.lab.envs.mdp.events"]], "Commands": [[8, "module-omni.isaac.lab.envs.mdp.commands"]], "Rewards": [[8, "module-omni.isaac.lab.envs.mdp.rewards"], [45, "rewards"], [46, "rewards"]], "Terminations": [[8, "module-omni.isaac.lab.envs.mdp.terminations"]], "Curriculum": [[8, "module-omni.isaac.lab.envs.mdp.curriculums"]], "omni.isaac.lab.envs.ui": [[9, "module-omni.isaac.lab.envs.ui"]], "Base Environment UI": [[9, "base-environment-ui"]], "Config Based RL Environment UI": [[9, "config-based-rl-environment-ui"]], "Viewport Camera Controller": [[9, "viewport-camera-controller"]], "omni.isaac.lab.managers": [[10, "module-omni.isaac.lab.managers"]], "Scene Entity": [[10, "scene-entity"]], "Manager Base": [[10, "manager-base"]], "Observation Manager": [[10, 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"module-omni.isaac.lab.sim.schemas"]], "Articulation Root": [[17, "articulation-root"]], "Rigid Body": [[17, "rigid-body"]], "Collision": [[17, "collision"]], "Mass": [[17, "mass"]], "Joint Drive": [[17, "joint-drive"]], "Fixed Tendon": [[17, "fixed-tendon"]], "Deformable Body": [[17, "deformable-body"]], "omni.isaac.lab.sim.spawners": [[18, "module-omni.isaac.lab.sim.spawners"]], "Spawners": [[18, "spawners"]], "Shapes": [[18, "module-omni.isaac.lab.sim.spawners.shapes"]], "Meshes": [[18, "module-omni.isaac.lab.sim.spawners.meshes"]], "Lights": [[18, "module-omni.isaac.lab.sim.spawners.lights"]], "Sensors": [[18, "module-omni.isaac.lab.sim.spawners.sensors"], [65, "sensors"]], "From Files": [[18, "module-omni.isaac.lab.sim.spawners.from_files"]], "Materials": [[18, "module-omni.isaac.lab.sim.spawners.materials"]], "Visual Materials": [[18, "visual-materials"]], "Physical Materials": [[18, "physical-materials"]], "Wrappers": [[18, "module-omni.isaac.lab.sim.spawners.wrappers"]], "omni.isaac.lab.terrains": [[19, "module-omni.isaac.lab.terrains"]], "Terrain importer": [[19, "terrain-importer"]], "Terrain generator": [[19, "terrain-generator"]], "Height fields": [[19, "module-omni.isaac.lab.terrains.height_field"]], "Random Uniform Terrain": [[19, "random-uniform-terrain"]], "Pyramid Sloped Terrain": [[19, "pyramid-sloped-terrain"]], "Pyramid Stairs Terrain": [[19, "pyramid-stairs-terrain"]], "Discrete Obstacles Terrain": [[19, "discrete-obstacles-terrain"]], "Wave Terrain": [[19, "wave-terrain"]], "Stepping Stones Terrain": [[19, "stepping-stones-terrain"]], "Trimesh terrains": [[19, "module-omni.isaac.lab.terrains.trimesh"]], "Flat terrain": [[19, "flat-terrain"]], "Pyramid terrain": [[19, "pyramid-terrain"]], "Inverted pyramid terrain": [[19, "inverted-pyramid-terrain"]], "Random grid terrain": [[19, "random-grid-terrain"]], "Rails terrain": [[19, "rails-terrain"]], "Pit terrain": [[19, "pit-terrain"]], "Box terrain": [[19, "box-terrain"]], "Gap terrain": [[19, "gap-terrain"]], "Floating ring terrain": [[19, "floating-ring-terrain"]], "Star terrain": [[19, "star-terrain"]], "Repeated Objects Terrain": [[19, "repeated-objects-terrain"]], "omni.isaac.lab.utils": [[20, "module-omni.isaac.lab.utils"]], "Configuration class": [[20, "module-omni.isaac.lab.utils.configclass"]], "IO operations": [[20, "module-omni.isaac.lab.utils.io"]], "Array operations": [[20, "module-omni.isaac.lab.utils.array"]], "Asset operations": [[20, "module-omni.isaac.lab.utils.assets"]], "Buffer operations": [[20, "module-omni.isaac.lab.utils.buffers"]], "Dictionary operations": [[20, "module-omni.isaac.lab.utils.dict"]], "Interpolation operations": [[20, "module-omni.isaac.lab.utils.interpolation"]], "Math operations": [[20, "module-omni.isaac.lab.utils.math"]], "Modifier operations": [[20, "module-omni.isaac.lab.utils.modifiers"]], "Noise operations": [[20, "module-omni.isaac.lab.utils.noise"]], "String operations": [[20, "module-omni.isaac.lab.utils.string"]], "Timer operations": [[20, "module-omni.isaac.lab.utils.timer"]], "Type operations": [[20, "module-omni.isaac.lab.utils.types"]], "Warp operations": [[20, "module-omni.isaac.lab.utils.warp"]], "omni.isaac.lab_tasks.utils": [[21, "module-omni.isaac.lab_tasks.utils"]], "omni.isaac.lab_tasks.utils.data_collector": [[22, "module-omni.isaac.lab_tasks.utils.data_collector"]], "Robomimic Data Collector": [[22, "robomimic-data-collector"]], "omni.isaac.lab_tasks.utils.wrappers": [[23, "module-omni.isaac.lab_tasks.utils.wrappers"]], "RL-Games Wrapper": [[23, "module-omni.isaac.lab_tasks.utils.wrappers.rl_games"]], "RSL-RL Wrapper": [[23, "module-omni.isaac.lab_tasks.utils.wrappers.rsl_rl"]], "SKRL Wrapper": [[23, "module-omni.isaac.lab_tasks.utils.wrappers.skrl"]], "Stable-Baselines3 Wrapper": [[23, "module-omni.isaac.lab_tasks.utils.wrappers.sb3"]], "Cluster Guide": [[24, "cluster-guide"]], "Setup Instructions": [[24, "setup-instructions"], [25, "setup-instructions"]], "Configuring the cluster parameters": [[24, "configuring-the-cluster-parameters"]], "Exporting to singularity image": [[24, "exporting-to-singularity-image"]], "Defining the job parameters": [[24, "defining-the-job-parameters"]], "For SLURM": [[24, "for-slurm"]], "For PBS": [[24, "for-pbs"]], "Submitting a job": [[24, "submitting-a-job"]], "Docker Guide": [[25, "docker-guide"]], "Docker and Docker Compose": [[25, "docker-and-docker-compose"]], "Obtaining the Isaac Sim Container": [[25, "obtaining-the-isaac-sim-container"]], "Directory Organization": [[25, "directory-organization"]], "Running the Container": [[25, "running-the-container"]], "X11 forwarding": [[25, "x11-forwarding"]], "Python Interpreter": [[25, "python-interpreter"]], "Understanding the mounted volumes": [[25, "understanding-the-mounted-volumes"]], "Isaac Lab Image Extensions": [[25, "isaac-lab-image-extensions"]], "ROS2 Image Extension": [[25, "ros2-image-extension"]], "Known Issues": [[25, "known-issues"], [74, "known-issues"]], "WebRTC Streaming": [[25, "webrtc-streaming"]], "Container Deployment": [[26, "container-deployment"]], "Running an example with Docker": [[27, "running-an-example-with-docker"]], "Building the Container": [[27, "building-the-container"]], "The Code": [[27, "the-code"], [85, "the-code"], [86, "the-code"], [87, "the-code"], [88, "the-code"], [89, "the-code"], [90, "the-code"], [91, "the-code"], [92, "the-code"], [93, "the-code"], [94, "the-code"], [96, "the-code"], [97, "the-code"], [98, "the-code"], [99, "the-code"], [100, "the-code"]], "The Code Explained": [[27, "the-code-explained"], [85, "the-code-explained"], [86, "the-code-explained"], [87, "the-code-explained"], [88, "the-code-explained"], [89, "the-code-explained"], [90, "the-code-explained"], [91, "the-code-explained"], [92, "the-code-explained"], [93, "the-code-explained"], [94, "the-code-explained"], [96, "the-code-explained"], [97, "the-code-explained"], [98, "the-code-explained"], [99, "the-code-explained"]], "Executing the Script": [[27, "executing-the-script"], [33, "executing-the-script"], [87, "executing-the-script"]], "Hydra Configuration System": [[28, "hydra-configuration-system"]], "Modifying advanced parameters": [[28, "modifying-advanced-parameters"]], "Callables": [[28, "callables"]], "Setting parameters to None": [[28, "setting-parameters-to-none"]], "Dictionaries": [[28, "dictionaries"]], "Modifying inter-dependent parameters": [[28, "modifying-inter-dependent-parameters"]], "Multi-GPU and Multi-Node Training": [[29, "multi-gpu-and-multi-node-training"], [77, "multi-gpu-and-multi-node-training"]], "Multi-GPU Training": [[29, "multi-gpu-training"]], "Multi-Node Training": [[29, "multi-node-training"]], "Ray Job Dispatch and Tuning": [[30, "ray-job-dispatch-and-tuning"]], "Installation": [[30, "installation"], [55, "installation"], [81, "installation"], [84, "installation"]], "Setup Overview: Cluster Configuration": [[30, "setup-overview-cluster-configuration"]], "Single-Node Ray Cluster (Recommended for Beginners)": [[30, "single-node-ray-cluster-recommended-for-beginners"]], "KubeRay Clusters": [[30, "kuberay-clusters"]], "Ray Clusters (Without Kubernetes)": [[30, "ray-clusters-without-kubernetes"]], "Dispatching Jobs and Tuning": [[30, "dispatching-jobs-and-tuning"]], "Simple Ray Cluster (Local/VM)": [[30, "simple-ray-cluster-local-vm"]], "Remote Ray Cluster Setup and Use": [[30, "remote-ray-cluster-setup-and-use"]], "Shared Steps Between KubeRay and Pure Ray Part I": [[30, "shared-steps-between-kuberay-and-pure-ray-part-i"]], "KubeRay Specific": [[30, "kuberay-specific"]], "Ray Specific": [[30, "ray-specific"]], "Shared Steps Between KubeRay and Pure Ray Part II": [[30, "shared-steps-between-kuberay-and-pure-ray-part-ii"]], "Cluster Cleanup": [[30, "cluster-cleanup"]], "Reproducibility and Determinism": [[31, "reproducibility-and-determinism"]], "Adding your own learning library": [[32, "adding-your-own-learning-library"]], "Using a different version of a library": [[32, "using-a-different-version-of-a-library"]], "Integrating a new library": [[32, "integrating-a-new-library"]], "Creating Visualization Markers": [[33, "creating-visualization-markers"]], "Configuring the markers": [[33, "configuring-the-markers"]], "Drawing the markers": [[33, "drawing-the-markers"]], "Find How Many/What Cameras You Should Train With": [[34, "find-how-many-what-cameras-you-should-train-with"]], "Possible Parameters": [[34, "possible-parameters"]], "Compare Performance in Task Environments and Automatically Determine Task Max Camera Count": [[34, "compare-performance-in-task-environments-and-automatically-determine-task-max-camera-count"]], "Compare Camera Type and Performance (Without a Specified Task)": [[34, "compare-camera-type-and-performance-without-a-specified-task"]], "Importing a New Asset": [[35, "importing-a-new-asset"], [36, "importing-a-new-asset"]], "Using URDF Importer": [[35, "using-urdf-importer"]], "Example Usage": [[35, "example-usage"], [35, "id1"], [35, "id2"], [40, "example-usage"]], "Using MJCF Importer": [[35, "using-mjcf-importer"]], "Using Mesh Importer": [[35, "using-mesh-importer"]], "How-to Guides": [[36, "how-to-guides"]], "Creating a Fixed Asset": [[36, "creating-a-fixed-asset"]], "Spawning Multiple Assets": [[36, "spawning-multiple-assets"], [39, "spawning-multiple-assets"]], "Saving Camera Output": [[36, "saving-camera-output"]], "Estimate How Many Cameras Can Run On Your Machine": [[36, "estimate-how-many-cameras-can-run-on-your-machine"]], "Drawing Markers": [[36, "drawing-markers"]], "Interfacing with Environments": [[36, "interfacing-with-environments"]], "Recording an Animation and Video": [[36, "recording-an-animation-and-video"]], "Mastering Omniverse": [[36, "mastering-omniverse"]], "Making a physics prim fixed in the simulation": [[37, "making-a-physics-prim-fixed-in-the-simulation"]], "Static colliders": [[37, "static-colliders"]], "Rigid object": [[37, "rigid-object"]], "Further notes": [[37, "further-notes"]], "Mastering Omniverse for Robotics": [[38, "mastering-omniverse-for-robotics"]], "Part 1: Using USD Composer": [[38, "part-1-using-usd-composer"]], "Part 2: Scripting in Omniverse": [[38, "part-2-scripting-in-omniverse"]], "Part 3: More Resources": [[38, "part-3-more-resources"]], "Rigid Object Collections": [[39, "rigid-object-collections"]], "Spawning different assets under the same prim path": [[39, "spawning-different-assets-under-the-same-prim-path"]], "Things to Note": [[39, "things-to-note"]], "Similar asset structuring": [[39, "similar-asset-structuring"]], "Disabling physics replication in interactive scene": [[39, "disabling-physics-replication-in-interactive-scene"]], "The Code Execution": [[39, "the-code-execution"], [85, "the-code-execution"], [86, "the-code-execution"], [88, "the-code-execution"], [89, "the-code-execution"], [90, "the-code-execution"], [91, "the-code-execution"], [92, "the-code-execution"], [93, "the-code-execution"], [94, 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[[73, "contributing-code"]], "Coding Style": [[73, "coding-style"]], "Circular Imports": [[73, "circular-imports"]], "Type-hinting": [[73, "type-hinting"]], "Tools": [[73, "tools"]], "Contributing Documentation": [[73, "contributing-documentation"]], "Contributing assets": [[73, "contributing-assets"]], "Maintaining a changelog": [[73, "maintaining-a-changelog"]], "Stale values after resetting the environment": [[74, "stale-values-after-resetting-the-environment"]], "Blank initial frames from the camera": [[74, "blank-initial-frames-from-the-camera"]], "Using instanceable assets for markers": [[74, "using-instanceable-assets-for-markers"]], "Exiting the process": [[74, "exiting-the-process"]], "Migration Guide (Isaac Sim)": [[76, "migration-guide-isaac-sim"]], "Renaming of PhysX Flatcache to PhysX Fabric": [[76, "renaming-of-physx-flatcache-to-physx-fabric"]], "Renaming of the URDF and MJCF Importers": [[76, "renaming-of-the-urdf-and-mjcf-importers"]], "Deprecation of UsdLux.Light API": [[76, "deprecation-of-usdlux-light-api"]], "Reference Architecture": [[77, "reference-architecture"]], "Who is this document for?": [[77, "who-is-this-document-for"]], "Components": [[77, "components"]], "Component 1 - Asset Input": [[77, "component-1-asset-input"]], "Component 2 -  Configuration (Assets and Scene)": [[77, "component-2-configuration-assets-and-scene"]], "Asset Configuration": [[77, "asset-configuration"]], "Scene Configuration": [[77, "scene-configuration"]], "Component 3 - Robot Learning Task Design": [[77, "component-3-robot-learning-task-design"]], "Manager-based": [[77, "manager-based"]], "Direct": [[77, "direct"]], "Component 4 - Register with Gymnasium": [[77, "component-4-register-with-gymnasium"]], "Component 5 - Environment Wrapping": [[77, "component-5-environment-wrapping"]], "Adding your own wrappers": [[77, "adding-your-own-wrappers"]], "Component 6 - Run Training": [[77, "component-6-run-training"]], "Single GPU Training": [[77, "single-gpu-training"]], "Cloud-Based Training": [[77, "cloud-based-training"]], "Component 7: Run Testing": [[77, "component-7-run-testing"]], "Deployment on Physical Robots": [[77, "deployment-on-physical-robots"]], "Summary": [[77, "summary"]], "How to Get Started": [[77, "how-to-get-started"]], "Tricks and Troubleshooting": [[78, "tricks-and-troubleshooting"]], "Checking the internal logs from the simulator": [[78, "checking-the-internal-logs-from-the-simulator"]], "Changing logging channel levels for the simulator": [[78, "changing-logging-channel-levels-for-the-simulator"]], "Using CPU Scaling Governor for performance": [[78, "using-cpu-scaling-governor-for-performance"]], "Observing long load times at the start of the simulation": [[78, "observing-long-load-times-at-the-start-of-the-simulation"]], "Receiving a \u201cPhysX error\u201d when running simulation on GPU": [[78, "receiving-a-physx-error-when-running-simulation-on-gpu"]], "Preventing memory leaks in the simulator": [[78, "preventing-memory-leaks-in-the-simulator"]], "Understanding the error logs from crashes": [[78, "understanding-the-error-logs-from-crashes"]], "Isaac Lab Ecosystem": [[79, "isaac-lab-ecosystem"]], "Frequently Asked Questions": [[80, "frequently-asked-questions"]], "Where does Isaac Lab fit in the Isaac ecosystem?": [[80, "where-does-isaac-lab-fit-in-the-isaac-ecosystem"]], "Why should I use Isaac Lab?": [[80, "why-should-i-use-isaac-lab"]], "Installation using Isaac Sim Binaries": [[81, "installation-using-isaac-sim-binaries"]], "Installing Isaac Sim": [[81, "installing-isaac-sim"], [84, "installing-isaac-sim"]], "Downloading pre-built binaries": [[81, "downloading-pre-built-binaries"]], "Verifying the Isaac Sim installation": [[81, "verifying-the-isaac-sim-installation"], [84, "verifying-the-isaac-sim-installation"]], "Installing Isaac Lab": [[81, "installing-isaac-lab"], [84, "installing-isaac-lab"]], "Cloning Isaac Lab": [[81, "cloning-isaac-lab"], [84, "cloning-isaac-lab"]], "Creating the Isaac Sim Symbolic Link": [[81, "creating-the-isaac-sim-symbolic-link"]], "Setting up the conda environment (optional)": [[81, "setting-up-the-conda-environment-optional"]], "Verifying the Isaac Lab installation": [[81, "verifying-the-isaac-lab-installation"], [84, "verifying-the-isaac-lab-installation"]], "Running Isaac Lab in the Cloud": [[82, "running-isaac-lab-in-the-cloud"]], "Installing Isaac Automator": [[82, "installing-isaac-automator"]], "Running Isaac Automator": [[82, "running-isaac-automator"]], "Running Isaac Lab on the Cloud": [[82, "running-isaac-lab-on-the-cloud"]], "Destroying a Development": [[82, "destroying-a-development"]], "Local Installation": [[83, "local-installation"]], "Installation using Isaac Sim pip": [[84, "installation-using-isaac-sim-pip"]], "Creating an empty scene": [[85, "creating-an-empty-scene"]], "Launching the simulator": [[85, "launching-the-simulator"]], "Importing python modules": [[85, "importing-python-modules"]], "Configuring the simulation context": [[85, "configuring-the-simulation-context"]], "Running the simulation": [[85, "running-the-simulation"], [93, "running-the-simulation"]], "Exiting the simulation": [[85, "exiting-the-simulation"]], "Deep-dive into AppLauncher": [[86, "deep-dive-into-applauncher"]], "Adding arguments to the argparser": [[86, "adding-arguments-to-the-argparser"]], "Understanding the output of \u2013help": [[86, "understanding-the-output-of-help"]], "Using environment variables": [[86, "using-environment-variables"]], "Spawning prims into the scene": [[87, "spawning-prims-into-the-scene"]], "Spawning a ground plane": [[87, "spawning-a-ground-plane"]], "Spawning lights": [[87, "spawning-lights"]], "Spawning primitive shapes": [[87, "spawning-primitive-shapes"]], "Spawning from another file": [[87, "spawning-from-another-file"]], "Interacting with an articulation": [[88, "interacting-with-an-articulation"]], "Designing the scene": [[88, "designing-the-scene"], [89, "designing-the-scene"], [90, "designing-the-scene"], [93, "designing-the-scene"]], "Running the simulation loop": [[88, "running-the-simulation-loop"], [89, "running-the-simulation-loop"], [90, "running-the-simulation-loop"], [91, "running-the-simulation-loop"], [94, "running-the-simulation-loop"], [98, "running-the-simulation-loop"]], "Resetting the simulation": [[88, "resetting-the-simulation"]], "Stepping the simulation": [[88, "stepping-the-simulation"], [89, "stepping-the-simulation"], [90, "stepping-the-simulation"]], "Updating the state": [[88, "updating-the-state"], [89, "updating-the-state"], [90, "updating-the-state"]], "Interacting with a deformable object": [[89, "interacting-with-a-deformable-object"]], "Resetting the simulation state": [[89, "resetting-the-simulation-state"], [90, "resetting-the-simulation-state"]], "Interacting with a rigid object": [[90, "interacting-with-a-rigid-object"]], "Using the Interactive Scene": [[91, "using-the-interactive-scene"]], "Scene configuration": [[91, "scene-configuration"]], "Scene instantiation": [[91, "scene-instantiation"]], "Accessing scene elements": [[91, "accessing-scene-elements"]], "Creating a Direct Workflow RL Environment": [[92, "creating-a-direct-workflow-rl-environment"]], "Scene Creation": [[92, "scene-creation"]], "Defining Rewards": [[92, "defining-rewards"]], "Defining Observations": [[92, "defining-observations"]], "Computing Dones and Performing Resets": [[92, "computing-dones-and-performing-resets"]], "Applying Actions": [[92, "applying-actions"]], "Creating a Manager-Based Base Environment": [[93, "creating-a-manager-based-base-environment"]], "Defining actions": [[93, "defining-actions"]], "Defining observations": [[93, "defining-observations"]], "Defining events": [[93, "defining-events"]], "Tying it all together": [[93, "tying-it-all-together"], [94, "tying-it-all-together"]], "Creating a Manager-Based RL Environment": [[94, "creating-a-manager-based-rl-environment"]], "Defining rewards": [[94, "defining-rewards"]], "Defining termination criteria": [[94, "defining-termination-criteria"]], "Defining commands": [[94, "defining-commands"]], "Defining curriculum": [[94, "defining-curriculum"]], "Modifying an existing Direct RL Environment": [[95, "modifying-an-existing-direct-rl-environment"]], "The Base Code": [[95, "the-base-code"]], "The Changes Explained": [[95, "the-changes-explained"]], "Duplicating the file and registering a new task": [[95, "duplicating-the-file-and-registering-a-new-task"]], "Changing the robot": [[95, "changing-the-robot"]], "Registering an Environment": [[96, "registering-an-environment"]], "Using the gym registry": [[96, "using-the-gym-registry"]], "Creating the environment": [[96, "creating-the-environment"]], "Training with an RL Agent": [[97, "training-with-an-rl-agent"]], "Training the agent": [[97, "training-the-agent"]], "Headless execution": [[97, "headless-execution"]], "Headless execution with off-screen render": [[97, "headless-execution-with-off-screen-render"]], "Interactive execution": [[97, "interactive-execution"]], "Viewing the logs": [[97, "viewing-the-logs"]], "Playing the trained agent": [[97, "playing-the-trained-agent"]], "Adding sensors on a robot": [[98, "adding-sensors-on-a-robot"]], "Camera sensor": [[98, "camera-sensor"]], "Height scanner": [[98, "height-scanner"]], "Contact sensor": [[98, "contact-sensor"]], "Using a task-space controller": [[99, "using-a-task-space-controller"]], "Creating an IK controller": [[99, "creating-an-ik-controller"]], "Obtaining the robot\u2019s joint and body indices": [[99, "obtaining-the-robot-s-joint-and-body-indices"]], "Computing robot command": [[99, "computing-robot-command"], [100, "computing-robot-command"]], "Using an operational space controller": [[100, "using-an-operational-space-controller"]], "Creating an Operational Space Controller": [[100, "creating-an-operational-space-controller"]], "Updating the states of the robot": [[100, 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(omni.isaac.lab.envs.managerbasedrlenv property)": [[7, "omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt"]], "terminations (omni.isaac.lab.envs.managerbasedrlenvcfg attribute)": [[7, "omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations"]], "ui_window_class_type (omni.isaac.lab.envs.directmarlenvcfg attribute)": [[7, "omni.isaac.lab.envs.DirectMARLEnvCfg.ui_window_class_type"]], "ui_window_class_type (omni.isaac.lab.envs.directrlenvcfg attribute)": [[7, "omni.isaac.lab.envs.DirectRLEnvCfg.ui_window_class_type"]], "ui_window_class_type (omni.isaac.lab.envs.managerbasedenvcfg attribute)": [[7, "omni.isaac.lab.envs.ManagerBasedEnvCfg.ui_window_class_type"]], "ui_window_class_type (omni.isaac.lab.envs.managerbasedrlenvcfg attribute)": [[7, "omni.isaac.lab.envs.ManagerBasedRLEnvCfg.ui_window_class_type"]], "unwrapped (omni.isaac.lab.envs.directmarlenv property)": [[7, "omni.isaac.lab.envs.DirectMARLEnv.unwrapped"]], "unwrapped (omni.isaac.lab.envs.directrlenv property)": [[7, "omni.isaac.lab.envs.DirectRLEnv.unwrapped"]], "unwrapped (omni.isaac.lab.envs.managerbasedrlenv property)": [[7, "omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped"]], "viewer (omni.isaac.lab.envs.directmarlenvcfg attribute)": [[7, "omni.isaac.lab.envs.DirectMARLEnvCfg.viewer"]], "viewer (omni.isaac.lab.envs.directrlenvcfg attribute)": [[7, "omni.isaac.lab.envs.DirectRLEnvCfg.viewer"]], "viewer (omni.isaac.lab.envs.managerbasedenvcfg attribute)": [[7, "omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer"]], "viewer (omni.isaac.lab.envs.managerbasedrlenvcfg attribute)": [[7, "omni.isaac.lab.envs.ManagerBasedRLEnvCfg.viewer"]], "binaryjointactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg"]], "binaryjointpositionactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg"]], "binaryjointvelocityactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg"]], "differentialinversekinematicsactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg"]], "differentialinversekinematicsactioncfg.offsetcfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg"]], "emajointpositiontolimitsactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg"]], "jointactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg"]], "jointeffortactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg"]], "jointpositionactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg"]], "jointpositiontolimitsactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg"]], "jointvelocityactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg"]], "nonholonomicactioncfg (class in omni.isaac.lab.envs.mdp.actions.actions_cfg)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg"]], "normalvelocitycommandcfg (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg"]], "normalvelocitycommandcfg.ranges (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)": [[8, 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"omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg"]], "uniformvelocitycommandcfg.ranges (class in omni.isaac.lab.envs.mdp.commands.commands_cfg)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges"]], "__init__() (omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material method)": [[8, "omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material.__init__"]], "__init__() (omni.isaac.lab.envs.mdp.observations.image_features method)": [[8, "omni.isaac.lab.envs.mdp.observations.image_features.__init__"]], "__init__() (omni.isaac.lab.envs.mdp.rewards.is_terminated_term method)": [[8, "omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__"]], "action_l2() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.action_l2"]], "action_rate_l2() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.action_rate_l2"]], "alpha 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(omni.isaac.lab.envs.mdp.actions.actions_cfg.jointeffortactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.nonholonomicactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.relativejointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.commands.commands_cfg.terrainbasedpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name"]], "asset_name (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name"]], "bad_orientation() (in module omni.isaac.lab.envs.mdp.terminations)": [[8, "omni.isaac.lab.envs.mdp.terminations.bad_orientation"]], "base_ang_vel() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.base_ang_vel"]], "base_height_l2() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.base_height_l2"]], "base_lin_vel() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.base_lin_vel"]], "base_pos_z() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.base_pos_z"]], "body_incoming_wrench() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.body_incoming_wrench"]], "body_lin_acc_l2() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2"]], "body_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.differentialinversekinematicsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_name"]], "body_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.nonholonomicactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name"]], "body_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_name"]], "body_name (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.body_name"]], "body_offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.differentialinversekinematicsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_offset"]], "body_offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_offset"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.differentialinversekinematicsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.emajointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointeffortactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.nonholonomicactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.clip"]], "clip (omni.isaac.lab.envs.mdp.actions.actions_cfg.relativejointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.clip"]], "close_command_expr (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.close_command_expr"]], "close_command_expr (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.close_command_expr"]], "close_command_expr (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.close_command_expr"]], "command_resample() (in module omni.isaac.lab.envs.mdp.terminations)": [[8, "omni.isaac.lab.envs.mdp.terminations.command_resample"]], "contact_forces() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.contact_forces"]], "controller (omni.isaac.lab.envs.mdp.actions.actions_cfg.differentialinversekinematicsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.controller"]], "controller_cfg (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.controller_cfg"]], "current_pose_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.current_pose_visualizer_cfg"]], "current_vel_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.current_vel_visualizer_cfg"]], "current_vel_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.current_vel_visualizer_cfg"]], "damping_ratio_scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.damping_ratio_scale"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.differentialinversekinematicsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.emajointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointeffortactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.nonholonomicactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.actions.actions_cfg.relativejointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.commands.commands_cfg.nullcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.commands.commands_cfg.terrainbasedpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.debug_vis"]], "debug_vis (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.debug_vis"]], "flat_orientation_l2() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2"]], "generated_commands() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.generated_commands"]], "goal_pose_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.terrainbasedpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg"]], "goal_pose_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.goal_pose_visualizer_cfg"]], "goal_pose_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.goal_pose_visualizer_cfg"]], "goal_vel_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.goal_vel_visualizer_cfg"]], "goal_vel_visualizer_cfg (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.goal_vel_visualizer_cfg"]], "heading (omni.isaac.lab.envs.mdp.commands.commands_cfg.terrainbasedpose2dcommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading"]], "heading (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformpose2dcommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading"]], "heading (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.heading"]], "heading_command (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command"]], "heading_command (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command"]], "heading_control_stiffness (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_control_stiffness"]], "heading_control_stiffness (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_control_stiffness"]], "height_scan() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.height_scan"]], "illegal_contact() (in module omni.isaac.lab.envs.mdp.terminations)": [[8, "omni.isaac.lab.envs.mdp.terminations.illegal_contact"]], "image() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.image"]], "image_features (class in omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.image_features"]], "imu_ang_vel() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.imu_ang_vel"]], "imu_lin_acc() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.imu_lin_acc"]], "imu_orientation() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.imu_orientation"]], "is_alive() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.is_alive"]], "is_terminated() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.is_terminated"]], "is_terminated_term (class in omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.is_terminated_term"]], "joint_acc_l2() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.joint_acc_l2"]], "joint_deviation_l1() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1"]], "joint_effort_out_of_limit() (in module omni.isaac.lab.envs.mdp.terminations)": [[8, "omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.differentialinversekinematicsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.emajointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointeffortactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.joint_names"]], "joint_names (omni.isaac.lab.envs.mdp.actions.actions_cfg.relativejointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.joint_names"]], "joint_pos() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.joint_pos"]], "joint_pos_limit_normalized() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized"]], "joint_pos_limits() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.joint_pos_limits"]], "joint_pos_out_of_limit() (in module omni.isaac.lab.envs.mdp.terminations)": [[8, "omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit"]], "joint_pos_out_of_manual_limit() (in module omni.isaac.lab.envs.mdp.terminations)": [[8, "omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit"]], "joint_pos_rel() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.joint_pos_rel"]], "joint_torques_l2() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.joint_torques_l2"]], "joint_vel() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.joint_vel"]], "joint_vel_l1() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.joint_vel_l1"]], "joint_vel_l2() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.joint_vel_l2"]], "joint_vel_limits() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.joint_vel_limits"]], "joint_vel_out_of_limit() (in module omni.isaac.lab.envs.mdp.terminations)": [[8, "omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit"]], "joint_vel_out_of_manual_limit() (in module omni.isaac.lab.envs.mdp.terminations)": [[8, "omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit"]], "joint_vel_rel() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.joint_vel_rel"]], "last_action() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.last_action"]], "lin_vel_x (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_x"]], "lin_vel_y (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_y"]], "lin_vel_z_l2() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2"]], "make_quat_unique (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique"]], "mean_vel (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel"]], "modify_reward_weight() (in module omni.isaac.lab.envs.mdp.curriculums)": [[8, "omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight"]], "nullspace_joint_pos_target (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.nullspace_joint_pos_target"]], "offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.offset"]], "offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointeffortactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.offset"]], "offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset"]], "offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset"]], "offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.nonholonomicactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.offset"]], "offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.relativejointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset"]], "omni.isaac.lab.envs.mdp": [[8, "module-omni.isaac.lab.envs.mdp"]], "omni.isaac.lab.envs.mdp.actions": [[8, "module-omni.isaac.lab.envs.mdp.actions"]], "omni.isaac.lab.envs.mdp.actions.actions_cfg": [[8, "module-omni.isaac.lab.envs.mdp.actions.actions_cfg"]], "omni.isaac.lab.envs.mdp.commands": [[8, "module-omni.isaac.lab.envs.mdp.commands"]], "omni.isaac.lab.envs.mdp.commands.commands_cfg": [[8, "module-omni.isaac.lab.envs.mdp.commands.commands_cfg"]], "omni.isaac.lab.envs.mdp.curriculums": [[8, "module-omni.isaac.lab.envs.mdp.curriculums"]], "omni.isaac.lab.envs.mdp.events": [[8, "module-omni.isaac.lab.envs.mdp.events"]], "omni.isaac.lab.envs.mdp.observations": [[8, "module-omni.isaac.lab.envs.mdp.observations"]], "omni.isaac.lab.envs.mdp.rewards": [[8, "module-omni.isaac.lab.envs.mdp.rewards"]], "omni.isaac.lab.envs.mdp.terminations": [[8, "module-omni.isaac.lab.envs.mdp.terminations"]], "open_command_expr (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.open_command_expr"]], "open_command_expr (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.open_command_expr"]], "open_command_expr (omni.isaac.lab.envs.mdp.actions.actions_cfg.binaryjointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.open_command_expr"]], "orientation_scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.orientation_scale"]], "pitch (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pitch"]], "pos (omni.isaac.lab.envs.mdp.actions.actions_cfg.differentialinversekinematicsactioncfg.offsetcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos"]], "pos (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg.offsetcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.pos"]], "pos_x (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformpose2dcommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x"]], "pos_x (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_x"]], "pos_y (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformpose2dcommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_y"]], "pos_y (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_y"]], "pos_z (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_z"]], "position_scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.position_scale"]], "preserve_order (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.preserve_order"]], "preserve_order (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointeffortactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.preserve_order"]], "preserve_order (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.preserve_order"]], "preserve_order (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.preserve_order"]], "preserve_order (omni.isaac.lab.envs.mdp.actions.actions_cfg.relativejointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.preserve_order"]], "projected_gravity() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.projected_gravity"]], "push_by_setting_velocity() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.push_by_setting_velocity"]], "randomize_actuator_gains() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.randomize_actuator_gains"]], "randomize_fixed_tendon_parameters() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters"]], "randomize_joint_parameters() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.randomize_joint_parameters"]], "randomize_physics_scene_gravity() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity"]], "randomize_rigid_body_mass() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass"]], "randomize_rigid_body_material (class in omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material"]], "ranges (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.ranges"]], "ranges (omni.isaac.lab.envs.mdp.commands.commands_cfg.terrainbasedpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.ranges"]], "ranges (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.ranges"]], "ranges (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.ranges"]], "ranges (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.ranges"]], "rel_heading_envs (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_heading_envs"]], "rel_heading_envs (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_heading_envs"]], "rel_standing_envs (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_standing_envs"]], "rel_standing_envs (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_standing_envs"]], "resampling_time_range (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.resampling_time_range"]], "resampling_time_range (omni.isaac.lab.envs.mdp.commands.commands_cfg.nullcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.resampling_time_range"]], "resampling_time_range (omni.isaac.lab.envs.mdp.commands.commands_cfg.terrainbasedpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range"]], "resampling_time_range (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range"]], "resampling_time_range (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.resampling_time_range"]], "resampling_time_range (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformvelocitycommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.resampling_time_range"]], "rescale_to_limits (omni.isaac.lab.envs.mdp.actions.actions_cfg.emajointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits"]], "rescale_to_limits (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits"]], "reset() (omni.isaac.lab.envs.mdp.observations.image_features method)": [[8, "omni.isaac.lab.envs.mdp.observations.image_features.reset"]], "reset_joints_by_offset() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.reset_joints_by_offset"]], "reset_joints_by_scale() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.reset_joints_by_scale"]], "reset_nodal_state_uniform() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.reset_nodal_state_uniform"]], "reset_root_state_from_terrain() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain"]], "reset_root_state_uniform() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.reset_root_state_uniform"]], "reset_root_state_with_random_orientation() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation"]], "reset_scene_to_default() (in module omni.isaac.lab.envs.mdp.events)": [[8, "omni.isaac.lab.envs.mdp.events.reset_scene_to_default"]], "roll (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.roll"]], "root_ang_vel_w() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.root_ang_vel_w"]], "root_height_below_minimum() (in module omni.isaac.lab.envs.mdp.terminations)": [[8, "omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum"]], "root_lin_vel_w() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.root_lin_vel_w"]], "root_pos_w() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.root_pos_w"]], "root_quat_w() (in module omni.isaac.lab.envs.mdp.observations)": [[8, "omni.isaac.lab.envs.mdp.observations.root_quat_w"]], "rot (omni.isaac.lab.envs.mdp.actions.actions_cfg.differentialinversekinematicsactioncfg.offsetcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.rot"]], "rot (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg.offsetcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.rot"]], "scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.differentialinversekinematicsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.scale"]], "scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.emajointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.scale"]], "scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.scale"]], "scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointeffortactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.scale"]], "scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.scale"]], "scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositiontolimitsactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.scale"]], "scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.scale"]], "scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.nonholonomicactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.scale"]], "scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.relativejointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.scale"]], "simple_heading (omni.isaac.lab.envs.mdp.commands.commands_cfg.terrainbasedpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading"]], "simple_heading (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformpose2dcommandcfg attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading"]], "std_vel (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel"]], "stiffness_scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.stiffness_scale"]], "task_frame_rel_path (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.task_frame_rel_path"]], "time_out() (in module omni.isaac.lab.envs.mdp.terminations)": [[8, "omni.isaac.lab.envs.mdp.terminations.time_out"]], "track_ang_vel_z_exp() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp"]], "track_lin_vel_xy_exp() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp"]], "undesired_contacts() (in module omni.isaac.lab.envs.mdp.rewards)": [[8, "omni.isaac.lab.envs.mdp.rewards.undesired_contacts"]], "use_default_offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset"]], "use_default_offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.jointvelocityactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset"]], "use_zero_offset (omni.isaac.lab.envs.mdp.actions.actions_cfg.relativejointpositionactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset"]], "wrench_scale (omni.isaac.lab.envs.mdp.actions.actions_cfg.operationalspacecontrolleractioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.wrench_scale"]], "x_joint_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.nonholonomicactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.x_joint_name"]], "y_joint_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.nonholonomicactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.y_joint_name"]], "yaw (omni.isaac.lab.envs.mdp.commands.commands_cfg.uniformposecommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.yaw"]], "yaw_joint_name (omni.isaac.lab.envs.mdp.actions.actions_cfg.nonholonomicactioncfg attribute)": [[8, "omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.yaw_joint_name"]], "zero_prob (omni.isaac.lab.envs.mdp.commands.commands_cfg.normalvelocitycommandcfg.ranges attribute)": [[8, "omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob"]], "baseenvwindow (class in omni.isaac.lab.envs.ui)": [[9, "omni.isaac.lab.envs.ui.BaseEnvWindow"]], "managerbasedrlenvwindow (class in omni.isaac.lab.envs.ui)": [[9, "omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow"]], "viewportcameracontroller (class in omni.isaac.lab.envs.ui)": [[9, "omni.isaac.lab.envs.ui.ViewportCameraController"]], "__init__() (omni.isaac.lab.envs.ui.baseenvwindow method)": [[9, "omni.isaac.lab.envs.ui.BaseEnvWindow.__init__"]], "__init__() (omni.isaac.lab.envs.ui.managerbasedrlenvwindow method)": [[9, "omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow.__init__"]], "__init__() (omni.isaac.lab.envs.ui.viewportcameracontroller method)": [[9, "omni.isaac.lab.envs.ui.ViewportCameraController.__init__"]], "cfg (omni.isaac.lab.envs.ui.viewportcameracontroller property)": [[9, "omni.isaac.lab.envs.ui.ViewportCameraController.cfg"]], "omni.isaac.lab.envs.ui": [[9, "module-omni.isaac.lab.envs.ui"]], "set_view_env_index() (omni.isaac.lab.envs.ui.viewportcameracontroller method)": [[9, "omni.isaac.lab.envs.ui.ViewportCameraController.set_view_env_index"]], "update_view_location() (omni.isaac.lab.envs.ui.viewportcameracontroller method)": [[9, "omni.isaac.lab.envs.ui.ViewportCameraController.update_view_location"]], "update_view_to_asset_root() (omni.isaac.lab.envs.ui.viewportcameracontroller method)": [[9, "omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_asset_root"]], "update_view_to_env() (omni.isaac.lab.envs.ui.viewportcameracontroller method)": [[9, "omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_env"]], "update_view_to_world() (omni.isaac.lab.envs.ui.viewportcameracontroller method)": [[9, "omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_world"]], "actionmanager (class in omni.isaac.lab.managers)": [[10, "omni.isaac.lab.managers.ActionManager"]], "actionterm (class in omni.isaac.lab.managers)": [[10, "omni.isaac.lab.managers.ActionTerm"]], "actiontermcfg (class in omni.isaac.lab.managers)": [[10, 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"omni.isaac.lab.sensors.TiledCamera.num_instances"]], "offset (omni.isaac.lab.sensors.cameracfg attribute)": [[13, "omni.isaac.lab.sensors.CameraCfg.offset"]], "offset (omni.isaac.lab.sensors.frametransformercfg.framecfg attribute)": [[13, "omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.offset"]], "offset (omni.isaac.lab.sensors.imucfg attribute)": [[13, "omni.isaac.lab.sensors.ImuCfg.offset"]], "offset (omni.isaac.lab.sensors.raycastercameracfg attribute)": [[13, "omni.isaac.lab.sensors.RayCasterCameraCfg.offset"]], "offset (omni.isaac.lab.sensors.raycastercfg attribute)": [[13, "omni.isaac.lab.sensors.RayCasterCfg.offset"]], "offset (omni.isaac.lab.sensors.tiledcameracfg attribute)": [[13, "omni.isaac.lab.sensors.TiledCameraCfg.offset"]], "omni.isaac.lab.sensors": [[13, "module-omni.isaac.lab.sensors"]], "output (omni.isaac.lab.sensors.cameradata attribute)": [[13, "omni.isaac.lab.sensors.CameraData.output"]], "pattern_cfg (omni.isaac.lab.sensors.raycastercameracfg attribute)": [[13, "omni.isaac.lab.sensors.RayCasterCameraCfg.pattern_cfg"]], "pattern_cfg (omni.isaac.lab.sensors.raycastercfg attribute)": [[13, "omni.isaac.lab.sensors.RayCasterCfg.pattern_cfg"]], "pos (omni.isaac.lab.sensors.cameracfg.offsetcfg attribute)": [[13, "omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos"]], "pos (omni.isaac.lab.sensors.imucfg.offsetcfg attribute)": [[13, "omni.isaac.lab.sensors.ImuCfg.OffsetCfg.pos"]], "pos (omni.isaac.lab.sensors.offsetcfg attribute)": [[13, "omni.isaac.lab.sensors.OffsetCfg.pos"]], "pos (omni.isaac.lab.sensors.raycastercameracfg.offsetcfg attribute)": [[13, "omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos"]], "pos (omni.isaac.lab.sensors.raycastercfg.offsetcfg attribute)": [[13, "omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos"]], "pos (omni.isaac.lab.sensors.tiledcameracfg.offsetcfg attribute)": [[13, "omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos"]], "pos_w (omni.isaac.lab.sensors.cameradata attribute)": [[13, 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"omni.isaac.lab.sensors.CameraData.quat_w_world"]], "ray_hits_w (omni.isaac.lab.sensors.raycasterdata attribute)": [[13, "omni.isaac.lab.sensors.RayCasterData.ray_hits_w"]], "render_product_paths (omni.isaac.lab.sensors.camera property)": [[13, "omni.isaac.lab.sensors.Camera.render_product_paths"]], "render_product_paths (omni.isaac.lab.sensors.tiledcamera property)": [[13, "omni.isaac.lab.sensors.TiledCamera.render_product_paths"]], "reset() (omni.isaac.lab.sensors.camera method)": [[13, "omni.isaac.lab.sensors.Camera.reset"]], "reset() (omni.isaac.lab.sensors.contactsensor method)": [[13, "omni.isaac.lab.sensors.ContactSensor.reset"]], "reset() (omni.isaac.lab.sensors.frametransformer method)": [[13, "omni.isaac.lab.sensors.FrameTransformer.reset"]], "reset() (omni.isaac.lab.sensors.imu method)": [[13, "omni.isaac.lab.sensors.Imu.reset"]], "reset() (omni.isaac.lab.sensors.raycaster method)": [[13, "omni.isaac.lab.sensors.RayCaster.reset"]], "reset() 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attribute)": [[13, "omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.rot"]], "rot (omni.isaac.lab.sensors.tiledcameracfg.offsetcfg attribute)": [[13, "omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.rot"]], "semantic_filter (omni.isaac.lab.sensors.cameracfg attribute)": [[13, "omni.isaac.lab.sensors.CameraCfg.semantic_filter"]], "semantic_filter (omni.isaac.lab.sensors.tiledcameracfg attribute)": [[13, "omni.isaac.lab.sensors.TiledCameraCfg.semantic_filter"]], "set_debug_vis() (omni.isaac.lab.sensors.camera method)": [[13, "omni.isaac.lab.sensors.Camera.set_debug_vis"]], "set_debug_vis() (omni.isaac.lab.sensors.contactsensor method)": [[13, "omni.isaac.lab.sensors.ContactSensor.set_debug_vis"]], "set_debug_vis() (omni.isaac.lab.sensors.frametransformer method)": [[13, "omni.isaac.lab.sensors.FrameTransformer.set_debug_vis"]], "set_debug_vis() (omni.isaac.lab.sensors.imu method)": [[13, "omni.isaac.lab.sensors.Imu.set_debug_vis"]], "set_debug_vis() (omni.isaac.lab.sensors.raycaster 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"omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg"]], "visualizer_cfg (omni.isaac.lab.sensors.raycastercfg attribute)": [[13, "omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg"]], "width (omni.isaac.lab.sensors.cameracfg attribute)": [[13, "omni.isaac.lab.sensors.CameraCfg.width"]], "width (omni.isaac.lab.sensors.tiledcameracfg attribute)": [[13, "omni.isaac.lab.sensors.TiledCameraCfg.width"]], "bpearlpatterncfg (class in omni.isaac.lab.sensors.patterns)": [[14, "omni.isaac.lab.sensors.patterns.BpearlPatternCfg"]], "gridpatterncfg (class in omni.isaac.lab.sensors.patterns)": [[14, "omni.isaac.lab.sensors.patterns.GridPatternCfg"]], "lidarpatterncfg (class in omni.isaac.lab.sensors.patterns)": [[14, "omni.isaac.lab.sensors.patterns.LidarPatternCfg"]], "patternbasecfg (class in omni.isaac.lab.sensors.patterns)": [[14, "omni.isaac.lab.sensors.patterns.PatternBaseCfg"]], "pinholecamerapatterncfg (class in omni.isaac.lab.sensors.patterns)": [[14, "omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg"]], "bpearl_pattern() (in module omni.isaac.lab.sensors.patterns)": [[14, "omni.isaac.lab.sensors.patterns.bpearl_pattern"]], "channels (omni.isaac.lab.sensors.patterns.lidarpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.LidarPatternCfg.channels"]], "direction (omni.isaac.lab.sensors.patterns.gridpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.GridPatternCfg.direction"]], "focal_length (omni.isaac.lab.sensors.patterns.pinholecamerapatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length"]], "from_intrinsic_matrix() (omni.isaac.lab.sensors.patterns.pinholecamerapatterncfg class method)": [[14, "omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.from_intrinsic_matrix"]], "func (omni.isaac.lab.sensors.patterns.patternbasecfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.PatternBaseCfg.func"]], "grid_pattern() (in module omni.isaac.lab.sensors.patterns)": [[14, "omni.isaac.lab.sensors.patterns.grid_pattern"]], "height (omni.isaac.lab.sensors.patterns.pinholecamerapatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.height"]], "horizontal_aperture (omni.isaac.lab.sensors.patterns.pinholecamerapatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture"]], "horizontal_aperture_offset (omni.isaac.lab.sensors.patterns.pinholecamerapatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture_offset"]], "horizontal_fov (omni.isaac.lab.sensors.patterns.bpearlpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov"]], "horizontal_fov_range (omni.isaac.lab.sensors.patterns.lidarpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_fov_range"]], "horizontal_res (omni.isaac.lab.sensors.patterns.bpearlpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_res"]], "horizontal_res (omni.isaac.lab.sensors.patterns.lidarpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_res"]], "lidar_pattern() (in module omni.isaac.lab.sensors.patterns)": [[14, "omni.isaac.lab.sensors.patterns.lidar_pattern"]], "omni.isaac.lab.sensors.patterns": [[14, "module-omni.isaac.lab.sensors.patterns"]], "ordering (omni.isaac.lab.sensors.patterns.gridpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering"]], "pinhole_camera_pattern() (in module omni.isaac.lab.sensors.patterns)": [[14, "omni.isaac.lab.sensors.patterns.pinhole_camera_pattern"]], "resolution (omni.isaac.lab.sensors.patterns.gridpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution"]], "size (omni.isaac.lab.sensors.patterns.gridpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.GridPatternCfg.size"]], "vertical_aperture (omni.isaac.lab.sensors.patterns.pinholecamerapatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture"]], "vertical_aperture_offset (omni.isaac.lab.sensors.patterns.pinholecamerapatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture_offset"]], "vertical_fov_range (omni.isaac.lab.sensors.patterns.lidarpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.LidarPatternCfg.vertical_fov_range"]], "vertical_ray_angles (omni.isaac.lab.sensors.patterns.bpearlpatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles"]], "width (omni.isaac.lab.sensors.patterns.pinholecamerapatterncfg attribute)": [[14, "omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.width"]], "full_rendering (omni.isaac.lab.sim.simulationcontext.rendermode attribute)": [[15, "omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING"]], "no_gui_or_rendering (omni.isaac.lab.sim.simulationcontext.rendermode attribute)": [[15, "omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING"]], "no_rendering (omni.isaac.lab.sim.simulationcontext.rendermode attribute)": [[15, "omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING"]], "partial_rendering (omni.isaac.lab.sim.simulationcontext.rendermode attribute)": [[15, "omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING"]], "physxcfg (class in omni.isaac.lab.sim)": [[15, "omni.isaac.lab.sim.PhysxCfg"]], "rendercfg (class in omni.isaac.lab.sim)": [[15, "omni.isaac.lab.sim.RenderCfg"]], "simulationcfg (class in omni.isaac.lab.sim)": [[15, "omni.isaac.lab.sim.SimulationCfg"]], "simulationcontext (class in omni.isaac.lab.sim)": [[15, "omni.isaac.lab.sim.SimulationContext"]], "simulationcontext.rendermode (class in omni.isaac.lab.sim)": [[15, "omni.isaac.lab.sim.SimulationContext.RenderMode"]], "__init__() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.__init__"]], "antialiasing_mode (omni.isaac.lab.sim.rendercfg attribute)": [[15, "omni.isaac.lab.sim.RenderCfg.antialiasing_mode"]], "apply_nested() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.apply_nested"]], "bind_physics_material() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.bind_physics_material"]], "bind_visual_material() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.bind_visual_material"]], "bounce_threshold_velocity (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.bounce_threshold_velocity"]], "build_simulation_context() (omni.isaac.lab.sim.simulation_context method)": [[15, "omni.isaac.lab.sim.simulation_context.build_simulation_context"]], "clone() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.clone"]], "device (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.device"]], "disable_contact_processing (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.disable_contact_processing"]], "dlss_mode (omni.isaac.lab.sim.rendercfg attribute)": [[15, "omni.isaac.lab.sim.RenderCfg.dlss_mode"]], "dt (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.dt"]], "enable_ambient_occlusion (omni.isaac.lab.sim.rendercfg attribute)": [[15, "omni.isaac.lab.sim.RenderCfg.enable_ambient_occlusion"]], "enable_ccd (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.enable_ccd"]], "enable_direct_lighting (omni.isaac.lab.sim.rendercfg attribute)": [[15, "omni.isaac.lab.sim.RenderCfg.enable_direct_lighting"]], "enable_dlssg (omni.isaac.lab.sim.rendercfg attribute)": [[15, "omni.isaac.lab.sim.RenderCfg.enable_dlssg"]], "enable_enhanced_determinism (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism"]], "enable_global_illumination (omni.isaac.lab.sim.rendercfg attribute)": [[15, "omni.isaac.lab.sim.RenderCfg.enable_global_illumination"]], "enable_reflections (omni.isaac.lab.sim.rendercfg attribute)": [[15, "omni.isaac.lab.sim.RenderCfg.enable_reflections"]], "enable_scene_query_support (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support"]], "enable_shadows (omni.isaac.lab.sim.rendercfg attribute)": [[15, "omni.isaac.lab.sim.RenderCfg.enable_shadows"]], "enable_stabilization (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.enable_stabilization"]], "enable_translucency (omni.isaac.lab.sim.rendercfg attribute)": [[15, "omni.isaac.lab.sim.RenderCfg.enable_translucency"]], "export_prim_to_file() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.export_prim_to_file"]], "find_first_matching_prim() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.find_first_matching_prim"]], "find_global_fixed_joint_prim() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.find_global_fixed_joint_prim"]], "find_matching_prim_paths() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.find_matching_prim_paths"]], "find_matching_prims() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.find_matching_prims"]], "forward() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.forward"]], "friction_correlation_distance (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.friction_correlation_distance"]], "friction_offset_threshold (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.friction_offset_threshold"]], "get_all_matching_child_prims() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.get_all_matching_child_prims"]], "get_first_matching_child_prim() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.get_first_matching_child_prim"]], "get_setting() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.get_setting"]], "get_version() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.get_version"]], "gpu_collision_stack_size (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_collision_stack_size"]], "gpu_found_lost_aggregate_pairs_capacity (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity"]], "gpu_found_lost_pairs_capacity (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity"]], "gpu_heap_capacity (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_heap_capacity"]], "gpu_max_num_partitions (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions"]], "gpu_max_particle_contacts (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_max_particle_contacts"]], "gpu_max_rigid_contact_count (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_contact_count"]], "gpu_max_rigid_patch_count (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_patch_count"]], "gpu_max_soft_body_contacts (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_max_soft_body_contacts"]], "gpu_temp_buffer_capacity (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_temp_buffer_capacity"]], "gpu_total_aggregate_pairs_capacity (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.gpu_total_aggregate_pairs_capacity"]], "gravity (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.gravity"]], "has_gui() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.has_gui"]], "has_rtx_sensors() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.has_rtx_sensors"]], "is_fabric_enabled() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.is_fabric_enabled"]], "make_uninstanceable() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.make_uninstanceable"]], "max_position_iteration_count (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count"]], "max_velocity_iteration_count (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count"]], "min_position_iteration_count (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count"]], "min_velocity_iteration_count (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count"]], "omni.isaac.lab.sim": [[15, "module-omni.isaac.lab.sim"]], "omni.isaac.lab.sim.utils": [[15, "module-omni.isaac.lab.sim.utils"]], "physics_material (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.physics_material"]], "physics_prim_path (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.physics_prim_path"]], "physx (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.physx"]], "render (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.render"]], "render() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.render"]], "render_interval (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.render_interval"]], "safe_set_attribute_on_usd_prim() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim"]], "safe_set_attribute_on_usd_schema() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema"]], "samples_per_pixel (omni.isaac.lab.sim.rendercfg attribute)": [[15, "omni.isaac.lab.sim.RenderCfg.samples_per_pixel"]], "select_usd_variants() (in module omni.isaac.lab.sim.utils)": [[15, "omni.isaac.lab.sim.utils.select_usd_variants"]], "set_camera_view() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.set_camera_view"]], "set_render_mode() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.set_render_mode"]], "set_setting() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.set_setting"]], "solver_type (omni.isaac.lab.sim.physxcfg attribute)": [[15, "omni.isaac.lab.sim.PhysxCfg.solver_type"]], "step() (omni.isaac.lab.sim.simulationcontext method)": [[15, "omni.isaac.lab.sim.SimulationContext.step"]], "use_fabric (omni.isaac.lab.sim.simulationcfg attribute)": [[15, "omni.isaac.lab.sim.SimulationCfg.use_fabric"]], "assetconverterbase (class in omni.isaac.lab.sim.converters)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBase"]], "assetconverterbasecfg (class in omni.isaac.lab.sim.converters)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBaseCfg"]], "meshconverter (class in omni.isaac.lab.sim.converters)": [[16, "omni.isaac.lab.sim.converters.MeshConverter"]], "meshconvertercfg (class in omni.isaac.lab.sim.converters)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg"]], "urdfconverter (class in omni.isaac.lab.sim.converters)": [[16, "omni.isaac.lab.sim.converters.UrdfConverter"]], "urdfconvertercfg (class in omni.isaac.lab.sim.converters)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg"]], "__init__() (omni.isaac.lab.sim.converters.assetconverterbase method)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBase.__init__"]], "__init__() (omni.isaac.lab.sim.converters.meshconverter method)": [[16, "omni.isaac.lab.sim.converters.MeshConverter.__init__"]], "__init__() (omni.isaac.lab.sim.converters.urdfconverter method)": [[16, "omni.isaac.lab.sim.converters.UrdfConverter.__init__"]], "asset_path (omni.isaac.lab.sim.converters.assetconverterbasecfg attribute)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path"]], "asset_path (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.asset_path"]], "asset_path (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.asset_path"]], "cfg (omni.isaac.lab.sim.converters.meshconverter attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverter.cfg"]], "cfg (omni.isaac.lab.sim.converters.urdfconverter attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverter.cfg"]], "collision_approximation (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation"]], "collision_props (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props"]], "convex_decompose_mesh (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.convex_decompose_mesh"]], "default_drive_damping (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping"]], "default_drive_stiffness (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness"]], "default_drive_type (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type"]], "fix_base (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.fix_base"]], "force_usd_conversion (omni.isaac.lab.sim.converters.assetconverterbasecfg attribute)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion"]], "force_usd_conversion (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion"]], "force_usd_conversion (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion"]], "import_inertia_tensor (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor"]], "link_density (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density"]], "make_instanceable (omni.isaac.lab.sim.converters.assetconverterbasecfg attribute)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable"]], "make_instanceable (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable"]], "make_instanceable (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable"]], "mass_props (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props"]], "merge_fixed_joints (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.merge_fixed_joints"]], "omni.isaac.lab.sim.converters": [[16, "module-omni.isaac.lab.sim.converters"]], "override_joint_dynamics (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics"]], "rigid_props (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props"]], "rotation (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.rotation"]], "scale (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.scale"]], "self_collision (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.self_collision"]], "translation (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.translation"]], "usd_dir (omni.isaac.lab.sim.converters.assetconverterbase property)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir"]], "usd_dir (omni.isaac.lab.sim.converters.assetconverterbasecfg attribute)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir"]], "usd_dir (omni.isaac.lab.sim.converters.meshconverter property)": [[16, "omni.isaac.lab.sim.converters.MeshConverter.usd_dir"]], "usd_dir (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir"]], "usd_dir (omni.isaac.lab.sim.converters.urdfconverter property)": [[16, "omni.isaac.lab.sim.converters.UrdfConverter.usd_dir"]], "usd_dir (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir"]], "usd_file_name (omni.isaac.lab.sim.converters.assetconverterbase property)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBase.usd_file_name"]], "usd_file_name (omni.isaac.lab.sim.converters.assetconverterbasecfg attribute)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name"]], "usd_file_name (omni.isaac.lab.sim.converters.meshconverter property)": [[16, "omni.isaac.lab.sim.converters.MeshConverter.usd_file_name"]], "usd_file_name (omni.isaac.lab.sim.converters.meshconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name"]], "usd_file_name (omni.isaac.lab.sim.converters.urdfconverter property)": [[16, "omni.isaac.lab.sim.converters.UrdfConverter.usd_file_name"]], "usd_file_name (omni.isaac.lab.sim.converters.urdfconvertercfg attribute)": [[16, "omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name"]], "usd_instanceable_meshes_path (omni.isaac.lab.sim.converters.assetconverterbase property)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path"]], "usd_instanceable_meshes_path (omni.isaac.lab.sim.converters.meshconverter property)": [[16, "omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path"]], "usd_instanceable_meshes_path (omni.isaac.lab.sim.converters.urdfconverter property)": [[16, "omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path"]], "usd_path (omni.isaac.lab.sim.converters.assetconverterbase property)": [[16, "omni.isaac.lab.sim.converters.AssetConverterBase.usd_path"]], "usd_path (omni.isaac.lab.sim.converters.meshconverter property)": [[16, "omni.isaac.lab.sim.converters.MeshConverter.usd_path"]], "usd_path (omni.isaac.lab.sim.converters.urdfconverter property)": [[16, "omni.isaac.lab.sim.converters.UrdfConverter.usd_path"]], "articulationrootpropertiescfg (class in omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg"]], "collisionpropertiescfg (class in omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"]], "deformablebodypropertiescfg (class in omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"]], "fixedtendonpropertiescfg (class in omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg"]], "jointdrivepropertiescfg (class in omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg"]], "masspropertiescfg (class in omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.MassPropertiesCfg"]], "rigidbodypropertiescfg (class in omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"]], "activate_contact_sensors() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.activate_contact_sensors"]], "angular_damping (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.angular_damping"]], "articulation_enabled (omni.isaac.lab.sim.schemas.articulationrootpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled"]], "collision_enabled (omni.isaac.lab.sim.schemas.collisionpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled"]], "collision_simplification (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification"]], "collision_simplification_force_conforming (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_force_conforming"]], "collision_simplification_remeshing (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing"]], "collision_simplification_remeshing_resolution (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing_resolution"]], "collision_simplification_target_triangle_count (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_target_triangle_count"]], "contact_offset (omni.isaac.lab.sim.schemas.collisionpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset"]], "contact_offset (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.contact_offset"]], "damping (omni.isaac.lab.sim.schemas.fixedtendonpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.damping"]], "define_articulation_root_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.define_articulation_root_properties"]], "define_collision_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.define_collision_properties"]], "define_deformable_body_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.define_deformable_body_properties"]], "define_mass_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.define_mass_properties"]], "define_rigid_body_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.define_rigid_body_properties"]], "deformable_enabled (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.deformable_enabled"]], "density (omni.isaac.lab.sim.schemas.masspropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.MassPropertiesCfg.density"]], "disable_gravity (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.disable_gravity"]], "drive_type (omni.isaac.lab.sim.schemas.jointdrivepropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type"]], "enable_gyroscopic_forces (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.enable_gyroscopic_forces"]], "enabled_self_collisions (omni.isaac.lab.sim.schemas.articulationrootpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions"]], "fix_root_link (omni.isaac.lab.sim.schemas.articulationrootpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link"]], "kinematic_enabled (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.kinematic_enabled"]], "kinematic_enabled (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled"]], "limit_stiffness (omni.isaac.lab.sim.schemas.fixedtendonpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.limit_stiffness"]], "linear_damping (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.linear_damping"]], "mass (omni.isaac.lab.sim.schemas.masspropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass"]], "max_angular_velocity (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_angular_velocity"]], "max_contact_impulse (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse"]], "max_depenetration_velocity (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.max_depenetration_velocity"]], "max_depenetration_velocity (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_depenetration_velocity"]], "max_linear_velocity (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_linear_velocity"]], "min_torsional_patch_radius (omni.isaac.lab.sim.schemas.collisionpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.min_torsional_patch_radius"]], "modify_articulation_root_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.modify_articulation_root_properties"]], "modify_collision_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.modify_collision_properties"]], "modify_deformable_body_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.modify_deformable_body_properties"]], "modify_fixed_tendon_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties"]], "modify_joint_drive_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.modify_joint_drive_properties"]], "modify_mass_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.modify_mass_properties"]], "modify_rigid_body_properties() (in module omni.isaac.lab.sim.schemas)": [[17, "omni.isaac.lab.sim.schemas.modify_rigid_body_properties"]], "offset (omni.isaac.lab.sim.schemas.fixedtendonpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset"]], "omni.isaac.lab.sim.schemas": [[17, "module-omni.isaac.lab.sim.schemas"]], "rest_length (omni.isaac.lab.sim.schemas.fixedtendonpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.rest_length"]], "rest_offset (omni.isaac.lab.sim.schemas.collisionpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset"]], "rest_offset (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.rest_offset"]], "retain_accelerations (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.retain_accelerations"]], "rigid_body_enabled (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled"]], "self_collision (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision"]], "self_collision_filter_distance (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision_filter_distance"]], "settling_threshold (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.settling_threshold"]], "simulation_hexahedral_resolution (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.simulation_hexahedral_resolution"]], "sleep_damping (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_damping"]], "sleep_threshold (omni.isaac.lab.sim.schemas.articulationrootpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.sleep_threshold"]], "sleep_threshold (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_threshold"]], "sleep_threshold (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.sleep_threshold"]], "solver_position_iteration_count (omni.isaac.lab.sim.schemas.articulationrootpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_position_iteration_count"]], "solver_position_iteration_count (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.solver_position_iteration_count"]], "solver_position_iteration_count (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_position_iteration_count"]], "solver_velocity_iteration_count (omni.isaac.lab.sim.schemas.articulationrootpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_velocity_iteration_count"]], "solver_velocity_iteration_count (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_velocity_iteration_count"]], "stabilization_threshold (omni.isaac.lab.sim.schemas.articulationrootpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.stabilization_threshold"]], "stabilization_threshold (omni.isaac.lab.sim.schemas.rigidbodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.stabilization_threshold"]], "stiffness (omni.isaac.lab.sim.schemas.fixedtendonpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.stiffness"]], "tendon_enabled (omni.isaac.lab.sim.schemas.fixedtendonpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled"]], "torsional_patch_radius (omni.isaac.lab.sim.schemas.collisionpropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius"]], "vertex_velocity_damping (omni.isaac.lab.sim.schemas.deformablebodypropertiescfg attribute)": [[17, "omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.vertex_velocity_damping"]], "capsulecfg (class in omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg"]], "conecfg (class in omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg"]], "cuboidcfg (class in omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg"]], "cylindercfg (class in omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg"]], "cylinderlightcfg (class in omni.isaac.lab.sim.spawners.lights)": [[18, "omni.isaac.lab.sim.spawners.lights.CylinderLightCfg"]], "deformablebodymaterialcfg (class in omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg"]], "deformableobjectspawnercfg (class in omni.isaac.lab.sim.spawners)": [[18, "omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg"]], "disklightcfg (class in omni.isaac.lab.sim.spawners.lights)": [[18, "omni.isaac.lab.sim.spawners.lights.DiskLightCfg"]], "distantlightcfg (class in omni.isaac.lab.sim.spawners.lights)": [[18, "omni.isaac.lab.sim.spawners.lights.DistantLightCfg"]], "domelightcfg (class in omni.isaac.lab.sim.spawners.lights)": [[18, "omni.isaac.lab.sim.spawners.lights.DomeLightCfg"]], "fisheyecameracfg (class in omni.isaac.lab.sim.spawners.sensors)": [[18, "omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg"]], "glassmdlcfg (class in omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.GlassMdlCfg"]], "groundplanecfg (class in omni.isaac.lab.sim.spawners.from_files)": [[18, "omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg"]], "lightcfg (class in omni.isaac.lab.sim.spawners.lights)": [[18, "omni.isaac.lab.sim.spawners.lights.LightCfg"]], "mdlfilecfg (class in omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.MdlFileCfg"]], "meshcapsulecfg (class in omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg"]], "meshcfg (class in omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg"]], "meshconecfg (class in omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg"]], "meshcuboidcfg (class in omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg"]], "meshcylindercfg (class in omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg"]], "meshspherecfg (class in omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg"]], "multiassetspawnercfg (class in omni.isaac.lab.sim.spawners.wrappers)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg"]], "multiusdfilecfg (class in omni.isaac.lab.sim.spawners.wrappers)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg"]], "physicsmaterialcfg (class in omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg"]], "pinholecameracfg (class in omni.isaac.lab.sim.spawners.sensors)": [[18, "omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg"]], "previewsurfacecfg (class in omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg"]], "rigidbodymaterialcfg (class in omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg"]], "rigidobjectspawnercfg (class in omni.isaac.lab.sim.spawners)": [[18, "omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg"]], "shapecfg (class in omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg"]], "spawnercfg (class in omni.isaac.lab.sim.spawners)": [[18, "omni.isaac.lab.sim.spawners.SpawnerCfg"]], "spherecfg (class in omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg"]], "spherelightcfg (class in omni.isaac.lab.sim.spawners.lights)": [[18, "omni.isaac.lab.sim.spawners.lights.SphereLightCfg"]], "urdffilecfg (class in omni.isaac.lab.sim.spawners.from_files)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg"]], "usdfilecfg (class in omni.isaac.lab.sim.spawners.from_files)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg"]], "visualmaterialcfg (class in omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.rigidobjectspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.shapes.shapecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.wrappers.multiassetspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.activate_contact_sensors"]], "activate_contact_sensors (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.activate_contact_sensors"]], "albedo_brightness (omni.isaac.lab.sim.spawners.materials.mdlfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness"]], "angle (omni.isaac.lab.sim.spawners.lights.distantlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle"]], "articulation_props (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.articulation_props"]], "articulation_props (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props"]], "articulation_props (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.articulation_props"]], "asset_path (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.asset_path"]], "assets_cfg (omni.isaac.lab.sim.spawners.wrappers.multiassetspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.assets_cfg"]], "axis (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.axis"]], "axis (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.axis"]], "axis (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.axis"]], "axis (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.axis"]], "axis (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.axis"]], "axis (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.axis"]], "clipping_range (omni.isaac.lab.sim.spawners.sensors.fisheyecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range"]], "clipping_range (omni.isaac.lab.sim.spawners.sensors.pinholecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range"]], "collision_props (omni.isaac.lab.sim.spawners.rigidobjectspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.shapes.shapecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.wrappers.multiassetspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.collision_props"]], "collision_props (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.collision_props"]], "color (omni.isaac.lab.sim.spawners.from_files.groundplanecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color"]], "color (omni.isaac.lab.sim.spawners.lights.cylinderlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color"]], "color (omni.isaac.lab.sim.spawners.lights.disklightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color"]], "color (omni.isaac.lab.sim.spawners.lights.distantlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color"]], "color (omni.isaac.lab.sim.spawners.lights.domelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color"]], "color (omni.isaac.lab.sim.spawners.lights.lightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.LightCfg.color"]], "color (omni.isaac.lab.sim.spawners.lights.spherelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color"]], "color_temperature (omni.isaac.lab.sim.spawners.lights.cylinderlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature"]], "color_temperature (omni.isaac.lab.sim.spawners.lights.disklightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature"]], "color_temperature (omni.isaac.lab.sim.spawners.lights.distantlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature"]], "color_temperature (omni.isaac.lab.sim.spawners.lights.domelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature"]], "color_temperature (omni.isaac.lab.sim.spawners.lights.lightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature"]], "color_temperature (omni.isaac.lab.sim.spawners.lights.spherelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature"]], "compliant_contact_damping (omni.isaac.lab.sim.spawners.materials.rigidbodymaterialcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping"]], "compliant_contact_stiffness (omni.isaac.lab.sim.spawners.materials.rigidbodymaterialcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness"]], "convex_decompose_mesh (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.convex_decompose_mesh"]], "copy_from_source (omni.isaac.lab.sim.spawners.deformableobjectspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.rigidobjectspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.spawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.from_files.groundplanecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.lights.cylinderlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.lights.disklightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.lights.distantlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.lights.domelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.lights.lightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.lights.spherelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.sensors.fisheyecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.sensors.pinholecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.shapes.shapecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.wrappers.multiassetspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.copy_from_source"]], "copy_from_source (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.copy_from_source"]], "damping_scale (omni.isaac.lab.sim.spawners.materials.deformablebodymaterialcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.damping_scale"]], "default_drive_damping (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping"]], "default_drive_stiffness (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_stiffness"]], "default_drive_type (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type"]], "deformable_props (omni.isaac.lab.sim.spawners.deformableobjectspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.deformable_props"]], "deformable_props (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.deformable_props"]], "deformable_props (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.deformable_props"]], "deformable_props (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.deformable_props"]], "deformable_props (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.deformable_props"]], "deformable_props (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.deformable_props"]], "deformable_props (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.deformable_props"]], "deformable_props (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.deformable_props"]], "deformable_props (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.deformable_props"]], "deformable_props (omni.isaac.lab.sim.spawners.wrappers.multiassetspawnercfg attribute)": [[18, 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"physics_material (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material"]], "physics_material (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material"]], "physics_material (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material"]], "physics_material (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material"]], "physics_material (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material"]], "physics_material (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material"]], "physics_material (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material"]], "physics_material (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material"]], "physics_material (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material"]], "physics_material (omni.isaac.lab.sim.spawners.shapes.shapecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material"]], "physics_material (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material"]], "physics_material_path (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.shapes.shapecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path"]], "physics_material_path (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path"]], "poissons_ratio (omni.isaac.lab.sim.spawners.materials.deformablebodymaterialcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.poissons_ratio"]], "prim_type (omni.isaac.lab.sim.spawners.lights.cylinderlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.prim_type"]], "prim_type (omni.isaac.lab.sim.spawners.lights.disklightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type"]], "prim_type (omni.isaac.lab.sim.spawners.lights.distantlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type"]], "prim_type (omni.isaac.lab.sim.spawners.lights.domelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type"]], "prim_type (omni.isaac.lab.sim.spawners.lights.lightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type"]], "prim_type (omni.isaac.lab.sim.spawners.lights.spherelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.SphereLightCfg.prim_type"]], "project_uvw (omni.isaac.lab.sim.spawners.materials.mdlfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw"]], "projection_type (omni.isaac.lab.sim.spawners.sensors.fisheyecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type"]], "projection_type (omni.isaac.lab.sim.spawners.sensors.pinholecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type"]], "radius (omni.isaac.lab.sim.spawners.lights.cylinderlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.radius"]], "radius (omni.isaac.lab.sim.spawners.lights.disklightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DiskLightCfg.radius"]], "radius (omni.isaac.lab.sim.spawners.lights.spherelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.SphereLightCfg.radius"]], "radius (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.radius"]], "radius (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.radius"]], "radius (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.radius"]], "radius (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.radius"]], "radius (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.radius"]], "radius (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.radius"]], "radius (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius"]], "radius (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius"]], "random_choice (omni.isaac.lab.sim.spawners.wrappers.multiassetspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice"]], "random_choice (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.random_choice"]], "restitution (omni.isaac.lab.sim.spawners.materials.rigidbodymaterialcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution"]], "restitution_combine_mode (omni.isaac.lab.sim.spawners.materials.rigidbodymaterialcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode"]], "rigid_props (omni.isaac.lab.sim.spawners.rigidobjectspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.shapes.shapecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.wrappers.multiassetspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.rigid_props"]], "rigid_props (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.rigid_props"]], "roughness (omni.isaac.lab.sim.spawners.materials.previewsurfacecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.roughness"]], "scale (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.scale"]], "scale (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale"]], "scale (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.scale"]], "self_collision (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.self_collision"]], "semantic_tags (omni.isaac.lab.sim.spawners.deformableobjectspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.rigidobjectspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.spawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.from_files.groundplanecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.lights.cylinderlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.lights.disklightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.lights.distantlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.lights.domelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.lights.lightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.lights.spherelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.sensors.fisheyecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.sensors.pinholecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.shapes.shapecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.wrappers.multiassetspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.semantic_tags"]], "semantic_tags (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.semantic_tags"]], "size (omni.isaac.lab.sim.spawners.from_files.groundplanecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.size"]], "size (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.size"]], "size (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size"]], "spawn_camera() (in module omni.isaac.lab.sim.spawners.sensors)": [[18, "omni.isaac.lab.sim.spawners.sensors.spawn_camera"]], "spawn_capsule() (in module omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.spawn_capsule"]], "spawn_cone() (in module omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.spawn_cone"]], "spawn_cuboid() (in module omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.spawn_cuboid"]], "spawn_cylinder() (in module omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.spawn_cylinder"]], "spawn_deformable_body_material() (in module omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.spawn_deformable_body_material"]], "spawn_from_mdl_file() (in module omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.spawn_from_mdl_file"]], "spawn_from_urdf() (in module omni.isaac.lab.sim.spawners.from_files)": [[18, "omni.isaac.lab.sim.spawners.from_files.spawn_from_urdf"]], "spawn_from_usd() (in module omni.isaac.lab.sim.spawners.from_files)": [[18, "omni.isaac.lab.sim.spawners.from_files.spawn_from_usd"]], "spawn_ground_plane() (in module omni.isaac.lab.sim.spawners.from_files)": [[18, "omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane"]], "spawn_light() (in module omni.isaac.lab.sim.spawners.lights)": [[18, "omni.isaac.lab.sim.spawners.lights.spawn_light"]], "spawn_mesh_capsule() (in module omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.spawn_mesh_capsule"]], "spawn_mesh_cone() (in module omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cone"]], "spawn_mesh_cuboid() (in module omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cuboid"]], "spawn_mesh_cylinder() (in module omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cylinder"]], "spawn_mesh_sphere() (in module omni.isaac.lab.sim.spawners.meshes)": [[18, "omni.isaac.lab.sim.spawners.meshes.spawn_mesh_sphere"]], "spawn_multi_asset() (in module omni.isaac.lab.sim.spawners.wrappers)": [[18, "omni.isaac.lab.sim.spawners.wrappers.spawn_multi_asset"]], "spawn_multi_usd_file() (in module omni.isaac.lab.sim.spawners.wrappers)": [[18, "omni.isaac.lab.sim.spawners.wrappers.spawn_multi_usd_file"]], "spawn_preview_surface() (in module omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.spawn_preview_surface"]], "spawn_rigid_body_material() (in module omni.isaac.lab.sim.spawners.materials)": [[18, "omni.isaac.lab.sim.spawners.materials.spawn_rigid_body_material"]], "spawn_sphere() (in module omni.isaac.lab.sim.spawners.shapes)": [[18, "omni.isaac.lab.sim.spawners.shapes.spawn_sphere"]], "static_friction (omni.isaac.lab.sim.spawners.materials.rigidbodymaterialcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction"]], "texture_file (omni.isaac.lab.sim.spawners.lights.domelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file"]], "texture_format (omni.isaac.lab.sim.spawners.lights.domelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format"]], "texture_scale (omni.isaac.lab.sim.spawners.materials.mdlfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale"]], "thin_walled (omni.isaac.lab.sim.spawners.materials.glassmdlcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.thin_walled"]], "treat_as_line (omni.isaac.lab.sim.spawners.lights.cylinderlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.treat_as_line"]], "treat_as_point (omni.isaac.lab.sim.spawners.lights.spherelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.SphereLightCfg.treat_as_point"]], "usd_dir (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir"]], "usd_file_name (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name"]], "usd_path (omni.isaac.lab.sim.spawners.from_files.groundplanecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.usd_path"]], "usd_path (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path"]], "usd_path (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.usd_path"]], "variants (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants"]], "variants (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.variants"]], "vertical_aperture (omni.isaac.lab.sim.spawners.sensors.fisheyecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture"]], "vertical_aperture (omni.isaac.lab.sim.spawners.sensors.pinholecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture"]], "vertical_aperture_offset (omni.isaac.lab.sim.spawners.sensors.fisheyecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture_offset"]], "vertical_aperture_offset (omni.isaac.lab.sim.spawners.sensors.pinholecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture_offset"]], "visible (omni.isaac.lab.sim.spawners.deformableobjectspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.rigidobjectspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.spawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.SpawnerCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.from_files.groundplanecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.lights.cylinderlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.lights.disklightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DiskLightCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.lights.distantlightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DistantLightCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.lights.domelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.lights.lightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.LightCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.lights.spherelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.sensors.fisheyecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.sensors.pinholecameracfg attribute)": [[18, "omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.shapes.shapecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.wrappers.multiassetspawnercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.visible"]], "visible (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visible"]], "visible_in_primary_ray (omni.isaac.lab.sim.spawners.lights.domelightcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray"]], "visual_material (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.shapes.shapecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material"]], "visual_material (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material"]], "visual_material_path (omni.isaac.lab.sim.spawners.from_files.urdffilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.from_files.usdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.meshes.meshcapsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.meshes.meshcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.meshes.meshconecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.meshes.meshcuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.meshes.meshcylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.meshes.meshspherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.shapes.capsulecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.shapes.conecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.shapes.cuboidcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.shapes.cylindercfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.shapes.shapecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.shapes.spherecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path"]], "visual_material_path (omni.isaac.lab.sim.spawners.wrappers.multiusdfilecfg attribute)": [[18, "omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material_path"]], "youngs_modulus (omni.isaac.lab.sim.spawners.materials.deformablebodymaterialcfg attribute)": [[18, "omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.youngs_modulus"]], "hfdiscreteobstaclesterraincfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg"]], "hfinvertedpyramidslopedterraincfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg"]], "hfinvertedpyramidstairsterraincfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg"]], "hfpyramidslopedterraincfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg"]], "hfpyramidstairsterraincfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg"]], "hfrandomuniformterraincfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg"]], "hfsteppingstonesterraincfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg"]], "hfterrainbasecfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg"]], "hfwaveterraincfg (class in omni.isaac.lab.terrains.height_field.hf_terrains_cfg)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg"]], "meshboxterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg"]], "meshfloatingringterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg"]], "meshgapterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg"]], "meshinvertedpyramidstairsterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg"]], "meshpitterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg"]], "meshplaneterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg"]], "meshpyramidstairsterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg"]], "meshrailsterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg"]], "meshrandomgridterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg"]], "meshrepeatedboxesterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg"]], "meshrepeatedboxesterraincfg.objectcfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg"]], "meshrepeatedcylindersterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg"]], "meshrepeatedcylindersterraincfg.objectcfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg"]], "meshrepeatedobjectsterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg"]], "meshrepeatedobjectsterraincfg.objectcfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg"]], "meshrepeatedpyramidsterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg"]], "meshrepeatedpyramidsterraincfg.objectcfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg"]], "meshstarterraincfg (class in omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg"]], "subterrainbasecfg (class in omni.isaac.lab.terrains)": [[19, "omni.isaac.lab.terrains.SubTerrainBaseCfg"]], "terraingenerator (class in omni.isaac.lab.terrains)": [[19, "omni.isaac.lab.terrains.TerrainGenerator"]], "terraingeneratorcfg (class in omni.isaac.lab.terrains)": [[19, "omni.isaac.lab.terrains.TerrainGeneratorCfg"]], "terrainimporter (class in omni.isaac.lab.terrains)": [[19, "omni.isaac.lab.terrains.TerrainImporter"]], "terrainimportercfg (class in omni.isaac.lab.terrains)": [[19, "omni.isaac.lab.terrains.TerrainImporterCfg"]], "__init__() (omni.isaac.lab.terrains.terraingenerator method)": [[19, "omni.isaac.lab.terrains.TerrainGenerator.__init__"]], "__init__() (omni.isaac.lab.terrains.terrainimporter method)": [[19, "omni.isaac.lab.terrains.TerrainImporter.__init__"]], "amplitude_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfwaveterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.amplitude_range"]], "bar_height_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.meshstarterraincfg attribute)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_height_range"]], "bar_width_range (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.meshstarterraincfg attribute)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_width_range"]], "border_height (omni.isaac.lab.terrains.terraingeneratorcfg attribute)": [[19, "omni.isaac.lab.terrains.TerrainGeneratorCfg.border_height"]], "border_width (omni.isaac.lab.terrains.terraingeneratorcfg attribute)": [[19, "omni.isaac.lab.terrains.TerrainGeneratorCfg.border_width"]], "border_width (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfdiscreteobstaclesterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width"]], "border_width (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfinvertedpyramidslopedterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width"]], "border_width (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfinvertedpyramidstairsterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width"]], "border_width (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfpyramidslopedterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width"]], "border_width (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfpyramidstairsterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width"]], "border_width (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfrandomuniformterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width"]], "border_width (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfsteppingstonesterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width"]], "border_width 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[[19, "omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range"]], "discrete_obstacles_terrain() (in module omni.isaac.lab.terrains.height_field.hf_terrains)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain"]], "double_box (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.meshboxterraincfg attribute)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.double_box"]], "double_pit (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.meshpitterraincfg attribute)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.double_pit"]], "downsampled_scale (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfrandomuniformterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale"]], "env_origins (omni.isaac.lab.terrains.terrainimporter attribute)": [[19, "omni.isaac.lab.terrains.TerrainImporter.env_origins"]], "env_spacing (omni.isaac.lab.terrains.terrainimportercfg attribute)": [[19, "omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing"]], "find_flat_patches() (in module omni.isaac.lab.terrains.utils)": [[19, "omni.isaac.lab.terrains.utils.find_flat_patches"]], "flat_patch_sampling (omni.isaac.lab.terrains.subterrainbasecfg attribute)": [[19, "omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling"]], "flat_patch_sampling (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfdiscreteobstaclesterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling"]], "flat_patch_sampling (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfinvertedpyramidslopedterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling"]], "flat_patch_sampling (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfinvertedpyramidstairsterraincfg attribute)": [[19, 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"step_width (omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.meshpyramidstairsterraincfg attribute)": [[19, "omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_width"]], "stepping_stones_terrain() (in module omni.isaac.lab.terrains.height_field.hf_terrains)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain"]], "stone_distance_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfsteppingstonesterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_distance_range"]], "stone_height_max (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfsteppingstonesterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_height_max"]], "stone_width_range (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfsteppingstonesterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_width_range"]], "sub_terrains (omni.isaac.lab.terrains.terraingeneratorcfg attribute)": [[19, "omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains"]], "terrain_generator (omni.isaac.lab.terrains.terrainimportercfg attribute)": [[19, "omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator"]], "terrain_mesh (omni.isaac.lab.terrains.terraingenerator attribute)": [[19, "omni.isaac.lab.terrains.TerrainGenerator.terrain_mesh"]], "terrain_meshes (omni.isaac.lab.terrains.terraingenerator attribute)": [[19, "omni.isaac.lab.terrains.TerrainGenerator.terrain_meshes"]], "terrain_origins (omni.isaac.lab.terrains.terraingenerator attribute)": [[19, "omni.isaac.lab.terrains.TerrainGenerator.terrain_origins"]], "terrain_origins (omni.isaac.lab.terrains.terrainimporter attribute)": [[19, "omni.isaac.lab.terrains.TerrainImporter.terrain_origins"]], "terrain_type (omni.isaac.lab.terrains.terrainimportercfg attribute)": [[19, "omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type"]], "update_env_origins() (omni.isaac.lab.terrains.terrainimporter method)": [[19, "omni.isaac.lab.terrains.TerrainImporter.update_env_origins"]], "usd_path (omni.isaac.lab.terrains.terrainimportercfg attribute)": [[19, "omni.isaac.lab.terrains.TerrainImporterCfg.usd_path"]], "use_cache (omni.isaac.lab.terrains.terraingeneratorcfg attribute)": [[19, "omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache"]], "vertical_scale (omni.isaac.lab.terrains.terraingeneratorcfg attribute)": [[19, "omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale"]], "vertical_scale (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfdiscreteobstaclesterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.vertical_scale"]], "vertical_scale (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfinvertedpyramidslopedterraincfg attribute)": [[19, 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(omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfsteppingstonesterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.vertical_scale"]], "vertical_scale (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfterrainbasecfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.vertical_scale"]], "vertical_scale (omni.isaac.lab.terrains.height_field.hf_terrains_cfg.hfwaveterraincfg attribute)": [[19, "omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.vertical_scale"]], "visual_material (omni.isaac.lab.terrains.terrainimportercfg attribute)": [[19, "omni.isaac.lab.terrains.TerrainImporterCfg.visual_material"]], "warp_meshes (omni.isaac.lab.terrains.terrainimporter attribute)": [[19, "omni.isaac.lab.terrains.TerrainImporter.warp_meshes"]], "wave_terrain() (in module omni.isaac.lab.terrains.height_field.hf_terrains)": [[19, 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in omni.isaac.lab.utils.interpolation)": [[20, "omni.isaac.lab.utils.interpolation.LinearInterpolation"]], "modifierbase (class in omni.isaac.lab.utils.modifiers)": [[20, "omni.isaac.lab.utils.modifiers.ModifierBase"]], "modifiercfg (class in omni.isaac.lab.utils.modifiers)": [[20, "omni.isaac.lab.utils.modifiers.ModifierCfg"]], "nucleus_asset_root_dir (in module omni.isaac.lab.utils.assets)": [[20, "omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR"]], "nvidia_nucleus_dir (in module omni.isaac.lab.utils.assets)": [[20, "omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR"]], "noisecfg (class in omni.isaac.lab.utils.noise)": [[20, "omni.isaac.lab.utils.noise.NoiseCfg"]], "noisemodel (class in omni.isaac.lab.utils.noise)": [[20, "omni.isaac.lab.utils.noise.NoiseModel"]], "noisemodelcfg (class in omni.isaac.lab.utils.noise)": [[20, "omni.isaac.lab.utils.noise.NoiseModelCfg"]], "noisemodelwithadditivebias (class in omni.isaac.lab.utils.noise)": [[20, "omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias"]], "noisemodelwithadditivebiascfg (class in omni.isaac.lab.utils.noise)": [[20, "omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg"]], "tensor_types (in module omni.isaac.lab.utils.array)": [[20, "omni.isaac.lab.utils.array.TENSOR_TYPES"]], "tensor_type_conversions (in module omni.isaac.lab.utils.array)": [[20, "omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS"]], "tensordata (in module omni.isaac.lab.utils.array)": [[20, "omni.isaac.lab.utils.array.TensorData"]], "timer (class in omni.isaac.lab.utils.timer)": [[20, "omni.isaac.lab.utils.timer.Timer"]], "timererror": [[20, "omni.isaac.lab.utils.timer.TimerError"]], "timestampedbuffer (class in omni.isaac.lab.utils.buffers)": [[20, "omni.isaac.lab.utils.buffers.TimestampedBuffer"]], "uniformnoisecfg (class in omni.isaac.lab.utils.noise)": [[20, "omni.isaac.lab.utils.noise.UniformNoiseCfg"]], "__call__() (omni.isaac.lab.utils.modifiers.digitalfilter method)": [[20, 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+    <h1>API Reference</h1>
+    <!-- Table of contents -->
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+                <h2> Contents </h2>
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+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni-isaac-lab-extension">omni.isaac.lab extension</a><ul class="nav section-nav flex-column">
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni-isaac-lab-tasks-extension">omni.isaac.lab_tasks extension</a><ul class="nav section-nav flex-column">
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+                  
+  <section id="api-reference">
+<h1>API Reference<a class="headerlink" href="#api-reference" title="Permalink to this heading">#</a></h1>
+<p>This page gives an overview of all the modules and classes in the Isaac Lab extensions.</p>
+<section id="omni-isaac-lab-extension">
+<h2>omni.isaac.lab extension<a class="headerlink" href="#omni-isaac-lab-extension" title="Permalink to this heading">#</a></h2>
+<p>The following modules are available in the <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab</span></code> extension:</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="lab/omni.isaac.lab.app.html#module-omni.isaac.lab.app" title="omni.isaac.lab.app"><code class="xref py py-obj docutils literal notranslate"><span class="pre">app</span></code></a></p></td>
+<td><p>Sub-package containing app-specific functionalities.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="lab/omni.isaac.lab.actuators.html#module-omni.isaac.lab.actuators" title="omni.isaac.lab.actuators"><code class="xref py py-obj docutils literal notranslate"><span class="pre">actuators</span></code></a></p></td>
+<td><p>Sub-package for different actuator models.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="lab/omni.isaac.lab.assets.html#module-omni.isaac.lab.assets" title="omni.isaac.lab.assets"><code class="xref py py-obj docutils literal notranslate"><span class="pre">assets</span></code></a></p></td>
+<td><p>Sub-package for different assets, such as rigid objects and articulations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="lab/omni.isaac.lab.controllers.html#module-omni.isaac.lab.controllers" title="omni.isaac.lab.controllers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">controllers</span></code></a></p></td>
+<td><p>Sub-package for different controllers and motion-generators.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="lab/omni.isaac.lab.devices.html#module-omni.isaac.lab.devices" title="omni.isaac.lab.devices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">devices</span></code></a></p></td>
+<td><p>Sub-package providing interfaces to different teleoperation devices.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="lab/omni.isaac.lab.envs.html#module-omni.isaac.lab.envs" title="omni.isaac.lab.envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">envs</span></code></a></p></td>
+<td><p>Sub-package for environment definitions.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="lab/omni.isaac.lab.managers.html#module-omni.isaac.lab.managers" title="omni.isaac.lab.managers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">managers</span></code></a></p></td>
+<td><p>Sub-module for environment managers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="lab/omni.isaac.lab.markers.html#module-omni.isaac.lab.markers" title="omni.isaac.lab.markers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">markers</span></code></a></p></td>
+<td><p>Sub-package for marker utilities to simplify creation of UI elements in the GUI.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="lab/omni.isaac.lab.scene.html#module-omni.isaac.lab.scene" title="omni.isaac.lab.scene"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scene</span></code></a></p></td>
+<td><p>Sub-package containing an interactive scene definition.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="lab/omni.isaac.lab.sensors.html#module-omni.isaac.lab.sensors" title="omni.isaac.lab.sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sensors</span></code></a></p></td>
+<td><p>Sub-package containing various sensor classes implementations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="lab/omni.isaac.lab.sim.html#module-omni.isaac.lab.sim" title="omni.isaac.lab.sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sim</span></code></a></p></td>
+<td><p>Sub-package containing simulation-specific functionalities.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="lab/omni.isaac.lab.terrains.html#module-omni.isaac.lab.terrains" title="omni.isaac.lab.terrains"><code class="xref py py-obj docutils literal notranslate"><span class="pre">terrains</span></code></a></p></td>
+<td><p>Sub-package with utilities for creating terrains procedurally.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils" title="omni.isaac.lab.utils"><code class="xref py py-obj docutils literal notranslate"><span class="pre">utils</span></code></a></p></td>
+<td><p>Sub-package containing utilities for common operations and helper functions.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="toctree-wrapper compound">
+</div>
+</section>
+<section id="omni-isaac-lab-tasks-extension">
+<h2>omni.isaac.lab_tasks extension<a class="headerlink" href="#omni-isaac-lab-tasks-extension" title="Permalink to this heading">#</a></h2>
+<p>The following modules are available in the <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks</span></code> extension:</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="lab_tasks/omni.isaac.lab_tasks.utils.html#module-omni.isaac.lab_tasks.utils" title="omni.isaac.lab_tasks.utils"><code class="xref py py-obj docutils literal notranslate"><span class="pre">utils</span></code></a></p></td>
+<td><p>Sub-package with utilities, data collectors and environment wrappers.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="toctree-wrapper compound">
+</div>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>omni.isaac.lab.actuators</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#actuator-base">Actuator Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase"><code class="docutils literal notranslate"><span class="pre">ActuatorBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.__init__"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.computed_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.applied_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.num_joints"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.joint_names"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.joint_indices"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.reset"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.compute"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.friction</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#implicit-actuator">Implicit Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.cfg"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.reset"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.compute"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.__init__"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.joint_indices"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.joint_names"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.num_joints"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.computed_effort"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.applied_effort"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.effort_limit"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.stiffness"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.damping"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.armature"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.friction"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.friction</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.damping"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.armature"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.friction"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.friction</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#ideal-pd-actuator">Ideal PD Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.cfg"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.reset"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.compute"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.__init__"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.joint_indices"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.joint_names"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.num_joints"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.computed_effort"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.applied_effort"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.effort_limit"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.velocity_limit"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.stiffness"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.damping"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.armature"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.friction"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.friction</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.damping"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.armature"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.friction"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.friction</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#dc-motor-actuator">DC Motor Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor"><code class="docutils literal notranslate"><span class="pre">DCMotor</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.cfg"><code class="docutils literal notranslate"><span class="pre">DCMotor.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.__init__"><code class="docutils literal notranslate"><span class="pre">DCMotor.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.compute"><code class="docutils literal notranslate"><span class="pre">DCMotor.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.joint_indices"><code class="docutils literal notranslate"><span class="pre">DCMotor.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.joint_names"><code class="docutils literal notranslate"><span class="pre">DCMotor.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.num_joints"><code class="docutils literal notranslate"><span class="pre">DCMotor.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.reset"><code class="docutils literal notranslate"><span class="pre">DCMotor.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.computed_effort"><code class="docutils literal notranslate"><span class="pre">DCMotor.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.applied_effort"><code class="docutils literal notranslate"><span class="pre">DCMotor.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.effort_limit"><code class="docutils literal notranslate"><span class="pre">DCMotor.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.velocity_limit"><code class="docutils literal notranslate"><span class="pre">DCMotor.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.stiffness"><code class="docutils literal notranslate"><span class="pre">DCMotor.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.damping"><code class="docutils literal notranslate"><span class="pre">DCMotor.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.armature"><code class="docutils literal notranslate"><span class="pre">DCMotor.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.friction"><code class="docutils literal notranslate"><span class="pre">DCMotor.friction</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.saturation_effort"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.saturation_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.damping"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.armature"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.friction"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.friction</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#delayed-pd-actuator">Delayed PD Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.cfg"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.__init__"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.reset"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.compute"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.joint_indices"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.joint_names"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.num_joints"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.computed_effort"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.applied_effort"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.effort_limit"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.velocity_limit"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.stiffness"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.damping"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.armature"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.friction"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.friction</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.min_delay"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.min_delay</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.max_delay"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.max_delay</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#remotized-pd-actuator">Remotized PD Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.__init__"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.joint_names"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.num_joints"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.reset"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.cfg"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.computed_effort"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.applied_effort"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.effort_limit"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.velocity_limit"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.stiffness"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.damping"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.armature"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.friction"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.compute"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.min_delay"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.min_delay</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.max_delay"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.max_delay</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.joint_parameter_lookup</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#mlp-network-actuator">MLP Network Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.cfg"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.__init__"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.joint_names"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.num_joints"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.reset"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.computed_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.applied_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.compute"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.network_file"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.network_file</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.saturation_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.saturation_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.pos_scale"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.pos_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.vel_scale"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.vel_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.torque_scale"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.torque_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.input_order</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.input_idx</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#lstm-network-actuator">LSTM Network Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.cfg"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.__init__"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.reset"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.compute"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.joint_names"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.num_joints"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.computed_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.applied_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.friction</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.network_file"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.network_file</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.saturation_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.saturation_effort</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.actuators">
+<span id="omni-isaac-lab-actuators"></span><h1>omni.isaac.lab.actuators<a class="headerlink" href="#module-omni.isaac.lab.actuators" title="Permalink to this heading">#</a></h1>
+<p>Sub-package for different actuator models.</p>
+<p>Actuator models are used to model the behavior of the actuators in an articulation. These
+are usually meant to be used in simulation to model different actuator dynamics and delays.</p>
+<p>There are two main categories of actuator models that are supported:</p>
+<ul class="simple">
+<li><p><strong>Implicit</strong>: Motor model with ideal PD from the physics engine. This is similar to having a continuous time
+PD controller. The motor model is implicit in the sense that the motor model is not explicitly defined by the user.</p></li>
+<li><p><strong>Explicit</strong>: Motor models based on physical drive models.</p>
+<ul>
+<li><p><strong>Physics-based</strong>: Derives the motor models based on first-principles.</p></li>
+<li><p><strong>Neural Network-based</strong>: Learned motor models from actuator data.</p></li>
+</ul>
+</li>
+</ul>
+<p>Every actuator model inherits from the <a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase" title="omni.isaac.lab.actuators.ActuatorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators.ActuatorBase</span></code></a> class,
+which defines the common interface for all actuator models. The actuator models are handled
+and called by the <a class="reference internal" href="omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.Articulation</span></code></a> class.</p>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase" title="omni.isaac.lab.actuators.ActuatorBase"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ActuatorBase</span></code></a></p></td>
+<td><p>Base class for actuator models over a collection of actuated joints in an articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg" title="omni.isaac.lab.actuators.ActuatorBaseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ActuatorBaseCfg</span></code></a></p></td>
+<td><p>Configuration for default actuators in an articulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator" title="omni.isaac.lab.actuators.ImplicitActuator"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ImplicitActuator</span></code></a></p></td>
+<td><p>Implicit actuator model that is handled by the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg" title="omni.isaac.lab.actuators.ImplicitActuatorCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ImplicitActuatorCfg</span></code></a></p></td>
+<td><p>Configuration for an implicit actuator.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator" title="omni.isaac.lab.actuators.IdealPDActuator"><code class="xref py py-obj docutils literal notranslate"><span class="pre">IdealPDActuator</span></code></a></p></td>
+<td><p>Ideal torque-controlled actuator model with a simple saturation model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg" title="omni.isaac.lab.actuators.IdealPDActuatorCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">IdealPDActuatorCfg</span></code></a></p></td>
+<td><p>Configuration for an ideal PD actuator.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor" title="omni.isaac.lab.actuators.DCMotor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DCMotor</span></code></a></p></td>
+<td><p>Direct control (DC) motor actuator model with velocity-based saturation model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg" title="omni.isaac.lab.actuators.DCMotorCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DCMotorCfg</span></code></a></p></td>
+<td><p>Configuration for direct control (DC) motor actuator model.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator" title="omni.isaac.lab.actuators.DelayedPDActuator"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DelayedPDActuator</span></code></a></p></td>
+<td><p>Ideal PD actuator with delayed command application.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg</span></code></a></p></td>
+<td><p>Configuration for a delayed PD actuator.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator" title="omni.isaac.lab.actuators.RemotizedPDActuator"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RemotizedPDActuator</span></code></a></p></td>
+<td><p>Ideal PD actuator with angle-dependent torque limits.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg</span></code></a></p></td>
+<td><p>Configuration for a remotized PD actuator.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP" title="omni.isaac.lab.actuators.ActuatorNetMLP"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ActuatorNetMLP</span></code></a></p></td>
+<td><p>Actuator model based on multi-layer perceptron and joint history.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg</span></code></a></p></td>
+<td><p>Configuration for MLP-based actuator model.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM" title="omni.isaac.lab.actuators.ActuatorNetLSTM"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ActuatorNetLSTM</span></code></a></p></td>
+<td><p>Actuator model based on recurrent neural network (LSTM).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg</span></code></a></p></td>
+<td><p>Configuration for LSTM-based actuator model.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="actuator-base">
+<h2>Actuator Base<a class="headerlink" href="#actuator-base" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">ActuatorBase</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_base.html#ActuatorBase"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase" title="Permalink to this definition">#</a></dt>
+<dd><p>Base class for actuator models over a collection of actuated joints in an articulation.</p>
+<p>Actuator models augment the simulated articulation joints with an external drive dynamics model.
+The model is used to convert the user-provided joint commands (positions, velocities and efforts)
+into the desired joint positions, velocities and efforts that are applied to the simulated articulation.</p>
+<p>The base class provides the interface for the actuator models. It is responsible for parsing the
+actuator parameters from the configuration and storing them as buffers. It also provides the
+interface for resetting the actuator state and computing the desired joint commands for the simulation.</p>
+<p>For each actuator model, a corresponding configuration class is provided. The configuration class
+is used to parse the actuator parameters from the configuration. It also specifies the joint names
+for which the actuator model is applied. These names can be specified as regular expressions, which
+are matched against the joint names in the articulation.</p>
+<p>To see how the class is used, check the <a class="reference internal" href="omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.Articulation</span></code></a> class.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.__init__" title="omni.isaac.lab.actuators.ActuatorBase.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, joint_names, joint_ids, ...[, ...])</p></td>
+<td><p>Initialize the actuator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.reset" title="omni.isaac.lab.actuators.ActuatorBase.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>(env_ids)</p></td>
+<td><p>Reset the internals within the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.compute" title="omni.isaac.lab.actuators.ActuatorBase.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(control_action, joint_pos, joint_vel)</p></td>
+<td><p>Process the actuator group actions and compute the articulation actions.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.stiffness" title="omni.isaac.lab.actuators.ActuatorBase.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>The stiffness (P gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.damping" title="omni.isaac.lab.actuators.ActuatorBase.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>The damping (D gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.armature" title="omni.isaac.lab.actuators.ActuatorBase.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>The armature of the actuator joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.friction" title="omni.isaac.lab.actuators.ActuatorBase.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>The joint friction of the actuator joints.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.effort_limit" title="omni.isaac.lab.actuators.ActuatorBase.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>The effort limit for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.velocity_limit" title="omni.isaac.lab.actuators.ActuatorBase.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>The velocity limit for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.computed_effort" title="omni.isaac.lab.actuators.ActuatorBase.computed_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">computed_effort</span></code></a></p></td>
+<td><p>The computed effort for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.applied_effort" title="omni.isaac.lab.actuators.ActuatorBase.applied_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">applied_effort</span></code></a></p></td>
+<td><p>The applied effort for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.num_joints" title="omni.isaac.lab.actuators.ActuatorBase.num_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_joints</span></code></a></p></td>
+<td><p>Number of actuators in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.joint_names" title="omni.isaac.lab.actuators.ActuatorBase.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase.joint_indices" title="omni.isaac.lab.actuators.ActuatorBase.joint_indices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_indices</span></code></a></p></td>
+<td><p>Articulation's joint indices that are part of the group.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg" title="omni.isaac.lab.actuators.ActuatorBaseCfg"><span class="pre">ActuatorBaseCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_names</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_envs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stiffness</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">damping</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">armature</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">friction</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">effort_limit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">torch.inf</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_limit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">torch.inf</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_base.html#ActuatorBase.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the actuator.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The actuator parameters are parsed from the configuration and stored as buffers. If the parameters
+are not specified in the configuration, then the default values provided in the arguments are used.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration of the actuator model.</p></li>
+<li><p><strong>joint_names</strong> – The joint names in the articulation.</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices in the articulation. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code>, then all
+the joints in the articulation are part of the group.</p></li>
+<li><p><strong>num_envs</strong> – Number of articulations in the view.</p></li>
+<li><p><strong>device</strong> – Device used for processing.</p></li>
+<li><p><strong>stiffness</strong> – The default joint stiffness (P gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>damping</strong> – The default joint damping (D gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>armature</strong> – The default joint armature. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>friction</strong> – The default joint friction. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>effort_limit</strong> – The default effort limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>velocity_limit</strong> – The default velocity limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The stiffness (P gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping (D gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>The armature of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint friction of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The effort limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The velocity limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.computed_effort">
+<span class="sig-name descname"><span class="pre">computed_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.computed_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The computed effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.applied_effort">
+<span class="sig-name descname"><span class="pre">applied_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.applied_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The applied effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.num_joints">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.num_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of actuators in the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.joint_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.joint_indices">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_indices</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.joint_indices" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint indices that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code> is returned, then the group contains all the joints in the articulation.
+We do this to avoid unnecessary indexing of the joints for performance reasons.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.reset">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_base.html#ActuatorBase.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals within the group.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – List of environment IDs to reset.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBase.compute">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">control_action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_vel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_base.html#ActuatorBase.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBase.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Process the actuator group actions and compute the articulation actions.</p>
+<p>It computes the articulation actions based on the actuator model type</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>control_action</strong> – The joint action instance comprising of the desired joint positions, joint velocities
+and (feed-forward) joint efforts.</p></li>
+<li><p><strong>joint_pos</strong> – The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+<li><p><strong>joint_vel</strong> – The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The computed desired joint positions, joint velocities and joint efforts.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBaseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">ActuatorBaseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_cfg.html#ActuatorBaseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBaseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for default actuators in an articulation.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr" title="omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names_expr</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit" title="omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>Force/Torque limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit" title="omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>Velocity limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness" title="omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>Stiffness gains (also known as p-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.damping" title="omni.isaac.lab.actuators.ActuatorBaseCfg.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>Damping gains (also known as d-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.armature" title="omni.isaac.lab.actuators.ActuatorBaseCfg.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>Armature of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.friction" title="omni.isaac.lab.actuators.ActuatorBaseCfg.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>Joint friction of the joints in the group.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr">
+<span class="sig-name descname"><span class="pre">joint_names_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This can be a list of joint names or a list of regex expressions (e.g. “.*”).</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Force/Torque limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Stiffness gains (also known as p-gain) of the joints in the group.</p>
+<p>If None, the stiffness is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBaseCfg.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Damping gains (also known as d-gain) of the joints in the group.</p>
+<p>If None, the damping is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBaseCfg.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>Armature of the joints in the group. Defaults to None.</p>
+<p>If None, the armature is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorBaseCfg.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint friction of the joints in the group. Defaults to None.</p>
+<p>If None, the joint friction is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="implicit-actuator">
+<h2>Implicit Actuator<a class="headerlink" href="#implicit-actuator" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">ImplicitActuator</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#ImplicitActuator"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase" title="omni.isaac.lab.actuators.actuator_base.ActuatorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActuatorBase</span></code></a></p>
+<p>Implicit actuator model that is handled by the simulation.</p>
+<p>This performs a similar function as the <a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator" title="omni.isaac.lab.actuators.IdealPDActuator"><code class="xref py py-class docutils literal notranslate"><span class="pre">IdealPDActuator</span></code></a> class. However, the PD control is handled
+implicitly by the simulation which performs continuous-time integration of the PD control law. This is
+generally more accurate than the explicit PD control law used in <a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator" title="omni.isaac.lab.actuators.IdealPDActuator"><code class="xref py py-class docutils literal notranslate"><span class="pre">IdealPDActuator</span></code></a> when the simulation
+time-step is large.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The articulation class sets the stiffness and damping parameters from the configuration into the simulation.
+Thus, the parameters are not used in this class.</p>
+</div>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>The class is only provided for consistency with the other actuator models. It does not implement any
+functionality and should not be used. All values should be set to the simulation directly.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.cfg" title="omni.isaac.lab.actuators.ImplicitActuator.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration for the actuator model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.joint_indices" title="omni.isaac.lab.actuators.ImplicitActuator.joint_indices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_indices</span></code></a></p></td>
+<td><p>Articulation's joint indices that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.joint_names" title="omni.isaac.lab.actuators.ImplicitActuator.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.num_joints" title="omni.isaac.lab.actuators.ImplicitActuator.num_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_joints</span></code></a></p></td>
+<td><p>Number of actuators in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.computed_effort" title="omni.isaac.lab.actuators.ImplicitActuator.computed_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">computed_effort</span></code></a></p></td>
+<td><p>The computed effort for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.applied_effort" title="omni.isaac.lab.actuators.ImplicitActuator.applied_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">applied_effort</span></code></a></p></td>
+<td><p>The applied effort for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.effort_limit" title="omni.isaac.lab.actuators.ImplicitActuator.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>The effort limit for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.velocity_limit" title="omni.isaac.lab.actuators.ImplicitActuator.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>The velocity limit for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.stiffness" title="omni.isaac.lab.actuators.ImplicitActuator.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>The stiffness (P gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.damping" title="omni.isaac.lab.actuators.ImplicitActuator.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>The damping (D gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.armature" title="omni.isaac.lab.actuators.ImplicitActuator.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>The armature of the actuator joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.friction" title="omni.isaac.lab.actuators.ImplicitActuator.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>The joint friction of the actuator joints.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.reset" title="omni.isaac.lab.actuators.ImplicitActuator.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>(*args, **kwargs)</p></td>
+<td><p>Reset the internals within the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.compute" title="omni.isaac.lab.actuators.ImplicitActuator.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(control_action, joint_pos, joint_vel)</p></td>
+<td><p>Process the actuator group actions and compute the articulation actions.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuator.__init__" title="omni.isaac.lab.actuators.ImplicitActuator.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, joint_names, joint_ids, ...[, ...])</p></td>
+<td><p>Initialize the actuator.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg" title="omni.isaac.lab.actuators.ImplicitActuatorCfg"><span class="pre">ImplicitActuatorCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the actuator model.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#ImplicitActuator.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals within the group.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – List of environment IDs to reset.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">control_action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_vel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#ImplicitActuator.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Process the actuator group actions and compute the articulation actions.</p>
+<p>In case of implicit actuator, the control action is directly returned as the computed action.
+This function is a no-op and does not perform any computation on the input control action.
+However, it computes the approximate torques for the actuated joint since PhysX does not compute
+this quantity explicitly.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>control_action</strong> – The joint action instance comprising of the desired joint positions, joint velocities
+and (feed-forward) joint efforts.</p></li>
+<li><p><strong>joint_pos</strong> – The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+<li><p><strong>joint_vel</strong> – The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The computed desired joint positions, joint velocities and joint efforts.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg" title="omni.isaac.lab.actuators.ActuatorBaseCfg"><span class="pre">ActuatorBaseCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_names</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_envs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stiffness</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">damping</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">armature</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">friction</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">effort_limit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">torch.inf</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_limit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">torch.inf</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the actuator.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The actuator parameters are parsed from the configuration and stored as buffers. If the parameters
+are not specified in the configuration, then the default values provided in the arguments are used.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration of the actuator model.</p></li>
+<li><p><strong>joint_names</strong> – The joint names in the articulation.</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices in the articulation. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code>, then all
+the joints in the articulation are part of the group.</p></li>
+<li><p><strong>num_envs</strong> – Number of articulations in the view.</p></li>
+<li><p><strong>device</strong> – Device used for processing.</p></li>
+<li><p><strong>stiffness</strong> – The default joint stiffness (P gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>damping</strong> – The default joint damping (D gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>armature</strong> – The default joint armature. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>friction</strong> – The default joint friction. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>effort_limit</strong> – The default effort limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>velocity_limit</strong> – The default velocity limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.joint_indices">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_indices</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.joint_indices" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint indices that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code> is returned, then the group contains all the joints in the articulation.
+We do this to avoid unnecessary indexing of the joints for performance reasons.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.joint_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.num_joints">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.num_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of actuators in the group.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.computed_effort">
+<span class="sig-name descname"><span class="pre">computed_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.computed_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The computed effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.applied_effort">
+<span class="sig-name descname"><span class="pre">applied_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.applied_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The applied effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The effort limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The velocity limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The stiffness (P gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping (D gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>The armature of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuator.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuator.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint friction of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuatorCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">ImplicitActuatorCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_cfg.html#ImplicitActuatorCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg" title="omni.isaac.lab.actuators.actuator_cfg.ActuatorBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActuatorBaseCfg</span></code></a></p>
+<p>Configuration for an implicit actuator.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The PD control is handled implicitly by the simulation.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr" title="omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names_expr</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit" title="omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>Force/Torque limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit" title="omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>Velocity limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness" title="omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>Stiffness gains (also known as p-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.damping" title="omni.isaac.lab.actuators.ImplicitActuatorCfg.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>Damping gains (also known as d-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.armature" title="omni.isaac.lab.actuators.ImplicitActuatorCfg.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>Armature of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.friction" title="omni.isaac.lab.actuators.ImplicitActuatorCfg.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>Joint friction of the joints in the group.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr">
+<span class="sig-name descname"><span class="pre">joint_names_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This can be a list of joint names or a list of regex expressions (e.g. “.*”).</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Force/Torque limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Stiffness gains (also known as p-gain) of the joints in the group.</p>
+<p>If None, the stiffness is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuatorCfg.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Damping gains (also known as d-gain) of the joints in the group.</p>
+<p>If None, the damping is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuatorCfg.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>Armature of the joints in the group. Defaults to None.</p>
+<p>If None, the armature is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ImplicitActuatorCfg.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint friction of the joints in the group. Defaults to None.</p>
+<p>If None, the joint friction is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="ideal-pd-actuator">
+<h2>Ideal PD Actuator<a class="headerlink" href="#ideal-pd-actuator" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">IdealPDActuator</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#IdealPDActuator"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBase" title="omni.isaac.lab.actuators.actuator_base.ActuatorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActuatorBase</span></code></a></p>
+<p>Ideal torque-controlled actuator model with a simple saturation model.</p>
+<p>It employs the following model for computing torques for the actuated joint <span class="math notranslate nohighlight">\(j\)</span>:</p>
+<div class="math notranslate nohighlight">
+\[\tau_{j, computed} = k_p * (q - q_{des}) + k_d * (\dot{q} - \dot{q}_{des}) + \tau_{ff}\]</div>
+<p>where, <span class="math notranslate nohighlight">\(k_p\)</span> and <span class="math notranslate nohighlight">\(k_d\)</span> are joint stiffness and damping gains, <span class="math notranslate nohighlight">\(q\)</span> and <span class="math notranslate nohighlight">\(\dot{q}\)</span>
+are the current joint positions and velocities, <span class="math notranslate nohighlight">\(q_{des}\)</span>, <span class="math notranslate nohighlight">\(\dot{q}_{des}\)</span> and <span class="math notranslate nohighlight">\(\tau_{ff}\)</span>
+are the desired joint positions, velocities and torques commands.</p>
+<p>The clipping model is based on the maximum torque applied by the motor. It is implemented as:</p>
+<div class="math notranslate nohighlight">
+\[\begin{split}\tau_{j, max} &amp; = \gamma \times \tau_{motor, max} \\
+\tau_{j, applied} &amp; = clip(\tau_{computed}, -\tau_{j, max}, \tau_{j, max})\end{split}\]</div>
+<p>where the clipping function is defined as <span class="math notranslate nohighlight">\(clip(x, x_{min}, x_{max}) = min(max(x, x_{min}), x_{max})\)</span>.
+The parameters <span class="math notranslate nohighlight">\(\gamma\)</span> is the gear ratio of the gear box connecting the motor and the actuated joint ends,
+and <span class="math notranslate nohighlight">\(\tau_{motor, max}\)</span> is the maximum motor effort possible. These parameters are read from
+the configuration instance passed to the class.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.cfg" title="omni.isaac.lab.actuators.IdealPDActuator.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration for the actuator model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.joint_indices" title="omni.isaac.lab.actuators.IdealPDActuator.joint_indices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_indices</span></code></a></p></td>
+<td><p>Articulation's joint indices that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.joint_names" title="omni.isaac.lab.actuators.IdealPDActuator.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.num_joints" title="omni.isaac.lab.actuators.IdealPDActuator.num_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_joints</span></code></a></p></td>
+<td><p>Number of actuators in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.computed_effort" title="omni.isaac.lab.actuators.IdealPDActuator.computed_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">computed_effort</span></code></a></p></td>
+<td><p>The computed effort for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.applied_effort" title="omni.isaac.lab.actuators.IdealPDActuator.applied_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">applied_effort</span></code></a></p></td>
+<td><p>The applied effort for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.effort_limit" title="omni.isaac.lab.actuators.IdealPDActuator.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>The effort limit for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.velocity_limit" title="omni.isaac.lab.actuators.IdealPDActuator.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>The velocity limit for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.stiffness" title="omni.isaac.lab.actuators.IdealPDActuator.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>The stiffness (P gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.damping" title="omni.isaac.lab.actuators.IdealPDActuator.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>The damping (D gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.armature" title="omni.isaac.lab.actuators.IdealPDActuator.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>The armature of the actuator joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.friction" title="omni.isaac.lab.actuators.IdealPDActuator.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>The joint friction of the actuator joints.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.reset" title="omni.isaac.lab.actuators.IdealPDActuator.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>(env_ids)</p></td>
+<td><p>Reset the internals within the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.compute" title="omni.isaac.lab.actuators.IdealPDActuator.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(control_action, joint_pos, joint_vel)</p></td>
+<td><p>Process the actuator group actions and compute the articulation actions.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator.__init__" title="omni.isaac.lab.actuators.IdealPDActuator.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, joint_names, joint_ids, ...[, ...])</p></td>
+<td><p>Initialize the actuator.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg" title="omni.isaac.lab.actuators.IdealPDActuatorCfg"><span class="pre">IdealPDActuatorCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the actuator model.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#IdealPDActuator.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals within the group.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – List of environment IDs to reset.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">control_action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_vel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#IdealPDActuator.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Process the actuator group actions and compute the articulation actions.</p>
+<p>It computes the articulation actions based on the actuator model type</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>control_action</strong> – The joint action instance comprising of the desired joint positions, joint velocities
+and (feed-forward) joint efforts.</p></li>
+<li><p><strong>joint_pos</strong> – The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+<li><p><strong>joint_vel</strong> – The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The computed desired joint positions, joint velocities and joint efforts.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg" title="omni.isaac.lab.actuators.ActuatorBaseCfg"><span class="pre">ActuatorBaseCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_names</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_envs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stiffness</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">damping</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">armature</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">friction</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">effort_limit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">torch.inf</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_limit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">torch.inf</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the actuator.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The actuator parameters are parsed from the configuration and stored as buffers. If the parameters
+are not specified in the configuration, then the default values provided in the arguments are used.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration of the actuator model.</p></li>
+<li><p><strong>joint_names</strong> – The joint names in the articulation.</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices in the articulation. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code>, then all
+the joints in the articulation are part of the group.</p></li>
+<li><p><strong>num_envs</strong> – Number of articulations in the view.</p></li>
+<li><p><strong>device</strong> – Device used for processing.</p></li>
+<li><p><strong>stiffness</strong> – The default joint stiffness (P gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>damping</strong> – The default joint damping (D gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>armature</strong> – The default joint armature. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>friction</strong> – The default joint friction. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>effort_limit</strong> – The default effort limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>velocity_limit</strong> – The default velocity limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.joint_indices">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_indices</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.joint_indices" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint indices that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code> is returned, then the group contains all the joints in the articulation.
+We do this to avoid unnecessary indexing of the joints for performance reasons.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.joint_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.num_joints">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.num_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of actuators in the group.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.computed_effort">
+<span class="sig-name descname"><span class="pre">computed_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.computed_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The computed effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.applied_effort">
+<span class="sig-name descname"><span class="pre">applied_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.applied_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The applied effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The effort limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The velocity limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The stiffness (P gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping (D gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>The armature of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuator.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuator.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint friction of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuatorCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">IdealPDActuatorCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_cfg.html#IdealPDActuatorCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorBaseCfg" title="omni.isaac.lab.actuators.actuator_cfg.ActuatorBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActuatorBaseCfg</span></code></a></p>
+<p>Configuration for an ideal PD actuator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr" title="omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names_expr</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit" title="omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>Force/Torque limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit" title="omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>Velocity limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness" title="omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>Stiffness gains (also known as p-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.damping" title="omni.isaac.lab.actuators.IdealPDActuatorCfg.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>Damping gains (also known as d-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.armature" title="omni.isaac.lab.actuators.IdealPDActuatorCfg.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>Armature of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.friction" title="omni.isaac.lab.actuators.IdealPDActuatorCfg.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>Joint friction of the joints in the group.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr">
+<span class="sig-name descname"><span class="pre">joint_names_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This can be a list of joint names or a list of regex expressions (e.g. “.*”).</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Force/Torque limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Stiffness gains (also known as p-gain) of the joints in the group.</p>
+<p>If None, the stiffness is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuatorCfg.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Damping gains (also known as d-gain) of the joints in the group.</p>
+<p>If None, the damping is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuatorCfg.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>Armature of the joints in the group. Defaults to None.</p>
+<p>If None, the armature is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.IdealPDActuatorCfg.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint friction of the joints in the group. Defaults to None.</p>
+<p>If None, the joint friction is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="dc-motor-actuator">
+<h2>DC Motor Actuator<a class="headerlink" href="#dc-motor-actuator" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">DCMotor</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#DCMotor"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator" title="omni.isaac.lab.actuators.actuator_pd.IdealPDActuator"><code class="xref py py-class docutils literal notranslate"><span class="pre">IdealPDActuator</span></code></a></p>
+<p>Direct control (DC) motor actuator model with velocity-based saturation model.</p>
+<p>It uses the same model as the <code class="xref py py-class docutils literal notranslate"><span class="pre">IdealActuator</span></code> for computing the torques from input commands.
+However, it implements a saturation model defined by DC motor characteristics.</p>
+<p>A DC motor is a type of electric motor that is powered by direct current electricity. In most cases,
+the motor is connected to a constant source of voltage supply, and the current is controlled by a rheostat.
+Depending on various design factors such as windings and materials, the motor can draw a limited maximum power
+from the electronic source, which limits the produced motor torque and speed.</p>
+<p>A DC motor characteristics are defined by the following parameters:</p>
+<ul class="simple">
+<li><p>Continuous-rated speed (<span class="math notranslate nohighlight">\(\dot{q}_{motor, max}\)</span>) : The maximum-rated speed of the motor.</p></li>
+<li><p>Continuous-stall torque (<span class="math notranslate nohighlight">\(\tau_{motor, max}\)</span>): The maximum-rated torque produced at 0 speed.</p></li>
+<li><p>Saturation torque (<span class="math notranslate nohighlight">\(\tau_{motor, sat}\)</span>): The maximum torque that can be outputted for a short period.</p></li>
+</ul>
+<p>Based on these parameters, the instantaneous minimum and maximum torques are defined as follows:</p>
+<div class="math notranslate nohighlight">
+\[\begin{split}\tau_{j, max}(\dot{q}) &amp; = clip \left (\tau_{j, sat} \times \left(1 -
+    \frac{\dot{q}}{\dot{q}_{j, max}}\right), 0.0, \tau_{j, max} \right) \\
+\tau_{j, min}(\dot{q}) &amp; = clip \left (\tau_{j, sat} \times \left( -1 -
+    \frac{\dot{q}}{\dot{q}_{j, max}}\right), - \tau_{j, max}, 0.0 \right)\end{split}\]</div>
+<p>where <span class="math notranslate nohighlight">\(\gamma\)</span> is the gear ratio of the gear box connecting the motor and the actuated joint ends,
+<span class="math notranslate nohighlight">\(\dot{q}_{j, max} = \gamma^{-1} \times  \dot{q}_{motor, max}\)</span>, <span class="math notranslate nohighlight">\(\tau_{j, max} =
+\gamma \times \tau_{motor, max}\)</span> and <span class="math notranslate nohighlight">\(\tau_{j, peak} = \gamma \times \tau_{motor, peak}\)</span>
+are the maximum joint velocity, maximum joint torque and peak torque, respectively. These parameters
+are read from the configuration instance passed to the class.</p>
+<p>Using these values, the computed torques are clipped to the minimum and maximum values based on the
+instantaneous joint velocity:</p>
+<div class="math notranslate nohighlight">
+\[\tau_{j, applied} = clip(\tau_{computed}, \tau_{j, min}(\dot{q}), \tau_{j, max}(\dot{q}))\]</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.cfg" title="omni.isaac.lab.actuators.DCMotor.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration for the actuator model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.joint_indices" title="omni.isaac.lab.actuators.DCMotor.joint_indices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_indices</span></code></a></p></td>
+<td><p>Articulation's joint indices that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.joint_names" title="omni.isaac.lab.actuators.DCMotor.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.num_joints" title="omni.isaac.lab.actuators.DCMotor.num_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_joints</span></code></a></p></td>
+<td><p>Number of actuators in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.computed_effort" title="omni.isaac.lab.actuators.DCMotor.computed_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">computed_effort</span></code></a></p></td>
+<td><p>The computed effort for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.applied_effort" title="omni.isaac.lab.actuators.DCMotor.applied_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">applied_effort</span></code></a></p></td>
+<td><p>The applied effort for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.effort_limit" title="omni.isaac.lab.actuators.DCMotor.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>The effort limit for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.velocity_limit" title="omni.isaac.lab.actuators.DCMotor.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>The velocity limit for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.stiffness" title="omni.isaac.lab.actuators.DCMotor.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>The stiffness (P gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.damping" title="omni.isaac.lab.actuators.DCMotor.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>The damping (D gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.armature" title="omni.isaac.lab.actuators.DCMotor.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>The armature of the actuator joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.friction" title="omni.isaac.lab.actuators.DCMotor.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>The joint friction of the actuator joints.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.__init__" title="omni.isaac.lab.actuators.DCMotor.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, *args, **kwargs)</p></td>
+<td><p>Initialize the actuator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.compute" title="omni.isaac.lab.actuators.DCMotor.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(control_action, joint_pos, joint_vel)</p></td>
+<td><p>Process the actuator group actions and compute the articulation actions.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor.reset" title="omni.isaac.lab.actuators.DCMotor.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>(env_ids)</p></td>
+<td><p>Reset the internals within the group.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg" title="omni.isaac.lab.actuators.DCMotorCfg"><span class="pre">DCMotorCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the actuator model.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg" title="omni.isaac.lab.actuators.DCMotorCfg"><span class="pre">DCMotorCfg</span></a></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#DCMotor.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the actuator.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The actuator parameters are parsed from the configuration and stored as buffers. If the parameters
+are not specified in the configuration, then the default values provided in the arguments are used.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration of the actuator model.</p></li>
+<li><p><strong>joint_names</strong> – The joint names in the articulation.</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices in the articulation. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code>, then all
+the joints in the articulation are part of the group.</p></li>
+<li><p><strong>num_envs</strong> – Number of articulations in the view.</p></li>
+<li><p><strong>device</strong> – Device used for processing.</p></li>
+<li><p><strong>stiffness</strong> – The default joint stiffness (P gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>damping</strong> – The default joint damping (D gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>armature</strong> – The default joint armature. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>friction</strong> – The default joint friction. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>effort_limit</strong> – The default effort limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>velocity_limit</strong> – The default velocity limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">control_action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_vel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#DCMotor.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Process the actuator group actions and compute the articulation actions.</p>
+<p>It computes the articulation actions based on the actuator model type</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>control_action</strong> – The joint action instance comprising of the desired joint positions, joint velocities
+and (feed-forward) joint efforts.</p></li>
+<li><p><strong>joint_pos</strong> – The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+<li><p><strong>joint_vel</strong> – The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The computed desired joint positions, joint velocities and joint efforts.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.joint_indices">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_indices</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.joint_indices" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint indices that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code> is returned, then the group contains all the joints in the articulation.
+We do this to avoid unnecessary indexing of the joints for performance reasons.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.joint_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.num_joints">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.num_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of actuators in the group.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals within the group.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – List of environment IDs to reset.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.computed_effort">
+<span class="sig-name descname"><span class="pre">computed_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.computed_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The computed effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.applied_effort">
+<span class="sig-name descname"><span class="pre">applied_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.applied_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The applied effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The effort limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The velocity limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The stiffness (P gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping (D gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>The armature of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotor.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotor.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint friction of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotorCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">DCMotorCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_cfg.html#DCMotorCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotorCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg" title="omni.isaac.lab.actuators.actuator_cfg.IdealPDActuatorCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">IdealPDActuatorCfg</span></code></a></p>
+<p>Configuration for direct control (DC) motor actuator model.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg.saturation_effort" title="omni.isaac.lab.actuators.DCMotorCfg.saturation_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">saturation_effort</span></code></a></p></td>
+<td><p>Peak motor force/torque of the electric DC motor (in N-m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr" title="omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names_expr</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg.effort_limit" title="omni.isaac.lab.actuators.DCMotorCfg.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>Force/Torque limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg.velocity_limit" title="omni.isaac.lab.actuators.DCMotorCfg.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>Velocity limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg.stiffness" title="omni.isaac.lab.actuators.DCMotorCfg.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>Stiffness gains (also known as p-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg.damping" title="omni.isaac.lab.actuators.DCMotorCfg.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>Damping gains (also known as d-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg.armature" title="omni.isaac.lab.actuators.DCMotorCfg.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>Armature of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg.friction" title="omni.isaac.lab.actuators.DCMotorCfg.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>Joint friction of the joints in the group.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotorCfg.saturation_effort">
+<span class="sig-name descname"><span class="pre">saturation_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotorCfg.saturation_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>Peak motor force/torque of the electric DC motor (in N-m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr">
+<span class="sig-name descname"><span class="pre">joint_names_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This can be a list of joint names or a list of regex expressions (e.g. “.*”).</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotorCfg.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotorCfg.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Force/Torque limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotorCfg.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotorCfg.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotorCfg.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotorCfg.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Stiffness gains (also known as p-gain) of the joints in the group.</p>
+<p>If None, the stiffness is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotorCfg.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotorCfg.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Damping gains (also known as d-gain) of the joints in the group.</p>
+<p>If None, the damping is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotorCfg.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotorCfg.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>Armature of the joints in the group. Defaults to None.</p>
+<p>If None, the armature is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DCMotorCfg.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DCMotorCfg.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint friction of the joints in the group. Defaults to None.</p>
+<p>If None, the joint friction is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="delayed-pd-actuator">
+<h2>Delayed PD Actuator<a class="headerlink" href="#delayed-pd-actuator" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">DelayedPDActuator</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#DelayedPDActuator"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator" title="omni.isaac.lab.actuators.actuator_pd.IdealPDActuator"><code class="xref py py-class docutils literal notranslate"><span class="pre">IdealPDActuator</span></code></a></p>
+<p>Ideal PD actuator with delayed command application.</p>
+<p>This class extends the <a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuator" title="omni.isaac.lab.actuators.IdealPDActuator"><code class="xref py py-class docutils literal notranslate"><span class="pre">IdealPDActuator</span></code></a> class by adding a delay to the actuator commands. The delay
+is implemented using a circular buffer that stores the actuator commands for a certain number of physics steps.
+The most recent actuation value is pushed to the buffer at every physics step, but the final actuation value
+applied to the simulation is lagged by a certain number of physics steps.</p>
+<p>The amount of time lag is configurable and can be set to a random value between the minimum and maximum time
+lag bounds at every reset. The minimum and maximum time lag values are set in the configuration instance passed
+to the class.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.cfg" title="omni.isaac.lab.actuators.DelayedPDActuator.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration for the actuator model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.joint_indices" title="omni.isaac.lab.actuators.DelayedPDActuator.joint_indices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_indices</span></code></a></p></td>
+<td><p>Articulation's joint indices that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.joint_names" title="omni.isaac.lab.actuators.DelayedPDActuator.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.num_joints" title="omni.isaac.lab.actuators.DelayedPDActuator.num_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_joints</span></code></a></p></td>
+<td><p>Number of actuators in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.computed_effort" title="omni.isaac.lab.actuators.DelayedPDActuator.computed_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">computed_effort</span></code></a></p></td>
+<td><p>The computed effort for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.applied_effort" title="omni.isaac.lab.actuators.DelayedPDActuator.applied_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">applied_effort</span></code></a></p></td>
+<td><p>The applied effort for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.effort_limit" title="omni.isaac.lab.actuators.DelayedPDActuator.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>The effort limit for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.velocity_limit" title="omni.isaac.lab.actuators.DelayedPDActuator.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>The velocity limit for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.stiffness" title="omni.isaac.lab.actuators.DelayedPDActuator.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>The stiffness (P gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.damping" title="omni.isaac.lab.actuators.DelayedPDActuator.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>The damping (D gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.armature" title="omni.isaac.lab.actuators.DelayedPDActuator.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>The armature of the actuator joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.friction" title="omni.isaac.lab.actuators.DelayedPDActuator.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>The joint friction of the actuator joints.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.__init__" title="omni.isaac.lab.actuators.DelayedPDActuator.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, *args, **kwargs)</p></td>
+<td><p>Initialize the actuator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.reset" title="omni.isaac.lab.actuators.DelayedPDActuator.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>(env_ids)</p></td>
+<td><p>Reset the internals within the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator.compute" title="omni.isaac.lab.actuators.DelayedPDActuator.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(control_action, joint_pos, joint_vel)</p></td>
+<td><p>Process the actuator group actions and compute the articulation actions.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg"><span class="pre">DelayedPDActuatorCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the actuator model.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg"><span class="pre">DelayedPDActuatorCfg</span></a></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#DelayedPDActuator.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the actuator.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The actuator parameters are parsed from the configuration and stored as buffers. If the parameters
+are not specified in the configuration, then the default values provided in the arguments are used.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration of the actuator model.</p></li>
+<li><p><strong>joint_names</strong> – The joint names in the articulation.</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices in the articulation. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code>, then all
+the joints in the articulation are part of the group.</p></li>
+<li><p><strong>num_envs</strong> – Number of articulations in the view.</p></li>
+<li><p><strong>device</strong> – Device used for processing.</p></li>
+<li><p><strong>stiffness</strong> – The default joint stiffness (P gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>damping</strong> – The default joint damping (D gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>armature</strong> – The default joint armature. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>friction</strong> – The default joint friction. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>effort_limit</strong> – The default effort limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>velocity_limit</strong> – The default velocity limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#DelayedPDActuator.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals within the group.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – List of environment IDs to reset.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">control_action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_vel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#DelayedPDActuator.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Process the actuator group actions and compute the articulation actions.</p>
+<p>It computes the articulation actions based on the actuator model type</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>control_action</strong> – The joint action instance comprising of the desired joint positions, joint velocities
+and (feed-forward) joint efforts.</p></li>
+<li><p><strong>joint_pos</strong> – The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+<li><p><strong>joint_vel</strong> – The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The computed desired joint positions, joint velocities and joint efforts.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.joint_indices">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_indices</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.joint_indices" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint indices that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code> is returned, then the group contains all the joints in the articulation.
+We do this to avoid unnecessary indexing of the joints for performance reasons.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.joint_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.num_joints">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.num_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of actuators in the group.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.computed_effort">
+<span class="sig-name descname"><span class="pre">computed_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.computed_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The computed effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.applied_effort">
+<span class="sig-name descname"><span class="pre">applied_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.applied_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The applied effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The effort limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The velocity limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The stiffness (P gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping (D gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>The armature of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuator.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuator.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint friction of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuatorCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">DelayedPDActuatorCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_cfg.html#DelayedPDActuatorCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg" title="omni.isaac.lab.actuators.actuator_cfg.IdealPDActuatorCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">IdealPDActuatorCfg</span></code></a></p>
+<p>Configuration for a delayed PD actuator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names_expr</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>Force/Torque limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>Velocity limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>Stiffness gains (also known as p-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>Damping gains (also known as d-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>Armature of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>Joint friction of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.min_delay" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg.min_delay"><code class="xref py py-obj docutils literal notranslate"><span class="pre">min_delay</span></code></a></p></td>
+<td><p>Minimum number of physics time-steps with which the actuator command may be delayed.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.max_delay" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg.max_delay"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_delay</span></code></a></p></td>
+<td><p>Maximum number of physics time-steps with which the actuator command may be delayed.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr">
+<span class="sig-name descname"><span class="pre">joint_names_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This can be a list of joint names or a list of regex expressions (e.g. “.*”).</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Force/Torque limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Stiffness gains (also known as p-gain) of the joints in the group.</p>
+<p>If None, the stiffness is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Damping gains (also known as d-gain) of the joints in the group.</p>
+<p>If None, the damping is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>Armature of the joints in the group. Defaults to None.</p>
+<p>If None, the armature is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint friction of the joints in the group. Defaults to None.</p>
+<p>If None, the joint friction is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuatorCfg.min_delay">
+<span class="sig-name descname"><span class="pre">min_delay</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.min_delay" title="Permalink to this definition">#</a></dt>
+<dd><p>Minimum number of physics time-steps with which the actuator command may be delayed. Defaults to 0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.DelayedPDActuatorCfg.max_delay">
+<span class="sig-name descname"><span class="pre">max_delay</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.max_delay" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum number of physics time-steps with which the actuator command may be delayed. Defaults to 0.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="remotized-pd-actuator">
+<h2>Remotized PD Actuator<a class="headerlink" href="#remotized-pd-actuator" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">RemotizedPDActuator</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#RemotizedPDActuator"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator" title="omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator"><code class="xref py py-class docutils literal notranslate"><span class="pre">DelayedPDActuator</span></code></a></p>
+<p>Ideal PD actuator with angle-dependent torque limits.</p>
+<p>This class extends the <a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuator" title="omni.isaac.lab.actuators.DelayedPDActuator"><code class="xref py py-class docutils literal notranslate"><span class="pre">DelayedPDActuator</span></code></a> class by adding angle-dependent torque limits to the actuator.
+The torque limits are applied by querying a lookup table describing the relationship between the joint angle
+and the maximum output torque. The lookup table is provided in the configuration instance passed to the class.</p>
+<p>The torque limits are interpolated based on the current joint positions and applied to the actuator commands.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.__init__" title="omni.isaac.lab.actuators.RemotizedPDActuator.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, joint_names, joint_ids, ...[, ...])</p></td>
+<td><p>Initialize the actuator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.reset" title="omni.isaac.lab.actuators.RemotizedPDActuator.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>(env_ids)</p></td>
+<td><p>Reset the internals within the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.compute" title="omni.isaac.lab.actuators.RemotizedPDActuator.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(control_action, joint_pos, joint_vel)</p></td>
+<td><p>Process the actuator group actions and compute the articulation actions.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices" title="omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_indices</span></code></a></p></td>
+<td><p>Articulation's joint indices that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.joint_names" title="omni.isaac.lab.actuators.RemotizedPDActuator.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.num_joints" title="omni.isaac.lab.actuators.RemotizedPDActuator.num_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_joints</span></code></a></p></td>
+<td><p>Number of actuators in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.cfg" title="omni.isaac.lab.actuators.RemotizedPDActuator.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration for the actuator model.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.computed_effort" title="omni.isaac.lab.actuators.RemotizedPDActuator.computed_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">computed_effort</span></code></a></p></td>
+<td><p>The computed effort for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.applied_effort" title="omni.isaac.lab.actuators.RemotizedPDActuator.applied_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">applied_effort</span></code></a></p></td>
+<td><p>The applied effort for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.effort_limit" title="omni.isaac.lab.actuators.RemotizedPDActuator.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>The effort limit for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.velocity_limit" title="omni.isaac.lab.actuators.RemotizedPDActuator.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>The velocity limit for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.stiffness" title="omni.isaac.lab.actuators.RemotizedPDActuator.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>The stiffness (P gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.damping" title="omni.isaac.lab.actuators.RemotizedPDActuator.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>The damping (D gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.armature" title="omni.isaac.lab.actuators.RemotizedPDActuator.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>The armature of the actuator joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuator.friction" title="omni.isaac.lab.actuators.RemotizedPDActuator.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>The joint friction of the actuator joints.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg"><span class="pre">RemotizedPDActuatorCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_names</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_envs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stiffness</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">damping</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">armature</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">friction</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">effort_limit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">torch.inf</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_limit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">torch.inf</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#RemotizedPDActuator.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the actuator.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The actuator parameters are parsed from the configuration and stored as buffers. If the parameters
+are not specified in the configuration, then the default values provided in the arguments are used.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration of the actuator model.</p></li>
+<li><p><strong>joint_names</strong> – The joint names in the articulation.</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices in the articulation. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code>, then all
+the joints in the articulation are part of the group.</p></li>
+<li><p><strong>num_envs</strong> – Number of articulations in the view.</p></li>
+<li><p><strong>device</strong> – Device used for processing.</p></li>
+<li><p><strong>stiffness</strong> – The default joint stiffness (P gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>damping</strong> – The default joint damping (D gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>armature</strong> – The default joint armature. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>friction</strong> – The default joint friction. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>effort_limit</strong> – The default effort limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>velocity_limit</strong> – The default velocity limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_indices</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint indices that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code> is returned, then the group contains all the joints in the articulation.
+We do this to avoid unnecessary indexing of the joints for performance reasons.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.joint_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.num_joints">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.num_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of actuators in the group.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals within the group.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – List of environment IDs to reset.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg"><span class="pre">DelayedPDActuatorCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the actuator model.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.computed_effort">
+<span class="sig-name descname"><span class="pre">computed_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.computed_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The computed effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.applied_effort">
+<span class="sig-name descname"><span class="pre">applied_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.applied_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The applied effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The effort limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The velocity limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The stiffness (P gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping (D gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>The armature of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint friction of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuator.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">control_action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_vel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_pd.html#RemotizedPDActuator.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuator.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Process the actuator group actions and compute the articulation actions.</p>
+<p>It computes the articulation actions based on the actuator model type</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>control_action</strong> – The joint action instance comprising of the desired joint positions, joint velocities
+and (feed-forward) joint efforts.</p></li>
+<li><p><strong>joint_pos</strong> – The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+<li><p><strong>joint_vel</strong> – The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The computed desired joint positions, joint velocities and joint efforts.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">RemotizedPDActuatorCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_cfg.html#RemotizedPDActuatorCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg" title="omni.isaac.lab.actuators.actuator_cfg.DelayedPDActuatorCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg</span></code></a></p>
+<p>Configuration for a remotized PD actuator.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The torque output limits for this actuator is derived from a linear interpolation of a lookup table
+in <a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup"><code class="xref py py-attr docutils literal notranslate"><span class="pre">joint_parameter_lookup</span></code></a>. This table describes the relationship between joint angles and
+the output torques.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names_expr</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>Force/Torque limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>Velocity limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>Stiffness gains (also known as p-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>Damping gains (also known as d-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>Armature of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>Joint friction of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.min_delay" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.min_delay"><code class="xref py py-obj docutils literal notranslate"><span class="pre">min_delay</span></code></a></p></td>
+<td><p>Minimum number of physics time-steps with which the actuator command may be delayed.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.max_delay" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.max_delay"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_delay</span></code></a></p></td>
+<td><p>Maximum number of physics time-steps with which the actuator command may be delayed.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup" title="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_parameter_lookup</span></code></a></p></td>
+<td><p>Joint parameter lookup table.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr">
+<span class="sig-name descname"><span class="pre">joint_names_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This can be a list of joint names or a list of regex expressions (e.g. “.*”).</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Force/Torque limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Stiffness gains (also known as p-gain) of the joints in the group.</p>
+<p>If None, the stiffness is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Damping gains (also known as d-gain) of the joints in the group.</p>
+<p>If None, the damping is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>Armature of the joints in the group. Defaults to None.</p>
+<p>If None, the armature is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint friction of the joints in the group. Defaults to None.</p>
+<p>If None, the joint friction is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.min_delay">
+<span class="sig-name descname"><span class="pre">min_delay</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.min_delay" title="Permalink to this definition">#</a></dt>
+<dd><p>Minimum number of physics time-steps with which the actuator command may be delayed. Defaults to 0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.max_delay">
+<span class="sig-name descname"><span class="pre">max_delay</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.max_delay" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum number of physics time-steps with which the actuator command may be delayed. Defaults to 0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup">
+<span class="sig-name descname"><span class="pre">joint_parameter_lookup</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint parameter lookup table. Shape is (num_lookup_points, 3).</p>
+<p>This tensor describes the relationship between the joint angle (rad), the transmission ratio (in/out),
+and the output torque (N*m). The table is used to interpolate the output torque based on the joint angle.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="mlp-network-actuator">
+<h2>MLP Network Actuator<a class="headerlink" href="#mlp-network-actuator" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">ActuatorNetMLP</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_net.html#ActuatorNetMLP"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor" title="omni.isaac.lab.actuators.actuator_pd.DCMotor"><code class="xref py py-class docutils literal notranslate"><span class="pre">DCMotor</span></code></a></p>
+<p>Actuator model based on multi-layer perceptron and joint history.</p>
+<p>Many times the analytical model is not sufficient to capture the actuator dynamics, the
+delay in the actuator response, or the non-linearities in the actuator. In these cases,
+a neural network model can be used to approximate the actuator dynamics. This model is
+trained using data collected from the physical actuator and maps the joint state and the
+desired joint command to the produced torque by the actuator.</p>
+<p>This class implements the learned model as a neural network based on the work from
+<span id="id1">Hwangbo <em>et al.</em> [<a class="reference internal" href="../../refs/bibliography.html#id3" title="Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, and Marco Hutter. Learning agile and dynamic motor skills for legged robots. Science Robotics, 4(26):eaau5872, 2019.">HLD+19</a>]</span>. The class stores the history of the joint positions errors
+and velocities which are used to provide input to the neural network. The model is loaded
+as a TorchScript.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Only the desired joint positions are used as inputs to the network.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.cfg" title="omni.isaac.lab.actuators.ActuatorNetMLP.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration of the actuator model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices" title="omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_indices</span></code></a></p></td>
+<td><p>Articulation's joint indices that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.joint_names" title="omni.isaac.lab.actuators.ActuatorNetMLP.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.num_joints" title="omni.isaac.lab.actuators.ActuatorNetMLP.num_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_joints</span></code></a></p></td>
+<td><p>Number of actuators in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.computed_effort" title="omni.isaac.lab.actuators.ActuatorNetMLP.computed_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">computed_effort</span></code></a></p></td>
+<td><p>The computed effort for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.applied_effort" title="omni.isaac.lab.actuators.ActuatorNetMLP.applied_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">applied_effort</span></code></a></p></td>
+<td><p>The applied effort for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.effort_limit" title="omni.isaac.lab.actuators.ActuatorNetMLP.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>The effort limit for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.velocity_limit" title="omni.isaac.lab.actuators.ActuatorNetMLP.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>The velocity limit for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.stiffness" title="omni.isaac.lab.actuators.ActuatorNetMLP.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>The stiffness (P gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.damping" title="omni.isaac.lab.actuators.ActuatorNetMLP.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>The damping (D gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.armature" title="omni.isaac.lab.actuators.ActuatorNetMLP.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>The armature of the actuator joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.friction" title="omni.isaac.lab.actuators.ActuatorNetMLP.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>The joint friction of the actuator joints.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.__init__" title="omni.isaac.lab.actuators.ActuatorNetMLP.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, *args, **kwargs)</p></td>
+<td><p>Initialize the actuator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.reset" title="omni.isaac.lab.actuators.ActuatorNetMLP.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>(env_ids)</p></td>
+<td><p>Reset the internals within the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLP.compute" title="omni.isaac.lab.actuators.ActuatorNetMLP.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(control_action, joint_pos, joint_vel)</p></td>
+<td><p>Process the actuator group actions and compute the articulation actions.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg"><span class="pre">ActuatorNetMLPCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration of the actuator model.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg"><span class="pre">ActuatorNetMLPCfg</span></a></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_net.html#ActuatorNetMLP.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the actuator.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The actuator parameters are parsed from the configuration and stored as buffers. If the parameters
+are not specified in the configuration, then the default values provided in the arguments are used.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration of the actuator model.</p></li>
+<li><p><strong>joint_names</strong> – The joint names in the articulation.</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices in the articulation. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code>, then all
+the joints in the articulation are part of the group.</p></li>
+<li><p><strong>num_envs</strong> – Number of articulations in the view.</p></li>
+<li><p><strong>device</strong> – Device used for processing.</p></li>
+<li><p><strong>stiffness</strong> – The default joint stiffness (P gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>damping</strong> – The default joint damping (D gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>armature</strong> – The default joint armature. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>friction</strong> – The default joint friction. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>effort_limit</strong> – The default effort limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>velocity_limit</strong> – The default velocity limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_indices</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint indices that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code> is returned, then the group contains all the joints in the articulation.
+We do this to avoid unnecessary indexing of the joints for performance reasons.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.joint_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.num_joints">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.num_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of actuators in the group.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_net.html#ActuatorNetMLP.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals within the group.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – List of environment IDs to reset.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.computed_effort">
+<span class="sig-name descname"><span class="pre">computed_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.computed_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The computed effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.applied_effort">
+<span class="sig-name descname"><span class="pre">applied_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.applied_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The applied effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The effort limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The velocity limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The stiffness (P gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping (D gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>The armature of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint friction of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLP.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">control_action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_vel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_net.html#ActuatorNetMLP.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLP.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Process the actuator group actions and compute the articulation actions.</p>
+<p>It computes the articulation actions based on the actuator model type</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>control_action</strong> – The joint action instance comprising of the desired joint positions, joint velocities
+and (feed-forward) joint efforts.</p></li>
+<li><p><strong>joint_pos</strong> – The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+<li><p><strong>joint_vel</strong> – The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The computed desired joint positions, joint velocities and joint efforts.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">ActuatorNetMLPCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_cfg.html#ActuatorNetMLPCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg" title="omni.isaac.lab.actuators.actuator_cfg.DCMotorCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">DCMotorCfg</span></code></a></p>
+<p>Configuration for MLP-based actuator model.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>Stiffness gains (also known as p-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>Damping gains (also known as d-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.network_file" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.network_file"><code class="xref py py-obj docutils literal notranslate"><span class="pre">network_file</span></code></a></p></td>
+<td><p>Path to the file containing network weights.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names_expr</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>Force/Torque limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>Velocity limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>Armature of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>Joint friction of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.saturation_effort" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.saturation_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">saturation_effort</span></code></a></p></td>
+<td><p>Peak motor force/torque of the electric DC motor (in N-m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.pos_scale" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.pos_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos_scale</span></code></a></p></td>
+<td><p>Scaling of the joint position errors input to the network.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.vel_scale" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.vel_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vel_scale</span></code></a></p></td>
+<td><p>Scaling of the joint velocities input to the network.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.torque_scale" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.torque_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">torque_scale</span></code></a></p></td>
+<td><p>Scaling of the joint efforts output from the network.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order"><code class="xref py py-obj docutils literal notranslate"><span class="pre">input_order</span></code></a></p></td>
+<td><p>Order of the inputs to the network.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx"><code class="xref py py-obj docutils literal notranslate"><span class="pre">input_idx</span></code></a></p></td>
+<td><p>Indices of the actuator history buffer passed as inputs to the network.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Stiffness gains (also known as p-gain) of the joints in the group.</p>
+<p>If None, the stiffness is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Damping gains (also known as d-gain) of the joints in the group.</p>
+<p>If None, the damping is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.network_file">
+<span class="sig-name descname"><span class="pre">network_file</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.network_file" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the file containing network weights.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr">
+<span class="sig-name descname"><span class="pre">joint_names_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This can be a list of joint names or a list of regex expressions (e.g. “.*”).</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Force/Torque limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>Armature of the joints in the group. Defaults to None.</p>
+<p>If None, the armature is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint friction of the joints in the group. Defaults to None.</p>
+<p>If None, the joint friction is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.saturation_effort">
+<span class="sig-name descname"><span class="pre">saturation_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.saturation_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>Peak motor force/torque of the electric DC motor (in N-m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.pos_scale">
+<span class="sig-name descname"><span class="pre">pos_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.pos_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scaling of the joint position errors input to the network.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.vel_scale">
+<span class="sig-name descname"><span class="pre">vel_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.vel_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scaling of the joint velocities input to the network.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.torque_scale">
+<span class="sig-name descname"><span class="pre">torque_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.torque_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scaling of the joint efforts output from the network.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order">
+<span class="sig-name descname"><span class="pre">input_order</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'pos_vel'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'vel_pos'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order" title="Permalink to this definition">#</a></dt>
+<dd><p>Order of the inputs to the network.</p>
+<p>The order can be one of the following:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;pos_vel&quot;</span></code>: joint position errors followed by joint velocities</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;vel_pos&quot;</span></code>: joint velocities followed by joint position errors</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx">
+<span class="sig-name descname"><span class="pre">input_idx</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Iterable" title="(in Python v3.13)"><span class="pre">Iterable</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx" title="Permalink to this definition">#</a></dt>
+<dd><p>Indices of the actuator history buffer passed as inputs to the network.</p>
+<p>The index <em>0</em> corresponds to current time-step, while <em>n</em> corresponds to n-th
+time-step in the past. The allocated history length is <cite>max(input_idx) + 1</cite>.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="lstm-network-actuator">
+<h2>LSTM Network Actuator<a class="headerlink" href="#lstm-network-actuator" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">ActuatorNetLSTM</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_net.html#ActuatorNetLSTM"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.DCMotor" title="omni.isaac.lab.actuators.actuator_pd.DCMotor"><code class="xref py py-class docutils literal notranslate"><span class="pre">DCMotor</span></code></a></p>
+<p>Actuator model based on recurrent neural network (LSTM).</p>
+<p>Unlike the MLP implementation <span id="id2">Hwangbo <em>et al.</em> [<a class="reference internal" href="../../refs/bibliography.html#id3" title="Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, and Marco Hutter. Learning agile and dynamic motor skills for legged robots. Science Robotics, 4(26):eaau5872, 2019.">HLD+19</a>]</span>, this class implements
+the learned model as a temporal neural network (LSTM) based on the work from
+<span id="id3">Rudin <em>et al.</em> [<a class="reference internal" href="../../refs/bibliography.html#id2" title="Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter. Learning to walk in minutes using massively parallel deep reinforcement learning. In Conference on Robot Learning, 91–100. PMLR, 2022.">RHRH22</a>]</span>. This removes the need of storing a history as the
+hidden states of the recurrent network captures the history.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Only the desired joint positions are used as inputs to the network.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.cfg" title="omni.isaac.lab.actuators.ActuatorNetLSTM.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration of the actuator model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices" title="omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_indices</span></code></a></p></td>
+<td><p>Articulation's joint indices that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.joint_names" title="omni.isaac.lab.actuators.ActuatorNetLSTM.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.num_joints" title="omni.isaac.lab.actuators.ActuatorNetLSTM.num_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_joints</span></code></a></p></td>
+<td><p>Number of actuators in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.computed_effort" title="omni.isaac.lab.actuators.ActuatorNetLSTM.computed_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">computed_effort</span></code></a></p></td>
+<td><p>The computed effort for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.applied_effort" title="omni.isaac.lab.actuators.ActuatorNetLSTM.applied_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">applied_effort</span></code></a></p></td>
+<td><p>The applied effort for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.effort_limit" title="omni.isaac.lab.actuators.ActuatorNetLSTM.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>The effort limit for the actuator group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.velocity_limit" title="omni.isaac.lab.actuators.ActuatorNetLSTM.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>The velocity limit for the actuator group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.stiffness" title="omni.isaac.lab.actuators.ActuatorNetLSTM.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>The stiffness (P gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.damping" title="omni.isaac.lab.actuators.ActuatorNetLSTM.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>The damping (D gain) of the PD controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.armature" title="omni.isaac.lab.actuators.ActuatorNetLSTM.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>The armature of the actuator joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.friction" title="omni.isaac.lab.actuators.ActuatorNetLSTM.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>The joint friction of the actuator joints.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.__init__" title="omni.isaac.lab.actuators.ActuatorNetLSTM.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, *args, **kwargs)</p></td>
+<td><p>Initialize the actuator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.reset" title="omni.isaac.lab.actuators.ActuatorNetLSTM.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>(env_ids)</p></td>
+<td><p>Reset the internals within the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.compute" title="omni.isaac.lab.actuators.ActuatorNetLSTM.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(control_action, joint_pos, joint_vel)</p></td>
+<td><p>Process the actuator group actions and compute the articulation actions.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg"><span class="pre">ActuatorNetLSTMCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration of the actuator model.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg"><span class="pre">ActuatorNetLSTMCfg</span></a></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_net.html#ActuatorNetLSTM.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the actuator.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The actuator parameters are parsed from the configuration and stored as buffers. If the parameters
+are not specified in the configuration, then the default values provided in the arguments are used.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration of the actuator model.</p></li>
+<li><p><strong>joint_names</strong> – The joint names in the articulation.</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices in the articulation. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code>, then all
+the joints in the articulation are part of the group.</p></li>
+<li><p><strong>num_envs</strong> – Number of articulations in the view.</p></li>
+<li><p><strong>device</strong> – Device used for processing.</p></li>
+<li><p><strong>stiffness</strong> – The default joint stiffness (P gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>damping</strong> – The default joint damping (D gain). Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>armature</strong> – The default joint armature. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>friction</strong> – The default joint friction. Defaults to 0.0.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>effort_limit</strong> – The default effort limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+<li><p><strong>velocity_limit</strong> – The default velocity limit. Defaults to infinity.
+If a tensor, then the shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_net.html#ActuatorNetLSTM.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals within the group.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – List of environment IDs to reset.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">control_action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_vel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><span class="pre">ArticulationActions</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_net.html#ActuatorNetLSTM.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Process the actuator group actions and compute the articulation actions.</p>
+<p>It computes the articulation actions based on the actuator model type</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>control_action</strong> – The joint action instance comprising of the desired joint positions, joint velocities
+and (feed-forward) joint efforts.</p></li>
+<li><p><strong>joint_pos</strong> – The current joint positions of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+<li><p><strong>joint_vel</strong> – The current joint velocities of the joints in the group. Shape is (num_envs, num_joints).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The computed desired joint positions, joint velocities and joint efforts.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_indices</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint indices that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code> is returned, then the group contains all the joints in the articulation.
+We do this to avoid unnecessary indexing of the joints for performance reasons.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.joint_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.num_joints">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.num_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of actuators in the group.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.computed_effort">
+<span class="sig-name descname"><span class="pre">computed_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.computed_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The computed effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.applied_effort">
+<span class="sig-name descname"><span class="pre">applied_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.applied_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>The applied effort for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The effort limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>The velocity limit for the actuator group. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The stiffness (P gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping (D gain) of the PD controller. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>The armature of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTM.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint friction of the actuator joints. Shape is (num_envs, num_joints).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTMCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.actuators.</span></span><span class="sig-name descname"><span class="pre">ActuatorNetLSTMCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/actuators/actuator_cfg.html#ActuatorNetLSTMCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.actuators.DCMotorCfg" title="omni.isaac.lab.actuators.actuator_cfg.DCMotorCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">DCMotorCfg</span></code></a></p>
+<p>Configuration for LSTM-based actuator model.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>Stiffness gains (also known as p-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>Damping gains (also known as d-gain) of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.network_file" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.network_file"><code class="xref py py-obj docutils literal notranslate"><span class="pre">network_file</span></code></a></p></td>
+<td><p>Path to the file containing network weights.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names_expr</span></code></a></p></td>
+<td><p>Articulation's joint names that are part of the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">effort_limit</span></code></a></p></td>
+<td><p>Force/Torque limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">velocity_limit</span></code></a></p></td>
+<td><p>Velocity limit of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">armature</span></code></a></p></td>
+<td><p>Armature of the joints in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction</span></code></a></p></td>
+<td><p>Joint friction of the joints in the group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.saturation_effort" title="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.saturation_effort"><code class="xref py py-obj docutils literal notranslate"><span class="pre">saturation_effort</span></code></a></p></td>
+<td><p>Peak motor force/torque of the electric DC motor (in N-m).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Stiffness gains (also known as p-gain) of the joints in the group.</p>
+<p>If None, the stiffness is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Damping gains (also known as d-gain) of the joints in the group.</p>
+<p>If None, the damping is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.network_file">
+<span class="sig-name descname"><span class="pre">network_file</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.network_file" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the file containing network weights.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr">
+<span class="sig-name descname"><span class="pre">joint_names_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation’s joint names that are part of the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This can be a list of joint names or a list of regex expressions (e.g. “.*”).</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit">
+<span class="sig-name descname"><span class="pre">effort_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Force/Torque limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit">
+<span class="sig-name descname"><span class="pre">velocity_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity limit of the joints in the group. Defaults to None.</p>
+<p>If None, the limit is set to the value specified in the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature">
+<span class="sig-name descname"><span class="pre">armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature" title="Permalink to this definition">#</a></dt>
+<dd><p>Armature of the joints in the group. Defaults to None.</p>
+<p>If None, the armature is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction">
+<span class="sig-name descname"><span class="pre">friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint friction of the joints in the group. Defaults to None.</p>
+<p>If None, the joint friction is set to the value from the USD joint prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.actuators.ActuatorNetLSTMCfg.saturation_effort">
+<span class="sig-name descname"><span class="pre">saturation_effort</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.saturation_effort" title="Permalink to this definition">#</a></dt>
+<dd><p>Peak motor force/torque of the electric DC motor (in N-m).</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#actuator-base">Actuator Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase"><code class="docutils literal notranslate"><span class="pre">ActuatorBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.__init__"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.computed_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.applied_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.num_joints"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.joint_names"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.joint_indices"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.reset"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBase.compute"><code class="docutils literal notranslate"><span class="pre">ActuatorBase.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorBaseCfg.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorBaseCfg.friction</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#implicit-actuator">Implicit Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.cfg"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.reset"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.compute"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.__init__"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.joint_indices"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.joint_names"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.num_joints"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.computed_effort"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.applied_effort"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.effort_limit"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.stiffness"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.damping"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.armature"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuator.friction"><code class="docutils literal notranslate"><span class="pre">ImplicitActuator.friction</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.damping"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.armature"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ImplicitActuatorCfg.friction"><code class="docutils literal notranslate"><span class="pre">ImplicitActuatorCfg.friction</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#ideal-pd-actuator">Ideal PD Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.cfg"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.reset"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.compute"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.__init__"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.joint_indices"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.joint_names"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.num_joints"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.computed_effort"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.applied_effort"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.effort_limit"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.velocity_limit"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.stiffness"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.damping"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.armature"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuator.friction"><code class="docutils literal notranslate"><span class="pre">IdealPDActuator.friction</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.damping"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.armature"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.IdealPDActuatorCfg.friction"><code class="docutils literal notranslate"><span class="pre">IdealPDActuatorCfg.friction</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#dc-motor-actuator">DC Motor Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor"><code class="docutils literal notranslate"><span class="pre">DCMotor</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.cfg"><code class="docutils literal notranslate"><span class="pre">DCMotor.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.__init__"><code class="docutils literal notranslate"><span class="pre">DCMotor.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.compute"><code class="docutils literal notranslate"><span class="pre">DCMotor.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.joint_indices"><code class="docutils literal notranslate"><span class="pre">DCMotor.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.joint_names"><code class="docutils literal notranslate"><span class="pre">DCMotor.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.num_joints"><code class="docutils literal notranslate"><span class="pre">DCMotor.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.reset"><code class="docutils literal notranslate"><span class="pre">DCMotor.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.computed_effort"><code class="docutils literal notranslate"><span class="pre">DCMotor.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.applied_effort"><code class="docutils literal notranslate"><span class="pre">DCMotor.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.effort_limit"><code class="docutils literal notranslate"><span class="pre">DCMotor.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.velocity_limit"><code class="docutils literal notranslate"><span class="pre">DCMotor.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.stiffness"><code class="docutils literal notranslate"><span class="pre">DCMotor.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.damping"><code class="docutils literal notranslate"><span class="pre">DCMotor.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.armature"><code class="docutils literal notranslate"><span class="pre">DCMotor.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotor.friction"><code class="docutils literal notranslate"><span class="pre">DCMotor.friction</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.saturation_effort"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.saturation_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.damping"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.armature"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DCMotorCfg.friction"><code class="docutils literal notranslate"><span class="pre">DCMotorCfg.friction</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#delayed-pd-actuator">Delayed PD Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.cfg"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.__init__"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.reset"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.compute"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.joint_indices"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.joint_names"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.num_joints"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.computed_effort"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.applied_effort"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.effort_limit"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.velocity_limit"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.stiffness"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.damping"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.armature"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuator.friction"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuator.friction</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.min_delay"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.min_delay</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.DelayedPDActuatorCfg.max_delay"><code class="docutils literal notranslate"><span class="pre">DelayedPDActuatorCfg.max_delay</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#remotized-pd-actuator">Remotized PD Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.__init__"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.joint_names"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.num_joints"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.reset"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.cfg"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.computed_effort"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.applied_effort"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.effort_limit"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.velocity_limit"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.stiffness"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.damping"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.armature"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.friction"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuator.compute"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuator.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.min_delay"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.min_delay</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.max_delay"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.max_delay</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup"><code class="docutils literal notranslate"><span class="pre">RemotizedPDActuatorCfg.joint_parameter_lookup</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#mlp-network-actuator">MLP Network Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.cfg"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.__init__"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.joint_names"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.num_joints"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.reset"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.computed_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.applied_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLP.compute"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLP.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.network_file"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.network_file</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.saturation_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.saturation_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.pos_scale"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.pos_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.vel_scale"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.vel_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.torque_scale"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.torque_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.input_order</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx"><code class="docutils literal notranslate"><span class="pre">ActuatorNetMLPCfg.input_idx</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#lstm-network-actuator">LSTM Network Actuator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.cfg"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.__init__"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.reset"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.compute"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.joint_indices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.joint_names"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.num_joints"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.computed_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.computed_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.applied_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.applied_effort</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTM.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTM.friction</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.network_file"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.network_file</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.joint_names_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.effort_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.velocity_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.actuators.ActuatorNetLSTMCfg.saturation_effort"><code class="docutils literal notranslate"><span class="pre">ActuatorNetLSTMCfg.saturation_effort</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/run_docker_example.html">Running an example with Docker</a></li>
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+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_orbit.html">From Orbit</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
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+    <h1>omni.isaac.lab.app</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#environment-variables">Environment variables</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#overriding-the-environment-variables">Overriding the environment variables</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-app-launcher">Simulation App Launcher</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.app.AppLauncher"><code class="docutils literal notranslate"><span class="pre">AppLauncher</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.app.AppLauncher.__init__"><code class="docutils literal notranslate"><span class="pre">AppLauncher.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.app.AppLauncher.app"><code class="docutils literal notranslate"><span class="pre">AppLauncher.app</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.app.AppLauncher.add_app_launcher_args"><code class="docutils literal notranslate"><span class="pre">AppLauncher.add_app_launcher_args()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
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+</div>
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+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.app">
+<span id="omni-isaac-lab-app"></span><h1>omni.isaac.lab.app<a class="headerlink" href="#module-omni.isaac.lab.app" title="Permalink to this heading">#</a></h1>
+<p>Sub-package containing app-specific functionalities.</p>
+<p>These include:</p>
+<ul class="simple">
+<li><p>Ability to launch the simulation app with different configurations</p></li>
+<li><p>Run tests with the simulation app</p></li>
+</ul>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AppLauncher</span></code></a></p></td>
+<td><p>A utility class to launch Isaac Sim application based on command-line arguments and environment variables.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="environment-variables">
+<h2>Environment variables<a class="headerlink" href="#environment-variables" title="Permalink to this heading">#</a></h2>
+<p>The following details the behavior of the class based on the environment variables:</p>
+<ul>
+<li><p><strong>Headless mode</strong>: If the environment variable <code class="docutils literal notranslate"><span class="pre">HEADLESS=1</span></code>, then SimulationApp will be started in headless mode.
+If <code class="docutils literal notranslate"><span class="pre">LIVESTREAM={1,2}</span></code>, then it will supersede the <code class="docutils literal notranslate"><span class="pre">HEADLESS</span></code> envvar and force headlessness.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">HEADLESS=1</span></code> causes the app to run in headless mode.</p></li>
+</ul>
+</li>
+<li><p><strong>Livestreaming</strong>: If the environment variable <code class="docutils literal notranslate"><span class="pre">LIVESTREAM={1,2}</span></code> , then <a class="reference external" href="https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html">livestream</a> is enabled. Any
+of the livestream modes being true forces the app to run in headless mode.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">LIVESTREAM=1</span></code> enables streaming via the Isaac <a class="reference external" href="https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-kit-remote">Native Livestream</a> extension. This allows users to
+connect through the Omniverse Streaming Client.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">LIVESTREAM=2</span></code> enables streaming  via the <a class="reference external" href="https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-livestream-websocket">WebRTC Livestream</a> extension. This allows users to
+connect in a browser using the WebRTC protocol.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Each Isaac Sim instance can only connect to one streaming client.
+Connecting to an Isaac Sim instance that is currently serving a streaming client
+results in an error for the second user.</p>
+</div>
+</li>
+<li><p><strong>Enable cameras</strong>: If the environment variable <code class="docutils literal notranslate"><span class="pre">ENABLE_CAMERAS</span></code> is set to 1, then the
+cameras are enabled. This is useful for running the simulator without a GUI but still rendering the
+viewport and camera images.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">ENABLE_CAMERAS=1</span></code>: Enables the offscreen-render pipeline which allows users to render
+the scene without launching a GUI.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The off-screen rendering pipeline only works when used in conjunction with the
+<a class="reference internal" href="omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext</span></code></a> class. This is because the off-screen rendering
+pipeline enables flags that are internally used by the SimulationContext class.</p>
+</div>
+</li>
+</ul>
+<p>To set the environment variables, one can use the following command in the terminal:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">export</span><span class="w"> </span><span class="nv">REMOTE_DEPLOYMENT</span><span class="o">=</span><span class="m">3</span>
+<span class="nb">export</span><span class="w"> </span><span class="nv">ENABLE_CAMERAS</span><span class="o">=</span><span class="m">1</span>
+<span class="c1"># run the python script</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demo/play_quadrupeds.py
+</pre></div>
+</div>
+<p>Alternatively, one can set the environment variables to the python script directly:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nv">REMOTE_DEPLOYMENT</span><span class="o">=</span><span class="m">3</span><span class="w"> </span><span class="nv">ENABLE_CAMERAS</span><span class="o">=</span><span class="m">1</span><span class="w"> </span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demo/play_quadrupeds.py
+</pre></div>
+</div>
+</section>
+<section id="overriding-the-environment-variables">
+<h2>Overriding the environment variables<a class="headerlink" href="#overriding-the-environment-variables" title="Permalink to this heading">#</a></h2>
+<p>The environment variables can be overridden in the python script itself using the <a class="reference internal" href="#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>.
+These can be passed as a dictionary, a <a class="reference external" href="https://docs.python.org/3/library/argparse.html#argparse.Namespace" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">argparse.Namespace</span></code></a> object or as keyword arguments.
+When the passed arguments are not the default values, then they override the environment variables.</p>
+<p>The following snippet shows how use the <a class="reference internal" href="#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> in different ways:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">argparser</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+
+<span class="c1"># add argparse arguments</span>
+<span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">()</span>
+<span class="c1"># add your own arguments</span>
+<span class="c1"># ....</span>
+<span class="c1"># add app launcher arguments for cli</span>
+<span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="c1"># parse arguments</span>
+<span class="n">args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+
+<span class="c1"># launch omniverse isaac-sim app</span>
+<span class="c1"># -- Option 1: Pass the settings as a Namespace object</span>
+<span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args</span><span class="p">)</span><span class="o">.</span><span class="n">app</span>
+<span class="c1"># -- Option 2: Pass the settings as keywords arguments</span>
+<span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">headless</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">headless</span><span class="p">,</span> <span class="n">livestream</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">livestream</span><span class="p">)</span>
+<span class="c1"># -- Option 3: Pass the settings as a dictionary</span>
+<span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="nb">vars</span><span class="p">(</span><span class="n">args</span><span class="p">))</span>
+<span class="c1"># -- Option 4: Pass no settings</span>
+<span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">()</span>
+
+<span class="c1"># obtain the launched app</span>
+<span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+</pre></div>
+</div>
+</section>
+<section id="simulation-app-launcher">
+<h2>Simulation App Launcher<a class="headerlink" href="#simulation-app-launcher" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.app.AppLauncher">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.app.</span></span><span class="sig-name descname"><span class="pre">AppLauncher</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/app/app_launcher.html#AppLauncher"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.app.AppLauncher" title="Permalink to this definition">#</a></dt>
+<dd><p>A utility class to launch Isaac Sim application based on command-line arguments and environment variables.</p>
+<p>The class resolves the simulation app settings that appear through environments variables,
+command-line arguments (CLI) or as input keyword arguments. Based on these settings, it launches the
+simulation app and configures the extensions to load (as a part of post-launch setup).</p>
+<p>The input arguments provided to the class are given higher priority than the values set
+from the corresponding environment variables. This provides flexibility to deal with different
+users’ preferences.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Explicitly defined arguments are only given priority when their value is set to something outside
+their default configuration. For example, the <code class="docutils literal notranslate"><span class="pre">livestream</span></code> argument is -1 by default. It only
+overrides the <code class="docutils literal notranslate"><span class="pre">LIVESTREAM</span></code> environment variable when <code class="docutils literal notranslate"><span class="pre">livestream</span></code> argument is set to a
+value &gt;-1. In other words, if <code class="docutils literal notranslate"><span class="pre">livestream=-1</span></code>, then the value from the environment variable
+<code class="docutils literal notranslate"><span class="pre">LIVESTREAM</span></code> is used.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.app.AppLauncher.__init__" title="omni.isaac.lab.app.AppLauncher.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([launcher_args])</p></td>
+<td><p>Create a <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html">SimulationApp</a> instance based on the input settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.app.AppLauncher.add_app_launcher_args" title="omni.isaac.lab.app.AppLauncher.add_app_launcher_args"><code class="xref py py-obj docutils literal notranslate"><span class="pre">add_app_launcher_args</span></code></a>(parser)</p></td>
+<td><p>Utility function to configure AppLauncher arguments with an existing argument parser object.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.app.AppLauncher.app" title="omni.isaac.lab.app.AppLauncher.app"><code class="xref py py-obj docutils literal notranslate"><span class="pre">app</span></code></a></p></td>
+<td><p>The launched SimulationApp.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.app.AppLauncher.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">launcher_args</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/argparse.html#argparse.Namespace" title="(in Python v3.13)"><span class="pre">Namespace</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/app/app_launcher.html#AppLauncher.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.app.AppLauncher.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html">SimulationApp</a> instance based on the input settings.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>launcher_args</strong> – Input arguments to parse using the AppLauncher and set into the SimulationApp.
+Defaults to None, which is equivalent to passing an empty dictionary. A detailed description of
+the possible arguments is available in the <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html">SimulationApp</a> documentation.</p></li>
+<li><p><strong>**kwargs</strong> – Additional keyword arguments that will be merged into <code class="xref py py-attr docutils literal notranslate"><span class="pre">launcher_args</span></code>.
+They serve as a convenience for those who want to pass some arguments using the argparse
+interface and others directly into the AppLauncher. Duplicated arguments with
+the <code class="xref py py-attr docutils literal notranslate"><span class="pre">launcher_args</span></code> will raise a ValueError.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If there are common/duplicated arguments between <code class="docutils literal notranslate"><span class="pre">launcher_args</span></code> and <code class="docutils literal notranslate"><span class="pre">kwargs</span></code>.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If combination of <code class="docutils literal notranslate"><span class="pre">launcher_args</span></code> and <code class="docutils literal notranslate"><span class="pre">kwargs</span></code> are missing the necessary arguments
+    that are needed by the AppLauncher to resolve the desired app configuration.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If incompatible or undefined values are assigned to relevant environment values,
+    such as <code class="docutils literal notranslate"><span class="pre">LIVESTREAM</span></code>.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.app.AppLauncher.app">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">app</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">omni.isaac.kit.SimulationApp</span></em><a class="headerlink" href="#omni.isaac.lab.app.AppLauncher.app" title="Permalink to this definition">#</a></dt>
+<dd><p>The launched SimulationApp.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.app.AppLauncher.add_app_launcher_args">
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">add_app_launcher_args</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">parser</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/argparse.html#argparse.ArgumentParser" title="(in Python v3.13)"><span class="pre">ArgumentParser</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/app/app_launcher.html#AppLauncher.add_app_launcher_args"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.app.AppLauncher.add_app_launcher_args" title="Permalink to this definition">#</a></dt>
+<dd><p>Utility function to configure AppLauncher arguments with an existing argument parser object.</p>
+<p>This function takes an <code class="docutils literal notranslate"><span class="pre">argparse.ArgumentParser</span></code> object and does some sanity checking on the existing
+arguments for ingestion by the SimulationApp. It then appends custom command-line arguments relevant
+to the SimulationApp to the input <a class="reference external" href="https://docs.python.org/3/library/argparse.html#argparse.ArgumentParser" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">argparse.ArgumentParser</span></code></a> instance. This allows overriding the
+environment variables using command-line arguments.</p>
+<p>Currently, it adds the following parameters to the argparser object:</p>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">headless</span></code> (bool): If True, the app will be launched in headless (no-gui) mode. The values map the same
+as that for the <code class="docutils literal notranslate"><span class="pre">HEADLESS</span></code> environment variable. If False, then headless mode is determined by the
+<code class="docutils literal notranslate"><span class="pre">HEADLESS</span></code> environment variable.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">livestream</span></code> (int): If one of {1, 2}, then livestreaming and headless mode is enabled. The values
+map the same as that for the <code class="docutils literal notranslate"><span class="pre">LIVESTREAM</span></code> environment variable. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">-1</span></code>, then livestreaming is
+determined by the <code class="docutils literal notranslate"><span class="pre">LIVESTREAM</span></code> environment variable.
+Valid options are:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">0</span></code>: Disabled</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">1</span></code>: <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_livestream/native.html">Native</a></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">2</span></code>: <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_livestream/webrtc.html">WebRTC</a></p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">enable_cameras</span></code> (bool): If True, the app will enable camera sensors and render them, even when in
+headless mode. This flag must be set to True if the environments contains any camera sensors.
+The values map the same as that for the <code class="docutils literal notranslate"><span class="pre">ENABLE_CAMERAS</span></code> environment variable.
+If False, then enable_cameras mode is determined by the <code class="docutils literal notranslate"><span class="pre">ENABLE_CAMERAS</span></code> environment variable.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">device</span></code> (str): The device to run the simulation on.
+Valid options are:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">cpu</span></code>: Use CPU.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">cuda</span></code>: Use GPU with device ID <code class="docutils literal notranslate"><span class="pre">0</span></code>.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">cuda:N</span></code>: Use GPU, where N is the device ID. For example, “cuda:0”.</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">experience</span></code> (str): The experience file to load when launching the SimulationApp. If a relative path
+is provided, it is resolved relative to the <code class="docutils literal notranslate"><span class="pre">apps</span></code> folder in Isaac Sim and Isaac Lab (in that order).</p>
+<p>If provided as an empty string, the experience file is determined based on the command-line flags:</p>
+<ul class="simple">
+<li><p>If headless and enable_cameras are True, the experience file is set to <code class="docutils literal notranslate"><span class="pre">isaaclab.python.headless.rendering.kit</span></code>.</p></li>
+<li><p>If headless is False and enable_cameras is True, the experience file is set to <code class="docutils literal notranslate"><span class="pre">isaaclab.python.rendering.kit</span></code>.</p></li>
+<li><p>If headless and enable_cameras are False, the experience file is set to <code class="docutils literal notranslate"><span class="pre">isaaclab.python.kit</span></code>.</p></li>
+<li><p>If headless is True and enable_cameras is False, the experience file is set to <code class="docutils literal notranslate"><span class="pre">isaaclab.python.headless.kit</span></code>.</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">kit_args</span></code> (str): Optional command line arguments to be passed to Omniverse Kit directly.
+Arguments should be combined into a single string separated by space.
+Example usage: –kit_args “–ext-folder=/path/to/ext1 –ext-folder=/path/to/ext2”</p></li>
+</ul>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>parser</strong> – An argument parser instance to be extended with the AppLauncher specific options.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
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+    <i class="fa-solid fa-list"></i> Contents
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#environment-variables">Environment variables</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#overriding-the-environment-variables">Overriding the environment variables</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-app-launcher">Simulation App Launcher</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.app.AppLauncher"><code class="docutils literal notranslate"><span class="pre">AppLauncher</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.app.AppLauncher.__init__"><code class="docutils literal notranslate"><span class="pre">AppLauncher.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.app.AppLauncher.app"><code class="docutils literal notranslate"><span class="pre">AppLauncher.app</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.app.AppLauncher.add_app_launcher_args"><code class="docutils literal notranslate"><span class="pre">AppLauncher.add_app_launcher_args()</span></code></a></li>
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+    <h1>omni.isaac.lab.assets</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#asset-base">Asset Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase"><code class="docutils literal notranslate"><span class="pre">AssetBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.__init__"><code class="docutils literal notranslate"><span class="pre">AssetBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.is_initialized"><code class="docutils literal notranslate"><span class="pre">AssetBase.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.num_instances"><code class="docutils literal notranslate"><span class="pre">AssetBase.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.device"><code class="docutils literal notranslate"><span class="pre">AssetBase.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.data"><code class="docutils literal notranslate"><span class="pre">AssetBase.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">AssetBase.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">AssetBase.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.reset"><code class="docutils literal notranslate"><span class="pre">AssetBase.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">AssetBase.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.update"><code class="docutils literal notranslate"><span class="pre">AssetBase.update()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.InitialStateCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.InitialStateCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.rot"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.InitialStateCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.spawn"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.init_state"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.init_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.collision_group"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.collision_group</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rigid-object">Rigid Object</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject"><code class="docutils literal notranslate"><span class="pre">RigidObject</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.cfg"><code class="docutils literal notranslate"><span class="pre">RigidObject.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.__init__"><code class="docutils literal notranslate"><span class="pre">RigidObject.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.data"><code class="docutils literal notranslate"><span class="pre">RigidObject.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.num_instances"><code class="docutils literal notranslate"><span class="pre">RigidObject.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.num_bodies"><code class="docutils literal notranslate"><span class="pre">RigidObject.num_bodies</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.body_names"><code class="docutils literal notranslate"><span class="pre">RigidObject.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.root_physx_view"><code class="docutils literal notranslate"><span class="pre">RigidObject.root_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.reset"><code class="docutils literal notranslate"><span class="pre">RigidObject.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.update"><code class="docutils literal notranslate"><span class="pre">RigidObject.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.find_bodies"><code class="docutils literal notranslate"><span class="pre">RigidObject.find_bodies()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_com_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_com_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_link_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_link_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_link_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_link_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_com_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_com_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_com_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_com_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_link_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_link_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.set_external_force_and_torque"><code class="docutils literal notranslate"><span class="pre">RigidObject.set_external_force_and_torque()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.device"><code class="docutils literal notranslate"><span class="pre">RigidObject.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">RigidObject.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.is_initialized"><code class="docutils literal notranslate"><span class="pre">RigidObject.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">RigidObject.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData"><code class="docutils literal notranslate"><span class="pre">RigidObjectData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.update"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_names"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.default_root_state"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.default_root_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.default_mass"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.default_mass</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.default_inertia"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.default_inertia</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.projected_gravity_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.projected_gravity_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.heading_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.heading_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_lin_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_lin_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_ang_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_ang_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.com_pos_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.com_pos_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.com_quat_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.com_quat_b</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.InitialStateCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.InitialStateCfg.lin_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.ang_vel"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.InitialStateCfg.ang_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.pos"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.InitialStateCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.rot"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.InitialStateCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.spawn"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.collision_group"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.collision_group</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.init_state"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.init_state</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rigid-object-collection">Rigid Object Collection</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.__init__"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.cfg"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.data"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.num_instances"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.num_objects"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.num_objects</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.object_names"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.object_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.root_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.reset"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.update"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.find_objects"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.find_objects()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_com_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_link_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_link_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_com_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_com_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_link_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.set_external_force_and_torque"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.set_external_force_and_torque()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.reshape_view_to_data"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.reshape_view_to_data()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.reshape_data_to_view"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.reshape_data_to_view()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.device"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.is_initialized"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.update"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_names"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_object_state"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.default_object_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_mass"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.default_mass</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_inertia"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.default_inertia</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.projected_gravity_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.projected_gravity_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.heading_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.heading_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_lin_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_ang_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.com_pos_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.com_pos_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.com_quat_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.com_quat_b</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionCfg.rigid_objects</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#articulation">Articulation</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation"><code class="docutils literal notranslate"><span class="pre">Articulation</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.cfg"><code class="docutils literal notranslate"><span class="pre">Articulation.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.actuators"><code class="docutils literal notranslate"><span class="pre">Articulation.actuators</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.__init__"><code class="docutils literal notranslate"><span class="pre">Articulation.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.data"><code class="docutils literal notranslate"><span class="pre">Articulation.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.num_instances"><code class="docutils literal notranslate"><span class="pre">Articulation.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.is_fixed_base"><code class="docutils literal notranslate"><span class="pre">Articulation.is_fixed_base</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.num_joints"><code class="docutils literal notranslate"><span class="pre">Articulation.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.num_fixed_tendons"><code class="docutils literal notranslate"><span class="pre">Articulation.num_fixed_tendons</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.num_bodies"><code class="docutils literal notranslate"><span class="pre">Articulation.num_bodies</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.joint_names"><code class="docutils literal notranslate"><span class="pre">Articulation.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.fixed_tendon_names"><code class="docutils literal notranslate"><span class="pre">Articulation.fixed_tendon_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.body_names"><code class="docutils literal notranslate"><span class="pre">Articulation.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.root_physx_view"><code class="docutils literal notranslate"><span class="pre">Articulation.root_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.reset"><code class="docutils literal notranslate"><span class="pre">Articulation.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.update"><code class="docutils literal notranslate"><span class="pre">Articulation.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.find_bodies"><code class="docutils literal notranslate"><span class="pre">Articulation.find_bodies()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.find_joints"><code class="docutils literal notranslate"><span class="pre">Articulation.find_joints()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.find_fixed_tendons"><code class="docutils literal notranslate"><span class="pre">Articulation.find_fixed_tendons()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_state_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_com_state_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_com_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_link_state_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_link_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_link_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_link_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_com_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_com_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_com_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_com_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_link_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_link_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_state_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_stiffness_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_stiffness_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_damping_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_damping_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_velocity_limit_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_velocity_limit_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_effort_limit_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_effort_limit_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_armature_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_armature_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_friction_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_friction_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_limits_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_external_force_and_torque"><code class="docutils literal notranslate"><span class="pre">Articulation.set_external_force_and_torque()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_joint_position_target"><code class="docutils literal notranslate"><span class="pre">Articulation.set_joint_position_target()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_joint_velocity_target"><code class="docutils literal notranslate"><span class="pre">Articulation.set_joint_velocity_target()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_joint_effort_target"><code class="docutils literal notranslate"><span class="pre">Articulation.set_joint_effort_target()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_stiffness"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_stiffness()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_damping"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_damping()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit_stiffness"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_limit_stiffness()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_limit()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_rest_length"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_rest_length()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_offset"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_offset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_fixed_tendon_properties_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.device"><code class="docutils literal notranslate"><span class="pre">Articulation.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">Articulation.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.is_initialized"><code class="docutils literal notranslate"><span class="pre">Articulation.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">Articulation.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData"><code class="docutils literal notranslate"><span class="pre">ArticulationData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_names"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_names"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_names"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_root_state"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_root_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_mass"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_mass</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_inertia"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_inertia</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_pos"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_pos</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_vel"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_vel</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_damping"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_armature"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_friction"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_limits"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_damping"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_limit_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_rest_length"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_rest_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_offset"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_pos_target"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_pos_target</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_vel_target"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_vel_target</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_effort_target"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_effort_target</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.computed_torque"><code class="docutils literal notranslate"><span class="pre">ArticulationData.computed_torque</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.applied_torque"><code class="docutils literal notranslate"><span class="pre">ArticulationData.applied_torque</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_damping"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_limits"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_velocity_limits"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_velocity_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_damping"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_limit_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_rest_length"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_rest_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_offset"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits"><code class="docutils literal notranslate"><span class="pre">ArticulationData.soft_joint_pos_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.soft_joint_vel_limits"><code class="docutils literal notranslate"><span class="pre">ArticulationData.soft_joint_vel_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.gear_ratio"><code class="docutils literal notranslate"><span class="pre">ArticulationData.gear_ratio</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_acc_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.projected_gravity_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.projected_gravity_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.heading_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.heading_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_pos"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_pos</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_vel"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_vel</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_acc"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_acc</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_lin_acc_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_lin_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_ang_acc_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_ang_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.com_pos_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.com_pos_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.com_quat_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.com_quat_b</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.lin_vel"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.lin_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.ang_vel"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.ang_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.joint_pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_vel"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.joint_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.pos"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.rot"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.spawn"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.collision_group"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.collision_group</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.init_state"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.init_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.soft_joint_pos_limit_factor"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.soft_joint_pos_limit_factor</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.actuators"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.actuators</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#deformable-object">Deformable Object</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject"><code class="docutils literal notranslate"><span class="pre">DeformableObject</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.cfg"><code class="docutils literal notranslate"><span class="pre">DeformableObject.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.__init__"><code class="docutils literal notranslate"><span class="pre">DeformableObject.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.data"><code class="docutils literal notranslate"><span class="pre">DeformableObject.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.num_instances"><code class="docutils literal notranslate"><span class="pre">DeformableObject.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.num_bodies"><code class="docutils literal notranslate"><span class="pre">DeformableObject.num_bodies</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.root_physx_view"><code class="docutils literal notranslate"><span class="pre">DeformableObject.root_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.material_physx_view"><code class="docutils literal notranslate"><span class="pre">DeformableObject.material_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.max_sim_elements_per_body"><code class="docutils literal notranslate"><span class="pre">DeformableObject.max_sim_elements_per_body</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.max_collision_elements_per_body"><code class="docutils literal notranslate"><span class="pre">DeformableObject.max_collision_elements_per_body</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.max_sim_vertices_per_body"><code class="docutils literal notranslate"><span class="pre">DeformableObject.max_sim_vertices_per_body</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.max_collision_vertices_per_body"><code class="docutils literal notranslate"><span class="pre">DeformableObject.max_collision_vertices_per_body</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.reset"><code class="docutils literal notranslate"><span class="pre">DeformableObject.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">DeformableObject.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.update"><code class="docutils literal notranslate"><span class="pre">DeformableObject.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_state_to_sim"><code class="docutils literal notranslate"><span class="pre">DeformableObject.write_nodal_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_pos_to_sim"><code class="docutils literal notranslate"><span class="pre">DeformableObject.write_nodal_pos_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">DeformableObject.write_nodal_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim"><code class="docutils literal notranslate"><span class="pre">DeformableObject.write_nodal_kinematic_target_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.transform_nodal_pos"><code class="docutils literal notranslate"><span class="pre">DeformableObject.transform_nodal_pos()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.device"><code class="docutils literal notranslate"><span class="pre">DeformableObject.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">DeformableObject.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.is_initialized"><code class="docutils literal notranslate"><span class="pre">DeformableObject.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">DeformableObject.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.update"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.default_nodal_state_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.default_nodal_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_kinematic_target"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.nodal_kinematic_target</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_pos_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.nodal_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_vel_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.nodal_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_state_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.nodal_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_quat_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.sim_element_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_quat_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.collision_element_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_deform_gradient_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.sim_element_deform_gradient_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_deform_gradient_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.collision_element_deform_gradient_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_stress_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.sim_element_stress_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_stress_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.collision_element_stress_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.root_pos_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.root_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.root_vel_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.root_vel_w</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.InitialStateCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.pos"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.InitialStateCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.rot"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.InitialStateCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.spawn"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.init_state"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.init_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.collision_group"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.collision_group</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.assets">
+<span id="omni-isaac-lab-assets"></span><h1>omni.isaac.lab.assets<a class="headerlink" href="#module-omni.isaac.lab.assets" title="Permalink to this heading">#</a></h1>
+<p>Sub-package for different assets, such as rigid objects and articulations.</p>
+<p>An asset is a physical object that can be spawned in the simulation. The class handles both
+the spawning of the asset into the USD stage as well as initialization of necessary physics
+handles to interact with the asset.</p>
+<p>Upon construction of the asset instance, the prim corresponding to the asset is spawned into the
+USD stage if the spawn configuration is not None. The spawn configuration is defined in the
+<a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.spawn" title="omni.isaac.lab.assets.AssetBaseCfg.spawn"><code class="xref py py-attr docutils literal notranslate"><span class="pre">AssetBaseCfg.spawn</span></code></a> attribute. In case the configured <a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.prim_path" title="omni.isaac.lab.assets.AssetBaseCfg.prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">AssetBaseCfg.prim_path</span></code></a> is
+an expression, then the prim is spawned at all the matching paths. Otherwise, a single prim is
+spawned at the configured path. For more information on the spawn configuration, see the
+<a class="reference internal" href="omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners" title="omni.isaac.lab.sim.spawners"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners</span></code></a> module.</p>
+<p>The asset class also registers callbacks for the stage play/stop events. These are used to
+construct the physics handles for the asset as the physics engine is only available when the
+stage is playing. Additionally, the class registers a callback for debug visualization of the
+asset. This can be enabled by setting the <a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.debug_vis" title="omni.isaac.lab.assets.AssetBaseCfg.debug_vis"><code class="xref py py-attr docutils literal notranslate"><span class="pre">AssetBaseCfg.debug_vis</span></code></a> attribute to True.</p>
+<p>The asset class follows the following naming convention for its methods:</p>
+<ul class="simple">
+<li><p><strong>set_xxx()</strong>: These are used to only set the buffers into the <code class="xref py py-attr docutils literal notranslate"><span class="pre">data</span></code> instance. However, they
+do not write the data into the simulator. The writing of data only happens when the
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">write_data_to_sim()</span></code> method is called.</p></li>
+<li><p><strong>write_xxx_to_sim()</strong>: These are used to set the buffers into the <code class="xref py py-attr docutils literal notranslate"><span class="pre">data</span></code> instance and write
+the corresponding data into the simulator as well.</p></li>
+<li><p><strong>update(dt)</strong>: These are used to update the buffers in the <code class="xref py py-attr docutils literal notranslate"><span class="pre">data</span></code> instance. This should
+be called after a simulation step is performed.</p></li>
+</ul>
+<p>The main reason to separate the <code class="docutils literal notranslate"><span class="pre">set</span></code> and <code class="docutils literal notranslate"><span class="pre">write</span></code> operations is to provide flexibility to the
+user when they need to perform a post-processing operation of the buffers before applying them
+into the simulator. A common example for this is dealing with explicit actuator models where the
+specified joint targets are not directly applied to the simulator but are instead used to compute
+the corresponding actuator torques.</p>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase" title="omni.isaac.lab.assets.AssetBase"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AssetBase</span></code></a></p></td>
+<td><p>The base interface class for assets.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg" title="omni.isaac.lab.assets.AssetBaseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AssetBaseCfg</span></code></a></p></td>
+<td><p>The base configuration class for an asset's parameters.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RigidObject</span></code></a></p></td>
+<td><p>A rigid object asset class.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData" title="omni.isaac.lab.assets.RigidObjectData"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RigidObjectData</span></code></a></p></td>
+<td><p>Data container for a rigid object.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg" title="omni.isaac.lab.assets.RigidObjectCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RigidObjectCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a rigid object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection" title="omni.isaac.lab.assets.RigidObjectCollection"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RigidObjectCollection</span></code></a></p></td>
+<td><p>A rigid object collection class.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData" title="omni.isaac.lab.assets.RigidObjectCollectionData"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RigidObjectCollectionData</span></code></a></p></td>
+<td><p>Data container for a rigid object collection.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg" title="omni.isaac.lab.assets.RigidObjectCollectionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RigidObjectCollectionCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a rigid object collection.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Articulation</span></code></a></p></td>
+<td><p>An articulation asset class.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData" title="omni.isaac.lab.assets.ArticulationData"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ArticulationData</span></code></a></p></td>
+<td><p>Data container for an articulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a></p></td>
+<td><p>Configuration parameters for an articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject" title="omni.isaac.lab.assets.DeformableObject"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DeformableObject</span></code></a></p></td>
+<td><p>A deformable object asset class.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData" title="omni.isaac.lab.assets.DeformableObjectData"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DeformableObjectData</span></code></a></p></td>
+<td><p>Data container for a deformable object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg" title="omni.isaac.lab.assets.DeformableObjectCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DeformableObjectCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a deformable object.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="asset-base">
+<h2>Asset Base<a class="headerlink" href="#asset-base" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">AssetBase</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/asset_base.html#AssetBase"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase" title="Permalink to this definition">#</a></dt>
+<dd><p>The base interface class for assets.</p>
+<p>An asset corresponds to any physics-enabled object that can be spawned in the simulation. These include
+rigid objects, articulated objects, deformable objects etc. The core functionality of an asset is to
+provide a set of buffers that can be used to interact with the simulator. The buffers are updated
+by the asset class and can be written into the simulator using the their respective <code class="docutils literal notranslate"><span class="pre">write</span></code> methods.
+This allows a convenient way to perform post-processing operations on the buffers before writing them
+into the simulator and obtaining the corresponding simulation results.</p>
+<p>The class handles both the spawning of the asset into the USD stage as well as initialization of necessary
+physics handles to interact with the asset. Upon construction of the asset instance, the prim corresponding
+to the asset is spawned into the USD stage if the spawn configuration is not None. The spawn configuration
+is defined in the <a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.spawn" title="omni.isaac.lab.assets.AssetBaseCfg.spawn"><code class="xref py py-attr docutils literal notranslate"><span class="pre">AssetBaseCfg.spawn</span></code></a> attribute. In case the configured <a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.prim_path" title="omni.isaac.lab.assets.AssetBaseCfg.prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">AssetBaseCfg.prim_path</span></code></a>
+is an expression, then the prim is spawned at all the matching paths. Otherwise, a single prim is spawned
+at the configured path. For more information on the spawn configuration, see the
+<a class="reference internal" href="omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners" title="omni.isaac.lab.sim.spawners"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners</span></code></a> module.</p>
+<p>Unlike Isaac Sim interface, where one usually needs to call the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.prims.XFormPrimView.initialize" title="(in isaac_sim)"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.core.prims.XFormPrimView.initialize()</span></code></a> method to initialize the PhysX handles, the asset
+class automatically initializes and invalidates the PhysX handles when the stage is played/stopped. This
+is done by registering callbacks for the stage play/stop events.</p>
+<p>Additionally, the class registers a callback for debug visualization of the asset if a debug visualization
+is implemented in the asset class. This can be enabled by setting the <a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.debug_vis" title="omni.isaac.lab.assets.AssetBaseCfg.debug_vis"><code class="xref py py-attr docutils literal notranslate"><span class="pre">AssetBaseCfg.debug_vis</span></code></a> attribute
+to True. The debug visualization is implemented through the <code class="xref py py-meth docutils literal notranslate"><span class="pre">_set_debug_vis_impl()</span></code> and
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">_debug_vis_callback()</span></code> methods.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase.__init__" title="omni.isaac.lab.assets.AssetBase.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initialize the asset base.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase.set_debug_vis" title="omni.isaac.lab.assets.AssetBase.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the asset data.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase.reset" title="omni.isaac.lab.assets.AssetBase.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets all internal buffers of selected environments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase.write_data_to_sim" title="omni.isaac.lab.assets.AssetBase.write_data_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_data_to_sim</span></code></a>()</p></td>
+<td><p>Writes data to the simulator.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase.update" title="omni.isaac.lab.assets.AssetBase.update"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update</span></code></a>(dt)</p></td>
+<td><p>Update the internal buffers.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase.is_initialized" title="omni.isaac.lab.assets.AssetBase.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the asset is initialized.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase.num_instances" title="omni.isaac.lab.assets.AssetBase.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase.device" title="omni.isaac.lab.assets.AssetBase.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase.data" title="omni.isaac.lab.assets.AssetBase.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data related to the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBase.has_debug_vis_implementation" title="omni.isaac.lab.assets.AssetBase.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the asset has a debug visualization implemented.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg" title="omni.isaac.lab.assets.AssetBaseCfg"><span class="pre">AssetBaseCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/asset_base.html#AssetBase.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the asset base.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration class for the asset.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If no prims found at input prim path or prim path expression.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the asset is initialized.</p>
+<p>Returns True if the asset is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase.num_instances">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the asset.</p>
+<p>This is equal to the number of asset instances per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase.data">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data related to the asset.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the asset has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/asset_base.html#AssetBase.set_debug_vis"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the asset data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the asset data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the asset
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase.reset">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/asset_base.html#AssetBase.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets all internal buffers of selected environments.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The indices of the object to reset. Defaults to None (all instances).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase.write_data_to_sim">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">write_data_to_sim</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/asset_base.html#AssetBase.write_data_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase.write_data_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Writes data to the simulator.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBase.update">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/asset_base.html#AssetBase.update"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.AssetBase.update" title="Permalink to this definition">#</a></dt>
+<dd><p>Update the internal buffers.</p>
+<p>The time step <code class="docutils literal notranslate"><span class="pre">dt</span></code> is used to compute numerical derivatives of quantities such as joint
+accelerations which are not provided by the simulator.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The amount of time passed from last <code class="docutils literal notranslate"><span class="pre">update</span></code> call.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBaseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">AssetBaseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/asset_base_cfg.html#AssetBaseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.AssetBaseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The base configuration class for an asset’s parameters.</p>
+<p>Please see the <a class="reference internal" href="#omni.isaac.lab.assets.AssetBase" title="omni.isaac.lab.assets.AssetBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBase</span></code></a> class for more information on the asset class.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg" title="omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">InitialStateCfg</span></code></a></p></td>
+<td><p>Initial state of the asset.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.prim_path" title="omni.isaac.lab.assets.AssetBaseCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.spawn" title="omni.isaac.lab.assets.AssetBaseCfg.spawn"><code class="xref py py-obj docutils literal notranslate"><span class="pre">spawn</span></code></a></p></td>
+<td><p>Spawn configuration for the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.init_state" title="omni.isaac.lab.assets.AssetBaseCfg.init_state"><code class="xref py py-obj docutils literal notranslate"><span class="pre">init_state</span></code></a></p></td>
+<td><p>Initial state of the rigid object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.collision_group" title="omni.isaac.lab.assets.AssetBaseCfg.collision_group"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_group</span></code></a></p></td>
+<td><p>Collision group of the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.debug_vis" title="omni.isaac.lab.assets.AssetBaseCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to enable debug visualization for the asset.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">InitialStateCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/asset_base_cfg.html#AssetBaseCfg.InitialStateCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Initial state of the asset.</p>
+<p>This defines the default initial state of the asset when it is spawned into the simulation, as
+well as the default state when the simulation is reset.</p>
+<p>After parsing the initial state, the asset class stores this information in the <code class="xref py py-attr docutils literal notranslate"><span class="pre">data</span></code>
+attribute of the asset class. This can then be accessed by the user to modify the state of the asset
+during the simulation, for example, at resets.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos" title="omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Position of the root in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.rot" title="omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation (w, x, y, z) of the root in simulation world frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Position of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation (w, x, y, z) of the root in simulation world frame.
+Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBaseCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBaseCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the asset.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBaseCfg.spawn">
+<span class="sig-name descname"><span class="pre">spawn</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg" title="omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg"><span class="pre">SpawnerCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBaseCfg.spawn" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawn configuration for the asset. Defaults to None.</p>
+<p>If None, then no prims are spawned by the asset class. Instead, it is assumed that the
+asset is already present in the scene.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBaseCfg.init_state">
+<span class="sig-name descname"><span class="pre">init_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg" title="omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg"><span class="pre">InitialStateCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBaseCfg.init_state" title="Permalink to this definition">#</a></dt>
+<dd><p>Initial state of the rigid object. Defaults to identity pose.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBaseCfg.collision_group">
+<span class="sig-name descname"><span class="pre">collision_group</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal[0,</span> <span class="pre">-1]</span></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBaseCfg.collision_group" title="Permalink to this definition">#</a></dt>
+<dd><p>Collision group of the asset. Defaults to <code class="docutils literal notranslate"><span class="pre">0</span></code>.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">-1</span></code>: global collision group (collides with all assets in the scene).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">0</span></code>: local collision group (collides with other assets in the same environment).</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.AssetBaseCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.AssetBaseCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable debug visualization for the asset. Defaults to <code class="docutils literal notranslate"><span class="pre">False</span></code>.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="rigid-object">
+<h2>Rigid Object<a class="headerlink" href="#rigid-object" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">RigidObject</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.assets.AssetBase" title="omni.isaac.lab.assets.asset_base.AssetBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBase</span></code></a></p>
+<p>A rigid object asset class.</p>
+<p>Rigid objects are assets comprising of rigid bodies. They can be used to represent dynamic objects
+such as boxes, spheres, etc. A rigid body is described by its pose, velocity and mass distribution.</p>
+<p>For an asset to be considered a rigid object, the root prim of the asset must have the <a class="reference external" href="https://openusd.org/dev/api/class_usd_physics_rigid_body_a_p_i.html">USD RigidBodyAPI</a>
+applied to it. This API is used to define the simulation properties of the rigid body. On playing the
+simulation, the physics engine will automatically register the rigid body and create a corresponding
+rigid body handle. This handle can be accessed using the <a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.root_physx_view" title="omni.isaac.lab.assets.RigidObject.root_physx_view"><code class="xref py py-attr docutils literal notranslate"><span class="pre">root_physx_view</span></code></a> attribute.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For users familiar with Isaac Sim, the PhysX view class API is not the exactly same as Isaac Sim view
+class API. Similar to Isaac Lab, Isaac Sim wraps around the PhysX view API. However, as of now (2023.1 release),
+we see a large difference in initializing the view classes in Isaac Sim. This is because the view classes
+in Isaac Sim perform additional USD-related operations which are slow and also not required.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.cfg" title="omni.isaac.lab.assets.RigidObject.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>Configuration instance for the rigid object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.data" title="omni.isaac.lab.assets.RigidObject.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data related to the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.num_instances" title="omni.isaac.lab.assets.RigidObject.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.num_bodies" title="omni.isaac.lab.assets.RigidObject.num_bodies"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_bodies</span></code></a></p></td>
+<td><p>Number of bodies in the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.body_names" title="omni.isaac.lab.assets.RigidObject.body_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_names</span></code></a></p></td>
+<td><p>Ordered names of bodies in the rigid object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.root_physx_view" title="omni.isaac.lab.assets.RigidObject.root_physx_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_physx_view</span></code></a></p></td>
+<td><p>Rigid body view for the asset (PhysX).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.device" title="omni.isaac.lab.assets.RigidObject.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.has_debug_vis_implementation" title="omni.isaac.lab.assets.RigidObject.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the asset has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.is_initialized" title="omni.isaac.lab.assets.RigidObject.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the asset is initialized.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.__init__" title="omni.isaac.lab.assets.RigidObject.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initialize the rigid object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.reset" title="omni.isaac.lab.assets.RigidObject.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets all internal buffers of selected environments.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_data_to_sim" title="omni.isaac.lab.assets.RigidObject.write_data_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_data_to_sim</span></code></a>()</p></td>
+<td><p>Write external wrench to the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.update" title="omni.isaac.lab.assets.RigidObject.update"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update</span></code></a>(dt)</p></td>
+<td><p>Update the internal buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.find_bodies" title="omni.isaac.lab.assets.RigidObject.find_bodies"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_bodies</span></code></a>(name_keys[, preserve_order])</p></td>
+<td><p>Find bodies in the rigid body based on the name keys.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_root_state_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_state_to_sim</span></code></a>(root_state[, env_ids])</p></td>
+<td><p>Set the root state over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_root_com_state_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_com_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_com_state_to_sim</span></code></a>(root_state[, ...])</p></td>
+<td><p>Set the root center of mass state over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_root_link_state_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_link_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_link_state_to_sim</span></code></a>(root_state[, ...])</p></td>
+<td><p>Set the root link state over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_root_pose_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_pose_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_pose_to_sim</span></code></a>(root_pose[, env_ids])</p></td>
+<td><p>Set the root pose over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_root_link_pose_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_link_pose_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_link_pose_to_sim</span></code></a>(root_pose[, env_ids])</p></td>
+<td><p>Set the root link pose over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_root_com_pose_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_com_pose_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_com_pose_to_sim</span></code></a>(root_pose[, env_ids])</p></td>
+<td><p>Set the root center of mass pose over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_root_velocity_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_velocity_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_velocity_to_sim</span></code></a>(root_velocity[, ...])</p></td>
+<td><p>Set the root center of mass velocity over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_root_com_velocity_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_com_velocity_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_com_velocity_to_sim</span></code></a>(root_velocity)</p></td>
+<td><p>Set the root center of mass velocity over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_root_link_velocity_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_link_velocity_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_link_velocity_to_sim</span></code></a>(root_velocity)</p></td>
+<td><p>Set the root link velocity over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.set_external_force_and_torque" title="omni.isaac.lab.assets.RigidObject.set_external_force_and_torque"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_external_force_and_torque</span></code></a>(forces, torques)</p></td>
+<td><p>Set external force and torque to apply on the asset's bodies in their local frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.set_debug_vis" title="omni.isaac.lab.assets.RigidObject.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the asset data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg" title="omni.isaac.lab.assets.RigidObjectCfg"><span class="pre">RigidObjectCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration instance for the rigid object.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg" title="omni.isaac.lab.assets.RigidObjectCfg"><span class="pre">RigidObjectCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the rigid object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – A configuration instance.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData" title="omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData"><span class="pre">RigidObjectData</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data related to the asset.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the asset.</p>
+<p>This is equal to the number of asset instances per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.num_bodies">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_bodies</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.num_bodies" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of bodies in the asset.</p>
+<p>This is always 1 since each object is a single rigid body.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.body_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.body_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Ordered names of bodies in the rigid object.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.root_physx_view">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_physx_view</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">omni.physics.tensors.impl.api.RigidBodyView</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.root_physx_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body view for the asset (PhysX).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Use this view with caution. It requires handling of tensors in a specific way.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets all internal buffers of selected environments.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The indices of the object to reset. Defaults to None (all instances).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.write_data_to_sim">
+<span class="sig-name descname"><span class="pre">write_data_to_sim</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.write_data_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.write_data_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write external wrench to the simulation.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We write external wrench to the simulation here since this function is called before the simulation step.
+This ensures that the external wrench is applied at every simulation step.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.update">
+<span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.update"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.update" title="Permalink to this definition">#</a></dt>
+<dd><p>Update the internal buffers.</p>
+<p>The time step <code class="docutils literal notranslate"><span class="pre">dt</span></code> is used to compute numerical derivatives of quantities such as joint
+accelerations which are not provided by the simulator.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The amount of time passed from last <code class="docutils literal notranslate"><span class="pre">update</span></code> call.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.find_bodies">
+<span class="sig-name descname"><span class="pre">find_bodies</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">preserve_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.find_bodies"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.find_bodies" title="Permalink to this definition">#</a></dt>
+<dd><p>Find bodies in the rigid body based on the name keys.</p>
+<p>Please check the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string_utils.resolve_matching_names()</span></code> function for more
+information on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the body names.</p></li>
+<li><p><strong>preserve_order</strong> – Whether to preserve the order of the name keys in the output. Defaults to False.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple of lists containing the body indices and names.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.write_root_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.write_root_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.write_root_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root state over selected environment indices into the simulation.</p>
+<p>The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear
+and angular velocity. All the quantities are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_state</strong> – Root state in simulation frame. Shape is (len(env_ids), 13).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.write_root_com_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_com_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.write_root_com_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.write_root_com_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root center of mass state over selected environment indices into the simulation.</p>
+<p>The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear
+and angular velocity. All the quantities are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_state</strong> – Root state in simulation frame. Shape is (len(env_ids), 13).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.write_root_link_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_link_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.write_root_link_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.write_root_link_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root link state over selected environment indices into the simulation.</p>
+<p>The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear
+and angular velocity. All the quantities are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_state</strong> – Root state in simulation frame. Shape is (len(env_ids), 13).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.write_root_pose_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_pose_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.write_root_pose_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.write_root_pose_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root pose over selected environment indices into the simulation.</p>
+<p>The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_pose</strong> – Root poses in simulation frame. Shape is (len(env_ids), 7).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.write_root_link_pose_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_link_pose_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.write_root_link_pose_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.write_root_link_pose_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root link pose over selected environment indices into the simulation.</p>
+<p>The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_pose</strong> – Root poses in simulation frame. Shape is (len(env_ids), 7).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.write_root_com_pose_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_com_pose_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.write_root_com_pose_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.write_root_com_pose_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root center of mass pose over selected environment indices into the simulation.</p>
+<p>The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).
+The orientation is the orientation of the principle axes of inertia.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_pose</strong> – Root center of mass poses in simulation frame. Shape is (len(env_ids), 7).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.write_root_velocity_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_velocity_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.write_root_velocity_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.write_root_velocity_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root center of mass velocity over selected environment indices into the simulation.</p>
+<p>The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.
+NOTE: This sets the velocity of the root’s center of mass rather than the roots frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_velocity</strong> – Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.write_root_com_velocity_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_com_velocity_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.write_root_com_velocity_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.write_root_com_velocity_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root center of mass velocity over selected environment indices into the simulation.</p>
+<p>The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.
+NOTE: This sets the velocity of the root’s center of mass rather than the roots frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_velocity</strong> – Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.write_root_link_velocity_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_link_velocity_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.write_root_link_velocity_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.write_root_link_velocity_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root link velocity over selected environment indices into the simulation.</p>
+<p>The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.
+NOTE: This sets the velocity of the root’s frame rather than the roots center of mass.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_velocity</strong> – Root frame velocities in simulation world frame. Shape is (len(env_ids), 6).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.set_external_force_and_torque">
+<span class="sig-name descname"><span class="pre">set_external_force_and_torque</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">forces</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">torques</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object.html#RigidObject.set_external_force_and_torque"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.set_external_force_and_torque" title="Permalink to this definition">#</a></dt>
+<dd><p>Set external force and torque to apply on the asset’s bodies in their local frame.</p>
+<p>For many applications, we want to keep the applied external force on rigid bodies constant over a period of
+time (for instance, during the policy control). This function allows us to store the external force and torque
+into buffers which are then applied to the simulation at every step.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>If the function is called with empty forces and torques, then this function disables the application
+of external wrench to the simulation.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># example of disabling external wrench</span>
+<span class="n">asset</span><span class="o">.</span><span class="n">set_external_force_and_torque</span><span class="p">(</span><span class="n">forces</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">torques</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+</pre></div>
+</div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the external wrench to the simulation. It only fills the buffers with
+the desired values. To apply the external wrench, call the <a class="reference internal" href="#omni.isaac.lab.assets.RigidObject.write_data_to_sim" title="omni.isaac.lab.assets.RigidObject.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_data_to_sim()</span></code></a> function
+right before the simulation step.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>forces</strong> – External forces in bodies’ local frame. Shape is (len(env_ids), len(body_ids), 3).</p></li>
+<li><p><strong>torques</strong> – External torques in bodies’ local frame. Shape is (len(env_ids), len(body_ids), 3).</p></li>
+<li><p><strong>body_ids</strong> – Body indices to apply external wrench to. Defaults to None (all bodies).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices to apply external wrench to. Defaults to None (all instances).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the asset has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the asset is initialized.</p>
+<p>Returns True if the asset is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObject.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObject.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the asset data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the asset data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the asset
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">RigidObjectData</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html#RigidObjectData"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Data container for a rigid object.</p>
+<p>This class contains the data for a rigid object in the simulation. The data includes the state of
+the root rigid body and the state of all the bodies in the object. The data is stored in the simulation
+world frame unless otherwise specified.</p>
+<p>For a rigid body, there are two frames of reference that are used:</p>
+<ul class="simple">
+<li><p>Actor frame: The frame of reference of the rigid body prim. This typically corresponds to the Xform prim
+with the rigid body schema.</p></li>
+<li><p>Center of mass frame: The frame of reference of the center of mass of the rigid body.</p></li>
+</ul>
+<p>Depending on the settings of the simulation, the actor frame and the center of mass frame may be the same.
+This needs to be taken into account when interpreting the data.</p>
+<p>The data is lazily updated, meaning that the data is only updated when it is accessed. This is useful
+when the data is expensive to compute or retrieve. The data is updated when the timestamp of the buffer
+is older than the current simulation timestamp. The timestamp is updated whenever the data is updated.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.update" title="omni.isaac.lab.assets.RigidObjectData.update"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update</span></code></a>(dt)</p></td>
+<td><p>Updates the data for the rigid object.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_names" title="omni.isaac.lab.assets.RigidObjectData.body_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_names</span></code></a></p></td>
+<td><p>Body names in the order parsed by the simulation view.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.default_root_state" title="omni.isaac.lab.assets.RigidObjectData.default_root_state"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_root_state</span></code></a></p></td>
+<td><p>Default root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in local environment frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.default_mass" title="omni.isaac.lab.assets.RigidObjectData.default_mass"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_mass</span></code></a></p></td>
+<td><p>Default mass read from the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.default_inertia" title="omni.isaac.lab.assets.RigidObjectData.default_inertia"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_inertia</span></code></a></p></td>
+<td><p>Default inertia tensor read from the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_state_w" title="omni.isaac.lab.assets.RigidObjectData.root_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_state_w</span></code></a></p></td>
+<td><p>Root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_link_state_w" title="omni.isaac.lab.assets.RigidObjectData.root_link_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_state_w</span></code></a></p></td>
+<td><p>Root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_com_state_w" title="omni.isaac.lab.assets.RigidObjectData.root_com_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_state_w</span></code></a></p></td>
+<td><p>Root center of mass state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_state_w" title="omni.isaac.lab.assets.RigidObjectData.body_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_state_w</span></code></a></p></td>
+<td><p>State of all bodies <cite>[pos, quat, lin_vel, ang_vel]</cite> in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_link_state_w" title="omni.isaac.lab.assets.RigidObjectData.body_link_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_state_w</span></code></a></p></td>
+<td><p>State of all bodies <cite>[pos, quat, lin_vel, ang_vel]</cite> in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_com_state_w" title="omni.isaac.lab.assets.RigidObjectData.body_com_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_state_w</span></code></a></p></td>
+<td><p>State of all bodies <cite>[pos, quat, lin_vel, ang_vel]</cite> in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_acc_w" title="omni.isaac.lab.assets.RigidObjectData.body_acc_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_acc_w</span></code></a></p></td>
+<td><p>Acceleration of all bodies.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.projected_gravity_b" title="omni.isaac.lab.assets.RigidObjectData.projected_gravity_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">projected_gravity_b</span></code></a></p></td>
+<td><p>Projection of the gravity direction on base frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.heading_w" title="omni.isaac.lab.assets.RigidObjectData.heading_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">heading_w</span></code></a></p></td>
+<td><p>Yaw heading of the base frame (in radians).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_pos_w" title="omni.isaac.lab.assets.RigidObjectData.root_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_pos_w</span></code></a></p></td>
+<td><p>Root position in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_quat_w" title="omni.isaac.lab.assets.RigidObjectData.root_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_quat_w</span></code></a></p></td>
+<td><p>Root orientation (w, x, y, z) in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_vel_w" title="omni.isaac.lab.assets.RigidObjectData.root_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_vel_w</span></code></a></p></td>
+<td><p>Root velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_lin_vel_w" title="omni.isaac.lab.assets.RigidObjectData.root_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_lin_vel_w</span></code></a></p></td>
+<td><p>Root linear velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_ang_vel_w" title="omni.isaac.lab.assets.RigidObjectData.root_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_ang_vel_w</span></code></a></p></td>
+<td><p>Root angular velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_lin_vel_b" title="omni.isaac.lab.assets.RigidObjectData.root_lin_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_lin_vel_b</span></code></a></p></td>
+<td><p>Root linear velocity in base frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_ang_vel_b" title="omni.isaac.lab.assets.RigidObjectData.root_ang_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_ang_vel_b</span></code></a></p></td>
+<td><p>Root angular velocity in base world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_link_pos_w" title="omni.isaac.lab.assets.RigidObjectData.root_link_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_pos_w</span></code></a></p></td>
+<td><p>Root link position in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_link_quat_w" title="omni.isaac.lab.assets.RigidObjectData.root_link_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_quat_w</span></code></a></p></td>
+<td><p>Root link orientation (w, x, y, z) in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_link_vel_w" title="omni.isaac.lab.assets.RigidObjectData.root_link_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_vel_w</span></code></a></p></td>
+<td><p>Root link velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_w" title="omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_lin_vel_w</span></code></a></p></td>
+<td><p>Root linear velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_w" title="omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_ang_vel_w</span></code></a></p></td>
+<td><p>Root link angular velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_b" title="omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_lin_vel_b</span></code></a></p></td>
+<td><p>Root link linear velocity in base frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_b" title="omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_ang_vel_b</span></code></a></p></td>
+<td><p>Root link angular velocity in base world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_com_pos_w" title="omni.isaac.lab.assets.RigidObjectData.root_com_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_pos_w</span></code></a></p></td>
+<td><p>Root center of mass position in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_com_quat_w" title="omni.isaac.lab.assets.RigidObjectData.root_com_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_quat_w</span></code></a></p></td>
+<td><p>Root center of mass orientation (w, x, y, z) in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_com_vel_w" title="omni.isaac.lab.assets.RigidObjectData.root_com_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_vel_w</span></code></a></p></td>
+<td><p>Root center of mass velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_w" title="omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_lin_vel_w</span></code></a></p></td>
+<td><p>Root center of mass linear velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_w" title="omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_ang_vel_w</span></code></a></p></td>
+<td><p>Root center of mass angular velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_b" title="omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_lin_vel_b</span></code></a></p></td>
+<td><p>Root center of mass linear velocity in base frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_b" title="omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_ang_vel_b</span></code></a></p></td>
+<td><p>Root center of mass angular velocity in base world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_pos_w" title="omni.isaac.lab.assets.RigidObjectData.body_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_pos_w</span></code></a></p></td>
+<td><p>Positions of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_quat_w" title="omni.isaac.lab.assets.RigidObjectData.body_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_quat_w</span></code></a></p></td>
+<td><p>Orientation (w, x, y, z) of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_vel_w" title="omni.isaac.lab.assets.RigidObjectData.body_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_vel_w</span></code></a></p></td>
+<td><p>Velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_lin_vel_w" title="omni.isaac.lab.assets.RigidObjectData.body_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_lin_vel_w</span></code></a></p></td>
+<td><p>Linear velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_ang_vel_w" title="omni.isaac.lab.assets.RigidObjectData.body_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_ang_vel_w</span></code></a></p></td>
+<td><p>Angular velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_lin_acc_w" title="omni.isaac.lab.assets.RigidObjectData.body_lin_acc_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_lin_acc_w</span></code></a></p></td>
+<td><p>Linear acceleration of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_ang_acc_w" title="omni.isaac.lab.assets.RigidObjectData.body_ang_acc_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_ang_acc_w</span></code></a></p></td>
+<td><p>Angular acceleration of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_link_pos_w" title="omni.isaac.lab.assets.RigidObjectData.body_link_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_pos_w</span></code></a></p></td>
+<td><p>Positions of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_link_quat_w" title="omni.isaac.lab.assets.RigidObjectData.body_link_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_quat_w</span></code></a></p></td>
+<td><p>Orientation (w, x, y, z) of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_link_vel_w" title="omni.isaac.lab.assets.RigidObjectData.body_link_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_vel_w</span></code></a></p></td>
+<td><p>Velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_link_lin_vel_w" title="omni.isaac.lab.assets.RigidObjectData.body_link_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_lin_vel_w</span></code></a></p></td>
+<td><p>Linear velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_link_ang_vel_w" title="omni.isaac.lab.assets.RigidObjectData.body_link_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_ang_vel_w</span></code></a></p></td>
+<td><p>Angular velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_com_pos_w" title="omni.isaac.lab.assets.RigidObjectData.body_com_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_pos_w</span></code></a></p></td>
+<td><p>Positions of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_com_quat_w" title="omni.isaac.lab.assets.RigidObjectData.body_com_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_quat_w</span></code></a></p></td>
+<td><p>Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_com_vel_w" title="omni.isaac.lab.assets.RigidObjectData.body_com_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_vel_w</span></code></a></p></td>
+<td><p>Velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_com_lin_vel_w" title="omni.isaac.lab.assets.RigidObjectData.body_com_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_lin_vel_w</span></code></a></p></td>
+<td><p>Linear velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.body_com_ang_vel_w" title="omni.isaac.lab.assets.RigidObjectData.body_com_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_ang_vel_w</span></code></a></p></td>
+<td><p>Angular velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.com_pos_b" title="omni.isaac.lab.assets.RigidObjectData.com_pos_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">com_pos_b</span></code></a></p></td>
+<td><p>Center of mass of all of the bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectData.com_quat_b" title="omni.isaac.lab.assets.RigidObjectData.com_quat_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">com_quat_b</span></code></a></p></td>
+<td><p>Orientation (w,x,y,z) of the prinicple axies of inertia of all of the bodies in simulation world frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.update">
+<span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object_data.html#RigidObjectData.update"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.update" title="Permalink to this definition">#</a></dt>
+<dd><p>Updates the data for the rigid object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The time step for the update. This must be a positive value.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_names">
+<span class="sig-name descname"><span class="pre">body_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Body names in the order parsed by the simulation view.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.default_root_state">
+<span class="sig-name descname"><span class="pre">default_root_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.default_root_state" title="Permalink to this definition">#</a></dt>
+<dd><p>Default root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in local environment frame. Shape is (num_instances, 13).</p>
+<p>The position and quaternion are of the rigid body’s actor frame. Meanwhile, the linear and angular velocities are
+of the center of mass frame.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.default_mass">
+<span class="sig-name descname"><span class="pre">default_mass</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.default_mass" title="Permalink to this definition">#</a></dt>
+<dd><p>Default mass read from the simulation. Shape is (num_instances, 1).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.default_inertia">
+<span class="sig-name descname"><span class="pre">default_inertia</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.default_inertia" title="Permalink to this definition">#</a></dt>
+<dd><p>Default inertia tensor read from the simulation. Shape is (num_instances, 9).</p>
+<p>The inertia is the inertia tensor relative to the center of mass frame. The values are stored in
+the order <span class="math notranslate nohighlight">\([I_{xx}, I_{xy}, I_{xz}, I_{yx}, I_{yy}, I_{yz}, I_{zx}, I_{zy}, I_{zz}]\)</span>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame. Shape is (num_instances, 13).</p>
+<p>The position and orientation are of the rigid body’s actor frame. Meanwhile, the linear and angular
+velocities are of the rigid body’s center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_link_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_link_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame. Shape is (num_instances, 13).</p>
+<p>The position, quaternion, and linear/angular velocity are of the rigid body root frame relative to the
+world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_com_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_com_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame. Shape is (num_instances, 13).</p>
+<p>The position, quaternion, and linear/angular velocity are of the rigid body’s center of mass frame
+relative to the world. Center of mass frame is the orientation principle axes of inertia.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>State of all bodies <cite>[pos, quat, lin_vel, ang_vel]</cite> in simulation world frame. Shape is (num_instances, 1, 13).</p>
+<p>The position and orientation are of the rigid bodies’ actor frame. Meanwhile, the linear and angular
+velocities are of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_link_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_link_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>State of all bodies <cite>[pos, quat, lin_vel, ang_vel]</cite> in simulation world frame.
+Shape is (num_instances,1, 13).</p>
+<p>The position, quaternion, and linear/angular velocity are of the body’s link frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_com_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_com_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>State of all bodies <cite>[pos, quat, lin_vel, ang_vel]</cite> in simulation world frame.
+Shape is (num_instances, num_bodies, 13).</p>
+<p>The position, quaternion, and linear/angular velocity are of the body’s center of mass frame relative to the
+world. Center of mass frame is assumed to be the same orientation as the link rather than the orientation of the
+principle inertia.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_acc_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_acc_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_acc_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Acceleration of all bodies. Shape is (num_instances, 1, 6).</p>
+<p>This quantity is the acceleration of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.projected_gravity_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">projected_gravity_b</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.projected_gravity_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Projection of the gravity direction on base frame. Shape is (num_instances, 3).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.heading_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">heading_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.heading_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Yaw heading of the base frame (in radians). Shape is (num_instances,).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This quantity is computed by assuming that the forward-direction of the base
+frame is along x-direction, i.e. <span class="math notranslate nohighlight">\((1, 0, 0)\)</span>.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root position in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the position of the actor frame of the root rigid body.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</p>
+<p>This quantity is the orientation of the actor frame of the root rigid body.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root velocity in simulation world frame. Shape is (num_instances, 6).</p>
+<p>This quantity contains the linear and angular velocities of the root rigid body’s center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root linear velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the root rigid body’s center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root angular velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the root rigid body’s center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_lin_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_lin_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_lin_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root linear velocity in base frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the root rigid body’s center of mass frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_ang_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_ang_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_ang_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root angular velocity in base world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the root rigid body’s center of mass frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_link_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_link_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link position in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the position of the actor frame of the root rigid body relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_link_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_link_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</p>
+<p>This quantity is the orientation of the actor frame of the root rigid body.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_link_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_link_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link velocity in simulation world frame. Shape is (num_instances, 6).</p>
+<p>This quantity contains the linear and angular velocities of the actor frame of the root
+rigid body relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root linear velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the root rigid body’s actor frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link angular velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the actor frame of the root rigid body relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_lin_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link linear velocity in base frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the actor frame of the root rigid body frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_ang_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link angular velocity in base world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the actor frame of the root rigid body frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_com_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_com_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass position in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the position of the actor frame of the root rigid body relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_com_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_com_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</p>
+<p>This quantity is the orientation of the actor frame of the root rigid body relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_com_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_com_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass velocity in simulation world frame. Shape is (num_instances, 6).</p>
+<p>This quantity contains the linear and angular velocities of the root rigid body’s center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass linear velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the root rigid body’s center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass angular velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the root rigid body’s center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_lin_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass linear velocity in base frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the root rigid body’s center of mass frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_ang_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass angular velocity in base world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the root rigid body’s center of mass frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the position of the rigid bodies’ actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).</p>
+<p>This quantity is the orientation of the rigid bodies’ actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).</p>
+<p>This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the linear velocity of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the angular velocity of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_lin_acc_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_lin_acc_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_lin_acc_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear acceleration of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the linear acceleration of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_ang_acc_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_ang_acc_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_ang_acc_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular acceleration of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the angular acceleration of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_link_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_link_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the position of the rigid bodies’ actor frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_link_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_link_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).</p>
+<p>This quantity is the orientation of the rigid bodies’ actor frame  relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_link_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_link_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).</p>
+<p>This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame
+relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_link_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_link_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the linear velocity of the rigid bodies’ center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_link_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_link_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the angular velocity of the rigid bodies’ center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_com_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_com_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the position of the rigid bodies’ actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_com_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_com_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.</p>
+<p>Shape is (num_instances, 1, 4). This quantity is the orientation of the rigid bodies’ actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_com_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_com_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).</p>
+<p>This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_com_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_com_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the linear velocity of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.body_com_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.body_com_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the angular velocity of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.com_pos_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">com_pos_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.com_pos_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Center of mass of all of the bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the center of mass location relative to its body frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectData.com_quat_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">com_quat_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectData.com_quat_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation (w,x,y,z) of the prinicple axies of inertia of all of the bodies in simulation world frame. Shape is (num_instances, 1, 4).</p>
+<p>This quantity is the orientation of the principles axes of inertia relative to its body frame.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">RigidObjectCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html#RigidObjectCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg" title="omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBaseCfg</span></code></a></p>
+<p>Configuration parameters for a rigid object.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg" title="omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">InitialStateCfg</span></code></a></p></td>
+<td><p>Initial state of the rigid body.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.prim_path" title="omni.isaac.lab.assets.RigidObjectCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.spawn" title="omni.isaac.lab.assets.RigidObjectCfg.spawn"><code class="xref py py-obj docutils literal notranslate"><span class="pre">spawn</span></code></a></p></td>
+<td><p>Spawn configuration for the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.collision_group" title="omni.isaac.lab.assets.RigidObjectCfg.collision_group"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_group</span></code></a></p></td>
+<td><p>Collision group of the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.debug_vis" title="omni.isaac.lab.assets.RigidObjectCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to enable debug visualization for the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.init_state" title="omni.isaac.lab.assets.RigidObjectCfg.init_state"><code class="xref py py-obj docutils literal notranslate"><span class="pre">init_state</span></code></a></p></td>
+<td><p>Initial state of the rigid object.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">InitialStateCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.html#RigidObjectCfg.InitialStateCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg" title="omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InitialStateCfg</span></code></a></p>
+<p>Initial state of the rigid body.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel" title="omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lin_vel</span></code></a></p></td>
+<td><p>Linear velocity of the root in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.ang_vel" title="omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.ang_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ang_vel</span></code></a></p></td>
+<td><p>Angular velocity of the root in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.pos" title="omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Position of the root in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.rot" title="omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation (w, x, y, z) of the root in simulation world frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel">
+<span class="sig-name descname"><span class="pre">lin_vel</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.ang_vel">
+<span class="sig-name descname"><span class="pre">ang_vel</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.ang_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Position of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation (w, x, y, z) of the root in simulation world frame.
+Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the asset.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg.spawn">
+<span class="sig-name descname"><span class="pre">spawn</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg" title="omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg"><span class="pre">SpawnerCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg.spawn" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawn configuration for the asset. Defaults to None.</p>
+<p>If None, then no prims are spawned by the asset class. Instead, it is assumed that the
+asset is already present in the scene.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg.collision_group">
+<span class="sig-name descname"><span class="pre">collision_group</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal[0,</span> <span class="pre">-1]</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg.collision_group" title="Permalink to this definition">#</a></dt>
+<dd><p>Collision group of the asset. Defaults to <code class="docutils literal notranslate"><span class="pre">0</span></code>.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">-1</span></code>: global collision group (collides with all assets in the scene).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">0</span></code>: local collision group (collides with other assets in the same environment).</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable debug visualization for the asset. Defaults to <code class="docutils literal notranslate"><span class="pre">False</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCfg.init_state">
+<span class="sig-name descname"><span class="pre">init_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg" title="omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg"><span class="pre">InitialStateCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCfg.init_state" title="Permalink to this definition">#</a></dt>
+<dd><p>Initial state of the rigid object. Defaults to identity pose with zero velocity.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="rigid-object-collection">
+<h2>Rigid Object Collection<a class="headerlink" href="#rigid-object-collection" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">RigidObjectCollection</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.assets.AssetBase" title="omni.isaac.lab.assets.asset_base.AssetBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBase</span></code></a></p>
+<p>A rigid object collection class.</p>
+<p>This class represents a collection of rigid objects in the simulation, where the state of the rigid objects can be
+accessed and modified using a batched <code class="docutils literal notranslate"><span class="pre">(env_ids,</span> <span class="pre">object_ids)</span></code> API.</p>
+<p>For each rigid body in the collection, the root prim of the asset must have the <a class="reference external" href="https://openusd.org/dev/api/class_usd_physics_rigid_body_a_p_i.html">USD RigidBodyAPI</a>
+applied to it. This API is used to define the simulation properties of the rigid bodies. On playing the
+simulation, the physics engine will automatically register the rigid bodies and create a corresponding
+rigid body handle. This handle can be accessed using the <a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view" title="omni.isaac.lab.assets.RigidObjectCollection.root_physx_view"><code class="xref py py-attr docutils literal notranslate"><span class="pre">root_physx_view</span></code></a> attribute.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Rigid objects in the collection are uniquely identified via the key of the dictionary
+<a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects" title="omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects"><code class="xref py py-attr docutils literal notranslate"><span class="pre">rigid_objects</span></code></a> in <a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg" title="omni.isaac.lab.assets.RigidObjectCollectionCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObjectCollectionCfg</span></code></a>.
+This differs from the class <a class="reference internal" href="#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code></a>, where a rigid object is identified by
+the name of the Xform where the <a class="reference external" href="https://openusd.org/dev/api/class_usd_physics_rigid_body_a_p_i.html">USD RigidBodyAPI</a> is applied. This would not be possible for the rigid object
+collection since the <a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects" title="omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects"><code class="xref py py-attr docutils literal notranslate"><span class="pre">rigid_objects</span></code></a> dictionary could
+contain the same rigid object multiple times, leading to ambiguity.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.__init__" title="omni.isaac.lab.assets.RigidObjectCollection.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initialize the rigid object collection.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.reset" title="omni.isaac.lab.assets.RigidObjectCollection.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids, object_ids])</p></td>
+<td><p>Resets all internal buffers of selected environments and objects.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_data_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_data_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_data_to_sim</span></code></a>()</p></td>
+<td><p>Write external wrench to the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.update" title="omni.isaac.lab.assets.RigidObjectCollection.update"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update</span></code></a>(dt)</p></td>
+<td><p>Update the internal buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.find_objects" title="omni.isaac.lab.assets.RigidObjectCollection.find_objects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_objects</span></code></a>(name_keys[, preserve_order])</p></td>
+<td><p>Find objects in the collection based on the name keys.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_state_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_object_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_object_state_to_sim</span></code></a>(object_state[, ...])</p></td>
+<td><p>Set the object state over selected environment and object indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_state_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_object_com_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_object_com_state_to_sim</span></code></a>(object_state)</p></td>
+<td><p>Set the object center of mass state over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_state_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_object_link_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_object_link_state_to_sim</span></code></a>(object_state)</p></td>
+<td><p>Set the object link state over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_pose_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_object_pose_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_object_pose_to_sim</span></code></a>(object_pose[, ...])</p></td>
+<td><p>Set the object pose over selected environment and object indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_pose_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_object_link_pose_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_object_link_pose_to_sim</span></code></a>(object_pose[, ...])</p></td>
+<td><p>Set the object pose over selected environment and object indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_pose_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_object_com_pose_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_object_com_pose_to_sim</span></code></a>(object_pose[, ...])</p></td>
+<td><p>Set the object center of mass pose over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_velocity_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_object_velocity_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_object_velocity_to_sim</span></code></a>(object_velocity)</p></td>
+<td><p>Set the object velocity over selected environment and object indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_velocity_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_object_com_velocity_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_object_com_velocity_to_sim</span></code></a>(object_velocity)</p></td>
+<td><p>Set the object center of mass velocity over selected environment and object indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_velocity_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_object_link_velocity_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_object_link_velocity_to_sim</span></code></a>(...[, ...])</p></td>
+<td><p>Set the object link velocity over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.set_external_force_and_torque" title="omni.isaac.lab.assets.RigidObjectCollection.set_external_force_and_torque"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_external_force_and_torque</span></code></a>(forces, torques)</p></td>
+<td><p>Set external force and torque to apply on the objects' bodies in their local frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.reshape_view_to_data" title="omni.isaac.lab.assets.RigidObjectCollection.reshape_view_to_data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reshape_view_to_data</span></code></a>(data)</p></td>
+<td><p>Reshapes and arranges the data coming from the <a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view" title="omni.isaac.lab.assets.RigidObjectCollection.root_physx_view"><code class="xref py py-attr docutils literal notranslate"><span class="pre">root_physx_view</span></code></a> to (num_instances, num_objects, data_size).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.reshape_data_to_view" title="omni.isaac.lab.assets.RigidObjectCollection.reshape_data_to_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reshape_data_to_view</span></code></a>(data)</p></td>
+<td><p>Reshapes and arranges the data to the be consistent with data from the <a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view" title="omni.isaac.lab.assets.RigidObjectCollection.root_physx_view"><code class="xref py py-attr docutils literal notranslate"><span class="pre">root_physx_view</span></code></a>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.set_debug_vis" title="omni.isaac.lab.assets.RigidObjectCollection.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the asset data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.cfg" title="omni.isaac.lab.assets.RigidObjectCollection.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>Configuration instance for the rigid object collection.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.data" title="omni.isaac.lab.assets.RigidObjectCollection.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data related to the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.num_instances" title="omni.isaac.lab.assets.RigidObjectCollection.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the collection.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.num_objects" title="omni.isaac.lab.assets.RigidObjectCollection.num_objects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_objects</span></code></a></p></td>
+<td><p>Number of objects in the collection.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.object_names" title="omni.isaac.lab.assets.RigidObjectCollection.object_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_names</span></code></a></p></td>
+<td><p>Ordered names of objects in the rigid object collection.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view" title="omni.isaac.lab.assets.RigidObjectCollection.root_physx_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_physx_view</span></code></a></p></td>
+<td><p>Rigid body view for the rigid body collection (PhysX).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.device" title="omni.isaac.lab.assets.RigidObjectCollection.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.has_debug_vis_implementation" title="omni.isaac.lab.assets.RigidObjectCollection.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the asset has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.is_initialized" title="omni.isaac.lab.assets.RigidObjectCollection.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the asset is initialized.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg" title="omni.isaac.lab.assets.RigidObjectCollectionCfg"><span class="pre">RigidObjectCollectionCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the rigid object collection.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – A configuration instance.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg" title="omni.isaac.lab.assets.RigidObjectCollectionCfg"><span class="pre">RigidObjectCollectionCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration instance for the rigid object collection.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData" title="omni.isaac.lab.assets.rigid_object_collection.rigid_object_collection_data.RigidObjectCollectionData"><span class="pre">RigidObjectCollectionData</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data related to the asset.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the collection.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.num_objects">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_objects</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.num_objects" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of objects in the collection.</p>
+<p>This corresponds to the distinct number of rigid bodies in the collection.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.object_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.object_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Ordered names of objects in the rigid object collection.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.root_physx_view">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_physx_view</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">omni.physics.tensors.impl.api.RigidBodyView</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body view for the rigid body collection (PhysX).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Use this view with caution. It requires handling of tensors in a specific way.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets all internal buffers of selected environments and objects.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env_ids</strong> – The indices of the object to reset. Defaults to None (all instances).</p></li>
+<li><p><strong>object_ids</strong> – The indices of the object to reset. Defaults to None (all objects).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.write_data_to_sim">
+<span class="sig-name descname"><span class="pre">write_data_to_sim</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.write_data_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.write_data_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write external wrench to the simulation.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We write external wrench to the simulation here since this function is called before the simulation step.
+This ensures that the external wrench is applied at every simulation step.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.update">
+<span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.update"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.update" title="Permalink to this definition">#</a></dt>
+<dd><p>Update the internal buffers.</p>
+<p>The time step <code class="docutils literal notranslate"><span class="pre">dt</span></code> is used to compute numerical derivatives of quantities such as joint
+accelerations which are not provided by the simulator.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The amount of time passed from last <code class="docutils literal notranslate"><span class="pre">update</span></code> call.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.find_objects">
+<span class="sig-name descname"><span class="pre">find_objects</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">preserve_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.find_objects"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.find_objects" title="Permalink to this definition">#</a></dt>
+<dd><p>Find objects in the collection based on the name keys.</p>
+<p>Please check the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string_utils.resolve_matching_names()</span></code> function for more
+information on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the object names.</p></li>
+<li><p><strong>preserve_order</strong> – Whether to preserve the order of the name keys in the output. Defaults to False.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the object indices and names.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.write_object_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_object_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">object_state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.write_object_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the object state over selected environment and object indices into the simulation.</p>
+<p>The object state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear
+and angular velocity. All the quantities are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>object_state</strong> – Object state in simulation frame. Shape is (len(env_ids), len(object_ids), 13).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+<li><p><strong>object_ids</strong> – Object indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.write_object_com_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_object_com_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">object_state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.write_object_com_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the object center of mass state over selected environment indices into the simulation.
+The object state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear
+and angular velocity. All the quantities are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>object_state</strong> – Object state in simulation frame. Shape is (len(env_ids), len(object_ids), 13).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+<li><p><strong>object_ids</strong> – Object indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.write_object_link_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_object_link_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">object_state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.write_object_link_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the object link state over selected environment indices into the simulation.
+The object state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear
+and angular velocity. All the quantities are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>object_state</strong> – Object state in simulation frame. Shape is (len(env_ids), len(object_ids), 13).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+<li><p><strong>object_ids</strong> – Object indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.write_object_pose_to_sim">
+<span class="sig-name descname"><span class="pre">write_object_pose_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">object_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.write_object_pose_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_pose_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the object pose over selected environment and object indices into the simulation.</p>
+<p>The object pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>object_pose</strong> – Object poses in simulation frame. Shape is (len(env_ids), len(object_ids), 7).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+<li><p><strong>object_ids</strong> – Object indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.write_object_link_pose_to_sim">
+<span class="sig-name descname"><span class="pre">write_object_link_pose_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">object_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.write_object_link_pose_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_pose_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the object pose over selected environment and object indices into the simulation.</p>
+<p>The object pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>object_pose</strong> – Object poses in simulation frame. Shape is (len(env_ids), len(object_ids), 7).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+<li><p><strong>object_ids</strong> – Object indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.write_object_com_pose_to_sim">
+<span class="sig-name descname"><span class="pre">write_object_com_pose_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">object_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.write_object_com_pose_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_pose_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the object center of mass pose over selected environment indices into the simulation.
+The object pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).
+The orientation is the orientation of the principle axes of inertia.
+:param object_pose: Object poses in simulation frame. Shape is (len(env_ids), len(object_ids), 7).
+:param env_ids: Environment indices. If None, then all indices are used.
+:param object_ids: Object indices. If None, then all indices are used.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.write_object_velocity_to_sim">
+<span class="sig-name descname"><span class="pre">write_object_velocity_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">object_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.write_object_velocity_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_velocity_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the object velocity over selected environment and object indices into the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>object_velocity</strong> – Object velocities in simulation frame. Shape is (len(env_ids), len(object_ids), 6).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+<li><p><strong>object_ids</strong> – Object indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.write_object_com_velocity_to_sim">
+<span class="sig-name descname"><span class="pre">write_object_com_velocity_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">object_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.write_object_com_velocity_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_velocity_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the object center of mass velocity over selected environment and object indices into the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>object_velocity</strong> – Object velocities in simulation frame. Shape is (len(env_ids), len(object_ids), 6).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+<li><p><strong>object_ids</strong> – Object indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.write_object_link_velocity_to_sim">
+<span class="sig-name descname"><span class="pre">write_object_link_velocity_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">object_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.write_object_link_velocity_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_velocity_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the object link velocity over selected environment indices into the simulation.
+The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.
+NOTE: This sets the velocity of the object’s frame rather than the objects center of mass.
+:param object_velocity: Object velocities in simulation frame. Shape is (len(env_ids), len(object_ids), 6).
+:param env_ids: Environment indices. If None, then all indices are used.
+:param object_ids: Object indices. If None, then all indices are used.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.set_external_force_and_torque">
+<span class="sig-name descname"><span class="pre">set_external_force_and_torque</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">forces</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">torques</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">object_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.set_external_force_and_torque"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.set_external_force_and_torque" title="Permalink to this definition">#</a></dt>
+<dd><p>Set external force and torque to apply on the objects’ bodies in their local frame.</p>
+<p>For many applications, we want to keep the applied external force on rigid bodies constant over a period of
+time (for instance, during the policy control). This function allows us to store the external force and torque
+into buffers which are then applied to the simulation at every step.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>If the function is called with empty forces and torques, then this function disables the application
+of external wrench to the simulation.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># example of disabling external wrench</span>
+<span class="n">asset</span><span class="o">.</span><span class="n">set_external_force_and_torque</span><span class="p">(</span><span class="n">forces</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">torques</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+</pre></div>
+</div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the external wrench to the simulation. It only fills the buffers with
+the desired values. To apply the external wrench, call the <a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.write_data_to_sim" title="omni.isaac.lab.assets.RigidObjectCollection.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_data_to_sim()</span></code></a> function
+right before the simulation step.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>forces</strong> – External forces in bodies’ local frame. Shape is (len(env_ids), len(object_ids), 3).</p></li>
+<li><p><strong>torques</strong> – External torques in bodies’ local frame. Shape is (len(env_ids), len(object_ids), 3).</p></li>
+<li><p><strong>object_ids</strong> – Object indices to apply external wrench to. Defaults to None (all objects).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices to apply external wrench to. Defaults to None (all instances).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.reshape_view_to_data">
+<span class="sig-name descname"><span class="pre">reshape_view_to_data</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.reshape_view_to_data"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.reshape_view_to_data" title="Permalink to this definition">#</a></dt>
+<dd><p>Reshapes and arranges the data coming from the <a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view" title="omni.isaac.lab.assets.RigidObjectCollection.root_physx_view"><code class="xref py py-attr docutils literal notranslate"><span class="pre">root_physx_view</span></code></a> to (num_instances, num_objects, data_size).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The data coming from the <a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view" title="omni.isaac.lab.assets.RigidObjectCollection.root_physx_view"><code class="xref py py-attr docutils literal notranslate"><span class="pre">root_physx_view</span></code></a>. Shape is (num_instances*num_objects, data_size).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The reshaped data. Shape is (num_instances, num_objects, data_size).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.reshape_data_to_view">
+<span class="sig-name descname"><span class="pre">reshape_data_to_view</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection.html#RigidObjectCollection.reshape_data_to_view"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.reshape_data_to_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Reshapes and arranges the data to the be consistent with data from the <a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view" title="omni.isaac.lab.assets.RigidObjectCollection.root_physx_view"><code class="xref py py-attr docutils literal notranslate"><span class="pre">root_physx_view</span></code></a>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The data to be reshaped. Shape is (num_instances, num_objects, data_size).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The reshaped data. Shape is (num_instances*num_objects, data_size).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the asset has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the asset is initialized.</p>
+<p>Returns True if the asset is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollection.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollection.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the asset data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the asset data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the asset
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">RigidObjectCollectionData</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html#RigidObjectCollectionData"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Data container for a rigid object collection.</p>
+<p>This class contains the data for a rigid object collection in the simulation. The data includes the state of
+all the bodies in the collection. The data is stored in the simulation world frame unless otherwise specified.
+The data is in the order <code class="docutils literal notranslate"><span class="pre">(num_instances,</span> <span class="pre">num_objects,</span> <span class="pre">data_size)</span></code>, where data_size is the size of the data.</p>
+<p>For a rigid body, there are two frames of reference that are used:</p>
+<ul class="simple">
+<li><p>Actor frame: The frame of reference of the rigid body prim. This typically corresponds to the Xform prim
+with the rigid body schema.</p></li>
+<li><p>Center of mass frame: The frame of reference of the center of mass of the rigid body.</p></li>
+</ul>
+<p>Depending on the settings of the simulation, the actor frame and the center of mass frame may be the same.
+This needs to be taken into account when interpreting the data.</p>
+<p>The data is lazily updated, meaning that the data is only updated when it is accessed. This is useful
+when the data is expensive to compute or retrieve. The data is updated when the timestamp of the buffer
+is older than the current simulation timestamp. The timestamp is updated whenever the data is updated.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.update" title="omni.isaac.lab.assets.RigidObjectCollectionData.update"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update</span></code></a>(dt)</p></td>
+<td><p>Updates the data for the rigid object collection.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_names" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_names</span></code></a></p></td>
+<td><p>Object names in the order parsed by the simulation view.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_object_state" title="omni.isaac.lab.assets.RigidObjectCollectionData.default_object_state"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_object_state</span></code></a></p></td>
+<td><p>Default object state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in local environment frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_mass" title="omni.isaac.lab.assets.RigidObjectCollectionData.default_mass"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_mass</span></code></a></p></td>
+<td><p>Default object mass read from the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_inertia" title="omni.isaac.lab.assets.RigidObjectCollectionData.default_inertia"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_inertia</span></code></a></p></td>
+<td><p>Default object inertia tensor read from the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_state_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_state_w</span></code></a></p></td>
+<td><p>Object state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_state_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_link_state_w</span></code></a></p></td>
+<td><p>Object center of mass state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_state_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_com_state_w</span></code></a></p></td>
+<td><p>Object state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_acc_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_acc_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_acc_w</span></code></a></p></td>
+<td><p>Acceleration of all objects.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.projected_gravity_b" title="omni.isaac.lab.assets.RigidObjectCollectionData.projected_gravity_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">projected_gravity_b</span></code></a></p></td>
+<td><p>Projection of the gravity direction on base frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.heading_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.heading_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">heading_w</span></code></a></p></td>
+<td><p>Yaw heading of the base frame (in radians).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_pos_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_pos_w</span></code></a></p></td>
+<td><p>Object position in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_quat_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_quat_w</span></code></a></p></td>
+<td><p>Object orientation (w, x, y, z) in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_vel_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_vel_w</span></code></a></p></td>
+<td><p>Object velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_lin_vel_w</span></code></a></p></td>
+<td><p>Object linear velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_ang_vel_w</span></code></a></p></td>
+<td><p>Object angular velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_b" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_lin_vel_b</span></code></a></p></td>
+<td><p>Object linear velocity in base frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_b" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_ang_vel_b</span></code></a></p></td>
+<td><p>Object angular velocity in base world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_acc_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_acc_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_lin_acc_w</span></code></a></p></td>
+<td><p>Linear acceleration of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_acc_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_acc_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_ang_acc_w</span></code></a></p></td>
+<td><p>Angular acceleration of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_pos_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_link_pos_w</span></code></a></p></td>
+<td><p>Object link position in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_quat_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_link_quat_w</span></code></a></p></td>
+<td><p>Object link orientation (w, x, y, z) in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_vel_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_link_vel_w</span></code></a></p></td>
+<td><p>Object link velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_link_lin_vel_w</span></code></a></p></td>
+<td><p>Object link linear velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_link_ang_vel_w</span></code></a></p></td>
+<td><p>Object link angular velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_b" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_link_lin_vel_b</span></code></a></p></td>
+<td><p>Object link linear velocity in base frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_b" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_link_ang_vel_b</span></code></a></p></td>
+<td><p>Object link angular velocity in base world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_pos_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_com_pos_w</span></code></a></p></td>
+<td><p>Object center of mass position in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_quat_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_com_quat_w</span></code></a></p></td>
+<td><p>Object center of mass orientation (w, x, y, z) in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_vel_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_com_vel_w</span></code></a></p></td>
+<td><p>Object center of mass velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_com_lin_vel_w</span></code></a></p></td>
+<td><p>Object center of mass linear velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_w" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_com_ang_vel_w</span></code></a></p></td>
+<td><p>Object center of mass angular velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_b" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_com_lin_vel_b</span></code></a></p></td>
+<td><p>Object center of mass linear velocity in base frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_b" title="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_com_ang_vel_b</span></code></a></p></td>
+<td><p>Object center of mass angular velocity in base world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.com_pos_b" title="omni.isaac.lab.assets.RigidObjectCollectionData.com_pos_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">com_pos_b</span></code></a></p></td>
+<td><p>Center of mass of all of the bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionData.com_quat_b" title="omni.isaac.lab.assets.RigidObjectCollectionData.com_quat_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">com_quat_b</span></code></a></p></td>
+<td><p>Orientation (w,x,y,z) of the prinicple axies of inertia of all of the bodies in simulation world frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.update">
+<span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_data.html#RigidObjectCollectionData.update"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.update" title="Permalink to this definition">#</a></dt>
+<dd><p>Updates the data for the rigid object collection.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The time step for the update. This must be a positive value.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_names">
+<span class="sig-name descname"><span class="pre">object_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Object names in the order parsed by the simulation view.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.default_object_state">
+<span class="sig-name descname"><span class="pre">default_object_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_object_state" title="Permalink to this definition">#</a></dt>
+<dd><p>Default object state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in local environment frame. Shape is (num_instances, num_objects, 13).</p>
+<p>The position and quaternion are of each object’s rigid body’s actor frame. Meanwhile, the linear and angular velocities are
+of the center of mass frame.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.default_mass">
+<span class="sig-name descname"><span class="pre">default_mass</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_mass" title="Permalink to this definition">#</a></dt>
+<dd><p>Default object mass read from the simulation. Shape is (num_instances, num_objects, 1).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.default_inertia">
+<span class="sig-name descname"><span class="pre">default_inertia</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_inertia" title="Permalink to this definition">#</a></dt>
+<dd><p>Default object inertia tensor read from the simulation. Shape is (num_instances, num_objects, 9).</p>
+<p>The inertia is the inertia tensor relative to the center of mass frame. The values are stored in
+the order <span class="math notranslate nohighlight">\([I_{xx}, I_{xy}, I_{xz}, I_{yx}, I_{yy}, I_{yz}, I_{zx}, I_{zy}, I_{zz}]\)</span>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame. Shape is (num_instances, num_objects, 13).</p>
+<p>The position and orientation are of the rigid body’s actor frame. Meanwhile, the linear and angular
+velocities are of the rigid body’s center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_link_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object center of mass state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame. Shape is (num_instances, num_objects, 13).</p>
+<p>The position, quaternion, and linear/angular velocity are of the rigid body root frame relative to the
+world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_com_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame. Shape is (num_instances, num_objects, 13).</p>
+<p>The position, quaternion, and linear/angular velocity are of the rigid body’s center of mass frame
+relative to the world. Center of mass frame is the orientation principle axes of inertia.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_acc_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_acc_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_acc_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Acceleration of all objects. Shape is (num_instances, num_objects, 6).</p>
+<p>This quantity is the acceleration of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.projected_gravity_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">projected_gravity_b</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.projected_gravity_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Projection of the gravity direction on base frame. Shape is (num_instances, num_objects, 3).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.heading_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">heading_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.heading_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Yaw heading of the base frame (in radians). Shape is (num_instances, num_objects,).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This quantity is computed by assuming that the forward-direction of the base
+frame is along x-direction, i.e. <span class="math notranslate nohighlight">\((1, 0, 0)\)</span>.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object position in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the position of the actor frame of the rigid bodies.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, num_objects, 4).</p>
+<p>This quantity is the orientation of the actor frame of the rigid bodies.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object velocity in simulation world frame. Shape is (num_instances, num_objects, 6).</p>
+<p>This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object linear velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the linear velocity of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object angular velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the angular velocity of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_lin_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Object linear velocity in base frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the linear velocity of the rigid bodies’ center of mass frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_ang_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Object angular velocity in base world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the angular velocity of the rigid bodies’ center of mass frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_acc_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_lin_acc_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_acc_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear acceleration of all bodies in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the linear acceleration of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_acc_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_ang_acc_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_acc_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular acceleration of all bodies in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the angular acceleration of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_link_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object link position in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the position of the actor frame of the rigid bodies.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_link_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object link orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, num_objects, 4).</p>
+<p>This quantity is the orientation of the actor frame of the rigid bodies.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_link_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object link velocity in simulation world frame. Shape is (num_instances, num_objects, 6).</p>
+<p>This quantity contains the linear and angular velocities of the rigid bodies’ actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_link_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object link linear velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the linear velocity of the rigid bodies’ actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_link_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object link angular velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the angular velocity of the rigid bodies’ actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_link_lin_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Object link linear velocity in base frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the linear velocity of the actor frame of the root rigid body frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_link_ang_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Object link angular velocity in base world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the angular velocity of the actor frame of the root rigid body frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_com_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object center of mass position in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the position of the center of mass frame of the rigid bodies.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_com_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object center of mass orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, num_objects, 4).</p>
+<p>This quantity is the orientation of the center of mass frame of the rigid bodies.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_com_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object center of mass velocity in simulation world frame. Shape is (num_instances, num_objects, 6).</p>
+<p>This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_com_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object center of mass linear velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the linear velocity of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_com_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Object center of mass angular velocity in simulation world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the angular velocity of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_com_lin_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Object center of mass linear velocity in base frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the linear velocity of the center of mass frame of the root rigid body frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">object_com_ang_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Object center of mass angular velocity in base world frame. Shape is (num_instances, num_objects, 3).</p>
+<p>This quantity is the angular velocity of the center of mass frame of the root rigid body frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.com_pos_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">com_pos_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.com_pos_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Center of mass of all of the bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the center of mass location relative to its body frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionData.com_quat_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">com_quat_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionData.com_quat_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation (w,x,y,z) of the prinicple axies of inertia of all of the bodies in simulation world frame. Shape is (num_instances, 1, 4).</p>
+<p>This quantity is the orientation of the principles axes of inertia relative to its body frame.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">RigidObjectCollectionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/rigid_object_collection/rigid_object_collection_cfg.html#RigidObjectCollectionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration parameters for a rigid object collection.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects" title="omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_objects</span></code></a></p></td>
+<td><p>Dictionary of rigid object configurations to spawn.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects">
+<span class="sig-name descname"><span class="pre">rigid_objects</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.RigidObjectCfg" title="omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg"><span class="pre">omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of rigid object configurations to spawn.</p>
+<p>The keys are the names for the objects, which are used as unique identifiers throughout the code.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="articulation">
+<h2>Articulation<a class="headerlink" href="#articulation" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">Articulation</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.assets.AssetBase" title="omni.isaac.lab.assets.asset_base.AssetBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBase</span></code></a></p>
+<p>An articulation asset class.</p>
+<p>An articulation is a collection of rigid bodies connected by joints. The joints can be either
+fixed or actuated. The joints can be of different types, such as revolute, prismatic, D-6, etc.
+However, the articulation class has currently been tested with revolute and prismatic joints.
+The class supports both floating-base and fixed-base articulations. The type of articulation
+is determined based on the root joint of the articulation. If the root joint is fixed, then
+the articulation is considered a fixed-base system. Otherwise, it is considered a floating-base
+system. This can be checked using the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.is_fixed_base" title="omni.isaac.lab.assets.Articulation.is_fixed_base"><code class="xref py py-attr docutils literal notranslate"><span class="pre">Articulation.is_fixed_base</span></code></a> attribute.</p>
+<p>For an asset to be considered an articulation, the root prim of the asset must have the
+<a class="reference external" href="https://openusd.org/dev/api/class_usd_physics_articulation_root_a_p_i.html">USD ArticulationRootAPI</a>. This API is used to define the sub-tree of the articulation using
+the reduced coordinate formulation. On playing the simulation, the physics engine parses the
+articulation root prim and creates the corresponding articulation in the physics engine. The
+articulation root prim can be specified using the <a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg.prim_path" title="omni.isaac.lab.assets.AssetBaseCfg.prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">AssetBaseCfg.prim_path</span></code></a> attribute.</p>
+<p>The articulation class also provides the functionality to augment the simulation of an articulated
+system with custom actuator models. These models can either be explicit or implicit, as detailed in
+the <a class="reference internal" href="omni.isaac.lab.actuators.html#module-omni.isaac.lab.actuators" title="omni.isaac.lab.actuators"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators</span></code></a> module. The actuator models are specified using the
+<a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.actuators" title="omni.isaac.lab.assets.ArticulationCfg.actuators"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ArticulationCfg.actuators</span></code></a> attribute. These are then parsed and used to initialize the
+corresponding actuator models, when the simulation is played.</p>
+<p>During the simulation step, the articulation class first applies the actuator models to compute
+the joint commands based on the user-specified targets. These joint commands are then applied
+into the simulation. The joint commands can be either position, velocity, or effort commands.
+As an example, the following snippet shows how this can be used for position commands:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># an example instance of the articulation class</span>
+<span class="n">my_articulation</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+
+<span class="c1"># set joint position targets</span>
+<span class="n">my_articulation</span><span class="o">.</span><span class="n">set_joint_position_target</span><span class="p">(</span><span class="n">position</span><span class="p">)</span>
+<span class="c1"># propagate the actuator models and apply the computed commands into the simulation</span>
+<span class="n">my_articulation</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+
+<span class="c1"># step the simulation using the simulation context</span>
+<span class="n">sim_context</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+
+<span class="c1"># update the articulation state, where dt is the simulation time step</span>
+<span class="n">my_articulation</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span>
+</pre></div>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.cfg" title="omni.isaac.lab.assets.Articulation.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>Configuration instance for the articulations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.actuators" title="omni.isaac.lab.assets.Articulation.actuators"><code class="xref py py-obj docutils literal notranslate"><span class="pre">actuators</span></code></a></p></td>
+<td><p>Dictionary of actuator instances for the articulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.data" title="omni.isaac.lab.assets.Articulation.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data related to the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.num_instances" title="omni.isaac.lab.assets.Articulation.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.is_fixed_base" title="omni.isaac.lab.assets.Articulation.is_fixed_base"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_fixed_base</span></code></a></p></td>
+<td><p>Whether the articulation is a fixed-base or floating-base system.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.num_joints" title="omni.isaac.lab.assets.Articulation.num_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_joints</span></code></a></p></td>
+<td><p>Number of joints in articulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.num_fixed_tendons" title="omni.isaac.lab.assets.Articulation.num_fixed_tendons"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_fixed_tendons</span></code></a></p></td>
+<td><p>Number of fixed tendons in articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.num_bodies" title="omni.isaac.lab.assets.Articulation.num_bodies"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_bodies</span></code></a></p></td>
+<td><p>Number of bodies in articulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.joint_names" title="omni.isaac.lab.assets.Articulation.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>Ordered names of joints in articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.fixed_tendon_names" title="omni.isaac.lab.assets.Articulation.fixed_tendon_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendon_names</span></code></a></p></td>
+<td><p>Ordered names of fixed tendons in articulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.body_names" title="omni.isaac.lab.assets.Articulation.body_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_names</span></code></a></p></td>
+<td><p>Ordered names of bodies in articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.root_physx_view" title="omni.isaac.lab.assets.Articulation.root_physx_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_physx_view</span></code></a></p></td>
+<td><p>Articulation view for the asset (PhysX).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.device" title="omni.isaac.lab.assets.Articulation.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.has_debug_vis_implementation" title="omni.isaac.lab.assets.Articulation.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the asset has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.is_initialized" title="omni.isaac.lab.assets.Articulation.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the asset is initialized.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.__init__" title="omni.isaac.lab.assets.Articulation.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initialize the articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.reset" title="omni.isaac.lab.assets.Articulation.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets all internal buffers of selected environments.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_data_to_sim" title="omni.isaac.lab.assets.Articulation.write_data_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_data_to_sim</span></code></a>()</p></td>
+<td><p>Write external wrenches and joint commands to the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.update" title="omni.isaac.lab.assets.Articulation.update"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update</span></code></a>(dt)</p></td>
+<td><p>Update the internal buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.find_bodies" title="omni.isaac.lab.assets.Articulation.find_bodies"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_bodies</span></code></a>(name_keys[, preserve_order])</p></td>
+<td><p>Find bodies in the articulation based on the name keys.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.find_joints" title="omni.isaac.lab.assets.Articulation.find_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_joints</span></code></a>(name_keys[, joint_subset, ...])</p></td>
+<td><p>Find joints in the articulation based on the name keys.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.find_fixed_tendons" title="omni.isaac.lab.assets.Articulation.find_fixed_tendons"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_fixed_tendons</span></code></a>(name_keys[, ...])</p></td>
+<td><p>Find fixed tendons in the articulation based on the name keys.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_root_state_to_sim" title="omni.isaac.lab.assets.Articulation.write_root_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_state_to_sim</span></code></a>(root_state[, env_ids])</p></td>
+<td><p>Set the root state over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_root_com_state_to_sim" title="omni.isaac.lab.assets.Articulation.write_root_com_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_com_state_to_sim</span></code></a>(root_state[, ...])</p></td>
+<td><p>Set the root center of mass state over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_root_link_state_to_sim" title="omni.isaac.lab.assets.Articulation.write_root_link_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_link_state_to_sim</span></code></a>(root_state[, ...])</p></td>
+<td><p>Set the root link state over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_root_pose_to_sim" title="omni.isaac.lab.assets.Articulation.write_root_pose_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_pose_to_sim</span></code></a>(root_pose[, env_ids])</p></td>
+<td><p>Set the root pose over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_root_link_pose_to_sim" title="omni.isaac.lab.assets.Articulation.write_root_link_pose_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_link_pose_to_sim</span></code></a>(root_pose[, env_ids])</p></td>
+<td><p>Set the root link pose over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_root_com_pose_to_sim" title="omni.isaac.lab.assets.Articulation.write_root_com_pose_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_com_pose_to_sim</span></code></a>(root_pose[, env_ids])</p></td>
+<td><p>Set the root center of mass pose over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_root_velocity_to_sim" title="omni.isaac.lab.assets.Articulation.write_root_velocity_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_velocity_to_sim</span></code></a>(root_velocity[, ...])</p></td>
+<td><p>Set the root center of mass velocity over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_root_com_velocity_to_sim" title="omni.isaac.lab.assets.Articulation.write_root_com_velocity_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_com_velocity_to_sim</span></code></a>(root_velocity)</p></td>
+<td><p>Set the root center of mass velocity over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_root_link_velocity_to_sim" title="omni.isaac.lab.assets.Articulation.write_root_link_velocity_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_root_link_velocity_to_sim</span></code></a>(root_velocity)</p></td>
+<td><p>Set the root link velocity over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_joint_state_to_sim" title="omni.isaac.lab.assets.Articulation.write_joint_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_joint_state_to_sim</span></code></a>(position, velocity)</p></td>
+<td><p>Write joint positions and velocities to the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_joint_stiffness_to_sim" title="omni.isaac.lab.assets.Articulation.write_joint_stiffness_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_joint_stiffness_to_sim</span></code></a>(stiffness[, ...])</p></td>
+<td><p>Write joint stiffness into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_joint_damping_to_sim" title="omni.isaac.lab.assets.Articulation.write_joint_damping_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_joint_damping_to_sim</span></code></a>(damping[, ...])</p></td>
+<td><p>Write joint damping into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_joint_velocity_limit_to_sim" title="omni.isaac.lab.assets.Articulation.write_joint_velocity_limit_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_joint_velocity_limit_to_sim</span></code></a>(limits[, ...])</p></td>
+<td><p>Write joint max velocity to the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_joint_effort_limit_to_sim" title="omni.isaac.lab.assets.Articulation.write_joint_effort_limit_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_joint_effort_limit_to_sim</span></code></a>(limits[, ...])</p></td>
+<td><p>Write joint effort limits into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_joint_armature_to_sim" title="omni.isaac.lab.assets.Articulation.write_joint_armature_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_joint_armature_to_sim</span></code></a>(armature[, ...])</p></td>
+<td><p>Write joint armature into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_joint_friction_to_sim" title="omni.isaac.lab.assets.Articulation.write_joint_friction_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_joint_friction_to_sim</span></code></a>(joint_friction)</p></td>
+<td><p>Write joint friction into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim" title="omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_joint_limits_to_sim</span></code></a>(limits[, ...])</p></td>
+<td><p>Write joint limits into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_external_force_and_torque" title="omni.isaac.lab.assets.Articulation.set_external_force_and_torque"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_external_force_and_torque</span></code></a>(forces, torques)</p></td>
+<td><p>Set external force and torque to apply on the asset's bodies in their local frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_joint_position_target" title="omni.isaac.lab.assets.Articulation.set_joint_position_target"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_joint_position_target</span></code></a>(target[, ...])</p></td>
+<td><p>Set joint position targets into internal buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_joint_velocity_target" title="omni.isaac.lab.assets.Articulation.set_joint_velocity_target"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_joint_velocity_target</span></code></a>(target[, ...])</p></td>
+<td><p>Set joint velocity targets into internal buffers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_joint_effort_target" title="omni.isaac.lab.assets.Articulation.set_joint_effort_target"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_joint_effort_target</span></code></a>(target[, joint_ids, ...])</p></td>
+<td><p>Set joint efforts into internal buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_stiffness" title="omni.isaac.lab.assets.Articulation.set_fixed_tendon_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_fixed_tendon_stiffness</span></code></a>(stiffness[, ...])</p></td>
+<td><p>Set fixed tendon stiffness into internal buffers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_damping" title="omni.isaac.lab.assets.Articulation.set_fixed_tendon_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_fixed_tendon_damping</span></code></a>(damping[, ...])</p></td>
+<td><p>Set fixed tendon damping into internal buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit_stiffness" title="omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_fixed_tendon_limit_stiffness</span></code></a>(limit_stiffness)</p></td>
+<td><p>Set fixed tendon limit stiffness efforts into internal buffers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit" title="omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_fixed_tendon_limit</span></code></a>(limit[, ...])</p></td>
+<td><p>Set fixed tendon limit efforts into internal buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_rest_length" title="omni.isaac.lab.assets.Articulation.set_fixed_tendon_rest_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_fixed_tendon_rest_length</span></code></a>(rest_length[, ...])</p></td>
+<td><p>Set fixed tendon rest length efforts into internal buffers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_offset" title="omni.isaac.lab.assets.Articulation.set_fixed_tendon_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_fixed_tendon_offset</span></code></a>(offset[, ...])</p></td>
+<td><p>Set fixed tendon offset efforts into internal buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim" title="omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_fixed_tendon_properties_to_sim</span></code></a>([...])</p></td>
+<td><p>Write fixed tendon properties into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.Articulation.set_debug_vis" title="omni.isaac.lab.assets.Articulation.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the asset data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><span class="pre">ArticulationCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration instance for the articulations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.actuators">
+<span class="sig-name descname"><span class="pre">actuators</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBase" title="omni.isaac.lab.actuators.ActuatorBase"><span class="pre">ActuatorBase</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.actuators" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of actuator instances for the articulation.</p>
+<p>The keys are the actuator names and the values are the actuator instances. The actuator instances
+are initialized based on the actuator configurations specified in the <a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.actuators" title="omni.isaac.lab.assets.ArticulationCfg.actuators"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ArticulationCfg.actuators</span></code></a>
+attribute. They are used to compute the joint commands during the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_data_to_sim" title="omni.isaac.lab.assets.Articulation.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_data_to_sim()</span></code></a> function.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><span class="pre">ArticulationCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the articulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – A configuration instance.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData" title="omni.isaac.lab.assets.articulation.articulation_data.ArticulationData"><span class="pre">ArticulationData</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data related to the asset.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the asset.</p>
+<p>This is equal to the number of asset instances per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.is_fixed_base">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_fixed_base</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.is_fixed_base" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the articulation is a fixed-base or floating-base system.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.num_joints">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.num_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of joints in articulation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.num_fixed_tendons">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_fixed_tendons</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.num_fixed_tendons" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of fixed tendons in articulation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.num_bodies">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_bodies</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.num_bodies" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of bodies in articulation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.joint_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Ordered names of joints in articulation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.fixed_tendon_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">fixed_tendon_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.fixed_tendon_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Ordered names of fixed tendons in articulation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.body_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.body_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Ordered names of bodies in articulation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.root_physx_view">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_physx_view</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">omni.physics.tensors.impl.api.ArticulationView</span></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.root_physx_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Articulation view for the asset (PhysX).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Use this view with caution. It requires handling of tensors in a specific way.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets all internal buffers of selected environments.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The indices of the object to reset. Defaults to None (all instances).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_data_to_sim">
+<span class="sig-name descname"><span class="pre">write_data_to_sim</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_data_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_data_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write external wrenches and joint commands to the simulation.</p>
+<p>If any explicit actuators are present, then the actuator models are used to compute the
+joint commands. Otherwise, the joint commands are directly set into the simulation.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We write external wrench to the simulation here since this function is called before the simulation step.
+This ensures that the external wrench is applied at every simulation step.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.update">
+<span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.update"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.update" title="Permalink to this definition">#</a></dt>
+<dd><p>Update the internal buffers.</p>
+<p>The time step <code class="docutils literal notranslate"><span class="pre">dt</span></code> is used to compute numerical derivatives of quantities such as joint
+accelerations which are not provided by the simulator.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The amount of time passed from last <code class="docutils literal notranslate"><span class="pre">update</span></code> call.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.find_bodies">
+<span class="sig-name descname"><span class="pre">find_bodies</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">preserve_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.find_bodies"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.find_bodies" title="Permalink to this definition">#</a></dt>
+<dd><p>Find bodies in the articulation based on the name keys.</p>
+<p>Please check the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string_utils.resolve_matching_names()</span></code> function for more
+information on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the body names.</p></li>
+<li><p><strong>preserve_order</strong> – Whether to preserve the order of the name keys in the output. Defaults to False.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple of lists containing the body indices and names.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.find_joints">
+<span class="sig-name descname"><span class="pre">find_joints</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_subset</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">preserve_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.find_joints"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.find_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Find joints in the articulation based on the name keys.</p>
+<p>Please see the <a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.resolve_matching_names" title="omni.isaac.lab.utils.string.resolve_matching_names"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string.resolve_matching_names()</span></code></a> function for more information
+on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the joint names.</p></li>
+<li><p><strong>joint_subset</strong> – A subset of joints to search for. Defaults to None, which means all joints
+in the articulation are searched.</p></li>
+<li><p><strong>preserve_order</strong> – Whether to preserve the order of the name keys in the output. Defaults to False.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple of lists containing the joint indices and names.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.find_fixed_tendons">
+<span class="sig-name descname"><span class="pre">find_fixed_tendons</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tendon_subsets</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">preserve_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.find_fixed_tendons"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.find_fixed_tendons" title="Permalink to this definition">#</a></dt>
+<dd><p>Find fixed tendons in the articulation based on the name keys.</p>
+<p>Please see the <a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.resolve_matching_names" title="omni.isaac.lab.utils.string.resolve_matching_names"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string.resolve_matching_names()</span></code></a> function for more information
+on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the joint
+names with fixed tendons.</p></li>
+<li><p><strong>tendon_subsets</strong> – A subset of joints with fixed tendons to search for. Defaults to None, which means
+all joints in the articulation are searched.</p></li>
+<li><p><strong>preserve_order</strong> – Whether to preserve the order of the name keys in the output. Defaults to False.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple of lists containing the tendon indices and names.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_root_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_root_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_root_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root state over selected environment indices into the simulation.</p>
+<p>The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear
+and angular velocity. All the quantities are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_state</strong> – Root state in simulation frame. Shape is (len(env_ids), 13).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_root_com_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_com_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_root_com_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_root_com_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root center of mass state over selected environment indices into the simulation.</p>
+<p>The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear
+and angular velocity. All the quantities are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_state</strong> – Root state in simulation frame. Shape is (len(env_ids), 13).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_root_link_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_link_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_root_link_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_root_link_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root link state over selected environment indices into the simulation.</p>
+<p>The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear
+and angular velocity. All the quantities are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_state</strong> – Root state in simulation frame. Shape is (len(env_ids), 13).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_root_pose_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_pose_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_root_pose_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_root_pose_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root pose over selected environment indices into the simulation.</p>
+<p>The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_pose</strong> – Root poses in simulation frame. Shape is (len(env_ids), 7).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_root_link_pose_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_link_pose_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_root_link_pose_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_root_link_pose_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root link pose over selected environment indices into the simulation.</p>
+<p>The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_pose</strong> – Root poses in simulation frame. Shape is (len(env_ids), 7).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_root_com_pose_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_com_pose_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_root_com_pose_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_root_com_pose_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root center of mass pose over selected environment indices into the simulation.</p>
+<p>The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z).
+The orientation is the orientation of the principle axes of inertia.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_pose</strong> – Root center of mass poses in simulation frame. Shape is (len(env_ids), 7).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_root_velocity_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_velocity_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_root_velocity_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_root_velocity_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root center of mass velocity over selected environment indices into the simulation.</p>
+<p>The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.
+NOTE: This sets the velocity of the root’s center of mass rather than the roots frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_velocity</strong> – Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_root_com_velocity_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_com_velocity_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_root_com_velocity_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_root_com_velocity_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root center of mass velocity over selected environment indices into the simulation.</p>
+<p>The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.
+NOTE: This sets the velocity of the root’s center of mass rather than the roots frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_velocity</strong> – Root center of mass velocities in simulation world frame. Shape is (len(env_ids), 6).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_root_link_velocity_to_sim">
+<span class="sig-name descname"><span class="pre">write_root_link_velocity_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">root_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_root_link_velocity_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_root_link_velocity_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the root link velocity over selected environment indices into the simulation.</p>
+<p>The velocity comprises linear velocity (x, y, z) and angular velocity (x, y, z) in that order.
+NOTE: This sets the velocity of the root’s frame rather than the roots center of mass.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>root_velocity</strong> – Root frame velocities in simulation world frame. Shape is (len(env_ids), 6).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_joint_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_joint_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">position</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_joint_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_joint_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write joint positions and velocities to the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>position</strong> – Joint positions. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>velocity</strong> – Joint velocities. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the targets for. Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the targets for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_joint_stiffness_to_sim">
+<span class="sig-name descname"><span class="pre">write_joint_stiffness_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">stiffness</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_joint_stiffness_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_joint_stiffness_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write joint stiffness into the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>stiffness</strong> – Joint stiffness. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the stiffness for. Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the stiffness for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_joint_damping_to_sim">
+<span class="sig-name descname"><span class="pre">write_joint_damping_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">damping</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_joint_damping_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_joint_damping_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write joint damping into the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>damping</strong> – Joint damping. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the damping for.
+Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the damping for.
+Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_joint_velocity_limit_to_sim">
+<span class="sig-name descname"><span class="pre">write_joint_velocity_limit_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">limits</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_joint_velocity_limit_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_joint_velocity_limit_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write joint max velocity to the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>limits</strong> – Joint max velocity. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the max velocity for. Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the max velocity for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_joint_effort_limit_to_sim">
+<span class="sig-name descname"><span class="pre">write_joint_effort_limit_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">limits</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_joint_effort_limit_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_joint_effort_limit_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write joint effort limits into the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>limits</strong> – Joint torque limits. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the joint torque limits for. Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the joint torque limits for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_joint_armature_to_sim">
+<span class="sig-name descname"><span class="pre">write_joint_armature_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">armature</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_joint_armature_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_joint_armature_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write joint armature into the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>armature</strong> – Joint armature. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the joint torque limits for. Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the joint torque limits for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_joint_friction_to_sim">
+<span class="sig-name descname"><span class="pre">write_joint_friction_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_friction</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_joint_friction_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_joint_friction_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write joint friction into the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>joint_friction</strong> – Joint friction. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the joint torque limits for. Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the joint torque limits for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim">
+<span class="sig-name descname"><span class="pre">write_joint_limits_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">limits</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_joint_limits_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write joint limits into the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>limits</strong> – Joint limits. Shape is (len(env_ids), len(joint_ids), 2).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the limits for. Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the limits for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_external_force_and_torque">
+<span class="sig-name descname"><span class="pre">set_external_force_and_torque</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">forces</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">torques</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.set_external_force_and_torque"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_external_force_and_torque" title="Permalink to this definition">#</a></dt>
+<dd><p>Set external force and torque to apply on the asset’s bodies in their local frame.</p>
+<p>For many applications, we want to keep the applied external force on rigid bodies constant over a period of
+time (for instance, during the policy control). This function allows us to store the external force and torque
+into buffers which are then applied to the simulation at every step.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>If the function is called with empty forces and torques, then this function disables the application
+of external wrench to the simulation.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># example of disabling external wrench</span>
+<span class="n">asset</span><span class="o">.</span><span class="n">set_external_force_and_torque</span><span class="p">(</span><span class="n">forces</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">),</span> <span class="n">torques</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+</pre></div>
+</div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the external wrench to the simulation. It only fills the buffers with
+the desired values. To apply the external wrench, call the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_data_to_sim" title="omni.isaac.lab.assets.Articulation.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_data_to_sim()</span></code></a> function
+right before the simulation step.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>forces</strong> – External forces in bodies’ local frame. Shape is (len(env_ids), len(body_ids), 3).</p></li>
+<li><p><strong>torques</strong> – External torques in bodies’ local frame. Shape is (len(env_ids), len(body_ids), 3).</p></li>
+<li><p><strong>body_ids</strong> – Body indices to apply external wrench to. Defaults to None (all bodies).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices to apply external wrench to. Defaults to None (all instances).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_joint_position_target">
+<span class="sig-name descname"><span class="pre">set_joint_position_target</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.set_joint_position_target"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_joint_position_target" title="Permalink to this definition">#</a></dt>
+<dd><p>Set joint position targets into internal buffers.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the joint targets to the simulation. It only fills the buffers with
+the desired values. To apply the joint targets, call the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_data_to_sim" title="omni.isaac.lab.assets.Articulation.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_data_to_sim()</span></code></a> function.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>target</strong> – Joint position targets. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the targets for. Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the targets for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_joint_velocity_target">
+<span class="sig-name descname"><span class="pre">set_joint_velocity_target</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.set_joint_velocity_target"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_joint_velocity_target" title="Permalink to this definition">#</a></dt>
+<dd><p>Set joint velocity targets into internal buffers.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the joint targets to the simulation. It only fills the buffers with
+the desired values. To apply the joint targets, call the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_data_to_sim" title="omni.isaac.lab.assets.Articulation.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_data_to_sim()</span></code></a> function.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>target</strong> – Joint velocity targets. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the targets for. Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the targets for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_joint_effort_target">
+<span class="sig-name descname"><span class="pre">set_joint_effort_target</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.set_joint_effort_target"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_joint_effort_target" title="Permalink to this definition">#</a></dt>
+<dd><p>Set joint efforts into internal buffers.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the joint targets to the simulation. It only fills the buffers with
+the desired values. To apply the joint targets, call the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_data_to_sim" title="omni.isaac.lab.assets.Articulation.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_data_to_sim()</span></code></a> function.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>target</strong> – Joint effort targets. Shape is (len(env_ids), len(joint_ids)).</p></li>
+<li><p><strong>joint_ids</strong> – The joint indices to set the targets for. Defaults to None (all joints).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the targets for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_fixed_tendon_stiffness">
+<span class="sig-name descname"><span class="pre">set_fixed_tendon_stiffness</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">stiffness</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">fixed_tendon_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.set_fixed_tendon_stiffness"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Set fixed tendon stiffness into internal buffers.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the tendon stiffness to the simulation. It only fills the buffers with
+the desired values. To apply the tendon stiffness, call the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim" title="omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_fixed_tendon_properties_to_sim()</span></code></a> function.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>stiffness</strong> – Fixed tendon stiffness. Shape is (len(env_ids), len(fixed_tendon_ids)).</p></li>
+<li><p><strong>fixed_tendon_ids</strong> – The tendon indices to set the stiffness for. Defaults to None (all fixed tendons).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the stiffness for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_fixed_tendon_damping">
+<span class="sig-name descname"><span class="pre">set_fixed_tendon_damping</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">damping</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">fixed_tendon_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.set_fixed_tendon_damping"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Set fixed tendon damping into internal buffers.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the tendon damping to the simulation. It only fills the buffers with
+the desired values. To apply the tendon damping, call the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim" title="omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_fixed_tendon_properties_to_sim()</span></code></a> function.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>damping</strong> – Fixed tendon damping. Shape is (len(env_ids), len(fixed_tendon_ids)).</p></li>
+<li><p><strong>fixed_tendon_ids</strong> – The tendon indices to set the damping for. Defaults to None (all fixed tendons).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the damping for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit_stiffness">
+<span class="sig-name descname"><span class="pre">set_fixed_tendon_limit_stiffness</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">limit_stiffness</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">fixed_tendon_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.set_fixed_tendon_limit_stiffness"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Set fixed tendon limit stiffness efforts into internal buffers.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the tendon limit stiffness to the simulation. It only fills the buffers with
+the desired values. To apply the tendon limit stiffness, call the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim" title="omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_fixed_tendon_properties_to_sim()</span></code></a> function.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>limit_stiffness</strong> – Fixed tendon limit stiffness. Shape is (len(env_ids), len(fixed_tendon_ids)).</p></li>
+<li><p><strong>fixed_tendon_ids</strong> – The tendon indices to set the limit stiffness for. Defaults to None (all fixed tendons).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the limit stiffness for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit">
+<span class="sig-name descname"><span class="pre">set_fixed_tendon_limit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">limit</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">fixed_tendon_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.set_fixed_tendon_limit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Set fixed tendon limit efforts into internal buffers.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<blockquote>
+<div><p>This function does not apply the tendon limit to the simulation. It only fills the buffers with
+the desired values. To apply the tendon limit, call the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim" title="omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_fixed_tendon_properties_to_sim()</span></code></a> function.</p>
+</div></blockquote>
+<dl class="simple">
+<dt>Args:</dt><dd><p>limit: Fixed tendon limit. Shape is (len(env_ids), len(fixed_tendon_ids)).
+fixed_tendon_ids: The tendon indices to set the limit for. Defaults to None (all fixed tendons).
+env_ids: The environment indices to set the limit for. Defaults to None (all environments).</p>
+</dd>
+</dl>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_fixed_tendon_rest_length">
+<span class="sig-name descname"><span class="pre">set_fixed_tendon_rest_length</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">rest_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">fixed_tendon_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.set_fixed_tendon_rest_length"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_rest_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Set fixed tendon rest length efforts into internal buffers.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the tendon rest length to the simulation. It only fills the buffers with
+the desired values. To apply the tendon rest length, call the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim" title="omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_fixed_tendon_properties_to_sim()</span></code></a> function.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>rest_length</strong> – Fixed tendon rest length. Shape is (len(env_ids), len(fixed_tendon_ids)).</p></li>
+<li><p><strong>fixed_tendon_ids</strong> – The tendon indices to set the rest length for. Defaults to None (all fixed tendons).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the rest length for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_fixed_tendon_offset">
+<span class="sig-name descname"><span class="pre">set_fixed_tendon_offset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">offset</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">fixed_tendon_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.set_fixed_tendon_offset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Set fixed tendon offset efforts into internal buffers.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not apply the tendon offset to the simulation. It only fills the buffers with
+the desired values. To apply the tendon offset, call the <a class="reference internal" href="#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim" title="omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">write_fixed_tendon_properties_to_sim()</span></code></a> function.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>offset</strong> – Fixed tendon offset. Shape is (len(env_ids), len(fixed_tendon_ids)).</p></li>
+<li><p><strong>fixed_tendon_ids</strong> – The tendon indices to set the offset for. Defaults to None (all fixed tendons).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the offset for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim">
+<span class="sig-name descname"><span class="pre">write_fixed_tendon_properties_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">fixed_tendon_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation.html#Articulation.write_fixed_tendon_properties_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Write fixed tendon properties into the simulation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>fixed_tendon_ids</strong> – The fixed tendon indices to set the limits for. Defaults to None (all fixed tendons).</p></li>
+<li><p><strong>env_ids</strong> – The environment indices to set the limits for. Defaults to None (all environments).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the asset has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the asset is initialized.</p>
+<p>Returns True if the asset is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.Articulation.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.assets.Articulation.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the asset data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the asset data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the asset
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">ArticulationData</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation_data.html#ArticulationData"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Data container for an articulation.</p>
+<p>This class contains the data for an articulation in the simulation. The data includes the state of
+the root rigid body, the state of all the bodies in the articulation, and the joint state. The data is
+stored in the simulation world frame unless otherwise specified.</p>
+<p>An articulation is comprised of multiple rigid bodies or links. For a rigid body, there are two frames
+of reference that are used:</p>
+<ul class="simple">
+<li><p>Actor frame: The frame of reference of the rigid body prim. This typically corresponds to the Xform prim
+with the rigid body schema.</p></li>
+<li><p>Center of mass frame: The frame of reference of the center of mass of the rigid body.</p></li>
+</ul>
+<p>Depending on the settings, the two frames may not coincide with each other. In the robotics sense, the actor frame
+can be interpreted as the link frame.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_names" title="omni.isaac.lab.assets.ArticulationData.body_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_names</span></code></a></p></td>
+<td><p>Body names in the order parsed by the simulation view.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_names" title="omni.isaac.lab.assets.ArticulationData.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>Joint names in the order parsed by the simulation view.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_names" title="omni.isaac.lab.assets.ArticulationData.fixed_tendon_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendon_names</span></code></a></p></td>
+<td><p>Fixed tendon names in the order parsed by the simulation view.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_root_state" title="omni.isaac.lab.assets.ArticulationData.default_root_state"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_root_state</span></code></a></p></td>
+<td><p>Default root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in local environment frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_mass" title="omni.isaac.lab.assets.ArticulationData.default_mass"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_mass</span></code></a></p></td>
+<td><p>Default mass read from the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_inertia" title="omni.isaac.lab.assets.ArticulationData.default_inertia"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_inertia</span></code></a></p></td>
+<td><p>Default inertia read from the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_joint_pos" title="omni.isaac.lab.assets.ArticulationData.default_joint_pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_joint_pos</span></code></a></p></td>
+<td><p>Default joint positions of all joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_joint_vel" title="omni.isaac.lab.assets.ArticulationData.default_joint_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_joint_vel</span></code></a></p></td>
+<td><p>Default joint velocities of all joints.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_joint_stiffness" title="omni.isaac.lab.assets.ArticulationData.default_joint_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_joint_stiffness</span></code></a></p></td>
+<td><p>Default joint stiffness of all joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_joint_damping" title="omni.isaac.lab.assets.ArticulationData.default_joint_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_joint_damping</span></code></a></p></td>
+<td><p>Default joint damping of all joints.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_joint_armature" title="omni.isaac.lab.assets.ArticulationData.default_joint_armature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_joint_armature</span></code></a></p></td>
+<td><p>Default joint armature of all joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_joint_friction" title="omni.isaac.lab.assets.ArticulationData.default_joint_friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_joint_friction</span></code></a></p></td>
+<td><p>Default joint friction of all joints.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_joint_limits" title="omni.isaac.lab.assets.ArticulationData.default_joint_limits"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_joint_limits</span></code></a></p></td>
+<td><p>Default joint limits of all joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_stiffness" title="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_fixed_tendon_stiffness</span></code></a></p></td>
+<td><p>Default tendon stiffness of all tendons.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_damping" title="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_fixed_tendon_damping</span></code></a></p></td>
+<td><p>Default tendon damping of all tendons.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit_stiffness" title="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_fixed_tendon_limit_stiffness</span></code></a></p></td>
+<td><p>Default tendon limit stiffness of all tendons.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_rest_length" title="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_rest_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_fixed_tendon_rest_length</span></code></a></p></td>
+<td><p>Default tendon rest length of all tendons.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_offset" title="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_fixed_tendon_offset</span></code></a></p></td>
+<td><p>Default tendon offset of all tendons.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit" title="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_fixed_tendon_limit</span></code></a></p></td>
+<td><p>Default tendon limits of all tendons.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_pos_target" title="omni.isaac.lab.assets.ArticulationData.joint_pos_target"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_pos_target</span></code></a></p></td>
+<td><p>Joint position targets commanded by the user.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_vel_target" title="omni.isaac.lab.assets.ArticulationData.joint_vel_target"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_vel_target</span></code></a></p></td>
+<td><p>Joint velocity targets commanded by the user.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_effort_target" title="omni.isaac.lab.assets.ArticulationData.joint_effort_target"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_effort_target</span></code></a></p></td>
+<td><p>Joint effort targets commanded by the user.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.computed_torque" title="omni.isaac.lab.assets.ArticulationData.computed_torque"><code class="xref py py-obj docutils literal notranslate"><span class="pre">computed_torque</span></code></a></p></td>
+<td><p>Joint torques computed from the actuator model (before clipping).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.applied_torque" title="omni.isaac.lab.assets.ArticulationData.applied_torque"><code class="xref py py-obj docutils literal notranslate"><span class="pre">applied_torque</span></code></a></p></td>
+<td><p>Joint torques applied from the actuator model (after clipping).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_stiffness" title="omni.isaac.lab.assets.ArticulationData.joint_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_stiffness</span></code></a></p></td>
+<td><p>Joint stiffness provided to simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_damping" title="omni.isaac.lab.assets.ArticulationData.joint_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_damping</span></code></a></p></td>
+<td><p>Joint damping provided to simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_limits" title="omni.isaac.lab.assets.ArticulationData.joint_limits"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_limits</span></code></a></p></td>
+<td><p>Joint limits provided to simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_velocity_limits" title="omni.isaac.lab.assets.ArticulationData.joint_velocity_limits"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_velocity_limits</span></code></a></p></td>
+<td><p>Joint maximum velocity provided to simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_stiffness" title="omni.isaac.lab.assets.ArticulationData.fixed_tendon_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendon_stiffness</span></code></a></p></td>
+<td><p>Fixed tendon stiffness provided to simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_damping" title="omni.isaac.lab.assets.ArticulationData.fixed_tendon_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendon_damping</span></code></a></p></td>
+<td><p>Fixed tendon damping provided to simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit_stiffness" title="omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendon_limit_stiffness</span></code></a></p></td>
+<td><p>Fixed tendon limit stiffness provided to simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_rest_length" title="omni.isaac.lab.assets.ArticulationData.fixed_tendon_rest_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendon_rest_length</span></code></a></p></td>
+<td><p>Fixed tendon rest length provided to simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_offset" title="omni.isaac.lab.assets.ArticulationData.fixed_tendon_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendon_offset</span></code></a></p></td>
+<td><p>Fixed tendon offset provided to simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit" title="omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendon_limit</span></code></a></p></td>
+<td><p>Fixed tendon limits provided to simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits" title="omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits"><code class="xref py py-obj docutils literal notranslate"><span class="pre">soft_joint_pos_limits</span></code></a></p></td>
+<td><p>Joint positions limits for all joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.soft_joint_vel_limits" title="omni.isaac.lab.assets.ArticulationData.soft_joint_vel_limits"><code class="xref py py-obj docutils literal notranslate"><span class="pre">soft_joint_vel_limits</span></code></a></p></td>
+<td><p>Joint velocity limits for all joints.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.gear_ratio" title="omni.isaac.lab.assets.ArticulationData.gear_ratio"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gear_ratio</span></code></a></p></td>
+<td><p>Gear ratio for relating motor torques to applied Joint torques.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_state_w" title="omni.isaac.lab.assets.ArticulationData.root_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_state_w</span></code></a></p></td>
+<td><p>Root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_link_state_w" title="omni.isaac.lab.assets.ArticulationData.root_link_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_state_w</span></code></a></p></td>
+<td><p>Root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_com_state_w" title="omni.isaac.lab.assets.ArticulationData.root_com_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_state_w</span></code></a></p></td>
+<td><p>Root center of mass state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_state_w" title="omni.isaac.lab.assets.ArticulationData.body_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_state_w</span></code></a></p></td>
+<td><p>State of all bodies <cite>[pos, quat, lin_vel, ang_vel]</cite> in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_link_state_w" title="omni.isaac.lab.assets.ArticulationData.body_link_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_state_w</span></code></a></p></td>
+<td><p>State of all bodies' link frame`[pos, quat, lin_vel, ang_vel]` in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_com_state_w" title="omni.isaac.lab.assets.ArticulationData.body_com_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_state_w</span></code></a></p></td>
+<td><p>State of all bodies center of mass <cite>[pos, quat, lin_vel, ang_vel]</cite> in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_acc_w" title="omni.isaac.lab.assets.ArticulationData.body_acc_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_acc_w</span></code></a></p></td>
+<td><p>Acceleration of all bodies (center of mass).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.projected_gravity_b" title="omni.isaac.lab.assets.ArticulationData.projected_gravity_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">projected_gravity_b</span></code></a></p></td>
+<td><p>Projection of the gravity direction on base frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.heading_w" title="omni.isaac.lab.assets.ArticulationData.heading_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">heading_w</span></code></a></p></td>
+<td><p>Yaw heading of the base frame (in radians).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_pos" title="omni.isaac.lab.assets.ArticulationData.joint_pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_pos</span></code></a></p></td>
+<td><p>Joint positions of all joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_vel" title="omni.isaac.lab.assets.ArticulationData.joint_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_vel</span></code></a></p></td>
+<td><p>Joint velocities of all joints.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.joint_acc" title="omni.isaac.lab.assets.ArticulationData.joint_acc"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_acc</span></code></a></p></td>
+<td><p>Joint acceleration of all joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_pos_w" title="omni.isaac.lab.assets.ArticulationData.root_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_pos_w</span></code></a></p></td>
+<td><p>Root position in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_quat_w" title="omni.isaac.lab.assets.ArticulationData.root_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_quat_w</span></code></a></p></td>
+<td><p>Root orientation (w, x, y, z) in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_vel_w" title="omni.isaac.lab.assets.ArticulationData.root_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_vel_w</span></code></a></p></td>
+<td><p>Root velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_lin_vel_w" title="omni.isaac.lab.assets.ArticulationData.root_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_lin_vel_w</span></code></a></p></td>
+<td><p>Root linear velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_ang_vel_w" title="omni.isaac.lab.assets.ArticulationData.root_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_ang_vel_w</span></code></a></p></td>
+<td><p>Root angular velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_lin_vel_b" title="omni.isaac.lab.assets.ArticulationData.root_lin_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_lin_vel_b</span></code></a></p></td>
+<td><p>Root linear velocity in base frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_ang_vel_b" title="omni.isaac.lab.assets.ArticulationData.root_ang_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_ang_vel_b</span></code></a></p></td>
+<td><p>Root angular velocity in base world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_link_pos_w" title="omni.isaac.lab.assets.ArticulationData.root_link_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_pos_w</span></code></a></p></td>
+<td><p>Root link position in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_link_quat_w" title="omni.isaac.lab.assets.ArticulationData.root_link_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_quat_w</span></code></a></p></td>
+<td><p>Root link orientation (w, x, y, z) in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_link_vel_w" title="omni.isaac.lab.assets.ArticulationData.root_link_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_vel_w</span></code></a></p></td>
+<td><p>Root link velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_w" title="omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_lin_vel_w</span></code></a></p></td>
+<td><p>Root linear velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_w" title="omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_ang_vel_w</span></code></a></p></td>
+<td><p>Root link angular velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_b" title="omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_lin_vel_b</span></code></a></p></td>
+<td><p>Root link linear velocity in base frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_b" title="omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_link_ang_vel_b</span></code></a></p></td>
+<td><p>Root link angular velocity in base world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_com_pos_w" title="omni.isaac.lab.assets.ArticulationData.root_com_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_pos_w</span></code></a></p></td>
+<td><p>Root center of mass position in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_com_quat_w" title="omni.isaac.lab.assets.ArticulationData.root_com_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_quat_w</span></code></a></p></td>
+<td><p>Root center of mass orientation (w, x, y, z) in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_com_vel_w" title="omni.isaac.lab.assets.ArticulationData.root_com_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_vel_w</span></code></a></p></td>
+<td><p>Root center of mass velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_w" title="omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_lin_vel_w</span></code></a></p></td>
+<td><p>Root center of mass linear velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_w" title="omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_ang_vel_w</span></code></a></p></td>
+<td><p>Root center of mass angular velocity in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_b" title="omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_lin_vel_b</span></code></a></p></td>
+<td><p>Root center of mass linear velocity in base frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_b" title="omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_com_ang_vel_b</span></code></a></p></td>
+<td><p>Root center of mass angular velocity in base world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_pos_w" title="omni.isaac.lab.assets.ArticulationData.body_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_pos_w</span></code></a></p></td>
+<td><p>Positions of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_quat_w" title="omni.isaac.lab.assets.ArticulationData.body_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_quat_w</span></code></a></p></td>
+<td><p>Orientation (w, x, y, z) of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_vel_w" title="omni.isaac.lab.assets.ArticulationData.body_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_vel_w</span></code></a></p></td>
+<td><p>Velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_lin_vel_w" title="omni.isaac.lab.assets.ArticulationData.body_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_lin_vel_w</span></code></a></p></td>
+<td><p>Linear velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_ang_vel_w" title="omni.isaac.lab.assets.ArticulationData.body_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_ang_vel_w</span></code></a></p></td>
+<td><p>Angular velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_lin_acc_w" title="omni.isaac.lab.assets.ArticulationData.body_lin_acc_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_lin_acc_w</span></code></a></p></td>
+<td><p>Linear acceleration of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_ang_acc_w" title="omni.isaac.lab.assets.ArticulationData.body_ang_acc_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_ang_acc_w</span></code></a></p></td>
+<td><p>Angular acceleration of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_link_pos_w" title="omni.isaac.lab.assets.ArticulationData.body_link_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_pos_w</span></code></a></p></td>
+<td><p>Positions of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_link_quat_w" title="omni.isaac.lab.assets.ArticulationData.body_link_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_quat_w</span></code></a></p></td>
+<td><p>Orientation (w, x, y, z) of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_link_vel_w" title="omni.isaac.lab.assets.ArticulationData.body_link_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_vel_w</span></code></a></p></td>
+<td><p>Velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_link_lin_vel_w" title="omni.isaac.lab.assets.ArticulationData.body_link_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_lin_vel_w</span></code></a></p></td>
+<td><p>Linear velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_link_ang_vel_w" title="omni.isaac.lab.assets.ArticulationData.body_link_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_link_ang_vel_w</span></code></a></p></td>
+<td><p>Angular velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_com_pos_w" title="omni.isaac.lab.assets.ArticulationData.body_com_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_pos_w</span></code></a></p></td>
+<td><p>Positions of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_com_quat_w" title="omni.isaac.lab.assets.ArticulationData.body_com_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_quat_w</span></code></a></p></td>
+<td><p>Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_com_vel_w" title="omni.isaac.lab.assets.ArticulationData.body_com_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_vel_w</span></code></a></p></td>
+<td><p>Velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_com_lin_vel_w" title="omni.isaac.lab.assets.ArticulationData.body_com_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_lin_vel_w</span></code></a></p></td>
+<td><p>Linear velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.body_com_ang_vel_w" title="omni.isaac.lab.assets.ArticulationData.body_com_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_com_ang_vel_w</span></code></a></p></td>
+<td><p>Angular velocity of all bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.com_pos_b" title="omni.isaac.lab.assets.ArticulationData.com_pos_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">com_pos_b</span></code></a></p></td>
+<td><p>Center of mass of all of the bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.com_quat_b" title="omni.isaac.lab.assets.ArticulationData.com_quat_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">com_quat_b</span></code></a></p></td>
+<td><p>Orientation (w,x,y,z) of the prinicple axies of inertia of all of the bodies in simulation world frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_names">
+<span class="sig-name descname"><span class="pre">body_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Body names in the order parsed by the simulation view.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint names in the order parsed by the simulation view.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.fixed_tendon_names">
+<span class="sig-name descname"><span class="pre">fixed_tendon_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Fixed tendon names in the order parsed by the simulation view.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_root_state">
+<span class="sig-name descname"><span class="pre">default_root_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_root_state" title="Permalink to this definition">#</a></dt>
+<dd><p>Default root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in local environment frame. Shape is (num_instances, 13).</p>
+<p>The position and quaternion are of the articulation root’s actor frame. Meanwhile, the linear and angular
+velocities are of its center of mass frame.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_mass">
+<span class="sig-name descname"><span class="pre">default_mass</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_mass" title="Permalink to this definition">#</a></dt>
+<dd><p>Default mass read from the simulation. Shape is (num_instances, num_bodies).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_inertia">
+<span class="sig-name descname"><span class="pre">default_inertia</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_inertia" title="Permalink to this definition">#</a></dt>
+<dd><p>Default inertia read from the simulation. Shape is (num_instances, num_bodies, 9).</p>
+<p>The inertia is the inertia tensor relative to the center of mass frame. The values are stored in
+the order <span class="math notranslate nohighlight">\([I_{xx}, I_{xy}, I_{xz}, I_{yx}, I_{yy}, I_{yz}, I_{zx}, I_{zy}, I_{zz}]\)</span>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_joint_pos">
+<span class="sig-name descname"><span class="pre">default_joint_pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_joint_pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Default joint positions of all joints. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_joint_vel">
+<span class="sig-name descname"><span class="pre">default_joint_vel</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_joint_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Default joint velocities of all joints. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_joint_stiffness">
+<span class="sig-name descname"><span class="pre">default_joint_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_joint_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Default joint stiffness of all joints. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_joint_damping">
+<span class="sig-name descname"><span class="pre">default_joint_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_joint_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Default joint damping of all joints. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_joint_armature">
+<span class="sig-name descname"><span class="pre">default_joint_armature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_joint_armature" title="Permalink to this definition">#</a></dt>
+<dd><p>Default joint armature of all joints. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_joint_friction">
+<span class="sig-name descname"><span class="pre">default_joint_friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_joint_friction" title="Permalink to this definition">#</a></dt>
+<dd><p>Default joint friction of all joints. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_joint_limits">
+<span class="sig-name descname"><span class="pre">default_joint_limits</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_joint_limits" title="Permalink to this definition">#</a></dt>
+<dd><p>Default joint limits of all joints. Shape is (num_instances, num_joints, 2).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_stiffness">
+<span class="sig-name descname"><span class="pre">default_fixed_tendon_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Default tendon stiffness of all tendons. Shape is (num_instances, num_fixed_tendons).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_damping">
+<span class="sig-name descname"><span class="pre">default_fixed_tendon_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Default tendon damping of all tendons. Shape is (num_instances, num_fixed_tendons).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit_stiffness">
+<span class="sig-name descname"><span class="pre">default_fixed_tendon_limit_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Default tendon limit stiffness of all tendons. Shape is (num_instances, num_fixed_tendons).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_rest_length">
+<span class="sig-name descname"><span class="pre">default_fixed_tendon_rest_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_rest_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Default tendon rest length of all tendons. Shape is (num_instances, num_fixed_tendons).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_offset">
+<span class="sig-name descname"><span class="pre">default_fixed_tendon_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Default tendon offset of all tendons. Shape is (num_instances, num_fixed_tendons).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit">
+<span class="sig-name descname"><span class="pre">default_fixed_tendon_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Default tendon limits of all tendons. Shape is (num_instances, num_fixed_tendons, 2).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_pos_target">
+<span class="sig-name descname"><span class="pre">joint_pos_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_pos_target" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint position targets commanded by the user. Shape is (num_instances, num_joints).</p>
+<p>For an implicit actuator model, the targets are directly set into the simulation.
+For an explicit actuator model, the targets are used to compute the joint torques (see <a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.applied_torque" title="omni.isaac.lab.assets.ArticulationData.applied_torque"><code class="xref py py-attr docutils literal notranslate"><span class="pre">applied_torque</span></code></a>),
+which are then set into the simulation.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_vel_target">
+<span class="sig-name descname"><span class="pre">joint_vel_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_vel_target" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint velocity targets commanded by the user. Shape is (num_instances, num_joints).</p>
+<p>For an implicit actuator model, the targets are directly set into the simulation.
+For an explicit actuator model, the targets are used to compute the joint torques (see <a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.applied_torque" title="omni.isaac.lab.assets.ArticulationData.applied_torque"><code class="xref py py-attr docutils literal notranslate"><span class="pre">applied_torque</span></code></a>),
+which are then set into the simulation.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_effort_target">
+<span class="sig-name descname"><span class="pre">joint_effort_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_effort_target" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint effort targets commanded by the user. Shape is (num_instances, num_joints).</p>
+<p>For an implicit actuator model, the targets are directly set into the simulation.
+For an explicit actuator model, the targets are used to compute the joint torques (see <a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.applied_torque" title="omni.isaac.lab.assets.ArticulationData.applied_torque"><code class="xref py py-attr docutils literal notranslate"><span class="pre">applied_torque</span></code></a>),
+which are then set into the simulation.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.computed_torque">
+<span class="sig-name descname"><span class="pre">computed_torque</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.computed_torque" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint torques computed from the actuator model (before clipping). Shape is (num_instances, num_joints).</p>
+<p>This quantity is the raw torque output from the actuator mode, before any clipping is applied.
+It is exposed for users who want to inspect the computations inside the actuator model.
+For instance, to penalize the learning agent for a difference between the computed and applied torques.</p>
+<p>Note: The torques are zero for implicit actuator models.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.applied_torque">
+<span class="sig-name descname"><span class="pre">applied_torque</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.applied_torque" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint torques applied from the actuator model (after clipping). Shape is (num_instances, num_joints).</p>
+<p>These torques are set into the simulation, after clipping the <a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.computed_torque" title="omni.isaac.lab.assets.ArticulationData.computed_torque"><code class="xref py py-attr docutils literal notranslate"><span class="pre">computed_torque</span></code></a> based on the
+actuator model.</p>
+<p>Note: The torques are zero for implicit actuator models.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_stiffness">
+<span class="sig-name descname"><span class="pre">joint_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint stiffness provided to simulation. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_damping">
+<span class="sig-name descname"><span class="pre">joint_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint damping provided to simulation. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_limits">
+<span class="sig-name descname"><span class="pre">joint_limits</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_limits" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint limits provided to simulation. Shape is (num_instances, num_joints, 2).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_velocity_limits">
+<span class="sig-name descname"><span class="pre">joint_velocity_limits</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_velocity_limits" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint maximum velocity provided to simulation. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.fixed_tendon_stiffness">
+<span class="sig-name descname"><span class="pre">fixed_tendon_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Fixed tendon stiffness provided to simulation. Shape is (num_instances, num_fixed_tendons).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.fixed_tendon_damping">
+<span class="sig-name descname"><span class="pre">fixed_tendon_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Fixed tendon damping provided to simulation. Shape is (num_instances, num_fixed_tendons).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit_stiffness">
+<span class="sig-name descname"><span class="pre">fixed_tendon_limit_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Fixed tendon limit stiffness provided to simulation. Shape is (num_instances, num_fixed_tendons).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.fixed_tendon_rest_length">
+<span class="sig-name descname"><span class="pre">fixed_tendon_rest_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_rest_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Fixed tendon rest length provided to simulation. Shape is (num_instances, num_fixed_tendons).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.fixed_tendon_offset">
+<span class="sig-name descname"><span class="pre">fixed_tendon_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Fixed tendon offset provided to simulation. Shape is (num_instances, num_fixed_tendons).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit">
+<span class="sig-name descname"><span class="pre">fixed_tendon_limit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Fixed tendon limits provided to simulation. Shape is (num_instances, num_fixed_tendons, 2).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits">
+<span class="sig-name descname"><span class="pre">soft_joint_pos_limits</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint positions limits for all joints. Shape is (num_instances, num_joints, 2).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.soft_joint_vel_limits">
+<span class="sig-name descname"><span class="pre">soft_joint_vel_limits</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.soft_joint_vel_limits" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint velocity limits for all joints. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.gear_ratio">
+<span class="sig-name descname"><span class="pre">gear_ratio</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.gear_ratio" title="Permalink to this definition">#</a></dt>
+<dd><p>Gear ratio for relating motor torques to applied Joint torques. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame. Shape is (num_instances, 13).</p>
+<p>The position and quaternion are of the articulation root’s actor frame relative to the world. Meanwhile,
+the linear and angular velocities are of the articulation root’s center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_link_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_link_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame. Shape is (num_instances, 13).</p>
+<p>The position, quaternion, and linear/angular velocity are of the articulation root’s actor frame relative to the
+world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_com_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_com_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass state <code class="docutils literal notranslate"><span class="pre">[pos,</span> <span class="pre">quat,</span> <span class="pre">lin_vel,</span> <span class="pre">ang_vel]</span></code> in simulation world frame. Shape is (num_instances, 13).</p>
+<p>The position, quaternion, and linear/angular velocity are of the articulation root link’s center of mass frame
+relative to the world. Center of mass frame is assumed to be the same orientation as the link rather than the
+orientation of the principle inertia.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>State of all bodies <cite>[pos, quat, lin_vel, ang_vel]</cite> in simulation world frame.
+Shape is (num_instances, num_bodies, 13).</p>
+<p>The position and quaternion are of all the articulation links’s actor frame. Meanwhile, the linear and angular
+velocities are of the articulation links’s center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_link_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_link_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>State of all bodies’ link frame`[pos, quat, lin_vel, ang_vel]` in simulation world frame.
+Shape is (num_instances, num_bodies, 13).</p>
+<p>The position, quaternion, and linear/angular velocity are of the body’s link frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_com_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_com_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>State of all bodies center of mass <cite>[pos, quat, lin_vel, ang_vel]</cite> in simulation world frame.
+Shape is (num_instances, num_bodies, 13).</p>
+<p>The position, quaternion, and linear/angular velocity are of the body’s center of mass frame relative to the
+world. Center of mass frame is assumed to be the same orientation as the link rather than the orientation of the
+principle inertia.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_acc_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_acc_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_acc_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Acceleration of all bodies (center of mass). Shape is (num_instances, num_bodies, 6).</p>
+<p>All values are relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.projected_gravity_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">projected_gravity_b</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.projected_gravity_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Projection of the gravity direction on base frame. Shape is (num_instances, 3).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.heading_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">heading_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.heading_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Yaw heading of the base frame (in radians). Shape is (num_instances,).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This quantity is computed by assuming that the forward-direction of the base
+frame is along x-direction, i.e. <span class="math notranslate nohighlight">\((1, 0, 0)\)</span>.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_pos">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_pos</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint positions of all joints. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_vel">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_vel</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint velocities of all joints. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.joint_acc">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_acc</span></span><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.joint_acc" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint acceleration of all joints. Shape is (num_instances, num_joints).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root position in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the position of the actor frame of the articulation root relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</p>
+<p>This quantity is the orientation of the actor frame of the articulation root relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root velocity in simulation world frame. Shape is (num_instances, 6).</p>
+<p>This quantity contains the linear and angular velocities of the articulation root’s center of mass frame
+relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root linear velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the articulation root’s center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root angular velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the articulation root’s center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_lin_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_lin_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_lin_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root linear velocity in base frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the articulation root’s center of mass frame relative to the world
+with respect to the articulation root’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_ang_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_ang_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_ang_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root angular velocity in base world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the articulation root’s center of mass frame relative to the world with
+respect to the articulation root’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_link_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_link_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link position in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the position of the actor frame of the root rigid body relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_link_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_link_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</p>
+<p>This quantity is the orientation of the actor frame of the root rigid body.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_link_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_link_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link velocity in simulation world frame. Shape is (num_instances, 6).</p>
+<p>This quantity contains the linear and angular velocities of the actor frame of the root
+rigid body relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root linear velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the root rigid body’s actor frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link angular velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the actor frame of the root rigid body relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_lin_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link linear velocity in base frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the actor frame of the root rigid body frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_link_ang_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root link angular velocity in base world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the actor frame of the root rigid body frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_com_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_com_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass position in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the position of the actor frame of the root rigid body relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_com_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_com_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).</p>
+<p>This quantity is the orientation of the actor frame of the root rigid body relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_com_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_com_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass velocity in simulation world frame. Shape is (num_instances, 6).</p>
+<p>This quantity contains the linear and angular velocities of the root rigid body’s center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass linear velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the root rigid body’s center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass angular velocity in simulation world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the root rigid body’s center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_lin_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass linear velocity in base frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the linear velocity of the root rigid body’s center of mass frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_com_ang_vel_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Root center of mass angular velocity in base world frame. Shape is (num_instances, 3).</p>
+<p>This quantity is the angular velocity of the root rigid body’s center of mass frame with respect to the
+rigid body’s actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</p>
+<p>This quantity is the position of the rigid bodies’ actor frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).</p>
+<p>This quantity is the orientation of the rigid bodies’ actor frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).</p>
+<p>This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame relative
+to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</p>
+<p>This quantity is the linear velocity of the rigid bodies’ center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</p>
+<p>This quantity is the angular velocity of the rigid bodies’ center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_lin_acc_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_lin_acc_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_lin_acc_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear acceleration of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</p>
+<p>This quantity is the linear acceleration of the rigid bodies’ center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_ang_acc_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_ang_acc_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_ang_acc_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular acceleration of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</p>
+<p>This quantity is the angular acceleration of the rigid bodies’ center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_link_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_link_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the position of the rigid bodies’ actor frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_link_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_link_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).</p>
+<p>This quantity is the orientation of the rigid bodies’ actor frame  relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_link_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_link_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).</p>
+<p>This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame
+relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_link_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_link_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the linear velocity of the rigid bodies’ center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_link_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_link_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_link_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the angular velocity of the rigid bodies’ center of mass frame relative to the world.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_com_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_com_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the position of the rigid bodies’ actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_com_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_com_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.</p>
+<p>Shape is (num_instances, 1, 4). This quantity is the orientation of the rigid bodies’ actor frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_com_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_com_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).</p>
+<p>This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_com_lin_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_lin_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_com_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the linear velocity of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.body_com_ang_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_com_ang_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.body_com_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).</p>
+<p>This quantity is the angular velocity of the rigid bodies’ center of mass frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.com_pos_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">com_pos_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.com_pos_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Center of mass of all of the bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).</p>
+<p>This quantity is the center of mass location relative to its body frame.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationData.com_quat_b">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">com_quat_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationData.com_quat_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation (w,x,y,z) of the prinicple axies of inertia of all of the bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).</p>
+<p>This quantity is the orientation of the principles axes of inertia relative to its body frame.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">ArticulationCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html#ArticulationCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg" title="omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBaseCfg</span></code></a></p>
+<p>Configuration parameters for an articulation.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg" title="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">InitialStateCfg</span></code></a></p></td>
+<td><p>Initial state of the articulation.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.prim_path" title="omni.isaac.lab.assets.ArticulationCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.spawn" title="omni.isaac.lab.assets.ArticulationCfg.spawn"><code class="xref py py-obj docutils literal notranslate"><span class="pre">spawn</span></code></a></p></td>
+<td><p>Spawn configuration for the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.collision_group" title="omni.isaac.lab.assets.ArticulationCfg.collision_group"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_group</span></code></a></p></td>
+<td><p>Collision group of the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.debug_vis" title="omni.isaac.lab.assets.ArticulationCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to enable debug visualization for the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.init_state" title="omni.isaac.lab.assets.ArticulationCfg.init_state"><code class="xref py py-obj docutils literal notranslate"><span class="pre">init_state</span></code></a></p></td>
+<td><p>Initial state of the articulated object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.soft_joint_pos_limit_factor" title="omni.isaac.lab.assets.ArticulationCfg.soft_joint_pos_limit_factor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">soft_joint_pos_limit_factor</span></code></a></p></td>
+<td><p>Fraction specifying the range of DOF position limits (parsed from the asset) to use.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.actuators" title="omni.isaac.lab.assets.ArticulationCfg.actuators"><code class="xref py py-obj docutils literal notranslate"><span class="pre">actuators</span></code></a></p></td>
+<td><p>Actuators for the robot with corresponding joint names.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">InitialStateCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/articulation/articulation_cfg.html#ArticulationCfg.InitialStateCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg" title="omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InitialStateCfg</span></code></a></p>
+<p>Initial state of the articulation.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.lin_vel" title="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.lin_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lin_vel</span></code></a></p></td>
+<td><p>Linear velocity of the root in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.ang_vel" title="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.ang_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ang_vel</span></code></a></p></td>
+<td><p>Angular velocity of the root in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos" title="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_pos</span></code></a></p></td>
+<td><p>Joint positions of the joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_vel" title="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_vel</span></code></a></p></td>
+<td><p>Joint velocities of the joints.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.pos" title="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Position of the root in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.rot" title="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation (w, x, y, z) of the root in simulation world frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.lin_vel">
+<span class="sig-name descname"><span class="pre">lin_vel</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.lin_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.ang_vel">
+<span class="sig-name descname"><span class="pre">ang_vel</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.ang_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos">
+<span class="sig-name descname"><span class="pre">joint_pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint positions of the joints. Defaults to 0.0 for all joints.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_vel">
+<span class="sig-name descname"><span class="pre">joint_vel</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint velocities of the joints. Defaults to 0.0 for all joints.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Position of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation (w, x, y, z) of the root in simulation world frame.
+Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the asset.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.spawn">
+<span class="sig-name descname"><span class="pre">spawn</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg" title="omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg"><span class="pre">SpawnerCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.spawn" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawn configuration for the asset. Defaults to None.</p>
+<p>If None, then no prims are spawned by the asset class. Instead, it is assumed that the
+asset is already present in the scene.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.collision_group">
+<span class="sig-name descname"><span class="pre">collision_group</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal[0,</span> <span class="pre">-1]</span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.collision_group" title="Permalink to this definition">#</a></dt>
+<dd><p>Collision group of the asset. Defaults to <code class="docutils literal notranslate"><span class="pre">0</span></code>.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">-1</span></code>: global collision group (collides with all assets in the scene).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">0</span></code>: local collision group (collides with other assets in the same environment).</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable debug visualization for the asset. Defaults to <code class="docutils literal notranslate"><span class="pre">False</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.init_state">
+<span class="sig-name descname"><span class="pre">init_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg" title="omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg"><span class="pre">InitialStateCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.init_state" title="Permalink to this definition">#</a></dt>
+<dd><p>Initial state of the articulated object. Defaults to identity pose with zero velocity and zero joint state.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.soft_joint_pos_limit_factor">
+<span class="sig-name descname"><span class="pre">soft_joint_pos_limit_factor</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.soft_joint_pos_limit_factor" title="Permalink to this definition">#</a></dt>
+<dd><p>Fraction specifying the range of DOF position limits (parsed from the asset) to use. Defaults to 1.0.</p>
+<p>The joint position limits are scaled by this factor to allow for a limited range of motion.
+This is accessible in the articulation data through <a class="reference internal" href="#omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits" title="omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ArticulationData.soft_joint_pos_limits</span></code></a> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.ArticulationCfg.actuators">
+<span class="sig-name descname"><span class="pre">actuators</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg" title="omni.isaac.lab.actuators.actuator_cfg.ActuatorBaseCfg"><span class="pre">omni.isaac.lab.actuators.actuator_cfg.ActuatorBaseCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.ArticulationCfg.actuators" title="Permalink to this definition">#</a></dt>
+<dd><p>Actuators for the robot with corresponding joint names.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="deformable-object">
+<h2>Deformable Object<a class="headerlink" href="#deformable-object" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">DeformableObject</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html#DeformableObject"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.assets.AssetBase" title="omni.isaac.lab.assets.asset_base.AssetBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBase</span></code></a></p>
+<p>A deformable object asset class.</p>
+<p>Deformable objects are assets that can be deformed in the simulation. They are typically used for
+soft bodies, such as stuffed animals and food items.</p>
+<p>Unlike rigid object assets, deformable objects have a more complex structure and require additional
+handling for simulation. The simulation of deformable objects follows a finite element approach, where
+the object is discretized into a mesh of nodes and elements. The nodes are connected by elements, which
+define the material properties of the object. The nodes can be moved and deformed, and the elements
+respond to these changes.</p>
+<p>The state of a deformable object comprises of its nodal positions and velocities, and not the object’s root
+position and orientation. The nodal positions and velocities are in the simulation frame.</p>
+<p>Soft bodies can be <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html#kinematic-soft-bodies">partially kinematic</a>, where some nodes are driven by kinematic targets, and the rest are
+simulated. The kinematic targets are the desired positions of the nodes, and the simulation drives the nodes
+towards these targets. This is useful for partial control of the object, such as moving a stuffed animal’s
+head while the rest of the body is simulated.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>This class is experimental and subject to change due to changes on the underlying PhysX API on which
+it depends. We will try to maintain backward compatibility as much as possible but some changes may be
+necessary.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.cfg" title="omni.isaac.lab.assets.DeformableObject.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>Configuration instance for the deformable object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.data" title="omni.isaac.lab.assets.DeformableObject.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data related to the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.num_instances" title="omni.isaac.lab.assets.DeformableObject.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.num_bodies" title="omni.isaac.lab.assets.DeformableObject.num_bodies"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_bodies</span></code></a></p></td>
+<td><p>Number of bodies in the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.root_physx_view" title="omni.isaac.lab.assets.DeformableObject.root_physx_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_physx_view</span></code></a></p></td>
+<td><p>Deformable body view for the asset (PhysX).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.material_physx_view" title="omni.isaac.lab.assets.DeformableObject.material_physx_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">material_physx_view</span></code></a></p></td>
+<td><p>Deformable material view for the asset (PhysX).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.max_sim_elements_per_body" title="omni.isaac.lab.assets.DeformableObject.max_sim_elements_per_body"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_sim_elements_per_body</span></code></a></p></td>
+<td><p>The maximum number of simulation mesh elements per deformable body.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.max_collision_elements_per_body" title="omni.isaac.lab.assets.DeformableObject.max_collision_elements_per_body"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_collision_elements_per_body</span></code></a></p></td>
+<td><p>The maximum number of collision mesh elements per deformable body.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.max_sim_vertices_per_body" title="omni.isaac.lab.assets.DeformableObject.max_sim_vertices_per_body"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_sim_vertices_per_body</span></code></a></p></td>
+<td><p>The maximum number of simulation mesh vertices per deformable body.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.max_collision_vertices_per_body" title="omni.isaac.lab.assets.DeformableObject.max_collision_vertices_per_body"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_collision_vertices_per_body</span></code></a></p></td>
+<td><p>The maximum number of collision mesh vertices per deformable body.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.device" title="omni.isaac.lab.assets.DeformableObject.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.has_debug_vis_implementation" title="omni.isaac.lab.assets.DeformableObject.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the asset has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.is_initialized" title="omni.isaac.lab.assets.DeformableObject.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the asset is initialized.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.__init__" title="omni.isaac.lab.assets.DeformableObject.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initialize the deformable object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.reset" title="omni.isaac.lab.assets.DeformableObject.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets all internal buffers of selected environments.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.write_data_to_sim" title="omni.isaac.lab.assets.DeformableObject.write_data_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_data_to_sim</span></code></a>()</p></td>
+<td><p>Writes data to the simulator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.update" title="omni.isaac.lab.assets.DeformableObject.update"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update</span></code></a>(dt)</p></td>
+<td><p>Update the internal buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_state_to_sim" title="omni.isaac.lab.assets.DeformableObject.write_nodal_state_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_nodal_state_to_sim</span></code></a>(nodal_state[, env_ids])</p></td>
+<td><p>Set the nodal state over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_pos_to_sim" title="omni.isaac.lab.assets.DeformableObject.write_nodal_pos_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_nodal_pos_to_sim</span></code></a>(nodal_pos[, env_ids])</p></td>
+<td><p>Set the nodal positions over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_velocity_to_sim" title="omni.isaac.lab.assets.DeformableObject.write_nodal_velocity_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_nodal_velocity_to_sim</span></code></a>(nodal_vel[, env_ids])</p></td>
+<td><p>Set the nodal velocity over selected environment indices into the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim" title="omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_nodal_kinematic_target_to_sim</span></code></a>(targets)</p></td>
+<td><p>Set the kinematic targets of the simulation mesh for the deformable bodies indicated by the indices.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.transform_nodal_pos" title="omni.isaac.lab.assets.DeformableObject.transform_nodal_pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">transform_nodal_pos</span></code></a>(nodal_pos[, pos, quat])</p></td>
+<td><p>Transform the nodal positions based on the pose transformation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObject.set_debug_vis" title="omni.isaac.lab.assets.DeformableObject.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the asset data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg" title="omni.isaac.lab.assets.DeformableObjectCfg"><span class="pre">DeformableObjectCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration instance for the deformable object.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg" title="omni.isaac.lab.assets.DeformableObjectCfg"><span class="pre">DeformableObjectCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html#DeformableObject.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the deformable object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – A configuration instance.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData" title="omni.isaac.lab.assets.deformable_object.deformable_object_data.DeformableObjectData"><span class="pre">DeformableObjectData</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data related to the asset.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the asset.</p>
+<p>This is equal to the number of asset instances per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.num_bodies">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_bodies</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.num_bodies" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of bodies in the asset.</p>
+<p>This is always 1 since each object is a single deformable body.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.root_physx_view">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_physx_view</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">omni.physics.tensors.impl.api.SoftBodyView</span></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.root_physx_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body view for the asset (PhysX).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Use this view with caution. It requires handling of tensors in a specific way.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.material_physx_view">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">material_physx_view</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">physx.SoftBodyMaterialView</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.material_physx_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable material view for the asset (PhysX).</p>
+<p>This view is optional and may not be available if the material is not bound to the deformable body.
+If the material is not available, then the material properties will be set to default values.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Use this view with caution. It requires handling of tensors in a specific way.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.max_sim_elements_per_body">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_sim_elements_per_body</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.max_sim_elements_per_body" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum number of simulation mesh elements per deformable body.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.max_collision_elements_per_body">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_collision_elements_per_body</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.max_collision_elements_per_body" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum number of collision mesh elements per deformable body.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.max_sim_vertices_per_body">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_sim_vertices_per_body</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.max_sim_vertices_per_body" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum number of simulation mesh vertices per deformable body.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.max_collision_vertices_per_body">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_collision_vertices_per_body</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.max_collision_vertices_per_body" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum number of collision mesh vertices per deformable body.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html#DeformableObject.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets all internal buffers of selected environments.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The indices of the object to reset. Defaults to None (all instances).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.write_data_to_sim">
+<span class="sig-name descname"><span class="pre">write_data_to_sim</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html#DeformableObject.write_data_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.write_data_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Writes data to the simulator.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.update">
+<span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html#DeformableObject.update"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.update" title="Permalink to this definition">#</a></dt>
+<dd><p>Update the internal buffers.</p>
+<p>The time step <code class="docutils literal notranslate"><span class="pre">dt</span></code> is used to compute numerical derivatives of quantities such as joint
+accelerations which are not provided by the simulator.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The amount of time passed from last <code class="docutils literal notranslate"><span class="pre">update</span></code> call.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.write_nodal_state_to_sim">
+<span class="sig-name descname"><span class="pre">write_nodal_state_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">nodal_state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html#DeformableObject.write_nodal_state_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_state_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the nodal state over selected environment indices into the simulation.</p>
+<p>The nodal state comprises of the nodal positions and velocities. Since these are nodes, the velocity only has
+a translational component. All the quantities are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>nodal_state</strong> – Nodal state in simulation frame.
+Shape is (len(env_ids), max_sim_vertices_per_body, 6).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.write_nodal_pos_to_sim">
+<span class="sig-name descname"><span class="pre">write_nodal_pos_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">nodal_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html#DeformableObject.write_nodal_pos_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_pos_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the nodal positions over selected environment indices into the simulation.</p>
+<p>The nodal position comprises of individual nodal positions of the simulation mesh for the deformable body.
+The positions are in the simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>nodal_pos</strong> – Nodal positions in simulation frame.
+Shape is (len(env_ids), max_sim_vertices_per_body, 3).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.write_nodal_velocity_to_sim">
+<span class="sig-name descname"><span class="pre">write_nodal_velocity_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">nodal_vel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html#DeformableObject.write_nodal_velocity_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_velocity_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the nodal velocity over selected environment indices into the simulation.</p>
+<p>The nodal velocity comprises of individual nodal velocities of the simulation mesh for the deformable
+body. Since these are nodes, the velocity only has a translational component. The velocities are in the
+simulation frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>nodal_vel</strong> – Nodal velocities in simulation frame.
+Shape is (len(env_ids), max_sim_vertices_per_body, 3).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim">
+<span class="sig-name descname"><span class="pre">write_nodal_kinematic_target_to_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">targets</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html#DeformableObject.write_nodal_kinematic_target_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the kinematic targets of the simulation mesh for the deformable bodies indicated by the indices.</p>
+<p>The kinematic targets comprise of individual nodal positions of the simulation mesh for the deformable body
+and a flag indicating whether the node is kinematically driven or not. The positions are in the simulation frame.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The flag is set to 0.0 for kinematically driven nodes and 1.0 for free nodes.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>targets</strong> – The kinematic targets comprising of nodal positions and flags.
+Shape is (len(env_ids), max_sim_vertices_per_body, 4).</p></li>
+<li><p><strong>env_ids</strong> – Environment indices. If None, then all indices are used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.transform_nodal_pos">
+<span class="sig-name descname"><span class="pre">transform_nodal_pos</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">nodal_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">torch.tensor</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">quat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object.html#DeformableObject.transform_nodal_pos"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.transform_nodal_pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Transform the nodal positions based on the pose transformation.</p>
+<p>This function computes the transformation of the nodal positions based on the pose transformation.
+It multiplies the nodal positions with the rotation matrix of the pose and adds the translation.
+Internally, it calls the <a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.transform_points" title="omni.isaac.lab.utils.math.transform_points"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.transform_points()</span></code></a> function.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>nodal_pos</strong> – The nodal positions in the simulation frame. Shape is (N, max_sim_vertices_per_body, 3).</p></li>
+<li><p><strong>pos</strong> – The position transformation. Shape is (N, 3).
+Defaults to None, in which case the position is assumed to be zero.</p></li>
+<li><p><strong>quat</strong> – The orientation transformation as quaternion (w, x, y, z). Shape is (N, 4).
+Defaults to None, in which case the orientation is assumed to be identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The transformed nodal positions. Shape is (N, max_sim_vertices_per_body, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the asset has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the asset is initialized.</p>
+<p>Returns True if the asset is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObject.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObject.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the asset data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the asset data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the asset
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">DeformableObjectData</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html#DeformableObjectData"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Data container for a deformable object.</p>
+<p>This class contains the data for a deformable object in the simulation. The data includes the nodal states of
+the root deformable body in the object. The data is stored in the simulation world frame unless otherwise specified.</p>
+<p>A deformable object in PhysX uses two tetrahedral meshes to represent the object:</p>
+<ol class="arabic simple">
+<li><p><strong>Simulation mesh</strong>: This mesh is used for the simulation and is the one that is deformed by the solver.</p></li>
+<li><p><strong>Collision mesh</strong>: This mesh only needs to match the surface of the simulation mesh and is used for
+collision detection.</p></li>
+</ol>
+<p>The APIs exposed provides the data for both the simulation and collision meshes. These are specified
+by the <cite>sim</cite> and <cite>collision</cite> prefixes in the property names.</p>
+<p>The data is lazily updated, meaning that the data is only updated when it is accessed. This is useful
+when the data is expensive to compute or retrieve. The data is updated when the timestamp of the buffer
+is older than the current simulation timestamp. The timestamp is updated whenever the data is updated.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.update" title="omni.isaac.lab.assets.DeformableObjectData.update"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update</span></code></a>(dt)</p></td>
+<td><p>Updates the data for the deformable object.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.default_nodal_state_w" title="omni.isaac.lab.assets.DeformableObjectData.default_nodal_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_nodal_state_w</span></code></a></p></td>
+<td><p>Default nodal state <code class="docutils literal notranslate"><span class="pre">[nodal_pos,</span> <span class="pre">nodal_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_kinematic_target" title="omni.isaac.lab.assets.DeformableObjectData.nodal_kinematic_target"><code class="xref py py-obj docutils literal notranslate"><span class="pre">nodal_kinematic_target</span></code></a></p></td>
+<td><p>Simulation mesh kinematic targets for the deformable bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_pos_w" title="omni.isaac.lab.assets.DeformableObjectData.nodal_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">nodal_pos_w</span></code></a></p></td>
+<td><p>Nodal positions in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_vel_w" title="omni.isaac.lab.assets.DeformableObjectData.nodal_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">nodal_vel_w</span></code></a></p></td>
+<td><p>Nodal velocities in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_state_w" title="omni.isaac.lab.assets.DeformableObjectData.nodal_state_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">nodal_state_w</span></code></a></p></td>
+<td><p>Nodal state <code class="docutils literal notranslate"><span class="pre">[nodal_pos,</span> <span class="pre">nodal_vel]</span></code> in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_quat_w" title="omni.isaac.lab.assets.DeformableObjectData.sim_element_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sim_element_quat_w</span></code></a></p></td>
+<td><p>Simulation mesh element-wise rotations as quaternions for the deformable bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_quat_w" title="omni.isaac.lab.assets.DeformableObjectData.collision_element_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_element_quat_w</span></code></a></p></td>
+<td><p>Collision mesh element-wise rotations as quaternions for the deformable bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_deform_gradient_w" title="omni.isaac.lab.assets.DeformableObjectData.sim_element_deform_gradient_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sim_element_deform_gradient_w</span></code></a></p></td>
+<td><p>Simulation mesh element-wise second-order deformation gradient tensors for the deformable bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_deform_gradient_w" title="omni.isaac.lab.assets.DeformableObjectData.collision_element_deform_gradient_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_element_deform_gradient_w</span></code></a></p></td>
+<td><p>Collision mesh element-wise second-order deformation gradient tensors for the deformable bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_stress_w" title="omni.isaac.lab.assets.DeformableObjectData.sim_element_stress_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sim_element_stress_w</span></code></a></p></td>
+<td><p>Simulation mesh element-wise second-order Cauchy stress tensors for the deformable bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_stress_w" title="omni.isaac.lab.assets.DeformableObjectData.collision_element_stress_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_element_stress_w</span></code></a></p></td>
+<td><p>Collision mesh element-wise second-order Cauchy stress tensors for the deformable bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.root_pos_w" title="omni.isaac.lab.assets.DeformableObjectData.root_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_pos_w</span></code></a></p></td>
+<td><p>Root position from nodal positions of the simulation mesh for the deformable bodies in simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectData.root_vel_w" title="omni.isaac.lab.assets.DeformableObjectData.root_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_vel_w</span></code></a></p></td>
+<td><p>Root velocity from vertex velocities for the deformable bodies in simulation world frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.update">
+<span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object_data.html#DeformableObjectData.update"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.update" title="Permalink to this definition">#</a></dt>
+<dd><p>Updates the data for the deformable object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The time step for the update. This must be a positive value.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.default_nodal_state_w">
+<span class="sig-name descname"><span class="pre">default_nodal_state_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.default_nodal_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Default nodal state <code class="docutils literal notranslate"><span class="pre">[nodal_pos,</span> <span class="pre">nodal_vel]</span></code> in simulation world frame.
+Shape is (num_instances, max_sim_vertices_per_body, 6).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.nodal_kinematic_target">
+<span class="sig-name descname"><span class="pre">nodal_kinematic_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_kinematic_target" title="Permalink to this definition">#</a></dt>
+<dd><p>Simulation mesh kinematic targets for the deformable bodies.
+Shape is (num_instances, max_sim_vertices_per_body, 4).</p>
+<p>The kinematic targets are used to drive the simulation mesh vertices to the target positions.
+The targets are stored as (x, y, z, is_not_kinematic) where “is_not_kinematic” is a binary
+flag indicating whether the vertex is kinematic or not. The flag is set to 0 for kinematic vertices
+and 1 for non-kinematic vertices.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.nodal_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">nodal_pos_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Nodal positions in simulation world frame. Shape is (num_instances, max_sim_vertices_per_body, 3).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.nodal_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">nodal_vel_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Nodal velocities in simulation world frame. Shape is (num_instances, max_sim_vertices_per_body, 3).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.nodal_state_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">nodal_state_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_state_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Nodal state <code class="docutils literal notranslate"><span class="pre">[nodal_pos,</span> <span class="pre">nodal_vel]</span></code> in simulation world frame.
+Shape is (num_instances, max_sim_vertices_per_body, 6).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.sim_element_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">sim_element_quat_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Simulation mesh element-wise rotations as quaternions for the deformable bodies in simulation world frame.
+Shape is (num_instances, max_sim_elements_per_body, 4).</p>
+<p>The rotations are stored as quaternions in the order (w, x, y, z).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.collision_element_quat_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">collision_element_quat_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Collision mesh element-wise rotations as quaternions for the deformable bodies in simulation world frame.
+Shape is (num_instances, max_collision_elements_per_body, 4).</p>
+<p>The rotations are stored as quaternions in the order (w, x, y, z).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.sim_element_deform_gradient_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">sim_element_deform_gradient_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_deform_gradient_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Simulation mesh element-wise second-order deformation gradient tensors for the deformable bodies
+in simulation world frame. Shape is (num_instances, max_sim_elements_per_body, 3, 3).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.collision_element_deform_gradient_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">collision_element_deform_gradient_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_deform_gradient_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Collision mesh element-wise second-order deformation gradient tensors for the deformable bodies
+in simulation world frame. Shape is (num_instances, max_collision_elements_per_body, 3, 3).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.sim_element_stress_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">sim_element_stress_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_stress_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Simulation mesh element-wise second-order Cauchy stress tensors for the deformable bodies
+in simulation world frame. Shape is (num_instances, max_sim_elements_per_body, 3, 3).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.collision_element_stress_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">collision_element_stress_w</span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_stress_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Collision mesh element-wise second-order Cauchy stress tensors for the deformable bodies
+in simulation world frame. Shape is (num_instances, max_collision_elements_per_body, 3, 3).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.root_pos_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.root_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root position from nodal positions of the simulation mesh for the deformable bodies in simulation world frame.
+Shape is (num_instances, 3).</p>
+<p>This quantity is computed as the mean of the nodal positions.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectData.root_vel_w">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">root_vel_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectData.root_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Root velocity from vertex velocities for the deformable bodies in simulation world frame.
+Shape is (num_instances, 3).</p>
+<p>This quantity is computed as the mean of the nodal velocities.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.assets.</span></span><span class="sig-name descname"><span class="pre">DeformableObjectCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/assets/deformable_object/deformable_object_cfg.html#DeformableObjectCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.assets.AssetBaseCfg" title="omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBaseCfg</span></code></a></p>
+<p>Configuration parameters for a deformable object.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg" title="omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">InitialStateCfg</span></code></a></p></td>
+<td><p>Initial state of the asset.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.prim_path" title="omni.isaac.lab.assets.DeformableObjectCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.spawn" title="omni.isaac.lab.assets.DeformableObjectCfg.spawn"><code class="xref py py-obj docutils literal notranslate"><span class="pre">spawn</span></code></a></p></td>
+<td><p>Spawn configuration for the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.init_state" title="omni.isaac.lab.assets.DeformableObjectCfg.init_state"><code class="xref py py-obj docutils literal notranslate"><span class="pre">init_state</span></code></a></p></td>
+<td><p>Initial state of the rigid object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.collision_group" title="omni.isaac.lab.assets.DeformableObjectCfg.collision_group"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_group</span></code></a></p></td>
+<td><p>Collision group of the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.debug_vis" title="omni.isaac.lab.assets.DeformableObjectCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to enable debug visualization for the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.visualizer_cfg" title="omni.isaac.lab.assets.DeformableObjectCfg.visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration object for the visualization markers.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">InitialStateCfg</span></span><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Initial state of the asset.</p>
+<p>This defines the default initial state of the asset when it is spawned into the simulation, as
+well as the default state when the simulation is reset.</p>
+<p>After parsing the initial state, the asset class stores this information in the <code class="xref py py-attr docutils literal notranslate"><span class="pre">data</span></code>
+attribute of the asset class. This can then be accessed by the user to modify the state of the asset
+during the simulation, for example, at resets.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.pos" title="omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Position of the root in simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.rot" title="omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation (w, x, y, z) of the root in simulation world frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Position of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation (w, x, y, z) of the root in simulation world frame.
+Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the asset.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectCfg.spawn">
+<span class="sig-name descname"><span class="pre">spawn</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg" title="omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg"><span class="pre">SpawnerCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectCfg.spawn" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawn configuration for the asset. Defaults to None.</p>
+<p>If None, then no prims are spawned by the asset class. Instead, it is assumed that the
+asset is already present in the scene.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectCfg.init_state">
+<span class="sig-name descname"><span class="pre">init_state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg" title="omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg"><span class="pre">InitialStateCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectCfg.init_state" title="Permalink to this definition">#</a></dt>
+<dd><p>Initial state of the rigid object. Defaults to identity pose.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectCfg.collision_group">
+<span class="sig-name descname"><span class="pre">collision_group</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal[0,</span> <span class="pre">-1]</span></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectCfg.collision_group" title="Permalink to this definition">#</a></dt>
+<dd><p>Collision group of the asset. Defaults to <code class="docutils literal notranslate"><span class="pre">0</span></code>.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">-1</span></code>: global collision group (collides with all assets in the scene).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">0</span></code>: local collision group (collides with other assets in the same environment).</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable debug visualization for the asset. Defaults to <code class="docutils literal notranslate"><span class="pre">False</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.assets.DeformableObjectCfg.visualizer_cfg">
+<span class="sig-name descname"><span class="pre">visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.assets.DeformableObjectCfg.visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration object for the visualization markers. Defaults to DEFORMABLE_TARGET_MARKER_CFG.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This attribute is only used when debug visualization is enabled.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
+                <footer class="prev-next-footer d-print-none">
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+<div class="prev-next-area">
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+      <i class="fa-solid fa-angle-left"></i>
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+        <p class="prev-next-subtitle">previous</p>
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+
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+  <div class="sidebar-secondary-item">
+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#asset-base">Asset Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase"><code class="docutils literal notranslate"><span class="pre">AssetBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.__init__"><code class="docutils literal notranslate"><span class="pre">AssetBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.is_initialized"><code class="docutils literal notranslate"><span class="pre">AssetBase.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.num_instances"><code class="docutils literal notranslate"><span class="pre">AssetBase.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.device"><code class="docutils literal notranslate"><span class="pre">AssetBase.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.data"><code class="docutils literal notranslate"><span class="pre">AssetBase.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">AssetBase.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">AssetBase.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.reset"><code class="docutils literal notranslate"><span class="pre">AssetBase.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">AssetBase.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBase.update"><code class="docutils literal notranslate"><span class="pre">AssetBase.update()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.InitialStateCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.InitialStateCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.rot"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.InitialStateCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.spawn"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.init_state"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.init_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.collision_group"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.collision_group</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.AssetBaseCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">AssetBaseCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rigid-object">Rigid Object</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject"><code class="docutils literal notranslate"><span class="pre">RigidObject</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.cfg"><code class="docutils literal notranslate"><span class="pre">RigidObject.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.__init__"><code class="docutils literal notranslate"><span class="pre">RigidObject.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.data"><code class="docutils literal notranslate"><span class="pre">RigidObject.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.num_instances"><code class="docutils literal notranslate"><span class="pre">RigidObject.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.num_bodies"><code class="docutils literal notranslate"><span class="pre">RigidObject.num_bodies</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.body_names"><code class="docutils literal notranslate"><span class="pre">RigidObject.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.root_physx_view"><code class="docutils literal notranslate"><span class="pre">RigidObject.root_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.reset"><code class="docutils literal notranslate"><span class="pre">RigidObject.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.update"><code class="docutils literal notranslate"><span class="pre">RigidObject.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.find_bodies"><code class="docutils literal notranslate"><span class="pre">RigidObject.find_bodies()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_com_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_com_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_link_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_link_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_link_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_link_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_com_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_com_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_com_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_com_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.write_root_link_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObject.write_root_link_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.set_external_force_and_torque"><code class="docutils literal notranslate"><span class="pre">RigidObject.set_external_force_and_torque()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.device"><code class="docutils literal notranslate"><span class="pre">RigidObject.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">RigidObject.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.is_initialized"><code class="docutils literal notranslate"><span class="pre">RigidObject.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObject.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">RigidObject.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData"><code class="docutils literal notranslate"><span class="pre">RigidObjectData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.update"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_names"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.default_root_state"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.default_root_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.default_mass"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.default_mass</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.default_inertia"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.default_inertia</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.projected_gravity_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.projected_gravity_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.heading_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.heading_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_link_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_link_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.root_com_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.root_com_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_lin_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_lin_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_ang_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_ang_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_link_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_link_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.body_com_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.body_com_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.com_pos_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.com_pos_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectData.com_quat_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectData.com_quat_b</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.InitialStateCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.InitialStateCfg.lin_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.ang_vel"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.InitialStateCfg.ang_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.pos"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.InitialStateCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.rot"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.InitialStateCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.spawn"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.collision_group"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.collision_group</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCfg.init_state"><code class="docutils literal notranslate"><span class="pre">RigidObjectCfg.init_state</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rigid-object-collection">Rigid Object Collection</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.__init__"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.cfg"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.data"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.num_instances"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.num_objects"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.num_objects</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.object_names"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.object_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.root_physx_view"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.root_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.reset"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.update"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.find_objects"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.find_objects()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_com_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_state_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_link_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_link_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_com_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_com_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_com_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.write_object_link_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.write_object_link_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.set_external_force_and_torque"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.set_external_force_and_torque()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.reshape_view_to_data"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.reshape_view_to_data()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.reshape_data_to_view"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.reshape_data_to_view()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.device"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.is_initialized"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollection.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollection.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.update"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_names"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_object_state"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.default_object_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_mass"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.default_mass</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.default_inertia"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.default_inertia</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_state_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.projected_gravity_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.projected_gravity_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.heading_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.heading_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_lin_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_lin_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_ang_acc_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_ang_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_link_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_link_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_pos_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_quat_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.object_com_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.object_com_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.com_pos_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.com_pos_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionData.com_quat_b"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionData.com_quat_b</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects"><code class="docutils literal notranslate"><span class="pre">RigidObjectCollectionCfg.rigid_objects</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#articulation">Articulation</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation"><code class="docutils literal notranslate"><span class="pre">Articulation</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.cfg"><code class="docutils literal notranslate"><span class="pre">Articulation.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.actuators"><code class="docutils literal notranslate"><span class="pre">Articulation.actuators</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.__init__"><code class="docutils literal notranslate"><span class="pre">Articulation.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.data"><code class="docutils literal notranslate"><span class="pre">Articulation.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.num_instances"><code class="docutils literal notranslate"><span class="pre">Articulation.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.is_fixed_base"><code class="docutils literal notranslate"><span class="pre">Articulation.is_fixed_base</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.num_joints"><code class="docutils literal notranslate"><span class="pre">Articulation.num_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.num_fixed_tendons"><code class="docutils literal notranslate"><span class="pre">Articulation.num_fixed_tendons</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.num_bodies"><code class="docutils literal notranslate"><span class="pre">Articulation.num_bodies</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.joint_names"><code class="docutils literal notranslate"><span class="pre">Articulation.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.fixed_tendon_names"><code class="docutils literal notranslate"><span class="pre">Articulation.fixed_tendon_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.body_names"><code class="docutils literal notranslate"><span class="pre">Articulation.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.root_physx_view"><code class="docutils literal notranslate"><span class="pre">Articulation.root_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.reset"><code class="docutils literal notranslate"><span class="pre">Articulation.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.update"><code class="docutils literal notranslate"><span class="pre">Articulation.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.find_bodies"><code class="docutils literal notranslate"><span class="pre">Articulation.find_bodies()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.find_joints"><code class="docutils literal notranslate"><span class="pre">Articulation.find_joints()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.find_fixed_tendons"><code class="docutils literal notranslate"><span class="pre">Articulation.find_fixed_tendons()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_state_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_com_state_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_com_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_link_state_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_link_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_link_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_link_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_com_pose_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_com_pose_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_com_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_com_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_root_link_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_root_link_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_state_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_stiffness_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_stiffness_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_damping_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_damping_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_velocity_limit_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_velocity_limit_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_effort_limit_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_effort_limit_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_armature_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_armature_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_friction_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_friction_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_joint_limits_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_external_force_and_torque"><code class="docutils literal notranslate"><span class="pre">Articulation.set_external_force_and_torque()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_joint_position_target"><code class="docutils literal notranslate"><span class="pre">Articulation.set_joint_position_target()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_joint_velocity_target"><code class="docutils literal notranslate"><span class="pre">Articulation.set_joint_velocity_target()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_joint_effort_target"><code class="docutils literal notranslate"><span class="pre">Articulation.set_joint_effort_target()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_stiffness"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_stiffness()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_damping"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_damping()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit_stiffness"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_limit_stiffness()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_limit"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_limit()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_rest_length"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_rest_length()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_fixed_tendon_offset"><code class="docutils literal notranslate"><span class="pre">Articulation.set_fixed_tendon_offset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.write_fixed_tendon_properties_to_sim"><code class="docutils literal notranslate"><span class="pre">Articulation.write_fixed_tendon_properties_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.device"><code class="docutils literal notranslate"><span class="pre">Articulation.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">Articulation.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.is_initialized"><code class="docutils literal notranslate"><span class="pre">Articulation.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.Articulation.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">Articulation.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData"><code class="docutils literal notranslate"><span class="pre">ArticulationData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_names"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_names"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_names"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_root_state"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_root_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_mass"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_mass</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_inertia"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_inertia</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_pos"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_pos</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_vel"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_vel</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_damping"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_armature"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_armature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_friction"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_friction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_joint_limits"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_joint_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_damping"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_limit_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_rest_length"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_rest_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_offset"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit"><code class="docutils literal notranslate"><span class="pre">ArticulationData.default_fixed_tendon_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_pos_target"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_pos_target</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_vel_target"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_vel_target</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_effort_target"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_effort_target</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.computed_torque"><code class="docutils literal notranslate"><span class="pre">ArticulationData.computed_torque</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.applied_torque"><code class="docutils literal notranslate"><span class="pre">ArticulationData.applied_torque</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_damping"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_limits"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_velocity_limits"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_velocity_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_damping"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit_stiffness"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_limit_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_rest_length"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_rest_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_offset"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit"><code class="docutils literal notranslate"><span class="pre">ArticulationData.fixed_tendon_limit</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits"><code class="docutils literal notranslate"><span class="pre">ArticulationData.soft_joint_pos_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.soft_joint_vel_limits"><code class="docutils literal notranslate"><span class="pre">ArticulationData.soft_joint_vel_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.gear_ratio"><code class="docutils literal notranslate"><span class="pre">ArticulationData.gear_ratio</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_state_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_acc_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.projected_gravity_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.projected_gravity_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.heading_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.heading_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_pos"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_pos</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_vel"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_vel</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.joint_acc"><code class="docutils literal notranslate"><span class="pre">ArticulationData.joint_acc</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_link_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_link_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_lin_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_lin_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.root_com_ang_vel_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.root_com_ang_vel_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_lin_acc_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_lin_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_ang_acc_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_ang_acc_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_link_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_link_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_pos_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_quat_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_lin_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.body_com_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">ArticulationData.body_com_ang_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.com_pos_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.com_pos_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationData.com_quat_b"><code class="docutils literal notranslate"><span class="pre">ArticulationData.com_quat_b</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.lin_vel"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.lin_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.ang_vel"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.ang_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.joint_pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_vel"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.joint_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.pos"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.rot"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.InitialStateCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.spawn"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.collision_group"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.collision_group</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.init_state"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.init_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.soft_joint_pos_limit_factor"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.soft_joint_pos_limit_factor</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.ArticulationCfg.actuators"><code class="docutils literal notranslate"><span class="pre">ArticulationCfg.actuators</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#deformable-object">Deformable Object</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject"><code class="docutils literal notranslate"><span class="pre">DeformableObject</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.cfg"><code class="docutils literal notranslate"><span class="pre">DeformableObject.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.__init__"><code class="docutils literal notranslate"><span class="pre">DeformableObject.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.data"><code class="docutils literal notranslate"><span class="pre">DeformableObject.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.num_instances"><code class="docutils literal notranslate"><span class="pre">DeformableObject.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.num_bodies"><code class="docutils literal notranslate"><span class="pre">DeformableObject.num_bodies</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.root_physx_view"><code class="docutils literal notranslate"><span class="pre">DeformableObject.root_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.material_physx_view"><code class="docutils literal notranslate"><span class="pre">DeformableObject.material_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.max_sim_elements_per_body"><code class="docutils literal notranslate"><span class="pre">DeformableObject.max_sim_elements_per_body</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.max_collision_elements_per_body"><code class="docutils literal notranslate"><span class="pre">DeformableObject.max_collision_elements_per_body</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.max_sim_vertices_per_body"><code class="docutils literal notranslate"><span class="pre">DeformableObject.max_sim_vertices_per_body</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.max_collision_vertices_per_body"><code class="docutils literal notranslate"><span class="pre">DeformableObject.max_collision_vertices_per_body</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.reset"><code class="docutils literal notranslate"><span class="pre">DeformableObject.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">DeformableObject.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.update"><code class="docutils literal notranslate"><span class="pre">DeformableObject.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_state_to_sim"><code class="docutils literal notranslate"><span class="pre">DeformableObject.write_nodal_state_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_pos_to_sim"><code class="docutils literal notranslate"><span class="pre">DeformableObject.write_nodal_pos_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_velocity_to_sim"><code class="docutils literal notranslate"><span class="pre">DeformableObject.write_nodal_velocity_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim"><code class="docutils literal notranslate"><span class="pre">DeformableObject.write_nodal_kinematic_target_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.transform_nodal_pos"><code class="docutils literal notranslate"><span class="pre">DeformableObject.transform_nodal_pos()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.device"><code class="docutils literal notranslate"><span class="pre">DeformableObject.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">DeformableObject.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.is_initialized"><code class="docutils literal notranslate"><span class="pre">DeformableObject.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObject.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">DeformableObject.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.update"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.default_nodal_state_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.default_nodal_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_kinematic_target"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.nodal_kinematic_target</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_pos_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.nodal_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_vel_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.nodal_vel_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.nodal_state_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.nodal_state_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_quat_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.sim_element_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_quat_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.collision_element_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_deform_gradient_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.sim_element_deform_gradient_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_deform_gradient_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.collision_element_deform_gradient_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.sim_element_stress_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.sim_element_stress_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.collision_element_stress_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.collision_element_stress_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.root_pos_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.root_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectData.root_vel_w"><code class="docutils literal notranslate"><span class="pre">DeformableObjectData.root_vel_w</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.InitialStateCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.pos"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.InitialStateCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.InitialStateCfg.rot"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.InitialStateCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.spawn"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.init_state"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.init_state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.collision_group"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.collision_group</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.assets.DeformableObjectCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">DeformableObjectCfg.visualizer_cfg</span></code></a></li>
+</ul>
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+    <h1>omni.isaac.lab.controllers</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#differential-inverse-kinematics">Differential Inverse Kinematics</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController.__init__"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController.action_dim"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController.action_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController.reset"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController.set_command"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController.set_command()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController.compute"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg"><code class="docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type"><code class="docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg.command_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode"><code class="docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg.use_relative_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method"><code class="docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg.ik_method</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params"><code class="docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg.ik_params</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#operational-space-controllers">Operational Space controllers</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController.__init__"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController.action_dim"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController.action_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController.reset"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController.set_command"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController.set_command()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController.compute"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.target_types"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.target_types</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_control_axes_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.motion_control_axes_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_control_axes_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.contact_wrench_control_axes_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.inertial_dynamics_decoupling"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.inertial_dynamics_decoupling</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.partial_inertial_dynamics_decoupling"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.partial_inertial_dynamics_decoupling</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.gravity_compensation"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.gravity_compensation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.impedance_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.motion_stiffness_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.motion_damping_ratio_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_limits_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.motion_stiffness_limits_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_limits_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.motion_damping_ratio_limits_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_stiffness_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.contact_wrench_stiffness_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_control"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.nullspace_control</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_stiffness"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.nullspace_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_damping_ratio"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.nullspace_damping_ratio</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.controllers">
+<span id="omni-isaac-lab-controllers"></span><h1>omni.isaac.lab.controllers<a class="headerlink" href="#module-omni.isaac.lab.controllers" title="Permalink to this heading">#</a></h1>
+<p>Sub-package for different controllers and motion-generators.</p>
+<p>Controllers or motion generators are responsible for closed-loop tracking of a given command. The
+controller can be a simple PID controller or a more complex controller such as impedance control
+or inverse kinematics control. The controller is responsible for generating the desired joint-level
+commands to be sent to the robot.</p>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKController" title="omni.isaac.lab.controllers.DifferentialIKController"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DifferentialIKController</span></code></a></p></td>
+<td><p>Differential inverse kinematics (IK) controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg" title="omni.isaac.lab.controllers.DifferentialIKControllerCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg</span></code></a></p></td>
+<td><p>Configuration for differential inverse kinematics controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceController" title="omni.isaac.lab.controllers.OperationalSpaceController"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OperationalSpaceController</span></code></a></p></td>
+<td><p>Operational-space controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg</span></code></a></p></td>
+<td><p>Configuration for operational-space controller.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="differential-inverse-kinematics">
+<h2>Differential Inverse Kinematics<a class="headerlink" href="#differential-inverse-kinematics" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKController">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.controllers.</span></span><span class="sig-name descname"><span class="pre">DifferentialIKController</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/differential_ik.html#DifferentialIKController"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKController" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Differential inverse kinematics (IK) controller.</p>
+<p>This controller is based on the concept of differential inverse kinematics [1, 2] which is a method for computing
+the change in joint positions that yields the desired change in pose.</p>
+<div class="math notranslate nohighlight">
+\[\begin{split}\Delta \mathbf{q} &amp;= \mathbf{J}^{\dagger} \Delta \mathbf{x} \\
+\mathbf{q}_{\text{desired}} &amp;= \mathbf{q}_{\text{current}} + \Delta \mathbf{q}\end{split}\]</div>
+<p>where <span class="math notranslate nohighlight">\(\mathbf{J}^{\dagger}\)</span> is the pseudo-inverse of the Jacobian matrix <span class="math notranslate nohighlight">\(\mathbf{J}\)</span>,
+<span class="math notranslate nohighlight">\(\Delta \mathbf{x}\)</span> is the desired change in pose, and <span class="math notranslate nohighlight">\(\mathbf{q}_{\text{current}}\)</span>
+is the current joint positions.</p>
+<p>To deal with singularity in Jacobian, the following methods are supported for computing inverse of the Jacobian:</p>
+<ul class="simple">
+<li><p>“pinv”: Moore-Penrose pseudo-inverse</p></li>
+<li><p>“svd”: Adaptive singular-value decomposition (SVD)</p></li>
+<li><p>“trans”: Transpose of matrix</p></li>
+<li><p>“dls”: Damped version of Moore-Penrose pseudo-inverse (also called Levenberg-Marquardt)</p></li>
+</ul>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>The controller does not assume anything about the frames of the current and desired end-effector pose,
+or the joint-space velocities. It is up to the user to ensure that these quantities are given
+in the correct format.</p>
+</div>
+<p>Reference:</p>
+<ol class="arabic simple">
+<li><p><a class="reference external" href="https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf">Robot Dynamics Lecture Notes</a>
+by Marco Hutter (ETH Zurich)</p></li>
+<li><p><a class="reference external" href="https://www.cs.cmu.edu/~15464-s13/lectures/lecture6/iksurvey.pdf">Introduction to Inverse Kinematics</a>
+by Samuel R. Buss (University of California, San Diego)</p></li>
+</ol>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKController.__init__" title="omni.isaac.lab.controllers.DifferentialIKController.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, num_envs, device)</p></td>
+<td><p>Initialize the controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKController.reset" title="omni.isaac.lab.controllers.DifferentialIKController.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Reset the internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKController.set_command" title="omni.isaac.lab.controllers.DifferentialIKController.set_command"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_command</span></code></a>(command[, ee_pos, ee_quat])</p></td>
+<td><p>Set target end-effector pose command.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKController.compute" title="omni.isaac.lab.controllers.DifferentialIKController.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(ee_pos, ee_quat, jacobian, joint_pos)</p></td>
+<td><p>Computes the target joint positions that will yield the desired end effector pose.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKController.action_dim" title="omni.isaac.lab.controllers.DifferentialIKController.action_dim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_dim</span></code></a></p></td>
+<td><p>Dimension of the controller's input command.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKController.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg" title="omni.isaac.lab.controllers.DifferentialIKControllerCfg"><span class="pre">DifferentialIKControllerCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_envs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/differential_ik.html#DifferentialIKController.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKController.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the controller.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration for the controller.</p></li>
+<li><p><strong>num_envs</strong> – The number of environments.</p></li>
+<li><p><strong>device</strong> – The device to use for computations.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKController.action_dim">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">action_dim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKController.action_dim" title="Permalink to this definition">#</a></dt>
+<dd><p>Dimension of the controller’s input command.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKController.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/differential_ik.html#DifferentialIKController.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKController.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment indices to reset. If None, then all environments are reset.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKController.set_command">
+<span class="sig-name descname"><span class="pre">set_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">ee_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ee_quat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/differential_ik.html#DifferentialIKController.set_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKController.set_command" title="Permalink to this definition">#</a></dt>
+<dd><p>Set target end-effector pose command.</p>
+<p>Based on the configured command type and relative mode, the method computes the desired end-effector pose.
+It is up to the user to ensure that the command is given in the correct frame. The method only
+applies the relative mode if the command type is <code class="docutils literal notranslate"><span class="pre">position_rel</span></code> or <code class="docutils literal notranslate"><span class="pre">pose_rel</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>command</strong> – The input command in shape (N, 3) or (N, 6) or (N, 7).</p></li>
+<li><p><strong>ee_pos</strong> – The current end-effector position in shape (N, 3).
+This is only needed if the command type is <code class="docutils literal notranslate"><span class="pre">position_rel</span></code> or <code class="docutils literal notranslate"><span class="pre">pose_rel</span></code>.</p></li>
+<li><p><strong>ee_quat</strong> – The current end-effector orientation (w, x, y, z) in shape (N, 4).
+This is only needed if the command type is <code class="docutils literal notranslate"><span class="pre">position_*</span></code> or <code class="docutils literal notranslate"><span class="pre">pose_rel</span></code>.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the command type is <code class="docutils literal notranslate"><span class="pre">position_*</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">ee_quat</span></code> is None.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the command type is <code class="docutils literal notranslate"><span class="pre">position_rel</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">ee_pos</span></code> is None.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the command type is <code class="docutils literal notranslate"><span class="pre">pose_rel</span></code> and either <code class="xref py py-attr docutils literal notranslate"><span class="pre">ee_pos</span></code> or <code class="xref py py-attr docutils literal notranslate"><span class="pre">ee_quat</span></code> is None.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKController.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ee_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">ee_quat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">jacobian</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/differential_ik.html#DifferentialIKController.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKController.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Computes the target joint positions that will yield the desired end effector pose.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>ee_pos</strong> – The current end-effector position in shape (N, 3).</p></li>
+<li><p><strong>ee_quat</strong> – The current end-effector orientation in shape (N, 4).</p></li>
+<li><p><strong>jacobian</strong> – The geometric jacobian matrix in shape (N, 6, num_joints).</p></li>
+<li><p><strong>joint_pos</strong> – The current joint positions in shape (N, num_joints).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The target joint positions commands in shape (N, num_joints).</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKControllerCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.controllers.</span></span><span class="sig-name descname"><span class="pre">DifferentialIKControllerCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/differential_ik_cfg.html#DifferentialIKControllerCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration for differential inverse kinematics controller.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type" title="omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">command_type</span></code></a></p></td>
+<td><p>Type of task-space command to control the articulation's body.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode" title="omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">use_relative_mode</span></code></a></p></td>
+<td><p>Whether to use relative mode for the controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method" title="omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ik_method</span></code></a></p></td>
+<td><p>Method for computing inverse of Jacobian.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params" title="omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ik_params</span></code></a></p></td>
+<td><p>Parameters for the inverse-kinematics method.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type">
+<span class="sig-name descname"><span class="pre">command_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'position'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'pose'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type" title="Permalink to this definition">#</a></dt>
+<dd><p>Type of task-space command to control the articulation’s body.</p>
+<p>If “position”, then the controller only controls the position of the articulation’s body.
+Otherwise, the controller controls the pose of the articulation’s body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode">
+<span class="sig-name descname"><span class="pre">use_relative_mode</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to use relative mode for the controller. Defaults to False.</p>
+<p>If True, then the controller treats the input command as a delta change in the position/pose.
+Otherwise, the controller treats the input command as the absolute position/pose.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method">
+<span class="sig-name descname"><span class="pre">ik_method</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'pinv'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'svd'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'trans'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'dls'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method" title="Permalink to this definition">#</a></dt>
+<dd><p>Method for computing inverse of Jacobian.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params">
+<span class="sig-name descname"><span class="pre">ik_params</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params" title="Permalink to this definition">#</a></dt>
+<dd><p>Parameters for the inverse-kinematics method. Defaults to None, in which case the default
+parameters for the method are used.</p>
+<ul class="simple">
+<li><dl class="simple">
+<dt>Moore-Penrose pseudo-inverse (“pinv”):</dt><dd><ul>
+<li><p>“k_val”: Scaling of computed delta-joint positions (default: 1.0).</p></li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="simple">
+<dt>Adaptive Singular Value Decomposition (“svd”):</dt><dd><ul>
+<li><p>“k_val”: Scaling of computed delta-joint positions (default: 1.0).</p></li>
+<li><p>“min_singular_value”: Single values less than this are suppressed to zero (default: 1e-5).</p></li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="simple">
+<dt>Jacobian transpose (“trans”):</dt><dd><ul>
+<li><p>“k_val”: Scaling of computed delta-joint positions (default: 1.0).</p></li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="simple">
+<dt>Damped Moore-Penrose pseudo-inverse (“dls”):</dt><dd><ul>
+<li><p>“lambda_val”: Damping coefficient (default: 0.01).</p></li>
+</ul>
+</dd>
+</dl>
+</li>
+</ul>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="operational-space-controllers">
+<h2>Operational Space controllers<a class="headerlink" href="#operational-space-controllers" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceController">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.controllers.</span></span><span class="sig-name descname"><span class="pre">OperationalSpaceController</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/operational_space.html#OperationalSpaceController"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceController" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Operational-space controller.</p>
+<p>Reference:</p>
+<ol class="arabic simple">
+<li><p><a class="reference external" href="http://dx.doi.org/10.1109/JRA.1987.1087068">A unified approach for motion and force control of robot manipulators: The operational space formulation</a>
+by Oussama Khatib (Stanford University)</p></li>
+<li><p><a class="reference external" href="https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf">Robot Dynamics Lecture Notes</a>
+by Marco Hutter (ETH Zurich)</p></li>
+</ol>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceController.__init__" title="omni.isaac.lab.controllers.OperationalSpaceController.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, num_envs, device)</p></td>
+<td><p>Initialize operational-space controller.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceController.reset" title="omni.isaac.lab.controllers.OperationalSpaceController.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>()</p></td>
+<td><p>Reset the internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceController.set_command" title="omni.isaac.lab.controllers.OperationalSpaceController.set_command"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_command</span></code></a>(command[, current_ee_pose_b, ...])</p></td>
+<td><p>Set the task-space targets and impedance parameters.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceController.compute" title="omni.isaac.lab.controllers.OperationalSpaceController.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(jacobian_b[, current_ee_pose_b, ...])</p></td>
+<td><p>Performs inference with the controller.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceController.action_dim" title="omni.isaac.lab.controllers.OperationalSpaceController.action_dim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_dim</span></code></a></p></td>
+<td><p>Dimension of the action space of controller.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceController.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg"><span class="pre">OperationalSpaceControllerCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_envs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/operational_space.html#OperationalSpaceController.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceController.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize operational-space controller.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration for operational-space controller.</p></li>
+<li><p><strong>num_envs</strong> – The number of environments.</p></li>
+<li><p><strong>device</strong> – The device to use for computations.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When invalid control command is provided.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceController.action_dim">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">action_dim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceController.action_dim" title="Permalink to this definition">#</a></dt>
+<dd><p>Dimension of the action space of controller.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceController.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/operational_space.html#OperationalSpaceController.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceController.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceController.set_command">
+<span class="sig-name descname"><span class="pre">set_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">current_ee_pose_b</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">current_task_frame_pose_b</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/operational_space.html#OperationalSpaceController.set_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceController.set_command" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the task-space targets and impedance parameters.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>command</strong> (<a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><em>torch.Tensor</em></a>) – A concatenated tensor of shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, <code class="docutils literal notranslate"><span class="pre">action_dim</span></code>) containing task-space
+targets (i.e., pose/wrench) and impedance parameters.</p></li>
+<li><p><strong>current_ee_pose_b</strong> (<a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><em>torch.Tensor</em></a><em>, </em><em>optional</em>) – Current end-effector pose, in root frame, of shape
+(<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 7), containing position and quaternion <code class="docutils literal notranslate"><span class="pre">(w,</span> <span class="pre">x,</span> <span class="pre">y,</span> <span class="pre">z)</span></code>. Required for relative
+commands. Defaults to None.</p></li>
+<li><p><strong>current_task_frame_pose_b</strong> – Current pose of the task frame, in root frame, in which the targets and the
+(motion/wrench) control axes are defined. It is a tensor of shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 7),
+containing position and the quaternion <code class="docutils literal notranslate"><span class="pre">(w,</span> <span class="pre">x,</span> <span class="pre">y,</span> <span class="pre">z)</span></code>. Defaults to None.</p></li>
+</ul>
+</dd>
+</dl>
+<dl>
+<dt>Format:</dt><dd><p>Task-space targets, ordered according to ‘command_types’:</p>
+<blockquote>
+<div><p>Absolute pose: shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 7), containing position and quaternion <code class="docutils literal notranslate"><span class="pre">(w,</span> <span class="pre">x,</span> <span class="pre">y,</span> <span class="pre">z)</span></code>.
+Relative pose: shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 6), containing delta position and rotation in axis-angle form.
+Absolute wrench: shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 6), containing force and torque.</p>
+</div></blockquote>
+<p>Impedance parameters: stiffness for <code class="docutils literal notranslate"><span class="pre">variable_kp</span></code>, or stiffness, followed by damping ratio for
+<code class="docutils literal notranslate"><span class="pre">variable</span></code>:</p>
+<blockquote>
+<div><p>Stiffness: shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 6)
+Damping ratio: shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 6)</p>
+</div></blockquote>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the command dimensions are invalid.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When an invalid impedance mode is provided.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the current end-effector pose is not provided for the <code class="docutils literal notranslate"><span class="pre">pose_rel</span></code> command.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When an invalid control command is provided.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceController.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">jacobian_b</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">current_ee_pose_b</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">current_ee_vel_b</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">current_ee_force_b</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mass_matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gravity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">current_joint_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">current_joint_vel</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nullspace_joint_pos_target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/operational_space.html#OperationalSpaceController.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceController.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Performs inference with the controller.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>jacobian_b</strong> – The Jacobian matrix of the end-effector in root frame. It is a tensor of shape
+(<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 6, <code class="docutils literal notranslate"><span class="pre">num_DoF</span></code>).</p></li>
+<li><p><strong>current_ee_pose_b</strong> – The current end-effector pose in root frame. It is a tensor of shape
+(<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 7), which contains the position and quaternion <code class="docutils literal notranslate"><span class="pre">(w,</span> <span class="pre">x,</span> <span class="pre">y,</span> <span class="pre">z)</span></code>. Defaults to <code class="docutils literal notranslate"><span class="pre">None</span></code>.</p></li>
+<li><p><strong>current_ee_vel_b</strong> – The current end-effector velocity in root frame. It is a tensor of shape
+(<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 6), which contains the linear and angular velocities. Defaults to None.</p></li>
+<li><p><strong>current_ee_force_b</strong> – The current external force on the end-effector in root frame. It is a tensor of
+shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, 3), which contains the linear force. Defaults to <code class="docutils literal notranslate"><span class="pre">None</span></code>.</p></li>
+<li><p><strong>mass_matrix</strong> – The joint-space mass/inertia matrix. It is a tensor of shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, <code class="docutils literal notranslate"><span class="pre">num_DoF</span></code>,
+<code class="docutils literal notranslate"><span class="pre">num_DoF</span></code>). Defaults to <code class="docutils literal notranslate"><span class="pre">None</span></code>.</p></li>
+<li><p><strong>gravity</strong> – The joint-space gravity vector. It is a tensor of shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, <code class="docutils literal notranslate"><span class="pre">num_DoF</span></code>). Defaults
+to <code class="docutils literal notranslate"><span class="pre">None</span></code>.</p></li>
+<li><p><strong>current_joint_pos</strong> – The current joint positions. It is a tensor of shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, <code class="docutils literal notranslate"><span class="pre">num_DoF</span></code>).
+Defaults to <code class="docutils literal notranslate"><span class="pre">None</span></code>.</p></li>
+<li><p><strong>current_joint_vel</strong> – The current joint velocities. It is a tensor of shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, <code class="docutils literal notranslate"><span class="pre">num_DoF</span></code>).
+Defaults to <code class="docutils literal notranslate"><span class="pre">None</span></code>.</p></li>
+<li><p><strong>nullspace_joint_pos_target</strong> – The target joint positions the null space controller is trying to enforce, when
+possible. It is a tensor of shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, <code class="docutils literal notranslate"><span class="pre">num_DoF</span></code>).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When motion-control is enabled but the current end-effector pose or velocity is not provided.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When inertial dynamics decoupling is enabled but the mass matrix is not provided.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the current end-effector pose is not provided for the <code class="docutils literal notranslate"><span class="pre">pose_rel</span></code> command.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When closed-loop force control is enabled but the current end-effector force is not provided.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When gravity compensation is enabled but the gravity vector is not provided.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When null-space control is enabled but the system is not redundant.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When dynamically consistent pseudo-inverse is enabled but the mass matrix inverse is not
+    provided.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When null-space control is enabled but the current joint positions and velocities are not
+    provided.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When target joint positions are provided for null-space control but their dimensions do not
+    match the current joint positions.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When an invalid null-space control method is provided.</p></li>
+</ul>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The joint efforts computed by the controller. It is a tensor of shape (<code class="docutils literal notranslate"><span class="pre">num_envs</span></code>, <code class="docutils literal notranslate"><span class="pre">num_DoF</span></code>).</p>
+</dd>
+<dt class="field-even">Return type<span class="colon">:</span></dt>
+<dd class="field-even"><p>Tensor</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.controllers.</span></span><span class="sig-name descname"><span class="pre">OperationalSpaceControllerCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/controllers/operational_space_cfg.html#OperationalSpaceControllerCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration for operational-space controller.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.target_types" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.target_types"><code class="xref py py-obj docutils literal notranslate"><span class="pre">target_types</span></code></a></p></td>
+<td><p>Type of task-space targets.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_control_axes_task" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_control_axes_task"><code class="xref py py-obj docutils literal notranslate"><span class="pre">motion_control_axes_task</span></code></a></p></td>
+<td><p>Motion direction to control in task reference frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_control_axes_task" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_control_axes_task"><code class="xref py py-obj docutils literal notranslate"><span class="pre">contact_wrench_control_axes_task</span></code></a></p></td>
+<td><p>Contact wrench direction to control in task reference frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.inertial_dynamics_decoupling" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.inertial_dynamics_decoupling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">inertial_dynamics_decoupling</span></code></a></p></td>
+<td><p>Whether to perform inertial dynamics decoupling for motion control (inverse dynamics).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.partial_inertial_dynamics_decoupling" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.partial_inertial_dynamics_decoupling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">partial_inertial_dynamics_decoupling</span></code></a></p></td>
+<td><p>Whether to ignore the inertial coupling between the translational &amp; rotational motions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.gravity_compensation" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.gravity_compensation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gravity_compensation</span></code></a></p></td>
+<td><p>Whether to perform gravity compensation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">impedance_mode</span></code></a></p></td>
+<td><p><code class="docutils literal notranslate"><span class="pre">&quot;fixed&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;variable&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;variable_kp&quot;</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_task" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_task"><code class="xref py py-obj docutils literal notranslate"><span class="pre">motion_stiffness_task</span></code></a></p></td>
+<td><p>The positional gain for determining operational space command forces based on task-space pose error.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_task" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_task"><code class="xref py py-obj docutils literal notranslate"><span class="pre">motion_damping_ratio_task</span></code></a></p></td>
+<td><p>The damping ratio is used in-conjunction with positional gain to compute operational space command forces based on task-space velocity error.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_limits_task" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_limits_task"><code class="xref py py-obj docutils literal notranslate"><span class="pre">motion_stiffness_limits_task</span></code></a></p></td>
+<td><p>Minimum and maximum values for positional gains.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_limits_task" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_limits_task"><code class="xref py py-obj docutils literal notranslate"><span class="pre">motion_damping_ratio_limits_task</span></code></a></p></td>
+<td><p>Minimum and maximum values for damping ratios used to compute velocity gains.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_stiffness_task" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_stiffness_task"><code class="xref py py-obj docutils literal notranslate"><span class="pre">contact_wrench_stiffness_task</span></code></a></p></td>
+<td><p>The proportional gain for determining operational space command forces for closed-loop contact force control.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_control" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_control"><code class="xref py py-obj docutils literal notranslate"><span class="pre">nullspace_control</span></code></a></p></td>
+<td><p><code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;position&quot;</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_stiffness" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">nullspace_stiffness</span></code></a></p></td>
+<td><p>The stiffness for null space control.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_damping_ratio" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_damping_ratio"><code class="xref py py-obj docutils literal notranslate"><span class="pre">nullspace_damping_ratio</span></code></a></p></td>
+<td><p>The damping ratio for null space control.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.target_types">
+<span class="sig-name descname"><span class="pre">target_types</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.target_types" title="Permalink to this definition">#</a></dt>
+<dd><p>Type of task-space targets.</p>
+<dl class="simple">
+<dt>It has two sub-strings joined by underscore:</dt><dd><ul class="simple">
+<li><p>type of task-space target: <code class="docutils literal notranslate"><span class="pre">&quot;pose&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;wrench&quot;</span></code></p></li>
+<li><p>reference for the task-space targets: <code class="docutils literal notranslate"><span class="pre">&quot;abs&quot;</span></code> (absolute), <code class="docutils literal notranslate"><span class="pre">&quot;rel&quot;</span></code> (relative, only for pose)</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_control_axes_task">
+<span class="sig-name descname"><span class="pre">motion_control_axes_task</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_control_axes_task" title="Permalink to this definition">#</a></dt>
+<dd><p>Motion direction to control in task reference frame. Mark as <code class="docutils literal notranslate"><span class="pre">0/1</span></code> for each axis.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_control_axes_task">
+<span class="sig-name descname"><span class="pre">contact_wrench_control_axes_task</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_control_axes_task" title="Permalink to this definition">#</a></dt>
+<dd><p>Contact wrench direction to control in task reference frame. Mark as 0/1 for each axis.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.inertial_dynamics_decoupling">
+<span class="sig-name descname"><span class="pre">inertial_dynamics_decoupling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.inertial_dynamics_decoupling" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to perform inertial dynamics decoupling for motion control (inverse dynamics).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.partial_inertial_dynamics_decoupling">
+<span class="sig-name descname"><span class="pre">partial_inertial_dynamics_decoupling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.partial_inertial_dynamics_decoupling" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to ignore the inertial coupling between the translational &amp; rotational motions.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.gravity_compensation">
+<span class="sig-name descname"><span class="pre">gravity_compensation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.gravity_compensation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to perform gravity compensation.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode">
+<span class="sig-name descname"><span class="pre">impedance_mode</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode" title="Permalink to this definition">#</a></dt>
+<dd><p><code class="docutils literal notranslate"><span class="pre">&quot;fixed&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;variable&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;variable_kp&quot;</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Type of gains for motion control</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_task">
+<span class="sig-name descname"><span class="pre">motion_stiffness_task</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_task" title="Permalink to this definition">#</a></dt>
+<dd><p>The positional gain for determining operational space command forces based on task-space pose error.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_task">
+<span class="sig-name descname"><span class="pre">motion_damping_ratio_task</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_task" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping ratio is used in-conjunction with positional gain to compute operational space command forces
+based on task-space velocity error.</p>
+<dl class="simple">
+<dt>The following math operation is performed for computing velocity gains:</dt><dd><p><span class="math notranslate nohighlight">\(d_gains = 2 * sqrt(p_gains) * damping_ratio\)</span>.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_limits_task">
+<span class="sig-name descname"><span class="pre">motion_stiffness_limits_task</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_limits_task" title="Permalink to this definition">#</a></dt>
+<dd><p>Minimum and maximum values for positional gains.</p>
+<p>Note: Used only when <a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">impedance_mode</span></code></a> is <code class="docutils literal notranslate"><span class="pre">&quot;variable&quot;</span></code> or <code class="docutils literal notranslate"><span class="pre">&quot;variable_kp&quot;</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_limits_task">
+<span class="sig-name descname"><span class="pre">motion_damping_ratio_limits_task</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_limits_task" title="Permalink to this definition">#</a></dt>
+<dd><p>Minimum and maximum values for damping ratios used to compute velocity gains.</p>
+<p>Note: Used only when <a class="reference internal" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">impedance_mode</span></code></a> is <code class="docutils literal notranslate"><span class="pre">&quot;variable&quot;</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_stiffness_task">
+<span class="sig-name descname"><span class="pre">contact_wrench_stiffness_task</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_stiffness_task" title="Permalink to this definition">#</a></dt>
+<dd><p>The proportional gain for determining operational space command forces for closed-loop contact force control.</p>
+<p>If <code class="docutils literal notranslate"><span class="pre">None</span></code>, then open-loop control of desired contact wrench is performed.</p>
+<p>Note: since only the linear forces could be measured at the moment,
+only the first three elements are used for the feedback loop.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_control">
+<span class="sig-name descname"><span class="pre">nullspace_control</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_control" title="Permalink to this definition">#</a></dt>
+<dd><p><code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;position&quot;</span></code>.</p>
+<p>Note: <code class="docutils literal notranslate"><span class="pre">&quot;position&quot;</span></code> is used to drive the redundant manipulator to zero configuration by default. If
+<code class="docutils literal notranslate"><span class="pre">target_joint_pos</span></code> is provided in the <code class="docutils literal notranslate"><span class="pre">compute()</span></code> method, it will be driven to this configuration.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The null space control method for redundant manipulators</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_stiffness">
+<span class="sig-name descname"><span class="pre">nullspace_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The stiffness for null space control.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_damping_ratio">
+<span class="sig-name descname"><span class="pre">nullspace_damping_ratio</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_damping_ratio" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping ratio for null space control.</p>
+</dd></dl>
+
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+    <i class="fa-solid fa-list"></i> Contents
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+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#differential-inverse-kinematics">Differential Inverse Kinematics</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController.__init__"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController.action_dim"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController.action_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController.reset"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController.set_command"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController.set_command()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKController.compute"><code class="docutils literal notranslate"><span class="pre">DifferentialIKController.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg"><code class="docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type"><code class="docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg.command_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode"><code class="docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg.use_relative_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method"><code class="docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg.ik_method</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params"><code class="docutils literal notranslate"><span class="pre">DifferentialIKControllerCfg.ik_params</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#operational-space-controllers">Operational Space controllers</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController.__init__"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController.action_dim"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController.action_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController.reset"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController.set_command"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController.set_command()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceController.compute"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceController.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.target_types"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.target_types</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_control_axes_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.motion_control_axes_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_control_axes_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.contact_wrench_control_axes_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.inertial_dynamics_decoupling"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.inertial_dynamics_decoupling</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.partial_inertial_dynamics_decoupling"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.partial_inertial_dynamics_decoupling</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.gravity_compensation"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.gravity_compensation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.impedance_mode"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.impedance_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.motion_stiffness_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.motion_damping_ratio_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_stiffness_limits_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.motion_stiffness_limits_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.motion_damping_ratio_limits_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.motion_damping_ratio_limits_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.contact_wrench_stiffness_task"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.contact_wrench_stiffness_task</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_control"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.nullspace_control</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_stiffness"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.nullspace_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.controllers.OperationalSpaceControllerCfg.nullspace_damping_ratio"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg.nullspace_damping_ratio</span></code></a></li>
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+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#device-base">Device Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.DeviceBase"><code class="docutils literal notranslate"><span class="pre">DeviceBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.DeviceBase.__init__"><code class="docutils literal notranslate"><span class="pre">DeviceBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.DeviceBase.reset"><code class="docutils literal notranslate"><span class="pre">DeviceBase.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.DeviceBase.add_callback"><code class="docutils literal notranslate"><span class="pre">DeviceBase.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.DeviceBase.advance"><code class="docutils literal notranslate"><span class="pre">DeviceBase.advance()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#game-pad">Game Pad</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Gamepad"><code class="docutils literal notranslate"><span class="pre">Se2Gamepad</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Gamepad.__init__"><code class="docutils literal notranslate"><span class="pre">Se2Gamepad.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Gamepad.reset"><code class="docutils literal notranslate"><span class="pre">Se2Gamepad.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Gamepad.add_callback"><code class="docutils literal notranslate"><span class="pre">Se2Gamepad.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Gamepad.advance"><code class="docutils literal notranslate"><span class="pre">Se2Gamepad.advance()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Gamepad"><code class="docutils literal notranslate"><span class="pre">Se3Gamepad</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Gamepad.__init__"><code class="docutils literal notranslate"><span class="pre">Se3Gamepad.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Gamepad.reset"><code class="docutils literal notranslate"><span class="pre">Se3Gamepad.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Gamepad.add_callback"><code class="docutils literal notranslate"><span class="pre">Se3Gamepad.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Gamepad.advance"><code class="docutils literal notranslate"><span class="pre">Se3Gamepad.advance()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#keyboard">Keyboard</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Keyboard"><code class="docutils literal notranslate"><span class="pre">Se2Keyboard</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Keyboard.__init__"><code class="docutils literal notranslate"><span class="pre">Se2Keyboard.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Keyboard.reset"><code class="docutils literal notranslate"><span class="pre">Se2Keyboard.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Keyboard.add_callback"><code class="docutils literal notranslate"><span class="pre">Se2Keyboard.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Keyboard.advance"><code class="docutils literal notranslate"><span class="pre">Se2Keyboard.advance()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Keyboard"><code class="docutils literal notranslate"><span class="pre">Se3Keyboard</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Keyboard.__init__"><code class="docutils literal notranslate"><span class="pre">Se3Keyboard.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Keyboard.reset"><code class="docutils literal notranslate"><span class="pre">Se3Keyboard.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Keyboard.add_callback"><code class="docutils literal notranslate"><span class="pre">Se3Keyboard.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Keyboard.advance"><code class="docutils literal notranslate"><span class="pre">Se3Keyboard.advance()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#space-mouse">Space Mouse</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2SpaceMouse"><code class="docutils literal notranslate"><span class="pre">Se2SpaceMouse</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2SpaceMouse.__init__"><code class="docutils literal notranslate"><span class="pre">Se2SpaceMouse.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2SpaceMouse.reset"><code class="docutils literal notranslate"><span class="pre">Se2SpaceMouse.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2SpaceMouse.add_callback"><code class="docutils literal notranslate"><span class="pre">Se2SpaceMouse.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2SpaceMouse.advance"><code class="docutils literal notranslate"><span class="pre">Se2SpaceMouse.advance()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3SpaceMouse"><code class="docutils literal notranslate"><span class="pre">Se3SpaceMouse</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3SpaceMouse.__init__"><code class="docutils literal notranslate"><span class="pre">Se3SpaceMouse.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3SpaceMouse.reset"><code class="docutils literal notranslate"><span class="pre">Se3SpaceMouse.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3SpaceMouse.add_callback"><code class="docutils literal notranslate"><span class="pre">Se3SpaceMouse.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3SpaceMouse.advance"><code class="docutils literal notranslate"><span class="pre">Se3SpaceMouse.advance()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.devices">
+<span id="omni-isaac-lab-devices"></span><h1>omni.isaac.lab.devices<a class="headerlink" href="#module-omni.isaac.lab.devices" title="Permalink to this heading">#</a></h1>
+<p>Sub-package providing interfaces to different teleoperation devices.</p>
+<p>Currently, the following categories of devices are supported:</p>
+<ul class="simple">
+<li><p><strong>Keyboard</strong>: Standard keyboard with WASD and arrow keys.</p></li>
+<li><p><strong>Spacemouse</strong>: 3D mouse with 6 degrees of freedom.</p></li>
+<li><p><strong>Gamepad</strong>: Gamepad with 2D two joysticks and buttons. Example: Xbox controller.</p></li>
+</ul>
+<p>All device interfaces inherit from the <a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase" title="omni.isaac.lab.devices.DeviceBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">DeviceBase</span></code></a> class, which provides a
+common interface for all devices. The device interface reads the input data when
+the <a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase.advance" title="omni.isaac.lab.devices.DeviceBase.advance"><code class="xref py py-meth docutils literal notranslate"><span class="pre">DeviceBase.advance()</span></code></a> method is called. It also provides the function <a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase.add_callback" title="omni.isaac.lab.devices.DeviceBase.add_callback"><code class="xref py py-meth docutils literal notranslate"><span class="pre">DeviceBase.add_callback()</span></code></a>
+to add user-defined callback functions to be called when a particular input is pressed from
+the peripheral device.</p>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase" title="omni.isaac.lab.devices.DeviceBase"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DeviceBase</span></code></a></p></td>
+<td><p>An interface class for teleoperation devices.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2Gamepad" title="omni.isaac.lab.devices.Se2Gamepad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Se2Gamepad</span></code></a></p></td>
+<td><p>A gamepad controller for sending SE(2) commands as velocity commands.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3Gamepad" title="omni.isaac.lab.devices.Se3Gamepad"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Se3Gamepad</span></code></a></p></td>
+<td><p>A gamepad controller for sending SE(3) commands as delta poses and binary command (open/close).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2Keyboard" title="omni.isaac.lab.devices.Se2Keyboard"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Se2Keyboard</span></code></a></p></td>
+<td><p>A keyboard controller for sending SE(2) commands as velocity commands.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3Keyboard" title="omni.isaac.lab.devices.Se3Keyboard"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Se3Keyboard</span></code></a></p></td>
+<td><p>A keyboard controller for sending SE(3) commands as delta poses and binary command (open/close).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3SpaceMouse" title="omni.isaac.lab.devices.Se3SpaceMouse"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Se3SpaceMouse</span></code></a></p></td>
+<td><p>A space-mouse controller for sending SE(3) commands as delta poses.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3SpaceMouse" title="omni.isaac.lab.devices.Se3SpaceMouse"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Se3SpaceMouse</span></code></a></p></td>
+<td><p>A space-mouse controller for sending SE(3) commands as delta poses.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="device-base">
+<h2>Device Base<a class="headerlink" href="#device-base" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.DeviceBase">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.devices.</span></span><span class="sig-name descname"><span class="pre">DeviceBase</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/device_base.html#DeviceBase"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.DeviceBase" title="Permalink to this definition">#</a></dt>
+<dd><p>An interface class for teleoperation devices.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase.__init__" title="omni.isaac.lab.devices.DeviceBase.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>()</p></td>
+<td><p>Initialize the teleoperation interface.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase.reset" title="omni.isaac.lab.devices.DeviceBase.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>()</p></td>
+<td><p>Reset the internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase.add_callback" title="omni.isaac.lab.devices.DeviceBase.add_callback"><code class="xref py py-obj docutils literal notranslate"><span class="pre">add_callback</span></code></a>(key, func)</p></td>
+<td><p>Add additional functions to bind keyboard.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase.advance" title="omni.isaac.lab.devices.DeviceBase.advance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">advance</span></code></a>()</p></td>
+<td><p>Provides the joystick event state.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.DeviceBase.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/device_base.html#DeviceBase.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.DeviceBase.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the teleoperation interface.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.DeviceBase.reset">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/device_base.html#DeviceBase.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.DeviceBase.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.DeviceBase.add_callback">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">add_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">func</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/device_base.html#DeviceBase.add_callback"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.DeviceBase.add_callback" title="Permalink to this definition">#</a></dt>
+<dd><p>Add additional functions to bind keyboard.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The button to check against.</p></li>
+<li><p><strong>func</strong> – The function to call when key is pressed. The callback function should not
+take any arguments.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.DeviceBase.advance">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">advance</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/device_base.html#DeviceBase.advance"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.DeviceBase.advance" title="Permalink to this definition">#</a></dt>
+<dd><p>Provides the joystick event state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The processed output form the joystick.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="game-pad">
+<h2>Game Pad<a class="headerlink" href="#game-pad" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2Gamepad">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.devices.</span></span><span class="sig-name descname"><span class="pre">Se2Gamepad</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html#Se2Gamepad"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2Gamepad" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase" title="omni.isaac.lab.devices.device_base.DeviceBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">DeviceBase</span></code></a></p>
+<p>A gamepad controller for sending SE(2) commands as velocity commands.</p>
+<p>This class is designed to provide a gamepad controller for mobile base (such as quadrupeds).
+It uses the Omniverse gamepad interface to listen to gamepad events and map them to robot’s
+task-space commands.</p>
+<p>The command comprises of the base linear and angular velocity: <span class="math notranslate nohighlight">\((v_x, v_y, \omega_z)\)</span>.</p>
+<dl>
+<dt>Key bindings:</dt><dd><div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Command</p></th>
+<th class="head"><p>Key (+ve axis)</p></th>
+<th class="head"><p>Key (-ve axis)</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Move along x-axis</p></td>
+<td><p>left stick up</p></td>
+<td><p>left stick down</p></td>
+</tr>
+<tr class="row-odd"><td><p>Move along y-axis</p></td>
+<td><p>left stick right</p></td>
+<td><p>left stick left</p></td>
+</tr>
+<tr class="row-even"><td><p>Rotate along z-axis</p></td>
+<td><p>right stick right</p></td>
+<td><p>right stick left</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</dd>
+</dl>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>The official documentation for the gamepad interface: <a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html">Carb Gamepad Interface</a>.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2Gamepad.__init__" title="omni.isaac.lab.devices.Se2Gamepad.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([v_x_sensitivity, v_y_sensitivity, ...])</p></td>
+<td><p>Initialize the gamepad layer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2Gamepad.reset" title="omni.isaac.lab.devices.Se2Gamepad.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>()</p></td>
+<td><p>Reset the internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2Gamepad.add_callback" title="omni.isaac.lab.devices.Se2Gamepad.add_callback"><code class="xref py py-obj docutils literal notranslate"><span class="pre">add_callback</span></code></a>(key, func)</p></td>
+<td><p>Add additional functions to bind gamepad.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2Gamepad.advance" title="omni.isaac.lab.devices.Se2Gamepad.advance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">advance</span></code></a>()</p></td>
+<td><p>Provides the result from gamepad event state.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2Gamepad.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">v_x_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">v_y_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">omega_z_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dead_zone</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.01</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html#Se2Gamepad.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2Gamepad.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the gamepad layer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>v_x_sensitivity</strong> – Magnitude of linear velocity along x-direction scaling. Defaults to 1.0.</p></li>
+<li><p><strong>v_y_sensitivity</strong> – Magnitude of linear velocity along y-direction scaling. Defaults to 1.0.</p></li>
+<li><p><strong>omega_z_sensitivity</strong> – Magnitude of angular velocity along z-direction scaling. Defaults to 1.0.</p></li>
+<li><p><strong>dead_zone</strong> – Magnitude of dead zone for gamepad. An event value from the gamepad less than
+this value will be ignored. Defaults to 0.01.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2Gamepad.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html#Se2Gamepad.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2Gamepad.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2Gamepad.add_callback">
+<span class="sig-name descname"><span class="pre">add_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">carb.input.GamepadInput</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">func</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html#Se2Gamepad.add_callback"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2Gamepad.add_callback" title="Permalink to this definition">#</a></dt>
+<dd><p>Add additional functions to bind gamepad.</p>
+<p>A list of available gamepad keys are present in the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html">carb documentation</a>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The gamepad button to check against.</p></li>
+<li><p><strong>func</strong> – The function to call when key is pressed. The callback function should not
+take any arguments.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2Gamepad.advance">
+<span class="sig-name descname"><span class="pre">advance</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">numpy.ndarray</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/gamepad/se2_gamepad.html#Se2Gamepad.advance"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2Gamepad.advance" title="Permalink to this definition">#</a></dt>
+<dd><p>Provides the result from gamepad event state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A 3D array containing the linear (x,y) and angular velocity (z).</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3Gamepad">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.devices.</span></span><span class="sig-name descname"><span class="pre">Se3Gamepad</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html#Se3Gamepad"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3Gamepad" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase" title="omni.isaac.lab.devices.device_base.DeviceBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">DeviceBase</span></code></a></p>
+<p>A gamepad controller for sending SE(3) commands as delta poses and binary command (open/close).</p>
+<p>This class is designed to provide a gamepad controller for a robotic arm with a gripper.
+It uses the gamepad interface to listen to gamepad events and map them to the robot’s
+task-space commands.</p>
+<p>The command comprises of two parts:</p>
+<ul class="simple">
+<li><p>delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.</p></li>
+<li><p>gripper: a binary command to open or close the gripper.</p></li>
+</ul>
+<dl>
+<dt>Stick and Button bindings:</dt><dd><div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Description</p></th>
+<th class="head"><p>Stick/Button (+ve axis)</p></th>
+<th class="head"><p>Stick/Button (-ve axis)</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Toggle gripper(open/close)</p></td>
+<td><p>X Button</p></td>
+<td><p>X Button</p></td>
+</tr>
+<tr class="row-odd"><td><p>Move along x-axis</p></td>
+<td><p>Left Stick Up</p></td>
+<td><p>Left Stick Down</p></td>
+</tr>
+<tr class="row-even"><td><p>Move along y-axis</p></td>
+<td><p>Left Stick Left</p></td>
+<td><p>Left Stick Right</p></td>
+</tr>
+<tr class="row-odd"><td><p>Move along z-axis</p></td>
+<td><p>Right Stick Up</p></td>
+<td><p>Right Stick Down</p></td>
+</tr>
+<tr class="row-even"><td><p>Rotate along x-axis</p></td>
+<td><p>D-Pad Left</p></td>
+<td><p>D-Pad Right</p></td>
+</tr>
+<tr class="row-odd"><td><p>Rotate along y-axis</p></td>
+<td><p>D-Pad Down</p></td>
+<td><p>D-Pad Up</p></td>
+</tr>
+<tr class="row-even"><td><p>Rotate along z-axis</p></td>
+<td><p>Right Stick Left</p></td>
+<td><p>Right Stick Right</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</dd>
+</dl>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>The official documentation for the gamepad interface: <a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html">Carb Gamepad Interface</a>.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3Gamepad.__init__" title="omni.isaac.lab.devices.Se3Gamepad.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([pos_sensitivity, rot_sensitivity, ...])</p></td>
+<td><p>Initialize the gamepad layer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3Gamepad.reset" title="omni.isaac.lab.devices.Se3Gamepad.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>()</p></td>
+<td><p>Reset the internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3Gamepad.add_callback" title="omni.isaac.lab.devices.Se3Gamepad.add_callback"><code class="xref py py-obj docutils literal notranslate"><span class="pre">add_callback</span></code></a>(key, func)</p></td>
+<td><p>Add additional functions to bind gamepad.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3Gamepad.advance" title="omni.isaac.lab.devices.Se3Gamepad.advance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">advance</span></code></a>()</p></td>
+<td><p>Provides the result from gamepad event state.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3Gamepad.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pos_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rot_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.6</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dead_zone</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.01</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html#Se3Gamepad.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3Gamepad.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the gamepad layer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>pos_sensitivity</strong> – Magnitude of input position command scaling. Defaults to 1.0.</p></li>
+<li><p><strong>rot_sensitivity</strong> – Magnitude of scale input rotation commands scaling. Defaults to 1.6.</p></li>
+<li><p><strong>dead_zone</strong> – Magnitude of dead zone for gamepad. An event value from the gamepad less than
+this value will be ignored. Defaults to 0.01.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3Gamepad.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html#Se3Gamepad.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3Gamepad.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3Gamepad.add_callback">
+<span class="sig-name descname"><span class="pre">add_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">carb.input.GamepadInput</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">func</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html#Se3Gamepad.add_callback"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3Gamepad.add_callback" title="Permalink to this definition">#</a></dt>
+<dd><p>Add additional functions to bind gamepad.</p>
+<p>A list of available gamepad keys are present in the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html">carb documentation</a>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The gamepad button to check against.</p></li>
+<li><p><strong>func</strong> – The function to call when key is pressed. The callback function should not
+take any arguments.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3Gamepad.advance">
+<span class="sig-name descname"><span class="pre">advance</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">numpy.ndarray</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/gamepad/se3_gamepad.html#Se3Gamepad.advance"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3Gamepad.advance" title="Permalink to this definition">#</a></dt>
+<dd><p>Provides the result from gamepad event state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A tuple containing the delta pose command and gripper commands.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="keyboard">
+<h2>Keyboard<a class="headerlink" href="#keyboard" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2Keyboard">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.devices.</span></span><span class="sig-name descname"><span class="pre">Se2Keyboard</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html#Se2Keyboard"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2Keyboard" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase" title="omni.isaac.lab.devices.device_base.DeviceBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">DeviceBase</span></code></a></p>
+<p>A keyboard controller for sending SE(2) commands as velocity commands.</p>
+<p>This class is designed to provide a keyboard controller for mobile base (such as quadrupeds).
+It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot’s
+task-space commands.</p>
+<p>The command comprises of the base linear and angular velocity: <span class="math notranslate nohighlight">\((v_x, v_y, \omega_z)\)</span>.</p>
+<dl>
+<dt>Key bindings:</dt><dd><div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Command</p></th>
+<th class="head"><p>Key (+ve axis)</p></th>
+<th class="head"><p>Key (-ve axis)</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Move along x-axis</p></td>
+<td><p>Numpad 8 / Arrow Up</p></td>
+<td><p>Numpad 2 / Arrow Down</p></td>
+</tr>
+<tr class="row-odd"><td><p>Move along y-axis</p></td>
+<td><p>Numpad 4 / Arrow Right</p></td>
+<td><p>Numpad 6 / Arrow Left</p></td>
+</tr>
+<tr class="row-even"><td><p>Rotate along z-axis</p></td>
+<td><p>Numpad 7 / Z</p></td>
+<td><p>Numpad 9 / X</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</dd>
+</dl>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>The official documentation for the keyboard interface: <a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html">Carb Keyboard Interface</a>.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2Keyboard.__init__" title="omni.isaac.lab.devices.Se2Keyboard.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([v_x_sensitivity, v_y_sensitivity, ...])</p></td>
+<td><p>Initialize the keyboard layer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2Keyboard.reset" title="omni.isaac.lab.devices.Se2Keyboard.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>()</p></td>
+<td><p>Reset the internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2Keyboard.add_callback" title="omni.isaac.lab.devices.Se2Keyboard.add_callback"><code class="xref py py-obj docutils literal notranslate"><span class="pre">add_callback</span></code></a>(key, func)</p></td>
+<td><p>Add additional functions to bind keyboard.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2Keyboard.advance" title="omni.isaac.lab.devices.Se2Keyboard.advance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">advance</span></code></a>()</p></td>
+<td><p>Provides the result from keyboard event state.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2Keyboard.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">v_x_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.8</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">v_y_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.4</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">omega_z_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html#Se2Keyboard.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2Keyboard.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the keyboard layer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>v_x_sensitivity</strong> – Magnitude of linear velocity along x-direction scaling. Defaults to 0.8.</p></li>
+<li><p><strong>v_y_sensitivity</strong> – Magnitude of linear velocity along y-direction scaling. Defaults to 0.4.</p></li>
+<li><p><strong>omega_z_sensitivity</strong> – Magnitude of angular velocity along z-direction scaling. Defaults to 1.0.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2Keyboard.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html#Se2Keyboard.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2Keyboard.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2Keyboard.add_callback">
+<span class="sig-name descname"><span class="pre">add_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">func</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html#Se2Keyboard.add_callback"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2Keyboard.add_callback" title="Permalink to this definition">#</a></dt>
+<dd><p>Add additional functions to bind keyboard.</p>
+<p>A list of available keys are present in the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html">carb documentation</a>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The keyboard button to check against.</p></li>
+<li><p><strong>func</strong> – The function to call when key is pressed. The callback function should not
+take any arguments.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2Keyboard.advance">
+<span class="sig-name descname"><span class="pre">advance</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">numpy.ndarray</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/keyboard/se2_keyboard.html#Se2Keyboard.advance"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2Keyboard.advance" title="Permalink to this definition">#</a></dt>
+<dd><p>Provides the result from keyboard event state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>3D array containing the linear (x,y) and angular velocity (z).</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3Keyboard">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.devices.</span></span><span class="sig-name descname"><span class="pre">Se3Keyboard</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html#Se3Keyboard"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3Keyboard" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase" title="omni.isaac.lab.devices.device_base.DeviceBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">DeviceBase</span></code></a></p>
+<p>A keyboard controller for sending SE(3) commands as delta poses and binary command (open/close).</p>
+<p>This class is designed to provide a keyboard controller for a robotic arm with a gripper.
+It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot’s
+task-space commands.</p>
+<p>The command comprises of two parts:</p>
+<ul class="simple">
+<li><p>delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.</p></li>
+<li><p>gripper: a binary command to open or close the gripper.</p></li>
+</ul>
+<dl>
+<dt>Key bindings:</dt><dd><div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Description</p></th>
+<th class="head"><p>Key (+ve axis)</p></th>
+<th class="head"><p>Key (-ve axis)</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Toggle gripper (open/close)</p></td>
+<td><p>K</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Move along x-axis</p></td>
+<td><p>W</p></td>
+<td><p>S</p></td>
+</tr>
+<tr class="row-even"><td><p>Move along y-axis</p></td>
+<td><p>A</p></td>
+<td><p>D</p></td>
+</tr>
+<tr class="row-odd"><td><p>Move along z-axis</p></td>
+<td><p>Q</p></td>
+<td><p>E</p></td>
+</tr>
+<tr class="row-even"><td><p>Rotate along x-axis</p></td>
+<td><p>Z</p></td>
+<td><p>X</p></td>
+</tr>
+<tr class="row-odd"><td><p>Rotate along y-axis</p></td>
+<td><p>T</p></td>
+<td><p>G</p></td>
+</tr>
+<tr class="row-even"><td><p>Rotate along z-axis</p></td>
+<td><p>C</p></td>
+<td><p>V</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</dd>
+</dl>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>The official documentation for the keyboard interface: <a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html">Carb Keyboard Interface</a>.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3Keyboard.__init__" title="omni.isaac.lab.devices.Se3Keyboard.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([pos_sensitivity, rot_sensitivity])</p></td>
+<td><p>Initialize the keyboard layer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3Keyboard.reset" title="omni.isaac.lab.devices.Se3Keyboard.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>()</p></td>
+<td><p>Reset the internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3Keyboard.add_callback" title="omni.isaac.lab.devices.Se3Keyboard.add_callback"><code class="xref py py-obj docutils literal notranslate"><span class="pre">add_callback</span></code></a>(key, func)</p></td>
+<td><p>Add additional functions to bind keyboard.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3Keyboard.advance" title="omni.isaac.lab.devices.Se3Keyboard.advance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">advance</span></code></a>()</p></td>
+<td><p>Provides the result from keyboard event state.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3Keyboard.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pos_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.4</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rot_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.8</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html#Se3Keyboard.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3Keyboard.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the keyboard layer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>pos_sensitivity</strong> – Magnitude of input position command scaling. Defaults to 0.05.</p></li>
+<li><p><strong>rot_sensitivity</strong> – Magnitude of scale input rotation commands scaling. Defaults to 0.5.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3Keyboard.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html#Se3Keyboard.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3Keyboard.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3Keyboard.add_callback">
+<span class="sig-name descname"><span class="pre">add_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">func</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html#Se3Keyboard.add_callback"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3Keyboard.add_callback" title="Permalink to this definition">#</a></dt>
+<dd><p>Add additional functions to bind keyboard.</p>
+<p>A list of available keys are present in the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html">carb documentation</a>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The keyboard button to check against.</p></li>
+<li><p><strong>func</strong> – The function to call when key is pressed. The callback function should not
+take any arguments.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3Keyboard.advance">
+<span class="sig-name descname"><span class="pre">advance</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">numpy.ndarray</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/keyboard/se3_keyboard.html#Se3Keyboard.advance"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3Keyboard.advance" title="Permalink to this definition">#</a></dt>
+<dd><p>Provides the result from keyboard event state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A tuple containing the delta pose command and gripper commands.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="space-mouse">
+<h2>Space Mouse<a class="headerlink" href="#space-mouse" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2SpaceMouse">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.devices.</span></span><span class="sig-name descname"><span class="pre">Se2SpaceMouse</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html#Se2SpaceMouse"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2SpaceMouse" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase" title="omni.isaac.lab.devices.device_base.DeviceBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">DeviceBase</span></code></a></p>
+<p>A space-mouse controller for sending SE(2) commands as delta poses.</p>
+<p>This class implements a space-mouse controller to provide commands to mobile base.
+It uses the <a class="reference external" href="https://github.com/libusb/hidapi">HID-API</a> which interfaces with USD and Bluetooth HID-class devices across multiple platforms.</p>
+<p>The command comprises of the base linear and angular velocity: <span class="math notranslate nohighlight">\((v_x, v_y, \omega_z)\)</span>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The interface finds and uses the first supported device connected to the computer.</p>
+</div>
+<p>Currently tested for following devices:</p>
+<ul class="simple">
+<li><p>SpaceMouse Compact: <a class="reference external" href="https://3dconnexion.com/de/product/spacemouse-compact/">https://3dconnexion.com/de/product/spacemouse-compact/</a></p></li>
+</ul>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2SpaceMouse.__init__" title="omni.isaac.lab.devices.Se2SpaceMouse.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([v_x_sensitivity, v_y_sensitivity, ...])</p></td>
+<td><p>Initialize the spacemouse layer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2SpaceMouse.reset" title="omni.isaac.lab.devices.Se2SpaceMouse.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>()</p></td>
+<td><p>Reset the internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2SpaceMouse.add_callback" title="omni.isaac.lab.devices.Se2SpaceMouse.add_callback"><code class="xref py py-obj docutils literal notranslate"><span class="pre">add_callback</span></code></a>(key, func)</p></td>
+<td><p>Add additional functions to bind keyboard.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se2SpaceMouse.advance" title="omni.isaac.lab.devices.Se2SpaceMouse.advance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">advance</span></code></a>()</p></td>
+<td><p>Provides the result from spacemouse event state.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2SpaceMouse.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">v_x_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.8</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">v_y_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.4</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">omega_z_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html#Se2SpaceMouse.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2SpaceMouse.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the spacemouse layer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>v_x_sensitivity</strong> – Magnitude of linear velocity along x-direction scaling. Defaults to 0.8.</p></li>
+<li><p><strong>v_y_sensitivity</strong> – Magnitude of linear velocity along y-direction scaling. Defaults to 0.4.</p></li>
+<li><p><strong>omega_z_sensitivity</strong> – Magnitude of angular velocity along z-direction scaling. Defaults to 1.0.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2SpaceMouse.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html#Se2SpaceMouse.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2SpaceMouse.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2SpaceMouse.add_callback">
+<span class="sig-name descname"><span class="pre">add_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">func</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html#Se2SpaceMouse.add_callback"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2SpaceMouse.add_callback" title="Permalink to this definition">#</a></dt>
+<dd><p>Add additional functions to bind keyboard.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The button to check against.</p></li>
+<li><p><strong>func</strong> – The function to call when key is pressed. The callback function should not
+take any arguments.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se2SpaceMouse.advance">
+<span class="sig-name descname"><span class="pre">advance</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">numpy.ndarray</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/spacemouse/se2_spacemouse.html#Se2SpaceMouse.advance"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se2SpaceMouse.advance" title="Permalink to this definition">#</a></dt>
+<dd><p>Provides the result from spacemouse event state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A 3D array containing the linear (x,y) and angular velocity (z).</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3SpaceMouse">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.devices.</span></span><span class="sig-name descname"><span class="pre">Se3SpaceMouse</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html#Se3SpaceMouse"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3SpaceMouse" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.devices.DeviceBase" title="omni.isaac.lab.devices.device_base.DeviceBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">DeviceBase</span></code></a></p>
+<p>A space-mouse controller for sending SE(3) commands as delta poses.</p>
+<p>This class implements a space-mouse controller to provide commands to a robotic arm with a gripper.
+It uses the <a class="reference external" href="https://github.com/libusb/hidapi">HID-API</a> which interfaces with USD and Bluetooth HID-class devices across multiple platforms [1].</p>
+<p>The command comprises of two parts:</p>
+<ul class="simple">
+<li><p>delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians.</p></li>
+<li><p>gripper: a binary command to open or close the gripper.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The interface finds and uses the first supported device connected to the computer.</p>
+</div>
+<p>Currently tested for following devices:</p>
+<ul class="simple">
+<li><p>SpaceMouse Compact: <a class="reference external" href="https://3dconnexion.com/de/product/spacemouse-compact/">https://3dconnexion.com/de/product/spacemouse-compact/</a></p></li>
+</ul>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3SpaceMouse.__init__" title="omni.isaac.lab.devices.Se3SpaceMouse.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([pos_sensitivity, rot_sensitivity])</p></td>
+<td><p>Initialize the space-mouse layer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3SpaceMouse.reset" title="omni.isaac.lab.devices.Se3SpaceMouse.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>()</p></td>
+<td><p>Reset the internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3SpaceMouse.add_callback" title="omni.isaac.lab.devices.Se3SpaceMouse.add_callback"><code class="xref py py-obj docutils literal notranslate"><span class="pre">add_callback</span></code></a>(key, func)</p></td>
+<td><p>Add additional functions to bind keyboard.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.devices.Se3SpaceMouse.advance" title="omni.isaac.lab.devices.Se3SpaceMouse.advance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">advance</span></code></a>()</p></td>
+<td><p>Provides the result from spacemouse event state.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3SpaceMouse.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pos_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.4</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rot_sensitivity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.8</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html#Se3SpaceMouse.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3SpaceMouse.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the space-mouse layer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>pos_sensitivity</strong> – Magnitude of input position command scaling. Defaults to 0.4.</p></li>
+<li><p><strong>rot_sensitivity</strong> – Magnitude of scale input rotation commands scaling. Defaults to 0.8.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3SpaceMouse.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html#Se3SpaceMouse.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3SpaceMouse.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3SpaceMouse.add_callback">
+<span class="sig-name descname"><span class="pre">add_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">func</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html#Se3SpaceMouse.add_callback"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3SpaceMouse.add_callback" title="Permalink to this definition">#</a></dt>
+<dd><p>Add additional functions to bind keyboard.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The button to check against.</p></li>
+<li><p><strong>func</strong> – The function to call when key is pressed. The callback function should not
+take any arguments.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.devices.Se3SpaceMouse.advance">
+<span class="sig-name descname"><span class="pre">advance</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">numpy.ndarray</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/devices/spacemouse/se3_spacemouse.html#Se3SpaceMouse.advance"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.devices.Se3SpaceMouse.advance" title="Permalink to this definition">#</a></dt>
+<dd><p>Provides the result from spacemouse event state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A tuple containing the delta pose command and gripper commands.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
+
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+              
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+  <div class="sidebar-secondary-item">
+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#device-base">Device Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.DeviceBase"><code class="docutils literal notranslate"><span class="pre">DeviceBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.DeviceBase.__init__"><code class="docutils literal notranslate"><span class="pre">DeviceBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.DeviceBase.reset"><code class="docutils literal notranslate"><span class="pre">DeviceBase.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.DeviceBase.add_callback"><code class="docutils literal notranslate"><span class="pre">DeviceBase.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.DeviceBase.advance"><code class="docutils literal notranslate"><span class="pre">DeviceBase.advance()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#game-pad">Game Pad</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Gamepad"><code class="docutils literal notranslate"><span class="pre">Se2Gamepad</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Gamepad.__init__"><code class="docutils literal notranslate"><span class="pre">Se2Gamepad.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Gamepad.reset"><code class="docutils literal notranslate"><span class="pre">Se2Gamepad.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Gamepad.add_callback"><code class="docutils literal notranslate"><span class="pre">Se2Gamepad.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Gamepad.advance"><code class="docutils literal notranslate"><span class="pre">Se2Gamepad.advance()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Gamepad"><code class="docutils literal notranslate"><span class="pre">Se3Gamepad</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Gamepad.__init__"><code class="docutils literal notranslate"><span class="pre">Se3Gamepad.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Gamepad.reset"><code class="docutils literal notranslate"><span class="pre">Se3Gamepad.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Gamepad.add_callback"><code class="docutils literal notranslate"><span class="pre">Se3Gamepad.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Gamepad.advance"><code class="docutils literal notranslate"><span class="pre">Se3Gamepad.advance()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#keyboard">Keyboard</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Keyboard"><code class="docutils literal notranslate"><span class="pre">Se2Keyboard</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Keyboard.__init__"><code class="docutils literal notranslate"><span class="pre">Se2Keyboard.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Keyboard.reset"><code class="docutils literal notranslate"><span class="pre">Se2Keyboard.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Keyboard.add_callback"><code class="docutils literal notranslate"><span class="pre">Se2Keyboard.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2Keyboard.advance"><code class="docutils literal notranslate"><span class="pre">Se2Keyboard.advance()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Keyboard"><code class="docutils literal notranslate"><span class="pre">Se3Keyboard</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Keyboard.__init__"><code class="docutils literal notranslate"><span class="pre">Se3Keyboard.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Keyboard.reset"><code class="docutils literal notranslate"><span class="pre">Se3Keyboard.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Keyboard.add_callback"><code class="docutils literal notranslate"><span class="pre">Se3Keyboard.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3Keyboard.advance"><code class="docutils literal notranslate"><span class="pre">Se3Keyboard.advance()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#space-mouse">Space Mouse</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2SpaceMouse"><code class="docutils literal notranslate"><span class="pre">Se2SpaceMouse</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2SpaceMouse.__init__"><code class="docutils literal notranslate"><span class="pre">Se2SpaceMouse.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2SpaceMouse.reset"><code class="docutils literal notranslate"><span class="pre">Se2SpaceMouse.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2SpaceMouse.add_callback"><code class="docutils literal notranslate"><span class="pre">Se2SpaceMouse.add_callback()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se2SpaceMouse.advance"><code class="docutils literal notranslate"><span class="pre">Se2SpaceMouse.advance()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3SpaceMouse"><code class="docutils literal notranslate"><span class="pre">Se3SpaceMouse</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.devices.Se3SpaceMouse.__init__"><code class="docutils literal notranslate"><span class="pre">Se3SpaceMouse.__init__()</span></code></a></li>
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+    <h1>omni.isaac.lab.envs</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#manager-based-environment">Manager Based Environment</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.__init__"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.num_envs"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.physics_dt"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.physics_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.step_dt"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.step_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.device"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.load_managers"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.load_managers()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.setup_manager_visualizers"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.setup_manager_visualizers()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.reset"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.reset_to"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.reset_to()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.step"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.step()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.seed"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.seed()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.close"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.close()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.viewer</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.sim"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.sim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.ui_window_class_type"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.ui_window_class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.seed"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.decimation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.scene"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.scene</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.recorders"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.recorders</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.observations"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.observations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.actions"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.events"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.events</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.rerender_on_reset"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.rerender_on_reset</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#manager-based-rl-environment">Manager Based RL Environment</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.is_vector_env</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.metadata"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.metadata</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.cfg"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.__init__"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length_s"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.max_episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.max_episode_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.load_managers"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.load_managers()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.setup_manager_visualizers"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.setup_manager_visualizers()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.step()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.render"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.render()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.close"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.close()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.device"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.get_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.get_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.has_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.has_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.np_random</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random_seed"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.np_random_seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.num_envs"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.physics_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.reset"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.reset_to"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.reset_to()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.seed"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.seed()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.set_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.set_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.step_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.unwrapped</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.ui_window_class_type"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.ui_window_class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.is_finite_horizon</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.rewards</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.viewer"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.viewer</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.sim"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.sim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.seed"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.decimation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.scene</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.recorders"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.recorders</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.observations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.events</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rerender_on_reset"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.rerender_on_reset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.terminations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.curriculum</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.commands</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#direct-rl-environment">Direct RL Environment</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.is_vector_env"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.is_vector_env</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.metadata"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.metadata</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.__init__"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.num_envs"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.physics_dt"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.physics_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.step_dt"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.step_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.device"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.max_episode_length_s"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.max_episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.max_episode_length"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.max_episode_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.reset"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.step"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.step()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.seed"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.seed()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.render"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.render()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.close"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.close()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.get_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.get_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.has_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.has_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.np_random"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.np_random</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.np_random_seed"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.np_random_seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.set_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.set_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.unwrapped"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.unwrapped</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.viewer"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.viewer</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.sim"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.sim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.ui_window_class_type"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.ui_window_class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.seed"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.decimation"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.decimation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.is_finite_horizon</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.scene"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.scene</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.events"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.events</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.observation_space"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.observation_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_observations"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.num_observations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.state_space"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.state_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_states"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.num_states</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.observation_noise_model</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.action_space"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.action_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_actions"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.num_actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.action_noise_model</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.rerender_on_reset"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.rerender_on_reset</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#direct-multi-agent-rl-environment">Direct Multi-Agent RL Environment</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.metadata"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.metadata</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.__init__"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.num_envs"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.num_agents"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.num_agents</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.max_num_agents"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.max_num_agents</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.unwrapped"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.unwrapped</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.physics_dt"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.physics_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.step_dt"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.step_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.device"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.max_episode_length_s"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.max_episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.max_episode_length"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.max_episode_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.observation_space"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.observation_space()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.action_space"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.action_space()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.reset"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.step"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.step()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.state"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.state()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.seed"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.seed()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.render"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.render()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.close"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.close()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.get_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.get_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.has_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.has_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.np_random"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.np_random</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.np_random_seed"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.np_random_seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.set_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.set_wrapper_attr()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.viewer"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.viewer</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.sim"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.sim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.ui_window_class_type"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.ui_window_class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.seed"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.decimation"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.decimation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.is_finite_horizon"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.is_finite_horizon</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.episode_length_s"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.scene"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.scene</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.events"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.events</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_spaces"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.observation_spaces</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_observations"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.num_observations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.state_space"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.state_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_states"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.num_states</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_noise_model"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.observation_noise_model</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.action_spaces"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.action_spaces</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_actions"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.num_actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.action_noise_model"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.action_noise_model</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.possible_agents"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.possible_agents</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#common">Common</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg"><code class="docutils literal notranslate"><span class="pre">ViewerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.eye"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.eye</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.lookat"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.lookat</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.cam_prim_path"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.cam_prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.resolution"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.resolution</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.origin_type"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.origin_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.env_index"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.env_index</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.asset_name</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.envs">
+<span id="omni-isaac-lab-envs"></span><h1>omni.isaac.lab.envs<a class="headerlink" href="#module-omni.isaac.lab.envs" title="Permalink to this heading">#</a></h1>
+<p>Sub-package for environment definitions.</p>
+<p>Environments define the interface between the agent and the simulation.
+In the simplest case, the environment provides the agent with the current
+observations and executes the actions provided by the agent. However, the
+environment can also provide additional information such as the current
+reward, done flag, and information about the current episode.</p>
+<p>There are two types of environment designing workflows:</p>
+<ul class="simple">
+<li><p><strong>Manager-based</strong>: The environment is decomposed into individual components (or managers)
+for different aspects (such as computing observations, applying actions, and applying
+randomization. The users mainly configure the managers and the environment coordinates the
+managers and calls their functions.</p></li>
+<li><p><strong>Direct</strong>: The user implements all the necessary functionality directly into a single class
+directly without the need for additional managers.</p></li>
+</ul>
+<p>Based on these workflows, there are the following environment classes for single and multi-agent RL:</p>
+<p><strong>Single-Agent RL:</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedEnv</span></code></a>: The manager-based workflow base environment which only provides the
+agent with the current observations and executes the actions provided by the agent.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a>: The manager-based workflow RL task environment which besides the
+functionality of the base environment also provides additional Markov Decision Process (MDP)
+related information such as the current reward, done flag, and information.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a>: The direct workflow RL task environment which provides implementations for
+implementing scene setup, computing dones, performing resets, and computing reward and observation.</p></li>
+</ul>
+<p><strong>Multi-Agent RL (MARL):</strong></p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.DirectMARLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectMARLEnv</span></code></a>: The direct workflow MARL task environment which provides implementations for
+implementing scene setup, computing dones, performing resets, and computing reward and observation.</p></li>
+</ul>
+<p>For more information about the workflow design patterns, see the <a class="reference external" href="https://isaac-sim.github.io/IsaacLab/source/features/task_workflows.html">Task Design Workflows</a> section.</p>
+<p class="rubric">Submodules</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp" title="omni.isaac.lab.envs.mdp"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mdp</span></code></a></p></td>
+<td><p>Sub-module with implementation of manager terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="omni.isaac.lab.envs.ui.html#module-omni.isaac.lab.envs.ui" title="omni.isaac.lab.envs.ui"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ui</span></code></a></p></td>
+<td><p>Sub-module providing UI window implementation for environments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ManagerBasedEnv</span></code></a></p></td>
+<td><p>The base environment encapsulates the simulation scene and the environment managers for the manager-based workflow.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg" title="omni.isaac.lab.envs.ManagerBasedEnvCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg</span></code></a></p></td>
+<td><p>Base configuration of the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a></p></td>
+<td><p>The superclass for the manager-based workflow reinforcement learning-based environments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg</span></code></a></p></td>
+<td><p>Configuration for a reinforcement learning environment with the manager-based workflow.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a></p></td>
+<td><p>The superclass for the direct workflow to design environments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg" title="omni.isaac.lab.envs.DirectRLEnvCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DirectRLEnvCfg</span></code></a></p></td>
+<td><p>Configuration for an RL environment defined with the direct workflow.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.DirectMARLEnv"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DirectMARLEnv</span></code></a></p></td>
+<td><p>The superclass for the direct workflow to design multi-agent environments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg" title="omni.isaac.lab.envs.DirectMARLEnvCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DirectMARLEnvCfg</span></code></a></p></td>
+<td><p>Configuration for a MARL environment defined with the direct workflow.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg" title="omni.isaac.lab.envs.ViewerCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ViewerCfg</span></code></a></p></td>
+<td><p>Configuration of the scene viewport camera.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="manager-based-environment">
+<h2>Manager Based Environment<a class="headerlink" href="#manager-based-environment" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.</span></span><span class="sig-name descname"><span class="pre">ManagerBasedEnv</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_env.html#ManagerBasedEnv"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv" title="Permalink to this definition">#</a></dt>
+<dd><p>The base environment encapsulates the simulation scene and the environment managers for the manager-based workflow.</p>
+<p>While a simulation scene or world comprises of different components such as the robots, objects,
+and sensors (cameras, lidars, etc.), the environment is a higher level abstraction
+that provides an interface for interacting with the simulation. The environment is comprised of
+the following components:</p>
+<ul class="simple">
+<li><p><strong>Scene</strong>: The scene manager that creates and manages the virtual world in which the robot operates.
+This includes defining the robot, static and dynamic objects, sensors, etc.</p></li>
+<li><p><strong>Observation Manager</strong>: The observation manager that generates observations from the current simulation
+state and the data gathered from the sensors. These observations may include privileged information
+that is not available to the robot in the real world. Additionally, user-defined terms can be added
+to process the observations and generate custom observations. For example, using a network to embed
+high-dimensional observations into a lower-dimensional space.</p></li>
+<li><p><strong>Action Manager</strong>: The action manager that processes the raw actions sent to the environment and
+converts them to low-level commands that are sent to the simulation. It can be configured to accept
+raw actions at different levels of abstraction. For example, in case of a robotic arm, the raw actions
+can be joint torques, joint positions, or end-effector poses. Similarly for a mobile base, it can be
+the joint torques, or the desired velocity of the floating base.</p></li>
+<li><p><strong>Event Manager</strong>: The event manager orchestrates operations triggered based on simulation events.
+This includes resetting the scene to a default state, applying random pushes to the robot at different intervals
+of time, or randomizing properties such as mass and friction coefficients. This is useful for training
+and evaluating the robot in a variety of scenarios.</p></li>
+<li><p><strong>Recorder Manager</strong>: The recorder manager that handles recording data produced during different steps
+in the simulation. This includes recording in the beginning and end of a reset and a step. The recorded data
+is distinguished per episode, per environment and can be exported through a dataset file handler to a file.</p></li>
+</ul>
+<p>The environment provides a unified interface for interacting with the simulation. However, it does not
+include task-specific quantities such as the reward function, or the termination conditions. These
+quantities are often specific to defining Markov Decision Processes (MDPs) while the base environment
+is agnostic to the MDP definition.</p>
+<p>The environment steps forward in time at a fixed time-step. The physics simulation is decimated at a
+lower time-step. This is to ensure that the simulation is stable. These two time-steps can be configured
+independently using the <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.decimation</span></code></a> (number of simulation steps per environment step)
+and the <code class="xref py py-attr docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.sim.dt</span></code> (physics time-step) parameters. Based on these parameters, the
+environment time-step is computed as the product of the two. The two time-steps can be obtained by
+querying the <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.physics_dt" title="omni.isaac.lab.envs.ManagerBasedEnv.physics_dt"><code class="xref py py-attr docutils literal notranslate"><span class="pre">physics_dt</span></code></a> and the <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.step_dt" title="omni.isaac.lab.envs.ManagerBasedEnv.step_dt"><code class="xref py py-attr docutils literal notranslate"><span class="pre">step_dt</span></code></a> properties respectively.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.__init__" title="omni.isaac.lab.envs.ManagerBasedEnv.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initialize the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.load_managers" title="omni.isaac.lab.envs.ManagerBasedEnv.load_managers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">load_managers</span></code></a>()</p></td>
+<td><p>Load the managers for the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.setup_manager_visualizers" title="omni.isaac.lab.envs.ManagerBasedEnv.setup_manager_visualizers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">setup_manager_visualizers</span></code></a>()</p></td>
+<td><p>Creates live visualizers for manager terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.reset" title="omni.isaac.lab.envs.ManagerBasedEnv.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([seed, env_ids, options])</p></td>
+<td><p>Resets the specified environments and returns observations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.reset_to" title="omni.isaac.lab.envs.ManagerBasedEnv.reset_to"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset_to</span></code></a>(state, env_ids[, seed, is_relative])</p></td>
+<td><p>Resets specified environments to known states.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.step" title="omni.isaac.lab.envs.ManagerBasedEnv.step"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step</span></code></a>(action)</p></td>
+<td><p>Execute one time-step of the environment's dynamics.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.seed" title="omni.isaac.lab.envs.ManagerBasedEnv.seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">seed</span></code></a>([seed])</p></td>
+<td><p>Set the seed for the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.close" title="omni.isaac.lab.envs.ManagerBasedEnv.close"><code class="xref py py-obj docutils literal notranslate"><span class="pre">close</span></code></a>()</p></td>
+<td><p>Cleanup for the environment.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.num_envs" title="omni.isaac.lab.envs.ManagerBasedEnv.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>The number of instances of the environment that are running.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.physics_dt" title="omni.isaac.lab.envs.ManagerBasedEnv.physics_dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_dt</span></code></a></p></td>
+<td><p>The physics time-step (in s).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.step_dt" title="omni.isaac.lab.envs.ManagerBasedEnv.step_dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_dt</span></code></a></p></td>
+<td><p>The environment stepping time-step (in s).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.device" title="omni.isaac.lab.envs.ManagerBasedEnv.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>The device on which the environment is running.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg" title="omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg"><span class="pre">ManagerBasedEnvCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_env.html#ManagerBasedEnv.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration object for the environment.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If a simulation context already exists. The environment must always create one
+    since it configures the simulation context and controls the simulation.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of instances of the environment that are running.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.physics_dt">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">physics_dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.physics_dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The physics time-step (in s).</p>
+<p>This is the lowest time-decimation at which the simulation is happening.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.step_dt">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">step_dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.step_dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The environment stepping time-step (in s).</p>
+<p>This is the time-step at which the environment steps forward.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.device" title="Permalink to this definition">#</a></dt>
+<dd><p>The device on which the environment is running.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.load_managers">
+<span class="sig-name descname"><span class="pre">load_managers</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_env.html#ManagerBasedEnv.load_managers"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.load_managers" title="Permalink to this definition">#</a></dt>
+<dd><p>Load the managers for the environment.</p>
+<p>This function is responsible for creating the various managers (action, observation,
+events, etc.) for the environment. Since the managers require access to physics handles,
+they can only be created after the simulator is reset (i.e. played for the first time).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>In case of standalone application (when running simulator from Python), the function is called
+automatically when the class is initialized.</p>
+<p>However, in case of extension mode, the user must call this function manually after the simulator
+is reset. This is because the simulator is only reset when the user calls
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">SimulationContext.reset_async()</span></code> and it isn’t possible to call async functions in the constructor.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.setup_manager_visualizers">
+<span class="sig-name descname"><span class="pre">setup_manager_visualizers</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_env.html#ManagerBasedEnv.setup_manager_visualizers"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.setup_manager_visualizers" title="Permalink to this definition">#</a></dt>
+<dd><p>Creates live visualizers for manager terms.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.13)"><span class="pre">Union</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_env.html#ManagerBasedEnv.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the specified environments and returns observations.</p>
+<p>This function calls the <code class="xref py py-meth docutils literal notranslate"><span class="pre">_reset_idx()</span></code> function to reset the specified environments.
+However, certain operations, such as procedural terrain generation, that happened during initialization
+are not repeated.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>seed</strong> – The seed to use for randomization. Defaults to None, in which case the seed is not set.</p></li>
+<li><p><strong>env_ids</strong> – The environment ids to reset. Defaults to None, in which case all environments are reset.</p></li>
+<li><p><strong>options</strong> – <p>Additional information to specify how the environment is reset. Defaults to None.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This argument is used for compatibility with Gymnasium environment definition.</p>
+</div>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the observations and extras.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.reset_to">
+<span class="sig-name descname"><span class="pre">reset_to</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">is_relative</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_env.html#ManagerBasedEnv.reset_to"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.reset_to" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets specified environments to known states.</p>
+<p>Note that this is different from reset() function as it resets the environments to specific states</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>state</strong> – The state to reset the specified environments to.</p></li>
+<li><p><strong>env_ids</strong> – The environment ids to reset. Defaults to None, in which case all environments are reset.</p></li>
+<li><p><strong>seed</strong> – The seed to use for randomization. Defaults to None, in which case the seed is not set.</p></li>
+<li><p><strong>is_relative</strong> – If set to True, the state is considered relative to the environment origins. Defaults to False.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.step">
+<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.13)"><span class="pre">Union</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_env.html#ManagerBasedEnv.step"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.step" title="Permalink to this definition">#</a></dt>
+<dd><p>Execute one time-step of the environment’s dynamics.</p>
+<p>The environment steps forward at a fixed time-step, while the physics simulation is
+decimated at a lower time-step. This is to ensure that the simulation is stable. These two
+time-steps can be configured independently using the <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.decimation</span></code></a> (number of
+simulation steps per environment step) and the <code class="xref py py-attr docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.sim.dt</span></code> (physics time-step).
+Based on these parameters, the environment time-step is computed as the product of the two.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>action</strong> – The actions to apply on the environment. Shape is (num_envs, action_dim).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the observations and extras.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.seed">
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_env.html#ManagerBasedEnv.seed"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.seed" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the seed for the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>seed</strong> – The seed for random generator. Defaults to -1.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The seed used for random generator.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnv.close">
+<span class="sig-name descname"><span class="pre">close</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_env.html#ManagerBasedEnv.close"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnv.close" title="Permalink to this definition">#</a></dt>
+<dd><p>Cleanup for the environment.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.</span></span><span class="sig-name descname"><span class="pre">ManagerBasedEnvCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_env_cfg.html#ManagerBasedEnvCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Base configuration of the environment.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">viewer</span></code></a></p></td>
+<td><p>Viewer configuration.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.sim" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sim</span></code></a></p></td>
+<td><p>Physics simulation configuration.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.seed" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">seed</span></code></a></p></td>
+<td><p>The seed for the random number generator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">decimation</span></code></a></p></td>
+<td><p>Number of control action updates &#64; sim dt per policy dt.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.scene" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.scene"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scene</span></code></a></p></td>
+<td><p>Scene settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.recorders" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.recorders"><code class="xref py py-obj docutils literal notranslate"><span class="pre">recorders</span></code></a></p></td>
+<td><p>Recorder settings.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.observations" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.observations"><code class="xref py py-obj docutils literal notranslate"><span class="pre">observations</span></code></a></p></td>
+<td><p>Observation space settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.actions" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.actions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">actions</span></code></a></p></td>
+<td><p>Action space settings.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.events" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.events"><code class="xref py py-obj docutils literal notranslate"><span class="pre">events</span></code></a></p></td>
+<td><p>Event settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.rerender_on_reset" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.rerender_on_reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rerender_on_reset</span></code></a></p></td>
+<td><p>Whether a render step is performed again after at least one environment has been reset.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.ui_window_class_type" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.ui_window_class_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ui_window_class_type</span></code></a></p></td>
+<td><p>alias of <a class="reference internal" href="omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code></a></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer">
+<span class="sig-name descname"><span class="pre">viewer</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg" title="omni.isaac.lab.envs.common.ViewerCfg"><span class="pre">ViewerCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer" title="Permalink to this definition">#</a></dt>
+<dd><p>Viewer configuration. Default is ViewerCfg().</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.sim">
+<span class="sig-name descname"><span class="pre">sim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.simulation_cfg.SimulationCfg"><span class="pre">SimulationCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics simulation configuration. Default is SimulationCfg().</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.ui_window_class_type">
+<span class="sig-name descname"><span class="pre">ui_window_class_type</span></span><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.ui_window_class_type" title="Permalink to this definition">#</a></dt>
+<dd><p>alias of <a class="reference internal" href="omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code></a></p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.seed">
+<span class="sig-name descname"><span class="pre">seed</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.seed" title="Permalink to this definition">#</a></dt>
+<dd><p>The seed for the random number generator. Defaults to None, in which case the seed is not set.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The seed is set at the beginning of the environment initialization. This ensures that the environment
+creation is deterministic and behaves similarly across different runs.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation">
+<span class="sig-name descname"><span class="pre">decimation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of control action updates &#64; sim dt per policy dt.</p>
+<p>For instance, if the simulation dt is 0.01s and the policy dt is 0.1s, then the decimation is 10.
+This means that the control action is updated every 10 simulation steps.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.scene">
+<span class="sig-name descname"><span class="pre">scene</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg"><span class="pre">InteractiveSceneCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.scene" title="Permalink to this definition">#</a></dt>
+<dd><p>Scene settings.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.InteractiveSceneCfg</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.recorders">
+<span class="sig-name descname"><span class="pre">recorders</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.recorders" title="Permalink to this definition">#</a></dt>
+<dd><p>Recorder settings. Defaults to recording nothing.</p>
+<p>Please refer to the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.RecorderManager</span></code> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.observations">
+<span class="sig-name descname"><span class="pre">observations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.observations" title="Permalink to this definition">#</a></dt>
+<dd><p>Observation space settings.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ObservationManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.actions">
+<span class="sig-name descname"><span class="pre">actions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.actions" title="Permalink to this definition">#</a></dt>
+<dd><p>Action space settings.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager" title="omni.isaac.lab.managers.ActionManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ActionManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.events">
+<span class="sig-name descname"><span class="pre">events</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.events" title="Permalink to this definition">#</a></dt>
+<dd><p>Event settings. Defaults to the basic configuration that resets the scene to its default state.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager" title="omni.isaac.lab.managers.EventManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.EventManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedEnvCfg.rerender_on_reset">
+<span class="sig-name descname"><span class="pre">rerender_on_reset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.rerender_on_reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether a render step is performed again after at least one environment has been reset.
+Defaults to False, which means no render step will be performed after reset.</p>
+<ul class="simple">
+<li><p>When this is False, data collected from sensors after performing reset will be stale and will not reflect the
+latest states in simulation caused by the reset.</p></li>
+<li><p>When this is True, an extra render step will be performed to update the sensor data
+to reflect the latest states from the reset. This comes at a cost of performance as an additional render
+step will be performed after each time an environment is reset.</p></li>
+</ul>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="manager-based-rl-environment">
+<h2>Manager Based RL Environment<a class="headerlink" href="#manager-based-rl-environment" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.</span></span><span class="sig-name descname"><span class="pre">ManagerBasedRLEnv</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_rl_env.html#ManagerBasedRLEnv"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedEnv</span></code></a>, <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Env</span></code></a></p>
+<p>The superclass for the manager-based workflow reinforcement learning-based environments.</p>
+<p>This class inherits from <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedEnv</span></code></a> and implements the core functionality for
+reinforcement learning-based environments. It is designed to be used with any RL
+library. The class is designed to be used with vectorized environments, i.e., the
+environment is expected to be run in parallel with multiple sub-environments. The
+number of sub-environments is specified using the <code class="docutils literal notranslate"><span class="pre">num_envs</span></code>.</p>
+<p>Each observation from the environment is a batch of observations for each sub-
+environments. The method <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step" title="omni.isaac.lab.envs.ManagerBasedRLEnv.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a> is also expected to receive a batch of actions
+for each sub-environment.</p>
+<p>While the environment itself is implemented as a vectorized environment, we do not
+inherit from <code class="xref py py-class docutils literal notranslate"><span class="pre">gym.vector.VectorEnv</span></code>. This is mainly because the class adds
+various methods (for wait and asynchronous updates) which are not required.
+Additionally, each RL library typically has its own definition for a vectorized
+environment. Thus, to reduce complexity, we directly use the <code class="xref py py-class docutils literal notranslate"><span class="pre">gym.Env</span></code> over
+here and leave it up to library-defined wrappers to take care of wrapping this
+environment for their agents.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For vectorized environments, it is recommended to <strong>only</strong> call the <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.reset" title="omni.isaac.lab.envs.ManagerBasedRLEnv.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code></a>
+method once before the first call to <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step" title="omni.isaac.lab.envs.ManagerBasedRLEnv.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a>, i.e. after the environment is created.
+After that, the <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step" title="omni.isaac.lab.envs.ManagerBasedRLEnv.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a> function handles the reset of terminated sub-environments.
+This is because the simulator does not support resetting individual sub-environments
+in a vectorized environment.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env" title="omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_vector_env</span></code></a></p></td>
+<td><p>Whether the environment is a vectorized environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.metadata" title="omni.isaac.lab.envs.ManagerBasedRLEnv.metadata"><code class="xref py py-obj docutils literal notranslate"><span class="pre">metadata</span></code></a></p></td>
+<td><p>Metadata for the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.cfg" title="omni.isaac.lab.envs.ManagerBasedRLEnv.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>Configuration for the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length_s" title="omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length_s"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_episode_length_s</span></code></a></p></td>
+<td><p>Maximum episode length in seconds.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length" title="omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_episode_length</span></code></a></p></td>
+<td><p>Maximum episode length in environment steps.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.device" title="omni.isaac.lab.envs.ManagerBasedRLEnv.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>The device on which the environment is running.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random" title="omni.isaac.lab.envs.ManagerBasedRLEnv.np_random"><code class="xref py py-obj docutils literal notranslate"><span class="pre">np_random</span></code></a></p></td>
+<td><p>Returns the environment's internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random</span></code> that if not set will initialise with a random seed.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random_seed" title="omni.isaac.lab.envs.ManagerBasedRLEnv.np_random_seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">np_random_seed</span></code></a></p></td>
+<td><p>Returns the environment's internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random_seed</span></code> that if not set will first initialise with a random int as seed.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.num_envs" title="omni.isaac.lab.envs.ManagerBasedRLEnv.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>The number of instances of the environment that are running.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt" title="omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_dt</span></code></a></p></td>
+<td><p>The physics time-step (in s).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt" title="omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_dt</span></code></a></p></td>
+<td><p>The environment stepping time-step (in s).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped" title="omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped"><code class="xref py py-obj docutils literal notranslate"><span class="pre">unwrapped</span></code></a></p></td>
+<td><p>Returns the base non-wrapped environment.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.__init__" title="omni.isaac.lab.envs.ManagerBasedRLEnv.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg[, render_mode])</p></td>
+<td><p>Initialize the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.load_managers" title="omni.isaac.lab.envs.ManagerBasedRLEnv.load_managers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">load_managers</span></code></a>()</p></td>
+<td><p>Load the managers for the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.setup_manager_visualizers" title="omni.isaac.lab.envs.ManagerBasedRLEnv.setup_manager_visualizers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">setup_manager_visualizers</span></code></a>()</p></td>
+<td><p>Creates live visualizers for manager terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step" title="omni.isaac.lab.envs.ManagerBasedRLEnv.step"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step</span></code></a>(action)</p></td>
+<td><p>Execute one time-step of the environment's dynamics and reset terminated environments.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.render" title="omni.isaac.lab.envs.ManagerBasedRLEnv.render"><code class="xref py py-obj docutils literal notranslate"><span class="pre">render</span></code></a>([recompute])</p></td>
+<td><p>Run rendering without stepping through the physics.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.close" title="omni.isaac.lab.envs.ManagerBasedRLEnv.close"><code class="xref py py-obj docutils literal notranslate"><span class="pre">close</span></code></a>()</p></td>
+<td><p>Cleanup for the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.get_wrapper_attr" title="omni.isaac.lab.envs.ManagerBasedRLEnv.get_wrapper_attr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_wrapper_attr</span></code></a>(name)</p></td>
+<td><p>Gets the attribute <cite>name</cite> from the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.has_wrapper_attr" title="omni.isaac.lab.envs.ManagerBasedRLEnv.has_wrapper_attr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_wrapper_attr</span></code></a>(name)</p></td>
+<td><p>Checks if the attribute <cite>name</cite> exists in the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.reset" title="omni.isaac.lab.envs.ManagerBasedRLEnv.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([seed, env_ids, options])</p></td>
+<td><p>Resets the specified environments and returns observations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.reset_to" title="omni.isaac.lab.envs.ManagerBasedRLEnv.reset_to"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset_to</span></code></a>(state, env_ids[, seed, is_relative])</p></td>
+<td><p>Resets specified environments to known states.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.seed" title="omni.isaac.lab.envs.ManagerBasedRLEnv.seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">seed</span></code></a>([seed])</p></td>
+<td><p>Set the seed for the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.set_wrapper_attr" title="omni.isaac.lab.envs.ManagerBasedRLEnv.set_wrapper_attr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_wrapper_attr</span></code></a>(name, value)</p></td>
+<td><p>Sets the attribute <cite>name</cite> on the environment with <cite>value</cite>.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env">
+<span class="sig-name descname"><span class="pre">is_vector_env</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ClassVar</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">True</span></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the environment is a vectorized environment.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.metadata">
+<span class="sig-name descname"><span class="pre">metadata</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ClassVar</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'isaac_sim_version':</span> <span class="pre">omni.isaac.version.get_version,</span> <span class="pre">'render_modes':</span> <span class="pre">[None,</span> <span class="pre">'human',</span> <span class="pre">'rgb_array']}</span></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.metadata" title="Permalink to this definition">#</a></dt>
+<dd><p>Metadata for the environment.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg"><span class="pre">ManagerBasedRLEnvCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for the environment.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg"><span class="pre">ManagerBasedRLEnvCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">render_mode</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_rl_env.html#ManagerBasedRLEnv.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration for the environment.</p></li>
+<li><p><strong>render_mode</strong> – The render mode for the environment. Defaults to None, which
+is similar to <code class="docutils literal notranslate"><span class="pre">&quot;human&quot;</span></code>.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length_s">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_episode_length_s</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length_s" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum episode length in seconds.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_episode_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum episode length in environment steps.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.load_managers">
+<span class="sig-name descname"><span class="pre">load_managers</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_rl_env.html#ManagerBasedRLEnv.load_managers"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.load_managers" title="Permalink to this definition">#</a></dt>
+<dd><p>Load the managers for the environment.</p>
+<p>This function is responsible for creating the various managers (action, observation,
+events, etc.) for the environment. Since the managers require access to physics handles,
+they can only be created after the simulator is reset (i.e. played for the first time).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>In case of standalone application (when running simulator from Python), the function is called
+automatically when the class is initialized.</p>
+<p>However, in case of extension mode, the user must call this function manually after the simulator
+is reset. This is because the simulator is only reset when the user calls
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">SimulationContext.reset_async()</span></code> and it isn’t possible to call async functions in the constructor.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.setup_manager_visualizers">
+<span class="sig-name descname"><span class="pre">setup_manager_visualizers</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_rl_env.html#ManagerBasedRLEnv.setup_manager_visualizers"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.setup_manager_visualizers" title="Permalink to this definition">#</a></dt>
+<dd><p>Creates live visualizers for manager terms.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.step">
+<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.13)"><span class="pre">Union</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_rl_env.html#ManagerBasedRLEnv.step"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step" title="Permalink to this definition">#</a></dt>
+<dd><p>Execute one time-step of the environment’s dynamics and reset terminated environments.</p>
+<p>Unlike the <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnv.step" title="omni.isaac.lab.envs.ManagerBasedEnv.step"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedEnv.step</span></code></a> class, the function performs the following operations:</p>
+<ol class="arabic simple">
+<li><p>Process the actions.</p></li>
+<li><p>Perform physics stepping.</p></li>
+<li><p>Perform rendering if gui is enabled.</p></li>
+<li><p>Update the environment counters and compute the rewards and terminations.</p></li>
+<li><p>Reset the environments that terminated.</p></li>
+<li><p>Compute the observations.</p></li>
+<li><p>Return the observations, rewards, resets and extras.</p></li>
+</ol>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>action</strong> – The actions to apply on the environment. Shape is (num_envs, action_dim).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the observations, rewards, resets (terminated and truncated) and extras.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.render">
+<span class="sig-name descname"><span class="pre">render</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">recompute</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">np.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_rl_env.html#ManagerBasedRLEnv.render"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.render" title="Permalink to this definition">#</a></dt>
+<dd><p>Run rendering without stepping through the physics.</p>
+<p>By convention, if mode is:</p>
+<ul class="simple">
+<li><p><strong>human</strong>: Render to the current display and return nothing. Usually for human consumption.</p></li>
+<li><p><strong>rgb_array</strong>: Return an numpy.ndarray with shape (x, y, 3), representing RGB values for an
+x-by-y pixel image, suitable for turning into a video.</p></li>
+</ul>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>recompute</strong> – Whether to force a render even if the simulator has already rendered the scene.
+Defaults to False.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The rendered image as a numpy array if mode is “rgb_array”. Otherwise, returns None.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If mode is set to “rgb_data” and simulation render mode does not support it.
+    In this case, the simulation render mode must be set to <code class="docutils literal notranslate"><span class="pre">RenderMode.PARTIAL_RENDERING</span></code>
+    or <code class="docutils literal notranslate"><span class="pre">RenderMode.FULL_RENDERING</span></code>.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#NotImplementedError" title="(in Python v3.13)"><strong>NotImplementedError</strong></a> – If an unsupported rendering mode is specified.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.close">
+<span class="sig-name descname"><span class="pre">close</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_rl_env.html#ManagerBasedRLEnv.close"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.close" title="Permalink to this definition">#</a></dt>
+<dd><p>Cleanup for the environment.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.device" title="Permalink to this definition">#</a></dt>
+<dd><p>The device on which the environment is running.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.get_wrapper_attr">
+<span class="sig-name descname"><span class="pre">get_wrapper_attr</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.get_wrapper_attr" title="Permalink to this definition">#</a></dt>
+<dd><p>Gets the attribute <cite>name</cite> from the environment.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.has_wrapper_attr">
+<span class="sig-name descname"><span class="pre">has_wrapper_attr</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.has_wrapper_attr" title="Permalink to this definition">#</a></dt>
+<dd><p>Checks if the attribute <cite>name</cite> exists in the environment.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.np_random">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">np_random</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://numpy.org/doc/stable/reference/random/generator.html#numpy.random.Generator" title="(in NumPy v2.2)"><span class="pre">numpy.random.Generator</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the environment’s internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random</span></code> that if not set will initialise with a random seed.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Instances of <cite>np.random.Generator</cite></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.np_random_seed">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">np_random_seed</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random_seed" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the environment’s internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random_seed</span></code> that if not set will first initialise with a random int as seed.</p>
+<p>If <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random_seed" title="omni.isaac.lab.envs.ManagerBasedRLEnv.np_random_seed"><code class="xref py py-attr docutils literal notranslate"><span class="pre">np_random_seed</span></code></a> was set directly instead of through <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.reset" title="omni.isaac.lab.envs.ManagerBasedRLEnv.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code></a> or <code class="xref py py-meth docutils literal notranslate"><span class="pre">set_np_random_through_seed()</span></code>,
+the seed will take the value -1.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>the seed of the current <cite>np_random</cite> or -1, if the seed of the rng is unknown</p>
+</dd>
+<dt class="field-even">Return type<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)">int</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of instances of the environment that are running.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">physics_dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The physics time-step (in s).</p>
+<p>This is the lowest time-decimation at which the simulation is happening.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.13)"><span class="pre">Union</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the specified environments and returns observations.</p>
+<p>This function calls the <code class="xref py py-meth docutils literal notranslate"><span class="pre">_reset_idx()</span></code> function to reset the specified environments.
+However, certain operations, such as procedural terrain generation, that happened during initialization
+are not repeated.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>seed</strong> – The seed to use for randomization. Defaults to None, in which case the seed is not set.</p></li>
+<li><p><strong>env_ids</strong> – The environment ids to reset. Defaults to None, in which case all environments are reset.</p></li>
+<li><p><strong>options</strong> – <p>Additional information to specify how the environment is reset. Defaults to None.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This argument is used for compatibility with Gymnasium environment definition.</p>
+</div>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the observations and extras.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.reset_to">
+<span class="sig-name descname"><span class="pre">reset_to</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">is_relative</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.reset_to" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets specified environments to known states.</p>
+<p>Note that this is different from reset() function as it resets the environments to specific states</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>state</strong> – The state to reset the specified environments to.</p></li>
+<li><p><strong>env_ids</strong> – The environment ids to reset. Defaults to None, in which case all environments are reset.</p></li>
+<li><p><strong>seed</strong> – The seed to use for randomization. Defaults to None, in which case the seed is not set.</p></li>
+<li><p><strong>is_relative</strong> – If set to True, the state is considered relative to the environment origins. Defaults to False.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.seed">
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.seed" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the seed for the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>seed</strong> – The seed for random generator. Defaults to -1.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The seed used for random generator.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.set_wrapper_attr">
+<span class="sig-name descname"><span class="pre">set_wrapper_attr</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.set_wrapper_attr" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets the attribute <cite>name</cite> on the environment with <cite>value</cite>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">step_dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The environment stepping time-step (in s).</p>
+<p>This is the time-step at which the environment steps forward.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">unwrapped</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><span class="pre">Env</span></a><span class="p"><span class="pre">[</span></span><span class="pre">ObsType</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">ActType</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the base non-wrapped environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The base non-wrapped <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a> instance</p>
+</dd>
+<dt class="field-even">Return type<span class="colon">:</span></dt>
+<dd class="field-even"><p>Env</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.</span></span><span class="sig-name descname"><span class="pre">ManagerBasedRLEnvCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/manager_based_rl_env_cfg.html#ManagerBasedRLEnvCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg" title="omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg</span></code></a></p>
+<p>Configuration for a reinforcement learning environment with the manager-based workflow.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.ui_window_class_type" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.ui_window_class_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ui_window_class_type</span></code></a></p></td>
+<td><p>alias of <a class="reference internal" href="omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow" title="omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnvWindow</span></code></a></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_finite_horizon</span></code></a></p></td>
+<td><p>Whether the learning task is treated as a finite or infinite horizon problem for the agent.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s"><code class="xref py py-obj docutils literal notranslate"><span class="pre">episode_length_s</span></code></a></p></td>
+<td><p>Duration of an episode (in seconds).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rewards</span></code></a></p></td>
+<td><p>Reward settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.viewer" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.viewer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">viewer</span></code></a></p></td>
+<td><p>Viewer configuration.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.sim" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sim</span></code></a></p></td>
+<td><p>Physics simulation configuration.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.seed" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">seed</span></code></a></p></td>
+<td><p>The seed for the random number generator.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">decimation</span></code></a></p></td>
+<td><p>Number of control action updates &#64; sim dt per policy dt.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scene</span></code></a></p></td>
+<td><p>Scene settings.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.recorders" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.recorders"><code class="xref py py-obj docutils literal notranslate"><span class="pre">recorders</span></code></a></p></td>
+<td><p>Recorder settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations"><code class="xref py py-obj docutils literal notranslate"><span class="pre">observations</span></code></a></p></td>
+<td><p>Observation space settings.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">actions</span></code></a></p></td>
+<td><p>Action space settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events"><code class="xref py py-obj docutils literal notranslate"><span class="pre">events</span></code></a></p></td>
+<td><p>Event settings.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rerender_on_reset" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rerender_on_reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rerender_on_reset</span></code></a></p></td>
+<td><p>Whether a render step is performed again after at least one environment has been reset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations"><code class="xref py py-obj docutils literal notranslate"><span class="pre">terminations</span></code></a></p></td>
+<td><p>Termination settings.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum"><code class="xref py py-obj docutils literal notranslate"><span class="pre">curriculum</span></code></a></p></td>
+<td><p>Curriculum settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands"><code class="xref py py-obj docutils literal notranslate"><span class="pre">commands</span></code></a></p></td>
+<td><p>Command settings.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.ui_window_class_type">
+<span class="sig-name descname"><span class="pre">ui_window_class_type</span></span><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.ui_window_class_type" title="Permalink to this definition">#</a></dt>
+<dd><p>alias of <a class="reference internal" href="omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow" title="omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnvWindow</span></code></a></p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon">
+<span class="sig-name descname"><span class="pre">is_finite_horizon</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the learning task is treated as a finite or infinite horizon problem for the agent.
+Defaults to False, which means the task is treated as an infinite horizon problem.</p>
+<p>This flag handles the subtleties of finite and infinite horizon tasks:</p>
+<ul class="simple">
+<li><p><strong>Finite horizon</strong>: no penalty or bootstrapping value is required by the the agent for
+running out of time. However, the environment still needs to terminate the episode after the
+time limit is reached.</p></li>
+<li><p><strong>Infinite horizon</strong>: the agent needs to bootstrap the value of the state at the end of the episode.
+This is done by sending a time-limit (or truncated) done signal to the agent, which triggers this
+bootstrapping calculation.</p></li>
+</ul>
+<p>If True, then the environment is treated as a finite horizon problem and no time-out (or truncated) done signal
+is sent to the agent. If False, then the environment is treated as an infinite horizon problem and a time-out
+(or truncated) done signal is sent to the agent.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The base <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a> class does not use this flag directly. It is used by the environment
+wrappers to determine what type of done signal to send to the corresponding learning agent.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s">
+<span class="sig-name descname"><span class="pre">episode_length_s</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s" title="Permalink to this definition">#</a></dt>
+<dd><p>Duration of an episode (in seconds).</p>
+<p>Based on the decimation rate and physics time step, the episode length is calculated as:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">episode_length_steps</span> <span class="o">=</span> <span class="n">ceil</span><span class="p">(</span><span class="n">episode_length_s</span> <span class="o">/</span> <span class="p">(</span><span class="n">decimation_rate</span> <span class="o">*</span> <span class="n">physics_time_step</span><span class="p">))</span>
+</pre></div>
+</div>
+<p>For example, if the decimation rate is 10, the physics time step is 0.01, and the episode length is 10 seconds,
+then the episode length in steps is 100.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards">
+<span class="sig-name descname"><span class="pre">rewards</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards" title="Permalink to this definition">#</a></dt>
+<dd><p>Reward settings.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager" title="omni.isaac.lab.managers.RewardManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.RewardManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.viewer">
+<span class="sig-name descname"><span class="pre">viewer</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg" title="omni.isaac.lab.envs.common.ViewerCfg"><span class="pre">ViewerCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.viewer" title="Permalink to this definition">#</a></dt>
+<dd><p>Viewer configuration. Default is ViewerCfg().</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.sim">
+<span class="sig-name descname"><span class="pre">sim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.simulation_cfg.SimulationCfg"><span class="pre">SimulationCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics simulation configuration. Default is SimulationCfg().</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.seed">
+<span class="sig-name descname"><span class="pre">seed</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.seed" title="Permalink to this definition">#</a></dt>
+<dd><p>The seed for the random number generator. Defaults to None, in which case the seed is not set.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The seed is set at the beginning of the environment initialization. This ensures that the environment
+creation is deterministic and behaves similarly across different runs.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation">
+<span class="sig-name descname"><span class="pre">decimation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of control action updates &#64; sim dt per policy dt.</p>
+<p>For instance, if the simulation dt is 0.01s and the policy dt is 0.1s, then the decimation is 10.
+This means that the control action is updated every 10 simulation steps.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene">
+<span class="sig-name descname"><span class="pre">scene</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg"><span class="pre">InteractiveSceneCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene" title="Permalink to this definition">#</a></dt>
+<dd><p>Scene settings.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.InteractiveSceneCfg</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.recorders">
+<span class="sig-name descname"><span class="pre">recorders</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.recorders" title="Permalink to this definition">#</a></dt>
+<dd><p>Recorder settings. Defaults to recording nothing.</p>
+<p>Please refer to the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.RecorderManager</span></code> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations">
+<span class="sig-name descname"><span class="pre">observations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations" title="Permalink to this definition">#</a></dt>
+<dd><p>Observation space settings.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ObservationManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions">
+<span class="sig-name descname"><span class="pre">actions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions" title="Permalink to this definition">#</a></dt>
+<dd><p>Action space settings.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager" title="omni.isaac.lab.managers.ActionManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ActionManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events">
+<span class="sig-name descname"><span class="pre">events</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events" title="Permalink to this definition">#</a></dt>
+<dd><p>Event settings. Defaults to the basic configuration that resets the scene to its default state.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager" title="omni.isaac.lab.managers.EventManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.EventManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rerender_on_reset">
+<span class="sig-name descname"><span class="pre">rerender_on_reset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rerender_on_reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether a render step is performed again after at least one environment has been reset.
+Defaults to False, which means no render step will be performed after reset.</p>
+<ul class="simple">
+<li><p>When this is False, data collected from sensors after performing reset will be stale and will not reflect the
+latest states in simulation caused by the reset.</p></li>
+<li><p>When this is True, an extra render step will be performed to update the sensor data
+to reflect the latest states from the reset. This comes at a cost of performance as an additional render
+step will be performed after each time an environment is reset.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations">
+<span class="sig-name descname"><span class="pre">terminations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations" title="Permalink to this definition">#</a></dt>
+<dd><p>Termination settings.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager" title="omni.isaac.lab.managers.TerminationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.TerminationManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum">
+<span class="sig-name descname"><span class="pre">curriculum</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum" title="Permalink to this definition">#</a></dt>
+<dd><p>Curriculum settings. Defaults to None, in which case no curriculum is applied.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager" title="omni.isaac.lab.managers.CurriculumManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.CurriculumManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands">
+<span class="sig-name descname"><span class="pre">commands</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands" title="Permalink to this definition">#</a></dt>
+<dd><p>Command settings. Defaults to None, in which case no commands are generated.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager" title="omni.isaac.lab.managers.CommandManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.CommandManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="direct-rl-environment">
+<h2>Direct RL Environment<a class="headerlink" href="#direct-rl-environment" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.</span></span><span class="sig-name descname"><span class="pre">DirectRLEnv</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_rl_env.html#DirectRLEnv"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Env</span></code></a></p>
+<p>The superclass for the direct workflow to design environments.</p>
+<p>This class implements the core functionality for reinforcement learning (RL)
+environments. It is designed to be used with any RL library. The class is designed
+to be used with vectorized environments, i.e., the environment is expected to be run
+in parallel with multiple sub-environments.</p>
+<p>While the environment itself is implemented as a vectorized environment, we do not
+inherit from <code class="xref py py-class docutils literal notranslate"><span class="pre">gym.vector.VectorEnv</span></code>. This is mainly because the class adds
+various methods (for wait and asynchronous updates) which are not required.
+Additionally, each RL library typically has its own definition for a vectorized
+environment. Thus, to reduce complexity, we directly use the <code class="xref py py-class docutils literal notranslate"><span class="pre">gym.Env</span></code> over
+here and leave it up to library-defined wrappers to take care of wrapping this
+environment for their agents.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For vectorized environments, it is recommended to <strong>only</strong> call the <a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.reset" title="omni.isaac.lab.envs.DirectRLEnv.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code></a>
+method once before the first call to <a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.step" title="omni.isaac.lab.envs.DirectRLEnv.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a>, i.e. after the environment is created.
+After that, the <a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.step" title="omni.isaac.lab.envs.DirectRLEnv.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a> function handles the reset of terminated sub-environments.
+This is because the simulator does not support resetting individual sub-environments
+in a vectorized environment.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.is_vector_env" title="omni.isaac.lab.envs.DirectRLEnv.is_vector_env"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_vector_env</span></code></a></p></td>
+<td><p>Whether the environment is a vectorized environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.metadata" title="omni.isaac.lab.envs.DirectRLEnv.metadata"><code class="xref py py-obj docutils literal notranslate"><span class="pre">metadata</span></code></a></p></td>
+<td><p>Metadata for the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.num_envs" title="omni.isaac.lab.envs.DirectRLEnv.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>The number of instances of the environment that are running.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.physics_dt" title="omni.isaac.lab.envs.DirectRLEnv.physics_dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_dt</span></code></a></p></td>
+<td><p>The physics time-step (in s).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.step_dt" title="omni.isaac.lab.envs.DirectRLEnv.step_dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_dt</span></code></a></p></td>
+<td><p>The environment stepping time-step (in s).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.device" title="omni.isaac.lab.envs.DirectRLEnv.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>The device on which the environment is running.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.max_episode_length_s" title="omni.isaac.lab.envs.DirectRLEnv.max_episode_length_s"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_episode_length_s</span></code></a></p></td>
+<td><p>Maximum episode length in seconds.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.max_episode_length" title="omni.isaac.lab.envs.DirectRLEnv.max_episode_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_episode_length</span></code></a></p></td>
+<td><p>The maximum episode length in steps adjusted from s.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.np_random" title="omni.isaac.lab.envs.DirectRLEnv.np_random"><code class="xref py py-obj docutils literal notranslate"><span class="pre">np_random</span></code></a></p></td>
+<td><p>Returns the environment's internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random</span></code> that if not set will initialise with a random seed.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.np_random_seed" title="omni.isaac.lab.envs.DirectRLEnv.np_random_seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">np_random_seed</span></code></a></p></td>
+<td><p>Returns the environment's internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random_seed</span></code> that if not set will first initialise with a random int as seed.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.unwrapped" title="omni.isaac.lab.envs.DirectRLEnv.unwrapped"><code class="xref py py-obj docutils literal notranslate"><span class="pre">unwrapped</span></code></a></p></td>
+<td><p>Returns the base non-wrapped environment.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.__init__" title="omni.isaac.lab.envs.DirectRLEnv.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg[, render_mode])</p></td>
+<td><p>Initialize the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.reset" title="omni.isaac.lab.envs.DirectRLEnv.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([seed, options])</p></td>
+<td><p>Resets all the environments and returns observations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.step" title="omni.isaac.lab.envs.DirectRLEnv.step"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step</span></code></a>(action)</p></td>
+<td><p>Execute one time-step of the environment's dynamics.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.seed" title="omni.isaac.lab.envs.DirectRLEnv.seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">seed</span></code></a>([seed])</p></td>
+<td><p>Set the seed for the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.render" title="omni.isaac.lab.envs.DirectRLEnv.render"><code class="xref py py-obj docutils literal notranslate"><span class="pre">render</span></code></a>([recompute])</p></td>
+<td><p>Run rendering without stepping through the physics.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.close" title="omni.isaac.lab.envs.DirectRLEnv.close"><code class="xref py py-obj docutils literal notranslate"><span class="pre">close</span></code></a>()</p></td>
+<td><p>Cleanup for the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.set_debug_vis" title="omni.isaac.lab.envs.DirectRLEnv.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Toggles the environment debug visualization.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.get_wrapper_attr" title="omni.isaac.lab.envs.DirectRLEnv.get_wrapper_attr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_wrapper_attr</span></code></a>(name)</p></td>
+<td><p>Gets the attribute <cite>name</cite> from the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.has_wrapper_attr" title="omni.isaac.lab.envs.DirectRLEnv.has_wrapper_attr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_wrapper_attr</span></code></a>(name)</p></td>
+<td><p>Checks if the attribute <cite>name</cite> exists in the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.set_wrapper_attr" title="omni.isaac.lab.envs.DirectRLEnv.set_wrapper_attr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_wrapper_attr</span></code></a>(name, value)</p></td>
+<td><p>Sets the attribute <cite>name</cite> on the environment with <cite>value</cite>.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.is_vector_env">
+<span class="sig-name descname"><span class="pre">is_vector_env</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ClassVar</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">True</span></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.is_vector_env" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the environment is a vectorized environment.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.metadata">
+<span class="sig-name descname"><span class="pre">metadata</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ClassVar</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'isaac_sim_version':</span> <span class="pre">omni.isaac.version.get_version,</span> <span class="pre">'render_modes':</span> <span class="pre">[None,</span> <span class="pre">'human',</span> <span class="pre">'rgb_array']}</span></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.metadata" title="Permalink to this definition">#</a></dt>
+<dd><p>Metadata for the environment.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg" title="omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg"><span class="pre">DirectRLEnvCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">render_mode</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_rl_env.html#DirectRLEnv.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object for the environment.</p></li>
+<li><p><strong>render_mode</strong> – The render mode for the environment. Defaults to None, which
+is similar to <code class="docutils literal notranslate"><span class="pre">&quot;human&quot;</span></code>.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If a simulation context already exists. The environment must always create one
+    since it configures the simulation context and controls the simulation.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of instances of the environment that are running.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.physics_dt">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">physics_dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.physics_dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The physics time-step (in s).</p>
+<p>This is the lowest time-decimation at which the simulation is happening.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.step_dt">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">step_dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.step_dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The environment stepping time-step (in s).</p>
+<p>This is the time-step at which the environment steps forward.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.device" title="Permalink to this definition">#</a></dt>
+<dd><p>The device on which the environment is running.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.max_episode_length_s">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_episode_length_s</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.max_episode_length_s" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum episode length in seconds.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.max_episode_length">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_episode_length</span></span><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.max_episode_length" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum episode length in steps adjusted from s.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.13)"><span class="pre">Union</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_rl_env.html#DirectRLEnv.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets all the environments and returns observations.</p>
+<p>This function calls the <code class="xref py py-meth docutils literal notranslate"><span class="pre">_reset_idx()</span></code> function to reset all the environments.
+However, certain operations, such as procedural terrain generation, that happened during initialization
+are not repeated.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>seed</strong> – The seed to use for randomization. Defaults to None, in which case the seed is not set.</p></li>
+<li><p><strong>options</strong> – <p>Additional information to specify how the environment is reset. Defaults to None.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This argument is used for compatibility with Gymnasium environment definition.</p>
+</div>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the observations and extras.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.step">
+<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.13)"><span class="pre">Union</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_rl_env.html#DirectRLEnv.step"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.step" title="Permalink to this definition">#</a></dt>
+<dd><p>Execute one time-step of the environment’s dynamics.</p>
+<p>The environment steps forward at a fixed time-step, while the physics simulation is decimated at a
+lower time-step. This is to ensure that the simulation is stable. These two time-steps can be configured
+independently using the <a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.decimation" title="omni.isaac.lab.envs.DirectRLEnvCfg.decimation"><code class="xref py py-attr docutils literal notranslate"><span class="pre">DirectRLEnvCfg.decimation</span></code></a> (number of simulation steps per environment step)
+and the <code class="xref py py-attr docutils literal notranslate"><span class="pre">DirectRLEnvCfg.sim.physics_dt</span></code> (physics time-step). Based on these parameters, the environment
+time-step is computed as the product of the two.</p>
+<p>This function performs the following steps:</p>
+<ol class="arabic simple">
+<li><p>Pre-process the actions before stepping through the physics.</p></li>
+<li><p>Apply the actions to the simulator and step through the physics in a decimated manner.</p></li>
+<li><p>Compute the reward and done signals.</p></li>
+<li><p>Reset environments that have terminated or reached the maximum episode length.</p></li>
+<li><p>Apply interval events if they are enabled.</p></li>
+<li><p>Compute observations.</p></li>
+</ol>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>action</strong> – The actions to apply on the environment. Shape is (num_envs, action_dim).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the observations, rewards, resets (terminated and truncated) and extras.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.seed">
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_rl_env.html#DirectRLEnv.seed"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.seed" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the seed for the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>seed</strong> – The seed for random generator. Defaults to -1.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The seed used for random generator.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.render">
+<span class="sig-name descname"><span class="pre">render</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">recompute</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">np.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_rl_env.html#DirectRLEnv.render"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.render" title="Permalink to this definition">#</a></dt>
+<dd><p>Run rendering without stepping through the physics.</p>
+<p>By convention, if mode is:</p>
+<ul class="simple">
+<li><p><strong>human</strong>: Render to the current display and return nothing. Usually for human consumption.</p></li>
+<li><p><strong>rgb_array</strong>: Return an numpy.ndarray with shape (x, y, 3), representing RGB values for an
+x-by-y pixel image, suitable for turning into a video.</p></li>
+</ul>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>recompute</strong> – Whether to force a render even if the simulator has already rendered the scene.
+Defaults to False.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The rendered image as a numpy array if mode is “rgb_array”. Otherwise, returns None.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If mode is set to “rgb_data” and simulation render mode does not support it.
+    In this case, the simulation render mode must be set to <code class="docutils literal notranslate"><span class="pre">RenderMode.PARTIAL_RENDERING</span></code>
+    or <code class="docutils literal notranslate"><span class="pre">RenderMode.FULL_RENDERING</span></code>.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#NotImplementedError" title="(in Python v3.13)"><strong>NotImplementedError</strong></a> – If an unsupported rendering mode is specified.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.close">
+<span class="sig-name descname"><span class="pre">close</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_rl_env.html#DirectRLEnv.close"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.close" title="Permalink to this definition">#</a></dt>
+<dd><p>Cleanup for the environment.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_rl_env.html#DirectRLEnv.set_debug_vis"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Toggles the environment debug visualization.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the environment debug visualization.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the environment
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.get_wrapper_attr">
+<span class="sig-name descname"><span class="pre">get_wrapper_attr</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.get_wrapper_attr" title="Permalink to this definition">#</a></dt>
+<dd><p>Gets the attribute <cite>name</cite> from the environment.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.has_wrapper_attr">
+<span class="sig-name descname"><span class="pre">has_wrapper_attr</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.has_wrapper_attr" title="Permalink to this definition">#</a></dt>
+<dd><p>Checks if the attribute <cite>name</cite> exists in the environment.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.np_random">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">np_random</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://numpy.org/doc/stable/reference/random/generator.html#numpy.random.Generator" title="(in NumPy v2.2)"><span class="pre">numpy.random.Generator</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.np_random" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the environment’s internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random</span></code> that if not set will initialise with a random seed.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Instances of <cite>np.random.Generator</cite></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.np_random_seed">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">np_random_seed</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.np_random_seed" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the environment’s internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random_seed</span></code> that if not set will first initialise with a random int as seed.</p>
+<p>If <a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.np_random_seed" title="omni.isaac.lab.envs.DirectRLEnv.np_random_seed"><code class="xref py py-attr docutils literal notranslate"><span class="pre">np_random_seed</span></code></a> was set directly instead of through <a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv.reset" title="omni.isaac.lab.envs.DirectRLEnv.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code></a> or <code class="xref py py-meth docutils literal notranslate"><span class="pre">set_np_random_through_seed()</span></code>,
+the seed will take the value -1.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>the seed of the current <cite>np_random</cite> or -1, if the seed of the rng is unknown</p>
+</dd>
+<dt class="field-even">Return type<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)">int</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.set_wrapper_attr">
+<span class="sig-name descname"><span class="pre">set_wrapper_attr</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.set_wrapper_attr" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets the attribute <cite>name</cite> on the environment with <cite>value</cite>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnv.unwrapped">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">unwrapped</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><span class="pre">Env</span></a><span class="p"><span class="pre">[</span></span><span class="pre">ObsType</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">ActType</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnv.unwrapped" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the base non-wrapped environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The base non-wrapped <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a> instance</p>
+</dd>
+<dt class="field-even">Return type<span class="colon">:</span></dt>
+<dd class="field-even"><p>Env</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.</span></span><span class="sig-name descname"><span class="pre">DirectRLEnvCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_rl_env_cfg.html#DirectRLEnvCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration for an RL environment defined with the direct workflow.</p>
+<p>Please refer to the <a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.direct_rl_env.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.direct_rl_env.DirectRLEnv</span></code></a> class for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.viewer" title="omni.isaac.lab.envs.DirectRLEnvCfg.viewer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">viewer</span></code></a></p></td>
+<td><p>Viewer configuration.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.sim" title="omni.isaac.lab.envs.DirectRLEnvCfg.sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sim</span></code></a></p></td>
+<td><p>Physics simulation configuration.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.seed" title="omni.isaac.lab.envs.DirectRLEnvCfg.seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">seed</span></code></a></p></td>
+<td><p>The seed for the random number generator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.decimation" title="omni.isaac.lab.envs.DirectRLEnvCfg.decimation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">decimation</span></code></a></p></td>
+<td><p>Number of control action updates &#64; sim dt per policy dt.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon" title="omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_finite_horizon</span></code></a></p></td>
+<td><p>Whether the learning task is treated as a finite or infinite horizon problem for the agent.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s" title="omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s"><code class="xref py py-obj docutils literal notranslate"><span class="pre">episode_length_s</span></code></a></p></td>
+<td><p>Duration of an episode (in seconds).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.scene" title="omni.isaac.lab.envs.DirectRLEnvCfg.scene"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scene</span></code></a></p></td>
+<td><p>Scene settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.events" title="omni.isaac.lab.envs.DirectRLEnvCfg.events"><code class="xref py py-obj docutils literal notranslate"><span class="pre">events</span></code></a></p></td>
+<td><p>Event settings.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.observation_space" title="omni.isaac.lab.envs.DirectRLEnvCfg.observation_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">observation_space</span></code></a></p></td>
+<td><p>Observation space definition.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_observations" title="omni.isaac.lab.envs.DirectRLEnvCfg.num_observations"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_observations</span></code></a></p></td>
+<td><p>The dimension of the observation space from each environment instance.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.state_space" title="omni.isaac.lab.envs.DirectRLEnvCfg.state_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">state_space</span></code></a></p></td>
+<td><p>State space definition.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_states" title="omni.isaac.lab.envs.DirectRLEnvCfg.num_states"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_states</span></code></a></p></td>
+<td><p>The dimension of the state-space from each environment instance.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model" title="omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model"><code class="xref py py-obj docutils literal notranslate"><span class="pre">observation_noise_model</span></code></a></p></td>
+<td><p>The noise model to apply to the computed observations from the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.action_space" title="omni.isaac.lab.envs.DirectRLEnvCfg.action_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_space</span></code></a></p></td>
+<td><p>Action space definition.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_actions" title="omni.isaac.lab.envs.DirectRLEnvCfg.num_actions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_actions</span></code></a></p></td>
+<td><p>The dimension of the action space for each environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model" title="omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_noise_model</span></code></a></p></td>
+<td><p>The noise model applied to the actions provided to the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.rerender_on_reset" title="omni.isaac.lab.envs.DirectRLEnvCfg.rerender_on_reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rerender_on_reset</span></code></a></p></td>
+<td><p>Whether a render step is performed again after at least one environment has been reset.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.ui_window_class_type" title="omni.isaac.lab.envs.DirectRLEnvCfg.ui_window_class_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ui_window_class_type</span></code></a></p></td>
+<td><p>alias of <a class="reference internal" href="omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code></a></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.viewer">
+<span class="sig-name descname"><span class="pre">viewer</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg" title="omni.isaac.lab.envs.common.ViewerCfg"><span class="pre">ViewerCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.viewer" title="Permalink to this definition">#</a></dt>
+<dd><p>Viewer configuration. Default is ViewerCfg().</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.sim">
+<span class="sig-name descname"><span class="pre">sim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.simulation_cfg.SimulationCfg"><span class="pre">SimulationCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics simulation configuration. Default is SimulationCfg().</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.ui_window_class_type">
+<span class="sig-name descname"><span class="pre">ui_window_class_type</span></span><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.ui_window_class_type" title="Permalink to this definition">#</a></dt>
+<dd><p>alias of <a class="reference internal" href="omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code></a></p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.seed">
+<span class="sig-name descname"><span class="pre">seed</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.seed" title="Permalink to this definition">#</a></dt>
+<dd><p>The seed for the random number generator. Defaults to None, in which case the seed is not set.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The seed is set at the beginning of the environment initialization. This ensures that the environment
+creation is deterministic and behaves similarly across different runs.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.decimation">
+<span class="sig-name descname"><span class="pre">decimation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.decimation" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of control action updates &#64; sim dt per policy dt.</p>
+<p>For instance, if the simulation dt is 0.01s and the policy dt is 0.1s, then the decimation is 10.
+This means that the control action is updated every 10 simulation steps.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon">
+<span class="sig-name descname"><span class="pre">is_finite_horizon</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the learning task is treated as a finite or infinite horizon problem for the agent.
+Defaults to False, which means the task is treated as an infinite horizon problem.</p>
+<p>This flag handles the subtleties of finite and infinite horizon tasks:</p>
+<ul class="simple">
+<li><p><strong>Finite horizon</strong>: no penalty or bootstrapping value is required by the the agent for
+running out of time. However, the environment still needs to terminate the episode after the
+time limit is reached.</p></li>
+<li><p><strong>Infinite horizon</strong>: the agent needs to bootstrap the value of the state at the end of the episode.
+This is done by sending a time-limit (or truncated) done signal to the agent, which triggers this
+bootstrapping calculation.</p></li>
+</ul>
+<p>If True, then the environment is treated as a finite horizon problem and no time-out (or truncated) done signal
+is sent to the agent. If False, then the environment is treated as an infinite horizon problem and a time-out
+(or truncated) done signal is sent to the agent.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The base <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a> class does not use this flag directly. It is used by the environment
+wrappers to determine what type of done signal to send to the corresponding learning agent.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s">
+<span class="sig-name descname"><span class="pre">episode_length_s</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s" title="Permalink to this definition">#</a></dt>
+<dd><p>Duration of an episode (in seconds).</p>
+<p>Based on the decimation rate and physics time step, the episode length is calculated as:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">episode_length_steps</span> <span class="o">=</span> <span class="n">ceil</span><span class="p">(</span><span class="n">episode_length_s</span> <span class="o">/</span> <span class="p">(</span><span class="n">decimation_rate</span> <span class="o">*</span> <span class="n">physics_time_step</span><span class="p">))</span>
+</pre></div>
+</div>
+<p>For example, if the decimation rate is 10, the physics time step is 0.01, and the episode length is 10 seconds,
+then the episode length in steps is 100.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.scene">
+<span class="sig-name descname"><span class="pre">scene</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg"><span class="pre">InteractiveSceneCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.scene" title="Permalink to this definition">#</a></dt>
+<dd><p>Scene settings.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.InteractiveSceneCfg</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.events">
+<span class="sig-name descname"><span class="pre">events</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.events" title="Permalink to this definition">#</a></dt>
+<dd><p>Event settings. Defaults to None, in which case no events are applied through the event manager.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager" title="omni.isaac.lab.managers.EventManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.EventManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.observation_space">
+<span class="sig-name descname"><span class="pre">observation_space</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">SpaceType</span></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.observation_space" title="Permalink to this definition">#</a></dt>
+<dd><p>Observation space definition.</p>
+<p>The space can be defined either using Gymnasium <a class="reference external" href="https://gymnasium.farama.org/api/spaces/#module-gymnasium.spaces" title="(in Gymnasium)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">spaces</span></code></a> (when a more detailed
+specification of the space is desired) or basic Python data types (for simplicity).</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Gymnasium space</p></th>
+<th class="head"><p>Python data type</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Box" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Box</span></code></a></p></td>
+<td><p>Integer or list of integers (e.g.: <code class="docutils literal notranslate"><span class="pre">7</span></code>, <code class="docutils literal notranslate"><span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Discrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Discrete</span></code></a></p></td>
+<td><p>Single-element set (e.g.: <code class="docutils literal notranslate"><span class="pre">{2}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.MultiDiscrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">MultiDiscrete</span></code></a></p></td>
+<td><p>List of single-element sets (e.g.: <code class="docutils literal notranslate"><span class="pre">[{2},</span> <span class="pre">{5}]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Dict" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Dict</span></code></a></p></td>
+<td><p>Dictionary (e.g.: <code class="docutils literal notranslate"><span class="pre">{&quot;joints&quot;:</span> <span class="pre">7,</span> <span class="pre">&quot;rgb&quot;:</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">&quot;gripper&quot;:</span> <span class="pre">{2}}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Tuple" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code></a></p></td>
+<td><p>Tuple (e.g.: <code class="docutils literal notranslate"><span class="pre">(7,</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">{2})</span></code>)</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.num_observations">
+<span class="sig-name descname"><span class="pre">num_observations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_observations" title="Permalink to this definition">#</a></dt>
+<dd><p>The dimension of the observation space from each environment instance.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>This attribute is deprecated. Use <a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.observation_space" title="omni.isaac.lab.envs.DirectRLEnvCfg.observation_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_space</span></code></a> instead.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.state_space">
+<span class="sig-name descname"><span class="pre">state_space</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">SpaceType</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.state_space" title="Permalink to this definition">#</a></dt>
+<dd><p>State space definition.</p>
+<p>This is useful for asymmetric actor-critic and defines the observation space for the critic.</p>
+<p>The space can be defined either using Gymnasium <a class="reference external" href="https://gymnasium.farama.org/api/spaces/#module-gymnasium.spaces" title="(in Gymnasium)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">spaces</span></code></a> (when a more detailed
+specification of the space is desired) or basic Python data types (for simplicity).</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Gymnasium space</p></th>
+<th class="head"><p>Python data type</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Box" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Box</span></code></a></p></td>
+<td><p>Integer or list of integers (e.g.: <code class="docutils literal notranslate"><span class="pre">7</span></code>, <code class="docutils literal notranslate"><span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Discrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Discrete</span></code></a></p></td>
+<td><p>Single-element set (e.g.: <code class="docutils literal notranslate"><span class="pre">{2}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.MultiDiscrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">MultiDiscrete</span></code></a></p></td>
+<td><p>List of single-element sets (e.g.: <code class="docutils literal notranslate"><span class="pre">[{2},</span> <span class="pre">{5}]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Dict" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Dict</span></code></a></p></td>
+<td><p>Dictionary (e.g.: <code class="docutils literal notranslate"><span class="pre">{&quot;joints&quot;:</span> <span class="pre">7,</span> <span class="pre">&quot;rgb&quot;:</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">&quot;gripper&quot;:</span> <span class="pre">{2}}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Tuple" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code></a></p></td>
+<td><p>Tuple (e.g.: <code class="docutils literal notranslate"><span class="pre">(7,</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">{2})</span></code>)</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.num_states">
+<span class="sig-name descname"><span class="pre">num_states</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_states" title="Permalink to this definition">#</a></dt>
+<dd><p>The dimension of the state-space from each environment instance.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>This attribute is deprecated. Use <a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.state_space" title="omni.isaac.lab.envs.DirectRLEnvCfg.state_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">state_space</span></code></a> instead.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model">
+<span class="sig-name descname"><span class="pre">observation_noise_model</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg"><span class="pre">NoiseModelCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model" title="Permalink to this definition">#</a></dt>
+<dd><p>The noise model to apply to the computed observations from the environment. Default is None, which means no noise is added.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModel" title="omni.isaac.lab.utils.noise.NoiseModel"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.noise.NoiseModel</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.action_space">
+<span class="sig-name descname"><span class="pre">action_space</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">SpaceType</span></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.action_space" title="Permalink to this definition">#</a></dt>
+<dd><p>Action space definition.</p>
+<p>The space can be defined either using Gymnasium <a class="reference external" href="https://gymnasium.farama.org/api/spaces/#module-gymnasium.spaces" title="(in Gymnasium)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">spaces</span></code></a> (when a more detailed
+specification of the space is desired) or basic Python data types (for simplicity).</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Gymnasium space</p></th>
+<th class="head"><p>Python data type</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Box" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Box</span></code></a></p></td>
+<td><p>Integer or list of integers (e.g.: <code class="docutils literal notranslate"><span class="pre">7</span></code>, <code class="docutils literal notranslate"><span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Discrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Discrete</span></code></a></p></td>
+<td><p>Single-element set (e.g.: <code class="docutils literal notranslate"><span class="pre">{2}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.MultiDiscrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">MultiDiscrete</span></code></a></p></td>
+<td><p>List of single-element sets (e.g.: <code class="docutils literal notranslate"><span class="pre">[{2},</span> <span class="pre">{5}]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Dict" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Dict</span></code></a></p></td>
+<td><p>Dictionary (e.g.: <code class="docutils literal notranslate"><span class="pre">{&quot;joints&quot;:</span> <span class="pre">7,</span> <span class="pre">&quot;rgb&quot;:</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">&quot;gripper&quot;:</span> <span class="pre">{2}}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Tuple" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code></a></p></td>
+<td><p>Tuple (e.g.: <code class="docutils literal notranslate"><span class="pre">(7,</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">{2})</span></code>)</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.num_actions">
+<span class="sig-name descname"><span class="pre">num_actions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_actions" title="Permalink to this definition">#</a></dt>
+<dd><p>The dimension of the action space for each environment.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>This attribute is deprecated. Use <a class="reference internal" href="#omni.isaac.lab.envs.DirectRLEnvCfg.action_space" title="omni.isaac.lab.envs.DirectRLEnvCfg.action_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">action_space</span></code></a> instead.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model">
+<span class="sig-name descname"><span class="pre">action_noise_model</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg"><span class="pre">NoiseModelCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model" title="Permalink to this definition">#</a></dt>
+<dd><p>The noise model applied to the actions provided to the environment. Default is None, which means no noise is added.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModel" title="omni.isaac.lab.utils.noise.NoiseModel"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.noise.NoiseModel</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectRLEnvCfg.rerender_on_reset">
+<span class="sig-name descname"><span class="pre">rerender_on_reset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectRLEnvCfg.rerender_on_reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether a render step is performed again after at least one environment has been reset.
+Defaults to False, which means no render step will be performed after reset.</p>
+<ul class="simple">
+<li><p>When this is False, data collected from sensors after performing reset will be stale and will not reflect the
+latest states in simulation caused by the reset.</p></li>
+<li><p>When this is True, an extra render step will be performed to update the sensor data
+to reflect the latest states from the reset. This comes at a cost of performance as an additional render
+step will be performed after each time an environment is reset.</p></li>
+</ul>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="direct-multi-agent-rl-environment">
+<h2>Direct Multi-Agent RL Environment<a class="headerlink" href="#direct-multi-agent-rl-environment" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.</span></span><span class="sig-name descname"><span class="pre">DirectMARLEnv</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Env</span></code></a></p>
+<p>The superclass for the direct workflow to design multi-agent environments.</p>
+<p>This class implements the core functionality for multi-agent reinforcement learning (MARL)
+environments. It is designed to be used with any RL library. The class is designed
+to be used with vectorized environments, i.e., the environment is expected to be run
+in parallel with multiple sub-environments.</p>
+<p>The design of this class is based on the PettingZoo Parallel API.
+While the environment itself is implemented as a vectorized environment, we do not
+inherit from <code class="xref py py-class docutils literal notranslate"><span class="pre">pettingzoo.ParallelEnv</span></code> or <code class="xref py py-class docutils literal notranslate"><span class="pre">gym.vector.VectorEnv</span></code>. This is mainly
+because the class adds various attributes and methods that are inconsistent with them.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For vectorized environments, it is recommended to <strong>only</strong> call the <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.reset" title="omni.isaac.lab.envs.DirectMARLEnv.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code></a>
+method once before the first call to <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.step" title="omni.isaac.lab.envs.DirectMARLEnv.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a>, i.e. after the environment is created.
+After that, the <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.step" title="omni.isaac.lab.envs.DirectMARLEnv.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a> function handles the reset of terminated sub-environments.
+This is because the simulator does not support resetting individual sub-environments
+in a vectorized environment.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.metadata" title="omni.isaac.lab.envs.DirectMARLEnv.metadata"><code class="xref py py-obj docutils literal notranslate"><span class="pre">metadata</span></code></a></p></td>
+<td><p>Metadata for the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.num_envs" title="omni.isaac.lab.envs.DirectMARLEnv.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>The number of instances of the environment that are running.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.num_agents" title="omni.isaac.lab.envs.DirectMARLEnv.num_agents"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_agents</span></code></a></p></td>
+<td><p>Number of current agents.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.max_num_agents" title="omni.isaac.lab.envs.DirectMARLEnv.max_num_agents"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_num_agents</span></code></a></p></td>
+<td><p>Number of all possible agents the environment can generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.unwrapped" title="omni.isaac.lab.envs.DirectMARLEnv.unwrapped"><code class="xref py py-obj docutils literal notranslate"><span class="pre">unwrapped</span></code></a></p></td>
+<td><p>Get the unwrapped environment underneath all the layers of wrappers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.physics_dt" title="omni.isaac.lab.envs.DirectMARLEnv.physics_dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_dt</span></code></a></p></td>
+<td><p>The physics time-step (in s).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.step_dt" title="omni.isaac.lab.envs.DirectMARLEnv.step_dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_dt</span></code></a></p></td>
+<td><p>The environment stepping time-step (in s).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.device" title="omni.isaac.lab.envs.DirectMARLEnv.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>The device on which the environment is running.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.max_episode_length_s" title="omni.isaac.lab.envs.DirectMARLEnv.max_episode_length_s"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_episode_length_s</span></code></a></p></td>
+<td><p>Maximum episode length in seconds.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.max_episode_length" title="omni.isaac.lab.envs.DirectMARLEnv.max_episode_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_episode_length</span></code></a></p></td>
+<td><p>The maximum episode length in steps adjusted from s.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.np_random" title="omni.isaac.lab.envs.DirectMARLEnv.np_random"><code class="xref py py-obj docutils literal notranslate"><span class="pre">np_random</span></code></a></p></td>
+<td><p>Returns the environment's internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random</span></code> that if not set will initialise with a random seed.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.np_random_seed" title="omni.isaac.lab.envs.DirectMARLEnv.np_random_seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">np_random_seed</span></code></a></p></td>
+<td><p>Returns the environment's internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random_seed</span></code> that if not set will first initialise with a random int as seed.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.__init__" title="omni.isaac.lab.envs.DirectMARLEnv.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg[, render_mode])</p></td>
+<td><p>Initialize the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.observation_space" title="omni.isaac.lab.envs.DirectMARLEnv.observation_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">observation_space</span></code></a>(agent)</p></td>
+<td><p>Get the observation space for the specified agent.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.action_space" title="omni.isaac.lab.envs.DirectMARLEnv.action_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_space</span></code></a>(agent)</p></td>
+<td><p>Get the action space for the specified agent.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.reset" title="omni.isaac.lab.envs.DirectMARLEnv.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([seed, options])</p></td>
+<td><p>Resets all the environments and returns observations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.step" title="omni.isaac.lab.envs.DirectMARLEnv.step"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step</span></code></a>(actions)</p></td>
+<td><p>Execute one time-step of the environment's dynamics.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.state" title="omni.isaac.lab.envs.DirectMARLEnv.state"><code class="xref py py-obj docutils literal notranslate"><span class="pre">state</span></code></a>()</p></td>
+<td><p>Returns the state for the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.seed" title="omni.isaac.lab.envs.DirectMARLEnv.seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">seed</span></code></a>([seed])</p></td>
+<td><p>Set the seed for the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.render" title="omni.isaac.lab.envs.DirectMARLEnv.render"><code class="xref py py-obj docutils literal notranslate"><span class="pre">render</span></code></a>([recompute])</p></td>
+<td><p>Run rendering without stepping through the physics.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.close" title="omni.isaac.lab.envs.DirectMARLEnv.close"><code class="xref py py-obj docutils literal notranslate"><span class="pre">close</span></code></a>()</p></td>
+<td><p>Cleanup for the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.set_debug_vis" title="omni.isaac.lab.envs.DirectMARLEnv.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Toggles the environment debug visualization.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.get_wrapper_attr" title="omni.isaac.lab.envs.DirectMARLEnv.get_wrapper_attr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_wrapper_attr</span></code></a>(name)</p></td>
+<td><p>Gets the attribute <cite>name</cite> from the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.has_wrapper_attr" title="omni.isaac.lab.envs.DirectMARLEnv.has_wrapper_attr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_wrapper_attr</span></code></a>(name)</p></td>
+<td><p>Checks if the attribute <cite>name</cite> exists in the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.set_wrapper_attr" title="omni.isaac.lab.envs.DirectMARLEnv.set_wrapper_attr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_wrapper_attr</span></code></a>(name, value)</p></td>
+<td><p>Sets the attribute <cite>name</cite> on the environment with <cite>value</cite>.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.metadata">
+<span class="sig-name descname"><span class="pre">metadata</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ClassVar</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'isaac_sim_version':</span> <span class="pre">omni.isaac.version.get_version,</span> <span class="pre">'render_modes':</span> <span class="pre">[None,</span> <span class="pre">'human',</span> <span class="pre">'rgb_array']}</span></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.metadata" title="Permalink to this definition">#</a></dt>
+<dd><p>Metadata for the environment.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg" title="omni.isaac.lab.envs.direct_marl_env_cfg.DirectMARLEnvCfg"><span class="pre">DirectMARLEnvCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">render_mode</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object for the environment.</p></li>
+<li><p><strong>render_mode</strong> – The render mode for the environment. Defaults to None, which
+is similar to <code class="docutils literal notranslate"><span class="pre">&quot;human&quot;</span></code>.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If a simulation context already exists. The environment must always create one
+    since it configures the simulation context and controls the simulation.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of instances of the environment that are running.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.num_agents">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_agents</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.num_agents" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of current agents.</p>
+<p>The number of current agents may change as the environment progresses (e.g.: agents can be added or removed).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.max_num_agents">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_num_agents</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.max_num_agents" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of all possible agents the environment can generate.</p>
+<p>This value remains constant as the environment progresses.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.unwrapped">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">unwrapped</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.direct_marl_env.DirectMARLEnv"><span class="pre">DirectMARLEnv</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.unwrapped" title="Permalink to this definition">#</a></dt>
+<dd><p>Get the unwrapped environment underneath all the layers of wrappers.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.physics_dt">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">physics_dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.physics_dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The physics time-step (in s).</p>
+<p>This is the lowest time-decimation at which the simulation is happening.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.step_dt">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">step_dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.step_dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The environment stepping time-step (in s).</p>
+<p>This is the time-step at which the environment steps forward.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.device" title="Permalink to this definition">#</a></dt>
+<dd><p>The device on which the environment is running.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.max_episode_length_s">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_episode_length_s</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.max_episode_length_s" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum episode length in seconds.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.max_episode_length">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_episode_length</span></span><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.max_episode_length" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum episode length in steps adjusted from s.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.observation_space">
+<span class="sig-name descname"><span class="pre">observation_space</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">AgentID</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://gymnasium.farama.org/api/spaces/#gymnasium.spaces.Space" title="(in Gymnasium)"><span class="pre">Space</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv.observation_space"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.observation_space" title="Permalink to this definition">#</a></dt>
+<dd><p>Get the observation space for the specified agent.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The agent’s observation space.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.action_space">
+<span class="sig-name descname"><span class="pre">action_space</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">agent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">AgentID</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://gymnasium.farama.org/api/spaces/#gymnasium.spaces.Space" title="(in Gymnasium)"><span class="pre">Space</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv.action_space"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.action_space" title="Permalink to this definition">#</a></dt>
+<dd><p>Get the action space for the specified agent.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The agent’s action space.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">ObsType</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets all the environments and returns observations.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>seed</strong> – The seed to use for randomization. Defaults to None, in which case the seed is not set.</p></li>
+<li><p><strong>options</strong> – <p>Additional information to specify how the environment is reset. Defaults to None.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This argument is used for compatibility with Gymnasium environment definition.</p>
+</div>
+</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the observations and extras (keyed by the agent ID).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.step">
+<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">actions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">ActionType</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">ObsType</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Dict" title="(in Python v3.13)"><span class="pre">Dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv.step"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.step" title="Permalink to this definition">#</a></dt>
+<dd><p>Execute one time-step of the environment’s dynamics.</p>
+<p>The environment steps forward at a fixed time-step, while the physics simulation is decimated at a
+lower time-step. This is to ensure that the simulation is stable. These two time-steps can be configured
+independently using the <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.decimation" title="omni.isaac.lab.envs.DirectMARLEnvCfg.decimation"><code class="xref py py-attr docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.decimation</span></code></a> (number of simulation steps per environment step)
+and the <code class="xref py py-attr docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.sim.physics_dt</span></code> (physics time-step). Based on these parameters, the environment
+time-step is computed as the product of the two.</p>
+<p>This function performs the following steps:</p>
+<ol class="arabic simple">
+<li><p>Pre-process the actions before stepping through the physics.</p></li>
+<li><p>Apply the actions to the simulator and step through the physics in a decimated manner.</p></li>
+<li><p>Compute the reward and done signals.</p></li>
+<li><p>Reset environments that have terminated or reached the maximum episode length.</p></li>
+<li><p>Apply interval events if they are enabled.</p></li>
+<li><p>Compute observations.</p></li>
+</ol>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>actions</strong> – The actions to apply on the environment (keyed by the agent ID).
+Shape of individual tensors is (num_envs, action_dim).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the observations, rewards, resets (terminated and truncated) and extras (keyed by the agent ID).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.state">
+<span class="sig-name descname"><span class="pre">state</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">StateType</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv.state"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.state" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the state for the environment.</p>
+<p>The state-space is used for centralized training or asymmetric actor-critic architectures. It is configured
+using the <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.state_space" title="omni.isaac.lab.envs.DirectMARLEnvCfg.state_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.state_space</span></code></a> parameter.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The states for the environment, or None if <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.state_space" title="omni.isaac.lab.envs.DirectMARLEnvCfg.state_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.state_space</span></code></a> parameter is zero.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.seed">
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">seed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv.seed"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.seed" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the seed for the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>seed</strong> – The seed for random generator. Defaults to -1.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The seed used for random generator.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.render">
+<span class="sig-name descname"><span class="pre">render</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">recompute</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">np.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv.render"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.render" title="Permalink to this definition">#</a></dt>
+<dd><p>Run rendering without stepping through the physics.</p>
+<p>By convention, if mode is:</p>
+<ul class="simple">
+<li><p><strong>human</strong>: Render to the current display and return nothing. Usually for human consumption.</p></li>
+<li><p><strong>rgb_array</strong>: Return an numpy.ndarray with shape (x, y, 3), representing RGB values for an
+x-by-y pixel image, suitable for turning into a video.</p></li>
+</ul>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>recompute</strong> – Whether to force a render even if the simulator has already rendered the scene.
+Defaults to False.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The rendered image as a numpy array if mode is “rgb_array”. Otherwise, returns None.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If mode is set to “rgb_data” and simulation render mode does not support it.
+    In this case, the simulation render mode must be set to <code class="docutils literal notranslate"><span class="pre">RenderMode.PARTIAL_RENDERING</span></code>
+    or <code class="docutils literal notranslate"><span class="pre">RenderMode.FULL_RENDERING</span></code>.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#NotImplementedError" title="(in Python v3.13)"><strong>NotImplementedError</strong></a> – If an unsupported rendering mode is specified.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.close">
+<span class="sig-name descname"><span class="pre">close</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv.close"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.close" title="Permalink to this definition">#</a></dt>
+<dd><p>Cleanup for the environment.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env.html#DirectMARLEnv.set_debug_vis"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Toggles the environment debug visualization.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the environment debug visualization.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the environment
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.get_wrapper_attr">
+<span class="sig-name descname"><span class="pre">get_wrapper_attr</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.get_wrapper_attr" title="Permalink to this definition">#</a></dt>
+<dd><p>Gets the attribute <cite>name</cite> from the environment.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.has_wrapper_attr">
+<span class="sig-name descname"><span class="pre">has_wrapper_attr</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.has_wrapper_attr" title="Permalink to this definition">#</a></dt>
+<dd><p>Checks if the attribute <cite>name</cite> exists in the environment.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.np_random">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">np_random</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://numpy.org/doc/stable/reference/random/generator.html#numpy.random.Generator" title="(in NumPy v2.2)"><span class="pre">numpy.random.Generator</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.np_random" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the environment’s internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random</span></code> that if not set will initialise with a random seed.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Instances of <cite>np.random.Generator</cite></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.np_random_seed">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">np_random_seed</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.np_random_seed" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the environment’s internal <code class="xref py py-attr docutils literal notranslate"><span class="pre">_np_random_seed</span></code> that if not set will first initialise with a random int as seed.</p>
+<p>If <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.np_random_seed" title="omni.isaac.lab.envs.DirectMARLEnv.np_random_seed"><code class="xref py py-attr docutils literal notranslate"><span class="pre">np_random_seed</span></code></a> was set directly instead of through <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv.reset" title="omni.isaac.lab.envs.DirectMARLEnv.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code></a> or <code class="xref py py-meth docutils literal notranslate"><span class="pre">set_np_random_through_seed()</span></code>,
+the seed will take the value -1.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>the seed of the current <cite>np_random</cite> or -1, if the seed of the rng is unknown</p>
+</dd>
+<dt class="field-even">Return type<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)">int</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnv.set_wrapper_attr">
+<span class="sig-name descname"><span class="pre">set_wrapper_attr</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnv.set_wrapper_attr" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets the attribute <cite>name</cite> on the environment with <cite>value</cite>.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.</span></span><span class="sig-name descname"><span class="pre">DirectMARLEnvCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/direct_marl_env_cfg.html#DirectMARLEnvCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration for a MARL environment defined with the direct workflow.</p>
+<p>Please refer to the <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.direct_marl_env.DirectMARLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.direct_marl_env.DirectMARLEnv</span></code></a> class for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.viewer" title="omni.isaac.lab.envs.DirectMARLEnvCfg.viewer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">viewer</span></code></a></p></td>
+<td><p>Viewer configuration.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.sim" title="omni.isaac.lab.envs.DirectMARLEnvCfg.sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sim</span></code></a></p></td>
+<td><p>Physics simulation configuration.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.seed" title="omni.isaac.lab.envs.DirectMARLEnvCfg.seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">seed</span></code></a></p></td>
+<td><p>The seed for the random number generator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.decimation" title="omni.isaac.lab.envs.DirectMARLEnvCfg.decimation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">decimation</span></code></a></p></td>
+<td><p>Number of control action updates &#64; sim dt per policy dt.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.is_finite_horizon" title="omni.isaac.lab.envs.DirectMARLEnvCfg.is_finite_horizon"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_finite_horizon</span></code></a></p></td>
+<td><p>Whether the learning task is treated as a finite or infinite horizon problem for the agent.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.episode_length_s" title="omni.isaac.lab.envs.DirectMARLEnvCfg.episode_length_s"><code class="xref py py-obj docutils literal notranslate"><span class="pre">episode_length_s</span></code></a></p></td>
+<td><p>Duration of an episode (in seconds).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.scene" title="omni.isaac.lab.envs.DirectMARLEnvCfg.scene"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scene</span></code></a></p></td>
+<td><p>Scene settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.events" title="omni.isaac.lab.envs.DirectMARLEnvCfg.events"><code class="xref py py-obj docutils literal notranslate"><span class="pre">events</span></code></a></p></td>
+<td><p>Event settings.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_spaces" title="omni.isaac.lab.envs.DirectMARLEnvCfg.observation_spaces"><code class="xref py py-obj docutils literal notranslate"><span class="pre">observation_spaces</span></code></a></p></td>
+<td><p>Observation space definition for each agent.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_observations" title="omni.isaac.lab.envs.DirectMARLEnvCfg.num_observations"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_observations</span></code></a></p></td>
+<td><p>The dimension of the observation space for each agent.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.state_space" title="omni.isaac.lab.envs.DirectMARLEnvCfg.state_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">state_space</span></code></a></p></td>
+<td><p>State space definition.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_states" title="omni.isaac.lab.envs.DirectMARLEnvCfg.num_states"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_states</span></code></a></p></td>
+<td><p>The dimension of the state space from each environment instance.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_noise_model" title="omni.isaac.lab.envs.DirectMARLEnvCfg.observation_noise_model"><code class="xref py py-obj docutils literal notranslate"><span class="pre">observation_noise_model</span></code></a></p></td>
+<td><p>The noise model to apply to the computed observations from the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.action_spaces" title="omni.isaac.lab.envs.DirectMARLEnvCfg.action_spaces"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_spaces</span></code></a></p></td>
+<td><p>Action space definition for each agent.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_actions" title="omni.isaac.lab.envs.DirectMARLEnvCfg.num_actions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_actions</span></code></a></p></td>
+<td><p>The dimension of the action space for each agent.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.action_noise_model" title="omni.isaac.lab.envs.DirectMARLEnvCfg.action_noise_model"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_noise_model</span></code></a></p></td>
+<td><p>The noise model applied to the actions provided to the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.possible_agents" title="omni.isaac.lab.envs.DirectMARLEnvCfg.possible_agents"><code class="xref py py-obj docutils literal notranslate"><span class="pre">possible_agents</span></code></a></p></td>
+<td><p>A list of all possible agents the environment could generate.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.ui_window_class_type" title="omni.isaac.lab.envs.DirectMARLEnvCfg.ui_window_class_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ui_window_class_type</span></code></a></p></td>
+<td><p>alias of <a class="reference internal" href="omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code></a></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.viewer">
+<span class="sig-name descname"><span class="pre">viewer</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg" title="omni.isaac.lab.envs.common.ViewerCfg"><span class="pre">ViewerCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.viewer" title="Permalink to this definition">#</a></dt>
+<dd><p>Viewer configuration. Default is ViewerCfg().</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.sim">
+<span class="sig-name descname"><span class="pre">sim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.simulation_cfg.SimulationCfg"><span class="pre">SimulationCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics simulation configuration. Default is SimulationCfg().</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.ui_window_class_type">
+<span class="sig-name descname"><span class="pre">ui_window_class_type</span></span><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.ui_window_class_type" title="Permalink to this definition">#</a></dt>
+<dd><p>alias of <a class="reference internal" href="omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code></a></p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.seed">
+<span class="sig-name descname"><span class="pre">seed</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.seed" title="Permalink to this definition">#</a></dt>
+<dd><p>The seed for the random number generator. Defaults to None, in which case the seed is not set.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The seed is set at the beginning of the environment initialization. This ensures that the environment
+creation is deterministic and behaves similarly across different runs.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.decimation">
+<span class="sig-name descname"><span class="pre">decimation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.decimation" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of control action updates &#64; sim dt per policy dt.</p>
+<p>For instance, if the simulation dt is 0.01s and the policy dt is 0.1s, then the decimation is 10.
+This means that the control action is updated every 10 simulation steps.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.is_finite_horizon">
+<span class="sig-name descname"><span class="pre">is_finite_horizon</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.is_finite_horizon" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the learning task is treated as a finite or infinite horizon problem for the agent.
+Defaults to False, which means the task is treated as an infinite horizon problem.</p>
+<p>This flag handles the subtleties of finite and infinite horizon tasks:</p>
+<ul class="simple">
+<li><p><strong>Finite horizon</strong>: no penalty or bootstrapping value is required by the the agent for
+running out of time. However, the environment still needs to terminate the episode after the
+time limit is reached.</p></li>
+<li><p><strong>Infinite horizon</strong>: the agent needs to bootstrap the value of the state at the end of the episode.
+This is done by sending a time-limit (or truncated) done signal to the agent, which triggers this
+bootstrapping calculation.</p></li>
+</ul>
+<p>If True, then the environment is treated as a finite horizon problem and no time-out (or truncated) done signal
+is sent to the agent. If False, then the environment is treated as an infinite horizon problem and a time-out
+(or truncated) done signal is sent to the agent.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The base <a class="reference internal" href="#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a> class does not use this flag directly. It is used by the environment
+wrappers to determine what type of done signal to send to the corresponding learning agent.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.episode_length_s">
+<span class="sig-name descname"><span class="pre">episode_length_s</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.episode_length_s" title="Permalink to this definition">#</a></dt>
+<dd><p>Duration of an episode (in seconds).</p>
+<p>Based on the decimation rate and physics time step, the episode length is calculated as:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">episode_length_steps</span> <span class="o">=</span> <span class="n">ceil</span><span class="p">(</span><span class="n">episode_length_s</span> <span class="o">/</span> <span class="p">(</span><span class="n">decimation_rate</span> <span class="o">*</span> <span class="n">physics_time_step</span><span class="p">))</span>
+</pre></div>
+</div>
+<p>For example, if the decimation rate is 10, the physics time step is 0.01, and the episode length is 10 seconds,
+then the episode length in steps is 100.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.scene">
+<span class="sig-name descname"><span class="pre">scene</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg"><span class="pre">InteractiveSceneCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.scene" title="Permalink to this definition">#</a></dt>
+<dd><p>Scene settings.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.InteractiveSceneCfg</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.events">
+<span class="sig-name descname"><span class="pre">events</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.events" title="Permalink to this definition">#</a></dt>
+<dd><p>Event settings. Defaults to None, in which case no events are applied through the event manager.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager" title="omni.isaac.lab.managers.EventManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.EventManager</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.observation_spaces">
+<span class="sig-name descname"><span class="pre">observation_spaces</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">SpaceType</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_spaces" title="Permalink to this definition">#</a></dt>
+<dd><p>Observation space definition for each agent.</p>
+<p>The space can be defined either using Gymnasium <a class="reference external" href="https://gymnasium.farama.org/api/spaces/#module-gymnasium.spaces" title="(in Gymnasium)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">spaces</span></code></a> (when a more detailed
+specification of the space is desired) or basic Python data types (for simplicity).</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Gymnasium space</p></th>
+<th class="head"><p>Python data type</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Box" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Box</span></code></a></p></td>
+<td><p>Integer or list of integers (e.g.: <code class="docutils literal notranslate"><span class="pre">7</span></code>, <code class="docutils literal notranslate"><span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Discrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Discrete</span></code></a></p></td>
+<td><p>Single-element set (e.g.: <code class="docutils literal notranslate"><span class="pre">{2}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.MultiDiscrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">MultiDiscrete</span></code></a></p></td>
+<td><p>List of single-element sets (e.g.: <code class="docutils literal notranslate"><span class="pre">[{2},</span> <span class="pre">{5}]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Dict" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Dict</span></code></a></p></td>
+<td><p>Dictionary (e.g.: <code class="docutils literal notranslate"><span class="pre">{&quot;joints&quot;:</span> <span class="pre">7,</span> <span class="pre">&quot;rgb&quot;:</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">&quot;gripper&quot;:</span> <span class="pre">{2}}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Tuple" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code></a></p></td>
+<td><p>Tuple (e.g.: <code class="docutils literal notranslate"><span class="pre">(7,</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">{2})</span></code>)</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.num_observations">
+<span class="sig-name descname"><span class="pre">num_observations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_observations" title="Permalink to this definition">#</a></dt>
+<dd><p>The dimension of the observation space for each agent.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>This attribute is deprecated. Use <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_spaces" title="omni.isaac.lab.envs.DirectMARLEnvCfg.observation_spaces"><code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_spaces</span></code></a> instead.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.state_space">
+<span class="sig-name descname"><span class="pre">state_space</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">SpaceType</span></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.state_space" title="Permalink to this definition">#</a></dt>
+<dd><p>State space definition.</p>
+<p>The following values are supported:</p>
+<ul class="simple">
+<li><p>-1: All the observations from the different agents are automatically concatenated.</p></li>
+<li><p>0: No state-space will be constructed (<cite>state_space</cite> is None).
+This is useful to save computational resources when the algorithm to be trained does not need it.</p></li>
+<li><p>greater than 0: Custom state-space dimension to be provided by the task implementation.</p></li>
+</ul>
+<p>The space can be defined either using Gymnasium <a class="reference external" href="https://gymnasium.farama.org/api/spaces/#module-gymnasium.spaces" title="(in Gymnasium)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">spaces</span></code></a> (when a more detailed
+specification of the space is desired) or basic Python data types (for simplicity).</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Gymnasium space</p></th>
+<th class="head"><p>Python data type</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Box" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Box</span></code></a></p></td>
+<td><p>Integer or list of integers (e.g.: <code class="docutils literal notranslate"><span class="pre">7</span></code>, <code class="docutils literal notranslate"><span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Discrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Discrete</span></code></a></p></td>
+<td><p>Single-element set (e.g.: <code class="docutils literal notranslate"><span class="pre">{2}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.MultiDiscrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">MultiDiscrete</span></code></a></p></td>
+<td><p>List of single-element sets (e.g.: <code class="docutils literal notranslate"><span class="pre">[{2},</span> <span class="pre">{5}]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Dict" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Dict</span></code></a></p></td>
+<td><p>Dictionary (e.g.: <code class="docutils literal notranslate"><span class="pre">{&quot;joints&quot;:</span> <span class="pre">7,</span> <span class="pre">&quot;rgb&quot;:</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">&quot;gripper&quot;:</span> <span class="pre">{2}}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Tuple" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code></a></p></td>
+<td><p>Tuple (e.g.: <code class="docutils literal notranslate"><span class="pre">(7,</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">{2})</span></code>)</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.num_states">
+<span class="sig-name descname"><span class="pre">num_states</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_states" title="Permalink to this definition">#</a></dt>
+<dd><p>The dimension of the state space from each environment instance.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>This attribute is deprecated. Use <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.state_space" title="omni.isaac.lab.envs.DirectMARLEnvCfg.state_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">state_space</span></code></a> instead.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.observation_noise_model">
+<span class="sig-name descname"><span class="pre">observation_noise_model</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg"><span class="pre">omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_noise_model" title="Permalink to this definition">#</a></dt>
+<dd><p>The noise model to apply to the computed observations from the environment. Default is None, which means no noise is added.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModel" title="omni.isaac.lab.utils.noise.NoiseModel"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.noise.NoiseModel</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.action_spaces">
+<span class="sig-name descname"><span class="pre">action_spaces</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">SpaceType</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.action_spaces" title="Permalink to this definition">#</a></dt>
+<dd><p>Action space definition for each agent.</p>
+<p>The space can be defined either using Gymnasium <a class="reference external" href="https://gymnasium.farama.org/api/spaces/#module-gymnasium.spaces" title="(in Gymnasium)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">spaces</span></code></a> (when a more detailed
+specification of the space is desired) or basic Python data types (for simplicity).</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Gymnasium space</p></th>
+<th class="head"><p>Python data type</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Box" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Box</span></code></a></p></td>
+<td><p>Integer or list of integers (e.g.: <code class="docutils literal notranslate"><span class="pre">7</span></code>, <code class="docutils literal notranslate"><span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Discrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Discrete</span></code></a></p></td>
+<td><p>Single-element set (e.g.: <code class="docutils literal notranslate"><span class="pre">{2}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.MultiDiscrete" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">MultiDiscrete</span></code></a></p></td>
+<td><p>List of single-element sets (e.g.: <code class="docutils literal notranslate"><span class="pre">[{2},</span> <span class="pre">{5}]</span></code>)</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Dict" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Dict</span></code></a></p></td>
+<td><p>Dictionary (e.g.: <code class="docutils literal notranslate"><span class="pre">{&quot;joints&quot;:</span> <span class="pre">7,</span> <span class="pre">&quot;rgb&quot;:</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">&quot;gripper&quot;:</span> <span class="pre">{2}}</span></code>)</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference external" href="https://gymnasium.farama.org/api/spaces/composite/#gymnasium.spaces.Tuple" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code></a></p></td>
+<td><p>Tuple (e.g.: <code class="docutils literal notranslate"><span class="pre">(7,</span> <span class="pre">[64,</span> <span class="pre">64,</span> <span class="pre">3],</span> <span class="pre">{2})</span></code>)</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.num_actions">
+<span class="sig-name descname"><span class="pre">num_actions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_actions" title="Permalink to this definition">#</a></dt>
+<dd><p>The dimension of the action space for each agent.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>This attribute is deprecated. Use <a class="reference internal" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.action_spaces" title="omni.isaac.lab.envs.DirectMARLEnvCfg.action_spaces"><code class="xref py py-attr docutils literal notranslate"><span class="pre">action_spaces</span></code></a> instead.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.action_noise_model">
+<span class="sig-name descname"><span class="pre">action_noise_model</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg"><span class="pre">omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.action_noise_model" title="Permalink to this definition">#</a></dt>
+<dd><p>The noise model applied to the actions provided to the environment. Default is None, which means no noise is added.</p>
+<p>Please refer to the <a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModel" title="omni.isaac.lab.utils.noise.NoiseModel"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.noise.NoiseModel</span></code></a> class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.DirectMARLEnvCfg.possible_agents">
+<span class="sig-name descname"><span class="pre">possible_agents</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">AgentID</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.possible_agents" title="Permalink to this definition">#</a></dt>
+<dd><p>A list of all possible agents the environment could generate.</p>
+<p>The contents of the list cannot be modified during the entire training process.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="common">
+<h2>Common<a class="headerlink" href="#common" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ViewerCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.</span></span><span class="sig-name descname"><span class="pre">ViewerCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/common.html#ViewerCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ViewerCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration of the scene viewport camera.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.eye" title="omni.isaac.lab.envs.ViewerCfg.eye"><code class="xref py py-obj docutils literal notranslate"><span class="pre">eye</span></code></a></p></td>
+<td><p>Initial camera position (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.lookat" title="omni.isaac.lab.envs.ViewerCfg.lookat"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lookat</span></code></a></p></td>
+<td><p>Initial camera target position (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.cam_prim_path" title="omni.isaac.lab.envs.ViewerCfg.cam_prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cam_prim_path</span></code></a></p></td>
+<td><p>The camera prim path to record images from.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.resolution" title="omni.isaac.lab.envs.ViewerCfg.resolution"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resolution</span></code></a></p></td>
+<td><p>The resolution (width, height) of the camera specified using <a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.cam_prim_path" title="omni.isaac.lab.envs.ViewerCfg.cam_prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">cam_prim_path</span></code></a>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.origin_type" title="omni.isaac.lab.envs.ViewerCfg.origin_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">origin_type</span></code></a></p></td>
+<td><p>The frame in which the camera position (eye) and target (lookat) are defined in.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.env_index" title="omni.isaac.lab.envs.ViewerCfg.env_index"><code class="xref py py-obj docutils literal notranslate"><span class="pre">env_index</span></code></a></p></td>
+<td><p>The environment index for frame origin.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.asset_name" title="omni.isaac.lab.envs.ViewerCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The asset name in the interactive scene for the frame origin.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ViewerCfg.eye">
+<span class="sig-name descname"><span class="pre">eye</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.ViewerCfg.eye" title="Permalink to this definition">#</a></dt>
+<dd><p>Initial camera position (in m). Default is (7.5, 7.5, 7.5).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ViewerCfg.lookat">
+<span class="sig-name descname"><span class="pre">lookat</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.ViewerCfg.lookat" title="Permalink to this definition">#</a></dt>
+<dd><p>Initial camera target position (in m). Default is (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ViewerCfg.cam_prim_path">
+<span class="sig-name descname"><span class="pre">cam_prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ViewerCfg.cam_prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The camera prim path to record images from. Default is “/OmniverseKit_Persp”,
+which is the default camera in the viewport.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ViewerCfg.resolution">
+<span class="sig-name descname"><span class="pre">resolution</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.ViewerCfg.resolution" title="Permalink to this definition">#</a></dt>
+<dd><p>The resolution (width, height) of the camera specified using <a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.cam_prim_path" title="omni.isaac.lab.envs.ViewerCfg.cam_prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">cam_prim_path</span></code></a>.
+Default is (1280, 720).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ViewerCfg.origin_type">
+<span class="sig-name descname"><span class="pre">origin_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'world'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'env'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'asset_root'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.ViewerCfg.origin_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The frame in which the camera position (eye) and target (lookat) are defined in. Default is “world”.</p>
+<p>Available options are:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;world&quot;</span></code>: The origin of the world.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;env&quot;</span></code>: The origin of the environment defined by <a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.env_index" title="omni.isaac.lab.envs.ViewerCfg.env_index"><code class="xref py py-attr docutils literal notranslate"><span class="pre">env_index</span></code></a>.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;asset_root&quot;</span></code>: The center of the asset defined by <a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.asset_name" title="omni.isaac.lab.envs.ViewerCfg.asset_name"><code class="xref py py-attr docutils literal notranslate"><span class="pre">asset_name</span></code></a> in environment <a class="reference internal" href="#omni.isaac.lab.envs.ViewerCfg.env_index" title="omni.isaac.lab.envs.ViewerCfg.env_index"><code class="xref py py-attr docutils literal notranslate"><span class="pre">env_index</span></code></a>.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ViewerCfg.env_index">
+<span class="sig-name descname"><span class="pre">env_index</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ViewerCfg.env_index" title="Permalink to this definition">#</a></dt>
+<dd><p>The environment index for frame origin. Default is 0.</p>
+<p>This quantity is only effective if <code class="xref py py-attr docutils literal notranslate"><span class="pre">origin</span></code> is set to “env” or “asset_root”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ViewerCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ViewerCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The asset name in the interactive scene for the frame origin. Default is None.</p>
+<p>This quantity is only effective if <code class="xref py py-attr docutils literal notranslate"><span class="pre">origin</span></code> is set to “asset_root”.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#manager-based-environment">Manager Based Environment</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.__init__"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.num_envs"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.physics_dt"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.physics_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.step_dt"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.step_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.device"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.load_managers"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.load_managers()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.setup_manager_visualizers"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.setup_manager_visualizers()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.reset"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.reset_to"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.reset_to()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.step"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.step()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.seed"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.seed()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnv.close"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnv.close()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.viewer</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.sim"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.sim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.ui_window_class_type"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.ui_window_class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.seed"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.decimation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.scene"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.scene</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.recorders"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.recorders</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.observations"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.observations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.actions"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.events"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.events</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedEnvCfg.rerender_on_reset"><code class="docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg.rerender_on_reset</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#manager-based-rl-environment">Manager Based RL Environment</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.is_vector_env</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.metadata"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.metadata</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.cfg"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.__init__"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length_s"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.max_episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.max_episode_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.load_managers"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.load_managers()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.setup_manager_visualizers"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.setup_manager_visualizers()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.step()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.render"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.render()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.close"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.close()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.device"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.get_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.get_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.has_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.has_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.np_random</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.np_random_seed"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.np_random_seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.num_envs"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.physics_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.reset"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.reset_to"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.reset_to()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.seed"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.seed()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.set_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.set_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.step_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnv.unwrapped</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.ui_window_class_type"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.ui_window_class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.is_finite_horizon</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.rewards</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.viewer"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.viewer</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.sim"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.sim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.seed"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.decimation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.scene</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.recorders"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.recorders</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.observations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.events</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rerender_on_reset"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.rerender_on_reset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.terminations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.curriculum</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg.commands</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#direct-rl-environment">Direct RL Environment</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.is_vector_env"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.is_vector_env</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.metadata"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.metadata</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.__init__"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.num_envs"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.physics_dt"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.physics_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.step_dt"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.step_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.device"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.max_episode_length_s"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.max_episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.max_episode_length"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.max_episode_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.reset"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.step"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.step()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.seed"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.seed()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.render"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.render()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.close"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.close()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.get_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.get_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.has_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.has_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.np_random"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.np_random</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.np_random_seed"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.np_random_seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.set_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.set_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnv.unwrapped"><code class="docutils literal notranslate"><span class="pre">DirectRLEnv.unwrapped</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.viewer"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.viewer</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.sim"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.sim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.ui_window_class_type"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.ui_window_class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.seed"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.decimation"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.decimation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.is_finite_horizon</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.scene"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.scene</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.events"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.events</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.observation_space"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.observation_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_observations"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.num_observations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.state_space"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.state_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_states"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.num_states</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.observation_noise_model</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.action_space"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.action_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.num_actions"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.num_actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.action_noise_model</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectRLEnvCfg.rerender_on_reset"><code class="docutils literal notranslate"><span class="pre">DirectRLEnvCfg.rerender_on_reset</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#direct-multi-agent-rl-environment">Direct Multi-Agent RL Environment</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.metadata"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.metadata</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.__init__"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.num_envs"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.num_agents"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.num_agents</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.max_num_agents"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.max_num_agents</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.unwrapped"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.unwrapped</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.physics_dt"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.physics_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.step_dt"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.step_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.device"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.max_episode_length_s"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.max_episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.max_episode_length"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.max_episode_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.observation_space"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.observation_space()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.action_space"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.action_space()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.reset"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.step"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.step()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.state"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.state()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.seed"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.seed()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.render"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.render()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.close"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.close()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.get_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.get_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.has_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.has_wrapper_attr()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.np_random"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.np_random</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.np_random_seed"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.np_random_seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnv.set_wrapper_attr"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnv.set_wrapper_attr()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.viewer"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.viewer</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.sim"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.sim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.ui_window_class_type"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.ui_window_class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.seed"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.decimation"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.decimation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.is_finite_horizon"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.is_finite_horizon</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.episode_length_s"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.episode_length_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.scene"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.scene</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.events"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.events</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_spaces"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.observation_spaces</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_observations"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.num_observations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.state_space"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.state_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_states"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.num_states</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.observation_noise_model"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.observation_noise_model</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.action_spaces"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.action_spaces</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.num_actions"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.num_actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.action_noise_model"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.action_noise_model</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.DirectMARLEnvCfg.possible_agents"><code class="docutils literal notranslate"><span class="pre">DirectMARLEnvCfg.possible_agents</span></code></a></li>
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+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.eye"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.eye</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.lookat"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.lookat</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.cam_prim_path"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.cam_prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.resolution"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.resolution</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.origin_type"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.origin_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.env_index"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.env_index</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ViewerCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">ViewerCfg.asset_name</span></code></a></li>
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+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.observations">Observations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.base_pos_z"><code class="docutils literal notranslate"><span class="pre">base_pos_z()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.base_lin_vel"><code class="docutils literal notranslate"><span class="pre">base_lin_vel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.base_ang_vel"><code class="docutils literal notranslate"><span class="pre">base_ang_vel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.projected_gravity"><code class="docutils literal notranslate"><span class="pre">projected_gravity()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.root_pos_w"><code class="docutils literal notranslate"><span class="pre">root_pos_w()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.root_quat_w"><code class="docutils literal notranslate"><span class="pre">root_quat_w()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.root_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">root_lin_vel_w()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.root_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">root_ang_vel_w()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.joint_pos"><code class="docutils literal notranslate"><span class="pre">joint_pos()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.joint_pos_rel"><code class="docutils literal notranslate"><span class="pre">joint_pos_rel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized"><code class="docutils literal notranslate"><span class="pre">joint_pos_limit_normalized()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.joint_vel"><code class="docutils literal notranslate"><span class="pre">joint_vel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.joint_vel_rel"><code class="docutils literal notranslate"><span class="pre">joint_vel_rel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.height_scan"><code class="docutils literal notranslate"><span class="pre">height_scan()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.body_incoming_wrench"><code class="docutils literal notranslate"><span class="pre">body_incoming_wrench()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.imu_orientation"><code class="docutils literal notranslate"><span class="pre">imu_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.imu_ang_vel"><code class="docutils literal notranslate"><span class="pre">imu_ang_vel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.imu_lin_acc"><code class="docutils literal notranslate"><span class="pre">imu_lin_acc()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.image"><code class="docutils literal notranslate"><span class="pre">image()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.image_features"><code class="docutils literal notranslate"><span class="pre">image_features</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.image_features.__init__"><code class="docutils literal notranslate"><span class="pre">image_features.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.image_features.reset"><code class="docutils literal notranslate"><span class="pre">image_features.reset()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.last_action"><code class="docutils literal notranslate"><span class="pre">last_action()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.generated_commands"><code class="docutils literal notranslate"><span class="pre">generated_commands()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.actions">Actions</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg"><code class="docutils literal notranslate"><span class="pre">JointActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.preserve_order</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.clip</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.use_default_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.preserve_order</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.use_zero_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.preserve_order</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.use_default_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.preserve_order</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.preserve_order</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.rescale_to_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.clip</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.alpha</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.rescale_to_limits</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.open_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.open_command_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.close_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.close_command_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.clip</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.open_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.open_command_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.close_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.close_command_expr</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.open_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.open_command_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.close_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.close_command_expr</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.body_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.x_joint_name"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.x_joint_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.y_joint_name"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.y_joint_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.yaw_joint_name"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.yaw_joint_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.clip</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.OffsetCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_name"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.body_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_offset"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.body_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.controller"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.controller</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.OffsetCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_name"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.body_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_offset"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.body_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.task_frame_rel_path"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.task_frame_rel_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.controller_cfg"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.controller_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.position_scale"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.position_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.orientation_scale"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.orientation_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.wrench_scale"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.wrench_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.stiffness_scale"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.stiffness_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.damping_ratio_scale"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.damping_ratio_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.nullspace_joint_pos_target"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.nullspace_joint_pos_target</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.events">Events</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material"><code class="docutils literal notranslate"><span class="pre">randomize_rigid_body_material</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material.__init__"><code class="docutils literal notranslate"><span class="pre">randomize_rigid_body_material.__init__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass"><code class="docutils literal notranslate"><span class="pre">randomize_rigid_body_mass()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity"><code class="docutils literal notranslate"><span class="pre">randomize_physics_scene_gravity()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_actuator_gains"><code class="docutils literal notranslate"><span class="pre">randomize_actuator_gains()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_joint_parameters"><code class="docutils literal notranslate"><span class="pre">randomize_joint_parameters()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters"><code class="docutils literal notranslate"><span class="pre">randomize_fixed_tendon_parameters()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.apply_external_force_torque"><code class="docutils literal notranslate"><span class="pre">apply_external_force_torque()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.push_by_setting_velocity"><code class="docutils literal notranslate"><span class="pre">push_by_setting_velocity()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_uniform"><code class="docutils literal notranslate"><span class="pre">reset_root_state_uniform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation"><code class="docutils literal notranslate"><span class="pre">reset_root_state_with_random_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain"><code class="docutils literal notranslate"><span class="pre">reset_root_state_from_terrain()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_joints_by_scale"><code class="docutils literal notranslate"><span class="pre">reset_joints_by_scale()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_joints_by_offset"><code class="docutils literal notranslate"><span class="pre">reset_joints_by_offset()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_nodal_state_uniform"><code class="docutils literal notranslate"><span class="pre">reset_nodal_state_uniform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_scene_to_default"><code class="docutils literal notranslate"><span class="pre">reset_scene_to_default()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.commands">Commands</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg"><code class="docutils literal notranslate"><span class="pre">NullCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">NullCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">NullCommandCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.heading_command</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_control_stiffness"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.heading_control_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_standing_envs"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.rel_standing_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_heading_envs"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.rel_heading_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.Ranges</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_x"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.Ranges.lin_vel_x</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_y"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.Ranges.lin_vel_y</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.ang_vel_z"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.Ranges.ang_vel_z</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.heading"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.Ranges.heading</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.ranges"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.ranges</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.goal_vel_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.goal_vel_visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.current_vel_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.current_vel_visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.heading_command</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.Ranges</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.Ranges.mean_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.Ranges.std_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.Ranges.zero_prob</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.ranges"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.ranges</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_control_stiffness"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.heading_control_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_standing_envs"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.rel_standing_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_heading_envs"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.rel_heading_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.goal_vel_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.goal_vel_visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.current_vel_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.current_vel_visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.body_name"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.body_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.make_quat_unique</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_x"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.pos_x</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_y"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.pos_y</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_z"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.pos_z</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.roll"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.roll</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pitch"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.pitch</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.yaw"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.yaw</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.ranges"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.ranges</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.goal_pose_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.goal_pose_visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.current_pose_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.current_pose_visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.simple_heading</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.Ranges</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.Ranges.pos_x</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_y"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.Ranges.pos_y</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.Ranges.heading</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.ranges"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.ranges</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.goal_pose_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.goal_pose_visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.simple_heading</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.Ranges</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.Ranges.heading</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.ranges"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.ranges</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.rewards">Rewards</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.is_alive"><code class="docutils literal notranslate"><span class="pre">is_alive()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated"><code class="docutils literal notranslate"><span class="pre">is_terminated()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated_term"><code class="docutils literal notranslate"><span class="pre">is_terminated_term</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__"><code class="docutils literal notranslate"><span class="pre">is_terminated_term.__init__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2"><code class="docutils literal notranslate"><span class="pre">lin_vel_z_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.ang_vel_xy_l2"><code class="docutils literal notranslate"><span class="pre">ang_vel_xy_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2"><code class="docutils literal notranslate"><span class="pre">flat_orientation_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.base_height_l2"><code class="docutils literal notranslate"><span class="pre">base_height_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2"><code class="docutils literal notranslate"><span class="pre">body_lin_acc_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_torques_l2"><code class="docutils literal notranslate"><span class="pre">joint_torques_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_l1"><code class="docutils literal notranslate"><span class="pre">joint_vel_l1()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_l2"><code class="docutils literal notranslate"><span class="pre">joint_vel_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_acc_l2"><code class="docutils literal notranslate"><span class="pre">joint_acc_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1"><code class="docutils literal notranslate"><span class="pre">joint_deviation_l1()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_pos_limits"><code class="docutils literal notranslate"><span class="pre">joint_pos_limits()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_limits"><code class="docutils literal notranslate"><span class="pre">joint_vel_limits()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.applied_torque_limits"><code class="docutils literal notranslate"><span class="pre">applied_torque_limits()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.action_rate_l2"><code class="docutils literal notranslate"><span class="pre">action_rate_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.action_l2"><code class="docutils literal notranslate"><span class="pre">action_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.undesired_contacts"><code class="docutils literal notranslate"><span class="pre">undesired_contacts()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.contact_forces"><code class="docutils literal notranslate"><span class="pre">contact_forces()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp"><code class="docutils literal notranslate"><span class="pre">track_lin_vel_xy_exp()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp"><code class="docutils literal notranslate"><span class="pre">track_ang_vel_z_exp()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.terminations">Terminations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.time_out"><code class="docutils literal notranslate"><span class="pre">time_out()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.command_resample"><code class="docutils literal notranslate"><span class="pre">command_resample()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.bad_orientation"><code class="docutils literal notranslate"><span class="pre">bad_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum"><code class="docutils literal notranslate"><span class="pre">root_height_below_minimum()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit"><code class="docutils literal notranslate"><span class="pre">joint_pos_out_of_limit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit"><code class="docutils literal notranslate"><span class="pre">joint_pos_out_of_manual_limit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit"><code class="docutils literal notranslate"><span class="pre">joint_vel_out_of_limit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit"><code class="docutils literal notranslate"><span class="pre">joint_vel_out_of_manual_limit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit"><code class="docutils literal notranslate"><span class="pre">joint_effort_out_of_limit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.illegal_contact"><code class="docutils literal notranslate"><span class="pre">illegal_contact()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.curriculums">Curriculum</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight"><code class="docutils literal notranslate"><span class="pre">modify_reward_weight()</span></code></a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.envs.mdp">
+<span id="omni-isaac-lab-envs-mdp"></span><h1>omni.isaac.lab.envs.mdp<a class="headerlink" href="#module-omni.isaac.lab.envs.mdp" title="Permalink to this heading">#</a></h1>
+<p>Sub-module with implementation of manager terms.</p>
+<p>The functions can be provided to different managers that are responsible for the
+different aspects of the MDP. These include the observation, reward, termination,
+actions, events and curriculum managers.</p>
+<p>The terms are defined under the <code class="docutils literal notranslate"><span class="pre">envs</span></code> module because they are used to define
+the environment. However, they are not part of the environment directly, but
+are used to define the environment through their managers.</p>
+<section id="module-omni.isaac.lab.envs.mdp.observations">
+<span id="observations"></span><h2>Observations<a class="headerlink" href="#module-omni.isaac.lab.envs.mdp.observations" title="Permalink to this heading">#</a></h2>
+<p>Common functions that can be used to create observation terms.</p>
+<p>The functions can be passed to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg" title="omni.isaac.lab.managers.ObservationTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ObservationTermCfg</span></code></a> object to enable
+the observation introduced by the function.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.base_pos_z" title="omni.isaac.lab.envs.mdp.observations.base_pos_z"><code class="xref py py-obj docutils literal notranslate"><span class="pre">base_pos_z</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Root height in the simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.base_lin_vel" title="omni.isaac.lab.envs.mdp.observations.base_lin_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">base_lin_vel</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Root linear velocity in the asset's root frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.base_ang_vel" title="omni.isaac.lab.envs.mdp.observations.base_ang_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">base_ang_vel</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Root angular velocity in the asset's root frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.projected_gravity" title="omni.isaac.lab.envs.mdp.observations.projected_gravity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">projected_gravity</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Gravity projection on the asset's root frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.root_pos_w" title="omni.isaac.lab.envs.mdp.observations.root_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_pos_w</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Asset root position in the environment frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.root_quat_w" title="omni.isaac.lab.envs.mdp.observations.root_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_quat_w</span></code></a>(env[, make_quat_unique, asset_cfg])</p></td>
+<td><p>Asset root orientation (w, x, y, z) in the environment frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.root_lin_vel_w" title="omni.isaac.lab.envs.mdp.observations.root_lin_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_lin_vel_w</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Asset root linear velocity in the environment frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.root_ang_vel_w" title="omni.isaac.lab.envs.mdp.observations.root_ang_vel_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_ang_vel_w</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Asset root angular velocity in the environment frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.joint_pos" title="omni.isaac.lab.envs.mdp.observations.joint_pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_pos</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>The joint positions of the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.joint_pos_rel" title="omni.isaac.lab.envs.mdp.observations.joint_pos_rel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_pos_rel</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>The joint positions of the asset w.r.t.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized" title="omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_pos_limit_normalized</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>The joint positions of the asset normalized with the asset's joint limits.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.joint_vel" title="omni.isaac.lab.envs.mdp.observations.joint_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_vel</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>The joint velocities of the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.joint_vel_rel" title="omni.isaac.lab.envs.mdp.observations.joint_vel_rel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_vel_rel</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>The joint velocities of the asset w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.height_scan" title="omni.isaac.lab.envs.mdp.observations.height_scan"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height_scan</span></code></a>(env, sensor_cfg[, offset])</p></td>
+<td><p>Height scan from the given sensor w.r.t.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.body_incoming_wrench" title="omni.isaac.lab.envs.mdp.observations.body_incoming_wrench"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_incoming_wrench</span></code></a>(env, asset_cfg)</p></td>
+<td><p>Incoming spatial wrench on bodies of an articulation in the simulation world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.imu_orientation" title="omni.isaac.lab.envs.mdp.observations.imu_orientation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">imu_orientation</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Imu sensor orientation in the simulation world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.imu_ang_vel" title="omni.isaac.lab.envs.mdp.observations.imu_ang_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">imu_ang_vel</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Imu sensor angular velocity w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.imu_lin_acc" title="omni.isaac.lab.envs.mdp.observations.imu_lin_acc"><code class="xref py py-obj docutils literal notranslate"><span class="pre">imu_lin_acc</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Imu sensor linear acceleration w.r.t.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.image" title="omni.isaac.lab.envs.mdp.observations.image"><code class="xref py py-obj docutils literal notranslate"><span class="pre">image</span></code></a>(env[, sensor_cfg, data_type, ...])</p></td>
+<td><p>Images of a specific datatype from the camera sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.last_action" title="omni.isaac.lab.envs.mdp.observations.last_action"><code class="xref py py-obj docutils literal notranslate"><span class="pre">last_action</span></code></a>(env[, action_name])</p></td>
+<td><p>The last input action to the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.generated_commands" title="omni.isaac.lab.envs.mdp.observations.generated_commands"><code class="xref py py-obj docutils literal notranslate"><span class="pre">generated_commands</span></code></a>(env, command_name)</p></td>
+<td><p>The generated command from command term in the command manager with the given name.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.image_features" title="omni.isaac.lab.envs.mdp.observations.image_features"><code class="xref py py-obj docutils literal notranslate"><span class="pre">image_features</span></code></a></p></td>
+<td><p>Extracted image features from a pre-trained frozen encoder.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.base_pos_z">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">base_pos_z</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#base_pos_z"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.base_pos_z" title="Permalink to this definition">#</a></dt>
+<dd><p>Root height in the simulation world frame.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.base_lin_vel">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">base_lin_vel</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#base_lin_vel"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.base_lin_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Root linear velocity in the asset’s root frame.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.base_ang_vel">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">base_ang_vel</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#base_ang_vel"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.base_ang_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Root angular velocity in the asset’s root frame.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.projected_gravity">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">projected_gravity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#projected_gravity"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.projected_gravity" title="Permalink to this definition">#</a></dt>
+<dd><p>Gravity projection on the asset’s root frame.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.root_pos_w">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">root_pos_w</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#root_pos_w"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.root_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Asset root position in the environment frame.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.root_quat_w">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">root_quat_w</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">make_quat_unique</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#root_quat_w"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.root_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Asset root orientation (w, x, y, z) in the environment frame.</p>
+<p>If <code class="xref py py-attr docutils literal notranslate"><span class="pre">make_quat_unique</span></code> is True, then returned quaternion is made unique by ensuring
+the quaternion has non-negative real component. This is because both <code class="docutils literal notranslate"><span class="pre">q</span></code> and <code class="docutils literal notranslate"><span class="pre">-q</span></code> represent
+the same orientation.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.root_lin_vel_w">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">root_lin_vel_w</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#root_lin_vel_w"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.root_lin_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Asset root linear velocity in the environment frame.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.root_ang_vel_w">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">root_ang_vel_w</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#root_ang_vel_w"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.root_ang_vel_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Asset root angular velocity in the environment frame.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.joint_pos">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">joint_pos</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#joint_pos"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.joint_pos" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint positions of the asset.</p>
+<p>Note: Only the joints configured in <code class="xref py py-attr docutils literal notranslate"><span class="pre">asset_cfg.joint_ids</span></code> will have their positions returned.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.joint_pos_rel">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">joint_pos_rel</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#joint_pos_rel"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.joint_pos_rel" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint positions of the asset w.r.t. the default joint positions.</p>
+<p>Note: Only the joints configured in <code class="xref py py-attr docutils literal notranslate"><span class="pre">asset_cfg.joint_ids</span></code> will have their positions returned.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">joint_pos_limit_normalized</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#joint_pos_limit_normalized"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint positions of the asset normalized with the asset’s joint limits.</p>
+<p>Note: Only the joints configured in <code class="xref py py-attr docutils literal notranslate"><span class="pre">asset_cfg.joint_ids</span></code> will have their normalized positions returned.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.joint_vel">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">joint_vel</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#joint_vel"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.joint_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint velocities of the asset.</p>
+<p>Note: Only the joints configured in <code class="xref py py-attr docutils literal notranslate"><span class="pre">asset_cfg.joint_ids</span></code> will have their velocities returned.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.joint_vel_rel">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">joint_vel_rel</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#joint_vel_rel"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.joint_vel_rel" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint velocities of the asset w.r.t. the default joint velocities.</p>
+<p>Note: Only the joints configured in <code class="xref py py-attr docutils literal notranslate"><span class="pre">asset_cfg.joint_ids</span></code> will have their velocities returned.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.height_scan">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">height_scan</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sensor_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">offset</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.5</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#height_scan"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.height_scan" title="Permalink to this definition">#</a></dt>
+<dd><p>Height scan from the given sensor w.r.t. the sensor’s frame.</p>
+<p>The provided offset (Defaults to 0.5) is subtracted from the returned values.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.body_incoming_wrench">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">body_incoming_wrench</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#body_incoming_wrench"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.body_incoming_wrench" title="Permalink to this definition">#</a></dt>
+<dd><p>Incoming spatial wrench on bodies of an articulation in the simulation world frame.</p>
+<p>This is the 6-D wrench (force and torque) applied to the body link by the incoming joint force.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.imu_orientation">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">imu_orientation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='imu',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#imu_orientation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.imu_orientation" title="Permalink to this definition">#</a></dt>
+<dd><p>Imu sensor orientation in the simulation world frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env</strong> – The environment.</p></li>
+<li><p><strong>asset_cfg</strong> – The SceneEntity associated with an IMU sensor. Defaults to SceneEntityCfg(“imu”).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Orientation in the world frame in (w, x, y, z) quaternion form. Shape is (num_envs, 4).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.imu_ang_vel">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">imu_ang_vel</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='imu',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#imu_ang_vel"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.imu_ang_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Imu sensor angular velocity w.r.t. environment origin expressed in the sensor frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env</strong> – The environment.</p></li>
+<li><p><strong>asset_cfg</strong> – The SceneEntity associated with an IMU sensor. Defaults to SceneEntityCfg(“imu”).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The angular velocity (rad/s) in the sensor frame. Shape is (num_envs, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.imu_lin_acc">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">imu_lin_acc</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='imu',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#imu_lin_acc"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.imu_lin_acc" title="Permalink to this definition">#</a></dt>
+<dd><p>Imu sensor linear acceleration w.r.t. the environment origin expressed in sensor frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env</strong> – The environment.</p></li>
+<li><p><strong>asset_cfg</strong> – The SceneEntity associated with an IMU sensor. Defaults to SceneEntityCfg(“imu”).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The linear acceleration (m/s^2) in the sensor frame. Shape is (num_envs, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.image">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">image</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sensor_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='tiled_camera',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">data_type</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'rgb'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">convert_perspective_to_orthogonal</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">normalize</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#image"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.image" title="Permalink to this definition">#</a></dt>
+<dd><p>Images of a specific datatype from the camera sensor.</p>
+<p>If the flag <code class="xref py py-attr docutils literal notranslate"><span class="pre">normalize</span></code> is True, post-processing of the images are performed based on their
+data-types:</p>
+<ul class="simple">
+<li><p>“rgb”: Scales the image to (0, 1) and subtracts with the mean of the current image batch.</p></li>
+<li><p>“depth” or “distance_to_camera” or “distance_to_plane”: Replaces infinity values with zero.</p></li>
+</ul>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env</strong> – The environment the cameras are placed within.</p></li>
+<li><p><strong>sensor_cfg</strong> – The desired sensor to read from. Defaults to SceneEntityCfg(“tiled_camera”).</p></li>
+<li><p><strong>data_type</strong> – The data type to pull from the desired camera. Defaults to “rgb”.</p></li>
+<li><p><strong>convert_perspective_to_orthogonal</strong> – Whether to orthogonalize perspective depth images.
+This is used only when the data type is “distance_to_camera”. Defaults to False.</p></li>
+<li><p><strong>normalize</strong> – Whether to normalize the images. This depends on the selected data type.
+Defaults to True.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The images produced at the last time-step</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.image_features">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">image_features</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#image_features"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.image_features" title="Permalink to this definition">#</a></dt>
+<dd><p>Extracted image features from a pre-trained frozen encoder.</p>
+<p>This term uses models from the model zoo in PyTorch and extracts features from the images.</p>
+<p>It calls the <a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.image" title="omni.isaac.lab.envs.mdp.observations.image"><code class="xref py py-func docutils literal notranslate"><span class="pre">image()</span></code></a> function to get the images and then processes them using the model zoo.</p>
+<p>A user can provide their own model zoo configuration to use different models for feature extraction.
+The model zoo configuration should be a dictionary that maps different model names to a dictionary
+that defines the model, preprocess and inference functions. The dictionary should have the following
+entries:</p>
+<ul class="simple">
+<li><p>“model”: A callable that returns the model when invoked without arguments.</p></li>
+<li><p>“reset”: A callable that resets the model. This is useful when the model has a state that needs to be reset.</p></li>
+<li><p>“inference”: A callable that, when given the model and the images, returns the extracted features.</p></li>
+</ul>
+<p>If the model zoo configuration is not provided, the default model zoo configurations are used. The default
+model zoo configurations include the models from Theia <span id="id1">[<a class="reference internal" href="../../refs/bibliography.html#id17" title="Jinghuan Shang, Karl Schmeckpeper, Brandon B May, Maria Vittoria Minniti, Tarik Kelestemur, David Watkins, and Laura Herlant. Theia: distilling diverse vision foundation models for robot learning. arXiv preprint arXiv:2407.20179, 2024.">SSM+24</a>]</span> and ResNet <span id="id2">[<a class="reference internal" href="../../refs/bibliography.html#id18" title="Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun. Deep residual learning for image recognition. In Proceedings of the IEEE conference on computer vision and pattern recognition, 770–778. 2016.">HZRS16</a>]</span>.
+These models are loaded from <a class="reference external" href="https://huggingface.co/docs/transformers/index">Hugging-Face transformers</a> and
+<a class="reference external" href="https://pytorch.org/vision/stable/models.html">PyTorch torchvision</a> respectively.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>sensor_cfg</strong> – The sensor configuration to poll. Defaults to SceneEntityCfg(“tiled_camera”).</p></li>
+<li><p><strong>data_type</strong> – The sensor data type. Defaults to “rgb”.</p></li>
+<li><p><strong>convert_perspective_to_orthogonal</strong> – Whether to orthogonalize perspective depth images.
+This is used only when the data type is “distance_to_camera”. Defaults to False.</p></li>
+<li><p><strong>model_zoo_cfg</strong> – A user-defined dictionary that maps different model names to their respective configurations.
+Defaults to None. If None, the default model zoo configurations are used.</p></li>
+<li><p><strong>model_name</strong> – The name of the model to use for inference. Defaults to “resnet18”.</p></li>
+<li><p><strong>model_device</strong> – The device to store and infer the model on. This is useful when offloading the computation
+from the environment simulation device. Defaults to the environment device.</p></li>
+<li><p><strong>inference_kwargs</strong> – Additional keyword arguments to pass to the inference function. Defaults to None,
+which means no additional arguments are passed.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The extracted features tensor. Shape is (num_envs, feature_dim).</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the model name is not found in the provided model zoo configuration.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the model name is not found in the default model zoo configuration.</p></li>
+</ul>
+</dd>
+</dl>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.image_features.__init__" title="omni.isaac.lab.envs.mdp.observations.image_features.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the manager term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.observations.image_features.reset" title="omni.isaac.lab.envs.mdp.observations.image_features.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the manager term.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.image_features.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg" title="omni.isaac.lab.managers.ObservationTermCfg"><span class="pre">ObservationTermCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#image_features.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.image_features.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the manager term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object.</p></li>
+<li><p><strong>env</strong> – The environment instance.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.image_features.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#image_features.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.image_features.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the manager term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids. Defaults to None, in which case
+all environments are considered.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.last_action">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">last_action</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">action_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#last_action"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.last_action" title="Permalink to this definition">#</a></dt>
+<dd><p>The last input action to the environment.</p>
+<p>The name of the action term for which the action is required. If None, the
+entire action tensor is returned.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.observations.generated_commands">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.observations.</span></span><span class="sig-name descname"><span class="pre">generated_commands</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">command_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/observations.html#generated_commands"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.observations.generated_commands" title="Permalink to this definition">#</a></dt>
+<dd><p>The generated command from command term in the command manager with the given name.</p>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.envs.mdp.actions">
+<span id="actions"></span><h2>Actions<a class="headerlink" href="#module-omni.isaac.lab.envs.mdp.actions" title="Permalink to this heading">#</a></h2>
+<p>Various action terms that can be used in the environment.</p>
+<span class="target" id="module-omni.isaac.lab.envs.mdp.actions.actions_cfg"></span><p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">JointActionCfg</span></code></a></p></td>
+<td><p>Configuration for the base joint action term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">JointPositionActionCfg</span></code></a></p></td>
+<td><p>Configuration for the joint position action term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg</span></code></a></p></td>
+<td><p>Configuration for the relative joint position action term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">JointVelocityActionCfg</span></code></a></p></td>
+<td><p>Configuration for the joint velocity action term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">JointEffortActionCfg</span></code></a></p></td>
+<td><p>Configuration for the joint effort action term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg</span></code></a></p></td>
+<td><p>Configuration for the bounded joint position action term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg</span></code></a></p></td>
+<td><p>Configuration for the exponential moving average (EMA) joint position action term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">BinaryJointActionCfg</span></code></a></p></td>
+<td><p>Configuration for the base binary joint action term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg</span></code></a></p></td>
+<td><p>Configuration for the binary joint position action term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg</span></code></a></p></td>
+<td><p>Configuration for the binary joint velocity action term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NonHolonomicActionCfg</span></code></a></p></td>
+<td><p>Configuration for the non-holonomic action term with dummy joints at the base.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg</span></code></a></p></td>
+<td><p>Configuration for inverse differential kinematics action term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg</span></code></a></p></td>
+<td><p>Configuration for operational space controller action term.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">JointActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#JointActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActionTermCfg</span></code></a></p>
+<p>Configuration for the base joint action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">JointAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>Offset factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.preserve_order" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.preserve_order"><code class="xref py py-obj docutils literal notranslate"><span class="pre">preserve_order</span></code></a></p></td>
+<td><p>Whether to preserve the order of the joint names in the action output.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the action (float or dict of regex expressions). Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offset factor for the action (float or dict of regex expressions). Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.preserve_order">
+<span class="sig-name descname"><span class="pre">preserve_order</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.preserve_order" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to preserve the order of the joint names in the action output. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">JointPositionActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#JointPositionActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">JointActionCfg</span></code></a></p>
+<p>Configuration for the joint position action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">JointPositionAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">use_default_offset</span></code></a></p></td>
+<td><p>Whether to use default joint positions configured in the articulation asset as offset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>Offset factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.preserve_order" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.preserve_order"><code class="xref py py-obj docutils literal notranslate"><span class="pre">preserve_order</span></code></a></p></td>
+<td><p>Whether to preserve the order of the joint names in the action output.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset">
+<span class="sig-name descname"><span class="pre">use_default_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to use default joint positions configured in the articulation asset as offset.
+Defaults to True.</p>
+<p>If True, this flag results in overwriting the values of <a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset"><code class="xref py py-attr docutils literal notranslate"><span class="pre">offset</span></code></a> to the default joint positions
+from the articulation asset.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the action (float or dict of regex expressions). Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offset factor for the action (float or dict of regex expressions). Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.preserve_order">
+<span class="sig-name descname"><span class="pre">preserve_order</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.preserve_order" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to preserve the order of the joint names in the action output. Defaults to False.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">RelativeJointPositionActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#RelativeJointPositionActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">JointActionCfg</span></code></a></p>
+<p>Configuration for the relative joint position action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">RelativeJointPositionAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">use_zero_offset</span></code></a></p></td>
+<td><p>Whether to ignore the offset defined in articulation asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>Offset factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.preserve_order" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.preserve_order"><code class="xref py py-obj docutils literal notranslate"><span class="pre">preserve_order</span></code></a></p></td>
+<td><p>Whether to preserve the order of the joint names in the action output.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset">
+<span class="sig-name descname"><span class="pre">use_zero_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to ignore the offset defined in articulation asset. Defaults to True.</p>
+<p>If True, this flag results in overwriting the values of <a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset"><code class="xref py py-attr docutils literal notranslate"><span class="pre">offset</span></code></a> to zero.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the action (float or dict of regex expressions). Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offset factor for the action (float or dict of regex expressions). Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.preserve_order">
+<span class="sig-name descname"><span class="pre">preserve_order</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.preserve_order" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to preserve the order of the joint names in the action output. Defaults to False.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">JointVelocityActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#JointVelocityActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">JointActionCfg</span></code></a></p>
+<p>Configuration for the joint velocity action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">JointVelocityAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">use_default_offset</span></code></a></p></td>
+<td><p>Whether to use default joint velocities configured in the articulation asset as offset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>Offset factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.preserve_order" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.preserve_order"><code class="xref py py-obj docutils literal notranslate"><span class="pre">preserve_order</span></code></a></p></td>
+<td><p>Whether to preserve the order of the joint names in the action output.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset">
+<span class="sig-name descname"><span class="pre">use_default_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to use default joint velocities configured in the articulation asset as offset.
+Defaults to True.</p>
+<p>This overrides the settings from <a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset"><code class="xref py py-attr docutils literal notranslate"><span class="pre">offset</span></code></a> if set to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the action (float or dict of regex expressions). Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offset factor for the action (float or dict of regex expressions). Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.preserve_order">
+<span class="sig-name descname"><span class="pre">preserve_order</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.preserve_order" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to preserve the order of the joint names in the action output. Defaults to False.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">JointEffortActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#JointEffortActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">JointActionCfg</span></code></a></p>
+<p>Configuration for the joint effort action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">JointEffortAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>Offset factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.preserve_order" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.preserve_order"><code class="xref py py-obj docutils literal notranslate"><span class="pre">preserve_order</span></code></a></p></td>
+<td><p>Whether to preserve the order of the joint names in the action output.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the action (float or dict of regex expressions). Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offset factor for the action (float or dict of regex expressions). Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.preserve_order">
+<span class="sig-name descname"><span class="pre">preserve_order</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.preserve_order" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to preserve the order of the joint names in the action output. Defaults to False.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">JointPositionToLimitsActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#JointPositionToLimitsActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActionTermCfg</span></code></a></p>
+<p>Configuration for the bounded joint position action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">JointPositionWithinLimitsAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rescale_to_limits</span></code></a></p></td>
+<td><p>Whether to rescale the action to the joint limits.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the action (float or dict of regex expressions). Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits">
+<span class="sig-name descname"><span class="pre">rescale_to_limits</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to rescale the action to the joint limits. Defaults to True.</p>
+<p>If True, the input actions are rescaled to the joint limits, i.e., the action value in
+the range [-1, 1] corresponds to the joint lower and upper limits respectively.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This operation is performed after applying the scale factor.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">EMAJointPositionToLimitsActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#EMAJointPositionToLimitsActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg</span></code></a></p>
+<p>Configuration for the exponential moving average (EMA) joint position action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha"><code class="xref py py-obj docutils literal notranslate"><span class="pre">alpha</span></code></a></p></td>
+<td><p>The weight for the moving average (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale factor for the action (float or dict of regex expressions).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rescale_to_limits</span></code></a></p></td>
+<td><p>Whether to rescale the action to the joint limits.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha">
+<span class="sig-name descname"><span class="pre">alpha</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha" title="Permalink to this definition">#</a></dt>
+<dd><p>The weight for the moving average (float or dict of regex expressions). Defaults to 1.0.</p>
+<p>If set to 1.0, the processed action is applied directly without any moving average window.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the action (float or dict of regex expressions). Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits">
+<span class="sig-name descname"><span class="pre">rescale_to_limits</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to rescale the action to the joint limits. Defaults to True.</p>
+<p>If True, the input actions are rescaled to the joint limits, i.e., the action value in
+the range [-1, 1] corresponds to the joint lower and upper limits respectively.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This operation is performed after applying the scale factor.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">BinaryJointActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#BinaryJointActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActionTermCfg</span></code></a></p>
+<p>Configuration for the base binary joint action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">BinaryJointAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.open_command_expr" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.open_command_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">open_command_expr</span></code></a></p></td>
+<td><p>The joint command to move to <em>open</em> configuration.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.close_command_expr" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.close_command_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">close_command_expr</span></code></a></p></td>
+<td><p>The joint command to move to <em>close</em> configuration.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.open_command_expr">
+<span class="sig-name descname"><span class="pre">open_command_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.open_command_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint command to move to <em>open</em> configuration.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.close_command_expr">
+<span class="sig-name descname"><span class="pre">close_command_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.close_command_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint command to move to <em>close</em> configuration.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">BinaryJointPositionActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#BinaryJointPositionActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">BinaryJointActionCfg</span></code></a></p>
+<p>Configuration for the binary joint position action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">BinaryJointPositionAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.open_command_expr" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.open_command_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">open_command_expr</span></code></a></p></td>
+<td><p>The joint command to move to <em>open</em> configuration.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.close_command_expr" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.close_command_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">close_command_expr</span></code></a></p></td>
+<td><p>The joint command to move to <em>close</em> configuration.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.open_command_expr">
+<span class="sig-name descname"><span class="pre">open_command_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.open_command_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint command to move to <em>open</em> configuration.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.close_command_expr">
+<span class="sig-name descname"><span class="pre">close_command_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.close_command_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint command to move to <em>close</em> configuration.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">BinaryJointVelocityActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#BinaryJointVelocityActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">BinaryJointActionCfg</span></code></a></p>
+<p>Configuration for the binary joint velocity action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">BinaryJointVelocityAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.open_command_expr" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.open_command_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">open_command_expr</span></code></a></p></td>
+<td><p>The joint command to move to <em>open</em> configuration.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.close_command_expr" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.close_command_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">close_command_expr</span></code></a></p></td>
+<td><p>The joint command to move to <em>close</em> configuration.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.open_command_expr">
+<span class="sig-name descname"><span class="pre">open_command_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.open_command_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint command to move to <em>open</em> configuration.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.close_command_expr">
+<span class="sig-name descname"><span class="pre">close_command_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.close_command_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint command to move to <em>close</em> configuration.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">NonHolonomicActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#NonHolonomicActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActionTermCfg</span></code></a></p>
+<p>Configuration for the non-holonomic action term with dummy joints at the base.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">NonHolonomicAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_name</span></code></a></p></td>
+<td><p>Name of the body which has the dummy mechanism connected to.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.x_joint_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.x_joint_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">x_joint_name</span></code></a></p></td>
+<td><p>The dummy joint name in the x direction.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.y_joint_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.y_joint_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">y_joint_name</span></code></a></p></td>
+<td><p>The dummy joint name in the y direction.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.yaw_joint_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.yaw_joint_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">yaw_joint_name</span></code></a></p></td>
+<td><p>The dummy joint name in the yaw direction.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale factor for the action.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>Offset factor for the action.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name">
+<span class="sig-name descname"><span class="pre">body_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of the body which has the dummy mechanism connected to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.x_joint_name">
+<span class="sig-name descname"><span class="pre">x_joint_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.x_joint_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The dummy joint name in the x direction.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.y_joint_name">
+<span class="sig-name descname"><span class="pre">y_joint_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.y_joint_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The dummy joint name in the y direction.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.yaw_joint_name">
+<span class="sig-name descname"><span class="pre">yaw_joint_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.yaw_joint_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The dummy joint name in the yaw direction.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the action. Defaults to (1.0, 1.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offset factor for the action. Defaults to (0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">DifferentialInverseKinematicsActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#DifferentialInverseKinematicsActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActionTermCfg</span></code></a></p>
+<p>Configuration for inverse differential kinematics action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsAction</span></code> for more details.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OffsetCfg</span></code></a></p></td>
+<td><p>The offset pose from parent frame to child frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_name</span></code></a></p></td>
+<td><p>Name of the body or frame for which IK is performed.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_offset</span></code></a></p></td>
+<td><p>Offset of target frame w.r.t.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale factor for the action.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.controller" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.controller"><code class="xref py py-obj docutils literal notranslate"><span class="pre">controller</span></code></a></p></td>
+<td><p>The configuration for the differential IK controller.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">OffsetCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#DifferentialInverseKinematicsActionCfg.OffsetCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>The offset pose from parent frame to child frame.</p>
+<p>On many robots, end-effector frames are fictitious frames that do not have a corresponding
+rigid body. In such cases, it is easier to define this transform w.r.t. their parent rigid body.
+For instance, for the Franka Emika arm, the end-effector is defined at an offset to the the
+“panda_hand” frame.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Translation w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.rot" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation <code class="docutils literal notranslate"><span class="pre">(w,</span> <span class="pre">x,</span> <span class="pre">y,</span> <span class="pre">z)</span></code> w.r.t.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation <code class="docutils literal notranslate"><span class="pre">(w,</span> <span class="pre">x,</span> <span class="pre">y,</span> <span class="pre">z)</span></code> w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_name">
+<span class="sig-name descname"><span class="pre">body_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of the body or frame for which IK is performed.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_offset">
+<span class="sig-name descname"><span class="pre">body_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg"><span class="pre">OffsetCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offset of target frame w.r.t. to the body frame. Defaults to None, in which case no offset is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the action. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.controller">
+<span class="sig-name descname"><span class="pre">controller</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKControllerCfg" title="omni.isaac.lab.controllers.differential_ik_cfg.DifferentialIKControllerCfg"><span class="pre">DifferentialIKControllerCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.controller" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the differential IK controller.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.actions.actions_cfg.</span></span><span class="sig-name descname"><span class="pre">OperationalSpaceControllerActionCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#OperationalSpaceControllerActionCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ActionTermCfg</span></code></a></p>
+<p>Configuration for operational space controller action term.</p>
+<p>See <code class="xref py py-class docutils literal notranslate"><span class="pre">OperationalSpaceControllerAction</span></code> for more details.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.asset_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.debug_vis" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.clip" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.joint_names" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>List of joint names or regex expressions that the action will be mapped to.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_name" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_name</span></code></a></p></td>
+<td><p>Name of the body or frame for which motion/force control is performed.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_offset" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_offset</span></code></a></p></td>
+<td><p>Offset of target frame w.r.t.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.task_frame_rel_path" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.task_frame_rel_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">task_frame_rel_path</span></code></a></p></td>
+<td><p>The path of a <code class="docutils literal notranslate"><span class="pre">RigidObject</span></code>, relative to the sub-environment, representing task frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.controller_cfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.controller_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">controller_cfg</span></code></a></p></td>
+<td><p>The configuration for the operational space controller.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.position_scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.position_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">position_scale</span></code></a></p></td>
+<td><p>Scale factor for the position targets.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.orientation_scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.orientation_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">orientation_scale</span></code></a></p></td>
+<td><p>Scale factor for the orientation (quad for <code class="docutils literal notranslate"><span class="pre">pose_abs</span></code> or axis-angle for <code class="docutils literal notranslate"><span class="pre">pose_rel</span></code>).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.wrench_scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.wrench_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">wrench_scale</span></code></a></p></td>
+<td><p>Scale factor for the wrench targets.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.stiffness_scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.stiffness_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness_scale</span></code></a></p></td>
+<td><p>Scale factor for the stiffness commands.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.damping_ratio_scale" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.damping_ratio_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping_ratio_scale</span></code></a></p></td>
+<td><p>Scale factor for the damping ratio commands.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.nullspace_joint_pos_target" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.nullspace_joint_pos_target"><code class="xref py py-obj docutils literal notranslate"><span class="pre">nullspace_joint_pos_target</span></code></a></p></td>
+<td><p><code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;zero&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;default&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;center&quot;</span></code>.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OffsetCfg</span></code></a></p></td>
+<td><p>The offset pose from parent frame to child frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">OffsetCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/actions/actions_cfg.html#OperationalSpaceControllerActionCfg.OffsetCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>The offset pose from parent frame to child frame.</p>
+<p>On many robots, end-effector frames are fictitious frames that do not have a corresponding
+rigid body. In such cases, it is easier to define this transform w.r.t. their parent rigid body.
+For instance, for the Franka Emika arm, the end-effector is defined at an offset to the the
+“panda_hand” frame.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.pos" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Translation w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.rot" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation <code class="docutils literal notranslate"><span class="pre">(w,</span> <span class="pre">x,</span> <span class="pre">y,</span> <span class="pre">z)</span></code> w.r.t.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation <code class="docutils literal notranslate"><span class="pre">(w,</span> <span class="pre">x,</span> <span class="pre">y,</span> <span class="pre">z)</span></code> w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>List of joint names or regex expressions that the action will be mapped to.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_name">
+<span class="sig-name descname"><span class="pre">body_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of the body or frame for which motion/force control is performed.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_offset">
+<span class="sig-name descname"><span class="pre">body_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg" title="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg"><span class="pre">OffsetCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offset of target frame w.r.t. to the body frame. Defaults to None, in which case no offset is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.task_frame_rel_path">
+<span class="sig-name descname"><span class="pre">task_frame_rel_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.task_frame_rel_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The path of a <code class="docutils literal notranslate"><span class="pre">RigidObject</span></code>, relative to the sub-environment, representing task frame. Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.controller_cfg">
+<span class="sig-name descname"><span class="pre">controller_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg" title="omni.isaac.lab.controllers.operational_space_cfg.OperationalSpaceControllerCfg"><span class="pre">OperationalSpaceControllerCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.controller_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the operational space controller.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.position_scale">
+<span class="sig-name descname"><span class="pre">position_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.position_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the position targets. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.orientation_scale">
+<span class="sig-name descname"><span class="pre">orientation_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.orientation_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the orientation (quad for <code class="docutils literal notranslate"><span class="pre">pose_abs</span></code> or axis-angle for <code class="docutils literal notranslate"><span class="pre">pose_rel</span></code>). Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.wrench_scale">
+<span class="sig-name descname"><span class="pre">wrench_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.wrench_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the wrench targets. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.stiffness_scale">
+<span class="sig-name descname"><span class="pre">stiffness_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.stiffness_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the stiffness commands. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.damping_ratio_scale">
+<span class="sig-name descname"><span class="pre">damping_ratio_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.damping_ratio_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor for the damping ratio commands. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.nullspace_joint_pos_target">
+<span class="sig-name descname"><span class="pre">nullspace_joint_pos_target</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.nullspace_joint_pos_target" title="Permalink to this definition">#</a></dt>
+<dd><p><code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;zero&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;default&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;center&quot;</span></code>.</p>
+<dl class="simple">
+<dt>Note: Functional only when <code class="docutils literal notranslate"><span class="pre">nullspace_control</span></code> is set to <code class="docutils literal notranslate"><span class="pre">&quot;position&quot;</span></code> within the</dt><dd><p><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg</span></code>.</p>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The joint targets for the null-space control</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.envs.mdp.events">
+<span id="events"></span><h2>Events<a class="headerlink" href="#module-omni.isaac.lab.envs.mdp.events" title="Permalink to this heading">#</a></h2>
+<p>Common functions that can be used to enable different events.</p>
+<p>Events include anything related to altering the simulation state. This includes changing the physics
+materials, applying external forces, and resetting the state of the asset.</p>
+<p>The functions can be passed to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.EventTermCfg</span></code></a> object to enable
+the event introduced by the function.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material" title="omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">randomize_rigid_body_material</span></code></a></p></td>
+<td><p>Randomize the physics materials on all geometries of the asset.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass" title="omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass"><code class="xref py py-obj docutils literal notranslate"><span class="pre">randomize_rigid_body_mass</span></code></a>(env, env_ids, ...)</p></td>
+<td><p>Randomize the mass of the bodies by adding, scaling, or setting random values.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity" title="omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">randomize_physics_scene_gravity</span></code></a>(env, ...[, ...])</p></td>
+<td><p>Randomize gravity by adding, scaling, or setting random values.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.randomize_actuator_gains" title="omni.isaac.lab.envs.mdp.events.randomize_actuator_gains"><code class="xref py py-obj docutils literal notranslate"><span class="pre">randomize_actuator_gains</span></code></a>(env, env_ids, asset_cfg)</p></td>
+<td><p>Randomize the actuator gains in an articulation by adding, scaling, or setting random values.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.randomize_joint_parameters" title="omni.isaac.lab.envs.mdp.events.randomize_joint_parameters"><code class="xref py py-obj docutils literal notranslate"><span class="pre">randomize_joint_parameters</span></code></a>(env, env_ids, ...)</p></td>
+<td><p>Randomize the joint parameters of an articulation by adding, scaling, or setting random values.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters" title="omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters"><code class="xref py py-obj docutils literal notranslate"><span class="pre">randomize_fixed_tendon_parameters</span></code></a>(env, ...)</p></td>
+<td><p>Randomize the fixed tendon parameters of an articulation by adding, scaling, or setting random values.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.apply_external_force_torque" title="omni.isaac.lab.envs.mdp.events.apply_external_force_torque"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply_external_force_torque</span></code></a>(env, env_ids, ...)</p></td>
+<td><p>Randomize the external forces and torques applied to the bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.push_by_setting_velocity" title="omni.isaac.lab.envs.mdp.events.push_by_setting_velocity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">push_by_setting_velocity</span></code></a>(env, env_ids, ...)</p></td>
+<td><p>Push the asset by setting the root velocity to a random value within the given ranges.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_uniform" title="omni.isaac.lab.envs.mdp.events.reset_root_state_uniform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset_root_state_uniform</span></code></a>(env, env_ids, ...)</p></td>
+<td><p>Reset the asset root state to a random position and velocity uniformly within the given ranges.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation" title="omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset_root_state_with_random_orientation</span></code></a>(...)</p></td>
+<td><p>Reset the asset root position and velocities sampled randomly within the given ranges and the asset root orientation sampled randomly from the SO(3).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain" title="omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset_root_state_from_terrain</span></code></a>(env, env_ids, ...)</p></td>
+<td><p>Reset the asset root state by sampling a random valid pose from the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.reset_joints_by_scale" title="omni.isaac.lab.envs.mdp.events.reset_joints_by_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset_joints_by_scale</span></code></a>(env, env_ids, ...[, ...])</p></td>
+<td><p>Reset the robot joints by scaling the default position and velocity by the given ranges.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.reset_joints_by_offset" title="omni.isaac.lab.envs.mdp.events.reset_joints_by_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset_joints_by_offset</span></code></a>(env, env_ids, ...[, ...])</p></td>
+<td><p>Reset the robot joints with offsets around the default position and velocity by the given ranges.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.reset_nodal_state_uniform" title="omni.isaac.lab.envs.mdp.events.reset_nodal_state_uniform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset_nodal_state_uniform</span></code></a>(env, env_ids, ...)</p></td>
+<td><p>Reset the asset nodal state to a random position and velocity uniformly within the given ranges.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.reset_scene_to_default" title="omni.isaac.lab.envs.mdp.events.reset_scene_to_default"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset_scene_to_default</span></code></a>(env, env_ids)</p></td>
+<td><p>Reset the scene to the default state specified in the scene configuration.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">randomize_rigid_body_material</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#randomize_rigid_body_material"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Randomize the physics materials on all geometries of the asset.</p>
+<p>This function creates a set of physics materials with random static friction, dynamic friction, and restitution
+values. The number of materials is specified by <code class="docutils literal notranslate"><span class="pre">num_buckets</span></code>. The materials are generated by sampling
+uniform random values from the given ranges.</p>
+<p>The material properties are then assigned to the geometries of the asset. The assignment is done by
+creating a random integer tensor of shape  (num_instances, max_num_shapes) where <code class="docutils literal notranslate"><span class="pre">num_instances</span></code>
+is the number of assets spawned and <code class="docutils literal notranslate"><span class="pre">max_num_shapes</span></code> is the maximum number of shapes in the asset (over
+all bodies). The integer values are used as indices to select the material properties from the
+material buckets.</p>
+<p>If the flag <code class="docutils literal notranslate"><span class="pre">make_consistent</span></code> is set to <code class="docutils literal notranslate"><span class="pre">True</span></code>, the dynamic friction is set to be less than or equal to
+the static friction. This obeys the physics constraint on friction values. However, it may not always be
+essential for the application. Thus, the flag is set to <code class="docutils literal notranslate"><span class="pre">False</span></code> by default.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>This function uses CPU tensors to assign the material properties. It is recommended to use this function
+only during the initialization of the environment. Otherwise, it may lead to a significant performance
+overhead.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>PhysX only allows 64000 unique physics materials in the scene. If the number of materials exceeds this
+limit, the simulation will crash. Due to this reason, we sample the materials only once during initialization.
+Afterwards, these materials are randomly assigned to the geometries of the asset.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material.__init__" title="omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the term.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><span class="pre">EventTermCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#randomize_rigid_body_material.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration of the event term.</p></li>
+<li><p><strong>env</strong> – The environment instance.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the asset is not a RigidObject or an Articulation.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">randomize_rigid_body_mass</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">mass_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">operation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'add'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'scale'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'abs'</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">distribution</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'uniform'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'log_uniform'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'gaussian'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'uniform'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">recompute_inertia</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#randomize_rigid_body_mass"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass" title="Permalink to this definition">#</a></dt>
+<dd><p>Randomize the mass of the bodies by adding, scaling, or setting random values.</p>
+<p>This function allows randomizing the mass of the bodies of the asset. The function samples random values from the
+given distribution parameters and adds, scales, or sets the values into the physics simulation based on the operation.</p>
+<p>If the <code class="docutils literal notranslate"><span class="pre">recompute_inertia</span></code> flag is set to <code class="docutils literal notranslate"><span class="pre">True</span></code>, the function recomputes the inertia tensor of the bodies
+after setting the mass. This is useful when the mass is changed significantly, as the inertia tensor depends
+on the mass. It assumes the body is a uniform density object. If the body is not a uniform density object,
+the inertia tensor may not be accurate.</p>
+<div class="admonition tip">
+<p class="admonition-title">Tip</p>
+<p>This function uses CPU tensors to assign the body masses. It is recommended to use this function
+only during the initialization of the environment.</p>
+</div>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">randomize_physics_scene_gravity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">gravity_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">operation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'add'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'scale'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'abs'</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">distribution</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'uniform'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'log_uniform'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'gaussian'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'uniform'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#randomize_physics_scene_gravity"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity" title="Permalink to this definition">#</a></dt>
+<dd><p>Randomize gravity by adding, scaling, or setting random values.</p>
+<p>This function allows randomizing gravity of the physics scene. The function samples random values from the
+given distribution parameters and adds, scales, or sets the values into the physics simulation based on the
+operation.</p>
+<p>The distribution parameters are lists of two elements each, representing the lower and upper bounds of the
+distribution for the x, y, and z components of the gravity vector. The function samples random values for each
+component independently.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>This function applied the same gravity for all the environments.</p>
+</div>
+<div class="admonition tip">
+<p class="admonition-title">Tip</p>
+<p>This function uses CPU tensors to assign gravity.</p>
+</div>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.randomize_actuator_gains">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">randomize_actuator_gains</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stiffness_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">damping_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">operation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'add'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'scale'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'abs'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'abs'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">distribution</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'uniform'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'log_uniform'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'gaussian'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'uniform'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#randomize_actuator_gains"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.randomize_actuator_gains" title="Permalink to this definition">#</a></dt>
+<dd><p>Randomize the actuator gains in an articulation by adding, scaling, or setting random values.</p>
+<p>This function allows randomizing the actuator stiffness and damping gains.</p>
+<p>The function samples random values from the given distribution parameters and applies the operation to the joint properties.
+It then sets the values into the actuator models. If the distribution parameters are not provided for a particular property,
+the function does not modify the property.</p>
+<div class="admonition tip">
+<p class="admonition-title">Tip</p>
+<p>For implicit actuators, this function uses CPU tensors to assign the actuator gains into the simulation.
+In such cases, it is recommended to use this function only during the initialization of the environment.</p>
+</div>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.randomize_joint_parameters">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">randomize_joint_parameters</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">friction_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">armature_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lower_limit_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper_limit_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">operation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'add'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'scale'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'abs'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'abs'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">distribution</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'uniform'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'log_uniform'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'gaussian'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'uniform'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#randomize_joint_parameters"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.randomize_joint_parameters" title="Permalink to this definition">#</a></dt>
+<dd><p>Randomize the joint parameters of an articulation by adding, scaling, or setting random values.</p>
+<p>This function allows randomizing the joint parameters of the asset.
+These correspond to the physics engine joint properties that affect the joint behavior.</p>
+<p>The function samples random values from the given distribution parameters and applies the operation to the joint properties.
+It then sets the values into the physics simulation. If the distribution parameters are not provided for a
+particular property, the function does not modify the property.</p>
+<div class="admonition tip">
+<p class="admonition-title">Tip</p>
+<p>This function uses CPU tensors to assign the joint properties. It is recommended to use this function
+only during the initialization of the environment.</p>
+</div>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">randomize_fixed_tendon_parameters</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stiffness_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">damping_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">limit_stiffness_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lower_limit_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper_limit_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rest_length_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">offset_distribution_params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">operation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'add'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'scale'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'abs'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'abs'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">distribution</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'uniform'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'log_uniform'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'gaussian'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'uniform'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#randomize_fixed_tendon_parameters"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters" title="Permalink to this definition">#</a></dt>
+<dd><p>Randomize the fixed tendon parameters of an articulation by adding, scaling, or setting random values.</p>
+<p>This function allows randomizing the fixed tendon parameters of the asset.
+These correspond to the physics engine tendon properties that affect the joint behavior.</p>
+<p>The function samples random values from the given distribution parameters and applies the operation to the tendon properties.
+It then sets the values into the physics simulation. If the distribution parameters are not provided for a
+particular property, the function does not modify the property.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.apply_external_force_torque">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">apply_external_force_torque</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">force_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">torque_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#apply_external_force_torque"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.apply_external_force_torque" title="Permalink to this definition">#</a></dt>
+<dd><p>Randomize the external forces and torques applied to the bodies.</p>
+<p>This function creates a set of random forces and torques sampled from the given ranges. The number of forces
+and torques is equal to the number of bodies times the number of environments. The forces and torques are
+applied to the bodies by calling <code class="docutils literal notranslate"><span class="pre">asset.set_external_force_and_torque</span></code>. The forces and torques are only
+applied when <code class="docutils literal notranslate"><span class="pre">asset.write_data_to_sim()</span></code> is called in the environment.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.push_by_setting_velocity">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">push_by_setting_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#push_by_setting_velocity"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.push_by_setting_velocity" title="Permalink to this definition">#</a></dt>
+<dd><p>Push the asset by setting the root velocity to a random value within the given ranges.</p>
+<p>This creates an effect similar to pushing the asset with a random impulse that changes the asset’s velocity.
+It samples the root velocity from the given ranges and sets the velocity into the physics simulation.</p>
+<p>The function takes a dictionary of velocity ranges for each axis and rotation. The keys of the dictionary
+are <code class="docutils literal notranslate"><span class="pre">x</span></code>, <code class="docutils literal notranslate"><span class="pre">y</span></code>, <code class="docutils literal notranslate"><span class="pre">z</span></code>, <code class="docutils literal notranslate"><span class="pre">roll</span></code>, <code class="docutils literal notranslate"><span class="pre">pitch</span></code>, and <code class="docutils literal notranslate"><span class="pre">yaw</span></code>. The values are tuples of the form <code class="docutils literal notranslate"><span class="pre">(min,</span> <span class="pre">max)</span></code>.
+If the dictionary does not contain a key, the velocity is set to zero for that axis.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.reset_root_state_uniform">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">reset_root_state_uniform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">pose_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#reset_root_state_uniform"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_uniform" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the asset root state to a random position and velocity uniformly within the given ranges.</p>
+<p>This function randomizes the root position and velocity of the asset.</p>
+<ul class="simple">
+<li><p>It samples the root position from the given ranges and adds them to the default root position, before setting
+them into the physics simulation.</p></li>
+<li><p>It samples the root orientation from the given ranges and sets them into the physics simulation.</p></li>
+<li><p>It samples the root velocity from the given ranges and sets them into the physics simulation.</p></li>
+</ul>
+<p>The function takes a dictionary of pose and velocity ranges for each axis and rotation. The keys of the
+dictionary are <code class="docutils literal notranslate"><span class="pre">x</span></code>, <code class="docutils literal notranslate"><span class="pre">y</span></code>, <code class="docutils literal notranslate"><span class="pre">z</span></code>, <code class="docutils literal notranslate"><span class="pre">roll</span></code>, <code class="docutils literal notranslate"><span class="pre">pitch</span></code>, and <code class="docutils literal notranslate"><span class="pre">yaw</span></code>. The values are tuples of the form
+<code class="docutils literal notranslate"><span class="pre">(min,</span> <span class="pre">max)</span></code>. If the dictionary does not contain a key, the position or velocity is set to zero for that axis.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">reset_root_state_with_random_orientation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">pose_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#reset_root_state_with_random_orientation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the asset root position and velocities sampled randomly within the given ranges
+and the asset root orientation sampled randomly from the SO(3).</p>
+<p>This function randomizes the root position and velocity of the asset.</p>
+<ul class="simple">
+<li><p>It samples the root position from the given ranges and adds them to the default root position, before setting
+them into the physics simulation.</p></li>
+<li><p>It samples the root orientation uniformly from the SO(3) and sets them into the physics simulation.</p></li>
+<li><p>It samples the root velocity from the given ranges and sets them into the physics simulation.</p></li>
+</ul>
+<p>The function takes a dictionary of position and velocity ranges for each axis and rotation:</p>
+<ul class="simple">
+<li><p><code class="xref py py-attr docutils literal notranslate"><span class="pre">pose_range</span></code> - a dictionary of position ranges for each axis. The keys of the dictionary are <code class="docutils literal notranslate"><span class="pre">x</span></code>,
+<code class="docutils literal notranslate"><span class="pre">y</span></code>, and <code class="docutils literal notranslate"><span class="pre">z</span></code>. The orientation is sampled uniformly from the SO(3).</p></li>
+<li><p><code class="xref py py-attr docutils literal notranslate"><span class="pre">velocity_range</span></code> - a dictionary of velocity ranges for each axis and rotation. The keys of the dictionary
+are <code class="docutils literal notranslate"><span class="pre">x</span></code>, <code class="docutils literal notranslate"><span class="pre">y</span></code>, <code class="docutils literal notranslate"><span class="pre">z</span></code>, <code class="docutils literal notranslate"><span class="pre">roll</span></code>, <code class="docutils literal notranslate"><span class="pre">pitch</span></code>, and <code class="docutils literal notranslate"><span class="pre">yaw</span></code>.</p></li>
+</ul>
+<p>The values are tuples of the form <code class="docutils literal notranslate"><span class="pre">(min,</span> <span class="pre">max)</span></code>. If the dictionary does not contain a particular key,
+the position is set to zero for that axis.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">reset_root_state_from_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">pose_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#reset_root_state_from_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the asset root state by sampling a random valid pose from the terrain.</p>
+<p>This function samples a random valid pose(based on flat patches) from the terrain and sets the root state
+of the asset to this position. The function also samples random velocities from the given ranges and sets them
+into the physics simulation.</p>
+<p>The function takes a dictionary of position and velocity ranges for each axis and rotation:</p>
+<ul class="simple">
+<li><p><code class="xref py py-attr docutils literal notranslate"><span class="pre">pose_range</span></code> - a dictionary of pose ranges for each axis. The keys of the dictionary are <code class="docutils literal notranslate"><span class="pre">roll</span></code>,
+<code class="docutils literal notranslate"><span class="pre">pitch</span></code>, and <code class="docutils literal notranslate"><span class="pre">yaw</span></code>. The position is sampled from the flat patches of the terrain.</p></li>
+<li><p><code class="xref py py-attr docutils literal notranslate"><span class="pre">velocity_range</span></code> - a dictionary of velocity ranges for each axis and rotation. The keys of the dictionary
+are <code class="docutils literal notranslate"><span class="pre">x</span></code>, <code class="docutils literal notranslate"><span class="pre">y</span></code>, <code class="docutils literal notranslate"><span class="pre">z</span></code>, <code class="docutils literal notranslate"><span class="pre">roll</span></code>, <code class="docutils literal notranslate"><span class="pre">pitch</span></code>, and <code class="docutils literal notranslate"><span class="pre">yaw</span></code>.</p></li>
+</ul>
+<p>The values are tuples of the form <code class="docutils literal notranslate"><span class="pre">(min,</span> <span class="pre">max)</span></code>. If the dictionary does not contain a particular key,
+the position is set to zero for that axis.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The function expects the terrain to have valid flat patches under the key “init_pos”. The flat patches
+are used to sample the random pose for the robot.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the terrain does not have valid flat patches under the key “init_pos”.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.reset_joints_by_scale">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">reset_joints_by_scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">position_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#reset_joints_by_scale"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.reset_joints_by_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the robot joints by scaling the default position and velocity by the given ranges.</p>
+<p>This function samples random values from the given ranges and scales the default joint positions and velocities
+by these values. The scaled values are then set into the physics simulation.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.reset_joints_by_offset">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">reset_joints_by_offset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">position_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#reset_joints_by_offset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.reset_joints_by_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the robot joints with offsets around the default position and velocity by the given ranges.</p>
+<p>This function samples random values from the given ranges and biases the default joint positions and velocities
+by these values. The biased values are then set into the physics simulation.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.reset_nodal_state_uniform">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">reset_nodal_state_uniform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">position_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">velocity_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#reset_nodal_state_uniform"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.reset_nodal_state_uniform" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the asset nodal state to a random position and velocity uniformly within the given ranges.</p>
+<p>This function randomizes the nodal position and velocity of the asset.</p>
+<ul class="simple">
+<li><p>It samples the root position from the given ranges and adds them to the default nodal position, before setting
+them into the physics simulation.</p></li>
+<li><p>It samples the root velocity from the given ranges and sets them into the physics simulation.</p></li>
+</ul>
+<p>The function takes a dictionary of position and velocity ranges for each axis. The keys of the
+dictionary are <code class="docutils literal notranslate"><span class="pre">x</span></code>, <code class="docutils literal notranslate"><span class="pre">y</span></code>, <code class="docutils literal notranslate"><span class="pre">z</span></code>. The values are tuples of the form <code class="docutils literal notranslate"><span class="pre">(min,</span> <span class="pre">max)</span></code>.
+If the dictionary does not contain a key, the position or velocity is set to zero for that axis.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.events.reset_scene_to_default">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.events.</span></span><span class="sig-name descname"><span class="pre">reset_scene_to_default</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/events.html#reset_scene_to_default"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.events.reset_scene_to_default" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the scene to the default state specified in the scene configuration.</p>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.envs.mdp.commands">
+<span id="commands"></span><h2>Commands<a class="headerlink" href="#module-omni.isaac.lab.envs.mdp.commands" title="Permalink to this heading">#</a></h2>
+<p>Various command terms that can be used in the environment.</p>
+<span class="target" id="module-omni.isaac.lab.envs.mdp.commands.commands_cfg"></span><p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NullCommandCfg</span></code></a></p></td>
+<td><p>Configuration for the null command generator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg</span></code></a></p></td>
+<td><p>Configuration for the uniform velocity command generator.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg</span></code></a></p></td>
+<td><p>Configuration for the normal velocity command generator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UniformPoseCommandCfg</span></code></a></p></td>
+<td><p>Configuration for uniform pose command generator.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg</span></code></a></p></td>
+<td><p>Configuration for the uniform 2D-pose command generator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg</span></code></a></p></td>
+<td><p>Configuration for the terrain-based position command generator.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.commands.commands_cfg.</span></span><span class="sig-name descname"><span class="pre">NullCommandCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#NullCommandCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.CommandTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">CommandTermCfg</span></code></a></p>
+<p>Configuration for the null command generator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.resampling_time_range" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.resampling_time_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resampling_time_range</span></code></a></p></td>
+<td><p>Time before commands are changed [s].</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.debug_vis" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.resampling_time_range">
+<span class="sig-name descname"><span class="pre">resampling_time_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.resampling_time_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Time before commands are changed [s].</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.commands.commands_cfg.</span></span><span class="sig-name descname"><span class="pre">UniformVelocityCommandCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#UniformVelocityCommandCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.CommandTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">CommandTermCfg</span></code></a></p>
+<p>Configuration for the uniform velocity command generator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>Name of the asset in the environment for which the commands are generated.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command"><code class="xref py py-obj docutils literal notranslate"><span class="pre">heading_command</span></code></a></p></td>
+<td><p>Whether to use heading command or angular velocity command.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_control_stiffness" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_control_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">heading_control_stiffness</span></code></a></p></td>
+<td><p>Scale factor to convert the heading error to angular velocity command.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_standing_envs" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_standing_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rel_standing_envs</span></code></a></p></td>
+<td><p>The sampled probability of environments that should be standing still.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_heading_envs" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_heading_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rel_heading_envs</span></code></a></p></td>
+<td><p>The sampled probability of environments where the robots follow the heading-based angular velocity command (the others follow the sampled angular velocity command).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.ranges"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ranges</span></code></a></p></td>
+<td><p>Distribution ranges for the velocity commands.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.goal_vel_visualizer_cfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.goal_vel_visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">goal_vel_visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration for the goal velocity visualization marker.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.current_vel_visualizer_cfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.current_vel_visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">current_vel_visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration for the current velocity visualization marker.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.resampling_time_range" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.resampling_time_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resampling_time_range</span></code></a></p></td>
+<td><p>Time before commands are changed [s].</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.debug_vis" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Ranges</span></code></a></p></td>
+<td><p>Uniform distribution ranges for the velocity commands.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of the asset in the environment for which the commands are generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command">
+<span class="sig-name descname"><span class="pre">heading_command</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to use heading command or angular velocity command. Defaults to False.</p>
+<p>If True, the angular velocity command is computed from the heading error, where the
+target heading is sampled uniformly from provided range. Otherwise, the angular velocity
+command is sampled uniformly from provided range.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_control_stiffness">
+<span class="sig-name descname"><span class="pre">heading_control_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_control_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor to convert the heading error to angular velocity command. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_standing_envs">
+<span class="sig-name descname"><span class="pre">rel_standing_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_standing_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>The sampled probability of environments that should be standing still. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_heading_envs">
+<span class="sig-name descname"><span class="pre">rel_heading_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_heading_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>The sampled probability of environments where the robots follow the heading-based angular velocity command
+(the others follow the sampled angular velocity command). Defaults to 1.0.</p>
+<p>This parameter is only used if <a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command"><code class="xref py py-attr docutils literal notranslate"><span class="pre">heading_command</span></code></a> is True.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Ranges</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#UniformVelocityCommandCfg.Ranges"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Uniform distribution ranges for the velocity commands.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_x" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_x"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lin_vel_x</span></code></a></p></td>
+<td><p>Range for the linear-x velocity command (in m/s).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_y" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_y"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lin_vel_y</span></code></a></p></td>
+<td><p>Range for the linear-y velocity command (in m/s).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.ang_vel_z" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.ang_vel_z"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ang_vel_z</span></code></a></p></td>
+<td><p>Range for the angular-z velocity command (in rad/s).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.heading" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.heading"><code class="xref py py-obj docutils literal notranslate"><span class="pre">heading</span></code></a></p></td>
+<td><p>Range for the heading command (in rad).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_x">
+<span class="sig-name descname"><span class="pre">lin_vel_x</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_x" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the linear-x velocity command (in m/s).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_y">
+<span class="sig-name descname"><span class="pre">lin_vel_y</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_y" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the linear-y velocity command (in m/s).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.ang_vel_z">
+<span class="sig-name descname"><span class="pre">ang_vel_z</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.ang_vel_z" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the angular-z velocity command (in rad/s).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.heading">
+<span class="sig-name descname"><span class="pre">heading</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.heading" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the heading command (in rad). Defaults to None.</p>
+<p>This parameter is only used if <a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command"><code class="xref py py-attr docutils literal notranslate"><span class="pre">heading_command</span></code></a> is True.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.ranges">
+<span class="sig-name descname"><span class="pre">ranges</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges"><span class="pre">Ranges</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.ranges" title="Permalink to this definition">#</a></dt>
+<dd><p>Distribution ranges for the velocity commands.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.goal_vel_visualizer_cfg">
+<span class="sig-name descname"><span class="pre">goal_vel_visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.goal_vel_visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.current_vel_visualizer_cfg">
+<span class="sig-name descname"><span class="pre">current_vel_visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.current_vel_visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.resampling_time_range">
+<span class="sig-name descname"><span class="pre">resampling_time_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.resampling_time_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Time before commands are changed [s].</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.commands.commands_cfg.</span></span><span class="sig-name descname"><span class="pre">NormalVelocityCommandCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#NormalVelocityCommandCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg</span></code></a></p>
+<p>Configuration for the normal velocity command generator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command"><code class="xref py py-obj docutils literal notranslate"><span class="pre">heading_command</span></code></a></p></td>
+<td><p>Whether to use heading command or angular velocity command.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.ranges"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ranges</span></code></a></p></td>
+<td><p>Distribution ranges for the velocity commands.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.resampling_time_range" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.resampling_time_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resampling_time_range</span></code></a></p></td>
+<td><p>Time before commands are changed [s].</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.debug_vis" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.asset_name" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>Name of the asset in the environment for which the commands are generated.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_control_stiffness" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_control_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">heading_control_stiffness</span></code></a></p></td>
+<td><p>Scale factor to convert the heading error to angular velocity command.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_standing_envs" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_standing_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rel_standing_envs</span></code></a></p></td>
+<td><p>The sampled probability of environments that should be standing still.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_heading_envs" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_heading_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rel_heading_envs</span></code></a></p></td>
+<td><p>The sampled probability of environments where the robots follow the heading-based angular velocity command (the others follow the sampled angular velocity command).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.goal_vel_visualizer_cfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.goal_vel_visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">goal_vel_visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration for the goal velocity visualization marker.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.current_vel_visualizer_cfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.current_vel_visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">current_vel_visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration for the current velocity visualization marker.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Ranges</span></code></a></p></td>
+<td><p>Normal distribution ranges for the velocity commands.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command">
+<span class="sig-name descname"><span class="pre">heading_command</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to use heading command or angular velocity command. Defaults to False.</p>
+<p>If True, the angular velocity command is computed from the heading error, where the
+target heading is sampled uniformly from provided range. Otherwise, the angular velocity
+command is sampled uniformly from provided range.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Ranges</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#NormalVelocityCommandCfg.Ranges"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Normal distribution ranges for the velocity commands.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mean_vel</span></code></a></p></td>
+<td><p>Mean velocity for the normal distribution (in m/s).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">std_vel</span></code></a></p></td>
+<td><p>Standard deviation for the normal distribution (in m/s).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob"><code class="xref py py-obj docutils literal notranslate"><span class="pre">zero_prob</span></code></a></p></td>
+<td><p>Probability of zero velocity for the normal distribution.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel">
+<span class="sig-name descname"><span class="pre">mean_vel</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Mean velocity for the normal distribution (in m/s).</p>
+<p>The tuple contains the mean linear-x, linear-y, and angular-z velocity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel">
+<span class="sig-name descname"><span class="pre">std_vel</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel" title="Permalink to this definition">#</a></dt>
+<dd><p>Standard deviation for the normal distribution (in m/s).</p>
+<p>The tuple contains the standard deviation linear-x, linear-y, and angular-z velocity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob">
+<span class="sig-name descname"><span class="pre">zero_prob</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob" title="Permalink to this definition">#</a></dt>
+<dd><p>Probability of zero velocity for the normal distribution.</p>
+<p>The tuple contains the probability of zero linear-x, linear-y, and angular-z velocity.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.ranges">
+<span class="sig-name descname"><span class="pre">ranges</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges"><span class="pre">Ranges</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.ranges" title="Permalink to this definition">#</a></dt>
+<dd><p>Distribution ranges for the velocity commands.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.resampling_time_range">
+<span class="sig-name descname"><span class="pre">resampling_time_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.resampling_time_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Time before commands are changed [s].</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of the asset in the environment for which the commands are generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_control_stiffness">
+<span class="sig-name descname"><span class="pre">heading_control_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_control_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale factor to convert the heading error to angular velocity command. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_standing_envs">
+<span class="sig-name descname"><span class="pre">rel_standing_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_standing_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>The sampled probability of environments that should be standing still. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_heading_envs">
+<span class="sig-name descname"><span class="pre">rel_heading_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_heading_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>The sampled probability of environments where the robots follow the heading-based angular velocity command
+(the others follow the sampled angular velocity command). Defaults to 1.0.</p>
+<p>This parameter is only used if <a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command"><code class="xref py py-attr docutils literal notranslate"><span class="pre">heading_command</span></code></a> is True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.goal_vel_visualizer_cfg">
+<span class="sig-name descname"><span class="pre">goal_vel_visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.goal_vel_visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the goal velocity visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.current_vel_visualizer_cfg">
+<span class="sig-name descname"><span class="pre">current_vel_visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.current_vel_visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the current velocity visualization marker. Defaults to BLUE_ARROW_X_MARKER_CFG.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.commands.commands_cfg.</span></span><span class="sig-name descname"><span class="pre">UniformPoseCommandCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#UniformPoseCommandCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.CommandTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">CommandTermCfg</span></code></a></p>
+<p>Configuration for uniform pose command generator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>Name of the asset in the environment for which the commands are generated.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.body_name" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.body_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_name</span></code></a></p></td>
+<td><p>Name of the body in the asset for which the commands are generated.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique"><code class="xref py py-obj docutils literal notranslate"><span class="pre">make_quat_unique</span></code></a></p></td>
+<td><p>Whether to make the quaternion unique or not.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.resampling_time_range" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.resampling_time_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resampling_time_range</span></code></a></p></td>
+<td><p>Time before commands are changed [s].</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.debug_vis" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.ranges"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ranges</span></code></a></p></td>
+<td><p>Ranges for the commands.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.goal_pose_visualizer_cfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.goal_pose_visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">goal_pose_visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration for the goal pose visualization marker.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.current_pose_visualizer_cfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.current_pose_visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">current_pose_visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration for the current pose visualization marker.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Ranges</span></code></a></p></td>
+<td><p>Uniform distribution ranges for the pose commands.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of the asset in the environment for which the commands are generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.body_name">
+<span class="sig-name descname"><span class="pre">body_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.body_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of the body in the asset for which the commands are generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique">
+<span class="sig-name descname"><span class="pre">make_quat_unique</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to make the quaternion unique or not. Defaults to False.</p>
+<p>If True, the quaternion is made unique by ensuring the real part is positive.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Ranges</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#UniformPoseCommandCfg.Ranges"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Uniform distribution ranges for the pose commands.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_x" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_x"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos_x</span></code></a></p></td>
+<td><p>Range for the x position (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_y" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_y"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos_y</span></code></a></p></td>
+<td><p>Range for the y position (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_z" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_z"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos_z</span></code></a></p></td>
+<td><p>Range for the z position (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.roll" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.roll"><code class="xref py py-obj docutils literal notranslate"><span class="pre">roll</span></code></a></p></td>
+<td><p>Range for the roll angle (in rad).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pitch" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pitch"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pitch</span></code></a></p></td>
+<td><p>Range for the pitch angle (in rad).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.yaw" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.yaw"><code class="xref py py-obj docutils literal notranslate"><span class="pre">yaw</span></code></a></p></td>
+<td><p>Range for the yaw angle (in rad).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_x">
+<span class="sig-name descname"><span class="pre">pos_x</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_x" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the x position (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_y">
+<span class="sig-name descname"><span class="pre">pos_y</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_y" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the y position (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_z">
+<span class="sig-name descname"><span class="pre">pos_z</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_z" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the z position (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.roll">
+<span class="sig-name descname"><span class="pre">roll</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.roll" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the roll angle (in rad).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pitch">
+<span class="sig-name descname"><span class="pre">pitch</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pitch" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the pitch angle (in rad).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.yaw">
+<span class="sig-name descname"><span class="pre">yaw</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.yaw" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the yaw angle (in rad).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.resampling_time_range">
+<span class="sig-name descname"><span class="pre">resampling_time_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.resampling_time_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Time before commands are changed [s].</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.ranges">
+<span class="sig-name descname"><span class="pre">ranges</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges"><span class="pre">Ranges</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.ranges" title="Permalink to this definition">#</a></dt>
+<dd><p>Ranges for the commands.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.goal_pose_visualizer_cfg">
+<span class="sig-name descname"><span class="pre">goal_pose_visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.goal_pose_visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the goal pose visualization marker. Defaults to FRAME_MARKER_CFG.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.current_pose_visualizer_cfg">
+<span class="sig-name descname"><span class="pre">current_pose_visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.current_pose_visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the current pose visualization marker. Defaults to FRAME_MARKER_CFG.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.commands.commands_cfg.</span></span><span class="sig-name descname"><span class="pre">UniformPose2dCommandCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#UniformPose2dCommandCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.CommandTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">CommandTermCfg</span></code></a></p>
+<p>Configuration for the uniform 2D-pose command generator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resampling_time_range</span></code></a></p></td>
+<td><p>Time before commands are changed [s].</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.debug_vis" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.asset_name" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>Name of the asset in the environment for which the commands are generated.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading"><code class="xref py py-obj docutils literal notranslate"><span class="pre">simple_heading</span></code></a></p></td>
+<td><p>Whether to use simple heading or not.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.ranges"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ranges</span></code></a></p></td>
+<td><p>Distribution ranges for the position commands.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.goal_pose_visualizer_cfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.goal_pose_visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">goal_pose_visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration for the goal pose visualization marker.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Ranges</span></code></a></p></td>
+<td><p>Uniform distribution ranges for the position commands.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range">
+<span class="sig-name descname"><span class="pre">resampling_time_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Time before commands are changed [s].</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of the asset in the environment for which the commands are generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading">
+<span class="sig-name descname"><span class="pre">simple_heading</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to use simple heading or not.</p>
+<p>If True, the heading is in the direction of the target position.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Ranges</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#UniformPose2dCommandCfg.Ranges"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Uniform distribution ranges for the position commands.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos_x</span></code></a></p></td>
+<td><p>Range for the x position (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_y" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_y"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos_y</span></code></a></p></td>
+<td><p>Range for the y position (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading"><code class="xref py py-obj docutils literal notranslate"><span class="pre">heading</span></code></a></p></td>
+<td><p>Heading range for the position commands (in rad).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x">
+<span class="sig-name descname"><span class="pre">pos_x</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the x position (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_y">
+<span class="sig-name descname"><span class="pre">pos_y</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_y" title="Permalink to this definition">#</a></dt>
+<dd><p>Range for the y position (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading">
+<span class="sig-name descname"><span class="pre">heading</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading" title="Permalink to this definition">#</a></dt>
+<dd><p>Heading range for the position commands (in rad).</p>
+<p>Used only if <code class="xref py py-attr docutils literal notranslate"><span class="pre">simple_heading</span></code> is False.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.ranges">
+<span class="sig-name descname"><span class="pre">ranges</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges"><span class="pre">Ranges</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.ranges" title="Permalink to this definition">#</a></dt>
+<dd><p>Distribution ranges for the position commands.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.goal_pose_visualizer_cfg">
+<span class="sig-name descname"><span class="pre">goal_pose_visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.goal_pose_visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the goal pose visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.commands.commands_cfg.</span></span><span class="sig-name descname"><span class="pre">TerrainBasedPose2dCommandCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#TerrainBasedPose2dCommandCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg</span></code></a></p>
+<p>Configuration for the terrain-based position command generator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resampling_time_range</span></code></a></p></td>
+<td><p>Time before commands are changed [s].</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.debug_vis" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.asset_name" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>Name of the asset in the environment for which the commands are generated.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading"><code class="xref py py-obj docutils literal notranslate"><span class="pre">simple_heading</span></code></a></p></td>
+<td><p>Whether to use simple heading or not.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">goal_pose_visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration for the goal pose visualization marker.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.ranges"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ranges</span></code></a></p></td>
+<td><p>Distribution ranges for the sampled commands.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Ranges</span></code></a></p></td>
+<td><p>Uniform distribution ranges for the position commands.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range">
+<span class="sig-name descname"><span class="pre">resampling_time_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Time before commands are changed [s].</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of the asset in the environment for which the commands are generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading">
+<span class="sig-name descname"><span class="pre">simple_heading</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to use simple heading or not.</p>
+<p>If True, the heading is in the direction of the target position.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg">
+<span class="sig-name descname"><span class="pre">goal_pose_visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the goal pose visualization marker. Defaults to GREEN_ARROW_X_MARKER_CFG.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">Ranges</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/commands/commands_cfg.html#TerrainBasedPose2dCommandCfg.Ranges"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Uniform distribution ranges for the position commands.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading"><code class="xref py py-obj docutils literal notranslate"><span class="pre">heading</span></code></a></p></td>
+<td><p>Heading range for the position commands (in rad).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading">
+<span class="sig-name descname"><span class="pre">heading</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading" title="Permalink to this definition">#</a></dt>
+<dd><p>Heading range for the position commands (in rad).</p>
+<p>Used only if <code class="xref py py-attr docutils literal notranslate"><span class="pre">simple_heading</span></code> is False.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.ranges">
+<span class="sig-name descname"><span class="pre">ranges</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges" title="omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges"><span class="pre">Ranges</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.ranges" title="Permalink to this definition">#</a></dt>
+<dd><p>Distribution ranges for the sampled commands.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.envs.mdp.rewards">
+<span id="rewards"></span><h2>Rewards<a class="headerlink" href="#module-omni.isaac.lab.envs.mdp.rewards" title="Permalink to this heading">#</a></h2>
+<p>Common functions that can be used to enable reward functions.</p>
+<p>The functions can be passed to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardTermCfg" title="omni.isaac.lab.managers.RewardTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.RewardTermCfg</span></code></a> object to include
+the reward introduced by the function.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.is_alive" title="omni.isaac.lab.envs.mdp.rewards.is_alive"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_alive</span></code></a>(env)</p></td>
+<td><p>Reward for being alive.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated" title="omni.isaac.lab.envs.mdp.rewards.is_terminated"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_terminated</span></code></a>(env)</p></td>
+<td><p>Penalize terminated episodes that don't correspond to episodic timeouts.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2" title="omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lin_vel_z_l2</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Penalize z-axis base linear velocity using L2 squared kernel.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.ang_vel_xy_l2" title="omni.isaac.lab.envs.mdp.rewards.ang_vel_xy_l2"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ang_vel_xy_l2</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Penalize xy-axis base angular velocity using L2 squared kernel.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2" title="omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_orientation_l2</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Penalize non-flat base orientation using L2 squared kernel.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.base_height_l2" title="omni.isaac.lab.envs.mdp.rewards.base_height_l2"><code class="xref py py-obj docutils literal notranslate"><span class="pre">base_height_l2</span></code></a>(env, target_height[, ...])</p></td>
+<td><p>Penalize asset height from its target using L2 squared kernel.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2" title="omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_lin_acc_l2</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Penalize the linear acceleration of bodies using L2-kernel.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.joint_torques_l2" title="omni.isaac.lab.envs.mdp.rewards.joint_torques_l2"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_torques_l2</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Penalize joint torques applied on the articulation using L2 squared kernel.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_l1" title="omni.isaac.lab.envs.mdp.rewards.joint_vel_l1"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_vel_l1</span></code></a>(env, asset_cfg)</p></td>
+<td><p>Penalize joint velocities on the articulation using an L1-kernel.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_l2" title="omni.isaac.lab.envs.mdp.rewards.joint_vel_l2"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_vel_l2</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Penalize joint velocities on the articulation using L2 squared kernel.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.joint_acc_l2" title="omni.isaac.lab.envs.mdp.rewards.joint_acc_l2"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_acc_l2</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Penalize joint accelerations on the articulation using L2 squared kernel.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1" title="omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_deviation_l1</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Penalize joint positions that deviate from the default one.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.joint_pos_limits" title="omni.isaac.lab.envs.mdp.rewards.joint_pos_limits"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_pos_limits</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Penalize joint positions if they cross the soft limits.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_limits" title="omni.isaac.lab.envs.mdp.rewards.joint_vel_limits"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_vel_limits</span></code></a>(env, soft_ratio[, asset_cfg])</p></td>
+<td><p>Penalize joint velocities if they cross the soft limits.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.applied_torque_limits" title="omni.isaac.lab.envs.mdp.rewards.applied_torque_limits"><code class="xref py py-obj docutils literal notranslate"><span class="pre">applied_torque_limits</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Penalize applied torques if they cross the limits.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.action_rate_l2" title="omni.isaac.lab.envs.mdp.rewards.action_rate_l2"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_rate_l2</span></code></a>(env)</p></td>
+<td><p>Penalize the rate of change of the actions using L2 squared kernel.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.action_l2" title="omni.isaac.lab.envs.mdp.rewards.action_l2"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_l2</span></code></a>(env)</p></td>
+<td><p>Penalize the actions using L2 squared kernel.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.undesired_contacts" title="omni.isaac.lab.envs.mdp.rewards.undesired_contacts"><code class="xref py py-obj docutils literal notranslate"><span class="pre">undesired_contacts</span></code></a>(env, threshold, sensor_cfg)</p></td>
+<td><p>Penalize undesired contacts as the number of violations that are above a threshold.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.contact_forces" title="omni.isaac.lab.envs.mdp.rewards.contact_forces"><code class="xref py py-obj docutils literal notranslate"><span class="pre">contact_forces</span></code></a>(env, threshold, sensor_cfg)</p></td>
+<td><p>Penalize contact forces as the amount of violations of the net contact force.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp" title="omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp"><code class="xref py py-obj docutils literal notranslate"><span class="pre">track_lin_vel_xy_exp</span></code></a>(env, std, command_name)</p></td>
+<td><p>Reward tracking of linear velocity commands (xy axes) using exponential kernel.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp" title="omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp"><code class="xref py py-obj docutils literal notranslate"><span class="pre">track_ang_vel_z_exp</span></code></a>(env, std, command_name)</p></td>
+<td><p>Reward tracking of angular velocity commands (yaw) using exponential kernel.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated_term" title="omni.isaac.lab.envs.mdp.rewards.is_terminated_term"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_terminated_term</span></code></a></p></td>
+<td><p>Penalize termination for specific terms that don't correspond to episodic timeouts.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.is_alive">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">is_alive</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#is_alive"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.is_alive" title="Permalink to this definition">#</a></dt>
+<dd><p>Reward for being alive.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.is_terminated">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">is_terminated</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#is_terminated"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize terminated episodes that don’t correspond to episodic timeouts.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.is_terminated_term">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">is_terminated_term</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#is_terminated_term"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated_term" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize termination for specific terms that don’t correspond to episodic timeouts.</p>
+<p>The parameters are as follows:</p>
+<ul class="simple">
+<li><p>attr:<cite>term_keys</cite>: The termination terms to penalize. This can be a string, a list of strings
+or regular expressions. Default is “.*” which penalizes all terminations.</p></li>
+</ul>
+<p>The reward is computed as the sum of the termination terms that are not episodic timeouts.
+This means that the reward is 0 if the episode is terminated due to an episodic timeout. Otherwise,
+if two termination terms are active, the reward is 2.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__" title="omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the manager term.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardTermCfg" title="omni.isaac.lab.managers.RewardTermCfg"><span class="pre">RewardTermCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#is_terminated_term.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the manager term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object.</p></li>
+<li><p><strong>env</strong> – The environment instance.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">lin_vel_z_l2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#lin_vel_z_l2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize z-axis base linear velocity using L2 squared kernel.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.ang_vel_xy_l2">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">ang_vel_xy_l2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#ang_vel_xy_l2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.ang_vel_xy_l2" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize xy-axis base angular velocity using L2 squared kernel.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">flat_orientation_l2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#flat_orientation_l2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize non-flat base orientation using L2 squared kernel.</p>
+<p>This is computed by penalizing the xy-components of the projected gravity vector.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.base_height_l2">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">base_height_l2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">target_height</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sensor_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#base_height_l2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.base_height_l2" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize asset height from its target using L2 squared kernel.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For flat terrain, target height is in the world frame. For rough terrain,
+sensor readings can adjust the target height to account for the terrain.</p>
+</div>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">body_lin_acc_l2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#body_lin_acc_l2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize the linear acceleration of bodies using L2-kernel.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.joint_torques_l2">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">joint_torques_l2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#joint_torques_l2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.joint_torques_l2" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize joint torques applied on the articulation using L2 squared kernel.</p>
+<p>NOTE: Only the joints configured in <code class="xref py py-attr docutils literal notranslate"><span class="pre">asset_cfg.joint_ids</span></code> will have their joint torques contribute to the term.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.joint_vel_l1">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">joint_vel_l1</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#joint_vel_l1"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_l1" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize joint velocities on the articulation using an L1-kernel.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.joint_vel_l2">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">joint_vel_l2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#joint_vel_l2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_l2" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize joint velocities on the articulation using L2 squared kernel.</p>
+<p>NOTE: Only the joints configured in <code class="xref py py-attr docutils literal notranslate"><span class="pre">asset_cfg.joint_ids</span></code> will have their joint velocities contribute to the term.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.joint_acc_l2">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">joint_acc_l2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#joint_acc_l2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.joint_acc_l2" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize joint accelerations on the articulation using L2 squared kernel.</p>
+<p>NOTE: Only the joints configured in <code class="xref py py-attr docutils literal notranslate"><span class="pre">asset_cfg.joint_ids</span></code> will have their joint accelerations contribute to the term.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">joint_deviation_l1</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#joint_deviation_l1"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize joint positions that deviate from the default one.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.joint_pos_limits">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">joint_pos_limits</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#joint_pos_limits"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.joint_pos_limits" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize joint positions if they cross the soft limits.</p>
+<p>This is computed as a sum of the absolute value of the difference between the joint position and the soft limits.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.joint_vel_limits">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">joint_vel_limits</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">soft_ratio</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#joint_vel_limits"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_limits" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize joint velocities if they cross the soft limits.</p>
+<p>This is computed as a sum of the absolute value of the difference between the joint velocity and the soft limits.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>soft_ratio</strong> – The ratio of the soft limits to be used.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.applied_torque_limits">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">applied_torque_limits</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#applied_torque_limits"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.applied_torque_limits" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize applied torques if they cross the limits.</p>
+<p>This is computed as a sum of the absolute value of the difference between the applied torques and the limits.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>Currently, this only works for explicit actuators since we manually compute the applied torques.
+For implicit actuators, we currently cannot retrieve the applied torques from the physics engine.</p>
+</div>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.action_rate_l2">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">action_rate_l2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#action_rate_l2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.action_rate_l2" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize the rate of change of the actions using L2 squared kernel.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.action_l2">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">action_l2</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#action_l2"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.action_l2" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize the actions using L2 squared kernel.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.undesired_contacts">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">undesired_contacts</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sensor_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#undesired_contacts"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.undesired_contacts" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize undesired contacts as the number of violations that are above a threshold.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.contact_forces">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">contact_forces</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sensor_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#contact_forces"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.contact_forces" title="Permalink to this definition">#</a></dt>
+<dd><p>Penalize contact forces as the amount of violations of the net contact force.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">track_lin_vel_xy_exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">std</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">command_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#track_lin_vel_xy_exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp" title="Permalink to this definition">#</a></dt>
+<dd><p>Reward tracking of linear velocity commands (xy axes) using exponential kernel.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.rewards.</span></span><span class="sig-name descname"><span class="pre">track_ang_vel_z_exp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">std</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">command_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/rewards.html#track_ang_vel_z_exp"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp" title="Permalink to this definition">#</a></dt>
+<dd><p>Reward tracking of angular velocity commands (yaw) using exponential kernel.</p>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.envs.mdp.terminations">
+<span id="terminations"></span><h2>Terminations<a class="headerlink" href="#module-omni.isaac.lab.envs.mdp.terminations" title="Permalink to this heading">#</a></h2>
+<p>Common functions that can be used to activate certain terminations.</p>
+<p>The functions can be passed to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationTermCfg" title="omni.isaac.lab.managers.TerminationTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.TerminationTermCfg</span></code></a> object to enable
+the termination introduced by the function.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.time_out" title="omni.isaac.lab.envs.mdp.terminations.time_out"><code class="xref py py-obj docutils literal notranslate"><span class="pre">time_out</span></code></a>(env)</p></td>
+<td><p>Terminate the episode when the episode length exceeds the maximum episode length.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.command_resample" title="omni.isaac.lab.envs.mdp.terminations.command_resample"><code class="xref py py-obj docutils literal notranslate"><span class="pre">command_resample</span></code></a>(env, command_name[, ...])</p></td>
+<td><p>Terminate the episode based on the total number of times commands have been re-sampled.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.bad_orientation" title="omni.isaac.lab.envs.mdp.terminations.bad_orientation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bad_orientation</span></code></a>(env, limit_angle[, asset_cfg])</p></td>
+<td><p>Terminate when the asset's orientation is too far from the desired orientation limits.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum" title="omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum"><code class="xref py py-obj docutils literal notranslate"><span class="pre">root_height_below_minimum</span></code></a>(env, minimum_height)</p></td>
+<td><p>Terminate when the asset's root height is below the minimum height.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit" title="omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_pos_out_of_limit</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Terminate when the asset's joint positions are outside of the soft joint limits.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit" title="omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_pos_out_of_manual_limit</span></code></a>(env, bounds[, ...])</p></td>
+<td><p>Terminate when the asset's joint positions are outside of the configured bounds.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit" title="omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_vel_out_of_limit</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Terminate when the asset's joint velocities are outside of the soft joint limits.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit" title="omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_vel_out_of_manual_limit</span></code></a>(env, max_velocity)</p></td>
+<td><p>Terminate when the asset's joint velocities are outside the provided limits.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit" title="omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_effort_out_of_limit</span></code></a>(env[, asset_cfg])</p></td>
+<td><p>Terminate when effort applied on the asset's joints are outside of the soft joint limits.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.illegal_contact" title="omni.isaac.lab.envs.mdp.terminations.illegal_contact"><code class="xref py py-obj docutils literal notranslate"><span class="pre">illegal_contact</span></code></a>(env, threshold, sensor_cfg)</p></td>
+<td><p>Terminate when the contact force on the sensor exceeds the force threshold.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.terminations.time_out">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.terminations.</span></span><span class="sig-name descname"><span class="pre">time_out</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/terminations.html#time_out"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.terminations.time_out" title="Permalink to this definition">#</a></dt>
+<dd><p>Terminate the episode when the episode length exceeds the maximum episode length.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.terminations.command_resample">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.terminations.</span></span><span class="sig-name descname"><span class="pre">command_resample</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">command_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_resamples</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/terminations.html#command_resample"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.terminations.command_resample" title="Permalink to this definition">#</a></dt>
+<dd><p>Terminate the episode based on the total number of times commands have been re-sampled.</p>
+<p>This makes the maximum episode length fluid in nature as it depends on how the commands are
+sampled. It is useful in situations where delayed rewards are used <span id="id3">[<a class="reference internal" href="../../refs/bibliography.html#id10" title="Nikita Rudin, David Hoeller, Marko Bjelonic, and Marco Hutter. Advanced skills by learning locomotion and local navigation end-to-end. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), volume, 2497-2503. 2022. doi:10.1109/IROS47612.2022.9981198.">RHBH22</a>]</span>.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.terminations.bad_orientation">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.terminations.</span></span><span class="sig-name descname"><span class="pre">bad_orientation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">limit_angle</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/terminations.html#bad_orientation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.terminations.bad_orientation" title="Permalink to this definition">#</a></dt>
+<dd><p>Terminate when the asset’s orientation is too far from the desired orientation limits.</p>
+<p>This is computed by checking the angle between the projected gravity vector and the z-axis.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.terminations.</span></span><span class="sig-name descname"><span class="pre">root_height_below_minimum</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">minimum_height</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/terminations.html#root_height_below_minimum"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum" title="Permalink to this definition">#</a></dt>
+<dd><p>Terminate when the asset’s root height is below the minimum height.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is currently only supported for flat terrains, i.e. the minimum height is in the world frame.</p>
+</div>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.terminations.</span></span><span class="sig-name descname"><span class="pre">joint_pos_out_of_limit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/terminations.html#joint_pos_out_of_limit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Terminate when the asset’s joint positions are outside of the soft joint limits.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.terminations.</span></span><span class="sig-name descname"><span class="pre">joint_pos_out_of_manual_limit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">bounds</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/terminations.html#joint_pos_out_of_manual_limit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Terminate when the asset’s joint positions are outside of the configured bounds.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is similar to <a class="reference internal" href="#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit" title="omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit"><code class="xref py py-func docutils literal notranslate"><span class="pre">joint_pos_out_of_limit()</span></code></a> but allows the user to specify the bounds manually.</p>
+</div>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.terminations.</span></span><span class="sig-name descname"><span class="pre">joint_vel_out_of_limit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/terminations.html#joint_vel_out_of_limit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Terminate when the asset’s joint velocities are outside of the soft joint limits.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.terminations.</span></span><span class="sig-name descname"><span class="pre">joint_vel_out_of_manual_limit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_velocity</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/terminations.html#joint_vel_out_of_manual_limit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Terminate when the asset’s joint velocities are outside the provided limits.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.terminations.</span></span><span class="sig-name descname"><span class="pre">joint_effort_out_of_limit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">SceneEntityCfg(name='robot',</span> <span class="pre">joint_names=None,</span> <span class="pre">joint_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">fixed_tendon_names=None,</span> <span class="pre">fixed_tendon_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">body_names=None,</span> <span class="pre">body_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">object_collection_names=None,</span> <span class="pre">object_collection_ids=slice(None,</span> <span class="pre">None,</span> <span class="pre">None),</span> <span class="pre">preserve_order=False)</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/terminations.html#joint_effort_out_of_limit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit" title="Permalink to this definition">#</a></dt>
+<dd><p>Terminate when effort applied on the asset’s joints are outside of the soft joint limits.</p>
+<p>In the actuators, the applied torque are the efforts applied on the joints. These are computed by clipping
+the computed torques to the joint limits. Hence, we check if the computed torques are equal to the applied
+torques.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.terminations.illegal_contact">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.terminations.</span></span><span class="sig-name descname"><span class="pre">illegal_contact</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sensor_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/terminations.html#illegal_contact"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.terminations.illegal_contact" title="Permalink to this definition">#</a></dt>
+<dd><p>Terminate when the contact force on the sensor exceeds the force threshold.</p>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.envs.mdp.curriculums">
+<span id="curriculum"></span><h2>Curriculum<a class="headerlink" href="#module-omni.isaac.lab.envs.mdp.curriculums" title="Permalink to this heading">#</a></h2>
+<p>Common functions that can be used to create curriculum for the learning environment.</p>
+<p>The functions can be passed to the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumTermCfg" title="omni.isaac.lab.managers.CurriculumTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.CurriculumTermCfg</span></code></a> object to enable
+the curriculum introduced by the function.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight" title="omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight"><code class="xref py py-obj docutils literal notranslate"><span class="pre">modify_reward_weight</span></code></a>(env, env_ids, ...)</p></td>
+<td><p>Curriculum that modifies a reward weight a given number of steps.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.mdp.curriculums.</span></span><span class="sig-name descname"><span class="pre">modify_reward_weight</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">term_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_steps</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/mdp/curriculums.html#modify_reward_weight"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight" title="Permalink to this definition">#</a></dt>
+<dd><p>Curriculum that modifies a reward weight a given number of steps.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env</strong> – The learning environment.</p></li>
+<li><p><strong>env_ids</strong> – Not used since all environments are affected.</p></li>
+<li><p><strong>term_name</strong> – The name of the reward term.</p></li>
+<li><p><strong>weight</strong> – The weight of the reward term.</p></li>
+<li><p><strong>num_steps</strong> – The number of steps after which the change should be applied.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
+
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.observations">Observations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.base_pos_z"><code class="docutils literal notranslate"><span class="pre">base_pos_z()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.base_lin_vel"><code class="docutils literal notranslate"><span class="pre">base_lin_vel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.base_ang_vel"><code class="docutils literal notranslate"><span class="pre">base_ang_vel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.projected_gravity"><code class="docutils literal notranslate"><span class="pre">projected_gravity()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.root_pos_w"><code class="docutils literal notranslate"><span class="pre">root_pos_w()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.root_quat_w"><code class="docutils literal notranslate"><span class="pre">root_quat_w()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.root_lin_vel_w"><code class="docutils literal notranslate"><span class="pre">root_lin_vel_w()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.root_ang_vel_w"><code class="docutils literal notranslate"><span class="pre">root_ang_vel_w()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.joint_pos"><code class="docutils literal notranslate"><span class="pre">joint_pos()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.joint_pos_rel"><code class="docutils literal notranslate"><span class="pre">joint_pos_rel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized"><code class="docutils literal notranslate"><span class="pre">joint_pos_limit_normalized()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.joint_vel"><code class="docutils literal notranslate"><span class="pre">joint_vel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.joint_vel_rel"><code class="docutils literal notranslate"><span class="pre">joint_vel_rel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.height_scan"><code class="docutils literal notranslate"><span class="pre">height_scan()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.body_incoming_wrench"><code class="docutils literal notranslate"><span class="pre">body_incoming_wrench()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.imu_orientation"><code class="docutils literal notranslate"><span class="pre">imu_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.imu_ang_vel"><code class="docutils literal notranslate"><span class="pre">imu_ang_vel()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.imu_lin_acc"><code class="docutils literal notranslate"><span class="pre">imu_lin_acc()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.image"><code class="docutils literal notranslate"><span class="pre">image()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.image_features"><code class="docutils literal notranslate"><span class="pre">image_features</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.image_features.__init__"><code class="docutils literal notranslate"><span class="pre">image_features.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.image_features.reset"><code class="docutils literal notranslate"><span class="pre">image_features.reset()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.last_action"><code class="docutils literal notranslate"><span class="pre">last_action()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.observations.generated_commands"><code class="docutils literal notranslate"><span class="pre">generated_commands()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.actions">Actions</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg"><code class="docutils literal notranslate"><span class="pre">JointActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.preserve_order</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">JointActionCfg.clip</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.use_default_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">JointPositionActionCfg.preserve_order</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.use_zero_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">RelativeJointPositionActionCfg.preserve_order</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.use_default_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">JointVelocityActionCfg.preserve_order</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">JointEffortActionCfg.preserve_order</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.rescale_to_limits</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">JointPositionToLimitsActionCfg.clip</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.alpha</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits"><code class="docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsActionCfg.rescale_to_limits</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.open_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.open_command_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.close_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.close_command_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">BinaryJointActionCfg.clip</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.open_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.open_command_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.close_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointPositionActionCfg.close_command_expr</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.open_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.open_command_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.close_command_expr"><code class="docutils literal notranslate"><span class="pre">BinaryJointVelocityActionCfg.close_command_expr</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.body_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.x_joint_name"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.x_joint_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.y_joint_name"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.y_joint_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.yaw_joint_name"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.yaw_joint_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.offset"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">NonHolonomicActionCfg.clip</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.OffsetCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_name"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.body_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_offset"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.body_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.scale"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.controller"><code class="docutils literal notranslate"><span class="pre">DifferentialInverseKinematicsActionCfg.controller</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.clip"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.OffsetCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_name"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.body_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.body_offset"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.body_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.task_frame_rel_path"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.task_frame_rel_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.controller_cfg"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.controller_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.position_scale"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.position_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.orientation_scale"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.orientation_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.wrench_scale"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.wrench_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.stiffness_scale"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.stiffness_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.damping_ratio_scale"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.damping_ratio_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.actions.actions_cfg.OperationalSpaceControllerActionCfg.nullspace_joint_pos_target"><code class="docutils literal notranslate"><span class="pre">OperationalSpaceControllerActionCfg.nullspace_joint_pos_target</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.events">Events</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material"><code class="docutils literal notranslate"><span class="pre">randomize_rigid_body_material</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material.__init__"><code class="docutils literal notranslate"><span class="pre">randomize_rigid_body_material.__init__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass"><code class="docutils literal notranslate"><span class="pre">randomize_rigid_body_mass()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity"><code class="docutils literal notranslate"><span class="pre">randomize_physics_scene_gravity()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_actuator_gains"><code class="docutils literal notranslate"><span class="pre">randomize_actuator_gains()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_joint_parameters"><code class="docutils literal notranslate"><span class="pre">randomize_joint_parameters()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters"><code class="docutils literal notranslate"><span class="pre">randomize_fixed_tendon_parameters()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.apply_external_force_torque"><code class="docutils literal notranslate"><span class="pre">apply_external_force_torque()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.push_by_setting_velocity"><code class="docutils literal notranslate"><span class="pre">push_by_setting_velocity()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_uniform"><code class="docutils literal notranslate"><span class="pre">reset_root_state_uniform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation"><code class="docutils literal notranslate"><span class="pre">reset_root_state_with_random_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain"><code class="docutils literal notranslate"><span class="pre">reset_root_state_from_terrain()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_joints_by_scale"><code class="docutils literal notranslate"><span class="pre">reset_joints_by_scale()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_joints_by_offset"><code class="docutils literal notranslate"><span class="pre">reset_joints_by_offset()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_nodal_state_uniform"><code class="docutils literal notranslate"><span class="pre">reset_nodal_state_uniform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.events.reset_scene_to_default"><code class="docutils literal notranslate"><span class="pre">reset_scene_to_default()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.commands">Commands</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg"><code class="docutils literal notranslate"><span class="pre">NullCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">NullCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">NullCommandCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.heading_command</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_control_stiffness"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.heading_control_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_standing_envs"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.rel_standing_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_heading_envs"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.rel_heading_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.Ranges</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_x"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.Ranges.lin_vel_x</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.lin_vel_y"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.Ranges.lin_vel_y</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.ang_vel_z"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.Ranges.ang_vel_z</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges.heading"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.Ranges.heading</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.ranges"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.ranges</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.goal_vel_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.goal_vel_visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.current_vel_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.current_vel_visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">UniformVelocityCommandCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.heading_command</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.Ranges</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.Ranges.mean_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.Ranges.std_vel</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.Ranges.zero_prob</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.ranges"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.ranges</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_control_stiffness"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.heading_control_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_standing_envs"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.rel_standing_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_heading_envs"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.rel_heading_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.goal_vel_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.goal_vel_visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.current_vel_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">NormalVelocityCommandCfg.current_vel_visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.body_name"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.body_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.make_quat_unique</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_x"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.pos_x</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_y"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.pos_y</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pos_z"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.pos_z</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.roll"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.roll</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.pitch"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.pitch</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges.yaw"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.Ranges.yaw</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.ranges"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.ranges</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.goal_pose_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.goal_pose_visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.current_pose_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">UniformPoseCommandCfg.current_pose_visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.simple_heading</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.Ranges</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.Ranges.pos_x</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_y"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.Ranges.pos_y</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.Ranges.heading</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.ranges"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.ranges</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.goal_pose_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">UniformPose2dCommandCfg.goal_pose_visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.simple_heading</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.goal_pose_visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.Ranges</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.Ranges.heading</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.ranges"><code class="docutils literal notranslate"><span class="pre">TerrainBasedPose2dCommandCfg.ranges</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.rewards">Rewards</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.is_alive"><code class="docutils literal notranslate"><span class="pre">is_alive()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated"><code class="docutils literal notranslate"><span class="pre">is_terminated()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated_term"><code class="docutils literal notranslate"><span class="pre">is_terminated_term</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__"><code class="docutils literal notranslate"><span class="pre">is_terminated_term.__init__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2"><code class="docutils literal notranslate"><span class="pre">lin_vel_z_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.ang_vel_xy_l2"><code class="docutils literal notranslate"><span class="pre">ang_vel_xy_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2"><code class="docutils literal notranslate"><span class="pre">flat_orientation_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.base_height_l2"><code class="docutils literal notranslate"><span class="pre">base_height_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2"><code class="docutils literal notranslate"><span class="pre">body_lin_acc_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_torques_l2"><code class="docutils literal notranslate"><span class="pre">joint_torques_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_l1"><code class="docutils literal notranslate"><span class="pre">joint_vel_l1()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_l2"><code class="docutils literal notranslate"><span class="pre">joint_vel_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_acc_l2"><code class="docutils literal notranslate"><span class="pre">joint_acc_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1"><code class="docutils literal notranslate"><span class="pre">joint_deviation_l1()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_pos_limits"><code class="docutils literal notranslate"><span class="pre">joint_pos_limits()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.joint_vel_limits"><code class="docutils literal notranslate"><span class="pre">joint_vel_limits()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.applied_torque_limits"><code class="docutils literal notranslate"><span class="pre">applied_torque_limits()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.action_rate_l2"><code class="docutils literal notranslate"><span class="pre">action_rate_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.action_l2"><code class="docutils literal notranslate"><span class="pre">action_l2()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.undesired_contacts"><code class="docutils literal notranslate"><span class="pre">undesired_contacts()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.contact_forces"><code class="docutils literal notranslate"><span class="pre">contact_forces()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp"><code class="docutils literal notranslate"><span class="pre">track_lin_vel_xy_exp()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp"><code class="docutils literal notranslate"><span class="pre">track_ang_vel_z_exp()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.terminations">Terminations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.time_out"><code class="docutils literal notranslate"><span class="pre">time_out()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.command_resample"><code class="docutils literal notranslate"><span class="pre">command_resample()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.bad_orientation"><code class="docutils literal notranslate"><span class="pre">bad_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum"><code class="docutils literal notranslate"><span class="pre">root_height_below_minimum()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit"><code class="docutils literal notranslate"><span class="pre">joint_pos_out_of_limit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit"><code class="docutils literal notranslate"><span class="pre">joint_pos_out_of_manual_limit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit"><code class="docutils literal notranslate"><span class="pre">joint_vel_out_of_limit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit"><code class="docutils literal notranslate"><span class="pre">joint_vel_out_of_manual_limit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit"><code class="docutils literal notranslate"><span class="pre">joint_effort_out_of_limit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.terminations.illegal_contact"><code class="docutils literal notranslate"><span class="pre">illegal_contact()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.envs.mdp.curriculums">Curriculum</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight"><code class="docutils literal notranslate"><span class="pre">modify_reward_weight()</span></code></a></li>
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+    <h1>omni.isaac.lab.envs.ui</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#base-environment-ui">Base Environment UI</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.BaseEnvWindow"><code class="docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.BaseEnvWindow.__init__"><code class="docutils literal notranslate"><span class="pre">BaseEnvWindow.__init__()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#config-based-rl-environment-ui">Config Based RL Environment UI</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvWindow</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow.__init__"><code class="docutils literal notranslate"><span class="pre">ManagerBasedRLEnvWindow.__init__()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#viewport-camera-controller">Viewport Camera Controller</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ViewportCameraController"><code class="docutils literal notranslate"><span class="pre">ViewportCameraController</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ViewportCameraController.__init__"><code class="docutils literal notranslate"><span class="pre">ViewportCameraController.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ViewportCameraController.cfg"><code class="docutils literal notranslate"><span class="pre">ViewportCameraController.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ViewportCameraController.set_view_env_index"><code class="docutils literal notranslate"><span class="pre">ViewportCameraController.set_view_env_index()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_world"><code class="docutils literal notranslate"><span class="pre">ViewportCameraController.update_view_to_world()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_env"><code class="docutils literal notranslate"><span class="pre">ViewportCameraController.update_view_to_env()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_asset_root"><code class="docutils literal notranslate"><span class="pre">ViewportCameraController.update_view_to_asset_root()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_location"><code class="docutils literal notranslate"><span class="pre">ViewportCameraController.update_view_location()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.envs.ui">
+<span id="omni-isaac-lab-envs-ui"></span><h1>omni.isaac.lab.envs.ui<a class="headerlink" href="#module-omni.isaac.lab.envs.ui" title="Permalink to this heading">#</a></h1>
+<p>Sub-module providing UI window implementation for environments.</p>
+<p>The UI elements are used to control the environment and visualize the state of the environment.
+This includes functionalities such as tracking a robot in the simulation,
+toggling different debug visualization tools, and other user-defined functionalities.</p>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.BaseEnvWindow"><code class="xref py py-obj docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code></a></p></td>
+<td><p>Window manager for the basic environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow" title="omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ManagerBasedRLEnvWindow</span></code></a></p></td>
+<td><p>Window manager for the RL environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.ViewportCameraController" title="omni.isaac.lab.envs.ui.ViewportCameraController"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ViewportCameraController</span></code></a></p></td>
+<td><p>This class handles controlling the camera associated with a viewport in the simulator.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="base-environment-ui">
+<h2>Base Environment UI<a class="headerlink" href="#base-environment-ui" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.BaseEnvWindow">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.ui.</span></span><span class="sig-name descname"><span class="pre">BaseEnvWindow</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/base_env_window.html#BaseEnvWindow"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.BaseEnvWindow" title="Permalink to this definition">#</a></dt>
+<dd><p>Window manager for the basic environment.</p>
+<p>This class creates a window that is used to control the environment. The window
+contains controls for rendering, debug visualization, and other environment-specific
+UI elements.</p>
+<p>Users can add their own UI elements to the window by using the <cite>with</cite> context manager.
+This can be done either be inheriting the class or by using the <cite>env.window</cite> object
+directly from the standalone execution script.</p>
+<dl>
+<dt>Example for adding a UI element from the standalone execution script:</dt><dd><div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="k">with</span> <span class="n">env</span><span class="o">.</span><span class="n">window</span><span class="o">.</span><span class="n">ui_window_elements</span><span class="p">[</span><span class="s2">&quot;main_vstack&quot;</span><span class="p">]:</span>
+<span class="gp">&gt;&gt;&gt; </span>    <span class="n">ui</span><span class="o">.</span><span class="n">Label</span><span class="p">(</span><span class="s2">&quot;My UI element&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+</dd>
+</dl>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.BaseEnvWindow.__init__" title="omni.isaac.lab.envs.ui.BaseEnvWindow.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(env[, window_name])</p></td>
+<td><p>Initialize the window.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.BaseEnvWindow.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">window_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'IsaacLab'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/base_env_window.html#BaseEnvWindow.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.BaseEnvWindow.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the window.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env</strong> – The environment object.</p></li>
+<li><p><strong>window_name</strong> – The name of the window. Defaults to “IsaacLab”.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="config-based-rl-environment-ui">
+<h2>Config Based RL Environment UI<a class="headerlink" href="#config-based-rl-environment-ui" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.ui.</span></span><span class="sig-name descname"><span class="pre">ManagerBasedRLEnvWindow</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html#ManagerBasedRLEnvWindow"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code></a></p>
+<p>Window manager for the RL environment.</p>
+<p>On top of the basic environment window, this class adds controls for the RL environment.
+This includes visualization of the command manager.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow.__init__" title="omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(env[, window_name])</p></td>
+<td><p>Initialize the window.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">window_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'IsaacLab'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/manager_based_rl_env_window.html#ManagerBasedRLEnvWindow.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the window.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env</strong> – The environment object.</p></li>
+<li><p><strong>window_name</strong> – The name of the window. Defaults to “IsaacLab”.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="viewport-camera-controller">
+<h2>Viewport Camera Controller<a class="headerlink" href="#viewport-camera-controller" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.ViewportCameraController">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.envs.ui.</span></span><span class="sig-name descname"><span class="pre">ViewportCameraController</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html#ViewportCameraController"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.ViewportCameraController" title="Permalink to this definition">#</a></dt>
+<dd><p>This class handles controlling the camera associated with a viewport in the simulator.</p>
+<p>It can be used to set the viewpoint camera to track different origin types:</p>
+<ul class="simple">
+<li><p><strong>world</strong>: the center of the world (static)</p></li>
+<li><p><strong>env</strong>: the center of an environment (static)</p></li>
+<li><p><strong>asset_root</strong>: the root of an asset in the scene (e.g. tracking a robot moving in the scene)</p></li>
+</ul>
+<p>On creation, the camera is set to track the origin type specified in the configuration.</p>
+<p>For the <code class="xref py py-attr docutils literal notranslate"><span class="pre">asset_root</span></code> origin type, the camera is updated at each rendering step to track the asset’s
+root position. For this, it registers a callback to the post update event stream from the simulation app.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.ViewportCameraController.__init__" title="omni.isaac.lab.envs.ui.ViewportCameraController.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(env, cfg)</p></td>
+<td><p>Initialize the ViewportCameraController.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.ViewportCameraController.set_view_env_index" title="omni.isaac.lab.envs.ui.ViewportCameraController.set_view_env_index"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_view_env_index</span></code></a>(env_index)</p></td>
+<td><p>Sets the environment index for the camera view.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_world" title="omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_world"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_view_to_world</span></code></a>()</p></td>
+<td><p>Updates the viewer's origin to the origin of the world which is (0, 0, 0).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_env" title="omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_env"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_view_to_env</span></code></a>()</p></td>
+<td><p>Updates the viewer's origin to the origin of the selected environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_asset_root" title="omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_asset_root"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_view_to_asset_root</span></code></a>(asset_name)</p></td>
+<td><p>Updates the viewer's origin based upon the root of an asset in the scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_location" title="omni.isaac.lab.envs.ui.ViewportCameraController.update_view_location"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_view_location</span></code></a>([eye, lookat])</p></td>
+<td><p>Updates the camera view pose based on the current viewer origin and the eye and lookat positions.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.envs.ui.ViewportCameraController.cfg" title="omni.isaac.lab.envs.ui.ViewportCameraController.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration for the viewer.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.ViewportCameraController.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><span class="pre">DirectRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg" title="omni.isaac.lab.envs.ViewerCfg"><span class="pre">ViewerCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html#ViewportCameraController.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.ViewportCameraController.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the ViewportCameraController.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env</strong> – The environment.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the viewport camera controller.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If origin type is configured to be “env” but <code class="xref py py-attr docutils literal notranslate"><span class="pre">cfg.env_index</span></code> is out of bounds.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If origin type is configured to be “asset_root” but <code class="xref py py-attr docutils literal notranslate"><span class="pre">cfg.asset_name</span></code> is unset.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.ViewportCameraController.cfg">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg" title="omni.isaac.lab.envs.ViewerCfg"><span class="pre">ViewerCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.envs.ui.ViewportCameraController.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration for the viewer.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.ViewportCameraController.set_view_env_index">
+<span class="sig-name descname"><span class="pre">set_view_env_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_index</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html#ViewportCameraController.set_view_env_index"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.ViewportCameraController.set_view_env_index" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets the environment index for the camera view.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_index</strong> – The index of the environment to set the camera view to.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the environment index is out of bounds. It should be between 0 and num_envs - 1.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_world">
+<span class="sig-name descname"><span class="pre">update_view_to_world</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html#ViewportCameraController.update_view_to_world"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_world" title="Permalink to this definition">#</a></dt>
+<dd><p>Updates the viewer’s origin to the origin of the world which is (0, 0, 0).</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_env">
+<span class="sig-name descname"><span class="pre">update_view_to_env</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html#ViewportCameraController.update_view_to_env"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_env" title="Permalink to this definition">#</a></dt>
+<dd><p>Updates the viewer’s origin to the origin of the selected environment.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_asset_root">
+<span class="sig-name descname"><span class="pre">update_view_to_asset_root</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">asset_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html#ViewportCameraController.update_view_to_asset_root"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_asset_root" title="Permalink to this definition">#</a></dt>
+<dd><p>Updates the viewer’s origin based upon the root of an asset in the scene.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>asset_name</strong> – The name of the asset in the scene. The name should match the name of the
+asset in the scene.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the asset is not in the scene.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.envs.ui.ViewportCameraController.update_view_location">
+<span class="sig-name descname"><span class="pre">update_view_location</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">eye</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lookat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/envs/ui/viewport_camera_controller.html#ViewportCameraController.update_view_location"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_location" title="Permalink to this definition">#</a></dt>
+<dd><p>Updates the camera view pose based on the current viewer origin and the eye and lookat positions.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>eye</strong> – The eye position of the camera. If None, the current eye position is used.</p></li>
+<li><p><strong>lookat</strong> – The lookat position of the camera. If None, the current lookat position is used.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
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+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ViewportCameraController.__init__"><code class="docutils literal notranslate"><span class="pre">ViewportCameraController.__init__()</span></code></a></li>
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+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.envs.ui.ViewportCameraController.update_view_to_world"><code class="docutils literal notranslate"><span class="pre">ViewportCameraController.update_view_to_world()</span></code></a></li>
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+    <h1>omni.isaac.lab.managers</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-entity">Scene Entity</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.name"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_ids"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.joint_ids</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.fixed_tendon_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.fixed_tendon_ids</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.body_names"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.body_ids"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.body_ids</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_names"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.object_collection_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_ids"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.object_collection_ids</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.preserve_order</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.resolve"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.resolve()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#manager-base">Manager Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase"><code class="docutils literal notranslate"><span class="pre">ManagerBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.__init__"><code class="docutils literal notranslate"><span class="pre">ManagerBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.num_envs"><code class="docutils literal notranslate"><span class="pre">ManagerBase.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.device"><code class="docutils literal notranslate"><span class="pre">ManagerBase.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.active_terms"><code class="docutils literal notranslate"><span class="pre">ManagerBase.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.reset"><code class="docutils literal notranslate"><span class="pre">ManagerBase.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.find_terms"><code class="docutils literal notranslate"><span class="pre">ManagerBase.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">ManagerBase.get_active_iterable_terms()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBase"><code class="docutils literal notranslate"><span class="pre">ManagerTermBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBase.__init__"><code class="docutils literal notranslate"><span class="pre">ManagerTermBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBase.num_envs"><code class="docutils literal notranslate"><span class="pre">ManagerTermBase.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBase.device"><code class="docutils literal notranslate"><span class="pre">ManagerTermBase.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBase.reset"><code class="docutils literal notranslate"><span class="pre">ManagerTermBase.reset()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBaseCfg"><code class="docutils literal notranslate"><span class="pre">ManagerTermBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBaseCfg.func"><code class="docutils literal notranslate"><span class="pre">ManagerTermBaseCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBaseCfg.params"><code class="docutils literal notranslate"><span class="pre">ManagerTermBaseCfg.params</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#observation-manager">Observation Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager"><code class="docutils literal notranslate"><span class="pre">ObservationManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.__init__"><code class="docutils literal notranslate"><span class="pre">ObservationManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">ObservationManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.active_terms"><code class="docutils literal notranslate"><span class="pre">ObservationManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.group_obs_dim"><code class="docutils literal notranslate"><span class="pre">ObservationManager.group_obs_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.group_obs_term_dim"><code class="docutils literal notranslate"><span class="pre">ObservationManager.group_obs_term_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.group_obs_concatenate"><code class="docutils literal notranslate"><span class="pre">ObservationManager.group_obs_concatenate</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.reset"><code class="docutils literal notranslate"><span class="pre">ObservationManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.compute"><code class="docutils literal notranslate"><span class="pre">ObservationManager.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.compute_group"><code class="docutils literal notranslate"><span class="pre">ObservationManager.compute_group()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.device"><code class="docutils literal notranslate"><span class="pre">ObservationManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.find_terms"><code class="docutils literal notranslate"><span class="pre">ObservationManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.num_envs"><code class="docutils literal notranslate"><span class="pre">ObservationManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationGroupCfg"><code class="docutils literal notranslate"><span class="pre">ObservationGroupCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms"><code class="docutils literal notranslate"><span class="pre">ObservationGroupCfg.concatenate_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption"><code class="docutils literal notranslate"><span class="pre">ObservationGroupCfg.enable_corruption</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationGroupCfg.history_length"><code class="docutils literal notranslate"><span class="pre">ObservationGroupCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationGroupCfg.flatten_history_dim"><code class="docutils literal notranslate"><span class="pre">ObservationGroupCfg.flatten_history_dim</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.func"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.modifiers"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.modifiers</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.noise"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.noise</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.clip"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.scale"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.history_length"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.params"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.params</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.flatten_history_dim</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#action-manager">Action Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager"><code class="docutils literal notranslate"><span class="pre">ActionManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.__init__"><code class="docutils literal notranslate"><span class="pre">ActionManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.total_action_dim"><code class="docutils literal notranslate"><span class="pre">ActionManager.total_action_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.active_terms"><code class="docutils literal notranslate"><span class="pre">ActionManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.action_term_dim"><code class="docutils literal notranslate"><span class="pre">ActionManager.action_term_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.action"><code class="docutils literal notranslate"><span class="pre">ActionManager.action</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.prev_action"><code class="docutils literal notranslate"><span class="pre">ActionManager.prev_action</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">ActionManager.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">ActionManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">ActionManager.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.reset"><code class="docutils literal notranslate"><span class="pre">ActionManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.process_action"><code class="docutils literal notranslate"><span class="pre">ActionManager.process_action()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.apply_action"><code class="docutils literal notranslate"><span class="pre">ActionManager.apply_action()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.get_term"><code class="docutils literal notranslate"><span class="pre">ActionManager.get_term()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.device"><code class="docutils literal notranslate"><span class="pre">ActionManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.find_terms"><code class="docutils literal notranslate"><span class="pre">ActionManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.num_envs"><code class="docutils literal notranslate"><span class="pre">ActionManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm"><code class="docutils literal notranslate"><span class="pre">ActionTerm</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.__init__"><code class="docutils literal notranslate"><span class="pre">ActionTerm.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.action_dim"><code class="docutils literal notranslate"><span class="pre">ActionTerm.action_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.raw_actions"><code class="docutils literal notranslate"><span class="pre">ActionTerm.raw_actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.processed_actions"><code class="docutils literal notranslate"><span class="pre">ActionTerm.processed_actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">ActionTerm.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">ActionTerm.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.process_actions"><code class="docutils literal notranslate"><span class="pre">ActionTerm.process_actions()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.apply_actions"><code class="docutils literal notranslate"><span class="pre">ActionTerm.apply_actions()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.device"><code class="docutils literal notranslate"><span class="pre">ActionTerm.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.num_envs"><code class="docutils literal notranslate"><span class="pre">ActionTerm.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.reset"><code class="docutils literal notranslate"><span class="pre">ActionTerm.reset()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTermCfg"><code class="docutils literal notranslate"><span class="pre">ActionTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTermCfg.class_type"><code class="docutils literal notranslate"><span class="pre">ActionTermCfg.class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTermCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">ActionTermCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTermCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">ActionTermCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTermCfg.clip"><code class="docutils literal notranslate"><span class="pre">ActionTermCfg.clip</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#event-manager">Event Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager"><code class="docutils literal notranslate"><span class="pre">EventManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.__init__"><code class="docutils literal notranslate"><span class="pre">EventManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.active_terms"><code class="docutils literal notranslate"><span class="pre">EventManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.available_modes"><code class="docutils literal notranslate"><span class="pre">EventManager.available_modes</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.reset"><code class="docutils literal notranslate"><span class="pre">EventManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.apply"><code class="docutils literal notranslate"><span class="pre">EventManager.apply()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.set_term_cfg"><code class="docutils literal notranslate"><span class="pre">EventManager.set_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.get_term_cfg"><code class="docutils literal notranslate"><span class="pre">EventManager.get_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.device"><code class="docutils literal notranslate"><span class="pre">EventManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.find_terms"><code class="docutils literal notranslate"><span class="pre">EventManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">EventManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.num_envs"><code class="docutils literal notranslate"><span class="pre">EventManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg"><code class="docutils literal notranslate"><span class="pre">EventTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.params"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.params</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.func"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.mode"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.interval_range_s"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.interval_range_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.is_global_time"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.is_global_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.min_step_count_between_reset"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.min_step_count_between_reset</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#command-manager">Command Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager"><code class="docutils literal notranslate"><span class="pre">CommandManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.__init__"><code class="docutils literal notranslate"><span class="pre">CommandManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.active_terms"><code class="docutils literal notranslate"><span class="pre">CommandManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">CommandManager.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">CommandManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">CommandManager.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.reset"><code class="docutils literal notranslate"><span class="pre">CommandManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.compute"><code class="docutils literal notranslate"><span class="pre">CommandManager.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.get_command"><code class="docutils literal notranslate"><span class="pre">CommandManager.get_command()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.get_term"><code class="docutils literal notranslate"><span class="pre">CommandManager.get_term()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm"><code class="docutils literal notranslate"><span class="pre">CommandTerm</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm.command"><code class="docutils literal notranslate"><span class="pre">CommandTerm.command</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">CommandTerm.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">CommandTerm.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm.reset"><code class="docutils literal notranslate"><span class="pre">CommandTerm.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm.compute"><code class="docutils literal notranslate"><span class="pre">CommandTerm.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTermCfg"><code class="docutils literal notranslate"><span class="pre">CommandTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTermCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">CommandTermCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTermCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">CommandTermCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#reward-manager">Reward Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager"><code class="docutils literal notranslate"><span class="pre">RewardManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.__init__"><code class="docutils literal notranslate"><span class="pre">RewardManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.active_terms"><code class="docutils literal notranslate"><span class="pre">RewardManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.reset"><code class="docutils literal notranslate"><span class="pre">RewardManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.compute"><code class="docutils literal notranslate"><span class="pre">RewardManager.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.set_term_cfg"><code class="docutils literal notranslate"><span class="pre">RewardManager.set_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.get_term_cfg"><code class="docutils literal notranslate"><span class="pre">RewardManager.get_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">RewardManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.device"><code class="docutils literal notranslate"><span class="pre">RewardManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.find_terms"><code class="docutils literal notranslate"><span class="pre">RewardManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.num_envs"><code class="docutils literal notranslate"><span class="pre">RewardManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardTermCfg"><code class="docutils literal notranslate"><span class="pre">RewardTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardTermCfg.__new__"><code class="docutils literal notranslate"><span class="pre">RewardTermCfg.__new__()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#termination-manager">Termination Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager"><code class="docutils literal notranslate"><span class="pre">TerminationManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.__init__"><code class="docutils literal notranslate"><span class="pre">TerminationManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.active_terms"><code class="docutils literal notranslate"><span class="pre">TerminationManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.dones"><code class="docutils literal notranslate"><span class="pre">TerminationManager.dones</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.time_outs"><code class="docutils literal notranslate"><span class="pre">TerminationManager.time_outs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.terminated"><code class="docutils literal notranslate"><span class="pre">TerminationManager.terminated</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.reset"><code class="docutils literal notranslate"><span class="pre">TerminationManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.compute"><code class="docutils literal notranslate"><span class="pre">TerminationManager.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.get_term"><code class="docutils literal notranslate"><span class="pre">TerminationManager.get_term()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">TerminationManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.set_term_cfg"><code class="docutils literal notranslate"><span class="pre">TerminationManager.set_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.get_term_cfg"><code class="docutils literal notranslate"><span class="pre">TerminationManager.get_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.device"><code class="docutils literal notranslate"><span class="pre">TerminationManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.find_terms"><code class="docutils literal notranslate"><span class="pre">TerminationManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.num_envs"><code class="docutils literal notranslate"><span class="pre">TerminationManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationTermCfg"><code class="docutils literal notranslate"><span class="pre">TerminationTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationTermCfg.params"><code class="docutils literal notranslate"><span class="pre">TerminationTermCfg.params</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationTermCfg.func"><code class="docutils literal notranslate"><span class="pre">TerminationTermCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationTermCfg.time_out"><code class="docutils literal notranslate"><span class="pre">TerminationTermCfg.time_out</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#curriculum-manager">Curriculum Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager"><code class="docutils literal notranslate"><span class="pre">CurriculumManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.__init__"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.active_terms"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.reset"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.compute"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.device"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.find_terms"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.num_envs"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumTermCfg"><code class="docutils literal notranslate"><span class="pre">CurriculumTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumTermCfg.func"><code class="docutils literal notranslate"><span class="pre">CurriculumTermCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumTermCfg.params"><code class="docutils literal notranslate"><span class="pre">CurriculumTermCfg.params</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.managers">
+<span id="omni-isaac-lab-managers"></span><h1>omni.isaac.lab.managers<a class="headerlink" href="#module-omni.isaac.lab.managers" title="Permalink to this heading">#</a></h1>
+<p>Sub-module for environment managers.</p>
+<p>The managers are used to handle various aspects of the environment such as randomization events, curriculum,
+and observations. Each manager implements a specific functionality for the environment. The managers are
+designed to be modular and can be easily extended to support new functionality.</p>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a></p></td>
+<td><p>Configuration for a scene entity that is used by the manager's term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.ManagerBase"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ManagerBase</span></code></a></p></td>
+<td><p>Base class for all managers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBase" title="omni.isaac.lab.managers.ManagerTermBase"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ManagerTermBase</span></code></a></p></td>
+<td><p>Base class for manager terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBaseCfg" title="omni.isaac.lab.managers.ManagerTermBaseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ManagerTermBaseCfg</span></code></a></p></td>
+<td><p>Configuration for a manager term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ObservationManager</span></code></a></p></td>
+<td><p>Manager for computing observation signals for a given world.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationGroupCfg" title="omni.isaac.lab.managers.ObservationGroupCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ObservationGroupCfg</span></code></a></p></td>
+<td><p>Configuration for an observation group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg" title="omni.isaac.lab.managers.ObservationTermCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ObservationTermCfg</span></code></a></p></td>
+<td><p>Configuration for an observation term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager" title="omni.isaac.lab.managers.ActionManager"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ActionManager</span></code></a></p></td>
+<td><p>Manager for processing and applying actions for a given world.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm" title="omni.isaac.lab.managers.ActionTerm"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ActionTerm</span></code></a></p></td>
+<td><p>Base class for action terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTermCfg" title="omni.isaac.lab.managers.ActionTermCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ActionTermCfg</span></code></a></p></td>
+<td><p>Configuration for an action term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager" title="omni.isaac.lab.managers.EventManager"><code class="xref py py-obj docutils literal notranslate"><span class="pre">EventManager</span></code></a></p></td>
+<td><p>Manager for orchestrating operations based on different simulation events.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">EventTermCfg</span></code></a></p></td>
+<td><p>Configuration for a event term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandManager" title="omni.isaac.lab.managers.CommandManager"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CommandManager</span></code></a></p></td>
+<td><p>Manager for generating commands.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandTerm" title="omni.isaac.lab.managers.CommandTerm"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CommandTerm</span></code></a></p></td>
+<td><p>The base class for implementing a command term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandTermCfg" title="omni.isaac.lab.managers.CommandTermCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CommandTermCfg</span></code></a></p></td>
+<td><p>Configuration for a command generator term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager" title="omni.isaac.lab.managers.RewardManager"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RewardManager</span></code></a></p></td>
+<td><p>Manager for computing reward signals for a given world.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardTermCfg" title="omni.isaac.lab.managers.RewardTermCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RewardTermCfg</span></code></a></p></td>
+<td><p>Configuration for a reward term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager" title="omni.isaac.lab.managers.TerminationManager"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TerminationManager</span></code></a></p></td>
+<td><p>Manager for computing done signals for a given world.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationTermCfg" title="omni.isaac.lab.managers.TerminationTermCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TerminationTermCfg</span></code></a></p></td>
+<td><p>Configuration for a termination term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumManager" title="omni.isaac.lab.managers.CurriculumManager"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CurriculumManager</span></code></a></p></td>
+<td><p>Manager to implement and execute specific curricula.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumTermCfg" title="omni.isaac.lab.managers.CurriculumTermCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CurriculumTermCfg</span></code></a></p></td>
+<td><p>Configuration for a curriculum term.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="scene-entity">
+<h2>Scene Entity<a class="headerlink" href="#scene-entity" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">SceneEntityCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/scene_entity_cfg.html#SceneEntityCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for a scene entity that is used by the manager’s term.</p>
+<p>This class is used to specify the name of the scene entity that is queried from the
+<code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> and passed to the manager’s term function.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.name" title="omni.isaac.lab.managers.SceneEntityCfg.name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_names" title="omni.isaac.lab.managers.SceneEntityCfg.joint_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_names</span></code></a></p></td>
+<td><p>The names of the joints from the scene entity.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_ids" title="omni.isaac.lab.managers.SceneEntityCfg.joint_ids"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_ids</span></code></a></p></td>
+<td><p>The indices of the joints from the asset required by the term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names" title="omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendon_names</span></code></a></p></td>
+<td><p>The names of the fixed tendons from the scene entity.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids" title="omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendon_ids</span></code></a></p></td>
+<td><p>The indices of the fixed tendons from the asset required by the term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.body_names" title="omni.isaac.lab.managers.SceneEntityCfg.body_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_names</span></code></a></p></td>
+<td><p>The names of the bodies from the asset required by the term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.body_ids" title="omni.isaac.lab.managers.SceneEntityCfg.body_ids"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_ids</span></code></a></p></td>
+<td><p>The indices of the bodies from the asset required by the term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_names" title="omni.isaac.lab.managers.SceneEntityCfg.object_collection_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_collection_names</span></code></a></p></td>
+<td><p>The names of the objects in the rigid object collection required by the term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_ids" title="omni.isaac.lab.managers.SceneEntityCfg.object_collection_ids"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_collection_ids</span></code></a></p></td>
+<td><p>The indices of the objects from the rigid object collection required by the term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.preserve_order" title="omni.isaac.lab.managers.SceneEntityCfg.preserve_order"><code class="xref py py-obj docutils literal notranslate"><span class="pre">preserve_order</span></code></a></p></td>
+<td><p>Whether to preserve indices ordering to match with that in the specified joint, body, or object collection names.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.resolve" title="omni.isaac.lab.managers.SceneEntityCfg.resolve"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resolve</span></code></a>(scene)</p></td>
+<td><p>Resolves the scene entity and converts the joint and body names to indices.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.name">
+<span class="sig-name descname"><span class="pre">name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.joint_names">
+<span class="sig-name descname"><span class="pre">joint_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_names" title="Permalink to this definition">#</a></dt>
+<dd><p>The names of the joints from the scene entity. Defaults to None.</p>
+<p>The names can be either joint names or a regular expression matching the joint names.</p>
+<p>These are converted to joint indices on initialization of the manager and passed to the term
+function as a list of joint indices under <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_ids" title="omni.isaac.lab.managers.SceneEntityCfg.joint_ids"><code class="xref py py-attr docutils literal notranslate"><span class="pre">joint_ids</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.joint_ids">
+<span class="sig-name descname"><span class="pre">joint_ids</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_ids" title="Permalink to this definition">#</a></dt>
+<dd><p>The indices of the joints from the asset required by the term. Defaults to slice(None), which means
+all the joints in the asset (if present).</p>
+<p>If <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_names" title="omni.isaac.lab.managers.SceneEntityCfg.joint_names"><code class="xref py py-attr docutils literal notranslate"><span class="pre">joint_names</span></code></a> is specified, this is filled in automatically on initialization of the
+manager.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names">
+<span class="sig-name descname"><span class="pre">fixed_tendon_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names" title="Permalink to this definition">#</a></dt>
+<dd><p>The names of the fixed tendons from the scene entity. Defaults to None.</p>
+<p>The names can be either joint names or a regular expression matching the joint names.</p>
+<p>These are converted to fixed tendon indices on initialization of the manager and passed to the term
+function as a list of fixed tendon indices under <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids" title="omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids"><code class="xref py py-attr docutils literal notranslate"><span class="pre">fixed_tendon_ids</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids">
+<span class="sig-name descname"><span class="pre">fixed_tendon_ids</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids" title="Permalink to this definition">#</a></dt>
+<dd><p>The indices of the fixed tendons from the asset required by the term. Defaults to slice(None), which means
+all the fixed tendons in the asset (if present).</p>
+<p>If <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names" title="omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names"><code class="xref py py-attr docutils literal notranslate"><span class="pre">fixed_tendon_names</span></code></a> is specified, this is filled in automatically on initialization of the
+manager.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.body_names">
+<span class="sig-name descname"><span class="pre">body_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.body_names" title="Permalink to this definition">#</a></dt>
+<dd><p>The names of the bodies from the asset required by the term. Defaults to None.</p>
+<p>The names can be either body names or a regular expression matching the body names.</p>
+<p>These are converted to body indices on initialization of the manager and passed to the term
+function as a list of body indices under <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.body_ids" title="omni.isaac.lab.managers.SceneEntityCfg.body_ids"><code class="xref py py-attr docutils literal notranslate"><span class="pre">body_ids</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.body_ids">
+<span class="sig-name descname"><span class="pre">body_ids</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.body_ids" title="Permalink to this definition">#</a></dt>
+<dd><p>The indices of the bodies from the asset required by the term. Defaults to slice(None), which means
+all the bodies in the asset.</p>
+<p>If <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.body_names" title="omni.isaac.lab.managers.SceneEntityCfg.body_names"><code class="xref py py-attr docutils literal notranslate"><span class="pre">body_names</span></code></a> is specified, this is filled in automatically on initialization of the
+manager.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.object_collection_names">
+<span class="sig-name descname"><span class="pre">object_collection_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_names" title="Permalink to this definition">#</a></dt>
+<dd><p>The names of the objects in the rigid object collection required by the term. Defaults to None.</p>
+<p>The names can be either names or a regular expression matching the object names in the collection.</p>
+<p>These are converted to object indices on initialization of the manager and passed to the term
+function as a list of object indices under <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_ids" title="omni.isaac.lab.managers.SceneEntityCfg.object_collection_ids"><code class="xref py py-attr docutils literal notranslate"><span class="pre">object_collection_ids</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.object_collection_ids">
+<span class="sig-name descname"><span class="pre">object_collection_ids</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_ids" title="Permalink to this definition">#</a></dt>
+<dd><p>The indices of the objects from the rigid object collection required by the term. Defaults to slice(None),
+which means all the objects in the collection.</p>
+<p>If <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_names" title="omni.isaac.lab.managers.SceneEntityCfg.object_collection_names"><code class="xref py py-attr docutils literal notranslate"><span class="pre">object_collection_names</span></code></a> is specified, this is filled in automatically on initialization of the manager.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.preserve_order">
+<span class="sig-name descname"><span class="pre">preserve_order</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.preserve_order" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to preserve indices ordering to match with that in the specified joint, body, or object collection names.
+Defaults to False.</p>
+<p>If False, the ordering of the indices are sorted in ascending order (i.e. the ordering in the entity’s joints,
+bodies, or object in the object collection). Otherwise, the indices are preserved in the order of the specified
+joint, body, or object collection names.</p>
+<p>For more details, see the <a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.resolve_matching_names" title="omni.isaac.lab.utils.string.resolve_matching_names"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string.resolve_matching_names()</span></code></a> function.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This attribute is only used when <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_names" title="omni.isaac.lab.managers.SceneEntityCfg.joint_names"><code class="xref py py-attr docutils literal notranslate"><span class="pre">joint_names</span></code></a>, <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.body_names" title="omni.isaac.lab.managers.SceneEntityCfg.body_names"><code class="xref py py-attr docutils literal notranslate"><span class="pre">body_names</span></code></a>, or <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_names" title="omni.isaac.lab.managers.SceneEntityCfg.object_collection_names"><code class="xref py py-attr docutils literal notranslate"><span class="pre">object_collection_names</span></code></a> are specified.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.SceneEntityCfg.resolve">
+<span class="sig-name descname"><span class="pre">resolve</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scene</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.interactive_scene.InteractiveScene"><span class="pre">InteractiveScene</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/scene_entity_cfg.html#SceneEntityCfg.resolve"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.SceneEntityCfg.resolve" title="Permalink to this definition">#</a></dt>
+<dd><p>Resolves the scene entity and converts the joint and body names to indices.</p>
+<p>This function examines the scene entity from the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> and resolves the indices
+and names of the joints and bodies. It is an expensive operation as it resolves regular expressions
+and should be called only once.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>scene</strong> – The interactive scene instance.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the scene entity is not found.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If both <code class="docutils literal notranslate"><span class="pre">joint_names</span></code> and <code class="docutils literal notranslate"><span class="pre">joint_ids</span></code> are specified and are not consistent.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If both <code class="docutils literal notranslate"><span class="pre">fixed_tendon_names</span></code> and <code class="docutils literal notranslate"><span class="pre">fixed_tendon_ids</span></code> are specified and are not consistent.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If both <code class="docutils literal notranslate"><span class="pre">body_names</span></code> and <code class="docutils literal notranslate"><span class="pre">body_ids</span></code> are specified and are not consistent.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If both <code class="docutils literal notranslate"><span class="pre">object_collection_names</span></code> and <code class="docutils literal notranslate"><span class="pre">object_collection_ids</span></code> are specified and are not consistent.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="manager-base">
+<h2>Manager Base<a class="headerlink" href="#manager-base" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerBase">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">ManagerBase</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_base.html#ManagerBase"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ManagerBase" title="Permalink to this definition">#</a></dt>
+<dd><p>Base class for all managers.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase.__init__" title="omni.isaac.lab.managers.ManagerBase.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the manager.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase.reset" title="omni.isaac.lab.managers.ManagerBase.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the manager and returns logging information for the current time-step.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase.find_terms" title="omni.isaac.lab.managers.ManagerBase.find_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_terms</span></code></a>(name_keys)</p></td>
+<td><p>Find terms in the manager based on the names.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase.get_active_iterable_terms" title="omni.isaac.lab.managers.ManagerBase.get_active_iterable_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_active_iterable_terms</span></code></a>(env_idx)</p></td>
+<td><p>Returns the active terms as iterable sequence of tuples.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase.num_envs" title="omni.isaac.lab.managers.ManagerBase.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Number of environments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase.device" title="omni.isaac.lab.managers.ManagerBase.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Device on which to perform computations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase.active_terms" title="omni.isaac.lab.managers.ManagerBase.active_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">active_terms</span></code></a></p></td>
+<td><p>Name of active terms.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerBase.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_base.html#ManagerBase.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ManagerBase.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the manager.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object. If None, the manager is initialized without any terms.</p></li>
+<li><p><strong>env</strong> – The environment instance.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerBase.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ManagerBase.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerBase.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ManagerBase.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Device on which to perform computations.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerBase.active_terms">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">active_terms</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ManagerBase.active_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of active terms.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerBase.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_base.html#ManagerBase.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ManagerBase.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the manager and returns logging information for the current time-step.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids for which to log data.
+Defaults None, which logs data for all environments.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Dictionary containing the logging information.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerBase.find_terms">
+<span class="sig-name descname"><span class="pre">find_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_base.html#ManagerBase.find_terms"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ManagerBase.find_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Find terms in the manager based on the names.</p>
+<p>This function searches the manager for terms based on the names. The names can be
+specified as regular expressions or a list of regular expressions. The search is
+performed on the active terms in the manager.</p>
+<p>Please check the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string_utils.resolve_matching_names()</span></code> function for more
+information on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the term names.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A list of term names that match the input keys.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerBase.get_active_iterable_terms">
+<span class="sig-name descname"><span class="pre">get_active_iterable_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">collections.abc.Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_base.html#ManagerBase.get_active_iterable_terms"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ManagerBase.get_active_iterable_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the active terms as iterable sequence of tuples.</p>
+<p>The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The active terms.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerTermBase">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">ManagerTermBase</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_base.html#ManagerTermBase"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ManagerTermBase" title="Permalink to this definition">#</a></dt>
+<dd><p>Base class for manager terms.</p>
+<p>Manager term implementations can be functions or classes. If the term is a class, it should
+inherit from this base class and implement the required methods.</p>
+<p>Each manager is implemented as a class that inherits from the <a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.ManagerBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBase</span></code></a> class. Each manager
+class should also have a corresponding configuration class that defines the configuration terms for the
+manager. Each term should the <a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBaseCfg" title="omni.isaac.lab.managers.ManagerTermBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerTermBaseCfg</span></code></a> class or its subclass.</p>
+<p>Example pseudo-code for creating a manager:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.mdp</span> <span class="kn">import</span> <span class="n">ManagerBase</span><span class="p">,</span> <span class="n">ManagerTermBaseCfg</span>
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MyManagerCfg</span><span class="p">:</span>
+
+    <span class="n">my_term_1</span><span class="p">:</span> <span class="n">ManagerTermBaseCfg</span> <span class="o">=</span> <span class="n">ManagerTermBaseCfg</span><span class="p">(</span><span class="o">...</span><span class="p">)</span>
+    <span class="n">my_term_2</span><span class="p">:</span> <span class="n">ManagerTermBaseCfg</span> <span class="o">=</span> <span class="n">ManagerTermBaseCfg</span><span class="p">(</span><span class="o">...</span><span class="p">)</span>
+    <span class="n">my_term_3</span><span class="p">:</span> <span class="n">ManagerTermBaseCfg</span> <span class="o">=</span> <span class="n">ManagerTermBaseCfg</span><span class="p">(</span><span class="o">...</span><span class="p">)</span>
+
+<span class="c1"># define manager instance</span>
+<span class="n">my_manager</span> <span class="o">=</span> <span class="n">ManagerBase</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">ManagerCfg</span><span class="p">(),</span> <span class="n">env</span><span class="o">=</span><span class="n">env</span><span class="p">)</span>
+</pre></div>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBase.__init__" title="omni.isaac.lab.managers.ManagerTermBase.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the manager term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBase.reset" title="omni.isaac.lab.managers.ManagerTermBase.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the manager term.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBase.num_envs" title="omni.isaac.lab.managers.ManagerTermBase.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Number of environments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBase.device" title="omni.isaac.lab.managers.ManagerTermBase.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Device on which to perform computations.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerTermBase.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBaseCfg" title="omni.isaac.lab.managers.ManagerTermBaseCfg"><span class="pre">ManagerTermBaseCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_base.html#ManagerTermBase.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ManagerTermBase.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the manager term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object.</p></li>
+<li><p><strong>env</strong> – The environment instance.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerTermBase.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ManagerTermBase.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerTermBase.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ManagerTermBase.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Device on which to perform computations.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerTermBase.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_base.html#ManagerTermBase.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ManagerTermBase.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the manager term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids. Defaults to None, in which case
+all environments are considered.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerTermBaseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">ManagerTermBaseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_term_cfg.html#ManagerTermBaseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ManagerTermBaseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for a manager term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBaseCfg.func" title="omni.isaac.lab.managers.ManagerTermBaseCfg.func"><code class="xref py py-obj docutils literal notranslate"><span class="pre">func</span></code></a></p></td>
+<td><p>The function or class to be called for the term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBaseCfg.params" title="omni.isaac.lab.managers.ManagerTermBaseCfg.params"><code class="xref py py-obj docutils literal notranslate"><span class="pre">params</span></code></a></p></td>
+<td><p>The parameters to be passed to the function as keyword arguments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerTermBaseCfg.func">
+<span class="sig-name descname"><span class="pre">func</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Callable</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBase" title="omni.isaac.lab.managers.ManagerTermBase"><span class="pre">ManagerTermBase</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ManagerTermBaseCfg.func" title="Permalink to this definition">#</a></dt>
+<dd><p>The function or class to be called for the term.</p>
+<p>The function must take the environment object as the first argument.
+The remaining arguments are specified in the <a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBaseCfg.params" title="omni.isaac.lab.managers.ManagerTermBaseCfg.params"><code class="xref py py-attr docutils literal notranslate"><span class="pre">params</span></code></a> attribute.</p>
+<p>It also supports <a class="reference external" href="https://docs.python.org/3/reference/datamodel.html#object.__call__">callable classes</a>, i.e. classes that implement the <code class="xref py py-meth docutils literal notranslate"><span class="pre">__call__()</span></code>
+method. In this case, the class should inherit from the <a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBase" title="omni.isaac.lab.managers.ManagerTermBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerTermBase</span></code></a> class
+and implement the required methods.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ManagerTermBaseCfg.params">
+<span class="sig-name descname"><span class="pre">params</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ManagerTermBaseCfg.params" title="Permalink to this definition">#</a></dt>
+<dd><p>The parameters to be passed to the function as keyword arguments. Defaults to an empty dict.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the value is a <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> object, the manager will query the scene entity
+from the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> and process the entity’s joints and bodies as specified
+in the <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> object.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="observation-manager">
+<h2>Observation Manager<a class="headerlink" href="#observation-manager" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">ObservationManager</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/observation_manager.html#ObservationManager"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.manager_base.ManagerBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBase</span></code></a></p>
+<p>Manager for computing observation signals for a given world.</p>
+<p>Observations are organized into groups based on their intended usage. This allows having different observation
+groups for different types of learning such as asymmetric actor-critic and student-teacher training. Each
+group contains observation terms which contain information about the observation function to call, the noise
+corruption model to use, and the sensor to retrieve data from.</p>
+<p>Each observation group should inherit from the <a class="reference internal" href="#omni.isaac.lab.managers.ObservationGroupCfg" title="omni.isaac.lab.managers.ObservationGroupCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationGroupCfg</span></code></a> class. Within each group, each
+observation term should instantiate the <a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg" title="omni.isaac.lab.managers.ObservationTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationTermCfg</span></code></a> class. Based on the configuration, the
+observations in a group can be concatenated into a single tensor or returned as a dictionary with keys
+corresponding to the term’s name.</p>
+<p>If the observations in a group are concatenated, the shape of the concatenated tensor is computed based on the
+shapes of the individual observation terms. This information is stored in the <a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.group_obs_dim" title="omni.isaac.lab.managers.ObservationManager.group_obs_dim"><code class="xref py py-attr docutils literal notranslate"><span class="pre">group_obs_dim</span></code></a> dictionary
+with keys as the group names and values as the shape of the observation tensor. When the terms in a group are not
+concatenated, the attribute stores a list of shapes for each term in the group.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>When the observation terms in a group do not have the same shape, the observation terms cannot be
+concatenated. In this case, please set the <a class="reference internal" href="#omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms" title="omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ObservationGroupCfg.concatenate_terms</span></code></a> attribute in the
+group configuration to False.</p>
+</div>
+<p>Observations can also have history. This means a running history is updated per sim step. History can be controlled
+per <a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg" title="omni.isaac.lab.managers.ObservationTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationTermCfg</span></code></a> (See the <a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.history_length" title="omni.isaac.lab.managers.ObservationTermCfg.history_length"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ObservationTermCfg.history_length</span></code></a> and
+<a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim" title="omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ObservationTermCfg.flatten_history_dim</span></code></a>). History can also be controlled via <a class="reference internal" href="#omni.isaac.lab.managers.ObservationGroupCfg" title="omni.isaac.lab.managers.ObservationGroupCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationGroupCfg</span></code></a>
+where group configuration overwrites per term configuration if set. History follows an oldest to newest ordering.</p>
+<p>The observation manager can be used to compute observations for all the groups or for a specific group. The
+observations are computed by calling the registered functions for each term in the group. The functions are
+called in the order of the terms in the group. The functions are expected to return a tensor with shape
+(num_envs, …).</p>
+<p>If a noise model or custom modifier is registered for a term, the function is called to corrupt
+the observation. The corruption function is expected to return a tensor with the same shape as the observation.
+The observations are clipped and scaled as per the configuration settings.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.__init__" title="omni.isaac.lab.managers.ObservationManager.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize observation manager.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.get_active_iterable_terms" title="omni.isaac.lab.managers.ObservationManager.get_active_iterable_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_active_iterable_terms</span></code></a>(env_idx)</p></td>
+<td><p>Returns the active terms as iterable sequence of tuples.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.reset" title="omni.isaac.lab.managers.ObservationManager.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the manager and returns logging information for the current time-step.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.compute" title="omni.isaac.lab.managers.ObservationManager.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>()</p></td>
+<td><p>Compute the observations per group for all groups.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.compute_group" title="omni.isaac.lab.managers.ObservationManager.compute_group"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute_group</span></code></a>(group_name)</p></td>
+<td><p>Computes the observations for a given group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.find_terms" title="omni.isaac.lab.managers.ObservationManager.find_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_terms</span></code></a>(name_keys)</p></td>
+<td><p>Find terms in the manager based on the names.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.active_terms" title="omni.isaac.lab.managers.ObservationManager.active_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">active_terms</span></code></a></p></td>
+<td><p>Name of active observation terms in each group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.group_obs_dim" title="omni.isaac.lab.managers.ObservationManager.group_obs_dim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">group_obs_dim</span></code></a></p></td>
+<td><p>Shape of computed observations in each group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.group_obs_term_dim" title="omni.isaac.lab.managers.ObservationManager.group_obs_term_dim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">group_obs_term_dim</span></code></a></p></td>
+<td><p>Shape of individual observation terms in each group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.group_obs_concatenate" title="omni.isaac.lab.managers.ObservationManager.group_obs_concatenate"><code class="xref py py-obj docutils literal notranslate"><span class="pre">group_obs_concatenate</span></code></a></p></td>
+<td><p>Whether the observation terms are concatenated in each group or not.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.device" title="omni.isaac.lab.managers.ObservationManager.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Device on which to perform computations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.num_envs" title="omni.isaac.lab.managers.ObservationManager.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Number of environments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/observation_manager.html#ObservationManager.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize observation manager.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object or dictionary (<code class="docutils literal notranslate"><span class="pre">dict[str,</span> <span class="pre">ObservationGroupCfg]</span></code>).</p></li>
+<li><p><strong>env</strong> – The environment instance.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the configuration is None.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the shapes of the observation terms in a group are not compatible for concatenation
+    and the <a class="reference internal" href="#omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms" title="omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms"><code class="xref py py-attr docutils literal notranslate"><span class="pre">concatenate_terms</span></code></a> attribute is set to True.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.get_active_iterable_terms">
+<span class="sig-name descname"><span class="pre">get_active_iterable_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">collections.abc.Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/observation_manager.html#ObservationManager.get_active_iterable_terms"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.get_active_iterable_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the active terms as iterable sequence of tuples.</p>
+<p>The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_idx</strong> – The specific environment to pull the active terms from.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The active terms.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.active_terms">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">active_terms</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.active_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of active observation terms in each group.</p>
+<p>The keys are the group names and the values are the list of observation term names in the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.group_obs_dim">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">group_obs_dim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.group_obs_dim" title="Permalink to this definition">#</a></dt>
+<dd><p>Shape of computed observations in each group.</p>
+<p>The key is the group name and the value is the shape of the observation tensor.
+If the terms in the group are concatenated, the value is a single tuple representing the
+shape of the concatenated observation tensor. Otherwise, the value is a list of tuples,
+where each tuple represents the shape of the observation tensor for a term in the group.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.group_obs_term_dim">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">group_obs_term_dim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.group_obs_term_dim" title="Permalink to this definition">#</a></dt>
+<dd><p>Shape of individual observation terms in each group.</p>
+<p>The key is the group name and the value is a list of tuples representing the shape of the observation terms
+in the group. The order of the tuples corresponds to the order of the terms in the group.
+This matches the order of the terms in the <a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.active_terms" title="omni.isaac.lab.managers.ObservationManager.active_terms"><code class="xref py py-attr docutils literal notranslate"><span class="pre">active_terms</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.group_obs_concatenate">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">group_obs_concatenate</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.group_obs_concatenate" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the observation terms are concatenated in each group or not.</p>
+<p>The key is the group name and the value is a boolean specifying whether the observation terms in the group
+are concatenated into a single tensor. If True, the observations are concatenated along the last dimension.</p>
+<p>The values are set based on the <a class="reference internal" href="#omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms" title="omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms"><code class="xref py py-attr docutils literal notranslate"><span class="pre">concatenate_terms</span></code></a> attribute in the group
+configuration.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/observation_manager.html#ObservationManager.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the manager and returns logging information for the current time-step.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids for which to log data.
+Defaults None, which logs data for all environments.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Dictionary containing the logging information.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/observation_manager.html#ObservationManager.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Compute the observations per group for all groups.</p>
+<p>The method computes the observations for all the groups handled by the observation manager.
+Please check the <a class="reference internal" href="#omni.isaac.lab.managers.ObservationManager.compute_group" title="omni.isaac.lab.managers.ObservationManager.compute_group"><code class="xref py py-meth docutils literal notranslate"><span class="pre">compute_group()</span></code></a> on the processing of observations per group.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A dictionary with keys as the group names and values as the computed observations.
+The observations are either concatenated into a single tensor or returned as a dictionary
+with keys corresponding to the term’s name.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.compute_group">
+<span class="sig-name descname"><span class="pre">compute_group</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/observation_manager.html#ObservationManager.compute_group"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.compute_group" title="Permalink to this definition">#</a></dt>
+<dd><p>Computes the observations for a given group.</p>
+<p>The observations for a given group are computed by calling the registered functions for each
+term in the group. The functions are called in the order of the terms in the group. The functions
+are expected to return a tensor with shape (num_envs, …).</p>
+<p>The following steps are performed for each observation term:</p>
+<ol class="arabic simple">
+<li><p>Compute observation term by calling the function</p></li>
+<li><p>Apply custom modifiers in the order specified in <a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.modifiers" title="omni.isaac.lab.managers.ObservationTermCfg.modifiers"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ObservationTermCfg.modifiers</span></code></a></p></li>
+<li><p>Apply corruption/noise model based on <a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.noise" title="omni.isaac.lab.managers.ObservationTermCfg.noise"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ObservationTermCfg.noise</span></code></a></p></li>
+<li><p>Apply clipping based on <a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.clip" title="omni.isaac.lab.managers.ObservationTermCfg.clip"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ObservationTermCfg.clip</span></code></a></p></li>
+<li><p>Apply scaling based on <a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.scale" title="omni.isaac.lab.managers.ObservationTermCfg.scale"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ObservationTermCfg.scale</span></code></a></p></li>
+</ol>
+<p>We apply noise to the computed term first to maintain the integrity of how noise affects the data
+as it truly exists in the real world. If the noise is applied after clipping or scaling, the noise
+could be artificially constrained or amplified, which might misrepresent how noise naturally occurs
+in the data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>group_name</strong> – The name of the group for which to compute the observations. Defaults to None,
+in which case observations for all the groups are computed and returned.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Depending on the group’s configuration, the tensors for individual observation terms are
+concatenated along the last dimension into a single tensor. Otherwise, they are returned as
+a dictionary with keys corresponding to the term’s name.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If input <code class="docutils literal notranslate"><span class="pre">group_name</span></code> is not a valid group handled by the manager.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Device on which to perform computations.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.find_terms">
+<span class="sig-name descname"><span class="pre">find_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.find_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Find terms in the manager based on the names.</p>
+<p>This function searches the manager for terms based on the names. The names can be
+specified as regular expressions or a list of regular expressions. The search is
+performed on the active terms in the manager.</p>
+<p>Please check the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string_utils.resolve_matching_names()</span></code> function for more
+information on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the term names.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A list of term names that match the input keys.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationManager.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationManager.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of environments.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationGroupCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">ObservationGroupCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_term_cfg.html#ObservationGroupCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ObservationGroupCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for an observation group.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms" title="omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">concatenate_terms</span></code></a></p></td>
+<td><p>Whether to concatenate the observation terms in the group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption" title="omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_corruption</span></code></a></p></td>
+<td><p>Whether to enable corruption for the observation group.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationGroupCfg.history_length" title="omni.isaac.lab.managers.ObservationGroupCfg.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>Number of past observation to store in the observation buffers for all observation terms in group.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationGroupCfg.flatten_history_dim" title="omni.isaac.lab.managers.ObservationGroupCfg.flatten_history_dim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flatten_history_dim</span></code></a></p></td>
+<td><p>Flag to flatten history-based observation terms to a 2D (num_env, D) tensor for all observation terms in group.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms">
+<span class="sig-name descname"><span class="pre">concatenate_terms</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to concatenate the observation terms in the group. Defaults to True.</p>
+<p>If true, the observation terms in the group are concatenated along the last dimension.
+Otherwise, they are kept separate and returned as a dictionary.</p>
+<p>If the observation group contains terms of different dimensions, it must be set to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption">
+<span class="sig-name descname"><span class="pre">enable_corruption</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable corruption for the observation group. Defaults to False.</p>
+<p>If true, the observation terms in the group are corrupted by adding noise (if specified).
+Otherwise, no corruption is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationGroupCfg.history_length">
+<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationGroupCfg.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of past observation to store in the observation buffers for all observation terms in group.</p>
+<p>This parameter will override <a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.history_length" title="omni.isaac.lab.managers.ObservationTermCfg.history_length"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ObservationTermCfg.history_length</span></code></a> if set. Defaults to None. If None, each
+terms history will be controlled on a per term basis. See <a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg" title="omni.isaac.lab.managers.ObservationTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationTermCfg</span></code></a> for details on history_length
+implementation.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationGroupCfg.flatten_history_dim">
+<span class="sig-name descname"><span class="pre">flatten_history_dim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationGroupCfg.flatten_history_dim" title="Permalink to this definition">#</a></dt>
+<dd><p>Flag to flatten history-based observation terms to a 2D (num_env, D) tensor for all observation terms in group.
+Defaults to True.</p>
+<p>This parameter will override all <a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim" title="omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ObservationTermCfg.flatten_history_dim</span></code></a> in the group if
+ObservationGroupCfg.history_length is set.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationTermCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">ObservationTermCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_term_cfg.html#ObservationTermCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ObservationTermCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for an observation term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.func" title="omni.isaac.lab.managers.ObservationTermCfg.func"><code class="xref py py-obj docutils literal notranslate"><span class="pre">func</span></code></a></p></td>
+<td><p>The name of the function to be called.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.modifiers" title="omni.isaac.lab.managers.ObservationTermCfg.modifiers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">modifiers</span></code></a></p></td>
+<td><p>The list of data modifiers to apply to the observation in order.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.noise" title="omni.isaac.lab.managers.ObservationTermCfg.noise"><code class="xref py py-obj docutils literal notranslate"><span class="pre">noise</span></code></a></p></td>
+<td><p>The noise to add to the observation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.clip" title="omni.isaac.lab.managers.ObservationTermCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>The clipping range for the observation after adding noise.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.scale" title="omni.isaac.lab.managers.ObservationTermCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>The scale to apply to the observation after clipping.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.history_length" title="omni.isaac.lab.managers.ObservationTermCfg.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>Number of past observations to store in the observation buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.params" title="omni.isaac.lab.managers.ObservationTermCfg.params"><code class="xref py py-obj docutils literal notranslate"><span class="pre">params</span></code></a></p></td>
+<td><p>The parameters to be passed to the function as keyword arguments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim" title="omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flatten_history_dim</span></code></a></p></td>
+<td><p>Whether or not the observation manager should flatten history-based observation terms to a 2D (N, D) tensor.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationTermCfg.func">
+<span class="sig-name descname"><span class="pre">func</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationTermCfg.func" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the function to be called.</p>
+<p>This function should take the environment object and any other parameters
+as input and return the observation signal as torch float tensors of
+shape (num_envs, obs_term_dim).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationTermCfg.modifiers">
+<span class="sig-name descname"><span class="pre">modifiers</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierCfg" title="omni.isaac.lab.utils.modifiers.ModifierCfg"><span class="pre">ModifierCfg</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationTermCfg.modifiers" title="Permalink to this definition">#</a></dt>
+<dd><p>The list of data modifiers to apply to the observation in order. Defaults to None,
+in which case no modifications will be applied.</p>
+<p>Modifiers are applied in the order they are specified in the list. They can be stateless
+or stateful, and can be used to apply transformations to the observation data. For example,
+a modifier can be used to normalize the observation data or to apply a rolling average.</p>
+<p>For more information on modifiers, see the <a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.modifiers.ModifierCfg" title="omni.isaac.lab.utils.modifiers.ModifierCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ModifierCfg</span></code></a> class.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationTermCfg.noise">
+<span class="sig-name descname"><span class="pre">noise</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseCfg" title="omni.isaac.lab.utils.noise.NoiseCfg"><span class="pre">NoiseCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationTermCfg.noise" title="Permalink to this definition">#</a></dt>
+<dd><p>The noise to add to the observation. Defaults to None, in which case no noise is added.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationTermCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationTermCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>The clipping range for the observation after adding noise. Defaults to None,
+in which case no clipping is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationTermCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationTermCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The scale to apply to the observation after clipping. Defaults to None,
+in which case no scaling is applied (same as setting scale to <code class="xref py py-obj docutils literal notranslate"><span class="pre">1</span></code>).</p>
+<p>We leverage PyTorch broadcasting to scale the observation tensor with the provided value. If a tuple is provided,
+please make sure the length of the tuple matches the dimensions of the tensor outputted from the term.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationTermCfg.history_length">
+<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationTermCfg.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of past observations to store in the observation buffers. Defaults to 0, meaning no history.</p>
+<p>Observation history initializes to empty, but is filled with the first append after reset or initialization. Subsequent history
+only adds a single entry to the history buffer. If flatten_history_dim is set to True, the source data of shape
+(N, H, D, …) where N is the batch dimension and H is the history length will be reshaped to a 2D tensor of shape
+(N, H*D*…). Otherwise, the data will be returned as is.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationTermCfg.params">
+<span class="sig-name descname"><span class="pre">params</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationTermCfg.params" title="Permalink to this definition">#</a></dt>
+<dd><p>The parameters to be passed to the function as keyword arguments. Defaults to an empty dict.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the value is a <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> object, the manager will query the scene entity
+from the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> and process the entity’s joints and bodies as specified
+in the <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> object.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim">
+<span class="sig-name descname"><span class="pre">flatten_history_dim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether or not the observation manager should flatten history-based observation terms to a 2D (N, D) tensor.
+Defaults to True.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="action-manager">
+<h2>Action Manager<a class="headerlink" href="#action-manager" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">ActionManager</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionManager"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.manager_base.ManagerBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBase</span></code></a></p>
+<p>Manager for processing and applying actions for a given world.</p>
+<p>The action manager handles the interpretation and application of user-defined
+actions on a given world. It is comprised of different action terms that decide
+the dimension of the expected actions.</p>
+<p>The action manager performs operations at two stages:</p>
+<ul class="simple">
+<li><p>processing of actions: It splits the input actions to each term and performs any
+pre-processing needed. This should be called once at every environment step.</p></li>
+<li><p>apply actions: This operation typically sets the processed actions into the assets in the
+scene (such as robots). It should be called before every simulation step.</p></li>
+</ul>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.__init__" title="omni.isaac.lab.managers.ActionManager.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the action manager.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.get_active_iterable_terms" title="omni.isaac.lab.managers.ActionManager.get_active_iterable_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_active_iterable_terms</span></code></a>(env_idx)</p></td>
+<td><p>Returns the active terms as iterable sequence of tuples.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.set_debug_vis" title="omni.isaac.lab.managers.ActionManager.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the action data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.reset" title="omni.isaac.lab.managers.ActionManager.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the action history.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.process_action" title="omni.isaac.lab.managers.ActionManager.process_action"><code class="xref py py-obj docutils literal notranslate"><span class="pre">process_action</span></code></a>(action)</p></td>
+<td><p>Processes the actions sent to the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.apply_action" title="omni.isaac.lab.managers.ActionManager.apply_action"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply_action</span></code></a>()</p></td>
+<td><p>Applies the actions to the environment/simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.get_term" title="omni.isaac.lab.managers.ActionManager.get_term"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_term</span></code></a>(name)</p></td>
+<td><p>Returns the action term with the specified name.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.find_terms" title="omni.isaac.lab.managers.ActionManager.find_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_terms</span></code></a>(name_keys)</p></td>
+<td><p>Find terms in the manager based on the names.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.total_action_dim" title="omni.isaac.lab.managers.ActionManager.total_action_dim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">total_action_dim</span></code></a></p></td>
+<td><p>Total dimension of actions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.active_terms" title="omni.isaac.lab.managers.ActionManager.active_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">active_terms</span></code></a></p></td>
+<td><p>Name of active action terms.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.action_term_dim" title="omni.isaac.lab.managers.ActionManager.action_term_dim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_term_dim</span></code></a></p></td>
+<td><p>Shape of each action term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.action" title="omni.isaac.lab.managers.ActionManager.action"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action</span></code></a></p></td>
+<td><p>The actions sent to the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.prev_action" title="omni.isaac.lab.managers.ActionManager.prev_action"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prev_action</span></code></a></p></td>
+<td><p>The previous actions sent to the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.has_debug_vis_implementation" title="omni.isaac.lab.managers.ActionManager.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the command terms have debug visualization implemented.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.device" title="omni.isaac.lab.managers.ActionManager.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Device on which to perform computations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionManager.num_envs" title="omni.isaac.lab.managers.ActionManager.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Number of environments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionManager.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the action manager.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object or dictionary (<code class="docutils literal notranslate"><span class="pre">dict[str,</span> <span class="pre">ActionTermCfg]</span></code>).</p></li>
+<li><p><strong>env</strong> – The environment instance.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the configuration is None.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.total_action_dim">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">total_action_dim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.total_action_dim" title="Permalink to this definition">#</a></dt>
+<dd><p>Total dimension of actions.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.active_terms">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">active_terms</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.active_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of active action terms.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.action_term_dim">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">action_term_dim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.action_term_dim" title="Permalink to this definition">#</a></dt>
+<dd><p>Shape of each action term.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.action">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">action</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.action" title="Permalink to this definition">#</a></dt>
+<dd><p>The actions sent to the environment. Shape is (num_envs, total_action_dim).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.prev_action">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">prev_action</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.prev_action" title="Permalink to this definition">#</a></dt>
+<dd><p>The previous actions sent to the environment. Shape is (num_envs, total_action_dim).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the command terms have debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.get_active_iterable_terms">
+<span class="sig-name descname"><span class="pre">get_active_iterable_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">collections.abc.Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionManager.get_active_iterable_terms"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.get_active_iterable_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the active terms as iterable sequence of tuples.</p>
+<p>The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_idx</strong> – The specific environment to pull the active terms from.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The active terms.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionManager.set_debug_vis"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the action data.
+:param debug_vis: Whether to visualize the action data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Whether the debug visualization was successfully set. False if the action
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionManager.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the action history.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids. Defaults to None, in which case
+all environments are considered.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>An empty dictionary.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.process_action">
+<span class="sig-name descname"><span class="pre">process_action</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">action</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionManager.process_action"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.process_action" title="Permalink to this definition">#</a></dt>
+<dd><p>Processes the actions sent to the environment.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function should be called once per environment step.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>action</strong> – The actions to process.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.apply_action">
+<span class="sig-name descname"><span class="pre">apply_action</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionManager.apply_action"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.apply_action" title="Permalink to this definition">#</a></dt>
+<dd><p>Applies the actions to the environment/simulation.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This should be called at every simulation step.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.get_term">
+<span class="sig-name descname"><span class="pre">get_term</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm" title="omni.isaac.lab.managers.action_manager.ActionTerm"><span class="pre">ActionTerm</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionManager.get_term"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.get_term" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the action term with the specified name.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name</strong> – The name of the action term.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The action term with the specified name.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Device on which to perform computations.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.find_terms">
+<span class="sig-name descname"><span class="pre">find_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.find_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Find terms in the manager based on the names.</p>
+<p>This function searches the manager for terms based on the names. The names can be
+specified as regular expressions or a list of regular expressions. The search is
+performed on the active terms in the manager.</p>
+<p>Please check the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string_utils.resolve_matching_names()</span></code> function for more
+information on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the term names.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A list of term names that match the input keys.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionManager.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionManager.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of environments.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">ActionTerm</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionTerm"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.managers.ManagerTermBase" title="omni.isaac.lab.managers.manager_base.ManagerTermBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerTermBase</span></code></a></p>
+<p>Base class for action terms.</p>
+<p>The action term is responsible for processing the raw actions sent to the environment
+and applying them to the asset managed by the term. The action term is comprised of two
+operations:</p>
+<ul class="simple">
+<li><p>Processing of actions: This operation is performed once per <strong>environment step</strong> and
+is responsible for pre-processing the raw actions sent to the environment.</p></li>
+<li><p>Applying actions: This operation is performed once per <strong>simulation step</strong> and is
+responsible for applying the processed actions to the asset managed by the term.</p></li>
+</ul>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.__init__" title="omni.isaac.lab.managers.ActionTerm.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the action term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.set_debug_vis" title="omni.isaac.lab.managers.ActionTerm.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the action term data.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.process_actions" title="omni.isaac.lab.managers.ActionTerm.process_actions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">process_actions</span></code></a>(actions)</p></td>
+<td><p>Processes the actions sent to the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.apply_actions" title="omni.isaac.lab.managers.ActionTerm.apply_actions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply_actions</span></code></a>()</p></td>
+<td><p>Applies the actions to the asset managed by the term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.reset" title="omni.isaac.lab.managers.ActionTerm.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the manager term.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.action_dim" title="omni.isaac.lab.managers.ActionTerm.action_dim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_dim</span></code></a></p></td>
+<td><p>Dimension of the action term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.raw_actions" title="omni.isaac.lab.managers.ActionTerm.raw_actions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">raw_actions</span></code></a></p></td>
+<td><p>The input/raw actions sent to the term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.processed_actions" title="omni.isaac.lab.managers.ActionTerm.processed_actions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">processed_actions</span></code></a></p></td>
+<td><p>The actions computed by the term after applying any processing.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.has_debug_vis_implementation" title="omni.isaac.lab.managers.ActionTerm.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the action term has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.device" title="omni.isaac.lab.managers.ActionTerm.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Device on which to perform computations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm.num_envs" title="omni.isaac.lab.managers.ActionTerm.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Number of environments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.managers.ActionTermCfg" title="omni.isaac.lab.managers.ActionTermCfg"><span class="pre">ActionTermCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionTerm.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the action term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object.</p></li>
+<li><p><strong>env</strong> – The environment instance.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.action_dim">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">action_dim</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.action_dim" title="Permalink to this definition">#</a></dt>
+<dd><p>Dimension of the action term.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.raw_actions">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">raw_actions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.raw_actions" title="Permalink to this definition">#</a></dt>
+<dd><p>The input/raw actions sent to the term.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.processed_actions">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">processed_actions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.processed_actions" title="Permalink to this definition">#</a></dt>
+<dd><p>The actions computed by the term after applying any processing.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the action term has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionTerm.set_debug_vis"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the action term data.
+:param debug_vis: Whether to visualize the action term data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Whether the debug visualization was successfully set. False if the action term does
+not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.process_actions">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">process_actions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">actions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionTerm.process_actions"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.process_actions" title="Permalink to this definition">#</a></dt>
+<dd><p>Processes the actions sent to the environment.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is called once per environment step by the manager.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>actions</strong> – The actions to process.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.apply_actions">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">apply_actions</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/action_manager.html#ActionTerm.apply_actions"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.apply_actions" title="Permalink to this definition">#</a></dt>
+<dd><p>Applies the actions to the asset managed by the term.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is called at every simulation step by the manager.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Device on which to perform computations.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of environments.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTerm.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.managers.ActionTerm.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the manager term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids. Defaults to None, in which case
+all environments are considered.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTermCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">ActionTermCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_term_cfg.html#ActionTermCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.ActionTermCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for an action term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTermCfg.class_type" title="omni.isaac.lab.managers.ActionTermCfg.class_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">class_type</span></code></a></p></td>
+<td><p>The associated action term class.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTermCfg.asset_name" title="omni.isaac.lab.managers.ActionTermCfg.asset_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_name</span></code></a></p></td>
+<td><p>The name of the scene entity.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTermCfg.debug_vis" title="omni.isaac.lab.managers.ActionTermCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.ActionTermCfg.clip" title="omni.isaac.lab.managers.ActionTermCfg.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a></p></td>
+<td><p>Clip range for the action (dict of regex expressions).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTermCfg.class_type">
+<span class="sig-name descname"><span class="pre">class_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#type" title="(in Python v3.13)"><span class="pre">type</span></a><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm" title="omni.isaac.lab.managers.ActionTerm"><span class="pre">ActionTerm</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionTermCfg.class_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The associated action term class.</p>
+<p>The class should inherit from <a class="reference internal" href="#omni.isaac.lab.managers.ActionTerm" title="omni.isaac.lab.managers.action_manager.ActionTerm"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.action_manager.ActionTerm</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTermCfg.asset_name">
+<span class="sig-name descname"><span class="pre">asset_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionTermCfg.asset_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the scene entity.</p>
+<p>This is the name defined in the scene configuration file. See the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code>
+class for more details.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTermCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionTermCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.ActionTermCfg.clip">
+<span class="sig-name descname"><span class="pre">clip</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.ActionTermCfg.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clip range for the action (dict of regex expressions). Defaults to None.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="event-manager">
+<h2>Event Manager<a class="headerlink" href="#event-manager" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">EventManager</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/event_manager.html#EventManager"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.EventManager" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.manager_base.ManagerBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBase</span></code></a></p>
+<p>Manager for orchestrating operations based on different simulation events.</p>
+<p>The event manager applies operations to the environment based on different simulation events. For example,
+changing the masses of objects or their friction coefficients during initialization/ reset, or applying random
+pushes to the robot at a fixed interval of steps. The user can specify several modes of events to fine-tune the
+behavior based on when to apply the event.</p>
+<p>The event terms are parsed from a config class containing the manager’s settings and each term’s
+parameters. Each event term should instantiate the <a class="reference internal" href="#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">EventTermCfg</span></code></a> class.</p>
+<p>Event terms can be grouped by their mode. The mode is a user-defined string that specifies when
+the event term should be applied. This provides the user complete control over when event
+terms should be applied.</p>
+<p>For a typical training process, you may want to apply events in the following modes:</p>
+<ul class="simple">
+<li><p>“startup”: Event is applied once at the beginning of the training.</p></li>
+<li><p>“reset”: Event is applied at every reset.</p></li>
+<li><p>“interval”: Event is applied at pre-specified intervals of time.</p></li>
+</ul>
+<p>However, you can also define your own modes and use them in the training process as you see fit.
+For this you will need to add the triggering of that mode in the environment implementation as well.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The triggering of operations corresponding to the mode <code class="docutils literal notranslate"><span class="pre">&quot;interval&quot;</span></code> are the only mode that are
+directly handled by the manager itself. The other modes are handled by the environment implementation.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.__init__" title="omni.isaac.lab.managers.EventManager.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the event manager.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.reset" title="omni.isaac.lab.managers.EventManager.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the manager and returns logging information for the current time-step.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.apply" title="omni.isaac.lab.managers.EventManager.apply"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply</span></code></a>(mode[, env_ids, dt, global_env_step_count])</p></td>
+<td><p>Calls each event term in the specified mode.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.set_term_cfg" title="omni.isaac.lab.managers.EventManager.set_term_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_term_cfg</span></code></a>(term_name, cfg)</p></td>
+<td><p>Sets the configuration of the specified term into the manager.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.get_term_cfg" title="omni.isaac.lab.managers.EventManager.get_term_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_term_cfg</span></code></a>(term_name)</p></td>
+<td><p>Gets the configuration for the specified term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.find_terms" title="omni.isaac.lab.managers.EventManager.find_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_terms</span></code></a>(name_keys)</p></td>
+<td><p>Find terms in the manager based on the names.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.get_active_iterable_terms" title="omni.isaac.lab.managers.EventManager.get_active_iterable_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_active_iterable_terms</span></code></a>(env_idx)</p></td>
+<td><p>Returns the active terms as iterable sequence of tuples.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.active_terms" title="omni.isaac.lab.managers.EventManager.active_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">active_terms</span></code></a></p></td>
+<td><p>Name of active event terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.available_modes" title="omni.isaac.lab.managers.EventManager.available_modes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">available_modes</span></code></a></p></td>
+<td><p>Modes of events.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.device" title="omni.isaac.lab.managers.EventManager.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Device on which to perform computations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventManager.num_envs" title="omni.isaac.lab.managers.EventManager.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Number of environments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><span class="pre">ManagerBasedEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/event_manager.html#EventManager.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the event manager.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – A configuration object or dictionary (<code class="docutils literal notranslate"><span class="pre">dict[str,</span> <span class="pre">EventTermCfg]</span></code>).</p></li>
+<li><p><strong>env</strong> – An environment object.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.active_terms">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">active_terms</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.active_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of active event terms.</p>
+<p>The keys are the modes of event and the values are the names of the event terms.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.available_modes">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">available_modes</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.available_modes" title="Permalink to this definition">#</a></dt>
+<dd><p>Modes of events.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/event_manager.html#EventManager.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the manager and returns logging information for the current time-step.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids for which to log data.
+Defaults None, which logs data for all environments.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Dictionary containing the logging information.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.apply">
+<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mode</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">global_env_step_count</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/event_manager.html#EventManager.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.apply" title="Permalink to this definition">#</a></dt>
+<dd><p>Calls each event term in the specified mode.</p>
+<p>This function iterates over all the event terms in the specified mode and calls the function
+corresponding to the term. The function is called with the environment instance and the environment
+indices to apply the event to.</p>
+<p>For the “interval” mode, the function is called when the time interval has passed. This requires
+specifying the time step of the environment.</p>
+<p>For the “reset” mode, the function is called when the mode is “reset” and the total number of environment
+steps that have happened since the last trigger of the function is equal to its configured parameter for
+the number of environment steps between resets.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>mode</strong> – The mode of event.</p></li>
+<li><p><strong>env_ids</strong> – The indices of the environments to apply the event to.
+Defaults to None, in which case the event is applied to all environments when applicable.</p></li>
+<li><p><strong>dt</strong> – The time step of the environment. This is only used for the “interval” mode.
+Defaults to None to simplify the call for other modes.</p></li>
+<li><p><strong>global_env_step_count</strong> – The total number of environment steps that have happened. This is only used
+for the “reset” mode. Defaults to None to simplify the call for other modes.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the mode is <code class="docutils literal notranslate"><span class="pre">&quot;interval&quot;</span></code> and the time step is not provided.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the mode is <code class="docutils literal notranslate"><span class="pre">&quot;interval&quot;</span></code> and the environment indices are provided. This is an undefined
+    behavior as the environment indices are computed based on the time left for each environment.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the mode is <code class="docutils literal notranslate"><span class="pre">&quot;reset&quot;</span></code> and the total number of environment steps that have happened
+    is not provided.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.set_term_cfg">
+<span class="sig-name descname"><span class="pre">set_term_cfg</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">term_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.EventTermCfg"><span class="pre">EventTermCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/event_manager.html#EventManager.set_term_cfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.set_term_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets the configuration of the specified term into the manager.</p>
+<p>The method finds the term by name by searching through all the modes.
+It then updates the configuration of the term with the first matching name.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>term_name</strong> – The name of the event term.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the event term.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the term name is not found.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.get_term_cfg">
+<span class="sig-name descname"><span class="pre">get_term_cfg</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">term_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.EventTermCfg"><span class="pre">EventTermCfg</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/event_manager.html#EventManager.get_term_cfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.get_term_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Gets the configuration for the specified term.</p>
+<p>The method finds the term by name by searching through all the modes.
+It then returns the configuration of the term with the first matching name.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>term_name</strong> – The name of the event term.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The configuration of the event term.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the term name is not found.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Device on which to perform computations.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.find_terms">
+<span class="sig-name descname"><span class="pre">find_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.find_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Find terms in the manager based on the names.</p>
+<p>This function searches the manager for terms based on the names. The names can be
+specified as regular expressions or a list of regular expressions. The search is
+performed on the active terms in the manager.</p>
+<p>Please check the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string_utils.resolve_matching_names()</span></code> function for more
+information on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the term names.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A list of term names that match the input keys.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.get_active_iterable_terms">
+<span class="sig-name descname"><span class="pre">get_active_iterable_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">collections.abc.Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.get_active_iterable_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the active terms as iterable sequence of tuples.</p>
+<p>The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The active terms.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventManager.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.EventManager.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of environments.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventTermCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">EventTermCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_term_cfg.html#EventTermCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.EventTermCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for a event term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventTermCfg.params" title="omni.isaac.lab.managers.EventTermCfg.params"><code class="xref py py-obj docutils literal notranslate"><span class="pre">params</span></code></a></p></td>
+<td><p>The parameters to be passed to the function as keyword arguments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventTermCfg.func" title="omni.isaac.lab.managers.EventTermCfg.func"><code class="xref py py-obj docutils literal notranslate"><span class="pre">func</span></code></a></p></td>
+<td><p>The name of the function to be called.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventTermCfg.mode" title="omni.isaac.lab.managers.EventTermCfg.mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mode</span></code></a></p></td>
+<td><p>The mode in which the event term is applied.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventTermCfg.interval_range_s" title="omni.isaac.lab.managers.EventTermCfg.interval_range_s"><code class="xref py py-obj docutils literal notranslate"><span class="pre">interval_range_s</span></code></a></p></td>
+<td><p>The range of time in seconds at which the term is applied.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventTermCfg.is_global_time" title="omni.isaac.lab.managers.EventTermCfg.is_global_time"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_global_time</span></code></a></p></td>
+<td><p>Whether randomization should be tracked on a per-environment basis.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.EventTermCfg.min_step_count_between_reset" title="omni.isaac.lab.managers.EventTermCfg.min_step_count_between_reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">min_step_count_between_reset</span></code></a></p></td>
+<td><p>The number of environment steps after which the term is applied since its last application.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventTermCfg.params">
+<span class="sig-name descname"><span class="pre">params</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.EventTermCfg.params" title="Permalink to this definition">#</a></dt>
+<dd><p>The parameters to be passed to the function as keyword arguments. Defaults to an empty dict.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the value is a <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> object, the manager will query the scene entity
+from the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> and process the entity’s joints and bodies as specified
+in the <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> object.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventTermCfg.func">
+<span class="sig-name descname"><span class="pre">func</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.EventTermCfg.func" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the function to be called.</p>
+<p>This function should take the environment object, environment indices
+and any other parameters as input.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventTermCfg.mode">
+<span class="sig-name descname"><span class="pre">mode</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.EventTermCfg.mode" title="Permalink to this definition">#</a></dt>
+<dd><p>The mode in which the event term is applied.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The mode name <code class="docutils literal notranslate"><span class="pre">&quot;interval&quot;</span></code> is a special mode that is handled by the
+manager Hence, its name is reserved and cannot be used for other modes.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventTermCfg.interval_range_s">
+<span class="sig-name descname"><span class="pre">interval_range_s</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.EventTermCfg.interval_range_s" title="Permalink to this definition">#</a></dt>
+<dd><p>The range of time in seconds at which the term is applied. Defaults to None.</p>
+<p>Based on this, the interval is sampled uniformly between the specified
+range for each environment instance. The term is applied on the environment
+instances where the current time hits the interval time.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is only used if the mode is <code class="docutils literal notranslate"><span class="pre">&quot;interval&quot;</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventTermCfg.is_global_time">
+<span class="sig-name descname"><span class="pre">is_global_time</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.EventTermCfg.is_global_time" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether randomization should be tracked on a per-environment basis. Defaults to False.</p>
+<p>If True, the same interval time is used for all the environment instances.
+If False, the interval time is sampled independently for each environment instance
+and the term is applied when the current time hits the interval time for that instance.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is only used if the mode is <code class="docutils literal notranslate"><span class="pre">&quot;interval&quot;</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.EventTermCfg.min_step_count_between_reset">
+<span class="sig-name descname"><span class="pre">min_step_count_between_reset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.EventTermCfg.min_step_count_between_reset" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of environment steps after which the term is applied since its last application. Defaults to 0.</p>
+<p>When the mode is “reset”, the term is only applied if the number of environment steps since
+its last application exceeds this quantity. This helps to avoid calling the term too often,
+thereby improving performance.</p>
+<p>If the value is zero, the term is applied on every call to the manager with the mode “reset”.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is only used if the mode is <code class="docutils literal notranslate"><span class="pre">&quot;reset&quot;</span></code>.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="command-manager">
+<h2>Command Manager<a class="headerlink" href="#command-manager" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandManager">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">CommandManager</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandManager"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandManager" title="Permalink to this definition">#</a></dt>
+<dd><p>Manager for generating commands.</p>
+<p>The command manager is used to generate commands for an agent to execute. It makes it convenient to switch
+between different command generation strategies within the same environment. For instance, in an environment
+consisting of a quadrupedal robot, the command to it could be a velocity command or position command.
+By keeping the command generation logic separate from the environment, it is easy to switch between different
+command generation strategies.</p>
+<p>The command terms are implemented as classes that inherit from the <a class="reference internal" href="#omni.isaac.lab.managers.CommandTerm" title="omni.isaac.lab.managers.CommandTerm"><code class="xref py py-class docutils literal notranslate"><span class="pre">CommandTerm</span></code></a> class.
+Each command generator term should also have a corresponding configuration class that inherits from the
+<a class="reference internal" href="#omni.isaac.lab.managers.CommandTermCfg" title="omni.isaac.lab.managers.CommandTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">CommandTermCfg</span></code></a> class.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandManager.__init__" title="omni.isaac.lab.managers.CommandManager.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the command manager.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandManager.get_active_iterable_terms" title="omni.isaac.lab.managers.CommandManager.get_active_iterable_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_active_iterable_terms</span></code></a>(env_idx)</p></td>
+<td><p>Returns the active terms as iterable sequence of tuples.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandManager.set_debug_vis" title="omni.isaac.lab.managers.CommandManager.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the command data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandManager.reset" title="omni.isaac.lab.managers.CommandManager.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Reset the command terms and log their metrics.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandManager.compute" title="omni.isaac.lab.managers.CommandManager.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(dt)</p></td>
+<td><p>Updates the commands.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandManager.get_command" title="omni.isaac.lab.managers.CommandManager.get_command"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_command</span></code></a>(name)</p></td>
+<td><p>Returns the command for the specified command term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandManager.get_term" title="omni.isaac.lab.managers.CommandManager.get_term"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_term</span></code></a>(name)</p></td>
+<td><p>Returns the command term with the specified name.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandManager.active_terms" title="omni.isaac.lab.managers.CommandManager.active_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">active_terms</span></code></a></p></td>
+<td><p>Name of active command terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandManager.has_debug_vis_implementation" title="omni.isaac.lab.managers.CommandManager.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the command terms have debug visualization implemented.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandManager.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandManager.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandManager.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the command manager.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object or dictionary (<code class="docutils literal notranslate"><span class="pre">dict[str,</span> <span class="pre">CommandTermCfg]</span></code>).</p></li>
+<li><p><strong>env</strong> – The environment instance.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandManager.active_terms">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">active_terms</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.CommandManager.active_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of active command terms.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandManager.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.CommandManager.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the command terms have debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandManager.get_active_iterable_terms">
+<span class="sig-name descname"><span class="pre">get_active_iterable_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">collections.abc.Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandManager.get_active_iterable_terms"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandManager.get_active_iterable_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the active terms as iterable sequence of tuples.</p>
+<p>The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_idx</strong> – The specific environment to pull the active terms from.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The active terms.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandManager.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandManager.set_debug_vis"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandManager.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the command data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the command data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the command
+generator does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandManager.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandManager.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandManager.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the command terms and log their metrics.</p>
+<p>This function resets the command counter and resamples the command for each term. It should be called
+at the beginning of each episode.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The list of environment IDs to reset. Defaults to None.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A dictionary containing the information to log under the “Metrics/{term_name}/{metric_name}” key.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandManager.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandManager.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandManager.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Updates the commands.</p>
+<p>This function calls each command term managed by the class.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The time-step interval of the environment.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandManager.get_command">
+<span class="sig-name descname"><span class="pre">get_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandManager.get_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandManager.get_command" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the command for the specified command term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name</strong> – The name of the command term.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The command tensor of the specified command term.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandManager.get_term">
+<span class="sig-name descname"><span class="pre">get_term</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#omni.isaac.lab.managers.CommandTerm" title="omni.isaac.lab.managers.command_manager.CommandTerm"><span class="pre">CommandTerm</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandManager.get_term"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandManager.get_term" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the command term with the specified name.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name</strong> – The name of the command term.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The command term with the specified name.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandTerm">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">CommandTerm</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandTerm"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandTerm" title="Permalink to this definition">#</a></dt>
+<dd><p>The base class for implementing a command term.</p>
+<p>A command term is used to generate commands for goal-conditioned tasks. For example,
+in the case of a goal-conditioned navigation task, the command term can be used to
+generate a target position for the robot to navigate to.</p>
+<p>It implements a resampling mechanism that allows the command to be resampled at a fixed
+frequency. The resampling frequency can be specified in the configuration object.
+Additionally, it is possible to assign a visualization function to the command term
+that can be used to visualize the command in the simulator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandTerm.command" title="omni.isaac.lab.managers.CommandTerm.command"><code class="xref py py-obj docutils literal notranslate"><span class="pre">command</span></code></a></p></td>
+<td><p>The command tensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandTerm.has_debug_vis_implementation" title="omni.isaac.lab.managers.CommandTerm.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the command generator has a debug visualization implemented.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandTerm.set_debug_vis" title="omni.isaac.lab.managers.CommandTerm.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the command data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandTerm.reset" title="omni.isaac.lab.managers.CommandTerm.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Reset the command generator and log metrics.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandTerm.compute" title="omni.isaac.lab.managers.CommandTerm.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(dt)</p></td>
+<td><p>Compute the command.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandTerm.command">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">command</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.CommandTerm.command" title="Permalink to this definition">#</a></dt>
+<dd><p>The command tensor. Shape is (num_envs, command_dim).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandTerm.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.CommandTerm.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the command generator has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandTerm.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandTerm.set_debug_vis"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandTerm.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the command data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the command data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the command
+generator does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandTerm.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandTerm.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandTerm.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the command generator and log metrics.</p>
+<p>This function resets the command counter and resamples the command. It should be called
+at the beginning of each episode.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The list of environment IDs to reset. Defaults to None.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A dictionary containing the information to log under the “{name}” key.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandTerm.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/command_manager.html#CommandTerm.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandTerm.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Compute the command.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The time step passed since the last call to compute.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandTermCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">CommandTermCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_term_cfg.html#CommandTermCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CommandTermCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for a command generator term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandTermCfg.resampling_time_range" title="omni.isaac.lab.managers.CommandTermCfg.resampling_time_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resampling_time_range</span></code></a></p></td>
+<td><p>Time before commands are changed [s].</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CommandTermCfg.debug_vis" title="omni.isaac.lab.managers.CommandTermCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize debug information.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandTermCfg.resampling_time_range">
+<span class="sig-name descname"><span class="pre">resampling_time_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.CommandTermCfg.resampling_time_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Time before commands are changed [s].</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CommandTermCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.CommandTermCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize debug information. Defaults to False.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="reward-manager">
+<h2>Reward Manager<a class="headerlink" href="#reward-manager" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">RewardManager</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/reward_manager.html#RewardManager"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.manager_base.ManagerBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBase</span></code></a></p>
+<p>Manager for computing reward signals for a given world.</p>
+<p>The reward manager computes the total reward as a sum of the weighted reward terms. The reward
+terms are parsed from a nested config class containing the reward manger’s settings and reward
+terms configuration.</p>
+<p>The reward terms are parsed from a config class containing the manager’s settings and each term’s
+parameters. Each reward term should instantiate the <a class="reference internal" href="#omni.isaac.lab.managers.RewardTermCfg" title="omni.isaac.lab.managers.RewardTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RewardTermCfg</span></code></a> class.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The reward manager multiplies the reward term’s <code class="docutils literal notranslate"><span class="pre">weight</span></code>  with the time-step interval <code class="docutils literal notranslate"><span class="pre">dt</span></code>
+of the environment. This is done to ensure that the computed reward terms are balanced with
+respect to the chosen time-step interval in the environment.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager.__init__" title="omni.isaac.lab.managers.RewardManager.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the reward manager.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager.reset" title="omni.isaac.lab.managers.RewardManager.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Returns the episodic sum of individual reward terms.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager.compute" title="omni.isaac.lab.managers.RewardManager.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(dt)</p></td>
+<td><p>Computes the reward signal as a weighted sum of individual terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager.set_term_cfg" title="omni.isaac.lab.managers.RewardManager.set_term_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_term_cfg</span></code></a>(term_name, cfg)</p></td>
+<td><p>Sets the configuration of the specified term into the manager.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager.get_term_cfg" title="omni.isaac.lab.managers.RewardManager.get_term_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_term_cfg</span></code></a>(term_name)</p></td>
+<td><p>Gets the configuration for the specified term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager.get_active_iterable_terms" title="omni.isaac.lab.managers.RewardManager.get_active_iterable_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_active_iterable_terms</span></code></a>(env_idx)</p></td>
+<td><p>Returns the active terms as iterable sequence of tuples.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager.find_terms" title="omni.isaac.lab.managers.RewardManager.find_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_terms</span></code></a>(name_keys)</p></td>
+<td><p>Find terms in the manager based on the names.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager.active_terms" title="omni.isaac.lab.managers.RewardManager.active_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">active_terms</span></code></a></p></td>
+<td><p>Name of active reward terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager.device" title="omni.isaac.lab.managers.RewardManager.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Device on which to perform computations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardManager.num_envs" title="omni.isaac.lab.managers.RewardManager.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Number of environments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/reward_manager.html#RewardManager.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the reward manager.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object or dictionary (<code class="docutils literal notranslate"><span class="pre">dict[str,</span> <span class="pre">RewardTermCfg]</span></code>).</p></li>
+<li><p><strong>env</strong> – The environment instance.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager.active_terms">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">active_terms</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager.active_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of active reward terms.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/reward_manager.html#RewardManager.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the episodic sum of individual reward terms.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids for which the episodic sum of
+individual reward terms is to be returned. Defaults to all the environment ids.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Dictionary of episodic sum of individual reward terms.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/reward_manager.html#RewardManager.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Computes the reward signal as a weighted sum of individual terms.</p>
+<p>This function calls each reward term managed by the class and adds them to compute the net
+reward signal. It also updates the episodic sums corresponding to individual reward terms.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The time-step interval of the environment.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The net reward signal of shape (num_envs,).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager.set_term_cfg">
+<span class="sig-name descname"><span class="pre">set_term_cfg</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">term_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.managers.RewardTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.RewardTermCfg"><span class="pre">RewardTermCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/reward_manager.html#RewardManager.set_term_cfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager.set_term_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets the configuration of the specified term into the manager.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>term_name</strong> – The name of the reward term.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the reward term.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the term name is not found.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager.get_term_cfg">
+<span class="sig-name descname"><span class="pre">get_term_cfg</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">term_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#omni.isaac.lab.managers.RewardTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.RewardTermCfg"><span class="pre">RewardTermCfg</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/reward_manager.html#RewardManager.get_term_cfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager.get_term_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Gets the configuration for the specified term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>term_name</strong> – The name of the reward term.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The configuration of the reward term.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the term name is not found.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager.get_active_iterable_terms">
+<span class="sig-name descname"><span class="pre">get_active_iterable_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">collections.abc.Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/reward_manager.html#RewardManager.get_active_iterable_terms"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager.get_active_iterable_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the active terms as iterable sequence of tuples.</p>
+<p>The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_idx</strong> – The specific environment to pull the active terms from.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The active terms.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Device on which to perform computations.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager.find_terms">
+<span class="sig-name descname"><span class="pre">find_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager.find_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Find terms in the manager based on the names.</p>
+<p>This function searches the manager for terms based on the names. The names can be
+specified as regular expressions or a list of regular expressions. The search is
+performed on the active terms in the manager.</p>
+<p>Please check the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string_utils.resolve_matching_names()</span></code> function for more
+information on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the term names.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A list of term names that match the input keys.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardManager.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.RewardManager.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of environments.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardTermCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">RewardTermCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_term_cfg.html#RewardTermCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.RewardTermCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for a reward term.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.RewardTermCfg.__new__" title="omni.isaac.lab.managers.RewardTermCfg.__new__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__new__</span></code></a>(**kwargs)</p></td>
+<td><p></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.RewardTermCfg.__new__">
+<span class="sig-name descname"><span class="pre">__new__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.managers.RewardTermCfg.__new__" title="Permalink to this definition">#</a></dt>
+<dd></dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="termination-manager">
+<h2>Termination Manager<a class="headerlink" href="#termination-manager" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">TerminationManager</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/termination_manager.html#TerminationManager"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.manager_base.ManagerBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBase</span></code></a></p>
+<p>Manager for computing done signals for a given world.</p>
+<p>The termination manager computes the termination signal (also called dones) as a combination
+of termination terms. Each termination term is a function which takes the environment as an
+argument and returns a boolean tensor of shape (num_envs,). The termination manager
+computes the termination signal as the union (logical or) of all the termination terms.</p>
+<p>Following the <a class="reference external" href="https://gymnasium.farama.org/tutorials/gymnasium_basics/handling_time_limits/">Gymnasium API</a>,
+the termination signal is computed as the logical OR of the following signals:</p>
+<ul class="simple">
+<li><p><strong>Time-out</strong>: This signal is set to true if the environment has ended after an externally defined condition
+(that is outside the scope of a MDP). For example, the environment may be terminated if the episode has
+timed out (i.e. reached max episode length).</p></li>
+<li><p><strong>Terminated</strong>: This signal is set to true if the environment has reached a terminal state defined by the
+environment. This state may correspond to task success, task failure, robot falling, etc.</p></li>
+</ul>
+<p>These signals can be individually accessed using the <a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.time_outs" title="omni.isaac.lab.managers.TerminationManager.time_outs"><code class="xref py py-attr docutils literal notranslate"><span class="pre">time_outs</span></code></a> and <a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.terminated" title="omni.isaac.lab.managers.TerminationManager.terminated"><code class="xref py py-attr docutils literal notranslate"><span class="pre">terminated</span></code></a> properties.</p>
+<p>The termination terms are parsed from a config class containing the manager’s settings and each term’s
+parameters. Each termination term should instantiate the <a class="reference internal" href="#omni.isaac.lab.managers.TerminationTermCfg" title="omni.isaac.lab.managers.TerminationTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerminationTermCfg</span></code></a> class. The term’s
+configuration <a class="reference internal" href="#omni.isaac.lab.managers.TerminationTermCfg.time_out" title="omni.isaac.lab.managers.TerminationTermCfg.time_out"><code class="xref py py-attr docutils literal notranslate"><span class="pre">TerminationTermCfg.time_out</span></code></a> decides whether the term is a timeout or a termination term.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.__init__" title="omni.isaac.lab.managers.TerminationManager.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initializes the termination manager.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.reset" title="omni.isaac.lab.managers.TerminationManager.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Returns the episodic counts of individual termination terms.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.compute" title="omni.isaac.lab.managers.TerminationManager.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>()</p></td>
+<td><p>Computes the termination signal as union of individual terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.get_term" title="omni.isaac.lab.managers.TerminationManager.get_term"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_term</span></code></a>(name)</p></td>
+<td><p>Returns the termination term with the specified name.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.get_active_iterable_terms" title="omni.isaac.lab.managers.TerminationManager.get_active_iterable_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_active_iterable_terms</span></code></a>(env_idx)</p></td>
+<td><p>Returns the active terms as iterable sequence of tuples.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.set_term_cfg" title="omni.isaac.lab.managers.TerminationManager.set_term_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_term_cfg</span></code></a>(term_name, cfg)</p></td>
+<td><p>Sets the configuration of the specified term into the manager.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.get_term_cfg" title="omni.isaac.lab.managers.TerminationManager.get_term_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_term_cfg</span></code></a>(term_name)</p></td>
+<td><p>Gets the configuration for the specified term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.find_terms" title="omni.isaac.lab.managers.TerminationManager.find_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_terms</span></code></a>(name_keys)</p></td>
+<td><p>Find terms in the manager based on the names.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.active_terms" title="omni.isaac.lab.managers.TerminationManager.active_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">active_terms</span></code></a></p></td>
+<td><p>Name of active termination terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.dones" title="omni.isaac.lab.managers.TerminationManager.dones"><code class="xref py py-obj docutils literal notranslate"><span class="pre">dones</span></code></a></p></td>
+<td><p>The net termination signal.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.time_outs" title="omni.isaac.lab.managers.TerminationManager.time_outs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">time_outs</span></code></a></p></td>
+<td><p>The timeout signal (reaching max episode length).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.terminated" title="omni.isaac.lab.managers.TerminationManager.terminated"><code class="xref py py-obj docutils literal notranslate"><span class="pre">terminated</span></code></a></p></td>
+<td><p>The terminated signal (reaching a terminal state).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.device" title="omni.isaac.lab.managers.TerminationManager.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Device on which to perform computations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationManager.num_envs" title="omni.isaac.lab.managers.TerminationManager.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Number of environments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/termination_manager.html#TerminationManager.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the termination manager.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object or dictionary (<code class="docutils literal notranslate"><span class="pre">dict[str,</span> <span class="pre">TerminationTermCfg]</span></code>).</p></li>
+<li><p><strong>env</strong> – An environment object.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.active_terms">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">active_terms</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.active_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of active termination terms.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.dones">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">dones</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.dones" title="Permalink to this definition">#</a></dt>
+<dd><p>The net termination signal. Shape is (num_envs,).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.time_outs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">time_outs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.time_outs" title="Permalink to this definition">#</a></dt>
+<dd><p>The timeout signal (reaching max episode length). Shape is (num_envs,).</p>
+<p>This signal is set to true if the environment has ended after an externally defined condition
+(that is outside the scope of a MDP). For example, the environment may be terminated if the episode has
+timed out (i.e. reached max episode length).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.terminated">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">terminated</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.terminated" title="Permalink to this definition">#</a></dt>
+<dd><p>The terminated signal (reaching a terminal state). Shape is (num_envs,).</p>
+<p>This signal is set to true if the environment has reached a terminal state defined by the environment.
+This state may correspond to task success, task failure, robot falling, etc.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/termination_manager.html#TerminationManager.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the episodic counts of individual termination terms.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids. Defaults to None, in which case
+all environments are considered.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Dictionary of episodic sum of individual reward terms.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/termination_manager.html#TerminationManager.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Computes the termination signal as union of individual terms.</p>
+<p>This function calls each termination term managed by the class and performs a logical OR operation
+to compute the net termination signal.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The combined termination signal of shape (num_envs,).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.get_term">
+<span class="sig-name descname"><span class="pre">get_term</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/termination_manager.html#TerminationManager.get_term"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.get_term" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the termination term with the specified name.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name</strong> – The name of the termination term.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The corresponding termination term value. Shape is (num_envs,).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.get_active_iterable_terms">
+<span class="sig-name descname"><span class="pre">get_active_iterable_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">collections.abc.Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/termination_manager.html#TerminationManager.get_active_iterable_terms"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.get_active_iterable_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the active terms as iterable sequence of tuples.</p>
+<p>The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_idx</strong> – The specific environment to pull the active terms from.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The active terms.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.set_term_cfg">
+<span class="sig-name descname"><span class="pre">set_term_cfg</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">term_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.managers.TerminationTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.TerminationTermCfg"><span class="pre">TerminationTermCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/termination_manager.html#TerminationManager.set_term_cfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.set_term_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets the configuration of the specified term into the manager.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>term_name</strong> – The name of the termination term.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the termination term.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the term name is not found.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.get_term_cfg">
+<span class="sig-name descname"><span class="pre">get_term_cfg</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">term_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#omni.isaac.lab.managers.TerminationTermCfg" title="omni.isaac.lab.managers.manager_term_cfg.TerminationTermCfg"><span class="pre">TerminationTermCfg</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/termination_manager.html#TerminationManager.get_term_cfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.get_term_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Gets the configuration for the specified term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>term_name</strong> – The name of the termination term.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The configuration of the termination term.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the term name is not found.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Device on which to perform computations.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.find_terms">
+<span class="sig-name descname"><span class="pre">find_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.find_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Find terms in the manager based on the names.</p>
+<p>This function searches the manager for terms based on the names. The names can be
+specified as regular expressions or a list of regular expressions. The search is
+performed on the active terms in the manager.</p>
+<p>Please check the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string_utils.resolve_matching_names()</span></code> function for more
+information on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the term names.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A list of term names that match the input keys.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationManager.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.TerminationManager.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of environments.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationTermCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">TerminationTermCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_term_cfg.html#TerminationTermCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.TerminationTermCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for a termination term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationTermCfg.params" title="omni.isaac.lab.managers.TerminationTermCfg.params"><code class="xref py py-obj docutils literal notranslate"><span class="pre">params</span></code></a></p></td>
+<td><p>The parameters to be passed to the function as keyword arguments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationTermCfg.func" title="omni.isaac.lab.managers.TerminationTermCfg.func"><code class="xref py py-obj docutils literal notranslate"><span class="pre">func</span></code></a></p></td>
+<td><p>The name of the function to be called.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.TerminationTermCfg.time_out" title="omni.isaac.lab.managers.TerminationTermCfg.time_out"><code class="xref py py-obj docutils literal notranslate"><span class="pre">time_out</span></code></a></p></td>
+<td><p>Whether the termination term contributes towards episodic timeouts.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationTermCfg.params">
+<span class="sig-name descname"><span class="pre">params</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.TerminationTermCfg.params" title="Permalink to this definition">#</a></dt>
+<dd><p>The parameters to be passed to the function as keyword arguments. Defaults to an empty dict.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the value is a <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> object, the manager will query the scene entity
+from the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> and process the entity’s joints and bodies as specified
+in the <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> object.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationTermCfg.func">
+<span class="sig-name descname"><span class="pre">func</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.TerminationTermCfg.func" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the function to be called.</p>
+<p>This function should take the environment object and any other parameters
+as input and return the termination signals as torch boolean tensors of
+shape (num_envs,).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.TerminationTermCfg.time_out">
+<span class="sig-name descname"><span class="pre">time_out</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.TerminationTermCfg.time_out" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the termination term contributes towards episodic timeouts. Defaults to False.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>These usually correspond to tasks that have a fixed time limit.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="curriculum-manager">
+<h2>Curriculum Manager<a class="headerlink" href="#curriculum-manager" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumManager">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">CurriculumManager</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/curriculum_manager.html#CurriculumManager"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumManager" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.manager_base.ManagerBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBase</span></code></a></p>
+<p>Manager to implement and execute specific curricula.</p>
+<p>The curriculum manager updates various quantities of the environment subject to a training curriculum by
+calling a list of terms. These help stabilize learning by progressively making the learning tasks harder
+as the agent improves.</p>
+<p>The curriculum terms are parsed from a config class containing the manager’s settings and each term’s
+parameters. Each curriculum term should instantiate the <a class="reference internal" href="#omni.isaac.lab.managers.CurriculumTermCfg" title="omni.isaac.lab.managers.CurriculumTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">CurriculumTermCfg</span></code></a> class.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumManager.__init__" title="omni.isaac.lab.managers.CurriculumManager.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg, env)</p></td>
+<td><p>Initialize the manager.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumManager.reset" title="omni.isaac.lab.managers.CurriculumManager.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Returns the current state of individual curriculum terms.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumManager.compute" title="omni.isaac.lab.managers.CurriculumManager.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>([env_ids])</p></td>
+<td><p>Update the curriculum terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumManager.get_active_iterable_terms" title="omni.isaac.lab.managers.CurriculumManager.get_active_iterable_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_active_iterable_terms</span></code></a>(env_idx)</p></td>
+<td><p>Returns the active terms as iterable sequence of tuples.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumManager.find_terms" title="omni.isaac.lab.managers.CurriculumManager.find_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_terms</span></code></a>(name_keys)</p></td>
+<td><p>Find terms in the manager based on the names.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumManager.active_terms" title="omni.isaac.lab.managers.CurriculumManager.active_terms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">active_terms</span></code></a></p></td>
+<td><p>Name of active curriculum terms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumManager.device" title="omni.isaac.lab.managers.CurriculumManager.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Device on which to perform computations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumManager.num_envs" title="omni.isaac.lab.managers.CurriculumManager.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Number of environments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumManager.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/curriculum_manager.html#CurriculumManager.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumManager.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the manager.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration object or dictionary (<code class="docutils literal notranslate"><span class="pre">dict[str,</span> <span class="pre">CurriculumTermCfg]</span></code>)</p></li>
+<li><p><strong>env</strong> – An environment object.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#TypeError" title="(in Python v3.13)"><strong>TypeError</strong></a> – If curriculum term is not of type <a class="reference internal" href="#omni.isaac.lab.managers.CurriculumTermCfg" title="omni.isaac.lab.managers.CurriculumTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">CurriculumTermCfg</span></code></a>.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If curriculum term configuration does not satisfy its function signature.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumManager.active_terms">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">active_terms</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumManager.active_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Name of active curriculum terms.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumManager.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/curriculum_manager.html#CurriculumManager.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumManager.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the current state of individual curriculum terms.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function does not use the environment indices <code class="xref py py-attr docutils literal notranslate"><span class="pre">env_ids</span></code>
+and logs the state of all the terms. The argument is only present
+to maintain consistency with other classes.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Dictionary of curriculum terms and their states.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumManager.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/curriculum_manager.html#CurriculumManager.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumManager.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Update the curriculum terms.</p>
+<p>This function calls each curriculum term managed by the class.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The list of environment IDs to update.
+If None, all the environments are updated. Defaults to None.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumManager.get_active_iterable_terms">
+<span class="sig-name descname"><span class="pre">get_active_iterable_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">collections.abc.Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/curriculum_manager.html#CurriculumManager.get_active_iterable_terms"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumManager.get_active_iterable_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the active terms as iterable sequence of tuples.</p>
+<p>The first element of the tuple is the name of the term and the second element is the raw value(s) of the term.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_idx</strong> – The specific environment to pull the active terms from.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The active terms.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumManager.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumManager.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Device on which to perform computations.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumManager.find_terms">
+<span class="sig-name descname"><span class="pre">find_terms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumManager.find_terms" title="Permalink to this definition">#</a></dt>
+<dd><p>Find terms in the manager based on the names.</p>
+<p>This function searches the manager for terms based on the names. The names can be
+specified as regular expressions or a list of regular expressions. The search is
+performed on the active terms in the manager.</p>
+<p>Please check the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string_utils.resolve_matching_names()</span></code> function for more
+information on the name matching.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the term names.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A list of term names that match the input keys.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumManager.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumManager.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of environments.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumTermCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.managers.</span></span><span class="sig-name descname"><span class="pre">CurriculumTermCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/managers/manager_term_cfg.html#CurriculumTermCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumTermCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for a curriculum term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumTermCfg.func" title="omni.isaac.lab.managers.CurriculumTermCfg.func"><code class="xref py py-obj docutils literal notranslate"><span class="pre">func</span></code></a></p></td>
+<td><p>The name of the function to be called.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.managers.CurriculumTermCfg.params" title="omni.isaac.lab.managers.CurriculumTermCfg.params"><code class="xref py py-obj docutils literal notranslate"><span class="pre">params</span></code></a></p></td>
+<td><p>The parameters to be passed to the function as keyword arguments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumTermCfg.func">
+<span class="sig-name descname"><span class="pre">func</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumTermCfg.func" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the function to be called.</p>
+<p>This function should take the environment object, environment indices
+and any other parameters as input and return the curriculum state for
+logging purposes. If the function returns None, the curriculum state
+is not logged.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.managers.CurriculumTermCfg.params">
+<span class="sig-name descname"><span class="pre">params</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Any</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><span class="pre">SceneEntityCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.managers.CurriculumTermCfg.params" title="Permalink to this definition">#</a></dt>
+<dd><p>The parameters to be passed to the function as keyword arguments. Defaults to an empty dict.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the value is a <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> object, the manager will query the scene entity
+from the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> and process the entity’s joints and bodies as specified
+in the <a class="reference internal" href="#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> object.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
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+</section>
+
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-entity">Scene Entity</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.name"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_names"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.joint_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.joint_ids"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.joint_ids</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.fixed_tendon_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.fixed_tendon_ids</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.body_names"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.body_ids"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.body_ids</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_names"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.object_collection_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.object_collection_ids"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.object_collection_ids</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.preserve_order"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.preserve_order</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.SceneEntityCfg.resolve"><code class="docutils literal notranslate"><span class="pre">SceneEntityCfg.resolve()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#manager-base">Manager Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase"><code class="docutils literal notranslate"><span class="pre">ManagerBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.__init__"><code class="docutils literal notranslate"><span class="pre">ManagerBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.num_envs"><code class="docutils literal notranslate"><span class="pre">ManagerBase.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.device"><code class="docutils literal notranslate"><span class="pre">ManagerBase.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.active_terms"><code class="docutils literal notranslate"><span class="pre">ManagerBase.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.reset"><code class="docutils literal notranslate"><span class="pre">ManagerBase.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.find_terms"><code class="docutils literal notranslate"><span class="pre">ManagerBase.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerBase.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">ManagerBase.get_active_iterable_terms()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBase"><code class="docutils literal notranslate"><span class="pre">ManagerTermBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBase.__init__"><code class="docutils literal notranslate"><span class="pre">ManagerTermBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBase.num_envs"><code class="docutils literal notranslate"><span class="pre">ManagerTermBase.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBase.device"><code class="docutils literal notranslate"><span class="pre">ManagerTermBase.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBase.reset"><code class="docutils literal notranslate"><span class="pre">ManagerTermBase.reset()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBaseCfg"><code class="docutils literal notranslate"><span class="pre">ManagerTermBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBaseCfg.func"><code class="docutils literal notranslate"><span class="pre">ManagerTermBaseCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ManagerTermBaseCfg.params"><code class="docutils literal notranslate"><span class="pre">ManagerTermBaseCfg.params</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#observation-manager">Observation Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager"><code class="docutils literal notranslate"><span class="pre">ObservationManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.__init__"><code class="docutils literal notranslate"><span class="pre">ObservationManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">ObservationManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.active_terms"><code class="docutils literal notranslate"><span class="pre">ObservationManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.group_obs_dim"><code class="docutils literal notranslate"><span class="pre">ObservationManager.group_obs_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.group_obs_term_dim"><code class="docutils literal notranslate"><span class="pre">ObservationManager.group_obs_term_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.group_obs_concatenate"><code class="docutils literal notranslate"><span class="pre">ObservationManager.group_obs_concatenate</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.reset"><code class="docutils literal notranslate"><span class="pre">ObservationManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.compute"><code class="docutils literal notranslate"><span class="pre">ObservationManager.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.compute_group"><code class="docutils literal notranslate"><span class="pre">ObservationManager.compute_group()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.device"><code class="docutils literal notranslate"><span class="pre">ObservationManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.find_terms"><code class="docutils literal notranslate"><span class="pre">ObservationManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationManager.num_envs"><code class="docutils literal notranslate"><span class="pre">ObservationManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationGroupCfg"><code class="docutils literal notranslate"><span class="pre">ObservationGroupCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms"><code class="docutils literal notranslate"><span class="pre">ObservationGroupCfg.concatenate_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption"><code class="docutils literal notranslate"><span class="pre">ObservationGroupCfg.enable_corruption</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationGroupCfg.history_length"><code class="docutils literal notranslate"><span class="pre">ObservationGroupCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationGroupCfg.flatten_history_dim"><code class="docutils literal notranslate"><span class="pre">ObservationGroupCfg.flatten_history_dim</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.func"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.modifiers"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.modifiers</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.noise"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.noise</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.clip"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.clip</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.scale"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.history_length"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.params"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.params</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ObservationTermCfg.flatten_history_dim"><code class="docutils literal notranslate"><span class="pre">ObservationTermCfg.flatten_history_dim</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#action-manager">Action Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager"><code class="docutils literal notranslate"><span class="pre">ActionManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.__init__"><code class="docutils literal notranslate"><span class="pre">ActionManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.total_action_dim"><code class="docutils literal notranslate"><span class="pre">ActionManager.total_action_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.active_terms"><code class="docutils literal notranslate"><span class="pre">ActionManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.action_term_dim"><code class="docutils literal notranslate"><span class="pre">ActionManager.action_term_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.action"><code class="docutils literal notranslate"><span class="pre">ActionManager.action</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.prev_action"><code class="docutils literal notranslate"><span class="pre">ActionManager.prev_action</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">ActionManager.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">ActionManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">ActionManager.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.reset"><code class="docutils literal notranslate"><span class="pre">ActionManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.process_action"><code class="docutils literal notranslate"><span class="pre">ActionManager.process_action()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.apply_action"><code class="docutils literal notranslate"><span class="pre">ActionManager.apply_action()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.get_term"><code class="docutils literal notranslate"><span class="pre">ActionManager.get_term()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.device"><code class="docutils literal notranslate"><span class="pre">ActionManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.find_terms"><code class="docutils literal notranslate"><span class="pre">ActionManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionManager.num_envs"><code class="docutils literal notranslate"><span class="pre">ActionManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm"><code class="docutils literal notranslate"><span class="pre">ActionTerm</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.__init__"><code class="docutils literal notranslate"><span class="pre">ActionTerm.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.action_dim"><code class="docutils literal notranslate"><span class="pre">ActionTerm.action_dim</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.raw_actions"><code class="docutils literal notranslate"><span class="pre">ActionTerm.raw_actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.processed_actions"><code class="docutils literal notranslate"><span class="pre">ActionTerm.processed_actions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">ActionTerm.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">ActionTerm.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.process_actions"><code class="docutils literal notranslate"><span class="pre">ActionTerm.process_actions()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.apply_actions"><code class="docutils literal notranslate"><span class="pre">ActionTerm.apply_actions()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.device"><code class="docutils literal notranslate"><span class="pre">ActionTerm.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.num_envs"><code class="docutils literal notranslate"><span class="pre">ActionTerm.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTerm.reset"><code class="docutils literal notranslate"><span class="pre">ActionTerm.reset()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTermCfg"><code class="docutils literal notranslate"><span class="pre">ActionTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTermCfg.class_type"><code class="docutils literal notranslate"><span class="pre">ActionTermCfg.class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTermCfg.asset_name"><code class="docutils literal notranslate"><span class="pre">ActionTermCfg.asset_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTermCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">ActionTermCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.ActionTermCfg.clip"><code class="docutils literal notranslate"><span class="pre">ActionTermCfg.clip</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#event-manager">Event Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager"><code class="docutils literal notranslate"><span class="pre">EventManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.__init__"><code class="docutils literal notranslate"><span class="pre">EventManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.active_terms"><code class="docutils literal notranslate"><span class="pre">EventManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.available_modes"><code class="docutils literal notranslate"><span class="pre">EventManager.available_modes</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.reset"><code class="docutils literal notranslate"><span class="pre">EventManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.apply"><code class="docutils literal notranslate"><span class="pre">EventManager.apply()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.set_term_cfg"><code class="docutils literal notranslate"><span class="pre">EventManager.set_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.get_term_cfg"><code class="docutils literal notranslate"><span class="pre">EventManager.get_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.device"><code class="docutils literal notranslate"><span class="pre">EventManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.find_terms"><code class="docutils literal notranslate"><span class="pre">EventManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">EventManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventManager.num_envs"><code class="docutils literal notranslate"><span class="pre">EventManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg"><code class="docutils literal notranslate"><span class="pre">EventTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.params"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.params</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.func"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.mode"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.interval_range_s"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.interval_range_s</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.is_global_time"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.is_global_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.EventTermCfg.min_step_count_between_reset"><code class="docutils literal notranslate"><span class="pre">EventTermCfg.min_step_count_between_reset</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#command-manager">Command Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager"><code class="docutils literal notranslate"><span class="pre">CommandManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.__init__"><code class="docutils literal notranslate"><span class="pre">CommandManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.active_terms"><code class="docutils literal notranslate"><span class="pre">CommandManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">CommandManager.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">CommandManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">CommandManager.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.reset"><code class="docutils literal notranslate"><span class="pre">CommandManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.compute"><code class="docutils literal notranslate"><span class="pre">CommandManager.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.get_command"><code class="docutils literal notranslate"><span class="pre">CommandManager.get_command()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandManager.get_term"><code class="docutils literal notranslate"><span class="pre">CommandManager.get_term()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm"><code class="docutils literal notranslate"><span class="pre">CommandTerm</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm.command"><code class="docutils literal notranslate"><span class="pre">CommandTerm.command</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">CommandTerm.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">CommandTerm.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm.reset"><code class="docutils literal notranslate"><span class="pre">CommandTerm.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTerm.compute"><code class="docutils literal notranslate"><span class="pre">CommandTerm.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTermCfg"><code class="docutils literal notranslate"><span class="pre">CommandTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTermCfg.resampling_time_range"><code class="docutils literal notranslate"><span class="pre">CommandTermCfg.resampling_time_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CommandTermCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">CommandTermCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#reward-manager">Reward Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager"><code class="docutils literal notranslate"><span class="pre">RewardManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.__init__"><code class="docutils literal notranslate"><span class="pre">RewardManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.active_terms"><code class="docutils literal notranslate"><span class="pre">RewardManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.reset"><code class="docutils literal notranslate"><span class="pre">RewardManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.compute"><code class="docutils literal notranslate"><span class="pre">RewardManager.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.set_term_cfg"><code class="docutils literal notranslate"><span class="pre">RewardManager.set_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.get_term_cfg"><code class="docutils literal notranslate"><span class="pre">RewardManager.get_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">RewardManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.device"><code class="docutils literal notranslate"><span class="pre">RewardManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.find_terms"><code class="docutils literal notranslate"><span class="pre">RewardManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardManager.num_envs"><code class="docutils literal notranslate"><span class="pre">RewardManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardTermCfg"><code class="docutils literal notranslate"><span class="pre">RewardTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.RewardTermCfg.__new__"><code class="docutils literal notranslate"><span class="pre">RewardTermCfg.__new__()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#termination-manager">Termination Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager"><code class="docutils literal notranslate"><span class="pre">TerminationManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.__init__"><code class="docutils literal notranslate"><span class="pre">TerminationManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.active_terms"><code class="docutils literal notranslate"><span class="pre">TerminationManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.dones"><code class="docutils literal notranslate"><span class="pre">TerminationManager.dones</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.time_outs"><code class="docutils literal notranslate"><span class="pre">TerminationManager.time_outs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.terminated"><code class="docutils literal notranslate"><span class="pre">TerminationManager.terminated</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.reset"><code class="docutils literal notranslate"><span class="pre">TerminationManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.compute"><code class="docutils literal notranslate"><span class="pre">TerminationManager.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.get_term"><code class="docutils literal notranslate"><span class="pre">TerminationManager.get_term()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">TerminationManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.set_term_cfg"><code class="docutils literal notranslate"><span class="pre">TerminationManager.set_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.get_term_cfg"><code class="docutils literal notranslate"><span class="pre">TerminationManager.get_term_cfg()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.device"><code class="docutils literal notranslate"><span class="pre">TerminationManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.find_terms"><code class="docutils literal notranslate"><span class="pre">TerminationManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationManager.num_envs"><code class="docutils literal notranslate"><span class="pre">TerminationManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationTermCfg"><code class="docutils literal notranslate"><span class="pre">TerminationTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationTermCfg.params"><code class="docutils literal notranslate"><span class="pre">TerminationTermCfg.params</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationTermCfg.func"><code class="docutils literal notranslate"><span class="pre">TerminationTermCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.TerminationTermCfg.time_out"><code class="docutils literal notranslate"><span class="pre">TerminationTermCfg.time_out</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#curriculum-manager">Curriculum Manager</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager"><code class="docutils literal notranslate"><span class="pre">CurriculumManager</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.__init__"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.active_terms"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.active_terms</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.reset"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.compute"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.compute()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.get_active_iterable_terms"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.get_active_iterable_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.device"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.find_terms"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.find_terms()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumManager.num_envs"><code class="docutils literal notranslate"><span class="pre">CurriculumManager.num_envs</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumTermCfg"><code class="docutils literal notranslate"><span class="pre">CurriculumTermCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumTermCfg.func"><code class="docutils literal notranslate"><span class="pre">CurriculumTermCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.managers.CurriculumTermCfg.params"><code class="docutils literal notranslate"><span class="pre">CurriculumTermCfg.params</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
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+<ul class="nav bd-sidenav">
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/run_docker_example.html">Running an example with Docker</a></li>
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+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_orbit.html">From Orbit</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
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+    <h1>omni.isaac.lab.markers</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#visualization-markers">Visualization Markers</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.__init__"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.num_prototypes"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.num_prototypes</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.count"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.set_visibility"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.set_visibility()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.is_visible"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.is_visible()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.visualize"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.visualize()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkersCfg"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkersCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkersCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkersCfg.markers"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkersCfg.markers</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.markers">
+<span id="omni-isaac-lab-markers"></span><h1>omni.isaac.lab.markers<a class="headerlink" href="#module-omni.isaac.lab.markers" title="Permalink to this heading">#</a></h1>
+<p>Sub-package for marker utilities to simplify creation of UI elements in the GUI.</p>
+<p>Currently, the sub-package provides the following classes:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers" title="omni.isaac.lab.markers.VisualizationMarkers"><code class="xref py py-class docutils literal notranslate"><span class="pre">VisualizationMarkers</span></code></a> for creating a group of markers using <a class="reference external" href="https://graphics.pixar.com/usd/dev/api/class_usd_geom_point_instancer.html">UsdGeom.PointInstancer</a>.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For some simple use-cases, it may be sufficient to use the debug drawing utilities from Isaac Sim.
+The debug drawing API is available in the <a class="reference external" href="https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_debug_drawing.html">omni.isaac.debug_drawing</a> module. It allows drawing of
+points and splines efficiently on the UI.</p>
+</div>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers" title="omni.isaac.lab.markers.VisualizationMarkers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">VisualizationMarkers</span></code></a></p></td>
+<td><p>A class to coordinate groups of visual markers (loaded from USD).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.VisualizationMarkersCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">VisualizationMarkersCfg</span></code></a></p></td>
+<td><p>A class to configure a <a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers" title="omni.isaac.lab.markers.VisualizationMarkers"><code class="xref py py-class docutils literal notranslate"><span class="pre">VisualizationMarkers</span></code></a>.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="visualization-markers">
+<h2>Visualization Markers<a class="headerlink" href="#visualization-markers" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.markers.VisualizationMarkers">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.markers.</span></span><span class="sig-name descname"><span class="pre">VisualizationMarkers</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/markers/visualization_markers.html#VisualizationMarkers"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.markers.VisualizationMarkers" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>A class to coordinate groups of visual markers (loaded from USD).</p>
+<p>This class allows visualization of different UI markers in the scene, such as points and frames.
+The class wraps around the <a class="reference external" href="https://graphics.pixar.com/usd/dev/api/class_usd_geom_point_instancer.html">UsdGeom.PointInstancer</a> for efficient handling of objects
+in the stage via instancing the created marker prototype prims.</p>
+<p>A marker prototype prim is a reusable template prim used for defining variations of objects
+in the scene. For example, a sphere prim can be used as a marker prototype prim to create
+multiple sphere prims in the scene at different locations. Thus, prototype prims are useful
+for creating multiple instances of the same prim in the scene.</p>
+<p>The class parses the configuration to create different the marker prototypes into the stage. Each marker
+prototype prim is created as a child of the <code class="xref py py-class docutils literal notranslate"><span class="pre">UsdGeom.PointInstancer</span></code> prim. The prim path for the
+the marker prim is resolved using the key of the marker in the <a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkersCfg.markers" title="omni.isaac.lab.markers.VisualizationMarkersCfg.markers"><code class="xref py py-attr docutils literal notranslate"><span class="pre">VisualizationMarkersCfg.markers</span></code></a>
+dictionary. The marker prototypes are created using the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.core.utils.create_prim()</span></code>
+function, and then then instanced using <code class="xref py py-class docutils literal notranslate"><span class="pre">UsdGeom.PointInstancer</span></code> prim to allow creating multiple
+instances of the marker prims.</p>
+<p>Switching between different marker prototypes is possible by calling the <a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers.visualize" title="omni.isaac.lab.markers.VisualizationMarkers.visualize"><code class="xref py py-meth docutils literal notranslate"><span class="pre">visualize()</span></code></a> method with
+the prototype indices corresponding to the marker prototype. The prototype indices are based on the order
+in the <a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkersCfg.markers" title="omni.isaac.lab.markers.VisualizationMarkersCfg.markers"><code class="xref py py-attr docutils literal notranslate"><span class="pre">VisualizationMarkersCfg.markers</span></code></a> dictionary. For example, if the dictionary has two markers,
+“marker1” and “marker2”, then their prototype indices are 0 and 1 respectively. The prototype indices
+can be passed as a list or array of integers.</p>
+<dl>
+<dt>Usage:</dt><dd><p>The following snippet shows how to create 24 sphere markers with a radius of 1.0 at random translations
+within the range [-1.0, 1.0]. The first 12 markers will be colored red and the rest will be colored green.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkersCfg</span><span class="p">,</span> <span class="n">VisualizationMarkers</span>
+
+<span class="c1"># Create the markers configuration</span>
+<span class="c1"># This creates two marker prototypes, &quot;marker1&quot; and &quot;marker2&quot; which are spheres with a radius of 1.0.</span>
+<span class="c1"># The color of &quot;marker1&quot; is red and the color of &quot;marker2&quot; is green.</span>
+<span class="n">cfg</span> <span class="o">=</span> <span class="n">VisualizationMarkersCfg</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Visuals/testMarkers&quot;</span><span class="p">,</span>
+    <span class="n">markers</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;marker1&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SphereCfg</span><span class="p">(</span>
+            <span class="n">radius</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;marker2&quot;</span><span class="p">:</span> <span class="n">VisualizationMarkersCfg</span><span class="o">.</span><span class="n">SphereCfg</span><span class="p">(</span>
+            <span class="n">radius</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+    <span class="p">}</span>
+<span class="p">)</span>
+<span class="c1"># Create the markers instance</span>
+<span class="c1"># This will create a UsdGeom.PointInstancer prim at the given path along with the marker prototypes.</span>
+<span class="n">marker</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+
+<span class="c1"># Set position of the marker</span>
+<span class="c1"># -- randomly sample translations between -1.0 and 1.0</span>
+<span class="n">marker_translations</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">uniform</span><span class="p">(</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="p">(</span><span class="mi">24</span><span class="p">,</span> <span class="mi">3</span><span class="p">))</span>
+<span class="c1"># -- this will create 24 markers at the given translations</span>
+<span class="c1"># note: the markers will all be `marker1` since the marker indices are not given</span>
+<span class="n">marker</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">translations</span><span class="o">=</span><span class="n">marker_translations</span><span class="p">)</span>
+
+<span class="c1"># alter the markers based on their prototypes indices</span>
+<span class="c1"># first 12 markers will be marker1 and the rest will be marker2</span>
+<span class="c1"># 0 -&gt; marker1, 1 -&gt; marker2</span>
+<span class="n">marker_indices</span> <span class="o">=</span> <span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="mi">12</span> <span class="o">+</span> <span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="mi">12</span>
+<span class="c1"># this will change the marker prototypes at the given indices</span>
+<span class="c1"># note: the translations of the markers will not be changed from the previous call</span>
+<span class="c1">#  since the translations are not given.</span>
+<span class="n">marker</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">marker_indices</span><span class="o">=</span><span class="n">marker_indices</span><span class="p">)</span>
+
+<span class="c1"># alter the markers based on their prototypes indices and translations</span>
+<span class="n">marker</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">marker_indices</span><span class="o">=</span><span class="n">marker_indices</span><span class="p">,</span> <span class="n">translations</span><span class="o">=</span><span class="n">marker_translations</span><span class="p">)</span>
+</pre></div>
+</div>
+</dd>
+</dl>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers.__init__" title="omni.isaac.lab.markers.VisualizationMarkers.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initialize the class.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers.set_visibility" title="omni.isaac.lab.markers.VisualizationMarkers.set_visibility"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_visibility</span></code></a>(visible)</p></td>
+<td><p>Sets the visibility of the markers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers.is_visible" title="omni.isaac.lab.markers.VisualizationMarkers.is_visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_visible</span></code></a>()</p></td>
+<td><p>Checks the visibility of the markers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers.visualize" title="omni.isaac.lab.markers.VisualizationMarkers.visualize"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visualize</span></code></a>([translations, orientations, ...])</p></td>
+<td><p>Update markers in the viewport.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers.num_prototypes" title="omni.isaac.lab.markers.VisualizationMarkers.num_prototypes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_prototypes</span></code></a></p></td>
+<td><p>The number of marker prototypes available.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers.count" title="omni.isaac.lab.markers.VisualizationMarkers.count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">count</span></code></a></p></td>
+<td><p>The total number of marker instances.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.markers.VisualizationMarkers.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/markers/visualization_markers.html#VisualizationMarkers.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.markers.VisualizationMarkers.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the class.</p>
+<p>When the class is initialized, the <code class="xref py py-class docutils literal notranslate"><span class="pre">UsdGeom.PointInstancer</span></code> is created into the stage
+and the marker prims are registered into it.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If a prim already exists at the given path, the function will find the next free path
+and create the <code class="xref py py-class docutils literal notranslate"><span class="pre">UsdGeom.PointInstancer</span></code> prim there.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration for the markers.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When no markers are provided in the <code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code>.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.markers.VisualizationMarkers.num_prototypes">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_prototypes</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.markers.VisualizationMarkers.num_prototypes" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of marker prototypes available.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.markers.VisualizationMarkers.count">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.markers.VisualizationMarkers.count" title="Permalink to this definition">#</a></dt>
+<dd><p>The total number of marker instances.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.markers.VisualizationMarkers.set_visibility">
+<span class="sig-name descname"><span class="pre">set_visibility</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">visible</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/markers/visualization_markers.html#VisualizationMarkers.set_visibility"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.markers.VisualizationMarkers.set_visibility" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets the visibility of the markers.</p>
+<p>The method does this through the USD API.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>visible</strong> – flag to set the visibility.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.markers.VisualizationMarkers.is_visible">
+<span class="sig-name descname"><span class="pre">is_visible</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/markers/visualization_markers.html#VisualizationMarkers.is_visible"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.markers.VisualizationMarkers.is_visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Checks the visibility of the markers.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>True if the markers are visible, False otherwise.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.markers.VisualizationMarkers.visualize">
+<span class="sig-name descname"><span class="pre">visualize</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">translations</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">np.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientations</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">np.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scales</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">np.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">marker_indices</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/markers/visualization_markers.html#VisualizationMarkers.visualize"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.markers.VisualizationMarkers.visualize" title="Permalink to this definition">#</a></dt>
+<dd><p>Update markers in the viewport.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the prim <cite>PointInstancer</cite> is hidden in the stage, the function will simply return
+without updating the markers. This helps in unnecessary computation when the markers
+are not visible.</p>
+</div>
+<p>Whenever updating the markers, the input arrays must have the same number of elements
+in the first dimension. If the number of elements is different, the <cite>UsdGeom.PointInstancer</cite>
+will raise an error complaining about the mismatch.</p>
+<p>Additionally, the function supports dynamic update of the markers. This means that the
+number of markers can change between calls. For example, if you have 24 points that you
+want to visualize, you can pass 24 translations, orientations, and scales. If you want to
+visualize only 12 points, you can pass 12 translations, orientations, and scales. The
+function will automatically update the number of markers in the scene.</p>
+<p>The function will also update the marker prototypes based on their prototype indices. For instance,
+if you have two marker prototypes, and you pass the following marker indices: [0, 1, 0, 1], the function
+will update the first and third markers with the first prototype, and the second and fourth markers
+with the second prototype. This is useful when you want to visualize different markers in the same
+scene. The list of marker indices must have the same number of elements as the translations, orientations,
+or scales. If the number of elements is different, the function will raise an error.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>This function will update all the markers instanced from the prototypes. That means
+if you have 24 markers, you will need to pass 24 translations, orientations, and scales.</p>
+<p>If you want to update only a subset of the markers, you will need to handle the indices
+yourself and pass the complete arrays to this function.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>translations</strong> – Translations w.r.t. parent prim frame. Shape is (M, 3).
+Defaults to None, which means left unchanged.</p></li>
+<li><p><strong>orientations</strong> – Quaternion orientations (w, x, y, z) w.r.t. parent prim frame. Shape is (M, 4).
+Defaults to None, which means left unchanged.</p></li>
+<li><p><strong>scales</strong> – Scale applied before any rotation is applied. Shape is (M, 3).
+Defaults to None, which means left unchanged.</p></li>
+<li><p><strong>marker_indices</strong> – Decides which marker prototype to visualize. Shape is (M).
+Defaults to None, which means left unchanged provided that the total number of markers
+is the same as the previous call. If the number of markers is different, the function
+will update the number of markers in the scene.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When input arrays do not follow the expected shapes.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the function is called with all None arguments.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.markers.VisualizationMarkersCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.markers.</span></span><span class="sig-name descname"><span class="pre">VisualizationMarkersCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/markers/visualization_markers.html#VisualizationMarkersCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.markers.VisualizationMarkersCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>A class to configure a <a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkers" title="omni.isaac.lab.markers.VisualizationMarkers"><code class="xref py py-class docutils literal notranslate"><span class="pre">VisualizationMarkers</span></code></a>.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path" title="omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>The prim path where the <code class="xref py py-class docutils literal notranslate"><span class="pre">UsdGeom.PointInstancer</span></code> will be created.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.markers.VisualizationMarkersCfg.markers" title="omni.isaac.lab.markers.VisualizationMarkersCfg.markers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">markers</span></code></a></p></td>
+<td><p>The dictionary of marker configurations.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The prim path where the <code class="xref py py-class docutils literal notranslate"><span class="pre">UsdGeom.PointInstancer</span></code> will be created.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.markers.VisualizationMarkersCfg.markers">
+<span class="sig-name descname"><span class="pre">markers</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.SpawnerCfg" title="omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg"><span class="pre">omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.markers.VisualizationMarkersCfg.markers" title="Permalink to this definition">#</a></dt>
+<dd><p>The dictionary of marker configurations.</p>
+<p>The key is the name of the marker, and the value is the configuration of the marker.
+The key is used to identify the marker in the class.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
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+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#visualization-markers">Visualization Markers</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.__init__"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.num_prototypes"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.num_prototypes</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.count"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.set_visibility"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.set_visibility()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.is_visible"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.is_visible()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkers.visualize"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkers.visualize()</span></code></a></li>
+</ul>
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+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkersCfg"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkersCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkersCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.markers.VisualizationMarkersCfg.markers"><code class="docutils literal notranslate"><span class="pre">VisualizationMarkersCfg.markers</span></code></a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
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+    <h1>omni.isaac.lab.scene</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#interactive-scene">interactive Scene</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene"><code class="docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.__init__"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.clone_environments"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.clone_environments()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.filter_collisions"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.filter_collisions()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.physics_scene_path"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.physics_scene_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.physics_dt"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.physics_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.device"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.env_ns"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.env_ns</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.env_regex_ns"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.env_regex_ns</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.num_envs"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.env_origins"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.env_origins</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.terrain"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.terrain</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.articulations"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.articulations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.deformable_objects"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.deformable_objects</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.rigid_objects"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.rigid_objects</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.rigid_object_collections"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.rigid_object_collections</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.sensors"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.extras"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.extras</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.state"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.get_state"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.get_state()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.reset"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.reset_to"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.reset_to()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.update"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.keys"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.keys()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveSceneCfg"><code class="docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveSceneCfg.num_envs"><code class="docutils literal notranslate"><span class="pre">InteractiveSceneCfg.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing"><code class="docutils literal notranslate"><span class="pre">InteractiveSceneCfg.env_spacing</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update"><code class="docutils literal notranslate"><span class="pre">InteractiveSceneCfg.lazy_sensor_update</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics"><code class="docutils literal notranslate"><span class="pre">InteractiveSceneCfg.replicate_physics</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.scene">
+<span id="omni-isaac-lab-scene"></span><h1>omni.isaac.lab.scene<a class="headerlink" href="#module-omni.isaac.lab.scene" title="Permalink to this heading">#</a></h1>
+<p>Sub-package containing an interactive scene definition.</p>
+<p>A scene is a collection of entities (e.g., terrain, articulations, sensors, lights, etc.) that can be added to the
+simulation. However, only a subset of these entities are of direct interest for the user to interact with.
+For example, the user may want to interact with a robot in the scene, but not with the terrain or the lights.
+For this reason, we integrate the different entities into a single class called <a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a>.</p>
+<p>The interactive scene performs the following tasks:</p>
+<ol class="arabic simple">
+<li><p>It parses the configuration class <a class="reference internal" href="#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a> to create the scene. This configuration class is
+inherited by the user to add entities to the scene.</p></li>
+<li><p>It clones the entities based on the number of environments specified by the user.</p></li>
+<li><p>It clubs the entities into different groups based on their type (e.g., articulations, sensors, etc.).</p></li>
+<li><p>It provides a set of methods to unify the common operations on the entities in the scene (e.g., resetting internal
+buffers, writing buffers to simulation and updating buffers from simulation).</p></li>
+</ol>
+<p>The interactive scene can be passed around to different modules in the framework to perform different tasks.
+For instance, computing the observations based on the state of the scene, or randomizing the scene, or applying
+actions to the scene. All these are handled by different “managers” in the framework. Please refer to the
+<a class="reference internal" href="omni.isaac.lab.managers.html#module-omni.isaac.lab.managers" title="omni.isaac.lab.managers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.managers</span></code></a> sub-package for more details.</p>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-obj docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a></p></td>
+<td><p>A scene that contains entities added to the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a></p></td>
+<td><p>Configuration for the interactive scene.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="interactive-scene">
+<h2>interactive Scene<a class="headerlink" href="#interactive-scene" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.scene.</span></span><span class="sig-name descname"><span class="pre">InteractiveScene</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene.html#InteractiveScene"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>A scene that contains entities added to the simulation.</p>
+<p>The interactive scene parses the <a class="reference internal" href="#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a> class to create the scene.
+Based on the specified number of environments, it clones the entities and groups them into different
+categories (e.g., articulations, sensors, etc.).</p>
+<p>Cloning can be performed in two ways:</p>
+<ul>
+<li><p>For tasks where all environments contain the same assets, a more performant cloning paradigm
+can be used to allow for faster environment creation. This is specified by the <code class="docutils literal notranslate"><span class="pre">replicate_physics</span></code> flag.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">InteractiveSceneCfg</span><span class="p">(</span><span class="n">replicate_physics</span><span class="o">=</span><span class="kc">True</span><span class="p">))</span>
+</pre></div>
+</div>
+</li>
+<li><p>For tasks that require having separate assets in the environments, <code class="docutils literal notranslate"><span class="pre">replicate_physics</span></code> would have to
+be set to False, which will add some costs to the overall startup time.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">InteractiveSceneCfg</span><span class="p">(</span><span class="n">replicate_physics</span><span class="o">=</span><span class="kc">False</span><span class="p">))</span>
+</pre></div>
+</div>
+</li>
+</ul>
+<p>Each entity is registered to scene based on its name in the configuration class. For example, if the user
+specifies a robot in the configuration class as follows:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab_assets.anymal</span> <span class="kn">import</span> <span class="n">ANYMAL_C_CFG</span>
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MySceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+
+    <span class="n">robot</span> <span class="o">=</span> <span class="n">ANYMAL_C_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Then the robot can be accessed from the scene as follows:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span>
+
+<span class="c1"># create 128 environments</span>
+<span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">MySceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">128</span><span class="p">))</span>
+
+<span class="c1"># access the robot from the scene</span>
+<span class="n">robot</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span>
+<span class="c1"># access the robot based on its type</span>
+<span class="n">robot</span> <span class="o">=</span> <span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span>
+</pre></div>
+</div>
+<p>If the <a class="reference internal" href="#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a> class does not include asset entities, the cloning process
+can still be triggered if assets were added to the stage outside of the <a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a> class:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">InteractiveSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">128</span><span class="p">,</span> <span class="n">replicate_physics</span><span class="o">=</span><span class="kc">True</span><span class="p">))</span>
+<span class="n">scene</span><span class="o">.</span><span class="n">clone_environments</span><span class="p">()</span>
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is important to note that the scene only performs common operations on the entities. For example,
+resetting the internal buffers, writing the buffers to the simulation and updating the buffers from the
+simulation. The scene does not perform any task specific to the entity. For example, it does not apply
+actions to the robot or compute observations from the robot. These tasks are handled by different
+modules called “managers” in the framework. Please refer to the <a class="reference internal" href="omni.isaac.lab.managers.html#module-omni.isaac.lab.managers" title="omni.isaac.lab.managers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.managers</span></code></a> sub-package
+for more details.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.__init__" title="omni.isaac.lab.scene.InteractiveScene.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.clone_environments" title="omni.isaac.lab.scene.InteractiveScene.clone_environments"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clone_environments</span></code></a>([copy_from_source])</p></td>
+<td><p>Creates clones of the environment <code class="docutils literal notranslate"><span class="pre">/World/envs/env_0</span></code>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.filter_collisions" title="omni.isaac.lab.scene.InteractiveScene.filter_collisions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">filter_collisions</span></code></a>([global_prim_paths])</p></td>
+<td><p>Filter environments collisions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.get_state" title="omni.isaac.lab.scene.InteractiveScene.get_state"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_state</span></code></a>([is_relative])</p></td>
+<td><p>Returns the state of the scene entities.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.reset" title="omni.isaac.lab.scene.InteractiveScene.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the scene entities.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.reset_to" title="omni.isaac.lab.scene.InteractiveScene.reset_to"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset_to</span></code></a>(state[, env_ids, is_relative])</p></td>
+<td><p>Resets the scene entities to the given state.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.write_data_to_sim" title="omni.isaac.lab.scene.InteractiveScene.write_data_to_sim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">write_data_to_sim</span></code></a>()</p></td>
+<td><p>Writes the data of the scene entities to the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.update" title="omni.isaac.lab.scene.InteractiveScene.update"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update</span></code></a>(dt)</p></td>
+<td><p>Update the scene entities.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.keys" title="omni.isaac.lab.scene.InteractiveScene.keys"><code class="xref py py-obj docutils literal notranslate"><span class="pre">keys</span></code></a>()</p></td>
+<td><p>Returns the keys of the scene entities.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.physics_scene_path" title="omni.isaac.lab.scene.InteractiveScene.physics_scene_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_scene_path</span></code></a></p></td>
+<td><p>The path to the USD Physics Scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.physics_dt" title="omni.isaac.lab.scene.InteractiveScene.physics_dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_dt</span></code></a></p></td>
+<td><p>The physics timestep of the scene.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.device" title="omni.isaac.lab.scene.InteractiveScene.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>The device on which the scene is created.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.env_ns" title="omni.isaac.lab.scene.InteractiveScene.env_ns"><code class="xref py py-obj docutils literal notranslate"><span class="pre">env_ns</span></code></a></p></td>
+<td><p>The namespace <code class="docutils literal notranslate"><span class="pre">/World/envs</span></code> in which all environments created.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.env_regex_ns" title="omni.isaac.lab.scene.InteractiveScene.env_regex_ns"><code class="xref py py-obj docutils literal notranslate"><span class="pre">env_regex_ns</span></code></a></p></td>
+<td><p>The namespace <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*</span></code> in which all environments created.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.num_envs" title="omni.isaac.lab.scene.InteractiveScene.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>The number of environments handled by the scene.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.env_origins" title="omni.isaac.lab.scene.InteractiveScene.env_origins"><code class="xref py py-obj docutils literal notranslate"><span class="pre">env_origins</span></code></a></p></td>
+<td><p>The origins of the environments in the scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.terrain" title="omni.isaac.lab.scene.InteractiveScene.terrain"><code class="xref py py-obj docutils literal notranslate"><span class="pre">terrain</span></code></a></p></td>
+<td><p>The terrain in the scene.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.articulations" title="omni.isaac.lab.scene.InteractiveScene.articulations"><code class="xref py py-obj docutils literal notranslate"><span class="pre">articulations</span></code></a></p></td>
+<td><p>A dictionary of articulations in the scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.deformable_objects" title="omni.isaac.lab.scene.InteractiveScene.deformable_objects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_objects</span></code></a></p></td>
+<td><p>A dictionary of deformable objects in the scene.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.rigid_objects" title="omni.isaac.lab.scene.InteractiveScene.rigid_objects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_objects</span></code></a></p></td>
+<td><p>A dictionary of rigid objects in the scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.rigid_object_collections" title="omni.isaac.lab.scene.InteractiveScene.rigid_object_collections"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_object_collections</span></code></a></p></td>
+<td><p>A dictionary of rigid object collections in the scene.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.sensors" title="omni.isaac.lab.scene.InteractiveScene.sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sensors</span></code></a></p></td>
+<td><p>A dictionary of the sensors in the scene, such as cameras and contact reporters.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.extras" title="omni.isaac.lab.scene.InteractiveScene.extras"><code class="xref py py-obj docutils literal notranslate"><span class="pre">extras</span></code></a></p></td>
+<td><p>A dictionary of miscellaneous simulation objects that neither inherit from assets nor sensors.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.state" title="omni.isaac.lab.scene.InteractiveScene.state"><code class="xref py py-obj docutils literal notranslate"><span class="pre">state</span></code></a></p></td>
+<td><p>Returns the state of the scene entities.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg"><span class="pre">InteractiveSceneCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene.html#InteractiveScene.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the scene.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration class for the scene.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.clone_environments">
+<span class="sig-name descname"><span class="pre">clone_environments</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">copy_from_source</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene.html#InteractiveScene.clone_environments"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.clone_environments" title="Permalink to this definition">#</a></dt>
+<dd><p>Creates clones of the environment <code class="docutils literal notranslate"><span class="pre">/World/envs/env_0</span></code>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>copy_from_source</strong> – (bool): If set to False, clones inherit from /World/envs/env_0 and mirror its changes.</p></li>
+<li><p><strong>True</strong> (<em>If</em>) – </p></li>
+<li><p><strong>time</strong> (<em>clones are independent copies</em><em> of </em><em>the source prim and won't reflect its changes</em><em> (</em><em>start-up</em>) – </p></li>
+<li><p><strong>False.</strong> (<em>may increase</em><em>)</em><em>. Defaults to</em>) – </p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.filter_collisions">
+<span class="sig-name descname"><span class="pre">filter_collisions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">global_prim_paths</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene.html#InteractiveScene.filter_collisions"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.filter_collisions" title="Permalink to this definition">#</a></dt>
+<dd><p>Filter environments collisions.</p>
+<p>Disables collisions between the environments in <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*</span></code> and enables collisions with the prims
+in global prim paths (e.g. ground plane).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>global_prim_paths</strong> – A list of global prim paths to enable collisions with.
+Defaults to None, in which case no global prim paths are considered.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.physics_scene_path">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">physics_scene_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.physics_scene_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The path to the USD Physics Scene.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.physics_dt">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">physics_dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.physics_dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The physics timestep of the scene.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.device" title="Permalink to this definition">#</a></dt>
+<dd><p>The device on which the scene is created.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.env_ns">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">env_ns</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.env_ns" title="Permalink to this definition">#</a></dt>
+<dd><p>The namespace <code class="docutils literal notranslate"><span class="pre">/World/envs</span></code> in which all environments created.</p>
+<p>The environments are present w.r.t. this namespace under “env_{N}” prim,
+where N is a natural number.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.env_regex_ns">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">env_regex_ns</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.env_regex_ns" title="Permalink to this definition">#</a></dt>
+<dd><p>The namespace <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*</span></code> in which all environments created.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of environments handled by the scene.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.env_origins">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">env_origins</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.env_origins" title="Permalink to this definition">#</a></dt>
+<dd><p>The origins of the environments in the scene. Shape is (num_envs, 3).</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.terrain">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">terrain</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter" title="omni.isaac.lab.terrains.terrain_importer.TerrainImporter"><span class="pre">TerrainImporter</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>The terrain in the scene. If None, then the scene has no terrain.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We treat terrain separate from <a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.extras" title="omni.isaac.lab.scene.InteractiveScene.extras"><code class="xref py py-attr docutils literal notranslate"><span class="pre">extras</span></code></a> since terrains define environment origins and are
+handled differently from other miscellaneous entities.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.articulations">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">articulations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.articulation.articulation.Articulation"><span class="pre">omni.isaac.lab.assets.articulation.articulation.Articulation</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.articulations" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary of articulations in the scene.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.deformable_objects">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">deformable_objects</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject" title="omni.isaac.lab.assets.deformable_object.deformable_object.DeformableObject"><span class="pre">omni.isaac.lab.assets.deformable_object.deformable_object.DeformableObject</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.deformable_objects" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary of deformable objects in the scene.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.rigid_objects">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">rigid_objects</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject"><span class="pre">omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.rigid_objects" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary of rigid objects in the scene.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.rigid_object_collections">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">rigid_object_collections</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection" title="omni.isaac.lab.assets.rigid_object_collection.rigid_object_collection.RigidObjectCollection"><span class="pre">omni.isaac.lab.assets.rigid_object_collection.rigid_object_collection.RigidObjectCollection</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.rigid_object_collections" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary of rigid object collections in the scene.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.sensors">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.sensor_base.SensorBase"><span class="pre">omni.isaac.lab.sensors.sensor_base.SensorBase</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary of the sensors in the scene, such as cameras and contact reporters.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.extras">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">extras</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.prims.XFormPrimView" title="(in isaac_sim)"><span class="pre">omni.isaac.core.prims.XFormPrimView</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.extras" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary of miscellaneous simulation objects that neither inherit from assets nor sensors.</p>
+<p>The keys are the names of the miscellaneous objects, and the values are the <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.prims.XFormPrimView">XFormPrimView</a>
+of the corresponding prims.</p>
+<p>As an example, lights or other props in the scene that do not have any attributes or properties that you
+want to alter at runtime can be added to this dictionary.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>These are not reset or updated by the scene. They are mainly other prims that are not necessarily
+handled by the interactive scene, but are useful to be accessed by the user.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.state">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">state</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.state" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the state of the scene entities.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A dictionary of the state of the scene entities.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.get_state">
+<span class="sig-name descname"><span class="pre">get_state</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">is_relative</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene.html#InteractiveScene.get_state"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.get_state" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the state of the scene entities.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>is_relative</strong> – If set to True, the state is considered relative to the environment origins.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A dictionary of the state of the scene entities.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene.html#InteractiveScene.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the scene entities.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The indices of the environments to reset.
+Defaults to None (all instances).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.reset_to">
+<span class="sig-name descname"><span class="pre">reset_to</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">state</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">is_relative</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene.html#InteractiveScene.reset_to"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.reset_to" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the scene entities to the given state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>state</strong> – The state to reset the scene entities to.</p></li>
+<li><p><strong>env_ids</strong> – The indices of the environments to reset.
+Defaults to None (all instances).</p></li>
+<li><p><strong>is_relative</strong> – If set to True, the state is considered relative to the environment origins.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.write_data_to_sim">
+<span class="sig-name descname"><span class="pre">write_data_to_sim</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene.html#InteractiveScene.write_data_to_sim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.write_data_to_sim" title="Permalink to this definition">#</a></dt>
+<dd><p>Writes the data of the scene entities to the simulation.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.update">
+<span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene.html#InteractiveScene.update"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.update" title="Permalink to this definition">#</a></dt>
+<dd><p>Update the scene entities.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>dt</strong> – The amount of time passed from last <a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene.update" title="omni.isaac.lab.scene.InteractiveScene.update"><code class="xref py py-meth docutils literal notranslate"><span class="pre">update()</span></code></a> call.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveScene.keys">
+<span class="sig-name descname"><span class="pre">keys</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene.html#InteractiveScene.keys"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveScene.keys" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the keys of the scene entities.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The keys of the scene entities.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveSceneCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.scene.</span></span><span class="sig-name descname"><span class="pre">InteractiveSceneCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/scene/interactive_scene_cfg.html#InteractiveSceneCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveSceneCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for the interactive scene.</p>
+<p>The users can inherit from this class to add entities to their scene. This is then parsed by the
+<a class="reference internal" href="#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a> class to create the scene.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The adding of entities to the scene is sensitive to the order of the attributes in the configuration.
+Please make sure to add the entities in the order you want them to be added to the scene.
+The recommended order of specification is terrain, physics-related assets (articulations and rigid bodies),
+sensors and non-physics-related assets (lights).</p>
+</div>
+<p>For example, to add a robot to the scene, the user can create a configuration class as follows:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">AssetBaseCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors.ray_caster</span> <span class="kn">import</span> <span class="n">GridPatternCfg</span><span class="p">,</span> <span class="n">RayCasterCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab_assets.anymal</span> <span class="kn">import</span> <span class="n">ANYMAL_C_CFG</span>
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MySceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+
+    <span class="c1"># terrain - flat terrain plane</span>
+    <span class="n">terrain</span> <span class="o">=</span> <span class="n">TerrainImporterCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span>
+        <span class="n">terrain_type</span><span class="o">=</span><span class="s2">&quot;plane&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="c1"># articulation - robot 1</span>
+    <span class="n">robot_1</span> <span class="o">=</span> <span class="n">ANYMAL_C_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot_1&quot;</span><span class="p">)</span>
+    <span class="c1"># articulation - robot 2</span>
+    <span class="n">robot_2</span> <span class="o">=</span> <span class="n">ANYMAL_C_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot_2&quot;</span><span class="p">)</span>
+    <span class="n">robot_2</span><span class="o">.</span><span class="n">init_state</span><span class="o">.</span><span class="n">pos</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.6</span><span class="p">)</span>
+
+    <span class="c1"># sensor - ray caster attached to the base of robot 1 that scans the ground</span>
+    <span class="n">height_scanner</span> <span class="o">=</span> <span class="n">RayCasterCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot_1/base&quot;</span><span class="p">,</span>
+        <span class="n">offset</span><span class="o">=</span><span class="n">RayCasterCfg</span><span class="o">.</span><span class="n">OffsetCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">20.0</span><span class="p">)),</span>
+        <span class="n">attach_yaw_only</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">pattern_cfg</span><span class="o">=</span><span class="n">GridPatternCfg</span><span class="p">(</span><span class="n">resolution</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="n">size</span><span class="o">=</span><span class="p">[</span><span class="mf">1.6</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">]),</span>
+        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">mesh_prim_paths</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">],</span>
+    <span class="p">)</span>
+
+    <span class="c1"># extras - light</span>
+    <span class="n">light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/light&quot;</span><span class="p">,</span>
+        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DistantLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">)),</span>
+        <span class="n">init_state</span><span class="o">=</span><span class="n">AssetBaseCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">500.0</span><span class="p">)),</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveSceneCfg.num_envs" title="omni.isaac.lab.scene.InteractiveSceneCfg.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Number of environment instances handled by the scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing" title="omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing"><code class="xref py py-obj docutils literal notranslate"><span class="pre">env_spacing</span></code></a></p></td>
+<td><p>Spacing between environments.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update" title="omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lazy_sensor_update</span></code></a></p></td>
+<td><p>Whether to update sensors only when they are accessed.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics" title="omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics"><code class="xref py py-obj docutils literal notranslate"><span class="pre">replicate_physics</span></code></a></p></td>
+<td><p>Enable/disable replication of physics schemas when using the Cloner APIs.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveSceneCfg.num_envs">
+<span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveSceneCfg.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of environment instances handled by the scene.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing">
+<span class="sig-name descname"><span class="pre">env_spacing</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing" title="Permalink to this definition">#</a></dt>
+<dd><p>Spacing between environments.</p>
+<p>This is the default distance between environment origins in the scene. Used only when the
+number of environments is greater than one.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update">
+<span class="sig-name descname"><span class="pre">lazy_sensor_update</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to update sensors only when they are accessed. Default is True.</p>
+<p>If true, the sensor data is only updated when their attribute <code class="docutils literal notranslate"><span class="pre">data</span></code> is accessed. Otherwise, the sensor
+data is updated every time sensors are updated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics">
+<span class="sig-name descname"><span class="pre">replicate_physics</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics" title="Permalink to this definition">#</a></dt>
+<dd><p>Enable/disable replication of physics schemas when using the Cloner APIs. Default is True.</p>
+<p>If True, the simulation will have the same asset instances (USD prims) in all the cloned environments.
+Internally, this ensures optimization in setting up the scene and parsing it via the physics stage parser.</p>
+<p>If False, the simulation allows having separate asset instances (USD prims) in each environment.
+This flexibility comes at a cost of slowdowns in setting up and parsing the scene.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Optimized parsing of certain prim types (such as deformable objects) is not currently supported
+by the physics engine. In these cases, this flag needs to be set to False.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
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+    <i class="fa-solid fa-list"></i> Contents
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#interactive-scene">interactive Scene</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene"><code class="docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.__init__"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.clone_environments"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.clone_environments()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.filter_collisions"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.filter_collisions()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.physics_scene_path"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.physics_scene_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.physics_dt"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.physics_dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.device"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.env_ns"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.env_ns</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.env_regex_ns"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.env_regex_ns</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.num_envs"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.env_origins"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.env_origins</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.terrain"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.terrain</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.articulations"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.articulations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.deformable_objects"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.deformable_objects</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.rigid_objects"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.rigid_objects</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.rigid_object_collections"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.rigid_object_collections</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.sensors"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.extras"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.extras</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.state"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.state</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.get_state"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.get_state()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.reset"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.reset_to"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.reset_to()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.write_data_to_sim"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.write_data_to_sim()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.update"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.update()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveScene.keys"><code class="docutils literal notranslate"><span class="pre">InteractiveScene.keys()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveSceneCfg"><code class="docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveSceneCfg.num_envs"><code class="docutils literal notranslate"><span class="pre">InteractiveSceneCfg.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing"><code class="docutils literal notranslate"><span class="pre">InteractiveSceneCfg.env_spacing</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update"><code class="docutils literal notranslate"><span class="pre">InteractiveSceneCfg.lazy_sensor_update</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics"><code class="docutils literal notranslate"><span class="pre">InteractiveSceneCfg.replicate_physics</span></code></a></li>
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+    <h1>omni.isaac.lab.sensors</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#sensor-base">Sensor Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase"><code class="docutils literal notranslate"><span class="pre">SensorBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.__init__"><code class="docutils literal notranslate"><span class="pre">SensorBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.is_initialized"><code class="docutils literal notranslate"><span class="pre">SensorBase.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.num_instances"><code class="docutils literal notranslate"><span class="pre">SensorBase.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.device"><code class="docutils literal notranslate"><span class="pre">SensorBase.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.data"><code class="docutils literal notranslate"><span class="pre">SensorBase.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">SensorBase.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">SensorBase.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.reset"><code class="docutils literal notranslate"><span class="pre">SensorBase.reset()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBaseCfg"><code class="docutils literal notranslate"><span class="pre">SensorBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBaseCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">SensorBaseCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBaseCfg.update_period"><code class="docutils literal notranslate"><span class="pre">SensorBaseCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBaseCfg.history_length"><code class="docutils literal notranslate"><span class="pre">SensorBaseCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBaseCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">SensorBaseCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#usd-camera">USD Camera</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera"><code class="docutils literal notranslate"><span class="pre">Camera</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.cfg"><code class="docutils literal notranslate"><span class="pre">Camera.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.UNSUPPORTED_TYPES"><code class="docutils literal notranslate"><span class="pre">Camera.UNSUPPORTED_TYPES</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.__init__"><code class="docutils literal notranslate"><span class="pre">Camera.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.num_instances"><code class="docutils literal notranslate"><span class="pre">Camera.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.data"><code class="docutils literal notranslate"><span class="pre">Camera.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.frame"><code class="docutils literal notranslate"><span class="pre">Camera.frame</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.render_product_paths"><code class="docutils literal notranslate"><span class="pre">Camera.render_product_paths</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.image_shape"><code class="docutils literal notranslate"><span class="pre">Camera.image_shape</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.set_intrinsic_matrices"><code class="docutils literal notranslate"><span class="pre">Camera.set_intrinsic_matrices()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.set_world_poses"><code class="docutils literal notranslate"><span class="pre">Camera.set_world_poses()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.set_world_poses_from_view"><code class="docutils literal notranslate"><span class="pre">Camera.set_world_poses_from_view()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.reset"><code class="docutils literal notranslate"><span class="pre">Camera.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.device"><code class="docutils literal notranslate"><span class="pre">Camera.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">Camera.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.is_initialized"><code class="docutils literal notranslate"><span class="pre">Camera.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">Camera.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData"><code class="docutils literal notranslate"><span class="pre">CameraData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.pos_w"><code class="docutils literal notranslate"><span class="pre">CameraData.pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.quat_w_world"><code class="docutils literal notranslate"><span class="pre">CameraData.quat_w_world</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.image_shape"><code class="docutils literal notranslate"><span class="pre">CameraData.image_shape</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.intrinsic_matrices"><code class="docutils literal notranslate"><span class="pre">CameraData.intrinsic_matrices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.output"><code class="docutils literal notranslate"><span class="pre">CameraData.output</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.info"><code class="docutils literal notranslate"><span class="pre">CameraData.info</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.quat_w_ros"><code class="docutils literal notranslate"><span class="pre">CameraData.quat_w_ros</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.quat_w_opengl"><code class="docutils literal notranslate"><span class="pre">CameraData.quat_w_opengl</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg"><code class="docutils literal notranslate"><span class="pre">CameraCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">CameraCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">CameraCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">CameraCfg.OffsetCfg.rot</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention"><code class="docutils literal notranslate"><span class="pre">CameraCfg.OffsetCfg.convention</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.offset"><code class="docutils literal notranslate"><span class="pre">CameraCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.spawn"><code class="docutils literal notranslate"><span class="pre">CameraCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.depth_clipping_behavior"><code class="docutils literal notranslate"><span class="pre">CameraCfg.depth_clipping_behavior</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">CameraCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.update_period"><code class="docutils literal notranslate"><span class="pre">CameraCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.history_length"><code class="docutils literal notranslate"><span class="pre">CameraCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">CameraCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.data_types"><code class="docutils literal notranslate"><span class="pre">CameraCfg.data_types</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.width"><code class="docutils literal notranslate"><span class="pre">CameraCfg.width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.height"><code class="docutils literal notranslate"><span class="pre">CameraCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.semantic_filter"><code class="docutils literal notranslate"><span class="pre">CameraCfg.semantic_filter</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation"><code class="docutils literal notranslate"><span class="pre">CameraCfg.colorize_semantic_segmentation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation"><code class="docutils literal notranslate"><span class="pre">CameraCfg.colorize_instance_id_segmentation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation"><code class="docutils literal notranslate"><span class="pre">CameraCfg.colorize_instance_segmentation</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#tile-rendered-usd-camera">Tile-Rendered USD Camera</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera"><code class="docutils literal notranslate"><span class="pre">TiledCamera</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.cfg"><code class="docutils literal notranslate"><span class="pre">TiledCamera.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.__init__"><code class="docutils literal notranslate"><span class="pre">TiledCamera.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.reset"><code class="docutils literal notranslate"><span class="pre">TiledCamera.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.UNSUPPORTED_TYPES"><code class="docutils literal notranslate"><span class="pre">TiledCamera.UNSUPPORTED_TYPES</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.data"><code class="docutils literal notranslate"><span class="pre">TiledCamera.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.device"><code class="docutils literal notranslate"><span class="pre">TiledCamera.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.frame"><code class="docutils literal notranslate"><span class="pre">TiledCamera.frame</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">TiledCamera.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.image_shape"><code class="docutils literal notranslate"><span class="pre">TiledCamera.image_shape</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.is_initialized"><code class="docutils literal notranslate"><span class="pre">TiledCamera.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.num_instances"><code class="docutils literal notranslate"><span class="pre">TiledCamera.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.render_product_paths"><code class="docutils literal notranslate"><span class="pre">TiledCamera.render_product_paths</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">TiledCamera.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.set_intrinsic_matrices"><code class="docutils literal notranslate"><span class="pre">TiledCamera.set_intrinsic_matrices()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.set_world_poses"><code class="docutils literal notranslate"><span class="pre">TiledCamera.set_world_poses()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.set_world_poses_from_view"><code class="docutils literal notranslate"><span class="pre">TiledCamera.set_world_poses_from_view()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.OffsetCfg.rot</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.OffsetCfg.convention</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.update_period"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.history_length"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.offset"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.spawn"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.depth_clipping_behavior"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.depth_clipping_behavior</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.data_types"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.data_types</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.width"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.height"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.semantic_filter"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.semantic_filter</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_semantic_segmentation"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.colorize_semantic_segmentation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_id_segmentation"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.colorize_instance_id_segmentation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_segmentation"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.colorize_instance_segmentation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.return_latest_camera_pose</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#contact-sensor">Contact Sensor</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor"><code class="docutils literal notranslate"><span class="pre">ContactSensor</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.cfg"><code class="docutils literal notranslate"><span class="pre">ContactSensor.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.__init__"><code class="docutils literal notranslate"><span class="pre">ContactSensor.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.num_instances"><code class="docutils literal notranslate"><span class="pre">ContactSensor.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.data"><code class="docutils literal notranslate"><span class="pre">ContactSensor.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.num_bodies"><code class="docutils literal notranslate"><span class="pre">ContactSensor.num_bodies</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.body_names"><code class="docutils literal notranslate"><span class="pre">ContactSensor.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.body_physx_view"><code class="docutils literal notranslate"><span class="pre">ContactSensor.body_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.contact_physx_view"><code class="docutils literal notranslate"><span class="pre">ContactSensor.contact_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.reset"><code class="docutils literal notranslate"><span class="pre">ContactSensor.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.find_bodies"><code class="docutils literal notranslate"><span class="pre">ContactSensor.find_bodies()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.compute_first_contact"><code class="docutils literal notranslate"><span class="pre">ContactSensor.compute_first_contact()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.compute_first_air"><code class="docutils literal notranslate"><span class="pre">ContactSensor.compute_first_air()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.device"><code class="docutils literal notranslate"><span class="pre">ContactSensor.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">ContactSensor.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.is_initialized"><code class="docutils literal notranslate"><span class="pre">ContactSensor.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">ContactSensor.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData"><code class="docutils literal notranslate"><span class="pre">ContactSensorData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.pos_w"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.quat_w"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.net_forces_w"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.net_forces_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.net_forces_w_history</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.force_matrix_w"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.force_matrix_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.last_air_time"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.last_air_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.current_air_time"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.current_air_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.last_contact_time"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.last_contact_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.current_contact_time"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.current_contact_time</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_pose"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.track_pose</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_air_time"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.track_air_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.update_period"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.history_length"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.force_threshold"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.force_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.filter_prim_paths_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#frame-transformer">Frame Transformer</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer"><code class="docutils literal notranslate"><span class="pre">FrameTransformer</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.cfg"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.__init__"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.data"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.reset"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.device"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.is_initialized"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.num_instances"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.target_frame_names"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.target_frame_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.target_pos_source"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.target_pos_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.target_quat_source"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.target_quat_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.target_pos_w"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.target_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.target_quat_w"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.target_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.source_pos_w"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.source_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.source_quat_w"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.source_quat_w</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.FrameCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.FrameCfg.prim_path</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.FrameCfg.name</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.offset"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.FrameCfg.offset</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.update_period"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.history_length"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.source_frame_offset"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.source_frame_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.target_frames"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.target_frames</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">OffsetCfg.pos</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">OffsetCfg.rot</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#ray-cast-sensor">Ray-Cast Sensor</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster"><code class="docutils literal notranslate"><span class="pre">RayCaster</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.cfg"><code class="docutils literal notranslate"><span class="pre">RayCaster.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.__init__"><code class="docutils literal notranslate"><span class="pre">RayCaster.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.num_instances"><code class="docutils literal notranslate"><span class="pre">RayCaster.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.data"><code class="docutils literal notranslate"><span class="pre">RayCaster.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.reset"><code class="docutils literal notranslate"><span class="pre">RayCaster.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.device"><code class="docutils literal notranslate"><span class="pre">RayCaster.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">RayCaster.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.is_initialized"><code class="docutils literal notranslate"><span class="pre">RayCaster.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">RayCaster.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterData"><code class="docutils literal notranslate"><span class="pre">RayCasterData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterData.pos_w"><code class="docutils literal notranslate"><span class="pre">RayCasterData.pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterData.quat_w"><code class="docutils literal notranslate"><span class="pre">RayCasterData.quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterData.ray_hits_w"><code class="docutils literal notranslate"><span class="pre">RayCasterData.ray_hits_w</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.OffsetCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.mesh_prim_paths</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.offset"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.update_period"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.history_length"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.attach_yaw_only</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.pattern_cfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.pattern_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.max_distance"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.max_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.drift_range"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.drift_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#ray-cast-camera">Ray-Cast Camera</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.cfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.UNSUPPORTED_TYPES"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.UNSUPPORTED_TYPES</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.__init__"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.data"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.image_shape"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.image_shape</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.frame"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.frame</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.set_intrinsic_matrices()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.reset"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.set_world_poses()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses_from_view"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.set_world_poses_from_view()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.device"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.is_initialized"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.num_instances"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.OffsetCfg.rot</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.OffsetCfg.convention</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.offset"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.update_period"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.history_length"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.mesh_prim_paths</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.attach_yaw_only</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.max_distance"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.max_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.drift_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.data_types"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.data_types</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.depth_clipping_behavior"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.depth_clipping_behavior</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.pattern_cfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.pattern_cfg</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#inertia-measurement-unit">Inertia Measurement Unit</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu"><code class="docutils literal notranslate"><span class="pre">Imu</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.cfg"><code class="docutils literal notranslate"><span class="pre">Imu.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.__init__"><code class="docutils literal notranslate"><span class="pre">Imu.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.data"><code class="docutils literal notranslate"><span class="pre">Imu.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.num_instances"><code class="docutils literal notranslate"><span class="pre">Imu.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.reset"><code class="docutils literal notranslate"><span class="pre">Imu.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.device"><code class="docutils literal notranslate"><span class="pre">Imu.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">Imu.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.is_initialized"><code class="docutils literal notranslate"><span class="pre">Imu.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">Imu.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg"><code class="docutils literal notranslate"><span class="pre">ImuCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">ImuCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">ImuCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">ImuCfg.OffsetCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">ImuCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.update_period"><code class="docutils literal notranslate"><span class="pre">ImuCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.history_length"><code class="docutils literal notranslate"><span class="pre">ImuCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">ImuCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.offset"><code class="docutils literal notranslate"><span class="pre">ImuCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">ImuCfg.visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.gravity_bias"><code class="docutils literal notranslate"><span class="pre">ImuCfg.gravity_bias</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.sensors">
+<span id="omni-isaac-lab-sensors"></span><h1>omni.isaac.lab.sensors<a class="headerlink" href="#module-omni.isaac.lab.sensors" title="Permalink to this heading">#</a></h1>
+<p>Sub-package containing various sensor classes implementations.</p>
+<p>This subpackage contains the sensor classes that are compatible with Isaac Sim. We include both
+USD-based and custom sensors:</p>
+<ul class="simple">
+<li><p><strong>USD-prim sensors</strong>: Available in Omniverse and require creating a USD prim for them.
+For instance, RTX ray tracing camera and lidar sensors.</p></li>
+<li><p><strong>USD-schema sensors</strong>: Available in Omniverse and require creating a USD schema on an existing prim.
+For instance, contact sensors and frame transformers.</p></li>
+<li><p><strong>Custom sensors</strong>: Implemented in Python and do not require creating any USD prim or schema.
+For instance, warp-based ray-casters.</p></li>
+</ul>
+<p>Due to the above categorization, the prim paths passed to the sensor’s configuration class
+are interpreted differently based on the sensor type. The following table summarizes the
+interpretation of the prim paths for different sensor types:</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Sensor Type</p></th>
+<th class="head"><p>Example Prim Path</p></th>
+<th class="head"><p>Pre-check</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Camera</p></td>
+<td><p>/World/robot/base/camera</p></td>
+<td><p>Leaf is available, and it will spawn a USD camera</p></td>
+</tr>
+<tr class="row-odd"><td><p>Contact Sensor</p></td>
+<td><p>/World/robot/feet_*</p></td>
+<td><p>Leaf is available and checks if the schema exists</p></td>
+</tr>
+<tr class="row-even"><td><p>Ray Caster</p></td>
+<td><p>/World/robot/base</p></td>
+<td><p>Leaf exists and is a physics body (Articulation / Rigid Body)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Frame Transformer</p></td>
+<td><p>/World/robot/base</p></td>
+<td><p>Leaf exists and is a physics body (Articulation / Rigid Body)</p></td>
+</tr>
+<tr class="row-even"><td><p>Imu</p></td>
+<td><p>/World/robot/base</p></td>
+<td><p>Leaf exists and is a physics body (Rigid Body)</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p class="rubric">Submodules</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="omni.isaac.lab.sensors.patterns.html#module-omni.isaac.lab.sensors.patterns" title="omni.isaac.lab.sensors.patterns"><code class="xref py py-obj docutils literal notranslate"><span class="pre">patterns</span></code></a></p></td>
+<td><p>Sub-module for ray-casting patterns used by the ray-caster.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.SensorBase"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SensorBase</span></code></a></p></td>
+<td><p>The base class for implementing a sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg" title="omni.isaac.lab.sensors.SensorBaseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SensorBaseCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Camera</span></code></a></p></td>
+<td><p>The camera sensor for acquiring visual data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData" title="omni.isaac.lab.sensors.CameraData"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CameraData</span></code></a></p></td>
+<td><p>Data container for the camera sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg" title="omni.isaac.lab.sensors.CameraCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CameraCfg</span></code></a></p></td>
+<td><p>Configuration for a camera sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera" title="omni.isaac.lab.sensors.TiledCamera"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TiledCamera</span></code></a></p></td>
+<td><p>The tiled rendering based camera sensor for acquiring the same data as the Camera class.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg" title="omni.isaac.lab.sensors.TiledCameraCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TiledCameraCfg</span></code></a></p></td>
+<td><p>Configuration for a tiled rendering-based camera sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor" title="omni.isaac.lab.sensors.ContactSensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ContactSensor</span></code></a></p></td>
+<td><p>A contact reporting sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData" title="omni.isaac.lab.sensors.ContactSensorData"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ContactSensorData</span></code></a></p></td>
+<td><p>Data container for the contact reporting sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg" title="omni.isaac.lab.sensors.ContactSensorCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ContactSensorCfg</span></code></a></p></td>
+<td><p>Configuration for the contact sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformer" title="omni.isaac.lab.sensors.FrameTransformer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">FrameTransformer</span></code></a></p></td>
+<td><p>A sensor for reporting frame transforms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerData" title="omni.isaac.lab.sensors.FrameTransformerData"><code class="xref py py-obj docutils literal notranslate"><span class="pre">FrameTransformerData</span></code></a></p></td>
+<td><p>Data container for the frame transformer sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg" title="omni.isaac.lab.sensors.FrameTransformerCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">FrameTransformerCfg</span></code></a></p></td>
+<td><p>Configuration for the frame transformer sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster" title="omni.isaac.lab.sensors.RayCaster"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RayCaster</span></code></a></p></td>
+<td><p>A ray-casting sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterData" title="omni.isaac.lab.sensors.RayCasterData"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RayCasterData</span></code></a></p></td>
+<td><p>Data container for the ray-cast sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg" title="omni.isaac.lab.sensors.RayCasterCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RayCasterCfg</span></code></a></p></td>
+<td><p>Configuration for the ray-cast sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera" title="omni.isaac.lab.sensors.RayCasterCamera"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RayCasterCamera</span></code></a></p></td>
+<td><p>A ray-casting camera sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg" title="omni.isaac.lab.sensors.RayCasterCameraCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RayCasterCameraCfg</span></code></a></p></td>
+<td><p>Configuration for the ray-cast sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Imu" title="omni.isaac.lab.sensors.Imu"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Imu</span></code></a></p></td>
+<td><p>The Inertia Measurement Unit (IMU) sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg" title="omni.isaac.lab.sensors.ImuCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ImuCfg</span></code></a></p></td>
+<td><p>Configuration for an Inertial Measurement Unit (IMU) sensor.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="sensor-base">
+<h2>Sensor Base<a class="headerlink" href="#sensor-base" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBase">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">SensorBase</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/sensor_base.html#SensorBase"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBase" title="Permalink to this definition">#</a></dt>
+<dd><p>The base class for implementing a sensor.</p>
+<p>The implementation is based on lazy evaluation. The sensor data is only updated when the user
+tries accessing the data through the <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase.data" title="omni.isaac.lab.sensors.SensorBase.data"><code class="xref py py-attr docutils literal notranslate"><span class="pre">data</span></code></a> property or sets <code class="docutils literal notranslate"><span class="pre">force_compute=True</span></code> in
+the <code class="xref py py-meth docutils literal notranslate"><span class="pre">update()</span></code> method. This is done to avoid unnecessary computation when the sensor data
+is not used.</p>
+<p>The sensor is updated at the specified update period. If the update period is zero, then the
+sensor is updated at every simulation step.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase.__init__" title="omni.isaac.lab.sensors.SensorBase.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initialize the sensor class.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase.set_debug_vis" title="omni.isaac.lab.sensors.SensorBase.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the sensor data.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase.reset" title="omni.isaac.lab.sensors.SensorBase.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the sensor internals.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase.is_initialized" title="omni.isaac.lab.sensors.SensorBase.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the sensor is initialized.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase.num_instances" title="omni.isaac.lab.sensors.SensorBase.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase.device" title="omni.isaac.lab.sensors.SensorBase.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase.data" title="omni.isaac.lab.sensors.SensorBase.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data from the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase.has_debug_vis_implementation" title="omni.isaac.lab.sensors.SensorBase.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the sensor has a debug visualization implemented.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBase.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg" title="omni.isaac.lab.sensors.SensorBaseCfg"><span class="pre">SensorBaseCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/sensor_base.html#SensorBase.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBase.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the sensor class.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration parameters for the sensor.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBase.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBase.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor is initialized.</p>
+<p>Returns True if the sensor is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBase.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBase.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the sensor.</p>
+<p>This is equal to the number of sensors per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBase.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBase.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBase.data">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBase.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data from the sensor.</p>
+<p>This property is only updated when the user tries to access the data. This is done to avoid
+unnecessary computation when the sensor data is not used.</p>
+<p>For updating the sensor when this property is accessed, you can use the following
+code snippet in your sensor implementation:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># update sensors if needed</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+<span class="c1"># return the data (where `_data` is the data for the sensor)</span>
+<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+</pre></div>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBase.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBase.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBase.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/sensor_base.html#SensorBase.set_debug_vis"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBase.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the sensor data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the sensor data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the sensor
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBase.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/sensor_base.html#SensorBase.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBase.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the sensor internals.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The sensor ids to reset. Defaults to None.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBaseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">SensorBaseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/sensor_base_cfg.html#SensorBaseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBaseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for a sensor.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg.prim_path" title="omni.isaac.lab.sensors.SensorBaseCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg.update_period" title="omni.isaac.lab.sensors.SensorBaseCfg.update_period"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_period</span></code></a></p></td>
+<td><p>Update period of the sensor buffers (in seconds).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg.history_length" title="omni.isaac.lab.sensors.SensorBaseCfg.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>Number of past frames to store in the sensor buffers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg.debug_vis" title="omni.isaac.lab.sensors.SensorBaseCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize the sensor.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBaseCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBaseCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot/sensor</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot/sensor</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBaseCfg.update_period">
+<span class="sig-name descname"><span class="pre">update_period</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBaseCfg.update_period" title="Permalink to this definition">#</a></dt>
+<dd><p>Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBaseCfg.history_length">
+<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBaseCfg.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of past frames to store in the sensor buffers. Defaults to 0, which means that only
+the current data is stored (no history).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.SensorBaseCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.SensorBaseCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize the sensor. Defaults to False.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="usd-camera">
+<h2>USD Camera<a class="headerlink" href="#usd-camera" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">Camera</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/camera.html#Camera"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.Camera" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.sensor_base.SensorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBase</span></code></a></p>
+<p>The camera sensor for acquiring visual data.</p>
+<p>This class wraps over the <a class="reference external" href="https://graphics.pixar.com/usd/docs/api/class_usd_geom_camera.html">UsdGeom Camera</a> for providing a consistent API for acquiring visual data.
+It ensures that the camera follows the ROS convention for the coordinate system.</p>
+<p>Summarizing from the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#annotator-output">replicator extension</a>, the following sensor types are supported:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;rgb&quot;</span></code>: A 3-channel rendered color image.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;rgba&quot;</span></code>: A 4-channel rendered color image with alpha channel.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;distance_to_camera&quot;</span></code>: An image containing the distance to camera optical center.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;distance_to_image_plane&quot;</span></code>: An image containing distances of 3D points from camera plane along camera’s z-axis.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;depth&quot;</span></code>: The same as <code class="docutils literal notranslate"><span class="pre">&quot;distance_to_image_plane&quot;</span></code>.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;normals&quot;</span></code>: An image containing the local surface normal vectors at each pixel.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;motion_vectors&quot;</span></code>: An image containing the motion vector data at each pixel.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;semantic_segmentation&quot;</span></code>: The semantic segmentation data.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;instance_segmentation_fast&quot;</span></code>: The instance segmentation data.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;instance_id_segmentation_fast&quot;</span></code>: The instance id segmentation data.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently the following sensor types are not supported in a “view” format:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;instance_segmentation&quot;</span></code>: The instance segmentation data. Please use the fast counterparts instead.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;instance_id_segmentation&quot;</span></code>: The instance id segmentation data. Please use the fast counterparts instead.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_2d_tight&quot;</span></code>: The tight 2D bounding box data (only contains non-occluded regions).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_2d_tight_fast&quot;</span></code>: The tight 2D bounding box data (only contains non-occluded regions).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_2d_loose&quot;</span></code>: The loose 2D bounding box data (contains occluded regions).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_2d_loose_fast&quot;</span></code>: The loose 2D bounding box data (contains occluded regions).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_3d&quot;</span></code>: The 3D view space bounding box data.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_3d_fast&quot;</span></code>: The 3D view space bounding box data.</p></li>
+</ul>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.cfg" title="omni.isaac.lab.sensors.Camera.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration parameters.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.UNSUPPORTED_TYPES" title="omni.isaac.lab.sensors.Camera.UNSUPPORTED_TYPES"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UNSUPPORTED_TYPES</span></code></a></p></td>
+<td><p>The set of sensor types that are not supported by the camera class.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.num_instances" title="omni.isaac.lab.sensors.Camera.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.data" title="omni.isaac.lab.sensors.Camera.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data from the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.frame" title="omni.isaac.lab.sensors.Camera.frame"><code class="xref py py-obj docutils literal notranslate"><span class="pre">frame</span></code></a></p></td>
+<td><p>Frame number when the measurement took place.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.render_product_paths" title="omni.isaac.lab.sensors.Camera.render_product_paths"><code class="xref py py-obj docutils literal notranslate"><span class="pre">render_product_paths</span></code></a></p></td>
+<td><p>The path of the render products for the cameras.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.image_shape" title="omni.isaac.lab.sensors.Camera.image_shape"><code class="xref py py-obj docutils literal notranslate"><span class="pre">image_shape</span></code></a></p></td>
+<td><p>A tuple containing (height, width) of the camera sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.device" title="omni.isaac.lab.sensors.Camera.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.has_debug_vis_implementation" title="omni.isaac.lab.sensors.Camera.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the sensor has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.is_initialized" title="omni.isaac.lab.sensors.Camera.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the sensor is initialized.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.__init__" title="omni.isaac.lab.sensors.Camera.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the camera sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.set_intrinsic_matrices" title="omni.isaac.lab.sensors.Camera.set_intrinsic_matrices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_intrinsic_matrices</span></code></a>(matrices[, ...])</p></td>
+<td><p>Set parameters of the USD camera from its intrinsic matrix.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.set_world_poses" title="omni.isaac.lab.sensors.Camera.set_world_poses"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_world_poses</span></code></a>([positions, orientations, ...])</p></td>
+<td><p>Set the pose of the camera w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.set_world_poses_from_view" title="omni.isaac.lab.sensors.Camera.set_world_poses_from_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_world_poses_from_view</span></code></a>(eyes, targets[, ...])</p></td>
+<td><p>Set the poses of the camera from the eye position and look-at target position.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.reset" title="omni.isaac.lab.sensors.Camera.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the sensor internals.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Camera.set_debug_vis" title="omni.isaac.lab.sensors.Camera.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the sensor data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg" title="omni.isaac.lab.sensors.CameraCfg"><span class="pre">CameraCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration parameters.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.UNSUPPORTED_TYPES">
+<span class="sig-name descname"><span class="pre">UNSUPPORTED_TYPES</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#set" title="(in Python v3.13)"><span class="pre">set</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'bounding_box_2d_loose',</span> <span class="pre">'bounding_box_2d_loose_fast',</span> <span class="pre">'bounding_box_2d_tight',</span> <span class="pre">'bounding_box_2d_tight_fast',</span> <span class="pre">'bounding_box_3d',</span> <span class="pre">'bounding_box_3d_fast',</span> <span class="pre">'instance_id_segmentation',</span> <span class="pre">'instance_segmentation'}</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.UNSUPPORTED_TYPES" title="Permalink to this definition">#</a></dt>
+<dd><p>The set of sensor types that are not supported by the camera class.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg" title="omni.isaac.lab.sensors.CameraCfg"><span class="pre">CameraCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/camera.html#Camera.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the camera sensor.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration parameters.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If no camera prim is found at the given path.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the provided data types are not supported by the camera.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the sensor.</p>
+<p>This is equal to the number of sensors per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData" title="omni.isaac.lab.sensors.camera.camera_data.CameraData"><span class="pre">CameraData</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data from the sensor.</p>
+<p>This property is only updated when the user tries to access the data. This is done to avoid
+unnecessary computation when the sensor data is not used.</p>
+<p>For updating the sensor when this property is accessed, you can use the following
+code snippet in your sensor implementation:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># update sensors if needed</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+<span class="c1"># return the data (where `_data` is the data for the sensor)</span>
+<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+</pre></div>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.frame">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">frame</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">torch.tensor</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.frame" title="Permalink to this definition">#</a></dt>
+<dd><p>Frame number when the measurement took place.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.render_product_paths">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">render_product_paths</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.render_product_paths" title="Permalink to this definition">#</a></dt>
+<dd><p>The path of the render products for the cameras.</p>
+<p>This can be used via replicator interfaces to attach to writes or external annotator registry.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.image_shape">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">image_shape</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.image_shape" title="Permalink to this definition">#</a></dt>
+<dd><p>A tuple containing (height, width) of the camera sensor.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.set_intrinsic_matrices">
+<span class="sig-name descname"><span class="pre">set_intrinsic_matrices</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrices</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">focal_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/camera.html#Camera.set_intrinsic_matrices"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.set_intrinsic_matrices" title="Permalink to this definition">#</a></dt>
+<dd><p>Set parameters of the USD camera from its intrinsic matrix.</p>
+<p>The intrinsic matrix and focal length are used to set the following parameters to the USD camera:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">focal_length</span></code>: The focal length of the camera.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">horizontal_aperture</span></code>: The horizontal aperture of the camera.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">vertical_aperture</span></code>: The vertical aperture of the camera.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">horizontal_aperture_offset</span></code>: The horizontal offset of the camera.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">vertical_aperture_offset</span></code>: The vertical offset of the camera.</p></li>
+</ul>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Due to limitations of Omniverse camera, we need to assume that the camera is a spherical lens,
+i.e. has square pixels, and the optical center is centered at the camera eye. If this assumption
+is not true in the input intrinsic matrix, then the camera will not set up correctly.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>matrices</strong> – The intrinsic matrices for the camera. Shape is (N, 3, 3).</p></li>
+<li><p><strong>focal_length</strong> – Focal length to use when computing aperture values (in cm). Defaults to 1.0.</p></li>
+<li><p><strong>env_ids</strong> – A sensor ids to manipulate. Defaults to None, which means all sensor indices.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.set_world_poses">
+<span class="sig-name descname"><span class="pre">set_world_poses</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientations</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">convention</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'opengl'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'ros'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'world'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'ros'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/camera.html#Camera.set_world_poses"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.set_world_poses" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the pose of the camera w.r.t. the world frame using specified convention.</p>
+<p>Since different fields use different conventions for camera orientations, the method allows users to
+set the camera poses in the specified convention. Possible conventions are:</p>
+<ul class="simple">
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;opengl&quot;</span></code> - forward axis: -Z - up axis +Y - Offset is applied in the OpenGL (Usd.Camera) convention</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;ros&quot;</span></code>    - forward axis: +Z - up axis -Y - Offset is applied in the ROS convention</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;world&quot;</span></code>  - forward axis: +X - up axis +Z - Offset is applied in the World Frame convention</p></li>
+</ul>
+<p>See <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.camera.utils.convert_camera_frame_orientation_convention()</span></code> for more details
+on the conventions.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>positions</strong> – The cartesian coordinates (in meters). Shape is (N, 3).
+Defaults to None, in which case the camera position in not changed.</p></li>
+<li><p><strong>orientations</strong> – The quaternion orientation in (w, x, y, z). Shape is (N, 4).
+Defaults to None, in which case the camera orientation in not changed.</p></li>
+<li><p><strong>env_ids</strong> – A sensor ids to manipulate. Defaults to None, which means all sensor indices.</p></li>
+<li><p><strong>convention</strong> – The convention in which the poses are fed. Defaults to “ros”.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the camera prim is not set. Need to call <code class="xref py py-meth docutils literal notranslate"><span class="pre">initialize()</span></code> method first.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.set_world_poses_from_view">
+<span class="sig-name descname"><span class="pre">set_world_poses_from_view</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">eyes</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">targets</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/camera.html#Camera.set_world_poses_from_view"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.set_world_poses_from_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the poses of the camera from the eye position and look-at target position.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>eyes</strong> – The positions of the camera’s eye. Shape is (N, 3).</p></li>
+<li><p><strong>targets</strong> – The target locations to look at. Shape is (N, 3).</p></li>
+<li><p><strong>env_ids</strong> – A sensor ids to manipulate. Defaults to None, which means all sensor indices.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the camera prim is not set. Need to call <code class="xref py py-meth docutils literal notranslate"><span class="pre">initialize()</span></code> method first.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#NotImplementedError" title="(in Python v3.13)"><strong>NotImplementedError</strong></a> – If the stage up-axis is not “Y” or “Z”.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/camera.html#Camera.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the sensor internals.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The sensor ids to reset. Defaults to None.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor is initialized.</p>
+<p>Returns True if the sensor is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Camera.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.Camera.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the sensor data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the sensor data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the sensor
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraData">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">CameraData</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/camera_data.html#CameraData"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.CameraData" title="Permalink to this definition">#</a></dt>
+<dd><p>Data container for the camera sensor.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData.pos_w" title="omni.isaac.lab.sensors.CameraData.pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos_w</span></code></a></p></td>
+<td><p>Position of the sensor origin in world frame, following ROS convention.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData.quat_w_world" title="omni.isaac.lab.sensors.CameraData.quat_w_world"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_w_world</span></code></a></p></td>
+<td><p>Quaternion orientation <cite>(w, x, y, z)</cite> of the sensor origin in world frame, following the world coordinate frame</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData.image_shape" title="omni.isaac.lab.sensors.CameraData.image_shape"><code class="xref py py-obj docutils literal notranslate"><span class="pre">image_shape</span></code></a></p></td>
+<td><p>A tuple containing (height, width) of the camera sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData.intrinsic_matrices" title="omni.isaac.lab.sensors.CameraData.intrinsic_matrices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">intrinsic_matrices</span></code></a></p></td>
+<td><p>The intrinsic matrices for the camera.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData.output" title="omni.isaac.lab.sensors.CameraData.output"><code class="xref py py-obj docutils literal notranslate"><span class="pre">output</span></code></a></p></td>
+<td><p>The retrieved sensor data with sensor types as key.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData.info" title="omni.isaac.lab.sensors.CameraData.info"><code class="xref py py-obj docutils literal notranslate"><span class="pre">info</span></code></a></p></td>
+<td><p>The retrieved sensor info with sensor types as key.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData.quat_w_ros" title="omni.isaac.lab.sensors.CameraData.quat_w_ros"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_w_ros</span></code></a></p></td>
+<td><p>Quaternion orientation <cite>(w, x, y, z)</cite> of the sensor origin in the world frame, following ROS convention.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData.quat_w_opengl" title="omni.isaac.lab.sensors.CameraData.quat_w_opengl"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_w_opengl</span></code></a></p></td>
+<td><p>Quaternion orientation <cite>(w, x, y, z)</cite> of the sensor origin in the world frame, following Opengl / USD Camera convention.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraData.pos_w">
+<span class="sig-name descname"><span class="pre">pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraData.pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Position of the sensor origin in world frame, following ROS convention.</p>
+<p>Shape is (N, 3) where N is the number of sensors.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraData.quat_w_world">
+<span class="sig-name descname"><span class="pre">quat_w_world</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraData.quat_w_world" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion orientation <cite>(w, x, y, z)</cite> of the sensor origin in world frame, following the world coordinate frame</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>World frame convention follows the camera aligned with forward axis +X and up axis +Z.</p>
+</div>
+<p>Shape is (N, 4) where N is the number of sensors.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraData.image_shape">
+<span class="sig-name descname"><span class="pre">image_shape</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraData.image_shape" title="Permalink to this definition">#</a></dt>
+<dd><p>A tuple containing (height, width) of the camera sensor.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraData.intrinsic_matrices">
+<span class="sig-name descname"><span class="pre">intrinsic_matrices</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraData.intrinsic_matrices" title="Permalink to this definition">#</a></dt>
+<dd><p>The intrinsic matrices for the camera.</p>
+<p>Shape is (N, 3, 3) where N is the number of sensors.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraData.output">
+<span class="sig-name descname"><span class="pre">output</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraData.output" title="Permalink to this definition">#</a></dt>
+<dd><p>The retrieved sensor data with sensor types as key.</p>
+<p>The format of the data is available in the <a class="reference external" href="https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_replicator/annotators_details.html#annotator-output">Replicator Documentation</a>. For semantic-based data,
+this corresponds to the <code class="docutils literal notranslate"><span class="pre">&quot;data&quot;</span></code> key in the output of the sensor.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraData.info">
+<span class="sig-name descname"><span class="pre">info</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraData.info" title="Permalink to this definition">#</a></dt>
+<dd><p>The retrieved sensor info with sensor types as key.</p>
+<p>This contains extra information provided by the sensor such as semantic segmentation label mapping, prim paths.
+For semantic-based data, this corresponds to the <code class="docutils literal notranslate"><span class="pre">&quot;info&quot;</span></code> key in the output of the sensor. For other sensor
+types, the info is empty.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraData.quat_w_ros">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">quat_w_ros</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraData.quat_w_ros" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion orientation <cite>(w, x, y, z)</cite> of the sensor origin in the world frame, following ROS convention.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>ROS convention follows the camera aligned with forward axis +Z and up axis -Y.</p>
+</div>
+<p>Shape is (N, 4) where N is the number of sensors.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraData.quat_w_opengl">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">quat_w_opengl</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraData.quat_w_opengl" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion orientation <cite>(w, x, y, z)</cite> of the sensor origin in the world frame, following
+Opengl / USD Camera convention.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>OpenGL convention follows the camera aligned with forward axis -Z and up axis +Y.</p>
+</div>
+<p>Shape is (N, 4) where N is the number of sensors.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">CameraCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/camera_cfg.html#CameraCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg" title="omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBaseCfg</span></code></a></p>
+<p>Configuration for a camera sensor.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg" title="omni.isaac.lab.sensors.CameraCfg.OffsetCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OffsetCfg</span></code></a></p></td>
+<td><p>The offset pose of the sensor's frame from the sensor's parent frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.offset" title="omni.isaac.lab.sensors.CameraCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>The offset pose of the sensor's frame from the sensor's parent frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.spawn" title="omni.isaac.lab.sensors.CameraCfg.spawn"><code class="xref py py-obj docutils literal notranslate"><span class="pre">spawn</span></code></a></p></td>
+<td><p>Spawn configuration for the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.depth_clipping_behavior" title="omni.isaac.lab.sensors.CameraCfg.depth_clipping_behavior"><code class="xref py py-obj docutils literal notranslate"><span class="pre">depth_clipping_behavior</span></code></a></p></td>
+<td><p>Clipping behavior for the camera for values exceed the maximum value.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.prim_path" title="omni.isaac.lab.sensors.CameraCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.update_period" title="omni.isaac.lab.sensors.CameraCfg.update_period"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_period</span></code></a></p></td>
+<td><p>Update period of the sensor buffers (in seconds).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.history_length" title="omni.isaac.lab.sensors.CameraCfg.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>Number of past frames to store in the sensor buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.debug_vis" title="omni.isaac.lab.sensors.CameraCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.data_types" title="omni.isaac.lab.sensors.CameraCfg.data_types"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data_types</span></code></a></p></td>
+<td><p>List of sensor names/types to enable for the camera.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.width" title="omni.isaac.lab.sensors.CameraCfg.width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">width</span></code></a></p></td>
+<td><p>Width of the image in pixels.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.height" title="omni.isaac.lab.sensors.CameraCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>Height of the image in pixels.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.semantic_filter" title="omni.isaac.lab.sensors.CameraCfg.semantic_filter"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_filter</span></code></a></p></td>
+<td><p>A string or a list specifying a semantic filter predicate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation" title="omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">colorize_semantic_segmentation</span></code></a></p></td>
+<td><p>Whether to colorize the semantic segmentation images.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation" title="omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">colorize_instance_id_segmentation</span></code></a></p></td>
+<td><p>Whether to colorize the instance ID segmentation images.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation" title="omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">colorize_instance_segmentation</span></code></a></p></td>
+<td><p>Whether to colorize the instance ID segmentation images.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.OffsetCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">OffsetCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/camera_cfg.html#CameraCfg.OffsetCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>The offset pose of the sensor’s frame from the sensor’s parent frame.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos" title="omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Translation w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.rot" title="omni.isaac.lab.sensors.CameraCfg.OffsetCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation (w, x, y, z) w.r.t.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention" title="omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convention</span></code></a></p></td>
+<td><p>The convention in which the frame offset is applied.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.OffsetCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention">
+<span class="sig-name descname"><span class="pre">convention</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'opengl'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'ros'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'world'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention" title="Permalink to this definition">#</a></dt>
+<dd><p>The convention in which the frame offset is applied. Defaults to “ros”.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;opengl&quot;</span></code> - forward axis: <code class="docutils literal notranslate"><span class="pre">-Z</span></code> - up axis: <code class="docutils literal notranslate"><span class="pre">+Y</span></code> - Offset is applied in the OpenGL (Usd.Camera) convention.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;ros&quot;</span></code>    - forward axis: <code class="docutils literal notranslate"><span class="pre">+Z</span></code> - up axis: <code class="docutils literal notranslate"><span class="pre">-Y</span></code> - Offset is applied in the ROS convention.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;world&quot;</span></code>  - forward axis: <code class="docutils literal notranslate"><span class="pre">+X</span></code> - up axis: <code class="docutils literal notranslate"><span class="pre">+Z</span></code> - Offset is applied in the World Frame convention.</p></li>
+</ul>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg" title="omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg"><span class="pre">OffsetCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>The offset pose of the sensor’s frame from the sensor’s parent frame. Defaults to identity.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The parent frame is the frame the sensor attaches to. For example, the parent frame of a
+camera at path <code class="docutils literal notranslate"><span class="pre">/World/envs/env_0/Robot/Camera</span></code> is <code class="docutils literal notranslate"><span class="pre">/World/envs/env_0/Robot</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.spawn">
+<span class="sig-name descname"><span class="pre">spawn</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg"><span class="pre">PinholeCameraCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg"><span class="pre">FisheyeCameraCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.spawn" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawn configuration for the asset.</p>
+<p>If None, then the prim is not spawned by the asset. Instead, it is assumed that the
+asset is already present in the scene.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.depth_clipping_behavior">
+<span class="sig-name descname"><span class="pre">depth_clipping_behavior</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'max'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'zero'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'none'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.depth_clipping_behavior" title="Permalink to this definition">#</a></dt>
+<dd><p>Clipping behavior for the camera for values exceed the maximum value. Defaults to “none”.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;max&quot;</span></code>: Values are clipped to the maximum value.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;zero&quot;</span></code>: Values are clipped to zero.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;none</span></code>: No clipping is applied. Values will be returned as <code class="docutils literal notranslate"><span class="pre">inf</span></code>.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot/sensor</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot/sensor</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.update_period">
+<span class="sig-name descname"><span class="pre">update_period</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.update_period" title="Permalink to this definition">#</a></dt>
+<dd><p>Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.history_length">
+<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of past frames to store in the sensor buffers. Defaults to 0, which means that only
+the current data is stored (no history).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize the sensor. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.data_types">
+<span class="sig-name descname"><span class="pre">data_types</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.data_types" title="Permalink to this definition">#</a></dt>
+<dd><p>List of sensor names/types to enable for the camera. Defaults to [“rgb”].</p>
+<p>Please refer to the <a class="reference internal" href="#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code></a> class for a list of available data types.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.width">
+<span class="sig-name descname"><span class="pre">width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.width" title="Permalink to this definition">#</a></dt>
+<dd><p>Width of the image in pixels.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>Height of the image in pixels.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.semantic_filter">
+<span class="sig-name descname"><span class="pre">semantic_filter</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.semantic_filter" title="Permalink to this definition">#</a></dt>
+<dd><p>A string or a list specifying a semantic filter predicate. Defaults to <code class="docutils literal notranslate"><span class="pre">&quot;*:*&quot;</span></code>.</p>
+<p>If a string, it should be a disjunctive normal form of (semantic type, labels). For examples:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;typeA</span> <span class="pre">:</span> <span class="pre">labelA</span> <span class="pre">&amp;</span> <span class="pre">!labelB</span> <span class="pre">|</span> <span class="pre">labelC</span> <span class="pre">,</span> <span class="pre">typeB:</span> <span class="pre">labelA</span> <span class="pre">;</span> <span class="pre">typeC:</span> <span class="pre">labelE&quot;</span></code>:
+All prims with semantic type “typeA” and label “labelA” but not “labelB” or with label “labelC”.
+Also, all prims with semantic type “typeB” and label “labelA”, or with semantic type “typeC” and label “labelE”.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;typeA</span> <span class="pre">:</span> <span class="pre">*</span> <span class="pre">;</span> <span class="pre">*</span> <span class="pre">:</span> <span class="pre">labelA&quot;</span></code>: All prims with semantic type “typeA” or with label “labelA”</p></li>
+</ul>
+<p>If a list of strings, each string should be a semantic type. The segmentation for prims with
+semantics of the specified types will be retrieved. For example, if the list is [“class”], only
+the segmentation for prims with semantics of type “class” will be retrieved.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation on <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">Replicator Semantics Schema Editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation">
+<span class="sig-name descname"><span class="pre">colorize_semantic_segmentation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to colorize the semantic segmentation images. Defaults to True.</p>
+<p>If True, semantic segmentation is converted to an image where semantic IDs are mapped to colors
+and returned as a <code class="docutils literal notranslate"><span class="pre">uint8</span></code> 4-channel array. If False, the output is returned as a <code class="docutils literal notranslate"><span class="pre">int32</span></code> array.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation">
+<span class="sig-name descname"><span class="pre">colorize_instance_id_segmentation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to colorize the instance ID segmentation images. Defaults to True.</p>
+<p>If True, instance id segmentation is converted to an image where instance IDs are mapped to colors.
+and returned as a <code class="docutils literal notranslate"><span class="pre">uint8</span></code> 4-channel array. If False, the output is returned as a <code class="docutils literal notranslate"><span class="pre">int32</span></code> array.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation">
+<span class="sig-name descname"><span class="pre">colorize_instance_segmentation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to colorize the instance ID segmentation images. Defaults to True.</p>
+<p>If True, instance segmentation is converted to an image where instance IDs are mapped to colors.
+and returned as a <code class="docutils literal notranslate"><span class="pre">uint8</span></code> 4-channel array. If False, the output is returned as a <code class="docutils literal notranslate"><span class="pre">int32</span></code> array.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="tile-rendered-usd-camera">
+<h2>Tile-Rendered USD Camera<a class="headerlink" href="#tile-rendered-usd-camera" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">TiledCamera</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/tiled_camera.html#TiledCamera"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.camera.camera.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code></a></p>
+<p>The tiled rendering based camera sensor for acquiring the same data as the Camera class.</p>
+<p>This class inherits from the <a class="reference internal" href="#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code></a> class but uses the tiled-rendering API to acquire
+the visual data. Tiled-rendering concatenates the rendered images from multiple cameras into a single image.
+This allows for rendering multiple cameras in parallel and is useful for rendering large scenes with multiple
+cameras efficiently.</p>
+<p>The following sensor types are supported:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;rgb&quot;</span></code>: A 3-channel rendered color image.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;rgba&quot;</span></code>: A 4-channel rendered color image with alpha channel.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;distance_to_camera&quot;</span></code>: An image containing the distance to camera optical center.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;distance_to_image_plane&quot;</span></code>: An image containing distances of 3D points from camera plane along camera’s z-axis.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;depth&quot;</span></code>: Alias for <code class="docutils literal notranslate"><span class="pre">&quot;distance_to_image_plane&quot;</span></code>.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;normals&quot;</span></code>: An image containing the local surface normal vectors at each pixel.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;motion_vectors&quot;</span></code>: An image containing the motion vector data at each pixel.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;semantic_segmentation&quot;</span></code>: The semantic segmentation data.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;instance_segmentation_fast&quot;</span></code>: The instance segmentation data.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;instance_id_segmentation_fast&quot;</span></code>: The instance id segmentation data.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently the following sensor types are not supported in a “view” format:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;instance_segmentation&quot;</span></code>: The instance segmentation data. Please use the fast counterparts instead.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;instance_id_segmentation&quot;</span></code>: The instance id segmentation data. Please use the fast counterparts instead.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_2d_tight&quot;</span></code>: The tight 2D bounding box data (only contains non-occluded regions).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_2d_tight_fast&quot;</span></code>: The tight 2D bounding box data (only contains non-occluded regions).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_2d_loose&quot;</span></code>: The loose 2D bounding box data (contains occluded regions).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_2d_loose_fast&quot;</span></code>: The loose 2D bounding box data (contains occluded regions).</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_3d&quot;</span></code>: The 3D view space bounding box data.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;bounding_box_3d_fast&quot;</span></code>: The 3D view space bounding box data.</p></li>
+</ul>
+</div>
+<div class="versionadded">
+<p><span class="versionmodified added">New in version v1.0.0: </span>This feature is available starting from Isaac Sim 4.2. Before this version, the tiled rendering APIs
+were not available.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.cfg" title="omni.isaac.lab.sensors.TiledCamera.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration parameters.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.UNSUPPORTED_TYPES" title="omni.isaac.lab.sensors.TiledCamera.UNSUPPORTED_TYPES"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UNSUPPORTED_TYPES</span></code></a></p></td>
+<td><p>The set of sensor types that are not supported by the camera class.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.data" title="omni.isaac.lab.sensors.TiledCamera.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data from the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.device" title="omni.isaac.lab.sensors.TiledCamera.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.frame" title="omni.isaac.lab.sensors.TiledCamera.frame"><code class="xref py py-obj docutils literal notranslate"><span class="pre">frame</span></code></a></p></td>
+<td><p>Frame number when the measurement took place.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.has_debug_vis_implementation" title="omni.isaac.lab.sensors.TiledCamera.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the sensor has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.image_shape" title="omni.isaac.lab.sensors.TiledCamera.image_shape"><code class="xref py py-obj docutils literal notranslate"><span class="pre">image_shape</span></code></a></p></td>
+<td><p>A tuple containing (height, width) of the camera sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.is_initialized" title="omni.isaac.lab.sensors.TiledCamera.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the sensor is initialized.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.num_instances" title="omni.isaac.lab.sensors.TiledCamera.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.render_product_paths" title="omni.isaac.lab.sensors.TiledCamera.render_product_paths"><code class="xref py py-obj docutils literal notranslate"><span class="pre">render_product_paths</span></code></a></p></td>
+<td><p>The path of the render products for the cameras.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.__init__" title="omni.isaac.lab.sensors.TiledCamera.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the tiled camera sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.reset" title="omni.isaac.lab.sensors.TiledCamera.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the sensor internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.set_debug_vis" title="omni.isaac.lab.sensors.TiledCamera.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the sensor data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.set_intrinsic_matrices" title="omni.isaac.lab.sensors.TiledCamera.set_intrinsic_matrices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_intrinsic_matrices</span></code></a>(matrices[, ...])</p></td>
+<td><p>Set parameters of the USD camera from its intrinsic matrix.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.set_world_poses" title="omni.isaac.lab.sensors.TiledCamera.set_world_poses"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_world_poses</span></code></a>([positions, orientations, ...])</p></td>
+<td><p>Set the pose of the camera w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCamera.set_world_poses_from_view" title="omni.isaac.lab.sensors.TiledCamera.set_world_poses_from_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_world_poses_from_view</span></code></a>(eyes, targets[, ...])</p></td>
+<td><p>Set the poses of the camera from the eye position and look-at target position.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg" title="omni.isaac.lab.sensors.TiledCameraCfg"><span class="pre">TiledCameraCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration parameters.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg" title="omni.isaac.lab.sensors.TiledCameraCfg"><span class="pre">TiledCameraCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/tiled_camera.html#TiledCamera.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the tiled camera sensor.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration parameters.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If no camera prim is found at the given path.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If Isaac Sim version &lt; 4.2</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the provided data types are not supported by the camera.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/tiled_camera.html#TiledCamera.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the sensor internals.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The sensor ids to reset. Defaults to None.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.UNSUPPORTED_TYPES">
+<span class="sig-name descname"><span class="pre">UNSUPPORTED_TYPES</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#set" title="(in Python v3.13)"><span class="pre">set</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'bounding_box_2d_loose',</span> <span class="pre">'bounding_box_2d_loose_fast',</span> <span class="pre">'bounding_box_2d_tight',</span> <span class="pre">'bounding_box_2d_tight_fast',</span> <span class="pre">'bounding_box_3d',</span> <span class="pre">'bounding_box_3d_fast',</span> <span class="pre">'instance_id_segmentation',</span> <span class="pre">'instance_segmentation'}</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.UNSUPPORTED_TYPES" title="Permalink to this definition">#</a></dt>
+<dd><p>The set of sensor types that are not supported by the camera class.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData" title="omni.isaac.lab.sensors.camera.camera_data.CameraData"><span class="pre">CameraData</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data from the sensor.</p>
+<p>This property is only updated when the user tries to access the data. This is done to avoid
+unnecessary computation when the sensor data is not used.</p>
+<p>For updating the sensor when this property is accessed, you can use the following
+code snippet in your sensor implementation:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># update sensors if needed</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+<span class="c1"># return the data (where `_data` is the data for the sensor)</span>
+<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+</pre></div>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.frame">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">frame</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">torch.tensor</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.frame" title="Permalink to this definition">#</a></dt>
+<dd><p>Frame number when the measurement took place.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.image_shape">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">image_shape</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.image_shape" title="Permalink to this definition">#</a></dt>
+<dd><p>A tuple containing (height, width) of the camera sensor.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor is initialized.</p>
+<p>Returns True if the sensor is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the sensor.</p>
+<p>This is equal to the number of sensors per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.render_product_paths">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">render_product_paths</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.render_product_paths" title="Permalink to this definition">#</a></dt>
+<dd><p>The path of the render products for the cameras.</p>
+<p>This can be used via replicator interfaces to attach to writes or external annotator registry.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the sensor data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the sensor data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the sensor
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.set_intrinsic_matrices">
+<span class="sig-name descname"><span class="pre">set_intrinsic_matrices</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrices</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">focal_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.set_intrinsic_matrices" title="Permalink to this definition">#</a></dt>
+<dd><p>Set parameters of the USD camera from its intrinsic matrix.</p>
+<p>The intrinsic matrix and focal length are used to set the following parameters to the USD camera:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">focal_length</span></code>: The focal length of the camera.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">horizontal_aperture</span></code>: The horizontal aperture of the camera.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">vertical_aperture</span></code>: The vertical aperture of the camera.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">horizontal_aperture_offset</span></code>: The horizontal offset of the camera.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">vertical_aperture_offset</span></code>: The vertical offset of the camera.</p></li>
+</ul>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>Due to limitations of Omniverse camera, we need to assume that the camera is a spherical lens,
+i.e. has square pixels, and the optical center is centered at the camera eye. If this assumption
+is not true in the input intrinsic matrix, then the camera will not set up correctly.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>matrices</strong> – The intrinsic matrices for the camera. Shape is (N, 3, 3).</p></li>
+<li><p><strong>focal_length</strong> – Focal length to use when computing aperture values (in cm). Defaults to 1.0.</p></li>
+<li><p><strong>env_ids</strong> – A sensor ids to manipulate. Defaults to None, which means all sensor indices.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.set_world_poses">
+<span class="sig-name descname"><span class="pre">set_world_poses</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientations</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">convention</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'opengl'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'ros'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'world'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'ros'</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.set_world_poses" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the pose of the camera w.r.t. the world frame using specified convention.</p>
+<p>Since different fields use different conventions for camera orientations, the method allows users to
+set the camera poses in the specified convention. Possible conventions are:</p>
+<ul class="simple">
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;opengl&quot;</span></code> - forward axis: -Z - up axis +Y - Offset is applied in the OpenGL (Usd.Camera) convention</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;ros&quot;</span></code>    - forward axis: +Z - up axis -Y - Offset is applied in the ROS convention</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;world&quot;</span></code>  - forward axis: +X - up axis +Z - Offset is applied in the World Frame convention</p></li>
+</ul>
+<p>See <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.camera.utils.convert_camera_frame_orientation_convention()</span></code> for more details
+on the conventions.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>positions</strong> – The cartesian coordinates (in meters). Shape is (N, 3).
+Defaults to None, in which case the camera position in not changed.</p></li>
+<li><p><strong>orientations</strong> – The quaternion orientation in (w, x, y, z). Shape is (N, 4).
+Defaults to None, in which case the camera orientation in not changed.</p></li>
+<li><p><strong>env_ids</strong> – A sensor ids to manipulate. Defaults to None, which means all sensor indices.</p></li>
+<li><p><strong>convention</strong> – The convention in which the poses are fed. Defaults to “ros”.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the camera prim is not set. Need to call <code class="xref py py-meth docutils literal notranslate"><span class="pre">initialize()</span></code> method first.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCamera.set_world_poses_from_view">
+<span class="sig-name descname"><span class="pre">set_world_poses_from_view</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">eyes</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">targets</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCamera.set_world_poses_from_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the poses of the camera from the eye position and look-at target position.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>eyes</strong> – The positions of the camera’s eye. Shape is (N, 3).</p></li>
+<li><p><strong>targets</strong> – The target locations to look at. Shape is (N, 3).</p></li>
+<li><p><strong>env_ids</strong> – A sensor ids to manipulate. Defaults to None, which means all sensor indices.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the camera prim is not set. Need to call <code class="xref py py-meth docutils literal notranslate"><span class="pre">initialize()</span></code> method first.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#NotImplementedError" title="(in Python v3.13)"><strong>NotImplementedError</strong></a> – If the stage up-axis is not “Y” or “Z”.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">TiledCameraCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/camera/tiled_camera_cfg.html#TiledCameraCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.CameraCfg" title="omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">CameraCfg</span></code></a></p>
+<p>Configuration for a tiled rendering-based camera sensor.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg" title="omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OffsetCfg</span></code></a></p></td>
+<td><p>The offset pose of the sensor's frame from the sensor's parent frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.prim_path" title="omni.isaac.lab.sensors.TiledCameraCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.update_period" title="omni.isaac.lab.sensors.TiledCameraCfg.update_period"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_period</span></code></a></p></td>
+<td><p>Update period of the sensor buffers (in seconds).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.history_length" title="omni.isaac.lab.sensors.TiledCameraCfg.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>Number of past frames to store in the sensor buffers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.debug_vis" title="omni.isaac.lab.sensors.TiledCameraCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.offset" title="omni.isaac.lab.sensors.TiledCameraCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>The offset pose of the sensor's frame from the sensor's parent frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.spawn" title="omni.isaac.lab.sensors.TiledCameraCfg.spawn"><code class="xref py py-obj docutils literal notranslate"><span class="pre">spawn</span></code></a></p></td>
+<td><p>Spawn configuration for the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.depth_clipping_behavior" title="omni.isaac.lab.sensors.TiledCameraCfg.depth_clipping_behavior"><code class="xref py py-obj docutils literal notranslate"><span class="pre">depth_clipping_behavior</span></code></a></p></td>
+<td><p>Clipping behavior for the camera for values exceed the maximum value.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.data_types" title="omni.isaac.lab.sensors.TiledCameraCfg.data_types"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data_types</span></code></a></p></td>
+<td><p>List of sensor names/types to enable for the camera.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.width" title="omni.isaac.lab.sensors.TiledCameraCfg.width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">width</span></code></a></p></td>
+<td><p>Width of the image in pixels.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.height" title="omni.isaac.lab.sensors.TiledCameraCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>Height of the image in pixels.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.semantic_filter" title="omni.isaac.lab.sensors.TiledCameraCfg.semantic_filter"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_filter</span></code></a></p></td>
+<td><p>A string or a list specifying a semantic filter predicate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_semantic_segmentation" title="omni.isaac.lab.sensors.TiledCameraCfg.colorize_semantic_segmentation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">colorize_semantic_segmentation</span></code></a></p></td>
+<td><p>Whether to colorize the semantic segmentation images.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_id_segmentation" title="omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_id_segmentation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">colorize_instance_id_segmentation</span></code></a></p></td>
+<td><p>Whether to colorize the instance ID segmentation images.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_segmentation" title="omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_segmentation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">colorize_instance_segmentation</span></code></a></p></td>
+<td><p>Whether to colorize the instance ID segmentation images.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose" title="omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose"><code class="xref py py-obj docutils literal notranslate"><span class="pre">return_latest_camera_pose</span></code></a></p></td>
+<td><p>Whether to return the latest camera pose when fetching the camera's data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">OffsetCfg</span></span><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>The offset pose of the sensor’s frame from the sensor’s parent frame.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos" title="omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Translation w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.rot" title="omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation (w, x, y, z) w.r.t.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention" title="omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convention</span></code></a></p></td>
+<td><p>The convention in which the frame offset is applied.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention">
+<span class="sig-name descname"><span class="pre">convention</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'opengl'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'ros'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'world'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention" title="Permalink to this definition">#</a></dt>
+<dd><p>The convention in which the frame offset is applied. Defaults to “ros”.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;opengl&quot;</span></code> - forward axis: <code class="docutils literal notranslate"><span class="pre">-Z</span></code> - up axis: <code class="docutils literal notranslate"><span class="pre">+Y</span></code> - Offset is applied in the OpenGL (Usd.Camera) convention.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;ros&quot;</span></code>    - forward axis: <code class="docutils literal notranslate"><span class="pre">+Z</span></code> - up axis: <code class="docutils literal notranslate"><span class="pre">-Y</span></code> - Offset is applied in the ROS convention.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;world&quot;</span></code>  - forward axis: <code class="docutils literal notranslate"><span class="pre">+X</span></code> - up axis: <code class="docutils literal notranslate"><span class="pre">+Z</span></code> - Offset is applied in the World Frame convention.</p></li>
+</ul>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot/sensor</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot/sensor</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.update_period">
+<span class="sig-name descname"><span class="pre">update_period</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.update_period" title="Permalink to this definition">#</a></dt>
+<dd><p>Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.history_length">
+<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of past frames to store in the sensor buffers. Defaults to 0, which means that only
+the current data is stored (no history).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize the sensor. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg" title="omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg"><span class="pre">OffsetCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>The offset pose of the sensor’s frame from the sensor’s parent frame. Defaults to identity.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The parent frame is the frame the sensor attaches to. For example, the parent frame of a
+camera at path <code class="docutils literal notranslate"><span class="pre">/World/envs/env_0/Robot/Camera</span></code> is <code class="docutils literal notranslate"><span class="pre">/World/envs/env_0/Robot</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.spawn">
+<span class="sig-name descname"><span class="pre">spawn</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg"><span class="pre">PinholeCameraCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg"><span class="pre">FisheyeCameraCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.spawn" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawn configuration for the asset.</p>
+<p>If None, then the prim is not spawned by the asset. Instead, it is assumed that the
+asset is already present in the scene.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.depth_clipping_behavior">
+<span class="sig-name descname"><span class="pre">depth_clipping_behavior</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'max'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'zero'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'none'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.depth_clipping_behavior" title="Permalink to this definition">#</a></dt>
+<dd><p>Clipping behavior for the camera for values exceed the maximum value. Defaults to “none”.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;max&quot;</span></code>: Values are clipped to the maximum value.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;zero&quot;</span></code>: Values are clipped to zero.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;none</span></code>: No clipping is applied. Values will be returned as <code class="docutils literal notranslate"><span class="pre">inf</span></code>.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.data_types">
+<span class="sig-name descname"><span class="pre">data_types</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.data_types" title="Permalink to this definition">#</a></dt>
+<dd><p>List of sensor names/types to enable for the camera. Defaults to [“rgb”].</p>
+<p>Please refer to the <a class="reference internal" href="#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code></a> class for a list of available data types.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.width">
+<span class="sig-name descname"><span class="pre">width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.width" title="Permalink to this definition">#</a></dt>
+<dd><p>Width of the image in pixels.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>Height of the image in pixels.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.semantic_filter">
+<span class="sig-name descname"><span class="pre">semantic_filter</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.semantic_filter" title="Permalink to this definition">#</a></dt>
+<dd><p>A string or a list specifying a semantic filter predicate. Defaults to <code class="docutils literal notranslate"><span class="pre">&quot;*:*&quot;</span></code>.</p>
+<p>If a string, it should be a disjunctive normal form of (semantic type, labels). For examples:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;typeA</span> <span class="pre">:</span> <span class="pre">labelA</span> <span class="pre">&amp;</span> <span class="pre">!labelB</span> <span class="pre">|</span> <span class="pre">labelC</span> <span class="pre">,</span> <span class="pre">typeB:</span> <span class="pre">labelA</span> <span class="pre">;</span> <span class="pre">typeC:</span> <span class="pre">labelE&quot;</span></code>:
+All prims with semantic type “typeA” and label “labelA” but not “labelB” or with label “labelC”.
+Also, all prims with semantic type “typeB” and label “labelA”, or with semantic type “typeC” and label “labelE”.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;typeA</span> <span class="pre">:</span> <span class="pre">*</span> <span class="pre">;</span> <span class="pre">*</span> <span class="pre">:</span> <span class="pre">labelA&quot;</span></code>: All prims with semantic type “typeA” or with label “labelA”</p></li>
+</ul>
+<p>If a list of strings, each string should be a semantic type. The segmentation for prims with
+semantics of the specified types will be retrieved. For example, if the list is [“class”], only
+the segmentation for prims with semantics of type “class” will be retrieved.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation on <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">Replicator Semantics Schema Editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.colorize_semantic_segmentation">
+<span class="sig-name descname"><span class="pre">colorize_semantic_segmentation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_semantic_segmentation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to colorize the semantic segmentation images. Defaults to True.</p>
+<p>If True, semantic segmentation is converted to an image where semantic IDs are mapped to colors
+and returned as a <code class="docutils literal notranslate"><span class="pre">uint8</span></code> 4-channel array. If False, the output is returned as a <code class="docutils literal notranslate"><span class="pre">int32</span></code> array.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_id_segmentation">
+<span class="sig-name descname"><span class="pre">colorize_instance_id_segmentation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_id_segmentation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to colorize the instance ID segmentation images. Defaults to True.</p>
+<p>If True, instance id segmentation is converted to an image where instance IDs are mapped to colors.
+and returned as a <code class="docutils literal notranslate"><span class="pre">uint8</span></code> 4-channel array. If False, the output is returned as a <code class="docutils literal notranslate"><span class="pre">int32</span></code> array.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_segmentation">
+<span class="sig-name descname"><span class="pre">colorize_instance_segmentation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_segmentation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to colorize the instance ID segmentation images. Defaults to True.</p>
+<p>If True, instance segmentation is converted to an image where instance IDs are mapped to colors.
+and returned as a <code class="docutils literal notranslate"><span class="pre">uint8</span></code> 4-channel array. If False, the output is returned as a <code class="docutils literal notranslate"><span class="pre">int32</span></code> array.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose">
+<span class="sig-name descname"><span class="pre">return_latest_camera_pose</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to return the latest camera pose when fetching the camera’s data. Defaults to False.</p>
+<p>If True, the latest camera pose is returned in the camera’s data which will slow down performance
+due to the use of <code class="xref py py-class docutils literal notranslate"><span class="pre">XformPrimView</span></code>.
+If False, the pose of the camera during initialization is returned.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="contact-sensor">
+<h2>Contact Sensor<a class="headerlink" href="#contact-sensor" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">ContactSensor</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html#ContactSensor"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.sensor_base.SensorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBase</span></code></a></p>
+<p>A contact reporting sensor.</p>
+<p>The contact sensor reports the normal contact forces on a rigid body in the world frame.
+It relies on the <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_contact_report_a_p_i.html">PhysX ContactReporter</a> API to be activated on the rigid bodies.</p>
+<p>To enable the contact reporter on a rigid body, please make sure to enable the
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawner.RigidObjectSpawnerCfg.activate_contact_sensors</span></code> on your
+asset spawner configuration. This will enable the contact reporter on all the rigid bodies
+in the asset.</p>
+<p>The sensor can be configured to report the contact forces on a set of bodies with a given
+filter pattern using the <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr" title="omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorCfg.filter_prim_paths_expr</span></code></a>. This is useful
+when you want to report the contact forces between the sensor bodies and a specific set of
+bodies in the scene. The data can be accessed using the <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData.force_matrix_w" title="omni.isaac.lab.sensors.ContactSensorData.force_matrix_w"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorData.force_matrix_w</span></code></a>.
+Please check the documentation on <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.prims.RigidContactView">RigidContactView</a> for more details.</p>
+<p>The reporting of the filtered contact forces is only possible as one-to-many. This means that only one
+sensor body in an environment can be filtered against multiple bodies in that environment. If you need to
+filter multiple sensor bodies against multiple bodies, you need to create separate sensors for each sensor
+body.</p>
+<p>As an example, suppose you want to report the contact forces for all the feet of a robot against an object
+exclusively. In that case, setting the <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.prim_path" title="omni.isaac.lab.sensors.ContactSensorCfg.prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorCfg.prim_path</span></code></a> and
+<a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr" title="omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorCfg.filter_prim_paths_expr</span></code></a> with <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot/.*_FOOT</span></code> and <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Object</span></code>
+respectively will not work. Instead, you need to create a separate sensor for each foot and filter
+it against the object.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.cfg" title="omni.isaac.lab.sensors.ContactSensor.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration parameters.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.num_instances" title="omni.isaac.lab.sensors.ContactSensor.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.data" title="omni.isaac.lab.sensors.ContactSensor.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data from the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.num_bodies" title="omni.isaac.lab.sensors.ContactSensor.num_bodies"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_bodies</span></code></a></p></td>
+<td><p>Number of bodies with contact sensors attached.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.body_names" title="omni.isaac.lab.sensors.ContactSensor.body_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_names</span></code></a></p></td>
+<td><p>Ordered names of bodies with contact sensors attached.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.body_physx_view" title="omni.isaac.lab.sensors.ContactSensor.body_physx_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_physx_view</span></code></a></p></td>
+<td><p>View for the rigid bodies captured (PhysX).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.contact_physx_view" title="omni.isaac.lab.sensors.ContactSensor.contact_physx_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">contact_physx_view</span></code></a></p></td>
+<td><p>Contact reporter view for the bodies (PhysX).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.device" title="omni.isaac.lab.sensors.ContactSensor.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.has_debug_vis_implementation" title="omni.isaac.lab.sensors.ContactSensor.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the sensor has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.is_initialized" title="omni.isaac.lab.sensors.ContactSensor.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the sensor is initialized.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.__init__" title="omni.isaac.lab.sensors.ContactSensor.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the contact sensor object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.reset" title="omni.isaac.lab.sensors.ContactSensor.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the sensor internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.find_bodies" title="omni.isaac.lab.sensors.ContactSensor.find_bodies"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_bodies</span></code></a>(name_keys[, preserve_order])</p></td>
+<td><p>Find bodies in the articulation based on the name keys.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.compute_first_contact" title="omni.isaac.lab.sensors.ContactSensor.compute_first_contact"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute_first_contact</span></code></a>(dt[, abs_tol])</p></td>
+<td><p>Checks if bodies that have established contact within the last <code class="xref py py-attr docutils literal notranslate"><span class="pre">dt</span></code> seconds.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.compute_first_air" title="omni.isaac.lab.sensors.ContactSensor.compute_first_air"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute_first_air</span></code></a>(dt[, abs_tol])</p></td>
+<td><p>Checks if bodies that have broken contact within the last <code class="xref py py-attr docutils literal notranslate"><span class="pre">dt</span></code> seconds.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensor.set_debug_vis" title="omni.isaac.lab.sensors.ContactSensor.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the sensor data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg" title="omni.isaac.lab.sensors.ContactSensorCfg"><span class="pre">ContactSensorCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration parameters.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg" title="omni.isaac.lab.sensors.ContactSensorCfg"><span class="pre">ContactSensorCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html#ContactSensor.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the contact sensor object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration parameters.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the sensor.</p>
+<p>This is equal to the number of sensors per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData" title="omni.isaac.lab.sensors.contact_sensor.contact_sensor_data.ContactSensorData"><span class="pre">ContactSensorData</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data from the sensor.</p>
+<p>This property is only updated when the user tries to access the data. This is done to avoid
+unnecessary computation when the sensor data is not used.</p>
+<p>For updating the sensor when this property is accessed, you can use the following
+code snippet in your sensor implementation:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># update sensors if needed</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+<span class="c1"># return the data (where `_data` is the data for the sensor)</span>
+<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+</pre></div>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.num_bodies">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_bodies</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.num_bodies" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of bodies with contact sensors attached.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.body_names">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.body_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Ordered names of bodies with contact sensors attached.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.body_physx_view">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_physx_view</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">omni.physics.tensors.impl.api.RigidBodyView</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.body_physx_view" title="Permalink to this definition">#</a></dt>
+<dd><p>View for the rigid bodies captured (PhysX).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Use this view with caution. It requires handling of tensors in a specific way.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.contact_physx_view">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">contact_physx_view</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">omni.physics.tensors.impl.api.RigidContactView</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.contact_physx_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Contact reporter view for the bodies (PhysX).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Use this view with caution. It requires handling of tensors in a specific way.</p>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html#ContactSensor.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the sensor internals.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The sensor ids to reset. Defaults to None.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.find_bodies">
+<span class="sig-name descname"><span class="pre">find_bodies</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">preserve_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html#ContactSensor.find_bodies"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.find_bodies" title="Permalink to this definition">#</a></dt>
+<dd><p>Find bodies in the articulation based on the name keys.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>name_keys</strong> – A regular expression or a list of regular expressions to match the body names.</p></li>
+<li><p><strong>preserve_order</strong> – Whether to preserve the order of the name keys in the output. Defaults to False.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple of lists containing the body indices and names.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.compute_first_contact">
+<span class="sig-name descname"><span class="pre">compute_first_contact</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">abs_tol</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1e-08</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html#ContactSensor.compute_first_contact"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.compute_first_contact" title="Permalink to this definition">#</a></dt>
+<dd><p>Checks if bodies that have established contact within the last <code class="xref py py-attr docutils literal notranslate"><span class="pre">dt</span></code> seconds.</p>
+<p>This function checks if the bodies have established contact within the last <code class="xref py py-attr docutils literal notranslate"><span class="pre">dt</span></code> seconds
+by comparing the current contact time with the given time period. If the contact time is less
+than the given time period, then the bodies are considered to be in contact.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The function assumes that <code class="xref py py-attr docutils literal notranslate"><span class="pre">dt</span></code> is a factor of the sensor update time-step. In other
+words <span class="math notranslate nohighlight">\(dt / dt_sensor = n\)</span>, where <span class="math notranslate nohighlight">\(n\)</span> is a natural number. This is always true
+if the sensor is updated by the physics or the environment stepping time-step and the sensor
+is read by the environment stepping time-step.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dt</strong> – The time period since the contact was established.</p></li>
+<li><p><strong>abs_tol</strong> – The absolute tolerance for the comparison.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A boolean tensor indicating the bodies that have established contact within the last
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">dt</span></code> seconds. Shape is (N, B), where N is the number of sensors and B is the
+number of bodies in each sensor.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the sensor is not configured to track contact time.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.compute_first_air">
+<span class="sig-name descname"><span class="pre">compute_first_air</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">abs_tol</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1e-08</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor.html#ContactSensor.compute_first_air"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.compute_first_air" title="Permalink to this definition">#</a></dt>
+<dd><p>Checks if bodies that have broken contact within the last <code class="xref py py-attr docutils literal notranslate"><span class="pre">dt</span></code> seconds.</p>
+<p>This function checks if the bodies have broken contact within the last <code class="xref py py-attr docutils literal notranslate"><span class="pre">dt</span></code> seconds
+by comparing the current air time with the given time period. If the air time is less
+than the given time period, then the bodies are considered to not be in contact.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It assumes that <code class="xref py py-attr docutils literal notranslate"><span class="pre">dt</span></code> is a factor of the sensor update time-step. In other words,
+<span class="math notranslate nohighlight">\(dt / dt_sensor = n\)</span>, where <span class="math notranslate nohighlight">\(n\)</span> is a natural number. This is always true if
+the sensor is updated by the physics or the environment stepping time-step and the sensor
+is read by the environment stepping time-step.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>dt</strong> – The time period since the contract is broken.</p></li>
+<li><p><strong>abs_tol</strong> – The absolute tolerance for the comparison.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A boolean tensor indicating the bodies that have broken contact within the last <code class="xref py py-attr docutils literal notranslate"><span class="pre">dt</span></code> seconds.
+Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the sensor is not configured to track contact time.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor is initialized.</p>
+<p>Returns True if the sensor is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensor.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensor.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the sensor data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the sensor data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the sensor
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorData">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">ContactSensorData</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.html#ContactSensorData"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorData" title="Permalink to this definition">#</a></dt>
+<dd><p>Data container for the contact reporting sensor.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData.pos_w" title="omni.isaac.lab.sensors.ContactSensorData.pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos_w</span></code></a></p></td>
+<td><p>Position of the sensor origin in world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData.quat_w" title="omni.isaac.lab.sensors.ContactSensorData.quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_w</span></code></a></p></td>
+<td><p>Orientation of the sensor origin in quaternion (w, x, y, z) in world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData.net_forces_w" title="omni.isaac.lab.sensors.ContactSensorData.net_forces_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">net_forces_w</span></code></a></p></td>
+<td><p>The net normal contact forces in world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history" title="omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history"><code class="xref py py-obj docutils literal notranslate"><span class="pre">net_forces_w_history</span></code></a></p></td>
+<td><p>The net normal contact forces in world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData.force_matrix_w" title="omni.isaac.lab.sensors.ContactSensorData.force_matrix_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">force_matrix_w</span></code></a></p></td>
+<td><p>The normal contact forces filtered between the sensor bodies and filtered bodies in world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData.last_air_time" title="omni.isaac.lab.sensors.ContactSensorData.last_air_time"><code class="xref py py-obj docutils literal notranslate"><span class="pre">last_air_time</span></code></a></p></td>
+<td><p>Time spent (in s) in the air before the last contact.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData.current_air_time" title="omni.isaac.lab.sensors.ContactSensorData.current_air_time"><code class="xref py py-obj docutils literal notranslate"><span class="pre">current_air_time</span></code></a></p></td>
+<td><p>Time spent (in s) in the air since the last detach.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData.last_contact_time" title="omni.isaac.lab.sensors.ContactSensorData.last_contact_time"><code class="xref py py-obj docutils literal notranslate"><span class="pre">last_contact_time</span></code></a></p></td>
+<td><p>Time spent (in s) in contact before the last detach.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorData.current_contact_time" title="omni.isaac.lab.sensors.ContactSensorData.current_contact_time"><code class="xref py py-obj docutils literal notranslate"><span class="pre">current_contact_time</span></code></a></p></td>
+<td><p>Time spent (in s) in contact since the last contact.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorData.pos_w">
+<span class="sig-name descname"><span class="pre">pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorData.pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Position of the sensor origin in world frame.</p>
+<p>Shape is (N, 3), where N is the number of sensors.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_pose" title="omni.isaac.lab.sensors.ContactSensorCfg.track_pose"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorCfg.track_pose</span></code></a> is False, then this quantity is None.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorData.quat_w">
+<span class="sig-name descname"><span class="pre">quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorData.quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation of the sensor origin in quaternion (w, x, y, z) in world frame.</p>
+<p>Shape is (N, 4), where N is the number of sensors.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_pose" title="omni.isaac.lab.sensors.ContactSensorCfg.track_pose"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorCfg.track_pose</span></code></a> is False, then this quantity is None.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorData.net_forces_w">
+<span class="sig-name descname"><span class="pre">net_forces_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorData.net_forces_w" title="Permalink to this definition">#</a></dt>
+<dd><p>The net normal contact forces in world frame.</p>
+<p>Shape is (N, B, 3), where N is the number of sensors and B is the number of bodies in each sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This quantity is the sum of the normal contact forces acting on the sensor bodies. It must not be confused
+with the total contact forces acting on the sensor bodies (which also includes the tangential forces).</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history">
+<span class="sig-name descname"><span class="pre">net_forces_w_history</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history" title="Permalink to this definition">#</a></dt>
+<dd><p>The net normal contact forces in world frame.</p>
+<p>Shape is (N, T, B, 3), where N is the number of sensors, T is the configured history length
+and B is the number of bodies in each sensor.</p>
+<p>In the history dimension, the first index is the most recent and the last index is the oldest.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This quantity is the sum of the normal contact forces acting on the sensor bodies. It must not be confused
+with the total contact forces acting on the sensor bodies (which also includes the tangential forces).</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorData.force_matrix_w">
+<span class="sig-name descname"><span class="pre">force_matrix_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorData.force_matrix_w" title="Permalink to this definition">#</a></dt>
+<dd><p>The normal contact forces filtered between the sensor bodies and filtered bodies in world frame.</p>
+<p>Shape is (N, B, M, 3), where N is the number of sensors, B is number of bodies in each sensor
+and <code class="docutils literal notranslate"><span class="pre">M</span></code> is the number of filtered bodies.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr" title="omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorCfg.filter_prim_paths_expr</span></code></a> is empty, then this quantity is None.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorData.last_air_time">
+<span class="sig-name descname"><span class="pre">last_air_time</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorData.last_air_time" title="Permalink to this definition">#</a></dt>
+<dd><p>Time spent (in s) in the air before the last contact.</p>
+<p>Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_air_time" title="omni.isaac.lab.sensors.ContactSensorCfg.track_air_time"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorCfg.track_air_time</span></code></a> is False, then this quantity is None.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorData.current_air_time">
+<span class="sig-name descname"><span class="pre">current_air_time</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorData.current_air_time" title="Permalink to this definition">#</a></dt>
+<dd><p>Time spent (in s) in the air since the last detach.</p>
+<p>Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_air_time" title="omni.isaac.lab.sensors.ContactSensorCfg.track_air_time"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorCfg.track_air_time</span></code></a> is False, then this quantity is None.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorData.last_contact_time">
+<span class="sig-name descname"><span class="pre">last_contact_time</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorData.last_contact_time" title="Permalink to this definition">#</a></dt>
+<dd><p>Time spent (in s) in contact before the last detach.</p>
+<p>Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_air_time" title="omni.isaac.lab.sensors.ContactSensorCfg.track_air_time"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorCfg.track_air_time</span></code></a> is False, then this quantity is None.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorData.current_contact_time">
+<span class="sig-name descname"><span class="pre">current_contact_time</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorData.current_contact_time" title="Permalink to this definition">#</a></dt>
+<dd><p>Time spent (in s) in contact since the last contact.</p>
+<p>Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_air_time" title="omni.isaac.lab.sensors.ContactSensorCfg.track_air_time"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ContactSensorCfg.track_air_time</span></code></a> is False, then this quantity is None.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">ContactSensorCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.html#ContactSensorCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg" title="omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBaseCfg</span></code></a></p>
+<p>Configuration for the contact sensor.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_pose" title="omni.isaac.lab.sensors.ContactSensorCfg.track_pose"><code class="xref py py-obj docutils literal notranslate"><span class="pre">track_pose</span></code></a></p></td>
+<td><p>Whether to track the pose of the sensor's origin.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_air_time" title="omni.isaac.lab.sensors.ContactSensorCfg.track_air_time"><code class="xref py py-obj docutils literal notranslate"><span class="pre">track_air_time</span></code></a></p></td>
+<td><p>Whether to track the air/contact time of the bodies (time between contacts).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.prim_path" title="omni.isaac.lab.sensors.ContactSensorCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.update_period" title="omni.isaac.lab.sensors.ContactSensorCfg.update_period"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_period</span></code></a></p></td>
+<td><p>Update period of the sensor buffers (in seconds).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.history_length" title="omni.isaac.lab.sensors.ContactSensorCfg.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>Number of past frames to store in the sensor buffers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.debug_vis" title="omni.isaac.lab.sensors.ContactSensorCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.force_threshold" title="omni.isaac.lab.sensors.ContactSensorCfg.force_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">force_threshold</span></code></a></p></td>
+<td><p>The threshold on the norm of the contact force that determines whether two bodies are in collision or not.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr" title="omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr"><code class="xref py py-obj docutils literal notranslate"><span class="pre">filter_prim_paths_expr</span></code></a></p></td>
+<td><p>The list of primitive paths (or expressions) to filter contacts with.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg" title="omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration object for the visualization markers.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorCfg.track_pose">
+<span class="sig-name descname"><span class="pre">track_pose</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_pose" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to track the pose of the sensor’s origin. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorCfg.track_air_time">
+<span class="sig-name descname"><span class="pre">track_air_time</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_air_time" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to track the air/contact time of the bodies (time between contacts). Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot/sensor</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot/sensor</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorCfg.update_period">
+<span class="sig-name descname"><span class="pre">update_period</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorCfg.update_period" title="Permalink to this definition">#</a></dt>
+<dd><p>Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorCfg.history_length">
+<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorCfg.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of past frames to store in the sensor buffers. Defaults to 0, which means that only
+the current data is stored (no history).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize the sensor. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorCfg.force_threshold">
+<span class="sig-name descname"><span class="pre">force_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorCfg.force_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The threshold on the norm of the contact force that determines whether two bodies are in collision or not.</p>
+<p>This value is only used for tracking the mode duration (the time in contact or in air),
+if <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_air_time" title="omni.isaac.lab.sensors.ContactSensorCfg.track_air_time"><code class="xref py py-attr docutils literal notranslate"><span class="pre">track_air_time</span></code></a> is True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr">
+<span class="sig-name descname"><span class="pre">filter_prim_paths_expr</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr" title="Permalink to this definition">#</a></dt>
+<dd><p>The list of primitive paths (or expressions) to filter contacts with. Defaults to an empty list, in which case
+no filtering is applied.</p>
+<p>The contact sensor allows reporting contacts between the primitive specified with <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.prim_path" title="omni.isaac.lab.sensors.ContactSensorCfg.prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">prim_path</span></code></a> and
+other primitives in the scene. For instance, in a scene containing a robot, a ground plane and an object,
+you can obtain individual contact reports of the base of the robot with the ground plane and the object.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression in the list can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Object</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Object</span></code>.</p>
+</div>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>The reporting of filtered contacts only works when the sensor primitive <a class="reference internal" href="#omni.isaac.lab.sensors.ContactSensorCfg.prim_path" title="omni.isaac.lab.sensors.ContactSensorCfg.prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">prim_path</span></code></a> corresponds to a
+single primitive in that environment. If the sensor primitive corresponds to multiple primitives, the
+filtering will not work as expected. Please check <code class="xref py py-class docutils literal notranslate"><span class="pre">ContactSensor</span></code>
+for more details.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg">
+<span class="sig-name descname"><span class="pre">visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration object for the visualization markers. Defaults to CONTACT_SENSOR_MARKER_CFG.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This attribute is only used when debug visualization is enabled.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="frame-transformer">
+<h2>Frame Transformer<a class="headerlink" href="#frame-transformer" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformer">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">FrameTransformer</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html#FrameTransformer"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformer" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.sensor_base.SensorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBase</span></code></a></p>
+<p>A sensor for reporting frame transforms.</p>
+<p>This class provides an interface for reporting the transform of one or more frames (target frames)
+with respect to another frame (source frame). The source frame is specified by the user as a prim path
+(<a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.prim_path" title="omni.isaac.lab.sensors.FrameTransformerCfg.prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">FrameTransformerCfg.prim_path</span></code></a>) and the target frames are specified by the user as a list of
+prim paths (<a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.target_frames" title="omni.isaac.lab.sensors.FrameTransformerCfg.target_frames"><code class="xref py py-attr docutils literal notranslate"><span class="pre">FrameTransformerCfg.target_frames</span></code></a>).</p>
+<p>The source frame and target frames are assumed to be rigid bodies. The transform of the target frames
+with respect to the source frame is computed by first extracting the transform of the source frame
+and target frames from the physics engine and then computing the relative transform between the two.</p>
+<p>Additionally, the user can specify an offset for the source frame and each target frame. This is useful
+for specifying the transform of the desired frame with respect to the body’s center of mass, for instance.</p>
+<p>A common example of using this sensor is to track the position and orientation of the end effector of a
+robotic manipulator. In this case, the source frame would be the body corresponding to the base frame of the
+manipulator, and the target frame would be the body corresponding to the end effector. Since the end-effector is
+typically a fictitious body, the user may need to specify an offset from the end-effector to the body of the
+manipulator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformer.cfg" title="omni.isaac.lab.sensors.FrameTransformer.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration parameters.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformer.data" title="omni.isaac.lab.sensors.FrameTransformer.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data from the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformer.device" title="omni.isaac.lab.sensors.FrameTransformer.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformer.has_debug_vis_implementation" title="omni.isaac.lab.sensors.FrameTransformer.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the sensor has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformer.is_initialized" title="omni.isaac.lab.sensors.FrameTransformer.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the sensor is initialized.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformer.num_instances" title="omni.isaac.lab.sensors.FrameTransformer.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the sensor.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformer.__init__" title="omni.isaac.lab.sensors.FrameTransformer.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the frame transformer object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformer.reset" title="omni.isaac.lab.sensors.FrameTransformer.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the sensor internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformer.set_debug_vis" title="omni.isaac.lab.sensors.FrameTransformer.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the sensor data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformer.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg" title="omni.isaac.lab.sensors.FrameTransformerCfg"><span class="pre">FrameTransformerCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformer.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration parameters.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformer.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg" title="omni.isaac.lab.sensors.FrameTransformerCfg"><span class="pre">FrameTransformerCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html#FrameTransformer.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformer.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the frame transformer object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration parameters.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformer.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerData" title="omni.isaac.lab.sensors.frame_transformer.frame_transformer_data.FrameTransformerData"><span class="pre">FrameTransformerData</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformer.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data from the sensor.</p>
+<p>This property is only updated when the user tries to access the data. This is done to avoid
+unnecessary computation when the sensor data is not used.</p>
+<p>For updating the sensor when this property is accessed, you can use the following
+code snippet in your sensor implementation:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># update sensors if needed</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+<span class="c1"># return the data (where `_data` is the data for the sensor)</span>
+<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+</pre></div>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformer.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer.html#FrameTransformer.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformer.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the sensor internals.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The sensor ids to reset. Defaults to None.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformer.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformer.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformer.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformer.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformer.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformer.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor is initialized.</p>
+<p>Returns True if the sensor is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformer.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformer.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the sensor.</p>
+<p>This is equal to the number of sensors per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformer.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformer.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the sensor data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the sensor data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the sensor
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerData">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">FrameTransformerData</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.html#FrameTransformerData"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerData" title="Permalink to this definition">#</a></dt>
+<dd><p>Data container for the frame transformer sensor.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerData.target_frame_names" title="omni.isaac.lab.sensors.FrameTransformerData.target_frame_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">target_frame_names</span></code></a></p></td>
+<td><p>Target frame names (this denotes the order in which that frame data is ordered).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerData.target_pos_source" title="omni.isaac.lab.sensors.FrameTransformerData.target_pos_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">target_pos_source</span></code></a></p></td>
+<td><p>Position of the target frame(s) relative to source frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerData.target_quat_source" title="omni.isaac.lab.sensors.FrameTransformerData.target_quat_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">target_quat_source</span></code></a></p></td>
+<td><p>Orientation of the target frame(s) relative to source frame quaternion (w, x, y, z).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerData.target_pos_w" title="omni.isaac.lab.sensors.FrameTransformerData.target_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">target_pos_w</span></code></a></p></td>
+<td><p>Position of the target frame(s) after offset (in world frame).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerData.target_quat_w" title="omni.isaac.lab.sensors.FrameTransformerData.target_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">target_quat_w</span></code></a></p></td>
+<td><p>Orientation of the target frame(s) after offset (in world frame) quaternion (w, x, y, z).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerData.source_pos_w" title="omni.isaac.lab.sensors.FrameTransformerData.source_pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">source_pos_w</span></code></a></p></td>
+<td><p>Position of the source frame after offset (in world frame).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerData.source_quat_w" title="omni.isaac.lab.sensors.FrameTransformerData.source_quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">source_quat_w</span></code></a></p></td>
+<td><p>Orientation of the source frame after offset (in world frame) quaternion (w, x, y, z).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerData.target_frame_names">
+<span class="sig-name descname"><span class="pre">target_frame_names</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerData.target_frame_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Target frame names (this denotes the order in which that frame data is ordered).</p>
+<p>The frame names are resolved from the <a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name" title="omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name"><code class="xref py py-attr docutils literal notranslate"><span class="pre">FrameTransformerCfg.FrameCfg.name</span></code></a> field.
+This does not necessarily follow the order in which the frames are defined in the config due to
+the regex matching.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerData.target_pos_source">
+<span class="sig-name descname"><span class="pre">target_pos_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerData.target_pos_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Position of the target frame(s) relative to source frame.</p>
+<p>Shape is (N, M, 3), where N is the number of environments, and M is the number of target frames.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerData.target_quat_source">
+<span class="sig-name descname"><span class="pre">target_quat_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerData.target_quat_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation of the target frame(s) relative to source frame quaternion (w, x, y, z).</p>
+<p>Shape is (N, M, 4), where N is the number of environments, and M is the number of target frames.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerData.target_pos_w">
+<span class="sig-name descname"><span class="pre">target_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerData.target_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Position of the target frame(s) after offset (in world frame).</p>
+<p>Shape is (N, M, 3), where N is the number of environments, and M is the number of target frames.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerData.target_quat_w">
+<span class="sig-name descname"><span class="pre">target_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerData.target_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation of the target frame(s) after offset (in world frame) quaternion (w, x, y, z).</p>
+<p>Shape is (N, M, 4), where N is the number of environments, and M is the number of target frames.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerData.source_pos_w">
+<span class="sig-name descname"><span class="pre">source_pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerData.source_pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Position of the source frame after offset (in world frame).</p>
+<p>Shape is (N, 3), where N is the number of environments.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerData.source_quat_w">
+<span class="sig-name descname"><span class="pre">source_quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerData.source_quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation of the source frame after offset (in world frame) quaternion (w, x, y, z).</p>
+<p>Shape is (N, 4), where N is the number of environments.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">FrameTransformerCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html#FrameTransformerCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg" title="omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBaseCfg</span></code></a></p>
+<p>Configuration for the frame transformer sensor.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg" title="omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">FrameCfg</span></code></a></p></td>
+<td><p>Information specific to a coordinate frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.update_period" title="omni.isaac.lab.sensors.FrameTransformerCfg.update_period"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_period</span></code></a></p></td>
+<td><p>Update period of the sensor buffers (in seconds).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.history_length" title="omni.isaac.lab.sensors.FrameTransformerCfg.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>Number of past frames to store in the sensor buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.debug_vis" title="omni.isaac.lab.sensors.FrameTransformerCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.prim_path" title="omni.isaac.lab.sensors.FrameTransformerCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>The prim path of the body to transform from (source frame).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.source_frame_offset" title="omni.isaac.lab.sensors.FrameTransformerCfg.source_frame_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">source_frame_offset</span></code></a></p></td>
+<td><p>The pose offset from the source prim frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.target_frames" title="omni.isaac.lab.sensors.FrameTransformerCfg.target_frames"><code class="xref py py-obj docutils literal notranslate"><span class="pre">target_frames</span></code></a></p></td>
+<td><p>A list of the target frames.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg" title="omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration object for the visualization markers.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">FrameCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html#FrameTransformerCfg.FrameCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Information specific to a coordinate frame.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path" title="omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>The prim path corresponding to a rigid body.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name" title="omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">name</span></code></a></p></td>
+<td><p>User-defined name for the new coordinate frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.offset" title="omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>The pose offset from the parent prim frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The prim path corresponding to a rigid body.</p>
+<p>This can be a regex pattern to match multiple prims. For example, “/Robot/.*” will match all prims under “/Robot”.</p>
+<p>This means that if the source <a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.prim_path" title="omni.isaac.lab.sensors.FrameTransformerCfg.prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">FrameTransformerCfg.prim_path</span></code></a> is “/Robot/base”, and the target <a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path" title="omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">FrameTransformerCfg.FrameCfg.prim_path</span></code></a> is “/Robot/.*”,
+then the frame transformer will track the poses of all the prims under “/Robot”,
+including “/Robot/base” (even though this will result in an identity pose w.r.t. the source frame).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name">
+<span class="sig-name descname"><span class="pre">name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name" title="Permalink to this definition">#</a></dt>
+<dd><p>User-defined name for the new coordinate frame. Defaults to None.</p>
+<p>If None, then the name is extracted from the leaf of the prim path.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.OffsetCfg" title="omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.OffsetCfg"><span class="pre">OffsetCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>The pose offset from the parent prim frame.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.update_period">
+<span class="sig-name descname"><span class="pre">update_period</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.update_period" title="Permalink to this definition">#</a></dt>
+<dd><p>Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.history_length">
+<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of past frames to store in the sensor buffers. Defaults to 0, which means that only
+the current data is stored (no history).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize the sensor. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The prim path of the body to transform from (source frame).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.source_frame_offset">
+<span class="sig-name descname"><span class="pre">source_frame_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.OffsetCfg" title="omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.OffsetCfg"><span class="pre">OffsetCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.source_frame_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>The pose offset from the source prim frame.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.target_frames">
+<span class="sig-name descname"><span class="pre">target_frames</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg" title="omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg"><span class="pre">omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.target_frames" title="Permalink to this definition">#</a></dt>
+<dd><p>A list of the target frames.</p>
+<p>This allows a single FrameTransformer to handle multiple target prims. For example, in a quadruped,
+we can use a single FrameTransformer to track each foot’s position and orientation in the body
+frame using four frame offsets.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg">
+<span class="sig-name descname"><span class="pre">visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration object for the visualization markers. Defaults to FRAME_MARKER_CFG.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This attribute is only used when debug visualization is enabled.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.OffsetCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">OffsetCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.html#OffsetCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.OffsetCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The offset pose of one frame relative to another frame.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.OffsetCfg.pos" title="omni.isaac.lab.sensors.OffsetCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Translation w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.OffsetCfg.rot" title="omni.isaac.lab.sensors.OffsetCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation (w, x, y, z) w.r.t.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.OffsetCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.OffsetCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.OffsetCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.OffsetCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="ray-cast-sensor">
+<h2>Ray-Cast Sensor<a class="headerlink" href="#ray-cast-sensor" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCaster">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">RayCaster</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html#RayCaster"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCaster" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.sensor_base.SensorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBase</span></code></a></p>
+<p>A ray-casting sensor.</p>
+<p>The ray-caster uses a set of rays to detect collisions with meshes in the scene. The rays are
+defined in the sensor’s local coordinate frame. The sensor can be configured to ray-cast against
+a set of meshes with a given ray pattern.</p>
+<p>The meshes are parsed from the list of primitive paths provided in the configuration. These are then
+converted to warp meshes and stored in the <cite>warp_meshes</cite> list. The ray-caster then ray-casts against
+these warp meshes using the ray pattern provided in the configuration.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently, only static meshes are supported. Extending the warp mesh to support dynamic meshes
+is a work in progress.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster.cfg" title="omni.isaac.lab.sensors.RayCaster.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration parameters.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster.num_instances" title="omni.isaac.lab.sensors.RayCaster.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster.data" title="omni.isaac.lab.sensors.RayCaster.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data from the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster.device" title="omni.isaac.lab.sensors.RayCaster.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster.has_debug_vis_implementation" title="omni.isaac.lab.sensors.RayCaster.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the sensor has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster.is_initialized" title="omni.isaac.lab.sensors.RayCaster.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the sensor is initialized.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster.__init__" title="omni.isaac.lab.sensors.RayCaster.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the ray-caster object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster.reset" title="omni.isaac.lab.sensors.RayCaster.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the sensor internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster.set_debug_vis" title="omni.isaac.lab.sensors.RayCaster.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the sensor data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCaster.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg" title="omni.isaac.lab.sensors.RayCasterCfg"><span class="pre">RayCasterCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCaster.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration parameters.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCaster.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg" title="omni.isaac.lab.sensors.RayCasterCfg"><span class="pre">RayCasterCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html#RayCaster.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCaster.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the ray-caster object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration parameters.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCaster.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCaster.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the sensor.</p>
+<p>This is equal to the number of sensors per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCaster.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterData" title="omni.isaac.lab.sensors.ray_caster.ray_caster_data.RayCasterData"><span class="pre">RayCasterData</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCaster.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data from the sensor.</p>
+<p>This property is only updated when the user tries to access the data. This is done to avoid
+unnecessary computation when the sensor data is not used.</p>
+<p>For updating the sensor when this property is accessed, you can use the following
+code snippet in your sensor implementation:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># update sensors if needed</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+<span class="c1"># return the data (where `_data` is the data for the sensor)</span>
+<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+</pre></div>
+</div>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCaster.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster.html#RayCaster.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCaster.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the sensor internals.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The sensor ids to reset. Defaults to None.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCaster.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCaster.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCaster.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCaster.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCaster.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCaster.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor is initialized.</p>
+<p>Returns True if the sensor is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCaster.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.RayCaster.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the sensor data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the sensor data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the sensor
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterData">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">RayCasterData</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_data.html#RayCasterData"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterData" title="Permalink to this definition">#</a></dt>
+<dd><p>Data container for the ray-cast sensor.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterData.pos_w" title="omni.isaac.lab.sensors.RayCasterData.pos_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos_w</span></code></a></p></td>
+<td><p>Position of the sensor origin in world frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterData.quat_w" title="omni.isaac.lab.sensors.RayCasterData.quat_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_w</span></code></a></p></td>
+<td><p>Orientation of the sensor origin in quaternion (w, x, y, z) in world frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterData.ray_hits_w" title="omni.isaac.lab.sensors.RayCasterData.ray_hits_w"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ray_hits_w</span></code></a></p></td>
+<td><p>The ray hit positions in the world frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterData.pos_w">
+<span class="sig-name descname"><span class="pre">pos_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterData.pos_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Position of the sensor origin in world frame.</p>
+<p>Shape is (N, 3), where N is the number of sensors.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterData.quat_w">
+<span class="sig-name descname"><span class="pre">quat_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterData.quat_w" title="Permalink to this definition">#</a></dt>
+<dd><p>Orientation of the sensor origin in quaternion (w, x, y, z) in world frame.</p>
+<p>Shape is (N, 4), where N is the number of sensors.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterData.ray_hits_w">
+<span class="sig-name descname"><span class="pre">ray_hits_w</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterData.ray_hits_w" title="Permalink to this definition">#</a></dt>
+<dd><p>The ray hit positions in the world frame.</p>
+<p>Shape is (N, B, 3), where N is the number of sensors, B is the number of rays
+in the scan pattern per sensor.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">RayCasterCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html#RayCasterCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg" title="omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBaseCfg</span></code></a></p>
+<p>Configuration for the ray-cast sensor.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg" title="omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OffsetCfg</span></code></a></p></td>
+<td><p>The offset pose of the sensor's frame from the sensor's parent frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths" title="omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mesh_prim_paths</span></code></a></p></td>
+<td><p>The list of mesh primitive paths to ray cast against.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.offset" title="omni.isaac.lab.sensors.RayCasterCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>The offset pose of the sensor's frame from the sensor's parent frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.prim_path" title="omni.isaac.lab.sensors.RayCasterCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.update_period" title="omni.isaac.lab.sensors.RayCasterCfg.update_period"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_period</span></code></a></p></td>
+<td><p>Update period of the sensor buffers (in seconds).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.history_length" title="omni.isaac.lab.sensors.RayCasterCfg.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>Number of past frames to store in the sensor buffers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.debug_vis" title="omni.isaac.lab.sensors.RayCasterCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only" title="omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only"><code class="xref py py-obj docutils literal notranslate"><span class="pre">attach_yaw_only</span></code></a></p></td>
+<td><p>Whether the rays' starting positions and directions only track the yaw orientation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.pattern_cfg" title="omni.isaac.lab.sensors.RayCasterCfg.pattern_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pattern_cfg</span></code></a></p></td>
+<td><p>The pattern that defines the local ray starting positions and directions.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.max_distance" title="omni.isaac.lab.sensors.RayCasterCfg.max_distance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_distance</span></code></a></p></td>
+<td><p>Maximum distance (in meters) from the sensor to ray cast to.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.drift_range" title="omni.isaac.lab.sensors.RayCasterCfg.drift_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">drift_range</span></code></a></p></td>
+<td><p>The range of drift (in meters) to add to the ray starting positions (xyz).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg" title="omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration object for the visualization markers.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">OffsetCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.html#RayCasterCfg.OffsetCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>The offset pose of the sensor’s frame from the sensor’s parent frame.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos" title="omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Translation w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.rot" title="omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation (w, x, y, z) w.r.t.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths">
+<span class="sig-name descname"><span class="pre">mesh_prim_paths</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths" title="Permalink to this definition">#</a></dt>
+<dd><p>The list of mesh primitive paths to ray cast against.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently, only a single static mesh is supported. We are working on supporting multiple
+static meshes and dynamic meshes.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg" title="omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg"><span class="pre">OffsetCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>The offset pose of the sensor’s frame from the sensor’s parent frame. Defaults to identity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot/sensor</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot/sensor</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.update_period">
+<span class="sig-name descname"><span class="pre">update_period</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.update_period" title="Permalink to this definition">#</a></dt>
+<dd><p>Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.history_length">
+<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of past frames to store in the sensor buffers. Defaults to 0, which means that only
+the current data is stored (no history).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize the sensor. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only">
+<span class="sig-name descname"><span class="pre">attach_yaw_only</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the rays’ starting positions and directions only track the yaw orientation.</p>
+<p>This is useful for ray-casting height maps, where only yaw rotation is needed.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.pattern_cfg">
+<span class="sig-name descname"><span class="pre">pattern_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PatternBaseCfg" title="omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PatternBaseCfg"><span class="pre">PatternBaseCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.pattern_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The pattern that defines the local ray starting positions and directions.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.max_distance">
+<span class="sig-name descname"><span class="pre">max_distance</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.max_distance" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum distance (in meters) from the sensor to ray cast to. Defaults to 1e6.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.drift_range">
+<span class="sig-name descname"><span class="pre">drift_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.drift_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The range of drift (in meters) to add to the ray starting positions (xyz). Defaults to (0.0, 0.0).</p>
+<p>For floating base robots, this is useful for simulating drift in the robot’s pose estimation.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg">
+<span class="sig-name descname"><span class="pre">visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration object for the visualization markers. Defaults to RAY_CASTER_MARKER_CFG.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This attribute is only used when debug visualization is enabled.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="ray-cast-camera">
+<h2>Ray-Cast Camera<a class="headerlink" href="#ray-cast-camera" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">RayCasterCamera</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html#RayCasterCamera"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.RayCaster" title="omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster"><code class="xref py py-class docutils literal notranslate"><span class="pre">RayCaster</span></code></a></p>
+<p>A ray-casting camera sensor.</p>
+<p>The ray-caster camera uses a set of rays to get the distances to meshes in the scene. The rays are
+defined in the sensor’s local coordinate frame. The sensor has the same interface as the
+<a class="reference internal" href="#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> that implements the camera class through USD camera prims.
+However, this class provides a faster image generation. The sensor converts meshes from the list of
+primitive paths provided in the configuration to Warp meshes. The camera then ray-casts against these
+Warp meshes only.</p>
+<p>Currently, only the following annotators are supported:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;distance_to_camera&quot;</span></code>: An image containing the distance to camera optical center.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;distance_to_image_plane&quot;</span></code>: An image containing distances of 3D points from camera plane along camera’s z-axis.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;normals&quot;</span></code>: An image containing the local surface normal vectors at each pixel.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently, only static meshes are supported. Extending the warp mesh to support dynamic meshes
+is a work in progress.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.cfg" title="omni.isaac.lab.sensors.RayCasterCamera.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration parameters.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.UNSUPPORTED_TYPES" title="omni.isaac.lab.sensors.RayCasterCamera.UNSUPPORTED_TYPES"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UNSUPPORTED_TYPES</span></code></a></p></td>
+<td><p>A set of sensor types that are not supported by the ray-caster camera.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.data" title="omni.isaac.lab.sensors.RayCasterCamera.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data from the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.image_shape" title="omni.isaac.lab.sensors.RayCasterCamera.image_shape"><code class="xref py py-obj docutils literal notranslate"><span class="pre">image_shape</span></code></a></p></td>
+<td><p>A tuple containing (height, width) of the camera sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.frame" title="omni.isaac.lab.sensors.RayCasterCamera.frame"><code class="xref py py-obj docutils literal notranslate"><span class="pre">frame</span></code></a></p></td>
+<td><p>Frame number when the measurement took place.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.device" title="omni.isaac.lab.sensors.RayCasterCamera.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.has_debug_vis_implementation" title="omni.isaac.lab.sensors.RayCasterCamera.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the sensor has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.is_initialized" title="omni.isaac.lab.sensors.RayCasterCamera.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the sensor is initialized.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.num_instances" title="omni.isaac.lab.sensors.RayCasterCamera.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the sensor.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.__init__" title="omni.isaac.lab.sensors.RayCasterCamera.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the camera object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices" title="omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_intrinsic_matrices</span></code></a>(matrices[, ...])</p></td>
+<td><p>Set the intrinsic matrix of the camera.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.reset" title="omni.isaac.lab.sensors.RayCasterCamera.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the sensor internals.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses" title="omni.isaac.lab.sensors.RayCasterCamera.set_world_poses"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_world_poses</span></code></a>([positions, orientations, ...])</p></td>
+<td><p>Set the pose of the camera w.r.t.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses_from_view" title="omni.isaac.lab.sensors.RayCasterCamera.set_world_poses_from_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_world_poses_from_view</span></code></a>(eyes, targets[, ...])</p></td>
+<td><p>Set the poses of the camera from the eye position and look-at target position.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCamera.set_debug_vis" title="omni.isaac.lab.sensors.RayCasterCamera.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the sensor data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg" title="omni.isaac.lab.sensors.RayCasterCameraCfg"><span class="pre">RayCasterCameraCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration parameters.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.UNSUPPORTED_TYPES">
+<span class="sig-name descname"><span class="pre">UNSUPPORTED_TYPES</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ClassVar</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#set" title="(in Python v3.13)"><span class="pre">set</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'bounding_box_2d_loose',</span> <span class="pre">'bounding_box_2d_loose_fast',</span> <span class="pre">'bounding_box_2d_tight',</span> <span class="pre">'bounding_box_2d_tight_fast',</span> <span class="pre">'bounding_box_3d',</span> <span class="pre">'bounding_box_3d_fast',</span> <span class="pre">'instance_id_segmentation',</span> <span class="pre">'instance_id_segmentation_fast',</span> <span class="pre">'instance_segmentation',</span> <span class="pre">'instance_segmentation_fast',</span> <span class="pre">'motion_vectors',</span> <span class="pre">'rgb',</span> <span class="pre">'semantic_segmentation',</span> <span class="pre">'skeleton_data'}</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.UNSUPPORTED_TYPES" title="Permalink to this definition">#</a></dt>
+<dd><p>A set of sensor types that are not supported by the ray-caster camera.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg" title="omni.isaac.lab.sensors.RayCasterCameraCfg"><span class="pre">RayCasterCameraCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html#RayCasterCamera.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the camera object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration parameters.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the provided data types are not supported by the ray-caster camera.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.CameraData" title="omni.isaac.lab.sensors.camera.camera_data.CameraData"><span class="pre">CameraData</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data from the sensor.</p>
+<p>This property is only updated when the user tries to access the data. This is done to avoid
+unnecessary computation when the sensor data is not used.</p>
+<p>For updating the sensor when this property is accessed, you can use the following
+code snippet in your sensor implementation:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># update sensors if needed</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+<span class="c1"># return the data (where `_data` is the data for the sensor)</span>
+<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+</pre></div>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.image_shape">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">image_shape</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.image_shape" title="Permalink to this definition">#</a></dt>
+<dd><p>A tuple containing (height, width) of the camera sensor.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.frame">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">frame</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">torch.tensor</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.frame" title="Permalink to this definition">#</a></dt>
+<dd><p>Frame number when the measurement took place.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices">
+<span class="sig-name descname"><span class="pre">set_intrinsic_matrices</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrices</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">focal_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html#RayCasterCamera.set_intrinsic_matrices"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the intrinsic matrix of the camera.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>matrices</strong> – The intrinsic matrices for the camera. Shape is (N, 3, 3).</p></li>
+<li><p><strong>focal_length</strong> – Focal length to use when computing aperture values (in cm). Defaults to 1.0.</p></li>
+<li><p><strong>env_ids</strong> – A sensor ids to manipulate. Defaults to None, which means all sensor indices.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html#RayCasterCamera.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the sensor internals.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The sensor ids to reset. Defaults to None.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.set_world_poses">
+<span class="sig-name descname"><span class="pre">set_world_poses</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientations</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">convention</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'opengl'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'ros'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'world'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'ros'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html#RayCasterCamera.set_world_poses"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the pose of the camera w.r.t. the world frame using specified convention.</p>
+<p>Since different fields use different conventions for camera orientations, the method allows users to
+set the camera poses in the specified convention. Possible conventions are:</p>
+<ul class="simple">
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;opengl&quot;</span></code> - forward axis: -Z - up axis +Y - Offset is applied in the OpenGL (Usd.Camera) convention</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;ros&quot;</span></code>    - forward axis: +Z - up axis -Y - Offset is applied in the ROS convention</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;world&quot;</span></code>  - forward axis: +X - up axis +Z - Offset is applied in the World Frame convention</p></li>
+</ul>
+<p>See <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.maths.convert_camera_frame_orientation_convention()</span></code> for more details
+on the conventions.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>positions</strong> – The cartesian coordinates (in meters). Shape is (N, 3).
+Defaults to None, in which case the camera position in not changed.</p></li>
+<li><p><strong>orientations</strong> – The quaternion orientation in (w, x, y, z). Shape is (N, 4).
+Defaults to None, in which case the camera orientation in not changed.</p></li>
+<li><p><strong>env_ids</strong> – A sensor ids to manipulate. Defaults to None, which means all sensor indices.</p></li>
+<li><p><strong>convention</strong> – The convention in which the poses are fed. Defaults to “ros”.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the camera prim is not set. Need to call <code class="xref py py-meth docutils literal notranslate"><span class="pre">initialize()</span></code> method first.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.set_world_poses_from_view">
+<span class="sig-name descname"><span class="pre">set_world_poses_from_view</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">eyes</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">targets</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.html#RayCasterCamera.set_world_poses_from_view"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses_from_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the poses of the camera from the eye position and look-at target position.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>eyes</strong> – The positions of the camera’s eye. Shape is N, 3).</p></li>
+<li><p><strong>targets</strong> – The target locations to look at. Shape is (N, 3).</p></li>
+<li><p><strong>env_ids</strong> – A sensor ids to manipulate. Defaults to None, which means all sensor indices.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the camera prim is not set. Need to call <code class="xref py py-meth docutils literal notranslate"><span class="pre">initialize()</span></code> method first.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#NotImplementedError" title="(in Python v3.13)"><strong>NotImplementedError</strong></a> – If the stage up-axis is not “Y” or “Z”.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor is initialized.</p>
+<p>Returns True if the sensor is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the sensor.</p>
+<p>This is equal to the number of sensors per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCamera.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCamera.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the sensor data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the sensor data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the sensor
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">RayCasterCameraCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html#RayCasterCameraCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCfg" title="omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RayCasterCfg</span></code></a></p>
+<p>Configuration for the ray-cast sensor.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg" title="omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OffsetCfg</span></code></a></p></td>
+<td><p>The offset pose of the sensor's frame from the sensor's parent frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.offset" title="omni.isaac.lab.sensors.RayCasterCameraCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>The offset pose of the sensor's frame from the sensor's parent frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path" title="omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.update_period" title="omni.isaac.lab.sensors.RayCasterCameraCfg.update_period"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_period</span></code></a></p></td>
+<td><p>Update period of the sensor buffers (in seconds).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.history_length" title="omni.isaac.lab.sensors.RayCasterCameraCfg.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>Number of past frames to store in the sensor buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.debug_vis" title="omni.isaac.lab.sensors.RayCasterCameraCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths" title="omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mesh_prim_paths</span></code></a></p></td>
+<td><p>The list of mesh primitive paths to ray cast against.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only" title="omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only"><code class="xref py py-obj docutils literal notranslate"><span class="pre">attach_yaw_only</span></code></a></p></td>
+<td><p>Whether the rays' starting positions and directions only track the yaw orientation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.max_distance" title="omni.isaac.lab.sensors.RayCasterCameraCfg.max_distance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_distance</span></code></a></p></td>
+<td><p>Maximum distance (in meters) from the sensor to ray cast to.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range" title="omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">drift_range</span></code></a></p></td>
+<td><p>The range of drift (in meters) to add to the ray starting positions (xyz).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg" title="omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration object for the visualization markers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.data_types" title="omni.isaac.lab.sensors.RayCasterCameraCfg.data_types"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data_types</span></code></a></p></td>
+<td><p>List of sensor names/types to enable for the camera.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.depth_clipping_behavior" title="omni.isaac.lab.sensors.RayCasterCameraCfg.depth_clipping_behavior"><code class="xref py py-obj docutils literal notranslate"><span class="pre">depth_clipping_behavior</span></code></a></p></td>
+<td><p>Clipping behavior for the camera for values exceed the maximum value.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.pattern_cfg" title="omni.isaac.lab.sensors.RayCasterCameraCfg.pattern_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pattern_cfg</span></code></a></p></td>
+<td><p>The pattern that defines the local ray starting positions and directions in a pinhole camera pattern.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">OffsetCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.html#RayCasterCameraCfg.OffsetCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>The offset pose of the sensor’s frame from the sensor’s parent frame.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos" title="omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Translation w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.rot" title="omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation (w, x, y, z) w.r.t.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention" title="omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convention</span></code></a></p></td>
+<td><p>The convention in which the frame offset is applied.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention">
+<span class="sig-name descname"><span class="pre">convention</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'opengl'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'ros'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'world'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention" title="Permalink to this definition">#</a></dt>
+<dd><p>The convention in which the frame offset is applied. Defaults to “ros”.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;opengl&quot;</span></code> - forward axis: <code class="docutils literal notranslate"><span class="pre">-Z</span></code> - up axis: <code class="docutils literal notranslate"><span class="pre">+Y</span></code> - Offset is applied in the OpenGL (Usd.Camera) convention.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;ros&quot;</span></code>    - forward axis: <code class="docutils literal notranslate"><span class="pre">+Z</span></code> - up axis: <code class="docutils literal notranslate"><span class="pre">-Y</span></code> - Offset is applied in the ROS convention.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;world&quot;</span></code>  - forward axis: <code class="docutils literal notranslate"><span class="pre">+X</span></code> - up axis: <code class="docutils literal notranslate"><span class="pre">+Z</span></code> - Offset is applied in the World Frame convention.</p></li>
+</ul>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg" title="omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg"><span class="pre">OffsetCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>The offset pose of the sensor’s frame from the sensor’s parent frame. Defaults to identity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot/sensor</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot/sensor</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.update_period">
+<span class="sig-name descname"><span class="pre">update_period</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.update_period" title="Permalink to this definition">#</a></dt>
+<dd><p>Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.history_length">
+<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of past frames to store in the sensor buffers. Defaults to 0, which means that only
+the current data is stored (no history).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize the sensor. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths">
+<span class="sig-name descname"><span class="pre">mesh_prim_paths</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths" title="Permalink to this definition">#</a></dt>
+<dd><p>The list of mesh primitive paths to ray cast against.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently, only a single static mesh is supported. We are working on supporting multiple
+static meshes and dynamic meshes.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only">
+<span class="sig-name descname"><span class="pre">attach_yaw_only</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the rays’ starting positions and directions only track the yaw orientation.</p>
+<p>This is useful for ray-casting height maps, where only yaw rotation is needed.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.max_distance">
+<span class="sig-name descname"><span class="pre">max_distance</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.max_distance" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum distance (in meters) from the sensor to ray cast to. Defaults to 1e6.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range">
+<span class="sig-name descname"><span class="pre">drift_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The range of drift (in meters) to add to the ray starting positions (xyz). Defaults to (0.0, 0.0).</p>
+<p>For floating base robots, this is useful for simulating drift in the robot’s pose estimation.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg">
+<span class="sig-name descname"><span class="pre">visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration object for the visualization markers. Defaults to RAY_CASTER_MARKER_CFG.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This attribute is only used when debug visualization is enabled.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.data_types">
+<span class="sig-name descname"><span class="pre">data_types</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.data_types" title="Permalink to this definition">#</a></dt>
+<dd><p>List of sensor names/types to enable for the camera. Defaults to [“distance_to_image_plane”].</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.depth_clipping_behavior">
+<span class="sig-name descname"><span class="pre">depth_clipping_behavior</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'max'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'zero'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'none'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.depth_clipping_behavior" title="Permalink to this definition">#</a></dt>
+<dd><p>Clipping behavior for the camera for values exceed the maximum value. Defaults to “none”.</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;max&quot;</span></code>: Values are clipped to the maximum value.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;zero&quot;</span></code>: Values are clipped to zero.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;none</span></code>: No clipping is applied. Values will be returned as <code class="docutils literal notranslate"><span class="pre">inf</span></code> for <code class="docutils literal notranslate"><span class="pre">distance_to_camera</span></code> and <code class="docutils literal notranslate"><span class="pre">nan</span></code>
+for <code class="docutils literal notranslate"><span class="pre">distance_to_image_plane</span></code> data type.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.RayCasterCameraCfg.pattern_cfg">
+<span class="sig-name descname"><span class="pre">pattern_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg" title="omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PinholeCameraPatternCfg"><span class="pre">PinholeCameraPatternCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.pattern_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The pattern that defines the local ray starting positions and directions in a pinhole camera pattern.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="inertia-measurement-unit">
+<h2>Inertia Measurement Unit<a class="headerlink" href="#inertia-measurement-unit" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Imu">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">Imu</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/imu/imu.html#Imu"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.Imu" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.sensor_base.SensorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBase</span></code></a></p>
+<p>The Inertia Measurement Unit (IMU) sensor.</p>
+<p>The sensor can be attached to any <code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code> or <code class="xref py py-class docutils literal notranslate"><span class="pre">Articulation</span></code> in the scene. The sensor provides complete state information.
+The sensor is primarily used to provide the linear acceleration and angular velocity of the object in the body frame. The sensor also provides
+the position and orientation of the object in the world frame and the angular acceleration and linear velocity in the body frame. The extra
+data outputs are useful for simulating with or comparing against “perfect” state estimation.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We are computing the accelerations using numerical differentiation from the velocities. Consequently, the
+IMU sensor accuracy depends on the chosen phsyx timestep. For a sufficient accuracy, we recommend to keep the
+timestep at least as 200Hz.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is suggested to use the OffsetCfg to define an IMU frame relative to a rigid body prim defined at the root of
+a <code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code> or  a prim that is defined by a non-fixed joint in an <code class="xref py py-class docutils literal notranslate"><span class="pre">Articulation</span></code> (except for the
+root of a fixed based articulation). The use frames with fixed joints and small mass/inertia to emulate a transform
+relative to a body frame can result in lower performance and accuracy.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Imu.cfg" title="omni.isaac.lab.sensors.Imu.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration parameters.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Imu.data" title="omni.isaac.lab.sensors.Imu.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>Data from the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Imu.num_instances" title="omni.isaac.lab.sensors.Imu.num_instances"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_instances</span></code></a></p></td>
+<td><p>Number of instances of the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Imu.device" title="omni.isaac.lab.sensors.Imu.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Memory device for computation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Imu.has_debug_vis_implementation" title="omni.isaac.lab.sensors.Imu.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the sensor has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Imu.is_initialized" title="omni.isaac.lab.sensors.Imu.is_initialized"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_initialized</span></code></a></p></td>
+<td><p>Whether the sensor is initialized.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Imu.__init__" title="omni.isaac.lab.sensors.Imu.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the Imu sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Imu.reset" title="omni.isaac.lab.sensors.Imu.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the sensor internals.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.Imu.set_debug_vis" title="omni.isaac.lab.sensors.Imu.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Sets whether to visualize the sensor data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Imu.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg" title="omni.isaac.lab.sensors.ImuCfg"><span class="pre">ImuCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Imu.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration parameters.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Imu.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg" title="omni.isaac.lab.sensors.ImuCfg"><span class="pre">ImuCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/imu/imu.html#Imu.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.Imu.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the Imu sensor.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration parameters.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Imu.data">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">ImuData</span></em><a class="headerlink" href="#omni.isaac.lab.sensors.Imu.data" title="Permalink to this definition">#</a></dt>
+<dd><p>Data from the sensor.</p>
+<p>This property is only updated when the user tries to access the data. This is done to avoid
+unnecessary computation when the sensor data is not used.</p>
+<p>For updating the sensor when this property is accessed, you can use the following
+code snippet in your sensor implementation:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># update sensors if needed</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_update_outdated_buffers</span><span class="p">()</span>
+<span class="c1"># return the data (where `_data` is the data for the sensor)</span>
+<span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">_data</span>
+</pre></div>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Imu.num_instances">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_instances</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Imu.num_instances" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of instances of the sensor.</p>
+<p>This is equal to the number of sensors per environment multiplied by the number of environments.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Imu.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/imu/imu.html#Imu.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.Imu.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the sensor internals.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The sensor ids to reset. Defaults to None.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Imu.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Imu.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Memory device for computation.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Imu.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Imu.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor has a debug visualization implemented.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Imu.is_initialized">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">is_initialized</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.Imu.is_initialized" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the sensor is initialized.</p>
+<p>Returns True if the sensor is initialized, False otherwise.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.Imu.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.Imu.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets whether to visualize the sensor data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the sensor data.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the sensor
+does not support debug visualization.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.</span></span><span class="sig-name descname"><span class="pre">ImuCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/imu/imu_cfg.html#ImuCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sensors.SensorBaseCfg" title="omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBaseCfg</span></code></a></p>
+<p>Configuration for an Inertial Measurement Unit (IMU) sensor.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg" title="omni.isaac.lab.sensors.ImuCfg.OffsetCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">OffsetCfg</span></code></a></p></td>
+<td><p>The offset pose of the sensor's frame from the sensor's parent frame.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.prim_path" title="omni.isaac.lab.sensors.ImuCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>Prim path (or expression) to the sensor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.update_period" title="omni.isaac.lab.sensors.ImuCfg.update_period"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_period</span></code></a></p></td>
+<td><p>Update period of the sensor buffers (in seconds).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.history_length" title="omni.isaac.lab.sensors.ImuCfg.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>Number of past frames to store in the sensor buffers.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.debug_vis" title="omni.isaac.lab.sensors.ImuCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to visualize the sensor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.offset" title="omni.isaac.lab.sensors.ImuCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>The offset pose of the sensor's frame from the sensor's parent frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.visualizer_cfg" title="omni.isaac.lab.sensors.ImuCfg.visualizer_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visualizer_cfg</span></code></a></p></td>
+<td><p>The configuration object for the visualization markers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.gravity_bias" title="omni.isaac.lab.sensors.ImuCfg.gravity_bias"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gravity_bias</span></code></a></p></td>
+<td><p>The linear acceleration bias applied to the linear acceleration in the world frame (x,y,z).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg.OffsetCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">OffsetCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sensors/imu/imu_cfg.html#ImuCfg.OffsetCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>The offset pose of the sensor’s frame from the sensor’s parent frame.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg.pos" title="omni.isaac.lab.sensors.ImuCfg.OffsetCfg.pos"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pos</span></code></a></p></td>
+<td><p>Translation w.r.t.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg.rot" title="omni.isaac.lab.sensors.ImuCfg.OffsetCfg.rot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rot</span></code></a></p></td>
+<td><p>Quaternion rotation (w, x, y, z) w.r.t.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg.OffsetCfg.pos">
+<span class="sig-name descname"><span class="pre">pos</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg.pos" title="Permalink to this definition">#</a></dt>
+<dd><p>Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg.OffsetCfg.rot">
+<span class="sig-name descname"><span class="pre">rot</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg.rot" title="Permalink to this definition">#</a></dt>
+<dd><p>Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Prim path (or expression) to the sensor.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The expression can contain the environment namespace regex <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> which
+will be replaced with the environment namespace.</p>
+<p>Example: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot/sensor</span></code> will be replaced with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Robot/sensor</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg.update_period">
+<span class="sig-name descname"><span class="pre">update_period</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg.update_period" title="Permalink to this definition">#</a></dt>
+<dd><p>Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg.history_length">
+<span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of past frames to store in the sensor buffers. Defaults to 0, which means that only
+the current data is stored (no history).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to visualize the sensor. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg" title="omni.isaac.lab.sensors.ImuCfg.OffsetCfg"><span class="pre">OffsetCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>The offset pose of the sensor’s frame from the sensor’s parent frame. Defaults to identity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg.visualizer_cfg">
+<span class="sig-name descname"><span class="pre">visualizer_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.VisualizationMarkersCfg"><span class="pre">VisualizationMarkersCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg.visualizer_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration object for the visualization markers. Defaults to RED_ARROW_X_MARKER_CFG.</p>
+<p>This attribute is only used when debug visualization is enabled.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.ImuCfg.gravity_bias">
+<span class="sig-name descname"><span class="pre">gravity_bias</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.ImuCfg.gravity_bias" title="Permalink to this definition">#</a></dt>
+<dd><p>The linear acceleration bias applied to the linear acceleration in the world frame (x,y,z).</p>
+<p>Imu sensors typically output a positive gravity acceleration in opposition to the direction of gravity. This
+config parameter allows users to subtract that bias if set to (0.,0.,0.). By default this is set to (0.0,0.0,9.81)
+which results in a positive acceleration reading in the world Z.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#sensor-base">Sensor Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase"><code class="docutils literal notranslate"><span class="pre">SensorBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.__init__"><code class="docutils literal notranslate"><span class="pre">SensorBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.is_initialized"><code class="docutils literal notranslate"><span class="pre">SensorBase.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.num_instances"><code class="docutils literal notranslate"><span class="pre">SensorBase.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.device"><code class="docutils literal notranslate"><span class="pre">SensorBase.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.data"><code class="docutils literal notranslate"><span class="pre">SensorBase.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">SensorBase.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">SensorBase.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBase.reset"><code class="docutils literal notranslate"><span class="pre">SensorBase.reset()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBaseCfg"><code class="docutils literal notranslate"><span class="pre">SensorBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBaseCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">SensorBaseCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBaseCfg.update_period"><code class="docutils literal notranslate"><span class="pre">SensorBaseCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBaseCfg.history_length"><code class="docutils literal notranslate"><span class="pre">SensorBaseCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.SensorBaseCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">SensorBaseCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#usd-camera">USD Camera</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera"><code class="docutils literal notranslate"><span class="pre">Camera</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.cfg"><code class="docutils literal notranslate"><span class="pre">Camera.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.UNSUPPORTED_TYPES"><code class="docutils literal notranslate"><span class="pre">Camera.UNSUPPORTED_TYPES</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.__init__"><code class="docutils literal notranslate"><span class="pre">Camera.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.num_instances"><code class="docutils literal notranslate"><span class="pre">Camera.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.data"><code class="docutils literal notranslate"><span class="pre">Camera.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.frame"><code class="docutils literal notranslate"><span class="pre">Camera.frame</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.render_product_paths"><code class="docutils literal notranslate"><span class="pre">Camera.render_product_paths</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.image_shape"><code class="docutils literal notranslate"><span class="pre">Camera.image_shape</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.set_intrinsic_matrices"><code class="docutils literal notranslate"><span class="pre">Camera.set_intrinsic_matrices()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.set_world_poses"><code class="docutils literal notranslate"><span class="pre">Camera.set_world_poses()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.set_world_poses_from_view"><code class="docutils literal notranslate"><span class="pre">Camera.set_world_poses_from_view()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.reset"><code class="docutils literal notranslate"><span class="pre">Camera.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.device"><code class="docutils literal notranslate"><span class="pre">Camera.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">Camera.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.is_initialized"><code class="docutils literal notranslate"><span class="pre">Camera.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Camera.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">Camera.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData"><code class="docutils literal notranslate"><span class="pre">CameraData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.pos_w"><code class="docutils literal notranslate"><span class="pre">CameraData.pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.quat_w_world"><code class="docutils literal notranslate"><span class="pre">CameraData.quat_w_world</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.image_shape"><code class="docutils literal notranslate"><span class="pre">CameraData.image_shape</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.intrinsic_matrices"><code class="docutils literal notranslate"><span class="pre">CameraData.intrinsic_matrices</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.output"><code class="docutils literal notranslate"><span class="pre">CameraData.output</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.info"><code class="docutils literal notranslate"><span class="pre">CameraData.info</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.quat_w_ros"><code class="docutils literal notranslate"><span class="pre">CameraData.quat_w_ros</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraData.quat_w_opengl"><code class="docutils literal notranslate"><span class="pre">CameraData.quat_w_opengl</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg"><code class="docutils literal notranslate"><span class="pre">CameraCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">CameraCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">CameraCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">CameraCfg.OffsetCfg.rot</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention"><code class="docutils literal notranslate"><span class="pre">CameraCfg.OffsetCfg.convention</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.offset"><code class="docutils literal notranslate"><span class="pre">CameraCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.spawn"><code class="docutils literal notranslate"><span class="pre">CameraCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.depth_clipping_behavior"><code class="docutils literal notranslate"><span class="pre">CameraCfg.depth_clipping_behavior</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">CameraCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.update_period"><code class="docutils literal notranslate"><span class="pre">CameraCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.history_length"><code class="docutils literal notranslate"><span class="pre">CameraCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">CameraCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.data_types"><code class="docutils literal notranslate"><span class="pre">CameraCfg.data_types</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.width"><code class="docutils literal notranslate"><span class="pre">CameraCfg.width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.height"><code class="docutils literal notranslate"><span class="pre">CameraCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.semantic_filter"><code class="docutils literal notranslate"><span class="pre">CameraCfg.semantic_filter</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation"><code class="docutils literal notranslate"><span class="pre">CameraCfg.colorize_semantic_segmentation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation"><code class="docutils literal notranslate"><span class="pre">CameraCfg.colorize_instance_id_segmentation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation"><code class="docutils literal notranslate"><span class="pre">CameraCfg.colorize_instance_segmentation</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#tile-rendered-usd-camera">Tile-Rendered USD Camera</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera"><code class="docutils literal notranslate"><span class="pre">TiledCamera</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.cfg"><code class="docutils literal notranslate"><span class="pre">TiledCamera.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.__init__"><code class="docutils literal notranslate"><span class="pre">TiledCamera.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.reset"><code class="docutils literal notranslate"><span class="pre">TiledCamera.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.UNSUPPORTED_TYPES"><code class="docutils literal notranslate"><span class="pre">TiledCamera.UNSUPPORTED_TYPES</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.data"><code class="docutils literal notranslate"><span class="pre">TiledCamera.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.device"><code class="docutils literal notranslate"><span class="pre">TiledCamera.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.frame"><code class="docutils literal notranslate"><span class="pre">TiledCamera.frame</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">TiledCamera.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.image_shape"><code class="docutils literal notranslate"><span class="pre">TiledCamera.image_shape</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.is_initialized"><code class="docutils literal notranslate"><span class="pre">TiledCamera.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.num_instances"><code class="docutils literal notranslate"><span class="pre">TiledCamera.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.render_product_paths"><code class="docutils literal notranslate"><span class="pre">TiledCamera.render_product_paths</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">TiledCamera.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.set_intrinsic_matrices"><code class="docutils literal notranslate"><span class="pre">TiledCamera.set_intrinsic_matrices()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.set_world_poses"><code class="docutils literal notranslate"><span class="pre">TiledCamera.set_world_poses()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCamera.set_world_poses_from_view"><code class="docutils literal notranslate"><span class="pre">TiledCamera.set_world_poses_from_view()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.OffsetCfg.rot</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.OffsetCfg.convention</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.update_period"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.history_length"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.offset"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.spawn"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.spawn</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.depth_clipping_behavior"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.depth_clipping_behavior</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.data_types"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.data_types</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.width"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.height"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.semantic_filter"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.semantic_filter</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_semantic_segmentation"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.colorize_semantic_segmentation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_id_segmentation"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.colorize_instance_id_segmentation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.colorize_instance_segmentation"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.colorize_instance_segmentation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose"><code class="docutils literal notranslate"><span class="pre">TiledCameraCfg.return_latest_camera_pose</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#contact-sensor">Contact Sensor</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor"><code class="docutils literal notranslate"><span class="pre">ContactSensor</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.cfg"><code class="docutils literal notranslate"><span class="pre">ContactSensor.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.__init__"><code class="docutils literal notranslate"><span class="pre">ContactSensor.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.num_instances"><code class="docutils literal notranslate"><span class="pre">ContactSensor.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.data"><code class="docutils literal notranslate"><span class="pre">ContactSensor.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.num_bodies"><code class="docutils literal notranslate"><span class="pre">ContactSensor.num_bodies</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.body_names"><code class="docutils literal notranslate"><span class="pre">ContactSensor.body_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.body_physx_view"><code class="docutils literal notranslate"><span class="pre">ContactSensor.body_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.contact_physx_view"><code class="docutils literal notranslate"><span class="pre">ContactSensor.contact_physx_view</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.reset"><code class="docutils literal notranslate"><span class="pre">ContactSensor.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.find_bodies"><code class="docutils literal notranslate"><span class="pre">ContactSensor.find_bodies()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.compute_first_contact"><code class="docutils literal notranslate"><span class="pre">ContactSensor.compute_first_contact()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.compute_first_air"><code class="docutils literal notranslate"><span class="pre">ContactSensor.compute_first_air()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.device"><code class="docutils literal notranslate"><span class="pre">ContactSensor.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">ContactSensor.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.is_initialized"><code class="docutils literal notranslate"><span class="pre">ContactSensor.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensor.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">ContactSensor.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData"><code class="docutils literal notranslate"><span class="pre">ContactSensorData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.pos_w"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.quat_w"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.net_forces_w"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.net_forces_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.net_forces_w_history</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.force_matrix_w"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.force_matrix_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.last_air_time"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.last_air_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.current_air_time"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.current_air_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.last_contact_time"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.last_contact_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorData.current_contact_time"><code class="docutils literal notranslate"><span class="pre">ContactSensorData.current_contact_time</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_pose"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.track_pose</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.track_air_time"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.track_air_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.update_period"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.history_length"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.force_threshold"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.force_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.filter_prim_paths_expr</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">ContactSensorCfg.visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#frame-transformer">Frame Transformer</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer"><code class="docutils literal notranslate"><span class="pre">FrameTransformer</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.cfg"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.__init__"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.data"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.reset"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.device"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.is_initialized"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.num_instances"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformer.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">FrameTransformer.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.target_frame_names"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.target_frame_names</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.target_pos_source"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.target_pos_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.target_quat_source"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.target_quat_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.target_pos_w"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.target_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.target_quat_w"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.target_quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.source_pos_w"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.source_pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerData.source_quat_w"><code class="docutils literal notranslate"><span class="pre">FrameTransformerData.source_quat_w</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.FrameCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.FrameCfg.prim_path</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.FrameCfg.name</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.offset"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.FrameCfg.offset</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.update_period"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.history_length"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.source_frame_offset"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.source_frame_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.target_frames"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.target_frames</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">FrameTransformerCfg.visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">OffsetCfg.pos</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">OffsetCfg.rot</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#ray-cast-sensor">Ray-Cast Sensor</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster"><code class="docutils literal notranslate"><span class="pre">RayCaster</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.cfg"><code class="docutils literal notranslate"><span class="pre">RayCaster.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.__init__"><code class="docutils literal notranslate"><span class="pre">RayCaster.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.num_instances"><code class="docutils literal notranslate"><span class="pre">RayCaster.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.data"><code class="docutils literal notranslate"><span class="pre">RayCaster.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.reset"><code class="docutils literal notranslate"><span class="pre">RayCaster.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.device"><code class="docutils literal notranslate"><span class="pre">RayCaster.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">RayCaster.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.is_initialized"><code class="docutils literal notranslate"><span class="pre">RayCaster.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCaster.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">RayCaster.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterData"><code class="docutils literal notranslate"><span class="pre">RayCasterData</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterData.pos_w"><code class="docutils literal notranslate"><span class="pre">RayCasterData.pos_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterData.quat_w"><code class="docutils literal notranslate"><span class="pre">RayCasterData.quat_w</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterData.ray_hits_w"><code class="docutils literal notranslate"><span class="pre">RayCasterData.ray_hits_w</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.OffsetCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.mesh_prim_paths</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.offset"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.update_period"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.history_length"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.attach_yaw_only</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.pattern_cfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.pattern_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.max_distance"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.max_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.drift_range"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.drift_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCfg.visualizer_cfg</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#ray-cast-camera">Ray-Cast Camera</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.cfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.UNSUPPORTED_TYPES"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.UNSUPPORTED_TYPES</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.__init__"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.data"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.image_shape"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.image_shape</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.frame"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.frame</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.set_intrinsic_matrices()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.reset"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.set_world_poses()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.set_world_poses_from_view"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.set_world_poses_from_view()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.device"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.is_initialized"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.num_instances"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCamera.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">RayCasterCamera.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.OffsetCfg.rot</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.OffsetCfg.convention</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.offset"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.update_period"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.history_length"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.mesh_prim_paths</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.attach_yaw_only</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.max_distance"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.max_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.drift_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.data_types"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.data_types</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.depth_clipping_behavior"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.depth_clipping_behavior</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.RayCasterCameraCfg.pattern_cfg"><code class="docutils literal notranslate"><span class="pre">RayCasterCameraCfg.pattern_cfg</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#inertia-measurement-unit">Inertia Measurement Unit</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu"><code class="docutils literal notranslate"><span class="pre">Imu</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.cfg"><code class="docutils literal notranslate"><span class="pre">Imu.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.__init__"><code class="docutils literal notranslate"><span class="pre">Imu.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.data"><code class="docutils literal notranslate"><span class="pre">Imu.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.num_instances"><code class="docutils literal notranslate"><span class="pre">Imu.num_instances</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.reset"><code class="docutils literal notranslate"><span class="pre">Imu.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.device"><code class="docutils literal notranslate"><span class="pre">Imu.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">Imu.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.is_initialized"><code class="docutils literal notranslate"><span class="pre">Imu.is_initialized</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.Imu.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">Imu.set_debug_vis()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg"><code class="docutils literal notranslate"><span class="pre">ImuCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg"><code class="docutils literal notranslate"><span class="pre">ImuCfg.OffsetCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg.pos"><code class="docutils literal notranslate"><span class="pre">ImuCfg.OffsetCfg.pos</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.OffsetCfg.rot"><code class="docutils literal notranslate"><span class="pre">ImuCfg.OffsetCfg.rot</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">ImuCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.update_period"><code class="docutils literal notranslate"><span class="pre">ImuCfg.update_period</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.history_length"><code class="docutils literal notranslate"><span class="pre">ImuCfg.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">ImuCfg.debug_vis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.offset"><code class="docutils literal notranslate"><span class="pre">ImuCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.visualizer_cfg"><code class="docutils literal notranslate"><span class="pre">ImuCfg.visualizer_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.ImuCfg.gravity_bias"><code class="docutils literal notranslate"><span class="pre">ImuCfg.gravity_bias</span></code></a></li>
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+    <h1>omni.isaac.lab.sensors.patterns</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#pattern-base">Pattern Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PatternBaseCfg"><code class="docutils literal notranslate"><span class="pre">PatternBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PatternBaseCfg.func"><code class="docutils literal notranslate"><span class="pre">PatternBaseCfg.func</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#grid-pattern">Grid Pattern</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.grid_pattern"><code class="docutils literal notranslate"><span class="pre">grid_pattern()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg"><code class="docutils literal notranslate"><span class="pre">GridPatternCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution"><code class="docutils literal notranslate"><span class="pre">GridPatternCfg.resolution</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.size"><code class="docutils literal notranslate"><span class="pre">GridPatternCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.direction"><code class="docutils literal notranslate"><span class="pre">GridPatternCfg.direction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering"><code class="docutils literal notranslate"><span class="pre">GridPatternCfg.ordering</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#pinhole-camera-pattern">Pinhole Camera Pattern</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.pinhole_camera_pattern"><code class="docutils literal notranslate"><span class="pre">pinhole_camera_pattern()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.focal_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.horizontal_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.vertical_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture_offset"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.horizontal_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture_offset"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.vertical_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.width"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.height"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.from_intrinsic_matrix"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.from_intrinsic_matrix()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rs-bpearl-pattern">RS-Bpearl Pattern</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.bpearl_pattern"><code class="docutils literal notranslate"><span class="pre">bpearl_pattern()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg"><code class="docutils literal notranslate"><span class="pre">BpearlPatternCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov"><code class="docutils literal notranslate"><span class="pre">BpearlPatternCfg.horizontal_fov</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_res"><code class="docutils literal notranslate"><span class="pre">BpearlPatternCfg.horizontal_res</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles"><code class="docutils literal notranslate"><span class="pre">BpearlPatternCfg.vertical_ray_angles</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#lidar-pattern">LiDAR Pattern</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.lidar_pattern"><code class="docutils literal notranslate"><span class="pre">lidar_pattern()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg"><code class="docutils literal notranslate"><span class="pre">LidarPatternCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.channels"><code class="docutils literal notranslate"><span class="pre">LidarPatternCfg.channels</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.vertical_fov_range"><code class="docutils literal notranslate"><span class="pre">LidarPatternCfg.vertical_fov_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_fov_range"><code class="docutils literal notranslate"><span class="pre">LidarPatternCfg.horizontal_fov_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_res"><code class="docutils literal notranslate"><span class="pre">LidarPatternCfg.horizontal_res</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.sensors.patterns">
+<span id="omni-isaac-lab-sensors-patterns"></span><h1>omni.isaac.lab.sensors.patterns<a class="headerlink" href="#module-omni.isaac.lab.sensors.patterns" title="Permalink to this heading">#</a></h1>
+<p>Sub-module for ray-casting patterns used by the ray-caster.</p>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PatternBaseCfg" title="omni.isaac.lab.sensors.patterns.PatternBaseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">PatternBaseCfg</span></code></a></p></td>
+<td><p>Base configuration for a pattern.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg" title="omni.isaac.lab.sensors.patterns.GridPatternCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">GridPatternCfg</span></code></a></p></td>
+<td><p>Configuration for the grid pattern for ray-casting.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg</span></code></a></p></td>
+<td><p>Configuration for a pinhole camera depth image pattern for ray-casting.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg" title="omni.isaac.lab.sensors.patterns.BpearlPatternCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">BpearlPatternCfg</span></code></a></p></td>
+<td><p>Configuration for the Bpearl pattern for ray-casting.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="pattern-base">
+<h2>Pattern Base<a class="headerlink" href="#pattern-base" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PatternBaseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.patterns.</span></span><span class="sig-name descname"><span class="pre">PatternBaseCfg</span></span><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PatternBaseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Base configuration for a pattern.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PatternBaseCfg.func" title="omni.isaac.lab.sensors.patterns.PatternBaseCfg.func"><code class="xref py py-obj docutils literal notranslate"><span class="pre">func</span></code></a></p></td>
+<td><p>Function to generate the pattern.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PatternBaseCfg.func">
+<span class="sig-name descname"><span class="pre">func</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PatternBaseCfg" title="omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PatternBaseCfg"><span class="pre">PatternBaseCfg</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PatternBaseCfg.func" title="Permalink to this definition">#</a></dt>
+<dd><p>Function to generate the pattern.</p>
+<p>The function should take in the configuration and the device name as arguments. It should return
+the pattern’s starting positions and directions as a tuple of torch.Tensor.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="grid-pattern">
+<h2>Grid Pattern<a class="headerlink" href="#grid-pattern" title="Permalink to this heading">#</a></h2>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.grid_pattern">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.patterns.</span></span><span class="sig-name descname"><span class="pre">grid_pattern</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg" title="omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.GridPatternCfg"><span class="pre">patterns_cfg.GridPatternCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.grid_pattern" title="Permalink to this definition">#</a></dt>
+<dd><p>A regular grid pattern for ray casting.</p>
+<p>The grid pattern is made from rays that are parallel to each other. They span a 2D grid in the sensor’s
+local coordinates from <code class="docutils literal notranslate"><span class="pre">(-length/2,</span> <span class="pre">-width/2)</span></code> to <code class="docutils literal notranslate"><span class="pre">(length/2,</span> <span class="pre">width/2)</span></code>, which is defined
+by the <code class="docutils literal notranslate"><span class="pre">size</span> <span class="pre">=</span> <span class="pre">(length,</span> <span class="pre">width)</span></code> and <code class="docutils literal notranslate"><span class="pre">resolution</span></code> parameters in the config.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration instance for the pattern.</p></li>
+<li><p><strong>device</strong> – The device to create the pattern on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The starting positions and directions of the rays.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the ordering is not “xy” or “yx”.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the resolution is less than or equal to 0.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.GridPatternCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.patterns.</span></span><span class="sig-name descname"><span class="pre">GridPatternCfg</span></span><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for the grid pattern for ray-casting.</p>
+<p>Defines a 2D grid of rays in the coordinates of the sensor.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>The points are ordered based on the <a class="reference internal" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering" title="omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ordering</span></code></a> attribute.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution" title="omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resolution</span></code></a></p></td>
+<td><p>Grid resolution (in meters).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.size" title="omni.isaac.lab.sensors.patterns.GridPatternCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>Grid size (length, width) (in meters).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.direction" title="omni.isaac.lab.sensors.patterns.GridPatternCfg.direction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">direction</span></code></a></p></td>
+<td><p>Ray direction.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering" title="omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ordering</span></code></a></p></td>
+<td><p>Specifies the ordering of points in the generated grid.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution">
+<span class="sig-name descname"><span class="pre">resolution</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution" title="Permalink to this definition">#</a></dt>
+<dd><p>Grid resolution (in meters).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.GridPatternCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>Grid size (length, width) (in meters).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.GridPatternCfg.direction">
+<span class="sig-name descname"><span class="pre">direction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.direction" title="Permalink to this definition">#</a></dt>
+<dd><p>Ray direction. Defaults to (0.0, 0.0, -1.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering">
+<span class="sig-name descname"><span class="pre">ordering</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'xy'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'yx'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering" title="Permalink to this definition">#</a></dt>
+<dd><p>Specifies the ordering of points in the generated grid. Defaults to <code class="docutils literal notranslate"><span class="pre">&quot;xy&quot;</span></code>.</p>
+<p>Consider a grid pattern with points at <span class="math notranslate nohighlight">\((x, y)\)</span> where <span class="math notranslate nohighlight">\(x\)</span> and <span class="math notranslate nohighlight">\(y\)</span> are the grid indices.
+The ordering of the points can be specified as “xy” or “yx”. This determines the outer and inner loop order
+when iterating over the grid points.</p>
+<ul class="simple">
+<li><p>If <em>“xy”</em> is selected, the points are ordered with outer loop over “x” and inner loop over “y”.</p></li>
+<li><p>If <em>“yx”</em> is selected, the points are ordered with outer loop over “y” and inner loop over “x”.</p></li>
+</ul>
+<p>For example, the grid pattern points with <span class="math notranslate nohighlight">\(X = (0, 1, 2)\)</span> and <span class="math notranslate nohighlight">\(Y = (3, 4)\)</span>:</p>
+<ul class="simple">
+<li><p><em>“xy”</em> ordering: <span class="math notranslate nohighlight">\([(0, 3), (0, 4), (1, 3), (1, 4), (2, 3), (2, 4)]\)</span></p></li>
+<li><p><em>“yx”</em> ordering: <span class="math notranslate nohighlight">\([(0, 3), (1, 3), (2, 3), (1, 4), (2, 4), (2, 4)]\)</span></p></li>
+</ul>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="pinhole-camera-pattern">
+<h2>Pinhole Camera Pattern<a class="headerlink" href="#pinhole-camera-pattern" title="Permalink to this heading">#</a></h2>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.pinhole_camera_pattern">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.patterns.</span></span><span class="sig-name descname"><span class="pre">pinhole_camera_pattern</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg" title="omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PinholeCameraPatternCfg"><span class="pre">patterns_cfg.PinholeCameraPatternCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">intrinsic_matrices</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.pinhole_camera_pattern" title="Permalink to this definition">#</a></dt>
+<dd><p>The image pattern for ray casting.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>This function does not follow the standard pattern interface. It requires the intrinsic matrices
+of the cameras to be passed in. This is because we want to be able to randomize the intrinsic
+matrices of the cameras, which is not possible with the standard pattern interface.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration instance for the pattern.</p></li>
+<li><p><strong>intrinsic_matrices</strong> – The intrinsic matrices of the cameras. Shape is (N, 3, 3).</p></li>
+<li><p><strong>device</strong> – The device to create the pattern on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The starting positions and directions of the rays. The shape of the tensors are
+(N, H * W, 3) and (N, H * W, 3) respectively.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.patterns.</span></span><span class="sig-name descname"><span class="pre">PinholeCameraPatternCfg</span></span><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for a pinhole camera depth image pattern for ray-casting.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>Focal length as well as the aperture sizes and offsets are set as a tenth of the world unit. In our case, the
+world unit is meters, so all of these values are in cm. For more information, please check:
+<a class="reference external" href="https://docs.omniverse.nvidia.com/materials-and-rendering/latest/cameras.html">https://docs.omniverse.nvidia.com/materials-and-rendering/latest/cameras.html</a></p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">focal_length</span></code></a></p></td>
+<td><p>Perspective focal length (in cm).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_aperture</span></code></a></p></td>
+<td><p>Horizontal aperture (in cm).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_aperture</span></code></a></p></td>
+<td><p>Vertical aperture (in cm).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture_offset" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_aperture_offset</span></code></a></p></td>
+<td><p>Offsets Resolution/Film gate horizontally.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture_offset" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_aperture_offset</span></code></a></p></td>
+<td><p>Offsets Resolution/Film gate vertically.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.width" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">width</span></code></a></p></td>
+<td><p>Width of the image (in pixels).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.height" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>Height of the image (in pixels).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.from_intrinsic_matrix" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.from_intrinsic_matrix"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_intrinsic_matrix</span></code></a>(intrinsic_matrix, ...)</p></td>
+<td><p>Create a <a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg</span></code></a> class instance from an intrinsic matrix.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length">
+<span class="sig-name descname"><span class="pre">focal_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Perspective focal length (in cm). Defaults to 24.0cm.</p>
+<p>Longer lens lengths narrower FOV, shorter lens lengths wider FOV.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture">
+<span class="sig-name descname"><span class="pre">horizontal_aperture</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture" title="Permalink to this definition">#</a></dt>
+<dd><p>Horizontal aperture (in cm). Defaults to 20.955 cm.</p>
+<p>Emulates sensor/film width on a camera.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default value is the horizontal aperture of a 35 mm spherical projector.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture">
+<span class="sig-name descname"><span class="pre">vertical_aperture</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture" title="Permalink to this definition">#</a></dt>
+<dd><p>Vertical aperture (in cm). Defaults to None.</p>
+<p>Emulates sensor/film height on a camera. If None, then the vertical aperture is calculated based on the
+horizontal aperture and the aspect ratio of the image to maintain squared pixels. In this case, the vertical
+aperture is calculated as:</p>
+<div class="math notranslate nohighlight">
+\[\text{vertical aperture} = \text{horizontal aperture} \times \frac{\text{height}}{\text{width}}\]</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture_offset">
+<span class="sig-name descname"><span class="pre">horizontal_aperture_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offsets Resolution/Film gate horizontally. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture_offset">
+<span class="sig-name descname"><span class="pre">vertical_aperture_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offsets Resolution/Film gate vertically. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.width">
+<span class="sig-name descname"><span class="pre">width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.width" title="Permalink to this definition">#</a></dt>
+<dd><p>Width of the image (in pixels).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>Height of the image (in pixels).</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.from_intrinsic_matrix">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_intrinsic_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">intrinsic_matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">width</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">height</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">focal_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">24.0</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg" title="omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PinholeCameraPatternCfg"><span class="pre">PinholeCameraPatternCfg</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.from_intrinsic_matrix" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a <a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg</span></code></a> class instance from an intrinsic matrix.</p>
+<p>The intrinsic matrix is a 3x3 matrix that defines the mapping between the 3D world coordinates and
+the 2D image. The matrix is defined as:</p>
+<div class="math notranslate nohighlight">
+\[\begin{split}I_{cam} = \begin{bmatrix}
+f_x &amp; 0 &amp; c_x \\
+0 &amp; f_y &amp; c_y \\
+0 &amp; 0 &amp; 1
+\end{bmatrix},\end{split}\]</div>
+<p>where <span class="math notranslate nohighlight">\(f_x\)</span> and <span class="math notranslate nohighlight">\(f_y\)</span> are the focal length along x and y direction, while <span class="math notranslate nohighlight">\(c_x\)</span> and <span class="math notranslate nohighlight">\(c_y\)</span> are the
+principle point offsets along x and y direction respectively.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>intrinsic_matrix</strong> – Intrinsic matrix of the camera in row-major format.
+The matrix is defined as [f_x, 0, c_x, 0, f_y, c_y, 0, 0, 1]. Shape is (9,).</p></li>
+<li><p><strong>width</strong> – Width of the image (in pixels).</p></li>
+<li><p><strong>height</strong> – Height of the image (in pixels).</p></li>
+<li><p><strong>focal_length</strong> – Focal length of the camera (in cm). Defaults to 24.0 cm.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>An instance of the <a class="reference internal" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg" title="omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg</span></code></a> class.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="rs-bpearl-pattern">
+<h2>RS-Bpearl Pattern<a class="headerlink" href="#rs-bpearl-pattern" title="Permalink to this heading">#</a></h2>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.bpearl_pattern">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.patterns.</span></span><span class="sig-name descname"><span class="pre">bpearl_pattern</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg" title="omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.BpearlPatternCfg"><span class="pre">patterns_cfg.BpearlPatternCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.bpearl_pattern" title="Permalink to this definition">#</a></dt>
+<dd><p>The RS-Bpearl pattern for ray casting.</p>
+<p>The <a class="reference external" href="https://www.roscomponents.com/en/lidar-laser-scanner/267-rs-bpearl.html">Robosense RS-Bpearl</a> is a short-range LiDAR that has a 360 degrees x 90 degrees super wide
+field of view. It is designed for near-field blind-spots detection.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration instance for the pattern.</p></li>
+<li><p><strong>device</strong> – The device to create the pattern on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The starting positions and directions of the rays.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.BpearlPatternCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.patterns.</span></span><span class="sig-name descname"><span class="pre">BpearlPatternCfg</span></span><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for the Bpearl pattern for ray-casting.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov" title="omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_fov</span></code></a></p></td>
+<td><p>Horizontal field of view (in degrees).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_res" title="omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_res"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_res</span></code></a></p></td>
+<td><p>Horizontal resolution (in degrees).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles" title="omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_ray_angles</span></code></a></p></td>
+<td><p>Vertical ray angles (in degrees).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov">
+<span class="sig-name descname"><span class="pre">horizontal_fov</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov" title="Permalink to this definition">#</a></dt>
+<dd><p>Horizontal field of view (in degrees). Defaults to 360.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_res">
+<span class="sig-name descname"><span class="pre">horizontal_res</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_res" title="Permalink to this definition">#</a></dt>
+<dd><p>Horizontal resolution (in degrees). Defaults to 10.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles">
+<span class="sig-name descname"><span class="pre">vertical_ray_angles</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles" title="Permalink to this definition">#</a></dt>
+<dd><p>Vertical ray angles (in degrees). Defaults to a list of 32 angles.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We manually set the vertical ray angles to match the Bpearl sensor. The ray-angles
+are not evenly spaced.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="lidar-pattern">
+<h2>LiDAR Pattern<a class="headerlink" href="#lidar-pattern" title="Permalink to this heading">#</a></h2>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.lidar_pattern">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.patterns.</span></span><span class="sig-name descname"><span class="pre">lidar_pattern</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg" title="omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.LidarPatternCfg"><span class="pre">patterns_cfg.LidarPatternCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.lidar_pattern" title="Permalink to this definition">#</a></dt>
+<dd><p>Lidar sensor pattern for ray casting.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – The configuration instance for the pattern.</p></li>
+<li><p><strong>device</strong> – The device to create the pattern on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The starting positions and directions of the rays.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.LidarPatternCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sensors.patterns.</span></span><span class="sig-name descname"><span class="pre">LidarPatternCfg</span></span><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for the LiDAR pattern for ray-casting.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.channels" title="omni.isaac.lab.sensors.patterns.LidarPatternCfg.channels"><code class="xref py py-obj docutils literal notranslate"><span class="pre">channels</span></code></a></p></td>
+<td><p>Number of Channels (Beams).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.vertical_fov_range" title="omni.isaac.lab.sensors.patterns.LidarPatternCfg.vertical_fov_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_fov_range</span></code></a></p></td>
+<td><p>Vertical field of view range in degrees.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_fov_range" title="omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_fov_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_fov_range</span></code></a></p></td>
+<td><p>Horizontal field of view range in degrees.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_res" title="omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_res"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_res</span></code></a></p></td>
+<td><p>Horizontal resolution (in degrees).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.LidarPatternCfg.channels">
+<span class="sig-name descname"><span class="pre">channels</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.channels" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of Channels (Beams). Determines the vertical resolution of the LiDAR sensor.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.LidarPatternCfg.vertical_fov_range">
+<span class="sig-name descname"><span class="pre">vertical_fov_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.vertical_fov_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Vertical field of view range in degrees.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_fov_range">
+<span class="sig-name descname"><span class="pre">horizontal_fov_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_fov_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Horizontal field of view range in degrees.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_res">
+<span class="sig-name descname"><span class="pre">horizontal_res</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_res" title="Permalink to this definition">#</a></dt>
+<dd><p>Horizontal resolution (in degrees).</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
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+  <div class="sidebar-secondary-item">
+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#pattern-base">Pattern Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PatternBaseCfg"><code class="docutils literal notranslate"><span class="pre">PatternBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PatternBaseCfg.func"><code class="docutils literal notranslate"><span class="pre">PatternBaseCfg.func</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#grid-pattern">Grid Pattern</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.grid_pattern"><code class="docutils literal notranslate"><span class="pre">grid_pattern()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg"><code class="docutils literal notranslate"><span class="pre">GridPatternCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution"><code class="docutils literal notranslate"><span class="pre">GridPatternCfg.resolution</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.size"><code class="docutils literal notranslate"><span class="pre">GridPatternCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.direction"><code class="docutils literal notranslate"><span class="pre">GridPatternCfg.direction</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering"><code class="docutils literal notranslate"><span class="pre">GridPatternCfg.ordering</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#pinhole-camera-pattern">Pinhole Camera Pattern</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.pinhole_camera_pattern"><code class="docutils literal notranslate"><span class="pre">pinhole_camera_pattern()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.focal_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.horizontal_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.vertical_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture_offset"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.horizontal_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture_offset"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.vertical_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.width"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.height"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.from_intrinsic_matrix"><code class="docutils literal notranslate"><span class="pre">PinholeCameraPatternCfg.from_intrinsic_matrix()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rs-bpearl-pattern">RS-Bpearl Pattern</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.bpearl_pattern"><code class="docutils literal notranslate"><span class="pre">bpearl_pattern()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg"><code class="docutils literal notranslate"><span class="pre">BpearlPatternCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov"><code class="docutils literal notranslate"><span class="pre">BpearlPatternCfg.horizontal_fov</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_res"><code class="docutils literal notranslate"><span class="pre">BpearlPatternCfg.horizontal_res</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles"><code class="docutils literal notranslate"><span class="pre">BpearlPatternCfg.vertical_ray_angles</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#lidar-pattern">LiDAR Pattern</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.lidar_pattern"><code class="docutils literal notranslate"><span class="pre">lidar_pattern()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg"><code class="docutils literal notranslate"><span class="pre">LidarPatternCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.channels"><code class="docutils literal notranslate"><span class="pre">LidarPatternCfg.channels</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.vertical_fov_range"><code class="docutils literal notranslate"><span class="pre">LidarPatternCfg.vertical_fov_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_fov_range"><code class="docutils literal notranslate"><span class="pre">LidarPatternCfg.horizontal_fov_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sensors.patterns.LidarPatternCfg.horizontal_res"><code class="docutils literal notranslate"><span class="pre">LidarPatternCfg.horizontal_res</span></code></a></li>
+</ul>
+</li>
+</ul>
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+    <h1>omni.isaac.lab.sim.converters</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#asset-converter-base">Asset Converter Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase.__init__"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_file_name"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_path"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase.usd_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase.usd_instanceable_meshes_path</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.asset_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.force_usd_conversion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.make_instanceable</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#mesh-converter">Mesh Converter</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter"><code class="docutils literal notranslate"><span class="pre">MeshConverter</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.cfg"><code class="docutils literal notranslate"><span class="pre">MeshConverter.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.__init__"><code class="docutils literal notranslate"><span class="pre">MeshConverter.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_dir"><code class="docutils literal notranslate"><span class="pre">MeshConverter.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_file_name"><code class="docutils literal notranslate"><span class="pre">MeshConverter.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path"><code class="docutils literal notranslate"><span class="pre">MeshConverter.usd_instanceable_meshes_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_path"><code class="docutils literal notranslate"><span class="pre">MeshConverter.usd_path</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.asset_path"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.asset_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.force_usd_conversion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.make_instanceable</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.collision_approximation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.translation"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.translation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.rotation"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.rotation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.scale"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.scale</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#urdf-converter">URDF Converter</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter"><code class="docutils literal notranslate"><span class="pre">UrdfConverter</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.cfg"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.__init__"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_dir"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_file_name"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.usd_instanceable_meshes_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_path"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.usd_path</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.link_density</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.import_inertia_tensor</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.convex_decompose_mesh"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.convex_decompose_mesh</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.fix_base"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.fix_base</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.merge_fixed_joints"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.merge_fixed_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.asset_path"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.asset_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.force_usd_conversion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.make_instanceable</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.self_collision"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.self_collision</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.default_drive_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.override_joint_dynamics</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.default_drive_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.default_drive_damping</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.sim.converters">
+<span id="omni-isaac-lab-sim-converters"></span><h1>omni.isaac.lab.sim.converters<a class="headerlink" href="#module-omni.isaac.lab.sim.converters" title="Permalink to this heading">#</a></h1>
+<p>Sub-module containing converters for converting various file types to USD.</p>
+<p>In order to support direct loading of various file types into Omniverse, we provide a set of
+converters that can convert the file into a USD file. The converters are implemented as
+sub-classes of the <a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBase" title="omni.isaac.lab.sim.converters.AssetConverterBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetConverterBase</span></code></a> class.</p>
+<p>The following converters are currently supported:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverter" title="omni.isaac.lab.sim.converters.UrdfConverter"><code class="xref py py-class docutils literal notranslate"><span class="pre">UrdfConverter</span></code></a>: Converts a URDF file into a USD file.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverter" title="omni.isaac.lab.sim.converters.MeshConverter"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshConverter</span></code></a>: Converts a mesh file into a USD file. This supports OBJ, STL and FBX files.</p></li>
+</ul>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBase" title="omni.isaac.lab.sim.converters.AssetConverterBase"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AssetConverterBase</span></code></a></p></td>
+<td><p>Base class for converting an asset file from different formats into USD format.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AssetConverterBaseCfg</span></code></a></p></td>
+<td><p>The base configuration class for asset converters.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverter" title="omni.isaac.lab.sim.converters.MeshConverter"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MeshConverter</span></code></a></p></td>
+<td><p>Converter for a mesh file in OBJ / STL / FBX format to a USD file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg" title="omni.isaac.lab.sim.converters.MeshConverterCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MeshConverterCfg</span></code></a></p></td>
+<td><p>The configuration class for MeshConverter.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverter" title="omni.isaac.lab.sim.converters.UrdfConverter"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UrdfConverter</span></code></a></p></td>
+<td><p>Converter for a URDF description file to a USD file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg" title="omni.isaac.lab.sim.converters.UrdfConverterCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UrdfConverterCfg</span></code></a></p></td>
+<td><p>The configuration class for UrdfConverter.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="asset-converter-base">
+<h2>Asset Converter Base<a class="headerlink" href="#asset-converter-base" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBase">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.converters.</span></span><span class="sig-name descname"><span class="pre">AssetConverterBase</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/converters/asset_converter_base.html#AssetConverterBase"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBase" title="Permalink to this definition">#</a></dt>
+<dd><p>Base class for converting an asset file from different formats into USD format.</p>
+<p>This class provides a common interface for converting an asset file into USD. It does not
+provide any implementation for the conversion. The derived classes must implement the
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">_convert_asset()</span></code> method to provide the actual conversion.</p>
+<p>The file conversion is lazy if the output directory (<a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.usd_dir</span></code></a>) is provided.
+In the lazy conversion, the USD file is re-generated only if:</p>
+<ul class="simple">
+<li><p>The asset file is modified.</p></li>
+<li><p>The configuration parameters are modified.</p></li>
+<li><p>The USD file does not exist.</p></li>
+</ul>
+<p>To override this behavior to force conversion, the flag <a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.force_usd_conversion</span></code></a>
+can be set to True.</p>
+<p>When no output directory is defined, lazy conversion is deactivated and the generated USD file is
+stored in folder <code class="docutils literal notranslate"><span class="pre">/tmp/IsaacLab/usd_{date}_{time}_{random}</span></code>, where the parameters in braces are generated
+at runtime. The random identifiers help avoid a race condition where two simultaneously triggered conversions
+try to use the same directory for reading/writing the generated files.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Changes to the parameters <a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.asset_path</span></code></a>, <a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.usd_dir</span></code></a>, and
+<a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.usd_file_name</span></code></a> are not considered as modifications in the configuration instance that
+trigger USD file re-generation.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBase.__init__" title="omni.isaac.lab.sim.converters.AssetConverterBase.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the class.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir" title="omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_dir</span></code></a></p></td>
+<td><p>The absolute path to the directory where the generated USD files are stored.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_file_name" title="omni.isaac.lab.sim.converters.AssetConverterBase.usd_file_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_file_name</span></code></a></p></td>
+<td><p>The file name of the generated USD file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_path" title="omni.isaac.lab.sim.converters.AssetConverterBase.usd_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_path</span></code></a></p></td>
+<td><p>The absolute path to the generated USD file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path" title="omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_instanceable_meshes_path</span></code></a></p></td>
+<td><p>The relative path to the USD file with meshes.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBase.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg" title="omni.isaac.lab.sim.converters.asset_converter_base_cfg.AssetConverterBaseCfg"><span class="pre">AssetConverterBaseCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/converters/asset_converter_base.html#AssetConverterBase.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBase.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the class.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration instance for converting an asset file to USD format.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When provided asset file does not exist.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_dir</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path to the directory where the generated USD files are stored.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBase.usd_file_name">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_file_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_file_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The file name of the generated USD file.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBase.usd_path">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path to the generated USD file.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_instanceable_meshes_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The relative path to the USD file with meshes.</p>
+<p>The path is with respect to the USD directory <a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir" title="omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir"><code class="xref py py-attr docutils literal notranslate"><span class="pre">usd_dir</span></code></a>. This is to ensure that the
+mesh references in the generated USD file are resolved relatively. Otherwise, it becomes
+difficult to move the USD asset to a different location.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBaseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.converters.</span></span><span class="sig-name descname"><span class="pre">AssetConverterBaseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/converters/asset_converter_base_cfg.html#AssetConverterBaseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The base configuration class for asset converters.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_path</span></code></a></p></td>
+<td><p>The absolute path to the asset file to convert into USD.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_dir</span></code></a></p></td>
+<td><p>The output directory path to store the generated USD file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_file_name</span></code></a></p></td>
+<td><p>The name of the generated usd file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">force_usd_conversion</span></code></a></p></td>
+<td><p>Force the conversion of the asset file to usd.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable"><code class="xref py py-obj docutils literal notranslate"><span class="pre">make_instanceable</span></code></a></p></td>
+<td><p>Make the generated USD file instanceable.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path">
+<span class="sig-name descname"><span class="pre">asset_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path to the asset file to convert into USD.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir">
+<span class="sig-name descname"><span class="pre">usd_dir</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir" title="Permalink to this definition">#</a></dt>
+<dd><p>The output directory path to store the generated USD file. Defaults to None.</p>
+<p>If None, it is resolved as <code class="docutils literal notranslate"><span class="pre">/tmp/IsaacLab/usd_{date}_{time}_{random}</span></code>, where
+the parameters in braces are runtime generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name">
+<span class="sig-name descname"><span class="pre">usd_file_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the generated usd file. Defaults to None.</p>
+<p>If None, it is resolved from the asset file name. For example, if the asset file
+name is <code class="docutils literal notranslate"><span class="pre">&quot;my_asset.urdf&quot;</span></code>, then the generated USD file name is <code class="docutils literal notranslate"><span class="pre">&quot;my_asset.usd&quot;</span></code>.</p>
+<p>If the providing file name does not end with “.usd” or “.usda”, then the extension
+“.usd” is appended to the file name.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion">
+<span class="sig-name descname"><span class="pre">force_usd_conversion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion" title="Permalink to this definition">#</a></dt>
+<dd><p>Force the conversion of the asset file to usd. Defaults to False.</p>
+<p>If True, then the USD file is always generated. It will overwrite the existing USD file if it exists.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable">
+<span class="sig-name descname"><span class="pre">make_instanceable</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable" title="Permalink to this definition">#</a></dt>
+<dd><p>Make the generated USD file instanceable. Defaults to True.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Instancing helps reduce the memory footprint of the asset when multiple copies of the asset are
+used in the scene. For more information, please check the USD documentation on
+<a class="reference external" href="https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html">scene-graph instancing</a>.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="mesh-converter">
+<h2>Mesh Converter<a class="headerlink" href="#mesh-converter" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverter">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.converters.</span></span><span class="sig-name descname"><span class="pre">MeshConverter</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/converters/mesh_converter.html#MeshConverter"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverter" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBase" title="omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetConverterBase</span></code></a></p>
+<p>Converter for a mesh file in OBJ / STL / FBX format to a USD file.</p>
+<p>This class wraps around the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_asset-converter.html">omni.kit.asset_converter</a> extension to provide a lazy implementation
+for mesh to USD conversion. It stores the output USD file in an instanceable format since that is
+what is typically used in all learning related applications.</p>
+<p>To make the asset instanceable, we must follow a certain structure dictated by how USD scene-graph
+instancing and physics work. The rigid body component must be added to each instance and not the
+referenced asset (i.e. the prototype prim itself). This is because the rigid body component defines
+properties that are specific to each instance and cannot be shared under the referenced asset. For
+more information, please check the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#instancing-rigid-bodies">documentation</a>.</p>
+<p>Due to the above, we follow the following structure:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">{prim_path}</span></code> - The root prim that is an Xform with the rigid body and mass APIs if configured.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">{prim_path}/geometry</span></code> - The prim that contains the mesh and optionally the materials if configured.
+If instancing is enabled, this prim will be an instanceable reference to the prototype prim.</p></li>
+</ul>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>When converting STL files, Z-up convention is assumed, even though this is not the default for many CAD
+export programs. Asset orientation convention can either be modified directly in the CAD program’s export
+process or an offset can be added within the config in Isaac Lab.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverter.cfg" title="omni.isaac.lab.sim.converters.MeshConverter.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration instance for mesh to USD conversion.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_dir" title="omni.isaac.lab.sim.converters.MeshConverter.usd_dir"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_dir</span></code></a></p></td>
+<td><p>The absolute path to the directory where the generated USD files are stored.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_file_name" title="omni.isaac.lab.sim.converters.MeshConverter.usd_file_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_file_name</span></code></a></p></td>
+<td><p>The file name of the generated USD file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path" title="omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_instanceable_meshes_path</span></code></a></p></td>
+<td><p>The relative path to the USD file with meshes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_path" title="omni.isaac.lab.sim.converters.MeshConverter.usd_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_path</span></code></a></p></td>
+<td><p>The absolute path to the generated USD file.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverter.__init__" title="omni.isaac.lab.sim.converters.MeshConverter.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the class.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverter.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg" title="omni.isaac.lab.sim.converters.mesh_converter_cfg.MeshConverterCfg"><span class="pre">MeshConverterCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverter.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration instance for mesh to USD conversion.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverter.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg" title="omni.isaac.lab.sim.converters.mesh_converter_cfg.MeshConverterCfg"><span class="pre">MeshConverterCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/converters/mesh_converter.html#MeshConverter.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverter.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the class.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration instance for mesh to USD conversion.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverter.usd_dir">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_dir</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_dir" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path to the directory where the generated USD files are stored.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverter.usd_file_name">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_file_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_file_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The file name of the generated USD file.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_instanceable_meshes_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The relative path to the USD file with meshes.</p>
+<p>The path is with respect to the USD directory <a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_dir" title="omni.isaac.lab.sim.converters.MeshConverter.usd_dir"><code class="xref py py-attr docutils literal notranslate"><span class="pre">usd_dir</span></code></a>. This is to ensure that the
+mesh references in the generated USD file are resolved relatively. Otherwise, it becomes
+difficult to move the USD asset to a different location.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverter.usd_path">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path to the generated USD file.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.converters.</span></span><span class="sig-name descname"><span class="pre">MeshConverterCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/converters/mesh_converter_cfg.html#MeshConverterCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg" title="omni.isaac.lab.sim.converters.asset_converter_base_cfg.AssetConverterBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetConverterBaseCfg</span></code></a></p>
+<p>The configuration class for MeshConverter.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props" title="omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties to apply to the USD.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props" title="omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties to apply to the USD.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props" title="omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Collision properties to apply to the USD.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.asset_path" title="omni.isaac.lab.sim.converters.MeshConverterCfg.asset_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_path</span></code></a></p></td>
+<td><p>The absolute path to the asset file to convert into USD.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir" title="omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_dir</span></code></a></p></td>
+<td><p>The output directory path to store the generated USD file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name" title="omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_file_name</span></code></a></p></td>
+<td><p>The name of the generated usd file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion" title="omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">force_usd_conversion</span></code></a></p></td>
+<td><p>Force the conversion of the asset file to usd.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable" title="omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable"><code class="xref py py-obj docutils literal notranslate"><span class="pre">make_instanceable</span></code></a></p></td>
+<td><p>Make the generated USD file instanceable.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation" title="omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_approximation</span></code></a></p></td>
+<td><p>Collision approximation method to use.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.translation" title="omni.isaac.lab.sim.converters.MeshConverterCfg.translation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">translation</span></code></a></p></td>
+<td><p>The translation of the mesh to the origin.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.rotation" title="omni.isaac.lab.sim.converters.MeshConverterCfg.rotation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rotation</span></code></a></p></td>
+<td><p>The rotation of the mesh in quaternion format (w, x, y, z).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.scale" title="omni.isaac.lab.sim.converters.MeshConverterCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>The scale of the mesh.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg"><span class="pre">MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties to apply to the USD. Defaults to None.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no mass properties will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg"><span class="pre">RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties to apply to the USD. Defaults to None.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no rigid body properties will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg"><span class="pre">CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Collision properties to apply to the USD. Defaults to None.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no collision properties will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.asset_path">
+<span class="sig-name descname"><span class="pre">asset_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.asset_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path to the asset file to convert into USD.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir">
+<span class="sig-name descname"><span class="pre">usd_dir</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir" title="Permalink to this definition">#</a></dt>
+<dd><p>The output directory path to store the generated USD file. Defaults to None.</p>
+<p>If None, it is resolved as <code class="docutils literal notranslate"><span class="pre">/tmp/IsaacLab/usd_{date}_{time}_{random}</span></code>, where
+the parameters in braces are runtime generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name">
+<span class="sig-name descname"><span class="pre">usd_file_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the generated usd file. Defaults to None.</p>
+<p>If None, it is resolved from the asset file name. For example, if the asset file
+name is <code class="docutils literal notranslate"><span class="pre">&quot;my_asset.urdf&quot;</span></code>, then the generated USD file name is <code class="docutils literal notranslate"><span class="pre">&quot;my_asset.usd&quot;</span></code>.</p>
+<p>If the providing file name does not end with “.usd” or “.usda”, then the extension
+“.usd” is appended to the file name.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion">
+<span class="sig-name descname"><span class="pre">force_usd_conversion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion" title="Permalink to this definition">#</a></dt>
+<dd><p>Force the conversion of the asset file to usd. Defaults to False.</p>
+<p>If True, then the USD file is always generated. It will overwrite the existing USD file if it exists.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable">
+<span class="sig-name descname"><span class="pre">make_instanceable</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable" title="Permalink to this definition">#</a></dt>
+<dd><p>Make the generated USD file instanceable. Defaults to True.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Instancing helps reduce the memory footprint of the asset when multiple copies of the asset are
+used in the scene. For more information, please check the USD documentation on
+<a class="reference external" href="https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html">scene-graph instancing</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation">
+<span class="sig-name descname"><span class="pre">collision_approximation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation" title="Permalink to this definition">#</a></dt>
+<dd><p>Collision approximation method to use. Defaults to “convexDecomposition”.</p>
+<p>Valid options are:
+“convexDecomposition”, “convexHull”, “boundingCube”,
+“boundingSphere”, “meshSimplification”, or “none”</p>
+<p>“none” causes no collision mesh to be added.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.translation">
+<span class="sig-name descname"><span class="pre">translation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.translation" title="Permalink to this definition">#</a></dt>
+<dd><p>The translation of the mesh to the origin. Defaults to (0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.rotation">
+<span class="sig-name descname"><span class="pre">rotation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.rotation" title="Permalink to this definition">#</a></dt>
+<dd><p>The rotation of the mesh in quaternion format (w, x, y, z). Defaults to (1.0, 0.0, 0.0, 0.0).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.MeshConverterCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The scale of the mesh. Defaults to (1.0, 1.0, 1.0).</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="urdf-converter">
+<h2>URDF Converter<a class="headerlink" href="#urdf-converter" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverter">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.converters.</span></span><span class="sig-name descname"><span class="pre">UrdfConverter</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/converters/urdf_converter.html#UrdfConverter"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverter" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBase" title="omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetConverterBase</span></code></a></p>
+<p>Converter for a URDF description file to a USD file.</p>
+<p>This class wraps around the <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_urdf.html">omni.isaac.urdf_importer</a> extension to provide a lazy implementation
+for URDF to USD conversion. It stores the output USD file in an instanceable format since that is
+what is typically used in all learning related applications.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>The current lazy conversion implementation does not automatically trigger USD generation if
+only the mesh files used by the URDF are modified. To force generation, either set
+<a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion" title="omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.force_usd_conversion</span></code></a> to True or delete the output directory.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>From Isaac Sim 2023.1 onwards, the extension name changed from <code class="docutils literal notranslate"><span class="pre">omni.isaac.urdf</span></code> to
+<code class="docutils literal notranslate"><span class="pre">omni.importer.urdf</span></code>. This converter class automatically detects the version of Isaac Sim
+and uses the appropriate extension.</p>
+<p>The new extension supports a custom XML tag``”dont_collapse”`` for joints. Setting this parameter
+to true in the URDF joint tag prevents the child link from collapsing when the associated joint type
+is “fixed”.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverter.cfg" title="omni.isaac.lab.sim.converters.UrdfConverter.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>The configuration instance for URDF to USD conversion.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_dir" title="omni.isaac.lab.sim.converters.UrdfConverter.usd_dir"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_dir</span></code></a></p></td>
+<td><p>The absolute path to the directory where the generated USD files are stored.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_file_name" title="omni.isaac.lab.sim.converters.UrdfConverter.usd_file_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_file_name</span></code></a></p></td>
+<td><p>The file name of the generated USD file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path" title="omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_instanceable_meshes_path</span></code></a></p></td>
+<td><p>The relative path to the USD file with meshes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_path" title="omni.isaac.lab.sim.converters.UrdfConverter.usd_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_path</span></code></a></p></td>
+<td><p>The absolute path to the generated USD file.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverter.__init__" title="omni.isaac.lab.sim.converters.UrdfConverter.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initializes the class.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverter.cfg">
+<span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg" title="omni.isaac.lab.sim.converters.urdf_converter_cfg.UrdfConverterCfg"><span class="pre">UrdfConverterCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverter.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The configuration instance for URDF to USD conversion.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverter.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg" title="omni.isaac.lab.sim.converters.urdf_converter_cfg.UrdfConverterCfg"><span class="pre">UrdfConverterCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/converters/urdf_converter.html#UrdfConverter.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverter.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the class.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration instance for URDF to USD conversion.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverter.usd_dir">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_dir</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_dir" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path to the directory where the generated USD files are stored.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverter.usd_file_name">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_file_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_file_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The file name of the generated USD file.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_instanceable_meshes_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The relative path to the USD file with meshes.</p>
+<p>The path is with respect to the USD directory <a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_dir" title="omni.isaac.lab.sim.converters.UrdfConverter.usd_dir"><code class="xref py py-attr docutils literal notranslate"><span class="pre">usd_dir</span></code></a>. This is to ensure that the
+mesh references in the generated USD file are resolved relatively. Otherwise, it becomes
+difficult to move the USD asset to a different location.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverter.usd_path">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">usd_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path to the generated USD file.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.converters.</span></span><span class="sig-name descname"><span class="pre">UrdfConverterCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/converters/urdf_converter_cfg.html#UrdfConverterCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg" title="omni.isaac.lab.sim.converters.asset_converter_base_cfg.AssetConverterBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetConverterBaseCfg</span></code></a></p>
+<p>The configuration class for UrdfConverter.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density"><code class="xref py py-obj docutils literal notranslate"><span class="pre">link_density</span></code></a></p></td>
+<td><p>Default density used for links.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">import_inertia_tensor</span></code></a></p></td>
+<td><p>Import the inertia tensor from urdf.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.convex_decompose_mesh" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.convex_decompose_mesh"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convex_decompose_mesh</span></code></a></p></td>
+<td><p>Decompose a convex mesh into smaller pieces for a closer fit.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.fix_base" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.fix_base"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fix_base</span></code></a></p></td>
+<td><p>Create a fix joint to the root/base link.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.merge_fixed_joints" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.merge_fixed_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">merge_fixed_joints</span></code></a></p></td>
+<td><p>Consolidate links that are connected by fixed joints.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.asset_path" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.asset_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_path</span></code></a></p></td>
+<td><p>The absolute path to the asset file to convert into USD.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_dir</span></code></a></p></td>
+<td><p>The output directory path to store the generated USD file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_file_name</span></code></a></p></td>
+<td><p>The name of the generated usd file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">force_usd_conversion</span></code></a></p></td>
+<td><p>Force the conversion of the asset file to usd.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable"><code class="xref py py-obj docutils literal notranslate"><span class="pre">make_instanceable</span></code></a></p></td>
+<td><p>Make the generated USD file instanceable.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.self_collision" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.self_collision"><code class="xref py py-obj docutils literal notranslate"><span class="pre">self_collision</span></code></a></p></td>
+<td><p>Activate self-collisions between links of the articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_drive_type</span></code></a></p></td>
+<td><p>The drive type used for joints.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics"><code class="xref py py-obj docutils literal notranslate"><span class="pre">override_joint_dynamics</span></code></a></p></td>
+<td><p>Override the joint dynamics parsed from the URDF file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_drive_stiffness</span></code></a></p></td>
+<td><p>The default stiffness of the joint drive.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_drive_damping</span></code></a></p></td>
+<td><p>The default damping of the joint drive.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density">
+<span class="sig-name descname"><span class="pre">link_density</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density" title="Permalink to this definition">#</a></dt>
+<dd><p>Default density used for links. Defaults to 0.</p>
+<p>This setting is only effective if <code class="docutils literal notranslate"><span class="pre">&quot;inertial&quot;</span></code> properties are missing in the URDF.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor">
+<span class="sig-name descname"><span class="pre">import_inertia_tensor</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor" title="Permalink to this definition">#</a></dt>
+<dd><p>Import the inertia tensor from urdf. Defaults to True.</p>
+<p>If the <code class="docutils literal notranslate"><span class="pre">&quot;inertial&quot;</span></code> tag is missing, then it is imported as an identity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.convex_decompose_mesh">
+<span class="sig-name descname"><span class="pre">convex_decompose_mesh</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.convex_decompose_mesh" title="Permalink to this definition">#</a></dt>
+<dd><p>Decompose a convex mesh into smaller pieces for a closer fit. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.fix_base">
+<span class="sig-name descname"><span class="pre">fix_base</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.fix_base" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a fix joint to the root/base link.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.merge_fixed_joints">
+<span class="sig-name descname"><span class="pre">merge_fixed_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.merge_fixed_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Consolidate links that are connected by fixed joints. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.asset_path">
+<span class="sig-name descname"><span class="pre">asset_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.asset_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path to the asset file to convert into USD.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir">
+<span class="sig-name descname"><span class="pre">usd_dir</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir" title="Permalink to this definition">#</a></dt>
+<dd><p>The output directory path to store the generated USD file. Defaults to None.</p>
+<p>If None, it is resolved as <code class="docutils literal notranslate"><span class="pre">/tmp/IsaacLab/usd_{date}_{time}_{random}</span></code>, where
+the parameters in braces are runtime generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name">
+<span class="sig-name descname"><span class="pre">usd_file_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the generated usd file. Defaults to None.</p>
+<p>If None, it is resolved from the asset file name. For example, if the asset file
+name is <code class="docutils literal notranslate"><span class="pre">&quot;my_asset.urdf&quot;</span></code>, then the generated USD file name is <code class="docutils literal notranslate"><span class="pre">&quot;my_asset.usd&quot;</span></code>.</p>
+<p>If the providing file name does not end with “.usd” or “.usda”, then the extension
+“.usd” is appended to the file name.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion">
+<span class="sig-name descname"><span class="pre">force_usd_conversion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion" title="Permalink to this definition">#</a></dt>
+<dd><p>Force the conversion of the asset file to usd. Defaults to False.</p>
+<p>If True, then the USD file is always generated. It will overwrite the existing USD file if it exists.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable">
+<span class="sig-name descname"><span class="pre">make_instanceable</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable" title="Permalink to this definition">#</a></dt>
+<dd><p>Make the generated USD file instanceable. Defaults to True.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Instancing helps reduce the memory footprint of the asset when multiple copies of the asset are
+used in the scene. For more information, please check the USD documentation on
+<a class="reference external" href="https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html">scene-graph instancing</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.self_collision">
+<span class="sig-name descname"><span class="pre">self_collision</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.self_collision" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate self-collisions between links of the articulation. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type">
+<span class="sig-name descname"><span class="pre">default_drive_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'none'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'position'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'velocity'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The drive type used for joints. Defaults to <code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>.</p>
+<p>The drive type dictates the loaded joint PD gains and USD attributes for joint control:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>: The joint stiffness and damping are set to 0.0.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;position&quot;</span></code>: The joint stiff and damping are set based on the URDF file or provided configuration.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;velocity&quot;</span></code>: The joint stiff is set to zero and damping is based on the URDF file or provided configuration.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics">
+<span class="sig-name descname"><span class="pre">override_joint_dynamics</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics" title="Permalink to this definition">#</a></dt>
+<dd><p>Override the joint dynamics parsed from the URDF file. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness">
+<span class="sig-name descname"><span class="pre">default_drive_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The default stiffness of the joint drive. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping">
+<span class="sig-name descname"><span class="pre">default_drive_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The default damping of the joint drive. Defaults to 0.0.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="docutils literal notranslate"><span class="pre">override_joint_dynamics</span></code> is True, the values parsed from the URDF joint tag <code class="docutils literal notranslate"><span class="pre">&quot;&lt;dynamics&gt;&lt;damping&gt;&quot;</span></code> are used.
+Otherwise, it is overridden by the configured value.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#asset-converter-base">Asset Converter Base</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase.__init__"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_file_name"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_path"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase.usd_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path"><code class="docutils literal notranslate"><span class="pre">AssetConverterBase.usd_instanceable_meshes_path</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.asset_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.force_usd_conversion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable"><code class="docutils literal notranslate"><span class="pre">AssetConverterBaseCfg.make_instanceable</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#mesh-converter">Mesh Converter</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter"><code class="docutils literal notranslate"><span class="pre">MeshConverter</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.cfg"><code class="docutils literal notranslate"><span class="pre">MeshConverter.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.__init__"><code class="docutils literal notranslate"><span class="pre">MeshConverter.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_dir"><code class="docutils literal notranslate"><span class="pre">MeshConverter.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_file_name"><code class="docutils literal notranslate"><span class="pre">MeshConverter.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path"><code class="docutils literal notranslate"><span class="pre">MeshConverter.usd_instanceable_meshes_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverter.usd_path"><code class="docutils literal notranslate"><span class="pre">MeshConverter.usd_path</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.asset_path"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.asset_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.force_usd_conversion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.make_instanceable</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.collision_approximation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.translation"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.translation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.rotation"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.rotation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.MeshConverterCfg.scale"><code class="docutils literal notranslate"><span class="pre">MeshConverterCfg.scale</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#urdf-converter">URDF Converter</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter"><code class="docutils literal notranslate"><span class="pre">UrdfConverter</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.cfg"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.__init__"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_dir"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_file_name"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.usd_instanceable_meshes_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverter.usd_path"><code class="docutils literal notranslate"><span class="pre">UrdfConverter.usd_path</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.link_density</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.import_inertia_tensor</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.convex_decompose_mesh"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.convex_decompose_mesh</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.fix_base"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.fix_base</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.merge_fixed_joints"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.merge_fixed_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.asset_path"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.asset_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.force_usd_conversion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.make_instanceable</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.self_collision"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.self_collision</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.default_drive_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.override_joint_dynamics</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.default_drive_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping"><code class="docutils literal notranslate"><span class="pre">UrdfConverterCfg.default_drive_damping</span></code></a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
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+    <!-- Table of contents -->
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+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-context">Simulation Context</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext"><code class="docutils literal notranslate"><span class="pre">SimulationContext</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.RenderMode"><code class="docutils literal notranslate"><span class="pre">SimulationContext.RenderMode</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING"><code class="docutils literal notranslate"><span class="pre">SimulationContext.RenderMode.NO_GUI_OR_RENDERING</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING"><code class="docutils literal notranslate"><span class="pre">SimulationContext.RenderMode.NO_RENDERING</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING"><code class="docutils literal notranslate"><span class="pre">SimulationContext.RenderMode.PARTIAL_RENDERING</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING"><code class="docutils literal notranslate"><span class="pre">SimulationContext.RenderMode.FULL_RENDERING</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.__init__"><code class="docutils literal notranslate"><span class="pre">SimulationContext.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.has_gui"><code class="docutils literal notranslate"><span class="pre">SimulationContext.has_gui()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.has_rtx_sensors"><code class="docutils literal notranslate"><span class="pre">SimulationContext.has_rtx_sensors()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.is_fabric_enabled"><code class="docutils literal notranslate"><span class="pre">SimulationContext.is_fabric_enabled()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.get_version"><code class="docutils literal notranslate"><span class="pre">SimulationContext.get_version()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.set_camera_view"><code class="docutils literal notranslate"><span class="pre">SimulationContext.set_camera_view()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.set_render_mode"><code class="docutils literal notranslate"><span class="pre">SimulationContext.set_render_mode()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.set_setting"><code class="docutils literal notranslate"><span class="pre">SimulationContext.set_setting()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.get_setting"><code class="docutils literal notranslate"><span class="pre">SimulationContext.get_setting()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.forward"><code class="docutils literal notranslate"><span class="pre">SimulationContext.forward()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.step"><code class="docutils literal notranslate"><span class="pre">SimulationContext.step()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.render"><code class="docutils literal notranslate"><span class="pre">SimulationContext.render()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-configuration">Simulation Configuration</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg"><code class="docutils literal notranslate"><span class="pre">SimulationCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.physics_prim_path"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.physics_prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.device"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.dt"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.render_interval"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.render_interval</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.gravity"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.gravity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.enable_scene_query_support</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.use_fabric"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.use_fabric</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.disable_contact_processing"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.disable_contact_processing</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.physx"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.physx</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.render"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.render</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg"><code class="docutils literal notranslate"><span class="pre">PhysxCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.solver_type"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.solver_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.min_position_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.max_position_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.min_velocity_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.max_velocity_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.enable_ccd"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.enable_ccd</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.enable_stabilization"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.enable_stabilization</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.enable_enhanced_determinism</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.bounce_threshold_velocity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.bounce_threshold_velocity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.friction_offset_threshold"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.friction_offset_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.friction_correlation_distance"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.friction_correlation_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_contact_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_max_rigid_contact_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_patch_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_max_rigid_patch_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_found_lost_pairs_capacity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_found_lost_aggregate_pairs_capacity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_total_aggregate_pairs_capacity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_total_aggregate_pairs_capacity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_collision_stack_size"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_collision_stack_size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_heap_capacity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_heap_capacity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_temp_buffer_capacity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_temp_buffer_capacity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_max_num_partitions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_soft_body_contacts"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_max_soft_body_contacts</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_particle_contacts"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_max_particle_contacts</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg"><code class="docutils literal notranslate"><span class="pre">RenderCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_translucency"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_translucency</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_reflections"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_reflections</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_global_illumination"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_global_illumination</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.antialiasing_mode"><code class="docutils literal notranslate"><span class="pre">RenderCfg.antialiasing_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_dlssg"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_dlssg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.dlss_mode"><code class="docutils literal notranslate"><span class="pre">RenderCfg.dlss_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_direct_lighting"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_direct_lighting</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.samples_per_pixel"><code class="docutils literal notranslate"><span class="pre">RenderCfg.samples_per_pixel</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_shadows"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_shadows</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_ambient_occlusion"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_ambient_occlusion</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-context-builder">Simulation Context Builder</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.simulation_context.build_simulation_context"><code class="docutils literal notranslate"><span class="pre">simulation_context.build_simulation_context()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.utils">Utilities</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema"><code class="docutils literal notranslate"><span class="pre">safe_set_attribute_on_usd_schema()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim"><code class="docutils literal notranslate"><span class="pre">safe_set_attribute_on_usd_prim()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.apply_nested"><code class="docutils literal notranslate"><span class="pre">apply_nested()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.clone"><code class="docutils literal notranslate"><span class="pre">clone()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.bind_visual_material"><code class="docutils literal notranslate"><span class="pre">bind_visual_material()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.bind_physics_material"><code class="docutils literal notranslate"><span class="pre">bind_physics_material()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.export_prim_to_file"><code class="docutils literal notranslate"><span class="pre">export_prim_to_file()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.make_uninstanceable"><code class="docutils literal notranslate"><span class="pre">make_uninstanceable()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.get_first_matching_child_prim"><code class="docutils literal notranslate"><span class="pre">get_first_matching_child_prim()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.get_all_matching_child_prims"><code class="docutils literal notranslate"><span class="pre">get_all_matching_child_prims()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.find_first_matching_prim"><code class="docutils literal notranslate"><span class="pre">find_first_matching_prim()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.find_matching_prims"><code class="docutils literal notranslate"><span class="pre">find_matching_prims()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.find_matching_prim_paths"><code class="docutils literal notranslate"><span class="pre">find_matching_prim_paths()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.find_global_fixed_joint_prim"><code class="docutils literal notranslate"><span class="pre">find_global_fixed_joint_prim()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.select_usd_variants"><code class="docutils literal notranslate"><span class="pre">select_usd_variants()</span></code></a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.sim">
+<span id="omni-isaac-lab-sim"></span><h1>omni.isaac.lab.sim<a class="headerlink" href="#module-omni.isaac.lab.sim" title="Permalink to this heading">#</a></h1>
+<p>Sub-package containing simulation-specific functionalities.</p>
+<p>These include:</p>
+<ul class="simple">
+<li><p>Ability to spawn different objects and materials into Omniverse</p></li>
+<li><p>Define and modify various schemas on USD prims</p></li>
+<li><p>Converters to obtain USD file from other file formats (such as URDF, OBJ, STL, FBX)</p></li>
+<li><p>Utility class to control the simulator</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently, only a subset of all possible schemas and prims in Omniverse are supported.
+We are expanding the these set of functions on a need basis. In case, there are
+specific prims or schemas that you would like to include, please open an issue on GitHub
+as a feature request elaborating on the required application.</p>
+</div>
+<p>To make it convenient to use the module, we recommend importing the module as follows:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+</pre></div>
+</div>
+<p class="rubric">Submodules</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="omni.isaac.lab.sim.converters.html#module-omni.isaac.lab.sim.converters" title="omni.isaac.lab.sim.converters"><code class="xref py py-obj docutils literal notranslate"><span class="pre">converters</span></code></a></p></td>
+<td><p>Sub-module containing converters for converting various file types to USD.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#module-omni.isaac.lab.sim.schemas" title="omni.isaac.lab.sim.schemas"><code class="xref py py-obj docutils literal notranslate"><span class="pre">schemas</span></code></a></p></td>
+<td><p>Sub-module containing utilities for schemas used in Omniverse.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners" title="omni.isaac.lab.sim.spawners"><code class="xref py py-obj docutils literal notranslate"><span class="pre">spawners</span></code></a></p></td>
+<td><p>Sub-module containing utilities for creating prims in Omniverse.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#module-omni.isaac.lab.sim.utils" title="omni.isaac.lab.sim.utils"><code class="xref py py-obj docutils literal notranslate"><span class="pre">utils</span></code></a></p></td>
+<td><p>Sub-module with USD-related utilities.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SimulationContext</span></code></a></p></td>
+<td><p>A class to control simulation-related events such as physics stepping and rendering.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SimulationCfg</span></code></a></p></td>
+<td><p>Configuration for simulation physics.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg" title="omni.isaac.lab.sim.PhysxCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">PhysxCfg</span></code></a></p></td>
+<td><p>Configuration for PhysX solver-related parameters.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg" title="omni.isaac.lab.sim.RenderCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RenderCfg</span></code></a></p></td>
+<td><p>Configuration for Omniverse RTX Renderer.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p class="rubric">Functions</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.simulation_context.build_simulation_context" title="omni.isaac.lab.sim.simulation_context.build_simulation_context"><code class="xref py py-obj docutils literal notranslate"><span class="pre">simulation_context.build_simulation_context</span></code></a>([...])</p></td>
+<td><p>Context manager to build a simulation context with the provided settings.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="simulation-context">
+<h2>Simulation Context<a class="headerlink" href="#simulation-context" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.</span></span><span class="sig-name descname"><span class="pre">SimulationContext</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.simulation_context.SimulationContext" title="(in isaac_sim)"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationContext</span></code></a></p>
+<p>A class to control simulation-related events such as physics stepping and rendering.</p>
+<p>The simulation context helps control various simulation aspects. This includes:</p>
+<ul class="simple">
+<li><p>configure the simulator with different settings such as the physics time-step, the number of physics substeps,
+and the physics solver parameters (for more information, see <a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationCfg</span></code></a>)</p></li>
+<li><p>playing, pausing, stepping and stopping the simulation</p></li>
+<li><p>adding and removing callbacks to different simulation events such as physics stepping, rendering, etc.</p></li>
+</ul>
+<p>This class inherits from the <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.simulation_context.SimulationContext" title="(in isaac_sim)"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.core.simulation_context.SimulationContext</span></code></a> class and
+adds additional functionalities such as setting up the simulation context with a configuration object,
+exposing other commonly used simulator-related functions, and performing version checks of Isaac Sim
+to ensure compatibility between releases.</p>
+<p>The simulation context is a singleton object. This means that there can only be one instance
+of the simulation context at any given time. This is enforced by the parent class. Therefore, it is
+not possible to create multiple instances of the simulation context. Instead, the simulation context
+can be accessed using the <code class="docutils literal notranslate"><span class="pre">instance()</span></code> method.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>Since we only support the <a class="reference external" href="https://pytorch.org/">PyTorch</a> backend for simulation, the
+simulation context is configured to use the <code class="docutils literal notranslate"><span class="pre">torch</span></code> backend by default. This means that
+all the data structures used in the simulation are <code class="docutils literal notranslate"><span class="pre">torch.Tensor</span></code> objects.</p>
+</div>
+<p>The simulation context can be used in two different modes of operations:</p>
+<ol class="arabic simple">
+<li><p><strong>Standalone python script</strong>: In this mode, the user has full control over the simulation and
+can trigger stepping events synchronously (i.e. as a blocking call). In this case the user
+has to manually call <a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.step" title="omni.isaac.lab.sim.SimulationContext.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code></a> step the physics simulation and <a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.render" title="omni.isaac.lab.sim.SimulationContext.render"><code class="xref py py-meth docutils literal notranslate"><span class="pre">render()</span></code></a> to
+render the scene.</p></li>
+<li><p><strong>Omniverse extension</strong>: In this mode, the user has limited control over the simulation stepping
+and all the simulation events are triggered asynchronously (i.e. as a non-blocking call). In this
+case, the user can only trigger the simulation to start, pause, and stop. The simulation takes
+care of stepping the physics simulation and rendering the scene.</p></li>
+</ol>
+<p>Based on above, for most functions in this class there is an equivalent function that is suffixed
+with <code class="docutils literal notranslate"><span class="pre">_async</span></code>. The <code class="docutils literal notranslate"><span class="pre">_async</span></code> functions are used in the Omniverse extension mode and
+the non-<code class="docutils literal notranslate"><span class="pre">_async</span></code> functions are used in the standalone python script mode.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode" title="omni.isaac.lab.sim.SimulationContext.RenderMode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RenderMode</span></code></a></p></td>
+<td><p>Different rendering modes for the simulation.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.__init__" title="omni.isaac.lab.sim.SimulationContext.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([cfg])</p></td>
+<td><p>Creates a simulation context to control the simulator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.has_gui" title="omni.isaac.lab.sim.SimulationContext.has_gui"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_gui</span></code></a>()</p></td>
+<td><p>Returns whether the simulation has a GUI enabled.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.has_rtx_sensors" title="omni.isaac.lab.sim.SimulationContext.has_rtx_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_rtx_sensors</span></code></a>()</p></td>
+<td><p>Returns whether the simulation has any RTX-rendering related sensors.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.is_fabric_enabled" title="omni.isaac.lab.sim.SimulationContext.is_fabric_enabled"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_fabric_enabled</span></code></a>()</p></td>
+<td><p>Returns whether the fabric interface is enabled.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.get_version" title="omni.isaac.lab.sim.SimulationContext.get_version"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_version</span></code></a>()</p></td>
+<td><p>Returns the version of the simulator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.set_camera_view" title="omni.isaac.lab.sim.SimulationContext.set_camera_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_camera_view</span></code></a>(eye, target[, camera_prim_path])</p></td>
+<td><p>Set the location and target of the viewport camera in the stage.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.set_render_mode" title="omni.isaac.lab.sim.SimulationContext.set_render_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_render_mode</span></code></a>(mode)</p></td>
+<td><p>Change the current render mode of the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.set_setting" title="omni.isaac.lab.sim.SimulationContext.set_setting"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_setting</span></code></a>(name, value)</p></td>
+<td><p>Set simulation settings using the Carbonite SDK.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.get_setting" title="omni.isaac.lab.sim.SimulationContext.get_setting"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_setting</span></code></a>(name)</p></td>
+<td><p>Read the simulation setting using the Carbonite SDK.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.forward" title="omni.isaac.lab.sim.SimulationContext.forward"><code class="xref py py-obj docutils literal notranslate"><span class="pre">forward</span></code></a>()</p></td>
+<td><p>Updates articulation kinematics and fabric for rendering.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.step" title="omni.isaac.lab.sim.SimulationContext.step"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step</span></code></a>([render])</p></td>
+<td><p>Steps the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.render" title="omni.isaac.lab.sim.SimulationContext.render"><code class="xref py py-obj docutils literal notranslate"><span class="pre">render</span></code></a>([mode])</p></td>
+<td><p>Refreshes the rendering components including UI elements and view-ports depending on the render mode.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.RenderMode">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">RenderMode</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.RenderMode"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.RenderMode" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/enum.html#enum.IntEnum" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">IntEnum</span></code></a></p>
+<p>Different rendering modes for the simulation.</p>
+<p>Render modes correspond to how the viewport and other UI elements (such as listeners to keyboard or mouse
+events) are updated. There are three main components that can be updated when the simulation is rendered:</p>
+<ol class="arabic simple">
+<li><p><strong>UI elements and other extensions</strong>: These are UI elements (such as buttons, sliders, etc.) and other
+extensions that are running in the background that need to be updated when the simulation is running.</p></li>
+<li><p><strong>Cameras</strong>: These are typically based on Hydra textures and are used to render the scene from different
+viewpoints. They can be attached to a viewport or be used independently to render the scene.</p></li>
+<li><p><strong>Viewports</strong>: These are windows where you can see the rendered scene.</p></li>
+</ol>
+<p>Updating each of the above components has a different overhead. For example, updating the viewports is
+computationally expensive compared to updating the UI elements. Therefore, it is useful to be able to
+control what is updated when the simulation is rendered. This is where the render mode comes in. There are
+four different render modes:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING" title="omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING"><code class="xref py py-attr docutils literal notranslate"><span class="pre">NO_GUI_OR_RENDERING</span></code></a>: The simulation is running without a GUI and off-screen rendering flag is disabled,
+so none of the above are updated.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING" title="omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING"><code class="xref py py-attr docutils literal notranslate"><span class="pre">NO_RENDERING</span></code></a>: No rendering, where only 1 is updated at a lower rate.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING" title="omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING"><code class="xref py py-attr docutils literal notranslate"><span class="pre">PARTIAL_RENDERING</span></code></a>: Partial rendering, where only 1 and 2 are updated.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING" title="omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING"><code class="xref py py-attr docutils literal notranslate"><span class="pre">FULL_RENDERING</span></code></a>: Full rendering, where everything (1, 2, 3) is updated.</p></li>
+</ul>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING" title="omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NO_GUI_OR_RENDERING</span></code></a></p></td>
+<td><p>The simulation is running without a GUI and off-screen rendering is disabled.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING" title="omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NO_RENDERING</span></code></a></p></td>
+<td><p>No rendering, where only other UI elements are updated at a lower rate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING" title="omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING"><code class="xref py py-obj docutils literal notranslate"><span class="pre">PARTIAL_RENDERING</span></code></a></p></td>
+<td><p>Partial rendering, where the simulation cameras and UI elements are updated.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING" title="omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING"><code class="xref py py-obj docutils literal notranslate"><span class="pre">FULL_RENDERING</span></code></a></p></td>
+<td><p>Full rendering, where all the simulation viewports, cameras and UI elements are updated.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING">
+<span class="sig-name descname"><span class="pre">NO_GUI_OR_RENDERING</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">-1</span></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING" title="Permalink to this definition">#</a></dt>
+<dd><p>The simulation is running without a GUI and off-screen rendering is disabled.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING">
+<span class="sig-name descname"><span class="pre">NO_RENDERING</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">0</span></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING" title="Permalink to this definition">#</a></dt>
+<dd><p>No rendering, where only other UI elements are updated at a lower rate.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING">
+<span class="sig-name descname"><span class="pre">PARTIAL_RENDERING</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">1</span></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING" title="Permalink to this definition">#</a></dt>
+<dd><p>Partial rendering, where the simulation cameras and UI elements are updated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING">
+<span class="sig-name descname"><span class="pre">FULL_RENDERING</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">2</span></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING" title="Permalink to this definition">#</a></dt>
+<dd><p>Full rendering, where all the simulation viewports, cameras and UI elements are updated.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.simulation_cfg.SimulationCfg"><span class="pre">SimulationCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Creates a simulation context to control the simulator.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration of the simulation. Defaults to None,
+in which case the default configuration is used.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.has_gui">
+<span class="sig-name descname"><span class="pre">has_gui</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.has_gui"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.has_gui" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns whether the simulation has a GUI enabled.</p>
+<p>True if the simulation has a GUI enabled either locally or live-streamed.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.has_rtx_sensors">
+<span class="sig-name descname"><span class="pre">has_rtx_sensors</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.has_rtx_sensors"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.has_rtx_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns whether the simulation has any RTX-rendering related sensors.</p>
+<p>This function returns the value of the simulation parameter <code class="docutils literal notranslate"><span class="pre">&quot;/isaaclab/render/rtx_sensors&quot;</span></code>.
+The parameter is set to True when instances of RTX-related sensors (cameras or LiDARs) are
+created using Isaac Lab’s sensor classes.</p>
+<p>True if the simulation has RTX sensors (such as USD Cameras or LiDARs).</p>
+<p>For more information, please check <a class="reference external" href="https://developer.nvidia.com/rendering-technologies">NVIDIA RTX documentation</a>.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.is_fabric_enabled">
+<span class="sig-name descname"><span class="pre">is_fabric_enabled</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.is_fabric_enabled"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.is_fabric_enabled" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns whether the fabric interface is enabled.</p>
+<p>When fabric interface is enabled, USD read/write operations are disabled. Instead all applications
+read and write the simulation state directly from the fabric interface. This reduces a lot of overhead
+that occurs during USD read/write operations.</p>
+<p>For more information, please check <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/usdrt/latest/docs/usd_fabric_usdrt.html">Fabric documentation</a>.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.get_version">
+<span class="sig-name descname"><span class="pre">get_version</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.get_version"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.get_version" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the version of the simulator.</p>
+<p>This is a wrapper around the <code class="docutils literal notranslate"><span class="pre">omni.isaac.version.get_version()</span></code> function.</p>
+<p>The returned tuple contains the following information:</p>
+<ul class="simple">
+<li><p>Major version (int): This is the year of the release (e.g. 2022).</p></li>
+<li><p>Minor version (int): This is the half-year of the release (e.g. 1 or 2).</p></li>
+<li><p>Patch version (int): This is the patch number of the release (e.g. 0).</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.set_camera_view">
+<span class="sig-name descname"><span class="pre">set_camera_view</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">eye</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">camera_prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'/OmniverseKit_Persp'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.set_camera_view"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.set_camera_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the location and target of the viewport camera in the stage.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is a wrapper around the <span class="math notranslate nohighlight">\(omni.isaac.core.utils.viewports.set_camera_view\)</span> function.
+It is provided here for convenience to reduce the amount of imports needed.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>eye</strong> – The location of the camera eye.</p></li>
+<li><p><strong>target</strong> – The location of the camera target.</p></li>
+<li><p><strong>camera_prim_path</strong> – The path to the camera primitive in the stage. Defaults to
+“/OmniverseKit_Persp”.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.set_render_mode">
+<span class="sig-name descname"><span class="pre">set_render_mode</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mode</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode" title="omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode"><span class="pre">RenderMode</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.set_render_mode"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.set_render_mode" title="Permalink to this definition">#</a></dt>
+<dd><p>Change the current render mode of the simulation.</p>
+<p>Please see <a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode" title="omni.isaac.lab.sim.SimulationContext.RenderMode"><code class="xref py py-class docutils literal notranslate"><span class="pre">RenderMode</span></code></a> for more information on the different render modes.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>When no GUI is available (locally or livestreamed), we do not need to choose whether the viewport
+needs to render or not (since there is no GUI). Thus, in this case, calling the function will not
+change the render mode.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>mode</strong> (<a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode" title="omni.isaac.lab.sim.SimulationContext.RenderMode"><em>RenderMode</em></a>) – The rendering mode. If different than SimulationContext’s rendering mode,</p></li>
+<li><p><strong>mode.</strong> (<em>SimulationContext's mode is changed to the new</em>) – </p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the input mode is not supported.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.set_setting">
+<span class="sig-name descname"><span class="pre">set_setting</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.set_setting"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.set_setting" title="Permalink to this definition">#</a></dt>
+<dd><p>Set simulation settings using the Carbonite SDK.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the input setting name does not exist, it will be created. If it does exist, the value will be
+overwritten. Please make sure to use the correct setting name.</p>
+<p>To understand the settings interface, please refer to the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/settings.html">Carbonite SDK</a>
+documentation.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>name</strong> – The name of the setting.</p></li>
+<li><p><strong>value</strong> – The value of the setting.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.get_setting">
+<span class="sig-name descname"><span class="pre">get_setting</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.get_setting"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.get_setting" title="Permalink to this definition">#</a></dt>
+<dd><p>Read the simulation setting using the Carbonite SDK.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name</strong> – The name of the setting.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The value of the setting.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.forward">
+<span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.forward"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.forward" title="Permalink to this definition">#</a></dt>
+<dd><p>Updates articulation kinematics and fabric for rendering.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.step">
+<span class="sig-name descname"><span class="pre">step</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">render</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.step"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.step" title="Permalink to this definition">#</a></dt>
+<dd><p>Steps the simulation.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function blocks if the timeline is paused. It only returns when the timeline is playing.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>render</strong> – Whether to render the scene after stepping the physics simulation.
+If set to False, the scene is not rendered and only the physics simulation is stepped.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationContext.render">
+<span class="sig-name descname"><span class="pre">render</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mode</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode" title="omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode"><span class="pre">RenderMode</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_context.html#SimulationContext.render"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationContext.render" title="Permalink to this definition">#</a></dt>
+<dd><p>Refreshes the rendering components including UI elements and view-ports depending on the render mode.</p>
+<p>This function is used to refresh the rendering components of the simulation. This includes updating the
+view-ports, UI elements, and other extensions (besides physics simulation) that are running in the
+background. The rendering components are refreshed based on the render mode.</p>
+<p>Please see <a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext.RenderMode" title="omni.isaac.lab.sim.SimulationContext.RenderMode"><code class="xref py py-class docutils literal notranslate"><span class="pre">RenderMode</span></code></a> for more information on the different render modes.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>mode</strong> – The rendering mode. Defaults to None, in which case the current rendering mode is used.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="simulation-configuration">
+<h2>Simulation Configuration<a class="headerlink" href="#simulation-configuration" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.</span></span><span class="sig-name descname"><span class="pre">SimulationCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_cfg.html#SimulationCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration for simulation physics.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.physics_prim_path" title="omni.isaac.lab.sim.SimulationCfg.physics_prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_prim_path</span></code></a></p></td>
+<td><p>The prim path where the USD PhysicsScene is created.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.device" title="omni.isaac.lab.sim.SimulationCfg.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>The device to run the simulation on.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.dt" title="omni.isaac.lab.sim.SimulationCfg.dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">dt</span></code></a></p></td>
+<td><p>The physics simulation time-step (in seconds).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.render_interval" title="omni.isaac.lab.sim.SimulationCfg.render_interval"><code class="xref py py-obj docutils literal notranslate"><span class="pre">render_interval</span></code></a></p></td>
+<td><p>The number of physics simulation steps per rendering step.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.gravity" title="omni.isaac.lab.sim.SimulationCfg.gravity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gravity</span></code></a></p></td>
+<td><p>The gravity vector (in m/s^2).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support" title="omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_scene_query_support</span></code></a></p></td>
+<td><p>Enable/disable scene query support for collision shapes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.use_fabric" title="omni.isaac.lab.sim.SimulationCfg.use_fabric"><code class="xref py py-obj docutils literal notranslate"><span class="pre">use_fabric</span></code></a></p></td>
+<td><p>Enable/disable reading of physics buffers directly.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.disable_contact_processing" title="omni.isaac.lab.sim.SimulationCfg.disable_contact_processing"><code class="xref py py-obj docutils literal notranslate"><span class="pre">disable_contact_processing</span></code></a></p></td>
+<td><p>Enable/disable contact processing.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.physx" title="omni.isaac.lab.sim.SimulationCfg.physx"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physx</span></code></a></p></td>
+<td><p>PhysX solver settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.physics_material" title="omni.isaac.lab.sim.SimulationCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Default physics material settings for rigid bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.render" title="omni.isaac.lab.sim.SimulationCfg.render"><code class="xref py py-obj docutils literal notranslate"><span class="pre">render</span></code></a></p></td>
+<td><p>Render settings.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.physics_prim_path">
+<span class="sig-name descname"><span class="pre">physics_prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.physics_prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The prim path where the USD PhysicsScene is created. Default is “/physicsScene”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.device">
+<span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.device" title="Permalink to this definition">#</a></dt>
+<dd><p>The device to run the simulation on. Default is <code class="docutils literal notranslate"><span class="pre">&quot;cuda:0&quot;</span></code>.</p>
+<p>Valid options are:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;cpu&quot;</span></code>: Use CPU.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;cuda&quot;</span></code>: Use GPU, where the device ID is inferred from <a class="reference internal" href="omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>’s config.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;cuda:N&quot;</span></code>: Use GPU, where N is the device ID. For example, “cuda:0”.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.dt">
+<span class="sig-name descname"><span class="pre">dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The physics simulation time-step (in seconds). Default is 0.0167 seconds.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.render_interval">
+<span class="sig-name descname"><span class="pre">render_interval</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.render_interval" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of physics simulation steps per rendering step. Default is 1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.gravity">
+<span class="sig-name descname"><span class="pre">gravity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.gravity" title="Permalink to this definition">#</a></dt>
+<dd><p>The gravity vector (in m/s^2). Default is (0.0, 0.0, -9.81).</p>
+<p>If set to (0.0, 0.0, 0.0), gravity is disabled.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support">
+<span class="sig-name descname"><span class="pre">enable_scene_query_support</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support" title="Permalink to this definition">#</a></dt>
+<dd><p>Enable/disable scene query support for collision shapes. Default is False.</p>
+<p>This flag allows performing collision queries (raycasts, sweeps, and overlaps) on actors and
+attached shapes in the scene. This is useful for implementing custom collision detection logic
+outside of the physics engine.</p>
+<p>If set to False, the physics engine does not create the scene query manager and the scene query
+functionality will not be available. However, this provides some performance speed-up.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This flag is overridden to True inside the <a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationContext</span></code></a> class when running the simulation
+with the GUI enabled. This is to allow certain GUI features to work properly.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.use_fabric">
+<span class="sig-name descname"><span class="pre">use_fabric</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.use_fabric" title="Permalink to this definition">#</a></dt>
+<dd><p>Enable/disable reading of physics buffers directly. Default is True.</p>
+<p>When running the simulation, updates in the states in the scene is normally synchronized with USD.
+This leads to an overhead in reading the data and does not scale well with massive parallelization.
+This flag allows disabling the synchronization and reading the data directly from the physics buffers.</p>
+<p>It is recommended to set this flag to <a class="reference external" href="https://docs.python.org/3/library/constants.html#True" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">True</span></code></a> when running the simulation with a large number
+of primitives in the scene.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>When enabled, the GUI will not update the physics parameters in real-time. To enable real-time
+updates, please set this flag to <a class="reference external" href="https://docs.python.org/3/library/constants.html#False" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">False</span></code></a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.disable_contact_processing">
+<span class="sig-name descname"><span class="pre">disable_contact_processing</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.disable_contact_processing" title="Permalink to this definition">#</a></dt>
+<dd><p>Enable/disable contact processing. Default is False.</p>
+<p>By default, the physics engine processes all the contacts in the scene. However, reporting this contact
+information can be expensive due to its combinatorial complexity. This flag allows disabling the contact
+processing and querying the contacts manually by the user over a limited set of primitives in the scene.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It is required to set this flag to <a class="reference external" href="https://docs.python.org/3/library/constants.html#True" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">True</span></code></a> when using the TensorAPIs for contact reporting.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.physx">
+<span class="sig-name descname"><span class="pre">physx</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg" title="omni.isaac.lab.sim.simulation_cfg.PhysxCfg"><span class="pre">PhysxCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.physx" title="Permalink to this definition">#</a></dt>
+<dd><p>PhysX solver settings. Default is PhysxCfg().</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg"><span class="pre">RigidBodyMaterialCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Default physics material settings for rigid bodies. Default is RigidBodyMaterialCfg().</p>
+<p>The physics engine defaults to this physics material for all the rigid body prims that do not have any
+physics material specified on them.</p>
+<p>The material is created at the path: <code class="docutils literal notranslate"><span class="pre">{physics_prim_path}/defaultMaterial</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.SimulationCfg.render">
+<span class="sig-name descname"><span class="pre">render</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg" title="omni.isaac.lab.sim.simulation_cfg.RenderCfg"><span class="pre">RenderCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.SimulationCfg.render" title="Permalink to this definition">#</a></dt>
+<dd><p>Render settings. Default is RenderCfg().</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.</span></span><span class="sig-name descname"><span class="pre">PhysxCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_cfg.html#PhysxCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration for PhysX solver-related parameters.</p>
+<p>These parameters are used to configure the PhysX solver. For more information, see the <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/classPxSceneDesc.html">PhysX 5 SDK
+documentation</a>.</p>
+<p>PhysX 5 supports GPU-accelerated physics simulation. This is enabled by default, but can be disabled
+by setting the <a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg.device" title="omni.isaac.lab.sim.SimulationCfg.device"><code class="xref py py-attr docutils literal notranslate"><span class="pre">device</span></code></a> to <code class="docutils literal notranslate"><span class="pre">cpu</span></code> in <a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationCfg</span></code></a>. Unlike CPU PhysX, the GPU
+simulation feature is unable to dynamically grow all the buffers. Therefore, it is necessary to provide
+a reasonable estimate of the buffer sizes for GPU features. If insufficient buffer sizes are provided, the
+simulation will fail with errors and lead to adverse behaviors. The buffer sizes can be adjusted through the
+<code class="docutils literal notranslate"><span class="pre">gpu_*</span></code> parameters.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.solver_type" title="omni.isaac.lab.sim.PhysxCfg.solver_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">solver_type</span></code></a></p></td>
+<td><p>The type of solver to use.Default is 1 (TGS).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count" title="omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">min_position_iteration_count</span></code></a></p></td>
+<td><p>Minimum number of solver position iterations (rigid bodies, cloth, particles etc.).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count" title="omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_position_iteration_count</span></code></a></p></td>
+<td><p>Maximum number of solver position iterations (rigid bodies, cloth, particles etc.).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count" title="omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">min_velocity_iteration_count</span></code></a></p></td>
+<td><p>Minimum number of solver velocity iterations (rigid bodies, cloth, particles etc.).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count" title="omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_velocity_iteration_count</span></code></a></p></td>
+<td><p>Maximum number of solver velocity iterations (rigid bodies, cloth, particles etc.).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.enable_ccd" title="omni.isaac.lab.sim.PhysxCfg.enable_ccd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_ccd</span></code></a></p></td>
+<td><p>Enable a second broad-phase pass that makes it possible to prevent objects from tunneling through each other.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.enable_stabilization" title="omni.isaac.lab.sim.PhysxCfg.enable_stabilization"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_stabilization</span></code></a></p></td>
+<td><p>Enable/disable additional stabilization pass in solver.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism" title="omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_enhanced_determinism</span></code></a></p></td>
+<td><p>Enable/disable improved determinism at the expense of performance.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.bounce_threshold_velocity" title="omni.isaac.lab.sim.PhysxCfg.bounce_threshold_velocity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bounce_threshold_velocity</span></code></a></p></td>
+<td><p>Relative velocity threshold for contacts to bounce (in m/s).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.friction_offset_threshold" title="omni.isaac.lab.sim.PhysxCfg.friction_offset_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction_offset_threshold</span></code></a></p></td>
+<td><p>Threshold for contact point to experience friction force (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.friction_correlation_distance" title="omni.isaac.lab.sim.PhysxCfg.friction_correlation_distance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction_correlation_distance</span></code></a></p></td>
+<td><p>Distance threshold for merging contacts into a single friction anchor point (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_contact_count" title="omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_contact_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_max_rigid_contact_count</span></code></a></p></td>
+<td><p>Size of rigid contact stream buffer allocated in pinned host memory.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_patch_count" title="omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_patch_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_max_rigid_patch_count</span></code></a></p></td>
+<td><p>Size of the rigid contact patch stream buffer allocated in pinned host memory.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity" title="omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_found_lost_pairs_capacity</span></code></a></p></td>
+<td><p>Capacity of found and lost buffers allocated in GPU global memory.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity" title="omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_found_lost_aggregate_pairs_capacity</span></code></a></p></td>
+<td><p>Capacity of found and lost buffers in aggregate system allocated in GPU global memory.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_total_aggregate_pairs_capacity" title="omni.isaac.lab.sim.PhysxCfg.gpu_total_aggregate_pairs_capacity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_total_aggregate_pairs_capacity</span></code></a></p></td>
+<td><p>Capacity of total number of aggregate pairs allocated in GPU global memory.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_collision_stack_size" title="omni.isaac.lab.sim.PhysxCfg.gpu_collision_stack_size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_collision_stack_size</span></code></a></p></td>
+<td><p>Size of the collision stack buffer allocated in pinned host memory.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_heap_capacity" title="omni.isaac.lab.sim.PhysxCfg.gpu_heap_capacity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_heap_capacity</span></code></a></p></td>
+<td><p>Initial capacity of the GPU and pinned host memory heaps.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_temp_buffer_capacity" title="omni.isaac.lab.sim.PhysxCfg.gpu_temp_buffer_capacity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_temp_buffer_capacity</span></code></a></p></td>
+<td><p>Capacity of temp buffer allocated in pinned host memory.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions" title="omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_max_num_partitions</span></code></a></p></td>
+<td><p>Limitation for the partitions in the GPU dynamics pipeline.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_soft_body_contacts" title="omni.isaac.lab.sim.PhysxCfg.gpu_max_soft_body_contacts"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_max_soft_body_contacts</span></code></a></p></td>
+<td><p>Size of soft body contacts stream buffer allocated in pinned host memory.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_particle_contacts" title="omni.isaac.lab.sim.PhysxCfg.gpu_max_particle_contacts"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gpu_max_particle_contacts</span></code></a></p></td>
+<td><p>Size of particle contacts stream buffer allocated in pinned host memory.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.solver_type">
+<span class="sig-name descname"><span class="pre">solver_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="m"><span class="pre">0</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">1</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.solver_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The type of solver to use.Default is 1 (TGS).</p>
+<p>Available solvers:</p>
+<ul class="simple">
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">0</span></code>: PGS (Projective Gauss-Seidel)</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">1</span></code>: TGS (Truncated Gauss-Seidel)</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count">
+<span class="sig-name descname"><span class="pre">min_position_iteration_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Minimum number of solver position iterations (rigid bodies, cloth, particles etc.). Default is 1.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Each physics actor in Omniverse specifies its own solver iteration count. The solver takes
+the number of iterations specified by the actor with the highest iteration and clamps it to
+the range <code class="docutils literal notranslate"><span class="pre">[min_position_iteration_count,</span> <span class="pre">max_position_iteration_count]</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count">
+<span class="sig-name descname"><span class="pre">max_position_iteration_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum number of solver position iterations (rigid bodies, cloth, particles etc.). Default is 255.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Each physics actor in Omniverse specifies its own solver iteration count. The solver takes
+the number of iterations specified by the actor with the highest iteration and clamps it to
+the range <code class="docutils literal notranslate"><span class="pre">[min_position_iteration_count,</span> <span class="pre">max_position_iteration_count]</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count">
+<span class="sig-name descname"><span class="pre">min_velocity_iteration_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Minimum number of solver velocity iterations (rigid bodies, cloth, particles etc.). Default is 0.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Each physics actor in Omniverse specifies its own solver iteration count. The solver takes
+the number of iterations specified by the actor with the highest iteration and clamps it to
+the range <code class="docutils literal notranslate"><span class="pre">[min_velocity_iteration_count,</span> <span class="pre">max_velocity_iteration_count]</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count">
+<span class="sig-name descname"><span class="pre">max_velocity_iteration_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum number of solver velocity iterations (rigid bodies, cloth, particles etc.). Default is 255.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Each physics actor in Omniverse specifies its own solver iteration count. The solver takes
+the number of iterations specified by the actor with the highest iteration and clamps it to
+the range <code class="docutils literal notranslate"><span class="pre">[min_velocity_iteration_count,</span> <span class="pre">max_velocity_iteration_count]</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.enable_ccd">
+<span class="sig-name descname"><span class="pre">enable_ccd</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.enable_ccd" title="Permalink to this definition">#</a></dt>
+<dd><p>Enable a second broad-phase pass that makes it possible to prevent objects from tunneling through each other.
+Default is False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.enable_stabilization">
+<span class="sig-name descname"><span class="pre">enable_stabilization</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.enable_stabilization" title="Permalink to this definition">#</a></dt>
+<dd><p>Enable/disable additional stabilization pass in solver. Default is True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism">
+<span class="sig-name descname"><span class="pre">enable_enhanced_determinism</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism" title="Permalink to this definition">#</a></dt>
+<dd><p>Enable/disable improved determinism at the expense of performance. Defaults to False.</p>
+<p>For more information on PhysX determinism, please check <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/RigidBodyDynamics.html#enhanced-determinism">here</a>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.bounce_threshold_velocity">
+<span class="sig-name descname"><span class="pre">bounce_threshold_velocity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.bounce_threshold_velocity" title="Permalink to this definition">#</a></dt>
+<dd><p>Relative velocity threshold for contacts to bounce (in m/s). Default is 0.5 m/s.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.friction_offset_threshold">
+<span class="sig-name descname"><span class="pre">friction_offset_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.friction_offset_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>Threshold for contact point to experience friction force (in m). Default is 0.04 m.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.friction_correlation_distance">
+<span class="sig-name descname"><span class="pre">friction_correlation_distance</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.friction_correlation_distance" title="Permalink to this definition">#</a></dt>
+<dd><p>Distance threshold for merging contacts into a single friction anchor point (in m). Default is 0.025 m.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_contact_count">
+<span class="sig-name descname"><span class="pre">gpu_max_rigid_contact_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_contact_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Size of rigid contact stream buffer allocated in pinned host memory. Default is 2 ** 23.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_patch_count">
+<span class="sig-name descname"><span class="pre">gpu_max_rigid_patch_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_patch_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Size of the rigid contact patch stream buffer allocated in pinned host memory. Default is 5 * 2 ** 15.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity">
+<span class="sig-name descname"><span class="pre">gpu_found_lost_pairs_capacity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity" title="Permalink to this definition">#</a></dt>
+<dd><p>Capacity of found and lost buffers allocated in GPU global memory. Default is 2 ** 21.</p>
+<p>This is used for the found/lost pair reports in the BP.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity">
+<span class="sig-name descname"><span class="pre">gpu_found_lost_aggregate_pairs_capacity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity" title="Permalink to this definition">#</a></dt>
+<dd><p>Capacity of found and lost buffers in aggregate system allocated in GPU global memory.
+Default is 2 ** 25.</p>
+<p>This is used for the found/lost pair reports in AABB manager.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_total_aggregate_pairs_capacity">
+<span class="sig-name descname"><span class="pre">gpu_total_aggregate_pairs_capacity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_total_aggregate_pairs_capacity" title="Permalink to this definition">#</a></dt>
+<dd><p>Capacity of total number of aggregate pairs allocated in GPU global memory. Default is 2 ** 21.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_collision_stack_size">
+<span class="sig-name descname"><span class="pre">gpu_collision_stack_size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_collision_stack_size" title="Permalink to this definition">#</a></dt>
+<dd><p>Size of the collision stack buffer allocated in pinned host memory. Default is 2 ** 26.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_heap_capacity">
+<span class="sig-name descname"><span class="pre">gpu_heap_capacity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_heap_capacity" title="Permalink to this definition">#</a></dt>
+<dd><p>Initial capacity of the GPU and pinned host memory heaps. Additional memory will be allocated
+if more memory is required. Default is 2 ** 26.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_temp_buffer_capacity">
+<span class="sig-name descname"><span class="pre">gpu_temp_buffer_capacity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_temp_buffer_capacity" title="Permalink to this definition">#</a></dt>
+<dd><p>Capacity of temp buffer allocated in pinned host memory. Default is 2 ** 24.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions">
+<span class="sig-name descname"><span class="pre">gpu_max_num_partitions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions" title="Permalink to this definition">#</a></dt>
+<dd><p>Limitation for the partitions in the GPU dynamics pipeline. Default is 8.</p>
+<p>This variable must be power of 2. A value greater than 32 is currently not supported. Range: (1, 32)</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_max_soft_body_contacts">
+<span class="sig-name descname"><span class="pre">gpu_max_soft_body_contacts</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_soft_body_contacts" title="Permalink to this definition">#</a></dt>
+<dd><p>Size of soft body contacts stream buffer allocated in pinned host memory. Default is 2 ** 20.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.PhysxCfg.gpu_max_particle_contacts">
+<span class="sig-name descname"><span class="pre">gpu_max_particle_contacts</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_particle_contacts" title="Permalink to this definition">#</a></dt>
+<dd><p>Size of particle contacts stream buffer allocated in pinned host memory. Default is 2 ** 20.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.</span></span><span class="sig-name descname"><span class="pre">RenderCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/simulation_cfg.html#RenderCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration for Omniverse RTX Renderer.</p>
+<p>These parameters are used to configure the Omniverse RTX Renderer.
+For more information, see the <a class="reference external" href="https://docs.omniverse.nvidia.com/materials-and-rendering/latest/rtx-renderer.html">Omniverse RTX Renderer documentation</a>.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg.enable_translucency" title="omni.isaac.lab.sim.RenderCfg.enable_translucency"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_translucency</span></code></a></p></td>
+<td><p>Enables translucency for specular transmissive surfaces such as glass at the cost of some performance.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg.enable_reflections" title="omni.isaac.lab.sim.RenderCfg.enable_reflections"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_reflections</span></code></a></p></td>
+<td><p>Enables reflections at the cost of some performance.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg.enable_global_illumination" title="omni.isaac.lab.sim.RenderCfg.enable_global_illumination"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_global_illumination</span></code></a></p></td>
+<td><p>Enables Diffused Global Illumination at the cost of some performance.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg.antialiasing_mode" title="omni.isaac.lab.sim.RenderCfg.antialiasing_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">antialiasing_mode</span></code></a></p></td>
+<td><p>Selects the anti-aliasing mode to use.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg.enable_dlssg" title="omni.isaac.lab.sim.RenderCfg.enable_dlssg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_dlssg</span></code></a></p></td>
+<td><p>&quot;Enables the use of DLSS-G.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg.dlss_mode" title="omni.isaac.lab.sim.RenderCfg.dlss_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">dlss_mode</span></code></a></p></td>
+<td><p>For DLSS anti-aliasing, selects the performance/quality tradeoff mode.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg.enable_direct_lighting" title="omni.isaac.lab.sim.RenderCfg.enable_direct_lighting"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_direct_lighting</span></code></a></p></td>
+<td><p>Enable direct light contributions from lights.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg.samples_per_pixel" title="omni.isaac.lab.sim.RenderCfg.samples_per_pixel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">samples_per_pixel</span></code></a></p></td>
+<td><p>Defines the Direct Lighting samples per pixel.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg.enable_shadows" title="omni.isaac.lab.sim.RenderCfg.enable_shadows"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_shadows</span></code></a></p></td>
+<td><p>Enables shadows at the cost of performance.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.RenderCfg.enable_ambient_occlusion" title="omni.isaac.lab.sim.RenderCfg.enable_ambient_occlusion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_ambient_occlusion</span></code></a></p></td>
+<td><p>Enables ambient occlusion at the cost of some performance.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg.enable_translucency">
+<span class="sig-name descname"><span class="pre">enable_translucency</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg.enable_translucency" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables translucency for specular transmissive surfaces such as glass at the cost of some performance. Default is False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg.enable_reflections">
+<span class="sig-name descname"><span class="pre">enable_reflections</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg.enable_reflections" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables reflections at the cost of some performance. Default is False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg.enable_global_illumination">
+<span class="sig-name descname"><span class="pre">enable_global_illumination</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg.enable_global_illumination" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables Diffused Global Illumination at the cost of some performance. Default is False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg.antialiasing_mode">
+<span class="sig-name descname"><span class="pre">antialiasing_mode</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'Off'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'FXAA'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'DLSS'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'TAA'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'DLAA'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg.antialiasing_mode" title="Permalink to this definition">#</a></dt>
+<dd><p>Selects the anti-aliasing mode to use. Defaults to DLSS.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg.enable_dlssg">
+<span class="sig-name descname"><span class="pre">enable_dlssg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg.enable_dlssg" title="Permalink to this definition">#</a></dt>
+<dd><p>“Enables the use of DLSS-G.
+DLSS Frame Generation boosts performance by using AI to generate more frames.
+DLSS analyzes sequential frames and motion data to create additional high quality frames.
+This feature requires an Ada Lovelace architecture GPU.
+Enabling this feature also enables additional thread-related activities, which can hurt performance.
+Default is False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg.dlss_mode">
+<span class="sig-name descname"><span class="pre">dlss_mode</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="m"><span class="pre">0</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">1</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">2</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">3</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg.dlss_mode" title="Permalink to this definition">#</a></dt>
+<dd><p>For DLSS anti-aliasing, selects the performance/quality tradeoff mode.
+Valid values are 0 (Performance), 1 (Balanced), 2 (Quality), or 3 (Auto). Default is 0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg.enable_direct_lighting">
+<span class="sig-name descname"><span class="pre">enable_direct_lighting</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg.enable_direct_lighting" title="Permalink to this definition">#</a></dt>
+<dd><p>Enable direct light contributions from lights.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg.samples_per_pixel">
+<span class="sig-name descname"><span class="pre">samples_per_pixel</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg.samples_per_pixel" title="Permalink to this definition">#</a></dt>
+<dd><p>Defines the Direct Lighting samples per pixel.
+Higher values increase the direct lighting quality at the cost of performance. Default is 1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg.enable_shadows">
+<span class="sig-name descname"><span class="pre">enable_shadows</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg.enable_shadows" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables shadows at the cost of performance. When disabled, lights will not cast shadows. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.RenderCfg.enable_ambient_occlusion">
+<span class="sig-name descname"><span class="pre">enable_ambient_occlusion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.RenderCfg.enable_ambient_occlusion" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables ambient occlusion at the cost of some performance. Default is False.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="simulation-context-builder">
+<h2>Simulation Context Builder<a class="headerlink" href="#simulation-context-builder" title="Permalink to this heading">#</a></h2>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.simulation_context.build_simulation_context">
+<span class="sig-prename descclassname"><span class="pre">simulation_context.</span></span><span class="sig-name descname"><span class="pre">build_simulation_context</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">gravity_enabled</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'cuda:0'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dt</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.01</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim_cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.simulation_cfg.SimulationCfg"><span class="pre">SimulationCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">add_ground_plane</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">add_lighting</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">auto_add_lighting</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Iterator" title="(in Python v3.13)"><span class="pre">Iterator</span></a><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.simulation_context.SimulationContext"><span class="pre">SimulationContext</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.sim.simulation_context.build_simulation_context" title="Permalink to this definition">#</a></dt>
+<dd><p>Context manager to build a simulation context with the provided settings.</p>
+<p>This function facilitates the creation of a simulation context and provides flexibility in configuring various
+aspects of the simulation, such as time step, gravity, device, and scene elements like ground plane and
+lighting.</p>
+<p>If <code class="xref py py-attr docutils literal notranslate"><span class="pre">sim_cfg</span></code> is None, then an instance of <a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationCfg</span></code></a> is created with default settings, with parameters
+overwritten based on arguments to the function.</p>
+<p>An example usage of the context manager function:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">with</span> <span class="n">build_simulation_context</span><span class="p">()</span> <span class="k">as</span> <span class="n">sim</span><span class="p">:</span>
+     <span class="c1"># Design the scene</span>
+
+     <span class="c1"># Play the simulation</span>
+     <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+     <span class="k">while</span> <span class="n">sim</span><span class="o">.</span><span class="n">is_playing</span><span class="p">():</span>
+         <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+</pre></div>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>create_new_stage</strong> – Whether to create a new stage. Defaults to True.</p></li>
+<li><p><strong>gravity_enabled</strong> – Whether to enable gravity in the simulation. Defaults to True.</p></li>
+<li><p><strong>device</strong> – Device to run the simulation on. Defaults to “cuda:0”.</p></li>
+<li><p><strong>dt</strong> – Time step for the simulation: Defaults to 0.01.</p></li>
+<li><p><strong>sim_cfg</strong> – <a class="reference internal" href="#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationCfg</span></code></a> to use for the simulation. Defaults to None.</p></li>
+<li><p><strong>add_ground_plane</strong> – Whether to add a ground plane to the simulation. Defaults to False.</p></li>
+<li><p><strong>add_lighting</strong> – Whether to add a dome light to the simulation. Defaults to False.</p></li>
+<li><p><strong>auto_add_lighting</strong> – Whether to automatically add a dome light to the simulation if the simulation has a GUI.
+Defaults to False. This is useful for debugging tests in the GUI.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Yields<span class="colon">:</span></dt>
+<dd class="field-even"><p>The simulation context to use for the simulation.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.sim.utils">
+<span id="utilities"></span><h2>Utilities<a class="headerlink" href="#module-omni.isaac.lab.sim.utils" title="Permalink to this heading">#</a></h2>
+<p>Sub-module with USD-related utilities.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema" title="omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema"><code class="xref py py-obj docutils literal notranslate"><span class="pre">safe_set_attribute_on_usd_schema</span></code></a>(schema_api, ...)</p></td>
+<td><p>Set the value of an attribute on its USD schema if it exists.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim" title="omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">safe_set_attribute_on_usd_prim</span></code></a>(prim, ...)</p></td>
+<td><p>Set the value of a attribute on its USD prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.apply_nested" title="omni.isaac.lab.sim.utils.apply_nested"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply_nested</span></code></a>(func)</p></td>
+<td><p>Decorator to apply a function to all prims under a specified prim-path.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.clone" title="omni.isaac.lab.sim.utils.clone"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clone</span></code></a>(func)</p></td>
+<td><p>Decorator for cloning a prim based on matching prim paths of the prim's parent.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.bind_visual_material" title="omni.isaac.lab.sim.utils.bind_visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bind_visual_material</span></code></a>(prim_path, material_path)</p></td>
+<td><p>Bind a visual material to a prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.bind_physics_material" title="omni.isaac.lab.sim.utils.bind_physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bind_physics_material</span></code></a>(prim_path, material_path)</p></td>
+<td><p>Bind a physics material to a prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.export_prim_to_file" title="omni.isaac.lab.sim.utils.export_prim_to_file"><code class="xref py py-obj docutils literal notranslate"><span class="pre">export_prim_to_file</span></code></a>(path, source_prim_path)</p></td>
+<td><p>Exports a prim from a given stage to a USD file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.make_uninstanceable" title="omni.isaac.lab.sim.utils.make_uninstanceable"><code class="xref py py-obj docutils literal notranslate"><span class="pre">make_uninstanceable</span></code></a>(prim_path[, stage])</p></td>
+<td><p>Check if a prim and its descendants are instanced and make them uninstanceable.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.get_first_matching_child_prim" title="omni.isaac.lab.sim.utils.get_first_matching_child_prim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_first_matching_child_prim</span></code></a>(prim_path, ...)</p></td>
+<td><p>Recursively get the first USD Prim at the path string that passes the predicate function</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.get_all_matching_child_prims" title="omni.isaac.lab.sim.utils.get_all_matching_child_prims"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_all_matching_child_prims</span></code></a>(prim_path[, ...])</p></td>
+<td><p>Performs a search starting from the root and returns all the prims matching the predicate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.find_first_matching_prim" title="omni.isaac.lab.sim.utils.find_first_matching_prim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_first_matching_prim</span></code></a>(prim_path_regex[, ...])</p></td>
+<td><p>Find the first matching prim in the stage based on input regex expression.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.find_matching_prims" title="omni.isaac.lab.sim.utils.find_matching_prims"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_matching_prims</span></code></a>(prim_path_regex[, stage])</p></td>
+<td><p>Find all the matching prims in the stage based on input regex expression.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.find_matching_prim_paths" title="omni.isaac.lab.sim.utils.find_matching_prim_paths"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_matching_prim_paths</span></code></a>(prim_path_regex[, ...])</p></td>
+<td><p>Find all the matching prim paths in the stage based on input regex expression.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.find_global_fixed_joint_prim" title="omni.isaac.lab.sim.utils.find_global_fixed_joint_prim"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_global_fixed_joint_prim</span></code></a>(prim_path[, ...])</p></td>
+<td><p>Find the fixed joint prim under the specified prim path that connects the target to the simulation world.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.utils.select_usd_variants" title="omni.isaac.lab.sim.utils.select_usd_variants"><code class="xref py py-obj docutils literal notranslate"><span class="pre">select_usd_variants</span></code></a>(prim_path, variants[, stage])</p></td>
+<td><p>Sets the variant selections from the specified variant sets on a USD prim.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">safe_set_attribute_on_usd_schema</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">schema_api</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">pxr.Usd.APISchemaBase</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">camel_case</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#safe_set_attribute_on_usd_schema"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the value of an attribute on its USD schema if it exists.</p>
+<p>A USD API schema serves as an interface or API for authoring and extracting a set of attributes.
+They typically derive from the <code class="xref py py-class docutils literal notranslate"><span class="pre">pxr.Usd.SchemaBase</span></code> class. This function checks if the
+attribute exists on the schema and sets the value of the attribute if it exists.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>schema_api</strong> – The USD schema to set the attribute on.</p></li>
+<li><p><strong>name</strong> – The name of the attribute.</p></li>
+<li><p><strong>value</strong> – The value to set the attribute to.</p></li>
+<li><p><strong>camel_case</strong> – Whether to convert the attribute name to camel case.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#TypeError" title="(in Python v3.13)"><strong>TypeError</strong></a> – When the input attribute name does not exist on the provided schema API.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">safe_set_attribute_on_usd_prim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">pxr.Usd.Prim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attr_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">camel_case</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#safe_set_attribute_on_usd_prim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the value of a attribute on its USD prim.</p>
+<p>The function creates a new attribute if it does not exist on the prim. This is because in some cases (such
+as with shaders), their attributes are not exposed as USD prim properties that can be altered. This function
+allows us to set the value of the attributes in these cases.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim</strong> – The USD prim to set the attribute on.</p></li>
+<li><p><strong>attr_name</strong> – The name of the attribute.</p></li>
+<li><p><strong>value</strong> – The value to set the attribute to.</p></li>
+<li><p><strong>camel_case</strong> – Whether to convert the attribute name to camel case.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.apply_nested">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">apply_nested</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">func</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#apply_nested"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.apply_nested" title="Permalink to this definition">#</a></dt>
+<dd><p>Decorator to apply a function to all prims under a specified prim-path.</p>
+<p>The function iterates over the provided prim path and all its children to apply input function
+to all prims under the specified prim path.</p>
+<p>If the function succeeds to apply to a prim, it will not look at the children of that prim.
+This is based on the physics behavior that nested schemas are not allowed. For example, a parent prim
+and its child prim cannot both have a rigid-body schema applied on them, or it is not possible to
+have nested articulations.</p>
+<p>While traversing the prims under the specified prim path, the function will throw a warning if it
+does not succeed to apply the function to any prim. This is because the user may have intended to
+apply the function to a prim that does not have valid attributes, or the prim may be an instanced prim.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>func</strong> – The function to apply to all prims under a specified prim-path. The function
+must take the prim-path and other arguments. It should return a boolean indicating whether
+the function succeeded or not.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The wrapped function that applies the function to all prims under a specified prim-path.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim-path does not exist on the stage.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.clone">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">clone</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">func</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#clone"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.clone" title="Permalink to this definition">#</a></dt>
+<dd><p>Decorator for cloning a prim based on matching prim paths of the prim’s parent.</p>
+<p>The decorator checks if the parent prim path matches any prim paths in the stage. If so, it clones the
+spawned prim at each matching prim path. For example, if the input prim path is: <code class="docutils literal notranslate"><span class="pre">/World/Table_[0-9]/Bottle</span></code>,
+the decorator will clone the prim at each matching prim path of the parent prim: <code class="docutils literal notranslate"><span class="pre">/World/Table_0/Bottle</span></code>,
+<code class="docutils literal notranslate"><span class="pre">/World/Table_1/Bottle</span></code>, etc.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>For matching prim paths, the decorator assumes that valid prims exist for all matching prim paths.
+In case no matching prim paths are found, the decorator raises a <code class="docutils literal notranslate"><span class="pre">RuntimeError</span></code>.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>func</strong> – The function to decorate.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The decorated function that spawns the prim and clones it at each matching prim path.
+It returns the spawned source prim, i.e., the first prim in the list of matching prim paths.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.bind_visual_material">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">bind_visual_material</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sdf.Path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">material_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sdf.Path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stronger_than_descendants</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#bind_visual_material"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.bind_visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Bind a visual material to a prim.</p>
+<p>This function is a wrapper around the USD command <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd.commands/omni.usd.commands.BindMaterialCommand.html">BindMaterialCommand</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The function is decorated with <a class="reference internal" href="#omni.isaac.lab.sim.utils.apply_nested" title="omni.isaac.lab.sim.utils.apply_nested"><code class="xref py py-meth docutils literal notranslate"><span class="pre">apply_nested()</span></code></a> to allow applying the function to a prim path
+and all its descendants.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path where to apply the material.</p></li>
+<li><p><strong>material_path</strong> – The prim path of the material to apply.</p></li>
+<li><p><strong>stage</strong> – The stage where the prim and material exist.
+Defaults to None, in which case the current stage is used.</p></li>
+<li><p><strong>stronger_than_descendants</strong> – Whether the material should override the material of its descendants.
+Defaults to True.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the provided prim paths do not exist on stage.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.bind_physics_material">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">bind_physics_material</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sdf.Path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">material_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sdf.Path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stronger_than_descendants</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#bind_physics_material"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.bind_physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Bind a physics material to a prim.</p>
+<p><a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/simulation-control/physics-settings.html#physics-materials">Physics material</a> can be applied only to a prim with physics-enabled on them. This includes having
+collision APIs, or deformable body APIs, or being a particle system. In case the prim does not have
+any of these APIs, the function will not apply the material and return False.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The function is decorated with <a class="reference internal" href="#omni.isaac.lab.sim.utils.apply_nested" title="omni.isaac.lab.sim.utils.apply_nested"><code class="xref py py-meth docutils literal notranslate"><span class="pre">apply_nested()</span></code></a> to allow applying the function to a prim path
+and all its descendants.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path where to apply the material.</p></li>
+<li><p><strong>material_path</strong> – The prim path of the material to apply.</p></li>
+<li><p><strong>stage</strong> – The stage where the prim and material exist.
+Defaults to None, in which case the current stage is used.</p></li>
+<li><p><strong>stronger_than_descendants</strong> – Whether the material should override the material of its descendants.
+Defaults to True.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the provided prim paths do not exist on stage.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.export_prim_to_file">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">export_prim_to_file</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sdf.Path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">source_prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sdf.Path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target_prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sdf.Path</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#export_prim_to_file"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.export_prim_to_file" title="Permalink to this definition">#</a></dt>
+<dd><p>Exports a prim from a given stage to a USD file.</p>
+<p>The function creates a new layer at the provided path and copies the prim to the layer.
+It sets the copied prim as the default prim in the target layer. Additionally, it updates
+the stage up-axis and meters-per-unit to match the current stage.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>path</strong> – The filepath path to export the prim to.</p></li>
+<li><p><strong>source_prim_path</strong> – The prim path to export.</p></li>
+<li><p><strong>target_prim_path</strong> – The prim path to set as the default prim in the target layer.
+Defaults to None, in which case the source prim path is used.</p></li>
+<li><p><strong>stage</strong> – The stage where the prim exists. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim paths are not global (i.e: do not start with ‘/’).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.make_uninstanceable">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">make_uninstanceable</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sdf.Path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#make_uninstanceable"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.make_uninstanceable" title="Permalink to this definition">#</a></dt>
+<dd><p>Check if a prim and its descendants are instanced and make them uninstanceable.</p>
+<p>This function checks if the prim at the specified prim path and its descendants are instanced.
+If so, it makes the respective prim uninstanceable by disabling instancing on the prim.</p>
+<p>This is useful when we want to modify the properties of a prim that is instanced. For example, if we
+want to apply a different material on an instanced prim, we need to make the prim uninstanceable first.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path to check.</p></li>
+<li><p><strong>stage</strong> – The stage where the prim exists. Defaults to None, in which case the current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim path is not global (i.e: does not start with ‘/’).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.get_first_matching_child_prim">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">get_first_matching_child_prim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sdf.Path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">predicate</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="pre">Usd.Prim</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#get_first_matching_child_prim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.get_first_matching_child_prim" title="Permalink to this definition">#</a></dt>
+<dd><p>Recursively get the first USD Prim at the path string that passes the predicate function</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The path of the prim in the stage.</p></li>
+<li><p><strong>predicate</strong> – The function to test the prims against. It takes a prim as input and returns a boolean.</p></li>
+<li><p><strong>stage</strong> – The stage where the prim exists. Defaults to None, in which case the current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The first prim on the path that passes the predicate. If no prim passes the predicate, it returns None.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim path is not global (i.e: does not start with ‘/’).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.get_all_matching_child_prims">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">get_all_matching_child_prims</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="pre">prim_path:</span> <span class="pre">str</span> <span class="pre">|</span> <span class="pre">Sdf.Path,</span> <span class="pre">predicate:</span> <span class="pre">Callable[[Usd.Prim],</span> <span class="pre">bool]</span> <span class="pre">=</span> <span class="pre">&lt;function</span> <span class="pre">&lt;lambda&gt;&gt;,</span> <span class="pre">depth:</span> <span class="pre">int</span> <span class="pre">|</span> <span class="pre">None</span> <span class="pre">=</span> <span class="pre">None,</span> <span class="pre">stage:</span> <span class="pre">Usd.Stage</span> <span class="pre">|</span> <span class="pre">None</span> <span class="pre">=</span> <span class="pre">None</span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">Usd.Prim</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#get_all_matching_child_prims"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.get_all_matching_child_prims" title="Permalink to this definition">#</a></dt>
+<dd><p>Performs a search starting from the root and returns all the prims matching the predicate.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The root prim path to start the search from.</p></li>
+<li><p><strong>predicate</strong> – The predicate that checks if the prim matches the desired criteria. It takes a prim as input
+and returns a boolean. Defaults to a function that always returns True.</p></li>
+<li><p><strong>depth</strong> – The maximum depth for traversal, should be bigger than zero if specified.
+Defaults to None (i.e: traversal happens till the end of the tree).</p></li>
+<li><p><strong>stage</strong> – The stage where the prim exists. Defaults to None, in which case the current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A list containing all the prims matching the predicate.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim path is not global (i.e: does not start with ‘/’).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.find_first_matching_prim">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">find_first_matching_prim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path_regex</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#find_first_matching_prim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.find_first_matching_prim" title="Permalink to this definition">#</a></dt>
+<dd><p>Find the first matching prim in the stage based on input regex expression.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path_regex</strong> – The regex expression for prim path.</p></li>
+<li><p><strong>stage</strong> – The stage where the prim exists. Defaults to None, in which case the current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The first prim that matches input expression. If no prim matches, returns None.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim path is not global (i.e: does not start with ‘/’).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.find_matching_prims">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">find_matching_prims</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path_regex</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">Usd.Prim</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#find_matching_prims"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.find_matching_prims" title="Permalink to this definition">#</a></dt>
+<dd><p>Find all the matching prims in the stage based on input regex expression.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path_regex</strong> – The regex expression for prim path.</p></li>
+<li><p><strong>stage</strong> – The stage where the prim exists. Defaults to None, in which case the current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A list of prims that match input expression.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim path is not global (i.e: does not start with ‘/’).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.find_matching_prim_paths">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">find_matching_prim_paths</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path_regex</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#find_matching_prim_paths"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.find_matching_prim_paths" title="Permalink to this definition">#</a></dt>
+<dd><p>Find all the matching prim paths in the stage based on input regex expression.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path_regex</strong> – The regex expression for prim path.</p></li>
+<li><p><strong>stage</strong> – The stage where the prim exists. Defaults to None, in which case the current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A list of prim paths that match input expression.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim path is not global (i.e: does not start with ‘/’).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.find_global_fixed_joint_prim">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">find_global_fixed_joint_prim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sdf.Path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">check_enabled_only</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">UsdPhysics.Joint</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#find_global_fixed_joint_prim"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.find_global_fixed_joint_prim" title="Permalink to this definition">#</a></dt>
+<dd><p>Find the fixed joint prim under the specified prim path that connects the target to the simulation world.</p>
+<p>A joint is a connection between two bodies. A fixed joint is a joint that does not allow relative motion
+between the two bodies. When a fixed joint has only one target body, it is considered to attach the body
+to the simulation world.</p>
+<p>This function finds the fixed joint prim that has only one target under the specified prim path. If no such
+fixed joint prim exists, it returns None.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path to search for the fixed joint prim.</p></li>
+<li><p><strong>check_enabled_only</strong> – Whether to consider only enabled fixed joints. Defaults to False.
+If False, then all joints (enabled or disabled) are considered.</p></li>
+<li><p><strong>stage</strong> – The stage where the prim exists. Defaults to None, in which case the current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The fixed joint prim that has only one target. If no such fixed joint prim exists, it returns None.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim path is not global (i.e: does not start with ‘/’).</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim path does not exist on the stage.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.utils.select_usd_variants">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.utils.</span></span><span class="sig-name descname"><span class="pre">select_usd_variants</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">variants</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/utils.html#select_usd_variants"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.utils.select_usd_variants" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets the variant selections from the specified variant sets on a USD prim.</p>
+<p><a class="reference external" href="https://graphics.pixar.com/usd/docs/USD-Glossary.html#USDGlossary-Variant">USD Variants</a> are a very powerful tool in USD composition that allows prims to have different options on
+a single asset. This can be done by modifying variations of the same prim parameters per variant option in a set.
+This function acts as a script-based utility to set the variant selections for the specified variant sets on a
+USD prim.</p>
+<p>The function takes a dictionary or a config class mapping variant set names to variant selections. For instance,
+if we have a prim at <code class="docutils literal notranslate"><span class="pre">&quot;/World/Table&quot;</span></code> with two variant sets: “color” and “size”, we can set the variant
+selections as follows:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">select_usd_variants</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Table&quot;</span><span class="p">,</span>
+    <span class="n">variants</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;color&quot;</span><span class="p">:</span> <span class="s2">&quot;red&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;size&quot;</span><span class="p">:</span> <span class="s2">&quot;large&quot;</span><span class="p">,</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<p>Alternatively, we can use a config class to define the variant selections:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">TableVariants</span><span class="p">:</span>
+    <span class="n">color</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;blue&quot;</span><span class="p">,</span> <span class="s2">&quot;red&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;red&quot;</span>
+    <span class="n">size</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;small&quot;</span><span class="p">,</span> <span class="s2">&quot;large&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;large&quot;</span>
+
+<span class="n">select_usd_variants</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Table&quot;</span><span class="p">,</span>
+    <span class="n">variants</span><span class="o">=</span><span class="n">TableVariants</span><span class="p">(),</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The path of the USD prim.</p></li>
+<li><p><strong>variants</strong> – A dictionary or config class mapping variant set names to variant selections.</p></li>
+<li><p><strong>stage</strong> – The USD stage. Defaults to None, in which case, the current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim at the specified path is not valid.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
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+    <i class="fa-solid fa-list"></i> Contents
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-context">Simulation Context</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext"><code class="docutils literal notranslate"><span class="pre">SimulationContext</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.RenderMode"><code class="docutils literal notranslate"><span class="pre">SimulationContext.RenderMode</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING"><code class="docutils literal notranslate"><span class="pre">SimulationContext.RenderMode.NO_GUI_OR_RENDERING</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING"><code class="docutils literal notranslate"><span class="pre">SimulationContext.RenderMode.NO_RENDERING</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING"><code class="docutils literal notranslate"><span class="pre">SimulationContext.RenderMode.PARTIAL_RENDERING</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING"><code class="docutils literal notranslate"><span class="pre">SimulationContext.RenderMode.FULL_RENDERING</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.__init__"><code class="docutils literal notranslate"><span class="pre">SimulationContext.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.has_gui"><code class="docutils literal notranslate"><span class="pre">SimulationContext.has_gui()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.has_rtx_sensors"><code class="docutils literal notranslate"><span class="pre">SimulationContext.has_rtx_sensors()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.is_fabric_enabled"><code class="docutils literal notranslate"><span class="pre">SimulationContext.is_fabric_enabled()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.get_version"><code class="docutils literal notranslate"><span class="pre">SimulationContext.get_version()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.set_camera_view"><code class="docutils literal notranslate"><span class="pre">SimulationContext.set_camera_view()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.set_render_mode"><code class="docutils literal notranslate"><span class="pre">SimulationContext.set_render_mode()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.set_setting"><code class="docutils literal notranslate"><span class="pre">SimulationContext.set_setting()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.get_setting"><code class="docutils literal notranslate"><span class="pre">SimulationContext.get_setting()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.forward"><code class="docutils literal notranslate"><span class="pre">SimulationContext.forward()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.step"><code class="docutils literal notranslate"><span class="pre">SimulationContext.step()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationContext.render"><code class="docutils literal notranslate"><span class="pre">SimulationContext.render()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-configuration">Simulation Configuration</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg"><code class="docutils literal notranslate"><span class="pre">SimulationCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.physics_prim_path"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.physics_prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.device"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.dt"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.dt</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.render_interval"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.render_interval</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.gravity"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.gravity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.enable_scene_query_support</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.use_fabric"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.use_fabric</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.disable_contact_processing"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.disable_contact_processing</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.physx"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.physx</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.SimulationCfg.render"><code class="docutils literal notranslate"><span class="pre">SimulationCfg.render</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg"><code class="docutils literal notranslate"><span class="pre">PhysxCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.solver_type"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.solver_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.min_position_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.max_position_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.min_velocity_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.max_velocity_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.enable_ccd"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.enable_ccd</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.enable_stabilization"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.enable_stabilization</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.enable_enhanced_determinism</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.bounce_threshold_velocity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.bounce_threshold_velocity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.friction_offset_threshold"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.friction_offset_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.friction_correlation_distance"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.friction_correlation_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_contact_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_max_rigid_contact_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_patch_count"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_max_rigid_patch_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_found_lost_pairs_capacity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_found_lost_aggregate_pairs_capacity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_total_aggregate_pairs_capacity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_total_aggregate_pairs_capacity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_collision_stack_size"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_collision_stack_size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_heap_capacity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_heap_capacity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_temp_buffer_capacity"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_temp_buffer_capacity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_max_num_partitions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_soft_body_contacts"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_max_soft_body_contacts</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.PhysxCfg.gpu_max_particle_contacts"><code class="docutils literal notranslate"><span class="pre">PhysxCfg.gpu_max_particle_contacts</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg"><code class="docutils literal notranslate"><span class="pre">RenderCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_translucency"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_translucency</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_reflections"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_reflections</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_global_illumination"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_global_illumination</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.antialiasing_mode"><code class="docutils literal notranslate"><span class="pre">RenderCfg.antialiasing_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_dlssg"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_dlssg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.dlss_mode"><code class="docutils literal notranslate"><span class="pre">RenderCfg.dlss_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_direct_lighting"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_direct_lighting</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.samples_per_pixel"><code class="docutils literal notranslate"><span class="pre">RenderCfg.samples_per_pixel</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_shadows"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_shadows</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.RenderCfg.enable_ambient_occlusion"><code class="docutils literal notranslate"><span class="pre">RenderCfg.enable_ambient_occlusion</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-context-builder">Simulation Context Builder</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.simulation_context.build_simulation_context"><code class="docutils literal notranslate"><span class="pre">simulation_context.build_simulation_context()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.utils">Utilities</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema"><code class="docutils literal notranslate"><span class="pre">safe_set_attribute_on_usd_schema()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim"><code class="docutils literal notranslate"><span class="pre">safe_set_attribute_on_usd_prim()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.apply_nested"><code class="docutils literal notranslate"><span class="pre">apply_nested()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.clone"><code class="docutils literal notranslate"><span class="pre">clone()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.bind_visual_material"><code class="docutils literal notranslate"><span class="pre">bind_visual_material()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.bind_physics_material"><code class="docutils literal notranslate"><span class="pre">bind_physics_material()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.export_prim_to_file"><code class="docutils literal notranslate"><span class="pre">export_prim_to_file()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.make_uninstanceable"><code class="docutils literal notranslate"><span class="pre">make_uninstanceable()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.get_first_matching_child_prim"><code class="docutils literal notranslate"><span class="pre">get_first_matching_child_prim()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.get_all_matching_child_prims"><code class="docutils literal notranslate"><span class="pre">get_all_matching_child_prims()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.find_first_matching_prim"><code class="docutils literal notranslate"><span class="pre">find_first_matching_prim()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.find_matching_prims"><code class="docutils literal notranslate"><span class="pre">find_matching_prims()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.find_matching_prim_paths"><code class="docutils literal notranslate"><span class="pre">find_matching_prim_paths()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.utils.find_global_fixed_joint_prim"><code class="docutils literal notranslate"><span class="pre">find_global_fixed_joint_prim()</span></code></a></li>
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+    <h1>omni.isaac.lab.sim.schemas</h1>
+    <!-- Table of contents -->
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+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#articulation-root">Articulation Root</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.articulation_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.enabled_self_collisions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_position_iteration_count"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.solver_position_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_velocity_iteration_count"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.solver_velocity_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.sleep_threshold"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.sleep_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.stabilization_threshold"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.stabilization_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.fix_root_link</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.define_articulation_root_properties"><code class="docutils literal notranslate"><span class="pre">define_articulation_root_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_articulation_root_properties"><code class="docutils literal notranslate"><span class="pre">modify_articulation_root_properties()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rigid-body">Rigid Body</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.rigid_body_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.kinematic_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.disable_gravity"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.disable_gravity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.linear_damping"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.linear_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.angular_damping"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.angular_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_linear_velocity"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.max_linear_velocity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_angular_velocity"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.max_angular_velocity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_depenetration_velocity"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.max_depenetration_velocity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.max_contact_impulse</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.enable_gyroscopic_forces"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.enable_gyroscopic_forces</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.retain_accelerations"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.retain_accelerations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_position_iteration_count"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.solver_position_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_velocity_iteration_count"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.solver_velocity_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.sleep_threshold"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.sleep_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.stabilization_threshold"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.stabilization_threshold</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.define_rigid_body_properties"><code class="docutils literal notranslate"><span class="pre">define_rigid_body_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_rigid_body_properties"><code class="docutils literal notranslate"><span class="pre">modify_rigid_body_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">activate_contact_sensors()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#collision">Collision</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg.collision_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg.contact_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg.rest_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg.torsional_patch_radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.min_torsional_patch_radius"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg.min_torsional_patch_radius</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.define_collision_properties"><code class="docutils literal notranslate"><span class="pre">define_collision_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_collision_properties"><code class="docutils literal notranslate"><span class="pre">modify_collision_properties()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#mass">Mass</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">MassPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass"><code class="docutils literal notranslate"><span class="pre">MassPropertiesCfg.mass</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg.density"><code class="docutils literal notranslate"><span class="pre">MassPropertiesCfg.density</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.define_mass_properties"><code class="docutils literal notranslate"><span class="pre">define_mass_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_mass_properties"><code class="docutils literal notranslate"><span class="pre">modify_mass_properties()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#joint-drive">Joint Drive</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg"><code class="docutils literal notranslate"><span class="pre">JointDrivePropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type"><code class="docutils literal notranslate"><span class="pre">JointDrivePropertiesCfg.drive_type</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_joint_drive_properties"><code class="docutils literal notranslate"><span class="pre">modify_joint_drive_properties()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#fixed-tendon">Fixed Tendon</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.tendon_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.damping"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.limit_stiffness"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.limit_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.rest_length"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.rest_length</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties"><code class="docutils literal notranslate"><span class="pre">modify_fixed_tendon_properties()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#deformable-body">Deformable Body</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.deformable_enabled"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.deformable_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.kinematic_enabled"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.kinematic_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.self_collision</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision_filter_distance"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.self_collision_filter_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.settling_threshold"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.settling_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_damping"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.sleep_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_threshold"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.sleep_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.solver_position_iteration_count"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.solver_position_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.vertex_velocity_damping"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.vertex_velocity_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.simulation_hexahedral_resolution"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.simulation_hexahedral_resolution</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.collision_simplification</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.collision_simplification_remeshing</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing_resolution"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.collision_simplification_remeshing_resolution</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_target_triangle_count"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.collision_simplification_target_triangle_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_force_conforming"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.collision_simplification_force_conforming</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.contact_offset"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.contact_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.rest_offset"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.rest_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.max_depenetration_velocity"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.max_depenetration_velocity</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.define_deformable_body_properties"><code class="docutils literal notranslate"><span class="pre">define_deformable_body_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_deformable_body_properties"><code class="docutils literal notranslate"><span class="pre">modify_deformable_body_properties()</span></code></a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.sim.schemas">
+<span id="omni-isaac-lab-sim-schemas"></span><h1>omni.isaac.lab.sim.schemas<a class="headerlink" href="#module-omni.isaac.lab.sim.schemas" title="Permalink to this heading">#</a></h1>
+<p>Sub-module containing utilities for schemas used in Omniverse.</p>
+<p>We wrap the USD schemas for PhysX and USD Physics in a more convenient API for setting the parameters from
+Python. This is done so that configuration objects can define the schema properties to set and make it easier
+to tune the physics parameters without requiring to open Omniverse Kit and manually set the parameters into
+the respective USD attributes.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>Schema properties cannot be applied on prims that are prototypes as they are read-only prims. This
+particularly affects instanced assets where some of the prims (usually the visual and collision meshes)
+are prototypes so that the instancing can be done efficiently.</p>
+<p>In such cases, it is assumed that the prototypes have sim-ready properties on them that don’t need to be modified.
+Trying to set properties into prototypes will throw a warning saying that the prim is a prototype and the
+properties cannot be set.</p>
+</div>
+<p>The schemas are defined in the following links:</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://openusd.org/dev/api/usd_physics_page_front.html">UsdPhysics schema</a></p></li>
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/index.html">PhysxSchema schema</a></p></li>
+</ul>
+<p>Locally, the schemas are defined in the following files:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">_isaac_sim/extsPhysics/omni.usd.schema.physics/plugins/UsdPhysics/resources/UsdPhysics/schema.usda</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">_isaac_sim/extsPhysics/omni.usd.schema.physx/plugins/PhysxSchema/resources/generatedSchema.usda</span></code></p></li>
+</ul>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg</span></code></a></p></td>
+<td><p>Properties to apply to the root of an articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg</span></code></a></p></td>
+<td><p>Properties to apply to a rigid body.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CollisionPropertiesCfg</span></code></a></p></td>
+<td><p>Properties to apply to colliders in a rigid body.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MassPropertiesCfg</span></code></a></p></td>
+<td><p>Properties to define explicit mass properties of a rigid body.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg" title="omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">JointDrivePropertiesCfg</span></code></a></p></td>
+<td><p>Properties to define the drive mechanism of a joint.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg" title="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg</span></code></a></p></td>
+<td><p>Properties to define fixed tendons of an articulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg</span></code></a></p></td>
+<td><p>Properties to apply to a deformable body.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p class="rubric">Functions</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.define_articulation_root_properties" title="omni.isaac.lab.sim.schemas.define_articulation_root_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">define_articulation_root_properties</span></code></a>(...[, stage])</p></td>
+<td><p>Apply the articulation root schema on the input prim and set its properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_articulation_root_properties" title="omni.isaac.lab.sim.schemas.modify_articulation_root_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">modify_articulation_root_properties</span></code></a>(...[, stage])</p></td>
+<td><p>Modify PhysX parameters for an articulation root prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.define_rigid_body_properties" title="omni.isaac.lab.sim.schemas.define_rigid_body_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">define_rigid_body_properties</span></code></a>(prim_path, cfg)</p></td>
+<td><p>Apply the rigid body schema on the input prim and set its properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_rigid_body_properties" title="omni.isaac.lab.sim.schemas.modify_rigid_body_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">modify_rigid_body_properties</span></code></a>(prim_path, cfg)</p></td>
+<td><p>Modify PhysX parameters for a rigid body prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.activate_contact_sensors" title="omni.isaac.lab.sim.schemas.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a>(prim_path[, ...])</p></td>
+<td><p>Activate the contact sensor on all rigid bodies under a specified prim path.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.define_collision_properties" title="omni.isaac.lab.sim.schemas.define_collision_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">define_collision_properties</span></code></a>(prim_path, cfg)</p></td>
+<td><p>Apply the collision schema on the input prim and set its properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_collision_properties" title="omni.isaac.lab.sim.schemas.modify_collision_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">modify_collision_properties</span></code></a>(prim_path, cfg)</p></td>
+<td><p>Modify PhysX properties of collider prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.define_mass_properties" title="omni.isaac.lab.sim.schemas.define_mass_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">define_mass_properties</span></code></a>(prim_path, cfg[, stage])</p></td>
+<td><p>Apply the mass schema on the input prim and set its properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_mass_properties" title="omni.isaac.lab.sim.schemas.modify_mass_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">modify_mass_properties</span></code></a>(prim_path, cfg[, stage])</p></td>
+<td><p>Set properties for the mass of a rigid body prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_joint_drive_properties" title="omni.isaac.lab.sim.schemas.modify_joint_drive_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">modify_joint_drive_properties</span></code></a>(prim_path, ...)</p></td>
+<td><p>Modify PhysX parameters for a joint prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties" title="omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">modify_fixed_tendon_properties</span></code></a>(prim_path, cfg)</p></td>
+<td><p>Modify PhysX parameters for a fixed tendon attachment prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.define_deformable_body_properties" title="omni.isaac.lab.sim.schemas.define_deformable_body_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">define_deformable_body_properties</span></code></a>(prim_path, cfg)</p></td>
+<td><p>Apply the deformable body schema on the input prim and set its properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_deformable_body_properties" title="omni.isaac.lab.sim.schemas.modify_deformable_body_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">modify_deformable_body_properties</span></code></a>(prim_path, cfg)</p></td>
+<td><p>Modify PhysX parameters for a deformable body prim.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="articulation-root">
+<h2>Articulation Root<a class="headerlink" href="#articulation-root" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">ArticulationRootPropertiesCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html#ArticulationRootPropertiesCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to the root of an articulation.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_articulation_root_properties" title="omni.isaac.lab.sim.schemas.modify_articulation_root_properties"><code class="xref py py-meth docutils literal notranslate"><span class="pre">modify_articulation_root_properties()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the values are None, they are not modified. This is useful when you want to set only a subset of
+the properties and leave the rest as-is.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled"><code class="xref py py-obj docutils literal notranslate"><span class="pre">articulation_enabled</span></code></a></p></td>
+<td><p>Whether to enable or disable articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enabled_self_collisions</span></code></a></p></td>
+<td><p>Whether to enable or disable self-collisions.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_position_iteration_count" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_position_iteration_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">solver_position_iteration_count</span></code></a></p></td>
+<td><p>Solver position iteration counts for the body.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_velocity_iteration_count" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_velocity_iteration_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">solver_velocity_iteration_count</span></code></a></p></td>
+<td><p>Solver position iteration counts for the body.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.sleep_threshold" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.sleep_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sleep_threshold</span></code></a></p></td>
+<td><p>Mass-normalized kinetic energy threshold below which an actor may go to sleep.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.stabilization_threshold" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.stabilization_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stabilization_threshold</span></code></a></p></td>
+<td><p>The mass-normalized kinetic energy threshold below which an articulation may participate in stabilization.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fix_root_link</span></code></a></p></td>
+<td><p>Whether to fix the root link of the articulation.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled">
+<span class="sig-name descname"><span class="pre">articulation_enabled</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable or disable articulation.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions">
+<span class="sig-name descname"><span class="pre">enabled_self_collisions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable or disable self-collisions.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_position_iteration_count">
+<span class="sig-name descname"><span class="pre">solver_position_iteration_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_position_iteration_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Solver position iteration counts for the body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_velocity_iteration_count">
+<span class="sig-name descname"><span class="pre">solver_velocity_iteration_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_velocity_iteration_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Solver position iteration counts for the body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.sleep_threshold">
+<span class="sig-name descname"><span class="pre">sleep_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.sleep_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass-normalized kinetic energy threshold below which an actor may go to sleep.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.stabilization_threshold">
+<span class="sig-name descname"><span class="pre">stabilization_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.stabilization_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The mass-normalized kinetic energy threshold below which an articulation may participate in stabilization.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link">
+<span class="sig-name descname"><span class="pre">fix_root_link</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to fix the root link of the articulation.</p>
+<ul class="simple">
+<li><p>If set to None, the root link is not modified.</p></li>
+<li><p>If the articulation already has a fixed root link, this flag will enable or disable the fixed joint.</p></li>
+<li><p>If the articulation does not have a fixed root link, this flag will create a fixed joint between the world
+frame and the root link. The joint is created with the name “FixedJoint” under the articulation prim.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is a non-USD schema property. It is handled by the <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_articulation_root_properties" title="omni.isaac.lab.sim.schemas.modify_articulation_root_properties"><code class="xref py py-meth docutils literal notranslate"><span class="pre">modify_articulation_root_properties()</span></code></a> function.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.define_articulation_root_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">define_articulation_root_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.ArticulationRootPropertiesCfg"><span class="pre">schemas_cfg.ArticulationRootPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#define_articulation_root_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.define_articulation_root_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Apply the articulation root schema on the input prim and set its properties.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_articulation_root_properties" title="omni.isaac.lab.sim.schemas.modify_articulation_root_properties"><code class="xref py py-func docutils literal notranslate"><span class="pre">modify_articulation_root_properties()</span></code></a> for more details on how the properties are set.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path where to apply the articulation root schema.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the articulation root.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the prim path is not valid.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#TypeError" title="(in Python v3.13)"><strong>TypeError</strong></a> – When the prim already has conflicting API schemas.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.modify_articulation_root_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">modify_articulation_root_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.ArticulationRootPropertiesCfg"><span class="pre">schemas_cfg.ArticulationRootPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#modify_articulation_root_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.modify_articulation_root_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Modify PhysX parameters for an articulation root prim.</p>
+<p>The <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/Articulations.html">articulation root</a> marks the root of an articulation tree. For floating articulations, this should be on
+the root body. For fixed articulations, this API can be on a direct or indirect parent of the root joint
+which is fixed to the world.</p>
+<p>The schema comprises of attributes that belong to the <a class="reference external" href="https://openusd.org/dev/api/class_usd_physics_articulation_root_a_p_i.html">ArticulationRootAPI</a> and <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_articulation_a_p_i.html">PhysxArticulationAPI</a>.
+schemas. The latter contains the PhysX parameters for the articulation root.</p>
+<p>The properties are applied to the articulation root prim. The common properties (such as solver position
+and velocity iteration counts, sleep threshold, stabilization threshold) take precedence over those specified
+in the rigid body schemas for all the rigid bodies in the articulation.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>When the attribute <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas_cfg.ArticulationRootPropertiesCfg.fix_root_link</span></code> is set to True,
+a fixed joint is created between the root link and the world frame (if it does not already exist). However,
+to deal with physics parser limitations, the articulation root schema needs to be applied to the parent of
+the root link.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">apply_nested()</span></code> that set the properties to all the prims
+(that have the schema applied on them) under the input prim path.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path to the articulation root.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the articulation root.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>True if the properties were successfully set, False otherwise.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#NotImplementedError" title="(in Python v3.13)"><strong>NotImplementedError</strong></a> – When the root prim is not a rigid body and a fixed joint is to be created.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="rigid-body">
+<h2>Rigid Body<a class="headerlink" href="#rigid-body" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">RigidBodyPropertiesCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html#RigidBodyPropertiesCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to a rigid body.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_rigid_body_properties" title="omni.isaac.lab.sim.schemas.modify_rigid_body_properties"><code class="xref py py-meth docutils literal notranslate"><span class="pre">modify_rigid_body_properties()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the values are None, they are not modified. This is useful when you want to set only a subset of
+the properties and leave the rest as-is.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_body_enabled</span></code></a></p></td>
+<td><p>Whether to enable or disable the rigid body.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled"><code class="xref py py-obj docutils literal notranslate"><span class="pre">kinematic_enabled</span></code></a></p></td>
+<td><p>Determines whether the body is kinematic or not.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.disable_gravity" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.disable_gravity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">disable_gravity</span></code></a></p></td>
+<td><p>Disable gravity for the actor.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.linear_damping" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.linear_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">linear_damping</span></code></a></p></td>
+<td><p>Linear damping for the body.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.angular_damping" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.angular_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">angular_damping</span></code></a></p></td>
+<td><p>Angular damping for the body.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_linear_velocity" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_linear_velocity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_linear_velocity</span></code></a></p></td>
+<td><p>Maximum linear velocity for rigid bodies (in m/s).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_angular_velocity" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_angular_velocity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_angular_velocity</span></code></a></p></td>
+<td><p>Maximum angular velocity for rigid bodies (in deg/s).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_depenetration_velocity" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_depenetration_velocity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_depenetration_velocity</span></code></a></p></td>
+<td><p>Maximum depenetration velocity permitted to be introduced by the solver (in m/s).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_contact_impulse</span></code></a></p></td>
+<td><p>The limit on the impulse that may be applied at a contact.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.enable_gyroscopic_forces" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.enable_gyroscopic_forces"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_gyroscopic_forces</span></code></a></p></td>
+<td><p>Enables computation of gyroscopic forces on the rigid body.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.retain_accelerations" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.retain_accelerations"><code class="xref py py-obj docutils literal notranslate"><span class="pre">retain_accelerations</span></code></a></p></td>
+<td><p>Carries over forces/accelerations over sub-steps.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_position_iteration_count" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_position_iteration_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">solver_position_iteration_count</span></code></a></p></td>
+<td><p>Solver position iteration counts for the body.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_velocity_iteration_count" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_velocity_iteration_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">solver_velocity_iteration_count</span></code></a></p></td>
+<td><p>Solver position iteration counts for the body.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.sleep_threshold" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.sleep_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sleep_threshold</span></code></a></p></td>
+<td><p>Mass-normalized kinetic energy threshold below which an actor may go to sleep.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.stabilization_threshold" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.stabilization_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stabilization_threshold</span></code></a></p></td>
+<td><p>The mass-normalized kinetic energy threshold below which an actor may participate in stabilization.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled">
+<span class="sig-name descname"><span class="pre">rigid_body_enabled</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable or disable the rigid body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled">
+<span class="sig-name descname"><span class="pre">kinematic_enabled</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled" title="Permalink to this definition">#</a></dt>
+<dd><p>Determines whether the body is kinematic or not.</p>
+<p>A kinematic body is a body that is moved through animated poses or through user defined poses. The simulation
+still derives velocities for the kinematic body based on the external motion.</p>
+<p>For more information on kinematic bodies, please refer to the <a class="reference external" href="https://openusd.org/release/wp_rigid_body_physics.html#kinematic-bodies">documentation</a>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.disable_gravity">
+<span class="sig-name descname"><span class="pre">disable_gravity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.disable_gravity" title="Permalink to this definition">#</a></dt>
+<dd><p>Disable gravity for the actor.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.linear_damping">
+<span class="sig-name descname"><span class="pre">linear_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.linear_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Linear damping for the body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.angular_damping">
+<span class="sig-name descname"><span class="pre">angular_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.angular_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular damping for the body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_linear_velocity">
+<span class="sig-name descname"><span class="pre">max_linear_velocity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_linear_velocity" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum linear velocity for rigid bodies (in m/s).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_angular_velocity">
+<span class="sig-name descname"><span class="pre">max_angular_velocity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_angular_velocity" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum angular velocity for rigid bodies (in deg/s).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_depenetration_velocity">
+<span class="sig-name descname"><span class="pre">max_depenetration_velocity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_depenetration_velocity" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum depenetration velocity permitted to be introduced by the solver (in m/s).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse">
+<span class="sig-name descname"><span class="pre">max_contact_impulse</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse" title="Permalink to this definition">#</a></dt>
+<dd><p>The limit on the impulse that may be applied at a contact.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.enable_gyroscopic_forces">
+<span class="sig-name descname"><span class="pre">enable_gyroscopic_forces</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.enable_gyroscopic_forces" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables computation of gyroscopic forces on the rigid body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.retain_accelerations">
+<span class="sig-name descname"><span class="pre">retain_accelerations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.retain_accelerations" title="Permalink to this definition">#</a></dt>
+<dd><p>Carries over forces/accelerations over sub-steps.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_position_iteration_count">
+<span class="sig-name descname"><span class="pre">solver_position_iteration_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_position_iteration_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Solver position iteration counts for the body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_velocity_iteration_count">
+<span class="sig-name descname"><span class="pre">solver_velocity_iteration_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_velocity_iteration_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Solver position iteration counts for the body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.sleep_threshold">
+<span class="sig-name descname"><span class="pre">sleep_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.sleep_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass-normalized kinetic energy threshold below which an actor may go to sleep.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.stabilization_threshold">
+<span class="sig-name descname"><span class="pre">stabilization_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.stabilization_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The mass-normalized kinetic energy threshold below which an actor may participate in stabilization.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.define_rigid_body_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">define_rigid_body_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg"><span class="pre">schemas_cfg.RigidBodyPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#define_rigid_body_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.define_rigid_body_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Apply the rigid body schema on the input prim and set its properties.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_rigid_body_properties" title="omni.isaac.lab.sim.schemas.modify_rigid_body_properties"><code class="xref py py-func docutils literal notranslate"><span class="pre">modify_rigid_body_properties()</span></code></a> for more details on how the properties are set.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path where to apply the rigid body schema.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the rigid body.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the prim path is not valid.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#TypeError" title="(in Python v3.13)"><strong>TypeError</strong></a> – When the prim already has conflicting API schemas.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.modify_rigid_body_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">modify_rigid_body_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg"><span class="pre">schemas_cfg.RigidBodyPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#modify_rigid_body_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.modify_rigid_body_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Modify PhysX parameters for a rigid body prim.</p>
+<p>A <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/RigidBodyOverview.html">rigid body</a> is a single body that can be simulated by PhysX. It can be either dynamic or kinematic.
+A dynamic body responds to forces and collisions. A <a class="reference external" href="https://openusd.org/release/wp_rigid_body_physics.html#kinematic-bodies">kinematic body</a> can be moved by the user, but does not
+respond to forces. They are similar to having static bodies that can be moved around.</p>
+<p>The schema comprises of attributes that belong to the <a class="reference external" href="https://openusd.org/dev/api/class_usd_physics_rigid_body_a_p_i.html">RigidBodyAPI</a> and <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_rigid_body_a_p_i.html">PhysxRigidBodyAPI</a>.
+schemas. The latter contains the PhysX parameters for the rigid body.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">apply_nested()</span></code> that sets the properties to all the prims
+(that have the schema applied on them) under the input prim path.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path to the rigid body.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the rigid body.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>True if the properties were successfully set, False otherwise.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.activate_contact_sensors">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">threshold</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">pxr.Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#activate_contact_sensors"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate the contact sensor on all rigid bodies under a specified prim path.</p>
+<p>This function adds the PhysX contact report API to all rigid bodies under the specified prim path.
+It also sets the force threshold beyond which the contact sensor reports the contact. The contact
+reporting API can only be added to rigid bodies.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path under which to search and prepare contact sensors.</p></li>
+<li><p><strong>threshold</strong> – The threshold for the contact sensor. Defaults to 0.0.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the input prim path is not valid.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If there are no rigid bodies under the prim path.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="collision">
+<h2>Collision<a class="headerlink" href="#collision" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">CollisionPropertiesCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html#CollisionPropertiesCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to colliders in a rigid body.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_collision_properties" title="omni.isaac.lab.sim.schemas.modify_collision_properties"><code class="xref py py-meth docutils literal notranslate"><span class="pre">modify_collision_properties()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the values are None, they are not modified. This is useful when you want to set only a subset of
+the properties and leave the rest as-is.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_enabled</span></code></a></p></td>
+<td><p>Whether to enable or disable collisions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">contact_offset</span></code></a></p></td>
+<td><p>Contact offset for the collision shape (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rest_offset</span></code></a></p></td>
+<td><p>Rest offset for the collision shape (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">torsional_patch_radius</span></code></a></p></td>
+<td><p>Radius of the contact patch for applying torsional friction (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.min_torsional_patch_radius" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.min_torsional_patch_radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">min_torsional_patch_radius</span></code></a></p></td>
+<td><p>Minimum radius of the contact patch for applying torsional friction (in m).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled">
+<span class="sig-name descname"><span class="pre">collision_enabled</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable or disable collisions.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset">
+<span class="sig-name descname"><span class="pre">contact_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Contact offset for the collision shape (in m).</p>
+<p>The collision detector generates contact points as soon as two shapes get closer than the sum of their
+contact offsets. This quantity should be non-negative which means that contact generation can potentially start
+before the shapes actually penetrate.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset">
+<span class="sig-name descname"><span class="pre">rest_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Rest offset for the collision shape (in m).</p>
+<p>The rest offset quantifies how close a shape gets to others at rest, At rest, the distance between two
+vertically stacked objects is the sum of their rest offsets. If a pair of shapes have a positive rest
+offset, the shapes will be separated at rest by an air gap.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius">
+<span class="sig-name descname"><span class="pre">torsional_patch_radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the contact patch for applying torsional friction (in m).</p>
+<p>It is used to approximate rotational friction introduced by the compression of contacting surfaces.
+If the radius is zero, no torsional friction is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.min_torsional_patch_radius">
+<span class="sig-name descname"><span class="pre">min_torsional_patch_radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.min_torsional_patch_radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Minimum radius of the contact patch for applying torsional friction (in m).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.define_collision_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">define_collision_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg"><span class="pre">schemas_cfg.CollisionPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#define_collision_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.define_collision_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Apply the collision schema on the input prim and set its properties.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_collision_properties" title="omni.isaac.lab.sim.schemas.modify_collision_properties"><code class="xref py py-func docutils literal notranslate"><span class="pre">modify_collision_properties()</span></code></a> for more details on how the properties are set.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path where to apply the rigid body schema.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the collider.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the prim path is not valid.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.modify_collision_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">modify_collision_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg"><span class="pre">schemas_cfg.CollisionPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#modify_collision_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.modify_collision_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Modify PhysX properties of collider prim.</p>
+<p>These properties are based on the <a class="reference external" href="https://openusd.org/dev/api/class_usd_physics_collision_a_p_i.html">UsdPhysics.CollisionAPI</a> and <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_collision_a_p_i.html">PhysxSchema.PhysxCollisionAPI</a> schemas.
+For more information on the properties, please refer to the official documentation.</p>
+<p>Tuning these parameters influence the contact behavior of the rigid body. For more information on
+tune them and their effect on the simulation, please refer to the
+<a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/AdvancedCollisionDetection.html">PhysX documentation</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">apply_nested()</span></code> that sets the properties to all the prims
+(that have the schema applied on them) under the input prim path.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path of parent.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the collider.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>True if the properties were successfully set, False otherwise.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="mass">
+<h2>Mass<a class="headerlink" href="#mass" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.MassPropertiesCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">MassPropertiesCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html#MassPropertiesCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to define explicit mass properties of a rigid body.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_mass_properties" title="omni.isaac.lab.sim.schemas.modify_mass_properties"><code class="xref py py-meth docutils literal notranslate"><span class="pre">modify_mass_properties()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the values are None, they are not modified. This is useful when you want to set only a subset of
+the properties and leave the rest as-is.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass</span></code></a></p></td>
+<td><p>The mass of the rigid body (in kg).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg.density" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg.density"><code class="xref py py-obj docutils literal notranslate"><span class="pre">density</span></code></a></p></td>
+<td><p>The density of the rigid body (in kg/m^3).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass">
+<span class="sig-name descname"><span class="pre">mass</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass" title="Permalink to this definition">#</a></dt>
+<dd><p>The mass of the rigid body (in kg).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If non-zero, the mass is ignored and the density is used to compute the mass.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.MassPropertiesCfg.density">
+<span class="sig-name descname"><span class="pre">density</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg.density" title="Permalink to this definition">#</a></dt>
+<dd><p>The density of the rigid body (in kg/m^3).</p>
+<p>The density indirectly defines the mass of the rigid body. It is generally computed using the collision
+approximation of the body.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.define_mass_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">define_mass_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg"><span class="pre">schemas_cfg.MassPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#define_mass_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.define_mass_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Apply the mass schema on the input prim and set its properties.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_mass_properties" title="omni.isaac.lab.sim.schemas.modify_mass_properties"><code class="xref py py-func docutils literal notranslate"><span class="pre">modify_mass_properties()</span></code></a> for more details on how the properties are set.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path where to apply the rigid body schema.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the mass properties.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the prim path is not valid.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.modify_mass_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">modify_mass_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg"><span class="pre">schemas_cfg.MassPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#modify_mass_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.modify_mass_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Set properties for the mass of a rigid body prim.</p>
+<p>These properties are based on the <cite>UsdPhysics.MassAPI</cite> schema. If the mass is not defined, the density is used
+to compute the mass. However, in that case, a collision approximation of the rigid body is used to
+compute the density. For more information on the properties, please refer to the
+<a class="reference external" href="https://openusd.org/release/wp_rigid_body_physics.html#body-mass-properties">documentation</a>.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>The mass of an object can be specified in multiple ways and have several conflicting settings
+that are resolved based on precedence. Please make sure to understand the precedence rules
+before using this property.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">apply_nested()</span></code> that sets the properties to all the prims
+(that have the schema applied on them) under the input prim path.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path of the rigid body.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the mass properties.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>True if the properties were successfully set, False otherwise.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="joint-drive">
+<h2>Joint Drive<a class="headerlink" href="#joint-drive" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">JointDrivePropertiesCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html#JointDrivePropertiesCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to define the drive mechanism of a joint.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_joint_drive_properties" title="omni.isaac.lab.sim.schemas.modify_joint_drive_properties"><code class="xref py py-meth docutils literal notranslate"><span class="pre">modify_joint_drive_properties()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the values are None, they are not modified. This is useful when you want to set only a subset of
+the properties and leave the rest as-is.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type" title="omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">drive_type</span></code></a></p></td>
+<td><p>Joint drive type to apply.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type">
+<span class="sig-name descname"><span class="pre">drive_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'force'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'acceleration'</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type" title="Permalink to this definition">#</a></dt>
+<dd><p>Joint drive type to apply.</p>
+<p>If the drive type is “force”, then the joint is driven by a force. If the drive type is “acceleration”,
+then the joint is driven by an acceleration (usually used for kinematic joints).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.modify_joint_drive_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">modify_joint_drive_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">drive_props</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.JointDrivePropertiesCfg"><span class="pre">schemas_cfg.JointDrivePropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#modify_joint_drive_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.modify_joint_drive_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Modify PhysX parameters for a joint prim.</p>
+<p>This function checks if the input prim is a prismatic or revolute joint and applies the joint drive schema
+on it. If the joint is a tendon (i.e., it has the <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_tendon_axis_a_p_i.html">PhysxTendonAxisAPI</a> schema applied on it), then the joint
+drive schema is not applied.</p>
+<p>Based on the configuration, this method modifies the properties of the joint drive. These properties are
+based on the <a class="reference external" href="https://openusd.org/dev/api/class_usd_physics_drive_a_p_i.html">UsdPhysics.DriveAPI</a> schema. For more information on the properties, please refer to the
+official documentation.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>We highly recommend modifying joint properties of articulations through the functionalities in the
+<a class="reference internal" href="omni.isaac.lab.actuators.html#module-omni.isaac.lab.actuators" title="omni.isaac.lab.actuators"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators</span></code></a> module. The methods here are for setting simulation low-level
+properties only.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path where to apply the joint drive schema.</p></li>
+<li><p><strong>drive_props</strong> – The configuration for the joint drive.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>True if the properties were successfully set, False otherwise.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the input prim path is not valid.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="fixed-tendon">
+<h2>Fixed Tendon<a class="headerlink" href="#fixed-tendon" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">FixedTendonPropertiesCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html#FixedTendonPropertiesCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to define fixed tendons of an articulation.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties" title="omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties"><code class="xref py py-meth docutils literal notranslate"><span class="pre">modify_fixed_tendon_properties()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the values are None, they are not modified. This is useful when you want to set only a subset of
+the properties and leave the rest as-is.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled" title="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled"><code class="xref py py-obj docutils literal notranslate"><span class="pre">tendon_enabled</span></code></a></p></td>
+<td><p>Whether to enable or disable the tendon.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.stiffness" title="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stiffness</span></code></a></p></td>
+<td><p>Spring stiffness term acting on the tendon's length.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.damping" title="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping</span></code></a></p></td>
+<td><p>The damping term acting on both the tendon length and the tendon-length limits.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.limit_stiffness" title="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.limit_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">limit_stiffness</span></code></a></p></td>
+<td><p>Limit stiffness term acting on the tendon's length limits.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset" title="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">offset</span></code></a></p></td>
+<td><p>Length offset term for the tendon.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.rest_length" title="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.rest_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rest_length</span></code></a></p></td>
+<td><p>Spring rest length of the tendon.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled">
+<span class="sig-name descname"><span class="pre">tendon_enabled</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable or disable the tendon.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.stiffness">
+<span class="sig-name descname"><span class="pre">stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Spring stiffness term acting on the tendon’s length.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.damping">
+<span class="sig-name descname"><span class="pre">damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping term acting on both the tendon length and the tendon-length limits.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.limit_stiffness">
+<span class="sig-name descname"><span class="pre">limit_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.limit_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Limit stiffness term acting on the tendon’s length limits.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset">
+<span class="sig-name descname"><span class="pre">offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Length offset term for the tendon.</p>
+<p>It defines an amount to be added to the accumulated length computed for the tendon. This allows the application
+to actuate the tendon by shortening or lengthening it.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.rest_length">
+<span class="sig-name descname"><span class="pre">rest_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.rest_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Spring rest length of the tendon.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">modify_fixed_tendon_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.FixedTendonPropertiesCfg"><span class="pre">schemas_cfg.FixedTendonPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#modify_fixed_tendon_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Modify PhysX parameters for a fixed tendon attachment prim.</p>
+<p>A <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/classPxArticulationFixedTendon.html">fixed tendon</a> can be used to link multiple degrees of freedom of articulation joints
+through length and limit constraints. For instance, it can be used to set up an equality constraint
+between a driven and passive revolute joints.</p>
+<p>The schema comprises of attributes that belong to the <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_tendon_axis_root_a_p_i.html">PhysxTendonAxisRootAPI</a> schema.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">apply_nested()</span></code> that sets the properties to all the prims
+(that have the schema applied on them) under the input prim path.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path to the tendon attachment.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the tendon attachment.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>True if the properties were successfully set, False otherwise.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the input prim path is not valid.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="deformable-body">
+<h2>Deformable Body<a class="headerlink" href="#deformable-body" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">DeformableBodyPropertiesCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas_cfg.html#DeformableBodyPropertiesCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to a deformable body.</p>
+<p>A deformable body is a body that can deform under forces. The configuration allows users to specify
+the properties of the deformable body, such as the solver iteration counts, damping, and self-collision.</p>
+<p>An FEM-based deformable body is created by providing a collision mesh and simulation mesh. The collision mesh
+is used for collision detection and the simulation mesh is used for simulation. The collision mesh is usually
+a simplified version of the simulation mesh.</p>
+<p>Based on the above, the PhysX team provides APIs to either set the simulation and collision mesh directly
+(by specifying the points) or to simplify the collision mesh based on the simulation mesh. The simplification
+process involves remeshing the collision mesh and simplifying it based on the target triangle count.</p>
+<p>Since specifying the collision mesh points directly is not a common use case, we only expose the parameters
+to simplify the collision mesh based on the simulation mesh. If you want to provide the collision mesh points,
+please open an issue on the repository and we can add support for it.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_deformable_body_properties" title="omni.isaac.lab.sim.schemas.modify_deformable_body_properties"><code class="xref py py-meth docutils literal notranslate"><span class="pre">modify_deformable_body_properties()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the values are <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">None</span></code></a>, they are not modified. This is useful when you want to set only a subset of
+the properties and leave the rest as-is.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.deformable_enabled" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.deformable_enabled"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_enabled</span></code></a></p></td>
+<td><p>Enables deformable body.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.kinematic_enabled" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.kinematic_enabled"><code class="xref py py-obj docutils literal notranslate"><span class="pre">kinematic_enabled</span></code></a></p></td>
+<td><p>Enables kinematic body.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision"><code class="xref py py-obj docutils literal notranslate"><span class="pre">self_collision</span></code></a></p></td>
+<td><p>Whether to enable or disable self-collisions for the deformable body based on the rest position distances.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision_filter_distance" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision_filter_distance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">self_collision_filter_distance</span></code></a></p></td>
+<td><p>Penetration value that needs to get exceeded before contacts for self collision are generated.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.settling_threshold" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.settling_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">settling_threshold</span></code></a></p></td>
+<td><p>Threshold vertex velocity (in m/s) under which sleep damping is applied in addition to velocity damping.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_damping" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sleep_damping</span></code></a></p></td>
+<td><p>Coefficient for the additional damping term if fertex velocity drops below setting threshold.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_threshold" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sleep_threshold</span></code></a></p></td>
+<td><p>The velocity threshold (in m/s) under which the vertex becomes a candidate for sleeping in the next step.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.solver_position_iteration_count" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.solver_position_iteration_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">solver_position_iteration_count</span></code></a></p></td>
+<td><p>Number of the solver positional iterations per step.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.vertex_velocity_damping" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.vertex_velocity_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertex_velocity_damping</span></code></a></p></td>
+<td><p>Coefficient for artificial damping on the vertex velocity.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.simulation_hexahedral_resolution" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.simulation_hexahedral_resolution"><code class="xref py py-obj docutils literal notranslate"><span class="pre">simulation_hexahedral_resolution</span></code></a></p></td>
+<td><p>The target resolution for the hexahedral mesh used for simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_simplification</span></code></a></p></td>
+<td><p>Whether or not to simplify the collision mesh before creating a soft body out of it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_simplification_remeshing</span></code></a></p></td>
+<td><p>Whether or not the collision mesh should be remeshed before simplification.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing_resolution" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing_resolution"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_simplification_remeshing_resolution</span></code></a></p></td>
+<td><p>The resolution used for remeshing.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_target_triangle_count" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_target_triangle_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_simplification_target_triangle_count</span></code></a></p></td>
+<td><p>The target triangle count used for the simplification.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_force_conforming" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_force_conforming"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_simplification_force_conforming</span></code></a></p></td>
+<td><p>Whether or not the simplification should force the output mesh to conform to the input mesh.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.contact_offset" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.contact_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">contact_offset</span></code></a></p></td>
+<td><p>Contact offset for the collision shape (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.rest_offset" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.rest_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rest_offset</span></code></a></p></td>
+<td><p>Rest offset for the collision shape (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.max_depenetration_velocity" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.max_depenetration_velocity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_depenetration_velocity</span></code></a></p></td>
+<td><p>Maximum depenetration velocity permitted to be introduced by the solver (in m/s).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.deformable_enabled">
+<span class="sig-name descname"><span class="pre">deformable_enabled</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.deformable_enabled" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables deformable body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.kinematic_enabled">
+<span class="sig-name descname"><span class="pre">kinematic_enabled</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.kinematic_enabled" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables kinematic body. Defaults to False, which means that the body is not kinematic.</p>
+<p>Similar to rigid bodies, this allows setting user-driven motion for the deformable body. For more information,
+please refer to the <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html#kinematic-soft-bodies">documentation</a>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision">
+<span class="sig-name descname"><span class="pre">self_collision</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable or disable self-collisions for the deformable body based on the rest position distances.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision_filter_distance">
+<span class="sig-name descname"><span class="pre">self_collision_filter_distance</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision_filter_distance" title="Permalink to this definition">#</a></dt>
+<dd><p>Penetration value that needs to get exceeded before contacts for self collision are generated.</p>
+<p>This parameter must be greater than of equal to twice the <a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.rest_offset" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.rest_offset"><code class="xref py py-attr docutils literal notranslate"><span class="pre">rest_offset</span></code></a> value.</p>
+<p>This value has an effect only if <a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision"><code class="xref py py-attr docutils literal notranslate"><span class="pre">self_collision</span></code></a> is enabled.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.settling_threshold">
+<span class="sig-name descname"><span class="pre">settling_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.settling_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>Threshold vertex velocity (in m/s) under which sleep damping is applied in addition to velocity damping.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_damping">
+<span class="sig-name descname"><span class="pre">sleep_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Coefficient for the additional damping term if fertex velocity drops below setting threshold.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_threshold">
+<span class="sig-name descname"><span class="pre">sleep_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The velocity threshold (in m/s) under which the vertex becomes a candidate for sleeping in the next step.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.solver_position_iteration_count">
+<span class="sig-name descname"><span class="pre">solver_position_iteration_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.solver_position_iteration_count" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of the solver positional iterations per step. Range is [1,255]</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.vertex_velocity_damping">
+<span class="sig-name descname"><span class="pre">vertex_velocity_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.vertex_velocity_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Coefficient for artificial damping on the vertex velocity.</p>
+<p>This parameter can be used to approximate the effect of air drag on the deformable body.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.simulation_hexahedral_resolution">
+<span class="sig-name descname"><span class="pre">simulation_hexahedral_resolution</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.simulation_hexahedral_resolution" title="Permalink to this definition">#</a></dt>
+<dd><p>The target resolution for the hexahedral mesh used for simulation. Defaults to 10.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This value is ignored if the user provides the simulation mesh points directly. However, we assume that
+most users will not provide the simulation mesh points directly. If you want to provide the simulation mesh
+directly, please set this value to <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">None</span></code></a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification">
+<span class="sig-name descname"><span class="pre">collision_simplification</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether or not to simplify the collision mesh before creating a soft body out of it. Defaults to True.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This flag is ignored if the user provides the simulation mesh points directly. However, we assume that
+most users will not provide the simulation mesh points directly. Hence, this flag is enabled by default.</p>
+<p>If you want to provide the simulation mesh points directly, please set this flag to False.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing">
+<span class="sig-name descname"><span class="pre">collision_simplification_remeshing</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether or not the collision mesh should be remeshed before simplification. Defaults to True.</p>
+<p>This parameter is ignored if <a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification"><code class="xref py py-attr docutils literal notranslate"><span class="pre">collision_simplification</span></code></a> is False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing_resolution">
+<span class="sig-name descname"><span class="pre">collision_simplification_remeshing_resolution</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing_resolution" title="Permalink to this definition">#</a></dt>
+<dd><p>The resolution used for remeshing. Defaults to 0, which means that a heuristic is used to determine the
+resolution.</p>
+<p>This parameter is ignored if <a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing"><code class="xref py py-attr docutils literal notranslate"><span class="pre">collision_simplification_remeshing</span></code></a> is False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_target_triangle_count">
+<span class="sig-name descname"><span class="pre">collision_simplification_target_triangle_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_target_triangle_count" title="Permalink to this definition">#</a></dt>
+<dd><p>The target triangle count used for the simplification. Defaults to 0, which means that a heuristic based on
+the <a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.simulation_hexahedral_resolution" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.simulation_hexahedral_resolution"><code class="xref py py-attr docutils literal notranslate"><span class="pre">simulation_hexahedral_resolution</span></code></a> is used to determine the target count.</p>
+<p>This parameter is ignored if <a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification"><code class="xref py py-attr docutils literal notranslate"><span class="pre">collision_simplification</span></code></a> is False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_force_conforming">
+<span class="sig-name descname"><span class="pre">collision_simplification_force_conforming</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_force_conforming" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether or not the simplification should force the output mesh to conform to the input mesh. Defaults to True.</p>
+<p>The flag indicates that the tretrahedralizer used to generate the collision mesh should produce tetrahedra
+that conform to the triangle mesh. If False, the simplifier uses the output from the tretrahedralizer used.</p>
+<p>This parameter is ignored if <a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification"><code class="xref py py-attr docutils literal notranslate"><span class="pre">collision_simplification</span></code></a> is False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.contact_offset">
+<span class="sig-name descname"><span class="pre">contact_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.contact_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Contact offset for the collision shape (in m).</p>
+<p>The collision detector generates contact points as soon as two shapes get closer than the sum of their
+contact offsets. This quantity should be non-negative which means that contact generation can potentially start
+before the shapes actually penetrate.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.rest_offset">
+<span class="sig-name descname"><span class="pre">rest_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.rest_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Rest offset for the collision shape (in m).</p>
+<p>The rest offset quantifies how close a shape gets to others at rest, At rest, the distance between two
+vertically stacked objects is the sum of their rest offsets. If a pair of shapes have a positive rest
+offset, the shapes will be separated at rest by an air gap.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.max_depenetration_velocity">
+<span class="sig-name descname"><span class="pre">max_depenetration_velocity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.max_depenetration_velocity" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum depenetration velocity permitted to be introduced by the solver (in m/s).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.define_deformable_body_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">define_deformable_body_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.DeformableBodyPropertiesCfg"><span class="pre">schemas_cfg.DeformableBodyPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#define_deformable_body_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.define_deformable_body_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Apply the deformable body schema on the input prim and set its properties.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.schemas.modify_deformable_body_properties" title="omni.isaac.lab.sim.schemas.modify_deformable_body_properties"><code class="xref py py-func docutils literal notranslate"><span class="pre">modify_deformable_body_properties()</span></code></a> for more details on how the properties are set.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If the input prim is not a mesh, this function will traverse the prim and find the first mesh
+under it. If no mesh or multiple meshes are found, an error is raised. This is because the deformable
+body schema can only be applied to a single mesh.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path where to apply the deformable body schema.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the deformable body.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the prim path is not valid.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the prim has no mesh or multiple meshes.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.schemas.modify_deformable_body_properties">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.schemas.</span></span><span class="sig-name descname"><span class="pre">modify_deformable_body_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.schemas_cfg.DeformableBodyPropertiesCfg"><span class="pre">schemas_cfg.DeformableBodyPropertiesCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">stage</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Usd.Stage</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/schemas/schemas.html#modify_deformable_body_properties"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.schemas.modify_deformable_body_properties" title="Permalink to this definition">#</a></dt>
+<dd><p>Modify PhysX parameters for a deformable body prim.</p>
+<p>A <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html">deformable body</a> is a single body that can be simulated by PhysX. Unlike rigid bodies, deformable bodies
+support relative motion of the nodes in the mesh. Consequently, they can be used to simulate deformations
+under applied forces.</p>
+<p>PhysX soft body simulation employs Finite Element Analysis (FEA) to simulate the deformations of the mesh.
+It uses two tetrahedral meshes to represent the deformable body:</p>
+<ol class="arabic simple">
+<li><p><strong>Simulation mesh</strong>: This mesh is used for the simulation and is the one that is deformed by the solver.</p></li>
+<li><p><strong>Collision mesh</strong>: This mesh only needs to match the surface of the simulation mesh and is used for
+collision detection.</p></li>
+</ol>
+<p>For most applications, we assume that the above two meshes are computed from the “render mesh” of the deformable
+body. The render mesh is the mesh that is visible in the scene and is used for rendering purposes. It is composed
+of triangles and is the one that is used to compute the above meshes based on PhysX cookings.</p>
+<p>The schema comprises of attributes that belong to the <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/class_physx_schema_physx_deformable_a_p_i.html">PhysxDeformableBodyAPI</a>. schemas containing the PhysX
+parameters for the deformable body.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>The deformable body schema is still under development by the Omniverse team. The current implementation
+works with the PhysX schemas shipped with Isaac Sim 4.0.0 onwards. It may change in future releases.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">apply_nested()</span></code> that sets the properties to all the prims
+(that have the schema applied on them) under the input prim path.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path to the deformable body.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the deformable body.</p></li>
+<li><p><strong>stage</strong> – The stage where to find the prim. Defaults to None, in which case the
+current stage is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>True if the properties were successfully set, False otherwise.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
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+    <i class="fa-solid fa-list"></i> Contents
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+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#articulation-root">Articulation Root</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.articulation_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.enabled_self_collisions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_position_iteration_count"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.solver_position_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_velocity_iteration_count"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.solver_velocity_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.sleep_threshold"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.sleep_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.stabilization_threshold"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.stabilization_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link"><code class="docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg.fix_root_link</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.define_articulation_root_properties"><code class="docutils literal notranslate"><span class="pre">define_articulation_root_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_articulation_root_properties"><code class="docutils literal notranslate"><span class="pre">modify_articulation_root_properties()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rigid-body">Rigid Body</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.rigid_body_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.kinematic_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.disable_gravity"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.disable_gravity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.linear_damping"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.linear_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.angular_damping"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.angular_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_linear_velocity"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.max_linear_velocity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_angular_velocity"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.max_angular_velocity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_depenetration_velocity"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.max_depenetration_velocity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.max_contact_impulse</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.enable_gyroscopic_forces"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.enable_gyroscopic_forces</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.retain_accelerations"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.retain_accelerations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_position_iteration_count"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.solver_position_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_velocity_iteration_count"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.solver_velocity_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.sleep_threshold"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.sleep_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.stabilization_threshold"><code class="docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg.stabilization_threshold</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.define_rigid_body_properties"><code class="docutils literal notranslate"><span class="pre">define_rigid_body_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_rigid_body_properties"><code class="docutils literal notranslate"><span class="pre">modify_rigid_body_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">activate_contact_sensors()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#collision">Collision</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg.collision_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg.contact_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg.rest_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg.torsional_patch_radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.min_torsional_patch_radius"><code class="docutils literal notranslate"><span class="pre">CollisionPropertiesCfg.min_torsional_patch_radius</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.define_collision_properties"><code class="docutils literal notranslate"><span class="pre">define_collision_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_collision_properties"><code class="docutils literal notranslate"><span class="pre">modify_collision_properties()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#mass">Mass</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">MassPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass"><code class="docutils literal notranslate"><span class="pre">MassPropertiesCfg.mass</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.MassPropertiesCfg.density"><code class="docutils literal notranslate"><span class="pre">MassPropertiesCfg.density</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.define_mass_properties"><code class="docutils literal notranslate"><span class="pre">define_mass_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_mass_properties"><code class="docutils literal notranslate"><span class="pre">modify_mass_properties()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#joint-drive">Joint Drive</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg"><code class="docutils literal notranslate"><span class="pre">JointDrivePropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type"><code class="docutils literal notranslate"><span class="pre">JointDrivePropertiesCfg.drive_type</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_joint_drive_properties"><code class="docutils literal notranslate"><span class="pre">modify_joint_drive_properties()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#fixed-tendon">Fixed Tendon</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.tendon_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.stiffness"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.damping"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.limit_stiffness"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.limit_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.rest_length"><code class="docutils literal notranslate"><span class="pre">FixedTendonPropertiesCfg.rest_length</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_fixed_tendon_properties"><code class="docutils literal notranslate"><span class="pre">modify_fixed_tendon_properties()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#deformable-body">Deformable Body</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.deformable_enabled"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.deformable_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.kinematic_enabled"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.kinematic_enabled</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.self_collision</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.self_collision_filter_distance"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.self_collision_filter_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.settling_threshold"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.settling_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_damping"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.sleep_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.sleep_threshold"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.sleep_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.solver_position_iteration_count"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.solver_position_iteration_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.vertex_velocity_damping"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.vertex_velocity_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.simulation_hexahedral_resolution"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.simulation_hexahedral_resolution</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.collision_simplification</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.collision_simplification_remeshing</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_remeshing_resolution"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.collision_simplification_remeshing_resolution</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_target_triangle_count"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.collision_simplification_target_triangle_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.collision_simplification_force_conforming"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.collision_simplification_force_conforming</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.contact_offset"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.contact_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.rest_offset"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.rest_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg.max_depenetration_velocity"><code class="docutils literal notranslate"><span class="pre">DeformableBodyPropertiesCfg.max_depenetration_velocity</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.define_deformable_body_properties"><code class="docutils literal notranslate"><span class="pre">define_deformable_body_properties()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.schemas.modify_deformable_body_properties"><code class="docutils literal notranslate"><span class="pre">modify_deformable_body_properties()</span></code></a></li>
+</ul>
+</li>
+</ul>
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+    <h1>omni.isaac.lab.sim.spawners</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#spawners">Spawners</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.SpawnerCfg"><code class="docutils literal notranslate"><span class="pre">SpawnerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.func"><code class="docutils literal notranslate"><span class="pre">SpawnerCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.visible"><code class="docutils literal notranslate"><span class="pre">SpawnerCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">SpawnerCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">SpawnerCfg.copy_from_source</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.visible"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.activate_contact_sensors</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.func"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.visible"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.deformable_props</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.shapes">Shapes</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg"><code class="docutils literal notranslate"><span class="pre">ShapeCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visible"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.activate_contact_sensors</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.spawn_capsule"><code class="docutils literal notranslate"><span class="pre">spawn_capsule()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.radius"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.height"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.axis"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.axis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cone"><code class="docutils literal notranslate"><span class="pre">spawn_cone()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg"><code class="docutils literal notranslate"><span class="pre">ConeCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible"><code class="docutils literal notranslate"><span class="pre">ConeCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">ConeCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">ConeCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">ConeCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">ConeCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">ConeCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">ConeCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">ConeCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">ConeCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">ConeCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">ConeCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.radius"><code class="docutils literal notranslate"><span class="pre">ConeCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.height"><code class="docutils literal notranslate"><span class="pre">ConeCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.axis"><code class="docutils literal notranslate"><span class="pre">ConeCfg.axis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cuboid"><code class="docutils literal notranslate"><span class="pre">spawn_cuboid()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg"><code class="docutils literal notranslate"><span class="pre">CuboidCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visible"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cylinder"><code class="docutils literal notranslate"><span class="pre">spawn_cylinder()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg"><code class="docutils literal notranslate"><span class="pre">CylinderCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.height"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.axis"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.axis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visible"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.spawn_sphere"><code class="docutils literal notranslate"><span class="pre">spawn_sphere()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg"><code class="docutils literal notranslate"><span class="pre">SphereCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius"><code class="docutils literal notranslate"><span class="pre">SphereCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visible"><code class="docutils literal notranslate"><span class="pre">SphereCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">SphereCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">SphereCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">SphereCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">SphereCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">SphereCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">SphereCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">SphereCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">SphereCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">SphereCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">SphereCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.meshes">Meshes</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg"><code class="docutils literal notranslate"><span class="pre">MeshCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshCfg.activate_contact_sensors</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_capsule"><code class="docutils literal notranslate"><span class="pre">spawn_mesh_capsule()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.axis"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.axis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cone"><code class="docutils literal notranslate"><span class="pre">spawn_mesh_cone()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.axis"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.axis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cuboid"><code class="docutils literal notranslate"><span class="pre">spawn_mesh_cuboid()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cylinder"><code class="docutils literal notranslate"><span class="pre">spawn_mesh_cylinder()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.axis"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.axis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_sphere"><code class="docutils literal notranslate"><span class="pre">spawn_mesh_sphere()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.lights">Lights</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.spawn_light"><code class="docutils literal notranslate"><span class="pre">spawn_light()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg"><code class="docutils literal notranslate"><span class="pre">LightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">LightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.color"><code class="docutils literal notranslate"><span class="pre">LightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">LightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">LightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">LightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">LightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">LightCfg.intensity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.visible"><code class="docutils literal notranslate"><span class="pre">LightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">LightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">LightCfg.copy_from_source</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.intensity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.length"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.radius"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.treat_as_line"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.treat_as_line</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.radius"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.visible"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.intensity</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.angle</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.visible"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.intensity</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.texture_file</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.intensity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.texture_format</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.visible_in_primary_ray</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.intensity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.radius"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.treat_as_point"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.treat_as_point</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.sensors">Sensors</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.spawn_camera"><code class="docutils literal notranslate"><span class="pre">spawn_camera()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.projection_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.clipping_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.focal_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.focus_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.f_stop</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.horizontal_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.vertical_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture_offset"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.horizontal_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture_offset"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.vertical_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.lock_camera</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.from_intrinsic_matrix"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.from_intrinsic_matrix()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.visible"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.copy_from_source</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.projection_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.visible"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.clipping_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.focal_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.focus_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.f_stop</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.horizontal_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.vertical_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture_offset"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.horizontal_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture_offset"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.vertical_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.lock_camera</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_width"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_nominal_width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_height"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_nominal_height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_x"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_optical_centre_x</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_y"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_optical_centre_y</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_max_fov"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_max_fov</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_a"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_a</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_b"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_c"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_c</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_d"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_d</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_e"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_e</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_f"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_f</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.from_files">From Files</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.spawn_from_urdf"><code class="docutils literal notranslate"><span class="pre">spawn_from_urdf()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.asset_path"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.asset_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.force_usd_conversion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.make_instanceable</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.import_inertia_tensor</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fix_base"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.fix_base</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.merge_fixed_joints"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.merge_fixed_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.self_collision"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.self_collision</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.default_drive_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.override_joint_dynamics"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.override_joint_dynamics</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_stiffness"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.default_drive_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.default_drive_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.link_density</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.convex_decompose_mesh"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.convex_decompose_mesh</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visible"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.scale"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.articulation_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.articulation_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fixed_tendons_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.fixed_tendons_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.joint_drive_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.joint_drive_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.visual_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.spawn_from_usd"><code class="docutils literal notranslate"><span class="pre">spawn_from_usd()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.usd_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.variants</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visible"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.articulation_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.fixed_tendons_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.fixed_tendons_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.joint_drive_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.joint_drive_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.visual_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane"><code class="docutils literal notranslate"><span class="pre">spawn_ground_plane()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.usd_path"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.usd_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.size"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.materials">Materials</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#visual-materials">Visual Materials</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><code class="docutils literal notranslate"><span class="pre">VisualMaterialCfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.spawn_preview_surface"><code class="docutils literal notranslate"><span class="pre">spawn_preview_surface()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg.diffuse_color</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.emissive_color"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg.emissive_color</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.roughness"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg.roughness</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.metallic"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg.metallic</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg.opacity</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.spawn_from_mdl_file"><code class="docutils literal notranslate"><span class="pre">spawn_from_mdl_file()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg"><code class="docutils literal notranslate"><span class="pre">MdlFileCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path"><code class="docutils literal notranslate"><span class="pre">MdlFileCfg.mdl_path</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw"><code class="docutils literal notranslate"><span class="pre">MdlFileCfg.project_uvw</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness"><code class="docutils literal notranslate"><span class="pre">MdlFileCfg.albedo_brightness</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale"><code class="docutils literal notranslate"><span class="pre">MdlFileCfg.texture_scale</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg.mdl_path</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_color"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg.glass_color</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.frosting_roughness"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg.frosting_roughness</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.thin_walled"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg.thin_walled</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_ior"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg.glass_ior</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#physical-materials">Physical Materials</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg"><code class="docutils literal notranslate"><span class="pre">PhysicsMaterialCfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.spawn_rigid_body_material"><code class="docutils literal notranslate"><span class="pre">spawn_rigid_body_material()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.static_friction</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.dynamic_friction"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.dynamic_friction</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.restitution</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.improve_patch_friction"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.improve_patch_friction</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.friction_combine_mode</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.restitution_combine_mode</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.compliant_contact_stiffness</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.compliant_contact_damping</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.spawn_deformable_body_material"><code class="docutils literal notranslate"><span class="pre">spawn_deformable_body_material()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.density"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.density</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.dynamic_friction"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.dynamic_friction</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.youngs_modulus"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.youngs_modulus</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.poissons_ratio"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.poissons_ratio</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.elasticity_damping"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.elasticity_damping</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.damping_scale"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.damping_scale</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.wrappers">Wrappers</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_asset"><code class="docutils literal notranslate"><span class="pre">spawn_multi_asset()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.assets_cfg"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.assets_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.random_choice</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.visible"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.activate_contact_sensors</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_usd_file"><code class="docutils literal notranslate"><span class="pre">spawn_multi_usd_file()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visible"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.scale"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.articulation_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.articulation_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.fixed_tendons_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.fixed_tendons_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.joint_drive_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.joint_drive_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.variants"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.variants</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.usd_path"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.usd_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.random_choice"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.random_choice</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.sim.spawners">
+<span id="omni-isaac-lab-sim-spawners"></span><h1>omni.isaac.lab.sim.spawners<a class="headerlink" href="#module-omni.isaac.lab.sim.spawners" title="Permalink to this heading">#</a></h1>
+<p>Sub-module containing utilities for creating prims in Omniverse.</p>
+<p>Spawners are used to create prims into Omniverse simulator. At their core, they are calling the
+USD Python API or Omniverse Kit Commands to create prims. However, they also provide a convenient
+interface for creating prims from their respective config classes.</p>
+<p>There are two main ways of using the spawners:</p>
+<ol class="arabic">
+<li><p>Using the function from the module</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">ISAACLAB_NUCLEUS_DIR</span>
+
+<span class="c1"># spawn from USD file</span>
+<span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span><span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/FrankaEmika/panda_instanceable.usd&quot;</span><span class="p">)</span>
+<span class="n">prim_path</span> <span class="o">=</span> <span class="s2">&quot;/World/myAsset&quot;</span>
+
+<span class="c1"># spawn using the function from the module</span>
+<span class="n">sim_utils</span><span class="o">.</span><span class="n">spawn_from_usd</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</li>
+<li><p>Using the <cite>func</cite> reference in the config class</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">ISAACLAB_NUCLEUS_DIR</span>
+
+<span class="c1"># spawn from USD file</span>
+<span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span><span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/FrankaEmika/panda_instanceable.usd&quot;</span><span class="p">)</span>
+<span class="n">prim_path</span> <span class="o">=</span> <span class="s2">&quot;/World/myAsset&quot;</span>
+
+<span class="c1"># use the `func` reference in the config class</span>
+<span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</li>
+</ol>
+<p>For convenience, we recommend using the second approach, as it allows to easily change the config
+class and the function call in a single line of code.</p>
+<p>Depending on the type of prim, the spawning-functions can also deal with the creation of prims
+over multiple prim path. These need to be provided as a regex prim path expressions, which are
+resolved based on the parent prim paths using the <a class="reference internal" href="omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.clone" title="omni.isaac.lab.sim.utils.clone"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.utils.clone()</span></code></a> function decorator.
+For example:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">/World/Table_[1,2]/Robot</span></code> will create the prims <code class="docutils literal notranslate"><span class="pre">/World/Table_1/Robot</span></code> and <code class="docutils literal notranslate"><span class="pre">/World/Table_2/Robot</span></code>
+only if the parent prim <code class="docutils literal notranslate"><span class="pre">/World/Table_1</span></code> and <code class="docutils literal notranslate"><span class="pre">/World/Table_2</span></code> exist.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/World/Robot_[1,2]</span></code> will <strong>NOT</strong> create the prims <code class="docutils literal notranslate"><span class="pre">/World/Robot_1</span></code> and
+<code class="docutils literal notranslate"><span class="pre">/World/Robot_2</span></code> as the prim path expression can be resolved to multiple prims.</p></li>
+</ul>
+<p class="rubric">Submodules</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.sim.spawners.shapes" title="omni.isaac.lab.sim.spawners.shapes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">shapes</span></code></a></p></td>
+<td><p>Sub-module for spawning primitive shapes in the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#module-omni.isaac.lab.sim.spawners.meshes" title="omni.isaac.lab.sim.spawners.meshes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">meshes</span></code></a></p></td>
+<td><p>Sub-module for spawning meshes in the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.sim.spawners.lights" title="omni.isaac.lab.sim.spawners.lights"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lights</span></code></a></p></td>
+<td><p>Sub-module for spawners that spawn lights in the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#module-omni.isaac.lab.sim.spawners.sensors" title="omni.isaac.lab.sim.spawners.sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sensors</span></code></a></p></td>
+<td><p>Sub-module for spawners that spawn sensors in the simulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.sim.spawners.from_files" title="omni.isaac.lab.sim.spawners.from_files"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_files</span></code></a></p></td>
+<td><p>Sub-module for spawners that spawn assets from files.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#module-omni.isaac.lab.sim.spawners.materials" title="omni.isaac.lab.sim.spawners.materials"><code class="xref py py-obj docutils literal notranslate"><span class="pre">materials</span></code></a></p></td>
+<td><p>Sub-module for spawners that spawn USD-based and PhysX-based materials.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.sim.spawners.wrappers" title="omni.isaac.lab.sim.spawners.wrappers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">wrappers</span></code></a></p></td>
+<td><p>Sub-module for wrapping spawner configurations.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.SpawnerCfg" title="omni.isaac.lab.sim.spawners.SpawnerCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SpawnerCfg</span></code></a></p></td>
+<td><p>Configuration parameters for spawning an asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg" title="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg</span></code></a></p></td>
+<td><p>Configuration parameters for spawning a rigid asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg" title="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg</span></code></a></p></td>
+<td><p>Configuration parameters for spawning a deformable asset.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="spawners">
+<h2>Spawners<a class="headerlink" href="#spawners" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.SpawnerCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.</span></span><span class="sig-name descname"><span class="pre">SpawnerCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html#SpawnerCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.SpawnerCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for spawning an asset.</p>
+<p>Spawning an asset is done by calling the <a class="reference internal" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.func" title="omni.isaac.lab.sim.spawners.SpawnerCfg.func"><code class="xref py py-attr docutils literal notranslate"><span class="pre">func</span></code></a> function. The function takes in the
+prim path to spawn the asset at, the configuration instance and transformation, and returns the
+prim path of the spawned asset.</p>
+<p>The function is typically decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawner.utils.clone()</span></code> decorator
+that checks if input prim path is a regex expression and spawns the asset at all matching prims.
+For this, the decorator uses the Cloner API from Isaac Sim and handles the <a class="reference internal" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source"><code class="xref py py-attr docutils literal notranslate"><span class="pre">copy_from_source</span></code></a>
+parameter.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.func" title="omni.isaac.lab.sim.spawners.SpawnerCfg.func"><code class="xref py py-obj docutils literal notranslate"><span class="pre">func</span></code></a></p></td>
+<td><p>Function to use for spawning the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.visible" title="omni.isaac.lab.sim.spawners.SpawnerCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.SpawnerCfg.func">
+<span class="sig-name descname"><span class="pre">func</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">pxr.Usd.Prim</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.func" title="Permalink to this definition">#</a></dt>
+<dd><p>Function to use for spawning the asset.</p>
+<p>The function takes in the prim path (or expression) to spawn the asset at, the configuration instance
+and transformation, and returns the source prim spawned.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.SpawnerCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.</span></span><span class="sig-name descname"><span class="pre">RigidObjectSpawnerCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html#RigidObjectSpawnerCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.SpawnerCfg" title="omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SpawnerCfg</span></code></a></p>
+<p>Configuration parameters for spawning a rigid asset.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>By default, all properties are set to None. This means that no properties will be added or modified
+to the prim outside of the properties available by default when spawning the prim.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.mass_props" title="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func" title="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func"><code class="xref py py-obj docutils literal notranslate"><span class="pre">func</span></code></a></p></td>
+<td><p>Function to use for spawning the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.visible" title="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props" title="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.collision_props" title="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func">
+<span class="sig-name descname"><span class="pre">func</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Usd.Prim</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func" title="Permalink to this definition">#</a></dt>
+<dd><p>Function to use for spawning the asset.</p>
+<p>The function takes in the prim path (or expression) to spawn the asset at, the configuration instance
+and transformation, and returns the source prim spawned.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.</span></span><span class="sig-name descname"><span class="pre">DeformableObjectSpawnerCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/spawner_cfg.html#DeformableObjectSpawnerCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.SpawnerCfg" title="omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SpawnerCfg</span></code></a></p>
+<p>Configuration parameters for spawning a deformable asset.</p>
+<p>Unlike rigid objects, deformable objects are affected by forces and can deform when subjected to
+external forces. This class is used to configure the properties of the deformable object.</p>
+<p>Deformable bodies don’t have a separate collision mesh. The collision mesh is the same as the visual mesh.
+The collision properties such as rest and collision offsets are specified in the <a class="reference internal" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.deformable_props" title="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.deformable_props"><code class="xref py py-attr docutils literal notranslate"><span class="pre">deformable_props</span></code></a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>By default, all properties are set to None. This means that no properties will be added or modified
+to the prim outside of the properties available by default when spawning the prim.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.func" title="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.func"><code class="xref py py-obj docutils literal notranslate"><span class="pre">func</span></code></a></p></td>
+<td><p>Function to use for spawning the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.visible" title="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.mass_props" title="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.deformable_props" title="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.func">
+<span class="sig-name descname"><span class="pre">func</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Callable</span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">Usd.Prim</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.func" title="Permalink to this definition">#</a></dt>
+<dd><p>Function to use for spawning the asset.</p>
+<p>The function takes in the prim path (or expression) to spawn the asset at, the configuration instance
+and transformation, and returns the source prim spawned.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.sim.spawners.shapes">
+<span id="shapes"></span><h2>Shapes<a class="headerlink" href="#module-omni.isaac.lab.sim.spawners.shapes" title="Permalink to this heading">#</a></h2>
+<p>Sub-module for spawning primitive shapes in the simulation.</p>
+<p>NVIDIA Omniverse provides various primitive shapes that can be used to create USDGeom prims. Based
+on the configuration, the spawned prim can be:</p>
+<ul class="simple">
+<li><p>a visual mesh (no physics)</p></li>
+<li><p>a static collider (no rigid body)</p></li>
+<li><p>a rigid body (with collision and rigid body properties).</p></li>
+</ul>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ShapeCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a USD Geometry or Geom prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CapsuleCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a capsule prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ConeCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a cone prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CuboidCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a cuboid prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CylinderCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a cylinder prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SphereCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a sphere prim.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">ShapeCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html#ShapeCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for a USD Geometry or Geom prim.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visible" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.mass_props" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.collision_props" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.VisualMaterialCfg"><span class="pre">VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.PhysicsMaterialCfg"><span class="pre">PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.spawn_capsule">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">spawn_capsule</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg" title="omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CapsuleCfg"><span class="pre">shapes_cfg.CapsuleCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html#spawn_capsule"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.spawn_capsule" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USDGeom-based capsule prim with the given attributes.</p>
+<p>For more information, see <a class="reference external" href="https://openusd.org/dev/api/class_usd_geom_capsule.html">USDGeomCapsule</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">CapsuleCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html#CapsuleCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg" title="omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ShapeCfg</span></code></a></p>
+<p>Configuration parameters for a capsule prim.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.spawn_capsule" title="omni.isaac.lab.sim.spawners.shapes.spawn_capsule"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_capsule()</span></code></a> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.mass_props" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.collision_props" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.radius" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the capsule (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.height" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>Height of the capsule (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.axis" title="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.axis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">axis</span></code></a></p></td>
+<td><p>Axis of the capsule.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.VisualMaterialCfg"><span class="pre">VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.PhysicsMaterialCfg"><span class="pre">PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the capsule (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>Height of the capsule (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.axis">
+<span class="sig-name descname"><span class="pre">axis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'X'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Y'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Z'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.axis" title="Permalink to this definition">#</a></dt>
+<dd><p>Axis of the capsule. Defaults to “Z”.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.spawn_cone">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">spawn_cone</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg" title="omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ConeCfg"><span class="pre">shapes_cfg.ConeCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html#spawn_cone"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cone" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USDGeom-based cone prim with the given attributes.</p>
+<p>For more information, see <a class="reference external" href="https://openusd.org/dev/api/class_usd_geom_cone.html">USDGeomCone</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">ConeCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html#ConeCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg" title="omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ShapeCfg</span></code></a></p>
+<p>Configuration parameters for a cone prim.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cone" title="omni.isaac.lab.sim.spawners.shapes.spawn_cone"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_cone()</span></code></a> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.mass_props" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.collision_props" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.radius" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the cone (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.height" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>Height of the v (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.axis" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg.axis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">axis</span></code></a></p></td>
+<td><p>Axis of the cone.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.VisualMaterialCfg"><span class="pre">VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.PhysicsMaterialCfg"><span class="pre">PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the cone (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>Height of the v (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.ConeCfg.axis">
+<span class="sig-name descname"><span class="pre">axis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'X'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Y'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Z'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.axis" title="Permalink to this definition">#</a></dt>
+<dd><p>Axis of the cone. Defaults to “Z”.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.spawn_cuboid">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">spawn_cuboid</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg" title="omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CuboidCfg"><span class="pre">shapes_cfg.CuboidCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html#spawn_cuboid"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cuboid" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USDGeom-based cuboid prim with the given attributes.</p>
+<p>For more information, see <a class="reference external" href="https://openusd.org/dev/api/class_usd_geom_cube.html">USDGeomCube</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Since USD only supports cubes, we set the size of the cube to the minimum of the given size and
+scale the cube accordingly.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>If a prim already exists at the given path.</strong> – </p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">CuboidCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html#CuboidCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg" title="omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ShapeCfg</span></code></a></p>
+<p>Configuration parameters for a cuboid prim.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cuboid" title="omni.isaac.lab.sim.spawners.shapes.spawn_cuboid"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_cuboid()</span></code></a> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>Size of the cuboid.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visible" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.mass_props" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.collision_props" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material" title="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>Size of the cuboid.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.VisualMaterialCfg"><span class="pre">VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.PhysicsMaterialCfg"><span class="pre">PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.spawn_cylinder">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">spawn_cylinder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg" title="omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CylinderCfg"><span class="pre">shapes_cfg.CylinderCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html#spawn_cylinder"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cylinder" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USDGeom-based cylinder prim with the given attributes.</p>
+<p>For more information, see <a class="reference external" href="https://openusd.org/dev/api/class_usd_geom_cylinder.html">USDGeomCylinder</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">CylinderCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html#CylinderCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg" title="omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ShapeCfg</span></code></a></p>
+<p>Configuration parameters for a cylinder prim.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cylinder" title="omni.isaac.lab.sim.spawners.shapes.spawn_cylinder"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_cylinder()</span></code></a> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the cylinder (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.height" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>Height of the cylinder (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.axis" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.axis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">axis</span></code></a></p></td>
+<td><p>Axis of the cylinder.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visible" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.mass_props" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.collision_props" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material" title="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the cylinder (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>Height of the cylinder (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.axis">
+<span class="sig-name descname"><span class="pre">axis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'X'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Y'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Z'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.axis" title="Permalink to this definition">#</a></dt>
+<dd><p>Axis of the cylinder. Defaults to “Z”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.VisualMaterialCfg"><span class="pre">VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.PhysicsMaterialCfg"><span class="pre">PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.spawn_sphere">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">spawn_sphere</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg" title="omni.isaac.lab.sim.spawners.shapes.shapes_cfg.SphereCfg"><span class="pre">shapes_cfg.SphereCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes.html#spawn_sphere"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.spawn_sphere" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USDGeom-based sphere prim with the given attributes.</p>
+<p>For more information, see <a class="reference external" href="https://openusd.org/dev/api/class_usd_geom_sphere.html">USDGeomSphere</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.shapes.</span></span><span class="sig-name descname"><span class="pre">SphereCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.html#SphereCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg" title="omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ShapeCfg</span></code></a></p>
+<p>Configuration parameters for a sphere prim.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.spawn_sphere" title="omni.isaac.lab.sim.spawners.shapes.spawn_sphere"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_sphere()</span></code></a> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the sphere (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visible" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.mass_props" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.collision_props" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material" title="omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the sphere (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.VisualMaterialCfg"><span class="pre">VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.PhysicsMaterialCfg"><span class="pre">PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.sim.spawners.meshes">
+<span id="meshes"></span><h2>Meshes<a class="headerlink" href="#module-omni.isaac.lab.sim.spawners.meshes" title="Permalink to this heading">#</a></h2>
+<p>Sub-module for spawning meshes in the simulation.</p>
+<p>NVIDIA Omniverse deals with meshes as <a class="reference external" href="https://openusd.org/release/api/class_usd_geom_mesh.html">USDGeomMesh</a> prims. This sub-module provides various
+configurations to spawn different types of meshes. Based on the configuration, the spawned prim can be:</p>
+<ul class="simple">
+<li><p>a visual mesh (no physics)</p></li>
+<li><p>a static collider (no rigid or deformable body)</p></li>
+<li><p>a deformable body (with deformable properties)</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>While rigid body properties can be set on a mesh, it is recommended to use the
+<a class="reference internal" href="#module-omni.isaac.lab.sim.spawners.shapes" title="omni.isaac.lab.sim.spawners.shapes"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.shapes</span></code></a> module to spawn rigid bodies. This is because USD shapes
+are more optimized for physics simulations.</p>
+</div>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MeshCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a USD Geometry or Geom prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MeshCapsuleCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a capsule mesh prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MeshConeCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a cone mesh prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MeshCuboidCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a cuboid mesh prim with deformable properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MeshCylinderCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a cylinder mesh prim with deformable properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MeshSphereCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a sphere mesh prim with deformable properties.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">MeshCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html#MeshCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for a USD Geometry or Geom prim.</p>
+<p>This class is similar to <code class="xref py py-class docutils literal notranslate"><span class="pre">ShapeCfg</span></code> but is specifically for meshes.</p>
+<p>Meshes support both rigid and deformable properties. However, their schemas are applied at
+different levels in the USD hierarchy based on the type of the object. These are described below:</p>
+<ul class="simple">
+<li><p>Deformable body properties: Applied to the mesh prim: <code class="docutils literal notranslate"><span class="pre">{prim_path}/geometry/mesh</span></code>.</p></li>
+<li><p>Collision properties: Applied to the mesh prim: <code class="docutils literal notranslate"><span class="pre">{prim_path}/geometry/mesh</span></code>.</p></li>
+<li><p>Rigid body properties: Applied to the parent prim: <code class="docutils literal notranslate"><span class="pre">{prim_path}</span></code>.</p></li>
+</ul>
+<p>where <code class="docutils literal notranslate"><span class="pre">{prim_path}</span></code> is the path to the prim in the USD stage and <code class="docutils literal notranslate"><span class="pre">{prim_path}/geometry/mesh</span></code>
+is the path to the mesh prim.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>There are mututally exclusive parameters for rigid and deformable properties. If both are set,
+then an error will be raised. This also holds if collision and deformable properties are set together.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visible" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.mass_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.deformable_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.rigid_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.collision_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.meshes.MeshCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><span class="pre">materials.VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg"><span class="pre">materials.PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.spawn_mesh_capsule">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">spawn_mesh_capsule</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg" title="omni.isaac.lab.sim.spawners.meshes.meshes_cfg.MeshCapsuleCfg"><span class="pre">meshes_cfg.MeshCapsuleCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html#spawn_mesh_capsule"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_capsule" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USD-Mesh capsule prim with the given attributes.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">MeshCapsuleCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html#MeshCapsuleCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg" title="omni.isaac.lab.sim.spawners.meshes.meshes_cfg.MeshCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshCfg</span></code></a></p>
+<p>Configuration parameters for a capsule mesh prim.</p>
+<p>See <code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_capsule()</span></code> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visible" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.mass_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.deformable_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.rigid_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.collision_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.radius" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the capsule (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.height" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>Height of the capsule (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.axis" title="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.axis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">axis</span></code></a></p></td>
+<td><p>Axis of the capsule.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><span class="pre">materials.VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg"><span class="pre">materials.PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the capsule (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>Height of the capsule (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.axis">
+<span class="sig-name descname"><span class="pre">axis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'X'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Y'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Z'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.axis" title="Permalink to this definition">#</a></dt>
+<dd><p>Axis of the capsule. Defaults to “Z”.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cone">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">spawn_mesh_cone</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg" title="omni.isaac.lab.sim.spawners.meshes.meshes_cfg.MeshConeCfg"><span class="pre">meshes_cfg.MeshConeCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html#spawn_mesh_cone"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cone" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USD-Mesh cone prim with the given attributes.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">MeshConeCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html#MeshConeCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg" title="omni.isaac.lab.sim.spawners.meshes.meshes_cfg.MeshCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshCfg</span></code></a></p>
+<p>Configuration parameters for a cone mesh prim.</p>
+<p>See <code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_cone()</span></code> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visible" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.mass_props" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.deformable_props" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.rigid_props" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.collision_props" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.radius" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the cone (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.height" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>Height of the v (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.axis" title="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.axis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">axis</span></code></a></p></td>
+<td><p>Axis of the cone.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><span class="pre">materials.VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg"><span class="pre">materials.PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the cone (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>Height of the v (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.axis">
+<span class="sig-name descname"><span class="pre">axis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'X'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Y'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Z'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.axis" title="Permalink to this definition">#</a></dt>
+<dd><p>Axis of the cone. Defaults to “Z”.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cuboid">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">spawn_mesh_cuboid</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg" title="omni.isaac.lab.sim.spawners.meshes.meshes_cfg.MeshCuboidCfg"><span class="pre">meshes_cfg.MeshCuboidCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html#spawn_mesh_cuboid"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cuboid" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USD-Mesh cuboid prim with the given attributes.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">MeshCuboidCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html#MeshCuboidCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg" title="omni.isaac.lab.sim.spawners.meshes.meshes_cfg.MeshCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshCfg</span></code></a></p>
+<p>Configuration parameters for a cuboid mesh prim with deformable properties.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cuboid" title="omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cuboid"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_mesh_cuboid()</span></code></a> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.size" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>Size of the cuboid (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visible" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.mass_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.deformable_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.rigid_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.collision_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material" title="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>Size of the cuboid (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><span class="pre">materials.VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg"><span class="pre">materials.PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cylinder">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">spawn_mesh_cylinder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg" title="omni.isaac.lab.sim.spawners.meshes.meshes_cfg.MeshCylinderCfg"><span class="pre">meshes_cfg.MeshCylinderCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html#spawn_mesh_cylinder"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cylinder" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USD-Mesh cylinder prim with the given attributes.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">MeshCylinderCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html#MeshCylinderCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg" title="omni.isaac.lab.sim.spawners.meshes.meshes_cfg.MeshCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshCfg</span></code></a></p>
+<p>Configuration parameters for a cylinder mesh prim with deformable properties.</p>
+<p>See <code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_cylinder()</span></code> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.radius" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the cylinder (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.height" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>Height of the cylinder (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.axis" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.axis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">axis</span></code></a></p></td>
+<td><p>Axis of the cylinder.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visible" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.mass_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.deformable_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.rigid_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.collision_props" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material" title="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the cylinder (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>Height of the cylinder (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.axis">
+<span class="sig-name descname"><span class="pre">axis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'X'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Y'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Z'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.axis" title="Permalink to this definition">#</a></dt>
+<dd><p>Axis of the cylinder. Defaults to “Z”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><span class="pre">materials.VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg"><span class="pre">materials.PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.spawn_mesh_sphere">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">spawn_mesh_sphere</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg" title="omni.isaac.lab.sim.spawners.meshes.meshes_cfg.MeshSphereCfg"><span class="pre">meshes_cfg.MeshSphereCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes.html#spawn_mesh_sphere"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_sphere" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USD-Mesh sphere prim with the given attributes.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.meshes.</span></span><span class="sig-name descname"><span class="pre">MeshSphereCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/meshes/meshes_cfg.html#MeshSphereCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg" title="omni.isaac.lab.sim.spawners.meshes.meshes_cfg.MeshCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshCfg</span></code></a></p>
+<p>Configuration parameters for a sphere mesh prim with deformable properties.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_sphere" title="omni.isaac.lab.sim.spawners.meshes.spawn_mesh_sphere"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_mesh_sphere()</span></code></a> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.radius" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the sphere (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visible" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.mass_props" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.deformable_props" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.rigid_props" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.collision_props" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material_path" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material_path</span></code></a></p></td>
+<td><p>Path to the physics material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material" title="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the sphere (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><span class="pre">materials.VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material_path">
+<span class="sig-name descname"><span class="pre">physics_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the physics material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>physics_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg"><span class="pre">materials.PhysicsMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no physics material will be added.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.sim.spawners.lights">
+<span id="lights"></span><h2>Lights<a class="headerlink" href="#module-omni.isaac.lab.sim.spawners.lights" title="Permalink to this heading">#</a></h2>
+<p>Sub-module for spawners that spawn lights in the simulation.</p>
+<p>There are various different kinds of lights that can be spawned into the USD stage.
+Please check the Omniverse documentation for <a class="reference external" href="https://docs.omniverse.nvidia.com/materials-and-rendering/latest/lighting.html">lighting overview</a>.</p>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg" title="omni.isaac.lab.sim.spawners.lights.LightCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">LightCfg</span></code></a></p></td>
+<td><p>Configuration parameters for creating a light in the scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CylinderLightCfg</span></code></a></p></td>
+<td><p>Configuration parameters for creating a cylinder light in the scene.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DiskLightCfg</span></code></a></p></td>
+<td><p>Configuration parameters for creating a disk light in the scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DistantLightCfg</span></code></a></p></td>
+<td><p>Configuration parameters for creating a distant light in the scene.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DomeLightCfg</span></code></a></p></td>
+<td><p>Configuration parameters for creating a dome light in the scene.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SphereLightCfg</span></code></a></p></td>
+<td><p>Configuration parameters for creating a sphere light in the scene.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.spawn_light">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.lights.</span></span><span class="sig-name descname"><span class="pre">spawn_light</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg" title="omni.isaac.lab.sim.spawners.lights.lights_cfg.LightCfg"><span class="pre">lights_cfg.LightCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/lights/lights.html#spawn_light"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.spawn_light" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a light prim at the specified prim path with the specified configuration.</p>
+<p>The created prim is based on the <a class="reference external" href="https://openusd.org/dev/api/class_usd_lux_light_a_p_i.html">USD.LuxLight</a> API.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the light source.</p></li>
+<li><p><strong>translation</strong> – The translation of the prim. Defaults to None, in which case this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation of the prim as (w, x, y, z). Defaults to None, in which case this
+is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When a prim already exists at the specified prim path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.lights.</span></span><span class="sig-name descname"><span class="pre">LightCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html#LightCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for creating a light in the scene.</p>
+<p>Please refer to the documentation on <a class="reference external" href="https://openusd.org/dev/api/class_usd_lux_light_a_p_i.html">USD LuxLight</a>
+for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values for the attributes are those specified in the their official documentation.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type" title="omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_type</span></code></a></p></td>
+<td><p>The prim type name for the light prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.color" title="omni.isaac.lab.sim.spawners.lights.LightCfg.color"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color</span></code></a></p></td>
+<td><p>The color of emitted light, in energy-linear terms.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a></p></td>
+<td><p>Enables color temperature.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature" title="omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color_temperature</span></code></a></p></td>
+<td><p>Color temperature (in Kelvin) representing the white point.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.normalize" title="omni.isaac.lab.sim.spawners.lights.LightCfg.normalize"><code class="xref py py-obj docutils literal notranslate"><span class="pre">normalize</span></code></a></p></td>
+<td><p>Normalizes power by the surface area of the light.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.exposure" title="omni.isaac.lab.sim.spawners.lights.LightCfg.exposure"><code class="xref py py-obj docutils literal notranslate"><span class="pre">exposure</span></code></a></p></td>
+<td><p>Scales the power of the light exponentially as a power of 2.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.intensity" title="omni.isaac.lab.sim.spawners.lights.LightCfg.intensity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">intensity</span></code></a></p></td>
+<td><p>Scales the power of the light linearly.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.visible" title="omni.isaac.lab.sim.spawners.lights.LightCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type">
+<span class="sig-name descname"><span class="pre">prim_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The prim type name for the light prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg.color">
+<span class="sig-name descname"><span class="pre">color</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.color" title="Permalink to this definition">#</a></dt>
+<dd><p>The color of emitted light, in energy-linear terms. Defaults to white.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature">
+<span class="sig-name descname"><span class="pre">enable_color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables color temperature. Defaults to false.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature">
+<span class="sig-name descname"><span class="pre">color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.</p>
+<p>The <a class="reference external" href="https://en.wikipedia.org/wiki/Color_temperature">color temperature</a> corresponds to the warmth
+or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher
+color temperature.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It only takes effect when <a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature"><code class="xref py py-attr docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a> is true.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg.normalize">
+<span class="sig-name descname"><span class="pre">normalize</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.normalize" title="Permalink to this definition">#</a></dt>
+<dd><p>Normalizes power by the surface area of the light. Defaults to false.</p>
+<p>This makes it easier to independently adjust the power and shape of the light, by causing the power
+to not vary with the area or angular size of the light.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg.exposure">
+<span class="sig-name descname"><span class="pre">exposure</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.exposure" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light exponentially as a power of 2. Defaults to 0.0.</p>
+<p>The result is multiplied against the intensity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg.intensity">
+<span class="sig-name descname"><span class="pre">intensity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.intensity" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light linearly. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.lights.</span></span><span class="sig-name descname"><span class="pre">CylinderLightCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html#CylinderLightCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for creating a cylinder light in the scene.</p>
+<p>A cylinder light is a light source that emits light from a cylinder. It is useful for simulating
+fluorescent lights. For more information, please refer to the documentation on
+<a class="reference external" href="https://openusd.org/dev/api/class_usd_lux_cylinder_light.html">USDLux CylinderLight</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values for the attributes are those specified in the their official documentation.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color</span></code></a></p></td>
+<td><p>The color of emitted light, in energy-linear terms.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a></p></td>
+<td><p>Enables color temperature.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color_temperature</span></code></a></p></td>
+<td><p>Color temperature (in Kelvin) representing the white point.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize"><code class="xref py py-obj docutils literal notranslate"><span class="pre">normalize</span></code></a></p></td>
+<td><p>Normalizes power by the surface area of the light.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure"><code class="xref py py-obj docutils literal notranslate"><span class="pre">exposure</span></code></a></p></td>
+<td><p>Scales the power of the light exponentially as a power of 2.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.intensity" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.intensity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">intensity</span></code></a></p></td>
+<td><p>Scales the power of the light linearly.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.prim_type" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.prim_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_type</span></code></a></p></td>
+<td><p>The prim type name for the light prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.length" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">length</span></code></a></p></td>
+<td><p>Length of the cylinder (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.radius" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the cylinder (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.treat_as_line" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.treat_as_line"><code class="xref py py-obj docutils literal notranslate"><span class="pre">treat_as_line</span></code></a></p></td>
+<td><p>Treats the cylinder as a line source, i.e. a zero-radius cylinder.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color">
+<span class="sig-name descname"><span class="pre">color</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color" title="Permalink to this definition">#</a></dt>
+<dd><p>The color of emitted light, in energy-linear terms. Defaults to white.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature">
+<span class="sig-name descname"><span class="pre">enable_color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables color temperature. Defaults to false.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature">
+<span class="sig-name descname"><span class="pre">color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.</p>
+<p>The <a class="reference external" href="https://en.wikipedia.org/wiki/Color_temperature">color temperature</a> corresponds to the warmth
+or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher
+color temperature.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It only takes effect when <a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature"><code class="xref py py-attr docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a> is true.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize">
+<span class="sig-name descname"><span class="pre">normalize</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize" title="Permalink to this definition">#</a></dt>
+<dd><p>Normalizes power by the surface area of the light. Defaults to false.</p>
+<p>This makes it easier to independently adjust the power and shape of the light, by causing the power
+to not vary with the area or angular size of the light.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure">
+<span class="sig-name descname"><span class="pre">exposure</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light exponentially as a power of 2. Defaults to 0.0.</p>
+<p>The result is multiplied against the intensity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.intensity">
+<span class="sig-name descname"><span class="pre">intensity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.intensity" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light linearly. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.prim_type">
+<span class="sig-name descname"><span class="pre">prim_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.prim_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The prim type name for the light prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.length">
+<span class="sig-name descname"><span class="pre">length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.length" title="Permalink to this definition">#</a></dt>
+<dd><p>Length of the cylinder (in m). Defaults to 1.0m.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the cylinder (in m). Defaults to 0.5m.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.treat_as_line">
+<span class="sig-name descname"><span class="pre">treat_as_line</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.treat_as_line" title="Permalink to this definition">#</a></dt>
+<dd><p>Treats the cylinder as a line source, i.e. a zero-radius cylinder. Defaults to false.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.lights.</span></span><span class="sig-name descname"><span class="pre">DiskLightCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html#DiskLightCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for creating a disk light in the scene.</p>
+<p>A disk light is a light source that emits light from a disk. It is useful for simulating
+fluorescent lights. For more information, please refer to the documentation on
+<a class="reference external" href="https://openusd.org/dev/api/class_usd_lux_disk_light.html">USDLux DiskLight</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values for the attributes are those specified in the their official documentation.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_type</span></code></a></p></td>
+<td><p>The prim type name for the light prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.radius" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the disk (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.visible" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color</span></code></a></p></td>
+<td><p>The color of emitted light, in energy-linear terms.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a></p></td>
+<td><p>Enables color temperature.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color_temperature</span></code></a></p></td>
+<td><p>Color temperature (in Kelvin) representing the white point.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize"><code class="xref py py-obj docutils literal notranslate"><span class="pre">normalize</span></code></a></p></td>
+<td><p>Normalizes power by the surface area of the light.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure"><code class="xref py py-obj docutils literal notranslate"><span class="pre">exposure</span></code></a></p></td>
+<td><p>Scales the power of the light exponentially as a power of 2.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.intensity" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.intensity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">intensity</span></code></a></p></td>
+<td><p>Scales the power of the light linearly.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type">
+<span class="sig-name descname"><span class="pre">prim_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The prim type name for the light prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the disk (in m). Defaults to 0.5m.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color">
+<span class="sig-name descname"><span class="pre">color</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color" title="Permalink to this definition">#</a></dt>
+<dd><p>The color of emitted light, in energy-linear terms. Defaults to white.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature">
+<span class="sig-name descname"><span class="pre">enable_color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables color temperature. Defaults to false.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature">
+<span class="sig-name descname"><span class="pre">color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.</p>
+<p>The <a class="reference external" href="https://en.wikipedia.org/wiki/Color_temperature">color temperature</a> corresponds to the warmth
+or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher
+color temperature.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It only takes effect when <a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature"><code class="xref py py-attr docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a> is true.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize">
+<span class="sig-name descname"><span class="pre">normalize</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize" title="Permalink to this definition">#</a></dt>
+<dd><p>Normalizes power by the surface area of the light. Defaults to false.</p>
+<p>This makes it easier to independently adjust the power and shape of the light, by causing the power
+to not vary with the area or angular size of the light.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure">
+<span class="sig-name descname"><span class="pre">exposure</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light exponentially as a power of 2. Defaults to 0.0.</p>
+<p>The result is multiplied against the intensity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DiskLightCfg.intensity">
+<span class="sig-name descname"><span class="pre">intensity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.intensity" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light linearly. Defaults to 1.0.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.lights.</span></span><span class="sig-name descname"><span class="pre">DistantLightCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html#DistantLightCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for creating a distant light in the scene.</p>
+<p>A distant light is a light source that is infinitely far away, and emits parallel rays of light.
+It is useful for simulating sun/moon light. For more information, please refer to the documentation on
+<a class="reference external" href="https://openusd.org/dev/api/class_usd_lux_distant_light.html">USDLux DistantLight</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values for the attributes are those specified in the their official documentation.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_type</span></code></a></p></td>
+<td><p>The prim type name for the light prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle"><code class="xref py py-obj docutils literal notranslate"><span class="pre">angle</span></code></a></p></td>
+<td><p>Angular size of the light (in degrees).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.visible" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color</span></code></a></p></td>
+<td><p>The color of emitted light, in energy-linear terms.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a></p></td>
+<td><p>Enables color temperature.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color_temperature</span></code></a></p></td>
+<td><p>Color temperature (in Kelvin) representing the white point.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize"><code class="xref py py-obj docutils literal notranslate"><span class="pre">normalize</span></code></a></p></td>
+<td><p>Normalizes power by the surface area of the light.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure"><code class="xref py py-obj docutils literal notranslate"><span class="pre">exposure</span></code></a></p></td>
+<td><p>Scales the power of the light exponentially as a power of 2.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.intensity" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.intensity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">intensity</span></code></a></p></td>
+<td><p>Scales the power of the light linearly.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type">
+<span class="sig-name descname"><span class="pre">prim_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The prim type name for the light prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle">
+<span class="sig-name descname"><span class="pre">angle</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle" title="Permalink to this definition">#</a></dt>
+<dd><p>Angular size of the light (in degrees). Defaults to 0.53 degrees.</p>
+<p>As an example, the Sun is approximately 0.53 degrees as seen from Earth.
+Higher values broaden the light and therefore soften shadow edges.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color">
+<span class="sig-name descname"><span class="pre">color</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color" title="Permalink to this definition">#</a></dt>
+<dd><p>The color of emitted light, in energy-linear terms. Defaults to white.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature">
+<span class="sig-name descname"><span class="pre">enable_color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables color temperature. Defaults to false.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature">
+<span class="sig-name descname"><span class="pre">color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.</p>
+<p>The <a class="reference external" href="https://en.wikipedia.org/wiki/Color_temperature">color temperature</a> corresponds to the warmth
+or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher
+color temperature.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It only takes effect when <a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature"><code class="xref py py-attr docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a> is true.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize">
+<span class="sig-name descname"><span class="pre">normalize</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize" title="Permalink to this definition">#</a></dt>
+<dd><p>Normalizes power by the surface area of the light. Defaults to false.</p>
+<p>This makes it easier to independently adjust the power and shape of the light, by causing the power
+to not vary with the area or angular size of the light.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure">
+<span class="sig-name descname"><span class="pre">exposure</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light exponentially as a power of 2. Defaults to 0.0.</p>
+<p>The result is multiplied against the intensity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DistantLightCfg.intensity">
+<span class="sig-name descname"><span class="pre">intensity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.intensity" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light linearly. Defaults to 1.0.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.lights.</span></span><span class="sig-name descname"><span class="pre">DomeLightCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html#DomeLightCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for creating a dome light in the scene.</p>
+<p>A dome light is a light source that emits light inwards from all directions. It is also possible to
+attach a texture to the dome light, which will be used to emit light. For more information, please refer
+to the documentation on <a class="reference external" href="https://openusd.org/dev/api/class_usd_lux_dome_light.html">USDLux DomeLight</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values for the attributes are those specified in the their official documentation.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_type</span></code></a></p></td>
+<td><p>The prim type name for the light prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file"><code class="xref py py-obj docutils literal notranslate"><span class="pre">texture_file</span></code></a></p></td>
+<td><p>A color texture to use on the dome, such as an HDR (high dynamic range) texture intended for IBL (image based lighting).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color</span></code></a></p></td>
+<td><p>The color of emitted light, in energy-linear terms.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a></p></td>
+<td><p>Enables color temperature.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color_temperature</span></code></a></p></td>
+<td><p>Color temperature (in Kelvin) representing the white point.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize"><code class="xref py py-obj docutils literal notranslate"><span class="pre">normalize</span></code></a></p></td>
+<td><p>Normalizes power by the surface area of the light.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure"><code class="xref py py-obj docutils literal notranslate"><span class="pre">exposure</span></code></a></p></td>
+<td><p>Scales the power of the light exponentially as a power of 2.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.intensity" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.intensity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">intensity</span></code></a></p></td>
+<td><p>Scales the power of the light linearly.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format"><code class="xref py py-obj docutils literal notranslate"><span class="pre">texture_format</span></code></a></p></td>
+<td><p>The parametrization format of the color map file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible_in_primary_ray</span></code></a></p></td>
+<td><p>Whether the dome light is visible in the primary ray.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type">
+<span class="sig-name descname"><span class="pre">prim_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The prim type name for the light prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file">
+<span class="sig-name descname"><span class="pre">texture_file</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file" title="Permalink to this definition">#</a></dt>
+<dd><p>A color texture to use on the dome, such as an HDR (high dynamic range) texture intended
+for IBL (image based lighting). Defaults to None.</p>
+<p>If None, the dome will emit a uniform color.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color">
+<span class="sig-name descname"><span class="pre">color</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color" title="Permalink to this definition">#</a></dt>
+<dd><p>The color of emitted light, in energy-linear terms. Defaults to white.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature">
+<span class="sig-name descname"><span class="pre">enable_color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables color temperature. Defaults to false.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature">
+<span class="sig-name descname"><span class="pre">color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.</p>
+<p>The <a class="reference external" href="https://en.wikipedia.org/wiki/Color_temperature">color temperature</a> corresponds to the warmth
+or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher
+color temperature.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It only takes effect when <a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature"><code class="xref py py-attr docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a> is true.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize">
+<span class="sig-name descname"><span class="pre">normalize</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize" title="Permalink to this definition">#</a></dt>
+<dd><p>Normalizes power by the surface area of the light. Defaults to false.</p>
+<p>This makes it easier to independently adjust the power and shape of the light, by causing the power
+to not vary with the area or angular size of the light.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure">
+<span class="sig-name descname"><span class="pre">exposure</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light exponentially as a power of 2. Defaults to 0.0.</p>
+<p>The result is multiplied against the intensity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.intensity">
+<span class="sig-name descname"><span class="pre">intensity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.intensity" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light linearly. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format">
+<span class="sig-name descname"><span class="pre">texture_format</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'automatic'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'latlong'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'mirroredBall'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'angular'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'cubeMapVerticalCross'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format" title="Permalink to this definition">#</a></dt>
+<dd><p>The parametrization format of the color map file. Defaults to “automatic”.</p>
+<p>Valid values are:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;automatic&quot;</span></code>: Tries to determine the layout from the file itself. For example, Renderman texture files embed an explicit parameterization.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;latlong&quot;</span></code>: Latitude as X, longitude as Y.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;mirroredBall&quot;</span></code>: An image of the environment reflected in a sphere, using an implicitly orthogonal projection.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;angular&quot;</span></code>: Similar to mirroredBall but the radial dimension is mapped linearly to the angle, providing better sampling at the edges.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;cubeMapVerticalCross&quot;</span></code>: A cube map with faces laid out as a vertical cross.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray">
+<span class="sig-name descname"><span class="pre">visible_in_primary_ray</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the dome light is visible in the primary ray. Defaults to True.</p>
+<p>If true, the texture in the sky is visible, otherwise the sky is black.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.lights.</span></span><span class="sig-name descname"><span class="pre">SphereLightCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/lights/lights_cfg.html#SphereLightCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for creating a sphere light in the scene.</p>
+<p>A sphere light is a light source that emits light outward from a sphere. For more information,
+please refer to the documentation on
+<a class="reference external" href="https://openusd.org/dev/api/class_usd_lux_sphere_light.html">USDLux SphereLight</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values for the attributes are those specified in the their official documentation.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color</span></code></a></p></td>
+<td><p>The color of emitted light, in energy-linear terms.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a></p></td>
+<td><p>Enables color temperature.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color_temperature</span></code></a></p></td>
+<td><p>Color temperature (in Kelvin) representing the white point.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize"><code class="xref py py-obj docutils literal notranslate"><span class="pre">normalize</span></code></a></p></td>
+<td><p>Normalizes power by the surface area of the light.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure"><code class="xref py py-obj docutils literal notranslate"><span class="pre">exposure</span></code></a></p></td>
+<td><p>Scales the power of the light exponentially as a power of 2.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.intensity" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.intensity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">intensity</span></code></a></p></td>
+<td><p>Scales the power of the light linearly.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.prim_type" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.prim_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_type</span></code></a></p></td>
+<td><p>The prim type name for the light prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.radius" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>Radius of the sphere.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.treat_as_point" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.treat_as_point"><code class="xref py py-obj docutils literal notranslate"><span class="pre">treat_as_point</span></code></a></p></td>
+<td><p>Treats the sphere as a point source, i.e. a zero-radius sphere.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color">
+<span class="sig-name descname"><span class="pre">color</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color" title="Permalink to this definition">#</a></dt>
+<dd><p>The color of emitted light, in energy-linear terms. Defaults to white.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature">
+<span class="sig-name descname"><span class="pre">enable_color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Enables color temperature. Defaults to false.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature">
+<span class="sig-name descname"><span class="pre">color_temperature</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature" title="Permalink to this definition">#</a></dt>
+<dd><p>Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.</p>
+<p>The <a class="reference external" href="https://en.wikipedia.org/wiki/Color_temperature">color temperature</a> corresponds to the warmth
+or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher
+color temperature.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It only takes effect when <a class="reference internal" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature" title="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature"><code class="xref py py-attr docutils literal notranslate"><span class="pre">enable_color_temperature</span></code></a> is true.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize">
+<span class="sig-name descname"><span class="pre">normalize</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize" title="Permalink to this definition">#</a></dt>
+<dd><p>Normalizes power by the surface area of the light. Defaults to false.</p>
+<p>This makes it easier to independently adjust the power and shape of the light, by causing the power
+to not vary with the area or angular size of the light.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure">
+<span class="sig-name descname"><span class="pre">exposure</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light exponentially as a power of 2. Defaults to 0.0.</p>
+<p>The result is multiplied against the intensity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.intensity">
+<span class="sig-name descname"><span class="pre">intensity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.intensity" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales the power of the light linearly. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.prim_type">
+<span class="sig-name descname"><span class="pre">prim_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.prim_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The prim type name for the light prim.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>Radius of the sphere. Defaults to 0.5m.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.lights.SphereLightCfg.treat_as_point">
+<span class="sig-name descname"><span class="pre">treat_as_point</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.treat_as_point" title="Permalink to this definition">#</a></dt>
+<dd><p>Treats the sphere as a point source, i.e. a zero-radius sphere. Defaults to false.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.sim.spawners.sensors">
+<span id="sensors"></span><h2>Sensors<a class="headerlink" href="#module-omni.isaac.lab.sim.spawners.sensors" title="Permalink to this heading">#</a></h2>
+<p>Sub-module for spawners that spawn sensors in the simulation.</p>
+<p>Currently, the following sensors are supported:</p>
+<ul class="simple">
+<li><p>Camera: A USD camera prim with settings for pinhole or fisheye projections.</p></li>
+</ul>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">PinholeCameraCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a USD camera prim with pinhole camera settings.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">FisheyeCameraCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a USD camera prim with <a class="reference external" href="https://en.wikipedia.org/wiki/Fisheye_lens">fish-eye camera</a> settings.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.spawn_camera">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.sensors.</span></span><span class="sig-name descname"><span class="pre">spawn_camera</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg"><span class="pre">sensors_cfg.PinholeCameraCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg"><span class="pre">sensors_cfg.FisheyeCameraCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/sensors/sensors.html#spawn_camera"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.spawn_camera" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USD camera prim with given projection type.</p>
+<p>The function creates various attributes on the camera prim that specify the camera’s properties.
+These are later used by <code class="docutils literal notranslate"><span class="pre">omni.replicator.core</span></code> to render the scene with the given camera.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+this is set to the origin.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case this is set to identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.sensors.</span></span><span class="sig-name descname"><span class="pre">PinholeCameraCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html#PinholeCameraCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for a USD camera prim with pinhole camera settings.</p>
+<p>For more information on the parameters, please refer to the <a class="reference external" href="https://docs.omniverse.nvidia.com/materials-and-rendering/latest/cameras.html">camera documentation</a>.</p>
+<dl class="simple">
+<dt>..note ::</dt><dd><p>Focal length as well as the aperture sizes and offsets are set as a tenth of the world unit. In our case, the
+world unit is Meter s.t. all of these values are set in cm.</p>
+</dd>
+</dl>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values are taken from the <a class="reference external" href="https://docs.omniverse.nvidia.com/py/replicator/1.9.8/source/extensions/omni.replicator.core/docs/API.html#omni.replicator.core.create.camera">Replicator camera</a>
+function.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">projection_type</span></code></a></p></td>
+<td><p>Type of projection to use for the camera.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clipping_range</span></code></a></p></td>
+<td><p>Near and far clipping distances (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">focal_length</span></code></a></p></td>
+<td><p>Perspective focal length (in cm).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">focus_distance</span></code></a></p></td>
+<td><p>Distance from the camera to the focus plane (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop"><code class="xref py py-obj docutils literal notranslate"><span class="pre">f_stop</span></code></a></p></td>
+<td><p>Lens aperture.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_aperture</span></code></a></p></td>
+<td><p>Horizontal aperture (in cm).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_aperture</span></code></a></p></td>
+<td><p>Vertical aperture (in mm).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture_offset" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_aperture_offset</span></code></a></p></td>
+<td><p>Offsets Resolution/Film gate horizontally.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture_offset" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_aperture_offset</span></code></a></p></td>
+<td><p>Offsets Resolution/Film gate vertically.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lock_camera</span></code></a></p></td>
+<td><p>Locks the camera in the Omniverse viewport.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.visible" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.from_intrinsic_matrix" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.from_intrinsic_matrix"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_intrinsic_matrix</span></code></a>(intrinsic_matrix, ...)</p></td>
+<td><p>Create a <a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">PinholeCameraCfg</span></code></a> class instance from an intrinsic matrix.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type">
+<span class="sig-name descname"><span class="pre">projection_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type" title="Permalink to this definition">#</a></dt>
+<dd><p>Type of projection to use for the camera. Defaults to “pinhole”.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently only “pinhole” is supported.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range">
+<span class="sig-name descname"><span class="pre">clipping_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Near and far clipping distances (in m). Defaults to (0.01, 1e6).</p>
+<p>The minimum clipping range will shift the camera forward by the specified distance. Don’t set it too high to
+avoid issues for distance related data types (e.g., <code class="docutils literal notranslate"><span class="pre">distance_to_image_plane</span></code>).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length">
+<span class="sig-name descname"><span class="pre">focal_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Perspective focal length (in cm). Defaults to 24.0cm.</p>
+<p>Longer lens lengths narrower FOV, shorter lens lengths wider FOV.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance">
+<span class="sig-name descname"><span class="pre">focus_distance</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance" title="Permalink to this definition">#</a></dt>
+<dd><p>Distance from the camera to the focus plane (in m). Defaults to 400.0.</p>
+<p>The distance at which perfect sharpness is achieved.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop">
+<span class="sig-name descname"><span class="pre">f_stop</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop" title="Permalink to this definition">#</a></dt>
+<dd><p>Lens aperture. Defaults to 0.0, which turns off focusing.</p>
+<p>Controls Distance Blurring. Lower Numbers decrease focus range, larger numbers increase it.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture">
+<span class="sig-name descname"><span class="pre">horizontal_aperture</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture" title="Permalink to this definition">#</a></dt>
+<dd><p>Horizontal aperture (in cm). Defaults to 20.955 cm.</p>
+<p>Emulates sensor/film width on a camera.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default value is the horizontal aperture of a 35 mm spherical projector.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture">
+<span class="sig-name descname"><span class="pre">vertical_aperture</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture" title="Permalink to this definition">#</a></dt>
+<dd><p>Vertical aperture (in mm). Defaults to None.</p>
+<p>Emulates sensor/film height on a camera. If None, then the vertical aperture is calculated based on the
+horizontal aperture and the aspect ratio of the image to maintain squared pixels. This is calculated as:</p>
+<div class="math notranslate nohighlight">
+\[\text{vertical aperture} = \text{horizontal aperture} \times \frac{\text{height}}{\text{width}}\]</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture_offset">
+<span class="sig-name descname"><span class="pre">horizontal_aperture_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offsets Resolution/Film gate horizontally. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture_offset">
+<span class="sig-name descname"><span class="pre">vertical_aperture_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offsets Resolution/Film gate vertically. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera">
+<span class="sig-name descname"><span class="pre">lock_camera</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera" title="Permalink to this definition">#</a></dt>
+<dd><p>Locks the camera in the Omniverse viewport. Defaults to True.</p>
+<p>If True, then the camera remains fixed at its configured transform. This is useful when wanting to view
+the camera output on the GUI and not accidentally moving the camera through the GUI interactions.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.from_intrinsic_matrix">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">from_intrinsic_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">intrinsic_matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">width</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">height</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">clipping_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(0.01,</span> <span class="pre">1000000.0)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">focal_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">24.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">focus_distance</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">400.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">f_stop</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">projection_type</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'pinhole'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lock_camera</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg"><span class="pre">PinholeCameraCfg</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html#PinholeCameraCfg.from_intrinsic_matrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.from_intrinsic_matrix" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a <a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">PinholeCameraCfg</span></code></a> class instance from an intrinsic matrix.</p>
+<p>The intrinsic matrix is a 3x3 matrix that defines the mapping between the 3D world coordinates and
+the 2D image. The matrix is defined as:</p>
+<div class="math notranslate nohighlight">
+\[\begin{split}I_{cam} = \begin{bmatrix}
+f_x &amp; 0 &amp; c_x \\
+0 &amp; f_y &amp; c_y \\
+0 &amp; 0 &amp; 1
+\\end{bmatrix},\end{split}\]</div>
+<p>where <span class="math notranslate nohighlight">\(f_x\)</span> and <span class="math notranslate nohighlight">\(f_y\)</span> are the focal length along x and y direction, while <span class="math notranslate nohighlight">\(c_x\)</span> and <span class="math notranslate nohighlight">\(c_y\)</span> are the
+principle point offsets along x and y direction respectively.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>intrinsic_matrix</strong> – Intrinsic matrix of the camera in row-major format.
+The matrix is defined as [f_x, 0, c_x, 0, f_y, c_y, 0, 0, 1]. Shape is (9,).</p></li>
+<li><p><strong>width</strong> – Width of the image (in pixels).</p></li>
+<li><p><strong>height</strong> – Height of the image (in pixels).</p></li>
+<li><p><strong>clipping_range</strong> – Near and far clipping distances (in m). Defaults to (0.01, 1e6).</p></li>
+<li><p><strong>focal_length</strong> – Perspective focal length (in cm). Defaults to 24.0 cm.</p></li>
+<li><p><strong>focus_distance</strong> – Distance from the camera to the focus plane (in m). Defaults to 400.0 m.</p></li>
+<li><p><strong>f_stop</strong> – Lens aperture. Defaults to 0.0, which turns off focusing.</p></li>
+<li><p><strong>projection_type</strong> – Type of projection to use for the camera. Defaults to “pinhole”.</p></li>
+<li><p><strong>lock_camera</strong> – Locks the camera in the Omniverse viewport. Defaults to True.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>An instance of the <a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">PinholeCameraCfg</span></code></a> class.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.sensors.</span></span><span class="sig-name descname"><span class="pre">FisheyeCameraCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.html#FisheyeCameraCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for a USD camera prim with <a class="reference external" href="https://en.wikipedia.org/wiki/Fisheye_lens">fish-eye camera</a> settings.</p>
+<p>For more information on the parameters, please refer to the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/materials-and-rendering/latest/cameras.html#fisheye-properties">camera documentation</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values are taken from the <a class="reference external" href="https://docs.omniverse.nvidia.com/py/replicator/1.9.8/source/extensions/omni.replicator.core/docs/API.html#omni.replicator.core.create.camera">Replicator camera</a>
+function.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">projection_type</span></code></a></p></td>
+<td><p>Type of projection to use for the camera.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.visible" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clipping_range</span></code></a></p></td>
+<td><p>Near and far clipping distances (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">focal_length</span></code></a></p></td>
+<td><p>Perspective focal length (in cm).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance"><code class="xref py py-obj docutils literal notranslate"><span class="pre">focus_distance</span></code></a></p></td>
+<td><p>Distance from the camera to the focus plane (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop"><code class="xref py py-obj docutils literal notranslate"><span class="pre">f_stop</span></code></a></p></td>
+<td><p>Lens aperture.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_aperture</span></code></a></p></td>
+<td><p>Horizontal aperture (in cm).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_aperture</span></code></a></p></td>
+<td><p>Vertical aperture (in mm).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture_offset" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_aperture_offset</span></code></a></p></td>
+<td><p>Offsets Resolution/Film gate horizontally.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture_offset" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture_offset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_aperture_offset</span></code></a></p></td>
+<td><p>Offsets Resolution/Film gate vertically.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lock_camera</span></code></a></p></td>
+<td><p>Locks the camera in the Omniverse viewport.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_width" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_nominal_width</span></code></a></p></td>
+<td><p>Nominal width of fisheye lens model (in pixels).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_height" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_nominal_height</span></code></a></p></td>
+<td><p>Nominal height of fisheye lens model (in pixels).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_x" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_x"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_optical_centre_x</span></code></a></p></td>
+<td><p>Horizontal optical centre position of fisheye lens model (in pixels).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_y" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_y"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_optical_centre_y</span></code></a></p></td>
+<td><p>Vertical optical centre position of fisheye lens model (in pixels).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_max_fov" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_max_fov"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_max_fov</span></code></a></p></td>
+<td><p>Maximum field of view of fisheye lens model (in degrees).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_a" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_a"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_polynomial_a</span></code></a></p></td>
+<td><p>First component of fisheye polynomial.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_b" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_b"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_polynomial_b</span></code></a></p></td>
+<td><p>Second component of fisheye polynomial.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_c" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_c"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_polynomial_c</span></code></a></p></td>
+<td><p>Third component of fisheye polynomial.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_d" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_d"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_polynomial_d</span></code></a></p></td>
+<td><p>Fourth component of fisheye polynomial.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_e" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_e"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_polynomial_e</span></code></a></p></td>
+<td><p>Fifth component of fisheye polynomial.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_f" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_f"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fisheye_polynomial_f</span></code></a></p></td>
+<td><p>Sixth component of fisheye polynomial.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type">
+<span class="sig-name descname"><span class="pre">projection_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'fisheyePolynomial'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'fisheyeSpherical'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'fisheyeKannalaBrandtK3'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'fisheyeRadTanThinPrism'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'omniDirectionalStereo'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type" title="Permalink to this definition">#</a></dt>
+<dd><p>Type of projection to use for the camera. Defaults to “fisheyePolynomial”.</p>
+<p>Available options:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;fisheyePolynomial&quot;</span></code>: Fisheye camera model with <span class="math notranslate nohighlight">\(360^{\circ}\)</span> spherical projection.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;fisheyeSpherical&quot;</span></code>: Fisheye camera model with <span class="math notranslate nohighlight">\(360^{\circ}\)</span> full-frame projection.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;fisheyeKannalaBrandtK3&quot;</span></code>: Fisheye camera model using the Kannala-Brandt K3 distortion model.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;fisheyeRadTanThinPrism&quot;</span></code>: Fisheye camera model that combines radial and tangential distortions.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;omniDirectionalStereo&quot;</span></code>: Fisheye camera model supporting <span class="math notranslate nohighlight">\(360^{\circ}\)</span> stereoscopic imaging.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range">
+<span class="sig-name descname"><span class="pre">clipping_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range" title="Permalink to this definition">#</a></dt>
+<dd><p>Near and far clipping distances (in m). Defaults to (0.01, 1e6).</p>
+<p>The minimum clipping range will shift the camera forward by the specified distance. Don’t set it too high to
+avoid issues for distance related data types (e.g., <code class="docutils literal notranslate"><span class="pre">distance_to_image_plane</span></code>).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length">
+<span class="sig-name descname"><span class="pre">focal_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length" title="Permalink to this definition">#</a></dt>
+<dd><p>Perspective focal length (in cm). Defaults to 24.0cm.</p>
+<p>Longer lens lengths narrower FOV, shorter lens lengths wider FOV.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance">
+<span class="sig-name descname"><span class="pre">focus_distance</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance" title="Permalink to this definition">#</a></dt>
+<dd><p>Distance from the camera to the focus plane (in m). Defaults to 400.0.</p>
+<p>The distance at which perfect sharpness is achieved.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop">
+<span class="sig-name descname"><span class="pre">f_stop</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop" title="Permalink to this definition">#</a></dt>
+<dd><p>Lens aperture. Defaults to 0.0, which turns off focusing.</p>
+<p>Controls Distance Blurring. Lower Numbers decrease focus range, larger numbers increase it.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture">
+<span class="sig-name descname"><span class="pre">horizontal_aperture</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture" title="Permalink to this definition">#</a></dt>
+<dd><p>Horizontal aperture (in cm). Defaults to 20.955 cm.</p>
+<p>Emulates sensor/film width on a camera.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default value is the horizontal aperture of a 35 mm spherical projector.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture">
+<span class="sig-name descname"><span class="pre">vertical_aperture</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture" title="Permalink to this definition">#</a></dt>
+<dd><p>Vertical aperture (in mm). Defaults to None.</p>
+<p>Emulates sensor/film height on a camera. If None, then the vertical aperture is calculated based on the
+horizontal aperture and the aspect ratio of the image to maintain squared pixels. This is calculated as:</p>
+<div class="math notranslate nohighlight">
+\[\text{vertical aperture} = \text{horizontal aperture} \times \frac{\text{height}}{\text{width}}\]</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture_offset">
+<span class="sig-name descname"><span class="pre">horizontal_aperture_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offsets Resolution/Film gate horizontally. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture_offset">
+<span class="sig-name descname"><span class="pre">vertical_aperture_offset</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture_offset" title="Permalink to this definition">#</a></dt>
+<dd><p>Offsets Resolution/Film gate vertically. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera">
+<span class="sig-name descname"><span class="pre">lock_camera</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera" title="Permalink to this definition">#</a></dt>
+<dd><p>Locks the camera in the Omniverse viewport. Defaults to True.</p>
+<p>If True, then the camera remains fixed at its configured transform. This is useful when wanting to view
+the camera output on the GUI and not accidentally moving the camera through the GUI interactions.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_width">
+<span class="sig-name descname"><span class="pre">fisheye_nominal_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_width" title="Permalink to this definition">#</a></dt>
+<dd><p>Nominal width of fisheye lens model (in pixels). Defaults to 1936.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_height">
+<span class="sig-name descname"><span class="pre">fisheye_nominal_height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_height" title="Permalink to this definition">#</a></dt>
+<dd><p>Nominal height of fisheye lens model (in pixels). Defaults to 1216.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_x">
+<span class="sig-name descname"><span class="pre">fisheye_optical_centre_x</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_x" title="Permalink to this definition">#</a></dt>
+<dd><p>Horizontal optical centre position of fisheye lens model (in pixels). Defaults to 970.94244.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_y">
+<span class="sig-name descname"><span class="pre">fisheye_optical_centre_y</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_y" title="Permalink to this definition">#</a></dt>
+<dd><p>Vertical optical centre position of fisheye lens model (in pixels). Defaults to 600.37482.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_max_fov">
+<span class="sig-name descname"><span class="pre">fisheye_max_fov</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_max_fov" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum field of view of fisheye lens model (in degrees). Defaults to 200.0 degrees.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_a">
+<span class="sig-name descname"><span class="pre">fisheye_polynomial_a</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_a" title="Permalink to this definition">#</a></dt>
+<dd><p>First component of fisheye polynomial. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_b">
+<span class="sig-name descname"><span class="pre">fisheye_polynomial_b</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_b" title="Permalink to this definition">#</a></dt>
+<dd><p>Second component of fisheye polynomial. Defaults to 0.00245.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_c">
+<span class="sig-name descname"><span class="pre">fisheye_polynomial_c</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_c" title="Permalink to this definition">#</a></dt>
+<dd><p>Third component of fisheye polynomial. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_d">
+<span class="sig-name descname"><span class="pre">fisheye_polynomial_d</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_d" title="Permalink to this definition">#</a></dt>
+<dd><p>Fourth component of fisheye polynomial. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_e">
+<span class="sig-name descname"><span class="pre">fisheye_polynomial_e</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_e" title="Permalink to this definition">#</a></dt>
+<dd><p>Fifth component of fisheye polynomial. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_f">
+<span class="sig-name descname"><span class="pre">fisheye_polynomial_f</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_f" title="Permalink to this definition">#</a></dt>
+<dd><p>Sixth component of fisheye polynomial. Defaults to 0.0.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.sim.spawners.from_files">
+<span id="from-files"></span><h2>From Files<a class="headerlink" href="#module-omni.isaac.lab.sim.spawners.from_files" title="Permalink to this heading">#</a></h2>
+<p>Sub-module for spawners that spawn assets from files.</p>
+<p>Currently, the following spawners are supported:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UsdFileCfg</span></code></a>: Spawn an asset from a USD file.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UrdfFileCfg</span></code></a>: Spawn an asset from a URDF file.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg" title="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">GroundPlaneCfg</span></code></a>: Spawn a ground plane using the grid-world USD file.</p></li>
+</ul>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UrdfFileCfg</span></code></a></p></td>
+<td><p>URDF file to spawn asset from.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UsdFileCfg</span></code></a></p></td>
+<td><p>USD file to spawn asset from.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg" title="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">GroundPlaneCfg</span></code></a></p></td>
+<td><p>Create a ground plane prim.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.spawn_from_urdf">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.from_files.</span></span><span class="sig-name descname"><span class="pre">spawn_from_urdf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg" title="omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UrdfFileCfg"><span class="pre">from_files_cfg.UrdfFileCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html#spawn_from_urdf"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.spawn_from_urdf" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawn an asset from a URDF file and override the settings with the given config.</p>
+<p>It uses the <code class="xref py py-class docutils literal notranslate"><span class="pre">UrdfConverter</span></code> class to create a USD file from URDF. This file is then imported
+at the specified prim path.</p>
+<p>In case a prim already exists at the given prim path, then the function does not create a new prim
+or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides
+the settings with the given config.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which
+case the translation specified in the generated USD file is used.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case the orientation specified in the generated USD file is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The prim of the spawned asset.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#FileNotFoundError" title="(in Python v3.13)"><strong>FileNotFoundError</strong></a> – If the URDF file does not exist at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.from_files.</span></span><span class="sig-name descname"><span class="pre">UrdfFileCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html#UrdfFileCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>URDF file to spawn asset from.</p>
+<p>It uses the <code class="xref py py-class docutils literal notranslate"><span class="pre">UrdfConverter</span></code> class to create a USD file from URDF and spawns the imported
+USD file. Similar to the <a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UsdFileCfg</span></code></a>, the generated USD file can be modified by specifying
+the respective properties in the configuration class.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.spawn_from_urdf" title="omni.isaac.lab.sim.spawners.from_files.spawn_from_urdf"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_from_urdf()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The configuration parameters include various properties. If not <cite>None</cite>, these properties
+are modified on the spawned prim in a nested manner.</p>
+<p>If they are set to a value, then the properties are modified on the spawned prim in a nested manner.
+This is done by calling the respective function with the specified properties.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.asset_path" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.asset_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">asset_path</span></code></a></p></td>
+<td><p>The absolute path to the asset file to convert into USD.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_dir</span></code></a></p></td>
+<td><p>The output directory path to store the generated USD file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_file_name</span></code></a></p></td>
+<td><p>The name of the generated usd file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">force_usd_conversion</span></code></a></p></td>
+<td><p>Force the conversion of the asset file to usd.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable"><code class="xref py py-obj docutils literal notranslate"><span class="pre">make_instanceable</span></code></a></p></td>
+<td><p>Make the generated USD file instanceable.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">import_inertia_tensor</span></code></a></p></td>
+<td><p>Import the inertia tensor from urdf.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fix_base" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fix_base"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fix_base</span></code></a></p></td>
+<td><p>Create a fix joint to the root/base link.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.merge_fixed_joints" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.merge_fixed_joints"><code class="xref py py-obj docutils literal notranslate"><span class="pre">merge_fixed_joints</span></code></a></p></td>
+<td><p>Consolidate links that are connected by fixed joints.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.self_collision" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.self_collision"><code class="xref py py-obj docutils literal notranslate"><span class="pre">self_collision</span></code></a></p></td>
+<td><p>Activate self-collisions between links of the articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_drive_type</span></code></a></p></td>
+<td><p>The drive type used for joints.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.override_joint_dynamics" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.override_joint_dynamics"><code class="xref py py-obj docutils literal notranslate"><span class="pre">override_joint_dynamics</span></code></a></p></td>
+<td><p>Override the joint dynamics parsed from the URDF file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_stiffness" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_drive_stiffness</span></code></a></p></td>
+<td><p>The default stiffness of the joint drive.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_drive_damping</span></code></a></p></td>
+<td><p>The default damping of the joint drive.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density"><code class="xref py py-obj docutils literal notranslate"><span class="pre">link_density</span></code></a></p></td>
+<td><p>Default density used for links.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.convex_decompose_mesh" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.convex_decompose_mesh"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convex_decompose_mesh</span></code></a></p></td>
+<td><p>Decompose a convex mesh into smaller pieces for a closer fit.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visible" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.mass_props" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.deformable_props" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.collision_props" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.scale" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale of the asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.articulation_props" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.articulation_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">articulation_props</span></code></a></p></td>
+<td><p>Properties to apply to the articulation root.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fixed_tendons_props" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fixed_tendons_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendons_props</span></code></a></p></td>
+<td><p>Properties to apply to the fixed tendons (if any).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.joint_drive_props" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.joint_drive_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_drive_props</span></code></a></p></td>
+<td><p>Properties to apply to a joint.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties to override the visual material properties in the URDF file.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.asset_path">
+<span class="sig-name descname"><span class="pre">asset_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.asset_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path to the asset file to convert into USD.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir">
+<span class="sig-name descname"><span class="pre">usd_dir</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir" title="Permalink to this definition">#</a></dt>
+<dd><p>The output directory path to store the generated USD file. Defaults to None.</p>
+<p>If None, it is resolved as <code class="docutils literal notranslate"><span class="pre">/tmp/IsaacLab/usd_{date}_{time}_{random}</span></code>, where
+the parameters in braces are runtime generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name">
+<span class="sig-name descname"><span class="pre">usd_file_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The name of the generated usd file. Defaults to None.</p>
+<p>If None, it is resolved from the asset file name. For example, if the asset file
+name is <code class="docutils literal notranslate"><span class="pre">&quot;my_asset.urdf&quot;</span></code>, then the generated USD file name is <code class="docutils literal notranslate"><span class="pre">&quot;my_asset.usd&quot;</span></code>.</p>
+<p>If the providing file name does not end with “.usd” or “.usda”, then the extension
+“.usd” is appended to the file name.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion">
+<span class="sig-name descname"><span class="pre">force_usd_conversion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion" title="Permalink to this definition">#</a></dt>
+<dd><p>Force the conversion of the asset file to usd. Defaults to False.</p>
+<p>If True, then the USD file is always generated. It will overwrite the existing USD file if it exists.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable">
+<span class="sig-name descname"><span class="pre">make_instanceable</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable" title="Permalink to this definition">#</a></dt>
+<dd><p>Make the generated USD file instanceable. Defaults to True.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Instancing helps reduce the memory footprint of the asset when multiple copies of the asset are
+used in the scene. For more information, please check the USD documentation on
+<a class="reference external" href="https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html">scene-graph instancing</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor">
+<span class="sig-name descname"><span class="pre">import_inertia_tensor</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor" title="Permalink to this definition">#</a></dt>
+<dd><p>Import the inertia tensor from urdf. Defaults to True.</p>
+<p>If the <code class="docutils literal notranslate"><span class="pre">&quot;inertial&quot;</span></code> tag is missing, then it is imported as an identity.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fix_base">
+<span class="sig-name descname"><span class="pre">fix_base</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fix_base" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a fix joint to the root/base link.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.merge_fixed_joints">
+<span class="sig-name descname"><span class="pre">merge_fixed_joints</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.merge_fixed_joints" title="Permalink to this definition">#</a></dt>
+<dd><p>Consolidate links that are connected by fixed joints. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.self_collision">
+<span class="sig-name descname"><span class="pre">self_collision</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.self_collision" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate self-collisions between links of the articulation. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type">
+<span class="sig-name descname"><span class="pre">default_drive_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'none'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'position'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'velocity'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The drive type used for joints. Defaults to <code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>.</p>
+<p>The drive type dictates the loaded joint PD gains and USD attributes for joint control:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>: The joint stiffness and damping are set to 0.0.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;position&quot;</span></code>: The joint stiff and damping are set based on the URDF file or provided configuration.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;velocity&quot;</span></code>: The joint stiff is set to zero and damping is based on the URDF file or provided configuration.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.override_joint_dynamics">
+<span class="sig-name descname"><span class="pre">override_joint_dynamics</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.override_joint_dynamics" title="Permalink to this definition">#</a></dt>
+<dd><p>Override the joint dynamics parsed from the URDF file. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_stiffness">
+<span class="sig-name descname"><span class="pre">default_drive_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>The default stiffness of the joint drive. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping">
+<span class="sig-name descname"><span class="pre">default_drive_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The default damping of the joint drive. Defaults to 0.0.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="docutils literal notranslate"><span class="pre">override_joint_dynamics</span></code> is True, the values parsed from the URDF joint tag <code class="docutils literal notranslate"><span class="pre">&quot;&lt;dynamics&gt;&lt;damping&gt;&quot;</span></code> are used.
+Otherwise, it is overridden by the configured value.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density">
+<span class="sig-name descname"><span class="pre">link_density</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density" title="Permalink to this definition">#</a></dt>
+<dd><p>Default density used for links. Defaults to 0.</p>
+<p>This setting is only effective if <code class="docutils literal notranslate"><span class="pre">&quot;inertial&quot;</span></code> properties are missing in the URDF.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.convex_decompose_mesh">
+<span class="sig-name descname"><span class="pre">convex_decompose_mesh</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.convex_decompose_mesh" title="Permalink to this definition">#</a></dt>
+<dd><p>Decompose a convex mesh into smaller pieces for a closer fit. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale of the asset. Defaults to None, in which case the scale is not modified.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.articulation_props">
+<span class="sig-name descname"><span class="pre">articulation_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg"><span class="pre">schemas.ArticulationRootPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.articulation_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to the articulation root.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fixed_tendons_props">
+<span class="sig-name descname"><span class="pre">fixed_tendons_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">schemas.FixedTendonsPropertiesCfg</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fixed_tendons_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to the fixed tendons (if any).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.joint_drive_props">
+<span class="sig-name descname"><span class="pre">joint_drive_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg" title="omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg"><span class="pre">schemas.JointDrivePropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.joint_drive_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to a joint.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><span class="pre">materials.VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties to override the visual material properties in the URDF file.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.spawn_from_usd">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.from_files.</span></span><span class="sig-name descname"><span class="pre">spawn_from_usd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg" title="omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UsdFileCfg"><span class="pre">from_files_cfg.UsdFileCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html#spawn_from_usd"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.spawn_from_usd" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawn an asset from a USD file and override the settings with the given config.</p>
+<p>In the case of a USD file, the asset is spawned at the default prim specified in the USD file.
+If a default prim is not specified, then the asset is spawned at the root prim.</p>
+<p>In case a prim already exists at the given prim path, then the function does not create a new prim
+or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides
+the settings with the given config.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which
+case the translation specified in the USD file is used.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case the orientation specified in the USD file is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The prim of the spawned asset.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#FileNotFoundError" title="(in Python v3.13)"><strong>FileNotFoundError</strong></a> – If the USD file does not exist at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.from_files.</span></span><span class="sig-name descname"><span class="pre">UsdFileCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html#UsdFileCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>USD file to spawn asset from.</p>
+<p>USD files are imported directly into the scene. However, given their complexity, there are various different
+operations that can be performed on them. For example, selecting variants, applying materials, or modifying
+existing properties.</p>
+<p>To prevent the explosion of configuration parameters, the available operations are limited to the most common
+ones. These include:</p>
+<ul class="simple">
+<li><p><strong>Selecting variants</strong>: This is done by specifying the <a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants"><code class="xref py py-attr docutils literal notranslate"><span class="pre">variants</span></code></a> parameter.</p></li>
+<li><p><strong>Creating and applying materials</strong>: This is done by specifying the <a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material"><code class="xref py py-attr docutils literal notranslate"><span class="pre">visual_material</span></code></a> parameter.</p></li>
+<li><p><strong>Modifying existing properties</strong>: This is done by specifying the respective properties in the configuration
+class. For instance, to modify the scale of the imported prim, set the <a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale"><code class="xref py py-attr docutils literal notranslate"><span class="pre">scale</span></code></a> parameter.</p></li>
+</ul>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.spawn_from_usd" title="omni.isaac.lab.sim.spawners.from_files.spawn_from_usd"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_from_usd()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The configuration parameters include various properties. If not <cite>None</cite>, these properties
+are modified on the spawned prim in a nested manner.</p>
+<p>If they are set to a value, then the properties are modified on the spawned prim in a nested manner.
+This is done by calling the respective function with the specified properties.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_path</span></code></a></p></td>
+<td><p>Path to the USD file to spawn asset from.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants"><code class="xref py py-obj docutils literal notranslate"><span class="pre">variants</span></code></a></p></td>
+<td><p>Variants to select from in the input USD file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visible" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.mass_props" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.deformable_props" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.collision_props" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale of the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">articulation_props</span></code></a></p></td>
+<td><p>Properties to apply to the articulation root.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.fixed_tendons_props" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.fixed_tendons_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendons_props</span></code></a></p></td>
+<td><p>Properties to apply to the fixed tendons (if any).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.joint_drive_props" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.joint_drive_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_drive_props</span></code></a></p></td>
+<td><p>Properties to apply to a joint.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties to override the visual material properties in the URDF file.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path">
+<span class="sig-name descname"><span class="pre">usd_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the USD file to spawn asset from.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants">
+<span class="sig-name descname"><span class="pre">variants</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants" title="Permalink to this definition">#</a></dt>
+<dd><p>Variants to select from in the input USD file. Defaults to None, in which case no variants are applied.</p>
+<p>This can either be a configclass object, in which case each attribute is used as a variant set name and its specified value,
+or a dictionary mapping between the two. Please check the <a class="reference internal" href="omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.select_usd_variants" title="omni.isaac.lab.sim.utils.select_usd_variants"><code class="xref py py-meth docutils literal notranslate"><span class="pre">select_usd_variants()</span></code></a> function
+for more information.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale of the asset. Defaults to None, in which case the scale is not modified.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props">
+<span class="sig-name descname"><span class="pre">articulation_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg"><span class="pre">schemas.ArticulationRootPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to the articulation root.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.fixed_tendons_props">
+<span class="sig-name descname"><span class="pre">fixed_tendons_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">schemas.FixedTendonsPropertiesCfg</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.fixed_tendons_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to the fixed tendons (if any).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.joint_drive_props">
+<span class="sig-name descname"><span class="pre">joint_drive_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg" title="omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg"><span class="pre">schemas.JointDrivePropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.joint_drive_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to a joint.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><span class="pre">materials.VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties to override the visual material properties in the URDF file.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.from_files.</span></span><span class="sig-name descname"><span class="pre">spawn_ground_plane</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg" title="omni.isaac.lab.sim.spawners.from_files.from_files_cfg.GroundPlaneCfg"><span class="pre">from_files_cfg.GroundPlaneCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/from_files/from_files.html#spawn_ground_plane"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawns a ground plane into the scene.</p>
+<p>This function loads the USD file containing the grid plane asset from Isaac Sim. It may
+not work with other assets for ground planes. In those cases, please use the <cite>spawn_from_usd</cite>
+function.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function takes keyword arguments to be compatible with other spawners. However, it does not
+use any of the kwargs.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The path to spawn the asset at.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+<li><p><strong>translation</strong> – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which
+case the translation specified in the USD file is used.</p></li>
+<li><p><strong>orientation</strong> – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+in which case the orientation specified in the USD file is used.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The prim of the spawned asset.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the prim path already exists.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.from_files.</span></span><span class="sig-name descname"><span class="pre">GroundPlaneCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.html#GroundPlaneCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a ground plane prim.</p>
+<p>This uses the USD for the standard grid-world ground plane from Isaac Sim by default.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible" title="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.usd_path" title="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.usd_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_path</span></code></a></p></td>
+<td><p>Path to the USD file to spawn asset from.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color" title="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color</span></code></a></p></td>
+<td><p>The color of the ground plane.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.size" title="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The size of the ground plane.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.physics_material" title="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>Physics material properties.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.usd_path">
+<span class="sig-name descname"><span class="pre">usd_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.usd_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the USD file to spawn asset from. Defaults to the grid-world ground plane.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color">
+<span class="sig-name descname"><span class="pre">color</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color" title="Permalink to this definition">#</a></dt>
+<dd><p>The color of the ground plane. Defaults to (0.0, 0.0, 0.0).</p>
+<p>If None, then the color remains unchanged.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The size of the ground plane. Defaults to 100 m x 100 m.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg"><span class="pre">RigidBodyMaterialCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material properties. Defaults to the default rigid body material.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.sim.spawners.materials">
+<span id="materials"></span><h2>Materials<a class="headerlink" href="#module-omni.isaac.lab.sim.spawners.materials" title="Permalink to this heading">#</a></h2>
+<p>Sub-module for spawners that spawn USD-based and PhysX-based materials.</p>
+<p><a class="reference external" href="https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html">Materials</a> are used to define the appearance and physical properties of objects in the simulation.
+In Omniverse, they are defined using NVIDIA’s <a class="reference external" href="https://raytracing-docs.nvidia.com/mdl/introduction/index.html#mdl_introduction#">Material Definition Language (MDL)</a>. MDL is based on
+the physically-based rendering (PBR) model, which is a set of equations that describe how light
+interacts with a surface. The PBR model is used to create realistic-looking materials.</p>
+<p>While MDL is primarily used for defining the appearance of objects, it can be extended to define
+the physical properties of objects. For example, the friction and restitution coefficients of a
+rubber material. A <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/simulation-control/physics-settings.html#physics-materials">physics material</a> can be assigned to a physics object to
+define its physical properties.  There are different kinds of physics materials, such as rigid body
+material, deformable material, and fluid material.</p>
+<p>In order to apply a material to an object, we “bind” the geometry of the object to the material.
+For this, we use the <a class="reference external" href="https://openusd.org/dev/api/class_usd_shade_material_binding_a_p_i.html">USD Material Binding API</a>. The material binding API takes in the path to
+the geometry and the path to the material, and binds them together.</p>
+<p>For physics material, the material is bound to the physics object with the ‘physics’ purpose.
+When parsing physics material properties on an object, the following priority is used:</p>
+<ol class="arabic simple">
+<li><p>Material binding with a ‘physics’ purpose (physics material)</p></li>
+<li><p>Material binding with no purpose (visual material)</p></li>
+<li><p>Material binding with a ‘physics’ purpose on the <a class="reference external" href="https://openusd.org/dev/api/usd_physics_page_front.html">Physics Scene</a> prim.</p></li>
+<li><p>Default values of material properties inside PhysX.</p></li>
+</ol>
+<dl>
+<dt>Usage:</dt><dd><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+
+<span class="c1"># create a visual material</span>
+<span class="n">visual_material_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">GlassMdlCfg</span><span class="p">(</span><span class="n">glass_ior</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span> <span class="n">thin_walled</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+<span class="n">visual_material_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Looks/glassMaterial&quot;</span><span class="p">,</span> <span class="n">visual_material_cfg</span><span class="p">)</span>
+
+<span class="c1"># create a mesh prim</span>
+<span class="n">cube_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CubeCfg</span><span class="p">(</span><span class="n">size</span><span class="o">=</span><span class="p">[</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">])</span>
+<span class="n">cube_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Primitives/Cube&quot;</span><span class="p">,</span> <span class="n">cube_cfg</span><span class="p">)</span>
+
+<span class="c1"># bind the cube to the visual material</span>
+<span class="n">sim_utils</span><span class="o">.</span><span class="n">bind_visual_material</span><span class="p">(</span><span class="s2">&quot;/World/Primitives/Cube&quot;</span><span class="p">,</span> <span class="s2">&quot;/World/Looks/glassMaterial&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+</dd>
+</dl>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">VisualMaterialCfg</span></code></a></p></td>
+<td><p>Configuration parameters for creating a visual material.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg" title="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">PreviewSurfaceCfg</span></code></a></p></td>
+<td><p>Configuration parameters for creating a preview surface.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg" title="omni.isaac.lab.sim.spawners.materials.MdlFileCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MdlFileCfg</span></code></a></p></td>
+<td><p>Configuration parameters for loading an MDL material from a file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg" title="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">GlassMdlCfg</span></code></a></p></td>
+<td><p>Configuration parameters for loading a glass MDL material.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">PhysicsMaterialCfg</span></code></a></p></td>
+<td><p>Configuration parameters for creating a physics material.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg</span></code></a></p></td>
+<td><p>Physics material parameters for rigid bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg</span></code></a></p></td>
+<td><p>Physics material parameters for deformable bodies.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="visual-materials">
+<h3>Visual Materials<a class="headerlink" href="#visual-materials" title="Permalink to this heading">#</a></h3>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">VisualMaterialCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html#VisualMaterialCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for creating a visual material.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.spawn_preview_surface">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">spawn_preview_surface</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg" title="omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.PreviewSurfaceCfg"><span class="pre">visual_materials_cfg.PreviewSurfaceCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html#spawn_preview_surface"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.spawn_preview_surface" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a preview surface prim and override the settings with the given config.</p>
+<p>A preview surface is a physically-based surface that handles simple shaders while supporting
+both <em>specular</em> and <em>metallic</em> workflows. All color inputs are in linear color space (RGB).
+For more information, see the <a class="reference external" href="https://openusd.org/release/spec_usdpreviewsurface.html">documentation</a>.</p>
+<p>The function calls the USD command <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd.commands/omni.usd.commands.CreatePreviewSurfaceMaterialPrimCommand.html">CreatePreviewSurfaceMaterialPrim</a> to create the prim.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">PreviewSurfaceCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html#PreviewSurfaceCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for creating a preview surface.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.spawn_preview_surface" title="omni.isaac.lab.sim.spawners.materials.spawn_preview_surface"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_preview_surface()</span></code></a> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color" title="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color"><code class="xref py py-obj docutils literal notranslate"><span class="pre">diffuse_color</span></code></a></p></td>
+<td><p>The RGB diffusion color.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.emissive_color" title="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.emissive_color"><code class="xref py py-obj docutils literal notranslate"><span class="pre">emissive_color</span></code></a></p></td>
+<td><p>The RGB emission component of the surface.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.roughness" title="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.roughness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">roughness</span></code></a></p></td>
+<td><p>The roughness for specular lobe.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.metallic" title="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.metallic"><code class="xref py py-obj docutils literal notranslate"><span class="pre">metallic</span></code></a></p></td>
+<td><p>The metallic component.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity" title="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity"><code class="xref py py-obj docutils literal notranslate"><span class="pre">opacity</span></code></a></p></td>
+<td><p>The opacity of the surface.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color">
+<span class="sig-name descname"><span class="pre">diffuse_color</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color" title="Permalink to this definition">#</a></dt>
+<dd><p>The RGB diffusion color. This is the base color of the surface. Defaults to a dark gray.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.emissive_color">
+<span class="sig-name descname"><span class="pre">emissive_color</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.emissive_color" title="Permalink to this definition">#</a></dt>
+<dd><p>The RGB emission component of the surface. Defaults to black.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.roughness">
+<span class="sig-name descname"><span class="pre">roughness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.roughness" title="Permalink to this definition">#</a></dt>
+<dd><p>The roughness for specular lobe. Ranges from 0 (smooth) to 1 (rough). Defaults to 0.5.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.metallic">
+<span class="sig-name descname"><span class="pre">metallic</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.metallic" title="Permalink to this definition">#</a></dt>
+<dd><p>The metallic component. Ranges from 0 (dielectric) to 1 (metal). Defaults to 0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity">
+<span class="sig-name descname"><span class="pre">opacity</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity" title="Permalink to this definition">#</a></dt>
+<dd><p>The opacity of the surface. Ranges from 0 (transparent) to 1 (opaque). Defaults to 1.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Opacity only affects the surface’s appearance during interactive rendering.</p>
+</div>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.spawn_from_mdl_file">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">spawn_from_mdl_file</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">visual_materials_cfg.MdlMaterialCfg</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/visual_materials.html#spawn_from_mdl_file"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.spawn_from_mdl_file" title="Permalink to this definition">#</a></dt>
+<dd><p>Load a material from its MDL file and override the settings with the given config.</p>
+<p>NVIDIA’s <a class="reference external" href="https://www.nvidia.com/en-us/design-visualization/technologies/material-definition-language/">Material Definition Language (MDL)</a>
+is a language for defining physically-based materials. The MDL file format is a binary format
+that can be loaded by Omniverse and other applications such as Adobe Substance Designer.
+To learn more about MDL, see the <a class="reference external" href="https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html">documentation</a>.</p>
+<p>The function calls the USD command <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd.commands/omni.usd.commands.CreateMdlMaterialPrimCommand.html">CreateMdlMaterialPrim</a> to create the prim.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration instance.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a prim already exists at the given path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.MdlFileCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">MdlFileCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html#MdlFileCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for loading an MDL material from a file.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.spawn_from_mdl_file" title="omni.isaac.lab.sim.spawners.materials.spawn_from_mdl_file"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_from_mdl_file()</span></code></a> for more information.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path" title="omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mdl_path</span></code></a></p></td>
+<td><p>The path to the MDL material.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw" title="omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw"><code class="xref py py-obj docutils literal notranslate"><span class="pre">project_uvw</span></code></a></p></td>
+<td><p>Whether to project the UVW coordinates of the material.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness" title="omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">albedo_brightness</span></code></a></p></td>
+<td><p>Multiplier for the diffuse color of the material.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale" title="omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">texture_scale</span></code></a></p></td>
+<td><p>The scale of the texture.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path">
+<span class="sig-name descname"><span class="pre">mdl_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The path to the MDL material.</p>
+<p>NVIDIA Omniverse provides various MDL materials in the NVIDIA Nucleus.
+To use these materials, you can set the path of the material in the nucleus directory
+using the <code class="docutils literal notranslate"><span class="pre">{NVIDIA_NUCLEUS_DIR}</span></code> variable. This is internally resolved to the path of the
+NVIDIA Nucleus directory on the host machine through the attribute
+<a class="reference internal" href="omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR" title="omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR</span></code></a>.</p>
+<p>For example, to use the “Aluminum_Anodized” material, you can set the path to:
+<code class="docutils literal notranslate"><span class="pre">{NVIDIA_NUCLEUS_DIR}/Materials/Base/Metals/Aluminum_Anodized.mdl</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw">
+<span class="sig-name descname"><span class="pre">project_uvw</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to project the UVW coordinates of the material. Defaults to None.</p>
+<p>If None, then the default setting in the MDL material will be used.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness">
+<span class="sig-name descname"><span class="pre">albedo_brightness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness" title="Permalink to this definition">#</a></dt>
+<dd><p>Multiplier for the diffuse color of the material. Defaults to None.</p>
+<p>If None, then the default setting in the MDL material will be used.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale">
+<span class="sig-name descname"><span class="pre">texture_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The scale of the texture. Defaults to None.</p>
+<p>If None, then the default setting in the MDL material will be used.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">GlassMdlCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.html#GlassMdlCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for loading a glass MDL material.</p>
+<p>This is a convenience class for loading a glass MDL material. For more information on
+glass materials, see the <a class="reference external" href="https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html#omniglass">documentation</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values are taken from the glass material in the NVIDIA Nucleus.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path" title="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mdl_path</span></code></a></p></td>
+<td><p>The path to the MDL material.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_color" title="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_color"><code class="xref py py-obj docutils literal notranslate"><span class="pre">glass_color</span></code></a></p></td>
+<td><p>The RGB color or tint of the glass.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.frosting_roughness" title="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.frosting_roughness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">frosting_roughness</span></code></a></p></td>
+<td><p>The amount of reflectivity of the surface.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.thin_walled" title="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.thin_walled"><code class="xref py py-obj docutils literal notranslate"><span class="pre">thin_walled</span></code></a></p></td>
+<td><p>Whether to perform thin-walled refraction.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_ior" title="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_ior"><code class="xref py py-obj docutils literal notranslate"><span class="pre">glass_ior</span></code></a></p></td>
+<td><p>The incidence of refraction to control how much light is bent when passing through the glass.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path">
+<span class="sig-name descname"><span class="pre">mdl_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The path to the MDL material. Defaults to the glass material in the NVIDIA Nucleus.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_color">
+<span class="sig-name descname"><span class="pre">glass_color</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_color" title="Permalink to this definition">#</a></dt>
+<dd><p>The RGB color or tint of the glass. Defaults to white.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.frosting_roughness">
+<span class="sig-name descname"><span class="pre">frosting_roughness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.frosting_roughness" title="Permalink to this definition">#</a></dt>
+<dd><p>The amount of reflectivity of the surface. Ranges from 0 (perfectly clear) to 1 (frosted).
+Defaults to 0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.thin_walled">
+<span class="sig-name descname"><span class="pre">thin_walled</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.thin_walled" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to perform thin-walled refraction. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_ior">
+<span class="sig-name descname"><span class="pre">glass_ior</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_ior" title="Permalink to this definition">#</a></dt>
+<dd><p>The incidence of refraction to control how much light is bent when passing through the glass.
+Defaults to 1.491, which is the IOR of glass.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="physical-materials">
+<h3>Physical Materials<a class="headerlink" href="#physical-materials" title="Permalink to this heading">#</a></h3>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">PhysicsMaterialCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html#PhysicsMaterialCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for creating a physics material.</p>
+<p>Physics material are PhysX schemas that can be applied to a USD material prim to define the
+physical properties related to the material. For example, the friction coefficient, restitution
+coefficient, etc. For more information on physics material, please refer to the
+<a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/classPxBaseMaterial.html">PhysX documentation</a>.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.spawn_rigid_body_material">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">spawn_rigid_body_material</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg"><span class="pre">physics_materials_cfg.RigidBodyMaterialCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html#spawn_rigid_body_material"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.spawn_rigid_body_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Create material with rigid-body physics properties.</p>
+<p>Rigid body materials are used to define the physical properties to meshes of a rigid body. These
+include the friction, restitution, and their respective combination modes. For more information on
+rigid body material, please refer to the <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/classPxBaseMaterial.html">documentation on PxMaterial</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the physics material.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The spawned rigid body material prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When a prim already exists at the specified prim path and is not a material.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">RigidBodyMaterialCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html#RigidBodyMaterialCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material parameters for rigid bodies.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.spawn_rigid_body_material" title="omni.isaac.lab.sim.spawners.materials.spawn_rigid_body_material"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_rigid_body_material()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values are the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#rigid-body-materials">default values used by PhysX 5</a>.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction" title="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">static_friction</span></code></a></p></td>
+<td><p>The static friction coefficient.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.dynamic_friction" title="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.dynamic_friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">dynamic_friction</span></code></a></p></td>
+<td><p>The dynamic friction coefficient.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution" title="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution"><code class="xref py py-obj docutils literal notranslate"><span class="pre">restitution</span></code></a></p></td>
+<td><p>The restitution coefficient.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.improve_patch_friction" title="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.improve_patch_friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">improve_patch_friction</span></code></a></p></td>
+<td><p>Whether to enable patch friction.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode" title="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">friction_combine_mode</span></code></a></p></td>
+<td><p>Determines the way friction will be combined during collisions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode" title="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">restitution_combine_mode</span></code></a></p></td>
+<td><p>Determines the way restitution coefficient will be combined during collisions.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness" title="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compliant_contact_stiffness</span></code></a></p></td>
+<td><p>Spring stiffness for a compliant contact model using implicit springs.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping" title="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compliant_contact_damping</span></code></a></p></td>
+<td><p>Damping coefficient for a compliant contact model using implicit springs.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction">
+<span class="sig-name descname"><span class="pre">static_friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The static friction coefficient. Defaults to 0.5.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.dynamic_friction">
+<span class="sig-name descname"><span class="pre">dynamic_friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.dynamic_friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The dynamic friction coefficient. Defaults to 0.5.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution">
+<span class="sig-name descname"><span class="pre">restitution</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution" title="Permalink to this definition">#</a></dt>
+<dd><p>The restitution coefficient. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.improve_patch_friction">
+<span class="sig-name descname"><span class="pre">improve_patch_friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.improve_patch_friction" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable patch friction. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode">
+<span class="sig-name descname"><span class="pre">friction_combine_mode</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'average'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'min'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'multiply'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'max'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode" title="Permalink to this definition">#</a></dt>
+<dd><p>Determines the way friction will be combined during collisions. Defaults to <cite>“average”</cite>.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>When two physics materials with different combine modes collide, the combine mode with the higher
+priority will be used. The priority order is provided <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/structPxCombineMode.html">here</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode">
+<span class="sig-name descname"><span class="pre">restitution_combine_mode</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'average'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'min'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'multiply'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'max'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode" title="Permalink to this definition">#</a></dt>
+<dd><p>Determines the way restitution coefficient will be combined during collisions. Defaults to <cite>“average”</cite>.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>When two physics materials with different combine modes collide, the combine mode with the higher
+priority will be used. The priority order is provided <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/structPxCombineMode.html">here</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness">
+<span class="sig-name descname"><span class="pre">compliant_contact_stiffness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness" title="Permalink to this definition">#</a></dt>
+<dd><p>Spring stiffness for a compliant contact model using implicit springs. Defaults to 0.0.</p>
+<p>A higher stiffness results in behavior closer to a rigid contact. The compliant contact model is only enabled
+if the stiffness is larger than 0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping">
+<span class="sig-name descname"><span class="pre">compliant_contact_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>Damping coefficient for a compliant contact model using implicit springs. Defaults to 0.0.</p>
+<p>Irrelevant if compliant contacts are disabled when <a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness" title="omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compliant_contact_stiffness</span></code></a> is set to zero and
+rigid contacts are active.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.spawn_deformable_body_material">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">spawn_deformable_body_material</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.DeformableBodyMaterialCfg"><span class="pre">physics_materials_cfg.DeformableBodyMaterialCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/physics_materials.html#spawn_deformable_body_material"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.spawn_deformable_body_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Create material with deformable-body physics properties.</p>
+<p>Deformable body materials are used to define the physical properties to meshes of a deformable body. These
+include the friction and deformable body properties. For more information on deformable body material,
+please refer to the documentation on <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/_api_build/structPxFEMSoftBodyMaterialModel.html">PxFEMSoftBodyMaterial</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function is decorated with <code class="xref py py-func docutils literal notranslate"><span class="pre">clone()</span></code> that resolves prim path into list of paths
+if the input prim path is a regex pattern. This is done to support spawning multiple assets
+from a single and cloning the USD prim at the given path expression.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+then the asset is spawned at all the matching prim paths.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the physics material.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The spawned deformable body material prim.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When a prim already exists at the specified prim path and is not a material.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.materials.</span></span><span class="sig-name descname"><span class="pre">DeformableBodyMaterialCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.html#DeformableBodyMaterialCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Physics material parameters for deformable bodies.</p>
+<p>See <a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.spawn_deformable_body_material" title="omni.isaac.lab.sim.spawners.materials.spawn_deformable_body_material"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_deformable_body_material()</span></code></a> for more information.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The default values are the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/deformable-bodies.html#deformable-body-material">default values used by PhysX 5</a>.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.density" title="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.density"><code class="xref py py-obj docutils literal notranslate"><span class="pre">density</span></code></a></p></td>
+<td><p>The material density.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.dynamic_friction" title="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.dynamic_friction"><code class="xref py py-obj docutils literal notranslate"><span class="pre">dynamic_friction</span></code></a></p></td>
+<td><p>The dynamic friction.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.youngs_modulus" title="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.youngs_modulus"><code class="xref py py-obj docutils literal notranslate"><span class="pre">youngs_modulus</span></code></a></p></td>
+<td><p>The Young's modulus, which defines the body's stiffness.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.poissons_ratio" title="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.poissons_ratio"><code class="xref py py-obj docutils literal notranslate"><span class="pre">poissons_ratio</span></code></a></p></td>
+<td><p>The Poisson's ratio which defines the body's volume preservation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.elasticity_damping" title="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.elasticity_damping"><code class="xref py py-obj docutils literal notranslate"><span class="pre">elasticity_damping</span></code></a></p></td>
+<td><p>The elasticity damping for the deformable material.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.damping_scale" title="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.damping_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">damping_scale</span></code></a></p></td>
+<td><p>The damping scale for the deformable material.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.density">
+<span class="sig-name descname"><span class="pre">density</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.density" title="Permalink to this definition">#</a></dt>
+<dd><p>The material density. Defaults to None, in which case the simulation decides the default density.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.dynamic_friction">
+<span class="sig-name descname"><span class="pre">dynamic_friction</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.dynamic_friction" title="Permalink to this definition">#</a></dt>
+<dd><p>The dynamic friction. Defaults to 0.25.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.youngs_modulus">
+<span class="sig-name descname"><span class="pre">youngs_modulus</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.youngs_modulus" title="Permalink to this definition">#</a></dt>
+<dd><p>The Young’s modulus, which defines the body’s stiffness. Defaults to 50000000.0.</p>
+<p>The Young’s modulus is a measure of the material’s ability to deform under stress. It is measured in Pascals (Pa).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.poissons_ratio">
+<span class="sig-name descname"><span class="pre">poissons_ratio</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.poissons_ratio" title="Permalink to this definition">#</a></dt>
+<dd><p>The Poisson’s ratio which defines the body’s volume preservation. Defaults to 0.45.</p>
+<p>The Poisson’s ratio is a measure of the material’s ability to expand in the lateral direction when compressed
+in the axial direction. It is a dimensionless number between 0 and 0.5. Using a value of 0.5 will make the
+material incompressible.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.elasticity_damping">
+<span class="sig-name descname"><span class="pre">elasticity_damping</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.elasticity_damping" title="Permalink to this definition">#</a></dt>
+<dd><p>The elasticity damping for the deformable material. Defaults to 0.005.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.damping_scale">
+<span class="sig-name descname"><span class="pre">damping_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.damping_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The damping scale for the deformable material. Defaults to 1.0.</p>
+<p>A scale of 1 corresponds to default damping. A value of 0 will only apply damping to certain motions leading
+to special effects that look similar to water filled soft bodies.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+<section id="module-omni.isaac.lab.sim.spawners.wrappers">
+<span id="wrappers"></span><h2>Wrappers<a class="headerlink" href="#module-omni.isaac.lab.sim.spawners.wrappers" title="Permalink to this heading">#</a></h2>
+<p>Sub-module for wrapping spawner configurations.</p>
+<p>Unlike the other spawner modules, this module provides a way to wrap multiple spawner configurations
+into a single configuration. This is useful when the user wants to spawn multiple assets based on
+different configurations.</p>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg</span></code></a></p></td>
+<td><p>Configuration parameters for loading multiple assets from their individual configurations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">MultiUsdFileCfg</span></code></a></p></td>
+<td><p>Configuration parameters for loading multiple USD files.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.spawn_multi_asset">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.wrappers.</span></span><span class="sig-name descname"><span class="pre">spawn_multi_asset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg" title="omni.isaac.lab.sim.spawners.wrappers.wrappers_cfg.MultiAssetSpawnerCfg"><span class="pre">wrappers_cfg.MultiAssetSpawnerCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers.html#spawn_multi_asset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_asset" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawn multiple assets based on the provided configurations.</p>
+<p>This function spawns multiple assets based on the provided configurations. The assets are spawned
+in the order they are provided in the list. If the <a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice"><code class="xref py py-attr docutils literal notranslate"><span class="pre">random_choice</span></code></a> parameter is
+set to True, a random asset configuration is selected for each spawn.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path to spawn the assets.</p></li>
+<li><p><strong>cfg</strong> – The configuration for spawning the assets.</p></li>
+<li><p><strong>translation</strong> – The translation of the spawned assets. Default is None.</p></li>
+<li><p><strong>orientation</strong> – The orientation of the spawned assets in (w, x, y, z) order. Default is None.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim at the first prim path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.wrappers.</span></span><span class="sig-name descname"><span class="pre">MultiAssetSpawnerCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html#MultiAssetSpawnerCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for loading multiple assets from their individual configurations.</p>
+<p>Specifying values for any properties at the configuration level will override the settings of
+individual assets’ configuration. For instance if the attribute
+<a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.mass_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.mass_props"><code class="xref py py-attr docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.mass_props</span></code></a> is specified, its value will overwrite the values of the
+mass properties in each configuration inside <a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.assets_cfg" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.assets_cfg"><code class="xref py py-attr docutils literal notranslate"><span class="pre">assets_cfg</span></code></a> (wherever applicable).
+This is done to simplify configuring similar properties globally. By default, all properties are set to None.</p>
+<p>The following is an exception to the above:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.visible" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.visible"><code class="xref py py-attr docutils literal notranslate"><span class="pre">visible</span></code></a>: This parameter is ignored. Its value for the individual assets is used.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.semantic_tags"><code class="xref py py-attr docutils literal notranslate"><span class="pre">semantic_tags</span></code></a>: If specified, it will be appended to each individual asset’s semantic tags.</p></li>
+</ul>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.assets_cfg" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.assets_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">assets_cfg</span></code></a></p></td>
+<td><p>List of asset configurations to spawn.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice"><code class="xref py py-obj docutils literal notranslate"><span class="pre">random_choice</span></code></a></p></td>
+<td><p>Whether to randomly select an asset configuration.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.visible" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.mass_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.deformable_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.rigid_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.collision_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.assets_cfg">
+<span class="sig-name descname"><span class="pre">assets_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.SpawnerCfg" title="omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg"><span class="pre">omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.assets_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>List of asset configurations to spawn.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice">
+<span class="sig-name descname"><span class="pre">random_choice</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to randomly select an asset configuration. Default is True.</p>
+<p>If False, the asset configurations are spawned in the order they are provided in the list.
+If True, a random asset configuration is selected for each spawn.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.spawn_multi_usd_file">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.wrappers.</span></span><span class="sig-name descname"><span class="pre">spawn_multi_usd_file</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg" title="omni.isaac.lab.sim.spawners.wrappers.wrappers_cfg.MultiUsdFileCfg"><span class="pre">wrappers_cfg.MultiUsdFileCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">translation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Usd.Prim</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers.html#spawn_multi_usd_file"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_usd_file" title="Permalink to this definition">#</a></dt>
+<dd><p>Spawn multiple USD files based on the provided configurations.</p>
+<p>This function creates configuration instances corresponding the individual USD files and
+calls the <a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_asset" title="omni.isaac.lab.sim.spawners.wrappers.spawn_multi_asset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn_multi_asset()</span></code></a> method to spawn them into the scene.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The prim path to spawn the assets.</p></li>
+<li><p><strong>cfg</strong> – The configuration for spawning the assets.</p></li>
+<li><p><strong>translation</strong> – The translation of the spawned assets. Default is None.</p></li>
+<li><p><strong>orientation</strong> – The orientation of the spawned assets in (w, x, y, z) order. Default is None.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The created prim at the first prim path.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.sim.spawners.wrappers.</span></span><span class="sig-name descname"><span class="pre">MultiUsdFileCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.html#MultiUsdFileCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration parameters for loading multiple USD files.</p>
+<p>Specifying values for any properties at the configuration level is applied to all the assets
+imported from their USD files.</p>
+<div class="admonition tip">
+<p class="admonition-title">Tip</p>
+<p>It is recommended that all the USD based assets follow a similar prim-hierarchy.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visible" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visible"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visible</span></code></a></p></td>
+<td><p>Whether the spawned asset should be visible.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.semantic_tags" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.semantic_tags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">semantic_tags</span></code></a></p></td>
+<td><p>List of semantic tags to add to the spawned asset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.copy_from_source" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.copy_from_source"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy_from_source</span></code></a></p></td>
+<td><p>Whether to copy the asset from the source prim or inherit it.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.mass_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.mass_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mass_props</span></code></a></p></td>
+<td><p>Mass properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.deformable_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.deformable_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">deformable_props</span></code></a></p></td>
+<td><p>Deformable body properties.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.rigid_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.rigid_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rigid_props</span></code></a></p></td>
+<td><p>Rigid body properties.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.collision_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.collision_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_props</span></code></a></p></td>
+<td><p>Properties to apply to all collision meshes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.activate_contact_sensors"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a></p></td>
+<td><p>Activate contact reporting on all rigid bodies.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.scale" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a></p></td>
+<td><p>Scale of the asset.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.articulation_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.articulation_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">articulation_props</span></code></a></p></td>
+<td><p>Properties to apply to the articulation root.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.fixed_tendons_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.fixed_tendons_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">fixed_tendons_props</span></code></a></p></td>
+<td><p>Properties to apply to the fixed tendons (if any).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.joint_drive_props" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.joint_drive_props"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_drive_props</span></code></a></p></td>
+<td><p>Properties to apply to a joint.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material_path" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material_path</span></code></a></p></td>
+<td><p>Path to the visual material to use for the prim.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>Visual material properties to override the visual material properties in the URDF file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.variants" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.variants"><code class="xref py py-obj docutils literal notranslate"><span class="pre">variants</span></code></a></p></td>
+<td><p>Variants to select from in the input USD file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.usd_path" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.usd_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_path</span></code></a></p></td>
+<td><p>Path or a list of paths to the USD files to spawn asset from.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.random_choice" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.random_choice"><code class="xref py py-obj docutils literal notranslate"><span class="pre">random_choice</span></code></a></p></td>
+<td><p>Whether to randomly select an asset configuration.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visible">
+<span class="sig-name descname"><span class="pre">visible</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visible" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the spawned asset should be visible. Defaults to True.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.semantic_tags">
+<span class="sig-name descname"><span class="pre">semantic_tags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.semantic_tags" title="Permalink to this definition">#</a></dt>
+<dd><p>List of semantic tags to add to the spawned asset. Defaults to None,
+which means no semantic tags will be added.</p>
+<p>The semantic tags follow the <cite>Replicator Semantic</cite> tagging system. Each tag is a tuple of the
+form <code class="docutils literal notranslate"><span class="pre">(type,</span> <span class="pre">data)</span></code>, where <code class="docutils literal notranslate"><span class="pre">type</span></code> is the type of the tag and <code class="docutils literal notranslate"><span class="pre">data</span></code> is the semantic label
+associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+tag would be <code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;)]</span></code>.</p>
+<p>You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+spawned asset in the class avocado and the color green, the semantic tags would be
+<code class="docutils literal notranslate"><span class="pre">[(&quot;class&quot;,</span> <span class="pre">&quot;avocado&quot;),</span> <span class="pre">(&quot;color&quot;,</span> <span class="pre">&quot;green&quot;)]</span></code>.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>For more information on the semantics filter, see the documentation for the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering">semantics schema editor</a>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.copy_from_source">
+<span class="sig-name descname"><span class="pre">copy_from_source</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.copy_from_source" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to copy the asset from the source prim or inherit it. Defaults to True.</p>
+<p>This parameter is only used when cloning prims. If False, then the asset will be inherited from
+the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.mass_props">
+<span class="sig-name descname"><span class="pre">mass_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.MassPropertiesCfg" title="omni.isaac.lab.sim.schemas.MassPropertiesCfg"><span class="pre">schemas.MassPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.mass_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Mass properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.deformable_props">
+<span class="sig-name descname"><span class="pre">deformable_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.DeformableBodyPropertiesCfg"><span class="pre">schemas.DeformableBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.deformable_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Deformable body properties.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.rigid_props">
+<span class="sig-name descname"><span class="pre">rigid_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><span class="pre">schemas.RigidBodyPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.rigid_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Rigid body properties.</p>
+<p>For making a rigid object static, set the <code class="xref py py-attr docutils literal notranslate"><span class="pre">schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code>
+as True. This will make the object static and will not be affected by gravity or other forces.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.collision_props">
+<span class="sig-name descname"><span class="pre">collision_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.CollisionPropertiesCfg" title="omni.isaac.lab.sim.schemas.CollisionPropertiesCfg"><span class="pre">schemas.CollisionPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.collision_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to all collision meshes.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.activate_contact_sensors">
+<span class="sig-name descname"><span class="pre">activate_contact_sensors</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.activate_contact_sensors" title="Permalink to this definition">#</a></dt>
+<dd><p>Activate contact reporting on all rigid bodies. Defaults to False.</p>
+<p>This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.scale">
+<span class="sig-name descname"><span class="pre">scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scale of the asset. Defaults to None, in which case the scale is not modified.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.articulation_props">
+<span class="sig-name descname"><span class="pre">articulation_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg"><span class="pre">schemas.ArticulationRootPropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.articulation_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to the articulation root.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.fixed_tendons_props">
+<span class="sig-name descname"><span class="pre">fixed_tendons_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">schemas.FixedTendonsPropertiesCfg</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.fixed_tendons_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to the fixed tendons (if any).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.joint_drive_props">
+<span class="sig-name descname"><span class="pre">joint_drive_props</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg" title="omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg"><span class="pre">schemas.JointDrivePropertiesCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.joint_drive_props" title="Permalink to this definition">#</a></dt>
+<dd><p>Properties to apply to a joint.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material_path">
+<span class="sig-name descname"><span class="pre">visual_material_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the visual material to use for the prim. Defaults to “material”.</p>
+<p>If the path is relative, then it will be relative to the prim’s path.
+This parameter is ignored if <cite>visual_material</cite> is not None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg" title="omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><span class="pre">materials.VisualMaterialCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>Visual material properties to override the visual material properties in the URDF file.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If None, then no visual material will be added.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.variants">
+<span class="sig-name descname"><span class="pre">variants</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.variants" title="Permalink to this definition">#</a></dt>
+<dd><p>Variants to select from in the input USD file. Defaults to None, in which case no variants are applied.</p>
+<p>This can either be a configclass object, in which case each attribute is used as a variant set name and its specified value,
+or a dictionary mapping between the two. Please check the <a class="reference internal" href="omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.select_usd_variants" title="omni.isaac.lab.sim.utils.select_usd_variants"><code class="xref py py-meth docutils literal notranslate"><span class="pre">select_usd_variants()</span></code></a> function
+for more information.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.usd_path">
+<span class="sig-name descname"><span class="pre">usd_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.usd_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Path or a list of paths to the USD files to spawn asset from.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.random_choice">
+<span class="sig-name descname"><span class="pre">random_choice</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.random_choice" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to randomly select an asset configuration. Default is True.</p>
+<p>If False, the asset configurations are spawned in the order they are provided in the list.
+If True, a random asset configuration is selected for each spawn.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#spawners">Spawners</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.SpawnerCfg"><code class="docutils literal notranslate"><span class="pre">SpawnerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.func"><code class="docutils literal notranslate"><span class="pre">SpawnerCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.visible"><code class="docutils literal notranslate"><span class="pre">SpawnerCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">SpawnerCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">SpawnerCfg.copy_from_source</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.visible"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">RigidObjectSpawnerCfg.activate_contact_sensors</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.func"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.func</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.visible"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">DeformableObjectSpawnerCfg.deformable_props</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.shapes">Shapes</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg"><code class="docutils literal notranslate"><span class="pre">ShapeCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visible"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">ShapeCfg.activate_contact_sensors</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.spawn_capsule"><code class="docutils literal notranslate"><span class="pre">spawn_capsule()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.radius"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.height"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.axis"><code class="docutils literal notranslate"><span class="pre">CapsuleCfg.axis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cone"><code class="docutils literal notranslate"><span class="pre">spawn_cone()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg"><code class="docutils literal notranslate"><span class="pre">ConeCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible"><code class="docutils literal notranslate"><span class="pre">ConeCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">ConeCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">ConeCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">ConeCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">ConeCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">ConeCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">ConeCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">ConeCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">ConeCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">ConeCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">ConeCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.radius"><code class="docutils literal notranslate"><span class="pre">ConeCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.height"><code class="docutils literal notranslate"><span class="pre">ConeCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.ConeCfg.axis"><code class="docutils literal notranslate"><span class="pre">ConeCfg.axis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cuboid"><code class="docutils literal notranslate"><span class="pre">spawn_cuboid()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg"><code class="docutils literal notranslate"><span class="pre">CuboidCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visible"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">CuboidCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.spawn_cylinder"><code class="docutils literal notranslate"><span class="pre">spawn_cylinder()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg"><code class="docutils literal notranslate"><span class="pre">CylinderCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.height"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.axis"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.axis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visible"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">CylinderCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.spawn_sphere"><code class="docutils literal notranslate"><span class="pre">spawn_sphere()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg"><code class="docutils literal notranslate"><span class="pre">SphereCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius"><code class="docutils literal notranslate"><span class="pre">SphereCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visible"><code class="docutils literal notranslate"><span class="pre">SphereCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">SphereCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">SphereCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">SphereCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">SphereCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">SphereCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">SphereCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">SphereCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">SphereCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">SphereCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">SphereCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.meshes">Meshes</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg"><code class="docutils literal notranslate"><span class="pre">MeshCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshCfg.activate_contact_sensors</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_capsule"><code class="docutils literal notranslate"><span class="pre">spawn_mesh_capsule()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg.axis"><code class="docutils literal notranslate"><span class="pre">MeshCapsuleCfg.axis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cone"><code class="docutils literal notranslate"><span class="pre">spawn_mesh_cone()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshConeCfg.axis"><code class="docutils literal notranslate"><span class="pre">MeshConeCfg.axis</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cuboid"><code class="docutils literal notranslate"><span class="pre">spawn_mesh_cuboid()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshCuboidCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cylinder"><code class="docutils literal notranslate"><span class="pre">spawn_mesh_cylinder()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.axis"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.axis</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshCylinderCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.spawn_mesh_sphere"><code class="docutils literal notranslate"><span class="pre">spawn_mesh_sphere()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visible"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material_path"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.physics_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">MeshSphereCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.lights">Lights</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.spawn_light"><code class="docutils literal notranslate"><span class="pre">spawn_light()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg"><code class="docutils literal notranslate"><span class="pre">LightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">LightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.color"><code class="docutils literal notranslate"><span class="pre">LightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">LightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">LightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">LightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">LightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">LightCfg.intensity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.visible"><code class="docutils literal notranslate"><span class="pre">LightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">LightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">LightCfg.copy_from_source</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.intensity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.length"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.radius"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.treat_as_line"><code class="docutils literal notranslate"><span class="pre">CylinderLightCfg.treat_as_line</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.radius"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.visible"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DiskLightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">DiskLightCfg.intensity</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.angle</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.visible"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DistantLightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">DistantLightCfg.intensity</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.texture_file</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.intensity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.texture_format</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray"><code class="docutils literal notranslate"><span class="pre">DomeLightCfg.visible_in_primary_ray</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.enable_color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.color_temperature</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.normalize</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.exposure</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.intensity"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.intensity</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.prim_type"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.prim_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.radius"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.radius</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.lights.SphereLightCfg.treat_as_point"><code class="docutils literal notranslate"><span class="pre">SphereLightCfg.treat_as_point</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.sensors">Sensors</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.spawn_camera"><code class="docutils literal notranslate"><span class="pre">spawn_camera()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.projection_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.clipping_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.focal_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.focus_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.f_stop</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.horizontal_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.vertical_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture_offset"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.horizontal_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture_offset"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.vertical_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.lock_camera</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.from_intrinsic_matrix"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.from_intrinsic_matrix()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.visible"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">PinholeCameraCfg.copy_from_source</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.projection_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.visible"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.clipping_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.focal_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.focus_distance</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.f_stop</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.horizontal_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.vertical_aperture</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture_offset"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.horizontal_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture_offset"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.vertical_aperture_offset</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.lock_camera</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_width"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_nominal_width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_height"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_nominal_height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_x"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_optical_centre_x</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_y"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_optical_centre_y</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_max_fov"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_max_fov</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_a"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_a</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_b"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_b</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_c"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_c</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_d"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_d</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_e"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_e</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_f"><code class="docutils literal notranslate"><span class="pre">FisheyeCameraCfg.fisheye_polynomial_f</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.from_files">From Files</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.spawn_from_urdf"><code class="docutils literal notranslate"><span class="pre">spawn_from_urdf()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.asset_path"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.asset_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.usd_dir</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.usd_file_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.force_usd_conversion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.make_instanceable</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.import_inertia_tensor</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fix_base"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.fix_base</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.merge_fixed_joints"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.merge_fixed_joints</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.self_collision"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.self_collision</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.default_drive_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.override_joint_dynamics"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.override_joint_dynamics</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_stiffness"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.default_drive_stiffness</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.default_drive_damping</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.link_density</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.convex_decompose_mesh"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.convex_decompose_mesh</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visible"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.scale"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.articulation_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.articulation_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fixed_tendons_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.fixed_tendons_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.joint_drive_props"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.joint_drive_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">UrdfFileCfg.visual_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.spawn_from_usd"><code class="docutils literal notranslate"><span class="pre">spawn_from_usd()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.usd_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.variants</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visible"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.articulation_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.fixed_tendons_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.fixed_tendons_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.joint_drive_props"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.joint_drive_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">UsdFileCfg.visual_material</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane"><code class="docutils literal notranslate"><span class="pre">spawn_ground_plane()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.usd_path"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.usd_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.color</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.size"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">GroundPlaneCfg.physics_material</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.materials">Materials</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#visual-materials">Visual Materials</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg"><code class="docutils literal notranslate"><span class="pre">VisualMaterialCfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.spawn_preview_surface"><code class="docutils literal notranslate"><span class="pre">spawn_preview_surface()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg.diffuse_color</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.emissive_color"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg.emissive_color</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.roughness"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg.roughness</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.metallic"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg.metallic</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity"><code class="docutils literal notranslate"><span class="pre">PreviewSurfaceCfg.opacity</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.spawn_from_mdl_file"><code class="docutils literal notranslate"><span class="pre">spawn_from_mdl_file()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg"><code class="docutils literal notranslate"><span class="pre">MdlFileCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path"><code class="docutils literal notranslate"><span class="pre">MdlFileCfg.mdl_path</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw"><code class="docutils literal notranslate"><span class="pre">MdlFileCfg.project_uvw</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness"><code class="docutils literal notranslate"><span class="pre">MdlFileCfg.albedo_brightness</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale"><code class="docutils literal notranslate"><span class="pre">MdlFileCfg.texture_scale</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg.mdl_path</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_color"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg.glass_color</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.frosting_roughness"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg.frosting_roughness</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.thin_walled"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg.thin_walled</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_ior"><code class="docutils literal notranslate"><span class="pre">GlassMdlCfg.glass_ior</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#physical-materials">Physical Materials</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg"><code class="docutils literal notranslate"><span class="pre">PhysicsMaterialCfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.spawn_rigid_body_material"><code class="docutils literal notranslate"><span class="pre">spawn_rigid_body_material()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.static_friction</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.dynamic_friction"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.dynamic_friction</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.restitution</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.improve_patch_friction"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.improve_patch_friction</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.friction_combine_mode</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.restitution_combine_mode</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.compliant_contact_stiffness</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping"><code class="docutils literal notranslate"><span class="pre">RigidBodyMaterialCfg.compliant_contact_damping</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.spawn_deformable_body_material"><code class="docutils literal notranslate"><span class="pre">spawn_deformable_body_material()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.density"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.density</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.dynamic_friction"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.dynamic_friction</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.youngs_modulus"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.youngs_modulus</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.poissons_ratio"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.poissons_ratio</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.elasticity_damping"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.elasticity_damping</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg.damping_scale"><code class="docutils literal notranslate"><span class="pre">DeformableBodyMaterialCfg.damping_scale</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.sim.spawners.wrappers">Wrappers</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_asset"><code class="docutils literal notranslate"><span class="pre">spawn_multi_asset()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.assets_cfg"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.assets_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.random_choice</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.visible"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg.activate_contact_sensors</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.spawn_multi_usd_file"><code class="docutils literal notranslate"><span class="pre">spawn_multi_usd_file()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visible"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.visible</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.semantic_tags"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.semantic_tags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.copy_from_source"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.copy_from_source</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.mass_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.mass_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.deformable_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.deformable_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.rigid_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.rigid_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.collision_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.collision_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.activate_contact_sensors"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.activate_contact_sensors</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.scale"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.articulation_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.articulation_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.fixed_tendons_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.fixed_tendons_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.joint_drive_props"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.joint_drive_props</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material_path"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.visual_material_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.variants"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.variants</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.usd_path"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.usd_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg.random_choice"><code class="docutils literal notranslate"><span class="pre">MultiUsdFileCfg.random_choice</span></code></a></li>
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+                <h2> Contents </h2>
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+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#terrain-importer">Terrain importer</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter"><code class="docutils literal notranslate"><span class="pre">TerrainImporter</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.__init__"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.meshes"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.meshes</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.warp_meshes"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.warp_meshes</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.env_origins"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.env_origins</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.terrain_origins"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.terrain_origins</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.flat_patches"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.flat_patches</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.import_ground_plane"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.import_ground_plane()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.import_mesh"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.import_mesh()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.import_usd"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.import_usd()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.configure_env_origins"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.configure_env_origins()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.update_env_origins"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.update_env_origins()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.collision_group"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.collision_group</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.num_envs"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.terrain_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.terrain_generator</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.usd_path"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.usd_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.env_spacing</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.max_init_terrain_level</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#terrain-generator">Terrain generator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator.__init__"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator.flat_patches"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator.flat_patches</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_meshes"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator.terrain_meshes</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_origins"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator.terrain_origins</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_mesh"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator.terrain_mesh</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.seed"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.curriculum</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.size"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.border_width"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.border_width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.border_height"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.border_height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.num_rows"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.num_rows</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.num_cols"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.num_cols</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.color_scheme</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.vertical_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.slope_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.sub_terrains</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.difficulty_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.use_cache</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.cache_dir"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.cache_dir</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg"><code class="docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.function"><code class="docutils literal notranslate"><span class="pre">SubTerrainBaseCfg.function</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion"><code class="docutils literal notranslate"><span class="pre">SubTerrainBaseCfg.proportion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.size"><code class="docutils literal notranslate"><span class="pre">SubTerrainBaseCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">SubTerrainBaseCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.terrains.height_field">Height fields</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.border_width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.vertical_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.slope_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.proportion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#random-uniform-terrain">Random Uniform Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain"><code class="docutils literal notranslate"><span class="pre">random_uniform_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.noise_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_step"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.noise_step</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.downsampled_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.slope_threshold</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#pyramid-sloped-terrain">Pyramid Sloped Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain"><code class="docutils literal notranslate"><span class="pre">pyramid_sloped_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.slope_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.inverted</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.slope_threshold</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.inverted</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.slope_threshold</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_range"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.slope_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.platform_width</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#pyramid-stairs-terrain">Pyramid Stairs Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain"><code class="docutils literal notranslate"><span class="pre">pyramid_stairs_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.step_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_width"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.step_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.inverted</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.slope_threshold</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.inverted</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.slope_threshold</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_height_range"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.step_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_width"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.step_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.platform_width</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#discrete-obstacles-terrain">Discrete Obstacles Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain"><code class="docutils literal notranslate"><span class="pre">discrete_obstacles_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.obstacle_height_mode</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.slope_threshold</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_width_range"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.obstacle_width_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_range"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.obstacle_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.num_obstacles"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.num_obstacles</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.platform_width</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#wave-terrain">Wave Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain"><code class="docutils literal notranslate"><span class="pre">wave_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.slope_threshold</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.amplitude_range"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.amplitude_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.num_waves"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.num_waves</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#stepping-stones-terrain">Stepping Stones Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain"><code class="docutils literal notranslate"><span class="pre">stepping_stones_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.slope_threshold</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_height_max"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.stone_height_max</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_width_range"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.stone_width_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_distance_range"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.stone_distance_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.holes_depth"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.holes_depth</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.platform_width</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.terrains.trimesh">Trimesh terrains</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#flat-terrain">Flat terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain"><code class="docutils literal notranslate"><span class="pre">flat_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshPlaneTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshPlaneTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshPlaneTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshPlaneTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#pyramid-terrain">Pyramid terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain"><code class="docutils literal notranslate"><span class="pre">pyramid_stairs_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_height_range"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.step_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_width"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.step_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.holes</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#inverted-pyramid-terrain">Inverted pyramid terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain"><code class="docutils literal notranslate"><span class="pre">inverted_pyramid_stairs_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_height_range"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.step_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_width"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.step_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.holes</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#random-grid-terrain">Random grid terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain"><code class="docutils literal notranslate"><span class="pre">random_grid_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.grid_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_height_range"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.grid_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.holes</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#rails-terrain">Rails terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain"><code class="docutils literal notranslate"><span class="pre">rails_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.rail_thickness_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_height_range"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.rail_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#pit-terrain">Pit terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain"><code class="docutils literal notranslate"><span class="pre">pit_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.pit_depth_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.double_pit"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.double_pit</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#box-terrain">Box terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain"><code class="docutils literal notranslate"><span class="pre">box_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.box_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.double_box"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.double_box</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#gap-terrain">Gap terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain"><code class="docutils literal notranslate"><span class="pre">gap_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg.gap_width_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#floating-ring-terrain">Floating ring terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain"><code class="docutils literal notranslate"><span class="pre">floating_ring_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.ring_width_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_height_range"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.ring_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_thickness"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.ring_thickness</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#star-terrain">Star terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain"><code class="docutils literal notranslate"><span class="pre">star_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.num_bars</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_width_range"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.bar_width_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_height_range"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.bar_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#repeated-objects-terrain">Repeated Objects Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain"><code class="docutils literal notranslate"><span class="pre">repeated_objects_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.ObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.ObjectCfg.height</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.object_type</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_start"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.object_params_start</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_end"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.object_params_end</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.max_height_noise"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.max_height_noise</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.platform_width</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.max_height_noise"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.max_height_noise</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.object_type</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_start"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.object_params_start</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_end"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.object_params_end</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.max_height_noise"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.max_height_noise</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg.height</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg.size</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.object_type</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_start"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.object_params_start</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_end"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.object_params_end</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.max_height_noise"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.max_height_noise</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg.height</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.object_type</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_start"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.object_params_start</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_end"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.object_params_end</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.terrains.utils">Utilities</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.utils.color_meshes_by_height"><code class="docutils literal notranslate"><span class="pre">color_meshes_by_height()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.utils.create_prim_from_mesh"><code class="docutils literal notranslate"><span class="pre">create_prim_from_mesh()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.utils.find_flat_patches"><code class="docutils literal notranslate"><span class="pre">find_flat_patches()</span></code></a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.terrains">
+<span id="omni-isaac-lab-terrains"></span><h1>omni.isaac.lab.terrains<a class="headerlink" href="#module-omni.isaac.lab.terrains" title="Permalink to this heading">#</a></h1>
+<p>Sub-package with utilities for creating terrains procedurally.</p>
+<p>There are two main components in this package:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGenerator" title="omni.isaac.lab.terrains.TerrainGenerator"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainGenerator</span></code></a>: This class procedurally generates terrains based on the passed
+sub-terrain configuration. It creates a <code class="docutils literal notranslate"><span class="pre">trimesh</span></code> mesh object and contains the origins of
+each generated sub-terrain.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter" title="omni.isaac.lab.terrains.TerrainImporter"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporter</span></code></a>: This class mainly deals with importing terrains from different
+possible sources and adding them to the simulator as a prim object. It also stores the
+terrain mesh into a dictionary called <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.warp_meshes" title="omni.isaac.lab.terrains.TerrainImporter.warp_meshes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TerrainImporter.warp_meshes</span></code></a> that later can be used
+for ray-casting. The following functions are available for importing terrains:</p>
+<ul>
+<li><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.import_ground_plane" title="omni.isaac.lab.terrains.TerrainImporter.import_ground_plane"><code class="xref py py-meth docutils literal notranslate"><span class="pre">TerrainImporter.import_ground_plane()</span></code></a>: spawn a grid plane which is default in isaacsim/isaaclab.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.import_mesh" title="omni.isaac.lab.terrains.TerrainImporter.import_mesh"><code class="xref py py-meth docutils literal notranslate"><span class="pre">TerrainImporter.import_mesh()</span></code></a>: spawn a prim from a <code class="docutils literal notranslate"><span class="pre">trimesh</span></code> object.</p></li>
+<li><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.import_usd" title="omni.isaac.lab.terrains.TerrainImporter.import_usd"><code class="xref py py-meth docutils literal notranslate"><span class="pre">TerrainImporter.import_usd()</span></code></a>: spawn a prim as reference to input USD file.</p></li>
+</ul>
+</li>
+</ul>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter" title="omni.isaac.lab.terrains.TerrainImporter"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TerrainImporter</span></code></a></p></td>
+<td><p>A class to handle terrain meshes and import them into the simulator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a></p></td>
+<td><p>Configuration for the terrain manager.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGenerator" title="omni.isaac.lab.terrains.TerrainGenerator"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TerrainGenerator</span></code></a></p></td>
+<td><p>Terrain generator to handle different terrain generation functions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg" title="omni.isaac.lab.terrains.TerrainGeneratorCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TerrainGeneratorCfg</span></code></a></p></td>
+<td><p>Configuration for the terrain generator.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.SubTerrainBaseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p></td>
+<td><p>Base class for terrain configurations.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="terrain-importer">
+<h2>Terrain importer<a class="headerlink" href="#terrain-importer" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.</span></span><span class="sig-name descname"><span class="pre">TerrainImporter</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_importer.html#TerrainImporter"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>A class to handle terrain meshes and import them into the simulator.</p>
+<p>We assume that a terrain mesh comprises of sub-terrains that are arranged in a grid with
+rows <code class="docutils literal notranslate"><span class="pre">num_rows</span></code> and columns <code class="docutils literal notranslate"><span class="pre">num_cols</span></code>. The terrain origins are the positions of the sub-terrains
+where the robot should be spawned.</p>
+<p>Based on the configuration, the terrain importer handles computing the environment origins from the sub-terrain
+origins. In a typical setup, the number of sub-terrains (<span class="math notranslate nohighlight">\(num\_rows \times num\_cols\)</span>) is smaller than
+the number of environments (<span class="math notranslate nohighlight">\(num\_envs\)</span>). In this case, the environment origins are computed by
+sampling the sub-terrain origins.</p>
+<p>If a curriculum is used, it is possible to update the environment origins to terrain origins that correspond
+to a harder difficulty. This is done by calling <code class="xref py py-func docutils literal notranslate"><span class="pre">update_terrain_levels()</span></code>. The idea comes from game-based
+curriculum. For example, in a game, the player starts with easy levels and progresses to harder levels.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.__init__" title="omni.isaac.lab.terrains.TerrainImporter.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg)</p></td>
+<td><p>Initialize the terrain importer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.set_debug_vis" title="omni.isaac.lab.terrains.TerrainImporter.set_debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_debug_vis</span></code></a>(debug_vis)</p></td>
+<td><p>Set the debug visualization of the terrain importer.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.import_ground_plane" title="omni.isaac.lab.terrains.TerrainImporter.import_ground_plane"><code class="xref py py-obj docutils literal notranslate"><span class="pre">import_ground_plane</span></code></a>(key[, size])</p></td>
+<td><p>Add a plane to the terrain importer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.import_mesh" title="omni.isaac.lab.terrains.TerrainImporter.import_mesh"><code class="xref py py-obj docutils literal notranslate"><span class="pre">import_mesh</span></code></a>(key, mesh)</p></td>
+<td><p>Import a mesh into the simulator.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.import_usd" title="omni.isaac.lab.terrains.TerrainImporter.import_usd"><code class="xref py py-obj docutils literal notranslate"><span class="pre">import_usd</span></code></a>(key, usd_path)</p></td>
+<td><p>Import a mesh from a USD file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.configure_env_origins" title="omni.isaac.lab.terrains.TerrainImporter.configure_env_origins"><code class="xref py py-obj docutils literal notranslate"><span class="pre">configure_env_origins</span></code></a>([origins])</p></td>
+<td><p>Configure the origins of the environments based on the added terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.update_env_origins" title="omni.isaac.lab.terrains.TerrainImporter.update_env_origins"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_env_origins</span></code></a>(env_ids, move_up, move_down)</p></td>
+<td><p>Update the environment origins based on the terrain levels.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.meshes" title="omni.isaac.lab.terrains.TerrainImporter.meshes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">meshes</span></code></a></p></td>
+<td><p>A dictionary containing the names of the meshes and their keys.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.warp_meshes" title="omni.isaac.lab.terrains.TerrainImporter.warp_meshes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">warp_meshes</span></code></a></p></td>
+<td><p>A dictionary containing the names of the warp meshes and their keys.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.env_origins" title="omni.isaac.lab.terrains.TerrainImporter.env_origins"><code class="xref py py-obj docutils literal notranslate"><span class="pre">env_origins</span></code></a></p></td>
+<td><p>The origins of the environments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.terrain_origins" title="omni.isaac.lab.terrains.TerrainImporter.terrain_origins"><code class="xref py py-obj docutils literal notranslate"><span class="pre">terrain_origins</span></code></a></p></td>
+<td><p>The origins of the sub-terrains in the added terrain mesh.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation" title="omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">has_debug_vis_implementation</span></code></a></p></td>
+<td><p>Whether the terrain importer has a debug visualization implemented.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporter.flat_patches" title="omni.isaac.lab.terrains.TerrainImporter.flat_patches"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patches</span></code></a></p></td>
+<td><p>A dictionary containing the sampled valid (flat) patches for the terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><span class="pre">TerrainImporterCfg</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_importer.html#TerrainImporter.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the terrain importer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – The configuration for the terrain importer.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If input terrain type is not supported.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If terrain type is ‘generator’ and no configuration provided for <code class="docutils literal notranslate"><span class="pre">terrain_generator</span></code>.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If terrain type is ‘usd’ and no configuration provided for <code class="docutils literal notranslate"><span class="pre">usd_path</span></code>.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If terrain type is ‘usd’ or ‘plane’ and no configuration provided for <code class="docutils literal notranslate"><span class="pre">env_spacing</span></code>.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.meshes">
+<span class="sig-name descname"><span class="pre">meshes</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.meshes" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary containing the names of the meshes and their keys.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.warp_meshes">
+<span class="sig-name descname"><span class="pre">warp_meshes</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://nvidia.github.io/warp/modules/runtime.html#warp.Mesh" title="(in Warp v1.5.0)"><span class="pre">warp.Mesh</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.warp_meshes" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary containing the names of the warp meshes and their keys.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.env_origins">
+<span class="sig-name descname"><span class="pre">env_origins</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.env_origins" title="Permalink to this definition">#</a></dt>
+<dd><p>The origins of the environments. Shape is (num_envs, 3).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.terrain_origins">
+<span class="sig-name descname"><span class="pre">terrain_origins</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.terrain_origins" title="Permalink to this definition">#</a></dt>
+<dd><p>The origins of the sub-terrains in the added terrain mesh. Shape is (num_rows, num_cols, 3).</p>
+<p>If None, then it is assumed no sub-terrains exist. The environment origins are computed in a grid.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">has_debug_vis_implementation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the terrain importer has a debug visualization implemented.</p>
+<p>This always returns True.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.flat_patches">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">flat_patches</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.flat_patches" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary containing the sampled valid (flat) patches for the terrain.</p>
+<p>This is only available if the terrain type is ‘generator’. For other terrain types, this feature
+is not available and the function returns an empty dictionary.</p>
+<p>Please refer to the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGenerator.flat_patches" title="omni.isaac.lab.terrains.TerrainGenerator.flat_patches"><code class="xref py py-attr docutils literal notranslate"><span class="pre">TerrainGenerator.flat_patches</span></code></a> for more information.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.set_debug_vis">
+<span class="sig-name descname"><span class="pre">set_debug_vis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">debug_vis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_importer.html#TerrainImporter.set_debug_vis"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.set_debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Set the debug visualization of the terrain importer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>debug_vis</strong> – Whether to visualize the terrain origins.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the debug visualization was successfully set. False if the terrain
+importer does not support debug visualization.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If terrain origins are not configured.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.import_ground_plane">
+<span class="sig-name descname"><span class="pre">import_ground_plane</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">size</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(2000000.0,</span> <span class="pre">2000000.0)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_importer.html#TerrainImporter.import_ground_plane"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.import_ground_plane" title="Permalink to this definition">#</a></dt>
+<dd><p>Add a plane to the terrain importer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The key to store the mesh.</p></li>
+<li><p><strong>size</strong> – The size of the plane. Defaults to (2.0e6, 2.0e6).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a terrain with the same key already exists.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.import_mesh">
+<span class="sig-name descname"><span class="pre">import_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">mesh</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">trimesh.Trimesh</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_importer.html#TerrainImporter.import_mesh"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.import_mesh" title="Permalink to this definition">#</a></dt>
+<dd><p>Import a mesh into the simulator.</p>
+<p>The mesh is imported into the simulator under the prim path <code class="docutils literal notranslate"><span class="pre">cfg.prim_path/{key}</span></code>. The created path
+contains the mesh as a <code class="xref py py-class docutils literal notranslate"><span class="pre">pxr.UsdGeom</span></code> instance along with visual or physics material prims.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The key to store the mesh.</p></li>
+<li><p><strong>mesh</strong> – The mesh to import.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a terrain with the same key already exists.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.import_usd">
+<span class="sig-name descname"><span class="pre">import_usd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">usd_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_importer.html#TerrainImporter.import_usd"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.import_usd" title="Permalink to this definition">#</a></dt>
+<dd><p>Import a mesh from a USD file.</p>
+<p>We assume that the USD file contains a single mesh. If the USD file contains multiple meshes, then
+the first mesh is used. The function mainly helps in registering the mesh into the warp meshes
+and the meshes dictionary.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We do not apply any material properties to the mesh. The material properties should
+be defined in the USD file.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The key to store the mesh.</p></li>
+<li><p><strong>usd_path</strong> – The path to the USD file.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If a terrain with the same key already exists.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.configure_env_origins">
+<span class="sig-name descname"><span class="pre">configure_env_origins</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">origins</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">np.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_importer.html#TerrainImporter.configure_env_origins"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.configure_env_origins" title="Permalink to this definition">#</a></dt>
+<dd><p>Configure the origins of the environments based on the added terrain.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>origins</strong> – The origins of the sub-terrains. Shape is (num_rows, num_cols, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporter.update_env_origins">
+<span class="sig-name descname"><span class="pre">update_env_origins</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">move_up</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">move_down</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_importer.html#TerrainImporter.update_env_origins"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporter.update_env_origins" title="Permalink to this definition">#</a></dt>
+<dd><p>Update the environment origins based on the terrain levels.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.</span></span><span class="sig-name descname"><span class="pre">TerrainImporterCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_importer_cfg.html#TerrainImporterCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for the terrain manager.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.collision_group" title="omni.isaac.lab.terrains.TerrainImporterCfg.collision_group"><code class="xref py py-obj docutils literal notranslate"><span class="pre">collision_group</span></code></a></p></td>
+<td><p>The collision group of the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.prim_path" title="omni.isaac.lab.terrains.TerrainImporterCfg.prim_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code></a></p></td>
+<td><p>The absolute path of the USD terrain prim.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.num_envs" title="omni.isaac.lab.terrains.TerrainImporterCfg.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>The number of environment origins to consider.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type" title="omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">terrain_type</span></code></a></p></td>
+<td><p>The type of terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator" title="omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator"><code class="xref py py-obj docutils literal notranslate"><span class="pre">terrain_generator</span></code></a></p></td>
+<td><p>The terrain generator configuration.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.usd_path" title="omni.isaac.lab.terrains.TerrainImporterCfg.usd_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">usd_path</span></code></a></p></td>
+<td><p>The path to the USD file containing the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing" title="omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing"><code class="xref py py-obj docutils literal notranslate"><span class="pre">env_spacing</span></code></a></p></td>
+<td><p>The spacing between environment origins when defined in a grid.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.visual_material" title="omni.isaac.lab.terrains.TerrainImporterCfg.visual_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">visual_material</span></code></a></p></td>
+<td><p>The visual material of the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.physics_material" title="omni.isaac.lab.terrains.TerrainImporterCfg.physics_material"><code class="xref py py-obj docutils literal notranslate"><span class="pre">physics_material</span></code></a></p></td>
+<td><p>The physics material of the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level" title="omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_init_terrain_level</span></code></a></p></td>
+<td><p>The maximum initial terrain level for defining environment origins.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg.debug_vis" title="omni.isaac.lab.terrains.TerrainImporterCfg.debug_vis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">debug_vis</span></code></a></p></td>
+<td><p>Whether to enable visualization of terrain origins for the terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.collision_group">
+<span class="sig-name descname"><span class="pre">collision_group</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.collision_group" title="Permalink to this definition">#</a></dt>
+<dd><p>The collision group of the terrain. Defaults to -1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.prim_path">
+<span class="sig-name descname"><span class="pre">prim_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.prim_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The absolute path of the USD terrain prim.</p>
+<p>All sub-terrains are imported relative to this prim path.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.num_envs">
+<span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of environment origins to consider. Defaults to 1.</p>
+<p>In case, the <a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a> is used, this parameter gets overridden by
+<a class="reference internal" href="omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg.num_envs" title="omni.isaac.lab.scene.InteractiveSceneCfg.num_envs"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.InteractiveSceneCfg.num_envs</span></code></a> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type">
+<span class="sig-name descname"><span class="pre">terrain_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'generator'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'plane'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'usd'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The type of terrain to generate. Defaults to “generator”.</p>
+<p>Available options are “plane”, “usd”, and “generator”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator">
+<span class="sig-name descname"><span class="pre">terrain_generator</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg" title="omni.isaac.lab.terrains.TerrainGeneratorCfg"><span class="pre">TerrainGeneratorCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator" title="Permalink to this definition">#</a></dt>
+<dd><p>The terrain generator configuration.</p>
+<p>Only used if <code class="docutils literal notranslate"><span class="pre">terrain_type</span></code> is set to “generator”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.usd_path">
+<span class="sig-name descname"><span class="pre">usd_path</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.usd_path" title="Permalink to this definition">#</a></dt>
+<dd><p>The path to the USD file containing the terrain.</p>
+<p>Only used if <code class="docutils literal notranslate"><span class="pre">terrain_type</span></code> is set to “usd”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing">
+<span class="sig-name descname"><span class="pre">env_spacing</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing" title="Permalink to this definition">#</a></dt>
+<dd><p>The spacing between environment origins when defined in a grid. Defaults to None.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This parameter is used only when the <code class="docutils literal notranslate"><span class="pre">terrain_type</span></code> is <code class="docutils literal notranslate"><span class="pre">&quot;plane&quot;</span></code> or <code class="docutils literal notranslate"><span class="pre">&quot;usd&quot;</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.visual_material">
+<span class="sig-name descname"><span class="pre">visual_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">sim_utils.VisualMaterialCfg</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.visual_material" title="Permalink to this definition">#</a></dt>
+<dd><p>The visual material of the terrain. Defaults to a dark gray color material.</p>
+<p>The material is created at the path: <code class="docutils literal notranslate"><span class="pre">{prim_path}/visualMaterial</span></code>. If <cite>None</cite>, then no material is created.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This parameter is used only when the <code class="docutils literal notranslate"><span class="pre">terrain_type</span></code> is <code class="docutils literal notranslate"><span class="pre">&quot;generator&quot;</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.physics_material">
+<span class="sig-name descname"><span class="pre">physics_material</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">sim_utils.RigidBodyMaterialCfg</span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.physics_material" title="Permalink to this definition">#</a></dt>
+<dd><p>The physics material of the terrain. Defaults to a default physics material.</p>
+<p>The material is created at the path: <code class="docutils literal notranslate"><span class="pre">{prim_path}/physicsMaterial</span></code>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This parameter is used only when the <code class="docutils literal notranslate"><span class="pre">terrain_type</span></code> is <code class="docutils literal notranslate"><span class="pre">&quot;generator&quot;</span></code> or <code class="docutils literal notranslate"><span class="pre">&quot;plane&quot;</span></code>.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level">
+<span class="sig-name descname"><span class="pre">max_init_terrain_level</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum initial terrain level for defining environment origins. Defaults to None.</p>
+<p>The terrain levels are specified by the number of rows in the grid arrangement of
+sub-terrains. If None, then the initial terrain level is set to the maximum
+terrain level available (<code class="docutils literal notranslate"><span class="pre">num_rows</span> <span class="pre">-</span> <span class="pre">1</span></code>).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This parameter is used only when sub-terrain origins are defined.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainImporterCfg.debug_vis">
+<span class="sig-name descname"><span class="pre">debug_vis</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainImporterCfg.debug_vis" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to enable visualization of terrain origins for the terrain. Defaults to False.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="terrain-generator">
+<h2>Terrain generator<a class="headerlink" href="#terrain-generator" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGenerator">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.</span></span><span class="sig-name descname"><span class="pre">TerrainGenerator</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_generator.html#TerrainGenerator"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGenerator" title="Permalink to this definition">#</a></dt>
+<dd><p>Terrain generator to handle different terrain generation functions.</p>
+<p>The terrains are represented as meshes. These are obtained either from height fields or by using the
+<a class="reference external" href="https://trimsh.org/trimesh.html">trimesh</a> library. The height field representation is more
+flexible, but it is less computationally and memory efficient than the trimesh representation.</p>
+<p>All terrain generation functions take in the argument <code class="xref py py-obj docutils literal notranslate"><span class="pre">difficulty</span></code> which determines the complexity
+of the terrain. The difficulty is a number between 0 and 1, where 0 is the easiest and 1 is the hardest.
+In most cases, the difficulty is used for linear interpolation between different terrain parameters.
+For example, in a pyramid stairs terrain the step height is interpolated between the specified minimum
+and maximum step height.</p>
+<p>Each sub-terrain has a corresponding configuration class that can be used to specify the parameters
+of the terrain. The configuration classes are inherited from the <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a> class
+which contains the common parameters for all terrains.</p>
+<p>If a curriculum is used, the terrains are generated based on their difficulty parameter.
+The difficulty is varied linearly over the number of rows (i.e. along x) with a small random value
+added to the difficulty to ensure that the columns with the same sub-terrain type are not exactly
+the same. The difficulty parameter for a sub-terrain at a given row is calculated as:</p>
+<div class="math notranslate nohighlight">
+\[\text{difficulty} = \frac{\text{row_id} + \eta}{\text{num_rows}} \times (\text{upper} - \text{lower}) + \text{lower}\]</div>
+<p>where <span class="math notranslate nohighlight">\(\eta\sim\mathcal{U}(0, 1)\)</span> is a random perturbation to the difficulty, and
+<span class="math notranslate nohighlight">\((\text{lower}, \text{upper})\)</span> is the range of the difficulty parameter, specified using the
+<a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range"><code class="xref py py-attr docutils literal notranslate"><span class="pre">difficulty_range</span></code></a> parameter.</p>
+<p>If a curriculum is not used, the terrains are generated randomly. In this case, the difficulty parameter
+is randomly sampled from the specified range, given by the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range"><code class="xref py py-attr docutils literal notranslate"><span class="pre">difficulty_range</span></code></a> parameter:</p>
+<div class="math notranslate nohighlight">
+\[\text{difficulty} \sim \mathcal{U}(\text{lower}, \text{upper})\]</div>
+<p>If the <code class="xref py py-attr docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code> is specified for a sub-terrain, flat patches are sampled
+on the terrain. These can be used for spawning robots, targets, etc. The sampled patches are stored
+in the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGenerator.flat_patches" title="omni.isaac.lab.terrains.TerrainGenerator.flat_patches"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patches</span></code></a> dictionary. The key specifies the intention of the flat patches and the
+value is a tensor containing the flat patches for each sub-terrain.</p>
+<p>If the flag <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache"><code class="xref py py-attr docutils literal notranslate"><span class="pre">use_cache</span></code></a> is set to True, the terrains are cached based on their
+sub-terrain configurations. This means that if the same sub-terrain configuration is used
+multiple times, the terrain is only generated once and then reused. This is useful when
+generating complex sub-terrains that take a long time to generate.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>The terrain generation has its own seed parameter. This is set using the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.seed" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.seed"><code class="xref py py-attr docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.seed</span></code></a>
+parameter. If the seed is not set and the caching is disabled, the terrain generation may not be
+completely reproducible.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGenerator.__init__" title="omni.isaac.lab.terrains.TerrainGenerator.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(cfg[, device])</p></td>
+<td><p>Initialize the terrain generator.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGenerator.flat_patches" title="omni.isaac.lab.terrains.TerrainGenerator.flat_patches"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patches</span></code></a></p></td>
+<td><p>A dictionary of sampled valid (flat) patches for each sub-terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_meshes" title="omni.isaac.lab.terrains.TerrainGenerator.terrain_meshes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">terrain_meshes</span></code></a></p></td>
+<td><p>List of trimesh.Trimesh objects for all the generated sub-terrains.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_origins" title="omni.isaac.lab.terrains.TerrainGenerator.terrain_origins"><code class="xref py py-obj docutils literal notranslate"><span class="pre">terrain_origins</span></code></a></p></td>
+<td><p>The origin of each sub-terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_mesh" title="omni.isaac.lab.terrains.TerrainGenerator.terrain_mesh"><code class="xref py py-obj docutils literal notranslate"><span class="pre">terrain_mesh</span></code></a></p></td>
+<td><p>A single trimesh.Trimesh object for all the generated sub-terrains.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGenerator.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.TerrainGeneratorCfg"><span class="pre">TerrainGeneratorCfg</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'cpu'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_generator.html#TerrainGenerator.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGenerator.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the terrain generator.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cfg</strong> – Configuration for the terrain generator.</p></li>
+<li><p><strong>device</strong> – The device to use for the flat patches tensor.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGenerator.flat_patches">
+<span class="sig-name descname"><span class="pre">flat_patches</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGenerator.flat_patches" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary of sampled valid (flat) patches for each sub-terrain.</p>
+<p>The dictionary keys are the names of the flat patch sampling configurations. This maps to a
+tensor containing the flat patches for each sub-terrain. The shape of the tensor is
+(num_rows, num_cols, num_patches, 3).</p>
+<p>For instance, the key “root_spawn” maps to a tensor containing the flat patches for spawning an asset.
+Similarly, the key “target_spawn” maps to a tensor containing the flat patches for setting targets.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGenerator.terrain_meshes">
+<span class="sig-name descname"><span class="pre">terrain_meshes</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_meshes" title="Permalink to this definition">#</a></dt>
+<dd><p>List of trimesh.Trimesh objects for all the generated sub-terrains.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGenerator.terrain_origins">
+<span class="sig-name descname"><span class="pre">terrain_origins</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">numpy.ndarray</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_origins" title="Permalink to this definition">#</a></dt>
+<dd><p>The origin of each sub-terrain. Shape is (num_rows, num_cols, 3).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGenerator.terrain_mesh">
+<span class="sig-name descname"><span class="pre">terrain_mesh</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">trimesh.Trimesh</span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_mesh" title="Permalink to this definition">#</a></dt>
+<dd><p>A single trimesh.Trimesh object for all the generated sub-terrains.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.</span></span><span class="sig-name descname"><span class="pre">TerrainGeneratorCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html#TerrainGeneratorCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Configuration for the terrain generator.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.seed" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">seed</span></code></a></p></td>
+<td><p>The seed for the random number generator.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum"><code class="xref py py-obj docutils literal notranslate"><span class="pre">curriculum</span></code></a></p></td>
+<td><p>Whether to use the curriculum mode.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.size" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of each sub-terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.border_width" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border around the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.border_height" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.border_height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_height</span></code></a></p></td>
+<td><p>The height of the border around the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.num_rows" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.num_rows"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_rows</span></code></a></p></td>
+<td><p>Number of rows of sub-terrains to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.num_cols" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.num_cols"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_cols</span></code></a></p></td>
+<td><p>Number of columns of sub-terrains to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color_scheme</span></code></a></p></td>
+<td><p>Color scheme to use for the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the x and y axes (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the z axis (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_threshold</span></code></a></p></td>
+<td><p>The slope threshold above which surfaces are made vertical.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sub_terrains</span></code></a></p></td>
+<td><p>Dictionary of sub-terrain configurations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">difficulty_range</span></code></a></p></td>
+<td><p>The range of difficulty values for the sub-terrains.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache"><code class="xref py py-obj docutils literal notranslate"><span class="pre">use_cache</span></code></a></p></td>
+<td><p>Whether to load the sub-terrain from cache if it exists.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.cache_dir" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.cache_dir"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cache_dir</span></code></a></p></td>
+<td><p>The directory where the terrain cache is stored.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.seed">
+<span class="sig-name descname"><span class="pre">seed</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.seed" title="Permalink to this definition">#</a></dt>
+<dd><p>The seed for the random number generator. Defaults to None, in which case the seed from the
+current NumPy’s random state is used.</p>
+<p>When the seed is set, the random number generator is initialized with the given seed. This ensures
+that the generated terrains are deterministic across different runs. If the seed is not set, the
+seed from the current NumPy’s random state is used. This assumes that the seed is set elsewhere in
+the code.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum">
+<span class="sig-name descname"><span class="pre">curriculum</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to use the curriculum mode. Defaults to False.</p>
+<p>If True, the terrains are generated based on their difficulty parameter. Otherwise,
+they are randomly generated.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of each sub-terrain (in m).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This value is passed on to all the sub-terrain configurations.</p>
+</div>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border around the terrain (in m). Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.border_height">
+<span class="sig-name descname"><span class="pre">border_height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.border_height" title="Permalink to this definition">#</a></dt>
+<dd><p>The height of the border around the terrain (in m). Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.num_rows">
+<span class="sig-name descname"><span class="pre">num_rows</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.num_rows" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of rows of sub-terrains to generate. Defaults to 1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.num_cols">
+<span class="sig-name descname"><span class="pre">num_cols</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.num_cols" title="Permalink to this definition">#</a></dt>
+<dd><p>Number of columns of sub-terrains to generate. Defaults to 1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme">
+<span class="sig-name descname"><span class="pre">color_scheme</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'height'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'random'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'none'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme" title="Permalink to this definition">#</a></dt>
+<dd><p>Color scheme to use for the terrain. Defaults to “none”.</p>
+<p>The available color schemes are:</p>
+<ul class="simple">
+<li><p>“height”: Color based on the height of the terrain.</p></li>
+<li><p>“random”: Random color scheme.</p></li>
+<li><p>“none”: No color scheme.</p></li>
+</ul>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale">
+<span class="sig-name descname"><span class="pre">horizontal_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</p>
+<p>This value is passed on to all the height field sub-terrain configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale">
+<span class="sig-name descname"><span class="pre">vertical_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the z axis (in m). Defaults to 0.005.</p>
+<p>This value is passed on to all the height field sub-terrain configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold">
+<span class="sig-name descname"><span class="pre">slope_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope threshold above which surfaces are made vertical. Defaults to 0.75.</p>
+<p>If None no correction is applied.</p>
+<p>This value is passed on to all the height field sub-terrain configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains">
+<span class="sig-name descname"><span class="pre">sub_terrains</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><span class="pre">omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of sub-terrain configurations.</p>
+<p>The keys correspond to the name of the sub-terrain configuration and the values are the corresponding
+configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range">
+<span class="sig-name descname"><span class="pre">difficulty_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The range of difficulty values for the sub-terrains. Defaults to (0.0, 1.0).</p>
+<p>If curriculum is enabled, the terrains will be generated based on this range in ascending order
+of difficulty. Otherwise, the terrains will be generated based on this range in a random order.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache">
+<span class="sig-name descname"><span class="pre">use_cache</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to load the sub-terrain from cache if it exists. Defaults to True.</p>
+<p>If enabled, the generated terrains are stored in the cache directory. When generating terrains, the cache
+is checked to see if the terrain already exists. If it does, the terrain is loaded from the cache. Otherwise,
+the terrain is generated and stored in the cache. Caching can be used to speed up terrain generation.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.TerrainGeneratorCfg.cache_dir">
+<span class="sig-name descname"><span class="pre">cache_dir</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.cache_dir" title="Permalink to this definition">#</a></dt>
+<dd><p>The directory where the terrain cache is stored. Defaults to “/tmp/isaaclab/terrains”.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.SubTerrainBaseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.</span></span><span class="sig-name descname"><span class="pre">SubTerrainBaseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/terrain_generator_cfg.html#SubTerrainBaseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Base class for terrain configurations.</p>
+<p>All the sub-terrain configurations must inherit from this class.</p>
+<p>The <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.size" title="omni.isaac.lab.terrains.SubTerrainBaseCfg.size"><code class="xref py py-attr docutils literal notranslate"><span class="pre">size</span></code></a> attribute is the size of the generated sub-terrain. Based on this, the terrain must
+extend from <span class="math notranslate nohighlight">\((0, 0)\)</span> to <span class="math notranslate nohighlight">\((size[0], size[1])\)</span>.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.function" title="omni.isaac.lab.terrains.SubTerrainBaseCfg.function"><code class="xref py py-obj docutils literal notranslate"><span class="pre">function</span></code></a></p></td>
+<td><p>Function to generate the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion" title="omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.size" title="omni.isaac.lab.terrains.SubTerrainBaseCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.SubTerrainBaseCfg.function">
+<span class="sig-name descname"><span class="pre">function</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><span class="pre">SubTerrainBaseCfg</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">numpy.ndarray</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.function" title="Permalink to this definition">#</a></dt>
+<dd><p>Function to generate the terrain.</p>
+<p>This function must take as input the terrain difficulty and the configuration parameters and
+return a tuple with a list of <code class="docutils literal notranslate"><span class="pre">trimesh</span></code> mesh objects and the terrain origin.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.SubTerrainBaseCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">omni.isaac.lab.terrains.terrain_generator_cfg.FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.terrains.height_field">
+<span id="height-fields"></span><h2>Height fields<a class="headerlink" href="#module-omni.isaac.lab.terrains.height_field" title="Permalink to this heading">#</a></h2>
+<p>This sub-module provides utilities to create different terrains as height fields (HF).</p>
+<p>Height fields are a 2.5D terrain representation that is used in robotics to obtain the
+height of the terrain at a given point. This is useful for controls and planning algorithms.</p>
+<p>Each terrain is represented as a 2D numpy array with discretized heights. The shape of the array
+is (width, length), where width and length are the number of points along the x and y axis,
+respectively. The height of the terrain at a given point is obtained by indexing the array with
+the corresponding x and y coordinates.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>When working with height field terrains, it is important to remember that the terrain is generated
+from a discretized 3D representation. This means that the height of the terrain at a given point
+is only an approximation of the real height of the terrain at that point. The discretization
+error is proportional to the size of the discretization cells. Therefore, it is important to
+choose a discretization size that is small enough for the application. A larger discretization
+size will result in a faster simulation, but the terrain will be less accurate.</p>
+</div>
+<p>All sub-terrains must inherit from the <code class="xref py py-class docutils literal notranslate"><span class="pre">HfTerrainBaseCfg</span></code> class which contains the common
+parameters for all terrains generated from height fields.</p>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">HfTerrainBaseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html#HfTerrainBaseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>The base configuration for height field terrains.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border/padding around the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.horizontal_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.horizontal_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the x and y axes (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.vertical_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.vertical_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the z axis (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.slope_threshold" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.slope_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_threshold</span></code></a></p></td>
+<td><p>The slope threshold above which surfaces are made vertical.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border/padding around the terrain (in m). Defaults to 0.0.</p>
+<p>The border width is subtracted from the <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a> of the terrain. If non-zero, it must be
+greater than or equal to the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.horizontal_scale">
+<span class="sig-name descname"><span class="pre">horizontal_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.horizontal_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.vertical_scale">
+<span class="sig-name descname"><span class="pre">vertical_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.vertical_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the z axis (in m). Defaults to 0.005.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.slope_threshold">
+<span class="sig-name descname"><span class="pre">slope_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.slope_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope threshold above which surfaces are made vertical. Defaults to None,
+in which case no correction is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+<section id="random-uniform-terrain">
+<h3>Random Uniform Terrain<a class="headerlink" href="#random-uniform-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains.</span></span><span class="sig-name descname"><span class="pre">random_uniform_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg"><span class="pre">hf_terrains_cfg.HfRandomUniformTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">np.ndarray</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html#random_uniform_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with height sampled uniformly from a specified range.</p>
+<a class="reference internal image-reference" href="../../../_images/random_uniform_terrain.jpg"><img alt="../../../_images/random_uniform_terrain.jpg" class="align-center" src="../../../_images/random_uniform_terrain.jpg" style="width: 40%;" /></a>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The <code class="xref py py-obj docutils literal notranslate"><span class="pre">difficulty</span></code> parameter is ignored for this terrain.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The height field of the terrain as a 2D numpy array with discretized heights.
+The shape of the array is (width, length), where width and length are the number of points
+along the x and y axis, respectively.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the downsampled scale is smaller than the horizontal scale.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">HfRandomUniformTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html#HfRandomUniformTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">HfTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a random uniform height field terrain.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">noise_range</span></code></a></p></td>
+<td><p>The minimum and maximum height noise (i.e.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_step" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_step"><code class="xref py py-obj docutils literal notranslate"><span class="pre">noise_step</span></code></a></p></td>
+<td><p>The minimum height (in m) change between two points.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">downsampled_scale</span></code></a></p></td>
+<td><p>The distance between two randomly sampled points on the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border/padding around the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.horizontal_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.horizontal_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the x and y axes (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.vertical_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.vertical_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the z axis (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.slope_threshold" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.slope_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_threshold</span></code></a></p></td>
+<td><p>The slope threshold above which surfaces are made vertical.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range">
+<span class="sig-name descname"><span class="pre">noise_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height noise (i.e. along z) of the terrain (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_step">
+<span class="sig-name descname"><span class="pre">noise_step</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_step" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum height (in m) change between two points.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale">
+<span class="sig-name descname"><span class="pre">downsampled_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The distance between two randomly sampled points on the terrain. Defaults to None,
+in which case the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code> is used.</p>
+<p>The heights are sampled at this resolution and interpolation is performed for intermediate points.
+This must be larger than or equal to the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border/padding around the terrain (in m). Defaults to 0.0.</p>
+<p>The border width is subtracted from the <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a> of the terrain. If non-zero, it must be
+greater than or equal to the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.horizontal_scale">
+<span class="sig-name descname"><span class="pre">horizontal_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.horizontal_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.vertical_scale">
+<span class="sig-name descname"><span class="pre">vertical_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.vertical_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the z axis (in m). Defaults to 0.005.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.slope_threshold">
+<span class="sig-name descname"><span class="pre">slope_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.slope_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope threshold above which surfaces are made vertical. Defaults to None,
+in which case no correction is applied.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="pyramid-sloped-terrain">
+<h3>Pyramid Sloped Terrain<a class="headerlink" href="#pyramid-sloped-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains.</span></span><span class="sig-name descname"><span class="pre">pyramid_sloped_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg"><span class="pre">hf_terrains_cfg.HfPyramidSlopedTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">np.ndarray</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html#pyramid_sloped_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a truncated pyramid structure.</p>
+<p>The terrain is a pyramid-shaped sloped surface with a slope of <code class="xref py py-obj docutils literal notranslate"><span class="pre">slope</span></code> that trims into a flat platform
+at the center. The slope is defined as the ratio of the height change along the x axis to the width along the
+x axis. For example, a slope of 1.0 means that the height changes by 1 unit for every 1 unit of width.</p>
+<p>If the <code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.inverted</span></code> flag is set to <a class="reference external" href="https://docs.python.org/3/library/constants.html#True" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">True</span></code></a>, the terrain is inverted such that
+the platform is at the bottom.</p>
+<a class="reference internal image-reference" href="../../../_images/pyramid_sloped_terrain.jpg"><img alt="../../../_images/pyramid_sloped_terrain.jpg" src="../../../_images/pyramid_sloped_terrain.jpg" style="width: 40%;" /></a>
+<a class="reference internal image-reference" href="../../../_images/inverted_pyramid_sloped_terrain.jpg"><img alt="../../../_images/inverted_pyramid_sloped_terrain.jpg" src="../../../_images/inverted_pyramid_sloped_terrain.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The height field of the terrain as a 2D numpy array with discretized heights.
+The shape of the array is (width, length), where width and length are the number of points
+along the x and y axis, respectively.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">HfPyramidSlopedTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html#HfPyramidSlopedTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">HfTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a pyramid sloped height field terrain.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_range</span></code></a></p></td>
+<td><p>The slope of the terrain (in radians).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.platform_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted"><code class="xref py py-obj docutils literal notranslate"><span class="pre">inverted</span></code></a></p></td>
+<td><p>Whether the pyramid is inverted.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border/padding around the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.horizontal_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.horizontal_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the x and y axes (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.vertical_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.vertical_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the z axis (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_threshold" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_threshold</span></code></a></p></td>
+<td><p>The slope threshold above which surfaces are made vertical.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range">
+<span class="sig-name descname"><span class="pre">slope_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope of the terrain (in radians).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted">
+<span class="sig-name descname"><span class="pre">inverted</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the pyramid is inverted. Defaults to False.</p>
+<p>If True, the terrain is inverted such that the platform is at the bottom and the slopes are upwards.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border/padding around the terrain (in m). Defaults to 0.0.</p>
+<p>The border width is subtracted from the <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a> of the terrain. If non-zero, it must be
+greater than or equal to the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.horizontal_scale">
+<span class="sig-name descname"><span class="pre">horizontal_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.horizontal_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.vertical_scale">
+<span class="sig-name descname"><span class="pre">vertical_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.vertical_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the z axis (in m). Defaults to 0.005.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_threshold">
+<span class="sig-name descname"><span class="pre">slope_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope threshold above which surfaces are made vertical. Defaults to None,
+in which case no correction is applied.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">HfInvertedPyramidSlopedTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html#HfInvertedPyramidSlopedTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg</span></code></a></p>
+<p>Configuration for an inverted pyramid sloped height field terrain.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is a subclass of <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg</span></code></a> with <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted"><code class="xref py py-obj docutils literal notranslate"><span class="pre">inverted</span></code></a> set to True.
+We make it as a separate class to make it easier to distinguish between the two and match
+the naming convention of the other terrains.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted"><code class="xref py py-obj docutils literal notranslate"><span class="pre">inverted</span></code></a></p></td>
+<td><p>Whether the pyramid is inverted.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border/padding around the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.horizontal_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.horizontal_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the x and y axes (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.vertical_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.vertical_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the z axis (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_threshold" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_threshold</span></code></a></p></td>
+<td><p>The slope threshold above which surfaces are made vertical.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_range" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_range</span></code></a></p></td>
+<td><p>The slope of the terrain (in radians).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.platform_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted">
+<span class="sig-name descname"><span class="pre">inverted</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the pyramid is inverted. Defaults to False.</p>
+<p>If True, the terrain is inverted such that the platform is at the bottom and the slopes are upwards.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border/padding around the terrain (in m). Defaults to 0.0.</p>
+<p>The border width is subtracted from the <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a> of the terrain. If non-zero, it must be
+greater than or equal to the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.horizontal_scale">
+<span class="sig-name descname"><span class="pre">horizontal_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.horizontal_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.vertical_scale">
+<span class="sig-name descname"><span class="pre">vertical_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.vertical_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the z axis (in m). Defaults to 0.005.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_threshold">
+<span class="sig-name descname"><span class="pre">slope_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope threshold above which surfaces are made vertical. Defaults to None,
+in which case no correction is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_range">
+<span class="sig-name descname"><span class="pre">slope_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope of the terrain (in radians).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="pyramid-stairs-terrain">
+<h3>Pyramid Stairs Terrain<a class="headerlink" href="#pyramid-stairs-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains.</span></span><span class="sig-name descname"><span class="pre">pyramid_stairs_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg"><span class="pre">hf_terrains_cfg.HfPyramidStairsTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">np.ndarray</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html#pyramid_stairs_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a pyramid stair pattern.</p>
+<p>The terrain is a pyramid stair pattern which trims to a flat platform at the center of the terrain.</p>
+<p>If the <code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.inverted</span></code> flag is set to <a class="reference external" href="https://docs.python.org/3/library/constants.html#True" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">True</span></code></a>, the terrain is inverted such that
+the platform is at the bottom.</p>
+<a class="reference internal image-reference" href="../../../_images/pyramid_stairs_terrain.jpg"><img alt="../../../_images/pyramid_stairs_terrain.jpg" src="../../../_images/pyramid_stairs_terrain.jpg" style="width: 40%;" /></a>
+<a class="reference internal image-reference" href="../../../_images/inverted_pyramid_stairs_terrain.jpg"><img alt="../../../_images/inverted_pyramid_stairs_terrain.jpg" src="../../../_images/inverted_pyramid_stairs_terrain.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The height field of the terrain as a 2D numpy array with discretized heights.
+The shape of the array is (width, length), where width and length are the number of points
+along the x and y axis, respectively.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">HfPyramidStairsTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html#HfPyramidStairsTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">HfTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a pyramid stairs height field terrain.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_height_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the steps (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_width</span></code></a></p></td>
+<td><p>The width of the steps (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.platform_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted"><code class="xref py py-obj docutils literal notranslate"><span class="pre">inverted</span></code></a></p></td>
+<td><p>Whether the pyramid stairs is inverted.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border/padding around the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.horizontal_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.horizontal_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the x and y axes (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.vertical_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.vertical_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the z axis (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.slope_threshold" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.slope_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_threshold</span></code></a></p></td>
+<td><p>The slope threshold above which surfaces are made vertical.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range">
+<span class="sig-name descname"><span class="pre">step_height_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the steps (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_width">
+<span class="sig-name descname"><span class="pre">step_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the steps (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted">
+<span class="sig-name descname"><span class="pre">inverted</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the pyramid stairs is inverted. Defaults to False.</p>
+<p>If True, the terrain is inverted such that the platform is at the bottom and the stairs are upwards.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border/padding around the terrain (in m). Defaults to 0.0.</p>
+<p>The border width is subtracted from the <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a> of the terrain. If non-zero, it must be
+greater than or equal to the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.horizontal_scale">
+<span class="sig-name descname"><span class="pre">horizontal_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.horizontal_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.vertical_scale">
+<span class="sig-name descname"><span class="pre">vertical_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.vertical_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the z axis (in m). Defaults to 0.005.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.slope_threshold">
+<span class="sig-name descname"><span class="pre">slope_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.slope_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope threshold above which surfaces are made vertical. Defaults to None,
+in which case no correction is applied.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">HfInvertedPyramidStairsTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html#HfInvertedPyramidStairsTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg</span></code></a></p>
+<p>Configuration for an inverted pyramid stairs height field terrain.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is a subclass of <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg</span></code></a> with <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted"><code class="xref py py-obj docutils literal notranslate"><span class="pre">inverted</span></code></a> set to True.
+We make it as a separate class to make it easier to distinguish between the two and match
+the naming convention of the other terrains.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted"><code class="xref py py-obj docutils literal notranslate"><span class="pre">inverted</span></code></a></p></td>
+<td><p>Whether the pyramid stairs is inverted.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border/padding around the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.horizontal_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.horizontal_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the x and y axes (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.vertical_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.vertical_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the z axis (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.slope_threshold" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.slope_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_threshold</span></code></a></p></td>
+<td><p>The slope threshold above which surfaces are made vertical.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_height_range" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_height_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_height_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the steps (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_width</span></code></a></p></td>
+<td><p>The width of the steps (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.platform_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted">
+<span class="sig-name descname"><span class="pre">inverted</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the pyramid stairs is inverted. Defaults to False.</p>
+<p>If True, the terrain is inverted such that the platform is at the bottom and the stairs are upwards.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border/padding around the terrain (in m). Defaults to 0.0.</p>
+<p>The border width is subtracted from the <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a> of the terrain. If non-zero, it must be
+greater than or equal to the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.horizontal_scale">
+<span class="sig-name descname"><span class="pre">horizontal_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.horizontal_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.vertical_scale">
+<span class="sig-name descname"><span class="pre">vertical_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.vertical_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the z axis (in m). Defaults to 0.005.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.slope_threshold">
+<span class="sig-name descname"><span class="pre">slope_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.slope_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope threshold above which surfaces are made vertical. Defaults to None,
+in which case no correction is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_height_range">
+<span class="sig-name descname"><span class="pre">step_height_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_height_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the steps (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_width">
+<span class="sig-name descname"><span class="pre">step_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the steps (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="discrete-obstacles-terrain">
+<h3>Discrete Obstacles Terrain<a class="headerlink" href="#discrete-obstacles-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains.</span></span><span class="sig-name descname"><span class="pre">discrete_obstacles_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg"><span class="pre">hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">np.ndarray</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html#discrete_obstacles_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with randomly generated obstacles as pillars with positive and negative heights.</p>
+<p>The terrain is a flat platform at the center of the terrain with randomly generated obstacles as pillars
+with positive and negative height. The obstacles are randomly generated cuboids with a random width and
+height. They are placed randomly on the terrain with a minimum distance of <code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.platform_width</span></code>
+from the center of the terrain.</p>
+<a class="reference internal image-reference" href="../../../_images/discrete_obstacles_terrain.jpg"><img alt="../../../_images/discrete_obstacles_terrain.jpg" class="align-center" src="../../../_images/discrete_obstacles_terrain.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The height field of the terrain as a 2D numpy array with discretized heights.
+The shape of the array is (width, length), where width and length are the number of points
+along the x and y axis, respectively.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">HfDiscreteObstaclesTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html#HfDiscreteObstaclesTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">HfTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a discrete obstacles height field terrain.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">obstacle_height_mode</span></code></a></p></td>
+<td><p>The mode to use for the obstacle height.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border/padding around the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.horizontal_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.horizontal_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the x and y axes (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.vertical_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.vertical_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the z axis (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.slope_threshold" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.slope_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_threshold</span></code></a></p></td>
+<td><p>The slope threshold above which surfaces are made vertical.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_width_range" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_width_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">obstacle_width_range</span></code></a></p></td>
+<td><p>The minimum and maximum width of the obstacles (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_range" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">obstacle_height_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the obstacles (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.num_obstacles" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.num_obstacles"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_obstacles</span></code></a></p></td>
+<td><p>The number of obstacles to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.platform_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode">
+<span class="sig-name descname"><span class="pre">obstacle_height_mode</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode" title="Permalink to this definition">#</a></dt>
+<dd><p>The mode to use for the obstacle height. Defaults to “choice”.</p>
+<p>The following modes are supported: “choice”, “fixed”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border/padding around the terrain (in m). Defaults to 0.0.</p>
+<p>The border width is subtracted from the <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a> of the terrain. If non-zero, it must be
+greater than or equal to the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.horizontal_scale">
+<span class="sig-name descname"><span class="pre">horizontal_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.horizontal_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.vertical_scale">
+<span class="sig-name descname"><span class="pre">vertical_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.vertical_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the z axis (in m). Defaults to 0.005.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.slope_threshold">
+<span class="sig-name descname"><span class="pre">slope_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.slope_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope threshold above which surfaces are made vertical. Defaults to None,
+in which case no correction is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_width_range">
+<span class="sig-name descname"><span class="pre">obstacle_width_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_width_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum width of the obstacles (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_range">
+<span class="sig-name descname"><span class="pre">obstacle_height_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the obstacles (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.num_obstacles">
+<span class="sig-name descname"><span class="pre">num_obstacles</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.num_obstacles" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of obstacles to generate.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="wave-terrain">
+<h3>Wave Terrain<a class="headerlink" href="#wave-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains.</span></span><span class="sig-name descname"><span class="pre">wave_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg"><span class="pre">hf_terrains_cfg.HfWaveTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">np.ndarray</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html#wave_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a wave pattern.</p>
+<p>The terrain is a flat platform at the center of the terrain with a wave pattern. The wave pattern
+is generated by adding sinusoidal waves based on the number of waves and the amplitude of the waves.</p>
+<p>The height of the terrain at a point <span class="math notranslate nohighlight">\((x, y)\)</span> is given by:</p>
+<div class="math notranslate nohighlight">
+\[h(x, y) =  A \left(\sin\left(\frac{2 \pi x}{\lambda}\right) + \cos\left(\frac{2 \pi y}{\lambda}\right) \right)\]</div>
+<p>where <span class="math notranslate nohighlight">\(A\)</span> is the amplitude of the waves, <span class="math notranslate nohighlight">\(\lambda\)</span> is the wavelength of the waves.</p>
+<a class="reference internal image-reference" href="../../../_images/wave_terrain.jpg"><img alt="../../../_images/wave_terrain.jpg" class="align-center" src="../../../_images/wave_terrain.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The height field of the terrain as a 2D numpy array with discretized heights.
+The shape of the array is (width, length), where width and length are the number of points
+along the x and y axis, respectively.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the number of waves is non-positive.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">HfWaveTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html#HfWaveTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">HfTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a wave height field terrain.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border/padding around the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.horizontal_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.horizontal_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the x and y axes (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.vertical_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.vertical_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the z axis (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.slope_threshold" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.slope_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_threshold</span></code></a></p></td>
+<td><p>The slope threshold above which surfaces are made vertical.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.amplitude_range" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.amplitude_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">amplitude_range</span></code></a></p></td>
+<td><p>The minimum and maximum amplitude of the wave (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.num_waves" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.num_waves"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_waves</span></code></a></p></td>
+<td><p>The number of waves to generate.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border/padding around the terrain (in m). Defaults to 0.0.</p>
+<p>The border width is subtracted from the <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a> of the terrain. If non-zero, it must be
+greater than or equal to the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.horizontal_scale">
+<span class="sig-name descname"><span class="pre">horizontal_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.horizontal_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.vertical_scale">
+<span class="sig-name descname"><span class="pre">vertical_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.vertical_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the z axis (in m). Defaults to 0.005.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.slope_threshold">
+<span class="sig-name descname"><span class="pre">slope_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.slope_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope threshold above which surfaces are made vertical. Defaults to None,
+in which case no correction is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.amplitude_range">
+<span class="sig-name descname"><span class="pre">amplitude_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.amplitude_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum amplitude of the wave (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.num_waves">
+<span class="sig-name descname"><span class="pre">num_waves</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.num_waves" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of waves to generate. Defaults to 1.0.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="stepping-stones-terrain">
+<h3>Stepping Stones Terrain<a class="headerlink" href="#stepping-stones-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains.</span></span><span class="sig-name descname"><span class="pre">stepping_stones_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg"><span class="pre">hf_terrains_cfg.HfSteppingStonesTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">np.ndarray</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains.html#stepping_stones_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a stepping stones pattern.</p>
+<p>The terrain is a stepping stones pattern which trims to a flat platform at the center of the terrain.</p>
+<a class="reference internal image-reference" href="../../../_images/stepping_stones_terrain.jpg"><img alt="../../../_images/stepping_stones_terrain.jpg" class="align-center" src="../../../_images/stepping_stones_terrain.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The height field of the terrain as a 2D numpy array with discretized heights.
+The shape of the array is (width, length), where width and length are the number of points
+along the x and y axis, respectively.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.height_field.hf_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">HfSteppingStonesTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.html#HfSteppingStonesTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">HfTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a stepping stones height field terrain.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border/padding around the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.horizontal_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.horizontal_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the x and y axes (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.vertical_scale" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.vertical_scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">vertical_scale</span></code></a></p></td>
+<td><p>The discretization of the terrain along the z axis (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.slope_threshold" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.slope_threshold"><code class="xref py py-obj docutils literal notranslate"><span class="pre">slope_threshold</span></code></a></p></td>
+<td><p>The slope threshold above which surfaces are made vertical.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_height_max" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_height_max"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stone_height_max</span></code></a></p></td>
+<td><p>The maximum height of the stones (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_width_range" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_width_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stone_width_range</span></code></a></p></td>
+<td><p>The minimum and maximum width of the stones (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_distance_range" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_distance_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stone_distance_range</span></code></a></p></td>
+<td><p>The minimum and maximum distance between stones (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.holes_depth" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.holes_depth"><code class="xref py py-obj docutils literal notranslate"><span class="pre">holes_depth</span></code></a></p></td>
+<td><p>The depth of the holes (negative obstacles).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.platform_width" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border/padding around the terrain (in m). Defaults to 0.0.</p>
+<p>The border width is subtracted from the <a class="reference internal" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size" title="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a> of the terrain. If non-zero, it must be
+greater than or equal to the <code class="xref py py-obj docutils literal notranslate"><span class="pre">horizontal</span> <span class="pre">scale</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.horizontal_scale">
+<span class="sig-name descname"><span class="pre">horizontal_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.horizontal_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the x and y axes (in m). Defaults to 0.1.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.vertical_scale">
+<span class="sig-name descname"><span class="pre">vertical_scale</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.vertical_scale" title="Permalink to this definition">#</a></dt>
+<dd><p>The discretization of the terrain along the z axis (in m). Defaults to 0.005.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.slope_threshold">
+<span class="sig-name descname"><span class="pre">slope_threshold</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.slope_threshold" title="Permalink to this definition">#</a></dt>
+<dd><p>The slope threshold above which surfaces are made vertical. Defaults to None,
+in which case no correction is applied.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_height_max">
+<span class="sig-name descname"><span class="pre">stone_height_max</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_height_max" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum height of the stones (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_width_range">
+<span class="sig-name descname"><span class="pre">stone_width_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_width_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum width of the stones (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_distance_range">
+<span class="sig-name descname"><span class="pre">stone_distance_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_distance_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum distance between stones (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.holes_depth">
+<span class="sig-name descname"><span class="pre">holes_depth</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.holes_depth" title="Permalink to this definition">#</a></dt>
+<dd><p>The depth of the holes (negative obstacles). Defaults to -10.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+<section id="module-omni.isaac.lab.terrains.trimesh">
+<span id="trimesh-terrains"></span><h2>Trimesh terrains<a class="headerlink" href="#module-omni.isaac.lab.terrains.trimesh" title="Permalink to this heading">#</a></h2>
+<p>This sub-module provides methods to create different terrains using the <code class="docutils literal notranslate"><span class="pre">trimesh</span></code> library.</p>
+<p>In contrast to the height-field representation, the trimesh representation does not
+create arbitrarily small triangles. Instead, the terrain is represented as a single
+tri-mesh primitive. Thus, this representation is more computationally and memory
+efficient than the height-field representation, but it is not as flexible.</p>
+<section id="flat-terrain">
+<h3>Flat terrain<a class="headerlink" href="#flat-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">flat_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshPlaneTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#flat_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a flat terrain as a plane.</p>
+<a class="reference internal image-reference" href="../../../_images/flat_terrain.jpg"><img alt="../../../_images/flat_terrain.jpg" class="align-center" src="../../../_images/flat_terrain.jpg" style="width: 45%;" /></a>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The <code class="xref py py-obj docutils literal notranslate"><span class="pre">difficulty</span></code> parameter is ignored for this terrain.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshPlaneTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshPlaneTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a plane mesh terrain.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="pyramid-terrain">
+<h3>Pyramid terrain<a class="headerlink" href="#pyramid-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">pyramid_stairs_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshPyramidStairsTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#pyramid_stairs_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a pyramid stair pattern.</p>
+<p>The terrain is a pyramid stair pattern which trims to a flat platform at the center of the terrain.</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.holes</span></code> is True, the terrain will have pyramid stairs of length or width
+<code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.platform_width</span></code> (depending on the direction) with no steps in the remaining area. Additionally,
+no border will be added.</p>
+<a class="reference internal image-reference" href="../../../_images/pyramid_stairs_terrain1.jpg"><img alt="../../../_images/pyramid_stairs_terrain1.jpg" src="../../../_images/pyramid_stairs_terrain1.jpg" style="width: 45%;" /></a>
+<a class="reference internal image-reference" href="../../../_images/pyramid_stairs_terrain_with_holes.jpg"><img alt="../../../_images/pyramid_stairs_terrain_with_holes.jpg" src="../../../_images/pyramid_stairs_terrain_with_holes.jpg" style="width: 45%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshPyramidStairsTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshPyramidStairsTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a pyramid stair mesh terrain.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border around the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_height_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_height_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_height_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the steps (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_width</span></code></a></p></td>
+<td><p>The width of the steps (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">holes</span></code></a></p></td>
+<td><p>If True, the terrain will have holes in the steps.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border around the terrain (in m). Defaults to 0.0.</p>
+<p>The border is a flat terrain with the same height as the terrain.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_height_range">
+<span class="sig-name descname"><span class="pre">step_height_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_height_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the steps (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_width">
+<span class="sig-name descname"><span class="pre">step_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the steps (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes">
+<span class="sig-name descname"><span class="pre">holes</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes" title="Permalink to this definition">#</a></dt>
+<dd><p>If True, the terrain will have holes in the steps. Defaults to False.</p>
+<p>If <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">holes</span></code></a> is True, the terrain will have pyramid stairs of length or width
+<a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a> (depending on the direction) with no steps in the remaining area. Additionally,
+no border will be added.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="inverted-pyramid-terrain">
+<h3>Inverted pyramid terrain<a class="headerlink" href="#inverted-pyramid-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">inverted_pyramid_stairs_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#inverted_pyramid_stairs_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a inverted pyramid stair pattern.</p>
+<p>The terrain is an inverted pyramid stair pattern which trims to a flat platform at the center of the terrain.</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.holes</span></code> is True, the terrain will have pyramid stairs of length or width
+<code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.platform_width</span></code> (depending on the direction) with no steps in the remaining area. Additionally,
+no border will be added.</p>
+<a class="reference internal image-reference" href="../../../_images/inverted_pyramid_stairs_terrain1.jpg"><img alt="../../../_images/inverted_pyramid_stairs_terrain1.jpg" src="../../../_images/inverted_pyramid_stairs_terrain1.jpg" style="width: 45%;" /></a>
+<a class="reference internal image-reference" href="../../../_images/inverted_pyramid_stairs_terrain_with_holes.jpg"><img alt="../../../_images/inverted_pyramid_stairs_terrain_with_holes.jpg" src="../../../_images/inverted_pyramid_stairs_terrain_with_holes.jpg" style="width: 45%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshInvertedPyramidStairsTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshInvertedPyramidStairsTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg</span></code></a></p>
+<p>Configuration for an inverted pyramid stair mesh terrain.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is the same as <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg</span></code></a> except that the steps are inverted.</p>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">border_width</span></code></a></p></td>
+<td><p>The width of the border around the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_height_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_height_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_height_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the steps (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">step_width</span></code></a></p></td>
+<td><p>The width of the steps (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">holes</span></code></a></p></td>
+<td><p>If True, the terrain will have holes in the steps.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width">
+<span class="sig-name descname"><span class="pre">border_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the border around the terrain (in m). Defaults to 0.0.</p>
+<p>The border is a flat terrain with the same height as the terrain.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_height_range">
+<span class="sig-name descname"><span class="pre">step_height_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_height_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the steps (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_width">
+<span class="sig-name descname"><span class="pre">step_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the steps (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes">
+<span class="sig-name descname"><span class="pre">holes</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes" title="Permalink to this definition">#</a></dt>
+<dd><p>If True, the terrain will have holes in the steps. Defaults to False.</p>
+<p>If <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">holes</span></code></a> is True, the terrain will have pyramid stairs of length or width
+<a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a> (depending on the direction) with no steps in the remaining area. Additionally,
+no border will be added.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="random-grid-terrain">
+<h3>Random grid terrain<a class="headerlink" href="#random-grid-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">random_grid_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshRandomGridTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#random_grid_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with cells of random heights and fixed width.</p>
+<p>The terrain is generated in the x-y plane and has a height of 1.0. It is then divided into a grid of the
+specified size <code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.grid_width</span></code>. Each grid cell is then randomly shifted in the z-direction by a value uniformly
+sampled between <code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.grid_height_range</span></code>. At the center of the terrain, a platform of the specified width
+<code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.platform_width</span></code> is generated.</p>
+<p>If <code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg.holes</span></code> is True, the terrain will have randomized grid cells only along the plane extending
+from the platform (like a plus sign). The remaining area remains empty and no border will be added.</p>
+<a class="reference internal image-reference" href="../../../_images/random_grid_terrain.jpg"><img alt="../../../_images/random_grid_terrain.jpg" src="../../../_images/random_grid_terrain.jpg" style="width: 45%;" /></a>
+<a class="reference internal image-reference" href="../../../_images/random_grid_terrain_with_holes.jpg"><img alt="../../../_images/random_grid_terrain_with_holes.jpg" src="../../../_images/random_grid_terrain_with_holes.jpg" style="width: 45%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the terrain is not square. This method only supports square terrains.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the grid width is large such that the border width is negative.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshRandomGridTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshRandomGridTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a random grid mesh terrain.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">grid_width</span></code></a></p></td>
+<td><p>The width of the grid cells (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_height_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_height_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">grid_height_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the grid cells (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">holes</span></code></a></p></td>
+<td><p>If True, the terrain will have holes in the steps.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width">
+<span class="sig-name descname"><span class="pre">grid_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the grid cells (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_height_range">
+<span class="sig-name descname"><span class="pre">grid_height_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_height_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the grid cells (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes">
+<span class="sig-name descname"><span class="pre">holes</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes" title="Permalink to this definition">#</a></dt>
+<dd><p>If True, the terrain will have holes in the steps. Defaults to False.</p>
+<p>If <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes"><code class="xref py py-obj docutils literal notranslate"><span class="pre">holes</span></code></a> is True, the terrain will have randomized grid cells only along the plane extending
+from the platform (like a plus sign). The remaining area remains empty and no border will be added.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="rails-terrain">
+<h3>Rails terrain<a class="headerlink" href="#rails-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">rails_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshRailsTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#rails_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with box rails as extrusions.</p>
+<p>The terrain contains two sets of box rails created as extrusions. The first set  (inner rails) is extruded from
+the platform at the center of the terrain, and the second set is extruded between the first set of rails
+and the terrain border. Each set of rails is extruded to the same height.</p>
+<a class="reference internal image-reference" href="../../../_images/rails_terrain.jpg"><img alt="../../../_images/rails_terrain.jpg" class="align-center" src="../../../_images/rails_terrain.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. this is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshRailsTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshRailsTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a terrain with box rails as extrusions.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rail_thickness_range</span></code></a></p></td>
+<td><p>The thickness of the inner and outer rails (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_height_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_height_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">rail_height_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the rails (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range">
+<span class="sig-name descname"><span class="pre">rail_thickness_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The thickness of the inner and outer rails (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_height_range">
+<span class="sig-name descname"><span class="pre">rail_height_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_height_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the rails (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="pit-terrain">
+<h3>Pit terrain<a class="headerlink" href="#pit-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">pit_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshPitTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#pit_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a pit with levels (stairs) leading out of the pit.</p>
+<p>The terrain contains a platform at the center and a staircase leading out of the pit.
+The staircase is a series of steps that are aligned along the x- and y- axis. The steps are
+created by extruding a ring along the x- and y- axis. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">is_double_pit</span></code> is True, the pit
+contains two levels.</p>
+<a class="reference internal image-reference" href="../../../_images/pit_terrain.jpg"><img alt="../../../_images/pit_terrain.jpg" src="../../../_images/pit_terrain.jpg" style="width: 40%;" /></a>
+<a class="reference internal image-reference" href="../../../_images/pit_terrain_with_two_levels.jpg"><img alt="../../../_images/pit_terrain_with_two_levels.jpg" src="../../../_images/pit_terrain_with_two_levels.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshPitTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshPitTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a terrain with a pit that leads out of the pit.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">pit_depth_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the pit (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.double_pit" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.double_pit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">double_pit</span></code></a></p></td>
+<td><p>If True, the pit contains two levels of stairs.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range">
+<span class="sig-name descname"><span class="pre">pit_depth_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the pit (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.double_pit">
+<span class="sig-name descname"><span class="pre">double_pit</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.double_pit" title="Permalink to this definition">#</a></dt>
+<dd><p>If True, the pit contains two levels of stairs. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="box-terrain">
+<h3>Box terrain<a class="headerlink" href="#box-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">box_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshBoxTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#box_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with boxes (similar to a pyramid).</p>
+<p>The terrain has a ground with boxes on top of it that are stacked on top of each other.
+The boxes are created by extruding a rectangle along the z-axis. If <code class="xref py py-obj docutils literal notranslate"><span class="pre">double_box</span></code> is True,
+then two boxes of height <code class="xref py py-obj docutils literal notranslate"><span class="pre">box_height</span></code> are stacked on top of each other.</p>
+<a class="reference internal image-reference" href="../../../_images/box_terrain.jpg"><img alt="../../../_images/box_terrain.jpg" src="../../../_images/box_terrain.jpg" style="width: 40%;" /></a>
+<a class="reference internal image-reference" href="../../../_images/box_terrain_with_two_boxes.jpg"><img alt="../../../_images/box_terrain_with_two_boxes.jpg" src="../../../_images/box_terrain_with_two_boxes.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshBoxTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshBoxTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a terrain with boxes (similar to a pyramid).</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">box_height_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the box (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.double_box" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.double_box"><code class="xref py py-obj docutils literal notranslate"><span class="pre">double_box</span></code></a></p></td>
+<td><p>If True, the pit contains two levels of stairs/boxes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range">
+<span class="sig-name descname"><span class="pre">box_height_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the box (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.double_box">
+<span class="sig-name descname"><span class="pre">double_box</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.double_box" title="Permalink to this definition">#</a></dt>
+<dd><p>If True, the pit contains two levels of stairs/boxes. Defaults to False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="gap-terrain">
+<h3>Gap terrain<a class="headerlink" href="#gap-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">gap_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshGapTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#gap_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a gap around the platform.</p>
+<p>The terrain has a ground with a platform in the middle. The platform is surrounded by a gap
+of width <code class="xref py py-obj docutils literal notranslate"><span class="pre">gap_width</span></code> on all sides.</p>
+<a class="reference internal image-reference" href="../../../_images/gap_terrain.jpg"><img alt="../../../_images/gap_terrain.jpg" class="align-center" src="../../../_images/gap_terrain.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshGapTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshGapTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a terrain with a gap around the platform.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gap_width_range</span></code></a></p></td>
+<td><p>The minimum and maximum width of the gap (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range">
+<span class="sig-name descname"><span class="pre">gap_width_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum width of the gap (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="floating-ring-terrain">
+<h3>Floating ring terrain<a class="headerlink" href="#floating-ring-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">floating_ring_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshFloatingRingTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#floating_ring_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a floating square ring.</p>
+<p>The terrain has a ground with a floating ring in the middle. The ring extends from the center from
+<code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code> to <code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code> + <code class="xref py py-obj docutils literal notranslate"><span class="pre">ring_width</span></code> in the x and y directions.
+The thickness of the ring is <code class="xref py py-obj docutils literal notranslate"><span class="pre">ring_thickness</span></code> and the height of the ring from the terrain
+is <code class="xref py py-obj docutils literal notranslate"><span class="pre">ring_height</span></code>.</p>
+<a class="reference internal image-reference" href="../../../_images/floating_ring_terrain.jpg"><img alt="../../../_images/floating_ring_terrain.jpg" class="align-center" src="../../../_images/floating_ring_terrain.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshFloatingRingTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshFloatingRingTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a terrain with a floating ring around the center.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ring_width_range</span></code></a></p></td>
+<td><p>The minimum and maximum width of the ring (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_height_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_height_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ring_height_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the ring (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_thickness" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_thickness"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ring_thickness</span></code></a></p></td>
+<td><p>The thickness (along z) of the ring (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the square platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range">
+<span class="sig-name descname"><span class="pre">ring_width_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum width of the ring (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_height_range">
+<span class="sig-name descname"><span class="pre">ring_height_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_height_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the ring (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_thickness">
+<span class="sig-name descname"><span class="pre">ring_thickness</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_thickness" title="Permalink to this definition">#</a></dt>
+<dd><p>The thickness (along z) of the ring (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the square platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="star-terrain">
+<h3>Star terrain<a class="headerlink" href="#star-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">star_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshStarTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#star_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a star.</p>
+<p>The terrain has a ground with a cylinder in the middle. The star is made of <code class="xref py py-obj docutils literal notranslate"><span class="pre">num_bars</span></code> bars
+with a width of <code class="xref py py-obj docutils literal notranslate"><span class="pre">bar_width</span></code> and a height of <code class="xref py py-obj docutils literal notranslate"><span class="pre">bar_height</span></code>. The bars are evenly
+spaced around the cylinder and connect to the peripheral of the terrain.</p>
+<a class="reference internal image-reference" href="../../../_images/star_terrain.jpg"><img alt="../../../_images/star_terrain.jpg" class="align-center" src="../../../_images/star_terrain.jpg" style="width: 40%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If <code class="xref py py-obj docutils literal notranslate"><span class="pre">num_bars</span></code> is less than 2.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshStarTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshStarTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>Configuration for a terrain with a star pattern.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_bars</span></code></a></p></td>
+<td><p>The number of bars per-side the star.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_width_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_width_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bar_width_range</span></code></a></p></td>
+<td><p>The minimum and maximum width of the bars in the star (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_height_range" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_height_range"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bar_height_range</span></code></a></p></td>
+<td><p>The minimum and maximum height of the bars in the star (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the cylindrical platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars">
+<span class="sig-name descname"><span class="pre">num_bars</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of bars per-side the star. Must be greater than 2.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_width_range">
+<span class="sig-name descname"><span class="pre">bar_width_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_width_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum width of the bars in the star (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_height_range">
+<span class="sig-name descname"><span class="pre">bar_height_range</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_height_range" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum and maximum height of the bars in the star (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the cylindrical platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="repeated-objects-terrain">
+<h3>Repeated Objects Terrain<a class="headerlink" href="#repeated-objects-terrain" title="Permalink to this heading">#</a></h3>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains.</span></span><span class="sig-name descname"><span class="pre">repeated_objects_terrain</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">difficulty</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg"><span class="pre">mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">np.ndarray</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains.html#repeated_objects_terrain"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain" title="Permalink to this definition">#</a></dt>
+<dd><p>Generate a terrain with a set of repeated objects.</p>
+<p>The terrain has a ground with a platform in the middle. The objects are randomly placed on the
+terrain s.t. they do not overlap with the platform.</p>
+<p>Depending on the object type, the objects are generated with different parameters. The objects
+The types of objects that can be generated are: <code class="docutils literal notranslate"><span class="pre">&quot;cylinder&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;box&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;cone&quot;</span></code>.</p>
+<p>The object parameters are specified in the configuration as curriculum parameters. The difficulty
+is used to linearly interpolate between the minimum and maximum values of the parameters.</p>
+<a class="reference internal image-reference" href="../../../_images/repeated_objects_cylinder_terrain.jpg"><img alt="../../../_images/repeated_objects_cylinder_terrain.jpg" src="../../../_images/repeated_objects_cylinder_terrain.jpg" style="width: 30%;" /></a>
+<a class="reference internal image-reference" href="../../../_images/repeated_objects_box_terrain.jpg"><img alt="../../../_images/repeated_objects_box_terrain.jpg" src="../../../_images/repeated_objects_box_terrain.jpg" style="width: 30%;" /></a>
+<a class="reference internal image-reference" href="../../../_images/repeated_objects_pyramid_terrain.jpg"><img alt="../../../_images/repeated_objects_pyramid_terrain.jpg" src="../../../_images/repeated_objects_pyramid_terrain.jpg" style="width: 30%;" /></a>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>difficulty</strong> – The difficulty of the terrain. This is a value between 0 and 1.</p></li>
+<li><p><strong>cfg</strong> – The configuration for the terrain.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m).</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the object type is not supported. It must be either a string or a callable.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshRepeatedObjectsTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshRepeatedObjectsTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg" title="omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a></p>
+<p>Base configuration for a terrain with repeated objects.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ObjectCfg</span></code></a></p></td>
+<td><p>Configuration of repeated objects.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_type</span></code></a></p></td>
+<td><p>The type of object to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_start" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_start"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_params_start</span></code></a></p></td>
+<td><p>The object curriculum parameters at the start of the curriculum.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_end" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_end"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_params_end</span></code></a></p></td>
+<td><p>The object curriculum parameters at the end of the curriculum.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.max_height_noise" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.max_height_noise"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_height_noise</span></code></a></p></td>
+<td><p>The maximum amount of noise to add to the height of the objects (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the cylindrical platform at the center of the terrain.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">ObjectCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshRepeatedObjectsTerrainCfg.ObjectCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration of repeated objects.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_objects</span></code></a></p></td>
+<td><p>The number of objects to add to the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.height" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>The height (along z) of the object (in m).</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects">
+<span class="sig-name descname"><span class="pre">num_objects</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of objects to add to the terrain.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>The height (along z) of the object (in m).</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type">
+<span class="sig-name descname"><span class="pre">object_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'cylinder'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'box'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'cone'</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">callable</span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The type of object to generate.</p>
+<p>The type can be a string or a callable. If it is a string, the function will look for a function called
+<code class="docutils literal notranslate"><span class="pre">make_{object_type}</span></code> in the current module scope. If it is a callable, the function will
+use the callable to generate the object.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_start">
+<span class="sig-name descname"><span class="pre">object_params_start</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg"><span class="pre">ObjectCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_start" title="Permalink to this definition">#</a></dt>
+<dd><p>The object curriculum parameters at the start of the curriculum.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_end">
+<span class="sig-name descname"><span class="pre">object_params_end</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg"><span class="pre">ObjectCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_end" title="Permalink to this definition">#</a></dt>
+<dd><p>The object curriculum parameters at the end of the curriculum.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.max_height_noise">
+<span class="sig-name descname"><span class="pre">max_height_noise</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.max_height_noise" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum amount of noise to add to the height of the objects (in m). Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the cylindrical platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshRepeatedPyramidsTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshRepeatedPyramidsTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg</span></code></a></p>
+<p>Configuration for a terrain with repeated pyramids.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.max_height_noise" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.max_height_noise"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_height_noise</span></code></a></p></td>
+<td><p>The maximum amount of noise to add to the height of the objects (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the cylindrical platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_type</span></code></a></p></td>
+<td><p>The type of object to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_start" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_start"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_params_start</span></code></a></p></td>
+<td><p>The object curriculum parameters at the start of the curriculum.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_end" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_end"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_params_end</span></code></a></p></td>
+<td><p>The object curriculum parameters at the end of the curriculum.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ObjectCfg</span></code></a></p></td>
+<td><p>Configuration for a curriculum of repeated pyramids.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.max_height_noise">
+<span class="sig-name descname"><span class="pre">max_height_noise</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.max_height_noise" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum amount of noise to add to the height of the objects (in m). Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the cylindrical platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">ObjectCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshRepeatedPyramidsTerrainCfg.ObjectCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObjectCfg</span></code></a></p>
+<p>Configuration for a curriculum of repeated pyramids.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_objects</span></code></a></p></td>
+<td><p>The number of objects to add to the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>The height (along z) of the object (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>The radius of the pyramids (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_yx_angle</span></code></a></p></td>
+<td><p>The maximum angle along the y and x axis.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees"><code class="xref py py-obj docutils literal notranslate"><span class="pre">degrees</span></code></a></p></td>
+<td><p>Whether the angle is in degrees.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects">
+<span class="sig-name descname"><span class="pre">num_objects</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of objects to add to the terrain.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>The height (along z) of the object (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>The radius of the pyramids (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle">
+<span class="sig-name descname"><span class="pre">max_yx_angle</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum angle along the y and x axis. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees">
+<span class="sig-name descname"><span class="pre">degrees</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the angle is in degrees. Defaults to True.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type">
+<span class="sig-name descname"><span class="pre">object_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'cylinder'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'box'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'cone'</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">callable</span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The type of object to generate.</p>
+<p>The type can be a string or a callable. If it is a string, the function will look for a function called
+<code class="docutils literal notranslate"><span class="pre">make_{object_type}</span></code> in the current module scope. If it is a callable, the function will
+use the callable to generate the object.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_start">
+<span class="sig-name descname"><span class="pre">object_params_start</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg"><span class="pre">ObjectCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_start" title="Permalink to this definition">#</a></dt>
+<dd><p>The object curriculum parameters at the start of the curriculum.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_end">
+<span class="sig-name descname"><span class="pre">object_params_end</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg"><span class="pre">ObjectCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_end" title="Permalink to this definition">#</a></dt>
+<dd><p>The object curriculum parameters at the end of the curriculum.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshRepeatedBoxesTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshRepeatedBoxesTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg</span></code></a></p>
+<p>Configuration for a terrain with repeated boxes.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.max_height_noise" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.max_height_noise"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_height_noise</span></code></a></p></td>
+<td><p>The maximum amount of noise to add to the height of the objects (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the cylindrical platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_type</span></code></a></p></td>
+<td><p>The type of object to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_start" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_start"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_params_start</span></code></a></p></td>
+<td><p>The box curriculum parameters at the start of the curriculum.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_end" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_end"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_params_end</span></code></a></p></td>
+<td><p>The box curriculum parameters at the end of the curriculum.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ObjectCfg</span></code></a></p></td>
+<td><p>Configuration for repeated boxes.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.max_height_noise">
+<span class="sig-name descname"><span class="pre">max_height_noise</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.max_height_noise" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum amount of noise to add to the height of the objects (in m). Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the cylindrical platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">ObjectCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshRepeatedBoxesTerrainCfg.ObjectCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObjectCfg</span></code></a></p>
+<p>Configuration for repeated boxes.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_objects</span></code></a></p></td>
+<td><p>The number of objects to add to the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.height" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>The height (along z) of the object (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the box (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_yx_angle</span></code></a></p></td>
+<td><p>The maximum angle along the y and x axis.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees"><code class="xref py py-obj docutils literal notranslate"><span class="pre">degrees</span></code></a></p></td>
+<td><p>Whether the angle is in degrees.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects">
+<span class="sig-name descname"><span class="pre">num_objects</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of objects to add to the terrain.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>The height (along z) of the object (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the box (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle">
+<span class="sig-name descname"><span class="pre">max_yx_angle</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum angle along the y and x axis. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees">
+<span class="sig-name descname"><span class="pre">degrees</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the angle is in degrees. Defaults to True.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type">
+<span class="sig-name descname"><span class="pre">object_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'cylinder'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'box'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'cone'</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">callable</span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The type of object to generate.</p>
+<p>The type can be a string or a callable. If it is a string, the function will look for a function called
+<code class="docutils literal notranslate"><span class="pre">make_{object_type}</span></code> in the current module scope. If it is a callable, the function will
+use the callable to generate the object.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_start">
+<span class="sig-name descname"><span class="pre">object_params_start</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg"><span class="pre">ObjectCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_start" title="Permalink to this definition">#</a></dt>
+<dd><p>The box curriculum parameters at the start of the curriculum.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_end">
+<span class="sig-name descname"><span class="pre">object_params_end</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg"><span class="pre">ObjectCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_end" title="Permalink to this definition">#</a></dt>
+<dd><p>The box curriculum parameters at the end of the curriculum.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.</span></span><span class="sig-name descname"><span class="pre">MeshRepeatedCylindersTerrainCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshRepeatedCylindersTerrainCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg</span></code></a></p>
+<p>Configuration for a terrain with repeated cylinders.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">proportion</span></code></a></p></td>
+<td><p>Proportion of the terrain to generate.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.size" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">size</span></code></a></p></td>
+<td><p>The width (along x) and length (along y) of the terrain (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flat_patch_sampling</span></code></a></p></td>
+<td><p>Dictionary of configurations for sampling flat patches on the sub-terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.max_height_noise" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.max_height_noise"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_height_noise</span></code></a></p></td>
+<td><p>The maximum amount of noise to add to the height of the objects (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.platform_width" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.platform_width"><code class="xref py py-obj docutils literal notranslate"><span class="pre">platform_width</span></code></a></p></td>
+<td><p>The width of the cylindrical platform at the center of the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_type</span></code></a></p></td>
+<td><p>The type of object to generate.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_start" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_start"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_params_start</span></code></a></p></td>
+<td><p>The box curriculum parameters at the start of the curriculum.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_end" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_end"><code class="xref py py-obj docutils literal notranslate"><span class="pre">object_params_end</span></code></a></p></td>
+<td><p>The box curriculum parameters at the end of the curriculum.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ObjectCfg</span></code></a></p></td>
+<td><p>Configuration for repeated cylinder.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion">
+<span class="sig-name descname"><span class="pre">proportion</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion" title="Permalink to this definition">#</a></dt>
+<dd><p>Proportion of the terrain to generate. Defaults to 1.0.</p>
+<p>This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling
+the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7,
+respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B
+is 0.7.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.size">
+<span class="sig-name descname"><span class="pre">size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.size" title="Permalink to this definition">#</a></dt>
+<dd><p>The width (along x) and length (along y) of the terrain (in m). Defaults to (10.0, 10.0).</p>
+<p>In case the <a class="reference internal" href="#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> is used, this parameter gets overridden by
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.TerrainImporterCfg.size</span></code> attribute.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling">
+<span class="sig-name descname"><span class="pre">flat_patch_sampling</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">FlatPatchSamplingCfg</span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None,
+in which case no flat patch sampling is performed.</p>
+<p>The keys correspond to the name of the flat patch sampling configuration and the values are the
+corresponding configurations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.max_height_noise">
+<span class="sig-name descname"><span class="pre">max_height_noise</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.max_height_noise" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum amount of noise to add to the height of the objects (in m). Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.platform_width">
+<span class="sig-name descname"><span class="pre">platform_width</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.platform_width" title="Permalink to this definition">#</a></dt>
+<dd><p>The width of the cylindrical platform at the center of the terrain. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">ObjectCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.html#MeshRepeatedCylindersTerrainCfg.ObjectCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObjectCfg</span></code></a></p>
+<p>Configuration for repeated cylinder.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_objects</span></code></a></p></td>
+<td><p>The number of objects to add to the terrain.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.height" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">height</span></code></a></p></td>
+<td><p>The height (along z) of the object (in m).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius"><code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code></a></p></td>
+<td><p>The radius of the pyramids (in m).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_yx_angle</span></code></a></p></td>
+<td><p>The maximum angle along the y and x axis.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees"><code class="xref py py-obj docutils literal notranslate"><span class="pre">degrees</span></code></a></p></td>
+<td><p>Whether the angle is in degrees.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects">
+<span class="sig-name descname"><span class="pre">num_objects</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of objects to add to the terrain.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.height">
+<span class="sig-name descname"><span class="pre">height</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.height" title="Permalink to this definition">#</a></dt>
+<dd><p>The height (along z) of the object (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius">
+<span class="sig-name descname"><span class="pre">radius</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius" title="Permalink to this definition">#</a></dt>
+<dd><p>The radius of the pyramids (in m).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle">
+<span class="sig-name descname"><span class="pre">max_yx_angle</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum angle along the y and x axis. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees">
+<span class="sig-name descname"><span class="pre">degrees</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether the angle is in degrees. Defaults to True.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type">
+<span class="sig-name descname"><span class="pre">object_type</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'cylinder'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'box'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'cone'</span></span><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">callable</span></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type" title="Permalink to this definition">#</a></dt>
+<dd><p>The type of object to generate.</p>
+<p>The type can be a string or a callable. If it is a string, the function will look for a function called
+<code class="docutils literal notranslate"><span class="pre">make_{object_type}</span></code> in the current module scope. If it is a callable, the function will
+use the callable to generate the object.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_start">
+<span class="sig-name descname"><span class="pre">object_params_start</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg"><span class="pre">ObjectCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_start" title="Permalink to this definition">#</a></dt>
+<dd><p>The box curriculum parameters at the start of the curriculum.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_end">
+<span class="sig-name descname"><span class="pre">object_params_end</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg" title="omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg"><span class="pre">ObjectCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_end" title="Permalink to this definition">#</a></dt>
+<dd><p>The box curriculum parameters at the end of the curriculum.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+<section id="module-omni.isaac.lab.terrains.utils">
+<span id="utilities"></span><h2>Utilities<a class="headerlink" href="#module-omni.isaac.lab.terrains.utils" title="Permalink to this heading">#</a></h2>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.utils.color_meshes_by_height" title="omni.isaac.lab.terrains.utils.color_meshes_by_height"><code class="xref py py-obj docutils literal notranslate"><span class="pre">color_meshes_by_height</span></code></a>(meshes, **kwargs)</p></td>
+<td><p>Color the vertices of a trimesh object based on the z-coordinate (height) of each vertex, using the Turbo colormap.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.utils.create_prim_from_mesh" title="omni.isaac.lab.terrains.utils.create_prim_from_mesh"><code class="xref py py-obj docutils literal notranslate"><span class="pre">create_prim_from_mesh</span></code></a>(prim_path, mesh, **kwargs)</p></td>
+<td><p>Create a USD prim with mesh defined from vertices and triangles.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.terrains.utils.find_flat_patches" title="omni.isaac.lab.terrains.utils.find_flat_patches"><code class="xref py py-obj docutils literal notranslate"><span class="pre">find_flat_patches</span></code></a>(wp_mesh, num_patches, ...)</p></td>
+<td><p>Finds flat patches of given radius in the input mesh.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.utils.color_meshes_by_height">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.utils.</span></span><span class="sig-name descname"><span class="pre">color_meshes_by_height</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">meshes</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><span class="pre">trimesh.Trimesh</span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">trimesh.Trimesh</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/utils.html#color_meshes_by_height"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.utils.color_meshes_by_height" title="Permalink to this definition">#</a></dt>
+<dd><p>Color the vertices of a trimesh object based on the z-coordinate (height) of each vertex,
+using the Turbo colormap. If the z-coordinates are all the same, the vertices will be colored
+with a single color.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>meshes</strong> – A list of trimesh objects.</p>
+</dd>
+<dt class="field-even">Keyword Arguments<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><strong>color</strong> – A list of 3 integers in the range [0,255] representing the RGB
+color of the mesh. Used when the z-coordinates of all vertices are the same.
+Defaults to [172, 216, 230].</p></li>
+<li><p><strong>color_map</strong> – The name of the color map to be used. Defaults to “turbo”.</p></li>
+</ul>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A trimesh object with the vertices colored based on the z-coordinate (height) of each vertex.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.utils.create_prim_from_mesh">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.utils.</span></span><span class="sig-name descname"><span class="pre">create_prim_from_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prim_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">mesh</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">trimesh.Trimesh</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/utils.html#create_prim_from_mesh"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.utils.create_prim_from_mesh" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a USD prim with mesh defined from vertices and triangles.</p>
+<p>The function creates a USD prim with a mesh defined from vertices and triangles. It performs the
+following steps:</p>
+<ul class="simple">
+<li><p>Create a USD Xform prim at the path <code class="xref py py-obj docutils literal notranslate"><span class="pre">prim_path</span></code>.</p></li>
+<li><p>Create a USD prim with a mesh defined from the input vertices and triangles at the path <code class="xref py py-obj docutils literal notranslate"><span class="pre">{prim_path}/mesh</span></code>.</p></li>
+<li><p>Assign a physics material to the mesh at the path <code class="xref py py-obj docutils literal notranslate"><span class="pre">{prim_path}/physicsMaterial</span></code>.</p></li>
+<li><p>Assign a visual material to the mesh at the path <code class="xref py py-obj docutils literal notranslate"><span class="pre">{prim_path}/visualMaterial</span></code>.</p></li>
+</ul>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>prim_path</strong> – The path to the primitive to be created.</p></li>
+<li><p><strong>mesh</strong> – The mesh to be used for the primitive.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Keyword Arguments<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><strong>translation</strong> – The translation of the terrain. Defaults to None.</p></li>
+<li><p><strong>orientation</strong> – The orientation of the terrain. Defaults to None.</p></li>
+<li><p><strong>visual_material</strong> – The visual material to apply. Defaults to None.</p></li>
+<li><p><strong>physics_material</strong> – The physics material to apply. Defaults to None.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.terrains.utils.find_flat_patches">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.terrains.utils.</span></span><span class="sig-name descname"><span class="pre">find_flat_patches</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">wp_mesh</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">wp.Mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_patches</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">patch_radius</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">origin</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">np.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">x_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_height_diff</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/terrains/utils.html#find_flat_patches"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.terrains.utils.find_flat_patches" title="Permalink to this definition">#</a></dt>
+<dd><p>Finds flat patches of given radius in the input mesh.</p>
+<p>The function finds flat patches of given radius based on the search space defined by the input ranges.
+The search space is characterized by origin in the mesh frame, and the x, y, and z ranges. The x and y
+ranges are used to sample points in the 2D region around the origin, and the z range is used to filter
+patches based on the height of the points.</p>
+<p>The function performs rejection sampling to find the patches based on the following steps:</p>
+<ol class="arabic simple">
+<li><p>Sample patch locations in the 2D region around the origin.</p></li>
+<li><p>Define a ring of points around each patch location to query the height of the points using ray-casting.</p></li>
+<li><p>Reject patches that are outside the z range or have a height difference that is too large.</p></li>
+<li><p>Keep sampling until all patches are valid.</p></li>
+</ol>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>wp_mesh</strong> – The warp mesh to find patches in.</p></li>
+<li><p><strong>num_patches</strong> – The desired number of patches to find.</p></li>
+<li><p><strong>patch_radius</strong> – The radii used to form patches. If a list is provided, multiple patch sizes are checked.
+This is useful to deal with holes or other artifacts in the mesh.</p></li>
+<li><p><strong>origin</strong> – The origin defining the center of the search space. This is specified in the mesh frame.</p></li>
+<li><p><strong>x_range</strong> – The range of X coordinates to sample from.</p></li>
+<li><p><strong>y_range</strong> – The range of Y coordinates to sample from.</p></li>
+<li><p><strong>z_range</strong> – The range of valid Z coordinates used for filtering patches.</p></li>
+<li><p><strong>max_height_diff</strong> – The maximum allowable distance between the lowest and highest points
+on a patch to consider it as valid. If the difference is greater than this value,
+the patch is rejected.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tensor of shape (num_patches, 3) containing the flat patches. The patches are defined in the mesh frame.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the function fails to find valid patches. This can happen if the input parameters
+    are not suitable for finding valid patches and maximum number of iterations is reached.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
+
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+  <div class="sidebar-secondary-item">
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+    <i class="fa-solid fa-list"></i> Contents
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#terrain-importer">Terrain importer</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter"><code class="docutils literal notranslate"><span class="pre">TerrainImporter</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.__init__"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.meshes"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.meshes</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.warp_meshes"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.warp_meshes</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.env_origins"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.env_origins</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.terrain_origins"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.terrain_origins</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.has_debug_vis_implementation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.flat_patches"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.flat_patches</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.set_debug_vis"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.set_debug_vis()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.import_ground_plane"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.import_ground_plane()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.import_mesh"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.import_mesh()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.import_usd"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.import_usd()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.configure_env_origins"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.configure_env_origins()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporter.update_env_origins"><code class="docutils literal notranslate"><span class="pre">TerrainImporter.update_env_origins()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.collision_group"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.collision_group</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.prim_path"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.prim_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.num_envs"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.terrain_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.terrain_generator</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.usd_path"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.usd_path</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.env_spacing</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.visual_material"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.visual_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.physics_material"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.physics_material</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.max_init_terrain_level</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainImporterCfg.debug_vis"><code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg.debug_vis</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#terrain-generator">Terrain generator</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator.__init__"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator.flat_patches"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator.flat_patches</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_meshes"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator.terrain_meshes</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_origins"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator.terrain_origins</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGenerator.terrain_mesh"><code class="docutils literal notranslate"><span class="pre">TerrainGenerator.terrain_mesh</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.seed"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.curriculum</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.size"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.border_width"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.border_width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.border_height"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.border_height</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.num_rows"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.num_rows</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.num_cols"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.num_cols</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.color_scheme</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.vertical_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.slope_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.sub_terrains</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.difficulty_range</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.use_cache</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.TerrainGeneratorCfg.cache_dir"><code class="docutils literal notranslate"><span class="pre">TerrainGeneratorCfg.cache_dir</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg"><code class="docutils literal notranslate"><span class="pre">SubTerrainBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.function"><code class="docutils literal notranslate"><span class="pre">SubTerrainBaseCfg.function</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion"><code class="docutils literal notranslate"><span class="pre">SubTerrainBaseCfg.proportion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.size"><code class="docutils literal notranslate"><span class="pre">SubTerrainBaseCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">SubTerrainBaseCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.terrains.height_field">Height fields</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.border_width</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.vertical_scale</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.slope_threshold</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.proportion</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfTerrainBaseCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#random-uniform-terrain">Random Uniform Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain"><code class="docutils literal notranslate"><span class="pre">random_uniform_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.noise_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_step"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.noise_step</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.downsampled_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfRandomUniformTerrainCfg.slope_threshold</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#pyramid-sloped-terrain">Pyramid Sloped Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain"><code class="docutils literal notranslate"><span class="pre">pyramid_sloped_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.slope_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.inverted</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfPyramidSlopedTerrainCfg.slope_threshold</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.inverted</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.slope_threshold</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_range"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.slope_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidSlopedTerrainCfg.platform_width</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#pyramid-stairs-terrain">Pyramid Stairs Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain"><code class="docutils literal notranslate"><span class="pre">pyramid_stairs_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.step_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_width"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.step_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.inverted</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfPyramidStairsTerrainCfg.slope_threshold</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.inverted</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.slope_threshold</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_height_range"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.step_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_width"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.step_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfInvertedPyramidStairsTerrainCfg.platform_width</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#discrete-obstacles-terrain">Discrete Obstacles Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain"><code class="docutils literal notranslate"><span class="pre">discrete_obstacles_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.obstacle_height_mode</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.slope_threshold</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_width_range"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.obstacle_width_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_range"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.obstacle_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.num_obstacles"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.num_obstacles</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfDiscreteObstaclesTerrainCfg.platform_width</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#wave-terrain">Wave Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain"><code class="docutils literal notranslate"><span class="pre">wave_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.slope_threshold</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.amplitude_range"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.amplitude_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.num_waves"><code class="docutils literal notranslate"><span class="pre">HfWaveTerrainCfg.num_waves</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#stepping-stones-terrain">Stepping Stones Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain"><code class="docutils literal notranslate"><span class="pre">stepping_stones_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.horizontal_scale"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.horizontal_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.vertical_scale"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.vertical_scale</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.slope_threshold"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.slope_threshold</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_height_max"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.stone_height_max</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_width_range"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.stone_width_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_distance_range"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.stone_distance_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.holes_depth"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.holes_depth</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">HfSteppingStonesTerrainCfg.platform_width</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.terrains.trimesh">Trimesh terrains</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#flat-terrain">Flat terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain"><code class="docutils literal notranslate"><span class="pre">flat_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshPlaneTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshPlaneTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshPlaneTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshPlaneTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#pyramid-terrain">Pyramid terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain"><code class="docutils literal notranslate"><span class="pre">pyramid_stairs_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_height_range"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.step_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_width"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.step_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.holes</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshPyramidStairsTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#inverted-pyramid-terrain">Inverted pyramid terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain"><code class="docutils literal notranslate"><span class="pre">inverted_pyramid_stairs_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.border_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_height_range"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.step_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_width"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.step_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes"><code class="docutils literal notranslate"><span class="pre">MeshInvertedPyramidStairsTerrainCfg.holes</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#random-grid-terrain">Random grid terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain"><code class="docutils literal notranslate"><span class="pre">random_grid_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.grid_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_height_range"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.grid_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.holes</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRandomGridTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#rails-terrain">Rails terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain"><code class="docutils literal notranslate"><span class="pre">rails_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.rail_thickness_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_height_range"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.rail_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRailsTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#pit-terrain">Pit terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain"><code class="docutils literal notranslate"><span class="pre">pit_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.pit_depth_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.double_pit"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.double_pit</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshPitTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#box-terrain">Box terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain"><code class="docutils literal notranslate"><span class="pre">box_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.box_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.double_box"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.double_box</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshBoxTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#gap-terrain">Gap terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain"><code class="docutils literal notranslate"><span class="pre">gap_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg.gap_width_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshGapTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#floating-ring-terrain">Floating ring terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain"><code class="docutils literal notranslate"><span class="pre">floating_ring_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.ring_width_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_height_range"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.ring_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_thickness"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.ring_thickness</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshFloatingRingTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#star-terrain">Star terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain"><code class="docutils literal notranslate"><span class="pre">star_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.num_bars</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_width_range"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.bar_width_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_height_range"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.bar_height_range</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshStarTerrainCfg.flat_patch_sampling</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#repeated-objects-terrain">Repeated Objects Terrain</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain"><code class="docutils literal notranslate"><span class="pre">repeated_objects_terrain()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.ObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.ObjectCfg.height</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.object_type</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_start"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.object_params_start</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_end"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.object_params_end</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.max_height_noise"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.max_height_noise</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedObjectsTerrainCfg.platform_width</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.max_height_noise"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.max_height_noise</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.object_type</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_start"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.object_params_start</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_end"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedPyramidsTerrainCfg.object_params_end</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.max_height_noise"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.max_height_noise</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg.height</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg.size</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.object_type</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_start"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.object_params_start</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_end"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedBoxesTerrainCfg.object_params_end</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.proportion</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.size"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.size</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.flat_patch_sampling</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.max_height_noise"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.max_height_noise</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.platform_width"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.platform_width</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.height"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg.height</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle</span></code></a></li>
+<li class="toc-h6 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.object_type</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_start"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.object_params_start</span></code></a></li>
+<li class="toc-h5 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_end"><code class="docutils literal notranslate"><span class="pre">MeshRepeatedCylindersTerrainCfg.object_params_end</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.terrains.utils">Utilities</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.utils.color_meshes_by_height"><code class="docutils literal notranslate"><span class="pre">color_meshes_by_height()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.utils.create_prim_from_mesh"><code class="docutils literal notranslate"><span class="pre">create_prim_from_mesh()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.terrains.utils.find_flat_patches"><code class="docutils literal notranslate"><span class="pre">find_flat_patches()</span></code></a></li>
+</ul>
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+    <h1>omni.isaac.lab.utils</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.configclass">Configuration class</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.configclass.configclass"><code class="docutils literal notranslate"><span class="pre">configclass()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.io">IO operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.io.dump_pickle"><code class="docutils literal notranslate"><span class="pre">dump_pickle()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.io.load_pickle"><code class="docutils literal notranslate"><span class="pre">load_pickle()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.io.dump_yaml"><code class="docutils literal notranslate"><span class="pre">dump_yaml()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.io.load_yaml"><code class="docutils literal notranslate"><span class="pre">load_yaml()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.array">Array operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.array.TensorData"><code class="docutils literal notranslate"><span class="pre">TensorData</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.array.TENSOR_TYPES"><code class="docutils literal notranslate"><span class="pre">TENSOR_TYPES</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS"><code class="docutils literal notranslate"><span class="pre">TENSOR_TYPE_CONVERSIONS</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.array.convert_to_torch"><code class="docutils literal notranslate"><span class="pre">convert_to_torch()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.assets">Asset operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR"><code class="docutils literal notranslate"><span class="pre">NUCLEUS_ASSET_ROOT_DIR</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR"><code class="docutils literal notranslate"><span class="pre">NVIDIA_NUCLEUS_DIR</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.ISAAC_NUCLEUS_DIR"><code class="docutils literal notranslate"><span class="pre">ISAAC_NUCLEUS_DIR</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.ISAACLAB_NUCLEUS_DIR"><code class="docutils literal notranslate"><span class="pre">ISAACLAB_NUCLEUS_DIR</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.check_file_path"><code class="docutils literal notranslate"><span class="pre">check_file_path()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.retrieve_file_path"><code class="docutils literal notranslate"><span class="pre">retrieve_file_path()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.read_file"><code class="docutils literal notranslate"><span class="pre">read_file()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.buffers">Buffer operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer"><code class="docutils literal notranslate"><span class="pre">CircularBuffer</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.__init__"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.batch_size"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.batch_size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.device"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.max_length"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.max_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.current_length"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.current_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.buffer"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.buffer</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.reset"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.append"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.append()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer"><code class="docutils literal notranslate"><span class="pre">DelayBuffer</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.__init__"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.batch_size"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.batch_size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.device"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.history_length"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.min_time_lag</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.max_time_lag</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.time_lags"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.time_lags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.set_time_lag"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.set_time_lag()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.reset"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.compute"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer"><code class="docutils literal notranslate"><span class="pre">TimestampedBuffer</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.data"><code class="docutils literal notranslate"><span class="pre">TimestampedBuffer.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.__init__"><code class="docutils literal notranslate"><span class="pre">TimestampedBuffer.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.timestamp"><code class="docutils literal notranslate"><span class="pre">TimestampedBuffer.timestamp</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.dict">Dictionary operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.class_to_dict"><code class="docutils literal notranslate"><span class="pre">class_to_dict()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.update_class_from_dict"><code class="docutils literal notranslate"><span class="pre">update_class_from_dict()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.dict_to_md5_hash"><code class="docutils literal notranslate"><span class="pre">dict_to_md5_hash()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.convert_dict_to_backend"><code class="docutils literal notranslate"><span class="pre">convert_dict_to_backend()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.update_dict"><code class="docutils literal notranslate"><span class="pre">update_dict()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.replace_slices_with_strings"><code class="docutils literal notranslate"><span class="pre">replace_slices_with_strings()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.replace_strings_with_slices"><code class="docutils literal notranslate"><span class="pre">replace_strings_with_slices()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.print_dict"><code class="docutils literal notranslate"><span class="pre">print_dict()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.interpolation">Interpolation operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation"><code class="docutils literal notranslate"><span class="pre">LinearInterpolation</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation.__init__"><code class="docutils literal notranslate"><span class="pre">LinearInterpolation.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation.compute"><code class="docutils literal notranslate"><span class="pre">LinearInterpolation.compute()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.math">Math operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.scale_transform"><code class="docutils literal notranslate"><span class="pre">scale_transform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.unscale_transform"><code class="docutils literal notranslate"><span class="pre">unscale_transform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.saturate"><code class="docutils literal notranslate"><span class="pre">saturate()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.normalize"><code class="docutils literal notranslate"><span class="pre">normalize()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.wrap_to_pi"><code class="docutils literal notranslate"><span class="pre">wrap_to_pi()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.copysign"><code class="docutils literal notranslate"><span class="pre">copysign()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.matrix_from_quat"><code class="docutils literal notranslate"><span class="pre">matrix_from_quat()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.convert_quat"><code class="docutils literal notranslate"><span class="pre">convert_quat()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_conjugate"><code class="docutils literal notranslate"><span class="pre">quat_conjugate()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_inv"><code class="docutils literal notranslate"><span class="pre">quat_inv()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_from_euler_xyz"><code class="docutils literal notranslate"><span class="pre">quat_from_euler_xyz()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_from_matrix"><code class="docutils literal notranslate"><span class="pre">quat_from_matrix()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.matrix_from_euler"><code class="docutils literal notranslate"><span class="pre">matrix_from_euler()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.euler_xyz_from_quat"><code class="docutils literal notranslate"><span class="pre">euler_xyz_from_quat()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_unique"><code class="docutils literal notranslate"><span class="pre">quat_unique()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_mul"><code class="docutils literal notranslate"><span class="pre">quat_mul()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_box_minus"><code class="docutils literal notranslate"><span class="pre">quat_box_minus()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.yaw_quat"><code class="docutils literal notranslate"><span class="pre">yaw_quat()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_apply"><code class="docutils literal notranslate"><span class="pre">quat_apply()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_apply_yaw"><code class="docutils literal notranslate"><span class="pre">quat_apply_yaw()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_rotate"><code class="docutils literal notranslate"><span class="pre">quat_rotate()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_rotate_inverse"><code class="docutils literal notranslate"><span class="pre">quat_rotate_inverse()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_from_angle_axis"><code class="docutils literal notranslate"><span class="pre">quat_from_angle_axis()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.axis_angle_from_quat"><code class="docutils literal notranslate"><span class="pre">axis_angle_from_quat()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_error_magnitude"><code class="docutils literal notranslate"><span class="pre">quat_error_magnitude()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.skew_symmetric_matrix"><code class="docutils literal notranslate"><span class="pre">skew_symmetric_matrix()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.is_identity_pose"><code class="docutils literal notranslate"><span class="pre">is_identity_pose()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.combine_frame_transforms"><code class="docutils literal notranslate"><span class="pre">combine_frame_transforms()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.subtract_frame_transforms"><code class="docutils literal notranslate"><span class="pre">subtract_frame_transforms()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.compute_pose_error"><code class="docutils literal notranslate"><span class="pre">compute_pose_error()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.apply_delta_pose"><code class="docutils literal notranslate"><span class="pre">apply_delta_pose()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.transform_points"><code class="docutils literal notranslate"><span class="pre">transform_points()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.orthogonalize_perspective_depth"><code class="docutils literal notranslate"><span class="pre">orthogonalize_perspective_depth()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.unproject_depth"><code class="docutils literal notranslate"><span class="pre">unproject_depth()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.project_points"><code class="docutils literal notranslate"><span class="pre">project_points()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.default_orientation"><code class="docutils literal notranslate"><span class="pre">default_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.random_orientation"><code class="docutils literal notranslate"><span class="pre">random_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.random_yaw_orientation"><code class="docutils literal notranslate"><span class="pre">random_yaw_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.sample_triangle"><code class="docutils literal notranslate"><span class="pre">sample_triangle()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.sample_uniform"><code class="docutils literal notranslate"><span class="pre">sample_uniform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.sample_log_uniform"><code class="docutils literal notranslate"><span class="pre">sample_log_uniform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.sample_gaussian"><code class="docutils literal notranslate"><span class="pre">sample_gaussian()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.sample_cylinder"><code class="docutils literal notranslate"><span class="pre">sample_cylinder()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention"><code class="docutils literal notranslate"><span class="pre">convert_camera_frame_orientation_convention()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.create_rotation_matrix_from_view"><code class="docutils literal notranslate"><span class="pre">create_rotation_matrix_from_view()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.modifiers">Modifier operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.ModifierCfg"><code class="docutils literal notranslate"><span class="pre">ModifierCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.ModifierCfg.params"><code class="docutils literal notranslate"><span class="pre">ModifierCfg.params</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.ModifierBase"><code class="docutils literal notranslate"><span class="pre">ModifierBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.ModifierBase.reset"><code class="docutils literal notranslate"><span class="pre">ModifierBase.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.ModifierBase.__call__"><code class="docutils literal notranslate"><span class="pre">ModifierBase.__call__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilter"><code class="docutils literal notranslate"><span class="pre">DigitalFilter</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilter.reset"><code class="docutils literal notranslate"><span class="pre">DigitalFilter.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilter.__call__"><code class="docutils literal notranslate"><span class="pre">DigitalFilter.__call__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg"><code class="docutils literal notranslate"><span class="pre">DigitalFilterCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.A"><code class="docutils literal notranslate"><span class="pre">DigitalFilterCfg.A</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.params"><code class="docutils literal notranslate"><span class="pre">DigitalFilterCfg.params</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.B"><code class="docutils literal notranslate"><span class="pre">DigitalFilterCfg.B</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.Integrator"><code class="docutils literal notranslate"><span class="pre">Integrator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.Integrator.reset"><code class="docutils literal notranslate"><span class="pre">Integrator.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.Integrator.__call__"><code class="docutils literal notranslate"><span class="pre">Integrator.__call__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg"><code class="docutils literal notranslate"><span class="pre">IntegratorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg.params"><code class="docutils literal notranslate"><span class="pre">IntegratorCfg.params</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg.dt"><code class="docutils literal notranslate"><span class="pre">IntegratorCfg.dt</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.bias"><code class="docutils literal notranslate"><span class="pre">bias()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.clip"><code class="docutils literal notranslate"><span class="pre">clip()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.scale"><code class="docutils literal notranslate"><span class="pre">scale()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.noise">Noise operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseCfg"><code class="docutils literal notranslate"><span class="pre">NoiseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseCfg.operation"><code class="docutils literal notranslate"><span class="pre">NoiseCfg.operation</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg"><code class="docutils literal notranslate"><span class="pre">ConstantNoiseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias"><code class="docutils literal notranslate"><span class="pre">ConstantNoiseCfg.bias</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg.operation"><code class="docutils literal notranslate"><span class="pre">ConstantNoiseCfg.operation</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg"><code class="docutils literal notranslate"><span class="pre">GaussianNoiseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean"><code class="docutils literal notranslate"><span class="pre">GaussianNoiseCfg.mean</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.operation"><code class="docutils literal notranslate"><span class="pre">GaussianNoiseCfg.operation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.std"><code class="docutils literal notranslate"><span class="pre">GaussianNoiseCfg.std</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelCfg"><code class="docutils literal notranslate"><span class="pre">NoiseModelCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelCfg.class_type"><code class="docutils literal notranslate"><span class="pre">NoiseModelCfg.class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelCfg.noise_cfg"><code class="docutils literal notranslate"><span class="pre">NoiseModelCfg.noise_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg.noise_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.class_type"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg.class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.bias_noise_cfg"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg.bias_noise_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg"><code class="docutils literal notranslate"><span class="pre">UniformNoiseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min"><code class="docutils literal notranslate"><span class="pre">UniformNoiseCfg.n_min</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.n_max"><code class="docutils literal notranslate"><span class="pre">UniformNoiseCfg.n_max</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.operation"><code class="docutils literal notranslate"><span class="pre">UniformNoiseCfg.operation</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModel"><code class="docutils literal notranslate"><span class="pre">NoiseModel</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModel.reset"><code class="docutils literal notranslate"><span class="pre">NoiseModel.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModel.apply"><code class="docutils literal notranslate"><span class="pre">NoiseModel.apply()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBias</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.reset"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBias.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.apply"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBias.apply()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.constant_noise"><code class="docutils literal notranslate"><span class="pre">constant_noise()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.gaussian_noise"><code class="docutils literal notranslate"><span class="pre">gaussian_noise()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.uniform_noise"><code class="docutils literal notranslate"><span class="pre">uniform_noise()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.ConstantBiasNoiseCfg"><code class="docutils literal notranslate"><span class="pre">ConstantBiasNoiseCfg</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.AdditiveUniformNoiseCfg"><code class="docutils literal notranslate"><span class="pre">AdditiveUniformNoiseCfg</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.AdditiveGaussianNoiseCfg"><code class="docutils literal notranslate"><span class="pre">AdditiveGaussianNoiseCfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.string">String operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.to_camel_case"><code class="docutils literal notranslate"><span class="pre">to_camel_case()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.to_snake_case"><code class="docutils literal notranslate"><span class="pre">to_snake_case()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.string_to_slice"><code class="docutils literal notranslate"><span class="pre">string_to_slice()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.is_lambda_expression"><code class="docutils literal notranslate"><span class="pre">is_lambda_expression()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.callable_to_string"><code class="docutils literal notranslate"><span class="pre">callable_to_string()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.string_to_callable"><code class="docutils literal notranslate"><span class="pre">string_to_callable()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.resolve_matching_names"><code class="docutils literal notranslate"><span class="pre">resolve_matching_names()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.resolve_matching_names_values"><code class="docutils literal notranslate"><span class="pre">resolve_matching_names_values()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.timer">Timer operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.TimerError"><code class="docutils literal notranslate"><span class="pre">TimerError</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer"><code class="docutils literal notranslate"><span class="pre">Timer</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.timing_info"><code class="docutils literal notranslate"><span class="pre">Timer.timing_info</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.__init__"><code class="docutils literal notranslate"><span class="pre">Timer.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.time_elapsed"><code class="docutils literal notranslate"><span class="pre">Timer.time_elapsed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.total_run_time"><code class="docutils literal notranslate"><span class="pre">Timer.total_run_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.start"><code class="docutils literal notranslate"><span class="pre">Timer.start()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.stop"><code class="docutils literal notranslate"><span class="pre">Timer.stop()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.get_timer_info"><code class="docutils literal notranslate"><span class="pre">Timer.get_timer_info()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.types">Type operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions"><code class="docutils literal notranslate"><span class="pre">ArticulationActions</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_positions"><code class="docutils literal notranslate"><span class="pre">ArticulationActions.joint_positions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_velocities"><code class="docutils literal notranslate"><span class="pre">ArticulationActions.joint_velocities</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions.__init__"><code class="docutils literal notranslate"><span class="pre">ArticulationActions.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_efforts"><code class="docutils literal notranslate"><span class="pre">ArticulationActions.joint_efforts</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_indices"><code class="docutils literal notranslate"><span class="pre">ArticulationActions.joint_indices</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.warp">Warp operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.warp.convert_to_warp_mesh"><code class="docutils literal notranslate"><span class="pre">convert_to_warp_mesh()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.warp.raycast_mesh"><code class="docutils literal notranslate"><span class="pre">raycast_mesh()</span></code></a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab.utils">
+<span id="omni-isaac-lab-utils"></span><h1>omni.isaac.lab.utils<a class="headerlink" href="#module-omni.isaac.lab.utils" title="Permalink to this heading">#</a></h1>
+<p>Sub-package containing utilities for common operations and helper functions.</p>
+<p class="rubric">Submodules</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.io" title="omni.isaac.lab.utils.io"><code class="xref py py-obj docutils literal notranslate"><span class="pre">io</span></code></a></p></td>
+<td><p>Submodules for files IO operations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.array" title="omni.isaac.lab.utils.array"><code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code></a></p></td>
+<td><p>Sub-module containing utilities for working with different array backends.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.assets" title="omni.isaac.lab.utils.assets"><code class="xref py py-obj docutils literal notranslate"><span class="pre">assets</span></code></a></p></td>
+<td><p>Sub-module that defines the host-server where assets and resources are stored.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.buffers" title="omni.isaac.lab.utils.buffers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">buffers</span></code></a></p></td>
+<td><p>Sub-module containing different buffers.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.dict" title="omni.isaac.lab.utils.dict"><code class="xref py py-obj docutils literal notranslate"><span class="pre">dict</span></code></a></p></td>
+<td><p>Sub-module for utilities for working with dictionaries.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.interpolation" title="omni.isaac.lab.utils.interpolation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">interpolation</span></code></a></p></td>
+<td><p>Submodule for different interpolation methods.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.math" title="omni.isaac.lab.utils.math"><code class="xref py py-obj docutils literal notranslate"><span class="pre">math</span></code></a></p></td>
+<td><p>Sub-module containing utilities for various math operations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.modifiers" title="omni.isaac.lab.utils.modifiers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">modifiers</span></code></a></p></td>
+<td><p>Sub-module containing different modifiers implementations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.noise" title="omni.isaac.lab.utils.noise"><code class="xref py py-obj docutils literal notranslate"><span class="pre">noise</span></code></a></p></td>
+<td><p>Sub-module containing different noise models implementations.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.string" title="omni.isaac.lab.utils.string"><code class="xref py py-obj docutils literal notranslate"><span class="pre">string</span></code></a></p></td>
+<td><p>Sub-module containing utilities for transforming strings and regular expressions.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.timer" title="omni.isaac.lab.utils.timer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">timer</span></code></a></p></td>
+<td><p>Sub-module for a timer class that can be used for performance measurements.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.types" title="omni.isaac.lab.utils.types"><code class="xref py py-obj docutils literal notranslate"><span class="pre">types</span></code></a></p></td>
+<td><p>Sub-module for different data types.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.warp" title="omni.isaac.lab.utils.warp"><code class="xref py py-obj docutils literal notranslate"><span class="pre">warp</span></code></a></p></td>
+<td><p>Sub-module containing operations based on warp.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p class="rubric">Functions</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-obj docutils literal notranslate"><span class="pre">configclass</span></code></a>(cls, **kwargs)</p></td>
+<td><p>Wrapper around <cite>dataclass</cite> functionality to add extra checks and utilities.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="module-omni.isaac.lab.utils.configclass">
+<span id="configuration-class"></span><h2>Configuration class<a class="headerlink" href="#module-omni.isaac.lab.utils.configclass" title="Permalink to this heading">#</a></h2>
+<p>Sub-module that provides a wrapper around the Python 3.7 onwards <code class="docutils literal notranslate"><span class="pre">dataclasses</span></code> module.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.configclass.configclass" title="omni.isaac.lab.utils.configclass.configclass"><code class="xref py py-obj docutils literal notranslate"><span class="pre">configclass</span></code></a>(cls, **kwargs)</p></td>
+<td><p>Wrapper around <cite>dataclass</cite> functionality to add extra checks and utilities.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.configclass.configclass">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.configclass.</span></span><span class="sig-name descname"><span class="pre">configclass</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cls</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/configclass.html#configclass"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.configclass.configclass" title="Permalink to this definition">#</a></dt>
+<dd><p>Wrapper around <cite>dataclass</cite> functionality to add extra checks and utilities.</p>
+<p>As of Python 3.7, the standard dataclasses have two main issues which makes them non-generic for
+configuration use-cases. These include:</p>
+<ol class="arabic simple">
+<li><p>Requiring a type annotation for all its members.</p></li>
+<li><p>Requiring explicit usage of <code class="xref py py-meth docutils literal notranslate"><span class="pre">field(default_factory=...)()</span></code> to reinitialize mutable variables.</p></li>
+</ol>
+<p>This function provides a decorator that wraps around Python’s <a class="reference external" href="https://docs.python.org/3/library/dataclasses.html">dataclass</a> utility to deal with
+the above two issues. It also provides additional helper functions for dictionary &lt;-&gt; class
+conversion and easily copying class instances.</p>
+<p>Usage:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">dataclasses</span> <span class="kn">import</span> <span class="n">MISSING</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.configclass</span> <span class="kn">import</span> <span class="n">configclass</span>
+
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ViewerCfg</span><span class="p">:</span>
+    <span class="n">eye</span><span class="p">:</span> <span class="nb">list</span> <span class="o">=</span> <span class="p">[</span><span class="mf">7.5</span><span class="p">,</span> <span class="mf">7.5</span><span class="p">,</span> <span class="mf">7.5</span><span class="p">]</span>  <span class="c1"># field missing on purpose</span>
+    <span class="n">lookat</span><span class="p">:</span> <span class="nb">list</span> <span class="o">=</span> <span class="n">field</span><span class="p">(</span><span class="n">default_factory</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">EnvCfg</span><span class="p">:</span>
+    <span class="n">num_envs</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="n">MISSING</span>
+    <span class="n">episode_length</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2000</span>
+    <span class="n">viewer</span><span class="p">:</span> <span class="n">ViewerCfg</span> <span class="o">=</span> <span class="n">ViewerCfg</span><span class="p">()</span>
+
+<span class="c1"># create configuration instance</span>
+<span class="n">env_cfg</span> <span class="o">=</span> <span class="n">EnvCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">24</span><span class="p">)</span>
+
+<span class="c1"># print information as a dictionary</span>
+<span class="nb">print</span><span class="p">(</span><span class="n">env_cfg</span><span class="o">.</span><span class="n">to_dict</span><span class="p">())</span>
+
+<span class="c1"># create a copy of the configuration</span>
+<span class="n">env_cfg_copy</span> <span class="o">=</span> <span class="n">env_cfg</span><span class="o">.</span><span class="n">copy</span><span class="p">()</span>
+
+<span class="c1"># replace arbitrary fields using keyword arguments</span>
+<span class="n">env_cfg_copy</span> <span class="o">=</span> <span class="n">env_cfg_copy</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">32</span><span class="p">)</span>
+</pre></div>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>cls</strong> – The class to wrap around.</p></li>
+<li><p><strong>**kwargs</strong> – Additional arguments to pass to <code class="xref py py-func docutils literal notranslate"><span class="pre">dataclass()</span></code>.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The wrapped class.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.io">
+<span id="io-operations"></span><h2>IO operations<a class="headerlink" href="#module-omni.isaac.lab.utils.io" title="Permalink to this heading">#</a></h2>
+<p>Submodules for files IO operations.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.io.dump_pickle" title="omni.isaac.lab.utils.io.dump_pickle"><code class="xref py py-obj docutils literal notranslate"><span class="pre">dump_pickle</span></code></a>(filename, data)</p></td>
+<td><p>Saves data into a pickle file safely.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.io.load_pickle" title="omni.isaac.lab.utils.io.load_pickle"><code class="xref py py-obj docutils literal notranslate"><span class="pre">load_pickle</span></code></a>(filename)</p></td>
+<td><p>Loads an input PKL file safely.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.io.dump_yaml" title="omni.isaac.lab.utils.io.dump_yaml"><code class="xref py py-obj docutils literal notranslate"><span class="pre">dump_yaml</span></code></a>(filename, data[, sort_keys])</p></td>
+<td><p>Saves data into a YAML file safely.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.io.load_yaml" title="omni.isaac.lab.utils.io.load_yaml"><code class="xref py py-obj docutils literal notranslate"><span class="pre">load_yaml</span></code></a>(filename)</p></td>
+<td><p>Loads an input PKL file safely.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.io.dump_pickle">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.io.</span></span><span class="sig-name descname"><span class="pre">dump_pickle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/io/pkl.html#dump_pickle"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.io.dump_pickle" title="Permalink to this definition">#</a></dt>
+<dd><p>Saves data into a pickle file safely.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The function creates any missing directory along the file’s path.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>filename</strong> – The path to save the file at.</p></li>
+<li><p><strong>data</strong> – The data to save.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.io.load_pickle">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.io.</span></span><span class="sig-name descname"><span class="pre">load_pickle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/io/pkl.html#load_pickle"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.io.load_pickle" title="Permalink to this definition">#</a></dt>
+<dd><p>Loads an input PKL file safely.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>filename</strong> – The path to pickled file.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#FileNotFoundError" title="(in Python v3.13)"><strong>FileNotFoundError</strong></a> – When the specified file does not exist.</p>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The data read from the input file.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.io.dump_yaml">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.io.</span></span><span class="sig-name descname"><span class="pre">dump_yaml</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort_keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/io/yaml.html#dump_yaml"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.io.dump_yaml" title="Permalink to this definition">#</a></dt>
+<dd><p>Saves data into a YAML file safely.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The function creates any missing directory along the file’s path.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>filename</strong> – The path to save the file at.</p></li>
+<li><p><strong>data</strong> – The data to save either a dictionary or class object.</p></li>
+<li><p><strong>sort_keys</strong> – Whether to sort the keys in the output file. Defaults to False.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.io.load_yaml">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.io.</span></span><span class="sig-name descname"><span class="pre">load_yaml</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/io/yaml.html#load_yaml"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.io.load_yaml" title="Permalink to this definition">#</a></dt>
+<dd><p>Loads an input PKL file safely.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>filename</strong> – The path to pickled file.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#FileNotFoundError" title="(in Python v3.13)"><strong>FileNotFoundError</strong></a> – When the specified file does not exist.</p>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The data read from the input file.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.array">
+<span id="array-operations"></span><h2>Array operations<a class="headerlink" href="#module-omni.isaac.lab.utils.array" title="Permalink to this heading">#</a></h2>
+<p>Sub-module containing utilities for working with different array backends.</p>
+<p><strong>Data:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.array.TENSOR_TYPES" title="omni.isaac.lab.utils.array.TENSOR_TYPES"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TENSOR_TYPES</span></code></a></p></td>
+<td><p>A dictionary containing the types for each backend.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS" title="omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TENSOR_TYPE_CONVERSIONS</span></code></a></p></td>
+<td><p>A nested dictionary containing the conversion functions for each backend.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.array.convert_to_torch" title="omni.isaac.lab.utils.array.convert_to_torch"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convert_to_torch</span></code></a>(array[, dtype, device])</p></td>
+<td><p>Converts a given array into a torch tensor.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py data">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.array.TensorData">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.array.</span></span><span class="sig-name descname"><span class="pre">TensorData</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#omni.isaac.lab.utils.array.TensorData" title="Permalink to this definition">#</a></dt>
+<dd><p>Type definition for a tensor data.</p>
+<p>Union of numpy, torch, and warp arrays.</p>
+<p>alias of <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Union</span></code></a>[<a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>, <a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Tensor</span></code></a>, <a class="reference external" href="https://nvidia.github.io/warp/modules/runtime.html#warp.array" title="(in Warp v1.5.0)"><code class="xref py py-class docutils literal notranslate"><span class="pre">array</span></code></a>]</p>
+</dd></dl>
+
+<dl class="py data">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.array.TENSOR_TYPES">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.array.</span></span><span class="sig-name descname"><span class="pre">TENSOR_TYPES</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'numpy':</span> <span class="pre">numpy.ndarray,</span> <span class="pre">'torch':</span> <span class="pre">torch.Tensor,</span> <span class="pre">'warp':</span> <span class="pre">warp.array}</span></em><a class="headerlink" href="#omni.isaac.lab.utils.array.TENSOR_TYPES" title="Permalink to this definition">#</a></dt>
+<dd><p>A dictionary containing the types for each backend.</p>
+<p>The keys are the name of the backend (“numpy”, “torch”, “warp”) and the values are the corresponding type
+(<code class="docutils literal notranslate"><span class="pre">np.ndarray</span></code>, <code class="docutils literal notranslate"><span class="pre">torch.Tensor</span></code>, <code class="docutils literal notranslate"><span class="pre">wp.array</span></code>).</p>
+</dd></dl>
+
+<dl class="py data">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.array.</span></span><span class="sig-name descname"><span class="pre">TENSOR_TYPE_CONVERSIONS</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{'numpy':</span> <span class="pre">{warp.array:</span> <span class="pre">&lt;function</span> <span class="pre">&lt;lambda&gt;&gt;,</span> <span class="pre">torch.Tensor:</span> <span class="pre">&lt;function</span> <span class="pre">&lt;lambda&gt;&gt;},</span> <span class="pre">'torch':</span> <span class="pre">{warp.array:</span> <span class="pre">&lt;function</span> <span class="pre">&lt;lambda&gt;&gt;,</span> <span class="pre">numpy.ndarray:</span> <span class="pre">&lt;function</span> <span class="pre">&lt;lambda&gt;&gt;},</span> <span class="pre">'warp':</span> <span class="pre">{numpy.array:</span> <span class="pre">&lt;function</span> <span class="pre">&lt;lambda&gt;&gt;,</span> <span class="pre">torch.Tensor:</span> <span class="pre">&lt;function</span> <span class="pre">&lt;lambda&gt;&gt;}}</span></em><a class="headerlink" href="#omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS" title="Permalink to this definition">#</a></dt>
+<dd><p>A nested dictionary containing the conversion functions for each backend.</p>
+<p>The keys of the outer dictionary are the name of target backend (“numpy”, “torch”, “warp”). The keys of the
+inner dictionary are the source backend (<code class="docutils literal notranslate"><span class="pre">np.ndarray</span></code>, <code class="docutils literal notranslate"><span class="pre">torch.Tensor</span></code>, <code class="docutils literal notranslate"><span class="pre">wp.array</span></code>).</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.array.convert_to_torch">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.array.</span></span><span class="sig-name descname"><span class="pre">convert_to_torch</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">array</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">TensorData</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dtype</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensor_attributes.html#torch.dtype" title="(in PyTorch v2.5)"><span class="pre">torch.dtype</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensor_attributes.html#torch.device" title="(in PyTorch v2.5)"><span class="pre">torch.device</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/array.html#convert_to_torch"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.array.convert_to_torch" title="Permalink to this definition">#</a></dt>
+<dd><p>Converts a given array into a torch tensor.</p>
+<p>The function tries to convert the array to a torch tensor. If the array is a numpy/warp arrays, or python
+list/tuples, it is converted to a torch tensor. If the array is already a torch tensor, it is returned
+directly.</p>
+<p>If <code class="docutils literal notranslate"><span class="pre">device</span></code> is None, then the function deduces the current device of the data. For numpy arrays,
+this defaults to “cpu”, for torch tensors it is “cpu” or “cuda”, and for warp arrays it is “cuda”.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Since PyTorch does not support unsigned integer types, unsigned integer arrays are converted to
+signed integer arrays. This is done by casting the array to the corresponding signed integer type.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>array</strong> – The input array. It can be a numpy array, warp array, python list/tuple, or torch tensor.</p></li>
+<li><p><strong>dtype</strong> – Target data-type for the tensor.</p></li>
+<li><p><strong>device</strong> – The target device for the tensor. Defaults to None.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The converted array as torch tensor.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.assets">
+<span id="asset-operations"></span><h2>Asset operations<a class="headerlink" href="#module-omni.isaac.lab.utils.assets" title="Permalink to this heading">#</a></h2>
+<p>Sub-module that defines the host-server where assets and resources are stored.</p>
+<p>By default, we use the Isaac Sim Nucleus Server for hosting assets and resources. This makes
+distribution of the assets easier and makes the repository smaller in size code-wise.</p>
+<p>For more information, please check information on <a class="reference external" href="https://docs.omniverse.nvidia.com/nucleus/latest/overview/overview.html">Omniverse Nucleus</a>.</p>
+<p><strong>Data:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR" title="omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NUCLEUS_ASSET_ROOT_DIR</span></code></a></p></td>
+<td><p>Path to the root directory on the Nucleus Server.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR" title="omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NVIDIA_NUCLEUS_DIR</span></code></a></p></td>
+<td><p>Path to the root directory on the NVIDIA Nucleus Server.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.assets.ISAAC_NUCLEUS_DIR" title="omni.isaac.lab.utils.assets.ISAAC_NUCLEUS_DIR"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ISAAC_NUCLEUS_DIR</span></code></a></p></td>
+<td><p>Path to the <code class="docutils literal notranslate"><span class="pre">Isaac</span></code> directory on the NVIDIA Nucleus Server.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.assets.ISAACLAB_NUCLEUS_DIR" title="omni.isaac.lab.utils.assets.ISAACLAB_NUCLEUS_DIR"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ISAACLAB_NUCLEUS_DIR</span></code></a></p></td>
+<td><p>Path to the <code class="docutils literal notranslate"><span class="pre">Isaac/IsaacLab</span></code> directory on the NVIDIA Nucleus Server.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.assets.check_file_path" title="omni.isaac.lab.utils.assets.check_file_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">check_file_path</span></code></a>(path)</p></td>
+<td><p>Checks if a file exists on the Nucleus Server or locally.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.assets.retrieve_file_path" title="omni.isaac.lab.utils.assets.retrieve_file_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">retrieve_file_path</span></code></a>(path[, download_dir, ...])</p></td>
+<td><p>Retrieves the path to a file on the Nucleus Server or locally.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.assets.read_file" title="omni.isaac.lab.utils.assets.read_file"><code class="xref py py-obj docutils literal notranslate"><span class="pre">read_file</span></code></a>(path)</p></td>
+<td><p>Reads a file from the Nucleus Server or locally.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py data">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.assets.</span></span><span class="sig-name descname"><span class="pre">NUCLEUS_ASSET_ROOT_DIR</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'/persistent/isaac/asset_root/cloud'</span></em><a class="headerlink" href="#omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the root directory on the Nucleus Server.</p>
+</dd></dl>
+
+<dl class="py data">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.assets.</span></span><span class="sig-name descname"><span class="pre">NVIDIA_NUCLEUS_DIR</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'carb.settings.get_settings.get/NVIDIA'</span></em><a class="headerlink" href="#omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the root directory on the NVIDIA Nucleus Server.</p>
+</dd></dl>
+
+<dl class="py data">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.assets.ISAAC_NUCLEUS_DIR">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.assets.</span></span><span class="sig-name descname"><span class="pre">ISAAC_NUCLEUS_DIR</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'carb.settings.get_settings.get/Isaac'</span></em><a class="headerlink" href="#omni.isaac.lab.utils.assets.ISAAC_NUCLEUS_DIR" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the <code class="docutils literal notranslate"><span class="pre">Isaac</span></code> directory on the NVIDIA Nucleus Server.</p>
+</dd></dl>
+
+<dl class="py data">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.assets.ISAACLAB_NUCLEUS_DIR">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.assets.</span></span><span class="sig-name descname"><span class="pre">ISAACLAB_NUCLEUS_DIR</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'carb.settings.get_settings.get/Isaac/IsaacLab'</span></em><a class="headerlink" href="#omni.isaac.lab.utils.assets.ISAACLAB_NUCLEUS_DIR" title="Permalink to this definition">#</a></dt>
+<dd><p>Path to the <code class="docutils literal notranslate"><span class="pre">Isaac/IsaacLab</span></code> directory on the NVIDIA Nucleus Server.</p>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.assets.check_file_path">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.assets.</span></span><span class="sig-name descname"><span class="pre">check_file_path</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="m"><span class="pre">0</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">1</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="m"><span class="pre">2</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/assets.html#check_file_path"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.assets.check_file_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Checks if a file exists on the Nucleus Server or locally.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>path</strong> – The path to the file.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p><p>The status of the file. Possible values are listed below.</p>
+<ul class="simple">
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">0</span></code> if the file does not exist</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">1</span></code> if the file exists locally</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">2</span></code> if the file exists on the Nucleus Server</p></li>
+</ul>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.assets.retrieve_file_path">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.assets.</span></span><span class="sig-name descname"><span class="pre">retrieve_file_path</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">download_dir</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">force_download</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/assets.html#retrieve_file_path"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.assets.retrieve_file_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Retrieves the path to a file on the Nucleus Server or locally.</p>
+<p>If the file exists locally, then the absolute path to the file is returned.
+If the file exists on the Nucleus Server, then the file is downloaded to the local machine
+and the absolute path to the file is returned.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>path</strong> – The path to the file.</p></li>
+<li><p><strong>download_dir</strong> – The directory where the file should be downloaded. Defaults to None, in which
+case the file is downloaded to the system’s temporary directory.</p></li>
+<li><p><strong>force_download</strong> – Whether to force download the file from the Nucleus Server. This will overwrite
+the local file if it exists. Defaults to True.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The path to the file on the local machine.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#FileNotFoundError" title="(in Python v3.13)"><strong>FileNotFoundError</strong></a> – When the file not found locally or on Nucleus Server.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – When the file cannot be copied from the Nucleus Server to the local machine. This
+    can happen when the file already exists locally and <code class="xref py py-attr docutils literal notranslate"><span class="pre">force_download</span></code> is set to False.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.assets.read_file">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.assets.</span></span><span class="sig-name descname"><span class="pre">read_file</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">BytesIO</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/assets.html#read_file"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.assets.read_file" title="Permalink to this definition">#</a></dt>
+<dd><p>Reads a file from the Nucleus Server or locally.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>path</strong> – The path to the file.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#FileNotFoundError" title="(in Python v3.13)"><strong>FileNotFoundError</strong></a> – When the file not found locally or on Nucleus Server.</p>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The content of the file.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.buffers">
+<span id="buffer-operations"></span><h2>Buffer operations<a class="headerlink" href="#module-omni.isaac.lab.utils.buffers" title="Permalink to this heading">#</a></h2>
+<p>Sub-module containing different buffers.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.CircularBuffer" title="omni.isaac.lab.utils.buffers.CircularBuffer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CircularBuffer</span></code></a></p></td>
+<td><p>Circular buffer for storing a history of batched tensor data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer" title="omni.isaac.lab.utils.buffers.DelayBuffer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DelayBuffer</span></code></a></p></td>
+<td><p>Delay buffer that allows retrieving stored data with delays.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer" title="omni.isaac.lab.utils.buffers.TimestampedBuffer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TimestampedBuffer</span></code></a></p></td>
+<td><p>A buffer class containing data and its timestamp.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.CircularBuffer">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.buffers.</span></span><span class="sig-name descname"><span class="pre">CircularBuffer</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/buffers/circular_buffer.html#CircularBuffer"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.buffers.CircularBuffer" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Circular buffer for storing a history of batched tensor data.</p>
+<p>This class implements a circular buffer for storing a history of batched tensor data. The buffer is
+initialized with a maximum length and a batch size. The data is stored in a circular fashion, and the
+data can be retrieved in a LIFO (Last-In-First-Out) fashion. The buffer is designed to be used in
+multi-environment settings, where each environment has its own data.</p>
+<p>The shape of the appended data is expected to be (batch_size, …), where the first dimension is the
+batch dimension. Correspondingly, the shape of the ring buffer is (max_len, batch_size, …).</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.CircularBuffer.__init__" title="omni.isaac.lab.utils.buffers.CircularBuffer.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(max_len, batch_size, device)</p></td>
+<td><p>Initialize the circular buffer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.CircularBuffer.reset" title="omni.isaac.lab.utils.buffers.CircularBuffer.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([batch_ids])</p></td>
+<td><p>Reset the circular buffer at the specified batch indices.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.CircularBuffer.append" title="omni.isaac.lab.utils.buffers.CircularBuffer.append"><code class="xref py py-obj docutils literal notranslate"><span class="pre">append</span></code></a>(data)</p></td>
+<td><p>Append the data to the circular buffer.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.CircularBuffer.batch_size" title="omni.isaac.lab.utils.buffers.CircularBuffer.batch_size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">batch_size</span></code></a></p></td>
+<td><p>The batch size of the ring buffer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.CircularBuffer.device" title="omni.isaac.lab.utils.buffers.CircularBuffer.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>The device used for processing.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.CircularBuffer.max_length" title="omni.isaac.lab.utils.buffers.CircularBuffer.max_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_length</span></code></a></p></td>
+<td><p>The maximum length of the ring buffer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.CircularBuffer.current_length" title="omni.isaac.lab.utils.buffers.CircularBuffer.current_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">current_length</span></code></a></p></td>
+<td><p>The current length of the buffer.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.CircularBuffer.buffer" title="omni.isaac.lab.utils.buffers.CircularBuffer.buffer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">buffer</span></code></a></p></td>
+<td><p>Complete circular buffer with most recent entry at the end and oldest entry at the beginning.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.CircularBuffer.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">max_len</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">batch_size</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/buffers/circular_buffer.html#CircularBuffer.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.buffers.CircularBuffer.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the circular buffer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>max_len</strong> – The maximum length of the circular buffer. The minimum allowed value is 1.</p></li>
+<li><p><strong>batch_size</strong> – The batch dimension of the data.</p></li>
+<li><p><strong>device</strong> – The device used for processing.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the buffer size is less than one.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.CircularBuffer.batch_size">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">batch_size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.CircularBuffer.batch_size" title="Permalink to this definition">#</a></dt>
+<dd><p>The batch size of the ring buffer.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.CircularBuffer.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.CircularBuffer.device" title="Permalink to this definition">#</a></dt>
+<dd><p>The device used for processing.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.CircularBuffer.max_length">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.CircularBuffer.max_length" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum length of the ring buffer.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.CircularBuffer.current_length">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">current_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.CircularBuffer.current_length" title="Permalink to this definition">#</a></dt>
+<dd><p>The current length of the buffer. Shape is (batch_size,).</p>
+<p>Since the buffer is circular, the current length is the minimum of the number of pushes
+and the maximum length.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.CircularBuffer.buffer">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">buffer</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.CircularBuffer.buffer" title="Permalink to this definition">#</a></dt>
+<dd><p>Complete circular buffer with most recent entry at the end and oldest entry at the beginning.
+:returns: ]].
+:rtype: Complete circular buffer with most recent entry at the end and oldest entry at the beginning of dimension 1. The shape is [batch_size, max_length, data.shape[1</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.CircularBuffer.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">batch_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/buffers/circular_buffer.html#CircularBuffer.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.buffers.CircularBuffer.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the circular buffer at the specified batch indices.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>batch_ids</strong> – Elements to reset in the batch dimension. Default is None, which resets all the batch indices.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.CircularBuffer.append">
+<span class="sig-name descname"><span class="pre">append</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/buffers/circular_buffer.html#CircularBuffer.append"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.buffers.CircularBuffer.append" title="Permalink to this definition">#</a></dt>
+<dd><p>Append the data to the circular buffer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The data to append to the circular buffer. The first dimension should be the batch dimension.
+Shape is (batch_size, …).</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the input data has a different batch size than the buffer.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.buffers.</span></span><span class="sig-name descname"><span class="pre">DelayBuffer</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/buffers/delay_buffer.html#DelayBuffer"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Delay buffer that allows retrieving stored data with delays.</p>
+<p>This class uses a batched circular buffer to store input data. Different to a standard circular buffer,
+which uses the LIFO (last-in-first-out) principle to retrieve the data, the delay buffer class allows
+retrieving data based on the lag set by the user. For instance, if the delay set inside the buffer
+is 1, then the second last entry from the stream is retrieved. If it is 2, then the third last entry
+and so on.</p>
+<p>The class supports storing a batched tensor data. This means that the shape of the appended data
+is expected to be (batch_size, …), where the first dimension is the batch dimension. Correspondingly,
+the delay can be set separately for each batch index. If the requested delay is larger than the current
+length of the underlying buffer, the most recent entry is returned.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>By default, the delay buffer has no delay, meaning that the data is returned as is.</p>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.__init__" title="omni.isaac.lab.utils.buffers.DelayBuffer.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(history_length, batch_size, device)</p></td>
+<td><p>Initialize the delay buffer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.set_time_lag" title="omni.isaac.lab.utils.buffers.DelayBuffer.set_time_lag"><code class="xref py py-obj docutils literal notranslate"><span class="pre">set_time_lag</span></code></a>(time_lag[, batch_ids])</p></td>
+<td><p>Sets the time lag for the delay buffer across the provided batch indices.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.reset" title="omni.isaac.lab.utils.buffers.DelayBuffer.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([batch_ids])</p></td>
+<td><p>Reset the data in the delay buffer at the specified batch indices.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.compute" title="omni.isaac.lab.utils.buffers.DelayBuffer.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(data)</p></td>
+<td><p>Append the input data to the buffer and returns a stale version of the data based on time lag delay.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.batch_size" title="omni.isaac.lab.utils.buffers.DelayBuffer.batch_size"><code class="xref py py-obj docutils literal notranslate"><span class="pre">batch_size</span></code></a></p></td>
+<td><p>The batch size of the ring buffer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.device" title="omni.isaac.lab.utils.buffers.DelayBuffer.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>The device used for processing.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.history_length" title="omni.isaac.lab.utils.buffers.DelayBuffer.history_length"><code class="xref py py-obj docutils literal notranslate"><span class="pre">history_length</span></code></a></p></td>
+<td><p>The history length of the delay buffer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag" title="omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag"><code class="xref py py-obj docutils literal notranslate"><span class="pre">min_time_lag</span></code></a></p></td>
+<td><p>Minimum amount of time steps that can be delayed.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag" title="omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_time_lag</span></code></a></p></td>
+<td><p>Maximum amount of time steps that can be delayed.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.time_lags" title="omni.isaac.lab.utils.buffers.DelayBuffer.time_lags"><code class="xref py py-obj docutils literal notranslate"><span class="pre">time_lags</span></code></a></p></td>
+<td><p>The time lag across each batch index.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">history_length</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">batch_size</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/buffers/delay_buffer.html#DelayBuffer.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the delay buffer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>history_length</strong> – The history of the buffer, i.e., the number of time steps in the past that the data
+will be buffered. It is recommended to set this value equal to the maximum time-step lag that
+is expected. The minimum acceptable value is zero, which means only the latest data is stored.</p></li>
+<li><p><strong>batch_size</strong> – The batch dimension of the data.</p></li>
+<li><p><strong>device</strong> – The device used for processing.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer.batch_size">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">batch_size</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer.batch_size" title="Permalink to this definition">#</a></dt>
+<dd><p>The batch size of the ring buffer.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer.device" title="Permalink to this definition">#</a></dt>
+<dd><p>The device used for processing.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer.history_length">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">history_length</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer.history_length" title="Permalink to this definition">#</a></dt>
+<dd><p>The history length of the delay buffer.</p>
+<p>If zero, only the latest data is stored. If one, the latest and the previous data are stored, and so on.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">min_time_lag</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag" title="Permalink to this definition">#</a></dt>
+<dd><p>Minimum amount of time steps that can be delayed.</p>
+<p>This value cannot be negative or larger than <a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag" title="omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag"><code class="xref py py-attr docutils literal notranslate"><span class="pre">max_time_lag</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">max_time_lag</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag" title="Permalink to this definition">#</a></dt>
+<dd><p>Maximum amount of time steps that can be delayed.</p>
+<p>This value cannot be greater than <a class="reference internal" href="#omni.isaac.lab.utils.buffers.DelayBuffer.history_length" title="omni.isaac.lab.utils.buffers.DelayBuffer.history_length"><code class="xref py py-attr docutils literal notranslate"><span class="pre">history_length</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer.time_lags">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">time_lags</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer.time_lags" title="Permalink to this definition">#</a></dt>
+<dd><p>The time lag across each batch index.</p>
+<p>The shape of the tensor is (batch_size, ). The value at each index represents the delay for that index.
+This value is used to retrieve the data from the buffer.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer.set_time_lag">
+<span class="sig-name descname"><span class="pre">set_time_lag</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">time_lag</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">batch_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/buffers/delay_buffer.html#DelayBuffer.set_time_lag"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer.set_time_lag" title="Permalink to this definition">#</a></dt>
+<dd><p>Sets the time lag for the delay buffer across the provided batch indices.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>time_lag</strong> – <p>The desired delay for the buffer.</p>
+<ul>
+<li><p>If an integer is provided, the same delay is set for the provided batch indices.</p></li>
+<li><p>If a tensor is provided, the delay is set for each batch index separately. The shape of the tensor
+should be (len(batch_ids),).</p></li>
+</ul>
+</p></li>
+<li><p><strong>batch_ids</strong> – The batch indices for which the time lag is set. Default is None, which sets the time lag
+for all batch indices.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#TypeError" title="(in Python v3.13)"><strong>TypeError</strong></a> – If the type of the <code class="xref py py-attr docutils literal notranslate"><span class="pre">time_lag</span></code> is not int or integer tensor.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the minimum time lag is negative or the maximum time lag is larger than the history length.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">batch_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/buffers/delay_buffer.html#DelayBuffer.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the data in the delay buffer at the specified batch indices.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>batch_ids</strong> – Elements to reset in the batch dimension. Default is None, which resets all the batch indices.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.DelayBuffer.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/buffers/delay_buffer.html#DelayBuffer.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.buffers.DelayBuffer.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Append the input data to the buffer and returns a stale version of the data based on time lag delay.</p>
+<p>If the requested delay is larger than the number of buffered data points since the last reset,
+the function returns the latest data. For instance, if the delay is set to 2 and only one data point
+is stored in the buffer, the function will return the latest data. If the delay is set to 2 and three
+data points are stored, the function will return the first data point.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The input data. Shape is (batch_size, …).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The delayed version of the data from the stored buffer. Shape is (batch_size, …).</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.TimestampedBuffer">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.buffers.</span></span><span class="sig-name descname"><span class="pre">TimestampedBuffer</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/buffers/timestamped_buffer.html#TimestampedBuffer"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>A buffer class containing data and its timestamp.</p>
+<p>This class is a simple data container that stores a tensor and its timestamp. The timestamp is used to
+track the last update of the buffer. The timestamp is set to -1.0 by default, indicating that the buffer
+has not been updated yet. The timestamp should be updated whenever the data in the buffer is updated. This
+way the buffer can be used to check whether the data is outdated and needs to be refreshed.</p>
+<p>The buffer is useful for creating lazy buffers that only update the data when it is outdated. This can be
+useful when the data is expensive to compute or retrieve. For example usage, refer to the data classes in
+the <a class="reference internal" href="omni.isaac.lab.assets.html#module-omni.isaac.lab.assets" title="omni.isaac.lab.assets"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.assets</span></code></a> module.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.data" title="omni.isaac.lab.utils.buffers.TimestampedBuffer.data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data</span></code></a></p></td>
+<td><p>The data stored in the buffer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.timestamp" title="omni.isaac.lab.utils.buffers.TimestampedBuffer.timestamp"><code class="xref py py-obj docutils literal notranslate"><span class="pre">timestamp</span></code></a></p></td>
+<td><p>Timestamp at the last update of the buffer.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.__init__" title="omni.isaac.lab.utils.buffers.TimestampedBuffer.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([data, timestamp])</p></td>
+<td><p></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.TimestampedBuffer.data">
+<span class="sig-name descname"><span class="pre">data</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.data" title="Permalink to this definition">#</a></dt>
+<dd><p>The data stored in the buffer. Default is None, indicating that the buffer is empty.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.TimestampedBuffer.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timestamp</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-1.0</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.__init__" title="Permalink to this definition">#</a></dt>
+<dd></dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.buffers.TimestampedBuffer.timestamp">
+<span class="sig-name descname"><span class="pre">timestamp</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">-1.0</span></em><a class="headerlink" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.timestamp" title="Permalink to this definition">#</a></dt>
+<dd><p>Timestamp at the last update of the buffer. Default is -1.0, indicating that the buffer has not been updated.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.dict">
+<span id="dictionary-operations"></span><h2>Dictionary operations<a class="headerlink" href="#module-omni.isaac.lab.utils.dict" title="Permalink to this heading">#</a></h2>
+<p>Sub-module for utilities for working with dictionaries.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.dict.class_to_dict" title="omni.isaac.lab.utils.dict.class_to_dict"><code class="xref py py-obj docutils literal notranslate"><span class="pre">class_to_dict</span></code></a>(obj)</p></td>
+<td><p>Convert an object into dictionary recursively.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.dict.update_class_from_dict" title="omni.isaac.lab.utils.dict.update_class_from_dict"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_class_from_dict</span></code></a>(obj, data[, _ns])</p></td>
+<td><p>Reads a dictionary and sets object variables recursively.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.dict.dict_to_md5_hash" title="omni.isaac.lab.utils.dict.dict_to_md5_hash"><code class="xref py py-obj docutils literal notranslate"><span class="pre">dict_to_md5_hash</span></code></a>(data)</p></td>
+<td><p>Convert a dictionary into a hashable key using MD5 hash.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.dict.convert_dict_to_backend" title="omni.isaac.lab.utils.dict.convert_dict_to_backend"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convert_dict_to_backend</span></code></a>(data[, backend, ...])</p></td>
+<td><p>Convert all arrays or tensors in a dictionary to a given backend.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.dict.update_dict" title="omni.isaac.lab.utils.dict.update_dict"><code class="xref py py-obj docutils literal notranslate"><span class="pre">update_dict</span></code></a>(orig_dict, new_dict)</p></td>
+<td><p>Updates existing dictionary with values from a new dictionary.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.dict.replace_slices_with_strings" title="omni.isaac.lab.utils.dict.replace_slices_with_strings"><code class="xref py py-obj docutils literal notranslate"><span class="pre">replace_slices_with_strings</span></code></a>(data)</p></td>
+<td><p>Replace slice objects with their string representations in a dictionary.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.dict.replace_strings_with_slices" title="omni.isaac.lab.utils.dict.replace_strings_with_slices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">replace_strings_with_slices</span></code></a>(data)</p></td>
+<td><p>Replace string representations of slices with slice objects in a dictionary.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.dict.print_dict" title="omni.isaac.lab.utils.dict.print_dict"><code class="xref py py-obj docutils literal notranslate"><span class="pre">print_dict</span></code></a>(val[, nesting, start])</p></td>
+<td><p>Outputs a nested dictionary.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.dict.class_to_dict">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.dict.</span></span><span class="sig-name descname"><span class="pre">class_to_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">obj</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/dict.html#class_to_dict"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.dict.class_to_dict" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert an object into dictionary recursively.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Ignores all names starting with “__” (i.e. built-in methods).</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>obj</strong> – An instance of a class to convert.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When input argument is not an object.</p>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>Converted dictionary mapping.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.dict.update_class_from_dict">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.dict.</span></span><span class="sig-name descname"><span class="pre">update_class_from_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">obj</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">_ns</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">''</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/dict.html#update_class_from_dict"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.dict.update_class_from_dict" title="Permalink to this definition">#</a></dt>
+<dd><p>Reads a dictionary and sets object variables recursively.</p>
+<p>This function performs in-place update of the class member attributes.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>obj</strong> – An instance of a class to update.</p></li>
+<li><p><strong>data</strong> – Input dictionary to update from.</p></li>
+<li><p><strong>_ns</strong> – Namespace of the current object. This is useful for nested configuration
+classes or dictionaries. Defaults to “”.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#TypeError" title="(in Python v3.13)"><strong>TypeError</strong></a> – When input is not a dictionary.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When dictionary has a value that does not match default config type.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#KeyError" title="(in Python v3.13)"><strong>KeyError</strong></a> – When dictionary has a key that does not exist in the default config type.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.dict.dict_to_md5_hash">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.dict.</span></span><span class="sig-name descname"><span class="pre">dict_to_md5_hash</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/dict.html#dict_to_md5_hash"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.dict.dict_to_md5_hash" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert a dictionary into a hashable key using MD5 hash.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – Input dictionary or configuration object to convert.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A string object of double length containing only hexadecimal digits.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.dict.convert_dict_to_backend">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.dict.</span></span><span class="sig-name descname"><span class="pre">convert_dict_to_backend</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">backend</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'numpy'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">array_types</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Iterable" title="(in Python v3.13)"><span class="pre">Iterable</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">('numpy',</span> <span class="pre">'torch',</span> <span class="pre">'warp')</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/dict.html#convert_dict_to_backend"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.dict.convert_dict_to_backend" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert all arrays or tensors in a dictionary to a given backend.</p>
+<p>This function iterates over the dictionary, converts all arrays or tensors with the given types to
+the desired backend, and stores them in a new dictionary. It also works with nested dictionaries.</p>
+<p>Currently supported backends are “numpy”, “torch”, and “warp”.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This function only converts arrays or tensors. Other types of data are left unchanged. Mutable types
+(e.g. lists) are referenced by the new dictionary, so they are not copied.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>data</strong> – An input dict containing array or tensor data as values.</p></li>
+<li><p><strong>backend</strong> – The backend (“numpy”, “torch”, “warp”) to which arrays in this dict should be converted.
+Defaults to “numpy”.</p></li>
+<li><p><strong>array_types</strong> – A list containing the types of arrays that should be converted to
+the desired backend. Defaults to (“numpy”, “torch”, “warp”).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the specified <code class="docutils literal notranslate"><span class="pre">backend</span></code> or <code class="docutils literal notranslate"><span class="pre">array_types</span></code> are unknown, i.e. not in the list of supported
+    backends (“numpy”, “torch”, “warp”).</p>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The updated dict with the data converted to the desired backend.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.dict.update_dict">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.dict.</span></span><span class="sig-name descname"><span class="pre">update_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">orig_dict</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">new_dict</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Mapping" title="(in Python v3.13)"><span class="pre">Mapping</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/dict.html#update_dict"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.dict.update_dict" title="Permalink to this definition">#</a></dt>
+<dd><p>Updates existing dictionary with values from a new dictionary.</p>
+<p>This function mimics the dict.update() function. However, it works for
+nested dictionaries as well.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>orig_dict</strong> – The original dictionary to insert items to.</p></li>
+<li><p><strong>new_dict</strong> – The new dictionary to insert items from.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The updated dictionary.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.dict.replace_slices_with_strings">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.dict.</span></span><span class="sig-name descname"><span class="pre">replace_slices_with_strings</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/dict.html#replace_slices_with_strings"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.dict.replace_slices_with_strings" title="Permalink to this definition">#</a></dt>
+<dd><p>Replace slice objects with their string representations in a dictionary.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The dictionary to process.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The dictionary with slice objects replaced by their string representations.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.dict.replace_strings_with_slices">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.dict.</span></span><span class="sig-name descname"><span class="pre">replace_strings_with_slices</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/dict.html#replace_strings_with_slices"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.dict.replace_strings_with_slices" title="Permalink to this definition">#</a></dt>
+<dd><p>Replace string representations of slices with slice objects in a dictionary.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The dictionary to process.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The dictionary with string representations of slices replaced by slice objects.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.dict.print_dict">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.dict.</span></span><span class="sig-name descname"><span class="pre">print_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">val</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">nesting</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-4</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/dict.html#print_dict"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.dict.print_dict" title="Permalink to this definition">#</a></dt>
+<dd><p>Outputs a nested dictionary.</p>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.interpolation">
+<span id="interpolation-operations"></span><h2>Interpolation operations<a class="headerlink" href="#module-omni.isaac.lab.utils.interpolation" title="Permalink to this heading">#</a></h2>
+<p>Submodule for different interpolation methods.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation" title="omni.isaac.lab.utils.interpolation.LinearInterpolation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">LinearInterpolation</span></code></a></p></td>
+<td><p>Linearly interpolates a sampled scalar function for arbitrary query points.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.interpolation.LinearInterpolation">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.interpolation.</span></span><span class="sig-name descname"><span class="pre">LinearInterpolation</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/interpolation/linear_interpolation.html#LinearInterpolation"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Linearly interpolates a sampled scalar function for arbitrary query points.</p>
+<p>This class implements a linear interpolation for a scalar function. The function maps from real values, x, to
+real values, y. It expects a set of samples from the function’s domain, x, and the corresponding values, y.
+The class allows querying the function’s values at any arbitrary point.</p>
+<p>The interpolation is done by finding the two closest points in x to the query point and then linearly
+interpolating between the corresponding y values. For the query points that are outside the input points,
+the class does a zero-order-hold extrapolation based on the boundary values. This means that the class
+returns the value of the closest point in x.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation.__init__" title="omni.isaac.lab.utils.interpolation.LinearInterpolation.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(x, y, device)</p></td>
+<td><p>Initializes the linear interpolation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation.compute" title="omni.isaac.lab.utils.interpolation.LinearInterpolation.compute"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute</span></code></a>(q)</p></td>
+<td><p>Calculates a linearly interpolated values for the query points.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.interpolation.LinearInterpolation.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/interpolation/linear_interpolation.html#LinearInterpolation.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the linear interpolation.</p>
+<p>The scalar function maps from real values, x, to real values, y. The input to the class is a set of samples
+from the function’s domain, x, and the corresponding values, y.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The input tensor x should be sorted in ascending order.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>x</strong> – An vector of samples from the function’s domain. The values should be sorted in ascending order.
+Shape is (num_samples,)</p></li>
+<li><p><strong>y</strong> – The function’s values associated to the input x. Shape is (num_samples,)</p></li>
+<li><p><strong>device</strong> – The device used for processing.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the input tensors are empty or have different sizes.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the input tensor x is not sorted in ascending order.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.interpolation.LinearInterpolation.compute">
+<span class="sig-name descname"><span class="pre">compute</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/interpolation/linear_interpolation.html#LinearInterpolation.compute"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation.compute" title="Permalink to this definition">#</a></dt>
+<dd><p>Calculates a linearly interpolated values for the query points.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>q</strong> – The query points. It can have any arbitrary shape.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The interpolated values at query points. It has the same shape as the input tensor.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.math">
+<span id="math-operations"></span><h2>Math operations<a class="headerlink" href="#module-omni.isaac.lab.utils.math" title="Permalink to this heading">#</a></h2>
+<p>Sub-module containing utilities for various math operations.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.scale_transform" title="omni.isaac.lab.utils.math.scale_transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale_transform</span></code></a></p></td>
+<td><p>Normalizes a given input tensor to a range of [-1, 1].</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.unscale_transform" title="omni.isaac.lab.utils.math.unscale_transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">unscale_transform</span></code></a></p></td>
+<td><p>De-normalizes a given input tensor from range of [-1, 1] to (lower, upper).</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.saturate" title="omni.isaac.lab.utils.math.saturate"><code class="xref py py-obj docutils literal notranslate"><span class="pre">saturate</span></code></a></p></td>
+<td><p>Clamps a given input tensor to (lower, upper).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.normalize" title="omni.isaac.lab.utils.math.normalize"><code class="xref py py-obj docutils literal notranslate"><span class="pre">normalize</span></code></a></p></td>
+<td><p>Normalizes a given input tensor to unit length.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.wrap_to_pi" title="omni.isaac.lab.utils.math.wrap_to_pi"><code class="xref py py-obj docutils literal notranslate"><span class="pre">wrap_to_pi</span></code></a></p></td>
+<td><p>Wraps input angles (in radians) to the range <span class="math notranslate nohighlight">\([-\pi, \pi]\)</span>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.copysign" title="omni.isaac.lab.utils.math.copysign"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copysign</span></code></a></p></td>
+<td><p>Create a new floating-point tensor with the magnitude of input and the sign of other, element-wise.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.matrix_from_quat" title="omni.isaac.lab.utils.math.matrix_from_quat"><code class="xref py py-obj docutils literal notranslate"><span class="pre">matrix_from_quat</span></code></a></p></td>
+<td><p>Convert rotations given as quaternions to rotation matrices.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.convert_quat" title="omni.isaac.lab.utils.math.convert_quat"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convert_quat</span></code></a>(quat[, to])</p></td>
+<td><p>Converts quaternion from one convention to another.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_conjugate" title="omni.isaac.lab.utils.math.quat_conjugate"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_conjugate</span></code></a></p></td>
+<td><p>Computes the conjugate of a quaternion.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_inv" title="omni.isaac.lab.utils.math.quat_inv"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_inv</span></code></a></p></td>
+<td><p>Compute the inverse of a quaternion.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_from_euler_xyz" title="omni.isaac.lab.utils.math.quat_from_euler_xyz"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_from_euler_xyz</span></code></a></p></td>
+<td><p>Convert rotations given as Euler angles in radians to Quaternions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_from_matrix" title="omni.isaac.lab.utils.math.quat_from_matrix"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_from_matrix</span></code></a></p></td>
+<td><p>Convert rotations given as rotation matrices to quaternions.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.matrix_from_euler" title="omni.isaac.lab.utils.math.matrix_from_euler"><code class="xref py py-obj docutils literal notranslate"><span class="pre">matrix_from_euler</span></code></a>(euler_angles, convention)</p></td>
+<td><p>Convert rotations given as Euler angles in radians to rotation matrices.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.euler_xyz_from_quat" title="omni.isaac.lab.utils.math.euler_xyz_from_quat"><code class="xref py py-obj docutils literal notranslate"><span class="pre">euler_xyz_from_quat</span></code></a></p></td>
+<td><p>Convert rotations given as quaternions to Euler angles in radians.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_unique" title="omni.isaac.lab.utils.math.quat_unique"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_unique</span></code></a></p></td>
+<td><p>Convert a unit quaternion to a standard form where the real part is non-negative.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_mul" title="omni.isaac.lab.utils.math.quat_mul"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_mul</span></code></a></p></td>
+<td><p>Multiply two quaternions together.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_box_minus" title="omni.isaac.lab.utils.math.quat_box_minus"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_box_minus</span></code></a></p></td>
+<td><p>The box-minus operator (quaternion difference) between two quaternions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.yaw_quat" title="omni.isaac.lab.utils.math.yaw_quat"><code class="xref py py-obj docutils literal notranslate"><span class="pre">yaw_quat</span></code></a></p></td>
+<td><p>Extract the yaw component of a quaternion.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_apply" title="omni.isaac.lab.utils.math.quat_apply"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_apply</span></code></a></p></td>
+<td><p>Apply a quaternion rotation to a vector.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_apply_yaw" title="omni.isaac.lab.utils.math.quat_apply_yaw"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_apply_yaw</span></code></a></p></td>
+<td><p>Rotate a vector only around the yaw-direction.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_rotate" title="omni.isaac.lab.utils.math.quat_rotate"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_rotate</span></code></a></p></td>
+<td><p>Rotate a vector by a quaternion along the last dimension of q and v.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_rotate_inverse" title="omni.isaac.lab.utils.math.quat_rotate_inverse"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_rotate_inverse</span></code></a></p></td>
+<td><p>Rotate a vector by the inverse of a quaternion along the last dimension of q and v.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_from_angle_axis" title="omni.isaac.lab.utils.math.quat_from_angle_axis"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_from_angle_axis</span></code></a></p></td>
+<td><p>Convert rotations given as angle-axis to quaternions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.axis_angle_from_quat" title="omni.isaac.lab.utils.math.axis_angle_from_quat"><code class="xref py py-obj docutils literal notranslate"><span class="pre">axis_angle_from_quat</span></code></a></p></td>
+<td><p>Convert rotations given as quaternions to axis/angle.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.quat_error_magnitude" title="omni.isaac.lab.utils.math.quat_error_magnitude"><code class="xref py py-obj docutils literal notranslate"><span class="pre">quat_error_magnitude</span></code></a></p></td>
+<td><p>Computes the rotation difference between two quaternions.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.skew_symmetric_matrix" title="omni.isaac.lab.utils.math.skew_symmetric_matrix"><code class="xref py py-obj docutils literal notranslate"><span class="pre">skew_symmetric_matrix</span></code></a></p></td>
+<td><p>Computes the skew-symmetric matrix of a vector.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.is_identity_pose" title="omni.isaac.lab.utils.math.is_identity_pose"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_identity_pose</span></code></a>(pos, rot)</p></td>
+<td><p>Checks if input poses are identity transforms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.combine_frame_transforms" title="omni.isaac.lab.utils.math.combine_frame_transforms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">combine_frame_transforms</span></code></a></p></td>
+<td><p>Combine transformations between two reference frames into a stationary frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.subtract_frame_transforms" title="omni.isaac.lab.utils.math.subtract_frame_transforms"><code class="xref py py-obj docutils literal notranslate"><span class="pre">subtract_frame_transforms</span></code></a>(t01, q01[, t02, q02])</p></td>
+<td><p>Subtract transformations between two reference frames into a stationary frame.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.compute_pose_error" title="omni.isaac.lab.utils.math.compute_pose_error"><code class="xref py py-obj docutils literal notranslate"><span class="pre">compute_pose_error</span></code></a>(t01, q01, t02, q02[, ...])</p></td>
+<td><p>Compute the position and orientation error between source and target frames.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.apply_delta_pose" title="omni.isaac.lab.utils.math.apply_delta_pose"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply_delta_pose</span></code></a></p></td>
+<td><p>Applies delta pose transformation on source pose.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.transform_points" title="omni.isaac.lab.utils.math.transform_points"><code class="xref py py-obj docutils literal notranslate"><span class="pre">transform_points</span></code></a>(points[, pos, quat])</p></td>
+<td><p>Transform input points in a given frame to a target frame.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.orthogonalize_perspective_depth" title="omni.isaac.lab.utils.math.orthogonalize_perspective_depth"><code class="xref py py-obj docutils literal notranslate"><span class="pre">orthogonalize_perspective_depth</span></code></a></p></td>
+<td><p>Converts perspective depth image to orthogonal depth image.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.unproject_depth" title="omni.isaac.lab.utils.math.unproject_depth"><code class="xref py py-obj docutils literal notranslate"><span class="pre">unproject_depth</span></code></a></p></td>
+<td><p>Un-project depth image into a pointcloud.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.project_points" title="omni.isaac.lab.utils.math.project_points"><code class="xref py py-obj docutils literal notranslate"><span class="pre">project_points</span></code></a></p></td>
+<td><p>Projects 3D points into 2D image plane.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.default_orientation" title="omni.isaac.lab.utils.math.default_orientation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">default_orientation</span></code></a></p></td>
+<td><p>Returns identity rotation transform.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.random_orientation" title="omni.isaac.lab.utils.math.random_orientation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">random_orientation</span></code></a></p></td>
+<td><p>Returns sampled rotation in 3D as quaternion.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.random_yaw_orientation" title="omni.isaac.lab.utils.math.random_yaw_orientation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">random_yaw_orientation</span></code></a></p></td>
+<td><p>Returns sampled rotation around z-axis.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.sample_triangle" title="omni.isaac.lab.utils.math.sample_triangle"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sample_triangle</span></code></a>(lower, upper, size, device)</p></td>
+<td><p>Randomly samples tensor from a triangular distribution.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.sample_uniform" title="omni.isaac.lab.utils.math.sample_uniform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sample_uniform</span></code></a>(lower, upper, size, device)</p></td>
+<td><p>Sample uniformly within a range.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.sample_log_uniform" title="omni.isaac.lab.utils.math.sample_log_uniform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sample_log_uniform</span></code></a>(lower, upper, size, device)</p></td>
+<td><p>Sample using log-uniform distribution within a range.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.sample_gaussian" title="omni.isaac.lab.utils.math.sample_gaussian"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sample_gaussian</span></code></a>(mean, std, size, device)</p></td>
+<td><p>Sample using gaussian distribution.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.sample_cylinder" title="omni.isaac.lab.utils.math.sample_cylinder"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sample_cylinder</span></code></a>(radius, h_range, size, device)</p></td>
+<td><p>Sample 3D points uniformly on a cylinder's surface.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention" title="omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convert_camera_frame_orientation_convention</span></code></a>(...)</p></td>
+<td><p>Converts a quaternion representing a rotation from one convention to another.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.math.create_rotation_matrix_from_view" title="omni.isaac.lab.utils.math.create_rotation_matrix_from_view"><code class="xref py py-obj docutils literal notranslate"><span class="pre">create_rotation_matrix_from_view</span></code></a>(eyes, targets)</p></td>
+<td><p>Compute the rotation matrix from world to view coordinates.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.scale_transform">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">scale_transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">lower</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.scale_transform" title="Permalink to this definition">#</a></dt>
+<dd><p>Normalizes a given input tensor to a range of [-1, 1].</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It uses pytorch broadcasting functionality to deal with batched input.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>x</strong> – Input tensor of shape (N, dims).</p></li>
+<li><p><strong>lower</strong> – The minimum value of the tensor. Shape is (N, dims) or (dims,).</p></li>
+<li><p><strong>upper</strong> – The maximum value of the tensor. Shape is (N, dims) or (dims,).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Normalized transform of the tensor. Shape is (N, dims).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.unscale_transform">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">unscale_transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">lower</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.unscale_transform" title="Permalink to this definition">#</a></dt>
+<dd><p>De-normalizes a given input tensor from range of [-1, 1] to (lower, upper).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>It uses pytorch broadcasting functionality to deal with batched input.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>x</strong> – Input tensor of shape (N, dims).</p></li>
+<li><p><strong>lower</strong> – The minimum value of the tensor. Shape is (N, dims) or (dims,).</p></li>
+<li><p><strong>upper</strong> – The maximum value of the tensor. Shape is (N, dims) or (dims,).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>De-normalized transform of the tensor. Shape is (N, dims).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.saturate">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">saturate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">lower</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.saturate" title="Permalink to this definition">#</a></dt>
+<dd><p>Clamps a given input tensor to (lower, upper).</p>
+<p>It uses pytorch broadcasting functionality to deal with batched input.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>x</strong> – Input tensor of shape (N, dims).</p></li>
+<li><p><strong>lower</strong> – The minimum value of the tensor. Shape is (N, dims) or (dims,).</p></li>
+<li><p><strong>upper</strong> – The maximum value of the tensor. Shape is (N, dims) or (dims,).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Clamped transform of the tensor. Shape is (N, dims).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.normalize">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">normalize</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">eps</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1e-09</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.normalize" title="Permalink to this definition">#</a></dt>
+<dd><p>Normalizes a given input tensor to unit length.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>x</strong> – Input tensor of shape (N, dims).</p></li>
+<li><p><strong>eps</strong> – A small value to avoid division by zero. Defaults to 1e-9.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Normalized tensor of shape (N, dims).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.wrap_to_pi">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">wrap_to_pi</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angles</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.wrap_to_pi" title="Permalink to this definition">#</a></dt>
+<dd><p>Wraps input angles (in radians) to the range <span class="math notranslate nohighlight">\([-\pi, \pi]\)</span>.</p>
+<p>This function wraps angles in radians to the range <span class="math notranslate nohighlight">\([-\pi, \pi]\)</span>, such that
+<span class="math notranslate nohighlight">\(\pi\)</span> maps to <span class="math notranslate nohighlight">\(\pi\)</span>, and <span class="math notranslate nohighlight">\(-\pi\)</span> maps to <span class="math notranslate nohighlight">\(-\pi\)</span>. In general,
+odd positive multiples of <span class="math notranslate nohighlight">\(\pi\)</span> are mapped to <span class="math notranslate nohighlight">\(\pi\)</span>, and odd negative
+multiples of <span class="math notranslate nohighlight">\(\pi\)</span> are mapped to <span class="math notranslate nohighlight">\(-\pi\)</span>.</p>
+<p>The function behaves similar to MATLAB’s <a class="reference external" href="https://www.mathworks.com/help/map/ref/wraptopi.html">wrapToPi</a>
+function.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>angles</strong> – Input angles of any shape.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Angles in the range <span class="math notranslate nohighlight">\([-\pi, \pi]\)</span>.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.copysign">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">copysign</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mag</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">other</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.copysign" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a new floating-point tensor with the magnitude of input and the sign of other, element-wise.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The implementation follows from <cite>torch.copysign</cite>. The function allows a scalar magnitude.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>mag</strong> – The magnitude scalar.</p></li>
+<li><p><strong>other</strong> – The tensor containing values whose signbits are applied to magnitude.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The output tensor.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.matrix_from_quat">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">matrix_from_quat</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">quaternions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.matrix_from_quat" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert rotations given as quaternions to rotation matrices.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>quaternions</strong> – The quaternion orientation in (w, x, y, z). Shape is (…, 4).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Rotation matrices. The shape is (…, 3, 3).</p>
+</dd>
+</dl>
+<dl class="simple">
+<dt>Reference:</dt><dd><p><a class="github reference external" href="https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L41-L70">facebookresearch/pytorch3d</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.convert_quat">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">convert_quat</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">quat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">np.ndarray</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">to</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'xyzw'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'wxyz'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'xyzw'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">np.ndarray</span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#convert_quat"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.convert_quat" title="Permalink to this definition">#</a></dt>
+<dd><p>Converts quaternion from one convention to another.</p>
+<p>The convention to convert TO is specified as an optional argument. If to == ‘xyzw’,
+then the input is in ‘wxyz’ format, and vice-versa.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>quat</strong> – The quaternion of shape (…, 4).</p></li>
+<li><p><strong>to</strong> – Convention to convert quaternion to.. Defaults to “xyzw”.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The converted quaternion in specified convention.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – Invalid input argument <cite>to</cite>, i.e. not “xyzw” or “wxyz”.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – Invalid shape of input <cite>quat</cite>, i.e. not (…, 4,).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_conjugate">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_conjugate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_conjugate" title="Permalink to this definition">#</a></dt>
+<dd><p>Computes the conjugate of a quaternion.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>q</strong> – The quaternion orientation in (w, x, y, z). Shape is (…, 4).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The conjugate quaternion in (w, x, y, z). Shape is (…, 4).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_inv">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_inv</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_inv" title="Permalink to this definition">#</a></dt>
+<dd><p>Compute the inverse of a quaternion.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>q</strong> – The quaternion orientation in (w, x, y, z). Shape is (N, 4).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The inverse quaternion in (w, x, y, z). Shape is (N, 4).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_from_euler_xyz">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_from_euler_xyz</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">roll</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">pitch</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">yaw</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_from_euler_xyz" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert rotations given as Euler angles in radians to Quaternions.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The euler angles are assumed in XYZ convention.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>roll</strong> – Rotation around x-axis (in radians). Shape is (N,).</p></li>
+<li><p><strong>pitch</strong> – Rotation around y-axis (in radians). Shape is (N,).</p></li>
+<li><p><strong>yaw</strong> – Rotation around z-axis (in radians). Shape is (N,).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The quaternion in (w, x, y, z). Shape is (N, 4).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_from_matrix">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_from_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">matrix</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_from_matrix" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert rotations given as rotation matrices to quaternions.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>matrix</strong> – The rotation matrices. Shape is (…, 3, 3).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The quaternion in (w, x, y, z). Shape is (…, 4).</p>
+</dd>
+</dl>
+<dl class="simple">
+<dt>Reference:</dt><dd><p><a class="github reference external" href="https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L102-L161">facebookresearch/pytorch3d</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.matrix_from_euler">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">matrix_from_euler</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">euler_angles</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">convention</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#matrix_from_euler"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.matrix_from_euler" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert rotations given as Euler angles in radians to rotation matrices.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>euler_angles</strong> – Euler angles in radians. Shape is (…, 3).</p></li>
+<li><p><strong>convention</strong> – Convention string of three uppercase letters from {“X”, “Y”, and “Z”}.
+For example, “XYZ” means that the rotations should be applied first about x,
+then y, then z.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Rotation matrices. Shape is (…, 3, 3).</p>
+</dd>
+</dl>
+<dl class="simple">
+<dt>Reference:</dt><dd><p><a class="github reference external" href="https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L194-L220">facebookresearch/pytorch3d</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.euler_xyz_from_quat">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">euler_xyz_from_quat</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">quat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.euler_xyz_from_quat" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert rotations given as quaternions to Euler angles in radians.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The euler angles are assumed in XYZ convention.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>quat</strong> – The quaternion orientation in (w, x, y, z). Shape is (N, 4).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing roll-pitch-yaw. Each element is a tensor of shape (N,).</p>
+</dd>
+</dl>
+<dl class="simple">
+<dt>Reference:</dt><dd><p><a class="reference external" href="https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles">https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_unique">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_unique</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_unique" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert a unit quaternion to a standard form where the real part is non-negative.</p>
+<p>Quaternion representations have a singularity since <code class="docutils literal notranslate"><span class="pre">q</span></code> and <code class="docutils literal notranslate"><span class="pre">-q</span></code> represent the same
+rotation. This function ensures the real part of the quaternion is non-negative.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>q</strong> – The quaternion orientation in (w, x, y, z). Shape is (…, 4).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Standardized quaternions. Shape is (…, 4).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_mul">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_mul</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">q2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_mul" title="Permalink to this definition">#</a></dt>
+<dd><p>Multiply two quaternions together.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>q1</strong> – The first quaternion in (w, x, y, z). Shape is (…, 4).</p></li>
+<li><p><strong>q2</strong> – The second quaternion in (w, x, y, z). Shape is (…, 4).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The product of the two quaternions in (w, x, y, z). Shape is (…, 4).</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – Input shapes of <code class="docutils literal notranslate"><span class="pre">q1</span></code> and <code class="docutils literal notranslate"><span class="pre">q2</span></code> are not matching.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_box_minus">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_box_minus</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">q2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_box_minus" title="Permalink to this definition">#</a></dt>
+<dd><p>The box-minus operator (quaternion difference) between two quaternions.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>q1</strong> – The first quaternion in (w, x, y, z). Shape is (N, 4).</p></li>
+<li><p><strong>q2</strong> – The second quaternion in (w, x, y, z). Shape is (N, 4).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The difference between the two quaternions. Shape is (N, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.yaw_quat">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">yaw_quat</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">quat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.yaw_quat" title="Permalink to this definition">#</a></dt>
+<dd><p>Extract the yaw component of a quaternion.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>quat</strong> – The orientation in (w, x, y, z). Shape is (…, 4)</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A quaternion with only yaw component.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_apply">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">quat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">vec</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_apply" title="Permalink to this definition">#</a></dt>
+<dd><p>Apply a quaternion rotation to a vector.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>quat</strong> – The quaternion in (w, x, y, z). Shape is (…, 4).</p></li>
+<li><p><strong>vec</strong> – The vector in (x, y, z). Shape is (…, 3).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The rotated vector in (x, y, z). Shape is (…, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_apply_yaw">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_apply_yaw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">quat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">vec</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_apply_yaw" title="Permalink to this definition">#</a></dt>
+<dd><p>Rotate a vector only around the yaw-direction.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>quat</strong> – The orientation in (w, x, y, z). Shape is (N, 4).</p></li>
+<li><p><strong>vec</strong> – The vector in (x, y, z). Shape is (N, 3).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The rotated vector in (x, y, z). Shape is (N, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_rotate">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_rotate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">v</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_rotate" title="Permalink to this definition">#</a></dt>
+<dd><p>Rotate a vector by a quaternion along the last dimension of q and v.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>q</strong> – The quaternion in (w, x, y, z). Shape is (…, 4).</p></li>
+<li><p><strong>v</strong> – The vector in (x, y, z). Shape is (…, 3).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The rotated vector in (x, y, z). Shape is (…, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_rotate_inverse">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_rotate_inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">v</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_rotate_inverse" title="Permalink to this definition">#</a></dt>
+<dd><p>Rotate a vector by the inverse of a quaternion along the last dimension of q and v.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>q</strong> – The quaternion in (w, x, y, z). Shape is (…, 4).</p></li>
+<li><p><strong>v</strong> – The vector in (x, y, z). Shape is (…, 3).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The rotated vector in (x, y, z). Shape is (…, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_from_angle_axis">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_from_angle_axis</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angle</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">axis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_from_angle_axis" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert rotations given as angle-axis to quaternions.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>angle</strong> – The angle turned anti-clockwise in radians around the vector’s direction. Shape is (N,).</p></li>
+<li><p><strong>axis</strong> – The axis of rotation. Shape is (N, 3).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The quaternion in (w, x, y, z). Shape is (N, 4).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.axis_angle_from_quat">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">axis_angle_from_quat</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">quat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">eps</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1e-06</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.axis_angle_from_quat" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert rotations given as quaternions to axis/angle.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>quat</strong> – The quaternion orientation in (w, x, y, z). Shape is (…, 4).</p></li>
+<li><p><strong>eps</strong> – The tolerance for Taylor approximation. Defaults to 1.0e-6.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Rotations given as a vector in axis angle form. Shape is (…, 3).
+The vector’s magnitude is the angle turned anti-clockwise in radians around the vector’s direction.</p>
+</dd>
+</dl>
+<dl class="simple">
+<dt>Reference:</dt><dd><p><a class="github reference external" href="https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L526-L554">facebookresearch/pytorch3d</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.quat_error_magnitude">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">quat_error_magnitude</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">q1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">q2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.quat_error_magnitude" title="Permalink to this definition">#</a></dt>
+<dd><p>Computes the rotation difference between two quaternions.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>q1</strong> – The first quaternion in (w, x, y, z). Shape is (…, 4).</p></li>
+<li><p><strong>q2</strong> – The second quaternion in (w, x, y, z). Shape is (…, 4).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Angular error between input quaternions in radians.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.skew_symmetric_matrix">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">skew_symmetric_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">vec</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.skew_symmetric_matrix" title="Permalink to this definition">#</a></dt>
+<dd><p>Computes the skew-symmetric matrix of a vector.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>vec</strong> – The input vector. Shape is (3,) or (N, 3).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The skew-symmetric matrix. Shape is (1, 3, 3) or (N, 3, 3).</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If input tensor is not of shape (…, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.is_identity_pose">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">is_identity_pose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">torch.tensor</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rot</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">torch.tensor</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#is_identity_pose"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.is_identity_pose" title="Permalink to this definition">#</a></dt>
+<dd><p>Checks if input poses are identity transforms.</p>
+<p>The function checks if the input position and orientation are close to zero and
+identity respectively using L2-norm. It does NOT check the error in the orientation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>pos</strong> – The cartesian position. Shape is (N, 3).</p></li>
+<li><p><strong>rot</strong> – The quaternion in (w, x, y, z). Shape is (N, 4).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>True if all the input poses result in identity transform. Otherwise, False.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.combine_frame_transforms">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">combine_frame_transforms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">t01</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">q01</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">t12</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">q12</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.combine_frame_transforms" title="Permalink to this definition">#</a></dt>
+<dd><p>Combine transformations between two reference frames into a stationary frame.</p>
+<p>It performs the following transformation operation: <span class="math notranslate nohighlight">\(T_{02} = T_{01} \times T_{12}\)</span>,
+where <span class="math notranslate nohighlight">\(T_{AB}\)</span> is the homogeneous transformation matrix from frame A to B.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>t01</strong> – Position of frame 1 w.r.t. frame 0. Shape is (N, 3).</p></li>
+<li><p><strong>q01</strong> – Quaternion orientation of frame 1 w.r.t. frame 0 in (w, x, y, z). Shape is (N, 4).</p></li>
+<li><p><strong>t12</strong> – Position of frame 2 w.r.t. frame 1. Shape is (N, 3).
+Defaults to None, in which case the position is assumed to be zero.</p></li>
+<li><p><strong>q12</strong> – Quaternion orientation of frame 2 w.r.t. frame 1 in (w, x, y, z). Shape is (N, 4).
+Defaults to None, in which case the orientation is assumed to be identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the position and orientation of frame 2 w.r.t. frame 0.
+Shape of the tensors are (N, 3) and (N, 4) respectively.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.subtract_frame_transforms">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">subtract_frame_transforms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">t01</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">q01</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">t02</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">q02</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#subtract_frame_transforms"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.subtract_frame_transforms" title="Permalink to this definition">#</a></dt>
+<dd><p>Subtract transformations between two reference frames into a stationary frame.</p>
+<p>It performs the following transformation operation: <span class="math notranslate nohighlight">\(T_{12} = T_{01}^{-1} \times T_{02}\)</span>,
+where <span class="math notranslate nohighlight">\(T_{AB}\)</span> is the homogeneous transformation matrix from frame A to B.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>t01</strong> – Position of frame 1 w.r.t. frame 0. Shape is (N, 3).</p></li>
+<li><p><strong>q01</strong> – Quaternion orientation of frame 1 w.r.t. frame 0 in (w, x, y, z). Shape is (N, 4).</p></li>
+<li><p><strong>t02</strong> – Position of frame 2 w.r.t. frame 0. Shape is (N, 3).
+Defaults to None, in which case the position is assumed to be zero.</p></li>
+<li><p><strong>q02</strong> – Quaternion orientation of frame 2 w.r.t. frame 0 in (w, x, y, z). Shape is (N, 4).
+Defaults to None, in which case the orientation is assumed to be identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the position and orientation of frame 2 w.r.t. frame 1.
+Shape of the tensors are (N, 3) and (N, 4) respectively.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.compute_pose_error">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">compute_pose_error</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">t01</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">q01</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">t02</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">q02</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">rot_error_type</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'quat'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'axis_angle'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'axis_angle'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#compute_pose_error"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.compute_pose_error" title="Permalink to this definition">#</a></dt>
+<dd><p>Compute the position and orientation error between source and target frames.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>t01</strong> – Position of source frame. Shape is (N, 3).</p></li>
+<li><p><strong>q01</strong> – Quaternion orientation of source frame in (w, x, y, z). Shape is (N, 4).</p></li>
+<li><p><strong>t02</strong> – Position of target frame. Shape is (N, 3).</p></li>
+<li><p><strong>q02</strong> – Quaternion orientation of target frame in (w, x, y, z). Shape is (N, 4).</p></li>
+<li><p><strong>rot_error_type</strong> – The rotation error type to return: “quat”, “axis_angle”.
+Defaults to “axis_angle”.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p><p>A tuple containing position and orientation error. Shape of position error is (N, 3).
+Shape of orientation error depends on the value of <code class="xref py py-attr docutils literal notranslate"><span class="pre">rot_error_type</span></code>:</p>
+<ul class="simple">
+<li><p>If <code class="xref py py-attr docutils literal notranslate"><span class="pre">rot_error_type</span></code> is “quat”, the orientation error is returned
+as a quaternion. Shape is (N, 4).</p></li>
+<li><p>If <code class="xref py py-attr docutils literal notranslate"><span class="pre">rot_error_type</span></code> is “axis_angle”, the orientation error is
+returned as an axis-angle vector. Shape is (N, 3).</p></li>
+</ul>
+</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – Invalid rotation error type.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.apply_delta_pose">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">apply_delta_pose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">source_pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">source_rot</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">delta_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">eps</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1e-06</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.apply_delta_pose" title="Permalink to this definition">#</a></dt>
+<dd><p>Applies delta pose transformation on source pose.</p>
+<p>The first three elements of <cite>delta_pose</cite> are interpreted as cartesian position displacement.
+The remaining three elements of <cite>delta_pose</cite> are interpreted as orientation displacement
+in the angle-axis format.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>source_pos</strong> – Position of source frame. Shape is (N, 3).</p></li>
+<li><p><strong>source_rot</strong> – Quaternion orientation of source frame in (w, x, y, z). Shape is (N, 4)..</p></li>
+<li><p><strong>delta_pose</strong> – Position and orientation displacements. Shape is (N, 6).</p></li>
+<li><p><strong>eps</strong> – The tolerance to consider orientation displacement as zero. Defaults to 1.0e-6.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple containing the displaced position and orientation frames.
+Shape of the tensors are (N, 3) and (N, 4) respectively.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.transform_points">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">transform_points</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">points</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">quat</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#transform_points"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.transform_points" title="Permalink to this definition">#</a></dt>
+<dd><p>Transform input points in a given frame to a target frame.</p>
+<p>This function transform points from a source frame to a target frame. The transformation is defined by the
+position <span class="math notranslate nohighlight">\(t\)</span> and orientation <span class="math notranslate nohighlight">\(R\)</span> of the target frame in the source frame.</p>
+<div class="math notranslate nohighlight">
+\[p_{target} = R_{target} \times p_{source} + t_{target}\]</div>
+<p>If the input <cite>points</cite> is a batch of points, the inputs <cite>pos</cite> and <cite>quat</cite> must be either a batch of
+positions and quaternions or a single position and quaternion. If the inputs <cite>pos</cite> and <cite>quat</cite> are
+a single position and quaternion, the same transformation is applied to all points in the batch.</p>
+<p>If either the inputs <code class="xref py py-attr docutils literal notranslate"><span class="pre">pos</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">quat</span></code> are None, the corresponding transformation is not applied.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>points</strong> – Points to transform. Shape is (N, P, 3) or (P, 3).</p></li>
+<li><p><strong>pos</strong> – Position of the target frame. Shape is (N, 3) or (3,).
+Defaults to None, in which case the position is assumed to be zero.</p></li>
+<li><p><strong>quat</strong> – Quaternion orientation of the target frame in (w, x, y, z). Shape is (N, 4) or (4,).
+Defaults to None, in which case the orientation is assumed to be identity.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Transformed points in the target frame. Shape is (N, P, 3) or (P, 3).</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the inputs <cite>points</cite> is not of shape (N, P, 3) or (P, 3).</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the inputs <cite>pos</cite> is not of shape (N, 3) or (3,).</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the inputs <cite>quat</cite> is not of shape (N, 4) or (4,).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.orthogonalize_perspective_depth">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">orthogonalize_perspective_depth</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">depth</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">intrinsics</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.orthogonalize_perspective_depth" title="Permalink to this definition">#</a></dt>
+<dd><p>Converts perspective depth image to orthogonal depth image.</p>
+<p>Perspective depth images contain distances measured from the camera’s optical center.
+Meanwhile, orthogonal depth images provide the distance from the camera’s image plane.
+This method uses the camera geometry to convert perspective depth to orthogonal depth image.</p>
+<p>The function assumes that the width and height are both greater than 1.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>depth</strong> – The perspective depth images. Shape is (H, W) or or (H, W, 1) or (N, H, W) or (N, H, W, 1).</p></li>
+<li><p><strong>intrinsics</strong> – The camera’s calibration matrix. If a single matrix is provided, the same
+calibration matrix is used across all the depth images in the batch.
+Shape is (3, 3) or (N, 3, 3).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The orthogonal depth images. Shape matches the input shape of depth images.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When depth is not of shape (H, W) or (H, W, 1) or (N, H, W) or (N, H, W, 1).</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When intrinsics is not of shape (3, 3) or (N, 3, 3).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.unproject_depth">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">unproject_depth</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">depth</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">intrinsics</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">is_ortho</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.unproject_depth" title="Permalink to this definition">#</a></dt>
+<dd><p>Un-project depth image into a pointcloud.</p>
+<p>This function converts orthogonal or perspective depth images into points given the calibration matrix
+of the camera. It uses the following transformation based on camera geometry:</p>
+<div class="math notranslate nohighlight">
+\[p_{3D} = K^{-1} \times [u, v, 1]^T \times d\]</div>
+<p>where <span class="math notranslate nohighlight">\(p_{3D}\)</span> is the 3D point, <span class="math notranslate nohighlight">\(d\)</span> is the depth value (measured from the image plane),
+<span class="math notranslate nohighlight">\(u\)</span> and <span class="math notranslate nohighlight">\(v\)</span> are the pixel coordinates and <span class="math notranslate nohighlight">\(K\)</span> is the intrinsic matrix.</p>
+<p>The function assumes that the width and height are both greater than 1. This makes the function
+deal with many possible shapes of depth images and intrinsics matrices.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If <code class="xref py py-attr docutils literal notranslate"><span class="pre">is_ortho</span></code> is False, the input depth images are transformed to orthogonal depth images
+by using the <a class="reference internal" href="#omni.isaac.lab.utils.math.orthogonalize_perspective_depth" title="omni.isaac.lab.utils.math.orthogonalize_perspective_depth"><code class="xref py py-meth docutils literal notranslate"><span class="pre">orthogonalize_perspective_depth()</span></code></a> method.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>depth</strong> – The depth measurement. Shape is (H, W) or or (H, W, 1) or (N, H, W) or (N, H, W, 1).</p></li>
+<li><p><strong>intrinsics</strong> – The camera’s calibration matrix. If a single matrix is provided, the same
+calibration matrix is used across all the depth images in the batch.
+Shape is (3, 3) or (N, 3, 3).</p></li>
+<li><p><strong>is_ortho</strong> – Whether the input depth image is orthogonal or perspective depth image. If True, the input
+depth image is considered as the <em>orthogonal</em> type, where the measurements are from the camera’s
+image plane. If False, the depth image is considered as the <em>perspective</em> type, where the
+measurements are from the camera’s optical center. Defaults to True.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The 3D coordinates of points. Shape is (P, 3) or (N, P, 3).</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When depth is not of shape (H, W) or (H, W, 1) or (N, H, W) or (N, H, W, 1).</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When intrinsics is not of shape (3, 3) or (N, 3, 3).</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.project_points">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">project_points</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">points</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">intrinsics</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.project_points" title="Permalink to this definition">#</a></dt>
+<dd><p>Projects 3D points into 2D image plane.</p>
+<p>This project 3D points into a 2D image plane. The transformation is defined by the intrinsic
+matrix of the camera.</p>
+<div class="math notranslate nohighlight">
+\[\begin{split}\begin{align}
+    p &amp;= K \times p_{3D}  = \\
+    p_{2D} &amp;= \begin{pmatrix} u \\ v \\  d \end{pmatrix}
+            = \begin{pmatrix} p[0] / p[2] \\  p[1] / p[2] \\ Z \end{pmatrix}
+\end{align}\end{split}\]</div>
+<p>where <span class="math notranslate nohighlight">\(p_{2D} = (u, v, d)\)</span> is the projected 3D point, <span class="math notranslate nohighlight">\(p_{3D} = (X, Y, Z)\)</span> is the
+3D point and <span class="math notranslate nohighlight">\(K \in \mathbb{R}^{3 \times 3}\)</span> is the intrinsic matrix.</p>
+<p>If <cite>points</cite> is a batch of 3D points and <cite>intrinsics</cite> is a single intrinsic matrix, the same
+calibration matrix is applied to all points in the batch.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>points</strong> – The 3D coordinates of points. Shape is (P, 3) or (N, P, 3).</p></li>
+<li><p><strong>intrinsics</strong> – Camera’s calibration matrix. Shape is (3, 3) or (N, 3, 3).</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Projected 3D coordinates of points. Shape is (P, 3) or (N, P, 3).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.default_orientation">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">default_orientation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.default_orientation" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns identity rotation transform.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>num</strong> – The number of rotations to sample.</p></li>
+<li><p><strong>device</strong> – Device to create tensor on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Identity quaternion in (w, x, y, z). Shape is (num, 4).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.random_orientation">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">random_orientation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.random_orientation" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns sampled rotation in 3D as quaternion.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>num</strong> – The number of rotations to sample.</p></li>
+<li><p><strong>device</strong> – Device to create tensor on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Sampled quaternion in (w, x, y, z). Shape is (num, 4).</p>
+</dd>
+</dl>
+<dl class="simple">
+<dt>Reference:</dt><dd><p><a class="reference external" href="https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.random.html">https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.random.html</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.random_yaw_orientation">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">random_yaw_orientation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">num</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.math.random_yaw_orientation" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns sampled rotation around z-axis.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>num</strong> – The number of rotations to sample.</p></li>
+<li><p><strong>device</strong> – Device to create tensor on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Sampled quaternion in (w, x, y, z). Shape is (num, 4).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.sample_triangle">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">sample_triangle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">lower</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">size</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#sample_triangle"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.sample_triangle" title="Permalink to this definition">#</a></dt>
+<dd><p>Randomly samples tensor from a triangular distribution.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>lower</strong> – The lower range of the sampled tensor.</p></li>
+<li><p><strong>upper</strong> – The upper range of the sampled tensor.</p></li>
+<li><p><strong>size</strong> – The shape of the tensor.</p></li>
+<li><p><strong>device</strong> – Device to create tensor on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Sampled tensor. Shape is based on <code class="xref py py-attr docutils literal notranslate"><span class="pre">size</span></code>.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.sample_uniform">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">sample_uniform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">lower</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">size</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#sample_uniform"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.sample_uniform" title="Permalink to this definition">#</a></dt>
+<dd><p>Sample uniformly within a range.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>lower</strong> – Lower bound of uniform range.</p></li>
+<li><p><strong>upper</strong> – Upper bound of uniform range.</p></li>
+<li><p><strong>size</strong> – The shape of the tensor.</p></li>
+<li><p><strong>device</strong> – Device to create tensor on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Sampled tensor. Shape is based on <code class="xref py py-attr docutils literal notranslate"><span class="pre">size</span></code>.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.sample_log_uniform">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">sample_log_uniform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">lower</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">size</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#sample_log_uniform"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.sample_log_uniform" title="Permalink to this definition">#</a></dt>
+<dd><p>Sample using log-uniform distribution within a range.</p>
+<p>The log-uniform distribution is defined as a uniform distribution in the log-space. It
+is useful for sampling values that span several orders of magnitude. The sampled values
+are uniformly distributed in the log-space and then exponentiated to get the final values.</p>
+<div class="math notranslate nohighlight">
+\[x = \exp(\text{uniform}(\log(\text{lower}), \log(\text{upper})))\]</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>lower</strong> – Lower bound of uniform range.</p></li>
+<li><p><strong>upper</strong> – Upper bound of uniform range.</p></li>
+<li><p><strong>size</strong> – The shape of the tensor.</p></li>
+<li><p><strong>device</strong> – Device to create tensor on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Sampled tensor. Shape is based on <code class="xref py py-attr docutils literal notranslate"><span class="pre">size</span></code>.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.sample_gaussian">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">sample_gaussian</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mean</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">std</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">size</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#sample_gaussian"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.sample_gaussian" title="Permalink to this definition">#</a></dt>
+<dd><p>Sample using gaussian distribution.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>mean</strong> – Mean of the gaussian.</p></li>
+<li><p><strong>std</strong> – Std of the gaussian.</p></li>
+<li><p><strong>size</strong> – The shape of the tensor.</p></li>
+<li><p><strong>device</strong> – Device to create tensor on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Sampled tensor.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.sample_cylinder">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">sample_cylinder</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">radius</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">h_range</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">size</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="p"><span class="pre">...</span></span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#sample_cylinder"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.sample_cylinder" title="Permalink to this definition">#</a></dt>
+<dd><p>Sample 3D points uniformly on a cylinder’s surface.</p>
+<p>The cylinder is centered at the origin and aligned with the z-axis. The height of the cylinder is
+sampled uniformly from the range <code class="xref py py-obj docutils literal notranslate"><span class="pre">h_range</span></code>, while the radius is fixed to <code class="xref py py-obj docutils literal notranslate"><span class="pre">radius</span></code>.</p>
+<p>The sampled points are returned as a tensor of shape <code class="xref py py-obj docutils literal notranslate"><span class="pre">(*size,</span> <span class="pre">3)</span></code>, i.e. the last dimension
+contains the x, y, and z coordinates of the sampled points.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>radius</strong> – The radius of the cylinder.</p></li>
+<li><p><strong>h_range</strong> – The minimum and maximum height of the cylinder.</p></li>
+<li><p><strong>size</strong> – The shape of the tensor.</p></li>
+<li><p><strong>device</strong> – Device to create tensor on.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Sampled tensor. Shape is <code class="xref py py-obj docutils literal notranslate"><span class="pre">(*size,</span> <span class="pre">3)</span></code>.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">convert_camera_frame_orientation_convention</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">orientation</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">origin</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'opengl'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'ros'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'world'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'opengl'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'opengl'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'ros'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'world'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'ros'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#convert_camera_frame_orientation_convention"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention" title="Permalink to this definition">#</a></dt>
+<dd><p>Converts a quaternion representing a rotation from one convention to another.</p>
+<p>In USD, the camera follows the <code class="docutils literal notranslate"><span class="pre">&quot;opengl&quot;</span></code> convention. Thus, it is always in <strong>Y up</strong> convention.
+This means that the camera is looking down the -Z axis with the +Y axis pointing up , and +X axis pointing right.
+However, in ROS, the camera is looking down the +Z axis with the +Y axis pointing down, and +X axis pointing right.
+Thus, the camera needs to be rotated by <span class="math notranslate nohighlight">\(180^{\circ}\)</span> around the X axis to follow the ROS convention.</p>
+<div class="math notranslate nohighlight">
+\[\begin{split}T_{ROS} = \begin{bmatrix} 1 &amp; 0 &amp; 0 &amp; 0 \\ 0 &amp; -1 &amp; 0 &amp; 0 \\ 0 &amp; 0 &amp; -1 &amp; 0 \\ 0 &amp; 0 &amp; 0 &amp; 1 \end{bmatrix} T_{USD}\end{split}\]</div>
+<p>On the other hand, the typical world coordinate system is with +X pointing forward, +Y pointing left,
+and +Z pointing up. The camera can also be set in this convention by rotating the camera by <span class="math notranslate nohighlight">\(90^{\circ}\)</span>
+around the X axis and <span class="math notranslate nohighlight">\(-90^{\circ}\)</span> around the Y axis.</p>
+<div class="math notranslate nohighlight">
+\[\begin{split}T_{WORLD} = \begin{bmatrix} 0 &amp; 0 &amp; -1 &amp; 0 \\ -1 &amp; 0 &amp; 0 &amp; 0 \\ 0 &amp; 1 &amp; 0 &amp; 0 \\ 0 &amp; 0 &amp; 0 &amp; 1 \end{bmatrix} T_{USD}\end{split}\]</div>
+<p>Thus, based on their application, cameras follow different conventions for their orientation. This function
+converts a quaternion from one convention to another.</p>
+<p>Possible conventions are:</p>
+<ul class="simple">
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;opengl&quot;</span></code> - forward axis: -Z - up axis +Y - Offset is applied in the OpenGL (Usd.Camera) convention</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;ros&quot;</span></code>    - forward axis: +Z - up axis -Y - Offset is applied in the ROS convention</p></li>
+<li><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">&quot;world&quot;</span></code>  - forward axis: +X - up axis +Z - Offset is applied in the World Frame convention</p></li>
+</ul>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>orientation</strong> – Quaternion of form <cite>(w, x, y, z)</cite> with shape (…, 4) in source convention.</p></li>
+<li><p><strong>origin</strong> – Convention to convert from. Defaults to “opengl”.</p></li>
+<li><p><strong>target</strong> – Convention to convert to. Defaults to “ros”.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Quaternion of form <cite>(w, x, y, z)</cite> with shape (…, 4) in target convention</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.math.create_rotation_matrix_from_view">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.math.</span></span><span class="sig-name descname"><span class="pre">create_rotation_matrix_from_view</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">eyes</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">targets</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">up_axis</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'Y'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'Z'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'Z'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'cpu'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/math.html#create_rotation_matrix_from_view"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.math.create_rotation_matrix_from_view" title="Permalink to this definition">#</a></dt>
+<dd><p>Compute the rotation matrix from world to view coordinates.</p>
+<p>This function takes a vector ‘’eyes’’ which specifies the location
+of the camera in world coordinates and the vector ‘’targets’’ which
+indicate the position of the object.
+The output is a rotation matrix representing the transformation
+from world coordinates -&gt; view coordinates.</p>
+<blockquote>
+<div><p>The inputs eyes and targets can each be a
+- 3 element tuple/list
+- torch tensor of shape (1, 3)
+- torch tensor of shape (N, 3)</p>
+</div></blockquote>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>eyes</strong> – Position of the camera in world coordinates.</p></li>
+<li><p><strong>targets</strong> – Position of the object in world coordinates.</p></li>
+<li><p><strong>up_axis</strong> – The up axis of the camera. Defaults to “Z”.</p></li>
+<li><p><strong>device</strong> – The device to create torch tensors on. Defaults to “cpu”.</p></li>
+</ul>
+</dd>
+</dl>
+<p>The vectors are broadcast against each other so they all have shape (N, 3).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>(N, 3, 3) batched rotation matrices</p>
+</dd>
+<dt class="field-even">Return type<span class="colon">:</span></dt>
+<dd class="field-even"><p>R</p>
+</dd>
+</dl>
+<p>Reference:
+Based on PyTorch3D (<a class="github reference external" href="https://github.com/facebookresearch/pytorch3d/blob/eaf0709d6af0025fe94d1ee7cec454bc3054826a/pytorch3d/renderer/cameras.py#L1635-L1685">facebookresearch/pytorch3d</a>)</p>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.modifiers">
+<span id="modifier-operations"></span><h2>Modifier operations<a class="headerlink" href="#module-omni.isaac.lab.utils.modifiers" title="Permalink to this heading">#</a></h2>
+<p>Sub-module containing different modifiers implementations.</p>
+<p>Modifiers are used to apply stateful or stateless modifications to tensor data. They take
+in a tensor and a configuration and return a tensor with the modification applied. This way users
+can define custom operations to apply to a tensor. For instance, a modifier can be used to normalize
+the input data or to apply a rolling average.</p>
+<p>They are primarily used to apply custom operations in the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationManager</span></code></a>
+as an alternative to the built-in noise, clip and scale post-processing operations. For more details, see
+the <a class="reference internal" href="omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg" title="omni.isaac.lab.managers.ObservationTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationTermCfg</span></code></a> class.</p>
+<p>Usage with a function modifier:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">modifiers</span>
+
+<span class="c1"># create a random tensor</span>
+<span class="n">my_tensor</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="mi">256</span><span class="p">,</span> <span class="mi">128</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cuda&quot;</span><span class="p">)</span>
+
+<span class="c1"># create a modifier configuration</span>
+<span class="n">cfg</span> <span class="o">=</span> <span class="n">modifiers</span><span class="o">.</span><span class="n">ModifierCfg</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">modifiers</span><span class="o">.</span><span class="n">clip</span><span class="p">,</span> <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;bounds&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">inf</span><span class="p">)})</span>
+
+<span class="c1"># apply the modifier</span>
+<span class="n">my_modified_tensor</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">my_tensor</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Usage with a class modifier:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">modifiers</span>
+
+<span class="c1"># create a random tensor</span>
+<span class="n">my_tensor</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="mi">256</span><span class="p">,</span> <span class="mi">128</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cuda&quot;</span><span class="p">)</span>
+
+<span class="c1"># create a modifier configuration</span>
+<span class="c1"># a digital filter with a simple delay of 1 timestep</span>
+<span class="n">cfg</span> <span class="o">=</span> <span class="n">modifiers</span><span class="o">.</span><span class="n">DigitalFilter</span><span class="p">(</span><span class="n">A</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">],</span> <span class="n">B</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">])</span>
+
+<span class="c1"># create the modifier instance</span>
+<span class="n">my_modifier</span> <span class="o">=</span> <span class="n">modifiers</span><span class="o">.</span><span class="n">DigitalFilter</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">my_tensor</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span> <span class="s2">&quot;cuda&quot;</span><span class="p">)</span>
+
+<span class="c1"># apply the modifier as a callable object</span>
+<span class="n">my_modified_tensor</span> <span class="o">=</span> <span class="n">my_modifier</span><span class="p">(</span><span class="n">my_tensor</span><span class="p">)</span>
+</pre></div>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.ModifierCfg" title="omni.isaac.lab.utils.modifiers.ModifierCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ModifierCfg</span></code></a></p></td>
+<td><p>Configuration parameters modifiers</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.ModifierBase" title="omni.isaac.lab.utils.modifiers.ModifierBase"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ModifierBase</span></code></a></p></td>
+<td><p>Base class for modifiers implemented as classes.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.DigitalFilter" title="omni.isaac.lab.utils.modifiers.DigitalFilter"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DigitalFilter</span></code></a></p></td>
+<td><p>Modifier used to apply digital filtering to the input data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg" title="omni.isaac.lab.utils.modifiers.DigitalFilterCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">DigitalFilterCfg</span></code></a></p></td>
+<td><p>Configuration parameters for a digital filter modifier.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.Integrator" title="omni.isaac.lab.utils.modifiers.Integrator"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Integrator</span></code></a></p></td>
+<td><p>Modifier that applies a numerical forward integration based on a middle Reimann sum.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg" title="omni.isaac.lab.utils.modifiers.IntegratorCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">IntegratorCfg</span></code></a></p></td>
+<td><p>Configuration parameters for an integrator modifier.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.bias" title="omni.isaac.lab.utils.modifiers.bias"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bias</span></code></a>(data, value)</p></td>
+<td><p>Adds a uniform bias to the data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.clip" title="omni.isaac.lab.utils.modifiers.clip"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip</span></code></a>(data, bounds)</p></td>
+<td><p>Clips the data to a minimum and maximum value.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.scale" title="omni.isaac.lab.utils.modifiers.scale"><code class="xref py py-obj docutils literal notranslate"><span class="pre">scale</span></code></a>(data, multiplier)</p></td>
+<td><p>Scales input data by a multiplier.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.ModifierCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.modifiers.</span></span><span class="sig-name descname"><span class="pre">ModifierCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier_cfg.html#ModifierCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.ModifierCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration parameters modifiers</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.ModifierCfg.params" title="omni.isaac.lab.utils.modifiers.ModifierCfg.params"><code class="xref py py-obj docutils literal notranslate"><span class="pre">params</span></code></a></p></td>
+<td><p>The parameters to be passed to the function or callable class as keyword arguments.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.ModifierCfg.params">
+<span class="sig-name descname"><span class="pre">params</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.ModifierCfg.params" title="Permalink to this definition">#</a></dt>
+<dd><p>The parameters to be passed to the function or callable class as keyword arguments. Defaults to
+an empty dictionary.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.ModifierBase">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.modifiers.</span></span><span class="sig-name descname"><span class="pre">ModifierBase</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier_base.html#ModifierBase"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.ModifierBase" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/abc.html#abc.ABC" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ABC</span></code></a></p>
+<p>Base class for modifiers implemented as classes.</p>
+<p>Modifiers implementations can be functions or classes. If a modifier is a class, it should
+inherit from this class and implement the required methods.</p>
+<p>A class implementation of a modifier can be used to store state information between calls.
+This is useful for modifiers that require stateful operations, such as rolling averages
+or delays or decaying filters.</p>
+<p>Example pseudo-code to create and use the class:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">modifiers</span>
+
+<span class="c1"># define custom keyword arguments to pass to ModifierCfg</span>
+<span class="n">kwarg_dict</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;arg_1&quot;</span> <span class="p">:</span> <span class="n">VAL_1</span><span class="p">,</span> <span class="s2">&quot;arg_2&quot;</span> <span class="p">:</span> <span class="n">VAL_2</span><span class="p">}</span>
+
+<span class="c1"># create modifier configuration object</span>
+<span class="c1"># func is the class name of the modifier and params is the dictionary of arguments</span>
+<span class="n">modifier_config</span> <span class="o">=</span> <span class="n">modifiers</span><span class="o">.</span><span class="n">ModifierCfg</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">modifiers</span><span class="o">.</span><span class="n">ModifierBase</span><span class="p">,</span> <span class="n">params</span><span class="o">=</span><span class="n">kwarg_dict</span><span class="p">)</span>
+
+<span class="c1"># define modifier instance</span>
+<span class="n">my_modifier</span> <span class="o">=</span> <span class="n">modifiers</span><span class="o">.</span><span class="n">ModifierBase</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">modifier_config</span><span class="p">)</span>
+</pre></div>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.ModifierBase.reset" title="omni.isaac.lab.utils.modifiers.ModifierBase.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets the Modifier.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.ModifierBase.__call__" title="omni.isaac.lab.utils.modifiers.ModifierBase.__call__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__call__</span></code></a>(data)</p></td>
+<td><p>Abstract method for defining the modification function.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.ModifierBase.reset">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier_base.html#ModifierBase.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.ModifierBase.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets the Modifier.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids. Defaults to None, in which case
+all environments are considered.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.ModifierBase.__call__">
+<em class="property"><span class="pre">abstract</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">__call__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier_base.html#ModifierBase.__call__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.ModifierBase.__call__" title="Permalink to this definition">#</a></dt>
+<dd><p>Abstract method for defining the modification function.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The data to be modified. Shape should match the data_dim passed during initialization.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Modified data. Shape is the same as the input data.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.DigitalFilter">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.modifiers.</span></span><span class="sig-name descname"><span class="pre">DigitalFilter</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier.html#DigitalFilter"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.DigitalFilter" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.utils.modifiers.ModifierBase" title="omni.isaac.lab.utils.modifiers.modifier_base.ModifierBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ModifierBase</span></code></a></p>
+<p>Modifier used to apply digital filtering to the input data.</p>
+<p><a class="reference external" href="https://en.wikipedia.org/wiki/Digital_filter">Digital filters</a> are used to process discrete-time
+signals to extract useful parts of the signal, such as smoothing, noise reduction, or frequency separation.</p>
+<p>The filter can be implemented as a linear difference equation in the time domain. This equation
+can be used to calculate the output at each time-step based on the current and previous inputs and outputs.</p>
+<div class="math notranslate nohighlight">
+\[y_{i} = X B - Y A = \sum_{j=0}^{N} b_j x_{i-j} - \sum_{j=1}^{M} a_j y_{i-j}\]</div>
+<p>where <span class="math notranslate nohighlight">\(y_{i}\)</span> is the current output of the filter. The array <span class="math notranslate nohighlight">\(Y\)</span> contains previous
+outputs from the filter <span class="math notranslate nohighlight">\(\{y_{i-j}\}_{j=1}^M\)</span> for <span class="math notranslate nohighlight">\(M\)</span> previous time-steps. The array
+<span class="math notranslate nohighlight">\(X\)</span> contains current <span class="math notranslate nohighlight">\(x_{i}\)</span> and previous inputs to the filter
+<span class="math notranslate nohighlight">\(\{x_{i-j}\}_{j=1}^N\)</span> for <span class="math notranslate nohighlight">\(N\)</span> previous time-steps respectively.
+The filter coefficients <span class="math notranslate nohighlight">\(A\)</span> and <span class="math notranslate nohighlight">\(B\)</span> are used to design the filter. They are column vectors of
+length <span class="math notranslate nohighlight">\(M\)</span> and <span class="math notranslate nohighlight">\(N + 1\)</span> respectively.</p>
+<p>Different types of filters can be implemented by choosing different values for <span class="math notranslate nohighlight">\(A\)</span> and <span class="math notranslate nohighlight">\(B\)</span>.
+We provide some examples below.</p>
+<p class="rubric">Examples</p>
+<p><strong>Unit Delay Filter</strong></p>
+<p>A filter that delays the input signal by a single time-step simply outputs the previous input value.</p>
+<div class="math notranslate nohighlight">
+\[y_{i} = x_{i-1}\]</div>
+<p>This can be implemented as a digital filter with the coefficients <span class="math notranslate nohighlight">\(A = [0.0]\)</span> and <span class="math notranslate nohighlight">\(B = [0.0, 1.0]\)</span>.</p>
+<p><strong>Moving Average Filter</strong></p>
+<p>A moving average filter is used to smooth out noise in a signal. It is similar to a low-pass filter
+but has a finite impulse response (FIR) and is non-recursive.</p>
+<p>The filter calculates the average of the input signal over a window of time-steps. The linear difference
+equation for a moving average filter is:</p>
+<div class="math notranslate nohighlight">
+\[y_{i} = \frac{1}{N} \sum_{j=0}^{N} x_{i-j}\]</div>
+<p>This can be implemented as a digital filter with the coefficients <span class="math notranslate nohighlight">\(A = [0.0]\)</span> and
+<span class="math notranslate nohighlight">\(B = [1/N, 1/N, \cdots, 1/N]\)</span>.</p>
+<p><strong>First-order recursive low-pass filter</strong></p>
+<p>A recursive low-pass filter is used to smooth out high-frequency noise in a signal. It is a first-order
+infinite impulse response (IIR) filter which means it has a recursive component (previous output) in the
+linear difference equation.</p>
+<p>A first-order low-pass IIR filter has the difference equation:</p>
+<div class="math notranslate nohighlight">
+\[y_{i} = \alpha y_{i-1} + (1-\alpha)x_{i}\]</div>
+<p>where <span class="math notranslate nohighlight">\(\alpha\)</span> is a smoothing parameter between 0 and 1. Typically, the value of <span class="math notranslate nohighlight">\(\alpha\)</span> is
+chosen based on the desired cut-off frequency of the filter.</p>
+<p>This filter can be implemented as a digital filter with the coefficients <span class="math notranslate nohighlight">\(A = [\alpha]\)</span> and
+<span class="math notranslate nohighlight">\(B = [1 - \alpha]\)</span>.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.DigitalFilter.reset" title="omni.isaac.lab.utils.modifiers.DigitalFilter.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets digital filter history.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.DigitalFilter.__call__" title="omni.isaac.lab.utils.modifiers.DigitalFilter.__call__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__call__</span></code></a>(data)</p></td>
+<td><p>Applies digital filter modification with a rolling history window inputs and outputs.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.DigitalFilter.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier.html#DigitalFilter.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.DigitalFilter.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets digital filter history.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids. Defaults to None, in which case
+all environments are considered.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.DigitalFilter.__call__">
+<span class="sig-name descname"><span class="pre">__call__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier.html#DigitalFilter.__call__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.DigitalFilter.__call__" title="Permalink to this definition">#</a></dt>
+<dd><p>Applies digital filter modification with a rolling history window inputs and outputs.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The data to apply filter to.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Filtered data. Shape is the same as data.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.DigitalFilterCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.modifiers.</span></span><span class="sig-name descname"><span class="pre">DigitalFilterCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier_cfg.html#DigitalFilterCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.utils.modifiers.ModifierCfg" title="omni.isaac.lab.utils.modifiers.modifier_cfg.ModifierCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ModifierCfg</span></code></a></p>
+<p>Configuration parameters for a digital filter modifier.</p>
+<p>For more information, please check the <a class="reference internal" href="#omni.isaac.lab.utils.modifiers.DigitalFilter" title="omni.isaac.lab.utils.modifiers.DigitalFilter"><code class="xref py py-class docutils literal notranslate"><span class="pre">DigitalFilter</span></code></a> class.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.A" title="omni.isaac.lab.utils.modifiers.DigitalFilterCfg.A"><code class="xref py py-obj docutils literal notranslate"><span class="pre">A</span></code></a></p></td>
+<td><p>The coefficients corresponding the the filter's response to past outputs.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.params" title="omni.isaac.lab.utils.modifiers.DigitalFilterCfg.params"><code class="xref py py-obj docutils literal notranslate"><span class="pre">params</span></code></a></p></td>
+<td><p>The parameters to be passed to the function or callable class as keyword arguments.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.B" title="omni.isaac.lab.utils.modifiers.DigitalFilterCfg.B"><code class="xref py py-obj docutils literal notranslate"><span class="pre">B</span></code></a></p></td>
+<td><p>The coefficients corresponding the the filter's response to current and past inputs.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.DigitalFilterCfg.A">
+<span class="sig-name descname"><span class="pre">A</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.A" title="Permalink to this definition">#</a></dt>
+<dd><p>The coefficients corresponding the the filter’s response to past outputs.</p>
+<p>These correspond to the weights of the past outputs of the filter. The first element is the coefficient
+for the output at the previous time step, the second element is the coefficient for the output at two
+time steps ago, and so on.</p>
+<p>It is the denominator coefficients of the transfer function of the filter.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.DigitalFilterCfg.params">
+<span class="sig-name descname"><span class="pre">params</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.params" title="Permalink to this definition">#</a></dt>
+<dd><p>The parameters to be passed to the function or callable class as keyword arguments. Defaults to
+an empty dictionary.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.DigitalFilterCfg.B">
+<span class="sig-name descname"><span class="pre">B</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.B" title="Permalink to this definition">#</a></dt>
+<dd><p>The coefficients corresponding the the filter’s response to current and past inputs.</p>
+<p>These correspond to the weights of the current and past inputs of the filter. The first element is the
+coefficient for the current input, the second element is the coefficient for the input at the previous
+time step, and so on.</p>
+<p>It is the numerator coefficients of the transfer function of the filter.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.Integrator">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.modifiers.</span></span><span class="sig-name descname"><span class="pre">Integrator</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier.html#Integrator"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.Integrator" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.utils.modifiers.ModifierBase" title="omni.isaac.lab.utils.modifiers.modifier_base.ModifierBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">ModifierBase</span></code></a></p>
+<p>Modifier that applies a numerical forward integration based on a middle Reimann sum.</p>
+<p>An integrator is used to calculate the integral of a signal over time. The integral of a signal
+is the area under the curve of the signal. The integral can be approximated using numerical methods
+such as the <a class="reference external" href="https://en.wikipedia.org/wiki/Riemann_sum">Riemann sum</a>.</p>
+<p>The middle Riemann sum is a method to approximate the integral of a function by dividing the area
+under the curve into rectangles. The height of each rectangle is the value of the function at the
+midpoint of the interval. The area of each rectangle is the width of the interval multiplied by the
+height of the rectangle.</p>
+<p>This integral method is useful for signals that are sampled at regular intervals. The integral
+can be written as:</p>
+<div class="math notranslate nohighlight">
+\[\int_{t_0}^{t_n} f(t) dt &amp; \approx \int_{t_0}^{t_{n-1}} f(t) dt + \frac{f(t_{n-1}) + f(t_n)}{2} \Delta t\]</div>
+<p>where <span class="math notranslate nohighlight">\(f(t)\)</span> is the signal to integrate, <span class="math notranslate nohighlight">\(t_i\)</span> is the time at the i-th sample, and
+<span class="math notranslate nohighlight">\(\Delta t\)</span> is the time step between samples.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.Integrator.reset" title="omni.isaac.lab.utils.modifiers.Integrator.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Resets integrator state to zero.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.Integrator.__call__" title="omni.isaac.lab.utils.modifiers.Integrator.__call__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__call__</span></code></a>(data)</p></td>
+<td><p>Applies integral modification to input data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.Integrator.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier.html#Integrator.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.Integrator.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Resets integrator state to zero.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids. Defaults to None, in which case
+all environments are considered.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.Integrator.__call__">
+<span class="sig-name descname"><span class="pre">__call__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier.html#Integrator.__call__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.Integrator.__call__" title="Permalink to this definition">#</a></dt>
+<dd><p>Applies integral modification to input data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The data to integrate.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Integral of input signal. Shape is the same as data.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.IntegratorCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.modifiers.</span></span><span class="sig-name descname"><span class="pre">IntegratorCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier_cfg.html#IntegratorCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.utils.modifiers.ModifierCfg" title="omni.isaac.lab.utils.modifiers.modifier_cfg.ModifierCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ModifierCfg</span></code></a></p>
+<p>Configuration parameters for an integrator modifier.</p>
+<p>For more information, please check the <a class="reference internal" href="#omni.isaac.lab.utils.modifiers.Integrator" title="omni.isaac.lab.utils.modifiers.Integrator"><code class="xref py py-class docutils literal notranslate"><span class="pre">Integrator</span></code></a> class.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg.params" title="omni.isaac.lab.utils.modifiers.IntegratorCfg.params"><code class="xref py py-obj docutils literal notranslate"><span class="pre">params</span></code></a></p></td>
+<td><p>The parameters to be passed to the function or callable class as keyword arguments.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg.dt" title="omni.isaac.lab.utils.modifiers.IntegratorCfg.dt"><code class="xref py py-obj docutils literal notranslate"><span class="pre">dt</span></code></a></p></td>
+<td><p>The time step of the integrator.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.IntegratorCfg.params">
+<span class="sig-name descname"><span class="pre">params</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg.params" title="Permalink to this definition">#</a></dt>
+<dd><p>The parameters to be passed to the function or callable class as keyword arguments. Defaults to
+an empty dictionary.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.IntegratorCfg.dt">
+<span class="sig-name descname"><span class="pre">dt</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg.dt" title="Permalink to this definition">#</a></dt>
+<dd><p>The time step of the integrator.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.bias">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.modifiers.</span></span><span class="sig-name descname"><span class="pre">bias</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier.html#bias"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.bias" title="Permalink to this definition">#</a></dt>
+<dd><p>Adds a uniform bias to the data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>data</strong> – The data to add bias to.</p></li>
+<li><p><strong>value</strong> – Value of bias to add to data.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Biased data. Shape is the same as data.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.clip">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.modifiers.</span></span><span class="sig-name descname"><span class="pre">clip</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">bounds</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier.html#clip"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.clip" title="Permalink to this definition">#</a></dt>
+<dd><p>Clips the data to a minimum and maximum value.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>data</strong> – The data to apply the clip to.</p></li>
+<li><p><strong>bounds</strong> – A tuple containing the minimum and maximum values to clip data to.
+If the value is None, that bound is not applied.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Clipped data. Shape is the same as data.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.modifiers.scale">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.modifiers.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">multiplier</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/modifiers/modifier.html#scale"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.modifiers.scale" title="Permalink to this definition">#</a></dt>
+<dd><p>Scales input data by a multiplier.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>data</strong> – The data to apply the scale to.</p></li>
+<li><p><strong>multiplier</strong> – Value to scale input by.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Scaled data. Shape is the same as data.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.noise">
+<span id="noise-operations"></span><h2>Noise operations<a class="headerlink" href="#module-omni.isaac.lab.utils.noise" title="Permalink to this heading">#</a></h2>
+<p>Sub-module containing different noise models implementations.</p>
+<p>The noise models are implemented as functions that take in a tensor and a configuration and return a tensor
+with the noise applied. These functions are then used in the <a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseCfg" title="omni.isaac.lab.utils.noise.NoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseCfg</span></code></a> configuration class.</p>
+<p>Usage:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.noise</span> <span class="kn">import</span> <span class="n">AdditiveGaussianNoiseCfg</span>
+
+<span class="c1"># create a random tensor</span>
+<span class="n">my_tensor</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="mi">128</span><span class="p">,</span> <span class="mi">128</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="s2">&quot;cuda&quot;</span><span class="p">)</span>
+
+<span class="c1"># create a noise configuration</span>
+<span class="n">cfg</span> <span class="o">=</span> <span class="n">AdditiveGaussianNoiseCfg</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="mf">1.0</span><span class="p">)</span>
+
+<span class="c1"># apply the noise</span>
+<span class="n">my_noisified_tensor</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">my_tensor</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseCfg" title="omni.isaac.lab.utils.noise.NoiseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NoiseCfg</span></code></a></p></td>
+<td><p>Base configuration for a noise term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg" title="omni.isaac.lab.utils.noise.ConstantNoiseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ConstantNoiseCfg</span></code></a></p></td>
+<td><p>Configuration for an additive constant noise term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg" title="omni.isaac.lab.utils.noise.GaussianNoiseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">GaussianNoiseCfg</span></code></a></p></td>
+<td><p>Configuration for an additive gaussian noise term.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelCfg" title="omni.isaac.lab.utils.noise.NoiseModelCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NoiseModelCfg</span></code></a></p></td>
+<td><p>Configuration for a noise model.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg" title="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg</span></code></a></p></td>
+<td><p>Configuration for an additive gaussian noise with bias model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg" title="omni.isaac.lab.utils.noise.UniformNoiseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">UniformNoiseCfg</span></code></a></p></td>
+<td><p>Configuration for a additive uniform noise term.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModel" title="omni.isaac.lab.utils.noise.NoiseModel"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NoiseModel</span></code></a></p></td>
+<td><p>Base class for noise models.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias" title="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias"><code class="xref py py-obj docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBias</span></code></a></p></td>
+<td><p>Noise model with an additive bias.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.ConstantBiasNoiseCfg" title="omni.isaac.lab.utils.noise.ConstantBiasNoiseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ConstantBiasNoiseCfg</span></code></a></p></td>
+<td><p>alias of <a class="reference internal" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ConstantNoiseCfg</span></code></a></p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.AdditiveUniformNoiseCfg" title="omni.isaac.lab.utils.noise.AdditiveUniformNoiseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AdditiveUniformNoiseCfg</span></code></a></p></td>
+<td><p>alias of <a class="reference internal" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UniformNoiseCfg</span></code></a></p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.AdditiveGaussianNoiseCfg" title="omni.isaac.lab.utils.noise.AdditiveGaussianNoiseCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">AdditiveGaussianNoiseCfg</span></code></a></p></td>
+<td><p>alias of <a class="reference internal" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">GaussianNoiseCfg</span></code></a></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.constant_noise" title="omni.isaac.lab.utils.noise.constant_noise"><code class="xref py py-obj docutils literal notranslate"><span class="pre">constant_noise</span></code></a>(data, cfg)</p></td>
+<td><p>Applies a constant noise bias to a given data set.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.gaussian_noise" title="omni.isaac.lab.utils.noise.gaussian_noise"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gaussian_noise</span></code></a>(data, cfg)</p></td>
+<td><p>Applies a gaussian noise to a given data set.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.uniform_noise" title="omni.isaac.lab.utils.noise.uniform_noise"><code class="xref py py-obj docutils literal notranslate"><span class="pre">uniform_noise</span></code></a>(data, cfg)</p></td>
+<td><p>Applies a uniform noise to a given data set.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">NoiseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_cfg.html#NoiseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Base configuration for a noise term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseCfg.operation" title="omni.isaac.lab.utils.noise.NoiseCfg.operation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">operation</span></code></a></p></td>
+<td><p>The operation to apply the noise on the data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseCfg.operation">
+<span class="sig-name descname"><span class="pre">operation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'add'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'scale'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'abs'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseCfg.operation" title="Permalink to this definition">#</a></dt>
+<dd><p>The operation to apply the noise on the data. Defaults to “add”.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.ConstantNoiseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">ConstantNoiseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_cfg.html#ConstantNoiseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseCfg</span></code></a></p>
+<p>Configuration for an additive constant noise term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias" title="omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bias</span></code></a></p></td>
+<td><p>The bias to add.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg.operation" title="omni.isaac.lab.utils.noise.ConstantNoiseCfg.operation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">operation</span></code></a></p></td>
+<td><p>The operation to apply the noise on the data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias">
+<span class="sig-name descname"><span class="pre">bias</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias" title="Permalink to this definition">#</a></dt>
+<dd><p>The bias to add. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.ConstantNoiseCfg.operation">
+<span class="sig-name descname"><span class="pre">operation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'add'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'scale'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'abs'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg.operation" title="Permalink to this definition">#</a></dt>
+<dd><p>The operation to apply the noise on the data. Defaults to “add”.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.GaussianNoiseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">GaussianNoiseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_cfg.html#GaussianNoiseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseCfg</span></code></a></p>
+<p>Configuration for an additive gaussian noise term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean" title="omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean"><code class="xref py py-obj docutils literal notranslate"><span class="pre">mean</span></code></a></p></td>
+<td><p>The mean of the noise.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.operation" title="omni.isaac.lab.utils.noise.GaussianNoiseCfg.operation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">operation</span></code></a></p></td>
+<td><p>The operation to apply the noise on the data.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.std" title="omni.isaac.lab.utils.noise.GaussianNoiseCfg.std"><code class="xref py py-obj docutils literal notranslate"><span class="pre">std</span></code></a></p></td>
+<td><p>The standard deviation of the noise.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean">
+<span class="sig-name descname"><span class="pre">mean</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean" title="Permalink to this definition">#</a></dt>
+<dd><p>The mean of the noise. Defaults to 0.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.GaussianNoiseCfg.operation">
+<span class="sig-name descname"><span class="pre">operation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'add'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'scale'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'abs'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.operation" title="Permalink to this definition">#</a></dt>
+<dd><p>The operation to apply the noise on the data. Defaults to “add”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.GaussianNoiseCfg.std">
+<span class="sig-name descname"><span class="pre">std</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.std" title="Permalink to this definition">#</a></dt>
+<dd><p>The standard deviation of the noise. Defaults to 1.0.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModelCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">NoiseModelCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_cfg.html#NoiseModelCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModelCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration for a noise model.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelCfg.class_type" title="omni.isaac.lab.utils.noise.NoiseModelCfg.class_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">class_type</span></code></a></p></td>
+<td><p>alias of <a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModel" title="omni.isaac.lab.utils.noise.noise_model.NoiseModel"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseModel</span></code></a></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelCfg.noise_cfg" title="omni.isaac.lab.utils.noise.NoiseModelCfg.noise_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">noise_cfg</span></code></a></p></td>
+<td><p>The noise configuration to use.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModelCfg.class_type">
+<span class="sig-name descname"><span class="pre">class_type</span></span><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModelCfg.class_type" title="Permalink to this definition">#</a></dt>
+<dd><p>alias of <a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModel" title="omni.isaac.lab.utils.noise.noise_model.NoiseModel"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseModel</span></code></a></p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModelCfg.noise_cfg">
+<span class="sig-name descname"><span class="pre">noise_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg"><span class="pre">NoiseCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModelCfg.noise_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The noise configuration to use.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">NoiseModelWithAdditiveBiasCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_cfg.html#NoiseModelWithAdditiveBiasCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseModelCfg</span></code></a></p>
+<p>Configuration for an additive gaussian noise with bias model.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg" title="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">noise_cfg</span></code></a></p></td>
+<td><p>The noise configuration to use.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.bias_noise_cfg" title="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.bias_noise_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bias_noise_cfg</span></code></a></p></td>
+<td><p>The noise configuration for the bias.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.class_type" title="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.class_type"><code class="xref py py-obj docutils literal notranslate"><span class="pre">class_type</span></code></a></p></td>
+<td><p>alias of <a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias" title="omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBias</span></code></a></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg">
+<span class="sig-name descname"><span class="pre">noise_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg"><span class="pre">NoiseCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The noise configuration to use.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.class_type">
+<span class="sig-name descname"><span class="pre">class_type</span></span><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.class_type" title="Permalink to this definition">#</a></dt>
+<dd><p>alias of <a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias" title="omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBias</span></code></a></p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.bias_noise_cfg">
+<span class="sig-name descname"><span class="pre">bias_noise_cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg"><span class="pre">NoiseCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.bias_noise_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>The noise configuration for the bias.</p>
+<p>Based on this configuration, the bias is sampled at every reset of the noise model.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.UniformNoiseCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">UniformNoiseCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_cfg.html#UniformNoiseCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseCfg</span></code></a></p>
+<p>Configuration for a additive uniform noise term.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min" title="omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min"><code class="xref py py-obj docutils literal notranslate"><span class="pre">n_min</span></code></a></p></td>
+<td><p>The minimum value of the noise.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.n_max" title="omni.isaac.lab.utils.noise.UniformNoiseCfg.n_max"><code class="xref py py-obj docutils literal notranslate"><span class="pre">n_max</span></code></a></p></td>
+<td><p>The maximum value of the noise.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.operation" title="omni.isaac.lab.utils.noise.UniformNoiseCfg.operation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">operation</span></code></a></p></td>
+<td><p>The operation to apply the noise on the data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min">
+<span class="sig-name descname"><span class="pre">n_min</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min" title="Permalink to this definition">#</a></dt>
+<dd><p>The minimum value of the noise. Defaults to -1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.UniformNoiseCfg.n_max">
+<span class="sig-name descname"><span class="pre">n_max</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.n_max" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum value of the noise. Defaults to 1.0.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.UniformNoiseCfg.operation">
+<span class="sig-name descname"><span class="pre">operation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">Literal</span><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'add'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'scale'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'abs'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.operation" title="Permalink to this definition">#</a></dt>
+<dd><p>The operation to apply the noise on the data. Defaults to “add”.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModel">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">NoiseModel</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_model.html#NoiseModel"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModel" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Base class for noise models.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModel.reset" title="omni.isaac.lab.utils.noise.NoiseModel.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Reset the noise model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModel.apply" title="omni.isaac.lab.utils.noise.NoiseModel.apply"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply</span></code></a>(data)</p></td>
+<td><p>Apply the noise to the data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModel.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_model.html#NoiseModel.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModel.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the noise model.</p>
+<p>This method can be implemented by derived classes to reset the noise model.
+This is useful when implementing temporal noise models such as random walk.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids to reset the noise model for. Defaults to None,
+in which case all environments are considered.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModel.apply">
+<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_model.html#NoiseModel.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModel.apply" title="Permalink to this definition">#</a></dt>
+<dd><p>Apply the noise to the data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The data to apply the noise to. Shape is (num_envs, …).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The data with the noise applied. Shape is the same as the input data.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">NoiseModelWithAdditiveBias</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_model.html#NoiseModelWithAdditiveBias"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModel" title="omni.isaac.lab.utils.noise.noise_model.NoiseModel"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseModel</span></code></a></p>
+<p>Noise model with an additive bias.</p>
+<p>The bias term is sampled from a the specified distribution on reset.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.reset" title="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>([env_ids])</p></td>
+<td><p>Reset the noise model.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.apply" title="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.apply"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply</span></code></a>(data)</p></td>
+<td><p>Apply bias noise to the data.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_model.html#NoiseModelWithAdditiveBias.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the noise model.</p>
+<p>This method resets the bias term for the specified environments.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – The environment ids to reset the noise model for. Defaults to None,
+in which case all environments are considered.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.apply">
+<span class="sig-name descname"><span class="pre">apply</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_model.html#NoiseModelWithAdditiveBias.apply"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.apply" title="Permalink to this definition">#</a></dt>
+<dd><p>Apply bias noise to the data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>data</strong> – The data to apply the noise to. Shape is (num_envs, …).</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The data with the noise applied. Shape is the same as the input data.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.constant_noise">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">constant_noise</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg"><span class="pre">noise_cfg.ConstantNoiseCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_model.html#constant_noise"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.constant_noise" title="Permalink to this definition">#</a></dt>
+<dd><p>Applies a constant noise bias to a given data set.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>data</strong> – The unmodified data set to apply noise to.</p></li>
+<li><p><strong>cfg</strong> – The configuration parameters for constant noise.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The data modified by the noise parameters provided.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.gaussian_noise">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">gaussian_noise</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg"><span class="pre">noise_cfg.GaussianNoiseCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_model.html#gaussian_noise"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.gaussian_noise" title="Permalink to this definition">#</a></dt>
+<dd><p>Applies a gaussian noise to a given data set.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>data</strong> – The unmodified data set to apply noise to.</p></li>
+<li><p><strong>cfg</strong> – The configuration parameters for gaussian noise.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The data modified by the noise parameters provided.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.uniform_noise">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">uniform_noise</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg"><span class="pre">noise_cfg.UniformNoiseCfg</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/noise/noise_model.html#uniform_noise"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.noise.uniform_noise" title="Permalink to this definition">#</a></dt>
+<dd><p>Applies a uniform noise to a given data set.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>data</strong> – The unmodified data set to apply noise to.</p></li>
+<li><p><strong>cfg</strong> – The configuration parameters for uniform noise.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The data modified by the noise parameters provided.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.ConstantBiasNoiseCfg">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">ConstantBiasNoiseCfg</span></span><a class="headerlink" href="#omni.isaac.lab.utils.noise.ConstantBiasNoiseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>alias of <a class="reference internal" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ConstantNoiseCfg</span></code></a></p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.AdditiveUniformNoiseCfg">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">AdditiveUniformNoiseCfg</span></span><a class="headerlink" href="#omni.isaac.lab.utils.noise.AdditiveUniformNoiseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>alias of <a class="reference internal" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UniformNoiseCfg</span></code></a></p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.noise.AdditiveGaussianNoiseCfg">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.noise.</span></span><span class="sig-name descname"><span class="pre">AdditiveGaussianNoiseCfg</span></span><a class="headerlink" href="#omni.isaac.lab.utils.noise.AdditiveGaussianNoiseCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>alias of <a class="reference internal" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg" title="omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">GaussianNoiseCfg</span></code></a></p>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.string">
+<span id="string-operations"></span><h2>String operations<a class="headerlink" href="#module-omni.isaac.lab.utils.string" title="Permalink to this heading">#</a></h2>
+<p>Sub-module containing utilities for transforming strings and regular expressions.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.string.to_camel_case" title="omni.isaac.lab.utils.string.to_camel_case"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_camel_case</span></code></a>(snake_str[, to])</p></td>
+<td><p>Converts a string from snake case to camel case.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.string.to_snake_case" title="omni.isaac.lab.utils.string.to_snake_case"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_snake_case</span></code></a>(camel_str)</p></td>
+<td><p>Converts a string from camel case to snake case.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.string.string_to_slice" title="omni.isaac.lab.utils.string.string_to_slice"><code class="xref py py-obj docutils literal notranslate"><span class="pre">string_to_slice</span></code></a>(s)</p></td>
+<td><p>Convert a string representation of a slice to a slice object.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.string.is_lambda_expression" title="omni.isaac.lab.utils.string.is_lambda_expression"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_lambda_expression</span></code></a>(name)</p></td>
+<td><p>Checks if the input string is a lambda expression.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.string.callable_to_string" title="omni.isaac.lab.utils.string.callable_to_string"><code class="xref py py-obj docutils literal notranslate"><span class="pre">callable_to_string</span></code></a>(value)</p></td>
+<td><p>Converts a callable object to a string.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.string.string_to_callable" title="omni.isaac.lab.utils.string.string_to_callable"><code class="xref py py-obj docutils literal notranslate"><span class="pre">string_to_callable</span></code></a>(name)</p></td>
+<td><p>Resolves the module and function names to return the function.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.string.resolve_matching_names" title="omni.isaac.lab.utils.string.resolve_matching_names"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resolve_matching_names</span></code></a>(keys, list_of_strings)</p></td>
+<td><p>Match a list of query regular expressions against a list of strings and return the matched indices and names.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.string.resolve_matching_names_values" title="omni.isaac.lab.utils.string.resolve_matching_names_values"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resolve_matching_names_values</span></code></a>(data, ...[, ...])</p></td>
+<td><p>Match a list of regular expressions in a dictionary against a list of strings and return the matched indices, names, and values.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.string.to_camel_case">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.string.</span></span><span class="sig-name descname"><span class="pre">to_camel_case</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">snake_str</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">to</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'cC'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/string.html#to_camel_case"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.string.to_camel_case" title="Permalink to this definition">#</a></dt>
+<dd><p>Converts a string from snake case to camel case.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>snake_str</strong> – A string in snake case (i.e. with ‘_’)</p></li>
+<li><p><strong>to</strong> – Convention to convert string to. Defaults to “cC”.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – Invalid input argument <cite>to</cite>, i.e. not “cC” or “CC”.</p>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A string in camel-case format.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.string.to_snake_case">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.string.</span></span><span class="sig-name descname"><span class="pre">to_snake_case</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">camel_str</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/string.html#to_snake_case"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.string.to_snake_case" title="Permalink to this definition">#</a></dt>
+<dd><p>Converts a string from camel case to snake case.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>camel_str</strong> – A string in camel case.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A string in snake case (i.e. with ‘_’)</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.string.string_to_slice">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.string.</span></span><span class="sig-name descname"><span class="pre">string_to_slice</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">s</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/string.html#string_to_slice"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.string.string_to_slice" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert a string representation of a slice to a slice object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>s</strong> – The string representation of the slice.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The slice object.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.string.is_lambda_expression">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.string.</span></span><span class="sig-name descname"><span class="pre">is_lambda_expression</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/string.html#is_lambda_expression"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.string.is_lambda_expression" title="Permalink to this definition">#</a></dt>
+<dd><p>Checks if the input string is a lambda expression.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name</strong> – The input string.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>Whether the input string is a lambda expression.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.string.callable_to_string">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.string.</span></span><span class="sig-name descname"><span class="pre">callable_to_string</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/string.html#callable_to_string"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.string.callable_to_string" title="Permalink to this definition">#</a></dt>
+<dd><p>Converts a callable object to a string.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>value</strong> – A callable object.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the input argument is not a callable object.</p>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A string representation of the callable object.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.string.string_to_callable">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.string.</span></span><span class="sig-name descname"><span class="pre">string_to_callable</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Callable" title="(in Python v3.13)"><span class="pre">Callable</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/string.html#string_to_callable"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.string.string_to_callable" title="Permalink to this definition">#</a></dt>
+<dd><p>Resolves the module and function names to return the function.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name</strong> – The function name. The format should be ‘module:attribute_name’ or a
+lambda expression of format: ‘lambda x: x’.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the resolved attribute is not a function.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the module cannot be found.</p></li>
+</ul>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The function loaded from the module.</p>
+</dd>
+<dt class="field-even">Return type<span class="colon">:</span></dt>
+<dd class="field-even"><p>Callable</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.string.resolve_matching_names">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.string.</span></span><span class="sig-name descname"><span class="pre">resolve_matching_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">keys</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">list_of_strings</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">preserve_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/string.html#resolve_matching_names"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.string.resolve_matching_names" title="Permalink to this definition">#</a></dt>
+<dd><p>Match a list of query regular expressions against a list of strings and return the matched indices and names.</p>
+<p>When a list of query regular expressions is provided, the function checks each target string against each
+query regular expression and returns the indices of the matched strings and the matched strings.</p>
+<p>If the <code class="xref py py-attr docutils literal notranslate"><span class="pre">preserve_order</span></code> is True, the ordering of the matched indices and names is the same as the order
+of the provided list of strings. This means that the ordering is dictated by the order of the target strings
+and not the order of the query regular expressions.</p>
+<p>If the <code class="xref py py-attr docutils literal notranslate"><span class="pre">preserve_order</span></code> is False, the ordering of the matched indices and names is the same as the order
+of the provided list of query regular expressions.</p>
+<p>For example, consider the list of strings is [‘a’, ‘b’, ‘c’, ‘d’, ‘e’] and the regular expressions are [‘a|c’, ‘b’].
+If <code class="xref py py-attr docutils literal notranslate"><span class="pre">preserve_order</span></code> is False, then the function will return the indices of the matched strings and the
+strings as: ([0, 1, 2], [‘a’, ‘b’, ‘c’]). When <code class="xref py py-attr docutils literal notranslate"><span class="pre">preserve_order</span></code> is True, it will return them as:
+([0, 2, 1], [‘a’, ‘c’, ‘b’]).</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The function does not sort the indices. It returns the indices in the order they are found.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>keys</strong> – A regular expression or a list of regular expressions to match the strings in the list.</p></li>
+<li><p><strong>list_of_strings</strong> – A list of strings to match.</p></li>
+<li><p><strong>preserve_order</strong> – Whether to preserve the order of the query keys in the returned values. Defaults to False.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple of lists containing the matched indices and names.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When multiple matches are found for a string in the list.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When not all regular expressions are matched.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.string.resolve_matching_names_values">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.string.</span></span><span class="sig-name descname"><span class="pre">resolve_matching_names_values</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">list_of_strings</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Sequence" title="(in Python v3.13)"><span class="pre">Sequence</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">preserve_order</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.13)"><span class="pre">Any</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/string.html#resolve_matching_names_values"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.string.resolve_matching_names_values" title="Permalink to this definition">#</a></dt>
+<dd><p>Match a list of regular expressions in a dictionary against a list of strings and return
+the matched indices, names, and values.</p>
+<p>If the <code class="xref py py-attr docutils literal notranslate"><span class="pre">preserve_order</span></code> is True, the ordering of the matched indices and names is the same as the order
+of the provided list of strings. This means that the ordering is dictated by the order of the target strings
+and not the order of the query regular expressions.</p>
+<p>If the <code class="xref py py-attr docutils literal notranslate"><span class="pre">preserve_order</span></code> is False, the ordering of the matched indices and names is the same as the order
+of the provided list of query regular expressions.</p>
+<p>For example, consider the dictionary is {“a|d|e”: 1, “b|c”: 2}, the list of strings is [‘a’, ‘b’, ‘c’, ‘d’, ‘e’].
+If <code class="xref py py-attr docutils literal notranslate"><span class="pre">preserve_order</span></code> is False, then the function will return the indices of the matched strings, the
+matched strings, and the values as: ([0, 1, 2, 3, 4], [‘a’, ‘b’, ‘c’, ‘d’, ‘e’], [1, 2, 2, 1, 1]). When
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">preserve_order</span></code> is True, it will return them as: ([0, 3, 4, 1, 2], [‘a’, ‘d’, ‘e’, ‘b’, ‘c’], [1, 1, 1, 2, 2]).</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>data</strong> – A dictionary of regular expressions and values to match the strings in the list.</p></li>
+<li><p><strong>list_of_strings</strong> – A list of strings to match.</p></li>
+<li><p><strong>preserve_order</strong> – Whether to preserve the order of the query keys in the returned values. Defaults to False.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A tuple of lists containing the matched indices, names, and values.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#TypeError" title="(in Python v3.13)"><strong>TypeError</strong></a> – When the input argument <code class="xref py py-attr docutils literal notranslate"><span class="pre">data</span></code> is not a dictionary.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When multiple matches are found for a string in the dictionary.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When not all regular expressions in the data keys are matched.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.timer">
+<span id="timer-operations"></span><h2>Timer operations<a class="headerlink" href="#module-omni.isaac.lab.utils.timer" title="Permalink to this heading">#</a></h2>
+<p>Sub-module for a timer class that can be used for performance measurements.</p>
+<p><strong>Exceptions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.timer.TimerError" title="omni.isaac.lab.utils.timer.TimerError"><code class="xref py py-obj docutils literal notranslate"><span class="pre">TimerError</span></code></a></p></td>
+<td><p>A custom exception used to report errors in use of <a class="reference internal" href="#omni.isaac.lab.utils.timer.Timer" title="omni.isaac.lab.utils.timer.Timer"><code class="xref py py-class docutils literal notranslate"><span class="pre">Timer</span></code></a> class.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.timer.Timer" title="omni.isaac.lab.utils.timer.Timer"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Timer</span></code></a></p></td>
+<td><p>A timer for performance measurements.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py exception">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.timer.TimerError">
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.timer.</span></span><span class="sig-name descname"><span class="pre">TimerError</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/timer.html#TimerError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.timer.TimerError" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/exceptions.html#Exception" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Exception</span></code></a></p>
+<p>A custom exception used to report errors in use of <a class="reference internal" href="#omni.isaac.lab.utils.timer.Timer" title="omni.isaac.lab.utils.timer.Timer"><code class="xref py py-class docutils literal notranslate"><span class="pre">Timer</span></code></a> class.</p>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.timer.Timer">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.timer.</span></span><span class="sig-name descname"><span class="pre">Timer</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/timer.html#Timer"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.timer.Timer" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/contextlib.html#contextlib.ContextDecorator" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ContextDecorator</span></code></a></p>
+<p>A timer for performance measurements.</p>
+<p>A class to keep track of time for performance measurement.
+It allows timing via context managers and decorators as well.</p>
+<p>It uses the <cite>time.perf_counter</cite> function to measure time. This function
+returns the number of seconds since the epoch as a float. It has the
+highest resolution available on the system.</p>
+<p>As a regular object:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.timer</span> <span class="kn">import</span> <span class="n">Timer</span>
+
+<span class="n">timer</span> <span class="o">=</span> <span class="n">Timer</span><span class="p">()</span>
+<span class="n">timer</span><span class="o">.</span><span class="n">start</span><span class="p">()</span>
+<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+<span class="nb">print</span><span class="p">(</span><span class="mi">1</span> <span class="o">&lt;=</span> <span class="n">timer</span><span class="o">.</span><span class="n">time_elapsed</span> <span class="o">&lt;=</span> <span class="mi">2</span><span class="p">)</span>  <span class="c1"># Output: True</span>
+
+<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+<span class="n">timer</span><span class="o">.</span><span class="n">stop</span><span class="p">()</span>
+<span class="nb">print</span><span class="p">(</span><span class="mi">2</span> <span class="o">&lt;=</span> <span class="n">stopwatch</span><span class="o">.</span><span class="n">total_run_time</span><span class="p">)</span>  <span class="c1"># Output: True</span>
+</pre></div>
+</div>
+<p>As a context manager:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.timer</span> <span class="kn">import</span> <span class="n">Timer</span>
+
+<span class="k">with</span> <span class="n">Timer</span><span class="p">()</span> <span class="k">as</span> <span class="n">timer</span><span class="p">:</span>
+    <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="mi">1</span> <span class="o">&lt;=</span> <span class="n">timer</span><span class="o">.</span><span class="n">time_elapsed</span> <span class="o">&lt;=</span> <span class="mi">2</span><span class="p">)</span>  <span class="c1"># Output: True</span>
+</pre></div>
+</div>
+<p>Reference: <a class="reference external" href="https://gist.github.com/sumeet/1123871">https://gist.github.com/sumeet/1123871</a></p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.timer.Timer.timing_info" title="omni.isaac.lab.utils.timer.Timer.timing_info"><code class="xref py py-obj docutils literal notranslate"><span class="pre">timing_info</span></code></a></p></td>
+<td><p>Dictionary for storing the elapsed time per timer instances globally.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.timer.Timer.time_elapsed" title="omni.isaac.lab.utils.timer.Timer.time_elapsed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">time_elapsed</span></code></a></p></td>
+<td><p>The number of seconds that have elapsed since this timer started timing.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.timer.Timer.total_run_time" title="omni.isaac.lab.utils.timer.Timer.total_run_time"><code class="xref py py-obj docutils literal notranslate"><span class="pre">total_run_time</span></code></a></p></td>
+<td><p>The number of seconds that elapsed from when the timer started to when it ended.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.timer.Timer.__init__" title="omni.isaac.lab.utils.timer.Timer.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([msg, name])</p></td>
+<td><p>Initializes the timer.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.timer.Timer.start" title="omni.isaac.lab.utils.timer.Timer.start"><code class="xref py py-obj docutils literal notranslate"><span class="pre">start</span></code></a>()</p></td>
+<td><p>Start timing.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.timer.Timer.stop" title="omni.isaac.lab.utils.timer.Timer.stop"><code class="xref py py-obj docutils literal notranslate"><span class="pre">stop</span></code></a>()</p></td>
+<td><p>Stop timing.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.timer.Timer.get_timer_info" title="omni.isaac.lab.utils.timer.Timer.get_timer_info"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_timer_info</span></code></a>(name)</p></td>
+<td><p>Retrieves the time logged in the global dictionary</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.timer.Timer.timing_info">
+<span class="sig-name descname"><span class="pre">timing_info</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.ClassVar" title="(in Python v3.13)"><span class="pre">ClassVar</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">{}</span></em><a class="headerlink" href="#omni.isaac.lab.utils.timer.Timer.timing_info" title="Permalink to this definition">#</a></dt>
+<dd><p>Dictionary for storing the elapsed time per timer instances globally.</p>
+<p>This dictionary logs the timer information. The keys are the names given to the timer class
+at its initialization. If no <code class="xref py py-attr docutils literal notranslate"><span class="pre">name</span></code> is passed to the constructor, no time
+is recorded in the dictionary.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.timer.Timer.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">msg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/timer.html#Timer.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.timer.Timer.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the timer.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>msg</strong> – The message to display when using the timer
+class in a context manager. Defaults to None.</p></li>
+<li><p><strong>name</strong> – The name to use for logging times in a global
+dictionary. Defaults to None.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.timer.Timer.time_elapsed">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">time_elapsed</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.timer.Timer.time_elapsed" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of seconds that have elapsed since this timer started timing.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This is used for checking how much time has elapsed while the timer is still running.</p>
+</div>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.timer.Timer.total_run_time">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">total_run_time</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab.utils.timer.Timer.total_run_time" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of seconds that elapsed from when the timer started to when it ended.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.timer.Timer.start">
+<span class="sig-name descname"><span class="pre">start</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/timer.html#Timer.start"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.timer.Timer.start" title="Permalink to this definition">#</a></dt>
+<dd><p>Start timing.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.timer.Timer.stop">
+<span class="sig-name descname"><span class="pre">stop</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/timer.html#Timer.stop"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.timer.Timer.stop" title="Permalink to this definition">#</a></dt>
+<dd><p>Stop timing.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.timer.Timer.get_timer_info">
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_timer_info</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/timer.html#Timer.get_timer_info"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.timer.Timer.get_timer_info" title="Permalink to this definition">#</a></dt>
+<dd><dl class="simple">
+<dt>Retrieves the time logged in the global dictionary</dt><dd><p>based on name.</p>
+</dd>
+</dl>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>name</strong> – Name of the the entry to be retrieved.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference internal" href="#omni.isaac.lab.utils.timer.TimerError" title="omni.isaac.lab.utils.timer.TimerError"><strong>TimerError</strong></a> – If name doesn’t exist in the log.</p>
+</dd>
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>A float containing the time logged if the name exists.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.types">
+<span id="type-operations"></span><h2>Type operations<a class="headerlink" href="#module-omni.isaac.lab.utils.types" title="Permalink to this heading">#</a></h2>
+<p>Sub-module for different data types.</p>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ArticulationActions</span></code></a></p></td>
+<td><p>Data container to store articulation's joints actions.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.types.ArticulationActions">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.types.</span></span><span class="sig-name descname"><span class="pre">ArticulationActions</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/types.html#ArticulationActions"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.types.ArticulationActions" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Data container to store articulation’s joints actions.</p>
+<p>This class is used to store the actions of the joints of an articulation.
+It is used to store the joint positions, velocities, efforts, and indices.</p>
+<p>If the actions are not provided, the values are set to None.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_positions" title="omni.isaac.lab.utils.types.ArticulationActions.joint_positions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_positions</span></code></a></p></td>
+<td><p>The joint positions of the articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_velocities" title="omni.isaac.lab.utils.types.ArticulationActions.joint_velocities"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_velocities</span></code></a></p></td>
+<td><p>The joint velocities of the articulation.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_efforts" title="omni.isaac.lab.utils.types.ArticulationActions.joint_efforts"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_efforts</span></code></a></p></td>
+<td><p>The joint efforts of the articulation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_indices" title="omni.isaac.lab.utils.types.ArticulationActions.joint_indices"><code class="xref py py-obj docutils literal notranslate"><span class="pre">joint_indices</span></code></a></p></td>
+<td><p>The joint indices of the articulation.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.types.ArticulationActions.__init__" title="omni.isaac.lab.utils.types.ArticulationActions.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([joint_positions, ...])</p></td>
+<td><p></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.types.ArticulationActions.joint_positions">
+<span class="sig-name descname"><span class="pre">joint_positions</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_positions" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint positions of the articulation. Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.types.ArticulationActions.joint_velocities">
+<span class="sig-name descname"><span class="pre">joint_velocities</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_velocities" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint velocities of the articulation. Defaults to None.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.types.ArticulationActions.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_positions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_velocities</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_efforts</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_indices</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="headerlink" href="#omni.isaac.lab.utils.types.ArticulationActions.__init__" title="Permalink to this definition">#</a></dt>
+<dd></dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.types.ArticulationActions.joint_efforts">
+<span class="sig-name descname"><span class="pre">joint_efforts</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_efforts" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint efforts of the articulation. Defaults to None.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.types.ArticulationActions.joint_indices">
+<span class="sig-name descname"><span class="pre">joint_indices</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><span class="pre">Sequence</span><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#slice" title="(in Python v3.13)"><span class="pre">slice</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">None</span></em><a class="headerlink" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_indices" title="Permalink to this definition">#</a></dt>
+<dd><p>The joint indices of the articulation. Defaults to None.</p>
+<p>If the joint indices are a slice, this indicates that the indices are continuous and correspond
+to all the joints of the articulation. We use a slice to make the indexing more efficient.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab.utils.warp">
+<span id="warp-operations"></span><h2>Warp operations<a class="headerlink" href="#module-omni.isaac.lab.utils.warp" title="Permalink to this heading">#</a></h2>
+<p>Sub-module containing operations based on warp.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.warp.convert_to_warp_mesh" title="omni.isaac.lab.utils.warp.convert_to_warp_mesh"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convert_to_warp_mesh</span></code></a>(points, indices, device)</p></td>
+<td><p>Create a warp mesh object with a mesh defined from vertices and triangles.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab.utils.warp.raycast_mesh" title="omni.isaac.lab.utils.warp.raycast_mesh"><code class="xref py py-obj docutils literal notranslate"><span class="pre">raycast_mesh</span></code></a>(ray_starts, ray_directions, mesh)</p></td>
+<td><p>Performs ray-casting against a mesh.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.warp.convert_to_warp_mesh">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.warp.</span></span><span class="sig-name descname"><span class="pre">convert_to_warp_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">points</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">numpy.ndarray</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">indices</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v2.2)"><span class="pre">numpy.ndarray</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://nvidia.github.io/warp/modules/runtime.html#warp.Mesh" title="(in Warp v1.5.0)"><span class="pre">warp.Mesh</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/warp/ops.html#convert_to_warp_mesh"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.warp.convert_to_warp_mesh" title="Permalink to this definition">#</a></dt>
+<dd><p>Create a warp mesh object with a mesh defined from vertices and triangles.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>points</strong> – The vertices of the mesh. Shape is (N, 3), where N is the number of vertices.</p></li>
+<li><p><strong>indices</strong> – The triangles of the mesh as references to vertices for each triangle.
+Shape is (M, 3), where M is the number of triangles / faces.</p></li>
+<li><p><strong>device</strong> – The device to use for the mesh.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The warp mesh object.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab.utils.warp.raycast_mesh">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab.utils.warp.</span></span><span class="sig-name descname"><span class="pre">raycast_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ray_starts</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">ray_directions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">mesh</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">wp.Mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_dist</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1000000.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_distance</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_normal</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">return_face_id</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab/utils/warp/ops.html#raycast_mesh"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab.utils.warp.raycast_mesh" title="Permalink to this definition">#</a></dt>
+<dd><p>Performs ray-casting against a mesh.</p>
+<p>Note that the <cite>ray_starts</cite> and <cite>ray_directions</cite>, and <cite>ray_hits</cite> should have compatible shapes
+and data types to ensure proper execution. Additionally, they all must be in the same frame.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>ray_starts</strong> – The starting position of the rays. Shape (N, 3).</p></li>
+<li><p><strong>ray_directions</strong> – The ray directions for each ray. Shape (N, 3).</p></li>
+<li><p><strong>mesh</strong> – The warp mesh to ray-cast against.</p></li>
+<li><p><strong>max_dist</strong> – The maximum distance to ray-cast. Defaults to 1e6.</p></li>
+<li><p><strong>return_distance</strong> – Whether to return the distance of the ray until it hits the mesh. Defaults to False.</p></li>
+<li><p><strong>return_normal</strong> – Whether to return the normal of the mesh face the ray hits. Defaults to False.</p></li>
+<li><p><strong>return_face_id</strong> – Whether to return the face id of the mesh face the ray hits. Defaults to False.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p><dl class="simple">
+<dt>The ray hit position. Shape (N, 3).</dt><dd><p>The returned tensor contains <code class="xref py py-obj docutils literal notranslate"><span class="pre">float('inf')</span></code> for missed hits.</p>
+</dd>
+<dt>The ray hit distance. Shape (N,).</dt><dd><p>Will only return if <code class="xref py py-attr docutils literal notranslate"><span class="pre">return_distance</span></code> is True, else returns None.
+The returned tensor contains <code class="xref py py-obj docutils literal notranslate"><span class="pre">float('inf')</span></code> for missed hits.</p>
+</dd>
+<dt>The ray hit normal. Shape (N, 3).</dt><dd><p>Will only return if <code class="xref py py-attr docutils literal notranslate"><span class="pre">return_normal</span></code> is True else returns None.
+The returned tensor contains <code class="xref py py-obj docutils literal notranslate"><span class="pre">float('inf')</span></code> for missed hits.</p>
+</dd>
+<dt>The ray hit face id. Shape (N,).</dt><dd><p>Will only return if <code class="xref py py-attr docutils literal notranslate"><span class="pre">return_face_id</span></code> is True else returns None.
+The returned tensor contains <code class="xref py py-obj docutils literal notranslate"><span class="pre">int(-1)</span></code> for missed hits.</p>
+</dd>
+</dl>
+</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
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+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.configclass">Configuration class</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.configclass.configclass"><code class="docutils literal notranslate"><span class="pre">configclass()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.io">IO operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.io.dump_pickle"><code class="docutils literal notranslate"><span class="pre">dump_pickle()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.io.load_pickle"><code class="docutils literal notranslate"><span class="pre">load_pickle()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.io.dump_yaml"><code class="docutils literal notranslate"><span class="pre">dump_yaml()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.io.load_yaml"><code class="docutils literal notranslate"><span class="pre">load_yaml()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.array">Array operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.array.TensorData"><code class="docutils literal notranslate"><span class="pre">TensorData</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.array.TENSOR_TYPES"><code class="docutils literal notranslate"><span class="pre">TENSOR_TYPES</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS"><code class="docutils literal notranslate"><span class="pre">TENSOR_TYPE_CONVERSIONS</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.array.convert_to_torch"><code class="docutils literal notranslate"><span class="pre">convert_to_torch()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.assets">Asset operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR"><code class="docutils literal notranslate"><span class="pre">NUCLEUS_ASSET_ROOT_DIR</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR"><code class="docutils literal notranslate"><span class="pre">NVIDIA_NUCLEUS_DIR</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.ISAAC_NUCLEUS_DIR"><code class="docutils literal notranslate"><span class="pre">ISAAC_NUCLEUS_DIR</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.ISAACLAB_NUCLEUS_DIR"><code class="docutils literal notranslate"><span class="pre">ISAACLAB_NUCLEUS_DIR</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.check_file_path"><code class="docutils literal notranslate"><span class="pre">check_file_path()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.retrieve_file_path"><code class="docutils literal notranslate"><span class="pre">retrieve_file_path()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.assets.read_file"><code class="docutils literal notranslate"><span class="pre">read_file()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.buffers">Buffer operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer"><code class="docutils literal notranslate"><span class="pre">CircularBuffer</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.__init__"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.batch_size"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.batch_size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.device"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.max_length"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.max_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.current_length"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.current_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.buffer"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.buffer</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.reset"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.CircularBuffer.append"><code class="docutils literal notranslate"><span class="pre">CircularBuffer.append()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer"><code class="docutils literal notranslate"><span class="pre">DelayBuffer</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.__init__"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.batch_size"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.batch_size</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.device"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.history_length"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.history_length</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.min_time_lag</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.max_time_lag</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.time_lags"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.time_lags</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.set_time_lag"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.set_time_lag()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.reset"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.DelayBuffer.compute"><code class="docutils literal notranslate"><span class="pre">DelayBuffer.compute()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer"><code class="docutils literal notranslate"><span class="pre">TimestampedBuffer</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.data"><code class="docutils literal notranslate"><span class="pre">TimestampedBuffer.data</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.__init__"><code class="docutils literal notranslate"><span class="pre">TimestampedBuffer.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.buffers.TimestampedBuffer.timestamp"><code class="docutils literal notranslate"><span class="pre">TimestampedBuffer.timestamp</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.dict">Dictionary operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.class_to_dict"><code class="docutils literal notranslate"><span class="pre">class_to_dict()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.update_class_from_dict"><code class="docutils literal notranslate"><span class="pre">update_class_from_dict()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.dict_to_md5_hash"><code class="docutils literal notranslate"><span class="pre">dict_to_md5_hash()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.convert_dict_to_backend"><code class="docutils literal notranslate"><span class="pre">convert_dict_to_backend()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.update_dict"><code class="docutils literal notranslate"><span class="pre">update_dict()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.replace_slices_with_strings"><code class="docutils literal notranslate"><span class="pre">replace_slices_with_strings()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.replace_strings_with_slices"><code class="docutils literal notranslate"><span class="pre">replace_strings_with_slices()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.dict.print_dict"><code class="docutils literal notranslate"><span class="pre">print_dict()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.interpolation">Interpolation operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation"><code class="docutils literal notranslate"><span class="pre">LinearInterpolation</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation.__init__"><code class="docutils literal notranslate"><span class="pre">LinearInterpolation.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.interpolation.LinearInterpolation.compute"><code class="docutils literal notranslate"><span class="pre">LinearInterpolation.compute()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.math">Math operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.scale_transform"><code class="docutils literal notranslate"><span class="pre">scale_transform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.unscale_transform"><code class="docutils literal notranslate"><span class="pre">unscale_transform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.saturate"><code class="docutils literal notranslate"><span class="pre">saturate()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.normalize"><code class="docutils literal notranslate"><span class="pre">normalize()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.wrap_to_pi"><code class="docutils literal notranslate"><span class="pre">wrap_to_pi()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.copysign"><code class="docutils literal notranslate"><span class="pre">copysign()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.matrix_from_quat"><code class="docutils literal notranslate"><span class="pre">matrix_from_quat()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.convert_quat"><code class="docutils literal notranslate"><span class="pre">convert_quat()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_conjugate"><code class="docutils literal notranslate"><span class="pre">quat_conjugate()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_inv"><code class="docutils literal notranslate"><span class="pre">quat_inv()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_from_euler_xyz"><code class="docutils literal notranslate"><span class="pre">quat_from_euler_xyz()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_from_matrix"><code class="docutils literal notranslate"><span class="pre">quat_from_matrix()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.matrix_from_euler"><code class="docutils literal notranslate"><span class="pre">matrix_from_euler()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.euler_xyz_from_quat"><code class="docutils literal notranslate"><span class="pre">euler_xyz_from_quat()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_unique"><code class="docutils literal notranslate"><span class="pre">quat_unique()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_mul"><code class="docutils literal notranslate"><span class="pre">quat_mul()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_box_minus"><code class="docutils literal notranslate"><span class="pre">quat_box_minus()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.yaw_quat"><code class="docutils literal notranslate"><span class="pre">yaw_quat()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_apply"><code class="docutils literal notranslate"><span class="pre">quat_apply()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_apply_yaw"><code class="docutils literal notranslate"><span class="pre">quat_apply_yaw()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_rotate"><code class="docutils literal notranslate"><span class="pre">quat_rotate()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_rotate_inverse"><code class="docutils literal notranslate"><span class="pre">quat_rotate_inverse()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_from_angle_axis"><code class="docutils literal notranslate"><span class="pre">quat_from_angle_axis()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.axis_angle_from_quat"><code class="docutils literal notranslate"><span class="pre">axis_angle_from_quat()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.quat_error_magnitude"><code class="docutils literal notranslate"><span class="pre">quat_error_magnitude()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.skew_symmetric_matrix"><code class="docutils literal notranslate"><span class="pre">skew_symmetric_matrix()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.is_identity_pose"><code class="docutils literal notranslate"><span class="pre">is_identity_pose()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.combine_frame_transforms"><code class="docutils literal notranslate"><span class="pre">combine_frame_transforms()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.subtract_frame_transforms"><code class="docutils literal notranslate"><span class="pre">subtract_frame_transforms()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.compute_pose_error"><code class="docutils literal notranslate"><span class="pre">compute_pose_error()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.apply_delta_pose"><code class="docutils literal notranslate"><span class="pre">apply_delta_pose()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.transform_points"><code class="docutils literal notranslate"><span class="pre">transform_points()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.orthogonalize_perspective_depth"><code class="docutils literal notranslate"><span class="pre">orthogonalize_perspective_depth()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.unproject_depth"><code class="docutils literal notranslate"><span class="pre">unproject_depth()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.project_points"><code class="docutils literal notranslate"><span class="pre">project_points()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.default_orientation"><code class="docutils literal notranslate"><span class="pre">default_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.random_orientation"><code class="docutils literal notranslate"><span class="pre">random_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.random_yaw_orientation"><code class="docutils literal notranslate"><span class="pre">random_yaw_orientation()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.sample_triangle"><code class="docutils literal notranslate"><span class="pre">sample_triangle()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.sample_uniform"><code class="docutils literal notranslate"><span class="pre">sample_uniform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.sample_log_uniform"><code class="docutils literal notranslate"><span class="pre">sample_log_uniform()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.sample_gaussian"><code class="docutils literal notranslate"><span class="pre">sample_gaussian()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.sample_cylinder"><code class="docutils literal notranslate"><span class="pre">sample_cylinder()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention"><code class="docutils literal notranslate"><span class="pre">convert_camera_frame_orientation_convention()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.math.create_rotation_matrix_from_view"><code class="docutils literal notranslate"><span class="pre">create_rotation_matrix_from_view()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.modifiers">Modifier operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.ModifierCfg"><code class="docutils literal notranslate"><span class="pre">ModifierCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.ModifierCfg.params"><code class="docutils literal notranslate"><span class="pre">ModifierCfg.params</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.ModifierBase"><code class="docutils literal notranslate"><span class="pre">ModifierBase</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.ModifierBase.reset"><code class="docutils literal notranslate"><span class="pre">ModifierBase.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.ModifierBase.__call__"><code class="docutils literal notranslate"><span class="pre">ModifierBase.__call__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilter"><code class="docutils literal notranslate"><span class="pre">DigitalFilter</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilter.reset"><code class="docutils literal notranslate"><span class="pre">DigitalFilter.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilter.__call__"><code class="docutils literal notranslate"><span class="pre">DigitalFilter.__call__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg"><code class="docutils literal notranslate"><span class="pre">DigitalFilterCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.A"><code class="docutils literal notranslate"><span class="pre">DigitalFilterCfg.A</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.params"><code class="docutils literal notranslate"><span class="pre">DigitalFilterCfg.params</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.DigitalFilterCfg.B"><code class="docutils literal notranslate"><span class="pre">DigitalFilterCfg.B</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.Integrator"><code class="docutils literal notranslate"><span class="pre">Integrator</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.Integrator.reset"><code class="docutils literal notranslate"><span class="pre">Integrator.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.Integrator.__call__"><code class="docutils literal notranslate"><span class="pre">Integrator.__call__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg"><code class="docutils literal notranslate"><span class="pre">IntegratorCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg.params"><code class="docutils literal notranslate"><span class="pre">IntegratorCfg.params</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.IntegratorCfg.dt"><code class="docutils literal notranslate"><span class="pre">IntegratorCfg.dt</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.bias"><code class="docutils literal notranslate"><span class="pre">bias()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.clip"><code class="docutils literal notranslate"><span class="pre">clip()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.modifiers.scale"><code class="docutils literal notranslate"><span class="pre">scale()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.noise">Noise operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseCfg"><code class="docutils literal notranslate"><span class="pre">NoiseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseCfg.operation"><code class="docutils literal notranslate"><span class="pre">NoiseCfg.operation</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg"><code class="docutils literal notranslate"><span class="pre">ConstantNoiseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias"><code class="docutils literal notranslate"><span class="pre">ConstantNoiseCfg.bias</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.ConstantNoiseCfg.operation"><code class="docutils literal notranslate"><span class="pre">ConstantNoiseCfg.operation</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg"><code class="docutils literal notranslate"><span class="pre">GaussianNoiseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean"><code class="docutils literal notranslate"><span class="pre">GaussianNoiseCfg.mean</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.operation"><code class="docutils literal notranslate"><span class="pre">GaussianNoiseCfg.operation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.GaussianNoiseCfg.std"><code class="docutils literal notranslate"><span class="pre">GaussianNoiseCfg.std</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelCfg"><code class="docutils literal notranslate"><span class="pre">NoiseModelCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelCfg.class_type"><code class="docutils literal notranslate"><span class="pre">NoiseModelCfg.class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelCfg.noise_cfg"><code class="docutils literal notranslate"><span class="pre">NoiseModelCfg.noise_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg.noise_cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.class_type"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg.class_type</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.bias_noise_cfg"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg.bias_noise_cfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg"><code class="docutils literal notranslate"><span class="pre">UniformNoiseCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min"><code class="docutils literal notranslate"><span class="pre">UniformNoiseCfg.n_min</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.n_max"><code class="docutils literal notranslate"><span class="pre">UniformNoiseCfg.n_max</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.UniformNoiseCfg.operation"><code class="docutils literal notranslate"><span class="pre">UniformNoiseCfg.operation</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModel"><code class="docutils literal notranslate"><span class="pre">NoiseModel</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModel.reset"><code class="docutils literal notranslate"><span class="pre">NoiseModel.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModel.apply"><code class="docutils literal notranslate"><span class="pre">NoiseModel.apply()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBias</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.reset"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBias.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBias.apply"><code class="docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBias.apply()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.constant_noise"><code class="docutils literal notranslate"><span class="pre">constant_noise()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.gaussian_noise"><code class="docutils literal notranslate"><span class="pre">gaussian_noise()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.uniform_noise"><code class="docutils literal notranslate"><span class="pre">uniform_noise()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.ConstantBiasNoiseCfg"><code class="docutils literal notranslate"><span class="pre">ConstantBiasNoiseCfg</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.AdditiveUniformNoiseCfg"><code class="docutils literal notranslate"><span class="pre">AdditiveUniformNoiseCfg</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.noise.AdditiveGaussianNoiseCfg"><code class="docutils literal notranslate"><span class="pre">AdditiveGaussianNoiseCfg</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.string">String operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.to_camel_case"><code class="docutils literal notranslate"><span class="pre">to_camel_case()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.to_snake_case"><code class="docutils literal notranslate"><span class="pre">to_snake_case()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.string_to_slice"><code class="docutils literal notranslate"><span class="pre">string_to_slice()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.is_lambda_expression"><code class="docutils literal notranslate"><span class="pre">is_lambda_expression()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.callable_to_string"><code class="docutils literal notranslate"><span class="pre">callable_to_string()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.string_to_callable"><code class="docutils literal notranslate"><span class="pre">string_to_callable()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.resolve_matching_names"><code class="docutils literal notranslate"><span class="pre">resolve_matching_names()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.string.resolve_matching_names_values"><code class="docutils literal notranslate"><span class="pre">resolve_matching_names_values()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.timer">Timer operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.TimerError"><code class="docutils literal notranslate"><span class="pre">TimerError</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer"><code class="docutils literal notranslate"><span class="pre">Timer</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.timing_info"><code class="docutils literal notranslate"><span class="pre">Timer.timing_info</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.__init__"><code class="docutils literal notranslate"><span class="pre">Timer.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.time_elapsed"><code class="docutils literal notranslate"><span class="pre">Timer.time_elapsed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.total_run_time"><code class="docutils literal notranslate"><span class="pre">Timer.total_run_time</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.start"><code class="docutils literal notranslate"><span class="pre">Timer.start()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.stop"><code class="docutils literal notranslate"><span class="pre">Timer.stop()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.timer.Timer.get_timer_info"><code class="docutils literal notranslate"><span class="pre">Timer.get_timer_info()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.types">Type operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions"><code class="docutils literal notranslate"><span class="pre">ArticulationActions</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_positions"><code class="docutils literal notranslate"><span class="pre">ArticulationActions.joint_positions</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_velocities"><code class="docutils literal notranslate"><span class="pre">ArticulationActions.joint_velocities</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions.__init__"><code class="docutils literal notranslate"><span class="pre">ArticulationActions.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_efforts"><code class="docutils literal notranslate"><span class="pre">ArticulationActions.joint_efforts</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.types.ArticulationActions.joint_indices"><code class="docutils literal notranslate"><span class="pre">ArticulationActions.joint_indices</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab.utils.warp">Warp operations</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.warp.convert_to_warp_mesh"><code class="docutils literal notranslate"><span class="pre">convert_to_warp_mesh()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab.utils.warp.raycast_mesh"><code class="docutils literal notranslate"><span class="pre">raycast_mesh()</span></code></a></li>
+</ul>
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+    <h1>omni.isaac.lab_tasks.utils.data_collector</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#robomimic-data-collector">Robomimic Data Collector</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.__init__"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.demo_count"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.demo_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.is_stopped"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.is_stopped()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.reset"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.add"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.add()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.flush"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.flush()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.close"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.close()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab_tasks.utils.data_collector">
+<span id="omni-isaac-lab-tasks-utils-data-collector"></span><h1>omni.isaac.lab_tasks.utils.data_collector<a class="headerlink" href="#module-omni.isaac.lab_tasks.utils.data_collector" title="Permalink to this heading">#</a></h1>
+<p>Sub-module for data collection utilities.</p>
+<p>All post-processed robomimic compatible datasets share the same data structure.
+A single dataset is a single HDF5 file. The stored data follows the structure provided
+<a class="reference external" href="https://robomimic.github.io/docs/datasets/overview.html#dataset-structure">here</a>.</p>
+<p>The collector takes input data in its batched format and stores them as different
+demonstrations, each corresponding to a given environment index. The demonstrations are
+flushed to disk when the <a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.flush" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.flush"><code class="xref py py-meth docutils literal notranslate"><span class="pre">RobomimicDataCollector.flush()</span></code></a> is called for the
+respective environments. All the data is saved when the
+<a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.close" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.close"><code class="xref py py-meth docutils literal notranslate"><span class="pre">RobomimicDataCollector.close()</span></code></a> is called.</p>
+<p>The following sample shows how to use the <a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobomimicDataCollector</span></code></a> to store
+random data in a dataset.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">torch</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils.data_collector</span> <span class="kn">import</span> <span class="n">RobomimicDataCollector</span>
+
+<span class="c1"># name of the environment (needed by robomimic)</span>
+<span class="n">task_name</span> <span class="o">=</span> <span class="s2">&quot;Isaac-Franka-Lift-v0&quot;</span>
+<span class="c1"># specify directory for logging experiments</span>
+<span class="n">test_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="vm">__file__</span><span class="p">))</span>
+<span class="n">log_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">test_dir</span><span class="p">,</span> <span class="s2">&quot;logs&quot;</span><span class="p">,</span> <span class="s2">&quot;demos&quot;</span><span class="p">)</span>
+<span class="c1"># name of the file to save data</span>
+<span class="n">filename</span> <span class="o">=</span> <span class="s2">&quot;hdf_dataset.hdf5&quot;</span>
+<span class="c1"># number of episodes to collect</span>
+<span class="n">num_demos</span> <span class="o">=</span> <span class="mi">10</span>
+<span class="c1"># number of environments to simulate</span>
+<span class="n">num_envs</span> <span class="o">=</span> <span class="mi">4</span>
+
+<span class="c1"># create data-collector</span>
+<span class="n">collector_interface</span> <span class="o">=</span> <span class="n">RobomimicDataCollector</span><span class="p">(</span><span class="n">task_name</span><span class="p">,</span> <span class="n">log_dir</span><span class="p">,</span> <span class="n">filename</span><span class="p">,</span> <span class="n">num_demos</span><span class="p">)</span>
+
+<span class="c1"># reset the collector</span>
+<span class="n">collector_interface</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+
+<span class="k">while</span> <span class="ow">not</span> <span class="n">collector_interface</span><span class="o">.</span><span class="n">is_stopped</span><span class="p">():</span>
+   <span class="c1"># generate random data to store</span>
+   <span class="c1"># -- obs</span>
+   <span class="n">obs</span> <span class="o">=</span> <span class="p">{</span>
+         <span class="s2">&quot;joint_pos&quot;</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn</span><span class="p">(</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">10</span><span class="p">),</span>
+         <span class="s2">&quot;joint_vel&quot;</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn</span><span class="p">(</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">10</span><span class="p">)</span>
+   <span class="p">}</span>
+   <span class="c1"># -- actions</span>
+   <span class="n">actions</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn</span><span class="p">(</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">10</span><span class="p">)</span>
+   <span class="c1"># -- rewards</span>
+   <span class="n">rewards</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn</span><span class="p">(</span><span class="n">num_envs</span><span class="p">)</span>
+   <span class="c1"># -- dones</span>
+   <span class="n">dones</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="n">num_envs</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mf">0.5</span>
+
+   <span class="c1"># store signals</span>
+   <span class="c1"># -- obs</span>
+   <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">obs</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+         <span class="n">collector_interface</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;obs/</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="n">value</span><span class="p">)</span>
+   <span class="c1"># -- actions</span>
+   <span class="n">collector_interface</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="s2">&quot;actions&quot;</span><span class="p">,</span> <span class="n">actions</span><span class="p">)</span>
+   <span class="c1"># -- next_obs</span>
+   <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">value</span> <span class="ow">in</span> <span class="n">obs</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
+         <span class="n">collector_interface</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;next_obs/</span><span class="si">{</span><span class="n">key</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="n">value</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">())</span>
+   <span class="c1"># -- rewards</span>
+   <span class="n">collector_interface</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="s2">&quot;rewards&quot;</span><span class="p">,</span> <span class="n">rewards</span><span class="p">)</span>
+   <span class="c1"># -- dones</span>
+   <span class="n">collector_interface</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="s2">&quot;dones&quot;</span><span class="p">,</span> <span class="n">dones</span><span class="p">)</span>
+
+   <span class="c1"># flush data from collector for successful environments</span>
+   <span class="c1"># note: in this case we flush all the time</span>
+   <span class="n">reset_env_ids</span> <span class="o">=</span> <span class="n">dones</span><span class="o">.</span><span class="n">nonzero</span><span class="p">(</span><span class="n">as_tuple</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+   <span class="n">collector_interface</span><span class="o">.</span><span class="n">flush</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span>
+
+<span class="c1"># close collector</span>
+<span class="n">collector_interface</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+<p class="rubric">Classes</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RobomimicDataCollector</span></code></a></p></td>
+<td><p>Data collection interface for robomimic.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="robomimic-data-collector">
+<h2>Robomimic Data Collector<a class="headerlink" href="#robomimic-data-collector" title="Permalink to this heading">#</a></h2>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.data_collector.</span></span><span class="sig-name descname"><span class="pre">RobomimicDataCollector</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html#RobomimicDataCollector"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Data collection interface for robomimic.</p>
+<p>This class implements a data collector interface for saving simulation states to disk.
+The data is stored in <a class="reference external" href="https://www.h5py.org/">HDF5</a> binary data format. The class is useful for collecting
+demonstrations. The collected data follows the <a class="reference external" href="https://robomimic.github.io/docs/datasets/overview.html#dataset-structure">structure</a> from robomimic.</p>
+<p>All datasets in <cite>robomimic</cite> require the observations and next observations obtained
+from before and after the environment step. These are stored as a dictionary of
+observations in the keys “obs” and “next_obs” respectively.</p>
+<p>For certain agents in <cite>robomimic</cite>, the episode data should have the following
+additional keys: “actions”, “rewards”, “dones”. This behavior can be altered by changing
+the dataset keys required in the training configuration for the respective learning agent.</p>
+<p>For reference on datasets, please check the robomimic <cite>documentation</cite>.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.__init__" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(env_name, directory_path[, ...])</p></td>
+<td><p>Initializes the data collection wrapper.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.is_stopped" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.is_stopped"><code class="xref py py-obj docutils literal notranslate"><span class="pre">is_stopped</span></code></a>()</p></td>
+<td><p>Whether data collection is stopped or not.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.reset" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.reset"><code class="xref py py-obj docutils literal notranslate"><span class="pre">reset</span></code></a>()</p></td>
+<td><p>Reset the internals of data logger.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.add" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.add"><code class="xref py py-obj docutils literal notranslate"><span class="pre">add</span></code></a>(key, value)</p></td>
+<td><p>Add a key-value pair to the dataset.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.flush" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.flush"><code class="xref py py-obj docutils literal notranslate"><span class="pre">flush</span></code></a>([env_ids])</p></td>
+<td><p>Flush the episode data based on environment indices.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.close" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.close"><code class="xref py py-obj docutils literal notranslate"><span class="pre">close</span></code></a>()</p></td>
+<td><p>Stop recording and save the file at its current state.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.demo_count" title="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.demo_count"><code class="xref py py-obj docutils literal notranslate"><span class="pre">demo_count</span></code></a></p></td>
+<td><p>The number of demos collected so far.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">directory_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'test'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_demos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">flush_freq</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">env_config</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html#RobomimicDataCollector.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the data collection wrapper.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env_name</strong> – The name of the environment.</p></li>
+<li><p><strong>directory_path</strong> – The path to store collected data.</p></li>
+<li><p><strong>filename</strong> – The basename of the saved file. Defaults to “test”.</p></li>
+<li><p><strong>num_demos</strong> – Number of demonstrations to record until stopping. Defaults to 1.</p></li>
+<li><p><strong>flush_freq</strong> – Frequency to dump data to disk. Defaults to 1.</p></li>
+<li><p><strong>env_config</strong> – The configuration for the environment. Defaults to None.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.demo_count">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">demo_count</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.demo_count" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of demos collected so far.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.is_stopped">
+<span class="sig-name descname"><span class="pre">is_stopped</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html#RobomimicDataCollector.is_stopped"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.is_stopped" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether data collection is stopped or not.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>True if data collection has stopped.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.reset">
+<span class="sig-name descname"><span class="pre">reset</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html#RobomimicDataCollector.reset"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.reset" title="Permalink to this definition">#</a></dt>
+<dd><p>Reset the internals of data logger.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.add">
+<span class="sig-name descname"><span class="pre">add</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">np.ndarray</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html#RobomimicDataCollector.add"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.add" title="Permalink to this definition">#</a></dt>
+<dd><p>Add a key-value pair to the dataset.</p>
+<p>The key can be nested by using the “/” character. For example:
+“obs/joint_pos”. Currently only two-level nesting is supported.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>key</strong> – The key name.</p></li>
+<li><p><strong>value</strong> – The corresponding value
+of shape (N, …), where <cite>N</cite> is number of environments.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When provided key has sub-keys more than 2. Example: “obs/joints/pos”, instead
+    of “obs/joint_pos”.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.flush">
+<span class="sig-name descname"><span class="pre">flush</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env_ids</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/collections.abc.html#collections.abc.Iterable" title="(in Python v3.13)"><span class="pre">Iterable</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">(0,)</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html#RobomimicDataCollector.flush"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.flush" title="Permalink to this definition">#</a></dt>
+<dd><p>Flush the episode data based on environment indices.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env_ids</strong> – Environment indices to write data for. Defaults to (0).</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.close">
+<span class="sig-name descname"><span class="pre">close</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.html#RobomimicDataCollector.close"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.close" title="Permalink to this definition">#</a></dt>
+<dd><p>Stop recording and save the file at its current state.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
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+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#robomimic-data-collector">Robomimic Data Collector</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.__init__"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.demo_count"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.demo_count</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.is_stopped"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.is_stopped()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.reset"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.reset()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.add"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.add()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.flush"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.flush()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.close"><code class="docutils literal notranslate"><span class="pre">RobomimicDataCollector.close()</span></code></a></li>
+</ul>
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+    <h1>omni.isaac.lab_tasks.utils</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.import_packages"><code class="docutils literal notranslate"><span class="pre">import_packages()</span></code></a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.get_checkpoint_path"><code class="docutils literal notranslate"><span class="pre">get_checkpoint_path()</span></code></a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.load_cfg_from_registry"><code class="docutils literal notranslate"><span class="pre">load_cfg_from_registry()</span></code></a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.parse_env_cfg"><code class="docutils literal notranslate"><span class="pre">parse_env_cfg()</span></code></a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab_tasks.utils">
+<span id="omni-isaac-lab-tasks-utils"></span><h1>omni.isaac.lab_tasks.utils<a class="headerlink" href="#module-omni.isaac.lab_tasks.utils" title="Permalink to this heading">#</a></h1>
+<p>Sub-package with utilities, data collectors and environment wrappers.</p>
+<p class="rubric">Submodules</p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="omni.isaac.lab_tasks.utils.data_collector.html#module-omni.isaac.lab_tasks.utils.data_collector" title="omni.isaac.lab_tasks.utils.data_collector"><code class="xref py py-obj docutils literal notranslate"><span class="pre">data_collector</span></code></a></p></td>
+<td><p>Sub-module for data collection utilities.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers" title="omni.isaac.lab_tasks.utils.wrappers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">wrappers</span></code></a></p></td>
+<td><p>Sub-module for environment wrappers to different learning frameworks.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.import_packages" title="omni.isaac.lab_tasks.utils.import_packages"><code class="xref py py-obj docutils literal notranslate"><span class="pre">import_packages</span></code></a>(package_name[, blacklist_pkgs])</p></td>
+<td><p>Import all sub-packages in a package recursively.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.get_checkpoint_path" title="omni.isaac.lab_tasks.utils.get_checkpoint_path"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_checkpoint_path</span></code></a>(log_path[, run_dir, ...])</p></td>
+<td><p>Get path to the model checkpoint in input directory.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.load_cfg_from_registry" title="omni.isaac.lab_tasks.utils.load_cfg_from_registry"><code class="xref py py-obj docutils literal notranslate"><span class="pre">load_cfg_from_registry</span></code></a>(task_name, ...)</p></td>
+<td><p>Load default configuration given its entry point from the gym registry.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.parse_env_cfg" title="omni.isaac.lab_tasks.utils.parse_env_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">parse_env_cfg</span></code></a>(task_name[, device, num_envs, ...])</p></td>
+<td><p>Parse configuration for an environment and override based on inputs.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.import_packages">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.</span></span><span class="sig-name descname"><span class="pre">import_packages</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">package_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">blacklist_pkgs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/importer.html#import_packages"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.import_packages" title="Permalink to this definition">#</a></dt>
+<dd><p>Import all sub-packages in a package recursively.</p>
+<p>It is easier to use this function to import all sub-packages in a package recursively
+than to manually import each sub-package.</p>
+<p>It replaces the need of the following code snippet on the top of each package’s <code class="docutils literal notranslate"><span class="pre">__init__.py</span></code> file:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">.locomotion.velocity</span>
+<span class="kn">import</span> <span class="nn">.manipulation.reach</span>
+<span class="kn">import</span> <span class="nn">.manipulation.lift</span>
+</pre></div>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>package_name</strong> – The package name.</p></li>
+<li><p><strong>blacklist_pkgs</strong> – The list of blacklisted packages to skip. Defaults to None,
+which means no packages are blacklisted.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.get_checkpoint_path">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.</span></span><span class="sig-name descname"><span class="pre">get_checkpoint_path</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">log_path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_dir</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'.*'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">checkpoint</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'.*'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">other_dirs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="p"><span class="pre">]</span></span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sort_alpha</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/parse_cfg.html#get_checkpoint_path"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.get_checkpoint_path" title="Permalink to this definition">#</a></dt>
+<dd><p>Get path to the model checkpoint in input directory.</p>
+<p>The checkpoint file is resolved as: <code class="docutils literal notranslate"><span class="pre">&lt;log_path&gt;/&lt;run_dir&gt;/&lt;*other_dirs&gt;/&lt;checkpoint&gt;</span></code>, where the
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">other_dirs</span></code> are intermediate folder names to concatenate. These cannot be regex expressions.</p>
+<p>If <code class="xref py py-attr docutils literal notranslate"><span class="pre">run_dir</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">checkpoint</span></code> are regex expressions then the most recent (highest alphabetical order)
+run and checkpoint are selected. To disable this behavior, set the flag <code class="xref py py-attr docutils literal notranslate"><span class="pre">sort_alpha</span></code> to False.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>log_path</strong> – The log directory path to find models in.</p></li>
+<li><p><strong>run_dir</strong> – The regex expression for the name of the directory containing the run. Defaults to the most
+recent directory created inside <code class="xref py py-attr docutils literal notranslate"><span class="pre">log_path</span></code>.</p></li>
+<li><p><strong>other_dirs</strong> – The intermediate directories between the run directory and the checkpoint file. Defaults to
+None, which implies that checkpoint file is directly under the run directory.</p></li>
+<li><p><strong>checkpoint</strong> – The regex expression for the model checkpoint file. Defaults to the most recent
+torch-model saved in the <code class="xref py py-attr docutils literal notranslate"><span class="pre">run_dir</span></code> directory.</p></li>
+<li><p><strong>sort_alpha</strong> – Whether to sort the runs by alphabetical order. Defaults to True.
+If False, the folders in <code class="xref py py-attr docutils literal notranslate"><span class="pre">run_dir</span></code> are sorted by the last modified time.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The path to the model checkpoint.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When no runs are found in the input directory.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When no checkpoints are found in the input directory.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.load_cfg_from_registry">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.</span></span><span class="sig-name descname"><span class="pre">load_cfg_from_registry</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">entry_point_key</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/parse_cfg.html#load_cfg_from_registry"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.load_cfg_from_registry" title="Permalink to this definition">#</a></dt>
+<dd><p>Load default configuration given its entry point from the gym registry.</p>
+<p>This function loads the configuration object from the gym registry for the given task name.
+It supports both YAML and Python configuration files.</p>
+<p>It expects the configuration to be registered in the gym registry as:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="nb">id</span><span class="o">=</span><span class="s2">&quot;My-Awesome-Task-v0&quot;</span><span class="p">,</span>
+    <span class="o">...</span>
+    <span class="n">kwargs</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;env_entry_point_cfg&quot;</span><span class="p">:</span> <span class="s2">&quot;path.to.config:ConfigClass&quot;</span><span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<p>The parsed configuration object for above example can be obtained as:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils.parse_cfg</span> <span class="kn">import</span> <span class="n">load_cfg_from_registry</span>
+
+<span class="n">cfg</span> <span class="o">=</span> <span class="n">load_cfg_from_registry</span><span class="p">(</span><span class="s2">&quot;My-Awesome-Task-v0&quot;</span><span class="p">,</span> <span class="s2">&quot;env_entry_point_cfg&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>task_name</strong> – The name of the environment.</p></li>
+<li><p><strong>entry_point_key</strong> – The entry point key to resolve the configuration file.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The parsed configuration object. If the entry point is a YAML file, it is parsed into a dictionary.
+If the entry point is a Python class, it is instantiated and returned.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the entry point key is not available in the gym registry for the task.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.parse_env_cfg">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.</span></span><span class="sig-name descname"><span class="pre">parse_env_cfg</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'cuda:0'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_envs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">use_fabric</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg"><span class="pre">ManagerBasedRLEnvCfg</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg" title="omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg"><span class="pre">DirectRLEnvCfg</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/parse_cfg.html#parse_env_cfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.parse_env_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Parse configuration for an environment and override based on inputs.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>task_name</strong> – The name of the environment.</p></li>
+<li><p><strong>device</strong> – The device to run the simulation on. Defaults to “cuda:0”.</p></li>
+<li><p><strong>num_envs</strong> – Number of environments to create. Defaults to None, in which case it is left unchanged.</p></li>
+<li><p><strong>use_fabric</strong> – Whether to enable/disable fabric interface. If false, all read/write operations go through USD.
+This slows down the simulation but allows seeing the changes in the USD through the USD stage.
+Defaults to None, in which case it is left unchanged.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>The parsed configuration object.</p>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#RuntimeError" title="(in Python v3.13)"><strong>RuntimeError</strong></a> – If the configuration for the task is not a class. We assume users always use a class for the
+    environment configuration.</p>
+</dd>
+</dl>
+</dd></dl>
+
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.import_packages"><code class="docutils literal notranslate"><span class="pre">import_packages()</span></code></a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.get_checkpoint_path"><code class="docutils literal notranslate"><span class="pre">get_checkpoint_path()</span></code></a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.load_cfg_from_registry"><code class="docutils literal notranslate"><span class="pre">load_cfg_from_registry()</span></code></a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.parse_env_cfg"><code class="docutils literal notranslate"><span class="pre">parse_env_cfg()</span></code></a></li>
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+                <h2> Contents </h2>
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+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab_tasks.utils.wrappers.rl_games">RL-Games Wrapper</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.render_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.observation_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.action_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.class_name"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.class_name()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.unwrapped</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.num_envs"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.device"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.state_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_number_of_agents"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.get_number_of_agents()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_env_info"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.get_env_info()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv"><code class="docutils literal notranslate"><span class="pre">RlGamesGpuEnv</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__"><code class="docutils literal notranslate"><span class="pre">RlGamesGpuEnv.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents"><code class="docutils literal notranslate"><span class="pre">RlGamesGpuEnv.get_number_of_agents()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info"><code class="docutils literal notranslate"><span class="pre">RlGamesGpuEnv.get_env_info()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab_tasks.utils.wrappers.rsl_rl">RSL-RL Wrapper</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_jit"><code class="docutils literal notranslate"><span class="pre">export_policy_as_jit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_onnx"><code class="docutils literal notranslate"><span class="pre">export_policy_as_onnx()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.__init__"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.seed"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.num_steps_per_env"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.num_steps_per_env</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.max_iterations"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.max_iterations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.empirical_normalization"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.empirical_normalization</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.policy"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.policy</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.algorithm"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.algorithm</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.save_interval"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.save_interval</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.experiment_name"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.experiment_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.run_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.logger"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.logger</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.neptune_project"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.neptune_project</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.wandb_project"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.wandb_project</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.resume"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.resume</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.load_run</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.load_checkpoint</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.class_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.init_noise_std"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.init_noise_std</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.actor_hidden_dims"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.actor_hidden_dims</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.critic_hidden_dims"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.critic_hidden_dims</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.activation"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.activation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.__init__"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.__init__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.class_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.value_loss_coef"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.value_loss_coef</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.use_clipped_value_loss"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.use_clipped_value_loss</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.clip_param"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.clip_param</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.entropy_coef"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.entropy_coef</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_learning_epochs"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.num_learning_epochs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_mini_batches"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.num_mini_batches</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.learning_rate"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.learning_rate</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.schedule"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.schedule</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.gamma"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.gamma</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.lam"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.lam</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.desired_kl"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.desired_kl</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.__init__"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.max_grad_norm"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.max_grad_norm</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.__init__"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.cfg"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.render_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.observation_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.action_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.class_name"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.class_name()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.unwrapped</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.get_observations"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.get_observations()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.episode_length_buf"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.episode_length_buf</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab_tasks.utils.wrappers.skrl">SKRL Wrapper</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper"><code class="docutils literal notranslate"><span class="pre">SkrlVecEnvWrapper()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab_tasks.utils.wrappers.sb3">Stable-Baselines3 Wrapper</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg"><code class="docutils literal notranslate"><span class="pre">process_sb3_cfg()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.class_name"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper.class_name()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper.unwrapped</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_rewards"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper.get_episode_rewards()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_lengths"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper.get_episode_lengths()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="module-omni.isaac.lab_tasks.utils.wrappers">
+<span id="omni-isaac-lab-tasks-utils-wrappers"></span><h1>omni.isaac.lab_tasks.utils.wrappers<a class="headerlink" href="#module-omni.isaac.lab_tasks.utils.wrappers" title="Permalink to this heading">#</a></h1>
+<p>Sub-module for environment wrappers to different learning frameworks.</p>
+<p>Wrappers allow you to modify the behavior of an environment without modifying the environment itself.
+This is useful for modifying the observation space, action space, or reward function. Additionally,
+they can be used to cast a given environment into the respective environment class definition used by
+different learning frameworks. This operation may include handling of asymmetric actor-critic observations,
+casting the data between different backends such <cite>numpy</cite> and <cite>pytorch</cite>, or organizing the returned data
+into the expected data structure by the learning framework.</p>
+<p>All wrappers work similar to the <a class="reference external" href="https://gymnasium.farama.org/api/wrappers/#gymnasium.Wrapper" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Wrapper</span></code></a> class. Using a wrapper is as simple as passing
+the initialized environment instance to the wrapper constructor. However, since learning frameworks
+expect different input and output data structures, their wrapper classes are not compatible with each other.
+Thus, they should always be used in conjunction with the respective learning framework.</p>
+<p>For instance, to wrap an environment in the <a class="reference external" href="https://github.com/DLR-RM/stable-baselines3">Stable-Baselines3</a> wrapper, you can do the following:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils.wrappers.sb3</span> <span class="kn">import</span> <span class="n">Sb3VecEnvWrapper</span>
+
+<span class="n">env</span> <span class="o">=</span> <span class="n">Sb3VecEnvWrapper</span><span class="p">(</span><span class="n">env</span><span class="p">)</span>
+</pre></div>
+</div>
+<section id="module-omni.isaac.lab_tasks.utils.wrappers.rl_games">
+<span id="rl-games-wrapper"></span><h2>RL-Games Wrapper<a class="headerlink" href="#module-omni.isaac.lab_tasks.utils.wrappers.rl_games" title="Permalink to this heading">#</a></h2>
+<p>Wrapper to configure a <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code> or <code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRlEnv</span></code> instance to RL-Games vectorized environment.</p>
+<p>The following example shows how to wrap an environment for RL-Games and register the environment construction
+for RL-Games <code class="xref py py-class docutils literal notranslate"><span class="pre">Runner</span></code> class:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">rl_games.common</span> <span class="kn">import</span> <span class="n">env_configurations</span><span class="p">,</span> <span class="n">vecenv</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils.wrappers.rl_games</span> <span class="kn">import</span> <span class="n">RlGamesGpuEnv</span><span class="p">,</span> <span class="n">RlGamesVecEnvWrapper</span>
+
+<span class="c1"># configuration parameters</span>
+<span class="n">rl_device</span> <span class="o">=</span> <span class="s2">&quot;cuda:0&quot;</span>
+<span class="n">clip_obs</span> <span class="o">=</span> <span class="mf">10.0</span>
+<span class="n">clip_actions</span> <span class="o">=</span> <span class="mf">1.0</span>
+
+<span class="c1"># wrap around environment for rl-games</span>
+<span class="n">env</span> <span class="o">=</span> <span class="n">RlGamesVecEnvWrapper</span><span class="p">(</span><span class="n">env</span><span class="p">,</span> <span class="n">rl_device</span><span class="p">,</span> <span class="n">clip_obs</span><span class="p">,</span> <span class="n">clip_actions</span><span class="p">)</span>
+
+<span class="c1"># register the environment to rl-games registry</span>
+<span class="c1"># note: in agents configuration: environment name must be &quot;rlgpu&quot;</span>
+<span class="n">vecenv</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="s2">&quot;IsaacRlgWrapper&quot;</span><span class="p">,</span> <span class="k">lambda</span> <span class="n">config_name</span><span class="p">,</span> <span class="n">num_actors</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">:</span> <span class="n">RlGamesGpuEnv</span><span class="p">(</span><span class="n">config_name</span><span class="p">,</span> <span class="n">num_actors</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+<span class="p">)</span>
+<span class="n">env_configurations</span><span class="o">.</span><span class="n">register</span><span class="p">(</span><span class="s2">&quot;rlgpu&quot;</span><span class="p">,</span> <span class="p">{</span><span class="s2">&quot;vecenv_type&quot;</span><span class="p">:</span> <span class="s2">&quot;IsaacRlgWrapper&quot;</span><span class="p">,</span> <span class="s2">&quot;env_creator&quot;</span><span class="p">:</span> <span class="k">lambda</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">:</span> <span class="n">env</span><span class="p">})</span>
+</pre></div>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper</span></code></a></p></td>
+<td><p>Wraps around Isaac Lab environment for RL-Games.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RlGamesGpuEnv</span></code></a></p></td>
+<td><p>Thin wrapper to create instance of the environment to fit RL-Games runner.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.rl_games.</span></span><span class="sig-name descname"><span class="pre">RlGamesVecEnvWrapper</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html#RlGamesVecEnvWrapper"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">IVecEnv</span></code></p>
+<p>Wraps around Isaac Lab environment for RL-Games.</p>
+<p>This class wraps around the Isaac Lab environment. Since RL-Games works directly on
+GPU buffers, the wrapper handles moving of buffers from the simulation environment
+to the same device as the learning agent. Additionally, it performs clipping of
+observations and actions.</p>
+<p>For algorithms like asymmetric actor-critic, RL-Games expects a dictionary for
+observations. This dictionary contains “obs” and “states” which typically correspond
+to the actor and critic observations respectively.</p>
+<p>To use asymmetric actor-critic, the environment observations from <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code> or <code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code>
+must have the key or group name “critic”. The observation group is used to set the
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">num_states</span></code> (int) and <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">state_space</span></code></a> (<code class="xref py py-obj docutils literal notranslate"><span class="pre">gym.spaces.Box</span></code>). These are
+used by the learning agent in RL-Games to allocate buffers in the trajectory memory.
+Since this is optional for some environments, the wrapper checks if these attributes exist.
+If they don’t then the wrapper defaults to zero as number of privileged observations.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>This class must be the last wrapper in the wrapper chain. This is because the wrapper does not follow
+the <code class="xref py py-class docutils literal notranslate"><span class="pre">gym.Wrapper</span></code> interface. Any subsequent wrappers will need to be modified to work with this
+wrapper.</p>
+</div>
+<dl class="simple">
+<dt>Reference:</dt><dd><p><a class="github reference external" href="https://github.com/Denys88/rl_games/blob/master/rl_games/common/ivecenv.py">Denys88/rl_games</a>
+<a class="github reference external" href="https://github.com/NVIDIA-Omniverse/IsaacGymEnvs">NVIDIA-Omniverse/IsaacGymEnvs</a></p>
+</dd>
+</dl>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(env, rl_device, clip_obs, clip_actions)</p></td>
+<td><p>Initializes the wrapper instance.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.class_name" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.class_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">class_name</span></code></a>()</p></td>
+<td><p>Returns the class name of the wrapper.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_number_of_agents" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_number_of_agents"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_number_of_agents</span></code></a>()</p></td>
+<td><p>Returns number of actors in the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_env_info" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_env_info"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_env_info</span></code></a>()</p></td>
+<td><p>Returns the Gym spaces for the environment.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">render_mode</span></code></a></p></td>
+<td><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode"><code class="xref py py-attr docutils literal notranslate"><span class="pre">render_mode</span></code></a>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">observation_space</span></code></a></p></td>
+<td><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_space</span></code></a>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_space</span></code></a></p></td>
+<td><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">action_space</span></code></a>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped"><code class="xref py py-obj docutils literal notranslate"><span class="pre">unwrapped</span></code></a></p></td>
+<td><p>Returns the base environment of the wrapper.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.num_envs" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.num_envs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_envs</span></code></a></p></td>
+<td><p>Returns the number of sub-environment instances.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.device" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p>Returns the base environment simulation device.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">state_space</span></code></a></p></td>
+<td><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_space</span></code></a>.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.direct_rl_env.DirectRLEnv"><span class="pre">DirectRLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">rl_device</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">clip_obs</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">clip_actions</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html#RlGamesVecEnvWrapper.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the wrapper instance.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env</strong> – The environment to wrap around.</p></li>
+<li><p><strong>rl_device</strong> – The device on which agent computations are performed.</p></li>
+<li><p><strong>clip_obs</strong> – The clipping value for observations.</p></li>
+<li><p><strong>clip_actions</strong> – The clipping value for actions.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – The environment is not inherited from <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code> or <code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code>.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If specified, the privileged observations (critic) are not of type <code class="xref py py-obj docutils literal notranslate"><span class="pre">gym.spaces.Box</span></code>.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">render_mode</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode"><code class="xref py py-attr docutils literal notranslate"><span class="pre">render_mode</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">observation_space</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">gym.spaces.Box</span></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_space</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">action_space</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">gym.Space</span></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">action_space</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.class_name">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">class_name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html#RlGamesVecEnvWrapper.class_name"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.class_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the class name of the wrapper.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">unwrapped</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.direct_rl_env.DirectRLEnv"><span class="pre">DirectRLEnv</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the base environment of the wrapper.</p>
+<p>This will be the bare <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a> environment, underneath all layers of wrappers.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.num_envs">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">num_envs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.num_envs" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the number of sub-environment instances.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.device">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.device" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the base environment simulation device.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">state_space</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="pre">gym.spaces.Box</span><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_space</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_number_of_agents">
+<span class="sig-name descname"><span class="pre">get_number_of_agents</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html#RlGamesVecEnvWrapper.get_number_of_agents"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_number_of_agents" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns number of actors in the environment.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_env_info">
+<span class="sig-name descname"><span class="pre">get_env_info</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html#RlGamesVecEnvWrapper.get_env_info"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_env_info" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the Gym spaces for the environment.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.rl_games.</span></span><span class="sig-name descname"><span class="pre">RlGamesGpuEnv</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html#RlGamesGpuEnv"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">IVecEnv</span></code></p>
+<p>Thin wrapper to create instance of the environment to fit RL-Games runner.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(config_name, num_actors, **kwargs)</p></td>
+<td><p>Initialize the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_number_of_agents</span></code></a>()</p></td>
+<td><p>Get number of agents in the environment.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info" title="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_env_info</span></code></a>()</p></td>
+<td><p>Get the Gym spaces for the environment.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">config_name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_actors</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html#RlGamesGpuEnv.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>config_name</strong> – The name of the environment configuration.</p></li>
+<li><p><strong>num_actors</strong> – The number of actors in the environment. This is not used in this wrapper.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents">
+<span class="sig-name descname"><span class="pre">get_number_of_agents</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html#RlGamesGpuEnv.get_number_of_agents"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents" title="Permalink to this definition">#</a></dt>
+<dd><p>Get number of agents in the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The number of agents in the environment.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info">
+<span class="sig-name descname"><span class="pre">get_env_info</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rl_games.html#RlGamesGpuEnv.get_env_info"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info" title="Permalink to this definition">#</a></dt>
+<dd><p>Get the Gym spaces for the environment.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The Gym spaces for the environment.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab_tasks.utils.wrappers.rsl_rl">
+<span id="rsl-rl-wrapper"></span><h2>RSL-RL Wrapper<a class="headerlink" href="#module-omni.isaac.lab_tasks.utils.wrappers.rsl_rl" title="Permalink to this heading">#</a></h2>
+<p>Wrappers and utilities to configure an <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code> for RSL-RL library.</p>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_jit" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_jit"><code class="xref py py-obj docutils literal notranslate"><span class="pre">export_policy_as_jit</span></code></a>(actor_critic, ...[, ...])</p></td>
+<td><p>Export policy into a Torch JIT file.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_onnx" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_onnx"><code class="xref py py-obj docutils literal notranslate"><span class="pre">export_policy_as_onnx</span></code></a>(actor_critic, path[, ...])</p></td>
+<td><p>Export policy into a Torch ONNX file.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg</span></code></a></p></td>
+<td><p>Configuration of the runner for on-policy algorithms.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg</span></code></a></p></td>
+<td><p>Configuration for the PPO actor-critic networks.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg</span></code></a></p></td>
+<td><p>Configuration for the PPO algorithm.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper"><code class="xref py py-obj docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper</span></code></a></p></td>
+<td><p>Wraps around Isaac Lab environment for RSL-RL library</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_jit">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.rsl_rl.</span></span><span class="sig-name descname"><span class="pre">export_policy_as_jit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">actor_critic</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">normalizer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'policy.pt'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/exporter.html#export_policy_as_jit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_jit" title="Permalink to this definition">#</a></dt>
+<dd><p>Export policy into a Torch JIT file.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>actor_critic</strong> – The actor-critic torch module.</p></li>
+<li><p><strong>normalizer</strong> – The empirical normalizer module. If None, Identity is used.</p></li>
+<li><p><strong>path</strong> – The path to the saving directory.</p></li>
+<li><p><strong>filename</strong> – The name of exported JIT file. Defaults to “policy.pt”.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_onnx">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.rsl_rl.</span></span><span class="sig-name descname"><span class="pre">export_policy_as_onnx</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">actor_critic</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">path</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">normalizer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'policy.onnx'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">verbose</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/exporter.html#export_policy_as_onnx"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_onnx" title="Permalink to this definition">#</a></dt>
+<dd><p>Export policy into a Torch ONNX file.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>actor_critic</strong> – The actor-critic torch module.</p></li>
+<li><p><strong>normalizer</strong> – The empirical normalizer module. If None, Identity is used.</p></li>
+<li><p><strong>path</strong> – The path to the saving directory.</p></li>
+<li><p><strong>filename</strong> – The name of exported ONNX file. Defaults to “policy.onnx”.</p></li>
+<li><p><strong>verbose</strong> – Whether to print the model summary. Defaults to False.</p></li>
+</ul>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.rsl_rl.</span></span><span class="sig-name descname"><span class="pre">RslRlOnPolicyRunnerCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html#RslRlOnPolicyRunnerCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration of the runner for on-policy algorithms.</p>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.__init__" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([seed, device, num_steps_per_env, ...])</p></td>
+<td><p></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.seed" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.seed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">seed</span></code></a></p></td>
+<td><p>The seed for the experiment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device"><code class="xref py py-obj docutils literal notranslate"><span class="pre">device</span></code></a></p></td>
+<td><p><ol class="arabic simple" start="0">
+<li></li>
+</ol>
+</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.num_steps_per_env" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.num_steps_per_env"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_steps_per_env</span></code></a></p></td>
+<td><p>The number of steps per environment per update.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.max_iterations" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.max_iterations"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_iterations</span></code></a></p></td>
+<td><p>The maximum number of iterations.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.empirical_normalization" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.empirical_normalization"><code class="xref py py-obj docutils literal notranslate"><span class="pre">empirical_normalization</span></code></a></p></td>
+<td><p>Whether to use empirical normalization.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.policy" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.policy"><code class="xref py py-obj docutils literal notranslate"><span class="pre">policy</span></code></a></p></td>
+<td><p>The policy configuration.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.algorithm" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.algorithm"><code class="xref py py-obj docutils literal notranslate"><span class="pre">algorithm</span></code></a></p></td>
+<td><p>The algorithm configuration.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.save_interval" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.save_interval"><code class="xref py py-obj docutils literal notranslate"><span class="pre">save_interval</span></code></a></p></td>
+<td><p>The number of iterations between saves.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.experiment_name" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.experiment_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">experiment_name</span></code></a></p></td>
+<td><p>The experiment name.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">run_name</span></code></a></p></td>
+<td><p>The run name.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.logger" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.logger"><code class="xref py py-obj docutils literal notranslate"><span class="pre">logger</span></code></a></p></td>
+<td><p>The logger to use.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.neptune_project" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.neptune_project"><code class="xref py py-obj docutils literal notranslate"><span class="pre">neptune_project</span></code></a></p></td>
+<td><p>The neptune project name.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.wandb_project" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.wandb_project"><code class="xref py py-obj docutils literal notranslate"><span class="pre">wandb_project</span></code></a></p></td>
+<td><p>The wandb project name.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.resume" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.resume"><code class="xref py py-obj docutils literal notranslate"><span class="pre">resume</span></code></a></p></td>
+<td><p>Whether to resume.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run"><code class="xref py py-obj docutils literal notranslate"><span class="pre">load_run</span></code></a></p></td>
+<td><p>The run directory to load.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint"><code class="xref py py-obj docutils literal notranslate"><span class="pre">load_checkpoint</span></code></a></p></td>
+<td><p>The checkpoint file to load.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed:</span> <span class="pre">int</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">device:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_steps_per_env:</span> <span class="pre">int</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_iterations:</span> <span class="pre">int</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">empirical_normalization:</span> <span class="pre">bool</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">policy:</span> <span class="pre">~omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">algorithm:</span> <span class="pre">~omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">save_interval:</span> <span class="pre">int</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">experiment_name:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_name:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">logger:</span> <span class="pre">~typing.Literal['tensorboard'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">'neptune'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">'wandb']</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">neptune_project:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wandb_project:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">resume:</span> <span class="pre">bool</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">load_run:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">load_checkpoint:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.__init__" title="Permalink to this definition">#</a></dt>
+<dd></dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.seed">
+<span class="sig-name descname"><span class="pre">seed</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.seed" title="Permalink to this definition">#</a></dt>
+<dd><p>The seed for the experiment. Default is 42.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device">
+<span class="sig-name descname"><span class="pre">device</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device" title="Permalink to this definition">#</a></dt>
+<dd><ol class="arabic simple" start="0">
+<li></li>
+</ol>
+<dl class="field-list simple">
+<dt class="field-odd">Type<span class="colon">:</span></dt>
+<dd class="field-odd"><p>The device for the rl-agent. Default is cuda</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.num_steps_per_env">
+<span class="sig-name descname"><span class="pre">num_steps_per_env</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.num_steps_per_env" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of steps per environment per update.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.max_iterations">
+<span class="sig-name descname"><span class="pre">max_iterations</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.max_iterations" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum number of iterations.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.empirical_normalization">
+<span class="sig-name descname"><span class="pre">empirical_normalization</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.empirical_normalization" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to use empirical normalization.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.policy">
+<span class="sig-name descname"><span class="pre">policy</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg"><span class="pre">RslRlPpoActorCriticCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.policy" title="Permalink to this definition">#</a></dt>
+<dd><p>The policy configuration.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.algorithm">
+<span class="sig-name descname"><span class="pre">algorithm</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg"><span class="pre">RslRlPpoAlgorithmCfg</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.algorithm" title="Permalink to this definition">#</a></dt>
+<dd><p>The algorithm configuration.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.save_interval">
+<span class="sig-name descname"><span class="pre">save_interval</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.save_interval" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of iterations between saves.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.experiment_name">
+<span class="sig-name descname"><span class="pre">experiment_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.experiment_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The experiment name.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name">
+<span class="sig-name descname"><span class="pre">run_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The run name. Default is empty string.</p>
+<p>The name of the run directory is typically the time-stamp at execution. If the run name is not empty,
+then it is appended to the run directory’s name, i.e. the logging directory’s name will become
+<code class="docutils literal notranslate"><span class="pre">{time-stamp}_{run_name}</span></code>.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.logger">
+<span class="sig-name descname"><span class="pre">logger</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'tensorboard'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'neptune'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'wandb'</span></span><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.logger" title="Permalink to this definition">#</a></dt>
+<dd><p>The logger to use. Default is tensorboard.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.neptune_project">
+<span class="sig-name descname"><span class="pre">neptune_project</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.neptune_project" title="Permalink to this definition">#</a></dt>
+<dd><p>The neptune project name. Default is “isaaclab”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.wandb_project">
+<span class="sig-name descname"><span class="pre">wandb_project</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.wandb_project" title="Permalink to this definition">#</a></dt>
+<dd><p>The wandb project name. Default is “isaaclab”.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.resume">
+<span class="sig-name descname"><span class="pre">resume</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.resume" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to resume. Default is False.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run">
+<span class="sig-name descname"><span class="pre">load_run</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run" title="Permalink to this definition">#</a></dt>
+<dd><p>The run directory to load. Default is “.*” (all).</p>
+<p>If regex expression, the latest (alphabetical order) matching run will be loaded.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint">
+<span class="sig-name descname"><span class="pre">load_checkpoint</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint" title="Permalink to this definition">#</a></dt>
+<dd><p>The checkpoint file to load. Default is <code class="docutils literal notranslate"><span class="pre">&quot;model_.*.pt&quot;</span></code> (all).</p>
+<p>If regex expression, the latest (alphabetical order) matching file will be loaded.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.rsl_rl.</span></span><span class="sig-name descname"><span class="pre">RslRlPpoActorCriticCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html#RslRlPpoActorCriticCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration for the PPO actor-critic networks.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">class_name</span></code></a></p></td>
+<td><p>The policy class name.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.init_noise_std" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.init_noise_std"><code class="xref py py-obj docutils literal notranslate"><span class="pre">init_noise_std</span></code></a></p></td>
+<td><p>The initial noise standard deviation for the policy.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.actor_hidden_dims" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.actor_hidden_dims"><code class="xref py py-obj docutils literal notranslate"><span class="pre">actor_hidden_dims</span></code></a></p></td>
+<td><p>The hidden dimensions of the actor network.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.critic_hidden_dims" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.critic_hidden_dims"><code class="xref py py-obj docutils literal notranslate"><span class="pre">critic_hidden_dims</span></code></a></p></td>
+<td><p>The hidden dimensions of the critic network.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.activation" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.activation"><code class="xref py py-obj docutils literal notranslate"><span class="pre">activation</span></code></a></p></td>
+<td><p>The activation function for the actor and critic networks.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.__init__" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([class_name, init_noise_std, ...])</p></td>
+<td><p></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name">
+<span class="sig-name descname"><span class="pre">class_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The policy class name. Default is ActorCritic.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.init_noise_std">
+<span class="sig-name descname"><span class="pre">init_noise_std</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.init_noise_std" title="Permalink to this definition">#</a></dt>
+<dd><p>The initial noise standard deviation for the policy.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.actor_hidden_dims">
+<span class="sig-name descname"><span class="pre">actor_hidden_dims</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.actor_hidden_dims" title="Permalink to this definition">#</a></dt>
+<dd><p>The hidden dimensions of the actor network.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.critic_hidden_dims">
+<span class="sig-name descname"><span class="pre">critic_hidden_dims</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.critic_hidden_dims" title="Permalink to this definition">#</a></dt>
+<dd><p>The hidden dimensions of the critic network.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.activation">
+<span class="sig-name descname"><span class="pre">activation</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.activation" title="Permalink to this definition">#</a></dt>
+<dd><p>The activation function for the actor and critic networks.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">class_name:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">init_noise_std:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">actor_hidden_dims:</span> <span class="pre">list[int]</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">critic_hidden_dims:</span> <span class="pre">list[int]</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">activation:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.__init__" title="Permalink to this definition">#</a></dt>
+<dd></dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.rsl_rl.</span></span><span class="sig-name descname"><span class="pre">RslRlPpoAlgorithmCfg</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.html#RslRlPpoAlgorithmCfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
+<p>Configuration for the PPO algorithm.</p>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">class_name</span></code></a></p></td>
+<td><p>The algorithm class name.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.value_loss_coef" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.value_loss_coef"><code class="xref py py-obj docutils literal notranslate"><span class="pre">value_loss_coef</span></code></a></p></td>
+<td><p>The coefficient for the value loss.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.use_clipped_value_loss" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.use_clipped_value_loss"><code class="xref py py-obj docutils literal notranslate"><span class="pre">use_clipped_value_loss</span></code></a></p></td>
+<td><p>Whether to use clipped value loss.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.clip_param" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.clip_param"><code class="xref py py-obj docutils literal notranslate"><span class="pre">clip_param</span></code></a></p></td>
+<td><p>The clipping parameter for the policy.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.entropy_coef" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.entropy_coef"><code class="xref py py-obj docutils literal notranslate"><span class="pre">entropy_coef</span></code></a></p></td>
+<td><p>The coefficient for the entropy loss.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_learning_epochs" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_learning_epochs"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_learning_epochs</span></code></a></p></td>
+<td><p>The number of learning epochs per update.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_mini_batches" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_mini_batches"><code class="xref py py-obj docutils literal notranslate"><span class="pre">num_mini_batches</span></code></a></p></td>
+<td><p>The number of mini-batches per update.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.learning_rate" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.learning_rate"><code class="xref py py-obj docutils literal notranslate"><span class="pre">learning_rate</span></code></a></p></td>
+<td><p>The learning rate for the policy.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.schedule" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.schedule"><code class="xref py py-obj docutils literal notranslate"><span class="pre">schedule</span></code></a></p></td>
+<td><p>The learning rate schedule.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.gamma" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.gamma"><code class="xref py py-obj docutils literal notranslate"><span class="pre">gamma</span></code></a></p></td>
+<td><p>The discount factor.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.lam" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.lam"><code class="xref py py-obj docutils literal notranslate"><span class="pre">lam</span></code></a></p></td>
+<td><p>The lambda parameter for Generalized Advantage Estimation (GAE).</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.desired_kl" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.desired_kl"><code class="xref py py-obj docutils literal notranslate"><span class="pre">desired_kl</span></code></a></p></td>
+<td><p>The desired KL divergence.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.max_grad_norm" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.max_grad_norm"><code class="xref py py-obj docutils literal notranslate"><span class="pre">max_grad_norm</span></code></a></p></td>
+<td><p>The maximum gradient norm.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.__init__" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>([class_name, value_loss_coef, ...])</p></td>
+<td><p></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name">
+<span class="sig-name descname"><span class="pre">class_name</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name" title="Permalink to this definition">#</a></dt>
+<dd><p>The algorithm class name. Default is PPO.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.value_loss_coef">
+<span class="sig-name descname"><span class="pre">value_loss_coef</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.value_loss_coef" title="Permalink to this definition">#</a></dt>
+<dd><p>The coefficient for the value loss.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.use_clipped_value_loss">
+<span class="sig-name descname"><span class="pre">use_clipped_value_loss</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.13)"><span class="pre">bool</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.use_clipped_value_loss" title="Permalink to this definition">#</a></dt>
+<dd><p>Whether to use clipped value loss.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.clip_param">
+<span class="sig-name descname"><span class="pre">clip_param</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.clip_param" title="Permalink to this definition">#</a></dt>
+<dd><p>The clipping parameter for the policy.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.entropy_coef">
+<span class="sig-name descname"><span class="pre">entropy_coef</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.entropy_coef" title="Permalink to this definition">#</a></dt>
+<dd><p>The coefficient for the entropy loss.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_learning_epochs">
+<span class="sig-name descname"><span class="pre">num_learning_epochs</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_learning_epochs" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of learning epochs per update.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_mini_batches">
+<span class="sig-name descname"><span class="pre">num_mini_batches</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_mini_batches" title="Permalink to this definition">#</a></dt>
+<dd><p>The number of mini-batches per update.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.learning_rate">
+<span class="sig-name descname"><span class="pre">learning_rate</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.learning_rate" title="Permalink to this definition">#</a></dt>
+<dd><p>The learning rate for the policy.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.schedule">
+<span class="sig-name descname"><span class="pre">schedule</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.schedule" title="Permalink to this definition">#</a></dt>
+<dd><p>The learning rate schedule.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.gamma">
+<span class="sig-name descname"><span class="pre">gamma</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.gamma" title="Permalink to this definition">#</a></dt>
+<dd><p>The discount factor.</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.lam">
+<span class="sig-name descname"><span class="pre">lam</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.lam" title="Permalink to this definition">#</a></dt>
+<dd><p>The lambda parameter for Generalized Advantage Estimation (GAE).</p>
+</dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.desired_kl">
+<span class="sig-name descname"><span class="pre">desired_kl</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.desired_kl" title="Permalink to this definition">#</a></dt>
+<dd><p>The desired KL divergence.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">class_name:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">value_loss_coef:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">use_clipped_value_loss:</span> <span class="pre">bool</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">clip_param:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">entropy_coef:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_learning_epochs:</span> <span class="pre">int</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">num_mini_batches:</span> <span class="pre">int</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">learning_rate:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">schedule:</span> <span class="pre">str</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gamma:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lam:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">desired_kl:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_grad_norm:</span> <span class="pre">float</span> <span class="pre">=</span> <span class="pre">&lt;factory&gt;</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></span></span><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.__init__" title="Permalink to this definition">#</a></dt>
+<dd></dd></dl>
+
+<dl class="py attribute">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.max_grad_norm">
+<span class="sig-name descname"><span class="pre">max_grad_norm</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.max_grad_norm" title="Permalink to this definition">#</a></dt>
+<dd><p>The maximum gradient norm.</p>
+</dd></dl>
+
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.rsl_rl.</span></span><span class="sig-name descname"><span class="pre">RslRlVecEnvWrapper</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html#RslRlVecEnvWrapper"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">VecEnv</span></code></p>
+<p>Wraps around Isaac Lab environment for RSL-RL library</p>
+<p>To use asymmetric actor-critic, the environment instance must have the attributes <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_privileged_obs</span></code> (int).
+This is used by the learning agent to allocate buffers in the trajectory memory. Additionally, the returned
+observations should have the key “critic” which corresponds to the privileged observations. Since this is
+optional for some environments, the wrapper checks if these attributes exist. If they don’t then the wrapper
+defaults to zero as number of privileged observations.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>This class must be the last wrapper in the wrapper chain. This is because the wrapper does not follow
+the <code class="xref py py-class docutils literal notranslate"><span class="pre">gym.Wrapper</span></code> interface. Any subsequent wrappers will need to be modified to work with this
+wrapper.</p>
+</div>
+<dl class="simple">
+<dt>Reference:</dt><dd><p><a class="github reference external" href="https://github.com/leggedrobotics/rsl_rl/blob/master/rsl_rl/env/vec_env.py">leggedrobotics/rsl_rl</a></p>
+</dd>
+</dl>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.__init__" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(env)</p></td>
+<td><p>Initializes the wrapper.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.class_name" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.class_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">class_name</span></code></a>()</p></td>
+<td><p>Returns the class name of the wrapper.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.get_observations" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.get_observations"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_observations</span></code></a>()</p></td>
+<td><p>Returns the current observations of the environment.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.cfg" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cfg</span></code></a></p></td>
+<td><p>Returns the configuration class instance of the environment.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">render_mode</span></code></a></p></td>
+<td><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode"><code class="xref py py-attr docutils literal notranslate"><span class="pre">render_mode</span></code></a>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">observation_space</span></code></a></p></td>
+<td><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_space</span></code></a>.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space"><code class="xref py py-obj docutils literal notranslate"><span class="pre">action_space</span></code></a></p></td>
+<td><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">action_space</span></code></a>.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped"><code class="xref py py-obj docutils literal notranslate"><span class="pre">unwrapped</span></code></a></p></td>
+<td><p>Returns the base environment of the wrapper.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.episode_length_buf" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.episode_length_buf"><code class="xref py py-obj docutils literal notranslate"><span class="pre">episode_length_buf</span></code></a></p></td>
+<td><p>The episode length buffer.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.direct_rl_env.DirectRLEnv"><span class="pre">DirectRLEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html#RslRlVecEnvWrapper.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initializes the wrapper.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The wrapper calls <code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code> at the start since the RSL-RL runner does not call reset.</p>
+</div>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env</strong> – The environment to wrap around.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the environment is not an instance of <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code> or <code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code>.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.cfg">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">cfg</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.13)"><span class="pre">object</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the configuration class instance of the environment.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">render_mode</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><span class="pre">None</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode"><code class="xref py py-attr docutils literal notranslate"><span class="pre">render_mode</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">observation_space</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://gymnasium.farama.org/api/spaces/#gymnasium.spaces.Space" title="(in Gymnasium)"><span class="pre">Space</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_space</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">action_space</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://gymnasium.farama.org/api/spaces/#gymnasium.spaces.Space" title="(in Gymnasium)"><span class="pre">Space</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the <code class="xref py py-attr docutils literal notranslate"><span class="pre">Env</span></code> <a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space" title="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space"><code class="xref py py-attr docutils literal notranslate"><span class="pre">action_space</span></code></a>.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.class_name">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">class_name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html#RslRlVecEnvWrapper.class_name"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.class_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the class name of the wrapper.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">unwrapped</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.direct_rl_env.DirectRLEnv"><span class="pre">DirectRLEnv</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the base environment of the wrapper.</p>
+<p>This will be the bare <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a> environment, underneath all layers of wrappers.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.get_observations">
+<span class="sig-name descname"><span class="pre">get_observations</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#tuple" title="(in Python v3.13)"><span class="pre">tuple</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.html#RslRlVecEnvWrapper.get_observations"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.get_observations" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the current observations of the environment.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.episode_length_buf">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">episode_length_buf</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference external" href="https://pytorch.org/docs/stable/tensors.html#torch.Tensor" title="(in PyTorch v2.5)"><span class="pre">torch.Tensor</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.episode_length_buf" title="Permalink to this definition">#</a></dt>
+<dd><p>The episode length buffer.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab_tasks.utils.wrappers.skrl">
+<span id="skrl-wrapper"></span><h2>SKRL Wrapper<a class="headerlink" href="#module-omni.isaac.lab_tasks.utils.wrappers.skrl" title="Permalink to this heading">#</a></h2>
+<p>Wrapper to configure an Isaac Lab environment instance to skrl environment.</p>
+<p>The following example shows how to wrap an environment for skrl:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils.wrappers.skrl</span> <span class="kn">import</span> <span class="n">SkrlVecEnvWrapper</span>
+
+<span class="n">env</span> <span class="o">=</span> <span class="n">SkrlVecEnvWrapper</span><span class="p">(</span><span class="n">env</span><span class="p">,</span> <span class="n">ml_framework</span><span class="o">=</span><span class="s2">&quot;torch&quot;</span><span class="p">)</span>  <span class="c1"># or ml_framework=&quot;jax&quot;</span>
+</pre></div>
+</div>
+<p>Or, equivalently, by directly calling the skrl library API as follows:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">skrl.envs.torch.wrappers</span> <span class="kn">import</span> <span class="n">wrap_env</span>  <span class="c1"># for PyTorch, or...</span>
+<span class="kn">from</span> <span class="nn">skrl.envs.jax.wrappers</span> <span class="kn">import</span> <span class="n">wrap_env</span>    <span class="c1"># for JAX</span>
+
+<span class="n">env</span> <span class="o">=</span> <span class="n">wrap_env</span><span class="p">(</span><span class="n">env</span><span class="p">,</span> <span class="n">wrapper</span><span class="o">=</span><span class="s2">&quot;isaaclab&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper" title="omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper"><code class="xref py py-obj docutils literal notranslate"><span class="pre">SkrlVecEnvWrapper</span></code></a>(env[, ml_framework, wrapper])</p></td>
+<td><p>Wraps around Isaac Lab environment for skrl.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.skrl.</span></span><span class="sig-name descname"><span class="pre">SkrlVecEnvWrapper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.direct_rl_env.DirectRLEnv"><span class="pre">DirectRLEnv</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.direct_marl_env.DirectMARLEnv"><span class="pre">DirectMARLEnv</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">ml_framework</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'torch'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'jax'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'jax-numpy'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'torch'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wrapper</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Literal" title="(in Python v3.13)"><span class="pre">Literal</span></a><span class="p"><span class="pre">[</span></span><span class="s"><span class="pre">'auto'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'isaaclab'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'isaaclab-single-agent'</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="s"><span class="pre">'isaaclab-multi-agent'</span></span><span class="p"><span class="pre">]</span></span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">'isaaclab'</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/skrl.html#SkrlVecEnvWrapper"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper" title="Permalink to this definition">#</a></dt>
+<dd><p>Wraps around Isaac Lab environment for skrl.</p>
+<p>This function wraps around the Isaac Lab environment. Since the wrapping
+functionality is defined within the skrl library itself, this implementation
+is maintained for compatibility with the structure of the extension that contains it.
+Internally it calls the <code class="xref py py-func docutils literal notranslate"><span class="pre">wrap_env()</span></code> from the skrl library API.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>env</strong> – The environment to wrap around.</p></li>
+<li><p><strong>ml_framework</strong> – The ML framework to use for the wrapper. Defaults to “torch”.</p></li>
+<li><p><strong>wrapper</strong> – The wrapper to use. Defaults to “isaaclab”: leave it to skrl to determine if the environment
+will be wrapped as single-agent or multi-agent.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><ul class="simple">
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the environment is not an instance of any Isaac Lab environment interface.</p></li>
+<li><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – If the specified ML framework is not valid.</p></li>
+</ul>
+</dd>
+</dl>
+<dl class="simple">
+<dt>Reference:</dt><dd><p><a class="reference external" href="https://skrl.readthedocs.io/en/latest/api/envs/wrapping.html">https://skrl.readthedocs.io/en/latest/api/envs/wrapping.html</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+<section id="module-omni.isaac.lab_tasks.utils.wrappers.sb3">
+<span id="stable-baselines3-wrapper"></span><h2>Stable-Baselines3 Wrapper<a class="headerlink" href="#module-omni.isaac.lab_tasks.utils.wrappers.sb3" title="Permalink to this heading">#</a></h2>
+<p>Wrapper to configure a <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code> or <code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code> instance to Stable-Baselines3 vectorized environment.</p>
+<p>The following example shows how to wrap an environment for Stable-Baselines3:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils.wrappers.sb3</span> <span class="kn">import</span> <span class="n">Sb3VecEnvWrapper</span>
+
+<span class="n">env</span> <span class="o">=</span> <span class="n">Sb3VecEnvWrapper</span><span class="p">(</span><span class="n">env</span><span class="p">)</span>
+</pre></div>
+</div>
+<p><strong>Functions:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg" title="omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg"><code class="xref py py-obj docutils literal notranslate"><span class="pre">process_sb3_cfg</span></code></a>(cfg)</p></td>
+<td><p>Convert simple YAML types to Stable-Baselines classes/components.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Classes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper" title="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper</span></code></a></p></td>
+<td><p>Wraps around Isaac Lab environment for Stable Baselines3.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py function">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg">
+<span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.sb3.</span></span><span class="sig-name descname"><span class="pre">process_sb3_cfg</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cfg</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#dict" title="(in Python v3.13)"><span class="pre">dict</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html#process_sb3_cfg"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg" title="Permalink to this definition">#</a></dt>
+<dd><p>Convert simple YAML types to Stable-Baselines classes/components.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>cfg</strong> – A configuration dictionary.</p>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><p>A dictionary containing the converted configuration.</p>
+</dd>
+</dl>
+<dl class="simple">
+<dt>Reference:</dt><dd><p><a class="github reference external" href="https://github.com/DLR-RM/rl-baselines3-zoo/blob/0e5eb145faefa33e7d79c7f8c179788574b20da5/utils/exp_manager.py#L358">DLR-RM/rl-baselines3-zoo</a></p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py class">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">omni.isaac.lab_tasks.utils.wrappers.sb3.</span></span><span class="sig-name descname"><span class="pre">Sb3VecEnvWrapper</span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html#Sb3VecEnvWrapper"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper" title="Permalink to this definition">#</a></dt>
+<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">VecEnv</span></code></p>
+<p>Wraps around Isaac Lab environment for Stable Baselines3.</p>
+<p>Isaac Sim internally implements a vectorized environment. However, since it is
+still considered a single environment instance, Stable Baselines tries to wrap
+around it using the <code class="xref py py-class docutils literal notranslate"><span class="pre">DummyVecEnv</span></code>. This is only done if the environment
+is not inheriting from their <code class="xref py py-class docutils literal notranslate"><span class="pre">VecEnv</span></code>. Thus, this class thinly wraps
+over the environment from <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code> or <code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>While Stable-Baselines3 supports Gym 0.26+ API, their vectorized environment
+still uses the old API (i.e. it is closer to Gym 0.21). Thus, we implement
+the old API for the vectorized environment.</p>
+</div>
+<p>We also add monitoring functionality that computes the un-discounted episode
+return and length. This information is added to the info dicts under key <cite>episode</cite>.</p>
+<p>In contrast to the Isaac Lab environment, stable-baselines expect the following:</p>
+<ol class="arabic simple">
+<li><p>numpy datatype for MDP signals</p></li>
+<li><p>a list of info dicts for each sub-environment (instead of a dict)</p></li>
+<li><p>when environment has terminated, the observations from the environment should correspond
+to the one after reset. The “real” final observation is passed using the info dicts
+under the key <code class="docutils literal notranslate"><span class="pre">terminal_observation</span></code>.</p></li>
+</ol>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>By the nature of physics stepping in Isaac Sim, it is not possible to forward the
+simulation buffers without performing a physics step. Thus, reset is performed
+inside the <code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code> function after the actual physics step is taken.
+Thus, the returned observations for terminated environments is the one after the reset.</p>
+</div>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>This class must be the last wrapper in the wrapper chain. This is because the wrapper does not follow
+the <code class="xref py py-class docutils literal notranslate"><span class="pre">gym.Wrapper</span></code> interface. Any subsequent wrappers will need to be modified to work with this
+wrapper.</p>
+</div>
+<p>Reference:</p>
+<ol class="arabic simple">
+<li><p><a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html">https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html</a></p></li>
+<li><p><a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/common/monitor.html">https://stable-baselines3.readthedocs.io/en/master/common/monitor.html</a></p></li>
+</ol>
+<p><strong>Methods:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__" title="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__"><code class="xref py py-obj docutils literal notranslate"><span class="pre">__init__</span></code></a>(env)</p></td>
+<td><p>Initialize the wrapper.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.class_name" title="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.class_name"><code class="xref py py-obj docutils literal notranslate"><span class="pre">class_name</span></code></a>()</p></td>
+<td><p>Returns the class name of the wrapper.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_rewards" title="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_rewards"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_episode_rewards</span></code></a>()</p></td>
+<td><p>Returns the rewards of all the episodes.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_lengths" title="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_lengths"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_episode_lengths</span></code></a>()</p></td>
+<td><p>Returns the number of time-steps of all the episodes.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p><strong>Attributes:</strong></p>
+<div class="pst-scrollable-table-container"><table class="autosummary longtable table autosummary">
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped" title="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped"><code class="xref py py-obj docutils literal notranslate"><span class="pre">unwrapped</span></code></a></p></td>
+<td><p>Returns the base environment of the wrapper.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__">
+<span class="sig-name descname"><span class="pre">__init__</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.direct_rl_env.DirectRLEnv"><span class="pre">DirectRLEnv</span></a></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html#Sb3VecEnvWrapper.__init__"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__" title="Permalink to this definition">#</a></dt>
+<dd><p>Initialize the wrapper.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><p><strong>env</strong> – The environment to wrap around.</p>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#ValueError" title="(in Python v3.13)"><strong>ValueError</strong></a> – When the environment is not an instance of <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code> or <code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code>.</p>
+</dd>
+</dl>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.class_name">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">class_name</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.13)"><span class="pre">str</span></a></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html#Sb3VecEnvWrapper.class_name"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.class_name" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the class name of the wrapper.</p>
+</dd></dl>
+
+<dl class="py property">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped">
+<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">unwrapped</span></span><em class="property"><span class="p"><span class="pre">:</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv"><span class="pre">ManagerBasedRLEnv</span></a><span class="w"> </span><span class="p"><span class="pre">|</span></span><span class="w"> </span><a class="reference internal" href="../lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.direct_rl_env.DirectRLEnv"><span class="pre">DirectRLEnv</span></a></em><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the base environment of the wrapper.</p>
+<p>This will be the bare <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a> environment, underneath all layers of wrappers.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_rewards">
+<span class="sig-name descname"><span class="pre">get_episode_rewards</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><span class="pre">float</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html#Sb3VecEnvWrapper.get_episode_rewards"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_rewards" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the rewards of all the episodes.</p>
+</dd></dl>
+
+<dl class="py method">
+<dt class="sig sig-object py" id="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_lengths">
+<span class="sig-name descname"><span class="pre">get_episode_lengths</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#list" title="(in Python v3.13)"><span class="pre">list</span></a><span class="p"><span class="pre">[</span></span><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><span class="pre">int</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="../../../_modules/omni/isaac/lab_tasks/utils/wrappers/sb3.html#Sb3VecEnvWrapper.get_episode_lengths"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_lengths" title="Permalink to this definition">#</a></dt>
+<dd><p>Returns the number of time-steps of all the episodes.</p>
+</dd></dl>
+
+</dd></dl>
+
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
+                <footer class="prev-next-footer d-print-none">
+                  
+<div class="prev-next-area">
+    <a class="left-prev"
+       href="omni.isaac.lab_tasks.utils.html"
+       title="previous page">
+      <i class="fa-solid fa-angle-left"></i>
+      <div class="prev-next-info">
+        <p class="prev-next-subtitle">previous</p>
+        <p class="prev-next-title">omni.isaac.lab_tasks.utils</p>
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab_tasks.utils.wrappers.rl_games">RL-Games Wrapper</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.render_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.observation_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.action_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.class_name"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.class_name()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.unwrapped</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.num_envs"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.num_envs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.device"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.state_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_number_of_agents"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.get_number_of_agents()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_env_info"><code class="docutils literal notranslate"><span class="pre">RlGamesVecEnvWrapper.get_env_info()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv"><code class="docutils literal notranslate"><span class="pre">RlGamesGpuEnv</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__"><code class="docutils literal notranslate"><span class="pre">RlGamesGpuEnv.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents"><code class="docutils literal notranslate"><span class="pre">RlGamesGpuEnv.get_number_of_agents()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info"><code class="docutils literal notranslate"><span class="pre">RlGamesGpuEnv.get_env_info()</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab_tasks.utils.wrappers.rsl_rl">RSL-RL Wrapper</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_jit"><code class="docutils literal notranslate"><span class="pre">export_policy_as_jit()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.export_policy_as_onnx"><code class="docutils literal notranslate"><span class="pre">export_policy_as_onnx()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.__init__"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.seed"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.seed</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.device</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.num_steps_per_env"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.num_steps_per_env</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.max_iterations"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.max_iterations</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.empirical_normalization"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.empirical_normalization</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.policy"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.policy</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.algorithm"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.algorithm</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.save_interval"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.save_interval</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.experiment_name"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.experiment_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.run_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.logger"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.logger</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.neptune_project"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.neptune_project</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.wandb_project"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.wandb_project</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.resume"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.resume</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.load_run</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint"><code class="docutils literal notranslate"><span class="pre">RslRlOnPolicyRunnerCfg.load_checkpoint</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.class_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.init_noise_std"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.init_noise_std</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.actor_hidden_dims"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.actor_hidden_dims</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.critic_hidden_dims"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.critic_hidden_dims</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.activation"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.activation</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.__init__"><code class="docutils literal notranslate"><span class="pre">RslRlPpoActorCriticCfg.__init__()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.class_name</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.value_loss_coef"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.value_loss_coef</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.use_clipped_value_loss"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.use_clipped_value_loss</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.clip_param"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.clip_param</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.entropy_coef"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.entropy_coef</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_learning_epochs"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.num_learning_epochs</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_mini_batches"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.num_mini_batches</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.learning_rate"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.learning_rate</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.schedule"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.schedule</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.gamma"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.gamma</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.lam"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.lam</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.desired_kl"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.desired_kl</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.__init__"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.max_grad_norm"><code class="docutils literal notranslate"><span class="pre">RslRlPpoAlgorithmCfg.max_grad_norm</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.__init__"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.cfg"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.cfg</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.render_mode</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.observation_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.action_space</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.class_name"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.class_name()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.unwrapped</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.get_observations"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.get_observations()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.episode_length_buf"><code class="docutils literal notranslate"><span class="pre">RslRlVecEnvWrapper.episode_length_buf</span></code></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab_tasks.utils.wrappers.skrl">SKRL Wrapper</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper"><code class="docutils literal notranslate"><span class="pre">SkrlVecEnvWrapper()</span></code></a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#module-omni.isaac.lab_tasks.utils.wrappers.sb3">Stable-Baselines3 Wrapper</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg"><code class="docutils literal notranslate"><span class="pre">process_sb3_cfg()</span></code></a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper</span></code></a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper.__init__()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.class_name"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper.class_name()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper.unwrapped</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_rewards"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper.get_episode_rewards()</span></code></a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_lengths"><code class="docutils literal notranslate"><span class="pre">Sb3VecEnvWrapper.get_episode_lengths()</span></code></a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/environments.html">Available Environments</a></li>
+
+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="current nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 current active has-children"><a class="reference internal" href="index.html">Container Deployment</a><details open="open"><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="docker.html">Docker Guide</a></li>
+<li class="toctree-l2 current active"><a class="current reference internal" href="#">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../refs/reference_architecture/index.html">Reference Architecture</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+              
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+    <h1>Cluster Guide</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#setup-instructions">Setup Instructions</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#configuring-the-cluster-parameters">Configuring the cluster parameters</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#exporting-to-singularity-image">Exporting to singularity image</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-the-job-parameters">Defining the job parameters</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#for-slurm">For SLURM</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#for-pbs">For PBS</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#submitting-a-job">Submitting a job</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="cluster-guide">
+<span id="deployment-cluster"></span><h1>Cluster Guide<a class="headerlink" href="#cluster-guide" title="Permalink to this heading">#</a></h1>
+<p>Clusters are a great way to speed up training and evaluation of learning algorithms.
+While the Isaac Lab Docker image can be used to run jobs on a cluster, many clusters only
+support singularity images. This is because <a class="reference external" href="https://docs.sylabs.io/guides/2.6/user-guide/index.html">singularity</a> is designed for
+ease-of-use on shared multi-user systems and high performance computing (HPC) environments.
+It does not require root privileges to run containers and can be used to run user-defined
+containers.</p>
+<p>Singularity is compatible with all Docker images. In this section, we describe how to
+convert the Isaac Lab Docker image into a singularity image and use it to submit jobs to a cluster.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>Cluster setup varies across different institutions. The following instructions have been
+tested on the <a class="reference external" href="https://scicomp.ethz.ch/wiki/Euler">ETH Zurich Euler</a> cluster (which uses the SLURM workload manager), and the
+IIT Genoa Franklin cluster (which uses PBS workload manager).</p>
+<p>The instructions may need to be adapted for other clusters. If you have successfully
+adapted the instructions for another cluster, please consider contributing to the
+documentation.</p>
+</div>
+<section id="setup-instructions">
+<h2>Setup Instructions<a class="headerlink" href="#setup-instructions" title="Permalink to this heading">#</a></h2>
+<p>In order to export the Docker Image to a singularity image, <a class="reference external" href="https://apptainer.org/">apptainer</a> is required.
+A detailed overview of the installation procedure for <code class="docutils literal notranslate"><span class="pre">apptainer</span></code> can be found in its
+<a class="reference external" href="https://www.apptainer.org/docs/admin/main/installation.html#install-ubuntu-packages">documentation</a>. For convenience, we summarize the steps here for a local installation:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>update
+sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>-y<span class="w"> </span>software-properties-common
+sudo<span class="w"> </span>add-apt-repository<span class="w"> </span>-y<span class="w"> </span>ppa:apptainer/ppa
+sudo<span class="w"> </span>apt<span class="w"> </span>update
+sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>-y<span class="w"> </span>apptainer
+</pre></div>
+</div>
+<p>For simplicity, we recommend that an SSH connection is set up between the local
+development machine and the cluster. Such a connection will simplify the file transfer and prevent
+the user cluster password from being requested multiple times.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>The workflow has been tested with:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">apptainer</span> <span class="pre">version</span> <span class="pre">1.2.5-1.el7</span></code> and <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">version</span> <span class="pre">24.0.7</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">apptainer</span> <span class="pre">version</span> <span class="pre">1.3.4</span></code> and <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">version</span> <span class="pre">27.3.1</span></code></p></li>
+</ul>
+<p>In the case of issues, please try to switch to those versions.</p>
+</div>
+<section id="configuring-the-cluster-parameters">
+<h3>Configuring the cluster parameters<a class="headerlink" href="#configuring-the-cluster-parameters" title="Permalink to this heading">#</a></h3>
+<p>First, you need to configure the cluster-specific parameters in <code class="docutils literal notranslate"><span class="pre">docker/cluster/.env.cluster</span></code> file.
+The following describes the parameters that need to be configured:</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 20.0%" />
+<col style="width: 80.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Parameter</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>CLUSTER_JOB_SCHEDULER</p></td>
+<td><p>The job scheduler/workload manager used by your cluster. Currently, we support ‘SLURM’ and
+‘PBS’ workload managers.</p></td>
+</tr>
+<tr class="row-odd"><td><p>CLUSTER_ISAAC_SIM_CACHE_DIR</p></td>
+<td><p>The directory on the cluster where the Isaac Sim cache is stored. This directory
+has to end on <code class="docutils literal notranslate"><span class="pre">docker-isaac-sim</span></code>. It will be copied to the compute node
+and mounted into the singularity container. This should increase the speed of starting
+the simulation.</p></td>
+</tr>
+<tr class="row-even"><td><p>CLUSTER_ISAACLAB_DIR</p></td>
+<td><p>The directory on the cluster where the Isaac Lab logs are stored. This directory has to
+end on <code class="docutils literal notranslate"><span class="pre">isaaclab</span></code>. It will be copied to the compute node and mounted into
+the singularity container. When a job is submitted, the latest local changes will
+be copied to the cluster to a new directory in the format <code class="docutils literal notranslate"><span class="pre">${CLUSTER_ISAACLAB_DIR}_${datetime}</span></code>
+with the date and time of the job submission. This allows to run multiple jobs with different code versions at
+the same time.</p></td>
+</tr>
+<tr class="row-odd"><td><p>CLUSTER_LOGIN</p></td>
+<td><p>The login to the cluster. Typically, this is the user and cluster names,
+e.g., <code class="docutils literal notranslate"><span class="pre">your_user&#64;euler.ethz.ch</span></code>.</p></td>
+</tr>
+<tr class="row-even"><td><p>CLUSTER_SIF_PATH</p></td>
+<td><p>The path on the cluster where the singularity image will be stored. The image will be
+copied to the compute node but not uploaded again to the cluster when a job is submitted.</p></td>
+</tr>
+<tr class="row-odd"><td><p>REMOVE_CODE_COPY_AFTER_JOB</p></td>
+<td><p>Whether the copied code should be removed after the job is finished or not. The logs from the job will not be deleted
+as these are saved under the permanent <code class="docutils literal notranslate"><span class="pre">CLUSTER_ISAACLAB_DIR</span></code>. This feature is useful
+to save disk space on the cluster. If set to <code class="docutils literal notranslate"><span class="pre">true</span></code>, the code copy will be removed.</p></td>
+</tr>
+<tr class="row-even"><td><p>CLUSTER_PYTHON_EXECUTABLE</p></td>
+<td><p>The path within Isaac Lab to the Python executable that should be executed in the submitted job.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p>When a <code class="docutils literal notranslate"><span class="pre">job</span></code> is submitted, it will also use variables defined in <code class="docutils literal notranslate"><span class="pre">docker/.env.base</span></code>, though these
+should be correct by default.</p>
+</section>
+<section id="exporting-to-singularity-image">
+<h3>Exporting to singularity image<a class="headerlink" href="#exporting-to-singularity-image" title="Permalink to this heading">#</a></h3>
+<p>Next, we need to export the Docker image to a singularity image and upload
+it to the cluster. This step is only required once when the first job is submitted
+or when the Docker image is updated. For instance, due to an upgrade of the Isaac Sim
+version, or additional requirements for your project.</p>
+<p>To export to a singularity image, execute the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./docker/cluster/cluster_interface.sh<span class="w"> </span>push<span class="w"> </span><span class="o">[</span>profile<span class="o">]</span>
+</pre></div>
+</div>
+<p>This command will create a singularity image under <code class="docutils literal notranslate"><span class="pre">docker/exports</span></code> directory and
+upload it to the defined location on the cluster. It requires that you have previously
+built the image with the <code class="docutils literal notranslate"><span class="pre">container.py</span></code> interface. Be aware that creating the singularity
+image can take a while.
+<code class="docutils literal notranslate"><span class="pre">[profile]</span></code> is an optional argument that specifies the container profile to be used. If no profile is
+specified, the default profile <code class="docutils literal notranslate"><span class="pre">base</span></code> will be used.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>By default, the singularity image is created without root access by providing the <code class="docutils literal notranslate"><span class="pre">--fakeroot</span></code> flag to
+the <code class="docutils literal notranslate"><span class="pre">apptainer</span> <span class="pre">build</span></code> command. In case the image creation fails, you can try to create it with root
+access by removing the flag in <code class="docutils literal notranslate"><span class="pre">docker/cluster/cluster_interface.sh</span></code>.</p>
+</div>
+</section>
+</section>
+<section id="defining-the-job-parameters">
+<h2>Defining the job parameters<a class="headerlink" href="#defining-the-job-parameters" title="Permalink to this heading">#</a></h2>
+<p>The job parameters need to be defined based on the job scheduler used by your cluster.
+You only need to update the appropriate script for the scheduler available to you.</p>
+<ul class="simple">
+<li><p>For SLURM, update the parameters in <code class="docutils literal notranslate"><span class="pre">docker/cluster/submit_job_slurm.sh</span></code>.</p></li>
+<li><p>For PBS, update the parameters in <code class="docutils literal notranslate"><span class="pre">docker/cluster/submit_job_pbs.sh</span></code>.</p></li>
+</ul>
+<section id="for-slurm">
+<h3>For SLURM<a class="headerlink" href="#for-slurm" title="Permalink to this heading">#</a></h3>
+<p>The job parameters are defined inside the <code class="docutils literal notranslate"><span class="pre">docker/cluster/submit_job_slurm.sh</span></code>.
+A typical SLURM operation requires specifying the number of CPUs and GPUs, the memory, and
+the time limit. For more information, please check the <a class="reference external" href="https://www.slurm.schedmd.com/sbatch.html">SLURM documentation</a>.</p>
+<p>The default configuration is as follows:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="linenos">12</span><span class="c1">#SBATCH --cpus-per-task=8</span>
+<span class="linenos">13</span><span class="c1">#SBATCH --gpus=rtx_3090:1</span>
+<span class="linenos">14</span><span class="c1">#SBATCH --time=23:00:00</span>
+<span class="linenos">15</span><span class="c1">#SBATCH --mem-per-cpu=4048</span>
+<span class="linenos">16</span><span class="c1">#SBATCH --mail-type=END</span>
+<span class="linenos">17</span><span class="c1">#SBATCH --mail-user=name@mail</span>
+<span class="linenos">18</span><span class="c1">#SBATCH --job-name=&quot;training-$(date +&quot;%Y-%m-%dT%H:%M&quot;)&quot;</span>
+</pre></div>
+</div>
+<p>An essential requirement for the cluster is that the compute node has access to the internet at all times.
+This is required to load assets from the Nucleus server. For some cluster architectures, extra modules
+must be loaded to allow internet access.</p>
+<p>For instance, on ETH Zurich Euler cluster, the <code class="docutils literal notranslate"><span class="pre">eth_proxy</span></code> module needs to be loaded. This can be done
+by adding the following line to the <code class="docutils literal notranslate"><span class="pre">submit_job_slurm.sh</span></code> script:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="linenos">3</span><span class="c1"># in the case you need to load specific modules on the cluster, add them here</span>
+<span class="linenos">4</span><span class="c1"># e.g., `module load eth_proxy`</span>
+</pre></div>
+</div>
+</section>
+<section id="for-pbs">
+<h3>For PBS<a class="headerlink" href="#for-pbs" title="Permalink to this heading">#</a></h3>
+<p>The job parameters are defined inside the <code class="docutils literal notranslate"><span class="pre">docker/cluster/submit_job_pbs.sh</span></code>.
+A typical PBS operation requires specifying the number of CPUs and GPUs, and the time limit. For more
+information, please check the <a class="reference external" href="https://openpbs.org/">PBS Official Site</a>.</p>
+<p>The default configuration is as follows:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="linenos">11</span><span class="c1">#PBS -l select=1:ncpus=8:mpiprocs=1:ngpus=1</span>
+<span class="linenos">12</span><span class="c1">#PBS -l walltime=01:00:00</span>
+<span class="linenos">13</span><span class="c1">#PBS -j oe</span>
+<span class="linenos">14</span><span class="c1">#PBS -q gpu</span>
+<span class="linenos">15</span><span class="c1">#PBS -N isaaclab</span>
+<span class="linenos">16</span><span class="c1">#PBS -m bea -M &quot;user@mail&quot;</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="submitting-a-job">
+<h2>Submitting a job<a class="headerlink" href="#submitting-a-job" title="Permalink to this heading">#</a></h2>
+<p>To submit a job on the cluster, the following command can be used:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./docker/cluster/cluster_interface.sh<span class="w"> </span>job<span class="w"> </span><span class="o">[</span>profile<span class="o">]</span><span class="w"> </span><span class="s2">&quot;argument1&quot;</span><span class="w"> </span><span class="s2">&quot;argument2&quot;</span><span class="w"> </span>...
+</pre></div>
+</div>
+<p>This command will copy the latest changes in your code to the cluster and submit a job. Please ensure that
+your Python executable’s output is stored under <code class="docutils literal notranslate"><span class="pre">isaaclab/logs</span></code> as this directory is synced between the compute
+node and <code class="docutils literal notranslate"><span class="pre">CLUSTER_ISAACLAB_DIR</span></code>.</p>
+<p><code class="docutils literal notranslate"><span class="pre">[profile]</span></code> is an optional argument that specifies which singularity image corresponding to the  container profile
+will be used. If no profile is specified, the default profile <code class="docutils literal notranslate"><span class="pre">base</span></code> will be used. The profile has be defined
+directlty after the <code class="docutils literal notranslate"><span class="pre">job</span></code> command. All other arguments are passed to the Python executable. If no profile is
+defined, all arguments are passed to the Python executable.</p>
+<p>The training arguments are passed to the Python executable. As an example, the standard
+ANYmal rough terrain locomotion training can be executed with the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./docker/cluster/cluster_interface.sh<span class="w"> </span>job<span class="w"> </span>--task<span class="w"> </span>Isaac-Velocity-Rough-Anymal-C-v0<span class="w"> </span>--headless<span class="w"> </span>--video<span class="w"> </span>--enable_cameras
+</pre></div>
+</div>
+<p>The above will, in addition, also render videos of the training progress and store them under <code class="docutils literal notranslate"><span class="pre">isaaclab/logs</span></code> directory.</p>
+</section>
+</section>
+
+
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+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#configuring-the-cluster-parameters">Configuring the cluster parameters</a></li>
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+</ul>
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+              
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Docker Guide</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#setup-instructions">Setup Instructions</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#docker-and-docker-compose">Docker and Docker Compose</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#obtaining-the-isaac-sim-container">Obtaining the Isaac Sim Container</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#directory-organization">Directory Organization</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-container">Running the Container</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#x11-forwarding">X11 forwarding</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#python-interpreter">Python Interpreter</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#understanding-the-mounted-volumes">Understanding the mounted volumes</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#isaac-lab-image-extensions">Isaac Lab Image Extensions</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#ros2-image-extension">ROS2 Image Extension</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#known-issues">Known Issues</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#webrtc-streaming">WebRTC Streaming</a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="docker-guide">
+<span id="deployment-docker"></span><h1>Docker Guide<a class="headerlink" href="#docker-guide" title="Permalink to this heading">#</a></h1>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>Due to the dependency on Isaac Sim docker image, by running this container you are implicitly
+agreeing to the <a class="reference external" href="https://docs.omniverse.nvidia.com/platform/latest/common/NVIDIA_Omniverse_License_Agreement.html">NVIDIA Omniverse EULA</a>. If you do not agree to the EULA, do not run this container.</p>
+</div>
+<section id="setup-instructions">
+<h2>Setup Instructions<a class="headerlink" href="#setup-instructions" title="Permalink to this heading">#</a></h2>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The following steps are taken from the NVIDIA Omniverse Isaac Sim documentation on <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html">container installation</a>.
+They have been added here for the sake of completeness.</p>
+</div>
+<section id="docker-and-docker-compose">
+<h3>Docker and Docker Compose<a class="headerlink" href="#docker-and-docker-compose" title="Permalink to this heading">#</a></h3>
+<p>We have tested the container using Docker Engine version 26.0.0 and Docker Compose version 2.25.0
+We recommend using these versions or newer.</p>
+<ul class="simple">
+<li><p>To install Docker, please follow the instructions for your operating system on the <a class="reference external" href="https://docs.docker.com/desktop/install/linux-install/">Docker website</a>.</p></li>
+<li><p>To install Docker Compose, please follow the instructions for your operating system on the <a class="reference external" href="https://docs.docker.com/compose/install/linux/#install-using-the-repository">docker compose</a> page.</p></li>
+<li><p>Follow the post-installation steps for Docker on the <a class="reference external" href="https://docs.docker.com/engine/install/linux-postinstall/">post-installation steps</a> page. These steps allow you to run
+Docker without using <code class="docutils literal notranslate"><span class="pre">sudo</span></code>.</p></li>
+<li><p>To build and run GPU-accelerated containers, you also need install the <a class="reference external" href="https://github.com/NVIDIA/nvidia-container-toolkit">NVIDIA Container Toolkit</a>.
+Please follow the instructions on the <a class="reference external" href="https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html">Container Toolkit website</a> for installation steps.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Due to limitations with <a class="reference external" href="https://snapcraft.io/docs/home-outside-home">snap</a>, please make sure
+the Isaac Lab directory is placed under the <code class="docutils literal notranslate"><span class="pre">/home</span></code> directory tree when using docker.</p>
+</div>
+</section>
+<section id="obtaining-the-isaac-sim-container">
+<h3>Obtaining the Isaac Sim Container<a class="headerlink" href="#obtaining-the-isaac-sim-container" title="Permalink to this heading">#</a></h3>
+<ul>
+<li><p>Get access to the <a class="reference external" href="https://catalog.ngc.nvidia.com/orgs/nvidia/containers/isaac-sim">Isaac Sim container</a> by joining the NVIDIA Developer Program credentials.</p></li>
+<li><p>Generate your <a class="reference external" href="https://docs.nvidia.com/ngc/gpu-cloud/ngc-user-guide/index.html#generating-api-key">NGC API key</a> to access locked container images from NVIDIA GPU Cloud (NGC).</p>
+<ul>
+<li><p>This step requires you to create an NGC account if you do not already have one.</p></li>
+<li><p>You would also need to install the NGC CLI to perform operations from the command line.</p></li>
+<li><p>Once you have your generated API key and have installed the NGC CLI, you need to log in to NGC
+from the terminal.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ngc<span class="w"> </span>config<span class="w"> </span><span class="nb">set</span>
+</pre></div>
+</div>
+</li>
+</ul>
+</li>
+<li><p>Use the command line to pull the Isaac Sim container image from NGC.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>docker<span class="w"> </span>login<span class="w"> </span>nvcr.io
+</pre></div>
+</div>
+<ul>
+<li><p>For the username, enter <code class="docutils literal notranslate"><span class="pre">$oauthtoken</span></code> exactly as shown. It is a special username that is used to
+authenticate with NGC.</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>Username: $oauthtoken
+Password: &lt;Your NGC API Key&gt;
+</pre></div>
+</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</section>
+<section id="directory-organization">
+<h2>Directory Organization<a class="headerlink" href="#directory-organization" title="Permalink to this heading">#</a></h2>
+<p>The root of the Isaac Lab repository contains the <code class="docutils literal notranslate"><span class="pre">docker</span></code> directory that has various files and scripts
+needed to run Isaac Lab inside a Docker container. A subset of these are summarized below:</p>
+<ul class="simple">
+<li><p><strong>Dockerfile.base</strong>: Defines the base Isaac Lab image by overlaying its dependencies onto the Isaac Sim Docker image.
+Dockerfiles which end with something else, (i.e. <code class="docutils literal notranslate"><span class="pre">Dockerfile.ros2</span></code>) build an <a class="reference external" href="#isaac-lab-image-extensions">image extension</a>.</p></li>
+<li><p><strong>docker-compose.yaml</strong>: Creates mounts to allow direct editing of Isaac Lab code from the host machine that runs
+the container. It also creates several named volumes such as <code class="docutils literal notranslate"><span class="pre">isaac-cache-kit</span></code> to
+store frequently re-used resources compiled by Isaac Sim, such as shaders, and to retain logs, data, and documents.</p></li>
+<li><p><strong>.env.base</strong>: Stores environment variables required for the <code class="docutils literal notranslate"><span class="pre">base</span></code> build process and the container itself. <code class="docutils literal notranslate"><span class="pre">.env</span></code>
+files which end with something else (i.e. <code class="docutils literal notranslate"><span class="pre">.env.ros2</span></code>) define these for <a class="reference external" href="#isaac-lab-image-extensions">image extension</a>.</p></li>
+<li><p><strong>container.py</strong>: A utility script that interfaces with tools in <code class="docutils literal notranslate"><span class="pre">utils</span></code> to configure and build the image,
+and run and interact with the container.</p></li>
+</ul>
+</section>
+<section id="running-the-container">
+<h2>Running the Container<a class="headerlink" href="#running-the-container" title="Permalink to this heading">#</a></h2>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The docker container copies all the files from the repository into the container at the
+location <code class="docutils literal notranslate"><span class="pre">/workspace/isaaclab</span></code> at build time. This means that any changes made to the files in the container would not
+normally be reflected in the repository after the image has been built, i.e. after <code class="docutils literal notranslate"><span class="pre">./container.py</span> <span class="pre">start</span></code> is run.</p>
+<p>For a faster development cycle, we mount the following directories in the Isaac Lab repository into the container
+so that you can edit their files from the host machine:</p>
+<ul class="simple">
+<li><p><strong>IsaacLab/source</strong>: This is the directory that contains the Isaac Lab source code.</p></li>
+<li><p><strong>IsaacLab/docs</strong>: This is the directory that contains the source code for Isaac Lab documentation. This is overlaid except
+for the <code class="docutils literal notranslate"><span class="pre">_build</span></code> subdirectory where build artifacts are stored.</p></li>
+</ul>
+</div>
+<p>The script <code class="docutils literal notranslate"><span class="pre">container.py</span></code> parallels basic <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">compose</span></code> commands. Each can accept an <a class="reference external" href="#isaac-lab-image-extensions">image extension argument</a>,
+or else they will default to the <code class="docutils literal notranslate"><span class="pre">base</span></code> image extension. These commands are:</p>
+<ul class="simple">
+<li><p><strong>start</strong>: This builds the image and brings up the container in detached mode (i.e. in the background).</p></li>
+<li><p><strong>enter</strong>: This begins a new bash process in an existing Isaac Lab container, and which can be exited
+without bringing down the container.</p></li>
+<li><p><strong>config</strong>: This outputs the compose.yaml which would be result from the inputs given to <code class="docutils literal notranslate"><span class="pre">container.py</span> <span class="pre">start</span></code>. This command is useful
+for debugging a compose configuration.</p></li>
+<li><p><strong>copy</strong>: This copies the <code class="docutils literal notranslate"><span class="pre">logs</span></code>, <code class="docutils literal notranslate"><span class="pre">data_storage</span></code> and <code class="docutils literal notranslate"><span class="pre">docs/_build</span></code> artifacts, from the <code class="docutils literal notranslate"><span class="pre">isaac-lab-logs</span></code>, <code class="docutils literal notranslate"><span class="pre">isaac-lab-data</span></code> and <code class="docutils literal notranslate"><span class="pre">isaac-lab-docs</span></code>
+volumes respectively, to the <code class="docutils literal notranslate"><span class="pre">docker/artifacts</span></code> directory. These artifacts persist between docker container instances and are shared between image extensions.</p></li>
+<li><p><strong>stop</strong>: This brings down the container and removes it.</p></li>
+</ul>
+<p>The following shows how to launch the container in a detached state and enter it:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Launch the container in detached mode</span>
+<span class="c1"># We don&#39;t pass an image extension arg, so it defaults to &#39;base&#39;</span>
+./docker/container.py<span class="w"> </span>start
+
+<span class="c1"># If we want to add .env or .yaml files to customize our compose config,</span>
+<span class="c1"># we can simply specify them in the same manner as the compose cli</span>
+<span class="c1"># ./docker/container.py start --file my-compose.yaml --env-file .env.my-vars</span>
+
+<span class="c1"># Enter the container</span>
+<span class="c1"># We pass &#39;base&#39; explicitly, but if we hadn&#39;t it would default to &#39;base&#39;</span>
+./docker/container.py<span class="w"> </span>enter<span class="w"> </span>base
+</pre></div>
+</div>
+<p>To copy files from the base container to the host machine, you can use the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copy the file /workspace/isaaclab/logs to the current directory</span>
+docker<span class="w"> </span>cp<span class="w"> </span>isaac-lab-base:/workspace/isaaclab/logs<span class="w"> </span>.
+</pre></div>
+</div>
+<p>The script <code class="docutils literal notranslate"><span class="pre">container.py</span></code> provides a wrapper around this command to copy the <code class="docutils literal notranslate"><span class="pre">logs</span></code> , <code class="docutils literal notranslate"><span class="pre">data_storage</span></code> and <code class="docutils literal notranslate"><span class="pre">docs/_build</span></code>
+directories to the <code class="docutils literal notranslate"><span class="pre">docker/artifacts</span></code> directory. This is useful for copying the logs, data and documentation:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># stop the container</span>
+./docker/container.py<span class="w"> </span>stop
+</pre></div>
+</div>
+<section id="x11-forwarding">
+<h3>X11 forwarding<a class="headerlink" href="#x11-forwarding" title="Permalink to this heading">#</a></h3>
+<p>The container supports X11 forwarding, which allows the user to run GUI applications from the container
+and display them on the host machine.</p>
+<p>The first time a container is started with <code class="docutils literal notranslate"><span class="pre">./docker/container.py</span> <span class="pre">start</span></code>, the script prompts
+the user whether to activate X11 forwarding. This will create a file at <code class="docutils literal notranslate"><span class="pre">docker/.container.cfg</span></code>
+to store the user’s choice for future runs.</p>
+<p>If you want to change the choice, you can set the parameter <code class="docutils literal notranslate"><span class="pre">X11_FORWARDING_ENABLED</span></code> to ‘0’ or ‘1’
+in the <code class="docutils literal notranslate"><span class="pre">docker/.container.cfg</span></code> file to disable or enable X11 forwarding, respectively. After that, you need to
+re-build the container by running <code class="docutils literal notranslate"><span class="pre">./docker/container.py</span> <span class="pre">start</span></code>. The rebuilding process ensures that the changes
+are applied to the container. Otherwise, the changes will not take effect.</p>
+<p>After the container is started, you can enter the container and run GUI applications from it with X11 forwarding enabled.
+The display will be forwarded to the host machine.</p>
+</section>
+<section id="python-interpreter">
+<h3>Python Interpreter<a class="headerlink" href="#python-interpreter" title="Permalink to this heading">#</a></h3>
+<p>The container uses the Python interpreter provided by Isaac Sim. This interpreter is located at
+<code class="docutils literal notranslate"><span class="pre">/isaac-sim/python.sh</span></code>. We set aliases inside the container to make it easier to run the Python
+interpreter. You can use the following commands to run the Python interpreter:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Run the Python interpreter -&gt; points to /isaac-sim/python.sh</span>
+python
+</pre></div>
+</div>
+</section>
+<section id="understanding-the-mounted-volumes">
+<h3>Understanding the mounted volumes<a class="headerlink" href="#understanding-the-mounted-volumes" title="Permalink to this heading">#</a></h3>
+<p>The <code class="docutils literal notranslate"><span class="pre">docker-compose.yaml</span></code> file creates several named volumes that are mounted to the container.
+These are summarized below:</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 23.0%" />
+<col style="width: 45.0%" />
+<col style="width: 32.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Volume Name</p></th>
+<th class="head"><p>Description</p></th>
+<th class="head"><p>Container Path</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>isaac-cache-kit</p></td>
+<td><p>Stores cached Kit resources</p></td>
+<td><p>/isaac-sim/kit/cache</p></td>
+</tr>
+<tr class="row-odd"><td><p>isaac-cache-ov</p></td>
+<td><p>Stores cached OV resources</p></td>
+<td><p>/root/.cache/ov</p></td>
+</tr>
+<tr class="row-even"><td><p>isaac-cache-pip</p></td>
+<td><p>Stores cached pip resources</p></td>
+<td><p>/root/.cache/pip</p></td>
+</tr>
+<tr class="row-odd"><td><p>isaac-cache-gl</p></td>
+<td><p>Stores cached GLCache resources</p></td>
+<td><p>/root/.cache/nvidia/GLCache</p></td>
+</tr>
+<tr class="row-even"><td><p>isaac-cache-compute</p></td>
+<td><p>Stores cached compute resources</p></td>
+<td><p>/root/.nv/ComputeCache</p></td>
+</tr>
+<tr class="row-odd"><td><p>isaac-logs</p></td>
+<td><p>Stores logs generated by Omniverse</p></td>
+<td><p>/root/.nvidia-omniverse/logs</p></td>
+</tr>
+<tr class="row-even"><td><p>isaac-carb-logs</p></td>
+<td><p>Stores logs generated by carb</p></td>
+<td><p>/isaac-sim/kit/logs/Kit/Isaac-Sim</p></td>
+</tr>
+<tr class="row-odd"><td><p>isaac-data</p></td>
+<td><p>Stores data generated by Omniverse</p></td>
+<td><p>/root/.local/share/ov/data</p></td>
+</tr>
+<tr class="row-even"><td><p>isaac-docs</p></td>
+<td><p>Stores documents generated by Omniverse</p></td>
+<td><p>/root/Documents</p></td>
+</tr>
+<tr class="row-odd"><td><p>isaac-lab-docs</p></td>
+<td><p>Stores documentation of Isaac Lab when built inside the container</p></td>
+<td><p>/workspace/isaaclab/docs/_build</p></td>
+</tr>
+<tr class="row-even"><td><p>isaac-lab-logs</p></td>
+<td><p>Stores logs generated by Isaac Lab workflows when run inside the container</p></td>
+<td><p>/workspace/isaaclab/logs</p></td>
+</tr>
+<tr class="row-odd"><td><p>isaac-lab-data</p></td>
+<td><p>Stores whatever data users may want to preserve between container runs</p></td>
+<td><p>/workspace/isaaclab/data_storage</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p>To view the contents of these volumes, you can use the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># list all volumes</span>
+docker<span class="w"> </span>volume<span class="w"> </span>ls
+<span class="c1"># inspect a specific volume, e.g. isaac-cache-kit</span>
+docker<span class="w"> </span>volume<span class="w"> </span>inspect<span class="w"> </span>isaac-cache-kit
+</pre></div>
+</div>
+</section>
+</section>
+<section id="isaac-lab-image-extensions">
+<h2>Isaac Lab Image Extensions<a class="headerlink" href="#isaac-lab-image-extensions" title="Permalink to this heading">#</a></h2>
+<p>The produced image depends upon the arguments passed to <code class="docutils literal notranslate"><span class="pre">container.py</span> <span class="pre">start</span></code> and <code class="docutils literal notranslate"><span class="pre">container.py</span> <span class="pre">stop</span></code>. These
+commands accept an image extension parameter as an additional argument. If no argument is passed, then this
+parameter defaults to <code class="docutils literal notranslate"><span class="pre">base</span></code>. Currently, the only valid values are (<code class="docutils literal notranslate"><span class="pre">base</span></code>, <code class="docutils literal notranslate"><span class="pre">ros2</span></code>).
+Only one image extension can be passed at a time. The produced container will be named <code class="docutils literal notranslate"><span class="pre">isaac-lab-${profile}</span></code>,
+where <code class="docutils literal notranslate"><span class="pre">${profile}</span></code> is the image extension name.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># start base by default</span>
+./docker/container.py<span class="w"> </span>start
+<span class="c1"># stop base explicitly</span>
+./docker/container.py<span class="w"> </span>stop<span class="w"> </span>base
+<span class="c1"># start ros2 container</span>
+./docker/container.py<span class="w"> </span>start<span class="w"> </span>ros2
+<span class="c1"># stop ros2 container</span>
+./docker/container.py<span class="w"> </span>stop<span class="w"> </span>ros2
+</pre></div>
+</div>
+<p>The passed image extension argument will build the image defined in <code class="docutils literal notranslate"><span class="pre">Dockerfile.${image_extension}</span></code>,
+with the corresponding <a class="reference external" href="https://docs.docker.com/compose/compose-file/15-profiles/">profile</a> in the <code class="docutils literal notranslate"><span class="pre">docker-compose.yaml</span></code> and the envars from <code class="docutils literal notranslate"><span class="pre">.env.${image_extension}</span></code>
+in addition to the <code class="docutils literal notranslate"><span class="pre">.env.base</span></code>, if any.</p>
+<section id="ros2-image-extension">
+<h3>ROS2 Image Extension<a class="headerlink" href="#ros2-image-extension" title="Permalink to this heading">#</a></h3>
+<p>In <code class="docutils literal notranslate"><span class="pre">Dockerfile.ros2</span></code>, the container installs ROS2 Humble via an <a class="reference external" href="https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html#install-ros-2-packages">apt package</a>, and it is sourced in the <code class="docutils literal notranslate"><span class="pre">.bashrc</span></code>.
+The exact version is specified by the variable <code class="docutils literal notranslate"><span class="pre">ROS_APT_PACKAGE</span></code> in the <code class="docutils literal notranslate"><span class="pre">.env.ros2</span></code> file,
+defaulting to <code class="docutils literal notranslate"><span class="pre">ros-base</span></code>. Other relevant ROS2 variables are also specified in the <code class="docutils literal notranslate"><span class="pre">.env.ros2</span></code> file,
+including variables defining the <a class="reference external" href="https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html">various middleware</a> options.</p>
+<p>The container defaults to <code class="docutils literal notranslate"><span class="pre">FastRTPS</span></code>, but <code class="docutils literal notranslate"><span class="pre">CylconeDDS</span></code> is also supported. Each of these middlewares can be
+<a class="reference external" href="https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html">tuned</a> using their corresponding <code class="docutils literal notranslate"><span class="pre">.xml</span></code> files under <code class="docutils literal notranslate"><span class="pre">docker/.ros</span></code>.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Parameters for ROS2 Image Extension</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1">###</span>
+<span class="c1"># ROS2 specific settings</span>
+<span class="c1">###</span>
+<span class="c1"># Set the version of the ROS2 apt package to install (ros-base, desktop, desktop-full)</span>
+<span class="nv">ROS2_APT_PACKAGE</span><span class="o">=</span>ros-base
+<span class="c1"># Set ROS2 middleware implementation to use (e.g. rmw_fastrtps_cpp, rmw_cyclonedds_cpp)</span>
+<span class="nv">RMW_IMPLEMENTATION</span><span class="o">=</span>rmw_fastrtps_cpp
+<span class="c1"># Path to fastdds.xml file to use (only needed when using fastdds)</span>
+<span class="nv">FASTRTPS_DEFAULT_PROFILES_FILE</span><span class="o">=</span><span class="si">${</span><span class="nv">DOCKER_USER_HOME</span><span class="si">}</span>/.ros/fastdds.xml
+<span class="c1"># Path to cyclonedds.xml file to use (only needed when using cyclonedds)</span>
+<span class="nv">CYCLONEDDS_URI</span><span class="o">=</span><span class="si">${</span><span class="nv">DOCKER_USER_HOME</span><span class="si">}</span>/.ros/cyclonedds.xml
+</pre></div>
+</div>
+</div>
+</details></section>
+</section>
+<section id="known-issues">
+<h2>Known Issues<a class="headerlink" href="#known-issues" title="Permalink to this heading">#</a></h2>
+<section id="webrtc-streaming">
+<h3>WebRTC Streaming<a class="headerlink" href="#webrtc-streaming" title="Permalink to this heading">#</a></h3>
+<p>When streaming the GUI from Isaac Sim, there are <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html">several streaming clients</a> available. There is a <a class="reference external" href="https://forums.developer.nvidia.com/t/unable-to-use-webrtc-when-i-run-runheadless-webrtc-sh-in-remote-headless-container/222916">known issue</a> when
+attempting to use WebRTC streaming client on Google Chrome and Safari while running Isaac Sim inside a container.
+To avoid this problem, we suggest using the Native Streaming Client or using the
+Mozilla Firefox browser on which WebRTC works.</p>
+<p>Streaming is the only supported method for visualizing the Isaac GUI from within the container. The Omniverse Streaming Client
+is freely available from the Omniverse app, and is easy to use. The other streaming methods similarly require only a web browser.
+If users want to use X11 forwarding in order to have the apps behave as local GUI windows, they can uncomment the relevant portions
+in docker-compose.yaml.</p>
+</section>
+</section>
+</section>
+
+
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#setup-instructions">Setup Instructions</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#docker-and-docker-compose">Docker and Docker Compose</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#obtaining-the-isaac-sim-container">Obtaining the Isaac Sim Container</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#directory-organization">Directory Organization</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-container">Running the Container</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#x11-forwarding">X11 forwarding</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#python-interpreter">Python Interpreter</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#understanding-the-mounted-volumes">Understanding the mounted volumes</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#isaac-lab-image-extensions">Isaac Lab Image Extensions</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#ros2-image-extension">ROS2 Image Extension</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#known-issues">Known Issues</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#webrtc-streaming">WebRTC Streaming</a></li>
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+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/developer-guide/development.html">Application Development</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/developer-guide/template.html">Building your Own Project</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/core-concepts/task_workflows.html">Task Design Workflows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/environments.html">Available Environments</a></li>
+
+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="current nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 current active has-children"><a class="current reference internal" href="#">Container Deployment</a><details open="open"><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/additional_resources.html">Additional Resources</a></li>
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+  <section id="container-deployment">
+<h1>Container Deployment<a class="headerlink" href="#container-deployment" title="Permalink to this heading">#</a></h1>
+<p>Docker is a tool that allows for the creation of containers, which are isolated environments that can
+be used to run applications. They are useful for ensuring that an application can run on any machine
+that has Docker installed, regardless of the host machine’s operating system or installed libraries.</p>
+<p>We include a Dockerfile and docker-compose.yaml file that can be used to build a Docker image that
+contains Isaac Lab and all of its dependencies. This image can then be used to run Isaac Lab in a container.
+The Dockerfile is based on the Isaac Sim image provided by NVIDIA, which includes the Omniverse
+application launcher and the Isaac Sim application. The Dockerfile installs Isaac Lab and its dependencies
+on top of this image.</p>
+<p>The following guides provide instructions for building the Docker image and running Isaac Lab in a
+container.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="docker.html">Docker Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="cluster.html">Cluster Guide</a></li>
+<li class="toctree-l1"><a class="reference internal" href="run_docker_example.html">Running an example with Docker</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/additional_resources.html">Additional Resources</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../refs/issues.html">Known Issues</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/index.html">NVIDIA Isaac Sim</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Running an example with Docker</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#building-the-container">Building the Container</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#executing-the-script">Executing the Script</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="running-an-example-with-docker">
+<h1>Running an example with Docker<a class="headerlink" href="#running-an-example-with-docker" title="Permalink to this heading">#</a></h1>
+<p>From the root of the Isaac Lab repository,  the <code class="docutils literal notranslate"><span class="pre">docker</span></code> directory contains all the Docker relevant files. These include the three files
+(<strong>Dockerfile</strong>, <strong>docker-compose.yaml</strong>, <strong>.env</strong>) which are used by Docker, and an additional script that we use to interface with them,
+<strong>container.py</strong>.</p>
+<p>In this tutorial, we will learn how to use the Isaac Lab Docker container for development. For a detailed description of the Docker setup,
+including installation and obtaining access to an Isaac Sim image, please reference the <a class="reference internal" href="docker.html#deployment-docker"><span class="std std-ref">Docker Guide</span></a>. For a description
+of Docker in general, please refer to <a class="reference external" href="https://docs.docker.com/get-started/overview/">their official documentation</a>.</p>
+<section id="building-the-container">
+<h2>Building the Container<a class="headerlink" href="#building-the-container" title="Permalink to this heading">#</a></h2>
+<p>To build the Isaac Lab container from the root of the Isaac Lab repository, we will run the following:</p>
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">python docker/container.py start</span>
+</pre></div>
+</div>
+<p>The terminal will first pull the base IsaacSim image, build the Isaac Lab image’s additional layers on top of it, and run the Isaac Lab container.
+This should take several minutes upon the first build but will be shorter in subsequent runs as Docker’s caching prevents repeated work.
+If we run the command <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">container</span> <span class="pre">ls</span></code> on the terminal, the output will list the containers that are running on the system. If
+everything has been set up correctly, a container with the <code class="docutils literal notranslate"><span class="pre">NAME</span></code> <strong>isaac-lab-base</strong> should appear, similar to below:</p>
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">CONTAINER ID   IMAGE               COMMAND   CREATED           STATUS         PORTS     NAMES</span>
+<span class="go">483d1d5e2def   isaac-lab-base      &quot;bash&quot;    30 seconds ago   Up 30 seconds             isaac-lab-base</span>
+</pre></div>
+</div>
+<p>Once the container is up and running, we can enter it from our terminal.</p>
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">python docker/container.py enter</span>
+</pre></div>
+</div>
+<p>On entering the Isaac Lab container, we are in the terminal as the superuser, <code class="docutils literal notranslate"><span class="pre">root</span></code>. This environment contains a copy of the
+Isaac Lab repository, but also has access to the directories and libraries of Isaac Sim. We can run experiments from this environment
+using a few convenient aliases that have been put into the <code class="docutils literal notranslate"><span class="pre">root</span></code> <strong>.bashrc</strong>. For instance, we have made the <strong>isaaclab.sh</strong> script
+usable from anywhere by typing its alias <code class="docutils literal notranslate"><span class="pre">isaaclab</span></code>.</p>
+<p>Additionally in the container, we have <a class="reference external" href="https://docs.docker.com/storage/bind-mounts/">bind mounted</a> the <code class="docutils literal notranslate"><span class="pre">IsaacLab/source</span></code> directory from the
+host machine. This means that if we modify files under this directory from an editor on the host machine, the changes are
+reflected immediately within the container without requiring us to rebuild the Docker image.</p>
+<p>We will now run a sample script from within the container to demonstrate how to extract artifacts
+from the Isaac Lab Docker container.</p>
+</section>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">log_time.py</span></code> script in the <code class="docutils literal notranslate"><span class="pre">IsaacLab/source/standalone/tutorials/00_sim</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for log_time.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos"> 2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos"> 3</span><span class="c1">#</span>
+<span class="linenos"> 4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos"> 5</span>
+<span class="linenos"> 6</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 7</span><span class="sd">This script demonstrates how to generate log outputs while the simulation plays.</span>
+<span class="linenos"> 8</span><span class="sd">It accompanies the tutorial on docker usage.</span>
+<span class="linenos"> 9</span>
+<span class="linenos">10</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos">11</span>
+<span class="linenos">12</span><span class="sd">    # Usage</span>
+<span class="linenos">13</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/00_sim/log_time.py</span>
+<span class="linenos">14</span>
+<span class="linenos">15</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">16</span>
+<span class="linenos">17</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos">18</span>
+<span class="linenos">19</span>
+<span class="linenos">20</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos">21</span><span class="kn">import</span> <span class="nn">os</span>
+<span class="linenos">22</span>
+<span class="linenos">23</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos">24</span>
+<span class="linenos">25</span><span class="c1"># create argparser</span>
+<span class="linenos">26</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on creating logs from within the docker container.&quot;</span><span class="p">)</span>
+<span class="linenos">27</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos">28</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos">29</span><span class="c1"># parse the arguments</span>
+<span class="linenos">30</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos">31</span><span class="c1"># launch omniverse app</span>
+<span class="linenos">32</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos">33</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos">34</span>
+<span class="linenos">35</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos">36</span>
+<span class="linenos">37</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationCfg</span><span class="p">,</span> <span class="n">SimulationContext</span>
+<span class="linenos">38</span>
+<span class="linenos">39</span>
+<span class="linenos">40</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">41</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">42</span>    <span class="c1"># Specify that the logs must be in logs/docker_tutorial</span>
+<span class="linenos">43</span>    <span class="n">log_dir_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="s2">&quot;logs&quot;</span><span class="p">)</span>
+<span class="linenos">44</span>    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">isdir</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">):</span>
+<span class="linenos">45</span>        <span class="n">os</span><span class="o">.</span><span class="n">mkdir</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">)</span>
+<span class="hll"><span class="linenos">46</span>    <span class="c1"># In the container, the absolute path will be</span>
+</span><span class="hll"><span class="linenos">47</span>    <span class="c1"># /workspace/isaaclab/logs/docker_tutorial, because</span>
+</span><span class="hll"><span class="linenos">48</span>    <span class="c1"># all python execution is done through /workspace/isaaclab/isaaclab.sh</span>
+</span><span class="hll"><span class="linenos">49</span>    <span class="c1"># and the calling process&#39; path will be /workspace/isaaclab</span>
+</span><span class="hll"><span class="linenos">50</span>    <span class="n">log_dir_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">,</span> <span class="s2">&quot;docker_tutorial&quot;</span><span class="p">))</span>
+</span><span class="hll"><span class="linenos">51</span>    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">isdir</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">):</span>
+</span><span class="hll"><span class="linenos">52</span>        <span class="n">os</span><span class="o">.</span><span class="n">mkdir</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">53</span>    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO] Logging experiment to directory: </span><span class="si">{</span><span class="n">log_dir_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">54</span>
+</span><span class="hll"><span class="linenos">55</span>    <span class="c1"># Initialize the simulation context</span>
+</span><span class="linenos">56</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.01</span><span class="p">)</span>
+<span class="linenos">57</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">58</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">59</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+<span class="linenos">60</span>
+<span class="linenos">61</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">62</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">63</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">64</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">65</span>
+<span class="linenos">66</span>    <span class="c1"># Prepare to count sim_time</span>
+<span class="linenos">67</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos">68</span>    <span class="n">sim_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">69</span>
+<span class="linenos">70</span>    <span class="c1"># Open logging file</span>
+<span class="linenos">71</span>    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">,</span> <span class="s2">&quot;log.txt&quot;</span><span class="p">),</span> <span class="s2">&quot;w&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">log_file</span><span class="p">:</span>
+<span class="hll"><span class="linenos">72</span>        <span class="c1"># Simulate physics</span>
+</span><span class="hll"><span class="linenos">73</span>        <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+</span><span class="hll"><span class="linenos">74</span>            <span class="n">log_file</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">sim_time</span><span class="si">}</span><span class="s2">&quot;</span> <span class="o">+</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">75</span>            <span class="c1"># perform step</span>
+</span><span class="hll"><span class="linenos">76</span>            <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">77</span>            <span class="n">sim_time</span> <span class="o">+=</span> <span class="n">sim_dt</span>
+</span><span class="hll"><span class="linenos">78</span>
+</span><span class="hll"><span class="linenos">79</span>
+</span><span class="linenos">80</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">81</span>    <span class="c1"># run the main function</span>
+<span class="linenos">82</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">83</span>    <span class="c1"># close sim app</span>
+<span class="linenos">84</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>The Isaac Lab Docker container has several <a class="reference external" href="https://docs.docker.com/storage/volumes/">volumes</a> to facilitate persistent storage between the host computer and the
+container. One such volume is the <code class="docutils literal notranslate"><span class="pre">/workspace/isaaclab/logs</span></code> directory.
+The <code class="docutils literal notranslate"><span class="pre">log_time.py</span></code> script designates this directory as the location to which a <code class="docutils literal notranslate"><span class="pre">log.txt</span></code> should be written:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Specify that the logs must be in logs/docker_tutorial</span>
+    <span class="n">log_dir_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="s2">&quot;logs&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">isdir</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">):</span>
+        <span class="n">os</span><span class="o">.</span><span class="n">mkdir</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">)</span>
+    <span class="c1"># In the container, the absolute path will be</span>
+    <span class="c1"># /workspace/isaaclab/logs/docker_tutorial, because</span>
+    <span class="c1"># all python execution is done through /workspace/isaaclab/isaaclab.sh</span>
+    <span class="c1"># and the calling process&#39; path will be /workspace/isaaclab</span>
+    <span class="n">log_dir_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">,</span> <span class="s2">&quot;docker_tutorial&quot;</span><span class="p">))</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">isdir</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">):</span>
+        <span class="n">os</span><span class="o">.</span><span class="n">mkdir</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO] Logging experiment to directory: </span><span class="si">{</span><span class="n">log_dir_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>As the comments note, <a class="reference external" href="https://docs.python.org/3/library/os.path.html#os.path.abspath" title="(in Python v3.13)"><code class="xref py py-func docutils literal notranslate"><span class="pre">os.path.abspath()</span></code></a> will prepend <code class="docutils literal notranslate"><span class="pre">/workspace/isaaclab</span></code> because in
+the Docker container all python execution is done through <code class="docutils literal notranslate"><span class="pre">/workspace/isaaclab/isaaclab.sh</span></code>.
+The output will be a file, <code class="docutils literal notranslate"><span class="pre">log.txt</span></code>, with the <code class="docutils literal notranslate"><span class="pre">sim_time</span></code> written on a newline at every simulation step:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Prepare to count sim_time</span>
+    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+    <span class="n">sim_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+
+    <span class="c1"># Open logging file</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_dir_path</span><span class="p">,</span> <span class="s2">&quot;log.txt&quot;</span><span class="p">),</span> <span class="s2">&quot;w&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">log_file</span><span class="p">:</span>
+        <span class="c1"># Simulate physics</span>
+        <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+            <span class="n">log_file</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">sim_time</span><span class="si">}</span><span class="s2">&quot;</span> <span class="o">+</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="c1"># perform step</span>
+            <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+            <span class="n">sim_time</span> <span class="o">+=</span> <span class="n">sim_dt</span>
+</pre></div>
+</div>
+</section>
+<section id="executing-the-script">
+<h2>Executing the Script<a class="headerlink" href="#executing-the-script" title="Permalink to this heading">#</a></h2>
+<p>We will execute the script to produce a log, adding a <code class="docutils literal notranslate"><span class="pre">--headless</span></code> flag to our execution to prevent a GUI:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>isaaclab<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/00_sim/log_time.py<span class="w"> </span>--headless
+</pre></div>
+</div>
+<p>Now <code class="docutils literal notranslate"><span class="pre">log.txt</span></code> will have been produced at <code class="docutils literal notranslate"><span class="pre">/workspace/isaaclab/logs/docker_tutorial</span></code>. If we exit the container
+by typing <code class="docutils literal notranslate"><span class="pre">exit</span></code>, we will return to <code class="docutils literal notranslate"><span class="pre">IsaacLab/docker</span></code> in our host terminal environment. We can then enter
+the following command to retrieve our logs from the Docker container and put them on our host machine:</p>
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">./container.py copy</span>
+</pre></div>
+</div>
+<p>We will see a terminal readout reporting the artifacts we have retrieved from the container. If we navigate to
+<code class="docutils literal notranslate"><span class="pre">/isaaclab/docker/artifacts/logs/docker_tutorial</span></code>, we will see a copy of the <code class="docutils literal notranslate"><span class="pre">log.txt</span></code> file which was produced
+by the script above.</p>
+<p>Each of the directories under <code class="docutils literal notranslate"><span class="pre">artifacts</span></code> corresponds to Docker <a class="reference external" href="https://docs.docker.com/storage/volumes/">volumes</a> mapped to directories
+within the container and the <code class="docutils literal notranslate"><span class="pre">container.py</span> <span class="pre">copy</span></code> command copies them from those <a class="reference external" href="https://docs.docker.com/storage/volumes/">volumes</a> to these directories.</p>
+<p>We could return to the Isaac Lab Docker terminal environment by running <code class="docutils literal notranslate"><span class="pre">container.py</span> <span class="pre">enter</span></code> again,
+but we have retrieved our logs and wish to go inspect them. We can stop the Isaac Lab Docker container with the following command:</p>
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">./container.py stop</span>
+</pre></div>
+</div>
+<p>This will bring down the Docker Isaac Lab container. The image will persist and remain available for further use, as will
+the contents of any <a class="reference external" href="https://docs.docker.com/storage/volumes/">volumes</a>. If we wish to free up the disk space taken by the image, (~20.1GB), and do not mind repeating
+the build process when we next run <code class="docutils literal notranslate"><span class="pre">./container.py</span> <span class="pre">start</span></code>, we may enter the following command to delete the <strong>isaac-lab-base</strong> image:</p>
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">docker image rm isaac-lab-base</span>
+</pre></div>
+</div>
+<p>A subsequent run of <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">image</span> <span class="pre">ls</span></code> will show that the image tagged <strong>isaac-lab-base</strong> is now gone. We can repeat the process for the
+underlying NVIDIA container if we wish to free up more space. If a more powerful method of freeing resources from Docker is desired,
+please consult the documentation for the <a class="reference external" href="https://docs.docker.com/config/pruning/">docker prune</a> commands.</p>
+</section>
+</section>
+
+
+                </article>
+              
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+              
+              
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+    <i class="fa-solid fa-list"></i> Contents
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#building-the-container">Building the Container</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#executing-the-script">Executing the Script</a></li>
+</ul>
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+            
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+    
+
+  <p class="copyright">
+    
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Hydra Configuration System</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#modifying-advanced-parameters">Modifying advanced parameters</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#callables">Callables</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#setting-parameters-to-none">Setting parameters to None</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#dictionaries">Dictionaries</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#modifying-inter-dependent-parameters">Modifying inter-dependent parameters</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="hydra-configuration-system">
+<h1>Hydra Configuration System<a class="headerlink" href="#hydra-configuration-system" title="Permalink to this heading">#</a></h1>
+<p>Isaac Lab supports the <a class="reference external" href="https://hydra.cc/docs/intro/">Hydra</a> configuration system to modify the task’s
+configuration using command line arguments, which can be useful to automate experiments and perform hyperparameter tuning.</p>
+<p>Any parameter of the environment can be modified by adding one or multiple elements of the form <code class="docutils literal notranslate"><span class="pre">env.a.b.param1=value</span></code>
+to the command line input, where <code class="docutils literal notranslate"><span class="pre">a.b.param1</span></code> reflects the parameter’s hierarchy, for example <code class="docutils literal notranslate"><span class="pre">env.actions.joint_effort.scale=10.0</span></code>.
+Similarly, the agent’s parameters can be modified by using the <code class="docutils literal notranslate"><span class="pre">agent</span></code> prefix, for example <code class="docutils literal notranslate"><span class="pre">agent.seed=2024</span></code>.</p>
+<p>The way these command line arguments are set follow the exact structure of the configuration files. Since the different
+RL frameworks use different conventions, there might be differences in the way the parameters are set. For example,
+with <em>rl_games</em> the seed will be set with <code class="docutils literal notranslate"><span class="pre">agent.params.seed</span></code>, while with <em>rsl_rl</em>, <em>skrl</em> and <em>sb3</em> it will be set with
+<code class="docutils literal notranslate"><span class="pre">agent.seed</span></code>.</p>
+<p>As a result, training with hydra arguments can be run with the following syntax:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-0" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="rl-train" data-sync-id="rsl_rl" for="sd-tab-item-0">
+rsl_rl</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>source/standalone/workflows/rsl_rl/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>env.actions.joint_effort.scale<span class="o">=</span><span class="m">10</span>.0<span class="w"> </span>agent.seed<span class="o">=</span><span class="m">2024</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-1" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="rl-train" data-sync-id="rl_games" for="sd-tab-item-1">
+rl_games</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>env.actions.joint_effort.scale<span class="o">=</span><span class="m">10</span>.0<span class="w"> </span>agent.params.seed<span class="o">=</span><span class="m">2024</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-2" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="rl-train" data-sync-id="skrl" for="sd-tab-item-2">
+skrl</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>source/standalone/workflows/skrl/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>env.actions.joint_effort.scale<span class="o">=</span><span class="m">10</span>.0<span class="w"> </span>agent.seed<span class="o">=</span><span class="m">2024</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-3" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="rl-train" data-sync-id="sb3" for="sd-tab-item-3">
+sb3</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>source/standalone/workflows/sb3/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>env.actions.joint_effort.scale<span class="o">=</span><span class="m">10</span>.0<span class="w"> </span>agent.seed<span class="o">=</span><span class="m">2024</span>
+</pre></div>
+</div>
+</div>
+</div>
+<p>The above command will run the training script with the task <code class="docutils literal notranslate"><span class="pre">Isaac-Cartpole-v0</span></code> in headless mode, and set the
+<code class="docutils literal notranslate"><span class="pre">env.actions.joint_effort.scale</span></code> parameter to 10.0 and the <code class="docutils literal notranslate"><span class="pre">agent.seed</span></code> parameter to 2024.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>To keep backwards compatibility, and to provide a more user-friendly experience, we have kept the old cli arguments
+of the form <code class="docutils literal notranslate"><span class="pre">--param</span></code>, for example <code class="docutils literal notranslate"><span class="pre">--num_envs</span></code>, <code class="docutils literal notranslate"><span class="pre">--seed</span></code>, <code class="docutils literal notranslate"><span class="pre">--max_iterations</span></code>. These arguments have precedence
+over the hydra arguments, and will overwrite the values set by the hydra arguments.</p>
+</div>
+<section id="modifying-advanced-parameters">
+<h2>Modifying advanced parameters<a class="headerlink" href="#modifying-advanced-parameters" title="Permalink to this heading">#</a></h2>
+<section id="callables">
+<h3>Callables<a class="headerlink" href="#callables" title="Permalink to this heading">#</a></h3>
+<p>It is possible to modify functions and classes in the configuration files by using the syntax <code class="docutils literal notranslate"><span class="pre">module:attribute_name</span></code>.
+For example, in the Cartpole environment:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">ObservationsCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Observation specifications for the MDP.&quot;&quot;&quot;</span>
+
+    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">PolicyCfg</span><span class="p">(</span><span class="n">ObsGroup</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Observations for policy group.&quot;&quot;&quot;</span>
+
+        <span class="c1"># observation terms (order preserved)</span>
+<span class="hll">        <span class="n">joint_pos_rel</span> <span class="o">=</span> <span class="n">ObsTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_pos_rel</span><span class="p">)</span>
+</span>        <span class="n">joint_vel_rel</span> <span class="o">=</span> <span class="n">ObsTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_vel_rel</span><span class="p">)</span>
+
+        <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">enable_corruption</span> <span class="o">=</span> <span class="kc">False</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">concatenate_terms</span> <span class="o">=</span> <span class="kc">True</span>
+
+    <span class="c1"># observation groups</span>
+    <span class="n">policy</span><span class="p">:</span> <span class="n">PolicyCfg</span> <span class="o">=</span> <span class="n">PolicyCfg</span><span class="p">()</span>
+</pre></div>
+</div>
+<p>we could modify <code class="docutils literal notranslate"><span class="pre">joint_pos_rel</span></code> to compute absolute positions instead of relative positions with
+<code class="docutils literal notranslate"><span class="pre">env.observations.policy.joint_pos_rel.func=omni.isaac.lab.envs.mdp:joint_pos</span></code>.</p>
+</section>
+<section id="setting-parameters-to-none">
+<h3>Setting parameters to None<a class="headerlink" href="#setting-parameters-to-none" title="Permalink to this heading">#</a></h3>
+<p>To set parameters to None, use the <code class="docutils literal notranslate"><span class="pre">null</span></code> keyword, which is a special keyword in Hydra that is automatically converted to None.
+In the above example, we could also disable the <code class="docutils literal notranslate"><span class="pre">joint_pos_rel</span></code> observation by setting it to None with
+<code class="docutils literal notranslate"><span class="pre">env.observations.policy.joint_pos_rel=null</span></code>.</p>
+</section>
+<section id="dictionaries">
+<h3>Dictionaries<a class="headerlink" href="#dictionaries" title="Permalink to this heading">#</a></h3>
+<p>Elements in dictionaries are handled as a parameters in the hierarchy. For example, in the Cartpole environment:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="n">reset_cart_position</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">reset_joints_by_offset</span><span class="p">,</span>
+        <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">]),</span>
+            <span class="s2">&quot;position_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span>
+            <span class="s2">&quot;velocity_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">),</span>
+        <span class="p">},</span>
+    <span class="p">)</span>
+
+<span class="hll">    <span class="n">reset_pole_position</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+</span>        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">reset_joints_by_offset</span><span class="p">,</span>
+        <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">]),</span>
+            <span class="s2">&quot;position_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.25</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="mf">0.25</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">),</span>
+            <span class="s2">&quot;velocity_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.25</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="mf">0.25</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">),</span>
+        <span class="p">},</span>
+    <span class="p">)</span>
+
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RewardsCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reward terms for the MDP.&quot;&quot;&quot;</span>
+
+</pre></div>
+</div>
+<p>the <code class="docutils literal notranslate"><span class="pre">position_range</span></code> parameter can be modified with <code class="docutils literal notranslate"><span class="pre">env.events.reset_cart_position.params.position_range=&quot;[-2.0,</span> <span class="pre">2.0]&quot;</span></code>.
+This example shows two noteworthy points:</p>
+<ul class="simple">
+<li><p>The parameter we set has a space, so it must be enclosed in quotes.</p></li>
+<li><p>The parameter is a list while it is a tuple in the config. This is due to the fact that Hydra does not support tuples.</p></li>
+</ul>
+</section>
+</section>
+<section id="modifying-inter-dependent-parameters">
+<h2>Modifying inter-dependent parameters<a class="headerlink" href="#modifying-inter-dependent-parameters" title="Permalink to this heading">#</a></h2>
+<p>Particular care should be taken when modifying the parameters using command line arguments. Some of the configurations
+perform intermediate computations based on other parameters. These computations will not be updated when the parameters
+are modified.</p>
+<p>For example, for the configuration of the Cartpole camera depth environment:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">CartpoleDepthCameraEnvCfg</span><span class="p">(</span><span class="n">CartpoleRGBCameraEnvCfg</span><span class="p">):</span>
+    <span class="c1"># camera</span>
+    <span class="n">tiled_camera</span><span class="p">:</span> <span class="n">TiledCameraCfg</span> <span class="o">=</span> <span class="n">TiledCameraCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Camera&quot;</span><span class="p">,</span>
+        <span class="n">offset</span><span class="o">=</span><span class="n">TiledCameraCfg</span><span class="o">.</span><span class="n">OffsetCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="o">-</span><span class="mf">5.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span> <span class="n">rot</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">convention</span><span class="o">=</span><span class="s2">&quot;world&quot;</span><span class="p">),</span>
+        <span class="n">data_types</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;depth&quot;</span><span class="p">],</span>
+        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PinholeCameraCfg</span><span class="p">(</span>
+            <span class="n">focal_length</span><span class="o">=</span><span class="mf">24.0</span><span class="p">,</span> <span class="n">focus_distance</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span> <span class="n">horizontal_aperture</span><span class="o">=</span><span class="mf">20.955</span><span class="p">,</span> <span class="n">clipping_range</span><span class="o">=</span><span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">20.0</span><span class="p">)</span>
+        <span class="p">),</span>
+<span class="hll">        <span class="n">width</span><span class="o">=</span><span class="mi">80</span><span class="p">,</span>
+</span>        <span class="n">height</span><span class="o">=</span><span class="mi">80</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="c1"># spaces</span>
+<span class="hll">    <span class="n">observation_space</span> <span class="o">=</span> <span class="p">[</span><span class="n">tiled_camera</span><span class="o">.</span><span class="n">height</span><span class="p">,</span> <span class="n">tiled_camera</span><span class="o">.</span><span class="n">width</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+</span></pre></div>
+</div>
+<p>If the user were to modify the width of the camera, i.e. <code class="docutils literal notranslate"><span class="pre">env.tiled_camera.width=128</span></code>, then the parameter
+<code class="docutils literal notranslate"><span class="pre">env.observation_space=[80,128,1]</span></code> must be updated and given as input as well.</p>
+<p>Similarly, the <code class="docutils literal notranslate"><span class="pre">__post_init__</span></code> method is not updated with the command line inputs. In the <code class="docutils literal notranslate"><span class="pre">LocomotionVelocityRoughEnvCfg</span></code>, for example,
+the post init update is as follows:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">LocomotionVelocityRoughEnvCfg</span><span class="p">(</span><span class="n">ManagerBasedRLEnvCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the locomotion velocity-tracking environment.&quot;&quot;&quot;</span>
+
+    <span class="c1"># Scene settings</span>
+    <span class="n">scene</span><span class="p">:</span> <span class="n">MySceneCfg</span> <span class="o">=</span> <span class="n">MySceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">4096</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.5</span><span class="p">)</span>
+    <span class="c1"># Basic settings</span>
+    <span class="n">observations</span><span class="p">:</span> <span class="n">ObservationsCfg</span> <span class="o">=</span> <span class="n">ObservationsCfg</span><span class="p">()</span>
+    <span class="n">actions</span><span class="p">:</span> <span class="n">ActionsCfg</span> <span class="o">=</span> <span class="n">ActionsCfg</span><span class="p">()</span>
+    <span class="n">commands</span><span class="p">:</span> <span class="n">CommandsCfg</span> <span class="o">=</span> <span class="n">CommandsCfg</span><span class="p">()</span>
+    <span class="c1"># MDP settings</span>
+    <span class="n">rewards</span><span class="p">:</span> <span class="n">RewardsCfg</span> <span class="o">=</span> <span class="n">RewardsCfg</span><span class="p">()</span>
+    <span class="n">terminations</span><span class="p">:</span> <span class="n">TerminationsCfg</span> <span class="o">=</span> <span class="n">TerminationsCfg</span><span class="p">()</span>
+    <span class="n">events</span><span class="p">:</span> <span class="n">EventCfg</span> <span class="o">=</span> <span class="n">EventCfg</span><span class="p">()</span>
+    <span class="n">curriculum</span><span class="p">:</span> <span class="n">CurriculumCfg</span> <span class="o">=</span> <span class="n">CurriculumCfg</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Post initialization.&quot;&quot;&quot;</span>
+        <span class="c1"># general settings</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">decimation</span> <span class="o">=</span> <span class="mi">4</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_s</span> <span class="o">=</span> <span class="mf">20.0</span>
+        <span class="c1"># simulation settings</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span> <span class="o">=</span> <span class="mf">0.005</span>
+<span class="hll">        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">decimation</span>
+</span>        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">disable_contact_processing</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">physics_material</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">terrain</span><span class="o">.</span><span class="n">physics_material</span>
+        <span class="c1"># update sensor update periods</span>
+        <span class="c1"># we tick all the sensors based on the smallest update period (physics update period)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">height_scanner</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="hll">            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">height_scanner</span><span class="o">.</span><span class="n">update_period</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">decimation</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span>
+</span>        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">contact_forces</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="hll">            <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">contact_forces</span><span class="o">.</span><span class="n">update_period</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span>
+</span>
+        <span class="c1"># check if terrain levels curriculum is enabled - if so, enable curriculum for terrain generator</span>
+        <span class="c1"># this generates terrains with increasing difficulty and is useful for training</span>
+        <span class="k">if</span> <span class="nb">getattr</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">curriculum</span><span class="p">,</span> <span class="s2">&quot;terrain_levels&quot;</span><span class="p">,</span> <span class="kc">None</span><span class="p">)</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">terrain</span><span class="o">.</span><span class="n">terrain_generator</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">terrain</span><span class="o">.</span><span class="n">terrain_generator</span><span class="o">.</span><span class="n">curriculum</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">terrain</span><span class="o">.</span><span class="n">terrain_generator</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">terrain</span><span class="o">.</span><span class="n">terrain_generator</span><span class="o">.</span><span class="n">curriculum</span> <span class="o">=</span> <span class="kc">False</span>
+</pre></div>
+</div>
+<p>Here, when modifying <code class="docutils literal notranslate"><span class="pre">env.decimation</span></code> or <code class="docutils literal notranslate"><span class="pre">env.sim.dt</span></code>, the user needs to give the updated <code class="docutils literal notranslate"><span class="pre">env.sim.render_interval</span></code>,
+<code class="docutils literal notranslate"><span class="pre">env.scene.height_scanner.update_period</span></code>, and <code class="docutils literal notranslate"><span class="pre">env.scene.contact_forces.update_period</span></code> as input as well.</p>
+</section>
+</section>
+
+
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+<li class="toctree-l1"><a class="reference internal" href="../setup/faq.html">Frequently Asked Questions</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Overview</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/developer-guide/index.html">Developer’s Guide</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../overview/developer-guide/vs_code.html">Setting up Visual Studio Code</a></li>
+
+<li class="toctree-l2"><a class="reference internal" href="../overview/developer-guide/repo_structure.html">Repository organization</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/developer-guide/development.html">Application Development</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/developer-guide/template.html">Building your Own Project</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/core-concepts/index.html">Core Concepts</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../overview/core-concepts/task_workflows.html">Task Design Workflows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/environments.html">Available Environments</a></li>
+
+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="current nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1 current active"><a class="current reference internal" href="#">Multi-GPU and Multi-Node Training</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="reproducibility.html">Reproducibility and Determinism</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+</ul>
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+    <!-- Table of contents -->
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+            <div>
+                <h2> Contents </h2>
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+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#multi-gpu-training">Multi-GPU Training</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#multi-node-training">Multi-Node Training</a></li>
+</ul>
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+                  
+  <section id="multi-gpu-and-multi-node-training">
+<h1>Multi-GPU and Multi-Node Training<a class="headerlink" href="#multi-gpu-and-multi-node-training" title="Permalink to this heading">#</a></h1>
+<p>Isaac Lab supports multi-GPU and multi-node reinforcement learning. Currently, this feature is only
+available for RL-Games and skrl libraries workflows. We are working on extending this feature to
+other workflows.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>Multi-GPU and multi-node training is only supported on Linux. Windows support is not available at this time.
+This is due to limitations of the NCCL library on Windows.</p>
+</div>
+<section id="multi-gpu-training">
+<h2>Multi-GPU Training<a class="headerlink" href="#multi-gpu-training" title="Permalink to this heading">#</a></h2>
+<p>For complex reinforcement learning environments, it may be desirable to scale up training across multiple GPUs.
+This is possible in Isaac Lab through the use of the
+<a class="reference external" href="https://pytorch.org/docs/stable/distributed.html">PyTorch distributed</a> framework or the
+<a class="reference external" href="https://jax.readthedocs.io/en/latest/jax.distributed.html">JAX distributed</a> module respectively.</p>
+<p>In PyTorch, the <code class="xref py py-meth docutils literal notranslate"><span class="pre">torch.distributed()</span></code> API is used to launch multiple processes of training, where the number of
+processes must be equal to or less than the number of GPUs available. Each process runs on
+a dedicated GPU and launches its own instance of Isaac Sim and the Isaac Lab environment.
+Each process collects its own rollouts during the training process and has its own copy of the policy
+network. During training, gradients are aggregated across the processes and broadcasted back to the process
+at the end of the epoch.</p>
+<p>In JAX, since the ML framework doesn’t automatically start multiple processes from a single program invocation,
+the skrl library provides a module to start them.</p>
+<a class="only-light reference internal image-reference" href="../../_images/a3c-light.svg"><img alt="Multi-GPU training paradigm" class="only-light align-center" src="../../_images/a3c-light.svg" width="80%" /></a>
+<a class="only-dark reference internal image-reference" href="../../_images/a3c-dark.svg"><img alt="Multi-GPU training paradigm" class="only-dark align-center" src="../../_images/a3c-dark.svg" width="80%" /></a>
+<div class="line-block">
+<div class="line"><br /></div>
+</div>
+<p>To train with multiple GPUs, use the following command, where <code class="docutils literal notranslate"><span class="pre">--proc_per_node</span></code> represents the number of available GPUs:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-0" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="rl-train" data-sync-id="rl_games" for="sd-tab-item-0">
+rl_games</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>-m<span class="w"> </span>torch.distributed.run<span class="w"> </span>--nnodes<span class="o">=</span><span class="m">1</span><span class="w"> </span>--nproc_per_node<span class="o">=</span><span class="m">2</span><span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--distributed
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-1" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="rl-train" data-sync-id="skrl" for="sd-tab-item-1">
+skrl</label><div class="sd-tab-content docutils">
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-2" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="tab" data-sync-id="torch" for="sd-tab-item-2">
+PyTorch</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>-m<span class="w"> </span>torch.distributed.run<span class="w"> </span>--nnodes<span class="o">=</span><span class="m">1</span><span class="w"> </span>--nproc_per_node<span class="o">=</span><span class="m">2</span><span class="w"> </span>source/standalone/workflows/skrl/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--distributed
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-3" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="tab" data-sync-id="jax" for="sd-tab-item-3">
+JAX</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>-m<span class="w"> </span>skrl.utils.distributed.jax<span class="w"> </span>--nnodes<span class="o">=</span><span class="m">1</span><span class="w"> </span>--nproc_per_node<span class="o">=</span><span class="m">2</span><span class="w"> </span>source/standalone/workflows/skrl/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--distributed<span class="w"> </span>--ml_framework<span class="w"> </span>jax
+</pre></div>
+</div>
+</div>
+</div>
+</div>
+</div>
+</section>
+<section id="multi-node-training">
+<h2>Multi-Node Training<a class="headerlink" href="#multi-node-training" title="Permalink to this heading">#</a></h2>
+<p>To scale up training beyond multiple GPUs on a single machine, it is also possible to train across multiple nodes.
+To train across multiple nodes/machines, it is required to launch an individual process on each node.</p>
+<p>For the master node, use the following command, where <code class="docutils literal notranslate"><span class="pre">--nproc_per_node</span></code> represents the number of available GPUs, and
+<code class="docutils literal notranslate"><span class="pre">--nnodes</span></code> represents the number of nodes:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-4" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" data-sync-group="rl-train" data-sync-id="rl_games" for="sd-tab-item-4">
+rl_games</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>-m<span class="w"> </span>torch.distributed.run<span class="w"> </span>--nproc_per_node<span class="o">=</span><span class="m">2</span><span class="w"> </span>--nnodes<span class="o">=</span><span class="m">2</span><span class="w"> </span>--node_rank<span class="o">=</span><span class="m">0</span><span class="w"> </span>--rdzv_id<span class="o">=</span><span class="m">123</span><span class="w"> </span>--rdzv_backend<span class="o">=</span>c10d<span class="w"> </span>--rdzv_endpoint<span class="o">=</span>localhost:5555<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--distributed
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-5" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" data-sync-group="rl-train" data-sync-id="skrl" for="sd-tab-item-5">
+skrl</label><div class="sd-tab-content docutils">
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-6" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" data-sync-group="tab" data-sync-id="torch" for="sd-tab-item-6">
+PyTorch</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>-m<span class="w"> </span>torch.distributed.run<span class="w"> </span>--nproc_per_node<span class="o">=</span><span class="m">2</span><span class="w"> </span>--nnodes<span class="o">=</span><span class="m">2</span><span class="w"> </span>--node_rank<span class="o">=</span><span class="m">0</span><span class="w"> </span>--rdzv_id<span class="o">=</span><span class="m">123</span><span class="w"> </span>--rdzv_backend<span class="o">=</span>c10d<span class="w"> </span>--rdzv_endpoint<span class="o">=</span>localhost:5555<span class="w"> </span>source/standalone/workflows/skrl/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--distributed
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-7" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" data-sync-group="tab" data-sync-id="jax" for="sd-tab-item-7">
+JAX</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>-m<span class="w"> </span>skrl.utils.distributed.jax<span class="w"> </span>--nproc_per_node<span class="o">=</span><span class="m">2</span><span class="w"> </span>--nnodes<span class="o">=</span><span class="m">2</span><span class="w"> </span>--node_rank<span class="o">=</span><span class="m">0</span><span class="w"> </span>--coordinator_address<span class="o">=</span>ip_of_master_machine:5555<span class="w"> </span>source/standalone/workflows/skrl/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--distributed<span class="w"> </span>--ml_framework<span class="w"> </span>jax
+</pre></div>
+</div>
+</div>
+</div>
+</div>
+</div>
+<p>Note that the port (<code class="docutils literal notranslate"><span class="pre">5555</span></code>) can be replaced with any other available port.</p>
+<p>For non-master nodes, use the following command, replacing <code class="docutils literal notranslate"><span class="pre">--node_rank</span></code> with the index of each machine:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-8" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" data-sync-group="rl-train" data-sync-id="rl_games" for="sd-tab-item-8">
+rl_games</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>-m<span class="w"> </span>torch.distributed.run<span class="w"> </span>--nproc_per_node<span class="o">=</span><span class="m">2</span><span class="w"> </span>--nnodes<span class="o">=</span><span class="m">2</span><span class="w"> </span>--node_rank<span class="o">=</span><span class="m">1</span><span class="w"> </span>--rdzv_id<span class="o">=</span><span class="m">123</span><span class="w"> </span>--rdzv_backend<span class="o">=</span>c10d<span class="w"> </span>--rdzv_endpoint<span class="o">=</span>ip_of_master_machine:5555<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--distributed
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-9" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" data-sync-group="rl-train" data-sync-id="skrl" for="sd-tab-item-9">
+skrl</label><div class="sd-tab-content docutils">
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-10" name="sd-tab-set-5" type="radio">
+<label class="sd-tab-label" data-sync-group="tab" data-sync-id="torch" for="sd-tab-item-10">
+PyTorch</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>-m<span class="w"> </span>torch.distributed.run<span class="w"> </span>--nproc_per_node<span class="o">=</span><span class="m">2</span><span class="w"> </span>--nnodes<span class="o">=</span><span class="m">2</span><span class="w"> </span>--node_rank<span class="o">=</span><span class="m">1</span><span class="w"> </span>--rdzv_id<span class="o">=</span><span class="m">123</span><span class="w"> </span>--rdzv_backend<span class="o">=</span>c10d<span class="w"> </span>--rdzv_endpoint<span class="o">=</span>ip_of_master_machine:5555<span class="w"> </span>source/standalone/workflows/skrl/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--distributed
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-11" name="sd-tab-set-5" type="radio">
+<label class="sd-tab-label" data-sync-group="tab" data-sync-id="jax" for="sd-tab-item-11">
+JAX</label><div class="sd-tab-content docutils">
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>-m<span class="w"> </span>skrl.utils.distributed.jax<span class="w"> </span>--nproc_per_node<span class="o">=</span><span class="m">2</span><span class="w"> </span>--nnodes<span class="o">=</span><span class="m">2</span><span class="w"> </span>--node_rank<span class="o">=</span><span class="m">1</span><span class="w"> </span>--coordinator_address<span class="o">=</span>ip_of_master_machine:5555<span class="w"> </span>source/standalone/workflows/skrl/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--distributed<span class="w"> </span>--ml_framework<span class="w"> </span>jax
+</pre></div>
+</div>
+</div>
+</div>
+</div>
+</div>
+<p>For more details on multi-node training with PyTorch, please visit the
+<a class="reference external" href="https://pytorch.org/tutorials/intermediate/ddp_series_multinode.html">PyTorch documentation</a>.
+For more details on multi-node training with JAX, please visit the
+<a class="reference external" href="https://skrl.readthedocs.io/en/latest/api/utils/distributed.html">skrl documentation</a> and the
+<a class="reference external" href="https://jax.readthedocs.io/en/latest/multi_process.html">JAX documentation</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>As mentioned in the PyTorch documentation, “multi-node training is bottlenecked by inter-node communication
+latencies”. When this latency is high, it is possible multi-node training will perform worse than running on
+a single node instance.</p>
+</div>
+</section>
+</section>
+
+
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Ray Job Dispatch and Tuning</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#overview">Overview</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#installation"><strong>Installation</strong></a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#setup-overview-cluster-configuration"><strong>Setup Overview: Cluster Configuration</strong></a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#single-node-ray-cluster-recommended-for-beginners">Single-Node Ray Cluster (Recommended for Beginners)</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#kuberay-clusters">KubeRay Clusters</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#ray-clusters-without-kubernetes">Ray Clusters (Without Kubernetes)</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#dispatching-jobs-and-tuning"><strong>Dispatching Jobs and Tuning</strong></a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#simple-ray-cluster-local-vm">Simple Ray Cluster (Local/VM)</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#remote-ray-cluster-setup-and-use">Remote Ray Cluster Setup and Use</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#shared-steps-between-kuberay-and-pure-ray-part-i">Shared Steps Between KubeRay and Pure Ray Part I</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#kuberay-specific">KubeRay Specific</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#ray-specific">Ray Specific</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#shared-steps-between-kuberay-and-pure-ray-part-ii">Shared Steps Between KubeRay and Pure Ray Part II</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#cluster-cleanup"><strong>Cluster Cleanup</strong></a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="ray-job-dispatch-and-tuning">
+<h1>Ray Job Dispatch and Tuning<a class="headerlink" href="#ray-job-dispatch-and-tuning" title="Permalink to this heading">#</a></h1>
+<p>Isaac Lab supports <a class="reference external" href="https://docs.ray.io/en/latest/index.html">Ray</a> for streamlining dispatching multiple training jobs (in parallel and in series),
+and hyperparameter tuning, both on local and remote configurations.</p>
+<p>This <a class="reference external" href="https://youtu.be/z7MDgSga2Ho?feature=shared">independent community contributed walkthrough video</a>
+demonstrates some of the core functionality of the Ray integration covered in this overview. Although there may be some
+differences in the codebase (such as file names being shortened) since the creation of the video,
+the general workflow is the same.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>This functionality is experimental, and has been tested only on Linux.</p>
+</div>
+<nav class="contents local" id="table-of-contents">
+<p class="topic-title">Table of Contents</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="#overview" id="id1">Overview</a></p></li>
+<li><p><a class="reference internal" href="#installation" id="id2"><strong>Installation</strong></a></p></li>
+<li><p><a class="reference internal" href="#setup-overview-cluster-configuration" id="id3"><strong>Setup Overview: Cluster Configuration</strong></a></p>
+<ul>
+<li><p><a class="reference internal" href="#single-node-ray-cluster-recommended-for-beginners" id="id4">Single-Node Ray Cluster (Recommended for Beginners)</a></p></li>
+<li><p><a class="reference internal" href="#kuberay-clusters" id="id5">KubeRay Clusters</a></p></li>
+<li><p><a class="reference internal" href="#ray-clusters-without-kubernetes" id="id6">Ray Clusters (Without Kubernetes)</a></p></li>
+</ul>
+</li>
+<li><p><a class="reference internal" href="#dispatching-jobs-and-tuning" id="id7"><strong>Dispatching Jobs and Tuning</strong></a></p>
+<ul>
+<li><p><a class="reference internal" href="#simple-ray-cluster-local-vm" id="id8">Simple Ray Cluster (Local/VM)</a></p></li>
+<li><p><a class="reference internal" href="#remote-ray-cluster-setup-and-use" id="id9">Remote Ray Cluster Setup and Use</a></p>
+<ul>
+<li><p><a class="reference internal" href="#shared-steps-between-kuberay-and-pure-ray-part-i" id="id10">Shared Steps Between KubeRay and Pure Ray Part I</a></p></li>
+<li><p><a class="reference internal" href="#kuberay-specific" id="id11">KubeRay Specific</a></p></li>
+<li><p><a class="reference internal" href="#ray-specific" id="id12">Ray Specific</a></p></li>
+<li><p><a class="reference internal" href="#shared-steps-between-kuberay-and-pure-ray-part-ii" id="id13">Shared Steps Between KubeRay and Pure Ray Part II</a></p></li>
+</ul>
+</li>
+<li><p><a class="reference internal" href="#cluster-cleanup" id="id14"><strong>Cluster Cleanup</strong></a></p></li>
+</ul>
+</li>
+</ul>
+</nav>
+<section id="overview">
+<h2><a class="toc-backref" href="#id1" role="doc-backlink">Overview</a><a class="headerlink" href="#overview" title="Permalink to this heading">#</a></h2>
+<p>The Ray integration is useful for the following:</p>
+<ul class="simple">
+<li><p>Dispatching several training jobs in parallel or sequentially with minimal interaction</p></li>
+<li><p>Tuning hyperparameters; in parallel or sequentially with support for multiple GPUs and/or multiple GPU Nodes</p></li>
+<li><p>Using the same training setup everywhere (on cloud and local) with minimal overhead</p></li>
+<li><p>Resource Isolation for training jobs</p></li>
+</ul>
+<p>The core functionality of the Ray workflow consists of two main scripts that enable the orchestration
+of resource-wrapped and tuning aggregate jobs. These scripts facilitate the decomposition of
+aggregate jobs (overarching experiments) into individual jobs, which are discrete commands
+executed on the cluster. An aggregate job can include multiple individual jobs.
+For clarity, this guide refers to the jobs one layer below the topmost aggregate level as sub-jobs.</p>
+<p>Both resource-wrapped and tuning aggregate jobs dispatch individual jobs to a designated Ray
+cluster, which leverages the cluster’s resources (e.g., a single workstation node or multiple nodes)
+to execute these jobs with workers in parallel and/or sequentially. By default, aggregate jobs use all available resources on each available GPU-enabled node for each sub-job worker. This can be changed through
+specifying the <code class="docutils literal notranslate"><span class="pre">--num_workers</span></code> argument, especially critical for parallel aggregate
+job processing on local or virtual multi-GPU machines</p>
+<p>In resource-wrapped aggregate jobs, each sub-job and its
+resource requirements are defined manually, enabling resource isolation.
+For tuning aggregate jobs, individual jobs are generated automatically based on a hyperparameter
+sweep configuration. This assumes homogeneous node resource composition for nodes with GPUs.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/wrap_resources.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">argparse</span>
+
+<span class="kn">import</span> <span class="nn">ray</span>
+<span class="kn">from</span> <span class="nn">ray.util.scheduling_strategies</span> <span class="kn">import</span> <span class="n">NodeAffinitySchedulingStrategy</span>
+
+<span class="kn">import</span> <span class="nn">source.standalone.workflows.ray.util</span> <span class="k">as</span> <span class="nn">util</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="hll"><span class="sd">This script dispatches sub-job(s) (either individual jobs or tuning aggregate jobs)</span>
+</span><span class="hll"><span class="sd">to worker(s) on GPU-enabled node(s) of a specific cluster as part of an resource-wrapped aggregate</span>
+</span><span class="hll"><span class="sd">job. If no desired compute resources for each sub-job are specified,</span>
+</span><span class="hll"><span class="sd">this script creates one worker per available node for each node with GPU(s) in the cluster.</span>
+</span><span class="hll"><span class="sd">If the desired resources for each sub-job is specified,</span>
+</span><span class="hll"><span class="sd">the maximum number of workers possible with the desired resources are created for each node</span>
+</span><span class="hll"><span class="sd">with GPU(s) in the cluster. It is also possible to split available node resources for each node</span>
+</span><span class="hll"><span class="sd">into the desired number of workers with the ``--num_workers`` flag, to be able to easily</span>
+</span><span class="hll"><span class="sd">parallelize sub-jobs on multi-GPU nodes. Due to Isaac Lab requiring a GPU,</span>
+</span><span class="hll"><span class="sd">this ignores all CPU only nodes such as loggers.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Sub-jobs are matched with node(s) in a cluster via the following relation:</span>
+</span><span class="hll"><span class="sd">sorted_nodes = Node sorted by descending GPUs, then descending CPUs, then descending RAM, then node ID</span>
+</span><span class="hll"><span class="sd">node_submitted_to = sorted_nodes[job_index % total_node_count]</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">To check the ordering of sorted nodes, supply the ``--test`` argument and run the script.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Sub-jobs are separated by the + delimiter. The ``--sub_jobs`` argument must be the last</span>
+</span><span class="hll"><span class="sd">argument supplied to the script.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">If there is more than one available worker, and more than one sub-job,</span>
+</span><span class="hll"><span class="sd">sub-jobs will be executed in parallel. If there are more sub-jobs than workers, sub-jobs will</span>
+</span><span class="hll"><span class="sd">be dispatched to workers as they become available. There is no limit on the number</span>
+</span><span class="hll"><span class="sd">of sub-jobs that can be near-simultaneously submitted.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">This script is meant to be executed on a Ray cluster head node as an aggregate cluster job.</span>
+</span><span class="hll"><span class="sd">To submit aggregate cluster jobs such as this script to one or more remote clusters,</span>
+</span><span class="hll"><span class="sd">see :file:`../submit_isaac_ray_job.py`.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">KubeRay clusters on Google GKE can be created with :file:`../launch.py`</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll"><span class="sd">    # **Ensure that sub-jobs are separated by the ``+`` delimiter.**</span>
+</span><span class="hll"><span class="sd">    # Generic Templates-----------------------------------</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py -h</span>
+</span><span class="hll"><span class="sd">    # No resource isolation; no parallelization:</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py</span>
+</span><span class="hll"><span class="sd">    --sub_jobs &lt;JOB0&gt;+&lt;JOB1&gt;+&lt;JOB2&gt;</span>
+</span><span class="hll"><span class="sd">    # Automatic Resource Isolation; Example A: needed for parallelization</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py \</span>
+</span><span class="hll"><span class="sd">    --num_workers &lt;NUM_TO_DIVIDE_TOTAL_RESOURCES_BY&gt; \</span>
+</span><span class="hll"><span class="sd">    --sub_jobs &lt;JOB0&gt;+&lt;JOB1&gt;</span>
+</span><span class="hll"><span class="sd">    # Manual Resource Isolation; Example B:  needed for parallelization</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py --num_cpu_per_worker &lt;CPU&gt; \</span>
+</span><span class="hll"><span class="sd">    --gpu_per_worker &lt;GPU&gt; --ram_gb_per_worker &lt;RAM&gt; --sub_jobs &lt;JOB0&gt;+&lt;JOB1&gt;</span>
+</span><span class="hll"><span class="sd">    # Manual Resource Isolation; Example C: Needed for parallelization, for heterogeneous workloads</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py --num_cpu_per_worker &lt;CPU&gt; \</span>
+</span><span class="hll"><span class="sd">    --gpu_per_worker &lt;GPU1&gt; &lt;GPU2&gt; --ram_gb_per_worker &lt;RAM&gt; --sub_jobs &lt;JOB0&gt;+&lt;JOB1&gt;</span>
+</span><span class="hll"><span class="sd">    # to see all arguments</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py -h</span>
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span>
+
+<span class="k">def</span> <span class="nf">wrap_resources_to_jobs</span><span class="p">(</span><span class="n">jobs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">args</span><span class="p">:</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Provided a list of jobs, dispatch jobs to one worker per available node,</span>
+<span class="sd">    unless otherwise specified by resource constraints.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        jobs: bash commands to execute on a Ray cluster</span>
+<span class="sd">        args: The arguments for resource allocation</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">ray</span><span class="o">.</span><span class="n">is_initialized</span><span class="p">():</span>
+        <span class="n">ray</span><span class="o">.</span><span class="n">init</span><span class="p">(</span><span class="n">address</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">ray_address</span><span class="p">,</span> <span class="n">log_to_driver</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="n">job_results</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="n">gpu_node_resources</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_gpu_node_resources</span><span class="p">(</span><span class="n">include_id</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">include_gb_ram</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="nb">any</span><span class="p">([</span><span class="n">args</span><span class="o">.</span><span class="n">gpu_per_worker</span><span class="p">,</span> <span class="n">args</span><span class="o">.</span><span class="n">cpu_per_worker</span><span class="p">,</span> <span class="n">args</span><span class="o">.</span><span class="n">ram_gb_per_worker</span><span class="p">])</span> <span class="ow">and</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Either specify only num_workers or only granular resources(GPU,CPU,RAM_GB).&quot;</span><span class="p">)</span>
+
+    <span class="n">num_nodes</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">gpu_node_resources</span><span class="p">)</span>
+    <span class="c1"># Populate arguments</span>
+    <span class="n">formatted_node_resources</span> <span class="o">=</span> <span class="p">{</span>
+        <span class="s2">&quot;gpu_per_worker&quot;</span><span class="p">:</span> <span class="p">[</span><span class="n">gpu_node_resources</span><span class="p">[</span><span class="n">i</span><span class="p">][</span><span class="s2">&quot;GPU&quot;</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_nodes</span><span class="p">)],</span>
+        <span class="s2">&quot;cpu_per_worker&quot;</span><span class="p">:</span> <span class="p">[</span><span class="n">gpu_node_resources</span><span class="p">[</span><span class="n">i</span><span class="p">][</span><span class="s2">&quot;CPU&quot;</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_nodes</span><span class="p">)],</span>
+        <span class="s2">&quot;ram_gb_per_worker&quot;</span><span class="p">:</span> <span class="p">[</span><span class="n">gpu_node_resources</span><span class="p">[</span><span class="n">i</span><span class="p">][</span><span class="s2">&quot;ram_gb&quot;</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_nodes</span><span class="p">)],</span>
+        <span class="s2">&quot;num_workers&quot;</span><span class="p">:</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">,</span>  <span class="c1"># By default, 1 worker por node</span>
+    <span class="p">}</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">fill_in_missing_resources</span><span class="p">(</span><span class="n">args</span><span class="p">,</span> <span class="n">resources</span><span class="o">=</span><span class="n">formatted_node_resources</span><span class="p">,</span> <span class="n">policy</span><span class="o">=</span><span class="nb">min</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Number of GPU nodes found: </span><span class="si">{</span><span class="n">num_nodes</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">test</span><span class="p">:</span>
+        <span class="n">jobs</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;nvidia-smi&quot;</span><span class="p">]</span> <span class="o">*</span> <span class="n">num_nodes</span>
+    <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">job</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">jobs</span><span class="p">):</span>
+        <span class="n">gpu_node</span> <span class="o">=</span> <span class="n">gpu_node_resources</span><span class="p">[</span><span class="n">i</span> <span class="o">%</span> <span class="n">num_nodes</span><span class="p">]</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Submitting job </span><span class="si">{</span><span class="n">i</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="mi">1</span><span class="si">}</span><span class="s2"> of </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">jobs</span><span class="p">)</span><span class="si">}</span><span class="s2"> with job &#39;</span><span class="si">{</span><span class="n">job</span><span class="si">}</span><span class="s2">&#39; to node </span><span class="si">{</span><span class="n">gpu_node</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;[INFO]: Resource parameters: GPU: </span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">gpu_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot; CPU: </span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">cpu_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span><span class="si">}</span><span class="s2"> RAM </span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">ram_gb_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO] For the node parameters, creating </span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">[</span><span class="n">i</span><span class="p">]</span><span class="si">}</span><span class="s2"> workers&quot;</span><span class="p">)</span>
+        <span class="n">num_gpus</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">gpu_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">/</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">[</span><span class="n">i</span><span class="p">]</span>
+        <span class="n">num_cpus</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">cpu_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">/</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">[</span><span class="n">i</span><span class="p">]</span>
+        <span class="n">memory</span> <span class="o">=</span> <span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">ram_gb_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">*</span> <span class="mi">1024</span><span class="o">**</span><span class="mi">3</span><span class="p">)</span> <span class="o">/</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">[</span><span class="n">i</span><span class="p">]</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Requesting </span><span class="si">{</span><span class="n">num_gpus</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">num_cpus</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">memory</span><span class="si">=}</span><span class="s2"> id=</span><span class="si">{</span><span class="n">gpu_node</span><span class="p">[</span><span class="s1">&#39;id&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">job</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">remote_execute_job</span><span class="o">.</span><span class="n">options</span><span class="p">(</span>
+            <span class="n">num_gpus</span><span class="o">=</span><span class="n">num_gpus</span><span class="p">,</span>
+            <span class="n">num_cpus</span><span class="o">=</span><span class="n">num_cpus</span><span class="p">,</span>
+            <span class="n">memory</span><span class="o">=</span><span class="n">memory</span><span class="p">,</span>
+            <span class="n">scheduling_strategy</span><span class="o">=</span><span class="n">NodeAffinitySchedulingStrategy</span><span class="p">(</span><span class="n">gpu_node</span><span class="p">[</span><span class="s2">&quot;id&quot;</span><span class="p">],</span> <span class="n">soft</span><span class="o">=</span><span class="kc">False</span><span class="p">),</span>
+        <span class="p">)</span><span class="o">.</span><span class="n">remote</span><span class="p">(</span><span class="n">job</span><span class="p">,</span> <span class="sa">f</span><span class="s2">&quot;Job </span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="n">args</span><span class="o">.</span><span class="n">test</span><span class="p">)</span>
+        <span class="n">job_results</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">job</span><span class="p">)</span>
+
+    <span class="n">results</span> <span class="o">=</span> <span class="n">ray</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">job_results</span><span class="p">)</span>
+    <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">result</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">results</span><span class="p">):</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Job </span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2"> result: </span><span class="si">{</span><span class="n">result</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: All jobs completed.&quot;</span><span class="p">)</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Submit multiple jobs with optional GPU testing.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">add_resource_arguments</span><span class="p">(</span><span class="n">arg_parser</span><span class="o">=</span><span class="n">parser</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--ray_address&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;auto&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;the Ray address.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--test&quot;</span><span class="p">,</span>
+        <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+            <span class="s2">&quot;Run nvidia-smi test instead of the arbitrary job,&quot;</span>
+            <span class="s2">&quot;can use as a sanity check prior to any jobs to check &quot;</span>
+            <span class="s2">&quot;that GPU resources are correctly isolated.&quot;</span>
+        <span class="p">),</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--sub_jobs&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">nargs</span><span class="o">=</span><span class="n">argparse</span><span class="o">.</span><span class="n">REMAINDER</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;This should be last wrapper argument. Jobs separated by the + delimiter to run on a cluster.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">sub_jobs</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">jobs</span> <span class="o">=</span> <span class="s2">&quot; &quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">sub_jobs</span><span class="p">)</span>
+        <span class="n">formatted_jobs</span> <span class="o">=</span> <span class="n">jobs</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;+&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">formatted_jobs</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Isaac Ray Wrapper received jobs </span><span class="si">{</span><span class="n">formatted_jobs</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">wrap_resources_to_jobs</span><span class="p">(</span><span class="n">jobs</span><span class="o">=</span><span class="n">formatted_jobs</span><span class="p">,</span> <span class="n">args</span><span class="o">=</span><span class="n">args</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/tuner.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="kn">import</span> <span class="nn">argparse</span>
+<span class="kn">import</span> <span class="nn">importlib.util</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">sys</span>
+<span class="kn">from</span> <span class="nn">time</span> <span class="kn">import</span> <span class="n">sleep</span>
+
+<span class="kn">import</span> <span class="nn">ray</span>
+<span class="kn">import</span> <span class="nn">util</span>
+<span class="kn">from</span> <span class="nn">ray</span> <span class="kn">import</span> <span class="n">air</span><span class="p">,</span> <span class="n">tune</span>
+<span class="kn">from</span> <span class="nn">ray.tune.search.optuna</span> <span class="kn">import</span> <span class="n">OptunaSearch</span>
+<span class="kn">from</span> <span class="nn">ray.tune.search.repeater</span> <span class="kn">import</span> <span class="n">Repeater</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="hll"><span class="sd">This script breaks down an aggregate tuning job, as defined by a hyperparameter sweep configuration,</span>
+</span><span class="hll"><span class="sd">into individual jobs (shell commands) to run on the GPU-enabled nodes of the cluster.</span>
+</span><span class="hll"><span class="sd">By default, (unless combined as a sub-job in a resource-wrapped aggregate job), one worker is created</span>
+</span><span class="hll"><span class="sd">for each GPU-enabled node in the cluster for each individual job.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Each hyperparameter sweep configuration should include the workflow,</span>
+</span><span class="hll"><span class="sd">runner arguments, and hydra arguments to vary.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">This assumes that all workers in a cluster are homogeneous. For heterogeneous workloads,</span>
+</span><span class="hll"><span class="sd">create several heterogeneous clusters (with homogeneous nodes in each cluster),</span>
+</span><span class="hll"><span class="sd">then submit several overall-cluster jobs with :file:`../submit_job.py`.</span>
+</span><span class="hll"><span class="sd">KubeRay clusters on Google GKE can be created with :file:`../launch.py`</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">To report tune metrics on clusters, a running MLFlow server with a known URI that the cluster has</span>
+</span><span class="hll"><span class="sd">access to is required. For KubeRay clusters configured with :file:`../launch.py`, this is included</span>
+</span><span class="hll"><span class="sd">automatically, and can be easily found with with :file:`grok_cluster_with_kubectl.py`</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/tuner.py -h</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # Examples</span>
+</span><span class="hll"><span class="sd">    # Local (not within a docker container, when within a local docker container, do not supply run_mode argument)</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/tuner.py --run_mode local \</span>
+</span><span class="hll"><span class="sd">    --cfg_file source/standalone/workflows/ray/hyperparameter_tuning/vision_cartpole_cfg.py \</span>
+</span><span class="hll"><span class="sd">    --cfg_class CartpoleRGBNoTuneJobCfg</span>
+</span><span class="hll"><span class="sd">    # Local docker: start the ray server and run above command in the same running container without run_mode arg</span>
+</span><span class="hll"><span class="sd">    # Remote (run grok cluster or create config file mentioned in :file:`submit_job.py`)</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/submit_job.py \</span>
+</span><span class="hll"><span class="sd">    --aggregate_jobs tuner.py \</span>
+</span><span class="hll"><span class="sd">    --cfg_file hyperparameter_tuning/vision_cartpole_cfg.py \</span>
+</span><span class="hll"><span class="sd">    --cfg_class CartpoleRGBNoTuneJobCfg --mlflow_uri &lt;MLFLOW_URI_FROM_GROK_OR_MANUAL&gt;</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span>
+<span class="n">DOCKER_PREFIX</span> <span class="o">=</span> <span class="s2">&quot;/workspace/isaaclab/&quot;</span>
+<span class="n">BASE_DIR</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">expanduser</span><span class="p">(</span><span class="s2">&quot;~&quot;</span><span class="p">)</span>
+<span class="n">PYTHON_EXEC</span> <span class="o">=</span> <span class="s2">&quot;./isaaclab.sh -p&quot;</span>
+<span class="n">WORKFLOW</span> <span class="o">=</span> <span class="s2">&quot;source/standalone/workflows/rl_games/train.py&quot;</span>
+<span class="n">NUM_WORKERS_PER_NODE</span> <span class="o">=</span> <span class="mi">1</span>  <span class="c1"># needed for local parallelism</span>
+
+
+<span class="k">class</span> <span class="nc">IsaacLabTuneTrainable</span><span class="p">(</span><span class="n">tune</span><span class="o">.</span><span class="n">Trainable</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The Isaac Lab Ray Tune Trainable.</span>
+<span class="sd">    This class uses the standalone workflows to start jobs, along with the hydra integration.</span>
+<span class="sd">    This class achieves Ray-based logging through reading the tensorboard logs from</span>
+<span class="sd">    the standalone workflows. This depends on a config generated in the format of</span>
+<span class="sd">    :class:`JobCfg`</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">setup</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">config</span><span class="p">:</span> <span class="nb">dict</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get the invocation command, return quick for easy scheduling.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_invocation_command_from_cfg</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">config</span><span class="p">,</span> <span class="n">python_cmd</span><span class="o">=</span><span class="n">PYTHON_EXEC</span><span class="p">,</span> <span class="n">workflow</span><span class="o">=</span><span class="n">WORKFLOW</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Recovered invocation with </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">experiment</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="nf">reset_config</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">new_config</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Allow environments to be re-used by fetching a new invocation command&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">setup</span><span class="p">(</span><span class="n">new_config</span><span class="p">)</span>
+        <span class="k">return</span> <span class="kc">True</span>
+
+    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">experiment</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>  <span class="c1"># start experiment</span>
+            <span class="c1"># When including this as first step instead of setup, experiments get scheduled faster</span>
+            <span class="c1"># Don&#39;t want to block the scheduler while the experiment spins up</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Invoking experiment as first step with </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span><span class="si">}</span><span class="s2">...&quot;</span><span class="p">)</span>
+            <span class="n">experiment</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">execute_job</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span><span class="p">,</span>
+                <span class="n">identifier_string</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">,</span>
+                <span class="n">extract_experiment</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+                <span class="n">persistent_dir</span><span class="o">=</span><span class="n">BASE_DIR</span><span class="p">,</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">experiment</span> <span class="o">=</span> <span class="n">experiment</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Tuner recovered experiment info </span><span class="si">{</span><span class="n">experiment</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">proc</span> <span class="o">=</span> <span class="n">experiment</span><span class="p">[</span><span class="s2">&quot;proc&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">experiment_name</span> <span class="o">=</span> <span class="n">experiment</span><span class="p">[</span><span class="s2">&quot;experiment_name&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">isaac_logdir</span> <span class="o">=</span> <span class="n">experiment</span><span class="p">[</span><span class="s2">&quot;logdir&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">isaac_logdir</span> <span class="o">+</span> <span class="sa">f</span><span class="s2">&quot;/</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">experiment_name</span><span class="si">}</span><span class="s2">/summaries&quot;</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">done</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">proc</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Could not start trial.&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">proc</span><span class="o">.</span><span class="n">poll</span><span class="p">()</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>  <span class="c1"># process finished, signal finish</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="p">[</span><span class="s2">&quot;done&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">True</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Process finished, returning...&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>  <span class="c1"># wait until the logs are ready or fresh</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">load_tensorboard_logs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span><span class="p">)</span>
+
+            <span class="k">while</span> <span class="n">data</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">load_tensorboard_logs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span><span class="p">)</span>
+                <span class="n">sleep</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>  <span class="c1"># Lazy report metrics to avoid performance overhead</span>
+
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">while</span> <span class="n">util</span><span class="o">.</span><span class="n">_dicts_equal</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="p">):</span>
+                    <span class="n">data</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">load_tensorboard_logs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span><span class="p">)</span>
+                    <span class="n">sleep</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>  <span class="c1"># Lazy report metrics to avoid performance overhead</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">data</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="p">[</span><span class="s2">&quot;done&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="k">def</span> <span class="nf">default_resource_request</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;How many resources each trainable uses. Assumes homogeneous resources across gpu nodes,</span>
+<span class="sd">        and that each trainable is meant for one node, where it uses all available resources.&quot;&quot;&quot;</span>
+        <span class="n">resources</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_gpu_node_resources</span><span class="p">(</span><span class="n">one_node_only</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">NUM_WORKERS_PER_NODE</span> <span class="o">!=</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: Splitting node into more than one worker&quot;</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">tune</span><span class="o">.</span><span class="n">PlacementGroupFactory</span><span class="p">(</span>
+            <span class="p">[{</span><span class="s2">&quot;CPU&quot;</span><span class="p">:</span> <span class="n">resources</span><span class="p">[</span><span class="s2">&quot;CPU&quot;</span><span class="p">]</span> <span class="o">/</span> <span class="n">NUM_WORKERS_PER_NODE</span><span class="p">,</span> <span class="s2">&quot;GPU&quot;</span><span class="p">:</span> <span class="n">resources</span><span class="p">[</span><span class="s2">&quot;GPU&quot;</span><span class="p">]</span> <span class="o">/</span> <span class="n">NUM_WORKERS_PER_NODE</span><span class="p">}],</span>
+            <span class="n">strategy</span><span class="o">=</span><span class="s2">&quot;STRICT_PACK&quot;</span><span class="p">,</span>
+        <span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">invoke_tuning_run</span><span class="p">(</span><span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span> <span class="n">args</span><span class="p">:</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Invoke an Isaac-Ray tuning run.</span>
+
+<span class="sd">    Log either to a local directory or to MLFlow.</span>
+<span class="sd">    Args:</span>
+<span class="sd">        cfg: Configuration dictionary extracted from job setup</span>
+<span class="sd">        args: Command-line arguments related to tuning.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Allow for early exit</span>
+    <span class="n">os</span><span class="o">.</span><span class="n">environ</span><span class="p">[</span><span class="s2">&quot;TUNE_DISABLE_STRICT_METRIC_CHECKING&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;1&quot;</span>
+
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: Not saving checkpoints, just running experiment...&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Model parameters and metrics will be preserved.&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: For homogeneous cluster resources only...&quot;</span><span class="p">)</span>
+    <span class="c1"># Get available resources</span>
+    <span class="n">resources</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_gpu_node_resources</span><span class="p">()</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Available resources </span><span class="si">{</span><span class="n">resources</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">ray</span><span class="o">.</span><span class="n">is_initialized</span><span class="p">():</span>
+        <span class="n">ray</span><span class="o">.</span><span class="n">init</span><span class="p">(</span>
+            <span class="n">address</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">ray_address</span><span class="p">,</span>
+            <span class="n">log_to_driver</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+            <span class="n">num_gpus</span><span class="o">=</span><span class="nb">len</span><span class="p">(</span><span class="n">resources</span><span class="p">),</span>
+        <span class="p">)</span>
+
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using config </span><span class="si">{</span><span class="n">cfg</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Configure the search algorithm and the repeater</span>
+    <span class="n">searcher</span> <span class="o">=</span> <span class="n">OptunaSearch</span><span class="p">(</span>
+        <span class="n">metric</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">metric</span><span class="p">,</span>
+        <span class="n">mode</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">mode</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">repeat_search</span> <span class="o">=</span> <span class="n">Repeater</span><span class="p">(</span><span class="n">searcher</span><span class="p">,</span> <span class="n">repeat</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">repeat_run_count</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;local&quot;</span><span class="p">:</span>  <span class="c1"># Standard config, to file</span>
+        <span class="n">run_config</span> <span class="o">=</span> <span class="n">air</span><span class="o">.</span><span class="n">RunConfig</span><span class="p">(</span>
+            <span class="n">storage_path</span><span class="o">=</span><span class="s2">&quot;/tmp/ray&quot;</span><span class="p">,</span>
+            <span class="n">name</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;IsaacRay-</span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span><span class="si">}</span><span class="s2">-tune&quot;</span><span class="p">,</span>
+            <span class="n">verbose</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+            <span class="n">checkpoint_config</span><span class="o">=</span><span class="n">air</span><span class="o">.</span><span class="n">CheckpointConfig</span><span class="p">(</span>
+                <span class="n">checkpoint_frequency</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>  <span class="c1"># Disable periodic checkpointing</span>
+                <span class="n">checkpoint_at_end</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>  <span class="c1"># Disable final checkpoint</span>
+            <span class="p">),</span>
+        <span class="p">)</span>
+
+    <span class="k">elif</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;remote&quot;</span><span class="p">:</span>  <span class="c1"># MLFlow, to MLFlow server</span>
+        <span class="n">mlflow_callback</span> <span class="o">=</span> <span class="n">MLflowLoggerCallback</span><span class="p">(</span>
+            <span class="n">tracking_uri</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">mlflow_uri</span><span class="p">,</span>
+            <span class="n">experiment_name</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;IsaacRay-</span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span><span class="si">}</span><span class="s2">-tune&quot;</span><span class="p">,</span>
+            <span class="n">save_artifact</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="n">tags</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;run_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;remote&quot;</span><span class="p">,</span> <span class="s2">&quot;cfg_class&quot;</span><span class="p">:</span> <span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span><span class="p">},</span>
+        <span class="p">)</span>
+
+        <span class="n">run_config</span> <span class="o">=</span> <span class="n">ray</span><span class="o">.</span><span class="n">train</span><span class="o">.</span><span class="n">RunConfig</span><span class="p">(</span>
+            <span class="n">name</span><span class="o">=</span><span class="s2">&quot;mlflow&quot;</span><span class="p">,</span>
+            <span class="n">storage_path</span><span class="o">=</span><span class="s2">&quot;/tmp/ray&quot;</span><span class="p">,</span>
+            <span class="n">callbacks</span><span class="o">=</span><span class="p">[</span><span class="n">mlflow_callback</span><span class="p">],</span>
+            <span class="n">checkpoint_config</span><span class="o">=</span><span class="n">ray</span><span class="o">.</span><span class="n">train</span><span class="o">.</span><span class="n">CheckpointConfig</span><span class="p">(</span><span class="n">checkpoint_frequency</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">checkpoint_at_end</span><span class="o">=</span><span class="kc">False</span><span class="p">),</span>
+        <span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Unrecognized run mode.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Configure the tuning job</span>
+    <span class="n">tuner</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">Tuner</span><span class="p">(</span>
+        <span class="n">IsaacLabTuneTrainable</span><span class="p">,</span>
+        <span class="n">param_space</span><span class="o">=</span><span class="n">cfg</span><span class="p">,</span>
+        <span class="n">tune_config</span><span class="o">=</span><span class="n">tune</span><span class="o">.</span><span class="n">TuneConfig</span><span class="p">(</span>
+            <span class="n">search_alg</span><span class="o">=</span><span class="n">repeat_search</span><span class="p">,</span>
+            <span class="n">num_samples</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">num_samples</span><span class="p">,</span>
+            <span class="n">reuse_actors</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="p">),</span>
+        <span class="n">run_config</span><span class="o">=</span><span class="n">run_config</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="c1"># Execute the tuning</span>
+    <span class="n">tuner</span><span class="o">.</span><span class="n">fit</span><span class="p">()</span>
+
+    <span class="c1"># Save results to mounted volume</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;local&quot;</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[DONE!]: Check results with tensorboard dashboard&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[DONE!]: Check results with MLFlow dashboard&quot;</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">JobCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;To be compatible with :meth: invoke_tuning_run and :class:IsaacLabTuneTrainable,</span>
+<span class="sd">    at a minimum, the tune job should inherit from this class.&quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">):</span>
+        <span class="k">assert</span> <span class="s2">&quot;runner_args&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;No runner arguments specified.&quot;</span>
+        <span class="k">assert</span> <span class="s2">&quot;--task&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">],</span> <span class="s2">&quot;No task specified.&quot;</span>
+        <span class="k">assert</span> <span class="s2">&quot;hydra_args&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;No hypeparameters specified.&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tune Isaac Lab hyperparameters.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--ray_address&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;auto&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;the Ray address.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--cfg_file&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;hyperparameter_tuning/vision_cartpole_cfg.py&quot;</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The relative filepath where a hyperparameter sweep is defined&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--cfg_class&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;CartpoleRGBNoTuneJobCfg&quot;</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Name of the hyperparameter sweep class to use&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--run_mode&quot;</span><span class="p">,</span>
+        <span class="n">choices</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;local&quot;</span><span class="p">,</span> <span class="s2">&quot;remote&quot;</span><span class="p">],</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;remote&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+            <span class="s2">&quot;Set to local to use ./isaaclab.sh -p python, set to &quot;</span>
+            <span class="s2">&quot;remote to use /workspace/isaaclab/isaaclab.sh -p python&quot;</span>
+        <span class="p">),</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--workflow&quot;</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>  <span class="c1"># populated with RL Games</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The absolute path of the workflow to use for the experiment. By default, RL Games is used.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--mlflow_uri&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The MLFlow Uri.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--num_workers_per_node&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of workers to run on each GPU node. Only supply for parallelism on multi-gpu nodes&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--metric&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;rewards/time&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;What metric to tune for.&quot;</span><span class="p">)</span>
+
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--mode&quot;</span><span class="p">,</span>
+        <span class="n">choices</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;max&quot;</span><span class="p">,</span> <span class="s2">&quot;min&quot;</span><span class="p">],</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;max&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;What to optimize the metric to while tuning&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--num_samples&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">100</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;How many hyperparameter runs to try total.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--repeat_run_count&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">3</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;How many times to repeat each hyperparameter config.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+    <span class="n">NUM_WORKERS_PER_NODE</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers_per_node</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using </span><span class="si">{</span><span class="n">NUM_WORKERS_PER_NODE</span><span class="si">}</span><span class="s2"> workers per node.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;remote&quot;</span><span class="p">:</span>
+        <span class="n">BASE_DIR</span> <span class="o">=</span> <span class="n">DOCKER_PREFIX</span>  <span class="c1"># ensure logs are dumped to persistent location</span>
+        <span class="n">PYTHON_EXEC</span> <span class="o">=</span> <span class="n">DOCKER_PREFIX</span> <span class="o">+</span> <span class="n">PYTHON_EXEC</span><span class="p">[</span><span class="mi">2</span><span class="p">:]</span>
+        <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">DOCKER_PREFIX</span> <span class="o">+</span> <span class="n">WORKFLOW</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using remote mode </span><span class="si">{</span><span class="n">PYTHON_EXEC</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">WORKFLOW</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">mlflow_uri</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="kn">import</span> <span class="nn">mlflow</span>
+
+            <span class="n">mlflow</span><span class="o">.</span><span class="n">set_tracking_uri</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">mlflow_uri</span><span class="p">)</span>
+            <span class="kn">from</span> <span class="nn">ray.air.integrations.mlflow</span> <span class="kn">import</span> <span class="n">MLflowLoggerCallback</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Please provide a result MLFLow URI server.&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>  <span class="c1"># local</span>
+        <span class="n">PYTHON_EXEC</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">()</span> <span class="o">+</span> <span class="s2">&quot;/&quot;</span> <span class="o">+</span> <span class="n">PYTHON_EXEC</span><span class="p">[</span><span class="mi">2</span><span class="p">:]</span>
+        <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">()</span> <span class="o">+</span> <span class="s2">&quot;/&quot;</span> <span class="o">+</span> <span class="n">WORKFLOW</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span>
+        <span class="n">BASE_DIR</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">()</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using local mode </span><span class="si">{</span><span class="n">PYTHON_EXEC</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">WORKFLOW</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">file_path</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">cfg_file</span>
+    <span class="n">class_name</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Attempting to use sweep config from </span><span class="si">{</span><span class="n">file_path</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">class_name</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">module_name</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">splitext</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">basename</span><span class="p">(</span><span class="n">file_path</span><span class="p">))[</span><span class="mi">0</span><span class="p">]</span>
+
+    <span class="n">spec</span> <span class="o">=</span> <span class="n">importlib</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">spec_from_file_location</span><span class="p">(</span><span class="n">module_name</span><span class="p">,</span> <span class="n">file_path</span><span class="p">)</span>
+    <span class="n">module</span> <span class="o">=</span> <span class="n">importlib</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">module_from_spec</span><span class="p">(</span><span class="n">spec</span><span class="p">)</span>
+    <span class="n">sys</span><span class="o">.</span><span class="n">modules</span><span class="p">[</span><span class="n">module_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">module</span>
+    <span class="n">spec</span><span class="o">.</span><span class="n">loader</span><span class="o">.</span><span class="n">exec_module</span><span class="p">(</span><span class="n">module</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Successfully imported </span><span class="si">{</span><span class="n">module_name</span><span class="si">}</span><span class="s2"> from </span><span class="si">{</span><span class="n">file_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">module</span><span class="p">,</span> <span class="n">class_name</span><span class="p">):</span>
+        <span class="n">ClassToInstantiate</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">module</span><span class="p">,</span> <span class="n">class_name</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Found correct class </span><span class="si">{</span><span class="n">ClassToInstantiate</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">instance</span> <span class="o">=</span> <span class="n">ClassToInstantiate</span><span class="p">()</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Successfully instantiated class &#39;</span><span class="si">{</span><span class="n">class_name</span><span class="si">}</span><span class="s2">&#39; from </span><span class="si">{</span><span class="n">file_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">instance</span><span class="o">.</span><span class="n">cfg</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Grabbed the following hyperparameter sweep config: </span><span class="se">\n</span><span class="s2"> </span><span class="si">{</span><span class="n">cfg</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">invoke_tuning_run</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">args</span><span class="p">)</span>
+
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">AttributeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[ERROR]:Class &#39;</span><span class="si">{</span><span class="n">class_name</span><span class="si">}</span><span class="s2">&#39; not found in </span><span class="si">{</span><span class="n">file_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><p>The following script can be used to submit aggregate
+jobs to one or more Ray cluster(s), which can be used for
+running jobs on a remote cluster or simultaneous jobs with heterogeneous
+resource requirements:</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/submit_job.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">argparse</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">time</span>
+<span class="kn">from</span> <span class="nn">concurrent.futures</span> <span class="kn">import</span> <span class="n">ThreadPoolExecutor</span>
+
+<span class="kn">from</span> <span class="nn">ray</span> <span class="kn">import</span> <span class="n">job_submission</span>
+<span class="hll">
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="sd">This script submits aggregate job(s) to cluster(s) described in a</span>
+</span><span class="hll"><span class="sd">config file containing ``name: &lt;NAME&gt; address: http://&lt;IP&gt;:&lt;PORT&gt;`` on</span>
+</span><span class="hll"><span class="sd">a new line for each cluster. For KubeRay clusters, this file</span>
+</span><span class="hll"><span class="sd">can be automatically created with :file:`grok_cluster_with_kubectl.py`</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Aggregate job(s) are matched with cluster(s) via the following relation:</span>
+</span><span class="hll"><span class="sd">cluster_line_index_submitted_to = job_index % total_cluster_count</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Aggregate jobs are separated by the * delimiter. The ``--aggregate_jobs`` argument must be</span>
+</span><span class="hll"><span class="sd">the last argument supplied to the script.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">An aggregate job could be a :file:`../tuner.py` tuning job, which automatically</span>
+</span><span class="hll"><span class="sd">creates several individual jobs when started on a cluster. Alternatively, an aggregate job</span>
+</span><span class="hll"><span class="sd">could be a :file:&#39;../wrap_resources.py` resource-wrapped job,</span>
+</span><span class="hll"><span class="sd">which may contain several individual sub-jobs separated by</span>
+</span><span class="hll"><span class="sd">the + delimiter.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">If there are more aggregate jobs than cluster(s), aggregate jobs will be submitted</span>
+</span><span class="hll"><span class="sd">as clusters become available via the defined relation above. If there are less aggregate job(s)</span>
+</span><span class="hll"><span class="sd">than clusters, some clusters will not receive aggregate job(s). The maximum number of</span>
+</span><span class="hll"><span class="sd">aggregate jobs that can be run simultaneously is equal to the number of workers created by</span>
+</span><span class="hll"><span class="sd">default by a ThreadPoolExecutor on the machine submitting jobs due to fetching the log output after</span>
+</span><span class="hll"><span class="sd">jobs finish, which is unlikely to constrain overall-job submission.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # Example; submitting a tuning job</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/submit_job.py \</span>
+</span><span class="hll"><span class="sd">    --aggregate_jobs /workspace/isaaclab/source/standalone/workflows/ray/tuner.py \</span>
+</span><span class="hll"><span class="sd">        --cfg_file hyperparameter_tuning/vision_cartpole_cfg.py \</span>
+</span><span class="hll"><span class="sd">        --cfg_class CartpoleRGBNoTuneJobCfg --mlflow_uri &lt;ML_FLOW_URI&gt;</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # Example: Submitting resource wrapped job</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/submit_job.py --aggregate_jobs wrap_resources.py --sub_jobs ./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-Cartpole-v0 --headless+./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-Cartpole-RGB-Camera-Direct-v0 --headless --enable_cameras agent.params.config.max_epochs=150</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # For all command line arguments</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/submit_job.py -h</span>
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span><span class="n">script_directory</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="vm">__file__</span><span class="p">))</span>
+<span class="n">CONFIG</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;working_dir&quot;</span><span class="p">:</span> <span class="n">script_directory</span><span class="p">,</span> <span class="s2">&quot;executable&quot;</span><span class="p">:</span> <span class="s2">&quot;/workspace/isaaclab/isaaclab.sh -p&quot;</span><span class="p">}</span>
+
+
+<span class="k">def</span> <span class="nf">read_cluster_spec</span><span class="p">(</span><span class="n">fn</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">dict</span><span class="p">]:</span>
+    <span class="k">if</span> <span class="n">fn</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">cluster_spec_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">expanduser</span><span class="p">(</span><span class="s2">&quot;~/.cluster_config&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">cluster_spec_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">expanduser</span><span class="p">(</span><span class="n">fn</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">cluster_spec_path</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">FileNotFoundError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Cluster spec file not found at </span><span class="si">{</span><span class="n">cluster_spec_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="n">clusters</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">cluster_spec_path</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+        <span class="k">for</span> <span class="n">line</span> <span class="ow">in</span> <span class="n">f</span><span class="p">:</span>
+            <span class="n">parts</span> <span class="o">=</span> <span class="n">line</span><span class="o">.</span><span class="n">strip</span><span class="p">()</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot; &quot;</span><span class="p">)</span>
+            <span class="n">http_address</span> <span class="o">=</span> <span class="n">parts</span><span class="p">[</span><span class="mi">3</span><span class="p">]</span>
+            <span class="n">cluster_info</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;name&quot;</span><span class="p">:</span> <span class="n">parts</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="s2">&quot;address&quot;</span><span class="p">:</span> <span class="n">http_address</span><span class="p">}</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO] Setting </span><span class="si">{</span><span class="n">cluster_info</span><span class="p">[</span><span class="s1">&#39;name&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>  <span class="c1"># with {cluster_info[&#39;num_gpu&#39;]} GPUs.&quot;)</span>
+            <span class="n">clusters</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">cluster_info</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">clusters</span>
+
+
+<span class="k">def</span> <span class="nf">submit_job</span><span class="p">(</span><span class="n">cluster</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span> <span class="n">job_command</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Submits a job to a single cluster, prints the final result and Ray dashboard URL at the end.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">address</span> <span class="o">=</span> <span class="n">cluster</span><span class="p">[</span><span class="s2">&quot;address&quot;</span><span class="p">]</span>
+    <span class="n">cluster_name</span> <span class="o">=</span> <span class="n">cluster</span><span class="p">[</span><span class="s2">&quot;name&quot;</span><span class="p">]</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Submitting job to cluster &#39;</span><span class="si">{</span><span class="n">cluster_name</span><span class="si">}</span><span class="s2">&#39; at </span><span class="si">{</span><span class="n">address</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>  <span class="c1"># with {num_gpus} GPUs.&quot;)</span>
+    <span class="n">client</span> <span class="o">=</span> <span class="n">job_submission</span><span class="o">.</span><span class="n">JobSubmissionClient</span><span class="p">(</span><span class="n">address</span><span class="p">)</span>
+    <span class="n">runtime_env</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;working_dir&quot;</span><span class="p">:</span> <span class="n">CONFIG</span><span class="p">[</span><span class="s2">&quot;working_dir&quot;</span><span class="p">],</span> <span class="s2">&quot;executable&quot;</span><span class="p">:</span> <span class="n">CONFIG</span><span class="p">[</span><span class="s2">&quot;executable&quot;</span><span class="p">]}</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Checking contents of the directory: </span><span class="si">{</span><span class="n">CONFIG</span><span class="p">[</span><span class="s1">&#39;working_dir&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">dir_contents</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">listdir</span><span class="p">(</span><span class="n">CONFIG</span><span class="p">[</span><span class="s2">&quot;working_dir&quot;</span><span class="p">])</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Directory contents: </span><span class="si">{</span><span class="n">dir_contents</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">except</span> <span class="ne">Exception</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Failed to list directory contents: </span><span class="si">{</span><span class="nb">str</span><span class="p">(</span><span class="n">e</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">entrypoint</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">CONFIG</span><span class="p">[</span><span class="s1">&#39;executable&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">job_command</span><span class="si">}</span><span class="s2">&quot;</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Attempting entrypoint </span><span class="si">{</span><span class="n">entrypoint</span><span class="si">=}</span><span class="s2"> in cluster </span><span class="si">{</span><span class="n">cluster</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">job_id</span> <span class="o">=</span> <span class="n">client</span><span class="o">.</span><span class="n">submit_job</span><span class="p">(</span><span class="n">entrypoint</span><span class="o">=</span><span class="n">entrypoint</span><span class="p">,</span> <span class="n">runtime_env</span><span class="o">=</span><span class="n">runtime_env</span><span class="p">)</span>
+    <span class="n">status</span> <span class="o">=</span> <span class="n">client</span><span class="o">.</span><span class="n">get_job_status</span><span class="p">(</span><span class="n">job_id</span><span class="p">)</span>
+    <span class="k">while</span> <span class="n">status</span> <span class="ow">in</span> <span class="p">[</span><span class="n">job_submission</span><span class="o">.</span><span class="n">JobStatus</span><span class="o">.</span><span class="n">PENDING</span><span class="p">,</span> <span class="n">job_submission</span><span class="o">.</span><span class="n">JobStatus</span><span class="o">.</span><span class="n">RUNNING</span><span class="p">]:</span>
+        <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
+        <span class="n">status</span> <span class="o">=</span> <span class="n">client</span><span class="o">.</span><span class="n">get_job_status</span><span class="p">(</span><span class="n">job_id</span><span class="p">)</span>
+
+    <span class="n">final_logs</span> <span class="o">=</span> <span class="n">client</span><span class="o">.</span><span class="n">get_job_logs</span><span class="p">(</span><span class="n">job_id</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;----------------------------------------------------&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Cluster </span><span class="si">{</span><span class="n">cluster_name</span><span class="si">}</span><span class="s2"> Logs: </span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="n">final_logs</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;----------------------------------------------------&quot;</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">submit_jobs_to_clusters</span><span class="p">(</span><span class="n">jobs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">clusters</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">dict</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Submit all jobs to their respective clusters, cycling through clusters if there are more jobs than clusters.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">clusters</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;No clusters available for job submission.&quot;</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">jobs</span><span class="p">)</span> <span class="o">&lt;</span> <span class="nb">len</span><span class="p">(</span><span class="n">clusters</span><span class="p">):</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Less jobs than clusters, some clusters will not receive jobs&quot;</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="nb">len</span><span class="p">(</span><span class="n">jobs</span><span class="p">)</span> <span class="o">==</span> <span class="nb">len</span><span class="p">(</span><span class="n">clusters</span><span class="p">):</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Exactly one job per cluster&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: More jobs than clusters, jobs submitted as clusters become available.&quot;</span><span class="p">)</span>
+    <span class="k">with</span> <span class="n">ThreadPoolExecutor</span><span class="p">()</span> <span class="k">as</span> <span class="n">executor</span><span class="p">:</span>
+        <span class="k">for</span> <span class="n">idx</span><span class="p">,</span> <span class="n">job_command</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">jobs</span><span class="p">):</span>
+            <span class="c1"># Cycle through clusters using modulus to wrap around if there are more jobs than clusters</span>
+            <span class="n">cluster</span> <span class="o">=</span> <span class="n">clusters</span><span class="p">[</span><span class="n">idx</span> <span class="o">%</span> <span class="nb">len</span><span class="p">(</span><span class="n">clusters</span><span class="p">)]</span>
+            <span class="n">executor</span><span class="o">.</span><span class="n">submit</span><span class="p">(</span><span class="n">submit_job</span><span class="p">,</span> <span class="n">cluster</span><span class="p">,</span> <span class="n">job_command</span><span class="p">)</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Submit multiple GPU jobs to multiple Ray clusters.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--config_file&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;~/.cluster_config&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The cluster config path.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--aggregate_jobs&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">nargs</span><span class="o">=</span><span class="n">argparse</span><span class="o">.</span><span class="n">REMAINDER</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;This should be last argument. The aggregate jobs to submit separated by the * delimiter.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">aggregate_jobs</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">jobs</span> <span class="o">=</span> <span class="s2">&quot; &quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">aggregate_jobs</span><span class="p">)</span>
+        <span class="n">formatted_jobs</span> <span class="o">=</span> <span class="n">jobs</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;*&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">formatted_jobs</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Warning; Split jobs by cluster with the * delimiter&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">formatted_jobs</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Isaac Ray Wrapper received jobs </span><span class="si">{</span><span class="n">formatted_jobs</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">clusters</span> <span class="o">=</span> <span class="n">read_cluster_spec</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">config_file</span><span class="p">)</span>
+    <span class="n">submit_jobs_to_clusters</span><span class="p">(</span><span class="n">formatted_jobs</span><span class="p">,</span> <span class="n">clusters</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><p>The following script can be used to extract KubeRay Cluster information for aggregate job submission.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/grok_cluster_with_kubectl.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">argparse</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">import</span> <span class="nn">subprocess</span>
+<span class="kn">import</span> <span class="nn">threading</span>
+<span class="kn">import</span> <span class="nn">time</span>
+<span class="kn">from</span> <span class="nn">concurrent.futures</span> <span class="kn">import</span> <span class="n">ThreadPoolExecutor</span><span class="p">,</span> <span class="n">as_completed</span>
+
+<span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="sd">This script requires that kubectl is installed and KubeRay was used to create the cluster.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Creates a config file containing ``name: &lt;NAME&gt; address: http://&lt;IP&gt;:&lt;PORT&gt;`` on</span>
+</span><span class="hll"><span class="sd">a new line for each cluster, and also fetches the MLFlow URI.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/grok_cluster_with_kubectl.py</span>
+</span><span class="hll"><span class="sd">    # For options, supply -h arg</span>
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span>
+
+<span class="k">def</span> <span class="nf">get_namespace</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Get the current Kubernetes namespace from the context, fallback to default if not set&quot;&quot;&quot;</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">namespace</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="n">subprocess</span><span class="o">.</span><span class="n">check_output</span><span class="p">([</span><span class="s2">&quot;kubectl&quot;</span><span class="p">,</span> <span class="s2">&quot;config&quot;</span><span class="p">,</span> <span class="s2">&quot;view&quot;</span><span class="p">,</span> <span class="s2">&quot;--minify&quot;</span><span class="p">,</span> <span class="s2">&quot;--output&quot;</span><span class="p">,</span> <span class="s2">&quot;jsonpath={..namespace}&quot;</span><span class="p">])</span>
+            <span class="o">.</span><span class="n">decode</span><span class="p">()</span>
+            <span class="o">.</span><span class="n">strip</span><span class="p">()</span>
+        <span class="p">)</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">namespace</span><span class="p">:</span>
+            <span class="n">namespace</span> <span class="o">=</span> <span class="s2">&quot;default&quot;</span>
+    <span class="k">except</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">CalledProcessError</span><span class="p">:</span>
+        <span class="n">namespace</span> <span class="o">=</span> <span class="s2">&quot;default&quot;</span>
+    <span class="k">return</span> <span class="n">namespace</span>
+
+
+<span class="k">def</span> <span class="nf">get_pods</span><span class="p">(</span><span class="n">namespace</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;default&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">tuple</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Get a list of all of the pods in the namespace&quot;&quot;&quot;</span>
+    <span class="n">cmd</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;kubectl&quot;</span><span class="p">,</span> <span class="s2">&quot;get&quot;</span><span class="p">,</span> <span class="s2">&quot;pods&quot;</span><span class="p">,</span> <span class="s2">&quot;-n&quot;</span><span class="p">,</span> <span class="n">namespace</span><span class="p">,</span> <span class="s2">&quot;--no-headers&quot;</span><span class="p">]</span>
+    <span class="n">output</span> <span class="o">=</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">check_output</span><span class="p">(</span><span class="n">cmd</span><span class="p">)</span><span class="o">.</span><span class="n">decode</span><span class="p">()</span>
+    <span class="n">pods</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">line</span> <span class="ow">in</span> <span class="n">output</span><span class="o">.</span><span class="n">strip</span><span class="p">()</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">):</span>
+        <span class="n">fields</span> <span class="o">=</span> <span class="n">line</span><span class="o">.</span><span class="n">split</span><span class="p">()</span>
+        <span class="n">pod_name</span> <span class="o">=</span> <span class="n">fields</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="n">status</span> <span class="o">=</span> <span class="n">fields</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span>
+        <span class="n">pods</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">pod_name</span><span class="p">,</span> <span class="n">status</span><span class="p">))</span>
+    <span class="k">return</span> <span class="n">pods</span>
+
+
+<span class="k">def</span> <span class="nf">get_clusters</span><span class="p">(</span><span class="n">pods</span><span class="p">:</span> <span class="nb">list</span><span class="p">,</span> <span class="n">cluster_name_prefix</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">set</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Get unique cluster name(s). Works for one or more clusters, based off of the number of head nodes.</span>
+<span class="sd">    Excludes MLflow deployments.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">clusters</span> <span class="o">=</span> <span class="nb">set</span><span class="p">()</span>
+    <span class="k">for</span> <span class="n">pod_name</span><span class="p">,</span> <span class="n">_</span> <span class="ow">in</span> <span class="n">pods</span><span class="p">:</span>
+        <span class="c1"># Skip MLflow pods</span>
+        <span class="k">if</span> <span class="s2">&quot;-mlflow&quot;</span> <span class="ow">in</span> <span class="n">pod_name</span><span class="p">:</span>
+            <span class="k">continue</span>
+
+        <span class="n">match</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;(&quot;</span> <span class="o">+</span> <span class="n">re</span><span class="o">.</span><span class="n">escape</span><span class="p">(</span><span class="n">cluster_name_prefix</span><span class="p">)</span> <span class="o">+</span> <span class="sa">r</span><span class="s2">&quot;[-\w]+)&quot;</span><span class="p">,</span> <span class="n">pod_name</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">match</span><span class="p">:</span>
+            <span class="c1"># Get base name without head/worker suffix</span>
+            <span class="n">base_name</span> <span class="o">=</span> <span class="n">match</span><span class="o">.</span><span class="n">group</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;-head&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;-worker&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+            <span class="n">clusters</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="n">base_name</span><span class="p">)</span>
+    <span class="k">return</span> <span class="nb">sorted</span><span class="p">(</span><span class="n">clusters</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">get_mlflow_info</span><span class="p">(</span><span class="n">namespace</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">cluster_prefix</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;isaacray&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Get MLflow service information if it exists in the namespace with the given prefix.</span>
+<span class="sd">    Only works for a single cluster instance.</span>
+<span class="sd">    Args:</span>
+<span class="sd">        namespace: Kubernetes namespace</span>
+<span class="sd">        cluster_prefix: Base cluster name (without -head/-worker suffixes)</span>
+<span class="sd">    Returns:</span>
+<span class="sd">        MLflow service URL</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Strip any -head or -worker suffixes to get base name</span>
+    <span class="k">if</span> <span class="n">namespace</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">namespace</span> <span class="o">=</span> <span class="n">get_namespace</span><span class="p">()</span>
+    <span class="n">pods</span> <span class="o">=</span> <span class="n">get_pods</span><span class="p">(</span><span class="n">namespace</span><span class="o">=</span><span class="n">namespace</span><span class="p">)</span>
+    <span class="n">clusters</span> <span class="o">=</span> <span class="n">get_clusters</span><span class="p">(</span><span class="n">pods</span><span class="o">=</span><span class="n">pods</span><span class="p">,</span> <span class="n">cluster_name_prefix</span><span class="o">=</span><span class="n">cluster_prefix</span><span class="p">)</span>
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">clusters</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;More than one cluster matches prefix, could not automatically determine mlflow info.&quot;</span><span class="p">)</span>
+
+    <span class="n">base_name</span> <span class="o">=</span> <span class="n">cluster_prefix</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;-head&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;-worker&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+    <span class="n">mlflow_name</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">base_name</span><span class="si">}</span><span class="s2">-mlflow&quot;</span>
+
+    <span class="n">cmd</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;kubectl&quot;</span><span class="p">,</span> <span class="s2">&quot;get&quot;</span><span class="p">,</span> <span class="s2">&quot;svc&quot;</span><span class="p">,</span> <span class="n">mlflow_name</span><span class="p">,</span> <span class="s2">&quot;-n&quot;</span><span class="p">,</span> <span class="n">namespace</span><span class="p">,</span> <span class="s2">&quot;--no-headers&quot;</span><span class="p">]</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">output</span> <span class="o">=</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">check_output</span><span class="p">(</span><span class="n">cmd</span><span class="p">)</span><span class="o">.</span><span class="n">decode</span><span class="p">()</span>
+        <span class="n">fields</span> <span class="o">=</span> <span class="n">output</span><span class="o">.</span><span class="n">strip</span><span class="p">()</span><span class="o">.</span><span class="n">split</span><span class="p">()</span>
+
+        <span class="c1"># Get cluster IP</span>
+        <span class="n">cluster_ip</span> <span class="o">=</span> <span class="n">fields</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span>
+        <span class="n">port</span> <span class="o">=</span> <span class="s2">&quot;5000&quot;</span>  <span class="c1"># Default MLflow port</span>
+
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;http://</span><span class="si">{</span><span class="n">cluster_ip</span><span class="si">}</span><span class="s2">:</span><span class="si">{</span><span class="n">port</span><span class="si">}</span><span class="s2">&quot;</span>
+    <span class="k">except</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">CalledProcessError</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Could not grok MLflow: </span><span class="si">{</span><span class="n">e</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>  <span class="c1"># Fixed f-string</span>
+
+
+<span class="k">def</span> <span class="nf">check_clusters_running</span><span class="p">(</span><span class="n">pods</span><span class="p">:</span> <span class="nb">list</span><span class="p">,</span> <span class="n">clusters</span><span class="p">:</span> <span class="nb">set</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Check that all of the pods in all provided clusters are running.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        pods (list): A list of tuples where each tuple contains the pod name and its status.</span>
+<span class="sd">        clusters (set): A set of cluster names to check.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        bool: True if all pods in any of the clusters are running, False otherwise.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">clusters_running</span> <span class="o">=</span> <span class="kc">False</span>
+    <span class="k">for</span> <span class="n">cluster</span> <span class="ow">in</span> <span class="n">clusters</span><span class="p">:</span>
+        <span class="n">cluster_pods</span> <span class="o">=</span> <span class="p">[</span><span class="n">p</span> <span class="k">for</span> <span class="n">p</span> <span class="ow">in</span> <span class="n">pods</span> <span class="k">if</span> <span class="n">p</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="n">cluster</span><span class="p">)]</span>
+        <span class="n">total_pods</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">cluster_pods</span><span class="p">)</span>
+        <span class="n">running_pods</span> <span class="o">=</span> <span class="nb">len</span><span class="p">([</span><span class="n">p</span> <span class="k">for</span> <span class="n">p</span> <span class="ow">in</span> <span class="n">cluster_pods</span> <span class="k">if</span> <span class="n">p</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="s2">&quot;Running&quot;</span><span class="p">])</span>
+        <span class="k">if</span> <span class="n">running_pods</span> <span class="o">==</span> <span class="n">total_pods</span> <span class="ow">and</span> <span class="n">running_pods</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="n">clusters_running</span> <span class="o">=</span> <span class="kc">True</span>
+            <span class="k">break</span>
+    <span class="k">return</span> <span class="n">clusters_running</span>
+
+
+<span class="k">def</span> <span class="nf">get_ray_address</span><span class="p">(</span><span class="n">head_pod</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">namespace</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;default&quot;</span><span class="p">,</span> <span class="n">ray_head_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;head&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Given a cluster head pod, check its logs, which should include the ray address which can accept job requests.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        head_pod (str): The name of the head pod.</span>
+<span class="sd">        namespace (str, optional): The Kubernetes namespace. Defaults to &quot;default&quot;.</span>
+<span class="sd">        ray_head_name (str, optional): The name of the ray head container. Defaults to &quot;head&quot;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        str: The ray address if found, None otherwise.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the logs cannot be retrieved or the ray address is not found.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">cmd</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;kubectl&quot;</span><span class="p">,</span> <span class="s2">&quot;logs&quot;</span><span class="p">,</span> <span class="n">head_pod</span><span class="p">,</span> <span class="s2">&quot;-c&quot;</span><span class="p">,</span> <span class="n">ray_head_name</span><span class="p">,</span> <span class="s2">&quot;-n&quot;</span><span class="p">,</span> <span class="n">namespace</span><span class="p">]</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">output</span> <span class="o">=</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">check_output</span><span class="p">(</span><span class="n">cmd</span><span class="p">)</span><span class="o">.</span><span class="n">decode</span><span class="p">()</span>
+    <span class="k">except</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">CalledProcessError</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Could not enter head container with cmd </span><span class="si">{</span><span class="n">cmd</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">e</span><span class="si">}</span><span class="s2">Perhaps try a different namespace or ray head name.&quot;</span>
+        <span class="p">)</span>
+    <span class="n">match</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">search</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;RAY_ADDRESS=&#39;([^&#39;]+)&#39;&quot;</span><span class="p">,</span> <span class="n">output</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">match</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">match</span><span class="o">.</span><span class="n">group</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="kc">None</span>
+
+
+<span class="k">def</span> <span class="nf">process_cluster</span><span class="p">(</span><span class="n">cluster_info</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span> <span class="n">ray_head_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;head&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    For each cluster, check that it is running, and get the Ray head address that will accept jobs.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        cluster_info (dict): A dictionary containing cluster information with keys &#39;cluster&#39;, &#39;pods&#39;, and &#39;namespace&#39;.</span>
+<span class="sd">        ray_head_name (str, optional): The name of the ray head container. Defaults to &quot;head&quot;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        str: A string containing the cluster name and its Ray head address, or an error message if the head pod or Ray address is not found.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">cluster</span><span class="p">,</span> <span class="n">pods</span><span class="p">,</span> <span class="n">namespace</span> <span class="o">=</span> <span class="n">cluster_info</span>
+    <span class="n">head_pod</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="k">for</span> <span class="n">pod_name</span><span class="p">,</span> <span class="n">status</span> <span class="ow">in</span> <span class="n">pods</span><span class="p">:</span>
+        <span class="k">if</span> <span class="n">pod_name</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="n">cluster</span> <span class="o">+</span> <span class="s2">&quot;-head&quot;</span><span class="p">):</span>
+            <span class="n">head_pod</span> <span class="o">=</span> <span class="n">pod_name</span>
+            <span class="k">break</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">head_pod</span><span class="p">:</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;Error: Could not find head pod for cluster </span><span class="si">{</span><span class="n">cluster</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+    <span class="c1"># Get RAY_ADDRESS and status</span>
+    <span class="n">ray_address</span> <span class="o">=</span> <span class="n">get_ray_address</span><span class="p">(</span><span class="n">head_pod</span><span class="p">,</span> <span class="n">namespace</span><span class="o">=</span><span class="n">namespace</span><span class="p">,</span> <span class="n">ray_head_name</span><span class="o">=</span><span class="n">ray_head_name</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">ray_address</span><span class="p">:</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;Error: Could not find RAY_ADDRESS for cluster </span><span class="si">{</span><span class="n">cluster</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+    <span class="c1"># Return only cluster and ray address</span>
+    <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;name: </span><span class="si">{</span><span class="n">cluster</span><span class="si">}</span><span class="s2"> address: </span><span class="si">{</span><span class="n">ray_address</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+
+<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+    <span class="c1"># Parse command-line arguments</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Process Ray clusters and save their specifications.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--prefix&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;isaacray&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The prefix for the cluster names.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--output&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;~/.cluster_config&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The file to save cluster specifications.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--ray_head_name&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;head&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The metadata name for the ray head container&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--namespace&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Kubernetes namespace to use. If not provided, will detect from current context.&quot;</span>
+    <span class="p">)</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+
+    <span class="c1"># Get namespace from args or detect it</span>
+    <span class="n">current_namespace</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">namespace</span> <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">namespace</span> <span class="k">else</span> <span class="n">get_namespace</span><span class="p">()</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Using namespace: </span><span class="si">{</span><span class="n">current_namespace</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="n">cluster_name_prefix</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">prefix</span>
+    <span class="n">cluster_spec_file</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">expanduser</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">output</span><span class="p">)</span>
+
+    <span class="c1"># Get all pods</span>
+    <span class="n">pods</span> <span class="o">=</span> <span class="n">get_pods</span><span class="p">(</span><span class="n">namespace</span><span class="o">=</span><span class="n">current_namespace</span><span class="p">)</span>
+
+    <span class="c1"># Get clusters</span>
+    <span class="n">clusters</span> <span class="o">=</span> <span class="n">get_clusters</span><span class="p">(</span><span class="n">pods</span><span class="p">,</span> <span class="n">cluster_name_prefix</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">clusters</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;No clusters found with prefix </span><span class="si">{</span><span class="n">cluster_name_prefix</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">return</span>
+
+    <span class="c1"># Wait for clusters to be running</span>
+    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
+        <span class="n">pods</span> <span class="o">=</span> <span class="n">get_pods</span><span class="p">(</span><span class="n">namespace</span><span class="o">=</span><span class="n">current_namespace</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">check_clusters_running</span><span class="p">(</span><span class="n">pods</span><span class="p">,</span> <span class="n">clusters</span><span class="p">):</span>
+            <span class="k">break</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Waiting for all clusters to spin up...&quot;</span><span class="p">)</span>
+        <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
+
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Checking for MLflow:&quot;</span><span class="p">)</span>
+    <span class="c1"># Check MLflow status for each cluster</span>
+    <span class="k">for</span> <span class="n">cluster</span> <span class="ow">in</span> <span class="n">clusters</span><span class="p">:</span>
+        <span class="k">try</span><span class="p">:</span>
+            <span class="n">mlflow_address</span> <span class="o">=</span> <span class="n">get_mlflow_info</span><span class="p">(</span><span class="n">current_namespace</span><span class="p">,</span> <span class="n">cluster</span><span class="p">)</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;MLflow address for </span><span class="si">{</span><span class="n">cluster</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">mlflow_address</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">except</span> <span class="ne">ValueError</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;ML Flow not located: </span><span class="si">{</span><span class="n">e</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">()</span>
+
+    <span class="c1"># Prepare cluster info for parallel processing</span>
+    <span class="n">cluster_infos</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">cluster</span> <span class="ow">in</span> <span class="n">clusters</span><span class="p">:</span>
+        <span class="n">cluster_pods</span> <span class="o">=</span> <span class="p">[</span><span class="n">p</span> <span class="k">for</span> <span class="n">p</span> <span class="ow">in</span> <span class="n">pods</span> <span class="k">if</span> <span class="n">p</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="n">cluster</span><span class="p">)]</span>
+        <span class="n">cluster_infos</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">cluster</span><span class="p">,</span> <span class="n">cluster_pods</span><span class="p">,</span> <span class="n">current_namespace</span><span class="p">))</span>
+
+    <span class="c1"># Use ThreadPoolExecutor to process clusters in parallel</span>
+    <span class="n">results</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="n">results_lock</span> <span class="o">=</span> <span class="n">threading</span><span class="o">.</span><span class="n">Lock</span><span class="p">()</span>
+
+    <span class="k">with</span> <span class="n">ThreadPoolExecutor</span><span class="p">()</span> <span class="k">as</span> <span class="n">executor</span><span class="p">:</span>
+        <span class="n">future_to_cluster</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="n">executor</span><span class="o">.</span><span class="n">submit</span><span class="p">(</span><span class="n">process_cluster</span><span class="p">,</span> <span class="n">info</span><span class="p">,</span> <span class="n">args</span><span class="o">.</span><span class="n">ray_head_name</span><span class="p">):</span> <span class="n">info</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="k">for</span> <span class="n">info</span> <span class="ow">in</span> <span class="n">cluster_infos</span>
+        <span class="p">}</span>
+        <span class="k">for</span> <span class="n">future</span> <span class="ow">in</span> <span class="n">as_completed</span><span class="p">(</span><span class="n">future_to_cluster</span><span class="p">):</span>
+            <span class="n">cluster_name</span> <span class="o">=</span> <span class="n">future_to_cluster</span><span class="p">[</span><span class="n">future</span><span class="p">]</span>
+            <span class="k">try</span><span class="p">:</span>
+                <span class="n">result</span> <span class="o">=</span> <span class="n">future</span><span class="o">.</span><span class="n">result</span><span class="p">()</span>
+                <span class="k">with</span> <span class="n">results_lock</span><span class="p">:</span>
+                    <span class="n">results</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">result</span><span class="p">)</span>
+            <span class="k">except</span> <span class="ne">Exception</span> <span class="k">as</span> <span class="n">exc</span><span class="p">:</span>
+                <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">cluster_name</span><span class="si">}</span><span class="s2"> generated an exception: </span><span class="si">{</span><span class="n">exc</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Sort results alphabetically by cluster name</span>
+    <span class="n">results</span><span class="o">.</span><span class="n">sort</span><span class="p">()</span>
+
+    <span class="c1"># Write sorted results to the output file (Ray info only)</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">cluster_spec_file</span><span class="p">,</span> <span class="s2">&quot;w&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+        <span class="k">for</span> <span class="n">result</span> <span class="ow">in</span> <span class="n">results</span><span class="p">:</span>
+            <span class="n">f</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="n">result</span><span class="p">)</span>
+
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Cluster spec information saved to </span><span class="si">{</span><span class="n">cluster_spec_file</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="c1"># Display the contents of the config file</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">cluster_spec_file</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="n">f</span><span class="o">.</span><span class="n">read</span><span class="p">())</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">main</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details><p>The following script can be used to easily create clusters on Google GKE.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/launch.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">argparse</span>
+<span class="kn">import</span> <span class="nn">pathlib</span>
+<span class="kn">import</span> <span class="nn">subprocess</span>
+<span class="kn">import</span> <span class="nn">yaml</span>
+
+<span class="kn">from</span> <span class="nn">jinja2</span> <span class="kn">import</span> <span class="n">Environment</span><span class="p">,</span> <span class="n">FileSystemLoader</span>
+<span class="kn">from</span> <span class="nn">kubernetes</span> <span class="kn">import</span> <span class="n">config</span>
+
+<span class="kn">import</span> <span class="nn">source.standalone.workflows.ray.util</span> <span class="k">as</span> <span class="nn">util</span>
+
+<span class="hll"><span class="sd">&quot;&quot;&quot;This script helps create one or more KubeRay clusters.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll"><span class="sd">    # If the head node is stuck on container creating, make sure to create a secret</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/launch.py -h</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # Examples</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # The following creates 8 GPUx1 nvidia l4 workers</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/launch.py --cluster_host google_cloud \</span>
+</span><span class="hll"><span class="sd">    --namespace &lt;NAMESPACE&gt; --image &lt;YOUR_ISAAC_RAY_IMAGE&gt; \</span>
+</span><span class="hll"><span class="sd">    --num_workers 8 --num_clusters 1 --worker_accelerator nvidia-l4 --gpu_per_worker 1</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # The following creates 1 GPUx1 nvidia l4 worker, 2 GPUx2 nvidia-tesla-t4 workers,</span>
+</span><span class="hll"><span class="sd">    # and 2 GPUx4 nvidia-tesla-t4 GPU workers</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/launch.py --cluster_host google_cloud \</span>
+</span><span class="hll"><span class="sd">    --namespace &lt;NAMESPACE&gt; --image &lt;YOUR_ISAAC_RAY_IMAGE&gt; \</span>
+</span><span class="hll"><span class="sd">    --num_workers 1 2 --num_clusters 1 \</span>
+</span><span class="hll"><span class="sd">    --worker_accelerator nvidia-l4 nvidia-tesla-t4 --gpu_per_worker 1 2 4</span>
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span><span class="n">RAY_DIR</span> <span class="o">=</span> <span class="n">pathlib</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="vm">__file__</span><span class="p">)</span><span class="o">.</span><span class="n">parent</span>
+
+
+<span class="k">def</span> <span class="nf">apply_manifest</span><span class="p">(</span><span class="n">args</span><span class="p">:</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Provided a Jinja templated ray.io/v1alpha1 file,</span>
+<span class="sd">    populate the arguments and create the cluster. Additionally, create</span>
+<span class="sd">    kubernetes containers for resources separated by &#39;---&#39; from the rest</span>
+<span class="sd">    of the file.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        args: Possible arguments concerning cluster parameters.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Load Kubernetes configuration</span>
+    <span class="n">config</span><span class="o">.</span><span class="n">load_kube_config</span><span class="p">()</span>
+
+    <span class="c1"># Set up Jinja2 environment for loading templates</span>
+    <span class="n">templates_dir</span> <span class="o">=</span> <span class="n">RAY_DIR</span> <span class="o">/</span> <span class="s2">&quot;cluster_configs&quot;</span> <span class="o">/</span> <span class="n">args</span><span class="o">.</span><span class="n">cluster_host</span>
+    <span class="n">file_loader</span> <span class="o">=</span> <span class="n">FileSystemLoader</span><span class="p">(</span><span class="nb">str</span><span class="p">(</span><span class="n">templates_dir</span><span class="p">))</span>
+    <span class="n">jinja_env</span> <span class="o">=</span> <span class="n">Environment</span><span class="p">(</span><span class="n">loader</span><span class="o">=</span><span class="n">file_loader</span><span class="p">,</span> <span class="n">keep_trailing_newline</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+    <span class="c1"># Define template filename</span>
+    <span class="n">template_file</span> <span class="o">=</span> <span class="s2">&quot;kuberay.yaml.jinja&quot;</span>
+
+    <span class="c1"># Convert args namespace to a dictionary</span>
+    <span class="n">template_params</span> <span class="o">=</span> <span class="nb">vars</span><span class="p">(</span><span class="n">args</span><span class="p">)</span>
+
+    <span class="c1"># Load and render the template</span>
+    <span class="n">template</span> <span class="o">=</span> <span class="n">jinja_env</span><span class="o">.</span><span class="n">get_template</span><span class="p">(</span><span class="n">template_file</span><span class="p">)</span>
+    <span class="n">file_contents</span> <span class="o">=</span> <span class="n">template</span><span class="o">.</span><span class="n">render</span><span class="p">(</span><span class="n">template_params</span><span class="p">)</span>
+
+    <span class="c1"># Parse all YAML documents in the rendered template</span>
+    <span class="n">all_yamls</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">doc</span> <span class="ow">in</span> <span class="n">yaml</span><span class="o">.</span><span class="n">safe_load_all</span><span class="p">(</span><span class="n">file_contents</span><span class="p">):</span>
+        <span class="n">all_yamls</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">doc</span><span class="p">)</span>
+
+    <span class="c1"># Convert back to YAML string, preserving multiple documents</span>
+    <span class="n">cleaned_yaml_string</span> <span class="o">=</span> <span class="s2">&quot;&quot;</span>
+    <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">doc</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">all_yamls</span><span class="p">):</span>
+        <span class="k">if</span> <span class="n">i</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="n">cleaned_yaml_string</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">---</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">cleaned_yaml_string</span> <span class="o">+=</span> <span class="n">yaml</span><span class="o">.</span><span class="n">dump</span><span class="p">(</span><span class="n">doc</span><span class="p">)</span>
+
+    <span class="c1"># Apply the Kubernetes manifest using kubectl</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">subprocess</span><span class="o">.</span><span class="n">run</span><span class="p">([</span><span class="s2">&quot;kubectl&quot;</span><span class="p">,</span> <span class="s2">&quot;apply&quot;</span><span class="p">,</span> <span class="s2">&quot;-f&quot;</span><span class="p">,</span> <span class="s2">&quot;-&quot;</span><span class="p">],</span> <span class="nb">input</span><span class="o">=</span><span class="n">cleaned_yaml_string</span><span class="p">,</span> <span class="n">text</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">check</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="k">except</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">CalledProcessError</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+        <span class="n">exit</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;An error occurred while running `kubectl`: </span><span class="si">{</span><span class="n">e</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">parse_args</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Parse command-line arguments for Kubernetes deployment script.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        argparse.Namespace: Parsed command-line arguments.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">arg_parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span>
+        <span class="n">description</span><span class="o">=</span><span class="s2">&quot;Script to apply manifests to create Kubernetes objects for Ray clusters.&quot;</span><span class="p">,</span>
+        <span class="n">formatter_class</span><span class="o">=</span><span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentDefaultsHelpFormatter</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--cluster_host&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;google_cloud&quot;</span><span class="p">,</span>
+        <span class="n">choices</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;google_cloud&quot;</span><span class="p">],</span>
+        <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+            <span class="s2">&quot;In the cluster_configs directory, the name of the folder where a tune.yaml.jinja&quot;</span>
+            <span class="s2">&quot;file exists defining the KubeRay config. Currently only google_cloud is supported.&quot;</span>
+        <span class="p">),</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--name&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;isaacray&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Name of the Kubernetes deployment.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--namespace&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;default&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Kubernetes namespace to deploy the Ray cluster.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--service_acount_name&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;default&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The service account name to use.&quot;</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--image&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Docker image for the Ray cluster pods.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--worker_accelerator&quot;</span><span class="p">,</span>
+        <span class="n">nargs</span><span class="o">=</span><span class="s2">&quot;+&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;nvidia-l4&quot;</span><span class="p">],</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;GPU accelerator name. Supply more than one for heterogeneous resources.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">add_resource_arguments</span><span class="p">(</span><span class="n">arg_parser</span><span class="p">,</span> <span class="n">cluster_create_defaults</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--num_clusters&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;How many Ray Clusters to create.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--num_head_cpu&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">float</span><span class="p">,</span>  <span class="c1"># to be able to schedule partial CPU heads</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">8</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The number of CPUs to give the Ray head.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--head_ram_gb&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">8</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;How many gigs of ram to give the Ray head&quot;</span><span class="p">)</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">arg_parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+    <span class="k">return</span> <span class="n">util</span><span class="o">.</span><span class="n">fill_in_missing_resources</span><span class="p">(</span><span class="n">args</span><span class="p">,</span> <span class="n">cluster_creation_flag</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parse_args</span><span class="p">()</span>
+
+    <span class="k">if</span> <span class="s2">&quot;head&quot;</span> <span class="ow">in</span> <span class="n">args</span><span class="o">.</span><span class="n">name</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;For compatibility with other scripts, do not include head in the name&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">num_clusters</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="n">apply_manifest</span><span class="p">(</span><span class="n">args</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">default_name</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">name</span>
+        <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">num_clusters</span><span class="p">):</span>
+            <span class="n">args</span><span class="o">.</span><span class="n">name</span> <span class="o">=</span> <span class="n">default_name</span> <span class="o">+</span> <span class="s2">&quot;-&quot;</span> <span class="o">+</span> <span class="nb">str</span><span class="p">(</span><span class="n">i</span><span class="p">)</span>
+            <span class="n">apply_manifest</span><span class="p">(</span><span class="n">args</span><span class="p">)</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">main</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="installation">
+<h2><a class="toc-backref" href="#id2" role="doc-backlink"><strong>Installation</strong></a><a class="headerlink" href="#installation" title="Permalink to this heading">#</a></h2>
+<p>The Ray functionality requires additional dependencies be installed.</p>
+<p>To use Ray without Kubernetes, like on a local computer or VM,
+<code class="docutils literal notranslate"><span class="pre">kubectl</span></code> is not required. For use on Kubernetes clusters with KubeRay,
+such as Google Kubernetes Engine or Amazon Elastic Kubernetes Service, <code class="docutils literal notranslate"><span class="pre">kubectl</span></code> is required, and can
+be installed via the <a class="reference external" href="https://kubernetes.io/docs/tasks/tools/">Kubernetes website</a></p>
+<p>The pythonic dependencies can be installed with:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># For multi-run support and resource isolation</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>ray<span class="o">[</span>default<span class="o">]==</span><span class="m">2</span>.31.0
+<span class="c1"># For hyperparameter tuning</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>ray<span class="o">[</span>tune<span class="o">]==</span><span class="m">2</span>.31.0
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>optuna<span class="w"> </span>bayesian-optimization
+<span class="c1"># MLFlow is needed only for fetching logs on clusters, not needed for local</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>mlflow
+</pre></div>
+</div>
+<p>If using KubeRay clusters on Google GKE with the batteries-included cluster launch file,
+the following dependencies are also needed.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>kubernetes<span class="w"> </span>Jinja2
+</pre></div>
+</div>
+</section>
+<section id="setup-overview-cluster-configuration">
+<h2><a class="toc-backref" href="#id3" role="doc-backlink"><strong>Setup Overview: Cluster Configuration</strong></a><a class="headerlink" href="#setup-overview-cluster-configuration" title="Permalink to this heading">#</a></h2>
+<p>Select one of the following methods to create a Ray Cluster to accept and execute dispatched jobs.</p>
+<section id="single-node-ray-cluster-recommended-for-beginners">
+<h3><a class="toc-backref" href="#id4" role="doc-backlink">Single-Node Ray Cluster (Recommended for Beginners)</a><a class="headerlink" href="#single-node-ray-cluster-recommended-for-beginners" title="Permalink to this heading">#</a></h3>
+<p>For use on a single machine (node) such as a local computer or VM, the
+following command can be used start a ray server. This is compatible with
+multiple-GPU machines. This Ray server will run indefinitely until it is stopped with <code class="docutils literal notranslate"><span class="pre">CTRL</span> <span class="pre">+</span> <span class="pre">C</span></code></p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot;import ray; ray.init(); import time; [time.sleep(10) for _ in iter(int, 1)]&quot;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>./isaaclab.sh<span class="w"> </span>-p
+</pre></div>
+</div>
+</section>
+<section id="kuberay-clusters">
+<h3><a class="toc-backref" href="#id5" role="doc-backlink">KubeRay Clusters</a><a class="headerlink" href="#kuberay-clusters" title="Permalink to this heading">#</a></h3>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">ray</span></code> command should be modified to use Isaac python, which could be achieved in a fashion similar to
+<code class="docutils literal notranslate"><span class="pre">sed</span> <span class="pre">-i</span> <span class="pre">&quot;1i</span> <span class="pre">$(echo</span> <span class="pre">&quot;#!/workspace/isaaclab/_isaac_sim/python.sh&quot;)&quot;</span> <span class="pre">\</span>
+<span class="pre">/isaac-sim/kit/python/bin/ray</span> <span class="pre">&amp;&amp;</span> <span class="pre">ln</span> <span class="pre">-s</span> <span class="pre">/isaac-sim/kit/python/bin/ray</span> <span class="pre">/usr/local/bin/ray</span></code>.</p>
+</div>
+<p>Google Cloud is currently the only platform tested, although
+any cloud provider should work if one configures the following:</p>
+<ul class="simple">
+<li><p>An container registry (NGC, GCS artifact registry, AWS ECR, etc) with
+an Isaac Lab image configured to support Ray. See <code class="docutils literal notranslate"><span class="pre">cluster_configs/Dockerfile</span></code> to see how to modify the <code class="docutils literal notranslate"><span class="pre">isaac-lab-base</span></code>
+container for Ray compatibility. Ray should use the isaac sim python shebang, and <code class="docutils literal notranslate"><span class="pre">nvidia-smi</span></code>
+should work within the container. Be careful with the setup here as
+paths need to be configured correctly for everything to work. It’s likely that
+the example dockerfile will work out of the box and can be pushed to the registry, as
+long as the base image has already been built as in the container guide</p></li>
+<li><p>A Kubernetes setup with available NVIDIA RTX (likely <code class="docutils literal notranslate"><span class="pre">l4</span></code> or <code class="docutils literal notranslate"><span class="pre">l40</span></code> or <code class="docutils literal notranslate"><span class="pre">tesla-t4</span></code> or <code class="docutils literal notranslate"><span class="pre">a10</span></code>) GPU-passthrough node-pool resources,
+that has access to your container registry/storage bucket and has the Ray operator enabled with correct IAM
+permissions. This can be easily achieved with services such as Google GKE or AWS EKS,
+provided that your account or organization has been granted a GPU-budget. It is recommended
+to use manual kubernetes services as opposed to “autopilot” services for cost-effective
+experimentation as this way clusters can be completely shut down when not in use, although
+this may require installing the <a class="reference external" href="https://docs.nvidia.com/datacenter/cloud-native/gpu-operator/latest/google-gke.html">Nvidia GPU Operator</a></p></li>
+<li><p>An MLFlow server that your cluster has access to.</p></li>
+<li><p>A <code class="docutils literal notranslate"><span class="pre">kuberay.yaml.ninja</span></code> file that describes how to allocate resources (already included for
+Google Cloud, which can be referenced for the format and MLFlow integration)</p></li>
+</ul>
+</section>
+<section id="ray-clusters-without-kubernetes">
+<h3><a class="toc-backref" href="#id6" role="doc-backlink">Ray Clusters (Without Kubernetes)</a><a class="headerlink" href="#ray-clusters-without-kubernetes" title="Permalink to this heading">#</a></h3>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>Modify the Ray command to use Isaac Python like in KubeRay Clusters, and follow the same
+steps for creating an image/cluster permissions/bucket access.</p>
+</div>
+<p>See the <a class="reference external" href="https://docs.ray.io/en/latest/cluster/getting-started.html">Ray Clusters Overview</a> or
+<a class="reference external" href="https://www.anyscale.com/product">Anyscale</a> for more information</p>
+</section>
+</section>
+<section id="dispatching-jobs-and-tuning">
+<h2><a class="toc-backref" href="#id7" role="doc-backlink"><strong>Dispatching Jobs and Tuning</strong></a><a class="headerlink" href="#dispatching-jobs-and-tuning" title="Permalink to this heading">#</a></h2>
+<p>Select one of the following guides that matches your desired Cluster configuration.</p>
+<section id="simple-ray-cluster-local-vm">
+<h3><a class="toc-backref" href="#id8" role="doc-backlink">Simple Ray Cluster (Local/VM)</a><a class="headerlink" href="#simple-ray-cluster-local-vm" title="Permalink to this heading">#</a></h3>
+<p>This guide assumes that there is a Ray cluster already running, and that this script is run locally on the cluster, or
+that the cluster job submission address is known.</p>
+<p>1.) Testing that the cluster works can be done as follows.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/ray/wrap_resources.py<span class="w"> </span>--test
+</pre></div>
+</div>
+<p>2.) Submitting resource-wrapped sub-jobs can be done as described in the following file:</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/wrap_resources.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">argparse</span>
+
+<span class="kn">import</span> <span class="nn">ray</span>
+<span class="kn">from</span> <span class="nn">ray.util.scheduling_strategies</span> <span class="kn">import</span> <span class="n">NodeAffinitySchedulingStrategy</span>
+
+<span class="kn">import</span> <span class="nn">source.standalone.workflows.ray.util</span> <span class="k">as</span> <span class="nn">util</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="hll"><span class="sd">This script dispatches sub-job(s) (either individual jobs or tuning aggregate jobs)</span>
+</span><span class="hll"><span class="sd">to worker(s) on GPU-enabled node(s) of a specific cluster as part of an resource-wrapped aggregate</span>
+</span><span class="hll"><span class="sd">job. If no desired compute resources for each sub-job are specified,</span>
+</span><span class="hll"><span class="sd">this script creates one worker per available node for each node with GPU(s) in the cluster.</span>
+</span><span class="hll"><span class="sd">If the desired resources for each sub-job is specified,</span>
+</span><span class="hll"><span class="sd">the maximum number of workers possible with the desired resources are created for each node</span>
+</span><span class="hll"><span class="sd">with GPU(s) in the cluster. It is also possible to split available node resources for each node</span>
+</span><span class="hll"><span class="sd">into the desired number of workers with the ``--num_workers`` flag, to be able to easily</span>
+</span><span class="hll"><span class="sd">parallelize sub-jobs on multi-GPU nodes. Due to Isaac Lab requiring a GPU,</span>
+</span><span class="hll"><span class="sd">this ignores all CPU only nodes such as loggers.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Sub-jobs are matched with node(s) in a cluster via the following relation:</span>
+</span><span class="hll"><span class="sd">sorted_nodes = Node sorted by descending GPUs, then descending CPUs, then descending RAM, then node ID</span>
+</span><span class="hll"><span class="sd">node_submitted_to = sorted_nodes[job_index % total_node_count]</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">To check the ordering of sorted nodes, supply the ``--test`` argument and run the script.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Sub-jobs are separated by the + delimiter. The ``--sub_jobs`` argument must be the last</span>
+</span><span class="hll"><span class="sd">argument supplied to the script.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">If there is more than one available worker, and more than one sub-job,</span>
+</span><span class="hll"><span class="sd">sub-jobs will be executed in parallel. If there are more sub-jobs than workers, sub-jobs will</span>
+</span><span class="hll"><span class="sd">be dispatched to workers as they become available. There is no limit on the number</span>
+</span><span class="hll"><span class="sd">of sub-jobs that can be near-simultaneously submitted.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">This script is meant to be executed on a Ray cluster head node as an aggregate cluster job.</span>
+</span><span class="hll"><span class="sd">To submit aggregate cluster jobs such as this script to one or more remote clusters,</span>
+</span><span class="hll"><span class="sd">see :file:`../submit_isaac_ray_job.py`.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">KubeRay clusters on Google GKE can be created with :file:`../launch.py`</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll"><span class="sd">    # **Ensure that sub-jobs are separated by the ``+`` delimiter.**</span>
+</span><span class="hll"><span class="sd">    # Generic Templates-----------------------------------</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py -h</span>
+</span><span class="hll"><span class="sd">    # No resource isolation; no parallelization:</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py</span>
+</span><span class="hll"><span class="sd">    --sub_jobs &lt;JOB0&gt;+&lt;JOB1&gt;+&lt;JOB2&gt;</span>
+</span><span class="hll"><span class="sd">    # Automatic Resource Isolation; Example A: needed for parallelization</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py \</span>
+</span><span class="hll"><span class="sd">    --num_workers &lt;NUM_TO_DIVIDE_TOTAL_RESOURCES_BY&gt; \</span>
+</span><span class="hll"><span class="sd">    --sub_jobs &lt;JOB0&gt;+&lt;JOB1&gt;</span>
+</span><span class="hll"><span class="sd">    # Manual Resource Isolation; Example B:  needed for parallelization</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py --num_cpu_per_worker &lt;CPU&gt; \</span>
+</span><span class="hll"><span class="sd">    --gpu_per_worker &lt;GPU&gt; --ram_gb_per_worker &lt;RAM&gt; --sub_jobs &lt;JOB0&gt;+&lt;JOB1&gt;</span>
+</span><span class="hll"><span class="sd">    # Manual Resource Isolation; Example C: Needed for parallelization, for heterogeneous workloads</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py --num_cpu_per_worker &lt;CPU&gt; \</span>
+</span><span class="hll"><span class="sd">    --gpu_per_worker &lt;GPU1&gt; &lt;GPU2&gt; --ram_gb_per_worker &lt;RAM&gt; --sub_jobs &lt;JOB0&gt;+&lt;JOB1&gt;</span>
+</span><span class="hll"><span class="sd">    # to see all arguments</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/wrap_resources.py -h</span>
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span>
+
+<span class="k">def</span> <span class="nf">wrap_resources_to_jobs</span><span class="p">(</span><span class="n">jobs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">args</span><span class="p">:</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Provided a list of jobs, dispatch jobs to one worker per available node,</span>
+<span class="sd">    unless otherwise specified by resource constraints.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        jobs: bash commands to execute on a Ray cluster</span>
+<span class="sd">        args: The arguments for resource allocation</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">ray</span><span class="o">.</span><span class="n">is_initialized</span><span class="p">():</span>
+        <span class="n">ray</span><span class="o">.</span><span class="n">init</span><span class="p">(</span><span class="n">address</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">ray_address</span><span class="p">,</span> <span class="n">log_to_driver</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="n">job_results</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="n">gpu_node_resources</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_gpu_node_resources</span><span class="p">(</span><span class="n">include_id</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">include_gb_ram</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="nb">any</span><span class="p">([</span><span class="n">args</span><span class="o">.</span><span class="n">gpu_per_worker</span><span class="p">,</span> <span class="n">args</span><span class="o">.</span><span class="n">cpu_per_worker</span><span class="p">,</span> <span class="n">args</span><span class="o">.</span><span class="n">ram_gb_per_worker</span><span class="p">])</span> <span class="ow">and</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Either specify only num_workers or only granular resources(GPU,CPU,RAM_GB).&quot;</span><span class="p">)</span>
+
+    <span class="n">num_nodes</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">gpu_node_resources</span><span class="p">)</span>
+    <span class="c1"># Populate arguments</span>
+    <span class="n">formatted_node_resources</span> <span class="o">=</span> <span class="p">{</span>
+        <span class="s2">&quot;gpu_per_worker&quot;</span><span class="p">:</span> <span class="p">[</span><span class="n">gpu_node_resources</span><span class="p">[</span><span class="n">i</span><span class="p">][</span><span class="s2">&quot;GPU&quot;</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_nodes</span><span class="p">)],</span>
+        <span class="s2">&quot;cpu_per_worker&quot;</span><span class="p">:</span> <span class="p">[</span><span class="n">gpu_node_resources</span><span class="p">[</span><span class="n">i</span><span class="p">][</span><span class="s2">&quot;CPU&quot;</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_nodes</span><span class="p">)],</span>
+        <span class="s2">&quot;ram_gb_per_worker&quot;</span><span class="p">:</span> <span class="p">[</span><span class="n">gpu_node_resources</span><span class="p">[</span><span class="n">i</span><span class="p">][</span><span class="s2">&quot;ram_gb&quot;</span><span class="p">]</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_nodes</span><span class="p">)],</span>
+        <span class="s2">&quot;num_workers&quot;</span><span class="p">:</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">,</span>  <span class="c1"># By default, 1 worker por node</span>
+    <span class="p">}</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">fill_in_missing_resources</span><span class="p">(</span><span class="n">args</span><span class="p">,</span> <span class="n">resources</span><span class="o">=</span><span class="n">formatted_node_resources</span><span class="p">,</span> <span class="n">policy</span><span class="o">=</span><span class="nb">min</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Number of GPU nodes found: </span><span class="si">{</span><span class="n">num_nodes</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">test</span><span class="p">:</span>
+        <span class="n">jobs</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;nvidia-smi&quot;</span><span class="p">]</span> <span class="o">*</span> <span class="n">num_nodes</span>
+    <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">job</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">jobs</span><span class="p">):</span>
+        <span class="n">gpu_node</span> <span class="o">=</span> <span class="n">gpu_node_resources</span><span class="p">[</span><span class="n">i</span> <span class="o">%</span> <span class="n">num_nodes</span><span class="p">]</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Submitting job </span><span class="si">{</span><span class="n">i</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="mi">1</span><span class="si">}</span><span class="s2"> of </span><span class="si">{</span><span class="nb">len</span><span class="p">(</span><span class="n">jobs</span><span class="p">)</span><span class="si">}</span><span class="s2"> with job &#39;</span><span class="si">{</span><span class="n">job</span><span class="si">}</span><span class="s2">&#39; to node </span><span class="si">{</span><span class="n">gpu_node</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;[INFO]: Resource parameters: GPU: </span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">gpu_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span>
+            <span class="sa">f</span><span class="s2">&quot; CPU: </span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">cpu_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span><span class="si">}</span><span class="s2"> RAM </span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">ram_gb_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span>
+        <span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO] For the node parameters, creating </span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">[</span><span class="n">i</span><span class="p">]</span><span class="si">}</span><span class="s2"> workers&quot;</span><span class="p">)</span>
+        <span class="n">num_gpus</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">gpu_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">/</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">[</span><span class="n">i</span><span class="p">]</span>
+        <span class="n">num_cpus</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">cpu_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">/</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">[</span><span class="n">i</span><span class="p">]</span>
+        <span class="n">memory</span> <span class="o">=</span> <span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">ram_gb_per_worker</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">*</span> <span class="mi">1024</span><span class="o">**</span><span class="mi">3</span><span class="p">)</span> <span class="o">/</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers</span><span class="p">[</span><span class="n">i</span><span class="p">]</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Requesting </span><span class="si">{</span><span class="n">num_gpus</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">num_cpus</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">memory</span><span class="si">=}</span><span class="s2"> id=</span><span class="si">{</span><span class="n">gpu_node</span><span class="p">[</span><span class="s1">&#39;id&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">job</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">remote_execute_job</span><span class="o">.</span><span class="n">options</span><span class="p">(</span>
+            <span class="n">num_gpus</span><span class="o">=</span><span class="n">num_gpus</span><span class="p">,</span>
+            <span class="n">num_cpus</span><span class="o">=</span><span class="n">num_cpus</span><span class="p">,</span>
+            <span class="n">memory</span><span class="o">=</span><span class="n">memory</span><span class="p">,</span>
+            <span class="n">scheduling_strategy</span><span class="o">=</span><span class="n">NodeAffinitySchedulingStrategy</span><span class="p">(</span><span class="n">gpu_node</span><span class="p">[</span><span class="s2">&quot;id&quot;</span><span class="p">],</span> <span class="n">soft</span><span class="o">=</span><span class="kc">False</span><span class="p">),</span>
+        <span class="p">)</span><span class="o">.</span><span class="n">remote</span><span class="p">(</span><span class="n">job</span><span class="p">,</span> <span class="sa">f</span><span class="s2">&quot;Job </span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="n">args</span><span class="o">.</span><span class="n">test</span><span class="p">)</span>
+        <span class="n">job_results</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">job</span><span class="p">)</span>
+
+    <span class="n">results</span> <span class="o">=</span> <span class="n">ray</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="n">job_results</span><span class="p">)</span>
+    <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">result</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">results</span><span class="p">):</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Job </span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2"> result: </span><span class="si">{</span><span class="n">result</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: All jobs completed.&quot;</span><span class="p">)</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Submit multiple jobs with optional GPU testing.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">add_resource_arguments</span><span class="p">(</span><span class="n">arg_parser</span><span class="o">=</span><span class="n">parser</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--ray_address&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;auto&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;the Ray address.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--test&quot;</span><span class="p">,</span>
+        <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+            <span class="s2">&quot;Run nvidia-smi test instead of the arbitrary job,&quot;</span>
+            <span class="s2">&quot;can use as a sanity check prior to any jobs to check &quot;</span>
+            <span class="s2">&quot;that GPU resources are correctly isolated.&quot;</span>
+        <span class="p">),</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--sub_jobs&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">nargs</span><span class="o">=</span><span class="n">argparse</span><span class="o">.</span><span class="n">REMAINDER</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;This should be last wrapper argument. Jobs separated by the + delimiter to run on a cluster.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">sub_jobs</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">jobs</span> <span class="o">=</span> <span class="s2">&quot; &quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">sub_jobs</span><span class="p">)</span>
+        <span class="n">formatted_jobs</span> <span class="o">=</span> <span class="n">jobs</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;+&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">formatted_jobs</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Isaac Ray Wrapper received jobs </span><span class="si">{</span><span class="n">formatted_jobs</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">wrap_resources_to_jobs</span><span class="p">(</span><span class="n">jobs</span><span class="o">=</span><span class="n">formatted_jobs</span><span class="p">,</span> <span class="n">args</span><span class="o">=</span><span class="n">args</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><p>3.) For tuning jobs, specify the hyperparameter sweep similar to the following two files.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/hyperparameter_tuning/vision_cfg.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">pathlib</span>
+<span class="kn">import</span> <span class="nn">sys</span>
+
+<span class="c1"># Allow for import of items from the ray workflow.</span>
+<span class="n">UTIL_DIR</span> <span class="o">=</span> <span class="n">pathlib</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="vm">__file__</span><span class="p">)</span><span class="o">.</span><span class="n">parent</span><span class="o">.</span><span class="n">parent</span><span class="o">.</span><span class="n">parent</span>
+<span class="n">sys</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="nb">str</span><span class="p">(</span><span class="n">UTIL_DIR</span><span class="p">))</span>
+<span class="kn">import</span> <span class="nn">tuner</span>
+<span class="kn">import</span> <span class="nn">util</span>
+<span class="kn">from</span> <span class="nn">ray</span> <span class="kn">import</span> <span class="n">tune</span>
+
+
+<span class="k">class</span> <span class="nc">CameraJobCfg</span><span class="p">(</span><span class="n">tuner</span><span class="o">.</span><span class="n">JobCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;In order to be compatible with :meth: invoke_tuning_run, and</span>
+<span class="sd">    :class:IsaacLabTuneTrainable , configurations should</span>
+<span class="sd">    be in a similar format to this class. This class can vary env count/horizon length,</span>
+<span class="sd">    CNN structure, and MLP structure. Broad possible ranges are set, the specific values</span>
+<span class="sd">    that work can be found via tuning. Tuning results can inform better ranges for a second tuning run.</span>
+<span class="sd">    These ranges were selected for demonstration purposes. Best ranges are run/task specific.&quot;&quot;&quot;</span>
+
+    <span class="nd">@staticmethod</span>
+    <span class="k">def</span> <span class="nf">_get_batch_size_divisors</span><span class="p">(</span><span class="n">batch_size</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">min_size</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">128</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get valid batch divisors to combine with num_envs and horizon length&quot;&quot;&quot;</span>
+        <span class="n">divisors</span> <span class="o">=</span> <span class="p">[</span><span class="n">i</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">min_size</span><span class="p">,</span> <span class="n">batch_size</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="k">if</span> <span class="n">batch_size</span> <span class="o">%</span> <span class="n">i</span> <span class="o">==</span> <span class="mi">0</span><span class="p">]</span>
+        <span class="k">return</span> <span class="n">divisors</span> <span class="k">if</span> <span class="n">divisors</span> <span class="k">else</span> <span class="p">[</span><span class="n">min_size</span><span class="p">]</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="p">{},</span> <span class="n">vary_env_count</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span> <span class="n">vary_cnn</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span> <span class="n">vary_mlp</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+
+        <span class="c1"># Basic configuration</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;headless_singleton&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;--headless&quot;</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;enable_cameras_singleton&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;--enable_cameras&quot;</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.config.max_epochs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="mi">200</span>
+
+        <span class="k">if</span> <span class="n">vary_env_count</span><span class="p">:</span>  <span class="c1"># Vary the env count, and horizon length, and select a compatible mini-batch size</span>
+            <span class="c1"># Check from 512 to 8196 envs in powers of 2</span>
+            <span class="c1"># check horizon lengths of 8 to 256</span>
+            <span class="c1"># More envs should be better, but different batch sizes can improve gradient estimation</span>
+            <span class="n">env_counts</span> <span class="o">=</span> <span class="p">[</span><span class="mi">2</span><span class="o">**</span><span class="n">x</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">9</span><span class="p">,</span> <span class="mi">13</span><span class="p">)]</span>
+            <span class="n">horizon_lengths</span> <span class="o">=</span> <span class="p">[</span><span class="mi">2</span><span class="o">**</span><span class="n">x</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">8</span><span class="p">)]</span>
+
+            <span class="n">selected_env_count</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">env_counts</span><span class="p">)</span>
+            <span class="n">selected_horizon</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span><span class="n">horizon_lengths</span><span class="p">)</span>
+
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">selected_env_count</span>
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.config.horizon_length&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">selected_horizon</span>
+
+            <span class="k">def</span> <span class="nf">get_valid_batch_size</span><span class="p">(</span><span class="n">config</span><span class="p">):</span>
+                <span class="n">num_envs</span> <span class="o">=</span> <span class="n">config</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">]</span>
+                <span class="n">horizon_length</span> <span class="o">=</span> <span class="n">config</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.config.horizon_length&quot;</span><span class="p">]</span>
+                <span class="n">total_batch</span> <span class="o">=</span> <span class="n">horizon_length</span> <span class="o">*</span> <span class="n">num_envs</span>
+                <span class="n">divisors</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_get_batch_size_divisors</span><span class="p">(</span><span class="n">total_batch</span><span class="p">)</span>
+                <span class="k">return</span> <span class="n">divisors</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.config.minibatch_size&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">sample_from</span><span class="p">(</span><span class="n">get_valid_batch_size</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="n">vary_cnn</span><span class="p">:</span>  <span class="c1"># Vary the depth, and size of the layers in the CNN part of the agent</span>
+            <span class="c1"># Also varies kernel size, and stride.</span>
+            <span class="n">num_layers</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">3</span><span class="p">)</span>
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.network.cnn.type&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;conv2d&quot;</span>
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.network.cnn.activation&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;relu&quot;</span><span class="p">,</span> <span class="s2">&quot;elu&quot;</span><span class="p">])</span>
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.network.cnn.initializer&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;{name:default}&quot;</span>
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.network.cnn.regularizer&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;{name:None}&quot;</span>
+
+            <span class="k">def</span> <span class="nf">get_cnn_layers</span><span class="p">(</span><span class="n">_</span><span class="p">):</span>
+                <span class="n">layers</span> <span class="o">=</span> <span class="p">[]</span>
+                <span class="n">size</span> <span class="o">=</span> <span class="mi">64</span>  <span class="c1"># Initial input size</span>
+
+                <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_layers</span><span class="o">.</span><span class="n">sample</span><span class="p">()):</span>
+                    <span class="c1"># Get valid kernel sizes for current size</span>
+                    <span class="n">valid_kernels</span> <span class="o">=</span> <span class="p">[</span><span class="n">k</span> <span class="k">for</span> <span class="n">k</span> <span class="ow">in</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="mi">4</span><span class="p">,</span> <span class="mi">6</span><span class="p">,</span> <span class="mi">8</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="mi">12</span><span class="p">]</span> <span class="k">if</span> <span class="n">k</span> <span class="o">&lt;=</span> <span class="n">size</span><span class="p">]</span>
+                    <span class="k">if</span> <span class="ow">not</span> <span class="n">valid_kernels</span><span class="p">:</span>
+                        <span class="k">break</span>
+
+                    <span class="n">kernel</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="nb">str</span><span class="p">(</span><span class="n">k</span><span class="p">)</span> <span class="k">for</span> <span class="n">k</span> <span class="ow">in</span> <span class="n">valid_kernels</span><span class="p">])</span><span class="o">.</span><span class="n">sample</span><span class="p">())</span>
+                    <span class="n">stride</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;1&quot;</span><span class="p">,</span> <span class="s2">&quot;2&quot;</span><span class="p">,</span> <span class="s2">&quot;3&quot;</span><span class="p">,</span> <span class="s2">&quot;4&quot;</span><span class="p">])</span><span class="o">.</span><span class="n">sample</span><span class="p">())</span>
+                    <span class="n">padding</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;0&quot;</span><span class="p">,</span> <span class="s2">&quot;1&quot;</span><span class="p">])</span><span class="o">.</span><span class="n">sample</span><span class="p">())</span>
+
+                    <span class="c1"># Calculate next size</span>
+                    <span class="n">next_size</span> <span class="o">=</span> <span class="p">((</span><span class="n">size</span> <span class="o">+</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">padding</span> <span class="o">-</span> <span class="n">kernel</span><span class="p">)</span> <span class="o">//</span> <span class="n">stride</span><span class="p">)</span> <span class="o">+</span> <span class="mi">1</span>
+                    <span class="k">if</span> <span class="n">next_size</span> <span class="o">&lt;=</span> <span class="mi">0</span><span class="p">:</span>
+                        <span class="k">break</span>
+
+                    <span class="n">layers</span><span class="o">.</span><span class="n">append</span><span class="p">({</span>
+                        <span class="s2">&quot;filters&quot;</span><span class="p">:</span> <span class="n">tune</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">16</span><span class="p">,</span> <span class="mi">32</span><span class="p">)</span><span class="o">.</span><span class="n">sample</span><span class="p">(),</span>
+                        <span class="s2">&quot;kernel_size&quot;</span><span class="p">:</span> <span class="nb">str</span><span class="p">(</span><span class="n">kernel</span><span class="p">),</span>
+                        <span class="s2">&quot;strides&quot;</span><span class="p">:</span> <span class="nb">str</span><span class="p">(</span><span class="n">stride</span><span class="p">),</span>
+                        <span class="s2">&quot;padding&quot;</span><span class="p">:</span> <span class="nb">str</span><span class="p">(</span><span class="n">padding</span><span class="p">),</span>
+                    <span class="p">})</span>
+                    <span class="n">size</span> <span class="o">=</span> <span class="n">next_size</span>
+
+                <span class="k">return</span> <span class="n">layers</span>
+
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.network.cnn.convs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">sample_from</span><span class="p">(</span><span class="n">get_cnn_layers</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="n">vary_mlp</span><span class="p">:</span>  <span class="c1"># Vary the MLP structure; neurons (units) per layer, number of layers,</span>
+
+            <span class="n">max_num_layers</span> <span class="o">=</span> <span class="mi">6</span>
+            <span class="n">max_neurons_per_layer</span> <span class="o">=</span> <span class="mi">128</span>
+            <span class="k">if</span> <span class="s2">&quot;env.observations.policy.image.params.model_name&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">]:</span>
+                <span class="c1"># By decreasing MLP size when using pretrained helps prevent out of memory on L4</span>
+                <span class="n">max_num_layers</span> <span class="o">=</span> <span class="mi">3</span>
+                <span class="n">max_neurons_per_layer</span> <span class="o">=</span> <span class="mi">32</span>
+            <span class="k">if</span> <span class="s2">&quot;agent.params.network.cnn.convs&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">]:</span>
+                <span class="c1"># decrease MLP size to prevent running out of memory on L4</span>
+                <span class="n">max_num_layers</span> <span class="o">=</span> <span class="mi">2</span>
+                <span class="n">max_neurons_per_layer</span> <span class="o">=</span> <span class="mi">32</span>
+
+            <span class="n">num_layers</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">max_num_layers</span><span class="p">)</span>
+
+            <span class="k">def</span> <span class="nf">get_mlp_layers</span><span class="p">(</span><span class="n">_</span><span class="p">):</span>
+                <span class="k">return</span> <span class="p">[</span><span class="n">tune</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">4</span><span class="p">,</span> <span class="n">max_neurons_per_layer</span><span class="p">)</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span> <span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_layers</span><span class="o">.</span><span class="n">sample</span><span class="p">())]</span>
+
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.network.mlp.units&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">sample_from</span><span class="p">(</span><span class="n">get_mlp_layers</span><span class="p">)</span>
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.network.mlp.initializer.name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;default&quot;</span><span class="p">])</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span>
+            <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;agent.params.network.mlp.activation&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span>
+                <span class="p">[</span><span class="s2">&quot;relu&quot;</span><span class="p">,</span> <span class="s2">&quot;tanh&quot;</span><span class="p">,</span> <span class="s2">&quot;sigmoid&quot;</span><span class="p">,</span> <span class="s2">&quot;elu&quot;</span><span class="p">]</span>
+            <span class="p">)</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span>
+
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">ResNetCameraJob</span><span class="p">(</span><span class="n">CameraJobCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Try different ResNet sizes.&quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;env.observations.policy.image.params.model_name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">(</span>
+            <span class="p">[</span><span class="s2">&quot;resnet18&quot;</span><span class="p">,</span> <span class="s2">&quot;resnet34&quot;</span><span class="p">,</span> <span class="s2">&quot;resnet50&quot;</span><span class="p">,</span> <span class="s2">&quot;resnet101&quot;</span><span class="p">]</span>
+        <span class="p">)</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">vary_env_count</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">vary_cnn</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">vary_mlp</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">TheiaCameraJob</span><span class="p">(</span><span class="n">CameraJobCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Try different Theia sizes.&quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;hydra_args&quot;</span><span class="p">][</span><span class="s2">&quot;env.observations.policy.image.params.model_name&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span>
+            <span class="s2">&quot;theia-tiny-patch16-224-cddsv&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;theia-tiny-patch16-224-cdiv&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;theia-small-patch16-224-cdiv&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;theia-base-patch16-224-cdiv&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;theia-small-patch16-224-cddsv&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;theia-base-patch16-224-cddsv&quot;</span><span class="p">,</span>
+        <span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">vary_env_count</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">vary_cnn</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">vary_mlp</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/hyperparameter_tuning/vision_cartpole_cfg.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="kn">import</span> <span class="nn">pathlib</span>
+<span class="kn">import</span> <span class="nn">sys</span>
+
+<span class="c1"># Allow for import of items from the ray workflow.</span>
+<span class="n">CUR_DIR</span> <span class="o">=</span> <span class="n">pathlib</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="vm">__file__</span><span class="p">)</span><span class="o">.</span><span class="n">parent</span>
+<span class="n">UTIL_DIR</span> <span class="o">=</span> <span class="n">CUR_DIR</span><span class="o">.</span><span class="n">parent</span>
+<span class="n">sys</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">extend</span><span class="p">([</span><span class="nb">str</span><span class="p">(</span><span class="n">UTIL_DIR</span><span class="p">),</span> <span class="nb">str</span><span class="p">(</span><span class="n">CUR_DIR</span><span class="p">)])</span>
+<span class="kn">import</span> <span class="nn">util</span>
+<span class="kn">import</span> <span class="nn">vision_cfg</span>
+<span class="kn">from</span> <span class="nn">ray</span> <span class="kn">import</span> <span class="n">tune</span>
+
+
+<span class="k">class</span> <span class="nc">CartpoleRGBNoTuneJobCfg</span><span class="p">(</span><span class="n">vision_cfg</span><span class="o">.</span><span class="n">CameraJobCfg</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--task&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Isaac-Cartpole-RGB-v0&quot;</span><span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">vary_env_count</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">vary_cnn</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">vary_mlp</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">CartpoleRGBCNNOnlyJobCfg</span><span class="p">(</span><span class="n">vision_cfg</span><span class="o">.</span><span class="n">CameraJobCfg</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--task&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Isaac-Cartpole-RGB-v0&quot;</span><span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">vary_env_count</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">vary_cnn</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">vary_mlp</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">CartpoleRGBJobCfg</span><span class="p">(</span><span class="n">vision_cfg</span><span class="o">.</span><span class="n">CameraJobCfg</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--task&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Isaac-Cartpole-RGB-v0&quot;</span><span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">vary_env_count</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">vary_cnn</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">vary_mlp</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">CartpoleResNetJobCfg</span><span class="p">(</span><span class="n">vision_cfg</span><span class="o">.</span><span class="n">ResNetCameraJob</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--task&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Isaac-Cartpole-RGB-ResNet18-v0&quot;</span><span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">CartpoleTheiaJobCfg</span><span class="p">(</span><span class="n">vision_cfg</span><span class="o">.</span><span class="n">TheiaCameraJob</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--task&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Isaac-Cartpole-RGB-TheiaTiny-v0&quot;</span><span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><p>Then, see the local examples in the following file to see how to start a tuning run.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/tuner.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="kn">import</span> <span class="nn">argparse</span>
+<span class="kn">import</span> <span class="nn">importlib.util</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">sys</span>
+<span class="kn">from</span> <span class="nn">time</span> <span class="kn">import</span> <span class="n">sleep</span>
+
+<span class="kn">import</span> <span class="nn">ray</span>
+<span class="kn">import</span> <span class="nn">util</span>
+<span class="kn">from</span> <span class="nn">ray</span> <span class="kn">import</span> <span class="n">air</span><span class="p">,</span> <span class="n">tune</span>
+<span class="kn">from</span> <span class="nn">ray.tune.search.optuna</span> <span class="kn">import</span> <span class="n">OptunaSearch</span>
+<span class="kn">from</span> <span class="nn">ray.tune.search.repeater</span> <span class="kn">import</span> <span class="n">Repeater</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="hll"><span class="sd">This script breaks down an aggregate tuning job, as defined by a hyperparameter sweep configuration,</span>
+</span><span class="hll"><span class="sd">into individual jobs (shell commands) to run on the GPU-enabled nodes of the cluster.</span>
+</span><span class="hll"><span class="sd">By default, (unless combined as a sub-job in a resource-wrapped aggregate job), one worker is created</span>
+</span><span class="hll"><span class="sd">for each GPU-enabled node in the cluster for each individual job.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Each hyperparameter sweep configuration should include the workflow,</span>
+</span><span class="hll"><span class="sd">runner arguments, and hydra arguments to vary.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">This assumes that all workers in a cluster are homogeneous. For heterogeneous workloads,</span>
+</span><span class="hll"><span class="sd">create several heterogeneous clusters (with homogeneous nodes in each cluster),</span>
+</span><span class="hll"><span class="sd">then submit several overall-cluster jobs with :file:`../submit_job.py`.</span>
+</span><span class="hll"><span class="sd">KubeRay clusters on Google GKE can be created with :file:`../launch.py`</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">To report tune metrics on clusters, a running MLFlow server with a known URI that the cluster has</span>
+</span><span class="hll"><span class="sd">access to is required. For KubeRay clusters configured with :file:`../launch.py`, this is included</span>
+</span><span class="hll"><span class="sd">automatically, and can be easily found with with :file:`grok_cluster_with_kubectl.py`</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/tuner.py -h</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # Examples</span>
+</span><span class="hll"><span class="sd">    # Local (not within a docker container, when within a local docker container, do not supply run_mode argument)</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/tuner.py --run_mode local \</span>
+</span><span class="hll"><span class="sd">    --cfg_file source/standalone/workflows/ray/hyperparameter_tuning/vision_cartpole_cfg.py \</span>
+</span><span class="hll"><span class="sd">    --cfg_class CartpoleRGBNoTuneJobCfg</span>
+</span><span class="hll"><span class="sd">    # Local docker: start the ray server and run above command in the same running container without run_mode arg</span>
+</span><span class="hll"><span class="sd">    # Remote (run grok cluster or create config file mentioned in :file:`submit_job.py`)</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/submit_job.py \</span>
+</span><span class="hll"><span class="sd">    --aggregate_jobs tuner.py \</span>
+</span><span class="hll"><span class="sd">    --cfg_file hyperparameter_tuning/vision_cartpole_cfg.py \</span>
+</span><span class="hll"><span class="sd">    --cfg_class CartpoleRGBNoTuneJobCfg --mlflow_uri &lt;MLFLOW_URI_FROM_GROK_OR_MANUAL&gt;</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span>
+<span class="n">DOCKER_PREFIX</span> <span class="o">=</span> <span class="s2">&quot;/workspace/isaaclab/&quot;</span>
+<span class="n">BASE_DIR</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">expanduser</span><span class="p">(</span><span class="s2">&quot;~&quot;</span><span class="p">)</span>
+<span class="n">PYTHON_EXEC</span> <span class="o">=</span> <span class="s2">&quot;./isaaclab.sh -p&quot;</span>
+<span class="n">WORKFLOW</span> <span class="o">=</span> <span class="s2">&quot;source/standalone/workflows/rl_games/train.py&quot;</span>
+<span class="n">NUM_WORKERS_PER_NODE</span> <span class="o">=</span> <span class="mi">1</span>  <span class="c1"># needed for local parallelism</span>
+
+
+<span class="k">class</span> <span class="nc">IsaacLabTuneTrainable</span><span class="p">(</span><span class="n">tune</span><span class="o">.</span><span class="n">Trainable</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The Isaac Lab Ray Tune Trainable.</span>
+<span class="sd">    This class uses the standalone workflows to start jobs, along with the hydra integration.</span>
+<span class="sd">    This class achieves Ray-based logging through reading the tensorboard logs from</span>
+<span class="sd">    the standalone workflows. This depends on a config generated in the format of</span>
+<span class="sd">    :class:`JobCfg`</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">setup</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">config</span><span class="p">:</span> <span class="nb">dict</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get the invocation command, return quick for easy scheduling.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_invocation_command_from_cfg</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">config</span><span class="p">,</span> <span class="n">python_cmd</span><span class="o">=</span><span class="n">PYTHON_EXEC</span><span class="p">,</span> <span class="n">workflow</span><span class="o">=</span><span class="n">WORKFLOW</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Recovered invocation with </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">experiment</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="nf">reset_config</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">new_config</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Allow environments to be re-used by fetching a new invocation command&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">setup</span><span class="p">(</span><span class="n">new_config</span><span class="p">)</span>
+        <span class="k">return</span> <span class="kc">True</span>
+
+    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">experiment</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>  <span class="c1"># start experiment</span>
+            <span class="c1"># When including this as first step instead of setup, experiments get scheduled faster</span>
+            <span class="c1"># Don&#39;t want to block the scheduler while the experiment spins up</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Invoking experiment as first step with </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span><span class="si">}</span><span class="s2">...&quot;</span><span class="p">)</span>
+            <span class="n">experiment</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">execute_job</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span><span class="p">,</span>
+                <span class="n">identifier_string</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">,</span>
+                <span class="n">extract_experiment</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+                <span class="n">persistent_dir</span><span class="o">=</span><span class="n">BASE_DIR</span><span class="p">,</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">experiment</span> <span class="o">=</span> <span class="n">experiment</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Tuner recovered experiment info </span><span class="si">{</span><span class="n">experiment</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">proc</span> <span class="o">=</span> <span class="n">experiment</span><span class="p">[</span><span class="s2">&quot;proc&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">experiment_name</span> <span class="o">=</span> <span class="n">experiment</span><span class="p">[</span><span class="s2">&quot;experiment_name&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">isaac_logdir</span> <span class="o">=</span> <span class="n">experiment</span><span class="p">[</span><span class="s2">&quot;logdir&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">isaac_logdir</span> <span class="o">+</span> <span class="sa">f</span><span class="s2">&quot;/</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">experiment_name</span><span class="si">}</span><span class="s2">/summaries&quot;</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">done</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">proc</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Could not start trial.&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">proc</span><span class="o">.</span><span class="n">poll</span><span class="p">()</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>  <span class="c1"># process finished, signal finish</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="p">[</span><span class="s2">&quot;done&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">True</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Process finished, returning...&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>  <span class="c1"># wait until the logs are ready or fresh</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">load_tensorboard_logs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span><span class="p">)</span>
+
+            <span class="k">while</span> <span class="n">data</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">load_tensorboard_logs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span><span class="p">)</span>
+                <span class="n">sleep</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>  <span class="c1"># Lazy report metrics to avoid performance overhead</span>
+
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">while</span> <span class="n">util</span><span class="o">.</span><span class="n">_dicts_equal</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="p">):</span>
+                    <span class="n">data</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">load_tensorboard_logs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span><span class="p">)</span>
+                    <span class="n">sleep</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>  <span class="c1"># Lazy report metrics to avoid performance overhead</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">data</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="p">[</span><span class="s2">&quot;done&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="k">def</span> <span class="nf">default_resource_request</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;How many resources each trainable uses. Assumes homogeneous resources across gpu nodes,</span>
+<span class="sd">        and that each trainable is meant for one node, where it uses all available resources.&quot;&quot;&quot;</span>
+        <span class="n">resources</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_gpu_node_resources</span><span class="p">(</span><span class="n">one_node_only</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">NUM_WORKERS_PER_NODE</span> <span class="o">!=</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: Splitting node into more than one worker&quot;</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">tune</span><span class="o">.</span><span class="n">PlacementGroupFactory</span><span class="p">(</span>
+            <span class="p">[{</span><span class="s2">&quot;CPU&quot;</span><span class="p">:</span> <span class="n">resources</span><span class="p">[</span><span class="s2">&quot;CPU&quot;</span><span class="p">]</span> <span class="o">/</span> <span class="n">NUM_WORKERS_PER_NODE</span><span class="p">,</span> <span class="s2">&quot;GPU&quot;</span><span class="p">:</span> <span class="n">resources</span><span class="p">[</span><span class="s2">&quot;GPU&quot;</span><span class="p">]</span> <span class="o">/</span> <span class="n">NUM_WORKERS_PER_NODE</span><span class="p">}],</span>
+            <span class="n">strategy</span><span class="o">=</span><span class="s2">&quot;STRICT_PACK&quot;</span><span class="p">,</span>
+        <span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">invoke_tuning_run</span><span class="p">(</span><span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span> <span class="n">args</span><span class="p">:</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Invoke an Isaac-Ray tuning run.</span>
+
+<span class="sd">    Log either to a local directory or to MLFlow.</span>
+<span class="sd">    Args:</span>
+<span class="sd">        cfg: Configuration dictionary extracted from job setup</span>
+<span class="sd">        args: Command-line arguments related to tuning.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Allow for early exit</span>
+    <span class="n">os</span><span class="o">.</span><span class="n">environ</span><span class="p">[</span><span class="s2">&quot;TUNE_DISABLE_STRICT_METRIC_CHECKING&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;1&quot;</span>
+
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: Not saving checkpoints, just running experiment...&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Model parameters and metrics will be preserved.&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: For homogeneous cluster resources only...&quot;</span><span class="p">)</span>
+    <span class="c1"># Get available resources</span>
+    <span class="n">resources</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_gpu_node_resources</span><span class="p">()</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Available resources </span><span class="si">{</span><span class="n">resources</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">ray</span><span class="o">.</span><span class="n">is_initialized</span><span class="p">():</span>
+        <span class="n">ray</span><span class="o">.</span><span class="n">init</span><span class="p">(</span>
+            <span class="n">address</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">ray_address</span><span class="p">,</span>
+            <span class="n">log_to_driver</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+            <span class="n">num_gpus</span><span class="o">=</span><span class="nb">len</span><span class="p">(</span><span class="n">resources</span><span class="p">),</span>
+        <span class="p">)</span>
+
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using config </span><span class="si">{</span><span class="n">cfg</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Configure the search algorithm and the repeater</span>
+    <span class="n">searcher</span> <span class="o">=</span> <span class="n">OptunaSearch</span><span class="p">(</span>
+        <span class="n">metric</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">metric</span><span class="p">,</span>
+        <span class="n">mode</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">mode</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">repeat_search</span> <span class="o">=</span> <span class="n">Repeater</span><span class="p">(</span><span class="n">searcher</span><span class="p">,</span> <span class="n">repeat</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">repeat_run_count</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;local&quot;</span><span class="p">:</span>  <span class="c1"># Standard config, to file</span>
+        <span class="n">run_config</span> <span class="o">=</span> <span class="n">air</span><span class="o">.</span><span class="n">RunConfig</span><span class="p">(</span>
+            <span class="n">storage_path</span><span class="o">=</span><span class="s2">&quot;/tmp/ray&quot;</span><span class="p">,</span>
+            <span class="n">name</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;IsaacRay-</span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span><span class="si">}</span><span class="s2">-tune&quot;</span><span class="p">,</span>
+            <span class="n">verbose</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+            <span class="n">checkpoint_config</span><span class="o">=</span><span class="n">air</span><span class="o">.</span><span class="n">CheckpointConfig</span><span class="p">(</span>
+                <span class="n">checkpoint_frequency</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>  <span class="c1"># Disable periodic checkpointing</span>
+                <span class="n">checkpoint_at_end</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>  <span class="c1"># Disable final checkpoint</span>
+            <span class="p">),</span>
+        <span class="p">)</span>
+
+    <span class="k">elif</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;remote&quot;</span><span class="p">:</span>  <span class="c1"># MLFlow, to MLFlow server</span>
+        <span class="n">mlflow_callback</span> <span class="o">=</span> <span class="n">MLflowLoggerCallback</span><span class="p">(</span>
+            <span class="n">tracking_uri</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">mlflow_uri</span><span class="p">,</span>
+            <span class="n">experiment_name</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;IsaacRay-</span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span><span class="si">}</span><span class="s2">-tune&quot;</span><span class="p">,</span>
+            <span class="n">save_artifact</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="n">tags</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;run_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;remote&quot;</span><span class="p">,</span> <span class="s2">&quot;cfg_class&quot;</span><span class="p">:</span> <span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span><span class="p">},</span>
+        <span class="p">)</span>
+
+        <span class="n">run_config</span> <span class="o">=</span> <span class="n">ray</span><span class="o">.</span><span class="n">train</span><span class="o">.</span><span class="n">RunConfig</span><span class="p">(</span>
+            <span class="n">name</span><span class="o">=</span><span class="s2">&quot;mlflow&quot;</span><span class="p">,</span>
+            <span class="n">storage_path</span><span class="o">=</span><span class="s2">&quot;/tmp/ray&quot;</span><span class="p">,</span>
+            <span class="n">callbacks</span><span class="o">=</span><span class="p">[</span><span class="n">mlflow_callback</span><span class="p">],</span>
+            <span class="n">checkpoint_config</span><span class="o">=</span><span class="n">ray</span><span class="o">.</span><span class="n">train</span><span class="o">.</span><span class="n">CheckpointConfig</span><span class="p">(</span><span class="n">checkpoint_frequency</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">checkpoint_at_end</span><span class="o">=</span><span class="kc">False</span><span class="p">),</span>
+        <span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Unrecognized run mode.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Configure the tuning job</span>
+    <span class="n">tuner</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">Tuner</span><span class="p">(</span>
+        <span class="n">IsaacLabTuneTrainable</span><span class="p">,</span>
+        <span class="n">param_space</span><span class="o">=</span><span class="n">cfg</span><span class="p">,</span>
+        <span class="n">tune_config</span><span class="o">=</span><span class="n">tune</span><span class="o">.</span><span class="n">TuneConfig</span><span class="p">(</span>
+            <span class="n">search_alg</span><span class="o">=</span><span class="n">repeat_search</span><span class="p">,</span>
+            <span class="n">num_samples</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">num_samples</span><span class="p">,</span>
+            <span class="n">reuse_actors</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="p">),</span>
+        <span class="n">run_config</span><span class="o">=</span><span class="n">run_config</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="c1"># Execute the tuning</span>
+    <span class="n">tuner</span><span class="o">.</span><span class="n">fit</span><span class="p">()</span>
+
+    <span class="c1"># Save results to mounted volume</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;local&quot;</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[DONE!]: Check results with tensorboard dashboard&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[DONE!]: Check results with MLFlow dashboard&quot;</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">JobCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;To be compatible with :meth: invoke_tuning_run and :class:IsaacLabTuneTrainable,</span>
+<span class="sd">    at a minimum, the tune job should inherit from this class.&quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">):</span>
+        <span class="k">assert</span> <span class="s2">&quot;runner_args&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;No runner arguments specified.&quot;</span>
+        <span class="k">assert</span> <span class="s2">&quot;--task&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">],</span> <span class="s2">&quot;No task specified.&quot;</span>
+        <span class="k">assert</span> <span class="s2">&quot;hydra_args&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;No hypeparameters specified.&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tune Isaac Lab hyperparameters.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--ray_address&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;auto&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;the Ray address.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--cfg_file&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;hyperparameter_tuning/vision_cartpole_cfg.py&quot;</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The relative filepath where a hyperparameter sweep is defined&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--cfg_class&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;CartpoleRGBNoTuneJobCfg&quot;</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Name of the hyperparameter sweep class to use&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--run_mode&quot;</span><span class="p">,</span>
+        <span class="n">choices</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;local&quot;</span><span class="p">,</span> <span class="s2">&quot;remote&quot;</span><span class="p">],</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;remote&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+            <span class="s2">&quot;Set to local to use ./isaaclab.sh -p python, set to &quot;</span>
+            <span class="s2">&quot;remote to use /workspace/isaaclab/isaaclab.sh -p python&quot;</span>
+        <span class="p">),</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--workflow&quot;</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>  <span class="c1"># populated with RL Games</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The absolute path of the workflow to use for the experiment. By default, RL Games is used.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--mlflow_uri&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The MLFlow Uri.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--num_workers_per_node&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of workers to run on each GPU node. Only supply for parallelism on multi-gpu nodes&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--metric&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;rewards/time&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;What metric to tune for.&quot;</span><span class="p">)</span>
+
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--mode&quot;</span><span class="p">,</span>
+        <span class="n">choices</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;max&quot;</span><span class="p">,</span> <span class="s2">&quot;min&quot;</span><span class="p">],</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;max&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;What to optimize the metric to while tuning&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--num_samples&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">100</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;How many hyperparameter runs to try total.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--repeat_run_count&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">3</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;How many times to repeat each hyperparameter config.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+    <span class="n">NUM_WORKERS_PER_NODE</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers_per_node</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using </span><span class="si">{</span><span class="n">NUM_WORKERS_PER_NODE</span><span class="si">}</span><span class="s2"> workers per node.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;remote&quot;</span><span class="p">:</span>
+        <span class="n">BASE_DIR</span> <span class="o">=</span> <span class="n">DOCKER_PREFIX</span>  <span class="c1"># ensure logs are dumped to persistent location</span>
+        <span class="n">PYTHON_EXEC</span> <span class="o">=</span> <span class="n">DOCKER_PREFIX</span> <span class="o">+</span> <span class="n">PYTHON_EXEC</span><span class="p">[</span><span class="mi">2</span><span class="p">:]</span>
+        <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">DOCKER_PREFIX</span> <span class="o">+</span> <span class="n">WORKFLOW</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using remote mode </span><span class="si">{</span><span class="n">PYTHON_EXEC</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">WORKFLOW</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">mlflow_uri</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="kn">import</span> <span class="nn">mlflow</span>
+
+            <span class="n">mlflow</span><span class="o">.</span><span class="n">set_tracking_uri</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">mlflow_uri</span><span class="p">)</span>
+            <span class="kn">from</span> <span class="nn">ray.air.integrations.mlflow</span> <span class="kn">import</span> <span class="n">MLflowLoggerCallback</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Please provide a result MLFLow URI server.&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>  <span class="c1"># local</span>
+        <span class="n">PYTHON_EXEC</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">()</span> <span class="o">+</span> <span class="s2">&quot;/&quot;</span> <span class="o">+</span> <span class="n">PYTHON_EXEC</span><span class="p">[</span><span class="mi">2</span><span class="p">:]</span>
+        <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">()</span> <span class="o">+</span> <span class="s2">&quot;/&quot;</span> <span class="o">+</span> <span class="n">WORKFLOW</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span>
+        <span class="n">BASE_DIR</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">()</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using local mode </span><span class="si">{</span><span class="n">PYTHON_EXEC</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">WORKFLOW</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">file_path</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">cfg_file</span>
+    <span class="n">class_name</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Attempting to use sweep config from </span><span class="si">{</span><span class="n">file_path</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">class_name</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">module_name</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">splitext</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">basename</span><span class="p">(</span><span class="n">file_path</span><span class="p">))[</span><span class="mi">0</span><span class="p">]</span>
+
+    <span class="n">spec</span> <span class="o">=</span> <span class="n">importlib</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">spec_from_file_location</span><span class="p">(</span><span class="n">module_name</span><span class="p">,</span> <span class="n">file_path</span><span class="p">)</span>
+    <span class="n">module</span> <span class="o">=</span> <span class="n">importlib</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">module_from_spec</span><span class="p">(</span><span class="n">spec</span><span class="p">)</span>
+    <span class="n">sys</span><span class="o">.</span><span class="n">modules</span><span class="p">[</span><span class="n">module_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">module</span>
+    <span class="n">spec</span><span class="o">.</span><span class="n">loader</span><span class="o">.</span><span class="n">exec_module</span><span class="p">(</span><span class="n">module</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Successfully imported </span><span class="si">{</span><span class="n">module_name</span><span class="si">}</span><span class="s2"> from </span><span class="si">{</span><span class="n">file_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">module</span><span class="p">,</span> <span class="n">class_name</span><span class="p">):</span>
+        <span class="n">ClassToInstantiate</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">module</span><span class="p">,</span> <span class="n">class_name</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Found correct class </span><span class="si">{</span><span class="n">ClassToInstantiate</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">instance</span> <span class="o">=</span> <span class="n">ClassToInstantiate</span><span class="p">()</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Successfully instantiated class &#39;</span><span class="si">{</span><span class="n">class_name</span><span class="si">}</span><span class="s2">&#39; from </span><span class="si">{</span><span class="n">file_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">instance</span><span class="o">.</span><span class="n">cfg</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Grabbed the following hyperparameter sweep config: </span><span class="se">\n</span><span class="s2"> </span><span class="si">{</span><span class="n">cfg</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">invoke_tuning_run</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">args</span><span class="p">)</span>
+
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">AttributeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[ERROR]:Class &#39;</span><span class="si">{</span><span class="n">class_name</span><span class="si">}</span><span class="s2">&#39; not found in </span><span class="si">{</span><span class="n">file_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><p>To view the logs, simply run <code class="docutils literal notranslate"><span class="pre">tensorboard</span> <span class="pre">--logdir=&lt;LOCAL_STORAGE_PATH_READ_FROM_OUTPUT&gt;</span></code></p>
+</section>
+<section id="remote-ray-cluster-setup-and-use">
+<h3><a class="toc-backref" href="#id9" role="doc-backlink">Remote Ray Cluster Setup and Use</a><a class="headerlink" href="#remote-ray-cluster-setup-and-use" title="Permalink to this heading">#</a></h3>
+<p>This guide assumes that one desires to create a cluster on a remote host or server. This
+guide includes shared steps, and KubeRay or Ray specific steps. Follow all shared steps (part I and II), and then
+only the KubeRay or Ray steps depending on your desired configuration, in order of shared steps part I, then
+the configuration specific steps, then shared steps part II.</p>
+<section id="shared-steps-between-kuberay-and-pure-ray-part-i">
+<h4><a class="toc-backref" href="#id10" role="doc-backlink">Shared Steps Between KubeRay and Pure Ray Part I</a><a class="headerlink" href="#shared-steps-between-kuberay-and-pure-ray-part-i" title="Permalink to this heading">#</a></h4>
+<p>1.) Build the Isaac Ray image, and upload it to your container registry of choice.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Login with NGC (nvcr.io) registry first, see docker steps in repo.</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>docker/container.py<span class="w"> </span>start
+<span class="c1"># Build the special Isaac Lab Ray Image</span>
+docker<span class="w"> </span>build<span class="w"> </span>-t<span class="w"> </span>&lt;REGISTRY/IMAGE_NAME&gt;<span class="w"> </span>-f<span class="w"> </span>source/standalone/workflows/ray/cluster_configs/Dockerfile<span class="w"> </span>.
+<span class="c1"># Push the image to your registry of choice.</span>
+docker<span class="w"> </span>push<span class="w"> </span>&lt;REGISTRY/IMAGE_NAME&gt;
+</pre></div>
+</div>
+</section>
+<section id="kuberay-specific">
+<h4><a class="toc-backref" href="#id11" role="doc-backlink">KubeRay Specific</a><a class="headerlink" href="#kuberay-specific" title="Permalink to this heading">#</a></h4>
+<p><a class="reference external" href="https://github.com/derailed/k9s">k9s</a> is a great tool for monitoring your clusters that can
+easily be installed with <code class="docutils literal notranslate"><span class="pre">snap</span> <span class="pre">install</span> <span class="pre">k9s</span> <span class="pre">--devmode</span></code>.</p>
+<p>1.) Verify cluster access, and that the correct operators are installed.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Verify cluster access</span>
+kubectl<span class="w"> </span>cluster-info
+<span class="c1"># If using a manually managed cluster (not Autopilot or the like)</span>
+<span class="c1"># verify that there are node pools</span>
+kubectl<span class="w"> </span>get<span class="w"> </span>nodes
+<span class="c1"># Check that the ray operator is installed on the cluster</span>
+<span class="c1"># should list rayclusters.ray.io , rayjobs.ray.io , and rayservices.ray.io</span>
+kubectl<span class="w"> </span>get<span class="w"> </span>crds<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>ray
+<span class="c1"># Check that the NVIDIA Driver Operator is installed on the cluster</span>
+<span class="c1"># should list clusterpolicies.nvidia.com</span>
+kubectl<span class="w"> </span>get<span class="w"> </span>crds<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>nvidia
+</pre></div>
+</div>
+<p>2.) Create the KubeRay cluster and an MLFlow server for receiving logs
+that your cluster has access to.
+This can be done automatically for Google GKE,
+where instructions are included in the following creation file. More than once cluster
+can be created at once. Each cluster can have heterogeneous resources if so desired,
+although only
+For other cloud services, the <code class="docutils literal notranslate"><span class="pre">kuberay.yaml.ninja</span></code> will be similar to that of
+Google’s.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/launch.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">argparse</span>
+<span class="kn">import</span> <span class="nn">pathlib</span>
+<span class="kn">import</span> <span class="nn">subprocess</span>
+<span class="kn">import</span> <span class="nn">yaml</span>
+
+<span class="kn">from</span> <span class="nn">jinja2</span> <span class="kn">import</span> <span class="n">Environment</span><span class="p">,</span> <span class="n">FileSystemLoader</span>
+<span class="kn">from</span> <span class="nn">kubernetes</span> <span class="kn">import</span> <span class="n">config</span>
+
+<span class="kn">import</span> <span class="nn">source.standalone.workflows.ray.util</span> <span class="k">as</span> <span class="nn">util</span>
+<span class="hll">
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;This script helps create one or more KubeRay clusters.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll"><span class="sd">    # If the head node is stuck on container creating, make sure to create a secret</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/launch.py -h</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # Examples</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # The following creates 8 GPUx1 nvidia l4 workers</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/launch.py --cluster_host google_cloud \</span>
+</span><span class="hll"><span class="sd">    --namespace &lt;NAMESPACE&gt; --image &lt;YOUR_ISAAC_RAY_IMAGE&gt; \</span>
+</span><span class="hll"><span class="sd">    --num_workers 8 --num_clusters 1 --worker_accelerator nvidia-l4 --gpu_per_worker 1</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # The following creates 1 GPUx1 nvidia l4 worker, 2 GPUx2 nvidia-tesla-t4 workers,</span>
+</span><span class="hll"><span class="sd">    # and 2 GPUx4 nvidia-tesla-t4 GPU workers</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/launch.py --cluster_host google_cloud \</span>
+</span><span class="hll"><span class="sd">    --namespace &lt;NAMESPACE&gt; --image &lt;YOUR_ISAAC_RAY_IMAGE&gt; \</span>
+</span><span class="hll"><span class="sd">    --num_workers 1 2 --num_clusters 1 \</span>
+</span><span class="hll"><span class="sd">    --worker_accelerator nvidia-l4 nvidia-tesla-t4 --gpu_per_worker 1 2 4</span>
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span><span class="n">RAY_DIR</span> <span class="o">=</span> <span class="n">pathlib</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="vm">__file__</span><span class="p">)</span><span class="o">.</span><span class="n">parent</span>
+
+
+<span class="k">def</span> <span class="nf">apply_manifest</span><span class="p">(</span><span class="n">args</span><span class="p">:</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Provided a Jinja templated ray.io/v1alpha1 file,</span>
+<span class="sd">    populate the arguments and create the cluster. Additionally, create</span>
+<span class="sd">    kubernetes containers for resources separated by &#39;---&#39; from the rest</span>
+<span class="sd">    of the file.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        args: Possible arguments concerning cluster parameters.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Load Kubernetes configuration</span>
+    <span class="n">config</span><span class="o">.</span><span class="n">load_kube_config</span><span class="p">()</span>
+
+    <span class="c1"># Set up Jinja2 environment for loading templates</span>
+    <span class="n">templates_dir</span> <span class="o">=</span> <span class="n">RAY_DIR</span> <span class="o">/</span> <span class="s2">&quot;cluster_configs&quot;</span> <span class="o">/</span> <span class="n">args</span><span class="o">.</span><span class="n">cluster_host</span>
+    <span class="n">file_loader</span> <span class="o">=</span> <span class="n">FileSystemLoader</span><span class="p">(</span><span class="nb">str</span><span class="p">(</span><span class="n">templates_dir</span><span class="p">))</span>
+    <span class="n">jinja_env</span> <span class="o">=</span> <span class="n">Environment</span><span class="p">(</span><span class="n">loader</span><span class="o">=</span><span class="n">file_loader</span><span class="p">,</span> <span class="n">keep_trailing_newline</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+    <span class="c1"># Define template filename</span>
+    <span class="n">template_file</span> <span class="o">=</span> <span class="s2">&quot;kuberay.yaml.jinja&quot;</span>
+
+    <span class="c1"># Convert args namespace to a dictionary</span>
+    <span class="n">template_params</span> <span class="o">=</span> <span class="nb">vars</span><span class="p">(</span><span class="n">args</span><span class="p">)</span>
+
+    <span class="c1"># Load and render the template</span>
+    <span class="n">template</span> <span class="o">=</span> <span class="n">jinja_env</span><span class="o">.</span><span class="n">get_template</span><span class="p">(</span><span class="n">template_file</span><span class="p">)</span>
+    <span class="n">file_contents</span> <span class="o">=</span> <span class="n">template</span><span class="o">.</span><span class="n">render</span><span class="p">(</span><span class="n">template_params</span><span class="p">)</span>
+
+    <span class="c1"># Parse all YAML documents in the rendered template</span>
+    <span class="n">all_yamls</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">doc</span> <span class="ow">in</span> <span class="n">yaml</span><span class="o">.</span><span class="n">safe_load_all</span><span class="p">(</span><span class="n">file_contents</span><span class="p">):</span>
+        <span class="n">all_yamls</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">doc</span><span class="p">)</span>
+
+    <span class="c1"># Convert back to YAML string, preserving multiple documents</span>
+    <span class="n">cleaned_yaml_string</span> <span class="o">=</span> <span class="s2">&quot;&quot;</span>
+    <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">doc</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">all_yamls</span><span class="p">):</span>
+        <span class="k">if</span> <span class="n">i</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="n">cleaned_yaml_string</span> <span class="o">+=</span> <span class="s2">&quot;</span><span class="se">\n</span><span class="s2">---</span><span class="se">\n</span><span class="s2">&quot;</span>
+        <span class="n">cleaned_yaml_string</span> <span class="o">+=</span> <span class="n">yaml</span><span class="o">.</span><span class="n">dump</span><span class="p">(</span><span class="n">doc</span><span class="p">)</span>
+
+    <span class="c1"># Apply the Kubernetes manifest using kubectl</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">subprocess</span><span class="o">.</span><span class="n">run</span><span class="p">([</span><span class="s2">&quot;kubectl&quot;</span><span class="p">,</span> <span class="s2">&quot;apply&quot;</span><span class="p">,</span> <span class="s2">&quot;-f&quot;</span><span class="p">,</span> <span class="s2">&quot;-&quot;</span><span class="p">],</span> <span class="nb">input</span><span class="o">=</span><span class="n">cleaned_yaml_string</span><span class="p">,</span> <span class="n">text</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">check</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="k">except</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">CalledProcessError</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+        <span class="n">exit</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;An error occurred while running `kubectl`: </span><span class="si">{</span><span class="n">e</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">parse_args</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Parse command-line arguments for Kubernetes deployment script.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        argparse.Namespace: Parsed command-line arguments.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">arg_parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span>
+        <span class="n">description</span><span class="o">=</span><span class="s2">&quot;Script to apply manifests to create Kubernetes objects for Ray clusters.&quot;</span><span class="p">,</span>
+        <span class="n">formatter_class</span><span class="o">=</span><span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentDefaultsHelpFormatter</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--cluster_host&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;google_cloud&quot;</span><span class="p">,</span>
+        <span class="n">choices</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;google_cloud&quot;</span><span class="p">],</span>
+        <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+            <span class="s2">&quot;In the cluster_configs directory, the name of the folder where a tune.yaml.jinja&quot;</span>
+            <span class="s2">&quot;file exists defining the KubeRay config. Currently only google_cloud is supported.&quot;</span>
+        <span class="p">),</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--name&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;isaacray&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Name of the Kubernetes deployment.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--namespace&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;default&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Kubernetes namespace to deploy the Ray cluster.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--service_acount_name&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;default&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The service account name to use.&quot;</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--image&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Docker image for the Ray cluster pods.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--worker_accelerator&quot;</span><span class="p">,</span>
+        <span class="n">nargs</span><span class="o">=</span><span class="s2">&quot;+&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;nvidia-l4&quot;</span><span class="p">],</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;GPU accelerator name. Supply more than one for heterogeneous resources.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">add_resource_arguments</span><span class="p">(</span><span class="n">arg_parser</span><span class="p">,</span> <span class="n">cluster_create_defaults</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--num_clusters&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;How many Ray Clusters to create.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--num_head_cpu&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">float</span><span class="p">,</span>  <span class="c1"># to be able to schedule partial CPU heads</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">8</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The number of CPUs to give the Ray head.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">arg_parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--head_ram_gb&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">8</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;How many gigs of ram to give the Ray head&quot;</span><span class="p">)</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">arg_parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+    <span class="k">return</span> <span class="n">util</span><span class="o">.</span><span class="n">fill_in_missing_resources</span><span class="p">(</span><span class="n">args</span><span class="p">,</span> <span class="n">cluster_creation_flag</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parse_args</span><span class="p">()</span>
+
+    <span class="k">if</span> <span class="s2">&quot;head&quot;</span> <span class="ow">in</span> <span class="n">args</span><span class="o">.</span><span class="n">name</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;For compatibility with other scripts, do not include head in the name&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">num_clusters</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="n">apply_manifest</span><span class="p">(</span><span class="n">args</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">default_name</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">name</span>
+        <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">num_clusters</span><span class="p">):</span>
+            <span class="n">args</span><span class="o">.</span><span class="n">name</span> <span class="o">=</span> <span class="n">default_name</span> <span class="o">+</span> <span class="s2">&quot;-&quot;</span> <span class="o">+</span> <span class="nb">str</span><span class="p">(</span><span class="n">i</span><span class="p">)</span>
+            <span class="n">apply_manifest</span><span class="p">(</span><span class="n">args</span><span class="p">)</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">main</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details><p>3.) Fetch the KubeRay cluster IP addresses, and the MLFLow Server IP.
+This can be done automatically for KubeRay clusters,
+where instructions are included in the following fetching file.
+The KubeRay clusters are saved to a file, but the MLFLow Server IP is
+printed.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/grok_cluster_with_kubectl.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">argparse</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">re</span>
+<span class="kn">import</span> <span class="nn">subprocess</span>
+<span class="kn">import</span> <span class="nn">threading</span>
+<span class="kn">import</span> <span class="nn">time</span>
+<span class="kn">from</span> <span class="nn">concurrent.futures</span> <span class="kn">import</span> <span class="n">ThreadPoolExecutor</span><span class="p">,</span> <span class="n">as_completed</span>
+
+<span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="sd">This script requires that kubectl is installed and KubeRay was used to create the cluster.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Creates a config file containing ``name: &lt;NAME&gt; address: http://&lt;IP&gt;:&lt;PORT&gt;`` on</span>
+</span><span class="hll"><span class="sd">a new line for each cluster, and also fetches the MLFlow URI.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/grok_cluster_with_kubectl.py</span>
+</span><span class="hll"><span class="sd">    # For options, supply -h arg</span>
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span>
+
+<span class="k">def</span> <span class="nf">get_namespace</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Get the current Kubernetes namespace from the context, fallback to default if not set&quot;&quot;&quot;</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">namespace</span> <span class="o">=</span> <span class="p">(</span>
+            <span class="n">subprocess</span><span class="o">.</span><span class="n">check_output</span><span class="p">([</span><span class="s2">&quot;kubectl&quot;</span><span class="p">,</span> <span class="s2">&quot;config&quot;</span><span class="p">,</span> <span class="s2">&quot;view&quot;</span><span class="p">,</span> <span class="s2">&quot;--minify&quot;</span><span class="p">,</span> <span class="s2">&quot;--output&quot;</span><span class="p">,</span> <span class="s2">&quot;jsonpath={..namespace}&quot;</span><span class="p">])</span>
+            <span class="o">.</span><span class="n">decode</span><span class="p">()</span>
+            <span class="o">.</span><span class="n">strip</span><span class="p">()</span>
+        <span class="p">)</span>
+        <span class="k">if</span> <span class="ow">not</span> <span class="n">namespace</span><span class="p">:</span>
+            <span class="n">namespace</span> <span class="o">=</span> <span class="s2">&quot;default&quot;</span>
+    <span class="k">except</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">CalledProcessError</span><span class="p">:</span>
+        <span class="n">namespace</span> <span class="o">=</span> <span class="s2">&quot;default&quot;</span>
+    <span class="k">return</span> <span class="n">namespace</span>
+
+
+<span class="k">def</span> <span class="nf">get_pods</span><span class="p">(</span><span class="n">namespace</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;default&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">tuple</span><span class="p">]:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Get a list of all of the pods in the namespace&quot;&quot;&quot;</span>
+    <span class="n">cmd</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;kubectl&quot;</span><span class="p">,</span> <span class="s2">&quot;get&quot;</span><span class="p">,</span> <span class="s2">&quot;pods&quot;</span><span class="p">,</span> <span class="s2">&quot;-n&quot;</span><span class="p">,</span> <span class="n">namespace</span><span class="p">,</span> <span class="s2">&quot;--no-headers&quot;</span><span class="p">]</span>
+    <span class="n">output</span> <span class="o">=</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">check_output</span><span class="p">(</span><span class="n">cmd</span><span class="p">)</span><span class="o">.</span><span class="n">decode</span><span class="p">()</span>
+    <span class="n">pods</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">line</span> <span class="ow">in</span> <span class="n">output</span><span class="o">.</span><span class="n">strip</span><span class="p">()</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">):</span>
+        <span class="n">fields</span> <span class="o">=</span> <span class="n">line</span><span class="o">.</span><span class="n">split</span><span class="p">()</span>
+        <span class="n">pod_name</span> <span class="o">=</span> <span class="n">fields</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+        <span class="n">status</span> <span class="o">=</span> <span class="n">fields</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span>
+        <span class="n">pods</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">pod_name</span><span class="p">,</span> <span class="n">status</span><span class="p">))</span>
+    <span class="k">return</span> <span class="n">pods</span>
+
+
+<span class="k">def</span> <span class="nf">get_clusters</span><span class="p">(</span><span class="n">pods</span><span class="p">:</span> <span class="nb">list</span><span class="p">,</span> <span class="n">cluster_name_prefix</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">set</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Get unique cluster name(s). Works for one or more clusters, based off of the number of head nodes.</span>
+<span class="sd">    Excludes MLflow deployments.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">clusters</span> <span class="o">=</span> <span class="nb">set</span><span class="p">()</span>
+    <span class="k">for</span> <span class="n">pod_name</span><span class="p">,</span> <span class="n">_</span> <span class="ow">in</span> <span class="n">pods</span><span class="p">:</span>
+        <span class="c1"># Skip MLflow pods</span>
+        <span class="k">if</span> <span class="s2">&quot;-mlflow&quot;</span> <span class="ow">in</span> <span class="n">pod_name</span><span class="p">:</span>
+            <span class="k">continue</span>
+
+        <span class="n">match</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">match</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;(&quot;</span> <span class="o">+</span> <span class="n">re</span><span class="o">.</span><span class="n">escape</span><span class="p">(</span><span class="n">cluster_name_prefix</span><span class="p">)</span> <span class="o">+</span> <span class="sa">r</span><span class="s2">&quot;[-\w]+)&quot;</span><span class="p">,</span> <span class="n">pod_name</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">match</span><span class="p">:</span>
+            <span class="c1"># Get base name without head/worker suffix</span>
+            <span class="n">base_name</span> <span class="o">=</span> <span class="n">match</span><span class="o">.</span><span class="n">group</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;-head&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;-worker&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+            <span class="n">clusters</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="n">base_name</span><span class="p">)</span>
+    <span class="k">return</span> <span class="nb">sorted</span><span class="p">(</span><span class="n">clusters</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">get_mlflow_info</span><span class="p">(</span><span class="n">namespace</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">cluster_prefix</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;isaacray&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Get MLflow service information if it exists in the namespace with the given prefix.</span>
+<span class="sd">    Only works for a single cluster instance.</span>
+<span class="sd">    Args:</span>
+<span class="sd">        namespace: Kubernetes namespace</span>
+<span class="sd">        cluster_prefix: Base cluster name (without -head/-worker suffixes)</span>
+<span class="sd">    Returns:</span>
+<span class="sd">        MLflow service URL</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Strip any -head or -worker suffixes to get base name</span>
+    <span class="k">if</span> <span class="n">namespace</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">namespace</span> <span class="o">=</span> <span class="n">get_namespace</span><span class="p">()</span>
+    <span class="n">pods</span> <span class="o">=</span> <span class="n">get_pods</span><span class="p">(</span><span class="n">namespace</span><span class="o">=</span><span class="n">namespace</span><span class="p">)</span>
+    <span class="n">clusters</span> <span class="o">=</span> <span class="n">get_clusters</span><span class="p">(</span><span class="n">pods</span><span class="o">=</span><span class="n">pods</span><span class="p">,</span> <span class="n">cluster_name_prefix</span><span class="o">=</span><span class="n">cluster_prefix</span><span class="p">)</span>
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">clusters</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;More than one cluster matches prefix, could not automatically determine mlflow info.&quot;</span><span class="p">)</span>
+
+    <span class="n">base_name</span> <span class="o">=</span> <span class="n">cluster_prefix</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;-head&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;-worker&quot;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+    <span class="n">mlflow_name</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">base_name</span><span class="si">}</span><span class="s2">-mlflow&quot;</span>
+
+    <span class="n">cmd</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;kubectl&quot;</span><span class="p">,</span> <span class="s2">&quot;get&quot;</span><span class="p">,</span> <span class="s2">&quot;svc&quot;</span><span class="p">,</span> <span class="n">mlflow_name</span><span class="p">,</span> <span class="s2">&quot;-n&quot;</span><span class="p">,</span> <span class="n">namespace</span><span class="p">,</span> <span class="s2">&quot;--no-headers&quot;</span><span class="p">]</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">output</span> <span class="o">=</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">check_output</span><span class="p">(</span><span class="n">cmd</span><span class="p">)</span><span class="o">.</span><span class="n">decode</span><span class="p">()</span>
+        <span class="n">fields</span> <span class="o">=</span> <span class="n">output</span><span class="o">.</span><span class="n">strip</span><span class="p">()</span><span class="o">.</span><span class="n">split</span><span class="p">()</span>
+
+        <span class="c1"># Get cluster IP</span>
+        <span class="n">cluster_ip</span> <span class="o">=</span> <span class="n">fields</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span>
+        <span class="n">port</span> <span class="o">=</span> <span class="s2">&quot;5000&quot;</span>  <span class="c1"># Default MLflow port</span>
+
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;http://</span><span class="si">{</span><span class="n">cluster_ip</span><span class="si">}</span><span class="s2">:</span><span class="si">{</span><span class="n">port</span><span class="si">}</span><span class="s2">&quot;</span>
+    <span class="k">except</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">CalledProcessError</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Could not grok MLflow: </span><span class="si">{</span><span class="n">e</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>  <span class="c1"># Fixed f-string</span>
+
+
+<span class="k">def</span> <span class="nf">check_clusters_running</span><span class="p">(</span><span class="n">pods</span><span class="p">:</span> <span class="nb">list</span><span class="p">,</span> <span class="n">clusters</span><span class="p">:</span> <span class="nb">set</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Check that all of the pods in all provided clusters are running.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        pods (list): A list of tuples where each tuple contains the pod name and its status.</span>
+<span class="sd">        clusters (set): A set of cluster names to check.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        bool: True if all pods in any of the clusters are running, False otherwise.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">clusters_running</span> <span class="o">=</span> <span class="kc">False</span>
+    <span class="k">for</span> <span class="n">cluster</span> <span class="ow">in</span> <span class="n">clusters</span><span class="p">:</span>
+        <span class="n">cluster_pods</span> <span class="o">=</span> <span class="p">[</span><span class="n">p</span> <span class="k">for</span> <span class="n">p</span> <span class="ow">in</span> <span class="n">pods</span> <span class="k">if</span> <span class="n">p</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="n">cluster</span><span class="p">)]</span>
+        <span class="n">total_pods</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">cluster_pods</span><span class="p">)</span>
+        <span class="n">running_pods</span> <span class="o">=</span> <span class="nb">len</span><span class="p">([</span><span class="n">p</span> <span class="k">for</span> <span class="n">p</span> <span class="ow">in</span> <span class="n">cluster_pods</span> <span class="k">if</span> <span class="n">p</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">==</span> <span class="s2">&quot;Running&quot;</span><span class="p">])</span>
+        <span class="k">if</span> <span class="n">running_pods</span> <span class="o">==</span> <span class="n">total_pods</span> <span class="ow">and</span> <span class="n">running_pods</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+            <span class="n">clusters_running</span> <span class="o">=</span> <span class="kc">True</span>
+            <span class="k">break</span>
+    <span class="k">return</span> <span class="n">clusters_running</span>
+
+
+<span class="k">def</span> <span class="nf">get_ray_address</span><span class="p">(</span><span class="n">head_pod</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">namespace</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;default&quot;</span><span class="p">,</span> <span class="n">ray_head_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;head&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Given a cluster head pod, check its logs, which should include the ray address which can accept job requests.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        head_pod (str): The name of the head pod.</span>
+<span class="sd">        namespace (str, optional): The Kubernetes namespace. Defaults to &quot;default&quot;.</span>
+<span class="sd">        ray_head_name (str, optional): The name of the ray head container. Defaults to &quot;head&quot;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        str: The ray address if found, None otherwise.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: If the logs cannot be retrieved or the ray address is not found.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">cmd</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;kubectl&quot;</span><span class="p">,</span> <span class="s2">&quot;logs&quot;</span><span class="p">,</span> <span class="n">head_pod</span><span class="p">,</span> <span class="s2">&quot;-c&quot;</span><span class="p">,</span> <span class="n">ray_head_name</span><span class="p">,</span> <span class="s2">&quot;-n&quot;</span><span class="p">,</span> <span class="n">namespace</span><span class="p">]</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">output</span> <span class="o">=</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">check_output</span><span class="p">(</span><span class="n">cmd</span><span class="p">)</span><span class="o">.</span><span class="n">decode</span><span class="p">()</span>
+    <span class="k">except</span> <span class="n">subprocess</span><span class="o">.</span><span class="n">CalledProcessError</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span>
+            <span class="sa">f</span><span class="s2">&quot;Could not enter head container with cmd </span><span class="si">{</span><span class="n">cmd</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">e</span><span class="si">}</span><span class="s2">Perhaps try a different namespace or ray head name.&quot;</span>
+        <span class="p">)</span>
+    <span class="n">match</span> <span class="o">=</span> <span class="n">re</span><span class="o">.</span><span class="n">search</span><span class="p">(</span><span class="sa">r</span><span class="s2">&quot;RAY_ADDRESS=&#39;([^&#39;]+)&#39;&quot;</span><span class="p">,</span> <span class="n">output</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">match</span><span class="p">:</span>
+        <span class="k">return</span> <span class="n">match</span><span class="o">.</span><span class="n">group</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">return</span> <span class="kc">None</span>
+
+
+<span class="k">def</span> <span class="nf">process_cluster</span><span class="p">(</span><span class="n">cluster_info</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span> <span class="n">ray_head_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;head&quot;</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    For each cluster, check that it is running, and get the Ray head address that will accept jobs.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        cluster_info (dict): A dictionary containing cluster information with keys &#39;cluster&#39;, &#39;pods&#39;, and &#39;namespace&#39;.</span>
+<span class="sd">        ray_head_name (str, optional): The name of the ray head container. Defaults to &quot;head&quot;.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        str: A string containing the cluster name and its Ray head address, or an error message if the head pod or Ray address is not found.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">cluster</span><span class="p">,</span> <span class="n">pods</span><span class="p">,</span> <span class="n">namespace</span> <span class="o">=</span> <span class="n">cluster_info</span>
+    <span class="n">head_pod</span> <span class="o">=</span> <span class="kc">None</span>
+    <span class="k">for</span> <span class="n">pod_name</span><span class="p">,</span> <span class="n">status</span> <span class="ow">in</span> <span class="n">pods</span><span class="p">:</span>
+        <span class="k">if</span> <span class="n">pod_name</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="n">cluster</span> <span class="o">+</span> <span class="s2">&quot;-head&quot;</span><span class="p">):</span>
+            <span class="n">head_pod</span> <span class="o">=</span> <span class="n">pod_name</span>
+            <span class="k">break</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">head_pod</span><span class="p">:</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;Error: Could not find head pod for cluster </span><span class="si">{</span><span class="n">cluster</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+    <span class="c1"># Get RAY_ADDRESS and status</span>
+    <span class="n">ray_address</span> <span class="o">=</span> <span class="n">get_ray_address</span><span class="p">(</span><span class="n">head_pod</span><span class="p">,</span> <span class="n">namespace</span><span class="o">=</span><span class="n">namespace</span><span class="p">,</span> <span class="n">ray_head_name</span><span class="o">=</span><span class="n">ray_head_name</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">ray_address</span><span class="p">:</span>
+        <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;Error: Could not find RAY_ADDRESS for cluster </span><span class="si">{</span><span class="n">cluster</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+    <span class="c1"># Return only cluster and ray address</span>
+    <span class="k">return</span> <span class="sa">f</span><span class="s2">&quot;name: </span><span class="si">{</span><span class="n">cluster</span><span class="si">}</span><span class="s2"> address: </span><span class="si">{</span><span class="n">ray_address</span><span class="si">}</span><span class="se">\n</span><span class="s2">&quot;</span>
+
+
+<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+    <span class="c1"># Parse command-line arguments</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Process Ray clusters and save their specifications.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--prefix&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;isaacray&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The prefix for the cluster names.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--output&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;~/.cluster_config&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The file to save cluster specifications.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--ray_head_name&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;head&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The metadata name for the ray head container&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--namespace&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Kubernetes namespace to use. If not provided, will detect from current context.&quot;</span>
+    <span class="p">)</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+
+    <span class="c1"># Get namespace from args or detect it</span>
+    <span class="n">current_namespace</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">namespace</span> <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">namespace</span> <span class="k">else</span> <span class="n">get_namespace</span><span class="p">()</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Using namespace: </span><span class="si">{</span><span class="n">current_namespace</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="n">cluster_name_prefix</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">prefix</span>
+    <span class="n">cluster_spec_file</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">expanduser</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">output</span><span class="p">)</span>
+
+    <span class="c1"># Get all pods</span>
+    <span class="n">pods</span> <span class="o">=</span> <span class="n">get_pods</span><span class="p">(</span><span class="n">namespace</span><span class="o">=</span><span class="n">current_namespace</span><span class="p">)</span>
+
+    <span class="c1"># Get clusters</span>
+    <span class="n">clusters</span> <span class="o">=</span> <span class="n">get_clusters</span><span class="p">(</span><span class="n">pods</span><span class="p">,</span> <span class="n">cluster_name_prefix</span><span class="p">)</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">clusters</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;No clusters found with prefix </span><span class="si">{</span><span class="n">cluster_name_prefix</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">return</span>
+
+    <span class="c1"># Wait for clusters to be running</span>
+    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
+        <span class="n">pods</span> <span class="o">=</span> <span class="n">get_pods</span><span class="p">(</span><span class="n">namespace</span><span class="o">=</span><span class="n">current_namespace</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">check_clusters_running</span><span class="p">(</span><span class="n">pods</span><span class="p">,</span> <span class="n">clusters</span><span class="p">):</span>
+            <span class="k">break</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Waiting for all clusters to spin up...&quot;</span><span class="p">)</span>
+        <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
+
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Checking for MLflow:&quot;</span><span class="p">)</span>
+    <span class="c1"># Check MLflow status for each cluster</span>
+    <span class="k">for</span> <span class="n">cluster</span> <span class="ow">in</span> <span class="n">clusters</span><span class="p">:</span>
+        <span class="k">try</span><span class="p">:</span>
+            <span class="n">mlflow_address</span> <span class="o">=</span> <span class="n">get_mlflow_info</span><span class="p">(</span><span class="n">current_namespace</span><span class="p">,</span> <span class="n">cluster</span><span class="p">)</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;MLflow address for </span><span class="si">{</span><span class="n">cluster</span><span class="si">}</span><span class="s2">: </span><span class="si">{</span><span class="n">mlflow_address</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="k">except</span> <span class="ne">ValueError</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;ML Flow not located: </span><span class="si">{</span><span class="n">e</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">()</span>
+
+    <span class="c1"># Prepare cluster info for parallel processing</span>
+    <span class="n">cluster_infos</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">cluster</span> <span class="ow">in</span> <span class="n">clusters</span><span class="p">:</span>
+        <span class="n">cluster_pods</span> <span class="o">=</span> <span class="p">[</span><span class="n">p</span> <span class="k">for</span> <span class="n">p</span> <span class="ow">in</span> <span class="n">pods</span> <span class="k">if</span> <span class="n">p</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="n">cluster</span><span class="p">)]</span>
+        <span class="n">cluster_infos</span><span class="o">.</span><span class="n">append</span><span class="p">((</span><span class="n">cluster</span><span class="p">,</span> <span class="n">cluster_pods</span><span class="p">,</span> <span class="n">current_namespace</span><span class="p">))</span>
+
+    <span class="c1"># Use ThreadPoolExecutor to process clusters in parallel</span>
+    <span class="n">results</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="n">results_lock</span> <span class="o">=</span> <span class="n">threading</span><span class="o">.</span><span class="n">Lock</span><span class="p">()</span>
+
+    <span class="k">with</span> <span class="n">ThreadPoolExecutor</span><span class="p">()</span> <span class="k">as</span> <span class="n">executor</span><span class="p">:</span>
+        <span class="n">future_to_cluster</span> <span class="o">=</span> <span class="p">{</span>
+            <span class="n">executor</span><span class="o">.</span><span class="n">submit</span><span class="p">(</span><span class="n">process_cluster</span><span class="p">,</span> <span class="n">info</span><span class="p">,</span> <span class="n">args</span><span class="o">.</span><span class="n">ray_head_name</span><span class="p">):</span> <span class="n">info</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="k">for</span> <span class="n">info</span> <span class="ow">in</span> <span class="n">cluster_infos</span>
+        <span class="p">}</span>
+        <span class="k">for</span> <span class="n">future</span> <span class="ow">in</span> <span class="n">as_completed</span><span class="p">(</span><span class="n">future_to_cluster</span><span class="p">):</span>
+            <span class="n">cluster_name</span> <span class="o">=</span> <span class="n">future_to_cluster</span><span class="p">[</span><span class="n">future</span><span class="p">]</span>
+            <span class="k">try</span><span class="p">:</span>
+                <span class="n">result</span> <span class="o">=</span> <span class="n">future</span><span class="o">.</span><span class="n">result</span><span class="p">()</span>
+                <span class="k">with</span> <span class="n">results_lock</span><span class="p">:</span>
+                    <span class="n">results</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">result</span><span class="p">)</span>
+            <span class="k">except</span> <span class="ne">Exception</span> <span class="k">as</span> <span class="n">exc</span><span class="p">:</span>
+                <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">cluster_name</span><span class="si">}</span><span class="s2"> generated an exception: </span><span class="si">{</span><span class="n">exc</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Sort results alphabetically by cluster name</span>
+    <span class="n">results</span><span class="o">.</span><span class="n">sort</span><span class="p">()</span>
+
+    <span class="c1"># Write sorted results to the output file (Ray info only)</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">cluster_spec_file</span><span class="p">,</span> <span class="s2">&quot;w&quot;</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+        <span class="k">for</span> <span class="n">result</span> <span class="ow">in</span> <span class="n">results</span><span class="p">:</span>
+            <span class="n">f</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="n">result</span><span class="p">)</span>
+
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Cluster spec information saved to </span><span class="si">{</span><span class="n">cluster_spec_file</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="c1"># Display the contents of the config file</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">cluster_spec_file</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="n">f</span><span class="o">.</span><span class="n">read</span><span class="p">())</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">main</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="ray-specific">
+<h4><a class="toc-backref" href="#id12" role="doc-backlink">Ray Specific</a><a class="headerlink" href="#ray-specific" title="Permalink to this heading">#</a></h4>
+<p>1.) Verify cluster access.</p>
+<p>2.) Create a <code class="docutils literal notranslate"><span class="pre">~/.cluster_config</span></code> file, where <code class="docutils literal notranslate"><span class="pre">name:</span> <span class="pre">&lt;NAME&gt;</span> <span class="pre">address:</span> <span class="pre">http://&lt;IP&gt;:&lt;PORT&gt;</span></code> is on
+a new line for each unique cluster. For one cluster, there should only be one line in this file.</p>
+<p>3.) Start an MLFLow Server to receive the logs that the ray cluster has access to,
+and determine the server URI.</p>
+</section>
+<section id="shared-steps-between-kuberay-and-pure-ray-part-ii">
+<h4><a class="toc-backref" href="#id13" role="doc-backlink">Shared Steps Between KubeRay and Pure Ray Part II</a><a class="headerlink" href="#shared-steps-between-kuberay-and-pure-ray-part-ii" title="Permalink to this heading">#</a></h4>
+<p>1.) Test that your cluster is operational with the following.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Test that NVIDIA GPUs are visible and that Ray is operation with the following command:</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/ray/wrap_resources.py
+<span class="w">      </span>--jobs<span class="w"> </span>wrap_resources.py<span class="w"> </span>--test
+</pre></div>
+</div>
+<p>2.) Submitting Jobs can be done in the following manner, with the following script.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/submit_job.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+
+<span class="kn">import</span> <span class="nn">argparse</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">time</span>
+<span class="kn">from</span> <span class="nn">concurrent.futures</span> <span class="kn">import</span> <span class="n">ThreadPoolExecutor</span>
+
+<span class="kn">from</span> <span class="nn">ray</span> <span class="kn">import</span> <span class="n">job_submission</span>
+<span class="hll">
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="sd">This script submits aggregate job(s) to cluster(s) described in a</span>
+</span><span class="hll"><span class="sd">config file containing ``name: &lt;NAME&gt; address: http://&lt;IP&gt;:&lt;PORT&gt;`` on</span>
+</span><span class="hll"><span class="sd">a new line for each cluster. For KubeRay clusters, this file</span>
+</span><span class="hll"><span class="sd">can be automatically created with :file:`grok_cluster_with_kubectl.py`</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Aggregate job(s) are matched with cluster(s) via the following relation:</span>
+</span><span class="hll"><span class="sd">cluster_line_index_submitted_to = job_index % total_cluster_count</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Aggregate jobs are separated by the * delimiter. The ``--aggregate_jobs`` argument must be</span>
+</span><span class="hll"><span class="sd">the last argument supplied to the script.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">An aggregate job could be a :file:`../tuner.py` tuning job, which automatically</span>
+</span><span class="hll"><span class="sd">creates several individual jobs when started on a cluster. Alternatively, an aggregate job</span>
+</span><span class="hll"><span class="sd">could be a :file:&#39;../wrap_resources.py` resource-wrapped job,</span>
+</span><span class="hll"><span class="sd">which may contain several individual sub-jobs separated by</span>
+</span><span class="hll"><span class="sd">the + delimiter.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">If there are more aggregate jobs than cluster(s), aggregate jobs will be submitted</span>
+</span><span class="hll"><span class="sd">as clusters become available via the defined relation above. If there are less aggregate job(s)</span>
+</span><span class="hll"><span class="sd">than clusters, some clusters will not receive aggregate job(s). The maximum number of</span>
+</span><span class="hll"><span class="sd">aggregate jobs that can be run simultaneously is equal to the number of workers created by</span>
+</span><span class="hll"><span class="sd">default by a ThreadPoolExecutor on the machine submitting jobs due to fetching the log output after</span>
+</span><span class="hll"><span class="sd">jobs finish, which is unlikely to constrain overall-job submission.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # Example; submitting a tuning job</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/submit_job.py \</span>
+</span><span class="hll"><span class="sd">    --aggregate_jobs /workspace/isaaclab/source/standalone/workflows/ray/tuner.py \</span>
+</span><span class="hll"><span class="sd">        --cfg_file hyperparameter_tuning/vision_cartpole_cfg.py \</span>
+</span><span class="hll"><span class="sd">        --cfg_class CartpoleRGBNoTuneJobCfg --mlflow_uri &lt;ML_FLOW_URI&gt;</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # Example: Submitting resource wrapped job</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/submit_job.py --aggregate_jobs wrap_resources.py --sub_jobs ./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-Cartpole-v0 --headless+./isaaclab.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-Cartpole-RGB-Camera-Direct-v0 --headless --enable_cameras agent.params.config.max_epochs=150</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # For all command line arguments</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/submit_job.py -h</span>
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span><span class="n">script_directory</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="vm">__file__</span><span class="p">))</span>
+<span class="n">CONFIG</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;working_dir&quot;</span><span class="p">:</span> <span class="n">script_directory</span><span class="p">,</span> <span class="s2">&quot;executable&quot;</span><span class="p">:</span> <span class="s2">&quot;/workspace/isaaclab/isaaclab.sh -p&quot;</span><span class="p">}</span>
+
+
+<span class="k">def</span> <span class="nf">read_cluster_spec</span><span class="p">(</span><span class="n">fn</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">dict</span><span class="p">]:</span>
+    <span class="k">if</span> <span class="n">fn</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">cluster_spec_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">expanduser</span><span class="p">(</span><span class="s2">&quot;~/.cluster_config&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">cluster_spec_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">expanduser</span><span class="p">(</span><span class="n">fn</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">exists</span><span class="p">(</span><span class="n">cluster_spec_path</span><span class="p">):</span>
+        <span class="k">raise</span> <span class="ne">FileNotFoundError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Cluster spec file not found at </span><span class="si">{</span><span class="n">cluster_spec_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="n">clusters</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">cluster_spec_path</span><span class="p">)</span> <span class="k">as</span> <span class="n">f</span><span class="p">:</span>
+        <span class="k">for</span> <span class="n">line</span> <span class="ow">in</span> <span class="n">f</span><span class="p">:</span>
+            <span class="n">parts</span> <span class="o">=</span> <span class="n">line</span><span class="o">.</span><span class="n">strip</span><span class="p">()</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot; &quot;</span><span class="p">)</span>
+            <span class="n">http_address</span> <span class="o">=</span> <span class="n">parts</span><span class="p">[</span><span class="mi">3</span><span class="p">]</span>
+            <span class="n">cluster_info</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;name&quot;</span><span class="p">:</span> <span class="n">parts</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="s2">&quot;address&quot;</span><span class="p">:</span> <span class="n">http_address</span><span class="p">}</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO] Setting </span><span class="si">{</span><span class="n">cluster_info</span><span class="p">[</span><span class="s1">&#39;name&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>  <span class="c1"># with {cluster_info[&#39;num_gpu&#39;]} GPUs.&quot;)</span>
+            <span class="n">clusters</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">cluster_info</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">clusters</span>
+
+
+<span class="k">def</span> <span class="nf">submit_job</span><span class="p">(</span><span class="n">cluster</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span> <span class="n">job_command</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Submits a job to a single cluster, prints the final result and Ray dashboard URL at the end.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">address</span> <span class="o">=</span> <span class="n">cluster</span><span class="p">[</span><span class="s2">&quot;address&quot;</span><span class="p">]</span>
+    <span class="n">cluster_name</span> <span class="o">=</span> <span class="n">cluster</span><span class="p">[</span><span class="s2">&quot;name&quot;</span><span class="p">]</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Submitting job to cluster &#39;</span><span class="si">{</span><span class="n">cluster_name</span><span class="si">}</span><span class="s2">&#39; at </span><span class="si">{</span><span class="n">address</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>  <span class="c1"># with {num_gpus} GPUs.&quot;)</span>
+    <span class="n">client</span> <span class="o">=</span> <span class="n">job_submission</span><span class="o">.</span><span class="n">JobSubmissionClient</span><span class="p">(</span><span class="n">address</span><span class="p">)</span>
+    <span class="n">runtime_env</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;working_dir&quot;</span><span class="p">:</span> <span class="n">CONFIG</span><span class="p">[</span><span class="s2">&quot;working_dir&quot;</span><span class="p">],</span> <span class="s2">&quot;executable&quot;</span><span class="p">:</span> <span class="n">CONFIG</span><span class="p">[</span><span class="s2">&quot;executable&quot;</span><span class="p">]}</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Checking contents of the directory: </span><span class="si">{</span><span class="n">CONFIG</span><span class="p">[</span><span class="s1">&#39;working_dir&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">try</span><span class="p">:</span>
+        <span class="n">dir_contents</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">listdir</span><span class="p">(</span><span class="n">CONFIG</span><span class="p">[</span><span class="s2">&quot;working_dir&quot;</span><span class="p">])</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Directory contents: </span><span class="si">{</span><span class="n">dir_contents</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">except</span> <span class="ne">Exception</span> <span class="k">as</span> <span class="n">e</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Failed to list directory contents: </span><span class="si">{</span><span class="nb">str</span><span class="p">(</span><span class="n">e</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">entrypoint</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">CONFIG</span><span class="p">[</span><span class="s1">&#39;executable&#39;</span><span class="p">]</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">job_command</span><span class="si">}</span><span class="s2">&quot;</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Attempting entrypoint </span><span class="si">{</span><span class="n">entrypoint</span><span class="si">=}</span><span class="s2"> in cluster </span><span class="si">{</span><span class="n">cluster</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">job_id</span> <span class="o">=</span> <span class="n">client</span><span class="o">.</span><span class="n">submit_job</span><span class="p">(</span><span class="n">entrypoint</span><span class="o">=</span><span class="n">entrypoint</span><span class="p">,</span> <span class="n">runtime_env</span><span class="o">=</span><span class="n">runtime_env</span><span class="p">)</span>
+    <span class="n">status</span> <span class="o">=</span> <span class="n">client</span><span class="o">.</span><span class="n">get_job_status</span><span class="p">(</span><span class="n">job_id</span><span class="p">)</span>
+    <span class="k">while</span> <span class="n">status</span> <span class="ow">in</span> <span class="p">[</span><span class="n">job_submission</span><span class="o">.</span><span class="n">JobStatus</span><span class="o">.</span><span class="n">PENDING</span><span class="p">,</span> <span class="n">job_submission</span><span class="o">.</span><span class="n">JobStatus</span><span class="o">.</span><span class="n">RUNNING</span><span class="p">]:</span>
+        <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
+        <span class="n">status</span> <span class="o">=</span> <span class="n">client</span><span class="o">.</span><span class="n">get_job_status</span><span class="p">(</span><span class="n">job_id</span><span class="p">)</span>
+
+    <span class="n">final_logs</span> <span class="o">=</span> <span class="n">client</span><span class="o">.</span><span class="n">get_job_logs</span><span class="p">(</span><span class="n">job_id</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;----------------------------------------------------&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Cluster </span><span class="si">{</span><span class="n">cluster_name</span><span class="si">}</span><span class="s2"> Logs: </span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="n">final_logs</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;----------------------------------------------------&quot;</span><span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">submit_jobs_to_clusters</span><span class="p">(</span><span class="n">jobs</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">clusters</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">dict</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Submit all jobs to their respective clusters, cycling through clusters if there are more jobs than clusters.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">clusters</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;No clusters available for job submission.&quot;</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">jobs</span><span class="p">)</span> <span class="o">&lt;</span> <span class="nb">len</span><span class="p">(</span><span class="n">clusters</span><span class="p">):</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Less jobs than clusters, some clusters will not receive jobs&quot;</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="nb">len</span><span class="p">(</span><span class="n">jobs</span><span class="p">)</span> <span class="o">==</span> <span class="nb">len</span><span class="p">(</span><span class="n">clusters</span><span class="p">):</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Exactly one job per cluster&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: More jobs than clusters, jobs submitted as clusters become available.&quot;</span><span class="p">)</span>
+    <span class="k">with</span> <span class="n">ThreadPoolExecutor</span><span class="p">()</span> <span class="k">as</span> <span class="n">executor</span><span class="p">:</span>
+        <span class="k">for</span> <span class="n">idx</span><span class="p">,</span> <span class="n">job_command</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">jobs</span><span class="p">):</span>
+            <span class="c1"># Cycle through clusters using modulus to wrap around if there are more jobs than clusters</span>
+            <span class="n">cluster</span> <span class="o">=</span> <span class="n">clusters</span><span class="p">[</span><span class="n">idx</span> <span class="o">%</span> <span class="nb">len</span><span class="p">(</span><span class="n">clusters</span><span class="p">)]</span>
+            <span class="n">executor</span><span class="o">.</span><span class="n">submit</span><span class="p">(</span><span class="n">submit_job</span><span class="p">,</span> <span class="n">cluster</span><span class="p">,</span> <span class="n">job_command</span><span class="p">)</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Submit multiple GPU jobs to multiple Ray clusters.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--config_file&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;~/.cluster_config&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The cluster config path.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--aggregate_jobs&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">nargs</span><span class="o">=</span><span class="n">argparse</span><span class="o">.</span><span class="n">REMAINDER</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;This should be last argument. The aggregate jobs to submit separated by the * delimiter.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">aggregate_jobs</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">jobs</span> <span class="o">=</span> <span class="s2">&quot; &quot;</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">aggregate_jobs</span><span class="p">)</span>
+        <span class="n">formatted_jobs</span> <span class="o">=</span> <span class="n">jobs</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">&quot;*&quot;</span><span class="p">)</span>
+        <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">formatted_jobs</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Warning; Split jobs by cluster with the * delimiter&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">formatted_jobs</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Isaac Ray Wrapper received jobs </span><span class="si">{</span><span class="n">formatted_jobs</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">clusters</span> <span class="o">=</span> <span class="n">read_cluster_spec</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">config_file</span><span class="p">)</span>
+    <span class="n">submit_jobs_to_clusters</span><span class="p">(</span><span class="n">formatted_jobs</span><span class="p">,</span> <span class="n">clusters</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><p>3.) For tuning jobs, specify the hyperparameter sweep similar to <code class="xref py py-class docutils literal notranslate"><span class="pre">RLGamesCameraJobCfg</span></code> in the following file:</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/tuner.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="kn">import</span> <span class="nn">argparse</span>
+<span class="kn">import</span> <span class="nn">importlib.util</span>
+<span class="kn">import</span> <span class="nn">os</span>
+<span class="kn">import</span> <span class="nn">sys</span>
+<span class="kn">from</span> <span class="nn">time</span> <span class="kn">import</span> <span class="n">sleep</span>
+
+<span class="kn">import</span> <span class="nn">ray</span>
+<span class="kn">import</span> <span class="nn">util</span>
+<span class="kn">from</span> <span class="nn">ray</span> <span class="kn">import</span> <span class="n">air</span><span class="p">,</span> <span class="n">tune</span>
+<span class="kn">from</span> <span class="nn">ray.tune.search.optuna</span> <span class="kn">import</span> <span class="n">OptunaSearch</span>
+<span class="kn">from</span> <span class="nn">ray.tune.search.repeater</span> <span class="kn">import</span> <span class="n">Repeater</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="hll"><span class="sd">This script breaks down an aggregate tuning job, as defined by a hyperparameter sweep configuration,</span>
+</span><span class="hll"><span class="sd">into individual jobs (shell commands) to run on the GPU-enabled nodes of the cluster.</span>
+</span><span class="hll"><span class="sd">By default, (unless combined as a sub-job in a resource-wrapped aggregate job), one worker is created</span>
+</span><span class="hll"><span class="sd">for each GPU-enabled node in the cluster for each individual job.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Each hyperparameter sweep configuration should include the workflow,</span>
+</span><span class="hll"><span class="sd">runner arguments, and hydra arguments to vary.</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">This assumes that all workers in a cluster are homogeneous. For heterogeneous workloads,</span>
+</span><span class="hll"><span class="sd">create several heterogeneous clusters (with homogeneous nodes in each cluster),</span>
+</span><span class="hll"><span class="sd">then submit several overall-cluster jobs with :file:`../submit_job.py`.</span>
+</span><span class="hll"><span class="sd">KubeRay clusters on Google GKE can be created with :file:`../launch.py`</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">To report tune metrics on clusters, a running MLFlow server with a known URI that the cluster has</span>
+</span><span class="hll"><span class="sd">access to is required. For KubeRay clusters configured with :file:`../launch.py`, this is included</span>
+</span><span class="hll"><span class="sd">automatically, and can be easily found with with :file:`grok_cluster_with_kubectl.py`</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">Usage:</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">.. code-block:: bash</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/tuner.py -h</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">    # Examples</span>
+</span><span class="hll"><span class="sd">    # Local (not within a docker container, when within a local docker container, do not supply run_mode argument)</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/tuner.py --run_mode local \</span>
+</span><span class="hll"><span class="sd">    --cfg_file source/standalone/workflows/ray/hyperparameter_tuning/vision_cartpole_cfg.py \</span>
+</span><span class="hll"><span class="sd">    --cfg_class CartpoleRGBNoTuneJobCfg</span>
+</span><span class="hll"><span class="sd">    # Local docker: start the ray server and run above command in the same running container without run_mode arg</span>
+</span><span class="hll"><span class="sd">    # Remote (run grok cluster or create config file mentioned in :file:`submit_job.py`)</span>
+</span><span class="hll"><span class="sd">    ./isaaclab.sh -p source/standalone/workflows/ray/submit_job.py \</span>
+</span><span class="hll"><span class="sd">    --aggregate_jobs tuner.py \</span>
+</span><span class="hll"><span class="sd">    --cfg_file hyperparameter_tuning/vision_cartpole_cfg.py \</span>
+</span><span class="hll"><span class="sd">    --cfg_class CartpoleRGBNoTuneJobCfg --mlflow_uri &lt;MLFLOW_URI_FROM_GROK_OR_MANUAL&gt;</span>
+</span><span class="hll">
+</span><span class="hll"><span class="sd">&quot;&quot;&quot;</span>
+</span>
+<span class="n">DOCKER_PREFIX</span> <span class="o">=</span> <span class="s2">&quot;/workspace/isaaclab/&quot;</span>
+<span class="n">BASE_DIR</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">expanduser</span><span class="p">(</span><span class="s2">&quot;~&quot;</span><span class="p">)</span>
+<span class="n">PYTHON_EXEC</span> <span class="o">=</span> <span class="s2">&quot;./isaaclab.sh -p&quot;</span>
+<span class="n">WORKFLOW</span> <span class="o">=</span> <span class="s2">&quot;source/standalone/workflows/rl_games/train.py&quot;</span>
+<span class="n">NUM_WORKERS_PER_NODE</span> <span class="o">=</span> <span class="mi">1</span>  <span class="c1"># needed for local parallelism</span>
+
+
+<span class="k">class</span> <span class="nc">IsaacLabTuneTrainable</span><span class="p">(</span><span class="n">tune</span><span class="o">.</span><span class="n">Trainable</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The Isaac Lab Ray Tune Trainable.</span>
+<span class="sd">    This class uses the standalone workflows to start jobs, along with the hydra integration.</span>
+<span class="sd">    This class achieves Ray-based logging through reading the tensorboard logs from</span>
+<span class="sd">    the standalone workflows. This depends on a config generated in the format of</span>
+<span class="sd">    :class:`JobCfg`</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="nf">setup</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">config</span><span class="p">:</span> <span class="nb">dict</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Get the invocation command, return quick for easy scheduling.&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="kc">None</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_invocation_command_from_cfg</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">config</span><span class="p">,</span> <span class="n">python_cmd</span><span class="o">=</span><span class="n">PYTHON_EXEC</span><span class="p">,</span> <span class="n">workflow</span><span class="o">=</span><span class="n">WORKFLOW</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Recovered invocation with </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">experiment</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="nf">reset_config</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">new_config</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Allow environments to be re-used by fetching a new invocation command&quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">setup</span><span class="p">(</span><span class="n">new_config</span><span class="p">)</span>
+        <span class="k">return</span> <span class="kc">True</span>
+
+    <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">experiment</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>  <span class="c1"># start experiment</span>
+            <span class="c1"># When including this as first step instead of setup, experiments get scheduled faster</span>
+            <span class="c1"># Don&#39;t want to block the scheduler while the experiment spins up</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Invoking experiment as first step with </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span><span class="si">}</span><span class="s2">...&quot;</span><span class="p">)</span>
+            <span class="n">experiment</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">execute_job</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">invoke_cmd</span><span class="p">,</span>
+                <span class="n">identifier_string</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">,</span>
+                <span class="n">extract_experiment</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+                <span class="n">persistent_dir</span><span class="o">=</span><span class="n">BASE_DIR</span><span class="p">,</span>
+            <span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">experiment</span> <span class="o">=</span> <span class="n">experiment</span>
+            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Tuner recovered experiment info </span><span class="si">{</span><span class="n">experiment</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">proc</span> <span class="o">=</span> <span class="n">experiment</span><span class="p">[</span><span class="s2">&quot;proc&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">experiment_name</span> <span class="o">=</span> <span class="n">experiment</span><span class="p">[</span><span class="s2">&quot;experiment_name&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">isaac_logdir</span> <span class="o">=</span> <span class="n">experiment</span><span class="p">[</span><span class="s2">&quot;logdir&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">isaac_logdir</span> <span class="o">+</span> <span class="sa">f</span><span class="s2">&quot;/</span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">experiment_name</span><span class="si">}</span><span class="s2">/summaries&quot;</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">done</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">proc</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Could not start trial.&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">proc</span><span class="o">.</span><span class="n">poll</span><span class="p">()</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>  <span class="c1"># process finished, signal finish</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="p">[</span><span class="s2">&quot;done&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">True</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Process finished, returning...&quot;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>  <span class="c1"># wait until the logs are ready or fresh</span>
+            <span class="n">data</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">load_tensorboard_logs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span><span class="p">)</span>
+
+            <span class="k">while</span> <span class="n">data</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="n">data</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">load_tensorboard_logs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span><span class="p">)</span>
+                <span class="n">sleep</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>  <span class="c1"># Lazy report metrics to avoid performance overhead</span>
+
+            <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                <span class="k">while</span> <span class="n">util</span><span class="o">.</span><span class="n">_dicts_equal</span><span class="p">(</span><span class="n">data</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="p">):</span>
+                    <span class="n">data</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">load_tensorboard_logs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">tensorboard_logdir</span><span class="p">)</span>
+                    <span class="n">sleep</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>  <span class="c1"># Lazy report metrics to avoid performance overhead</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">data</span> <span class="o">=</span> <span class="n">data</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">data</span><span class="p">[</span><span class="s2">&quot;done&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="kc">False</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">data</span>
+
+    <span class="k">def</span> <span class="nf">default_resource_request</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;How many resources each trainable uses. Assumes homogeneous resources across gpu nodes,</span>
+<span class="sd">        and that each trainable is meant for one node, where it uses all available resources.&quot;&quot;&quot;</span>
+        <span class="n">resources</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_gpu_node_resources</span><span class="p">(</span><span class="n">one_node_only</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">NUM_WORKERS_PER_NODE</span> <span class="o">!=</span> <span class="mi">1</span><span class="p">:</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: Splitting node into more than one worker&quot;</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">tune</span><span class="o">.</span><span class="n">PlacementGroupFactory</span><span class="p">(</span>
+            <span class="p">[{</span><span class="s2">&quot;CPU&quot;</span><span class="p">:</span> <span class="n">resources</span><span class="p">[</span><span class="s2">&quot;CPU&quot;</span><span class="p">]</span> <span class="o">/</span> <span class="n">NUM_WORKERS_PER_NODE</span><span class="p">,</span> <span class="s2">&quot;GPU&quot;</span><span class="p">:</span> <span class="n">resources</span><span class="p">[</span><span class="s2">&quot;GPU&quot;</span><span class="p">]</span> <span class="o">/</span> <span class="n">NUM_WORKERS_PER_NODE</span><span class="p">}],</span>
+            <span class="n">strategy</span><span class="o">=</span><span class="s2">&quot;STRICT_PACK&quot;</span><span class="p">,</span>
+        <span class="p">)</span>
+
+
+<span class="k">def</span> <span class="nf">invoke_tuning_run</span><span class="p">(</span><span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span><span class="p">,</span> <span class="n">args</span><span class="p">:</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Invoke an Isaac-Ray tuning run.</span>
+
+<span class="sd">    Log either to a local directory or to MLFlow.</span>
+<span class="sd">    Args:</span>
+<span class="sd">        cfg: Configuration dictionary extracted from job setup</span>
+<span class="sd">        args: Command-line arguments related to tuning.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># Allow for early exit</span>
+    <span class="n">os</span><span class="o">.</span><span class="n">environ</span><span class="p">[</span><span class="s2">&quot;TUNE_DISABLE_STRICT_METRIC_CHECKING&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;1&quot;</span>
+
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: Not saving checkpoints, just running experiment...&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Model parameters and metrics will be preserved.&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: For homogeneous cluster resources only...&quot;</span><span class="p">)</span>
+    <span class="c1"># Get available resources</span>
+    <span class="n">resources</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">get_gpu_node_resources</span><span class="p">()</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Available resources </span><span class="si">{</span><span class="n">resources</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="ow">not</span> <span class="n">ray</span><span class="o">.</span><span class="n">is_initialized</span><span class="p">():</span>
+        <span class="n">ray</span><span class="o">.</span><span class="n">init</span><span class="p">(</span>
+            <span class="n">address</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">ray_address</span><span class="p">,</span>
+            <span class="n">log_to_driver</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+            <span class="n">num_gpus</span><span class="o">=</span><span class="nb">len</span><span class="p">(</span><span class="n">resources</span><span class="p">),</span>
+        <span class="p">)</span>
+
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using config </span><span class="si">{</span><span class="n">cfg</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Configure the search algorithm and the repeater</span>
+    <span class="n">searcher</span> <span class="o">=</span> <span class="n">OptunaSearch</span><span class="p">(</span>
+        <span class="n">metric</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">metric</span><span class="p">,</span>
+        <span class="n">mode</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">mode</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">repeat_search</span> <span class="o">=</span> <span class="n">Repeater</span><span class="p">(</span><span class="n">searcher</span><span class="p">,</span> <span class="n">repeat</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">repeat_run_count</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;local&quot;</span><span class="p">:</span>  <span class="c1"># Standard config, to file</span>
+        <span class="n">run_config</span> <span class="o">=</span> <span class="n">air</span><span class="o">.</span><span class="n">RunConfig</span><span class="p">(</span>
+            <span class="n">storage_path</span><span class="o">=</span><span class="s2">&quot;/tmp/ray&quot;</span><span class="p">,</span>
+            <span class="n">name</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;IsaacRay-</span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span><span class="si">}</span><span class="s2">-tune&quot;</span><span class="p">,</span>
+            <span class="n">verbose</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+            <span class="n">checkpoint_config</span><span class="o">=</span><span class="n">air</span><span class="o">.</span><span class="n">CheckpointConfig</span><span class="p">(</span>
+                <span class="n">checkpoint_frequency</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>  <span class="c1"># Disable periodic checkpointing</span>
+                <span class="n">checkpoint_at_end</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>  <span class="c1"># Disable final checkpoint</span>
+            <span class="p">),</span>
+        <span class="p">)</span>
+
+    <span class="k">elif</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;remote&quot;</span><span class="p">:</span>  <span class="c1"># MLFlow, to MLFlow server</span>
+        <span class="n">mlflow_callback</span> <span class="o">=</span> <span class="n">MLflowLoggerCallback</span><span class="p">(</span>
+            <span class="n">tracking_uri</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">mlflow_uri</span><span class="p">,</span>
+            <span class="n">experiment_name</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;IsaacRay-</span><span class="si">{</span><span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span><span class="si">}</span><span class="s2">-tune&quot;</span><span class="p">,</span>
+            <span class="n">save_artifact</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="n">tags</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;run_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;remote&quot;</span><span class="p">,</span> <span class="s2">&quot;cfg_class&quot;</span><span class="p">:</span> <span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span><span class="p">},</span>
+        <span class="p">)</span>
+
+        <span class="n">run_config</span> <span class="o">=</span> <span class="n">ray</span><span class="o">.</span><span class="n">train</span><span class="o">.</span><span class="n">RunConfig</span><span class="p">(</span>
+            <span class="n">name</span><span class="o">=</span><span class="s2">&quot;mlflow&quot;</span><span class="p">,</span>
+            <span class="n">storage_path</span><span class="o">=</span><span class="s2">&quot;/tmp/ray&quot;</span><span class="p">,</span>
+            <span class="n">callbacks</span><span class="o">=</span><span class="p">[</span><span class="n">mlflow_callback</span><span class="p">],</span>
+            <span class="n">checkpoint_config</span><span class="o">=</span><span class="n">ray</span><span class="o">.</span><span class="n">train</span><span class="o">.</span><span class="n">CheckpointConfig</span><span class="p">(</span><span class="n">checkpoint_frequency</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span> <span class="n">checkpoint_at_end</span><span class="o">=</span><span class="kc">False</span><span class="p">),</span>
+        <span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Unrecognized run mode.&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Configure the tuning job</span>
+    <span class="n">tuner</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">Tuner</span><span class="p">(</span>
+        <span class="n">IsaacLabTuneTrainable</span><span class="p">,</span>
+        <span class="n">param_space</span><span class="o">=</span><span class="n">cfg</span><span class="p">,</span>
+        <span class="n">tune_config</span><span class="o">=</span><span class="n">tune</span><span class="o">.</span><span class="n">TuneConfig</span><span class="p">(</span>
+            <span class="n">search_alg</span><span class="o">=</span><span class="n">repeat_search</span><span class="p">,</span>
+            <span class="n">num_samples</span><span class="o">=</span><span class="n">args</span><span class="o">.</span><span class="n">num_samples</span><span class="p">,</span>
+            <span class="n">reuse_actors</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="p">),</span>
+        <span class="n">run_config</span><span class="o">=</span><span class="n">run_config</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="c1"># Execute the tuning</span>
+    <span class="n">tuner</span><span class="o">.</span><span class="n">fit</span><span class="p">()</span>
+
+    <span class="c1"># Save results to mounted volume</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;local&quot;</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[DONE!]: Check results with tensorboard dashboard&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[DONE!]: Check results with MLFlow dashboard&quot;</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">JobCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;To be compatible with :meth: invoke_tuning_run and :class:IsaacLabTuneTrainable,</span>
+<span class="sd">    at a minimum, the tune job should inherit from this class.&quot;&quot;&quot;</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">):</span>
+        <span class="k">assert</span> <span class="s2">&quot;runner_args&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;No runner arguments specified.&quot;</span>
+        <span class="k">assert</span> <span class="s2">&quot;--task&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">],</span> <span class="s2">&quot;No task specified.&quot;</span>
+        <span class="k">assert</span> <span class="s2">&quot;hydra_args&quot;</span> <span class="ow">in</span> <span class="n">cfg</span><span class="p">,</span> <span class="s2">&quot;No hypeparameters specified.&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tune Isaac Lab hyperparameters.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--ray_address&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;auto&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;the Ray address.&quot;</span><span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--cfg_file&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;hyperparameter_tuning/vision_cartpole_cfg.py&quot;</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The relative filepath where a hyperparameter sweep is defined&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--cfg_class&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;CartpoleRGBNoTuneJobCfg&quot;</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Name of the hyperparameter sweep class to use&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--run_mode&quot;</span><span class="p">,</span>
+        <span class="n">choices</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;local&quot;</span><span class="p">,</span> <span class="s2">&quot;remote&quot;</span><span class="p">],</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;remote&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+            <span class="s2">&quot;Set to local to use ./isaaclab.sh -p python, set to &quot;</span>
+            <span class="s2">&quot;remote to use /workspace/isaaclab/isaaclab.sh -p python&quot;</span>
+        <span class="p">),</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--workflow&quot;</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>  <span class="c1"># populated with RL Games</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The absolute path of the workflow to use for the experiment. By default, RL Games is used.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--mlflow_uri&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+        <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The MLFlow Uri.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--num_workers_per_node&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of workers to run on each GPU node. Only supply for parallelism on multi-gpu nodes&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--metric&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;rewards/time&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;What metric to tune for.&quot;</span><span class="p">)</span>
+
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--mode&quot;</span><span class="p">,</span>
+        <span class="n">choices</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;max&quot;</span><span class="p">,</span> <span class="s2">&quot;min&quot;</span><span class="p">],</span>
+        <span class="n">default</span><span class="o">=</span><span class="s2">&quot;max&quot;</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;What to optimize the metric to while tuning&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--num_samples&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">100</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;How many hyperparameter runs to try total.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+        <span class="s2">&quot;--repeat_run_count&quot;</span><span class="p">,</span>
+        <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+        <span class="n">default</span><span class="o">=</span><span class="mi">3</span><span class="p">,</span>
+        <span class="n">help</span><span class="o">=</span><span class="s2">&quot;How many times to repeat each hyperparameter config.&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+    <span class="n">NUM_WORKERS_PER_NODE</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">num_workers_per_node</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using </span><span class="si">{</span><span class="n">NUM_WORKERS_PER_NODE</span><span class="si">}</span><span class="s2"> workers per node.&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">run_mode</span> <span class="o">==</span> <span class="s2">&quot;remote&quot;</span><span class="p">:</span>
+        <span class="n">BASE_DIR</span> <span class="o">=</span> <span class="n">DOCKER_PREFIX</span>  <span class="c1"># ensure logs are dumped to persistent location</span>
+        <span class="n">PYTHON_EXEC</span> <span class="o">=</span> <span class="n">DOCKER_PREFIX</span> <span class="o">+</span> <span class="n">PYTHON_EXEC</span><span class="p">[</span><span class="mi">2</span><span class="p">:]</span>
+        <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">DOCKER_PREFIX</span> <span class="o">+</span> <span class="n">WORKFLOW</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using remote mode </span><span class="si">{</span><span class="n">PYTHON_EXEC</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">WORKFLOW</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">mlflow_uri</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="kn">import</span> <span class="nn">mlflow</span>
+
+            <span class="n">mlflow</span><span class="o">.</span><span class="n">set_tracking_uri</span><span class="p">(</span><span class="n">args</span><span class="o">.</span><span class="n">mlflow_uri</span><span class="p">)</span>
+            <span class="kn">from</span> <span class="nn">ray.air.integrations.mlflow</span> <span class="kn">import</span> <span class="n">MLflowLoggerCallback</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Please provide a result MLFLow URI server.&quot;</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>  <span class="c1"># local</span>
+        <span class="n">PYTHON_EXEC</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">()</span> <span class="o">+</span> <span class="s2">&quot;/&quot;</span> <span class="o">+</span> <span class="n">PYTHON_EXEC</span><span class="p">[</span><span class="mi">2</span><span class="p">:]</span>
+        <span class="k">if</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">()</span> <span class="o">+</span> <span class="s2">&quot;/&quot;</span> <span class="o">+</span> <span class="n">WORKFLOW</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">WORKFLOW</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">workflow</span>
+        <span class="n">BASE_DIR</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">()</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Using local mode </span><span class="si">{</span><span class="n">PYTHON_EXEC</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">WORKFLOW</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">file_path</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">cfg_file</span>
+    <span class="n">class_name</span> <span class="o">=</span> <span class="n">args</span><span class="o">.</span><span class="n">cfg_class</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Attempting to use sweep config from </span><span class="si">{</span><span class="n">file_path</span><span class="si">=}</span><span class="s2"> </span><span class="si">{</span><span class="n">class_name</span><span class="si">=}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="n">module_name</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">splitext</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">basename</span><span class="p">(</span><span class="n">file_path</span><span class="p">))[</span><span class="mi">0</span><span class="p">]</span>
+
+    <span class="n">spec</span> <span class="o">=</span> <span class="n">importlib</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">spec_from_file_location</span><span class="p">(</span><span class="n">module_name</span><span class="p">,</span> <span class="n">file_path</span><span class="p">)</span>
+    <span class="n">module</span> <span class="o">=</span> <span class="n">importlib</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">module_from_spec</span><span class="p">(</span><span class="n">spec</span><span class="p">)</span>
+    <span class="n">sys</span><span class="o">.</span><span class="n">modules</span><span class="p">[</span><span class="n">module_name</span><span class="p">]</span> <span class="o">=</span> <span class="n">module</span>
+    <span class="n">spec</span><span class="o">.</span><span class="n">loader</span><span class="o">.</span><span class="n">exec_module</span><span class="p">(</span><span class="n">module</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Successfully imported </span><span class="si">{</span><span class="n">module_name</span><span class="si">}</span><span class="s2"> from </span><span class="si">{</span><span class="n">file_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="k">if</span> <span class="nb">hasattr</span><span class="p">(</span><span class="n">module</span><span class="p">,</span> <span class="n">class_name</span><span class="p">):</span>
+        <span class="n">ClassToInstantiate</span> <span class="o">=</span> <span class="nb">getattr</span><span class="p">(</span><span class="n">module</span><span class="p">,</span> <span class="n">class_name</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Found correct class </span><span class="si">{</span><span class="n">ClassToInstantiate</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">instance</span> <span class="o">=</span> <span class="n">ClassToInstantiate</span><span class="p">()</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Successfully instantiated class &#39;</span><span class="si">{</span><span class="n">class_name</span><span class="si">}</span><span class="s2">&#39; from </span><span class="si">{</span><span class="n">file_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">instance</span><span class="o">.</span><span class="n">cfg</span>
+        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Grabbed the following hyperparameter sweep config: </span><span class="se">\n</span><span class="s2"> </span><span class="si">{</span><span class="n">cfg</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+        <span class="n">invoke_tuning_run</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">args</span><span class="p">)</span>
+
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">AttributeError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[ERROR]:Class &#39;</span><span class="si">{</span><span class="n">class_name</span><span class="si">}</span><span class="s2">&#39; not found in </span><span class="si">{</span><span class="n">file_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><p>For example, see the Cartpole Example configurations.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">source/standalone/workflows/ray/hyperparameter_tuning/vision_cartpole_cfg.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="c1"># All rights reserved.</span>
+<span class="c1">#</span>
+<span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="kn">import</span> <span class="nn">pathlib</span>
+<span class="kn">import</span> <span class="nn">sys</span>
+
+<span class="c1"># Allow for import of items from the ray workflow.</span>
+<span class="n">CUR_DIR</span> <span class="o">=</span> <span class="n">pathlib</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="vm">__file__</span><span class="p">)</span><span class="o">.</span><span class="n">parent</span>
+<span class="n">UTIL_DIR</span> <span class="o">=</span> <span class="n">CUR_DIR</span><span class="o">.</span><span class="n">parent</span>
+<span class="n">sys</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">extend</span><span class="p">([</span><span class="nb">str</span><span class="p">(</span><span class="n">UTIL_DIR</span><span class="p">),</span> <span class="nb">str</span><span class="p">(</span><span class="n">CUR_DIR</span><span class="p">)])</span>
+<span class="kn">import</span> <span class="nn">util</span>
+<span class="kn">import</span> <span class="nn">vision_cfg</span>
+<span class="kn">from</span> <span class="nn">ray</span> <span class="kn">import</span> <span class="n">tune</span>
+
+
+<span class="k">class</span> <span class="nc">CartpoleRGBNoTuneJobCfg</span><span class="p">(</span><span class="n">vision_cfg</span><span class="o">.</span><span class="n">CameraJobCfg</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--task&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Isaac-Cartpole-RGB-v0&quot;</span><span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">vary_env_count</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">vary_cnn</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">vary_mlp</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">CartpoleRGBCNNOnlyJobCfg</span><span class="p">(</span><span class="n">vision_cfg</span><span class="o">.</span><span class="n">CameraJobCfg</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--task&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Isaac-Cartpole-RGB-v0&quot;</span><span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">vary_env_count</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">vary_cnn</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">vary_mlp</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">CartpoleRGBJobCfg</span><span class="p">(</span><span class="n">vision_cfg</span><span class="o">.</span><span class="n">CameraJobCfg</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--task&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Isaac-Cartpole-RGB-v0&quot;</span><span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">vary_env_count</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">vary_cnn</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">vary_mlp</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">CartpoleResNetJobCfg</span><span class="p">(</span><span class="n">vision_cfg</span><span class="o">.</span><span class="n">ResNetCameraJob</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--task&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Isaac-Cartpole-RGB-ResNet18-v0&quot;</span><span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+
+
+<span class="k">class</span> <span class="nc">CartpoleTheiaJobCfg</span><span class="p">(</span><span class="n">vision_cfg</span><span class="o">.</span><span class="n">TheiaCameraJob</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">=</span> <span class="p">{}):</span>
+        <span class="n">cfg</span> <span class="o">=</span> <span class="n">util</span><span class="o">.</span><span class="n">populate_isaac_ray_cfg_args</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+        <span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;runner_args&quot;</span><span class="p">][</span><span class="s2">&quot;--task&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tune</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Isaac-Cartpole-RGB-TheiaTiny-v0&quot;</span><span class="p">])</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><p>Tuning jobs can also be submitted via <code class="docutils literal notranslate"><span class="pre">submit_job.py</span></code></p>
+<p>To view the tuning results, view the MLFlow dashboard of the server that you created.
+For KubeRay, this can be done through port forwarding the MLFlow dashboard, with</p>
+<p><code class="docutils literal notranslate"><span class="pre">kubectl</span> <span class="pre">port-forward</span> <span class="pre">service/isaacray-mlflow</span> <span class="pre">5000:5000</span></code></p>
+<p>and visiting the following address in a browser.</p>
+<p><code class="docutils literal notranslate"><span class="pre">localhost:5000</span></code></p>
+<p>If the MLFlow port is forwarded like above, it can be converted into tensorboard logs with
+this following command.</p>
+<p><code class="docutils literal notranslate"><span class="pre">./isaaclab.sh</span> <span class="pre">-p</span> <span class="pre">source/standalone/workflows/ray/mlflow_to_local_tensorboard.py</span> <span class="pre">\</span>
+<span class="pre">--uri</span> <span class="pre">http://localhost:5000</span> <span class="pre">--experiment-name</span> <span class="pre">IsaacRay-&lt;CLASS_JOB_CFG&gt;-tune</span> <span class="pre">--download-dir</span> <span class="pre">test</span></code></p>
+</section>
+</section>
+<section id="cluster-cleanup">
+<h3><a class="toc-backref" href="#id14" role="doc-backlink"><strong>Cluster Cleanup</strong></a><a class="headerlink" href="#cluster-cleanup" title="Permalink to this heading">#</a></h3>
+<p>For the sake of conserving resources, and potentially freeing precious GPU resources for other people to use
+on shared compute platforms, please destroy the Ray cluster after use. They can be easily
+recreated! For KubeRay clusters, this can be done as follows.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>kubectl<span class="w"> </span>get<span class="w"> </span>raycluster<span class="w"> </span><span class="p">|</span><span class="w"> </span>egrep<span class="w"> </span><span class="s1">&#39;isaacray&#39;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>awk<span class="w"> </span><span class="s1">&#39;{print $1}&#39;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>xargs<span class="w"> </span>kubectl<span class="w"> </span>delete<span class="w"> </span>raycluster<span class="w"> </span><span class="o">&amp;&amp;</span>
+kubectl<span class="w"> </span>get<span class="w"> </span>deployments<span class="w"> </span><span class="p">|</span><span class="w"> </span>egrep<span class="w"> </span><span class="s1">&#39;mlflow&#39;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>awk<span class="w"> </span><span class="s1">&#39;{print $1}&#39;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>xargs<span class="w"> </span>kubectl<span class="w"> </span>delete<span class="w"> </span>deployment<span class="w"> </span><span class="o">&amp;&amp;</span>
+kubectl<span class="w"> </span>get<span class="w"> </span>services<span class="w"> </span><span class="p">|</span><span class="w"> </span>egrep<span class="w"> </span><span class="s1">&#39;mlflow&#39;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>awk<span class="w"> </span><span class="s1">&#39;{print $1}&#39;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>xargs<span class="w"> </span>kubectl<span class="w"> </span>delete<span class="w"> </span>service
+</pre></div>
+</div>
+</section>
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
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+    <i class="fa-solid fa-list"></i> Contents
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#overview">Overview</a></li>
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+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#shared-steps-between-kuberay-and-pure-ray-part-ii">Shared Steps Between KubeRay and Pure Ray Part II</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
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+<li class="toctree-l1"><a class="reference internal" href="ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1 current active"><a class="current reference internal" href="#">Reproducibility and Determinism</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
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+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
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+    <h1>Reproducibility and Determinism</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+        </div>
+    </div>
+</div>
+
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+                <article class="bd-article">
+                  
+  <section id="reproducibility-and-determinism">
+<h1>Reproducibility and Determinism<a class="headerlink" href="#reproducibility-and-determinism" title="Permalink to this heading">#</a></h1>
+<p>Given the same hardware and Isaac Sim (and consequently PhysX) version, the simulation produces
+identical results for scenes with rigid bodies and articulations. However, the simulation results can
+vary across different hardware configurations due to floating point precision and rounding errors.
+At present, PhysX does not guarantee determinism for any scene with non-rigid bodies, such as cloth
+or soft bodies. For more information, please refer to the <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/API.html#determinism">PhysX Determinism documentation</a>.</p>
+<p>Based on above, Isaac Lab provides a deterministic simulation that ensures consistent simulation
+results across different runs. This is achieved by using the same random seed for the
+simulation environment and the physics engine. At construction of the environment, the random seed
+is set to a fixed value using the <code class="xref py py-meth docutils literal notranslate"><span class="pre">set_seed()</span></code> method. This method sets the
+random seed for both the CPU and GPU globally across different libraries, including PyTorch and
+NumPy.</p>
+<p>In the included workflow scripts, the seed specified in the learning agent’s configuration file or the
+command line argument is used to set the random seed for the environment. This ensures that the
+simulation results are reproducible across different runs. The seed is set into the environment
+parameters <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.seed" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.seed"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedEnvCfg.seed</span></code></a> or <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg.seed" title="omni.isaac.lab.envs.DirectRLEnvCfg.seed"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.DirectRLEnvCfg.seed</span></code></a>
+depending on the manager-based or direct environment implementation respectively.</p>
+<p>For results on our determinacy testing for RL training, please check the GitHub Pull Request <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/pull/940">#940</a>.</p>
+<div class="admonition tip">
+<p class="admonition-title">Tip</p>
+<p>Due to GPU work scheduling, there’s a possibility that runtime changes to simulation parameters
+may alter the order in which operations take place. This occurs because environment updates can
+happen while the GPU is occupied with other tasks. Due to the inherent nature of floating-point
+numeric storage, any modification to the execution ordering can result in minor changes in the
+least significant bits of output data. These changes may lead to divergent execution over the
+course of simulating thousands of environments and simulation frames.</p>
+<p>An illustrative example of this issue is observed with the runtime domain randomization of object’s
+physics materials. This process can introduce both determinacy and simulation issues when executed
+on the GPU due to the way these parameters are passed from the CPU to the GPU in the lower-level APIs.
+Consequently, it is strongly advised to perform this operation only at setup time, before the
+environment stepping commences.</p>
+</div>
+</section>
+
+
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new file mode 100644
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Adding your own learning library</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#using-a-different-version-of-a-library">Using a different version of a library</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#integrating-a-new-library">Integrating a new library</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="adding-your-own-learning-library">
+<h1>Adding your own learning library<a class="headerlink" href="#adding-your-own-learning-library" title="Permalink to this heading">#</a></h1>
+<p>Isaac Lab comes pre-integrated with a number of libraries (such as RSL-RL, RL-Games, SKRL, Stable Baselines, etc.).
+However, you may want to integrate your own library with Isaac Lab or use a different version of the libraries than
+the one installed by Isaac Lab. This is possible as long as the library is available as Python package that supports
+the Python version used by the underlying simulator. For instance, if you are using Isaac Sim 4.0.0 onwards, you need
+to ensure that the library is available for Python 3.10.</p>
+<section id="using-a-different-version-of-a-library">
+<h2>Using a different version of a library<a class="headerlink" href="#using-a-different-version-of-a-library" title="Permalink to this heading">#</a></h2>
+<p>If you want to use a different version of a library than the one installed by Isaac Lab, you can install the library
+by building it from source or using a different version of the library available on PyPI.</p>
+<p>For instance, if you want to use your own modified version of the <a class="reference external" href="https://github.com/leggedrobotics/rsl_rl">rsl-rl</a> library, you can follow these steps:</p>
+<ol class="arabic">
+<li><p>Follow the instructions for installing Isaac Lab. This will install the default version of the <code class="docutils literal notranslate"><span class="pre">rsl-rl</span></code> library.</p></li>
+<li><p>Clone the <code class="docutils literal notranslate"><span class="pre">rsl-rl</span></code> library from the GitHub repository:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>clone<span class="w"> </span>git@github.com:leggedrobotics/rsl_rl.git
+</pre></div>
+</div>
+</li>
+<li><p>Install the library in your Python environment:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Assuming you are in the root directory of the Isaac Lab repository</span>
+<span class="nb">cd</span><span class="w"> </span>IsaacLab
+
+<span class="c1"># Note: If you are using a virtual environment, make sure to activate it before running the following command</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>-e<span class="w"> </span>/path/to/rsl_rl
+</pre></div>
+</div>
+</li>
+</ol>
+<p>In this case, the <code class="docutils literal notranslate"><span class="pre">rsl-rl</span></code> library will be installed in the Python environment used by Isaac Lab. You can now use the
+<code class="docutils literal notranslate"><span class="pre">rsl-rl</span></code> library in your experiments. To check the library version and other details, you can use the following
+command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>show<span class="w"> </span>rsl-rl
+</pre></div>
+</div>
+<p>This should now show the location of the <code class="docutils literal notranslate"><span class="pre">rsl-rl</span></code> library as the directory where you cloned the library.
+For instance, if you cloned the library to <code class="docutils literal notranslate"><span class="pre">/home/user/git/rsl_rl</span></code>, the output of the above command should be:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>Name:<span class="w"> </span>rsl_rl
+Version:<span class="w"> </span><span class="m">2</span>.0.2
+Summary:<span class="w"> </span>Fast<span class="w"> </span>and<span class="w"> </span>simple<span class="w"> </span>RL<span class="w"> </span>algorithms<span class="w"> </span>implemented<span class="w"> </span><span class="k">in</span><span class="w"> </span>pytorch
+Home-page:<span class="w"> </span>https://github.com/leggedrobotics/rsl_rl
+Author:<span class="w"> </span>ETH<span class="w"> </span>Zurich,<span class="w"> </span>NVIDIA<span class="w"> </span>CORPORATION
+Author-email:
+License:<span class="w"> </span>BSD-3
+Location:<span class="w"> </span>/home/user/git/rsl_rl
+Requires:<span class="w"> </span>torch,<span class="w"> </span>torchvision,<span class="w"> </span>numpy,<span class="w"> </span>GitPython,<span class="w"> </span>onnx
+Required-by:
+</pre></div>
+</div>
+</section>
+<section id="integrating-a-new-library">
+<h2>Integrating a new library<a class="headerlink" href="#integrating-a-new-library" title="Permalink to this heading">#</a></h2>
+<p>Adding a new library to Isaac Lab is similar to using a different version of a library. You can install the library
+in your Python environment and use it in your experiments. However, if you want to integrate the library with
+Isaac Lab, you can will first need to make a wrapper for the library, as explained in
+<a class="reference internal" href="wrap_rl_env.html#how-to-env-wrappers"><span class="std std-ref">Wrapping environments</span></a>.</p>
+<p>The following steps can be followed to integrate a new library with Isaac Lab:</p>
+<ol class="arabic simple">
+<li><p>Add your library as an extra-dependency in the <code class="docutils literal notranslate"><span class="pre">setup.py</span></code> for the extension <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks</span></code>.
+This will ensure that the library is installed when you install Isaac Lab or it will complain if the library is not
+installed or available.</p></li>
+<li><p>Install your library in the Python environment used by Isaac Lab. You can do this by following the steps mentioned
+in the previous section.</p></li>
+<li><p>Create a wrapper for the library. You can check the module <a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers" title="omni.isaac.lab_tasks.utils.wrappers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.utils.wrappers</span></code></a>
+for examples of wrappers for different libraries. You can create a new wrapper for your library and add it to the
+module. You can also create a new module for the wrapper if you prefer.</p></li>
+<li><p>Create workflow scripts for your library to train and evaluate agents. You can check the existing workflow scripts
+in the <code class="docutils literal notranslate"><span class="pre">source/standalone/workflows</span></code> directory for examples. You can create new workflow
+scripts for your library and add them to the directory.</p></li>
+</ol>
+<p>Optionally, you can also add some tests and documentation for the wrapper. This will help ensure that the wrapper
+works as expected and can guide users on how to use the wrapper.</p>
+<ul class="simple">
+<li><p>Add some tests to ensure that the wrapper works as expected and remains compatible with the library.
+These tests can be added to the <code class="docutils literal notranslate"><span class="pre">source/extensions/omni.isaac.lab_tasks/test/wrappers</span></code> directory.</p></li>
+<li><p>Add some documentation for the wrapper. You can add the API documentation to the
+<code class="docutils literal notranslate"><span class="pre">docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst</span></code> file.</p></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<button class="btn btn-sm nav-link pst-navbar-icon theme-switch-button pst-js-only" aria-label="Color mode" data-bs-title="Color mode"  data-bs-placement="bottom" data-bs-toggle="tooltip">
+  <i class="theme-switch fa-solid fa-sun                fa-lg" data-mode="light" title="Light"></i>
+  <i class="theme-switch fa-solid fa-moon               fa-lg" data-mode="dark"  title="Dark"></i>
+  <i class="theme-switch fa-solid fa-circle-half-stroke fa-lg" data-mode="auto"  title="System Settings"></i>
+</button>
+
+
+<button class="btn btn-sm pst-navbar-icon search-button search-button__button pst-js-only" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <i class="fa-solid fa-magnifying-glass fa-lg"></i>
+</button>
+<label class="sidebar-toggle secondary-toggle btn btn-sm" for="__secondary"title="Toggle secondary sidebar" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <span class="fa-solid fa-list"></span>
+</label>
+</div></div>
+      
+    </div>
+  
+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Creating Visualization Markers</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#configuring-the-markers">Configuring the markers</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#drawing-the-markers">Drawing the markers</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#executing-the-script">Executing the Script</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="creating-visualization-markers">
+<h1>Creating Visualization Markers<a class="headerlink" href="#creating-visualization-markers" title="Permalink to this heading">#</a></h1>
+<p>Visualization markers are useful to debug the state of the environment. They can be used to visualize
+the frames, commands, and other information in the simulation.</p>
+<p>While Isaac Sim provides its own <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.debug_draw</span></code> extension, it is limited to rendering only
+points, lines and splines. For cases, where you need to render more complex shapes, you can use the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers" title="omni.isaac.lab.markers.VisualizationMarkers"><code class="xref py py-class docutils literal notranslate"><span class="pre">markers.VisualizationMarkers</span></code></a> class.</p>
+<p>This guide is accompanied by a sample script <code class="docutils literal notranslate"><span class="pre">markers.py</span></code> in the <code class="docutils literal notranslate"><span class="pre">IsaacLab/source/standalone/demos</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for markers.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;This script demonstrates different types of markers.</span>
+<span class="linenos">  7</span>
+<span class="linenos">  8</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos">  9</span>
+<span class="linenos"> 10</span><span class="sd">    # Usage</span>
+<span class="linenos"> 11</span><span class="sd">    ./isaaclab.sh -p source/standalone/demos/markers.py</span>
+<span class="linenos"> 12</span>
+<span class="linenos"> 13</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 14</span>
+<span class="linenos"> 15</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 16</span>
+<span class="linenos"> 17</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 18</span>
+<span class="linenos"> 19</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 20</span>
+<span class="linenos"> 21</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 22</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;This script demonstrates different types of markers.&quot;</span><span class="p">)</span>
+<span class="linenos"> 23</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 24</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 25</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 26</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 27</span>
+<span class="linenos"> 28</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 29</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 30</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 31</span>
+<span class="linenos"> 32</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 33</span>
+<span class="linenos"> 34</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 35</span>
+<span class="linenos"> 36</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 37</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkers</span><span class="p">,</span> <span class="n">VisualizationMarkersCfg</span>
+<span class="linenos"> 38</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+<span class="linenos"> 39</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">ISAAC_NUCLEUS_DIR</span><span class="p">,</span> <span class="n">ISAACLAB_NUCLEUS_DIR</span>
+<span class="linenos"> 40</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="n">quat_from_angle_axis</span>
+<span class="linenos"> 41</span>
+<span class="linenos"> 42</span>
+<span class="linenos"> 43</span><span class="k">def</span> <span class="nf">define_markers</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">VisualizationMarkers</span><span class="p">:</span>
+<span class="linenos"> 44</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Define markers with various different shapes.&quot;&quot;&quot;</span>
+<span class="hll"><span class="linenos"> 45</span>    <span class="n">marker_cfg</span> <span class="o">=</span> <span class="n">VisualizationMarkersCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 46</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/myMarkers&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 47</span>        <span class="n">markers</span><span class="o">=</span><span class="p">{</span>
+</span><span class="hll"><span class="linenos"> 48</span>            <span class="s2">&quot;frame&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 49</span>                <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/UIElements/frame_prim.usd&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 50</span>                <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 51</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 52</span>            <span class="s2">&quot;arrow_x&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 53</span>                <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/UIElements/arrow_x.usd&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 54</span>                <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 55</span>                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 56</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 57</span>            <span class="s2">&quot;cube&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 58</span>                <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 59</span>                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 60</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 61</span>            <span class="s2">&quot;sphere&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SphereCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 62</span>                <span class="n">radius</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 63</span>                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 64</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 65</span>            <span class="s2">&quot;cylinder&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CylinderCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 66</span>                <span class="n">radius</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 67</span>                <span class="n">height</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 68</span>                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 69</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 70</span>            <span class="s2">&quot;cone&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 71</span>                <span class="n">radius</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 72</span>                <span class="n">height</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 73</span>                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 74</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 75</span>            <span class="s2">&quot;mesh&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 76</span>                <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/Blocks/DexCube/dex_cube_instanceable.usd&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 77</span>                <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">10.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 78</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 79</span>            <span class="s2">&quot;mesh_recolored&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 80</span>                <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/Blocks/DexCube/dex_cube_instanceable.usd&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 81</span>                <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">10.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 82</span>                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 83</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 84</span>            <span class="s2">&quot;robot_mesh&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 85</span>                <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/ANYbotics/ANYmal-C/anymal_c.usd&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 86</span>                <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">2.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 87</span>                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GlassMdlCfg</span><span class="p">(</span><span class="n">glass_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 88</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 89</span>        <span class="p">},</span>
+</span><span class="hll"><span class="linenos"> 90</span>    <span class="p">)</span>
+</span><span class="linenos"> 91</span>    <span class="k">return</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="n">marker_cfg</span><span class="p">)</span>
+<span class="linenos"> 92</span>
+<span class="linenos"> 93</span>
+<span class="linenos"> 94</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos"> 95</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos"> 96</span>    <span class="c1"># Load kit helper</span>
+<span class="linenos"> 97</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.01</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos"> 98</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos"> 99</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">100</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">18.0</span><span class="p">,</span> <span class="mf">12.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">3.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+<span class="linenos">101</span>
+<span class="linenos">102</span>    <span class="c1"># Spawn things into stage</span>
+<span class="linenos">103</span>    <span class="c1"># Lights</span>
+<span class="linenos">104</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos">105</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="hll"><span class="linenos">106</span>
+</span><span class="hll"><span class="linenos">107</span>    <span class="c1"># create markers</span>
+</span><span class="linenos">108</span>    <span class="n">my_visualizer</span> <span class="o">=</span> <span class="n">define_markers</span><span class="p">()</span>
+<span class="linenos">109</span>
+<span class="linenos">110</span>    <span class="c1"># define a grid of positions where the markers should be placed</span>
+<span class="linenos">111</span>    <span class="n">num_markers_per_type</span> <span class="o">=</span> <span class="mi">5</span>
+<span class="linenos">112</span>    <span class="n">grid_spacing</span> <span class="o">=</span> <span class="mf">2.0</span>
+<span class="linenos">113</span>    <span class="c1"># Calculate the half-width and half-height</span>
+<span class="linenos">114</span>    <span class="n">half_width</span> <span class="o">=</span> <span class="p">(</span><span class="n">num_markers_per_type</span> <span class="o">-</span> <span class="mi">1</span><span class="p">)</span> <span class="o">/</span> <span class="mf">2.0</span>
+<span class="linenos">115</span>    <span class="n">half_height</span> <span class="o">=</span> <span class="p">(</span><span class="n">my_visualizer</span><span class="o">.</span><span class="n">num_prototypes</span> <span class="o">-</span> <span class="mi">1</span><span class="p">)</span> <span class="o">/</span> <span class="mf">2.0</span>
+<span class="linenos">116</span>    <span class="c1"># Create the x and y ranges centered around the origin</span>
+<span class="linenos">117</span>    <span class="n">x_range</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="o">-</span><span class="n">half_width</span> <span class="o">*</span> <span class="n">grid_spacing</span><span class="p">,</span> <span class="p">(</span><span class="n">half_width</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">grid_spacing</span><span class="p">,</span> <span class="n">grid_spacing</span><span class="p">)</span>
+<span class="linenos">118</span>    <span class="n">y_range</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="o">-</span><span class="n">half_height</span> <span class="o">*</span> <span class="n">grid_spacing</span><span class="p">,</span> <span class="p">(</span><span class="n">half_height</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="n">grid_spacing</span><span class="p">,</span> <span class="n">grid_spacing</span><span class="p">)</span>
+<span class="linenos">119</span>    <span class="c1"># Create the grid</span>
+<span class="linenos">120</span>    <span class="n">x_grid</span><span class="p">,</span> <span class="n">y_grid</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">meshgrid</span><span class="p">(</span><span class="n">x_range</span><span class="p">,</span> <span class="n">y_range</span><span class="p">,</span> <span class="n">indexing</span><span class="o">=</span><span class="s2">&quot;ij&quot;</span><span class="p">)</span>
+<span class="linenos">121</span>    <span class="n">x_grid</span> <span class="o">=</span> <span class="n">x_grid</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">122</span>    <span class="n">y_grid</span> <span class="o">=</span> <span class="n">y_grid</span><span class="o">.</span><span class="n">reshape</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">123</span>    <span class="n">z_grid</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">x_grid</span><span class="p">)</span>
+<span class="linenos">124</span>    <span class="c1"># marker locations</span>
+<span class="linenos">125</span>    <span class="n">marker_locations</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">stack</span><span class="p">([</span><span class="n">x_grid</span><span class="p">,</span> <span class="n">y_grid</span><span class="p">,</span> <span class="n">z_grid</span><span class="p">],</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">126</span>    <span class="n">marker_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="n">my_visualizer</span><span class="o">.</span><span class="n">num_prototypes</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="n">num_markers_per_type</span><span class="p">)</span>
+<span class="linenos">127</span>
+<span class="linenos">128</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">129</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">130</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">131</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">132</span>
+<span class="linenos">133</span>    <span class="c1"># Yaw angle</span>
+<span class="linenos">134</span>    <span class="n">yaw</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros_like</span><span class="p">(</span><span class="n">marker_locations</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">])</span>
+<span class="linenos">135</span>    <span class="c1"># Simulate physics</span>
+<span class="hll"><span class="linenos">136</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+</span><span class="hll"><span class="linenos">137</span>        <span class="c1"># rotate the markers around the z-axis for visualization</span>
+</span><span class="hll"><span class="linenos">138</span>        <span class="n">marker_orientations</span> <span class="o">=</span> <span class="n">quat_from_angle_axis</span><span class="p">(</span><span class="n">yaw</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">]))</span>
+</span><span class="hll"><span class="linenos">139</span>        <span class="c1"># visualize</span>
+</span><span class="hll"><span class="linenos">140</span>        <span class="n">my_visualizer</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">marker_locations</span><span class="p">,</span> <span class="n">marker_orientations</span><span class="p">,</span> <span class="n">marker_indices</span><span class="o">=</span><span class="n">marker_indices</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">141</span>        <span class="c1"># roll corresponding indices to show how marker prototype can be changed</span>
+</span><span class="hll"><span class="linenos">142</span>        <span class="k">if</span> <span class="n">yaw</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">()</span> <span class="o">%</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span><span class="p">)</span> <span class="o">&lt;</span> <span class="mf">0.01</span><span class="p">:</span>
+</span><span class="linenos">143</span>            <span class="n">marker_indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="n">marker_indices</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+<span class="linenos">144</span>        <span class="c1"># perform step</span>
+<span class="linenos">145</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">146</span>        <span class="c1"># increment yaw</span>
+<span class="linenos">147</span>        <span class="n">yaw</span> <span class="o">+=</span> <span class="mf">0.01</span>
+<span class="linenos">148</span>
+<span class="linenos">149</span>
+<span class="linenos">150</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">151</span>    <span class="c1"># run the main function</span>
+<span class="linenos">152</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">153</span>    <span class="c1"># close sim app</span>
+<span class="linenos">154</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details><section id="configuring-the-markers">
+<h2>Configuring the markers<a class="headerlink" href="#configuring-the-markers" title="Permalink to this heading">#</a></h2>
+<p>The <a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg" title="omni.isaac.lab.markers.VisualizationMarkersCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">VisualizationMarkersCfg</span></code></a> class provides a simple interface to configure
+different types of markers. It takes in the following parameters:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path" title="omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path"><code class="xref py py-attr docutils literal notranslate"><span class="pre">prim_path</span></code></a>: The corresponding prim path for the marker class.</p></li>
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkersCfg.markers" title="omni.isaac.lab.markers.VisualizationMarkersCfg.markers"><code class="xref py py-attr docutils literal notranslate"><span class="pre">markers</span></code></a>: A dictionary specifying the different marker prototypes
+handled by the class. The key is the name of the marker prototype and the value is its spawn configuration.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>In case the marker prototype specifies a configuration with physics properties, these are removed.
+This is because the markers are not meant to be simulated.</p>
+</div>
+<p>Here we show all the different types of markers that can be configured. These range from simple shapes like
+cones and spheres to more complex geometries like a frame or arrows. The marker prototypes can also be
+configured from USD files.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">marker_cfg</span> <span class="o">=</span> <span class="n">VisualizationMarkersCfg</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/myMarkers&quot;</span><span class="p">,</span>
+    <span class="n">markers</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;frame&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+            <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/UIElements/frame_prim.usd&quot;</span><span class="p">,</span>
+            <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;arrow_x&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+            <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/UIElements/arrow_x.usd&quot;</span><span class="p">,</span>
+            <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">),</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;cube&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+            <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;sphere&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SphereCfg</span><span class="p">(</span>
+            <span class="n">radius</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;cylinder&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CylinderCfg</span><span class="p">(</span>
+            <span class="n">radius</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+            <span class="n">height</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;cone&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+            <span class="n">radius</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+            <span class="n">height</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;mesh&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+            <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/Blocks/DexCube/dex_cube_instanceable.usd&quot;</span><span class="p">,</span>
+            <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">10.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;mesh_recolored&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+            <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/Blocks/DexCube/dex_cube_instanceable.usd&quot;</span><span class="p">,</span>
+            <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">10.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">),</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;robot_mesh&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+            <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/ANYbotics/ANYmal-C/anymal_c.usd&quot;</span><span class="p">,</span>
+            <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">2.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GlassMdlCfg</span><span class="p">(</span><span class="n">glass_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="drawing-the-markers">
+<h2>Drawing the markers<a class="headerlink" href="#drawing-the-markers" title="Permalink to this heading">#</a></h2>
+<p>To draw the markers, we call the <a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers.visualize" title="omni.isaac.lab.markers.VisualizationMarkers.visualize"><code class="xref py py-class docutils literal notranslate"><span class="pre">visualize</span></code></a> method. This method takes in
+as arguments the pose of the markers and the corresponding marker prototypes to draw.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+    <span class="c1"># rotate the markers around the z-axis for visualization</span>
+    <span class="n">marker_orientations</span> <span class="o">=</span> <span class="n">quat_from_angle_axis</span><span class="p">(</span><span class="n">yaw</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">]))</span>
+    <span class="c1"># visualize</span>
+    <span class="n">my_visualizer</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">marker_locations</span><span class="p">,</span> <span class="n">marker_orientations</span><span class="p">,</span> <span class="n">marker_indices</span><span class="o">=</span><span class="n">marker_indices</span><span class="p">)</span>
+    <span class="c1"># roll corresponding indices to show how marker prototype can be changed</span>
+    <span class="k">if</span> <span class="n">yaw</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">()</span> <span class="o">%</span> <span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">pi</span><span class="p">)</span> <span class="o">&lt;</span> <span class="mf">0.01</span><span class="p">:</span>
+</pre></div>
+</div>
+</section>
+<section id="executing-the-script">
+<h2>Executing the Script<a class="headerlink" href="#executing-the-script" title="Permalink to this heading">#</a></h2>
+<p>To run the accompanying script, execute the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/markers.py
+</pre></div>
+</div>
+<p>The simulation should start, and you can observe the different types of markers arranged in a grid pattern.
+The markers will rotating around their respective axes. Additionally every few rotations, they will
+roll forward on the grid.</p>
+<p>To stop the simulation, close the window, or use <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal.</p>
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+    <h1>Find How Many/What Cameras You Should Train With</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#possible-parameters">Possible Parameters</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#compare-performance-in-task-environments-and-automatically-determine-task-max-camera-count">Compare Performance in Task Environments and Automatically Determine Task Max Camera Count</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#compare-camera-type-and-performance-without-a-specified-task">Compare Camera Type and Performance (Without a Specified Task)</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="find-how-many-what-cameras-you-should-train-with">
+<span id="how-to-estimate-how-cameras-can-run"></span><h1>Find How Many/What Cameras You Should Train With<a class="headerlink" href="#find-how-many-what-cameras-you-should-train-with" title="Permalink to this heading">#</a></h1>
+<p>Currently in Isaac Lab, there are several camera types; USD Cameras (standard), Tiled Cameras,
+and Ray Caster cameras. These camera types differ in functionality and performance. The <code class="docutils literal notranslate"><span class="pre">benchmark_cameras.py</span></code>
+script can be used to understand the difference in cameras types, as well to characterize their relative performance
+at different parameters such as camera quantity, image dimensions, and data types.</p>
+<p>This utility is provided so that one easily can find the camera type/parameters that are the most performant
+while meeting the requirements of the user’s scenario. This utility also helps estimate
+the maximum number of cameras one can realistically run, assuming that one wants to maximize the number
+of environments while minimizing step time.</p>
+<p>This utility can inject cameras into an existing task from the gym registry,
+which can be useful for benchmarking cameras in a specific scenario. Also,
+if you install <code class="docutils literal notranslate"><span class="pre">pynvml</span></code>, you can let this utility automatically find the maximum
+numbers of cameras that can run in your task environment up to a
+certain specified system resource utilization threshold (without training; taking zero actions
+at each timestep).</p>
+<p>This guide accompanies the <code class="docutils literal notranslate"><span class="pre">benchmark_cameras.py</span></code> script in the <code class="docutils literal notranslate"><span class="pre">source/standalone/benchmarks</span></code>
+directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for benchmark_cameras.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">  7</span><span class="sd">This script might help you determine how many cameras your system can realistically run</span>
+<span class="linenos">  8</span><span class="sd">at different desired settings.</span>
+<span class="linenos">  9</span>
+<span class="linenos"> 10</span><span class="sd">You can supply different task environments to inject cameras into, or just test a sample scene.</span>
+<span class="linenos"> 11</span><span class="sd">Additionally, you can automatically find the maximum amount of cameras you can run a task with</span>
+<span class="linenos"> 12</span><span class="sd">through the auto-tune functionality.</span>
+<span class="linenos"> 13</span>
+<span class="linenos"> 14</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos"> 15</span>
+<span class="linenos"> 16</span><span class="sd">    # Usage with GUI</span>
+<span class="linenos"> 17</span><span class="sd">    ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py -h</span>
+<span class="linenos"> 18</span>
+<span class="linenos"> 19</span><span class="sd">    # Usage with headless</span>
+<span class="linenos"> 20</span><span class="sd">    ./isaaclab.sh -p source/standalone/benchmarks/benchmark_cameras.py -h --headless</span>
+<span class="linenos"> 21</span>
+<span class="linenos"> 22</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 23</span>
+<span class="linenos"> 24</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 25</span>
+<span class="linenos"> 26</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 27</span><span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Callable</span>
+<span class="linenos"> 28</span>
+<span class="linenos"> 29</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 30</span>
+<span class="linenos"> 31</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 32</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">Namespace</span><span class="p">()</span>
+<span class="linenos"> 33</span>
+<span class="linenos"> 34</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;This script can help you benchmark how many cameras you could run.&quot;</span><span class="p">)</span>
+<span class="linenos"> 35</span>
+<span class="linenos"> 36</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 37</span><span class="sd">The following arguments only need to be supplied for when one wishes</span>
+<span class="linenos"> 38</span><span class="sd">to try injecting cameras into their environment, and automatically determining</span>
+<span class="linenos"> 39</span><span class="sd">the maximum camera count.</span>
+<span class="linenos"> 40</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 41</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos"> 42</span>    <span class="s2">&quot;--task&quot;</span><span class="p">,</span>
+<span class="linenos"> 43</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+<span class="linenos"> 44</span>    <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+<span class="linenos"> 45</span>    <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos"> 46</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Supply this argument to spawn cameras within an known manager-based task environment.&quot;</span><span class="p">,</span>
+<span class="linenos"> 47</span><span class="p">)</span>
+<span class="linenos"> 48</span>
+<span class="linenos"> 49</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos"> 50</span>    <span class="s2">&quot;--autotune&quot;</span><span class="p">,</span>
+<span class="linenos"> 51</span>    <span class="n">default</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos"> 52</span>    <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span>
+<span class="linenos"> 53</span>    <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+<span class="linenos"> 54</span>        <span class="s2">&quot;Autotuning is only supported for provided task environments.&quot;</span>
+<span class="linenos"> 55</span>        <span class="s2">&quot; Supply this argument to increase the number of environments until a desired threshold is reached.&quot;</span>
+<span class="linenos"> 56</span>        <span class="s2">&quot;Install pynvml in your environment; ./isaaclab.sh -m pip install pynvml&quot;</span>
+<span class="linenos"> 57</span>    <span class="p">),</span>
+<span class="linenos"> 58</span><span class="p">)</span>
+<span class="linenos"> 59</span>
+<span class="linenos"> 60</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos"> 61</span>    <span class="s2">&quot;--task_num_cameras_per_env&quot;</span><span class="p">,</span>
+<span class="linenos"> 62</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos"> 63</span>    <span class="n">default</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+<span class="linenos"> 64</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The number of cameras per environment to use when using a known task.&quot;</span><span class="p">,</span>
+<span class="linenos"> 65</span><span class="p">)</span>
+<span class="linenos"> 66</span>
+<span class="linenos"> 67</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos"> 68</span>    <span class="s2">&quot;--use_fabric&quot;</span><span class="p">,</span> <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Enable fabric and use USD I/O operations.&quot;</span>
+<span class="linenos"> 69</span><span class="p">)</span>
+<span class="linenos"> 70</span>
+<span class="linenos"> 71</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos"> 72</span>    <span class="s2">&quot;--autotune_max_percentage_util&quot;</span><span class="p">,</span>
+<span class="linenos"> 73</span>    <span class="n">nargs</span><span class="o">=</span><span class="s2">&quot;+&quot;</span><span class="p">,</span>
+<span class="linenos"> 74</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">float</span><span class="p">,</span>
+<span class="linenos"> 75</span>    <span class="n">default</span><span class="o">=</span><span class="p">[</span><span class="mf">100.0</span><span class="p">,</span> <span class="mf">80.0</span><span class="p">,</span> <span class="mf">80.0</span><span class="p">,</span> <span class="mf">80.0</span><span class="p">],</span>
+<span class="linenos"> 76</span>    <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos"> 77</span>    <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+<span class="linenos"> 78</span>        <span class="s2">&quot;The system utilization percentage thresholds to reach before an autotune is finished. &quot;</span>
+<span class="linenos"> 79</span>        <span class="s2">&quot;If any one of these limits are hit, the autotune stops.&quot;</span>
+<span class="linenos"> 80</span>        <span class="s2">&quot;Thresholds are, in order, maximum CPU percentage utilization,&quot;</span>
+<span class="linenos"> 81</span>        <span class="s2">&quot;maximum RAM percentage utilization, maximum GPU compute percent utilization, &quot;</span>
+<span class="linenos"> 82</span>        <span class="s2">&quot;amd maximum GPU memory utilization.&quot;</span>
+<span class="linenos"> 83</span>    <span class="p">),</span>
+<span class="linenos"> 84</span><span class="p">)</span>
+<span class="linenos"> 85</span>
+<span class="linenos"> 86</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos"> 87</span>    <span class="s2">&quot;--autotune_max_camera_count&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">4096</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The maximum amount of cameras allowed in an autotune.&quot;</span>
+<span class="linenos"> 88</span><span class="p">)</span>
+<span class="linenos"> 89</span>
+<span class="linenos"> 90</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos"> 91</span>    <span class="s2">&quot;--autotune_camera_count_interval&quot;</span><span class="p">,</span>
+<span class="linenos"> 92</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos"> 93</span>    <span class="n">default</span><span class="o">=</span><span class="mi">25</span><span class="p">,</span>
+<span class="linenos"> 94</span>    <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+<span class="linenos"> 95</span>        <span class="s2">&quot;The number of cameras to try to add to the environment if the current camera count&quot;</span>
+<span class="linenos"> 96</span>        <span class="s2">&quot; falls within permitted system resource utilization limits.&quot;</span>
+<span class="linenos"> 97</span>    <span class="p">),</span>
+<span class="linenos"> 98</span><span class="p">)</span>
+<span class="linenos"> 99</span>
+<span class="linenos">100</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">101</span><span class="sd">The following arguments are shared for when injecting cameras into a task environment,</span>
+<span class="linenos">102</span><span class="sd">as well as when creating cameras independent of a task environment.</span>
+<span class="linenos">103</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">104</span>
+<span class="linenos">105</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">106</span>    <span class="s2">&quot;--num_tiled_cameras&quot;</span><span class="p">,</span>
+<span class="linenos">107</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos">108</span>    <span class="n">default</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos">109</span>    <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">110</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of tiled cameras to create. For autotuning, this is how many cameras to start with.&quot;</span><span class="p">,</span>
+<span class="linenos">111</span><span class="p">)</span>
+<span class="linenos">112</span>
+<span class="linenos">113</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">114</span>    <span class="s2">&quot;--num_standard_cameras&quot;</span><span class="p">,</span>
+<span class="linenos">115</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos">116</span>    <span class="n">default</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos">117</span>    <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">118</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of standard cameras to create. For autotuning, this is how many cameras to start with.&quot;</span><span class="p">,</span>
+<span class="linenos">119</span><span class="p">)</span>
+<span class="linenos">120</span>
+<span class="linenos">121</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">122</span>    <span class="s2">&quot;--num_ray_caster_cameras&quot;</span><span class="p">,</span>
+<span class="linenos">123</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos">124</span>    <span class="n">default</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos">125</span>    <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">126</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of ray caster cameras to create. For autotuning, this is how many cameras to start with.&quot;</span><span class="p">,</span>
+<span class="linenos">127</span><span class="p">)</span>
+<span class="linenos">128</span>
+<span class="linenos">129</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">130</span>    <span class="s2">&quot;--tiled_camera_data_types&quot;</span><span class="p">,</span>
+<span class="linenos">131</span>    <span class="n">nargs</span><span class="o">=</span><span class="s2">&quot;+&quot;</span><span class="p">,</span>
+<span class="linenos">132</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+<span class="linenos">133</span>    <span class="n">default</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="s2">&quot;depth&quot;</span><span class="p">],</span>
+<span class="linenos">134</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The data types rendered by the tiled camera&quot;</span><span class="p">,</span>
+<span class="linenos">135</span><span class="p">)</span>
+<span class="linenos">136</span>
+<span class="linenos">137</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">138</span>    <span class="s2">&quot;--standard_camera_data_types&quot;</span><span class="p">,</span>
+<span class="linenos">139</span>    <span class="n">nargs</span><span class="o">=</span><span class="s2">&quot;+&quot;</span><span class="p">,</span>
+<span class="linenos">140</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+<span class="linenos">141</span>    <span class="n">default</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">,</span> <span class="s2">&quot;distance_to_camera&quot;</span><span class="p">],</span>
+<span class="linenos">142</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The data types rendered by the standard camera&quot;</span><span class="p">,</span>
+<span class="linenos">143</span><span class="p">)</span>
+<span class="linenos">144</span>
+<span class="linenos">145</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">146</span>    <span class="s2">&quot;--ray_caster_camera_data_types&quot;</span><span class="p">,</span>
+<span class="linenos">147</span>    <span class="n">nargs</span><span class="o">=</span><span class="s2">&quot;+&quot;</span><span class="p">,</span>
+<span class="linenos">148</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+<span class="linenos">149</span>    <span class="n">default</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">],</span>
+<span class="linenos">150</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;The data types rendered by the ray caster camera.&quot;</span><span class="p">,</span>
+<span class="linenos">151</span><span class="p">)</span>
+<span class="linenos">152</span>
+<span class="linenos">153</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">154</span>    <span class="s2">&quot;--ray_caster_visible_mesh_prim_paths&quot;</span><span class="p">,</span>
+<span class="linenos">155</span>    <span class="n">nargs</span><span class="o">=</span><span class="s2">&quot;+&quot;</span><span class="p">,</span>
+<span class="linenos">156</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span>
+<span class="linenos">157</span>    <span class="n">default</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">],</span>
+<span class="linenos">158</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;WARNING: Ray Caster can currently only cast against a single, static, object&quot;</span><span class="p">,</span>
+<span class="linenos">159</span><span class="p">)</span>
+<span class="linenos">160</span>
+<span class="linenos">161</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">162</span>    <span class="s2">&quot;--convert_depth_to_camera_to_image_plane&quot;</span><span class="p">,</span>
+<span class="linenos">163</span>    <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span>
+<span class="linenos">164</span>    <span class="n">default</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos">165</span>    <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+<span class="linenos">166</span>        <span class="s2">&quot;Enable undistorting from perspective view (distance to camera data_type)&quot;</span>
+<span class="linenos">167</span>        <span class="s2">&quot;to orthogonal view (distance to plane data_type) for depth.&quot;</span>
+<span class="linenos">168</span>        <span class="s2">&quot;This is currently needed to create undisorted depth images/point cloud.&quot;</span>
+<span class="linenos">169</span>    <span class="p">),</span>
+<span class="linenos">170</span><span class="p">)</span>
+<span class="linenos">171</span>
+<span class="linenos">172</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">173</span>    <span class="s2">&quot;--keep_raw_depth&quot;</span><span class="p">,</span>
+<span class="linenos">174</span>    <span class="n">dest</span><span class="o">=</span><span class="s2">&quot;convert_depth_to_camera_to_image_plane&quot;</span><span class="p">,</span>
+<span class="linenos">175</span>    <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_false&quot;</span><span class="p">,</span>
+<span class="linenos">176</span>    <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+<span class="linenos">177</span>        <span class="s2">&quot;Disable undistorting from perspective view (distance to camera)&quot;</span>
+<span class="linenos">178</span>        <span class="s2">&quot;to orthogonal view (distance to plane data_type) for depth.&quot;</span>
+<span class="linenos">179</span>    <span class="p">),</span>
+<span class="linenos">180</span><span class="p">)</span>
+<span class="linenos">181</span>
+<span class="linenos">182</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">183</span>    <span class="s2">&quot;--height&quot;</span><span class="p">,</span>
+<span class="linenos">184</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos">185</span>    <span class="n">default</span><span class="o">=</span><span class="mi">120</span><span class="p">,</span>
+<span class="linenos">186</span>    <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">187</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Height in pixels of cameras&quot;</span><span class="p">,</span>
+<span class="linenos">188</span><span class="p">)</span>
+<span class="linenos">189</span>
+<span class="linenos">190</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">191</span>    <span class="s2">&quot;--width&quot;</span><span class="p">,</span>
+<span class="linenos">192</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos">193</span>    <span class="n">default</span><span class="o">=</span><span class="mi">140</span><span class="p">,</span>
+<span class="linenos">194</span>    <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">195</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Width in pixels of cameras&quot;</span><span class="p">,</span>
+<span class="linenos">196</span><span class="p">)</span>
+<span class="linenos">197</span>
+<span class="linenos">198</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">199</span>    <span class="s2">&quot;--warm_start_length&quot;</span><span class="p">,</span>
+<span class="linenos">200</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos">201</span>    <span class="n">default</span><span class="o">=</span><span class="mi">3</span><span class="p">,</span>
+<span class="linenos">202</span>    <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">203</span>    <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+<span class="linenos">204</span>        <span class="s2">&quot;Number of steps to run the sim before starting benchmark.&quot;</span>
+<span class="linenos">205</span>        <span class="s2">&quot;Needed to avoid blank images at the start of the simulation.&quot;</span>
+<span class="linenos">206</span>    <span class="p">),</span>
+<span class="linenos">207</span><span class="p">)</span>
+<span class="linenos">208</span>
+<span class="linenos">209</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">210</span>    <span class="s2">&quot;--experiment_length&quot;</span><span class="p">,</span>
+<span class="linenos">211</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos">212</span>    <span class="n">default</span><span class="o">=</span><span class="mi">15</span><span class="p">,</span>
+<span class="linenos">213</span>    <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">214</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of steps to average over&quot;</span><span class="p">,</span>
+<span class="linenos">215</span><span class="p">)</span>
+<span class="linenos">216</span>
+<span class="linenos">217</span><span class="c1"># This argument is only used when a task is not provided.</span>
+<span class="linenos">218</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">219</span>    <span class="s2">&quot;--num_objects&quot;</span><span class="p">,</span>
+<span class="linenos">220</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos">221</span>    <span class="n">default</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span>
+<span class="linenos">222</span>    <span class="n">required</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">223</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of objects to spawn into the scene when not using a known task.&quot;</span><span class="p">,</span>
+<span class="linenos">224</span><span class="p">)</span>
+<span class="linenos">225</span>
+<span class="linenos">226</span>
+<span class="linenos">227</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos">228</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos">229</span><span class="n">args_cli</span><span class="o">.</span><span class="n">enable_cameras</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="linenos">230</span>
+<span class="linenos">231</span><span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">autotune</span><span class="p">:</span>
+<span class="linenos">232</span>    <span class="kn">import</span> <span class="nn">pynvml</span>
+<span class="linenos">233</span>
+<span class="linenos">234</span><span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">args_cli</span><span class="o">.</span><span class="n">ray_caster_visible_mesh_prim_paths</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">1</span><span class="p">:</span>
+<span class="linenos">235</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: Ray Casting is only currently supported for a single, static object&quot;</span><span class="p">)</span>
+<span class="linenos">236</span><span class="c1"># launch omniverse app</span>
+<span class="linenos">237</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos">238</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos">239</span>
+<span class="linenos">240</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos">241</span>
+<span class="linenos">242</span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+<span class="linenos">243</span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="linenos">244</span><span class="kn">import</span> <span class="nn">random</span>
+<span class="linenos">245</span><span class="kn">import</span> <span class="nn">time</span>
+<span class="linenos">246</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos">247</span>
+<span class="linenos">248</span><span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="linenos">249</span><span class="kn">import</span> <span class="nn">psutil</span>
+<span class="linenos">250</span><span class="kn">from</span> <span class="nn">omni.isaac.core.utils.stage</span> <span class="kn">import</span> <span class="n">create_new_stage</span>
+<span class="linenos">251</span>
+<span class="linenos">252</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos">253</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">RigidObject</span><span class="p">,</span> <span class="n">RigidObjectCfg</span>
+<span class="linenos">254</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene.interactive_scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span>
+<span class="linenos">255</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors</span> <span class="kn">import</span> <span class="p">(</span>
+<span class="linenos">256</span>    <span class="n">Camera</span><span class="p">,</span>
+<span class="linenos">257</span>    <span class="n">CameraCfg</span><span class="p">,</span>
+<span class="linenos">258</span>    <span class="n">RayCasterCamera</span><span class="p">,</span>
+<span class="linenos">259</span>    <span class="n">RayCasterCameraCfg</span><span class="p">,</span>
+<span class="linenos">260</span>    <span class="n">TiledCamera</span><span class="p">,</span>
+<span class="linenos">261</span>    <span class="n">TiledCameraCfg</span><span class="p">,</span>
+<span class="linenos">262</span>    <span class="n">patterns</span><span class="p">,</span>
+<span class="linenos">263</span><span class="p">)</span>
+<span class="linenos">264</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="n">orthogonalize_perspective_depth</span><span class="p">,</span> <span class="n">unproject_depth</span>
+<span class="linenos">265</span>
+<span class="linenos">266</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils</span> <span class="kn">import</span> <span class="n">load_cfg_from_registry</span>
+<span class="linenos">267</span>
+<span class="linenos">268</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">269</span><span class="sd">Camera Creation</span>
+<span class="linenos">270</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">271</span>
+<span class="linenos">272</span>
+<span class="linenos">273</span><span class="k">def</span> <span class="nf">create_camera_base</span><span class="p">(</span>
+<span class="linenos">274</span>    <span class="n">camera_cfg</span><span class="p">:</span> <span class="nb">type</span><span class="p">[</span><span class="n">CameraCfg</span> <span class="o">|</span> <span class="n">TiledCameraCfg</span><span class="p">],</span>
+<span class="linenos">275</span>    <span class="n">num_cams</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+<span class="linenos">276</span>    <span class="n">data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span>
+<span class="linenos">277</span>    <span class="n">height</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+<span class="linenos">278</span>    <span class="n">width</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+<span class="linenos">279</span>    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="linenos">280</span>    <span class="n">instantiate</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+<span class="linenos">281</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Camera</span> <span class="o">|</span> <span class="n">TiledCamera</span> <span class="o">|</span> <span class="n">CameraCfg</span> <span class="o">|</span> <span class="n">TiledCameraCfg</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">282</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Generalized function to create a camera or tiled camera sensor.&quot;&quot;&quot;</span>
+<span class="linenos">283</span>    <span class="c1"># Determine prim prefix based on the camera class</span>
+<span class="linenos">284</span>    <span class="n">name</span> <span class="o">=</span> <span class="n">camera_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="o">.</span><span class="vm">__name__</span>
+<span class="linenos">285</span>
+<span class="linenos">286</span>    <span class="k">if</span> <span class="n">instantiate</span><span class="p">:</span>
+<span class="linenos">287</span>        <span class="c1"># Create the necessary prims</span>
+<span class="linenos">288</span>        <span class="k">for</span> <span class="n">idx</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_cams</span><span class="p">):</span>
+<span class="linenos">289</span>            <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;/World/</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">_</span><span class="si">{</span><span class="n">idx</span><span class="si">:</span><span class="s2">02d</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+<span class="linenos">290</span>    <span class="k">if</span> <span class="n">prim_path</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">291</span>        <span class="n">prim_path</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;/World/</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">_.*/</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s2">&quot;</span>
+<span class="linenos">292</span>    <span class="c1"># If valid camera settings are provided, create the camera</span>
+<span class="linenos">293</span>    <span class="k">if</span> <span class="n">num_cams</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="nb">len</span><span class="p">(</span><span class="n">data_types</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">height</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">width</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">294</span>        <span class="n">cfg</span> <span class="o">=</span> <span class="n">camera_cfg</span><span class="p">(</span>
+<span class="linenos">295</span>            <span class="n">prim_path</span><span class="o">=</span><span class="n">prim_path</span><span class="p">,</span>
+<span class="linenos">296</span>            <span class="n">update_period</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos">297</span>            <span class="n">height</span><span class="o">=</span><span class="n">height</span><span class="p">,</span>
+<span class="linenos">298</span>            <span class="n">width</span><span class="o">=</span><span class="n">width</span><span class="p">,</span>
+<span class="linenos">299</span>            <span class="n">data_types</span><span class="o">=</span><span class="n">data_types</span><span class="p">,</span>
+<span class="linenos">300</span>            <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PinholeCameraCfg</span><span class="p">(</span>
+<span class="linenos">301</span>                <span class="n">focal_length</span><span class="o">=</span><span class="mi">24</span><span class="p">,</span> <span class="n">focus_distance</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span> <span class="n">horizontal_aperture</span><span class="o">=</span><span class="mf">20.955</span><span class="p">,</span> <span class="n">clipping_range</span><span class="o">=</span><span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">1e4</span><span class="p">)</span>
+<span class="linenos">302</span>            <span class="p">),</span>
+<span class="linenos">303</span>        <span class="p">)</span>
+<span class="linenos">304</span>        <span class="k">if</span> <span class="n">instantiate</span><span class="p">:</span>
+<span class="linenos">305</span>            <span class="k">return</span> <span class="n">camera_cfg</span><span class="o">.</span><span class="n">class_type</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="p">)</span>
+<span class="linenos">306</span>        <span class="k">else</span><span class="p">:</span>
+<span class="linenos">307</span>            <span class="k">return</span> <span class="n">cfg</span>
+<span class="linenos">308</span>    <span class="k">else</span><span class="p">:</span>
+<span class="linenos">309</span>        <span class="k">return</span> <span class="kc">None</span>
+<span class="linenos">310</span>
+<span class="linenos">311</span>
+<span class="linenos">312</span><span class="k">def</span> <span class="nf">create_tiled_cameras</span><span class="p">(</span>
+<span class="linenos">313</span>    <span class="n">num_cams</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="p">,</span> <span class="n">data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">height</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">100</span><span class="p">,</span> <span class="n">width</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">120</span>
+<span class="linenos">314</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">TiledCamera</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">315</span>    <span class="k">if</span> <span class="n">data_types</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">316</span>        <span class="n">data_types</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="s2">&quot;depth&quot;</span><span class="p">]</span>
+<span class="linenos">317</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Defines the tiled camera sensor to add to the scene.&quot;&quot;&quot;</span>
+<span class="linenos">318</span>    <span class="k">return</span> <span class="n">create_camera_base</span><span class="p">(</span>
+<span class="linenos">319</span>        <span class="n">camera_cfg</span><span class="o">=</span><span class="n">TiledCameraCfg</span><span class="p">,</span>
+<span class="linenos">320</span>        <span class="n">num_cams</span><span class="o">=</span><span class="n">num_cams</span><span class="p">,</span>
+<span class="linenos">321</span>        <span class="n">data_types</span><span class="o">=</span><span class="n">data_types</span><span class="p">,</span>
+<span class="linenos">322</span>        <span class="n">height</span><span class="o">=</span><span class="n">height</span><span class="p">,</span>
+<span class="linenos">323</span>        <span class="n">width</span><span class="o">=</span><span class="n">width</span><span class="p">,</span>
+<span class="linenos">324</span>    <span class="p">)</span>
+<span class="linenos">325</span>
+<span class="linenos">326</span>
+<span class="linenos">327</span><span class="k">def</span> <span class="nf">create_cameras</span><span class="p">(</span>
+<span class="linenos">328</span>    <span class="n">num_cams</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="p">,</span> <span class="n">data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="n">height</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">100</span><span class="p">,</span> <span class="n">width</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">120</span>
+<span class="linenos">329</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">Camera</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">330</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Defines the Standard cameras.&quot;&quot;&quot;</span>
+<span class="linenos">331</span>    <span class="k">if</span> <span class="n">data_types</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">332</span>        <span class="n">data_types</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="s2">&quot;depth&quot;</span><span class="p">]</span>
+<span class="linenos">333</span>    <span class="k">return</span> <span class="n">create_camera_base</span><span class="p">(</span>
+<span class="linenos">334</span>        <span class="n">camera_cfg</span><span class="o">=</span><span class="n">CameraCfg</span><span class="p">,</span> <span class="n">num_cams</span><span class="o">=</span><span class="n">num_cams</span><span class="p">,</span> <span class="n">data_types</span><span class="o">=</span><span class="n">data_types</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="n">height</span><span class="p">,</span> <span class="n">width</span><span class="o">=</span><span class="n">width</span>
+<span class="linenos">335</span>    <span class="p">)</span>
+<span class="linenos">336</span>
+<span class="linenos">337</span>
+<span class="linenos">338</span><span class="k">def</span> <span class="nf">create_ray_caster_cameras</span><span class="p">(</span>
+<span class="linenos">339</span>    <span class="n">num_cams</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="p">,</span>
+<span class="linenos">340</span>    <span class="n">data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">],</span>
+<span class="linenos">341</span>    <span class="n">mesh_prim_paths</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">],</span>
+<span class="linenos">342</span>    <span class="n">height</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">100</span><span class="p">,</span>
+<span class="linenos">343</span>    <span class="n">width</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">120</span><span class="p">,</span>
+<span class="linenos">344</span>    <span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;/World/RayCasterCamera_.*/RayCaster&quot;</span><span class="p">,</span>
+<span class="linenos">345</span>    <span class="n">instantiate</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+<span class="linenos">346</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">RayCasterCamera</span> <span class="o">|</span> <span class="n">RayCasterCameraCfg</span> <span class="o">|</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">347</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Create the raycaster cameras; different configuration than Standard/Tiled camera&quot;&quot;&quot;</span>
+<span class="linenos">348</span>    <span class="k">for</span> <span class="n">idx</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_cams</span><span class="p">):</span>
+<span class="linenos">349</span>        <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;/World/RayCasterCamera_</span><span class="si">{</span><span class="n">idx</span><span class="si">:</span><span class="s2">02d</span><span class="si">}</span><span class="s2">/RayCaster&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+<span class="linenos">350</span>
+<span class="linenos">351</span>    <span class="k">if</span> <span class="n">num_cams</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="nb">len</span><span class="p">(</span><span class="n">data_types</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">height</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">width</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">352</span>        <span class="n">cam_cfg</span> <span class="o">=</span> <span class="n">RayCasterCameraCfg</span><span class="p">(</span>
+<span class="linenos">353</span>            <span class="n">prim_path</span><span class="o">=</span><span class="n">prim_path</span><span class="p">,</span>
+<span class="linenos">354</span>            <span class="n">mesh_prim_paths</span><span class="o">=</span><span class="n">mesh_prim_paths</span><span class="p">,</span>
+<span class="linenos">355</span>            <span class="n">update_period</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos">356</span>            <span class="n">offset</span><span class="o">=</span><span class="n">RayCasterCameraCfg</span><span class="o">.</span><span class="n">OffsetCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">rot</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+<span class="linenos">357</span>            <span class="n">data_types</span><span class="o">=</span><span class="n">data_types</span><span class="p">,</span>
+<span class="linenos">358</span>            <span class="n">debug_vis</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">359</span>            <span class="n">pattern_cfg</span><span class="o">=</span><span class="n">patterns</span><span class="o">.</span><span class="n">PinholeCameraPatternCfg</span><span class="p">(</span>
+<span class="linenos">360</span>                <span class="n">focal_length</span><span class="o">=</span><span class="mf">24.0</span><span class="p">,</span>
+<span class="linenos">361</span>                <span class="n">horizontal_aperture</span><span class="o">=</span><span class="mf">20.955</span><span class="p">,</span>
+<span class="linenos">362</span>                <span class="n">height</span><span class="o">=</span><span class="mi">480</span><span class="p">,</span>
+<span class="linenos">363</span>                <span class="n">width</span><span class="o">=</span><span class="mi">640</span><span class="p">,</span>
+<span class="linenos">364</span>            <span class="p">),</span>
+<span class="linenos">365</span>        <span class="p">)</span>
+<span class="linenos">366</span>        <span class="k">if</span> <span class="n">instantiate</span><span class="p">:</span>
+<span class="linenos">367</span>            <span class="k">return</span> <span class="n">RayCasterCamera</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cam_cfg</span><span class="p">)</span>
+<span class="linenos">368</span>        <span class="k">else</span><span class="p">:</span>
+<span class="linenos">369</span>            <span class="k">return</span> <span class="n">cam_cfg</span>
+<span class="linenos">370</span>
+<span class="linenos">371</span>    <span class="k">else</span><span class="p">:</span>
+<span class="linenos">372</span>        <span class="k">return</span> <span class="kc">None</span>
+<span class="linenos">373</span>
+<span class="linenos">374</span>
+<span class="linenos">375</span><span class="k">def</span> <span class="nf">create_tiled_camera_cfg</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">TiledCameraCfg</span><span class="p">:</span>
+<span class="linenos">376</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Grab a simple tiled camera config for injecting into task environments.&quot;&quot;&quot;</span>
+<span class="linenos">377</span>    <span class="k">return</span> <span class="n">create_camera_base</span><span class="p">(</span>
+<span class="linenos">378</span>        <span class="n">TiledCameraCfg</span><span class="p">,</span>
+<span class="linenos">379</span>        <span class="n">num_cams</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_tiled_cameras</span><span class="p">,</span>
+<span class="linenos">380</span>        <span class="n">data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">tiled_camera_data_types</span><span class="p">,</span>
+<span class="linenos">381</span>        <span class="n">width</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">width</span><span class="p">,</span>
+<span class="linenos">382</span>        <span class="n">height</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">height</span><span class="p">,</span>
+<span class="linenos">383</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/&quot;</span> <span class="o">+</span> <span class="n">prim_path</span><span class="p">,</span>
+<span class="linenos">384</span>        <span class="n">instantiate</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">385</span>    <span class="p">)</span>
+<span class="linenos">386</span>
+<span class="linenos">387</span>
+<span class="linenos">388</span><span class="k">def</span> <span class="nf">create_standard_camera_cfg</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">CameraCfg</span><span class="p">:</span>
+<span class="linenos">389</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Grab a simple standard camera config for injecting into task environments.&quot;&quot;&quot;</span>
+<span class="linenos">390</span>    <span class="k">return</span> <span class="n">create_camera_base</span><span class="p">(</span>
+<span class="linenos">391</span>        <span class="n">CameraCfg</span><span class="p">,</span>
+<span class="linenos">392</span>        <span class="n">num_cams</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_standard_cameras</span><span class="p">,</span>
+<span class="linenos">393</span>        <span class="n">data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">standard_camera_data_types</span><span class="p">,</span>
+<span class="linenos">394</span>        <span class="n">width</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">width</span><span class="p">,</span>
+<span class="linenos">395</span>        <span class="n">height</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">height</span><span class="p">,</span>
+<span class="linenos">396</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/&quot;</span> <span class="o">+</span> <span class="n">prim_path</span><span class="p">,</span>
+<span class="linenos">397</span>        <span class="n">instantiate</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">398</span>    <span class="p">)</span>
+<span class="linenos">399</span>
+<span class="linenos">400</span>
+<span class="linenos">401</span><span class="k">def</span> <span class="nf">create_ray_caster_camera_cfg</span><span class="p">(</span><span class="n">prim_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">RayCasterCameraCfg</span><span class="p">:</span>
+<span class="linenos">402</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Grab a simple ray caster config for injecting into task environments.&quot;&quot;&quot;</span>
+<span class="linenos">403</span>    <span class="k">return</span> <span class="n">create_ray_caster_cameras</span><span class="p">(</span>
+<span class="linenos">404</span>        <span class="n">num_cams</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_ray_caster_cameras</span><span class="p">,</span>
+<span class="linenos">405</span>        <span class="n">data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">ray_caster_camera_data_types</span><span class="p">,</span>
+<span class="linenos">406</span>        <span class="n">width</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">width</span><span class="p">,</span>
+<span class="linenos">407</span>        <span class="n">height</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">height</span><span class="p">,</span>
+<span class="linenos">408</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/&quot;</span> <span class="o">+</span> <span class="n">prim_path</span><span class="p">,</span>
+<span class="linenos">409</span>    <span class="p">)</span>
+<span class="linenos">410</span>
+<span class="linenos">411</span>
+<span class="linenos">412</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">413</span><span class="sd">Scene Creation</span>
+<span class="linenos">414</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">415</span>
+<span class="linenos">416</span>
+<span class="linenos">417</span><span class="k">def</span> <span class="nf">design_scene</span><span class="p">(</span>
+<span class="linenos">418</span>    <span class="n">num_tiled_cams</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">2</span><span class="p">,</span>
+<span class="linenos">419</span>    <span class="n">num_standard_cams</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span><span class="p">,</span>
+<span class="linenos">420</span>    <span class="n">num_ray_caster_cams</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span><span class="p">,</span>
+<span class="linenos">421</span>    <span class="n">tiled_camera_data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="linenos">422</span>    <span class="n">standard_camera_data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="linenos">423</span>    <span class="n">ray_caster_camera_data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="linenos">424</span>    <span class="n">height</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">100</span><span class="p">,</span>
+<span class="linenos">425</span>    <span class="n">width</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">200</span><span class="p">,</span>
+<span class="linenos">426</span>    <span class="n">num_objects</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">20</span><span class="p">,</span>
+<span class="linenos">427</span>    <span class="n">mesh_prim_paths</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">],</span>
+<span class="linenos">428</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="linenos">429</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Design the scene.&quot;&quot;&quot;</span>
+<span class="linenos">430</span>    <span class="k">if</span> <span class="n">tiled_camera_data_types</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">431</span>        <span class="n">tiled_camera_data_types</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span>
+<span class="linenos">432</span>    <span class="k">if</span> <span class="n">standard_camera_data_types</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">433</span>        <span class="n">standard_camera_data_types</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span>
+<span class="linenos">434</span>    <span class="k">if</span> <span class="n">ray_caster_camera_data_types</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">435</span>        <span class="n">ray_caster_camera_data_types</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">]</span>
+<span class="linenos">436</span>
+<span class="linenos">437</span>    <span class="c1"># Populate scene</span>
+<span class="linenos">438</span>    <span class="c1"># -- Ground-plane</span>
+<span class="linenos">439</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">()</span>
+<span class="linenos">440</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="linenos">441</span>    <span class="c1"># -- Lights</span>
+<span class="linenos">442</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DistantLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos">443</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="linenos">444</span>
+<span class="linenos">445</span>    <span class="c1"># Create a dictionary for the scene entities</span>
+<span class="linenos">446</span>    <span class="n">scene_entities</span> <span class="o">=</span> <span class="p">{}</span>
+<span class="linenos">447</span>
+<span class="linenos">448</span>    <span class="c1"># Xform to hold objects</span>
+<span class="linenos">449</span>    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="s2">&quot;/World/Objects&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+<span class="linenos">450</span>    <span class="c1"># Random objects</span>
+<span class="linenos">451</span>    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_objects</span><span class="p">):</span>
+<span class="linenos">452</span>        <span class="c1"># sample random position</span>
+<span class="linenos">453</span>        <span class="n">position</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span> <span class="o">-</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.05</span><span class="p">,</span> <span class="mf">0.05</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">])</span>
+<span class="linenos">454</span>        <span class="n">position</span> <span class="o">*=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">1.5</span><span class="p">,</span> <span class="mf">1.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">])</span>
+<span class="linenos">455</span>        <span class="c1"># sample random color</span>
+<span class="linenos">456</span>        <span class="n">color</span> <span class="o">=</span> <span class="p">(</span><span class="n">random</span><span class="o">.</span><span class="n">random</span><span class="p">(),</span> <span class="n">random</span><span class="o">.</span><span class="n">random</span><span class="p">(),</span> <span class="n">random</span><span class="o">.</span><span class="n">random</span><span class="p">())</span>
+<span class="linenos">457</span>        <span class="c1"># choose random prim type</span>
+<span class="linenos">458</span>        <span class="n">prim_type</span> <span class="o">=</span> <span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Cube&quot;</span><span class="p">,</span> <span class="s2">&quot;Cone&quot;</span><span class="p">,</span> <span class="s2">&quot;Cylinder&quot;</span><span class="p">])</span>
+<span class="linenos">459</span>        <span class="n">common_properties</span> <span class="o">=</span> <span class="p">{</span>
+<span class="linenos">460</span>            <span class="s2">&quot;rigid_props&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(),</span>
+<span class="linenos">461</span>            <span class="s2">&quot;mass_props&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">5.0</span><span class="p">),</span>
+<span class="linenos">462</span>            <span class="s2">&quot;collision_props&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+<span class="linenos">463</span>            <span class="s2">&quot;visual_material&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="n">color</span><span class="p">,</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.5</span><span class="p">),</span>
+<span class="linenos">464</span>            <span class="s2">&quot;semantic_tags&quot;</span><span class="p">:</span> <span class="p">[(</span><span class="s2">&quot;class&quot;</span><span class="p">,</span> <span class="n">prim_type</span><span class="p">)],</span>
+<span class="linenos">465</span>        <span class="p">}</span>
+<span class="linenos">466</span>        <span class="k">if</span> <span class="n">prim_type</span> <span class="o">==</span> <span class="s2">&quot;Cube&quot;</span><span class="p">:</span>
+<span class="linenos">467</span>            <span class="n">shape_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span><span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">),</span> <span class="o">**</span><span class="n">common_properties</span><span class="p">)</span>
+<span class="linenos">468</span>        <span class="k">elif</span> <span class="n">prim_type</span> <span class="o">==</span> <span class="s2">&quot;Cone&quot;</span><span class="p">:</span>
+<span class="linenos">469</span>            <span class="n">shape_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span><span class="n">radius</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">**</span><span class="n">common_properties</span><span class="p">)</span>
+<span class="linenos">470</span>        <span class="k">elif</span> <span class="n">prim_type</span> <span class="o">==</span> <span class="s2">&quot;Cylinder&quot;</span><span class="p">:</span>
+<span class="linenos">471</span>            <span class="n">shape_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CylinderCfg</span><span class="p">(</span><span class="n">radius</span><span class="o">=</span><span class="mf">0.25</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">**</span><span class="n">common_properties</span><span class="p">)</span>
+<span class="linenos">472</span>        <span class="c1"># Rigid Object</span>
+<span class="linenos">473</span>        <span class="n">obj_cfg</span> <span class="o">=</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+<span class="linenos">474</span>            <span class="n">prim_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;/World/Objects/Obj_</span><span class="si">{</span><span class="n">i</span><span class="si">:</span><span class="s2">02d</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span>
+<span class="linenos">475</span>            <span class="n">spawn</span><span class="o">=</span><span class="n">shape_cfg</span><span class="p">,</span>
+<span class="linenos">476</span>            <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="n">position</span><span class="p">),</span>
+<span class="linenos">477</span>        <span class="p">)</span>
+<span class="linenos">478</span>        <span class="n">scene_entities</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;rigid_object</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">RigidObject</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">obj_cfg</span><span class="p">)</span>
+<span class="linenos">479</span>
+<span class="linenos">480</span>    <span class="c1"># Sensors</span>
+<span class="linenos">481</span>    <span class="n">standard_camera</span> <span class="o">=</span> <span class="n">create_cameras</span><span class="p">(</span>
+<span class="linenos">482</span>        <span class="n">num_cams</span><span class="o">=</span><span class="n">num_standard_cams</span><span class="p">,</span> <span class="n">data_types</span><span class="o">=</span><span class="n">standard_camera_data_types</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="n">height</span><span class="p">,</span> <span class="n">width</span><span class="o">=</span><span class="n">width</span>
+<span class="linenos">483</span>    <span class="p">)</span>
+<span class="linenos">484</span>    <span class="n">tiled_camera</span> <span class="o">=</span> <span class="n">create_tiled_cameras</span><span class="p">(</span>
+<span class="linenos">485</span>        <span class="n">num_cams</span><span class="o">=</span><span class="n">num_tiled_cams</span><span class="p">,</span> <span class="n">data_types</span><span class="o">=</span><span class="n">tiled_camera_data_types</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="n">height</span><span class="p">,</span> <span class="n">width</span><span class="o">=</span><span class="n">width</span>
+<span class="linenos">486</span>    <span class="p">)</span>
+<span class="linenos">487</span>    <span class="n">ray_caster_camera</span> <span class="o">=</span> <span class="n">create_ray_caster_cameras</span><span class="p">(</span>
+<span class="linenos">488</span>        <span class="n">num_cams</span><span class="o">=</span><span class="n">num_ray_caster_cams</span><span class="p">,</span>
+<span class="linenos">489</span>        <span class="n">data_types</span><span class="o">=</span><span class="n">ray_caster_camera_data_types</span><span class="p">,</span>
+<span class="linenos">490</span>        <span class="n">mesh_prim_paths</span><span class="o">=</span><span class="n">mesh_prim_paths</span><span class="p">,</span>
+<span class="linenos">491</span>        <span class="n">height</span><span class="o">=</span><span class="n">height</span><span class="p">,</span>
+<span class="linenos">492</span>        <span class="n">width</span><span class="o">=</span><span class="n">width</span><span class="p">,</span>
+<span class="linenos">493</span>    <span class="p">)</span>
+<span class="linenos">494</span>    <span class="c1"># return the scene information</span>
+<span class="linenos">495</span>    <span class="k">if</span> <span class="n">tiled_camera</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">496</span>        <span class="n">scene_entities</span><span class="p">[</span><span class="s2">&quot;tiled_camera&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">tiled_camera</span>
+<span class="linenos">497</span>    <span class="k">if</span> <span class="n">standard_camera</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">498</span>        <span class="n">scene_entities</span><span class="p">[</span><span class="s2">&quot;standard_camera&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">standard_camera</span>
+<span class="linenos">499</span>    <span class="k">if</span> <span class="n">ray_caster_camera</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">500</span>        <span class="n">scene_entities</span><span class="p">[</span><span class="s2">&quot;ray_caster_camera&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">ray_caster_camera</span>
+<span class="linenos">501</span>    <span class="k">return</span> <span class="n">scene_entities</span>
+<span class="linenos">502</span>
+<span class="linenos">503</span>
+<span class="linenos">504</span><span class="k">def</span> <span class="nf">inject_cameras_into_task</span><span class="p">(</span>
+<span class="linenos">505</span>    <span class="n">task</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+<span class="linenos">506</span>    <span class="n">num_cams</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+<span class="linenos">507</span>    <span class="n">camera_name_prefix</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span>
+<span class="linenos">508</span>    <span class="n">camera_creation_callable</span><span class="p">:</span> <span class="n">Callable</span><span class="p">,</span>
+<span class="linenos">509</span>    <span class="n">num_cameras_per_env</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span><span class="p">,</span>
+<span class="linenos">510</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">gym</span><span class="o">.</span><span class="n">Env</span><span class="p">:</span>
+<span class="linenos">511</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Loads the task, sticks cameras into the config, and creates the environment.&quot;&quot;&quot;</span>
+<span class="linenos">512</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">load_cfg_from_registry</span><span class="p">(</span><span class="n">task</span><span class="p">,</span> <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">)</span>
+<span class="linenos">513</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">device</span>
+<span class="linenos">514</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">use_fabric</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">use_fabric</span>
+<span class="linenos">515</span>    <span class="n">scene_cfg</span> <span class="o">=</span> <span class="n">cfg</span><span class="o">.</span><span class="n">scene</span>
+<span class="linenos">516</span>
+<span class="linenos">517</span>    <span class="n">num_envs</span> <span class="o">=</span> <span class="nb">int</span><span class="p">(</span><span class="n">num_cams</span> <span class="o">/</span> <span class="n">num_cameras_per_env</span><span class="p">)</span>
+<span class="linenos">518</span>    <span class="n">scene_cfg</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="n">num_envs</span>
+<span class="linenos">519</span>
+<span class="linenos">520</span>    <span class="k">for</span> <span class="n">idx</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_cameras_per_env</span><span class="p">):</span>
+<span class="linenos">521</span>        <span class="n">suffix</span> <span class="o">=</span> <span class="s2">&quot;&quot;</span> <span class="k">if</span> <span class="n">idx</span> <span class="o">==</span> <span class="mi">0</span> <span class="k">else</span> <span class="nb">str</span><span class="p">(</span><span class="n">idx</span><span class="p">)</span>
+<span class="linenos">522</span>        <span class="n">name</span> <span class="o">=</span> <span class="n">camera_name_prefix</span> <span class="o">+</span> <span class="n">suffix</span>
+<span class="linenos">523</span>        <span class="nb">setattr</span><span class="p">(</span><span class="n">scene_cfg</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">camera_creation_callable</span><span class="p">(</span><span class="n">name</span><span class="p">))</span>
+<span class="linenos">524</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">scene</span> <span class="o">=</span> <span class="n">scene_cfg</span>
+<span class="linenos">525</span>    <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">task</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="p">)</span>
+<span class="linenos">526</span>    <span class="k">return</span> <span class="n">env</span>
+<span class="linenos">527</span>
+<span class="linenos">528</span>
+<span class="linenos">529</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">530</span><span class="sd">System diagnosis</span>
+<span class="linenos">531</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">532</span>
+<span class="linenos">533</span>
+<span class="linenos">534</span><span class="k">def</span> <span class="nf">get_utilization_percentages</span><span class="p">(</span><span class="n">reset</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span> <span class="n">max_values</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">]:</span>
+<span class="linenos">535</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Get the maximum CPU, RAM, GPU utilization (processing), and</span>
+<span class="linenos">536</span><span class="sd">    GPU memory usage percentages since the last time reset was true.&quot;&quot;&quot;</span>
+<span class="linenos">537</span>    <span class="k">if</span> <span class="n">reset</span><span class="p">:</span>
+<span class="linenos">538</span>        <span class="n">max_values</span><span class="p">[:]</span> <span class="o">=</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>  <span class="c1"># Reset the max values</span>
+<span class="linenos">539</span>
+<span class="linenos">540</span>    <span class="c1"># CPU utilization</span>
+<span class="linenos">541</span>    <span class="n">cpu_usage</span> <span class="o">=</span> <span class="n">psutil</span><span class="o">.</span><span class="n">cpu_percent</span><span class="p">(</span><span class="n">interval</span><span class="o">=</span><span class="mf">0.1</span><span class="p">)</span>
+<span class="linenos">542</span>    <span class="n">max_values</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="n">max_values</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="n">cpu_usage</span><span class="p">)</span>
+<span class="linenos">543</span>
+<span class="linenos">544</span>    <span class="c1"># RAM utilization</span>
+<span class="linenos">545</span>    <span class="n">memory_info</span> <span class="o">=</span> <span class="n">psutil</span><span class="o">.</span><span class="n">virtual_memory</span><span class="p">()</span>
+<span class="linenos">546</span>    <span class="n">ram_usage</span> <span class="o">=</span> <span class="n">memory_info</span><span class="o">.</span><span class="n">percent</span>
+<span class="linenos">547</span>    <span class="n">max_values</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="n">max_values</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="n">ram_usage</span><span class="p">)</span>
+<span class="linenos">548</span>
+<span class="linenos">549</span>    <span class="c1"># GPU utilization using pynvml</span>
+<span class="linenos">550</span>    <span class="k">if</span> <span class="n">torch</span><span class="o">.</span><span class="n">cuda</span><span class="o">.</span><span class="n">is_available</span><span class="p">():</span>
+<span class="linenos">551</span>
+<span class="linenos">552</span>        <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">autotune</span><span class="p">:</span>
+<span class="linenos">553</span>            <span class="n">pynvml</span><span class="o">.</span><span class="n">nvmlInit</span><span class="p">()</span>  <span class="c1"># Initialize NVML</span>
+<span class="linenos">554</span>            <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">cuda</span><span class="o">.</span><span class="n">device_count</span><span class="p">()):</span>
+<span class="linenos">555</span>                <span class="n">handle</span> <span class="o">=</span> <span class="n">pynvml</span><span class="o">.</span><span class="n">nvmlDeviceGetHandleByIndex</span><span class="p">(</span><span class="n">i</span><span class="p">)</span>
+<span class="linenos">556</span>
+<span class="linenos">557</span>                <span class="c1"># GPU Utilization</span>
+<span class="linenos">558</span>                <span class="n">gpu_utilization</span> <span class="o">=</span> <span class="n">pynvml</span><span class="o">.</span><span class="n">nvmlDeviceGetUtilizationRates</span><span class="p">(</span><span class="n">handle</span><span class="p">)</span>
+<span class="linenos">559</span>                <span class="n">gpu_processing_utilization_percent</span> <span class="o">=</span> <span class="n">gpu_utilization</span><span class="o">.</span><span class="n">gpu</span>  <span class="c1"># GPU core utilization</span>
+<span class="linenos">560</span>                <span class="n">max_values</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="n">max_values</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span> <span class="n">gpu_processing_utilization_percent</span><span class="p">)</span>
+<span class="linenos">561</span>
+<span class="linenos">562</span>                <span class="c1"># GPU Memory Usage</span>
+<span class="linenos">563</span>                <span class="n">memory_info</span> <span class="o">=</span> <span class="n">pynvml</span><span class="o">.</span><span class="n">nvmlDeviceGetMemoryInfo</span><span class="p">(</span><span class="n">handle</span><span class="p">)</span>
+<span class="linenos">564</span>                <span class="n">gpu_memory_total</span> <span class="o">=</span> <span class="n">memory_info</span><span class="o">.</span><span class="n">total</span>
+<span class="linenos">565</span>                <span class="n">gpu_memory_used</span> <span class="o">=</span> <span class="n">memory_info</span><span class="o">.</span><span class="n">used</span>
+<span class="linenos">566</span>                <span class="n">gpu_memory_utilization_percent</span> <span class="o">=</span> <span class="p">(</span><span class="n">gpu_memory_used</span> <span class="o">/</span> <span class="n">gpu_memory_total</span><span class="p">)</span> <span class="o">*</span> <span class="mi">100</span>
+<span class="linenos">567</span>                <span class="n">max_values</span><span class="p">[</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="n">max_values</span><span class="p">[</span><span class="mi">3</span><span class="p">],</span> <span class="n">gpu_memory_utilization_percent</span><span class="p">)</span>
+<span class="linenos">568</span>
+<span class="linenos">569</span>            <span class="n">pynvml</span><span class="o">.</span><span class="n">nvmlShutdown</span><span class="p">()</span>  <span class="c1"># Shutdown NVML after usage</span>
+<span class="linenos">570</span>    <span class="k">else</span><span class="p">:</span>
+<span class="linenos">571</span>        <span class="n">gpu_processing_utilization_percent</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="linenos">572</span>        <span class="n">gpu_memory_utilization_percent</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="linenos">573</span>    <span class="k">return</span> <span class="n">max_values</span>
+<span class="linenos">574</span>
+<span class="linenos">575</span>
+<span class="linenos">576</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">577</span><span class="sd">Experiment</span>
+<span class="linenos">578</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">579</span>
+<span class="linenos">580</span>
+<span class="linenos">581</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span>
+<span class="linenos">582</span>    <span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span> <span class="o">|</span> <span class="kc">None</span><span class="p">,</span>
+<span class="linenos">583</span>    <span class="n">scene_entities</span><span class="p">:</span> <span class="nb">dict</span> <span class="o">|</span> <span class="n">InteractiveScene</span><span class="p">,</span>
+<span class="linenos">584</span>    <span class="n">warm_start_length</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">10</span><span class="p">,</span>
+<span class="linenos">585</span>    <span class="n">experiment_length</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">100</span><span class="p">,</span>
+<span class="linenos">586</span>    <span class="n">tiled_camera_data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="linenos">587</span>    <span class="n">standard_camera_data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="linenos">588</span>    <span class="n">ray_caster_camera_data_types</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">str</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="linenos">589</span>    <span class="n">depth_predicate</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="s2">&quot;to&quot;</span> <span class="ow">in</span> <span class="n">x</span> <span class="ow">or</span> <span class="n">x</span> <span class="o">==</span> <span class="s2">&quot;depth&quot;</span><span class="p">,</span>
+<span class="linenos">590</span>    <span class="n">perspective_depth_predicate</span><span class="p">:</span> <span class="n">Callable</span> <span class="o">=</span> <span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">x</span> <span class="o">==</span> <span class="s2">&quot;distance_to_camera&quot;</span><span class="p">,</span>
+<span class="linenos">591</span>    <span class="n">convert_depth_to_camera_to_image_plane</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">True</span><span class="p">,</span>
+<span class="linenos">592</span>    <span class="n">max_cameras_per_env</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">1</span><span class="p">,</span>
+<span class="linenos">593</span>    <span class="n">env</span><span class="p">:</span> <span class="n">gym</span><span class="o">.</span><span class="n">Env</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span>
+<span class="linenos">594</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="linenos">595</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Run the simulator with all cameras, and return timing analytics. Visualize if desired.&quot;&quot;&quot;</span>
+<span class="linenos">596</span>
+<span class="linenos">597</span>    <span class="k">if</span> <span class="n">tiled_camera_data_types</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">598</span>        <span class="n">tiled_camera_data_types</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span>
+<span class="linenos">599</span>    <span class="k">if</span> <span class="n">standard_camera_data_types</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">600</span>        <span class="n">standard_camera_data_types</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span>
+<span class="linenos">601</span>    <span class="k">if</span> <span class="n">ray_caster_camera_data_types</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">602</span>        <span class="n">ray_caster_camera_data_types</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">]</span>
+<span class="linenos">603</span>
+<span class="linenos">604</span>    <span class="c1"># Initialize camera lists</span>
+<span class="linenos">605</span>    <span class="n">tiled_cameras</span> <span class="o">=</span> <span class="p">[]</span>
+<span class="linenos">606</span>    <span class="n">standard_cameras</span> <span class="o">=</span> <span class="p">[]</span>
+<span class="linenos">607</span>    <span class="n">ray_caster_cameras</span> <span class="o">=</span> <span class="p">[]</span>
+<span class="linenos">608</span>
+<span class="linenos">609</span>    <span class="c1"># Dynamically extract cameras from the scene entities up to max_cameras_per_env</span>
+<span class="linenos">610</span>    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">max_cameras_per_env</span><span class="p">):</span>
+<span class="linenos">611</span>        <span class="c1"># Extract tiled cameras</span>
+<span class="linenos">612</span>        <span class="n">tiled_camera_key</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;tiled_camera</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span> <span class="k">if</span> <span class="n">i</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="k">else</span> <span class="s2">&quot;tiled_camera&quot;</span>
+<span class="linenos">613</span>        <span class="n">standard_camera_key</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;standard_camera</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span> <span class="k">if</span> <span class="n">i</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="k">else</span> <span class="s2">&quot;standard_camera&quot;</span>
+<span class="linenos">614</span>        <span class="n">ray_caster_camera_key</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;ray_caster_camera</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span> <span class="k">if</span> <span class="n">i</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="k">else</span> <span class="s2">&quot;ray_caster_camera&quot;</span>
+<span class="linenos">615</span>
+<span class="linenos">616</span>        <span class="k">try</span><span class="p">:</span>  <span class="c1"># if instead you checked ... if key is in scene_entities... # errors out always even if key present</span>
+<span class="linenos">617</span>            <span class="n">tiled_cameras</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">scene_entities</span><span class="p">[</span><span class="n">tiled_camera_key</span><span class="p">])</span>
+<span class="linenos">618</span>            <span class="n">standard_cameras</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">scene_entities</span><span class="p">[</span><span class="n">standard_camera_key</span><span class="p">])</span>
+<span class="linenos">619</span>            <span class="n">ray_caster_cameras</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">scene_entities</span><span class="p">[</span><span class="n">ray_caster_camera_key</span><span class="p">])</span>
+<span class="linenos">620</span>        <span class="k">except</span> <span class="ne">KeyError</span><span class="p">:</span>
+<span class="linenos">621</span>            <span class="k">break</span>
+<span class="linenos">622</span>
+<span class="linenos">623</span>    <span class="c1"># Initialize camera counts</span>
+<span class="linenos">624</span>    <span class="n">camera_lists</span> <span class="o">=</span> <span class="p">[</span><span class="n">tiled_cameras</span><span class="p">,</span> <span class="n">standard_cameras</span><span class="p">,</span> <span class="n">ray_caster_cameras</span><span class="p">]</span>
+<span class="linenos">625</span>    <span class="n">camera_data_types</span> <span class="o">=</span> <span class="p">[</span><span class="n">tiled_camera_data_types</span><span class="p">,</span> <span class="n">standard_camera_data_types</span><span class="p">,</span> <span class="n">ray_caster_camera_data_types</span><span class="p">]</span>
+<span class="linenos">626</span>    <span class="n">labels</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;tiled&quot;</span><span class="p">,</span> <span class="s2">&quot;standard&quot;</span><span class="p">,</span> <span class="s2">&quot;ray_caster&quot;</span><span class="p">]</span>
+<span class="linenos">627</span>
+<span class="linenos">628</span>    <span class="k">if</span> <span class="n">sim</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">629</span>        <span class="c1"># Set camera world poses</span>
+<span class="linenos">630</span>        <span class="k">for</span> <span class="n">camera_list</span> <span class="ow">in</span> <span class="n">camera_lists</span><span class="p">:</span>
+<span class="linenos">631</span>            <span class="k">for</span> <span class="n">camera</span> <span class="ow">in</span> <span class="n">camera_list</span><span class="p">:</span>
+<span class="linenos">632</span>                <span class="n">num_cameras</span> <span class="o">=</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="o">.</span><span class="n">size</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
+<span class="linenos">633</span>                <span class="n">positions</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([[</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">]],</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="n">num_cameras</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+<span class="linenos">634</span>                <span class="n">targets</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]],</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">repeat</span><span class="p">(</span><span class="n">num_cameras</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+<span class="linenos">635</span>                <span class="n">camera</span><span class="o">.</span><span class="n">set_world_poses_from_view</span><span class="p">(</span><span class="n">positions</span><span class="p">,</span> <span class="n">targets</span><span class="p">)</span>
+<span class="linenos">636</span>
+<span class="linenos">637</span>    <span class="c1"># Initialize timing variables</span>
+<span class="linenos">638</span>    <span class="n">timestep</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">639</span>    <span class="n">total_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">640</span>    <span class="n">valid_timesteps</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">641</span>    <span class="n">sim_step_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">642</span>
+<span class="linenos">643</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">()</span> <span class="ow">and</span> <span class="n">timestep</span> <span class="o">&lt;</span> <span class="n">experiment_length</span><span class="p">:</span>
+<span class="linenos">644</span>        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;On timestep </span><span class="si">{</span><span class="n">timestep</span><span class="si">}</span><span class="s2"> of </span><span class="si">{</span><span class="n">experiment_length</span><span class="si">}</span><span class="s2">, with warm start of </span><span class="si">{</span><span class="n">warm_start_length</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">645</span>        <span class="n">get_utilization_percentages</span><span class="p">()</span>
+<span class="linenos">646</span>
+<span class="linenos">647</span>        <span class="c1"># Measure the total simulation step time</span>
+<span class="linenos">648</span>        <span class="n">step_start_time</span> <span class="o">=</span> <span class="n">time</span><span class="o">.</span><span class="n">time</span><span class="p">()</span>
+<span class="linenos">649</span>
+<span class="linenos">650</span>        <span class="k">if</span> <span class="n">sim</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">651</span>            <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">652</span>
+<span class="linenos">653</span>        <span class="k">if</span> <span class="n">env</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">654</span>            <span class="k">with</span> <span class="n">torch</span><span class="o">.</span><span class="n">inference_mode</span><span class="p">():</span>
+<span class="linenos">655</span>                <span class="c1"># compute zero actions</span>
+<span class="linenos">656</span>                <span class="n">actions</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">657</span>                <span class="c1"># apply actions</span>
+<span class="linenos">658</span>                <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">actions</span><span class="p">)</span>
+<span class="linenos">659</span>
+<span class="linenos">660</span>        <span class="c1"># Update cameras and process vision data within the simulation step</span>
+<span class="linenos">661</span>        <span class="n">clouds</span> <span class="o">=</span> <span class="p">{}</span>
+<span class="linenos">662</span>        <span class="n">images</span> <span class="o">=</span> <span class="p">{}</span>
+<span class="linenos">663</span>        <span class="n">depth_images</span> <span class="o">=</span> <span class="p">{}</span>
+<span class="linenos">664</span>
+<span class="linenos">665</span>        <span class="c1"># Loop through all camera lists and their data_types</span>
+<span class="linenos">666</span>        <span class="k">for</span> <span class="n">camera_list</span><span class="p">,</span> <span class="n">data_types</span><span class="p">,</span> <span class="n">label</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">camera_lists</span><span class="p">,</span> <span class="n">camera_data_types</span><span class="p">,</span> <span class="n">labels</span><span class="p">):</span>
+<span class="linenos">667</span>            <span class="k">for</span> <span class="n">cam_idx</span><span class="p">,</span> <span class="n">camera</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">camera_list</span><span class="p">):</span>
+<span class="linenos">668</span>
+<span class="linenos">669</span>                <span class="k">if</span> <span class="n">env</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>  <span class="c1"># No env, need to step cams manually</span>
+<span class="linenos">670</span>                    <span class="c1"># Only update the camera if it hasn&#39;t been updated as part of scene_entities.update ...</span>
+<span class="linenos">671</span>                    <span class="n">camera</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">())</span>
+<span class="linenos">672</span>
+<span class="linenos">673</span>                <span class="k">for</span> <span class="n">data_type</span> <span class="ow">in</span> <span class="n">data_types</span><span class="p">:</span>
+<span class="linenos">674</span>                    <span class="n">data_label</span> <span class="o">=</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">label</span><span class="si">}</span><span class="s2">_</span><span class="si">{</span><span class="n">cam_idx</span><span class="si">}</span><span class="s2">_</span><span class="si">{</span><span class="n">data_type</span><span class="si">}</span><span class="s2">&quot;</span>
+<span class="linenos">675</span>
+<span class="linenos">676</span>                    <span class="k">if</span> <span class="n">depth_predicate</span><span class="p">(</span><span class="n">data_type</span><span class="p">):</span>  <span class="c1"># is a depth image, want to create cloud</span>
+<span class="linenos">677</span>                        <span class="n">depth</span> <span class="o">=</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">]</span>
+<span class="linenos">678</span>                        <span class="n">depth_images</span><span class="p">[</span><span class="n">data_label</span> <span class="o">+</span> <span class="s2">&quot;_raw&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">depth</span>
+<span class="linenos">679</span>                        <span class="k">if</span> <span class="n">perspective_depth_predicate</span><span class="p">(</span><span class="n">data_type</span><span class="p">)</span> <span class="ow">and</span> <span class="n">convert_depth_to_camera_to_image_plane</span><span class="p">:</span>
+<span class="linenos">680</span>                            <span class="n">depth</span> <span class="o">=</span> <span class="n">orthogonalize_perspective_depth</span><span class="p">(</span>
+<span class="linenos">681</span>                                <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">],</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">intrinsic_matrices</span>
+<span class="linenos">682</span>                            <span class="p">)</span>
+<span class="linenos">683</span>                            <span class="n">depth_images</span><span class="p">[</span><span class="n">data_label</span> <span class="o">+</span> <span class="s2">&quot;_undistorted&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">depth</span>
+<span class="linenos">684</span>
+<span class="linenos">685</span>                        <span class="n">pointcloud</span> <span class="o">=</span> <span class="n">unproject_depth</span><span class="p">(</span><span class="n">depth</span><span class="o">=</span><span class="n">depth</span><span class="p">,</span> <span class="n">intrinsics</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">)</span>
+<span class="linenos">686</span>                        <span class="n">clouds</span><span class="p">[</span><span class="n">data_label</span><span class="p">]</span> <span class="o">=</span> <span class="n">pointcloud</span>
+<span class="linenos">687</span>                    <span class="k">else</span><span class="p">:</span>  <span class="c1"># rgb image, just save it</span>
+<span class="linenos">688</span>                        <span class="n">image</span> <span class="o">=</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">]</span>
+<span class="linenos">689</span>                        <span class="n">images</span><span class="p">[</span><span class="n">data_label</span><span class="p">]</span> <span class="o">=</span> <span class="n">image</span>
+<span class="linenos">690</span>
+<span class="linenos">691</span>        <span class="c1"># End timing for the step</span>
+<span class="linenos">692</span>        <span class="n">step_end_time</span> <span class="o">=</span> <span class="n">time</span><span class="o">.</span><span class="n">time</span><span class="p">()</span>
+<span class="linenos">693</span>        <span class="n">sim_step_time</span> <span class="o">+=</span> <span class="n">step_end_time</span> <span class="o">-</span> <span class="n">step_start_time</span>
+<span class="linenos">694</span>
+<span class="linenos">695</span>        <span class="k">if</span> <span class="n">timestep</span> <span class="o">&gt;</span> <span class="n">warm_start_length</span><span class="p">:</span>
+<span class="linenos">696</span>            <span class="n">get_utilization_percentages</span><span class="p">(</span><span class="n">reset</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+<span class="linenos">697</span>            <span class="n">total_time</span> <span class="o">+=</span> <span class="n">step_end_time</span> <span class="o">-</span> <span class="n">step_start_time</span>
+<span class="linenos">698</span>            <span class="n">valid_timesteps</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">699</span>
+<span class="linenos">700</span>        <span class="n">timestep</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">701</span>
+<span class="linenos">702</span>    <span class="c1"># Calculate average timings</span>
+<span class="linenos">703</span>    <span class="k">if</span> <span class="n">valid_timesteps</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">704</span>        <span class="n">avg_timestep_duration</span> <span class="o">=</span> <span class="n">total_time</span> <span class="o">/</span> <span class="n">valid_timesteps</span>
+<span class="linenos">705</span>        <span class="n">avg_sim_step_duration</span> <span class="o">=</span> <span class="n">sim_step_time</span> <span class="o">/</span> <span class="n">experiment_length</span>
+<span class="linenos">706</span>    <span class="k">else</span><span class="p">:</span>
+<span class="linenos">707</span>        <span class="n">avg_timestep_duration</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">708</span>        <span class="n">avg_sim_step_duration</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">709</span>
+<span class="linenos">710</span>    <span class="c1"># Package timing analytics in a dictionary</span>
+<span class="linenos">711</span>    <span class="n">timing_analytics</span> <span class="o">=</span> <span class="p">{</span>
+<span class="linenos">712</span>        <span class="s2">&quot;average_timestep_duration&quot;</span><span class="p">:</span> <span class="n">avg_timestep_duration</span><span class="p">,</span>
+<span class="linenos">713</span>        <span class="s2">&quot;average_sim_step_duration&quot;</span><span class="p">:</span> <span class="n">avg_sim_step_duration</span><span class="p">,</span>
+<span class="linenos">714</span>        <span class="s2">&quot;total_simulation_time&quot;</span><span class="p">:</span> <span class="n">sim_step_time</span><span class="p">,</span>
+<span class="linenos">715</span>        <span class="s2">&quot;total_experiment_duration&quot;</span><span class="p">:</span> <span class="n">sim_step_time</span><span class="p">,</span>
+<span class="linenos">716</span>    <span class="p">}</span>
+<span class="linenos">717</span>
+<span class="linenos">718</span>    <span class="n">system_utilization_analytics</span> <span class="o">=</span> <span class="n">get_utilization_percentages</span><span class="p">()</span>
+<span class="linenos">719</span>
+<span class="linenos">720</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;--- Benchmark Results ---&quot;</span><span class="p">)</span>
+<span class="linenos">721</span>    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Average timestep duration: </span><span class="si">{</span><span class="n">avg_timestep_duration</span><span class="si">:</span><span class="s2">.6f</span><span class="si">}</span><span class="s2"> seconds&quot;</span><span class="p">)</span>
+<span class="linenos">722</span>    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Average simulation step duration: </span><span class="si">{</span><span class="n">avg_sim_step_duration</span><span class="si">:</span><span class="s2">.6f</span><span class="si">}</span><span class="s2"> seconds&quot;</span><span class="p">)</span>
+<span class="linenos">723</span>    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Total simulation time: </span><span class="si">{</span><span class="n">sim_step_time</span><span class="si">:</span><span class="s2">.6f</span><span class="si">}</span><span class="s2"> seconds&quot;</span><span class="p">)</span>
+<span class="linenos">724</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">System Utilization Statistics:&quot;</span><span class="p">)</span>
+<span class="linenos">725</span>    <span class="nb">print</span><span class="p">(</span>
+<span class="linenos">726</span>        <span class="sa">f</span><span class="s2">&quot;| CPU:</span><span class="si">{</span><span class="n">system_utilization_analytics</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="si">}</span><span class="s2">% | &quot;</span>
+<span class="linenos">727</span>        <span class="sa">f</span><span class="s2">&quot;RAM:</span><span class="si">{</span><span class="n">system_utilization_analytics</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="si">}</span><span class="s2">% | &quot;</span>
+<span class="linenos">728</span>        <span class="sa">f</span><span class="s2">&quot;GPU Compute:</span><span class="si">{</span><span class="n">system_utilization_analytics</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span><span class="si">}</span><span class="s2">% | &quot;</span>
+<span class="linenos">729</span>        <span class="sa">f</span><span class="s2">&quot; GPU Memory: </span><span class="si">{</span><span class="n">system_utilization_analytics</span><span class="p">[</span><span class="mi">3</span><span class="p">]</span><span class="si">:</span><span class="s2">.2f</span><span class="si">}</span><span class="s2">% |&quot;</span>
+<span class="linenos">730</span>    <span class="p">)</span>
+<span class="linenos">731</span>
+<span class="linenos">732</span>    <span class="k">return</span> <span class="p">{</span><span class="s2">&quot;timing_analytics&quot;</span><span class="p">:</span> <span class="n">timing_analytics</span><span class="p">,</span> <span class="s2">&quot;system_utilization_analytics&quot;</span><span class="p">:</span> <span class="n">system_utilization_analytics</span><span class="p">}</span>
+<span class="linenos">733</span>
+<span class="linenos">734</span>
+<span class="linenos">735</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">736</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">737</span>    <span class="c1"># Load simulation context</span>
+<span class="linenos">738</span>    <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_tiled_cameras</span> <span class="o">+</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_standard_cameras</span> <span class="o">+</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_ray_caster_cameras</span> <span class="o">&lt;=</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">739</span>        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;You must select at least one camera.&quot;</span><span class="p">)</span>
+<span class="linenos">740</span>    <span class="k">if</span> <span class="p">(</span>
+<span class="linenos">741</span>        <span class="p">(</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_tiled_cameras</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_standard_cameras</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">)</span>
+<span class="linenos">742</span>        <span class="ow">or</span> <span class="p">(</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_ray_caster_cameras</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_standard_cameras</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">)</span>
+<span class="linenos">743</span>        <span class="ow">or</span> <span class="p">(</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_ray_caster_cameras</span> <span class="o">&gt;</span> <span class="mi">0</span> <span class="ow">and</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_tiled_cameras</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">)</span>
+<span class="linenos">744</span>    <span class="p">):</span>
+<span class="linenos">745</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: You have elected to use more than one camera type.&quot;</span><span class="p">)</span>
+<span class="linenos">746</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: For a benchmark to be meaningful, use ONLY ONE camera type at a time.&quot;</span><span class="p">)</span>
+<span class="linenos">747</span>        <span class="nb">print</span><span class="p">(</span>
+<span class="linenos">748</span>            <span class="s2">&quot;[WARNING]: For example, if num_tiled_cameras=100, for a meaningful benchmark,&quot;</span>
+<span class="linenos">749</span>            <span class="s2">&quot;num_standard_cameras should be 0, and num_ray_caster_cameras should be 0&quot;</span>
+<span class="linenos">750</span>        <span class="p">)</span>
+<span class="linenos">751</span>        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Benchmark one camera at a time.&quot;</span><span class="p">)</span>
+<span class="linenos">752</span>
+<span class="linenos">753</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Designing the scene&quot;</span><span class="p">)</span>
+<span class="linenos">754</span>    <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">task</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">755</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: No task environment provided, creating random scene.&quot;</span><span class="p">)</span>
+<span class="linenos">756</span>        <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">757</span>        <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">758</span>        <span class="c1"># Set main camera</span>
+<span class="linenos">759</span>        <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+<span class="linenos">760</span>        <span class="n">scene_entities</span> <span class="o">=</span> <span class="n">design_scene</span><span class="p">(</span>
+<span class="linenos">761</span>            <span class="n">num_tiled_cams</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_tiled_cameras</span><span class="p">,</span>
+<span class="linenos">762</span>            <span class="n">num_standard_cams</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_standard_cameras</span><span class="p">,</span>
+<span class="linenos">763</span>            <span class="n">num_ray_caster_cams</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_ray_caster_cameras</span><span class="p">,</span>
+<span class="linenos">764</span>            <span class="n">tiled_camera_data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">tiled_camera_data_types</span><span class="p">,</span>
+<span class="linenos">765</span>            <span class="n">standard_camera_data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">standard_camera_data_types</span><span class="p">,</span>
+<span class="linenos">766</span>            <span class="n">ray_caster_camera_data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">ray_caster_camera_data_types</span><span class="p">,</span>
+<span class="linenos">767</span>            <span class="n">height</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">height</span><span class="p">,</span>
+<span class="linenos">768</span>            <span class="n">width</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">width</span><span class="p">,</span>
+<span class="linenos">769</span>            <span class="n">num_objects</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_objects</span><span class="p">,</span>
+<span class="linenos">770</span>            <span class="n">mesh_prim_paths</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">ray_caster_visible_mesh_prim_paths</span><span class="p">,</span>
+<span class="linenos">771</span>        <span class="p">)</span>
+<span class="linenos">772</span>        <span class="c1"># Play simulator</span>
+<span class="linenos">773</span>        <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">774</span>        <span class="c1"># Now we are ready!</span>
+<span class="linenos">775</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">776</span>        <span class="c1"># Run simulator</span>
+<span class="linenos">777</span>        <span class="n">run_simulator</span><span class="p">(</span>
+<span class="linenos">778</span>            <span class="n">sim</span><span class="o">=</span><span class="n">sim</span><span class="p">,</span>
+<span class="linenos">779</span>            <span class="n">scene_entities</span><span class="o">=</span><span class="n">scene_entities</span><span class="p">,</span>
+<span class="linenos">780</span>            <span class="n">warm_start_length</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">warm_start_length</span><span class="p">,</span>
+<span class="linenos">781</span>            <span class="n">experiment_length</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">experiment_length</span><span class="p">,</span>
+<span class="linenos">782</span>            <span class="n">tiled_camera_data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">tiled_camera_data_types</span><span class="p">,</span>
+<span class="linenos">783</span>            <span class="n">standard_camera_data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">standard_camera_data_types</span><span class="p">,</span>
+<span class="linenos">784</span>            <span class="n">ray_caster_camera_data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">ray_caster_camera_data_types</span><span class="p">,</span>
+<span class="linenos">785</span>            <span class="n">convert_depth_to_camera_to_image_plane</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">convert_depth_to_camera_to_image_plane</span><span class="p">,</span>
+<span class="linenos">786</span>        <span class="p">)</span>
+<span class="linenos">787</span>    <span class="k">else</span><span class="p">:</span>
+<span class="linenos">788</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Using known task environment, injecting cameras.&quot;</span><span class="p">)</span>
+<span class="linenos">789</span>        <span class="n">autotune_iter</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">790</span>        <span class="n">max_sys_util_thresh</span> <span class="o">=</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]</span>
+<span class="linenos">791</span>        <span class="n">max_num_cams</span> <span class="o">=</span> <span class="nb">max</span><span class="p">(</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_tiled_cameras</span><span class="p">,</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_standard_cameras</span><span class="p">,</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_ray_caster_cameras</span><span class="p">)</span>
+<span class="linenos">792</span>        <span class="n">cur_num_cams</span> <span class="o">=</span> <span class="n">max_num_cams</span>
+<span class="linenos">793</span>        <span class="n">cur_sys_util</span> <span class="o">=</span> <span class="n">max_sys_util_thresh</span>
+<span class="linenos">794</span>        <span class="n">interval</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">autotune_camera_count_interval</span>
+<span class="linenos">795</span>
+<span class="linenos">796</span>        <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">autotune</span><span class="p">:</span>
+<span class="linenos">797</span>            <span class="n">max_sys_util_thresh</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">autotune_max_percentage_util</span>
+<span class="linenos">798</span>            <span class="n">max_num_cams</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">autotune_max_camera_count</span>
+<span class="linenos">799</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Auto tuning until any of the following threshold are met&quot;</span><span class="p">)</span>
+<span class="linenos">800</span>            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;|CPU: </span><span class="si">{</span><span class="n">max_sys_util_thresh</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="si">}</span><span class="s2">% | RAM </span><span class="si">{</span><span class="n">max_sys_util_thresh</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="si">}</span><span class="s2">% | GPU: </span><span class="si">{</span><span class="n">max_sys_util_thresh</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span><span class="si">}</span><span class="s2">% |&quot;</span><span class="p">)</span>
+<span class="linenos">801</span>            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Maximum number of cameras allowed: </span><span class="si">{</span><span class="n">max_num_cams</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">802</span>        <span class="c1"># Determine which camera is being tested...</span>
+<span class="linenos">803</span>        <span class="n">tiled_camera_cfg</span> <span class="o">=</span> <span class="n">create_tiled_camera_cfg</span><span class="p">(</span><span class="s2">&quot;tiled_camera&quot;</span><span class="p">)</span>
+<span class="linenos">804</span>        <span class="n">standard_camera_cfg</span> <span class="o">=</span> <span class="n">create_standard_camera_cfg</span><span class="p">(</span><span class="s2">&quot;standard_camera&quot;</span><span class="p">)</span>
+<span class="linenos">805</span>        <span class="n">ray_caster_camera_cfg</span> <span class="o">=</span> <span class="n">create_ray_caster_camera_cfg</span><span class="p">(</span><span class="s2">&quot;ray_caster_camera&quot;</span><span class="p">)</span>
+<span class="linenos">806</span>        <span class="n">camera_name_prefix</span> <span class="o">=</span> <span class="s2">&quot;&quot;</span>
+<span class="linenos">807</span>        <span class="n">camera_creation_callable</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="linenos">808</span>        <span class="n">num_cams</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">809</span>        <span class="k">if</span> <span class="n">tiled_camera_cfg</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">810</span>            <span class="n">camera_name_prefix</span> <span class="o">=</span> <span class="s2">&quot;tiled_camera&quot;</span>
+<span class="linenos">811</span>            <span class="n">camera_creation_callable</span> <span class="o">=</span> <span class="n">create_tiled_camera_cfg</span>
+<span class="linenos">812</span>            <span class="n">num_cams</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_tiled_cameras</span>
+<span class="linenos">813</span>        <span class="k">elif</span> <span class="n">standard_camera_cfg</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">814</span>            <span class="n">camera_name_prefix</span> <span class="o">=</span> <span class="s2">&quot;standard_camera&quot;</span>
+<span class="linenos">815</span>            <span class="n">camera_creation_callable</span> <span class="o">=</span> <span class="n">create_standard_camera_cfg</span>
+<span class="linenos">816</span>            <span class="n">num_cams</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_standard_cameras</span>
+<span class="linenos">817</span>        <span class="k">elif</span> <span class="n">ray_caster_camera_cfg</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">818</span>            <span class="n">camera_name_prefix</span> <span class="o">=</span> <span class="s2">&quot;ray_caster_camera&quot;</span>
+<span class="linenos">819</span>            <span class="n">camera_creation_callable</span> <span class="o">=</span> <span class="n">create_ray_caster_camera_cfg</span>
+<span class="linenos">820</span>            <span class="n">num_cams</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_ray_caster_cameras</span>
+<span class="linenos">821</span>
+<span class="linenos">822</span>        <span class="k">while</span> <span class="p">(</span>
+<span class="linenos">823</span>            <span class="nb">all</span><span class="p">(</span><span class="n">cur</span> <span class="o">&lt;=</span> <span class="n">max_thresh</span> <span class="k">for</span> <span class="n">cur</span><span class="p">,</span> <span class="n">max_thresh</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">cur_sys_util</span><span class="p">,</span> <span class="n">max_sys_util_thresh</span><span class="p">))</span>
+<span class="linenos">824</span>            <span class="ow">and</span> <span class="n">cur_num_cams</span> <span class="o">&lt;=</span> <span class="n">max_num_cams</span>
+<span class="linenos">825</span>        <span class="p">):</span>
+<span class="linenos">826</span>            <span class="n">cur_num_cams</span> <span class="o">=</span> <span class="n">num_cams</span> <span class="o">+</span> <span class="n">interval</span> <span class="o">*</span> <span class="n">autotune_iter</span>
+<span class="linenos">827</span>            <span class="n">autotune_iter</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">828</span>
+<span class="linenos">829</span>            <span class="n">env</span> <span class="o">=</span> <span class="n">inject_cameras_into_task</span><span class="p">(</span>
+<span class="linenos">830</span>                <span class="n">task</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">task</span><span class="p">,</span>
+<span class="linenos">831</span>                <span class="n">num_cams</span><span class="o">=</span><span class="n">cur_num_cams</span><span class="p">,</span>
+<span class="linenos">832</span>                <span class="n">camera_name_prefix</span><span class="o">=</span><span class="n">camera_name_prefix</span><span class="p">,</span>
+<span class="linenos">833</span>                <span class="n">camera_creation_callable</span><span class="o">=</span><span class="n">camera_creation_callable</span><span class="p">,</span>
+<span class="linenos">834</span>                <span class="n">num_cameras_per_env</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">task_num_cameras_per_env</span><span class="p">,</span>
+<span class="linenos">835</span>            <span class="p">)</span>
+<span class="linenos">836</span>            <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">837</span>            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Testing with </span><span class="si">{</span><span class="n">cur_num_cams</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">camera_name_prefix</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">838</span>            <span class="n">analysis</span> <span class="o">=</span> <span class="n">run_simulator</span><span class="p">(</span>
+<span class="linenos">839</span>                <span class="n">sim</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
+<span class="linenos">840</span>                <span class="n">scene_entities</span><span class="o">=</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">scene</span><span class="p">,</span>
+<span class="linenos">841</span>                <span class="n">warm_start_length</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">warm_start_length</span><span class="p">,</span>
+<span class="linenos">842</span>                <span class="n">experiment_length</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">experiment_length</span><span class="p">,</span>
+<span class="linenos">843</span>                <span class="n">tiled_camera_data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">tiled_camera_data_types</span><span class="p">,</span>
+<span class="linenos">844</span>                <span class="n">standard_camera_data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">standard_camera_data_types</span><span class="p">,</span>
+<span class="linenos">845</span>                <span class="n">ray_caster_camera_data_types</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">ray_caster_camera_data_types</span><span class="p">,</span>
+<span class="linenos">846</span>                <span class="n">convert_depth_to_camera_to_image_plane</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">convert_depth_to_camera_to_image_plane</span><span class="p">,</span>
+<span class="linenos">847</span>                <span class="n">max_cameras_per_env</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">task_num_cameras_per_env</span><span class="p">,</span>
+<span class="linenos">848</span>                <span class="n">env</span><span class="o">=</span><span class="n">env</span><span class="p">,</span>
+<span class="linenos">849</span>            <span class="p">)</span>
+<span class="linenos">850</span>
+<span class="linenos">851</span>            <span class="n">cur_sys_util</span> <span class="o">=</span> <span class="n">analysis</span><span class="p">[</span><span class="s2">&quot;system_utilization_analytics&quot;</span><span class="p">]</span>
+<span class="linenos">852</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Triggering reset...&quot;</span><span class="p">)</span>
+<span class="linenos">853</span>            <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+<span class="linenos">854</span>            <span class="n">create_new_stage</span><span class="p">()</span>
+<span class="linenos">855</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: DONE! Feel free to CTRL + C Me &quot;</span><span class="p">)</span>
+<span class="linenos">856</span>        <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: If you&#39;ve made it this far, you can likely simulate </span><span class="si">{</span><span class="n">cur_num_cams</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">camera_name_prefix</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">857</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Keep in mind, this is without any training running on the GPU.&quot;</span><span class="p">)</span>
+<span class="linenos">858</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Set lower utilization thresholds to account for training.&quot;</span><span class="p">)</span>
+<span class="linenos">859</span>
+<span class="linenos">860</span>        <span class="k">if</span> <span class="ow">not</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">autotune</span><span class="p">:</span>
+<span class="linenos">861</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[WARNING]: GPU Util Statistics only correct while autotuning, ignore above.&quot;</span><span class="p">)</span>
+<span class="linenos">862</span>
+<span class="linenos">863</span>
+<span class="linenos">864</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">865</span>    <span class="c1"># run the main function</span>
+<span class="linenos">866</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">867</span>    <span class="c1"># close sim app</span>
+<span class="linenos">868</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details><section id="possible-parameters">
+<h2>Possible Parameters<a class="headerlink" href="#possible-parameters" title="Permalink to this heading">#</a></h2>
+<p>First, run</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/benchmarks/benchmark_cameras.py<span class="w"> </span>-h
+</pre></div>
+</div>
+<p>to see all possible parameters you can vary with this utility.</p>
+<p>See the command line parameters related to <code class="docutils literal notranslate"><span class="pre">autotune</span></code> for more information about
+automatically determining maximum camera count.</p>
+</section>
+<section id="compare-performance-in-task-environments-and-automatically-determine-task-max-camera-count">
+<h2>Compare Performance in Task Environments and Automatically Determine Task Max Camera Count<a class="headerlink" href="#compare-performance-in-task-environments-and-automatically-determine-task-max-camera-count" title="Permalink to this heading">#</a></h2>
+<p>Currently, tiled cameras are the most performant camera that can handle multiple dynamic objects.</p>
+<p>For example, to see how your system could handle 100 tiled cameras in
+the cartpole environment, with 2 cameras per environment (so 50 environments total)
+only in RGB mode, run</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/benchmarks/benchmark_cameras.py<span class="w"> </span><span class="se">\</span>
+--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_tiled_cameras<span class="w"> </span><span class="m">100</span><span class="w"> </span><span class="se">\</span>
+--task_num_cameras_per_env<span class="w"> </span><span class="m">2</span><span class="w"> </span><span class="se">\</span>
+--tiled_camera_data_types<span class="w"> </span>rgb
+</pre></div>
+</div>
+<p>If you have pynvml installed, (<code class="docutils literal notranslate"><span class="pre">./isaaclab.sh</span> <span class="pre">-p</span> <span class="pre">-m</span> <span class="pre">pip</span> <span class="pre">install</span> <span class="pre">pynvml</span></code>), you can also
+find the maximum number of cameras that you could run in the specified environment up to
+a certain performance threshold (specified by max CPU utilization percent, max RAM utilization percent,
+max GPU compute percent, and max GPU memory percent). For example, to find the maximum number of cameras
+you can run with cartpole, you could run:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/benchmarks/benchmark_cameras.py<span class="w"> </span><span class="se">\</span>
+--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_tiled_cameras<span class="w"> </span><span class="m">100</span><span class="w"> </span><span class="se">\</span>
+--task_num_cameras_per_env<span class="w"> </span><span class="m">2</span><span class="w"> </span><span class="se">\</span>
+--tiled_camera_data_types<span class="w"> </span>rgb<span class="w"> </span>--autotune<span class="w"> </span><span class="se">\</span>
+--autotune_max_percentage_util<span class="w"> </span><span class="m">100</span><span class="w"> </span><span class="m">80</span><span class="w"> </span><span class="m">50</span><span class="w"> </span><span class="m">50</span>
+</pre></div>
+</div>
+<p>Autotune may lead to the program crashing, which means that it tried to run too many cameras at once.
+However, the max percentage utilization parameter is meant to prevent this from happening.</p>
+<p>The output of the benchmark doesn’t include the overhead of training the network, so consider
+decreasing the maximum utilization percentages to account for this overhead. The final output camera
+count is for all cameras, so to get the total number of environments, divide the output camera count
+by the number of cameras per environment.</p>
+</section>
+<section id="compare-camera-type-and-performance-without-a-specified-task">
+<h2>Compare Camera Type and Performance (Without a Specified Task)<a class="headerlink" href="#compare-camera-type-and-performance-without-a-specified-task" title="Permalink to this heading">#</a></h2>
+<p>This tool can also asses performance without a task environment.
+For example, to view 100 random objects with 2 standard cameras, one could run</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/benchmarks/benchmark_cameras.py<span class="w"> </span><span class="se">\</span>
+--height<span class="w"> </span><span class="m">100</span><span class="w"> </span>--width<span class="w"> </span><span class="m">100</span><span class="w"> </span>--num_standard_cameras<span class="w"> </span><span class="m">2</span><span class="w"> </span><span class="se">\</span>
+--standard_camera_data_types<span class="w"> </span>instance_segmentation_fast<span class="w"> </span>normals<span class="w"> </span>--num_objects<span class="w"> </span><span class="m">100</span><span class="w"> </span><span class="se">\</span>
+--experiment_length<span class="w"> </span><span class="m">100</span>
+</pre></div>
+</div>
+<p>If your system cannot handle this due to performance reasons, then the process will be killed.
+It’s recommended to monitor CPU/RAM utilization and GPU utilization while running this script, to get
+an idea of how many resources rendering the desired camera requires. In Ubuntu, you can use tools like <code class="docutils literal notranslate"><span class="pre">htop</span></code> and <code class="docutils literal notranslate"><span class="pre">nvtop</span></code>
+to live monitor resources while running this script, and in Windows, you can use the Task Manager.</p>
+<p>If your system has a hard time handling the desired cameras, you can try the following</p>
+<blockquote>
+<div><ul class="simple">
+<li><p>Switch to headless mode (supply <code class="docutils literal notranslate"><span class="pre">--headless</span></code>)</p></li>
+<li><p>Ensure you are using the GPU pipeline not CPU!</p></li>
+<li><p>If you aren’t using Tiled Cameras, switch to Tiled Cameras</p></li>
+<li><p>Decrease camera resolution</p></li>
+<li><p>Decrease how many data_types there are for each camera.</p></li>
+<li><p>Decrease the number of cameras</p></li>
+<li><p>Decrease the number of objects in the scene</p></li>
+</ul>
+</div></blockquote>
+<p>If your system is able to handle the amount of cameras, then the time statistics will be printed to the terminal.
+After the simulations stops it can be closed with CTRL+C.</p>
+</section>
+</section>
+
+
+                </article>
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+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#possible-parameters">Possible Parameters</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#compare-performance-in-task-environments-and-automatically-determine-task-max-camera-count">Compare Performance in Task Environments and Automatically Determine Task Max Camera Count</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#compare-camera-type-and-performance-without-a-specified-task">Compare Camera Type and Performance (Without a Specified Task)</a></li>
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new file mode 100644
index 0000000000..b93bed7a06
--- /dev/null
+++ b/v1.4.0/source/how-to/import_new_asset.html
@@ -0,0 +1,914 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" data-content_root="" >
+
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+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
+
+    <title>Importing a New Asset &#8212; Isaac Lab Documentation</title>
+  
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+    this give us a css class that will be invisible only if js is disabled
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+</ul>
+</details></li>
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+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 current active has-children"><a class="reference internal" href="index.html">How-to Guides</a><details open="open"><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul class="current">
+<li class="toctree-l2 current active"><a class="current reference internal" href="#">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../refs/reference_architecture/index.html">Reference Architecture</a></li>
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+    <h1>Importing a New Asset</h1>
+    <!-- Table of contents -->
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+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
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+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#using-urdf-importer">Using URDF Importer</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#example-usage">Example Usage</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#using-mjcf-importer">Using MJCF Importer</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id1">Example Usage</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#using-mesh-importer">Using Mesh Importer</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id2">Example Usage</a></li>
+</ul>
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+                  
+  <section id="importing-a-new-asset">
+<h1>Importing a New Asset<a class="headerlink" href="#importing-a-new-asset" title="Permalink to this heading">#</a></h1>
+<p>NVIDIA Omniverse relies on the Universal Scene Description (USD) file format to
+import and export assets. USD is an open source file format developed by Pixar
+Animation Studios. It is a scene description format optimized for large-scale,
+complex data sets. While this format is widely used in the film and animation
+industry, it is less common in the robotics community.</p>
+<p>To this end, NVIDIA has developed various importers that allow you to import
+assets from other file formats into USD. These importers are available as
+extensions to Omniverse Kit:</p>
+<ul class="simple">
+<li><p><strong>URDF Importer</strong> - Import assets from URDF files.</p></li>
+<li><p><strong>MJCF Importer</strong> - Import assets from MJCF files.</p></li>
+<li><p><strong>Asset Importer</strong> - Import assets from various file formats, including
+OBJ, FBX, STL, and glTF.</p></li>
+</ul>
+<p>The recommended workflow from NVIDIA is to use the above importers to convert
+the asset into its USD representation. Once the asset is in USD format, you can
+use the Omniverse Kit to edit the asset and export it to other file formats. Isaac Sim includes these importers by default. They can also be enabled manually in Omniverse Kit.</p>
+<p>An important note to use assets for large-scale simulation is to ensure that they
+are in <a class="reference external" href="https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html">instanceable</a> format. This allows the asset to be efficiently loaded
+into memory and used multiple times in a scene. Otherwise, the asset will be
+loaded into memory multiple times, which can cause performance issues.
+For more details on instanceable assets, please check the Isaac Sim <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_instanceable_assets.html">documentation</a>.</p>
+<section id="using-urdf-importer">
+<h2>Using URDF Importer<a class="headerlink" href="#using-urdf-importer" title="Permalink to this heading">#</a></h2>
+<p>For using the URDF importer in the GUI, please check the documentation at <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html">URDF importer</a>. For using the URDF importer from Python scripts, we include a utility tool called <code class="docutils literal notranslate"><span class="pre">convert_urdf.py</span></code>. This script creates an instance of <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg" title="omni.isaac.lab.sim.converters.UrdfConverterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UrdfConverterCfg</span></code></a> which
+is then passed to the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter" title="omni.isaac.lab.sim.converters.UrdfConverter"><code class="xref py py-class docutils literal notranslate"><span class="pre">UrdfConverter</span></code></a> class.</p>
+<p>The URDF importer has various configuration parameters that can be set to control the behavior of the importer.
+The default values for the importer’s configuration parameters are specified are in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg" title="omni.isaac.lab.sim.converters.UrdfConverterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UrdfConverterCfg</span></code></a> class, and they are listed below. We made a few commonly modified settings to be available as command-line arguments when calling the <code class="docutils literal notranslate"><span class="pre">convert_urdf.py</span></code>, and they are marked with <code class="docutils literal notranslate"><span class="pre">*`</span></code> in the list. For a comprehensive list of the configuration parameters, please check the the documentation at <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html">URDF importer</a>.</p>
+<ul class="simple">
+<li><p><code class="xref py py-attr docutils literal notranslate"><span class="pre">fix_base*</span></code> - Whether to fix the base of the robot.
+This depends on whether you have a floating-base or fixed-base robot. The command-line flag is
+<code class="docutils literal notranslate"><span class="pre">--fix-base</span></code> where when set, the importer will fix the base of the robot, otherwise it will default to floating-base.</p></li>
+<li><p><code class="xref py py-attr docutils literal notranslate"><span class="pre">make_instanceable*</span></code> - Whether to create instanceable assets.
+Usually, this should be set to <code class="docutils literal notranslate"><span class="pre">True</span></code>. The command-line flag is <code class="docutils literal notranslate"><span class="pre">--make-instanceable</span></code> where
+when set, the importer will create instanceable assets, otherwise it will default to non-instanceable.</p></li>
+<li><p><code class="xref py py-attr docutils literal notranslate"><span class="pre">merge_fixed_joints*</span></code> - Whether to merge the fixed joints.
+Usually, this should be set to <code class="docutils literal notranslate"><span class="pre">True</span></code> to reduce the asset complexity. The command-line flag is
+<code class="docutils literal notranslate"><span class="pre">--merge-joints</span></code> where when set, the importer will merge the fixed joints, otherwise it will default to not merging the fixed joints.</p></li>
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type"><code class="xref py py-attr docutils literal notranslate"><span class="pre">default_drive_type</span></code></a> - The drive-type for the joints.
+We recommend this to always be <code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>. This allows changing the drive configuration using the
+actuator models.</p></li>
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness"><code class="xref py py-attr docutils literal notranslate"><span class="pre">default_drive_stiffness</span></code></a> - The drive stiffness for the joints.
+We recommend this to always be <code class="docutils literal notranslate"><span class="pre">0.0</span></code>. This allows changing the drive configuration using the
+actuator models.</p></li>
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping"><code class="xref py py-attr docutils literal notranslate"><span class="pre">default_drive_damping</span></code></a> - The drive damping for the joints.
+Similar to the stiffness, we recommend this to always be <code class="docutils literal notranslate"><span class="pre">0.0</span></code>.</p></li>
+</ul>
+<p>Note that when instanceable option is selected, the
+importer will create two USD files: one for all the mesh data and one for
+all the non-mesh data (e.g. joints, rigid bodies, etc.). The prims in the mesh data file are
+referenced in the non-mesh data file. This allows the mesh data (which is often bulky) to be
+loaded into memory only once and used multiple times in a scene.</p>
+<section id="example-usage">
+<h3>Example Usage<a class="headerlink" href="#example-usage" title="Permalink to this heading">#</a></h3>
+<p>In this example, we use the pre-processed URDF file of the ANYmal-D robot. To check the
+pre-process URDF, please check the file the <a class="reference external" href="https://github.com/isaac-orbit/anymal_d_simple_description/blob/master/urdf/anymal.urdf">anymal.urdf</a>. The main difference between the
+pre-processed URDF and the original URDF are:</p>
+<ul class="simple">
+<li><p>We removed the <code class="docutils literal notranslate"><span class="pre">&lt;gazebo&gt;</span></code> tag from the URDF. This tag is not supported by the URDF importer.</p></li>
+<li><p>We removed the <code class="docutils literal notranslate"><span class="pre">&lt;transmission&gt;</span></code> tag from the URDF. This tag is not supported by the URDF importer.</p></li>
+<li><p>We removed various collision bodies from the URDF to reduce the complexity of the asset.</p></li>
+<li><p>We changed all the joint’s damping and friction parameters to <code class="docutils literal notranslate"><span class="pre">0.0</span></code>. This ensures that we can perform
+effort-control on the joints without PhysX adding additional damping.</p></li>
+<li><p>We added the <code class="docutils literal notranslate"><span class="pre">&lt;dont_collapse&gt;</span></code> tag to fixed joints. This ensures that the importer does
+not merge these fixed joints.</p></li>
+</ul>
+<p>The following shows the steps to clone the repository and run the converter:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># create a directory to clone</span>
+mkdir<span class="w"> </span>~/git<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/git
+<span class="c1"># clone a repository with URDF files</span>
+git<span class="w"> </span>clone<span class="w"> </span>git@github.com:isaac-orbit/anymal_d_simple_description.git
+
+<span class="c1"># go to top of the Isaac Lab repository</span>
+<span class="nb">cd</span><span class="w"> </span>IsaacLab
+<span class="c1"># run the converter</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tools/convert_urdf.py<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>~/git/anymal_d_simple_description/urdf/anymal.urdf<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/anymal_d.usd<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>--merge-joints<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>--make-instanceable
+</pre></div>
+</div>
+<p>Executing the above script will create two USD files inside the
+<code class="docutils literal notranslate"><span class="pre">source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/</span></code> directory:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">anymal_d.usd</span></code> - This is the main asset file. It contains all the non-mesh data.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Props/instanceable_assets.usd</span></code> - This is the mesh data file.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Since Isaac Sim 2023.1.1, the URDF importer behavior has changed and it stores the mesh data inside the
+main asset file even if the <code class="docutils literal notranslate"><span class="pre">--make-instanceable</span></code> flag is set. This means that the
+<code class="docutils literal notranslate"><span class="pre">Props/instanceable_assets.usd</span></code> file is created but not used anymore.</p>
+</div>
+<p>To run the script headless, you can add the <code class="docutils literal notranslate"><span class="pre">--headless</span></code> flag. This will not open the GUI and
+exit the script after the conversion is complete.</p>
+<p>You can press play on the opened window to see the asset in the scene. The asset should fall under gravity. If it blows up, then it might be that you have self-collisions present in the URDF.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of convert_urdf.py" src="../../_images/tutorial_convert_urdf.jpg" />
+</figure>
+</section>
+</section>
+<section id="using-mjcf-importer">
+<h2>Using MJCF Importer<a class="headerlink" href="#using-mjcf-importer" title="Permalink to this heading">#</a></h2>
+<p>Similar to the URDF Importer, the MJCF Importer also has a GUI interface. Please check the documentation at <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html">MJCF importer</a> for more details. For using the MJCF importer from Python scripts, we include a utility tool called <code class="docutils literal notranslate"><span class="pre">convert_mjcf.py</span></code>. This script creates an instance of <code class="xref py py-class docutils literal notranslate"><span class="pre">MjcfConverterCfg</span></code> which is then passed to the <code class="xref py py-class docutils literal notranslate"><span class="pre">MjcfConverter</span></code> class.</p>
+<p>The default values for the importer’s configuration parameters are specified in the <code class="xref py py-class docutils literal notranslate"><span class="pre">MjcfConverterCfg</span></code> class. The configuration parameters are listed below. We made a few commonly modified settings to be available as command-line arguments when calling the <code class="docutils literal notranslate"><span class="pre">convert_mjcf.py</span></code>, and they are marked with <code class="docutils literal notranslate"><span class="pre">*</span></code> in the list. For a comprehensive list of the configuration parameters, please check the the documentation at <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html">MJCF importer</a>.</p>
+<ul class="simple">
+<li><p><code class="xref py py-attr docutils literal notranslate"><span class="pre">fix_base*</span></code> - Whether to fix the base of the robot.
+This depends on whether you have a floating-base or fixed-base robot. The command-line flag is
+<code class="docutils literal notranslate"><span class="pre">--fix-base</span></code> where when set, the importer will fix the base of the robot, otherwise it will default to floating-base.</p></li>
+<li><p><code class="xref py py-attr docutils literal notranslate"><span class="pre">make_instanceable*</span></code> - Whether to create instanceable assets.
+Usually, this should be set to <code class="docutils literal notranslate"><span class="pre">True</span></code>. The command-line flag is <code class="docutils literal notranslate"><span class="pre">--make-instanceable</span></code> where
+when set, the importer will create instanceable assets, otherwise it will default to non-instanceable.</p></li>
+<li><p><code class="xref py py-attr docutils literal notranslate"><span class="pre">import_sites*</span></code> - Whether to parse the &lt;site&gt; tag in the MJCF.
+Usually, this should be set to <code class="docutils literal notranslate"><span class="pre">True</span></code>. The command-line flag is <code class="docutils literal notranslate"><span class="pre">--import-sites</span></code> where when set, the importer will parse the &lt;site&gt; tag, otherwise it will default to not parsing the &lt;site&gt; tag.</p></li>
+</ul>
+<section id="id1">
+<h3>Example Usage<a class="headerlink" href="#id1" title="Permalink to this heading">#</a></h3>
+<p>In this example, we use the MuJoCo model of the Unitree’s H1 humanoid robot in the <a class="reference external" href="https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1">mujoco_menagerie</a>.</p>
+<p>The following shows the steps to clone the repository and run the converter:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># create a directory to clone</span>
+mkdir<span class="w"> </span>~/git<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/git
+<span class="c1"># clone a repository with URDF files</span>
+git<span class="w"> </span>clone<span class="w"> </span>git@github.com:git@github.com:google-deepmind/mujoco_menagerie.git
+
+<span class="c1"># go to top of the Isaac Lab repository</span>
+<span class="nb">cd</span><span class="w"> </span>IsaacLab
+<span class="c1"># run the converter</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tools/convert_mjcf.py<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>~/git/mujoco_menagerie/unitree_h1/h1.xml<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>source/extensions/omni.isaac.lab_assets/data/Robots/Unitree/h1.usd<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>--import-sites<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>--make-instanceable
+</pre></div>
+</div>
+<figure class="align-center" style="width: 100%">
+<img alt="result of convert_mjcf.py" src="../../_images/tutorial_convert_mjcf.jpg" />
+</figure>
+</section>
+</section>
+<section id="using-mesh-importer">
+<h2>Using Mesh Importer<a class="headerlink" href="#using-mesh-importer" title="Permalink to this heading">#</a></h2>
+<p>Omniverse Kit includes the mesh converter tool that uses the ASSIMP library to import assets
+from various mesh formats (e.g. OBJ, FBX, STL, glTF, etc.). The asset converter tool is available
+as an extension to Omniverse Kit. Please check the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_asset-converter.html">asset converter</a> documentation for more details.
+However, unlike Isaac Sim’s URDF and MJCF importers, the asset converter tool does not support
+creating instanceable assets. This means that the asset will be loaded into memory multiple times
+if it is used multiple times in a scene.</p>
+<p>Thus, we include a utility tool called <code class="docutils literal notranslate"><span class="pre">convert_mesh.py</span></code> that uses the asset converter tool to
+import the asset and then converts it into an instanceable asset. Internally, this script creates
+an instance of <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg" title="omni.isaac.lab.sim.converters.MeshConverterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshConverterCfg</span></code></a> which is then passed to the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter" title="omni.isaac.lab.sim.converters.MeshConverter"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshConverter</span></code></a> class. Since the mesh file does not contain any physics
+information, the configuration class accepts different physics properties (such as mass, collision
+shape, etc.) as input. Please check the documentation for <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg" title="omni.isaac.lab.sim.converters.MeshConverterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshConverterCfg</span></code></a>
+for more details.</p>
+<section id="id2">
+<h3>Example Usage<a class="headerlink" href="#id2" title="Permalink to this heading">#</a></h3>
+<p>We use an OBJ file of a cube to demonstrate the usage of the mesh converter. The following shows
+the steps to clone the repository and run the converter:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># create a directory to clone</span>
+mkdir<span class="w"> </span>~/git<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/git
+<span class="c1"># clone a repository with URDF files</span>
+git<span class="w"> </span>clone<span class="w"> </span>git@github.com:NVIDIA-Omniverse/IsaacGymEnvs.git
+
+<span class="c1"># go to top of the Isaac Lab repository</span>
+<span class="nb">cd</span><span class="w"> </span>IsaacLab
+<span class="c1"># run the converter</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tools/convert_mesh.py<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>~/git/IsaacGymEnvs/assets/trifinger/objects/meshes/cube_multicolor.obj<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/cube_multicolor.usd<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>--make-instanceable<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>--collision-approximation<span class="w"> </span>convexDecomposition<span class="w"> </span><span class="se">\</span>
+<span class="w">  </span>--mass<span class="w"> </span><span class="m">1</span>.0
+</pre></div>
+</div>
+<p>You may need to press ‘F’ to zoom in on the asset after import.</p>
+<p>Similar to the URDF and MJCF converter, executing the above script will create two USD files inside the
+<code class="docutils literal notranslate"><span class="pre">source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/</span></code> directory. Additionally,
+if you press play on the opened window, you should see the asset fall down under the influence
+of gravity.</p>
+<ul class="simple">
+<li><p>If you do not set the <code class="docutils literal notranslate"><span class="pre">--mass</span></code> flag, then no rigid body properties will be added to the asset.
+It will be imported as a static asset.</p></li>
+<li><p>If you also do not set the <code class="docutils literal notranslate"><span class="pre">--collision-approximation</span></code> flag, then the asset will not have any collider
+properties as well and will be imported as a visual asset.</p></li>
+</ul>
+<figure class="align-center" style="width: 100%">
+<img alt="result of convert_mesh.py" src="../../_images/tutorial_convert_mesh.jpg" />
+</figure>
+</section>
+</section>
+</section>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="current nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 current active has-children"><a class="current reference internal" href="#">How-to Guides</a><details open="open"><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/additional_resources.html">Additional Resources</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../refs/issues.html">Known Issues</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../refs/license.html">License</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/bibliography.html">Bibliography</a></li>
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+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+    <h1>How-to Guides</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#importing-a-new-asset">Importing a New Asset</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#creating-a-fixed-asset">Creating a Fixed Asset</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#spawning-multiple-assets">Spawning Multiple Assets</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#saving-camera-output">Saving Camera Output</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#estimate-how-many-cameras-can-run-on-your-machine">Estimate How Many Cameras Can Run On Your Machine</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#drawing-markers">Drawing Markers</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#interfacing-with-environments">Interfacing with Environments</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#recording-an-animation-and-video">Recording an Animation and Video</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#mastering-omniverse">Mastering Omniverse</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="how-to-guides">
+<span id="how-to"></span><h1>How-to Guides<a class="headerlink" href="#how-to-guides" title="Permalink to this heading">#</a></h1>
+<p>This section includes guides that help you use Isaac Lab. These are intended for users who
+have already worked through the tutorials and are looking for more information on how to
+use Isaac Lab. If you are new to Isaac Lab, we recommend you start with the tutorials.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This section is a work in progress. If you have a question that is not answered here,
+please open an issue on our <a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub page</a>.</p>
+</div>
+<section id="importing-a-new-asset">
+<h2>Importing a New Asset<a class="headerlink" href="#importing-a-new-asset" title="Permalink to this heading">#</a></h2>
+<p>Importing an asset into Isaac Lab is a common task. It contains two steps: importing the asset into
+a USD format and then setting up the configuration object for the asset. The following guide explains
+how to import a new asset into Isaac Lab.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l1"><a class="reference internal" href="write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+</ul>
+</div>
+</section>
+<section id="creating-a-fixed-asset">
+<h2>Creating a Fixed Asset<a class="headerlink" href="#creating-a-fixed-asset" title="Permalink to this heading">#</a></h2>
+<p>Often you may want to create a fixed asset in your scene. For instance, making a floating base robot
+a fixed base robot. This guide goes over the various considerations and steps to create a fixed asset.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+</ul>
+</div>
+</section>
+<section id="spawning-multiple-assets">
+<h2>Spawning Multiple Assets<a class="headerlink" href="#spawning-multiple-assets" title="Permalink to this heading">#</a></h2>
+<p>This guide explains how to import and configure different assets in each environment. This is
+useful when you want to create diverse environments with different objects.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+</ul>
+</div>
+</section>
+<section id="saving-camera-output">
+<h2>Saving Camera Output<a class="headerlink" href="#saving-camera-output" title="Permalink to this heading">#</a></h2>
+<p>This guide explains how to save the camera output in Isaac Lab.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+</ul>
+</div>
+</section>
+<section id="estimate-how-many-cameras-can-run-on-your-machine">
+<h2>Estimate How Many Cameras Can Run On Your Machine<a class="headerlink" href="#estimate-how-many-cameras-can-run-on-your-machine" title="Permalink to this heading">#</a></h2>
+<p>This guide demonstrates how to estimate the number of cameras one can run on their machine under the desired parameters.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+</ul>
+</div>
+</section>
+<section id="drawing-markers">
+<h2>Drawing Markers<a class="headerlink" href="#drawing-markers" title="Permalink to this heading">#</a></h2>
+<p>This guide explains how to use the <a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers" title="omni.isaac.lab.markers.VisualizationMarkers"><code class="xref py py-class docutils literal notranslate"><span class="pre">VisualizationMarkers</span></code></a> class to draw markers in
+Isaac Lab.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="draw_markers.html">Creating Visualization Markers</a></li>
+</ul>
+</div>
+</section>
+<section id="interfacing-with-environments">
+<h2>Interfacing with Environments<a class="headerlink" href="#interfacing-with-environments" title="Permalink to this heading">#</a></h2>
+<p>These guides explain how to interface with reinforcement learning environments in Isaac Lab.</p>
+<div class="toctree-wrapper compound">
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+<li class="toctree-l1"><a class="reference internal" href="wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l1"><a class="reference internal" href="add_own_library.html">Adding your own learning library</a></li>
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+<section id="recording-an-animation-and-video">
+<h2>Recording an Animation and Video<a class="headerlink" href="#recording-an-animation-and-video" title="Permalink to this heading">#</a></h2>
+<p>This guide explains how to record an animation and video in Isaac Lab.</p>
+<div class="toctree-wrapper compound">
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+<li class="toctree-l1"><a class="reference internal" href="record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l1"><a class="reference internal" href="record_video.html">Recording video clips during training</a></li>
+</ul>
+</div>
+</section>
+<section id="mastering-omniverse">
+<h2>Mastering Omniverse<a class="headerlink" href="#mastering-omniverse" title="Permalink to this heading">#</a></h2>
+<p>Omniverse is a powerful platform that provides a wide range of features. This guide links to
+additional resources that help you use Omniverse features in Isaac Lab.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+    <h1>Making a physics prim fixed in the simulation</h1>
+    <!-- Table of contents -->
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+            <div>
+                <h2> Contents </h2>
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+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#static-colliders">Static colliders</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rigid-object">Rigid object</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#articulation">Articulation</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#further-notes">Further notes</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
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+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="making-a-physics-prim-fixed-in-the-simulation">
+<h1>Making a physics prim fixed in the simulation<a class="headerlink" href="#making-a-physics-prim-fixed-in-the-simulation" title="Permalink to this heading">#</a></h1>
+<p>When a USD prim has physics schemas applied on it, it is affected by physics simulation.
+This means that the prim can move, rotate, and collide with other prims in the simulation world.
+However, there are cases where it is desirable to make certain prims static in the simulation world,
+i.e. the prim should still participate in collisions but its position and orientation should not change.</p>
+<p>The following sections describe how to spawn a prim with physics schemas and make it static in the simulation world.</p>
+<section id="static-colliders">
+<h2>Static colliders<a class="headerlink" href="#static-colliders" title="Permalink to this heading">#</a></h2>
+<p>Static colliders are prims that are not affected by physics but can collide with other prims in the simulation world.
+These don’t have any rigid body properties applied on them. However, this also means that they can’t be accessed
+using the physics tensor API (i.e., through the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.RigidObject</span></code></a> class).</p>
+<p>For instance, to spawn a cone static in the simulation world, the following code can be used:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+
+<span class="n">cone_spawn_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+    <span class="n">radius</span><span class="o">=</span><span class="mf">0.15</span><span class="p">,</span>
+    <span class="n">height</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+    <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+    <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+<span class="p">)</span>
+<span class="n">cone_spawn_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+    <span class="s2">&quot;/World/Cone&quot;</span><span class="p">,</span> <span class="n">cone_spawn_cfg</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span> <span class="n">orientation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="rigid-object">
+<h2>Rigid object<a class="headerlink" href="#rigid-object" title="Permalink to this heading">#</a></h2>
+<p>Rigid objects (i.e. object only has a single body) can be made static by setting the parameter
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled"><code class="xref py py-attr docutils literal notranslate"><span class="pre">sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled</span></code></a> as True. This will make the object
+kinematic and it will not be affected by physics.</p>
+<p>For instance, to spawn a cone static in the simulation world but with rigid body schema on it,
+the following code can be used:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+
+<span class="n">cone_spawn_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+    <span class="n">radius</span><span class="o">=</span><span class="mf">0.15</span><span class="p">,</span>
+    <span class="n">height</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+    <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span><span class="n">kinematic_enabled</span><span class="o">=</span><span class="kc">True</span><span class="p">),</span>
+    <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+    <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+    <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+<span class="p">)</span>
+<span class="n">cone_spawn_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+    <span class="s2">&quot;/World/Cone&quot;</span><span class="p">,</span> <span class="n">cone_spawn_cfg</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span> <span class="n">orientation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="articulation">
+<h2>Articulation<a class="headerlink" href="#articulation" title="Permalink to this heading">#</a></h2>
+<p>Fixing the root of an articulation requires having a fixed joint to the root rigid body link of the articulation.
+This can be achieved by setting the parameter <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link"><code class="xref py py-attr docutils literal notranslate"><span class="pre">sim.schemas.ArticulationRootPropertiesCfg.fix_root_link</span></code></a>
+as True. Based on the value of this parameter, the following cases are possible:</p>
+<ul class="simple">
+<li><p>If set to <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">None</span></code></a>, the root link is not modified.</p></li>
+<li><p>If the articulation already has a fixed root link, this flag will enable or disable the fixed joint.</p></li>
+<li><p>If the articulation does not have a fixed root link, this flag will create a fixed joint between the world
+frame and the root link. The joint is created with the name “FixedJoint” under the root link.</p></li>
+</ul>
+<p>For instance, to spawn an ANYmal robot and make it static in the simulation world, the following code can be used:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">ISAACLAB_NUCLEUS_DIR</span>
+
+<span class="n">anymal_spawn_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+    <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/ANYbotics/ANYmal-C/anymal_c.usd&quot;</span><span class="p">,</span>
+    <span class="n">activate_contact_sensors</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+        <span class="n">disable_gravity</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">retain_accelerations</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">linear_damping</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">angular_damping</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">max_linear_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+        <span class="n">max_angular_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+        <span class="n">max_depenetration_velocity</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+    <span class="p">),</span>
+    <span class="n">articulation_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ArticulationRootPropertiesCfg</span><span class="p">(</span>
+        <span class="n">enabled_self_collisions</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span>
+        <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+        <span class="n">fix_root_link</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="p">),</span>
+<span class="p">)</span>
+<span class="n">anymal_spawn_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+    <span class="s2">&quot;/World/ANYmal&quot;</span><span class="p">,</span> <span class="n">anymal_spawn_cfg</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.8</span><span class="p">),</span> <span class="n">orientation</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<p>This will create a fixed joint between the world frame and the root link of the ANYmal robot
+at the prim path <code class="docutils literal notranslate"><span class="pre">&quot;/World/ANYmal/base/FixedJoint&quot;</span></code> since the root link is at the path <code class="docutils literal notranslate"><span class="pre">&quot;/World/ANYmal/base&quot;</span></code>.</p>
+</section>
+<section id="further-notes">
+<h2>Further notes<a class="headerlink" href="#further-notes" title="Permalink to this heading">#</a></h2>
+<p>Given the flexibility of USD asset designing the following possible scenarios are usually encountered:</p>
+<ol class="arabic">
+<li><p><strong>Articulation root schema on the rigid body prim without a fixed joint</strong>:</p>
+<p>This is the most common and recommended scenario for floating-base articulations. The root prim
+has both the rigid body and the articulation root properties. In this case, the articulation root
+is parsed as a floating-base with the root prim of the articulation <code class="docutils literal notranslate"><span class="pre">Link0Xform</span></code>.</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>ArticulationXform
+    └── Link0Xform  (RigidBody and ArticulationRoot schema)
+</pre></div>
+</div>
+</li>
+<li><p><strong>Articulation root schema on the parent prim with a fixed joint</strong>:</p>
+<p>This is the expected arrangement for fixed-base articulations. The root prim has only the rigid body
+properties and the articulation root properties are applied to its parent prim. In this case, the
+articulation root is parsed as a fixed-base with the root prim of the articulation <code class="docutils literal notranslate"><span class="pre">Link0Xform</span></code>.</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>ArticulationXform (ArticulationRoot schema)
+    └── Link0Xform  (RigidBody schema)
+    └── FixedJoint (connecting the world frame and Link0Xform)
+</pre></div>
+</div>
+</li>
+<li><p><strong>Articulation root schema on the parent prim without a fixed joint</strong>:</p>
+<p>This is a scenario where the root prim has only the rigid body properties and the articulation root properties
+are applied to its parent prim. However, the fixed joint is not created between the world frame and the root link.
+In this case, the articulation is parsed as a floating-base system. However, the PhysX parser uses its own
+heuristic (such as alphabetical order) to determine the root prim of the articulation. It may select the root prim
+at <code class="docutils literal notranslate"><span class="pre">Link0Xform</span></code> or choose another prim as the root prim.</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>ArticulationXform (ArticulationRoot schema)
+    └── Link0Xform  (RigidBody schema)
+</pre></div>
+</div>
+</li>
+<li><p><strong>Articulation root schema on the rigid body prim with a fixed joint</strong>:</p>
+<p>While this is a valid scenario, it is not recommended as it may lead to unexpected behavior. In this case,
+the articulation is still parsed as a floating-base system. However, the fixed joint, created between the
+world frame and the root link, is considered as a part of the maximal coordinate tree. This is different from
+PhysX considering the articulation as a fixed-base system. Hence, the simulation may not behave as expected.</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>ArticulationXform
+    └── Link0Xform  (RigidBody and ArticulationRoot schema)
+    └── FixedJoint (connecting the world frame and Link0Xform)
+</pre></div>
+</div>
+</li>
+</ol>
+<p>For floating base articulations, the root prim usually has both the rigid body and the articulation
+root properties. However, directly connecting this prim to the world frame will cause the simulation
+to consider the fixed joint as a part of the maximal coordinate tree. This is different from PhysX
+considering the articulation as a fixed-base system.</p>
+<p>Internally, when the parameter <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link"><code class="xref py py-attr docutils literal notranslate"><span class="pre">sim.schemas.ArticulationRootPropertiesCfg.fix_root_link</span></code></a> is set to True
+and the articulation is detected as a floating-base system, the fixed joint is created between the world frame
+the root rigid body link of the articulation. However, to make the PhysX parser consider the articulation as a
+fixed-base system, the articulation root properties are removed from the root rigid body prim and applied to
+its parent prim instead.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>In future release of Isaac Sim, an explicit flag will be added to the articulation root schema from PhysX
+to toggle between fixed-base and floating-base systems. This will resolve the need of the above workaround.</p>
+</div>
+</section>
+</section>
+
+
+                </article>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#articulation">Articulation</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
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+    <span class="fa-solid fa-list"></span>
+</label>
+</div></div>
+      
+    </div>
+  
+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Mastering Omniverse for Robotics</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#part-1-using-usd-composer">Part 1: Using USD Composer</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#part-2-scripting-in-omniverse">Part 2: Scripting in Omniverse</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#part-3-more-resources">Part 3: More Resources</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="mastering-omniverse-for-robotics">
+<h1>Mastering Omniverse for Robotics<a class="headerlink" href="#mastering-omniverse-for-robotics" title="Permalink to this heading">#</a></h1>
+<p>NVIDIA Omniverse offers a large suite of tools for 3D content workflows.
+There are three main components (relevant to robotics) in Omniverse:</p>
+<ul class="simple">
+<li><p><strong>USD Composer</strong>: This is based on a novel file format (Universal Scene
+Description) from the animation (originally Pixar) community that is
+used in Omniverse</p></li>
+<li><p><strong>PhysX SDK</strong>: This is the main physics engine behind Omniverse that
+leverages GPU-based parallelization for massive scenes</p></li>
+<li><p><strong>RTX-enabled Renderer</strong>: This uses ray-tracing kernels in NVIDIA RTX
+GPUs for real-time physically-based rendering</p></li>
+</ul>
+<p>Of these, the first two require a deeper understanding to start working
+with Omniverse and its constituent applications (Isaac Sim and Isaac Lab).</p>
+<p>The main things to learn:</p>
+<ul class="simple">
+<li><p>How to use the Composer GUI efficiently?</p></li>
+<li><p>What are USD prims and schemas?</p></li>
+<li><p>How do you compose a USD scene?</p></li>
+<li><p>What is the difference between references and payloads in USD?</p></li>
+<li><p>What is meant by scene-graph instancing?</p></li>
+<li><p>How to apply PhysX schemas on prims? What all schemas are possible?</p></li>
+<li><p>How to write basic operations in USD for creating prims and modifying
+their attributes?</p></li>
+</ul>
+<section id="part-1-using-usd-composer">
+<h2>Part 1: Using USD Composer<a class="headerlink" href="#part-1-using-usd-composer" title="Permalink to this heading">#</a></h2>
+<p>While several <a class="reference external" href="https://www.youtube.com/&#64;NVIDIA-Studio">video
+tutorials</a> and
+<a class="reference external" href="https://docs.omniverse.nvidia.com/">documentation</a> exist
+out there on NVIDIA Omniverse, going through all of them would take an
+extensive amount of time and effort. Thus, we have curated these
+resources to guide you through using Omniverse, specifically for
+robotics.</p>
+<p>Introduction to Omniverse and USD</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://youtu.be/dvdB-ndYJBM">What is NVIDIA Omniverse?</a></p></li>
+<li><p><a class="reference external" href="https://youtu.be/GOdyx-oSs2M">What is the USD File Type? | Getting Started in NVIDIA Omniverse</a></p></li>
+<li><p><a class="reference external" href="https://youtu.be/o2x-30-PTkw">What Makes USD Unique in NVIDIA Omniverse</a></p></li>
+</ul>
+<p>Using Omniverse USD Composer</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://youtu.be/_30Pf3nccuE">Introduction to Omniverse USD Composer</a></p></li>
+<li><p><a class="reference external" href="https://youtu.be/kb4ZA3TyMak">Navigation Basics in Omniverse USD Composer</a></p></li>
+<li><p><a class="reference external" href="https://youtu.be/c7qyI8pZvF4">Lighting Basics in NVIDIA Omniverse USD Composer</a></p></li>
+<li><p><a class="reference external" href="https://youtu.be/dCvq2ZyYmu4">Rendering Overview in NVIDIA Omniverse USD Composer</a></p></li>
+</ul>
+<p>Materials and MDL</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://youtu.be/C0HmcQXaENc">Five Things to Know About Materials in NVIDIA Omniverse</a></p></li>
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html#applying-materials">How to apply materials?</a></p></li>
+</ul>
+<p>Omniverse Physics and PhysX SDK</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://youtu.be/nsJ0S9MycJI">Basics - Setting Up Physics and Toolbar Overview</a></p></li>
+<li><p><a class="reference external" href="https://youtu.be/-y0-EVTj10s">Basics - Demos Overview</a></p></li>
+<li><p><a class="reference external" href="https://youtu.be/GHl2RwWeRuM">Rigid Bodies - Mass Editing</a></p></li>
+<li><p><a class="reference external" href="https://youtu.be/oTW81DltNiE">Materials - Friction Restitution and Defaults</a></p></li>
+<li><p><a class="reference external" href="https://youtu.be/lFtEMg86lJc">Overview of Simulation Ready Assets Physics in Omniverse</a></p></li>
+</ul>
+<p>Importing assets</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://youtu.be/dQI0OpzfVHw">Omniverse Create - Importing FBX Files | NVIDIA Omniverse Tutorials</a></p></li>
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_asset-importer.html">Omniverse Asset Importer</a></p></li>
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_urdf.html">Isaac Sim URDF impoter</a></p></li>
+</ul>
+</section>
+<section id="part-2-scripting-in-omniverse">
+<h2>Part 2: Scripting in Omniverse<a class="headerlink" href="#part-2-scripting-in-omniverse" title="Permalink to this heading">#</a></h2>
+<p>The above links mainly introduced how to use the USD Composer and its
+functionalities through UI operations. However, often developers
+need to write scripts to perform operations. This is especially true
+when you want to automate certain tasks or create custom applications
+that use Omniverse as a backend. This section will introduce you to
+scripting in Omniverse.</p>
+<p>USD is the main file format Omniverse operates with. So naturally, the
+APIs (from OpenUSD) for modifying USD are at the core of Omniverse.
+Most of the APIs are in C++ and Python bindings are provided for them.
+Thus, to script in Omniverse, you need to understand the USD APIs.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>While Isaac Sim and Isaac Lab try to “relieve” users from understanding
+the core USD concepts and APIs, understanding these basics still
+help a lot once you start diving inside the codebase and modifying
+it for your own application.</p>
+</div>
+<p>Before diving into USD scripting, it is good to get acquainted with the
+terminologies used in USD. We recommend the following <a class="reference external" href="https://www.sidefx.com/docs/houdini/solaris/usd.html">introduction to
+USD basics</a> by
+Houdini, which is a 3D animation software.
+Make sure to go through the following sections:</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://www.sidefx.com/docs/houdini/solaris/usd.html#quick-example">Quick example</a></p></li>
+<li><p><a class="reference external" href="https://www.sidefx.com/docs/houdini/solaris/usd.html#attrs">Attributes and primvars</a></p></li>
+<li><p><a class="reference external" href="https://www.sidefx.com/docs/houdini/solaris/usd.html#compose">Composition</a></p></li>
+<li><p><a class="reference external" href="https://www.sidefx.com/docs/houdini/solaris/usd.html#schemas">Schemas</a></p></li>
+<li><p><a class="reference external" href="https://www.sidefx.com/docs/houdini/solaris/usd.html#instancing">Instances</a>
+and <a class="reference external" href="https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html">Scene-graph Instancing</a></p></li>
+</ul>
+<p>As a test of understanding, make sure you can answer the following:</p>
+<ul class="simple">
+<li><p>What are prims? What is meant by a prim path in a stage?</p></li>
+<li><p>How are attributes related to prims?</p></li>
+<li><p>How are schemas related to prims?</p></li>
+<li><p>What is the difference between attributes and schemas?</p></li>
+<li><p>What is asset instancing?</p></li>
+</ul>
+</section>
+<section id="part-3-more-resources">
+<h2>Part 3: More Resources<a class="headerlink" href="#part-3-more-resources" title="Permalink to this heading">#</a></h2>
+<ul class="simple">
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/common/glossary-of-terms.html">Omniverse Glossary of Terms</a></p></li>
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref.html">Omniverse Code Samples</a></p></li>
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#collidercompatibility">PhysX Collider Compatibility</a></p></li>
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/simulation_fundamentals.html#omni-physics-and-physx-limitations">PhysX Limitations</a></p></li>
+<li><p><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/">PhysX Documentation</a>.</p></li>
+</ul>
+</section>
+</section>
+
+
+                </article>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#part-1-using-usd-composer">Part 1: Using USD Composer</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#part-2-scripting-in-omniverse">Part 2: Scripting in Omniverse</a></li>
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+      
+    </div>
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+</div>
+              
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Spawning Multiple Assets</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rigid-object-collections">Rigid Object Collections</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#spawning-different-assets-under-the-same-prim-path">Spawning different assets under the same prim path</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#things-to-note">Things to Note</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#similar-asset-structuring">Similar asset structuring</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#disabling-physics-replication-in-interactive-scene">Disabling physics replication in interactive scene</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="spawning-multiple-assets">
+<h1>Spawning Multiple Assets<a class="headerlink" href="#spawning-multiple-assets" title="Permalink to this heading">#</a></h1>
+<p>Typical spawning configurations (introduced in the <a class="reference internal" href="../tutorials/00_sim/spawn_prims.html#tutorial-spawn-prims"><span class="std std-ref">Spawning prims into the scene</span></a> tutorial) copy the same
+asset (or USD primitive) across the different resolved prim paths from the expressions.
+For instance, if the user specifies to spawn the asset at “/World/Table_.*/Object”, the same
+asset is created at the paths “/World/Table_0/Object”, “/World/Table_1/Object” and so on.</p>
+<p>However, we also support multi-asset spawning with two mechanisms:</p>
+<ol class="arabic simple">
+<li><p>Rigid object collections. This allows the user to spawn multiple rigid objects in each environment and access/modify
+them with a unified API, improving performance.</p></li>
+<li><p>Spawning different assets under the same prim path. This allows the user to create diverse simulations, where each
+environment has a different asset.</p></li>
+</ol>
+<p>This guide describes how to use these two mechanisms.</p>
+<p>The sample script <code class="docutils literal notranslate"><span class="pre">multi_asset.py</span></code> is used as a reference, located in the
+<code class="docutils literal notranslate"><span class="pre">IsaacLab/source/standalone/demos</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for multi_asset.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;This script demonstrates how to spawn multiple objects in multiple environments.</span>
+<span class="linenos">  7</span>
+<span class="linenos">  8</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos">  9</span>
+<span class="linenos"> 10</span><span class="sd">    # Usage</span>
+<span class="linenos"> 11</span><span class="sd">    ./isaaclab.sh -p source/standalone/demos/multi_asset.py --num_envs 2048</span>
+<span class="linenos"> 12</span>
+<span class="linenos"> 13</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 14</span>
+<span class="linenos"> 15</span><span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+<span class="linenos"> 16</span>
+<span class="linenos"> 17</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 18</span>
+<span class="linenos"> 19</span>
+<span class="linenos"> 20</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 21</span>
+<span class="linenos"> 22</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 23</span>
+<span class="linenos"> 24</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 25</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Demo on spawning different objects in multiple environments.&quot;</span><span class="p">)</span>
+<span class="linenos"> 26</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">512</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to spawn.&quot;</span><span class="p">)</span>
+<span class="linenos"> 27</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 28</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 29</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 30</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 31</span>
+<span class="linenos"> 32</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 33</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 34</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 35</span>
+<span class="linenos"> 36</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 37</span>
+<span class="linenos"> 38</span><span class="kn">import</span> <span class="nn">random</span>
+<span class="linenos"> 39</span>
+<span class="linenos"> 40</span><span class="kn">import</span> <span class="nn">omni.usd</span>
+<span class="linenos"> 41</span><span class="kn">from</span> <span class="nn">pxr</span> <span class="kn">import</span> <span class="n">Gf</span><span class="p">,</span> <span class="n">Sdf</span>
+<span class="linenos"> 42</span>
+<span class="linenos"> 43</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 44</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="p">(</span>
+<span class="linenos"> 45</span>    <span class="n">Articulation</span><span class="p">,</span>
+<span class="linenos"> 46</span>    <span class="n">ArticulationCfg</span><span class="p">,</span>
+<span class="linenos"> 47</span>    <span class="n">AssetBaseCfg</span><span class="p">,</span>
+<span class="linenos"> 48</span>    <span class="n">RigidObject</span><span class="p">,</span>
+<span class="linenos"> 49</span>    <span class="n">RigidObjectCfg</span><span class="p">,</span>
+<span class="linenos"> 50</span>    <span class="n">RigidObjectCollection</span><span class="p">,</span>
+<span class="linenos"> 51</span>    <span class="n">RigidObjectCollectionCfg</span><span class="p">,</span>
+<span class="linenos"> 52</span><span class="p">)</span>
+<span class="linenos"> 53</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span><span class="p">,</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos"> 54</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+<span class="linenos"> 55</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">Timer</span><span class="p">,</span> <span class="n">configclass</span>
+<span class="linenos"> 56</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">ISAACLAB_NUCLEUS_DIR</span>
+<span class="linenos"> 57</span>
+<span class="linenos"> 58</span><span class="c1">##</span>
+<span class="linenos"> 59</span><span class="c1"># Pre-defined Configuration</span>
+<span class="linenos"> 60</span><span class="c1">##</span>
+<span class="linenos"> 61</span>
+<span class="linenos"> 62</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets.anymal</span> <span class="kn">import</span> <span class="n">ANYDRIVE_3_LSTM_ACTUATOR_CFG</span>  <span class="c1"># isort: skip</span>
+<span class="linenos"> 63</span>
+<span class="linenos"> 64</span>
+<span class="linenos"> 65</span><span class="c1">##</span>
+<span class="linenos"> 66</span><span class="c1"># Randomization events.</span>
+<span class="linenos"> 67</span><span class="c1">##</span>
+<span class="linenos"> 68</span>
+<span class="linenos"> 69</span>
+<span class="linenos"> 70</span><span class="k">def</span> <span class="nf">randomize_shape_color</span><span class="p">(</span><span class="n">prim_path_expr</span><span class="p">:</span> <span class="nb">str</span><span class="p">):</span>
+<span class="linenos"> 71</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Randomize the color of the geometry.&quot;&quot;&quot;</span>
+<span class="linenos"> 72</span>    <span class="c1"># acquire stage</span>
+<span class="linenos"> 73</span>    <span class="n">stage</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">get_context</span><span class="p">()</span><span class="o">.</span><span class="n">get_stage</span><span class="p">()</span>
+<span class="linenos"> 74</span>    <span class="c1"># resolve prim paths for spawning and cloning</span>
+<span class="linenos"> 75</span>    <span class="n">prim_paths</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">find_matching_prim_paths</span><span class="p">(</span><span class="n">prim_path_expr</span><span class="p">)</span>
+<span class="linenos"> 76</span>    <span class="c1"># manually clone prims if the source prim path is a regex expression</span>
+<span class="linenos"> 77</span>    <span class="k">with</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">ChangeBlock</span><span class="p">():</span>
+<span class="linenos"> 78</span>        <span class="k">for</span> <span class="n">prim_path</span> <span class="ow">in</span> <span class="n">prim_paths</span><span class="p">:</span>
+<span class="linenos"> 79</span>            <span class="c1"># spawn single instance</span>
+<span class="linenos"> 80</span>            <span class="n">prim_spec</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">CreatePrimInLayer</span><span class="p">(</span><span class="n">stage</span><span class="o">.</span><span class="n">GetRootLayer</span><span class="p">(),</span> <span class="n">prim_path</span><span class="p">)</span>
+<span class="linenos"> 81</span>
+<span class="linenos"> 82</span>            <span class="c1"># DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE!</span>
+<span class="linenos"> 83</span>            <span class="c1"># Note: Just need to acquire the right attribute about the property you want to set</span>
+<span class="linenos"> 84</span>            <span class="c1"># Here is an example on setting color randomly</span>
+<span class="linenos"> 85</span>            <span class="n">color_spec</span> <span class="o">=</span> <span class="n">prim_spec</span><span class="o">.</span><span class="n">GetAttributeAtPath</span><span class="p">(</span><span class="n">prim_path</span> <span class="o">+</span> <span class="s2">&quot;/geometry/material/Shader.inputs:diffuseColor&quot;</span><span class="p">)</span>
+<span class="linenos"> 86</span>            <span class="n">color_spec</span><span class="o">.</span><span class="n">default</span> <span class="o">=</span> <span class="n">Gf</span><span class="o">.</span><span class="n">Vec3f</span><span class="p">(</span><span class="n">random</span><span class="o">.</span><span class="n">random</span><span class="p">(),</span> <span class="n">random</span><span class="o">.</span><span class="n">random</span><span class="p">(),</span> <span class="n">random</span><span class="o">.</span><span class="n">random</span><span class="p">())</span>
+<span class="linenos"> 87</span>
+<span class="linenos"> 88</span>
+<span class="linenos"> 89</span><span class="c1">##</span>
+<span class="linenos"> 90</span><span class="c1"># Scene Configuration</span>
+<span class="linenos"> 91</span><span class="c1">##</span>
+<span class="linenos"> 92</span>
+<span class="linenos"> 93</span>
+<span class="linenos"> 94</span><span class="nd">@configclass</span>
+<span class="linenos"> 95</span><span class="k">class</span> <span class="nc">MultiObjectSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="linenos"> 96</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a multi-object scene.&quot;&quot;&quot;</span>
+<span class="linenos"> 97</span>
+<span class="linenos"> 98</span>    <span class="c1"># ground plane</span>
+<span class="linenos"> 99</span>    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+<span class="linenos">100</span>
+<span class="linenos">101</span>    <span class="c1"># lights</span>
+<span class="linenos">102</span>    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos">103</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos">104</span>    <span class="p">)</span>
+<span class="linenos">105</span>
+<span class="linenos">106</span>    <span class="c1"># rigid object</span>
+<span class="linenos">107</span>    <span class="nb">object</span><span class="p">:</span> <span class="n">RigidObjectCfg</span> <span class="o">=</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+<span class="linenos">108</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Object&quot;</span><span class="p">,</span>
+<span class="hll"><span class="linenos">109</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MultiAssetSpawnerCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">110</span>            <span class="n">assets_cfg</span><span class="o">=</span><span class="p">[</span>
+</span><span class="hll"><span class="linenos">111</span>                <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">112</span>                    <span class="n">radius</span><span class="o">=</span><span class="mf">0.3</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">113</span>                    <span class="n">height</span><span class="o">=</span><span class="mf">0.6</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">114</span>                    <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">115</span>                <span class="p">),</span>
+</span><span class="hll"><span class="linenos">116</span>                <span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">117</span>                    <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.3</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">118</span>                    <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">119</span>                <span class="p">),</span>
+</span><span class="hll"><span class="linenos">120</span>                <span class="n">sim_utils</span><span class="o">.</span><span class="n">SphereCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">121</span>                    <span class="n">radius</span><span class="o">=</span><span class="mf">0.3</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">122</span>                    <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">123</span>                <span class="p">),</span>
+</span><span class="hll"><span class="linenos">124</span>            <span class="p">],</span>
+</span><span class="hll"><span class="linenos">125</span>            <span class="n">random_choice</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">126</span>            <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">127</span>                <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span>
+</span><span class="hll"><span class="linenos">128</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos">129</span>            <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">130</span>            <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos">131</span>        <span class="p">),</span>
+</span><span class="linenos">132</span>        <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)),</span>
+<span class="linenos">133</span>    <span class="p">)</span>
+<span class="linenos">134</span>
+<span class="hll"><span class="linenos">135</span>    <span class="c1"># object collection</span>
+</span><span class="hll"><span class="linenos">136</span>    <span class="n">object_collection</span><span class="p">:</span> <span class="n">RigidObjectCollectionCfg</span> <span class="o">=</span> <span class="n">RigidObjectCollectionCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">137</span>        <span class="n">rigid_objects</span><span class="o">=</span><span class="p">{</span>
+</span><span class="hll"><span class="linenos">138</span>            <span class="s2">&quot;object_A&quot;</span><span class="p">:</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">139</span>                <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Object_A&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">140</span>                <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">SphereCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">141</span>                    <span class="n">radius</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">142</span>                    <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">143</span>                    <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">144</span>                        <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span>
+</span><span class="hll"><span class="linenos">145</span>                    <span class="p">),</span>
+</span><span class="hll"><span class="linenos">146</span>                    <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">147</span>                    <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos">148</span>                <span class="p">),</span>
+</span><span class="hll"><span class="linenos">149</span>                <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos">150</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos">151</span>            <span class="s2">&quot;object_B&quot;</span><span class="p">:</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">152</span>                <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Object_B&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">153</span>                <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">154</span>                    <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">155</span>                    <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">156</span>                    <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">157</span>                        <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span>
+</span><span class="hll"><span class="linenos">158</span>                    <span class="p">),</span>
+</span><span class="hll"><span class="linenos">159</span>                    <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">160</span>                    <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos">161</span>                <span class="p">),</span>
+</span><span class="hll"><span class="linenos">162</span>                <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos">163</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos">164</span>            <span class="s2">&quot;object_C&quot;</span><span class="p">:</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">165</span>                <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Object_C&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">166</span>                <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">167</span>                    <span class="n">radius</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">168</span>                    <span class="n">height</span><span class="o">=</span><span class="mf">0.3</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">169</span>                    <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">170</span>                    <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">171</span>                        <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span>
+</span><span class="hll"><span class="linenos">172</span>                    <span class="p">),</span>
+</span><span class="hll"><span class="linenos">173</span>                    <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">174</span>                    <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos">175</span>                <span class="p">),</span>
+</span><span class="hll"><span class="linenos">176</span>                <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos">177</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos">178</span>        <span class="p">}</span>
+</span><span class="hll"><span class="linenos">179</span>    <span class="p">)</span>
+</span><span class="linenos">180</span>
+<span class="linenos">181</span>    <span class="c1"># articulation</span>
+<span class="linenos">182</span>    <span class="n">robot</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">ArticulationCfg</span><span class="p">(</span>
+<span class="linenos">183</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Robot&quot;</span><span class="p">,</span>
+<span class="hll"><span class="linenos">184</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MultiUsdFileCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">185</span>            <span class="n">usd_path</span><span class="o">=</span><span class="p">[</span>
+</span><span class="hll"><span class="linenos">186</span>                <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/ANYbotics/ANYmal-C/anymal_c.usd&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">187</span>                <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/ANYbotics/ANYmal-D/anymal_d.usd&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">188</span>            <span class="p">],</span>
+</span><span class="hll"><span class="linenos">189</span>            <span class="n">random_choice</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">190</span>            <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">191</span>                <span class="n">disable_gravity</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">192</span>                <span class="n">retain_accelerations</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">193</span>                <span class="n">linear_damping</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">194</span>                <span class="n">angular_damping</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">195</span>                <span class="n">max_linear_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">196</span>                <span class="n">max_angular_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">197</span>                <span class="n">max_depenetration_velocity</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">198</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos">199</span>            <span class="n">articulation_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ArticulationRootPropertiesCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">200</span>                <span class="n">enabled_self_collisions</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span>
+</span><span class="hll"><span class="linenos">201</span>            <span class="p">),</span>
+</span><span class="hll"><span class="linenos">202</span>            <span class="n">activate_contact_sensors</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">203</span>        <span class="p">),</span>
+</span><span class="linenos">204</span>        <span class="n">init_state</span><span class="o">=</span><span class="n">ArticulationCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span>
+<span class="linenos">205</span>            <span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.6</span><span class="p">),</span>
+<span class="linenos">206</span>            <span class="n">joint_pos</span><span class="o">=</span><span class="p">{</span>
+<span class="linenos">207</span>                <span class="s2">&quot;.*HAA&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">,</span>  <span class="c1"># all HAA</span>
+<span class="linenos">208</span>                <span class="s2">&quot;.*F_HFE&quot;</span><span class="p">:</span> <span class="mf">0.4</span><span class="p">,</span>  <span class="c1"># both front HFE</span>
+<span class="linenos">209</span>                <span class="s2">&quot;.*H_HFE&quot;</span><span class="p">:</span> <span class="o">-</span><span class="mf">0.4</span><span class="p">,</span>  <span class="c1"># both hind HFE</span>
+<span class="linenos">210</span>                <span class="s2">&quot;.*F_KFE&quot;</span><span class="p">:</span> <span class="o">-</span><span class="mf">0.8</span><span class="p">,</span>  <span class="c1"># both front KFE</span>
+<span class="linenos">211</span>                <span class="s2">&quot;.*H_KFE&quot;</span><span class="p">:</span> <span class="mf">0.8</span><span class="p">,</span>  <span class="c1"># both hind KFE</span>
+<span class="linenos">212</span>            <span class="p">},</span>
+<span class="linenos">213</span>        <span class="p">),</span>
+<span class="linenos">214</span>        <span class="n">actuators</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;legs&quot;</span><span class="p">:</span> <span class="n">ANYDRIVE_3_LSTM_ACTUATOR_CFG</span><span class="p">},</span>
+<span class="linenos">215</span>    <span class="p">)</span>
+<span class="linenos">216</span>
+<span class="linenos">217</span>
+<span class="linenos">218</span><span class="c1">##</span>
+<span class="linenos">219</span><span class="c1"># Simulation Loop</span>
+<span class="linenos">220</span><span class="c1">##</span>
+<span class="linenos">221</span>
+<span class="linenos">222</span>
+<span class="linenos">223</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+<span class="linenos">224</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Runs the simulation loop.&quot;&quot;&quot;</span>
+<span class="linenos">225</span>    <span class="c1"># Extract scene entities</span>
+<span class="linenos">226</span>    <span class="c1"># note: we only do this here for readability.</span>
+<span class="linenos">227</span>    <span class="n">rigid_object</span><span class="p">:</span> <span class="n">RigidObject</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;object&quot;</span><span class="p">]</span>
+<span class="linenos">228</span>    <span class="n">rigid_object_collection</span><span class="p">:</span> <span class="n">RigidObjectCollection</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;object_collection&quot;</span><span class="p">]</span>
+<span class="linenos">229</span>    <span class="n">robot</span><span class="p">:</span> <span class="n">Articulation</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span>
+<span class="linenos">230</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos">231</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos">232</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">233</span>    <span class="c1"># Simulation loop</span>
+<span class="linenos">234</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos">235</span>        <span class="c1"># Reset</span>
+<span class="linenos">236</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">250</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">237</span>            <span class="c1"># reset counter</span>
+<span class="linenos">238</span>            <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">239</span>            <span class="c1"># reset the scene entities</span>
+<span class="linenos">240</span>            <span class="c1"># object</span>
+<span class="linenos">241</span>            <span class="n">root_state</span> <span class="o">=</span> <span class="n">rigid_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">242</span>            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span>
+<span class="linenos">243</span>            <span class="n">rigid_object</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos">244</span>            <span class="n">rigid_object</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+<span class="linenos">245</span>            <span class="c1"># object collection</span>
+<span class="linenos">246</span>            <span class="n">object_state</span> <span class="o">=</span> <span class="n">rigid_object_collection</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_object_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">247</span>            <span class="n">object_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">248</span>            <span class="n">rigid_object_collection</span><span class="o">.</span><span class="n">write_object_link_pose_to_sim</span><span class="p">(</span><span class="n">object_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos">249</span>            <span class="n">rigid_object_collection</span><span class="o">.</span><span class="n">write_object_com_velocity_to_sim</span><span class="p">(</span><span class="n">object_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">7</span><span class="p">:])</span>
+<span class="linenos">250</span>            <span class="c1"># robot</span>
+<span class="linenos">251</span>            <span class="c1"># -- root state</span>
+<span class="linenos">252</span>            <span class="n">root_state</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">253</span>            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span>
+<span class="linenos">254</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos">255</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+<span class="linenos">256</span>            <span class="c1"># -- joint state</span>
+<span class="linenos">257</span>            <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">258</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span>
+<span class="linenos">259</span>            <span class="c1"># clear internal buffers</span>
+<span class="linenos">260</span>            <span class="n">scene</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">261</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting scene state...&quot;</span><span class="p">)</span>
+<span class="linenos">262</span>
+<span class="linenos">263</span>        <span class="c1"># Apply action to robot</span>
+<span class="linenos">264</span>        <span class="n">robot</span><span class="o">.</span><span class="n">set_joint_position_target</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">)</span>
+<span class="linenos">265</span>        <span class="c1"># Write data to sim</span>
+<span class="linenos">266</span>        <span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">267</span>        <span class="c1"># Perform step</span>
+<span class="linenos">268</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">269</span>        <span class="c1"># Increment counter</span>
+<span class="linenos">270</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">271</span>        <span class="c1"># Update buffers</span>
+<span class="linenos">272</span>        <span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">273</span>
+<span class="linenos">274</span>
+<span class="linenos">275</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">276</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">277</span>    <span class="c1"># Load kit helper</span>
+<span class="linenos">278</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.005</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">279</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">280</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">281</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">4.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">])</span>
+<span class="linenos">282</span>
+<span class="linenos">283</span>    <span class="c1"># Design scene</span>
+<span class="linenos">284</span>    <span class="n">scene_cfg</span> <span class="o">=</span> <span class="n">MultiObjectSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">replicate_physics</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+<span class="linenos">285</span>    <span class="k">with</span> <span class="n">Timer</span><span class="p">(</span><span class="s2">&quot;[INFO] Time to create scene: &quot;</span><span class="p">):</span>
+<span class="linenos">286</span>        <span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">scene_cfg</span><span class="p">)</span>
+<span class="linenos">287</span>
+<span class="linenos">288</span>    <span class="k">with</span> <span class="n">Timer</span><span class="p">(</span><span class="s2">&quot;[INFO] Time to randomize scene: &quot;</span><span class="p">):</span>
+<span class="linenos">289</span>        <span class="c1"># DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE!</span>
+<span class="linenos">290</span>        <span class="c1"># Note: Just need to acquire the right attribute about the property you want to set</span>
+<span class="linenos">291</span>        <span class="c1"># Here is an example on setting color randomly</span>
+<span class="linenos">292</span>        <span class="n">randomize_shape_color</span><span class="p">(</span><span class="n">scene_cfg</span><span class="o">.</span><span class="n">object</span><span class="o">.</span><span class="n">prim_path</span><span class="p">)</span>
+<span class="linenos">293</span>
+<span class="linenos">294</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">295</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">296</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">297</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">298</span>    <span class="c1"># Run the simulator</span>
+<span class="linenos">299</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">)</span>
+<span class="linenos">300</span>
+<span class="linenos">301</span>
+<span class="linenos">302</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">303</span>    <span class="c1"># run the main execution</span>
+<span class="linenos">304</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">305</span>    <span class="c1"># close sim app</span>
+<span class="linenos">306</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details><p>This script creates multiple environments, where each environment has:</p>
+<ul class="simple">
+<li><p>a rigid object collection containing a cone, a cube, and a sphere</p></li>
+<li><p>a rigid object that is either a cone, a cube, or a sphere, chosen at random</p></li>
+<li><p>an articulation that is either the ANYmal-C or ANYmal-D robot, chosen at random</p></li>
+</ul>
+<a class="reference internal image-reference" href="../../_images/multi_asset.jpg"><img alt="result of multi_asset.py" src="../../_images/multi_asset.jpg" style="width: 100%;" /></a>
+<section id="rigid-object-collections">
+<h2>Rigid Object Collections<a class="headerlink" href="#rigid-object-collections" title="Permalink to this heading">#</a></h2>
+<p>Multiple rigid objects can be spawned in each environment and accessed/modified with a unified <code class="docutils literal notranslate"><span class="pre">(env_ids,</span> <span class="pre">obj_ids)</span></code> API.
+While the user could also create multiple rigid objects by spawning them individually, the API is more user-friendly and
+more efficient since it uses a single physics view under the hood to handle all the objects.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># object collection</span>
+<span class="n">object_collection</span><span class="p">:</span> <span class="n">RigidObjectCollectionCfg</span> <span class="o">=</span> <span class="n">RigidObjectCollectionCfg</span><span class="p">(</span>
+    <span class="n">rigid_objects</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;object_A&quot;</span><span class="p">:</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+            <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Object_A&quot;</span><span class="p">,</span>
+            <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">SphereCfg</span><span class="p">(</span>
+                <span class="n">radius</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span>
+                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+                <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+                    <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span>
+                <span class="p">),</span>
+                <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+                <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+            <span class="p">),</span>
+            <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;object_B&quot;</span><span class="p">:</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+            <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Object_B&quot;</span><span class="p">,</span>
+            <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+                <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">),</span>
+                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+                <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+                    <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span>
+                <span class="p">),</span>
+                <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+                <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+            <span class="p">),</span>
+            <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;object_C&quot;</span><span class="p">:</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+            <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Object_C&quot;</span><span class="p">,</span>
+            <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+                <span class="n">radius</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span>
+                <span class="n">height</span><span class="o">=</span><span class="mf">0.3</span><span class="p">,</span>
+                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+                <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+                    <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span>
+                <span class="p">),</span>
+                <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+                <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+            <span class="p">),</span>
+            <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)),</span>
+        <span class="p">),</span>
+    <span class="p">}</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<p>The configuration <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionCfg" title="omni.isaac.lab.assets.RigidObjectCollectionCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObjectCollectionCfg</span></code></a> is used to create the collection. It’s attribute <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects" title="omni.isaac.lab.assets.RigidObjectCollectionCfg.rigid_objects"><code class="xref py py-attr docutils literal notranslate"><span class="pre">rigid_objects</span></code></a>
+is a dictionary containing <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg" title="omni.isaac.lab.assets.RigidObjectCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObjectCfg</span></code></a> objects. The keys serve as unique identifiers for each
+rigid object in the collection.</p>
+</section>
+<section id="spawning-different-assets-under-the-same-prim-path">
+<h2>Spawning different assets under the same prim path<a class="headerlink" href="#spawning-different-assets-under-the-same-prim-path" title="Permalink to this heading">#</a></h2>
+<p>It is possible to spawn different assets and USDs under the same prim path in each environment using the spawners
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MultiUsdFileCfg</span></code></a>:</p>
+<ul>
+<li><p>We set the spawn configuration in <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg" title="omni.isaac.lab.assets.RigidObjectCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObjectCfg</span></code></a> to be
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MultiAssetSpawnerCfg</span></code></a>:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nb">object</span><span class="p">:</span> <span class="n">RigidObjectCfg</span> <span class="o">=</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Object&quot;</span><span class="p">,</span>
+    <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MultiAssetSpawnerCfg</span><span class="p">(</span>
+        <span class="n">assets_cfg</span><span class="o">=</span><span class="p">[</span>
+            <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+                <span class="n">radius</span><span class="o">=</span><span class="mf">0.3</span><span class="p">,</span>
+                <span class="n">height</span><span class="o">=</span><span class="mf">0.6</span><span class="p">,</span>
+                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+            <span class="p">),</span>
+            <span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+                <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.3</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">),</span>
+                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+            <span class="p">),</span>
+            <span class="n">sim_utils</span><span class="o">.</span><span class="n">SphereCfg</span><span class="p">(</span>
+                <span class="n">radius</span><span class="o">=</span><span class="mf">0.3</span><span class="p">,</span>
+                <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+            <span class="p">),</span>
+        <span class="p">],</span>
+        <span class="n">random_choice</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+            <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span>
+        <span class="p">),</span>
+        <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+        <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+    <span class="p">),</span>
+    <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)),</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<p>This function allows you to define a list of different assets that can be spawned as rigid objects.
+When <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice" title="omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice"><code class="xref py py-attr docutils literal notranslate"><span class="pre">random_choice</span></code></a> is set to True, one asset from the list
+is randomly selected and spawned at the specified prim path.</p>
+</li>
+<li><p>Similarly, we set the spawn configuration in <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a> to be
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg" title="omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">MultiUsdFileCfg</span></code></a>:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">robot</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">ArticulationCfg</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Robot&quot;</span><span class="p">,</span>
+    <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MultiUsdFileCfg</span><span class="p">(</span>
+        <span class="n">usd_path</span><span class="o">=</span><span class="p">[</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/ANYbotics/ANYmal-C/anymal_c.usd&quot;</span><span class="p">,</span>
+            <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/ANYbotics/ANYmal-D/anymal_d.usd&quot;</span><span class="p">,</span>
+        <span class="p">],</span>
+        <span class="n">random_choice</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+            <span class="n">disable_gravity</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="n">retain_accelerations</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="n">linear_damping</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+            <span class="n">angular_damping</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+            <span class="n">max_linear_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+            <span class="n">max_angular_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+            <span class="n">max_depenetration_velocity</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+        <span class="p">),</span>
+        <span class="n">articulation_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ArticulationRootPropertiesCfg</span><span class="p">(</span>
+            <span class="n">enabled_self_collisions</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span>
+        <span class="p">),</span>
+        <span class="n">activate_contact_sensors</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="p">),</span>
+    <span class="n">init_state</span><span class="o">=</span><span class="n">ArticulationCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span>
+        <span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.6</span><span class="p">),</span>
+        <span class="n">joint_pos</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;.*HAA&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">,</span>  <span class="c1"># all HAA</span>
+            <span class="s2">&quot;.*F_HFE&quot;</span><span class="p">:</span> <span class="mf">0.4</span><span class="p">,</span>  <span class="c1"># both front HFE</span>
+            <span class="s2">&quot;.*H_HFE&quot;</span><span class="p">:</span> <span class="o">-</span><span class="mf">0.4</span><span class="p">,</span>  <span class="c1"># both hind HFE</span>
+            <span class="s2">&quot;.*F_KFE&quot;</span><span class="p">:</span> <span class="o">-</span><span class="mf">0.8</span><span class="p">,</span>  <span class="c1"># both front KFE</span>
+            <span class="s2">&quot;.*H_KFE&quot;</span><span class="p">:</span> <span class="mf">0.8</span><span class="p">,</span>  <span class="c1"># both hind KFE</span>
+        <span class="p">},</span>
+    <span class="p">),</span>
+    <span class="n">actuators</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;legs&quot;</span><span class="p">:</span> <span class="n">ANYDRIVE_3_LSTM_ACTUATOR_CFG</span><span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<p>Similar to before, this configuration allows the selection of different USD files representing articulated assets.</p>
+</li>
+</ul>
+<section id="things-to-note">
+<h3>Things to Note<a class="headerlink" href="#things-to-note" title="Permalink to this heading">#</a></h3>
+</section>
+<section id="similar-asset-structuring">
+<h3>Similar asset structuring<a class="headerlink" href="#similar-asset-structuring" title="Permalink to this heading">#</a></h3>
+<p>While spawning and handling multiple assets using the same physics interface (the rigid object or articulation classes),
+it is essential to have the assets at all the prim locations follow a similar structure. In case of an articulation,
+this means that they all must have the same number of links and joints, the same number of collision bodies and
+the same names for them. If that is not the case, the physics parsing of the prims can get affected and fail.</p>
+<p>The main purpose of this functionality is to enable the user to create randomized versions of the same asset,
+for example robots with different link lengths, or rigid objects with different collider shapes.</p>
+</section>
+<section id="disabling-physics-replication-in-interactive-scene">
+<h3>Disabling physics replication in interactive scene<a class="headerlink" href="#disabling-physics-replication-in-interactive-scene" title="Permalink to this heading">#</a></h3>
+<p>By default, the flag <code class="xref py py-attr docutils literal notranslate"><span class="pre">scene.InteractiveScene.replicate_physics</span></code> is set to True. This flag informs the physics
+engine that the simulation environments are copies of one another so it just needs to parse the first environment
+to understand the entire simulation scene. This helps speed up the simulation scene parsing.</p>
+<p>However, in the case of spawning different assets in different environments, this assumption does not hold
+anymore. Hence the flag <code class="xref py py-attr docutils literal notranslate"><span class="pre">scene.InteractiveScene.replicate_physics</span></code> must be disabled.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Set main camera</span>
+<span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">4.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">])</span>
+
+<span class="c1"># Design scene</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>To execute the script with multiple environments and randomized assets, use the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/multi_asset.py<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">2048</span>
+</pre></div>
+</div>
+<p>This command runs the simulation with 2048 environments, each with randomly selected assets.
+To stop the simulation, you can close the window, or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal.</p>
+</section>
+</section>
+
+
+                </article>
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+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rigid-object-collections">Rigid Object Collections</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#spawning-different-assets-under-the-same-prim-path">Spawning different assets under the same prim path</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#things-to-note">Things to Note</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#similar-asset-structuring">Similar asset structuring</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#disabling-physics-replication-in-interactive-scene">Disabling physics replication in interactive scene</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
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+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 current active has-children"><a class="reference internal" href="index.html">How-to Guides</a><details open="open"><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2 current active"><a class="current reference internal" href="#">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/contributing.html">Contribution Guidelines</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../refs/issues.html">Known Issues</a></li>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Recording Animations of Simulations</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#stage-recorder-settings">Stage Recorder Settings</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#example-usage">Example Usage</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="recording-animations-of-simulations">
+<h1>Recording Animations of Simulations<a class="headerlink" href="#recording-animations-of-simulations" title="Permalink to this heading">#</a></h1>
+<p>Omniverse includes tools to record animations of physics simulations. The <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_animation_stage-recorder.html">Stage Recorder</a> extension
+listens to all the motion and USD property changes within a USD stage and records them to a USD file.
+This file contains the time samples of the changes, which can be played back to render the animation.</p>
+<p>The timeSampled USD file only contains the changes to the stage. It uses the same hierarchy as the original
+stage at the time of recording. This allows adding the animation to the original stage, or to a different
+stage with the same hierarchy. The timeSampled file can be directly added as a sublayer to the original stage
+to play back the animation.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Omniverse only supports playing animation or playing physics on a USD prim at the same time. If you want to
+play back the animation of a USD prim, you need to disable the physics simulation on the prim.</p>
+</div>
+<p>In Isaac Lab, we directly use the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_animation_stage-recorder.html">Stage Recorder</a> extension to record the animation of the physics simulation.
+This is available as a feature in the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.BaseEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code></a> class.
+However, to record the animation of a simulation, you need to disable <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/usdrt/latest/docs/usd_fabric_usdrt.html">Fabric</a> to allow reading and writing
+all the changes (such as motion and USD properties) to the USD stage.</p>
+<section id="stage-recorder-settings">
+<h2>Stage Recorder Settings<a class="headerlink" href="#stage-recorder-settings" title="Permalink to this heading">#</a></h2>
+<p>Isaac Lab integration of the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_animation_stage-recorder.html">Stage Recorder</a> extension assumes certain default settings. If you want to change the
+settings, you can directly use the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_animation_stage-recorder.html">Stage Recorder</a> extension in the Omniverse Create application.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Settings used in base_env_window.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span>    <span class="k">def</span> <span class="nf">_toggle_recording_animation_fn</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">value</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
+<span class="linenos"> 2</span><span class="w">        </span><span class="sd">&quot;&quot;&quot;Toggles the animation recording.&quot;&quot;&quot;</span>
+<span class="linenos"> 3</span>        <span class="k">if</span> <span class="n">value</span><span class="p">:</span>
+<span class="linenos"> 4</span>            <span class="c1"># log directory to save the recording</span>
+<span class="linenos"> 5</span>            <span class="k">if</span> <span class="ow">not</span> <span class="nb">hasattr</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="s2">&quot;animation_log_dir&quot;</span><span class="p">):</span>
+<span class="linenos"> 6</span>                <span class="c1"># create a new log directory</span>
+<span class="linenos"> 7</span>                <span class="n">log_dir</span> <span class="o">=</span> <span class="n">datetime</span><span class="o">.</span><span class="n">now</span><span class="p">()</span><span class="o">.</span><span class="n">strftime</span><span class="p">(</span><span class="s2">&quot;%Y-%m-</span><span class="si">%d</span><span class="s2">_%H-%M-%S&quot;</span><span class="p">)</span>
+<span class="linenos"> 8</span>                <span class="bp">self</span><span class="o">.</span><span class="n">animation_log_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">getcwd</span><span class="p">(),</span> <span class="s2">&quot;recordings&quot;</span><span class="p">,</span> <span class="n">log_dir</span><span class="p">)</span>
+<span class="linenos"> 9</span>            <span class="c1"># start the recording</span>
+<span class="linenos">10</span>            <span class="n">_</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span>
+<span class="linenos">11</span>                <span class="s2">&quot;StartRecording&quot;</span><span class="p">,</span>
+<span class="linenos">12</span>                <span class="n">target_paths</span><span class="o">=</span><span class="p">[(</span><span class="s2">&quot;/World&quot;</span><span class="p">,</span> <span class="kc">True</span><span class="p">)],</span>
+<span class="linenos">13</span>                <span class="n">live_mode</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos">14</span>                <span class="n">use_frame_range</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">15</span>                <span class="n">start_frame</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos">16</span>                <span class="n">end_frame</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos">17</span>                <span class="n">use_preroll</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">18</span>                <span class="n">preroll_frame</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos">19</span>                <span class="n">record_to</span><span class="o">=</span><span class="s2">&quot;FILE&quot;</span><span class="p">,</span>
+<span class="linenos">20</span>                <span class="n">fps</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos">21</span>                <span class="n">apply_root_anim</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">22</span>                <span class="n">increment_name</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos">23</span>                <span class="n">record_folder</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">animation_log_dir</span><span class="p">,</span>
+<span class="linenos">24</span>                <span class="n">take_name</span><span class="o">=</span><span class="s2">&quot;TimeSample&quot;</span><span class="p">,</span>
+<span class="linenos">25</span>            <span class="p">)</span>
+<span class="linenos">26</span>        <span class="k">else</span><span class="p">:</span>
+<span class="linenos">27</span>            <span class="c1"># stop the recording</span>
+<span class="linenos">28</span>            <span class="n">_</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">commands</span><span class="o">.</span><span class="n">execute</span><span class="p">(</span><span class="s2">&quot;StopRecording&quot;</span><span class="p">)</span>
+<span class="linenos">29</span>            <span class="c1"># save the current stage</span>
+<span class="linenos">30</span>            <span class="n">stage</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">get_context</span><span class="p">()</span><span class="o">.</span><span class="n">get_stage</span><span class="p">()</span>
+<span class="linenos">31</span>            <span class="n">source_layer</span> <span class="o">=</span> <span class="n">stage</span><span class="o">.</span><span class="n">GetRootLayer</span><span class="p">()</span>
+<span class="linenos">32</span>            <span class="c1"># output the stage to a file</span>
+<span class="linenos">33</span>            <span class="n">stage_usd_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">animation_log_dir</span><span class="p">,</span> <span class="s2">&quot;Stage.usd&quot;</span><span class="p">)</span>
+<span class="linenos">34</span>            <span class="n">source_prim_path</span> <span class="o">=</span> <span class="s2">&quot;/&quot;</span>
+<span class="linenos">35</span>            <span class="c1"># creates empty anon layer</span>
+<span class="linenos">36</span>            <span class="n">temp_layer</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Find</span><span class="p">(</span><span class="n">stage_usd_path</span><span class="p">)</span>
+<span class="linenos">37</span>            <span class="k">if</span> <span class="n">temp_layer</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">38</span>                <span class="n">temp_layer</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Layer</span><span class="o">.</span><span class="n">CreateNew</span><span class="p">(</span><span class="n">stage_usd_path</span><span class="p">)</span>
+<span class="linenos">39</span>            <span class="n">temp_stage</span> <span class="o">=</span> <span class="n">Usd</span><span class="o">.</span><span class="n">Stage</span><span class="o">.</span><span class="n">Open</span><span class="p">(</span><span class="n">temp_layer</span><span class="p">)</span>
+<span class="linenos">40</span>            <span class="c1"># update stage data</span>
+<span class="linenos">41</span>            <span class="n">UsdGeom</span><span class="o">.</span><span class="n">SetStageUpAxis</span><span class="p">(</span><span class="n">temp_stage</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">GetStageUpAxis</span><span class="p">(</span><span class="n">stage</span><span class="p">))</span>
+<span class="linenos">42</span>            <span class="n">UsdGeom</span><span class="o">.</span><span class="n">SetStageMetersPerUnit</span><span class="p">(</span><span class="n">temp_stage</span><span class="p">,</span> <span class="n">UsdGeom</span><span class="o">.</span><span class="n">GetStageMetersPerUnit</span><span class="p">(</span><span class="n">stage</span><span class="p">))</span>
+<span class="linenos">43</span>            <span class="c1"># copy the prim</span>
+<span class="linenos">44</span>            <span class="n">Sdf</span><span class="o">.</span><span class="n">CreatePrimInLayer</span><span class="p">(</span><span class="n">temp_layer</span><span class="p">,</span> <span class="n">source_prim_path</span><span class="p">)</span>
+<span class="linenos">45</span>            <span class="n">Sdf</span><span class="o">.</span><span class="n">CopySpec</span><span class="p">(</span><span class="n">source_layer</span><span class="p">,</span> <span class="n">source_prim_path</span><span class="p">,</span> <span class="n">temp_layer</span><span class="p">,</span> <span class="n">source_prim_path</span><span class="p">)</span>
+<span class="linenos">46</span>            <span class="c1"># set the default prim</span>
+<span class="linenos">47</span>            <span class="n">temp_layer</span><span class="o">.</span><span class="n">defaultPrim</span> <span class="o">=</span> <span class="n">Sdf</span><span class="o">.</span><span class="n">Path</span><span class="p">(</span><span class="n">source_prim_path</span><span class="p">)</span><span class="o">.</span><span class="n">name</span>
+<span class="linenos">48</span>            <span class="c1"># remove all physics from the stage</span>
+<span class="linenos">49</span>            <span class="k">for</span> <span class="n">prim</span> <span class="ow">in</span> <span class="n">temp_stage</span><span class="o">.</span><span class="n">TraverseAll</span><span class="p">():</span>
+<span class="linenos">50</span>                <span class="c1"># skip if the prim is an instance</span>
+<span class="linenos">51</span>                <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsInstanceable</span><span class="p">():</span>
+<span class="linenos">52</span>                    <span class="k">continue</span>
+<span class="linenos">53</span>                <span class="c1"># if prim has articulation then disable it</span>
+<span class="linenos">54</span>                <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">):</span>
+<span class="linenos">55</span>                    <span class="n">prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">ArticulationRootAPI</span><span class="p">)</span>
+<span class="linenos">56</span>                    <span class="n">prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxArticulationAPI</span><span class="p">)</span>
+<span class="linenos">57</span>                <span class="c1"># if prim has rigid body then disable it</span>
+<span class="linenos">58</span>                <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">HasAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">):</span>
+<span class="linenos">59</span>                    <span class="n">prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">RigidBodyAPI</span><span class="p">)</span>
+<span class="linenos">60</span>                    <span class="n">prim</span><span class="o">.</span><span class="n">RemoveAPI</span><span class="p">(</span><span class="n">PhysxSchema</span><span class="o">.</span><span class="n">PhysxRigidBodyAPI</span><span class="p">)</span>
+<span class="linenos">61</span>                <span class="c1"># if prim is a joint type then disable it</span>
+<span class="linenos">62</span>                <span class="k">if</span> <span class="n">prim</span><span class="o">.</span><span class="n">IsA</span><span class="p">(</span><span class="n">UsdPhysics</span><span class="o">.</span><span class="n">Joint</span><span class="p">):</span>
+<span class="linenos">63</span>                    <span class="n">prim</span><span class="o">.</span><span class="n">GetAttribute</span><span class="p">(</span><span class="s2">&quot;physics:jointEnabled&quot;</span><span class="p">)</span><span class="o">.</span><span class="n">Set</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
+<span class="linenos">64</span>            <span class="c1"># resolve all paths relative to layer path</span>
+<span class="linenos">65</span>            <span class="n">omni</span><span class="o">.</span><span class="n">usd</span><span class="o">.</span><span class="n">resolve_paths</span><span class="p">(</span><span class="n">source_layer</span><span class="o">.</span><span class="n">identifier</span><span class="p">,</span> <span class="n">temp_layer</span><span class="o">.</span><span class="n">identifier</span><span class="p">)</span>
+<span class="linenos">66</span>            <span class="c1"># save the stage</span>
+<span class="linenos">67</span>            <span class="n">temp_layer</span><span class="o">.</span><span class="n">Save</span><span class="p">()</span>
+<span class="linenos">68</span>            <span class="c1"># print the path to the saved stage</span>
+<span class="linenos">69</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Recording completed.&quot;</span><span class="p">)</span>
+<span class="linenos">70</span>            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Saved recorded stage to    : </span><span class="si">{</span><span class="n">stage_usd_path</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">71</span>            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="se">\t</span><span class="s2">Saved recorded animation to: </span><span class="si">{</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">animation_log_dir</span><span class="p">,</span><span class="w"> </span><span class="s1">&#39;TimeSample_tk001.usd&#39;</span><span class="p">)</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">72</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">To play the animation, check the instructions in the following link:&quot;</span><span class="p">)</span>
+<span class="linenos">73</span>            <span class="nb">print</span><span class="p">(</span>
+<span class="linenos">74</span>                <span class="s2">&quot;</span><span class="se">\t</span><span class="s2">https://docs.omniverse.nvidia.com/extensions/latest/ext_animation_stage-recorder.html#using-the-captured-timesamples&quot;</span>
+<span class="linenos">75</span>            <span class="p">)</span>
+<span class="linenos">76</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">77</span>            <span class="c1"># reset the log directory</span>
+<span class="linenos">78</span>            <span class="bp">self</span><span class="o">.</span><span class="n">animation_log_dir</span> <span class="o">=</span> <span class="kc">None</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="example-usage">
+<h2>Example Usage<a class="headerlink" href="#example-usage" title="Permalink to this heading">#</a></h2>
+<p>In all environment standalone scripts, Fabric can be disabled by passing the <code class="docutils literal notranslate"><span class="pre">--disable_fabric</span></code> flag to the script.
+Here we run the state-machine example and record the animation of the simulation.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/environments/state_machine/lift_cube_sm.py<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">8</span><span class="w"> </span>--device<span class="w"> </span>cpu<span class="w"> </span>--disable_fabric
+</pre></div>
+</div>
+<p>On running the script, the Isaac Lab UI window opens with the button “Record Animation” in the toolbar.
+Clicking this button starts recording the animation of the simulation. On clicking the button again, the
+recording stops. The recorded animation and the original stage (with all physics disabled) are saved
+to the <code class="docutils literal notranslate"><span class="pre">recordings</span></code> folder in the current working directory. The files are stored in the <code class="docutils literal notranslate"><span class="pre">usd</span></code> format:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">Stage.usd</span></code>: The original stage with all physics disabled</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">TimeSample_tk001.usd</span></code>: The timeSampled file containing the recorded animation</p></li>
+</ul>
+<p>You can open Omniverse Isaac Sim application to play back the animation. There are many ways to launch
+the application (such as from terminal or <a class="reference external" href="https://docs.omniverse.nvidia.com/launcher/latest/index.html">Omniverse Launcher</a>). Here we use the terminal to open the
+application and play the animation.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-s<span class="w">  </span><span class="c1"># Opens Isaac Sim application through _isaac_sim/isaac-sim.sh</span>
+</pre></div>
+</div>
+<p>On a new stage, add the <code class="docutils literal notranslate"><span class="pre">Stage.usd</span></code> as a sublayer and then add the <code class="docutils literal notranslate"><span class="pre">TimeSample_tk001.usd</span></code> as a sublayer.
+You can do this by dragging and dropping the files from the file explorer to the stage. Please check out
+the <a class="reference external" href="https://www.youtube.com/watch?v=LTwmNkSDh-c&amp;ab_channel=NVIDIAOmniverse">tutorial on layering in Omniverse</a> for more details.</p>
+<p>You can then play the animation by pressing the play button.</p>
+</section>
+</section>
+
+
+                </article>
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new file mode 100644
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+    <h1>Recording video clips during training</h1>
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+  <section id="recording-video-clips-during-training">
+<h1>Recording video clips during training<a class="headerlink" href="#recording-video-clips-during-training" title="Permalink to this heading">#</a></h1>
+<p>Isaac Lab supports recording video clips during training using the
+<a class="reference external" href="https://gymnasium.farama.org/main/_modules/gymnasium/wrappers/record_video/">gymnasium.wrappers.RecordVideo</a> class.</p>
+<p>This feature can be enabled by installing <code class="docutils literal notranslate"><span class="pre">ffmpeg</span></code> and using the following command line arguments with the training
+script:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">--video</span></code>: enables video recording during training</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">--video_length</span></code>: length of each recorded video (in steps)</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">--video_interval</span></code>: interval between each video recording (in steps)</p></li>
+</ul>
+<p>Make sure to also add the <code class="docutils literal notranslate"><span class="pre">--enable_cameras</span></code> argument when running headless.
+Note that enabling recording is equivalent to enabling rendering during training, which will slow down both startup and runtime performance.</p>
+<p>Example usage:</p>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--video<span class="w"> </span>--video_length<span class="w"> </span><span class="m">100</span><span class="w"> </span>--video_interval<span class="w"> </span><span class="m">500</span>
+</pre></div>
+</div>
+<p>The recorded videos will be saved in the same directory as the training checkpoints, under
+<code class="docutils literal notranslate"><span class="pre">IsaacLab/logs/&lt;rl_workflow&gt;/&lt;task&gt;/&lt;run&gt;/videos/train</span></code>.</p>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Saving rendered images and 3D re-projection</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#saving-using-replicator-basic-writer">Saving using Replicator Basic Writer</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#projection-into-3d-space">Projection into 3D Space</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#executing-the-script">Executing the script</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="saving-rendered-images-and-3d-re-projection">
+<span id="how-to-save-images-and-3d-reprojection"></span><h1>Saving rendered images and 3D re-projection<a class="headerlink" href="#saving-rendered-images-and-3d-re-projection" title="Permalink to this heading">#</a></h1>
+<p>This guide accompanied with the <code class="docutils literal notranslate"><span class="pre">run_usd_camera.py</span></code> script in the <code class="docutils literal notranslate"><span class="pre">IsaacLab/source/standalone/tutorials/04_sensors</span></code>
+directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for run_usd_camera.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">  7</span><span class="sd">This script shows how to use the camera sensor from the Isaac Lab framework.</span>
+<span class="linenos">  8</span>
+<span class="linenos">  9</span><span class="sd">The camera sensor is created and interfaced through the Omniverse Replicator API. However, instead of using</span>
+<span class="linenos"> 10</span><span class="sd">the simulator or OpenGL convention for the camera, we use the robotics or ROS convention.</span>
+<span class="linenos"> 11</span>
+<span class="linenos"> 12</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos"> 13</span>
+<span class="linenos"> 14</span><span class="sd">    # Usage with GUI</span>
+<span class="linenos"> 15</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py --enable_cameras</span>
+<span class="linenos"> 16</span>
+<span class="linenos"> 17</span><span class="sd">    # Usage with headless</span>
+<span class="linenos"> 18</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/04_sensors/run_usd_camera.py --headless --enable_cameras</span>
+<span class="linenos"> 19</span>
+<span class="linenos"> 20</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 21</span>
+<span class="linenos"> 22</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 23</span>
+<span class="linenos"> 24</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 25</span>
+<span class="linenos"> 26</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 27</span>
+<span class="linenos"> 28</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 29</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;This script demonstrates how to use the camera sensor.&quot;</span><span class="p">)</span>
+<span class="linenos"> 30</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos"> 31</span>    <span class="s2">&quot;--draw&quot;</span><span class="p">,</span>
+<span class="linenos"> 32</span>    <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span>
+<span class="linenos"> 33</span>    <span class="n">default</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos"> 34</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Draw the pointcloud from camera at index specified by ``--camera_id``.&quot;</span><span class="p">,</span>
+<span class="linenos"> 35</span><span class="p">)</span>
+<span class="linenos"> 36</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos"> 37</span>    <span class="s2">&quot;--save&quot;</span><span class="p">,</span>
+<span class="linenos"> 38</span>    <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span>
+<span class="linenos"> 39</span>    <span class="n">default</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos"> 40</span>    <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Save the data from camera at index specified by ``--camera_id``.&quot;</span><span class="p">,</span>
+<span class="linenos"> 41</span><span class="p">)</span>
+<span class="linenos"> 42</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos"> 43</span>    <span class="s2">&quot;--camera_id&quot;</span><span class="p">,</span>
+<span class="linenos"> 44</span>    <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span>
+<span class="linenos"> 45</span>    <span class="n">choices</span><span class="o">=</span><span class="p">{</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">},</span>
+<span class="linenos"> 46</span>    <span class="n">default</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos"> 47</span>    <span class="n">help</span><span class="o">=</span><span class="p">(</span>
+<span class="linenos"> 48</span>        <span class="s2">&quot;The camera ID to use for displaying points or saving the camera data. Default is 0.&quot;</span>
+<span class="linenos"> 49</span>        <span class="s2">&quot; The viewport will always initialize with the perspective of camera 0.&quot;</span>
+<span class="linenos"> 50</span>    <span class="p">),</span>
+<span class="linenos"> 51</span><span class="p">)</span>
+<span class="linenos"> 52</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 53</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 54</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 55</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 56</span>
+<span class="linenos"> 57</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 58</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 59</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 60</span>
+<span class="linenos"> 61</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 62</span>
+<span class="linenos"> 63</span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="linenos"> 64</span><span class="kn">import</span> <span class="nn">os</span>
+<span class="linenos"> 65</span><span class="kn">import</span> <span class="nn">random</span>
+<span class="linenos"> 66</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 67</span>
+<span class="linenos"> 68</span><span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="linenos"> 69</span><span class="kn">import</span> <span class="nn">omni.replicator.core</span> <span class="k">as</span> <span class="nn">rep</span>
+<span class="linenos"> 70</span>
+<span class="linenos"> 71</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 72</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">RigidObject</span><span class="p">,</span> <span class="n">RigidObjectCfg</span>
+<span class="linenos"> 73</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkers</span>
+<span class="linenos"> 74</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.markers.config</span> <span class="kn">import</span> <span class="n">RAY_CASTER_MARKER_CFG</span>
+<span class="linenos"> 75</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors.camera</span> <span class="kn">import</span> <span class="n">Camera</span><span class="p">,</span> <span class="n">CameraCfg</span>
+<span class="linenos"> 76</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors.camera.utils</span> <span class="kn">import</span> <span class="n">create_pointcloud_from_depth</span>
+<span class="linenos"> 77</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">convert_dict_to_backend</span>
+<span class="linenos"> 78</span>
+<span class="linenos"> 79</span>
+<span class="linenos"> 80</span><span class="k">def</span> <span class="nf">define_sensor</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">Camera</span><span class="p">:</span>
+<span class="linenos"> 81</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Defines the camera sensor to add to the scene.&quot;&quot;&quot;</span>
+<span class="linenos"> 82</span>    <span class="c1"># Setup camera sensor</span>
+<span class="linenos"> 83</span>    <span class="c1"># In contrast to the ray-cast camera, we spawn the prim at these locations.</span>
+<span class="linenos"> 84</span>    <span class="c1"># This means the camera sensor will be attached to these prims.</span>
+<span class="linenos"> 85</span>    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="s2">&quot;/World/Origin_00&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+<span class="linenos"> 86</span>    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="s2">&quot;/World/Origin_01&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+<span class="linenos"> 87</span>    <span class="n">camera_cfg</span> <span class="o">=</span> <span class="n">CameraCfg</span><span class="p">(</span>
+<span class="linenos"> 88</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Origin_.*/CameraSensor&quot;</span><span class="p">,</span>
+<span class="linenos"> 89</span>        <span class="n">update_period</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos"> 90</span>        <span class="n">height</span><span class="o">=</span><span class="mi">480</span><span class="p">,</span>
+<span class="linenos"> 91</span>        <span class="n">width</span><span class="o">=</span><span class="mi">640</span><span class="p">,</span>
+<span class="linenos"> 92</span>        <span class="n">data_types</span><span class="o">=</span><span class="p">[</span>
+<span class="linenos"> 93</span>            <span class="s2">&quot;rgb&quot;</span><span class="p">,</span>
+<span class="linenos"> 94</span>            <span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">,</span>
+<span class="linenos"> 95</span>            <span class="s2">&quot;normals&quot;</span><span class="p">,</span>
+<span class="linenos"> 96</span>            <span class="s2">&quot;semantic_segmentation&quot;</span><span class="p">,</span>
+<span class="linenos"> 97</span>            <span class="s2">&quot;instance_segmentation_fast&quot;</span><span class="p">,</span>
+<span class="linenos"> 98</span>            <span class="s2">&quot;instance_id_segmentation_fast&quot;</span><span class="p">,</span>
+<span class="linenos"> 99</span>        <span class="p">],</span>
+<span class="linenos">100</span>        <span class="n">colorize_semantic_segmentation</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos">101</span>        <span class="n">colorize_instance_id_segmentation</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos">102</span>        <span class="n">colorize_instance_segmentation</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos">103</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PinholeCameraCfg</span><span class="p">(</span>
+<span class="linenos">104</span>            <span class="n">focal_length</span><span class="o">=</span><span class="mf">24.0</span><span class="p">,</span> <span class="n">focus_distance</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span> <span class="n">horizontal_aperture</span><span class="o">=</span><span class="mf">20.955</span><span class="p">,</span> <span class="n">clipping_range</span><span class="o">=</span><span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">1.0e5</span><span class="p">)</span>
+<span class="linenos">105</span>        <span class="p">),</span>
+<span class="linenos">106</span>    <span class="p">)</span>
+<span class="linenos">107</span>    <span class="c1"># Create camera</span>
+<span class="linenos">108</span>    <span class="n">camera</span> <span class="o">=</span> <span class="n">Camera</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">camera_cfg</span><span class="p">)</span>
+<span class="linenos">109</span>
+<span class="linenos">110</span>    <span class="k">return</span> <span class="n">camera</span>
+<span class="linenos">111</span>
+<span class="linenos">112</span>
+<span class="linenos">113</span><span class="k">def</span> <span class="nf">design_scene</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="linenos">114</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Design the scene.&quot;&quot;&quot;</span>
+<span class="linenos">115</span>    <span class="c1"># Populate scene</span>
+<span class="linenos">116</span>    <span class="c1"># -- Ground-plane</span>
+<span class="linenos">117</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">()</span>
+<span class="linenos">118</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="linenos">119</span>    <span class="c1"># -- Lights</span>
+<span class="linenos">120</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DistantLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos">121</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="linenos">122</span>
+<span class="linenos">123</span>    <span class="c1"># Create a dictionary for the scene entities</span>
+<span class="linenos">124</span>    <span class="n">scene_entities</span> <span class="o">=</span> <span class="p">{}</span>
+<span class="linenos">125</span>
+<span class="linenos">126</span>    <span class="c1"># Xform to hold objects</span>
+<span class="linenos">127</span>    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="s2">&quot;/World/Objects&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+<span class="linenos">128</span>    <span class="c1"># Random objects</span>
+<span class="linenos">129</span>    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">8</span><span class="p">):</span>
+<span class="linenos">130</span>        <span class="c1"># sample random position</span>
+<span class="linenos">131</span>        <span class="n">position</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span> <span class="o">-</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">0.05</span><span class="p">,</span> <span class="mf">0.05</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">])</span>
+<span class="linenos">132</span>        <span class="n">position</span> <span class="o">*=</span> <span class="n">np</span><span class="o">.</span><span class="n">asarray</span><span class="p">([</span><span class="mf">1.5</span><span class="p">,</span> <span class="mf">1.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">])</span>
+<span class="linenos">133</span>        <span class="c1"># sample random color</span>
+<span class="linenos">134</span>        <span class="n">color</span> <span class="o">=</span> <span class="p">(</span><span class="n">random</span><span class="o">.</span><span class="n">random</span><span class="p">(),</span> <span class="n">random</span><span class="o">.</span><span class="n">random</span><span class="p">(),</span> <span class="n">random</span><span class="o">.</span><span class="n">random</span><span class="p">())</span>
+<span class="linenos">135</span>        <span class="c1"># choose random prim type</span>
+<span class="linenos">136</span>        <span class="n">prim_type</span> <span class="o">=</span> <span class="n">random</span><span class="o">.</span><span class="n">choice</span><span class="p">([</span><span class="s2">&quot;Cube&quot;</span><span class="p">,</span> <span class="s2">&quot;Cone&quot;</span><span class="p">,</span> <span class="s2">&quot;Cylinder&quot;</span><span class="p">])</span>
+<span class="linenos">137</span>        <span class="n">common_properties</span> <span class="o">=</span> <span class="p">{</span>
+<span class="linenos">138</span>            <span class="s2">&quot;rigid_props&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(),</span>
+<span class="linenos">139</span>            <span class="s2">&quot;mass_props&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">5.0</span><span class="p">),</span>
+<span class="linenos">140</span>            <span class="s2">&quot;collision_props&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+<span class="linenos">141</span>            <span class="s2">&quot;visual_material&quot;</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="n">color</span><span class="p">,</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.5</span><span class="p">),</span>
+<span class="linenos">142</span>            <span class="s2">&quot;semantic_tags&quot;</span><span class="p">:</span> <span class="p">[(</span><span class="s2">&quot;class&quot;</span><span class="p">,</span> <span class="n">prim_type</span><span class="p">)],</span>
+<span class="linenos">143</span>        <span class="p">}</span>
+<span class="linenos">144</span>        <span class="k">if</span> <span class="n">prim_type</span> <span class="o">==</span> <span class="s2">&quot;Cube&quot;</span><span class="p">:</span>
+<span class="linenos">145</span>            <span class="n">shape_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span><span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">),</span> <span class="o">**</span><span class="n">common_properties</span><span class="p">)</span>
+<span class="linenos">146</span>        <span class="k">elif</span> <span class="n">prim_type</span> <span class="o">==</span> <span class="s2">&quot;Cone&quot;</span><span class="p">:</span>
+<span class="linenos">147</span>            <span class="n">shape_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span><span class="n">radius</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">**</span><span class="n">common_properties</span><span class="p">)</span>
+<span class="linenos">148</span>        <span class="k">elif</span> <span class="n">prim_type</span> <span class="o">==</span> <span class="s2">&quot;Cylinder&quot;</span><span class="p">:</span>
+<span class="linenos">149</span>            <span class="n">shape_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CylinderCfg</span><span class="p">(</span><span class="n">radius</span><span class="o">=</span><span class="mf">0.25</span><span class="p">,</span> <span class="n">height</span><span class="o">=</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">**</span><span class="n">common_properties</span><span class="p">)</span>
+<span class="linenos">150</span>        <span class="c1"># Rigid Object</span>
+<span class="linenos">151</span>        <span class="n">obj_cfg</span> <span class="o">=</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+<span class="linenos">152</span>            <span class="n">prim_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;/World/Objects/Obj_</span><span class="si">{</span><span class="n">i</span><span class="si">:</span><span class="s2">02d</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span>
+<span class="linenos">153</span>            <span class="n">spawn</span><span class="o">=</span><span class="n">shape_cfg</span><span class="p">,</span>
+<span class="linenos">154</span>            <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="n">position</span><span class="p">),</span>
+<span class="linenos">155</span>        <span class="p">)</span>
+<span class="linenos">156</span>        <span class="n">scene_entities</span><span class="p">[</span><span class="sa">f</span><span class="s2">&quot;rigid_object</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">RigidObject</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">obj_cfg</span><span class="p">)</span>
+<span class="linenos">157</span>
+<span class="linenos">158</span>    <span class="c1"># Sensors</span>
+<span class="linenos">159</span>    <span class="n">camera</span> <span class="o">=</span> <span class="n">define_sensor</span><span class="p">()</span>
+<span class="linenos">160</span>
+<span class="linenos">161</span>    <span class="c1"># return the scene information</span>
+<span class="linenos">162</span>    <span class="n">scene_entities</span><span class="p">[</span><span class="s2">&quot;camera&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">camera</span>
+<span class="linenos">163</span>    <span class="k">return</span> <span class="n">scene_entities</span>
+<span class="linenos">164</span>
+<span class="linenos">165</span>
+<span class="linenos">166</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene_entities</span><span class="p">:</span> <span class="nb">dict</span><span class="p">):</span>
+<span class="linenos">167</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Run the simulator.&quot;&quot;&quot;</span>
+<span class="linenos">168</span>    <span class="c1"># extract entities for simplified notation</span>
+<span class="linenos">169</span>    <span class="n">camera</span><span class="p">:</span> <span class="n">Camera</span> <span class="o">=</span> <span class="n">scene_entities</span><span class="p">[</span><span class="s2">&quot;camera&quot;</span><span class="p">]</span>
+<span class="linenos">170</span>
+<span class="hll"><span class="linenos">171</span>    <span class="c1"># Create replicator writer</span>
+</span><span class="hll"><span class="linenos">172</span>    <span class="n">output_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">realpath</span><span class="p">(</span><span class="vm">__file__</span><span class="p">)),</span> <span class="s2">&quot;output&quot;</span><span class="p">,</span> <span class="s2">&quot;camera&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">173</span>    <span class="n">rep_writer</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">BasicWriter</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">174</span>        <span class="n">output_dir</span><span class="o">=</span><span class="n">output_dir</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">175</span>        <span class="n">frame_padding</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">176</span>        <span class="n">colorize_instance_id_segmentation</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_id_segmentation</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">177</span>        <span class="n">colorize_instance_segmentation</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_segmentation</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">178</span>        <span class="n">colorize_semantic_segmentation</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_semantic_segmentation</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">179</span>    <span class="p">)</span>
+</span><span class="linenos">180</span>
+<span class="linenos">181</span>    <span class="c1"># Camera positions, targets, orientations</span>
+<span class="linenos">182</span>    <span class="n">camera_positions</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([[</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">2.5</span><span class="p">,</span> <span class="o">-</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">]],</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">183</span>    <span class="n">camera_targets</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]],</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">184</span>    <span class="c1"># These orientations are in ROS-convention, and will position the cameras to view the origin</span>
+<span class="linenos">185</span>    <span class="n">camera_orientations</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span>  <span class="c1"># noqa: F841</span>
+<span class="linenos">186</span>        <span class="p">[[</span><span class="o">-</span><span class="mf">0.1759</span><span class="p">,</span> <span class="mf">0.3399</span><span class="p">,</span> <span class="mf">0.8205</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.4247</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.4247</span><span class="p">,</span> <span class="mf">0.8205</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.3399</span><span class="p">,</span> <span class="mf">0.1759</span><span class="p">]],</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span>
+<span class="linenos">187</span>    <span class="p">)</span>
+<span class="linenos">188</span>
+<span class="linenos">189</span>    <span class="c1"># Set pose: There are two ways to set the pose of the camera.</span>
+<span class="linenos">190</span>    <span class="c1"># -- Option-1: Set pose using view</span>
+<span class="linenos">191</span>    <span class="n">camera</span><span class="o">.</span><span class="n">set_world_poses_from_view</span><span class="p">(</span><span class="n">camera_positions</span><span class="p">,</span> <span class="n">camera_targets</span><span class="p">)</span>
+<span class="linenos">192</span>    <span class="c1"># -- Option-2: Set pose using ROS</span>
+<span class="linenos">193</span>    <span class="c1"># camera.set_world_poses(camera_positions, camera_orientations, convention=&quot;ros&quot;)</span>
+<span class="linenos">194</span>
+<span class="linenos">195</span>    <span class="c1"># Index of the camera to use for visualization and saving</span>
+<span class="linenos">196</span>    <span class="n">camera_index</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">camera_id</span>
+<span class="linenos">197</span>
+<span class="linenos">198</span>    <span class="c1"># Create the markers for the --draw option outside of is_running() loop</span>
+<span class="linenos">199</span>    <span class="k">if</span> <span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">()</span> <span class="ow">and</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">draw</span><span class="p">:</span>
+<span class="linenos">200</span>        <span class="n">cfg</span> <span class="o">=</span> <span class="n">RAY_CASTER_MARKER_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/CameraPointCloud&quot;</span><span class="p">)</span>
+<span class="linenos">201</span>        <span class="n">cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">[</span><span class="s2">&quot;hit&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">radius</span> <span class="o">=</span> <span class="mf">0.002</span>
+<span class="linenos">202</span>        <span class="n">pc_markers</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="n">cfg</span><span class="p">)</span>
+<span class="linenos">203</span>
+<span class="linenos">204</span>    <span class="c1"># Simulate physics</span>
+<span class="linenos">205</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos">206</span>        <span class="c1"># Step simulation</span>
+<span class="linenos">207</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">208</span>        <span class="c1"># Update camera data</span>
+<span class="linenos">209</span>        <span class="n">camera</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">())</span>
+<span class="linenos">210</span>
+<span class="linenos">211</span>        <span class="c1"># Print camera info</span>
+<span class="linenos">212</span>        <span class="nb">print</span><span class="p">(</span><span class="n">camera</span><span class="p">)</span>
+<span class="linenos">213</span>        <span class="k">if</span> <span class="s2">&quot;rgb&quot;</span> <span class="ow">in</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+<span class="linenos">214</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received shape of rgb image        : &quot;</span><span class="p">,</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+<span class="linenos">215</span>        <span class="k">if</span> <span class="s2">&quot;distance_to_image_plane&quot;</span> <span class="ow">in</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+<span class="linenos">216</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received shape of depth image      : &quot;</span><span class="p">,</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+<span class="linenos">217</span>        <span class="k">if</span> <span class="s2">&quot;normals&quot;</span> <span class="ow">in</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+<span class="linenos">218</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received shape of normals          : &quot;</span><span class="p">,</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;normals&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+<span class="linenos">219</span>        <span class="k">if</span> <span class="s2">&quot;semantic_segmentation&quot;</span> <span class="ow">in</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+<span class="linenos">220</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received shape of semantic segm.   : &quot;</span><span class="p">,</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;semantic_segmentation&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+<span class="linenos">221</span>        <span class="k">if</span> <span class="s2">&quot;instance_segmentation_fast&quot;</span> <span class="ow">in</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+<span class="linenos">222</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received shape of instance segm.   : &quot;</span><span class="p">,</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;instance_segmentation_fast&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+<span class="linenos">223</span>        <span class="k">if</span> <span class="s2">&quot;instance_id_segmentation_fast&quot;</span> <span class="ow">in</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+<span class="linenos">224</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received shape of instance id segm.: &quot;</span><span class="p">,</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;instance_id_segmentation_fast&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+<span class="linenos">225</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+<span class="linenos">226</span>
+<span class="linenos">227</span>        <span class="c1"># Extract camera data</span>
+<span class="linenos">228</span>        <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">save</span><span class="p">:</span>
+<span class="hll"><span class="linenos">229</span>            <span class="c1"># Save images from camera at camera_index</span>
+</span><span class="hll"><span class="linenos">230</span>            <span class="c1"># note: BasicWriter only supports saving data in numpy format, so we need to convert the data to numpy.</span>
+</span><span class="hll"><span class="linenos">231</span>            <span class="n">single_cam_data</span> <span class="o">=</span> <span class="n">convert_dict_to_backend</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">232</span>                <span class="p">{</span><span class="n">k</span><span class="p">:</span> <span class="n">v</span><span class="p">[</span><span class="n">camera_index</span><span class="p">]</span> <span class="k">for</span> <span class="n">k</span><span class="p">,</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">items</span><span class="p">()},</span> <span class="n">backend</span><span class="o">=</span><span class="s2">&quot;numpy&quot;</span>
+</span><span class="hll"><span class="linenos">233</span>            <span class="p">)</span>
+</span><span class="hll"><span class="linenos">234</span>
+</span><span class="hll"><span class="linenos">235</span>            <span class="c1"># Extract the other information</span>
+</span><span class="hll"><span class="linenos">236</span>            <span class="n">single_cam_info</span> <span class="o">=</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">info</span><span class="p">[</span><span class="n">camera_index</span><span class="p">]</span>
+</span><span class="hll"><span class="linenos">237</span>
+</span><span class="hll"><span class="linenos">238</span>            <span class="c1"># Pack data back into replicator format to save them using its writer</span>
+</span><span class="hll"><span class="linenos">239</span>            <span class="n">rep_output</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;annotators&quot;</span><span class="p">:</span> <span class="p">{}}</span>
+</span><span class="hll"><span class="linenos">240</span>            <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">data</span><span class="p">,</span> <span class="n">info</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">single_cam_data</span><span class="o">.</span><span class="n">keys</span><span class="p">(),</span> <span class="n">single_cam_data</span><span class="o">.</span><span class="n">values</span><span class="p">(),</span> <span class="n">single_cam_info</span><span class="o">.</span><span class="n">values</span><span class="p">()):</span>
+</span><span class="hll"><span class="linenos">241</span>                <span class="k">if</span> <span class="n">info</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos">242</span>                    <span class="n">rep_output</span><span class="p">[</span><span class="s2">&quot;annotators&quot;</span><span class="p">][</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;render_product&quot;</span><span class="p">:</span> <span class="p">{</span><span class="s2">&quot;data&quot;</span><span class="p">:</span> <span class="n">data</span><span class="p">,</span> <span class="o">**</span><span class="n">info</span><span class="p">}}</span>
+</span><span class="hll"><span class="linenos">243</span>                <span class="k">else</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos">244</span>                    <span class="n">rep_output</span><span class="p">[</span><span class="s2">&quot;annotators&quot;</span><span class="p">][</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;render_product&quot;</span><span class="p">:</span> <span class="p">{</span><span class="s2">&quot;data&quot;</span><span class="p">:</span> <span class="n">data</span><span class="p">}}</span>
+</span><span class="hll"><span class="linenos">245</span>            <span class="c1"># Save images</span>
+</span><span class="hll"><span class="linenos">246</span>            <span class="c1"># Note: We need to provide On-time data for Replicator to save the images.</span>
+</span><span class="hll"><span class="linenos">247</span>            <span class="n">rep_output</span><span class="p">[</span><span class="s2">&quot;trigger_outputs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;on_time&quot;</span><span class="p">:</span> <span class="n">camera</span><span class="o">.</span><span class="n">frame</span><span class="p">[</span><span class="n">camera_index</span><span class="p">]}</span>
+</span><span class="linenos">248</span>            <span class="n">rep_writer</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="n">rep_output</span><span class="p">)</span>
+<span class="linenos">249</span>
+<span class="linenos">250</span>        <span class="c1"># Draw pointcloud if there is a GUI and --draw has been passed</span>
+<span class="hll"><span class="linenos">251</span>        <span class="k">if</span> <span class="n">sim</span><span class="o">.</span><span class="n">has_gui</span><span class="p">()</span> <span class="ow">and</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">draw</span> <span class="ow">and</span> <span class="s2">&quot;distance_to_image_plane&quot;</span> <span class="ow">in</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">keys</span><span class="p">():</span>
+</span><span class="hll"><span class="linenos">252</span>            <span class="c1"># Derive pointcloud from camera at camera_index</span>
+</span><span class="hll"><span class="linenos">253</span>            <span class="n">pointcloud</span> <span class="o">=</span> <span class="n">create_pointcloud_from_depth</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">254</span>                <span class="n">intrinsic_matrix</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
+</span><span class="hll"><span class="linenos">255</span>                <span class="n">depth</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">camera_index</span><span class="p">][</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">],</span>
+</span><span class="hll"><span class="linenos">256</span>                <span class="n">position</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
+</span><span class="hll"><span class="linenos">257</span>                <span class="n">orientation</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">quat_w_ros</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
+</span><span class="hll"><span class="linenos">258</span>                <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">259</span>            <span class="p">)</span>
+</span><span class="hll"><span class="linenos">260</span>
+</span><span class="hll"><span class="linenos">261</span>            <span class="c1"># In the first few steps, things are still being instanced and Camera.data</span>
+</span><span class="hll"><span class="linenos">262</span>            <span class="c1"># can be empty. If we attempt to visualize an empty pointcloud it will crash</span>
+</span><span class="hll"><span class="linenos">263</span>            <span class="c1"># the sim, so we check that the pointcloud is not empty.</span>
+</span><span class="hll"><span class="linenos">264</span>            <span class="k">if</span> <span class="n">pointcloud</span><span class="o">.</span><span class="n">size</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+</span><span class="linenos">265</span>                <span class="n">pc_markers</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">translations</span><span class="o">=</span><span class="n">pointcloud</span><span class="p">)</span>
+<span class="linenos">266</span>
+<span class="linenos">267</span>
+<span class="linenos">268</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">269</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">270</span>    <span class="c1"># Load simulation context</span>
+<span class="linenos">271</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">272</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">273</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">274</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+<span class="linenos">275</span>    <span class="c1"># design the scene</span>
+<span class="linenos">276</span>    <span class="n">scene_entities</span> <span class="o">=</span> <span class="n">design_scene</span><span class="p">()</span>
+<span class="linenos">277</span>    <span class="c1"># Play simulator</span>
+<span class="linenos">278</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">279</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">280</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">281</span>    <span class="c1"># Run simulator</span>
+<span class="linenos">282</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene_entities</span><span class="p">)</span>
+<span class="linenos">283</span>
+<span class="linenos">284</span>
+<span class="linenos">285</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">286</span>    <span class="c1"># run the main function</span>
+<span class="linenos">287</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">288</span>    <span class="c1"># close sim app</span>
+<span class="linenos">289</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details><section id="saving-using-replicator-basic-writer">
+<h2>Saving using Replicator Basic Writer<a class="headerlink" href="#saving-using-replicator-basic-writer" title="Permalink to this heading">#</a></h2>
+<p>To save camera outputs, we use the basic write class from Omniverse Replicator. This class allows us to save the
+images in a numpy format. For more information on the basic writer, please check the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/writer_examples.html">documentation</a>.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="n">rep_writer</span> <span class="o">=</span> <span class="n">rep</span><span class="o">.</span><span class="n">BasicWriter</span><span class="p">(</span>
+        <span class="n">output_dir</span><span class="o">=</span><span class="n">output_dir</span><span class="p">,</span>
+        <span class="n">frame_padding</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+        <span class="n">colorize_instance_id_segmentation</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_id_segmentation</span><span class="p">,</span>
+        <span class="n">colorize_instance_segmentation</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_instance_segmentation</span><span class="p">,</span>
+        <span class="n">colorize_semantic_segmentation</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">colorize_semantic_segmentation</span><span class="p">,</span>
+    <span class="p">)</span>
+
+</pre></div>
+</div>
+<p>While stepping the simulator, the images can be saved to the defined folder. Since the BasicWriter only supports
+saving data using NumPy format, we first need to convert the PyTorch sensors to NumPy arrays before packing
+them in a dictionary.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># Save images from camera at camera_index</span>
+            <span class="c1"># note: BasicWriter only supports saving data in numpy format, so we need to convert the data to numpy.</span>
+            <span class="n">single_cam_data</span> <span class="o">=</span> <span class="n">convert_dict_to_backend</span><span class="p">(</span>
+                <span class="p">{</span><span class="n">k</span><span class="p">:</span> <span class="n">v</span><span class="p">[</span><span class="n">camera_index</span><span class="p">]</span> <span class="k">for</span> <span class="n">k</span><span class="p">,</span> <span class="n">v</span> <span class="ow">in</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="o">.</span><span class="n">items</span><span class="p">()},</span> <span class="n">backend</span><span class="o">=</span><span class="s2">&quot;numpy&quot;</span>
+            <span class="p">)</span>
+
+            <span class="c1"># Extract the other information</span>
+            <span class="n">single_cam_info</span> <span class="o">=</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">info</span><span class="p">[</span><span class="n">camera_index</span><span class="p">]</span>
+</pre></div>
+</div>
+<p>After this step, we can save the images using the BasicWriter.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># Pack data back into replicator format to save them using its writer</span>
+            <span class="n">rep_output</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;annotators&quot;</span><span class="p">:</span> <span class="p">{}}</span>
+            <span class="k">for</span> <span class="n">key</span><span class="p">,</span> <span class="n">data</span><span class="p">,</span> <span class="n">info</span> <span class="ow">in</span> <span class="nb">zip</span><span class="p">(</span><span class="n">single_cam_data</span><span class="o">.</span><span class="n">keys</span><span class="p">(),</span> <span class="n">single_cam_data</span><span class="o">.</span><span class="n">values</span><span class="p">(),</span> <span class="n">single_cam_info</span><span class="o">.</span><span class="n">values</span><span class="p">()):</span>
+                <span class="k">if</span> <span class="n">info</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+                    <span class="n">rep_output</span><span class="p">[</span><span class="s2">&quot;annotators&quot;</span><span class="p">][</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;render_product&quot;</span><span class="p">:</span> <span class="p">{</span><span class="s2">&quot;data&quot;</span><span class="p">:</span> <span class="n">data</span><span class="p">,</span> <span class="o">**</span><span class="n">info</span><span class="p">}}</span>
+                <span class="k">else</span><span class="p">:</span>
+                    <span class="n">rep_output</span><span class="p">[</span><span class="s2">&quot;annotators&quot;</span><span class="p">][</span><span class="n">key</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;render_product&quot;</span><span class="p">:</span> <span class="p">{</span><span class="s2">&quot;data&quot;</span><span class="p">:</span> <span class="n">data</span><span class="p">}}</span>
+            <span class="c1"># Save images</span>
+            <span class="c1"># Note: We need to provide On-time data for Replicator to save the images.</span>
+            <span class="n">rep_output</span><span class="p">[</span><span class="s2">&quot;trigger_outputs&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;on_time&quot;</span><span class="p">:</span> <span class="n">camera</span><span class="o">.</span><span class="n">frame</span><span class="p">[</span><span class="n">camera_index</span><span class="p">]}</span>
+            <span class="n">rep_writer</span><span class="o">.</span><span class="n">write</span><span class="p">(</span><span class="n">rep_output</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="projection-into-3d-space">
+<h2>Projection into 3D Space<a class="headerlink" href="#projection-into-3d-space" title="Permalink to this heading">#</a></h2>
+<p>We include utilities to project the depth image into 3D Space. The re-projection operations are done using
+PyTorch operations which allows faster computation.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="n">transform_points</span><span class="p">,</span> <span class="n">unproject_depth</span>
+
+<span class="c1"># Pointcloud in world frame</span>
+<span class="n">points_3d_cam</span> <span class="o">=</span> <span class="n">unproject_depth</span><span class="p">(</span>
+   <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">],</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">intrinsic_matrices</span>
+<span class="p">)</span>
+
+<span class="n">points_3d_world</span> <span class="o">=</span> <span class="n">transform_points</span><span class="p">(</span><span class="n">points_3d_cam</span><span class="p">,</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">,</span> <span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">quat_w_ros</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Alternately, we can use the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.camera.utils.create_pointcloud_from_depth()</span></code> function
+to create a point cloud from the depth image and transform it to the world frame.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># Derive pointcloud from camera at camera_index</span>
+            <span class="n">pointcloud</span> <span class="o">=</span> <span class="n">create_pointcloud_from_depth</span><span class="p">(</span>
+                <span class="n">intrinsic_matrix</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
+                <span class="n">depth</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">camera_index</span><span class="p">][</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">],</span>
+                <span class="n">position</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
+                <span class="n">orientation</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">quat_w_ros</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
+                <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+            <span class="p">)</span>
+
+</pre></div>
+</div>
+<p>The resulting point cloud can be visualized using the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.debug_draw</span></code> extension from Isaac Sim.
+This makes it easy to visualize the point cloud in the 3D space.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># In the first few steps, things are still being instanced and Camera.data</span>
+            <span class="c1"># can be empty. If we attempt to visualize an empty pointcloud it will crash</span>
+            <span class="c1"># the sim, so we check that the pointcloud is not empty.</span>
+            <span class="k">if</span> <span class="n">pointcloud</span><span class="o">.</span><span class="n">size</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="n">pc_markers</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">translations</span><span class="o">=</span><span class="n">pointcloud</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="executing-the-script">
+<h2>Executing the script<a class="headerlink" href="#executing-the-script" title="Permalink to this heading">#</a></h2>
+<p>To run the accompanying script, execute the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Usage with saving and drawing</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/04_sensors/run_usd_camera.py<span class="w"> </span>--save<span class="w"> </span>--draw<span class="w"> </span>--enable_cameras
+
+<span class="c1"># Usage with saving only in headless mode</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/04_sensors/run_usd_camera.py<span class="w"> </span>--save<span class="w"> </span>--headless<span class="w"> </span>--enable_cameras
+</pre></div>
+</div>
+<p>The simulation should start, and you can observe different objects falling down. An output folder will be created
+in the <code class="docutils literal notranslate"><span class="pre">IsaacLab/source/standalone/tutorials/04_sensors</span></code> directory, where the images will be saved. Additionally,
+you should see the point cloud in the 3D space drawn on the viewport.</p>
+<p>To stop the simulation, close the window, or use <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal.</p>
+</section>
+</section>
+
+
+                </article>
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#saving-using-replicator-basic-writer">Saving using Replicator Basic Writer</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#projection-into-3d-space">Projection into 3D Space</a></li>
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+<button class="btn btn-sm nav-link pst-navbar-icon theme-switch-button pst-js-only" aria-label="Color mode" data-bs-title="Color mode"  data-bs-placement="bottom" data-bs-toggle="tooltip">
+  <i class="theme-switch fa-solid fa-sun                fa-lg" data-mode="light" title="Light"></i>
+  <i class="theme-switch fa-solid fa-moon               fa-lg" data-mode="dark"  title="Dark"></i>
+  <i class="theme-switch fa-solid fa-circle-half-stroke fa-lg" data-mode="auto"  title="System Settings"></i>
+</button>
+
+
+<button class="btn btn-sm pst-navbar-icon search-button search-button__button pst-js-only" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <i class="fa-solid fa-magnifying-glass fa-lg"></i>
+</button>
+<label class="sidebar-toggle secondary-toggle btn btn-sm" for="__secondary"title="Toggle secondary sidebar" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <span class="fa-solid fa-list"></span>
+</label>
+</div></div>
+      
+    </div>
+  
+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Wrapping environments</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#wrapper-for-recording-videos">Wrapper for recording videos</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#wrapper-for-learning-frameworks">Wrapper for learning frameworks</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#adding-new-wrappers">Adding new wrappers</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="wrapping-environments">
+<span id="how-to-env-wrappers"></span><h1>Wrapping environments<a class="headerlink" href="#wrapping-environments" title="Permalink to this heading">#</a></h1>
+<p>Environment wrappers are a way to modify the behavior of an environment without modifying the environment itself.
+This can be used to apply functions to modify observations or rewards, record videos, enforce time limits, etc.
+A detailed description of the API is available in the <a class="reference external" href="https://gymnasium.farama.org/api/wrappers/#gymnasium.Wrapper" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Wrapper</span></code></a> class.</p>
+<p>At present, all RL environments inheriting from the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a> or <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a> classes
+are compatible with <a class="reference external" href="https://gymnasium.farama.org/api/wrappers/#gymnasium.Wrapper" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Wrapper</span></code></a>, since the base class implements the <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a> interface.
+In order to wrap an environment, you need to first initialize the base environment. After that, you can
+wrap it with as many wrappers as you want by calling <code class="docutils literal notranslate"><span class="pre">env</span> <span class="pre">=</span> <span class="pre">wrapper(env,</span> <span class="pre">*args,</span> <span class="pre">**kwargs)</span></code> repeatedly.</p>
+<p>For example, here is how you would wrap an environment to enforce that reset is called before step or render:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+
+<span class="c1"># launch omniverse app in headless mode</span>
+<span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">headless</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+<span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+
+<span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+
+<span class="kn">import</span> <span class="nn">omni.isaac.lab_tasks</span>  <span class="c1"># noqa: F401</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils</span> <span class="kn">import</span> <span class="n">load_cfg_from_registry</span>
+
+<span class="c1"># create base environment</span>
+<span class="n">cfg</span> <span class="o">=</span> <span class="n">load_cfg_from_registry</span><span class="p">(</span><span class="s2">&quot;Isaac-Reach-Franka-v0&quot;</span><span class="p">,</span> <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">)</span>
+<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s2">&quot;Isaac-Reach-Franka-v0&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="p">)</span>
+<span class="c1"># wrap environment to enforce that reset is called before step</span>
+<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">wrappers</span><span class="o">.</span><span class="n">OrderEnforcing</span><span class="p">(</span><span class="n">env</span><span class="p">)</span>
+</pre></div>
+</div>
+<section id="wrapper-for-recording-videos">
+<h2>Wrapper for recording videos<a class="headerlink" href="#wrapper-for-recording-videos" title="Permalink to this heading">#</a></h2>
+<p>The <a class="reference external" href="https://gymnasium.farama.org/api/wrappers/misc_wrappers/#gymnasium.wrappers.RecordVideo" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.wrappers.RecordVideo</span></code></a> wrapper can be used to record videos of the environment.
+The wrapper takes a <code class="docutils literal notranslate"><span class="pre">video_dir</span></code> argument, which specifies where to save the videos. The videos are saved in
+<a class="reference external" href="https://en.wikipedia.org/wiki/MP4_file_format">mp4</a> format at specified intervals for specified
+number of environment steps or episodes.</p>
+<p>To use the wrapper, you need to first install <code class="docutils literal notranslate"><span class="pre">ffmpeg</span></code>. On Ubuntu, you can install it by running:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>ffmpeg
+</pre></div>
+</div>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>By default, when running an environment in headless mode, the Omniverse viewport is disabled. This is done to
+improve performance by avoiding unnecessary rendering.</p>
+<p>We notice the following performance in different rendering modes with the  <code class="docutils literal notranslate"><span class="pre">Isaac-Reach-Franka-v0</span></code> environment
+using an RTX 3090 GPU:</p>
+<ul class="simple">
+<li><p>No GUI execution without off-screen rendering enabled: ~65,000 FPS</p></li>
+<li><p>No GUI execution with off-screen enabled: ~57,000 FPS</p></li>
+<li><p>GUI execution with full rendering: ~13,000 FPS</p></li>
+</ul>
+</div>
+<p>The viewport camera used for rendering is the default camera in the scene called <code class="docutils literal notranslate"><span class="pre">&quot;/OmniverseKit_Persp&quot;</span></code>.
+The camera’s pose and image resolution can be configured through the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ViewerCfg" title="omni.isaac.lab.envs.ViewerCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ViewerCfg</span></code></a> class.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Default parameters of the ViewerCfg class:</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ViewerCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration of the scene viewport camera.&quot;&quot;&quot;</span>
+
+    <span class="n">eye</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">7.5</span><span class="p">,</span> <span class="mf">7.5</span><span class="p">,</span> <span class="mf">7.5</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Initial camera position (in m). Default is (7.5, 7.5, 7.5).&quot;&quot;&quot;</span>
+
+    <span class="n">lookat</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">float</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Initial camera target position (in m). Default is (0.0, 0.0, 0.0).&quot;&quot;&quot;</span>
+
+    <span class="n">cam_prim_path</span><span class="p">:</span> <span class="nb">str</span> <span class="o">=</span> <span class="s2">&quot;/OmniverseKit_Persp&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The camera prim path to record images from. Default is &quot;/OmniverseKit_Persp&quot;,</span>
+<span class="sd">    which is the default camera in the viewport.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">resolution</span><span class="p">:</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="nb">int</span><span class="p">]</span> <span class="o">=</span> <span class="p">(</span><span class="mi">1280</span><span class="p">,</span> <span class="mi">720</span><span class="p">)</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The resolution (width, height) of the camera specified using :attr:`cam_prim_path`.</span>
+<span class="sd">    Default is (1280, 720).</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">origin_type</span><span class="p">:</span> <span class="n">Literal</span><span class="p">[</span><span class="s2">&quot;world&quot;</span><span class="p">,</span> <span class="s2">&quot;env&quot;</span><span class="p">,</span> <span class="s2">&quot;asset_root&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="s2">&quot;world&quot;</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The frame in which the camera position (eye) and target (lookat) are defined in. Default is &quot;world&quot;.</span>
+
+<span class="sd">    Available options are:</span>
+
+<span class="sd">    * ``&quot;world&quot;``: The origin of the world.</span>
+<span class="sd">    * ``&quot;env&quot;``: The origin of the environment defined by :attr:`env_index`.</span>
+<span class="sd">    * ``&quot;asset_root&quot;``: The center of the asset defined by :attr:`asset_name` in environment :attr:`env_index`.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">env_index</span><span class="p">:</span> <span class="nb">int</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The environment index for frame origin. Default is 0.</span>
+
+<span class="sd">    This quantity is only effective if :attr:`origin` is set to &quot;env&quot; or &quot;asset_root&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+    <span class="n">asset_name</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;The asset name in the interactive scene for the frame origin. Default is None.</span>
+
+<span class="sd">    This quantity is only effective if :attr:`origin` is set to &quot;asset_root&quot;.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+</pre></div>
+</div>
+</div>
+</details><p>After adjusting the parameters, you can record videos by wrapping the environment with the
+<a class="reference external" href="https://gymnasium.farama.org/api/wrappers/misc_wrappers/#gymnasium.wrappers.RecordVideo" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.wrappers.RecordVideo</span></code></a> wrapper and enabling the off-screen rendering
+flag. Additionally, you need to specify the render mode of the environment as <code class="docutils literal notranslate"><span class="pre">&quot;rgb_array&quot;</span></code>.</p>
+<p>As an example, the following code records a video of the <code class="docutils literal notranslate"><span class="pre">Isaac-Reach-Franka-v0</span></code> environment
+for 200 steps, and saves it in the <code class="docutils literal notranslate"><span class="pre">videos</span></code> folder at a step interval of 1500 steps.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+
+<span class="c1"># launch omniverse app in headless mode with off-screen rendering</span>
+<span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">headless</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">enable_cameras</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+<span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+
+<span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+
+<span class="c1"># adjust camera resolution and pose</span>
+<span class="n">env_cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">resolution</span> <span class="o">=</span> <span class="p">(</span><span class="mi">640</span><span class="p">,</span> <span class="mi">480</span><span class="p">)</span>
+<span class="n">env_cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">eye</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+<span class="n">env_cfg</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">lookat</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="c1"># create isaac-env instance</span>
+<span class="c1"># set render mode to rgb_array to obtain images on render calls</span>
+<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">task_name</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="o">=</span><span class="s2">&quot;rgb_array&quot;</span><span class="p">)</span>
+<span class="c1"># wrap for video recording</span>
+<span class="n">video_kwargs</span> <span class="o">=</span> <span class="p">{</span>
+    <span class="s2">&quot;video_folder&quot;</span><span class="p">:</span> <span class="s2">&quot;videos/train&quot;</span><span class="p">,</span>
+    <span class="s2">&quot;step_trigger&quot;</span><span class="p">:</span> <span class="k">lambda</span> <span class="n">step</span><span class="p">:</span> <span class="n">step</span> <span class="o">%</span> <span class="mi">1500</span> <span class="o">==</span> <span class="mi">0</span><span class="p">,</span>
+    <span class="s2">&quot;video_length&quot;</span><span class="p">:</span> <span class="mi">200</span><span class="p">,</span>
+<span class="p">}</span>
+<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">wrappers</span><span class="o">.</span><span class="n">RecordVideo</span><span class="p">(</span><span class="n">env</span><span class="p">,</span> <span class="o">**</span><span class="n">video_kwargs</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="wrapper-for-learning-frameworks">
+<h2>Wrapper for learning frameworks<a class="headerlink" href="#wrapper-for-learning-frameworks" title="Permalink to this heading">#</a></h2>
+<p>Every learning framework has its own API for interacting with environments. For example, the
+<a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/">Stable-Baselines3</a> library uses the <a class="reference external" href="https://gymnasium.farama.org/api/env/">gym.Env</a>
+interface to interact with environments. However, libraries like <a class="reference external" href="https://github.com/Denys88/rl_games">RL-Games</a>, <a class="reference external" href="https://github.com/leggedrobotics/rsl_rl">RSL-RL</a> or <a class="reference external" href="https://skrl.readthedocs.io">SKRL</a>
+use their own API for interfacing with a learning environments. Since there is no one-size-fits-all
+solution, we do not base the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a> classes on any particular learning framework’s
+environment definition. Instead, we implement wrappers to make it compatible with the learning
+framework’s environment definition.</p>
+<p>As an example of how to use the RL task environment with Stable-Baselines3:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils.wrappers.sb3</span> <span class="kn">import</span> <span class="n">Sb3VecEnvWrapper</span>
+
+<span class="c1"># create isaac-env instance</span>
+<span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">task_name</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">)</span>
+<span class="c1"># wrap around environment for stable baselines</span>
+<span class="n">env</span> <span class="o">=</span> <span class="n">Sb3VecEnvWrapper</span><span class="p">(</span><span class="n">env</span><span class="p">)</span>
+</pre></div>
+</div>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>Wrapping the environment with the respective learning framework’s wrapper should happen in the end,
+i.e. after all other wrappers have been applied. This is because the learning framework’s wrapper
+modifies the interpretation of environment’s APIs which may no longer be compatible with <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a>.</p>
+</div>
+</section>
+<section id="adding-new-wrappers">
+<h2>Adding new wrappers<a class="headerlink" href="#adding-new-wrappers" title="Permalink to this heading">#</a></h2>
+<p>All new wrappers should be added to the <a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers" title="omni.isaac.lab_tasks.utils.wrappers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.utils.wrappers</span></code></a> module.
+They should check that the underlying environment is an instance of <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedRLEnv</span></code></a>
+or <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a>
+before applying the wrapper. This can be done by using the <code class="xref py py-func docutils literal notranslate"><span class="pre">unwrapped()</span></code> property.</p>
+<p>We include a set of wrappers in this module that can be used as a reference to implement your own wrappers.
+If you implement a new wrapper, please consider contributing it to the framework by opening a pull request.</p>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+    <h1>Writing an Asset Configuration</h1>
+    <!-- Table of contents -->
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+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
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+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-the-spawn-configuration">Defining the spawn configuration</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-the-initial-state">Defining the initial state</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-the-actuator-configuration">Defining the actuator configuration</a></li>
+</ul>
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+              
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+  <section id="writing-an-asset-configuration">
+<span id="how-to-write-articulation-config"></span><h1>Writing an Asset Configuration<a class="headerlink" href="#writing-an-asset-configuration" title="Permalink to this heading">#</a></h1>
+<p>This guide walks through the process of creating an <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a>.
+The <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a> is a configuration object that defines the
+properties of an <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Articulation</span></code></a> in Isaac Lab.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>While we only cover the creation of an <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a> in this guide,
+the process is similar for creating any other asset configuration object.</p>
+</div>
+<p>We will use the Cartpole example to demonstrate how to create an <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a>.
+The Cartpole is a simple robot that consists of a cart with a pole attached to it. The cart
+is free to move along a rail, and the pole is free to rotate about the cart.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for Cartpole configuration</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos"> 2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos"> 3</span><span class="c1">#</span>
+<span class="linenos"> 4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos"> 5</span>
+<span class="linenos"> 6</span><span class="sd">&quot;&quot;&quot;Configuration for a simple Cartpole robot.&quot;&quot;&quot;</span>
+<span class="linenos"> 7</span>
+<span class="linenos"> 8</span>
+<span class="linenos"> 9</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos">10</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.actuators</span> <span class="kn">import</span> <span class="n">ImplicitActuatorCfg</span>
+<span class="linenos">11</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">ArticulationCfg</span>
+<span class="linenos">12</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">ISAACLAB_NUCLEUS_DIR</span>
+<span class="linenos">13</span>
+<span class="linenos">14</span><span class="c1">##</span>
+<span class="linenos">15</span><span class="c1"># Configuration</span>
+<span class="linenos">16</span><span class="c1">##</span>
+<span class="linenos">17</span>
+<span class="linenos">18</span><span class="n">CARTPOLE_CFG</span> <span class="o">=</span> <span class="n">ArticulationCfg</span><span class="p">(</span>
+<span class="linenos">19</span>    <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+<span class="linenos">20</span>        <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/Classic/Cartpole/cartpole.usd&quot;</span><span class="p">,</span>
+<span class="linenos">21</span>        <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+<span class="linenos">22</span>            <span class="n">rigid_body_enabled</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos">23</span>            <span class="n">max_linear_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+<span class="linenos">24</span>            <span class="n">max_angular_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+<span class="linenos">25</span>            <span class="n">max_depenetration_velocity</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span>
+<span class="linenos">26</span>            <span class="n">enable_gyroscopic_forces</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos">27</span>        <span class="p">),</span>
+<span class="linenos">28</span>        <span class="n">articulation_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ArticulationRootPropertiesCfg</span><span class="p">(</span>
+<span class="linenos">29</span>            <span class="n">enabled_self_collisions</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">30</span>            <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span>
+<span class="linenos">31</span>            <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+<span class="linenos">32</span>            <span class="n">sleep_threshold</span><span class="o">=</span><span class="mf">0.005</span><span class="p">,</span>
+<span class="linenos">33</span>            <span class="n">stabilization_threshold</span><span class="o">=</span><span class="mf">0.001</span><span class="p">,</span>
+<span class="linenos">34</span>        <span class="p">),</span>
+<span class="linenos">35</span>    <span class="p">),</span>
+<span class="linenos">36</span>    <span class="n">init_state</span><span class="o">=</span><span class="n">ArticulationCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span>
+<span class="linenos">37</span>        <span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span> <span class="n">joint_pos</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">,</span> <span class="s2">&quot;cart_to_pole&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">}</span>
+<span class="linenos">38</span>    <span class="p">),</span>
+<span class="linenos">39</span>    <span class="n">actuators</span><span class="o">=</span><span class="p">{</span>
+<span class="linenos">40</span>        <span class="s2">&quot;cart_actuator&quot;</span><span class="p">:</span> <span class="n">ImplicitActuatorCfg</span><span class="p">(</span>
+<span class="linenos">41</span>            <span class="n">joint_names_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">],</span>
+<span class="linenos">42</span>            <span class="n">effort_limit</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span>
+<span class="linenos">43</span>            <span class="n">velocity_limit</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span>
+<span class="linenos">44</span>            <span class="n">stiffness</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+<span class="linenos">45</span>            <span class="n">damping</span><span class="o">=</span><span class="mf">10.0</span><span class="p">,</span>
+<span class="linenos">46</span>        <span class="p">),</span>
+<span class="linenos">47</span>        <span class="s2">&quot;pole_actuator&quot;</span><span class="p">:</span> <span class="n">ImplicitActuatorCfg</span><span class="p">(</span>
+<span class="linenos">48</span>            <span class="n">joint_names_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">],</span> <span class="n">effort_limit</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span> <span class="n">velocity_limit</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span> <span class="n">stiffness</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">damping</span><span class="o">=</span><span class="mf">0.0</span>
+<span class="linenos">49</span>        <span class="p">),</span>
+<span class="linenos">50</span>    <span class="p">},</span>
+<span class="linenos">51</span><span class="p">)</span>
+<span class="linenos">52</span><span class="sd">&quot;&quot;&quot;Configuration for a simple Cartpole robot.&quot;&quot;&quot;</span>
+</pre></div>
+</div>
+</div>
+</details><section id="defining-the-spawn-configuration">
+<h2>Defining the spawn configuration<a class="headerlink" href="#defining-the-spawn-configuration" title="Permalink to this heading">#</a></h2>
+<p>As explained in <a class="reference internal" href="../tutorials/00_sim/spawn_prims.html#tutorial-spawn-prims"><span class="std std-ref">Spawning prims into the scene</span></a> tutorials, the spawn configuration defines
+the properties of the assets to be spawned. This spawning may happen procedurally, or
+through an existing asset file (e.g. USD or URDF). In this example, we will spawn the
+Cartpole from a USD file.</p>
+<p>When spawning an asset from a USD file, we define its <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UsdFileCfg</span></code></a>.
+This configuration object takes in the following parameters:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path"><code class="xref py py-class docutils literal notranslate"><span class="pre">usd_path</span></code></a>: The USD file path to spawn from</p></li>
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props"><code class="xref py py-class docutils literal notranslate"><span class="pre">rigid_props</span></code></a>: The properties of the articulation’s root</p></li>
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props"><code class="xref py py-class docutils literal notranslate"><span class="pre">articulation_props</span></code></a>: The properties of all the articulation’s links</p></li>
+</ul>
+<p>The last two parameters are optional. If not specified, they are kept at their default values in the USD file.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+    <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Robots/Classic/Cartpole/cartpole.usd&quot;</span><span class="p">,</span>
+    <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+        <span class="n">rigid_body_enabled</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">max_linear_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+        <span class="n">max_angular_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+        <span class="n">max_depenetration_velocity</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span>
+        <span class="n">enable_gyroscopic_forces</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="p">),</span>
+    <span class="n">articulation_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ArticulationRootPropertiesCfg</span><span class="p">(</span>
+        <span class="n">enabled_self_collisions</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span>
+        <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+        <span class="n">sleep_threshold</span><span class="o">=</span><span class="mf">0.005</span><span class="p">,</span>
+        <span class="n">stabilization_threshold</span><span class="o">=</span><span class="mf">0.001</span><span class="p">,</span>
+    <span class="p">),</span>
+<span class="p">),</span>
+</pre></div>
+</div>
+<p>To import articulation from a URDF file instead of a USD file, you can replace the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UsdFileCfg" title="omni.isaac.lab.sim.spawners.from_files.UsdFileCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UsdFileCfg</span></code></a> with a <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg" title="omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">UrdfFileCfg</span></code></a>.
+For more details, please check the API documentation.</p>
+</section>
+<section id="defining-the-initial-state">
+<h2>Defining the initial state<a class="headerlink" href="#defining-the-initial-state" title="Permalink to this heading">#</a></h2>
+<p>Every asset requires defining their initial or <em>default</em> state in the simulation through its configuration.
+This configuration is stored into the asset’s default state buffers that can be accessed when the asset’s
+state needs to be reset.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The initial state of an asset is defined w.r.t. its local environment frame. This then needs to
+be transformed into the global simulation frame when resetting the asset’s state. For more
+details, please check the <a class="reference internal" href="../tutorials/01_assets/run_articulation.html#tutorial-interact-articulation"><span class="std std-ref">Interacting with an articulation</span></a> tutorial.</p>
+</div>
+<p>For an articulation, the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg" title="omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InitialStateCfg</span></code></a> object defines the
+initial state of the root of the articulation and the initial state of all its joints. In this
+example, we will spawn the Cartpole at the origin of the XY plane at a Z height of 2.0 meters.
+Meanwhile, the joint positions and velocities are set to 0.0.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">init_state</span><span class="o">=</span><span class="n">ArticulationCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span>
+    <span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span> <span class="n">joint_pos</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">,</span> <span class="s2">&quot;cart_to_pole&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">}</span>
+<span class="p">),</span>
+</pre></div>
+</div>
+</section>
+<section id="defining-the-actuator-configuration">
+<h2>Defining the actuator configuration<a class="headerlink" href="#defining-the-actuator-configuration" title="Permalink to this heading">#</a></h2>
+<p>Actuators are a crucial component of an articulation. Through this configuration, it is possible
+to define the type of actuator model to use. We can use the internal actuator model provided by
+the physics engine (i.e. the implicit actuator model), or use a custom actuator model which is
+governed by a user-defined system of equations (i.e. the explicit actuator model).
+For more details on actuators, see <a class="reference internal" href="../overview/core-concepts/actuators.html#overview-actuators"><span class="std std-ref">Actuators</span></a>.</p>
+<p>The cartpole’s articulation has two actuators, one corresponding to its each joint:
+<code class="docutils literal notranslate"><span class="pre">cart_to_pole</span></code> and <code class="docutils literal notranslate"><span class="pre">slider_to_cart</span></code>. We use two different actuator models for these actuators as
+an example. However, since they are both using the same actuator model, it is possible
+to combine them into a single actuator model.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Actuator model configuration with separate actuator models</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">actuators</span><span class="o">=</span><span class="p">{</span>
+    <span class="s2">&quot;cart_actuator&quot;</span><span class="p">:</span> <span class="n">ImplicitActuatorCfg</span><span class="p">(</span>
+        <span class="n">joint_names_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">],</span>
+        <span class="n">effort_limit</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span>
+        <span class="n">velocity_limit</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span>
+        <span class="n">stiffness</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">damping</span><span class="o">=</span><span class="mf">10.0</span><span class="p">,</span>
+    <span class="p">),</span>
+    <span class="s2">&quot;pole_actuator&quot;</span><span class="p">:</span> <span class="n">ImplicitActuatorCfg</span><span class="p">(</span>
+        <span class="n">joint_names_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">],</span> <span class="n">effort_limit</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span> <span class="n">velocity_limit</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span> <span class="n">stiffness</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">damping</span><span class="o">=</span><span class="mf">0.0</span>
+    <span class="p">),</span>
+</pre></div>
+</div>
+</div>
+</details><details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Actuator model configuration with a single actuator model</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">actuators</span><span class="o">=</span><span class="p">{</span>
+   <span class="s2">&quot;all_joints&quot;</span><span class="p">:</span> <span class="n">ImplicitActuatorCfg</span><span class="p">(</span>
+      <span class="n">joint_names_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;.*&quot;</span><span class="p">],</span>
+      <span class="n">effort_limit</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span>
+      <span class="n">velocity_limit</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span>
+      <span class="n">stiffness</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">,</span> <span class="s2">&quot;cart_to_pole&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">},</span>
+      <span class="n">damping</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">:</span> <span class="mf">10.0</span><span class="p">,</span> <span class="s2">&quot;cart_to_pole&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">},</span>
+   <span class="p">),</span>
+<span class="p">},</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+</section>
+
+
+                </article>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-the-spawn-configuration">Defining the spawn configuration</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-the-initial-state">Defining the initial state</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-the-actuator-configuration">Defining the actuator configuration</a></li>
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new file mode 100644
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+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l1"><a class="reference internal" href="../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
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+<li class="toctree-l1 current active"><a class="current reference internal" href="#">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="migrating_from_orbit.html">From Orbit</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+    <h1>From IsaacGymEnvs</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#task-config-setup">Task Config Setup</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-config">Simulation Config</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-config">Scene Config</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#task-config">Task Config</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rl-config-setup">RL Config Setup</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#environment-creation">Environment Creation</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#ground-plane">Ground Plane</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#actors">Actors</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-parameters-for-actors">Simulation Parameters for Actors</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#cloner">Cloner</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#accessing-states-from-simulation">Accessing States from Simulation</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#quaternion-convention">Quaternion Convention</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#articulation-joint-order">Articulation Joint Order</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#creating-a-new-environment">Creating a New Environment</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#task-logic">Task Logic</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#putting-it-all-together">Putting It All Together</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id1">Task Config</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#task-setup">Task Setup</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-setup">Scene Setup</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#pre-and-post-physics-step">Pre and Post Physics Step</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#dones-and-resets">Dones and Resets</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#observations">Observations</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#rewards">Rewards</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#launching-training">Launching Training</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#launching-inferencing">Launching Inferencing</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="from-isaacgymenvs">
+<span id="migrating-from-isaacgymenvs"></span><h1>From IsaacGymEnvs<a class="headerlink" href="#from-isaacgymenvs" title="Permalink to this heading">#</a></h1>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacGymEnvs">IsaacGymEnvs</a> was a reinforcement learning framework designed for the <a class="reference external" href="https://developer.nvidia.com/isaac-gym">Isaac Gym Preview Release</a>.
+As both IsaacGymEnvs and the Isaac Gym Preview Release are now deprecated, the following guide walks through
+the key differences between IsaacGymEnvs and Isaac Lab, as well as differences in APIs between Isaac Gym Preview
+Release and Isaac Sim.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The following changes are with respect to Isaac Lab 1.0 release. Please refer to the <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/releases">release notes</a> for any changes
+in the future releases.</p>
+</div>
+<section id="task-config-setup">
+<h2>Task Config Setup<a class="headerlink" href="#task-config-setup" title="Permalink to this heading">#</a></h2>
+<p>In IsaacGymEnvs, task config files were defined in <code class="docutils literal notranslate"><span class="pre">.yaml</span></code> format. With Isaac Lab, configs are now specified using
+a specialized Python class <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a>. The <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a>
+module provides a wrapper on top of Python’s <code class="docutils literal notranslate"><span class="pre">dataclasses</span></code> module. Each environment should specify its own config
+class annotated by <code class="docutils literal notranslate"><span class="pre">&#64;configclass</span></code> that inherits from <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg" title="omni.isaac.lab.envs.DirectRLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnvCfg</span></code></a>, which can include simulation
+parameters, environment scene parameters, robot parameters, and task-specific parameters.</p>
+<p>Below is an example skeleton of a task config class:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">DirectRLEnvCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationCfg</span>
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MyEnvCfg</span><span class="p">(</span><span class="n">DirectRLEnvCfg</span><span class="p">):</span>
+   <span class="c1"># simulation</span>
+   <span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">()</span>
+   <span class="c1"># robot</span>
+   <span class="n">robot_cfg</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">ArticulationCfg</span><span class="p">()</span>
+   <span class="c1"># scene</span>
+   <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">InteractiveSceneCfg</span><span class="p">()</span>
+   <span class="c1"># env</span>
+   <span class="n">decimation</span> <span class="o">=</span> <span class="mi">2</span>
+   <span class="n">episode_length_s</span> <span class="o">=</span> <span class="mf">5.0</span>
+   <span class="n">action_space</span> <span class="o">=</span> <span class="mi">1</span>
+   <span class="n">observation_space</span> <span class="o">=</span> <span class="mi">4</span>
+   <span class="n">state_space</span> <span class="o">=</span> <span class="mi">0</span>
+   <span class="c1"># task-specific parameters</span>
+   <span class="o">...</span>
+</pre></div>
+</div>
+<section id="simulation-config">
+<h3>Simulation Config<a class="headerlink" href="#simulation-config" title="Permalink to this heading">#</a></h3>
+<p>Simulation related parameters are defined as part of the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationCfg</span></code></a> class,
+which is a <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a> module that holds simulation parameters such as <code class="docutils literal notranslate"><span class="pre">dt</span></code>,
+<code class="docutils literal notranslate"><span class="pre">device</span></code>, and <code class="docutils literal notranslate"><span class="pre">gravity</span></code>. Each task config must have a variable named <code class="docutils literal notranslate"><span class="pre">sim</span></code> defined that holds the type
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationCfg</span></code></a>.</p>
+<p>In Isaac Lab, the use of <code class="docutils literal notranslate"><span class="pre">substeps</span></code> has been replaced
+by a combination of the simulation <code class="docutils literal notranslate"><span class="pre">dt</span></code> and the <code class="docutils literal notranslate"><span class="pre">decimation</span></code> parameters. For example, in IsaacGymEnvs, having
+<code class="docutils literal notranslate"><span class="pre">dt=1/60</span></code> and <code class="docutils literal notranslate"><span class="pre">substeps=2</span></code> is equivalent to taking 2 simulation steps with <code class="docutils literal notranslate"><span class="pre">dt=1/120</span></code>, but running the task step
+at <code class="docutils literal notranslate"><span class="pre">1/60</span></code> seconds. The <code class="docutils literal notranslate"><span class="pre">decimation</span></code> parameter is a task parameter that controls the number of simulation steps to
+take for each task (or RL) step, replacing the <code class="docutils literal notranslate"><span class="pre">controlFrequencyInv</span></code> parameter in IsaacGymEnvs.
+Thus, the same setup in Isaac Lab will become <code class="docutils literal notranslate"><span class="pre">dt=1/120</span></code> and <code class="docutils literal notranslate"><span class="pre">decimation=2</span></code>.</p>
+<p>In Isaac Sim, physx simulation parameters such as <code class="docutils literal notranslate"><span class="pre">num_position_iterations</span></code>, <code class="docutils literal notranslate"><span class="pre">num_velocity_iterations</span></code>,
+<code class="docutils literal notranslate"><span class="pre">contact_offset</span></code>, <code class="docutils literal notranslate"><span class="pre">rest_offset</span></code>, <code class="docutils literal notranslate"><span class="pre">bounce_threshold_velocity</span></code>, <code class="docutils literal notranslate"><span class="pre">max_depenetration_velocity</span></code> can all
+be specified on a per-actor basis. These parameters have been moved from the physx simulation config
+to each individual articulation and rigid body config.</p>
+<p>When running simulation on the GPU, buffers in PhysX require pre-allocation for computing and storing
+information such as contacts, collisions and aggregate pairs. These buffers may need to be adjusted
+depending on the complexity of the environment, the number of expected contacts and collisions,
+and the number of actors in the environment. The <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg" title="omni.isaac.lab.sim.PhysxCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">PhysxCfg</span></code></a> class provides access for
+setting the GPU buffer dimensions.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># IsaacGymEnvs</span>
+<span class="nt">sim</span><span class="p">:</span>
+
+<span class="w">  </span><span class="nt">dt</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0166</span><span class="w"> </span><span class="c1"># 1/60 s</span>
+<span class="w">  </span><span class="nt">substeps</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">2</span>
+<span class="w">  </span><span class="nt">up_axis</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;z&quot;</span>
+<span class="w">  </span><span class="nt">use_gpu_pipeline</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${eq:${...pipeline},&quot;gpu&quot;}</span>
+<span class="w">  </span><span class="nt">gravity</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-9.81</span><span class="p p-Indicator">]</span>
+<span class="w">  </span><span class="nt">physx</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">num_threads</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${....num_threads}</span>
+<span class="w">    </span><span class="nt">solver_type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${....solver_type}</span>
+<span class="w">    </span><span class="nt">use_gpu</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${contains:&quot;cuda&quot;,${....sim_device}}</span>
+<span class="w">    </span><span class="nt">num_position_iterations</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span>
+<span class="w">    </span><span class="nt">num_velocity_iterations</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
+<span class="w">    </span><span class="nt">contact_offset</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.02</span>
+<span class="w">    </span><span class="nt">rest_offset</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.001</span>
+<span class="w">    </span><span class="nt">bounce_threshold_velocity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.2</span>
+<span class="w">    </span><span class="nt">max_depenetration_velocity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">100.0</span>
+<span class="w">    </span><span class="nt">default_buffer_size_multiplier</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">2.0</span>
+<span class="w">    </span><span class="nt">max_gpu_contact_pairs</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1048576</span><span class="w"> </span><span class="c1"># 1024*1024</span>
+<span class="w">    </span><span class="nt">num_subscenes</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${....num_subscenes}</span>
+<span class="w">    </span><span class="nt">contact_collection</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># IsaacLab</span>
+<span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">(</span>
+   <span class="n">device</span> <span class="o">=</span> <span class="s2">&quot;cuda:0&quot;</span> <span class="c1"># can be &quot;cpu&quot;, &quot;cuda&quot;, &quot;cuda:&lt;device_id&gt;&quot;</span>
+   <span class="n">dt</span><span class="o">=</span><span class="mi">1</span> <span class="o">/</span> <span class="mi">120</span><span class="p">,</span>
+   <span class="c1"># decimation will be set in the task config</span>
+   <span class="c1"># up axis will always be Z in isaac sim</span>
+   <span class="c1"># use_gpu_pipeline is deduced from the device</span>
+   <span class="n">gravity</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">9.81</span><span class="p">),</span>
+   <span class="n">physx</span><span class="p">:</span> <span class="n">PhysxCfg</span> <span class="o">=</span> <span class="n">PhysxCfg</span><span class="p">(</span>
+       <span class="c1"># num_threads is no longer needed</span>
+       <span class="n">solver_type</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+       <span class="c1"># use_gpu is deduced from the device</span>
+       <span class="n">max_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span>
+       <span class="n">max_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+       <span class="c1"># moved to actor config</span>
+       <span class="c1"># moved to actor config</span>
+       <span class="n">bounce_threshold_velocity</span><span class="o">=</span><span class="mf">0.2</span><span class="p">,</span>
+       <span class="c1"># moved to actor config</span>
+       <span class="c1"># default_buffer_size_multiplier is no longer needed</span>
+       <span class="n">gpu_max_rigid_contact_count</span><span class="o">=</span><span class="mi">2</span><span class="o">**</span><span class="mi">23</span>
+       <span class="c1"># num_subscenes is no longer needed</span>
+       <span class="c1"># contact_collection is no longer needed</span>
+<span class="p">))</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="scene-config">
+<h3>Scene Config<a class="headerlink" href="#scene-config" title="Permalink to this heading">#</a></h3>
+<p>The <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a> class can be used to specify parameters related to the scene,
+such as the number of environments and the spacing between environments. Each task config must have a variable named
+<code class="docutils literal notranslate"><span class="pre">scene</span></code> defined that holds the type <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a>.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># IsaacGymEnvs</span>
+<span class="nt">env</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">numEnvs</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${resolve_default:512,${...num_envs}}</span>
+<span class="w">  </span><span class="nt">envSpacing</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4.0</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># IsaacLab</span>
+<span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">InteractiveSceneCfg</span><span class="p">(</span>
+   <span class="n">num_envs</span><span class="o">=</span><span class="mi">512</span><span class="p">,</span>
+   <span class="n">env_spacing</span><span class="o">=</span><span class="mf">4.0</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="task-config">
+<h3>Task Config<a class="headerlink" href="#task-config" title="Permalink to this heading">#</a></h3>
+<p>Each environment should specify its own config class that holds task specific parameters, such as the dimensions of the
+observation and action buffers. Reward term scaling parameters can also be specified in the config class.</p>
+<p>The following parameters must be set for each environment config:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">decimation</span> <span class="o">=</span> <span class="mi">2</span>
+<span class="n">episode_length_s</span> <span class="o">=</span> <span class="mf">5.0</span>
+<span class="n">action_space</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="n">observation_space</span> <span class="o">=</span> <span class="mi">4</span>
+<span class="n">state_space</span> <span class="o">=</span> <span class="mi">0</span>
+</pre></div>
+</div>
+<p>Note that the maximum episode length parameter (now <code class="docutils literal notranslate"><span class="pre">episode_length_s</span></code>) is in seconds instead of steps as it was
+in IsaacGymEnvs. To convert between step count to seconds, use the equation:
+<code class="docutils literal notranslate"><span class="pre">episode_length_s</span> <span class="pre">=</span> <span class="pre">dt</span> <span class="pre">*</span> <span class="pre">decimation</span> <span class="pre">*</span> <span class="pre">num_steps</span></code></p>
+</section>
+</section>
+<section id="rl-config-setup">
+<h2>RL Config Setup<a class="headerlink" href="#rl-config-setup" title="Permalink to this heading">#</a></h2>
+<p>RL config files for the rl_games library can continue to be defined in <code class="docutils literal notranslate"><span class="pre">.yaml</span></code> files in Isaac Lab.
+Most of the content of the config file can be copied directly from IsaacGymEnvs.
+Note that in Isaac Lab, we do not use hydra to resolve relative paths in config files.
+Please replace any relative paths such as <code class="docutils literal notranslate"><span class="pre">${....device}</span></code> with the actual values of the parameters.</p>
+<p>Additionally, the observation and action clip ranges have been moved to the RL config file.
+For any <code class="docutils literal notranslate"><span class="pre">clipObservations</span></code> and <code class="docutils literal notranslate"><span class="pre">clipActions</span></code> parameters that were defined in the IsaacGymEnvs task config file,
+they should be moved to the RL config file in Isaac Lab.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs Task Config</p></td>
+<td><p>Isaac Lab RL Config</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># IsaacGymEnvs</span>
+<span class="nt">env</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">clipObservations</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">5.0</span>
+<span class="w">  </span><span class="nt">clipActions</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># IsaacLab</span>
+<span class="nt">params</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">env</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">clip_observations</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">5.0</span>
+<span class="w">    </span><span class="nt">clip_actions</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="environment-creation">
+<h2>Environment Creation<a class="headerlink" href="#environment-creation" title="Permalink to this heading">#</a></h2>
+<p>In IsaacGymEnvs, environment creation generally included four components: creating the sim object with <code class="docutils literal notranslate"><span class="pre">create_sim()</span></code>,
+creating the ground plane, importing the assets from MJCF or URDF files, and finally creating the environments
+by looping through each environment and adding actors into the environments.</p>
+<p>Isaac Lab no longer requires calling the <code class="docutils literal notranslate"><span class="pre">create_sim()</span></code> method to retrieve the sim object. Instead, the simulation
+context is retrieved automatically by the framework. It is also no longer required to use the <code class="docutils literal notranslate"><span class="pre">sim</span></code> as an
+argument for the simulation APIs.</p>
+<p>In replacement of <code class="docutils literal notranslate"><span class="pre">create_sim()</span></code>, tasks can implement the <code class="docutils literal notranslate"><span class="pre">_setup_scene()</span></code> method in Isaac Lab.
+This method can be used for adding actors into the scene, adding ground plane, cloning the actors, and
+adding any other optional objects into the scene, such as lights.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">create_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+  <span class="c1"># set the up axis to be z-up</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">up_axis</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;sim&quot;</span><span class="p">][</span><span class="s2">&quot;up_axis&quot;</span><span class="p">]</span>
+
+  <span class="bp">self</span><span class="o">.</span><span class="n">sim</span> <span class="o">=</span> <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">create_sim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device_id</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">graphics_device_id</span><span class="p">,</span>
+                                  <span class="bp">self</span><span class="o">.</span><span class="n">physics_engine</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">sim_params</span><span class="p">)</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">_create_ground_plane</span><span class="p">()</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">_create_envs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s1">&#39;envSpacing&#39;</span><span class="p">],</span>
+                      <span class="nb">int</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">)))</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_setup_scene</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">robot_cfg</span><span class="p">)</span>
+  <span class="c1"># add ground plane</span>
+  <span class="n">spawn_ground_plane</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">GroundPlaneCfg</span><span class="p">()</span>
+  <span class="c1"># clone, filter, and replicate</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">clone_environments</span><span class="p">(</span><span class="n">copy_from_source</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">filter_collisions</span><span class="p">(</span><span class="n">global_prim_paths</span><span class="o">=</span><span class="p">[])</span>
+  <span class="c1"># add articulation to scene</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="p">[</span><span class="s2">&quot;cartpole&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span>
+  <span class="c1"># add lights</span>
+  <span class="n">light_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">2000.0</span><span class="p">)</span>
+  <span class="n">light_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">light_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="ground-plane">
+<h3>Ground Plane<a class="headerlink" href="#ground-plane" title="Permalink to this heading">#</a></h3>
+<p>In Isaac Lab, most of the environment creation process has been simplified into configs with the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a> module.</p>
+<p>The ground plane can be defined using the <a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> class.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.terrains</span> <span class="kn">import</span> <span class="n">TerrainImporterCfg</span>
+
+<span class="n">terrain</span> <span class="o">=</span> <span class="n">TerrainImporterCfg</span><span class="p">(</span>
+     <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span>
+     <span class="n">terrain_type</span><span class="o">=</span><span class="s2">&quot;plane&quot;</span><span class="p">,</span>
+     <span class="n">collision_group</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span>
+     <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span><span class="p">(</span>
+         <span class="n">friction_combine_mode</span><span class="o">=</span><span class="s2">&quot;multiply&quot;</span><span class="p">,</span>
+         <span class="n">restitution_combine_mode</span><span class="o">=</span><span class="s2">&quot;multiply&quot;</span><span class="p">,</span>
+         <span class="n">static_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+         <span class="n">dynamic_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+         <span class="n">restitution</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+     <span class="p">),</span>
+ <span class="p">)</span>
+</pre></div>
+</div>
+<p>The terrain can then be added to the scene in <code class="docutils literal notranslate"><span class="pre">_setup_scene(self)</span></code> by referencing the <code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code> object:</p>
+</section>
+<section id="actors">
+<h3>Actors<a class="headerlink" href="#actors" title="Permalink to this heading">#</a></h3>
+<p>Isaac Lab and Isaac Sim both use the <a class="reference external" href="https://github.com/PixarAnimationStudios/OpenUSD">USD (Universal Scene Description)</a>
+library for describing the scene. Assets defined in MJCF and URDF formats can be imported to USD using importer
+tools described in the <a class="reference external" href="../how-to/import_new_asset.html">Importing a New Asset</a> tutorial.</p>
+<p>Each Articulation and Rigid Body actor can also have its own config class. The
+<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a> class can be used to define parameters for articulation actors,
+including file path, simulation parameters, actuator properties, and initial states.</p>
+<p>Within the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a>, the <code class="docutils literal notranslate"><span class="pre">spawn</span></code> attribute can be used to add the robot to the scene by
+specifying the path to the robot file. In addition, <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg</span></code></a> can
+be used to specify simulation properties for the rigid bodies in the articulation.
+Similarly, the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg</span></code></a> class can be used to specify
+simulation properties for the articulation. Joint properties are now specified as part of the <code class="docutils literal notranslate"><span class="pre">actuators</span></code>
+dictionary using <a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg" title="omni.isaac.lab.actuators.ImplicitActuatorCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ImplicitActuatorCfg</span></code></a>. Joints with the same properties can be grouped into
+regex expressions or provided as a list of names or expressions.</p>
+<p>Actors are added to the scene by simply calling <code class="docutils literal notranslate"><span class="pre">self.cartpole</span> <span class="pre">=</span> <span class="pre">Articulation(self.cfg.robot_cfg)</span></code>,
+where <code class="docutils literal notranslate"><span class="pre">self.cfg.robot_cfg</span></code> is an <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a> object. Once initialized, they should also
+be added to the <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a> by calling <code class="docutils literal notranslate"><span class="pre">self.scene.articulations[&quot;cartpole&quot;]</span> <span class="pre">=</span> <span class="pre">self.cartpole</span></code>
+so that the <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a> can traverse through actors in the scene for writing values to the
+simulation and resetting.</p>
+<section id="simulation-parameters-for-actors">
+<h4>Simulation Parameters for Actors<a class="headerlink" href="#simulation-parameters-for-actors" title="Permalink to this heading">#</a></h4>
+<p>Some simulation parameters related to Rigid Bodies and Articulations may have different
+default values between Isaac Gym Preview Release and Isaac Sim.
+It may be helpful to double check the USD assets to ensure that the default values are
+applicable for the asset.</p>
+<p>For instance, the following parameters in the <code class="docutils literal notranslate"><span class="pre">RigidBodyAPI</span></code> could be different
+between Isaac Gym Preview Release and Isaac Sim:</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 33.3%" />
+<col style="width: 33.3%" />
+<col style="width: 33.3%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>RigidBodyAPI Parameter</p></th>
+<th class="head"><p>Default Value in Isaac Sim</p></th>
+<th class="head"><p>Default Value in Isaac Gym Preview Release</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Linear Damping</p></td>
+<td><p>0.00</p></td>
+<td><p>0.00</p></td>
+</tr>
+<tr class="row-odd"><td><p>Angular Damping</p></td>
+<td><p>0.05</p></td>
+<td><p>0.0</p></td>
+</tr>
+<tr class="row-even"><td><p>Max Linear Velocity</p></td>
+<td><p>inf</p></td>
+<td><p>1000</p></td>
+</tr>
+<tr class="row-odd"><td><p>Max Angular Velocity</p></td>
+<td><p>5729.58008 (degree/s)</p></td>
+<td><p>64.0 (rad/s)</p></td>
+</tr>
+<tr class="row-even"><td><p>Max Contact Impulse</p></td>
+<td><p>inf</p></td>
+<td><p>1e32</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<p>Articulation parameters for the <code class="docutils literal notranslate"><span class="pre">JointAPI</span></code> and <code class="docutils literal notranslate"><span class="pre">DriveAPI</span></code> could be altered as well. Note
+that the Isaac Sim UI assumes the unit of angle to be degrees. It is particularly
+worth noting that the <code class="docutils literal notranslate"><span class="pre">Damping</span></code> and <code class="docutils literal notranslate"><span class="pre">Stiffness</span></code> parameters in the <code class="docutils literal notranslate"><span class="pre">DriveAPI</span></code> have the unit
+of <code class="docutils literal notranslate"><span class="pre">1/deg</span></code> in the Isaac Sim UI but <code class="docutils literal notranslate"><span class="pre">1/rad</span></code> in Isaac Gym Preview Release.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 33.3%" />
+<col style="width: 33.3%" />
+<col style="width: 33.3%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Joint Parameter</p></th>
+<th class="head"><p>Default Value in Isaac Sim</p></th>
+<th class="head"><p>Default Value in Isaac Gym Preview Releases</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Maximum Joint Velocity</p></td>
+<td><p>1000000.0 (deg)</p></td>
+<td><p>100.0 (rad)</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+</section>
+<section id="cloner">
+<h3>Cloner<a class="headerlink" href="#cloner" title="Permalink to this heading">#</a></h3>
+<p>Isaac Sim introduced a concept of <code class="docutils literal notranslate"><span class="pre">Cloner</span></code>, which is a class designed for replication during the scene creation process.
+In IsaacGymEnvs, scenes had to be created by looping through the number of environments.
+Within each iteration, actors were added to each environment and their handles had to be cached.
+Isaac Lab eliminates the need for looping through the environments by using the <code class="docutils literal notranslate"><span class="pre">Cloner</span></code> APIs.
+The scene creation process is as follow:</p>
+<ol class="arabic simple">
+<li><p>Construct a single environment (what the scene would look like if number of environments = 1)</p></li>
+<li><p>Call <code class="docutils literal notranslate"><span class="pre">clone_environments()</span></code> to replicate the single environment</p></li>
+<li><p>Call <code class="docutils literal notranslate"><span class="pre">filter_collisions()</span></code> to filter out collision between environments (if required)</p></li>
+</ol>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># construct a single environment with the Cartpole robot</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">robot_cfg</span><span class="p">)</span>
+<span class="c1"># clone the environment</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">clone_environments</span><span class="p">(</span><span class="n">copy_from_source</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+<span class="c1"># filter collisions</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">filter_collisions</span><span class="p">(</span><span class="n">global_prim_paths</span><span class="o">=</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">terrain</span><span class="o">.</span><span class="n">prim_path</span><span class="p">])</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="accessing-states-from-simulation">
+<h2>Accessing States from Simulation<a class="headerlink" href="#accessing-states-from-simulation" title="Permalink to this heading">#</a></h2>
+<p>APIs for accessing physics states in Isaac Lab require the creation of an <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Articulation</span></code></a> or <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code></a>
+object. Multiple objects can be initialized for different articulations or rigid bodies in the scene by defining
+corresponding <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a> or <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg" title="omni.isaac.lab.assets.RigidObjectCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObjectCfg</span></code></a> config  as outlined in the section above.
+This approach eliminates the need of retrieving body handles to slice states for specific bodies in the scene.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="bp">self</span><span class="o">.</span><span class="n">_robot</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">robot</span><span class="p">)</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_cabinet</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">cabinet</span><span class="p">)</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_object</span> <span class="o">=</span> <span class="n">RigidObject</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">object_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>We have also removed <code class="docutils literal notranslate"><span class="pre">acquire</span></code> and <code class="docutils literal notranslate"><span class="pre">refresh</span></code> APIs in Isaac Lab. Physics states can be directly applied or retrieved
+using APIs defined for the articulations and rigid objects.</p>
+<p>APIs provided in Isaac Lab no longer require explicit wrapping and un-wrapping of underlying buffers.
+APIs can now work with tensors directly for reading and writing data.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">dof_state_tensor</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">acquire_dof_state_tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">)</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">dof_state</span> <span class="o">=</span> <span class="n">gymtorch</span><span class="o">.</span><span class="n">wrap_tensor</span><span class="p">(</span><span class="n">dof_state_tensor</span><span class="p">)</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">refresh_dof_state_tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+<p>Note some naming differences between APIs in Isaac Gym Preview Release and Isaac Lab. Most <code class="docutils literal notranslate"><span class="pre">dof</span></code> related APIs have been
+named to <code class="docutils literal notranslate"><span class="pre">joint</span></code> in Isaac Lab.
+APIs in Isaac Lab also no longer follow the explicit <code class="docutils literal notranslate"><span class="pre">_tensors</span></code> or <code class="docutils literal notranslate"><span class="pre">_tensor_indexed</span></code> suffixes in naming.
+Indexed versions of APIs now happen implicitly through the optional <code class="docutils literal notranslate"><span class="pre">indices</span></code> parameter.</p>
+<p>Most APIs in Isaac Lab also provide
+the option to specify an <code class="docutils literal notranslate"><span class="pre">indices</span></code> parameter, which can be used when reading or writing data for a subset
+of environments. Note that when setting states with the <code class="docutils literal notranslate"><span class="pre">indices</span></code> parameter, the shape of the states buffer
+should match with the dimension of the <code class="docutils literal notranslate"><span class="pre">indices</span></code> list.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">env_ids_int32</span> <span class="o">=</span> <span class="n">env_ids</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">set_dof_state_tensor_indexed</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">,</span>
+    <span class="n">gymtorch</span><span class="o">.</span><span class="n">unwrap_tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">dof_state</span><span class="p">),</span>
+    <span class="n">gymtorch</span><span class="o">.</span><span class="n">unwrap_tensor</span><span class="p">(</span><span class="n">env_ids_int32</span><span class="p">),</span> <span class="nb">len</span><span class="p">(</span><span class="n">env_ids_int32</span><span class="p">))</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="bp">self</span><span class="o">.</span><span class="n">_robot</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">,</span>
+                                 <span class="n">joint_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="quaternion-convention">
+<h3>Quaternion Convention<a class="headerlink" href="#quaternion-convention" title="Permalink to this heading">#</a></h3>
+<p>Isaac Lab and Isaac Sim both adopt <code class="docutils literal notranslate"><span class="pre">wxyz</span></code> as the quaternion convention. However, the quaternion
+convention used in Isaac Gym Preview Release was <code class="docutils literal notranslate"><span class="pre">xyzw</span></code>.
+Remember to switch all quaternions to use the <code class="docutils literal notranslate"><span class="pre">xyzw</span></code> convention when working indexing rotation data.
+Similarly, please ensure all quaternions are in <code class="docutils literal notranslate"><span class="pre">wxyz</span></code> before passing them to Isaac Lab APIs.</p>
+</section>
+<section id="articulation-joint-order">
+<h3>Articulation Joint Order<a class="headerlink" href="#articulation-joint-order" title="Permalink to this heading">#</a></h3>
+<p>Physics simulation in Isaac Sim and Isaac Lab assumes a breadth-first
+ordering for the joints in a given kinematic tree.
+However, Isaac Gym Preview Release assumed a depth-first ordering for joints in the kinematic tree.
+This means that indexing joints based on their ordering may be different in IsaacGymEnvs and Isaac Lab.</p>
+<p>In Isaac Lab, the list of joint names can be retrieved with <code class="docutils literal notranslate"><span class="pre">Articulation.data.joint_names</span></code>, which will
+also correspond to the ordering of the joints in the Articulation.</p>
+</section>
+</section>
+<section id="creating-a-new-environment">
+<h2>Creating a New Environment<a class="headerlink" href="#creating-a-new-environment" title="Permalink to this heading">#</a></h2>
+<p>Each environment in Isaac Lab should be in its own directory following this structure:</p>
+<div class="highlight-none notranslate"><div class="highlight"><pre><span></span>my_environment/
+    - agents/
+        - __init__.py
+        - rl_games_ppo_cfg.py
+    - __init__.py
+    my_env.py
+</pre></div>
+</div>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">my_environment</span></code> is the root directory of the task.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">my_environment/agents</span></code> is the directory containing all RL config files for the task. Isaac Lab supports multiple RL libraries that can each have its own individual config file.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">my_environment/__init__.py</span></code> is the main file that registers the environment with the Gymnasium interface. This allows the training and inferencing scripts to find the task by its name. The content of this file should be as follow:</p></li>
+</ul>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">agents</span>
+<span class="kn">from</span> <span class="nn">.cartpole_env</span> <span class="kn">import</span> <span class="n">CartpoleEnv</span><span class="p">,</span> <span class="n">CartpoleEnvCfg</span>
+
+<span class="c1">##</span>
+<span class="c1"># Register Gym environments.</span>
+<span class="c1">##</span>
+
+<span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="nb">id</span><span class="o">=</span><span class="s2">&quot;Isaac-Cartpole-Direct-v0&quot;</span><span class="p">,</span>
+    <span class="n">entry_point</span><span class="o">=</span><span class="s2">&quot;omni.isaac.lab_tasks.direct_workflow.cartpole:CartpoleEnv&quot;</span><span class="p">,</span>
+    <span class="n">disable_env_checker</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="n">kwargs</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">:</span> <span class="n">CartpoleEnvCfg</span><span class="p">,</span>
+        <span class="s2">&quot;rl_games_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:rl_games_ppo_cfg.yaml&quot;</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">my_environment/my_env.py</span></code> is the main python script that implements the task logic and task config class for the environment.</p></li>
+</ul>
+</section>
+<section id="task-logic">
+<h2>Task Logic<a class="headerlink" href="#task-logic" title="Permalink to this heading">#</a></h2>
+<p>In Isaac Lab, the <code class="docutils literal notranslate"><span class="pre">post_physics_step</span></code> function has been moved to the framework in the base class.
+Tasks are not required to implement this method, but can choose to override it if a different workflow is desired.</p>
+<p>By default, Isaac Lab follows the following flow in logic:</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-none notranslate"><div class="highlight"><pre><span></span>pre_physics_step
+  |-- apply_action
+
+
+post_physics_step
+  |-- reset_idx()
+  |-- compute_observation()
+  |-- compute_reward()
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-none notranslate"><div class="highlight"><pre><span></span>pre_physics_step
+  |-- _pre_physics_step(action)
+  |-- _apply_action()
+
+post_physics_step
+  |-- _get_dones()
+  |-- _get_rewards()
+  |-- _reset_idx()
+  |-- _get_observations()
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+<p>In Isaac Lab, we also separate the <code class="docutils literal notranslate"><span class="pre">pre_physics_step</span></code> API for processing actions from the policy with
+the <code class="docutils literal notranslate"><span class="pre">apply_action</span></code> API, which sets the actions into the simulation. This provides more flexibility in controlling
+when actions should be written to simulation when <code class="docutils literal notranslate"><span class="pre">decimation</span></code> is used.
+<code class="docutils literal notranslate"><span class="pre">pre_physics_step</span></code> will be called once per step before stepping simulation.
+<code class="docutils literal notranslate"><span class="pre">apply_actions</span></code> will be called <code class="docutils literal notranslate"><span class="pre">decimation</span></code> number of times for each RL step, once before each simulation step call.</p>
+<p>With this approach, resets are performed based on actions from the current step instead of the previous step.
+Observations will also be computed with the correct states after resets.</p>
+<p>We have also performed some renamings of APIs:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">create_sim(self)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_setup_scene(self)</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">pre_physics_step(self,</span> <span class="pre">actions)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_pre_physics_step(self,</span> <span class="pre">actions)</span></code> and <code class="docutils literal notranslate"><span class="pre">_apply_action(self)</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">reset_idx(self,</span> <span class="pre">env_ids)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_reset_idx(self,</span> <span class="pre">env_ids)</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">compute_observations(self)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_get_observations(self)</span></code> - <code class="docutils literal notranslate"><span class="pre">_get_observations()</span></code> should now return a dictionary <code class="docutils literal notranslate"><span class="pre">{&quot;policy&quot;:</span> <span class="pre">obs}</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">compute_reward(self)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_get_rewards(self)</span></code> - <code class="docutils literal notranslate"><span class="pre">_get_rewards()</span></code> should now return the reward buffer</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">post_physics_step(self)</span></code> –&gt; moved to the base class</p></li>
+<li><p>In addition, Isaac Lab requires the implementation of <code class="docutils literal notranslate"><span class="pre">_is_done(self)</span></code>, which should return two buffers: the <code class="docutils literal notranslate"><span class="pre">reset</span></code> buffer and the <code class="docutils literal notranslate"><span class="pre">time_out</span></code> buffer.</p></li>
+</ul>
+</section>
+<section id="putting-it-all-together">
+<h2>Putting It All Together<a class="headerlink" href="#putting-it-all-together" title="Permalink to this heading">#</a></h2>
+<p>The Cartpole environment is shown here in completion to fully show the comparison between the IsaacGymEnvs implementation and the Isaac Lab implementation.</p>
+<section id="id1">
+<h3>Task Config<a class="headerlink" href="#id1" title="Permalink to this heading">#</a></h3>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># used to create the object</span>
+<span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">Cartpole</span>
+
+<span class="nt">physics_engine</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${..physics_engine}</span>
+
+<span class="c1"># if given, will override the device setting in gym.</span>
+<span class="nt">env</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">numEnvs</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${resolve_default:512,${...num_envs}}</span>
+<span class="w">  </span><span class="nt">envSpacing</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4.0</span>
+<span class="w">  </span><span class="nt">resetDist</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">3.0</span>
+<span class="w">  </span><span class="nt">maxEffort</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">400.0</span>
+
+<span class="w">  </span><span class="nt">clipObservations</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">5.0</span>
+<span class="w">  </span><span class="nt">clipActions</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+
+<span class="w">  </span><span class="nt">asset</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">assetRoot</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;../../assets&quot;</span>
+<span class="w">    </span><span class="nt">assetFileName</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;urdf/cartpole.urdf&quot;</span>
+
+<span class="w">  </span><span class="nt">enableCameraSensors</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">False</span>
+
+<span class="nt">sim</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">dt</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0166</span><span class="w"> </span><span class="c1"># 1/60 s</span>
+<span class="w">  </span><span class="nt">substeps</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">2</span>
+<span class="w">  </span><span class="nt">up_axis</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;z&quot;</span>
+<span class="w">  </span><span class="nt">use_gpu_pipeline</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${eq:${...pipeline},&quot;gpu&quot;}</span>
+<span class="w">  </span><span class="nt">gravity</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-9.81</span><span class="p p-Indicator">]</span>
+<span class="w">  </span><span class="nt">physx</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">num_threads</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${....num_threads}</span>
+<span class="w">    </span><span class="nt">solver_type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${....solver_type}</span>
+<span class="w">    </span><span class="nt">use_gpu</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${contains:&quot;cuda&quot;,${....sim_device}}</span>
+<span class="w">    </span><span class="nt">num_position_iterations</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span>
+<span class="w">    </span><span class="nt">num_velocity_iterations</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
+<span class="w">    </span><span class="nt">contact_offset</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.02</span>
+<span class="w">    </span><span class="nt">rest_offset</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.001</span>
+<span class="w">    </span><span class="nt">bounce_threshold_velocity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.2</span>
+<span class="w">    </span><span class="nt">max_depenetration_velocity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">100.0</span>
+<span class="w">    </span><span class="nt">default_buffer_size_multiplier</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">2.0</span>
+<span class="w">    </span><span class="nt">max_gpu_contact_pairs</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1048576</span><span class="w"> </span><span class="c1"># 1024*1024</span>
+<span class="w">    </span><span class="nt">num_subscenes</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${....num_subscenes}</span>
+<span class="w">    </span><span class="nt">contact_collection</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CartpoleEnvCfg</span><span class="p">(</span><span class="n">DirectRLEnvCfg</span><span class="p">):</span>
+
+    <span class="c1"># simulation</span>
+    <span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mi">1</span> <span class="o">/</span> <span class="mi">120</span><span class="p">)</span>
+    <span class="c1"># robot</span>
+    <span class="n">robot_cfg</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">CARTPOLE_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Robot&quot;</span><span class="p">)</span>
+    <span class="n">cart_dof_name</span> <span class="o">=</span> <span class="s2">&quot;slider_to_cart&quot;</span>
+    <span class="n">pole_dof_name</span> <span class="o">=</span> <span class="s2">&quot;cart_to_pole&quot;</span>
+    <span class="c1"># scene</span>
+    <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">InteractiveSceneCfg</span><span class="p">(</span>
+        <span class="n">num_envs</span><span class="o">=</span><span class="mi">4096</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">4.0</span><span class="p">,</span> <span class="n">replicate_physics</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># env</span>
+    <span class="n">decimation</span> <span class="o">=</span> <span class="mi">2</span>
+    <span class="n">episode_length_s</span> <span class="o">=</span> <span class="mf">5.0</span>
+    <span class="n">action_scale</span> <span class="o">=</span> <span class="mf">100.0</span>  <span class="c1"># [N]</span>
+    <span class="n">action_space</span> <span class="o">=</span> <span class="mi">1</span>
+    <span class="n">observation_space</span> <span class="o">=</span> <span class="mi">4</span>
+    <span class="n">state_space</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="c1"># reset</span>
+    <span class="n">max_cart_pos</span> <span class="o">=</span> <span class="mf">3.0</span>
+    <span class="n">initial_pole_angle_range</span> <span class="o">=</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">]</span>
+    <span class="c1"># reward scales</span>
+    <span class="n">rew_scale_alive</span> <span class="o">=</span> <span class="mf">1.0</span>
+    <span class="n">rew_scale_terminated</span> <span class="o">=</span> <span class="o">-</span><span class="mf">2.0</span>
+    <span class="n">rew_scale_pole_pos</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+    <span class="n">rew_scale_cart_vel</span> <span class="o">=</span> <span class="o">-</span><span class="mf">0.01</span>
+    <span class="n">rew_scale_pole_vel</span> <span class="o">=</span> <span class="o">-</span><span class="mf">0.005</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="task-setup">
+<h3>Task Setup<a class="headerlink" href="#task-setup" title="Permalink to this heading">#</a></h3>
+<p>Isaac Lab no longer requires pre-initialization of buffers through the <code class="docutils literal notranslate"><span class="pre">acquire_*</span></code> APIs that were used in IsaacGymEnvs.
+It is also no longer necessary to <code class="docutils literal notranslate"><span class="pre">wrap</span></code> and <code class="docutils literal notranslate"><span class="pre">unwrap</span></code> tensors.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">Cartpole</span><span class="p">(</span><span class="n">VecTask</span><span class="p">):</span>
+
+  <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">rl_device</span><span class="p">,</span> <span class="n">sim_device</span><span class="p">,</span> <span class="n">graphics_device_id</span><span class="p">,</span>
+   <span class="n">headless</span><span class="p">,</span> <span class="n">virtual_screen_capture</span><span class="p">,</span> <span class="n">force_render</span><span class="p">):</span>
+      <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span> <span class="o">=</span> <span class="n">cfg</span>
+
+      <span class="bp">self</span><span class="o">.</span><span class="n">reset_dist</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s2">&quot;resetDist&quot;</span><span class="p">]</span>
+
+      <span class="bp">self</span><span class="o">.</span><span class="n">max_push_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s2">&quot;maxEffort&quot;</span><span class="p">]</span>
+      <span class="bp">self</span><span class="o">.</span><span class="n">max_episode_length</span> <span class="o">=</span> <span class="mi">500</span>
+
+      <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s2">&quot;numObservations&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="mi">4</span>
+      <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s2">&quot;numActions&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="mi">1</span>
+
+      <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">config</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">,</span>
+         <span class="n">rl_device</span><span class="o">=</span><span class="n">rl_device</span><span class="p">,</span> <span class="n">sim_device</span><span class="o">=</span><span class="n">sim_device</span><span class="p">,</span>
+         <span class="n">graphics_device_id</span><span class="o">=</span><span class="n">graphics_device_id</span><span class="p">,</span> <span class="n">headless</span><span class="o">=</span><span class="n">headless</span><span class="p">,</span>
+         <span class="n">virtual_screen_capture</span><span class="o">=</span><span class="n">virtual_screen_capture</span><span class="p">,</span>
+         <span class="n">force_render</span><span class="o">=</span><span class="n">force_render</span><span class="p">)</span>
+
+      <span class="n">dof_state_tensor</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">acquire_dof_state_tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">)</span>
+      <span class="bp">self</span><span class="o">.</span><span class="n">dof_state</span> <span class="o">=</span> <span class="n">gymtorch</span><span class="o">.</span><span class="n">wrap_tensor</span><span class="p">(</span><span class="n">dof_state_tensor</span><span class="p">)</span>
+      <span class="bp">self</span><span class="o">.</span><span class="n">dof_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">dof_state</span><span class="o">.</span><span class="n">view</span><span class="p">(</span>
+          <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_dof</span><span class="p">,</span> <span class="mi">2</span><span class="p">)[</span><span class="o">...</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+      <span class="bp">self</span><span class="o">.</span><span class="n">dof_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">dof_state</span><span class="o">.</span><span class="n">view</span><span class="p">(</span>
+          <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_dof</span><span class="p">,</span> <span class="mi">2</span><span class="p">)[</span><span class="o">...</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">CartpoleEnv</span><span class="p">(</span><span class="n">DirectRLEnv</span><span class="p">):</span>
+  <span class="n">cfg</span><span class="p">:</span> <span class="n">CartpoleEnvCfg</span>
+  <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">CartpoleEnvCfg</span><span class="p">,</span>
+          <span class="n">render_mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+
+      <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+
+      <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">find_joints</span><span class="p">(</span>
+          <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">cart_dof_name</span><span class="p">)</span>
+      <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">find_joints</span><span class="p">(</span>
+          <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pole_dof_name</span><span class="p">)</span>
+      <span class="bp">self</span><span class="o">.</span><span class="n">action_scale</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_scale</span>
+
+      <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span>
+      <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="scene-setup">
+<h3>Scene Setup<a class="headerlink" href="#scene-setup" title="Permalink to this heading">#</a></h3>
+<p>Scene setup is now done through the <code class="docutils literal notranslate"><span class="pre">Cloner</span></code> API and by specifying actor attributes in config objects.
+This eliminates the need to loop through the number of environments to set up the environments and avoids
+the need to set simulation parameters for actors in the task implementation.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">create_sim</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+    <span class="c1"># set the up axis to be z-up given that assets are y-up by default</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">up_axis</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;sim&quot;</span><span class="p">][</span><span class="s2">&quot;up_axis&quot;</span><span class="p">]</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">sim</span> <span class="o">=</span> <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">create_sim</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device_id</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">graphics_device_id</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">physics_engine</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim_params</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">_create_ground_plane</span><span class="p">()</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">_create_envs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s1">&#39;envSpacing&#39;</span><span class="p">],</span>
+        <span class="nb">int</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">)))</span>
+
+<span class="k">def</span> <span class="nf">_create_ground_plane</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+    <span class="n">plane_params</span> <span class="o">=</span> <span class="n">gymapi</span><span class="o">.</span><span class="n">PlaneParams</span><span class="p">()</span>
+    <span class="c1"># set the normal force to be z dimension</span>
+    <span class="n">plane_params</span><span class="o">.</span><span class="n">normal</span> <span class="o">=</span> <span class="p">(</span><span class="n">gymapi</span><span class="o">.</span><span class="n">Vec3</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">up_axis</span> <span class="o">==</span> <span class="s1">&#39;z&#39;</span>
+        <span class="k">else</span> <span class="n">gymapi</span><span class="o">.</span><span class="n">Vec3</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">))</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">add_ground</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">,</span> <span class="n">plane_params</span><span class="p">)</span>
+
+<span class="k">def</span> <span class="nf">_create_envs</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">num_envs</span><span class="p">,</span> <span class="n">spacing</span><span class="p">,</span> <span class="n">num_per_row</span><span class="p">):</span>
+    <span class="c1"># define plane on which environments are initialized</span>
+    <span class="n">lower</span> <span class="o">=</span> <span class="p">(</span><span class="n">gymapi</span><span class="o">.</span><span class="n">Vec3</span><span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="o">-</span><span class="n">spacing</span><span class="p">,</span> <span class="o">-</span><span class="n">spacing</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">up_axis</span> <span class="o">==</span> <span class="s1">&#39;z&#39;</span>
+        <span class="k">else</span> <span class="n">gymapi</span><span class="o">.</span><span class="n">Vec3</span><span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="o">-</span><span class="n">spacing</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="n">spacing</span><span class="p">))</span>
+    <span class="n">upper</span> <span class="o">=</span> <span class="n">gymapi</span><span class="o">.</span><span class="n">Vec3</span><span class="p">(</span><span class="mf">0.5</span> <span class="o">*</span> <span class="n">spacing</span><span class="p">,</span> <span class="n">spacing</span><span class="p">,</span> <span class="n">spacing</span><span class="p">)</span>
+
+    <span class="n">asset_root</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span>
+        <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="vm">__file__</span><span class="p">)),</span> <span class="s2">&quot;../../assets&quot;</span><span class="p">)</span>
+    <span class="n">asset_file</span> <span class="o">=</span> <span class="s2">&quot;urdf/cartpole.urdf&quot;</span>
+
+    <span class="k">if</span> <span class="s2">&quot;asset&quot;</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">]:</span>
+        <span class="n">asset_root</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">abspath</span><span class="p">(</span><span class="vm">__file__</span><span class="p">)),</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s2">&quot;asset&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">&quot;assetRoot&quot;</span><span class="p">,</span> <span class="n">asset_root</span><span class="p">))</span>
+        <span class="n">asset_file</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s2">&quot;asset&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">get</span><span class="p">(</span>
+            <span class="s2">&quot;assetFileName&quot;</span><span class="p">,</span> <span class="n">asset_file</span><span class="p">)</span>
+
+    <span class="n">asset_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">asset_root</span><span class="p">,</span> <span class="n">asset_file</span><span class="p">)</span>
+    <span class="n">asset_root</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">dirname</span><span class="p">(</span><span class="n">asset_path</span><span class="p">)</span>
+    <span class="n">asset_file</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">basename</span><span class="p">(</span><span class="n">asset_path</span><span class="p">)</span>
+
+    <span class="n">asset_options</span> <span class="o">=</span> <span class="n">gymapi</span><span class="o">.</span><span class="n">AssetOptions</span><span class="p">()</span>
+    <span class="n">asset_options</span><span class="o">.</span><span class="n">fix_base_link</span> <span class="o">=</span> <span class="kc">True</span>
+    <span class="n">cartpole_asset</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">load_asset</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">,</span>
+        <span class="n">asset_root</span><span class="p">,</span> <span class="n">asset_file</span><span class="p">,</span> <span class="n">asset_options</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">num_dof</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">get_asset_dof_count</span><span class="p">(</span>
+        <span class="n">cartpole_asset</span><span class="p">)</span>
+
+    <span class="n">pose</span> <span class="o">=</span> <span class="n">gymapi</span><span class="o">.</span><span class="n">Transform</span><span class="p">()</span>
+    <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">up_axis</span> <span class="o">==</span> <span class="s1">&#39;z&#39;</span><span class="p">:</span>
+        <span class="n">pose</span><span class="o">.</span><span class="n">p</span><span class="o">.</span><span class="n">z</span> <span class="o">=</span> <span class="mf">2.0</span>
+        <span class="n">pose</span><span class="o">.</span><span class="n">r</span> <span class="o">=</span> <span class="n">gymapi</span><span class="o">.</span><span class="n">Quat</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">pose</span><span class="o">.</span><span class="n">p</span><span class="o">.</span><span class="n">y</span> <span class="o">=</span> <span class="mf">2.0</span>
+        <span class="n">pose</span><span class="o">.</span><span class="n">r</span> <span class="o">=</span> <span class="n">gymapi</span><span class="o">.</span><span class="n">Quat</span><span class="p">(</span>
+            <span class="o">-</span><span class="n">np</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span><span class="o">/</span><span class="mi">2</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="n">np</span><span class="o">.</span><span class="n">sqrt</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span><span class="o">/</span><span class="mi">2</span><span class="p">)</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole_handles</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">envs</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">):</span>
+        <span class="c1"># create env instance</span>
+        <span class="n">env_ptr</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">create_env</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">,</span> <span class="n">lower</span><span class="p">,</span> <span class="n">upper</span><span class="p">,</span> <span class="n">num_per_row</span>
+        <span class="p">)</span>
+        <span class="n">cartpole_handle</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">create_actor</span><span class="p">(</span>
+            <span class="n">env_ptr</span><span class="p">,</span> <span class="n">cartpole_asset</span><span class="p">,</span> <span class="n">pose</span><span class="p">,</span>
+            <span class="s2">&quot;cartpole&quot;</span><span class="p">,</span> <span class="n">i</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
+
+        <span class="n">dof_props</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">get_actor_dof_properties</span><span class="p">(</span>
+            <span class="n">env_ptr</span><span class="p">,</span> <span class="n">cartpole_handle</span><span class="p">)</span>
+        <span class="n">dof_props</span><span class="p">[</span><span class="s1">&#39;driveMode&#39;</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="n">gymapi</span><span class="o">.</span><span class="n">DOF_MODE_EFFORT</span>
+        <span class="n">dof_props</span><span class="p">[</span><span class="s1">&#39;driveMode&#39;</span><span class="p">][</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">gymapi</span><span class="o">.</span><span class="n">DOF_MODE_NONE</span>
+        <span class="n">dof_props</span><span class="p">[</span><span class="s1">&#39;stiffness&#39;</span><span class="p">][:]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="n">dof_props</span><span class="p">[</span><span class="s1">&#39;damping&#39;</span><span class="p">][:]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">set_actor_dof_properties</span><span class="p">(</span><span class="n">env_ptr</span><span class="p">,</span> <span class="n">c</span>
+            <span class="n">artpole_handle</span><span class="p">,</span> <span class="n">dof_props</span><span class="p">)</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">envs</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">env_ptr</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole_handles</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">cartpole_handle</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_setup_scene</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">robot_cfg</span><span class="p">)</span>
+    <span class="c1"># add ground plane</span>
+    <span class="n">spawn_ground_plane</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span>
+        <span class="n">cfg</span><span class="o">=</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+    <span class="c1"># clone, filter, and replicate</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">clone_environments</span><span class="p">(</span>
+        <span class="n">copy_from_source</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">filter_collisions</span><span class="p">(</span>
+        <span class="n">global_prim_paths</span><span class="o">=</span><span class="p">[])</span>
+    <span class="c1"># add articulation to scene</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="p">[</span><span class="s2">&quot;cartpole&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span>
+    <span class="c1"># add lights</span>
+    <span class="n">light_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span>
+        <span class="n">intensity</span><span class="o">=</span><span class="mf">2000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+    <span class="n">light_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">light_cfg</span><span class="p">)</span>
+
+<span class="n">CARTPOLE_CFG</span> <span class="o">=</span> <span class="n">ArticulationCfg</span><span class="p">(</span>
+    <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+        <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/.../cartpole.usd&quot;</span><span class="p">,</span>
+        <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+            <span class="n">rigid_body_enabled</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+            <span class="n">max_linear_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+            <span class="n">max_angular_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+            <span class="n">max_depenetration_velocity</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span>
+            <span class="n">enable_gyroscopic_forces</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="p">),</span>
+        <span class="n">articulation_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ArticulationRootPropertiesCfg</span><span class="p">(</span>
+            <span class="n">enabled_self_collisions</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+            <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span>
+            <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+            <span class="n">sleep_threshold</span><span class="o">=</span><span class="mf">0.005</span><span class="p">,</span>
+            <span class="n">stabilization_threshold</span><span class="o">=</span><span class="mf">0.001</span><span class="p">,</span>
+        <span class="p">),</span>
+    <span class="p">),</span>
+    <span class="n">init_state</span><span class="o">=</span><span class="n">ArticulationCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span>
+        <span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span>
+        <span class="n">joint_pos</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">,</span> <span class="s2">&quot;cart_to_pole&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">}</span>
+    <span class="p">),</span>
+    <span class="n">actuators</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;cart_actuator&quot;</span><span class="p">:</span> <span class="n">ImplicitActuatorCfg</span><span class="p">(</span>
+            <span class="n">joint_names_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">],</span>
+            <span class="n">effort_limit</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span>
+            <span class="n">velocity_limit</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span>
+            <span class="n">stiffness</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+            <span class="n">damping</span><span class="o">=</span><span class="mf">10.0</span><span class="p">,</span>
+        <span class="p">),</span>
+        <span class="s2">&quot;pole_actuator&quot;</span><span class="p">:</span> <span class="n">ImplicitActuatorCfg</span><span class="p">(</span>
+            <span class="n">joint_names_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">],</span> <span class="n">effort_limit</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span>
+            <span class="n">velocity_limit</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span> <span class="n">stiffness</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">damping</span><span class="o">=</span><span class="mf">0.0</span>
+        <span class="p">),</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="pre-and-post-physics-step">
+<h3>Pre and Post Physics Step<a class="headerlink" href="#pre-and-post-physics-step" title="Permalink to this heading">#</a></h3>
+<p>In IsaacGymEnvs, due to limitations of the GPU APIs, observations had stale data when environments had to perform resets.
+This restriction has been eliminated in Isaac Lab, and thus, tasks follow the correct workflow of applying actions, stepping simulation,
+collecting states, computing dones, calculating rewards, performing resets, and finally computing observations.
+This workflow is done automatically by the framework such that a <code class="docutils literal notranslate"><span class="pre">post_physics_step</span></code> API is not required in the task.
+However, individual tasks can override the <code class="docutils literal notranslate"><span class="pre">step()</span></code> API to control the workflow.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>IsaacLab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">pre_physics_step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">):</span>
+    <span class="n">actions_tensor</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_dof</span><span class="p">,</span>
+        <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float</span><span class="p">)</span>
+    <span class="n">actions_tensor</span><span class="p">[::</span><span class="bp">self</span><span class="o">.</span><span class="n">num_dof</span><span class="p">]</span> <span class="o">=</span> <span class="n">actions</span><span class="o">.</span><span class="n">to</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">()</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_push_effort</span>
+    <span class="n">forces</span> <span class="o">=</span> <span class="n">gymtorch</span><span class="o">.</span><span class="n">unwrap_tensor</span><span class="p">(</span><span class="n">actions_tensor</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">set_dof_actuation_force_tensor</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">,</span> <span class="n">forces</span><span class="p">)</span>
+
+<span class="k">def</span> <span class="nf">post_physics_step</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">progress_buf</span> <span class="o">+=</span> <span class="mi">1</span>
+
+    <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="o">.</span><span class="n">nonzero</span><span class="p">(</span>
+        <span class="n">as_tuple</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_idx</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">compute_observations</span><span class="p">()</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">compute_reward</span><span class="p">()</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_pre_physics_step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">actions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_scale</span> <span class="o">*</span> <span class="n">actions</span>
+
+<span class="k">def</span> <span class="nf">_apply_action</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">set_joint_effort_target</span><span class="p">(</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">actions</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="dones-and-resets">
+<h3>Dones and Resets<a class="headerlink" href="#dones-and-resets" title="Permalink to this heading">#</a></h3>
+<p>In Isaac Lab, <code class="docutils literal notranslate"><span class="pre">dones</span></code> are computed in the <code class="docutils literal notranslate"><span class="pre">_get_dones()</span></code> method and should return two variables: <code class="docutils literal notranslate"><span class="pre">resets</span></code> and <code class="docutils literal notranslate"><span class="pre">time_out</span></code>.
+Tracking of the <code class="docutils literal notranslate"><span class="pre">progress_buf</span></code> has been moved to the base class and is now automatically incremented and reset by the framework.
+The <code class="docutils literal notranslate"><span class="pre">progress_buf</span></code> variable has also been renamed to <code class="docutils literal notranslate"><span class="pre">episode_length_buf</span></code>.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">reset_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">):</span>
+    <span class="n">positions</span> <span class="o">=</span> <span class="mf">0.2</span> <span class="o">*</span> <span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">((</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_dof</span><span class="p">),</span>
+        <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span> <span class="o">-</span> <span class="mf">0.5</span><span class="p">)</span>
+    <span class="n">velocities</span> <span class="o">=</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">((</span><span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">),</span> <span class="bp">self</span><span class="o">.</span><span class="n">num_dof</span><span class="p">),</span>
+        <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span> <span class="o">-</span> <span class="mf">0.5</span><span class="p">)</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">dof_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:]</span> <span class="o">=</span> <span class="n">positions</span><span class="p">[:]</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">dof_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="p">:]</span> <span class="o">=</span> <span class="n">velocities</span><span class="p">[:]</span>
+
+    <span class="n">env_ids_int32</span> <span class="o">=</span> <span class="n">env_ids</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">set_dof_state_tensor_indexed</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">,</span>
+        <span class="n">gymtorch</span><span class="o">.</span><span class="n">unwrap_tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">dof_state</span><span class="p">),</span>
+        <span class="n">gymtorch</span><span class="o">.</span><span class="n">unwrap_tensor</span><span class="p">(</span><span class="n">env_ids_int32</span><span class="p">),</span> <span class="nb">len</span><span class="p">(</span><span class="n">env_ids_int32</span><span class="p">))</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">progress_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_get_dones</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span>
+
+    <span class="n">time_out</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_episode_length</span> <span class="o">-</span> <span class="mi">1</span>
+    <span class="n">out_of_bounds</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">])</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_cart_pos</span><span class="p">,</span>
+        <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">out_of_bounds</span> <span class="o">=</span> <span class="n">out_of_bounds</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">])</span> <span class="o">&gt;</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span>
+        <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">out_of_bounds</span><span class="p">,</span> <span class="n">time_out</span>
+
+<span class="k">def</span> <span class="nf">_reset_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span><span class="p">):</span>
+    <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+    <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+    <span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+    <span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span> <span class="o">+=</span> <span class="n">sample_uniform</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">initial_pole_angle_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">initial_pole_angle_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span>
+        <span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span>
+        <span class="n">joint_pos</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+
+    <span class="n">default_root_state</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+    <span class="n">default_root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_pos</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span>
+        <span class="n">default_root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span>
+        <span class="n">default_root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span>
+        <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="observations">
+<h3>Observations<a class="headerlink" href="#observations" title="Permalink to this heading">#</a></h3>
+<p>In Isaac Lab, the <code class="docutils literal notranslate"><span class="pre">_get_observations()</span></code> API should now return a dictionary containing the <code class="docutils literal notranslate"><span class="pre">policy</span></code> key with the observation
+buffer as the value.
+For asymmetric policies, the dictionary should also include a <code class="docutils literal notranslate"><span class="pre">critic</span></code> key that holds the state buffer.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">compute_observations</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
+    <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">env_ids</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">num_envs</span><span class="p">)</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">gym</span><span class="o">.</span><span class="n">refresh_dof_state_tensor</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="p">)</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">dof_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">dof_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">0</span><span class="p">]</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">dof_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">dof_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">,</span> <span class="mi">1</span><span class="p">]</span>
+
+    <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_get_observations</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+    <span class="n">obs</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span>
+        <span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="p">),</span>
+        <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">observations</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;policy&quot;</span><span class="p">:</span> <span class="n">obs</span><span class="p">}</span>
+    <span class="k">return</span> <span class="n">observations</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="rewards">
+<h3>Rewards<a class="headerlink" href="#rewards" title="Permalink to this heading">#</a></h3>
+<p>In Isaac Lab, the reward method <code class="docutils literal notranslate"><span class="pre">_get_rewards</span></code> should return the reward buffer as a return value.
+Similar to IsaacGymEnvs, computations in the reward function can also be performed using pytorch jit
+by adding the <code class="docutils literal notranslate"><span class="pre">&#64;torch.jit.script</span></code> annotation.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">compute_reward</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+    <span class="c1"># retrieve environment observations from buffer</span>
+    <span class="n">pole_angle</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span>
+    <span class="n">pole_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">]</span>
+    <span class="n">cart_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span>
+    <span class="n">cart_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">rew_buf</span><span class="p">[:],</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">compute_cartpole_reward</span><span class="p">(</span>
+        <span class="n">pole_angle</span><span class="p">,</span> <span class="n">pole_vel</span><span class="p">,</span> <span class="n">cart_vel</span><span class="p">,</span> <span class="n">cart_pos</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_dist</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">progress_buf</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_episode_length</span>
+    <span class="p">)</span>
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">compute_cartpole_reward</span><span class="p">(</span><span class="n">pole_angle</span><span class="p">,</span> <span class="n">pole_vel</span><span class="p">,</span>
+                            <span class="n">cart_vel</span><span class="p">,</span> <span class="n">cart_pos</span><span class="p">,</span>
+                            <span class="n">reset_dist</span><span class="p">,</span> <span class="n">reset_buf</span><span class="p">,</span>
+                            <span class="n">progress_buf</span><span class="p">,</span> <span class="n">max_episode_length</span><span class="p">):</span>
+
+    <span class="n">reward</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span> <span class="o">-</span> <span class="n">pole_angle</span> <span class="o">*</span> <span class="n">pole_angle</span> <span class="o">-</span>
+        <span class="mf">0.01</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">cart_vel</span><span class="p">)</span> <span class="o">-</span>
+        <span class="mf">0.005</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">pole_vel</span><span class="p">))</span>
+
+    <span class="c1"># adjust reward for reset agents</span>
+    <span class="n">reward</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">cart_pos</span><span class="p">)</span> <span class="o">&gt;</span> <span class="n">reset_dist</span><span class="p">,</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">ones_like</span><span class="p">(</span><span class="n">reward</span><span class="p">)</span> <span class="o">*</span> <span class="o">-</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">reward</span><span class="p">)</span>
+    <span class="n">reward</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">pole_angle</span><span class="p">)</span> <span class="o">&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">ones_like</span><span class="p">(</span><span class="n">reward</span><span class="p">)</span> <span class="o">*</span> <span class="o">-</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">reward</span><span class="p">)</span>
+
+    <span class="n">reset</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">cart_pos</span><span class="p">)</span> <span class="o">&gt;</span> <span class="n">reset_dist</span><span class="p">,</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">ones_like</span><span class="p">(</span><span class="n">reset_buf</span><span class="p">),</span> <span class="n">reset_buf</span><span class="p">)</span>
+    <span class="n">reset</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">pole_angle</span><span class="p">)</span> <span class="o">&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">ones_like</span><span class="p">(</span><span class="n">reset_buf</span><span class="p">),</span> <span class="n">reset_buf</span><span class="p">)</span>
+    <span class="n">reset</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span><span class="n">progress_buf</span> <span class="o">&gt;=</span> <span class="n">max_episode_length</span> <span class="o">-</span> <span class="mi">1</span><span class="p">,</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">ones_like</span><span class="p">(</span><span class="n">reset_buf</span><span class="p">),</span> <span class="n">reset</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_get_rewards</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+    <span class="n">total_reward</span> <span class="o">=</span> <span class="n">compute_rewards</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_alive</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_terminated</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_pole_pos</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_cart_vel</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_pole_vel</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="k">return</span> <span class="n">total_reward</span>
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">compute_rewards</span><span class="p">(</span>
+    <span class="n">rew_scale_alive</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_terminated</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_pole_pos</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_cart_vel</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_pole_vel</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">pole_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">pole_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">cart_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">cart_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">reset_terminated</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+<span class="p">):</span>
+    <span class="n">rew_alive</span> <span class="o">=</span> <span class="n">rew_scale_alive</span> <span class="o">*</span> <span class="p">(</span><span class="mf">1.0</span> <span class="o">-</span> <span class="n">reset_terminated</span><span class="o">.</span><span class="n">float</span><span class="p">())</span>
+    <span class="n">rew_termination</span> <span class="o">=</span> <span class="n">rew_scale_terminated</span> <span class="o">*</span> <span class="n">reset_terminated</span><span class="o">.</span><span class="n">float</span><span class="p">()</span>
+    <span class="n">rew_pole_pos</span> <span class="o">=</span> <span class="n">rew_scale_pole_pos</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">pole_pos</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">rew_cart_vel</span> <span class="o">=</span> <span class="n">rew_scale_cart_vel</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">cart_vel</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">rew_pole_vel</span> <span class="o">=</span> <span class="n">rew_scale_pole_vel</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">pole_vel</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">total_reward</span> <span class="o">=</span> <span class="p">(</span><span class="n">rew_alive</span> <span class="o">+</span> <span class="n">rew_termination</span>
+                     <span class="o">+</span> <span class="n">rew_pole_pos</span> <span class="o">+</span> <span class="n">rew_cart_vel</span> <span class="o">+</span> <span class="n">rew_pole_vel</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">total_reward</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+</section>
+<section id="launching-training">
+<h2>Launching Training<a class="headerlink" href="#launching-training" title="Permalink to this heading">#</a></h2>
+<p>To launch a training in Isaac Lab, use the command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-Direct-v0<span class="w"> </span>--headless
+</pre></div>
+</div>
+</section>
+<section id="launching-inferencing">
+<h2>Launching Inferencing<a class="headerlink" href="#launching-inferencing" title="Permalink to this heading">#</a></h2>
+<p>To launch inferencing in Isaac Lab, use the command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>source/standalone/workflows/rl_games/play.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-Direct-v0<span class="w"> </span>--num_envs<span class="o">=</span><span class="m">25</span><span class="w"> </span>--checkpoint<span class="o">=</span>&lt;path/to/checkpoint&gt;
+</pre></div>
+</div>
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="current nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1 current active"><a class="current reference internal" href="#">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../refs/reference_architecture/index.html">Reference Architecture</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+              
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>From OmniIsaacGymEnvs</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#task-config-setup">Task Config Setup</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-config">Simulation Config</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-config">Scene Config</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#task-config">Task Config</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rl-config-setup">RL Config Setup</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#environment-creation">Environment Creation</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#ground-plane">Ground Plane</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#actors">Actors</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#accessing-states-from-simulation">Accessing States from Simulation</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#creating-a-new-environment">Creating a New Environment</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#task-logic">Task Logic</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#putting-it-all-together">Putting It All Together</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id1">Task Config</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#task-setup">Task Setup</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-setup">Scene Setup</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#pre-physics-step">Pre-Physics Step</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#dones-and-resets">Dones and Resets</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#rewards">Rewards</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#observations">Observations</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#domain-randomization">Domain Randomization</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#action-and-observation-noise">Action and Observation Noise</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#launching-training">Launching Training</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#launching-inferencing">Launching Inferencing</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="from-omniisaacgymenvs">
+<span id="migrating-from-omniisaacgymenvs"></span><h1>From OmniIsaacGymEnvs<a class="headerlink" href="#from-omniisaacgymenvs" title="Permalink to this heading">#</a></h1>
+<p><a class="reference external" href="https://github.com/isaac-sim/OmniIsaacGymEnvs">OmniIsaacGymEnvs</a> was a reinforcement learning framework using the Isaac Sim platform.
+Features from OmniIsaacGymEnvs have been integrated into the Isaac Lab framework.
+We have updated OmniIsaacGymEnvs to Isaac Sim version 4.0.0 to support the migration process
+to Isaac Lab. Moving forward, OmniIsaacGymEnvs will be deprecated and future development
+will continue in Isaac Lab.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The following changes are with respect to Isaac Lab 1.0 release. Please refer to the <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/releases">release notes</a> for any changes
+in the future releases.</p>
+</div>
+<section id="task-config-setup">
+<h2>Task Config Setup<a class="headerlink" href="#task-config-setup" title="Permalink to this heading">#</a></h2>
+<p>In OmniIsaacGymEnvs, task config files were defined in <code class="docutils literal notranslate"><span class="pre">.yaml</span></code> format. With Isaac Lab, configs are now specified
+using a specialized Python class <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a>. The
+<a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a> module provides a wrapper on top of Python’s <code class="docutils literal notranslate"><span class="pre">dataclasses</span></code> module.
+Each environment should specify its own config class annotated by <code class="docutils literal notranslate"><span class="pre">&#64;configclass</span></code> that inherits from the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg" title="omni.isaac.lab.envs.DirectRLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnvCfg</span></code></a> class, which can include simulation parameters, environment scene parameters,
+robot parameters, and task-specific parameters.</p>
+<p>Below is an example skeleton of a task config class:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">DirectRLEnvCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationCfg</span>
+
+<span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MyEnvCfg</span><span class="p">(</span><span class="n">DirectRLEnvCfg</span><span class="p">):</span>
+   <span class="c1"># simulation</span>
+   <span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">()</span>
+   <span class="c1"># robot</span>
+   <span class="n">robot_cfg</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">ArticulationCfg</span><span class="p">()</span>
+   <span class="c1"># scene</span>
+   <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">InteractiveSceneCfg</span><span class="p">()</span>
+   <span class="c1"># env</span>
+   <span class="n">decimation</span> <span class="o">=</span> <span class="mi">2</span>
+   <span class="n">episode_length_s</span> <span class="o">=</span> <span class="mf">5.0</span>
+   <span class="n">action_space</span> <span class="o">=</span> <span class="mi">1</span>
+   <span class="n">observation_space</span> <span class="o">=</span> <span class="mi">4</span>
+   <span class="n">state_space</span> <span class="o">=</span> <span class="mi">0</span>
+   <span class="c1"># task-specific parameters</span>
+   <span class="o">...</span>
+</pre></div>
+</div>
+<section id="simulation-config">
+<h3>Simulation Config<a class="headerlink" href="#simulation-config" title="Permalink to this heading">#</a></h3>
+<p>Simulation related parameters are defined as part of the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationCfg</span></code></a> class,
+which is a <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a> module that holds simulation parameters such as <code class="docutils literal notranslate"><span class="pre">dt</span></code>,
+<code class="docutils literal notranslate"><span class="pre">device</span></code>, and <code class="docutils literal notranslate"><span class="pre">gravity</span></code>. Each task config must have a variable named <code class="docutils literal notranslate"><span class="pre">sim</span></code> defined that holds the type
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationCfg</span></code></a>.</p>
+<p>Simulation parameters for articulations and rigid bodies such as <code class="docutils literal notranslate"><span class="pre">num_position_iterations</span></code>, <code class="docutils literal notranslate"><span class="pre">num_velocity_iterations</span></code>,
+<code class="docutils literal notranslate"><span class="pre">contact_offset</span></code>, <code class="docutils literal notranslate"><span class="pre">rest_offset</span></code>, <code class="docutils literal notranslate"><span class="pre">bounce_threshold_velocity</span></code>, <code class="docutils literal notranslate"><span class="pre">max_depenetration_velocity</span></code> can all
+be specified on a per-actor basis in the config class for each individual articulation and rigid body.</p>
+<p>When running simulation on the GPU, buffers in PhysX require pre-allocation for computing and storing
+information such as contacts, collisions and aggregate pairs. These buffers may need to be adjusted
+depending on the complexity of the environment, the number of expected contacts and collisions,
+and the number of actors in the environment. The <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg" title="omni.isaac.lab.sim.PhysxCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">PhysxCfg</span></code></a> class provides access
+for setting the GPU buffer dimensions.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># OmniIsaacGymEnvs</span>
+<span class="nt">sim</span><span class="p">:</span>
+
+<span class="w">  </span><span class="nt">dt</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0083</span><span class="w"> </span><span class="c1"># 1/120 s</span>
+<span class="w">  </span><span class="nt">use_gpu_pipeline</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${eq:${...pipeline},&quot;gpu&quot;}</span>
+<span class="w">  </span><span class="nt">use_fabric</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">  </span><span class="nt">enable_scene_query_support</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">False</span>
+<span class="w">  </span><span class="nt">disable_contact_processing</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">False</span>
+<span class="w">  </span><span class="nt">gravity</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-9.81</span><span class="p p-Indicator">]</span>
+
+<span class="w">  </span><span class="nt">default_physics_material</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">static_friction</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+<span class="w">    </span><span class="nt">dynamic_friction</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+<span class="w">    </span><span class="nt">restitution</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0</span>
+
+<span class="w">  </span><span class="nt">physx</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">worker_thread_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${....num_threads}</span>
+<span class="w">    </span><span class="nt">solver_type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${....solver_type}</span>
+<span class="w">    </span><span class="nt">use_gpu</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${contains:&quot;cuda&quot;,${....sim_device}}</span>
+<span class="w">    </span><span class="nt">solver_position_iteration_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span>
+<span class="w">    </span><span class="nt">solver_velocity_iteration_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
+<span class="w">    </span><span class="nt">contact_offset</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.02</span>
+<span class="w">    </span><span class="nt">rest_offset</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.001</span>
+<span class="w">    </span><span class="nt">bounce_threshold_velocity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.2</span>
+<span class="w">    </span><span class="nt">friction_offset_threshold</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.04</span>
+<span class="w">    </span><span class="nt">friction_correlation_distance</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.025</span>
+<span class="w">    </span><span class="nt">enable_sleeping</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">    </span><span class="nt">enable_stabilization</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">    </span><span class="nt">max_depenetration_velocity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">100.0</span>
+
+<span class="w">    </span><span class="nt">gpu_max_rigid_contact_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">524288</span>
+<span class="w">    </span><span class="nt">gpu_max_rigid_patch_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">81920</span>
+<span class="w">    </span><span class="nt">gpu_found_lost_pairs_capacity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1024</span>
+<span class="w">    </span><span class="nt">gpu_found_lost_aggregate_pairs_capacity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">262144</span>
+<span class="w">    </span><span class="nt">gpu_total_aggregate_pairs_capacity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1024</span>
+<span class="w">    </span><span class="nt">gpu_heap_capacity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">67108864</span>
+<span class="w">    </span><span class="nt">gpu_temp_buffer_capacity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">16777216</span>
+<span class="w">    </span><span class="nt">gpu_max_num_partitions</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">8</span>
+<span class="w">    </span><span class="nt">gpu_max_soft_body_contacts</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1048576</span>
+<span class="w">    </span><span class="nt">gpu_max_particle_contacts</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1048576</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># IsaacLab</span>
+<span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">(</span>
+   <span class="n">device</span> <span class="o">=</span> <span class="s2">&quot;cuda:0&quot;</span> <span class="c1"># can be &quot;cpu&quot;, &quot;cuda&quot;, &quot;cuda:&lt;device_id&gt;&quot;</span>
+   <span class="n">dt</span><span class="o">=</span><span class="mi">1</span> <span class="o">/</span> <span class="mi">120</span><span class="p">,</span>
+   <span class="c1"># use_gpu_pipeline is deduced from the device</span>
+   <span class="n">use_fabric</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+   <span class="n">enable_scene_query_support</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+   <span class="n">disable_contact_processing</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+   <span class="n">gravity</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">9.81</span><span class="p">),</span>
+
+   <span class="n">physics_material</span><span class="o">=</span><span class="n">RigidBodyMaterialCfg</span><span class="p">(</span>
+       <span class="n">static_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+       <span class="n">dynamic_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+       <span class="n">restitution</span><span class="o">=</span><span class="mf">0.0</span>
+   <span class="p">)</span>
+   <span class="n">physx</span><span class="p">:</span> <span class="n">PhysxCfg</span> <span class="o">=</span> <span class="n">PhysxCfg</span><span class="p">(</span>
+       <span class="c1"># worker_thread_count is no longer needed</span>
+       <span class="n">solver_type</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span>
+       <span class="c1"># use_gpu is deduced from the device</span>
+       <span class="n">max_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span>
+       <span class="n">max_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+       <span class="c1"># moved to actor config</span>
+       <span class="c1"># moved to actor config</span>
+       <span class="n">bounce_threshold_velocity</span><span class="o">=</span><span class="mf">0.2</span><span class="p">,</span>
+       <span class="n">friction_offset_threshold</span><span class="o">=</span><span class="mf">0.04</span><span class="p">,</span>
+       <span class="n">friction_correlation_distance</span><span class="o">=</span><span class="mf">0.025</span><span class="p">,</span>
+       <span class="c1"># enable_sleeping is no longer needed</span>
+       <span class="n">enable_stabilization</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+       <span class="c1"># moved to RigidBodyPropertiesCfg</span>
+
+       <span class="n">gpu_max_rigid_contact_count</span><span class="o">=</span><span class="mi">2</span><span class="o">**</span><span class="mi">23</span><span class="p">,</span>
+       <span class="n">gpu_max_rigid_patch_count</span><span class="o">=</span><span class="mi">5</span> <span class="o">*</span> <span class="mi">2</span><span class="o">**</span><span class="mi">15</span><span class="p">,</span>
+       <span class="n">gpu_found_lost_pairs_capacity</span><span class="o">=</span><span class="mi">2</span><span class="o">**</span><span class="mi">21</span><span class="p">,</span>
+       <span class="n">gpu_found_lost_aggregate_pairs_capacity</span><span class="o">=</span><span class="mi">2</span><span class="o">**</span><span class="mi">25</span><span class="p">,</span>
+       <span class="n">gpu_total_aggregate_pairs_capacity</span><span class="o">=</span><span class="mi">2</span><span class="o">**</span><span class="mi">21</span><span class="p">,</span>
+       <span class="n">gpu_heap_capacity</span><span class="o">=</span><span class="mi">2</span><span class="o">**</span><span class="mi">26</span><span class="p">,</span>
+       <span class="n">gpu_temp_buffer_capacity</span><span class="o">=</span><span class="mi">2</span><span class="o">**</span><span class="mi">24</span><span class="p">,</span>
+       <span class="n">gpu_max_num_partitions</span><span class="o">=</span><span class="mi">8</span><span class="p">,</span>
+       <span class="n">gpu_max_soft_body_contacts</span><span class="o">=</span><span class="mi">2</span><span class="o">**</span><span class="mi">20</span><span class="p">,</span>
+       <span class="n">gpu_max_particle_contacts</span><span class="o">=</span><span class="mi">2</span><span class="o">**</span><span class="mi">20</span><span class="p">,</span>
+   <span class="p">)</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+<p>Parameters such as <code class="docutils literal notranslate"><span class="pre">add_ground_plane</span></code> and <code class="docutils literal notranslate"><span class="pre">add_distant_light</span></code> are now part of the task logic when creating the scene.
+<code class="docutils literal notranslate"><span class="pre">enable_cameras</span></code> is now a command line argument <code class="docutils literal notranslate"><span class="pre">--enable_cameras</span></code> that can be passed directly to the training script.</p>
+</section>
+<section id="scene-config">
+<h3>Scene Config<a class="headerlink" href="#scene-config" title="Permalink to this heading">#</a></h3>
+<p>The <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a> class can be used to specify parameters related to the scene,
+such as the number of environments and the spacing between environments. Each task config must have a variable named
+<code class="docutils literal notranslate"><span class="pre">scene</span></code> defined that holds the type <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveSceneCfg</span></code></a>.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># OmniIsaacGymEnvs</span>
+<span class="nt">env</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">numEnvs</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${resolve_default:512,${...num_envs}}</span>
+<span class="w">  </span><span class="nt">envSpacing</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4.0</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># IsaacLab</span>
+<span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">InteractiveSceneCfg</span><span class="p">(</span>
+   <span class="n">num_envs</span><span class="o">=</span><span class="mi">512</span><span class="p">,</span>
+   <span class="n">env_spacing</span><span class="o">=</span><span class="mf">4.0</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="task-config">
+<h3>Task Config<a class="headerlink" href="#task-config" title="Permalink to this heading">#</a></h3>
+<p>Each environment should specify its own config class that holds task specific parameters, such as the dimensions of the
+observation and action buffers. Reward term scaling parameters can also be specified in the config class.</p>
+<p>In Isaac Lab, the <code class="docutils literal notranslate"><span class="pre">controlFrequencyInv</span></code> parameter has been renamed to <code class="docutils literal notranslate"><span class="pre">decimation</span></code>,
+which must be specified as a parameter in the config class.</p>
+<p>In addition, the maximum episode length parameter (now <code class="docutils literal notranslate"><span class="pre">episode_length_s</span></code>) is in seconds instead of steps as it was
+in OmniIsaacGymEnvs. To convert between step count to seconds, use the equation:
+<code class="docutils literal notranslate"><span class="pre">episode_length_s</span> <span class="pre">=</span> <span class="pre">dt</span> <span class="pre">*</span> <span class="pre">decimation</span> <span class="pre">*</span> <span class="pre">num_steps</span></code>.</p>
+<p>The following parameters must be set for each environment config:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">decimation</span> <span class="o">=</span> <span class="mi">2</span>
+<span class="n">episode_length_s</span> <span class="o">=</span> <span class="mf">5.0</span>
+<span class="n">action_space</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="n">observation_space</span> <span class="o">=</span> <span class="mi">4</span>
+<span class="n">state_space</span> <span class="o">=</span> <span class="mi">0</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="rl-config-setup">
+<h2>RL Config Setup<a class="headerlink" href="#rl-config-setup" title="Permalink to this heading">#</a></h2>
+<p>RL config files for the rl_games library can continue to be defined in <code class="docutils literal notranslate"><span class="pre">.yaml</span></code> files in Isaac Lab.
+Most of the content of the config file can be copied directly from OmniIsaacGymEnvs.
+Note that in Isaac Lab, we do not use hydra to resolve relative paths in config files.
+Please replace any relative paths such as <code class="docutils literal notranslate"><span class="pre">${....device}</span></code> with the actual values of the parameters.</p>
+<p>Additionally, the observation and action clip ranges have been moved to the RL config file.
+For any <code class="docutils literal notranslate"><span class="pre">clipObservations</span></code> and <code class="docutils literal notranslate"><span class="pre">clipActions</span></code> parameters that were defined in the IsaacGymEnvs task config file,
+they should be moved to the RL config file in Isaac Lab.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>IsaacGymEnvs Task Config</p></td>
+<td><p>Isaac Lab RL Config</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># OmniIsaacGymEnvs</span>
+<span class="nt">env</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">clipObservations</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">5.0</span>
+<span class="w">  </span><span class="nt">clipActions</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># IsaacLab</span>
+<span class="nt">params</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">env</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">clip_observations</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">5.0</span>
+<span class="w">    </span><span class="nt">clip_actions</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="environment-creation">
+<h2>Environment Creation<a class="headerlink" href="#environment-creation" title="Permalink to this heading">#</a></h2>
+<p>In OmniIsaacGymEnvs, environment creation generally happened in the <code class="docutils literal notranslate"><span class="pre">set_up_scene()</span></code> API,
+which involved creating the initial environment, cloning the environment, filtering collisions,
+adding the ground plane and lights, and creating the <code class="docutils literal notranslate"><span class="pre">View</span></code> classes for the actors.</p>
+<p>Similar functionality is performed in Isaac Lab in the <code class="docutils literal notranslate"><span class="pre">_setup_scene()</span></code> API.
+The main difference is that the base class <code class="docutils literal notranslate"><span class="pre">_setup_scene()</span></code> no longer performs operations for
+cloning the environment and adding ground plane and lights. Instead, these operations
+should now be implemented in individual tasks’ <code class="docutils literal notranslate"><span class="pre">_setup_scene</span></code> implementations to provide more
+flexibility around the scene setup process.</p>
+<p>Also note that by defining an <code class="docutils literal notranslate"><span class="pre">Articulation</span></code> or <code class="docutils literal notranslate"><span class="pre">RigidObject</span></code> object, the actors will be
+added to the scene by parsing the <code class="docutils literal notranslate"><span class="pre">spawn</span></code> parameter in the actor config and a <code class="docutils literal notranslate"><span class="pre">View</span></code> class
+will automatically be created for the actor. This avoids the need to separately define an
+<code class="docutils literal notranslate"><span class="pre">ArticulationView</span></code> or <code class="docutils literal notranslate"><span class="pre">RigidPrimView</span></code> object for the actors.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">set_up_scene</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">scene</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">get_cartpole</span><span class="p">()</span>
+  <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">set_up_scene</span><span class="p">(</span><span class="n">scene</span><span class="p">)</span>
+
+  <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span> <span class="o">=</span> <span class="n">ArticulationView</span><span class="p">(</span>
+               <span class="n">prim_paths_expr</span><span class="o">=</span><span class="s2">&quot;/World/envs/.*/Cartpole&quot;</span><span class="p">,</span>
+               <span class="n">name</span><span class="o">=</span><span class="s2">&quot;cartpole_view&quot;</span><span class="p">,</span> <span class="n">reset_xform_properties</span><span class="o">=</span><span class="kc">False</span>
+  <span class="p">)</span>
+  <span class="n">scene</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_setup_scene</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">robot_cfg</span><span class="p">)</span>
+  <span class="c1"># add ground plane</span>
+  <span class="n">spawn_ground_plane</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">GroundPlaneCfg</span><span class="p">()</span>
+  <span class="c1"># clone, filter, and replicate</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">clone_environments</span><span class="p">(</span><span class="n">copy_from_source</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">filter_collisions</span><span class="p">(</span><span class="n">global_prim_paths</span><span class="o">=</span><span class="p">[])</span>
+  <span class="c1"># add articulation to scene</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="p">[</span><span class="s2">&quot;cartpole&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span>
+  <span class="c1"># add lights</span>
+  <span class="n">light_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">2000.0</span><span class="p">)</span>
+  <span class="n">light_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">light_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+<section id="ground-plane">
+<h3>Ground Plane<a class="headerlink" href="#ground-plane" title="Permalink to this heading">#</a></h3>
+<p>In addition to the above example, more sophisticated ground planes can be defined using the <a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporterCfg" title="omni.isaac.lab.terrains.TerrainImporterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code></a> class.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.terrains</span> <span class="kn">import</span> <span class="n">TerrainImporterCfg</span>
+
+<span class="n">terrain</span> <span class="o">=</span> <span class="n">TerrainImporterCfg</span><span class="p">(</span>
+     <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span>
+     <span class="n">terrain_type</span><span class="o">=</span><span class="s2">&quot;plane&quot;</span><span class="p">,</span>
+     <span class="n">collision_group</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span>
+     <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span><span class="p">(</span>
+         <span class="n">friction_combine_mode</span><span class="o">=</span><span class="s2">&quot;multiply&quot;</span><span class="p">,</span>
+         <span class="n">restitution_combine_mode</span><span class="o">=</span><span class="s2">&quot;multiply&quot;</span><span class="p">,</span>
+         <span class="n">static_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+         <span class="n">dynamic_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+         <span class="n">restitution</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+     <span class="p">),</span>
+ <span class="p">)</span>
+</pre></div>
+</div>
+<p>The terrain can then be added to the scene in <code class="docutils literal notranslate"><span class="pre">_setup_scene(self)</span></code> by referencing the <code class="docutils literal notranslate"><span class="pre">TerrainImporterCfg</span></code> object:</p>
+</section>
+<section id="actors">
+<h3>Actors<a class="headerlink" href="#actors" title="Permalink to this heading">#</a></h3>
+<p>In Isaac Lab, each Articulation and Rigid Body actor can have its own config class. The
+<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a> class can be used to define parameters for articulation actors,
+including file path, simulation parameters, actuator properties, and initial states.</p>
+<p>Within the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a>, the <code class="docutils literal notranslate"><span class="pre">spawn</span></code> attribute can be used to add the robot to the scene
+by specifying the path to the robot file. In addition, the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg" title="omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidBodyPropertiesCfg</span></code></a>
+class can be used to specify simulation properties for the rigid bodies in the articulation. Similarly, the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html#omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg" title="omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationRootPropertiesCfg</span></code></a> class can be used to specify simulation properties
+for the articulation. The joint properties are now specified as part of the <code class="docutils literal notranslate"><span class="pre">actuators</span></code> dictionary using
+<a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ImplicitActuatorCfg" title="omni.isaac.lab.actuators.ImplicitActuatorCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ImplicitActuatorCfg</span></code></a>. Joints with the same properties can be grouped into regex expressions or
+provided as a list of names or expressions.</p>
+<p>Actors are added to the scene by simply calling <code class="docutils literal notranslate"><span class="pre">self.cartpole</span> <span class="pre">=</span> <span class="pre">Articulation(self.cfg.robot_cfg)</span></code>, where
+<code class="docutils literal notranslate"><span class="pre">self.cfg.robot_cfg</span></code> is an <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a> object. Once initialized, they should also be added
+to the <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a> by calling <code class="docutils literal notranslate"><span class="pre">self.scene.articulations[&quot;cartpole&quot;]</span> <span class="pre">=</span> <span class="pre">self.cartpole</span></code> so that
+the <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a> can traverse through actors in the scene for writing values to the simulation
+and resetting.</p>
+</section>
+</section>
+<section id="accessing-states-from-simulation">
+<h2>Accessing States from Simulation<a class="headerlink" href="#accessing-states-from-simulation" title="Permalink to this heading">#</a></h2>
+<p>APIs for accessing physics states in Isaac Lab require the creation of an <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Articulation</span></code></a> or
+<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code></a> object. Multiple objects can be initialized for different articulations or rigid bodies
+in the scene by defining corresponding <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a> or <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg" title="omni.isaac.lab.assets.RigidObjectCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObjectCfg</span></code></a> config,
+as outlined in the section above. This replaces the previously used <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.articulations.ArticulationView" title="(in isaac_sim)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationView</span></code></a>
+and <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.prims.RigidPrimView" title="(in isaac_sim)"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.core.prims.RigidPrimView</span></code></a> classes used in OmniIsaacGymEnvs.</p>
+<p>However, functionality between the classes are similar:</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">dof_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">get_joint_positions</span><span class="p">(</span><span class="n">clone</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+<span class="n">dof_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">get_joint_velocities</span><span class="p">(</span><span class="n">clone</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+<p>In Isaac Lab, <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Articulation</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code></a> classes both have a <code class="docutils literal notranslate"><span class="pre">data</span></code> class.
+The data classes (<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData" title="omni.isaac.lab.assets.ArticulationData"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationData</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData" title="omni.isaac.lab.assets.RigidObjectData"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObjectData</span></code></a>) contain
+buffers that hold the states for the articulation and rigid objects and provide
+a more performant way of retrieving states from the actors.</p>
+<p>Apart from some renamings of APIs, setting states for actors can also be performed similarly between OmniIsaacGymEnvs and Isaac Lab.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">indices</span> <span class="o">=</span> <span class="n">env_ids</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">set_joint_positions</span><span class="p">(</span><span class="n">dof_pos</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">indices</span><span class="p">)</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">set_joint_velocities</span><span class="p">(</span><span class="n">dof_vel</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">indices</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="bp">self</span><span class="o">.</span><span class="n">_robot</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">,</span>
+                                 <span class="n">joint_ids</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+<p>In Isaac Lab, <code class="docutils literal notranslate"><span class="pre">root_pose</span></code> and <code class="docutils literal notranslate"><span class="pre">root_velocity</span></code> have been combined into single buffers and no longer split between
+<code class="docutils literal notranslate"><span class="pre">root_position</span></code>, <code class="docutils literal notranslate"><span class="pre">root_orientation</span></code>, <code class="docutils literal notranslate"><span class="pre">root_linear_velocity</span></code> and <code class="docutils literal notranslate"><span class="pre">root_angular_velocity</span></code>.</p>
+</section>
+<section id="creating-a-new-environment">
+<h2>Creating a New Environment<a class="headerlink" href="#creating-a-new-environment" title="Permalink to this heading">#</a></h2>
+<p>Each environment in Isaac Lab should be in its own directory following this structure:</p>
+<div class="highlight-none notranslate"><div class="highlight"><pre><span></span>my_environment/
+    - agents/
+        - __init__.py
+        - rl_games_ppo_cfg.py
+    - __init__.py
+    my_env.py
+</pre></div>
+</div>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">my_environment</span></code> is the root directory of the task.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">my_environment/agents</span></code> is the directory containing all RL config files for the task. Isaac Lab supports multiple
+RL libraries that can each have its own individual config file.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">my_environment/__init__.py</span></code> is the main file that registers the environment with the Gymnasium interface.
+This allows the training and inferencing scripts to find the task by its name.
+The content of this file should be as follow:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">agents</span>
+<span class="kn">from</span> <span class="nn">.cartpole_env</span> <span class="kn">import</span> <span class="n">CartpoleEnv</span><span class="p">,</span> <span class="n">CartpoleEnvCfg</span>
+
+<span class="c1">##</span>
+<span class="c1"># Register Gym environments.</span>
+<span class="c1">##</span>
+
+<span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="nb">id</span><span class="o">=</span><span class="s2">&quot;Isaac-Cartpole-Direct-v0&quot;</span><span class="p">,</span>
+    <span class="n">entry_point</span><span class="o">=</span><span class="s2">&quot;omni.isaac.lab_tasks.direct_workflow.cartpole:CartpoleEnv&quot;</span><span class="p">,</span>
+    <span class="n">disable_env_checker</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="n">kwargs</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">:</span> <span class="n">CartpoleEnvCfg</span><span class="p">,</span>
+        <span class="s2">&quot;rl_games_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:rl_games_ppo_cfg.yaml&quot;</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">my_environment/my_env.py</span></code> is the main python script that implements the task logic and task config class for
+the environment.</p></li>
+</ul>
+</section>
+<section id="task-logic">
+<h2>Task Logic<a class="headerlink" href="#task-logic" title="Permalink to this heading">#</a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">post_reset</span></code> API in OmniIsaacGymEnvs is no longer required in Isaac Lab. Everything that was previously
+done in <code class="docutils literal notranslate"><span class="pre">post_reset</span></code> can be done in the <code class="docutils literal notranslate"><span class="pre">__init__</span></code> method after executing the base class’s
+<code class="docutils literal notranslate"><span class="pre">__init__</span></code>. At this point, simulation has already started.</p>
+<p>In OmniIsaacGymEnvs, due to limitations of the GPU APIs, resets could not be performed based on states of the current
+step. Instead, resets have to be performed at the beginning of the next time step.
+This restriction has been eliminated in Isaac Lab, and thus, tasks follow the correct workflow of applying actions,
+stepping simulation, collecting states, computing dones, calculating rewards, performing resets, and finally computing
+observations. This workflow is done automatically by the framework such that a <code class="docutils literal notranslate"><span class="pre">post_physics_step</span></code> API is not
+required in the task. However, individual tasks can override the <code class="docutils literal notranslate"><span class="pre">step()</span></code> API to control the workflow.</p>
+<p>In Isaac Lab, we also separate the <code class="docutils literal notranslate"><span class="pre">pre_physics_step</span></code> API for processing actions from the policy with
+the <code class="docutils literal notranslate"><span class="pre">apply_action</span></code> API, which sets the actions into the simulation. This provides more flexibility in controlling
+when actions should be written to simulation when <code class="docutils literal notranslate"><span class="pre">decimation</span></code> is used.
+The <code class="docutils literal notranslate"><span class="pre">pre_physics_step</span></code> method will be called once per step before stepping simulation.
+The <code class="docutils literal notranslate"><span class="pre">apply_actions</span></code> method will be called <code class="docutils literal notranslate"><span class="pre">decimation</span></code> number of times for each RL step,
+once before each simulation step call.</p>
+<p>The ordering of the calls are as follow:</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-none notranslate"><div class="highlight"><pre><span></span>pre_physics_step
+  |-- reset_idx()
+  |-- apply_action
+
+post_physics_step
+  |-- get_observations()
+  |-- calculate_metrics()
+  |-- is_done()
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-none notranslate"><div class="highlight"><pre><span></span>pre_physics_step
+  |-- _pre_physics_step(action)
+  |-- _apply_action()
+
+post_physics_step
+  |-- _get_dones()
+  |-- _get_rewards()
+  |-- _reset_idx()
+  |-- _get_observations()
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+<p>With this approach, resets are performed based on actions from the current step instead of the previous step.
+Observations will also be computed with the correct states after resets.</p>
+<p>We have also performed some renamings of APIs:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">set_up_scene(self,</span> <span class="pre">scene)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_setup_scene(self)</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">post_reset(self)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">__init__(...)</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">pre_physics_step(self,</span> <span class="pre">actions)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_pre_physics_step(self,</span> <span class="pre">actions)</span></code> and <code class="docutils literal notranslate"><span class="pre">_apply_action(self)</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">reset_idx(self,</span> <span class="pre">env_ids)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_reset_idx(self,</span> <span class="pre">env_ids)</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">get_observations(self)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_get_observations(self)</span></code> - <code class="docutils literal notranslate"><span class="pre">_get_observations()</span></code> should now return a dictionary <code class="docutils literal notranslate"><span class="pre">{&quot;policy&quot;:</span> <span class="pre">obs}</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">calculate_metrics(self)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_get_rewards(self)</span></code> - <code class="docutils literal notranslate"><span class="pre">_get_rewards()</span></code> should now return the reward buffer</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">is_done(self)</span></code> –&gt; <code class="docutils literal notranslate"><span class="pre">_get_dones(self)</span></code> - <code class="docutils literal notranslate"><span class="pre">_get_dones()</span></code> should now return 2 buffers: <code class="docutils literal notranslate"><span class="pre">reset</span></code> and <code class="docutils literal notranslate"><span class="pre">time_out</span></code> buffers</p></li>
+</ul>
+</section>
+<section id="putting-it-all-together">
+<h2>Putting It All Together<a class="headerlink" href="#putting-it-all-together" title="Permalink to this heading">#</a></h2>
+<p>The Cartpole environment is shown here in completion to fully show the comparison between the OmniIsaacGymEnvs
+implementation and the Isaac Lab implementation.</p>
+<section id="id1">
+<h3>Task Config<a class="headerlink" href="#id1" title="Permalink to this heading">#</a></h3>
+<p>Task config in Isaac Lab can be split into the main task configuration class and individual config objects for the actors.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="c1"># used to create the object</span>
+
+<span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">Cartpole</span>
+
+<span class="nt">physics_engine</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${..physics_engine}</span>
+
+<span class="c1"># if given, will override the device setting in gym.</span>
+<span class="nt">env</span><span class="p">:</span>
+
+<span class="w">  </span><span class="nt">numEnvs</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${resolve_default:512,${...num_envs}}</span>
+<span class="w">  </span><span class="nt">envSpacing</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4.0</span>
+<span class="w">  </span><span class="nt">resetDist</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">3.0</span>
+<span class="w">  </span><span class="nt">maxEffort</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">400.0</span>
+
+<span class="w">  </span><span class="nt">clipObservations</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">5.0</span>
+<span class="w">  </span><span class="nt">clipActions</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+<span class="w">  </span><span class="nt">controlFrequencyInv</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">2</span><span class="w"> </span><span class="c1"># 60 Hz</span>
+
+<span class="nt">sim</span><span class="p">:</span>
+
+<span class="w">  </span><span class="nt">dt</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0083</span><span class="w"> </span><span class="c1"># 1/120 s</span>
+<span class="w">  </span><span class="nt">use_gpu_pipeline</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${eq:${...pipeline},&quot;gpu&quot;}</span>
+<span class="w">  </span><span class="nt">gravity</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-9.81</span><span class="p p-Indicator">]</span>
+<span class="w">  </span><span class="nt">add_ground_plane</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">  </span><span class="nt">add_distant_light</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">False</span>
+<span class="w">  </span><span class="nt">use_fabric</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">  </span><span class="nt">enable_scene_query_support</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">False</span>
+<span class="w">  </span><span class="nt">disable_contact_processing</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">False</span>
+
+<span class="w">  </span><span class="nt">enable_cameras</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">False</span>
+
+<span class="w">  </span><span class="nt">default_physics_material</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">static_friction</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+<span class="w">    </span><span class="nt">dynamic_friction</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
+<span class="w">    </span><span class="nt">restitution</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.0</span>
+
+<span class="w">  </span><span class="nt">physx</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">worker_thread_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${....num_threads}</span>
+<span class="w">    </span><span class="nt">solver_type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${....solver_type}</span>
+<span class="w">    </span><span class="nt">use_gpu</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">${eq:${....sim_device},&quot;gpu&quot;}</span><span class="w"> </span><span class="c1"># set to False to...</span>
+<span class="w">    </span><span class="nt">solver_position_iteration_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span>
+<span class="w">    </span><span class="nt">solver_velocity_iteration_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
+<span class="w">    </span><span class="nt">contact_offset</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.02</span>
+<span class="w">    </span><span class="nt">rest_offset</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.001</span>
+<span class="w">    </span><span class="nt">bounce_threshold_velocity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.2</span>
+<span class="w">    </span><span class="nt">friction_offset_threshold</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.04</span>
+<span class="w">    </span><span class="nt">friction_correlation_distance</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.025</span>
+<span class="w">    </span><span class="nt">enable_sleeping</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">    </span><span class="nt">enable_stabilization</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">    </span><span class="nt">max_depenetration_velocity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">100.0</span>
+
+<span class="w">    </span><span class="c1"># GPU buffers</span>
+<span class="w">    </span><span class="nt">gpu_max_rigid_contact_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">524288</span>
+<span class="w">    </span><span class="nt">gpu_max_rigid_patch_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">81920</span>
+<span class="w">    </span><span class="nt">gpu_found_lost_pairs_capacity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1024</span>
+<span class="w">    </span><span class="nt">gpu_found_lost_aggregate_pairs_capacity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">262144</span>
+<span class="w">    </span><span class="nt">gpu_total_aggregate_pairs_capacity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1024</span>
+<span class="w">    </span><span class="nt">gpu_max_soft_body_contacts</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1048576</span>
+<span class="w">    </span><span class="nt">gpu_max_particle_contacts</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1048576</span>
+<span class="w">    </span><span class="nt">gpu_heap_capacity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">67108864</span>
+<span class="w">    </span><span class="nt">gpu_temp_buffer_capacity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">16777216</span>
+<span class="w">    </span><span class="nt">gpu_max_num_partitions</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">8</span>
+
+<span class="w">    </span><span class="nt">Cartpole</span><span class="p">:</span>
+<span class="w">      </span><span class="nt">override_usd_defaults</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">False</span>
+<span class="w">      </span><span class="nt">enable_self_collisions</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">False</span>
+<span class="w">      </span><span class="nt">enable_gyroscopic_forces</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="w">      </span><span class="nt">solver_position_iteration_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">4</span>
+<span class="w">      </span><span class="nt">solver_velocity_iteration_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0</span>
+<span class="w">      </span><span class="nt">sleep_threshold</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.005</span>
+<span class="w">      </span><span class="nt">stabilization_threshold</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.001</span>
+<span class="w">      </span><span class="nt">density</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">-1</span>
+<span class="w">      </span><span class="nt">max_depenetration_velocity</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">100.0</span>
+<span class="w">      </span><span class="nt">contact_offset</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.02</span>
+<span class="w">      </span><span class="nt">rest_offset</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.001</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CartpoleEnvCfg</span><span class="p">(</span><span class="n">DirectRLEnvCfg</span><span class="p">):</span>
+
+    <span class="c1"># simulation</span>
+    <span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mi">1</span> <span class="o">/</span> <span class="mi">120</span><span class="p">)</span>
+    <span class="c1"># robot</span>
+    <span class="n">robot_cfg</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">CARTPOLE_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Robot&quot;</span><span class="p">)</span>
+    <span class="n">cart_dof_name</span> <span class="o">=</span> <span class="s2">&quot;slider_to_cart&quot;</span>
+    <span class="n">pole_dof_name</span> <span class="o">=</span> <span class="s2">&quot;cart_to_pole&quot;</span>
+    <span class="c1"># scene</span>
+    <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">InteractiveSceneCfg</span><span class="p">(</span>
+      <span class="n">num_envs</span><span class="o">=</span><span class="mi">4096</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">4.0</span><span class="p">,</span> <span class="n">replicate_physics</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># env</span>
+    <span class="n">decimation</span> <span class="o">=</span> <span class="mi">2</span>
+    <span class="n">episode_length_s</span> <span class="o">=</span> <span class="mf">5.0</span>
+    <span class="n">action_scale</span> <span class="o">=</span> <span class="mf">100.0</span>  <span class="c1"># [N]</span>
+    <span class="n">action_space</span> <span class="o">=</span> <span class="mi">1</span>
+    <span class="n">observation_space</span> <span class="o">=</span> <span class="mi">4</span>
+    <span class="n">state_space</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="c1"># reset</span>
+    <span class="n">max_cart_pos</span> <span class="o">=</span> <span class="mf">3.0</span>
+    <span class="n">initial_pole_angle_range</span> <span class="o">=</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">]</span>
+    <span class="c1"># reward scales</span>
+    <span class="n">rew_scale_alive</span> <span class="o">=</span> <span class="mf">1.0</span>
+    <span class="n">rew_scale_terminated</span> <span class="o">=</span> <span class="o">-</span><span class="mf">2.0</span>
+    <span class="n">rew_scale_pole_pos</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+    <span class="n">rew_scale_cart_vel</span> <span class="o">=</span> <span class="o">-</span><span class="mf">0.01</span>
+    <span class="n">rew_scale_pole_vel</span> <span class="o">=</span> <span class="o">-</span><span class="mf">0.005</span>
+
+
+<span class="n">CARTPOLE_CFG</span> <span class="o">=</span> <span class="n">ArticulationCfg</span><span class="p">(</span>
+  <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+    <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAACLAB_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/.../cartpole.usd&quot;</span><span class="p">,</span>
+    <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span>
+      <span class="n">rigid_body_enabled</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+      <span class="n">max_linear_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+      <span class="n">max_angular_velocity</span><span class="o">=</span><span class="mf">1000.0</span><span class="p">,</span>
+      <span class="n">max_depenetration_velocity</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span>
+      <span class="n">enable_gyroscopic_forces</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="p">),</span>
+    <span class="n">articulation_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ArticulationRootPropertiesCfg</span><span class="p">(</span>
+      <span class="n">enabled_self_collisions</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+      <span class="n">solver_position_iteration_count</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span>
+      <span class="n">solver_velocity_iteration_count</span><span class="o">=</span><span class="mi">0</span><span class="p">,</span>
+      <span class="n">sleep_threshold</span><span class="o">=</span><span class="mf">0.005</span><span class="p">,</span>
+      <span class="n">stabilization_threshold</span><span class="o">=</span><span class="mf">0.001</span><span class="p">,</span>
+    <span class="p">),</span>
+  <span class="p">),</span>
+  <span class="n">init_state</span><span class="o">=</span><span class="n">ArticulationCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span>
+    <span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span>
+    <span class="n">joint_pos</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">,</span> <span class="s2">&quot;cart_to_pole&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">}</span>
+  <span class="p">),</span>
+  <span class="n">actuators</span><span class="o">=</span><span class="p">{</span>
+    <span class="s2">&quot;cart_actuator&quot;</span><span class="p">:</span> <span class="n">ImplicitActuatorCfg</span><span class="p">(</span>
+       <span class="n">joint_names_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">],</span>
+       <span class="n">effort_limit</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span>
+       <span class="n">velocity_limit</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span>
+       <span class="n">stiffness</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+       <span class="n">damping</span><span class="o">=</span><span class="mf">10.0</span><span class="p">,</span>
+    <span class="p">),</span>
+    <span class="s2">&quot;pole_actuator&quot;</span><span class="p">:</span> <span class="n">ImplicitActuatorCfg</span><span class="p">(</span>
+       <span class="n">joint_names_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">],</span> <span class="n">effort_limit</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span>
+       <span class="n">velocity_limit</span><span class="o">=</span><span class="mf">100.0</span><span class="p">,</span> <span class="n">stiffness</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">damping</span><span class="o">=</span><span class="mf">0.0</span>
+    <span class="p">),</span>
+  <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="task-setup">
+<h3>Task Setup<a class="headerlink" href="#task-setup" title="Permalink to this heading">#</a></h3>
+<p>The <code class="docutils literal notranslate"><span class="pre">post_reset</span></code> API in OmniIsaacGymEnvs is no longer required in Isaac Lab.
+Everything that was previously done in <code class="docutils literal notranslate"><span class="pre">post_reset</span></code> can be done in the <code class="docutils literal notranslate"><span class="pre">__init__</span></code> method after
+executing the base class’s <code class="docutils literal notranslate"><span class="pre">__init__</span></code>. At this point, simulation has already started.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">CartpoleTask</span><span class="p">(</span><span class="n">RLTask</span><span class="p">):</span>
+
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">sim_config</span><span class="p">,</span> <span class="n">env</span><span class="p">,</span> <span class="n">offset</span><span class="o">=</span><span class="kc">None</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">update_config</span><span class="p">(</span><span class="n">sim_config</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_max_episode_length</span> <span class="o">=</span> <span class="mi">500</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_num_observations</span> <span class="o">=</span> <span class="mi">4</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_num_actions</span> <span class="o">=</span> <span class="mi">1</span>
+
+        <span class="n">RLTask</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">env</span><span class="p">)</span>
+
+        <span class="k">def</span> <span class="nf">update_config</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">sim_config</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_sim_config</span> <span class="o">=</span> <span class="n">sim_config</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_cfg</span> <span class="o">=</span> <span class="n">sim_config</span><span class="o">.</span><span class="n">config</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_task_cfg</span> <span class="o">=</span> <span class="n">sim_config</span><span class="o">.</span>
+            <span class="n">task_config</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">_num_envs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_task_cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s2">&quot;numEnvs&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_env_spacing</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_task_cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s2">&quot;envSpacing&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_cartpole_positions</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">])</span>
+
+            <span class="bp">self</span><span class="o">.</span><span class="n">_reset_dist</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_task_cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s2">&quot;resetDist&quot;</span><span class="p">]</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_max_push_effort</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_task_cfg</span><span class="p">[</span><span class="s2">&quot;env&quot;</span><span class="p">][</span><span class="s2">&quot;maxEffort&quot;</span><span class="p">]</span>
+
+
+        <span class="k">def</span> <span class="nf">post_reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">get_dof_index</span><span class="p">(</span>
+                <span class="s2">&quot;cartJoint&quot;</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">get_dof_index</span><span class="p">(</span>
+                <span class="s2">&quot;poleJoint&quot;</span><span class="p">)</span>
+            <span class="c1"># randomize all envs</span>
+            <span class="n">indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">count</span><span class="p">,</span> <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int64</span><span class="p">,</span>
+                <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">reset_idx</span><span class="p">(</span><span class="n">indices</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">CartpoleEnv</span><span class="p">(</span><span class="n">DirectRLEnv</span><span class="p">):</span>
+    <span class="n">cfg</span><span class="p">:</span> <span class="n">CartpoleEnvCfg</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">CartpoleEnvCfg</span><span class="p">,</span>
+             <span class="n">render_mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">find_joints</span><span class="p">(</span>
+              <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">cart_dof_name</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">find_joints</span><span class="p">(</span>
+               <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pole_dof_name</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">action_scale</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_scale</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="scene-setup">
+<h3>Scene Setup<a class="headerlink" href="#scene-setup" title="Permalink to this heading">#</a></h3>
+<p>The <code class="docutils literal notranslate"><span class="pre">set_up_scene</span></code> method in OmniIsaacGymEnvs has been replaced by the <code class="docutils literal notranslate"><span class="pre">_setup_scene</span></code> API in the task class in
+Isaac Lab. Additionally, scene cloning and collision filtering have been provided as APIs for the task class to
+call when necessary. Similarly, adding ground plane and lights should also be taken care of in the task class.
+Adding actors to the scene has been replaced by <code class="docutils literal notranslate"><span class="pre">self.scene.articulations[&quot;cartpole&quot;]</span> <span class="pre">=</span> <span class="pre">self.cartpole</span></code>.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">set_up_scene</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">scene</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">get_cartpole</span><span class="p">()</span>
+    <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">set_up_scene</span><span class="p">(</span><span class="n">scene</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span> <span class="o">=</span> <span class="n">ArticulationView</span><span class="p">(</span>
+        <span class="n">prim_paths_expr</span><span class="o">=</span><span class="s2">&quot;/World/envs/.*/Cartpole&quot;</span><span class="p">,</span>
+        <span class="n">name</span><span class="o">=</span><span class="s2">&quot;cartpole_view&quot;</span><span class="p">,</span>
+        <span class="n">reset_xform_properties</span><span class="o">=</span><span class="kc">False</span>
+    <span class="p">)</span>
+    <span class="n">scene</span><span class="o">.</span><span class="n">add</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="p">)</span>
+    <span class="k">return</span>
+
+<span class="k">def</span> <span class="nf">get_cartpole</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+    <span class="n">cartpole</span> <span class="o">=</span> <span class="n">Cartpole</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">default_zero_env_path</span><span class="o">+</span><span class="s2">&quot;/Cartpole&quot;</span><span class="p">,</span>
+        <span class="n">name</span><span class="o">=</span><span class="s2">&quot;Cartpole&quot;</span><span class="p">,</span>
+        <span class="n">translation</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_cartpole_positions</span>
+    <span class="p">)</span>
+    <span class="c1"># applies articulation settings from the</span>
+    <span class="c1"># task configuration yaml file</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">_sim_config</span><span class="o">.</span><span class="n">apply_articulation_settings</span><span class="p">(</span>
+        <span class="s2">&quot;Cartpole&quot;</span><span class="p">,</span> <span class="n">get_prim_at_path</span><span class="p">(</span><span class="n">cartpole</span><span class="o">.</span><span class="n">prim_path</span><span class="p">),</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_sim_config</span><span class="o">.</span><span class="n">parse_actor_config</span><span class="p">(</span><span class="s2">&quot;Cartpole&quot;</span><span class="p">)</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_setup_scene</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">robot_cfg</span><span class="p">)</span>
+    <span class="c1"># add ground plane</span>
+    <span class="n">spawn_ground_plane</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span>
+        <span class="n">cfg</span><span class="o">=</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+    <span class="c1"># clone, filter, and replicate</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">clone_environments</span><span class="p">(</span>
+        <span class="n">copy_from_source</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">filter_collisions</span><span class="p">(</span>
+        <span class="n">global_prim_paths</span><span class="o">=</span><span class="p">[])</span>
+    <span class="c1"># add articulation to scene</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="p">[</span><span class="s2">&quot;cartpole&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span>
+
+    <span class="c1"># add lights</span>
+    <span class="n">light_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span>
+        <span class="n">intensity</span><span class="o">=</span><span class="mf">2000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+    <span class="n">light_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">light_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="pre-physics-step">
+<h3>Pre-Physics Step<a class="headerlink" href="#pre-physics-step" title="Permalink to this heading">#</a></h3>
+<p>Note that resets are no longer performed in the <code class="docutils literal notranslate"><span class="pre">pre_physics_step</span></code> API. In addition, the separation of the
+<code class="docutils literal notranslate"><span class="pre">_pre_physics_step</span></code> and <code class="docutils literal notranslate"><span class="pre">_apply_action</span></code> methods allow for more flexibility in processing the action buffer
+and setting actions into simulation.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>IsaacLab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">pre_physics_step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+    <span class="k">if</span> <span class="ow">not</span> <span class="bp">self</span><span class="o">.</span><span class="n">world</span><span class="o">.</span><span class="n">is_playing</span><span class="p">():</span>
+        <span class="k">return</span>
+
+    <span class="n">reset_env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="o">.</span><span class="n">nonzero</span><span class="p">(</span>
+        <span class="n">as_tuple</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span><span class="o">.</span><span class="n">squeeze</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="k">if</span> <span class="nb">len</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_idx</span><span class="p">(</span><span class="n">reset_env_ids</span><span class="p">)</span>
+
+    <span class="n">actions</span> <span class="o">=</span> <span class="n">actions</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+
+    <span class="n">forces</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">count</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">num_dof</span><span class="p">),</span>
+        <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">float32</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+    <span class="n">forces</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">]</span> <span class="o">=</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_max_push_effort</span> <span class="o">*</span> <span class="n">actions</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span>
+
+    <span class="n">indices</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">arange</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">count</span><span class="p">,</span>
+        <span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int32</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">set_joint_efforts</span><span class="p">(</span>
+        <span class="n">forces</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">indices</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_pre_physics_step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span>
+        <span class="n">actions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">actions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_scale</span> <span class="o">*</span> <span class="n">actions</span>
+
+<span class="k">def</span> <span class="nf">_apply_action</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">set_joint_effort_target</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">actions</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="dones-and-resets">
+<h3>Dones and Resets<a class="headerlink" href="#dones-and-resets" title="Permalink to this heading">#</a></h3>
+<p>In Isaac Lab, the <code class="docutils literal notranslate"><span class="pre">dones</span></code> are computed in the <code class="docutils literal notranslate"><span class="pre">_get_dones()</span></code> method and should return two variables: <code class="docutils literal notranslate"><span class="pre">resets</span></code> and
+<code class="docutils literal notranslate"><span class="pre">time_out</span></code>. The <code class="docutils literal notranslate"><span class="pre">_reset_idx()</span></code> method is also called after stepping simulation instead of before, as it was done in
+OmniIsaacGymEnvs. The <code class="docutils literal notranslate"><span class="pre">progress_buf</span></code> tensor has been renamed to <code class="docutils literal notranslate"><span class="pre">episode_length_buf</span></code> in Isaac Lab and the
+bookkeeping is now done automatically by the framework. Task implementations no longer need to increment or
+reset the <code class="docutils literal notranslate"><span class="pre">episode_length_buf</span></code> buffer.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">is_done</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+  <span class="n">resets</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+    <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cart_pos</span><span class="p">)</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reset_dist</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
+  <span class="n">resets</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+    <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">pole_pos</span><span class="p">)</span> <span class="o">&gt;</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="n">resets</span><span class="p">)</span>
+  <span class="n">resets</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">progress_buf</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_max_episode_length</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="n">resets</span><span class="p">)</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">resets</span>
+
+
+
+
+
+<span class="k">def</span> <span class="nf">reset_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">):</span>
+  <span class="n">num_resets</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+  <span class="c1"># randomize DOF positions</span>
+  <span class="n">dof_pos</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">num_resets</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">num_dof</span><span class="p">),</span>
+      <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+  <span class="n">dof_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span> <span class="o">*</span> <span class="p">(</span>
+      <span class="mf">1.0</span> <span class="o">-</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="n">num_resets</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">))</span>
+  <span class="n">dof_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.125</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">*</span> <span class="p">(</span>
+      <span class="mf">1.0</span> <span class="o">-</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="n">num_resets</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">))</span>
+
+  <span class="c1"># randomize DOF velocities</span>
+  <span class="n">dof_vel</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="n">num_resets</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">num_dof</span><span class="p">),</span>
+      <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">)</span>
+  <span class="n">dof_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.5</span> <span class="o">*</span> <span class="p">(</span>
+      <span class="mf">1.0</span> <span class="o">-</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="n">num_resets</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">))</span>
+  <span class="n">dof_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.25</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">*</span> <span class="p">(</span>
+      <span class="mf">1.0</span> <span class="o">-</span> <span class="mf">2.0</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="n">num_resets</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_device</span><span class="p">))</span>
+
+  <span class="c1"># apply resets</span>
+  <span class="n">indices</span> <span class="o">=</span> <span class="n">env_ids</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="n">dtype</span><span class="o">=</span><span class="n">torch</span><span class="o">.</span><span class="n">int32</span><span class="p">)</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">set_joint_positions</span><span class="p">(</span><span class="n">dof_pos</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">indices</span><span class="p">)</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">set_joint_velocities</span><span class="p">(</span><span class="n">dof_vel</span><span class="p">,</span> <span class="n">indices</span><span class="o">=</span><span class="n">indices</span><span class="p">)</span>
+
+  <span class="c1"># bookkeeping</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">reset_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+  <span class="bp">self</span><span class="o">.</span><span class="n">progress_buf</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="mi">0</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_get_dones</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span>
+
+    <span class="n">time_out</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_episode_length</span> <span class="o">-</span> <span class="mi">1</span>
+    <span class="n">out_of_bounds</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">])</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_cart_pos</span><span class="p">,</span>
+        <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">out_of_bounds</span> <span class="o">=</span> <span class="n">out_of_bounds</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">])</span> <span class="o">&gt;</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span>
+        <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">out_of_bounds</span><span class="p">,</span> <span class="n">time_out</span>
+
+<span class="k">def</span> <span class="nf">_reset_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span><span class="p">):</span>
+    <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+    <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+    <span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+    <span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span> <span class="o">+=</span> <span class="n">sample_uniform</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">initial_pole_angle_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">initial_pole_angle_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span>
+        <span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span>
+        <span class="n">joint_pos</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+
+    <span class="n">default_root_state</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+    <span class="n">default_root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_pos</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_vel</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span>
+        <span class="n">default_root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span>
+        <span class="n">default_root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="p">)</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span>
+        <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="rewards">
+<h3>Rewards<a class="headerlink" href="#rewards" title="Permalink to this heading">#</a></h3>
+<p>In Isaac Lab, rewards are implemented in the <code class="docutils literal notranslate"><span class="pre">_get_rewards</span></code> API and should return the reward buffer instead of assigning
+it directly to <code class="docutils literal notranslate"><span class="pre">self.rew_buf</span></code>. Computation in the reward function can also be performed using pytorch jit
+through defining functions with the <code class="docutils literal notranslate"><span class="pre">&#64;torch.jit.script</span></code> annotation.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">calculate_metrics</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+    <span class="n">reward</span> <span class="o">=</span> <span class="p">(</span><span class="mf">1.0</span> <span class="o">-</span> <span class="bp">self</span><span class="o">.</span><span class="n">pole_pos</span> <span class="o">*</span> <span class="bp">self</span><span class="o">.</span><span class="n">pole_pos</span>
+        <span class="o">-</span> <span class="mf">0.01</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cart_vel</span><span class="p">)</span> <span class="o">-</span> <span class="mf">0.005</span>
+        <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">pole_vel</span><span class="p">))</span>
+    <span class="n">reward</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cart_pos</span><span class="p">)</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">_reset_dist</span><span class="p">,</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">ones_like</span><span class="p">(</span><span class="n">reward</span><span class="p">)</span> <span class="o">*</span> <span class="o">-</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">reward</span><span class="p">)</span>
+    <span class="n">reward</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">where</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">pole_pos</span><span class="p">)</span> <span class="o">&gt;</span> <span class="n">np</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">ones_like</span><span class="p">(</span><span class="n">reward</span><span class="p">)</span> <span class="o">*</span> <span class="o">-</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">reward</span><span class="p">)</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">rew_buf</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">reward</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_get_rewards</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+    <span class="n">total_reward</span> <span class="o">=</span> <span class="n">compute_rewards</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_alive</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_terminated</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_pole_pos</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_cart_vel</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_pole_vel</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="k">return</span> <span class="n">total_reward</span>
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">compute_rewards</span><span class="p">(</span>
+    <span class="n">rew_scale_alive</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_terminated</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_pole_pos</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_cart_vel</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_pole_vel</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">pole_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">pole_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">cart_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">cart_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">reset_terminated</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+<span class="p">):</span>
+    <span class="n">rew_alive</span> <span class="o">=</span> <span class="n">rew_scale_alive</span> <span class="o">*</span> <span class="p">(</span><span class="mf">1.0</span> <span class="o">-</span> <span class="n">reset_terminated</span><span class="o">.</span><span class="n">float</span><span class="p">())</span>
+    <span class="n">rew_termination</span> <span class="o">=</span> <span class="n">rew_scale_terminated</span> <span class="o">*</span> <span class="n">reset_terminated</span><span class="o">.</span><span class="n">float</span><span class="p">()</span>
+    <span class="n">rew_pole_pos</span> <span class="o">=</span> <span class="n">rew_scale_pole_pos</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">pole_pos</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">rew_cart_vel</span> <span class="o">=</span> <span class="n">rew_scale_cart_vel</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">cart_vel</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">rew_pole_vel</span> <span class="o">=</span> <span class="n">rew_scale_pole_vel</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span>
+        <span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">pole_vel</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">total_reward</span> <span class="o">=</span> <span class="p">(</span><span class="n">rew_alive</span> <span class="o">+</span> <span class="n">rew_termination</span>
+        <span class="o">+</span> <span class="n">rew_pole_pos</span> <span class="o">+</span> <span class="n">rew_cart_vel</span> <span class="o">+</span> <span class="n">rew_pole_vel</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">total_reward</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="observations">
+<h3>Observations<a class="headerlink" href="#observations" title="Permalink to this heading">#</a></h3>
+<p>In Isaac Lab, the <code class="docutils literal notranslate"><span class="pre">_get_observations()</span></code> API must return a dictionary with the key <code class="docutils literal notranslate"><span class="pre">policy</span></code> that has the observation buffer as the value.
+When working with asymmetric actor-critic states, the states for the critic should have the key <code class="docutils literal notranslate"><span class="pre">critic</span></code> and be returned
+with the observation buffer in the same dictionary.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<tbody>
+<tr class="row-odd"><td><p>OmniIsaacGymEnvs</p></td>
+<td><p>Isaac Lab</p></td>
+</tr>
+<tr class="row-even"><td><div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">get_observations</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+    <span class="n">dof_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">get_joint_positions</span><span class="p">(</span><span class="n">clone</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+    <span class="n">dof_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">get_joint_velocities</span><span class="p">(</span><span class="n">clone</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+
+    <span class="bp">self</span><span class="o">.</span><span class="n">cart_pos</span> <span class="o">=</span> <span class="n">dof_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">]</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">cart_vel</span> <span class="o">=</span> <span class="n">dof_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">]</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">pole_pos</span> <span class="o">=</span> <span class="n">dof_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">pole_vel</span> <span class="o">=</span> <span class="n">dof_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cart_pos</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[:,</span> <span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cart_vel</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[:,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">pole_pos</span>
+    <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">pole_vel</span>
+
+    <span class="n">observations</span> <span class="o">=</span> <span class="p">{</span><span class="bp">self</span><span class="o">.</span><span class="n">_cartpoles</span><span class="o">.</span><span class="n">name</span><span class="p">:</span>
+        <span class="p">{</span><span class="s2">&quot;obs_buf&quot;</span><span class="p">:</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_buf</span><span class="p">}}</span>
+    <span class="k">return</span> <span class="n">observations</span>
+</pre></div>
+</div>
+</td>
+<td><div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_get_observations</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+    <span class="n">obs</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span>
+                 <span class="p">(</span>
+           <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+           <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+           <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+           <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="p">),</span>
+        <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">observations</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;policy&quot;</span><span class="p">:</span> <span class="n">obs</span><span class="p">}</span>
+    <span class="k">return</span> <span class="n">observations</span>
+</pre></div>
+</div>
+</td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+</section>
+<section id="domain-randomization">
+<h2>Domain Randomization<a class="headerlink" href="#domain-randomization" title="Permalink to this heading">#</a></h2>
+<p>In OmniIsaacGymEnvs, domain randomization was specified through the task <code class="docutils literal notranslate"><span class="pre">.yaml</span></code> config file.
+In Isaac Lab, the domain randomization configuration uses the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a> module
+to specify a configuration class consisting of <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">EventTermCfg</span></code></a> variables.</p>
+<p>Below is an example of a configuration class for domain randomization:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">EventCfg</span><span class="p">:</span>
+  <span class="n">robot_physics_material</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+      <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">randomize_rigid_body_material</span><span class="p">,</span>
+      <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+      <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+          <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">body_names</span><span class="o">=</span><span class="s2">&quot;.*&quot;</span><span class="p">),</span>
+          <span class="s2">&quot;static_friction_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">0.7</span><span class="p">,</span> <span class="mf">1.3</span><span class="p">),</span>
+          <span class="s2">&quot;dynamic_friction_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span>
+          <span class="s2">&quot;restitution_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span>
+          <span class="s2">&quot;num_buckets&quot;</span><span class="p">:</span> <span class="mi">250</span><span class="p">,</span>
+      <span class="p">},</span>
+  <span class="p">)</span>
+  <span class="n">robot_joint_stiffness_and_damping</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+      <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">randomize_actuator_gains</span><span class="p">,</span>
+      <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+      <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+          <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="s2">&quot;.*&quot;</span><span class="p">),</span>
+          <span class="s2">&quot;stiffness_distribution_params&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">1.5</span><span class="p">),</span>
+          <span class="s2">&quot;damping_distribution_params&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">0.3</span><span class="p">,</span> <span class="mf">3.0</span><span class="p">),</span>
+          <span class="s2">&quot;operation&quot;</span><span class="p">:</span> <span class="s2">&quot;scale&quot;</span><span class="p">,</span>
+          <span class="s2">&quot;distribution&quot;</span><span class="p">:</span> <span class="s2">&quot;log_uniform&quot;</span><span class="p">,</span>
+      <span class="p">},</span>
+  <span class="p">)</span>
+  <span class="n">reset_gravity</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+      <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">randomize_physics_scene_gravity</span><span class="p">,</span>
+      <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;interval&quot;</span><span class="p">,</span>
+      <span class="n">is_global_time</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+      <span class="n">interval_range_s</span><span class="o">=</span><span class="p">(</span><span class="mf">36.0</span><span class="p">,</span> <span class="mf">36.0</span><span class="p">),</span>  <span class="c1"># time_s = num_steps * (decimation * dt)</span>
+      <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+          <span class="s2">&quot;gravity_distribution_params&quot;</span><span class="p">:</span> <span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.4</span><span class="p">]),</span>
+          <span class="s2">&quot;operation&quot;</span><span class="p">:</span> <span class="s2">&quot;add&quot;</span><span class="p">,</span>
+          <span class="s2">&quot;distribution&quot;</span><span class="p">:</span> <span class="s2">&quot;gaussian&quot;</span><span class="p">,</span>
+      <span class="p">},</span>
+  <span class="p">)</span>
+</pre></div>
+</div>
+<p>Each <code class="docutils literal notranslate"><span class="pre">EventTerm</span></code> object is of the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">EventTermCfg</span></code></a> class and takes in a <code class="docutils literal notranslate"><span class="pre">func</span></code> parameter
+for specifying the function to call during randomization, a <code class="docutils literal notranslate"><span class="pre">mode</span></code> parameter, which can be <code class="docutils literal notranslate"><span class="pre">startup</span></code>,
+<code class="docutils literal notranslate"><span class="pre">reset</span></code> or <code class="docutils literal notranslate"><span class="pre">interval</span></code>. THe <code class="docutils literal notranslate"><span class="pre">params</span></code> dictionary should provide the necessary arguments to the
+function that is specified in the <code class="docutils literal notranslate"><span class="pre">func</span></code> parameter.
+Functions specified as <code class="docutils literal notranslate"><span class="pre">func</span></code> for the <code class="docutils literal notranslate"><span class="pre">EventTerm</span></code> can be found in the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.events" title="omni.isaac.lab.envs.mdp.events"><code class="xref py py-class docutils literal notranslate"><span class="pre">events</span></code></a> module.</p>
+<p>Note that as part of the <code class="docutils literal notranslate"><span class="pre">&quot;asset_cfg&quot;:</span> <span class="pre">SceneEntityCfg(&quot;robot&quot;,</span> <span class="pre">body_names=&quot;.*&quot;)</span></code> parameter, the name of
+the actor <code class="docutils literal notranslate"><span class="pre">&quot;robot&quot;</span></code> is provided, along with the body or joint names specified as a regex expression,
+which will be the actors and bodies/joints that will have randomization applied.</p>
+<p>One difference with OmniIsaacGymEnvs is that <code class="docutils literal notranslate"><span class="pre">interval</span></code> randomization is now specified as seconds instead of
+steps. When <code class="docutils literal notranslate"><span class="pre">mode=&quot;interval&quot;</span></code>, the <code class="docutils literal notranslate"><span class="pre">interval_range_s</span></code> parameter must also be provided, which specifies
+the range of seconds for which randomization should be applied. This range will then be randomized to
+determine a specific time in seconds when the next randomization will occur for the term.
+To convert between steps to seconds, use the equation <code class="docutils literal notranslate"><span class="pre">time_s</span> <span class="pre">=</span> <span class="pre">num_steps</span> <span class="pre">*</span> <span class="pre">(decimation</span> <span class="pre">*</span> <span class="pre">dt)</span></code>.</p>
+<p>Similar to OmniIsaacGymEnvs, randomization APIs are available for randomizing articulation properties,
+such as joint stiffness and damping, joint limits, rigid body materials, fixed tendon properties,
+as well as rigid body properties, such as mass and rigid body materials. Randomization of the
+physics scene gravity is also supported. Note that randomization of scale is current not supported
+in Isaac Lab. To randomize scale, please set up the scene in a way where each environment holds the actor
+at a different scale.</p>
+<p>Once the <code class="docutils literal notranslate"><span class="pre">configclass</span></code> for the randomization terms have been set up, the class must be added
+to the base config class for the task and be assigned to the variable <code class="docutils literal notranslate"><span class="pre">events</span></code>.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MyTaskConfig</span><span class="p">:</span>
+  <span class="n">events</span><span class="p">:</span> <span class="n">EventCfg</span> <span class="o">=</span> <span class="n">EventCfg</span><span class="p">()</span>
+</pre></div>
+</div>
+<section id="action-and-observation-noise">
+<h3>Action and Observation Noise<a class="headerlink" href="#action-and-observation-noise" title="Permalink to this heading">#</a></h3>
+<p>Actions and observation noise can also be added using the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a> module.
+Action and observation noise configs must be added to the main task config using the
+<code class="docutils literal notranslate"><span class="pre">action_noise_model</span></code> and <code class="docutils literal notranslate"><span class="pre">observation_noise_model</span></code> variables:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MyTaskConfig</span><span class="p">:</span>
+    <span class="c1"># at every time-step add gaussian noise + bias. The bias is a gaussian sampled at reset</span>
+    <span class="n">action_noise_model</span><span class="p">:</span> <span class="n">NoiseModelWithAdditiveBiasCfg</span> <span class="o">=</span> <span class="n">NoiseModelWithAdditiveBiasCfg</span><span class="p">(</span>
+      <span class="n">noise_cfg</span><span class="o">=</span><span class="n">GaussianNoiseCfg</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="mf">0.05</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="s2">&quot;add&quot;</span><span class="p">),</span>
+      <span class="n">bias_noise_cfg</span><span class="o">=</span><span class="n">GaussianNoiseCfg</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="mf">0.015</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="s2">&quot;abs&quot;</span><span class="p">),</span>
+    <span class="p">)</span>
+    <span class="c1"># at every time-step add gaussian noise + bias. The bias is a gaussian sampled at reset</span>
+    <span class="n">observation_noise_model</span><span class="p">:</span> <span class="n">NoiseModelWithAdditiveBiasCfg</span> <span class="o">=</span> <span class="n">NoiseModelWithAdditiveBiasCfg</span><span class="p">(</span>
+      <span class="n">noise_cfg</span><span class="o">=</span><span class="n">GaussianNoiseCfg</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="mf">0.002</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="s2">&quot;add&quot;</span><span class="p">),</span>
+      <span class="n">bias_noise_cfg</span><span class="o">=</span><span class="n">GaussianNoiseCfg</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="mf">0.0001</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="s2">&quot;abs&quot;</span><span class="p">),</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+<p><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg" title="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg</span></code></a> can be used to sample both uncorrelated noise
+per step as well as correlated noise that is re-sampled at reset time.
+The <code class="docutils literal notranslate"><span class="pre">noise_cfg</span></code> term specifies the Gaussian distribution that will be sampled at each
+step for all environments. This noise will be added to the corresponding actions and
+observations buffers at every step.
+The <code class="docutils literal notranslate"><span class="pre">bias_noise_cfg</span></code> term specifies the Gaussian distribution for the correlated noise
+that will be sampled at reset time for the environments being reset. The same noise
+will be applied each step for the remaining of the episode for the environments and
+resampled at the next reset.</p>
+<p>This replaces the following setup in OmniIsaacGymEnvs:</p>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">domain_randomization</span><span class="p">:</span>
+<span class="nt">randomize</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
+<span class="nt">randomization_params</span><span class="p">:</span>
+<span class="w"> </span><span class="nt">observations</span><span class="p">:</span>
+<span class="w">   </span><span class="nt">on_reset</span><span class="p">:</span>
+<span class="w">     </span><span class="nt">operation</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;additive&quot;</span>
+<span class="w">     </span><span class="nt">distribution</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;gaussian&quot;</span>
+<span class="w">     </span><span class="nt">distribution_parameters</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">.0001</span><span class="p p-Indicator">]</span>
+<span class="w">   </span><span class="nt">on_interval</span><span class="p">:</span>
+<span class="w">     </span><span class="nt">frequency_interval</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1</span>
+<span class="w">     </span><span class="nt">operation</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;additive&quot;</span>
+<span class="w">     </span><span class="nt">distribution</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;gaussian&quot;</span>
+<span class="w">     </span><span class="nt">distribution_parameters</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">.002</span><span class="p p-Indicator">]</span>
+<span class="w"> </span><span class="nt">actions</span><span class="p">:</span>
+<span class="w">   </span><span class="nt">on_reset</span><span class="p">:</span>
+<span class="w">     </span><span class="nt">operation</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;additive&quot;</span>
+<span class="w">     </span><span class="nt">distribution</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;gaussian&quot;</span>
+<span class="w">     </span><span class="nt">distribution_parameters</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.015</span><span class="p p-Indicator">]</span>
+<span class="w">   </span><span class="nt">on_interval</span><span class="p">:</span>
+<span class="w">     </span><span class="nt">frequency_interval</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1</span>
+<span class="w">     </span><span class="nt">operation</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;additive&quot;</span>
+<span class="w">     </span><span class="nt">distribution</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;gaussian&quot;</span>
+<span class="w">     </span><span class="nt">distribution_parameters</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0.</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.05</span><span class="p p-Indicator">]</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="launching-training">
+<h2>Launching Training<a class="headerlink" href="#launching-training" title="Permalink to this heading">#</a></h2>
+<p>To launch a training in Isaac Lab, use the command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-Direct-v0<span class="w"> </span>--headless
+</pre></div>
+</div>
+</section>
+<section id="launching-inferencing">
+<h2>Launching Inferencing<a class="headerlink" href="#launching-inferencing" title="Permalink to this heading">#</a></h2>
+<p>To launch inferencing in Isaac Lab, use the command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>source/standalone/workflows/rl_games/play.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-Direct-v0<span class="w"> </span>--num_envs<span class="o">=</span><span class="m">25</span><span class="w"> </span>--checkpoint<span class="o">=</span>&lt;path/to/checkpoint&gt;
+</pre></div>
+</div>
+</section>
+</section>
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+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id1">Task Config</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#task-setup">Task Setup</a></li>
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+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#action-and-observation-noise">Action and Observation Noise</a></li>
+</ul>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#launching-training">Launching Training</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#launching-inferencing">Launching Inferencing</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
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+<li class="toctree-l1"><a class="reference internal" href="../refs/issues.html">Known Issues</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>From Orbit</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#renaming-of-the-launch-script">Renaming of the launch script</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#updates-to-extensions">Updates to extensions</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#updates-to-class-names">Updates to class names</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#updates-to-the-tasks-folder-structure">Updates to the tasks folder structure</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#other-breaking-changes">Other Breaking changes</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#setting-the-device">Setting the device</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#offscreen-rendering">Offscreen rendering</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#event-term-distribution-configuration">Event term distribution configuration</a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="from-orbit">
+<span id="migrating-from-orbit"></span><h1>From Orbit<a class="headerlink" href="#from-orbit" title="Permalink to this heading">#</a></h1>
+<p>Since <a class="reference external" href="https://isaac-orbit.github.io/">Orbit</a> was used as basis for Isaac Lab, migrating from Orbit to Isaac Lab is straightforward.
+The following sections describe the changes that need to be made to your code to migrate from Orbit to Isaac Lab.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The following changes are with respect to Isaac Lab 1.0 release. Please refer to the <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/releases">release notes</a> for any changes
+in the future releases.</p>
+</div>
+<section id="renaming-of-the-launch-script">
+<h2>Renaming of the launch script<a class="headerlink" href="#renaming-of-the-launch-script" title="Permalink to this heading">#</a></h2>
+<p>The script <code class="docutils literal notranslate"><span class="pre">orbit.sh</span></code> has been renamed to <code class="docutils literal notranslate"><span class="pre">isaaclab.sh</span></code>.</p>
+</section>
+<section id="updates-to-extensions">
+<h2>Updates to extensions<a class="headerlink" href="#updates-to-extensions" title="Permalink to this heading">#</a></h2>
+<p>The extensions <code class="docutils literal notranslate"><span class="pre">omni.isaac.orbit</span></code>, <code class="docutils literal notranslate"><span class="pre">omni.isaac.orbit_tasks</span></code>, and <code class="docutils literal notranslate"><span class="pre">omni.isaac.orbit_assets</span></code> have been renamed
+to <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab</span></code>, <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks</span></code>, and <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_assets</span></code>, respectively. Thus,
+the new folder structure looks like this:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">source/extensions/omni.isaac.lab/omni/isaac/lab</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets</span></code></p></li>
+</ul>
+<p>The high level imports have to be updated as well:</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Orbit</p></th>
+<th class="head"><p>Isaac Lab</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">from</span> <span class="pre">omni.isaac.orbit...</span></code></p></td>
+<td><p><code class="docutils literal notranslate"><span class="pre">from</span> <span class="pre">omni.isaac.lab...</span></code></p></td>
+</tr>
+<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">from</span> <span class="pre">omni.isaac.orbit_tasks...</span></code></p></td>
+<td><p><code class="docutils literal notranslate"><span class="pre">from</span> <span class="pre">omni.isaac.lab_tasks...</span></code></p></td>
+</tr>
+<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">from</span> <span class="pre">omni.isaac.orbit_assets...</span></code></p></td>
+<td><p><code class="docutils literal notranslate"><span class="pre">from</span> <span class="pre">omni.isaac.lab_assets...</span></code></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="updates-to-class-names">
+<h2>Updates to class names<a class="headerlink" href="#updates-to-class-names" title="Permalink to this heading">#</a></h2>
+<p>In Isaac Lab, we introduced the concept of task design workflows (see <a class="reference internal" href="../overview/core-concepts/task_workflows.html#feature-workflows"><span class="std std-ref">Task Design Workflows</span></a>). The Orbit code is using
+the manager-based workflow and the environment specific class names have been updated to reflect this change:</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Orbit</p></th>
+<th class="head"><p>Isaac Lab</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">BaseEnv</span></code></p></td>
+<td><p><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedEnv</span></code></a></p></td>
+</tr>
+<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">BaseEnvCfg</span></code></p></td>
+<td><p><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg" title="omni.isaac.lab.envs.ManagerBasedEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedEnvCfg</span></code></a></p></td>
+</tr>
+<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">RLTaskEnv</span></code></p></td>
+<td><p><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedRLEnv</span></code></a></p></td>
+</tr>
+<tr class="row-odd"><td><p><code class="docutils literal notranslate"><span class="pre">RLTaskEnvCfg</span></code></p></td>
+<td><p><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedRLEnvCfg</span></code></a></p></td>
+</tr>
+<tr class="row-even"><td><p><code class="docutils literal notranslate"><span class="pre">RLTaskEnvWindow</span></code></p></td>
+<td><p><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow" title="omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow</span></code></a></p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="updates-to-the-tasks-folder-structure">
+<h2>Updates to the tasks folder structure<a class="headerlink" href="#updates-to-the-tasks-folder-structure" title="Permalink to this heading">#</a></h2>
+<p>To support the manager-based and direct workflows, we have added two folders in the tasks extension:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct</span></code></p></li>
+</ul>
+<p>The tasks from Orbit can now be found under the <code class="docutils literal notranslate"><span class="pre">manager_based</span></code> folder.
+This change must also be reflected in the imports for your tasks. For example,</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg</span> <span class="o">...</span>
+</pre></div>
+</div>
+<p>should now be:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.manager_based.locomotion.velocity.velocity_env_cfg</span> <span class="o">...</span>
+</pre></div>
+</div>
+</section>
+<section id="other-breaking-changes">
+<h2>Other Breaking changes<a class="headerlink" href="#other-breaking-changes" title="Permalink to this heading">#</a></h2>
+<section id="setting-the-device">
+<h3>Setting the device<a class="headerlink" href="#setting-the-device" title="Permalink to this heading">#</a></h3>
+<p>The argument <code class="docutils literal notranslate"><span class="pre">--cpu</span></code> has been removed in favor of <code class="docutils literal notranslate"><span class="pre">--device</span> <span class="pre">device_name</span></code>. Valid options for <code class="docutils literal notranslate"><span class="pre">device_name</span></code> are:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">cpu</span></code>: Use CPU.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">cuda</span></code>: Use GPU with device ID <code class="docutils literal notranslate"><span class="pre">0</span></code>.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">cuda:N</span></code>: Use GPU, where N is the device ID. For example, <code class="docutils literal notranslate"><span class="pre">cuda:0</span></code>.</p></li>
+</ul>
+<p>The default value is <code class="docutils literal notranslate"><span class="pre">cuda:0</span></code>.</p>
+</section>
+<section id="offscreen-rendering">
+<h3>Offscreen rendering<a class="headerlink" href="#offscreen-rendering" title="Permalink to this heading">#</a></h3>
+<p>The input argument <code class="docutils literal notranslate"><span class="pre">--offscreen_render</span></code> given to <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> and the environment variable
+<code class="docutils literal notranslate"><span class="pre">OFFSCREEN_RENDER</span></code> have been renamed to <code class="docutils literal notranslate"><span class="pre">--enable_cameras</span></code> and <code class="docutils literal notranslate"><span class="pre">ENABLE_CAMERAS</span></code> respectively.</p>
+</section>
+<section id="event-term-distribution-configuration">
+<h3>Event term distribution configuration<a class="headerlink" href="#event-term-distribution-configuration" title="Permalink to this heading">#</a></h3>
+<p>Some of the event functions in <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py">events.py</a>
+accepted a <code class="docutils literal notranslate"><span class="pre">distribution</span></code> parameter and a <code class="docutils literal notranslate"><span class="pre">range</span></code> to sample from. In an effort to support arbitrary distributions,
+we have renamed the input argument <code class="docutils literal notranslate"><span class="pre">AAA_range</span></code> to <code class="docutils literal notranslate"><span class="pre">AAA_distribution_params</span></code> for these functions.
+Therefore, event term configurations whose functions have a <code class="docutils literal notranslate"><span class="pre">distribution</span></code> argument should be updated. For example,</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">add_base_mass</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+    <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">randomize_rigid_body_mass</span><span class="p">,</span>
+    <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;startup&quot;</span><span class="p">,</span>
+    <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">body_names</span><span class="o">=</span><span class="s2">&quot;base&quot;</span><span class="p">),</span>
+<span class="hll">        <span class="s2">&quot;mass_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">5.0</span><span class="p">,</span> <span class="mf">5.0</span><span class="p">),</span>
+</span>        <span class="s2">&quot;operation&quot;</span><span class="p">:</span> <span class="s2">&quot;add&quot;</span><span class="p">,</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<p>should now be:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">add_base_mass</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+    <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">randomize_rigid_body_mass</span><span class="p">,</span>
+    <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;startup&quot;</span><span class="p">,</span>
+    <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">body_names</span><span class="o">=</span><span class="s2">&quot;base&quot;</span><span class="p">),</span>
+<span class="hll">        <span class="s2">&quot;mass_distribution_params&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">5.0</span><span class="p">,</span> <span class="mf">5.0</span><span class="p">),</span>
+</span>        <span class="s2">&quot;operation&quot;</span><span class="p">:</span> <span class="s2">&quot;add&quot;</span><span class="p">,</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
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+    <h1>Actuators</h1>
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+                <h2> Contents </h2>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#actuator-models">Actuator models</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#actuator-groups">Actuator groups</a></li>
+</ul>
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+                  
+  <section id="actuators">
+<span id="overview-actuators"></span><h1>Actuators<a class="headerlink" href="#actuators" title="Permalink to this heading">#</a></h1>
+<p>An articulated system comprises of actuated joints, also called the degrees of freedom (DOF).
+In a physical system, the actuation typically happens either through active components, such as
+electric or hydraulic motors, or passive components, such as springs. These components can introduce
+certain non-linear characteristics which includes delays or maximum producible velocity or torque.</p>
+<p>In simulation, the joints are either position, velocity, or torque-controlled. For position and velocity
+control, the physics engine internally implements a spring-damp (PD) controller which computes the torques
+applied on the actuated joints. In torque-control, the commands are set directly as the joint efforts.
+While this mimics an ideal behavior of the joint mechanism, it does not truly model how the drives work
+in the physical world. Thus, we provide a mechanism to inject external models to compute the
+joint commands that would represent the physical robot’s behavior.</p>
+<section id="actuator-models">
+<h2>Actuator models<a class="headerlink" href="#actuator-models" title="Permalink to this heading">#</a></h2>
+<p>We name two different types of actuator models:</p>
+<ol class="arabic simple">
+<li><p><strong>implicit</strong>: corresponds to the ideal simulation mechanism (provided by physics engine).</p></li>
+<li><p><strong>explicit</strong>: corresponds to external drive models (implemented by user).</p></li>
+</ol>
+<p>The explicit actuator model performs two steps: 1) it computes the desired joint torques for tracking
+the input commands, and 2) it clips the desired torques based on the motor capabilities. The clipped
+torques are the desired actuation efforts that are set into the simulation.</p>
+<p>As an example of an ideal explicit actuator model, we provide the <a class="reference internal" href="../../api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.IdealPDActuator" title="omni.isaac.lab.actuators.IdealPDActuator"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators.IdealPDActuator</span></code></a>
+class, which implements a PD controller with feed-forward effort, and simple clipping based on the configured
+maximum effort:</p>
+<div class="math notranslate nohighlight">
+\[\begin{split}\tau_{j, computed} &amp; = k_p * (q - q_{des}) + k_d * (\dot{q} - \dot{q}_{des}) + \tau_{ff} \\
+\tau_{j, applied} &amp; = clip(\tau_{computed}, -\tau_{j, max}, \tau_{j, max})\end{split}\]</div>
+<p>where, <span class="math notranslate nohighlight">\(k_p\)</span> and <span class="math notranslate nohighlight">\(k_d\)</span> are joint stiffness and damping gains, <span class="math notranslate nohighlight">\(q\)</span> and <span class="math notranslate nohighlight">\(\dot{q}\)</span>
+are the current joint positions and velocities, <span class="math notranslate nohighlight">\(q_{des}\)</span>, <span class="math notranslate nohighlight">\(\dot{q}_{des}\)</span> and <span class="math notranslate nohighlight">\(\tau_{ff}\)</span>
+are the desired joint positions, velocities and torques commands. The parameters <span class="math notranslate nohighlight">\(\gamma\)</span> and
+<span class="math notranslate nohighlight">\(\tau_{motor, max}\)</span>  are the gear box ratio and the maximum motor effort possible.</p>
+</section>
+<section id="actuator-groups">
+<h2>Actuator groups<a class="headerlink" href="#actuator-groups" title="Permalink to this heading">#</a></h2>
+<p>The actuator models by themselves are computational blocks that take as inputs the desired joint commands
+and output the joint commands to apply into the simulator. They do not contain any knowledge about the
+joints they are acting on themselves. These are handled by the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.Articulation</span></code></a>
+class, which wraps around the physics engine’s articulation class.</p>
+<p>Actuator are collected as a set of actuated joints on an articulation that are using the same actuator model.
+For instance, the quadruped, ANYmal-C, uses series elastic actuator, ANYdrive 3.0, for all its joints. This
+grouping configures the actuator model for those joints, translates the input commands to the joint level
+commands, and returns the articulation action to set into the simulator. Having an arm with a different
+actuator model, such as a DC motor, would require configuring a different actuator group.</p>
+<p>The following figure shows the actuator groups for a legged mobile manipulator:</p>
+<a class="only-light reference internal image-reference" href="../../../_images/actuator-light.svg"><img alt="Actuator models for a legged mobile manipulator" class="only-light align-center" src="../../../_images/actuator-light.svg" width="80%" /></a>
+<a class="only-dark reference internal image-reference" href="../../../_images/actuator-dark.svg"><img alt="Actuator models for a legged mobile manipulator" class="only-dark align-center" src="../../../_images/actuator-dark.svg" width="80%" /></a>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>We provide implementations for various explicit actuator models. These are detailed in
+<a class="reference external" href="../../api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a> sub-package.</p>
+</div>
+</section>
+</section>
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+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
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diff --git a/v1.4.0/source/overview/core-concepts/motion_generators.html b/v1.4.0/source/overview/core-concepts/motion_generators.html
new file mode 100644
index 0000000000..3a910d7c02
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#joint-space-controllers">Joint-space controllers</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#torque-control">Torque control</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#velocity-control">Velocity control</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#position-control-with-fixed-impedance">Position control with fixed impedance</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#position-control-with-variable-stiffness">Position control with variable stiffness</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#position-control-with-variable-impedance">Position control with variable impedance</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#task-space-controllers">Task-space controllers</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#differential-inverse-kinematics-ik">Differential inverse kinematics (IK)</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#impedance-controller">Impedance controller</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#operational-space-controller">Operational-space controller</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#closed-loop-proportional-force-controller">Closed-loop proportional force controller</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#hybrid-force-motion-controller">Hybrid force-motion controller</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#reactive-planners">Reactive planners</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="motion-generators">
+<h1>Motion Generators<a class="headerlink" href="#motion-generators" title="Permalink to this heading">#</a></h1>
+<p>Robotic tasks are typically defined in task-space in terms of desired
+end-effector trajectory, while control actions are executed in the
+joint-space. This naturally leads to <em>joint-space</em> and <em>task-space</em>
+(operational-space) control methods. However, successful execution of
+interaction tasks using motion control often requires an accurate model
+of both the robot manipulator as well as its environment. While a
+sufficiently precise manipulator’s model might be known, detailed
+description of environment is hard to obtain <span id="id1">[<a class="reference internal" href="../../refs/bibliography.html#id5" title="Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. Force control. Springer, 2009.">SSVO09</a>]</span>.
+Planning errors caused by this mismatch can be overcome by introducing a
+<em>compliant</em> behavior during interaction.</p>
+<p>While compliance is achievable passively through robot’s structure (such
+as elastic actuators, soft robot arms), we are more interested in
+controller designs that focus on active interaction control. These are
+broadly categorized into:</p>
+<ol class="arabic simple">
+<li><p><strong>impedance control:</strong> indirect control method where motion deviations
+caused during interaction relates to contact force as a mass-spring-damper
+system with adjustable parameters (stiffness and damping). A specialized case
+of this is <em>stiffness</em> control where only the static relationship between
+position error and contact force is considered.</p></li>
+<li><p><strong>hybrid force/motion control:</strong> active control method which controls motion
+and force along unconstrained and constrained task directions respectively.
+Among the various schemes for hybrid motion control, the provided implementation
+is based on inverse dynamics control in the operational space <span id="id2">[<a class="reference internal" href="../../refs/bibliography.html#id4" title="O. Khatib. A unified approach for motion and force control of robot manipulators: the operational space formulation. IEEE Journal on Robotics and Automation, 3(1):43-53, 1987. doi:10.1109/JRA.1987.1087068.">Kha87</a>]</span>.</p></li>
+</ol>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>To provide an even broader set of motion generators, we welcome contributions from the
+community. If you are interested, please open an issue to start a discussion!</p>
+</div>
+<section id="joint-space-controllers">
+<h2>Joint-space controllers<a class="headerlink" href="#joint-space-controllers" title="Permalink to this heading">#</a></h2>
+<section id="torque-control">
+<h3>Torque control<a class="headerlink" href="#torque-control" title="Permalink to this heading">#</a></h3>
+<p>Action dimensions: <code class="docutils literal notranslate"><span class="pre">&quot;n&quot;</span></code> (number of joints)</p>
+<p>In torque control mode, the input actions are directly set as feed-forward
+joint torque commands, i.e. at every time-step,</p>
+<div class="math notranslate nohighlight">
+\[\tau = \tau_{des}\]</div>
+<p>Thus, this control mode is achievable by setting the command type for the actuator group, via
+the <code class="xref py py-class docutils literal notranslate"><span class="pre">ActuatorControlCfg</span></code> class, to <code class="docutils literal notranslate"><span class="pre">&quot;t_abs&quot;</span></code>.</p>
+</section>
+<section id="velocity-control">
+<h3>Velocity control<a class="headerlink" href="#velocity-control" title="Permalink to this heading">#</a></h3>
+<p>Action dimensions: <code class="docutils literal notranslate"><span class="pre">&quot;n&quot;</span></code> (number of joints)</p>
+<p>In velocity control mode, a proportional control law is required to reduce the error between the
+current and desired joint velocities. Based on input actions, the joint torques commands are computed as:</p>
+<div class="math notranslate nohighlight">
+\[\tau = k_d (\dot{q}_{des} - \dot{q})\]</div>
+<p>where <span class="math notranslate nohighlight">\(k_d\)</span> are the gains parsed from configuration.</p>
+<p>This control mode is achievable by setting the command type for the actuator group, via
+the <code class="xref py py-class docutils literal notranslate"><span class="pre">ActuatorControlCfg</span></code> class, to <code class="docutils literal notranslate"><span class="pre">&quot;v_abs&quot;</span></code> or <code class="docutils literal notranslate"><span class="pre">&quot;v_rel&quot;</span></code>.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>While performing velocity control, in many cases, gravity compensation is required to ensure better
+tracking of the command. In this case, we suggest disabling gravity for the links in the articulation
+in simulation.</p>
+</div>
+</section>
+<section id="position-control-with-fixed-impedance">
+<h3>Position control with fixed impedance<a class="headerlink" href="#position-control-with-fixed-impedance" title="Permalink to this heading">#</a></h3>
+<p>Action dimensions: <code class="docutils literal notranslate"><span class="pre">&quot;n&quot;</span></code> (number of joints)</p>
+<p>In position control mode, a proportional-damping (PD) control law is employed to track the desired joint
+positions and ensuring the articulation remains still at the desired location (i.e., desired joint velocities
+are zero). Based on the input actions, the joint torque commands are computed as:</p>
+<div class="math notranslate nohighlight">
+\[\tau = k_p (q_{des} - q)  - k_d \dot{q}\]</div>
+<p>where <span class="math notranslate nohighlight">\(k_p\)</span> and <span class="math notranslate nohighlight">\(k_d\)</span> are the gains parsed from configuration.</p>
+<p>In its simplest above form,  the control mode is achievable by setting the command type for the actuator group,
+via the <code class="xref py py-class docutils literal notranslate"><span class="pre">ActuatorControlCfg</span></code> class, to <code class="docutils literal notranslate"><span class="pre">&quot;p_abs&quot;</span></code> or <code class="docutils literal notranslate"><span class="pre">&quot;p_rel&quot;</span></code>.</p>
+<p>However, a more complete formulation which considers the dynamics of the articulation would be:</p>
+<div class="math notranslate nohighlight">
+\[\tau = M \left( k_p (q_{des} - q)  - k_d \dot{q} \right) + g\]</div>
+<p>where <span class="math notranslate nohighlight">\(M\)</span> is the joint-space inertia matrix of size <span class="math notranslate nohighlight">\(n \times n\)</span>, and <span class="math notranslate nohighlight">\(g\)</span> is the joint-space
+gravity vector. This implementation is available through the <code class="xref py py-class docutils literal notranslate"><span class="pre">JointImpedanceController</span></code> class by setting the
+impedance mode to <code class="docutils literal notranslate"><span class="pre">&quot;fixed&quot;</span></code>. The gains <span class="math notranslate nohighlight">\(k_p\)</span> are parsed from the input configuration and <span class="math notranslate nohighlight">\(k_d\)</span>
+are computed while considering the system as a decoupled point-mass oscillator, i.e.,</p>
+<div class="math notranslate nohighlight">
+\[k_d = 2 \sqrt{k_p} \times D\]</div>
+<p>where <span class="math notranslate nohighlight">\(D\)</span> is the damping ratio of the system. Critical damping is achieved for <span class="math notranslate nohighlight">\(D = 1\)</span>, overcritical
+damping for <span class="math notranslate nohighlight">\(D &gt; 1\)</span> and undercritical damping for <span class="math notranslate nohighlight">\(D &lt; 1\)</span>.</p>
+<p>Additionally, it is possible to disable the inertial or gravity compensation in the controller by setting the
+flags <code class="xref py py-attr docutils literal notranslate"><span class="pre">inertial_compensation</span></code> and  <code class="xref py py-attr docutils literal notranslate"><span class="pre">gravity_compensation</span></code> in the configuration to <a class="reference external" href="https://docs.python.org/3/library/constants.html#False" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">False</span></code></a>,
+respectively.</p>
+</section>
+<section id="position-control-with-variable-stiffness">
+<h3>Position control with variable stiffness<a class="headerlink" href="#position-control-with-variable-stiffness" title="Permalink to this heading">#</a></h3>
+<p>Action dimensions: <code class="docutils literal notranslate"><span class="pre">&quot;2n&quot;</span></code> (number of joints)</p>
+<p>In stiffness control, the same formulation as above is employed, however, the gains <span class="math notranslate nohighlight">\(k_p\)</span> are part of
+the input commands. This implementation is available through the <code class="xref py py-class docutils literal notranslate"><span class="pre">JointImpedanceController</span></code> class by
+setting the impedance mode to <code class="docutils literal notranslate"><span class="pre">&quot;variable_kp&quot;</span></code>.</p>
+</section>
+<section id="position-control-with-variable-impedance">
+<h3>Position control with variable impedance<a class="headerlink" href="#position-control-with-variable-impedance" title="Permalink to this heading">#</a></h3>
+<p>Action dimensions: <code class="docutils literal notranslate"><span class="pre">&quot;3n&quot;</span></code> (number of joints)</p>
+<p>In impedance control, the same formulation as above is employed, however, both <span class="math notranslate nohighlight">\(k_p\)</span> and <span class="math notranslate nohighlight">\(k_d\)</span>
+are part of the input commands. This implementation is available through the <code class="xref py py-class docutils literal notranslate"><span class="pre">JointImpedanceController</span></code>
+class by setting the impedance mode to <code class="docutils literal notranslate"><span class="pre">&quot;variable&quot;</span></code>.</p>
+</section>
+</section>
+<section id="task-space-controllers">
+<h2>Task-space controllers<a class="headerlink" href="#task-space-controllers" title="Permalink to this heading">#</a></h2>
+<section id="differential-inverse-kinematics-ik">
+<h3>Differential inverse kinematics (IK)<a class="headerlink" href="#differential-inverse-kinematics-ik" title="Permalink to this heading">#</a></h3>
+<p>Action dimensions:  <code class="docutils literal notranslate"><span class="pre">&quot;3&quot;</span></code> (relative/absolute position), <code class="docutils literal notranslate"><span class="pre">&quot;6&quot;</span></code> (relative pose), or <code class="docutils literal notranslate"><span class="pre">&quot;7&quot;</span></code> (absolute pose)</p>
+<p>Inverse kinematics converts the task-space tracking error to joint-space error. In its most typical implementation,
+the pose error in the task-sace, <span class="math notranslate nohighlight">\(\Delta \chi_e = (\Delta p_e, \Delta \phi_e)\)</span>, is computed as the cartesian
+distance between the desired and current task-space positions, and the shortest distance in <span class="math notranslate nohighlight">\(\mathbb{SO}(3)\)</span>
+between the desired and current task-space orientations.</p>
+<p>Using the geometric Jacobian <span class="math notranslate nohighlight">\(J_{eO} \in \mathbb{R}^{6 \times n}\)</span>, that relates task-space velocity to joint-space velocities,
+we design the control law to obtain the desired joint positions as:</p>
+<div class="math notranslate nohighlight">
+\[q_{des} = q + \eta J_{eO}^{-} \Delta \chi_e\]</div>
+<p>where <span class="math notranslate nohighlight">\(\eta\)</span> is a scaling parameter and <span class="math notranslate nohighlight">\(J_{eO}^{-}\)</span> is the pseudo-inverse of the Jacobian.</p>
+<p>It is possible to compute the pseudo-inverse of the Jacobian using different formulations:</p>
+<ul class="simple">
+<li><p>Moore-Penrose pseduo-inverse: <span class="math notranslate nohighlight">\(A^{-} = A^T(AA^T)^{-1}\)</span>.</p></li>
+<li><p>Levenberg-Marquardt pseduo-inverse (damped least-squares): <span class="math notranslate nohighlight">\(A^{-} = A^T (AA^T + \lambda \mathbb{I})^{-1}\)</span>.</p></li>
+<li><p>Tanspose pseudo-inverse: <span class="math notranslate nohighlight">\(A^{-} = A^T\)</span>.</p></li>
+<li><p>Adaptive singular-vale decomposition (SVD) pseduo-inverse from <span id="id3">Buss [<a class="reference internal" href="../../refs/bibliography.html#id7" title="Samuel Buss. Introduction to inverse kinematics with jacobian transpose, pseudoinverse and damped least squares methods. IEEE Transactions in Robotics and Automation, 17:, 2004.">Bus04</a>]</span>.</p></li>
+</ul>
+<p>These implementations are available through the <code class="xref py py-class docutils literal notranslate"><span class="pre">DifferentialInverseKinematics</span></code> class.</p>
+</section>
+<section id="impedance-controller">
+<h3>Impedance controller<a class="headerlink" href="#impedance-controller" title="Permalink to this heading">#</a></h3>
+<p>It uses task-space pose error and Jacobian to compute join torques through mass-spring-damper system
+with a) fixed stiffness, b) variable stiffness (stiffness control),
+and c) variable stiffness and damping (impedance control).</p>
+</section>
+<section id="operational-space-controller">
+<h3>Operational-space controller<a class="headerlink" href="#operational-space-controller" title="Permalink to this heading">#</a></h3>
+<p>Similar to task-space impedance
+control but uses the Equation of Motion (EoM) for computing the
+task-space force</p>
+</section>
+<section id="closed-loop-proportional-force-controller">
+<h3>Closed-loop proportional force controller<a class="headerlink" href="#closed-loop-proportional-force-controller" title="Permalink to this heading">#</a></h3>
+<p>It uses a proportional term
+to track the desired wrench command with respect to current wrench at
+the end-effector.</p>
+</section>
+<section id="hybrid-force-motion-controller">
+<h3>Hybrid force-motion controller<a class="headerlink" href="#hybrid-force-motion-controller" title="Permalink to this heading">#</a></h3>
+<p>It combines closed-loop force control
+and operational-space motion control to compute the desired wrench at
+the end-effector. It uses selection matrices that define the
+unconstrainted and constrained task directions.</p>
+</section>
+</section>
+<section id="reactive-planners">
+<h2>Reactive planners<a class="headerlink" href="#reactive-planners" title="Permalink to this heading">#</a></h2>
+<p>Typical task-space controllers do not account for motion constraints
+such as joint limits, self-collision and environment collision. Instead
+they rely on high-level planners (such as RRT) to handle these
+non-Euclidean constraints and give joint/task-space way-points to the
+controller. However, these methods are often conservative and have
+undesirable deceleration when close to an object. More recently,
+different approaches combine the constraints directly into an
+optimization problem, thereby providing a holistic solution for motion
+generation and control.</p>
+<p>We currently support the following planners:</p>
+<ul class="simple">
+<li><p><strong>RMPFlow (lula):</strong> An acceleration-based policy that composes various Reimannian Motion Policies (RMPs) to
+solve a hierarchy of tasks <span id="id4">[<a class="reference internal" href="../../refs/bibliography.html#id6" title="Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, and Nathan Ratliff. Rmpflow: a geometric framework for generation of multitask motion policies. IEEE Transactions on Automation Science and Engineering, 18(3):968-987, 2021. doi:10.1109/TASE.2021.3053422.">CMI+21</a>]</span>. It is capable of performing dynamic collision
+avoidance while navigating the end-effector to a target.</p></li>
+<li><p><strong>MPC (OCS2):</strong> A receding horizon control policy based on sequential linear-quadratic (SLQ) programming.
+It formulates various constraints into a single optimization problem via soft-penalties and uses automatic
+differentiation to compute derivatives of the system dynamics, constraints and costs. Currently, we support
+the MPC formulation for end-effector trajectory tracking in fixed-arm and mobile manipulators. The formulation
+considers a kinematic system model with joint limits and self-collision avoidance <span id="id5">[<a class="reference internal" href="../../refs/bibliography.html#id9" title="Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, and Animesh Garg. Articulated object interaction in unknown scenes with whole-body mobile manipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.">MHF+22</a>]</span>.</p></li>
+</ul>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>We wrap around the python bindings for these reactive planners to perform a batched computing of
+robot actions. However, their current implementations are CPU-based which may cause certain
+slowdown for learning.</p>
+</div>
+</section>
+</section>
+
+
+                </article>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#joint-space-controllers">Joint-space controllers</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#torque-control">Torque control</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#velocity-control">Velocity control</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#position-control-with-fixed-impedance">Position control with fixed impedance</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#position-control-with-variable-stiffness">Position control with variable stiffness</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#position-control-with-variable-impedance">Position control with variable impedance</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#task-space-controllers">Task-space controllers</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#differential-inverse-kinematics-ik">Differential inverse kinematics (IK)</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#impedance-controller">Impedance controller</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#operational-space-controller">Operational-space controller</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#closed-loop-proportional-force-controller">Closed-loop proportional force controller</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#hybrid-force-motion-controller">Hybrid force-motion controller</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#reactive-planners">Reactive planners</a></li>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Task Design Workflows</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#manager-based-environments">Manager-Based Environments</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#direct-environments">Direct Environments</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="task-design-workflows">
+<span id="feature-workflows"></span><h1>Task Design Workflows<a class="headerlink" href="#task-design-workflows" title="Permalink to this heading">#</a></h1>
+<p>Environments define the interface between the agent and the simulation. In the simplest case, the environment provides
+the agent with the current observations and executes the actions provided by the agent. In a Markov Decision Process
+(MDP) formulation, the environment can also provide additional information such as the current reward, done flag, and
+information about the current episode.</p>
+<p>While the environment interface is simple to understand, its implementation can vary significantly depending on the
+complexity of the task. In the context of reinforcement learning (RL), the environment implementation can be broken down
+into several components, such as the reward function, observation function, termination function, and reset function.
+Each of these components can be implemented in different ways depending on the complexity of the task and the desired
+level of modularity.</p>
+<p>We provide two different workflows for designing environments with the framework:</p>
+<ul class="simple">
+<li><p><strong>Manager-based</strong>: The environment is decomposed into individual components (or managers) that handle different
+aspects of the environment (such as computing observations, applying actions, and applying randomization). The
+user defines configuration classes for each component and the environment is responsible for coordinating the
+managers and calling their functions.</p></li>
+<li><p><strong>Direct</strong>: The user defines a single class that implements the entire environment directly without the need for
+separate managers. This class is responsible for computing observations, applying actions, and computing rewards.</p></li>
+</ul>
+<p>Both workflows have their own advantages and disadvantages. The manager-based workflow is more modular and allows
+different components of the environment to be swapped out easily. This is useful when prototyping the environment
+and experimenting with different configurations. On the other hand, the direct workflow is more efficient and allows
+for more fine-grained control over the environment logic. This is useful when optimizing the environment for performance
+or when implementing complex logic that is difficult to decompose into separate components.</p>
+<section id="manager-based-environments">
+<h2>Manager-Based Environments<a class="headerlink" href="#manager-based-environments" title="Permalink to this heading">#</a></h2>
+<p>A majority of environment implementations follow a similar structure. The environment processes the input actions,
+steps through the simulation, computes observations and reward signals, applies randomization, and resets the terminated
+environments. Motivated by this, the environment can be decomposed into individual components that handle each of these tasks.
+For example, the observation manager is responsible for computing the observations, the reward manager is responsible for
+computing the rewards, and the termination manager is responsible for computing the termination signal. This approach
+is known as the manager-based environment design in the framework.</p>
+<img alt="Manager-based Task Workflow" class="only-light align-center" src="../../../_images/manager-based-light.svg" /><img alt="Manager-based Task Workflow" class="only-dark align-center" src="../../../_images/manager-based-dark.svg" /><p>Manager-based environments promote modular implementations of tasks by decomposing the task into individual
+components that are managed by separate classes. Each component of the task, such as rewards, observations,
+termination can all be specified as individual configuration classes that are then passed to the corresponding
+manager classes. The manager is then responsible for parsing the configurations and processing the contents specified
+in its configuration.</p>
+<p>The coordination between the different managers is orchestrated by the class <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a>.
+It takes in a task configuration class instance (<a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnvCfg</span></code></a>) that contains the configurations
+for each of the components of the task. Based on the configurations, the scene is set up and the task is initialized.
+Afterwards, while stepping through the environment, all the managers are called sequentially to perform the necessary
+operations.</p>
+<p>For their own tasks, we expect the user to mainly define the task configuration class and use the existing
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> class for the task implementation. The task configuration class should inherit from
+the base class <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnvCfg</span></code></a> and contain variables assigned to various configuration classes
+for each component (such as the <code class="docutils literal notranslate"><span class="pre">ObservationCfg</span></code> and <code class="docutils literal notranslate"><span class="pre">RewardCfg</span></code>).</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-plus" viewBox="0 0 16 16" aria-hidden="true"><path d="M7.75 2a.75.75 0 0 1 .75.75V7h4.25a.75.75 0 0 1 0 1.5H8.5v4.25a.75.75 0 0 1-1.5 0V8.5H2.75a.75.75 0 0 1 0-1.5H7V2.75A.75.75 0 0 1 7.75 2Z"></path></svg></span><span class="sd-summary-text">Example for defining the reward function for the Cartpole task using the manager-style</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<p class="sd-card-text">The following class is a part of the Cartpole environment configuration class. The <code class="xref py py-class docutils literal notranslate"><span class="pre">RewardsCfg</span></code> class
+defines individual terms that compose the reward function. Each reward term is defined by its function
+implementation, weight and additional parameters to be passed to the function. Users can define multiple
+reward terms and their weights to be used in the reward function.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RewardsCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reward terms for the MDP.&quot;&quot;&quot;</span>
+
+    <span class="c1"># (1) Constant running reward</span>
+    <span class="n">alive</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">is_alive</span><span class="p">,</span> <span class="n">weight</span><span class="o">=</span><span class="mf">1.0</span><span class="p">)</span>
+    <span class="c1"># (2) Failure penalty</span>
+    <span class="n">terminating</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">is_terminated</span><span class="p">,</span> <span class="n">weight</span><span class="o">=-</span><span class="mf">2.0</span><span class="p">)</span>
+    <span class="c1"># (3) Primary task: keep pole upright</span>
+    <span class="n">pole_pos</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_pos_target_l2</span><span class="p">,</span>
+        <span class="n">weight</span><span class="o">=-</span><span class="mf">1.0</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">]),</span> <span class="s2">&quot;target&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">},</span>
+    <span class="p">)</span>
+    <span class="c1"># (4) Shaping tasks: lower cart velocity</span>
+    <span class="n">cart_vel</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_vel_l1</span><span class="p">,</span>
+        <span class="n">weight</span><span class="o">=-</span><span class="mf">0.01</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">])},</span>
+    <span class="p">)</span>
+    <span class="c1"># (5) Shaping tasks: lower pole angular velocity</span>
+    <span class="n">pole_vel</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_vel_l1</span><span class="p">,</span>
+        <span class="n">weight</span><span class="o">=-</span><span class="mf">0.005</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">])},</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><p>Through this approach, it is possible to easily vary the implementations of the task by switching some components
+while leaving the remaining of the code intact. This flexibility is desirable when prototyping the environment and
+experimenting with different configurations. It also allows for easy collaborating with others on implementing an
+environment, since contributors may choose to use different combinations of configurations for their own task
+specifications.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>We provide a more detailed tutorial for setting up an environment using the manager-based workflow at
+<a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html#tutorial-create-manager-rl-env"><span class="std std-ref">Creating a Manager-Based RL Environment</span></a>.</p>
+</div>
+</section>
+<section id="direct-environments">
+<h2>Direct Environments<a class="headerlink" href="#direct-environments" title="Permalink to this heading">#</a></h2>
+<p>The direct-style environment aligns more closely with traditional implementations of environments,
+where a single script directly implements the reward function, observation function, resets, and all the other components
+of the environment. This approach does not require the manager classes. Instead, users are provided the complete freedom
+to implement their task through the APIs from the base classes <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.DirectRLEnv</span></code></a> or <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.DirectMARLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.DirectMARLEnv</span></code></a>.
+For users migrating from the <a class="reference external" href="https://github.com/isaac-sim/IsaacGymEnvs">IsaacGymEnvs</a> and <a class="reference external" href="https://github.com/isaac-sim/OmniIsaacGymEnvs">OmniIsaacGymEnvs</a> framework, this workflow may be more familiar.</p>
+<img alt="Direct-based Task Workflow" class="only-light align-center" src="../../../_images/direct-based-light.svg" /><img alt="Direct-based Task Workflow" class="only-dark align-center" src="../../../_images/direct-based-dark.svg" /><p>When defining an environment with the direct-style implementation, we expect the user define a single class that
+implements the entire environment. The task class should inherit from the base classes <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.DirectRLEnv</span></code></a> or
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.DirectMARLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.DirectMARLEnv</span></code></a> and should have its corresponding configuration class that inherits from
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg" title="omni.isaac.lab.envs.DirectRLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.DirectRLEnvCfg</span></code></a> or <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnvCfg" title="omni.isaac.lab.envs.DirectMARLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.DirectMARLEnvCfg</span></code></a> respectively. The task class is responsible
+for setting up the scene, processing the actions, computing the rewards, observations, resets, and termination signals.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-plus" viewBox="0 0 16 16" aria-hidden="true"><path d="M7.75 2a.75.75 0 0 1 .75.75V7h4.25a.75.75 0 0 1 0 1.5H8.5v4.25a.75.75 0 0 1-1.5 0V8.5H2.75a.75.75 0 0 1 0-1.5H7V2.75A.75.75 0 0 1 7.75 2Z"></path></svg></span><span class="sd-summary-text">Example for defining the reward function for the Cartpole task using the direct-style</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<p class="sd-card-text">The following function is a part of the Cartpole environment class and is responsible for computing the rewards.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_get_rewards</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+    <span class="n">total_reward</span> <span class="o">=</span> <span class="n">compute_rewards</span><span class="p">(</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_alive</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_terminated</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_pole_pos</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_cart_vel</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_pole_vel</span><span class="p">,</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="k">return</span> <span class="n">total_reward</span>
+</pre></div>
+</div>
+<p class="sd-card-text">It calls the <code class="xref py py-meth docutils literal notranslate"><span class="pre">compute_rewards()</span></code> function which is Torch JIT compiled for performance benefits.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">compute_rewards</span><span class="p">(</span>
+    <span class="n">rew_scale_alive</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_terminated</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_pole_pos</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_cart_vel</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_pole_vel</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">pole_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">pole_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">cart_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">cart_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">reset_terminated</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+<span class="p">):</span>
+    <span class="n">rew_alive</span> <span class="o">=</span> <span class="n">rew_scale_alive</span> <span class="o">*</span> <span class="p">(</span><span class="mf">1.0</span> <span class="o">-</span> <span class="n">reset_terminated</span><span class="o">.</span><span class="n">float</span><span class="p">())</span>
+    <span class="n">rew_termination</span> <span class="o">=</span> <span class="n">rew_scale_terminated</span> <span class="o">*</span> <span class="n">reset_terminated</span><span class="o">.</span><span class="n">float</span><span class="p">()</span>
+    <span class="n">rew_pole_pos</span> <span class="o">=</span> <span class="n">rew_scale_pole_pos</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">pole_pos</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">rew_cart_vel</span> <span class="o">=</span> <span class="n">rew_scale_cart_vel</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">cart_vel</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">rew_pole_vel</span> <span class="o">=</span> <span class="n">rew_scale_pole_vel</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">pole_vel</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">total_reward</span> <span class="o">=</span> <span class="n">rew_alive</span> <span class="o">+</span> <span class="n">rew_termination</span> <span class="o">+</span> <span class="n">rew_pole_pos</span> <span class="o">+</span> <span class="n">rew_cart_vel</span> <span class="o">+</span> <span class="n">rew_pole_vel</span>
+    <span class="k">return</span> <span class="n">total_reward</span>
+</pre></div>
+</div>
+</div>
+</details><p>This approach provides more transparency in the implementations of the environments, as logic is defined within the task
+class instead of abstracted with the use of managers. This may be beneficial when implementing complex logic that is
+difficult to decompose into separate components. Additionally, the direct-style implementation may bring more performance
+benefits for the environment, as it allows implementing large chunks of logic with optimized frameworks such as
+<a class="reference external" href="https://pytorch.org/docs/stable/jit.html">PyTorch JIT</a> or <a class="reference external" href="https://github.com/NVIDIA/warp">Warp</a>. This may be valuable when scaling up training tremendously which requires optimizing individual
+operations in the environment.</p>
+<div class="admonition seealso">
+<p class="admonition-title">See also</p>
+<p>We provide a more detailed tutorial for setting up a RL environment using the direct workflow at
+<a class="reference internal" href="../../tutorials/03_envs/create_direct_rl_env.html#tutorial-create-direct-rl-env"><span class="std std-ref">Creating a Direct Workflow RL Environment</span></a>.</p>
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+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#standalone-applications">Standalone applications</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="application-development">
+<h1>Application Development<a class="headerlink" href="#application-development" title="Permalink to this heading">#</a></h1>
+<section id="extensions">
+<h2>Extensions<a class="headerlink" href="#extensions" title="Permalink to this heading">#</a></h2>
+<p>Extensions are the recommended way to develop applications in Isaac Sim. They are
+modularized packages that formulate the Omniverse ecosystem. Each extension
+provides a set of functionalities that can be used by other extensions or
+standalone applications. A folder is recognized as an extension if it contains
+an <code class="docutils literal notranslate"><span class="pre">extension.toml</span></code> file in the <code class="docutils literal notranslate"><span class="pre">config</span></code> directory. More information on extensions can be found in the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/extensions_basic.html">Omniverse documentation</a>.</p>
+<p>Each extension in Isaac Lab is written as a python package and follows the following structure:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>&lt;extension-name&gt;
+├──<span class="w"> </span>config
+│<span class="w">   </span>└──<span class="w"> </span>extension.toml
+├──<span class="w"> </span>docs
+│<span class="w">   </span>├──<span class="w"> </span>CHANGELOG.md
+│<span class="w">   </span>└──<span class="w"> </span>README.md
+├──<span class="w"> </span>&lt;extension-name&gt;
+│<span class="w">   </span>├──<span class="w"> </span>__init__.py
+│<span class="w">   </span>├──<span class="w"> </span>....
+│<span class="w">   </span>└──<span class="w"> </span>scripts
+├──<span class="w"> </span>setup.py
+└──<span class="w"> </span>tests
+</pre></div>
+</div>
+<p>The <code class="docutils literal notranslate"><span class="pre">config/extension.toml</span></code> file contains the metadata of the extension. This
+includes the name, version, description, dependencies, etc. This information is used
+by Omniverse to load the extension. The <code class="docutils literal notranslate"><span class="pre">docs</span></code> directory contains the documentation
+for the extension with more detailed information about the extension and a CHANGELOG
+file that contains the changes made to the extension in each version.</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">&lt;extension-name&gt;</span></code> directory contains the main python package for the extension.
+It may also contains the <code class="docutils literal notranslate"><span class="pre">scripts</span></code> directory for keeping python-based applications
+that are loaded into Omniverse when then extension is enabled using the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/extensions_basic.html">Extension Manager</a>.</p>
+<p>More specifically, when an extension is enabled, the python module specified in the
+<code class="docutils literal notranslate"><span class="pre">config/extension.toml</span></code> file is loaded and scripts that contains children of the
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.ext.IExt</span></code> class are executed.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.ext</span>
+
+<span class="k">class</span> <span class="nc">MyExt</span><span class="p">(</span><span class="n">omni</span><span class="o">.</span><span class="n">ext</span><span class="o">.</span><span class="n">IExt</span><span class="p">):</span>
+<span class="w">   </span><span class="sd">&quot;&quot;&quot;My extension application.&quot;&quot;&quot;</span>
+
+   <span class="k">def</span> <span class="nf">on_startup</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">ext_id</span><span class="p">):</span>
+<span class="w">      </span><span class="sd">&quot;&quot;&quot;Called when the extension is loaded.&quot;&quot;&quot;</span>
+      <span class="k">pass</span>
+
+   <span class="k">def</span> <span class="nf">on_shutdown</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">      </span><span class="sd">&quot;&quot;&quot;Called when the extension is unloaded.</span>
+
+<span class="sd">      It releases all references to the extension and cleans up any resources.</span>
+<span class="sd">      &quot;&quot;&quot;</span>
+      <span class="k">pass</span>
+</pre></div>
+</div>
+<p>While loading extensions into Omniverse happens automatically, using the python package
+in standalone applications requires additional steps. To simplify the build process and
+avoiding the need to understand the <a class="reference external" href="https://premake.github.io/">premake</a>
+build system used by Omniverse, we directly use the <a class="reference external" href="https://setuptools.readthedocs.io/en/latest/">setuptools</a>
+python package to build the python module provided by the extensions. This is done by the
+<code class="docutils literal notranslate"><span class="pre">setup.py</span></code> file in the extension directory.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">setup.py</span></code> file is not required for extensions that are only loaded into Omniverse
+using the <a class="reference external" href="https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_extension-manager.html">Extension Manager</a>.</p>
+</div>
+<p>Lastly, the <code class="docutils literal notranslate"><span class="pre">tests</span></code> directory contains the unit tests for the extension. These are written
+using the <a class="reference external" href="https://docs.python.org/3/library/unittest.html">unittest</a> framework. It is
+important to note that Omniverse also provides a similar
+<a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/kit-manual/104.0/guide/testing_exts_python.html">testing framework</a>.
+However, it requires going through the build process and does not support testing of the python module in
+standalone applications.</p>
+<section id="custom-extension-dependency-management">
+<h3>Custom Extension Dependency Management<a class="headerlink" href="#custom-extension-dependency-management" title="Permalink to this heading">#</a></h3>
+<p>Certain extensions may have dependencies which require installation of additional packages before the extension
+can be used. While Python dependencies are handled by the <a class="reference external" href="https://setuptools.readthedocs.io/en/latest/">setuptools</a>
+package and specified in the <code class="docutils literal notranslate"><span class="pre">setup.py</span></code> file, non-Python dependencies such as <a class="reference external" href="https://www.ros.org/">ROS</a>
+packages or <a class="reference external" href="https://en.wikipedia.org/wiki/APT_(software)">apt</a> packages are not handled by setuptools.
+To handle these dependencies, we have created an additional setup procedure described in the next section.</p>
+<p>There are two types of dependencies that can be specified in the <code class="docutils literal notranslate"><span class="pre">extension.toml</span></code> file
+under the <code class="docutils literal notranslate"><span class="pre">isaac_lab_settings</span></code> section:</p>
+<ol class="arabic simple">
+<li><p><strong>apt_deps</strong>: A list of apt packages that need to be installed. These are installed using the
+<a class="reference external" href="https://ubuntu.com/server/docs/package-management">apt</a> package manager.</p></li>
+<li><p><strong>ros_ws</strong>: The path to the ROS workspace that contains the ROS packages. These are installed using
+the <a class="reference external" href="https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html">rosdep</a> dependency manager.</p></li>
+</ol>
+<p>As an example, the following <code class="docutils literal notranslate"><span class="pre">extension.toml</span></code> file specifies the dependencies for the extension:</p>
+<div class="highlight-toml notranslate"><div class="highlight"><pre><span></span><span class="k">[isaac_lab_settings]</span>
+<span class="c1"># apt dependencies</span>
+<span class="n">apt_deps</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">[</span><span class="s2">&quot;libboost-all-dev&quot;</span><span class="p">]</span>
+
+<span class="c1"># ROS workspace</span>
+<span class="c1"># note: if this path is relative, it is relative to the extension directory&#39;s root</span>
+<span class="n">ros_ws</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s2">&quot;/home/user/catkin_ws&quot;</span>
+</pre></div>
+</div>
+<p>These dependencies are installed using the <code class="docutils literal notranslate"><span class="pre">install_deps.py</span></code> script provided in the <code class="docutils literal notranslate"><span class="pre">tools</span></code> directory.
+To install all dependencies for all extensions, run the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># execute from the root of the repository</span>
+<span class="c1"># the script expects the type of dependencies to install and the path to the extensions directory</span>
+<span class="c1"># available types are: &#39;apt&#39;, &#39;rosdep&#39; and &#39;all&#39;</span>
+python<span class="w"> </span>tools/install_deps.py<span class="w"> </span>all<span class="w"> </span><span class="si">${</span><span class="nv">ISAACLAB_PATH</span><span class="si">}</span>/source/extensions
+</pre></div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Currently, this script is automatically executed during the build process of the <code class="docutils literal notranslate"><span class="pre">Dockerfile.base</span></code>
+and <code class="docutils literal notranslate"><span class="pre">Dockerfile.ros2</span></code>. This ensures that all the ‘apt’ and ‘rosdep’ dependencies are installed
+before building the extensions respectively.</p>
+</div>
+</section>
+</section>
+<section id="standalone-applications">
+<h2>Standalone applications<a class="headerlink" href="#standalone-applications" title="Permalink to this heading">#</a></h2>
+<p>In a typical Omniverse workflow, the simulator is launched first, after which the extensions are
+enabled that load the python module and run the python application. While this is a recommended
+workflow, it is not always possible to use this workflow.</p>
+<p>For example, for robot learning, it is essential to have complete control over simulation stepping
+and all the other functionalities instead of asynchronously waiting for the simulator to step. In
+such cases, it is necessary to write a standalone application that launches the simulator using
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> and allows complete control over the simulation through
+the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationContext</span></code></a> class.</p>
+<p>The following snippet shows how to write a standalone application:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+
+<span class="c1"># launch omniverse app</span>
+<span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">headless</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+<span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+
+
+<span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+   <span class="c1"># get simulation context</span>
+   <span class="n">simulation_context</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">()</span>
+   <span class="c1"># reset and play simulation</span>
+   <span class="n">simulation_context</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+   <span class="c1"># step simulation</span>
+   <span class="n">simulation_context</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+   <span class="c1"># stop simulation</span>
+   <span class="n">simulation_context</span><span class="o">.</span><span class="n">stop</span><span class="p">()</span>
+
+   <span class="c1"># close the simulation</span>
+   <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+<p>It is necessary to launch the simulator before running any other code because extensions are hot-loaded
+when the simulator starts. Many Omniverse modules become available only after the simulator is launched.
+To do this, use the :class:~omni.isaac.lab.app.AppLauncher class to start the simulator. After that,
+the :class:~omni.isaac.lab.sim.SimulationContext class can be used to control the simulation. For further
+details, we recommend exploring the Isaac Lab tutorials.</p>
+</section>
+</section>
+
+
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+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#custom-extension-dependency-management">Custom Extension Dependency Management</a></li>
+</ul>
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+<p>For development, we suggest using <a class="reference external" href="https://code.visualstudio.com/">Microsoft Visual Studio Code
+(VSCode)</a>. This is also suggested by
+NVIDIA Omniverse and there exists tutorials on how to <a class="reference external" href="https://www.youtube.com/watch?v=Vr1bLtF1f4U&amp;ab_channel=NVIDIAOmniverse">debug Omniverse
+extensions</a>
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new file mode 100644
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+<li class="toctree-l2"><a class="reference internal" href="../../setup/installation/pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../setup/faq.html">Frequently Asked Questions</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Overview</span></p>
+<ul class="current nav bd-sidenav">
+<li class="toctree-l1 current active has-children"><a class="reference internal" href="index.html">Developer’s Guide</a><details open="open"><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="vs_code.html">Setting up Visual Studio Code</a></li>
+
+<li class="toctree-l2 current active"><a class="current reference internal" href="#">Repository organization</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="template.html">Building your Own Project</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../environments.html">Available Environments</a></li>
+
+<li class="toctree-l1 has-children"><a class="reference internal" href="../reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/issues.html">Known Issues</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+      
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+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Repository organization</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#extensions">Extensions</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#standalone">Standalone</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="repository-organization">
+<h1>Repository organization<a class="headerlink" href="#repository-organization" title="Permalink to this heading">#</a></h1>
+<p>The Isaac Lab repository is structured as follows:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>IsaacLab
+├──<span class="w"> </span>.vscode
+├──<span class="w"> </span>.flake8
+├──<span class="w"> </span>CONTRIBUTING.md
+├──<span class="w"> </span>CONTRIBUTORS.md
+├──<span class="w"> </span>LICENSE
+├──<span class="w"> </span>isaaclab.bat
+├──<span class="w"> </span>isaaclab.sh
+├──<span class="w"> </span>pyproject.toml
+├──<span class="w"> </span>README.md
+├──<span class="w"> </span>docs
+├──<span class="w"> </span>docker
+├──<span class="w"> </span><span class="nb">source</span>
+│<span class="w">   </span>├──<span class="w"> </span>extensions
+│<span class="w">   </span>│<span class="w">   </span>├──<span class="w"> </span>omni.isaac.lab
+│<span class="w">   </span>│<span class="w">   </span>├──<span class="w"> </span>omni.isaac.lab_assets
+│<span class="w">   </span>│<span class="w">   </span>└──<span class="w"> </span>omni.isaac.lab_tasks
+│<span class="w">   </span>├──<span class="w"> </span>standalone
+│<span class="w">   </span>│<span class="w">   </span>├──<span class="w"> </span>demos
+│<span class="w">   </span>│<span class="w">   </span>├──<span class="w"> </span>environments
+│<span class="w">   </span>│<span class="w">   </span>├──<span class="w"> </span>tools
+│<span class="w">   </span>│<span class="w">   </span>├──<span class="w"> </span>tutorials
+│<span class="w">   </span>│<span class="w">   </span>└──<span class="w"> </span>workflows
+├──<span class="w"> </span>tools
+└──<span class="w"> </span>VERSION
+</pre></div>
+</div>
+<p>The <code class="docutils literal notranslate"><span class="pre">source</span></code> directory contains the source code for all Isaac Lab <em>extensions</em>
+and <em>standalone applications</em>. The two are the different development workflows
+supported in <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_workflows.html">Isaac Sim</a>.</p>
+<section id="extensions">
+<h2>Extensions<a class="headerlink" href="#extensions" title="Permalink to this heading">#</a></h2>
+<p>Extensions are modularized packages that formulate the Omniverse ecosystem. In Isaac Lab. these are written
+into the <code class="docutils literal notranslate"><span class="pre">source/extensions</span></code> directory. To simplify the build process, Isaac Lab directly use the
+<a class="reference external" href="https://setuptools.readthedocs.io/en/latest/">setuptools</a> python package to build the python module
+provided by the extensions. This is done by the <code class="docutils literal notranslate"><span class="pre">setup.py</span></code> file in the extension directory.</p>
+<p>The extensions are organized as follows:</p>
+<ul class="simple">
+<li><p><strong>omni.isaac.lab</strong>: Contains the core interface extension for Isaac Lab. This provides the main modules for actuators,
+objects, robots and sensors.</p></li>
+<li><p><strong>omni.isaac.lab_assets</strong>: Contains the extension with pre-configured assets for Isaac Lab.</p></li>
+<li><p><strong>omni.isaac.lab_tasks</strong>: Contains the extension with pre-configured environments for Isaac Lab. It also includes
+wrappers for using these environments with different agents.</p></li>
+</ul>
+</section>
+<section id="standalone">
+<h2>Standalone<a class="headerlink" href="#standalone" title="Permalink to this heading">#</a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">source/standalone</span></code> directory contains various standalone applications written in python.
+They are structured as follows:</p>
+<ul class="simple">
+<li><p><strong>benchmarks</strong>: Contains scripts for benchmarking different framework components.</p></li>
+<li><p><strong>demos</strong>: Contains various demo applications that showcase the core framework <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab</span></code>.</p></li>
+<li><p><strong>environments</strong>: Contains applications for running environments defined in <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks</span></code> with
+different agents. These include a random policy, zero-action policy, teleoperation or scripted state machines.</p></li>
+<li><p><strong>tools</strong>: Contains applications for using the tools provided by the framework. These include converting assets,
+generating datasets, etc.</p></li>
+<li><p><strong>tutorials</strong>: Contains step-by-step tutorials for using the APIs provided by the framework.</p></li>
+<li><p><strong>workflows</strong>: Contains applications for using environments with various learning-based frameworks. These include different
+reinforcement learning or imitation learning libraries.</p></li>
+</ul>
+</section>
+</section>
+
+
+                </article>
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+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/changelog.html">Extensions Changelog</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/license.html">License</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/bibliography.html">Bibliography</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Project Links</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/index.html">NVIDIA Isaac Sim</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
+</ul>
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+</button>
+
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+      
+    </div>
+  
+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Building your Own Project</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#installation">Installation</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="building-your-own-project">
+<h1>Building your Own Project<a class="headerlink" href="#building-your-own-project" title="Permalink to this heading">#</a></h1>
+<p>Traditionally, building new projects that utilize Isaac Lab’s features required creating your own
+extensions within the Isaac Lab repository. However, this approach can obscure project visibility and
+complicate updates from one version of Isaac Lab to another. To circumvent these challenges, we now
+provide a pre-configured and customizable <a class="reference external" href="https://github.com/isaac-sim/IsaacLabExtensionTemplate">extension template</a>
+for creating projects in an isolated environment.</p>
+<p>This template serves three distinct use cases:</p>
+<ul class="simple">
+<li><p><strong>Project Template</strong>: Provides essential access to Isaac Sim and Isaac Lab’s features, making it ideal for projects
+that require a standalone environment.</p></li>
+<li><p><strong>Python Package</strong>: Facilitates integration with Isaac Sim’s native or virtual Python environment, allowing for
+the creation of Python packages that can be shared and reused across multiple projects.</p></li>
+<li><p><strong>Omniverse Extension</strong>: Supports direct integration into Omniverse extension workflow.</p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We recommend using the extension template for new projects, as it provides a more streamlined and
+efficient workflow. Additionally it ensures that your project remains up-to-date with the latest
+features and improvements in Isaac Lab.</p>
+</div>
+<section id="installation">
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this heading">#</a></h2>
+<p>Install Isaac Lab by following the <a class="reference external" href="../../setup/installation/index.html">installation guide</a>. We recommend using the conda installation as it simplifies calling Python scripts from the terminal.</p>
+<p>Clone the extension template repository separately from the Isaac Lab installation (i.e. outside the IsaacLab directory):</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Option 1: HTTPS</span>
+git<span class="w"> </span>clone<span class="w"> </span>https://github.com/isaac-sim/IsaacLabExtensionTemplate.git
+
+<span class="c1"># Option 2: SSH</span>
+git<span class="w"> </span>clone<span class="w"> </span>git@github.com:isaac-sim/IsaacLabExtensionTemplate.git
+</pre></div>
+</div>
+<p>Throughout the repository, the name <code class="docutils literal notranslate"><span class="pre">ext_template</span></code> only serves as an example and we provide a script to rename all the references to it automatically:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Enter the repository</span>
+<span class="nb">cd</span><span class="w"> </span>IsaacLabExtensionTemplate
+
+<span class="c1"># Rename all occurrences of ext_template (in files/directories) to your_fancy_extension_name</span>
+python<span class="w"> </span>scripts/rename_template.py<span class="w"> </span>your_fancy_extension_name
+</pre></div>
+</div>
+<p>Using a python interpreter that has Isaac Lab installed, install the library:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>-e<span class="w"> </span>exts/ext_template
+</pre></div>
+</div>
+<p>For more details, please follow the instructions in the <a class="reference external" href="https://github.com/isaac-sim/IsaacLabExtensionTemplate">extension template repository</a>.</p>
+</section>
+</section>
+
+
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diff --git a/v1.4.0/source/overview/developer-guide/vs_code.html b/v1.4.0/source/overview/developer-guide/vs_code.html
new file mode 100644
index 0000000000..f830e8c708
--- /dev/null
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@@ -0,0 +1,757 @@
+
+
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+    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
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+  </span>
+<span class="btn__text-container">.pdf</span>
+</button>
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+  class="btn btn-sm btn-fullscreen-button"
+  title="Fullscreen mode"
+  data-bs-placement="bottom" data-bs-toggle="tooltip"
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+  <i class="theme-switch fa-solid fa-sun                fa-lg" data-mode="light" title="Light"></i>
+  <i class="theme-switch fa-solid fa-moon               fa-lg" data-mode="dark"  title="Dark"></i>
+  <i class="theme-switch fa-solid fa-circle-half-stroke fa-lg" data-mode="auto"  title="System Settings"></i>
+</button>
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+    <span class="fa-solid fa-list"></span>
+</label>
+</div></div>
+      
+    </div>
+  
+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Setting up Visual Studio Code</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#">Setting up Visual Studio Code</a></li>
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#configuring-the-python-interpreter">Configuring the python interpreter</a></li>
+</ul>
+
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="setting-up-visual-studio-code">
+<h1>Setting up Visual Studio Code<a class="headerlink" href="#setting-up-visual-studio-code" title="Permalink to this heading">#</a></h1>
+<p>The following is only applicable for Isaac Sim installed via the Omniverse Launcher.
+The Isaac Lab repository includes the VSCode settings to easily allow setting
+up your development environment. These are included in the <code class="docutils literal notranslate"><span class="pre">.vscode</span></code> directory
+and include the following files:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.vscode
+├──<span class="w"> </span>tools
+│<span class="w">   </span>├──<span class="w"> </span>launch.template.json
+│<span class="w">   </span>├──<span class="w"> </span>settings.template.json
+│<span class="w">   </span>└──<span class="w"> </span>setup_vscode.py
+├──<span class="w"> </span>extensions.json
+├──<span class="w"> </span>launch.json<span class="w">  </span><span class="c1"># &lt;- this is generated by setup_vscode.py</span>
+├──<span class="w"> </span>settings.json<span class="w">  </span><span class="c1"># &lt;- this is generated by setup_vscode.py</span>
+└──<span class="w"> </span>tasks.json
+</pre></div>
+</div>
+<p>To setup the IDE, please follow these instructions:</p>
+<ol class="arabic">
+<li><p>Open the <code class="docutils literal notranslate"><span class="pre">IsaacLab</span></code> directory on Visual Studio Code IDE</p></li>
+<li><p>Run VSCode <a class="reference external" href="https://code.visualstudio.com/docs/editor/tasks">Tasks</a>, by
+pressing <code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>, selecting <code class="docutils literal notranslate"><span class="pre">Tasks:</span> <span class="pre">Run</span> <span class="pre">Task</span></code> and running the
+<code class="docutils literal notranslate"><span class="pre">setup_python_env</span></code> in the drop down menu.</p>
+<a class="reference internal image-reference" href="../../../_images/vscode_tasks.png"><img alt="VSCode Tasks" class="align-center" src="../../../_images/vscode_tasks.png" style="width: 600px;" /></a>
+</li>
+</ol>
+<p>If everything executes correctly, it should create the following files:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">.vscode/launch.json</span></code>: Contains the launch configurations for debugging python code.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">.vscode/settings.json</span></code>: Contains the settings for the python interpreter and the python environment.</p></li>
+</ul>
+<p>For more information on VSCode support for Omniverse, please refer to the
+following links:</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_standalone_python.html#isaac-sim-python-vscode">Isaac Sim VSCode support</a></p></li>
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_python_debugging.html">Debugging with VSCode</a></p></li>
+</ul>
+</section>
+<section id="configuring-the-python-interpreter">
+<h1>Configuring the python interpreter<a class="headerlink" href="#configuring-the-python-interpreter" title="Permalink to this heading">#</a></h1>
+<p>In the provided configuration, we set the default python interpreter to use the
+python executable provided by Omniverse. This is specified in the
+<code class="docutils literal notranslate"><span class="pre">.vscode/settings.json</span></code> file:</p>
+<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
+<span class="w">   </span><span class="nt">&quot;python.defaultInterpreterPath&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;${workspaceFolder}/_isaac_sim/python.sh&quot;</span><span class="p">,</span>
+<span class="p">}</span>
+</pre></div>
+</div>
+<p>If you want to use a different python interpreter (for instance, from your conda environment),
+you need to change the python interpreter used by selecting and activating the python interpreter
+of your choice in the bottom left corner of VSCode, or opening the command palette (<code class="docutils literal notranslate"><span class="pre">Ctrl+Shift+P</span></code>)
+and selecting <code class="docutils literal notranslate"><span class="pre">Python:</span> <span class="pre">Select</span> <span class="pre">Interpreter</span></code>.</p>
+<p>For more information on how to set python interpreter for VSCode, please
+refer to the <a class="reference external" href="https://code.visualstudio.com/docs/python/environments#_working-with-python-interpreters">VSCode documentation</a>.</p>
+</section>
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diff --git a/v1.4.0/source/overview/environments.html b/v1.4.0/source/overview/environments.html
new file mode 100644
index 0000000000..1fd5f24ea3
--- /dev/null
+++ b/v1.4.0/source/overview/environments.html
@@ -0,0 +1,1412 @@
+
+
+<!DOCTYPE html>
+
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+    <meta name="docbuild:last-update" content="Dec 27, 2024"/>
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+  <body data-bs-spy="scroll" data-bs-target=".bd-toc-nav" data-offset="180" data-bs-root-margin="0px 0px -60%" data-default-mode="">
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+</form>
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+          </div>
+          <select id="version-select" class="version-dropdown" style="margin: 0 auto; display: block;" onchange="location = this.value;">
+            <option value="../../../main/source/overview/environments.html" >main</option>
+            <option value="environments.html" selected>v1.4.0</option>
+            <option value="../../../v1.3.0/source/overview/environments.html" >v1.3.0</option>
+            <option value="../../../v1.2.0/source/overview/environments.html" >v1.2.0</option>
+            <option value="../../../v1.1.0/index.html" >v1.1.0</option>
+            <option value="../../../v1.0.0/index.html" >v1.0.0</option>
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+<li class="toctree-l2"><a class="reference internal" href="../setup/installation/pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
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+</ul>
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+                <h2> Contents </h2>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#single-agent">Single-agent</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#classic">Classic</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#manipulation">Manipulation</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#contact-rich-manipulation">Contact-rich Manipulation</a></li>
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+</ul>
+</li>
+</ul>
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+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#comprehensive-list-of-environments">Comprehensive List of Environments</a></li>
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+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="available-environments">
+<span id="environments"></span><h1>Available Environments<a class="headerlink" href="#available-environments" title="Permalink to this heading">#</a></h1>
+<p>The following lists comprises of all the RL tasks implementations that are available in Isaac Lab.
+While we try to keep this list up-to-date, you can always get the latest list of environments by
+running the following command:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-0" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-0">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/environments/list_envs.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-1" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-1">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\environments\list_envs.py
+</pre></div>
+</div>
+</div>
+</div>
+<p>We are actively working on adding more environments to the list. If you have any environments that
+you would like to add to Isaac Lab, please feel free to open a pull request!</p>
+<section id="single-agent">
+<h2>Single-agent<a class="headerlink" href="#single-agent" title="Permalink to this heading">#</a></h2>
+<section id="classic">
+<h3>Classic<a class="headerlink" href="#classic" title="Permalink to this heading">#</a></h3>
+<p>Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-style environments.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 33.0%" />
+<col style="width: 37.0%" />
+<col style="width: 30.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>World</p></th>
+<th class="head"><p>Environment ID</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img alt="humanoid" src="../../_images/humanoid.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py">Isaac-Humanoid-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/humanoid_env.py">Isaac-Humanoid-Direct-v0</a></p>
+</td>
+<td><p>Move towards a direction with the MuJoCo humanoid robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="ant" src="../../_images/ant.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/ant_env_cfg.py">Isaac-Ant-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/ant_env.py">Isaac-Ant-Direct-v0</a></p>
+</td>
+<td><p>Move towards a direction with the MuJoCo ant robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="cartpole" src="../../_images/cartpole.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py">Isaac-Cartpole-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py">Isaac-Cartpole-Direct-v0</a></p>
+</td>
+<td><p>Move the cart to keep the pole upwards in the classic cartpole control</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="cartpole" src="../../_images/cartpole.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py">Isaac-Cartpole-RGB-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py">Isaac-Cartpole-Depth-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py">Isaac-Cartpole-RGB-Camera-Direct-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py">Isaac-Cartpole-Depth-Camera-Direct-v0</a></p>
+</td>
+<td><p>Move the cart to keep the pole upwards in the classic cartpole control
+and perceptive inputs</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="cartpole" src="../../_images/cartpole.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py">Isaac-Cartpole-RGB-ResNet18-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_camera_env_cfg.py">Isaac-Cartpole-RGB-TheiaTiny-v0</a></p>
+</td>
+<td><p>Move the cart to keep the pole upwards in the classic cartpole control
+based off of features extracted from perceptive inputs with pre-trained
+frozen vision encoders</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="manipulation">
+<h3>Manipulation<a class="headerlink" href="#manipulation" title="Permalink to this heading">#</a></h3>
+<p>Environments based on fixed-arm manipulation tasks.</p>
+<p>For many of these tasks, we include configurations with different arm action spaces. For example,
+for the lift-cube environment:</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py">Isaac-Lift-Cube-Franka-v0</a>: Franka arm with joint position control</p></li>
+<li><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py">Isaac-Lift-Cube-Franka-IK-Abs-v0</a>: Franka arm with absolute IK control</p></li>
+<li><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py">Isaac-Lift-Cube-Franka-IK-Rel-v0</a>: Franka arm with relative IK control</p></li>
+</ul>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 33.0%" />
+<col style="width: 37.0%" />
+<col style="width: 30.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>World</p></th>
+<th class="head"><p>Environment ID</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img alt="reach-franka" src="../../_images/franka_reach.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py">Isaac-Reach-Franka-v0</a></p></td>
+<td><p>Move the end-effector to a sampled target pose with the Franka robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="reach-ur10" src="../../_images/ur10_reach.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py">Isaac-Reach-UR10-v0</a></p></td>
+<td><p>Move the end-effector to a sampled target pose with the UR10 robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="lift-cube" src="../../_images/franka_lift.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py">Isaac-Lift-Cube-Franka-v0</a></p></td>
+<td><p>Pick a cube and bring it to a sampled target position with the Franka robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="stack-cube" src="../../_images/franka_stack.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py">Isaac-Stack-Cube-Franka-v0</a></p></td>
+<td><p>Stack three cubes (bottom to top: blue, red, green) with the Franka robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="cabi-franka" src="../../_images/franka_open_drawer.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py">Isaac-Open-Drawer-Franka-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/franka_cabinet/franka_cabinet_env.py">Isaac-Franka-Cabinet-Direct-v0</a></p>
+</td>
+<td><p>Grasp the handle of a cabinet’s drawer and open it with the Franka robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="cube-allegro" src="../../_images/allegro_cube.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py">Isaac-Repose-Cube-Allegro-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py">Isaac-Repose-Cube-Allegro-Direct-v0</a></p>
+</td>
+<td><p>In-hand reorientation of a cube using Allegro hand</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="cube-shadow" src="../../_images/shadow_cube.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py">Isaac-Repose-Cube-Shadow-Direct-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py">Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py">Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0</a></p>
+</td>
+<td><p>In-hand reorientation of a cube using Shadow hand</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="cube-shadow" src="../../_images/shadow_cube.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_vision_env.py">Isaac-Repose-Cube-Shadow-Vision-Direct-v0</a></p></td>
+<td><p>In-hand reorientation of a cube using Shadow hand using perceptive inputs</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="contact-rich-manipulation">
+<h3>Contact-rich Manipulation<a class="headerlink" href="#contact-rich-manipulation" title="Permalink to this heading">#</a></h3>
+<p>Environments based on contact-rich manipulation tasks such as peg insertion, gear meshing and nut-bolt fastening.</p>
+<p>These tasks share the same task configurations and control options. You can switch between them by specifying the task name.
+For example:</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py">Isaac-Factory-PegInsert-Direct-v0</a>: Peg insertion with the Franka arm</p></li>
+<li><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py">Isaac-Factory-GearMesh-Direct-v0</a>: Gear meshing with the Franka arm</p></li>
+<li><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py">Isaac-Factory-NutThread-Direct-v0</a>: Nut-Bolt fastening with the Franka arm</p></li>
+</ul>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 33.0%" />
+<col style="width: 37.0%" />
+<col style="width: 30.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>World</p></th>
+<th class="head"><p>Environment ID</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img alt="factory-peg" src="../../_images/peg_insert.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py">Isaac-Factory-PegInsert-Direct-v0</a></p></td>
+<td><p>Insert peg into the socket with the Franka robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="factory-gear" src="../../_images/gear_mesh.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py">Isaac-Factory-GearMesh-Direct-v0</a></p></td>
+<td><p>Insert and mesh gear into the base with other gears, using the Franka robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="factory-nut" src="../../_images/nut_thread.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/factory/factory_env_cfg.py">Isaac-Factory-NutThread-Direct-v0</a></p></td>
+<td><p>Thread the nut onto the first 2 threads of the bolt, using the Franka robot</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="locomotion">
+<h3>Locomotion<a class="headerlink" href="#locomotion" title="Permalink to this heading">#</a></h3>
+<p>Environments based on legged locomotion tasks.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 33.0%" />
+<col style="width: 37.0%" />
+<col style="width: 30.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>World</p></th>
+<th class="head"><p>Environment ID</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img alt="velocity-flat-anymal-b" src="../../_images/anymal_b_flat.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py">Isaac-Velocity-Flat-Anymal-B-v0</a></p></td>
+<td><p>Track a velocity command on flat terrain with the Anymal B robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="velocity-rough-anymal-b" src="../../_images/anymal_b_rough.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py">Isaac-Velocity-Rough-Anymal-B-v0</a></p></td>
+<td><p>Track a velocity command on rough terrain with the Anymal B robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="velocity-flat-anymal-c" src="../../_images/anymal_c_flat.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py">Isaac-Velocity-Flat-Anymal-C-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py">Isaac-Velocity-Flat-Anymal-C-Direct-v0</a></p>
+</td>
+<td><p>Track a velocity command on flat terrain with the Anymal C robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="velocity-rough-anymal-c" src="../../_images/anymal_c_rough.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py">Isaac-Velocity-Rough-Anymal-C-v0</a></p>
+<p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py">Isaac-Velocity-Rough-Anymal-C-Direct-v0</a></p>
+</td>
+<td><p>Track a velocity command on rough terrain with the Anymal C robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="velocity-flat-anymal-d" src="../../_images/anymal_d_flat.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py">Isaac-Velocity-Flat-Anymal-D-v0</a></p></td>
+<td><p>Track a velocity command on flat terrain with the Anymal D robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="velocity-rough-anymal-d" src="../../_images/anymal_d_rough.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py">Isaac-Velocity-Rough-Anymal-D-v0</a></p></td>
+<td><p>Track a velocity command on rough terrain with the Anymal D robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="velocity-flat-unitree-a1" src="../../_images/a1_flat.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py">Isaac-Velocity-Flat-Unitree-A1-v0</a></p></td>
+<td><p>Track a velocity command on flat terrain with the Unitree A1 robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="velocity-rough-unitree-a1" src="../../_images/a1_rough.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py">Isaac-Velocity-Rough-Unitree-A1-v0</a></p></td>
+<td><p>Track a velocity command on rough terrain with the Unitree A1 robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="velocity-flat-unitree-go1" src="../../_images/go1_flat.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py">Isaac-Velocity-Flat-Unitree-Go1-v0</a></p></td>
+<td><p>Track a velocity command on flat terrain with the Unitree Go1 robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="velocity-rough-unitree-go1" src="../../_images/go1_rough.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py">Isaac-Velocity-Rough-Unitree-Go1-v0</a></p></td>
+<td><p>Track a velocity command on rough terrain with the Unitree Go1 robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="velocity-flat-unitree-go2" src="../../_images/go2_flat.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py">Isaac-Velocity-Flat-Unitree-Go2-v0</a></p></td>
+<td><p>Track a velocity command on flat terrain with the Unitree Go2 robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="velocity-rough-unitree-go2" src="../../_images/go2_rough.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py">Isaac-Velocity-Rough-Unitree-Go2-v0</a></p></td>
+<td><p>Track a velocity command on rough terrain with the Unitree Go2 robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="velocity-flat-spot" src="../../_images/spot_flat.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py">Isaac-Velocity-Flat-Spot-v0</a></p></td>
+<td><p>Track a velocity command on flat terrain with the Boston Dynamics Spot robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="velocity-flat-h1" src="../../_images/h1_flat.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py">Isaac-Velocity-Flat-H1-v0</a></p></td>
+<td><p>Track a velocity command on flat terrain with the Unitree H1 robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="velocity-rough-h1" src="../../_images/h1_rough.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py">Isaac-Velocity-Rough-H1-v0</a></p></td>
+<td><p>Track a velocity command on rough terrain with the Unitree H1 robot</p></td>
+</tr>
+<tr class="row-odd"><td><p><img alt="velocity-flat-g1" src="../../_images/g1_flat.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py">Isaac-Velocity-Flat-G1-v0</a></p></td>
+<td><p>Track a velocity command on flat terrain with the Unitree G1 robot</p></td>
+</tr>
+<tr class="row-even"><td><p><img alt="velocity-rough-g1" src="../../_images/g1_rough.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py">Isaac-Velocity-Rough-G1-v0</a></p></td>
+<td><p>Track a velocity command on rough terrain with the Unitree G1 robot</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="navigation">
+<h3>Navigation<a class="headerlink" href="#navigation" title="Permalink to this heading">#</a></h3>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 33.0%" />
+<col style="width: 37.0%" />
+<col style="width: 30.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>World</p></th>
+<th class="head"><p>Environment ID</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img alt="anymal_c_nav" src="../../_images/anymal_c_nav.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py">Isaac-Navigation-Flat-Anymal-C-v0</a></p></td>
+<td><p>Navigate towards a target x-y position and heading with the ANYmal C robot.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="others">
+<h3>Others<a class="headerlink" href="#others" title="Permalink to this heading">#</a></h3>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 33.0%" />
+<col style="width: 37.0%" />
+<col style="width: 30.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>World</p></th>
+<th class="head"><p>Environment ID</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img alt="quadcopter" src="../../_images/quadcopter.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env.py">Isaac-Quadcopter-Direct-v0</a></p></td>
+<td><p>Fly and hover the Crazyflie copter at a goal point by applying thrust.</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+</section>
+<section id="multi-agent">
+<h2>Multi-agent<a class="headerlink" href="#multi-agent" title="Permalink to this heading">#</a></h2>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>True mutli-agent training is only available with the <cite>skrl</cite> library, see the <a class="reference external" href="https://skrl.readthedocs.io/en/latest/api/multi_agents.html">Multi-Agents Documentation</a> for more information.
+It supports the <cite>IPPO</cite> and <cite>MAPPO</cite> algorithms, which can be activated by adding the command line input <code class="docutils literal notranslate"><span class="pre">--algorithm</span> <span class="pre">IPPO</span></code> or <code class="docutils literal notranslate"><span class="pre">--algorithm</span> <span class="pre">MAPPO</span></code> to the train/play script.
+If these environments are run with other libraries or without the <cite>IPPO</cite> or <cite>MAPPO</cite> flags, they will be converted to single-agent environments under the hood.</p>
+</div>
+<section id="id1">
+<h3>Classic<a class="headerlink" href="#id1" title="Permalink to this heading">#</a></h3>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 33.0%" />
+<col style="width: 37.0%" />
+<col style="width: 30.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>World</p></th>
+<th class="head"><p>Environment ID</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img alt="cart-double-pendulum" src="../../_images/cart_double_pendulum.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cart_double_pendulum/cart_double_pendulum_env.py">Isaac-Cart-Double-Pendulum-Direct-v0</a></p></td>
+<td><p>Move the cart and the pendulum to keep the last one upwards in the classic inverted double pendulum on a cart control</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="id2">
+<h3>Manipulation<a class="headerlink" href="#id2" title="Permalink to this heading">#</a></h3>
+<p>Environments based on fixed-arm manipulation tasks.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 33.0%" />
+<col style="width: 37.0%" />
+<col style="width: 30.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>World</p></th>
+<th class="head"><p>Environment ID</p></th>
+<th class="head"><p>Description</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><img alt="shadow-hand-over" src="../../_images/shadow_hand_over.jpg" /></p></td>
+<td><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand_over/shadow_hand_over_env.py">Isaac-Shadow-Hand-Over-Direct-v0</a></p></td>
+<td><p>Passing an object from one hand over to the other hand</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+<div class="line-block">
+<div class="line"><br /></div>
+</div>
+</section>
+</section>
+</section>
+<section id="comprehensive-list-of-environments">
+<h1>Comprehensive List of Environments<a class="headerlink" href="#comprehensive-list-of-environments" title="Permalink to this heading">#</a></h1>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 32.4%" />
+<col style="width: 24.5%" />
+<col style="width: 18.6%" />
+<col style="width: 24.5%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><strong>Task Name</strong></p></td>
+<td><p><strong>Inference Task Name</strong></p></td>
+<td><p><strong>Workflow</strong></p></td>
+<td><p><strong>RL Library</strong></p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Ant-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Ant-v0</p></td>
+<td></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>rl_games</strong> (PPO), <strong>skrl</strong> (PPO), <strong>sb3</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Cart-Double-Pendulum-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>skrl</strong> (IPPO, MAPPO, PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Cartpole-Depth-Camera-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Cartpole-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO), <strong>sb3</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Cartpole-RGB-Camera-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Cartpole-v0</p></td>
+<td></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO), <strong>sb3</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Factory-GearMesh-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Factory-NutThread-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Factory-PegInsert-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Franka-Cabinet-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Humanoid-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Humanoid-v0</p></td>
+<td></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>rl_games</strong> (PPO), <strong>skrl</strong> (PPO), <strong>sb3</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Lift-Cube-Franka-IK-Abs-v0</p></td>
+<td></td>
+<td><p>Manager Based</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Lift-Cube-Franka-IK-Rel-v0</p></td>
+<td></td>
+<td><p>Manager Based</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Lift-Cube-Franka-v0</p></td>
+<td><p>Isaac-Lift-Cube-Franka-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO), <strong>rl_games</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Navigation-Flat-Anymal-C-v0</p></td>
+<td><p>Isaac-Navigation-Flat-Anymal-C-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Open-Drawer-Franka-IK-Abs-v0</p></td>
+<td></td>
+<td><p>Manager Based</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Open-Drawer-Franka-IK-Rel-v0</p></td>
+<td></td>
+<td><p>Manager Based</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Open-Drawer-Franka-v0</p></td>
+<td><p>Isaac-Open-Drawer-Franka-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>rl_games</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Quadcopter-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Reach-Franka-IK-Abs-v0</p></td>
+<td></td>
+<td><p>Manager Based</p></td>
+<td></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Reach-Franka-IK-Rel-v0</p></td>
+<td></td>
+<td><p>Manager Based</p></td>
+<td></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Reach-Franka-OSC-v0</p></td>
+<td><p>Isaac-Reach-Franka-OSC-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Reach-Franka-v0</p></td>
+<td><p>Isaac-Reach-Franka-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Reach-UR10-v0</p></td>
+<td><p>Isaac-Reach-UR10-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Repose-Cube-Allegro-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Repose-Cube-Allegro-NoVelObs-v0</p></td>
+<td><p>Isaac-Repose-Cube-Allegro-NoVelObs-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>rl_games</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Repose-Cube-Allegro-v0</p></td>
+<td><p>Isaac-Repose-Cube-Allegro-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>rl_games</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Repose-Cube-Shadow-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (FF), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (LSTM)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Repose-Cube-Shadow-Vision-Direct-v0</p></td>
+<td><p>Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0</p></td>
+<td><p>Direct</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>rl_games</strong> (VISION)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Shadow-Hand-Over-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>skrl</strong> (IPPO, MAPPO, PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Flat-Anymal-B-v0</p></td>
+<td><p>Isaac-Velocity-Flat-Anymal-B-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Velocity-Flat-Anymal-C-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Flat-Anymal-C-v0</p></td>
+<td><p>Isaac-Velocity-Flat-Anymal-C-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>rl_games</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Velocity-Flat-Anymal-D-v0</p></td>
+<td><p>Isaac-Velocity-Flat-Anymal-D-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Flat-Cassie-v0</p></td>
+<td><p>Isaac-Velocity-Flat-Cassie-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Velocity-Flat-G1-v0</p></td>
+<td><p>Isaac-Velocity-Flat-G1-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Flat-H1-v0</p></td>
+<td><p>Isaac-Velocity-Flat-H1-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Velocity-Flat-Spot-v0</p></td>
+<td><p>Isaac-Velocity-Flat-Spot-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Flat-Unitree-A1-v0</p></td>
+<td><p>Isaac-Velocity-Flat-Unitree-A1-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Velocity-Flat-Unitree-Go1-v0</p></td>
+<td><p>Isaac-Velocity-Flat-Unitree-Go1-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Flat-Unitree-Go2-v0</p></td>
+<td><p>Isaac-Velocity-Flat-Unitree-Go2-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Velocity-Rough-Anymal-B-v0</p></td>
+<td><p>Isaac-Velocity-Rough-Anymal-B-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Rough-Anymal-C-Direct-v0</p></td>
+<td></td>
+<td><p>Direct</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Velocity-Rough-Anymal-C-v0</p></td>
+<td><p>Isaac-Velocity-Rough-Anymal-C-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rl_games</strong> (PPO), <strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Rough-Anymal-D-v0</p></td>
+<td><p>Isaac-Velocity-Rough-Anymal-D-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Velocity-Rough-Cassie-v0</p></td>
+<td><p>Isaac-Velocity-Rough-Cassie-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Rough-G1-v0</p></td>
+<td><p>Isaac-Velocity-Rough-G1-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Velocity-Rough-H1-v0</p></td>
+<td><p>Isaac-Velocity-Rough-H1-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Rough-Unitree-A1-v0</p></td>
+<td><p>Isaac-Velocity-Rough-Unitree-A1-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Velocity-Rough-Unitree-Go1-v0</p></td>
+<td><p>Isaac-Velocity-Rough-Unitree-Go1-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Rough-Unitree-Go2-v0</p></td>
+<td><p>Isaac-Velocity-Rough-Unitree-Go2-Play-v0</p></td>
+<td><p>Manager Based</p></td>
+<td><p><strong>rsl_rl</strong> (PPO), <strong>skrl</strong> (PPO)</p></td>
+</tr>
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+  <section id="reinforcement-learning">
+<h1>Reinforcement Learning<a class="headerlink" href="#reinforcement-learning" title="Permalink to this heading">#</a></h1>
+<p>Isaac Lab supports multiple reinforcement learning frameworks.
+In this section, we show existing scripts for running reinforcement learning
+with supported RL libraries and provide a comparison of the supported
+learning frameworks.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l1"><a class="reference internal" href="rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l1"><a class="reference internal" href="performance_benchmarks.html">Performance Benchmarks</a></li>
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+    <h1>Performance Benchmarks</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#benchmark-results">Benchmark Results</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#memory-consumption">Memory Consumption</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#single-gpu-rtx-4090">Single GPU - RTX 4090</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#single-gpu-l40">Single GPU - L40</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#single-node-4-x-l40-gpus">Single-Node, 4 x L40 GPUs</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#nodes-4-x-l40-gpus-per-node">4 Nodes, 4 x L40 GPUs per node</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#benchmark-scripts">Benchmark Scripts</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="performance-benchmarks">
+<h1>Performance Benchmarks<a class="headerlink" href="#performance-benchmarks" title="Permalink to this heading">#</a></h1>
+<p>Isaac Lab leverages end-to-end GPU training for reinforcement learning workflows,
+allowing for fast parallel training across thousands of environments.
+In this section, we provide runtime performance benchmark results for reinforcement learning
+training of various example environments on different GPU setups.
+Multi-GPU and multi-node training performance results are also outlined.</p>
+<section id="benchmark-results">
+<h2>Benchmark Results<a class="headerlink" href="#benchmark-results" title="Permalink to this heading">#</a></h2>
+<p>All benchmarking results were performed with the RL Games library with <code class="docutils literal notranslate"><span class="pre">--headless</span></code> flag on Ubuntu 22.04.
+<code class="docutils literal notranslate"><span class="pre">Isaac-Velocity-Rough-G1-v0</span></code> environment benchmarks were performed with the RSL RL library.</p>
+<section id="memory-consumption">
+<h3>Memory Consumption<a class="headerlink" href="#memory-consumption" title="Permalink to this heading">#</a></h3>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Environment Name</p></th>
+<th class="head"></th>
+<th class="head"><p># of Environments</p></th>
+<th class="head"><p>RAM (GB)</p></th>
+<th class="head"><p>VRAM (GB)</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Isaac-Cartpole-Direct-v0</p></td>
+<td><p><a class="reference internal" href="../../../_images/cartpole1.jpg"><img alt="cartpole" src="../../../_images/cartpole1.jpg" style="width: 80px; height: 45px;" /></a></p></td>
+<td><p>4096</p></td>
+<td><p>3.7</p></td>
+<td><p>3.3</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Cartpole-RGB-Camera-Direct-v0</p></td>
+<td><p><a class="reference internal" href="../../../_images/cartpole_camera.jpg"><img alt="cartpole-cam" src="../../../_images/cartpole_camera.jpg" style="width: 80px; height: 45px;" /></a></p></td>
+<td><p>1024</p></td>
+<td><p>7.5</p></td>
+<td><p>16.7</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Rough-G1-v0</p></td>
+<td><p><a class="reference internal" href="../../../_images/g1_rough1.jpg"><img alt="g1" src="../../../_images/g1_rough1.jpg" style="width: 80px; height: 45px;" /></a></p></td>
+<td><p>4096</p></td>
+<td><p>6.5</p></td>
+<td><p>6.1</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Repose-Cube-Shadow-Direct-v0</p></td>
+<td><p><a class="reference internal" href="../../../_images/shadow.jpg"><img alt="shadow" src="../../../_images/shadow.jpg" style="width: 80px; height: 45px;" /></a></p></td>
+<td><p>8192</p></td>
+<td><p>6.7</p></td>
+<td><p>6.4</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="single-gpu-rtx-4090">
+<h3>Single GPU - RTX 4090<a class="headerlink" href="#single-gpu-rtx-4090" title="Permalink to this heading">#</a></h3>
+<p>CPU: AMD Ryzen 9 7950X 16-Core Processor</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Environment Name</p></th>
+<th class="head"><p># of Environments</p></th>
+<th class="head"><p>Environment
+Step FPS</p></th>
+<th class="head"><p>Environment Step
+and
+Inference FPS</p></th>
+<th class="head"><p>Environment Step,
+Inference,
+and Train FPS</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Isaac-Cartpole-Direct-v0</p></td>
+<td><p>4096</p></td>
+<td><p>1100000</p></td>
+<td><p>910000</p></td>
+<td><p>510000</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Cartpole-RGB-Camera-Direct-v0</p></td>
+<td><p>1024</p></td>
+<td><p>50000</p></td>
+<td><p>45000</p></td>
+<td><p>32000</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Rough-G1-v0</p></td>
+<td><p>4096</p></td>
+<td><p>94000</p></td>
+<td><p>88000</p></td>
+<td><p>82000</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Repose-Cube-Shadow-Direct-v0</p></td>
+<td><p>8192</p></td>
+<td><p>200000</p></td>
+<td><p>190000</p></td>
+<td><p>170000</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="single-gpu-l40">
+<h3>Single GPU - L40<a class="headerlink" href="#single-gpu-l40" title="Permalink to this heading">#</a></h3>
+<p>CPU: Intel(R) Xeon(R) Platinum 8362 CPU &#64; 2.80GHz</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Environment Name</p></th>
+<th class="head"><p># of Environments</p></th>
+<th class="head"><p>Environment
+Step FPS</p></th>
+<th class="head"><p>Environment Step
+and
+Inference FPS</p></th>
+<th class="head"><p>Environment Step,
+Inference,
+and Train FPS</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Isaac-Cartpole-Direct-v0</p></td>
+<td><p>4096</p></td>
+<td><p>620000</p></td>
+<td><p>490000</p></td>
+<td><p>260000</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Cartpole-RGB-Camera-Direct-v0</p></td>
+<td><p>1024</p></td>
+<td><p>30000</p></td>
+<td><p>28000</p></td>
+<td><p>21000</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Rough-G1-v0</p></td>
+<td><p>4096</p></td>
+<td><p>72000</p></td>
+<td><p>64000</p></td>
+<td><p>62000</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Repose-Cube-Shadow-Direct-v0</p></td>
+<td><p>8192</p></td>
+<td><p>170000</p></td>
+<td><p>140000</p></td>
+<td><p>120000</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="single-node-4-x-l40-gpus">
+<h3>Single-Node, 4 x L40 GPUs<a class="headerlink" href="#single-node-4-x-l40-gpus" title="Permalink to this heading">#</a></h3>
+<p>CPU: Intel(R) Xeon(R) Platinum 8362 CPU &#64; 2.80GHz</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Environment Name</p></th>
+<th class="head"><p># of Environments</p></th>
+<th class="head"><p>Environment
+Step FPS</p></th>
+<th class="head"><p>Environment Step
+and
+Inference FPS</p></th>
+<th class="head"><p>Environment Step,
+Inference,
+and Train FPS</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Isaac-Cartpole-Direct-v0</p></td>
+<td><p>4096</p></td>
+<td><p>2700000</p></td>
+<td><p>2100000</p></td>
+<td><p>950000</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Cartpole-RGB-Camera-Direct-v0</p></td>
+<td><p>1024</p></td>
+<td><p>130000</p></td>
+<td><p>120000</p></td>
+<td><p>90000</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Rough-G1-v0</p></td>
+<td><p>4096</p></td>
+<td><p>290000</p></td>
+<td><p>270000</p></td>
+<td><p>250000</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Repose-Cube-Shadow-Direct-v0</p></td>
+<td><p>8192</p></td>
+<td><p>440000</p></td>
+<td><p>420000</p></td>
+<td><p>390000</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="nodes-4-x-l40-gpus-per-node">
+<h3>4 Nodes, 4 x L40 GPUs per node<a class="headerlink" href="#nodes-4-x-l40-gpus-per-node" title="Permalink to this heading">#</a></h3>
+<p>CPU: Intel(R) Xeon(R) Platinum 8362 CPU &#64; 2.80GHz</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>Environment Name</p></th>
+<th class="head"><p># of Environments</p></th>
+<th class="head"><p>Environment
+Step FPS</p></th>
+<th class="head"><p>Environment Step
+and
+Inference FPS</p></th>
+<th class="head"><p>Environment Step,
+Inference,
+and Train FPS</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Isaac-Cartpole-Direct-v0</p></td>
+<td><p>4096</p></td>
+<td><p>10200000</p></td>
+<td><p>8200000</p></td>
+<td><p>3500000</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Cartpole-RGB-Camera-Direct-v0</p></td>
+<td><p>1024</p></td>
+<td><p>530000</p></td>
+<td><p>490000</p></td>
+<td><p>260000</p></td>
+</tr>
+<tr class="row-even"><td><p>Isaac-Velocity-Rough-G1-v0</p></td>
+<td><p>4096</p></td>
+<td><p>1200000</p></td>
+<td><p>1100000</p></td>
+<td><p>960000</p></td>
+</tr>
+<tr class="row-odd"><td><p>Isaac-Repose-Cube-Shadow-Direct-v0</p></td>
+<td><p>8192</p></td>
+<td><p>2400000</p></td>
+<td><p>2300000</p></td>
+<td><p>1800000</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+</section>
+<section id="benchmark-scripts">
+<h2>Benchmark Scripts<a class="headerlink" href="#benchmark-scripts" title="Permalink to this heading">#</a></h2>
+<p>For ease of reproducibility, we provide benchmarking scripts available at <code class="docutils literal notranslate"><span class="pre">source/standalone/benchmarks</span></code>.
+This folder contains individual benchmark scripts that resemble the <code class="docutils literal notranslate"><span class="pre">train.py</span></code> script for RL-Games
+and RSL RL. In addition, we also provide a benchmarking script that runs only the environment implementation
+without any reinforcement learning library.</p>
+<p>Example scripts can be run similarly to training scripts:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># benchmark with RSL RL</span>
+python<span class="w"> </span>source/standalone/benchmarks/benchmark_rsl_rl.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless
+
+<span class="c1"># benchmark with RL Games</span>
+python<span class="w"> </span>source/standalone/benchmarks/benchmark_rlgames.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless
+
+<span class="c1"># benchmark without RL libraries</span>
+python<span class="w"> </span>source/standalone/benchmarks/benchmark_non_rl.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0<span class="w"> </span>--headless
+</pre></div>
+</div>
+<p>Each script will generate a set of KPI files at the end of the run, which includes data on the
+startup times, runtime statistics, such as the time taken for each simulation or rendering step,
+as well as overall environment FPS for stepping the environment, performing inference during
+rollout, as well as training.</p>
+</section>
+</section>
+
+
+                </article>
+              
+
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Reinforcement Learning Wrappers</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rl-games">RL-Games</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rsl-rl">RSL-RL</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#skrl">SKRL</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#stable-baselines3">Stable-Baselines3</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="reinforcement-learning-wrappers">
+<h1>Reinforcement Learning Wrappers<a class="headerlink" href="#reinforcement-learning-wrappers" title="Permalink to this heading">#</a></h1>
+<p>We provide wrappers to different reinforcement libraries. These wrappers convert the data
+from the environments into the respective libraries function argument and return types.</p>
+<section id="rl-games">
+<h2>RL-Games<a class="headerlink" href="#rl-games" title="Permalink to this heading">#</a></h2>
+<ul>
+<li><p>Training an agent with
+<a class="reference external" href="https://github.com/Denys88/rl_games">RL-Games</a> on <code class="docutils literal notranslate"><span class="pre">Isaac-Ant-v0</span></code>:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-0" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-0">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># install python module (for rl-games)</span>
+./isaaclab.sh<span class="w"> </span>-i<span class="w"> </span>rl_games
+<span class="c1"># run script for training</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Ant-v0<span class="w"> </span>--headless
+<span class="c1"># run script for playing with 32 environments</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/rl_games/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Ant-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span><span class="w"> </span>--checkpoint<span class="w"> </span>/PATH/TO/model.pth
+<span class="c1"># run script for recording video of a trained agent (requires installing `ffmpeg`)</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/rl_games/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Ant-v0<span class="w"> </span>--headless<span class="w"> </span>--video<span class="w"> </span>--video_length<span class="w"> </span><span class="m">200</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-1" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-1">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: install python module (for rl-games)</span>
+isaaclab.bat -i rl_games
+<span class="p">:</span><span class="c1">: run script for training</span>
+isaaclab.bat -p source\standalone\workflows\rl_games\train.py --task Isaac-Ant-v0 --headless
+<span class="p">:</span><span class="c1">: run script for playing with 32 environments</span>
+isaaclab.bat -p source\standalone\workflows\rl_games\play.py --task Isaac-Ant-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth
+<span class="p">:</span><span class="c1">: run script for recording video of a trained agent (requires installing `ffmpeg`)</span>
+isaaclab.bat -p source\standalone\workflows\rl_games\play.py --task Isaac-Ant-v0 --headless --video --video_length 200
+</pre></div>
+</div>
+</div>
+</div>
+</li>
+</ul>
+</section>
+<section id="rsl-rl">
+<h2>RSL-RL<a class="headerlink" href="#rsl-rl" title="Permalink to this heading">#</a></h2>
+<ul>
+<li><p>Training an agent with
+<a class="reference external" href="https://github.com/leggedrobotics/rsl_rl">RSL-RL</a> on <code class="docutils literal notranslate"><span class="pre">Isaac-Reach-Franka-v0</span></code>:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-2" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-2">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># install python module (for rsl-rl)</span>
+./isaaclab.sh<span class="w"> </span>-i<span class="w"> </span>rsl_rl
+<span class="c1"># run script for training</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/rsl_rl/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Reach-Franka-v0<span class="w"> </span>--headless
+<span class="c1"># run script for playing with 32 environments</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/rsl_rl/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Reach-Franka-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span><span class="w"> </span>--load_run<span class="w"> </span>run_folder_name<span class="w"> </span>--checkpoint<span class="w"> </span>model.pt
+<span class="c1"># run script for recording video of a trained agent (requires installing `ffmpeg`)</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/rsl_rl/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Reach-Franka-v0<span class="w"> </span>--headless<span class="w"> </span>--video<span class="w"> </span>--video_length<span class="w"> </span><span class="m">200</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-3" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-3">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: install python module (for rsl-rl)</span>
+isaaclab.bat -i rsl_rl
+<span class="p">:</span><span class="c1">: run script for training</span>
+isaaclab.bat -p source\standalone\workflows\rsl_rl\train.py --task Isaac-Reach-Franka-v0 --headless
+<span class="p">:</span><span class="c1">: run script for playing with 32 environments</span>
+isaaclab.bat -p source\standalone\workflows\rsl_rl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --load_run run_folder_name --checkpoint model.pt
+<span class="p">:</span><span class="c1">: run script for recording video of a trained agent (requires installing `ffmpeg`)</span>
+isaaclab.bat -p source\standalone\workflows\rsl_rl\play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200
+</pre></div>
+</div>
+</div>
+</div>
+</li>
+</ul>
+</section>
+<section id="skrl">
+<h2>SKRL<a class="headerlink" href="#skrl" title="Permalink to this heading">#</a></h2>
+<ul>
+<li><p>Training an agent with
+<a class="reference external" href="https://skrl.readthedocs.io">SKRL</a> on <code class="docutils literal notranslate"><span class="pre">Isaac-Reach-Franka-v0</span></code>:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-4" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-4">
+PyTorch</label><div class="sd-tab-content docutils">
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-6" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-6">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># install python module (for skrl)</span>
+./isaaclab.sh<span class="w"> </span>-i<span class="w"> </span>skrl
+<span class="c1"># run script for training</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/skrl/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Reach-Franka-v0<span class="w"> </span>--headless
+<span class="c1"># run script for playing with 32 environments</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/skrl/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Reach-Franka-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span><span class="w"> </span>--checkpoint<span class="w"> </span>/PATH/TO/model.pt
+<span class="c1"># run script for recording video of a trained agent (requires installing `ffmpeg`)</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/skrl/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Reach-Franka-v0<span class="w"> </span>--headless<span class="w"> </span>--video<span class="w"> </span>--video_length<span class="w"> </span><span class="m">200</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-7" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-7">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: install python module (for skrl)</span>
+isaaclab.bat -i skrl
+<span class="p">:</span><span class="c1">: run script for training</span>
+isaaclab.bat -p source\standalone\workflows\skrl\train.py --task Isaac-Reach-Franka-v0 --headless
+<span class="p">:</span><span class="c1">: run script for playing with 32 environments</span>
+isaaclab.bat -p source\standalone\workflows\skrl\play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pt
+<span class="p">:</span><span class="c1">: run script for recording video of a trained agent (requires installing `ffmpeg`)</span>
+isaaclab.bat -p source\standalone\workflows\skrl\play.py --task Isaac-Reach-Franka-v0 --headless --video --video_length 200
+</pre></div>
+</div>
+</div>
+</div>
+</div>
+<input id="sd-tab-item-5" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-5">
+JAX</label><div class="sd-tab-content docutils">
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>It is recommended to <a class="reference external" href="https://jax.readthedocs.io/en/latest/installation.html">install JAX</a> manually before proceeding to install skrl and its dependencies, as JAX installs its CPU version by default. For example, <code class="docutils literal notranslate"><span class="pre">pip</span> <span class="pre">install</span> <span class="pre">-U</span> <span class="pre">&quot;jax[cuda12]&quot;</span></code> can be used to install JAX for CUDA 12.
+Visit the <strong>skrl</strong> <a class="reference external" href="https://skrl.readthedocs.io/en/latest/intro/installation.html">installation</a> page for more details.</p>
+</div>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># install python module (for skrl)</span>
+./isaaclab.sh<span class="w"> </span>-i<span class="w"> </span>skrl
+<span class="c1"># install skrl dependencies for JAX</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>-m<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>skrl<span class="o">[</span><span class="s2">&quot;jax&quot;</span><span class="o">]</span>
+<span class="c1"># run script for training</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/skrl/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Reach-Franka-v0<span class="w"> </span>--headless<span class="w"> </span>--ml_framework<span class="w"> </span>jax
+<span class="c1"># run script for playing with 32 environments</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/skrl/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Reach-Franka-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span><span class="w">  </span>--ml_framework<span class="w"> </span>jax<span class="w"> </span>--checkpoint<span class="w"> </span>/PATH/TO/model.pt
+<span class="c1"># run script for recording video of a trained agent (requires installing `ffmpeg`)</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/skrl/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Reach-Franka-v0<span class="w"> </span>--headless<span class="w"> </span>--ml_framework<span class="w"> </span>jax<span class="w"> </span>--video<span class="w"> </span>--video_length<span class="w"> </span><span class="m">200</span>
+</pre></div>
+</div>
+</div>
+</div>
+<ul class="simple">
+<li><p>Training the multi-agent environment <code class="docutils literal notranslate"><span class="pre">Isaac-Shadow-Hand-Over-Direct-v0</span></code> with skrl:</p></li>
+</ul>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-8" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-8">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># install python module (for skrl)</span>
+./isaaclab.sh<span class="w"> </span>-i<span class="w"> </span>skrl
+<span class="c1"># run script for training with the MAPPO algorithm (IPPO is also supported)</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/skrl/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Shadow-Hand-Over-Direct-v0<span class="w"> </span>--headless<span class="w"> </span>--algorithm<span class="w"> </span>MAPPO
+<span class="c1"># run script for playing with 32 environments with the MAPPO algorithm (IPPO is also supported)</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/skrl/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Shadow-Hand-Over-Direct-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span><span class="w"> </span>--algorithm<span class="w"> </span>MAPPO<span class="w"> </span>--checkpoint<span class="w"> </span>/PATH/TO/model.pt
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-9" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-9">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: install python module (for skrl)</span>
+isaaclab.bat -i skrl
+<span class="p">:</span><span class="c1">: run script for training with the MAPPO algorithm (IPPO is also supported)</span>
+isaaclab.bat -p source\standalone\workflows\skrl\train.py --task Isaac-Shadow-Hand-Over-Direct-v0 --headless --algorithm MAPPO
+<span class="p">:</span><span class="c1">: run script for playing with 32 environments with the MAPPO algorithm (IPPO is also supported)</span>
+isaaclab.bat -p source\standalone\workflows\skrl\play.py --task Isaac-Shadow-Hand-Over-Direct-v0 --num_envs 32 --algorithm MAPPO --checkpoint /PATH/TO/model.pt
+</pre></div>
+</div>
+</div>
+</div>
+</li>
+</ul>
+</section>
+<section id="stable-baselines3">
+<h2>Stable-Baselines3<a class="headerlink" href="#stable-baselines3" title="Permalink to this heading">#</a></h2>
+<ul>
+<li><p>Training an agent with
+<a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/index.html">Stable-Baselines3</a>
+on <code class="docutils literal notranslate"><span class="pre">Isaac-Cartpole-v0</span></code>:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-10" name="sd-tab-set-5" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-10">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># install python module (for stable-baselines3)</span>
+./isaaclab.sh<span class="w"> </span>-i<span class="w"> </span>sb3
+<span class="c1"># run script for training</span>
+<span class="c1"># note: we set the device to cpu since SB3 doesn&#39;t optimize for GPU anyway</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/sb3/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--device<span class="w"> </span>cpu
+<span class="c1"># run script for playing with 32 environments</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/sb3/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span><span class="w"> </span>--checkpoint<span class="w"> </span>/PATH/TO/model.zip
+<span class="c1"># run script for recording video of a trained agent (requires installing `ffmpeg`)</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/sb3/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--headless<span class="w"> </span>--video<span class="w"> </span>--video_length<span class="w"> </span><span class="m">200</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-11" name="sd-tab-set-5" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-11">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: install python module (for stable-baselines3)</span>
+isaaclab.bat -i sb3
+<span class="p">:</span><span class="c1">: run script for training</span>
+<span class="p">:</span><span class="c1">: note: we set the device to cpu since SB3 doesn&#39;t optimize for GPU anyway</span>
+isaaclab.bat -p source\standalone\workflows\sb3\train.py --task Isaac-Cartpole-v0 --headless --device cpu
+<span class="p">:</span><span class="c1">: run script for playing with 32 environments</span>
+isaaclab.bat -p source\standalone\workflows\sb3\play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip
+<span class="p">:</span><span class="c1">: run script for recording video of a trained agent (requires installing `ffmpeg`)</span>
+isaaclab.bat -p source\standalone\workflows\sb3\play.py --task Isaac-Cartpole-v0 --headless --video --video_length 200
+</pre></div>
+</div>
+</div>
+</div>
+</li>
+</ul>
+<p>All the scripts above log the training progress to <a class="reference external" href="https://www.tensorflow.org/tensorboard">Tensorboard</a> in the <code class="docutils literal notranslate"><span class="pre">logs</span></code> directory in the root of
+the repository. The logs directory follows the pattern <code class="docutils literal notranslate"><span class="pre">logs/&lt;library&gt;/&lt;task&gt;/&lt;date-time&gt;</span></code>, where <code class="docutils literal notranslate"><span class="pre">&lt;library&gt;</span></code>
+is the name of the learning framework, <code class="docutils literal notranslate"><span class="pre">&lt;task&gt;</span></code> is the task name, and <code class="docutils literal notranslate"><span class="pre">&lt;date-time&gt;</span></code> is the timestamp at
+which the training script was executed.</p>
+<p>To view the logs, run:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-12" name="sd-tab-set-6" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-12">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># execute from the root directory of the repository</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>-m<span class="w"> </span>tensorboard.main<span class="w"> </span>--logdir<span class="o">=</span>logs
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-13" name="sd-tab-set-6" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-13">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: execute from the root directory of the repository</span>
+isaaclab.bat -p -m tensorboard.main --logdir=logs
+</pre></div>
+</div>
+</div>
+</div>
+</section>
+</section>
+
+
+                </article>
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rl-games">RL-Games</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rsl-rl">RSL-RL</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#skrl">SKRL</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#stable-baselines3">Stable-Baselines3</a></li>
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+    <h1>Reinforcement Learning Library Comparison</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#feature-comparison">Feature Comparison</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#training-performance">Training Performance</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="reinforcement-learning-library-comparison">
+<h1>Reinforcement Learning Library Comparison<a class="headerlink" href="#reinforcement-learning-library-comparison" title="Permalink to this heading">#</a></h1>
+<p>In this section, we provide an overview of the supported reinforcement learning libraries in Isaac Lab,
+along with performance benchmarks across the libraries.</p>
+<p>The supported libraries are:</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://skrl.readthedocs.io">SKRL</a></p></li>
+<li><p><a class="reference external" href="https://github.com/leggedrobotics/rsl_rl">RSL-RL</a></p></li>
+<li><p><a class="reference external" href="https://github.com/Denys88/rl_games">RL-Games</a></p></li>
+<li><p><a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/index.html">Stable-Baselines3</a></p></li>
+</ul>
+<section id="feature-comparison">
+<h2>Feature Comparison<a class="headerlink" href="#feature-comparison" title="Permalink to this heading">#</a></h2>
+<div class="pst-scrollable-table-container"><table class="table">
+<colgroup>
+<col style="width: 20.0%" />
+<col style="width: 20.0%" />
+<col style="width: 20.0%" />
+<col style="width: 20.0%" />
+<col style="width: 20.0%" />
+</colgroup>
+<thead>
+<tr class="row-odd"><th class="head"><p>Feature</p></th>
+<th class="head"><p>RL-Games</p></th>
+<th class="head"><p>RSL RL</p></th>
+<th class="head"><p>SKRL</p></th>
+<th class="head"><p>Stable Baselines3</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>Algorithms Included</p></td>
+<td><p>PPO, SAC, A2C</p></td>
+<td><p>PPO</p></td>
+<td><p><a class="reference external" href="https://skrl.readthedocs.io/en/latest/#agents">Extensive List</a></p></td>
+<td><p><a class="reference external" href="https://github.com/DLR-RM/stable-baselines3?tab=readme-ov-file#implemented-algorithms">Extensive List</a></p></td>
+</tr>
+<tr class="row-odd"><td><p>Vectorized Training</p></td>
+<td><p>Yes</p></td>
+<td><p>Yes</p></td>
+<td><p>Yes</p></td>
+<td><p>No</p></td>
+</tr>
+<tr class="row-even"><td><p>Distributed Training</p></td>
+<td><p>Yes</p></td>
+<td><p>No</p></td>
+<td><p>Yes</p></td>
+<td><p>No</p></td>
+</tr>
+<tr class="row-odd"><td><p>ML Frameworks Supported</p></td>
+<td><p>PyTorch</p></td>
+<td><p>PyTorch</p></td>
+<td><p>PyTorch, JAX</p></td>
+<td><p>PyTorch</p></td>
+</tr>
+<tr class="row-even"><td><p>Multi-Agent Support</p></td>
+<td><p>PPO</p></td>
+<td><p>PPO</p></td>
+<td><p>PPO + Multi-Agent algorithms</p></td>
+<td><p>External projects support</p></td>
+</tr>
+<tr class="row-odd"><td><p>Documentation</p></td>
+<td><p>Low</p></td>
+<td><p>Low</p></td>
+<td><p>Comprehensive</p></td>
+<td><p>Extensive</p></td>
+</tr>
+<tr class="row-even"><td><p>Community Support</p></td>
+<td><p>Small Community</p></td>
+<td><p>Small Community</p></td>
+<td><p>Small Community</p></td>
+<td><p>Large Community</p></td>
+</tr>
+<tr class="row-odd"><td><p>Available Examples in Isaac Lab</p></td>
+<td><p>Large</p></td>
+<td><p>Large</p></td>
+<td><p>Large</p></td>
+<td><p>Small</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="training-performance">
+<h2>Training Performance<a class="headerlink" href="#training-performance" title="Permalink to this heading">#</a></h2>
+<p>We performed training with each RL library on the same <code class="docutils literal notranslate"><span class="pre">Isaac-Humanoid-v0</span></code> environment
+with <code class="docutils literal notranslate"><span class="pre">--headless</span></code> on a single RTX 4090 GPU
+and logged the total training time for 65.5M steps for each RL library.</p>
+<div class="pst-scrollable-table-container"><table class="table">
+<thead>
+<tr class="row-odd"><th class="head"><p>RL Library</p></th>
+<th class="head"><p>Time in seconds</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>RL-Games</p></td>
+<td><p>216</p></td>
+</tr>
+<tr class="row-odd"><td><p>RSL RL</p></td>
+<td><p>215</p></td>
+</tr>
+<tr class="row-even"><td><p>SKRL</p></td>
+<td><p>321</p></td>
+</tr>
+<tr class="row-odd"><td><p>Stable-Baselines3</p></td>
+<td><p>6320</p></td>
+</tr>
+</tbody>
+</table>
+</div>
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+
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+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="camera">
+<span id="overview-sensors-camera"></span><h1>Camera<a class="headerlink" href="#camera" title="Permalink to this heading">#</a></h1>
+<p>Camera sensors are uniquely defined by the use of the <code class="docutils literal notranslate"><span class="pre">render_product</span></code>, a structure for managing data generated by the rendering pipeline (images). Isaac Lab provides the ability to fully control how these renderings are created through camera parameters like focal length, pose, type, etc… and what kind of data you want to render through the use of Annotators, allowing you to record not only RGB, but also Instance segmentation, object pose, object ID, etc…</p>
+<p>Rendered images are unique among the supported data types in Isaac Lab due to the inherently large bandwidth requirements for moving those data. A single 800 x 600 image with 32-bit color (a single float per pixel) clocks in at just under 2 MB. If we render at 60 fps and record every frame, that camera needs to move 120 MB/s. Multiply this by the number of cameras in an environment and environments in a simulation, and you can quickly see how scaling a naive vectorization of camera data could lead to bandwidth challenges. NVIDIA’s Isaac Lab leverages our expertise in GPU hardware to provide an API that specifically addresses these scaling challenges in the rendering pipeline.</p>
+<section id="tiled-rendering">
+<h2>Tiled Rendering<a class="headerlink" href="#tiled-rendering" title="Permalink to this heading">#</a></h2>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>This feature is only available from Isaac Sim version 4.2.0 onwards.</p>
+<p>Tiled rendering in combination with image processing networks require heavy memory resources, especially
+at larger resolutions. We recommend running 512 cameras in the scene on RTX 4090 GPUs or similar.</p>
+</div>
+<p>The Tiled Rendering APIs provide a vectorized interface for collecting data from camera sensors. This is useful for reinforcement learning environments where parallelization can be exploited to accelerate data collection and thus the training loop. Tiled rendering works by using a single <code class="docutils literal notranslate"><span class="pre">render_product</span></code> for <strong>all</strong> clones of a single camera in the scene. The desired dimensions of a single image and the number of environments are used to compute a much larger <code class="docutils literal notranslate"><span class="pre">render_product</span></code>, consisting of the tiled individual renders from the separate clones of the camera. When all cameras have populated their buffers the render product is “completed” and can be moved around as a single, large image, dramatically reducing the overhead for moving the data from the host to the device, for example.  Only a single call is used to synchronize the device data, instead of one call per camera, and this is a big part of what makes the Tiled Rendering API more efficient for working with vision data.</p>
+<p>Isaac Lab provides tiled rendering APIs for RGB, depth, along with other annotators through the <code class="xref py py-class docutils literal notranslate"><span class="pre">TiledCamera</span></code> class. Configurations for the tiled rendering APIs can be defined through the <code class="xref py py-class docutils literal notranslate"><span class="pre">TiledCameraCfg</span></code> class, specifying parameters such as the regex expression for all camera paths, the transform for the cameras, the desired data type, the type of cameras to add to the scene, and the camera resolution.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">tiled_camera</span><span class="p">:</span> <span class="n">TiledCameraCfg</span> <span class="o">=</span> <span class="n">TiledCameraCfg</span><span class="p">(</span>
+    <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Camera&quot;</span><span class="p">,</span>
+    <span class="n">offset</span><span class="o">=</span><span class="n">TiledCameraCfg</span><span class="o">.</span><span class="n">OffsetCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="o">-</span><span class="mf">7.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">3.0</span><span class="p">),</span> <span class="n">rot</span><span class="o">=</span><span class="p">(</span><span class="mf">0.9945</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.1045</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">convention</span><span class="o">=</span><span class="s2">&quot;world&quot;</span><span class="p">),</span>
+    <span class="n">data_types</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">],</span>
+    <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PinholeCameraCfg</span><span class="p">(</span>
+        <span class="n">focal_length</span><span class="o">=</span><span class="mf">24.0</span><span class="p">,</span> <span class="n">focus_distance</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span> <span class="n">horizontal_aperture</span><span class="o">=</span><span class="mf">20.955</span><span class="p">,</span> <span class="n">clipping_range</span><span class="o">=</span><span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">20.0</span><span class="p">)</span>
+    <span class="p">),</span>
+    <span class="n">width</span><span class="o">=</span><span class="mi">80</span><span class="p">,</span>
+    <span class="n">height</span><span class="o">=</span><span class="mi">80</span><span class="p">,</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<p>To access the tiled rendering interface, a <code class="xref py py-class docutils literal notranslate"><span class="pre">TiledCamera</span></code> object can be created and used to retrieve data from the cameras.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">tiled_camera</span> <span class="o">=</span> <span class="n">TiledCamera</span><span class="p">(</span><span class="n">cfg</span><span class="o">.</span><span class="n">tiled_camera</span><span class="p">)</span>
+<span class="n">data_type</span> <span class="o">=</span> <span class="s2">&quot;rgb&quot;</span>
+<span class="n">data</span> <span class="o">=</span> <span class="n">tiled_camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">data_type</span><span class="p">]</span>
+</pre></div>
+</div>
+<p>The returned data will be transformed into the shape (num_cameras, height, width, num_channels), which can be used directly as observation for reinforcement learning.</p>
+<p>When working with rendering, make sure to add the <code class="docutils literal notranslate"><span class="pre">--enable_cameras</span></code> argument when launching the environment. For example:</p>
+<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>python<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-RGB-Camera-Direct-v0<span class="w"> </span>--headless<span class="w"> </span>--enable_cameras
+</pre></div>
+</div>
+</section>
+<section id="annotators">
+<h2>Annotators<a class="headerlink" href="#annotators" title="Permalink to this heading">#</a></h2>
+<p>Both <code class="xref py py-class docutils literal notranslate"><span class="pre">TiledCamera</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code> classes provide APIs for retrieving various types annotator data from replicator:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;rgb&quot;</span></code>: A 3-channel rendered color image.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;rgba&quot;</span></code>: A 4-channel rendered color image with alpha channel.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;distance_to_camera&quot;</span></code>: An image containing the distance to camera optical center.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;distance_to_image_plane&quot;</span></code>: An image containing distances of 3D points from camera plane along camera’s z-axis.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;depth&quot;</span></code>: The same as <code class="docutils literal notranslate"><span class="pre">&quot;distance_to_image_plane&quot;</span></code>.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;normals&quot;</span></code>: An image containing the local surface normal vectors at each pixel.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;motion_vectors&quot;</span></code>: An image containing the motion vector data at each pixel.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;semantic_segmentation&quot;</span></code>: The semantic segmentation data.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;instance_segmentation_fast&quot;</span></code>: The instance segmentation data.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;instance_id_segmentation_fast&quot;</span></code>: The instance id segmentation data.</p></li>
+</ul>
+</section>
+<section id="rgb-and-rgba">
+<h2>RGB and RGBA<a class="headerlink" href="#rgb-and-rgba" title="Permalink to this heading">#</a></h2>
+<figure class="align-center" style="width: 100%">
+<img alt="A scene captured in RGB" src="../../../_images/overview_sensors_rgb.png" />
+</figure>
+<p><code class="docutils literal notranslate"><span class="pre">rgb</span></code> data type returns a 3-channel RGB colored image of type <code class="docutils literal notranslate"><span class="pre">torch.uint8</span></code>, with dimension (B, H, W, 3).</p>
+<p><code class="docutils literal notranslate"><span class="pre">rgba</span></code> data type returns a 4-channel RGBA colored image of type <code class="docutils literal notranslate"><span class="pre">torch.uint8</span></code>, with dimension (B, H, W, 4).</p>
+<p>To convert the <code class="docutils literal notranslate"><span class="pre">torch.uint8</span></code> data to <code class="docutils literal notranslate"><span class="pre">torch.float32</span></code>, divide the buffer by 255.0 to obtain a <code class="docutils literal notranslate"><span class="pre">torch.float32</span></code> buffer containing data from 0 to 1.</p>
+</section>
+<section id="depth-and-distances">
+<h2>Depth and Distances<a class="headerlink" href="#depth-and-distances" title="Permalink to this heading">#</a></h2>
+<figure class="align-center" style="width: 100%">
+<img alt="A scene captured in RGB" src="../../../_images/overview_sensors_depth.png" />
+</figure>
+<p><code class="docutils literal notranslate"><span class="pre">distance_to_camera</span></code> returns a single-channel depth image with distance to the camera optical center. The dimension for this annotator is (B, H, W, 1) and has type <code class="docutils literal notranslate"><span class="pre">torch.float32</span></code>.</p>
+<p><code class="docutils literal notranslate"><span class="pre">distance_to_image_plane</span></code> returns a single-channel depth image with distances of 3D points from the camera plane along the camera’s Z-axis. The dimension for this annotator is (B, H, W, 1) and has type <code class="docutils literal notranslate"><span class="pre">torch.float32</span></code>.</p>
+<p><code class="docutils literal notranslate"><span class="pre">depth</span></code> is provided as an alias for <code class="docutils literal notranslate"><span class="pre">distance_to_image_plane</span></code> and will return the same data as the <code class="docutils literal notranslate"><span class="pre">distance_to_image_plane</span></code> annotator, with dimension (B, H, W, 1) and type <code class="docutils literal notranslate"><span class="pre">torch.float32</span></code>.</p>
+</section>
+<section id="normals">
+<h2>Normals<a class="headerlink" href="#normals" title="Permalink to this heading">#</a></h2>
+<figure class="align-center" style="width: 100%">
+<img alt="A scene captured in RGB" src="../../../_images/overview_sensors_normals.png" />
+</figure>
+<p><code class="docutils literal notranslate"><span class="pre">normals</span></code> returns an image containing the local surface normal vectors at each pixel. The buffer has dimension (B, H, W, 3), containing the (x, y, z) information for each vector, and has data type <code class="docutils literal notranslate"><span class="pre">torch.float32</span></code>.</p>
+</section>
+<section id="motion-vectors">
+<h2>Motion Vectors<a class="headerlink" href="#motion-vectors" title="Permalink to this heading">#</a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">motion_vectors</span></code> returns the per-pixel motion vectors in image space, with a 2D array of motion vectors representing the relative motion of a pixel in the camera’s viewport between frames. The buffer has dimension (B, H, W, 2), representing x - the motion distance in the horizontal axis (image width) with movement to the left of the image being positive and movement to the right being negative and y - motion distance in the vertical axis (image height) with movement towards the top of the image being positive and movement to the bottom being negative. The data type is <code class="docutils literal notranslate"><span class="pre">torch.float32</span></code>.</p>
+</section>
+<section id="semantic-segmentation">
+<h2>Semantic Segmentation<a class="headerlink" href="#semantic-segmentation" title="Permalink to this heading">#</a></h2>
+<figure class="align-center" style="width: 100%">
+<img alt="A scene captured in RGB" src="../../../_images/overview_sensors_semantic.png" />
+</figure>
+<p><code class="docutils literal notranslate"><span class="pre">semantic_segmentation</span></code> outputs semantic segmentation of each entity in the camera’s viewport that has semantic labels. In addition to the image buffer, an <code class="docutils literal notranslate"><span class="pre">info</span></code> dictionary can be retrieved with <code class="docutils literal notranslate"><span class="pre">tiled_camera.data.info['semantic_segmentation']</span></code> containing ID to labels information.</p>
+<ul class="simple">
+<li><p>If <code class="docutils literal notranslate"><span class="pre">colorize_semantic_segmentation=True</span></code> in the camera config, a 4-channel RGBA image will be returned with dimension (B, H, W, 4) and type <code class="docutils literal notranslate"><span class="pre">torch.uint8</span></code>. The info <code class="docutils literal notranslate"><span class="pre">idToLabels</span></code> dictionary will be the mapping from color to semantic labels.</p></li>
+<li><p>If <code class="docutils literal notranslate"><span class="pre">colorize_semantic_segmentation=False</span></code>, a buffer of dimension (B, H, W, 1) of type <code class="docutils literal notranslate"><span class="pre">torch.int32</span></code> will be returned, containing the semantic ID of each pixel. The info <code class="docutils literal notranslate"><span class="pre">idToLabels</span></code> dictionary will be the mapping from semantic ID to semantic labels.</p></li>
+</ul>
+</section>
+<section id="instance-id-segmentation">
+<h2>Instance ID Segmentation<a class="headerlink" href="#instance-id-segmentation" title="Permalink to this heading">#</a></h2>
+<figure class="align-center" style="width: 100%">
+<img alt="A scene captured in RGB" src="../../../_images/overview_sensors_instanceID.png" />
+</figure>
+<p><code class="docutils literal notranslate"><span class="pre">instance_id_segmentation_fast</span></code> outputs instance ID segmentation of each entity in the camera’s viewport. The instance ID is unique for each prim in the scene with different paths. In addition to the image buffer, an <code class="docutils literal notranslate"><span class="pre">info</span></code> dictionary can be retrieved with <code class="docutils literal notranslate"><span class="pre">tiled_camera.data.info['instance_id_segmentation_fast']</span></code> containing ID to labels information.</p>
+<p>The main difference between <code class="docutils literal notranslate"><span class="pre">instance_id_segmentation_fast</span></code> and <code class="docutils literal notranslate"><span class="pre">instance_segmentation_fast</span></code> are that instance segmentation annotator goes down the hierarchy to the lowest level prim which has semantic labels, where instance ID segmentation always goes down to the leaf prim.</p>
+<ul class="simple">
+<li><p>If <code class="docutils literal notranslate"><span class="pre">colorize_instance_id_segmentation=True</span></code> in the camera config, a 4-channel RGBA image will be returned with dimension (B, H, W, 4) and type <code class="docutils literal notranslate"><span class="pre">torch.uint8</span></code>. The info <code class="docutils literal notranslate"><span class="pre">idToLabels</span></code> dictionary will be the mapping from color to USD prim path of that entity.</p></li>
+<li><p>If <code class="docutils literal notranslate"><span class="pre">colorize_instance_id_segmentation=False</span></code>, a buffer of dimension (B, H, W, 1) of type <code class="docutils literal notranslate"><span class="pre">torch.int32</span></code> will be returned, containing the instance ID of each pixel. The info <code class="docutils literal notranslate"><span class="pre">idToLabels</span></code> dictionary will be the mapping from instance ID to USD prim path of that entity.</p></li>
+</ul>
+<section id="instance-segmentation">
+<h3>Instance Segmentation<a class="headerlink" href="#instance-segmentation" title="Permalink to this heading">#</a></h3>
+<figure class="align-center" style="width: 100%">
+<img alt="A scene captured in RGB" src="../../../_images/overview_sensors_instance.png" />
+</figure>
+<p><code class="docutils literal notranslate"><span class="pre">instance_segmentation_fast</span></code> outputs instance segmentation of each entity in the camera’s viewport. In addition to the image buffer, an <code class="docutils literal notranslate"><span class="pre">info</span></code> dictionary can be retrieved with <code class="docutils literal notranslate"><span class="pre">tiled_camera.data.info['instance_segmentation_fast']</span></code> containing ID to labels and ID to semantic information.</p>
+<ul class="simple">
+<li><p>If <code class="docutils literal notranslate"><span class="pre">colorize_instance_segmentation=True</span></code> in the camera config, a 4-channel RGBA image will be returned with dimension (B, H, W, 4) and type <code class="docutils literal notranslate"><span class="pre">torch.uint8</span></code>.</p></li>
+<li><p>If <code class="docutils literal notranslate"><span class="pre">colorize_instance_segmentation=False</span></code>, a buffer of dimension (B, H, W, 1) of type <code class="docutils literal notranslate"><span class="pre">torch.int32</span></code> will be returned, containing the instance ID of each pixel.</p></li>
+</ul>
+<p>The info <code class="docutils literal notranslate"><span class="pre">idToLabels</span></code> dictionary will be the mapping from color to USD prim path of that semantic entity. The info <code class="docutils literal notranslate"><span class="pre">idToSemantics</span></code> dictionary will be the mapping from color to semantic labels of that semantic entity.</p>
+<section id="current-limitations">
+<h4>Current Limitations<a class="headerlink" href="#current-limitations" title="Permalink to this heading">#</a></h4>
+<p>Due to current limitations in the renderer, we can have only <strong>one</strong> <code class="xref py py-class docutils literal notranslate"><span class="pre">TiledCamera</span></code> instance in the scene.
+For use cases that require a setup with more than one camera, we can imitate the multi-camera behavior by moving the location
+of the camera in between render calls in a step.</p>
+<p>For example, in a stereo vision setup, the below snippet can be implemented:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># render image from &quot;first&quot; camera</span>
+<span class="n">camera_data_1</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_tiled_camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span> <span class="o">/</span> <span class="mf">255.0</span>
+<span class="c1"># update camera transform to the &quot;second&quot; camera location</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_tiled_camera</span><span class="o">.</span><span class="n">set_world_poses</span><span class="p">(</span>
+    <span class="n">positions</span><span class="o">=</span><span class="n">pos</span><span class="p">,</span>
+    <span class="n">orientations</span><span class="o">=</span><span class="n">rot</span><span class="p">,</span>
+    <span class="n">convention</span><span class="o">=</span><span class="s2">&quot;world&quot;</span>
+<span class="p">)</span>
+<span class="c1"># step the renderer</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+<span class="bp">self</span><span class="o">.</span><span class="n">_tiled_camera</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="n">force_recompute</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+<span class="c1"># render image from &quot;second&quot; camera</span>
+<span class="n">camera_data_2</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_tiled_camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span> <span class="o">/</span> <span class="mf">255.0</span>
+</pre></div>
+</div>
+<p>Note that this approach still limits the rendering resolution to be identical for all cameras. Currently, there is no workaround
+to achieve different resolution images using <code class="xref py py-class docutils literal notranslate"><span class="pre">TiledCamera</span></code>. The best approach is to use the largest resolution out of all of the
+desired resolutions and add additional scaling or cropping operations to the rendered output as a post-processing step.</p>
+<p>In addition, there may be visible quality differences when comparing render outputs of different numbers of environments.
+Currently, any combined resolution that has a width less than 265 pixels or height less than 265 will automatically switch
+to the DLAA anti-aliasing mode, which does not perform up-sampling during anti-aliasing. For resolutions larger than 265 in both
+width and height dimensions, we default to using the “performance” DLSS mode for anti-aliasing for performance benefits.
+Anti-aliasing modes and other rendering parameters can be specified in the <code class="xref py py-class docutils literal notranslate"><span class="pre">RenderCfg</span></code>.</p>
+</section>
+</section>
+</section>
+</section>
+
+
+                </article>
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#tiled-rendering">Tiled Rendering</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#annotators">Annotators</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#rgb-and-rgba">RGB and RGBA</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#depth-and-distances">Depth and Distances</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#normals">Normals</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#motion-vectors">Motion Vectors</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#semantic-segmentation">Semantic Segmentation</a></li>
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+    <h1>Contact Sensor</h1>
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+  <section id="contact-sensor">
+<span id="overview-sensors-contact"></span><h1>Contact Sensor<a class="headerlink" href="#contact-sensor" title="Permalink to this heading">#</a></h1>
+<figure class="align-center" style="width: 100%">
+<img alt="A contact sensor with filtering" src="../../../_images/overview_sensors_contact_diagram.png" />
+</figure>
+<p>The contact sensor is designed to return the net contact force acting on a given ridgid body. The sensor is written to behave as a physical object, and so the “scope” of the contact sensor is limited to the body (or bodies) that defines it. There are multiple ways to define this scope, depending on your need to filter the forces coming from the contact.</p>
+<p>By default, the reported force is the total contact force, but your application may only care about contact forces due to specific objects. Retrieving contact forces from specific objects requires filtering, and this can only be done in a “many-to-one” way. A multi-legged robot that needs filterable contact information for its feet would require one sensor per foot to be defined in the environment, but a robotic hand with contact sensors on the tips of each finger can be defined with a single sensor.</p>
+<p>Consider a simple environment with an Anymal Quadruped and a block</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ContactSensorsSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Design the scene with sensors on the robot.&quot;&quot;&quot;</span>
+
+    <span class="c1"># ground plane</span>
+    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+
+    <span class="c1"># lights</span>
+    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+    <span class="p">)</span>
+
+    <span class="c1"># robot</span>
+    <span class="n">robot</span> <span class="o">=</span> <span class="n">ANYMAL_C_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Rigid Object</span>
+    <span class="n">cube</span> <span class="o">=</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Cube&quot;</span><span class="p">,</span>
+        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+            <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span><span class="mf">0.5</span><span class="p">,</span><span class="mf">0.1</span><span class="p">),</span>
+            <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(),</span>
+            <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">100.0</span><span class="p">),</span>
+            <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+            <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span><span class="p">(</span><span class="n">static_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+        <span class="p">),</span>
+        <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.05</span><span class="p">)),</span>
+    <span class="p">)</span>
+
+    <span class="n">contact_forces_LF</span> <span class="o">=</span> <span class="n">ContactSensorCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/LF_FOOT&quot;</span><span class="p">,</span>
+        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">history_length</span><span class="o">=</span><span class="mi">6</span><span class="p">,</span>
+        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">filter_prim_paths_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Cube&quot;</span><span class="p">],</span>
+    <span class="p">)</span>
+
+    <span class="n">contact_forces_RF</span> <span class="o">=</span> <span class="n">ContactSensorCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/RF_FOOT&quot;</span><span class="p">,</span>
+        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">history_length</span><span class="o">=</span><span class="mi">6</span><span class="p">,</span>
+        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">filter_prim_paths_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Cube&quot;</span><span class="p">],</span>
+    <span class="p">)</span>
+
+    <span class="n">contact_forces_H</span> <span class="o">=</span> <span class="n">ContactSensorCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/.*H_FOOT&quot;</span><span class="p">,</span>
+        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+        <span class="n">history_length</span><span class="o">=</span><span class="mi">6</span><span class="p">,</span>
+        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+<p>We define the sensors on the feet of the robot in two different ways.  The front feet are independent sensors (one sensor body per foot) and the “Cube” is placed under the left foot.  The hind feet are defined as a single sensor with multiple bodies.</p>
+<p>We can then run the scene and print the data from the sensors</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+  <span class="o">.</span>
+  <span class="o">.</span>
+  <span class="o">.</span>
+  <span class="c1"># Simulate physics</span>
+  <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+    <span class="o">.</span>
+    <span class="o">.</span>
+    <span class="o">.</span>
+    <span class="c1"># print information from the sensors</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_LF&quot;</span><span class="p">])</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received force matrix of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_LF&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">force_matrix_w</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received contact force of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_LF&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_RF&quot;</span><span class="p">])</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received force matrix of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_RF&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">force_matrix_w</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received contact force of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_RF&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_H&quot;</span><span class="p">])</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received force matrix of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_H&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">force_matrix_w</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received contact force of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_H&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Here, we print both the net contact force and the filtered force matrix for each contact sensor defined in the scene. The front left and front right feet report the following</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>-------------------------------
+Contact<span class="w"> </span>sensor<span class="w"> </span>@<span class="w"> </span><span class="s1">&#39;/World/envs/env_.*/Robot/LF_FOOT&#39;</span>:
+<span class="w">        </span>view<span class="w"> </span><span class="nb">type</span><span class="w">         </span>:<span class="w"> </span>&lt;class<span class="w"> </span><span class="s1">&#39;omni.physics.tensors.impl.api.RigidBodyView&#39;</span>&gt;
+<span class="w">        </span>update<span class="w"> </span>period<span class="w"> </span><span class="o">(</span>s<span class="o">)</span><span class="w"> </span>:<span class="w"> </span><span class="m">0</span>.0
+<span class="w">        </span>number<span class="w"> </span>of<span class="w"> </span>bodies<span class="w">  </span>:<span class="w"> </span><span class="m">1</span>
+<span class="w">        </span>body<span class="w"> </span>names<span class="w">        </span>:<span class="w"> </span><span class="o">[</span><span class="s1">&#39;LF_FOOT&#39;</span><span class="o">]</span>
+
+Received<span class="w"> </span>force<span class="w"> </span>matrix<span class="w"> </span>of:<span class="w">  </span>tensor<span class="o">([[[[</span>-1.3923e-05,<span class="w">  </span><span class="m">1</span>.5727e-04,<span class="w">  </span><span class="m">1</span>.1032e+02<span class="o">]]]]</span>,<span class="w"> </span><span class="nv">device</span><span class="o">=</span><span class="s1">&#39;cuda:0&#39;</span><span class="o">)</span>
+Received<span class="w"> </span>contact<span class="w"> </span>force<span class="w"> </span>of:<span class="w">  </span>tensor<span class="o">([[[</span>-1.3923e-05,<span class="w">  </span><span class="m">1</span>.5727e-04,<span class="w">  </span><span class="m">1</span>.1032e+02<span class="o">]]]</span>,<span class="w"> </span><span class="nv">device</span><span class="o">=</span><span class="s1">&#39;cuda:0&#39;</span><span class="o">)</span>
+-------------------------------
+Contact<span class="w"> </span>sensor<span class="w"> </span>@<span class="w"> </span><span class="s1">&#39;/World/envs/env_.*/Robot/RF_FOOT&#39;</span>:
+<span class="w">        </span>view<span class="w"> </span><span class="nb">type</span><span class="w">         </span>:<span class="w"> </span>&lt;class<span class="w"> </span><span class="s1">&#39;omni.physics.tensors.impl.api.RigidBodyView&#39;</span>&gt;
+<span class="w">        </span>update<span class="w"> </span>period<span class="w"> </span><span class="o">(</span>s<span class="o">)</span><span class="w"> </span>:<span class="w"> </span><span class="m">0</span>.0
+<span class="w">        </span>number<span class="w"> </span>of<span class="w"> </span>bodies<span class="w">  </span>:<span class="w"> </span><span class="m">1</span>
+<span class="w">        </span>body<span class="w"> </span>names<span class="w">        </span>:<span class="w"> </span><span class="o">[</span><span class="s1">&#39;RF_FOOT&#39;</span><span class="o">]</span>
+
+Received<span class="w"> </span>force<span class="w"> </span>matrix<span class="w"> </span>of:<span class="w">  </span>tensor<span class="o">([[[[</span><span class="m">0</span>.,<span class="w"> </span><span class="m">0</span>.,<span class="w"> </span><span class="m">0</span>.<span class="o">]]]]</span>,<span class="w"> </span><span class="nv">device</span><span class="o">=</span><span class="s1">&#39;cuda:0&#39;</span><span class="o">)</span>
+Received<span class="w"> </span>contact<span class="w"> </span>force<span class="w"> </span>of:<span class="w">  </span>tensor<span class="o">([[[</span><span class="m">1</span>.3529e-05,<span class="w"> </span><span class="m">0</span>.0000e+00,<span class="w"> </span><span class="m">1</span>.0069e+02<span class="o">]]]</span>,<span class="w"> </span><span class="nv">device</span><span class="o">=</span><span class="s1">&#39;cuda:0&#39;</span><span class="o">)</span>
+</pre></div>
+</div>
+<p>Notice that even with filtering, both sensors report the net contact force acting on the foot. However only the left foot has a non zero “force matrix”, because the right foot isn’t standing on the filtered body, <code class="docutils literal notranslate"><span class="pre">/World/envs/env_.*/Cube</span></code>. Now, checkout the data coming from the hind feet!</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>-------------------------------
+Contact<span class="w"> </span>sensor<span class="w"> </span>@<span class="w"> </span><span class="s1">&#39;/World/envs/env_.*/Robot/.*H_FOOT&#39;</span>:
+<span class="w">        </span>view<span class="w"> </span><span class="nb">type</span><span class="w">         </span>:<span class="w"> </span>&lt;class<span class="w"> </span><span class="s1">&#39;omni.physics.tensors.impl.api.RigidBodyView&#39;</span>&gt;
+<span class="w">        </span>update<span class="w"> </span>period<span class="w"> </span><span class="o">(</span>s<span class="o">)</span><span class="w"> </span>:<span class="w"> </span><span class="m">0</span>.0
+<span class="w">        </span>number<span class="w"> </span>of<span class="w"> </span>bodies<span class="w">  </span>:<span class="w"> </span><span class="m">2</span>
+<span class="w">        </span>body<span class="w"> </span>names<span class="w">        </span>:<span class="w"> </span><span class="o">[</span><span class="s1">&#39;LH_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;RH_FOOT&#39;</span><span class="o">]</span>
+
+Received<span class="w"> </span>force<span class="w"> </span>matrix<span class="w"> </span>of:<span class="w">  </span>None
+Received<span class="w"> </span>contact<span class="w"> </span>force<span class="w"> </span>of:<span class="w">  </span>tensor<span class="o">([[[</span><span class="m">9</span>.7227e-06,<span class="w"> </span><span class="m">0</span>.0000e+00,<span class="w"> </span><span class="m">7</span>.2364e+01<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="m">2</span>.4322e-05,<span class="w"> </span><span class="m">0</span>.0000e+00,<span class="w"> </span><span class="m">1</span>.8102e+02<span class="o">]]]</span>,<span class="w"> </span><span class="nv">device</span><span class="o">=</span><span class="s1">&#39;cuda:0&#39;</span><span class="o">)</span>
+</pre></div>
+</div>
+<p>In this case, the contact sensor has two bodies: the left and right hind feet.  When the force matrix is queried, the result is <code class="docutils literal notranslate"><span class="pre">None</span></code> because this is a many body sensor, and presently Isaac Lab only supports “many to one” contact force filtering. Unlike the single body contact sensor, the reported force tensor has multiple entries, with each “row” corresponding to the contact force on a single body of the sensor (matching the ordering at construction).</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for contact_sensor.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos">  7</span>
+<span class="linenos">  8</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos">  9</span>
+<span class="linenos"> 10</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 11</span>
+<span class="linenos"> 12</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 13</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on adding sensors on a robot.&quot;</span><span class="p">)</span>
+<span class="linenos"> 14</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to spawn.&quot;</span><span class="p">)</span>
+<span class="linenos"> 15</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 16</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 17</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 18</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 19</span>
+<span class="linenos"> 20</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 21</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 22</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 23</span>
+<span class="linenos"> 24</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 25</span>
+<span class="linenos"> 26</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 27</span>
+<span class="linenos"> 28</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 29</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">AssetBaseCfg</span><span class="p">,</span> <span class="n">RigidObjectCfg</span>
+<span class="linenos"> 30</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span><span class="p">,</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos"> 31</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors</span> <span class="kn">import</span> <span class="n">ContactSensorCfg</span>
+<span class="linenos"> 32</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos"> 33</span>
+<span class="linenos"> 34</span><span class="c1">##</span>
+<span class="linenos"> 35</span><span class="c1"># Pre-defined configs</span>
+<span class="linenos"> 36</span><span class="c1">##</span>
+<span class="linenos"> 37</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets.anymal</span> <span class="kn">import</span> <span class="n">ANYMAL_C_CFG</span>  <span class="c1"># isort: skip</span>
+<span class="linenos"> 38</span>
+<span class="linenos"> 39</span>
+<span class="linenos"> 40</span><span class="nd">@configclass</span>
+<span class="linenos"> 41</span><span class="k">class</span> <span class="nc">ContactSensorSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="linenos"> 42</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Design the scene with sensors on the robot.&quot;&quot;&quot;</span>
+<span class="linenos"> 43</span>
+<span class="linenos"> 44</span>    <span class="c1"># ground plane</span>
+<span class="linenos"> 45</span>    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+<span class="linenos"> 46</span>
+<span class="linenos"> 47</span>    <span class="c1"># lights</span>
+<span class="linenos"> 48</span>    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 49</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos"> 50</span>    <span class="p">)</span>
+<span class="linenos"> 51</span>
+<span class="linenos"> 52</span>    <span class="c1"># robot</span>
+<span class="linenos"> 53</span>    <span class="n">robot</span> <span class="o">=</span> <span class="n">ANYMAL_C_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+<span class="linenos"> 54</span>
+<span class="linenos"> 55</span>    <span class="c1"># Rigid Object</span>
+<span class="linenos"> 56</span>    <span class="n">cube</span> <span class="o">=</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+<span class="linenos"> 57</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Cube&quot;</span><span class="p">,</span>
+<span class="linenos"> 58</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+<span class="linenos"> 59</span>            <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">),</span>
+<span class="linenos"> 60</span>            <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(),</span>
+<span class="linenos"> 61</span>            <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">100.0</span><span class="p">),</span>
+<span class="linenos"> 62</span>            <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+<span class="linenos"> 63</span>            <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span><span class="p">(</span><span class="n">static_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+<span class="linenos"> 64</span>            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+<span class="linenos"> 65</span>        <span class="p">),</span>
+<span class="linenos"> 66</span>        <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.05</span><span class="p">)),</span>
+<span class="linenos"> 67</span>    <span class="p">)</span>
+<span class="linenos"> 68</span>
+<span class="linenos"> 69</span>    <span class="n">contact_forces_LF</span> <span class="o">=</span> <span class="n">ContactSensorCfg</span><span class="p">(</span>
+<span class="linenos"> 70</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/LF_FOOT&quot;</span><span class="p">,</span>
+<span class="linenos"> 71</span>        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+<span class="linenos"> 72</span>        <span class="n">history_length</span><span class="o">=</span><span class="mi">6</span><span class="p">,</span>
+<span class="linenos"> 73</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos"> 74</span>        <span class="n">filter_prim_paths_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Cube&quot;</span><span class="p">],</span>
+<span class="linenos"> 75</span>    <span class="p">)</span>
+<span class="linenos"> 76</span>
+<span class="linenos"> 77</span>    <span class="n">contact_forces_RF</span> <span class="o">=</span> <span class="n">ContactSensorCfg</span><span class="p">(</span>
+<span class="linenos"> 78</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/RF_FOOT&quot;</span><span class="p">,</span>
+<span class="linenos"> 79</span>        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+<span class="linenos"> 80</span>        <span class="n">history_length</span><span class="o">=</span><span class="mi">6</span><span class="p">,</span>
+<span class="linenos"> 81</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos"> 82</span>        <span class="n">filter_prim_paths_expr</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Cube&quot;</span><span class="p">],</span>
+<span class="linenos"> 83</span>    <span class="p">)</span>
+<span class="linenos"> 84</span>
+<span class="linenos"> 85</span>    <span class="n">contact_forces_H</span> <span class="o">=</span> <span class="n">ContactSensorCfg</span><span class="p">(</span>
+<span class="linenos"> 86</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/.*H_FOOT&quot;</span><span class="p">,</span>
+<span class="linenos"> 87</span>        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+<span class="linenos"> 88</span>        <span class="n">history_length</span><span class="o">=</span><span class="mi">6</span><span class="p">,</span>
+<span class="linenos"> 89</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos"> 90</span>    <span class="p">)</span>
+<span class="linenos"> 91</span>
+<span class="linenos"> 92</span>
+<span class="linenos"> 93</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+<span class="linenos"> 94</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Run the simulator.&quot;&quot;&quot;</span>
+<span class="linenos"> 95</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos"> 96</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos"> 97</span>    <span class="n">sim_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos"> 98</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos"> 99</span>
+<span class="linenos">100</span>    <span class="c1"># Simulate physics</span>
+<span class="linenos">101</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos">102</span>
+<span class="linenos">103</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">500</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">104</span>            <span class="c1"># reset counter</span>
+<span class="linenos">105</span>            <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">106</span>            <span class="c1"># reset the scene entities</span>
+<span class="linenos">107</span>            <span class="c1"># root state</span>
+<span class="linenos">108</span>            <span class="c1"># we offset the root state by the origin since the states are written in simulation world frame</span>
+<span class="linenos">109</span>            <span class="c1"># if this is not done, then the robots will be spawned at the (0, 0, 0) of the simulation world</span>
+<span class="linenos">110</span>            <span class="n">root_state</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">111</span>            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span>
+<span class="linenos">112</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos">113</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+<span class="linenos">114</span>            <span class="c1"># set joint positions with some noise</span>
+<span class="linenos">115</span>            <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span> <span class="o">=</span> <span class="p">(</span>
+<span class="linenos">116</span>                <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span>
+<span class="linenos">117</span>                <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span>
+<span class="linenos">118</span>            <span class="p">)</span>
+<span class="linenos">119</span>            <span class="n">joint_pos</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand_like</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.1</span>
+<span class="linenos">120</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span>
+<span class="linenos">121</span>            <span class="c1"># clear internal buffers</span>
+<span class="linenos">122</span>            <span class="n">scene</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">123</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting robot state...&quot;</span><span class="p">)</span>
+<span class="linenos">124</span>        <span class="c1"># Apply default actions to the robot</span>
+<span class="linenos">125</span>        <span class="c1"># -- generate actions/commands</span>
+<span class="linenos">126</span>        <span class="n">targets</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span>
+<span class="linenos">127</span>        <span class="c1"># -- apply action to the robot</span>
+<span class="linenos">128</span>        <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">set_joint_position_target</span><span class="p">(</span><span class="n">targets</span><span class="p">)</span>
+<span class="linenos">129</span>        <span class="c1"># -- write data to sim</span>
+<span class="linenos">130</span>        <span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">131</span>        <span class="c1"># perform step</span>
+<span class="linenos">132</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">133</span>        <span class="c1"># update sim-time</span>
+<span class="linenos">134</span>        <span class="n">sim_time</span> <span class="o">+=</span> <span class="n">sim_dt</span>
+<span class="linenos">135</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">136</span>        <span class="c1"># update buffers</span>
+<span class="linenos">137</span>        <span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">138</span>
+<span class="linenos">139</span>        <span class="c1"># print information from the sensors</span>
+<span class="linenos">140</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+<span class="linenos">141</span>        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_LF&quot;</span><span class="p">])</span>
+<span class="linenos">142</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received force matrix of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_LF&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">force_matrix_w</span><span class="p">)</span>
+<span class="linenos">143</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received contact force of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_LF&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">)</span>
+<span class="linenos">144</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+<span class="linenos">145</span>        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_RF&quot;</span><span class="p">])</span>
+<span class="linenos">146</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received force matrix of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_RF&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">force_matrix_w</span><span class="p">)</span>
+<span class="linenos">147</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received contact force of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_RF&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">)</span>
+<span class="linenos">148</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+<span class="linenos">149</span>        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_H&quot;</span><span class="p">])</span>
+<span class="linenos">150</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received force matrix of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_H&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">force_matrix_w</span><span class="p">)</span>
+<span class="linenos">151</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received contact force of: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces_H&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">)</span>
+<span class="linenos">152</span>
+<span class="linenos">153</span>
+<span class="linenos">154</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">155</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">156</span>
+<span class="linenos">157</span>    <span class="c1"># Initialize the simulation context</span>
+<span class="linenos">158</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.005</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">159</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">160</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">161</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">(</span><span class="n">eye</span><span class="o">=</span><span class="p">[</span><span class="mf">3.5</span><span class="p">,</span> <span class="mf">3.5</span><span class="p">,</span> <span class="mf">3.5</span><span class="p">],</span> <span class="n">target</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+<span class="linenos">162</span>    <span class="c1"># design scene</span>
+<span class="linenos">163</span>    <span class="n">scene_cfg</span> <span class="o">=</span> <span class="n">ContactSensorSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.0</span><span class="p">)</span>
+<span class="linenos">164</span>    <span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">scene_cfg</span><span class="p">)</span>
+<span class="linenos">165</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">166</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">167</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">168</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">169</span>    <span class="c1"># Run the simulator</span>
+<span class="linenos">170</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">)</span>
+<span class="linenos">171</span>
+<span class="linenos">172</span>
+<span class="linenos">173</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">174</span>    <span class="c1"># run the main function</span>
+<span class="linenos">175</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">176</span>    <span class="c1"># close sim app</span>
+<span class="linenos">177</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+
+
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diff --git a/v1.4.0/source/overview/sensors/frame_transformer.html b/v1.4.0/source/overview/sensors/frame_transformer.html
new file mode 100644
index 0000000000..eb24c9de16
--- /dev/null
+++ b/v1.4.0/source/overview/sensors/frame_transformer.html
@@ -0,0 +1,981 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" data-content_root="" >
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+    <h1>Frame Transformer</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
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+                  
+  <section id="frame-transformer">
+<span id="overview-sensors-frame-transformer"></span><h1>Frame Transformer<a class="headerlink" href="#frame-transformer" title="Permalink to this heading">#</a></h1>
+<figure class="align-center" style="width: 100%">
+<img alt="A diagram outlining the basic geometry of frame transformations" src="../../../_images/overview_sensors_frame_transformer.png" />
+</figure>
+<p>One of the most common operations that needs to be performed within a physics simulation is the frame transformation: rewriting a vector or quaternion in the basis of an arbitrary euclidean coordinate system. There are many ways to accomplish this within Isaac and USD, but these methods can be cumbersome to implement within Isaac Lab’s GPU based simulation and cloned environments. To mitigate this problem, we have designed the Frame Transformer Sensor, that tracks and calculate the relative frame transformations for rigid bodies of interest to the scene.</p>
+<p>The sensory is minimally defined by a source frame and a list of target frames.  These definitions take the form of a prim path (for the source) and list of regex capable prim paths the rigid bodies to be tracked (for the targets).</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">FrameTransformerSensorSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Design the scene with sensors on the robot.&quot;&quot;&quot;</span>
+
+    <span class="c1"># ground plane</span>
+    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+
+    <span class="c1"># lights</span>
+    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+    <span class="p">)</span>
+
+    <span class="c1"># robot</span>
+    <span class="n">robot</span> <span class="o">=</span> <span class="n">ANYMAL_C_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Rigid Object</span>
+    <span class="n">cube</span> <span class="o">=</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Cube&quot;</span><span class="p">,</span>
+        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+            <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">1</span><span class="p">,</span><span class="mi">1</span><span class="p">),</span>
+            <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(),</span>
+            <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">100.0</span><span class="p">),</span>
+            <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+            <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span><span class="p">(</span><span class="n">static_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+        <span class="p">),</span>
+        <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mi">5</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">)),</span>
+    <span class="p">)</span>
+
+    <span class="n">specific_transforms</span> <span class="o">=</span> <span class="n">FrameTransformerCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base&quot;</span><span class="p">,</span>
+        <span class="n">target_frames</span><span class="o">=</span><span class="p">[</span>
+            <span class="n">FrameTransformerCfg</span><span class="o">.</span><span class="n">FrameCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/LF_FOOT&quot;</span><span class="p">),</span>
+            <span class="n">FrameTransformerCfg</span><span class="o">.</span><span class="n">FrameCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/RF_FOOT&quot;</span><span class="p">),</span>
+        <span class="p">],</span>
+        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">cube_transform</span> <span class="o">=</span> <span class="n">FrameTransformerCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base&quot;</span><span class="p">,</span>
+        <span class="n">target_frames</span><span class="o">=</span><span class="p">[</span>
+            <span class="n">FrameTransformerCfg</span><span class="o">.</span><span class="n">FrameCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Cube&quot;</span><span class="p">)</span>
+        <span class="p">],</span>
+        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+    <span class="p">)</span>
+
+    <span class="n">robot_transforms</span> <span class="o">=</span> <span class="n">FrameTransformerCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base&quot;</span><span class="p">,</span>
+        <span class="n">target_frames</span><span class="o">=</span><span class="p">[</span>
+            <span class="n">FrameTransformerCfg</span><span class="o">.</span><span class="n">FrameCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/.*&quot;</span><span class="p">)</span>
+        <span class="p">],</span>
+        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+<p>We can now run the scene and query the sensor for data</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+  <span class="o">.</span>
+  <span class="o">.</span>
+  <span class="o">.</span>
+  <span class="c1"># Simulate physics</span>
+  <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+    <span class="o">.</span>
+    <span class="o">.</span>
+    <span class="o">.</span>
+
+    <span class="c1"># print information from the sensors</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;specific_transforms&quot;</span><span class="p">])</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;relative transforms:&quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;specific_transforms&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">target_pos_source</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;relative orientations:&quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;specific_transforms&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">target_quat_source</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;cube_transform&quot;</span><span class="p">])</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;relative transform:&quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;cube_transform&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">target_pos_source</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot_transforms&quot;</span><span class="p">])</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;relative transforms:&quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot_transforms&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">target_pos_source</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Let’s take a look at the result for tracking specific objects. First, we can take a look at the data coming from the sensors on the feet</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>-------------------------------
+FrameTransformer<span class="w"> </span>@<span class="w"> </span><span class="s1">&#39;/World/envs/env_.*/Robot/base&#39;</span>:
+<span class="w">        </span>tracked<span class="w"> </span>body<span class="w"> </span>frames:<span class="w"> </span><span class="o">[</span><span class="s1">&#39;base&#39;</span>,<span class="w"> </span><span class="s1">&#39;LF_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;RF_FOOT&#39;</span><span class="o">]</span>
+<span class="w">        </span>number<span class="w"> </span>of<span class="w"> </span>envs:<span class="w"> </span><span class="m">1</span>
+<span class="w">        </span><span class="nb">source</span><span class="w"> </span>body<span class="w"> </span>frame:<span class="w"> </span>base
+<span class="w">        </span>target<span class="w"> </span>frames<span class="w"> </span><span class="o">(</span>count:<span class="w"> </span><span class="o">[</span><span class="s1">&#39;LF_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;RF_FOOT&#39;</span><span class="o">])</span>:<span class="w"> </span><span class="m">2</span>
+
+relative<span class="w"> </span>transforms:<span class="w"> </span>tensor<span class="o">([[[</span><span class="w"> </span><span class="m">0</span>.4658,<span class="w">  </span><span class="m">0</span>.3085,<span class="w"> </span>-0.4840<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w"> </span><span class="m">0</span>.4487,<span class="w"> </span>-0.2959,<span class="w"> </span>-0.4828<span class="o">]]]</span>,<span class="w"> </span><span class="nv">device</span><span class="o">=</span><span class="s1">&#39;cuda:0&#39;</span><span class="o">)</span>
+relative<span class="w"> </span>orientations:<span class="w"> </span>tensor<span class="o">([[[</span><span class="w"> </span><span class="m">0</span>.9623,<span class="w">  </span><span class="m">0</span>.0072,<span class="w"> </span>-0.2717,<span class="w"> </span>-0.0020<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w"> </span><span class="m">0</span>.9639,<span class="w">  </span><span class="m">0</span>.0052,<span class="w"> </span>-0.2663,<span class="w"> </span>-0.0014<span class="o">]]]</span>,<span class="w"> </span><span class="nv">device</span><span class="o">=</span><span class="s1">&#39;cuda:0&#39;</span><span class="o">)</span>
+</pre></div>
+</div>
+<figure class="align-center" style="width: 100%">
+<img alt="The frame transformer visualizer" src="../../../_images/overview_sensors_ft_visualizer.png" />
+</figure>
+<p>By activating the visualizer, we can see that the frames of the feet are rotated “upward” slightly.  We can also see the explicit relative positions and rotations by querying the sensor for data, which returns these values as a list with the same order as the tracked frames.  This becomes even more apparent if we examine the transforms specified by regex.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>-------------------------------
+FrameTransformer<span class="w"> </span>@<span class="w"> </span><span class="s1">&#39;/World/envs/env_.*/Robot/base&#39;</span>:
+<span class="w">        </span>tracked<span class="w"> </span>body<span class="w"> </span>frames:<span class="w"> </span><span class="o">[</span><span class="s1">&#39;base&#39;</span>,<span class="w"> </span><span class="s1">&#39;LF_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;LF_HIP&#39;</span>,<span class="w"> </span><span class="s1">&#39;LF_SHANK&#39;</span>,<span class="w"> </span><span class="s1">&#39;LF_THIGH&#39;</span>,<span class="w"> </span><span class="s1">&#39;LH_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;LH_HIP&#39;</span>,<span class="w"> </span><span class="s1">&#39;LH_SHANK&#39;</span>,<span class="w"> </span><span class="s1">&#39;LH_THIGH&#39;</span>,<span class="w"> </span><span class="s1">&#39;RF_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;RF_HIP&#39;</span>,<span class="w"> </span><span class="s1">&#39;RF_SHANK&#39;</span>,<span class="w"> </span><span class="s1">&#39;RF_THIGH&#39;</span>,<span class="w"> </span><span class="s1">&#39;RH_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;RH_HIP&#39;</span>,<span class="w"> </span><span class="s1">&#39;RH_SHANK&#39;</span>,<span class="w"> </span><span class="s1">&#39;RH_THIGH&#39;</span>,<span class="w"> </span><span class="s1">&#39;base&#39;</span><span class="o">]</span>
+<span class="w">        </span>number<span class="w"> </span>of<span class="w"> </span>envs:<span class="w"> </span><span class="m">1</span>
+<span class="w">        </span><span class="nb">source</span><span class="w"> </span>body<span class="w"> </span>frame:<span class="w"> </span>base
+<span class="w">        </span>target<span class="w"> </span>frames<span class="w"> </span><span class="o">(</span>count:<span class="w"> </span><span class="o">[</span><span class="s1">&#39;LF_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;LF_HIP&#39;</span>,<span class="w"> </span><span class="s1">&#39;LF_SHANK&#39;</span>,<span class="w"> </span><span class="s1">&#39;LF_THIGH&#39;</span>,<span class="w"> </span><span class="s1">&#39;LH_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;LH_HIP&#39;</span>,<span class="w"> </span><span class="s1">&#39;LH_SHANK&#39;</span>,<span class="w"> </span><span class="s1">&#39;LH_THIGH&#39;</span>,<span class="w"> </span><span class="s1">&#39;RF_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;RF_HIP&#39;</span>,<span class="w"> </span><span class="s1">&#39;RF_SHANK&#39;</span>,<span class="w"> </span><span class="s1">&#39;RF_THIGH&#39;</span>,<span class="w"> </span><span class="s1">&#39;RH_FOOT&#39;</span>,<span class="w"> </span><span class="s1">&#39;RH_HIP&#39;</span>,<span class="w"> </span><span class="s1">&#39;RH_SHANK&#39;</span>,<span class="w"> </span><span class="s1">&#39;RH_THIGH&#39;</span>,<span class="w"> </span><span class="s1">&#39;base&#39;</span><span class="o">])</span>:<span class="w"> </span><span class="m">17</span>
+
+relative<span class="w"> </span>transforms:<span class="w"> </span>tensor<span class="o">([[[</span><span class="w"> </span><span class="m">4</span>.6581e-01,<span class="w">  </span><span class="m">3</span>.0846e-01,<span class="w"> </span>-4.8398e-01<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w"> </span><span class="m">2</span>.9990e-01,<span class="w">  </span><span class="m">1</span>.0400e-01,<span class="w"> </span>-1.7062e-09<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w"> </span><span class="m">2</span>.1409e-01,<span class="w">  </span><span class="m">2</span>.9177e-01,<span class="w"> </span>-2.4214e-01<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w"> </span><span class="m">3</span>.5980e-01,<span class="w">  </span><span class="m">1</span>.8780e-01,<span class="w">  </span><span class="m">1</span>.2608e-03<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span>-4.8813e-01,<span class="w">  </span><span class="m">3</span>.0973e-01,<span class="w"> </span>-4.5927e-01<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span>-2.9990e-01,<span class="w">  </span><span class="m">1</span>.0400e-01,<span class="w">  </span><span class="m">2</span>.7044e-09<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span>-2.1495e-01,<span class="w">  </span><span class="m">2</span>.9264e-01,<span class="w"> </span>-2.4198e-01<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span>-3.5980e-01,<span class="w">  </span><span class="m">1</span>.8780e-01,<span class="w">  </span><span class="m">1</span>.5582e-03<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w"> </span><span class="m">4</span>.4871e-01,<span class="w"> </span>-2.9593e-01,<span class="w"> </span>-4.8277e-01<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w"> </span><span class="m">2</span>.9990e-01,<span class="w"> </span>-1.0400e-01,<span class="w"> </span>-2.7057e-09<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w"> </span><span class="m">1</span>.9971e-01,<span class="w"> </span>-2.8554e-01,<span class="w"> </span>-2.3778e-01<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w"> </span><span class="m">3</span>.5980e-01,<span class="w"> </span>-1.8781e-01,<span class="w"> </span>-9.1049e-04<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span>-5.0090e-01,<span class="w"> </span>-2.9095e-01,<span class="w"> </span>-4.5746e-01<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span>-2.9990e-01,<span class="w"> </span>-1.0400e-01,<span class="w">  </span><span class="m">6</span>.3592e-09<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span>-2.1860e-01,<span class="w"> </span>-2.8251e-01,<span class="w"> </span>-2.5163e-01<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span>-3.5980e-01,<span class="w"> </span>-1.8779e-01,<span class="w"> </span>-1.8792e-03<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w"> </span><span class="m">0</span>.0000e+00,<span class="w">  </span><span class="m">0</span>.0000e+00,<span class="w">  </span><span class="m">0</span>.0000e+00<span class="o">]]]</span>,<span class="w"> </span><span class="nv">device</span><span class="o">=</span><span class="s1">&#39;cuda:0&#39;</span><span class="o">)</span>
+</pre></div>
+</div>
+<p>Here, the sensor is tracking all rigid body children of <code class="docutils literal notranslate"><span class="pre">Robot/base</span></code>, but this expression is <strong>inclusive</strong>, meaning that the source body itself is also a target. This can be seen both by examining the source and target list, where <code class="docutils literal notranslate"><span class="pre">base</span></code> appears twice, and also in the returned data, where the sensor returns the relative transform to itself, (0, 0, 0).</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for frame_transformer_sensor.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos">  7</span>
+<span class="linenos">  8</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos">  9</span>
+<span class="linenos"> 10</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 11</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on adding sensors on a robot.&quot;</span><span class="p">)</span>
+<span class="linenos"> 12</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to spawn.&quot;</span><span class="p">)</span>
+<span class="linenos"> 13</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 14</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 15</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 16</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 17</span>
+<span class="linenos"> 18</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 19</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 20</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 21</span>
+<span class="linenos"> 22</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 23</span>
+<span class="linenos"> 24</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 25</span>
+<span class="linenos"> 26</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 27</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">AssetBaseCfg</span><span class="p">,</span> <span class="n">RigidObjectCfg</span>
+<span class="linenos"> 28</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span><span class="p">,</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos"> 29</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors</span> <span class="kn">import</span> <span class="n">FrameTransformerCfg</span>
+<span class="linenos"> 30</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos"> 31</span>
+<span class="linenos"> 32</span><span class="c1">##</span>
+<span class="linenos"> 33</span><span class="c1"># Pre-defined configs</span>
+<span class="linenos"> 34</span><span class="c1">##</span>
+<span class="linenos"> 35</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets.anymal</span> <span class="kn">import</span> <span class="n">ANYMAL_C_CFG</span>  <span class="c1"># isort: skip</span>
+<span class="linenos"> 36</span>
+<span class="linenos"> 37</span>
+<span class="linenos"> 38</span><span class="nd">@configclass</span>
+<span class="linenos"> 39</span><span class="k">class</span> <span class="nc">FrameTransformerSensorSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="linenos"> 40</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Design the scene with sensors on the robot.&quot;&quot;&quot;</span>
+<span class="linenos"> 41</span>
+<span class="linenos"> 42</span>    <span class="c1"># ground plane</span>
+<span class="linenos"> 43</span>    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+<span class="linenos"> 44</span>
+<span class="linenos"> 45</span>    <span class="c1"># lights</span>
+<span class="linenos"> 46</span>    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 47</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos"> 48</span>    <span class="p">)</span>
+<span class="linenos"> 49</span>
+<span class="linenos"> 50</span>    <span class="c1"># robot</span>
+<span class="linenos"> 51</span>    <span class="n">robot</span> <span class="o">=</span> <span class="n">ANYMAL_C_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+<span class="linenos"> 52</span>
+<span class="linenos"> 53</span>    <span class="c1"># Rigid Object</span>
+<span class="linenos"> 54</span>    <span class="n">cube</span> <span class="o">=</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+<span class="linenos"> 55</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Cube&quot;</span><span class="p">,</span>
+<span class="linenos"> 56</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+<span class="linenos"> 57</span>            <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span>
+<span class="linenos"> 58</span>            <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(),</span>
+<span class="linenos"> 59</span>            <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">100.0</span><span class="p">),</span>
+<span class="linenos"> 60</span>            <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+<span class="linenos"> 61</span>            <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span><span class="p">(</span><span class="n">static_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+<span class="linenos"> 62</span>            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+<span class="linenos"> 63</span>        <span class="p">),</span>
+<span class="linenos"> 64</span>        <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mi">5</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">)),</span>
+<span class="linenos"> 65</span>    <span class="p">)</span>
+<span class="linenos"> 66</span>
+<span class="linenos"> 67</span>    <span class="n">specific_transforms</span> <span class="o">=</span> <span class="n">FrameTransformerCfg</span><span class="p">(</span>
+<span class="linenos"> 68</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base&quot;</span><span class="p">,</span>
+<span class="linenos"> 69</span>        <span class="n">target_frames</span><span class="o">=</span><span class="p">[</span>
+<span class="linenos"> 70</span>            <span class="n">FrameTransformerCfg</span><span class="o">.</span><span class="n">FrameCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/LF_FOOT&quot;</span><span class="p">),</span>
+<span class="linenos"> 71</span>            <span class="n">FrameTransformerCfg</span><span class="o">.</span><span class="n">FrameCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/RF_FOOT&quot;</span><span class="p">),</span>
+<span class="linenos"> 72</span>        <span class="p">],</span>
+<span class="linenos"> 73</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos"> 74</span>    <span class="p">)</span>
+<span class="linenos"> 75</span>
+<span class="linenos"> 76</span>    <span class="n">cube_transform</span> <span class="o">=</span> <span class="n">FrameTransformerCfg</span><span class="p">(</span>
+<span class="linenos"> 77</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base&quot;</span><span class="p">,</span>
+<span class="linenos"> 78</span>        <span class="n">target_frames</span><span class="o">=</span><span class="p">[</span><span class="n">FrameTransformerCfg</span><span class="o">.</span><span class="n">FrameCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Cube&quot;</span><span class="p">)],</span>
+<span class="linenos"> 79</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos"> 80</span>    <span class="p">)</span>
+<span class="linenos"> 81</span>
+<span class="linenos"> 82</span>    <span class="n">robot_transforms</span> <span class="o">=</span> <span class="n">FrameTransformerCfg</span><span class="p">(</span>
+<span class="linenos"> 83</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base&quot;</span><span class="p">,</span>
+<span class="linenos"> 84</span>        <span class="n">target_frames</span><span class="o">=</span><span class="p">[</span><span class="n">FrameTransformerCfg</span><span class="o">.</span><span class="n">FrameCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/.*&quot;</span><span class="p">)],</span>
+<span class="linenos"> 85</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos"> 86</span>    <span class="p">)</span>
+<span class="linenos"> 87</span>
+<span class="linenos"> 88</span>
+<span class="linenos"> 89</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+<span class="linenos"> 90</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Run the simulator.&quot;&quot;&quot;</span>
+<span class="linenos"> 91</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos"> 92</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos"> 93</span>    <span class="n">sim_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos"> 94</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos"> 95</span>
+<span class="linenos"> 96</span>    <span class="c1"># Simulate physics</span>
+<span class="linenos"> 97</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos"> 98</span>
+<span class="linenos"> 99</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">500</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">100</span>            <span class="c1"># reset counter</span>
+<span class="linenos">101</span>            <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">102</span>            <span class="c1"># reset the scene entities</span>
+<span class="linenos">103</span>            <span class="c1"># root state</span>
+<span class="linenos">104</span>            <span class="c1"># we offset the root state by the origin since the states are written in simulation world frame</span>
+<span class="linenos">105</span>            <span class="c1"># if this is not done, then the robots will be spawned at the (0, 0, 0) of the simulation world</span>
+<span class="linenos">106</span>            <span class="n">root_state</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">107</span>            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span>
+<span class="linenos">108</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos">109</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+<span class="linenos">110</span>            <span class="c1"># set joint positions with some noise</span>
+<span class="linenos">111</span>            <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span> <span class="o">=</span> <span class="p">(</span>
+<span class="linenos">112</span>                <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span>
+<span class="linenos">113</span>                <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span>
+<span class="linenos">114</span>            <span class="p">)</span>
+<span class="linenos">115</span>            <span class="n">joint_pos</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand_like</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.1</span>
+<span class="linenos">116</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span>
+<span class="linenos">117</span>            <span class="c1"># clear internal buffers</span>
+<span class="linenos">118</span>            <span class="n">scene</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">119</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting robot state...&quot;</span><span class="p">)</span>
+<span class="linenos">120</span>        <span class="c1"># Apply default actions to the robot</span>
+<span class="linenos">121</span>        <span class="c1"># -- generate actions/commands</span>
+<span class="linenos">122</span>        <span class="n">targets</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span>
+<span class="linenos">123</span>        <span class="c1"># -- apply action to the robot</span>
+<span class="linenos">124</span>        <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">set_joint_position_target</span><span class="p">(</span><span class="n">targets</span><span class="p">)</span>
+<span class="linenos">125</span>        <span class="c1"># -- write data to sim</span>
+<span class="linenos">126</span>        <span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">127</span>        <span class="c1"># perform step</span>
+<span class="linenos">128</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">129</span>        <span class="c1"># update sim-time</span>
+<span class="linenos">130</span>        <span class="n">sim_time</span> <span class="o">+=</span> <span class="n">sim_dt</span>
+<span class="linenos">131</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">132</span>        <span class="c1"># update buffers</span>
+<span class="linenos">133</span>        <span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">134</span>
+<span class="linenos">135</span>        <span class="c1"># print information from the sensors</span>
+<span class="linenos">136</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+<span class="linenos">137</span>        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;specific_transforms&quot;</span><span class="p">])</span>
+<span class="linenos">138</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;relative transforms:&quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;specific_transforms&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">target_pos_source</span><span class="p">)</span>
+<span class="linenos">139</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;relative orientations:&quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;specific_transforms&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">target_quat_source</span><span class="p">)</span>
+<span class="linenos">140</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+<span class="linenos">141</span>        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;cube_transform&quot;</span><span class="p">])</span>
+<span class="linenos">142</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;relative transform:&quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;cube_transform&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">target_pos_source</span><span class="p">)</span>
+<span class="linenos">143</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+<span class="linenos">144</span>        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot_transforms&quot;</span><span class="p">])</span>
+<span class="linenos">145</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;relative transforms:&quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot_transforms&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">target_pos_source</span><span class="p">)</span>
+<span class="linenos">146</span>
+<span class="linenos">147</span>
+<span class="linenos">148</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">149</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">150</span>
+<span class="linenos">151</span>    <span class="c1"># Initialize the simulation context</span>
+<span class="linenos">152</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.005</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">153</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">154</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">155</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">(</span><span class="n">eye</span><span class="o">=</span><span class="p">[</span><span class="mf">3.5</span><span class="p">,</span> <span class="mf">3.5</span><span class="p">,</span> <span class="mf">3.5</span><span class="p">],</span> <span class="n">target</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+<span class="linenos">156</span>    <span class="c1"># design scene</span>
+<span class="linenos">157</span>    <span class="n">scene_cfg</span> <span class="o">=</span> <span class="n">FrameTransformerSensorSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.0</span><span class="p">)</span>
+<span class="linenos">158</span>    <span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">scene_cfg</span><span class="p">)</span>
+<span class="linenos">159</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">160</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">161</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">162</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">163</span>    <span class="c1"># Run the simulator</span>
+<span class="linenos">164</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">)</span>
+<span class="linenos">165</span>
+<span class="linenos">166</span>
+<span class="linenos">167</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">168</span>    <span class="c1"># run the main function</span>
+<span class="linenos">169</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">170</span>    <span class="c1"># close sim app</span>
+<span class="linenos">171</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+
+
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diff --git a/v1.4.0/source/overview/sensors/index.html b/v1.4.0/source/overview/sensors/index.html
new file mode 100644
index 0000000000..8f3643f246
--- /dev/null
+++ b/v1.4.0/source/overview/sensors/index.html
@@ -0,0 +1,687 @@
+
+
+<!DOCTYPE html>
+
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+<html lang="en" data-content_root="" >
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+  <section id="sensors">
+<span id="overview-sensors"></span><h1>Sensors<a class="headerlink" href="#sensors" title="Permalink to this heading">#</a></h1>
+<p>In this section, we will overview the various sensor APIs provided by Isaac Lab.</p>
+<p>Every sensor in Isaac Lab inherits from the <code class="docutils literal notranslate"><span class="pre">SensorBase</span></code> abstract class that provides the core functionality inherent to all sensors, which is to provide access to “measurements” of the scene. These measurements can take many forms such as ray-casting results, camera rendered images, or even simply ground truth data queried directly from the simulation (such as poses). Whatever the data may be, we can think of the sensor as having a buffer that is periodically updated with measurements by querying the scene. This <code class="docutils literal notranslate"><span class="pre">update_period</span></code> is defined in “simulated” seconds, meaning that even if the flow of time in the simulation is dilated relative to the real world, the sensor will update at the appropriate rate. The <code class="docutils literal notranslate"><span class="pre">SensorBase</span></code> is also designed with vectorizability in mind, holding the buffers for all copies of the sensor across cloned environments.</p>
+<p>Updating the buffers is done by overriding the <code class="docutils literal notranslate"><span class="pre">_update_buffers_impl</span></code> abstract method of the <code class="docutils literal notranslate"><span class="pre">SensorBase</span></code> class. On every time-step of the simulation, <code class="docutils literal notranslate"><span class="pre">dt</span></code>, all sensors are queried for an update. During this query, the total time since the last update is incremented by <code class="docutils literal notranslate"><span class="pre">dt</span></code> for every buffer managed by that particular sensor. If the total time is greater than or equal to the <code class="docutils literal notranslate"><span class="pre">update_period</span></code> for a buffer, then that buffer is flagged to be updated on the next query.</p>
+<p>The following pages describe the available sensors in more detail:</p>
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+    <h1>Ray Caster</h1>
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+  <section id="ray-caster">
+<span id="overview-sensors-ray-caster"></span><h1>Ray Caster<a class="headerlink" href="#ray-caster" title="Permalink to this heading">#</a></h1>
+<figure class="align-center" style="width: 100%">
+<img alt="A diagram outlining the basic geometry of frame transformations" src="../../../_images/overview_sensors_rc_patterns.png" />
+</figure>
+<p>The Ray Caster sensor (and the ray caster camera) are similar to RTX based rendering in that they both involve casting rays.  The difference here is that the rays cast by the Ray Caster sensor return strictly collision information along the cast, and the direction of each individual ray can be specified.  They do not bounce, nor are they affected by things like materials or opacity. For each ray specified by the sensor, a line is traced along the path of the ray and the location of first collision with the specified mesh is returned. This is the method used by some of our quadruped examples to measure the local height field.</p>
+<p>To keep the sensor performant when there are many cloned environments, the line tracing is done directly in <a class="reference external" href="https://nvidia.github.io/warp/">Warp</a>. This is the reason why specific meshes need to be identified to cast against: that mesh data is loaded onto the device by warp when the sensor is initialized. As a consequence, the current iteration of this sensor only works for literally static meshes (meshes that <em>are not changed from the defaults specified in their USD file</em>).  This constraint will be removed in future releases.</p>
+<p>Using a ray caster sensor requires a <strong>pattern</strong> and a parent xform to be attached to.  The pattern defines how the rays are cast, while the prim properties defines the orientation and position of the sensor (additional offsets can be specified for more exact placement).  Isaac Lab supports a number of ray casting pattern configurations, including a generic LIDAR and grid pattern.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RaycasterSensorSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Design the scene with sensors on the robot.&quot;&quot;&quot;</span>
+
+    <span class="c1"># ground plane with texture for interesting casting results</span>
+    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Ground&quot;</span><span class="p">,</span>
+        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+            <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Environments/Terrains/rough_plane.usd&quot;</span><span class="p">,</span>
+            <span class="n">scale</span> <span class="o">=</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">1</span><span class="p">,</span><span class="mi">1</span><span class="p">),</span>
+        <span class="p">)</span>
+    <span class="p">)</span>
+
+    <span class="c1"># lights</span>
+    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+    <span class="p">)</span>
+
+    <span class="c1"># robot</span>
+    <span class="n">robot</span> <span class="o">=</span> <span class="n">ANYMAL_C_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+
+    <span class="n">ray_caster</span> <span class="o">=</span> <span class="n">RayCasterCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base/lidar_cage&quot;</span><span class="p">,</span>
+        <span class="n">update_period</span> <span class="o">=</span> <span class="mi">1</span><span class="o">/</span><span class="mi">60</span><span class="p">,</span>
+        <span class="n">offset</span><span class="o">=</span><span class="n">RayCasterCfg</span><span class="o">.</span><span class="n">OffsetCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span><span class="mi">0</span><span class="p">,</span><span class="mf">0.5</span><span class="p">)),</span>
+        <span class="n">mesh_prim_paths</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;/World/Ground&quot;</span><span class="p">],</span>
+        <span class="n">attach_yaw_only</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">pattern_cfg</span><span class="o">=</span><span class="n">patterns</span><span class="o">.</span><span class="n">LidarPatternCfg</span><span class="p">(</span>
+          <span class="n">channels</span> <span class="o">=</span> <span class="mi">100</span><span class="p">,</span>
+          <span class="n">vertical_fov_range</span><span class="o">=</span><span class="p">[</span><span class="o">-</span><span class="mi">90</span><span class="p">,</span> <span class="mi">90</span><span class="p">],</span>
+          <span class="n">horizontal_fov_range</span> <span class="o">=</span> <span class="p">[</span><span class="o">-</span><span class="mi">90</span><span class="p">,</span><span class="mi">90</span><span class="p">],</span>
+          <span class="n">horizontal_res</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+<p>Notice that the units on the pattern config is in degrees! Also, we enable visualization here to explicitly show the pattern in the rendering, but this is not required and should be disabled for performance tuning.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="Lidar Pattern visualized" src="../../../_images/overview_sensors_rc_visualizer.png" />
+</figure>
+<p>Querying the sensor for data can be done at simulation run time like any other sensor.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+  <span class="o">.</span>
+  <span class="o">.</span>
+  <span class="o">.</span>
+  <span class="c1"># Simulate physics</span>
+  <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+    <span class="o">.</span>
+    <span class="o">.</span>
+    <span class="o">.</span>
+    <span class="c1"># print information from the sensors</span>
+      <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+      <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;ray_caster&quot;</span><span class="p">])</span>
+      <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Ray cast hit results: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;ray_caster&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">ray_hits_w</span><span class="p">)</span>
+</pre></div>
+</div>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>-------------------------------
+Ray-caster<span class="w"> </span>@<span class="w"> </span><span class="s1">&#39;/World/envs/env_.*/Robot/base/lidar_cage&#39;</span>:
+<span class="w">        </span>view<span class="w"> </span><span class="nb">type</span><span class="w">            </span>:<span class="w"> </span>&lt;class<span class="w"> </span><span class="s1">&#39;omni.isaac.core.prims.xform_prim_view.XFormPrimView&#39;</span>&gt;
+<span class="w">        </span>update<span class="w"> </span>period<span class="w"> </span><span class="o">(</span>s<span class="o">)</span><span class="w">    </span>:<span class="w"> </span><span class="m">0</span>.016666666666666666
+<span class="w">        </span>number<span class="w"> </span>of<span class="w"> </span>meshes<span class="w">     </span>:<span class="w"> </span><span class="m">1</span>
+<span class="w">        </span>number<span class="w"> </span>of<span class="w"> </span>sensors<span class="w">    </span>:<span class="w"> </span><span class="m">1</span>
+<span class="w">        </span>number<span class="w"> </span>of<span class="w"> </span>rays/sensor:<span class="w"> </span><span class="m">18000</span>
+<span class="w">        </span>total<span class="w"> </span>number<span class="w"> </span>of<span class="w"> </span>rays<span class="w"> </span>:<span class="w"> </span><span class="m">18000</span>
+Ray<span class="w"> </span>cast<span class="w"> </span>hit<span class="w"> </span>results:<span class="w">  </span>tensor<span class="o">([[[</span>-0.3698,<span class="w">  </span><span class="m">0</span>.0357,<span class="w">  </span><span class="m">0</span>.0000<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span>-0.3698,<span class="w">  </span><span class="m">0</span>.0357,<span class="w">  </span><span class="m">0</span>.0000<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span>-0.3698,<span class="w">  </span><span class="m">0</span>.0357,<span class="w">  </span><span class="m">0</span>.0000<span class="o">]</span>,
+<span class="w">        </span>...,
+<span class="w">        </span><span class="o">[</span><span class="w">    </span>inf,<span class="w">     </span>inf,<span class="w">     </span>inf<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w">    </span>inf,<span class="w">     </span>inf,<span class="w">     </span>inf<span class="o">]</span>,
+<span class="w">        </span><span class="o">[</span><span class="w">    </span>inf,<span class="w">     </span>inf,<span class="w">     </span>inf<span class="o">]]]</span>,<span class="w"> </span><span class="nv">device</span><span class="o">=</span><span class="s1">&#39;cuda:0&#39;</span><span class="o">)</span>
+-------------------------------
+</pre></div>
+</div>
+<p>Here we can see the data returned by the sensor itself.  Notice first that there are 3 closed brackets at the beginning and the end: this is because the data returned is batched by the number of sensors. The ray cast pattern itself has also been flattened, and so the dimensions of the array are <code class="docutils literal notranslate"><span class="pre">[N,</span> <span class="pre">B,</span> <span class="pre">3]</span></code> where <code class="docutils literal notranslate"><span class="pre">N</span></code> is the number of sensors, <code class="docutils literal notranslate"><span class="pre">B</span></code> is the number of cast rays in the pattern, and 3 is the dimension of the casting space. Finally, notice that the first several values in this casting pattern are the same: this is because the lidar pattern is spherical and we have specified our FOV  to be hemispherical, which includes the poles. In this configuration, the “flattening pattern” becomes apparent: the first 180 entries will be the same because it’s the bottom pole of this hemisphere, and there will be 180 of them because our horizontal FOV is 180 degrees with a resolution of 1 degree.</p>
+<p>You can use this script to experiment with pattern configurations and build an intuition about how the data is stored by altering the <code class="docutils literal notranslate"><span class="pre">triggered</span></code> variable on line 99.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for raycaster_sensor.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos">  7</span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="linenos">  8</span>
+<span class="linenos">  9</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 10</span>
+<span class="linenos"> 11</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 12</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on adding sensors on a robot.&quot;</span><span class="p">)</span>
+<span class="linenos"> 13</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to spawn.&quot;</span><span class="p">)</span>
+<span class="linenos"> 14</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 15</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 16</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 17</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 18</span>
+<span class="linenos"> 19</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 20</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 21</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 22</span>
+<span class="linenos"> 23</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 24</span>
+<span class="linenos"> 25</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 26</span>
+<span class="linenos"> 27</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 28</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">AssetBaseCfg</span>
+<span class="linenos"> 29</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span><span class="p">,</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos"> 30</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors.ray_caster</span> <span class="kn">import</span> <span class="n">RayCasterCfg</span><span class="p">,</span> <span class="n">patterns</span>
+<span class="linenos"> 31</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos"> 32</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">ISAAC_NUCLEUS_DIR</span>
+<span class="linenos"> 33</span>
+<span class="linenos"> 34</span><span class="c1">##</span>
+<span class="linenos"> 35</span><span class="c1"># Pre-defined configs</span>
+<span class="linenos"> 36</span><span class="c1">##</span>
+<span class="linenos"> 37</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets.anymal</span> <span class="kn">import</span> <span class="n">ANYMAL_C_CFG</span>  <span class="c1"># isort: skip</span>
+<span class="linenos"> 38</span>
+<span class="linenos"> 39</span>
+<span class="linenos"> 40</span><span class="nd">@configclass</span>
+<span class="linenos"> 41</span><span class="k">class</span> <span class="nc">RaycasterSensorSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="linenos"> 42</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Design the scene with sensors on the robot.&quot;&quot;&quot;</span>
+<span class="linenos"> 43</span>
+<span class="linenos"> 44</span>    <span class="c1"># ground plane</span>
+<span class="linenos"> 45</span>    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 46</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Ground&quot;</span><span class="p">,</span>
+<span class="linenos"> 47</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+<span class="linenos"> 48</span>            <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Environments/Terrains/rough_plane.usd&quot;</span><span class="p">,</span>
+<span class="linenos"> 49</span>            <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">),</span>
+<span class="linenos"> 50</span>        <span class="p">),</span>
+<span class="linenos"> 51</span>    <span class="p">)</span>
+<span class="linenos"> 52</span>
+<span class="linenos"> 53</span>    <span class="c1"># lights</span>
+<span class="linenos"> 54</span>    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 55</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos"> 56</span>    <span class="p">)</span>
+<span class="linenos"> 57</span>
+<span class="linenos"> 58</span>    <span class="c1"># robot</span>
+<span class="linenos"> 59</span>    <span class="n">robot</span> <span class="o">=</span> <span class="n">ANYMAL_C_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+<span class="linenos"> 60</span>
+<span class="linenos"> 61</span>    <span class="n">ray_caster</span> <span class="o">=</span> <span class="n">RayCasterCfg</span><span class="p">(</span>
+<span class="linenos"> 62</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base/lidar_cage&quot;</span><span class="p">,</span>
+<span class="linenos"> 63</span>        <span class="n">update_period</span><span class="o">=</span><span class="mi">1</span> <span class="o">/</span> <span class="mi">60</span><span class="p">,</span>
+<span class="linenos"> 64</span>        <span class="n">offset</span><span class="o">=</span><span class="n">RayCasterCfg</span><span class="o">.</span><span class="n">OffsetCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">)),</span>
+<span class="linenos"> 65</span>        <span class="n">mesh_prim_paths</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;/World/Ground&quot;</span><span class="p">],</span>
+<span class="linenos"> 66</span>        <span class="n">attach_yaw_only</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos"> 67</span>        <span class="n">pattern_cfg</span><span class="o">=</span><span class="n">patterns</span><span class="o">.</span><span class="n">LidarPatternCfg</span><span class="p">(</span>
+<span class="linenos"> 68</span>            <span class="n">channels</span><span class="o">=</span><span class="mi">100</span><span class="p">,</span> <span class="n">vertical_fov_range</span><span class="o">=</span><span class="p">[</span><span class="o">-</span><span class="mi">90</span><span class="p">,</span> <span class="mi">90</span><span class="p">],</span> <span class="n">horizontal_fov_range</span><span class="o">=</span><span class="p">[</span><span class="o">-</span><span class="mi">90</span><span class="p">,</span> <span class="mi">90</span><span class="p">],</span> <span class="n">horizontal_res</span><span class="o">=</span><span class="mf">1.0</span>
+<span class="linenos"> 69</span>        <span class="p">),</span>
+<span class="linenos"> 70</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="ow">not</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">headless</span><span class="p">,</span>
+<span class="linenos"> 71</span>    <span class="p">)</span>
+<span class="linenos"> 72</span>
+<span class="linenos"> 73</span>
+<span class="linenos"> 74</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+<span class="linenos"> 75</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Run the simulator.&quot;&quot;&quot;</span>
+<span class="linenos"> 76</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos"> 77</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos"> 78</span>    <span class="n">sim_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos"> 79</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos"> 80</span>
+<span class="linenos"> 81</span>    <span class="n">triggered</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="linenos"> 82</span>    <span class="n">countdown</span> <span class="o">=</span> <span class="mi">42</span>
+<span class="linenos"> 83</span>
+<span class="linenos"> 84</span>    <span class="c1"># Simulate physics</span>
+<span class="linenos"> 85</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos"> 86</span>
+<span class="linenos"> 87</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">500</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos"> 88</span>            <span class="c1"># reset counter</span>
+<span class="linenos"> 89</span>            <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos"> 90</span>            <span class="c1"># reset the scene entities</span>
+<span class="linenos"> 91</span>            <span class="c1"># root state</span>
+<span class="linenos"> 92</span>            <span class="c1"># we offset the root state by the origin since the states are written in simulation world frame</span>
+<span class="linenos"> 93</span>            <span class="c1"># if this is not done, then the robots will be spawned at the (0, 0, 0) of the simulation world</span>
+<span class="linenos"> 94</span>            <span class="n">root_state</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos"> 95</span>            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span>
+<span class="linenos"> 96</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos"> 97</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+<span class="linenos"> 98</span>            <span class="c1"># set joint positions with some noise</span>
+<span class="linenos"> 99</span>            <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span> <span class="o">=</span> <span class="p">(</span>
+<span class="linenos">100</span>                <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span>
+<span class="linenos">101</span>                <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span>
+<span class="linenos">102</span>            <span class="p">)</span>
+<span class="linenos">103</span>            <span class="n">joint_pos</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand_like</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.1</span>
+<span class="linenos">104</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span>
+<span class="linenos">105</span>            <span class="c1"># clear internal buffers</span>
+<span class="linenos">106</span>            <span class="n">scene</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">107</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting robot state...&quot;</span><span class="p">)</span>
+<span class="linenos">108</span>        <span class="c1"># Apply default actions to the robot</span>
+<span class="linenos">109</span>        <span class="c1"># -- generate actions/commands</span>
+<span class="linenos">110</span>        <span class="n">targets</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span>
+<span class="linenos">111</span>        <span class="c1"># -- apply action to the robot</span>
+<span class="linenos">112</span>        <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">set_joint_position_target</span><span class="p">(</span><span class="n">targets</span><span class="p">)</span>
+<span class="linenos">113</span>        <span class="c1"># -- write data to sim</span>
+<span class="linenos">114</span>        <span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">115</span>        <span class="c1"># perform step</span>
+<span class="linenos">116</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">117</span>        <span class="c1"># update sim-time</span>
+<span class="linenos">118</span>        <span class="n">sim_time</span> <span class="o">+=</span> <span class="n">sim_dt</span>
+<span class="linenos">119</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">120</span>        <span class="c1"># update buffers</span>
+<span class="linenos">121</span>        <span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">122</span>
+<span class="linenos">123</span>        <span class="c1"># print information from the sensors</span>
+<span class="linenos">124</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+<span class="linenos">125</span>        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;ray_caster&quot;</span><span class="p">])</span>
+<span class="linenos">126</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Ray cast hit results: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;ray_caster&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">ray_hits_w</span><span class="p">)</span>
+<span class="linenos">127</span>
+<span class="linenos">128</span>        <span class="k">if</span> <span class="ow">not</span> <span class="n">triggered</span><span class="p">:</span>
+<span class="linenos">129</span>            <span class="k">if</span> <span class="n">countdown</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">130</span>                <span class="n">countdown</span> <span class="o">-=</span> <span class="mi">1</span>
+<span class="linenos">131</span>                <span class="k">continue</span>
+<span class="linenos">132</span>            <span class="n">data</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;ray_caster&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">ray_hits_w</span><span class="o">.</span><span class="n">cpu</span><span class="p">()</span><span class="o">.</span><span class="n">numpy</span><span class="p">()</span>
+<span class="linenos">133</span>            <span class="n">np</span><span class="o">.</span><span class="n">save</span><span class="p">(</span><span class="s2">&quot;cast_data.npy&quot;</span><span class="p">,</span> <span class="n">data</span><span class="p">)</span>
+<span class="linenos">134</span>            <span class="n">triggered</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="linenos">135</span>        <span class="k">else</span><span class="p">:</span>
+<span class="linenos">136</span>            <span class="k">continue</span>
+<span class="linenos">137</span>
+<span class="linenos">138</span>
+<span class="linenos">139</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">140</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">141</span>
+<span class="linenos">142</span>    <span class="c1"># Initialize the simulation context</span>
+<span class="linenos">143</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.005</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">144</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">145</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">146</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">(</span><span class="n">eye</span><span class="o">=</span><span class="p">[</span><span class="mf">3.5</span><span class="p">,</span> <span class="mf">3.5</span><span class="p">,</span> <span class="mf">3.5</span><span class="p">],</span> <span class="n">target</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+<span class="linenos">147</span>    <span class="c1"># design scene</span>
+<span class="linenos">148</span>    <span class="n">scene_cfg</span> <span class="o">=</span> <span class="n">RaycasterSensorSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.0</span><span class="p">)</span>
+<span class="linenos">149</span>    <span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">scene_cfg</span><span class="p">)</span>
+<span class="linenos">150</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">151</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">152</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">153</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">154</span>    <span class="c1"># Run the simulator</span>
+<span class="linenos">155</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">)</span>
+<span class="linenos">156</span>
+<span class="linenos">157</span>
+<span class="linenos">158</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">159</span>    <span class="c1"># run the main function</span>
+<span class="linenos">160</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">161</span>    <span class="c1"># close sim app</span>
+<span class="linenos">162</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+
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diff --git a/v1.4.0/source/overview/showroom.html b/v1.4.0/source/overview/showroom.html
new file mode 100644
index 0000000000..1719914b0f
--- /dev/null
+++ b/v1.4.0/source/overview/showroom.html
@@ -0,0 +1,815 @@
+
+
+<!DOCTYPE html>
+
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+    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
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+    this give us a css class that will be invisible only if js is disabled
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
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+      
+    </div>
+  
+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Showroom Demos</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="showroom-demos">
+<h1>Showroom Demos<a class="headerlink" href="#showroom-demos" title="Permalink to this heading">#</a></h1>
+<p>The main core interface extension in Isaac Lab <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab</span></code> provides
+the main modules for actuators, objects, robots and sensors. We provide
+a list of demo scripts and tutorials. These showcase how to use the provided
+interfaces within a code in a minimal way.</p>
+<p>A few quick showroom scripts to run and checkout:</p>
+<ul>
+<li><p>Spawn different quadrupeds and make robots stand using position commands:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-0" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-0">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/quadrupeds.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-1" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-1">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\demos\quadrupeds.py
+</pre></div>
+</div>
+</div>
+</div>
+<a class="reference internal image-reference" href="../../_images/quadrupeds.jpg"><img alt="Quadrupeds in Isaac Lab" src="../../_images/quadrupeds.jpg" style="width: 100%;" /></a>
+</li>
+<li><p>Spawn different arms and apply random joint position commands:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-2" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-2">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/arms.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-3" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-3">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\demos\arms.py
+</pre></div>
+</div>
+</div>
+</div>
+<a class="reference internal image-reference" href="../../_images/arms.jpg"><img alt="Arms in Isaac Lab" src="../../_images/arms.jpg" style="width: 100%;" /></a>
+</li>
+<li><p>Spawn different hands and command them to open and close:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-4" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-4">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/hands.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-5" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-5">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\demos\hands.py
+</pre></div>
+</div>
+</div>
+</div>
+<a class="reference internal image-reference" href="../../_images/hands.jpg"><img alt="Dexterous hands in Isaac Lab" src="../../_images/hands.jpg" style="width: 100%;" /></a>
+</li>
+<li><p>Spawn different deformable (soft) bodies and let them fall from a height:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-6" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-6">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/deformables.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-7" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-7">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\demos\deformables.py
+</pre></div>
+</div>
+</div>
+</div>
+<a class="reference internal image-reference" href="../../_images/deformables.jpg"><img alt="Deformable primitive-shaped objects in Isaac Lab" src="../../_images/deformables.jpg" style="width: 100%;" /></a>
+</li>
+<li><p>Use the interactive scene and spawn varying assets in individual environments:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-8" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-8">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/multi_asset.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-9" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-9">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\demos\multi_asset.py
+</pre></div>
+</div>
+</div>
+</div>
+<a class="reference internal image-reference" href="../../_images/multi_asset.jpg"><img alt="Multiple assets managed through the same simulation handles" src="../../_images/multi_asset.jpg" style="width: 100%;" /></a>
+</li>
+<li><p>Create and spawn procedurally generated terrains with different configurations:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-10" name="sd-tab-set-5" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-10">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/procedural_terrain.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-11" name="sd-tab-set-5" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-11">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\demos\procedural_terrain.py
+</pre></div>
+</div>
+</div>
+</div>
+<a class="reference internal image-reference" href="../../_images/procedural_terrain.jpg"><img alt="Procedural Terrains in Isaac Lab" src="../../_images/procedural_terrain.jpg" style="width: 100%;" /></a>
+</li>
+<li><p>Define multiple markers that are useful for visualizations:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-12" name="sd-tab-set-6" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-12">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/markers.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-13" name="sd-tab-set-6" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-13">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\demos\markers.py
+</pre></div>
+</div>
+</div>
+</div>
+<a class="reference internal image-reference" href="../../_images/markers.jpg"><img alt="Markers in Isaac Lab" src="../../_images/markers.jpg" style="width: 100%;" /></a>
+</li>
+</ul>
+</section>
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+      
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+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Simple Agents</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#workflows">Workflows</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#dummy-agents">Dummy agents</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#state-machine">State machine</a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="simple-agents">
+<h1>Simple Agents<a class="headerlink" href="#simple-agents" title="Permalink to this heading">#</a></h1>
+<section id="workflows">
+<h2>Workflows<a class="headerlink" href="#workflows" title="Permalink to this heading">#</a></h2>
+<p>With Isaac Lab, we also provide a suite of benchmark environments included
+in the <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks</span></code> extension. We use the OpenAI Gym registry
+to register these environments. For each environment, we provide a default
+configuration file that defines the scene, observations, rewards and action spaces.</p>
+<p>The list of environments available registered with OpenAI Gym can be found by running:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-0" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-0">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/environments/list_envs.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-1" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-1">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\environments\list_envs.py
+</pre></div>
+</div>
+</div>
+</div>
+<section id="dummy-agents">
+<h3>Dummy agents<a class="headerlink" href="#dummy-agents" title="Permalink to this heading">#</a></h3>
+<p>These include dummy agents that output zero or random agents. They are
+useful to ensure that the environments are configured correctly.</p>
+<ul class="simple">
+<li><p>Zero-action agent on the Cart-pole example</p></li>
+</ul>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-2" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-2">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/environments/zero_agent.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-3" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-3">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\environments\zero_agent.py --task Isaac-Cartpole-v0 --num_envs 32
+</pre></div>
+</div>
+</div>
+</div>
+<ul class="simple">
+<li><p>Random-action agent on the Cart-pole example:</p></li>
+</ul>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-4" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-4">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/environments/random_agent.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-5" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-5">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\environments\random_agent.py --task Isaac-Cartpole-v0 --num_envs 32
+</pre></div>
+</div>
+</div>
+</div>
+</section>
+<section id="state-machine">
+<h3>State machine<a class="headerlink" href="#state-machine" title="Permalink to this heading">#</a></h3>
+<p>We include examples on hand-crafted state machines for the environments. These
+help in understanding the environment and how to use the provided interfaces.
+The state machines are written in <a class="reference external" href="https://github.com/NVIDIA/warp">warp</a> which
+allows efficient execution for large number of environments using CUDA kernels.</p>
+<ul class="simple">
+<li><p>Picking up a cube and placing it at a desired pose with a robotic arm:</p></li>
+</ul>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-6" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-6">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/environments/state_machine/lift_cube_sm.py<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-7" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-7">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\environments\state_machine\lift_cube_sm.py --num_envs 32
+</pre></div>
+</div>
+</div>
+</div>
+<ul class="simple">
+<li><p>Picking up a deformable teddy bear and placing it at a desired pose with a robotic arm:</p></li>
+</ul>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-8" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-8">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/environments/state_machine/lift_teddy_bear.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-9" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-9">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat -p source\standalone\environments\state_machine\lift_teddy_bear.py
+</pre></div>
+</div>
+</div>
+</div>
+</section>
+</section>
+</section>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="teleoperation-and-imitation-learning">
+<h1>Teleoperation and Imitation Learning<a class="headerlink" href="#teleoperation-and-imitation-learning" title="Permalink to this heading">#</a></h1>
+<section id="teleoperation">
+<h2>Teleoperation<a class="headerlink" href="#teleoperation" title="Permalink to this heading">#</a></h2>
+<p>We provide interfaces for providing commands in SE(2) and SE(3) space
+for robot control. In case of SE(2) teleoperation, the returned command
+is the linear x-y velocity and yaw rate, while in SE(3), the returned
+command is a 6-D vector representing the change in pose.</p>
+<p>To play inverse kinematics (IK) control with a keyboard device:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/environments/teleoperation/teleop_se3_agent.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Lift-Cube-Franka-IK-Rel-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">1</span><span class="w"> </span>--teleop_device<span class="w"> </span>keyboard
+</pre></div>
+</div>
+<p>The script prints the teleoperation events configured. For keyboard,
+these are as follows:</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>Keyboard Controller for SE(3): Se3Keyboard
+    Reset all commands: L
+    Toggle gripper (open/close): K
+    Move arm along x-axis: W/S
+    Move arm along y-axis: A/D
+    Move arm along z-axis: Q/E
+    Rotate arm along x-axis: Z/X
+    Rotate arm along y-axis: T/G
+    Rotate arm along z-axis: C/V
+</pre></div>
+</div>
+</section>
+<section id="imitation-learning">
+<h2>Imitation Learning<a class="headerlink" href="#imitation-learning" title="Permalink to this heading">#</a></h2>
+<p>Using the teleoperation devices, it is also possible to collect data for
+learning from demonstrations (LfD). For this, we support the learning
+framework <a class="reference external" href="https://robomimic.github.io/">Robomimic</a> (Linux only) and allow saving
+data in
+<a class="reference external" href="https://robomimic.github.io/docs/tutorials/dataset_contents.html#viewing-hdf5-dataset-structure">HDF5</a>
+format.</p>
+<ol class="arabic">
+<li><p>Collect demonstrations with teleoperation for the environment
+<code class="docutils literal notranslate"><span class="pre">Isaac-Lift-Cube-Franka-IK-Rel-v0</span></code>:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># step a: collect data with keyboard</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/robomimic/collect_demonstrations.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Lift-Cube-Franka-IK-Rel-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">1</span><span class="w"> </span>--num_demos<span class="w"> </span><span class="m">10</span><span class="w"> </span>--teleop_device<span class="w"> </span>keyboard
+<span class="c1"># step b: inspect the collected dataset</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/robomimic/tools/inspect_demonstrations.py<span class="w"> </span>logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5
+</pre></div>
+</div>
+</li>
+<li><p>Split the dataset into train and validation set:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># install the dependencies</span>
+sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>cmake<span class="w"> </span>build-essential
+<span class="c1"># install python module (for robomimic)</span>
+./isaaclab.sh<span class="w"> </span>-i<span class="w"> </span>robomimic
+<span class="c1"># split data</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/robomimic/tools/split_train_val.py<span class="w"> </span>logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5<span class="w"> </span>--ratio<span class="w"> </span><span class="m">0</span>.2
+</pre></div>
+</div>
+</li>
+<li><p>Train a BC agent for <code class="docutils literal notranslate"><span class="pre">Isaac-Lift-Cube-Franka-IK-Rel-v0</span></code> with
+<a class="reference external" href="https://robomimic.github.io/">Robomimic</a>:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/robomimic/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Lift-Cube-Franka-IK-Rel-v0<span class="w"> </span>--algo<span class="w"> </span>bc<span class="w"> </span>--dataset<span class="w"> </span>logs/robomimic/Isaac-Lift-Cube-Franka-IK-Rel-v0/hdf_dataset.hdf5
+</pre></div>
+</div>
+</li>
+<li><p>Play the learned model to visualize results:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/robomimic/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Lift-Cube-Franka-IK-Rel-v0<span class="w"> </span>--checkpoint<span class="w"> </span>/PATH/TO/model.pth
+</pre></div>
+</div>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+</div>
+              
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Additional Resources</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#sim-to-real-resources">Sim-to-Real Resources</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#llm-generated-reward-functions">LLM Generated Reward Functions</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#simulation-features">Simulation Features</a></li>
+</ul>
+            </nav>
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+    </div>
+</div>
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+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="additional-resources">
+<h1>Additional Resources<a class="headerlink" href="#additional-resources" title="Permalink to this heading">#</a></h1>
+<p>Here we provide external links to tools and various resources that you may also find useful.</p>
+<section id="sim-to-real-resources">
+<h2>Sim-to-Real Resources<a class="headerlink" href="#sim-to-real-resources" title="Permalink to this heading">#</a></h2>
+<p>One of the core goals of the broader Isaac project is to bring real robots to life through the power of NVIDIA technology. There are many ways to do this, and thus, many tools that you could use.  These resources are dedicated to helping you navigate these possibilities by providing examples and discussions about closing the Sim-to-Real gap and deploying policies to actual real robots.</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://developer.nvidia.com/blog/closing-the-sim-to-real-gap-training-spot-quadruped-locomotion-with-nvidia-isaac-lab/">Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab</a> is a detailed guide for training a quadruped locomotion policy for the Spot Quadruped from Boston Dynamics, and deploying it to the real robot.</p></li>
+</ul>
+</section>
+<section id="llm-generated-reward-functions">
+<h2>LLM Generated Reward Functions<a class="headerlink" href="#llm-generated-reward-functions" title="Permalink to this heading">#</a></h2>
+<p>Our research endeavor, <code class="docutils literal notranslate"><span class="pre">Eureka!</span></code>, has resulted in a pipeline for generating and tuning Reinforcement Learning (RL) reward functions using an LLM. These resources are dedicated to helping you utilize this pipeline to create RL based solutions to tasks that were once thought impossible!</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://github.com/isaac-sim/IsaacLabEureka">Isaac Lab Eureka</a> is a github repository where you can setup your own LLM reward generation pipeline for your direct RL environments built in Isaac Lab!</p></li>
+<li><p><a class="reference external" href="https://blogs.nvidia.com/blog/eureka-robotics-research/">Eureka! NVIDIA Research Breakthrough Puts New Spin on Robot Learning</a> is a blog post that covers the broad idea of this reward generation process.</p></li>
+</ul>
+</section>
+<section id="simulation-features">
+<h2>Simulation Features<a class="headerlink" href="#simulation-features" title="Permalink to this heading">#</a></h2>
+<p>At the heart of Isaac Lab is Isaac Sim, which is itself a feature rich tool that is useful for robotics in general, and not only for RL. The stronger your understanding of the simulation, the readily you will be able to exploit its capabilities for your own projects and applications. These resources are dedicated to informing you about the other features of the simulation that may be useful to you given your specific interest in Isaac Lab!</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_policy_deployment.html">Deploying Policies in Isaac Sim</a> is an Isaac Sim tutorial on how to use trained policies within the simulation.</p></li>
+<li><p><a class="reference external" href="https://developer.nvidia.com/blog/supercharge-robotics-workflows-with-ai-and-simulation-using-nvidia-isaac-sim-4-0-and-nvidia-isaac-lab/">Supercharge Robotics Workflows with AI and Simulation Using NVIDIA Isaac Sim 4.0 and NVIDIA Isaac Lab</a> is a blog post covering the newest features of Isaac Sim 4.0, including <code class="docutils literal notranslate"><span class="pre">pip</span> <span class="pre">install</span></code>, a more advanced physics engine, updated sensor simulations, and more!</p></li>
+<li><p><a class="reference external" href="https://developer.nvidia.com/blog/fast-track-robot-learning-in-simulation-using-nvidia-isaac-lab/">Fast-Track Robot Learning in Simulation Using NVIDIA Isaac Lab</a> is a blog post covering the gamut of features for accelerated robot learning through Isaac Lab.</p></li>
+</ul>
+</section>
+</section>
+
+
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<h1>Bibliography<a class="headerlink" href="#bibliography" title="Permalink to this heading">#</a></h1>
+<div class="docutils container" id="id1">
+<div class="citation" id="id15" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>AML+22<span class="fn-bracket">]</span></span>
+<p>Arthur Allshire, Mayank MittaI, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, and Animesh Garg. Transferring dexterous manipulation from gpu simulation to a remote real-world trifinger. In <em>2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</em>, 11802–11809. IEEE, 2022.</p>
+</div>
+<div class="citation" id="id7" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>Bus04<span class="fn-bracket">]</span></span>
+<p>Samuel Buss. Introduction to inverse kinematics with jacobian transpose, pseudoinverse and damped least squares methods. <em>IEEE Transactions in Robotics and Automation</em>, 17:, 2004.</p>
+</div>
+<div class="citation" id="id6" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>CMI+21<span class="fn-bracket">]</span></span>
+<p>Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, and Nathan Ratliff. Rmpflow: a geometric framework for generation of multitask motion policies. <em>IEEE Transactions on Automation Science and Engineering</em>, 18(3):968–987, 2021. <a class="reference external" href="https://doi.org/10.1109/TASE.2021.3053422">doi:10.1109/TASE.2021.3053422</a>.</p>
+</div>
+<div class="citation" id="id13" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>HAM+22<span class="fn-bracket">]</span></span>
+<p>Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, and others. Dextreme: transfer of agile in-hand manipulation from simulation to reality. <em>arXiv preprint arXiv:2210.13702</em>, 2022.</p>
+</div>
+<div class="citation" id="id18" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>HZRS16<span class="fn-bracket">]</span></span>
+<p>Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun. Deep residual learning for image recognition. In <em>Proceedings of the IEEE conference on computer vision and pattern recognition</em>, 770–778. 2016.</p>
+</div>
+<div class="citation" id="id3" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>HLD+19<span class="fn-bracket">]</span></span>
+<p>Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, and Marco Hutter. Learning agile and dynamic motor skills for legged robots. <em>Science Robotics</em>, 4(26):eaau5872, 2019.</p>
+</div>
+<div class="citation" id="id4" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>Kha87<span class="fn-bracket">]</span></span>
+<p>O. Khatib. A unified approach for motion and force control of robot manipulators: the operational space formulation. <em>IEEE Journal on Robotics and Automation</em>, 3(1):43–53, 1987. <a class="reference external" href="https://doi.org/10.1109/JRA.1987.1087068">doi:10.1109/JRA.1987.1087068</a>.</p>
+</div>
+<div class="citation" id="id12" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>MWG+21<span class="fn-bracket">]</span></span>
+<p>Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, and others. Isaac gym: high performance gpu-based physics simulation for robot learning. <em>arXiv preprint arXiv:2108.10470</em>, 2021.</p>
+</div>
+<div class="citation" id="id9" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>MHF+22<span class="fn-bracket">]</span></span>
+<p>Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, and Animesh Garg. Articulated object interaction in unknown scenes with whole-body mobile manipulation. <em>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</em>, 2022.</p>
+</div>
+<div class="citation" id="id16" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>MYY+23<span class="fn-bracket">]</span></span>
+<p>Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg. Orbit: a unified simulation framework for interactive robot learning environments. <em>IEEE Robotics and Automation Letters</em>, 8(6):3740–3747, 2023. <a class="reference external" href="https://doi.org/10.1109/LRA.2023.3270034">doi:10.1109/LRA.2023.3270034</a>.</p>
+</div>
+<div class="citation" id="id14" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>NSA+22<span class="fn-bracket">]</span></span>
+<p>Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, and others. Factory: fast contact for robotic assembly. <em>arXiv preprint arXiv:2205.03532</em>, 2022.</p>
+</div>
+<div class="citation" id="id10" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>RHBH22<span class="fn-bracket">]</span></span>
+<p>Nikita Rudin, David Hoeller, Marko Bjelonic, and Marco Hutter. Advanced skills by learning locomotion and local navigation end-to-end. In <em>2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</em>, volume, 2497–2503. 2022. <a class="reference external" href="https://doi.org/10.1109/IROS47612.2022.9981198">doi:10.1109/IROS47612.2022.9981198</a>.</p>
+</div>
+<div class="citation" id="id2" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>RHRH22<span class="fn-bracket">]</span></span>
+<p>Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter. Learning to walk in minutes using massively parallel deep reinforcement learning. In <em>Conference on Robot Learning</em>, 91–100. PMLR, 2022.</p>
+</div>
+<div class="citation" id="id17" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>SSM+24<span class="fn-bracket">]</span></span>
+<p>Jinghuan Shang, Karl Schmeckpeper, Brandon B May, Maria Vittoria Minniti, Tarik Kelestemur, David Watkins, and Laura Herlant. Theia: distilling diverse vision foundation models for robot learning. <em>arXiv preprint arXiv:2407.20179</em>, 2024.</p>
+</div>
+<div class="citation" id="id5" role="doc-biblioentry">
+<span class="label"><span class="fn-bracket">[</span>SSVO09<span class="fn-bracket">]</span></span>
+<p>Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. <em>Force control</em>. Springer, 2009.</p>
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+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
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+<li class="toctree-l1"><a class="reference internal" href="../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="current nav bd-sidenav">
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+<li class="toctree-l1"><a class="reference internal" href="issues.html">Known Issues</a></li>
+<li class="toctree-l1 current active"><a class="current reference internal" href="#">Extensions Changelog</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+  class="btn btn-sm btn-download-pdf-button dropdown-item"
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+  class="btn btn-sm btn-fullscreen-button"
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+<span class="btn__icon-container">
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+</button>
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+
+<button class="btn btn-sm nav-link pst-navbar-icon theme-switch-button pst-js-only" aria-label="Color mode" data-bs-title="Color mode"  data-bs-placement="bottom" data-bs-toggle="tooltip">
+  <i class="theme-switch fa-solid fa-sun                fa-lg" data-mode="light" title="Light"></i>
+  <i class="theme-switch fa-solid fa-moon               fa-lg" data-mode="dark"  title="Dark"></i>
+  <i class="theme-switch fa-solid fa-circle-half-stroke fa-lg" data-mode="auto"  title="System Settings"></i>
+</button>
+
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+<button class="btn btn-sm pst-navbar-icon search-button search-button__button pst-js-only" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
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+    <span class="fa-solid fa-list"></span>
+</label>
+</div></div>
+      
+    </div>
+  
+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Extensions Changelog</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni-isaac-lab">omni.isaac.lab</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id1">0.30.1 (2024-12-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#added">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id2">0.30.0 (2024-12-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#changed">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id3">0.29.3 (2024-12-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#fixed">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id4">0.29.2 (2024-12-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id5">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id6">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id7">0.29.1 (2024-12-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id8">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id9">0.29.0 (2024-12-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id10">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id11">0.28.0 (2024-12-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id12">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id13">0.27.29 (2024-12-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id14">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id15">0.27.28 (2024-12-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id16">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id17">0.27.27 (2024-12-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id18">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id19">0.27.26 (2024-12-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id20">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id21">0.27.25 (2024-12-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id22">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id23">0.27.24 (2024-12-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id24">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id25">0.27.23 (2024-12-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id26">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id27">0.27.22 (2024-12-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id28">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id29">0.27.21 (2024-12-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id30">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id31">0.27.20 (2024-12-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id32">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id33">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id34">0.27.19 (2024-12-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id35">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id36">0.27.18 (2024-12-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id37">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id38">0.27.17 (2024-12-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id39">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id40">0.27.16 (2024-11-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id41">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id42">0.27.15 (2024-11-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id43">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id44">0.27.14 (2024-10-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id45">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id46">0.27.13 (2024-10-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id47">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id48">0.27.12 (2024-01-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#removed">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id49">0.27.11 (2024-10-31)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id50">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id51">0.27.10 (2024-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id52">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id53">0.27.9 (2024-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id54">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id55">0.27.8 (2024-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id56">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id57">0.27.7 (2024-10-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id58">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id59">0.27.6 (2024-10-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id60">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id61">0.27.5 (2024-10-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id62">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id63">0.27.4 (2024-10-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id64">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id65">0.27.3 (2024-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id66">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id67">0.27.2 (2024-10-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id68">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id69">0.27.1 (2024-10-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id70">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id71">0.27.0 (2024-10-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id72">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id73">0.26.0 (2024-10-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id74">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id75">0.25.2 (2024-10-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id76">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id77">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id78">0.25.1 (2024-10-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id79">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id80">0.25.0 (2024-10-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id81">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id82">0.24.20 (2024-10-07)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id83">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id84">0.24.19 (2024-10-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id85">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id86">0.24.18 (2024-10-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id87">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id88">0.24.17 (2024-10-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id89">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id90">0.24.16 (2024-10-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id91">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id92">0.24.15 (2024-09-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id93">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id94">0.24.14 (2024-09-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id95">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id96">0.24.13 (2024-09-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id97">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id98">0.24.12 (2024-09-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id99">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id100">0.24.11 (2024-09-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id101">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id102">0.24.10 (2024-09-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id103">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id104">0.24.9 (2024-09-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id105">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id106">0.24.8 (2024-09-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id107">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id108">0.24.7 (2024-09-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id109">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id110">0.24.6 (2024-09-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id111">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id112">0.24.5 (2024-08-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id113">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id114">0.24.4 (2024-09-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id115">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id116">0.24.3 (2024-08-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id117">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id118">0.24.2 (2024-08-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id119">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id120">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id121">0.24.1 (2024-08-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id122">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id123">0.24.0 (2024-08-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id124">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id125">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id126">0.23.1 (2024-08-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id127">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id128">0.23.0 (2024-08-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id129">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id130">0.22.1 (2024-08-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id131">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id132">0.22.0 (2024-08-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id133">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id134">0.21.2 (2024-08-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id135">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id136">0.21.1 (2024-08-06)</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id137">0.21.0 (2024-08-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id138">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id139">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id140">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id141">0.20.8 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id142">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id143">0.20.7 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id144">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id145">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id146">0.20.6 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id147">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id148">0.20.5 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id149">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id150">0.20.4 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id151">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id152">0.20.3 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id153">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id154">0.20.2 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id155">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id156">0.20.1 (2024-07-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id157">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id158">0.20.0 (2024-07-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id159">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id160">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id161">0.19.4 (2024-07-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id162">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id163">0.19.3 (2024-07-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id164">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id165">0.19.2 (2024-07-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id166">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id167">0.19.1 (2024-07-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id168">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id169">0.19.0 (2024-07-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id170">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id171">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id172">0.18.6 (2024-07-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id173">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id174">0.18.5 (2024-06-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id175">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id176">0.18.4 (2024-06-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id177">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id178">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id179">0.18.3 (2024-06-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id180">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id181">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id182">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id183">0.18.2 (2024-06-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id184">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id185">0.18.1 (2024-06-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id186">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id187">0.18.0 (2024-06-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id188">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id189">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id190">0.17.13 (2024-06-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id191">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id192">0.17.12 (2024-06-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id193">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id194">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id195">0.17.11 (2024-05-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id196">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id197">0.17.10 (2024-05-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id198">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id199">0.17.9 (2024-05-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id200">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id201">0.17.8 (2024-05-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id202">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id203">0.17.7 (2024-05-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id204">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id205">0.17.6 (2024-05-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id206">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id207">0.17.5 (2024-05-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id208">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id209">0.17.4 (2024-05-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id210">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id211">0.17.3 (2024-05-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id212">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id213">0.17.2 (2024-05-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id214">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id215">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id216">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id217">0.17.1 (2024-05-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id218">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id219">0.17.0 (2024-05-07)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id220">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id221">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id222">0.16.4 (2024-05-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id223">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id224">0.16.3 (2024-04-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id225">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id226">0.16.2 (2024-04-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id227">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id228">0.16.1 (2024-04-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id229">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id230">0.16.0 (2024-04-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id231">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id232">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#deprecated">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id233">0.15.13 (2024-04-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id234">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id235">0.15.12 (2024-04-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id236">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id237">0.15.11 (2024-04-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id238">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id239">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id240">0.15.10 (2024-04-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id241">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id242">0.15.9 (2024-04-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id243">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id244">0.15.8 (2024-04-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id245">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id246">0.15.7 (2024-03-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id247">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id248">0.15.6 (2024-03-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id249">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id250">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id251">0.15.5 (2024-03-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id252">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id253">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id254">0.15.4 (2024-03-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id255">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id256">0.15.3 (2024-03-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id257">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id258">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id259">0.15.2 (2024-03-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id260">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id261">0.15.1 (2024-03-19)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id262">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id263">0.15.0 (2024-03-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id264">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id265">0.14.1 (2024-03-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id266">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id267">0.14.0 (2024-03-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id268">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id269">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id270">0.13.1 (2024-03-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id271">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id272">0.13.0 (2024-03-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id273">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id274">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id275">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id276">0.12.4 (2024-03-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id277">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id278">0.12.3 (2024-03-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id279">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id280">0.12.2 (2024-03-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id281">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id282">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id283">0.12.1 (2024-03-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id284">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id285">0.12.0 (2024-03-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id286">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id287">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id288">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id289">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id290">0.11.3 (2024-03-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id291">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id292">0.11.2 (2024-03-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id293">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id294">0.11.1 (2024-02-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id295">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id296">0.11.0 (2024-02-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id297">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id298">0.10.28 (2024-02-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id299">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id300">0.10.27 (2024-02-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id301">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id302">0.10.26 (2024-02-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id303">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id304">0.10.25 (2024-02-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id305">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id306">0.10.24 (2024-02-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id307">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id308">0.10.23 (2024-02-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id309">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id310">0.10.22 (2024-02-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id311">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id312">0.10.21 (2024-02-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id313">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id314">0.10.20 (2024-02-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id315">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id316">0.10.19 (2024-02-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id317">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id318">0.10.18 (2024-02-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id319">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id320">0.10.17 (2024-02-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id321">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id322">0.10.16 (2024-01-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id323">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id324">0.10.15 (2024-01-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id325">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id326">0.10.14 (2024-01-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id327">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id328">0.10.13 (2024-01-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id329">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id330">0.10.12 (2024-01-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id331">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id332">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id333">0.10.11 (2024-01-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id334">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id335">0.10.10 (2023-12-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id336">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id337">0.10.9 (2023-12-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id338">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id339">0.10.8 (2023-12-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id340">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id341">0.10.7 (2023-12-19)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id342">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id343">0.10.6 (2023-12-19)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id344">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id345">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id346">0.10.5 (2023-12-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id347">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id348">0.10.4 (2023-12-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id349">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id350">0.10.3 (2023-12-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id351">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id352">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id353">0.10.2 (2023-12-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id354">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id355">0.10.1 (2023-12-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id356">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id357">0.10.0 (2023-12-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id358">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id359">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id360">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id361">0.9.55 (2023-12-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id362">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id363">0.9.54 (2023-11-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id364">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id365">0.9.53 (2023-11-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id366">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id367">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id368">0.9.52 (2023-11-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id369">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id370">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id371">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id372">0.9.51 (2023-11-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id373">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id374">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id375">0.9.50 (2023-11-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id376">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id377">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id378">0.9.49 (2023-11-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id379">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id380">0.9.48 (2023-11-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id381">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id382">0.9.47 (2023-11-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id383">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id384">0.9.46 (2023-11-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id385">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id386">0.9.45 (2023-11-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id387">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id388">0.9.44 (2023-11-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id389">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id390">0.9.43 (2023-11-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id391">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id392">0.9.42 (2023-11-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id393">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id394">0.9.41 (2023-11-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id395">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id396">0.9.40 (2023-11-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id397">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id398">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id399">0.9.39 (2023-11-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id400">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id401">0.9.38 (2023-11-07)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id402">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id403">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id404">0.9.37 (2023-11-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id405">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id406">0.9.36 (2023-11-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id407">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id408">0.9.35 (2023-11-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id409">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id410">0.9.34 (2023-11-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id411">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id412">0.9.33 (2023-11-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id413">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id414">0.9.32 (2023-11-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id415">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id416">0.9.31 (2023-11-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id417">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id418">0.9.30 (2023-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id419">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id420">0.9.29 (2023-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id421">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id422">0.9.28 (2023-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id423">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id424">0.9.27 (2023-10-31)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id425">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id426">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id427">0.9.26 (2023-10-31)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id428">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id429">0.9.25 (2023-10-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id430">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id431">0.9.24 (2023-10-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id432">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id433">0.9.23 (2023-10-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id434">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id435">0.9.22 (2023-10-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id436">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id437">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id438">0.9.21 (2023-10-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id439">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id440">0.9.20 (2023-10-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id441">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id442">0.9.19 (2023-10-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id443">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id444">0.9.18 (2023-10-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id445">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id446">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id447">0.9.17 (2023-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id448">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id449">0.9.16 (2023-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id450">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id451">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id452">0.9.15 (2023-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id453">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id454">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id455">0.9.14 (2023-10-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id456">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id457">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id458">0.9.13 (2023-10-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id459">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id460">0.9.12 (2023-10-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id461">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id462">0.9.11 (2023-10-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id463">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id464">0.9.10 (2023-10-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id465">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id466">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id467">0.9.9 (2023-10-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id468">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id469">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id470">0.9.8 (2023-09-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id471">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id472">0.9.7 (2023-09-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id473">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id474">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id475">0.9.6 (2023-09-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id476">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id477">0.9.5 (2023-09-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id478">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id479">0.9.4 (2023-08-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id480">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id481">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id482">0.9.3 (2023-08-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id483">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id484">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id485">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id486">0.9.2 (2023-08-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id487">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id488">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id489">0.9.1 (2023-08-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id490">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id491">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id492">0.9.0 (2023-08-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id493">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id494">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id495">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id496">0.8.12 (2023-08-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id497">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id498">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id499">0.8.11 (2023-08-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id500">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id501">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id502">0.8.10 (2023-08-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id503">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id504">0.8.9 (2023-08-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id505">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id506">0.8.8 (2023-08-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id507">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id508">0.8.7 (2023-08-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id509">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id510">0.8.6 (2023-08-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id511">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id512">0.8.5 (2023-08-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id513">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id514">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id515">0.8.4 (2023-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id516">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id517">0.8.3 (2023-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id518">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id519">0.8.2 (2023-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id520">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id521">0.8.1 (2023-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id522">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id523">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id524">0.8.0 (2023-07-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id525">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id526">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id527">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id528">0.7.4 (2023-07-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id529">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id530">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id531">0.7.3 (2023-07-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id532">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id533">0.7.2 (2023-07-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id534">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id535">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id536">0.7.1 (2023-07-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id537">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id538">0.7.0 (2023-07-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id539">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id540">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id541">0.6.2 (2023-07-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id542">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id543">0.6.1 (2023-07-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id544">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id545">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id546">0.6.0 (2023-07-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id547">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id548">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id549">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id550">0.5.0 (2023-07-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id551">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id552">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id553">0.4.4 (2023-07-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id554">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id555">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id556">0.4.3 (2023-06-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id557">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id558">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id559">0.4.2 (2023-06-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id560">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id561">0.4.1 (2023-06-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id562">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id563">0.4.0 (2023-05-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id564">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id565">0.3.2 (2023-04-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id566">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id567">0.3.1 (2023-04-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id568">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id569">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id570">0.3.0 (2023-04-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id571">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id572">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id573">0.2.8 (2023-04-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id574">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id575">0.2.7 (2023-04-07)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id576">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id577">0.2.6 (2023-03-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id578">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id579">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id580">0.2.5 (2023-03-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id581">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id582">0.2.4 (2023-03-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id583">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id584">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id585">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id586">0.2.3 (2023-02-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id587">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id588">0.2.2 (2023-01-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id589">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id590">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id591">0.2.1 (2023-01-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id592">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id593">0.2.0 (2023-01-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id594">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id595">0.1.1 (2023-01-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id596">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id597">0.1.0 (2023-01-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id598">Added</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni-isaac-lab-assets">omni.isaac.lab_assets</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id599">0.1.4 (2024-08-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id600">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id601">0.1.2 (2024-04-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id602">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id603">0.1.1 (2024-03-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id604">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id605">0.1.0 (2023-12-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id606">Added</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni-isaac-lab-tasks">omni.isaac.lab_tasks</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id607">0.10.17 (2024-12-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id608">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id609">0.10.16 (2024-12-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id610">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id611">0.10.15 (2024-12-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id612">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id613">0.10.14 (2024-12-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id614">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id615">0.10.13 (2024-10-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id616">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id617">0.10.12 (2024-10-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id618">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id619">0.10.11 (2024-10-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id620">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id621">0.10.10 (2024-10-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id622">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id623">0.10.9 (2024-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id624">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id625">0.10.8 (2024-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id626">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id627">0.10.7 (2024-10-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id628">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id629">0.10.6 (2024-09-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id630">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id631">0.10.5 (2024-09-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id632">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id633">0.10.4 (2024-09-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id634">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id635">0.10.3 (2024-09-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id636">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id637">0.10.2 (2024-08-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id638">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id639">0.10.1 (2024-08-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id640">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id641">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id642">0.10.0 (2024-08-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id643">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id644">0.9.0 (2024-08-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id645">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id646">0.8.2 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id647">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id648">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id649">0.8.1 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id650">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id651">0.8.0 (2024-07-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id652">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id653">0.7.10 (2024-07-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id654">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id655">0.7.9 (2024-07-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id656">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id657">0.7.8 (2024-06-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id658">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id659">0.7.7 (2024-06-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id660">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id661">0.7.6 (2024-06-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id662">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id663">0.7.5 (2024-05-31)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id664">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id665">0.7.5 (2024-05-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id666">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id667">0.7.4 (2024-05-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id668">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id669">0.7.3 (2024-05-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id670">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id671">0.7.2 (2024-05-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id672">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id673">0.7.1 (2024-05-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id674">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id675">0.7.0 (2024-05-07)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id676">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id677">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id678">0.6.1 (2024-04-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id679">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id680">0.6.0 (2024-03-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id681">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id682">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id683">0.5.7 (2024-02-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id684">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id685">0.5.6 (2024-02-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id686">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id687">0.5.5 (2024-02-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id688">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id689">0.5.4 (2024-02-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id690">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id691">0.5.3 (2023-11-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id692">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id693">0.5.2 (2023-11-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id694">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id695">0.5.1 (2023-11-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id696">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id697">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id698">0.5.0 (2023-10-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id699">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id700">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id701">0.4.3 (2023-09-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id702">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id703">0.4.2 (2023-08-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id704">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id705">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id706">0.4.1 (2023-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id707">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id708">0.4.0 (2023-07-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id709">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id710">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id711">0.3.2 (2023-07-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id712">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id713">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id714">0.3.1 (2023-06-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id715">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id716">0.3.0 (2023-04-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id717">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id718">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id719">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id720">0.2.3 (2023-03-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id721">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id722">0.2.2 (2023-03-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id723">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id724">0.2.1 (2023-03-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id725">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id726">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id727">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id728">0.2.0 (2023-01-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id729">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id730">0.1.2 (2023-01-19)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id731">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id732">0.1.1 (2023-01-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id733">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id734">0.1.0 (2023-01-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id735">Added</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="extensions-changelog">
+<h1>Extensions Changelog<a class="headerlink" href="#extensions-changelog" title="Permalink to this heading">#</a></h1>
+<p>All notable changes to this project are documented in this file. The format is based on
+<a class="reference external" href="https://keepachangelog.com/en/1.0.0/">Keep a Changelog</a> and this project adheres to
+<a class="reference external" href="https://semver.org/spec/v2.0.0.html">Semantic Versioning</a>. For a broader information
+about the changes in the framework, please refer to the
+<a class="reference external" href="https://github.com/isaac-sim/IsaacLab/releases/">release notes</a>.</p>
+<p>Each extension has its own changelog. The changelog for each extension is located in the
+<code class="docutils literal notranslate"><span class="pre">docs</span></code> directory of the extension. The changelog for each extension is also included in
+this changelog to make it easier to find the changelog for a specific extension.</p>
+<section id="omni-isaac-lab">
+<h2>omni.isaac.lab<a class="headerlink" href="#omni-isaac-lab" title="Permalink to this heading">#</a></h2>
+<p>Extension containing the core framework of Isaac Lab.</p>
+<section id="id1">
+<h3>0.30.1 (2024-12-17)<a class="headerlink" href="#id1" title="Permalink to this heading">#</a></h3>
+<section id="added">
+<h4>Added<a class="headerlink" href="#added" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added null-space (position) control option to <a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController" title="omni.isaac.lab.controllers.OperationalSpaceController"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.controllers.OperationalSpaceController</span></code></a>.</p></li>
+<li><p>Added test cases that uses null-space control for <a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController" title="omni.isaac.lab.controllers.OperationalSpaceController"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.controllers.OperationalSpaceController</span></code></a>.</p></li>
+<li><p>Added information regarding null-space control to the tutorial script and documentation of
+<a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController" title="omni.isaac.lab.controllers.OperationalSpaceController"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.controllers.OperationalSpaceController</span></code></a>.</p></li>
+<li><p>Added arguments to set specific null-space joint position targets within
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.actions.OperationalSpaceControllerAction</span></code> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id2">
+<h3>0.30.0 (2024-12-16)<a class="headerlink" href="#id2" title="Permalink to this heading">#</a></h3>
+<section id="changed">
+<h4>Changed<a class="headerlink" href="#changed" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Previously, physx returns the rigid bodies and articulations velocities in the com of bodies rather than the link frame, while poses are in link frames. We now explicitly provide <code class="xref py py-attr docutils literal notranslate"><span class="pre">body_link_state</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">body_com_state</span></code> APIs replacing the previous <code class="xref py py-attr docutils literal notranslate"><span class="pre">body_state</span></code> API. Previous APIs are now marked as deprecated. Please update any code using the previous pose and velocity APIs to use the new <code class="docutils literal notranslate"><span class="pre">*_link_*</span></code> or <code class="docutils literal notranslate"><span class="pre">*_com_*</span></code> APIs in <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac_lab.assets.RigidBody</span></code>, <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac_lab.assets.RigidBodyCollection</span></code>, and <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac_lab.assets.Articulation</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id3">
+<h3>0.29.3 (2024-12-16)<a class="headerlink" href="#id3" title="Permalink to this heading">#</a></h3>
+<section id="fixed">
+<h4>Fixed<a class="headerlink" href="#fixed" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed ordering of logging and resamping in the command manager, where we were logging the metrics after resampling the commands. This leads to incorrect logging of metrics when inside the resample call, the metrics tensors get reset.</p></li>
+</ul>
+</section>
+</section>
+<section id="id4">
+<h3>0.29.2 (2024-12-16)<a class="headerlink" href="#id4" title="Permalink to this heading">#</a></h3>
+<section id="id5">
+<h4>Fixed<a class="headerlink" href="#id5" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed errors within the calculations of <a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController" title="omni.isaac.lab.controllers.OperationalSpaceController"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.controllers.OperationalSpaceController</span></code></a>.</p></li>
+</ul>
+</section>
+<section id="id6">
+<h4>Added<a class="headerlink" href="#id6" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController" title="omni.isaac.lab.controllers.OperationalSpaceController"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.controllers.OperationalSpaceController</span></code></a> to API documentation.</p></li>
+<li><p>Added test cases for <a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController" title="omni.isaac.lab.controllers.OperationalSpaceController"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.controllers.OperationalSpaceController</span></code></a>.</p></li>
+<li><p>Added a tutorial for <a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController" title="omni.isaac.lab.controllers.OperationalSpaceController"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.controllers.OperationalSpaceController</span></code></a>.</p></li>
+<li><p>Added the implementation of <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.actions.OperationalSpaceControllerAction</span></code> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id7">
+<h3>0.29.1 (2024-12-15)<a class="headerlink" href="#id7" title="Permalink to this heading">#</a></h3>
+<section id="id8">
+<h4>Changed<a class="headerlink" href="#id8" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added call to update articulation kinematics after reset to ensure states are updated for non-rendering sensors. Previously, some changes in reset such as modifying joint states would not be reflected in the rigid body states immediately after reset.</p></li>
+</ul>
+</section>
+</section>
+<section id="id9">
+<h3>0.29.0 (2024-12-15)<a class="headerlink" href="#id9" title="Permalink to this heading">#</a></h3>
+<section id="id10">
+<h4>Added<a class="headerlink" href="#id10" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added UI interface to the Managers in the ManagerBasedEnv and MangerBasedRLEnv classes.</p></li>
+<li><p>Added UI widgets for <code class="xref py py-class docutils literal notranslate"><span class="pre">LiveLinePlot</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">ImagePlot</span></code>.</p></li>
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">ManagerLiveVisualizer/Cfg</span></code>: Given a ManagerBase (i.e. action_manager, observation_manager, etc) and a config file this class creates the the interface between managers and the UI.</p></li>
+<li><p>Added <code class="xref py py-class docutils literal notranslate"><span class="pre">EnvLiveVisualizer</span></code>: A ‘manager’ of ManagerLiveVisualizer. This is added to the ManagerBasedEnv but is only called during the initialization of the managers in load_managers</p></li>
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">get_active_iterable_terms</span></code> implementation methods to ActionManager, ObservationManager, CommandsManager, CurriculumManager, RewardManager, and TerminationManager. This method exports the active term data and labels for each manager and is called by ManagerLiveVisualizer.</p></li>
+<li><p>Additions to <code class="xref py py-class docutils literal notranslate"><span class="pre">BaseEnvWindow</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">RLEnvWindow</span></code> to register ManagerLiveVisualizer UI interfaces for the chosen managers.</p></li>
+</ul>
+</section>
+</section>
+<section id="id11">
+<h3>0.28.0 (2024-12-15)<a class="headerlink" href="#id11" title="Permalink to this heading">#</a></h3>
+<section id="id12">
+<h4>Added<a class="headerlink" href="#id12" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added observation history computation to <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.manager.observation_manager.ObservationManager</span></code>.</p></li>
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">history_length</span></code> and <code class="docutils literal notranslate"><span class="pre">flatten_history_dim</span></code> configuration parameters to <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.manager.manager_term_cfg.ObservationTermCfg</span></code></p></li>
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">history_length</span></code> and <code class="docutils literal notranslate"><span class="pre">flatten_history_dim</span></code> configuration parameters to <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.manager.manager_term_cfg.ObservationGroupCfg</span></code></p></li>
+<li><p>Added full buffer property to <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.CircularBuffer" title="omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer</span></code></a></p></li>
+</ul>
+</section>
+</section>
+<section id="id13">
+<h3>0.27.29 (2024-12-15)<a class="headerlink" href="#id13" title="Permalink to this heading">#</a></h3>
+<section id="id14">
+<h4>Added<a class="headerlink" href="#id14" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added action clip to all <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.actions" title="omni.isaac.lab.envs.mdp.actions"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.actions</span></code></a>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id15">
+<h3>0.27.28 (2024-12-14)<a class="headerlink" href="#id15" title="Permalink to this heading">#</a></h3>
+<section id="id16">
+<h4>Changed<a class="headerlink" href="#id16" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added check for error below threshold in state machines to ensure the state has been reached.</p></li>
+</ul>
+</section>
+</section>
+<section id="id17">
+<h3>0.27.27 (2024-12-13)<a class="headerlink" href="#id17" title="Permalink to this heading">#</a></h3>
+<section id="id18">
+<h4>Fixed<a class="headerlink" href="#id18" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the shape of <code class="docutils literal notranslate"><span class="pre">quat_w</span></code> in the <code class="docutils literal notranslate"><span class="pre">apply_actions</span></code> method of <code class="xref py py-attr docutils literal notranslate"><span class="pre">NonHolonomicAction</span></code> (previously (N,B,4), now (N,4) since the number of root bodies B is required to be 1). Previously <code class="docutils literal notranslate"><span class="pre">apply_actions</span></code> errored because <code class="docutils literal notranslate"><span class="pre">euler_xyz_from_quat</span></code> requires inputs of shape (N,4).</p></li>
+</ul>
+</section>
+</section>
+<section id="id19">
+<h3>0.27.26 (2024-12-11)<a class="headerlink" href="#id19" title="Permalink to this heading">#</a></h3>
+<section id="id20">
+<h4>Changed<a class="headerlink" href="#id20" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Introduced an optional <code class="docutils literal notranslate"><span class="pre">sensor_cfg</span></code> parameter to the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.base_height_l2" title="omni.isaac.lab.envs.mdp.rewards.base_height_l2"><code class="xref py py-meth docutils literal notranslate"><span class="pre">base_height_l2()</span></code></a> function, enabling the use of
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster" title="omni.isaac.lab.sensors.RayCaster"><code class="xref py py-class docutils literal notranslate"><span class="pre">RayCaster</span></code></a> for height adjustments. For flat terrains, the function retains its previous behavior.</p></li>
+<li><p>Improved documentation to clarify the usage of the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.rewards.base_height_l2" title="omni.isaac.lab.envs.mdp.rewards.base_height_l2"><code class="xref py py-meth docutils literal notranslate"><span class="pre">base_height_l2()</span></code></a> function in both flat and rough terrain settings.</p></li>
+</ul>
+</section>
+</section>
+<section id="id21">
+<h3>0.27.25 (2024-12-11)<a class="headerlink" href="#id21" title="Permalink to this heading">#</a></h3>
+<section id="id22">
+<h4>Fixed<a class="headerlink" href="#id22" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Modified <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.actions.DifferentialInverseKinematicsAction</span></code> class to use the geometric
+Jacobian computed w.r.t. to the root frame of the robot. This helps ensure that root pose does not affect the tracking.</p></li>
+</ul>
+</section>
+</section>
+<section id="id23">
+<h3>0.27.24 (2024-12-09)<a class="headerlink" href="#id23" title="Permalink to this heading">#</a></h3>
+<section id="id24">
+<h4>Fixed<a class="headerlink" href="#id24" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the initial state recorder term in <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.recorders.InitialStateRecorder</span></code> to
+return only the states of the specified environment IDs.</p></li>
+</ul>
+</section>
+</section>
+<section id="id25">
+<h3>0.27.23 (2024-12-06)<a class="headerlink" href="#id25" title="Permalink to this heading">#</a></h3>
+<section id="id26">
+<h4>Fixed<a class="headerlink" href="#id26" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the enforcement of <code class="xref py py-attr docutils literal notranslate"><span class="pre">velocity_limits</span></code> at the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.root_physx_view" title="omni.isaac.lab.assets.Articulation.root_physx_view"><code class="xref py py-attr docutils literal notranslate"><span class="pre">root_physx_view</span></code></a> level.</p></li>
+</ul>
+</section>
+</section>
+<section id="id27">
+<h3>0.27.22 (2024-12-06)<a class="headerlink" href="#id27" title="Permalink to this heading">#</a></h3>
+<section id="id28">
+<h4>Changed<a class="headerlink" href="#id28" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>If a USD that contains an articulation root is loaded using a
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac_lab.assets.RigidBody</span></code> we now fail unless the articulation root is explicitly
+disabled. Using an articulation root for rigid bodies is not needed and decreases overall performance.</p></li>
+</ul>
+</section>
+</section>
+<section id="id29">
+<h3>0.27.21 (2024-12-06)<a class="headerlink" href="#id29" title="Permalink to this heading">#</a></h3>
+<section id="id30">
+<h4>Fixed<a class="headerlink" href="#id30" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Corrected the projection types of fisheye camera in <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg</span></code></a>.
+Earlier, the projection names used snakecase instead of camelcase.</p></li>
+</ul>
+</section>
+</section>
+<section id="id31">
+<h3>0.27.20 (2024-12-06)<a class="headerlink" href="#id31" title="Permalink to this heading">#</a></h3>
+<section id="id32">
+<h4>Added<a class="headerlink" href="#id32" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added option to define the clipping behavior for depth images generated by
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera" title="omni.isaac.lab.sensors.RayCasterCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">RayCasterCamera</span></code></a>, <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code></a>, and <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera" title="omni.isaac.lab.sensors.TiledCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">TiledCamera</span></code></a></p></li>
+</ul>
+</section>
+<section id="id33">
+<h4>Changed<a class="headerlink" href="#id33" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Unified the clipping behavior for the depth images of all camera implementations. Per default, all values exceeding
+the range are clipped to zero for both <code class="docutils literal notranslate"><span class="pre">distance_to_image_plane</span></code> and <code class="docutils literal notranslate"><span class="pre">distance_to_camera</span></code> depth images. Prev.
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera" title="omni.isaac.lab.sensors.RayCasterCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">RayCasterCamera</span></code></a> clipped the values to the maximum value of the depth image,
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code></a> did not clip them and had a different behavior for both types.</p></li>
+</ul>
+</section>
+</section>
+<section id="id34">
+<h3>0.27.19 (2024-12-05)<a class="headerlink" href="#id34" title="Permalink to this heading">#</a></h3>
+<section id="id35">
+<h4>Fixed<a class="headerlink" href="#id35" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the condition in <code class="docutils literal notranslate"><span class="pre">isaaclab.sh</span></code> that checks whether <code class="docutils literal notranslate"><span class="pre">pre-commit</span></code> is installed before attempting installation.</p></li>
+</ul>
+</section>
+</section>
+<section id="id36">
+<h3>0.27.18 (2024-12-04)<a class="headerlink" href="#id36" title="Permalink to this heading">#</a></h3>
+<section id="id37">
+<h4>Fixed<a class="headerlink" href="#id37" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the order of the incoming parameters in <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.DirectMARLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.DirectMARLEnv</span></code></a> to correctly use <code class="docutils literal notranslate"><span class="pre">NoiseModel</span></code> in marl-envs.</p></li>
+</ul>
+</section>
+</section>
+<section id="id38">
+<h3>0.27.17 (2024-12-02)<a class="headerlink" href="#id38" title="Permalink to this heading">#</a></h3>
+<section id="id39">
+<h4>Added<a class="headerlink" href="#id39" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="xref py py-class docutils literal notranslate"><span class="pre">RecorderManager</span></code> and its utility classes to record data from the simulation.</p></li>
+<li><p>Added <code class="xref py py-class docutils literal notranslate"><span class="pre">EpisodeData</span></code> to store data for an episode.</p></li>
+<li><p>Added <code class="xref py py-class docutils literal notranslate"><span class="pre">DatasetFileHandlerBase</span></code> as a base class for handling dataset files.</p></li>
+<li><p>Added <code class="xref py py-class docutils literal notranslate"><span class="pre">HDF5DatasetFileHandler</span></code> as a dataset file handler implementation to
+export and load episodes from HDF5 files.</p></li>
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">record_demos.py</span></code> script to record human-teleoperated demos for a specified task and export to an HDF5 file.</p></li>
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">replay_demos.py</span></code> script to replay demos loaded from an HDF5 file.</p></li>
+</ul>
+</section>
+</section>
+<section id="id40">
+<h3>0.27.16 (2024-11-21)<a class="headerlink" href="#id40" title="Permalink to this heading">#</a></h3>
+<section id="id41">
+<h4>Changed<a class="headerlink" href="#id41" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.DirectMARLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.DirectMARLEnv</span></code></a> to inherit from <code class="docutils literal notranslate"><span class="pre">Gymnasium.Env</span></code> due to requirement from Gymnasium v1.0.0 requiring all environments to be a subclass of <code class="docutils literal notranslate"><span class="pre">Gymnasium.Env</span></code> when using the <code class="docutils literal notranslate"><span class="pre">make</span></code> interface.</p></li>
+</ul>
+</section>
+</section>
+<section id="id42">
+<h3>0.27.15 (2024-11-09)<a class="headerlink" href="#id42" title="Permalink to this heading">#</a></h3>
+<section id="id43">
+<h4>Fixed<a class="headerlink" href="#id43" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed indexing in <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim" title="omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.Articulation.write_joint_limits_to_sim()</span></code></a> to correctly process non-None <code class="docutils literal notranslate"><span class="pre">env_ids</span></code> and <code class="docutils literal notranslate"><span class="pre">joint_ids</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id44">
+<h3>0.27.14 (2024-10-23)<a class="headerlink" href="#id44" title="Permalink to this heading">#</a></h3>
+<section id="id45">
+<h4>Added<a class="headerlink" href="#id45" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the class <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCollection" title="omni.isaac.lab.assets.RigidObjectCollection"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObjectCollection</span></code></a> which allows to spawn
+multiple objects in each environment and access/modify the quantities with a unified (env_ids, object_ids) API.</p></li>
+</ul>
+</section>
+</section>
+<section id="id46">
+<h3>0.27.13 (2024-10-30)<a class="headerlink" href="#id46" title="Permalink to this heading">#</a></h3>
+<section id="id47">
+<h4>Added<a class="headerlink" href="#id47" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the attributes <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.translation" title="omni.isaac.lab.sim.converters.MeshConverterCfg.translation"><code class="xref py py-attr docutils literal notranslate"><span class="pre">translation</span></code></a>, <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.rotation" title="omni.isaac.lab.sim.converters.MeshConverterCfg.rotation"><code class="xref py py-attr docutils literal notranslate"><span class="pre">rotation</span></code></a>,
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverterCfg.scale" title="omni.isaac.lab.sim.converters.MeshConverterCfg.scale"><code class="xref py py-attr docutils literal notranslate"><span class="pre">scale</span></code></a> to translate, rotate, and scale meshes
+when importing them with <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter" title="omni.isaac.lab.sim.converters.MeshConverter"><code class="xref py py-class docutils literal notranslate"><span class="pre">MeshConverter</span></code></a>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id48">
+<h3>0.27.12 (2024-01-04)<a class="headerlink" href="#id48" title="Permalink to this heading">#</a></h3>
+<section id="removed">
+<h4>Removed<a class="headerlink" href="#removed" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed TensorDict usage in favor of Python dictionary in sensors</p></li>
+</ul>
+</section>
+</section>
+<section id="id49">
+<h3>0.27.11 (2024-10-31)<a class="headerlink" href="#id49" title="Permalink to this heading">#</a></h3>
+<section id="id50">
+<h4>Added<a class="headerlink" href="#id50" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support to define tuple of floats to scale observation terms by expanding the
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.manager_term_cfg.ObservationManagerCfg.scale</span></code> attribute.</p></li>
+</ul>
+</section>
+</section>
+<section id="id51">
+<h3>0.27.10 (2024-11-01)<a class="headerlink" href="#id51" title="Permalink to this heading">#</a></h3>
+<section id="id52">
+<h4>Changed<a class="headerlink" href="#id52" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Cached the PhysX view’s joint paths before looping over them when processing fixed joint tendons
+inside the <code class="xref py py-class docutils literal notranslate"><span class="pre">Articulation</span></code> class. This helps improve the processing time for the tendons.</p></li>
+</ul>
+</section>
+</section>
+<section id="id53">
+<h3>0.27.9 (2024-11-01)<a class="headerlink" href="#id53" title="Permalink to this heading">#</a></h3>
+<section id="id54">
+<h4>Added<a class="headerlink" href="#id54" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.types.ArticulationActions" title="omni.isaac.lab.utils.types.ArticulationActions"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.types.ArticulationActions</span></code></a> class to store the joint actions
+for an articulation. Earlier, the class from Isaac Sim was being used. However, it used a different
+type for the joint actions which was not compatible with the Isaac Lab framework.</p></li>
+</ul>
+</section>
+</section>
+<section id="id55">
+<h3>0.27.8 (2024-11-01)<a class="headerlink" href="#id55" title="Permalink to this heading">#</a></h3>
+<section id="id56">
+<h4>Fixed<a class="headerlink" href="#id56" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added sanity check if the term is a valid type inside the command manager.</p></li>
+<li><p>Corrected the iteration over <code class="docutils literal notranslate"><span class="pre">group_cfg_items</span></code> inside the observation manager.</p></li>
+</ul>
+</section>
+</section>
+<section id="id57">
+<h3>0.27.7 (2024-10-28)<a class="headerlink" href="#id57" title="Permalink to this heading">#</a></h3>
+<section id="id58">
+<h4>Added<a class="headerlink" href="#id58" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added frozen encoder feature extraction observation space with ResNet and Theia</p></li>
+</ul>
+</section>
+</section>
+<section id="id59">
+<h3>0.27.6 (2024-10-25)<a class="headerlink" href="#id59" title="Permalink to this heading">#</a></h3>
+<section id="id60">
+<h4>Fixed<a class="headerlink" href="#id60" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed usage of <code class="docutils literal notranslate"><span class="pre">meshes</span></code> property in <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera" title="omni.isaac.lab.sensors.RayCasterCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.RayCasterCamera</span></code></a> to use <code class="docutils literal notranslate"><span class="pre">self.meshes</span></code> instead of the undefined <code class="docutils literal notranslate"><span class="pre">RayCaster.meshes</span></code>.</p></li>
+<li><p>Fixed issue in <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.BaseEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ui.BaseEnvWindow</span></code></a> where undefined configs were being accessed when creating debug visualization elements in UI.</p></li>
+</ul>
+</section>
+</section>
+<section id="id61">
+<h3>0.27.5 (2024-10-25)<a class="headerlink" href="#id61" title="Permalink to this heading">#</a></h3>
+<section id="id62">
+<h4>Added<a class="headerlink" href="#id62" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added utilities for serializing/deserializing Gymnasium spaces.</p></li>
+</ul>
+</section>
+</section>
+<section id="id63">
+<h3>0.27.4 (2024-10-18)<a class="headerlink" href="#id63" title="Permalink to this heading">#</a></h3>
+<section id="id64">
+<h4>Fixed<a class="headerlink" href="#id64" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Updated installation path instructions for Windows in the Isaac Lab documentation to remove redundancy in the use of %USERPROFILE% for path definitions.</p></li>
+</ul>
+</section>
+</section>
+<section id="id65">
+<h3>0.27.3 (2024-10-22)<a class="headerlink" href="#id65" title="Permalink to this heading">#</a></h3>
+<section id="id66">
+<h4>Fixed<a class="headerlink" href="#id66" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the issue with using list or tuples of <code class="docutils literal notranslate"><span class="pre">configclass</span></code> within a <code class="docutils literal notranslate"><span class="pre">configclass</span></code>. Earlier, the list of
+configclass objects were not converted to dictionary properly when <code class="docutils literal notranslate"><span class="pre">to_dict</span></code> function was called.</p></li>
+</ul>
+</section>
+</section>
+<section id="id67">
+<h3>0.27.2 (2024-10-21)<a class="headerlink" href="#id67" title="Permalink to this heading">#</a></h3>
+<section id="id68">
+<h4>Added<a class="headerlink" href="#id68" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">--kit_args</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> to allow passing command line arguments directly to Omniverse Kit SDK.</p></li>
+</ul>
+</section>
+</section>
+<section id="id69">
+<h3>0.27.1 (2024-10-20)<a class="headerlink" href="#id69" title="Permalink to this heading">#</a></h3>
+<section id="id70">
+<h4>Added<a class="headerlink" href="#id70" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.RenderCfg" title="omni.isaac.lab.sim.RenderCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">RenderCfg</span></code></a> and the attribute <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.render" title="omni.isaac.lab.sim.SimulationCfg.render"><code class="xref py py-attr docutils literal notranslate"><span class="pre">render</span></code></a> for
+specifying render related settings.</p></li>
+</ul>
+</section>
+</section>
+<section id="id71">
+<h3>0.27.0 (2024-10-14)<a class="headerlink" href="#id71" title="Permalink to this heading">#</a></h3>
+<section id="id72">
+<h4>Added<a class="headerlink" href="#id72" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a method to <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a> to check for attributes with values of
+type <code class="docutils literal notranslate"><span class="pre">MISSING</span></code>. This is useful when the user wants to check if a certain attribute has been set or not.</p></li>
+<li><p>Added the configuration validation check inside the constructor of all the core classes
+(such as sensor base, asset base, scene and environment base classes).</p></li>
+<li><p>Added support for environments without commands by leaving the attribute
+<a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands</span></code></a> as None. Before, this had to be done using
+the class <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.command_generators.NullCommandGenerator</span></code>.</p></li>
+<li><p>Moved the <code class="docutils literal notranslate"><span class="pre">meshes</span></code> attribute in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster" title="omni.isaac.lab.sensors.RayCaster"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.RayCaster</span></code></a> class from class variable to instance variable.
+This prevents the meshes to overwrite each other.</p></li>
+</ul>
+</section>
+</section>
+<section id="id73">
+<h3>0.26.0 (2024-10-16)<a class="headerlink" href="#id73" title="Permalink to this heading">#</a></h3>
+<section id="id74">
+<h4>Added<a class="headerlink" href="#id74" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added Imu sensor implementation that directly accesses the physx view <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Imu" title="omni.isaac.lab.sensors.Imu"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Imu</span></code></a>. The
+sensor comes with a configuration class <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ImuCfg" title="omni.isaac.lab.sensors.ImuCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ImuCfg</span></code></a> and data class
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ImuData</span></code>.</p></li>
+<li><p>Moved and renamed <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.camera.utils.convert_orientation_convention()</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention" title="omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.convert_camera_frame_orientation_convention()</span></code></a></p></li>
+<li><p>Moved <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.camera.utils.create_rotation_matrix_from_view()</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.create_rotation_matrix_from_view" title="omni.isaac.lab.utils.math.create_rotation_matrix_from_view"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.create_rotation_matrix_from_view()</span></code></a></p></li>
+</ul>
+</section>
+</section>
+<section id="id75">
+<h3>0.25.2 (2024-10-16)<a class="headerlink" href="#id75" title="Permalink to this heading">#</a></h3>
+<section id="id76">
+<h4>Added<a class="headerlink" href="#id76" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support for different Gymnasium spaces (<code class="docutils literal notranslate"><span class="pre">Box</span></code>, <code class="docutils literal notranslate"><span class="pre">Discrete</span></code>, <code class="docutils literal notranslate"><span class="pre">MultiDiscrete</span></code>, <code class="docutils literal notranslate"><span class="pre">Tuple</span></code> and <code class="docutils literal notranslate"><span class="pre">Dict</span></code>)
+to define observation, action and state spaces in the direct workflow.</p></li>
+<li><p>Added <code class="xref py py-meth docutils literal notranslate"><span class="pre">sample_space()</span></code> to environment utils to sample supported spaces where data containers are torch tensors.</p></li>
+</ul>
+</section>
+<section id="id77">
+<h4>Changed<a class="headerlink" href="#id77" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Mark the <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_observations</span></code>, <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_actions</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_states</span></code> in <code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnvCfg</span></code> as deprecated
+in favor of <code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_space</span></code>, <code class="xref py py-attr docutils literal notranslate"><span class="pre">action_space</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">state_space</span></code> respectively.</p></li>
+<li><p>Mark the <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_observations</span></code>, <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_actions</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_states</span></code> in <code class="xref py py-class docutils literal notranslate"><span class="pre">DirectMARLEnvCfg</span></code> as deprecated
+in favor of <code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_spaces</span></code>, <code class="xref py py-attr docutils literal notranslate"><span class="pre">action_spaces</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">state_space</span></code> respectively.</p></li>
+</ul>
+</section>
+</section>
+<section id="id78">
+<h3>0.25.1 (2024-10-10)<a class="headerlink" href="#id78" title="Permalink to this heading">#</a></h3>
+<section id="id79">
+<h4>Fixed<a class="headerlink" href="#id79" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed potential issue where default joint positions can fall outside of the limits being set with Articulation’s
+<code class="docutils literal notranslate"><span class="pre">write_joint_limits_to_sim</span></code> API.</p></li>
+</ul>
+</section>
+</section>
+<section id="id80">
+<h3>0.25.0 (2024-10-06)<a class="headerlink" href="#id80" title="Permalink to this heading">#</a></h3>
+<section id="id81">
+<h4>Added<a class="headerlink" href="#id81" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added configuration classes for spawning assets from a list of individual asset configurations randomly
+at the specified prim paths.</p></li>
+</ul>
+</section>
+</section>
+<section id="id82">
+<h3>0.24.20 (2024-10-07)<a class="headerlink" href="#id82" title="Permalink to this heading">#</a></h3>
+<section id="id83">
+<h4>Fixed<a class="headerlink" href="#id83" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material" title="omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material()</span></code></a> function to
+correctly sample friction and restitution from the given ranges.</p></li>
+</ul>
+</section>
+</section>
+<section id="id84">
+<h3>0.24.19 (2024-10-05)<a class="headerlink" href="#id84" title="Permalink to this heading">#</a></h3>
+<section id="id85">
+<h4>Added<a class="headerlink" href="#id85" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added new functionalities to the FrameTransformer to make it more general. It is now possible to track:</p>
+<ul>
+<li><p>Target frames that aren’t children of the source frame prim_path</p></li>
+<li><p>Target frames that are based upon the source frame prim_path</p></li>
+</ul>
+</li>
+</ul>
+</section>
+</section>
+<section id="id86">
+<h3>0.24.18 (2024-10-04)<a class="headerlink" href="#id86" title="Permalink to this heading">#</a></h3>
+<section id="id87">
+<h4>Fixed<a class="headerlink" href="#id87" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixes parsing and application of <code class="docutils literal notranslate"><span class="pre">size</span></code> parameter for <code class="xref py py-class docutils literal notranslate"><span class="pre">GroundPlaneCfg</span></code> to correctly
+scale the grid-based ground plane.</p></li>
+</ul>
+</section>
+</section>
+<section id="id88">
+<h3>0.24.17 (2024-10-04)<a class="headerlink" href="#id88" title="Permalink to this heading">#</a></h3>
+<section id="id89">
+<h4>Fixed<a class="headerlink" href="#id89" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the deprecation notice for using <code class="docutils literal notranslate"><span class="pre">pxr.Semantics</span></code>. The corresponding modules use <code class="docutils literal notranslate"><span class="pre">Semantics</span></code> module
+directly.</p></li>
+</ul>
+</section>
+</section>
+<section id="id90">
+<h3>0.24.16 (2024-10-03)<a class="headerlink" href="#id90" title="Permalink to this heading">#</a></h3>
+<section id="id91">
+<h4>Changed<a class="headerlink" href="#id91" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed the observation function <code class="xref py py-meth docutils literal notranslate"><span class="pre">grab_images()</span></code> to <code class="xref py py-meth docutils literal notranslate"><span class="pre">image()</span></code> to follow convention of noun-based naming.</p></li>
+<li><p>Renamed the function <code class="xref py py-meth docutils literal notranslate"><span class="pre">convert_perspective_depth_to_orthogonal_depth()</span></code> to a shorter name
+<a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.orthogonalize_perspective_depth" title="omni.isaac.lab.utils.math.orthogonalize_perspective_depth"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.orthogonalize_perspective_depth()</span></code></a>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id92">
+<h3>0.24.15 (2024-09-20)<a class="headerlink" href="#id92" title="Permalink to this heading">#</a></h3>
+<section id="id93">
+<h4>Added<a class="headerlink" href="#id93" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="xref py py-meth docutils literal notranslate"><span class="pre">grab_images()</span></code> to be able to use images for an observation term in manager-based environments.</p></li>
+</ul>
+</section>
+</section>
+<section id="id94">
+<h3>0.24.14 (2024-09-20)<a class="headerlink" href="#id94" title="Permalink to this heading">#</a></h3>
+<section id="id95">
+<h4>Added<a class="headerlink" href="#id95" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the method <code class="xref py py-meth docutils literal notranslate"><span class="pre">convert_perspective_depth_to_orthogonal_depth()</span></code> to convert perspective depth
+images to orthogonal depth images. This is useful for the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.unproject_depth" title="omni.isaac.lab.utils.math.unproject_depth"><code class="xref py py-meth docutils literal notranslate"><span class="pre">unproject_depth()</span></code></a>,
+since it expects orthogonal depth images as inputs.</p></li>
+</ul>
+</section>
+</section>
+<section id="id96">
+<h3>0.24.13 (2024-09-08)<a class="headerlink" href="#id96" title="Permalink to this heading">#</a></h3>
+<section id="id97">
+<h4>Changed<a class="headerlink" href="#id97" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Moved the configuration of visualization markers for the command terms to their respective configuration classes.
+This allows users to modify the markers for the command terms without having to modify the command term classes.</p></li>
+</ul>
+</section>
+</section>
+<section id="id98">
+<h3>0.24.12 (2024-09-18)<a class="headerlink" href="#id98" title="Permalink to this heading">#</a></h3>
+<section id="id99">
+<h4>Fixed<a class="headerlink" href="#id99" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed outdated fetching of articulation data by using the method <code class="docutils literal notranslate"><span class="pre">update_articulations_kinematic</span></code> in
+<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData" title="omni.isaac.lab.assets.ArticulationData"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.ArticulationData</span></code></a>. Before if an articulation was moved during a reset, the pose of the
+links were outdated if fetched before the next physics step. Adding this method ensures that the pose of the links
+is always up-to-date. Similarly <code class="docutils literal notranslate"><span class="pre">update_articulations_kinematic</span></code> was added before any render step to ensure that the
+articulation displays correctly after a reset.</p></li>
+</ul>
+</section>
+</section>
+<section id="id100">
+<h3>0.24.11 (2024-09-11)<a class="headerlink" href="#id100" title="Permalink to this heading">#</a></h3>
+<section id="id101">
+<h4>Added<a class="headerlink" href="#id101" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added skrl’s JAX environment variables to <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>
+to support distributed multi-GPU and multi-node training using JAX</p></li>
+</ul>
+</section>
+</section>
+<section id="id102">
+<h3>0.24.10 (2024-09-10)<a class="headerlink" href="#id102" title="Permalink to this heading">#</a></h3>
+<section id="id103">
+<h4>Added<a class="headerlink" href="#id103" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added config class, support, and tests for MJCF conversion via standalone python scripts.</p></li>
+</ul>
+</section>
+</section>
+<section id="id104">
+<h3>0.24.9 (2024-09-09)<a class="headerlink" href="#id104" title="Permalink to this heading">#</a></h3>
+<section id="id105">
+<h4>Added<a class="headerlink" href="#id105" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a seed parameter to the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg" title="omni.isaac.lab.envs.ManagerBasedEnvCfg"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedEnvCfg</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg" title="omni.isaac.lab.envs.DirectRLEnvCfg"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.DirectRLEnvCfg</span></code></a>
+classes to set the seed for the environment. This seed is used to initialize the random number generator for the environment.</p></li>
+<li><p>Adapted the workflow scripts to set the seed for the environment using the seed specified in the learning agent’s configuration
+file or the command line argument. This ensures that the simulation results are reproducible across different runs.</p></li>
+</ul>
+</section>
+</section>
+<section id="id106">
+<h3>0.24.8 (2024-09-08)<a class="headerlink" href="#id106" title="Permalink to this heading">#</a></h3>
+<section id="id107">
+<h4>Changed<a class="headerlink" href="#id107" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Modified:meth:<cite>quat_rotate</cite> and <code class="xref py py-meth docutils literal notranslate"><span class="pre">quat_rotate_inverse()</span></code> operations to use <code class="xref py py-meth docutils literal notranslate"><span class="pre">torch.einsum()</span></code>
+for faster processing of high dimensional input tensors.</p></li>
+</ul>
+</section>
+</section>
+<section id="id108">
+<h3>0.24.7 (2024-09-06)<a class="headerlink" href="#id108" title="Permalink to this heading">#</a></h3>
+<section id="id109">
+<h4>Added<a class="headerlink" href="#id109" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support for property attributes in the :meth:<code class="docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.configclass</span></code> method.
+Earlier, the configclass decorator failed to parse the property attributes correctly and made them
+instance variables instead.</p></li>
+</ul>
+</section>
+</section>
+<section id="id110">
+<h3>0.24.6 (2024-09-05)<a class="headerlink" href="#id110" title="Permalink to this heading">#</a></h3>
+<section id="id111">
+<h4>Fixed<a class="headerlink" href="#id111" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Adapted the <code class="docutils literal notranslate"><span class="pre">A</span></code> and <code class="docutils literal notranslate"><span class="pre">D</span></code> button bindings inside <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.device.Se3Keyboard()</span></code> to make them now
+more-intuitive to control the y-axis motion based on the right-hand rule.</p></li>
+</ul>
+</section>
+</section>
+<section id="id112">
+<h3>0.24.5 (2024-08-29)<a class="headerlink" href="#id112" title="Permalink to this heading">#</a></h3>
+<section id="id113">
+<h4>Added<a class="headerlink" href="#id113" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added alternative data type “distance_to_camera” in <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera" title="omni.isaac.lab.sensors.TiledCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.TiledCamera</span></code></a> class to be
+consistent with all other cameras (equal to type “depth”).</p></li>
+</ul>
+</section>
+</section>
+<section id="id114">
+<h3>0.24.4 (2024-09-02)<a class="headerlink" href="#id114" title="Permalink to this heading">#</a></h3>
+<section id="id115">
+<h4>Fixed<a class="headerlink" href="#id115" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added missing SI units to the documentation of <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> and
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera" title="omni.isaac.lab.sensors.RayCasterCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.RayCasterCamera</span></code></a>.</p></li>
+<li><p>Added test to check <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices" title="omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.RayCasterCamera.set_intrinsic_matrices</span></code></a></p></li>
+</ul>
+</section>
+</section>
+<section id="id116">
+<h3>0.24.3 (2024-08-29)<a class="headerlink" href="#id116" title="Permalink to this heading">#</a></h3>
+<section id="id117">
+<h4>Fixed<a class="headerlink" href="#id117" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the support for class-bounded methods when creating a configclass
+out of them. Earlier, these methods were being made as instance methods
+which required initialization of the class to call the class-methods.</p></li>
+</ul>
+</section>
+</section>
+<section id="id118">
+<h3>0.24.2 (2024-08-28)<a class="headerlink" href="#id118" title="Permalink to this heading">#</a></h3>
+<section id="id119">
+<h4>Added<a class="headerlink" href="#id119" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a class method to initialize camera configurations with an intrinsic matrix in the
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawner.sensors.PinholeCameraCfg</span></code>
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ray_caster.patterns_cfg.PinholeCameraPatternCfg</span></code> classes.</p></li>
+</ul>
+</section>
+<section id="id120">
+<h4>Fixed<a class="headerlink" href="#id120" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the ray direction in <code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern()</span></code> to
+point to the center of the pixel instead of the top-left corner.</p></li>
+<li><p>Fixed the clipping of the “distance_to_image_plane” depth image obtained using the
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ray_caster.RayCasterCamera</span></code> class. Earlier, the depth image was being clipped
+before the depth image was generated. Now, the clipping is applied after the depth image is generated. This makes
+the behavior equal to the USD Camera.</p></li>
+</ul>
+</section>
+</section>
+<section id="id121">
+<h3>0.24.1 (2024-08-21)<a class="headerlink" href="#id121" title="Permalink to this heading">#</a></h3>
+<section id="id122">
+<h4>Changed<a class="headerlink" href="#id122" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Disabled default viewport in certain headless scenarios for better performance.</p></li>
+</ul>
+</section>
+</section>
+<section id="id123">
+<h3>0.24.0 (2024-08-17)<a class="headerlink" href="#id123" title="Permalink to this heading">#</a></h3>
+<section id="id124">
+<h4>Added<a class="headerlink" href="#id124" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added additional annotators for <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.camera.TiledCamera</span></code> class.</p></li>
+</ul>
+</section>
+<section id="id125">
+<h4>Changed<a class="headerlink" href="#id125" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Updated <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera" title="omni.isaac.lab.sensors.TiledCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.TiledCamera</span></code></a> to latest RTX tiled rendering API.</p></li>
+<li><p>Single channel outputs for <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera" title="omni.isaac.lab.sensors.TiledCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.TiledCamera</span></code></a>, <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera" title="omni.isaac.lab.sensors.RayCasterCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.RayCasterCamera</span></code></a> now has shape (H, W, 1).</p></li>
+<li><p>Data type for RGB output for <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera" title="omni.isaac.lab.sensors.TiledCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.TiledCamera</span></code></a> changed from <code class="docutils literal notranslate"><span class="pre">torch.float</span></code> to <code class="docutils literal notranslate"><span class="pre">torch.uint8</span></code>.</p></li>
+<li><p>Dimension of RGB output for <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> changed from (H, W, 4) to (H, W, 3). Use type <code class="docutils literal notranslate"><span class="pre">rgba</span></code> to retrieve the previous dimension.</p></li>
+</ul>
+</section>
+</section>
+<section id="id126">
+<h3>0.23.1 (2024-08-17)<a class="headerlink" href="#id126" title="Permalink to this heading">#</a></h3>
+<section id="id127">
+<h4>Changed<a class="headerlink" href="#id127" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Updated torch to version 2.4.0.</p></li>
+</ul>
+</section>
+</section>
+<section id="id128">
+<h3>0.23.0 (2024-08-16)<a class="headerlink" href="#id128" title="Permalink to this heading">#</a></h3>
+<section id="id129">
+<h4>Added<a class="headerlink" href="#id129" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added direct workflow base class <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.DirectMARLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.DirectMARLEnv</span></code></a> for multi-agent environments.</p></li>
+</ul>
+</section>
+</section>
+<section id="id130">
+<h3>0.22.1 (2024-08-17)<a class="headerlink" href="#id130" title="Permalink to this heading">#</a></h3>
+<section id="id131">
+<h4>Added<a class="headerlink" href="#id131" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added APIs to interact with the physics simulation of deformable objects. This includes setting the
+material properties, setting kinematic targets, and getting the state of the deformable object.
+For more information, please refer to the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject" title="omni.isaac.lab.assets.DeformableObject"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.DeformableObject</span></code></a> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id132">
+<h3>0.22.0 (2024-08-14)<a class="headerlink" href="#id132" title="Permalink to this heading">#</a></h3>
+<section id="id133">
+<h4>Added<a class="headerlink" href="#id133" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.modifiers" title="omni.isaac.lab.utils.modifiers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">modifiers</span></code></a> module to provide framework for configurable and custom
+observation data modifiers.</p></li>
+<li><p>Adapted the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationManager</span></code></a> class to support custom modifiers.
+These are applied to the observation data before applying any noise or scaling operations.</p></li>
+</ul>
+</section>
+</section>
+<section id="id134">
+<h3>0.21.2 (2024-08-13)<a class="headerlink" href="#id134" title="Permalink to this heading">#</a></h3>
+<section id="id135">
+<h4>Fixed<a class="headerlink" href="#id135" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Moved event mode-based checks in the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager.apply" title="omni.isaac.lab.managers.EventManager.apply"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.EventManager.apply()</span></code></a> method outside
+the loop that iterates over the event terms. This prevents unnecessary checks and improves readability.</p></li>
+<li><p>Fixed the logic for global and per environment interval times when using the “interval” mode inside the
+event manager. Earlier, the internal lists for these times were of unequal lengths which led to wrong indexing
+inside the loop that iterates over the event terms.</p></li>
+</ul>
+</section>
+</section>
+<section id="id136">
+<h3>0.21.1 (2024-08-06)<a class="headerlink" href="#id136" title="Permalink to this heading">#</a></h3>
+<ul class="simple">
+<li><p>Added a flag to preserve joint ordering inside the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.JointAction</span></code> action term.</p></li>
+</ul>
+</section>
+<section id="id137">
+<h3>0.21.0 (2024-08-05)<a class="headerlink" href="#id137" title="Permalink to this heading">#</a></h3>
+<section id="id138">
+<h4>Added<a class="headerlink" href="#id138" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the command line argument <code class="docutils literal notranslate"><span class="pre">--device</span></code> in <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>. Valid options are:</p>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">cpu</span></code>: Use CPU.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">cuda</span></code>: Use GPU with device ID <code class="docutils literal notranslate"><span class="pre">0</span></code>.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">cuda:N</span></code>: Use GPU, where N is the device ID. For example, <code class="docutils literal notranslate"><span class="pre">cuda:0</span></code>. The default value is <code class="docutils literal notranslate"><span class="pre">cuda:0</span></code>.</p></li>
+</ul>
+</li>
+</ul>
+</section>
+<section id="id139">
+<h4>Changed<a class="headerlink" href="#id139" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Simplified setting the device throughout the code by relying on <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.device" title="omni.isaac.lab.sim.SimulationCfg.device"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationCfg.device</span></code></a>
+to activate gpu/cpu pipelines.</p></li>
+</ul>
+</section>
+<section id="id140">
+<h4>Removed<a class="headerlink" href="#id140" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the parameter <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationCfg.use_gpu_pipeline</span></code>. This is now directly inferred from
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.device" title="omni.isaac.lab.sim.SimulationCfg.device"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationCfg.device</span></code></a>.</p></li>
+<li><p>Removed the command line input argument <code class="docutils literal notranslate"><span class="pre">--device_id</span></code> in <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>. The device id can
+now be set using the <code class="docutils literal notranslate"><span class="pre">--device</span></code> argument, for example with <code class="docutils literal notranslate"><span class="pre">--device</span> <span class="pre">cuda:0</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id141">
+<h3>0.20.8 (2024-08-02)<a class="headerlink" href="#id141" title="Permalink to this heading">#</a></h3>
+<section id="id142">
+<h4>Fixed<a class="headerlink" href="#id142" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the handling of observation terms with different shapes in the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationManager</span></code></a> class. Earlier, the constructor would throw an error if the
+shapes of the observation terms were different. Now, this operation only happens when the terms in an observation
+group are being concatenated. Otherwise, the terms are stored as a dictionary of tensors.</p></li>
+<li><p>Improved the error message when the observation terms are not of the same shape in the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationManager</span></code></a> class and the terms are being concatenated.</p></li>
+</ul>
+</section>
+</section>
+<section id="id143">
+<h3>0.20.7 (2024-08-02)<a class="headerlink" href="#id143" title="Permalink to this heading">#</a></h3>
+<section id="id144">
+<h4>Changed<a class="headerlink" href="#id144" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Performance improvements for material randomization in events.</p></li>
+</ul>
+</section>
+<section id="id145">
+<h4>Added<a class="headerlink" href="#id145" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added minimum randomization frequency for reset mode randomizations.</p></li>
+</ul>
+</section>
+</section>
+<section id="id146">
+<h3>0.20.6 (2024-08-02)<a class="headerlink" href="#id146" title="Permalink to this heading">#</a></h3>
+<section id="id147">
+<h4>Changed<a class="headerlink" href="#id147" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the hierarchy from <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code></a> class to
+<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Articulation</span></code></a> class. Previously, the articulation class overrode  almost
+all the functions of the rigid object class making the hierarchy redundant. Now, the articulation class
+is a standalone class that does not inherit from the rigid object class. This does add some code
+duplication but the simplicity and clarity of the code is improved.</p></li>
+</ul>
+</section>
+</section>
+<section id="id148">
+<h3>0.20.5 (2024-08-02)<a class="headerlink" href="#id148" title="Permalink to this heading">#</a></h3>
+<section id="id149">
+<h4>Added<a class="headerlink" href="#id149" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.terrain.TerrainGeneratorCfg.border_height</span></code> to set the height of the border
+around the terrain.</p></li>
+</ul>
+</section>
+</section>
+<section id="id150">
+<h3>0.20.4 (2024-08-02)<a class="headerlink" href="#id150" title="Permalink to this heading">#</a></h3>
+<section id="id151">
+<h4>Fixed<a class="headerlink" href="#id151" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the caching of terrains when using the <a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGenerator" title="omni.isaac.lab.terrains.TerrainGenerator"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.terrains.TerrainGenerator</span></code></a> class.
+Earlier, the random sampling of the difficulty levels led to different hash values for the same terrain
+configuration. This caused the terrains to be re-generated even when the same configuration was used.
+Now, the numpy random generator is seeded with the same seed to ensure that the difficulty levels are
+sampled in the same order between different runs.</p></li>
+</ul>
+</section>
+</section>
+<section id="id152">
+<h3>0.20.3 (2024-08-02)<a class="headerlink" href="#id152" title="Permalink to this heading">#</a></h3>
+<section id="id153">
+<h4>Fixed<a class="headerlink" href="#id153" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the setting of translation and orientation when spawning a mesh prim. Earlier, the translation
+and orientation was being applied both on the parent Xform and the mesh prim. This was causing the
+mesh prim to be offset by the translation and orientation of the parent Xform, which is not the intended
+behavior.</p></li>
+</ul>
+</section>
+</section>
+<section id="id154">
+<h3>0.20.2 (2024-08-02)<a class="headerlink" href="#id154" title="Permalink to this heading">#</a></h3>
+<section id="id155">
+<h4>Changed<a class="headerlink" href="#id155" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Modified the computation of body acceleration for rigid body data to use PhysX APIs instead of
+numerical finite-differencing. This removes the need for computation of body acceleration at
+every update call of the data buffer.</p></li>
+</ul>
+</section>
+</section>
+<section id="id156">
+<h3>0.20.1 (2024-07-30)<a class="headerlink" href="#id156" title="Permalink to this heading">#</a></h3>
+<section id="id157">
+<h4>Fixed<a class="headerlink" href="#id157" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.wrap_to_pi" title="omni.isaac.lab.utils.math.wrap_to_pi"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.wrap_to_pi()</span></code></a> method to handle the wrapping of angles correctly.
+Earlier, the method was not wrapping the angles to the range [-pi, pi] correctly when the angles were outside
+the range [-2*pi, 2*pi].</p></li>
+</ul>
+</section>
+</section>
+<section id="id158">
+<h3>0.20.0 (2024-07-26)<a class="headerlink" href="#id158" title="Permalink to this heading">#</a></h3>
+<section id="id159">
+<h4>Added<a class="headerlink" href="#id159" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Support for the Isaac Sim 4.1.0 release.</p></li>
+</ul>
+</section>
+<section id="id160">
+<h4>Removed<a class="headerlink" href="#id160" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>The <code class="docutils literal notranslate"><span class="pre">mdp.add_body_mass</span></code> method in the events. Please use the
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.randomize_rigid_body_mass()</span></code> method instead.</p></li>
+<li><p>The classes <code class="docutils literal notranslate"><span class="pre">managers.RandomizationManager</span></code> and <code class="docutils literal notranslate"><span class="pre">managers.RandomizationTermCfg</span></code> are replaced with
+<a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager" title="omni.isaac.lab.managers.EventManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.EventManager</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.EventTermCfg</span></code></a> classes.</p></li>
+<li><p>The following properties in <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData" title="omni.isaac.lab.sensors.FrameTransformerData"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.FrameTransformerData</span></code></a>:</p>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">target_rot_source</span></code> –&gt; <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData.target_quat_w" title="omni.isaac.lab.sensors.FrameTransformerData.target_quat_w"><code class="xref py py-attr docutils literal notranslate"><span class="pre">target_quat_w</span></code></a></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">target_rot_w</span></code> –&gt; <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData.target_quat_source" title="omni.isaac.lab.sensors.FrameTransformerData.target_quat_source"><code class="xref py py-attr docutils literal notranslate"><span class="pre">target_quat_source</span></code></a></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">source_rot_w</span></code> –&gt; <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData.source_quat_w" title="omni.isaac.lab.sensors.FrameTransformerData.source_quat_w"><code class="xref py py-attr docutils literal notranslate"><span class="pre">source_quat_w</span></code></a></p></li>
+</ul>
+</li>
+<li><p>The kit experience file <code class="docutils literal notranslate"><span class="pre">isaaclab.backwards.compatible.kit</span></code>. This is followed by dropping the support for
+Isaac Sim 2023.1.1 completely.</p></li>
+</ul>
+</section>
+</section>
+<section id="id161">
+<h3>0.19.4 (2024-07-13)<a class="headerlink" href="#id161" title="Permalink to this heading">#</a></h3>
+<section id="id162">
+<h4>Fixed<a class="headerlink" href="#id162" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the call to “startup” events when using the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedEnv</span></code></a> class.
+Earlier, the “startup” events were not being called when the environment was initialized. This issue
+did not occur when using the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a> class since the “startup”
+events were called in the constructor.</p></li>
+</ul>
+</section>
+</section>
+<section id="id163">
+<h3>0.19.3 (2024-07-13)<a class="headerlink" href="#id163" title="Permalink to this heading">#</a></h3>
+<section id="id164">
+<h4>Added<a class="headerlink" href="#id164" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added schemas for setting and modifying deformable body properties on a USD prim.</p></li>
+<li><p>Added API to spawn a deformable body material in the simulation.</p></li>
+<li><p>Added APIs to spawn rigid and deformable meshes of primitive shapes (cone, cylinder, sphere, box, capsule)
+in the simulation. This is possible through the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.meshes" title="omni.isaac.lab.sim.spawners.meshes"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.meshes</span></code></a> module.</p></li>
+</ul>
+</section>
+</section>
+<section id="id165">
+<h3>0.19.2 (2024-07-05)<a class="headerlink" href="#id165" title="Permalink to this heading">#</a></h3>
+<section id="id166">
+<h4>Changed<a class="headerlink" href="#id166" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Modified cloning scheme based on the attribute <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics" title="omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics"><code class="xref py py-attr docutils literal notranslate"><span class="pre">replicate_physics</span></code></a>
+to determine whether environment is homogeneous or heterogeneous.</p></li>
+</ul>
+</section>
+</section>
+<section id="id167">
+<h3>0.19.1 (2024-07-05)<a class="headerlink" href="#id167" title="Permalink to this heading">#</a></h3>
+<section id="id168">
+<h4>Added<a class="headerlink" href="#id168" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a lidar pattern function <code class="xref py py-func docutils literal notranslate"><span class="pre">lidar_pattern()</span></code> with
+corresponding config <code class="xref py py-class docutils literal notranslate"><span class="pre">LidarPatternCfg</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id169">
+<h3>0.19.0 (2024-07-04)<a class="headerlink" href="#id169" title="Permalink to this heading">#</a></h3>
+<section id="id170">
+<h4>Fixed<a class="headerlink" href="#id170" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed parsing of articulations with nested rigid links while using the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.Articulation</span></code></a>
+class. Earlier, the class initialization failed when the articulation had nested rigid links since the rigid
+links were not being parsed correctly by the PhysX view.</p></li>
+</ul>
+</section>
+<section id="id171">
+<h4>Removed<a class="headerlink" href="#id171" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the attribute <code class="xref py py-attr docutils literal notranslate"><span class="pre">body_physx_view</span></code> from the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.Articulation</span></code></a> and
+<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.RigidObject</span></code></a> classes. These were causing confusions when used with articulation
+view since the body names were not following the same ordering.</p></li>
+<li><p>Dropped support for Isaac Sim 2023.1.1. The minimum supported version is now Isaac Sim 4.0.0.</p></li>
+</ul>
+</section>
+</section>
+<section id="id172">
+<h3>0.18.6 (2024-07-01)<a class="headerlink" href="#id172" title="Permalink to this heading">#</a></h3>
+<section id="id173">
+<h4>Fixed<a class="headerlink" href="#id173" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the environment stepping logic. Earlier, the environments’ rendering logic was updating the kit app which
+would in turn step the physics <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.render_interval" title="omni.isaac.lab.sim.SimulationCfg.render_interval"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationCfg.render_interval</span></code></a> times. Now, a render
+call only does rendering and does not step the physics.</p></li>
+</ul>
+</section>
+</section>
+<section id="id174">
+<h3>0.18.5 (2024-06-26)<a class="headerlink" href="#id174" title="Permalink to this heading">#</a></h3>
+<section id="id175">
+<h4>Fixed<a class="headerlink" href="#id175" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the gravity vector direction used inside the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData" title="omni.isaac.lab.assets.RigidObjectData"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.RigidObjectData</span></code></a> class.
+Earlier, the gravity direction was hard-coded as (0, 0, -1) which may be different from the actual
+gravity direction in the simulation. Now, the gravity direction is obtained from the simulation context
+and used to compute the projection of the gravity vector on the object.</p></li>
+</ul>
+</section>
+</section>
+<section id="id176">
+<h3>0.18.4 (2024-06-26)<a class="headerlink" href="#id176" title="Permalink to this heading">#</a></h3>
+<section id="id177">
+<h4>Fixed<a class="headerlink" href="#id177" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed double reference count of the physics sim view inside the asset classes. This was causing issues
+when destroying the asset class instance since the physics sim view was not being properly released.</p></li>
+</ul>
+</section>
+<section id="id178">
+<h4>Added<a class="headerlink" href="#id178" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the attribute <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.is_initialized" title="omni.isaac.lab.assets.AssetBase.is_initialized"><code class="xref py py-attr docutils literal notranslate"><span class="pre">is_initialized</span></code></a> to check if the asset and sensor
+has been initialized properly. This can be used to ensure that the asset or sensor is ready to use in the simulation.</p></li>
+</ul>
+</section>
+</section>
+<section id="id179">
+<h3>0.18.3 (2024-06-25)<a class="headerlink" href="#id179" title="Permalink to this heading">#</a></h3>
+<section id="id180">
+<h4>Fixed<a class="headerlink" href="#id180" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the docstrings at multiple places related to the different buffer implementations inside the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.buffers" title="omni.isaac.lab.utils.buffers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.buffers</span></code></a> module. The docstrings were not clear and did not provide enough
+information about the classes and their methods.</p></li>
+</ul>
+</section>
+<section id="id181">
+<h4>Added<a class="headerlink" href="#id181" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the field for fixed tendom names in the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData" title="omni.isaac.lab.assets.ArticulationData"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.ArticulationData</span></code></a> class.
+Earlier, this information was not exposed which was inconsistent with other name related information
+such as joint or body names.</p></li>
+</ul>
+</section>
+<section id="id182">
+<h4>Changed<a class="headerlink" href="#id182" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed the fields <code class="docutils literal notranslate"><span class="pre">min_num_time_lags</span></code> and <code class="docutils literal notranslate"><span class="pre">max_num_time_lags</span></code> to <code class="docutils literal notranslate"><span class="pre">min_delay</span></code> and
+<code class="docutils literal notranslate"><span class="pre">max_delay</span></code> in the <a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DelayedPDActuatorCfg" title="omni.isaac.lab.actuators.DelayedPDActuatorCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators.DelayedPDActuatorCfg</span></code></a> class. This is to make
+the naming simpler to understand.</p></li>
+</ul>
+</section>
+</section>
+<section id="id183">
+<h3>0.18.2 (2024-06-25)<a class="headerlink" href="#id183" title="Permalink to this heading">#</a></h3>
+<section id="id184">
+<h4>Changed<a class="headerlink" href="#id184" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Moved the configuration for tile-rendered camera into its own file named <code class="docutils literal notranslate"><span class="pre">tiled_camera_cfg.py</span></code>.
+This makes it easier to follow where the configuration is located and how it is related to the class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id185">
+<h3>0.18.1 (2024-06-25)<a class="headerlink" href="#id185" title="Permalink to this heading">#</a></h3>
+<section id="id186">
+<h4>Changed<a class="headerlink" href="#id186" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Ensured that a parity between class and its configuration class is explicitly visible in the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#module-omni.isaac.lab.envs" title="omni.isaac.lab.envs"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.envs</span></code></a> module. This makes it easier to follow where definitions are located and how
+they are related. This should not be a breaking change as the classes are still accessible through the same module.</p></li>
+</ul>
+</section>
+</section>
+<section id="id187">
+<h3>0.18.0 (2024-06-13)<a class="headerlink" href="#id187" title="Permalink to this heading">#</a></h3>
+<section id="id188">
+<h4>Fixed<a class="headerlink" href="#id188" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the rendering logic to render at the specified interval. Earlier, the substep parameter had no effect and rendering
+would happen once every env.step() when active.</p></li>
+</ul>
+</section>
+<section id="id189">
+<h4>Changed<a class="headerlink" href="#id189" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationCfg.substeps</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.render_interval" title="omni.isaac.lab.sim.SimulationCfg.render_interval"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationCfg.render_interval</span></code></a>.
+The render logic is now integrated in the decimation loop of the environment.</p></li>
+</ul>
+</section>
+</section>
+<section id="id190">
+<h3>0.17.13 (2024-06-13)<a class="headerlink" href="#id190" title="Permalink to this heading">#</a></h3>
+<section id="id191">
+<h4>Fixed<a class="headerlink" href="#id191" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the orientation reset logic in <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html#omni.isaac.lab.envs.mdp.events.reset_root_state_uniform" title="omni.isaac.lab.envs.mdp.events.reset_root_state_uniform"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.events.reset_root_state_uniform()</span></code></a> to make it relative to
+the default orientation. Earlier, the position was sampled relative to the default and the orientation not.</p></li>
+</ul>
+</section>
+</section>
+<section id="id192">
+<h3>0.17.12 (2024-06-13)<a class="headerlink" href="#id192" title="Permalink to this heading">#</a></h3>
+<section id="id193">
+<h4>Added<a class="headerlink" href="#id193" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the class <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.buffers.TimestampedBuffer" title="omni.isaac.lab.utils.buffers.TimestampedBuffer"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.buffers.TimestampedBuffer</span></code></a> to store timestamped data.</p></li>
+</ul>
+</section>
+<section id="id194">
+<h4>Changed<a class="headerlink" href="#id194" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added time-stamped buffers in the classes <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData" title="omni.isaac.lab.assets.RigidObjectData"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.RigidObjectData</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData" title="omni.isaac.lab.assets.ArticulationData"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.ArticulationData</span></code></a>
+to update some values lazily and avoid unnecessary computations between physics updates. Before, all the data was always
+updated at every step, even if it was not used by the task.</p></li>
+</ul>
+</section>
+</section>
+<section id="id195">
+<h3>0.17.11 (2024-05-30)<a class="headerlink" href="#id195" title="Permalink to this heading">#</a></h3>
+<section id="id196">
+<h4>Fixed<a class="headerlink" href="#id196" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensor.ContactSensor</span></code> not loading correctly in extension mode.
+Earlier, the <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sensor.ContactSensor.body_physx_view</span></code> was not initialized when
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sensor.ContactSensor._debug_vis_callback()</span></code> is called which references it.</p></li>
+</ul>
+</section>
+</section>
+<section id="id197">
+<h3>0.17.10 (2024-05-30)<a class="headerlink" href="#id197" title="Permalink to this heading">#</a></h3>
+<section id="id198">
+<h4>Fixed<a class="headerlink" href="#id198" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed compound classes being directly assigned in <code class="docutils literal notranslate"><span class="pre">default_factory</span></code> generator method
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.configclass._return_f()</span></code>, which resulted in shared references such that modifications to
+compound objects were reflected across all instances generated from the same <code class="docutils literal notranslate"><span class="pre">default_factory</span></code> method.</p></li>
+</ul>
+</section>
+</section>
+<section id="id199">
+<h3>0.17.9 (2024-05-30)<a class="headerlink" href="#id199" title="Permalink to this heading">#</a></h3>
+<section id="id200">
+<h4>Added<a class="headerlink" href="#id200" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">variants</span></code> attribute to the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.from_files.UsdFileCfg</span></code> class to select USD
+variants when loading assets from USD files.</p></li>
+</ul>
+</section>
+</section>
+<section id="id201">
+<h3>0.17.8 (2024-05-28)<a class="headerlink" href="#id201" title="Permalink to this heading">#</a></h3>
+<section id="id202">
+<h4>Fixed<a class="headerlink" href="#id202" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Implemented the reset methods in the action terms to avoid returning outdated data.</p></li>
+</ul>
+</section>
+</section>
+<section id="id203">
+<h3>0.17.7 (2024-05-28)<a class="headerlink" href="#id203" title="Permalink to this heading">#</a></h3>
+<section id="id204">
+<h4>Added<a class="headerlink" href="#id204" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added debug visualization utilities in the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager" title="omni.isaac.lab.managers.ActionManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ActionManager</span></code></a> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id205">
+<h3>0.17.6 (2024-05-27)<a class="headerlink" href="#id205" title="Permalink to this heading">#</a></h3>
+<section id="id206">
+<h4>Added<a class="headerlink" href="#id206" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">wp.init()</span></code> call in Warp utils.</p></li>
+</ul>
+</section>
+</section>
+<section id="id207">
+<h3>0.17.5 (2024-05-22)<a class="headerlink" href="#id207" title="Permalink to this heading">#</a></h3>
+<section id="id208">
+<h4>Changed<a class="headerlink" href="#id208" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Websocket livestreaming is no longer supported. Valid livestream options are {0, 1, 2}.</p></li>
+<li><p>WebRTC livestream is now set with livestream=2.</p></li>
+</ul>
+</section>
+</section>
+<section id="id209">
+<h3>0.17.4 (2024-05-17)<a class="headerlink" href="#id209" title="Permalink to this heading">#</a></h3>
+<section id="id210">
+<h4>Changed<a class="headerlink" href="#id210" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Modified the noise functions to also support add, scale, and abs operations on the data. Added aliases
+to ensure backward compatibility with the previous functions.</p>
+<ul>
+<li><p>Added <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseCfg.operation" title="omni.isaac.lab.utils.noise.NoiseCfg.operation"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.noise.NoiseCfg.operation</span></code></a> for the different operations.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">constant_bias_noise</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.constant_noise" title="omni.isaac.lab.utils.noise.constant_noise"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.noise.constant_noise()</span></code></a>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">additive_uniform_noise</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.uniform_noise" title="omni.isaac.lab.utils.noise.uniform_noise"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.noise.uniform_noise()</span></code></a>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">additive_gaussian_noise</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.gaussian_noise" title="omni.isaac.lab.utils.noise.gaussian_noise"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.noise.gaussian_noise()</span></code></a>.</p></li>
+</ul>
+</li>
+</ul>
+</section>
+</section>
+<section id="id211">
+<h3>0.17.3 (2024-05-15)<a class="headerlink" href="#id211" title="Permalink to this heading">#</a></h3>
+<section id="id212">
+<h4>Fixed<a class="headerlink" href="#id212" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Set <code class="docutils literal notranslate"><span class="pre">hide_ui</span></code> flag in the app launcher for livestream.</p></li>
+<li><p>Fix native client livestream extensions.</p></li>
+</ul>
+</section>
+</section>
+<section id="id213">
+<h3>0.17.2 (2024-05-09)<a class="headerlink" href="#id213" title="Permalink to this heading">#</a></h3>
+<section id="id214">
+<h4>Changed<a class="headerlink" href="#id214" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">_range</span></code> to <code class="docutils literal notranslate"><span class="pre">distribution_params</span></code> in <code class="docutils literal notranslate"><span class="pre">events.py</span></code> for methods that defined a distribution.</p></li>
+<li><p>Apply additive/scaling randomization noise on default data instead of current data.</p></li>
+<li><p>Changed material bucketing logic to prevent exceeding 64k materials.</p></li>
+</ul>
+</section>
+<section id="id215">
+<h4>Fixed<a class="headerlink" href="#id215" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed broadcasting issues with indexing when environment and joint IDs are provided.</p></li>
+<li><p>Fixed incorrect tensor dimensions when setting a subset of environments.</p></li>
+</ul>
+</section>
+<section id="id216">
+<h4>Added<a class="headerlink" href="#id216" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support for randomization of fixed tendon parameters.</p></li>
+<li><p>Added support for randomization of dof limits.</p></li>
+<li><p>Added support for randomization of gravity.</p></li>
+<li><p>Added support for Gaussian sampling.</p></li>
+<li><p>Added default buffers to Articulation/Rigid object data classes for randomization.</p></li>
+</ul>
+</section>
+</section>
+<section id="id217">
+<h3>0.17.1 (2024-05-10)<a class="headerlink" href="#id217" title="Permalink to this heading">#</a></h3>
+<section id="id218">
+<h4>Fixed<a class="headerlink" href="#id218" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added attribute <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics" title="omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics</span></code></a> to properly parse
+joint dynamics in <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter" title="omni.isaac.lab.sim.converters.UrdfConverter"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.converters.UrdfConverter</span></code></a>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id219">
+<h3>0.17.0 (2024-05-07)<a class="headerlink" href="#id219" title="Permalink to this heading">#</a></h3>
+<section id="id220">
+<h4>Changed<a class="headerlink" href="#id220" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">BaseEnv</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedEnv</span></code></a>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">base_env.py</span></code> to <code class="docutils literal notranslate"><span class="pre">manager_based_env.py</span></code>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">BaseEnvCfg</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg" title="omni.isaac.lab.envs.ManagerBasedEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedEnvCfg</span></code></a>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">RLTaskEnv</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedRLEnv</span></code></a>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">rl_task_env.py</span></code> to <code class="docutils literal notranslate"><span class="pre">manager_based_rl_env.py</span></code>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">RLTaskEnvCfg</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedRLEnvCfg</span></code></a>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">rl_task_env_cfg.py</span></code> to <code class="docutils literal notranslate"><span class="pre">rl_env_cfg.py</span></code>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">OIGEEnv</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.DirectRLEnv</span></code></a>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">oige_env.py</span></code> to <code class="docutils literal notranslate"><span class="pre">direct_rl_env.py</span></code>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">RLTaskEnvWindow</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow" title="omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow</span></code></a>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">rl_task_env_window.py</span></code> to <code class="docutils literal notranslate"><span class="pre">manager_based_rl_env_window.py</span></code>.</p></li>
+<li><p>Renamed all references of <code class="docutils literal notranslate"><span class="pre">BaseEnv</span></code>, <code class="docutils literal notranslate"><span class="pre">BaseEnvCfg</span></code>, <code class="docutils literal notranslate"><span class="pre">RLTaskEnv</span></code>, <code class="docutils literal notranslate"><span class="pre">RLTaskEnvCfg</span></code>,  <code class="docutils literal notranslate"><span class="pre">OIGEEnv</span></code>, and <code class="docutils literal notranslate"><span class="pre">RLTaskEnvWindow</span></code>.</p></li>
+</ul>
+</section>
+<section id="id221">
+<h4>Added<a class="headerlink" href="#id221" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added direct workflow base class <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.DirectRLEnv</span></code></a>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id222">
+<h3>0.16.4 (2024-05-06)<a class="headerlink" href="#id222" title="Permalink to this heading">#</a></h3>
+<section id="id223">
+<h4>Changed<a class="headerlink" href="#id223" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.TiledCamera" title="omni.isaac.lab.sensors.TiledCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.TiledCamera</span></code></a> to support tiled rendering with RGB and depth.</p></li>
+</ul>
+</section>
+</section>
+<section id="id224">
+<h3>0.16.3 (2024-04-26)<a class="headerlink" href="#id224" title="Permalink to this heading">#</a></h3>
+<section id="id225">
+<h4>Fixed<a class="headerlink" href="#id225" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed parsing of filter prim path expressions in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor" title="omni.isaac.lab.sensors.ContactSensor"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ContactSensor</span></code></a> class.
+Earlier, the filter prim paths given to the physics view was not being parsed since they were specified as
+regex expressions instead of glob expressions.</p></li>
+</ul>
+</section>
+</section>
+<section id="id226">
+<h3>0.16.2 (2024-04-25)<a class="headerlink" href="#id226" title="Permalink to this heading">#</a></h3>
+<section id="id227">
+<h4>Changed<a class="headerlink" href="#id227" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Simplified the installation procedure, isaaclab -e is no longer needed</p></li>
+<li><p>Updated torch dependency to 2.2.2</p></li>
+</ul>
+</section>
+</section>
+<section id="id228">
+<h3>0.16.1 (2024-04-20)<a class="headerlink" href="#id228" title="Permalink to this heading">#</a></h3>
+<section id="id229">
+<h4>Added<a class="headerlink" href="#id229" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added attribute <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.ArticulationRootPropertiesCfg.fix_root_link</span></code> to fix the root link
+of an articulation to the world frame.</p></li>
+</ul>
+</section>
+</section>
+<section id="id230">
+<h3>0.16.0 (2024-04-16)<a class="headerlink" href="#id230" title="Permalink to this heading">#</a></h3>
+<section id="id231">
+<h4>Added<a class="headerlink" href="#id231" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the function <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_unique" title="omni.isaac.lab.utils.math.quat_unique"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.quat_unique()</span></code></a> to standardize quaternion representations,
+i.e. always have a non-negative real part.</p></li>
+<li><p>Added events terms for randomizing mass by scale, simulation joint properties (stiffness, damping, armature,
+and friction)</p></li>
+</ul>
+</section>
+<section id="id232">
+<h4>Fixed<a class="headerlink" href="#id232" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added clamping of joint positions and velocities in event terms for resetting joints. The simulation does not
+throw an error if the set values are out of their range. Hence, users are expected to clamp them before setting.</p></li>
+<li><p>Fixed <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.EMAJointPositionToLimitsActionCfg</span></code> to smoothen the actions
+at environment frequency instead of simulation frequency.</p></li>
+<li><p>Renamed the following functions in <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp" title="omni.isaac.lab.envs.mdp"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp()</span></code></a> to avoid confusions:</p>
+<ul>
+<li><p>Observation: <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_pos_norm()</span></code> -&gt; <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_pos_limit_normalized()</span></code></p></li>
+<li><p>Action: <code class="xref py py-class docutils literal notranslate"><span class="pre">ExponentialMovingAverageJointPositionAction</span></code> -&gt; <code class="xref py py-class docutils literal notranslate"><span class="pre">EMAJointPositionToLimitsAction</span></code></p></li>
+<li><p>Termination: <code class="xref py py-meth docutils literal notranslate"><span class="pre">base_height()</span></code> -&gt; <code class="xref py py-meth docutils literal notranslate"><span class="pre">root_height_below_minimum()</span></code></p></li>
+<li><p>Termination: <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_pos_limit()</span></code> -&gt; <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_pos_out_of_limit()</span></code></p></li>
+<li><p>Termination: <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_pos_manual_limit()</span></code> -&gt; <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_pos_out_of_manual_limit()</span></code></p></li>
+<li><p>Termination: <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_vel_limit()</span></code> -&gt; <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_vel_out_of_limit()</span></code></p></li>
+<li><p>Termination: <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_vel_manual_limit()</span></code> -&gt; <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_vel_out_of_manual_limit()</span></code></p></li>
+<li><p>Termination: <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_torque_limit()</span></code> -&gt; <code class="xref py py-meth docutils literal notranslate"><span class="pre">joint_effort_out_of_limit()</span></code></p></li>
+</ul>
+</li>
+</ul>
+</section>
+<section id="deprecated">
+<h4>Deprecated<a class="headerlink" href="#deprecated" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Deprecated the function <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.add_body_mass()</span></code> in favor of
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.randomize_rigid_body_mass()</span></code>. This supports randomizing the mass based on different
+operations (add, scale, or set) and sampling distributions.</p></li>
+</ul>
+</section>
+</section>
+<section id="id233">
+<h3>0.15.13 (2024-04-16)<a class="headerlink" href="#id233" title="Permalink to this heading">#</a></h3>
+<section id="id234">
+<h4>Changed<a class="headerlink" href="#id234" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Improved startup performance by enabling rendering-based extensions only when necessary and caching of nucleus directory.</p></li>
+<li><p>Renamed the flag <code class="docutils literal notranslate"><span class="pre">OFFSCREEN_RENDER</span></code> or <code class="docutils literal notranslate"><span class="pre">--offscreen_render</span></code> to <code class="docutils literal notranslate"><span class="pre">ENABLE_CAMERAS</span></code> or <code class="docutils literal notranslate"><span class="pre">--enable_cameras</span></code> respectively.</p></li>
+</ul>
+</section>
+</section>
+<section id="id235">
+<h3>0.15.12 (2024-04-16)<a class="headerlink" href="#id235" title="Permalink to this heading">#</a></h3>
+<section id="id236">
+<h4>Changed<a class="headerlink" href="#id236" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Replaced calls to the <code class="docutils literal notranslate"><span class="pre">check_file_path</span></code> function in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.from_files" title="omni.isaac.lab.sim.spawners.from_files"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.from_files</span></code></a>
+with the USD stage resolve identifier function. This helps speed up the loading of assets from file paths
+by avoiding Nucleus server calls.</p></li>
+</ul>
+</section>
+</section>
+<section id="id237">
+<h3>0.15.11 (2024-04-15)<a class="headerlink" href="#id237" title="Permalink to this heading">#</a></h3>
+<section id="id238">
+<h4>Added<a class="headerlink" href="#id238" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.has_rtx_sensors" title="omni.isaac.lab.sim.SimulationContext.has_rtx_sensors"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext.has_rtx_sensors()</span></code></a> method to check if any
+RTX-related sensors such as cameras have been created in the simulation. This is useful to determine
+if simulation requires RTX rendering during step or not.</p></li>
+</ul>
+</section>
+<section id="id239">
+<h4>Fixed<a class="headerlink" href="#id239" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the rendering of RTX-related sensors such as cameras inside the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RLTaskEnv</span></code> class.
+Earlier the rendering did not happen inside the step function, which caused the sensor data to be empty.</p></li>
+</ul>
+</section>
+</section>
+<section id="id240">
+<h3>0.15.10 (2024-04-11)<a class="headerlink" href="#id240" title="Permalink to this heading">#</a></h3>
+<section id="id241">
+<h4>Fixed<a class="headerlink" href="#id241" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed sharing of the same memory address between returned tensors from observation terms
+in the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ObservationManager</span></code></a> class. Earlier, the returned
+tensors could map to the same memory address, causing issues when the tensors were modified
+during scaling, clipping or other operations.</p></li>
+</ul>
+</section>
+</section>
+<section id="id242">
+<h3>0.15.9 (2024-04-04)<a class="headerlink" href="#id242" title="Permalink to this heading">#</a></h3>
+<section id="id243">
+<h4>Fixed<a class="headerlink" href="#id243" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed assignment of individual termination terms inside the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager" title="omni.isaac.lab.managers.TerminationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.TerminationManager</span></code></a>
+class. Earlier, the terms were being assigned their values through an OR operation which resulted in incorrect
+values. This regression was introduced in version 0.15.1.</p></li>
+</ul>
+</section>
+</section>
+<section id="id244">
+<h3>0.15.8 (2024-04-02)<a class="headerlink" href="#id244" title="Permalink to this heading">#</a></h3>
+<section id="id245">
+<h4>Added<a class="headerlink" href="#id245" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added option to define ordering of points for the mesh-grid generation in the
+<code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ray_caster.patterns.grid_pattern()</span></code>. This parameter defaults to ‘xy’
+for backward compatibility.</p></li>
+</ul>
+</section>
+</section>
+<section id="id246">
+<h3>0.15.7 (2024-03-28)<a class="headerlink" href="#id246" title="Permalink to this heading">#</a></h3>
+<section id="id247">
+<h4>Added<a class="headerlink" href="#id247" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Adds option to return indices/data in the specified query keys order in
+<a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.SceneEntityCfg</span></code></a> class, and the respective
+<a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.resolve_matching_names_values" title="omni.isaac.lab.utils.string.resolve_matching_names_values"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string.resolve_matching_names_values()</span></code></a> and
+<a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.string.resolve_matching_names" title="omni.isaac.lab.utils.string.resolve_matching_names"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string.resolve_matching_names()</span></code></a> functions.</p></li>
+</ul>
+</section>
+</section>
+<section id="id248">
+<h3>0.15.6 (2024-03-28)<a class="headerlink" href="#id248" title="Permalink to this heading">#</a></h3>
+<section id="id249">
+<h4>Added<a class="headerlink" href="#id249" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Extended the <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> class to support the loading of experience files
+from the command line. This allows users to load a specific experience file when running the application
+(such as for multi-camera rendering or headless mode).</p></li>
+</ul>
+</section>
+<section id="id250">
+<h4>Changed<a class="headerlink" href="#id250" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed default loading of experience files in the <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> class from the ones
+provided by Isaac Sim to the ones provided in Isaac Lab’s <code class="docutils literal notranslate"><span class="pre">source/apps</span></code> directory.</p></li>
+</ul>
+</section>
+</section>
+<section id="id251">
+<h3>0.15.5 (2024-03-23)<a class="headerlink" href="#id251" title="Permalink to this heading">#</a></h3>
+<section id="id252">
+<h4>Fixed<a class="headerlink" href="#id252" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the env origins in <code class="xref py py-meth docutils literal notranslate"><span class="pre">_compute_env_origins_grid()</span></code> of <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.terrain.TerrainImporter</span></code>
+to match that obtained from the Isaac Sim <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.cloner.GridCloner</span></code> class.</p></li>
+</ul>
+</section>
+<section id="id253">
+<h4>Added<a class="headerlink" href="#id253" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added unit test to ensure consistency between environment origins generated by IsaacSim’s Grid Cloner and those
+produced by the TerrainImporter.</p></li>
+</ul>
+</section>
+</section>
+<section id="id254">
+<h3>0.15.4 (2024-03-22)<a class="headerlink" href="#id254" title="Permalink to this heading">#</a></h3>
+<section id="id255">
+<h4>Fixed<a class="headerlink" href="#id255" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.actions.NonHolonomicActionCfg</span></code> class to use
+the correct variable when applying actions.</p></li>
+</ul>
+</section>
+</section>
+<section id="id256">
+<h3>0.15.3 (2024-03-21)<a class="headerlink" href="#id256" title="Permalink to this heading">#</a></h3>
+<section id="id257">
+<h4>Added<a class="headerlink" href="#id257" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added unit test to check that <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.InteractiveScene</span></code></a> entity data is not shared between separate instances.</p></li>
+</ul>
+</section>
+<section id="id258">
+<h4>Fixed<a class="headerlink" href="#id258" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Moved class variables in <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.InteractiveScene</span></code></a> to correctly  be assigned as
+instance variables.</p></li>
+<li><p>Removed custom <code class="docutils literal notranslate"><span class="pre">__del__</span></code> magic method from <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.InteractiveScene</span></code></a>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id259">
+<h3>0.15.2 (2024-03-21)<a class="headerlink" href="#id259" title="Permalink to this heading">#</a></h3>
+<section id="id260">
+<h4>Fixed<a class="headerlink" href="#id260" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added resolving of relative paths for the main asset USD file when using the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter" title="omni.isaac.lab.sim.converters.UrdfConverter"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.converters.UrdfConverter</span></code></a> class. This is to ensure that the material paths are
+resolved correctly when the main asset file is moved to a different location.</p></li>
+</ul>
+</section>
+</section>
+<section id="id261">
+<h3>0.15.1 (2024-03-19)<a class="headerlink" href="#id261" title="Permalink to this heading">#</a></h3>
+<section id="id262">
+<h4>Fixed<a class="headerlink" href="#id262" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the imitation learning workflow example script, updating Isaac Lab and Robomimic API calls.</p></li>
+<li><p>Removed the resetting of <code class="xref py py-attr docutils literal notranslate"><span class="pre">_term_dones</span></code> in the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.TerminationManager.reset" title="omni.isaac.lab.managers.TerminationManager.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.TerminationManager.reset()</span></code></a>.
+Previously, the environment cleared out all the terms. However, it impaired reading the specific term’s values externally.</p></li>
+</ul>
+</section>
+</section>
+<section id="id263">
+<h3>0.15.0 (2024-03-17)<a class="headerlink" href="#id263" title="Permalink to this heading">#</a></h3>
+<section id="id264">
+<h4>Deprecated<a class="headerlink" href="#id264" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.RandomizationManager</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager" title="omni.isaac.lab.managers.EventManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.EventManager</span></code></a>
+class for clarification as the manager takes care of events such as reset in addition to pure randomizations.</p></li>
+<li><p>Renamed <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.RandomizationTermCfg</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.EventTermCfg</span></code></a>
+for consistency with the class name change.</p></li>
+</ul>
+</section>
+</section>
+<section id="id265">
+<h3>0.14.1 (2024-03-16)<a class="headerlink" href="#id265" title="Permalink to this heading">#</a></h3>
+<section id="id266">
+<h4>Added<a class="headerlink" href="#id266" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added simulation schemas for joint drive and fixed tendons. These can be configured for assets imported
+from file formats.</p></li>
+<li><p>Added logging of tendon properties to the articulation class (if they are present in the USD prim).</p></li>
+</ul>
+</section>
+</section>
+<section id="id267">
+<h3>0.14.0 (2024-03-15)<a class="headerlink" href="#id267" title="Permalink to this heading">#</a></h3>
+<section id="id268">
+<h4>Fixed<a class="headerlink" href="#id268" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the ordering of body names used in the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.Articulation</span></code></a> class. Earlier,
+the body names were not following the same ordering as the bodies in the articulation. This led
+to issues when using the body names to access data related to the links from the articulation view
+(such as Jacobians, mass matrices, etc.).</p></li>
+</ul>
+</section>
+<section id="id269">
+<h4>Removed<a class="headerlink" href="#id269" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the attribute <code class="xref py py-attr docutils literal notranslate"><span class="pre">body_physx_view</span></code> from the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.RigidObject</span></code></a>
+and <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.Articulation</span></code></a> classes. These were causing confusions when used
+with articulation view since the body names were not following the same ordering.</p></li>
+</ul>
+</section>
+</section>
+<section id="id270">
+<h3>0.13.1 (2024-03-14)<a class="headerlink" href="#id270" title="Permalink to this heading">#</a></h3>
+<section id="id271">
+<h4>Removed<a class="headerlink" href="#id271" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.compat</span></code> module. This module was used to provide compatibility
+with older versions of Isaac Sim. It is no longer needed since we have most of the functionality
+absorbed into the main classes.</p></li>
+</ul>
+</section>
+</section>
+<section id="id272">
+<h3>0.13.0 (2024-03-12)<a class="headerlink" href="#id272" title="Permalink to this heading">#</a></h3>
+<section id="id273">
+<h4>Added<a class="headerlink" href="#id273" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support for the following data types inside the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> class:
+<code class="docutils literal notranslate"><span class="pre">instance_segmentation_fast</span></code> and <code class="docutils literal notranslate"><span class="pre">instance_id_segmentation_fast</span></code>. These are GPU-supported annotations
+and are faster than the regular annotations.</p></li>
+</ul>
+</section>
+<section id="id274">
+<h4>Fixed<a class="headerlink" href="#id274" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed handling of semantic filtering inside the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> class. Earlier,
+the annotator was given <code class="docutils literal notranslate"><span class="pre">semanticTypes</span></code> as an argument. However, with Isaac Sim 2023.1, the annotator
+does not accept this argument. Instead the mapping needs to be set to the synthetic data interface directly.</p></li>
+<li><p>Fixed the return shape of colored images for segmentation data types inside the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> class. Earlier, the images were always returned as <code class="docutils literal notranslate"><span class="pre">int32</span></code>. Now,
+they are casted to <code class="docutils literal notranslate"><span class="pre">uint8</span></code> 4-channel array before returning if colorization is enabled for the annotation type.</p></li>
+</ul>
+</section>
+<section id="id275">
+<h4>Removed<a class="headerlink" href="#id275" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Dropped support for <code class="docutils literal notranslate"><span class="pre">instance_segmentation</span></code> and <code class="docutils literal notranslate"><span class="pre">instance_id_segmentation</span></code> annotations in the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> class. Their “fast” counterparts should be used instead.</p></li>
+<li><p>Renamed the argument <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.CameraCfg.semantic_types</span></code> to
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.semantic_filter" title="omni.isaac.lab.sensors.CameraCfg.semantic_filter"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.CameraCfg.semantic_filter</span></code></a>. This is more aligned with Replicator’s terminology
+for semantic filter predicates.</p></li>
+<li><p>Replaced the argument <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.CameraCfg.colorize</span></code> with separate colorized
+arguments for each annotation type (<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation" title="omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation"><code class="xref py py-attr docutils literal notranslate"><span class="pre">colorize_instance_segmentation</span></code></a>,
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation" title="omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation"><code class="xref py py-attr docutils literal notranslate"><span class="pre">colorize_instance_id_segmentation</span></code></a>, and
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation" title="omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation"><code class="xref py py-attr docutils literal notranslate"><span class="pre">colorize_semantic_segmentation</span></code></a>).</p></li>
+</ul>
+</section>
+</section>
+<section id="id276">
+<h3>0.12.4 (2024-03-11)<a class="headerlink" href="#id276" title="Permalink to this heading">#</a></h3>
+<section id="id277">
+<h4>Fixed<a class="headerlink" href="#id277" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Adapted randomization terms to deal with <code class="docutils literal notranslate"><span class="pre">slice</span></code> for the body indices. Earlier, the terms were not
+able to handle the slice object and were throwing an error.</p></li>
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">slice</span></code> type-hinting to all body and joint related methods in the rigid body and articulation
+classes. This is to make it clear that the methods can handle both list of indices and slices.</p></li>
+</ul>
+</section>
+</section>
+<section id="id278">
+<h3>0.12.3 (2024-03-11)<a class="headerlink" href="#id278" title="Permalink to this heading">#</a></h3>
+<section id="id279">
+<h4>Fixed<a class="headerlink" href="#id279" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added signal handler to the <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> class to catch the <code class="docutils literal notranslate"><span class="pre">SIGINT</span></code> signal
+and close the application gracefully. This is to prevent the application from crashing when the user
+presses <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> to close the application.</p></li>
+</ul>
+</section>
+</section>
+<section id="id280">
+<h3>0.12.2 (2024-03-10)<a class="headerlink" href="#id280" title="Permalink to this heading">#</a></h3>
+<section id="id281">
+<h4>Added<a class="headerlink" href="#id281" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added observation terms for states of a rigid object in world frame.</p></li>
+<li><p>Added randomization terms to set root state with randomized orientation and joint state within user-specified limits.</p></li>
+<li><p>Added reward term for penalizing specific termination terms.</p></li>
+</ul>
+</section>
+<section id="id282">
+<h4>Fixed<a class="headerlink" href="#id282" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Improved sampling of states inside randomization terms. Earlier, the code did multiple torch calls
+for sampling different components of the vector. Now, it uses a single call to sample the entire vector.</p></li>
+</ul>
+</section>
+</section>
+<section id="id283">
+<h3>0.12.1 (2024-03-09)<a class="headerlink" href="#id283" title="Permalink to this heading">#</a></h3>
+<section id="id284">
+<h4>Added<a class="headerlink" href="#id284" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added an option to the last actions observation term to get a specific term by name from the action manager.
+If None, the behavior remains the same as before (the entire action is returned).</p></li>
+</ul>
+</section>
+</section>
+<section id="id285">
+<h3>0.12.0 (2024-03-08)<a class="headerlink" href="#id285" title="Permalink to this heading">#</a></h3>
+<section id="id286">
+<h4>Added<a class="headerlink" href="#id286" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added functionality to sample flat patches on a generated terrain. This can be configured using
+<a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling" title="omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling</span></code></a> attribute.</p></li>
+<li><p>Added a randomization function for setting terrain-aware root state. Through this, an asset can be
+reset to a randomly sampled flat patches.</p></li>
+</ul>
+</section>
+<section id="id287">
+<h4>Fixed<a class="headerlink" href="#id287" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Separated normal and terrain-base position commands. The terrain based commands rely on the
+terrain to sample flat patches for setting the target position.</p></li>
+<li><p>Fixed command resample termination function.</p></li>
+</ul>
+</section>
+<section id="id288">
+<h4>Changed<a class="headerlink" href="#id288" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the attribute <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.commands.UniformVelocityCommandCfg.heading_control_stiffness</span></code>
+to control the stiffness of the heading control term in the velocity command term. Earlier, this was
+hard-coded to 0.5 inside the term.</p></li>
+</ul>
+</section>
+<section id="id289">
+<h4>Removed<a class="headerlink" href="#id289" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the function <code class="xref py py-meth docutils literal notranslate"><span class="pre">sample_new_targets()</span></code> in the terrain importer. Instead the attribute
+<a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter.flat_patches" title="omni.isaac.lab.terrains.TerrainImporter.flat_patches"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.terrains.TerrainImporter.flat_patches</span></code></a> should be used to sample new targets.</p></li>
+</ul>
+</section>
+</section>
+<section id="id290">
+<h3>0.11.3 (2024-03-04)<a class="headerlink" href="#id290" title="Permalink to this heading">#</a></h3>
+<section id="id291">
+<h4>Fixed<a class="headerlink" href="#id291" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Corrects the functions <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.axis_angle_from_quat" title="omni.isaac.lab.utils.math.axis_angle_from_quat"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.axis_angle_from_quat()</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_error_magnitude" title="omni.isaac.lab.utils.math.quat_error_magnitude"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.quat_error_magnitude()</span></code></a>
+to accept tensors of the form (…, 4) instead of (N, 4). This brings us in line with our documentation and also upgrades one of our functions
+to handle higher dimensions.</p></li>
+</ul>
+</section>
+</section>
+<section id="id292">
+<h3>0.11.2 (2024-03-04)<a class="headerlink" href="#id292" title="Permalink to this heading">#</a></h3>
+<section id="id293">
+<h4>Added<a class="headerlink" href="#id293" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added checks for default joint position and joint velocity in the articulation class. This is to prevent
+users from configuring values for these quantities that might be outside the valid range from the simulation.</p></li>
+</ul>
+</section>
+</section>
+<section id="id294">
+<h3>0.11.1 (2024-02-29)<a class="headerlink" href="#id294" title="Permalink to this heading">#</a></h3>
+<section id="id295">
+<h4>Added<a class="headerlink" href="#id295" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Replaced the default values for <code class="docutils literal notranslate"><span class="pre">joint_ids</span></code> and <code class="docutils literal notranslate"><span class="pre">body_ids</span></code> from <code class="docutils literal notranslate"><span class="pre">None</span></code> to <code class="docutils literal notranslate"><span class="pre">slice(None)</span></code>
+in the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.SceneEntityCfg</span></code></a>.</p></li>
+<li><p>Adapted rewards and observations terms so that the users can query a subset of joints and bodies.</p></li>
+</ul>
+</section>
+</section>
+<section id="id296">
+<h3>0.11.0 (2024-02-27)<a class="headerlink" href="#id296" title="Permalink to this heading">#</a></h3>
+<section id="id297">
+<h4>Removed<a class="headerlink" href="#id297" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Dropped support for Isaac Sim&lt;=2022.2. As part of this, removed the components of <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a>
+which handled ROS extension loading. We no longer need them in Isaac Sim&gt;=2023.1 to control the load order to avoid crashes.</p></li>
+<li><p>Upgraded Dockerfile to use ISAACSIM_VERSION=2023.1.1 by default.</p></li>
+</ul>
+</section>
+</section>
+<section id="id298">
+<h3>0.10.28 (2024-02-29)<a class="headerlink" href="#id298" title="Permalink to this heading">#</a></h3>
+<section id="id299">
+<h4>Added<a class="headerlink" href="#id299" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Implemented relative and moving average joint position action terms. These allow the user to specify
+the target joint positions as relative to the current joint positions or as a moving average of the
+joint positions over a window of time.</p></li>
+</ul>
+</section>
+</section>
+<section id="id300">
+<h3>0.10.27 (2024-02-28)<a class="headerlink" href="#id300" title="Permalink to this heading">#</a></h3>
+<section id="id301">
+<h4>Added<a class="headerlink" href="#id301" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added UI feature to start and stop animation recording in the stage when running an environment.
+To enable this feature, please pass the argument <code class="docutils literal notranslate"><span class="pre">--disable_fabric</span></code> to the environment script to allow
+USD read/write operations. Be aware that this will slow down the simulation.</p></li>
+</ul>
+</section>
+</section>
+<section id="id302">
+<h3>0.10.26 (2024-02-26)<a class="headerlink" href="#id302" title="Permalink to this heading">#</a></h3>
+<section id="id303">
+<h4>Added<a class="headerlink" href="#id303" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a viewport camera controller class to the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.BaseEnv</span></code>. This is useful
+for applications where the user wants to render the viewport from different perspectives even when the
+simulation is running in headless mode.</p></li>
+</ul>
+</section>
+</section>
+<section id="id304">
+<h3>0.10.25 (2024-02-26)<a class="headerlink" href="#id304" title="Permalink to this heading">#</a></h3>
+<section id="id305">
+<h4>Fixed<a class="headerlink" href="#id305" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Ensures that all path arguments in <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#module-omni.isaac.lab.sim.utils" title="omni.isaac.lab.sim.utils"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.utils</span></code></a> are cast to <code class="docutils literal notranslate"><span class="pre">str</span></code>. Previously,
+we had handled path types as strings without casting.</p></li>
+</ul>
+</section>
+</section>
+<section id="id306">
+<h3>0.10.24 (2024-02-26)<a class="headerlink" href="#id306" title="Permalink to this heading">#</a></h3>
+<section id="id307">
+<h4>Added<a class="headerlink" href="#id307" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added tracking of contact time in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor" title="omni.isaac.lab.sensors.ContactSensor"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ContactSensor</span></code></a> class. Previously,
+only the air time was being tracked.</p></li>
+<li><p>Added contact force threshold, <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg.force_threshold" title="omni.isaac.lab.sensors.ContactSensorCfg.force_threshold"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ContactSensorCfg.force_threshold</span></code></a>, to detect
+when the contact sensor is in contact. Previously, this was set to hard-coded 1.0 in the sensor class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id308">
+<h3>0.10.23 (2024-02-21)<a class="headerlink" href="#id308" title="Permalink to this heading">#</a></h3>
+<section id="id309">
+<h4>Fixed<a class="headerlink" href="#id309" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixes the order of size arguments in <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.terrains.height_field.random_uniform_terrain()</span></code>. Previously, the function would crash if the size along x and y were not the same.</p></li>
+</ul>
+</section>
+</section>
+<section id="id310">
+<h3>0.10.22 (2024-02-14)<a class="headerlink" href="#id310" title="Permalink to this heading">#</a></h3>
+<section id="id311">
+<h4>Fixed<a class="headerlink" href="#id311" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed “divide by zero” bug in <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationContext</span></code></a> when setting gravity vector.
+Now, it is correctly disabled when the gravity vector is set to zero.</p></li>
+</ul>
+</section>
+</section>
+<section id="id312">
+<h3>0.10.21 (2024-02-12)<a class="headerlink" href="#id312" title="Permalink to this heading">#</a></h3>
+<section id="id313">
+<h4>Fixed<a class="headerlink" href="#id313" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the printing of articulation joint information when the articulation has only one joint.
+Earlier, the function was performing a squeeze operation on the tensor, which caused an error when
+trying to index the tensor of shape (1,).</p></li>
+</ul>
+</section>
+</section>
+<section id="id314">
+<h3>0.10.20 (2024-02-12)<a class="headerlink" href="#id314" title="Permalink to this heading">#</a></h3>
+<section id="id315">
+<h4>Added<a class="headerlink" href="#id315" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Adds <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism" title="omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism</span></code></a> to enable improved
+determinism from PhysX. Please note this comes at the expense of performance.</p></li>
+</ul>
+</section>
+</section>
+<section id="id316">
+<h3>0.10.19 (2024-02-08)<a class="headerlink" href="#id316" title="Permalink to this heading">#</a></h3>
+<section id="id317">
+<h4>Fixed<a class="headerlink" href="#id317" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed environment closing so that articulations, objects, and sensors are cleared properly.</p></li>
+</ul>
+</section>
+</section>
+<section id="id318">
+<h3>0.10.18 (2024-02-05)<a class="headerlink" href="#id318" title="Permalink to this heading">#</a></h3>
+<section id="id319">
+<h4>Fixed<a class="headerlink" href="#id319" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Pinned <a class="reference external" href="https://pytorch.org/docs/stable/torch.html#module-torch" title="(in PyTorch v2.5)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">torch</span></code></a> version to 2.0.1 in the setup.py to keep parity version of <a class="reference external" href="https://pytorch.org/docs/stable/torch.html#module-torch" title="(in PyTorch v2.5)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">torch</span></code></a> supplied by
+Isaac 2023.1.1, and prevent version incompatibility between <a class="reference external" href="https://pytorch.org/docs/stable/torch.html#module-torch" title="(in PyTorch v2.5)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">torch</span></code></a> ==2.2 and
+<code class="xref py py-mod docutils literal notranslate"><span class="pre">typing-extensions</span></code> ==3.7.4.3</p></li>
+</ul>
+</section>
+</section>
+<section id="id320">
+<h3>0.10.17 (2024-02-02)<a class="headerlink" href="#id320" title="Permalink to this heading">#</a></h3>
+<section id="id321">
+<h4>Fixed<a class="headerlink" href="#id321" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed carb setting <code class="docutils literal notranslate"><span class="pre">/app/livestream/enabled</span></code> to be set as False unless live-streaming is specified
+by <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> settings. This fixes the logic of <code class="xref py py-meth docutils literal notranslate"><span class="pre">SimulationContext.render()</span></code>,
+which depended on the config in previous versions of Isaac defaulting to false for this setting.</p></li>
+</ul>
+</section>
+</section>
+<section id="id322">
+<h3>0.10.16 (2024-01-29)<a class="headerlink" href="#id322" title="Permalink to this heading">#</a></h3>
+<section id="id323">
+<h4>Added<a class="headerlink" href="#id323" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added an offset parameter to the height scan observation term. This allows the user to specify the
+height offset of the scan from the tracked body. Previously it was hard-coded to be 0.5.</p></li>
+</ul>
+</section>
+</section>
+<section id="id324">
+<h3>0.10.15 (2024-01-29)<a class="headerlink" href="#id324" title="Permalink to this heading">#</a></h3>
+<section id="id325">
+<h4>Fixed<a class="headerlink" href="#id325" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed joint torque computation for implicit actuators. Earlier, the torque was always zero for implicit
+actuators. Now, it is computed approximately by applying the PD law.</p></li>
+</ul>
+</section>
+</section>
+<section id="id326">
+<h3>0.10.14 (2024-01-22)<a class="headerlink" href="#id326" title="Permalink to this heading">#</a></h3>
+<section id="id327">
+<h4>Fixed<a class="headerlink" href="#id327" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the tensor shape of <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorData.force_matrix_w" title="omni.isaac.lab.sensors.ContactSensorData.force_matrix_w"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ContactSensorData.force_matrix_w</span></code></a>. Earlier, the reshaping
+led to a mismatch with the data obtained from PhysX.</p></li>
+</ul>
+</section>
+</section>
+<section id="id328">
+<h3>0.10.13 (2024-01-15)<a class="headerlink" href="#id328" title="Permalink to this heading">#</a></h3>
+<section id="id329">
+<h4>Fixed<a class="headerlink" href="#id329" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed running of environments with a single instance even if the <code class="xref py py-attr docutils literal notranslate"><span class="pre">replicate_physics`</span></code> flag is set to True.</p></li>
+</ul>
+</section>
+</section>
+<section id="id330">
+<h3>0.10.12 (2024-01-10)<a class="headerlink" href="#id330" title="Permalink to this heading">#</a></h3>
+<section id="id331">
+<h4>Fixed<a class="headerlink" href="#id331" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed indexing of source and target frames in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer" title="omni.isaac.lab.sensors.FrameTransformer"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.FrameTransformer</span></code></a> class.
+Earlier, it always assumed that the source frame body is at index 0. Now, it uses the body index of the
+source frame to compute the transformation.</p></li>
+</ul>
+</section>
+<section id="id332">
+<h4>Deprecated<a class="headerlink" href="#id332" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed quantities in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformerData" title="omni.isaac.lab.sensors.FrameTransformerData"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.FrameTransformerData</span></code></a> class to be more
+consistent with the terminology used in the asset classes. The following quantities are deprecated:</p>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">target_rot_w</span></code> -&gt; <code class="docutils literal notranslate"><span class="pre">target_quat_w</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">source_rot_w</span></code> -&gt; <code class="docutils literal notranslate"><span class="pre">source_quat_w</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">target_rot_source</span></code> -&gt; <code class="docutils literal notranslate"><span class="pre">target_quat_source</span></code></p></li>
+</ul>
+</li>
+</ul>
+</section>
+</section>
+<section id="id333">
+<h3>0.10.11 (2024-01-08)<a class="headerlink" href="#id333" title="Permalink to this heading">#</a></h3>
+<section id="id334">
+<h4>Fixed<a class="headerlink" href="#id334" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed attribute error raised when calling the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.TerrainBasedPositionCommand</span></code>
+command term.</p></li>
+<li><p>Added a dummy function in <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.terrain.TerrainImporter</span></code> that returns environment
+origins as terrain-aware sampled targets. This function should be implemented by child classes based on
+the terrain type.</p></li>
+</ul>
+</section>
+</section>
+<section id="id335">
+<h3>0.10.10 (2023-12-21)<a class="headerlink" href="#id335" title="Permalink to this heading">#</a></h3>
+<section id="id336">
+<h4>Fixed<a class="headerlink" href="#id336" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed reliance on non-existent <code class="docutils literal notranslate"><span class="pre">Viewport</span></code> in <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext</span></code></a> when loading livestreaming
+by ensuring that the extension <code class="docutils literal notranslate"><span class="pre">omni.kit.viewport.window</span></code> is enabled in <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> when
+livestreaming is enabled</p></li>
+</ul>
+</section>
+</section>
+<section id="id337">
+<h3>0.10.9 (2023-12-21)<a class="headerlink" href="#id337" title="Permalink to this heading">#</a></h3>
+<section id="id338">
+<h4>Fixed<a class="headerlink" href="#id338" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed invalidation of physics views inside the asset and sensor classes. Earlier, they were left initialized
+even when the simulation was stopped. This caused issues when closing the application.</p></li>
+</ul>
+</section>
+</section>
+<section id="id339">
+<h3>0.10.8 (2023-12-20)<a class="headerlink" href="#id339" title="Permalink to this heading">#</a></h3>
+<section id="id340">
+<h4>Fixed<a class="headerlink" href="#id340" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.actions.DifferentialInverseKinematicsAction</span></code> class
+to account for the offset pose of the end-effector.</p></li>
+</ul>
+</section>
+</section>
+<section id="id341">
+<h3>0.10.7 (2023-12-19)<a class="headerlink" href="#id341" title="Permalink to this heading">#</a></h3>
+<section id="id342">
+<h4>Fixed<a class="headerlink" href="#id342" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a check to ray-cast and camera sensor classes to ensure that the sensor prim path does not
+have a regex expression at its leaf. For instance, <code class="docutils literal notranslate"><span class="pre">/World/Robot/camera_.*</span></code> is not supported
+for these sensor types. This behavior needs to be fixed in the future.</p></li>
+</ul>
+</section>
+</section>
+<section id="id343">
+<h3>0.10.6 (2023-12-19)<a class="headerlink" href="#id343" title="Permalink to this heading">#</a></h3>
+<section id="id344">
+<h4>Added<a class="headerlink" href="#id344" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support for using articulations as visualization markers. This disables all physics APIs from
+the articulation and allows the user to use it as a visualization marker. It is useful for creating
+visualization markers for the end-effectors or base of the robot.</p></li>
+</ul>
+</section>
+<section id="id345">
+<h4>Fixed<a class="headerlink" href="#id345" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed hiding of debug markers from secondary images when using the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers" title="omni.isaac.lab.markers.VisualizationMarkers"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.markers.VisualizationMarkers</span></code></a> class. Earlier, the properties were applied on
+the XForm prim instead of the Mesh prim.</p></li>
+</ul>
+</section>
+</section>
+<section id="id346">
+<h3>0.10.5 (2023-12-18)<a class="headerlink" href="#id346" title="Permalink to this heading">#</a></h3>
+<section id="id347">
+<h4>Fixed<a class="headerlink" href="#id347" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed test <code class="docutils literal notranslate"><span class="pre">check_base_env_anymal_locomotion.py</span></code>, which
+previously called <a class="reference external" href="https://pytorch.org/docs/stable/generated/torch.jit.load.html#torch.jit.load" title="(in PyTorch v2.5)"><code class="xref py py-func docutils literal notranslate"><span class="pre">torch.jit.load()</span></code></a> with the path to a policy (which would work
+for a local file), rather than calling
+<a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.read_file" title="omni.isaac.lab.utils.assets.read_file"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.assets.read_file()</span></code></a> on the path to get the file itself.</p></li>
+</ul>
+</section>
+</section>
+<section id="id348">
+<h3>0.10.4 (2023-12-14)<a class="headerlink" href="#id348" title="Permalink to this heading">#</a></h3>
+<section id="id349">
+<h4>Fixed<a class="headerlink" href="#id349" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed potentially breaking import of omni.kit.widget.toolbar by ensuring that
+if live-stream is enabled, then the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.kit.widget.toolbar</span></code>
+extension is loaded.</p></li>
+</ul>
+</section>
+</section>
+<section id="id350">
+<h3>0.10.3 (2023-12-12)<a class="headerlink" href="#id350" title="Permalink to this heading">#</a></h3>
+<section id="id351">
+<h4>Added<a class="headerlink" href="#id351" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the attribute <a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order" title="omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order</span></code></a>
+to specify the order of the input tensors to the MLP network.</p></li>
+</ul>
+</section>
+<section id="id352">
+<h4>Fixed<a class="headerlink" href="#id352" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed computation of metrics for the velocity command term. Earlier, the norm was being computed
+over the entire batch instead of the last dimension.</p></li>
+<li><p>Fixed the clipping inside the <a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.DCMotor" title="omni.isaac.lab.actuators.DCMotor"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators.DCMotor</span></code></a> class. Earlier, it was
+not able to handle the case when configured saturation limit was set to None.</p></li>
+</ul>
+</section>
+</section>
+<section id="id353">
+<h3>0.10.2 (2023-12-12)<a class="headerlink" href="#id353" title="Permalink to this heading">#</a></h3>
+<section id="id354">
+<h4>Fixed<a class="headerlink" href="#id354" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a check in the simulation stop callback in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext</span></code></a> class
+to not render when an exception is raised. The while loop in the callback was preventing the application
+from closing when an exception was raised.</p></li>
+</ul>
+</section>
+</section>
+<section id="id355">
+<h3>0.10.1 (2023-12-06)<a class="headerlink" href="#id355" title="Permalink to this heading">#</a></h3>
+<section id="id356">
+<h4>Added<a class="headerlink" href="#id356" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added command manager class with terms defined by <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandTerm" title="omni.isaac.lab.managers.CommandTerm"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.CommandTerm</span></code></a>. This
+allow for multiple types of command generators to be used in the same environment.</p></li>
+</ul>
+</section>
+</section>
+<section id="id357">
+<h3>0.10.0 (2023-12-04)<a class="headerlink" href="#id357" title="Permalink to this heading">#</a></h3>
+<section id="id358">
+<h4>Changed<a class="headerlink" href="#id358" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Modified the sensor and asset base classes to use the underlying PhysX views instead of Isaac Sim views.
+Using Isaac Sim classes led to a very high load time (of the order of minutes) when using a scene with
+many assets. This is because Isaac Sim supports USD paths which are slow and not required.</p></li>
+</ul>
+</section>
+<section id="id359">
+<h4>Added<a class="headerlink" href="#id359" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added faster implementation of USD stage traversal methods inside the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#module-omni.isaac.lab.sim.utils" title="omni.isaac.lab.sim.utils"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.utils</span></code></a> module.</p></li>
+<li><p>Added properties <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase.num_instances" title="omni.isaac.lab.assets.AssetBase.num_instances"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.AssetBase.num_instances</span></code></a> and
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sensor.SensorBase.num_instances</span></code> to obtain the number of instances of the asset
+or sensor in the simulation respectively.</p></li>
+</ul>
+</section>
+<section id="id360">
+<h4>Removed<a class="headerlink" href="#id360" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed dependencies on Isaac Sim view classes. It is no longer possible to use <code class="xref py py-attr docutils literal notranslate"><span class="pre">root_view</span></code> and
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">body_view</span></code>. Instead use <code class="xref py py-attr docutils literal notranslate"><span class="pre">root_physx_view</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">body_physx_view</span></code> to access the underlying
+PhysX views.</p></li>
+</ul>
+</section>
+</section>
+<section id="id361">
+<h3>0.9.55 (2023-12-03)<a class="headerlink" href="#id361" title="Permalink to this heading">#</a></h3>
+<section id="id362">
+<h4>Fixed<a class="headerlink" href="#id362" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the Nucleus directory path in the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR" title="omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR</span></code></a>.
+Earlier, it was referring to the <code class="docutils literal notranslate"><span class="pre">NVIDIA/Assets</span></code> directory instead of <code class="docutils literal notranslate"><span class="pre">NVIDIA</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id363">
+<h3>0.9.54 (2023-11-29)<a class="headerlink" href="#id363" title="Permalink to this heading">#</a></h3>
+<section id="id364">
+<h4>Fixed<a class="headerlink" href="#id364" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed pose computation in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> class to obtain them from XFormPrimView
+instead of using <code class="docutils literal notranslate"><span class="pre">UsdGeomCamera.ComputeLocalToWorldTransform</span></code> method. The latter is not updated correctly
+during GPU simulation.</p></li>
+<li><p>Fixed initialization of the annotator info in the class <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a>. Previously
+all dicts had the same memory address which caused all annotators to have the same info.</p></li>
+<li><p>Fixed the conversion of <code class="docutils literal notranslate"><span class="pre">uint32</span></code> warp arrays inside the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.array.convert_to_torch" title="omni.isaac.lab.utils.array.convert_to_torch"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.array.convert_to_torch()</span></code></a>
+method. PyTorch does not support this type, so it is converted to <code class="docutils literal notranslate"><span class="pre">int32</span></code> before converting to PyTorch tensor.</p></li>
+<li><p>Added render call inside <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext.reset()</span></code> to initialize Replicator
+buffers when the simulation is reset.</p></li>
+</ul>
+</section>
+</section>
+<section id="id365">
+<h3>0.9.53 (2023-11-29)<a class="headerlink" href="#id365" title="Permalink to this heading">#</a></h3>
+<section id="id366">
+<h4>Changed<a class="headerlink" href="#id366" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the behavior of passing <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">None</span></code></a> to the <a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html#omni.isaac.lab.actuators.ActuatorBaseCfg" title="omni.isaac.lab.actuators.ActuatorBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators.ActuatorBaseCfg</span></code></a>
+class. Earlier, they were resolved to fixed default values. Now, they imply that the values are loaded
+from the USD joint drive configuration.</p></li>
+</ul>
+</section>
+<section id="id367">
+<h4>Added<a class="headerlink" href="#id367" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added setting of joint armature and friction quantities to the articulation class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id368">
+<h3>0.9.52 (2023-11-29)<a class="headerlink" href="#id368" title="Permalink to this heading">#</a></h3>
+<section id="id369">
+<h4>Changed<a class="headerlink" href="#id369" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the warning print in <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.apply_nested" title="omni.isaac.lab.sim.utils.apply_nested"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.utils.apply_nested()</span></code></a> method
+to be more descriptive. Earlier, it was printing a warning for every instanced prim.
+Now, it only prints a warning if it could not apply the attribute to any of the prims.</p></li>
+</ul>
+</section>
+<section id="id370">
+<h4>Added<a class="headerlink" href="#id370" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the method <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.assets.retrieve_file_path" title="omni.isaac.lab.utils.assets.retrieve_file_path"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.assets.retrieve_file_path()</span></code></a> to
+obtain the absolute path of a file on the Nucleus server or locally.</p></li>
+</ul>
+</section>
+<section id="id371">
+<h4>Fixed<a class="headerlink" href="#id371" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed hiding of STOP button in the <code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code> class when running the
+simulation in headless mode.</p></li>
+<li><p>Fixed a bug with <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.utils.clone" title="omni.isaac.lab.sim.utils.clone"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.utils.clone()</span></code></a> failing when the input prim path
+had no parent (example: “/Table”).</p></li>
+</ul>
+</section>
+</section>
+<section id="id372">
+<h3>0.9.51 (2023-11-29)<a class="headerlink" href="#id372" title="Permalink to this heading">#</a></h3>
+<section id="id373">
+<h4>Changed<a class="headerlink" href="#id373" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sensor.SensorBase.update()</span></code> method to always recompute the buffers if
+the sensor is in visualization mode.</p></li>
+</ul>
+</section>
+<section id="id374">
+<h4>Added<a class="headerlink" href="#id374" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added available entities to the error message when accessing a non-existent entity in the
+<code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> class.</p></li>
+<li><p>Added a warning message when the user tries to reference an invalid prim in the <code class="xref py py-class docutils literal notranslate"><span class="pre">FrameTransformer</span></code> sensor.</p></li>
+</ul>
+</section>
+</section>
+<section id="id375">
+<h3>0.9.50 (2023-11-28)<a class="headerlink" href="#id375" title="Permalink to this heading">#</a></h3>
+<section id="id376">
+<h4>Added<a class="headerlink" href="#id376" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Hid the <code class="docutils literal notranslate"><span class="pre">STOP</span></code> button in the UI when running standalone Python scripts. This is to prevent
+users from accidentally clicking the button and stopping the simulation. They should only be able to
+play and pause the simulation from the UI.</p></li>
+</ul>
+</section>
+<section id="id377">
+<h4>Removed<a class="headerlink" href="#id377" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationCfg.shutdown_app_on_stop</span></code>. The simulation is always rendering
+if it is stopped from the UI. The user needs to close the window or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> to close the simulation.</p></li>
+</ul>
+</section>
+</section>
+<section id="id378">
+<h3>0.9.49 (2023-11-27)<a class="headerlink" href="#id378" title="Permalink to this heading">#</a></h3>
+<section id="id379">
+<h4>Added<a class="headerlink" href="#id379" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added an interface class, <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerTermBase" title="omni.isaac.lab.managers.ManagerTermBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ManagerTermBase</span></code></a>, to serve as the parent class
+for term implementations that are functional classes.</p></li>
+<li><p>Adapted all managers to support terms that are classes and not just functions clearer. This allows the user to
+create more complex terms that require additional state information.</p></li>
+</ul>
+</section>
+</section>
+<section id="id380">
+<h3>0.9.48 (2023-11-24)<a class="headerlink" href="#id380" title="Permalink to this heading">#</a></h3>
+<section id="id381">
+<h4>Fixed<a class="headerlink" href="#id381" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed initialization of drift in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera" title="omni.isaac.lab.sensors.RayCasterCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.RayCasterCamera</span></code></a> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id382">
+<h3>0.9.47 (2023-11-24)<a class="headerlink" href="#id382" title="Permalink to this heading">#</a></h3>
+<section id="id383">
+<h4>Fixed<a class="headerlink" href="#id383" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Automated identification of the root prim in the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.RigidObject</span></code></a> and
+<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.Articulation</span></code></a> classes. Earlier, the root prim was hard-coded to
+the spawn prim path. Now, the class searches for the root prim under the spawn prim path.</p></li>
+</ul>
+</section>
+</section>
+<section id="id384">
+<h3>0.9.46 (2023-11-24)<a class="headerlink" href="#id384" title="Permalink to this heading">#</a></h3>
+<section id="id385">
+<h4>Fixed<a class="headerlink" href="#id385" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed a critical issue in the asset classes with writing states into physics handles.
+Earlier, the states were written over all the indices instead of the indices of the
+asset that were being updated. This caused the physics handles to refresh the states
+of all the assets in the scene, which is not desirable.</p></li>
+</ul>
+</section>
+</section>
+<section id="id386">
+<h3>0.9.45 (2023-11-24)<a class="headerlink" href="#id386" title="Permalink to this heading">#</a></h3>
+<section id="id387">
+<h4>Added<a class="headerlink" href="#id387" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.command_generators.UniformPoseCommandGenerator</span></code> to generate
+poses in the asset’s root frame by uniformly sampling from a given range.</p></li>
+</ul>
+</section>
+</section>
+<section id="id388">
+<h3>0.9.44 (2023-11-16)<a class="headerlink" href="#id388" title="Permalink to this heading">#</a></h3>
+<section id="id389">
+<h4>Added<a class="headerlink" href="#id389" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added methods <code class="xref py py-meth docutils literal notranslate"><span class="pre">reset()</span></code> and <code class="xref py py-meth docutils literal notranslate"><span class="pre">step()</span></code> to the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.BaseEnv</span></code>. This unifies
+the environment interface for simple standalone applications with the class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id390">
+<h3>0.9.43 (2023-11-16)<a class="headerlink" href="#id390" title="Permalink to this heading">#</a></h3>
+<section id="id391">
+<h4>Fixed<a class="headerlink" href="#id391" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Replaced subscription of physics play and stop events in the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase" title="omni.isaac.lab.assets.AssetBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.AssetBase</span></code></a> and
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.SensorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.SensorBase</span></code></a> classes with subscription to time-line play and stop events.
+This is to prevent issues in cases where physics first needs to perform mesh cooking and handles are not
+available immediately. For instance, with deformable meshes.</p></li>
+</ul>
+</section>
+</section>
+<section id="id392">
+<h3>0.9.42 (2023-11-16)<a class="headerlink" href="#id392" title="Permalink to this heading">#</a></h3>
+<section id="id393">
+<h4>Fixed<a class="headerlink" href="#id393" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed setting of damping values from the configuration for <code class="xref py py-class docutils literal notranslate"><span class="pre">ActuatorBase</span></code> class. Earlier,
+the stiffness values were being set into damping when a dictionary configuration was passed to the
+actuator model.</p></li>
+<li><p>Added dealing with <a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a> and <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a> values in the configurations of <code class="xref py py-class docutils literal notranslate"><span class="pre">ActuatorBase</span></code>.
+Earlier, a type-error was thrown when integer values were passed to the actuator model.</p></li>
+</ul>
+</section>
+</section>
+<section id="id394">
+<h3>0.9.41 (2023-11-16)<a class="headerlink" href="#id394" title="Permalink to this heading">#</a></h3>
+<section id="id395">
+<h4>Fixed<a class="headerlink" href="#id395" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the naming and shaping issues in the binary joint action term.</p></li>
+</ul>
+</section>
+</section>
+<section id="id396">
+<h3>0.9.40 (2023-11-09)<a class="headerlink" href="#id396" title="Permalink to this heading">#</a></h3>
+<section id="id397">
+<h4>Fixed<a class="headerlink" href="#id397" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Simplified the manual initialization of Isaac Sim <code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationView</span></code> class. Earlier, we basically
+copied the code from the Isaac Sim source code. Now, we just call their initialize method.</p></li>
+</ul>
+</section>
+<section id="id398">
+<h4>Changed<a class="headerlink" href="#id398" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the name of attribute <code class="xref py py-attr docutils literal notranslate"><span class="pre">default_root_state_w</span></code> to <code class="xref py py-attr docutils literal notranslate"><span class="pre">default_root_state</span></code>. The latter is
+more correct since the data is actually in the local environment frame and not the simulation world frame.</p></li>
+</ul>
+</section>
+</section>
+<section id="id399">
+<h3>0.9.39 (2023-11-08)<a class="headerlink" href="#id399" title="Permalink to this heading">#</a></h3>
+<section id="id400">
+<h4>Fixed<a class="headerlink" href="#id400" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the reference of private <code class="docutils literal notranslate"><span class="pre">_body_view</span></code> variable inside the <code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code> class
+to the public <code class="docutils literal notranslate"><span class="pre">body_view</span></code> property. For a rigid object, the private variable is not defined.</p></li>
+</ul>
+</section>
+</section>
+<section id="id401">
+<h3>0.9.38 (2023-11-07)<a class="headerlink" href="#id401" title="Permalink to this heading">#</a></h3>
+<section id="id402">
+<h4>Changed<a class="headerlink" href="#id402" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Upgraded the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RLTaskEnv</span></code> class to support Gym 0.29.0 environment definition.</p></li>
+</ul>
+</section>
+<section id="id403">
+<h4>Added<a class="headerlink" href="#id403" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added computation of <code class="docutils literal notranslate"><span class="pre">time_outs</span></code> and <code class="docutils literal notranslate"><span class="pre">terminated</span></code> signals inside the termination manager. These follow the
+definition mentioned in <a class="reference external" href="https://gymnasium.farama.org/tutorials/gymnasium_basics/handling_time_limits/">Gym 0.29.0</a>.</p></li>
+<li><p>Added proper handling of observation and action spaces in the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RLTaskEnv</span></code> class.
+These now follow closely to how Gym VecEnv handles the spaces.</p></li>
+</ul>
+</section>
+</section>
+<section id="id404">
+<h3>0.9.37 (2023-11-06)<a class="headerlink" href="#id404" title="Permalink to this heading">#</a></h3>
+<section id="id405">
+<h4>Fixed<a class="headerlink" href="#id405" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed broken visualization in <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.FrameTramsformer</span></code> class by overwriting the
+correct <code class="docutils literal notranslate"><span class="pre">_debug_vis_callback</span></code> function.</p></li>
+<li><p>Moved the visualization marker configurations of sensors to their respective sensor configuration classes.
+This allows users to set these configurations from the configuration object itself.</p></li>
+</ul>
+</section>
+</section>
+<section id="id406">
+<h3>0.9.36 (2023-11-03)<a class="headerlink" href="#id406" title="Permalink to this heading">#</a></h3>
+<section id="id407">
+<h4>Fixed<a class="headerlink" href="#id407" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added explicit deleting of different managers in the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.BaseEnv</span></code> and
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RLTaskEnv</span></code> classes. This is required since deleting the managers
+is order-sensitive (many managers need to be deleted before the scene is deleted).</p></li>
+</ul>
+</section>
+</section>
+<section id="id408">
+<h3>0.9.35 (2023-11-02)<a class="headerlink" href="#id408" title="Permalink to this heading">#</a></h3>
+<section id="id409">
+<h4>Fixed<a class="headerlink" href="#id409" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the error: <code class="docutils literal notranslate"><span class="pre">'str'</span> <span class="pre">object</span> <span class="pre">has</span> <span class="pre">no</span> <span class="pre">attribute</span> <span class="pre">'__module__'</span></code> introduced by adding the future import inside the
+<code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.warp.kernels</span></code> module. Warp language does not support the <code class="docutils literal notranslate"><span class="pre">__future__</span></code> imports.</p></li>
+</ul>
+</section>
+</section>
+<section id="id410">
+<h3>0.9.34 (2023-11-02)<a class="headerlink" href="#id410" title="Permalink to this heading">#</a></h3>
+<section id="id411">
+<h4>Fixed<a class="headerlink" href="#id411" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added missing import of <code class="docutils literal notranslate"><span class="pre">from</span> <span class="pre">__future__</span> <span class="pre">import</span> <span class="pre">annotations</span></code> in the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.warp" title="omni.isaac.lab.utils.warp"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.warp</span></code></a>
+module. This is needed to have a consistent behavior across Python versions.</p></li>
+</ul>
+</section>
+</section>
+<section id="id412">
+<h3>0.9.33 (2023-11-02)<a class="headerlink" href="#id412" title="Permalink to this heading">#</a></h3>
+<section id="id413">
+<h4>Fixed<a class="headerlink" href="#id413" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.command_generators.NullCommandGenerator</span></code> class. Earlier,
+it was having a runtime error due to infinity in the resampling time range. Now, the class just
+overrides the parent methods to perform no operations.</p></li>
+</ul>
+</section>
+</section>
+<section id="id414">
+<h3>0.9.32 (2023-11-02)<a class="headerlink" href="#id414" title="Permalink to this heading">#</a></h3>
+<section id="id415">
+<h4>Changed<a class="headerlink" href="#id415" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RLEnv</span></code> class to <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RLTaskEnv</span></code> to
+avoid confusions in terminologies between environments and tasks.</p></li>
+</ul>
+</section>
+</section>
+<section id="id416">
+<h3>0.9.31 (2023-11-02)<a class="headerlink" href="#id416" title="Permalink to this heading">#</a></h3>
+<section id="id417">
+<h4>Added<a class="headerlink" href="#id417" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCamera" title="omni.isaac.lab.sensors.RayCasterCamera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.RayCasterCamera</span></code></a> class, as a ray-casting based camera for
+“distance_to_camera”, “distance_to_image_plane” and “normals” annotations. It has the same interface and
+functionalities as the USD Camera while it is on average 30% faster.</p></li>
+</ul>
+</section>
+</section>
+<section id="id418">
+<h3>0.9.30 (2023-11-01)<a class="headerlink" href="#id418" title="Permalink to this heading">#</a></h3>
+<section id="id419">
+<h4>Fixed<a class="headerlink" href="#id419" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added skipping of None values in the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> class when creating the scene from configuration
+objects. Earlier, it was throwing an error when the user passed a None value for a scene element.</p></li>
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">kwargs</span></code> to the <code class="xref py py-class docutils literal notranslate"><span class="pre">RLEnv</span></code> class to allow passing additional arguments from gym registry function.
+This is now needed since the registry function passes args beyond the ones specified in the constructor.</p></li>
+</ul>
+</section>
+</section>
+<section id="id420">
+<h3>0.9.29 (2023-11-01)<a class="headerlink" href="#id420" title="Permalink to this heading">#</a></h3>
+<section id="id421">
+<h4>Fixed<a class="headerlink" href="#id421" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the material path resolution inside the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.UrdfConverter" title="omni.isaac.lab.sim.converters.UrdfConverter"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.converters.UrdfConverter</span></code></a> class.
+With Isaac Sim 2023.1, the material paths from the importer are always saved as absolute paths. This caused
+issues when the generated USD file was moved to a different location. The fix now resolves the material paths
+relative to the USD file location.</p></li>
+</ul>
+</section>
+</section>
+<section id="id422">
+<h3>0.9.28 (2023-11-01)<a class="headerlink" href="#id422" title="Permalink to this heading">#</a></h3>
+<section id="id423">
+<h4>Changed<a class="headerlink" href="#id423" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the way the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane" title="omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane"><code class="xref py py-func docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane()</span></code></a> function sets the
+height of the ground. Earlier, it was reading the height from the configuration object. Now, it expects the
+desired transformation as inputs to the function. This makes it consistent with the other spawner functions.</p></li>
+</ul>
+</section>
+</section>
+<section id="id424">
+<h3>0.9.27 (2023-10-31)<a class="headerlink" href="#id424" title="Permalink to this heading">#</a></h3>
+<section id="id425">
+<h4>Changed<a class="headerlink" href="#id425" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the default value of the argument <code class="docutils literal notranslate"><span class="pre">camel_case</span></code> in setters of USD attributes. This is to avoid
+confusion with the naming of the attributes in the USD file.</p></li>
+</ul>
+</section>
+<section id="id426">
+<h4>Fixed<a class="headerlink" href="#id426" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the selection of material prim in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.materials.spawn_preview_surface" title="omni.isaac.lab.sim.spawners.materials.spawn_preview_surface"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.materials.spawn_preview_surface</span></code></a>
+method. Earlier, the created prim was being selected in the viewport which interfered with the selection of
+prims by the user.</p></li>
+<li><p>Updated <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter" title="omni.isaac.lab.sim.converters.MeshConverter"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.converters.MeshConverter</span></code></a> to use a different stage than the default stage
+for the conversion. This is to avoid the issue of the stage being closed when the conversion is done.</p></li>
+</ul>
+</section>
+</section>
+<section id="id427">
+<h3>0.9.26 (2023-10-31)<a class="headerlink" href="#id427" title="Permalink to this heading">#</a></h3>
+<section id="id428">
+<h4>Added<a class="headerlink" href="#id428" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the sensor implementation for <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.FrameTransformer" title="omni.isaac.lab.sensors.FrameTransformer"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.FrameTransformer</span></code></a> class. Currently,
+it handles obtaining the transformation between two frames in the same articulation.</p></li>
+</ul>
+</section>
+</section>
+<section id="id429">
+<h3>0.9.25 (2023-10-27)<a class="headerlink" href="#id429" title="Permalink to this heading">#</a></h3>
+<section id="id430">
+<h4>Added<a class="headerlink" href="#id430" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html#module-omni.isaac.lab.envs.ui" title="omni.isaac.lab.envs.ui"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ui</span></code></a> module to put all the UI-related classes in one place. This currently
+implements the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html#omni.isaac.lab.envs.ui.BaseEnvWindow" title="omni.isaac.lab.envs.ui.BaseEnvWindow"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ui.BaseEnvWindow</span></code></a> and <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ui.RLEnvWindow</span></code>
+classes. Users can inherit from these classes to create their own UI windows.</p></li>
+<li><p>Added the attribute <code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.BaseEnvCfg.ui_window_class_type</span></code> to specify the UI window class
+to be used for the environment. This allows the user to specify their own UI window class to be used for the
+environment.</p></li>
+</ul>
+</section>
+</section>
+<section id="id431">
+<h3>0.9.24 (2023-10-27)<a class="headerlink" href="#id431" title="Permalink to this heading">#</a></h3>
+<section id="id432">
+<h4>Changed<a class="headerlink" href="#id432" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the behavior of setting up debug visualization for assets, sensors and command generators.
+Earlier it was raising an error if debug visualization was not enabled in the configuration object.
+Now it checks whether debug visualization is implemented and only sets up the callback if it is
+implemented.</p></li>
+</ul>
+</section>
+</section>
+<section id="id433">
+<h3>0.9.23 (2023-10-27)<a class="headerlink" href="#id433" title="Permalink to this heading">#</a></h3>
+<section id="id434">
+<h4>Fixed<a class="headerlink" href="#id434" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed a typo in the <code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBase</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBase</span></code> that effected the class destructor.
+Earlier, a tuple was being created in the constructor instead of the actual object.</p></li>
+</ul>
+</section>
+</section>
+<section id="id435">
+<h3>0.9.22 (2023-10-26)<a class="headerlink" href="#id435" title="Permalink to this heading">#</a></h3>
+<section id="id436">
+<h4>Added<a class="headerlink" href="#id436" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.command_generators.NullCommandGenerator</span></code> class for no command environments.
+This is easier to work with than having checks for <a class="reference external" href="https://docs.python.org/3/library/constants.html#None" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">None</span></code></a> in the command generator.</p></li>
+</ul>
+</section>
+<section id="id437">
+<h4>Fixed<a class="headerlink" href="#id437" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Moved the randomization manager to the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.BaseEnv</span></code> class with the default
+settings to reset the scene to the defaults specified in the configurations of assets.</p></li>
+<li><p>Moved command generator to the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RlEnv</span></code> class to have all task-specification
+related classes in the same place.</p></li>
+</ul>
+</section>
+</section>
+<section id="id438">
+<h3>0.9.21 (2023-10-26)<a class="headerlink" href="#id438" title="Permalink to this heading">#</a></h3>
+<section id="id439">
+<h4>Fixed<a class="headerlink" href="#id439" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Decreased the priority of callbacks in asset and sensor base classes. This may help in preventing
+crashes when warm starting the simulation.</p></li>
+<li><p>Fixed no rendering mode when running the environment from the GUI. Earlier the function
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">SimulationContext.set_render_mode()</span></code> was erroring out.</p></li>
+</ul>
+</section>
+</section>
+<section id="id440">
+<h3>0.9.20 (2023-10-25)<a class="headerlink" href="#id440" title="Permalink to this heading">#</a></h3>
+<section id="id441">
+<h4>Fixed<a class="headerlink" href="#id441" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed naming in <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.RenderMode" title="omni.isaac.lab.sim.SimulationContext.RenderMode"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext.RenderMode</span></code></a> to use <code class="docutils literal notranslate"><span class="pre">NO_GUI_OR_RENDERING</span></code>
+and <code class="docutils literal notranslate"><span class="pre">NO_RENDERING</span></code> instead of <code class="docutils literal notranslate"><span class="pre">HEADLESS</span></code> for clarity.</p></li>
+<li><p>Changed <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext</span></code></a> to be capable of handling livestreaming and
+offscreen rendering.</p></li>
+<li><p>Changed <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> envvar <code class="docutils literal notranslate"><span class="pre">VIEWPORT_RECORD</span></code> to the more descriptive
+<code class="docutils literal notranslate"><span class="pre">OFFSCREEN_RENDER</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id442">
+<h3>0.9.19 (2023-10-25)<a class="headerlink" href="#id442" title="Permalink to this heading">#</a></h3>
+<section id="id443">
+<h4>Added<a class="headerlink" href="#id443" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added Gym observation and action spaces for the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RLEnv</span></code> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id444">
+<h3>0.9.18 (2023-10-23)<a class="headerlink" href="#id444" title="Permalink to this heading">#</a></h3>
+<section id="id445">
+<h4>Added<a class="headerlink" href="#id445" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Created <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.converters.asset_converter.AssetConverter</span></code> to serve as a base
+class for all asset converters.</p></li>
+<li><p>Added <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#omni.isaac.lab.sim.converters.MeshConverter" title="omni.isaac.lab.sim.converters.mesh_converter.MeshConverter"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.converters.mesh_converter.MeshConverter</span></code></a> to handle loading and conversion
+of mesh files (OBJ, STL and FBX) into USD format.</p></li>
+<li><p>Added script <code class="docutils literal notranslate"><span class="pre">convert_mesh.py</span></code> to <code class="docutils literal notranslate"><span class="pre">source/tools</span></code> to allow users to convert a mesh to USD via command line arguments.</p></li>
+</ul>
+</section>
+<section id="id446">
+<h4>Changed<a class="headerlink" href="#id446" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed the submodule <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.loaders</span></code> to <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html#module-omni.isaac.lab.sim.converters" title="omni.isaac.lab.sim.converters"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.converters</span></code></a> to be more
+general with the functionality of the module.</p></li>
+<li><p>Updated <code class="docutils literal notranslate"><span class="pre">check_instanceable.py</span></code> script to convert relative paths to absolute paths.</p></li>
+</ul>
+</section>
+</section>
+<section id="id447">
+<h3>0.9.17 (2023-10-22)<a class="headerlink" href="#id447" title="Permalink to this heading">#</a></h3>
+<section id="id448">
+<h4>Added<a class="headerlink" href="#id448" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added setters and getters for term configurations in the <code class="xref py py-class docutils literal notranslate"><span class="pre">RandomizationManager</span></code>, <code class="xref py py-class docutils literal notranslate"><span class="pre">RewardManager</span></code>
+and <code class="xref py py-class docutils literal notranslate"><span class="pre">TerminationManager</span></code> classes. This allows the user to modify the term configurations after the
+manager has been created.</p></li>
+<li><p>Added the method <code class="xref py py-meth docutils literal notranslate"><span class="pre">compute_group()</span></code> to the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ObservationManager</span></code></a> class to
+compute the observations for only a given group.</p></li>
+<li><p>Added the curriculum term for modifying reward weights after certain environment steps.</p></li>
+</ul>
+</section>
+</section>
+<section id="id449">
+<h3>0.9.16 (2023-10-22)<a class="headerlink" href="#id449" title="Permalink to this heading">#</a></h3>
+<section id="id450">
+<h4>Added<a class="headerlink" href="#id450" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support for keyword arguments for terms in the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.ManagerBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ManagerBase</span></code></a>.</p></li>
+</ul>
+</section>
+<section id="id451">
+<h4>Fixed<a class="headerlink" href="#id451" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed resetting of buffers in the <code class="xref py py-class docutils literal notranslate"><span class="pre">TerminationManager</span></code> class. Earlier, the values were being set
+to <code class="docutils literal notranslate"><span class="pre">0.0</span></code> instead of <code class="docutils literal notranslate"><span class="pre">False</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id452">
+<h3>0.9.15 (2023-10-22)<a class="headerlink" href="#id452" title="Permalink to this heading">#</a></h3>
+<section id="id453">
+<h4>Added<a class="headerlink" href="#id453" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added base yaw heading and body acceleration into <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectData" title="omni.isaac.lab.assets.RigidObjectData"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.RigidObjectData</span></code></a> class.
+These quantities are computed inside the <code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code> class.</p></li>
+</ul>
+</section>
+<section id="id454">
+<h4>Fixed<a class="headerlink" href="#id454" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.set_external_force_and_torque" title="omni.isaac.lab.assets.RigidObject.set_external_force_and_torque"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.RigidObject.set_external_force_and_torque()</span></code></a> method to correctly
+deal with the body indices.</p></li>
+<li><p>Fixed a bug in the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.wrap_to_pi" title="omni.isaac.lab.utils.math.wrap_to_pi"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.wrap_to_pi()</span></code></a> method to prevent self-assignment of
+the input tensor.</p></li>
+</ul>
+</section>
+</section>
+<section id="id455">
+<h3>0.9.14 (2023-10-21)<a class="headerlink" href="#id455" title="Permalink to this heading">#</a></h3>
+<section id="id456">
+<h4>Added<a class="headerlink" href="#id456" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added 2-D drift (i.e. along x and y) to the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster" title="omni.isaac.lab.sensors.RayCaster"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.RayCaster</span></code></a> class.</p></li>
+<li><p>Added flags to the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg" title="omni.isaac.lab.sensors.ContactSensorCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ContactSensorCfg</span></code></a> to optionally obtain the
+sensor origin and air time information. Since these are not required by default, they are
+disabled by default.</p></li>
+</ul>
+</section>
+<section id="id457">
+<h4>Fixed<a class="headerlink" href="#id457" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the handling of contact sensor history buffer in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor" title="omni.isaac.lab.sensors.ContactSensor"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ContactSensor</span></code></a> class.
+Earlier, the buffer was not being updated correctly.</p></li>
+</ul>
+</section>
+</section>
+<section id="id458">
+<h3>0.9.13 (2023-10-20)<a class="headerlink" href="#id458" title="Permalink to this heading">#</a></h3>
+<section id="id459">
+<h4>Fixed<a class="headerlink" href="#id459" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the issue with double <a class="reference external" href="https://docs.python.org/3/library/constants.html#Ellipsis" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Ellipsis</span></code></a> when indexing tensors with multiple dimensions.
+The fix now uses <code class="xref py py-obj docutils literal notranslate"><span class="pre">slice(None)</span></code> instead of <a class="reference external" href="https://docs.python.org/3/library/constants.html#Ellipsis" title="(in Python v3.13)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">Ellipsis</span></code></a> to index the tensors.</p></li>
+</ul>
+</section>
+</section>
+<section id="id460">
+<h3>0.9.12 (2023-10-18)<a class="headerlink" href="#id460" title="Permalink to this heading">#</a></h3>
+<section id="id461">
+<h4>Fixed<a class="headerlink" href="#id461" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed bugs in actuator model implementation for actuator nets. Earlier the DC motor clipping was not working.</p></li>
+<li><p>Fixed bug in applying actuator model in the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.asset.Articulation</span></code> class. The new
+implementation caches the outputs from explicit actuator model into the <code class="docutils literal notranslate"><span class="pre">joint_pos_*_sim</span></code> buffer to
+avoid feedback loops in the tensor operation.</p></li>
+</ul>
+</section>
+</section>
+<section id="id462">
+<h3>0.9.11 (2023-10-17)<a class="headerlink" href="#id462" title="Permalink to this heading">#</a></h3>
+<section id="id463">
+<h4>Added<a class="headerlink" href="#id463" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the support for semantic tags into the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawner.SpawnerCfg</span></code> class. This allows
+the user to specify the semantic tags for a prim when spawning it into the scene. It follows the same format as
+Omniverse Replicator.</p></li>
+</ul>
+</section>
+</section>
+<section id="id464">
+<h3>0.9.10 (2023-10-16)<a class="headerlink" href="#id464" title="Permalink to this heading">#</a></h3>
+<section id="id465">
+<h4>Added<a class="headerlink" href="#id465" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">--livestream</span></code> and <code class="docutils literal notranslate"><span class="pre">--ros</span></code> CLI args to <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> class.</p></li>
+<li><p>Added a static function <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher.add_app_launcher_args" title="omni.isaac.lab.app.AppLauncher.add_app_launcher_args"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher.add_app_launcher_args()</span></code></a>, which
+appends the arguments needed for <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> to the argument parser.</p></li>
+</ul>
+</section>
+<section id="id466">
+<h4>Changed<a class="headerlink" href="#id466" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Within <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a>, removed <code class="docutils literal notranslate"><span class="pre">REMOTE_DEPLOYMENT</span></code> env-var processing
+in the favor of <code class="docutils literal notranslate"><span class="pre">HEADLESS</span></code> and <code class="docutils literal notranslate"><span class="pre">LIVESTREAM</span></code> env-vars. These have clearer uses and better parity
+with the CLI args.</p></li>
+</ul>
+</section>
+</section>
+<section id="id467">
+<h3>0.9.9 (2023-10-12)<a class="headerlink" href="#id467" title="Permalink to this heading">#</a></h3>
+<section id="id468">
+<h4>Added<a class="headerlink" href="#id468" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the property <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.is_fixed_base" title="omni.isaac.lab.assets.Articulation.is_fixed_base"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.Articulation.is_fixed_base</span></code></a> to the articulation class to
+check if the base of the articulation is fixed or floating.</p></li>
+<li><p>Added the task-space action term corresponding to the differential inverse-kinematics controller.</p></li>
+</ul>
+</section>
+<section id="id469">
+<h4>Fixed<a class="headerlink" href="#id469" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Simplified the <a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController" title="omni.isaac.lab.controllers.DifferentialIKController"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.controllers.DifferentialIKController</span></code></a> to assume that user provides the
+correct end-effector poses and Jacobians. Earlier it was doing internal frame transformations which made the
+code more complicated and error-prone.</p></li>
+</ul>
+</section>
+</section>
+<section id="id470">
+<h3>0.9.8 (2023-09-30)<a class="headerlink" href="#id470" title="Permalink to this heading">#</a></h3>
+<section id="id471">
+<h4>Fixed<a class="headerlink" href="#id471" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the boundedness of class objects that register callbacks into the simulator.
+These include devices, <code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBase</span></code>, <code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBase</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">CommandGenerator</span></code>.
+The fix ensures that object gets deleted when the user deletes the object.</p></li>
+</ul>
+</section>
+</section>
+<section id="id472">
+<h3>0.9.7 (2023-09-26)<a class="headerlink" href="#id472" title="Permalink to this heading">#</a></h3>
+<section id="id473">
+<h4>Fixed<a class="headerlink" href="#id473" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Modified the <a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html#omni.isaac.lab.markers.VisualizationMarkers" title="omni.isaac.lab.markers.VisualizationMarkers"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.markers.VisualizationMarkers</span></code></a> to use the
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawner.SpawnerCfg</span></code> class instead of their
+own configuration objects. This makes it consistent with the other ways to spawn assets in the scene.</p></li>
+</ul>
+</section>
+<section id="id474">
+<h4>Added<a class="headerlink" href="#id474" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the method <code class="xref py py-meth docutils literal notranslate"><span class="pre">copy()</span></code> to configclass to allow copying of configuration objects.</p></li>
+</ul>
+</section>
+</section>
+<section id="id475">
+<h3>0.9.6 (2023-09-26)<a class="headerlink" href="#id475" title="Permalink to this heading">#</a></h3>
+<section id="id476">
+<h4>Fixed<a class="headerlink" href="#id476" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed class-level configuration classes to refer to class types using <code class="docutils literal notranslate"><span class="pre">class_type</span></code> attribute instead
+of <code class="docutils literal notranslate"><span class="pre">cls</span></code> or <code class="docutils literal notranslate"><span class="pre">cls_name</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id477">
+<h3>0.9.5 (2023-09-25)<a class="headerlink" href="#id477" title="Permalink to this heading">#</a></h3>
+<section id="id478">
+<h4>Changed<a class="headerlink" href="#id478" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added future import of <code class="docutils literal notranslate"><span class="pre">annotations</span></code> to have a consistent behavior across Python versions.</p></li>
+<li><p>Removed the type-hinting from docstrings to simplify maintenance of the documentation. All type-hints are
+now in the code itself.</p></li>
+</ul>
+</section>
+</section>
+<section id="id479">
+<h3>0.9.4 (2023-08-29)<a class="headerlink" href="#id479" title="Permalink to this heading">#</a></h3>
+<section id="id480">
+<h4>Added<a class="headerlink" href="#id480" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.scene.InteractiveScene</span></code></a>, as the central scene unit that contains all entities
+that are part of the simulation. These include the terrain, sensors, articulations, rigid objects etc.
+The scene groups the common operations of these entities and allows to access them via their unique names.</p></li>
+<li><p>Added <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#module-omni.isaac.lab.envs" title="omni.isaac.lab.envs"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.envs</span></code></a> module that contains environment definitions that encapsulate the different
+general (scene, action manager, observation manager) and RL-specific (reward and termination manager) managers.</p></li>
+<li><p>Added <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.SceneEntityCfg</span></code></a> to handle which scene elements are required by the
+manager’s terms. This allows the manager to parse useful information from the scene elements, such as the
+joint and body indices, and pass them to the term.</p></li>
+<li><p>Added <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.RenderMode" title="omni.isaac.lab.sim.SimulationContext.RenderMode"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext.RenderMode</span></code></a> to handle different rendering modes based on
+what the user wants to update (viewport, cameras, or UI elements).</p></li>
+</ul>
+</section>
+<section id="id481">
+<h4>Fixed<a class="headerlink" href="#id481" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.command_generators.CommandGeneratorBase</span></code> to register a debug visualization
+callback similar to how sensors and robots handle visualization.</p></li>
+</ul>
+</section>
+</section>
+<section id="id482">
+<h3>0.9.3 (2023-08-23)<a class="headerlink" href="#id482" title="Permalink to this heading">#</a></h3>
+<section id="id483">
+<h4>Added<a class="headerlink" href="#id483" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Enabled the <a class="reference external" href="https://docs.python.org/3/library/faulthandler.html">faulthander</a> to catch segfaults and print
+the stack trace. This is enabled by default in the <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> class.</p></li>
+</ul>
+</section>
+<section id="id484">
+<h4>Fixed<a class="headerlink" href="#id484" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Re-added the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.kit</span></code> to the <code class="docutils literal notranslate"><span class="pre">compat</span></code> directory and fixed all the references to it.</p></li>
+<li><p>Fixed the deletion of Replicator nodes for the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> class. Earlier, the
+Replicator nodes were not being deleted when the camera was deleted. However, this does not prevent the random
+crashes that happen when the camera is deleted.</p></li>
+<li><p>Fixed the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.convert_quat" title="omni.isaac.lab.utils.math.convert_quat"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.convert_quat()</span></code></a> to support both numpy and torch tensors.</p></li>
+</ul>
+</section>
+<section id="id485">
+<h4>Changed<a class="headerlink" href="#id485" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed all the scripts inside the <code class="docutils literal notranslate"><span class="pre">test</span></code> directory to follow the convention:</p>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">test_&lt;module_name&gt;.py</span></code>: Tests for the module <code class="docutils literal notranslate"><span class="pre">&lt;module_name&gt;</span></code> using unittest.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">check_&lt;module_name&gt;</span></code>: Check for the module <code class="docutils literal notranslate"><span class="pre">&lt;module_name&gt;</span></code> using python main function.</p></li>
+</ul>
+</li>
+</ul>
+</section>
+</section>
+<section id="id486">
+<h3>0.9.2 (2023-08-22)<a class="headerlink" href="#id486" title="Permalink to this heading">#</a></h3>
+<section id="id487">
+<h4>Added<a class="headerlink" href="#id487" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the ability to color meshes in the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.terrain.TerrainGenerator</span></code> class. Currently,
+it only supports coloring the mesh randomly (<code class="docutils literal notranslate"><span class="pre">&quot;random&quot;</span></code>), based on the terrain height (<code class="docutils literal notranslate"><span class="pre">&quot;height&quot;</span></code>), and
+no coloring (<code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>).</p></li>
+</ul>
+</section>
+<section id="id488">
+<h4>Fixed<a class="headerlink" href="#id488" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Modified the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.terrain.TerrainImporter</span></code> class to configure visual and physics materials
+based on the configuration object.</p></li>
+</ul>
+</section>
+</section>
+<section id="id489">
+<h3>0.9.1 (2023-08-18)<a class="headerlink" href="#id489" title="Permalink to this heading">#</a></h3>
+<section id="id490">
+<h4>Added<a class="headerlink" href="#id490" title="Permalink to this heading">#</a></h4>
+<ul>
+<li><p>Introduced three different rotation conventions in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> class. These
+conventions are:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">opengl</span></code>: the camera is looking down the -Z axis with the +Y axis pointing up</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">ros</span></code>: the camera is looking down the +Z axis with the +Y axis pointing down</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">world</span></code>: the camera is looking along the +X axis with the -Z axis pointing down</p></li>
+</ul>
+<p>These can be used to declare the camera offset in <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.OffsetCfg" title="omni.isaac.lab.sensors.CameraCfg.OffsetCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.CameraCfg.OffsetCfg</span></code></a> class
+and in <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera.set_world_pose()</span></code> method. Additionally, all conventions are
+saved to <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraData" title="omni.isaac.lab.sensors.CameraData"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.CameraData</span></code></a> class for easy access.</p>
+</li>
+</ul>
+</section>
+<section id="id491">
+<h4>Changed<a class="headerlink" href="#id491" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Adapted all the sensor classes to follow a structure similar to the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase" title="omni.isaac.lab.assets.AssetBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.assets.AssetBase</span></code></a>.
+Hence, the spawning and initialization of sensors manually by the users is avoided.</p></li>
+<li><p>Removed the <code class="xref py py-meth docutils literal notranslate"><span class="pre">debug_vis()</span></code> function since that this functionality is handled by a render callback automatically
+(based on the passed configuration for the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBaseCfg.debug_vis" title="omni.isaac.lab.sensors.SensorBaseCfg.debug_vis"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.SensorBaseCfg.debug_vis</span></code></a> flag).</p></li>
+</ul>
+</section>
+</section>
+<section id="id492">
+<h3>0.9.0 (2023-08-18)<a class="headerlink" href="#id492" title="Permalink to this heading">#</a></h3>
+<section id="id493">
+<h4>Added<a class="headerlink" href="#id493" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Introduces a new set of asset interfaces. These interfaces simplify the spawning of assets into the scene
+and initializing the physics handle by putting that inside post-startup physics callbacks. With this, users
+no longer need to worry about the <code class="xref py py-meth docutils literal notranslate"><span class="pre">spawn()</span></code> and <code class="xref py py-meth docutils literal notranslate"><span class="pre">initialize()</span></code> calls.</p></li>
+<li><p>Added utility methods to <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.string" title="omni.isaac.lab.utils.string"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string</span></code></a> module that resolve regex expressions based
+on passed list of target keys.</p></li>
+</ul>
+</section>
+<section id="id494">
+<h4>Changed<a class="headerlink" href="#id494" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed all references of joints in an articulation from “dof” to “joint”. This makes it consistent with the
+terminology used in robotics.</p></li>
+</ul>
+</section>
+<section id="id495">
+<h4>Deprecated<a class="headerlink" href="#id495" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the previous modules for objects and robots. Instead the <code class="xref py py-class docutils literal notranslate"><span class="pre">Articulation</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code>
+should be used.</p></li>
+</ul>
+</section>
+</section>
+<section id="id496">
+<h3>0.8.12 (2023-08-18)<a class="headerlink" href="#id496" title="Permalink to this heading">#</a></h3>
+<section id="id497">
+<h4>Added<a class="headerlink" href="#id497" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added other properties provided by <code class="docutils literal notranslate"><span class="pre">PhysicsScene</span></code> to the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext</span></code></a>
+class to allow setting CCD, solver iterations, etc.</p></li>
+<li><p>Added commonly used functions to the <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationContext</span></code> class itself to avoid having additional
+imports from Isaac Sim when doing simple tasks such as setting camera view or retrieving the simulation settings.</p></li>
+</ul>
+</section>
+<section id="id498">
+<h4>Fixed<a class="headerlink" href="#id498" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Switched the notations of default buffer values in <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg" title="omni.isaac.lab.sim.PhysxCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.PhysxCfg</span></code></a> from multiplication
+to scientific notation to avoid confusion with the values.</p></li>
+</ul>
+</section>
+</section>
+<section id="id499">
+<h3>0.8.11 (2023-08-18)<a class="headerlink" href="#id499" title="Permalink to this heading">#</a></h3>
+<section id="id500">
+<h4>Added<a class="headerlink" href="#id500" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Adds utility functions and configuration objects in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners" title="omni.isaac.lab.sim.spawners"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners</span></code></a>
+to create the following prims in the scene:</p>
+<ul>
+<li><p><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.from_file</span></code>: Create a prim from a USD/URDF file.</p></li>
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.shapes" title="omni.isaac.lab.sim.spawners.shapes"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.shapes</span></code></a>: Create USDGeom prims for shapes (box, sphere, cylinder, capsule, etc.).</p></li>
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.materials" title="omni.isaac.lab.sim.spawners.materials"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.materials</span></code></a>: Create a visual or physics material prim.</p></li>
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.lights" title="omni.isaac.lab.sim.spawners.lights"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.lights</span></code></a>: Create a USDLux prim for different types of lights.</p></li>
+<li><p><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners.sensors" title="omni.isaac.lab.sim.spawners.sensors"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.spawners.sensors</span></code></a>: Create a USD prim for supported sensors.</p></li>
+</ul>
+</li>
+</ul>
+</section>
+<section id="id501">
+<h4>Changed<a class="headerlink" href="#id501" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Modified the <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationContext</span></code> class to take the default physics material using the material spawn
+configuration object.</p></li>
+</ul>
+</section>
+</section>
+<section id="id502">
+<h3>0.8.10 (2023-08-17)<a class="headerlink" href="#id502" title="Permalink to this heading">#</a></h3>
+<section id="id503">
+<h4>Added<a class="headerlink" href="#id503" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added methods for defining different physics-based schemas in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html#module-omni.isaac.lab.sim.schemas" title="omni.isaac.lab.sim.schemas"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.schemas</span></code></a> module.
+These methods allow creating the schema if it doesn’t exist at the specified prim path and modify
+its properties based on the configuration object.</p></li>
+</ul>
+</section>
+</section>
+<section id="id504">
+<h3>0.8.9 (2023-08-09)<a class="headerlink" href="#id504" title="Permalink to this heading">#</a></h3>
+<section id="id505">
+<h4>Changed<a class="headerlink" href="#id505" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Moved the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.asset_loader.UrdfLoader</span></code> class to the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.loaders</span></code>
+module to make it more accessible to the user.</p></li>
+</ul>
+</section>
+</section>
+<section id="id506">
+<h3>0.8.8 (2023-08-09)<a class="headerlink" href="#id506" title="Permalink to this heading">#</a></h3>
+<section id="id507">
+<h4>Added<a class="headerlink" href="#id507" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added configuration classes and functions for setting different physics-based schemas in the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html#module-omni.isaac.lab.sim.schemas" title="omni.isaac.lab.sim.schemas"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.schemas</span></code></a> module. These allow modifying properties of the physics solver
+on the asset using configuration objects.</p></li>
+</ul>
+</section>
+</section>
+<section id="id508">
+<h3>0.8.7 (2023-08-03)<a class="headerlink" href="#id508" title="Permalink to this heading">#</a></h3>
+<section id="id509">
+<h4>Fixed<a class="headerlink" href="#id509" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support for <a class="reference external" href="https://docs.python.org/3/library/dataclasses.html#post-init-processing">__post_init__</a> in
+the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.configclass</span></code></a> decorator.</p></li>
+</ul>
+</section>
+</section>
+<section id="id510">
+<h3>0.8.6 (2023-08-03)<a class="headerlink" href="#id510" title="Permalink to this heading">#</a></h3>
+<section id="id511">
+<h4>Added<a class="headerlink" href="#id511" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support for callable classes in the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.ManagerBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ManagerBase</span></code></a>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id512">
+<h3>0.8.5 (2023-08-03)<a class="headerlink" href="#id512" title="Permalink to this heading">#</a></h3>
+<section id="id513">
+<h4>Fixed<a class="headerlink" href="#id513" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.markers.Visualizationmarkers</span></code> class so that the markers are not visible in camera rendering mode.</p></li>
+</ul>
+</section>
+<section id="id514">
+<h4>Changed<a class="headerlink" href="#id514" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Simplified the creation of the point instancer in the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.markers.Visualizationmarkers</span></code> class. It now creates a new
+prim at the next available prim path if a prim already exists at the given path.</p></li>
+</ul>
+</section>
+</section>
+<section id="id515">
+<h3>0.8.4 (2023-08-02)<a class="headerlink" href="#id515" title="Permalink to this heading">#</a></h3>
+<section id="id516">
+<h4>Added<a class="headerlink" href="#id516" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext</span></code></a> class to the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#module-omni.isaac.lab.sim" title="omni.isaac.lab.sim"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim</span></code></a> module.
+This class inherits from the <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.simulation_context.SimulationContext" title="(in isaac_sim)"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.core.simulation_context.SimulationContext</span></code></a> class and adds
+the ability to create a simulation context from a configuration object.</p></li>
+</ul>
+</section>
+</section>
+<section id="id517">
+<h3>0.8.3 (2023-08-02)<a class="headerlink" href="#id517" title="Permalink to this heading">#</a></h3>
+<section id="id518">
+<h4>Changed<a class="headerlink" href="#id518" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Moved the <code class="xref py py-class docutils literal notranslate"><span class="pre">ActuatorBase</span></code> class to the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators.actuator_base</span></code> module.</p></li>
+<li><p>Renamed the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators.actuator</span></code> module to <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators.actuator_pd</span></code>
+to make it more explicit that it contains the PD actuator models.</p></li>
+</ul>
+</section>
+</section>
+<section id="id519">
+<h3>0.8.2 (2023-08-02)<a class="headerlink" href="#id519" title="Permalink to this heading">#</a></h3>
+<section id="id520">
+<h4>Changed<a class="headerlink" href="#id520" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Cleaned up the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.terrain.TerrainImporter</span></code> class to take all the parameters from the configuration
+object. This makes it consistent with the other classes in the package.</p></li>
+<li><p>Moved the configuration classes for terrain generator and terrain importer into separate files to resolve circular
+dependency issues.</p></li>
+</ul>
+</section>
+</section>
+<section id="id521">
+<h3>0.8.1 (2023-08-02)<a class="headerlink" href="#id521" title="Permalink to this heading">#</a></h3>
+<section id="id522">
+<h4>Fixed<a class="headerlink" href="#id522" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a hack into <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> class to remove Isaac Lab packages from the path before launching
+the simulation application. This prevents the warning messages that appears when the user launches the <code class="docutils literal notranslate"><span class="pre">SimulationApp</span></code>.</p></li>
+</ul>
+</section>
+<section id="id523">
+<h4>Added<a class="headerlink" href="#id523" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Enabled necessary viewport extensions in the <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> class itself if <code class="docutils literal notranslate"><span class="pre">VIEWPORT_ENABLED</span></code>
+flag is true.</p></li>
+</ul>
+</section>
+</section>
+<section id="id524">
+<h3>0.8.0 (2023-07-26)<a class="headerlink" href="#id524" title="Permalink to this heading">#</a></h3>
+<section id="id525">
+<h4>Added<a class="headerlink" href="#id525" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <code class="xref py py-class docutils literal notranslate"><span class="pre">ActionManager</span></code> class to the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#module-omni.isaac.lab.managers" title="omni.isaac.lab.managers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.managers</span></code></a> module to handle actions in the
+environment through action terms.</p></li>
+<li><p>Added contact force history to the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor" title="omni.isaac.lab.sensors.ContactSensor"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ContactSensor</span></code></a> class. The history is stored
+in the <code class="docutils literal notranslate"><span class="pre">net_forces_w_history</span></code> attribute of the sensor data.</p></li>
+</ul>
+</section>
+<section id="id526">
+<h4>Changed<a class="headerlink" href="#id526" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Implemented lazy update of buffers in the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.SensorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.SensorBase</span></code></a> class. This allows the user
+to update the sensor data only when required, i.e. when the data is requested by the user. This helps avoid double
+computation of sensor data when a reset is called in the environment.</p></li>
+</ul>
+</section>
+<section id="id527">
+<h4>Deprecated<a class="headerlink" href="#id527" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the support for different backends in the sensor class. We only use Pytorch as the backend now.</p></li>
+<li><p>Removed the concept of actuator groups. They are now handled by the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager" title="omni.isaac.lab.managers.ActionManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ActionManager</span></code></a>
+class. The actuator models are now directly handled by the robot class itself.</p></li>
+</ul>
+</section>
+</section>
+<section id="id528">
+<h3>0.7.4 (2023-07-26)<a class="headerlink" href="#id528" title="Permalink to this heading">#</a></h3>
+<section id="id529">
+<h4>Changed<a class="headerlink" href="#id529" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the behavior of the <a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainImporter" title="omni.isaac.lab.terrains.TerrainImporter"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.terrains.TerrainImporter</span></code></a> class. It now expects the terrain
+type to be specified in the configuration object. This allows the user to specify everything in the configuration
+object and not have to do an explicit call to import a terrain.</p></li>
+</ul>
+</section>
+<section id="id530">
+<h4>Fixed<a class="headerlink" href="#id530" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed setting of quaternion orientations inside the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.markers.Visualizationmarkers</span></code> class.
+Earlier, the orientation was being set into the point instancer in the wrong order (<code class="docutils literal notranslate"><span class="pre">wxyz</span></code> instead of <code class="docutils literal notranslate"><span class="pre">xyzw</span></code>).</p></li>
+</ul>
+</section>
+</section>
+<section id="id531">
+<h3>0.7.3 (2023-07-25)<a class="headerlink" href="#id531" title="Permalink to this heading">#</a></h3>
+<section id="id532">
+<h4>Fixed<a class="headerlink" href="#id532" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the issue with multiple inheritance in the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.configclass</span></code></a> decorator.
+Earlier, if the inheritance tree was more than one level deep and the lowest level configuration class was
+not updating its values from the middle level classes.</p></li>
+</ul>
+</section>
+</section>
+<section id="id533">
+<h3>0.7.2 (2023-07-24)<a class="headerlink" href="#id533" title="Permalink to this heading">#</a></h3>
+<section id="id534">
+<h4>Added<a class="headerlink" href="#id534" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the method <code class="xref py py-meth docutils literal notranslate"><span class="pre">replace()</span></code> to the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.configclass</span></code></a> decorator to allow
+creating a new configuration object with values replaced from keyword arguments. This function internally
+calls the <a class="reference external" href="https://docs.python.org/3/library/dataclasses.html#dataclasses.replace">dataclasses.replace</a>.</p></li>
+</ul>
+</section>
+<section id="id535">
+<h4>Fixed<a class="headerlink" href="#id535" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the handling of class types as member values in the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.configclass()</span></code></a>. Earlier it was
+throwing an error since class types were skipped in the if-else block.</p></li>
+</ul>
+</section>
+</section>
+<section id="id536">
+<h3>0.7.1 (2023-07-22)<a class="headerlink" href="#id536" title="Permalink to this heading">#</a></h3>
+<section id="id537">
+<h4>Added<a class="headerlink" href="#id537" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <code class="xref py py-class docutils literal notranslate"><span class="pre">TerminationManager</span></code>, <code class="xref py py-class docutils literal notranslate"><span class="pre">CurriculumManager</span></code>, and <code class="xref py py-class docutils literal notranslate"><span class="pre">RandomizationManager</span></code> classes
+to the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#module-omni.isaac.lab.managers" title="omni.isaac.lab.managers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.managers</span></code></a> module to handle termination, curriculum, and randomization respectively.</p></li>
+</ul>
+</section>
+</section>
+<section id="id538">
+<h3>0.7.0 (2023-07-22)<a class="headerlink" href="#id538" title="Permalink to this heading">#</a></h3>
+<section id="id539">
+<h4>Added<a class="headerlink" href="#id539" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Created a new <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#module-omni.isaac.lab.managers" title="omni.isaac.lab.managers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.managers</span></code></a> module for all the managers related to the environment / scene.
+This includes the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ObservationManager</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager" title="omni.isaac.lab.managers.RewardManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.RewardManager</span></code></a>
+classes that were previously in the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.mdp</span></code> module.</p></li>
+<li><p>Added the <a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ManagerBase" title="omni.isaac.lab.managers.ManagerBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.managers.ManagerBase</span></code></a> class to handle the creation of managers.</p></li>
+<li><p>Added configuration classes for <code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationTermCfg</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">RewardTermCfg</span></code> to allow easy creation of
+observation and reward terms.</p></li>
+</ul>
+</section>
+<section id="id540">
+<h4>Changed<a class="headerlink" href="#id540" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the behavior of <code class="xref py py-class docutils literal notranslate"><span class="pre">ObservationManager</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">RewardManager</span></code> classes to accept the key <code class="docutils literal notranslate"><span class="pre">func</span></code>
+in each configuration term to be a callable. This removes the need to inherit from the base class
+and allows more reusability of the functions across different environments.</p></li>
+<li><p>Moved the old managers to the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.compat.utils.mdp</span></code> module.</p></li>
+<li><p>Modified the necessary scripts to use the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.compat.utils.mdp</span></code> module.</p></li>
+</ul>
+</section>
+</section>
+<section id="id541">
+<h3>0.6.2 (2023-07-21)<a class="headerlink" href="#id541" title="Permalink to this heading">#</a></h3>
+<section id="id542">
+<h4>Added<a class="headerlink" href="#id542" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.command_generators</span></code> to generate different commands based on the desired task.
+It allows the user to generate commands for different tasks in the same environment without having to write
+custom code for each task.</p></li>
+</ul>
+</section>
+</section>
+<section id="id543">
+<h3>0.6.1 (2023-07-16)<a class="headerlink" href="#id543" title="Permalink to this heading">#</a></h3>
+<section id="id544">
+<h4>Fixed<a class="headerlink" href="#id544" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.math.quat_apply_yaw" title="omni.isaac.lab.utils.math.quat_apply_yaw"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math.quat_apply_yaw()</span></code></a> to compute the yaw quaternion correctly.</p></li>
+</ul>
+</section>
+<section id="id545">
+<h4>Added<a class="headerlink" href="#id545" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added functions to convert string and callable objects in <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.string" title="omni.isaac.lab.utils.string"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.string</span></code></a>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id546">
+<h3>0.6.0 (2023-07-16)<a class="headerlink" href="#id546" title="Permalink to this heading">#</a></h3>
+<section id="id547">
+<h4>Added<a class="headerlink" href="#id547" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the argument <code class="xref py py-attr docutils literal notranslate"><span class="pre">sort_keys</span></code> to the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.io.yaml.dump_yaml()</span></code> method to allow
+enabling/disabling of sorting of keys in the output yaml file.</p></li>
+</ul>
+</section>
+<section id="id548">
+<h4>Fixed<a class="headerlink" href="#id548" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the ordering of terms in <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.configclass</span></code></a> to be consistent in the order in which
+they are defined. Previously, the ordering was done alphabetically which made it inconsistent with the order in which
+the parameters were defined.</p></li>
+</ul>
+</section>
+<section id="id549">
+<h4>Changed<a class="headerlink" href="#id549" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the default value of the argument <code class="xref py py-attr docutils literal notranslate"><span class="pre">sort_keys</span></code> in the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.io.yaml.dump_yaml()</span></code>
+method to <code class="docutils literal notranslate"><span class="pre">False</span></code>.</p></li>
+<li><p>Moved the old config classes in <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.configclass</span></code></a> to
+<code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.compat.utils.configclass</span></code> so that users can still run their old code where alphabetical
+ordering was used.</p></li>
+</ul>
+</section>
+</section>
+<section id="id550">
+<h3>0.5.0 (2023-07-04)<a class="headerlink" href="#id550" title="Permalink to this heading">#</a></h3>
+<section id="id551">
+<h4>Added<a class="headerlink" href="#id551" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a generalized <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.SensorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.SensorBase</span></code></a> class that leverages the ideas of views to
+handle multiple sensors in a single class.</p></li>
+<li><p>Added the classes <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster" title="omni.isaac.lab.sensors.RayCaster"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.RayCaster</span></code></a>, <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensor" title="omni.isaac.lab.sensors.ContactSensor"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.ContactSensor</span></code></a>,
+and <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors.Camera</span></code></a> that output a batched tensor of sensor data.</p></li>
+</ul>
+</section>
+<section id="id552">
+<h4>Changed<a class="headerlink" href="#id552" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed the parameter <code class="docutils literal notranslate"><span class="pre">sensor_tick</span></code> to <code class="docutils literal notranslate"><span class="pre">update_freq</span></code> to make it more intuitive.</p></li>
+<li><p>Moved the old sensors in <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#module-omni.isaac.lab.sensors" title="omni.isaac.lab.sensors"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sensors</span></code></a> to <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.compat.sensors</span></code>.</p></li>
+<li><p>Modified the standalone scripts to use the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.compat.sensors</span></code> module.</p></li>
+</ul>
+</section>
+</section>
+<section id="id553">
+<h3>0.4.4 (2023-07-05)<a class="headerlink" href="#id553" title="Permalink to this heading">#</a></h3>
+<section id="id554">
+<h4>Fixed<a class="headerlink" href="#id554" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.terrains.trimesh.utils.make_plane()</span></code> method to handle the case when the
+plane origin does not need to be centered.</p></li>
+<li><p>Added the <a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGeneratorCfg.seed" title="omni.isaac.lab.terrains.TerrainGeneratorCfg.seed"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.terrains.TerrainGeneratorCfg.seed</span></code></a> to make generation of terrains reproducible.
+The default value is <code class="docutils literal notranslate"><span class="pre">None</span></code> which means that the seed is not set.</p></li>
+</ul>
+</section>
+<section id="id555">
+<h4>Changed<a class="headerlink" href="#id555" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the saving of <code class="docutils literal notranslate"><span class="pre">origins</span></code> in <a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html#omni.isaac.lab.terrains.TerrainGenerator" title="omni.isaac.lab.terrains.TerrainGenerator"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.terrains.TerrainGenerator</span></code></a> class to be in CSV format
+instead of NPY format.</p></li>
+</ul>
+</section>
+</section>
+<section id="id556">
+<h3>0.4.3 (2023-06-28)<a class="headerlink" href="#id556" title="Permalink to this heading">#</a></h3>
+<section id="id557">
+<h4>Added<a class="headerlink" href="#id557" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.markers.PointInstancerMarker</span></code> class that wraps around
+<a class="reference external" href="https://graphics.pixar.com/usd/dev/api/class_usd_geom_point_instancer.html">UsdGeom.PointInstancer</a>
+to directly work with torch and numpy arrays.</p></li>
+</ul>
+</section>
+<section id="id558">
+<h4>Changed<a class="headerlink" href="#id558" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Moved the old markers in <a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html#module-omni.isaac.lab.markers" title="omni.isaac.lab.markers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.markers</span></code></a> to <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.compat.markers</span></code>.</p></li>
+<li><p>Modified the standalone scripts to use the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.compat.markers</span></code> module.</p></li>
+</ul>
+</section>
+</section>
+<section id="id559">
+<h3>0.4.2 (2023-06-28)<a class="headerlink" href="#id559" title="Permalink to this heading">#</a></h3>
+<section id="id560">
+<h4>Added<a class="headerlink" href="#id560" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the sub-module <a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html#module-omni.isaac.lab.terrains" title="omni.isaac.lab.terrains"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.terrains</span></code></a> to allow procedural generation of terrains and supporting
+importing of terrains from different sources (meshes, usd files or default ground plane).</p></li>
+</ul>
+</section>
+</section>
+<section id="id561">
+<h3>0.4.1 (2023-06-27)<a class="headerlink" href="#id561" title="Permalink to this heading">#</a></h3>
+<ul class="simple">
+<li><p>Added the <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> class to allow controlled instantiation of
+the <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html">SimulationApp</a>
+and extension loading for remote deployment and ROS bridges.</p></li>
+</ul>
+<section id="id562">
+<h4>Changed<a class="headerlink" href="#id562" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Modified all standalone scripts to use the <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.app.AppLauncher</span></code></a> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id563">
+<h3>0.4.0 (2023-05-27)<a class="headerlink" href="#id563" title="Permalink to this heading">#</a></h3>
+<section id="id564">
+<h4>Added<a class="headerlink" href="#id564" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a helper class <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.asset_loader.UrdfLoader</span></code> that converts a URDF file to instanceable USD
+file based on the input configuration object.</p></li>
+</ul>
+</section>
+</section>
+<section id="id565">
+<h3>0.3.2 (2023-04-27)<a class="headerlink" href="#id565" title="Permalink to this heading">#</a></h3>
+<section id="id566">
+<h4>Fixed<a class="headerlink" href="#id566" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added safe-printing of functions while using the <a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.dict.print_dict" title="omni.isaac.lab.utils.dict.print_dict"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.dict.print_dict()</span></code></a> function.</p></li>
+</ul>
+</section>
+</section>
+<section id="id567">
+<h3>0.3.1 (2023-04-23)<a class="headerlink" href="#id567" title="Permalink to this heading">#</a></h3>
+<section id="id568">
+<h4>Added<a class="headerlink" href="#id568" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a modified version of <code class="docutils literal notranslate"><span class="pre">lula_franka_gen.urdf</span></code> which includes an end-effector frame.</p></li>
+<li><p>Added a standalone script <code class="docutils literal notranslate"><span class="pre">play_rmpflow.py</span></code> to show RMPFlow controller.</p></li>
+</ul>
+</section>
+<section id="id569">
+<h4>Fixed<a class="headerlink" href="#id569" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the splitting of commands in the <code class="xref py py-meth docutils literal notranslate"><span class="pre">ActuatorGroup.compute()</span></code> method. Earlier it was reshaping the
+commands to the shape <code class="docutils literal notranslate"><span class="pre">(num_actuators,</span> <span class="pre">num_commands)</span></code> which was causing the commands to be split incorrectly.</p></li>
+<li><p>Fixed the processing of actuator command in the <code class="xref py py-meth docutils literal notranslate"><span class="pre">RobotBase._process_actuators_cfg()</span></code> to deal with multiple
+command types when using “implicit” actuator group.</p></li>
+</ul>
+</section>
+</section>
+<section id="id570">
+<h3>0.3.0 (2023-04-20)<a class="headerlink" href="#id570" title="Permalink to this heading">#</a></h3>
+<section id="id571">
+<h4>Fixed<a class="headerlink" href="#id571" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the destructor to the keyboard devices to unsubscribe from carb.</p></li>
+</ul>
+</section>
+<section id="id572">
+<h4>Added<a class="headerlink" href="#id572" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <code class="xref py py-class docutils literal notranslate"><span class="pre">Se2Gamepad</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">Se3Gamepad</span></code> for gamepad teleoperation support.</p></li>
+</ul>
+</section>
+</section>
+<section id="id573">
+<h3>0.2.8 (2023-04-10)<a class="headerlink" href="#id573" title="Permalink to this heading">#</a></h3>
+<section id="id574">
+<h4>Fixed<a class="headerlink" href="#id574" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed bugs in <code class="xref py py-meth docutils literal notranslate"><span class="pre">axis_angle_from_quat()</span></code> in the <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math</span></code> to handle quaternion with negative w component.</p></li>
+<li><p>Fixed bugs in <code class="xref py py-meth docutils literal notranslate"><span class="pre">subtract_frame_transforms()</span></code> in the <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.math</span></code> by adding the missing final rotation.</p></li>
+</ul>
+</section>
+</section>
+<section id="id575">
+<h3>0.2.7 (2023-04-07)<a class="headerlink" href="#id575" title="Permalink to this heading">#</a></h3>
+<section id="id576">
+<h4>Fixed<a class="headerlink" href="#id576" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed repetition in applying mimic multiplier for “p_abs” in the <code class="xref py py-class docutils literal notranslate"><span class="pre">GripperActuatorGroup</span></code> class.</p></li>
+<li><p>Fixed bugs in <code class="xref py py-meth docutils literal notranslate"><span class="pre">reset_buffers()</span></code> in the <code class="xref py py-class docutils literal notranslate"><span class="pre">RobotBase</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">LeggedRobot</span></code> classes.</p></li>
+</ul>
+</section>
+</section>
+<section id="id577">
+<h3>0.2.6 (2023-03-16)<a class="headerlink" href="#id577" title="Permalink to this heading">#</a></h3>
+<section id="id578">
+<h4>Added<a class="headerlink" href="#id578" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the <code class="xref py py-class docutils literal notranslate"><span class="pre">CollisionPropertiesCfg</span></code> to rigid/articulated object and robot base classes.</p></li>
+<li><p>Added the <code class="xref py py-class docutils literal notranslate"><span class="pre">PhysicsMaterialCfg</span></code> to the <code class="xref py py-class docutils literal notranslate"><span class="pre">SingleArm</span></code> class for tool sites.</p></li>
+</ul>
+</section>
+<section id="id579">
+<h4>Changed<a class="headerlink" href="#id579" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the default control mode of the <code class="xref py py-obj docutils literal notranslate"><span class="pre">PANDA_HAND_MIMIC_GROUP_CFG</span></code> to be from <code class="docutils literal notranslate"><span class="pre">&quot;v_abs&quot;</span></code> to <code class="docutils literal notranslate"><span class="pre">&quot;p_abs&quot;</span></code>.
+Using velocity control for the mimic group can cause the hand to move in a jerky manner.</p></li>
+</ul>
+</section>
+</section>
+<section id="id580">
+<h3>0.2.5 (2023-03-08)<a class="headerlink" href="#id580" title="Permalink to this heading">#</a></h3>
+<section id="id581">
+<h4>Fixed<a class="headerlink" href="#id581" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the indices used for the Jacobian and dynamics quantities in the <code class="xref py py-class docutils literal notranslate"><span class="pre">MobileManipulator</span></code> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id582">
+<h3>0.2.4 (2023-03-04)<a class="headerlink" href="#id582" title="Permalink to this heading">#</a></h3>
+<section id="id583">
+<h4>Added<a class="headerlink" href="#id583" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="xref py py-meth docutils literal notranslate"><span class="pre">apply_nested_physics_material()</span></code> to the <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.kit</span></code>.</p></li>
+<li><p>Added the <code class="xref py py-meth docutils literal notranslate"><span class="pre">sample_cylinder()</span></code> to sample points from a cylinder’s surface.</p></li>
+<li><p>Added documentation about the issue in using instanceable asset as markers.</p></li>
+</ul>
+</section>
+<section id="id584">
+<h4>Fixed<a class="headerlink" href="#id584" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Simplified the physics material application in the rigid object and legged robot classes.</p></li>
+</ul>
+</section>
+<section id="id585">
+<h4>Removed<a class="headerlink" href="#id585" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the <code class="docutils literal notranslate"><span class="pre">geom_prim_rel_path</span></code> argument in the <code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObjectCfg.MetaInfoCfg</span></code> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id586">
+<h3>0.2.3 (2023-02-24)<a class="headerlink" href="#id586" title="Permalink to this heading">#</a></h3>
+<section id="id587">
+<h4>Fixed<a class="headerlink" href="#id587" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the end-effector body index used for getting the Jacobian in the <code class="xref py py-class docutils literal notranslate"><span class="pre">SingleArm</span></code> and <code class="xref py py-class docutils literal notranslate"><span class="pre">MobileManipulator</span></code> classes.</p></li>
+</ul>
+</section>
+</section>
+<section id="id588">
+<h3>0.2.2 (2023-01-27)<a class="headerlink" href="#id588" title="Permalink to this heading">#</a></h3>
+<section id="id589">
+<h4>Fixed<a class="headerlink" href="#id589" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <code class="xref py py-meth docutils literal notranslate"><span class="pre">set_world_pose_ros()</span></code> and <code class="xref py py-meth docutils literal notranslate"><span class="pre">set_world_pose_from_view()</span></code> in the <code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code> class.</p></li>
+</ul>
+</section>
+<section id="id590">
+<h4>Deprecated<a class="headerlink" href="#id590" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the <code class="xref py py-meth docutils literal notranslate"><span class="pre">set_world_pose_from_ypr()</span></code> method from the <code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id591">
+<h3>0.2.1 (2023-01-26)<a class="headerlink" href="#id591" title="Permalink to this heading">#</a></h3>
+<section id="id592">
+<h4>Fixed<a class="headerlink" href="#id592" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the <code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code> class to support different fisheye projection types.</p></li>
+</ul>
+</section>
+</section>
+<section id="id593">
+<h3>0.2.0 (2023-01-25)<a class="headerlink" href="#id593" title="Permalink to this heading">#</a></h3>
+<section id="id594">
+<h4>Added<a class="headerlink" href="#id594" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support for warp backend in camera utilities.</p></li>
+<li><p>Extended the <code class="docutils literal notranslate"><span class="pre">play_camera.py</span></code> with <code class="docutils literal notranslate"><span class="pre">--gpu</span></code> flag to use GPU replicator backend.</p></li>
+</ul>
+</section>
+</section>
+<section id="id595">
+<h3>0.1.1 (2023-01-24)<a class="headerlink" href="#id595" title="Permalink to this heading">#</a></h3>
+<section id="id596">
+<h4>Fixed<a class="headerlink" href="#id596" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed setting of physics material on the ground plane when using <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.utils.kit.create_ground_plane()</span></code> function.</p></li>
+</ul>
+</section>
+</section>
+<section id="id597">
+<h3>0.1.0 (2023-01-17)<a class="headerlink" href="#id597" title="Permalink to this heading">#</a></h3>
+<section id="id598">
+<h4>Added<a class="headerlink" href="#id598" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Initial release of the extension with experimental API.</p></li>
+<li><p>Available robot configurations:</p>
+<ul>
+<li><p><strong>Quadrupeds:</strong> Unitree A1, ANYmal B, ANYmal C</p></li>
+<li><p><strong>Single-arm manipulators:</strong> Franka Emika arm, UR5</p></li>
+<li><p><strong>Mobile manipulators:</strong> Clearpath Ridgeback with Franka Emika arm or UR5</p></li>
+</ul>
+</li>
+</ul>
+</section>
+</section>
+</section>
+<section id="omni-isaac-lab-assets">
+<h2>omni.isaac.lab_assets<a class="headerlink" href="#omni-isaac-lab-assets" title="Permalink to this heading">#</a></h2>
+<p>Extension for configurations of various assets and sensors for Isaac Lab.</p>
+<section id="id599">
+<h3>0.1.4 (2024-08-21)<a class="headerlink" href="#id599" title="Permalink to this heading">#</a></h3>
+<section id="id600">
+<h4>Added<a class="headerlink" href="#id600" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added configuration for the Inverted Double Pendulum on a Cart robot.</p></li>
+</ul>
+</section>
+</section>
+<section id="id601">
+<h3>0.1.2 (2024-04-03)<a class="headerlink" href="#id601" title="Permalink to this heading">#</a></h3>
+<section id="id602">
+<h4>Added<a class="headerlink" href="#id602" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added configurations for different arms from Kinova Robotics and Rethink Robotics.</p></li>
+</ul>
+</section>
+</section>
+<section id="id603">
+<h3>0.1.1 (2024-03-11)<a class="headerlink" href="#id603" title="Permalink to this heading">#</a></h3>
+<section id="id604">
+<h4>Added<a class="headerlink" href="#id604" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added configurations for allegro and shadow hand assets.</p></li>
+</ul>
+</section>
+</section>
+<section id="id605">
+<h3>0.1.0 (2023-12-20)<a class="headerlink" href="#id605" title="Permalink to this heading">#</a></h3>
+<section id="id606">
+<h4>Added<a class="headerlink" href="#id606" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Moved all assets’ configuration from <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab</span></code> to <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_assets</span></code> extension.</p></li>
+</ul>
+</section>
+</section>
+</section>
+<section id="omni-isaac-lab-tasks">
+<h2>omni.isaac.lab_tasks<a class="headerlink" href="#omni-isaac-lab-tasks" title="Permalink to this heading">#</a></h2>
+<p>Extension containing the environments built using Isaac Lab.</p>
+<section id="id607">
+<h3>0.10.17 (2024-12-17)<a class="headerlink" href="#id607" title="Permalink to this heading">#</a></h3>
+<section id="id608">
+<h4>Changed<a class="headerlink" href="#id608" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the configuration of
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.actions.OperationalSpaceControllerAction</span></code>
+inside the <code class="docutils literal notranslate"><span class="pre">Isaac-Reach-Franka-OSC-v0</span></code> environment to enable nullspace control.</p></li>
+</ul>
+</section>
+</section>
+<section id="id609">
+<h3>0.10.16 (2024-12-16)<a class="headerlink" href="#id609" title="Permalink to this heading">#</a></h3>
+<section id="id610">
+<h4>Added<a class="headerlink" href="#id610" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">Factory-Direct-v0</span></code> environment as a direct RL env that
+implements contact-rich manipulation tasks including peg insertion,
+gear meshing, and nut threading.</p></li>
+</ul>
+</section>
+</section>
+<section id="id611">
+<h3>0.10.15 (2024-12-16)<a class="headerlink" href="#id611" title="Permalink to this heading">#</a></h3>
+<section id="id612">
+<h4>Added<a class="headerlink" href="#id612" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">Isaac-Reach-Franka-OSC-v0</span></code> and <code class="docutils literal notranslate"><span class="pre">Isaac-Reach-Franka-OSC-Play-v0</span></code>
+variations of the manager based reach environment that uses
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.mdp.actions.OperationalSpaceControllerAction</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id613">
+<h3>0.10.14 (2024-12-03)<a class="headerlink" href="#id613" title="Permalink to this heading">#</a></h3>
+<section id="id614">
+<h4>Added<a class="headerlink" href="#id614" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">Isaac-Stack-Cube-Franka-IK-Rel-v0</span></code> and <code class="docutils literal notranslate"><span class="pre">Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0</span></code> environments
+as manager-based RL envs that implement a three cube stacking task.</p></li>
+</ul>
+</section>
+</section>
+<section id="id615">
+<h3>0.10.13 (2024-10-30)<a class="headerlink" href="#id615" title="Permalink to this heading">#</a></h3>
+<section id="id616">
+<h4>Changed<a class="headerlink" href="#id616" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Defined the Gymnasium task entry points with configuration strings instead of class types.
+This avoids unnecessary imports and improves the load types.</p></li>
+<li><p>Blacklisted <code class="docutils literal notranslate"><span class="pre">mdp</span></code> directories during the recursive module search.</p></li>
+</ul>
+</section>
+</section>
+<section id="id617">
+<h3>0.10.12 (2024-10-28)<a class="headerlink" href="#id617" title="Permalink to this heading">#</a></h3>
+<section id="id618">
+<h4>Changed<a class="headerlink" href="#id618" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed manager-based vision cartpole environment names from Isaac-Cartpole-RGB-Camera-v0
+and Isaac-Cartpole-Depth-Camera-v0 to Isaac-Cartpole-RGB-v0 and Isaac-Cartpole-Depth-v0</p></li>
+</ul>
+</section>
+</section>
+<section id="id619">
+<h3>0.10.11 (2024-10-28)<a class="headerlink" href="#id619" title="Permalink to this heading">#</a></h3>
+<section id="id620">
+<h4>Added<a class="headerlink" href="#id620" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added feature extracted observation cartpole examples.</p></li>
+</ul>
+</section>
+</section>
+<section id="id621">
+<h3>0.10.10 (2024-10-25)<a class="headerlink" href="#id621" title="Permalink to this heading">#</a></h3>
+<section id="id622">
+<h4>Fixed<a class="headerlink" href="#id622" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed issues with defining Gymnasium spaces in Direct workflows due to Hydra/OmegaConf limitations with non-primitive types.</p></li>
+</ul>
+</section>
+</section>
+<section id="id623">
+<h3>0.10.9 (2024-10-22)<a class="headerlink" href="#id623" title="Permalink to this heading">#</a></h3>
+<section id="id624">
+<h4>Changed<a class="headerlink" href="#id624" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Sets curriculum and commands to None in manager-based environment configurations when not needed.
+Earlier, this was done by making an empty configuration object, which is now unnecessary.</p></li>
+</ul>
+</section>
+</section>
+<section id="id625">
+<h3>0.10.8 (2024-10-22)<a class="headerlink" href="#id625" title="Permalink to this heading">#</a></h3>
+<section id="id626">
+<h4>Fixed<a class="headerlink" href="#id626" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the wrong selection of body id’s in the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.manager_based.locomotion.velocity.mdp.rewards.feet_slide()</span></code>
+reward function. This makes sure the right IDs are selected for the bodies.</p></li>
+</ul>
+</section>
+</section>
+<section id="id627">
+<h3>0.10.7 (2024-10-02)<a class="headerlink" href="#id627" title="Permalink to this heading">#</a></h3>
+<section id="id628">
+<h4>Changed<a class="headerlink" href="#id628" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Replace deprecated <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_observations</span></code>, <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_actions</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_states</span></code> in single-agent direct tasks
+by <code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_space</span></code>, <code class="xref py py-attr docutils literal notranslate"><span class="pre">action_space</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">state_space</span></code> respectively.</p></li>
+<li><p>Replace deprecated <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_observations</span></code>, <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_actions</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">num_states</span></code> in multi-agent direct tasks
+by <code class="xref py py-attr docutils literal notranslate"><span class="pre">observation_spaces</span></code>, <code class="xref py py-attr docutils literal notranslate"><span class="pre">action_spaces</span></code> and <code class="xref py py-attr docutils literal notranslate"><span class="pre">state_space</span></code> respectively.</p></li>
+</ul>
+</section>
+</section>
+<section id="id629">
+<h3>0.10.6 (2024-09-25)<a class="headerlink" href="#id629" title="Permalink to this heading">#</a></h3>
+<section id="id630">
+<h4>Added<a class="headerlink" href="#id630" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">Isaac-Cartpole-RGB-Camera-v0</span></code> and <code class="docutils literal notranslate"><span class="pre">Isaac-Cartpole-Depth-Camera-v0</span></code>
+manager based camera cartpole environments.</p></li>
+</ul>
+</section>
+</section>
+<section id="id631">
+<h3>0.10.5 (2024-09-11)<a class="headerlink" href="#id631" title="Permalink to this heading">#</a></h3>
+<section id="id632">
+<h4>Changed<a class="headerlink" href="#id632" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Updated the skrl RL library integration to the latest release (skrl-v1.3.0)</p></li>
+</ul>
+</section>
+</section>
+<section id="id633">
+<h3>0.10.4 (2024-09-10)<a class="headerlink" href="#id633" title="Permalink to this heading">#</a></h3>
+<section id="id634">
+<h4>Added<a class="headerlink" href="#id634" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">Isaac-Repose-Cube-Shadow-Vision-Direct-v0</span></code> environment with heterogeneous proprioception and vision observations.</p></li>
+</ul>
+</section>
+</section>
+<section id="id635">
+<h3>0.10.3 (2024-09-05)<a class="headerlink" href="#id635" title="Permalink to this heading">#</a></h3>
+<section id="id636">
+<h4>Added<a class="headerlink" href="#id636" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added environment config flag <code class="docutils literal notranslate"><span class="pre">rerender_on_reset</span></code> to allow updating sensor data after a reset.</p></li>
+</ul>
+</section>
+</section>
+<section id="id637">
+<h3>0.10.2 (2024-08-23)<a class="headerlink" href="#id637" title="Permalink to this heading">#</a></h3>
+<section id="id638">
+<h4>Added<a class="headerlink" href="#id638" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">Isaac-Shadow-Hand-Over-Direct-v0</span></code> multi-agent environment</p></li>
+</ul>
+</section>
+</section>
+<section id="id639">
+<h3>0.10.1 (2024-08-21)<a class="headerlink" href="#id639" title="Permalink to this heading">#</a></h3>
+<section id="id640">
+<h4>Added<a class="headerlink" href="#id640" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">Isaac-Cart-Double-Pendulum-Direct-v0</span></code> multi-agent environment</p></li>
+</ul>
+</section>
+<section id="id641">
+<h4>Changed<a class="headerlink" href="#id641" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Update skrl wrapper to support multi-agent environments.</p></li>
+</ul>
+</section>
+</section>
+<section id="id642">
+<h3>0.10.0 (2024-08-14)<a class="headerlink" href="#id642" title="Permalink to this heading">#</a></h3>
+<section id="id643">
+<h4>Added<a class="headerlink" href="#id643" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added support for the Hydra configuration system to all the train scripts. As a result, parameters of the environment
+and the agent can be modified using command line arguments, for example <code class="docutils literal notranslate"><span class="pre">env.actions.joint_effort.scale=10</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id644">
+<h3>0.9.0 (2024-08-05)<a class="headerlink" href="#id644" title="Permalink to this heading">#</a></h3>
+<section id="id645">
+<h4>Changed<a class="headerlink" href="#id645" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Replaced the command line input <code class="docutils literal notranslate"><span class="pre">--cpu</span></code> with <code class="docutils literal notranslate"><span class="pre">--device</span></code> in the train and play scripts. Running on cpu is
+supported by passing <code class="docutils literal notranslate"><span class="pre">--device</span> <span class="pre">cpu</span></code>. Running on a specific gpu is now supported by passing <code class="docutils literal notranslate"><span class="pre">--device</span> <span class="pre">cuda:&lt;device_id&gt;</span></code>,
+where <code class="docutils literal notranslate"><span class="pre">&lt;device_id&gt;</span></code> is the id of the GPU to use, for example <code class="docutils literal notranslate"><span class="pre">--device</span> <span class="pre">cuda:0</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id646">
+<h3>0.8.2 (2024-08-02)<a class="headerlink" href="#id646" title="Permalink to this heading">#</a></h3>
+<section id="id647">
+<h4>Added<a class="headerlink" href="#id647" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">Isaac-Repose-Cube-Allegro-Direct-v0</span></code> environment</p></li>
+</ul>
+</section>
+<section id="id648">
+<h4>Changed<a class="headerlink" href="#id648" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">Isaac-Shadow-Hand-Direct-v0</span></code> environments to <code class="docutils literal notranslate"><span class="pre">Isaac-Repose-Cube-Shadow-Direct-v0</span></code>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">Isaac-Shadow-Hand-OpenAI-FF-Direct-v0</span></code> environments to <code class="docutils literal notranslate"><span class="pre">Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0</span></code>.</p></li>
+<li><p>Renamed <code class="docutils literal notranslate"><span class="pre">Isaac-Shadow-Hand-OpenAI-LSTM-Direct-v0</span></code> environments to <code class="docutils literal notranslate"><span class="pre">Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id649">
+<h3>0.8.1 (2024-08-02)<a class="headerlink" href="#id649" title="Permalink to this heading">#</a></h3>
+<section id="id650">
+<h4>Changed<a class="headerlink" href="#id650" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed the folder names for Unitree robots in the manager-based locomotion tasks. Earlier, there was an inconsistency
+in the folder names as some had <code class="docutils literal notranslate"><span class="pre">unitree_</span></code> prefix and some didn’t. Now, none of the folders have the prefix.</p></li>
+</ul>
+</section>
+</section>
+<section id="id651">
+<h3>0.8.0 (2024-07-26)<a class="headerlink" href="#id651" title="Permalink to this heading">#</a></h3>
+<section id="id652">
+<h4>Removed<a class="headerlink" href="#id652" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed the action term names inside the manager-based lift-manipulation task. Earlier, they were called
+<code class="docutils literal notranslate"><span class="pre">body_joint_pos</span></code> and <code class="docutils literal notranslate"><span class="pre">gripper_joint_pos</span></code>. Now, they are called <code class="docutils literal notranslate"><span class="pre">arm_action</span></code> and <code class="docutils literal notranslate"><span class="pre">gripper_action</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id653">
+<h3>0.7.10 (2024-07-02)<a class="headerlink" href="#id653" title="Permalink to this heading">#</a></h3>
+<section id="id654">
+<h4>Added<a class="headerlink" href="#id654" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Extended skrl wrapper to support training/evaluation using JAX.</p></li>
+</ul>
+</section>
+</section>
+<section id="id655">
+<h3>0.7.9 (2024-07-01)<a class="headerlink" href="#id655" title="Permalink to this heading">#</a></h3>
+<section id="id656">
+<h4>Fixed<a class="headerlink" href="#id656" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the action space check in the Stable-Baselines3 wrapper. Earlier, the wrapper checked
+the action space via <a class="reference external" href="https://gymnasium.farama.org/api/spaces/fundamental/#gymnasium.spaces.Box.is_bounded" title="(in Gymnasium)"><code class="xref py py-meth docutils literal notranslate"><span class="pre">gymnasium.spaces.Box.is_bounded()</span></code></a> method, which returned a bool
+value instead of a string.</p></li>
+</ul>
+</section>
+</section>
+<section id="id657">
+<h3>0.7.8 (2024-06-26)<a class="headerlink" href="#id657" title="Permalink to this heading">#</a></h3>
+<section id="id658">
+<h4>Changed<a class="headerlink" href="#id658" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Updated the skrl RL library integration to the latest release (&gt;= 1.2.0)</p></li>
+</ul>
+</section>
+</section>
+<section id="id659">
+<h3>0.7.7 (2024-06-14)<a class="headerlink" href="#id659" title="Permalink to this heading">#</a></h3>
+<section id="id660">
+<h4>Changed<a class="headerlink" href="#id660" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Updated the tasks to use the renamed attribute <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg.render_interval" title="omni.isaac.lab.sim.SimulationCfg.render_interval"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationCfg.render_interval</span></code></a>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id661">
+<h3>0.7.6 (2024-06-13)<a class="headerlink" href="#id661" title="Permalink to this heading">#</a></h3>
+<section id="id662">
+<h4>Added<a class="headerlink" href="#id662" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added option to save images for Cartpole Camera environment.</p></li>
+</ul>
+</section>
+</section>
+<section id="id663">
+<h3>0.7.5 (2024-05-31)<a class="headerlink" href="#id663" title="Permalink to this heading">#</a></h3>
+<section id="id664">
+<h4>Added<a class="headerlink" href="#id664" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added exporting of empirical normalization layer to ONNX and JIT when exporting the model using
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab.actuators.ActuatorNetMLP.export()</span></code> method. Previously, the normalization layer
+was not exported to the ONNX and JIT models. This caused the exported model to not work properly
+when used for inference.</p></li>
+</ul>
+</section>
+</section>
+<section id="id665">
+<h3>0.7.5 (2024-05-28)<a class="headerlink" href="#id665" title="Permalink to this heading">#</a></h3>
+<section id="id666">
+<h4>Added<a class="headerlink" href="#id666" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a new environment <code class="docutils literal notranslate"><span class="pre">Isaac-Navigation-Flat-Anymal-C-v0</span></code> to navigate towards a target position on flat terrain.</p></li>
+</ul>
+</section>
+</section>
+<section id="id667">
+<h3>0.7.4 (2024-05-21)<a class="headerlink" href="#id667" title="Permalink to this heading">#</a></h3>
+<section id="id668">
+<h4>Changed<a class="headerlink" href="#id668" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Made default device for RSL RL and SB3 configs to “cuda:0”.</p></li>
+</ul>
+</section>
+</section>
+<section id="id669">
+<h3>0.7.3 (2024-05-21)<a class="headerlink" href="#id669" title="Permalink to this heading">#</a></h3>
+<section id="id670">
+<h4>Added<a class="headerlink" href="#id670" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Introduced <code class="docutils literal notranslate"><span class="pre">--max_iterations</span></code> argument to training scripts for specifying number of training iterations.</p></li>
+</ul>
+</section>
+</section>
+<section id="id671">
+<h3>0.7.2 (2024-05-13)<a class="headerlink" href="#id671" title="Permalink to this heading">#</a></h3>
+<section id="id672">
+<h4>Added<a class="headerlink" href="#id672" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added Shadow Hand environments: <code class="docutils literal notranslate"><span class="pre">Isaac-Shadow-Hand-Direct-v0</span></code>, <code class="docutils literal notranslate"><span class="pre">Isaac-Shadow-Hand-OpenAI-FF-Direct-v0</span></code>,
+and <code class="docutils literal notranslate"><span class="pre">Isaac-Shadow-Hand-OpenAI-LSTM-Direct-v0</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id673">
+<h3>0.7.1 (2024-05-09)<a class="headerlink" href="#id673" title="Permalink to this heading">#</a></h3>
+<section id="id674">
+<h4>Added<a class="headerlink" href="#id674" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the skrl agent configurations for the config and direct workflow tasks</p></li>
+</ul>
+</section>
+</section>
+<section id="id675">
+<h3>0.7.0 (2024-05-07)<a class="headerlink" href="#id675" title="Permalink to this heading">#</a></h3>
+<section id="id676">
+<h4>Changed<a class="headerlink" href="#id676" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Renamed all references of <code class="docutils literal notranslate"><span class="pre">BaseEnv</span></code>, <code class="docutils literal notranslate"><span class="pre">RLTaskEnv</span></code>, and <code class="docutils literal notranslate"><span class="pre">OIGEEnv</span></code> to
+<a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedEnv</span></code></a>, <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedRLEnv</span></code></a>,
+and <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.DirectRLEnv</span></code></a> respectively.</p></li>
+<li><p>Split environments into <code class="docutils literal notranslate"><span class="pre">manager_based</span></code> and <code class="docutils literal notranslate"><span class="pre">direct</span></code> folders.</p></li>
+</ul>
+</section>
+<section id="id677">
+<h4>Added<a class="headerlink" href="#id677" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added direct workflow environments:
+* <code class="docutils literal notranslate"><span class="pre">Isaac-Cartpole-Direct-v0</span></code>, <code class="docutils literal notranslate"><span class="pre">Isaac-Cartpole-Camera-Direct-v0</span></code>, <code class="docutils literal notranslate"><span class="pre">Isaac-Ant-Direct-v0</span></code>, <code class="docutils literal notranslate"><span class="pre">Isaac-Humanoid-Direct-v0</span></code>.
+* <code class="docutils literal notranslate"><span class="pre">Isaac-Velocity-Flat-Anymal-C-Direct-v0</span></code>, <code class="docutils literal notranslate"><span class="pre">Isaac-Velocity-Rough-Anymal-C-Direct-v0</span></code>, <code class="docutils literal notranslate"><span class="pre">Isaac-Quadcopter-Direct-v0</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id678">
+<h3>0.6.1 (2024-04-16)<a class="headerlink" href="#id678" title="Permalink to this heading">#</a></h3>
+<section id="id679">
+<h4>Added<a class="headerlink" href="#id679" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a new environment <code class="docutils literal notranslate"><span class="pre">Isaac-Repose-Cube-Allegro-v0</span></code> and <code class="docutils literal notranslate"><span class="pre">Isaac-Repose-Allegro-Cube-NoVelObs-v0</span></code>
+for the Allegro hand to reorient a cube. It is based on the IsaacGymEnvs Allegro hand environment.</p></li>
+</ul>
+</section>
+</section>
+<section id="id680">
+<h3>0.6.0 (2024-03-10)<a class="headerlink" href="#id680" title="Permalink to this heading">#</a></h3>
+<section id="id681">
+<h4>Added<a class="headerlink" href="#id681" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a new environment <code class="docutils literal notranslate"><span class="pre">Isaac-Open-Drawer-Franka-v0</span></code> for the Franka arm to open a drawer. It is
+based on the IsaacGymEnvs cabinet environment.</p></li>
+</ul>
+</section>
+<section id="id682">
+<h4>Fixed<a class="headerlink" href="#id682" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed logging of extra information for RL-Games wrapper. It expected the extra information to be under the
+key <code class="docutils literal notranslate"><span class="pre">&quot;episode&quot;</span></code>, but Isaac Lab used the key <code class="docutils literal notranslate"><span class="pre">&quot;log&quot;</span></code>. The wrapper now remaps the key to <code class="docutils literal notranslate"><span class="pre">&quot;episode&quot;</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id683">
+<h3>0.5.7 (2024-02-28)<a class="headerlink" href="#id683" title="Permalink to this heading">#</a></h3>
+<section id="id684">
+<h4>Fixed<a class="headerlink" href="#id684" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Updated the RL wrapper for the skrl library to the latest release (&gt;= 1.1.0)</p></li>
+</ul>
+</section>
+</section>
+<section id="id685">
+<h3>0.5.6 (2024-02-21)<a class="headerlink" href="#id685" title="Permalink to this heading">#</a></h3>
+<section id="id686">
+<h4>Fixed<a class="headerlink" href="#id686" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the configuration parsing to support a pre-initialized configuration object.</p></li>
+</ul>
+</section>
+</section>
+<section id="id687">
+<h3>0.5.5 (2024-02-05)<a class="headerlink" href="#id687" title="Permalink to this heading">#</a></h3>
+<section id="id688">
+<h4>Fixed<a class="headerlink" href="#id688" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Pinned <a class="reference external" href="https://pytorch.org/docs/stable/torch.html#module-torch" title="(in PyTorch v2.5)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">torch</span></code></a> version to 2.0.1 in the setup.py to keep parity version of <a class="reference external" href="https://pytorch.org/docs/stable/torch.html#module-torch" title="(in PyTorch v2.5)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">torch</span></code></a> supplied by
+Isaac 2023.1.1, and prevent version incompatibility between <a class="reference external" href="https://pytorch.org/docs/stable/torch.html#module-torch" title="(in PyTorch v2.5)"><code class="xref py py-mod docutils literal notranslate"><span class="pre">torch</span></code></a> ==2.2 and
+<code class="xref py py-mod docutils literal notranslate"><span class="pre">typing-extensions</span></code> ==3.7.4.3</p></li>
+</ul>
+</section>
+</section>
+<section id="id689">
+<h3>0.5.4 (2024-02-06)<a class="headerlink" href="#id689" title="Permalink to this heading">#</a></h3>
+<section id="id690">
+<h4>Added<a class="headerlink" href="#id690" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a check for the flag <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon"><code class="xref py py-attr docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon</span></code></a>
+in the RSL-RL and RL-Games wrappers to handle the finite horizon tasks properly. Earlier,
+the wrappers were always assuming the tasks to be infinite horizon tasks and returning a
+time-out signals when the episode length was reached.</p></li>
+</ul>
+</section>
+</section>
+<section id="id691">
+<h3>0.5.3 (2023-11-16)<a class="headerlink" href="#id691" title="Permalink to this heading">#</a></h3>
+<section id="id692">
+<h4>Fixed<a class="headerlink" href="#id692" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added raising of error in the <code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.utils.importer.import_all()</span></code> method to make sure
+all the packages are imported properly. Previously, error was being caught and ignored.</p></li>
+</ul>
+</section>
+</section>
+<section id="id693">
+<h3>0.5.2 (2023-11-08)<a class="headerlink" href="#id693" title="Permalink to this heading">#</a></h3>
+<section id="id694">
+<h4>Fixed<a class="headerlink" href="#id694" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the RL wrappers for Stable-Baselines3 and RL-Games. It now works with their most recent versions.</p></li>
+<li><p>Fixed the <code class="xref py py-meth docutils literal notranslate"><span class="pre">get_checkpoint_path()</span></code> to allow any in-between sub-folders between the run directory and the
+checkpoint directory.</p></li>
+</ul>
+</section>
+</section>
+<section id="id695">
+<h3>0.5.1 (2023-11-04)<a class="headerlink" href="#id695" title="Permalink to this heading">#</a></h3>
+<section id="id696">
+<h4>Fixed<a class="headerlink" href="#id696" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the wrappers to different learning frameworks to use the new <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.ManagerBasedRLEnv</span></code> class.
+The <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code> class inherits from the <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a> class (Gym 0.29.0).</p></li>
+<li><p>Fixed the registration of tasks in the Gym registry based on Gym 0.29.0 API.</p></li>
+</ul>
+</section>
+<section id="id697">
+<h4>Changed<a class="headerlink" href="#id697" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the inheritance of all the RL-framework specific wrappers from the <a class="reference external" href="https://gymnasium.farama.org/api/wrappers/#gymnasium.Wrapper" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Wrapper</span></code></a> class.
+This is because the wrappers don’t comply with the new Gym 0.29.0 API. The wrappers are now only inherit
+from their respective RL-framework specific base classes.</p></li>
+</ul>
+</section>
+</section>
+<section id="id698">
+<h3>0.5.0 (2023-10-30)<a class="headerlink" href="#id698" title="Permalink to this heading">#</a></h3>
+<section id="id699">
+<h4>Changed<a class="headerlink" href="#id699" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the way agent configs are handled for environments and learning agents. Switched from yaml to configclasses.</p></li>
+</ul>
+</section>
+<section id="id700">
+<h4>Fixed<a class="headerlink" href="#id700" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the way package import automation is handled in the <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks</span></code> module. Earlier it was
+not skipping the blacklisted packages properly.</p></li>
+</ul>
+</section>
+</section>
+<section id="id701">
+<h3>0.4.3 (2023-09-25)<a class="headerlink" href="#id701" title="Permalink to this heading">#</a></h3>
+<section id="id702">
+<h4>Changed<a class="headerlink" href="#id702" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added future import of <code class="docutils literal notranslate"><span class="pre">annotations</span></code> to have a consistent behavior across Python versions.</p></li>
+<li><p>Removed the type-hinting from docstrings to simplify maintenance of the documentation. All type-hints are
+now in the code itself.</p></li>
+</ul>
+</section>
+</section>
+<section id="id703">
+<h3>0.4.2 (2023-08-29)<a class="headerlink" href="#id703" title="Permalink to this heading">#</a></h3>
+<section id="id704">
+<h4>Changed<a class="headerlink" href="#id704" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Moved the base environment definition to the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RLEnv</span></code> class. The <code class="xref py py-class docutils literal notranslate"><span class="pre">RLEnv</span></code>
+contains RL-specific managers such as the reward, termination, randomization and curriculum managers. These
+are all configured using the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RLEnvConfig</span></code> class. The <code class="xref py py-class docutils literal notranslate"><span class="pre">RLEnv</span></code> class
+inherits from the <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.ManagerBasedEnv</span></code></a> and <code class="docutils literal notranslate"><span class="pre">gym.Env</span></code> classes.</p></li>
+</ul>
+</section>
+<section id="id705">
+<h4>Fixed<a class="headerlink" href="#id705" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Adapted the wrappers to use the new <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.envs.RLEnv</span></code> class.</p></li>
+</ul>
+</section>
+</section>
+<section id="id706">
+<h3>0.4.1 (2023-08-02)<a class="headerlink" href="#id706" title="Permalink to this heading">#</a></h3>
+<section id="id707">
+<h4>Changed<a class="headerlink" href="#id707" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Adapted the base <code class="xref py py-class docutils literal notranslate"><span class="pre">IsaacEnv</span></code> class to use the <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationContext</span></code> class from the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#module-omni.isaac.lab.sim" title="omni.isaac.lab.sim"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim</span></code></a> module. This simplifies setting of simulation parameters.</p></li>
+</ul>
+</section>
+</section>
+<section id="id708">
+<h3>0.4.0 (2023-07-26)<a class="headerlink" href="#id708" title="Permalink to this heading">#</a></h3>
+<section id="id709">
+<h4>Changed<a class="headerlink" href="#id709" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Removed the resetting of environment indices in the step call of the <code class="xref py py-class docutils literal notranslate"><span class="pre">IsaacEnv</span></code> class.
+This must be handled in the <span class="math notranslate nohighlight">\(_step_impl`\)</span> function by the inherited classes.</p></li>
+<li><p>Adapted the wrapper for RSL-RL library its new API.</p></li>
+</ul>
+</section>
+<section id="id710">
+<h4>Fixed<a class="headerlink" href="#id710" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added handling of no checkpoint available error in the <code class="xref py py-meth docutils literal notranslate"><span class="pre">get_checkpoint_path()</span></code>.</p></li>
+<li><p>Fixed the locomotion environment for rough terrain locomotion training.</p></li>
+</ul>
+</section>
+</section>
+<section id="id711">
+<h3>0.3.2 (2023-07-22)<a class="headerlink" href="#id711" title="Permalink to this heading">#</a></h3>
+<section id="id712">
+<h4>Added<a class="headerlink" href="#id712" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a UI to the <code class="xref py py-class docutils literal notranslate"><span class="pre">IsaacEnv</span></code> class to enable/disable rendering of the viewport when not running in
+headless mode.</p></li>
+</ul>
+</section>
+<section id="id713">
+<h4>Fixed<a class="headerlink" href="#id713" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the the issue with environment returning transition tuples even when the simulation is paused.</p></li>
+<li><p>Fixed the shutdown of the simulation when the environment is closed.</p></li>
+</ul>
+</section>
+</section>
+<section id="id714">
+<h3>0.3.1 (2023-06-23)<a class="headerlink" href="#id714" title="Permalink to this heading">#</a></h3>
+<section id="id715">
+<h4>Changed<a class="headerlink" href="#id715" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the argument <code class="docutils literal notranslate"><span class="pre">headless</span></code> in <code class="xref py py-class docutils literal notranslate"><span class="pre">IsaacEnv</span></code> class to <code class="docutils literal notranslate"><span class="pre">render</span></code>, in order to cause less confusion
+about rendering and headless-ness, i.e. that you can render while headless.</p></li>
+</ul>
+</section>
+</section>
+<section id="id716">
+<h3>0.3.0 (2023-04-14)<a class="headerlink" href="#id716" title="Permalink to this heading">#</a></h3>
+<section id="id717">
+<h4>Added<a class="headerlink" href="#id717" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a new flag <code class="docutils literal notranslate"><span class="pre">viewport</span></code> to the <code class="xref py py-class docutils literal notranslate"><span class="pre">IsaacEnv</span></code> class to enable/disable rendering of the viewport.
+If the flag is set to <code class="docutils literal notranslate"><span class="pre">True</span></code>, the viewport is enabled and the environment is rendered in the background.</p></li>
+<li><p>Updated the training scripts in the <code class="docutils literal notranslate"><span class="pre">source/standalone/workflows</span></code> directory to use the new flag <code class="docutils literal notranslate"><span class="pre">viewport</span></code>.
+If the CLI argument <code class="docutils literal notranslate"><span class="pre">--video</span></code> is passed, videos are recorded in the <code class="docutils literal notranslate"><span class="pre">videos/train</span></code> directory using the
+<code class="xref py py-class docutils literal notranslate"><span class="pre">gym.wrappers.RecordVideo</span></code> wrapper.</p></li>
+</ul>
+</section>
+<section id="id718">
+<h4>Changed<a class="headerlink" href="#id718" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>The <code class="xref py py-class docutils literal notranslate"><span class="pre">IsaacEnv</span></code> class supports different rendering mode as referenced in OpenAI Gym’s <code class="docutils literal notranslate"><span class="pre">render</span></code> method.
+These modes are:</p>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">rgb_array</span></code>: Renders the environment in the background and returns the rendered image as a numpy array.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">human</span></code>: Renders the environment in the background and displays the rendered image in a window.</p></li>
+</ul>
+</li>
+<li><p>Changed the constructor in the classes inheriting from <code class="xref py py-class docutils literal notranslate"><span class="pre">IsaacEnv</span></code> to pass all the keyword arguments to the
+constructor of <code class="xref py py-class docutils literal notranslate"><span class="pre">IsaacEnv</span></code> class.</p></li>
+</ul>
+</section>
+<section id="id719">
+<h4>Fixed<a class="headerlink" href="#id719" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Clarified the documentation of <code class="docutils literal notranslate"><span class="pre">headless</span></code> flag in the <code class="xref py py-class docutils literal notranslate"><span class="pre">IsaacEnv</span></code> class. It refers to whether or not
+to render at every sim step, not whether to render the viewport or not.</p></li>
+<li><p>Fixed the unit tests for running random agent on included environments.</p></li>
+</ul>
+</section>
+</section>
+<section id="id720">
+<h3>0.2.3 (2023-03-06)<a class="headerlink" href="#id720" title="Permalink to this heading">#</a></h3>
+<section id="id721">
+<h4>Fixed<a class="headerlink" href="#id721" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Tuned the observations and rewards for <code class="docutils literal notranslate"><span class="pre">Isaac-Lift-Franka-v0</span></code> environment.</p></li>
+</ul>
+</section>
+</section>
+<section id="id722">
+<h3>0.2.2 (2023-03-04)<a class="headerlink" href="#id722" title="Permalink to this heading">#</a></h3>
+<section id="id723">
+<h4>Fixed<a class="headerlink" href="#id723" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed the issue with rigid object not working in the <code class="docutils literal notranslate"><span class="pre">Isaac-Lift-Franka-v0</span></code> environment.</p></li>
+</ul>
+</section>
+</section>
+<section id="id724">
+<h3>0.2.1 (2023-03-01)<a class="headerlink" href="#id724" title="Permalink to this heading">#</a></h3>
+<section id="id725">
+<h4>Added<a class="headerlink" href="#id725" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added a flag <code class="docutils literal notranslate"><span class="pre">disable_contact_processing</span></code> to the <code class="xref py py-class docutils literal notranslate"><span class="pre">SimCfg</span></code> class to handle
+contact processing effectively when using TensorAPIs for contact reporting.</p></li>
+<li><p>Added verbosity flag to <code class="xref py py-meth docutils literal notranslate"><span class="pre">export_policy_as_onnx()</span></code> to print model summary.</p></li>
+</ul>
+</section>
+<section id="id726">
+<h4>Fixed<a class="headerlink" href="#id726" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Clarified the documentation of flags in the <code class="xref py py-class docutils literal notranslate"><span class="pre">SimCfg</span></code> class.</p></li>
+<li><p>Added enabling of <code class="docutils literal notranslate"><span class="pre">omni.kit.viewport</span></code> and <code class="docutils literal notranslate"><span class="pre">omni.replicator.isaac</span></code> extensions
+dynamically to maintain order in the startup of extensions.</p></li>
+<li><p>Corrected the experiment names in the configuration files for training environments with <code class="docutils literal notranslate"><span class="pre">rsl_rl</span></code>.</p></li>
+</ul>
+</section>
+<section id="id727">
+<h4>Changed<a class="headerlink" href="#id727" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Changed the default value of <code class="docutils literal notranslate"><span class="pre">enable_scene_query_support</span></code> in <code class="xref py py-class docutils literal notranslate"><span class="pre">SimCfg</span></code> class to False.
+The flag is overridden to True inside <code class="xref py py-class docutils literal notranslate"><span class="pre">IsaacEnv</span></code> class when running the simulation in
+non-headless mode.</p></li>
+</ul>
+</section>
+</section>
+<section id="id728">
+<h3>0.2.0 (2023-01-25)<a class="headerlink" href="#id728" title="Permalink to this heading">#</a></h3>
+<section id="id729">
+<h4>Added<a class="headerlink" href="#id729" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added environment wrapper and sequential trainer for the skrl RL library</p></li>
+<li><p>Added training/evaluation configuration files for the skrl RL library</p></li>
+</ul>
+</section>
+</section>
+<section id="id730">
+<h3>0.1.2 (2023-01-19)<a class="headerlink" href="#id730" title="Permalink to this heading">#</a></h3>
+<section id="id731">
+<h4>Fixed<a class="headerlink" href="#id731" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Added the flag <code class="docutils literal notranslate"><span class="pre">replicate_physics</span></code> to the <code class="xref py py-class docutils literal notranslate"><span class="pre">SimCfg</span></code> class.</p></li>
+<li><p>Increased the default value of <code class="docutils literal notranslate"><span class="pre">gpu_found_lost_pairs_capacity</span></code> in <code class="xref py py-class docutils literal notranslate"><span class="pre">PhysxCfg</span></code> class</p></li>
+</ul>
+</section>
+</section>
+<section id="id732">
+<h3>0.1.1 (2023-01-18)<a class="headerlink" href="#id732" title="Permalink to this heading">#</a></h3>
+<section id="id733">
+<h4>Fixed<a class="headerlink" href="#id733" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Fixed a bug in <code class="docutils literal notranslate"><span class="pre">Isaac-Velocity-Anymal-C-v0</span></code> where the domain randomization is
+not applicable if cloning the environments with <code class="docutils literal notranslate"><span class="pre">replicate_physics=True</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="id734">
+<h3>0.1.0 (2023-01-17)<a class="headerlink" href="#id734" title="Permalink to this heading">#</a></h3>
+<section id="id735">
+<h4>Added<a class="headerlink" href="#id735" title="Permalink to this heading">#</a></h4>
+<ul class="simple">
+<li><p>Initial release of the extension.</p></li>
+<li><p>Includes the following environments:</p>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">Isaac-Cartpole-v0</span></code>: A cartpole environment with a continuous action space.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Isaac-Ant-v0</span></code>: A 3D ant environment with a continuous action space.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Isaac-Humanoid-v0</span></code>: A 3D humanoid environment with a continuous action space.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Isaac-Reach-Franka-v0</span></code>: A end-effector pose tracking task for the Franka arm.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Isaac-Lift-Franka-v0</span></code>: A 3D object lift and reposing task for the Franka arm.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Isaac-Velocity-Anymal-C-v0</span></code>: An SE(2) velocity tracking task for legged robot on flat terrain.</p></li>
+</ul>
+</li>
+</ul>
+</section>
+</section>
+</section>
+</section>
+
+
+                </article>
+              
+
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+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni-isaac-lab">omni.isaac.lab</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id1">0.30.1 (2024-12-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#added">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id2">0.30.0 (2024-12-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#changed">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id3">0.29.3 (2024-12-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#fixed">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id4">0.29.2 (2024-12-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id5">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id6">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id7">0.29.1 (2024-12-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id8">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id9">0.29.0 (2024-12-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id10">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id11">0.28.0 (2024-12-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id12">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id13">0.27.29 (2024-12-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id14">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id15">0.27.28 (2024-12-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id16">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id17">0.27.27 (2024-12-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id18">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id19">0.27.26 (2024-12-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id20">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id21">0.27.25 (2024-12-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id22">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id23">0.27.24 (2024-12-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id24">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id25">0.27.23 (2024-12-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id26">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id27">0.27.22 (2024-12-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id28">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id29">0.27.21 (2024-12-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id30">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id31">0.27.20 (2024-12-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id32">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id33">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id34">0.27.19 (2024-12-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id35">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id36">0.27.18 (2024-12-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id37">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id38">0.27.17 (2024-12-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id39">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id40">0.27.16 (2024-11-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id41">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id42">0.27.15 (2024-11-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id43">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id44">0.27.14 (2024-10-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id45">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id46">0.27.13 (2024-10-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id47">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id48">0.27.12 (2024-01-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#removed">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id49">0.27.11 (2024-10-31)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id50">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id51">0.27.10 (2024-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id52">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id53">0.27.9 (2024-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id54">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id55">0.27.8 (2024-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id56">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id57">0.27.7 (2024-10-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id58">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id59">0.27.6 (2024-10-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id60">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id61">0.27.5 (2024-10-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id62">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id63">0.27.4 (2024-10-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id64">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id65">0.27.3 (2024-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id66">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id67">0.27.2 (2024-10-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id68">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id69">0.27.1 (2024-10-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id70">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id71">0.27.0 (2024-10-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id72">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id73">0.26.0 (2024-10-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id74">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id75">0.25.2 (2024-10-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id76">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id77">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id78">0.25.1 (2024-10-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id79">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id80">0.25.0 (2024-10-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id81">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id82">0.24.20 (2024-10-07)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id83">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id84">0.24.19 (2024-10-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id85">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id86">0.24.18 (2024-10-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id87">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id88">0.24.17 (2024-10-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id89">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id90">0.24.16 (2024-10-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id91">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id92">0.24.15 (2024-09-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id93">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id94">0.24.14 (2024-09-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id95">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id96">0.24.13 (2024-09-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id97">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id98">0.24.12 (2024-09-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id99">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id100">0.24.11 (2024-09-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id101">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id102">0.24.10 (2024-09-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id103">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id104">0.24.9 (2024-09-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id105">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id106">0.24.8 (2024-09-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id107">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id108">0.24.7 (2024-09-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id109">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id110">0.24.6 (2024-09-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id111">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id112">0.24.5 (2024-08-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id113">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id114">0.24.4 (2024-09-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id115">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id116">0.24.3 (2024-08-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id117">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id118">0.24.2 (2024-08-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id119">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id120">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id121">0.24.1 (2024-08-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id122">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id123">0.24.0 (2024-08-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id124">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id125">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id126">0.23.1 (2024-08-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id127">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id128">0.23.0 (2024-08-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id129">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id130">0.22.1 (2024-08-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id131">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id132">0.22.0 (2024-08-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id133">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id134">0.21.2 (2024-08-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id135">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id136">0.21.1 (2024-08-06)</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id137">0.21.0 (2024-08-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id138">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id139">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id140">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id141">0.20.8 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id142">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id143">0.20.7 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id144">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id145">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id146">0.20.6 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id147">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id148">0.20.5 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id149">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id150">0.20.4 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id151">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id152">0.20.3 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id153">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id154">0.20.2 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id155">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id156">0.20.1 (2024-07-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id157">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id158">0.20.0 (2024-07-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id159">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id160">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id161">0.19.4 (2024-07-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id162">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id163">0.19.3 (2024-07-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id164">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id165">0.19.2 (2024-07-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id166">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id167">0.19.1 (2024-07-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id168">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id169">0.19.0 (2024-07-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id170">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id171">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id172">0.18.6 (2024-07-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id173">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id174">0.18.5 (2024-06-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id175">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id176">0.18.4 (2024-06-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id177">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id178">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id179">0.18.3 (2024-06-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id180">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id181">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id182">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id183">0.18.2 (2024-06-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id184">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id185">0.18.1 (2024-06-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id186">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id187">0.18.0 (2024-06-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id188">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id189">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id190">0.17.13 (2024-06-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id191">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id192">0.17.12 (2024-06-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id193">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id194">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id195">0.17.11 (2024-05-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id196">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id197">0.17.10 (2024-05-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id198">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id199">0.17.9 (2024-05-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id200">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id201">0.17.8 (2024-05-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id202">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id203">0.17.7 (2024-05-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id204">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id205">0.17.6 (2024-05-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id206">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id207">0.17.5 (2024-05-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id208">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id209">0.17.4 (2024-05-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id210">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id211">0.17.3 (2024-05-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id212">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id213">0.17.2 (2024-05-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id214">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id215">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id216">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id217">0.17.1 (2024-05-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id218">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id219">0.17.0 (2024-05-07)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id220">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id221">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id222">0.16.4 (2024-05-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id223">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id224">0.16.3 (2024-04-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id225">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id226">0.16.2 (2024-04-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id227">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id228">0.16.1 (2024-04-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id229">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id230">0.16.0 (2024-04-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id231">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id232">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#deprecated">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id233">0.15.13 (2024-04-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id234">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id235">0.15.12 (2024-04-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id236">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id237">0.15.11 (2024-04-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id238">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id239">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id240">0.15.10 (2024-04-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id241">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id242">0.15.9 (2024-04-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id243">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id244">0.15.8 (2024-04-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id245">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id246">0.15.7 (2024-03-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id247">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id248">0.15.6 (2024-03-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id249">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id250">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id251">0.15.5 (2024-03-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id252">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id253">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id254">0.15.4 (2024-03-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id255">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id256">0.15.3 (2024-03-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id257">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id258">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id259">0.15.2 (2024-03-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id260">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id261">0.15.1 (2024-03-19)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id262">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id263">0.15.0 (2024-03-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id264">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id265">0.14.1 (2024-03-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id266">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id267">0.14.0 (2024-03-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id268">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id269">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id270">0.13.1 (2024-03-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id271">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id272">0.13.0 (2024-03-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id273">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id274">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id275">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id276">0.12.4 (2024-03-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id277">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id278">0.12.3 (2024-03-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id279">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id280">0.12.2 (2024-03-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id281">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id282">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id283">0.12.1 (2024-03-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id284">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id285">0.12.0 (2024-03-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id286">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id287">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id288">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id289">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id290">0.11.3 (2024-03-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id291">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id292">0.11.2 (2024-03-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id293">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id294">0.11.1 (2024-02-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id295">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id296">0.11.0 (2024-02-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id297">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id298">0.10.28 (2024-02-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id299">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id300">0.10.27 (2024-02-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id301">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id302">0.10.26 (2024-02-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id303">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id304">0.10.25 (2024-02-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id305">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id306">0.10.24 (2024-02-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id307">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id308">0.10.23 (2024-02-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id309">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id310">0.10.22 (2024-02-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id311">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id312">0.10.21 (2024-02-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id313">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id314">0.10.20 (2024-02-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id315">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id316">0.10.19 (2024-02-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id317">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id318">0.10.18 (2024-02-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id319">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id320">0.10.17 (2024-02-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id321">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id322">0.10.16 (2024-01-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id323">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id324">0.10.15 (2024-01-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id325">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id326">0.10.14 (2024-01-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id327">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id328">0.10.13 (2024-01-15)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id329">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id330">0.10.12 (2024-01-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id331">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id332">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id333">0.10.11 (2024-01-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id334">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id335">0.10.10 (2023-12-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id336">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id337">0.10.9 (2023-12-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id338">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id339">0.10.8 (2023-12-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id340">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id341">0.10.7 (2023-12-19)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id342">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id343">0.10.6 (2023-12-19)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id344">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id345">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id346">0.10.5 (2023-12-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id347">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id348">0.10.4 (2023-12-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id349">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id350">0.10.3 (2023-12-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id351">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id352">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id353">0.10.2 (2023-12-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id354">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id355">0.10.1 (2023-12-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id356">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id357">0.10.0 (2023-12-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id358">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id359">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id360">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id361">0.9.55 (2023-12-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id362">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id363">0.9.54 (2023-11-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id364">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id365">0.9.53 (2023-11-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id366">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id367">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id368">0.9.52 (2023-11-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id369">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id370">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id371">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id372">0.9.51 (2023-11-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id373">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id374">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id375">0.9.50 (2023-11-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id376">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id377">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id378">0.9.49 (2023-11-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id379">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id380">0.9.48 (2023-11-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id381">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id382">0.9.47 (2023-11-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id383">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id384">0.9.46 (2023-11-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id385">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id386">0.9.45 (2023-11-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id387">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id388">0.9.44 (2023-11-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id389">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id390">0.9.43 (2023-11-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id391">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id392">0.9.42 (2023-11-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id393">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id394">0.9.41 (2023-11-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id395">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id396">0.9.40 (2023-11-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id397">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id398">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id399">0.9.39 (2023-11-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id400">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id401">0.9.38 (2023-11-07)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id402">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id403">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id404">0.9.37 (2023-11-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id405">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id406">0.9.36 (2023-11-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id407">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id408">0.9.35 (2023-11-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id409">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id410">0.9.34 (2023-11-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id411">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id412">0.9.33 (2023-11-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id413">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id414">0.9.32 (2023-11-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id415">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id416">0.9.31 (2023-11-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id417">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id418">0.9.30 (2023-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id419">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id420">0.9.29 (2023-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id421">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id422">0.9.28 (2023-11-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id423">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id424">0.9.27 (2023-10-31)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id425">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id426">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id427">0.9.26 (2023-10-31)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id428">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id429">0.9.25 (2023-10-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id430">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id431">0.9.24 (2023-10-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id432">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id433">0.9.23 (2023-10-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id434">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id435">0.9.22 (2023-10-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id436">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id437">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id438">0.9.21 (2023-10-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id439">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id440">0.9.20 (2023-10-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id441">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id442">0.9.19 (2023-10-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id443">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id444">0.9.18 (2023-10-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id445">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id446">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id447">0.9.17 (2023-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id448">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id449">0.9.16 (2023-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id450">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id451">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id452">0.9.15 (2023-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id453">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id454">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id455">0.9.14 (2023-10-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id456">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id457">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id458">0.9.13 (2023-10-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id459">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id460">0.9.12 (2023-10-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id461">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id462">0.9.11 (2023-10-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id463">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id464">0.9.10 (2023-10-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id465">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id466">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id467">0.9.9 (2023-10-12)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id468">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id469">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id470">0.9.8 (2023-09-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id471">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id472">0.9.7 (2023-09-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id473">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id474">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id475">0.9.6 (2023-09-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id476">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id477">0.9.5 (2023-09-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id478">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id479">0.9.4 (2023-08-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id480">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id481">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id482">0.9.3 (2023-08-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id483">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id484">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id485">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id486">0.9.2 (2023-08-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id487">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id488">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id489">0.9.1 (2023-08-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id490">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id491">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id492">0.9.0 (2023-08-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id493">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id494">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id495">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id496">0.8.12 (2023-08-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id497">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id498">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id499">0.8.11 (2023-08-18)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id500">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id501">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id502">0.8.10 (2023-08-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id503">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id504">0.8.9 (2023-08-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id505">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id506">0.8.8 (2023-08-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id507">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id508">0.8.7 (2023-08-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id509">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id510">0.8.6 (2023-08-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id511">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id512">0.8.5 (2023-08-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id513">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id514">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id515">0.8.4 (2023-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id516">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id517">0.8.3 (2023-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id518">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id519">0.8.2 (2023-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id520">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id521">0.8.1 (2023-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id522">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id523">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id524">0.8.0 (2023-07-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id525">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id526">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id527">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id528">0.7.4 (2023-07-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id529">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id530">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id531">0.7.3 (2023-07-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id532">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id533">0.7.2 (2023-07-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id534">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id535">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id536">0.7.1 (2023-07-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id537">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id538">0.7.0 (2023-07-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id539">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id540">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id541">0.6.2 (2023-07-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id542">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id543">0.6.1 (2023-07-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id544">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id545">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id546">0.6.0 (2023-07-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id547">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id548">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id549">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id550">0.5.0 (2023-07-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id551">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id552">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id553">0.4.4 (2023-07-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id554">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id555">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id556">0.4.3 (2023-06-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id557">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id558">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id559">0.4.2 (2023-06-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id560">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id561">0.4.1 (2023-06-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id562">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id563">0.4.0 (2023-05-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id564">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id565">0.3.2 (2023-04-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id566">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id567">0.3.1 (2023-04-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id568">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id569">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id570">0.3.0 (2023-04-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id571">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id572">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id573">0.2.8 (2023-04-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id574">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id575">0.2.7 (2023-04-07)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id576">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id577">0.2.6 (2023-03-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id578">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id579">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id580">0.2.5 (2023-03-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id581">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id582">0.2.4 (2023-03-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id583">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id584">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id585">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id586">0.2.3 (2023-02-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id587">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id588">0.2.2 (2023-01-27)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id589">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id590">Deprecated</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id591">0.2.1 (2023-01-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id592">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id593">0.2.0 (2023-01-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id594">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id595">0.1.1 (2023-01-24)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id596">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id597">0.1.0 (2023-01-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id598">Added</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni-isaac-lab-assets">omni.isaac.lab_assets</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id599">0.1.4 (2024-08-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id600">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id601">0.1.2 (2024-04-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id602">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id603">0.1.1 (2024-03-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id604">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id605">0.1.0 (2023-12-20)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id606">Added</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#omni-isaac-lab-tasks">omni.isaac.lab_tasks</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id607">0.10.17 (2024-12-17)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id608">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id609">0.10.16 (2024-12-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id610">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id611">0.10.15 (2024-12-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id612">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id613">0.10.14 (2024-12-03)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id614">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id615">0.10.13 (2024-10-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id616">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id617">0.10.12 (2024-10-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id618">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id619">0.10.11 (2024-10-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id620">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id621">0.10.10 (2024-10-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id622">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id623">0.10.9 (2024-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id624">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id625">0.10.8 (2024-10-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id626">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id627">0.10.7 (2024-10-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id628">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id629">0.10.6 (2024-09-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id630">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id631">0.10.5 (2024-09-11)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id632">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id633">0.10.4 (2024-09-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id634">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id635">0.10.3 (2024-09-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id636">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id637">0.10.2 (2024-08-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id638">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id639">0.10.1 (2024-08-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id640">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id641">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id642">0.10.0 (2024-08-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id643">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id644">0.9.0 (2024-08-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id645">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id646">0.8.2 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id647">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id648">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id649">0.8.1 (2024-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id650">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id651">0.8.0 (2024-07-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id652">Removed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id653">0.7.10 (2024-07-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id654">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id655">0.7.9 (2024-07-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id656">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id657">0.7.8 (2024-06-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id658">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id659">0.7.7 (2024-06-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id660">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id661">0.7.6 (2024-06-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id662">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id663">0.7.5 (2024-05-31)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id664">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id665">0.7.5 (2024-05-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id666">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id667">0.7.4 (2024-05-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id668">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id669">0.7.3 (2024-05-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id670">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id671">0.7.2 (2024-05-13)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id672">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id673">0.7.1 (2024-05-09)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id674">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id675">0.7.0 (2024-05-07)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id676">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id677">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id678">0.6.1 (2024-04-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id679">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id680">0.6.0 (2024-03-10)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id681">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id682">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id683">0.5.7 (2024-02-28)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id684">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id685">0.5.6 (2024-02-21)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id686">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id687">0.5.5 (2024-02-05)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id688">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id689">0.5.4 (2024-02-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id690">Added</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id691">0.5.3 (2023-11-16)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id692">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id693">0.5.2 (2023-11-08)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id694">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id695">0.5.1 (2023-11-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id696">Fixed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id697">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id698">0.5.0 (2023-10-30)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id699">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id700">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id701">0.4.3 (2023-09-25)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id702">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id703">0.4.2 (2023-08-29)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id704">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id705">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id706">0.4.1 (2023-08-02)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id707">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id708">0.4.0 (2023-07-26)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id709">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id710">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id711">0.3.2 (2023-07-22)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id712">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id713">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id714">0.3.1 (2023-06-23)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id715">Changed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id716">0.3.0 (2023-04-14)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id717">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id718">Changed</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id719">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id720">0.2.3 (2023-03-06)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id721">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id722">0.2.2 (2023-03-04)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id723">Fixed</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#id724">0.2.1 (2023-03-01)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id725">Added</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#id726">Fixed</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
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+</ul>
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+<li class="toctree-l1"><a class="reference internal" href="../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="current nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1 current active"><a class="current reference internal" href="#">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="changelog.html">Extensions Changelog</a></li>
+<li class="toctree-l1"><a class="reference internal" href="license.html">License</a></li>
+<li class="toctree-l1"><a class="reference internal" href="bibliography.html">Bibliography</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Project Links</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/index.html">NVIDIA Isaac Sim</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
+</ul>
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+</button>
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+      
+    </div>
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+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Contribution Guidelines</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#contributing-code">Contributing Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#coding-style">Coding Style</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#circular-imports">Circular Imports</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#type-hinting">Type-hinting</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#tools">Tools</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#contributing-documentation">Contributing Documentation</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#contributing-assets">Contributing assets</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#maintaining-a-changelog">Maintaining a changelog</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="contribution-guidelines">
+<h1>Contribution Guidelines<a class="headerlink" href="#contribution-guidelines" title="Permalink to this heading">#</a></h1>
+<p>We wholeheartedly welcome contributions to the project to make the framework more mature
+and useful for everyone. These may happen in forms of:</p>
+<ul class="simple">
+<li><p>Bug reports: Please report any bugs you find in the <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/issues">issue tracker</a>.</p></li>
+<li><p>Feature requests: Please suggest new features you would like to see in the <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/discussions">discussions</a>.</p></li>
+<li><p>Code contributions: Please submit a <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/pulls">pull request</a>.</p>
+<ul>
+<li><p>Bug fixes</p></li>
+<li><p>New features</p></li>
+<li><p>Documentation improvements</p></li>
+<li><p>Tutorials and tutorial improvements</p></li>
+</ul>
+</li>
+</ul>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>We prefer GitHub <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/discussions">discussions</a> for discussing ideas,
+asking questions, conversations and requests for new features.</p>
+<p>Please use the
+<a class="reference external" href="https://github.com/isaac-sim/IsaacLab/issues">issue tracker</a> only to track executable pieces of work
+with a definite scope and a clear deliverable. These can be fixing bugs, new features, or general updates.</p>
+</div>
+<section id="contributing-code">
+<h2>Contributing Code<a class="headerlink" href="#contributing-code" title="Permalink to this heading">#</a></h2>
+<p>We use <a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub</a> for code hosting. Please
+follow the following steps to contribute code:</p>
+<ol class="arabic simple">
+<li><p>Create an issue in the <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/issues">issue tracker</a> to discuss
+the changes or additions you would like to make. This helps us to avoid duplicate work and to make
+sure that the changes are aligned with the roadmap of the project.</p></li>
+<li><p>Fork the repository.</p></li>
+<li><p>Create a new branch for your changes.</p></li>
+<li><p>Make your changes and commit them.</p></li>
+<li><p>Push your changes to your fork.</p></li>
+<li><p>Submit a pull request to the <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/compare">main branch</a>.</p></li>
+<li><p>Ensure all the checks on the pull request template are performed.</p></li>
+</ol>
+<p>After sending a pull request, the maintainers will review your code and provide feedback.</p>
+<p>Please ensure that your code is well-formatted, documented and passes all the tests.</p>
+<div class="admonition tip">
+<p class="admonition-title">Tip</p>
+<p>It is important to keep the pull request as small as possible. This makes it easier for the
+maintainers to review your code. If you are making multiple changes, please send multiple pull requests.
+Large pull requests are difficult to review and may take a long time to merge.</p>
+</div>
+</section>
+<section id="coding-style">
+<h2>Coding Style<a class="headerlink" href="#coding-style" title="Permalink to this heading">#</a></h2>
+<p>We follow the <a class="reference external" href="https://google.github.io/styleguide/pyguide.html">Google Style
+Guides</a> for the
+codebase. For Python code, the PEP guidelines are followed. Most
+important ones are <a class="reference external" href="https://www.python.org/dev/peps/pep-0008/">PEP-8</a>
+for code comments and layout,
+<a class="reference external" href="http://www.python.org/dev/peps/pep-0484">PEP-484</a> and
+<a class="reference external" href="https://www.python.org/dev/peps/pep-0585/">PEP-585</a> for
+type-hinting.</p>
+<p>For documentation, we adopt the <a class="reference external" href="https://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_google.html">Google Style Guide</a>
+for docstrings. We use <a class="reference external" href="https://www.sphinx-doc.org/en/master/">Sphinx</a> for generating the documentation.
+Please make sure that your code is well-documented and follows the guidelines.</p>
+<section id="circular-imports">
+<h3>Circular Imports<a class="headerlink" href="#circular-imports" title="Permalink to this heading">#</a></h3>
+<p>Circular imports happen when two modules import each other, which is a common issue in Python.
+You can prevent circular imports by adhering to the best practices outlined in this
+<a class="reference external" href="https://stackoverflow.com/questions/744373/circular-or-cyclic-imports-in-python">StackOverflow post</a>.</p>
+<p>In general, it is essential to avoid circular imports as they can lead to unpredictable behavior.</p>
+<p>However, in our codebase, we encounter circular imports at a sub-package level. This situation arises
+due to our specific code structure. We organize classes or functions and their corresponding configuration
+objects into separate files. This separation enhances code readability and maintainability. Nevertheless,
+it can result in circular imports because, in many configuration objects, we specify classes or functions
+as default values using the attributes <code class="docutils literal notranslate"><span class="pre">class_type</span></code> and <code class="docutils literal notranslate"><span class="pre">func</span></code> respectively.</p>
+<p>To address circular imports, we leverage the <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.TYPE_CHECKING">typing.TYPE_CHECKING</a> variable. This special variable is
+evaluated only during type-checking, allowing us to import classes or functions in the configuration objects
+without triggering circular imports.</p>
+<p>It is important to note that this is the sole instance within our codebase where circular imports are used
+and are acceptable. In all other scenarios, we adhere to best practices and recommend that you do the same.</p>
+</section>
+<section id="type-hinting">
+<h3>Type-hinting<a class="headerlink" href="#type-hinting" title="Permalink to this heading">#</a></h3>
+<p>To make the code more readable, we use <a class="reference external" href="https://docs.python.org/3/library/typing.html">type hints</a> for
+all the functions and classes. This helps in understanding the code and makes it easier to maintain. Following
+this practice also helps in catching bugs early with static type checkers like <a class="reference external" href="https://mypy.readthedocs.io/en/stable/">mypy</a>.</p>
+<p>To avoid duplication of efforts, we do not specify type hints for the arguments and return values in the docstrings.
+However, if your function or class is not self-explanatory, please add a docstring with the type hints.</p>
+</section>
+<section id="tools">
+<h3>Tools<a class="headerlink" href="#tools" title="Permalink to this heading">#</a></h3>
+<p>We use the following tools for maintaining code quality:</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://pre-commit.com/">pre-commit</a>: Runs a list of formatters and linters over the codebase.</p></li>
+<li><p><a class="reference external" href="https://black.readthedocs.io/en/stable/">black</a>: The uncompromising code formatter.</p></li>
+<li><p><a class="reference external" href="https://flake8.pycqa.org/en/latest/">flake8</a>: A wrapper around PyFlakes, pycodestyle and
+McCabe complexity checker.</p></li>
+</ul>
+<p>Please check <a class="reference external" href="https://pre-commit.com/#install">here</a> for instructions
+to set these up. To run over the entire repository, please execute the
+following command in the terminal:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>--format<span class="w">  </span><span class="c1"># or &quot;./isaaclab.sh -f&quot;</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="contributing-documentation">
+<h2>Contributing Documentation<a class="headerlink" href="#contributing-documentation" title="Permalink to this heading">#</a></h2>
+<p>Contributing to the documentation is as easy as contributing to the codebase. All the source files
+for the documentation are located in the <code class="docutils literal notranslate"><span class="pre">IsaacLab/docs</span></code> directory. The documentation is written in
+<a class="reference external" href="https://docutils.sourceforge.io/rst.html">reStructuredText</a> format.</p>
+<p>We use <a class="reference external" href="https://www.sphinx-doc.org/en/master/">Sphinx</a> with the
+<a class="reference external" href="https://sphinx-book-theme.readthedocs.io/en/stable/">Book Theme</a>
+for maintaining the documentation.</p>
+<p>Sending a pull request for the documentation is the same as sending a pull request for the codebase.
+Please follow the steps mentioned in the <a class="reference internal" href="#contributing-code">Contributing Code</a> section.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>To build the documentation, we recommend creating a <a class="reference external" href="https://docs.python.org/3/library/venv.html">virtual environment</a>
+to install the dependencies. This can also be a <a class="reference external" href="https://docs.conda.io/projects/conda/en/latest/user-guide/tasks/manage-environments.html">conda environment</a>.</p>
+</div>
+<p>To build the documentation, run the following command in the terminal which installs the required python packages and
+builds the documentation using the <code class="docutils literal notranslate"><span class="pre">docs/Makefile</span></code>:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>--docs<span class="w">  </span><span class="c1"># or &quot;./isaaclab.sh -d&quot;</span>
+</pre></div>
+</div>
+<p>The documentation is generated in the <code class="docutils literal notranslate"><span class="pre">docs/_build</span></code> directory. To view the documentation, open
+the <code class="docutils literal notranslate"><span class="pre">index.html</span></code> file in the <code class="docutils literal notranslate"><span class="pre">html</span></code> directory. This can be done by running the following command
+in the terminal:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>xdg-open<span class="w"> </span>docs/_build/html/index.html
+</pre></div>
+</div>
+<div class="admonition hint">
+<p class="admonition-title">Hint</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">xdg-open</span></code> command is used to open the <code class="docutils literal notranslate"><span class="pre">index.html</span></code> file in the default browser. If you are
+using a different operating system, you can use the appropriate command to open the file in the browser.</p>
+</div>
+<p>To do a clean build, run the following command in the terminal:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rm<span class="w"> </span>-rf<span class="w"> </span>docs/_build<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>./isaaclab.sh<span class="w"> </span>--docs
+</pre></div>
+</div>
+</section>
+<section id="contributing-assets">
+<h2>Contributing assets<a class="headerlink" href="#contributing-assets" title="Permalink to this heading">#</a></h2>
+<p>Currently, we host the assets for the extensions on <a class="reference external" href="https://docs.omniverse.nvidia.com/nucleus/latest/index.html">NVIDIA Nucleus Server</a>.
+Nucleus is a cloud-based storage service that allows users to store and share large files. It is
+integrated with the <a class="reference external" href="https://developer.nvidia.com/omniverse">NVIDIA Omniverse Platform</a>.</p>
+<p>Since all assets are hosted on Nucleus, we do not need to include them in the repository. However,
+we need to include the links to the assets in the documentation.</p>
+<p>The included assets are part of the <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/features/environment_setup/assets/usd_assets_overview.html">Isaac Sim Content</a>.
+To use this content, you need to download the files to a Nucleus server or create an <strong>Isaac</strong> Mount on
+a Nucleus server.</p>
+<p>Please check the <a class="reference external" href="https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_faq.html#assets-and-nucleus">Isaac Sim documentation</a>
+for more information on how to download the assets.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>We are currently working on a better way to contribute assets. We will update this section once we
+have a solution. In the meantime, please follow the steps mentioned below.</p>
+</div>
+<p>To host your own assets, the current solution is:</p>
+<ol class="arabic simple">
+<li><p>Create a separate repository for the assets and add it over there</p></li>
+<li><p>Make sure the assets are licensed for use and distribution</p></li>
+<li><p>Include images of the assets in the README file of the repository</p></li>
+<li><p>Send a pull request with a link to the repository</p></li>
+</ol>
+<p>We will then verify the assets, its licensing, and include the assets into the Nucleus server for hosting.
+In case you have any questions, please feel free to reach out to us through e-mail or by opening an issue
+in the repository.</p>
+</section>
+<section id="maintaining-a-changelog">
+<h2>Maintaining a changelog<a class="headerlink" href="#maintaining-a-changelog" title="Permalink to this heading">#</a></h2>
+<p>Each extension maintains a changelog in the <code class="docutils literal notranslate"><span class="pre">CHANGELOG.rst</span></code> file in the <code class="docutils literal notranslate"><span class="pre">docs</span></code> directory. The
+file is written in <a class="reference external" href="https://docutils.sourceforge.io/rst.html">reStructuredText</a> format. It
+contains a curated, chronologically ordered list of notable changes for each version of the extension.</p>
+<p>The goal of this changelog is to help users and contributors see precisely what notable changes have
+been made between each release (or version) of the extension. This is a <em>MUST</em> for every extension.</p>
+<p>For updating the changelog, please follow the following guidelines:</p>
+<ul class="simple">
+<li><p>Each version should have a section with the version number and the release date.</p></li>
+<li><p>The version number is updated according to <a class="reference external" href="https://semver.org/">Semantic Versioning</a>. The
+release date is the date on which the version is released.</p></li>
+<li><p>Each version is divided into subsections based on the type of changes made.</p>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">Added</span></code>: For new features.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Changed</span></code>: For changes in existing functionality.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Deprecated</span></code>: For soon-to-be removed features.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Removed</span></code>: For now removed features.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">Fixed</span></code>: For any bug fixes.</p></li>
+</ul>
+</li>
+<li><p>Each change is described in its corresponding sub-section with a bullet point.</p></li>
+<li><p>The bullet points are written in the past tense and in imperative mode.</p></li>
+</ul>
+<p>For example, the following is a sample changelog:</p>
+<div class="highlight-rst notranslate"><div class="highlight"><pre><span></span><span class="gh">Changelog</span>
+<span class="gh">---------</span>
+
+<span class="gh">0.1.0 (2021-02-01)</span>
+<span class="gh">~~~~~~~~~~~~~~~~~~</span>
+
+<span class="gh">Added</span>
+<span class="gh">^^^^^</span>
+
+<span class="m">*</span> Added a new feature.
+
+<span class="gh">Changed</span>
+<span class="gh">^^^^^^^</span>
+
+<span class="m">*</span> Changed an existing feature.
+
+<span class="gh">Deprecated</span>
+<span class="gh">^^^^^^^^^^</span>
+
+<span class="m">*</span> Deprecated an existing feature.
+
+<span class="gh">Removed</span>
+<span class="gh">^^^^^^^</span>
+
+<span class="m">*</span> Removed an existing feature.
+
+<span class="gh">Fixed</span>
+<span class="gh">^^^^^</span>
+
+<span class="m">*</span> Fixed a bug.
+
+<span class="gh">0.0.1 (2021-01-01)</span>
+<span class="gh">~~~~~~~~~~~~~~~~~~</span>
+
+<span class="gh">Added</span>
+<span class="gh">^^^^^</span>
+
+<span class="m">*</span> Added a new feature.
+</pre></div>
+</div>
+</section>
+</section>
+
+
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+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/environments.html">Available Environments</a></li>
+
+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="current nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="reference_architecture/index.html">Reference Architecture</a></li>
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+<li class="toctree-l1 current active"><a class="current reference internal" href="#">Known Issues</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="bibliography.html">Bibliography</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+    <h1>Known Issues</h1>
+    <!-- Table of contents -->
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+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#stale-values-after-resetting-the-environment">Stale values after resetting the environment</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#blank-initial-frames-from-the-camera">Blank initial frames from the camera</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#using-instanceable-assets-for-markers">Using instanceable assets for markers</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#exiting-the-process">Exiting the process</a></li>
+</ul>
+            </nav>
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+    </div>
+</div>
+
+              
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+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="known-issues">
+<h1>Known Issues<a class="headerlink" href="#known-issues" title="Permalink to this heading">#</a></h1>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>Please also refer to the <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/known_issues.html">Omniverse Isaac Sim documentation</a> for known issues and workarounds.</p>
+</div>
+<section id="stale-values-after-resetting-the-environment">
+<h2>Stale values after resetting the environment<a class="headerlink" href="#stale-values-after-resetting-the-environment" title="Permalink to this heading">#</a></h2>
+<p>When resetting the environment, some of the data fields of assets and sensors are not updated.
+These include the poses of links in a kinematic chain, the camera images, the contact sensor readings,
+and the lidar point clouds. This is a known issue which has to do with the way the PhysX and
+rendering engines work in Omniverse.</p>
+<p>Many physics engines do a simulation step as a two-level call: <code class="docutils literal notranslate"><span class="pre">forward()</span></code> and <code class="docutils literal notranslate"><span class="pre">simulate()</span></code>,
+where the kinematic and dynamic states are updated, respectively. Unfortunately, PhysX has only a
+single <code class="docutils literal notranslate"><span class="pre">step()</span></code> call where the two operations are combined. Due to computations through GPU
+kernels, it is not so straightforward for them to split these operations. Thus, at the moment,
+it is not possible to set the root and/or joint states and do a forward call to update the
+kinematic states of links. This affects both initialization as well as episodic resets.</p>
+<p>Similarly for RTX rendering related sensors (such as cameras), the sensor data is not updated
+immediately after setting the state of the sensor. The rendering engine update is bundled with
+the simulator’s <code class="docutils literal notranslate"><span class="pre">step()</span></code> call which only gets called when the simulation is stepped forward.
+This means that the sensor data is not updated immediately after a reset and it will hold
+outdated values.</p>
+<p>While the above is erroneous, there is currently no direct workaround for it. From our experience in
+using IsaacGym, the reset values affect the agent learning critically depending on how frequently
+the environment terminates. Eventually if the agent is learning successfully, this number drops
+and does not affect the performance that critically.</p>
+<p>We have made a feature request to the respective Omniverse teams to have complete control
+over stepping different parts of the simulation app. However, at this point, there is no set
+timeline for this feature request.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>With Isaac Lab 1.2, we have introduced a PhysX kinematic update call inside the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_state_w" title="omni.isaac.lab.assets.ArticulationData.body_state_w"><code class="xref py py-attr docutils literal notranslate"><span class="pre">body_state_w</span></code></a> attribute. This workaround
+ensures that the states of the links are updated when the root state or joint state
+of an articulation is set.</p>
+</div>
+</section>
+<section id="blank-initial-frames-from-the-camera">
+<h2>Blank initial frames from the camera<a class="headerlink" href="#blank-initial-frames-from-the-camera" title="Permalink to this heading">#</a></h2>
+<p>When using the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code></a> sensor in standalone scripts, the first few frames
+may be blank. This is a known issue with the simulator where it needs a few steps to load the material
+textures properly and fill up the render targets.</p>
+<p>A hack to work around this is to add the following after initializing the camera sensor and setting
+its pose:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+
+<span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="o">.</span><span class="n">instance</span><span class="p">()</span>
+
+<span class="c1"># note: the number of steps might vary depending on how complicated the scene is.</span>
+<span class="k">for</span> <span class="n">_</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">12</span><span class="p">):</span>
+    <span class="n">sim</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+<section id="using-instanceable-assets-for-markers">
+<h2>Using instanceable assets for markers<a class="headerlink" href="#using-instanceable-assets-for-markers" title="Permalink to this heading">#</a></h2>
+<p>When using <a class="reference external" href="https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_gym_instanceable_assets.html">instanceable assets</a> for markers, the markers do not work properly, since Omniverse does not support
+instanceable assets when using the <code class="xref py py-class docutils literal notranslate"><span class="pre">UsdGeom.PointInstancer</span></code> schema. This is a known issue and will hopefully
+be fixed in a future release.</p>
+<p>If you use an instanceable assets for markers, the marker class removes all the physics properties of the asset.
+This is then replicated across other references of the same asset since physics properties of instanceable assets
+are stored in the instanceable asset’s USD file and not in its stage reference’s USD file.</p>
+</section>
+<section id="exiting-the-process">
+<h2>Exiting the process<a class="headerlink" href="#exiting-the-process" title="Permalink to this heading">#</a></h2>
+<p>When exiting a process with <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code>, occasionally the below error may appear:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="o">[</span>Error<span class="o">]</span><span class="w"> </span><span class="o">[</span>omni.physx.plugin<span class="o">]</span><span class="w"> </span>Subscription<span class="w"> </span>cannot<span class="w"> </span>be<span class="w"> </span>changed<span class="w"> </span>during<span class="w"> </span>the<span class="w"> </span>event<span class="w"> </span>call.
+</pre></div>
+</div>
+<p>This is due to the termination occurring in the middle of a physics event call and
+should not affect the functionality of Isaac Lab. It is safe to ignore the error
+message and continue with terminating the process. On Windows systems, please use
+<code class="docutils literal notranslate"><span class="pre">Ctrl+Break</span></code> or <code class="docutils literal notranslate"><span class="pre">Ctrl+fn+B</span></code> to terminate the process.</p>
+</section>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#blank-initial-frames-from-the-camera">Blank initial frames from the camera</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
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+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="license">
+<span id="id1"></span><h1>License<a class="headerlink" href="#license" title="Permalink to this heading">#</a></h1>
+<p>NVIDIA Isaac Sim is available freely under <a class="reference external" href="https://www.nvidia.com/en-us/omniverse/download/">individual license</a>. For more information
+about its license terms, please check <a class="reference external" href="https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement">here</a>.
+The license files for all its dependencies and included assets are available in its
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/common/licenses.html">documentation</a>.</p>
+<p>The Isaac Lab framework is open-sourced under the
+<a class="reference external" href="https://opensource.org/licenses/BSD-3-Clause">BSD-3-Clause license</a>.</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+All rights reserved.
+
+SPDX-License-Identifier: BSD-3-Clause
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
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+
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+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
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+    <h1>Migration Guide (Isaac Sim)</h1>
+    <!-- Table of contents -->
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+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#renaming-of-physx-flatcache-to-physx-fabric">Renaming of PhysX Flatcache to PhysX Fabric</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#renaming-of-the-urdf-and-mjcf-importers">Renaming of the URDF and MJCF Importers</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#deprecation-of-usdlux-light-api">Deprecation of <code class="xref py py-class docutils literal notranslate"><span class="pre">UsdLux.Light</span></code> API</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
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+                  
+  <section id="migration-guide-isaac-sim">
+<h1>Migration Guide (Isaac Sim)<a class="headerlink" href="#migration-guide-isaac-sim" title="Permalink to this heading">#</a></h1>
+<p>Moving from Isaac Sim 2022.2.1 to 2023.1.0 and later brings in a number of changes to the
+APIs and the way the application is built. This document outlines the changes
+and how to migrate your code to the new APIs. Many of these changes attribute to
+the underlying Omniverse Kit upgrade from 104.2 to 105.1. The new upgrade brings
+the following notable changes:</p>
+<ul class="simple">
+<li><p>Update to USD 22.11</p></li>
+<li><p>Upgrading the Python from 3.7 to 3.10</p></li>
+</ul>
+<section id="renaming-of-physx-flatcache-to-physx-fabric">
+<h2>Renaming of PhysX Flatcache to PhysX Fabric<a class="headerlink" href="#renaming-of-physx-flatcache-to-physx-fabric" title="Permalink to this heading">#</a></h2>
+<p>The PhysX Flatcache has been renamed to PhysX Fabric. The new name is more
+descriptive of the functionality and is consistent with the naming convention
+used by Omniverse called <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/usdrt/latest/docs/usd_fabric_usdrt.html">Fabric</a>. Consequently, the Python module name has
+also been changed from <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.physxflatcache</span></code> to <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.physxfabric</span></code>.</p>
+<p>Following this, on the Isaac Sim side, various renaming have occurred:</p>
+<ul class="simple">
+<li><p>The parameter passed to <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationContext</span></code> constructor via the keyword <code class="xref py py-obj docutils literal notranslate"><span class="pre">sim_params</span></code>
+now expects the key <code class="docutils literal notranslate"><span class="pre">use_fabric</span></code> instead of <code class="docutils literal notranslate"><span class="pre">use_flatcache</span></code>.</p></li>
+<li><p>The Python attribute <code class="xref py py-attr docutils literal notranslate"><span class="pre">SimulationContext.get_physics_context().use_flatcache</span></code> is now
+<code class="xref py py-attr docutils literal notranslate"><span class="pre">SimulationContext.get_physics_context().use_fabric</span></code>.</p></li>
+<li><p>The Python function <code class="xref py py-meth docutils literal notranslate"><span class="pre">SimulationContext.get_physics_context().enable_flatcache()</span></code> is now
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">SimulationContext.get_physics_context().enable_fabric()</span></code>.</p></li>
+</ul>
+</section>
+<section id="renaming-of-the-urdf-and-mjcf-importers">
+<h2>Renaming of the URDF and MJCF Importers<a class="headerlink" href="#renaming-of-the-urdf-and-mjcf-importers" title="Permalink to this heading">#</a></h2>
+<p>Starting from Isaac Sim 2023.1, the URDF and MJCF importers have been renamed to be more consistent
+with the other asset importers in Omniverse. The importers are now available on NVIDIA-Omniverse GitHub
+as open source projects.</p>
+<p>Due to the extension name change, the Python module names have also been changed:</p>
+<ul class="simple">
+<li><p>URDF Importer: <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.importer.urdf</span></code> (previously <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.urdf</span></code>)</p></li>
+<li><p>MJCF Importer: <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.importer.mjcf</span></code> (previously <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.mjcf</span></code>)</p></li>
+</ul>
+</section>
+<section id="deprecation-of-usdlux-light-api">
+<h2>Deprecation of <code class="xref py py-class docutils literal notranslate"><span class="pre">UsdLux.Light</span></code> API<a class="headerlink" href="#deprecation-of-usdlux-light-api" title="Permalink to this heading">#</a></h2>
+<p>As highlighted in the release notes of <a class="reference external" href="https://github.com/PixarAnimationStudios/OpenUSD/blob/release/CHANGELOG.md">USD 22.11</a>, the <code class="docutils literal notranslate"><span class="pre">UsdLux.Light</span></code> API has
+been deprecated in favor of the new <code class="docutils literal notranslate"><span class="pre">UsdLuxLightAPI</span></code> API. In the new API the attributes
+are prefixed with <code class="docutils literal notranslate"><span class="pre">inputs:</span></code>. For example, the <code class="docutils literal notranslate"><span class="pre">intensity</span></code> attribute is now available as
+<code class="docutils literal notranslate"><span class="pre">inputs:intensity</span></code>.</p>
+<p>The following example shows how to create a sphere light using the old API and
+the new API.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for Isaac Sim 2022.2.1 and below</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+
+<span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span>
+  <span class="s2">&quot;/World/Light/GreySphere&quot;</span><span class="p">,</span>
+  <span class="s2">&quot;SphereLight&quot;</span><span class="p">,</span>
+  <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mf">4.5</span><span class="p">,</span> <span class="mf">3.5</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">),</span>
+  <span class="n">attributes</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;radius&quot;</span><span class="p">:</span> <span class="mf">2.5</span><span class="p">,</span> <span class="s2">&quot;intensity&quot;</span><span class="p">:</span> <span class="mf">600.0</span><span class="p">,</span> <span class="s2">&quot;color&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">)},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for Isaac Sim 2023.1.0 and above</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+
+<span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span>
+    <span class="s2">&quot;/World/Light/WhiteSphere&quot;</span><span class="p">,</span>
+    <span class="s2">&quot;SphereLight&quot;</span><span class="p">,</span>
+    <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="o">-</span><span class="mf">4.5</span><span class="p">,</span> <span class="mf">3.5</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">),</span>
+    <span class="n">attributes</span><span class="o">=</span><span class="p">{</span>
+      <span class="s2">&quot;inputs:radius&quot;</span><span class="p">:</span> <span class="mf">2.5</span><span class="p">,</span>
+      <span class="s2">&quot;inputs:intensity&quot;</span><span class="p">:</span> <span class="mf">600.0</span><span class="p">,</span>
+      <span class="s2">&quot;inputs:color&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+</section>
+
+
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+              
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#renaming-of-the-urdf-and-mjcf-importers">Renaming of the URDF and MJCF Importers</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#deprecation-of-usdlux-light-api">Deprecation of <code class="xref py py-class docutils literal notranslate"><span class="pre">UsdLux.Light</span></code> API</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="current nav bd-sidenav">
+<li class="toctree-l1 current active"><a class="current reference internal" href="#">Reference Architecture</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../changelog.html">Extensions Changelog</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../license.html">License</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../bibliography.html">Bibliography</a></li>
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+    <h1>Reference Architecture</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#who-is-this-document-for">Who is this document for?</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#components">Components</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-1-asset-input">Component 1 - Asset Input</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-2-configuration-assets-and-scene">Component 2 -  Configuration (Assets and Scene)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#asset-configuration">Asset Configuration</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-configuration">Scene Configuration</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-3-robot-learning-task-design">Component 3 - Robot Learning Task Design</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#manager-based">Manager-based</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#direct">Direct</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-4-register-with-gymnasium">Component 4 - Register with Gymnasium</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-5-environment-wrapping">Component 5 - Environment Wrapping</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#adding-your-own-wrappers">Adding your own wrappers</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-6-run-training">Component 6 - Run Training</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#single-gpu-training">Single GPU Training</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#multi-gpu-and-multi-node-training">Multi-GPU and Multi-Node Training</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#cloud-based-training">Cloud-Based Training</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-7-run-testing">Component 7: Run Testing</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#deployment-on-physical-robots">Deployment on Physical Robots</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#summary">Summary</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#how-to-get-started">How to Get Started</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="reference-architecture">
+<h1>Reference Architecture<a class="headerlink" href="#reference-architecture" title="Permalink to this heading">#</a></h1>
+<p>This document presents an overview of the end-to-end robot learning process with
+Isaac Lab and Isaac Sim. This is demonstrated using a reference architecture that highlights
+the major building blocks for training and deployment workflows. It provides a comprehensive,
+user-friendly guide on the entire process of developing applications from training to deploying
+the trained model in the real world, including links to demos, working examples, and documentation.</p>
+<section id="who-is-this-document-for">
+<h2>Who is this document for?<a class="headerlink" href="#who-is-this-document-for" title="Permalink to this heading">#</a></h2>
+<p>This document is designed to assist robotics developers and researchers working with NVIDIA Isaac Lab
+in the robot learning field, including those at research labs, Original Equipment Manufacturers (OEM),
+Solutions Providers, Solutions Integrators (SI),  and independent software vendors (ISV). It offers
+guidance on utilizing Isaac Lab’s robot training framework and workflows as a foundational starting
+point for environment configuration, task design, and policy training and testing.</p>
+<img alt="Isaac Lab Reference Architecture" class="only-light align-center" src="../../../_images/isaac-lab-ra-light.svg" /><img alt="Isaac Lab Reference Architecture" class="only-dark align-center" src="../../../_images/isaac-lab-ra-dark.svg" /><div class="line-block">
+<div class="line"><br /></div>
+</div>
+<p>The reference architecture for Isaac Lab comprises the following components:</p>
+<ol class="arabic simple">
+<li><p><a class="reference internal" href="#ra-asset-input"><span class="std std-ref">Asset Input</span></a></p></li>
+<li><p><a class="reference internal" href="#ra-configuration"><span class="std std-ref">Configuration - Assets &amp; Scene</span></a></p></li>
+<li><p><a class="reference internal" href="#ra-robot-learning-task-design"><span class="std std-ref">Robot Learning Task Design</span></a></p></li>
+<li><p><a class="reference internal" href="#ra-register-gym"><span class="std std-ref">Register with Gymnasium</span></a></p></li>
+<li><p><a class="reference internal" href="#ra-env-wrap"><span class="std std-ref">Environment Wrapping</span></a></p></li>
+<li><p><a class="reference internal" href="#ra-run-training"><span class="std std-ref">Run Training</span></a></p></li>
+<li><p><a class="reference internal" href="#ra-run-testing"><span class="std std-ref">Run Testing</span></a></p></li>
+</ol>
+</section>
+<section id="components">
+<h2>Components<a class="headerlink" href="#components" title="Permalink to this heading">#</a></h2>
+<p>In this section, we will briefly discuss the individual blocks for creating a
+sample reference application in Isaac Lab.</p>
+<section id="component-1-asset-input">
+<span id="ra-asset-input"></span><h3>Component 1 - Asset Input<a class="headerlink" href="#component-1-asset-input" title="Permalink to this heading">#</a></h3>
+<p>Isaac Lab accepts URDF, MJCF XML or USD files for the assets. The first step to training using Isaac Lab is to
+have the USD file of your asset and the USD or URDF file of your robot. This can be achieved in
+the following ways:</p>
+<ol class="arabic simple">
+<li><p>Design your assets or robot in Isaac Sim and export the USD file.</p></li>
+<li><p>Design your assets or robot in any software of your choice and export it to USD using Isaac Sim converters. Isaac Sim supports the different converters/importers to USD such as the <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_cad-converter.html">CAD Converter</a>, <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html">URDF Importer</a>, <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html#import-mjcf">MJCF Importer</a>, <a class="reference external" href="https://docs.omniverse.nvidia.com/extensions/latest/ext_onshape.html">Onshape Importer</a>, etc. More details are found in the <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_reference_architecture.html#importing-assets">Importing Assets section</a> in the <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_reference_architecture.html">Isaac Sim Reference Architecture</a>.</p></li>
+<li><p>If you already have the URDF or MJCF file of your robot, you do not need to convert to USD as Isaac Lab takes URDF and MJCF XML.</p></li>
+</ol>
+</section>
+<section id="component-2-configuration-assets-and-scene">
+<span id="ra-configuration"></span><h3>Component 2 -  Configuration (Assets and Scene)<a class="headerlink" href="#component-2-configuration-assets-and-scene" title="Permalink to this heading">#</a></h3>
+<section id="asset-configuration">
+<h4>Asset Configuration<a class="headerlink" href="#asset-configuration" title="Permalink to this heading">#</a></h4>
+<p>Given that you have the asset file for your robot and other assets such as environment objects based on the task, the next step is to import them into Isaac Lab. Isaac Lab uses asset configuration classes to spawn various objects (or prims) into the scene using Python. The first step is to write a configuration class to define the properties for the assets needed to complete the task. For example, a simple go-to-goal task for a mobile robot will include the robot asset, an object like cubes to signify the goal pose visually, lights, ground plane, etc. Isaac Lab understands these assets using the configuration classes. Isaac Lab provides various sim-ready assets such as physically accurate
+3D objects that encompass accurate physical properties and behavior. It also provides connected data streams to represent the real world in simulated digital worlds such as <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/tree/main/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets">robots</a>
+like ANYbotics Anymal, Unitree H1 Humanoid, etc. as well as <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/tree/main/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors">sensors</a>. We provide these assets configuration classes. Users can also define their own assets using the configuration classes.</p>
+<p>Follow the tutorial on <a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/how-to/write_articulation_cfg.html">how to write an Articulation and ArticulationCfg class</a>.</p>
+</section>
+<section id="scene-configuration">
+<h4>Scene Configuration<a class="headerlink" href="#scene-configuration" title="Permalink to this heading">#</a></h4>
+<p>Given the individual asset configurations, the next step is to put all the assets together into a
+scene. The scene configuration is a simple config class that initializes all the assets in the
+scene that are needed for the task and for visualization. This is an example for the
+<a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/tutorials/02_scene/create_scene.html#scene-configuration">Cartpole example scene configuration</a>,
+which includes the cartpole, ground plane, and dome light.</p>
+</section>
+</section>
+<section id="component-3-robot-learning-task-design">
+<span id="ra-robot-learning-task-design"></span><h3>Component 3 - Robot Learning Task Design<a class="headerlink" href="#component-3-robot-learning-task-design" title="Permalink to this heading">#</a></h3>
+<p>Now, we have the scene for the task, but we need to define the robot learning task. We will focus on
+<a class="reference external" href="https://www.andrew.cmu.edu/course/10-703/textbook/BartoSutton.pdf">reinforcement learning (RL)</a> algorithm here. We define the RL task
+that the agent is going to do. RL tasks are defined as a Markov Decision Process (MDP),
+which is a stochastic decision-making process where optional decisions are made for the agents
+considering their current state and environment they interact with. The environment provides the
+agents’ current state or observations, and executes the actions provided by the agent.
+The environment responds to the agents by providing the next states, reward of taking the
+action, done flag and information about the current episode. Therefore, different components
+of the MDP formulation (the environment) – states, actions, rewards, reset, done, etc. — must
+be defined by the user for the agent to perform the given task.</p>
+<p>In Isaac Lab, we provide two different workflows for designing environments.</p>
+<section id="manager-based">
+<h4>Manager-based<a class="headerlink" href="#manager-based" title="Permalink to this heading">#</a></h4>
+<img alt="Manager-based Task Workflow" class="only-light align-center" src="../../../_images/manager-based-light.svg" /><img alt="Manager-based Task Workflow" class="only-dark align-center" src="../../../_images/manager-based-dark.svg" /><p>This workflow is modular, and the environment is decomposed into individual components (or managers)
+that handle the different aspects of the environment, such as computing observations,
+applying actions, and applying randomization. As a user, you define different configuration classes
+for each component.</p>
+<ul class="simple">
+<li><p>An RL task should have the following configuration classes:</p>
+<ul>
+<li><p>Observations Config: Defines the agents’ observations for the task.</p></li>
+<li><p>Actions Config: Defines the agent’s action type, i.e. how the output of the agent are mapped to
+the robot’s control inputs.</p></li>
+<li><p>Rewards Config: Defines the reward function for the task</p></li>
+<li><p>Terminations Config: Defines the conditions for termination of an episode or when the task
+is completed.</p></li>
+</ul>
+</li>
+<li><p>You can add other optional configuration classes such as Event Config which defines the set of randomizations and noisification for the agent and environment, Curriculum Config for tasks that require <a class="reference external" href="https://arxiv.org/abs/2109.11978">curriculum learning</a> and Commands Config for tasks where the input is from a controller/setpoint controls e.g. a gamepad controller.</p></li>
+</ul>
+<div class="admonition tip">
+<p class="admonition-title">Tip</p>
+<p>To learn more on how you can design your own manager-based environment, see <a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html#tutorial-create-manager-rl-env"><span class="std std-ref">Creating a Manager-Based RL Environment</span></a>.</p>
+</div>
+</section>
+<section id="direct">
+<h4>Direct<a class="headerlink" href="#direct" title="Permalink to this heading">#</a></h4>
+<img alt="Direct-based Task Workflow" class="only-light align-center" src="../../../_images/direct-based-light.svg" /><img alt="Direct-based Task Workflow" class="only-dark align-center" src="../../../_images/direct-based-dark.svg" /><p>In this workflow, you implement a single class that is responsible for computing observations, applying actions, and computing rewards. This workflow allows for direct control of the environment logic.</p>
+<div class="admonition tip">
+<p class="admonition-title">Tip</p>
+<p>To learn more on how you can design your own direct environment, see <a class="reference internal" href="../../tutorials/03_envs/create_direct_rl_env.html#tutorial-create-direct-rl-env"><span class="std std-ref">Creating a Direct Workflow RL Environment</span></a>.</p>
+</div>
+<p>Users can choose from Isaac Lab’s large suite of pre-configured environments or users can define
+their own environments. For more technical information about the two workflows, please see the
+<a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/overview/core-concepts/task_workflows.html">documentation</a>.</p>
+<p>In addition to designing the RL task, you will need to design your agent’s model, the neural
+network policy and value function. To train the RL agent to solve the task, you need to define
+the hyperparameters such as number of epochs, learning rate, etc. for training and the
+policy/value model architecture. This is defined in the training configuration file specific
+to the RL library you want to use. Examples are created under the agent’s folder in each task directory.
+See an example of <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/agents/rsl_rl_ppo_cfg.py">RSL-RL</a> for Anymal-B.</p>
+</section>
+</section>
+<section id="component-4-register-with-gymnasium">
+<span id="ra-register-gym"></span><h3>Component 4 - Register with Gymnasium<a class="headerlink" href="#component-4-register-with-gymnasium" title="Permalink to this heading">#</a></h3>
+<p>The next step is to register the environments with the gymnasium registry to allow you to create the environment using the unique environment name.
+Registration is a way to make the environment accessible and reusable across different
+RL algorithms and experiments. This is common in the RL community. Follow the tutorial on
+<a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a> to learn more about how to register in your own environment.</p>
+</section>
+<section id="component-5-environment-wrapping">
+<span id="ra-env-wrap"></span><h3>Component 5 - Environment Wrapping<a class="headerlink" href="#component-5-environment-wrapping" title="Permalink to this heading">#</a></h3>
+<p>In running your RL task, you might want to change the behavior of your environment without
+changing the environment itself. For example, you might want to create functions to modify
+observations or rewards, record videos, or enforce time limits. Isaac Lab utilizes the API
+available in the <a class="reference external" href="https://gymnasium.farama.org/api/wrappers/table/">gymnasium.Wrapper</a> class to create interfaces to the simulated environments.</p>
+<p>Some wrappers include:</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#wrapper-for-recording-videos">Video Wrappers</a></p></li>
+<li><p><a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#wrapper-for-learning-frameworks">RL Libraries Wrappers</a></p></li>
+</ul>
+<p>Most RL libraries expect their own variation of an environment interface. This means the
+data types needed by each library differs. Isaac Lab provides its own wrappers to convert
+the environment into the expected interface by the RL library a user wants to use. These are
+specified in the <a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers">Isaac Lab utils wrapper module</a>.</p>
+<p>See the <a class="reference external" href="https://gymnasium.farama.org/api/wrappers/#gymnasium.Wrapper">full list</a> of other wrappers APIs. For more information on how these wrappers work,
+please refer to the <a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#how-to-env-wrappers">Wrapping environments</a> documentation.</p>
+<section id="adding-your-own-wrappers">
+<h4>Adding your own wrappers<a class="headerlink" href="#adding-your-own-wrappers" title="Permalink to this heading">#</a></h4>
+<p>You can define your own wrappers by adding them to the Isaac Lab utils wrapper module. More information is available <a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/how-to/wrap_rl_env.html#adding-new-wrappers">on the GitHub page for wrapping environments</a>.</p>
+</section>
+</section>
+<section id="component-6-run-training">
+<span id="ra-run-training"></span><h3>Component 6 - Run Training<a class="headerlink" href="#component-6-run-training" title="Permalink to this heading">#</a></h3>
+<p>Finally, the last step is to run the training of the RL agent. Isaac Lab provides scripts which utilizes four popular RL libraries for training the models (GPU-based training):</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/">StableBaselines3</a></p></li>
+<li><p><a class="reference external" href="https://github.com/leggedrobotics/rsl_rl">RSL-RL</a></p></li>
+<li><p><a class="reference external" href="https://github.com/Denys88/rl_games">RL-Games</a></p></li>
+<li><p><a class="reference external" href="https://skrl.readthedocs.io/en/latest/">SKRL</a></p></li>
+</ul>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Isaac Lab does not provide the implementation of these RL libraries. They are already implemented by different authors. We provide the environments and framework wrappers for the RL libraries.</p>
+</div>
+<p>If you want to integrate a different version of the provided algorithms or your learning library, you can follow
+<a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/how-to/add_own_library.html">these instructions</a>.</p>
+<section id="single-gpu-training">
+<h4>Single GPU Training<a class="headerlink" href="#single-gpu-training" title="Permalink to this heading">#</a></h4>
+<img alt="Single GPU Training Data Flow" class="only-light align-center" src="../../../_images/single-gpu-training-light.svg" /><img alt="Single GPU Training Data Flow" class="only-dark align-center" src="../../../_images/single-gpu-training-dark.svg" /><p>Isaac Lab supports training massively parallel environments to speed up RL training and provides rich data for the model to train.
+For single GPU training, the following steps show how training works in Isaac Sim and Isaac Lab:</p>
+<ol class="arabic simple">
+<li><p><strong>In Isaac Sim</strong></p></li>
+</ol>
+<ul class="simple">
+<li><p>Isaac Sim provides the asset states such as robot and sensor states, including the observations defined in the task observation config class.</p></li>
+</ul>
+<ol class="arabic simple" start="2">
+<li><p><strong>In Isaac Lab</strong></p></li>
+</ol>
+<ul class="simple">
+<li><p>Randomizations are added to the states defined in the event configuration class to obtain the observation for the task. Randomizations are however optional. If not defined, the states are the observations.</p></li>
+<li><p>The observations are computed as PyTorch tensors, and it can optionally include the action provided by the trained model based on the task.</p></li>
+</ul>
+<ol class="arabic simple" start="3">
+<li><p><strong>In the RL library</strong></p></li>
+</ol>
+<ul class="simple">
+<li><p>The observation is passed to the policy.</p></li>
+<li><p>The policy is trained to output the right actions for the robot using RL library algorithms such as PPO, TRPO, etc.</p></li>
+<li><p>The actions can serve either as a setpoint for a controller that generates the action to the robot or used directly as the action to the robot based on the task.</p></li>
+<li><p>Action types such as joint position for a quadruped is an input to a joint controller, velocity of 1 or 0 is used to control the cart directly in the cartpole task, etc.</p></li>
+<li><p>In addition, based on how the task is defined, the previous action can be part of the next set of observations that is sent.</p></li>
+</ul>
+<ol class="arabic simple" start="4">
+<li><p><strong>In Isaac Sim</strong></p></li>
+</ol>
+<ul class="simple">
+<li><p>The actions from the policy are sent back to Isaac Sim to control the agent that is learning i.e. the robot. This is the physics simulation (sim) step. This generates the next states in Isaac Sim and the rewards are calculated in Isaac Lab.</p></li>
+</ul>
+<ol class="arabic simple" start="5">
+<li><p><strong>Rendering</strong></p></li>
+</ol>
+<ul class="simple">
+<li><p>The scene can be rendered to produce the cameras’ images.</p></li>
+</ul>
+<p>The next state is then passed in the flow till the training reaches the specified training steps or epochs. The final product is the trained model/agent.</p>
+</section>
+<section id="multi-gpu-and-multi-node-training">
+<h4>Multi-GPU and Multi-Node Training<a class="headerlink" href="#multi-gpu-and-multi-node-training" title="Permalink to this heading">#</a></h4>
+<img alt="Multi GPU Training Data Flow" class="only-light align-center" src="../../../_images/multi-gpu-training-light.svg" /><img alt="Multi GPU Training Data Flow" class="only-dark align-center" src="../../../_images/multi-gpu-training-dark.svg" /><p>Isaac Lab supports scaling up training by taking advantage of multi-GPU and multi-node training on Linux. Follow the tutorial on <a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/features/multi_gpu.html#multi-gpu-training">Multi-GPU training</a> and <a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/features/multi_gpu.html#multi-node-training">Multi-Node training</a> to get started.</p>
+</section>
+<section id="cloud-based-training">
+<h4>Cloud-Based Training<a class="headerlink" href="#cloud-based-training" title="Permalink to this heading">#</a></h4>
+<p>Isaac Lab can be deployed alongside Isaac Sim onto the public clouds with <a class="reference external" href="https://github.com/isaac-sim/IsaacAutomator">Isaac Automator</a>. AWS, GCP, Azure, and Alibaba Cloud are currently supported. Follow the tutorial on <a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/cloud_installation.html">how to run Isaac Lab in the cloud</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>Both multi-GPU and multi-node jobs can be easily scaled across heterogeneous environments with <a class="reference external" href="https://developer.nvidia.com/osmo">OSMO</a>, a cloud-native, orchestration platform for scheduling complex multi-stage and multi-container heterogeneous computing workflows. Isaac Lab also provides the tools to run your RL task in Docker. See more details on <a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/deployment/index.html">container deployment</a>.</p>
+</div>
+</section>
+</section>
+<section id="component-7-run-testing">
+<span id="ra-run-testing"></span><h3>Component 7: Run Testing<a class="headerlink" href="#component-7-run-testing" title="Permalink to this heading">#</a></h3>
+<p>Isaac Lab provides scripts for <a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/tutorials/03_envs/run_rl_training.html#playing-the-trained-agent">testing/playing the trained policy</a> on the environment and functions for converting the trained model from .pt to
+.jit and .onnx for deployment.</p>
+</section>
+</section>
+<section id="deployment-on-physical-robots">
+<h2>Deployment on Physical Robots<a class="headerlink" href="#deployment-on-physical-robots" title="Permalink to this heading">#</a></h2>
+<img alt="Isaac Lab Trained Policy Deployment" class="only-light align-center" src="../../../_images/deployment-light.svg" /><img alt="Isaac Lab Trained Policy Deployment" class="only-dark align-center" src="../../../_images/deployment-dark.svg" /><p>To deploy your trained model on a real robot, you would need what is shown in the flow diagram. Note, this is a sample reference architecture, hence it can be tweaked for a different application.
+First, you need a robot with the required sensors and processing computer such as <a class="reference external" href="https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/">NVIDIA Jetson</a> to deploy on. Next, you need a state estimator for your robot. The state estimator should be able to deliver the list of observations used for training.</p>
+<p>Once the observations are extracted, they are passed into the model which delivers the action using the model inferencing runtime. The commanded action from the model serves as setpoints for the action controller. The action controller outputs scaled actions which are then used to control the robot to get to the next state, and this continues till the task is done.</p>
+<p>NVIDIA Isaac platform provides some tools for state estimation, including visual slam and inferencing engines such as <a class="reference external" href="https://developer.nvidia.com/tensorrt-getting-started#:~:text=NVIDIA%C2%AE%20TensorRT%E2%84%A2%20is,high%20throughput%20for%20production%20applications.">TensorRT</a>. Other inferencing runtime includes <a class="reference external" href="https://onnxruntime.ai/">OnnxRuntime</a>, direct inferencing on the PyTorch model, etc.</p>
+</section>
+<section id="summary">
+<h2>Summary<a class="headerlink" href="#summary" title="Permalink to this heading">#</a></h2>
+<p>This document presents a reference architecture for Isaac Lab that has undergone SQA testing. We have provided a user-friendly guide to end-to-end robot learning with Isaac Lab and Isaac Sim from training to real-world deployment, including demos, examples, and documentation links.</p>
+</section>
+<section id="how-to-get-started">
+<h2>How to Get Started<a class="headerlink" href="#how-to-get-started" title="Permalink to this heading">#</a></h2>
+<p>Check out our resources on using Isaac Lab with your robots.</p>
+<p>Review Our Documentation &amp; Samples Resources</p>
+<ul class="simple">
+<li><p><a class="reference external" href="file:///home/oomotuyi/isaac/IsaacLab/docs/_build/current/source/tutorials/index.html">Isaac Lab Tutorials</a></p></li>
+<li><p><a class="reference external" href="https://developer.nvidia.com/blog/fast-track-robot-learning-in-simulation-using-nvidia-isaac-lab/">Fast-Track Robot Learning in Simulation Using NVIDIA Isaac Lab</a></p></li>
+<li><p><a class="reference external" href="https://developer.nvidia.com/blog/supercharge-robotics-workflows-with-ai-and-simulation-using-nvidia-isaac-sim-4-0-and-nvidia-isaac-lab/">Supercharge Robotics Workflows with AI and Simulation Using NVIDIA Isaac Sim 4.0 and NVIDIA Isaac Lab</a></p></li>
+<li><p><a class="reference external" href="https://developer.nvidia.com/blog/closing-the-sim-to-real-gap-training-spot-quadruped-locomotion-with-nvidia-isaac-lab/">Closing the Sim-to-Real Gap: Training Spot Quadruped Locomotion with NVIDIA Isaac Lab</a></p></li>
+<li><p><a class="reference external" href="https://isaac-sim.github.io/IsaacLab/main/source/refs/additional_resources.html">Additional Resources</a></p></li>
+</ul>
+<p>Learn More About Featured NVIDIA Solutions</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://developer.nvidia.com/blog/scale-ai-enabled-robotics-development-workloads-with-nvidia-osmo/">Scale AI-Enabled Robotics Development Workloads with NVIDIA OSMO</a></p></li>
+<li><p><a class="reference external" href="https://www.nvidia.com/en-us/on-demand/session/gtc24-s63140/">Parkour and More: How Simulation-Based RL Helps to Push the Boundaries in Legged Locomotion (GTC session)</a></p></li>
+<li><p><a class="reference external" href="https://developer.nvidia.com/isaac/perceptor">Isaac Perceptor</a></p></li>
+<li><p><a class="reference external" href="https://developer.nvidia.com/isaac/manipulator">Isaac Manipulator</a></p></li>
+</ul>
+</section>
+</section>
+
+
+                </article>
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+    <i class="fa-solid fa-list"></i> Contents
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#who-is-this-document-for">Who is this document for?</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#components">Components</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-1-asset-input">Component 1 - Asset Input</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-2-configuration-assets-and-scene">Component 2 -  Configuration (Assets and Scene)</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#asset-configuration">Asset Configuration</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-configuration">Scene Configuration</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-3-robot-learning-task-design">Component 3 - Robot Learning Task Design</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#manager-based">Manager-based</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#direct">Direct</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-4-register-with-gymnasium">Component 4 - Register with Gymnasium</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-5-environment-wrapping">Component 5 - Environment Wrapping</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#adding-your-own-wrappers">Adding your own wrappers</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-6-run-training">Component 6 - Run Training</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#single-gpu-training">Single GPU Training</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#multi-gpu-and-multi-node-training">Multi-GPU and Multi-Node Training</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#cloud-based-training">Cloud-Based Training</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#component-7-run-testing">Component 7: Run Testing</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#deployment-on-physical-robots">Deployment on Physical Robots</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#summary">Summary</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#how-to-get-started">How to Get Started</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Tricks and Troubleshooting</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#checking-the-internal-logs-from-the-simulator">Checking the internal logs from the simulator</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#changing-logging-channel-levels-for-the-simulator">Changing logging channel levels for the simulator</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#using-cpu-scaling-governor-for-performance">Using CPU Scaling Governor for performance</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#observing-long-load-times-at-the-start-of-the-simulation">Observing long load times at the start of the simulation</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#receiving-a-physx-error-when-running-simulation-on-gpu">Receiving a “PhysX error” when running simulation on GPU</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#preventing-memory-leaks-in-the-simulator">Preventing memory leaks in the simulator</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#understanding-the-error-logs-from-crashes">Understanding the error logs from crashes</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="tricks-and-troubleshooting">
+<h1>Tricks and Troubleshooting<a class="headerlink" href="#tricks-and-troubleshooting" title="Permalink to this heading">#</a></h1>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The following lists some of the common tricks and troubleshooting methods that we use in our common workflows.
+Please also check the <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/guide/linux_troubleshooting.html">troubleshooting page on Omniverse</a> for more
+assistance.</p>
+</div>
+<section id="checking-the-internal-logs-from-the-simulator">
+<h2>Checking the internal logs from the simulator<a class="headerlink" href="#checking-the-internal-logs-from-the-simulator" title="Permalink to this heading">#</a></h2>
+<p>When running the simulator from a standalone script, it logs warnings and errors to the terminal. At the same time,
+it also logs internal messages to a file. These are useful for debugging and understanding the internal state of the
+simulator. Depending on your system, the log file can be found in the locations listed
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#common-path-locations">here</a>.</p>
+<p>To obtain the exact location of the log file, you need to check the first few lines of the terminal output when
+you run the standalone script. The log file location is printed at the start of the terminal output. For example:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="o">[</span>INFO<span class="o">]</span><span class="w"> </span>Using<span class="w"> </span>python<span class="w"> </span>from:<span class="w"> </span>/home/<span class="si">${</span><span class="nv">USER</span><span class="si">}</span>/git/IsaacLab/_isaac_sim/python.sh
+...
+Passing<span class="w"> </span>the<span class="w"> </span>following<span class="w"> </span>args<span class="w"> </span>to<span class="w"> </span>the<span class="w"> </span>base<span class="w"> </span>kit<span class="w"> </span>application:<span class="w">  </span><span class="o">[]</span>
+Loading<span class="w"> </span>user<span class="w"> </span>config<span class="w"> </span>located<span class="w"> </span>at:<span class="w"> </span><span class="s1">&#39;.../data/Kit/Isaac-Sim/2023.1/user.config.json&#39;</span>
+<span class="o">[</span>Info<span class="o">]</span><span class="w"> </span><span class="o">[</span>carb<span class="o">]</span><span class="w"> </span>Logging<span class="w"> </span>to<span class="w"> </span>file:<span class="w"> </span><span class="s1">&#39;.../logs/Kit/Isaac-Sim/2023.1/kit_20240328_183346.log&#39;</span>
+</pre></div>
+</div>
+<p>In the above example, the log file is located at <code class="docutils literal notranslate"><span class="pre">.../logs/Kit/Isaac-Sim/2023.1/kit_20240328_183346.log</span></code>,
+<code class="docutils literal notranslate"><span class="pre">...</span></code> is the path to the user’s log directory. The log file is named <code class="docutils literal notranslate"><span class="pre">kit_20240328_183346.log</span></code></p>
+<p>You can open this file to check the internal logs from the simulator. Also when reporting issues, please include
+this log file to help us debug the issue.</p>
+</section>
+<section id="changing-logging-channel-levels-for-the-simulator">
+<h2>Changing logging channel levels for the simulator<a class="headerlink" href="#changing-logging-channel-levels-for-the-simulator" title="Permalink to this heading">#</a></h2>
+<p>By default, the simulator logs messages at the <code class="docutils literal notranslate"><span class="pre">WARN</span></code> level and above on the terminal. You can change the logging
+channel levels to get more detailed logs. The logging channel levels can be set through Omniverse’s logging system.</p>
+<p>To obtain more detailed logs, you can run your application with the following flags:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">--info</span></code>: This flag logs messages at the <code class="docutils literal notranslate"><span class="pre">INFO</span></code> level and above.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">--verbose</span></code>: This flag logs messages at the <code class="docutils literal notranslate"><span class="pre">VERBOSE</span></code> level and above.</p></li>
+</ul>
+<p>For instance, to run a standalone script with verbose logging, you can use the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Run the standalone script with info logging</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/00_sim/create_empty.py<span class="w"> </span>--headless<span class="w"> </span>--info
+</pre></div>
+</div>
+<p>For more fine-grained control, you can modify the logging channels through the <code class="docutils literal notranslate"><span class="pre">omni.log</span></code> module.
+For more information, please refer to its <a class="reference external" href="https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/omni.log/Logging.html">documentation</a>.</p>
+</section>
+<section id="using-cpu-scaling-governor-for-performance">
+<h2>Using CPU Scaling Governor for performance<a class="headerlink" href="#using-cpu-scaling-governor-for-performance" title="Permalink to this heading">#</a></h2>
+<p>By default on many systems, the CPU frequency governor is set to
+“powersave” mode, which sets the CPU to lowest static frequency. To
+increase the maximum performance, we recommend setting the CPU frequency
+governor to “performance” mode. For more details, please check the the
+link
+<a class="reference external" href="https://access.redhat.com/documentation/en-us/red_hat_enterprise_linux/7/html/power_management_guide/cpufreq_governors">here</a>.</p>
+<div class="admonition warning">
+<p class="admonition-title">Warning</p>
+<p>We advice not to set the governor to “performance” mode on a system with poor
+cooling (such as laptops), since it may cause the system to overheat.</p>
+</div>
+<ul>
+<li><p>To view existing <code class="docutils literal notranslate"><span class="pre">scaling_governor</span></code> value per CPU:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>cat<span class="w"> </span>/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
+</pre></div>
+</div>
+</li>
+<li><p>To change the governor to “performance” mode for each CPU:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">echo</span><span class="w"> </span>performance<span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
+</pre></div>
+</div>
+</li>
+</ul>
+</section>
+<section id="observing-long-load-times-at-the-start-of-the-simulation">
+<h2>Observing long load times at the start of the simulation<a class="headerlink" href="#observing-long-load-times-at-the-start-of-the-simulation" title="Permalink to this heading">#</a></h2>
+<p>The first time you run the simulator, it will take a long time to load up. This is because the
+simulator is compiling shaders and loading assets. Subsequent runs should be faster to start up,
+but may still take some time.</p>
+<p>Please note that once the Isaac Sim app loads, the environment creation time may scale linearly with
+the number of environments. Please expect a longer load time if running with thousands of
+environments or if each environment contains a larger number of assets. We are continually working
+on improving the time needed for this.</p>
+<p>When an instance of Isaac Sim is already running, launching another Isaac Sim instance in a different
+process may appear to hang at startup for the first time. Please be patient and give it some time as
+the second process will take longer to start up due to slower shader compilation.</p>
+</section>
+<section id="receiving-a-physx-error-when-running-simulation-on-gpu">
+<h2>Receiving a “PhysX error” when running simulation on GPU<a class="headerlink" href="#receiving-a-physx-error-when-running-simulation-on-gpu" title="Permalink to this heading">#</a></h2>
+<p>When using the GPU pipeline, the buffers used for the physics simulation are allocated on the GPU only
+once at the start of the simulation. This means that they do not grow dynamically as the number of
+collisions or objects in the scene changes. If the number of collisions or objects in the scene
+exceeds the size of the buffers, the simulation will fail with an error such as the following:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>PhysX<span class="w"> </span>error:<span class="w"> </span>the<span class="w"> </span>application<span class="w"> </span>need<span class="w"> </span>to<span class="w"> </span>increase<span class="w"> </span>the<span class="w"> </span>PxgDynamicsMemoryConfig::foundLostPairsCapacity
+parameter<span class="w"> </span>to<span class="w"> </span><span class="m">3072</span>,<span class="w"> </span>otherwise<span class="w"> </span>the<span class="w"> </span>simulation<span class="w"> </span>will<span class="w"> </span>miss<span class="w"> </span>interactions
+</pre></div>
+</div>
+<p>In this case, you need to increase the size of the buffers passed to the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationContext</span></code></a> class. The size of the buffers can be increased by setting
+the <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity" title="omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity"><code class="xref py py-attr docutils literal notranslate"><span class="pre">gpu_found_lost_pairs_capacity</span></code></a> parameter in the
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.PhysxCfg" title="omni.isaac.lab.sim.PhysxCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">PhysxCfg</span></code></a> class. For example, to increase the size of the buffers to
+4096, you can use the following code:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+
+<span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationConfig</span><span class="p">()</span>
+<span class="n">sim_cfg</span><span class="o">.</span><span class="n">physx</span><span class="o">.</span><span class="n">gpu_found_lost_pairs_capacity</span> <span class="o">=</span> <span class="mi">4096</span>
+<span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_params</span><span class="o">=</span><span class="n">sim_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Please see the documentation for <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationCfg</span></code></a> for more details
+on the parameters that can be used to configure the simulation.</p>
+</section>
+<section id="preventing-memory-leaks-in-the-simulator">
+<h2>Preventing memory leaks in the simulator<a class="headerlink" href="#preventing-memory-leaks-in-the-simulator" title="Permalink to this heading">#</a></h2>
+<p>Memory leaks in the Isaac Sim simulator can occur when C++ callbacks are registered with Python objects.
+This happens when callback functions within classes maintain references to the Python objects they are
+associated with. As a result, Python’s garbage collection is unable to reclaim memory associated with
+these objects, preventing the corresponding C++ objects from being destroyed. Over time, this can lead
+to memory leaks and increased resource usage.</p>
+<p>To prevent memory leaks in the Isaac Sim simulator, it is essential to use weak references when registering
+callbacks with the simulator. This ensures that Python objects can be garbage collected when they are no
+longer needed, thereby avoiding memory leaks. The <a class="reference external" href="https://docs.python.org/3/library/weakref.html">weakref</a>
+module from the Python standard library can be employed for this purpose.</p>
+<p>For example, consider a class with a callback function <code class="docutils literal notranslate"><span class="pre">on_event_callback</span></code> that needs to be registered
+with the simulator. If you use a strong reference to the <code class="docutils literal notranslate"><span class="pre">MyClass</span></code> object when passing the callback,
+the reference count of the <code class="docutils literal notranslate"><span class="pre">MyClass</span></code> object will be incremented. This prevents the <code class="docutils literal notranslate"><span class="pre">MyClass</span></code> object
+from being garbage collected when it is no longer needed, i.e., the <code class="docutils literal notranslate"><span class="pre">__del__</span></code> destructor will not be
+called.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.kit</span>
+
+<span class="k">class</span> <span class="nc">MyClass</span><span class="p">:</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="n">app_interface</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">get_app_interface</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_handle</span> <span class="o">=</span> <span class="n">app_interface</span><span class="o">.</span><span class="n">get_post_update_event_stream</span><span class="p">()</span><span class="o">.</span><span class="n">create_subscription_to_pop</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">on_event_callback</span>
+        <span class="p">)</span>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="nf">on_event_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+        <span class="c1"># do something with the message</span>
+</pre></div>
+</div>
+<p>To fix this issue, it’s crucial to employ weak references when registering the callback. While this approach
+adds some verbosity to the code, it ensures that the <code class="docutils literal notranslate"><span class="pre">MyClass</span></code> object can be garbage collected when no longer
+in use. Here’s the modified code:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.kit</span>
+<span class="kn">import</span> <span class="nn">weakref</span>
+
+<span class="k">class</span> <span class="nc">MyClass</span><span class="p">:</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="n">app_interface</span> <span class="o">=</span> <span class="n">omni</span><span class="o">.</span><span class="n">kit</span><span class="o">.</span><span class="n">app</span><span class="o">.</span><span class="n">get_app_interface</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_handle</span> <span class="o">=</span> <span class="n">app_interface</span><span class="o">.</span><span class="n">get_post_update_event_stream</span><span class="p">()</span><span class="o">.</span><span class="n">create_subscription_to_pop</span><span class="p">(</span>
+            <span class="k">lambda</span> <span class="n">event</span><span class="p">,</span> <span class="n">obj</span><span class="o">=</span><span class="n">weakref</span><span class="o">.</span><span class="n">proxy</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="n">obj</span><span class="o">.</span><span class="n">on_event_callback</span><span class="p">(</span><span class="n">event</span><span class="p">)</span>
+        <span class="p">)</span>
+
+    <span class="k">def</span> <span class="fm">__del__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_handle</span><span class="o">.</span><span class="n">unsubscribe</span><span class="p">()</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_handle</span> <span class="o">=</span> <span class="kc">None</span>
+
+    <span class="k">def</span> <span class="nf">on_event_callback</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">event</span><span class="p">):</span>
+        <span class="c1"># do something with the message</span>
+</pre></div>
+</div>
+<p>In this revised code, the weak reference <code class="docutils literal notranslate"><span class="pre">weakref.proxy(self)</span></code> is used when registering the callback,
+allowing the <code class="docutils literal notranslate"><span class="pre">MyClass</span></code> object to be properly garbage collected.</p>
+<p>By following this pattern, you can prevent memory leaks and maintain a more efficient and stable simulation.</p>
+</section>
+<section id="understanding-the-error-logs-from-crashes">
+<h2>Understanding the error logs from crashes<a class="headerlink" href="#understanding-the-error-logs-from-crashes" title="Permalink to this heading">#</a></h2>
+<p>Many times the simulator crashes due to a bug in the implementation.
+This swamps the terminal with exceptions, some of which are coming from
+the python interpreter calling <code class="docutils literal notranslate"><span class="pre">__del__()</span></code> destructor of the
+simulation application. These typically look like the following:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>...
+
+<span class="o">[</span>INFO<span class="o">]</span>:<span class="w"> </span>Completed<span class="w"> </span>setting<span class="w"> </span>up<span class="w"> </span>the<span class="w"> </span>environment...
+
+Traceback<span class="w"> </span><span class="o">(</span>most<span class="w"> </span>recent<span class="w"> </span>call<span class="w"> </span>last<span class="o">)</span>:
+File<span class="w"> </span><span class="s2">&quot;source/standalone/workflows/robomimic/collect_demonstrations.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">166</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>&lt;module&gt;
+<span class="w">    </span>main<span class="o">()</span>
+File<span class="w"> </span><span class="s2">&quot;source/standalone/workflows/robomimic/collect_demonstrations.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">126</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>main
+<span class="w">    </span><span class="nv">actions</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>pre_process_actions<span class="o">(</span>delta_pose,<span class="w"> </span>gripper_command<span class="o">)</span>
+File<span class="w"> </span><span class="s2">&quot;source/standalone/workflows/robomimic/collect_demonstrations.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">57</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>pre_process_actions
+<span class="w">    </span><span class="k">return</span><span class="w"> </span>torch.concat<span class="o">([</span>delta_pose,<span class="w"> </span>gripper_vel<span class="o">]</span>,<span class="w"> </span><span class="nv">dim</span><span class="o">=</span><span class="m">1</span><span class="o">)</span>
+TypeError:<span class="w"> </span>expected<span class="w"> </span>Tensor<span class="w"> </span>as<span class="w"> </span>element<span class="w"> </span><span class="m">1</span><span class="w"> </span><span class="k">in</span><span class="w"> </span>argument<span class="w"> </span><span class="m">0</span>,<span class="w"> </span>but<span class="w"> </span>got<span class="w"> </span>int
+Exception<span class="w"> </span>ignored<span class="w"> </span><span class="k">in</span>:<span class="w"> </span>&lt;<span class="k">function</span><span class="w"> </span>_make_registry.&lt;locals&gt;._Registry.__del__<span class="w"> </span>at<span class="w"> </span>0x7f94ac097f80&gt;
+Traceback<span class="w"> </span><span class="o">(</span>most<span class="w"> </span>recent<span class="w"> </span>call<span class="w"> </span>last<span class="o">)</span>:
+File<span class="w"> </span><span class="s2">&quot;../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">103</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>__del__
+File<span class="w"> </span><span class="s2">&quot;../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">98</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>destroy
+TypeError:<span class="w"> </span><span class="s1">&#39;NoneType&#39;</span><span class="w"> </span>object<span class="w"> </span>is<span class="w"> </span>not<span class="w"> </span>callable
+Exception<span class="w"> </span>ignored<span class="w"> </span><span class="k">in</span>:<span class="w"> </span>&lt;<span class="k">function</span><span class="w"> </span>_make_registry.&lt;locals&gt;._Registry.__del__<span class="w"> </span>at<span class="w"> </span>0x7f94ac097f80&gt;
+Traceback<span class="w"> </span><span class="o">(</span>most<span class="w"> </span>recent<span class="w"> </span>call<span class="w"> </span>last<span class="o">)</span>:
+File<span class="w"> </span><span class="s2">&quot;../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">103</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>__del__
+File<span class="w"> </span><span class="s2">&quot;../IsaacLab/_isaac_sim/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">98</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>destroy
+TypeError:<span class="w"> </span><span class="s1">&#39;NoneType&#39;</span><span class="w"> </span>object<span class="w"> </span>is<span class="w"> </span>not<span class="w"> </span>callable
+Exception<span class="w"> </span>ignored<span class="w"> </span><span class="k">in</span>:<span class="w"> </span>&lt;<span class="k">function</span><span class="w"> </span>SettingChangeSubscription.__del__<span class="w"> </span>at<span class="w"> </span>0x7fa2ea173e60&gt;
+Traceback<span class="w"> </span><span class="o">(</span>most<span class="w"> </span>recent<span class="w"> </span>call<span class="w"> </span>last<span class="o">)</span>:
+File<span class="w"> </span><span class="s2">&quot;../IsaacLab/_isaac_sim/kit/kernel/py/omni/kit/app/_impl/__init__.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">114</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>__del__
+AttributeError:<span class="w"> </span><span class="s1">&#39;NoneType&#39;</span><span class="w"> </span>object<span class="w"> </span>has<span class="w"> </span>no<span class="w"> </span>attribute<span class="w"> </span><span class="s1">&#39;get_settings&#39;</span>
+Exception<span class="w"> </span>ignored<span class="w"> </span><span class="k">in</span>:<span class="w"> </span>&lt;<span class="k">function</span><span class="w"> </span>RegisteredActions.__del__<span class="w"> </span>at<span class="w"> </span>0x7f935f5cae60&gt;
+Traceback<span class="w"> </span><span class="o">(</span>most<span class="w"> </span>recent<span class="w"> </span>call<span class="w"> </span>last<span class="o">)</span>:
+File<span class="w"> </span><span class="s2">&quot;../IsaacLab/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">345</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>__del__
+File<span class="w"> </span><span class="s2">&quot;../IsaacLab/_isaac_sim/extscache/omni.kit.viewport.menubar.lighting-104.0.7/omni/kit/viewport/menubar/lighting/actions.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">350</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>destroy
+TypeError:<span class="w"> </span><span class="s1">&#39;NoneType&#39;</span><span class="w"> </span>object<span class="w"> </span>is<span class="w"> </span>not<span class="w"> </span>callable
+<span class="m">2022</span>-12-02<span class="w"> </span><span class="m">15</span>:41:54<span class="w"> </span><span class="o">[</span><span class="m">18</span>,514ms<span class="o">]</span><span class="w"> </span><span class="o">[</span>Warning<span class="o">]</span><span class="w"> </span><span class="o">[</span>carb.audio.context<span class="o">]</span><span class="w"> </span><span class="m">1</span><span class="w"> </span>contexts<span class="w"> </span>were<span class="w"> </span>leaked
+../IsaacLab/_isaac_sim/python.sh:<span class="w"> </span>line<span class="w"> </span><span class="m">41</span>:<span class="w"> </span><span class="m">414372</span><span class="w"> </span>Segmentation<span class="w"> </span>fault<span class="w">      </span><span class="o">(</span>core<span class="w"> </span>dumped<span class="o">)</span><span class="w"> </span><span class="nv">$python_exe</span><span class="w"> </span><span class="s2">&quot;</span><span class="nv">$@</span><span class="s2">&quot;</span><span class="w"> </span><span class="nv">$args</span>
+There<span class="w"> </span>was<span class="w"> </span>an<span class="w"> </span>error<span class="w"> </span>running<span class="w"> </span>python
+</pre></div>
+</div>
+<p>This is a known error with running standalone scripts with the Isaac Sim
+simulator. Please scroll above the exceptions thrown with
+<code class="docutils literal notranslate"><span class="pre">registry</span></code> to see the actual error log.</p>
+<p>In the above case, the actual error is:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>Traceback<span class="w"> </span><span class="o">(</span>most<span class="w"> </span>recent<span class="w"> </span>call<span class="w"> </span>last<span class="o">)</span>:
+File<span class="w"> </span><span class="s2">&quot;source/standalone/workflows/robomimic/tools/collect_demonstrations.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">166</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>&lt;module&gt;
+<span class="w">    </span>main<span class="o">()</span>
+File<span class="w"> </span><span class="s2">&quot;source/standalone/workflows/robomimic/tools/collect_demonstrations.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">126</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>main
+<span class="w">    </span><span class="nv">actions</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>pre_process_actions<span class="o">(</span>delta_pose,<span class="w"> </span>gripper_command<span class="o">)</span>
+File<span class="w"> </span><span class="s2">&quot;source/standalone/workflows/robomimic/tools/collect_demonstrations.py&quot;</span>,<span class="w"> </span>line<span class="w"> </span><span class="m">57</span>,<span class="w"> </span><span class="k">in</span><span class="w"> </span>pre_process_actions
+<span class="w">    </span><span class="k">return</span><span class="w"> </span>torch.concat<span class="o">([</span>delta_pose,<span class="w"> </span>gripper_vel<span class="o">]</span>,<span class="w"> </span><span class="nv">dim</span><span class="o">=</span><span class="m">1</span><span class="o">)</span>
+TypeError:<span class="w"> </span>expected<span class="w"> </span>Tensor<span class="w"> </span>as<span class="w"> </span>element<span class="w"> </span><span class="m">1</span><span class="w"> </span><span class="k">in</span><span class="w"> </span>argument<span class="w"> </span><span class="m">0</span>,<span class="w"> </span>but<span class="w"> </span>got<span class="w"> </span>int
+</pre></div>
+</div>
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
+                <footer class="prev-next-footer d-print-none">
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+    <i class="fa-solid fa-list"></i> Contents
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#checking-the-internal-logs-from-the-simulator">Checking the internal logs from the simulator</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#changing-logging-channel-levels-for-the-simulator">Changing logging channel levels for the simulator</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#using-cpu-scaling-governor-for-performance">Using CPU Scaling Governor for performance</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#observing-long-load-times-at-the-start-of-the-simulation">Observing long load times at the start of the simulation</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#receiving-a-physx-error-when-running-simulation-on-gpu">Receiving a “PhysX error” when running simulation on GPU</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#preventing-memory-leaks-in-the-simulator">Preventing memory leaks in the simulator</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#understanding-the-error-logs-from-crashes">Understanding the error logs from crashes</a></li>
+</ul>
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new file mode 100644
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+  <section id="isaac-lab-ecosystem">
+<h1>Isaac Lab Ecosystem<a class="headerlink" href="#isaac-lab-ecosystem" title="Permalink to this heading">#</a></h1>
+<p>Isaac Lab is built on top of Isaac Sim to provide a unified and flexible framework
+for robot learning that exploits latest simulation technologies. It is designed to be modular and extensible,
+and aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and
+motion planning). While it includes some pre-built environments, sensors, and tasks, its main goal is to
+provide an open-sourced, unified, and easy-to-use interface for developing and testing custom environments
+and robot learning algorithms.</p>
+<p>Working with Isaac Lab requires the installation of Isaac Sim, which is packaged with core robotics tools
+that Isaac Lab depends on, including URDF and MJCF importers, simulation managers, and ROS features. Isaac
+Sim also builds on top of the Nvidia Omniverse platform, leveraging advanced physics simulation from PhysX,
+photorealistic rendering technologies, and Universal Scene Description (USD) for scene creation.</p>
+<p>Isaac Lab not only inherits the capabilities of Isaac Sim, but also adds a number
+of new features that pertain to robot learning research. For example, including actuator dynamics in the
+simulation, procedural terrain generation, and support to collect data from human demonstrations.</p>
+<img alt="The Isaac Lab, Isaac Sim, and Nvidia Omniverse ecosystem" class="only-light align-center" src="../../_images/ecosystem-light.jpg" />
+<img alt="The Isaac Lab, Isaac Sim, and Nvidia Omniverse ecosystem" class="only-dark align-center" src="../../_images/ecosystem-dark.jpg" />
+<p>For a detailed explanation of Nvidia’s development journey of robot learning frameworks, please visit
+the <a class="reference external" href="faq.html">FAQ page</a>.</p>
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+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
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+
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+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../features/hydra.html">Hydra Configuration System</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.controllers.html">omni.isaac.lab.controllers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html">omni.isaac.lab.scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html">omni.isaac.lab.sensors</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/additional_resources.html">Additional Resources</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/contributing.html">Contribution Guidelines</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/troubleshooting.html">Tricks and Troubleshooting</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/issues.html">Known Issues</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/changelog.html">Extensions Changelog</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/license.html">License</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../refs/bibliography.html">Bibliography</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Project Links</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/index.html">NVIDIA Isaac Sim</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+</div>
+              
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Frequently Asked Questions</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#where-does-isaac-lab-fit-in-the-isaac-ecosystem">Where does Isaac Lab fit in the Isaac ecosystem?</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#why-should-i-use-isaac-lab">Why should I use Isaac Lab?</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="frequently-asked-questions">
+<h1>Frequently Asked Questions<a class="headerlink" href="#frequently-asked-questions" title="Permalink to this heading">#</a></h1>
+<section id="where-does-isaac-lab-fit-in-the-isaac-ecosystem">
+<h2>Where does Isaac Lab fit in the Isaac ecosystem?<a class="headerlink" href="#where-does-isaac-lab-fit-in-the-isaac-ecosystem" title="Permalink to this heading">#</a></h2>
+<p>Over the years, NVIDIA has developed a number of tools for robotics and AI. These tools leverage
+the power of GPUs to accelerate the simulation both in terms of speed and realism. They show great
+promise in the field of simulation technology and are being used by many researchers and companies
+worldwide.</p>
+<p><a class="reference external" href="https://developer.nvidia.com/isaac-gym">Isaac Gym</a> <span id="id1">[<a class="reference internal" href="../refs/bibliography.html#id12" title="Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, and others. Isaac gym: high performance gpu-based physics simulation for robot learning. arXiv preprint arXiv:2108.10470, 2021.">MWG+21</a>]</span> provides a high performance GPU-based physics simulation
+for robot learning. It is built on top of <a class="reference external" href="https://developer.nvidia.com/physx-sdk">PhysX</a> which supports GPU-accelerated simulation of rigid bodies
+and a Python API to directly access physics simulation data. Through an end-to-end GPU pipeline, it is possible
+to achieve high frame rates compared to CPU-based physics engines. The tool has been used successfully in a
+number of research projects, including legged locomotion <span id="id2">[<a class="reference internal" href="../refs/bibliography.html#id2" title="Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter. Learning to walk in minutes using massively parallel deep reinforcement learning. In Conference on Robot Learning, 91–100. PMLR, 2022.">RHRH22</a>]</span> <span id="id3">[<a class="reference internal" href="../refs/bibliography.html#id10" title="Nikita Rudin, David Hoeller, Marko Bjelonic, and Marco Hutter. Advanced skills by learning locomotion and local navigation end-to-end. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), volume, 2497-2503. 2022. doi:10.1109/IROS47612.2022.9981198.">RHBH22</a>]</span>,
+in-hand manipulation <span id="id4">[<a class="reference internal" href="../refs/bibliography.html#id13" title="Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, and others. Dextreme: transfer of agile in-hand manipulation from simulation to reality. arXiv preprint arXiv:2210.13702, 2022.">HAM+22</a>]</span> <span id="id5">[<a class="reference internal" href="../refs/bibliography.html#id15" title="Arthur Allshire, Mayank MittaI, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, and Animesh Garg. Transferring dexterous manipulation from gpu simulation to a remote real-world trifinger. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 11802–11809. IEEE, 2022.">AML+22</a>]</span>, and industrial assembly
+<span id="id6">[<a class="reference internal" href="../refs/bibliography.html#id14" title="Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, and others. Factory: fast contact for robotic assembly. arXiv preprint arXiv:2205.03532, 2022.">NSA+22</a>]</span>.</p>
+<p>Despite the success of Isaac Gym, it is not designed to be a general purpose simulator for
+robotics. For example, it does not include interaction between deformable and rigid objects, high-fidelity
+rendering, and support for ROS. The tool has been primarily designed as a preview release to showcase the
+capabilities of the underlying physics engine. With the release of <a class="reference external" href="https://developer.nvidia.com/isaac-sim">Isaac Sim</a>, NVIDIA is building
+a general purpose simulator for robotics and has integrated the functionalities of Isaac Gym into
+Isaac Sim.</p>
+<p><a class="reference external" href="https://developer.nvidia.com/isaac-sim">Isaac Sim</a> is a robot simulation toolkit built on top of Omniverse, which is a general purpose platform
+that aims to unite complex 3D workflows. Isaac Sim leverages the latest advances in graphics and
+physics simulation to provide a high-fidelity simulation environment for robotics. It supports
+ROS/ROS2, various sensor simulation, tools for domain randomization and synthetic data creation.
+Tiled rendering support in Isaac Sim allows for vectorized rendering across environments, along with
+support for running in the cloud using <a class="reference external" href="https://github.com/isaac-sim/IsaacAutomator">Isaac Automator</a>.
+Overall, it is a powerful tool for roboticists and is a huge step forward in the field of robotics
+simulation.</p>
+<p>With the release of above two tools, NVIDIA also released an open-sourced set of environments called
+<a class="reference external" href="https://github.com/isaac-sim/IsaacGymEnvs">IsaacGymEnvs</a> and <a class="reference external" href="https://github.com/isaac-sim/OmniIsaacGymEnvs">OmniIsaacGymEnvs</a>, that have been built on top of Isaac Gym and Isaac Sim respectively.
+These environments have been designed to display the capabilities of the underlying simulators and provide
+a starting point to understand what is possible with the simulators for robot learning. These environments
+can be used for benchmarking but are not designed for developing and testing custom environments and algorithms.
+This is where Isaac Lab comes in.</p>
+<p>Isaac Lab is built on top of Isaac Sim to provide a unified and flexible framework
+for robot learning that exploits latest simulation technologies. It is designed to be modular and extensible,
+and aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and
+motion planning). While it includes some pre-built environments, sensors, and tasks, its main goal is to
+provide an open-sourced, unified, and easy-to-use interface for developing and testing custom environments
+and robot learning algorithms. It not only inherits the capabilities of Isaac Sim, but also adds a number
+of new features that pertain to robot learning research. For example, including actuator dynamics in the
+simulation, procedural terrain generation, and support to collect data from human demonstrations.</p>
+<p>Isaac Lab replaces the previous <a class="reference external" href="https://github.com/isaac-sim/IsaacGymEnvs">IsaacGymEnvs</a>, <a class="reference external" href="https://github.com/isaac-sim/OmniIsaacGymEnvs">OmniIsaacGymEnvs</a> and <a class="reference external" href="https://isaac-orbit.github.io/">Orbit</a> frameworks and will
+be the single robot learning framework for Isaac Sim. Previously released frameworks are deprecated
+and we encourage users to follow our <a class="reference external" href="../migration/index.html">migration guides</a> to transition over to Isaac Lab.</p>
+</section>
+<section id="why-should-i-use-isaac-lab">
+<h2>Why should I use Isaac Lab?<a class="headerlink" href="#why-should-i-use-isaac-lab" title="Permalink to this heading">#</a></h2>
+<p>Since Isaac Sim remains closed-sourced, it is difficult for users to contribute to the simulator and build a
+common framework for research. On its current path, we see the community using the simulator will simply
+develop their own frameworks that will result in scattered efforts with a lot of duplication of work.
+This has happened in the past with other simulators, and we believe that it is not the best way to move
+forward as a community.</p>
+<p>Isaac Lab provides an open-sourced platform for the community to drive progress with consolidated efforts
+toward designing benchmarks and robot learning systems as a joint initiative. This allows us to reuse
+existing components and algorithms, and to build on top of each other’s work. Doing so not only saves
+time and effort, but also allows us to focus on the more important aspects of research. Our hope with
+Isaac Lab is that it becomes the de-facto platform for robot learning research and an environment <em>zoo</em>
+that leverages Isaac Sim. As the framework matures, we foresee it benefitting hugely from the latest
+simulation developments (as part of internal developments at NVIDIA and collaborating partners)
+and research in robotics.</p>
+<p>We are already working with labs in universities and research institutions to integrate their work into Isaac Lab
+and hope that others in the community will join us too in this effort. If you are interested in contributing
+to Isaac Lab, please reach out to us.</p>
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/contact_sensor.html">Contact Sensor</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
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+
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../overview/showroom.html">Showroom Demos</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Source API</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../api/index.html">API Reference</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html">omni.isaac.lab.app</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.actuators.html">omni.isaac.lab.actuators</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html">omni.isaac.lab.assets</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.devices.html">omni.isaac.lab.devices</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html">omni.isaac.lab.envs</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html">omni.isaac.lab.managers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.markers.html">omni.isaac.lab.markers</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html">omni.isaac.lab.sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.terrains.html">omni.isaac.lab.terrains</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.utils.html">omni.isaac.lab.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.mdp.html">omni.isaac.lab.envs.mdp</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.ui.html">omni.isaac.lab.envs.ui</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.patterns.html">omni.isaac.lab.sensors.patterns</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/additional_resources.html">Additional Resources</a></li>
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+</ul>
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+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference external" href="https://github.com/isaac-sim/IsaacLab">GitHub</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/index.html">NVIDIA Isaac Sim</a></li>
+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+              
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Installation using Isaac Sim Binaries</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#installing-isaac-sim">Installing Isaac Sim</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#downloading-pre-built-binaries">Downloading pre-built binaries</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#verifying-the-isaac-sim-installation">Verifying the Isaac Sim installation</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#installing-isaac-lab">Installing Isaac Lab</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#cloning-isaac-lab">Cloning Isaac Lab</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#creating-the-isaac-sim-symbolic-link">Creating the Isaac Sim Symbolic Link</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#setting-up-the-conda-environment-optional">Setting up the conda environment (optional)</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#installation">Installation</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#verifying-the-isaac-lab-installation">Verifying the Isaac Lab installation</a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="installation-using-isaac-sim-binaries">
+<span id="isaacsim-binaries-installation"></span><h1>Installation using Isaac Sim Binaries<a class="headerlink" href="#installation-using-isaac-sim-binaries" title="Permalink to this heading">#</a></h1>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If you use Conda, we recommend using <a class="reference external" href="https://docs.anaconda.com/miniconda/miniconda-other-installer-links/">Miniconda</a>.</p>
+</div>
+<section id="installing-isaac-sim">
+<h2>Installing Isaac Sim<a class="headerlink" href="#installing-isaac-sim" title="Permalink to this heading">#</a></h2>
+<section id="downloading-pre-built-binaries">
+<h3>Downloading pre-built binaries<a class="headerlink" href="#downloading-pre-built-binaries" title="Permalink to this heading">#</a></h3>
+<p>Please follow the Isaac Sim
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html">documentation</a>
+to install the latest Isaac Sim release.</p>
+<p>To check the minimum system requirements,refer to the documentation
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html">here</a>.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We have tested Isaac Lab with Isaac Sim 4.1 release on Ubuntu
+20.04LTS with NVIDIA driver 525.147.</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-0" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-0">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<p>On Linux systems, by default, Isaac Sim is installed in the directory
+<code class="docutils literal notranslate"><span class="pre">${HOME}/.local/share/ov/pkg/isaac_sim-*</span></code>, with <code class="docutils literal notranslate"><span class="pre">*</span></code> corresponding to the Isaac Sim version.</p>
+</div>
+<input id="sd-tab-item-1" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-1">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<p>On Windows systems, by default,Isaac Sim is installed in the directory
+<code class="docutils literal notranslate"><span class="pre">%USERPROFILE%\AppData\Local\ov\pkg\isaac_sim-*</span></code>, with <code class="docutils literal notranslate"><span class="pre">*</span></code> corresponding to the Isaac Sim version.</p>
+</div>
+</div>
+</div>
+</section>
+<section id="verifying-the-isaac-sim-installation">
+<h3>Verifying the Isaac Sim installation<a class="headerlink" href="#verifying-the-isaac-sim-installation" title="Permalink to this heading">#</a></h3>
+<p>To avoid the overhead of finding and locating the Isaac Sim installation
+directory every time, we recommend exporting the following environment
+variables to your terminal for the remaining of the installation instructions:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-2" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-2">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Isaac Sim root directory</span>
+<span class="nb">export</span><span class="w"> </span><span class="nv">ISAACSIM_PATH</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">${</span><span class="nv">HOME</span><span class="si">}</span><span class="s2">/.local/share/ov/pkg/isaac-sim-4.2.0&quot;</span>
+<span class="c1"># Isaac Sim python executable</span>
+<span class="nb">export</span><span class="w"> </span><span class="nv">ISAACSIM_PYTHON_EXE</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">${</span><span class="nv">ISAACSIM_PATH</span><span class="si">}</span><span class="s2">/python.sh&quot;</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-3" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-3">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: Isaac Sim root directory</span>
+<span class="k">set</span> <span class="nv">ISAACSIM_PATH</span><span class="p">=</span><span class="s2">&quot;</span><span class="nv">%USERPROFILE%</span><span class="s2">\AppData\Local\ov\pkg\isaac-sim-4.2.0&quot;</span>
+<span class="p">:</span><span class="c1">: Isaac Sim python executable</span>
+<span class="k">set</span> <span class="nv">ISAACSIM_PYTHON_EXE</span><span class="p">=</span><span class="s2">&quot;</span><span class="nv">%ISAACSIM_PATH:&quot;=%</span><span class="s2">\python.bat&quot;</span>
+</pre></div>
+</div>
+</div>
+</div>
+<p>For more information on common paths, please check the Isaac Sim
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_faq.html#common-path-locations">documentation</a>.</p>
+<ul>
+<li><p>Check that the simulator runs as expected:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-4" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-4">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># note: you can pass the argument &quot;--help&quot; to see all arguments possible.</span>
+<span class="si">${</span><span class="nv">ISAACSIM_PATH</span><span class="si">}</span>/isaac-sim.sh
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-5" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-5">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: note: you can pass the argument &quot;--help&quot; to see all arguments possible.</span>
+<span class="nv">%ISAACSIM_PATH%</span>\isaac-sim.bat
+</pre></div>
+</div>
+</div>
+</div>
+</li>
+<li><p>Check that the simulator runs from a standalone python script:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-6" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-6">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># checks that python path is set correctly</span>
+<span class="si">${</span><span class="nv">ISAACSIM_PYTHON_EXE</span><span class="si">}</span><span class="w"> </span>-c<span class="w"> </span><span class="s2">&quot;print(&#39;Isaac Sim configuration is now complete.&#39;)&quot;</span>
+<span class="c1"># checks that Isaac Sim can be launched from python</span>
+<span class="si">${</span><span class="nv">ISAACSIM_PYTHON_EXE</span><span class="si">}</span><span class="w"> </span><span class="si">${</span><span class="nv">ISAACSIM_PATH</span><span class="si">}</span>/standalone_examples/api/omni.isaac.core/add_cubes.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-7" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-7">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: checks that python path is set correctly</span>
+<span class="nv">%ISAACSIM_PYTHON_EXE%</span> -c <span class="s2">&quot;print(&#39;Isaac Sim configuration is now complete.&#39;)&quot;</span>
+<span class="p">:</span><span class="c1">: checks that Isaac Sim can be launched from python</span>
+<span class="nv">%ISAACSIM_PYTHON_EXE%</span> <span class="nv">%ISAACSIM_PATH%</span>\standalone_examples\api\omni.isaac.core\add_cubes.py
+</pre></div>
+</div>
+</div>
+</div>
+</li>
+</ul>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>If you have been using a previous version of Isaac Sim, you need to run the following command for the <em>first</em>
+time after installation to remove all the old user data and cached variables:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-8" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-8">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="si">${</span><span class="nv">ISAACSIM_PATH</span><span class="si">}</span>/isaac-sim.sh<span class="w"> </span>--reset-user
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-9" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-9">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="nv">%ISAACSIM_PATH%</span>\isaac-sim.bat --reset-user
+</pre></div>
+</div>
+</div>
+</div>
+</div>
+<p>If the simulator does not run or crashes while following the above
+instructions, it means that something is incorrectly configured. To
+debug and troubleshoot, please check Isaac Sim
+<a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html">documentation</a>
+and the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_forums.html">forums</a>.</p>
+</section>
+</section>
+<section id="installing-isaac-lab">
+<h2>Installing Isaac Lab<a class="headerlink" href="#installing-isaac-lab" title="Permalink to this heading">#</a></h2>
+<section id="cloning-isaac-lab">
+<h3>Cloning Isaac Lab<a class="headerlink" href="#cloning-isaac-lab" title="Permalink to this heading">#</a></h3>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We recommend making a <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/fork">fork</a> of the Isaac Lab repository to contribute
+to the project but this is not mandatory to use the framework. If you
+make a fork, please replace <code class="docutils literal notranslate"><span class="pre">isaac-sim</span></code> with your username
+in the following instructions.</p>
+</div>
+<p>Clone the Isaac Lab repository into your workspace:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-10" name="sd-tab-set-5" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-10">
+SSH</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>clone<span class="w"> </span>git@github.com:isaac-sim/IsaacLab.git
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-11" name="sd-tab-set-5" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-11">
+HTTPS</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>clone<span class="w"> </span>https://github.com/isaac-sim/IsaacLab.git
+</pre></div>
+</div>
+</div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We provide a helper executable <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/isaaclab.sh">isaaclab.sh</a> that provides
+utilities to manage extensions:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-12" name="sd-tab-set-6" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-12">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh --help
+
+usage: isaaclab.sh [-h] [-i] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Isaac Lab.
+
+optional arguments:
+   -h, --help           Display the help content.
+   -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl-games, rsl-rl, sb3, skrl) as extra dependencies. Default is &#39;all&#39;.
+   -f, --format         Run pre-commit to format the code and check lints.
+   -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
+   -s, --sim            Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
+   -t, --test           Run all python unittest tests.
+   -o, --docker         Run the docker container helper script (docker/container.sh).
+   -v, --vscode         Generate the VSCode settings file from template.
+   -d, --docs           Build the documentation from source using sphinx.
+   -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is &#39;isaaclab&#39;.
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-13" name="sd-tab-set-6" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-13">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>isaaclab.bat --help
+
+usage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage Isaac Lab.
+
+optional arguments:
+   -h, --help           Display the help content.
+   -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl-games, rsl-rl, sb3, skrl) as extra dependencies. Default is &#39;all&#39;.
+   -f, --format         Run pre-commit to format the code and check lints.
+   -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
+   -s, --sim            Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
+   -t, --test           Run all python unittest tests.
+   -v, --vscode         Generate the VSCode settings file from template.
+   -d, --docs           Build the documentation from source using sphinx.
+   -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is &#39;isaaclab&#39;.
+</pre></div>
+</div>
+</div>
+</div>
+</div>
+</section>
+<section id="creating-the-isaac-sim-symbolic-link">
+<h3>Creating the Isaac Sim Symbolic Link<a class="headerlink" href="#creating-the-isaac-sim-symbolic-link" title="Permalink to this heading">#</a></h3>
+<p>Set up a symbolic link between the installed Isaac Sim root folder
+and <code class="docutils literal notranslate"><span class="pre">_isaac_sim</span></code> in the Isaac Lab directory. This makes it convenient
+to index the python modules and look for extensions shipped with Isaac Sim.</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-14" name="sd-tab-set-7" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-14">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># enter the cloned repository</span>
+<span class="nb">cd</span><span class="w"> </span>IsaacLab
+<span class="c1"># create a symbolic link</span>
+ln<span class="w"> </span>-s<span class="w"> </span>path_to_isaac_sim<span class="w"> </span>_isaac_sim
+<span class="c1"># For example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.2.0 _isaac_sim</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-15" name="sd-tab-set-7" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-15">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: enter the cloned repository</span>
+<span class="k">cd</span> IsaacLab
+<span class="p">:</span><span class="c1">: create a symbolic link - requires launching Command Prompt with Administrator access</span>
+<span class="k">mklink</span> /D _isaac_sim path_to_isaac_sim
+<span class="p">:</span><span class="c1">: For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.2.0</span>
+</pre></div>
+</div>
+</div>
+</div>
+</section>
+<section id="setting-up-the-conda-environment-optional">
+<h3>Setting up the conda environment (optional)<a class="headerlink" href="#setting-up-the-conda-environment-optional" title="Permalink to this heading">#</a></h3>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>This step is optional. If you are using the bundled python with Isaac Sim, you can skip this step.</p>
+</div>
+<p>The executable <code class="docutils literal notranslate"><span class="pre">isaaclab.sh</span></code> automatically fetches the python bundled with Isaac
+Sim, using <code class="docutils literal notranslate"><span class="pre">./isaaclab.sh</span> <span class="pre">-p</span></code> command (unless inside a virtual environment). This executable
+behaves like a python executable, and can be used to run any python script or
+module with the simulator. For more information, please refer to the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/manual_standalone_python.html#isaac-sim-python-environment">documentation</a>.</p>
+<p>Although using a virtual environment is optional, we recommend using <code class="docutils literal notranslate"><span class="pre">conda</span></code>. To install
+<code class="docutils literal notranslate"><span class="pre">conda</span></code>, please follow the instructions <a class="reference external" href="https://docs.conda.io/projects/conda/en/latest/user-guide/install/index.html">here</a>.
+In case you want to use <code class="docutils literal notranslate"><span class="pre">conda</span></code> to create a virtual environment, you can
+use the following command:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-16" name="sd-tab-set-8" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-16">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Option 1: Default name for conda environment is &#39;isaaclab&#39;</span>
+./isaaclab.sh<span class="w"> </span>--conda<span class="w">  </span><span class="c1"># or &quot;./isaaclab.sh -c&quot;</span>
+<span class="c1"># Option 2: Custom name for conda environment</span>
+./isaaclab.sh<span class="w"> </span>--conda<span class="w"> </span>my_env<span class="w">  </span><span class="c1"># or &quot;./isaaclab.sh -c my_env&quot;</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-17" name="sd-tab-set-8" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-17">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: Option 1: Default name for conda environment is &#39;isaaclab&#39;</span>
+isaaclab.bat --conda  :: or <span class="s2">&quot;isaaclab.bat -c&quot;</span>
+<span class="p">:</span><span class="c1">: Option 2: Custom name for conda environment</span>
+isaaclab.bat --conda my_env  :: or <span class="s2">&quot;isaaclab.bat -c my_env&quot;</span>
+</pre></div>
+</div>
+</div>
+</div>
+<p>If you are using <code class="docutils literal notranslate"><span class="pre">conda</span></code> to create a virtual environment, make sure to
+activate the environment before running any scripts. For example:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>conda<span class="w"> </span>activate<span class="w"> </span>isaaclab<span class="w">  </span><span class="c1"># or &quot;conda activate my_env&quot;</span>
+</pre></div>
+</div>
+<p>Once you are in the virtual environment, you do not need to use <code class="docutils literal notranslate"><span class="pre">./isaaclab.sh</span> <span class="pre">-p</span></code> / <code class="docutils literal notranslate"><span class="pre">isaaclab.bat</span> <span class="pre">-p</span></code>
+to run python scripts. You can use the default python executable in your environment
+by running <code class="docutils literal notranslate"><span class="pre">python</span></code> or <code class="docutils literal notranslate"><span class="pre">python3</span></code>. However, for the rest of the documentation,
+we will assume that you are using <code class="docutils literal notranslate"><span class="pre">./isaaclab.sh</span> <span class="pre">-p</span></code> / <code class="docutils literal notranslate"><span class="pre">isaaclab.bat</span> <span class="pre">-p</span></code> to run python scripts. This command
+is equivalent to running <code class="docutils literal notranslate"><span class="pre">python</span></code> or <code class="docutils literal notranslate"><span class="pre">python3</span></code> in your virtual environment.</p>
+</section>
+<section id="installation">
+<h3>Installation<a class="headerlink" href="#installation" title="Permalink to this heading">#</a></h3>
+<ul>
+<li><p>Install dependencies using <code class="docutils literal notranslate"><span class="pre">apt</span></code> (on Linux only):</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># these dependency are needed by robomimic which is not available on Windows</span>
+sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>cmake<span class="w"> </span>build-essential
+</pre></div>
+</div>
+</li>
+<li><p>Run the install command that iterates over all the extensions in <code class="docutils literal notranslate"><span class="pre">source/extensions</span></code> directory and installs them
+using pip (with <code class="docutils literal notranslate"><span class="pre">--editable</span></code> flag):</p></li>
+</ul>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-18" name="sd-tab-set-9" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-18">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>--install<span class="w"> </span><span class="c1"># or &quot;./isaaclab.sh -i&quot;</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-19" name="sd-tab-set-9" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-19">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat --install :: or <span class="s2">&quot;isaaclab.bat -i&quot;</span>
+</pre></div>
+</div>
+</div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>By default, the above will install all the learning frameworks. If you want to install only a specific framework, you can
+pass the name of the framework as an argument. For example, to install only the <code class="docutils literal notranslate"><span class="pre">rl_games</span></code> framework, you can run</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-20" name="sd-tab-set-10" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-20">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>--install<span class="w"> </span>rl_games<span class="w">  </span><span class="c1"># or &quot;./isaaclab.sh -i rl_games&quot;</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-21" name="sd-tab-set-10" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-21">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>isaaclab.bat --install rl_games :: or <span class="s2">&quot;isaaclab.bat -i rl_games&quot;</span>
+</pre></div>
+</div>
+</div>
+</div>
+<p>The valid options are <code class="docutils literal notranslate"><span class="pre">rl_games</span></code>, <code class="docutils literal notranslate"><span class="pre">rsl_rl</span></code>, <code class="docutils literal notranslate"><span class="pre">sb3</span></code>, <code class="docutils literal notranslate"><span class="pre">skrl</span></code>, <code class="docutils literal notranslate"><span class="pre">robomimic</span></code>, <code class="docutils literal notranslate"><span class="pre">none</span></code>.</p>
+</div>
+</section>
+<section id="verifying-the-isaac-lab-installation">
+<h3>Verifying the Isaac Lab installation<a class="headerlink" href="#verifying-the-isaac-lab-installation" title="Permalink to this heading">#</a></h3>
+<p>To verify that the installation was successful, run the following command from the
+top of the repository:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-22" name="sd-tab-set-11" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-22">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Option 1: Using the isaaclab.sh executable</span>
+<span class="c1"># note: this works for both the bundled python and the virtual environment</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/00_sim/create_empty.py
+
+<span class="c1"># Option 2: Using python in your virtual environment</span>
+python<span class="w"> </span>source/standalone/tutorials/00_sim/create_empty.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-23" name="sd-tab-set-11" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-23">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: Option 1: Using the isaaclab.bat executable</span>
+<span class="p">:</span><span class="c1">: note: this works for both the bundled python and the virtual environment</span>
+isaaclab.bat -p source\standalone\tutorials\00_sim\create_empty.py
+
+<span class="p">:</span><span class="c1">: Option 2: Using python in your virtual environment</span>
+python source\standalone\tutorials\00_sim\create_empty.py
+</pre></div>
+</div>
+</div>
+</div>
+<p>The above command should launch the simulator and display a window with a black
+viewport. You can exit the script by pressing <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> on your terminal.
+On Windows machines, please terminate the process from Command Prompt using
+<code class="docutils literal notranslate"><span class="pre">Ctrl+Break</span></code> or <code class="docutils literal notranslate"><span class="pre">Ctrl+fn+B</span></code>.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="Simulator with a black window." src="../../../_images/verify_install.jpg" />
+</figure>
+<p>If you see this, then the installation was successful! 🎉</p>
+</section>
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
+                <footer class="prev-next-footer d-print-none">
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+        <p class="prev-next-title">Installation using Isaac Sim pip</p>
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+<ul class="current nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../ecosystem.html">Isaac Lab Ecosystem</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="index.html">Local Installation</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/developer-guide/vs_code.html">Setting up Visual Studio Code</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/ray_caster.html">Ray Caster</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../overview/environments.html">Available Environments</a></li>
+
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/showroom.html">Showroom Demos</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/run_docker_example.html">Running an example with Docker</a></li>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Running Isaac Lab in the Cloud</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#installing-isaac-automator">Installing Isaac Automator</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#running-isaac-automator">Running Isaac Automator</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#running-isaac-lab-on-the-cloud">Running Isaac Lab on the Cloud</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#destroying-a-development">Destroying a Development</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="running-isaac-lab-in-the-cloud">
+<h1>Running Isaac Lab in the Cloud<a class="headerlink" href="#running-isaac-lab-in-the-cloud" title="Permalink to this heading">#</a></h1>
+<p>Isaac Lab can be run in various cloud infrastructures with the use of <a class="reference external" href="https://github.com/isaac-sim/IsaacAutomator">Isaac Automator</a>.
+Isaac Automator allows for quick deployment of Isaac Sim and Isaac Lab onto the public clouds (AWS, GCP, Azure, and Alibaba Cloud are currently supported).</p>
+<p>The result is a fully configured remote desktop cloud workstation, which can be used for development and testing of Isaac Lab within minutes and on a budget. Isaac Automator supports variety of GPU instances and stop-start functionality to save on cloud costs and a variety of tools to aid the workflow (like uploading and downloading data, autorun, deployment management, etc).</p>
+<section id="installing-isaac-automator">
+<h2>Installing Isaac Automator<a class="headerlink" href="#installing-isaac-automator" title="Permalink to this heading">#</a></h2>
+<p>For the most update-to-date and complete installation instructions, please refer to <a class="reference external" href="https://github.com/isaac-sim/IsaacAutomator?tab=readme-ov-file#installation">Isaac Automator</a>.</p>
+<p>To use Isaac Automator, first clone the repo:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>clone<span class="w"> </span>https://github.com/isaac-sim/IsaacAutomator.git
+</pre></div>
+</div>
+<p>Isaac Automator requires having <code class="docutils literal notranslate"><span class="pre">docker</span></code> pre-installed on the system.</p>
+<ul class="simple">
+<li><p>To install Docker, please follow the instructions for your operating system on the <a class="reference external" href="https://docs.docker.com/desktop/install/linux-install/">Docker website</a>.</p></li>
+<li><p>Follow the post-installation steps for Docker on the <a class="reference external" href="https://docs.docker.com/engine/install/linux-postinstall/">post-installation steps</a> page. These steps allow you to run
+Docker without using <code class="docutils literal notranslate"><span class="pre">sudo</span></code>.</p></li>
+</ul>
+<p>Isaac Automator also requires obtaining a NGC API key.</p>
+<ul>
+<li><p>Get access to the <a class="reference external" href="https://catalog.ngc.nvidia.com/orgs/nvidia/containers/isaac-sim">Isaac Sim container</a> by joining the NVIDIA Developer Program credentials.</p></li>
+<li><p>Generate your <a class="reference external" href="https://docs.nvidia.com/ngc/gpu-cloud/ngc-user-guide/index.html#generating-api-key">NGC API key</a> to access locked container images from NVIDIA GPU Cloud (NGC).</p>
+<ul>
+<li><p>This step requires you to create an NGC account if you do not already have one.</p></li>
+<li><p>Once you have your generated API key, you need to log in to NGC
+from the terminal.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>docker<span class="w"> </span>login<span class="w"> </span>nvcr.io
+</pre></div>
+</div>
+</li>
+<li><p>For the username, enter <code class="docutils literal notranslate"><span class="pre">$oauthtoken</span></code> exactly as shown. It is a special username that is used to
+authenticate with NGC.</p>
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>Username: $oauthtoken
+Password: &lt;Your NGC API Key&gt;
+</pre></div>
+</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<section id="running-isaac-automator">
+<h2>Running Isaac Automator<a class="headerlink" href="#running-isaac-automator" title="Permalink to this heading">#</a></h2>
+<p>To run Isaac Automator, first build the Isaac Automator container:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-0" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-0">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./build
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-1" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-1">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>docker build --platform linux/x86_64 -t isa .
+</pre></div>
+</div>
+</div>
+</div>
+<p>Next, enter the automator container:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-2" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-2">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./run
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-3" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-3">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>docker run --platform linux/x86_64 -it --rm -v .:/app isa bash
+</pre></div>
+</div>
+</div>
+</div>
+<p>Next, run the deployed script for your preferred cloud:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># AWS</span>
+./deploy-aws
+<span class="c1"># Azure</span>
+./deploy-azure
+<span class="c1"># GCP</span>
+./deploy-gcp
+<span class="c1"># Alibaba Cloud</span>
+./deploy-alicloud
+</pre></div>
+</div>
+<p>Follow the prompts for entering information regarding the environment setup and credentials.
+Once successful, instructions for connecting to the cloud instance will be available in the terminal.
+Connections can be made using SSH, noVCN, or NoMachine.</p>
+<p>For details on the credentials and setup required for each cloud, please visit the
+<a class="reference external" href="https://github.com/isaac-sim/IsaacAutomator?tab=readme-ov-file#deploying-isaac-sim">Isaac Automator</a>
+page for more instructions.</p>
+</section>
+<section id="running-isaac-lab-on-the-cloud">
+<h2>Running Isaac Lab on the Cloud<a class="headerlink" href="#running-isaac-lab-on-the-cloud" title="Permalink to this heading">#</a></h2>
+<p>Once connected to the cloud instance, the desktop will have an icon showing <code class="docutils literal notranslate"><span class="pre">isaaclab.sh</span></code>.
+Launch the <code class="docutils literal notranslate"><span class="pre">isaaclab.sh</span></code> executable, which will open a new Terminal. Within the terminal,
+Isaac Lab commands can be executed in the same way as running locally.</p>
+<p>For example:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-4" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-4">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-v0
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-5" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-5">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span>./isaaclab.bat -p source/standalone/workflows/rl_games/train.py --task=Isaac-Cartpole-v0
+</pre></div>
+</div>
+</div>
+</div>
+</section>
+<section id="destroying-a-development">
+<h2>Destroying a Development<a class="headerlink" href="#destroying-a-development" title="Permalink to this heading">#</a></h2>
+<p>To save costs, deployments can be destroyed when not being used.
+This can be done from within the Automator container, which can be entered with command <code class="docutils literal notranslate"><span class="pre">./run</span></code>.</p>
+<p>To destroy a deployment, run:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./destroy<span class="w"> </span>&lt;deployment-name&gt;
+</pre></div>
+</div>
+</section>
+</section>
+
+
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/performance_benchmarks.html">Performance Benchmarks</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/teleop_imitation.html">Teleoperation and Imitation Learning</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../overview/simple_agents.html">Simple Agents</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../features/hydra.html">Hydra Configuration System</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../tutorials/index.html">Tutorials</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../tutorials/05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../how-to/index.html">How-to Guides</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/import_new_asset.html">Importing a New Asset</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/write_articulation_cfg.html">Writing an Asset Configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/save_camera_output.html">Saving rendered images and 3D re-projection</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/draw_markers.html">Creating Visualization Markers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/wrap_rl_env.html">Wrapping environments</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/add_own_library.html">Adding your own learning library</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_animation.html">Recording Animations of Simulations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../deployment/index.html">Container Deployment</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/docker.html">Docker Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/cluster.html">Cluster Guide</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../deployment/run_docker_example.html">Running an example with Docker</a></li>
+</ul>
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+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Migration Guides</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_isaacgymenvs.html">From IsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_omniisaacgymenvs.html">From OmniIsaacGymEnvs</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../migration/migrating_from_orbit.html">From Orbit</a></li>
+</ul>
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+    <h1>Local Installation</h1>
+    <!-- Table of contents -->
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+        <div id="jb-print-toc">
+            
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="local-installation">
+<h1>Local Installation<a class="headerlink" href="#local-installation" title="Permalink to this heading">#</a></h1>
+<a class="reference external image-reference" href="https://developer.nvidia.com/isaac-sim"><img alt="IsaacSim 4.2.0" src="https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg" /></a>
+<a class="reference external image-reference" href="https://www.python.org/downloads/release/python-31013/"><img alt="Python 3.10" src="https://img.shields.io/badge/python-3.10-blue.svg" /></a>
+<a class="reference external image-reference" href="https://releases.ubuntu.com/20.04/"><img alt="Ubuntu 20.04" src="https://img.shields.io/badge/platform-linux--64-orange.svg" /></a>
+<a class="reference external image-reference" href="https://www.microsoft.com/en-ca/windows/windows-11"><img alt="Windows 11" src="https://img.shields.io/badge/platform-windows--64-orange.svg" /></a>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>We have dropped support for Isaac Sim versions 4.0.0 and below. We recommend using the latest
+Isaac Sim 4.2.0 release to benefit from the latest features and improvements.</p>
+<p>For more information, please refer to the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/release_notes.html">Isaac Sim release notes</a>.</p>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We recommend system requirements with at least 32GB RAM and 16GB VRAM for Isaac Lab.
+For the full list of system requirements for Isaac Sim, please refer to the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html#system-requirements">Isaac Sim system requirements</a>.</p>
+</div>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="pip_installation.html#installing-isaac-sim">Installing Isaac Sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="pip_installation.html#installing-isaac-lab">Installing Isaac Lab</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="binaries_installation.html#installing-isaac-sim">Installing Isaac Sim</a></li>
+<li class="toctree-l2"><a class="reference internal" href="binaries_installation.html#installing-isaac-lab">Installing Isaac Lab</a></li>
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new file mode 100644
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+</div>
+              
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+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Installation using Isaac Sim pip</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#installing-isaac-sim">Installing Isaac Sim</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#verifying-the-isaac-sim-installation">Verifying the Isaac Sim installation</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#installing-isaac-lab">Installing Isaac Lab</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#cloning-isaac-lab">Cloning Isaac Lab</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#installation">Installation</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#verifying-the-isaac-lab-installation">Verifying the Isaac Lab installation</a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="installation-using-isaac-sim-pip">
+<span id="isaacsim-pip-installation"></span><h1>Installation using Isaac Sim pip<a class="headerlink" href="#installation-using-isaac-sim-pip" title="Permalink to this heading">#</a></h1>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>If you use Conda, we recommend using <a class="reference external" href="https://docs.anaconda.com/miniconda/miniconda-other-installer-links/">Miniconda</a>.</p>
+</div>
+<section id="installing-isaac-sim">
+<h2>Installing Isaac Sim<a class="headerlink" href="#installing-isaac-sim" title="Permalink to this heading">#</a></h2>
+<p>From Isaac Sim 4.0 release, it is possible to install Isaac Sim using pip. This approach is experimental and may have
+compatibility issues with some Linux distributions. If you encounter any issues, please report them to the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/common/feedback.html">Isaac Sim Forums</a>.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>Installing Isaac Sim with pip requires GLIBC 2.34+ version compatibility.
+To check the GLIBC version on your system, use command <code class="docutils literal notranslate"><span class="pre">ldd</span> <span class="pre">--version</span></code>.</p>
+<p>This may pose compatibility issues with some Linux distributions. For instance, Ubuntu 20.04 LTS has GLIBC 2.31
+by default. If you encounter compatibility issues, we recommend following the
+<a class="reference internal" href="binaries_installation.html#isaacsim-binaries-installation"><span class="std std-ref">Isaac Sim Binaries Installation</span></a> approach.</p>
+</div>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>On Windows with CUDA 12, the GPU driver version 552.86 is required.</p>
+</div>
+<ul>
+<li><p>To use the pip installation approach for Isaac Sim, we recommend first creating a virtual environment.
+Ensure that the python version of the virtual environment is <strong>Python 3.10</strong>.</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-0" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-0">
+conda environment</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>conda<span class="w"> </span>create<span class="w"> </span>-n<span class="w"> </span>isaaclab<span class="w"> </span><span class="nv">python</span><span class="o">=</span><span class="m">3</span>.10
+conda<span class="w"> </span>activate<span class="w"> </span>isaaclab
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-1" name="sd-tab-set-0" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-1">
+venv environment</label><div class="sd-tab-content docutils">
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-2" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-2">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># create a virtual environment named isaaclab with python3.10</span>
+python3.10<span class="w"> </span>-m<span class="w"> </span>venv<span class="w"> </span>isaaclab
+<span class="c1"># activate the virtual environment</span>
+<span class="nb">source</span><span class="w"> </span>isaaclab/bin/activate
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-3" name="sd-tab-set-1" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-3">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span># create a virtual environment named isaaclab with python3.10
+python3.10 -m venv isaaclab
+# activate the virtual environment
+isaaclab\Scripts\activate
+</pre></div>
+</div>
+</div>
+</div>
+</div>
+</div>
+</li>
+<li><p>Next, install a CUDA-enabled PyTorch 2.4.0 build based on the CUDA version available on your system. This step is optional for Linux, but required for Windows to ensure a CUDA-compatible version of PyTorch is installed.</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-4" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-4">
+CUDA 11</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span><span class="nv">torch</span><span class="o">==</span><span class="m">2</span>.4.0<span class="w"> </span>--index-url<span class="w"> </span>https://download.pytorch.org/whl/cu118
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-5" name="sd-tab-set-2" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-5">
+CUDA 12</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span><span class="nv">torch</span><span class="o">==</span><span class="m">2</span>.4.0<span class="w"> </span>--index-url<span class="w"> </span>https://download.pytorch.org/whl/cu121
+</pre></div>
+</div>
+</div>
+</div>
+</li>
+<li><p>Before installing Isaac Sim, ensure the latest pip version is installed. To update pip, run</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span>--upgrade<span class="w"> </span>pip
+</pre></div>
+</div>
+</li>
+<li><p>Then, install the Isaac Sim packages</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span><span class="nv">isaacsim</span><span class="o">==</span><span class="m">4</span>.2.0.2<span class="w"> </span>isaacsim-extscache-physics<span class="o">==</span><span class="m">4</span>.2.0.2<span class="w"> </span>isaacsim-extscache-kit<span class="o">==</span><span class="m">4</span>.2.0.2<span class="w"> </span>isaacsim-extscache-kit-sdk<span class="o">==</span><span class="m">4</span>.2.0.2<span class="w"> </span>--extra-index-url<span class="w"> </span>https://pypi.nvidia.com
+</pre></div>
+</div>
+</li>
+<li><p>To install a minimal set of packages for running Isaac Lab only, the following command can be used. Note that you cannot run <code class="docutils literal notranslate"><span class="pre">isaacsim</span></code> with this.</p>
+<blockquote>
+<div><div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>pip<span class="w"> </span>install<span class="w"> </span>isaacsim-rl<span class="w"> </span>isaacsim-replicator<span class="w"> </span>isaacsim-extscache-physics<span class="w"> </span>isaacsim-extscache-kit-sdk<span class="w"> </span>isaacsim-extscache-kit<span class="w"> </span>isaacsim-app<span class="w"> </span>--extra-index-url<span class="w"> </span>https://pypi.nvidia.com
+</pre></div>
+</div>
+</div></blockquote>
+</li>
+</ul>
+<section id="verifying-the-isaac-sim-installation">
+<h3>Verifying the Isaac Sim installation<a class="headerlink" href="#verifying-the-isaac-sim-installation" title="Permalink to this heading">#</a></h3>
+<ul>
+<li><p>Make sure that your virtual environment is activated (if applicable)</p></li>
+<li><p>Check that the simulator runs as expected:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># note: you can pass the argument &quot;--help&quot; to see all arguments possible.</span>
+isaacsim
+</pre></div>
+</div>
+<p>By default, this will launch an empty mini Kit window.</p>
+</li>
+<li><p>To run with a specific experience file, run:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># experience files can be absolute path, or relative path searched in isaacsim/apps or omni/apps</span>
+isaacsim<span class="w"> </span>omni.isaac.sim.python.kit
+</pre></div>
+</div>
+</li>
+</ul>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>When running Isaac Sim for the first time, all dependent extensions will be pulled from the registry.
+This process can take upwards of 10 minutes and is required on the first run of each experience file.
+Once the extensions are pulled, consecutive runs using the same experience file will use the cached extensions.</p>
+<p>In addition, the first run will prompt users to accept the Nvidia Omniverse License Agreement.
+To accept the EULA, reply <code class="docutils literal notranslate"><span class="pre">Yes</span></code> when prompted with the below message:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>By<span class="w"> </span>installing<span class="w"> </span>or<span class="w"> </span>using<span class="w"> </span>Isaac<span class="w"> </span>Sim,<span class="w"> </span>I<span class="w"> </span>agree<span class="w"> </span>to<span class="w"> </span>the<span class="w"> </span>terms<span class="w"> </span>of<span class="w"> </span>NVIDIA<span class="w"> </span>OMNIVERSE<span class="w"> </span>LICENSE<span class="w"> </span>AGREEMENT<span class="w"> </span><span class="o">(</span>EULA<span class="o">)</span>
+<span class="k">in</span><span class="w"> </span>https://docs.omniverse.nvidia.com/isaacsim/latest/common/NVIDIA_Omniverse_License_Agreement.html
+
+Do<span class="w"> </span>you<span class="w"> </span>accept<span class="w"> </span>the<span class="w"> </span>EULA?<span class="w"> </span><span class="o">(</span>Yes/No<span class="o">)</span>:<span class="w"> </span>Yes
+</pre></div>
+</div>
+</div>
+<p>If the simulator does not run or crashes while following the above
+instructions, it means that something is incorrectly configured. To
+debug and troubleshoot, please check Isaac Sim
+<a class="reference external" href="https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html">documentation</a>
+and the
+<a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_forums.html">forums</a>.</p>
+</section>
+</section>
+<section id="installing-isaac-lab">
+<h2>Installing Isaac Lab<a class="headerlink" href="#installing-isaac-lab" title="Permalink to this heading">#</a></h2>
+<section id="cloning-isaac-lab">
+<h3>Cloning Isaac Lab<a class="headerlink" href="#cloning-isaac-lab" title="Permalink to this heading">#</a></h3>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We recommend making a <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/fork">fork</a> of the Isaac Lab repository to contribute
+to the project but this is not mandatory to use the framework. If you
+make a fork, please replace <code class="docutils literal notranslate"><span class="pre">isaac-sim</span></code> with your username
+in the following instructions.</p>
+</div>
+<p>Clone the Isaac Lab repository into your workspace:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-6" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-6">
+SSH</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>clone<span class="w"> </span>git@github.com:isaac-sim/IsaacLab.git
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-7" name="sd-tab-set-3" type="radio">
+<label class="sd-tab-label" for="sd-tab-item-7">
+HTTPS</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>git<span class="w"> </span>clone<span class="w"> </span>https://github.com/isaac-sim/IsaacLab.git
+</pre></div>
+</div>
+</div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We provide a helper executable <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/isaaclab.sh">isaaclab.sh</a> that provides
+utilities to manage extensions:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-8" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-8">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh --help
+
+usage: isaaclab.sh [-h] [-i] [-f] [-p] [-s] [-t] [-o] [-v] [-d] [-c] -- Utility to manage Isaac Lab.
+
+optional arguments:
+   -h, --help           Display the help content.
+   -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl_games, rsl_rl, sb3, skrl) as extra dependencies. Default is &#39;all&#39;.
+   -f, --format         Run pre-commit to format the code and check lints.
+   -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
+   -s, --sim            Run the simulator executable (isaac-sim.sh) provided by Isaac Sim.
+   -t, --test           Run all python unittest tests.
+   -o, --docker         Run the docker container helper script (docker/container.sh).
+   -v, --vscode         Generate the VSCode settings file from template.
+   -d, --docs           Build the documentation from source using sphinx.
+   -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is &#39;isaaclab&#39;.
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-9" name="sd-tab-set-4" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-9">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-text notranslate"><div class="highlight"><pre><span></span>isaaclab.bat --help
+
+usage: isaaclab.bat [-h] [-i] [-f] [-p] [-s] [-v] [-d] [-c] -- Utility to manage Isaac Lab.
+
+optional arguments:
+   -h, --help           Display the help content.
+   -i, --install [LIB]  Install the extensions inside Isaac Lab and learning frameworks (rl_games, rsl_rl, sb3, skrl) as extra dependencies. Default is &#39;all&#39;.
+   -f, --format         Run pre-commit to format the code and check lints.
+   -p, --python         Run the python executable provided by Isaac Sim or virtual environment (if active).
+   -s, --sim            Run the simulator executable (isaac-sim.bat) provided by Isaac Sim.
+   -t, --test           Run all python unittest tests.
+   -v, --vscode         Generate the VSCode settings file from template.
+   -d, --docs           Build the documentation from source using sphinx.
+   -c, --conda [NAME]   Create the conda environment for Isaac Lab. Default name is &#39;isaaclab&#39;.
+</pre></div>
+</div>
+</div>
+</div>
+</div>
+</section>
+<section id="installation">
+<h3>Installation<a class="headerlink" href="#installation" title="Permalink to this heading">#</a></h3>
+<ul>
+<li><p>Install dependencies using <code class="docutils literal notranslate"><span class="pre">apt</span></code> (on Ubuntu):</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>cmake<span class="w"> </span>build-essential
+</pre></div>
+</div>
+</li>
+<li><p>Run the install command that iterates over all the extensions in <code class="docutils literal notranslate"><span class="pre">source/extensions</span></code> directory and installs them
+using pip (with <code class="docutils literal notranslate"><span class="pre">--editable</span></code> flag):</p></li>
+</ul>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-10" name="sd-tab-set-5" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-10">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>--install<span class="w"> </span><span class="c1"># or &quot;./isaaclab.sh -i&quot;</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-11" name="sd-tab-set-5" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-11">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>isaaclab.bat<span class="w"> </span>--install<span class="w"> </span>::<span class="w"> </span>or<span class="w"> </span><span class="s2">&quot;isaaclab.bat -i&quot;</span>
+</pre></div>
+</div>
+</div>
+</div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>By default, this will install all the learning frameworks. If you want to install only a specific framework, you can
+pass the name of the framework as an argument. For example, to install only the <code class="docutils literal notranslate"><span class="pre">rl_games</span></code> framework, you can run</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-12" name="sd-tab-set-6" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-12">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>--install<span class="w"> </span>rl_games<span class="w">  </span><span class="c1"># or &quot;./isaaclab.sh -i rl_games&quot;</span>
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-13" name="sd-tab-set-6" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-13">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>isaaclab.bat<span class="w"> </span>--install<span class="w"> </span>rl_games<span class="w"> </span>::<span class="w"> </span>or<span class="w"> </span><span class="s2">&quot;isaaclab.bat -i rl_games&quot;</span>
+</pre></div>
+</div>
+</div>
+</div>
+<p>The valid options are <code class="docutils literal notranslate"><span class="pre">rl_games</span></code>, <code class="docutils literal notranslate"><span class="pre">rsl_rl</span></code>, <code class="docutils literal notranslate"><span class="pre">sb3</span></code>, <code class="docutils literal notranslate"><span class="pre">skrl</span></code>, <code class="docutils literal notranslate"><span class="pre">robomimic</span></code>, <code class="docutils literal notranslate"><span class="pre">none</span></code>.</p>
+</div>
+</section>
+<section id="verifying-the-isaac-lab-installation">
+<h3>Verifying the Isaac Lab installation<a class="headerlink" href="#verifying-the-isaac-lab-installation" title="Permalink to this heading">#</a></h3>
+<p>To verify that the installation was successful, run the following command from the
+top of the repository:</p>
+<div class="sd-tab-set docutils">
+<input checked="checked" id="sd-tab-item-14" name="sd-tab-set-7" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="linux" for="sd-tab-item-14">
+<i class="fa-brands fa-linux"></i> Linux</label><div class="sd-tab-content docutils">
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Option 1: Using the isaaclab.sh executable</span>
+<span class="c1"># note: this works for both the bundled python and the virtual environment</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/00_sim/create_empty.py
+
+<span class="c1"># Option 2: Using python in your virtual environment</span>
+python<span class="w"> </span>source/standalone/tutorials/00_sim/create_empty.py
+</pre></div>
+</div>
+</div>
+<input id="sd-tab-item-15" name="sd-tab-set-7" type="radio">
+<label class="sd-tab-label" data-sync-group="os" data-sync-id="windows" for="sd-tab-item-15">
+<i class="fa-brands fa-windows"></i> Windows</label><div class="sd-tab-content docutils">
+<div class="highlight-batch notranslate"><div class="highlight"><pre><span></span><span class="p">:</span><span class="c1">: Option 1: Using the isaaclab.bat executable</span>
+<span class="p">:</span><span class="c1">: note: this works for both the bundled python and the virtual environment</span>
+isaaclab.bat -p source\standalone\tutorials\00_sim\create_empty.py
+
+<span class="p">:</span><span class="c1">: Option 2: Using python in your virtual environment</span>
+python source\standalone\tutorials\00_sim\create_empty.py
+</pre></div>
+</div>
+</div>
+</div>
+<p>The above command should launch the simulator and display a window with a black
+viewport as shown below. You can exit the script by pressing <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> on your terminal.
+On Windows machines, please terminate the process from Command Prompt using
+<code class="docutils literal notranslate"><span class="pre">Ctrl+Break</span></code> or <code class="docutils literal notranslate"><span class="pre">Ctrl+fn+B</span></code>.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="Simulator with a black window." src="../../../_images/verify_install.jpg" />
+</figure>
+<p>If you see this, then the installation was successful! 🎉</p>
+</section>
+</section>
+</section>
+
+
+                </article>
+              
+
+              
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+                <footer class="prev-next-footer d-print-none">
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+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#verifying-the-isaac-sim-installation">Verifying the Isaac Sim installation</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#installing-isaac-lab">Installing Isaac Lab</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#cloning-isaac-lab">Cloning Isaac Lab</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#installation">Installation</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#verifying-the-isaac-lab-installation">Verifying the Isaac Lab installation</a></li>
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diff --git a/v1.4.0/source/tutorials/00_sim/create_empty.html b/v1.4.0/source/tutorials/00_sim/create_empty.html
new file mode 100644
index 0000000000..631795c87d
--- /dev/null
+++ b/v1.4.0/source/tutorials/00_sim/create_empty.html
@@ -0,0 +1,924 @@
+
+
+<!DOCTYPE html>
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+  <body data-bs-spy="scroll" data-bs-target=".bd-toc-nav" data-offset="180" data-bs-root-margin="0px 0px -60%" data-default-mode="">
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+          </div>
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+            <option value="../../../../v1.3.0/source/tutorials/00_sim/create_empty.html" >v1.3.0</option>
+            <option value="../../../../v1.2.0/source/tutorials/00_sim/create_empty.html" >v1.2.0</option>
+            <option value="../../../../v1.1.0/source/tutorials/00_sim/create_empty.html" >v1.1.0</option>
+            <option value="../../../../v1.0.0/source/tutorials/00_sim/create_empty.html" >v1.0.0</option>
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+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../setup/ecosystem.html">Isaac Lab Ecosystem</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../setup/installation/index.html">Local Installation</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../setup/installation/pip_installation.html">Pip installation (recommended for Ubuntu 22.04 and Windows)</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../setup/installation/binaries_installation.html">Binary installation (recommended for Ubuntu 20.04)</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1"><a class="reference internal" href="../../setup/installation/cloud_installation.html">Running Isaac Lab in the Cloud</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../setup/faq.html">Frequently Asked Questions</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Overview</span></p>
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/developer-guide/vs_code.html">Setting up Visual Studio Code</a></li>
+
+<li class="toctree-l2"><a class="reference internal" href="../../overview/developer-guide/repo_structure.html">Repository organization</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/developer-guide/development.html">Application Development</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/developer-guide/template.html">Building your Own Project</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../overview/core-concepts/actuators.html">Actuators</a></li>
+</ul>
+</details></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../overview/sensors/index.html">Sensors</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/camera.html">Camera</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/contact_sensor.html">Contact Sensor</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/frame_transformer.html">Frame Transformer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/sensors/ray_caster.html">Ray Caster</a></li>
+</ul>
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+
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../overview/reinforcement-learning/index.html">Reinforcement Learning</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/rl_existing_scripts.html">Reinforcement Learning Wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../overview/reinforcement-learning/rl_frameworks.html">Reinforcement Learning Library Comparison</a></li>
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+</ul>
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+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Features</span></p>
+<ul class="nav bd-sidenav">
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+<li class="toctree-l1"><a class="reference internal" href="../../features/multi_gpu.html">Multi-GPU and Multi-Node Training</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../overview/sensors/camera.html">Tiled Rendering</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/ray.html">Ray Job Dispatch and Tuning</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../features/reproducibility.html">Reproducibility and Determinism</a></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">Resources</span></p>
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+    <h1>Creating an empty scene</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#launching-the-simulator">Launching the simulator</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#importing-python-modules">Importing python modules</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#configuring-the-simulation-context">Configuring the simulation context</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation">Running the simulation</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#exiting-the-simulation">Exiting the simulation</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="creating-an-empty-scene">
+<h1>Creating an empty scene<a class="headerlink" href="#creating-an-empty-scene" title="Permalink to this heading">#</a></h1>
+<p>This tutorial shows how to launch and control Isaac Sim simulator from a standalone Python script. It sets up an
+empty scene in Isaac Lab and introduces the two main classes used in the framework, <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">app.AppLauncher</span></code></a> and
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">sim.SimulationContext</span></code></a>.</p>
+<p>Please review <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_interface.html#isaac-sim-app-tutorial-intro-interface">Isaac Sim Interface</a> and <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_workflows.html">Isaac Sim Workflows</a> prior to beginning this tutorial to get
+an initial understanding of working with the simulator.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">create_empty.py</span></code> script in the <code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/00_sim</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for create_empty.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos"> 2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos"> 3</span><span class="c1">#</span>
+<span class="linenos"> 4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos"> 5</span>
+<span class="linenos"> 6</span><span class="sd">&quot;&quot;&quot;This script demonstrates how to create a simple stage in Isaac Sim.</span>
+<span class="linenos"> 7</span>
+<span class="linenos"> 8</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos"> 9</span>
+<span class="linenos">10</span><span class="sd">    # Usage</span>
+<span class="linenos">11</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py</span>
+<span class="linenos">12</span>
+<span class="linenos">13</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">14</span>
+<span class="linenos">15</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos">16</span>
+<span class="linenos">17</span>
+<span class="hll"><span class="linenos">18</span><span class="kn">import</span> <span class="nn">argparse</span>
+</span><span class="hll"><span class="linenos">19</span>
+</span><span class="hll"><span class="linenos">20</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+</span><span class="hll"><span class="linenos">21</span>
+</span><span class="hll"><span class="linenos">22</span><span class="c1"># create argparser</span>
+</span><span class="hll"><span class="linenos">23</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on creating an empty stage.&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">24</span><span class="c1"># append AppLauncher cli args</span>
+</span><span class="hll"><span class="linenos">25</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">26</span><span class="c1"># parse the arguments</span>
+</span><span class="hll"><span class="linenos">27</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">28</span><span class="c1"># launch omniverse app</span>
+</span><span class="hll"><span class="linenos">29</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">30</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+</span><span class="linenos">31</span>
+<span class="linenos">32</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos">33</span>
+<span class="hll"><span class="linenos">34</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationCfg</span><span class="p">,</span> <span class="n">SimulationContext</span>
+</span><span class="linenos">35</span>
+<span class="linenos">36</span>
+<span class="linenos">37</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">38</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">39</span>
+<span class="hll"><span class="linenos">40</span>    <span class="c1"># Initialize the simulation context</span>
+</span><span class="hll"><span class="linenos">41</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.01</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">42</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">43</span>    <span class="c1"># Set main camera</span>
+</span><span class="hll"><span class="linenos">44</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+</span><span class="linenos">45</span>
+<span class="hll"><span class="linenos">46</span>    <span class="c1"># Play the simulator</span>
+</span><span class="hll"><span class="linenos">47</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+</span><span class="linenos">48</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">49</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">50</span>
+<span class="hll"><span class="linenos">51</span>    <span class="c1"># Simulate physics</span>
+</span><span class="hll"><span class="linenos">52</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+</span><span class="hll"><span class="linenos">53</span>        <span class="c1"># perform step</span>
+</span><span class="hll"><span class="linenos">54</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+</span><span class="linenos">55</span>
+<span class="linenos">56</span>
+<span class="linenos">57</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">58</span>    <span class="c1"># run the main function</span>
+<span class="linenos">59</span>    <span class="n">main</span><span class="p">()</span>
+<span class="hll"><span class="linenos">60</span>    <span class="c1"># close sim app</span>
+</span><span class="hll"><span class="linenos">61</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</span></pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<section id="launching-the-simulator">
+<h3>Launching the simulator<a class="headerlink" href="#launching-the-simulator" title="Permalink to this heading">#</a></h3>
+<p>The first step when working with standalone Python scripts is to launch the simulation application.
+This is necessary to do at the start since various dependency modules of Isaac Sim are only available
+after the simulation app is running.</p>
+<p>This can be done by importing the <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">app.AppLauncher</span></code></a> class. This utility class wraps around
+<code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.kit.SimulationApp</span></code> class to launch the simulator. It provides mechanisms to
+configure the simulator using command-line arguments and environment variables.</p>
+<p>For this tutorial, we mainly look at adding the command-line options to a user-defined
+<a class="reference external" href="https://docs.python.org/3/library/argparse.html#argparse.ArgumentParser" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">argparse.ArgumentParser</span></code></a>. This is done by passing the parser instance to the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher.add_app_launcher_args" title="omni.isaac.lab.app.AppLauncher.add_app_launcher_args"><code class="xref py py-meth docutils literal notranslate"><span class="pre">app.AppLauncher.add_app_launcher_args()</span></code></a> method, which appends different parameters
+to it. These include launching the app headless, configuring different Livestream options,
+and enabling off-screen rendering.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">argparse</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+
+<span class="c1"># create argparser</span>
+<span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on creating an empty stage.&quot;</span><span class="p">)</span>
+<span class="c1"># append AppLauncher cli args</span>
+<span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="c1"># parse the arguments</span>
+<span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="c1"># launch omniverse app</span>
+<span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+</pre></div>
+</div>
+</section>
+<section id="importing-python-modules">
+<h3>Importing python modules<a class="headerlink" href="#importing-python-modules" title="Permalink to this heading">#</a></h3>
+<p>Once the simulation app is running, it is possible to import different Python modules from
+Isaac Sim and other libraries. Here we import the following module:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html#module-omni.isaac.lab.sim" title="omni.isaac.lab.sim"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.sim</span></code></a>: A sub-package in Isaac Lab for all the core simulator-related operations.</p></li>
+</ul>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationCfg</span><span class="p">,</span> <span class="n">SimulationContext</span>
+</pre></div>
+</div>
+</section>
+<section id="configuring-the-simulation-context">
+<h3>Configuring the simulation context<a class="headerlink" href="#configuring-the-simulation-context" title="Permalink to this heading">#</a></h3>
+<p>When launching the simulator from a standalone script, the user has complete control over playing,
+pausing and stepping the simulator. All these operations are handled through the <strong>simulation
+context</strong>. It takes care of various timeline events and also configures the <a class="reference external" href="https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_physics.html#physics-scene">physics scene</a> for
+simulation.</p>
+<p>In Isaac Lab, the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">sim.SimulationContext</span></code></a> class inherits from Isaac Sim’s
+<a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.simulation_context.SimulationContext" title="(in isaac_sim)"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.core.simulation_context.SimulationContext</span></code></a> to allow configuring the simulation
+through Python’s <code class="docutils literal notranslate"><span class="pre">dataclass</span></code> object and handle certain intricacies of the simulation stepping.</p>
+<p>For this tutorial, we set the physics and rendering time step to 0.01 seconds. This is done
+by passing these quantities to the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationCfg" title="omni.isaac.lab.sim.SimulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">sim.SimulationCfg</span></code></a>, which is then used to create an
+instance of the simulation context.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Initialize the simulation context</span>
+    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.01</span><span class="p">)</span>
+    <span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+    <span class="c1"># Set main camera</span>
+    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+</pre></div>
+</div>
+<p>Following the creation of the simulation context, we have only configured the physics acting on the
+simulated scene. This includes the device to use for simulation, the gravity vector, and other advanced
+solver parameters. There are now two main steps remaining to run the simulation:</p>
+<ol class="arabic simple">
+<li><p>Designing the simulation scene: Adding sensors, robots and other simulated objects</p></li>
+<li><p>Running the simulation loop: Stepping the simulator, and setting and getting data from the simulator</p></li>
+</ol>
+<p>In this tutorial, we look at Step 2 first for an empty scene to focus on the simulation control first.
+In the following tutorials, we will look into Step 1 and working with simulation handles for interacting
+with the simulator.</p>
+</section>
+<section id="running-the-simulation">
+<h3>Running the simulation<a class="headerlink" href="#running-the-simulation" title="Permalink to this heading">#</a></h3>
+<p>The first thing, after setting up the simulation scene, is to call the <code class="xref py py-meth docutils literal notranslate"><span class="pre">sim.SimulationContext.reset()</span></code>
+method. This method plays the timeline and initializes the physics handles in the simulator. It must always
+be called the first time before stepping the simulator. Otherwise, the simulation handles are not initialized
+properly.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p><code class="xref py py-meth docutils literal notranslate"><span class="pre">sim.SimulationContext.reset()</span></code> is different from <code class="xref py py-meth docutils literal notranslate"><span class="pre">sim.SimulationContext.play()</span></code> method as the latter
+only plays the timeline and does not initializes the physics handles.</p>
+</div>
+<p>After playing the simulation timeline, we set up a simple simulation loop where the simulator is stepped repeatedly
+while the simulation app is running. The method <a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.step" title="omni.isaac.lab.sim.SimulationContext.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">sim.SimulationContext.step()</span></code></a> takes in as argument <code class="xref py py-attr docutils literal notranslate"><span class="pre">render</span></code>,
+which dictates whether the step includes updating the rendering-related events or not. By default, this flag is
+set to True.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Play the simulator</span>
+    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+    <span class="c1"># Now we are ready!</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Simulate physics</span>
+    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+        <span class="c1"># perform step</span>
+        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+<section id="exiting-the-simulation">
+<h3>Exiting the simulation<a class="headerlink" href="#exiting-the-simulation" title="Permalink to this heading">#</a></h3>
+<p>Lastly, the simulation application is stopped and its window is closed by calling
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.kit.SimulationApp.close()</span></code> method.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># close sim app</span>
+    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>Now that we have gone through the code, let’s run the script and see the result:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/00_sim/create_empty.py
+</pre></div>
+</div>
+<p>The simulation should be playing, and the stage should be rendering. To stop the simulation,
+you can either close the window, or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of create_empty.py" src="../../../_images/tutorial_create_empty.jpg" />
+</figure>
+<p>Passing <code class="docutils literal notranslate"><span class="pre">--help</span></code> to the above script will show the different command-line arguments added
+earlier by the <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">app.AppLauncher</span></code></a> class. To run the script headless, you can execute the
+following:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/00_sim/create_empty.py<span class="w"> </span>--headless
+</pre></div>
+</div>
+<p>Now that we have a basic understanding of how to run a simulation, let’s move on to the
+following tutorial where we will learn how to add assets to the stage.</p>
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
+                <footer class="prev-next-footer d-print-none">
+                  
+<div class="prev-next-area">
+    <a class="left-prev"
+       href="../index.html"
+       title="previous page">
+      <i class="fa-solid fa-angle-left"></i>
+      <div class="prev-next-info">
+        <p class="prev-next-subtitle">previous</p>
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+  <div class="sidebar-secondary-item">
+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#launching-the-simulator">Launching the simulator</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#importing-python-modules">Importing python modules</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#configuring-the-simulation-context">Configuring the simulation context</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation">Running the simulation</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#exiting-the-simulation">Exiting the simulation</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
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+
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+  <p class="copyright">
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+++ b/v1.4.0/source/tutorials/00_sim/launch_app.html
@@ -0,0 +1,969 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" data-content_root="" >
+
+  <head>
+    <meta charset="utf-8" />
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+<li class="toctree-l2 current active"><a class="current reference internal" href="#">Deep-dive into AppLauncher</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../03_envs/run_rl_training.html">Training with an RL Agent</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../05_controllers/run_osc.html">Using an operational space controller</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../how-to/make_fixed_prim.html">Making a physics prim fixed in the simulation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/multi_asset_spawning.html">Spawning Multiple Assets</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../how-to/estimate_how_many_cameras_can_run.html">Find How Many/What Cameras You Should Train With</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../how-to/record_video.html">Recording video clips during training</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../how-to/master_omniverse.html">Mastering Omniverse for Robotics</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.converters.html">omni.isaac.lab.sim.converters</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.schemas.html">omni.isaac.lab.sim.schemas</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.spawners.html">omni.isaac.lab.sim.spawners</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.html">omni.isaac.lab_tasks.utils</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html">omni.isaac.lab_tasks.utils.wrappers</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.html">omni.isaac.lab_tasks.utils.data_collector</a></li>
+</ul>
+</details></li>
+</ul>
+<p aria-level="2" class="caption" role="heading"><span class="caption-text">References</span></p>
+<ul class="nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../refs/reference_architecture/index.html">Reference Architecture</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../refs/additional_resources.html">Additional Resources</a></li>
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+<li class="toctree-l1"><a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/index.html">NVIDIA PhysX</a></li>
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+  <i class="theme-switch fa-solid fa-sun                fa-lg" data-mode="light" title="Light"></i>
+  <i class="theme-switch fa-solid fa-moon               fa-lg" data-mode="dark"  title="Dark"></i>
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+</button>
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+</div>
+</div>
+              
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+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Deep-dive into AppLauncher</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#adding-arguments-to-the-argparser">Adding arguments to the argparser</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#understanding-the-output-of-help">Understanding the output of –help</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#using-environment-variables">Using environment variables</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="deep-dive-into-applauncher">
+<h1>Deep-dive into AppLauncher<a class="headerlink" href="#deep-dive-into-applauncher" title="Permalink to this heading">#</a></h1>
+<p>In this tutorial, we will dive into the <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">app.AppLauncher</span></code></a> class to configure the simulator using
+CLI arguments and environment variables (envars). Particularly, we will demonstrate how to use
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> to enable livestreaming and configure the <code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.kit.SimulationApp</span></code>
+instance it wraps, while also allowing user-provided options.</p>
+<p>The <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> is a wrapper for <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationApp</span></code> to simplify
+its configuration. The <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationApp</span></code> has many extensions that must be
+loaded to enable different capabilities, and some of these extensions are order- and inter-dependent.
+Additionally, there are startup options such as <code class="docutils literal notranslate"><span class="pre">headless</span></code> which must be set at instantiation time,
+and which have an implied relationship with some extensions, e.g. the livestreaming extensions.
+The <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> presents an interface that can handle these extensions and startup
+options in a portable manner across a variety of use cases. To achieve this, we offer CLI and envar
+flags which can be merged with user-defined CLI args, while passing forward arguments intended
+for <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationApp</span></code>.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">launch_app.py</span></code> script in the
+<code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/00_sim</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for launch_app.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos"> 2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos"> 3</span><span class="c1">#</span>
+<span class="linenos"> 4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos"> 5</span>
+<span class="linenos"> 6</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 7</span><span class="sd">This script demonstrates how to run IsaacSim via the AppLauncher</span>
+<span class="linenos"> 8</span>
+<span class="linenos"> 9</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos">10</span>
+<span class="linenos">11</span><span class="sd">    # Usage</span>
+<span class="linenos">12</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py</span>
+<span class="linenos">13</span>
+<span class="linenos">14</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">15</span>
+<span class="linenos">16</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos">17</span>
+<span class="hll"><span class="linenos">18</span>
+</span><span class="hll"><span class="linenos">19</span><span class="kn">import</span> <span class="nn">argparse</span>
+</span><span class="hll"><span class="linenos">20</span>
+</span><span class="hll"><span class="linenos">21</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+</span><span class="hll"><span class="linenos">22</span>
+</span><span class="hll"><span class="linenos">23</span><span class="c1"># create argparser</span>
+</span><span class="hll"><span class="linenos">24</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on running IsaacSim via the AppLauncher.&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">25</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--size&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">float</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Side-length of cuboid&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">26</span><span class="c1"># SimulationApp arguments https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html?highlight=simulationapp#omni.isaac.kit.SimulationApp</span>
+</span><span class="hll"><span class="linenos">27</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">28</span>    <span class="s2">&quot;--width&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">1280</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Width of the viewport and generated images. Defaults to 1280&quot;</span>
+</span><span class="hll"><span class="linenos">29</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">30</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">31</span>    <span class="s2">&quot;--height&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">720</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Height of the viewport and generated images. Defaults to 720&quot;</span>
+</span><span class="hll"><span class="linenos">32</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">33</span>
+</span><span class="hll"><span class="linenos">34</span><span class="c1"># append AppLauncher cli args</span>
+</span><span class="hll"><span class="linenos">35</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">36</span><span class="c1"># parse the arguments</span>
+</span><span class="hll"><span class="linenos">37</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">38</span><span class="c1"># launch omniverse app</span>
+</span><span class="hll"><span class="linenos">39</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">40</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+</span><span class="linenos">41</span>
+<span class="linenos">42</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos">43</span>
+<span class="linenos">44</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos">45</span>
+<span class="linenos">46</span>
+<span class="linenos">47</span><span class="k">def</span> <span class="nf">design_scene</span><span class="p">():</span>
+<span class="linenos">48</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Designs the scene by spawning ground plane, light, objects and meshes from usd files.&quot;&quot;&quot;</span>
+<span class="linenos">49</span>    <span class="c1"># Ground-plane</span>
+<span class="linenos">50</span>    <span class="n">cfg_ground</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">()</span>
+<span class="linenos">51</span>    <span class="n">cfg_ground</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">cfg_ground</span><span class="p">)</span>
+<span class="linenos">52</span>
+<span class="linenos">53</span>    <span class="c1"># spawn distant light</span>
+<span class="linenos">54</span>    <span class="n">cfg_light_distant</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DistantLightCfg</span><span class="p">(</span>
+<span class="linenos">55</span>        <span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span>
+<span class="linenos">56</span>        <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">),</span>
+<span class="linenos">57</span>    <span class="p">)</span>
+<span class="linenos">58</span>    <span class="n">cfg_light_distant</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/lightDistant&quot;</span><span class="p">,</span> <span class="n">cfg_light_distant</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">10</span><span class="p">))</span>
+<span class="linenos">59</span>
+<span class="linenos">60</span>    <span class="c1"># spawn a cuboid</span>
+<span class="linenos">61</span>    <span class="n">cfg_cuboid</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+<span class="linenos">62</span>        <span class="n">size</span><span class="o">=</span><span class="p">[</span><span class="n">args_cli</span><span class="o">.</span><span class="n">size</span><span class="p">]</span> <span class="o">*</span> <span class="mi">3</span><span class="p">,</span>
+<span class="linenos">63</span>        <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)),</span>
+<span class="linenos">64</span>    <span class="p">)</span>
+<span class="linenos">65</span>    <span class="c1"># Spawn cuboid, altering translation on the z-axis to scale to its size</span>
+<span class="linenos">66</span>    <span class="n">cfg_cuboid</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Object&quot;</span><span class="p">,</span> <span class="n">cfg_cuboid</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">size</span> <span class="o">/</span> <span class="mi">2</span><span class="p">))</span>
+<span class="linenos">67</span>
+<span class="linenos">68</span>
+<span class="linenos">69</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">70</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">71</span>
+<span class="linenos">72</span>    <span class="c1"># Initialize the simulation context</span>
+<span class="linenos">73</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.01</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">74</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">75</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">76</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">])</span>
+<span class="linenos">77</span>
+<span class="linenos">78</span>    <span class="c1"># Design scene by adding assets to it</span>
+<span class="linenos">79</span>    <span class="n">design_scene</span><span class="p">()</span>
+<span class="linenos">80</span>
+<span class="linenos">81</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">82</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">83</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">84</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">85</span>
+<span class="linenos">86</span>    <span class="c1"># Simulate physics</span>
+<span class="linenos">87</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos">88</span>        <span class="c1"># perform step</span>
+<span class="linenos">89</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">90</span>
+<span class="linenos">91</span>
+<span class="linenos">92</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">93</span>    <span class="c1"># run the main function</span>
+<span class="linenos">94</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">95</span>    <span class="c1"># close sim app</span>
+<span class="linenos">96</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<section id="adding-arguments-to-the-argparser">
+<h3>Adding arguments to the argparser<a class="headerlink" href="#adding-arguments-to-the-argparser" title="Permalink to this heading">#</a></h3>
+<p><a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> is designed to be compatible with custom CLI args that users need for
+their own scripts, while still providing a portable CLI interface.</p>
+<p>In this tutorial, a standard <a class="reference external" href="https://docs.python.org/3/library/argparse.html#argparse.ArgumentParser" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">argparse.ArgumentParser</span></code></a> is instantiated and given the
+script-specific <code class="docutils literal notranslate"><span class="pre">--size</span></code> argument, as well as the arguments <code class="docutils literal notranslate"><span class="pre">--height</span></code> and <code class="docutils literal notranslate"><span class="pre">--width</span></code>.
+The latter are ingested by <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationApp</span></code>.</p>
+<p>The argument <code class="docutils literal notranslate"><span class="pre">--size</span></code> is not used by <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>, but will merge seamlessly
+with the <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> interface. In-script arguments can be merged with the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> interface via the <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher.add_app_launcher_args" title="omni.isaac.lab.app.AppLauncher.add_app_launcher_args"><code class="xref py py-meth docutils literal notranslate"><span class="pre">add_app_launcher_args()</span></code></a> method,
+which will return a modified <a class="reference external" href="https://docs.python.org/3/library/argparse.html#argparse.ArgumentParser" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArgumentParser</span></code></a> with the <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>
+arguments appended. This can then be processed into an <a class="reference external" href="https://docs.python.org/3/library/argparse.html#argparse.Namespace" title="(in Python v3.13)"><code class="xref py py-class docutils literal notranslate"><span class="pre">argparse.Namespace</span></code></a> using the
+standard <a class="reference external" href="https://docs.python.org/3/library/argparse.html#argparse.ArgumentParser.parse_args" title="(in Python v3.13)"><code class="xref py py-meth docutils literal notranslate"><span class="pre">argparse.ArgumentParser.parse_args()</span></code></a> method and passed directly to
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> for instantiation.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">argparse</span>
+
+<span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+
+<span class="c1"># create argparser</span>
+<span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on running IsaacSim via the AppLauncher.&quot;</span><span class="p">)</span>
+<span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--size&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">float</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Side-length of cuboid&quot;</span><span class="p">)</span>
+<span class="c1"># SimulationApp arguments https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html?highlight=simulationapp#omni.isaac.kit.SimulationApp</span>
+<span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+    <span class="s2">&quot;--width&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">1280</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Width of the viewport and generated images. Defaults to 1280&quot;</span>
+<span class="p">)</span>
+<span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+    <span class="s2">&quot;--height&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">720</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Height of the viewport and generated images. Defaults to 720&quot;</span>
+<span class="p">)</span>
+
+<span class="c1"># append AppLauncher cli args</span>
+<span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="c1"># parse the arguments</span>
+<span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="c1"># launch omniverse app</span>
+<span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+</pre></div>
+</div>
+<p>The above only illustrates only one of several ways of passing arguments to <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>.
+Please consult its documentation page to see further options.</p>
+</section>
+<section id="understanding-the-output-of-help">
+<h3>Understanding the output of –help<a class="headerlink" href="#understanding-the-output-of-help" title="Permalink to this heading">#</a></h3>
+<p>While executing the script, we can pass the <code class="docutils literal notranslate"><span class="pre">--help</span></code> argument and see the combined outputs of the
+custom arguments and those from <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>.</p>
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --help</span>
+
+<span class="go">[INFO] Using python from: /isaac-sim/python.sh</span>
+<span class="go">[INFO][AppLauncher]: The argument &#39;width&#39; will be used to configure the SimulationApp.</span>
+<span class="go">[INFO][AppLauncher]: The argument &#39;height&#39; will be used to configure the SimulationApp.</span>
+<span class="go">usage: launch_app.py [-h] [--size SIZE] [--width WIDTH] [--height HEIGHT] [--headless] [--livestream {0,1,2}]</span>
+<span class="go">                     [--enable_cameras] [--verbose] [--experience EXPERIENCE]</span>
+
+<span class="go">Tutorial on running IsaacSim via the AppLauncher.</span>
+
+<span class="go">options:</span>
+<span class="go">-h, --help            show this help message and exit</span>
+<span class="go">--size SIZE           Side-length of cuboid</span>
+<span class="go">--width WIDTH         Width of the viewport and generated images. Defaults to 1280</span>
+<span class="go">--height HEIGHT       Height of the viewport and generated images. Defaults to 720</span>
+
+<span class="go">app_launcher arguments:</span>
+<span class="go">--headless            Force display off at all times.</span>
+<span class="go">--livestream {0,1,2}</span>
+<span class="go">                      Force enable livestreaming. Mapping corresponds to that for the &quot;LIVESTREAM&quot; environment variable.</span>
+<span class="go">--enable_cameras      Enable cameras when running without a GUI.</span>
+<span class="go">--verbose             Enable verbose terminal logging from the SimulationApp.</span>
+<span class="go">--experience EXPERIENCE</span>
+<span class="go">                      The experience file to load when launching the SimulationApp.</span>
+
+<span class="go">                      * If an empty string is provided, the experience file is determined based on the headless flag.</span>
+<span class="go">                      * If a relative path is provided, it is resolved relative to the `apps` folder in Isaac Sim and</span>
+<span class="go">                        Isaac Lab (in that order).</span>
+</pre></div>
+</div>
+<p>This readout details the <code class="docutils literal notranslate"><span class="pre">--size</span></code>, <code class="docutils literal notranslate"><span class="pre">--height</span></code>, and <code class="docutils literal notranslate"><span class="pre">--width</span></code> arguments defined in the script directly,
+as well as the <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> arguments.</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">[INFO]</span></code> messages preceding the help output also reads out which of these arguments are going
+to be interpreted as arguments to the <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationApp</span></code> instance which the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> class wraps. In this case, it is <code class="docutils literal notranslate"><span class="pre">--height</span></code> and <code class="docutils literal notranslate"><span class="pre">--width</span></code>. These
+are classified as such because they match the name and type of an argument which can be processed
+by <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationApp</span></code>. Please refer to the <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html#omni.isaac.kit.SimulationApp.DEFAULT_LAUNCHER_CONFIG">specification</a> for such arguments
+for more examples.</p>
+</section>
+<section id="using-environment-variables">
+<h3>Using environment variables<a class="headerlink" href="#using-environment-variables" title="Permalink to this heading">#</a></h3>
+<p>As noted in the help message, the <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> arguments (<code class="docutils literal notranslate"><span class="pre">--livestream</span></code>, <code class="docutils literal notranslate"><span class="pre">--headless</span></code>)
+have corresponding environment variables (envar) as well. These are detailed in <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#module-omni.isaac.lab.app" title="omni.isaac.lab.app"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab.app</span></code></a>
+documentation. Providing any of these arguments through CLI is equivalent to running the script in a shell
+environment where the corresponding envar is set.</p>
+<p>The support for <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> envars are simply a convenience to provide session-persistent
+configurations, and can be set in the user’s <code class="docutils literal notranslate"><span class="pre">${HOME}/.bashrc</span></code> for persistent settings between sessions.
+In the case where these arguments are provided from the CLI, they will override their corresponding envar,
+as we will demonstrate later in this tutorial.</p>
+<p>These arguments can be used with any script that starts the simulation using <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>,
+with one exception, <code class="docutils literal notranslate"><span class="pre">--enable_cameras</span></code>. This setting sets the rendering pipeline to use the
+offscreen renderer. However, this setting is only compatible with the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.lab.sim.SimulationContext</span></code></a>.
+It will not work with Isaac Sim’s <a class="reference external" href="https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.simulation_context.SimulationContext" title="(in isaac_sim)"><code class="xref py py-class docutils literal notranslate"><span class="pre">omni.isaac.core.simulation_context.SimulationContext</span></code></a> class.
+For more information on this flag, please see the <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> API documentation.</p>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>We will now run the example script:</p>
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">LIVESTREAM=1 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5</span>
+</pre></div>
+</div>
+<p>This will spawn a 0.5m<sup>3</sup> volume cuboid in the simulation. No GUI will appear, equivalent
+to if we had passed the <code class="docutils literal notranslate"><span class="pre">--headless</span></code> flag because headlessness is implied by our <code class="docutils literal notranslate"><span class="pre">LIVESTREAM</span></code>
+envar. If a visualization is desired, we could get one via Isaac’s <a class="reference external" href="https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html#omniverse-streaming-client">Native Livestreaming</a>. Streaming
+is currently the only supported method of visualization from within the container. The
+process can be killed by pressing <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the launching terminal.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of launch_app.py" src="../../../_images/tutorial_launch_app.jpg" />
+</figure>
+<p>Now, let’s look at how <a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a> handles conflicting commands:</p>
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">LIVESTREAM=0 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --livestream 1</span>
+</pre></div>
+</div>
+<p>This will cause the same behavior as in the previous run, because although we have set <code class="docutils literal notranslate"><span class="pre">LIVESTREAM=0</span></code>
+in our envars, CLI args such as <code class="docutils literal notranslate"><span class="pre">--livestream</span></code> take precedence in determining behavior. The process can
+be killed by pressing <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the launching terminal.</p>
+<p>Finally, we will examine passing arguments to <code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationApp</span></code> through
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>:</p>
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="go">LIVESTREAM=1 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080</span>
+</pre></div>
+</div>
+<p>This will cause the same behavior as before, but now the viewport will be rendered at 1920x1080p resolution.
+This can be useful when we want to gather high-resolution video, or we can specify a lower resolution if we
+want our simulation to be more performant. The process can be killed by pressing <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the launching
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+    <h1>Spawning prims into the scene</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
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+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#spawning-a-ground-plane">Spawning a ground plane</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#spawning-lights">Spawning lights</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#spawning-primitive-shapes">Spawning primitive shapes</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#spawning-from-another-file">Spawning from another file</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#executing-the-script">Executing the Script</a></li>
+</ul>
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+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="spawning-prims-into-the-scene">
+<span id="tutorial-spawn-prims"></span><h1>Spawning prims into the scene<a class="headerlink" href="#spawning-prims-into-the-scene" title="Permalink to this heading">#</a></h1>
+<p>This tutorial explores how to spawn various objects (or prims) into the scene in Isaac Lab from Python.
+It builds upon the previous tutorial on running the simulator from a standalone script and
+demonstrates how to spawn a ground plane, lights, primitive shapes, and meshes from USD files.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">spawn_prims.py</span></code> script in the <code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/00_sim</span></code> directory.
+Let’s take a look at the Python script:</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for spawn_prims.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;This script demonstrates how to spawn prims into the scene.</span>
+<span class="linenos">  7</span>
+<span class="linenos">  8</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos">  9</span>
+<span class="linenos"> 10</span><span class="sd">    # Usage</span>
+<span class="linenos"> 11</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/00_sim/spawn_prims.py</span>
+<span class="linenos"> 12</span>
+<span class="linenos"> 13</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 14</span>
+<span class="linenos"> 15</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 16</span>
+<span class="linenos"> 17</span>
+<span class="linenos"> 18</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 19</span>
+<span class="linenos"> 20</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 21</span>
+<span class="linenos"> 22</span><span class="c1"># create argparser</span>
+<span class="linenos"> 23</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on spawning prims into the scene.&quot;</span><span class="p">)</span>
+<span class="linenos"> 24</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 25</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 26</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 27</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 28</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 29</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 30</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 31</span>
+<span class="linenos"> 32</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 33</span>
+<span class="linenos"> 34</span><span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="linenos"> 35</span>
+<span class="linenos"> 36</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 37</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">ISAAC_NUCLEUS_DIR</span>
+<span class="linenos"> 38</span>
+<span class="linenos"> 39</span>
+<span class="hll"><span class="linenos"> 40</span><span class="k">def</span> <span class="nf">design_scene</span><span class="p">():</span>
+</span><span class="hll"><span class="linenos"> 41</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Designs the scene by spawning ground plane, light, objects and meshes from usd files.&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="linenos"> 42</span>    <span class="c1"># Ground-plane</span>
+</span><span class="hll"><span class="linenos"> 43</span>    <span class="n">cfg_ground</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos"> 44</span>    <span class="n">cfg_ground</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">cfg_ground</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 45</span>
+</span><span class="hll"><span class="linenos"> 46</span>    <span class="c1"># spawn distant light</span>
+</span><span class="hll"><span class="linenos"> 47</span>    <span class="n">cfg_light_distant</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DistantLightCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 48</span>        <span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 49</span>        <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 50</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 51</span>    <span class="n">cfg_light_distant</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/lightDistant&quot;</span><span class="p">,</span> <span class="n">cfg_light_distant</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">10</span><span class="p">))</span>
+</span><span class="hll"><span class="linenos"> 52</span>
+</span><span class="hll"><span class="linenos"> 53</span>    <span class="c1"># create a new xform prim for all objects to be spawned under</span>
+</span><span class="hll"><span class="linenos"> 54</span>    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="s2">&quot;/World/Objects&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 55</span>    <span class="c1"># spawn a red cone</span>
+</span><span class="hll"><span class="linenos"> 56</span>    <span class="n">cfg_cone</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 57</span>        <span class="n">radius</span><span class="o">=</span><span class="mf">0.15</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 58</span>        <span class="n">height</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 59</span>        <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 60</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 61</span>    <span class="n">cfg_cone</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Objects/Cone1&quot;</span><span class="p">,</span> <span class="n">cfg_cone</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">))</span>
+</span><span class="hll"><span class="linenos"> 62</span>    <span class="n">cfg_cone</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Objects/Cone2&quot;</span><span class="p">,</span> <span class="n">cfg_cone</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">))</span>
+</span><span class="hll"><span class="linenos"> 63</span>
+</span><span class="hll"><span class="linenos"> 64</span>    <span class="c1"># spawn a green cone with colliders and rigid body</span>
+</span><span class="hll"><span class="linenos"> 65</span>    <span class="n">cfg_cone_rigid</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 66</span>        <span class="n">radius</span><span class="o">=</span><span class="mf">0.15</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 67</span>        <span class="n">height</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 68</span>        <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos"> 69</span>        <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 70</span>        <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos"> 71</span>        <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 72</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 73</span>    <span class="n">cfg_cone_rigid</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 74</span>        <span class="s2">&quot;/World/Objects/ConeRigid&quot;</span><span class="p">,</span> <span class="n">cfg_cone_rigid</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="o">-</span><span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span> <span class="n">orientation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 75</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 76</span>
+</span><span class="hll"><span class="linenos"> 77</span>    <span class="c1"># spawn a blue cuboid with deformable body</span>
+</span><span class="hll"><span class="linenos"> 78</span>    <span class="n">cfg_cuboid_deformable</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">MeshCuboidCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 79</span>        <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.2</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 80</span>        <span class="n">deformable_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DeformableBodyPropertiesCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos"> 81</span>        <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 82</span>        <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DeformableBodyMaterialCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos"> 83</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 84</span>    <span class="n">cfg_cuboid_deformable</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Objects/CuboidDeformable&quot;</span><span class="p">,</span> <span class="n">cfg_cuboid_deformable</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.15</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">))</span>
+</span><span class="hll"><span class="linenos"> 85</span>
+</span><span class="hll"><span class="linenos"> 86</span>    <span class="c1"># spawn a usd file of a table into the scene</span>
+</span><span class="hll"><span class="linenos"> 87</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span><span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/Mounts/SeattleLabTable/table_instanceable.usd&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 88</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Objects/Table&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.05</span><span class="p">))</span>
+</span><span class="linenos"> 89</span>
+<span class="linenos"> 90</span>
+<span class="linenos"> 91</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos"> 92</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos"> 93</span>
+<span class="linenos"> 94</span>    <span class="c1"># Initialize the simulation context</span>
+<span class="linenos"> 95</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.01</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos"> 96</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos"> 97</span>    <span class="c1"># Set main camera</span>
+<span class="linenos"> 98</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">])</span>
+<span class="linenos"> 99</span>
+<span class="hll"><span class="linenos">100</span>    <span class="c1"># Design scene by adding assets to it</span>
+</span><span class="hll"><span class="linenos">101</span>    <span class="n">design_scene</span><span class="p">()</span>
+</span><span class="linenos">102</span>
+<span class="linenos">103</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">104</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">105</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">106</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">107</span>
+<span class="linenos">108</span>    <span class="c1"># Simulate physics</span>
+<span class="linenos">109</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos">110</span>        <span class="c1"># perform step</span>
+<span class="linenos">111</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">112</span>
+<span class="linenos">113</span>
+<span class="linenos">114</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">115</span>    <span class="c1"># run the main function</span>
+<span class="linenos">116</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">117</span>    <span class="c1"># close sim app</span>
+<span class="linenos">118</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>Scene designing in Omniverse is built around a software system and file format called USD (Universal Scene Description).
+It allows describing 3D scenes in a hierarchical manner, similar to a file system. Since USD is a comprehensive framework,
+we recommend reading the <a class="reference external" href="https://graphics.pixar.com/usd/docs/index.html">USD documentation</a> to learn more about it.</p>
+<p>For completeness, we introduce the must know concepts of USD in this tutorial.</p>
+<ul class="simple">
+<li><p><strong>Primitives (Prims)</strong>: These are the basic building blocks of a USD scene. They can be thought of as nodes in a scene
+graph. Each node can be a mesh, a light, a camera, or a transform. It can also be a group of other prims under it.</p></li>
+<li><p><strong>Attributes</strong>: These are the properties of a prim. They can be thought of as key-value pairs. For example, a prim can
+have an attribute called <code class="docutils literal notranslate"><span class="pre">color</span></code> with a value of <code class="docutils literal notranslate"><span class="pre">red</span></code>.</p></li>
+<li><p><strong>Relationships</strong>: These are the connections between prims. They can be thought of as pointers to other prims. For
+example, a mesh prim can have a relationship to a material prim for shading.</p></li>
+</ul>
+<p>A collection of these prims, with their attributes and relationships, is called a <strong>USD stage</strong>. It can be thought of
+as a container for all prims in a scene. When we say we are designing a scene, we are actually designing a USD stage.</p>
+<p>While working with direct USD APIs provides a lot of flexibility, it can be cumbersome to learn and use. To make it
+easier to design scenes, Isaac Lab builds on top of the USD APIs to provide a configuration-driven interface to spawn prims
+into a scene. These are included in the <code class="xref py py-mod docutils literal notranslate"><span class="pre">sim.spawners</span></code> module.</p>
+<p>When spawning prims into the scene, each prim requires a configuration class instance that defines the prim’s attributes
+and relationships (through material and shading information). The configuration class is then passed to its respective
+function where the prim name and transformation are specified. The function then spawns the prim into the scene.</p>
+<p>At a high-level, this is how it works:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Create a configuration class instance</span>
+<span class="n">cfg</span> <span class="o">=</span> <span class="n">MyPrimCfg</span><span class="p">()</span>
+<span class="n">prim_path</span> <span class="o">=</span> <span class="s2">&quot;/path/to/prim&quot;</span>
+
+<span class="c1"># Spawn the prim into the scene using the corresponding spawner function</span>
+<span class="n">spawn_my_prim</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">orientation</span><span class="o">=</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">scale</span><span class="o">=</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span>
+<span class="c1"># OR</span>
+<span class="c1"># Use the spawner function directly from the configuration class</span>
+<span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="n">prim_path</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">orientation</span><span class="o">=</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="n">scale</span><span class="o">=</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">])</span>
+</pre></div>
+</div>
+<p>In this tutorial, we demonstrate the spawning of various different prims into the scene. For more
+information on the available spawners, please refer to the <code class="xref py py-mod docutils literal notranslate"><span class="pre">sim.spawners</span></code> module in Isaac Lab.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>All the scene designing must happen before the simulation starts. Once the simulation starts, we recommend keeping
+the scene frozen and only altering the properties of the prim. This is particularly important for GPU simulation
+as adding new prims during simulation may alter the physics simulation buffers on GPU and lead to unexpected
+behaviors.</p>
+</div>
+<section id="spawning-a-ground-plane">
+<h3>Spawning a ground plane<a class="headerlink" href="#spawning-a-ground-plane" title="Permalink to this heading">#</a></h3>
+<p>The <a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg" title="omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">GroundPlaneCfg</span></code></a> configures a grid-like ground plane with
+modifiable properties such as its appearance and size.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Ground-plane</span>
+    <span class="n">cfg_ground</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">()</span>
+    <span class="n">cfg_ground</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">cfg_ground</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="spawning-lights">
+<h3>Spawning lights<a class="headerlink" href="#spawning-lights" title="Permalink to this heading">#</a></h3>
+<p>It is possible to spawn <a class="reference external" href="https://youtu.be/c7qyI8pZvF4?feature=shared">different light prims</a> into the stage. These include distant lights, sphere lights, disk
+lights, and cylinder lights. In this tutorial, we spawn a distant light which is a light that is infinitely far away
+from the scene and shines in a single direction.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># spawn distant light</span>
+    <span class="n">cfg_light_distant</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DistantLightCfg</span><span class="p">(</span>
+        <span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span>
+        <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">),</span>
+    <span class="p">)</span>
+    <span class="n">cfg_light_distant</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/lightDistant&quot;</span><span class="p">,</span> <span class="n">cfg_light_distant</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">10</span><span class="p">))</span>
+</pre></div>
+</div>
+</section>
+<section id="spawning-primitive-shapes">
+<h3>Spawning primitive shapes<a class="headerlink" href="#spawning-primitive-shapes" title="Permalink to this heading">#</a></h3>
+<p>Before spawning primitive shapes, we introduce the concept of a transform prim or Xform. A transform prim is a prim that
+contains only transformation properties. It is used to group other prims under it and to transform them as a group.
+Here we make an Xform prim to group all the primitive shapes under it.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># create a new xform prim for all objects to be spawned under</span>
+    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="s2">&quot;/World/Objects&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Next, we spawn a cone using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.shapes.ConeCfg" title="omni.isaac.lab.sim.spawners.shapes.ConeCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ConeCfg</span></code></a> class. It is possible to specify
+the radius, height, physics properties, and material properties of the cone. By default, the physics and material
+properties are disabled.</p>
+<p>The first two cones we spawn <code class="docutils literal notranslate"><span class="pre">Cone1</span></code> and <code class="docutils literal notranslate"><span class="pre">Cone2</span></code> are visual elements and do not have physics enabled.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># spawn a red cone</span>
+    <span class="n">cfg_cone</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+        <span class="n">radius</span><span class="o">=</span><span class="mf">0.15</span><span class="p">,</span>
+        <span class="n">height</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+        <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+    <span class="p">)</span>
+    <span class="n">cfg_cone</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Objects/Cone1&quot;</span><span class="p">,</span> <span class="n">cfg_cone</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">))</span>
+    <span class="n">cfg_cone</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Objects/Cone2&quot;</span><span class="p">,</span> <span class="n">cfg_cone</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">))</span>
+</pre></div>
+</div>
+<p>For the third cone <code class="docutils literal notranslate"><span class="pre">ConeRigid</span></code>, we add rigid body physics to it by setting the attributes for that in the configuration
+class. Through these attributes, we can specify the mass, friction, and restitution of the cone. If unspecified, they
+default to the default values set by USD Physics.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># spawn a green cone with colliders and rigid body</span>
+    <span class="n">cfg_cone_rigid</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+        <span class="n">radius</span><span class="o">=</span><span class="mf">0.15</span><span class="p">,</span>
+        <span class="n">height</span><span class="o">=</span><span class="mf">0.5</span><span class="p">,</span>
+        <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(),</span>
+        <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+        <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+        <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+    <span class="p">)</span>
+    <span class="n">cfg_cone_rigid</span><span class="o">.</span><span class="n">func</span><span class="p">(</span>
+        <span class="s2">&quot;/World/Objects/ConeRigid&quot;</span><span class="p">,</span> <span class="n">cfg_cone_rigid</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="o">-</span><span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">),</span> <span class="n">orientation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+    <span class="p">)</span>
+
+</pre></div>
+</div>
+<p>Lastly, we spawn a cuboid <code class="docutils literal notranslate"><span class="pre">CuboidDeformable</span></code> which contains deformable body physics properties. Unlike the
+rigid body simulation, a deformable body can have relative motion between its vertices. This is useful for simulating
+soft bodies like cloth, rubber, or jello. It is important to note that deformable bodies are only supported in
+GPU simulation and require a mesh object to be spawned with the deformable body physics properties.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># spawn a blue cuboid with deformable body</span>
+    <span class="n">cfg_cuboid_deformable</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">MeshCuboidCfg</span><span class="p">(</span>
+        <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.2</span><span class="p">),</span>
+        <span class="n">deformable_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DeformableBodyPropertiesCfg</span><span class="p">(),</span>
+        <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)),</span>
+        <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DeformableBodyMaterialCfg</span><span class="p">(),</span>
+    <span class="p">)</span>
+    <span class="n">cfg_cuboid_deformable</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Objects/CuboidDeformable&quot;</span><span class="p">,</span> <span class="n">cfg_cuboid_deformable</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.15</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">))</span>
+
+</pre></div>
+</div>
+</section>
+<section id="spawning-from-another-file">
+<h3>Spawning from another file<a class="headerlink" href="#spawning-from-another-file" title="Permalink to this heading">#</a></h3>
+<p>Lastly, it is possible to spawn prims from other file formats such as other USD, URDF, or OBJ files. In this tutorial,
+we spawn a USD file of a table into the scene. The table is a mesh prim and has a material prim associated with it.
+All of this information is stored in its USD file.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># spawn a usd file of a table into the scene</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span><span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/Mounts/SeattleLabTable/table_instanceable.usd&quot;</span><span class="p">)</span>
+    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Objects/Table&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.05</span><span class="p">))</span>
+</pre></div>
+</div>
+<p>The table above is added as a reference to the scene. In layman terms, this means that the table is not actually added
+to the scene, but a <code class="docutils literal notranslate"><span class="pre">pointer</span></code> to the table asset is added. This allows us to modify the table asset and have the changes
+reflected in the scene in a non-destructive manner. For example, we can change the material of the table without
+actually modifying the underlying file for the table asset directly. Only the changes are stored in the USD stage.</p>
+</section>
+</section>
+<section id="executing-the-script">
+<h2>Executing the Script<a class="headerlink" href="#executing-the-script" title="Permalink to this heading">#</a></h2>
+<p>Similar to the tutorial before, to run the script, execute the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/00_sim/spawn_prims.py
+</pre></div>
+</div>
+<p>Once the simulation starts, you should see a window with a ground plane, a light, some cones, and a table.
+The green cone, which has rigid body physics enabled, should fall and collide with the table and the ground
+plane. The other cones are visual elements and should not move. To stop the simulation, you can close the window,
+or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of spawn_prims.py" src="../../../_images/tutorial_spawn_prims.jpg" />
+</figure>
+<p>This tutorial provided a foundation for spawning various prims into the scene in Isaac Lab. Although simple, it
+demonstrates the basic concepts of scene designing in Isaac Lab and how to use the spawners. In the coming tutorials,
+we will now look at how to interact with the scene and the simulation.</p>
+</section>
+</section>
+
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+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
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+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#spawning-a-ground-plane">Spawning a ground plane</a></li>
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+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#spawning-primitive-shapes">Spawning primitive shapes</a></li>
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+</ul>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Interacting with an articulation</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#designing-the-scene">Designing the scene</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation-loop">Running the simulation loop</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#resetting-the-simulation">Resetting the simulation</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#stepping-the-simulation">Stepping the simulation</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#updating-the-state">Updating the state</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="interacting-with-an-articulation">
+<span id="tutorial-interact-articulation"></span><h1>Interacting with an articulation<a class="headerlink" href="#interacting-with-an-articulation" title="Permalink to this heading">#</a></h1>
+<p>This tutorial shows how to interact with an articulated robot in the simulation. It is a continuation of the
+<a class="reference internal" href="run_rigid_object.html#tutorial-interact-rigid-object"><span class="std std-ref">Interacting with a rigid object</span></a> tutorial, where we learned how to interact with a rigid object.
+On top of setting the root state, we will see how to set the joint state and apply commands to the articulated
+robot.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">run_articulation.py</span></code> script in the <code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/01_assets</span></code>
+directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for run_articulation.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;This script demonstrates how to spawn a cart-pole and interact with it.</span>
+<span class="linenos">  7</span>
+<span class="linenos">  8</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos">  9</span>
+<span class="linenos"> 10</span><span class="sd">    # Usage</span>
+<span class="linenos"> 11</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/01_assets/run_articulation.py</span>
+<span class="linenos"> 12</span>
+<span class="linenos"> 13</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 14</span>
+<span class="linenos"> 15</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 16</span>
+<span class="linenos"> 17</span>
+<span class="linenos"> 18</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 19</span>
+<span class="linenos"> 20</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 21</span>
+<span class="linenos"> 22</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 23</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on spawning and interacting with an articulation.&quot;</span><span class="p">)</span>
+<span class="linenos"> 24</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 25</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 26</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 27</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 28</span>
+<span class="linenos"> 29</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 30</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 31</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 32</span>
+<span class="linenos"> 33</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 34</span>
+<span class="linenos"> 35</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 36</span>
+<span class="linenos"> 37</span><span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="linenos"> 38</span>
+<span class="linenos"> 39</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 40</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">Articulation</span>
+<span class="linenos"> 41</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+<span class="linenos"> 42</span>
+<span class="linenos"> 43</span><span class="c1">##</span>
+<span class="linenos"> 44</span><span class="c1"># Pre-defined configs</span>
+<span class="linenos"> 45</span><span class="c1">##</span>
+<span class="linenos"> 46</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets</span> <span class="kn">import</span> <span class="n">CARTPOLE_CFG</span>  <span class="c1"># isort:skip</span>
+<span class="linenos"> 47</span>
+<span class="linenos"> 48</span>
+<span class="linenos"> 49</span><span class="k">def</span> <span class="nf">design_scene</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="nb">dict</span><span class="p">,</span> <span class="nb">list</span><span class="p">[</span><span class="nb">list</span><span class="p">[</span><span class="nb">float</span><span class="p">]]]:</span>
+<span class="linenos"> 50</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Designs the scene.&quot;&quot;&quot;</span>
+<span class="linenos"> 51</span>    <span class="c1"># Ground-plane</span>
+<span class="linenos"> 52</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">()</span>
+<span class="linenos"> 53</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="linenos"> 54</span>    <span class="c1"># Lights</span>
+<span class="linenos"> 55</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos"> 56</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="linenos"> 57</span>
+<span class="hll"><span class="linenos"> 58</span>    <span class="c1"># Create separate groups called &quot;Origin1&quot;, &quot;Origin2&quot;</span>
+</span><span class="hll"><span class="linenos"> 59</span>    <span class="c1"># Each group will have a robot in it</span>
+</span><span class="hll"><span class="linenos"> 60</span>    <span class="n">origins</span> <span class="o">=</span> <span class="p">[[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]]</span>
+</span><span class="hll"><span class="linenos"> 61</span>    <span class="c1"># Origin 1</span>
+</span><span class="hll"><span class="linenos"> 62</span>    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="s2">&quot;/World/Origin1&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">origins</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos"> 63</span>    <span class="c1"># Origin 2</span>
+</span><span class="hll"><span class="linenos"> 64</span>    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="s2">&quot;/World/Origin2&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">origins</span><span class="p">[</span><span class="mi">1</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos"> 65</span>
+</span><span class="hll"><span class="linenos"> 66</span>    <span class="c1"># Articulation</span>
+</span><span class="hll"><span class="linenos"> 67</span>    <span class="n">cartpole_cfg</span> <span class="o">=</span> <span class="n">CARTPOLE_CFG</span><span class="o">.</span><span class="n">copy</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos"> 68</span>    <span class="n">cartpole_cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">=</span> <span class="s2">&quot;/World/Origin.*/Robot&quot;</span>
+</span><span class="hll"><span class="linenos"> 69</span>    <span class="n">cartpole</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cartpole_cfg</span><span class="p">)</span>
+</span><span class="linenos"> 70</span>
+<span class="linenos"> 71</span>    <span class="c1"># return the scene information</span>
+<span class="linenos"> 72</span>    <span class="n">scene_entities</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;cartpole&quot;</span><span class="p">:</span> <span class="n">cartpole</span><span class="p">}</span>
+<span class="linenos"> 73</span>    <span class="k">return</span> <span class="n">scene_entities</span><span class="p">,</span> <span class="n">origins</span>
+<span class="linenos"> 74</span>
+<span class="linenos"> 75</span>
+<span class="linenos"> 76</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">entities</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">Articulation</span><span class="p">],</span> <span class="n">origins</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="linenos"> 77</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Runs the simulation loop.&quot;&quot;&quot;</span>
+<span class="linenos"> 78</span>    <span class="c1"># Extract scene entities</span>
+<span class="linenos"> 79</span>    <span class="c1"># note: we only do this here for readability. In general, it is better to access the entities directly from</span>
+<span class="linenos"> 80</span>    <span class="c1">#   the dictionary. This dictionary is replaced by the InteractiveScene class in the next tutorial.</span>
+<span class="linenos"> 81</span>    <span class="n">robot</span> <span class="o">=</span> <span class="n">entities</span><span class="p">[</span><span class="s2">&quot;cartpole&quot;</span><span class="p">]</span>
+<span class="linenos"> 82</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos"> 83</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos"> 84</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos"> 85</span>    <span class="c1"># Simulation loop</span>
+<span class="linenos"> 86</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos"> 87</span>        <span class="c1"># Reset</span>
+<span class="linenos"> 88</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">500</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos"> 89</span>            <span class="c1"># reset counter</span>
+<span class="linenos"> 90</span>            <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="hll"><span class="linenos"> 91</span>            <span class="c1"># reset the scene entities</span>
+</span><span class="hll"><span class="linenos"> 92</span>            <span class="c1"># root state</span>
+</span><span class="hll"><span class="linenos"> 93</span>            <span class="c1"># we offset the root state by the origin since the states are written in simulation world frame</span>
+</span><span class="hll"><span class="linenos"> 94</span>            <span class="c1"># if this is not done, then the robots will be spawned at the (0, 0, 0) of the simulation world</span>
+</span><span class="hll"><span class="linenos"> 95</span>            <span class="n">root_state</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos"> 96</span>            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">origins</span>
+</span><span class="hll"><span class="linenos"> 97</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos"> 98</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+</span><span class="hll"><span class="linenos"> 99</span>            <span class="c1"># set joint positions with some noise</span>
+</span><span class="hll"><span class="linenos">100</span>            <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">101</span>            <span class="n">joint_pos</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand_like</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.1</span>
+</span><span class="hll"><span class="linenos">102</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">103</span>            <span class="c1"># clear internal buffers</span>
+</span><span class="hll"><span class="linenos">104</span>            <span class="n">robot</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+</span><span class="linenos">105</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting robot state...&quot;</span><span class="p">)</span>
+<span class="linenos">106</span>        <span class="c1"># Apply random action</span>
+<span class="linenos">107</span>        <span class="c1"># -- generate random joint efforts</span>
+<span class="hll"><span class="linenos">108</span>        <span class="n">efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn_like</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">)</span> <span class="o">*</span> <span class="mf">5.0</span>
+</span><span class="hll"><span class="linenos">109</span>        <span class="c1"># -- apply action to the robot</span>
+</span><span class="hll"><span class="linenos">110</span>        <span class="n">robot</span><span class="o">.</span><span class="n">set_joint_effort_target</span><span class="p">(</span><span class="n">efforts</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">111</span>        <span class="c1"># -- write data to sim</span>
+</span><span class="linenos">112</span>        <span class="n">robot</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">113</span>        <span class="c1"># Perform step</span>
+<span class="linenos">114</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">115</span>        <span class="c1"># Increment counter</span>
+<span class="hll"><span class="linenos">116</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+</span><span class="hll"><span class="linenos">117</span>        <span class="c1"># Update buffers</span>
+</span><span class="linenos">118</span>        <span class="n">robot</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">119</span>
+<span class="linenos">120</span>
+<span class="linenos">121</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">122</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">123</span>    <span class="c1"># Load kit helper</span>
+<span class="linenos">124</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">125</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">126</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">127</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">4.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">])</span>
+<span class="linenos">128</span>    <span class="c1"># Design scene</span>
+<span class="linenos">129</span>    <span class="n">scene_entities</span><span class="p">,</span> <span class="n">scene_origins</span> <span class="o">=</span> <span class="n">design_scene</span><span class="p">()</span>
+<span class="linenos">130</span>    <span class="n">scene_origins</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">scene_origins</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">131</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">132</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">133</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">134</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">135</span>    <span class="c1"># Run the simulator</span>
+<span class="linenos">136</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene_entities</span><span class="p">,</span> <span class="n">scene_origins</span><span class="p">)</span>
+<span class="linenos">137</span>
+<span class="linenos">138</span>
+<span class="linenos">139</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">140</span>    <span class="c1"># run the main function</span>
+<span class="linenos">141</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">142</span>    <span class="c1"># close sim app</span>
+<span class="linenos">143</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<section id="designing-the-scene">
+<h3>Designing the scene<a class="headerlink" href="#designing-the-scene" title="Permalink to this heading">#</a></h3>
+<p>Similar to the previous tutorial, we populate the scene with a ground plane and a distant light. Instead of
+spawning rigid objects, we now spawn a cart-pole articulation from its USD file. The cart-pole is a simple robot
+consisting of a cart and a pole attached to it. The cart is free to move along the x-axis, and the pole is free to
+rotate about the cart. The USD file for the cart-pole contains the robot’s geometry, joints, and other physical
+properties.</p>
+<p>For the cart-pole, we use its pre-defined configuration object, which is an instance of the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.ArticulationCfg</span></code></a> class. This class contains information about the articulation’s spawning strategy,
+default initial state, actuator models for different joints, and other meta-information. A deeper-dive into how to
+create this configuration object is provided in the <a class="reference internal" href="../../how-to/write_articulation_cfg.html#how-to-write-articulation-config"><span class="std std-ref">Writing an Asset Configuration</span></a> tutorial.</p>
+<p>As seen in the previous tutorial, we can spawn the articulation into the scene in a similar fashion by creating
+an instance of the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.Articulation</span></code></a> class by passing the configuration object to its constructor.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Create separate groups called &quot;Origin1&quot;, &quot;Origin2&quot;</span>
+    <span class="c1"># Each group will have a robot in it</span>
+    <span class="n">origins</span> <span class="o">=</span> <span class="p">[[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]]</span>
+    <span class="c1"># Origin 1</span>
+    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="s2">&quot;/World/Origin1&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">origins</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
+    <span class="c1"># Origin 2</span>
+    <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="s2">&quot;/World/Origin2&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">origins</span><span class="p">[</span><span class="mi">1</span><span class="p">])</span>
+
+    <span class="c1"># Articulation</span>
+    <span class="n">cartpole_cfg</span> <span class="o">=</span> <span class="n">CARTPOLE_CFG</span><span class="o">.</span><span class="n">copy</span><span class="p">()</span>
+    <span class="n">cartpole_cfg</span><span class="o">.</span><span class="n">prim_path</span> <span class="o">=</span> <span class="s2">&quot;/World/Origin.*/Robot&quot;</span>
+    <span class="n">cartpole</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cartpole_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="running-the-simulation-loop">
+<h3>Running the simulation loop<a class="headerlink" href="#running-the-simulation-loop" title="Permalink to this heading">#</a></h3>
+<p>Continuing from the previous tutorial, we reset the simulation at regular intervals, set commands to the articulation,
+step the simulation, and update the articulation’s internal buffers.</p>
+<section id="resetting-the-simulation">
+<h4>Resetting the simulation<a class="headerlink" href="#resetting-the-simulation" title="Permalink to this heading">#</a></h4>
+<p>Similar to a rigid object, an articulation also has a root state. This state corresponds to the root body in the
+articulation tree. On top of the root state, an articulation also has joint states. These states correspond to the
+joint positions and velocities.</p>
+<p>To reset the articulation, we first set the root state by calling the <code class="xref py py-meth docutils literal notranslate"><span class="pre">Articulation.write_root_link_pose_to_sim()</span></code> and <code class="xref py py-meth docutils literal notranslate"><span class="pre">Articulation.write_root_com_velocity_to_sim()</span></code>
+methods. Similarly, we set the joint states by calling the <code class="xref py py-meth docutils literal notranslate"><span class="pre">Articulation.write_joint_state_to_sim()</span></code> method.
+Finally, we call the <code class="xref py py-meth docutils literal notranslate"><span class="pre">Articulation.reset()</span></code> method to reset any internal buffers and caches.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># reset the scene entities</span>
+            <span class="c1"># root state</span>
+            <span class="c1"># we offset the root state by the origin since the states are written in simulation world frame</span>
+            <span class="c1"># if this is not done, then the robots will be spawned at the (0, 0, 0) of the simulation world</span>
+            <span class="n">root_state</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">origins</span>
+            <span class="n">robot</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+            <span class="n">robot</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+            <span class="c1"># set joint positions with some noise</span>
+            <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="n">joint_pos</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand_like</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.1</span>
+            <span class="n">robot</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span>
+            <span class="c1"># clear internal buffers</span>
+            <span class="n">robot</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+<section id="stepping-the-simulation">
+<h4>Stepping the simulation<a class="headerlink" href="#stepping-the-simulation" title="Permalink to this heading">#</a></h4>
+<p>Applying commands to the articulation involves two steps:</p>
+<ol class="arabic simple">
+<li><p><em>Setting the joint targets</em>: This sets the desired joint position, velocity, or effort targets for the articulation.</p></li>
+<li><p><em>Writing the data to the simulation</em>: Based on the articulation’s configuration, this step handles any
+<a class="reference internal" href="../../overview/core-concepts/actuators.html#overview-actuators"><span class="std std-ref">actuation conversions</span></a> and writes the converted values to the PhysX buffer.</p></li>
+</ol>
+<p>In this tutorial, we control the articulation using joint effort commands. For this to work, we need to set the
+articulation’s stiffness and damping parameters to zero. This is done a-priori inside the cart-pole’s pre-defined
+configuration object.</p>
+<p>At every step, we randomly sample joint efforts and set them to the articulation by calling the
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">Articulation.set_joint_effort_target()</span></code> method. After setting the targets, we call the
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">Articulation.write_data_to_sim()</span></code> method to write the data to the PhysX buffer. Finally, we step
+the simulation.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="c1"># Apply random action</span>
+        <span class="c1"># -- generate random joint efforts</span>
+        <span class="n">efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn_like</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">)</span> <span class="o">*</span> <span class="mf">5.0</span>
+        <span class="c1"># -- apply action to the robot</span>
+        <span class="n">robot</span><span class="o">.</span><span class="n">set_joint_effort_target</span><span class="p">(</span><span class="n">efforts</span><span class="p">)</span>
+        <span class="c1"># -- write data to sim</span>
+        <span class="n">robot</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+<section id="updating-the-state">
+<h4>Updating the state<a class="headerlink" href="#updating-the-state" title="Permalink to this heading">#</a></h4>
+<p>Every articulation class contains a <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData" title="omni.isaac.lab.assets.ArticulationData"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.ArticulationData</span></code></a> object. This stores the state of the
+articulation. To update the state inside the buffer, we call the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.update" title="omni.isaac.lab.assets.Articulation.update"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.Articulation.update()</span></code></a> method.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="c1"># Update buffers</span>
+        <span class="n">robot</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>To run the code and see the results, let’s run the script from the terminal:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/01_assets/run_articulation.py
+</pre></div>
+</div>
+<p>This command should open a stage with a ground plane, lights, and two cart-poles that are moving around randomly.
+To stop the simulation, you can either close the window, or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of run_articulation.py" src="../../../_images/tutorial_run_articulation.jpg" />
+</figure>
+<p>In this tutorial, we learned how to create and interact with a simple articulation. We saw how to set the state
+of an articulation (its root and joint state) and how to apply commands to it. We also saw how to update its
+buffers to read the latest state from the simulation.</p>
+<p>In addition to this tutorial, we also provide a few other scripts that spawn different robots.These are included
+in the <code class="docutils literal notranslate"><span class="pre">source/standalone/demos</span></code> directory. You can run these scripts as:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Spawn many different single-arm manipulators</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/arms.py
+
+<span class="c1"># Spawn many different quadrupeds</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/demos/quadrupeds.py
+</pre></div>
+</div>
+</section>
+</section>
+
+
+                </article>
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+    <h1>Interacting with a deformable object</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#designing-the-scene">Designing the scene</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation-loop">Running the simulation loop</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#resetting-the-simulation-state">Resetting the simulation state</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#stepping-the-simulation">Stepping the simulation</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#updating-the-state">Updating the state</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="interacting-with-a-deformable-object">
+<span id="tutorial-interact-deformable-object"></span><h1>Interacting with a deformable object<a class="headerlink" href="#interacting-with-a-deformable-object" title="Permalink to this heading">#</a></h1>
+<p>While deformable objects sometimes refer to a broader class of objects, such as cloths, fluids and soft bodies,
+in PhysX, deformable objects syntactically correspond to soft bodies. Unlike rigid objects, soft bodies can deform
+under external forces and collisions.</p>
+<p>Soft bodies are simulated using Finite Element Method (FEM) in PhysX. The soft body comprises of two tetrahedral
+meshes – a simulation mesh and a collision mesh. The simulation mesh is used to simulate the deformations of
+the soft body, while the collision mesh is used to detect collisions with other objects in the scene.
+For more details, please check the <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html">PhysX documentation</a>.</p>
+<p>This tutorial shows how to interact with a deformable object in the simulation. We will spawn a
+set of soft cubes and see how to set their nodal positions and velocities, along with apply kinematic
+commands to the mesh nodes to move the soft body.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">run_deformable_object.py</span></code> script in the <code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/01_assets</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for run_deformable_object.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">  7</span><span class="sd">This script demonstrates how to work with the deformable object and interact with it.</span>
+<span class="linenos">  8</span>
+<span class="linenos">  9</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos"> 10</span>
+<span class="linenos"> 11</span><span class="sd">    # Usage</span>
+<span class="linenos"> 12</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/01_assets/run_deformable_object.py</span>
+<span class="linenos"> 13</span>
+<span class="linenos"> 14</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 15</span>
+<span class="linenos"> 16</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 17</span>
+<span class="linenos"> 18</span>
+<span class="linenos"> 19</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 20</span>
+<span class="linenos"> 21</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 22</span>
+<span class="linenos"> 23</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 24</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on interacting with a deformable object.&quot;</span><span class="p">)</span>
+<span class="linenos"> 25</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 26</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 27</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 28</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 29</span>
+<span class="linenos"> 30</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 31</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 32</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 33</span>
+<span class="linenos"> 34</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 35</span>
+<span class="linenos"> 36</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 37</span>
+<span class="linenos"> 38</span><span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="linenos"> 39</span>
+<span class="linenos"> 40</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 41</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="linenos"> 42</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">DeformableObject</span><span class="p">,</span> <span class="n">DeformableObjectCfg</span>
+<span class="linenos"> 43</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+<span class="linenos"> 44</span>
+<span class="linenos"> 45</span>
+<span class="linenos"> 46</span><span class="k">def</span> <span class="nf">design_scene</span><span class="p">():</span>
+<span class="linenos"> 47</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Designs the scene.&quot;&quot;&quot;</span>
+<span class="linenos"> 48</span>    <span class="c1"># Ground-plane</span>
+<span class="linenos"> 49</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">()</span>
+<span class="linenos"> 50</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="linenos"> 51</span>    <span class="c1"># Lights</span>
+<span class="linenos"> 52</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">2000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.8</span><span class="p">,</span> <span class="mf">0.8</span><span class="p">,</span> <span class="mf">0.8</span><span class="p">))</span>
+<span class="linenos"> 53</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="linenos"> 54</span>
+<span class="linenos"> 55</span>    <span class="c1"># Create separate groups called &quot;Origin1&quot;, &quot;Origin2&quot;, &quot;Origin3&quot;</span>
+<span class="linenos"> 56</span>    <span class="c1"># Each group will have a robot in it</span>
+<span class="linenos"> 57</span>    <span class="n">origins</span> <span class="o">=</span> <span class="p">[[</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]]</span>
+<span class="linenos"> 58</span>    <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">origin</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">origins</span><span class="p">):</span>
+<span class="linenos"> 59</span>        <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;/World/Origin</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">origin</span><span class="p">)</span>
+<span class="linenos"> 60</span>
+<span class="hll"><span class="linenos"> 61</span>    <span class="c1"># Deformable Object</span>
+</span><span class="hll"><span class="linenos"> 62</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">DeformableObjectCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 63</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Origin.*/Cube&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 64</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MeshCuboidCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 65</span>            <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.2</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 66</span>            <span class="n">deformable_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DeformableBodyPropertiesCfg</span><span class="p">(</span><span class="n">rest_offset</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">contact_offset</span><span class="o">=</span><span class="mf">0.001</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 67</span>            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 68</span>            <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DeformableBodyMaterialCfg</span><span class="p">(</span><span class="n">poissons_ratio</span><span class="o">=</span><span class="mf">0.4</span><span class="p">,</span> <span class="n">youngs_modulus</span><span class="o">=</span><span class="mf">1e5</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 69</span>        <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 70</span>        <span class="n">init_state</span><span class="o">=</span><span class="n">DeformableObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 71</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 72</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 73</span>    <span class="n">cube_object</span> <span class="o">=</span> <span class="n">DeformableObject</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="p">)</span>
+</span><span class="linenos"> 74</span>
+<span class="hll"><span class="linenos"> 75</span>    <span class="c1"># return the scene information</span>
+</span><span class="hll"><span class="linenos"> 76</span>    <span class="n">scene_entities</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;cube_object&quot;</span><span class="p">:</span> <span class="n">cube_object</span><span class="p">}</span>
+</span><span class="hll"><span class="linenos"> 77</span>    <span class="k">return</span> <span class="n">scene_entities</span><span class="p">,</span> <span class="n">origins</span>
+</span><span class="linenos"> 78</span>
+<span class="linenos"> 79</span>
+<span class="linenos"> 80</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">entities</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">DeformableObject</span><span class="p">],</span> <span class="n">origins</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="linenos"> 81</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Runs the simulation loop.&quot;&quot;&quot;</span>
+<span class="linenos"> 82</span>    <span class="c1"># Extract scene entities</span>
+<span class="linenos"> 83</span>    <span class="c1"># note: we only do this here for readability. In general, it is better to access the entities directly from</span>
+<span class="linenos"> 84</span>    <span class="c1">#   the dictionary. This dictionary is replaced by the InteractiveScene class in the next tutorial.</span>
+<span class="linenos"> 85</span>    <span class="n">cube_object</span> <span class="o">=</span> <span class="n">entities</span><span class="p">[</span><span class="s2">&quot;cube_object&quot;</span><span class="p">]</span>
+<span class="linenos"> 86</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos"> 87</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos"> 88</span>    <span class="n">sim_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos"> 89</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos"> 90</span>
+<span class="linenos"> 91</span>    <span class="c1"># Nodal kinematic targets of the deformable bodies</span>
+<span class="linenos"> 92</span>    <span class="n">nodal_kinematic_target</span> <span class="o">=</span> <span class="n">cube_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">nodal_kinematic_target</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos"> 93</span>
+<span class="linenos"> 94</span>    <span class="c1"># Simulate physics</span>
+<span class="linenos"> 95</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos"> 96</span>        <span class="c1"># reset</span>
+<span class="linenos"> 97</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">250</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos"> 98</span>            <span class="c1"># reset counters</span>
+<span class="linenos"> 99</span>            <span class="n">sim_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">100</span>            <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">101</span>
+<span class="hll"><span class="linenos">102</span>            <span class="c1"># reset the nodal state of the object</span>
+</span><span class="hll"><span class="linenos">103</span>            <span class="n">nodal_state</span> <span class="o">=</span> <span class="n">cube_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_nodal_state_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">104</span>            <span class="c1"># apply random pose to the object</span>
+</span><span class="hll"><span class="linenos">105</span>            <span class="n">pos_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="n">cube_object</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.1</span> <span class="o">+</span> <span class="n">origins</span>
+</span><span class="hll"><span class="linenos">106</span>            <span class="n">quat_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">random_orientation</span><span class="p">(</span><span class="n">cube_object</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">107</span>            <span class="n">nodal_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="n">cube_object</span><span class="o">.</span><span class="n">transform_nodal_pos</span><span class="p">(</span><span class="n">nodal_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">108</span>
+</span><span class="hll"><span class="linenos">109</span>            <span class="c1"># write nodal state to simulation</span>
+</span><span class="hll"><span class="linenos">110</span>            <span class="n">cube_object</span><span class="o">.</span><span class="n">write_nodal_state_to_sim</span><span class="p">(</span><span class="n">nodal_state</span><span class="p">)</span>
+</span><span class="linenos">111</span>
+<span class="hll"><span class="linenos">112</span>            <span class="c1"># Write the nodal state to the kinematic target and free all vertices</span>
+</span><span class="hll"><span class="linenos">113</span>            <span class="n">nodal_kinematic_target</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="n">nodal_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+</span><span class="hll"><span class="linenos">114</span>            <span class="n">nodal_kinematic_target</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span>
+</span><span class="hll"><span class="linenos">115</span>            <span class="n">cube_object</span><span class="o">.</span><span class="n">write_nodal_kinematic_target_to_sim</span><span class="p">(</span><span class="n">nodal_kinematic_target</span><span class="p">)</span>
+</span><span class="linenos">116</span>
+<span class="hll"><span class="linenos">117</span>            <span class="c1"># reset buffers</span>
+</span><span class="hll"><span class="linenos">118</span>            <span class="n">cube_object</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+</span><span class="linenos">119</span>
+<span class="linenos">120</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;----------------------------------------&quot;</span><span class="p">)</span>
+<span class="linenos">121</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting object state...&quot;</span><span class="p">)</span>
+<span class="linenos">122</span>
+<span class="hll"><span class="linenos">123</span>        <span class="c1"># update the kinematic target for cubes at index 0 and 3</span>
+</span><span class="hll"><span class="linenos">124</span>        <span class="c1"># we slightly move the cube in the z-direction by picking the vertex at index 0</span>
+</span><span class="hll"><span class="linenos">125</span>        <span class="n">nodal_kinematic_target</span><span class="p">[[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">],</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">+=</span> <span class="mf">0.001</span>
+</span><span class="hll"><span class="linenos">126</span>        <span class="c1"># set vertex at index 0 to be kinematically constrained</span>
+</span><span class="hll"><span class="linenos">127</span>        <span class="c1"># 0: constrained, 1: free</span>
+</span><span class="hll"><span class="linenos">128</span>        <span class="n">nodal_kinematic_target</span><span class="p">[[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">],</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+</span><span class="hll"><span class="linenos">129</span>        <span class="c1"># write kinematic target to simulation</span>
+</span><span class="hll"><span class="linenos">130</span>        <span class="n">cube_object</span><span class="o">.</span><span class="n">write_nodal_kinematic_target_to_sim</span><span class="p">(</span><span class="n">nodal_kinematic_target</span><span class="p">)</span>
+</span><span class="linenos">131</span>
+<span class="hll"><span class="linenos">132</span>        <span class="c1"># write internal data to simulation</span>
+</span><span class="hll"><span class="linenos">133</span>        <span class="n">cube_object</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+</span><span class="linenos">134</span>        <span class="c1"># perform step</span>
+<span class="linenos">135</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">136</span>        <span class="c1"># update sim-time</span>
+<span class="linenos">137</span>        <span class="n">sim_time</span> <span class="o">+=</span> <span class="n">sim_dt</span>
+<span class="linenos">138</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="hll"><span class="linenos">139</span>        <span class="c1"># update buffers</span>
+</span><span class="hll"><span class="linenos">140</span>        <span class="n">cube_object</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+</span><span class="linenos">141</span>        <span class="c1"># print the root position</span>
+<span class="linenos">142</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">50</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">143</span>            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Root position (in world): </span><span class="si">{</span><span class="n">cube_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_pos_w</span><span class="p">[:,</span><span class="w"> </span><span class="p">:</span><span class="mi">3</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">144</span>
+<span class="linenos">145</span>
+<span class="linenos">146</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">147</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">148</span>    <span class="c1"># Load kit helper</span>
+<span class="linenos">149</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">150</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">151</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">152</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">(</span><span class="n">eye</span><span class="o">=</span><span class="p">[</span><span class="mf">3.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">],</span> <span class="n">target</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">])</span>
+<span class="linenos">153</span>    <span class="c1"># Design scene</span>
+<span class="linenos">154</span>    <span class="n">scene_entities</span><span class="p">,</span> <span class="n">scene_origins</span> <span class="o">=</span> <span class="n">design_scene</span><span class="p">()</span>
+<span class="linenos">155</span>    <span class="n">scene_origins</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">scene_origins</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">156</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">157</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">158</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">159</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">160</span>    <span class="c1"># Run the simulator</span>
+<span class="linenos">161</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene_entities</span><span class="p">,</span> <span class="n">scene_origins</span><span class="p">)</span>
+<span class="linenos">162</span>
+<span class="linenos">163</span>
+<span class="linenos">164</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">165</span>    <span class="c1"># run the main function</span>
+<span class="linenos">166</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">167</span>    <span class="c1"># close sim app</span>
+<span class="linenos">168</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<section id="designing-the-scene">
+<h3>Designing the scene<a class="headerlink" href="#designing-the-scene" title="Permalink to this heading">#</a></h3>
+<p>Similar to the <a class="reference internal" href="run_rigid_object.html#tutorial-interact-rigid-object"><span class="std std-ref">Interacting with a rigid object</span></a> tutorial, we populate the scene with a ground plane
+and a light source. In addition, we add a deformable object to the scene using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject" title="omni.isaac.lab.assets.DeformableObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.DeformableObject</span></code></a>
+class. This class is responsible for spawning the prims at the input path and initializes their corresponding
+deformable body physics handles.</p>
+<p>In this tutorial, we create a cubical soft object using the spawn configuration similar to the deformable cube
+in the <a class="reference internal" href="../00_sim/spawn_prims.html#tutorial-spawn-prims"><span class="std std-ref">Spawn Objects</span></a> tutorial. The only difference is that now we wrap
+the spawning configuration into the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg" title="omni.isaac.lab.assets.DeformableObjectCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.DeformableObjectCfg</span></code></a> class. This class contains information about
+the asset’s spawning strategy and default initial state. When this class is passed to
+the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject" title="omni.isaac.lab.assets.DeformableObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.DeformableObject</span></code></a> class, it spawns the object and initializes the corresponding physics handles
+when the simulation is played.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The deformable object is only supported in GPU simulation and requires a mesh object to be spawned with the
+deformable body physics properties on it.</p>
+</div>
+<p>As seen in the rigid body tutorial, we can spawn the deformable object into the scene in a similar fashion by creating
+an instance of the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject" title="omni.isaac.lab.assets.DeformableObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.DeformableObject</span></code></a> class by passing the configuration object to its constructor.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Create separate groups called &quot;Origin1&quot;, &quot;Origin2&quot;, &quot;Origin3&quot;</span>
+    <span class="c1"># Each group will have a robot in it</span>
+    <span class="n">origins</span> <span class="o">=</span> <span class="p">[[</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]]</span>
+    <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">origin</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">origins</span><span class="p">):</span>
+        <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;/World/Origin</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">origin</span><span class="p">)</span>
+
+    <span class="c1"># Deformable Object</span>
+    <span class="n">cfg</span> <span class="o">=</span> <span class="n">DeformableObjectCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Origin.*/Cube&quot;</span><span class="p">,</span>
+        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MeshCuboidCfg</span><span class="p">(</span>
+            <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.2</span><span class="p">,</span> <span class="mf">0.2</span><span class="p">),</span>
+            <span class="n">deformable_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DeformableBodyPropertiesCfg</span><span class="p">(</span><span class="n">rest_offset</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">contact_offset</span><span class="o">=</span><span class="mf">0.001</span><span class="p">),</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)),</span>
+            <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DeformableBodyMaterialCfg</span><span class="p">(</span><span class="n">poissons_ratio</span><span class="o">=</span><span class="mf">0.4</span><span class="p">,</span> <span class="n">youngs_modulus</span><span class="o">=</span><span class="mf">1e5</span><span class="p">),</span>
+        <span class="p">),</span>
+        <span class="n">init_state</span><span class="o">=</span><span class="n">DeformableObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">)),</span>
+        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">cube_object</span> <span class="o">=</span> <span class="n">DeformableObject</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="running-the-simulation-loop">
+<h3>Running the simulation loop<a class="headerlink" href="#running-the-simulation-loop" title="Permalink to this heading">#</a></h3>
+<p>Continuing from the rigid body tutorial, we reset the simulation at regular intervals, apply kinematic commands
+to the deformable body, step the simulation, and update the deformable object’s internal buffers.</p>
+<section id="resetting-the-simulation-state">
+<h4>Resetting the simulation state<a class="headerlink" href="#resetting-the-simulation-state" title="Permalink to this heading">#</a></h4>
+<p>Unlike rigid bodies and articulations, deformable objects have a different state representation. The state of a
+deformable object is defined by the nodal positions and velocities of the mesh. The nodal positions and velocities
+are defined in the <strong>simulation world frame</strong> and are stored in the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.data" title="omni.isaac.lab.assets.DeformableObject.data"><code class="xref py py-attr docutils literal notranslate"><span class="pre">assets.DeformableObject.data</span></code></a> attribute.</p>
+<p>We use the <code class="xref py py-attr docutils literal notranslate"><span class="pre">assets.DeformableObject.data.default_nodal_state_w</span></code> attribute to get the default nodal state of the
+spawned object prims. This default state can be configured from the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg.init_state" title="omni.isaac.lab.assets.DeformableObjectCfg.init_state"><code class="xref py py-attr docutils literal notranslate"><span class="pre">assets.DeformableObjectCfg.init_state</span></code></a>
+attribute, which we left as identity in this tutorial.</p>
+<div class="admonition attention">
+<p class="admonition-title">Attention</p>
+<p>The initial state in the configuration <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObjectCfg" title="omni.isaac.lab.assets.DeformableObjectCfg"><code class="xref py py-attr docutils literal notranslate"><span class="pre">assets.DeformableObjectCfg</span></code></a> specifies the pose
+of the deformable object at the time of spawning. Based on this initial state, the default nodal state is
+obtained when the simulation is played for the first time.</p>
+</div>
+<p>We apply transformations to the nodal positions to randomize the initial state of the deformable object.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># reset the nodal state of the object</span>
+            <span class="n">nodal_state</span> <span class="o">=</span> <span class="n">cube_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_nodal_state_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="c1"># apply random pose to the object</span>
+            <span class="n">pos_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="n">cube_object</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.1</span> <span class="o">+</span> <span class="n">origins</span>
+            <span class="n">quat_w</span> <span class="o">=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">random_orientation</span><span class="p">(</span><span class="n">cube_object</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+            <span class="n">nodal_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="n">cube_object</span><span class="o">.</span><span class="n">transform_nodal_pos</span><span class="p">(</span><span class="n">nodal_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">pos_w</span><span class="p">,</span> <span class="n">quat_w</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>To reset the deformable object, we first set the nodal state by calling the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_state_to_sim" title="omni.isaac.lab.assets.DeformableObject.write_nodal_state_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.DeformableObject.write_nodal_state_to_sim()</span></code></a>
+method. This method writes the nodal state of the deformable object prim into the simulation buffer.
+Additionally, we free all the kinematic targets set for the nodes in the previous simulation step by calling
+the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim" title="omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.DeformableObject.write_nodal_kinematic_target_to_sim()</span></code></a> method. We explain the
+kinematic targets in the next section.</p>
+<p>Finally, we call the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.reset" title="omni.isaac.lab.assets.DeformableObject.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.DeformableObject.reset()</span></code></a> method to reset any internal buffers and caches.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># write nodal state to simulation</span>
+            <span class="n">cube_object</span><span class="o">.</span><span class="n">write_nodal_state_to_sim</span><span class="p">(</span><span class="n">nodal_state</span><span class="p">)</span>
+
+            <span class="c1"># Write the nodal state to the kinematic target and free all vertices</span>
+            <span class="n">nodal_kinematic_target</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="n">nodal_state</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span>
+            <span class="n">nodal_kinematic_target</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="mf">1.0</span>
+            <span class="n">cube_object</span><span class="o">.</span><span class="n">write_nodal_kinematic_target_to_sim</span><span class="p">(</span><span class="n">nodal_kinematic_target</span><span class="p">)</span>
+
+            <span class="c1"># reset buffers</span>
+            <span class="n">cube_object</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+<section id="stepping-the-simulation">
+<h4>Stepping the simulation<a class="headerlink" href="#stepping-the-simulation" title="Permalink to this heading">#</a></h4>
+<p>Deformable bodies support user-driven kinematic control where a user can specify position targets for some of
+the mesh nodes while the rest of the nodes are simulated using the FEM solver. This <a class="reference external" href="https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html#kinematic-soft-bodies">partial kinematic</a> control
+is useful for applications where the user wants to interact with the deformable object in a controlled manner.</p>
+<p>In this tutorial, we apply kinematic commands to two out of the four cubes in the scene. We set the position
+targets for the node at index 0 (bottom-left corner) to move the cube along the z-axis.</p>
+<p>At every step, we increment the kinematic position target for the node by a small value. Additionally,
+we set the flag to indicate that the target is a kinematic target for that node in the simulation buffer.
+These are set into the simulation buffer by calling the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim" title="omni.isaac.lab.assets.DeformableObject.write_nodal_kinematic_target_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.DeformableObject.write_nodal_kinematic_target_to_sim()</span></code></a>
+method.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="c1"># update the kinematic target for cubes at index 0 and 3</span>
+        <span class="c1"># we slightly move the cube in the z-direction by picking the vertex at index 0</span>
+        <span class="n">nodal_kinematic_target</span><span class="p">[[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">],</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">]</span> <span class="o">+=</span> <span class="mf">0.001</span>
+        <span class="c1"># set vertex at index 0 to be kinematically constrained</span>
+        <span class="c1"># 0: constrained, 1: free</span>
+        <span class="n">nodal_kinematic_target</span><span class="p">[[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">],</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">]</span> <span class="o">=</span> <span class="mf">0.0</span>
+        <span class="c1"># write kinematic target to simulation</span>
+        <span class="n">cube_object</span><span class="o">.</span><span class="n">write_nodal_kinematic_target_to_sim</span><span class="p">(</span><span class="n">nodal_kinematic_target</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Similar to the rigid object and articulation, we perform the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.write_data_to_sim" title="omni.isaac.lab.assets.DeformableObject.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.DeformableObject.write_data_to_sim()</span></code></a> method
+before stepping the simulation. For deformable objects, this method does not apply any external forces to the object.
+However, we keep this method for completeness and future extensions.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="c1"># write internal data to simulation</span>
+        <span class="n">cube_object</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+<section id="updating-the-state">
+<h4>Updating the state<a class="headerlink" href="#updating-the-state" title="Permalink to this heading">#</a></h4>
+<p>After stepping the simulation, we update the internal buffers of the deformable object prims to reflect their new state
+inside the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.data" title="omni.isaac.lab.assets.DeformableObject.data"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.DeformableObject.data</span></code></a> attribute. This is done using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject.update" title="omni.isaac.lab.assets.DeformableObject.update"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.DeformableObject.update()</span></code></a> method.</p>
+<p>At a fixed interval, we print the root position of the deformable object to the terminal. As mentioned
+earlier, there is no concept of a root state for deformable objects. However, we compute the root position as
+the average position of all the nodes in the mesh.</p>
+</section>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>Now that we have gone through the code, let’s run the script and see the result:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/01_assets/run_deformable_object.py
+</pre></div>
+</div>
+<p>This should open a stage with a ground plane, lights, and several green cubes. Two of the four cubes must be dropping
+from a height and settling on to the ground. Meanwhile the other two cubes must be moving along the z-axis. You
+should see a marker showing the kinematic target position for the nodes at the bottom-left corner of the cubes.
+To stop the simulation, you can either close the window, or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of run_deformable_object.py" src="../../../_images/tutorial_run_deformable_object.jpg" />
+</figure>
+<p>This tutorial showed how to spawn deformable objects and wrap them in a <code class="xref py py-class docutils literal notranslate"><span class="pre">DeformableObject</span></code> class to initialize their
+physics handles which allows setting and obtaining their state. We also saw how to apply kinematic commands to the
+deformable object to move the mesh nodes in a controlled manner. In the next tutorial, we will see how to create
+a scene using the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> class.</p>
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
+                <footer class="prev-next-footer d-print-none">
+                  
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
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+    <h1>Interacting with a rigid object</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#designing-the-scene">Designing the scene</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation-loop">Running the simulation loop</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#resetting-the-simulation-state">Resetting the simulation state</a></li>
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+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#updating-the-state">Updating the state</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
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+<div id="searchbox"></div>
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+                  
+  <section id="interacting-with-a-rigid-object">
+<span id="tutorial-interact-rigid-object"></span><h1>Interacting with a rigid object<a class="headerlink" href="#interacting-with-a-rigid-object" title="Permalink to this heading">#</a></h1>
+<p>In the previous tutorials, we learned the essential workings of the standalone script and how to
+spawn different objects (or <em>prims</em>) into the simulation. This tutorial shows how to create and interact
+with a rigid object. For this, we will use the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.RigidObject</span></code></a> class provided in Isaac Lab.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">run_rigid_object.py</span></code> script in the <code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/01_assets</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for run_rigid_object.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">  7</span><span class="sd">This script demonstrates how to create a rigid object and interact with it.</span>
+<span class="linenos">  8</span>
+<span class="linenos">  9</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos"> 10</span>
+<span class="linenos"> 11</span><span class="sd">    # Usage</span>
+<span class="linenos"> 12</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/01_assets/run_rigid_object.py</span>
+<span class="linenos"> 13</span>
+<span class="linenos"> 14</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 15</span>
+<span class="linenos"> 16</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 17</span>
+<span class="linenos"> 18</span>
+<span class="linenos"> 19</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 20</span>
+<span class="linenos"> 21</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 22</span>
+<span class="linenos"> 23</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 24</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on spawning and interacting with a rigid object.&quot;</span><span class="p">)</span>
+<span class="linenos"> 25</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 26</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 27</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 28</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 29</span>
+<span class="linenos"> 30</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 31</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 32</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 33</span>
+<span class="linenos"> 34</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 35</span>
+<span class="linenos"> 36</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 37</span>
+<span class="linenos"> 38</span><span class="kn">import</span> <span class="nn">omni.isaac.core.utils.prims</span> <span class="k">as</span> <span class="nn">prim_utils</span>
+<span class="linenos"> 39</span>
+<span class="linenos"> 40</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 41</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="k">as</span> <span class="nn">math_utils</span>
+<span class="linenos"> 42</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">RigidObject</span><span class="p">,</span> <span class="n">RigidObjectCfg</span>
+<span class="linenos"> 43</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+<span class="linenos"> 44</span>
+<span class="linenos"> 45</span>
+<span class="linenos"> 46</span><span class="k">def</span> <span class="nf">design_scene</span><span class="p">():</span>
+<span class="linenos"> 47</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Designs the scene.&quot;&quot;&quot;</span>
+<span class="linenos"> 48</span>    <span class="c1"># Ground-plane</span>
+<span class="linenos"> 49</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">()</span>
+<span class="linenos"> 50</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="linenos"> 51</span>    <span class="c1"># Lights</span>
+<span class="linenos"> 52</span>    <span class="n">cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">2000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.8</span><span class="p">,</span> <span class="mf">0.8</span><span class="p">,</span> <span class="mf">0.8</span><span class="p">))</span>
+<span class="linenos"> 53</span>    <span class="n">cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="p">)</span>
+<span class="linenos"> 54</span>
+<span class="hll"><span class="linenos"> 55</span>    <span class="c1"># Create separate groups called &quot;Origin1&quot;, &quot;Origin2&quot;, &quot;Origin3&quot;</span>
+</span><span class="hll"><span class="linenos"> 56</span>    <span class="c1"># Each group will have a robot in it</span>
+</span><span class="hll"><span class="linenos"> 57</span>    <span class="n">origins</span> <span class="o">=</span> <span class="p">[[</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]]</span>
+</span><span class="hll"><span class="linenos"> 58</span>    <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">origin</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">origins</span><span class="p">):</span>
+</span><span class="hll"><span class="linenos"> 59</span>        <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;/World/Origin</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">origin</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 60</span>
+</span><span class="hll"><span class="linenos"> 61</span>    <span class="c1"># Rigid Object</span>
+</span><span class="hll"><span class="linenos"> 62</span>    <span class="n">cone_cfg</span> <span class="o">=</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 63</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Origin.*/Cone&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 64</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 65</span>            <span class="n">radius</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 66</span>            <span class="n">height</span><span class="o">=</span><span class="mf">0.2</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 67</span>            <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos"> 68</span>            <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 69</span>            <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos"> 70</span>            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 71</span>        <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 72</span>        <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(),</span>
+</span><span class="hll"><span class="linenos"> 73</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 74</span>    <span class="n">cone_object</span> <span class="o">=</span> <span class="n">RigidObject</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cone_cfg</span><span class="p">)</span>
+</span><span class="linenos"> 75</span>
+<span class="hll"><span class="linenos"> 76</span>    <span class="c1"># return the scene information</span>
+</span><span class="hll"><span class="linenos"> 77</span>    <span class="n">scene_entities</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;cone&quot;</span><span class="p">:</span> <span class="n">cone_object</span><span class="p">}</span>
+</span><span class="hll"><span class="linenos"> 78</span>    <span class="k">return</span> <span class="n">scene_entities</span><span class="p">,</span> <span class="n">origins</span>
+</span><span class="linenos"> 79</span>
+<span class="linenos"> 80</span>
+<span class="linenos"> 81</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">entities</span><span class="p">:</span> <span class="nb">dict</span><span class="p">[</span><span class="nb">str</span><span class="p">,</span> <span class="n">RigidObject</span><span class="p">],</span> <span class="n">origins</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">):</span>
+<span class="linenos"> 82</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Runs the simulation loop.&quot;&quot;&quot;</span>
+<span class="linenos"> 83</span>    <span class="c1"># Extract scene entities</span>
+<span class="linenos"> 84</span>    <span class="c1"># note: we only do this here for readability. In general, it is better to access the entities directly from</span>
+<span class="linenos"> 85</span>    <span class="c1">#   the dictionary. This dictionary is replaced by the InteractiveScene class in the next tutorial.</span>
+<span class="linenos"> 86</span>    <span class="n">cone_object</span> <span class="o">=</span> <span class="n">entities</span><span class="p">[</span><span class="s2">&quot;cone&quot;</span><span class="p">]</span>
+<span class="linenos"> 87</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos"> 88</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos"> 89</span>    <span class="n">sim_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos"> 90</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos"> 91</span>    <span class="c1"># Simulate physics</span>
+<span class="linenos"> 92</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos"> 93</span>        <span class="c1"># reset</span>
+<span class="linenos"> 94</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">250</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos"> 95</span>            <span class="c1"># reset counters</span>
+<span class="linenos"> 96</span>            <span class="n">sim_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos"> 97</span>            <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="hll"><span class="linenos"> 98</span>            <span class="c1"># reset root state</span>
+</span><span class="hll"><span class="linenos"> 99</span>            <span class="n">root_state</span> <span class="o">=</span> <span class="n">cone_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">100</span>            <span class="c1"># sample a random position on a cylinder around the origins</span>
+</span><span class="hll"><span class="linenos">101</span>            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">origins</span>
+</span><span class="hll"><span class="linenos">102</span>            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_cylinder</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">103</span>                <span class="n">radius</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="n">h_range</span><span class="o">=</span><span class="p">(</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">),</span> <span class="n">size</span><span class="o">=</span><span class="n">cone_object</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">cone_object</span><span class="o">.</span><span class="n">device</span>
+</span><span class="hll"><span class="linenos">104</span>            <span class="p">)</span>
+</span><span class="hll"><span class="linenos">105</span>            <span class="c1"># write root state to simulation</span>
+</span><span class="hll"><span class="linenos">106</span>            <span class="n">cone_object</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos">107</span>            <span class="n">cone_object</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+</span><span class="hll"><span class="linenos">108</span>            <span class="c1"># reset buffers</span>
+</span><span class="linenos">109</span>            <span class="n">cone_object</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">110</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;----------------------------------------&quot;</span><span class="p">)</span>
+<span class="hll"><span class="linenos">111</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting object state...&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">112</span>        <span class="c1"># apply sim data</span>
+</span><span class="linenos">113</span>        <span class="n">cone_object</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">114</span>        <span class="c1"># perform step</span>
+<span class="linenos">115</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">116</span>        <span class="c1"># update sim-time</span>
+<span class="linenos">117</span>        <span class="n">sim_time</span> <span class="o">+=</span> <span class="n">sim_dt</span>
+<span class="hll"><span class="linenos">118</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+</span><span class="hll"><span class="linenos">119</span>        <span class="c1"># update buffers</span>
+</span><span class="linenos">120</span>        <span class="n">cone_object</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">121</span>        <span class="c1"># print the root position</span>
+<span class="linenos">122</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">50</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">123</span>            <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Root position (in world): </span><span class="si">{</span><span class="n">cone_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span><span class="w"> </span><span class="p">:</span><span class="mi">3</span><span class="p">]</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">124</span>
+<span class="linenos">125</span>
+<span class="linenos">126</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">127</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">128</span>    <span class="c1"># Load kit helper</span>
+<span class="linenos">129</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">130</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">131</span>    <span class="c1"># Set main camera</span>
+<span class="hll"><span class="linenos">132</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">(</span><span class="n">eye</span><span class="o">=</span><span class="p">[</span><span class="mf">1.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">],</span> <span class="n">target</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos">133</span>    <span class="c1"># Design scene</span>
+</span><span class="hll"><span class="linenos">134</span>    <span class="n">scene_entities</span><span class="p">,</span> <span class="n">scene_origins</span> <span class="o">=</span> <span class="n">design_scene</span><span class="p">()</span>
+</span><span class="linenos">135</span>    <span class="n">scene_origins</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">scene_origins</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">136</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">137</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">138</span>    <span class="c1"># Now we are ready!</span>
+<span class="hll"><span class="linenos">139</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">140</span>    <span class="c1"># Run the simulator</span>
+</span><span class="linenos">141</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene_entities</span><span class="p">,</span> <span class="n">scene_origins</span><span class="p">)</span>
+<span class="linenos">142</span>
+<span class="linenos">143</span>
+<span class="linenos">144</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">145</span>    <span class="c1"># run the main function</span>
+<span class="linenos">146</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">147</span>    <span class="c1"># close sim app</span>
+<span class="linenos">148</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>In this script, we split the <code class="docutils literal notranslate"><span class="pre">main</span></code> function into two separate functions, which highlight the two main
+steps of setting up any simulation in the simulator:</p>
+<ol class="arabic simple">
+<li><p><strong>Design scene</strong>: As the name suggests, this part is responsible for adding all the prims to the scene.</p></li>
+<li><p><strong>Run simulation</strong>: This part is responsible for stepping the simulator, interacting with the prims
+in the scene, e.g., changing their poses, and applying any commands to them.</p></li>
+</ol>
+<p>A distinction between these two steps is necessary because the second step only happens after the first step
+is complete and the simulator is reset. Once the simulator is reset (which automatically plays the simulation),
+no new (physics-enabled) prims should be added to the scene as it may lead to unexpected behaviors. However,
+the prims can be interacted with through their respective handles.</p>
+<section id="designing-the-scene">
+<h3>Designing the scene<a class="headerlink" href="#designing-the-scene" title="Permalink to this heading">#</a></h3>
+<p>Similar to the previous tutorial, we populate the scene with a ground plane and a light source. In addition,
+we add a rigid object to the scene using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.RigidObject</span></code></a> class. This class is responsible for
+spawning the prims at the input path and initializes their corresponding rigid body physics handles.</p>
+<p>In this tutorial, we create a conical rigid object using the spawn configuration similar to the rigid cone
+in the <a class="reference internal" href="../00_sim/spawn_prims.html#tutorial-spawn-prims"><span class="std std-ref">Spawn Objects</span></a> tutorial. The only difference is that now we wrap
+the spawning configuration into the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg" title="omni.isaac.lab.assets.RigidObjectCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.RigidObjectCfg</span></code></a> class. This class contains information about
+the asset’s spawning strategy, default initial state, and other meta-information. When this class is passed to
+the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.RigidObject</span></code></a> class, it spawns the object and initializes the corresponding physics handles
+when the simulation is played.</p>
+<p>As an example on spawning the rigid object prim multiple times, we create its parent Xform prims,
+<code class="docutils literal notranslate"><span class="pre">/World/Origin{i}</span></code>, that correspond to different spawn locations. When the regex expression
+<code class="docutils literal notranslate"><span class="pre">/World/Origin*/Cone</span></code> is passed to the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.RigidObject</span></code></a> class, it spawns the rigid object prim at
+each of the <code class="docutils literal notranslate"><span class="pre">/World/Origin{i}</span></code> locations. For instance, if <code class="docutils literal notranslate"><span class="pre">/World/Origin1</span></code> and <code class="docutils literal notranslate"><span class="pre">/World/Origin2</span></code> are
+present in the scene, the rigid object prims are spawned at the locations <code class="docutils literal notranslate"><span class="pre">/World/Origin1/Cone</span></code> and
+<code class="docutils literal notranslate"><span class="pre">/World/Origin2/Cone</span></code> respectively.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Create separate groups called &quot;Origin1&quot;, &quot;Origin2&quot;, &quot;Origin3&quot;</span>
+    <span class="c1"># Each group will have a robot in it</span>
+    <span class="n">origins</span> <span class="o">=</span> <span class="p">[[</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">]]</span>
+    <span class="k">for</span> <span class="n">i</span><span class="p">,</span> <span class="n">origin</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="n">origins</span><span class="p">):</span>
+        <span class="n">prim_utils</span><span class="o">.</span><span class="n">create_prim</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;/World/Origin</span><span class="si">{</span><span class="n">i</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">,</span> <span class="s2">&quot;Xform&quot;</span><span class="p">,</span> <span class="n">translation</span><span class="o">=</span><span class="n">origin</span><span class="p">)</span>
+
+    <span class="c1"># Rigid Object</span>
+    <span class="n">cone_cfg</span> <span class="o">=</span> <span class="n">RigidObjectCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Origin.*/Cone&quot;</span><span class="p">,</span>
+        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">ConeCfg</span><span class="p">(</span>
+            <span class="n">radius</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span>
+            <span class="n">height</span><span class="o">=</span><span class="mf">0.2</span><span class="p">,</span>
+            <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(),</span>
+            <span class="n">mass_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">MassPropertiesCfg</span><span class="p">(</span><span class="n">mass</span><span class="o">=</span><span class="mf">1.0</span><span class="p">),</span>
+            <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">metallic</span><span class="o">=</span><span class="mf">0.2</span><span class="p">),</span>
+        <span class="p">),</span>
+        <span class="n">init_state</span><span class="o">=</span><span class="n">RigidObjectCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(),</span>
+    <span class="p">)</span>
+    <span class="n">cone_object</span> <span class="o">=</span> <span class="n">RigidObject</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">cone_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Since we want to interact with the rigid object, we pass this entity back to the main function. This entity
+is then used to interact with the rigid object in the simulation loop. In later tutorials, we will see a more
+convenient way to handle multiple scene entities using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveScene</span></code></a> class.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># return the scene information</span>
+    <span class="n">scene_entities</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;cone&quot;</span><span class="p">:</span> <span class="n">cone_object</span><span class="p">}</span>
+    <span class="k">return</span> <span class="n">scene_entities</span><span class="p">,</span> <span class="n">origins</span>
+</pre></div>
+</div>
+</section>
+<section id="running-the-simulation-loop">
+<h3>Running the simulation loop<a class="headerlink" href="#running-the-simulation-loop" title="Permalink to this heading">#</a></h3>
+<p>We modify the simulation loop to interact with the rigid object to include three steps – resetting the
+simulation state at fixed intervals, stepping the simulation, and updating the internal buffers of the
+rigid object. For the convenience of this tutorial, we extract the rigid object’s entity from the scene
+dictionary and store it in a variable.</p>
+<section id="resetting-the-simulation-state">
+<h4>Resetting the simulation state<a class="headerlink" href="#resetting-the-simulation-state" title="Permalink to this heading">#</a></h4>
+<p>To reset the simulation state of the spawned rigid object prims, we need to set their pose and velocity.
+Together they define the root state of the spawned rigid objects. It is important to note that this state
+is defined in the <strong>simulation world frame</strong>, and not of their parent Xform prim. This is because the physics
+engine only understands the world frame and not the parent Xform prim’s frame. Thus, we need to transform
+desired state of the rigid object prim into the world frame before setting it.</p>
+<p>We use the <code class="xref py py-attr docutils literal notranslate"><span class="pre">assets.RigidObject.data.default_root_state</span></code> attribute to get the default root state of the
+spawned rigid object prims. This default state can be configured from the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObjectCfg.init_state" title="omni.isaac.lab.assets.RigidObjectCfg.init_state"><code class="xref py py-attr docutils literal notranslate"><span class="pre">assets.RigidObjectCfg.init_state</span></code></a>
+attribute, which we left as identity in this tutorial. We then randomize the translation of the root state and
+set the desired state of the rigid object prim using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_link_pose_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_link_pose_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.RigidObject.write_root_link_pose_to_sim()</span></code></a> and <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_root_com_velocity_to_sim" title="omni.isaac.lab.assets.RigidObject.write_root_com_velocity_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.RigidObject.write_root_com_velocity_to_sim()</span></code></a> methods.
+As the name suggests, this method writes the root state of the rigid object prim into the simulation buffer.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># reset root state</span>
+            <span class="n">root_state</span> <span class="o">=</span> <span class="n">cone_object</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+            <span class="c1"># sample a random position on a cylinder around the origins</span>
+            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">origins</span>
+            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">math_utils</span><span class="o">.</span><span class="n">sample_cylinder</span><span class="p">(</span>
+                <span class="n">radius</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="n">h_range</span><span class="o">=</span><span class="p">(</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">),</span> <span class="n">size</span><span class="o">=</span><span class="n">cone_object</span><span class="o">.</span><span class="n">num_instances</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">cone_object</span><span class="o">.</span><span class="n">device</span>
+            <span class="p">)</span>
+            <span class="c1"># write root state to simulation</span>
+            <span class="n">cone_object</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+            <span class="n">cone_object</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+            <span class="c1"># reset buffers</span>
+            <span class="n">cone_object</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+<section id="stepping-the-simulation">
+<h4>Stepping the simulation<a class="headerlink" href="#stepping-the-simulation" title="Permalink to this heading">#</a></h4>
+<p>Before stepping the simulation, we perform the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.write_data_to_sim" title="omni.isaac.lab.assets.RigidObject.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.RigidObject.write_data_to_sim()</span></code></a> method. This method
+writes other data, such as external forces, into the simulation buffer. In this tutorial, we do not apply any
+external forces to the rigid object, so this method is not necessary. However, it is included for completeness.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="c1"># apply sim data</span>
+        <span class="n">cone_object</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+<section id="updating-the-state">
+<h4>Updating the state<a class="headerlink" href="#updating-the-state" title="Permalink to this heading">#</a></h4>
+<p>After stepping the simulation, we update the internal buffers of the rigid object prims to reflect their new state
+inside the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.data" title="omni.isaac.lab.assets.RigidObject.data"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.RigidObject.data</span></code></a> attribute. This is done using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject.update" title="omni.isaac.lab.assets.RigidObject.update"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.RigidObject.update()</span></code></a> method.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="c1"># update buffers</span>
+        <span class="n">cone_object</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>Now that we have gone through the code, let’s run the script and see the result:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/01_assets/run_rigid_object.py
+</pre></div>
+</div>
+<p>This should open a stage with a ground plane, lights, and several green cones. The cones must be dropping from
+a random height and settling on to the ground. To stop the simulation, you can either close the window, or press
+the <code class="docutils literal notranslate"><span class="pre">STOP</span></code> button in the UI, or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of run_rigid_object.py" src="../../../_images/tutorial_run_rigid_object.jpg" />
+</figure>
+<p>This tutorial showed how to spawn rigid objects and wrap them in a <code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code> class to initialize their
+physics handles which allows setting and obtaining their state. In the next tutorial, we will see how to interact
+with an articulated object which is a collection of rigid objects connected by joints.</p>
+</section>
+</section>
+
+
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+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#designing-the-scene">Designing the scene</a></li>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Using the Interactive Scene</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-configuration">Scene configuration</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-instantiation">Scene instantiation</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#accessing-scene-elements">Accessing scene elements</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation-loop">Running the simulation loop</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="using-the-interactive-scene">
+<span id="tutorial-interactive-scene"></span><h1>Using the Interactive Scene<a class="headerlink" href="#using-the-interactive-scene" title="Permalink to this heading">#</a></h1>
+<p>So far in the tutorials, we manually spawned assets into the simulation and created
+object instances to interact with them. However, as the complexity of the scene
+increases, it becomes tedious to perform these tasks manually. In this tutorial,
+we will introduce the <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveScene</span></code></a> class, which provides a convenient
+interface for spawning prims and managing them in the simulation.</p>
+<p>At a high-level, the interactive scene is a collection of scene entities. Each entity
+can be either a non-interactive prim (e.g. ground plane, light source), an interactive
+prim (e.g. articulation, rigid object), or a sensor (e.g. camera, lidar). The interactive
+scene provides a convenient interface for spawning these entities and managing them
+in the simulation.</p>
+<p>Compared the manual approach, it provides the following benefits:</p>
+<ul class="simple">
+<li><p>Alleviates the user needing to spawn each asset separately as this is handled implicitly.</p></li>
+<li><p>Enables user-friendly cloning of scene prims for multiple environments.</p></li>
+<li><p>Collects all the scene entities into a single object, which makes them easier to manage.</p></li>
+</ul>
+<p>In this tutorial, we take the cartpole example from the <a class="reference internal" href="../01_assets/run_articulation.html#tutorial-interact-articulation"><span class="std std-ref">Interacting with an articulation</span></a>
+tutorial and replace the <code class="docutils literal notranslate"><span class="pre">design_scene</span></code> function with an <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveScene</span></code></a> object.
+While it may seem like overkill to use the interactive scene for this simple example, it will
+become more useful in the future as more assets and sensors are added to the scene.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>This tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">create_scene.py</span></code> script within
+<code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/02_scene</span></code>.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for create_scene.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;This script demonstrates how to use the interactive scene interface to setup a scene with multiple prims.</span>
+<span class="linenos">  7</span>
+<span class="linenos">  8</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos">  9</span>
+<span class="linenos"> 10</span><span class="sd">    # Usage</span>
+<span class="linenos"> 11</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/02_scene/create_scene.py --num_envs 32</span>
+<span class="linenos"> 12</span>
+<span class="linenos"> 13</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 14</span>
+<span class="linenos"> 15</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 16</span>
+<span class="linenos"> 17</span>
+<span class="linenos"> 18</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 19</span>
+<span class="linenos"> 20</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 21</span>
+<span class="linenos"> 22</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 23</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on using the interactive scene interface.&quot;</span><span class="p">)</span>
+<span class="linenos"> 24</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to spawn.&quot;</span><span class="p">)</span>
+<span class="linenos"> 25</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 26</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 27</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 28</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 29</span>
+<span class="linenos"> 30</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 31</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 32</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 33</span>
+<span class="linenos"> 34</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 35</span>
+<span class="linenos"> 36</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 37</span>
+<span class="linenos"> 38</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 39</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">ArticulationCfg</span><span class="p">,</span> <span class="n">AssetBaseCfg</span>
+<span class="linenos"> 40</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span><span class="p">,</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos"> 41</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationContext</span>
+<span class="linenos"> 42</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos"> 43</span>
+<span class="linenos"> 44</span><span class="c1">##</span>
+<span class="linenos"> 45</span><span class="c1"># Pre-defined configs</span>
+<span class="linenos"> 46</span><span class="c1">##</span>
+<span class="linenos"> 47</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets</span> <span class="kn">import</span> <span class="n">CARTPOLE_CFG</span>  <span class="c1"># isort:skip</span>
+<span class="linenos"> 48</span>
+<span class="linenos"> 49</span>
+<span class="hll"><span class="linenos"> 50</span><span class="nd">@configclass</span>
+</span><span class="hll"><span class="linenos"> 51</span><span class="k">class</span> <span class="nc">CartpoleSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+</span><span class="hll"><span class="linenos"> 52</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a cart-pole scene.&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="linenos"> 53</span>
+</span><span class="hll"><span class="linenos"> 54</span>    <span class="c1"># ground plane</span>
+</span><span class="hll"><span class="linenos"> 55</span>    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+</span><span class="hll"><span class="linenos"> 56</span>
+</span><span class="hll"><span class="linenos"> 57</span>    <span class="c1"># lights</span>
+</span><span class="hll"><span class="linenos"> 58</span>    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 59</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+</span><span class="hll"><span class="linenos"> 60</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 61</span>
+</span><span class="hll"><span class="linenos"> 62</span>    <span class="c1"># articulation</span>
+</span><span class="hll"><span class="linenos"> 63</span>    <span class="n">cartpole</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">CARTPOLE_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+</span><span class="linenos"> 64</span>
+<span class="linenos"> 65</span>
+<span class="linenos"> 66</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+<span class="linenos"> 67</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Runs the simulation loop.&quot;&quot;&quot;</span>
+<span class="hll"><span class="linenos"> 68</span>    <span class="c1"># Extract scene entities</span>
+</span><span class="hll"><span class="linenos"> 69</span>    <span class="c1"># note: we only do this here for readability.</span>
+</span><span class="hll"><span class="linenos"> 70</span>    <span class="n">robot</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;cartpole&quot;</span><span class="p">]</span>
+</span><span class="linenos"> 71</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos"> 72</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos"> 73</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos"> 74</span>    <span class="c1"># Simulation loop</span>
+<span class="linenos"> 75</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos"> 76</span>        <span class="c1"># Reset</span>
+<span class="linenos"> 77</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">500</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos"> 78</span>            <span class="c1"># reset counter</span>
+<span class="linenos"> 79</span>            <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos"> 80</span>            <span class="c1"># reset the scene entities</span>
+<span class="linenos"> 81</span>            <span class="c1"># root state</span>
+<span class="linenos"> 82</span>            <span class="c1"># we offset the root state by the origin since the states are written in simulation world frame</span>
+<span class="linenos"> 83</span>            <span class="c1"># if this is not done, then the robots will be spawned at the (0, 0, 0) of the simulation world</span>
+<span class="linenos"> 84</span>            <span class="n">root_state</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos"> 85</span>            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span>
+<span class="linenos"> 86</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos"> 87</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+<span class="linenos"> 88</span>            <span class="c1"># set joint positions with some noise</span>
+<span class="linenos"> 89</span>            <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos"> 90</span>            <span class="n">joint_pos</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand_like</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.1</span>
+<span class="hll"><span class="linenos"> 91</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 92</span>            <span class="c1"># clear internal buffers</span>
+</span><span class="linenos"> 93</span>            <span class="n">scene</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos"> 94</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting robot state...&quot;</span><span class="p">)</span>
+<span class="linenos"> 95</span>        <span class="c1"># Apply random action</span>
+<span class="linenos"> 96</span>        <span class="c1"># -- generate random joint efforts</span>
+<span class="linenos"> 97</span>        <span class="n">efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn_like</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">)</span> <span class="o">*</span> <span class="mf">5.0</span>
+<span class="linenos"> 98</span>        <span class="c1"># -- apply action to the robot</span>
+<span class="hll"><span class="linenos"> 99</span>        <span class="n">robot</span><span class="o">.</span><span class="n">set_joint_effort_target</span><span class="p">(</span><span class="n">efforts</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">100</span>        <span class="c1"># -- write data to sim</span>
+</span><span class="linenos">101</span>        <span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">102</span>        <span class="c1"># Perform step</span>
+<span class="linenos">103</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">104</span>        <span class="c1"># Increment counter</span>
+<span class="hll"><span class="linenos">105</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+</span><span class="hll"><span class="linenos">106</span>        <span class="c1"># Update buffers</span>
+</span><span class="linenos">107</span>        <span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">108</span>
+<span class="linenos">109</span>
+<span class="linenos">110</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">111</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">112</span>    <span class="c1"># Load kit helper</span>
+<span class="linenos">113</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">114</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">115</span>    <span class="c1"># Set main camera</span>
+<span class="hll"><span class="linenos">116</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">4.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos">117</span>    <span class="c1"># Design scene</span>
+</span><span class="hll"><span class="linenos">118</span>    <span class="n">scene_cfg</span> <span class="o">=</span> <span class="n">CartpoleSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.0</span><span class="p">)</span>
+</span><span class="linenos">119</span>    <span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">scene_cfg</span><span class="p">)</span>
+<span class="linenos">120</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">121</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">122</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">123</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">124</span>    <span class="c1"># Run the simulator</span>
+<span class="linenos">125</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">)</span>
+<span class="linenos">126</span>
+<span class="linenos">127</span>
+<span class="linenos">128</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">129</span>    <span class="c1"># run the main function</span>
+<span class="linenos">130</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">131</span>    <span class="c1"># close sim app</span>
+<span class="linenos">132</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>While the code is similar to the previous tutorial, there are a few key differences
+that we will go over in detail.</p>
+<section id="scene-configuration">
+<h3>Scene configuration<a class="headerlink" href="#scene-configuration" title="Permalink to this heading">#</a></h3>
+<p>The scene is composed of a collection of entities, each with their own configuration.
+These are specified in a configuration class that inherits from <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveSceneCfg</span></code></a>.
+The configuration class is then passed to the <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveScene</span></code></a> constructor
+to create the scene.</p>
+<p>For the cartpole example, we specify the same scene as in the previous tutorial, but list
+them now in the configuration class <code class="xref py py-class docutils literal notranslate"><span class="pre">CartpoleSceneCfg</span></code> instead of manually spawning them.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CartpoleSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a cart-pole scene.&quot;&quot;&quot;</span>
+
+    <span class="c1"># ground plane</span>
+    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+
+    <span class="c1"># lights</span>
+    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+    <span class="p">)</span>
+
+    <span class="c1"># articulation</span>
+    <span class="n">cartpole</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">CARTPOLE_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>The variable names in the configuration class are used as keys to access the corresponding
+entity from the <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveScene</span></code></a> object. For example, the cartpole can
+be accessed via <code class="docutils literal notranslate"><span class="pre">scene[&quot;cartpole&quot;]</span></code>. However, we will get to that later. First, let’s
+look at how individual scene entities are configured.</p>
+<p>Similar to how a rigid object and articulation were configured in the previous tutorials,
+the configurations are specified using a configuration class. However, there is a key
+difference between the configurations for the ground plane and light source and the
+configuration for the cartpole. The ground plane and light source are non-interactive
+prims, while the cartpole is an interactive prim. This distinction is reflected in the
+configuration classes used to specify them. The configurations for the ground plane and
+light source are specified using an instance of the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBaseCfg" title="omni.isaac.lab.assets.AssetBaseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.AssetBaseCfg</span></code></a> class
+while the cartpole is configured using an instance of the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.ArticulationCfg</span></code></a>.
+Anything that is not an interactive prim (i.e., neither an asset nor a sensor) is not
+<em>handled</em> by the scene during simulation steps.</p>
+<p>Another key difference to note is in the specification of the prim paths for the
+different prims:</p>
+<ul class="simple">
+<li><p>Ground plane: <code class="docutils literal notranslate"><span class="pre">/World/defaultGroundPlane</span></code></p></li>
+<li><p>Light source: <code class="docutils literal notranslate"><span class="pre">/World/Light</span></code></p></li>
+<li><p>Cartpole: <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot</span></code></p></li>
+</ul>
+<p>As we learned earlier, Omniverse creates a graph of prims in the USD stage. The prim
+paths are used to specify the location of the prim in the graph. The ground plane and
+light source are specified using absolute paths, while the cartpole is specified using
+a relative path. The relative path is specified using the <code class="docutils literal notranslate"><span class="pre">ENV_REGEX_NS</span></code> variable,
+which is a special variable that is replaced with the environment name during scene creation.
+Any entity that has the <code class="docutils literal notranslate"><span class="pre">ENV_REGEX_NS</span></code> variable in its prim path will be  cloned for each
+environment. This path is replaced by the scene object with <code class="docutils literal notranslate"><span class="pre">/World/envs/env_{i}</span></code> where
+<code class="docutils literal notranslate"><span class="pre">i</span></code> is the environment index.</p>
+</section>
+<section id="scene-instantiation">
+<h3>Scene instantiation<a class="headerlink" href="#scene-instantiation" title="Permalink to this heading">#</a></h3>
+<p>Unlike before where we called the <code class="docutils literal notranslate"><span class="pre">design_scene</span></code> function to create the scene, we now
+create an instance of the <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveScene</span></code></a> class and pass in the configuration
+object to its constructor. While creating the configuration instance of <code class="docutils literal notranslate"><span class="pre">CartpoleSceneCfg</span></code>
+we specify how many environment copies we want to create using the <code class="docutils literal notranslate"><span class="pre">num_envs</span></code> argument.
+This will be used to clone the scene for each environment.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Design scene</span>
+    <span class="n">scene_cfg</span> <span class="o">=</span> <span class="n">CartpoleSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.0</span><span class="p">)</span>
+    <span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">scene_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="accessing-scene-elements">
+<h3>Accessing scene elements<a class="headerlink" href="#accessing-scene-elements" title="Permalink to this heading">#</a></h3>
+<p>Similar to how entities were accessed from a dictionary in the previous tutorials, the
+scene elements can be accessed from the <code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code> object using the
+<code class="docutils literal notranslate"><span class="pre">[]</span></code> operator. The operator takes in a string key and returns the corresponding
+entity. The key is specified through the configuration class for each entity. For example,
+the cartpole is specified using the key <code class="docutils literal notranslate"><span class="pre">&quot;cartpole&quot;</span></code> in the configuration class.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Extract scene entities</span>
+    <span class="c1"># note: we only do this here for readability.</span>
+    <span class="n">robot</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;cartpole&quot;</span><span class="p">]</span>
+</pre></div>
+</div>
+</section>
+<section id="running-the-simulation-loop">
+<h3>Running the simulation loop<a class="headerlink" href="#running-the-simulation-loop" title="Permalink to this heading">#</a></h3>
+<p>The rest of the script looks similar to previous scripts that interfaced with <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">assets.Articulation</span></code></a>,
+with a few small differences in the methods called:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.reset" title="omni.isaac.lab.assets.Articulation.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.Articulation.reset()</span></code></a> ⟶ <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.reset" title="omni.isaac.lab.scene.InteractiveScene.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">scene.InteractiveScene.reset()</span></code></a></p></li>
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.write_data_to_sim" title="omni.isaac.lab.assets.Articulation.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.Articulation.write_data_to_sim()</span></code></a> ⟶ <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.write_data_to_sim" title="omni.isaac.lab.scene.InteractiveScene.write_data_to_sim"><code class="xref py py-meth docutils literal notranslate"><span class="pre">scene.InteractiveScene.write_data_to_sim()</span></code></a></p></li>
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.update" title="omni.isaac.lab.assets.Articulation.update"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.Articulation.update()</span></code></a> ⟶ <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.update" title="omni.isaac.lab.scene.InteractiveScene.update"><code class="xref py py-meth docutils literal notranslate"><span class="pre">scene.InteractiveScene.update()</span></code></a></p></li>
+</ul>
+<p>Under the hood, the methods of <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveScene</span></code></a> call the corresponding
+methods of the entities in the scene.</p>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>Let’s run the script to simulate 32 cartpoles in the scene. We can do this by passing
+the <code class="docutils literal notranslate"><span class="pre">--num_envs</span></code> argument to the script.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/02_scene/create_scene.py<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span>
+</pre></div>
+</div>
+<p>This should open a stage with 32 cartpoles swinging around randomly. You can use the
+mouse to rotate the camera and the arrow keys to move around the scene.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of create_scene.py" src="../../../_images/tutorial_creating_a_scene.jpg" />
+</figure>
+<p>In this tutorial, we saw how to use <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveScene</span></code></a> to create a
+scene with multiple assets. We also saw how to use the <code class="docutils literal notranslate"><span class="pre">num_envs</span></code> argument
+to clone the scene for multiple environments.</p>
+<p>There are many more example usages of the <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveSceneCfg" title="omni.isaac.lab.scene.InteractiveSceneCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveSceneCfg</span></code></a> in the tasks found
+under the <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks</span></code> extension. Please check out the source code to see
+how they are used for more complex scenes.</p>
+</section>
+</section>
+
+
+                </article>
+              
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+              
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
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+    <h1>Creating a Direct Workflow RL Environment</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-creation">Scene Creation</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-rewards">Defining Rewards</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-observations">Defining Observations</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#computing-dones-and-performing-resets">Computing Dones and Performing Resets</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#applying-actions">Applying Actions</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#domain-randomization">Domain Randomization</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#action-and-observation-noise">Action and Observation Noise</a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="creating-a-direct-workflow-rl-environment">
+<span id="tutorial-create-direct-rl-env"></span><h1>Creating a Direct Workflow RL Environment<a class="headerlink" href="#creating-a-direct-workflow-rl-environment" title="Permalink to this heading">#</a></h1>
+<p>In addition to the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> class, which encourages the use of configuration classes
+for more modular environments, the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a> class allows for more direct control
+in the scripting of environment.</p>
+<p>Instead of using Manager classes for defining rewards and observations, the direct workflow tasks
+implement the full reward and observation functions directly in the task script.
+This allows for more control in the implementation of the methods, such as using pytorch jit
+features, and provides a less abstracted framework that makes it easier to find the various
+pieces of code.</p>
+<p>In this tutorial, we will configure the cartpole environment using the direct workflow implementation to create a task
+for balancing the pole upright. We will learn how to specify the task using by implementing functions
+for scene creation, actions, resets, rewards and observations.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>For this tutorial, we use the cartpole environment defined in <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.direct.cartpole</span></code> module.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for cartpole_env.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+<span class="linenos">  7</span>
+<span class="linenos">  8</span><span class="kn">import</span> <span class="nn">math</span>
+<span class="linenos">  9</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 10</span><span class="kn">from</span> <span class="nn">collections.abc</span> <span class="kn">import</span> <span class="n">Sequence</span>
+<span class="linenos"> 11</span>
+<span class="linenos"> 12</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets.cartpole</span> <span class="kn">import</span> <span class="n">CARTPOLE_CFG</span>
+<span class="linenos"> 13</span>
+<span class="linenos"> 14</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 15</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">Articulation</span><span class="p">,</span> <span class="n">ArticulationCfg</span>
+<span class="linenos"> 16</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">DirectRLEnv</span><span class="p">,</span> <span class="n">DirectRLEnvCfg</span>
+<span class="linenos"> 17</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos"> 18</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationCfg</span>
+<span class="linenos"> 19</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim.spawners.from_files</span> <span class="kn">import</span> <span class="n">GroundPlaneCfg</span><span class="p">,</span> <span class="n">spawn_ground_plane</span>
+<span class="linenos"> 20</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos"> 21</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="n">sample_uniform</span>
+<span class="linenos"> 22</span>
+<span class="linenos"> 23</span>
+<span class="linenos"> 24</span><span class="nd">@configclass</span>
+<span class="linenos"> 25</span><span class="k">class</span> <span class="nc">CartpoleEnvCfg</span><span class="p">(</span><span class="n">DirectRLEnvCfg</span><span class="p">):</span>
+<span class="linenos"> 26</span>    <span class="c1"># env</span>
+<span class="linenos"> 27</span>    <span class="n">decimation</span> <span class="o">=</span> <span class="mi">2</span>
+<span class="linenos"> 28</span>    <span class="n">episode_length_s</span> <span class="o">=</span> <span class="mf">5.0</span>
+<span class="linenos"> 29</span>    <span class="n">action_scale</span> <span class="o">=</span> <span class="mf">100.0</span>  <span class="c1"># [N]</span>
+<span class="linenos"> 30</span>    <span class="n">action_space</span> <span class="o">=</span> <span class="mi">1</span>
+<span class="linenos"> 31</span>    <span class="n">observation_space</span> <span class="o">=</span> <span class="mi">4</span>
+<span class="linenos"> 32</span>    <span class="n">state_space</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos"> 33</span>
+<span class="linenos"> 34</span>    <span class="c1"># simulation</span>
+<span class="linenos"> 35</span>    <span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mi">1</span> <span class="o">/</span> <span class="mi">120</span><span class="p">,</span> <span class="n">render_interval</span><span class="o">=</span><span class="n">decimation</span><span class="p">)</span>
+<span class="linenos"> 36</span>
+<span class="linenos"> 37</span>    <span class="c1"># robot</span>
+<span class="linenos"> 38</span>    <span class="n">robot_cfg</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">CARTPOLE_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Robot&quot;</span><span class="p">)</span>
+<span class="linenos"> 39</span>    <span class="n">cart_dof_name</span> <span class="o">=</span> <span class="s2">&quot;slider_to_cart&quot;</span>
+<span class="linenos"> 40</span>    <span class="n">pole_dof_name</span> <span class="o">=</span> <span class="s2">&quot;cart_to_pole&quot;</span>
+<span class="linenos"> 41</span>
+<span class="linenos"> 42</span>    <span class="c1"># scene</span>
+<span class="linenos"> 43</span>    <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">InteractiveSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">4096</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">4.0</span><span class="p">,</span> <span class="n">replicate_physics</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+<span class="linenos"> 44</span>
+<span class="linenos"> 45</span>    <span class="c1"># reset</span>
+<span class="linenos"> 46</span>    <span class="n">max_cart_pos</span> <span class="o">=</span> <span class="mf">3.0</span>  <span class="c1"># the cart is reset if it exceeds that position [m]</span>
+<span class="linenos"> 47</span>    <span class="n">initial_pole_angle_range</span> <span class="o">=</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">]</span>  <span class="c1"># the range in which the pole angle is sampled from on reset [rad]</span>
+<span class="linenos"> 48</span>
+<span class="linenos"> 49</span>    <span class="c1"># reward scales</span>
+<span class="linenos"> 50</span>    <span class="n">rew_scale_alive</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="linenos"> 51</span>    <span class="n">rew_scale_terminated</span> <span class="o">=</span> <span class="o">-</span><span class="mf">2.0</span>
+<span class="linenos"> 52</span>    <span class="n">rew_scale_pole_pos</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+<span class="linenos"> 53</span>    <span class="n">rew_scale_cart_vel</span> <span class="o">=</span> <span class="o">-</span><span class="mf">0.01</span>
+<span class="linenos"> 54</span>    <span class="n">rew_scale_pole_vel</span> <span class="o">=</span> <span class="o">-</span><span class="mf">0.005</span>
+<span class="linenos"> 55</span>
+<span class="linenos"> 56</span>
+<span class="linenos"> 57</span><span class="k">class</span> <span class="nc">CartpoleEnv</span><span class="p">(</span><span class="n">DirectRLEnv</span><span class="p">):</span>
+<span class="linenos"> 58</span>    <span class="n">cfg</span><span class="p">:</span> <span class="n">CartpoleEnvCfg</span>
+<span class="linenos"> 59</span>
+<span class="linenos"> 60</span>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">CartpoleEnvCfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="linenos"> 61</span>        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+<span class="linenos"> 62</span>
+<span class="linenos"> 63</span>        <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">find_joints</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">cart_dof_name</span><span class="p">)</span>
+<span class="linenos"> 64</span>        <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">find_joints</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">pole_dof_name</span><span class="p">)</span>
+<span class="linenos"> 65</span>        <span class="bp">self</span><span class="o">.</span><span class="n">action_scale</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">action_scale</span>
+<span class="linenos"> 66</span>
+<span class="linenos"> 67</span>        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span>
+<span class="linenos"> 68</span>        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span>
+<span class="linenos"> 69</span>
+<span class="linenos"> 70</span>    <span class="k">def</span> <span class="nf">_setup_scene</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="linenos"> 71</span>        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">robot_cfg</span><span class="p">)</span>
+<span class="linenos"> 72</span>        <span class="c1"># add ground plane</span>
+<span class="linenos"> 73</span>        <span class="n">spawn_ground_plane</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+<span class="linenos"> 74</span>        <span class="c1"># clone, filter, and replicate</span>
+<span class="linenos"> 75</span>        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">clone_environments</span><span class="p">(</span><span class="n">copy_from_source</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+<span class="linenos"> 76</span>        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">filter_collisions</span><span class="p">(</span><span class="n">global_prim_paths</span><span class="o">=</span><span class="p">[])</span>
+<span class="linenos"> 77</span>        <span class="c1"># add articulation to scene</span>
+<span class="linenos"> 78</span>        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="p">[</span><span class="s2">&quot;cartpole&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span>
+<span class="linenos"> 79</span>        <span class="c1"># add lights</span>
+<span class="linenos"> 80</span>        <span class="n">light_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">2000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos"> 81</span>        <span class="n">light_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">light_cfg</span><span class="p">)</span>
+<span class="linenos"> 82</span>
+<span class="linenos"> 83</span>    <span class="k">def</span> <span class="nf">_pre_physics_step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos"> 84</span>        <span class="bp">self</span><span class="o">.</span><span class="n">actions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_scale</span> <span class="o">*</span> <span class="n">actions</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos"> 85</span>
+<span class="linenos"> 86</span>    <span class="k">def</span> <span class="nf">_apply_action</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos"> 87</span>        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">set_joint_effort_target</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">actions</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">)</span>
+<span class="linenos"> 88</span>
+<span class="linenos"> 89</span>    <span class="k">def</span> <span class="nf">_get_observations</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+<span class="linenos"> 90</span>        <span class="n">obs</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span>
+<span class="linenos"> 91</span>            <span class="p">(</span>
+<span class="linenos"> 92</span>                <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+<span class="linenos"> 93</span>                <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+<span class="linenos"> 94</span>                <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+<span class="linenos"> 95</span>                <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+<span class="linenos"> 96</span>            <span class="p">),</span>
+<span class="linenos"> 97</span>            <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span>
+<span class="linenos"> 98</span>        <span class="p">)</span>
+<span class="linenos"> 99</span>        <span class="n">observations</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;policy&quot;</span><span class="p">:</span> <span class="n">obs</span><span class="p">}</span>
+<span class="linenos">100</span>        <span class="k">return</span> <span class="n">observations</span>
+<span class="linenos">101</span>
+<span class="linenos">102</span>    <span class="k">def</span> <span class="nf">_get_rewards</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+<span class="linenos">103</span>        <span class="n">total_reward</span> <span class="o">=</span> <span class="n">compute_rewards</span><span class="p">(</span>
+<span class="linenos">104</span>            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_alive</span><span class="p">,</span>
+<span class="linenos">105</span>            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_terminated</span><span class="p">,</span>
+<span class="linenos">106</span>            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_pole_pos</span><span class="p">,</span>
+<span class="linenos">107</span>            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_cart_vel</span><span class="p">,</span>
+<span class="linenos">108</span>            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_pole_vel</span><span class="p">,</span>
+<span class="linenos">109</span>            <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+<span class="linenos">110</span>            <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+<span class="linenos">111</span>            <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+<span class="linenos">112</span>            <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+<span class="linenos">113</span>            <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span><span class="p">,</span>
+<span class="linenos">114</span>        <span class="p">)</span>
+<span class="linenos">115</span>        <span class="k">return</span> <span class="n">total_reward</span>
+<span class="linenos">116</span>
+<span class="linenos">117</span>    <span class="k">def</span> <span class="nf">_get_dones</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+<span class="linenos">118</span>        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span>
+<span class="linenos">119</span>        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span>
+<span class="linenos">120</span>
+<span class="linenos">121</span>        <span class="n">time_out</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_episode_length</span> <span class="o">-</span> <span class="mi">1</span>
+<span class="linenos">122</span>        <span class="n">out_of_bounds</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">])</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_cart_pos</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">123</span>        <span class="n">out_of_bounds</span> <span class="o">=</span> <span class="n">out_of_bounds</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">])</span> <span class="o">&gt;</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">124</span>        <span class="k">return</span> <span class="n">out_of_bounds</span><span class="p">,</span> <span class="n">time_out</span>
+<span class="linenos">125</span>
+<span class="linenos">126</span>    <span class="k">def</span> <span class="nf">_reset_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span><span class="p">):</span>
+<span class="linenos">127</span>        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos">128</span>            <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+<span class="linenos">129</span>        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+<span class="linenos">130</span>
+<span class="linenos">131</span>        <span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+<span class="linenos">132</span>        <span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span> <span class="o">+=</span> <span class="n">sample_uniform</span><span class="p">(</span>
+<span class="linenos">133</span>            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">initial_pole_angle_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span>
+<span class="linenos">134</span>            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">initial_pole_angle_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span>
+<span class="linenos">135</span>            <span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span>
+<span class="linenos">136</span>            <span class="n">joint_pos</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+<span class="linenos">137</span>        <span class="p">)</span>
+<span class="linenos">138</span>        <span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+<span class="linenos">139</span>
+<span class="linenos">140</span>        <span class="n">default_root_state</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+<span class="linenos">141</span>        <span class="n">default_root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+<span class="linenos">142</span>
+<span class="linenos">143</span>        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_pos</span>
+<span class="linenos">144</span>        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_vel</span>
+<span class="linenos">145</span>
+<span class="linenos">146</span>        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">default_root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="p">)</span>
+<span class="linenos">147</span>        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">default_root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="p">)</span>
+<span class="linenos">148</span>        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+<span class="linenos">149</span>
+<span class="linenos">150</span>
+<span class="linenos">151</span><span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="linenos">152</span><span class="k">def</span> <span class="nf">compute_rewards</span><span class="p">(</span>
+<span class="linenos">153</span>    <span class="n">rew_scale_alive</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+<span class="linenos">154</span>    <span class="n">rew_scale_terminated</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+<span class="linenos">155</span>    <span class="n">rew_scale_pole_pos</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+<span class="linenos">156</span>    <span class="n">rew_scale_cart_vel</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+<span class="linenos">157</span>    <span class="n">rew_scale_pole_vel</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+<span class="linenos">158</span>    <span class="n">pole_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+<span class="linenos">159</span>    <span class="n">pole_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+<span class="linenos">160</span>    <span class="n">cart_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+<span class="linenos">161</span>    <span class="n">cart_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+<span class="linenos">162</span>    <span class="n">reset_terminated</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+<span class="linenos">163</span><span class="p">):</span>
+<span class="linenos">164</span>    <span class="n">rew_alive</span> <span class="o">=</span> <span class="n">rew_scale_alive</span> <span class="o">*</span> <span class="p">(</span><span class="mf">1.0</span> <span class="o">-</span> <span class="n">reset_terminated</span><span class="o">.</span><span class="n">float</span><span class="p">())</span>
+<span class="linenos">165</span>    <span class="n">rew_termination</span> <span class="o">=</span> <span class="n">rew_scale_terminated</span> <span class="o">*</span> <span class="n">reset_terminated</span><span class="o">.</span><span class="n">float</span><span class="p">()</span>
+<span class="linenos">166</span>    <span class="n">rew_pole_pos</span> <span class="o">=</span> <span class="n">rew_scale_pole_pos</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">pole_pos</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">167</span>    <span class="n">rew_cart_vel</span> <span class="o">=</span> <span class="n">rew_scale_cart_vel</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">cart_vel</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">168</span>    <span class="n">rew_pole_vel</span> <span class="o">=</span> <span class="n">rew_scale_pole_vel</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">pole_vel</span><span class="p">)</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">169</span>    <span class="n">total_reward</span> <span class="o">=</span> <span class="n">rew_alive</span> <span class="o">+</span> <span class="n">rew_termination</span> <span class="o">+</span> <span class="n">rew_pole_pos</span> <span class="o">+</span> <span class="n">rew_cart_vel</span> <span class="o">+</span> <span class="n">rew_pole_vel</span>
+<span class="linenos">170</span>    <span class="k">return</span> <span class="n">total_reward</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>Similar to the manager-based environments, a configuration class is defined for the task to hold settings
+for the simulation parameters, the scene, the actors, and the task. With the direct workflow implementation,
+the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnvCfg" title="omni.isaac.lab.envs.DirectRLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.DirectRLEnvCfg</span></code></a> class is used as the base class for configurations.
+Since the direct workflow implementation does not use Action and Observation managers, the task
+config should define the number of actions and observations for the environment.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CartpoleEnvCfg</span><span class="p">(</span><span class="n">DirectRLEnvCfg</span><span class="p">):</span>
+   <span class="o">...</span>
+   <span class="n">action_space</span> <span class="o">=</span> <span class="mi">1</span>
+   <span class="n">observation_space</span> <span class="o">=</span> <span class="mi">4</span>
+   <span class="n">state_space</span> <span class="o">=</span> <span class="mi">0</span>
+</pre></div>
+</div>
+<p>The config class can also be used to define task-specific attributes, such as scaling for reward terms
+and thresholds for reset conditions.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CartpoleEnvCfg</span><span class="p">(</span><span class="n">DirectRLEnvCfg</span><span class="p">):</span>
+   <span class="o">...</span>
+   <span class="c1"># reset</span>
+   <span class="n">max_cart_pos</span> <span class="o">=</span> <span class="mf">3.0</span>
+   <span class="n">initial_pole_angle_range</span> <span class="o">=</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.25</span><span class="p">,</span> <span class="mf">0.25</span><span class="p">]</span>
+
+   <span class="c1"># reward scales</span>
+   <span class="n">rew_scale_alive</span> <span class="o">=</span> <span class="mf">1.0</span>
+   <span class="n">rew_scale_terminated</span> <span class="o">=</span> <span class="o">-</span><span class="mf">2.0</span>
+   <span class="n">rew_scale_pole_pos</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+   <span class="n">rew_scale_cart_vel</span> <span class="o">=</span> <span class="o">-</span><span class="mf">0.01</span>
+   <span class="n">rew_scale_pole_vel</span> <span class="o">=</span> <span class="o">-</span><span class="mf">0.005</span>
+</pre></div>
+</div>
+<p>When creating a new environment, the code should define a new class that inherits from <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a>.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">CartpoleEnv</span><span class="p">(</span><span class="n">DirectRLEnv</span><span class="p">):</span>
+   <span class="n">cfg</span><span class="p">:</span> <span class="n">CartpoleEnvCfg</span>
+
+   <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">CartpoleEnvCfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+     <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>The class can also hold class variables that are accessible by all functions in the class,
+including functions for applying actions, computing resets, rewards, and observations.</p>
+<section id="scene-creation">
+<h3>Scene Creation<a class="headerlink" href="#scene-creation" title="Permalink to this heading">#</a></h3>
+<p>In contrast to manager-based environments where the scene creation is taken care of by the framework,
+the direct workflow implementation provides flexibility for users to implement their own scene creation
+function. This includes adding actors into the stage, cloning the environments, filtering collisions
+between the environments, adding the actors into the scene, and adding any additional props to the
+scene, such as ground plane and lights. These operations should be implemented in the
+<code class="docutils literal notranslate"><span class="pre">_setup_scene(self)</span></code> method.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="k">def</span> <span class="nf">_setup_scene</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span> <span class="o">=</span> <span class="n">Articulation</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">robot_cfg</span><span class="p">)</span>
+        <span class="c1"># add ground plane</span>
+        <span class="n">spawn_ground_plane</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+        <span class="c1"># clone, filter, and replicate</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">clone_environments</span><span class="p">(</span><span class="n">copy_from_source</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">filter_collisions</span><span class="p">(</span><span class="n">global_prim_paths</span><span class="o">=</span><span class="p">[])</span>
+        <span class="c1"># add articulation to scene</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">articulations</span><span class="p">[</span><span class="s2">&quot;cartpole&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span>
+        <span class="c1"># add lights</span>
+        <span class="n">light_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">2000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+        <span class="n">light_cfg</span><span class="o">.</span><span class="n">func</span><span class="p">(</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">light_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="defining-rewards">
+<h3>Defining Rewards<a class="headerlink" href="#defining-rewards" title="Permalink to this heading">#</a></h3>
+<p>Reward function should be defined in the <code class="docutils literal notranslate"><span class="pre">_get_rewards(self)</span></code> API, which returns the reward
+buffer as a return value. Within this function, the task is free to implement the logic of
+the reward function. In this example, we implement a Pytorch JIT function that computes
+the various components of the reward function.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">_get_rewards</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">:</span>
+     <span class="n">total_reward</span> <span class="o">=</span> <span class="n">compute_rewards</span><span class="p">(</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_alive</span><span class="p">,</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_terminated</span><span class="p">,</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_pole_pos</span><span class="p">,</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_cart_vel</span><span class="p">,</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">rew_scale_pole_vel</span><span class="p">,</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]],</span>
+         <span class="bp">self</span><span class="o">.</span><span class="n">reset_terminated</span><span class="p">,</span>
+     <span class="p">)</span>
+     <span class="k">return</span> <span class="n">total_reward</span>
+
+<span class="nd">@torch</span><span class="o">.</span><span class="n">jit</span><span class="o">.</span><span class="n">script</span>
+<span class="k">def</span> <span class="nf">compute_rewards</span><span class="p">(</span>
+    <span class="n">rew_scale_alive</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_terminated</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_pole_pos</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_cart_vel</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">rew_scale_pole_vel</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
+    <span class="n">pole_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">pole_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">cart_pos</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">cart_vel</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+    <span class="n">reset_terminated</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span>
+<span class="p">):</span>
+    <span class="n">rew_alive</span> <span class="o">=</span> <span class="n">rew_scale_alive</span> <span class="o">*</span> <span class="p">(</span><span class="mf">1.0</span> <span class="o">-</span> <span class="n">reset_terminated</span><span class="o">.</span><span class="n">float</span><span class="p">())</span>
+    <span class="n">rew_termination</span> <span class="o">=</span> <span class="n">rew_scale_terminated</span> <span class="o">*</span> <span class="n">reset_terminated</span><span class="o">.</span><span class="n">float</span><span class="p">()</span>
+    <span class="n">rew_pole_pos</span> <span class="o">=</span> <span class="n">rew_scale_pole_pos</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">square</span><span class="p">(</span><span class="n">pole_pos</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">rew_cart_vel</span> <span class="o">=</span> <span class="n">rew_scale_cart_vel</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">cart_vel</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">rew_pole_vel</span> <span class="o">=</span> <span class="n">rew_scale_pole_vel</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">sum</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="n">pole_vel</span><span class="p">),</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">total_reward</span> <span class="o">=</span> <span class="n">rew_alive</span> <span class="o">+</span> <span class="n">rew_termination</span> <span class="o">+</span> <span class="n">rew_pole_pos</span> <span class="o">+</span> <span class="n">rew_cart_vel</span> <span class="o">+</span> <span class="n">rew_pole_vel</span>
+    <span class="k">return</span> <span class="n">total_reward</span>
+</pre></div>
+</div>
+</section>
+<section id="defining-observations">
+<h3>Defining Observations<a class="headerlink" href="#defining-observations" title="Permalink to this heading">#</a></h3>
+<p>The observation buffer should be computed in the <code class="docutils literal notranslate"><span class="pre">_get_observations(self)</span></code> function,
+which constructs the observation buffer for the environment. At the end of this API,
+a dictionary should be returned that contains <code class="docutils literal notranslate"><span class="pre">policy</span></code> as the key, and the full
+observation buffer as the value. For asymmetric policies, the dictionary should also
+include the key <code class="docutils literal notranslate"><span class="pre">critic</span></code> and the states buffer as the value.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="k">def</span> <span class="nf">_get_observations</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
+        <span class="n">obs</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">(</span>
+            <span class="p">(</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span><span class="o">.</span><span class="n">unsqueeze</span><span class="p">(</span><span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span>
+            <span class="p">),</span>
+            <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="n">observations</span> <span class="o">=</span> <span class="p">{</span><span class="s2">&quot;policy&quot;</span><span class="p">:</span> <span class="n">obs</span><span class="p">}</span>
+        <span class="k">return</span> <span class="n">observations</span>
+</pre></div>
+</div>
+</section>
+<section id="computing-dones-and-performing-resets">
+<h3>Computing Dones and Performing Resets<a class="headerlink" href="#computing-dones-and-performing-resets" title="Permalink to this heading">#</a></h3>
+<p>Populating the <code class="docutils literal notranslate"><span class="pre">dones</span></code> buffer should be done in the <code class="docutils literal notranslate"><span class="pre">_get_dones(self)</span></code> method.
+This method is free to implement logic that computes which environments would need to be reset
+and which environments have reached the episode length limit. Both results should be
+returned by the <code class="docutils literal notranslate"><span class="pre">_get_dones(self)</span></code> function, in the form of a tuple of boolean tensors.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="k">def</span> <span class="nf">_get_dones</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">tuple</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">]:</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span>
+
+        <span class="n">time_out</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_buf</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">max_episode_length</span> <span class="o">-</span> <span class="mi">1</span>
+        <span class="n">out_of_bounds</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">])</span> <span class="o">&gt;</span> <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">max_cart_pos</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+        <span class="n">out_of_bounds</span> <span class="o">=</span> <span class="n">out_of_bounds</span> <span class="o">|</span> <span class="n">torch</span><span class="o">.</span><span class="n">any</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">abs</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">])</span> <span class="o">&gt;</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span> <span class="o">/</span> <span class="mi">2</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+        <span class="k">return</span> <span class="n">out_of_bounds</span><span class="p">,</span> <span class="n">time_out</span>
+</pre></div>
+</div>
+<p>Once the indices for environments requiring reset have been computed, the <code class="docutils literal notranslate"><span class="pre">_reset_idx(self,</span> <span class="pre">env_ids)</span></code>
+function performs the reset operations on those environments. Within this function, new states
+for the environments requiring reset should be set directly into simulation.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="k">def</span> <span class="nf">_reset_idx</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">:</span> <span class="n">Sequence</span><span class="p">[</span><span class="nb">int</span><span class="p">]</span> <span class="o">|</span> <span class="kc">None</span><span class="p">):</span>
+        <span class="k">if</span> <span class="n">env_ids</span> <span class="ow">is</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="n">env_ids</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">_ALL_INDICES</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">_reset_idx</span><span class="p">(</span><span class="n">env_ids</span><span class="p">)</span>
+
+        <span class="n">joint_pos</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+        <span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span> <span class="o">+=</span> <span class="n">sample_uniform</span><span class="p">(</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">initial_pole_angle_range</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">initial_pole_angle_range</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span>
+            <span class="n">joint_pos</span><span class="p">[:,</span> <span class="bp">self</span><span class="o">.</span><span class="n">_pole_dof_idx</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span>
+            <span class="n">joint_pos</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+        <span class="p">)</span>
+        <span class="n">joint_vel</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+
+        <span class="n">default_root_state</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+        <span class="n">default_root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="bp">self</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_pos</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[</span><span class="n">env_ids</span><span class="p">]</span> <span class="o">=</span> <span class="n">joint_vel</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">default_root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">default_root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:],</span> <span class="n">env_ids</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">,</span> <span class="kc">None</span><span class="p">,</span> <span class="n">env_ids</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="applying-actions">
+<h3>Applying Actions<a class="headerlink" href="#applying-actions" title="Permalink to this heading">#</a></h3>
+<p>There are two APIs that are designed for working with actions. The <code class="docutils literal notranslate"><span class="pre">_pre_physics_step(self,</span> <span class="pre">actions)</span></code> takes in actions
+from the policy as an argument and is called once per RL step, prior to taking any physics steps. This function can
+be used to process the actions buffer from the policy and cache the data in a class variable for the environment.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="k">def</span> <span class="nf">_pre_physics_step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">actions</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">actions</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">action_scale</span> <span class="o">*</span> <span class="n">actions</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+</pre></div>
+</div>
+<p>The <code class="docutils literal notranslate"><span class="pre">_apply_action(self)</span></code> API is called <code class="docutils literal notranslate"><span class="pre">decimation</span></code> number of times for each RL step, prior to taking
+each physics step. This provides more flexibility for environments where actions should be applied
+for each physics step.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="k">def</span> <span class="nf">_apply_action</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">cartpole</span><span class="o">.</span><span class="n">set_joint_effort_target</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">actions</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="bp">self</span><span class="o">.</span><span class="n">_cart_dof_idx</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>To run training for the direct workflow Cartpole environment, we can use the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="o">=</span>Isaac-Cartpole-Direct-v0
+</pre></div>
+</div>
+<figure class="align-center" style="width: 100%">
+<img alt="result of train.py" src="../../../_images/tutorial_create_direct_workflow.jpg" />
+</figure>
+<p>All direct workflow tasks have the suffix <code class="docutils literal notranslate"><span class="pre">-Direct</span></code> added to the task name to differentiate the implementation style.</p>
+</section>
+<section id="domain-randomization">
+<h2>Domain Randomization<a class="headerlink" href="#domain-randomization" title="Permalink to this heading">#</a></h2>
+<p>In the direct workflow, domain randomization configuration uses the <a class="reference internal" href="../../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a> module
+to specify a configuration class consisting of <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">EventTermCfg</span></code></a> variables.</p>
+<p>Below is an example of a configuration class for domain randomization:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">EventCfg</span><span class="p">:</span>
+  <span class="n">robot_physics_material</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+      <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">randomize_rigid_body_material</span><span class="p">,</span>
+      <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+      <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+          <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">body_names</span><span class="o">=</span><span class="s2">&quot;.*&quot;</span><span class="p">),</span>
+          <span class="s2">&quot;static_friction_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">0.7</span><span class="p">,</span> <span class="mf">1.3</span><span class="p">),</span>
+          <span class="s2">&quot;dynamic_friction_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span>
+          <span class="s2">&quot;restitution_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span>
+          <span class="s2">&quot;num_buckets&quot;</span><span class="p">:</span> <span class="mi">250</span><span class="p">,</span>
+      <span class="p">},</span>
+  <span class="p">)</span>
+  <span class="n">robot_joint_stiffness_and_damping</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+      <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">randomize_actuator_gains</span><span class="p">,</span>
+      <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+      <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+          <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="s2">&quot;.*&quot;</span><span class="p">),</span>
+          <span class="s2">&quot;stiffness_distribution_params&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">1.5</span><span class="p">),</span>
+          <span class="s2">&quot;damping_distribution_params&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">0.3</span><span class="p">,</span> <span class="mf">3.0</span><span class="p">),</span>
+          <span class="s2">&quot;operation&quot;</span><span class="p">:</span> <span class="s2">&quot;scale&quot;</span><span class="p">,</span>
+          <span class="s2">&quot;distribution&quot;</span><span class="p">:</span> <span class="s2">&quot;log_uniform&quot;</span><span class="p">,</span>
+      <span class="p">},</span>
+  <span class="p">)</span>
+  <span class="n">reset_gravity</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+      <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">randomize_physics_scene_gravity</span><span class="p">,</span>
+      <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;interval&quot;</span><span class="p">,</span>
+      <span class="n">is_global_time</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+      <span class="n">interval_range_s</span><span class="o">=</span><span class="p">(</span><span class="mf">36.0</span><span class="p">,</span> <span class="mf">36.0</span><span class="p">),</span>  <span class="c1"># time_s = num_steps * (decimation * dt)</span>
+      <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+          <span class="s2">&quot;gravity_distribution_params&quot;</span><span class="p">:</span> <span class="p">([</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.4</span><span class="p">]),</span>
+          <span class="s2">&quot;operation&quot;</span><span class="p">:</span> <span class="s2">&quot;add&quot;</span><span class="p">,</span>
+          <span class="s2">&quot;distribution&quot;</span><span class="p">:</span> <span class="s2">&quot;gaussian&quot;</span><span class="p">,</span>
+      <span class="p">},</span>
+  <span class="p">)</span>
+</pre></div>
+</div>
+<p>Each <code class="docutils literal notranslate"><span class="pre">EventTerm</span></code> object is of the <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">EventTermCfg</span></code></a> class and takes in a <code class="docutils literal notranslate"><span class="pre">func</span></code> parameter
+for specifying the function to call during randomization, a <code class="docutils literal notranslate"><span class="pre">mode</span></code> parameter, which can be <code class="docutils literal notranslate"><span class="pre">startup</span></code>,
+<code class="docutils literal notranslate"><span class="pre">reset</span></code> or <code class="docutils literal notranslate"><span class="pre">interval</span></code>. THe <code class="docutils literal notranslate"><span class="pre">params</span></code> dictionary should provide the necessary arguments to the
+function that is specified in the <code class="docutils literal notranslate"><span class="pre">func</span></code> parameter.
+Functions specified as <code class="docutils literal notranslate"><span class="pre">func</span></code> for the <code class="docutils literal notranslate"><span class="pre">EventTerm</span></code> can be found in the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.mdp.html#module-omni.isaac.lab.envs.mdp.events" title="omni.isaac.lab.envs.mdp.events"><code class="xref py py-class docutils literal notranslate"><span class="pre">events</span></code></a> module.</p>
+<p>Note that as part of the <code class="docutils literal notranslate"><span class="pre">&quot;asset_cfg&quot;:</span> <span class="pre">SceneEntityCfg(&quot;robot&quot;,</span> <span class="pre">body_names=&quot;.*&quot;)</span></code> parameter, the name of
+the actor <code class="docutils literal notranslate"><span class="pre">&quot;robot&quot;</span></code> is provided, along with the body or joint names specified as a regex expression,
+which will be the actors and bodies/joints that will have randomization applied.</p>
+<p>Once the <code class="docutils literal notranslate"><span class="pre">configclass</span></code> for the randomization terms have been set up, the class must be added
+to the base config class for the task and be assigned to the variable <code class="docutils literal notranslate"><span class="pre">events</span></code>.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MyTaskConfig</span><span class="p">:</span>
+  <span class="n">events</span><span class="p">:</span> <span class="n">EventCfg</span> <span class="o">=</span> <span class="n">EventCfg</span><span class="p">()</span>
+</pre></div>
+</div>
+<section id="action-and-observation-noise">
+<h3>Action and Observation Noise<a class="headerlink" href="#action-and-observation-noise" title="Permalink to this heading">#</a></h3>
+<p>Actions and observation noise can also be added using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.utils.html#module-omni.isaac.lab.utils.configclass" title="omni.isaac.lab.utils.configclass"><code class="xref py py-class docutils literal notranslate"><span class="pre">configclass</span></code></a> module.
+Action and observation noise configs must be added to the main task config using the
+<code class="docutils literal notranslate"><span class="pre">action_noise_model</span></code> and <code class="docutils literal notranslate"><span class="pre">observation_noise_model</span></code> variables:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MyTaskConfig</span><span class="p">:</span>
+
+    <span class="c1"># at every time-step add gaussian noise + bias. The bias is a gaussian sampled at reset</span>
+    <span class="n">action_noise_model</span><span class="p">:</span> <span class="n">NoiseModelWithAdditiveBiasCfg</span> <span class="o">=</span> <span class="n">NoiseModelWithAdditiveBiasCfg</span><span class="p">(</span>
+      <span class="n">noise_cfg</span><span class="o">=</span><span class="n">GaussianNoiseCfg</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="mf">0.05</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="s2">&quot;add&quot;</span><span class="p">),</span>
+      <span class="n">bias_noise_cfg</span><span class="o">=</span><span class="n">GaussianNoiseCfg</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="mf">0.015</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="s2">&quot;abs&quot;</span><span class="p">),</span>
+    <span class="p">)</span>
+
+    <span class="c1"># at every time-step add gaussian noise + bias. The bias is a gaussian sampled at reset</span>
+    <span class="n">observation_noise_model</span><span class="p">:</span> <span class="n">NoiseModelWithAdditiveBiasCfg</span> <span class="o">=</span> <span class="n">NoiseModelWithAdditiveBiasCfg</span><span class="p">(</span>
+      <span class="n">noise_cfg</span><span class="o">=</span><span class="n">GaussianNoiseCfg</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="mf">0.002</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="s2">&quot;add&quot;</span><span class="p">),</span>
+      <span class="n">bias_noise_cfg</span><span class="o">=</span><span class="n">GaussianNoiseCfg</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="mf">0.0001</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="s2">&quot;abs&quot;</span><span class="p">),</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+<p><a class="reference internal" href="../../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg" title="omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">NoiseModelWithAdditiveBiasCfg</span></code></a> can be used to sample both uncorrelated noise
+per step as well as correlated noise that is re-sampled at reset time.</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">noise_cfg</span></code> term specifies the Gaussian distribution that will be sampled at each
+step for all environments. This noise will be added to the corresponding actions and
+observations buffers at every step.</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">bias_noise_cfg</span></code> term specifies the Gaussian distribution for the correlated noise
+that will be sampled at reset time for the environments being reset. The same noise
+will be applied each step for the remaining of the episode for the environments and
+resampled at the next reset.</p>
+<p>If only per-step noise is desired, <a class="reference internal" href="../../api/lab/omni.isaac.lab.utils.html#omni.isaac.lab.utils.noise.GaussianNoiseCfg" title="omni.isaac.lab.utils.noise.GaussianNoiseCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">GaussianNoiseCfg</span></code></a> can be used
+to specify an additive Gaussian distribution that adds the sampled noise to the input buffer.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">MyTaskConfig</span><span class="p">:</span>
+  <span class="n">action_noise_model</span><span class="p">:</span> <span class="n">GaussianNoiseCfg</span> <span class="o">=</span> <span class="n">GaussianNoiseCfg</span><span class="p">(</span><span class="n">mean</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">std</span><span class="o">=</span><span class="mf">0.05</span><span class="p">,</span> <span class="n">operation</span><span class="o">=</span><span class="s2">&quot;add&quot;</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>In this tutorial, we learnt how to create a direct workflow task environment for reinforcement learning. We do this
+by extending the base environment to include the scene setup, actions, dones, reset, reward and observaion functions.</p>
+<p>While it is possible to manually create an instance of <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a> class for a desired task,
+this is not scalable as it requires specialized scripts for each task. Thus, we exploit the
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">gymnasium.make()</span></code> function to create the environment with the gym interface. We will learn how to do this
+in the next tutorial.</p>
+</section>
+</section>
+</section>
+
+
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#scene-creation">Scene Creation</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-rewards">Defining Rewards</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-observations">Defining Observations</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#computing-dones-and-performing-resets">Computing Dones and Performing Resets</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#applying-actions">Applying Actions</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#domain-randomization">Domain Randomization</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#action-and-observation-noise">Action and Observation Noise</a></li>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Creating a Manager-Based Base Environment</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#designing-the-scene">Designing the scene</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-actions">Defining actions</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-observations">Defining observations</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-events">Defining events</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#tying-it-all-together">Tying it all together</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation">Running the simulation</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="creating-a-manager-based-base-environment">
+<span id="tutorial-create-manager-base-env"></span><h1>Creating a Manager-Based Base Environment<a class="headerlink" href="#creating-a-manager-based-base-environment" title="Permalink to this heading">#</a></h1>
+<p>Environments bring together different aspects of the simulation such as
+the scene, observations and actions spaces, reset events etc. to create a
+coherent interface for various applications. In Isaac Lab, manager-based environments are
+implemented as <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv</span></code></a> and <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> classes.
+The two classes are very similar, but <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> is useful for
+reinforcement learning tasks and contains rewards, terminations, curriculum
+and command generation. The <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv</span></code></a> class is useful for
+traditional robot control and doesn’t contain rewards and terminations.</p>
+<p>In this tutorial, we will look at the base class <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv</span></code></a> and its
+corresponding configuration class <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg" title="omni.isaac.lab.envs.ManagerBasedEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnvCfg</span></code></a> for the manager-based workflow.
+We will use the
+cartpole environment from earlier to illustrate the different components
+in creating a new <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv</span></code></a> environment.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">create_cartpole_base_env</span></code> script  in the <code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/03_envs</span></code>
+directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for create_cartpole_base_env.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">  7</span><span class="sd">This script demonstrates how to create a simple environment with a cartpole. It combines the concepts of</span>
+<span class="linenos">  8</span><span class="sd">scene, action, observation and event managers to create an environment.</span>
+<span class="linenos">  9</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 10</span>
+<span class="linenos"> 11</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 12</span>
+<span class="linenos"> 13</span>
+<span class="linenos"> 14</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 15</span>
+<span class="linenos"> 16</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 17</span>
+<span class="linenos"> 18</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 19</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on creating a cartpole base environment.&quot;</span><span class="p">)</span>
+<span class="linenos"> 20</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">16</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to spawn.&quot;</span><span class="p">)</span>
+<span class="linenos"> 21</span>
+<span class="linenos"> 22</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 23</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 24</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 25</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 26</span>
+<span class="linenos"> 27</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 28</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 29</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 30</span>
+<span class="linenos"> 31</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 32</span>
+<span class="linenos"> 33</span><span class="kn">import</span> <span class="nn">math</span>
+<span class="linenos"> 34</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 35</span>
+<span class="linenos"> 36</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.envs.mdp</span> <span class="k">as</span> <span class="nn">mdp</span>
+<span class="linenos"> 37</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedEnv</span><span class="p">,</span> <span class="n">ManagerBasedEnvCfg</span>
+<span class="linenos"> 38</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">EventTermCfg</span> <span class="k">as</span> <span class="n">EventTerm</span>
+<span class="linenos"> 39</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">ObservationGroupCfg</span> <span class="k">as</span> <span class="n">ObsGroup</span>
+<span class="linenos"> 40</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">ObservationTermCfg</span> <span class="k">as</span> <span class="n">ObsTerm</span>
+<span class="linenos"> 41</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">SceneEntityCfg</span>
+<span class="linenos"> 42</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos"> 43</span>
+<span class="linenos"> 44</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.manager_based.classic.cartpole.cartpole_env_cfg</span> <span class="kn">import</span> <span class="n">CartpoleSceneCfg</span>
+<span class="linenos"> 45</span>
+<span class="linenos"> 46</span>
+<span class="hll"><span class="linenos"> 47</span><span class="nd">@configclass</span>
+</span><span class="hll"><span class="linenos"> 48</span><span class="k">class</span> <span class="nc">ActionsCfg</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos"> 49</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Action specifications for the environment.&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="linenos"> 50</span>
+</span><span class="hll"><span class="linenos"> 51</span>    <span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">mdp</span><span class="o">.</span><span class="n">JointEffortActionCfg</span><span class="p">(</span><span class="n">asset_name</span><span class="o">=</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">],</span> <span class="n">scale</span><span class="o">=</span><span class="mf">5.0</span><span class="p">)</span>
+</span><span class="linenos"> 52</span>
+<span class="linenos"> 53</span>
+<span class="hll"><span class="linenos"> 54</span><span class="nd">@configclass</span>
+</span><span class="hll"><span class="linenos"> 55</span><span class="k">class</span> <span class="nc">ObservationsCfg</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos"> 56</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Observation specifications for the environment.&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="linenos"> 57</span>
+</span><span class="hll"><span class="linenos"> 58</span>    <span class="nd">@configclass</span>
+</span><span class="hll"><span class="linenos"> 59</span>    <span class="k">class</span> <span class="nc">PolicyCfg</span><span class="p">(</span><span class="n">ObsGroup</span><span class="p">):</span>
+</span><span class="hll"><span class="linenos"> 60</span><span class="w">        </span><span class="sd">&quot;&quot;&quot;Observations for policy group.&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="linenos"> 61</span>
+</span><span class="hll"><span class="linenos"> 62</span>        <span class="c1"># observation terms (order preserved)</span>
+</span><span class="hll"><span class="linenos"> 63</span>        <span class="n">joint_pos_rel</span> <span class="o">=</span> <span class="n">ObsTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_pos_rel</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 64</span>        <span class="n">joint_vel_rel</span> <span class="o">=</span> <span class="n">ObsTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_vel_rel</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 65</span>
+</span><span class="hll"><span class="linenos"> 66</span>        <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos"> 67</span>            <span class="bp">self</span><span class="o">.</span><span class="n">enable_corruption</span> <span class="o">=</span> <span class="kc">False</span>
+</span><span class="hll"><span class="linenos"> 68</span>            <span class="bp">self</span><span class="o">.</span><span class="n">concatenate_terms</span> <span class="o">=</span> <span class="kc">True</span>
+</span><span class="hll"><span class="linenos"> 69</span>
+</span><span class="hll"><span class="linenos"> 70</span>    <span class="c1"># observation groups</span>
+</span><span class="hll"><span class="linenos"> 71</span>    <span class="n">policy</span><span class="p">:</span> <span class="n">PolicyCfg</span> <span class="o">=</span> <span class="n">PolicyCfg</span><span class="p">()</span>
+</span><span class="linenos"> 72</span>
+<span class="linenos"> 73</span>
+<span class="hll"><span class="linenos"> 74</span><span class="nd">@configclass</span>
+</span><span class="hll"><span class="linenos"> 75</span><span class="k">class</span> <span class="nc">EventCfg</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos"> 76</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for events.&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="linenos"> 77</span>
+</span><span class="hll"><span class="linenos"> 78</span>    <span class="c1"># on startup</span>
+</span><span class="hll"><span class="linenos"> 79</span>    <span class="n">add_pole_mass</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 80</span>        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">randomize_rigid_body_mass</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 81</span>        <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;startup&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 82</span>        <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+</span><span class="hll"><span class="linenos"> 83</span>            <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">body_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;pole&quot;</span><span class="p">]),</span>
+</span><span class="hll"><span class="linenos"> 84</span>            <span class="s2">&quot;mass_distribution_params&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 85</span>            <span class="s2">&quot;operation&quot;</span><span class="p">:</span> <span class="s2">&quot;add&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 86</span>        <span class="p">},</span>
+</span><span class="hll"><span class="linenos"> 87</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 88</span>
+</span><span class="hll"><span class="linenos"> 89</span>    <span class="c1"># on reset</span>
+</span><span class="hll"><span class="linenos"> 90</span>    <span class="n">reset_cart_position</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 91</span>        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">reset_joints_by_offset</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 92</span>        <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 93</span>        <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+</span><span class="hll"><span class="linenos"> 94</span>            <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">]),</span>
+</span><span class="hll"><span class="linenos"> 95</span>            <span class="s2">&quot;position_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 96</span>            <span class="s2">&quot;velocity_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 97</span>        <span class="p">},</span>
+</span><span class="hll"><span class="linenos"> 98</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 99</span>
+</span><span class="hll"><span class="linenos">100</span>    <span class="n">reset_pole_position</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">101</span>        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">reset_joints_by_offset</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">102</span>        <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">103</span>        <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+</span><span class="hll"><span class="linenos">104</span>            <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">]),</span>
+</span><span class="hll"><span class="linenos">105</span>            <span class="s2">&quot;position_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.125</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="mf">0.125</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">106</span>            <span class="s2">&quot;velocity_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.01</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="mf">0.01</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">107</span>        <span class="p">},</span>
+</span><span class="hll"><span class="linenos">108</span>    <span class="p">)</span>
+</span><span class="linenos">109</span>
+<span class="linenos">110</span>
+<span class="hll"><span class="linenos">111</span><span class="nd">@configclass</span>
+</span><span class="hll"><span class="linenos">112</span><span class="k">class</span> <span class="nc">CartpoleEnvCfg</span><span class="p">(</span><span class="n">ManagerBasedEnvCfg</span><span class="p">):</span>
+</span><span class="hll"><span class="linenos">113</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the cartpole environment.&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="linenos">114</span>
+</span><span class="hll"><span class="linenos">115</span>    <span class="c1"># Scene settings</span>
+</span><span class="hll"><span class="linenos">116</span>    <span class="n">scene</span> <span class="o">=</span> <span class="n">CartpoleSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">1024</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.5</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">117</span>    <span class="c1"># Basic settings</span>
+</span><span class="hll"><span class="linenos">118</span>    <span class="n">observations</span> <span class="o">=</span> <span class="n">ObservationsCfg</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">119</span>    <span class="n">actions</span> <span class="o">=</span> <span class="n">ActionsCfg</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">120</span>    <span class="n">events</span> <span class="o">=</span> <span class="n">EventCfg</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">121</span>
+</span><span class="hll"><span class="linenos">122</span>    <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+</span><span class="hll"><span class="linenos">123</span><span class="w">        </span><span class="sd">&quot;&quot;&quot;Post initialization.&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="linenos">124</span>        <span class="c1"># viewer settings</span>
+</span><span class="hll"><span class="linenos">125</span>        <span class="bp">self</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">eye</span> <span class="o">=</span> <span class="p">[</span><span class="mf">4.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">6.0</span><span class="p">]</span>
+</span><span class="hll"><span class="linenos">126</span>        <span class="bp">self</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">lookat</span> <span class="o">=</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">]</span>
+</span><span class="hll"><span class="linenos">127</span>        <span class="c1"># step settings</span>
+</span><span class="hll"><span class="linenos">128</span>        <span class="bp">self</span><span class="o">.</span><span class="n">decimation</span> <span class="o">=</span> <span class="mi">4</span>  <span class="c1"># env step every 4 sim steps: 200Hz / 4 = 50Hz</span>
+</span><span class="hll"><span class="linenos">129</span>        <span class="c1"># simulation settings</span>
+</span><span class="hll"><span class="linenos">130</span>        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span> <span class="o">=</span> <span class="mf">0.005</span>  <span class="c1"># sim step every 5ms: 200Hz</span>
+</span><span class="linenos">131</span>
+<span class="linenos">132</span>
+<span class="linenos">133</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">134</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="hll"><span class="linenos">135</span>    <span class="c1"># parse the arguments</span>
+</span><span class="hll"><span class="linenos">136</span>    <span class="n">env_cfg</span> <span class="o">=</span> <span class="n">CartpoleEnvCfg</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">137</span>    <span class="n">env_cfg</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span>
+</span><span class="hll"><span class="linenos">138</span>    <span class="c1"># setup base environment</span>
+</span><span class="hll"><span class="linenos">139</span>    <span class="n">env</span> <span class="o">=</span> <span class="n">ManagerBasedEnv</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">)</span>
+</span><span class="linenos">140</span>
+<span class="linenos">141</span>    <span class="c1"># simulate physics</span>
+<span class="linenos">142</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">143</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="hll"><span class="linenos">144</span>        <span class="k">with</span> <span class="n">torch</span><span class="o">.</span><span class="n">inference_mode</span><span class="p">():</span>
+</span><span class="linenos">145</span>            <span class="c1"># reset</span>
+<span class="linenos">146</span>            <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">300</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">147</span>                <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="hll"><span class="linenos">148</span>                <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+</span><span class="linenos">149</span>                <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-&quot;</span> <span class="o">*</span> <span class="mi">80</span><span class="p">)</span>
+<span class="linenos">150</span>                <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting environment...&quot;</span><span class="p">)</span>
+<span class="linenos">151</span>            <span class="c1"># sample random actions</span>
+<span class="linenos">152</span>            <span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn_like</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">action</span><span class="p">)</span>
+<span class="hll"><span class="linenos">153</span>            <span class="c1"># step the environment</span>
+</span><span class="hll"><span class="linenos">154</span>            <span class="n">obs</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">joint_efforts</span><span class="p">)</span>
+</span><span class="linenos">155</span>            <span class="c1"># print current orientation of pole</span>
+<span class="linenos">156</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[Env 0]: Pole joint: &quot;</span><span class="p">,</span> <span class="n">obs</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">][</span><span class="mi">0</span><span class="p">][</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+<span class="linenos">157</span>            <span class="c1"># update counter</span>
+<span class="linenos">158</span>            <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">159</span>
+<span class="hll"><span class="linenos">160</span>    <span class="c1"># close the environment</span>
+</span><span class="hll"><span class="linenos">161</span>    <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</span><span class="linenos">162</span>
+<span class="linenos">163</span>
+<span class="linenos">164</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">165</span>    <span class="c1"># run the main function</span>
+<span class="linenos">166</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">167</span>    <span class="c1"># close sim app</span>
+<span class="linenos">168</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>The base class <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv</span></code></a> wraps around many intricacies of the simulation interaction
+and provides a simple interface for the user to run the simulation and interact with it. It
+is composed of the following components:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveScene</span></code></a> - The scene that is used for the simulation.</p></li>
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager" title="omni.isaac.lab.managers.ActionManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.ActionManager</span></code></a> - The manager that handles actions.</p></li>
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.ObservationManager</span></code></a> - The manager that handles observations.</p></li>
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager" title="omni.isaac.lab.managers.EventManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.EventManager</span></code></a> - The manager that schedules operations (such as domain randomization)
+at specified simulation events. For instance, at startup, on resets, or periodic intervals.</p></li>
+</ul>
+<p>By configuring these components, the user can create different variations of the same environment
+with minimal effort. In this tutorial, we will go through the different components of the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv</span></code></a> class and how to configure them to create a new environment.</p>
+<section id="designing-the-scene">
+<h3>Designing the scene<a class="headerlink" href="#designing-the-scene" title="Permalink to this heading">#</a></h3>
+<p>The first step in creating a new environment is to configure its scene. For the cartpole
+environment, we will be using the scene from the previous tutorial. Thus, we omit the
+scene configuration here. For more details on how to configure a scene, see
+<a class="reference internal" href="../02_scene/create_scene.html#tutorial-interactive-scene"><span class="std std-ref">Using the Interactive Scene</span></a>.</p>
+</section>
+<section id="defining-actions">
+<h3>Defining actions<a class="headerlink" href="#defining-actions" title="Permalink to this heading">#</a></h3>
+<p>In the previous tutorial, we directly input the action to the cartpole using
+the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.set_joint_effort_target" title="omni.isaac.lab.assets.Articulation.set_joint_effort_target"><code class="xref py py-meth docutils literal notranslate"><span class="pre">assets.Articulation.set_joint_effort_target()</span></code></a> method. In this tutorial, we will
+use the <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionManager" title="omni.isaac.lab.managers.ActionManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.ActionManager</span></code></a> to handle the actions.</p>
+<p>The action manager can comprise of multiple <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ActionTerm" title="omni.isaac.lab.managers.ActionTerm"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.ActionTerm</span></code></a>. Each action term
+is responsible for applying <em>control</em> over a specific aspect of the environment. For instance,
+for robotic arm, we can have two action terms – one for controlling the joints of the arm,
+and the other for controlling the gripper. This composition allows the user to define
+different control schemes for different aspects of the environment.</p>
+<p>In the cartpole environment, we want to control the force applied to the cart to balance the pole.
+Thus, we will create an action term that controls the force applied to the cart.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ActionsCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Action specifications for the environment.&quot;&quot;&quot;</span>
+
+    <span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">mdp</span><span class="o">.</span><span class="n">JointEffortActionCfg</span><span class="p">(</span><span class="n">asset_name</span><span class="o">=</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">],</span> <span class="n">scale</span><span class="o">=</span><span class="mf">5.0</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="defining-observations">
+<h3>Defining observations<a class="headerlink" href="#defining-observations" title="Permalink to this heading">#</a></h3>
+<p>While the scene defines the state of the environment, the observations define the states
+that are observable by the agent. These observations are used by the agent to make decisions
+on what actions to take. In Isaac Lab, the observations are computed by the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationManager" title="omni.isaac.lab.managers.ObservationManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.ObservationManager</span></code></a> class.</p>
+<p>Similar to the action manager, the observation manager can comprise of multiple observation terms.
+These are further grouped into observation groups which are used to define different observation
+spaces for the environment. For instance, for hierarchical control, we may want to define
+two observation groups – one for the low level controller and the other for the high level
+controller. It is assumed that all the observation terms in a group have the same dimensions.</p>
+<p>For this tutorial, we will only define one observation group named <code class="docutils literal notranslate"><span class="pre">&quot;policy&quot;</span></code>. While not completely
+prescriptive, this group is a necessary requirement for various wrappers in Isaac Lab.
+We define a group by inheriting from the <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationGroupCfg" title="omni.isaac.lab.managers.ObservationGroupCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.ObservationGroupCfg</span></code></a> class. This class
+collects different observation terms and help define common properties for the group, such
+as enabling noise corruption or concatenating the observations into a single tensor.</p>
+<p>The individual terms are defined by inheriting from the <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg" title="omni.isaac.lab.managers.ObservationTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.ObservationTermCfg</span></code></a> class.
+This class takes in the <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.ObservationTermCfg.func" title="omni.isaac.lab.managers.ObservationTermCfg.func"><code class="xref py py-attr docutils literal notranslate"><span class="pre">managers.ObservationTermCfg.func</span></code></a> that specifies the function or
+callable class that computes the observation for that term. It includes other parameters for
+defining the noise model, clipping, scaling, etc. However, we leave these parameters to their
+default values for this tutorial.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">ObservationsCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Observation specifications for the environment.&quot;&quot;&quot;</span>
+
+    <span class="nd">@configclass</span>
+    <span class="k">class</span> <span class="nc">PolicyCfg</span><span class="p">(</span><span class="n">ObsGroup</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Observations for policy group.&quot;&quot;&quot;</span>
+
+        <span class="c1"># observation terms (order preserved)</span>
+        <span class="n">joint_pos_rel</span> <span class="o">=</span> <span class="n">ObsTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_pos_rel</span><span class="p">)</span>
+        <span class="n">joint_vel_rel</span> <span class="o">=</span> <span class="n">ObsTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_vel_rel</span><span class="p">)</span>
+
+        <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">enable_corruption</span> <span class="o">=</span> <span class="kc">False</span>
+            <span class="bp">self</span><span class="o">.</span><span class="n">concatenate_terms</span> <span class="o">=</span> <span class="kc">True</span>
+
+    <span class="c1"># observation groups</span>
+    <span class="n">policy</span><span class="p">:</span> <span class="n">PolicyCfg</span> <span class="o">=</span> <span class="n">PolicyCfg</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+<section id="defining-events">
+<h3>Defining events<a class="headerlink" href="#defining-events" title="Permalink to this heading">#</a></h3>
+<p>At this point, we have defined the scene, actions and observations for the cartpole environment.
+The general idea for all these components is to define the configuration classes and then
+pass them to the corresponding managers. The event manager is no different.</p>
+<p>The <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventManager" title="omni.isaac.lab.managers.EventManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.EventManager</span></code></a> class is responsible for events corresponding to changes
+in the simulation state. This includes resetting (or randomizing) the scene, randomizing physical
+properties (such as mass, friction, etc.), and varying visual properties (such as colors, textures, etc.).
+Each of these are specified through the <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg" title="omni.isaac.lab.managers.EventTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.EventTermCfg</span></code></a> class, which
+takes in the <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.EventTermCfg.func" title="omni.isaac.lab.managers.EventTermCfg.func"><code class="xref py py-attr docutils literal notranslate"><span class="pre">managers.EventTermCfg.func</span></code></a> that specifies the function or callable
+class that performs the event.</p>
+<p>Additionally, it expects the <strong>mode</strong> of the event. The mode specifies when the event term should be applied.
+It is possible to specify your own mode. For this, you’ll need to adapt the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedEnv</span></code></a> class.
+However, out of the box, Isaac Lab provides three commonly used modes:</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;startup&quot;</span></code> - Event that takes place only once at environment startup.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;reset&quot;</span></code> - Event that occurs on environment termination and reset.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">&quot;interval&quot;</span></code> - Event that are executed at a given interval, i.e., periodically after a certain number of steps.</p></li>
+</ul>
+<p>For this example, we define events that randomize the pole’s mass on startup. This is done only once since this
+operation is expensive and we don’t want to do it on every reset. We also create an event to randomize the initial
+joint state of the cartpole and the pole at every reset.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">EventCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for events.&quot;&quot;&quot;</span>
+
+    <span class="c1"># on startup</span>
+    <span class="n">add_pole_mass</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">randomize_rigid_body_mass</span><span class="p">,</span>
+        <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;startup&quot;</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">body_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;pole&quot;</span><span class="p">]),</span>
+            <span class="s2">&quot;mass_distribution_params&quot;</span><span class="p">:</span> <span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">),</span>
+            <span class="s2">&quot;operation&quot;</span><span class="p">:</span> <span class="s2">&quot;add&quot;</span><span class="p">,</span>
+        <span class="p">},</span>
+    <span class="p">)</span>
+
+    <span class="c1"># on reset</span>
+    <span class="n">reset_cart_position</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">reset_joints_by_offset</span><span class="p">,</span>
+        <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">]),</span>
+            <span class="s2">&quot;position_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span>
+            <span class="s2">&quot;velocity_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">),</span>
+        <span class="p">},</span>
+    <span class="p">)</span>
+
+    <span class="n">reset_pole_position</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">reset_joints_by_offset</span><span class="p">,</span>
+        <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">]),</span>
+            <span class="s2">&quot;position_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.125</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="mf">0.125</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">),</span>
+            <span class="s2">&quot;velocity_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.01</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="mf">0.01</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">),</span>
+        <span class="p">},</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="tying-it-all-together">
+<h3>Tying it all together<a class="headerlink" href="#tying-it-all-together" title="Permalink to this heading">#</a></h3>
+<p>Having defined the scene and manager configurations, we can now define the environment configuration
+through the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg" title="omni.isaac.lab.envs.ManagerBasedEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnvCfg</span></code></a> class. This class takes in the scene, action, observation and
+event configurations.</p>
+<p>In addition to these, it also takes in the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg.sim" title="omni.isaac.lab.envs.ManagerBasedEnvCfg.sim"><code class="xref py py-attr docutils literal notranslate"><span class="pre">envs.ManagerBasedEnvCfg.sim</span></code></a> which defines the simulation
+parameters such as the timestep, gravity, etc. This is initialized to the default values, but can
+be modified as needed. We recommend doing so by defining the <code class="xref py py-meth docutils literal notranslate"><span class="pre">__post_init__()</span></code> method in the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnvCfg" title="omni.isaac.lab.envs.ManagerBasedEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnvCfg</span></code></a> class, which is called after the configuration is initialized.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CartpoleEnvCfg</span><span class="p">(</span><span class="n">ManagerBasedEnvCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the cartpole environment.&quot;&quot;&quot;</span>
+
+    <span class="c1"># Scene settings</span>
+    <span class="n">scene</span> <span class="o">=</span> <span class="n">CartpoleSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">1024</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.5</span><span class="p">)</span>
+    <span class="c1"># Basic settings</span>
+    <span class="n">observations</span> <span class="o">=</span> <span class="n">ObservationsCfg</span><span class="p">()</span>
+    <span class="n">actions</span> <span class="o">=</span> <span class="n">ActionsCfg</span><span class="p">()</span>
+    <span class="n">events</span> <span class="o">=</span> <span class="n">EventCfg</span><span class="p">()</span>
+
+    <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Post initialization.&quot;&quot;&quot;</span>
+        <span class="c1"># viewer settings</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">eye</span> <span class="o">=</span> <span class="p">[</span><span class="mf">4.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">6.0</span><span class="p">]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">lookat</span> <span class="o">=</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">]</span>
+        <span class="c1"># step settings</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">decimation</span> <span class="o">=</span> <span class="mi">4</span>  <span class="c1"># env step every 4 sim steps: 200Hz / 4 = 50Hz</span>
+        <span class="c1"># simulation settings</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span> <span class="o">=</span> <span class="mf">0.005</span>  <span class="c1"># sim step every 5ms: 200Hz</span>
+</pre></div>
+</div>
+</section>
+<section id="running-the-simulation">
+<h3>Running the simulation<a class="headerlink" href="#running-the-simulation" title="Permalink to this heading">#</a></h3>
+<p>Lastly, we revisit the simulation execution loop. This is now much simpler since we have
+abstracted away most of the details into the environment configuration. We only need to
+call the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.reset" title="omni.isaac.lab.envs.ManagerBasedEnv.reset"><code class="xref py py-meth docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv.reset()</span></code></a> method to reset the environment and <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv.step" title="omni.isaac.lab.envs.ManagerBasedEnv.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv.step()</span></code></a>
+method to step the environment. Both these functions return the observation and an info dictionary
+which may contain additional information provided by the environment. These can be used by an
+agent for decision-making.</p>
+<p>The <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv</span></code></a> class does not have any notion of terminations since that concept is
+specific for episodic tasks. Thus, the user is responsible for defining the termination condition
+for the environment. In this tutorial, we reset the simulation at regular intervals.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+    <span class="c1"># parse the arguments</span>
+    <span class="n">env_cfg</span> <span class="o">=</span> <span class="n">CartpoleEnvCfg</span><span class="p">()</span>
+    <span class="n">env_cfg</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span>
+    <span class="c1"># setup base environment</span>
+    <span class="n">env</span> <span class="o">=</span> <span class="n">ManagerBasedEnv</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">)</span>
+
+    <span class="c1"># simulate physics</span>
+    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+        <span class="k">with</span> <span class="n">torch</span><span class="o">.</span><span class="n">inference_mode</span><span class="p">():</span>
+            <span class="c1"># reset</span>
+            <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">300</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+                <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+                <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-&quot;</span> <span class="o">*</span> <span class="mi">80</span><span class="p">)</span>
+                <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting environment...&quot;</span><span class="p">)</span>
+            <span class="c1"># sample random actions</span>
+            <span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn_like</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">action</span><span class="p">)</span>
+            <span class="c1"># step the environment</span>
+            <span class="n">obs</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">joint_efforts</span><span class="p">)</span>
+            <span class="c1"># print current orientation of pole</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[Env 0]: Pole joint: &quot;</span><span class="p">,</span> <span class="n">obs</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">][</span><span class="mi">0</span><span class="p">][</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+            <span class="c1"># update counter</span>
+            <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+
+    <span class="c1"># close the environment</span>
+    <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+<p>An important thing to note above is that the entire simulation loop is wrapped inside the
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">torch.inference_mode()</span></code> context manager. This is because the environment uses PyTorch
+operations under-the-hood and we want to ensure that the simulation is not slowed down by
+the overhead of PyTorch’s autograd engine and gradients are not computed for the simulation
+operations.</p>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>To run the base environment made in this tutorial, you can use the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/03_envs/create_cartpole_base_env.py<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span>
+</pre></div>
+</div>
+<p>This should open a stage with a ground plane, light source, and cartpoles. The simulation should be
+playing with random actions on the cartpole. Additionally, it opens a UI window on the bottom
+right corner of the screen named <code class="docutils literal notranslate"><span class="pre">&quot;Isaac</span> <span class="pre">Lab&quot;</span></code>. This window contains different UI elements that
+can be used for debugging and visualization.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of create_cartpole_base_env.py" src="../../../_images/tutorial_create_manager_rl_env.jpg" />
+</figure>
+<p>To stop the simulation, you can either close the window, or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal where you
+started the simulation.</p>
+<p>In this tutorial, we learned about the different managers that help define a base environment. We
+include more examples of defining the base environment in the <code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/03_envs</span></code>
+directory. For completeness, they can be run using the following commands:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Floating cube environment with custom action term for PD control</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/03_envs/create_cube_base_env.py<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span>
+
+<span class="c1"># Quadrupedal locomotion environment with a policy that interacts with the environment</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/03_envs/create_quadruped_base_env.py<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span>
+</pre></div>
+</div>
+<p>In the following tutorial, we will look at the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> class and how to use it
+to create a Markovian Decision Process (MDP).</p>
+</section>
+</section>
+
+
+                </article>
+              
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+              
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#designing-the-scene">Designing the scene</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-actions">Defining actions</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-observations">Defining observations</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-events">Defining events</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#tying-it-all-together">Tying it all together</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation">Running the simulation</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+  </nav></div>
+
+</div></div>
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+    <h1>Creating a Manager-Based RL Environment</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-rewards">Defining rewards</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-termination-criteria">Defining termination criteria</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-commands">Defining commands</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-curriculum">Defining curriculum</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#tying-it-all-together">Tying it all together</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation-loop">Running the simulation loop</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="creating-a-manager-based-rl-environment">
+<span id="tutorial-create-manager-rl-env"></span><h1>Creating a Manager-Based RL Environment<a class="headerlink" href="#creating-a-manager-based-rl-environment" title="Permalink to this heading">#</a></h1>
+<p>Having learnt how to create a base environment in <a class="reference internal" href="create_manager_base_env.html#tutorial-create-manager-base-env"><span class="std std-ref">Creating a Manager-Based Base Environment</span></a>, we will now look at how to create a manager-based
+task environment for reinforcement learning.</p>
+<p>The base environment is designed as an sense-act environment where the agent can send commands to the environment
+and receive observations from the environment. This minimal interface is sufficient for many applications such as
+traditional motion planning and controls. However, many applications require a task-specification which often
+serves as the learning objective for the agent. For instance, in a navigation task, the agent may be required to
+reach a goal location. To this end, we use the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> class which extends the base environment
+to include a task specification.</p>
+<p>Similar to other components in Isaac Lab, instead of directly modifying the base class <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a>, we
+encourage users to simply implement a configuration <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnvCfg</span></code></a> for their task environment.
+This practice allows us to separate the task specification from the environment implementation, making it easier
+to reuse components of the same environment for different tasks.</p>
+<p>In this tutorial, we will configure the cartpole environment using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnvCfg" title="omni.isaac.lab.envs.ManagerBasedRLEnvCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnvCfg</span></code></a> to create a manager-based task
+for balancing the pole upright. We will learn how to specify the task using reward terms, termination criteria,
+curriculum and commands.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>For this tutorial, we use the cartpole environment defined in <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.manager_based.classic.cartpole</span></code> module.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for cartpole_env_cfg.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="kn">import</span> <span class="nn">math</span>
+<span class="linenos">  7</span>
+<span class="linenos">  8</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos">  9</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">ArticulationCfg</span><span class="p">,</span> <span class="n">AssetBaseCfg</span>
+<span class="linenos"> 10</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnvCfg</span>
+<span class="linenos"> 11</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">EventTermCfg</span> <span class="k">as</span> <span class="n">EventTerm</span>
+<span class="linenos"> 12</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">ObservationGroupCfg</span> <span class="k">as</span> <span class="n">ObsGroup</span>
+<span class="linenos"> 13</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">ObservationTermCfg</span> <span class="k">as</span> <span class="n">ObsTerm</span>
+<span class="linenos"> 14</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">RewardTermCfg</span> <span class="k">as</span> <span class="n">RewTerm</span>
+<span class="linenos"> 15</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">SceneEntityCfg</span>
+<span class="linenos"> 16</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">TerminationTermCfg</span> <span class="k">as</span> <span class="n">DoneTerm</span>
+<span class="linenos"> 17</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos"> 18</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos"> 19</span>
+<span class="linenos"> 20</span><span class="kn">import</span> <span class="nn">omni.isaac.lab_tasks.manager_based.classic.cartpole.mdp</span> <span class="k">as</span> <span class="nn">mdp</span>
+<span class="linenos"> 21</span>
+<span class="linenos"> 22</span><span class="c1">##</span>
+<span class="linenos"> 23</span><span class="c1"># Pre-defined configs</span>
+<span class="linenos"> 24</span><span class="c1">##</span>
+<span class="linenos"> 25</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets.cartpole</span> <span class="kn">import</span> <span class="n">CARTPOLE_CFG</span>  <span class="c1"># isort:skip</span>
+<span class="linenos"> 26</span>
+<span class="linenos"> 27</span>
+<span class="linenos"> 28</span><span class="c1">##</span>
+<span class="linenos"> 29</span><span class="c1"># Scene definition</span>
+<span class="linenos"> 30</span><span class="c1">##</span>
+<span class="linenos"> 31</span>
+<span class="linenos"> 32</span>
+<span class="linenos"> 33</span><span class="nd">@configclass</span>
+<span class="linenos"> 34</span><span class="k">class</span> <span class="nc">CartpoleSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="linenos"> 35</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a cart-pole scene.&quot;&quot;&quot;</span>
+<span class="linenos"> 36</span>
+<span class="linenos"> 37</span>    <span class="c1"># ground plane</span>
+<span class="linenos"> 38</span>    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 39</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span>
+<span class="linenos"> 40</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">(</span><span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">100.0</span><span class="p">,</span> <span class="mf">100.0</span><span class="p">)),</span>
+<span class="linenos"> 41</span>    <span class="p">)</span>
+<span class="linenos"> 42</span>
+<span class="linenos"> 43</span>    <span class="c1"># cartpole</span>
+<span class="linenos"> 44</span>    <span class="n">robot</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">CARTPOLE_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+<span class="linenos"> 45</span>
+<span class="linenos"> 46</span>    <span class="c1"># lights</span>
+<span class="linenos"> 47</span>    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 48</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/DomeLight&quot;</span><span class="p">,</span>
+<span class="linenos"> 49</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.9</span><span class="p">,</span> <span class="mf">0.9</span><span class="p">,</span> <span class="mf">0.9</span><span class="p">),</span> <span class="n">intensity</span><span class="o">=</span><span class="mf">500.0</span><span class="p">),</span>
+<span class="linenos"> 50</span>    <span class="p">)</span>
+<span class="linenos"> 51</span>
+<span class="linenos"> 52</span>
+<span class="linenos"> 53</span><span class="c1">##</span>
+<span class="linenos"> 54</span><span class="c1"># MDP settings</span>
+<span class="linenos"> 55</span><span class="c1">##</span>
+<span class="linenos"> 56</span>
+<span class="linenos"> 57</span>
+<span class="linenos"> 58</span><span class="nd">@configclass</span>
+<span class="linenos"> 59</span><span class="k">class</span> <span class="nc">ActionsCfg</span><span class="p">:</span>
+<span class="linenos"> 60</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Action specifications for the MDP.&quot;&quot;&quot;</span>
+<span class="linenos"> 61</span>
+<span class="linenos"> 62</span>    <span class="n">joint_effort</span> <span class="o">=</span> <span class="n">mdp</span><span class="o">.</span><span class="n">JointEffortActionCfg</span><span class="p">(</span><span class="n">asset_name</span><span class="o">=</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">],</span> <span class="n">scale</span><span class="o">=</span><span class="mf">100.0</span><span class="p">)</span>
+<span class="linenos"> 63</span>
+<span class="linenos"> 64</span>
+<span class="linenos"> 65</span><span class="nd">@configclass</span>
+<span class="linenos"> 66</span><span class="k">class</span> <span class="nc">ObservationsCfg</span><span class="p">:</span>
+<span class="linenos"> 67</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Observation specifications for the MDP.&quot;&quot;&quot;</span>
+<span class="linenos"> 68</span>
+<span class="linenos"> 69</span>    <span class="nd">@configclass</span>
+<span class="linenos"> 70</span>    <span class="k">class</span> <span class="nc">PolicyCfg</span><span class="p">(</span><span class="n">ObsGroup</span><span class="p">):</span>
+<span class="linenos"> 71</span><span class="w">        </span><span class="sd">&quot;&quot;&quot;Observations for policy group.&quot;&quot;&quot;</span>
+<span class="linenos"> 72</span>
+<span class="linenos"> 73</span>        <span class="c1"># observation terms (order preserved)</span>
+<span class="linenos"> 74</span>        <span class="n">joint_pos_rel</span> <span class="o">=</span> <span class="n">ObsTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_pos_rel</span><span class="p">)</span>
+<span class="linenos"> 75</span>        <span class="n">joint_vel_rel</span> <span class="o">=</span> <span class="n">ObsTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_vel_rel</span><span class="p">)</span>
+<span class="linenos"> 76</span>
+<span class="linenos"> 77</span>        <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos"> 78</span>            <span class="bp">self</span><span class="o">.</span><span class="n">enable_corruption</span> <span class="o">=</span> <span class="kc">False</span>
+<span class="linenos"> 79</span>            <span class="bp">self</span><span class="o">.</span><span class="n">concatenate_terms</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="linenos"> 80</span>
+<span class="linenos"> 81</span>    <span class="c1"># observation groups</span>
+<span class="linenos"> 82</span>    <span class="n">policy</span><span class="p">:</span> <span class="n">PolicyCfg</span> <span class="o">=</span> <span class="n">PolicyCfg</span><span class="p">()</span>
+<span class="linenos"> 83</span>
+<span class="linenos"> 84</span>
+<span class="linenos"> 85</span><span class="nd">@configclass</span>
+<span class="linenos"> 86</span><span class="k">class</span> <span class="nc">EventCfg</span><span class="p">:</span>
+<span class="linenos"> 87</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for events.&quot;&quot;&quot;</span>
+<span class="linenos"> 88</span>
+<span class="linenos"> 89</span>    <span class="c1"># reset</span>
+<span class="linenos"> 90</span>    <span class="n">reset_cart_position</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+<span class="linenos"> 91</span>        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">reset_joints_by_offset</span><span class="p">,</span>
+<span class="linenos"> 92</span>        <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+<span class="linenos"> 93</span>        <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+<span class="linenos"> 94</span>            <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">]),</span>
+<span class="linenos"> 95</span>            <span class="s2">&quot;position_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">),</span>
+<span class="linenos"> 96</span>            <span class="s2">&quot;velocity_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">),</span>
+<span class="linenos"> 97</span>        <span class="p">},</span>
+<span class="linenos"> 98</span>    <span class="p">)</span>
+<span class="linenos"> 99</span>
+<span class="linenos">100</span>    <span class="n">reset_pole_position</span> <span class="o">=</span> <span class="n">EventTerm</span><span class="p">(</span>
+<span class="linenos">101</span>        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">reset_joints_by_offset</span><span class="p">,</span>
+<span class="linenos">102</span>        <span class="n">mode</span><span class="o">=</span><span class="s2">&quot;reset&quot;</span><span class="p">,</span>
+<span class="linenos">103</span>        <span class="n">params</span><span class="o">=</span><span class="p">{</span>
+<span class="linenos">104</span>            <span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">]),</span>
+<span class="linenos">105</span>            <span class="s2">&quot;position_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.25</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="mf">0.25</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">),</span>
+<span class="linenos">106</span>            <span class="s2">&quot;velocity_range&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">0.25</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">,</span> <span class="mf">0.25</span> <span class="o">*</span> <span class="n">math</span><span class="o">.</span><span class="n">pi</span><span class="p">),</span>
+<span class="linenos">107</span>        <span class="p">},</span>
+<span class="linenos">108</span>    <span class="p">)</span>
+<span class="linenos">109</span>
+<span class="linenos">110</span>
+<span class="linenos">111</span><span class="nd">@configclass</span>
+<span class="linenos">112</span><span class="k">class</span> <span class="nc">RewardsCfg</span><span class="p">:</span>
+<span class="linenos">113</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Reward terms for the MDP.&quot;&quot;&quot;</span>
+<span class="linenos">114</span>
+<span class="linenos">115</span>    <span class="c1"># (1) Constant running reward</span>
+<span class="linenos">116</span>    <span class="n">alive</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">is_alive</span><span class="p">,</span> <span class="n">weight</span><span class="o">=</span><span class="mf">1.0</span><span class="p">)</span>
+<span class="hll"><span class="linenos">117</span>    <span class="c1"># (2) Failure penalty</span>
+</span><span class="hll"><span class="linenos">118</span>    <span class="n">terminating</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">is_terminated</span><span class="p">,</span> <span class="n">weight</span><span class="o">=-</span><span class="mf">2.0</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">119</span>    <span class="c1"># (3) Primary task: keep pole upright</span>
+</span><span class="hll"><span class="linenos">120</span>    <span class="n">pole_pos</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">121</span>        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_pos_target_l2</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">122</span>        <span class="n">weight</span><span class="o">=-</span><span class="mf">1.0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">123</span>        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">]),</span> <span class="s2">&quot;target&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">},</span>
+</span><span class="hll"><span class="linenos">124</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos">125</span>    <span class="c1"># (4) Shaping tasks: lower cart velocity</span>
+</span><span class="hll"><span class="linenos">126</span>    <span class="n">cart_vel</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">127</span>        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_vel_l1</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">128</span>        <span class="n">weight</span><span class="o">=-</span><span class="mf">0.01</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">129</span>        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">])},</span>
+</span><span class="hll"><span class="linenos">130</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos">131</span>    <span class="c1"># (5) Shaping tasks: lower pole angular velocity</span>
+</span><span class="hll"><span class="linenos">132</span>    <span class="n">pole_vel</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">133</span>        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_vel_l1</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">134</span>        <span class="n">weight</span><span class="o">=-</span><span class="mf">0.005</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">135</span>        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">])},</span>
+</span><span class="hll"><span class="linenos">136</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos">137</span>
+</span><span class="hll"><span class="linenos">138</span>
+</span><span class="hll"><span class="linenos">139</span><span class="nd">@configclass</span>
+</span><span class="hll"><span class="linenos">140</span><span class="k">class</span> <span class="nc">TerminationsCfg</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos">141</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Termination terms for the MDP.&quot;&quot;&quot;</span>
+</span><span class="linenos">142</span>
+<span class="linenos">143</span>    <span class="c1"># (1) Time out</span>
+<span class="hll"><span class="linenos">144</span>    <span class="n">time_out</span> <span class="o">=</span> <span class="n">DoneTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">time_out</span><span class="p">,</span> <span class="n">time_out</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">145</span>    <span class="c1"># (2) Cart out of bounds</span>
+</span><span class="hll"><span class="linenos">146</span>    <span class="n">cart_out_of_bounds</span> <span class="o">=</span> <span class="n">DoneTerm</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">147</span>        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_pos_out_of_manual_limit</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">148</span>        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">]),</span> <span class="s2">&quot;bounds&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">3.0</span><span class="p">,</span> <span class="mf">3.0</span><span class="p">)},</span>
+</span><span class="hll"><span class="linenos">149</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos">150</span>
+</span><span class="hll"><span class="linenos">151</span>
+</span><span class="hll"><span class="linenos">152</span><span class="c1">##</span>
+</span><span class="hll"><span class="linenos">153</span><span class="c1"># Environment configuration</span>
+</span><span class="hll"><span class="linenos">154</span><span class="c1">##</span>
+</span><span class="linenos">155</span>
+<span class="linenos">156</span>
+<span class="linenos">157</span><span class="nd">@configclass</span>
+<span class="linenos">158</span><span class="k">class</span> <span class="nc">CartpoleEnvCfg</span><span class="p">(</span><span class="n">ManagerBasedRLEnvCfg</span><span class="p">):</span>
+<span class="linenos">159</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the cartpole environment.&quot;&quot;&quot;</span>
+<span class="linenos">160</span>
+<span class="linenos">161</span>    <span class="c1"># Scene settings</span>
+<span class="linenos">162</span>    <span class="n">scene</span><span class="p">:</span> <span class="n">CartpoleSceneCfg</span> <span class="o">=</span> <span class="n">CartpoleSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">4096</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">4.0</span><span class="p">)</span>
+<span class="linenos">163</span>    <span class="c1"># Basic settings</span>
+<span class="linenos">164</span>    <span class="n">observations</span><span class="p">:</span> <span class="n">ObservationsCfg</span> <span class="o">=</span> <span class="n">ObservationsCfg</span><span class="p">()</span>
+<span class="linenos">165</span>    <span class="n">actions</span><span class="p">:</span> <span class="n">ActionsCfg</span> <span class="o">=</span> <span class="n">ActionsCfg</span><span class="p">()</span>
+<span class="linenos">166</span>    <span class="n">events</span><span class="p">:</span> <span class="n">EventCfg</span> <span class="o">=</span> <span class="n">EventCfg</span><span class="p">()</span>
+<span class="linenos">167</span>    <span class="c1"># MDP settings</span>
+<span class="linenos">168</span>    <span class="n">rewards</span><span class="p">:</span> <span class="n">RewardsCfg</span> <span class="o">=</span> <span class="n">RewardsCfg</span><span class="p">()</span>
+<span class="linenos">169</span>    <span class="n">terminations</span><span class="p">:</span> <span class="n">TerminationsCfg</span> <span class="o">=</span> <span class="n">TerminationsCfg</span><span class="p">()</span>
+<span class="linenos">170</span>
+<span class="linenos">171</span>    <span class="c1"># Post initialization</span>
+<span class="hll"><span class="linenos">172</span>    <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos">173</span><span class="w">        </span><span class="sd">&quot;&quot;&quot;Post initialization.&quot;&quot;&quot;</span>
+</span><span class="hll"><span class="linenos">174</span>        <span class="c1"># general settings</span>
+</span><span class="linenos">175</span>        <span class="bp">self</span><span class="o">.</span><span class="n">decimation</span> <span class="o">=</span> <span class="mi">2</span>
+<span class="linenos">176</span>        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_s</span> <span class="o">=</span> <span class="mi">5</span>
+<span class="linenos">177</span>        <span class="c1"># viewer settings</span>
+<span class="linenos">178</span>        <span class="bp">self</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">eye</span> <span class="o">=</span> <span class="p">(</span><span class="mf">8.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">5.0</span><span class="p">)</span>
+<span class="linenos">179</span>        <span class="c1"># simulation settings</span>
+<span class="linenos">180</span>        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">/</span> <span class="mi">120</span>
+<span class="linenos">181</span>        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">decimation</span>
+</pre></div>
+</div>
+</div>
+</details><p>The script for running the environment <code class="docutils literal notranslate"><span class="pre">run_cartpole_rl_env.py</span></code> is present in the
+<code class="docutils literal notranslate"><span class="pre">isaaclab/source/standalone/tutorials/03_envs</span></code> directory. The script is similar to the
+<code class="docutils literal notranslate"><span class="pre">cartpole_base_env.py</span></code> script in the previous tutorial, except that it uses the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> instead of the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv</span></code></a>.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for run_cartpole_rl_env.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos"> 2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos"> 3</span><span class="c1">#</span>
+<span class="linenos"> 4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos"> 5</span>
+<span class="linenos"> 6</span><span class="sd">&quot;&quot;&quot;This script demonstrates how to run the RL environment for the cartpole balancing task.&quot;&quot;&quot;</span>
+<span class="linenos"> 7</span>
+<span class="linenos"> 8</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 9</span>
+<span class="linenos">10</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos">11</span>
+<span class="linenos">12</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos">13</span>
+<span class="linenos">14</span><span class="c1"># add argparse arguments</span>
+<span class="linenos">15</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on running the cartpole RL environment.&quot;</span><span class="p">)</span>
+<span class="linenos">16</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">16</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to spawn.&quot;</span><span class="p">)</span>
+<span class="linenos">17</span>
+<span class="linenos">18</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos">19</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos">20</span><span class="c1"># parse the arguments</span>
+<span class="linenos">21</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos">22</span>
+<span class="linenos">23</span><span class="c1"># launch omniverse app</span>
+<span class="linenos">24</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos">25</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos">26</span>
+<span class="linenos">27</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos">28</span>
+<span class="linenos">29</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos">30</span>
+<span class="linenos">31</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">ManagerBasedRLEnv</span>
+<span class="linenos">32</span>
+<span class="linenos">33</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.manager_based.classic.cartpole.cartpole_env_cfg</span> <span class="kn">import</span> <span class="n">CartpoleEnvCfg</span>
+<span class="linenos">34</span>
+<span class="linenos">35</span>
+<span class="linenos">36</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">37</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="hll"><span class="linenos">38</span>    <span class="c1"># create environment configuration</span>
+</span><span class="hll"><span class="linenos">39</span>    <span class="n">env_cfg</span> <span class="o">=</span> <span class="n">CartpoleEnvCfg</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">40</span>    <span class="n">env_cfg</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span>
+</span><span class="hll"><span class="linenos">41</span>    <span class="c1"># setup RL environment</span>
+</span><span class="hll"><span class="linenos">42</span>    <span class="n">env</span> <span class="o">=</span> <span class="n">ManagerBasedRLEnv</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">)</span>
+</span><span class="linenos">43</span>
+<span class="linenos">44</span>    <span class="c1"># simulate physics</span>
+<span class="linenos">45</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">46</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos">47</span>        <span class="k">with</span> <span class="n">torch</span><span class="o">.</span><span class="n">inference_mode</span><span class="p">():</span>
+<span class="linenos">48</span>            <span class="c1"># reset</span>
+<span class="linenos">49</span>            <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">300</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">50</span>                <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">51</span>                <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">52</span>                <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-&quot;</span> <span class="o">*</span> <span class="mi">80</span><span class="p">)</span>
+<span class="linenos">53</span>                <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting environment...&quot;</span><span class="p">)</span>
+<span class="linenos">54</span>            <span class="c1"># sample random actions</span>
+<span class="linenos">55</span>            <span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn_like</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">action</span><span class="p">)</span>
+<span class="hll"><span class="linenos">56</span>            <span class="c1"># step the environment</span>
+</span><span class="hll"><span class="linenos">57</span>            <span class="n">obs</span><span class="p">,</span> <span class="n">rew</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">joint_efforts</span><span class="p">)</span>
+</span><span class="linenos">58</span>            <span class="c1"># print current orientation of pole</span>
+<span class="linenos">59</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[Env 0]: Pole joint: &quot;</span><span class="p">,</span> <span class="n">obs</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">][</span><span class="mi">0</span><span class="p">][</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+<span class="linenos">60</span>            <span class="c1"># update counter</span>
+<span class="linenos">61</span>            <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">62</span>
+<span class="linenos">63</span>    <span class="c1"># close the environment</span>
+<span class="linenos">64</span>    <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+<span class="linenos">65</span>
+<span class="linenos">66</span>
+<span class="linenos">67</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">68</span>    <span class="c1"># run the main function</span>
+<span class="linenos">69</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">70</span>    <span class="c1"># close sim app</span>
+<span class="linenos">71</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>We already went through parts of the above in the <a class="reference internal" href="create_manager_base_env.html#tutorial-create-manager-base-env"><span class="std std-ref">Creating a Manager-Based Base Environment</span></a> tutorial to learn
+about how to specify the scene, observations, actions and events. Thus, in this tutorial, we
+will focus only on the RL components of the environment.</p>
+<p>In Isaac Lab, we provide various implementations of different terms in the <code class="xref py py-mod docutils literal notranslate"><span class="pre">envs.mdp</span></code> module. We will use
+some of these terms in this tutorial, but users are free to define their own terms as well. These
+are usually placed in their task-specific sub-package
+(for instance, in <code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.manager_based.classic.cartpole.mdp</span></code>).</p>
+<section id="defining-rewards">
+<h3>Defining rewards<a class="headerlink" href="#defining-rewards" title="Permalink to this heading">#</a></h3>
+<p>The <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardManager" title="omni.isaac.lab.managers.RewardManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.RewardManager</span></code></a> is used to compute the reward terms for the agent. Similar to the other
+managers, its terms are configured using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardTermCfg" title="omni.isaac.lab.managers.RewardTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.RewardTermCfg</span></code></a> class. The
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.RewardTermCfg" title="omni.isaac.lab.managers.RewardTermCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.RewardTermCfg</span></code></a> class specifies the function or callable class that computes the reward
+as well as the weighting associated with it. It also takes in dictionary of arguments, <code class="docutils literal notranslate"><span class="pre">&quot;params&quot;</span></code>
+that are passed to the reward function when it is called.</p>
+<p>For the cartpole task, we will use the following reward terms:</p>
+<ul class="simple">
+<li><p><strong>Alive Reward</strong>: Encourage the agent to stay alive for as long as possible.</p></li>
+<li><p><strong>Terminating Reward</strong>: Similarly penalize the agent for terminating.</p></li>
+<li><p><strong>Pole Angle Reward</strong>: Encourage the agent to keep the pole at the desired upright position.</p></li>
+<li><p><strong>Cart Velocity Reward</strong>: Encourage the agent to keep the cart velocity as small as possible.</p></li>
+<li><p><strong>Pole Velocity Reward</strong>: Encourage the agent to keep the pole velocity as small as possible.</p></li>
+</ul>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">RewardsCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Reward terms for the MDP.&quot;&quot;&quot;</span>
+
+    <span class="c1"># (1) Constant running reward</span>
+    <span class="n">alive</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">is_alive</span><span class="p">,</span> <span class="n">weight</span><span class="o">=</span><span class="mf">1.0</span><span class="p">)</span>
+    <span class="c1"># (2) Failure penalty</span>
+    <span class="n">terminating</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">is_terminated</span><span class="p">,</span> <span class="n">weight</span><span class="o">=-</span><span class="mf">2.0</span><span class="p">)</span>
+    <span class="c1"># (3) Primary task: keep pole upright</span>
+    <span class="n">pole_pos</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_pos_target_l2</span><span class="p">,</span>
+        <span class="n">weight</span><span class="o">=-</span><span class="mf">1.0</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">]),</span> <span class="s2">&quot;target&quot;</span><span class="p">:</span> <span class="mf">0.0</span><span class="p">},</span>
+    <span class="p">)</span>
+    <span class="c1"># (4) Shaping tasks: lower cart velocity</span>
+    <span class="n">cart_vel</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_vel_l1</span><span class="p">,</span>
+        <span class="n">weight</span><span class="o">=-</span><span class="mf">0.01</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">])},</span>
+    <span class="p">)</span>
+    <span class="c1"># (5) Shaping tasks: lower pole angular velocity</span>
+    <span class="n">pole_vel</span> <span class="o">=</span> <span class="n">RewTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_vel_l1</span><span class="p">,</span>
+        <span class="n">weight</span><span class="o">=-</span><span class="mf">0.005</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;cart_to_pole&quot;</span><span class="p">])},</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="defining-termination-criteria">
+<h3>Defining termination criteria<a class="headerlink" href="#defining-termination-criteria" title="Permalink to this heading">#</a></h3>
+<p>Most learning tasks happen over a finite number of steps that we call an episode. For instance, in the cartpole
+task, we want the agent to balance the pole for as long as possible. However, if the agent reaches an unstable
+or unsafe state, we want to terminate the episode. On the other hand, if the agent is able to balance the pole
+for a long time, we want to terminate the episode and start a new one so that the agent can learn to balance the
+pole from a different starting configuration.</p>
+<p>The <code class="xref py py-class docutils literal notranslate"><span class="pre">managers.TerminationsCfg</span></code> configures what constitutes for an episode to terminate. In this example,
+we want the task to terminate when either of the following conditions is met:</p>
+<ul class="simple">
+<li><p><strong>Episode Length</strong> The episode length is greater than the defined max_episode_length</p></li>
+<li><p><strong>Cart out of bounds</strong> The cart goes outside of the bounds [-3, 3]</p></li>
+</ul>
+<p>The flag <code class="xref py py-attr docutils literal notranslate"><span class="pre">managers.TerminationsCfg.time_out</span></code> specifies whether the term is a time-out (truncation) term
+or terminated term. These are used to indicate the two types of terminations as described in <a class="reference external" href="https://gymnasium.farama.org/tutorials/gymnasium_basics/handling_time_limits/">Gymnasium’s documentation</a>.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">TerminationsCfg</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Termination terms for the MDP.&quot;&quot;&quot;</span>
+
+    <span class="c1"># (1) Time out</span>
+    <span class="n">time_out</span> <span class="o">=</span> <span class="n">DoneTerm</span><span class="p">(</span><span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">time_out</span><span class="p">,</span> <span class="n">time_out</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+    <span class="c1"># (2) Cart out of bounds</span>
+    <span class="n">cart_out_of_bounds</span> <span class="o">=</span> <span class="n">DoneTerm</span><span class="p">(</span>
+        <span class="n">func</span><span class="o">=</span><span class="n">mdp</span><span class="o">.</span><span class="n">joint_pos_out_of_manual_limit</span><span class="p">,</span>
+        <span class="n">params</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;asset_cfg&quot;</span><span class="p">:</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;slider_to_cart&quot;</span><span class="p">]),</span> <span class="s2">&quot;bounds&quot;</span><span class="p">:</span> <span class="p">(</span><span class="o">-</span><span class="mf">3.0</span><span class="p">,</span> <span class="mf">3.0</span><span class="p">)},</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="defining-commands">
+<h3>Defining commands<a class="headerlink" href="#defining-commands" title="Permalink to this heading">#</a></h3>
+<p>For various goal-conditioned tasks, it is useful to specify the goals or commands for the agent. These are
+handled through the <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CommandManager" title="omni.isaac.lab.managers.CommandManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.CommandManager</span></code></a>. The command manager handles resampling and updating the
+commands at each step. It can also be used to provide the commands as an observation to the agent.</p>
+<p>For this simple task, we do not use any commands. Hence, we leave this attribute as its default value, which is None.
+You can see an example of how to define a command manager in the other locomotion or manipulation tasks.</p>
+</section>
+<section id="defining-curriculum">
+<h3>Defining curriculum<a class="headerlink" href="#defining-curriculum" title="Permalink to this heading">#</a></h3>
+<p>Often times when training a learning agent, it helps to start with a simple task and gradually increase the
+tasks’s difficulty as the agent training progresses. This is the idea behind curriculum learning. In Isaac Lab,
+we provide a <a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.CurriculumManager" title="omni.isaac.lab.managers.CurriculumManager"><code class="xref py py-class docutils literal notranslate"><span class="pre">managers.CurriculumManager</span></code></a> class that can be used to define a curriculum for your environment.</p>
+<p>In this tutorial we don’t implement a curriculum for simplicity, but you can see an example of a
+curriculum definition in the other locomotion or manipulation tasks.</p>
+</section>
+<section id="tying-it-all-together">
+<h3>Tying it all together<a class="headerlink" href="#tying-it-all-together" title="Permalink to this heading">#</a></h3>
+<p>With all the above components defined, we can now create the <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnvCfg</span></code> configuration for the
+cartpole environment. This is similar to the <code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedEnvCfg</span></code> defined in <a class="reference internal" href="create_manager_base_env.html#tutorial-create-manager-base-env"><span class="std std-ref">Creating a Manager-Based Base Environment</span></a>,
+only with the added RL components explained in the above sections.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="nd">@configclass</span>
+<span class="k">class</span> <span class="nc">CartpoleEnvCfg</span><span class="p">(</span><span class="n">ManagerBasedRLEnvCfg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for the cartpole environment.&quot;&quot;&quot;</span>
+
+    <span class="c1"># Scene settings</span>
+    <span class="n">scene</span><span class="p">:</span> <span class="n">CartpoleSceneCfg</span> <span class="o">=</span> <span class="n">CartpoleSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">4096</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">4.0</span><span class="p">)</span>
+    <span class="c1"># Basic settings</span>
+    <span class="n">observations</span><span class="p">:</span> <span class="n">ObservationsCfg</span> <span class="o">=</span> <span class="n">ObservationsCfg</span><span class="p">()</span>
+    <span class="n">actions</span><span class="p">:</span> <span class="n">ActionsCfg</span> <span class="o">=</span> <span class="n">ActionsCfg</span><span class="p">()</span>
+    <span class="n">events</span><span class="p">:</span> <span class="n">EventCfg</span> <span class="o">=</span> <span class="n">EventCfg</span><span class="p">()</span>
+    <span class="c1"># MDP settings</span>
+    <span class="n">rewards</span><span class="p">:</span> <span class="n">RewardsCfg</span> <span class="o">=</span> <span class="n">RewardsCfg</span><span class="p">()</span>
+    <span class="n">terminations</span><span class="p">:</span> <span class="n">TerminationsCfg</span> <span class="o">=</span> <span class="n">TerminationsCfg</span><span class="p">()</span>
+
+    <span class="c1"># Post initialization</span>
+    <span class="k">def</span> <span class="nf">__post_init__</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;Post initialization.&quot;&quot;&quot;</span>
+        <span class="c1"># general settings</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">decimation</span> <span class="o">=</span> <span class="mi">2</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">episode_length_s</span> <span class="o">=</span> <span class="mi">5</span>
+        <span class="c1"># viewer settings</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">viewer</span><span class="o">.</span><span class="n">eye</span> <span class="o">=</span> <span class="p">(</span><span class="mf">8.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">5.0</span><span class="p">)</span>
+        <span class="c1"># simulation settings</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">dt</span> <span class="o">=</span> <span class="mi">1</span> <span class="o">/</span> <span class="mi">120</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">render_interval</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">decimation</span>
+</pre></div>
+</div>
+</section>
+<section id="running-the-simulation-loop">
+<h3>Running the simulation loop<a class="headerlink" href="#running-the-simulation-loop" title="Permalink to this heading">#</a></h3>
+<p>Coming back to the <code class="docutils literal notranslate"><span class="pre">run_cartpole_rl_env.py</span></code> script, the simulation loop is similar to the previous tutorial.
+The only difference is that we create an instance of <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> instead of the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedEnv</span></code></a>. Consequently, now the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv.step" title="omni.isaac.lab.envs.ManagerBasedRLEnv.step"><code class="xref py py-meth docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv.step()</span></code></a> method returns additional signals
+such as the reward and termination status. The information dictionary also maintains logging of quantities
+such as the reward contribution from individual terms, the termination status of each term, the episode length etc.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+    <span class="c1"># create environment configuration</span>
+    <span class="n">env_cfg</span> <span class="o">=</span> <span class="n">CartpoleEnvCfg</span><span class="p">()</span>
+    <span class="n">env_cfg</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span>
+    <span class="c1"># setup RL environment</span>
+    <span class="n">env</span> <span class="o">=</span> <span class="n">ManagerBasedRLEnv</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">)</span>
+
+    <span class="c1"># simulate physics</span>
+    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+        <span class="k">with</span> <span class="n">torch</span><span class="o">.</span><span class="n">inference_mode</span><span class="p">():</span>
+            <span class="c1"># reset</span>
+            <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">300</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+                <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+                <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+                <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-&quot;</span> <span class="o">*</span> <span class="mi">80</span><span class="p">)</span>
+                <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting environment...&quot;</span><span class="p">)</span>
+            <span class="c1"># sample random actions</span>
+            <span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">randn_like</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">action_manager</span><span class="o">.</span><span class="n">action</span><span class="p">)</span>
+            <span class="c1"># step the environment</span>
+            <span class="n">obs</span><span class="p">,</span> <span class="n">rew</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">joint_efforts</span><span class="p">)</span>
+            <span class="c1"># print current orientation of pole</span>
+            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[Env 0]: Pole joint: &quot;</span><span class="p">,</span> <span class="n">obs</span><span class="p">[</span><span class="s2">&quot;policy&quot;</span><span class="p">][</span><span class="mi">0</span><span class="p">][</span><span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+            <span class="c1"># update counter</span>
+            <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+
+    <span class="c1"># close the environment</span>
+    <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>Similar to the previous tutorial, we can run the environment by executing the <code class="docutils literal notranslate"><span class="pre">run_cartpole_rl_env.py</span></code> script.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/03_envs/run_cartpole_rl_env.py<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span>
+</pre></div>
+</div>
+<p>This should open a similar simulation as in the previous tutorial. However, this time, the environment
+returns more signals that specify the reward and termination status. Additionally, the individual
+environments reset themselves when they terminate based on the termination criteria specified in the
+configuration.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of run_cartpole_rl_env.py" src="../../../_images/tutorial_create_manager_rl_env.jpg" />
+</figure>
+<p>To stop the simulation, you can either close the window, or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal
+where you started the simulation.</p>
+<p>In this tutorial, we learnt how to create a task environment for reinforcement learning. We do this
+by extending the base environment to include the rewards, terminations, commands and curriculum terms.
+We also learnt how to use the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> class to run the environment and receive various
+signals from it.</p>
+<p>While it is possible to manually create an instance of <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> class for a desired task,
+this is not scalable as it requires specialized scripts for each task. Thus, we exploit the
+<code class="xref py py-meth docutils literal notranslate"><span class="pre">gymnasium.make()</span></code> function to create the environment with the gym interface. We will learn how to do this
+in the next tutorial.</p>
+</section>
+</section>
+
+
+                </article>
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+    <i class="fa-solid fa-list"></i> Contents
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-rewards">Defining rewards</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-termination-criteria">Defining termination criteria</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-commands">Defining commands</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#defining-curriculum">Defining curriculum</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#tying-it-all-together">Tying it all together</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation-loop">Running the simulation loop</a></li>
+</ul>
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+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Modifying an existing Direct RL Environment</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-base-code">The Base Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-changes-explained">The Changes Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#duplicating-the-file-and-registering-a-new-task">Duplicating the file and registering a new task</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#changing-the-robot">Changing the robot</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="modifying-an-existing-direct-rl-environment">
+<span id="tutorial-modify-direct-rl-env"></span><h1>Modifying an existing Direct RL Environment<a class="headerlink" href="#modifying-an-existing-direct-rl-environment" title="Permalink to this heading">#</a></h1>
+<p>Having learnt how to create a task in <a class="reference internal" href="create_direct_rl_env.html#tutorial-create-direct-rl-env"><span class="std std-ref">Creating a Direct Workflow RL Environment</span></a>, register it in <a class="reference internal" href="register_rl_env_gym.html#tutorial-register-rl-env-gym"><span class="std std-ref">Registering an Environment</span></a>,
+and train it in <a class="reference internal" href="run_rl_training.html#tutorial-run-rl-training"><span class="std std-ref">Training with an RL Agent</span></a>, we will now look at how to make minor modifications to an existing task.</p>
+<p>Sometimes it is necessary to create, due to complexity or variations from existing examples, tasks from scratch. However, in certain situations,
+it is possible to start from the existing code and introduce minor changes, one by one, to transform them according to our needs.</p>
+<p>In this tutorial, we will make minor modifications to the direct workflow Humanoid task to change the simple
+humanoid model to the Unitree H1 humanoid robot without affecting the original code.</p>
+<section id="the-base-code">
+<h2>The Base Code<a class="headerlink" href="#the-base-code" title="Permalink to this heading">#</a></h2>
+<p>For this tutorial, we start from the direct workflow Humanoid environment defined in <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.direct.humanoid</span></code> module.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for humanoid_env.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos"> 2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos"> 3</span><span class="c1">#</span>
+<span class="linenos"> 4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos"> 5</span>
+<span class="linenos"> 6</span><span class="kn">from</span> <span class="nn">__future__</span> <span class="kn">import</span> <span class="n">annotations</span>
+<span class="linenos"> 7</span>
+<span class="linenos"> 8</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets</span> <span class="kn">import</span> <span class="n">HUMANOID_CFG</span>
+<span class="linenos"> 9</span>
+<span class="linenos">10</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos">11</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">ArticulationCfg</span>
+<span class="linenos">12</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="n">DirectRLEnvCfg</span>
+<span class="linenos">13</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos">14</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sim</span> <span class="kn">import</span> <span class="n">SimulationCfg</span>
+<span class="linenos">15</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.terrains</span> <span class="kn">import</span> <span class="n">TerrainImporterCfg</span>
+<span class="linenos">16</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos">17</span>
+<span class="linenos">18</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.direct.locomotion.locomotion_env</span> <span class="kn">import</span> <span class="n">LocomotionEnv</span>
+<span class="linenos">19</span>
+<span class="linenos">20</span>
+<span class="linenos">21</span><span class="nd">@configclass</span>
+<span class="linenos">22</span><span class="k">class</span> <span class="nc">HumanoidEnvCfg</span><span class="p">(</span><span class="n">DirectRLEnvCfg</span><span class="p">):</span>
+<span class="linenos">23</span>    <span class="c1"># env</span>
+<span class="linenos">24</span>    <span class="n">episode_length_s</span> <span class="o">=</span> <span class="mf">15.0</span>
+<span class="linenos">25</span>    <span class="n">decimation</span> <span class="o">=</span> <span class="mi">2</span>
+<span class="linenos">26</span>    <span class="n">action_scale</span> <span class="o">=</span> <span class="mf">1.0</span>
+<span class="linenos">27</span>    <span class="n">action_space</span> <span class="o">=</span> <span class="mi">21</span>
+<span class="linenos">28</span>    <span class="n">observation_space</span> <span class="o">=</span> <span class="mi">75</span>
+<span class="linenos">29</span>    <span class="n">state_space</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">30</span>
+<span class="linenos">31</span>    <span class="c1"># simulation</span>
+<span class="linenos">32</span>    <span class="n">sim</span><span class="p">:</span> <span class="n">SimulationCfg</span> <span class="o">=</span> <span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mi">1</span> <span class="o">/</span> <span class="mi">120</span><span class="p">,</span> <span class="n">render_interval</span><span class="o">=</span><span class="n">decimation</span><span class="p">)</span>
+<span class="linenos">33</span>    <span class="n">terrain</span> <span class="o">=</span> <span class="n">TerrainImporterCfg</span><span class="p">(</span>
+<span class="linenos">34</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/ground&quot;</span><span class="p">,</span>
+<span class="linenos">35</span>        <span class="n">terrain_type</span><span class="o">=</span><span class="s2">&quot;plane&quot;</span><span class="p">,</span>
+<span class="linenos">36</span>        <span class="n">collision_group</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span>
+<span class="linenos">37</span>        <span class="n">physics_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyMaterialCfg</span><span class="p">(</span>
+<span class="linenos">38</span>            <span class="n">friction_combine_mode</span><span class="o">=</span><span class="s2">&quot;average&quot;</span><span class="p">,</span>
+<span class="linenos">39</span>            <span class="n">restitution_combine_mode</span><span class="o">=</span><span class="s2">&quot;average&quot;</span><span class="p">,</span>
+<span class="linenos">40</span>            <span class="n">static_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+<span class="linenos">41</span>            <span class="n">dynamic_friction</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+<span class="linenos">42</span>            <span class="n">restitution</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+<span class="linenos">43</span>        <span class="p">),</span>
+<span class="linenos">44</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">45</span>    <span class="p">)</span>
+<span class="linenos">46</span>
+<span class="linenos">47</span>    <span class="c1"># scene</span>
+<span class="linenos">48</span>    <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveSceneCfg</span> <span class="o">=</span> <span class="n">InteractiveSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="mi">4096</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">4.0</span><span class="p">,</span> <span class="n">replicate_physics</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+<span class="linenos">49</span>
+<span class="linenos">50</span>    <span class="c1"># robot</span>
+<span class="linenos">51</span>    <span class="n">robot</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">HUMANOID_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Robot&quot;</span><span class="p">)</span>
+<span class="linenos">52</span>    <span class="n">joint_gears</span><span class="p">:</span> <span class="nb">list</span> <span class="o">=</span> <span class="p">[</span>
+<span class="linenos">53</span>        <span class="mf">67.5000</span><span class="p">,</span>  <span class="c1"># lower_waist</span>
+<span class="linenos">54</span>        <span class="mf">67.5000</span><span class="p">,</span>  <span class="c1"># lower_waist</span>
+<span class="linenos">55</span>        <span class="mf">67.5000</span><span class="p">,</span>  <span class="c1"># right_upper_arm</span>
+<span class="linenos">56</span>        <span class="mf">67.5000</span><span class="p">,</span>  <span class="c1"># right_upper_arm</span>
+<span class="linenos">57</span>        <span class="mf">67.5000</span><span class="p">,</span>  <span class="c1"># left_upper_arm</span>
+<span class="linenos">58</span>        <span class="mf">67.5000</span><span class="p">,</span>  <span class="c1"># left_upper_arm</span>
+<span class="linenos">59</span>        <span class="mf">67.5000</span><span class="p">,</span>  <span class="c1"># pelvis</span>
+<span class="linenos">60</span>        <span class="mf">45.0000</span><span class="p">,</span>  <span class="c1"># right_lower_arm</span>
+<span class="linenos">61</span>        <span class="mf">45.0000</span><span class="p">,</span>  <span class="c1"># left_lower_arm</span>
+<span class="linenos">62</span>        <span class="mf">45.0000</span><span class="p">,</span>  <span class="c1"># right_thigh: x</span>
+<span class="linenos">63</span>        <span class="mf">135.0000</span><span class="p">,</span>  <span class="c1"># right_thigh: y</span>
+<span class="linenos">64</span>        <span class="mf">45.0000</span><span class="p">,</span>  <span class="c1"># right_thigh: z</span>
+<span class="linenos">65</span>        <span class="mf">45.0000</span><span class="p">,</span>  <span class="c1"># left_thigh: x</span>
+<span class="linenos">66</span>        <span class="mf">135.0000</span><span class="p">,</span>  <span class="c1"># left_thigh: y</span>
+<span class="linenos">67</span>        <span class="mf">45.0000</span><span class="p">,</span>  <span class="c1"># left_thigh: z</span>
+<span class="linenos">68</span>        <span class="mf">90.0000</span><span class="p">,</span>  <span class="c1"># right_knee</span>
+<span class="linenos">69</span>        <span class="mf">90.0000</span><span class="p">,</span>  <span class="c1"># left_knee</span>
+<span class="linenos">70</span>        <span class="mf">22.5</span><span class="p">,</span>  <span class="c1"># right_foot</span>
+<span class="linenos">71</span>        <span class="mf">22.5</span><span class="p">,</span>  <span class="c1"># right_foot</span>
+<span class="linenos">72</span>        <span class="mf">22.5</span><span class="p">,</span>  <span class="c1"># left_foot</span>
+<span class="linenos">73</span>        <span class="mf">22.5</span><span class="p">,</span>  <span class="c1"># left_foot</span>
+<span class="linenos">74</span>    <span class="p">]</span>
+<span class="linenos">75</span>
+<span class="linenos">76</span>    <span class="n">heading_weight</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.5</span>
+<span class="linenos">77</span>    <span class="n">up_weight</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.1</span>
+<span class="linenos">78</span>
+<span class="linenos">79</span>    <span class="n">energy_cost_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.05</span>
+<span class="linenos">80</span>    <span class="n">actions_cost_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.01</span>
+<span class="linenos">81</span>    <span class="n">alive_reward_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">2.0</span>
+<span class="linenos">82</span>    <span class="n">dof_vel_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.1</span>
+<span class="linenos">83</span>
+<span class="linenos">84</span>    <span class="n">death_cost</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="o">-</span><span class="mf">1.0</span>
+<span class="linenos">85</span>    <span class="n">termination_height</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.8</span>
+<span class="linenos">86</span>
+<span class="linenos">87</span>    <span class="n">angular_velocity_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.25</span>
+<span class="linenos">88</span>    <span class="n">contact_force_scale</span><span class="p">:</span> <span class="nb">float</span> <span class="o">=</span> <span class="mf">0.01</span>
+<span class="linenos">89</span>
+<span class="linenos">90</span>
+<span class="linenos">91</span><span class="k">class</span> <span class="nc">HumanoidEnv</span><span class="p">(</span><span class="n">LocomotionEnv</span><span class="p">):</span>
+<span class="linenos">92</span>    <span class="n">cfg</span><span class="p">:</span> <span class="n">HumanoidEnvCfg</span>
+<span class="linenos">93</span>
+<span class="linenos">94</span>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">cfg</span><span class="p">:</span> <span class="n">HumanoidEnvCfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">:</span> <span class="nb">str</span> <span class="o">|</span> <span class="kc">None</span> <span class="o">=</span> <span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+<span class="linenos">95</span>        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">cfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-changes-explained">
+<h2>The Changes Explained<a class="headerlink" href="#the-changes-explained" title="Permalink to this heading">#</a></h2>
+<section id="duplicating-the-file-and-registering-a-new-task">
+<h3>Duplicating the file and registering a new task<a class="headerlink" href="#duplicating-the-file-and-registering-a-new-task" title="Permalink to this heading">#</a></h3>
+<p>To avoid modifying the code of the existing task, we will make a copy of the file containing the Python
+code and perform the modification on this copy. Then, in the Isaac Lab project
+<code class="docutils literal notranslate"><span class="pre">source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid</span></code>
+folder we make a copy of the <code class="docutils literal notranslate"><span class="pre">humanoid_env.py</span></code> file and rename it to <code class="docutils literal notranslate"><span class="pre">h1_env.py</span></code>.</p>
+<p>Open the <code class="docutils literal notranslate"><span class="pre">h1_env.py</span></code> file in a code editor and replace all the humanoid task name (<code class="docutils literal notranslate"><span class="pre">HumanoidEnv</span></code>) and its configuration
+(<code class="docutils literal notranslate"><span class="pre">HumanoidEnvCfg</span></code>) instances to <code class="docutils literal notranslate"><span class="pre">H1Env</span></code> and <code class="docutils literal notranslate"><span class="pre">H1EnvCfg</span></code> respectively.
+This is necessary to avoid name conflicts during import when registering the environment.</p>
+<p>Once the name change has been made, we proceed to add a new entry to register the task under the name <code class="docutils literal notranslate"><span class="pre">Isaac-H1-Direct-v0</span></code>.
+To do this, we modify the <code class="docutils literal notranslate"><span class="pre">__init__.py</span></code> file in the same working folder and add the following entry.
+Refer to the <a class="reference internal" href="register_rl_env_gym.html#tutorial-register-rl-env-gym"><span class="std std-ref">Registering an Environment</span></a> tutorial for more details about environment registrations.</p>
+<div class="admonition hint">
+<p class="admonition-title">Hint</p>
+<p>If the changes in the task are minimal, it is very likely that the same RL library agent configurations can be used to train it successfully.
+Otherwise, it is advisable to create new configuration files (adjusting their name during registration under the <code class="docutils literal notranslate"><span class="pre">kwargs</span></code> parameter)
+to avoid altering the original configurations.</p>
+</div>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">.h1_env</span> <span class="kn">import</span> <span class="n">H1Env</span><span class="p">,</span> <span class="n">H1EnvCfg</span>
+</pre></div>
+</div>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="nb">id</span><span class="o">=</span><span class="s2">&quot;Isaac-H1-Direct-v0&quot;</span><span class="p">,</span>
+    <span class="n">entry_point</span><span class="o">=</span><span class="s2">&quot;omni.isaac.lab_tasks.direct.humanoid:H1Env&quot;</span><span class="p">,</span>
+    <span class="n">disable_env_checker</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="n">kwargs</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">:</span> <span class="n">H1EnvCfg</span><span class="p">,</span>
+        <span class="s2">&quot;rl_games_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:rl_games_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;rsl_rl_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.rsl_rl_ppo_cfg:HumanoidPPORunnerCfg&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;skrl_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:skrl_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="changing-the-robot">
+<h3>Changing the robot<a class="headerlink" href="#changing-the-robot" title="Permalink to this heading">#</a></h3>
+<p>The <code class="docutils literal notranslate"><span class="pre">H1EnvCfg</span></code> class (in the new created <code class="docutils literal notranslate"><span class="pre">h1_env.py</span></code> file) encapsulates the configuration values of the environment,
+including the assets to be instantiated. Particularly in this example, the <code class="docutils literal notranslate"><span class="pre">robot</span></code> property holds the target articulation configuration.</p>
+<p>Since the Unitree H1 robot is included in the Isaac Lab assets extension (<code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_assets</span></code>) we can just import it
+and do the replacement directly (under the <code class="docutils literal notranslate"><span class="pre">H1EnvCfg.robot</span></code> property), as shown below. Note that we also need to modify the
+<code class="docutils literal notranslate"><span class="pre">joint_gears</span></code> property as it holds robot-specific configuration values.</p>
+<div class="admonition hint">
+<p class="admonition-title">Hint</p>
+<p>If the target robot is not included in the Isaac Lab assets extension, it is possible to load and configure it, from a USD file,
+by using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationCfg" title="omni.isaac.lab.assets.ArticulationCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArticulationCfg</span></code></a> class.</p>
+<ul class="simple">
+<li><p>See the <a class="reference external" href="https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/franka_cabinet/franka_cabinet_env.py">Isaac-Franka-Cabinet-Direct-v0</a> source code for an example of loading and configuring a robot from a USD file.</p></li>
+<li><p>Refer to the <a class="reference external" href="../../how-to/import_new_asset.html">Importing a New Asset</a> tutorial for details on how to import an asset from URDF or MJCF file, and other formats.</p></li>
+</ul>
+</div>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets</span> <span class="kn">import</span> <span class="n">H1_CFG</span>
+</pre></div>
+</div>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">robot</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">H1_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/Robot&quot;</span><span class="p">)</span>
+<span class="n">joint_gears</span><span class="p">:</span> <span class="nb">list</span> <span class="o">=</span> <span class="p">[</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># left_hip_yaw</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># right_hip_yaw</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># torso</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># left_hip_roll</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># right_hip_roll</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># left_shoulder_pitch</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># right_shoulder_pitch</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># left_hip_pitch</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># right_hip_pitch</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># left_shoulder_roll</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># right_shoulder_roll</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># left_knee</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># right_knee</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># left_shoulder_yaw</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># right_shoulder_yaw</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># left_ankle</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># right_ankle</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># left_elbow</span>
+    <span class="mf">50.0</span><span class="p">,</span>  <span class="c1"># right_elbow</span>
+<span class="p">]</span>
+</pre></div>
+</div>
+<p>The robot changed, and with it the number of joints to control or the number of rigid bodies that compose the articulation, for example.
+Therefore, it is also necessary to adjust other values in the environment configuration that depend on the characteristics of the robot,
+such as the number of elements in the observation and action space.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">action_space</span> <span class="o">=</span> <span class="mi">19</span>
+<span class="n">observation_space</span> <span class="o">=</span> <span class="mi">69</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>After the minor modification has been done, and similar to the previous tutorial, we can train on the task using one of the available RL workflows for such task.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/rl_games/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-H1-Direct-v0<span class="w"> </span>--headless
+</pre></div>
+</div>
+<p>When the training is finished, we can visualize the result with the following command.
+To stop the simulation, you can either close the window, or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal
+where you started the simulation.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/rl_games/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-H1-Direct-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">64</span>
+</pre></div>
+</div>
+<figure class="align-center" style="width: 100%">
+<img alt="result of training Isaac-H1-Direct-v0 task" src="../../../_images/tutorial_modify_direct_rl_env.jpg" />
+</figure>
+<p>In this tutorial, we learnt how to make minor modifications to an existing environment without affecting the original code.</p>
+<p>It is important to note, however, that while the changes to be made may be small, they may not always work on the first try,
+as there may be deeper dependencies on the original assets in the environment being modified.
+In these cases, it is advisable to analyze the code of the available examples in detail in order to make an appropriate adjustment.</p>
+</section>
+</section>
+
+
+                </article>
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+    <i class="fa-solid fa-list"></i> Contents
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-base-code">The Base Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-changes-explained">The Changes Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#duplicating-the-file-and-registering-a-new-task">Duplicating the file and registering a new task</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#changing-the-robot">Changing the robot</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
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+  <i class="fas fa-file-pdf"></i>
+  </span>
+<span class="btn__text-container">.pdf</span>
+</button>
+</li>
+      
+  </ul>
+</div>
+
+
+
+
+<button onclick="toggleFullScreen()"
+  class="btn btn-sm btn-fullscreen-button"
+  title="Fullscreen mode"
+  data-bs-placement="bottom" data-bs-toggle="tooltip"
+>
+  
+
+<span class="btn__icon-container">
+  <i class="fas fa-expand"></i>
+  </span>
+
+</button>
+
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+<button class="btn btn-sm nav-link pst-navbar-icon theme-switch-button pst-js-only" aria-label="Color mode" data-bs-title="Color mode"  data-bs-placement="bottom" data-bs-toggle="tooltip">
+  <i class="theme-switch fa-solid fa-sun                fa-lg" data-mode="light" title="Light"></i>
+  <i class="theme-switch fa-solid fa-moon               fa-lg" data-mode="dark"  title="Dark"></i>
+  <i class="theme-switch fa-solid fa-circle-half-stroke fa-lg" data-mode="auto"  title="System Settings"></i>
+</button>
+
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+<button class="btn btn-sm pst-navbar-icon search-button search-button__button pst-js-only" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <i class="fa-solid fa-magnifying-glass fa-lg"></i>
+</button>
+<label class="sidebar-toggle secondary-toggle btn btn-sm" for="__secondary"title="Toggle secondary sidebar" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <span class="fa-solid fa-list"></span>
+</label>
+</div></div>
+      
+    </div>
+  
+</div>
+</div>
+              
+              
+
+<div id="jb-print-docs-body" class="onlyprint">
+    <h1>Registering an Environment</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#using-the-gym-registry">Using the gym registry</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#manager-based-environments">Manager-Based Environments</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#direct-environments">Direct Environments</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#creating-the-environment">Creating the environment</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="registering-an-environment">
+<span id="tutorial-register-rl-env-gym"></span><h1>Registering an Environment<a class="headerlink" href="#registering-an-environment" title="Permalink to this heading">#</a></h1>
+<p>In the previous tutorial, we learned how to create a custom cartpole environment. We manually
+created an instance of the environment by importing the environment class and its configuration
+class.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Environment creation in the previous tutorial</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># create environment configuration</span>
+    <span class="n">env_cfg</span> <span class="o">=</span> <span class="n">CartpoleEnvCfg</span><span class="p">()</span>
+    <span class="n">env_cfg</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span>
+    <span class="c1"># setup RL environment</span>
+    <span class="n">env</span> <span class="o">=</span> <span class="n">ManagerBasedRLEnv</span><span class="p">(</span><span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+</div>
+</details><p>While straightforward, this approach is not scalable as we have a large suite of environments.
+In this tutorial, we will show how to use the <code class="xref py py-meth docutils literal notranslate"><span class="pre">gymnasium.register()</span></code> method to register
+environments with the <code class="docutils literal notranslate"><span class="pre">gymnasium</span></code> registry. This allows us to create the environment through
+the <code class="xref py py-meth docutils literal notranslate"><span class="pre">gymnasium.make()</span></code> function.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Environment creation in this tutorial</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils</span> <span class="kn">import</span> <span class="n">parse_env_cfg</span>
+
+
+<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Random actions agent with Isaac Lab environment.&quot;&quot;&quot;</span>
+    <span class="c1"># create environment configuration</span>
+    <span class="n">env_cfg</span> <span class="o">=</span> <span class="n">parse_env_cfg</span><span class="p">(</span>
+        <span class="n">args_cli</span><span class="o">.</span><span class="n">task</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">use_fabric</span><span class="o">=</span><span class="ow">not</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">disable_fabric</span>
+    <span class="p">)</span>
+    <span class="c1"># create environment</span>
+    <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">args_cli</span><span class="o">.</span><span class="n">task</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">)</span>
+
+</pre></div>
+</div>
+</div>
+</details><section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">random_agent.py</span></code> script in the <code class="docutils literal notranslate"><span class="pre">source/standalone/environments</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for random_agent.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos"> 2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos"> 3</span><span class="c1">#</span>
+<span class="linenos"> 4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos"> 5</span>
+<span class="linenos"> 6</span><span class="sd">&quot;&quot;&quot;Script to an environment with random action agent.&quot;&quot;&quot;</span>
+<span class="linenos"> 7</span>
+<span class="linenos"> 8</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 9</span>
+<span class="linenos">10</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos">11</span>
+<span class="linenos">12</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos">13</span>
+<span class="linenos">14</span><span class="c1"># add argparse arguments</span>
+<span class="linenos">15</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Random agent for Isaac Lab environments.&quot;</span><span class="p">)</span>
+<span class="linenos">16</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span>
+<span class="linenos">17</span>    <span class="s2">&quot;--disable_fabric&quot;</span><span class="p">,</span> <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Disable fabric and use USD I/O operations.&quot;</span>
+<span class="linenos">18</span><span class="p">)</span>
+<span class="linenos">19</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to simulate.&quot;</span><span class="p">)</span>
+<span class="linenos">20</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--task&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Name of the task.&quot;</span><span class="p">)</span>
+<span class="linenos">21</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos">22</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos">23</span><span class="c1"># parse the arguments</span>
+<span class="linenos">24</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos">25</span>
+<span class="linenos">26</span><span class="c1"># launch omniverse app</span>
+<span class="linenos">27</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos">28</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos">29</span>
+<span class="linenos">30</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos">31</span>
+<span class="linenos">32</span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+<span class="linenos">33</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos">34</span>
+<span class="linenos">35</span><span class="kn">import</span> <span class="nn">omni.isaac.lab_tasks</span>  <span class="c1"># noqa: F401</span>
+<span class="hll"><span class="linenos">36</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils</span> <span class="kn">import</span> <span class="n">parse_env_cfg</span>
+</span><span class="hll"><span class="linenos">37</span>
+</span><span class="linenos">38</span>
+<span class="linenos">39</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">40</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Random actions agent with Isaac Lab environment.&quot;&quot;&quot;</span>
+<span class="linenos">41</span>    <span class="c1"># create environment configuration</span>
+<span class="hll"><span class="linenos">42</span>    <span class="n">env_cfg</span> <span class="o">=</span> <span class="n">parse_env_cfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">43</span>        <span class="n">args_cli</span><span class="o">.</span><span class="n">task</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">use_fabric</span><span class="o">=</span><span class="ow">not</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">disable_fabric</span>
+</span><span class="hll"><span class="linenos">44</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos">45</span>    <span class="c1"># create environment</span>
+</span><span class="hll"><span class="linenos">46</span>    <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">args_cli</span><span class="o">.</span><span class="n">task</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">47</span>
+</span><span class="linenos">48</span>    <span class="c1"># print info (this is vectorized environment)</span>
+<span class="linenos">49</span>    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Gym observation space: </span><span class="si">{</span><span class="n">env</span><span class="o">.</span><span class="n">observation_space</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">50</span>    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;[INFO]: Gym action space: </span><span class="si">{</span><span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+<span class="linenos">51</span>    <span class="c1"># reset environment</span>
+<span class="linenos">52</span>    <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">53</span>    <span class="c1"># simulate environment</span>
+<span class="linenos">54</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos">55</span>        <span class="c1"># run everything in inference mode</span>
+<span class="linenos">56</span>        <span class="k">with</span> <span class="n">torch</span><span class="o">.</span><span class="n">inference_mode</span><span class="p">():</span>
+<span class="linenos">57</span>            <span class="c1"># sample actions from -1 to 1</span>
+<span class="linenos">58</span>            <span class="n">actions</span> <span class="o">=</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">shape</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">device</span><span class="p">)</span> <span class="o">-</span> <span class="mi">1</span>
+<span class="linenos">59</span>            <span class="c1"># apply actions</span>
+<span class="linenos">60</span>            <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">actions</span><span class="p">)</span>
+<span class="linenos">61</span>
+<span class="linenos">62</span>    <span class="c1"># close the simulator</span>
+<span class="linenos">63</span>    <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+<span class="linenos">64</span>
+<span class="linenos">65</span>
+<span class="linenos">66</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">67</span>    <span class="c1"># run the main function</span>
+<span class="linenos">68</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">69</span>    <span class="c1"># close sim app</span>
+<span class="linenos">70</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>The <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> class inherits from the <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a> class to follow
+a standard interface. However, unlike the traditional Gym environments, the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a>
+implements a <em>vectorized</em> environment. This means that multiple environment instances
+are running simultaneously in the same process, and all the data is returned in a batched
+fashion.</p>
+<p>Similarly, the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.DirectRLEnv</span></code></a> class also inherits from the <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a> class
+for the direct workflow. For <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectMARLEnv" title="omni.isaac.lab.envs.DirectMARLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.DirectMARLEnv</span></code></a>, although it does not inherit
+from Gymnasium, it can be registered and created in the same way.</p>
+<section id="using-the-gym-registry">
+<h3>Using the gym registry<a class="headerlink" href="#using-the-gym-registry" title="Permalink to this heading">#</a></h3>
+<p>To register an environment, we use the <code class="xref py py-meth docutils literal notranslate"><span class="pre">gymnasium.register()</span></code> method. This method takes
+in the environment name, the entry point to the environment class, and the entry point to the
+environment configuration class.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>The <code class="xref py py-mod docutils literal notranslate"><span class="pre">gymnasium</span></code> registry is a global registry. Hence, it is important to ensure that the
+environment names are unique. Otherwise, the registry will throw an error when registering
+the environment.</p>
+</div>
+<section id="manager-based-environments">
+<h4>Manager-Based Environments<a class="headerlink" href="#manager-based-environments" title="Permalink to this heading">#</a></h4>
+<p>For manager-based environments, the following shows the registration
+call for the cartpole environment in the <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.manager_based.classic.cartpole</span></code> sub-package:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">agents</span>
+<span class="hll">
+</span><span class="c1">##</span>
+<span class="c1"># Register Gym environments.</span>
+<span class="c1">##</span>
+
+<span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="nb">id</span><span class="o">=</span><span class="s2">&quot;Isaac-Cartpole-v0&quot;</span><span class="p">,</span>
+<span class="hll">    <span class="n">entry_point</span><span class="o">=</span><span class="s2">&quot;omni.isaac.lab.envs:ManagerBasedRLEnv&quot;</span><span class="p">,</span>
+</span><span class="hll">    <span class="n">disable_env_checker</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+</span>    <span class="n">kwargs</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.cartpole_env_cfg:CartpoleEnvCfg&quot;</span><span class="p">,</span>
+<span class="hll">        <span class="s2">&quot;rl_games_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:rl_games_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+</span>        <span class="s2">&quot;rsl_rl_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.rsl_rl_ppo_cfg:CartpolePPORunnerCfg&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;skrl_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:skrl_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;sb3_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:sb3_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+
+<span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="nb">id</span><span class="o">=</span><span class="s2">&quot;Isaac-Cartpole-RGB-v0&quot;</span><span class="p">,</span>
+    <span class="n">entry_point</span><span class="o">=</span><span class="s2">&quot;omni.isaac.lab.envs:ManagerBasedRLEnv&quot;</span><span class="p">,</span>
+    <span class="n">disable_env_checker</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="n">kwargs</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.cartpole_camera_env_cfg:CartpoleRGBCameraEnvCfg&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;rl_games_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:rl_games_camera_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+
+<span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="nb">id</span><span class="o">=</span><span class="s2">&quot;Isaac-Cartpole-Depth-v0&quot;</span><span class="p">,</span>
+    <span class="n">entry_point</span><span class="o">=</span><span class="s2">&quot;omni.isaac.lab.envs:ManagerBasedRLEnv&quot;</span><span class="p">,</span>
+    <span class="n">disable_env_checker</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="n">kwargs</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.cartpole_camera_env_cfg:CartpoleDepthCameraEnvCfg&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;rl_games_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:rl_games_camera_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+
+<span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="nb">id</span><span class="o">=</span><span class="s2">&quot;Isaac-Cartpole-RGB-ResNet18-v0&quot;</span><span class="p">,</span>
+    <span class="n">entry_point</span><span class="o">=</span><span class="s2">&quot;omni.isaac.lab.envs:ManagerBasedRLEnv&quot;</span><span class="p">,</span>
+    <span class="n">disable_env_checker</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="n">kwargs</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.cartpole_camera_env_cfg:CartpoleResNet18CameraEnvCfg&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;rl_games_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:rl_games_feature_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+
+<span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="nb">id</span><span class="o">=</span><span class="s2">&quot;Isaac-Cartpole-RGB-TheiaTiny-v0&quot;</span><span class="p">,</span>
+    <span class="n">entry_point</span><span class="o">=</span><span class="s2">&quot;omni.isaac.lab.envs:ManagerBasedRLEnv&quot;</span><span class="p">,</span>
+    <span class="n">disable_env_checker</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+    <span class="n">kwargs</span><span class="o">=</span><span class="p">{</span>
+        <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.cartpole_camera_env_cfg:CartpoleTheiaTinyCameraEnvCfg&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;rl_games_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:rl_games_feature_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+</pre></div>
+</div>
+<p>The <code class="docutils literal notranslate"><span class="pre">id</span></code> argument is the name of the environment. As a convention, we name all the environments
+with the prefix <code class="docutils literal notranslate"><span class="pre">Isaac-</span></code> to make it easier to search for them in the registry. The name of the
+environment is typically followed by the name of the task, and then the name of the robot.
+For instance, for legged locomotion with ANYmal C on flat terrain, the environment is called
+<code class="docutils literal notranslate"><span class="pre">Isaac-Velocity-Flat-Anymal-C-v0</span></code>. The version number <code class="docutils literal notranslate"><span class="pre">v&lt;N&gt;</span></code> is typically used to specify different
+variations of the same environment. Otherwise, the names of the environments can become too long
+and difficult to read.</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">entry_point</span></code> argument is the entry point to the environment class. The entry point is a string
+of the form <code class="docutils literal notranslate"><span class="pre">&lt;module&gt;:&lt;class&gt;</span></code>. In the case of the cartpole environment, the entry point is
+<code class="docutils literal notranslate"><span class="pre">omni.isaac.lab.envs:ManagerBasedRLEnv</span></code>. The entry point is used to import the environment class
+when creating the environment instance.</p>
+<p>The <code class="docutils literal notranslate"><span class="pre">env_cfg_entry_point</span></code> argument specifies the default configuration for the environment. The default
+configuration is loaded using the <a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.html#omni.isaac.lab_tasks.utils.parse_env_cfg" title="omni.isaac.lab_tasks.utils.parse_env_cfg"><code class="xref py py-meth docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.utils.parse_env_cfg()</span></code></a> function.
+It is then passed to the <code class="xref py py-meth docutils literal notranslate"><span class="pre">gymnasium.make()</span></code> function to create the environment instance.
+The configuration entry point can be both a YAML file or a python configuration class.</p>
+</section>
+<section id="direct-environments">
+<h4>Direct Environments<a class="headerlink" href="#direct-environments" title="Permalink to this heading">#</a></h4>
+<p>For direct-based environments, the environment registration follows a similar pattern. Instead of
+registering the environment’s entry point as the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a> class,
+we register the environment’s entry point as the implementation class of the environment.
+Additionally, we add the suffix <code class="docutils literal notranslate"><span class="pre">-Direct</span></code> to the environment name to differentiate it from the
+manager-based environments.</p>
+<p>As an example, the following shows the registration call for the cartpole environment in the
+<code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.direct.cartpole</span></code> sub-package:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+
+<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">agents</span>
+
+<span class="hll"><span class="c1">##</span>
+</span><span class="c1"># Register Gym environments.</span>
+<span class="c1">##</span>
+
+<span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+    <span class="nb">id</span><span class="o">=</span><span class="s2">&quot;Isaac-Cartpole-Direct-v0&quot;</span><span class="p">,</span>
+    <span class="n">entry_point</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.cartpole_env:CartpoleEnv&quot;</span><span class="p">,</span>
+<span class="hll">    <span class="n">disable_env_checker</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+</span><span class="hll">    <span class="n">kwargs</span><span class="o">=</span><span class="p">{</span>
+</span>        <span class="s2">&quot;env_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.cartpole_env:CartpoleEnvCfg&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;rl_games_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:rl_games_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+<span class="hll">        <span class="s2">&quot;rsl_rl_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">.rsl_rl_ppo_cfg:CartpolePPORunnerCfg&quot;</span><span class="p">,</span>
+</span>        <span class="s2">&quot;skrl_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:skrl_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+        <span class="s2">&quot;sb3_cfg_entry_point&quot;</span><span class="p">:</span> <span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">agents</span><span class="o">.</span><span class="vm">__name__</span><span class="si">}</span><span class="s2">:sb3_ppo_cfg.yaml&quot;</span><span class="p">,</span>
+    <span class="p">},</span>
+<span class="p">)</span>
+
+<span class="n">gym</span><span class="o">.</span><span class="n">register</span><span class="p">(</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="creating-the-environment">
+<h3>Creating the environment<a class="headerlink" href="#creating-the-environment" title="Permalink to this heading">#</a></h3>
+<p>To inform the <code class="docutils literal notranslate"><span class="pre">gym</span></code> registry with all the environments provided by the <code class="docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks</span></code>
+extension, we must import the module at the start of the script. This will execute the <code class="docutils literal notranslate"><span class="pre">__init__.py</span></code>
+file which iterates over all the sub-packages and registers their respective environments.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">omni.isaac.lab_tasks</span>  <span class="c1"># noqa: F401</span>
+</pre></div>
+</div>
+<p>In this tutorial, the task name is read from the command line. The task name is used to parse
+the default configuration as well as to create the environment instance. In addition, other
+parsed command line arguments such as the number of environments, the simulation device,
+and whether to render, are used to override the default configuration.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># create environment configuration</span>
+    <span class="n">env_cfg</span> <span class="o">=</span> <span class="n">parse_env_cfg</span><span class="p">(</span>
+        <span class="n">args_cli</span><span class="o">.</span><span class="n">task</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">use_fabric</span><span class="o">=</span><span class="ow">not</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">disable_fabric</span>
+    <span class="p">)</span>
+    <span class="c1"># create environment</span>
+    <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">args_cli</span><span class="o">.</span><span class="n">task</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>Once creating the environment, the rest of the execution follows the standard resetting and stepping.</p>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>Now that we have gone through the code, let’s run the script and see the result:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/environments/random_agent.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span>
+</pre></div>
+</div>
+<p>This should open a stage with everything similar to the <a class="reference internal" href="create_manager_rl_env.html#tutorial-create-manager-rl-env"><span class="std std-ref">Creating a Manager-Based RL Environment</span></a> tutorial.
+To stop the simulation, you can either close the window, or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of random_agent.py" src="../../../_images/tutorial_register_environment.jpg" />
+</figure>
+<p>In addition, you can also change the simulation device from GPU to CPU by setting the value of the <code class="docutils literal notranslate"><span class="pre">--device</span></code> flag explicitly:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/environments/random_agent.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span><span class="w"> </span>--device<span class="w"> </span>cpu
+</pre></div>
+</div>
+<p>With the <code class="docutils literal notranslate"><span class="pre">--device</span> <span class="pre">cpu</span></code> flag, the simulation will run on the CPU. This is useful for debugging the simulation.
+However, the simulation will run much slower than on the GPU.</p>
+</section>
+</section>
+
+
+                </article>
+              
+
+              
+              
+              
+              
+                <footer class="prev-next-footer d-print-none">
+                  
+<div class="prev-next-area">
+    <a class="left-prev"
+       href="create_direct_rl_env.html"
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+    <h1>Training with an RL Agent</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#training-the-agent">Training the agent</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#headless-execution">Headless execution</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#headless-execution-with-off-screen-render">Headless execution with off-screen render</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#interactive-execution">Interactive execution</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#viewing-the-logs">Viewing the logs</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#playing-the-trained-agent">Playing the trained agent</a></li>
+</ul>
+</li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="training-with-an-rl-agent">
+<span id="tutorial-run-rl-training"></span><h1>Training with an RL Agent<a class="headerlink" href="#training-with-an-rl-agent" title="Permalink to this heading">#</a></h1>
+<p>In the previous tutorials, we covered how to define an RL task environment, register
+it into the <code class="docutils literal notranslate"><span class="pre">gym</span></code> registry, and interact with it using a random agent. We now move
+on to the next step: training an RL agent to solve the task.</p>
+<p>Although the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> conforms to the <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a> interface,
+it is not exactly a <code class="docutils literal notranslate"><span class="pre">gym</span></code> environment. The input and outputs of the environment are
+not numpy arrays, but rather based on torch tensors with the first dimension being the
+number of environment instances.</p>
+<p>Additionally, most RL libraries expect their own variation of an environment interface.
+For example, <a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/">Stable-Baselines3</a> expects the environment to conform to its
+<a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html#vecenv-api-vs-gym-api">VecEnv API</a> which expects a list of numpy arrays instead of a single tensor. Similarly,
+<a class="reference external" href="https://github.com/leggedrobotics/rsl_rl">RSL-RL</a>, <a class="reference external" href="https://github.com/Denys88/rl_games">RL-Games</a> and <a class="reference external" href="https://skrl.readthedocs.io">SKRL</a> expect a different interface. Since there is no one-size-fits-all
+solution, we do not base the <a class="reference internal" href="../../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">envs.ManagerBasedRLEnv</span></code></a> on any particular learning library.
+Instead, we implement wrappers to convert the environment into the expected interface.
+These are specified in the <a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#module-omni.isaac.lab_tasks.utils.wrappers" title="omni.isaac.lab_tasks.utils.wrappers"><code class="xref py py-mod docutils literal notranslate"><span class="pre">omni.isaac.lab_tasks.utils.wrappers</span></code></a> module.</p>
+<p>In this tutorial, we will use <a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/">Stable-Baselines3</a> to train an RL agent to solve the
+cartpole balancing task.</p>
+<div class="admonition caution">
+<p class="admonition-title">Caution</p>
+<p>Wrapping the environment with the respective learning framework’s wrapper should happen in the end,
+i.e. after all other wrappers have been applied. This is because the learning framework’s wrapper
+modifies the interpretation of environment’s APIs which may no longer be compatible with <a class="reference external" href="https://gymnasium.farama.org/api/env/#gymnasium.Env" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.Env</span></code></a>.</p>
+</div>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>For this tutorial, we use the training script from <a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/">Stable-Baselines3</a> workflow in the
+<code class="docutils literal notranslate"><span class="pre">source/standalone/workflows/sb3</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for train.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;Script to train RL agent with Stable Baselines3.</span>
+<span class="linenos">  7</span>
+<span class="linenos">  8</span><span class="sd">Since Stable-Baselines3 does not support buffers living on GPU directly,</span>
+<span class="linenos">  9</span><span class="sd">we recommend using smaller number of environments. Otherwise,</span>
+<span class="linenos"> 10</span><span class="sd">there will be significant overhead in GPU-&gt;CPU transfer.</span>
+<span class="linenos"> 11</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 12</span>
+<span class="linenos"> 13</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 14</span>
+<span class="linenos"> 15</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 16</span><span class="kn">import</span> <span class="nn">sys</span>
+<span class="linenos"> 17</span>
+<span class="linenos"> 18</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 19</span>
+<span class="linenos"> 20</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 21</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Train an RL agent with Stable-Baselines3.&quot;</span><span class="p">)</span>
+<span class="linenos"> 22</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--video&quot;</span><span class="p">,</span> <span class="n">action</span><span class="o">=</span><span class="s2">&quot;store_true&quot;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Record videos during training.&quot;</span><span class="p">)</span>
+<span class="linenos"> 23</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--video_length&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">200</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Length of the recorded video (in steps).&quot;</span><span class="p">)</span>
+<span class="linenos"> 24</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--video_interval&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">2000</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Interval between video recordings (in steps).&quot;</span><span class="p">)</span>
+<span class="linenos"> 25</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to simulate.&quot;</span><span class="p">)</span>
+<span class="linenos"> 26</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--task&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Name of the task.&quot;</span><span class="p">)</span>
+<span class="linenos"> 27</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--seed&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Seed used for the environment&quot;</span><span class="p">)</span>
+<span class="linenos"> 28</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--max_iterations&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;RL Policy training iterations.&quot;</span><span class="p">)</span>
+<span class="linenos"> 29</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 30</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 31</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 32</span><span class="n">args_cli</span><span class="p">,</span> <span class="n">hydra_args</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_known_args</span><span class="p">()</span>
+<span class="linenos"> 33</span><span class="c1"># always enable cameras to record video</span>
+<span class="linenos"> 34</span><span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">video</span><span class="p">:</span>
+<span class="linenos"> 35</span>    <span class="n">args_cli</span><span class="o">.</span><span class="n">enable_cameras</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="linenos"> 36</span>
+<span class="linenos"> 37</span><span class="c1"># clear out sys.argv for Hydra</span>
+<span class="linenos"> 38</span><span class="n">sys</span><span class="o">.</span><span class="n">argv</span> <span class="o">=</span> <span class="p">[</span><span class="n">sys</span><span class="o">.</span><span class="n">argv</span><span class="p">[</span><span class="mi">0</span><span class="p">]]</span> <span class="o">+</span> <span class="n">hydra_args</span>
+<span class="linenos"> 39</span>
+<span class="linenos"> 40</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 41</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 42</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 43</span>
+<span class="linenos"> 44</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 45</span>
+<span class="linenos"> 46</span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
+<span class="linenos"> 47</span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="linenos"> 48</span><span class="kn">import</span> <span class="nn">os</span>
+<span class="linenos"> 49</span><span class="kn">import</span> <span class="nn">random</span>
+<span class="linenos"> 50</span><span class="kn">from</span> <span class="nn">datetime</span> <span class="kn">import</span> <span class="n">datetime</span>
+<span class="linenos"> 51</span>
+<span class="linenos"> 52</span><span class="kn">from</span> <span class="nn">stable_baselines3</span> <span class="kn">import</span> <span class="n">PPO</span>
+<span class="linenos"> 53</span><span class="kn">from</span> <span class="nn">stable_baselines3.common.callbacks</span> <span class="kn">import</span> <span class="n">CheckpointCallback</span>
+<span class="linenos"> 54</span><span class="kn">from</span> <span class="nn">stable_baselines3.common.logger</span> <span class="kn">import</span> <span class="n">configure</span>
+<span class="linenos"> 55</span><span class="kn">from</span> <span class="nn">stable_baselines3.common.vec_env</span> <span class="kn">import</span> <span class="n">VecNormalize</span>
+<span class="linenos"> 56</span>
+<span class="hll"><span class="linenos"> 57</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.envs</span> <span class="kn">import</span> <span class="p">(</span>
+</span><span class="linenos"> 58</span>    <span class="n">DirectMARLEnv</span><span class="p">,</span>
+<span class="linenos"> 59</span>    <span class="n">DirectMARLEnvCfg</span><span class="p">,</span>
+<span class="linenos"> 60</span>    <span class="n">DirectRLEnvCfg</span><span class="p">,</span>
+<span class="linenos"> 61</span>    <span class="n">ManagerBasedRLEnvCfg</span><span class="p">,</span>
+<span class="linenos"> 62</span>    <span class="n">multi_agent_to_single_agent</span><span class="p">,</span>
+<span class="linenos"> 63</span><span class="p">)</span>
+<span class="linenos"> 64</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.dict</span> <span class="kn">import</span> <span class="n">print_dict</span>
+<span class="linenos"> 65</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.io</span> <span class="kn">import</span> <span class="n">dump_pickle</span><span class="p">,</span> <span class="n">dump_yaml</span>
+<span class="hll"><span class="linenos"> 66</span>
+</span><span class="linenos"> 67</span><span class="kn">import</span> <span class="nn">omni.isaac.lab_tasks</span>  <span class="c1"># noqa: F401</span>
+<span class="hll"><span class="linenos"> 68</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils.hydra</span> <span class="kn">import</span> <span class="n">hydra_task_config</span>
+</span><span class="hll"><span class="linenos"> 69</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_tasks.utils.wrappers.sb3</span> <span class="kn">import</span> <span class="n">Sb3VecEnvWrapper</span><span class="p">,</span> <span class="n">process_sb3_cfg</span>
+</span><span class="hll"><span class="linenos"> 70</span>
+</span><span class="linenos"> 71</span>
+<span class="linenos"> 72</span><span class="nd">@hydra_task_config</span><span class="p">(</span><span class="n">args_cli</span><span class="o">.</span><span class="n">task</span><span class="p">,</span> <span class="s2">&quot;sb3_cfg_entry_point&quot;</span><span class="p">)</span>
+<span class="linenos"> 73</span><span class="k">def</span> <span class="nf">main</span><span class="p">(</span><span class="n">env_cfg</span><span class="p">:</span> <span class="n">ManagerBasedRLEnvCfg</span> <span class="o">|</span> <span class="n">DirectRLEnvCfg</span> <span class="o">|</span> <span class="n">DirectMARLEnvCfg</span><span class="p">,</span> <span class="n">agent_cfg</span><span class="p">:</span> <span class="nb">dict</span><span class="p">):</span>
+<span class="linenos"> 74</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Train with stable-baselines agent.&quot;&quot;&quot;</span>
+<span class="linenos"> 75</span>    <span class="c1"># randomly sample a seed if seed = -1</span>
+<span class="linenos"> 76</span>    <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">seed</span> <span class="o">==</span> <span class="o">-</span><span class="mi">1</span><span class="p">:</span>
+<span class="linenos"> 77</span>        <span class="n">args_cli</span><span class="o">.</span><span class="n">seed</span> <span class="o">=</span> <span class="n">random</span><span class="o">.</span><span class="n">randint</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">10000</span><span class="p">)</span>
+<span class="linenos"> 78</span>
+<span class="linenos"> 79</span>    <span class="c1"># override configurations with non-hydra CLI arguments</span>
+<span class="linenos"> 80</span>    <span class="n">env_cfg</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span> <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="k">else</span> <span class="n">env_cfg</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span>
+<span class="hll"><span class="linenos"> 81</span>    <span class="n">agent_cfg</span><span class="p">[</span><span class="s2">&quot;seed&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">seed</span> <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">seed</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="k">else</span> <span class="n">agent_cfg</span><span class="p">[</span><span class="s2">&quot;seed&quot;</span><span class="p">]</span>
+</span><span class="linenos"> 82</span>    <span class="c1"># max iterations for training</span>
+<span class="linenos"> 83</span>    <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">max_iterations</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
+<span class="linenos"> 84</span>        <span class="n">agent_cfg</span><span class="p">[</span><span class="s2">&quot;n_timesteps&quot;</span><span class="p">]</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">max_iterations</span> <span class="o">*</span> <span class="n">agent_cfg</span><span class="p">[</span><span class="s2">&quot;n_steps&quot;</span><span class="p">]</span> <span class="o">*</span> <span class="n">env_cfg</span><span class="o">.</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span>
+<span class="linenos"> 85</span>
+<span class="linenos"> 86</span>    <span class="c1"># set the environment seed</span>
+<span class="linenos"> 87</span>    <span class="c1"># note: certain randomizations occur in the environment initialization so we set the seed here</span>
+<span class="linenos"> 88</span>    <span class="n">env_cfg</span><span class="o">.</span><span class="n">seed</span> <span class="o">=</span> <span class="n">agent_cfg</span><span class="p">[</span><span class="s2">&quot;seed&quot;</span><span class="p">]</span>
+<span class="linenos"> 89</span>    <span class="n">env_cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">device</span> <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">device</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="k">else</span> <span class="n">env_cfg</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span>
+<span class="hll"><span class="linenos"> 90</span>
+</span><span class="hll"><span class="linenos"> 91</span>    <span class="c1"># directory for logging into</span>
+</span><span class="hll"><span class="linenos"> 92</span>    <span class="n">log_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="s2">&quot;logs&quot;</span><span class="p">,</span> <span class="s2">&quot;sb3&quot;</span><span class="p">,</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">task</span><span class="p">,</span> <span class="n">datetime</span><span class="o">.</span><span class="n">now</span><span class="p">()</span><span class="o">.</span><span class="n">strftime</span><span class="p">(</span><span class="s2">&quot;%Y-%m-</span><span class="si">%d</span><span class="s2">_%H-%M-%S&quot;</span><span class="p">))</span>
+</span><span class="hll"><span class="linenos"> 93</span>    <span class="c1"># dump the configuration into log-directory</span>
+</span><span class="hll"><span class="linenos"> 94</span>    <span class="n">dump_yaml</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_dir</span><span class="p">,</span> <span class="s2">&quot;params&quot;</span><span class="p">,</span> <span class="s2">&quot;env.yaml&quot;</span><span class="p">),</span> <span class="n">env_cfg</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 95</span>    <span class="n">dump_yaml</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_dir</span><span class="p">,</span> <span class="s2">&quot;params&quot;</span><span class="p">,</span> <span class="s2">&quot;agent.yaml&quot;</span><span class="p">),</span> <span class="n">agent_cfg</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 96</span>    <span class="n">dump_pickle</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_dir</span><span class="p">,</span> <span class="s2">&quot;params&quot;</span><span class="p">,</span> <span class="s2">&quot;env.pkl&quot;</span><span class="p">),</span> <span class="n">env_cfg</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 97</span>    <span class="n">dump_pickle</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_dir</span><span class="p">,</span> <span class="s2">&quot;params&quot;</span><span class="p">,</span> <span class="s2">&quot;agent.pkl&quot;</span><span class="p">),</span> <span class="n">agent_cfg</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 98</span>
+</span><span class="linenos"> 99</span>    <span class="c1"># post-process agent configuration</span>
+<span class="hll"><span class="linenos">100</span>    <span class="n">agent_cfg</span> <span class="o">=</span> <span class="n">process_sb3_cfg</span><span class="p">(</span><span class="n">agent_cfg</span><span class="p">)</span>
+</span><span class="linenos">101</span>    <span class="c1"># read configurations about the agent-training</span>
+<span class="linenos">102</span>    <span class="n">policy_arch</span> <span class="o">=</span> <span class="n">agent_cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;policy&quot;</span><span class="p">)</span>
+<span class="linenos">103</span>    <span class="n">n_timesteps</span> <span class="o">=</span> <span class="n">agent_cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;n_timesteps&quot;</span><span class="p">)</span>
+<span class="linenos">104</span>
+<span class="hll"><span class="linenos">105</span>    <span class="c1"># create isaac environment</span>
+</span><span class="hll"><span class="linenos">106</span>    <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">args_cli</span><span class="o">.</span><span class="n">task</span><span class="p">,</span> <span class="n">cfg</span><span class="o">=</span><span class="n">env_cfg</span><span class="p">,</span> <span class="n">render_mode</span><span class="o">=</span><span class="s2">&quot;rgb_array&quot;</span> <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">video</span> <span class="k">else</span> <span class="kc">None</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">107</span>    <span class="c1"># wrap for video recording</span>
+</span><span class="hll"><span class="linenos">108</span>    <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">video</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos">109</span>        <span class="n">video_kwargs</span> <span class="o">=</span> <span class="p">{</span>
+</span><span class="hll"><span class="linenos">110</span>            <span class="s2">&quot;video_folder&quot;</span><span class="p">:</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_dir</span><span class="p">,</span> <span class="s2">&quot;videos&quot;</span><span class="p">,</span> <span class="s2">&quot;train&quot;</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos">111</span>            <span class="s2">&quot;step_trigger&quot;</span><span class="p">:</span> <span class="k">lambda</span> <span class="n">step</span><span class="p">:</span> <span class="n">step</span> <span class="o">%</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">video_interval</span> <span class="o">==</span> <span class="mi">0</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">112</span>            <span class="s2">&quot;video_length&quot;</span><span class="p">:</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">video_length</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">113</span>            <span class="s2">&quot;disable_logger&quot;</span><span class="p">:</span> <span class="kc">True</span><span class="p">,</span>
+</span><span class="linenos">114</span>        <span class="p">}</span>
+<span class="hll"><span class="linenos">115</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO] Recording videos during training.&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">116</span>        <span class="n">print_dict</span><span class="p">(</span><span class="n">video_kwargs</span><span class="p">,</span> <span class="n">nesting</span><span class="o">=</span><span class="mi">4</span><span class="p">)</span>
+</span><span class="linenos">117</span>        <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">wrappers</span><span class="o">.</span><span class="n">RecordVideo</span><span class="p">(</span><span class="n">env</span><span class="p">,</span> <span class="o">**</span><span class="n">video_kwargs</span><span class="p">)</span>
+<span class="linenos">118</span>
+<span class="linenos">119</span>    <span class="c1"># convert to single-agent instance if required by the RL algorithm</span>
+<span class="linenos">120</span>    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="p">,</span> <span class="n">DirectMARLEnv</span><span class="p">):</span>
+<span class="hll"><span class="linenos">121</span>        <span class="n">env</span> <span class="o">=</span> <span class="n">multi_agent_to_single_agent</span><span class="p">(</span><span class="n">env</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">122</span>
+</span><span class="hll"><span class="linenos">123</span>    <span class="c1"># wrap around environment for stable baselines</span>
+</span><span class="hll"><span class="linenos">124</span>    <span class="n">env</span> <span class="o">=</span> <span class="n">Sb3VecEnvWrapper</span><span class="p">(</span><span class="n">env</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">125</span>
+</span><span class="hll"><span class="linenos">126</span>    <span class="k">if</span> <span class="s2">&quot;normalize_input&quot;</span> <span class="ow">in</span> <span class="n">agent_cfg</span><span class="p">:</span>
+</span><span class="linenos">127</span>        <span class="n">env</span> <span class="o">=</span> <span class="n">VecNormalize</span><span class="p">(</span>
+<span class="linenos">128</span>            <span class="n">env</span><span class="p">,</span>
+<span class="linenos">129</span>            <span class="n">training</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos">130</span>            <span class="n">norm_obs</span><span class="o">=</span><span class="s2">&quot;normalize_input&quot;</span> <span class="ow">in</span> <span class="n">agent_cfg</span> <span class="ow">and</span> <span class="n">agent_cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;normalize_input&quot;</span><span class="p">),</span>
+<span class="linenos">131</span>            <span class="n">norm_reward</span><span class="o">=</span><span class="s2">&quot;normalize_value&quot;</span> <span class="ow">in</span> <span class="n">agent_cfg</span> <span class="ow">and</span> <span class="n">agent_cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;normalize_value&quot;</span><span class="p">),</span>
+<span class="linenos">132</span>            <span class="n">clip_obs</span><span class="o">=</span><span class="s2">&quot;clip_obs&quot;</span> <span class="ow">in</span> <span class="n">agent_cfg</span> <span class="ow">and</span> <span class="n">agent_cfg</span><span class="o">.</span><span class="n">pop</span><span class="p">(</span><span class="s2">&quot;clip_obs&quot;</span><span class="p">),</span>
+<span class="hll"><span class="linenos">133</span>            <span class="n">gamma</span><span class="o">=</span><span class="n">agent_cfg</span><span class="p">[</span><span class="s2">&quot;gamma&quot;</span><span class="p">],</span>
+</span><span class="hll"><span class="linenos">134</span>            <span class="n">clip_reward</span><span class="o">=</span><span class="n">np</span><span class="o">.</span><span class="n">inf</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos">135</span>        <span class="p">)</span>
+</span><span class="hll"><span class="linenos">136</span>
+</span><span class="linenos">137</span>    <span class="c1"># create agent from stable baselines</span>
+<span class="linenos">138</span>    <span class="n">agent</span> <span class="o">=</span> <span class="n">PPO</span><span class="p">(</span><span class="n">policy_arch</span><span class="p">,</span> <span class="n">env</span><span class="p">,</span> <span class="n">verbose</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="o">**</span><span class="n">agent_cfg</span><span class="p">)</span>
+<span class="linenos">139</span>    <span class="c1"># configure the logger</span>
+<span class="linenos">140</span>    <span class="n">new_logger</span> <span class="o">=</span> <span class="n">configure</span><span class="p">(</span><span class="n">log_dir</span><span class="p">,</span> <span class="p">[</span><span class="s2">&quot;stdout&quot;</span><span class="p">,</span> <span class="s2">&quot;tensorboard&quot;</span><span class="p">])</span>
+<span class="linenos">141</span>    <span class="n">agent</span><span class="o">.</span><span class="n">set_logger</span><span class="p">(</span><span class="n">new_logger</span><span class="p">)</span>
+<span class="linenos">142</span>
+<span class="linenos">143</span>    <span class="c1"># callbacks for agent</span>
+<span class="linenos">144</span>    <span class="n">checkpoint_callback</span> <span class="o">=</span> <span class="n">CheckpointCallback</span><span class="p">(</span><span class="n">save_freq</span><span class="o">=</span><span class="mi">1000</span><span class="p">,</span> <span class="n">save_path</span><span class="o">=</span><span class="n">log_dir</span><span class="p">,</span> <span class="n">name_prefix</span><span class="o">=</span><span class="s2">&quot;model&quot;</span><span class="p">,</span> <span class="n">verbose</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
+<span class="linenos">145</span>    <span class="c1"># train the agent</span>
+<span class="linenos">146</span>    <span class="n">agent</span><span class="o">.</span><span class="n">learn</span><span class="p">(</span><span class="n">total_timesteps</span><span class="o">=</span><span class="n">n_timesteps</span><span class="p">,</span> <span class="n">callback</span><span class="o">=</span><span class="n">checkpoint_callback</span><span class="p">)</span>
+<span class="linenos">147</span>    <span class="c1"># save the final model</span>
+<span class="linenos">148</span>    <span class="n">agent</span><span class="o">.</span><span class="n">save</span><span class="p">(</span><span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">log_dir</span><span class="p">,</span> <span class="s2">&quot;model&quot;</span><span class="p">))</span>
+<span class="linenos">149</span>
+<span class="linenos">150</span>    <span class="c1"># close the simulator</span>
+<span class="linenos">151</span>    <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+<span class="linenos">152</span>
+<span class="linenos">153</span>
+<span class="linenos">154</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">155</span>    <span class="c1"># run the main function</span>
+<span class="linenos">156</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">157</span>    <span class="c1"># close sim app</span>
+<span class="linenos">158</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>Most of the code above is boilerplate code to create logging directories, saving the parsed configurations,
+and setting up different Stable-Baselines3 components. For this tutorial, the important part is creating
+the environment and wrapping it with the Stable-Baselines3 wrapper.</p>
+<p>There are three wrappers used in the code above:</p>
+<ol class="arabic simple">
+<li><p><a class="reference external" href="https://gymnasium.farama.org/api/wrappers/misc_wrappers/#gymnasium.wrappers.RecordVideo" title="(in Gymnasium)"><code class="xref py py-class docutils literal notranslate"><span class="pre">gymnasium.wrappers.RecordVideo</span></code></a>: This wrapper records a video of the environment
+and saves it to the specified directory. This is useful for visualizing the agent’s behavior
+during training.</p></li>
+<li><p><a class="reference internal" href="../../api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.html#omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper" title="omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper"><code class="xref py py-class docutils literal notranslate"><span class="pre">wrappers.sb3.Sb3VecEnvWrapper</span></code></a>: This wrapper converts the environment
+into a Stable-Baselines3 compatible environment.</p></li>
+<li><p><a class="reference external" href="https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html#vecnormalize">stable_baselines3.common.vec_env.VecNormalize</a>: This wrapper normalizes the
+environment’s observations and rewards.</p></li>
+</ol>
+<p>Each of these wrappers wrap around the previous wrapper by following <code class="docutils literal notranslate"><span class="pre">env</span> <span class="pre">=</span> <span class="pre">wrapper(env,</span> <span class="pre">*args,</span> <span class="pre">**kwargs)</span></code>
+repeatedly. The final environment is then used to train the agent. For more information on how these
+wrappers work, please refer to the <a class="reference internal" href="../../how-to/wrap_rl_env.html#how-to-env-wrappers"><span class="std std-ref">Wrapping environments</span></a> documentation.</p>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>We train a PPO agent from Stable-Baselines3 to solve the cartpole balancing task.</p>
+<section id="training-the-agent">
+<h3>Training the agent<a class="headerlink" href="#training-the-agent" title="Permalink to this heading">#</a></h3>
+<p>There are three main ways to train the agent. Each of them has their own advantages and disadvantages.
+It is up to you to decide which one you prefer based on your use case.</p>
+<section id="headless-execution">
+<h4>Headless execution<a class="headerlink" href="#headless-execution" title="Permalink to this heading">#</a></h4>
+<p>If the <code class="docutils literal notranslate"><span class="pre">--headless</span></code> flag is set, the simulation is not rendered during training. This is useful
+when training on a remote server or when you do not want to see the simulation. Typically, it speeds
+up the training process since only physics simulation step is performed.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/sb3/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">64</span><span class="w"> </span>--headless
+</pre></div>
+</div>
+</section>
+<section id="headless-execution-with-off-screen-render">
+<h4>Headless execution with off-screen render<a class="headerlink" href="#headless-execution-with-off-screen-render" title="Permalink to this heading">#</a></h4>
+<p>Since the above command does not render the simulation, it is not possible to visualize the agent’s
+behavior during training. To visualize the agent’s behavior, we pass the <code class="docutils literal notranslate"><span class="pre">--enable_cameras</span></code> which
+enables off-screen rendering. Additionally, we pass the flag <code class="docutils literal notranslate"><span class="pre">--video</span></code> which records a video of the
+agent’s behavior during training.</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/sb3/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">64</span><span class="w"> </span>--headless<span class="w"> </span>--video
+</pre></div>
+</div>
+<p>The videos are saved to the <code class="docutils literal notranslate"><span class="pre">logs/sb3/Isaac-Cartpole-v0/&lt;run-dir&gt;/videos/train</span></code> directory. You can open these videos
+using any video player.</p>
+</section>
+<section id="interactive-execution">
+<h4>Interactive execution<a class="headerlink" href="#interactive-execution" title="Permalink to this heading">#</a></h4>
+<p>While the above two methods are useful for training the agent, they don’t allow you to interact with the
+simulation to see what is happening. In this case, you can ignore the <code class="docutils literal notranslate"><span class="pre">--headless</span></code> flag and run the
+training script as follows:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/sb3/train.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">64</span>
+</pre></div>
+</div>
+<p>This will open the Isaac Sim window and you can see the agent training in the environment. However, this
+will slow down the training process since the simulation is rendered on the screen. As a workaround, you
+can switch between different render modes in the <code class="docutils literal notranslate"><span class="pre">&quot;Isaac</span> <span class="pre">Lab&quot;</span></code> window that is docked on the bottom-right
+corner of the screen. To learn more about these render modes, please check the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext.RenderMode" title="omni.isaac.lab.sim.SimulationContext.RenderMode"><code class="xref py py-class docutils literal notranslate"><span class="pre">sim.SimulationContext.RenderMode</span></code></a> class.</p>
+</section>
+</section>
+<section id="viewing-the-logs">
+<h3>Viewing the logs<a class="headerlink" href="#viewing-the-logs" title="Permalink to this heading">#</a></h3>
+<p>On a separate terminal, you can monitor the training progress by executing the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># execute from the root directory of the repository</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>-m<span class="w"> </span>tensorboard.main<span class="w"> </span>--logdir<span class="w"> </span>logs/sb3/Isaac-Cartpole-v0
+</pre></div>
+</div>
+</section>
+<section id="playing-the-trained-agent">
+<h3>Playing the trained agent<a class="headerlink" href="#playing-the-trained-agent" title="Permalink to this heading">#</a></h3>
+<p>Once the training is complete, you can visualize the trained agent by executing the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># execute from the root directory of the repository</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/workflows/sb3/play.py<span class="w"> </span>--task<span class="w"> </span>Isaac-Cartpole-v0<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">32</span><span class="w"> </span>--use_last_checkpoint
+</pre></div>
+</div>
+<p>The above command will load the latest checkpoint from the <code class="docutils literal notranslate"><span class="pre">logs/sb3/Isaac-Cartpole-v0</span></code>
+directory. You can also specify a specific checkpoint by passing the <code class="docutils literal notranslate"><span class="pre">--checkpoint</span></code> flag.</p>
+</section>
+</section>
+</section>
+
+
+                </article>
+              
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+                <footer class="prev-next-footer d-print-none">
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+
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+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> Contents
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#training-the-agent">Training the agent</a><ul class="nav section-nav flex-column">
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#headless-execution">Headless execution</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#headless-execution-with-off-screen-render">Headless execution with off-screen render</a></li>
+<li class="toc-h4 nav-item toc-entry"><a class="reference internal nav-link" href="#interactive-execution">Interactive execution</a></li>
+</ul>
+</li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#viewing-the-logs">Viewing the logs</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#playing-the-trained-agent">Playing the trained agent</a></li>
+</ul>
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diff --git a/v1.4.0/source/tutorials/04_sensors/add_sensors_on_robot.html b/v1.4.0/source/tutorials/04_sensors/add_sensors_on_robot.html
new file mode 100644
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--- /dev/null
+++ b/v1.4.0/source/tutorials/04_sensors/add_sensors_on_robot.html
@@ -0,0 +1,1084 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" data-content_root="" >
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+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
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+    <h1>Adding sensors on a robot</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#camera-sensor">Camera sensor</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#height-scanner">Height scanner</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#contact-sensor">Contact sensor</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation-loop">Running the simulation loop</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="adding-sensors-on-a-robot">
+<span id="tutorial-add-sensors-on-robot"></span><h1>Adding sensors on a robot<a class="headerlink" href="#adding-sensors-on-a-robot" title="Permalink to this heading">#</a></h1>
+<p>While the asset classes allow us to create and simulate the physical embodiment of the robot,
+sensors help in obtaining information about the environment. They typically update at a lower
+frequency than the simulation and are useful for obtaining different proprioceptive and
+exteroceptive information. For example, a camera sensor can be used to obtain the visual
+information of the environment, and a contact sensor can be used to obtain the contact
+information of the robot with the environment.</p>
+<p>In this tutorial, we will see how to add different sensors to a robot. We will use the
+ANYmal-C robot for this tutorial. The ANYmal-C robot is a quadrupedal robot with 12 degrees
+of freedom. It has 4 legs, each with 3 degrees of freedom. The robot has the following
+sensors:</p>
+<ul class="simple">
+<li><p>A camera sensor on the head of the robot which provides RGB-D images</p></li>
+<li><p>A height scanner sensor that provides terrain height information</p></li>
+<li><p>Contact sensors on the feet of the robot that provide contact information</p></li>
+</ul>
+<p>We continue this tutorial from the previous tutorial on <a class="reference internal" href="../02_scene/create_scene.html#tutorial-interactive-scene"><span class="std std-ref">Using the Interactive Scene</span></a>,
+where we learned about the <a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">scene.InteractiveScene</span></code></a> class.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">add_sensors_on_robot.py</span></code> script in the
+<code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/04_sensors</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for add_sensors_on_robot.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">  7</span><span class="sd">This script demonstrates how to add and simulate on-board sensors for a robot.</span>
+<span class="linenos">  8</span>
+<span class="linenos">  9</span><span class="sd">We add the following sensors on the quadruped robot, ANYmal-C (ANYbotics):</span>
+<span class="linenos"> 10</span>
+<span class="linenos"> 11</span><span class="sd">* USD-Camera: This is a camera sensor that is attached to the robot&#39;s base.</span>
+<span class="linenos"> 12</span><span class="sd">* Height Scanner: This is a height scanner sensor that is attached to the robot&#39;s base.</span>
+<span class="linenos"> 13</span><span class="sd">* Contact Sensor: This is a contact sensor that is attached to the robot&#39;s feet.</span>
+<span class="linenos"> 14</span>
+<span class="linenos"> 15</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos"> 16</span>
+<span class="linenos"> 17</span><span class="sd">    # Usage</span>
+<span class="linenos"> 18</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/04_sensors/add_sensors_on_robot.py --enable_cameras</span>
+<span class="linenos"> 19</span>
+<span class="linenos"> 20</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 21</span>
+<span class="linenos"> 22</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 23</span>
+<span class="linenos"> 24</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 25</span>
+<span class="linenos"> 26</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 27</span>
+<span class="linenos"> 28</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 29</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on adding sensors on a robot.&quot;</span><span class="p">)</span>
+<span class="linenos"> 30</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to spawn.&quot;</span><span class="p">)</span>
+<span class="linenos"> 31</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 32</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 33</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 34</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 35</span>
+<span class="linenos"> 36</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 37</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 38</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 39</span>
+<span class="linenos"> 40</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 41</span>
+<span class="linenos"> 42</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 43</span>
+<span class="linenos"> 44</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 45</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">ArticulationCfg</span><span class="p">,</span> <span class="n">AssetBaseCfg</span>
+<span class="linenos"> 46</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span><span class="p">,</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos"> 47</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors</span> <span class="kn">import</span> <span class="n">CameraCfg</span><span class="p">,</span> <span class="n">ContactSensorCfg</span><span class="p">,</span> <span class="n">RayCasterCfg</span><span class="p">,</span> <span class="n">patterns</span>
+<span class="linenos"> 48</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos"> 49</span>
+<span class="linenos"> 50</span><span class="c1">##</span>
+<span class="linenos"> 51</span><span class="c1"># Pre-defined configs</span>
+<span class="linenos"> 52</span><span class="c1">##</span>
+<span class="linenos"> 53</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets.anymal</span> <span class="kn">import</span> <span class="n">ANYMAL_C_CFG</span>  <span class="c1"># isort: skip</span>
+<span class="linenos"> 54</span>
+<span class="linenos"> 55</span>
+<span class="linenos"> 56</span><span class="nd">@configclass</span>
+<span class="linenos"> 57</span><span class="k">class</span> <span class="nc">SensorsSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="linenos"> 58</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Design the scene with sensors on the robot.&quot;&quot;&quot;</span>
+<span class="linenos"> 59</span>
+<span class="linenos"> 60</span>    <span class="c1"># ground plane</span>
+<span class="linenos"> 61</span>    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">())</span>
+<span class="linenos"> 62</span>
+<span class="linenos"> 63</span>    <span class="c1"># lights</span>
+<span class="linenos"> 64</span>    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 65</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos"> 66</span>    <span class="p">)</span>
+<span class="linenos"> 67</span>
+<span class="linenos"> 68</span>    <span class="c1"># robot</span>
+<span class="linenos"> 69</span>    <span class="n">robot</span><span class="p">:</span> <span class="n">ArticulationCfg</span> <span class="o">=</span> <span class="n">ANYMAL_C_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+<span class="linenos"> 70</span>
+<span class="linenos"> 71</span>    <span class="c1"># sensors</span>
+<span class="hll"><span class="linenos"> 72</span>    <span class="n">camera</span> <span class="o">=</span> <span class="n">CameraCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 73</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base/front_cam&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 74</span>        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 75</span>        <span class="n">height</span><span class="o">=</span><span class="mi">480</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 76</span>        <span class="n">width</span><span class="o">=</span><span class="mi">640</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 77</span>        <span class="n">data_types</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">],</span>
+</span><span class="hll"><span class="linenos"> 78</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PinholeCameraCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 79</span>            <span class="n">focal_length</span><span class="o">=</span><span class="mf">24.0</span><span class="p">,</span> <span class="n">focus_distance</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span> <span class="n">horizontal_aperture</span><span class="o">=</span><span class="mf">20.955</span><span class="p">,</span> <span class="n">clipping_range</span><span class="o">=</span><span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">1.0e5</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 80</span>        <span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 81</span>        <span class="n">offset</span><span class="o">=</span><span class="n">CameraCfg</span><span class="o">.</span><span class="n">OffsetCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.510</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.015</span><span class="p">),</span> <span class="n">rot</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.5</span><span class="p">),</span> <span class="n">convention</span><span class="o">=</span><span class="s2">&quot;ros&quot;</span><span class="p">),</span>
+</span><span class="hll"><span class="linenos"> 82</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 83</span>    <span class="n">height_scanner</span> <span class="o">=</span> <span class="n">RayCasterCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 84</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base&quot;</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 85</span>        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.02</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 86</span>        <span class="n">offset</span><span class="o">=</span><span class="n">RayCasterCfg</span><span class="o">.</span><span class="n">OffsetCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">20.0</span><span class="p">)),</span>
+</span><span class="hll"><span class="linenos"> 87</span>        <span class="n">attach_yaw_only</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 88</span>        <span class="n">pattern_cfg</span><span class="o">=</span><span class="n">patterns</span><span class="o">.</span><span class="n">GridPatternCfg</span><span class="p">(</span><span class="n">resolution</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="n">size</span><span class="o">=</span><span class="p">[</span><span class="mf">1.6</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">]),</span>
+</span><span class="hll"><span class="linenos"> 89</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+</span><span class="hll"><span class="linenos"> 90</span>        <span class="n">mesh_prim_paths</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">],</span>
+</span><span class="hll"><span class="linenos"> 91</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 92</span>    <span class="n">contact_forces</span> <span class="o">=</span> <span class="n">ContactSensorCfg</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos"> 93</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/.*_FOOT&quot;</span><span class="p">,</span> <span class="n">update_period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">history_length</span><span class="o">=</span><span class="mi">6</span><span class="p">,</span> <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span>
+</span><span class="hll"><span class="linenos"> 94</span>    <span class="p">)</span>
+</span><span class="hll"><span class="linenos"> 95</span>
+</span><span class="linenos"> 96</span>
+<span class="linenos"> 97</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+<span class="linenos"> 98</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Run the simulator.&quot;&quot;&quot;</span>
+<span class="linenos"> 99</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos">100</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos">101</span>    <span class="n">sim_time</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">102</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">103</span>
+<span class="linenos">104</span>    <span class="c1"># Simulate physics</span>
+<span class="linenos">105</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos">106</span>        <span class="c1"># Reset</span>
+<span class="linenos">107</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">500</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">108</span>            <span class="c1"># reset counter</span>
+<span class="linenos">109</span>            <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">110</span>            <span class="c1"># reset the scene entities</span>
+<span class="linenos">111</span>            <span class="c1"># root state</span>
+<span class="linenos">112</span>            <span class="c1"># we offset the root state by the origin since the states are written in simulation world frame</span>
+<span class="linenos">113</span>            <span class="c1"># if this is not done, then the robots will be spawned at the (0, 0, 0) of the simulation world</span>
+<span class="linenos">114</span>            <span class="n">root_state</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_root_state</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">115</span>            <span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+=</span> <span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span>
+<span class="linenos">116</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_root_link_pose_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos">117</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_root_com_velocity_to_sim</span><span class="p">(</span><span class="n">root_state</span><span class="p">[:,</span> <span class="mi">7</span><span class="p">:])</span>
+<span class="linenos">118</span>            <span class="c1"># set joint positions with some noise</span>
+<span class="linenos">119</span>            <span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span> <span class="o">=</span> <span class="p">(</span>
+<span class="linenos">120</span>                <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span>
+<span class="linenos">121</span>                <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">(),</span>
+<span class="linenos">122</span>            <span class="p">)</span>
+<span class="linenos">123</span>            <span class="n">joint_pos</span> <span class="o">+=</span> <span class="n">torch</span><span class="o">.</span><span class="n">rand_like</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">)</span> <span class="o">*</span> <span class="mf">0.1</span>
+<span class="linenos">124</span>            <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span>
+<span class="linenos">125</span>            <span class="c1"># clear internal buffers</span>
+<span class="linenos">126</span>            <span class="n">scene</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">127</span>            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Resetting robot state...&quot;</span><span class="p">)</span>
+<span class="linenos">128</span>        <span class="c1"># Apply default actions to the robot</span>
+<span class="linenos">129</span>        <span class="c1"># -- generate actions/commands</span>
+<span class="linenos">130</span>        <span class="n">targets</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span>
+<span class="linenos">131</span>        <span class="c1"># -- apply action to the robot</span>
+<span class="linenos">132</span>        <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">set_joint_position_target</span><span class="p">(</span><span class="n">targets</span><span class="p">)</span>
+<span class="linenos">133</span>        <span class="c1"># -- write data to sim</span>
+<span class="linenos">134</span>        <span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">135</span>        <span class="c1"># perform step</span>
+<span class="linenos">136</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">137</span>        <span class="c1"># update sim-time</span>
+<span class="linenos">138</span>        <span class="n">sim_time</span> <span class="o">+=</span> <span class="n">sim_dt</span>
+<span class="linenos">139</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">140</span>        <span class="c1"># update buffers</span>
+<span class="linenos">141</span>        <span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">142</span>
+<span class="hll"><span class="linenos">143</span>        <span class="c1"># print information from the sensors</span>
+</span><span class="hll"><span class="linenos">144</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">145</span>        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;camera&quot;</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos">146</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received shape of rgb   image: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;camera&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">147</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received shape of depth image: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;camera&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">148</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">149</span>        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;height_scanner&quot;</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos">150</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received max height value: &quot;</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;height_scanner&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">ray_hits_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">])</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+</span><span class="hll"><span class="linenos">151</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">152</span>        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces&quot;</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos">153</span>        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received max contact force of: &quot;</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">)</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+</span><span class="linenos">154</span>
+<span class="linenos">155</span>
+<span class="linenos">156</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">157</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">158</span>
+<span class="linenos">159</span>    <span class="c1"># Initialize the simulation context</span>
+<span class="linenos">160</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.005</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">161</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">162</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">163</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">(</span><span class="n">eye</span><span class="o">=</span><span class="p">[</span><span class="mf">3.5</span><span class="p">,</span> <span class="mf">3.5</span><span class="p">,</span> <span class="mf">3.5</span><span class="p">],</span> <span class="n">target</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+<span class="linenos">164</span>    <span class="c1"># design scene</span>
+<span class="linenos">165</span>    <span class="n">scene_cfg</span> <span class="o">=</span> <span class="n">SensorsSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.0</span><span class="p">)</span>
+<span class="linenos">166</span>    <span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">scene_cfg</span><span class="p">)</span>
+<span class="hll"><span class="linenos">167</span>    <span class="c1"># Play the simulator</span>
+</span><span class="hll"><span class="linenos">168</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+</span><span class="linenos">169</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">170</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">171</span>    <span class="c1"># Run the simulator</span>
+<span class="linenos">172</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">)</span>
+<span class="linenos">173</span>
+<span class="linenos">174</span>
+<span class="linenos">175</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">176</span>    <span class="c1"># run the main function</span>
+<span class="linenos">177</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">178</span>    <span class="c1"># close sim app</span>
+<span class="linenos">179</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>Similar to the previous tutorials, where we added assets to the scene, the sensors are also added
+to the scene using the scene configuration. All sensors inherit from the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.SensorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">sensors.SensorBase</span></code></a> class
+and are configured through their respective config classes. Each sensor instance can define its own
+update period, which is the frequency at which the sensor is updated. The update period is specified
+in seconds through the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBaseCfg.update_period" title="omni.isaac.lab.sensors.SensorBaseCfg.update_period"><code class="xref py py-attr docutils literal notranslate"><span class="pre">sensors.SensorBaseCfg.update_period</span></code></a> attribute.</p>
+<p>Depending on the specified path and the sensor type, the sensors are attached to the prims in the scene.
+They may have an associated prim that is created in the scene or they may be attached to an existing prim.
+For instance, the camera sensor has a corresponding prim that is created in the scene, whereas for the
+contact sensor, the activating the contact reporting is a property on a rigid body prim.</p>
+<p>In the following, we introduce the different sensors we use in this tutorial and how they are configured.
+For more description about them, please check the <code class="xref py py-mod docutils literal notranslate"><span class="pre">sensors</span></code> module.</p>
+<section id="camera-sensor">
+<h3>Camera sensor<a class="headerlink" href="#camera-sensor" title="Permalink to this heading">#</a></h3>
+<p>A camera is defined using the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg" title="omni.isaac.lab.sensors.CameraCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">sensors.CameraCfg</span></code></a>. It is based on the USD Camera sensor and
+the different data types are captured using Omniverse Replicator API. Since it has a corresponding prim
+in the scene, the prims are created in the scene at the specified prim path.</p>
+<p>The configuration of the camera sensor includes the following parameters:</p>
+<ul class="simple">
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.spawn" title="omni.isaac.lab.sensors.CameraCfg.spawn"><code class="xref py py-attr docutils literal notranslate"><span class="pre">spawn</span></code></a>: The type of USD camera to create. This can be either
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">PinholeCameraCfg</span></code></a> or <a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg" title="omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">FisheyeCameraCfg</span></code></a>.</p></li>
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.offset" title="omni.isaac.lab.sensors.CameraCfg.offset"><code class="xref py py-attr docutils literal notranslate"><span class="pre">offset</span></code></a>: The offset of the camera sensor from the parent prim.</p></li>
+<li><p><a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.data_types" title="omni.isaac.lab.sensors.CameraCfg.data_types"><code class="xref py py-attr docutils literal notranslate"><span class="pre">data_types</span></code></a>: The data types to capture. This can be <code class="docutils literal notranslate"><span class="pre">rgb</span></code>,
+<code class="docutils literal notranslate"><span class="pre">distance_to_image_plane</span></code>, <code class="docutils literal notranslate"><span class="pre">normals</span></code>, or other types supported by the USD Camera sensor.</p></li>
+</ul>
+<p>To attach an RGB-D camera sensor to the head of the robot, we specify an offset relative to the base
+frame of the robot. The offset is specified as a translation and rotation relative to the base frame,
+and the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention" title="omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention"><code class="xref py py-attr docutils literal notranslate"><span class="pre">convention</span></code></a> in which the offset is specified.</p>
+<p>In the following, we show the configuration of the camera sensor used in this tutorial. We set the
+update period to 0.1s, which means that the camera sensor is updated at 10Hz. The prim path expression is
+set to <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}/Robot/base/front_cam</span></code> where the <code class="docutils literal notranslate"><span class="pre">{ENV_REGEX_NS}</span></code> is the environment namespace,
+<code class="docutils literal notranslate"><span class="pre">&quot;Robot&quot;</span></code> is the name of the robot, <code class="docutils literal notranslate"><span class="pre">&quot;base&quot;</span></code> is the name of the prim to which the camera is attached,
+and <code class="docutils literal notranslate"><span class="pre">&quot;front_cam&quot;</span></code> is the name of the prim associated with the camera sensor.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="n">camera</span> <span class="o">=</span> <span class="n">CameraCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base/front_cam&quot;</span><span class="p">,</span>
+        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span>
+        <span class="n">height</span><span class="o">=</span><span class="mi">480</span><span class="p">,</span>
+        <span class="n">width</span><span class="o">=</span><span class="mi">640</span><span class="p">,</span>
+        <span class="n">data_types</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">,</span> <span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">],</span>
+        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PinholeCameraCfg</span><span class="p">(</span>
+            <span class="n">focal_length</span><span class="o">=</span><span class="mf">24.0</span><span class="p">,</span> <span class="n">focus_distance</span><span class="o">=</span><span class="mf">400.0</span><span class="p">,</span> <span class="n">horizontal_aperture</span><span class="o">=</span><span class="mf">20.955</span><span class="p">,</span> <span class="n">clipping_range</span><span class="o">=</span><span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">1.0e5</span><span class="p">)</span>
+        <span class="p">),</span>
+        <span class="n">offset</span><span class="o">=</span><span class="n">CameraCfg</span><span class="o">.</span><span class="n">OffsetCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.510</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.015</span><span class="p">),</span> <span class="n">rot</span><span class="o">=</span><span class="p">(</span><span class="mf">0.5</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.5</span><span class="p">),</span> <span class="n">convention</span><span class="o">=</span><span class="s2">&quot;ros&quot;</span><span class="p">),</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="height-scanner">
+<h3>Height scanner<a class="headerlink" href="#height-scanner" title="Permalink to this heading">#</a></h3>
+<p>The height-scanner is implemented as a virtual sensor using the NVIDIA Warp ray-casting kernels.
+Through the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg" title="omni.isaac.lab.sensors.RayCasterCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">sensors.RayCasterCfg</span></code></a>, we can specify the pattern of rays to cast and the
+meshes against which to cast the rays. Since they are virtual sensors, there is no corresponding
+prim created in the scene for them. Instead they are attached to a prim in the scene, which is
+used to specify the location of the sensor.</p>
+<p>For this tutorial, the ray-cast based height scanner is attached to the base frame of the robot.
+The pattern of rays is specified using the <code class="xref py py-attr docutils literal notranslate"><span class="pre">pattern</span></code> attribute. For
+a uniform grid pattern, we specify the pattern using <a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.patterns.html#omni.isaac.lab.sensors.patterns.GridPatternCfg" title="omni.isaac.lab.sensors.patterns.GridPatternCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">GridPatternCfg</span></code></a>.
+Since we only care about the height information, we do not need to consider the roll and pitch
+of the robot. Hence, we set the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only" title="omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only"><code class="xref py py-attr docutils literal notranslate"><span class="pre">attach_yaw_only</span></code></a> to true.</p>
+<p>For the height-scanner, you can visualize the points where the rays hit the mesh. This is done
+by setting the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBaseCfg.debug_vis" title="omni.isaac.lab.sensors.SensorBaseCfg.debug_vis"><code class="xref py py-attr docutils literal notranslate"><span class="pre">debug_vis</span></code></a> attribute to true.</p>
+<p>The entire configuration of the height-scanner is as follows:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="n">height_scanner</span> <span class="o">=</span> <span class="n">RayCasterCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/base&quot;</span><span class="p">,</span>
+        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.02</span><span class="p">,</span>
+        <span class="n">offset</span><span class="o">=</span><span class="n">RayCasterCfg</span><span class="o">.</span><span class="n">OffsetCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">20.0</span><span class="p">)),</span>
+        <span class="n">attach_yaw_only</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">pattern_cfg</span><span class="o">=</span><span class="n">patterns</span><span class="o">.</span><span class="n">GridPatternCfg</span><span class="p">(</span><span class="n">resolution</span><span class="o">=</span><span class="mf">0.1</span><span class="p">,</span> <span class="n">size</span><span class="o">=</span><span class="p">[</span><span class="mf">1.6</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">]),</span>
+        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">mesh_prim_paths</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">],</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="contact-sensor">
+<h3>Contact sensor<a class="headerlink" href="#contact-sensor" title="Permalink to this heading">#</a></h3>
+<p>Contact sensors wrap around the PhysX contact reporting API to obtain the contact information of the robot
+with the environment. Since it relies of PhysX, the contact sensor expects the contact reporting API
+to be enabled on the rigid bodies of the robot. This can be done by setting the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.sim.spawners.html#omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors" title="omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors"><code class="xref py py-attr docutils literal notranslate"><span class="pre">activate_contact_sensors</span></code></a> to true in the asset configuration.</p>
+<p>Through the <a class="reference internal" href="../../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.ContactSensorCfg" title="omni.isaac.lab.sensors.ContactSensorCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">sensors.ContactSensorCfg</span></code></a>, it is possible to specify the prims for which we want to
+obtain the contact information. Additional flags can be set to obtain more information about
+the contact, such as the contact air time, contact forces between filtered prims, etc.</p>
+<p>In this tutorial, we attach the contact sensor to the feet of the robot. The feet of the robot are
+named <code class="docutils literal notranslate"><span class="pre">&quot;LF_FOOT&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;RF_FOOT&quot;</span></code>, <code class="docutils literal notranslate"><span class="pre">&quot;LH_FOOT&quot;</span></code>, and <code class="docutils literal notranslate"><span class="pre">&quot;RF_FOOT&quot;</span></code>. We pass a Regex expression
+<code class="docutils literal notranslate"><span class="pre">&quot;.*_FOOT&quot;</span></code> to simplify the prim path specification. This Regex expression matches all prims that
+end with <code class="docutils literal notranslate"><span class="pre">&quot;_FOOT&quot;</span></code>.</p>
+<p>We set the update period to 0 to update the sensor at the same frequency as the simulation. Additionally,
+for contact sensors, we can specify the history length of the contact information to store. For this
+tutorial, we set the history length to 6, which means that the contact information for the last 6
+simulation steps is stored.</p>
+<p>The entire configuration of the contact sensor is as follows:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="n">contact_forces</span> <span class="o">=</span> <span class="n">ContactSensorCfg</span><span class="p">(</span>
+        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot/.*_FOOT&quot;</span><span class="p">,</span> <span class="n">update_period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">history_length</span><span class="o">=</span><span class="mi">6</span><span class="p">,</span> <span class="n">debug_vis</span><span class="o">=</span><span class="kc">True</span>
+    <span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="running-the-simulation-loop">
+<h3>Running the simulation loop<a class="headerlink" href="#running-the-simulation-loop" title="Permalink to this heading">#</a></h3>
+<p>Similar to when using assets, the buffers and physics handles for the sensors are initialized only
+when the simulation is played, i.e., it is important to call <code class="docutils literal notranslate"><span class="pre">sim.reset()</span></code> after creating the scene.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Play the simulator</span>
+    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+</pre></div>
+</div>
+<p>Besides that, the simulation loop is similar to the previous tutorials. The sensors are updated as part
+of the scene update and they internally handle the updating of their buffers based on their update
+periods.</p>
+<p>The data from the sensors can be accessed through their <code class="docutils literal notranslate"><span class="pre">data</span></code> attribute. As an example, we show how
+to access the data for the different sensors created in this tutorial:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="c1"># print information from the sensors</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;camera&quot;</span><span class="p">])</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received shape of rgb   image: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;camera&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;rgb&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received shape of depth image: &quot;</span><span class="p">,</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;camera&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">shape</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;height_scanner&quot;</span><span class="p">])</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received max height value: &quot;</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;height_scanner&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">ray_hits_w</span><span class="p">[</span><span class="o">...</span><span class="p">,</span> <span class="o">-</span><span class="mi">1</span><span class="p">])</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;-------------------------------&quot;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces&quot;</span><span class="p">])</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Received max contact force of: &quot;</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w</span><span class="p">)</span><span class="o">.</span><span class="n">item</span><span class="p">())</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>Now that we have gone through the code, let’s run the script and see the result:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/04_sensors/add_sensors_on_robot.py<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">2</span><span class="w"> </span>--enable_cameras
+</pre></div>
+</div>
+<p>This command should open a stage with a ground plane, lights, and two quadrupedal robots.
+Around the robots, you should see red spheres that indicate the points where the rays hit the mesh.
+Additionally, you can switch the viewport to the camera view to see the RGB image captured by the
+camera sensor. Please check <a class="reference external" href="https://youtu.be/htPbcKkNMPs?feature=shared">here</a> for more information
+on how to switch the viewport to the camera view.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of add_sensors_on_robot.py" src="../../../_images/tutorial_add_sensors.jpg" />
+</figure>
+<p>To stop the simulation, you can either close the window, or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal.</p>
+<p>While in this tutorial, we went over creating and using different sensors, there are many more sensors
+available in the <code class="xref py py-mod docutils literal notranslate"><span class="pre">sensors</span></code> module. We include minimal examples of using these sensors in the
+<code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/04_sensors</span></code> directory. For completeness, these scripts can be run using the
+following commands:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Frame Transformer</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/04_sensors/run_frame_transformer.py
+
+<span class="c1"># Ray Caster</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/04_sensors/run_ray_caster.py
+
+<span class="c1"># Ray Caster Camera</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/04_sensors/run_ray_caster_camera.py
+
+<span class="c1"># USD Camera</span>
+./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/04_sensors/run_usd_camera.py
+</pre></div>
+</div>
+</section>
+</section>
+
+
+                </article>
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+    <i class="fa-solid fa-list"></i> Contents
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+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#camera-sensor">Camera sensor</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#height-scanner">Height scanner</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#contact-sensor">Contact sensor</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#running-the-simulation-loop">Running the simulation loop</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
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+</ul>
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+    <h1>Using a task-space controller</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-explained">The Code Explained</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#creating-an-ik-controller">Creating an IK controller</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#obtaining-the-robot-s-joint-and-body-indices">Obtaining the robot’s joint and body indices</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#computing-robot-command">Computing robot command</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="using-a-task-space-controller">
+<h1>Using a task-space controller<a class="headerlink" href="#using-a-task-space-controller" title="Permalink to this heading">#</a></h1>
+<p>In the previous tutorials, we have joint-space controllers to control the robot. However, in many
+cases, it is more intuitive to control the robot using a task-space controller. For example, if we
+want to teleoperate the robot, it is easier to specify the desired end-effector pose rather than
+the desired joint positions.</p>
+<p>In this tutorial, we will learn how to use a task-space controller to control the robot.
+We will use the <a class="reference internal" href="../../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController" title="omni.isaac.lab.controllers.DifferentialIKController"><code class="xref py py-class docutils literal notranslate"><span class="pre">controllers.DifferentialIKController</span></code></a> class to track a desired
+end-effector pose command.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">run_diff_ik.py</span></code> script in the
+<code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/05_controllers</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for run_diff_ik.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">  7</span><span class="sd">This script demonstrates how to use the differential inverse kinematics controller with the simulator.</span>
+<span class="linenos">  8</span>
+<span class="linenos">  9</span><span class="sd">The differential IK controller can be configured in different modes. It uses the Jacobians computed by</span>
+<span class="linenos"> 10</span><span class="sd">PhysX. This helps perform parallelized computation of the inverse kinematics.</span>
+<span class="linenos"> 11</span>
+<span class="linenos"> 12</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos"> 13</span>
+<span class="linenos"> 14</span><span class="sd">    # Usage</span>
+<span class="linenos"> 15</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/05_controllers/ik_control.py</span>
+<span class="linenos"> 16</span>
+<span class="linenos"> 17</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 18</span>
+<span class="linenos"> 19</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 20</span>
+<span class="linenos"> 21</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 22</span>
+<span class="linenos"> 23</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 24</span>
+<span class="linenos"> 25</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 26</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on using the differential IK controller.&quot;</span><span class="p">)</span>
+<span class="linenos"> 27</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--robot&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">str</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s2">&quot;franka_panda&quot;</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Name of the robot.&quot;</span><span class="p">)</span>
+<span class="linenos"> 28</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">128</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to spawn.&quot;</span><span class="p">)</span>
+<span class="linenos"> 29</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 30</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 31</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 32</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 33</span>
+<span class="linenos"> 34</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 35</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 36</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 37</span>
+<span class="linenos"> 38</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 39</span>
+<span class="linenos"> 40</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 41</span>
+<span class="linenos"> 42</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 43</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">AssetBaseCfg</span>
+<span class="linenos"> 44</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.controllers</span> <span class="kn">import</span> <span class="n">DifferentialIKController</span><span class="p">,</span> <span class="n">DifferentialIKControllerCfg</span>
+<span class="linenos"> 45</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.managers</span> <span class="kn">import</span> <span class="n">SceneEntityCfg</span>
+<span class="linenos"> 46</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkers</span>
+<span class="linenos"> 47</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.markers.config</span> <span class="kn">import</span> <span class="n">FRAME_MARKER_CFG</span>
+<span class="linenos"> 48</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span><span class="p">,</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos"> 49</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos"> 50</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.assets</span> <span class="kn">import</span> <span class="n">ISAAC_NUCLEUS_DIR</span>
+<span class="linenos"> 51</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="n">subtract_frame_transforms</span>
+<span class="linenos"> 52</span>
+<span class="linenos"> 53</span><span class="c1">##</span>
+<span class="linenos"> 54</span><span class="c1"># Pre-defined configs</span>
+<span class="linenos"> 55</span><span class="c1">##</span>
+<span class="linenos"> 56</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets</span> <span class="kn">import</span> <span class="n">FRANKA_PANDA_HIGH_PD_CFG</span><span class="p">,</span> <span class="n">UR10_CFG</span>  <span class="c1"># isort:skip</span>
+<span class="linenos"> 57</span>
+<span class="linenos"> 58</span>
+<span class="linenos"> 59</span><span class="nd">@configclass</span>
+<span class="linenos"> 60</span><span class="k">class</span> <span class="nc">TableTopSceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="linenos"> 61</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a cart-pole scene.&quot;&quot;&quot;</span>
+<span class="linenos"> 62</span>
+<span class="linenos"> 63</span>    <span class="c1"># ground plane</span>
+<span class="linenos"> 64</span>    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 65</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span>
+<span class="linenos"> 66</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">(),</span>
+<span class="linenos"> 67</span>        <span class="n">init_state</span><span class="o">=</span><span class="n">AssetBaseCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span><span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.05</span><span class="p">)),</span>
+<span class="linenos"> 68</span>    <span class="p">)</span>
+<span class="linenos"> 69</span>
+<span class="linenos"> 70</span>    <span class="c1"># lights</span>
+<span class="linenos"> 71</span>    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 72</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos"> 73</span>    <span class="p">)</span>
+<span class="linenos"> 74</span>
+<span class="linenos"> 75</span>    <span class="c1"># mount</span>
+<span class="linenos"> 76</span>    <span class="n">table</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 77</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Table&quot;</span><span class="p">,</span>
+<span class="linenos"> 78</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">UsdFileCfg</span><span class="p">(</span>
+<span class="linenos"> 79</span>            <span class="n">usd_path</span><span class="o">=</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">ISAAC_NUCLEUS_DIR</span><span class="si">}</span><span class="s2">/Props/Mounts/Stand/stand_instanceable.usd&quot;</span><span class="p">,</span> <span class="n">scale</span><span class="o">=</span><span class="p">(</span><span class="mf">2.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">,</span> <span class="mf">2.0</span><span class="p">)</span>
+<span class="linenos"> 80</span>        <span class="p">),</span>
+<span class="linenos"> 81</span>    <span class="p">)</span>
+<span class="linenos"> 82</span>
+<span class="linenos"> 83</span>    <span class="c1"># articulation</span>
+<span class="linenos"> 84</span>    <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">robot</span> <span class="o">==</span> <span class="s2">&quot;franka_panda&quot;</span><span class="p">:</span>
+<span class="linenos"> 85</span>        <span class="n">robot</span> <span class="o">=</span> <span class="n">FRANKA_PANDA_HIGH_PD_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+<span class="linenos"> 86</span>    <span class="k">elif</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">robot</span> <span class="o">==</span> <span class="s2">&quot;ur10&quot;</span><span class="p">:</span>
+<span class="linenos"> 87</span>        <span class="n">robot</span> <span class="o">=</span> <span class="n">UR10_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+<span class="linenos"> 88</span>    <span class="k">else</span><span class="p">:</span>
+<span class="linenos"> 89</span>        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Robot </span><span class="si">{</span><span class="n">args_cli</span><span class="o">.</span><span class="n">robot</span><span class="si">}</span><span class="s2"> is not supported. Valid: franka_panda, ur10&quot;</span><span class="p">)</span>
+<span class="linenos"> 90</span>
+<span class="linenos"> 91</span>
+<span class="linenos"> 92</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+<span class="linenos"> 93</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Runs the simulation loop.&quot;&quot;&quot;</span>
+<span class="linenos"> 94</span>    <span class="c1"># Extract scene entities</span>
+<span class="linenos"> 95</span>    <span class="c1"># note: we only do this here for readability.</span>
+<span class="linenos"> 96</span>    <span class="n">robot</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span>
+<span class="linenos"> 97</span>
+<span class="hll"><span class="linenos"> 98</span>    <span class="c1"># Create controller</span>
+</span><span class="hll"><span class="linenos"> 99</span>    <span class="n">diff_ik_cfg</span> <span class="o">=</span> <span class="n">DifferentialIKControllerCfg</span><span class="p">(</span><span class="n">command_type</span><span class="o">=</span><span class="s2">&quot;pose&quot;</span><span class="p">,</span> <span class="n">use_relative_mode</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">ik_method</span><span class="o">=</span><span class="s2">&quot;dls&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">100</span>    <span class="n">diff_ik_controller</span> <span class="o">=</span> <span class="n">DifferentialIKController</span><span class="p">(</span><span class="n">diff_ik_cfg</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+</span><span class="linenos">101</span>
+<span class="linenos">102</span>    <span class="c1"># Markers</span>
+<span class="linenos">103</span>    <span class="n">frame_marker_cfg</span> <span class="o">=</span> <span class="n">FRAME_MARKER_CFG</span><span class="o">.</span><span class="n">copy</span><span class="p">()</span>
+<span class="linenos">104</span>    <span class="n">frame_marker_cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">[</span><span class="s2">&quot;frame&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">scale</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">)</span>
+<span class="linenos">105</span>    <span class="n">ee_marker</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="n">frame_marker_cfg</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/ee_current&quot;</span><span class="p">))</span>
+<span class="linenos">106</span>    <span class="n">goal_marker</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="n">frame_marker_cfg</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/ee_goal&quot;</span><span class="p">))</span>
+<span class="linenos">107</span>
+<span class="linenos">108</span>    <span class="c1"># Define goals for the arm</span>
+<span class="linenos">109</span>    <span class="n">ee_goals</span> <span class="o">=</span> <span class="p">[</span>
+<span class="linenos">110</span>        <span class="p">[</span><span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.7</span><span class="p">,</span> <span class="mf">0.707</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mf">0.707</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span>
+<span class="linenos">111</span>        <span class="p">[</span><span class="mf">0.5</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.4</span><span class="p">,</span> <span class="mf">0.6</span><span class="p">,</span> <span class="mf">0.707</span><span class="p">,</span> <span class="mf">0.707</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span>
+<span class="linenos">112</span>        <span class="p">[</span><span class="mf">0.5</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span>
+<span class="linenos">113</span>    <span class="p">]</span>
+<span class="linenos">114</span>    <span class="n">ee_goals</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span><span class="n">ee_goals</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">115</span>    <span class="c1"># Track the given command</span>
+<span class="linenos">116</span>    <span class="n">current_goal_idx</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">117</span>    <span class="c1"># Create buffers to store actions</span>
+<span class="linenos">118</span>    <span class="n">ik_commands</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">diff_ik_controller</span><span class="o">.</span><span class="n">action_dim</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">robot</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">119</span>    <span class="n">ik_commands</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">ee_goals</span><span class="p">[</span><span class="n">current_goal_idx</span><span class="p">]</span>
+<span class="linenos">120</span>
+<span class="hll"><span class="linenos">121</span>    <span class="c1"># Specify robot-specific parameters</span>
+</span><span class="hll"><span class="linenos">122</span>    <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">robot</span> <span class="o">==</span> <span class="s2">&quot;franka_panda&quot;</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos">123</span>        <span class="n">robot_entity_cfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;panda_joint.*&quot;</span><span class="p">],</span> <span class="n">body_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;panda_hand&quot;</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos">124</span>    <span class="k">elif</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">robot</span> <span class="o">==</span> <span class="s2">&quot;ur10&quot;</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos">125</span>        <span class="n">robot_entity_cfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;.*&quot;</span><span class="p">],</span> <span class="n">body_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;ee_link&quot;</span><span class="p">])</span>
+</span><span class="hll"><span class="linenos">126</span>    <span class="k">else</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos">127</span>        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Robot </span><span class="si">{</span><span class="n">args_cli</span><span class="o">.</span><span class="n">robot</span><span class="si">}</span><span class="s2"> is not supported. Valid: franka_panda, ur10&quot;</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">128</span>    <span class="c1"># Resolving the scene entities</span>
+</span><span class="hll"><span class="linenos">129</span>    <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">resolve</span><span class="p">(</span><span class="n">scene</span><span class="p">)</span>
+</span><span class="hll"><span class="linenos">130</span>    <span class="c1"># Obtain the frame index of the end-effector</span>
+</span><span class="hll"><span class="linenos">131</span>    <span class="c1"># For a fixed base robot, the frame index is one less than the body index. This is because</span>
+</span><span class="hll"><span class="linenos">132</span>    <span class="c1"># the root body is not included in the returned Jacobians.</span>
+</span><span class="hll"><span class="linenos">133</span>    <span class="k">if</span> <span class="n">robot</span><span class="o">.</span><span class="n">is_fixed_base</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos">134</span>        <span class="n">ee_jacobi_idx</span> <span class="o">=</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">1</span>
+</span><span class="hll"><span class="linenos">135</span>    <span class="k">else</span><span class="p">:</span>
+</span><span class="hll"><span class="linenos">136</span>        <span class="n">ee_jacobi_idx</span> <span class="o">=</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+</span><span class="linenos">137</span>
+<span class="linenos">138</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos">139</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos">140</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">141</span>    <span class="c1"># Simulation loop</span>
+<span class="linenos">142</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos">143</span>        <span class="c1"># reset</span>
+<span class="linenos">144</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">150</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">145</span>            <span class="c1"># reset time</span>
+<span class="linenos">146</span>            <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">147</span>            <span class="c1"># reset joint state</span>
+<span class="linenos">148</span>            <span class="n">joint_pos</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">149</span>            <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">150</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">joint_pos</span><span class="p">,</span> <span class="n">joint_vel</span><span class="p">)</span>
+<span class="linenos">151</span>            <span class="n">robot</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">152</span>            <span class="c1"># reset actions</span>
+<span class="linenos">153</span>            <span class="n">ik_commands</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">ee_goals</span><span class="p">[</span><span class="n">current_goal_idx</span><span class="p">]</span>
+<span class="linenos">154</span>            <span class="n">joint_pos_des</span> <span class="o">=</span> <span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="hll"><span class="linenos">155</span>            <span class="c1"># reset controller</span>
+</span><span class="hll"><span class="linenos">156</span>            <span class="n">diff_ik_controller</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+</span><span class="hll"><span class="linenos">157</span>            <span class="n">diff_ik_controller</span><span class="o">.</span><span class="n">set_command</span><span class="p">(</span><span class="n">ik_commands</span><span class="p">)</span>
+</span><span class="linenos">158</span>            <span class="c1"># change goal</span>
+<span class="linenos">159</span>            <span class="n">current_goal_idx</span> <span class="o">=</span> <span class="p">(</span><span class="n">current_goal_idx</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">%</span> <span class="nb">len</span><span class="p">(</span><span class="n">ee_goals</span><span class="p">)</span>
+<span class="linenos">160</span>        <span class="k">else</span><span class="p">:</span>
+<span class="hll"><span class="linenos">161</span>            <span class="c1"># obtain quantities from simulation</span>
+</span><span class="hll"><span class="linenos">162</span>            <span class="n">jacobian</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_jacobians</span><span class="p">()[:,</span> <span class="n">ee_jacobi_idx</span><span class="p">,</span> <span class="p">:,</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+</span><span class="hll"><span class="linenos">163</span>            <span class="n">ee_pose_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[:,</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">0</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+</span><span class="hll"><span class="linenos">164</span>            <span class="n">root_pose_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+</span><span class="hll"><span class="linenos">165</span>            <span class="n">joint_pos</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+</span><span class="hll"><span class="linenos">166</span>            <span class="c1"># compute frame in root frame</span>
+</span><span class="hll"><span class="linenos">167</span>            <span class="n">ee_pos_b</span><span class="p">,</span> <span class="n">ee_quat_b</span> <span class="o">=</span> <span class="n">subtract_frame_transforms</span><span class="p">(</span>
+</span><span class="hll"><span class="linenos">168</span>                <span class="n">root_pose_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">root_pose_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">ee_pose_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">ee_pose_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+</span><span class="hll"><span class="linenos">169</span>            <span class="p">)</span>
+</span><span class="hll"><span class="linenos">170</span>            <span class="c1"># compute the joint commands</span>
+</span><span class="hll"><span class="linenos">171</span>            <span class="n">joint_pos_des</span> <span class="o">=</span> <span class="n">diff_ik_controller</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">ee_pos_b</span><span class="p">,</span> <span class="n">ee_quat_b</span><span class="p">,</span> <span class="n">jacobian</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">)</span>
+</span><span class="linenos">172</span>
+<span class="linenos">173</span>        <span class="c1"># apply actions</span>
+<span class="linenos">174</span>        <span class="n">robot</span><span class="o">.</span><span class="n">set_joint_position_target</span><span class="p">(</span><span class="n">joint_pos_des</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">)</span>
+<span class="linenos">175</span>        <span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">176</span>        <span class="c1"># perform step</span>
+<span class="linenos">177</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">()</span>
+<span class="linenos">178</span>        <span class="c1"># update sim-time</span>
+<span class="linenos">179</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">180</span>        <span class="c1"># update buffers</span>
+<span class="linenos">181</span>        <span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">182</span>
+<span class="linenos">183</span>        <span class="c1"># obtain quantities from simulation</span>
+<span class="linenos">184</span>        <span class="n">ee_pose_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[:,</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">0</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+<span class="linenos">185</span>        <span class="c1"># update marker positions</span>
+<span class="linenos">186</span>        <span class="n">ee_marker</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">ee_pose_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">ee_pose_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos">187</span>        <span class="n">goal_marker</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">ik_commands</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">]</span> <span class="o">+</span> <span class="n">scene</span><span class="o">.</span><span class="n">env_origins</span><span class="p">,</span> <span class="n">ik_commands</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos">188</span>
+<span class="linenos">189</span>
+<span class="linenos">190</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">191</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">192</span>    <span class="c1"># Load kit helper</span>
+<span class="linenos">193</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.01</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">194</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">195</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">196</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+<span class="linenos">197</span>    <span class="c1"># Design scene</span>
+<span class="linenos">198</span>    <span class="n">scene_cfg</span> <span class="o">=</span> <span class="n">TableTopSceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.0</span><span class="p">)</span>
+<span class="linenos">199</span>    <span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">scene_cfg</span><span class="p">)</span>
+<span class="linenos">200</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">201</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">202</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">203</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">204</span>    <span class="c1"># Run the simulator</span>
+<span class="linenos">205</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">)</span>
+<span class="linenos">206</span>
+<span class="linenos">207</span>
+<span class="linenos">208</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">209</span>    <span class="c1"># run the main function</span>
+<span class="linenos">210</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">211</span>    <span class="c1"># close sim app</span>
+<span class="linenos">212</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details></section>
+<section id="the-code-explained">
+<h2>The Code Explained<a class="headerlink" href="#the-code-explained" title="Permalink to this heading">#</a></h2>
+<p>While using any task-space controller, it is important to ensure that the provided
+quantities are in the correct frames. When parallelizing environment instances, they are
+all existing in the same unique simulation world frame. However, typically, we want each
+environment itself to have its own local frame. This is accessible through the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene.env_origins" title="omni.isaac.lab.scene.InteractiveScene.env_origins"><code class="xref py py-attr docutils literal notranslate"><span class="pre">scene.InteractiveScene.env_origins</span></code></a> attribute.</p>
+<p>In our APIs, we use the following notation for frames:</p>
+<ul class="simple">
+<li><p>The simulation world frame (denoted as <code class="docutils literal notranslate"><span class="pre">w</span></code>), which is the frame of the entire simulation.</p></li>
+<li><p>The local environment frame (denoted as <code class="docutils literal notranslate"><span class="pre">e</span></code>), which is the frame of the local environment.</p></li>
+<li><p>The robot’s base frame (denoted as <code class="docutils literal notranslate"><span class="pre">b</span></code>), which is the frame of the robot’s base link.</p></li>
+</ul>
+<p>Since the asset instances are not “aware” of the local environment frame, they return
+their states in the simulation world frame. Thus, we need to convert the obtained
+quantities to the local environment frame. This is done by subtracting the local environment
+origin from the obtained quantities.</p>
+<section id="creating-an-ik-controller">
+<h3>Creating an IK controller<a class="headerlink" href="#creating-an-ik-controller" title="Permalink to this heading">#</a></h3>
+<p>The <a class="reference internal" href="../../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController" title="omni.isaac.lab.controllers.DifferentialIKController"><code class="xref py py-class docutils literal notranslate"><span class="pre">DifferentialIKController</span></code></a> class computes the desired joint
+positions for a robot to reach a desired end-effector pose. The included implementation
+performs the computation in a batched format and uses PyTorch operations. It supports
+different types of inverse kinematics solvers, including the damped least-squares method
+and the pseudo-inverse method. These solvers can be specified using the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method" title="omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method"><code class="xref py py-attr docutils literal notranslate"><span class="pre">ik_method</span></code></a> argument.
+Additionally, the controller can handle commands as both relative and absolute poses.</p>
+<p>In this tutorial, we will use the damped least-squares method to compute the desired
+joint positions. Additionally, since we want to track desired end-effector poses, we
+will use the absolute pose command mode.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Create controller</span>
+    <span class="n">diff_ik_cfg</span> <span class="o">=</span> <span class="n">DifferentialIKControllerCfg</span><span class="p">(</span><span class="n">command_type</span><span class="o">=</span><span class="s2">&quot;pose&quot;</span><span class="p">,</span> <span class="n">use_relative_mode</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">ik_method</span><span class="o">=</span><span class="s2">&quot;dls&quot;</span><span class="p">)</span>
+    <span class="n">diff_ik_controller</span> <span class="o">=</span> <span class="n">DifferentialIKController</span><span class="p">(</span><span class="n">diff_ik_cfg</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="obtaining-the-robot-s-joint-and-body-indices">
+<h3>Obtaining the robot’s joint and body indices<a class="headerlink" href="#obtaining-the-robot-s-joint-and-body-indices" title="Permalink to this heading">#</a></h3>
+<p>The IK controller implementation is a computation-only class. Thus, it expects the
+user to provide the necessary information about the robot. This includes the robot’s
+joint positions, current end-effector pose, and the Jacobian matrix.</p>
+<p>While the attribute <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.joint_pos" title="omni.isaac.lab.assets.ArticulationData.joint_pos"><code class="xref py py-attr docutils literal notranslate"><span class="pre">assets.ArticulationData.joint_pos</span></code></a> provides the joint positions,
+we only want the joint positions of the robot’s arm, and not the gripper. Similarly, while
+the attribute <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.ArticulationData.body_link_state_w" title="omni.isaac.lab.assets.ArticulationData.body_link_state_w"><code class="xref py py-attr docutils literal notranslate"><span class="pre">assets.ArticulationData.body_link_state_w</span></code></a> provides the state of all the
+robot’s bodies, we only want the state of the robot’s end-effector. Thus, we need to
+index into these arrays to obtain the desired quantities.</p>
+<p>For this, the articulation class provides the methods <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.find_joints" title="omni.isaac.lab.assets.Articulation.find_joints"><code class="xref py py-meth docutils literal notranslate"><span class="pre">find_joints()</span></code></a>
+and <a class="reference internal" href="../../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation.find_bodies" title="omni.isaac.lab.assets.Articulation.find_bodies"><code class="xref py py-meth docutils literal notranslate"><span class="pre">find_bodies()</span></code></a>. These methods take in the names of the joints
+and bodies and return their corresponding indices.</p>
+<p>While you may directly use these methods to obtain the indices, we recommend using the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.managers.html#omni.isaac.lab.managers.SceneEntityCfg" title="omni.isaac.lab.managers.SceneEntityCfg"><code class="xref py py-attr docutils literal notranslate"><span class="pre">SceneEntityCfg</span></code></a> class to resolve the indices. This class is used in various
+places in the APIs to extract certain information from a scene entity. Internally, it
+calls the above methods to obtain the indices. However, it also performs some additional
+checks to ensure that the provided names are valid. Thus, it is a safer option to use
+this class.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Specify robot-specific parameters</span>
+    <span class="k">if</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">robot</span> <span class="o">==</span> <span class="s2">&quot;franka_panda&quot;</span><span class="p">:</span>
+        <span class="n">robot_entity_cfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;panda_joint.*&quot;</span><span class="p">],</span> <span class="n">body_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;panda_hand&quot;</span><span class="p">])</span>
+    <span class="k">elif</span> <span class="n">args_cli</span><span class="o">.</span><span class="n">robot</span> <span class="o">==</span> <span class="s2">&quot;ur10&quot;</span><span class="p">:</span>
+        <span class="n">robot_entity_cfg</span> <span class="o">=</span> <span class="n">SceneEntityCfg</span><span class="p">(</span><span class="s2">&quot;robot&quot;</span><span class="p">,</span> <span class="n">joint_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;.*&quot;</span><span class="p">],</span> <span class="n">body_names</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;ee_link&quot;</span><span class="p">])</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Robot </span><span class="si">{</span><span class="n">args_cli</span><span class="o">.</span><span class="n">robot</span><span class="si">}</span><span class="s2"> is not supported. Valid: franka_panda, ur10&quot;</span><span class="p">)</span>
+    <span class="c1"># Resolving the scene entities</span>
+    <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">resolve</span><span class="p">(</span><span class="n">scene</span><span class="p">)</span>
+    <span class="c1"># Obtain the frame index of the end-effector</span>
+    <span class="c1"># For a fixed base robot, the frame index is one less than the body index. This is because</span>
+    <span class="c1"># the root body is not included in the returned Jacobians.</span>
+    <span class="k">if</span> <span class="n">robot</span><span class="o">.</span><span class="n">is_fixed_base</span><span class="p">:</span>
+        <span class="n">ee_jacobi_idx</span> <span class="o">=</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">-</span> <span class="mi">1</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">ee_jacobi_idx</span> <span class="o">=</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span>
+
+</pre></div>
+</div>
+</section>
+<section id="computing-robot-command">
+<h3>Computing robot command<a class="headerlink" href="#computing-robot-command" title="Permalink to this heading">#</a></h3>
+<p>The IK controller separates the operation of setting the desired command and
+computing the desired joint positions. This is done to allow for the user to
+run the IK controller at a different frequency than the robot’s control frequency.</p>
+<p>The <a class="reference internal" href="../../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.set_command" title="omni.isaac.lab.controllers.DifferentialIKController.set_command"><code class="xref py py-meth docutils literal notranslate"><span class="pre">set_command()</span></code></a> method takes in
+the desired end-effector pose as a single batched array. The pose is specified in
+the robot’s base frame.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># reset controller</span>
+            <span class="n">diff_ik_controller</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+            <span class="n">diff_ik_controller</span><span class="o">.</span><span class="n">set_command</span><span class="p">(</span><span class="n">ik_commands</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>We can then compute the desired joint positions using the
+<a class="reference internal" href="../../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.DifferentialIKController.compute" title="omni.isaac.lab.controllers.DifferentialIKController.compute"><code class="xref py py-meth docutils literal notranslate"><span class="pre">compute()</span></code></a> method.
+The method takes in the current end-effector pose (in base frame), Jacobian, and
+current joint positions. We read the Jacobian matrix from the robot’s data, which uses
+its value computed from the physics engine.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># obtain quantities from simulation</span>
+            <span class="n">jacobian</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_jacobians</span><span class="p">()[:,</span> <span class="n">ee_jacobi_idx</span><span class="p">,</span> <span class="p">:,</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+            <span class="n">ee_pose_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">body_link_state_w</span><span class="p">[:,</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">body_ids</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span> <span class="mi">0</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+            <span class="n">root_pose_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_state_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+            <span class="n">joint_pos</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">]</span>
+            <span class="c1"># compute frame in root frame</span>
+            <span class="n">ee_pos_b</span><span class="p">,</span> <span class="n">ee_quat_b</span> <span class="o">=</span> <span class="n">subtract_frame_transforms</span><span class="p">(</span>
+                <span class="n">root_pose_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">root_pose_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">ee_pose_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">ee_pose_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+            <span class="p">)</span>
+            <span class="c1"># compute the joint commands</span>
+            <span class="n">joint_pos_des</span> <span class="o">=</span> <span class="n">diff_ik_controller</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span><span class="n">ee_pos_b</span><span class="p">,</span> <span class="n">ee_quat_b</span><span class="p">,</span> <span class="n">jacobian</span><span class="p">,</span> <span class="n">joint_pos</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>The computed joint position targets can then be applied on the robot, as done in the
+previous tutorials.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="c1"># apply actions</span>
+        <span class="n">robot</span><span class="o">.</span><span class="n">set_joint_position_target</span><span class="p">(</span><span class="n">joint_pos_des</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">robot_entity_cfg</span><span class="o">.</span><span class="n">joint_ids</span><span class="p">)</span>
+        <span class="n">scene</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>Now that we have gone through the code, let’s run the script and see the result:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/05_controllers/run_diff_ik.py<span class="w"> </span>--robot<span class="w"> </span>franka_panda<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">128</span>
+</pre></div>
+</div>
+<p>The script will start a simulation with 128 robots. The robots will be controlled using the IK controller.
+The current and desired end-effector poses should be displayed using frame markers. When the robot reaches
+the desired pose, the command should cycle through to the next pose specified in the script.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of run_diff_ik.py" src="../../../_images/tutorial_task_space_controller.jpg" />
+</figure>
+<p>To stop the simulation, you can either close the window,  or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal.</p>
+</section>
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+    <h1>Using an operational space controller</h1>
+    <!-- Table of contents -->
+    <div id="print-main-content">
+        <div id="jb-print-toc">
+            
+            <div>
+                <h2> Contents </h2>
+            </div>
+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#creating-an-operational-space-controller">Creating an Operational Space Controller</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#updating-the-states-of-the-robot">Updating the states of the robot</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#computing-robot-command">Computing robot command</a></li>
+</ul>
+</li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code-execution">The Code Execution</a></li>
+</ul>
+            </nav>
+        </div>
+    </div>
+</div>
+
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article">
+                  
+  <section id="using-an-operational-space-controller">
+<h1>Using an operational space controller<a class="headerlink" href="#using-an-operational-space-controller" title="Permalink to this heading">#</a></h1>
+<p>Sometimes, controlling the end-effector pose of the robot using a differential IK controller is not sufficient.
+For example, we might want to enforce a very specific pose tracking error dynamics in the task space, actuate the robot
+with joint effort/torque commands, or apply a contact force at a specific direction while controlling the motion of
+the other directions (e.g., washing the surface of the table with a cloth). In such tasks, we can use an
+operational space controller (OSC).</p>
+<p class="rubric">References for the operational space control:</p>
+<ol class="arabic simple">
+<li><p>O Khatib. A unified approach for motion and force control of robot manipulators:
+The operational space formulation. IEEE Journal of Robotics and Automation, 3(1):43–53, 1987. URL <a class="reference external" href="http://dx.doi.org/10.1109/JRA.1987.1087068">http://dx.doi.org/10.1109/JRA.1987.1087068</a>.</p></li>
+<li><p>Robot Dynamics Lecture Notes by Marco Hutter (ETH Zurich). URL <a class="reference external" href="https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf">https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf</a></p></li>
+</ol>
+<p>In this tutorial, we will learn how to use an OSC to control the robot.
+We will use the <a class="reference internal" href="../../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController" title="omni.isaac.lab.controllers.OperationalSpaceController"><code class="xref py py-class docutils literal notranslate"><span class="pre">controllers.OperationalSpaceController</span></code></a> class to apply a constant force perpendicular to a
+tilted wall surface while tracking a desired end-effector pose in all the other directions.</p>
+<section id="the-code">
+<h2>The Code<a class="headerlink" href="#the-code" title="Permalink to this heading">#</a></h2>
+<p>The tutorial corresponds to the <code class="docutils literal notranslate"><span class="pre">run_osc.py</span></code> script in the
+<code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials/05_controllers</span></code> directory.</p>
+<details class="sd-sphinx-override sd-dropdown sd-card sd-mb-3">
+<summary class="sd-summary-title sd-card-header">
+<span class="sd-summary-icon"><svg version="1.1" width="1.0em" height="1.0em" class="sd-octicon sd-octicon-code" viewBox="0 0 16 16" aria-hidden="true"><path d="m11.28 3.22 4.25 4.25a.75.75 0 0 1 0 1.06l-4.25 4.25a.749.749 0 0 1-1.275-.326.749.749 0 0 1 .215-.734L13.94 8l-3.72-3.72a.749.749 0 0 1 .326-1.275.749.749 0 0 1 .734.215Zm-6.56 0a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042L2.06 8l3.72 3.72a.749.749 0 0 1-.326 1.275.749.749 0 0 1-.734-.215L.47 8.53a.75.75 0 0 1 0-1.06Z"></path></svg></span><span class="sd-summary-text">Code for run_osc.py</span><span class="sd-summary-state-marker sd-summary-chevron-right"><svg version="1.1" width="1.5em" height="1.5em" class="sd-octicon sd-octicon-chevron-right" viewBox="0 0 24 24" aria-hidden="true"><path d="M8.72 18.78a.75.75 0 0 1 0-1.06L14.44 12 8.72 6.28a.751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018l6.25 6.25a.75.75 0 0 1 0 1.06l-6.25 6.25a.75.75 0 0 1-1.06 0Z"></path></svg></span></summary><div class="sd-summary-content sd-card-body docutils">
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">  1</span><span class="c1"># Copyright (c) 2022-2024, The Isaac Lab Project Developers.</span>
+<span class="linenos">  2</span><span class="c1"># All rights reserved.</span>
+<span class="linenos">  3</span><span class="c1">#</span>
+<span class="linenos">  4</span><span class="c1"># SPDX-License-Identifier: BSD-3-Clause</span>
+<span class="linenos">  5</span>
+<span class="linenos">  6</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos">  7</span><span class="sd">This script demonstrates how to use the operational space controller (OSC) with the simulator.</span>
+<span class="linenos">  8</span>
+<span class="linenos">  9</span><span class="sd">The OSC controller can be configured in different modes. It uses the dynamical quantities such as Jacobians and</span>
+<span class="linenos"> 10</span><span class="sd">mass matricescomputed by PhysX.</span>
+<span class="linenos"> 11</span>
+<span class="linenos"> 12</span><span class="sd">.. code-block:: bash</span>
+<span class="linenos"> 13</span>
+<span class="linenos"> 14</span><span class="sd">    # Usage</span>
+<span class="linenos"> 15</span><span class="sd">    ./isaaclab.sh -p source/standalone/tutorials/05_controllers/run_osc.py</span>
+<span class="linenos"> 16</span>
+<span class="linenos"> 17</span><span class="sd">&quot;&quot;&quot;</span>
+<span class="linenos"> 18</span>
+<span class="linenos"> 19</span><span class="sd">&quot;&quot;&quot;Launch Isaac Sim Simulator first.&quot;&quot;&quot;</span>
+<span class="linenos"> 20</span>
+<span class="linenos"> 21</span><span class="kn">import</span> <span class="nn">argparse</span>
+<span class="linenos"> 22</span>
+<span class="linenos"> 23</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.app</span> <span class="kn">import</span> <span class="n">AppLauncher</span>
+<span class="linenos"> 24</span>
+<span class="linenos"> 25</span><span class="c1"># add argparse arguments</span>
+<span class="linenos"> 26</span><span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">(</span><span class="n">description</span><span class="o">=</span><span class="s2">&quot;Tutorial on using the operational space controller.&quot;</span><span class="p">)</span>
+<span class="linenos"> 27</span><span class="n">parser</span><span class="o">.</span><span class="n">add_argument</span><span class="p">(</span><span class="s2">&quot;--num_envs&quot;</span><span class="p">,</span> <span class="nb">type</span><span class="o">=</span><span class="nb">int</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="mi">128</span><span class="p">,</span> <span class="n">help</span><span class="o">=</span><span class="s2">&quot;Number of environments to spawn.&quot;</span><span class="p">)</span>
+<span class="linenos"> 28</span><span class="c1"># append AppLauncher cli args</span>
+<span class="linenos"> 29</span><span class="n">AppLauncher</span><span class="o">.</span><span class="n">add_app_launcher_args</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
+<span class="linenos"> 30</span><span class="c1"># parse the arguments</span>
+<span class="linenos"> 31</span><span class="n">args_cli</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
+<span class="linenos"> 32</span>
+<span class="linenos"> 33</span><span class="c1"># launch omniverse app</span>
+<span class="linenos"> 34</span><span class="n">app_launcher</span> <span class="o">=</span> <span class="n">AppLauncher</span><span class="p">(</span><span class="n">args_cli</span><span class="p">)</span>
+<span class="linenos"> 35</span><span class="n">simulation_app</span> <span class="o">=</span> <span class="n">app_launcher</span><span class="o">.</span><span class="n">app</span>
+<span class="linenos"> 36</span>
+<span class="linenos"> 37</span><span class="sd">&quot;&quot;&quot;Rest everything follows.&quot;&quot;&quot;</span>
+<span class="linenos"> 38</span>
+<span class="linenos"> 39</span><span class="kn">import</span> <span class="nn">torch</span>
+<span class="linenos"> 40</span>
+<span class="linenos"> 41</span><span class="kn">import</span> <span class="nn">omni.isaac.lab.sim</span> <span class="k">as</span> <span class="nn">sim_utils</span>
+<span class="linenos"> 42</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.assets</span> <span class="kn">import</span> <span class="n">Articulation</span><span class="p">,</span> <span class="n">AssetBaseCfg</span>
+<span class="linenos"> 43</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.controllers</span> <span class="kn">import</span> <span class="n">OperationalSpaceController</span><span class="p">,</span> <span class="n">OperationalSpaceControllerCfg</span>
+<span class="linenos"> 44</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.markers</span> <span class="kn">import</span> <span class="n">VisualizationMarkers</span>
+<span class="linenos"> 45</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.markers.config</span> <span class="kn">import</span> <span class="n">FRAME_MARKER_CFG</span>
+<span class="linenos"> 46</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.scene</span> <span class="kn">import</span> <span class="n">InteractiveScene</span><span class="p">,</span> <span class="n">InteractiveSceneCfg</span>
+<span class="linenos"> 47</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.sensors</span> <span class="kn">import</span> <span class="n">ContactSensorCfg</span>
+<span class="linenos"> 48</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils</span> <span class="kn">import</span> <span class="n">configclass</span>
+<span class="linenos"> 49</span><span class="kn">from</span> <span class="nn">omni.isaac.lab.utils.math</span> <span class="kn">import</span> <span class="p">(</span>
+<span class="linenos"> 50</span>    <span class="n">combine_frame_transforms</span><span class="p">,</span>
+<span class="linenos"> 51</span>    <span class="n">matrix_from_quat</span><span class="p">,</span>
+<span class="linenos"> 52</span>    <span class="n">quat_inv</span><span class="p">,</span>
+<span class="linenos"> 53</span>    <span class="n">quat_rotate_inverse</span><span class="p">,</span>
+<span class="linenos"> 54</span>    <span class="n">subtract_frame_transforms</span><span class="p">,</span>
+<span class="linenos"> 55</span><span class="p">)</span>
+<span class="linenos"> 56</span>
+<span class="linenos"> 57</span><span class="c1">##</span>
+<span class="linenos"> 58</span><span class="c1"># Pre-defined configs</span>
+<span class="linenos"> 59</span><span class="c1">##</span>
+<span class="linenos"> 60</span><span class="kn">from</span> <span class="nn">omni.isaac.lab_assets</span> <span class="kn">import</span> <span class="n">FRANKA_PANDA_HIGH_PD_CFG</span>  <span class="c1"># isort:skip</span>
+<span class="linenos"> 61</span>
+<span class="linenos"> 62</span>
+<span class="linenos"> 63</span><span class="nd">@configclass</span>
+<span class="linenos"> 64</span><span class="k">class</span> <span class="nc">SceneCfg</span><span class="p">(</span><span class="n">InteractiveSceneCfg</span><span class="p">):</span>
+<span class="linenos"> 65</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Configuration for a simple scene with a tilted wall.&quot;&quot;&quot;</span>
+<span class="linenos"> 66</span>
+<span class="linenos"> 67</span>    <span class="c1"># ground plane</span>
+<span class="linenos"> 68</span>    <span class="n">ground</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 69</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/defaultGroundPlane&quot;</span><span class="p">,</span>
+<span class="linenos"> 70</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">GroundPlaneCfg</span><span class="p">(),</span>
+<span class="linenos"> 71</span>    <span class="p">)</span>
+<span class="linenos"> 72</span>
+<span class="linenos"> 73</span>    <span class="c1"># lights</span>
+<span class="linenos"> 74</span>    <span class="n">dome_light</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 75</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/Light&quot;</span><span class="p">,</span> <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">DomeLightCfg</span><span class="p">(</span><span class="n">intensity</span><span class="o">=</span><span class="mf">3000.0</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="p">(</span><span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">,</span> <span class="mf">0.75</span><span class="p">))</span>
+<span class="linenos"> 76</span>    <span class="p">)</span>
+<span class="linenos"> 77</span>
+<span class="linenos"> 78</span>    <span class="c1"># Tilted wall</span>
+<span class="linenos"> 79</span>    <span class="n">tilted_wall</span> <span class="o">=</span> <span class="n">AssetBaseCfg</span><span class="p">(</span>
+<span class="linenos"> 80</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/TiltedWall&quot;</span><span class="p">,</span>
+<span class="linenos"> 81</span>        <span class="n">spawn</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CuboidCfg</span><span class="p">(</span>
+<span class="linenos"> 82</span>            <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mf">2.0</span><span class="p">,</span> <span class="mf">1.5</span><span class="p">,</span> <span class="mf">0.01</span><span class="p">),</span>
+<span class="linenos"> 83</span>            <span class="n">collision_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">CollisionPropertiesCfg</span><span class="p">(),</span>
+<span class="linenos"> 84</span>            <span class="n">visual_material</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">PreviewSurfaceCfg</span><span class="p">(</span><span class="n">diffuse_color</span><span class="o">=</span><span class="p">(</span><span class="mf">1.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">),</span> <span class="n">opacity</span><span class="o">=</span><span class="mf">0.1</span><span class="p">),</span>
+<span class="linenos"> 85</span>            <span class="n">rigid_props</span><span class="o">=</span><span class="n">sim_utils</span><span class="o">.</span><span class="n">RigidBodyPropertiesCfg</span><span class="p">(</span><span class="n">kinematic_enabled</span><span class="o">=</span><span class="kc">True</span><span class="p">),</span>
+<span class="linenos"> 86</span>            <span class="n">activate_contact_sensors</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos"> 87</span>        <span class="p">),</span>
+<span class="linenos"> 88</span>        <span class="n">init_state</span><span class="o">=</span><span class="n">AssetBaseCfg</span><span class="o">.</span><span class="n">InitialStateCfg</span><span class="p">(</span>
+<span class="linenos"> 89</span>            <span class="n">pos</span><span class="o">=</span><span class="p">(</span><span class="mf">0.6</span> <span class="o">+</span> <span class="mf">0.085</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">),</span> <span class="n">rot</span><span class="o">=</span><span class="p">(</span><span class="mf">0.9238795325</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.3826834324</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)</span>
+<span class="linenos"> 90</span>        <span class="p">),</span>
+<span class="linenos"> 91</span>    <span class="p">)</span>
+<span class="linenos"> 92</span>
+<span class="linenos"> 93</span>    <span class="n">contact_forces</span> <span class="o">=</span> <span class="n">ContactSensorCfg</span><span class="p">(</span>
+<span class="linenos"> 94</span>        <span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/World/envs/env_.*/TiltedWall&quot;</span><span class="p">,</span>
+<span class="linenos"> 95</span>        <span class="n">update_period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span>
+<span class="linenos"> 96</span>        <span class="n">history_length</span><span class="o">=</span><span class="mi">2</span><span class="p">,</span>
+<span class="linenos"> 97</span>        <span class="n">debug_vis</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos"> 98</span>    <span class="p">)</span>
+<span class="linenos"> 99</span>
+<span class="linenos">100</span>    <span class="n">robot</span> <span class="o">=</span> <span class="n">FRANKA_PANDA_HIGH_PD_CFG</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;</span><span class="si">{ENV_REGEX_NS}</span><span class="s2">/Robot&quot;</span><span class="p">)</span>
+<span class="linenos">101</span>    <span class="n">robot</span><span class="o">.</span><span class="n">actuators</span><span class="p">[</span><span class="s2">&quot;panda_shoulder&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">stiffness</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">102</span>    <span class="n">robot</span><span class="o">.</span><span class="n">actuators</span><span class="p">[</span><span class="s2">&quot;panda_shoulder&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">damping</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">103</span>    <span class="n">robot</span><span class="o">.</span><span class="n">actuators</span><span class="p">[</span><span class="s2">&quot;panda_forearm&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">stiffness</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">104</span>    <span class="n">robot</span><span class="o">.</span><span class="n">actuators</span><span class="p">[</span><span class="s2">&quot;panda_forearm&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">damping</span> <span class="o">=</span> <span class="mf">0.0</span>
+<span class="linenos">105</span>    <span class="n">robot</span><span class="o">.</span><span class="n">spawn</span><span class="o">.</span><span class="n">rigid_props</span><span class="o">.</span><span class="n">disable_gravity</span> <span class="o">=</span> <span class="kc">True</span>
+<span class="linenos">106</span>
+<span class="linenos">107</span>
+<span class="linenos">108</span><span class="k">def</span> <span class="nf">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span> <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">):</span>
+<span class="linenos">109</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Runs the simulation loop.</span>
+<span class="linenos">110</span>
+<span class="linenos">111</span><span class="sd">    Args:</span>
+<span class="linenos">112</span><span class="sd">        sim: (SimulationContext) Simulation context.</span>
+<span class="linenos">113</span><span class="sd">        scene: (InteractiveScene) Interactive scene.</span>
+<span class="linenos">114</span><span class="sd">    &quot;&quot;&quot;</span>
+<span class="linenos">115</span>
+<span class="linenos">116</span>    <span class="c1"># Extract scene entities for readability.</span>
+<span class="linenos">117</span>    <span class="n">robot</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;robot&quot;</span><span class="p">]</span>
+<span class="linenos">118</span>    <span class="n">contact_forces</span> <span class="o">=</span> <span class="n">scene</span><span class="p">[</span><span class="s2">&quot;contact_forces&quot;</span><span class="p">]</span>
+<span class="linenos">119</span>
+<span class="linenos">120</span>    <span class="c1"># Obtain indices for the end-effector and arm joints</span>
+<span class="linenos">121</span>    <span class="n">ee_frame_name</span> <span class="o">=</span> <span class="s2">&quot;panda_leftfinger&quot;</span>
+<span class="linenos">122</span>    <span class="n">arm_joint_names</span> <span class="o">=</span> <span class="p">[</span><span class="s2">&quot;panda_joint.*&quot;</span><span class="p">]</span>
+<span class="linenos">123</span>    <span class="n">ee_frame_idx</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">find_bodies</span><span class="p">(</span><span class="n">ee_frame_name</span><span class="p">)[</span><span class="mi">0</span><span class="p">][</span><span class="mi">0</span><span class="p">]</span>
+<span class="linenos">124</span>    <span class="n">arm_joint_ids</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">find_joints</span><span class="p">(</span><span class="n">arm_joint_names</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span>
+<span class="linenos">125</span>
+<span class="linenos">126</span>    <span class="c1"># Create the OSC</span>
+<span class="linenos">127</span>    <span class="n">osc_cfg</span> <span class="o">=</span> <span class="n">OperationalSpaceControllerCfg</span><span class="p">(</span>
+<span class="linenos">128</span>        <span class="n">target_types</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;pose_abs&quot;</span><span class="p">,</span> <span class="s2">&quot;wrench_abs&quot;</span><span class="p">],</span>
+<span class="linenos">129</span>        <span class="n">impedance_mode</span><span class="o">=</span><span class="s2">&quot;variable_kp&quot;</span><span class="p">,</span>
+<span class="linenos">130</span>        <span class="n">inertial_dynamics_decoupling</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="linenos">131</span>        <span class="n">partial_inertial_dynamics_decoupling</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">132</span>        <span class="n">gravity_compensation</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+<span class="linenos">133</span>        <span class="n">motion_damping_ratio_task</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+<span class="linenos">134</span>        <span class="n">contact_wrench_stiffness_task</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span>
+<span class="linenos">135</span>        <span class="n">motion_control_axes_task</span><span class="o">=</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span>
+<span class="linenos">136</span>        <span class="n">contact_wrench_control_axes_task</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span>
+<span class="linenos">137</span>        <span class="n">nullspace_control</span><span class="o">=</span><span class="s2">&quot;position&quot;</span><span class="p">,</span>
+<span class="linenos">138</span>    <span class="p">)</span>
+<span class="linenos">139</span>    <span class="n">osc</span> <span class="o">=</span> <span class="n">OperationalSpaceController</span><span class="p">(</span><span class="n">osc_cfg</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">140</span>
+<span class="linenos">141</span>    <span class="c1"># Markers</span>
+<span class="linenos">142</span>    <span class="n">frame_marker_cfg</span> <span class="o">=</span> <span class="n">FRAME_MARKER_CFG</span><span class="o">.</span><span class="n">copy</span><span class="p">()</span>
+<span class="linenos">143</span>    <span class="n">frame_marker_cfg</span><span class="o">.</span><span class="n">markers</span><span class="p">[</span><span class="s2">&quot;frame&quot;</span><span class="p">]</span><span class="o">.</span><span class="n">scale</span> <span class="o">=</span> <span class="p">(</span><span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">)</span>
+<span class="linenos">144</span>    <span class="n">ee_marker</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="n">frame_marker_cfg</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/ee_current&quot;</span><span class="p">))</span>
+<span class="linenos">145</span>    <span class="n">goal_marker</span> <span class="o">=</span> <span class="n">VisualizationMarkers</span><span class="p">(</span><span class="n">frame_marker_cfg</span><span class="o">.</span><span class="n">replace</span><span class="p">(</span><span class="n">prim_path</span><span class="o">=</span><span class="s2">&quot;/Visuals/ee_goal&quot;</span><span class="p">))</span>
+<span class="linenos">146</span>
+<span class="linenos">147</span>    <span class="c1"># Define targets for the arm</span>
+<span class="linenos">148</span>    <span class="n">ee_goal_pose_set_tilted_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span>
+<span class="linenos">149</span>        <span class="p">[</span>
+<span class="linenos">150</span>            <span class="p">[</span><span class="mf">0.6</span><span class="p">,</span> <span class="mf">0.15</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.92387953</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.38268343</span><span class="p">],</span>
+<span class="linenos">151</span>            <span class="p">[</span><span class="mf">0.6</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.3</span><span class="p">,</span> <span class="mf">0.3</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.92387953</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.38268343</span><span class="p">],</span>
+<span class="linenos">152</span>            <span class="p">[</span><span class="mf">0.8</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.92387953</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.38268343</span><span class="p">],</span>
+<span class="linenos">153</span>        <span class="p">],</span>
+<span class="linenos">154</span>        <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+<span class="linenos">155</span>    <span class="p">)</span>
+<span class="linenos">156</span>    <span class="n">ee_goal_wrench_set_tilted_task</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span>
+<span class="linenos">157</span>        <span class="p">[</span>
+<span class="linenos">158</span>            <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span>
+<span class="linenos">159</span>            <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span>
+<span class="linenos">160</span>            <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span>
+<span class="linenos">161</span>        <span class="p">],</span>
+<span class="linenos">162</span>        <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+<span class="linenos">163</span>    <span class="p">)</span>
+<span class="linenos">164</span>    <span class="n">kp_set_task</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">(</span>
+<span class="linenos">165</span>        <span class="p">[</span>
+<span class="linenos">166</span>            <span class="p">[</span><span class="mf">360.0</span><span class="p">,</span> <span class="mf">360.0</span><span class="p">,</span> <span class="mf">360.0</span><span class="p">,</span> <span class="mf">360.0</span><span class="p">,</span> <span class="mf">360.0</span><span class="p">,</span> <span class="mf">360.0</span><span class="p">],</span>
+<span class="linenos">167</span>            <span class="p">[</span><span class="mf">420.0</span><span class="p">,</span> <span class="mf">420.0</span><span class="p">,</span> <span class="mf">420.0</span><span class="p">,</span> <span class="mf">420.0</span><span class="p">,</span> <span class="mf">420.0</span><span class="p">,</span> <span class="mf">420.0</span><span class="p">],</span>
+<span class="linenos">168</span>            <span class="p">[</span><span class="mf">320.0</span><span class="p">,</span> <span class="mf">320.0</span><span class="p">,</span> <span class="mf">320.0</span><span class="p">,</span> <span class="mf">320.0</span><span class="p">,</span> <span class="mf">320.0</span><span class="p">,</span> <span class="mf">320.0</span><span class="p">],</span>
+<span class="linenos">169</span>        <span class="p">],</span>
+<span class="linenos">170</span>        <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
+<span class="linenos">171</span>    <span class="p">)</span>
+<span class="linenos">172</span>    <span class="n">ee_target_set</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">ee_goal_pose_set_tilted_b</span><span class="p">,</span> <span class="n">ee_goal_wrench_set_tilted_task</span><span class="p">,</span> <span class="n">kp_set_task</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">173</span>
+<span class="linenos">174</span>    <span class="c1"># Define simulation stepping</span>
+<span class="linenos">175</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos">176</span>
+<span class="linenos">177</span>    <span class="c1"># Update existing buffers</span>
+<span class="linenos">178</span>    <span class="c1"># Note: We need to update buffers before the first step for the controller.</span>
+<span class="linenos">179</span>    <span class="n">robot</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">180</span>
+<span class="linenos">181</span>    <span class="c1"># Get the center of the robot soft joint limits</span>
+<span class="linenos">182</span>    <span class="n">joint_centers</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">soft_joint_pos_limits</span><span class="p">[:,</span> <span class="n">arm_joint_ids</span><span class="p">,</span> <span class="p">:],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">183</span>
+<span class="linenos">184</span>    <span class="c1"># get the updated states</span>
+<span class="linenos">185</span>    <span class="p">(</span>
+<span class="linenos">186</span>        <span class="n">jacobian_b</span><span class="p">,</span>
+<span class="linenos">187</span>        <span class="n">mass_matrix</span><span class="p">,</span>
+<span class="linenos">188</span>        <span class="n">gravity</span><span class="p">,</span>
+<span class="linenos">189</span>        <span class="n">ee_pose_b</span><span class="p">,</span>
+<span class="linenos">190</span>        <span class="n">ee_vel_b</span><span class="p">,</span>
+<span class="linenos">191</span>        <span class="n">root_pose_w</span><span class="p">,</span>
+<span class="linenos">192</span>        <span class="n">ee_pose_w</span><span class="p">,</span>
+<span class="linenos">193</span>        <span class="n">ee_force_b</span><span class="p">,</span>
+<span class="linenos">194</span>        <span class="n">joint_pos</span><span class="p">,</span>
+<span class="linenos">195</span>        <span class="n">joint_vel</span><span class="p">,</span>
+<span class="linenos">196</span>    <span class="p">)</span> <span class="o">=</span> <span class="n">update_states</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">,</span> <span class="n">robot</span><span class="p">,</span> <span class="n">ee_frame_idx</span><span class="p">,</span> <span class="n">arm_joint_ids</span><span class="p">,</span> <span class="n">contact_forces</span><span class="p">)</span>
+<span class="linenos">197</span>
+<span class="linenos">198</span>    <span class="c1"># Track the given target command</span>
+<span class="linenos">199</span>    <span class="n">current_goal_idx</span> <span class="o">=</span> <span class="mi">0</span>  <span class="c1"># Current goal index for the arm</span>
+<span class="linenos">200</span>    <span class="n">command</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span>
+<span class="linenos">201</span>        <span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">osc</span><span class="o">.</span><span class="n">action_dim</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span>
+<span class="linenos">202</span>    <span class="p">)</span>  <span class="c1"># Generic target command, which can be pose, position, force, etc.</span>
+<span class="linenos">203</span>    <span class="n">ee_target_pose_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">7</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>  <span class="c1"># Target pose in the body frame</span>
+<span class="linenos">204</span>    <span class="n">ee_target_pose_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">7</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>  <span class="c1"># Target pose in the world frame (for marker)</span>
+<span class="linenos">205</span>
+<span class="linenos">206</span>    <span class="c1"># Set joint efforts to zero</span>
+<span class="linenos">207</span>    <span class="n">zero_joint_efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">robot</span><span class="o">.</span><span class="n">num_joints</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">208</span>    <span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="nb">len</span><span class="p">(</span><span class="n">arm_joint_ids</span><span class="p">),</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">209</span>
+<span class="linenos">210</span>    <span class="n">count</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">211</span>    <span class="c1"># Simulation loop</span>
+<span class="linenos">212</span>    <span class="k">while</span> <span class="n">simulation_app</span><span class="o">.</span><span class="n">is_running</span><span class="p">():</span>
+<span class="linenos">213</span>        <span class="c1"># reset every 500 steps</span>
+<span class="linenos">214</span>        <span class="k">if</span> <span class="n">count</span> <span class="o">%</span> <span class="mi">500</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
+<span class="linenos">215</span>            <span class="c1"># reset joint state to default</span>
+<span class="linenos">216</span>            <span class="n">default_joint_pos</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_pos</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">217</span>            <span class="n">default_joint_vel</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">default_joint_vel</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">218</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_joint_state_to_sim</span><span class="p">(</span><span class="n">default_joint_pos</span><span class="p">,</span> <span class="n">default_joint_vel</span><span class="p">)</span>
+<span class="linenos">219</span>            <span class="n">robot</span><span class="o">.</span><span class="n">set_joint_effort_target</span><span class="p">(</span><span class="n">zero_joint_efforts</span><span class="p">)</span>  <span class="c1"># Set zero torques in the initial step</span>
+<span class="linenos">220</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">221</span>            <span class="n">robot</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">222</span>            <span class="c1"># reset contact sensor</span>
+<span class="linenos">223</span>            <span class="n">contact_forces</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">224</span>            <span class="c1"># reset target pose</span>
+<span class="linenos">225</span>            <span class="n">robot</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">226</span>            <span class="n">_</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">ee_pose_b</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">update_states</span><span class="p">(</span>
+<span class="linenos">227</span>                <span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">,</span> <span class="n">robot</span><span class="p">,</span> <span class="n">ee_frame_idx</span><span class="p">,</span> <span class="n">arm_joint_ids</span><span class="p">,</span> <span class="n">contact_forces</span>
+<span class="linenos">228</span>            <span class="p">)</span>  <span class="c1"># at reset, the jacobians are not updated to the latest state</span>
+<span class="linenos">229</span>            <span class="n">command</span><span class="p">,</span> <span class="n">ee_target_pose_b</span><span class="p">,</span> <span class="n">ee_target_pose_w</span><span class="p">,</span> <span class="n">current_goal_idx</span> <span class="o">=</span> <span class="n">update_target</span><span class="p">(</span>
+<span class="linenos">230</span>                <span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">,</span> <span class="n">osc</span><span class="p">,</span> <span class="n">root_pose_w</span><span class="p">,</span> <span class="n">ee_target_set</span><span class="p">,</span> <span class="n">current_goal_idx</span>
+<span class="linenos">231</span>            <span class="p">)</span>
+<span class="linenos">232</span>            <span class="c1"># set the osc command</span>
+<span class="linenos">233</span>            <span class="n">osc</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">234</span>            <span class="n">command</span><span class="p">,</span> <span class="n">task_frame_pose_b</span> <span class="o">=</span> <span class="n">convert_to_task_frame</span><span class="p">(</span><span class="n">osc</span><span class="p">,</span> <span class="n">command</span><span class="o">=</span><span class="n">command</span><span class="p">,</span> <span class="n">ee_target_pose_b</span><span class="o">=</span><span class="n">ee_target_pose_b</span><span class="p">)</span>
+<span class="linenos">235</span>            <span class="n">osc</span><span class="o">.</span><span class="n">set_command</span><span class="p">(</span><span class="n">command</span><span class="o">=</span><span class="n">command</span><span class="p">,</span> <span class="n">current_ee_pose_b</span><span class="o">=</span><span class="n">ee_pose_b</span><span class="p">,</span> <span class="n">current_task_frame_pose_b</span><span class="o">=</span><span class="n">task_frame_pose_b</span><span class="p">)</span>
+<span class="linenos">236</span>        <span class="k">else</span><span class="p">:</span>
+<span class="linenos">237</span>            <span class="c1"># get the updated states</span>
+<span class="linenos">238</span>            <span class="p">(</span>
+<span class="linenos">239</span>                <span class="n">jacobian_b</span><span class="p">,</span>
+<span class="linenos">240</span>                <span class="n">mass_matrix</span><span class="p">,</span>
+<span class="linenos">241</span>                <span class="n">gravity</span><span class="p">,</span>
+<span class="linenos">242</span>                <span class="n">ee_pose_b</span><span class="p">,</span>
+<span class="linenos">243</span>                <span class="n">ee_vel_b</span><span class="p">,</span>
+<span class="linenos">244</span>                <span class="n">root_pose_w</span><span class="p">,</span>
+<span class="linenos">245</span>                <span class="n">ee_pose_w</span><span class="p">,</span>
+<span class="linenos">246</span>                <span class="n">ee_force_b</span><span class="p">,</span>
+<span class="linenos">247</span>                <span class="n">joint_pos</span><span class="p">,</span>
+<span class="linenos">248</span>                <span class="n">joint_vel</span><span class="p">,</span>
+<span class="linenos">249</span>            <span class="p">)</span> <span class="o">=</span> <span class="n">update_states</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">,</span> <span class="n">robot</span><span class="p">,</span> <span class="n">ee_frame_idx</span><span class="p">,</span> <span class="n">arm_joint_ids</span><span class="p">,</span> <span class="n">contact_forces</span><span class="p">)</span>
+<span class="linenos">250</span>            <span class="c1"># compute the joint commands</span>
+<span class="linenos">251</span>            <span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">osc</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span>
+<span class="linenos">252</span>                <span class="n">jacobian_b</span><span class="o">=</span><span class="n">jacobian_b</span><span class="p">,</span>
+<span class="linenos">253</span>                <span class="n">current_ee_pose_b</span><span class="o">=</span><span class="n">ee_pose_b</span><span class="p">,</span>
+<span class="linenos">254</span>                <span class="n">current_ee_vel_b</span><span class="o">=</span><span class="n">ee_vel_b</span><span class="p">,</span>
+<span class="linenos">255</span>                <span class="n">current_ee_force_b</span><span class="o">=</span><span class="n">ee_force_b</span><span class="p">,</span>
+<span class="linenos">256</span>                <span class="n">mass_matrix</span><span class="o">=</span><span class="n">mass_matrix</span><span class="p">,</span>
+<span class="linenos">257</span>                <span class="n">gravity</span><span class="o">=</span><span class="n">gravity</span><span class="p">,</span>
+<span class="linenos">258</span>                <span class="n">current_joint_pos</span><span class="o">=</span><span class="n">joint_pos</span><span class="p">,</span>
+<span class="linenos">259</span>                <span class="n">current_joint_vel</span><span class="o">=</span><span class="n">joint_vel</span><span class="p">,</span>
+<span class="linenos">260</span>                <span class="n">nullspace_joint_pos_target</span><span class="o">=</span><span class="n">joint_centers</span><span class="p">,</span>
+<span class="linenos">261</span>            <span class="p">)</span>
+<span class="linenos">262</span>            <span class="c1"># apply actions</span>
+<span class="linenos">263</span>            <span class="n">robot</span><span class="o">.</span><span class="n">set_joint_effort_target</span><span class="p">(</span><span class="n">joint_efforts</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">arm_joint_ids</span><span class="p">)</span>
+<span class="linenos">264</span>            <span class="n">robot</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+<span class="linenos">265</span>
+<span class="linenos">266</span>        <span class="c1"># update marker positions</span>
+<span class="linenos">267</span>        <span class="n">ee_marker</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">ee_pose_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">ee_pose_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos">268</span>        <span class="n">goal_marker</span><span class="o">.</span><span class="n">visualize</span><span class="p">(</span><span class="n">ee_target_pose_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">ee_target_pose_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">])</span>
+<span class="linenos">269</span>
+<span class="linenos">270</span>        <span class="c1"># perform step</span>
+<span class="linenos">271</span>        <span class="n">sim</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">render</span><span class="o">=</span><span class="kc">True</span><span class="p">)</span>
+<span class="linenos">272</span>        <span class="c1"># update robot buffers</span>
+<span class="linenos">273</span>        <span class="n">robot</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">274</span>        <span class="c1"># update buffers</span>
+<span class="linenos">275</span>        <span class="n">scene</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>
+<span class="linenos">276</span>        <span class="c1"># update sim-time</span>
+<span class="linenos">277</span>        <span class="n">count</span> <span class="o">+=</span> <span class="mi">1</span>
+<span class="linenos">278</span>
+<span class="linenos">279</span>
+<span class="linenos">280</span><span class="c1"># Update robot states</span>
+<span class="linenos">281</span><span class="k">def</span> <span class="nf">update_states</span><span class="p">(</span>
+<span class="linenos">282</span>    <span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span>
+<span class="linenos">283</span>    <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">,</span>
+<span class="linenos">284</span>    <span class="n">robot</span><span class="p">:</span> <span class="n">Articulation</span><span class="p">,</span>
+<span class="linenos">285</span>    <span class="n">ee_frame_idx</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+<span class="linenos">286</span>    <span class="n">arm_joint_ids</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+<span class="linenos">287</span>    <span class="n">contact_forces</span><span class="p">,</span>
+<span class="linenos">288</span><span class="p">):</span>
+<span class="linenos">289</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Update the robot states.</span>
+<span class="linenos">290</span>
+<span class="linenos">291</span><span class="sd">    Args:</span>
+<span class="linenos">292</span><span class="sd">        sim: (SimulationContext) Simulation context.</span>
+<span class="linenos">293</span><span class="sd">        scene: (InteractiveScene) Interactive scene.</span>
+<span class="linenos">294</span><span class="sd">        robot: (Articulation) Robot articulation.</span>
+<span class="linenos">295</span><span class="sd">        ee_frame_idx: (int) End-effector frame index.</span>
+<span class="linenos">296</span><span class="sd">        arm_joint_ids: (list[int]) Arm joint indices.</span>
+<span class="linenos">297</span><span class="sd">        contact_forces: (ContactSensor) Contact sensor.</span>
+<span class="linenos">298</span>
+<span class="linenos">299</span><span class="sd">    Returns:</span>
+<span class="linenos">300</span><span class="sd">        jacobian_b (torch.tensor): Jacobian in the body frame.</span>
+<span class="linenos">301</span><span class="sd">        mass_matrix (torch.tensor): Mass matrix.</span>
+<span class="linenos">302</span><span class="sd">        gravity (torch.tensor): Gravity vector.</span>
+<span class="linenos">303</span><span class="sd">        ee_pose_b (torch.tensor): End-effector pose in the body frame.</span>
+<span class="linenos">304</span><span class="sd">        ee_vel_b (torch.tensor): End-effector velocity in the body frame.</span>
+<span class="linenos">305</span><span class="sd">        root_pose_w (torch.tensor): Root pose in the world frame.</span>
+<span class="linenos">306</span><span class="sd">        ee_pose_w (torch.tensor): End-effector pose in the world frame.</span>
+<span class="linenos">307</span><span class="sd">        ee_force_b (torch.tensor): End-effector force in the body frame.</span>
+<span class="linenos">308</span><span class="sd">        joint_pos (torch.tensor): The joint positions.</span>
+<span class="linenos">309</span><span class="sd">        joint_vel (torch.tensor): The joint velocities.</span>
+<span class="linenos">310</span>
+<span class="linenos">311</span><span class="sd">    Raises:</span>
+<span class="linenos">312</span><span class="sd">        ValueError: Undefined target_type.</span>
+<span class="linenos">313</span><span class="sd">    &quot;&quot;&quot;</span>
+<span class="linenos">314</span>    <span class="c1"># obtain dynamics related quantities from simulation</span>
+<span class="linenos">315</span>    <span class="n">ee_jacobi_idx</span> <span class="o">=</span> <span class="n">ee_frame_idx</span> <span class="o">-</span> <span class="mi">1</span>
+<span class="linenos">316</span>    <span class="n">jacobian_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_jacobians</span><span class="p">()[:,</span> <span class="n">ee_jacobi_idx</span><span class="p">,</span> <span class="p">:,</span> <span class="n">arm_joint_ids</span><span class="p">]</span>
+<span class="linenos">317</span>    <span class="n">mass_matrix</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_mass_matrices</span><span class="p">()[:,</span> <span class="n">arm_joint_ids</span><span class="p">,</span> <span class="p">:][:,</span> <span class="p">:,</span> <span class="n">arm_joint_ids</span><span class="p">]</span>
+<span class="linenos">318</span>    <span class="n">gravity</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_generalized_gravity_forces</span><span class="p">()[:,</span> <span class="n">arm_joint_ids</span><span class="p">]</span>
+<span class="linenos">319</span>    <span class="c1"># Convert the Jacobian from world to root frame</span>
+<span class="linenos">320</span>    <span class="n">jacobian_b</span> <span class="o">=</span> <span class="n">jacobian_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">321</span>    <span class="n">root_rot_matrix</span> <span class="o">=</span> <span class="n">matrix_from_quat</span><span class="p">(</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">))</span>
+<span class="linenos">322</span>    <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="p">:]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">bmm</span><span class="p">(</span><span class="n">root_rot_matrix</span><span class="p">,</span> <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="p">:])</span>
+<span class="linenos">323</span>    <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:,</span> <span class="p">:]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">bmm</span><span class="p">(</span><span class="n">root_rot_matrix</span><span class="p">,</span> <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:,</span> <span class="p">:])</span>
+<span class="linenos">324</span>
+<span class="linenos">325</span>    <span class="c1"># Compute current pose of the end-effector</span>
+<span class="linenos">326</span>    <span class="n">root_pos_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_pos_w</span>
+<span class="linenos">327</span>    <span class="n">root_quat_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_quat_w</span>
+<span class="linenos">328</span>    <span class="n">ee_pos_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">body_link_pos_w</span><span class="p">[:,</span> <span class="n">ee_frame_idx</span><span class="p">]</span>
+<span class="linenos">329</span>    <span class="n">ee_quat_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">body_link_quat_w</span><span class="p">[:,</span> <span class="n">ee_frame_idx</span><span class="p">]</span>
+<span class="linenos">330</span>    <span class="n">ee_pos_b</span><span class="p">,</span> <span class="n">ee_quat_b</span> <span class="o">=</span> <span class="n">subtract_frame_transforms</span><span class="p">(</span><span class="n">root_pos_w</span><span class="p">,</span> <span class="n">root_quat_w</span><span class="p">,</span> <span class="n">ee_pos_w</span><span class="p">,</span> <span class="n">ee_quat_w</span><span class="p">)</span>
+<span class="linenos">331</span>    <span class="n">root_pose_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">root_pos_w</span><span class="p">,</span> <span class="n">root_quat_w</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">332</span>    <span class="n">ee_pose_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">ee_pos_w</span><span class="p">,</span> <span class="n">ee_quat_w</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">333</span>    <span class="n">ee_pose_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">ee_pos_b</span><span class="p">,</span> <span class="n">ee_quat_b</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">334</span>
+<span class="linenos">335</span>    <span class="c1"># Compute the current velocity of the end-effector</span>
+<span class="linenos">336</span>    <span class="n">ee_vel_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">body_com_vel_w</span><span class="p">[:,</span> <span class="n">ee_frame_idx</span><span class="p">,</span> <span class="p">:]</span>  <span class="c1"># Extract end-effector velocity in the world frame</span>
+<span class="linenos">337</span>    <span class="n">root_vel_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_vel_w</span>  <span class="c1"># Extract root velocity in the world frame</span>
+<span class="linenos">338</span>    <span class="n">relative_vel_w</span> <span class="o">=</span> <span class="n">ee_vel_w</span> <span class="o">-</span> <span class="n">root_vel_w</span>  <span class="c1"># Compute the relative velocity in the world frame</span>
+<span class="linenos">339</span>    <span class="n">ee_lin_vel_b</span> <span class="o">=</span> <span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="n">relative_vel_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">])</span>  <span class="c1"># From world to root frame</span>
+<span class="linenos">340</span>    <span class="n">ee_ang_vel_b</span> <span class="o">=</span> <span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="n">relative_vel_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">])</span>
+<span class="linenos">341</span>    <span class="n">ee_vel_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">ee_lin_vel_b</span><span class="p">,</span> <span class="n">ee_ang_vel_b</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">342</span>
+<span class="linenos">343</span>    <span class="c1"># Calculate the contact force</span>
+<span class="linenos">344</span>    <span class="n">ee_force_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">345</span>    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+<span class="linenos">346</span>    <span class="n">contact_forces</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>  <span class="c1"># update contact sensor</span>
+<span class="linenos">347</span>    <span class="c1"># Calculate the contact force by averaging over last four time steps (i.e., to smoothen) and</span>
+<span class="linenos">348</span>    <span class="c1"># taking the max of three surfaces as only one should be the contact of interest</span>
+<span class="linenos">349</span>    <span class="n">ee_force_w</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">contact_forces</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w_history</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">350</span>
+<span class="linenos">351</span>    <span class="c1"># This is a simplification, only for the sake of testing.</span>
+<span class="linenos">352</span>    <span class="n">ee_force_b</span> <span class="o">=</span> <span class="n">ee_force_w</span>
+<span class="linenos">353</span>
+<span class="linenos">354</span>    <span class="c1"># Get joint positions and velocities</span>
+<span class="linenos">355</span>    <span class="n">joint_pos</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">arm_joint_ids</span><span class="p">]</span>
+<span class="linenos">356</span>    <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="n">arm_joint_ids</span><span class="p">]</span>
+<span class="linenos">357</span>
+<span class="linenos">358</span>    <span class="k">return</span> <span class="p">(</span>
+<span class="linenos">359</span>        <span class="n">jacobian_b</span><span class="p">,</span>
+<span class="linenos">360</span>        <span class="n">mass_matrix</span><span class="p">,</span>
+<span class="linenos">361</span>        <span class="n">gravity</span><span class="p">,</span>
+<span class="linenos">362</span>        <span class="n">ee_pose_b</span><span class="p">,</span>
+<span class="linenos">363</span>        <span class="n">ee_vel_b</span><span class="p">,</span>
+<span class="linenos">364</span>        <span class="n">root_pose_w</span><span class="p">,</span>
+<span class="linenos">365</span>        <span class="n">ee_pose_w</span><span class="p">,</span>
+<span class="linenos">366</span>        <span class="n">ee_force_b</span><span class="p">,</span>
+<span class="linenos">367</span>        <span class="n">joint_pos</span><span class="p">,</span>
+<span class="linenos">368</span>        <span class="n">joint_vel</span><span class="p">,</span>
+<span class="linenos">369</span>    <span class="p">)</span>
+<span class="linenos">370</span>
+<span class="linenos">371</span>
+<span class="linenos">372</span><span class="c1"># Update the target commands</span>
+<span class="linenos">373</span><span class="k">def</span> <span class="nf">update_target</span><span class="p">(</span>
+<span class="linenos">374</span>    <span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span>
+<span class="linenos">375</span>    <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">,</span>
+<span class="linenos">376</span>    <span class="n">osc</span><span class="p">:</span> <span class="n">OperationalSpaceController</span><span class="p">,</span>
+<span class="linenos">377</span>    <span class="n">root_pose_w</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">,</span>
+<span class="linenos">378</span>    <span class="n">ee_target_set</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">,</span>
+<span class="linenos">379</span>    <span class="n">current_goal_idx</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+<span class="linenos">380</span><span class="p">):</span>
+<span class="linenos">381</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Update the targets for the operational space controller.</span>
+<span class="linenos">382</span>
+<span class="linenos">383</span><span class="sd">    Args:</span>
+<span class="linenos">384</span><span class="sd">        sim: (SimulationContext) Simulation context.</span>
+<span class="linenos">385</span><span class="sd">        scene: (InteractiveScene) Interactive scene.</span>
+<span class="linenos">386</span><span class="sd">        osc: (OperationalSpaceController) Operational space controller.</span>
+<span class="linenos">387</span><span class="sd">        root_pose_w: (torch.tensor) Root pose in the world frame.</span>
+<span class="linenos">388</span><span class="sd">        ee_target_set: (torch.tensor) End-effector target set.</span>
+<span class="linenos">389</span><span class="sd">        current_goal_idx: (int) Current goal index.</span>
+<span class="linenos">390</span>
+<span class="linenos">391</span><span class="sd">    Returns:</span>
+<span class="linenos">392</span><span class="sd">        command (torch.tensor): Updated target command.</span>
+<span class="linenos">393</span><span class="sd">        ee_target_pose_b (torch.tensor): Updated target pose in the body frame.</span>
+<span class="linenos">394</span><span class="sd">        ee_target_pose_w (torch.tensor): Updated target pose in the world frame.</span>
+<span class="linenos">395</span><span class="sd">        next_goal_idx (int): Next goal index.</span>
+<span class="linenos">396</span>
+<span class="linenos">397</span><span class="sd">    Raises:</span>
+<span class="linenos">398</span><span class="sd">        ValueError: Undefined target_type.</span>
+<span class="linenos">399</span><span class="sd">    &quot;&quot;&quot;</span>
+<span class="linenos">400</span>
+<span class="linenos">401</span>    <span class="c1"># update the ee desired command</span>
+<span class="linenos">402</span>    <span class="n">command</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">osc</span><span class="o">.</span><span class="n">action_dim</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">403</span>    <span class="n">command</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">ee_target_set</span><span class="p">[</span><span class="n">current_goal_idx</span><span class="p">]</span>
+<span class="linenos">404</span>
+<span class="linenos">405</span>    <span class="c1"># update the ee desired pose</span>
+<span class="linenos">406</span>    <span class="n">ee_target_pose_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">7</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">407</span>    <span class="k">for</span> <span class="n">target_type</span> <span class="ow">in</span> <span class="n">osc</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">target_types</span><span class="p">:</span>
+<span class="linenos">408</span>        <span class="k">if</span> <span class="n">target_type</span> <span class="o">==</span> <span class="s2">&quot;pose_abs&quot;</span><span class="p">:</span>
+<span class="linenos">409</span>            <span class="n">ee_target_pose_b</span><span class="p">[:]</span> <span class="o">=</span> <span class="n">command</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+<span class="linenos">410</span>        <span class="k">elif</span> <span class="n">target_type</span> <span class="o">==</span> <span class="s2">&quot;wrench_abs&quot;</span><span class="p">:</span>
+<span class="linenos">411</span>            <span class="k">pass</span>  <span class="c1"># ee_target_pose_b could stay at the root frame for force control, what matters is ee_target_b</span>
+<span class="linenos">412</span>        <span class="k">else</span><span class="p">:</span>
+<span class="linenos">413</span>            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Undefined target_type within update_target().&quot;</span><span class="p">)</span>
+<span class="linenos">414</span>
+<span class="linenos">415</span>    <span class="c1"># update the target desired pose in world frame (for marker)</span>
+<span class="linenos">416</span>    <span class="n">ee_target_pos_w</span><span class="p">,</span> <span class="n">ee_target_quat_w</span> <span class="o">=</span> <span class="n">combine_frame_transforms</span><span class="p">(</span>
+<span class="linenos">417</span>        <span class="n">root_pose_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">root_pose_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">],</span> <span class="n">ee_target_pose_b</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">ee_target_pose_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+<span class="linenos">418</span>    <span class="p">)</span>
+<span class="linenos">419</span>    <span class="n">ee_target_pose_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">ee_target_pos_w</span><span class="p">,</span> <span class="n">ee_target_quat_w</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+<span class="linenos">420</span>
+<span class="linenos">421</span>    <span class="n">next_goal_idx</span> <span class="o">=</span> <span class="p">(</span><span class="n">current_goal_idx</span> <span class="o">+</span> <span class="mi">1</span><span class="p">)</span> <span class="o">%</span> <span class="nb">len</span><span class="p">(</span><span class="n">ee_target_set</span><span class="p">)</span>
+<span class="linenos">422</span>
+<span class="linenos">423</span>    <span class="k">return</span> <span class="n">command</span><span class="p">,</span> <span class="n">ee_target_pose_b</span><span class="p">,</span> <span class="n">ee_target_pose_w</span><span class="p">,</span> <span class="n">next_goal_idx</span>
+<span class="linenos">424</span>
+<span class="linenos">425</span>
+<span class="linenos">426</span><span class="c1"># Convert the target commands to the task frame</span>
+<span class="linenos">427</span><span class="k">def</span> <span class="nf">convert_to_task_frame</span><span class="p">(</span><span class="n">osc</span><span class="p">:</span> <span class="n">OperationalSpaceController</span><span class="p">,</span> <span class="n">command</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">,</span> <span class="n">ee_target_pose_b</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">):</span>
+<span class="linenos">428</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Converts the target commands to the task frame.</span>
+<span class="linenos">429</span>
+<span class="linenos">430</span><span class="sd">    Args:</span>
+<span class="linenos">431</span><span class="sd">        osc: OperationalSpaceController object.</span>
+<span class="linenos">432</span><span class="sd">        command: Command to be converted.</span>
+<span class="linenos">433</span><span class="sd">        ee_target_pose_b: Target pose in the body frame.</span>
+<span class="linenos">434</span>
+<span class="linenos">435</span><span class="sd">    Returns:</span>
+<span class="linenos">436</span><span class="sd">        command (torch.tensor): Target command in the task frame.</span>
+<span class="linenos">437</span><span class="sd">        task_frame_pose_b (torch.tensor): Target pose in the task frame.</span>
+<span class="linenos">438</span>
+<span class="linenos">439</span><span class="sd">    Raises:</span>
+<span class="linenos">440</span><span class="sd">        ValueError: Undefined target_type.</span>
+<span class="linenos">441</span><span class="sd">    &quot;&quot;&quot;</span>
+<span class="linenos">442</span>    <span class="n">command</span> <span class="o">=</span> <span class="n">command</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">443</span>    <span class="n">task_frame_pose_b</span> <span class="o">=</span> <span class="n">ee_target_pose_b</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+<span class="linenos">444</span>
+<span class="linenos">445</span>    <span class="n">cmd_idx</span> <span class="o">=</span> <span class="mi">0</span>
+<span class="linenos">446</span>    <span class="k">for</span> <span class="n">target_type</span> <span class="ow">in</span> <span class="n">osc</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">target_types</span><span class="p">:</span>
+<span class="linenos">447</span>        <span class="k">if</span> <span class="n">target_type</span> <span class="o">==</span> <span class="s2">&quot;pose_abs&quot;</span><span class="p">:</span>
+<span class="linenos">448</span>            <span class="n">command</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">command</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">subtract_frame_transforms</span><span class="p">(</span>
+<span class="linenos">449</span>                <span class="n">task_frame_pose_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">task_frame_pose_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">command</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">command</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+<span class="linenos">450</span>            <span class="p">)</span>
+<span class="linenos">451</span>            <span class="n">cmd_idx</span> <span class="o">+=</span> <span class="mi">7</span>
+<span class="linenos">452</span>        <span class="k">elif</span> <span class="n">target_type</span> <span class="o">==</span> <span class="s2">&quot;wrench_abs&quot;</span><span class="p">:</span>
+<span class="linenos">453</span>            <span class="c1"># These are already defined in target frame for ee_goal_wrench_set_tilted_task (since it is</span>
+<span class="linenos">454</span>            <span class="c1"># easier), so not transforming</span>
+<span class="linenos">455</span>            <span class="n">cmd_idx</span> <span class="o">+=</span> <span class="mi">6</span>
+<span class="linenos">456</span>        <span class="k">else</span><span class="p">:</span>
+<span class="linenos">457</span>            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Undefined target_type within _convert_to_task_frame().&quot;</span><span class="p">)</span>
+<span class="linenos">458</span>
+<span class="linenos">459</span>    <span class="k">return</span> <span class="n">command</span><span class="p">,</span> <span class="n">task_frame_pose_b</span>
+<span class="linenos">460</span>
+<span class="linenos">461</span>
+<span class="linenos">462</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+<span class="linenos">463</span><span class="w">    </span><span class="sd">&quot;&quot;&quot;Main function.&quot;&quot;&quot;</span>
+<span class="linenos">464</span>    <span class="c1"># Load kit helper</span>
+<span class="linenos">465</span>    <span class="n">sim_cfg</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationCfg</span><span class="p">(</span><span class="n">dt</span><span class="o">=</span><span class="mf">0.01</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+<span class="linenos">466</span>    <span class="n">sim</span> <span class="o">=</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">(</span><span class="n">sim_cfg</span><span class="p">)</span>
+<span class="linenos">467</span>    <span class="c1"># Set main camera</span>
+<span class="linenos">468</span>    <span class="n">sim</span><span class="o">.</span><span class="n">set_camera_view</span><span class="p">([</span><span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">,</span> <span class="mf">2.5</span><span class="p">],</span> <span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>
+<span class="linenos">469</span>    <span class="c1"># Design scene</span>
+<span class="linenos">470</span>    <span class="n">scene_cfg</span> <span class="o">=</span> <span class="n">SceneCfg</span><span class="p">(</span><span class="n">num_envs</span><span class="o">=</span><span class="n">args_cli</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">env_spacing</span><span class="o">=</span><span class="mf">2.0</span><span class="p">)</span>
+<span class="linenos">471</span>    <span class="n">scene</span> <span class="o">=</span> <span class="n">InteractiveScene</span><span class="p">(</span><span class="n">scene_cfg</span><span class="p">)</span>
+<span class="linenos">472</span>    <span class="c1"># Play the simulator</span>
+<span class="linenos">473</span>    <span class="n">sim</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+<span class="linenos">474</span>    <span class="c1"># Now we are ready!</span>
+<span class="linenos">475</span>    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;[INFO]: Setup complete...&quot;</span><span class="p">)</span>
+<span class="linenos">476</span>    <span class="c1"># Run the simulator</span>
+<span class="linenos">477</span>    <span class="n">run_simulator</span><span class="p">(</span><span class="n">sim</span><span class="p">,</span> <span class="n">scene</span><span class="p">)</span>
+<span class="linenos">478</span>
+<span class="linenos">479</span>
+<span class="linenos">480</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+<span class="linenos">481</span>    <span class="c1"># run the main function</span>
+<span class="linenos">482</span>    <span class="n">main</span><span class="p">()</span>
+<span class="linenos">483</span>    <span class="c1"># close sim app</span>
+<span class="linenos">484</span>    <span class="n">simulation_app</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
+</details><section id="creating-an-operational-space-controller">
+<h3>Creating an Operational Space Controller<a class="headerlink" href="#creating-an-operational-space-controller" title="Permalink to this heading">#</a></h3>
+<p>The <a class="reference internal" href="../../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceController" title="omni.isaac.lab.controllers.OperationalSpaceController"><code class="xref py py-class docutils literal notranslate"><span class="pre">OperationalSpaceController</span></code></a> class computes the joint
+efforts/torques for a robot to do simultaneous motion and force control in task space.</p>
+<p>The reference frame of this task space could be an arbitrary coordinate frame in Euclidean space. By default,
+it is the robot’s base frame. However, in certain cases, it could be easier to define target coordinates w.r.t. a
+different frame. In such cases, the pose of this task reference frame, w.r.t. to the robot’s base frame, should be
+provided in the <code class="docutils literal notranslate"><span class="pre">set_command</span></code> method’s <code class="docutils literal notranslate"><span class="pre">current_task_frame_pose_b</span></code> argument. For example, in this tutorial, it
+makes sense to define the target commands w.r.t. a frame that is parallel to the wall surface, as the force control
+direction would be then only nonzero in the z-axis of this frame. The target pose, which is set to have the same
+orientation as the wall surface, is such a candidate and is used as the task frame in this tutorial. Therefore, all
+the arguments to the <a class="reference internal" href="../../api/lab/omni.isaac.lab.controllers.html#omni.isaac.lab.controllers.OperationalSpaceControllerCfg" title="omni.isaac.lab.controllers.OperationalSpaceControllerCfg"><code class="xref py py-class docutils literal notranslate"><span class="pre">OperationalSpaceControllerCfg</span></code></a> should be set with this task reference frame
+in mind.</p>
+<p>For the motion control, the task space targets could be given as absolute (i.e., defined w.r.t. the robot base,
+<code class="docutils literal notranslate"><span class="pre">target_types:</span> <span class="pre">&quot;pose_abs&quot;</span></code>) or relative the the end-effector’s current pose (i.e., <code class="docutils literal notranslate"><span class="pre">target_types:</span> <span class="pre">&quot;pose_rel&quot;</span></code>).
+For the force control, the task space targets could be given as absolute (i.e., defined w.r.t. the robot base,
+<code class="docutils literal notranslate"><span class="pre">target_types:</span> <span class="pre">&quot;force_abs&quot;</span></code>). If it is desired to apply pose and force control simultaneously, the <code class="docutils literal notranslate"><span class="pre">target_types</span></code>
+should be a list such as <code class="docutils literal notranslate"><span class="pre">[&quot;pose_abs&quot;,</span> <span class="pre">&quot;wrench_abs&quot;]</span></code> or <code class="docutils literal notranslate"><span class="pre">[&quot;pose_rel&quot;,</span> <span class="pre">&quot;wrench_abs&quot;]</span></code>.</p>
+<p>The axes that the motion and force control will be applied can be specified using the <code class="docutils literal notranslate"><span class="pre">motion_control_axes_task</span></code> and
+<code class="docutils literal notranslate"><span class="pre">force_control_axes_task</span></code> arguments, respectively. These lists should consist of 0/1 for all six axes (position and
+rotation) and be complementary to each other (e.g., for the x-axis, if the <code class="docutils literal notranslate"><span class="pre">motion_control_axes_task</span></code> is <code class="docutils literal notranslate"><span class="pre">0</span></code>, the
+<code class="docutils literal notranslate"><span class="pre">force_control_axes_task</span></code> should be <code class="docutils literal notranslate"><span class="pre">1</span></code>).</p>
+<p>For the motion control axes, desired stiffness, and damping ratio values can be specified using the
+<code class="docutils literal notranslate"><span class="pre">motion_control_stiffness</span></code> and <code class="docutils literal notranslate"><span class="pre">motion_damping_ratio_task</span></code> arguments, which can be a scalar (same value for all
+axes) or a list of six scalars, one value corresponding to each axis. If desired, the stiffness and damping ratio
+values could be a command parameter (e.g., to learn the values using RL or change them on the go). For this,
+<code class="docutils literal notranslate"><span class="pre">impedance_mode</span></code> should be either <code class="docutils literal notranslate"><span class="pre">&quot;variable_kp&quot;</span></code> to include the stiffness values within the command or
+<code class="docutils literal notranslate"><span class="pre">&quot;variable&quot;</span></code> to include both the stiffness and damping ratio values. In these cases, <code class="docutils literal notranslate"><span class="pre">motion_stiffness_limits_task</span></code>
+and <code class="docutils literal notranslate"><span class="pre">motion_damping_limits_task</span></code> should be set as well, which puts bounds on the stiffness and damping ratio values.</p>
+<p>For contact force control, it is possible to apply an open-loop force control by not setting the
+<code class="docutils literal notranslate"><span class="pre">contact_wrench_stiffness_task</span></code>, or apply a closed-loop force control (with the feed-forward term) by setting
+the desired stiffness values using the <code class="docutils literal notranslate"><span class="pre">contact_wrench_stiffness_task</span></code> argument, which can be a scalar or a list
+of six scalars. Please note that, currently, only the linear part of the contact wrench (hence the first three
+elements of the <code class="docutils literal notranslate"><span class="pre">contact_wrench_stiffness_task</span></code>) is considered in the closed-loop control, as the rotational part
+cannot be measured with the contact sensors.</p>
+<p>For the motion control, <code class="docutils literal notranslate"><span class="pre">inertial_dynamics_decoupling</span></code> should be set to <code class="docutils literal notranslate"><span class="pre">True</span></code> to use the robot’s inertia matrix
+to decouple the desired accelerations in the task space. This is important for the motion control to be accurate,
+especially for rapid movements. This inertial decoupling accounts for the coupling between all the six motion axes.
+If desired, the inertial coupling between the translational and rotational axes could be ignored by setting the
+<code class="docutils literal notranslate"><span class="pre">partial_inertial_dynamics_decoupling</span></code> to <code class="docutils literal notranslate"><span class="pre">True</span></code>.</p>
+<p>If it is desired to include the gravity compensation in the operational space command, the <code class="docutils literal notranslate"><span class="pre">gravity_compensation</span></code>
+should be set to <code class="docutils literal notranslate"><span class="pre">True</span></code>.</p>
+<p>A final consideration regarding the operational space control is what to do with the null-space of redundant robots.
+The null-space is the subspace of the joint space that does not affect the task space coordinates. If nothing is done
+to control the null-space, the robot joints will float without moving the end-effector. This might be undesired (e.g.,
+the robot joints might get close to their limits), and one might want to control the robot behaviour within its
+null-space. One way to do is to set <code class="docutils literal notranslate"><span class="pre">nullspace_control</span></code> to <code class="docutils literal notranslate"><span class="pre">&quot;position&quot;</span></code> (by default it is <code class="docutils literal notranslate"><span class="pre">&quot;none&quot;</span></code>) which
+integrates a null-space PD controller to attract the robot joints to desired targets without affecting the task
+space. The behaviour of this null-space controller can be defined using the <code class="docutils literal notranslate"><span class="pre">nullspace_stiffness</span></code> and
+<code class="docutils literal notranslate"><span class="pre">nullspace_damping_ratio</span></code> arguments. Please note that theoretical decoupling of the null-space and task space
+accelerations is only possible when <code class="docutils literal notranslate"><span class="pre">inertial_dynamics_decoupling</span></code> is set to <code class="docutils literal notranslate"><span class="pre">True</span></code> and
+<code class="docutils literal notranslate"><span class="pre">partial_inertial_dynamics_decoupling</span></code> is set to <code class="docutils literal notranslate"><span class="pre">False</span></code>.</p>
+<p>The included OSC implementation performs the computation in a batched format and uses PyTorch operations.</p>
+<p>In this tutorial, we will use <code class="docutils literal notranslate"><span class="pre">&quot;pose_abs&quot;</span></code> for controlling the motion in all axes except the z-axis and
+<code class="docutils literal notranslate"><span class="pre">&quot;wrench_abs&quot;</span></code> for controlling the force in the z-axis. Moreover, we will include the full inertia decoupling in
+the motion control and not include the gravity compensation, as the gravity is disabled from the robot configuration.
+We set the impedance mode to <code class="docutils literal notranslate"><span class="pre">&quot;variable_kp&quot;</span></code> to dynamically change the stiffness values
+(<code class="docutils literal notranslate"><span class="pre">motion_damping_ratio_task</span></code> is set to <code class="docutils literal notranslate"><span class="pre">1</span></code>: the kd values adapt according to kp values to maintain a critically
+damped response). Finally, <code class="docutils literal notranslate"><span class="pre">nullspace_control</span></code> is set to use <code class="docutils literal notranslate"><span class="pre">&quot;position&quot;</span></code> where the joint set points are provided
+to be the center of the joint position limits.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="c1"># Create the OSC</span>
+    <span class="n">osc_cfg</span> <span class="o">=</span> <span class="n">OperationalSpaceControllerCfg</span><span class="p">(</span>
+        <span class="n">target_types</span><span class="o">=</span><span class="p">[</span><span class="s2">&quot;pose_abs&quot;</span><span class="p">,</span> <span class="s2">&quot;wrench_abs&quot;</span><span class="p">],</span>
+        <span class="n">impedance_mode</span><span class="o">=</span><span class="s2">&quot;variable_kp&quot;</span><span class="p">,</span>
+        <span class="n">inertial_dynamics_decoupling</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+        <span class="n">partial_inertial_dynamics_decoupling</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">gravity_compensation</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span>
+        <span class="n">motion_damping_ratio_task</span><span class="o">=</span><span class="mf">1.0</span><span class="p">,</span>
+        <span class="n">contact_wrench_stiffness_task</span><span class="o">=</span><span class="p">[</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">],</span>
+        <span class="n">motion_control_axes_task</span><span class="o">=</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span>
+        <span class="n">contact_wrench_control_axes_task</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span>
+        <span class="n">nullspace_control</span><span class="o">=</span><span class="s2">&quot;position&quot;</span><span class="p">,</span>
+    <span class="p">)</span>
+    <span class="n">osc</span> <span class="o">=</span> <span class="n">OperationalSpaceController</span><span class="p">(</span><span class="n">osc_cfg</span><span class="p">,</span> <span class="n">num_envs</span><span class="o">=</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+</pre></div>
+</div>
+</section>
+<section id="updating-the-states-of-the-robot">
+<h3>Updating the states of the robot<a class="headerlink" href="#updating-the-states-of-the-robot" title="Permalink to this heading">#</a></h3>
+<p>The OSC implementation is a computation-only class. Thus, it expects the user to provide the necessary information
+about the robot. This includes the robot’s Jacobian matrix, mass/inertia matrix, end-effector pose, velocity, contact
+force (all in the root frame), and finally, the joint positions and velocities. Moreover, the user should provide
+gravity compensation vector and null-space joint position targets if required.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Update robot states</span>
+<span class="k">def</span> <span class="nf">update_states</span><span class="p">(</span>
+    <span class="n">sim</span><span class="p">:</span> <span class="n">sim_utils</span><span class="o">.</span><span class="n">SimulationContext</span><span class="p">,</span>
+    <span class="n">scene</span><span class="p">:</span> <span class="n">InteractiveScene</span><span class="p">,</span>
+    <span class="n">robot</span><span class="p">:</span> <span class="n">Articulation</span><span class="p">,</span>
+    <span class="n">ee_frame_idx</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
+    <span class="n">arm_joint_ids</span><span class="p">:</span> <span class="nb">list</span><span class="p">[</span><span class="nb">int</span><span class="p">],</span>
+    <span class="n">contact_forces</span><span class="p">,</span>
+<span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Update the robot states.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        sim: (SimulationContext) Simulation context.</span>
+<span class="sd">        scene: (InteractiveScene) Interactive scene.</span>
+<span class="sd">        robot: (Articulation) Robot articulation.</span>
+<span class="sd">        ee_frame_idx: (int) End-effector frame index.</span>
+<span class="sd">        arm_joint_ids: (list[int]) Arm joint indices.</span>
+<span class="sd">        contact_forces: (ContactSensor) Contact sensor.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        jacobian_b (torch.tensor): Jacobian in the body frame.</span>
+<span class="sd">        mass_matrix (torch.tensor): Mass matrix.</span>
+<span class="sd">        gravity (torch.tensor): Gravity vector.</span>
+<span class="sd">        ee_pose_b (torch.tensor): End-effector pose in the body frame.</span>
+<span class="sd">        ee_vel_b (torch.tensor): End-effector velocity in the body frame.</span>
+<span class="sd">        root_pose_w (torch.tensor): Root pose in the world frame.</span>
+<span class="sd">        ee_pose_w (torch.tensor): End-effector pose in the world frame.</span>
+<span class="sd">        ee_force_b (torch.tensor): End-effector force in the body frame.</span>
+<span class="sd">        joint_pos (torch.tensor): The joint positions.</span>
+<span class="sd">        joint_vel (torch.tensor): The joint velocities.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: Undefined target_type.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="c1"># obtain dynamics related quantities from simulation</span>
+    <span class="n">ee_jacobi_idx</span> <span class="o">=</span> <span class="n">ee_frame_idx</span> <span class="o">-</span> <span class="mi">1</span>
+    <span class="n">jacobian_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_jacobians</span><span class="p">()[:,</span> <span class="n">ee_jacobi_idx</span><span class="p">,</span> <span class="p">:,</span> <span class="n">arm_joint_ids</span><span class="p">]</span>
+    <span class="n">mass_matrix</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_mass_matrices</span><span class="p">()[:,</span> <span class="n">arm_joint_ids</span><span class="p">,</span> <span class="p">:][:,</span> <span class="p">:,</span> <span class="n">arm_joint_ids</span><span class="p">]</span>
+    <span class="n">gravity</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">root_physx_view</span><span class="o">.</span><span class="n">get_generalized_gravity_forces</span><span class="p">()[:,</span> <span class="n">arm_joint_ids</span><span class="p">]</span>
+    <span class="c1"># Convert the Jacobian from world to root frame</span>
+    <span class="n">jacobian_b</span> <span class="o">=</span> <span class="n">jacobian_w</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+    <span class="n">root_rot_matrix</span> <span class="o">=</span> <span class="n">matrix_from_quat</span><span class="p">(</span><span class="n">quat_inv</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">))</span>
+    <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="p">:]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">bmm</span><span class="p">(</span><span class="n">root_rot_matrix</span><span class="p">,</span> <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">,</span> <span class="p">:])</span>
+    <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:,</span> <span class="p">:]</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">bmm</span><span class="p">(</span><span class="n">root_rot_matrix</span><span class="p">,</span> <span class="n">jacobian_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:,</span> <span class="p">:])</span>
+
+    <span class="c1"># Compute current pose of the end-effector</span>
+    <span class="n">root_pos_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_pos_w</span>
+    <span class="n">root_quat_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_quat_w</span>
+    <span class="n">ee_pos_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">body_link_pos_w</span><span class="p">[:,</span> <span class="n">ee_frame_idx</span><span class="p">]</span>
+    <span class="n">ee_quat_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">body_link_quat_w</span><span class="p">[:,</span> <span class="n">ee_frame_idx</span><span class="p">]</span>
+    <span class="n">ee_pos_b</span><span class="p">,</span> <span class="n">ee_quat_b</span> <span class="o">=</span> <span class="n">subtract_frame_transforms</span><span class="p">(</span><span class="n">root_pos_w</span><span class="p">,</span> <span class="n">root_quat_w</span><span class="p">,</span> <span class="n">ee_pos_w</span><span class="p">,</span> <span class="n">ee_quat_w</span><span class="p">)</span>
+    <span class="n">root_pose_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">root_pos_w</span><span class="p">,</span> <span class="n">root_quat_w</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">ee_pose_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">ee_pos_w</span><span class="p">,</span> <span class="n">ee_quat_w</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+    <span class="n">ee_pose_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">ee_pos_b</span><span class="p">,</span> <span class="n">ee_quat_b</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+
+    <span class="c1"># Compute the current velocity of the end-effector</span>
+    <span class="n">ee_vel_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">body_com_vel_w</span><span class="p">[:,</span> <span class="n">ee_frame_idx</span><span class="p">,</span> <span class="p">:]</span>  <span class="c1"># Extract end-effector velocity in the world frame</span>
+    <span class="n">root_vel_w</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_com_vel_w</span>  <span class="c1"># Extract root velocity in the world frame</span>
+    <span class="n">relative_vel_w</span> <span class="o">=</span> <span class="n">ee_vel_w</span> <span class="o">-</span> <span class="n">root_vel_w</span>  <span class="c1"># Compute the relative velocity in the world frame</span>
+    <span class="n">ee_lin_vel_b</span> <span class="o">=</span> <span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="n">relative_vel_w</span><span class="p">[:,</span> <span class="mi">0</span><span class="p">:</span><span class="mi">3</span><span class="p">])</span>  <span class="c1"># From world to root frame</span>
+    <span class="n">ee_ang_vel_b</span> <span class="o">=</span> <span class="n">quat_rotate_inverse</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">root_link_quat_w</span><span class="p">,</span> <span class="n">relative_vel_w</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">6</span><span class="p">])</span>
+    <span class="n">ee_vel_b</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">cat</span><span class="p">([</span><span class="n">ee_lin_vel_b</span><span class="p">,</span> <span class="n">ee_ang_vel_b</span><span class="p">],</span> <span class="n">dim</span><span class="o">=-</span><span class="mi">1</span><span class="p">)</span>
+
+    <span class="c1"># Calculate the contact force</span>
+    <span class="n">ee_force_w</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">zeros</span><span class="p">(</span><span class="n">scene</span><span class="o">.</span><span class="n">num_envs</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">)</span>
+    <span class="n">sim_dt</span> <span class="o">=</span> <span class="n">sim</span><span class="o">.</span><span class="n">get_physics_dt</span><span class="p">()</span>
+    <span class="n">contact_forces</span><span class="o">.</span><span class="n">update</span><span class="p">(</span><span class="n">sim_dt</span><span class="p">)</span>  <span class="c1"># update contact sensor</span>
+    <span class="c1"># Calculate the contact force by averaging over last four time steps (i.e., to smoothen) and</span>
+    <span class="c1"># taking the max of three surfaces as only one should be the contact of interest</span>
+    <span class="n">ee_force_w</span><span class="p">,</span> <span class="n">_</span> <span class="o">=</span> <span class="n">torch</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">torch</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">contact_forces</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">net_forces_w_history</span><span class="p">,</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">),</span> <span class="n">dim</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
+
+    <span class="c1"># This is a simplification, only for the sake of testing.</span>
+    <span class="n">ee_force_b</span> <span class="o">=</span> <span class="n">ee_force_w</span>
+
+    <span class="c1"># Get joint positions and velocities</span>
+    <span class="n">joint_pos</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_pos</span><span class="p">[:,</span> <span class="n">arm_joint_ids</span><span class="p">]</span>
+    <span class="n">joint_vel</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">joint_vel</span><span class="p">[:,</span> <span class="n">arm_joint_ids</span><span class="p">]</span>
+
+    <span class="k">return</span> <span class="p">(</span>
+        <span class="n">jacobian_b</span><span class="p">,</span>
+        <span class="n">mass_matrix</span><span class="p">,</span>
+        <span class="n">gravity</span><span class="p">,</span>
+        <span class="n">ee_pose_b</span><span class="p">,</span>
+        <span class="n">ee_vel_b</span><span class="p">,</span>
+        <span class="n">root_pose_w</span><span class="p">,</span>
+        <span class="n">ee_pose_w</span><span class="p">,</span>
+        <span class="n">ee_force_b</span><span class="p">,</span>
+        <span class="n">joint_pos</span><span class="p">,</span>
+        <span class="n">joint_vel</span><span class="p">,</span>
+    <span class="p">)</span>
+
+
+</pre></div>
+</div>
+</section>
+<section id="computing-robot-command">
+<h3>Computing robot command<a class="headerlink" href="#computing-robot-command" title="Permalink to this heading">#</a></h3>
+<p>The OSC separates the operation of setting the desired command and computing the desired joint positions.
+To set the desired command, the user should provide command vector, which  includes the target commands
+(i.e., in the order they appear in the <code class="docutils literal notranslate"><span class="pre">target_types</span></code> argument of the OSC configuration),
+and the desired stiffness and damping ratio values if the impedance_mode is set to <code class="docutils literal notranslate"><span class="pre">&quot;variable_kp&quot;</span></code> or <code class="docutils literal notranslate"><span class="pre">&quot;variable&quot;</span></code>.
+They should be all in the same coordinate frame as the task frame (e.g., indicated with <code class="docutils literal notranslate"><span class="pre">_task</span></code> subscript) and
+concatanated together.</p>
+<p>In this tutorial, the desired wrench is already defined w.r.t. the task frame, and the desired pose is transformed
+to the task frame as the following:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Convert the target commands to the task frame</span>
+<span class="k">def</span> <span class="nf">convert_to_task_frame</span><span class="p">(</span><span class="n">osc</span><span class="p">:</span> <span class="n">OperationalSpaceController</span><span class="p">,</span> <span class="n">command</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">,</span> <span class="n">ee_target_pose_b</span><span class="p">:</span> <span class="n">torch</span><span class="o">.</span><span class="n">tensor</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;Converts the target commands to the task frame.</span>
+
+<span class="sd">    Args:</span>
+<span class="sd">        osc: OperationalSpaceController object.</span>
+<span class="sd">        command: Command to be converted.</span>
+<span class="sd">        ee_target_pose_b: Target pose in the body frame.</span>
+
+<span class="sd">    Returns:</span>
+<span class="sd">        command (torch.tensor): Target command in the task frame.</span>
+<span class="sd">        task_frame_pose_b (torch.tensor): Target pose in the task frame.</span>
+
+<span class="sd">    Raises:</span>
+<span class="sd">        ValueError: Undefined target_type.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">command</span> <span class="o">=</span> <span class="n">command</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+    <span class="n">task_frame_pose_b</span> <span class="o">=</span> <span class="n">ee_target_pose_b</span><span class="o">.</span><span class="n">clone</span><span class="p">()</span>
+
+    <span class="n">cmd_idx</span> <span class="o">=</span> <span class="mi">0</span>
+    <span class="k">for</span> <span class="n">target_type</span> <span class="ow">in</span> <span class="n">osc</span><span class="o">.</span><span class="n">cfg</span><span class="o">.</span><span class="n">target_types</span><span class="p">:</span>
+        <span class="k">if</span> <span class="n">target_type</span> <span class="o">==</span> <span class="s2">&quot;pose_abs&quot;</span><span class="p">:</span>
+            <span class="n">command</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">command</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span> <span class="o">=</span> <span class="n">subtract_frame_transforms</span><span class="p">(</span>
+                <span class="n">task_frame_pose_b</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">task_frame_pose_b</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:],</span> <span class="n">command</span><span class="p">[:,</span> <span class="p">:</span><span class="mi">3</span><span class="p">],</span> <span class="n">command</span><span class="p">[:,</span> <span class="mi">3</span><span class="p">:</span><span class="mi">7</span><span class="p">]</span>
+            <span class="p">)</span>
+            <span class="n">cmd_idx</span> <span class="o">+=</span> <span class="mi">7</span>
+        <span class="k">elif</span> <span class="n">target_type</span> <span class="o">==</span> <span class="s2">&quot;wrench_abs&quot;</span><span class="p">:</span>
+            <span class="c1"># These are already defined in target frame for ee_goal_wrench_set_tilted_task (since it is</span>
+            <span class="c1"># easier), so not transforming</span>
+            <span class="n">cmd_idx</span> <span class="o">+=</span> <span class="mi">6</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s2">&quot;Undefined target_type within _convert_to_task_frame().&quot;</span><span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">command</span><span class="p">,</span> <span class="n">task_frame_pose_b</span>
+</pre></div>
+</div>
+<p>The OSC command is set with the command vector in the task frame, the end-effector pose in the base frame, and the
+task (reference) frame pose in the base frame as the following. This information is needed, as the internal
+computations are done in the base frame.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># set the osc command</span>
+            <span class="n">osc</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
+            <span class="n">command</span><span class="p">,</span> <span class="n">task_frame_pose_b</span> <span class="o">=</span> <span class="n">convert_to_task_frame</span><span class="p">(</span><span class="n">osc</span><span class="p">,</span> <span class="n">command</span><span class="o">=</span><span class="n">command</span><span class="p">,</span> <span class="n">ee_target_pose_b</span><span class="o">=</span><span class="n">ee_target_pose_b</span><span class="p">)</span>
+            <span class="n">osc</span><span class="o">.</span><span class="n">set_command</span><span class="p">(</span><span class="n">command</span><span class="o">=</span><span class="n">command</span><span class="p">,</span> <span class="n">current_ee_pose_b</span><span class="o">=</span><span class="n">ee_pose_b</span><span class="p">,</span> <span class="n">current_task_frame_pose_b</span><span class="o">=</span><span class="n">task_frame_pose_b</span><span class="p">)</span>
+</pre></div>
+</div>
+<p>The joint effort/torque values are computed using the provided robot states and the desired command as the following:</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># compute the joint commands</span>
+            <span class="n">joint_efforts</span> <span class="o">=</span> <span class="n">osc</span><span class="o">.</span><span class="n">compute</span><span class="p">(</span>
+                <span class="n">jacobian_b</span><span class="o">=</span><span class="n">jacobian_b</span><span class="p">,</span>
+                <span class="n">current_ee_pose_b</span><span class="o">=</span><span class="n">ee_pose_b</span><span class="p">,</span>
+                <span class="n">current_ee_vel_b</span><span class="o">=</span><span class="n">ee_vel_b</span><span class="p">,</span>
+                <span class="n">current_ee_force_b</span><span class="o">=</span><span class="n">ee_force_b</span><span class="p">,</span>
+                <span class="n">mass_matrix</span><span class="o">=</span><span class="n">mass_matrix</span><span class="p">,</span>
+                <span class="n">gravity</span><span class="o">=</span><span class="n">gravity</span><span class="p">,</span>
+                <span class="n">current_joint_pos</span><span class="o">=</span><span class="n">joint_pos</span><span class="p">,</span>
+                <span class="n">current_joint_vel</span><span class="o">=</span><span class="n">joint_vel</span><span class="p">,</span>
+                <span class="n">nullspace_joint_pos_target</span><span class="o">=</span><span class="n">joint_centers</span><span class="p">,</span>
+            <span class="p">)</span>
+</pre></div>
+</div>
+<p>The computed joint effort/torque targets can then be applied on the robot.</p>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># apply actions</span>
+            <span class="n">robot</span><span class="o">.</span><span class="n">set_joint_effort_target</span><span class="p">(</span><span class="n">joint_efforts</span><span class="p">,</span> <span class="n">joint_ids</span><span class="o">=</span><span class="n">arm_joint_ids</span><span class="p">)</span>
+            <span class="n">robot</span><span class="o">.</span><span class="n">write_data_to_sim</span><span class="p">()</span>
+</pre></div>
+</div>
+</section>
+</section>
+<section id="the-code-execution">
+<h2>The Code Execution<a class="headerlink" href="#the-code-execution" title="Permalink to this heading">#</a></h2>
+<p>You can now run the script and see the result:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>./isaaclab.sh<span class="w"> </span>-p<span class="w"> </span>source/standalone/tutorials/05_controllers/run_osc.py<span class="w"> </span>--num_envs<span class="w"> </span><span class="m">128</span>
+</pre></div>
+</div>
+<p>The script will start a simulation with 128 robots. The robots will be controlled using the OSC.
+The current and desired end-effector poses should be displayed using frame markers in addition to the red tilted wall.
+You should see that the robot reaches the desired pose while applying a constant force perpendicular to the wall
+surface.</p>
+<figure class="align-center" style="width: 100%">
+<img alt="result of run_osc.py" src="../../../_images/tutorial_operational_space_controller.jpg" />
+</figure>
+<p>To stop the simulation, you can either close the window or press <code class="docutils literal notranslate"><span class="pre">Ctrl+C</span></code> in the terminal.</p>
+</section>
+</section>
+
+
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#the-code">The Code</a><ul class="nav section-nav flex-column">
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#creating-an-operational-space-controller">Creating an Operational Space Controller</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#updating-the-states-of-the-robot">Updating the states of the robot</a></li>
+<li class="toc-h3 nav-item toc-entry"><a class="reference internal nav-link" href="#computing-robot-command">Computing robot command</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="02_scene/create_scene.html">Using the Interactive Scene</a></li>
+<li class="toctree-l2"><a class="reference internal" href="03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l2"><a class="reference internal" href="03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
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+    <h1>Tutorials</h1>
+    <!-- Table of contents -->
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+            <div>
+                <h2> Contents </h2>
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+            <nav aria-label="Page">
+                <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#setting-up-a-simple-simulation">Setting up a Simple Simulation</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#interacting-with-assets">Interacting with Assets</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#creating-a-scene">Creating a Scene</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#designing-an-environment">Designing an Environment</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#integrating-sensors">Integrating Sensors</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#using-motion-generators">Using motion generators</a></li>
+</ul>
+            </nav>
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+</div>
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+              
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+                <article class="bd-article">
+                  
+  <section id="tutorials">
+<h1>Tutorials<a class="headerlink" href="#tutorials" title="Permalink to this heading">#</a></h1>
+<p>Welcome to the Isaac Lab tutorials! These tutorials provide a step-by-step guide to help you understand
+and use various features of the framework. All the tutorials are written as Python scripts. You can
+find the source code for each tutorial in the <code class="docutils literal notranslate"><span class="pre">source/standalone/tutorials</span></code> directory of the Isaac Lab
+repository.</p>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>We would love to extend the tutorials to cover more topics and use cases, so please let us know if
+you have any suggestions.</p>
+</div>
+<p>We recommend that you go through the tutorials in the order they are listed here.</p>
+<section id="setting-up-a-simple-simulation">
+<h2>Setting up a Simple Simulation<a class="headerlink" href="#setting-up-a-simple-simulation" title="Permalink to this heading">#</a></h2>
+<p>These tutorials show you how to launch the simulation with different settings and spawn objects in the
+simulated scene. They cover the following APIs: <a class="reference internal" href="../api/lab/omni.isaac.lab.app.html#omni.isaac.lab.app.AppLauncher" title="omni.isaac.lab.app.AppLauncher"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppLauncher</span></code></a>,
+<a class="reference internal" href="../api/lab/omni.isaac.lab.sim.html#omni.isaac.lab.sim.SimulationContext" title="omni.isaac.lab.sim.SimulationContext"><code class="xref py py-class docutils literal notranslate"><span class="pre">SimulationContext</span></code></a>, and <a class="reference internal" href="../api/lab/omni.isaac.lab.sim.spawners.html#module-omni.isaac.lab.sim.spawners" title="omni.isaac.lab.sim.spawners"><code class="xref py py-class docutils literal notranslate"><span class="pre">spawners</span></code></a>.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="00_sim/create_empty.html">Creating an empty scene</a></li>
+<li class="toctree-l1"><a class="reference internal" href="00_sim/spawn_prims.html">Spawning prims into the scene</a></li>
+<li class="toctree-l1"><a class="reference internal" href="00_sim/launch_app.html">Deep-dive into AppLauncher</a></li>
+</ul>
+</div>
+</section>
+<section id="interacting-with-assets">
+<h2>Interacting with Assets<a class="headerlink" href="#interacting-with-assets" title="Permalink to this heading">#</a></h2>
+<p>Having spawned objects in the scene, these tutorials show you how to create physics handles for these
+objects and interact with them. These revolve around the <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.AssetBase" title="omni.isaac.lab.assets.AssetBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">AssetBase</span></code></a>
+class and its derivatives such as <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.RigidObject" title="omni.isaac.lab.assets.RigidObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">RigidObject</span></code></a>,
+<a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.Articulation" title="omni.isaac.lab.assets.Articulation"><code class="xref py py-class docutils literal notranslate"><span class="pre">Articulation</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.assets.html#omni.isaac.lab.assets.DeformableObject" title="omni.isaac.lab.assets.DeformableObject"><code class="xref py py-class docutils literal notranslate"><span class="pre">DeformableObject</span></code></a>.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="01_assets/run_rigid_object.html">Interacting with a rigid object</a></li>
+<li class="toctree-l1"><a class="reference internal" href="01_assets/run_articulation.html">Interacting with an articulation</a></li>
+<li class="toctree-l1"><a class="reference internal" href="01_assets/run_deformable_object.html">Interacting with a deformable object</a></li>
+</ul>
+</div>
+</section>
+<section id="creating-a-scene">
+<h2>Creating a Scene<a class="headerlink" href="#creating-a-scene" title="Permalink to this heading">#</a></h2>
+<p>With the basic concepts of the framework covered, the tutorials move to a more intuitive scene
+interface that uses the <a class="reference internal" href="../api/lab/omni.isaac.lab.scene.html#omni.isaac.lab.scene.InteractiveScene" title="omni.isaac.lab.scene.InteractiveScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">InteractiveScene</span></code></a> class. This class
+provides a higher level abstraction for creating scenes easily.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="02_scene/create_scene.html">Using the Interactive Scene</a></li>
+</ul>
+</div>
+</section>
+<section id="designing-an-environment">
+<h2>Designing an Environment<a class="headerlink" href="#designing-an-environment" title="Permalink to this heading">#</a></h2>
+<p>The following tutorials introduce the concept of manager-based environments: <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedEnv" title="omni.isaac.lab.envs.ManagerBasedEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedEnv</span></code></a>
+and its derivative <a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.ManagerBasedRLEnv" title="omni.isaac.lab.envs.ManagerBasedRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">ManagerBasedRLEnv</span></code></a>, as well as the direct workflow base class
+<a class="reference internal" href="../api/lab/omni.isaac.lab.envs.html#omni.isaac.lab.envs.DirectRLEnv" title="omni.isaac.lab.envs.DirectRLEnv"><code class="xref py py-class docutils literal notranslate"><span class="pre">DirectRLEnv</span></code></a>. These environments bring-in together
+different aspects of the framework to create a simulation environment for agent interaction.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="03_envs/create_manager_base_env.html">Creating a Manager-Based Base Environment</a></li>
+<li class="toctree-l1"><a class="reference internal" href="03_envs/create_manager_rl_env.html">Creating a Manager-Based RL Environment</a></li>
+<li class="toctree-l1"><a class="reference internal" href="03_envs/create_direct_rl_env.html">Creating a Direct Workflow RL Environment</a></li>
+<li class="toctree-l1"><a class="reference internal" href="03_envs/register_rl_env_gym.html">Registering an Environment</a></li>
+<li class="toctree-l1"><a class="reference internal" href="03_envs/run_rl_training.html">Training with an RL Agent</a></li>
+<li class="toctree-l1"><a class="reference internal" href="03_envs/modify_direct_rl_env.html">Modifying an existing Direct RL Environment</a></li>
+</ul>
+</div>
+</section>
+<section id="integrating-sensors">
+<h2>Integrating Sensors<a class="headerlink" href="#integrating-sensors" title="Permalink to this heading">#</a></h2>
+<p>The following tutorial shows you how to integrate sensors into the simulation environment. The
+tutorials introduce the <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.SensorBase" title="omni.isaac.lab.sensors.SensorBase"><code class="xref py py-class docutils literal notranslate"><span class="pre">SensorBase</span></code></a> class and its derivatives
+such as <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.Camera" title="omni.isaac.lab.sensors.Camera"><code class="xref py py-class docutils literal notranslate"><span class="pre">Camera</span></code></a> and <a class="reference internal" href="../api/lab/omni.isaac.lab.sensors.html#omni.isaac.lab.sensors.RayCaster" title="omni.isaac.lab.sensors.RayCaster"><code class="xref py py-class docutils literal notranslate"><span class="pre">RayCaster</span></code></a>.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="04_sensors/add_sensors_on_robot.html">Adding sensors on a robot</a></li>
+</ul>
+</div>
+</section>
+<section id="using-motion-generators">
+<h2>Using motion generators<a class="headerlink" href="#using-motion-generators" title="Permalink to this heading">#</a></h2>
+<p>While the robots in the simulation environment can be controlled at the joint-level, the following
+tutorials show you how to use motion generators to control the robots at the task-level.</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="05_controllers/run_diff_ik.html">Using a task-space controller</a></li>
+<li class="toctree-l1"><a class="reference internal" href="05_controllers/run_osc.html">Using an operational space controller</a></li>
+</ul>
+</div>
+</section>
+</section>
+
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#setting-up-a-simple-simulation">Setting up a Simple Simulation</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#interacting-with-assets">Interacting with Assets</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#creating-a-scene">Creating a Scene</a></li>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#integrating-sensors">Integrating Sensors</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#using-motion-generators">Using motion generators</a></li>
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